WO2019037036A1 - 飞行器 - Google Patents

飞行器 Download PDF

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Publication number
WO2019037036A1
WO2019037036A1 PCT/CN2017/098846 CN2017098846W WO2019037036A1 WO 2019037036 A1 WO2019037036 A1 WO 2019037036A1 CN 2017098846 W CN2017098846 W CN 2017098846W WO 2019037036 A1 WO2019037036 A1 WO 2019037036A1
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WIPO (PCT)
Prior art keywords
aircraft
rotor
horizontal
horizontal rotor
side edge
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Application number
PCT/CN2017/098846
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English (en)
French (fr)
Inventor
田瑜
Original Assignee
田瑜
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Publication date
Application filed by 田瑜 filed Critical 田瑜
Priority to PCT/CN2017/098846 priority Critical patent/WO2019037036A1/zh
Publication of WO2019037036A1 publication Critical patent/WO2019037036A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/26—Ducted or shrouded rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B64U50/14—Propulsion using external fans or propellers ducted or shrouded
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/70—Constructional aspects of the UAV body

Definitions

  • the invention relates to an aircraft, in particular an unmanned aerial vehicle.
  • the technical problem solved by the present invention is to provide an aircraft for overcoming the defects of poor shooting performance and image instability of the prior art UAV.
  • An aircraft characterized in that it comprises a body, the body being provided with a plurality of vertical propulsion rotors, a first horizontal rotor and a second horizontal rotor, wherein the axis of rotation of the first horizontal rotor and the first An angle is formed between the axes of rotation of the two horizontal rotors.
  • the steady lift is maintained by the vertical propulsion rotor during flight so that the entire body remains horizontal, and then the horizontal power is provided by the first horizontal rotor and the second horizontal rotor. Since an angle between the rotation axis of the first horizontal rotor and the rotation axis of the second horizontal rotor is formed, plus the positive and negative rotation control of the first horizontal rotor and the second horizontal rotor, the aircraft can be leveled in any direction. .
  • the axes of rotation of the vertical propulsion rotors are parallel to each other, and the axes of rotation of the first horizontal rotor and the axis of rotation of the second horizontal rotor are both perpendicular to the axis of rotation of the vertical propulsion rotor.
  • the axis of rotation of the first horizontal rotor is perpendicular to the axis of rotation of the second horizontal rotor.
  • the body comprises an intermediate bracket, an outer frame and a damping element, the damping element being respectively connected to the intermediate bracket and the outer frame, and the damping element is to be the intermediate bracket and the The outer frames are separated.
  • the vibration is separated by the damping element between the intermediate bracket and the outer frame, thereby greatly reducing the vibration interference received by the external frame.
  • the external frame minimizes the damage of the aircraft to the human body without increasing the weight of the structure, and can be easily connected by hand, which greatly shortens the distance from the user, makes the user experience better, and can provide closer graphics and movies.
  • the damping elements are respectively engaged with the intermediate bracket and the outer frame.
  • the vertical propeller, the first horizontal rotor and the second horizontal rotor are fixed on the intermediate bracket.
  • a large amount of vibration generated by the vertical propulsion rotor, the first horizontal rotor and the second horizontal rotor are filtered by the damper element, thereby greatly reducing the vibration of the outer frame.
  • the intermediate bracket comprises a quadrilateral frame, and two extension brackets connected to adjacent sides of the quadrilateral frame, wherein the vertical propulsion rotor is fixed on the quadrilateral frame, the first horizontal rotor And a second horizontal rotor is respectively fixed on the two extension brackets.
  • the four corners of the quadrilateral frame are provided with a mounting bracket, and the vertical propulsion rotor is fixed on the mounting bracket.
  • the outer frame comprises an outer facing, and the damping element is coupled to the outer facing.
  • the number of the outer protective faces is two, and the two outer protective faces are respectively located at two sides of the intermediate bracket.
  • the outer frame comprises a surrounding outer edge, and the two outer facings are respectively connected to the Surround the sides of the outer edge.
  • the surrounding outer edge includes a first side edge, a second side edge, a third side edge, and a fourth side edge.
  • the first side edge is opposite the first horizontal propulsion rotor and the second side edge is opposite the second horizontal propulsion rotor.
  • the first side edge and the second side edge are each provided with an opening.
  • the openings on the first side edge and the second side edge minimize the resistance of the first horizontal propulsion rotor and the second horizontal propulsion rotor, improving propulsion efficiency.
  • a pan/tilt is fixed on the third side edge, and an antenna is fixed on the fourth side edge.
  • the weights of the first horizontal propulsion rotor and the second horizontal propulsion rotor are balanced from the opposite side, so that the overall structure of the aircraft is more stable.
  • a central portion of the outer cover is provided with a control frame, and the control frame is fixed with a battery and a control board.
  • the central setting effectively utilizes space, reducing overall volume and reducing weight.
  • a protective layer is disposed on the surrounding outer edge.
  • the aircraft hits a wall or a branch, it will not cause damage to the aircraft's body and propulsion rotor due to the protective layer surrounding the outer edge. Do not crash after collision does not affect the effect of use.
  • the material of the protective layer is PU or sponge.
  • the outer facing is parallel to the intermediate bracket.
  • the damper element comprises a neck portion, a compression portion and a fixed end, wherein the neck portion is coupled to the intermediate bracket, the fixed end is coupled to the outer frame, and the compression portion is located at the Between the neck and the fixed end, and the compression portion is used to generate deformation.
  • the deformation of the compression portion can greatly absorb the vibration.
  • the intermediate bracket is provided with a limiting portion, and the neck portion is connected to the limiting portion.
  • the outer facing surface is provided with a limiting hole, and the fixed end is connected to the limiting hole.
  • the fixed end includes a fixed body extending along an axial direction of the damper member, and an outer edge extending along a radial direction of the damper member, wherein the limiting hole is sleeved in the The fixing body is fixed, and the limiting hole is limited between the outer end edge and the compression portion.
  • the damping element is made of an elastic material.
  • the shock absorbing element is flexible and can be easily compressed to be snapped into the intermediate bracket and the outer frame for fixing. It is also very convenient when disassembling.
  • the outer facing is provided with a mesh structure.
  • the mesh structure has a minimum area in the plan view direction, thereby improving lift efficiency.
  • the vertical propulsion rotor, a first horizontal rotor and a second horizontal rotor each comprise a motor and a blade attached to the motor.
  • the positive progress of the invention is that: through the application of the invention, the camera system of the cloud platform is provided with a stable platform, which greatly reduces the requirements for the pan/tilt.
  • the two-axis pan/tilt can be used to realize the traditional three.
  • the effect of the axis pan/tilt reduces weight and volume, thereby improving heading and portability.
  • FIG. 1 is a schematic perspective view of an aircraft according to a preferred embodiment of the present invention.
  • FIG. 2 is a schematic top plan view of an aircraft according to a preferred embodiment of the present invention.
  • FIG 3 is a schematic side view of an aircraft according to a preferred embodiment of the present invention.
  • FIG. 4 is a schematic perspective view of a middle bracket of a preferred embodiment of the present invention.
  • FIG. 5 is a schematic top plan view of an intermediate bracket according to a preferred embodiment of the present invention.
  • FIG. 6 is a schematic top plan view of an outer frame according to a preferred embodiment of the present invention.
  • Figure 7 is a schematic perspective view of the outer frame of the preferred embodiment of the present invention.
  • Figure 8 is a schematic view showing the connection of a damper element in accordance with a preferred embodiment of the present invention.
  • Figure 9 is a schematic view showing the structure of a damper element according to a preferred embodiment of the present invention.
  • this embodiment discloses an aircraft.
  • the aircraft includes a body.
  • the body of the present embodiment includes an intermediate bracket 2, an outer frame 1, and a damper member 7.
  • the body of the present embodiment includes an intermediate bracket 2, an outer frame 1, and a damper member 7.
  • different structures of the body can also be used in other embodiments.
  • the intermediate bracket 1 is provided with four vertical propulsion rotors 3, a first horizontal rotor 41 and a second horizontal rotor 42, wherein the rotation axis of the first horizontal rotor 41 and the second level An angle is formed between the axes of rotation of the rotor 42.
  • the steady lift is maintained by the vertical propulsion rotor 3 during flight so that the entire body is kept horizontal, and then the horizontal power is supplied by the first horizontal rotor 41 and the second horizontal rotor 42. Since an angle between the rotation axis of the first horizontal rotor 41 and the rotation axis of the second horizontal rotor 42 is formed, plus the positive and negative rotation control of the first horizontal rotor 41 and the second horizontal rotor 42, the aircraft can be realized. Fly in any direction.
  • the two-axis pan/tilt can be used to achieve the effect of the traditional three-axis pan/tilt, thereby reducing weight and volume, thereby improving the time and portability. Sex.
  • the rotation axes of the vertical propulsion rotors 3 of the present embodiment are parallel to each other, and the rotation axis of the first horizontal rotor 41 and the rotation axis of the second horizontal rotor 42 are both perpendicular to the vertical propulsion rotor 3.
  • the axis of rotation can also be used in other embodiments, and the present invention is not exemplified.
  • the axis of rotation of the first horizontal rotor 41 is perpendicular to the axis of rotation of the second horizontal rotor 42. That is, the rotation axis of the first horizontal rotor 41 and the rotation axis of the second horizontal rotor 42 The angle is 90 degrees.
  • the advancement of the first horizontal rotor 41 and the second horizontal rotor 42 does not affect each other, and is convenient for control.
  • different rotation axis settings may be adopted, but the effects of the above settings cannot be achieved, and the present invention is not exemplified.
  • the intermediate bracket 2 includes a quadrangular frame 21, and two extension brackets 22 connected to adjacent sides of the quadrilateral frame 21, and the first horizontal rotor 41 and the second horizontal rotor 42 are respectively fixed to two. On the extension frame 22.
  • the four corners of the quadrilateral frame 21 are provided with a mounting bracket 211, and the vertical propulsion rotor 3 is fixed to the mounting bracket 211.
  • the vertical propulsion rotor 3, a first horizontal rotor 41 and a second horizontal rotor 42 in this embodiment may each be provided to include a motor and blades attached to the motor.
  • the vertical propulsion rotor 3 includes a vane 31 and a motor 32. It is fixed to the mounting bracket 211 by the motor 32.
  • the outer frame 1 includes an outer face 12 and an outer face 13.
  • the number of outer protective faces is set to two.
  • an outer facing may also be employed, as well as other functions of the invention.
  • the outer cover 12 and the outer cover 13 are respectively located on both sides of the intermediate bracket 2. And the outer cover 12 and the outer cover 13 are parallel to the intermediate bracket 2.
  • the outer frame 1 includes a peripheral edge 11 which is attached to both sides of the outer edge 11, respectively.
  • the surrounding outer edge includes a first side edge 111, a second side edge 112, a third side edge 113, and a fourth side edge 114.
  • first side edge 111 is opposite the first horizontal propulsion rotor 41
  • second side edge 112 is opposite to the second horizontal propulsion rotor 42.
  • the first side edge 111 is provided with an opening 115
  • the second side 112 is provided with an opening 116.
  • the opening 115 and the opening 116 minimize the resistance of the first horizontal propulsion rotor 41 and the second horizontal propulsion rotor 42 to improve propulsion efficiency.
  • a platform 5 is fixed to the third side edge 113, and an antenna 6 is fixed to the fourth side edge 114.
  • the weights of the first horizontal propulsion rotor 41 and the second horizontal propulsion rotor 42 are balanced from the opposite side, so that the overall structure of the aircraft is more stable.
  • the middle portion of the outer cover 12 is provided with a control frame 14, and a battery and a control board can be fixed on the control frame 14.
  • the central setting effectively utilizes space, reducing overall volume and reducing weight.
  • a protective layer may be disposed around the outer edge 11. In the event that the aircraft hits a wall or a branch, it will not cause damage to the aircraft's body and propulsion rotor due to the protective layer surrounding the outer edge 11. Do not crash after collision does not affect the effect of use.
  • the material of the protective layer is preferably a PU or a sponge material.
  • a mesh structure is provided on the outer cover 12 and the outer cover 13.
  • the mesh structure has a minimum area in the plan view direction, thereby improving lift efficiency.
  • the damper members 7 are respectively coupled to the intermediate bracket 2 and the outer frame 1, and the damper member 7 separates the intermediate bracket 2 from the outer frame 1.
  • the damper elements 7 of the present embodiment are respectively engaged with the intermediate bracket 2 and the outer frame 1.
  • the damping element 7 includes a neck portion 72, a compression portion 73, and a fixed end 71.
  • the neck 72 is connected to the intermediate bracket 2. As shown in FIG. 4 and FIG. 8 , the intermediate bracket 2 is provided with a limiting portion 212 , and the neck portion 72 is engaged with the limiting portion 212 .
  • the fixed end 71 is coupled to the outer face 12 and the outer face 13 of the outer frame 1.
  • the fixed end 71 includes a fixed body 712 extending along the axial direction of the damper element 7, and an outer end edge 711 extending along the radial direction of the damper element 7,
  • the outer facing surface 12 is provided with a limiting hole 121
  • the outer protective surface 13 is also provided with a limiting hole (not shown).
  • the fixed end 71 is connected to the limiting hole 121.
  • the limiting hole 121 is sleeved on the fixing body 712 , and the limiting hole 121 is limited between the outer edge 711 and the compression portion 73 .
  • the compression portion 73 is located between the neck portion 72 and the fixed end 71, and the compression portion 73 is used to generate deformation.
  • the deformation of the compression portion 73 can greatly absorb the vibration.
  • the damping element 7 can be made of an elastic material.
  • the damper element 7 has elasticity and can be easily compressed to be snapped into the intermediate bracket 2 and the outer frame 1 for fixing. It is also very convenient when disassembling.
  • the damper element 7 Since the damper element 7 is connected to the outer cover 12 and the outer cover 13, the flight is vertically pushed during flight. The large amount of vibration generated by the intake rotor 3, the first horizontal rotor 41, and the second horizontal rotor 42 is filtered by the damper member 7, so that the vibration of the outer frame 1 is greatly reduced.
  • the outer frame 1 also minimizes the damage of the aircraft to the human body without increasing the weight of the structure, and can be easily connected by hand, which greatly shortens the distance from the user, makes the user experience better, and can provide closer graphics and film.
  • the positive progress of the invention is that: through the application of the invention, the camera system of the cloud platform is provided with a stable platform, which greatly reduces the requirements for the pan/tilt.
  • the two-axis pan/tilt can be used to realize the traditional three.
  • the effect of the axis pan/tilt reduces weight and volume, thereby improving heading and portability.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
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Abstract

一种飞行器，其包括机体，所述机体上设置有若干垂直推进旋翼（3）、一第一水平旋翼（41）和一第二水平旋翼（42），其中，所述第一水平旋翼（41）的旋转轴线和所述第二水平旋翼（42）的旋转轴线之间形成一夹角。该飞行器给云台的摄像系统提供了一个稳定的平台，大大降低了对云台的要求，在此基础上可以用二轴云台实现传统的三轴云台的效果，从而降低重量和体积，从而提高航时和便携性。

Description

飞行器 技术领域
本发明涉及一种飞行器，特别是一种无人飞行器。
背景技术
现有的无人飞行器通常采用倾斜移动的方式进行移动。在移动时，整个飞行器的所在平面也因此发生了倾斜，导致飞行器上固定的云台也产生了倾斜，导致产生大量抖动。因此，云台上的摄像设备必须通过光学防抖等手段防止图形不稳定。但这些手段都不能得到令人满意的稳定图像。
发明内容
本发明解决的技术问题是为了克服现有技术无人飞行器拍摄效果不佳，图像不稳定的缺陷，提供一种飞行器。
本发明是通过下述技术方案来解决上述技术问题：
一种飞行器，其特点在于，其包括机体，所述机体上设置有若干垂直推进旋翼、一第一水平旋翼和一第二水平旋翼，其中，所述第一水平旋翼的旋转轴线和所述第二水平旋翼的旋转轴线之间形成一夹角。
通过这样的设置，在飞行时通过垂直推进旋翼保持稳定的升力，使得机体整体保持水平，然后由第一水平旋翼和第二水平旋翼提供水平方向的动力。由于第一水平旋翼的旋转轴线和第二水平旋翼的旋转轴线之间形成一夹角，再加上第一水平旋翼和第二水平旋翼的正反转控制，因此可以实现飞行器的任意方向平飞。
由此给云台的摄像系统提供了一个稳定的平台，大大降低了对云台的要求，在此基础上可以用二轴云台实现传统的三轴云台的效果，从而降低重量和体积，从而提高航时和便携性。
较佳地，所述垂直推进旋翼的旋转轴线互相平行，所述第一水平旋翼的旋转轴线和所述第二水平旋翼的旋转轴线均垂直于所述垂直推进旋翼的旋转轴线。
较佳地，所述第一水平旋翼的旋转轴线垂直于所述第二水平旋翼的旋转轴线。由此设置，第一水平旋翼和第二水平旋翼的推进互相不影响，方便控制。
较佳地，所述机体包括中间支架、外部框架以及减震元件，所述减震元件分别与所述中间支架和所述外部框架连接，并且所述减震元件将所述中间支架和所述外部框架隔开。
其中，中间支架和外部框架之间通过减震元件隔离了震动，从而大幅减少外部框架收到的震动干扰。外部框架在不增加结构重量的情况下让飞行器对人体的伤害降到最低，可以从容的手接，大大缩短了与用户间的距离，让用户体验更好，能提供更接近的图形和影片。
较佳地，所述减震元件分别卡接于所述中间支架和所述外部框架。
较佳地，所述中间支架上固定有所述垂直推进旋翼、第一水平旋翼和第二水平旋翼。飞行时，垂直推进旋翼、第一水平旋翼和第二水平旋翼产生的大量震动均被减震元件滤除，从而极大幅度减少了外部框架的震动。
较佳地，所述中间支架包括四边形框，以及连接在所述四边形框的相邻两边的两个延伸架，其中，所述垂直推进旋翼固定在所述四边形框上，所述第一水平旋翼和第二水平旋翼分别固定在两个所述延伸架上。
较佳地，所述四边形框的四个角上设置有安装架，所述垂直推进旋翼固定在所述安装架上。
较佳地，所述外部框架包括外护面，所述减震元件与所述外护面连接。
较佳地，所述外护面的数量为两个，两个所述外护面分别位于所述中间支架的两侧。
较佳地，所述外部框架包括环绕外缘，两个所述外护面分别连接于所述 环绕外缘两侧。
较佳地，所述环绕外缘包括第一侧缘、第二侧缘、第三侧缘和第四侧缘。
较佳地，所述第一侧缘与所述第一水平推进旋翼相对，所述第二侧缘与所述第二水平推进旋翼相对。
较佳地，所述第一侧缘和所述第二侧缘上均设置有开口。第一侧缘和第二侧缘上的开口最大限度减少了第一水平推进旋翼和第二水平推进旋翼的阻力，提高了推进效率。
较佳地，所述第三侧缘上固定有云台，所述第四侧缘上固定有天线。通过对云台以及天线的合理设置，从相对侧配平了第一水平推进旋翼和第二水平推进旋翼的重量，使得飞行器整体结构更加稳定。
较佳地，所述外护面的中部设置有控制架，所述控制架上固定有电池和控制板。中部设置有效利用了空间，降低整体体积从而降低重量。
较佳地，所述环绕外缘上设置有保护层。在万一飞行器撞到墙面或者树枝时，由于环绕外缘的保护层设置，不会造成对飞行器的机体和推进旋翼的损坏。起到碰撞后不坠毁不影响使用的效果。
较佳地，所述保护层的材料为PU或者海绵。
较佳地，所述外护面与所述中间支架平行。
较佳地，所述减震元件包括颈部、压缩部和固定端，其中，所述颈部连接于所述中间支架，所述固定端连接于所述外部框架，所述压缩部位于所述颈部和所述固定端之间，且所述压缩部用于产生形变。压缩部产生形变后可以大幅吸收震动。
较佳地，所述中间支架上设置有限位部，所述颈部连接于所述限位部。
较佳地，所述外护面上设置有限位孔，所述固定端连接于所述限位孔。
较佳地，所述固定端包括沿所述减震元件的轴向延伸的固定本体，以及沿所述减震元件的径向延伸的外端缘，其中，所述限位孔套设于所述固定本体，且所述限位孔被限位于所述外端缘与所述压缩部之间。
较佳地，所述减震元件由弹性材料制成。减震元件具有弹性，可以方便的压缩从而卡进中间支架和外部框架进行固定。在拆卸时也非常便捷。
较佳地，所述外护面上设置有网状结构。网状结构在俯视方向拥有最小面积，从而提高升力效率。
较佳地，所述垂直推进旋翼、一第一水平旋翼和一第二水平旋翼均包括电机和连接在所述电机上的叶片。
本发明中，上述优选条件在符合本领域常识的基础上可任意组合，即得本发明的各较佳实施例。
本发明的积极进步效果在于：通过本发明的运用，给云台的摄像系统提供了一个稳定的平台，大大降低了对云台的要求，在此基础上可以用二轴云台实现传统的三轴云台的效果，从而降低重量和体积，从而提高航时和便携性。
附图说明
图1为本发明较佳实施例的飞行器立体结构示意图。
图2为本发明较佳实施例的飞行器俯视结构示意图。
图3为本发明较佳实施例的飞行器侧视结构示意图。
图4为本发明较佳实施例的中间支架立体结构示意图。
图5为本发明较佳实施例的中间支架俯视结构示意图。
图6为本发明较佳实施例的外部框架俯视结构示意图。
图7为本发明较佳实施例的外部框架立体结构示意图。
图8为本发明较佳实施例的减震元件连接示意图。
图9为本发明较佳实施例的减震元件结构示意图。
附图标记说明：
外部框架1；环绕外缘11；第一侧缘111；第二侧缘112；第三侧缘113；第四侧缘114；开口115；开口116；外护面12；限位孔121；外护面13；控 制价14；中间支架2；四边形框21；安装架211；限位部212；延伸架22；垂直推进旋翼3；叶片31；电机32；第一水平旋翼41；第二水平旋翼42；云台5、天线6、减震元件7；固定端71；外端缘711；固定本体712；颈部72；压缩部73。
具体实施方式
如图1-9所示，本实施例公开了一种飞行器。所述飞行器包括机体。如图1、图2和图4所示，本实施例的所述机体包括中间支架2、外部框架1以及减震元件7。当然在其他实施例中也可以采用不同结构的机体。
其中，如图4所示，中间支架1上设置有四个垂直推进旋翼3、第一水平旋翼41和一第二水平旋翼42，其中，第一水平旋翼41的旋转轴线和所述第二水平旋翼42的旋转轴线之间形成一夹角。
通过这样的设置，在飞行时通过垂直推进旋翼3保持稳定的升力，使得机体整体保持水平，然后由第一水平旋翼41和第二水平旋翼42提供水平方向的动力。由于第一水平旋翼41的旋转轴线和第二水平旋翼42的旋转轴线之间形成一夹角，再加上第一水平旋翼41和第二水平旋翼42的正反转控制，因此可以实现飞行器的任意方向平飞。
由此提供了一个稳定的平台，大大降低了对云台的要求，在此基础上可以用二轴云台实现传统的三轴云台的效果，从而降低重量和体积，从而提高航时和便携性。
进一步地，如图4和图5所示，本实施例的垂直推进旋翼3的旋转轴线互相平行，第一水平旋翼41的旋转轴线和第二水平旋翼42的旋转轴线均垂直于垂直推进旋翼3的旋转轴线。当然在其他实施例中也可以采用不同的旋转轴线设置，本发明不再一一举例。
进一步地，第一水平旋翼41的旋转轴线垂直于第二水平旋翼42的旋转轴线。也就是第一水平旋翼41的旋转轴线和第二水平旋翼42的旋转轴线夹 角为90度。由此设置，第一水平旋翼41和第二水平旋翼42的推进互相不影响，方便控制。当然在其他实施例中也可以采用不同的旋转轴线设置，但无法达到上述设置的效果，本发明不再一一举例。
如图4和图5所示，中间支架2包括四边形框21，以及连接在四边形框21的相邻两边的两个延伸架22，第一水平旋翼41和第二水平旋翼42分别固定在两个延伸架22上。
其中，为了将垂直推进旋翼3固定在四边形框21上，四边形框21的四个角上设置有安装架211，垂直推进旋翼3固定在安装架211上。
本实施例中的垂直推进旋翼3、一第一水平旋翼41和一第二水平旋翼42均可以设置为包括电机和连接在所述电机上的叶片。如图4所示，垂直推进旋翼3包括了叶片31和电机32。通过电机32固定在安装架211上。
如图6和图7所示，外部框架1包括外护面12和外护面13。本实施例中将外护面的数量设置为两个。但是在其他实施例中也可以采用一个外护面，也能够实现本发明的其他功能。
如图1和图7所示，本实施例中外护面12和外护面13分别位于中间支架2的两侧。且外护面12和外护面13与中间支架2平行。外部框架1包括环绕外缘11，外护面12和外护面13分别连接于环绕外缘11的两侧。
进一步地，如图7所示，环绕外缘包括第一侧缘111、第二侧缘112、第三侧缘113和第四侧缘114。其中，如图2所示，第一侧缘111与第一水平推进旋翼41相对，第二侧缘112与第二水平推进旋翼42相对。
如图1和图3所示，第一侧缘111上设置有开口115，第二侧,112上设置有开口116。开口115和开口116最大限度减少了第一水平推进旋翼41和第二水平推进旋翼42的阻力，提高了推进效率。
如图2所示，第三侧缘113上固定有云台5，第四侧缘114上固定有天线6。通过对云台5以及天线6的合理设置，从相对侧配平了第一水平推进旋翼41和第二水平推进旋翼42的重量，使得飞行器整体结构更加稳定。
此外，如图1和图6所示，外护面12的中部设置有控制架14，控制架14上可以固定有电池和控制板。中部设置有效利用了空间，降低整体体积从而降低重量。
环绕外缘11上可以设置保护层。在万一飞行器撞到墙面或者树枝时，由于环绕外缘11的保护层设置，不会造成对飞行器的机体和推进旋翼的损坏。起到碰撞后不坠毁不影响使用的效果。保护层的材料优选为PU或者海绵材料。
外护面12和外护面13上设置有网状结构。网状结构在俯视方向拥有最小面积，从而提高升力效率。
如图8所示，本实施例中，减震元件7分别与中间支架2和外部框架1连接，并且减震元件7将中间支架2和外部框架1隔开。
如图7和图8所示，本实施例的减震元件7分别卡接于中间支架2和所述外部框架1。其中，减震元件7包括颈部72、压缩部73和固定端71。
其中，颈部72连接于中间支架2。如图4和图8所示，中间支架2上设置有限位部212，颈部72卡接于限位部212。
如图7和图8所示，固定端71连接于外部框架1的外护面12和外护面13。其中，固定端71包括沿减震元件7的轴向延伸的固定本体712，以及沿减震元件7的径向延伸的外端缘711，
如图7和图8所示外护面12上设置有限位孔121，外护面13也设置有限位孔(图中未标注)。固定端71连接于限位孔121中。其中，限位孔121套设于固定本体712，且限位孔121被限位于外端缘711与压缩部73之间。
如图7和图8所示，压缩部73位于颈部72和固定端71之间，且压缩部73用于产生形变。压缩部73产生形变后可以大幅吸收震动。
减震元件7可以由弹性材料制成。减震元件7具有弹性，可以方便的压缩从而卡进中间支架2和外部框架1进行固定。在拆卸时也非常便捷。
由于减震元件7与外护面12和外护面13连接，因此，飞行时，垂直推 进旋翼3、第一水平旋翼41和第二水平旋翼42产生的大量震动均被减震元件7滤除，从而极大幅度减少了外部框架1的震动。
外部框架1在不增加结构重量的情况下还让飞行器对人体的伤害降到最低，可以从容的手接，大大缩短了与用户间的距离，让用户体验更好，能提供更接近的图形和影片。
本发明的积极进步效果在于：通过本发明的运用，给云台的摄像系统提供了一个稳定的平台，大大降低了对云台的要求，在此基础上可以用二轴云台实现传统的三轴云台的效果，从而降低重量和体积，从而提高航时和便携性。
虽然以上描述了本发明的具体实施方式，但是本领域的技术人员应当理解，这些仅是举例说明，在不背离本发明的原理和实质的前提下，可以对这些实施方式做出多种变更或修改。因此，本发明的保护范围由所附权利要求书限定。

Claims (26)

  1. 一种飞行器，其特征在于，其包括机体，所述机体上设置有若干垂直推进旋翼、一第一水平旋翼和一第二水平旋翼，其中，所述第一水平旋翼的旋转轴线和所述第二水平旋翼的旋转轴线之间形成一夹角。
  2. 如权利要求1所述的飞行器，其特征在于，所述垂直推进旋翼的旋转轴线互相平行，所述第一水平旋翼的旋转轴线和所述第二水平旋翼的旋转轴线均垂直于所述垂直推进旋翼的旋转轴线。
  3. 如权利要求1所述的飞行器，其特征在于，所述第一水平旋翼的旋转轴线垂直于所述第二水平旋翼的旋转轴线。
  4. 如权利要求1-3中至少一项所述的飞行器，其特征在于，所述机体包括中间支架、外部框架以及减震元件，所述减震元件分别与所述中间支架和所述外部框架连接，并且所述减震元件将所述中间支架和所述外部框架隔开。
  5. 如权利要求4所述的飞行器，其特征在于，所述减震元件分别卡接于所述中间支架和所述外部框架。
  6. 如权利要求4所述的飞行器，其特征在于，所述中间支架上固定有所述垂直推进旋翼、第一水平旋翼和第二水平旋翼。
  7. 如权利要求6所述的飞行器，其特征在于，所述中间支架包括四边形框，以及连接在所述四边形框的相邻两边的两个延伸架，其中，所述垂直推进旋翼固定在所述四边形框上，所述第一水平旋翼和第二水平旋翼分别固定在两个所述延伸架上。
  8. 如权利要求6所述的飞行器，其特征在于，所述四边形框的四个角上设置有安装架，所述垂直推进旋翼固定在所述安装架上。
  9. 如权利要求4-8中至少一项所述的飞行器，其特征在于，所述外部框架包括外护面，所述减震元件与所述外护面连接。
  10. 如权利要求9所述的飞行器，其特征在于，所述外护面的数量为两 个，两个所述外护面分别位于所述中间支架的两侧。
  11. 如权利要求10所述的飞行器，其特征在于，所述外部框架包括环绕外缘，两个所述外护面分别连接于所述环绕外缘两侧。
  12. 如权利要求10或11所述的飞行器，其特征在于，所述环绕外缘包括第一侧缘、第二侧缘、第三侧缘和第四侧缘。
  13. 如权利要求12所述的飞行器，其特征在于，所述第一侧缘与所述第一水平推进旋翼相对，所述第二侧缘与所述第二水平推进旋翼相对。
  14. 如权利要求13所述的飞行器，其特征在于，所述第一侧缘和所述第二侧缘上均设置有开口。
  15. 如权利要求12所述的飞行器，其特征在于，所述第三侧缘上固定有云台，所述第四侧缘上固定有天线。
  16. 如权利要求9-15所述的飞行器，其特征在于，所述外护面的中部设置有控制架，所述控制架上固定有电池和控制板。
  17. 如权利要求11所述的飞行器，其特征在于，所述环绕外缘上设置有保护层。
  18. 如权利要求17所述的飞行器，其特征在于，所述保护层的材料为PU或者海绵。
  19. 如权利要求9所述的飞行器，其特征在于，所述外护面与所述中间支架平行。
  20. 如权利要求4-19中至少一项所述的飞行器，其特征在于，所述减震元件包括颈部、压缩部和固定端，其中，所述颈部连接于所述中间支架，所述固定端连接于所述外部框架，所述压缩部位于所述颈部和所述固定端之间，且所述压缩部用于产生形变。
  21. 如权利要求20所述的飞行器减震结构，其特征在于，所述中间支架上设置有限位部，所述颈部连接于所述限位部。
  22. 如权利要求20所述的飞行器，其特征在于，所述外护面上设置有 限位孔，所述固定端连接于所述限位孔。
  23. 如权利要求22所述的飞行器，其特征在于，所述固定端包括沿所述减震元件的轴向延伸的固定本体，以及沿所述减震元件的径向延伸的外端缘，其中，所述限位孔套设于所述固定本体，且所述限位孔被限位于所述外端缘与所述压缩部之间。
  24. 如权利要求4-23中至少一项所述的飞行器减震结构，其特征在于，所述减震元件由弹性材料制成。
  25. 如权利要求9-15中至少一项所述的飞行器，其特征在于，所述外护面上设置有网状结构。
  26. 如权利要求1-25中至少一项所述的飞行器，其特征在于，所述垂直推进旋翼、一第一水平旋翼和一第二水平旋翼均包括电机和连接在所述电机上的叶片。
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