WO2019041097A1 - 无人飞行器的机架组件及无人飞行器 - Google Patents

无人飞行器的机架组件及无人飞行器 Download PDF

Info

Publication number
WO2019041097A1
WO2019041097A1 PCT/CN2017/099325 CN2017099325W WO2019041097A1 WO 2019041097 A1 WO2019041097 A1 WO 2019041097A1 CN 2017099325 W CN2017099325 W CN 2017099325W WO 2019041097 A1 WO2019041097 A1 WO 2019041097A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
support rod
rod
deformation
assembly
Prior art date
Application number
PCT/CN2017/099325
Other languages
English (en)
French (fr)
Inventor
魏晶晶
梁贵彬
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/099325 priority Critical patent/WO2019041097A1/zh
Priority to CN201780004878.4A priority patent/CN108513558B/zh
Priority to EP17923857.1A priority patent/EP3677502A4/en
Publication of WO2019041097A1 publication Critical patent/WO2019041097A1/zh
Priority to US16/801,657 priority patent/US20200290719A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/04—Arrangement or disposition on aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B64C25/12—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like sideways
    • 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
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/50—Foldable or collapsible UAVs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/40—Undercarriages foldable or retractable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B64C25/12—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like sideways
    • B64C2025/125—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like sideways into the fuselage, e.g. main landing gear pivotally retracting into or extending out of the fuselage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the invention relates to the field of tripods of unmanned aerial vehicles, in particular to a frame assembly of an unmanned aerial vehicle and an unmanned aerial vehicle.
  • the stand of an unmanned aerial vehicle is generally designed as a fixed stand or a foldable stand.
  • the design of the fixed tripod is relatively simple and can support the fuselage.
  • the fixed tripod may not cover the shooting device mounted under the fuselage because it is not foldable.
  • the folding tripod can support the fuselage, and can also rotate upward in the pitch direction of the unmanned aerial vehicle during the flight of the unmanned aerial vehicle to avoid blocking the shooting equipment mounted under the fuselage, but the tripod Larger size, not conducive to packaging and transportation.
  • the invention provides a rack assembly and an unmanned aerial vehicle of an unmanned aerial vehicle.
  • a rack assembly for an unmanned aerial vehicle comprising a center frame and two sets of arm assemblies respectively disposed on opposite sides of the center frame, the arm assembly including the center frame a connecting arm, a deforming rod and a supporting rod, wherein two ends of the deforming rod are respectively rotatably connected with the arm and the supporting rod, and the supporting rod is disposed in parallel with the arm; wherein the supporting rod is opposite to the arm
  • the arm can be moved in parallel such that the support rod is selectively in a folded or unfolded state; the support rod drives the deformation when the support rod is translated relative to the arm to the deployed state Rotating the rod such that the two ends of the deforming rod are respectively at a first predetermined angle with the arm and the support rod, so that the support rod is used as a tripod; and the support rod is opposite to the arm
  • the support rod drives the deformation rod to rotate, so that two ends of the deformation rod respectively form a second predetermined angle with the
  • an unmanned aerial vehicle comprising a frame assembly and a power unit disposed on the frame assembly, the power device for providing flight power to the unmanned aerial vehicle;
  • the rack assembly includes a center frame and two sets of arm assemblies respectively disposed on two sides of the center frame, the arm assembly includes an arm connected to the center frame, a deformation rod and a support rod, and two of the deformation rods The ends are respectively rotatably connected to the arm and the support rod, and the support rod is disposed in parallel with the arm; wherein the support rod is movable in parallel with respect to the arm so that the support rod can be selectively placed a folded state or an unfolded state; when the support rod is translated to the unfolded state relative to the arm, the support rod drives the deformation rod to rotate, so that both ends of the deformation rod and the arm respectively And the support rod is at a first predetermined angle, so that the support rod is used as a tripod; when the support rod is translated to the folded state relative to the arm,
  • the support rod is in an unfolded state by setting a support rod parallel to the arm and driving the deformation rod through the support rod to deform the support rod in parallel.
  • the support rod can support the unmanned aerial vehicle, on the other hand, the support rod can be moved closer to the arm to prevent the support rod from occluding the photographing device mounted under the unmanned aerial vehicle, and reduce
  • the small rack assembly is convenient for unmanned aircraft packaging, transportation and unmanned aerial vehicles to fly in tight spaces.
  • FIG. 1 is a perspective view of a frame assembly in accordance with an embodiment of the present invention, illustrating a structural relationship of a frame assembly when the support bar is in an unfolded state relative to the arm;
  • FIG. 2 is a perspective view of the frame assembly in another direction in an embodiment of the present invention, revealing a structural relationship of the frame assembly when the support bar is in an unfolded state with respect to the arm;
  • FIG. 3 is a perspective view of a frame assembly in accordance with an embodiment of the present invention, showing the structural relationship of the frame assembly when the support bar is in a folded state relative to the arm;
  • FIG. 4 is a perspective view of the frame assembly in another direction in accordance with an embodiment of the present invention, revealing the structural relationship of the frame assembly when the support bar is in a folded state relative to the arm.
  • an embodiment of the present invention provides a rack assembly for an unmanned aerial vehicle.
  • the rack assembly may include a center frame 1 and two sets of arm assemblies 2 respectively disposed on two sides of the center frame 1 .
  • the arm assembly 2 may include an arm 21 connected to the center frame 1, a deforming rod 22, and a support rod 23.
  • the two ends of the deformation rod 22 are respectively rotatably connected to the arm 21 and the support rod 23, for example, the deformation rod 22 and the arm 21 can be realized by means of a hinge, a sleeve ring connection or other rotational connection. A rotational connection between the support rods 23 is described.
  • the support rod 23 is disposed in parallel with the arm 21, and the support rod 23 is movable in parallel with respect to the arm 21 so that the support rod 23 can be selectively in a folded state or an unfolded state. In this embodiment, during the movement of the support rod 23, the parallel relationship with the arm 21 is always maintained to reduce the volume of the arm assembly 2.
  • the support rod 23 when the support rod 23 is translated relative to the arm 21 to the unfolded state, the support rod 23 drives the deformation rod 22 to rotate, so that both ends of the deformation rod 22 are respectively
  • the arm 21 and the support rod 23 are at a first predetermined angle so that the support rod 23 is used as a stand.
  • the support rod 23 when the UAV is landing, the support rod 23 is in an unfolded state, and the support rod 23 can support the UAV as a tripod to ensure that the UAV can smoothly land to the destination.
  • the support rod 23 when the support rod 23 is translated to the folded state relative to the arm 21, the support rod 23 drives the deformation rod 22 to rotate, so that both ends of the deformation rod 22 A second predetermined angle is respectively formed with the arm 21 and the support rod 23, and the second preset angle is smaller than the first preset angle.
  • the support rod 23 is set to the folded state, and the support rod 23 and the deformed rod 22 are mounted on the unmanned aerial vehicle during aerial photography.
  • the occlusion of the photographing device 42 on the human aircraft reduces the volume of the arm assembly 2, facilitating packaging and transportation, and reducing costs.
  • the support rod 23 by providing the support rod 23 parallel to the arm 21 and deforming the deformation rod 22 by the support rod 23, the support rod 23 is moved parallel to the arm 21, so that the support rod 23 can be in the unfolded state and Switching between the folded states, on the one hand, the support rod 23 can support the unmanned aerial vehicle, on the other hand, the support rod 23 can be brought closer to the arm 21, preventing the support rod 23 from being attached to the photographing device 42 under the unmanned aerial vehicle. Blocking and reducing the size of the rack components facilitates the packaging, transportation, and unmanned aerial vehicles of the UAV to fly in tight spaces.
  • the angle between the deformation rod 22 and the arm 21, the angle between the deformation rod 22 and the support rod 23 are two internal angles.
  • the angle between the deformation rod 22 and the arm 21 is along the rotation direction.
  • the angle between the portion of the arm 21 that is reached and the deforming rod 22 is reached.
  • the angle of rotation of the deformed rod 22 is also referred to, and the angle between the deformed rod 22 and the arm 21 is the arm 21 that is away from the rotational direction. Part of the angle formed with the deformed rod 22.
  • the angle between the rod 22 and the support rod 23 is an inner angle of the angle between the deformation rod 22 and the arm 21.
  • the size of the first preset angle and the second preset angle may be selected according to the weight of the center frame 1 and the weight of the pan/tilt assembly 4 mounted on the center frame 1, etc., so that the deformation rod 22 is opposite.
  • the support rod 23 can be used as a tripod to support the UAV, and when the deformation frame is at a second predetermined angle with respect to the arm 21, the support rod 23 can be as close as possible.
  • the arm 21 prevents the support rod 23 from folding the photographing device 42 hung on the bottom of the center frame 1, and reduces the size of the unmanned aerial vehicle, facilitating the packaging, transportation and unmanned aerial vehicle flying in a small space.
  • the first preset angle may be greater than or equal to 30 degrees and less than or equal to 90 degrees.
  • the first preset angle may be 30 degrees, 40 degrees, 45 degrees, 50 degrees, 60 degrees, 70 degrees. , 80 degrees, 90 degrees or other intermediate range angles.
  • the second preset angle may be less than 20 degrees.
  • the second predetermined angle may be 0°, 5 degrees, 10 degrees, 15 degrees, or other intermediate range angles.
  • first preset angle and the second preset angle may allow a certain range of fluctuations, for example, ⁇ 0.1%.
  • the first predetermined angle is 90 degrees.
  • the first angle is in the range of 90 ⁇ 0.09 degrees, and the support rods 23 are all in an unfolded state.
  • the frame assembly may further include a stop (not shown) that restricts the deformed rod 22 from continuing toward the expanded state of the support rod 23 relative to the arm 21
  • the previous direction of rotation ie, the direction in which the support rod 23 is translated relative to the arm 21 to the deployed state
  • the maximum value of the first preset angle for example, 90 degrees.
  • the support rod 23 when the support rod 23 is in the unfolded state, the support rod 23 can be continuously driven relative to the arm 21 toward the previous rotation direction (ie, the support rod 23 is translated relative to the arm 21 to the The direction corresponding to the unfolded state is rotated, and under the action of the stopper, the support rod 23 can be stably maintained in an unfolded state, thereby supporting the unmanned aerial vehicle.
  • the manner of driving the support rod 23 to translate relative to the arm 21 can be selected as needed to meet different needs.
  • the support rod 23 can be manually driven relative to the The arm 21 is translated, and the user directly operates the support rod 23 to translate, thereby driving the deformation rod 22 to rotate, so that the support rod 23 is close to or away from the arm 21, corresponding to the support rod 23 relative to the support rod 23
  • the arm 21 translates to the folded state or the deployed state.
  • the support rod 23 can also be electrically driven to translate relative to the arm 21.
  • the frame assembly may further include a drive mechanism (not shown) that drives the deforming rod 22 to rotate or drive the support rod 23 to translate relative to the arm 21 to bring the support rod 23 closer Or away from the arm 21, correspondingly the translation of the support rod 23 relative to the arm 21 to the folded state or the deployed state.
  • the driving mechanism can be selected as a motor or other driving mechanism.
  • the support rod 23 and the arm 21 are always parallel to reduce the volume of the arm assembly 2, and improve the unmanned Aircraft flying safety.
  • the arms 21 of the two sets of the arm assemblies 2 are arranged in parallel with each other, the structure is simple, and the balance of the frame assembly is good.
  • the arrangement of the arms 21 of the two sets of the arm assemblies 2 is not limited thereto, and the arrangement of the arms 21 of the two sets of the arm assemblies 2 can be set according to actual conditions.
  • the number of the deformation bars 22 can be selected according to the stability requirements of the arm assembly 2, for example, the deformation bars 22 of each group of arm assemblies 2 can be one, two or more.
  • the deformation bars 22 of each group of arm assemblies 2 can be one, two or more.
  • at least two deforming rods 22 of each set of arm assemblies 2 ensure the stability of the arm assembly 2.
  • each set of arm assemblies 2 has two deforming rods 22, and each set of arm assemblies 2, the arm 21, the deforming rod 22 and the support rod 23 form a four-bar linkage mechanism, and the two deformed rods 22 are It is also ensured that the weight of the arm assembly 2 can be minimized while the support rod 23 can be smoothly translated relative to the arm 21.
  • the arrangement of the deformation bars 22 can also be set according to the stability requirements of the arm assembly 2, for example, at least two of the deformation bars 22 of each group of arm assemblies 2 can be parallel to each other or cross-arranged. Wherein, the deformed rods 22 are arranged in parallel such that the structure formed by the arm 21, the deforming rod 22 and the support rod 23 can be minimized in space after the support rod 23 is translated relative to the arm 21 to the folded state.
  • the deformation bars 22 are arranged in a crosswise manner, so that the stability of the arm assembly 2 can be made strong.
  • the two ends of the at least two deforming rods 22 are respectively rotatably connected with the arm 21 and the supporting rod 23, so that the deforming rod 22 can be rotated respectively with respect to the arm 21 and the supporting rod 23 to maintain the supporting rod 23 It is always parallel with the arm 21.
  • each group of arms by taking at least two of the deformed rods 22 of each set of arm assemblies 2 in parallel with each other and electrically driving the support rods 23 to translate relative to the arms 21 as an example.
  • the drive mechanism can drive at least two of the deforming rods 22 to rotate in the same direction to bring the support rods 23 closer to or away from the arm 21.
  • the deforming rod 22 is rotated in a clockwise direction under the drive of the drive mechanism to cause the support rod 23 to translate relative to the arm 21 to a folded state.
  • the deforming rod 22 is rotated in a counterclockwise direction under the driving of the driving mechanism to cause the support rod 23 to translate relative to the arm 21 to an unfolded state.
  • the deforming rod 22 is rotated in a clockwise direction under the drive of the drive mechanism to cause the support rod 23 to translate relative to the arm 21 to an expanded state.
  • the deforming rod 22 is rotated in a counterclockwise direction under the driving of the driving mechanism to cause the support rod 23 to translate relative to the arm 21 to a folded state.
  • At least two of the deforming rods 22 can also be rotated in different directions under the driving of the driving mechanism, for example, a part of the deforming rod 22 is rotated clockwise and the other portion is deformed.
  • the lever 22 is rotated counterclockwise so that the deforming lever 22 can be switched between the folded state and the unfolded state.
  • the invention does not limit the direction of rotation of the deforming rod 22.
  • the distance between two adjacent deformed rods 22 is equal to or greater than the deformed rod 22
  • one side (non-rotating side) of the deforming rod 22 completely fits the arm 21, and the other side completely fits the support rod 23, so that the arm assembly 2 has the smallest volume and is convenient.
  • Unmanned aerial vehicles perform missions and the packaging and transportation of unmanned aerial vehicles.
  • the driving mechanism drives the deformation lever 22 to rotate to a first position (a position at which the support rod 23 can be in a folded state), the deformation rod 22 is interposed between the arm 21 and the Between the support rods 23, the two sides of the deformation rod 22 are respectively abutted against the arm 21 and the support rod 23, that is, the angle between the deformation rod 22 and the arm 21 is 0 degree, and the deformation rod 22 is The angle between the support bars 23 is also 0 degrees, which minimizes the size of the frame assembly.
  • the frame assembly can further include a connecting rod 3 that is fixedly coupled to the center frame 1 by the connecting rod 3.
  • the center frame 1 and the connecting rod 3 can be integrally formed, and the structure is simple and the strength is large.
  • the center frame 1 and the connecting rod 3 can also be separately provided.
  • the connecting rod 3 can be folded and connected to the center frame 1 for convenient folding and storage.
  • one end of the connecting rod 3 is connected to the center frame 1 and the other end is connected to the arm 21.
  • the center frame 1 is connected to the middle of the connecting rod 3, and the two ends of the connecting rod 3 are respectively connected to the arm 21.
  • the number of the connecting rods 3 can be set as needed to meet the stability requirements of the unmanned aerial vehicle, for example, two or more.
  • the connecting rods 3 are two and are arranged in parallel, and the center frame 1 is connected between the two connecting rods 3.
  • the driving mechanism drives at least two of the deforming rods 22 to rotate about a perpendicular line perpendicular to the support rod 23, so that the support rod 23 is moved closer to or away from the arm 21, thereby achieving folding or unfolding of the support rod 23.
  • the driving mechanism is further configured to drive at least two of the deforming rods 22 to rotate about a central axis of the arm 21 to adjust an angle of the deforming rod 22 with respect to the perpendicular line, so that the supporting rod 23 serves as a foot.
  • the angle between the deforming rod 22 and the vertical line is moderate, which improves the stability of the support, similar to the folding stand.
  • the bottom of the center frame 1 can be used for mounting the pan/tilt assembly 4, and the two sets of the arm assemblies 2 are respectively located at two sides of the pan/tilt assembly 4, thereby avoiding the arm assembly 2 to the head.
  • the pan/tilt assembly 4 may include a pan head 41 connected to the bottom of the center rack 1 and a photographing device 42 mounted on the pan head 41.
  • the driving mechanism drives the deformation lever 22 to rotate to a first position (a position capable of causing the support rod 23 to be in a folded state) or to drive the support rod 23 to translate to a folded state with respect to the arm 21,
  • a deforming rod 22 is interposed between the arm 21 and the support rod 23, and the arm assembly 2 is located above the photographing device 42. Whether the deformation rod 22 is rotated to the first position or the support rod 23 is translated relative to the arm 21 to the folded state, the support rod 23 is finally in a folded state, and the arm assembly 2 is located at the photographing device 42. Above without obscuring the photographing device 42, the photographing device 42 can rotate 360 degrees and perform photographing.
  • the deforming rod 22 and the support rod 23 are both located at the bottom of the arm 21 to reduce the size of the arm assembly 2 on a horizontal plane.
  • the deformation rod 22 and the support rod 23 can also be located
  • the arm 21 is away from the side of the center frame 1.
  • an embodiment of the present invention further provides an unmanned aerial vehicle, which may include the above-mentioned rack assembly and a power unit 5 disposed on the rack assembly, and the power unit 5 is used for Flight power is provided to the unmanned aerial vehicle.
  • the power unit 5 can include a propeller assembly.
  • the UAV may further include a pan/tilt assembly 4 that is suspended from the bottom of the center frame 1.
  • the pan/tilt assembly 4 may include a pan head 41 connected to the bottom of the center rack 1 and a photographing device 42 mounted on the pan head 41.
  • the pan/tilt head 41 may be a two-axis pan/tilt head or a three-axis pan/tilt head or the like.
  • the UAV may be a quadrotor unmanned aerial vehicle, but is not limited to a quadrotor unmanned aerial vehicle, and may be, for example, an eight-rotor unmanned aerial vehicle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Studio Devices (AREA)
  • Transmission Devices (AREA)
  • Accessories Of Cameras (AREA)
  • Aerials With Secondary Devices (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Abstract

一种无人飞行器的机架组件及无人飞行器，其中机架组件包括中心架（1）以及分别设于中心架（1）两侧的两组机臂组件（2），机臂组件（2）包括与中心架（1）相连的机臂（21）、变形杆（22）及支撑杆（23），变形杆（22）的两端分别与机臂（21）及支撑杆（23）转动连接，支撑杆（23）与机臂（21）平行设置；支撑杆（23）相对于机臂（21）可平行移动，以使支撑杆（23）可选择性地处于折叠状态或展开状态；在支撑杆（23）相对于机臂（21）平移至展开状态时，支撑杆（23）带动变形杆（22）转动，使变形杆的两端分别与机臂（21）以及支撑杆（23）成第一预设夹角，从而使支撑杆（23）作为脚架使用；在支撑杆（23）相对于机臂（21）平移至折叠状态时，支撑杆（23）带动变形杆（22）转动，使变形杆（22）的两端分别与机臂（21）以及支撑杆（23）成第二预设夹角，第二预设夹角小于第一预设夹角。

Description

无人飞行器的机架组件及无人飞行器 技术领域
本发明涉及无人飞行器的脚架领域，尤其涉及一种无人飞行器的机架组件及无人飞行器。
背景技术
无人飞行器的脚架一般设计为固定脚架或可折叠脚架。固定脚架的设计比较简单，能够支撑机身即可，但无人飞行器飞行过程中，固定脚架由于不可折叠，可能会遮挡挂载在机身下方的拍摄设备而无法正常拍摄。折叠脚架既可以实现对机身的支撑作用，也可在无人飞行器飞行过程中，在无人飞行器的俯仰方向向上转动，以避免遮挡挂载在机身下方的拍摄设备，但脚架的体积较大，不利于包装及运输。
发明内容
本发明提供一种无人飞行器的机架组件及无人飞行器。
根据本发明的第一方面，提供一种无人飞行器的机架组件，包括中心架以及分别设于所述中心架两侧的两组机臂组件，所述机臂组件包括与所述中心架相连的机臂、变形杆及支撑杆，所述变形杆的两端分别与机臂及支撑杆转动连接，所述支撑杆与所述机臂平行设置；其中，所述支撑杆相对于所述机臂可平行移动，以使所述支撑杆可选择性地处于折叠状态或展开状态；在所述支撑杆相对于所述机臂平移至所述展开状态时，所述支撑杆带动所述变形杆转动，使所述变形杆的两端分别与所述机臂以及所述支撑杆成第一预设夹角，从而使支撑杆作为脚架使用；在所述支撑杆相对于所述机臂平移至所述折叠状态时，所述支撑杆带动所述变形杆转动，使所述变形杆的两端分别与所述机臂以及所述支撑杆成第二预设夹角，所述第二预设夹角小于所述第一预设夹角。
根据本发明的第二方面，提供一种无人飞行器，包括机架组件以及设于所述机架组件的动力装置，所述动力装置用于提供飞行动力给所述无人飞行器；所述机架组件包括中心架以及分别设于所述中心架两侧的两组机臂组件，所述机臂组件包括与所述中心架相连的机臂、变形杆及支撑杆，所述变形杆的两端分别与机臂及支撑杆转动连接，所述支撑杆与所述机臂平行设置；其中，所述支撑杆相对于所述机臂可平行移动，以使所述支撑杆可选择性地处于折叠状态或展开状态；在所述支撑杆相对于所述机臂平移至所述展开状态时，所述支撑杆带动所述变形杆转动，使所述变形杆的两端分别与所述机臂以及所述支撑杆成第一预设夹角，从而使支撑杆作为脚架使用；在所述支撑杆相对于所述机臂平移至所述折叠状态时，所述支撑杆带动所述变形杆转动，使所述变形杆的两端分别与所述机臂以及所述支撑杆成第二预设夹角，所述第二预设 夹角小于所述第一预设夹角。
由以上本发明实施例提供的技术方案可见，本发明通过设置与机臂相平行的支撑杆，并通过支撑杆带动变形杆变形而使得支撑杆相对机臂平行移动，使得支撑杆能够在展开状态和折叠状态之间切换，一方面支撑杆能够对无人飞行器进行支撑，另一方面，支撑杆能够向机臂靠拢，防止支撑杆对挂载在无人飞行器下方的拍摄设备的遮挡，并减小机架组件的体积，方便无人飞行器的包装、运输及无人飞行器在狭小的空间飞行。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一实施例中的机架组件的立体图，揭示了支撑杆相对于机臂为展开状态时的机架组件的结构关系；
图2是本发明一实施例中的机架组件在另一方向上的立体图，揭示了支撑杆相对于机臂为展开状态时的机架组件的结构关系；
图3是本发明一实施例中的机架组件的立体图，揭示了支撑杆相对于机臂为折叠状态时的机架组件的结构关系；
图4是本发明一实施例中的机架组件在另一方向上的立体图，揭示了支撑杆相对于机臂为折叠状态时的机架组件的结构关系。
附图标记：
1：中心架；
2：机臂组件；21：机臂；22：变形杆；23：支撑杆；
3：连接杆；
4：云台组件；41：云台；42：拍摄设备；
5：动力装置。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
下面结合附图，对本发明的无人飞行器的机架组件及无人飞行器进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
参见图1，本发明实施例提供一种无人飞行器的机架组件，所述机架组件可包括中心架1以及分别设于所述中心架1两侧的两组机臂组件2。所述机臂组件2可包括与所述中心架1相连的机臂21、变形杆22及支撑杆23。所述变形杆22的两端分别与机臂21及支撑杆23转动连接，例如，可采用铰接、套设环连接或者其他转动连接方式来实现所述变形杆22与所述机臂21、所述支撑杆23之间的转动连接。
所述支撑杆23与所述机臂21平行设置，并且所述支撑杆23相对于所述机臂21可平行移动，以使所述支撑杆23可选择性地处于折叠状态或展开状态。本实施例中，所述支撑杆23移动的过程中，始终与所述机臂21保持平行关系，以减小机臂组件2的体积。
参见图2，在所述支撑杆23相对于所述机臂21平移至所述展开状态时，所述支撑杆23带动所述变形杆22转动，使所述变形杆22的两端分别与所述机臂21以及所述支撑杆23成第一预设夹角，从而使支撑杆23作为脚架使用。一般是在无人飞行器降落时，使得支撑杆23处于展开状态，支撑杆23可作为脚架对无人飞行器进行支撑，以保证无人飞行器能够平稳地降落至目的地。
结合图3和图4，在所述支撑杆23相对于所述机臂21平移至所述折叠状态时，所述支撑杆23带动所述变形杆22转动，使所述变形杆22的两端分别与所述机臂21以及所述支撑杆23成第二预设夹角，所述第二预设夹角小于所述第一预设夹角。通常在无人飞行器执行任务(航拍)时或者包装、运输无人飞行器的过程中，将支撑杆23设定为折叠状态，能够避免无人飞行器航拍时支撑杆23和变形杆22对搭载在无人飞行器上的拍摄设备42的遮挡，并减小机臂组件2的体积，方便包装与运输，降低成本。
本发明实施例中，通过设置与机臂21相平行的支撑杆23，并通过支撑杆23带动变形杆22变形而使得支撑杆23相对机臂21平行移动，使得支撑杆23能够在展开状态和折叠状态之间切换，一方面支撑杆23能够对无人飞行器进行支撑，另一方面，支撑杆23能够向机臂21靠拢，防止支撑杆23对挂载在无人飞行器下方的拍摄设备42的遮挡，并减小机架组件的体积，方便无人飞行器的包装、运输及无人飞行器在狭小的空间飞行。
其中，所述变形杆22与所述机臂21之间的夹角、所述变形杆22与所述支撑杆23之间的夹角为两个内错角。本发明实施例中，当支撑杆23相对于机臂21平移至折叠状态时，以变形杆22的转动方向为参照，所述变形杆22与所述机臂21的夹角为沿着转动方向达到的机臂21部分与变形杆22形成的夹角。当支撑杆23相对于机臂21平移至展开状态时，同样以变形杆22的转动方向为参照，所述变形杆22与所述机臂21的夹角为沿着转动方向远离的机臂21部分与变形杆22形成的夹角。而所述变形 杆22与所述支撑杆23的夹角为所述变形杆22与所述机臂21的夹角的内错角。
所述第一预设夹角和所述第二预设夹角的大小可根据中心架1的重量和挂载在中心架1上的云台组件4的重量等选择，以使得变形杆22相对机臂21成第一预设夹角时，支撑杆23能够作为脚架使用，以支撑无人飞行器，并使得变形架相对机臂21成第二预设夹角时，支撑杆23能够尽量靠近机臂21，防止支撑杆23折叠挂设于中心架1底部的拍摄设备42，并减少无人飞行器的尺寸，方便无人飞行器的包装、运输及无人飞行器在狭小的空间飞行。可选地，所述第一预设夹角可大于等于30度并小于等于90°，例如，第一预设夹角可以为30度、40度、45度、50度、60度、70度、80度、90度或者其他中间范围的角度。而所述第二预设夹角可小于20度。例如，第二预设夹角可以为0°、5度、10度、15度或者其他中间范围的角度。
需要说明的是，所述第一预设夹角和所述第二预设夹角可允许一定范围的波动，例如，±0.1％。以第一预设夹角为90度为了进一步说明，第一夹角在90±0.09度的范围内，所述支撑杆23均处于展开状态。
所述机架组件还可包括止挡部(未显示)，所述支撑杆23相对于所述机臂21平移至所述展开状态时，所述止挡部限制所述变形杆22继续朝着之前的转动方向(即所述支撑杆23相对于所述机臂21平移至所述展开状态对应的方向)转动，以使得所述变形杆22与所述机臂21之间的夹角不超过所述第一预设夹角的最大值(例如，90度)。
另外，所述支撑杆23处于展开状态时，可持续驱动所述支撑杆23相对于所述机臂21朝着之前的转动方向(即所述支撑杆23相对于所述机臂21平移至所述展开状态对应的方向)转动，并在所述止挡部的作用下，能够使得所述支撑杆23稳定地保持在展开状态，从而支撑无人飞行器。
而驱动所述支撑杆23相对于所述机臂21平移的方式可根据需要选择，以满足不同的需求，例如，在其中一实施例中，可采用手动方式驱动所述支撑杆23相对于所述机臂21平移，用户直接操作所述支撑杆23平移，从而带动所述变形杆22转动，以使得所述支撑杆23靠近或者远离所述机臂21，对应使得所述支撑杆23相对于所述机臂21平移至所述折叠状态或者所述展开状态。
在另一实施例中，也可采用电动方式驱动所述支撑杆23相对于所述机臂21平移。所述机架组件还可包括驱动机构(未显示)，所述驱动机构驱动所述变形杆22转动或者驱动所述支撑杆23相对于所述机臂21平移，以使所述支撑杆23靠近或者远离所述机臂21，对应使得所述支撑杆23相对于所述机臂21平移至所述折叠状态或者所述展开状态。其中，所述驱动机构可选择为电机或者其他驱动机构。
本发明实施例中，所述支撑杆23靠近或者远离所述机臂21的过程中，所述支撑杆23与所述机臂21始终平行，以减小机臂组件2的体积，提高无人飞行器飞行的 安全性。
参见图1，本实施例中，两组所述机臂组件2的所述机臂21相互平行间隔设置，结构简单，机架组件的平衡性较好。当然，两组所述机臂组件2的所述机臂21的排布方式不限于此，可根据实际情况设定两组所述机臂组件2的所述机臂21的排布方式。
所述变形杆22的数量可根据机臂组件2的稳定性要求选择，例如，每组机臂组件2的变形杆22可为一根、两根或者两根以上。例如，每组机臂组件2的变形杆22至少两根，从而保证机臂组件2的稳定性。在一具体实现方式中，每组机臂组件2的变形杆22为两根，每组机臂组件2机臂21、变形杆22和支撑杆23形成四连杆机构，两根变形杆22在保证所述支撑杆23能够平稳地相对于所述机臂21平移的同时，还能尽量减小机臂组件2的重量。
变形杆22的排布方式也可根据机臂组件2的稳定性要求设定，例如，每组机臂组件2的至少两根所述变形杆22可互相平行，或者交叉排布。其中，变形杆22平行设置使得支撑杆23相对于机臂21平移至折叠状态后，机臂21、变形杆22以及支撑杆23三者形成的结构在空间上的体积可达到最小。而变形杆22交叉排布，能够使得机臂组件2的稳定性较强。
本发明实施例中，至少两根所述变形杆22的两端分别与机臂21及支撑杆23转动连接，使得变形杆22可相对机臂21和支撑杆23分别转动，以保持支撑杆23和机臂21始终平行。
以下实施例将以每组机臂组件2的至少两根所述变形杆22互相平行设置，并采用电动方式驱动所述支撑杆23相对于所述机臂21平移为例进一步介绍每组机臂组件2中的支撑杆23相对于机臂21平移的运动过程。
所述驱动机构可驱动至少两根所述变形杆22朝着同一方向转动，以使所述支撑杆23靠近或远离所述机臂21。例如，在其中一实施例中，所述变形杆22在所述驱动机构的驱动下均朝着顺时针方向转动，以使得所述支撑杆23相对所述机臂21平移至折叠状态。所述变形杆22在所述驱动机构的驱动下均朝着逆时针方向转动，以使得所述支撑杆23相对所述机臂21平移至展开状态。在另一实施例中，所述变形杆22在所述驱动机构的驱动下均朝着顺时针方向转动，以使得所述支撑杆23相对所述机臂21平移至展开状态。所述变形杆22在所述驱动机构的驱动下均朝着逆时针方向转动，以使得所述支撑杆23相对所述机臂21平移至折叠状态。
当然，在其他实施例中，至少两根所述变形杆22也可在所述驱动机构的驱动下，朝着不同的方向转动，例如，其中一部分变形杆22朝着顺时针转动，另一部分变形杆22朝着逆时针转动，从而使得变形杆22能够在折叠状态和展开状态之间切换。本发明对变形杆22的转动方向不作限定。
结合图3和图4，相邻两根变形杆22之间的距离等于或者大于所述变形杆22 的长度，支撑杆23为折叠状态时，变形杆22的一侧(非转动侧)完全贴合机臂21，另一侧完全贴合支撑杆23，从而使得机臂组件2的体积最小，便于无人飞行器执行任务以及无人飞行器的包装与运输。具体而言，所述驱动机构驱动所述变形杆22转动至第一位置(能够使得所述支撑杆23处于折叠状态的位置)，所述变形杆22夹设在所述机臂21和所述支撑杆23之间，所述变形杆22的两侧分别紧贴所述机臂21及所述支撑杆23，即变形杆22与机臂21之间的夹角为0度，变形杆22与支撑杆23之间的夹角也为0度，使得机架组件的尺寸达到最小。
又参见图1，所述机架组件还可包括连接杆3，所述机臂21与所述中心架1通过所述连接杆3固定连接。其中，中心架1与连接杆3可一体成型设置，结构简单，强度大。当然，中心架1与连接杆3也可分体设置，例如，连接杆3可折叠连接在中心架1上，方便折叠收纳。当中心架1与连接杆3也可分体设置时，可选地，连接杆3的一端连接中心架1，另一端连接机臂21。可选地，参见图1，中心架1连接在连接杆3的中部，连接杆3的两端分别连接机臂21。
所述连接杆3的数量可根据需要设定，以满足无人飞行器的稳定性要求，例如，可为两根或者两根以上。本实施例中，所述连接杆3为两根，且平行间隔设置，中心架1连接在两个连接杆3之间。
当所述支撑杆23在折叠状态与展开状态之间切换时，所述驱动机构驱动至少两根所述变形杆22绕与所述支撑杆23相垂直的垂线转动，以使所述支撑杆23靠近或远离所述机臂21，从而实现支撑杆23的折叠或展开。
另外，所述驱动机构还能够驱动至少两根所述变形杆22绕所述机臂21的中轴线转动，以调节所述变形杆22相对所述垂线的夹角，使得支撑杆23作为脚架使用时，变形杆22相对所述垂线的夹角适中，提高支撑的稳定性，类似于折叠脚架。
又参见图1，所述中心架1的底部可用于挂载云台组件4，两组所述机臂组件2分别位于所述云台组件4的两侧，从而避免机臂组件2对云台组件4的遮挡。其中，所述云台组件4可包括连接在所述中心架1底部的云台41以及搭载在所述云台41上的拍摄设备42。所述驱动机构驱动所述变形杆22转动至第一位置(能够使得所述支撑杆23处于折叠状态的位置)或者驱动所述支撑杆23相对于所述机臂21平移至折叠状态，所述变形杆22夹设在所述机臂21和所述支撑杆23之间，所述机臂组件2位于所述拍摄设备42的上方。无论是所述变形杆22转动至第一位置，还是所述支撑杆23相对于所述机臂21平移至折叠状态，最终所述支撑杆23为折叠状态，机臂组件2位于拍摄设备42的上方而不会遮挡拍摄设备42，拍摄设备42能够360度旋转并进行拍摄。
进一步地，所述变形杆22和所述支撑杆23均位于所述机臂21的底部，以减小机臂组件2在水平面上的尺寸。当然，所述变形杆22和所述支撑杆23也可位所述 机臂21远离所述中心架1的一侧。
结合图1和图4，本发明实施例还提供一种无人飞行器，所述无人飞行器可包括上述机架组件以及设于所述机架组件的动力装置5，所述动力装置5用于提供飞行动力给所述无人飞行器。
其中，所述动力装置5可包括螺旋桨组件。
所述无人飞行器还可包括云台组件4，挂设于中心架1的底部。其中，所述云台组件4可包括连接在所述中心架1底部的云台41以及搭载在所述云台41上的拍摄设备42。所述云台41可为两轴云台或者三轴云台等。
本发明实施例中，所述无人飞行器可为四旋翼无人飞行器，但并不限于四旋翼无人飞行器，例如，还可为八旋翼无人飞行器等。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的无人飞行器的机架组件及无人飞行器进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (32)

  1. 一种无人飞行器的机架组件，包括中心架以及分别设于所述中心架两侧的两组机臂组件，其特征在于，所述机臂组件包括与所述中心架相连的机臂、变形杆及支撑杆，所述变形杆的两端分别与机臂及支撑杆转动连接，所述支撑杆与所述机臂平行设置；
    其中，所述支撑杆相对于所述机臂可平行移动，以使所述支撑杆可选择性地处于折叠状态或展开状态；
    在所述支撑杆相对于所述机臂平移至所述展开状态时，所述支撑杆带动所述变形杆转动，使所述变形杆的两端分别与所述机臂以及所述支撑杆成第一预设夹角，从而使支撑杆作为脚架使用；
    在所述支撑杆相对于所述机臂平移至所述折叠状态时，所述支撑杆带动所述变形杆转动，使所述变形杆的两端分别与所述机臂以及所述支撑杆成第二预设夹角，所述第二预设夹角小于所述第一预设夹角。
  2. 根据权利要求1所述的机架组件，其特征在于，所述第一预设夹角大于等于30度并小于等于90度，所述第二预设夹角小于20度。
  3. 根据权利要求1所述的机架组件，其特征在于，两组所述机臂组件的所述机臂相互平行间隔设置。
  4. 根据权利要求3所述的机架组件，其特征在于，每组机臂组件的变形杆至少两根，至少两根所述变形杆的两端分别与机臂及支撑杆转动连接。
  5. 根据权利要求4所述的机架组件，其特征在于，每组机臂组件的变形杆包括两根。
  6. 根据权利要求4所述的机架组件，其特征在于，至少两根所述变形杆互相平行。
  7. 根据权利要求6所述的机架组件，其特征在于，还包括驱动机构，所述驱动机构驱动所述变形杆转动或者驱动所述支撑杆相对于所述机臂平移，以使所述支撑杆靠近或者远离所述机臂，对应使得所述支撑杆相对于所述机臂平移至所述折叠状态或者所述展开状态。
  8. 根据权利要求7所述的机架组件，所述驱动机构驱动至少两根所述变形杆朝着同一方向转动，以使所述支撑杆靠近或远离所述机臂。
  9. 根据权利要求8所述的机架组件，其特征在于，相邻两根变形杆之间的距离等于或者大于所述变形杆的长度。
  10. 根据权利要求9所述的机架组件，其特征在于，所述驱动机构驱动所述变形杆转动至第一位置，所述变形杆夹设在所述机臂和所述支撑杆之间，所述变形杆的两侧分别紧贴所述机臂及所述支撑杆。
  11. 根据权利要求7所述的机架组件，其特征在于，还包括连接杆，所述机臂与所述中心架通过所述连接杆固定连接；
    所述驱动机构驱动至少两根所述变形杆绕与所述支撑杆相垂直的垂线转动，以使 所述支撑杆靠近或远离所述机臂。
  12. 根据权利要求11所述的机架组件，其特征在于，所述驱动机构还驱动至少两根所述变形杆绕所述机臂的中轴线转动，以调节所述变形杆相对所述垂线的夹角。
  13. 根据权利要求4所述的机架组件，其特征在于，至少两根所述变形杆交叉排布。
  14. 根据权利要求7所述的机架组件，其特征在于，所述中心架底部用于挂载云台组件，两组所述机臂组件分别位于所述云台组件的两侧。
  15. 根据权利要求14所述的机架组件，其特征在于，所述云台组件包括连接在所述中心架底部的云台以及搭载在所述云台上的拍摄设备；
    所述驱动机构驱动所述变形杆转动至第一位置或者驱动所述支撑杆相对于所述机臂平移至所述折叠状态，所述变形杆夹设在所述机臂和所述支撑杆之间，所述机臂组件位于所述拍摄设备的上方。
  16. 根据权利要求15所述的机架组件，其特征在于，所述变形杆和所述支撑杆均位于所述机臂的底部。
  17. 一种无人飞行器，其特征在于，包括机架组件以及设于所述机架组件的动力装置，所述动力装置用于提供飞行动力给所述无人飞行器；
    所述机架组件包括中心架以及分别设于所述中心架两侧的两组机臂组件，所述机臂组件包括与所述中心架相连的机臂、变形杆及支撑杆，所述变形杆的两端分别与机臂及支撑杆转动连接，所述支撑杆与所述机臂平行设置；
    其中，所述支撑杆相对于所述机臂可平行移动，以使所述支撑杆可选择性地处于折叠状态或展开状态；
    在所述支撑杆相对于所述机臂平移至所述展开状态时，所述支撑杆带动所述变形杆转动，使所述变形杆的两端分别与所述机臂以及所述支撑杆成第一预设夹角，从而使支撑杆作为脚架使用；
    在所述支撑杆相对于所述机臂平移至所述折叠状态时，所述支撑杆带动所述变形杆转动，使所述变形杆的两端分别与所述机臂以及所述支撑杆成第二预设夹角，所述第二预设夹角小于所述第一预设夹角。
  18. 根据权利要求17所述的无人飞行器，其特征在于，所述第一预设夹角大于等于30度并小于等于90度，所述第二预设夹角小于20度。
  19. 根据权利要求17所述的无人飞行器，其特征在于，两组所述机臂组件的所述机臂相互平行间隔设置。
  20. 根据权利要求19所述的无人飞行器，其特征在于，每组机臂组件的变形杆至少两根，至少两根所述变形杆的两端分别与机臂及支撑杆转动连接。
  21. 根据权利要求20所述的无人飞行器，其特征在于，每组机臂组件的变形杆包括两根。
  22. 根据权利要求20所述的无人飞行器，其特征在于，至少两根所述变形杆互相 平行。
  23. 根据权利要求22所述的无人飞行器，其特征在于，还包括驱动机构，所述驱动机构驱动所述变形杆转动或者驱动所述支撑杆相对于所述机臂平移，以使所述支撑杆靠近或者远离所述机臂对应使得所述支撑杆相对于所述机臂平移至所述折叠状态或者所述展开状态。
  24. 根据权利要求23所述的无人飞行器，所述驱动机构驱动至少两根所述变形杆朝着同一方向转动，以使所述支撑杆靠近或远离所述机臂。
  25. 根据权利要求24所述的无人飞行器，其特征在于，相邻两根变形杆之间的距离等于或者大于所述变形杆的长度。
  26. 根据权利要求25所述的无人飞行器，其特征在于，所述驱动机构驱动所述变形杆转动至第一位置，所述变形杆夹设在所述机臂和所述支撑杆之间，所述变形杆的两侧分别紧贴所述机臂及所述支撑杆。
  27. 根据权利要求23所述的无人飞行器，其特征在于，还包括连接杆，所述机臂与所述中心架通过所述连接杆固定连接；
    所述驱动机构驱动至少两根所述变形杆绕与所述支撑杆相垂直的垂线转动，以使所述支撑杆靠近或远离所述机臂。
  28. 根据权利要求27所述的无人飞行器，其特征在于，所述驱动机构还驱动至少两根所述变形杆绕所述机臂的中轴线转动，以调节所述变形杆相对所述垂线的夹角。
  29. 根据权利要求20所述的无人飞行器，其特征在于，至少两根所述变形杆交叉排布。
  30. 根据权利要求23所述的无人飞行器，其特征在于，还包括云台组件，所述云台组件挂载于所述中心架的底部，两组所述机臂组件分别位于所述云台组件的两侧。
  31. 根据权利要求30所述的无人飞行器，其特征在于，所述云台组件包括连接在所述中心架底部的云台以及搭载在所述云台上的拍摄设备；
    所述驱动机构驱动所述变形杆转动至第一位置或者驱动所述支撑杆相对于所述机臂平移至所述折叠状态，所述变形杆夹设在所述机臂和所述支撑杆之间，所述机臂组件位于所述拍摄设备的上方。
  32. 根据权利要求31所述的无人飞行器，其特征在于，所述变形杆和所述支撑杆均位于所述机臂的底部。
PCT/CN2017/099325 2017-08-28 2017-08-28 无人飞行器的机架组件及无人飞行器 WO2019041097A1 (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/CN2017/099325 WO2019041097A1 (zh) 2017-08-28 2017-08-28 无人飞行器的机架组件及无人飞行器
CN201780004878.4A CN108513558B (zh) 2017-08-28 2017-08-28 无人飞行器的机架组件及无人飞行器
EP17923857.1A EP3677502A4 (en) 2017-08-28 2017-08-28 FRAME ARRANGEMENT OF UNMANNED AIRCRAFT AND UNMANNED AIRCRAFT
US16/801,657 US20200290719A1 (en) 2017-08-28 2020-02-26 Frame assembly of unmanned aerial vehicle, and unmanned aerial vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/099325 WO2019041097A1 (zh) 2017-08-28 2017-08-28 无人飞行器的机架组件及无人飞行器

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/801,657 Continuation US20200290719A1 (en) 2017-08-28 2020-02-26 Frame assembly of unmanned aerial vehicle, and unmanned aerial vehicle

Publications (1)

Publication Number Publication Date
WO2019041097A1 true WO2019041097A1 (zh) 2019-03-07

Family

ID=63375360

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/099325 WO2019041097A1 (zh) 2017-08-28 2017-08-28 无人飞行器的机架组件及无人飞行器

Country Status (4)

Country Link
US (1) US20200290719A1 (zh)
EP (1) EP3677502A4 (zh)
CN (1) CN108513558B (zh)
WO (1) WO2019041097A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110816809A (zh) * 2019-12-11 2020-02-21 歌尔股份有限公司 机臂组件和无人机

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112124554A (zh) * 2019-06-25 2020-12-25 北京京东乾石科技有限公司 无人机机身及无人机
CN211969730U (zh) * 2020-03-30 2020-11-20 南京达索航空科技有限公司 一种无人机折叠机构
CN111924091B (zh) * 2020-08-18 2021-11-16 东台汇赢创融科技发展有限公司 一种适用于起伏路面停靠的可装卸式飞机起落架
CN112572797A (zh) * 2020-12-28 2021-03-30 广西电网有限责任公司梧州供电局 一种无人机的高压电力塔涉鸟异物自动清除方法及系统
JP2023148642A (ja) * 2022-03-30 2023-10-13 本田技研工業株式会社 飛行体の着陸脚

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB861407A (en) * 1959-02-12 1961-02-22 Blackburn Group Ltd An aircraft of the rotating wing type
CN104590556A (zh) * 2014-10-31 2015-05-06 湖北易瓦特科技有限公司 一种可折叠式无人机
CN104890865A (zh) * 2015-06-01 2015-09-09 深圳市大疆创新科技有限公司 机臂组件、机架及无人机
CN204688414U (zh) * 2015-06-01 2015-10-07 深圳市大疆创新科技有限公司 机臂组件、机架及无人机
CN205652331U (zh) * 2016-04-14 2016-10-19 深圳市大疆创新科技有限公司 无人飞行器的机架及多旋翼无人飞行器
CN106184729A (zh) * 2016-07-18 2016-12-07 山东龙翼航空科技有限公司 一种多旋翼无人机
CN106218859A (zh) * 2016-08-19 2016-12-14 浙江智天科技有限公司 一种易拼装的四轴飞行器
CN206012948U (zh) * 2016-08-30 2017-03-15 北方天途航空技术发展（北京）有限公司 脚架可折叠的无人机

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204871591U (zh) * 2015-07-17 2015-12-16 零度智控（北京）智能科技有限公司 一种飞行器可收放起落架及飞行器
CN205087134U (zh) * 2015-09-22 2016-03-16 零度智控（北京）智能科技有限公司 一种仿生起落架及飞行器
CN205345314U (zh) * 2016-01-13 2016-06-29 谈智 便携式旋翼无人机
US20170197714A1 (en) * 2016-01-13 2017-07-13 Wolf-Tek, Llc Drone capable of operating in an aqueous environment
CN205469772U (zh) * 2016-04-06 2016-08-17 成都普蓝特科技有限公司 一种前向折叠型小体积无人机
KR101644151B1 (ko) * 2016-05-12 2016-08-11 (주)원지리정보 지능형 무인항공기를 이용한 3d공간정보 모니터링 시스템

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB861407A (en) * 1959-02-12 1961-02-22 Blackburn Group Ltd An aircraft of the rotating wing type
CN104590556A (zh) * 2014-10-31 2015-05-06 湖北易瓦特科技有限公司 一种可折叠式无人机
CN104890865A (zh) * 2015-06-01 2015-09-09 深圳市大疆创新科技有限公司 机臂组件、机架及无人机
CN204688414U (zh) * 2015-06-01 2015-10-07 深圳市大疆创新科技有限公司 机臂组件、机架及无人机
CN205652331U (zh) * 2016-04-14 2016-10-19 深圳市大疆创新科技有限公司 无人飞行器的机架及多旋翼无人飞行器
CN106184729A (zh) * 2016-07-18 2016-12-07 山东龙翼航空科技有限公司 一种多旋翼无人机
CN106218859A (zh) * 2016-08-19 2016-12-14 浙江智天科技有限公司 一种易拼装的四轴飞行器
CN206012948U (zh) * 2016-08-30 2017-03-15 北方天途航空技术发展（北京）有限公司 脚架可折叠的无人机

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3677502A4 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110816809A (zh) * 2019-12-11 2020-02-21 歌尔股份有限公司 机臂组件和无人机

Also Published As

Publication number Publication date
US20200290719A1 (en) 2020-09-17
CN108513558A (zh) 2018-09-07
EP3677502A1 (en) 2020-07-08
EP3677502A4 (en) 2021-04-07
CN108513558B (zh) 2021-06-01

Similar Documents

Publication Publication Date Title
WO2019041097A1 (zh) 无人飞行器的机架组件及无人飞行器
US10414483B2 (en) Tiltrotor articulated wing extension
EP3632793B1 (en) Unmanned aerial vehicle and landing gear thereof
CN112744348B (zh) 无人飞行器的机架、无人飞行器及其使用方法
KR101863157B1 (ko) 휴대용 가방으로 운반 가능한 접이식 무인 비행체
WO2019007133A1 (zh) 一种起落架及具有此起落架的无人机
WO2018152792A1 (zh) 可折叠机架、机架组件及无人飞行器
WO2017025060A1 (zh) 能垂直起降的固定翼飞机及其飞行控制方法
WO2018098993A1 (zh) 一种螺旋桨双轴矢量伺服变向装置及垂直起降固定翼无人机
KR102184640B1 (ko) 멀티로터 무인 비행체
CN102556336A (zh) 一种折叠翼无人机机翼快速展开装置
WO2019024541A1 (zh) 一种机臂及无人机
WO2019007130A1 (zh) 一种起落架及具有此起落架的无人机
GB2588478A (en) A coaxial double-propeller vertical take-off and landing aircraft using moving mass control and a control method thereof
WO2019062139A1 (zh) 一种无人飞行器
CN108146618B (zh) 起落架及具有此起落架的无人飞行器
EP3564119B1 (en) Multi-rotor unmanned aerial vehicle
WO2018076470A1 (zh) 无人飞行器
US20220227485A1 (en) Unmanned aerial vehicle folding landing gear
WO2022206852A1 (zh) 一种可倾转机翼及无人机
CN204568056U (zh) 一种横向交错折叠四旋翼飞行器
WO2020057115A1 (zh) 一种机臂折叠组件及无人机
CN209441606U (zh) 一种机臂折叠件
CN209683992U (zh) 一种具有折叠天线的无人机
CN208715464U (zh) 一种可折叠的多旋翼无人机

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17923857

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2017923857

Country of ref document: EP

Effective date: 20200330