WO2019041174A1 - 无人机 - Google Patents

无人机 Download PDF

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Publication number
WO2019041174A1
WO2019041174A1 PCT/CN2017/099700 CN2017099700W WO2019041174A1 WO 2019041174 A1 WO2019041174 A1 WO 2019041174A1 CN 2017099700 W CN2017099700 W CN 2017099700W WO 2019041174 A1 WO2019041174 A1 WO 2019041174A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
disposed
assembly
driving mechanism
drone
Prior art date
Application number
PCT/CN2017/099700
Other languages
English (en)
French (fr)
Inventor
徐振华
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 CN201780005482.1A priority Critical patent/CN108513563B/zh
Priority to PCT/CN2017/099700 priority patent/WO2019041174A1/zh
Publication of WO2019041174A1 publication Critical patent/WO2019041174A1/zh
Priority to US16/748,998 priority patent/US20200164957A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
    • 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
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/37—Rotors having articulated joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
    • B64D27/02—Aircraft characterised by the type or position of power plant
    • B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D2045/0085—Devices for aircraft health monitoring, e.g. monitoring flutter or vibration
    • 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
    • B64U20/80—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
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the invention relates to the technical field of drones, in particular to a foldable drone.
  • the present invention provides a drone comprising a fuselage body and a plurality of arm assemblies disposed on the fuselage body, each of the arm assemblies including an arm coupled to the fuselage body and a driving mechanism for driving the arm to rotate; the arm includes an unfolded state and a folded state, each of the driving mechanisms driving the corresponding arm to rotate relative to the body, such that the arm is in an unfolded state Switch between and collapsed state.
  • the drone of the invention drives the arm to open or close by the driving mechanism, thereby realizing the automatic opening or closing of the arm of the drone, which simplifies the operation steps of the user and is more convenient for the user to use.
  • FIG. 1 is a perspective view of a drone in a folded state according to an embodiment of the invention.
  • Figure 2 is an exploded perspective view of the drone shown in Figure 1.
  • FIG 3 is a perspective view of a drone in an unfolded state according to an embodiment of the invention.
  • FIG. 4 is a perspective view of a drone in an unfolding/folding process according to an embodiment of the invention.
  • Figure 5 is an enlarged schematic view of a portion A in Figure 2 .
  • Figure 6 is a bottom plan view of the drone shown in Figure 3.
  • Fig. 7 is an enlarged schematic view showing a portion B in Fig. 6.
  • Fig. 8 is a schematic view showing the internal structure of the unmanned aerial vehicle shown in Fig. 3.
  • Figure 9 is an enlarged schematic view of the portion C in Figure 8.
  • FIG. 10 and FIG. 11 are schematic diagrams showing the connection of the arm and the driving mechanism of a drone according to an embodiment of the invention.
  • the present invention provides a drone comprising a fuselage body and a plurality of arm assemblies disposed on the fuselage body, each of the arm assemblies including an arm coupled to the fuselage body and a driving mechanism for driving the arm to rotate; the arm includes an unfolded state and a folded state, each of the driving mechanisms driving the corresponding arm to rotate relative to the body, such that the arm is in an unfolded state Switch between and collapsed state.
  • the drone of the invention drives the arm to open or close by the driving mechanism, thereby realizing the automatic opening or closing of the arm of the drone, which simplifies the operation steps of the user and is more convenient for the user to use.
  • the unmanned aerial vehicle 1 provided by the embodiment of the present invention includes a body 10, a plurality of arm assemblies 201, 202, a controller, and a battery 50. And a pan/tilt camera 60.
  • the plurality of arm assemblies 201, 202 can be disposed on The peripheral side of the body main body 10.
  • the top of the body 10 can be provided with a receiving slot 100.
  • the battery 50 is disposed in the receiving slot 100 and electrically connected to the controller for supplying power to the controller.
  • the controller may be disposed on a motor board 30.
  • the motor board 30 may be disposed in the receiving slot 100 and attached to the bottom of the battery 50.
  • a heat dissipation plate may be disposed on the bottom of the receiving groove 100, and the heat dissipation plate is disposed on the motor plate 30 to function to dissipate heat from the motor plate 30.
  • the pan/tilt camera 60 may be disposed at the front of the body main body 10.
  • the pan-tilt camera 60 includes a pan-tilt bracket and a camera mounted on the pan-tilt bracket.
  • the pan/tilt bracket is a three-axis pan/tilt bracket, and the pan-tilt bracket includes a yaw axle assembly, a cross roller assembly movably coupled to the yaw axle assembly, and the cross roller assembly An articulated pitch axis assembly, the camera being mounted on the pitch axis assembly.
  • the arm assemblies 201, 202 can include arms 221, 222, drive mechanisms 211, 212, and a rotor assembly that are coupled to the fuselage body 10.
  • the driving mechanisms 211, 212 are electrically connected to the controller and can drive the corresponding arms 221, 222 to rotate relative to the body 10, thereby realizing the portable function of the unfoldable arm of the drone 1.
  • the rotor assembly includes a motor 70 disposed on the arms 221, 222 and a rotor (not shown) coupled to the motor 70. The motor 70 drives the rotor to rotate, thereby implementing the flight function of the drone 1.
  • the driving mechanisms 211, 212 are disposed at one ends of the arms 221, 222, and the motor 70 of the rotor assembly is disposed at one end of the arms 221, 222 away from the driving mechanisms 211, 212, and the arms 221, 222
  • the body body 10 is connected to the body body 10 via corresponding drive mechanisms 211, 212.
  • the fuselage main body 10 may further be provided with a head indicator light 410 for indicating the direction of the head of the drone, a status indicator light 420 for indicating the state of the drone, and The power indicator light 430 indicating the battery 50 power.
  • the head indicator light 410, the status indicator light 420, and the power indicator light 430 can all adopt LED indicators.
  • the head indicator light 410 is disposed at the body 10
  • the front arms 221 and 222 are used to indicate the direction of the nose of the drone, and the red light is always on after the drone is started, which is convenient for the user to recognize.
  • the power indicator 430 is disposed on the battery 50.
  • the number of the power indicator lamps 430 is four. The more the battery indicator 430 is lit, the higher the battery 50 is.
  • the status indicator 420 is disposed at the rear of the body 10 to indicate the status of the current drone.
  • the drone can be used with the remote control.
  • the GPS positioning system, vision system, alarm system, sensor and compass can also be set inside.
  • the status indicator 420 can flash different colors of lights to indicate the different status of the drone. For example, when the status indicator 420 blinks continuously with a red, green, and yellow light, it indicates a system self-test. When the status indicator 420 flashes alternately with a yellow-green light, it indicates warm-up. When the status indicator 420 flashes slowly in green, it indicates that GPS positioning is used. When the status indicator 420 flashes in green, it indicates that the vision system is used for positioning.
  • the status indicator 420 flashes slowly with a yellow light, it indicates that there is no GPS and no visual positioning.
  • the status indicator 420 flashes green it indicates the brake.
  • the remote control signal is interrupted.
  • the status indicator 420 flashes slowly with a red light, it indicates a low battery alarm.
  • the status indicator 420 flashes red, it indicates a severe low battery alarm.
  • the status indicator 420 flashes at a red interval, it indicates that the placement is uneven or the sensor error is too large.
  • the status indicator 420 is steady red, it indicates a serious error.
  • the status indicator 420 flashes alternately with a red and yellow light, the compass data is incorrect and needs to be calibrated.
  • the arms 221, 222 include an expanded state and a folded state.
  • the arms 221 and 222 are in a folded state, and each of the arms 221 and 222 is folded and fitted to the circumferential side of the body 10 as shown in FIG.
  • the arms 221 and 222 are in an unfolded state, and each of the arms 221 and 222 is fully deployed with respect to the body 10 as shown in FIG.
  • the controller is configured to send a control signal to the driving mechanism 211, 212, so that the driving mechanism 211, 212 drives the corresponding arm 221, 222 to rotate relative to the body 10 to realize that the arms 221, 222 are Switch between the expanded state and the collapsed state.
  • the arms 221, 222 when the arms 221, 222 are rotated from the folded state to the unfolded state, the arms 221, 222 are firstly folded from the side of the body main body 10 as shown in FIG.
  • the direction of the body 10 is rotated to In the intermediate position shown in Fig. 4, it is further rotated to a position where the opposite body main body 10 is fully deployed as shown in Fig. 3.
  • the arms 221, 222 are first rotated from the position of the body main body 10 as shown in FIG. 3 to the body main body 10 as shown in FIG.
  • the intermediate position shown is gradually rotated to a position where the fold as shown in Fig. 1 is attached to the peripheral side of the body main body 10.
  • the UAV 1 of the present invention sends a control signal to the drive mechanisms 211, 212 through the controller, and the drive mechanisms 211, 212 drive the corresponding arms 221, 222 to open or close up to realize the drone.
  • the arms 221 and 222 of the 1 are automatically opened or closed, which increases the fun and intelligence of the product, simplifies the operation steps of the user, and is more convenient for the user to use, thereby improving the user experience and the market competitiveness of the product.
  • control signals sent by the controller to the drive mechanisms 211, 212 include a first signal for controlling the drive mechanisms 211, 212 to rotate in the first direction, thereby driving the drive mechanisms 211, 212.
  • the corresponding arms 221, 222 are rotated in the first direction.
  • the driving mechanisms 211, 212 drive the arms 221, 222 to rotate in the first direction means that the arms 221, 222 are rotated from the folded state to the unfolded state, that is, the driving mechanisms 211, 212 drive the arms 221, 222. Rotate in a direction away from the body 10 .
  • the controller synchronously transmits the first signal to the respective drive mechanisms 211, 212 of the plurality of arm assemblies 201, 202 to cause the plurality of arm assemblies
  • the respective drive mechanisms 211, 212 of 201, 202 drive the corresponding arms 221, 222 to rotate synchronously to the deployed state with respect to the body main body 10.
  • the control signal sent by the controller to the drive mechanisms 211, 212 includes a second signal for controlling the rotation of the drive mechanisms 211, 212 in the second direction to drive the drive mechanisms 211, 212.
  • the corresponding arms 221, 222 are rotated in the second direction.
  • the second direction is opposite to the first direction.
  • the driving mechanisms 211, 212 drive the arms 221, 222 to rotate in the second direction means that the arms 221, 222 are rotated from the deployed state to the folded state, that is, the driving mechanisms 211, 212 drive the arms 221, 222. Rotate in a direction close to the body 10 .
  • the controller goes to the The respective drive mechanisms 211, 212 of the arm assemblies 201, 202 synchronously transmit the second signals such that the respective drive mechanisms 211, 212 of the plurality of arm assemblies 201, 202 drive the corresponding arms 221, 222 relative to the
  • the body main body 10 is synchronously rotated to a folded state.
  • the drone 1 further includes a switch button 40 for opening and closing the drone 1, the switch button 40 being disposed on the battery 50 and electrically connected to the controller.
  • the switch button 40 When the user presses the switch button 40 to activate the drone 1, the respective drive mechanisms 211, 212 of the plurality of arm assemblies 201, 202 drive the corresponding arms 221, 222 to open until they are rotated to the deployed state.
  • the switch button 40 When the user presses the switch button 40 to turn off the drone 1, the respective drive mechanisms 211, 212 of the plurality of arm assemblies 201, 202 drive the corresponding arms 221, 222 to be stowed until they are rotated to the folded state.
  • the arm assemblies 201, 202 further include stopping portions 231, 232, and the stopping portions 231, 232 are disposed on the machine along the rotating direction of the arms 221, 222.
  • the body 10 the direction of rotation refers to the direction in which the arms 221, 222 are rotated from the folded state to the deployed state.
  • the arms 221 and 222 are rotated from the folded state to the unfolded state, the arms 221 and 222 are abutted against the stopping portions 231 and 232, and the stopping portions 231 and 232 can be used for the arms 221 and 222.
  • the arms 221, 222 are attached to the body main body 10.
  • control signal sent by the controller to the driving mechanisms 211, 212 includes a third signal for controlling the driving mechanism 211, 212 to continuously rotate in the first direction, thereby driving the driving mechanism 211, 212 to drive the corresponding arm 221 , 222 continues to rotate in the first direction.
  • the controller sends the third signal to the respective drive mechanisms 211, 212 of the plurality of arm assemblies 201, 202 such that the plurality of arm assemblies 201
  • the respective driving mechanisms 211, 222 of the 202 drive the corresponding arm 221, 222 to abut against the stopping portions 231, 232 with a continuous driving force, that is, after the arms 221, 222 are rotated to the expanded state
  • the stopping portions 231, 232 stop the movement of the arms 221, 222, but the battery 50 will continue to supply power to the driving mechanisms 211, 212 to provide a certain torque to maintain the deployed torque of the arms 221, 222, preventing the drone 1 from The flight process or the collision of the arm 221, 222 at the time of the impact occurs, Until the user presses the switch button 40 to turn off the drone 1, the controller transmits the second signal to the drive mechanisms 211, 212 to cause the drive mechanisms 211, 212 to drive the corresponding arms 221, 222 to be stowed.
  • the drone 1 is a multi-rotor drone.
  • the plurality of arm assemblies 201, 202 include at least two first arm assemblies 201 and at least two second arm assemblies 202, and the at least two first arm assemblies 201 are disposed on the fuselage body 10 The front portion, the at least two second arm assemblies 202 are disposed at a rear portion of the body main body 10.
  • the UAV 1 of the present invention will be described in detail by taking the UAV 1 as a quadrotor UAV as an example.
  • the first arm assembly 201 is two and symmetrically disposed on two sides of the front portion of the body 10 .
  • the second arm assemblies 202 are two, symmetrically disposed on opposite sides of the fuselage main body 10.
  • the first arm assembly 201 includes a first driving mechanism 211 disposed at a front portion of the body main body 10, a first arm 221 connected to the first driving mechanism 211, and a rotating direction along the first arm 221
  • the first stopper portion 231 is provided in the body main body 10.
  • the first driving mechanism 211 is connected to the controller, and the controller sends a control signal to the first driving mechanism 211 to cause the first driving mechanism 211 to drive the first arm 221 to rotate relative to the body main body 10.
  • the first driving mechanism 221 of the first arm assembly 201 is vertically connected with the first arm 211, and the controller controls the first driving mechanism 211 of the first arm assembly 201 in the vertical direction.
  • the first driving mechanism 211 drives the first arm 221 to rotate relative to the body main body 10 in the vertical direction 910, that is, the first driving mechanism 211 drives the first arm 221 to fold back and forth relative to the body 10 . .
  • the second arm assembly 202 includes a second driving mechanism 212 disposed at a rear portion of the body main body 10, a second arm 222 connected to the second driving mechanism 212, and a rotating direction along the second arm 222.
  • the second stop portion 232 is disposed on the body main body 10.
  • the second driving mechanism 212 is connected to the controller, and the controller sends a control signal to the second driving mechanism 212 to cause the second driving mechanism 212 to drive the second arm 222 to rotate relative to the body main body 10.
  • the second driving mechanism 212 of the second arm assembly 202 is obliquely connected with the second arm 222, and the controller controls the second driving mechanism 212 of the second arm assembly 202 to rotate in the horizontal direction 920, so that The second driving mechanism 212 drives the second arm 222 to rotate in the horizontal direction 920 with respect to the body main body 10, that is, the second driving mechanism 212 drives the second arm 222 to fold up and down with respect to the body main body 10.
  • a bottom end of the first arm 221 of the first arm assembly 221 on which the motor 70 is mounted is provided with a stand 80 for the drone 1 to land.
  • the controller may sequentially follow the specified order.
  • the first drive mechanism 211 and the second drive mechanism 212 transmit control commands such that the first arm 221 and the second arm 222 are sequentially opened or closed in accordance with a specified order.
  • the controller After the user activates the drone 1 and the aircraft detects successfully, the controller sequentially transmits the first signal to the first driving mechanism 211 and the second driving mechanism 212 according to the first sequence, so that the first arm 221 and the first The two arms 222 are sequentially rotated to the unfolded state.
  • the first sequence is that the controller first sends a control signal to the first driving mechanism 211, and then sends a control signal to the second driving mechanism 212, that is, the controller first moves to the first driving mechanism 211.
  • the controller sequentially transmits the second signal to the first driving mechanism 211 and the second driving mechanism 212 according to the second sequence, so that the first arm 221 and the first The two arms 222 are sequentially rotated to the folded state.
  • the second order is opposite to the first order.
  • the second sequence is that the controller first sends a control signal to the second driving mechanism 212, and then sends a control signal to the first driving mechanism 211, that is, the controller first moves to the second driving mechanism 212.
  • the first driving mechanism 211 drives the first arm 221 and then retracts, preventing the first arm 221 from preceding the second arm 222.
  • the footrest 80 is blocked by the second arm 222, the first arm 221 cannot be properly stowed.
  • the front side portion of the body main body 10 is provided with a first receiving portion 110, and the first driving mechanism 211 of the first arm assembly 201 is in a vertical direction 910.
  • the first stopping portion 231 of the first arm assembly 201 is located in front of the first receiving portion 110 and is opposite to the first receiving portion. 110 is adjacent to the part.
  • the rear side of the body body 10 is provided with a second receiving portion 120 , and the second driving mechanism 212 of the second arm assembly 202 is disposed in the second receiving portion 120 in the horizontal direction.
  • the second stopping portion 232 of the second arm assembly 202 extends outward from a portion of the body main body 10 above the second receiving portion 120.
  • the first arm 221 includes opposite first and second sidewalls, and the first sidewall of the first arm 221 is provided with a first abutting portion 2214, and the second side of the first arm 221 The wall is provided with a first abutting portion 2215.
  • the first abutting portion 2214 abuts against the first stopping portion 231 .
  • the first abutting portion 2215 is attached to the body main body 10.
  • the second arm 222 includes a first side wall and a second side wall. The first side wall of the second arm 222 is provided with a second abutting portion 2222, and the second side wall of the second arm 222 is provided.
  • the third abutting portion 2223 is provided with a second abutting portion 2224 on the third side wall of the second arm 222 between the first side wall and the second side wall thereof and adjacent to the body main body 10.
  • the second abutting portion 2222 is abutted against the second stopping portion 232 .
  • the third abutting portion 2223 abuts against the second stopping portion 232 , and the second abutting portion 2224 is attached to the body main body 10 .
  • the first driving mechanism 211 is a driving motor
  • the first arm 221 is provided with a first mounting portion 2211 at an end thereof, and the first mounting portion 2211 is installed in the first
  • the inside of a receiving portion 110 is connected to the first driving mechanism 211.
  • the first driving mechanism 211 includes a first motor body 2111 and a first driving shaft 2112 and a first mounting plate 2113 disposed at two ends of the first motor body 2111.
  • the first mounting plate 2113 and the sidewall of the first receiving portion 110 are fixed.
  • the first driving shaft 2112 extends in the vertical direction 910 and is fixed to the first mounting portion 2211.
  • the first receiving portion 110 is provided with a first through hole 111 and a first mounting hole 112.
  • the first mounting plate 2113 is provided with a first connecting hole 2114 corresponding to the first mounting hole 112. As shown in FIG. 6 and FIG. 7 , the first motor body 2111 is disposed through the first through hole 111 , and the first mounting plate 2113 passes through the first fastener 2115 that is disposed through the first connecting hole 2114 and the first mounting hole 112 . (preferably a bolt) is fixed to the side wall of the first housing portion 110.
  • the first through hole 111 may not be disposed on the sidewall of the first receiving portion 110, and the first motor body 2111 is directly fixed to the sidewall of the first receiving portion 110 through the first fastener 2115.
  • the second driving mechanism 212 is a driving motor, and the second mounting portion 2221 is disposed at the end of the second arm 222 , and the second mounting portion 2221 is disposed in the second receiving portion 120 and the second portion
  • the drive mechanism 212 is connected.
  • the second driving mechanism 212 includes a second motor body 2121 and a second driving shaft 2122 and a second mounting plate 2123 disposed at two ends of the second motor body 2121, and a bottom wall of the second mounting plate 2123 and the second receiving portion 120.
  • the second drive shaft 2122 extends along the second axial direction 920 and is fixed to the second mounting portion 2221.
  • the bottom wall of the second receiving portion 120 is provided with a second through hole 121 and a second mounting hole 122.
  • the second mounting plate 2123 is provided with a second connecting hole 2124 corresponding to the second mounting hole 122. As shown in FIG. 8 and FIG. 9 , the second motor body 2121 is disposed through the second through hole 121 , and the second mounting plate 2123 passes through the second fastening hole 2125 that is disposed through the second connecting hole 2124 and the second mounting hole 122 . (preferably a bolt) is fixed to the bottom wall of the second housing portion 120. Certainly, the second through hole 121 may not be disposed in the bottom wall of the second receiving portion 120 , and the second motor main body 2121 is directly fixed to the bottom wall of the second receiving portion 120 through the second fastener 2125 .
  • the first mounting portion 2211 of the first arm 221 is provided with a first receiving cavity 2212 adapted to the first motor body 2111.
  • the bottom wall of the first receiving cavity 2212 is provided with A second receiving cavity 2213 is adapted to the drive shaft 2112.
  • the first motor body 2111 is housed in In the first receiving cavity 2212 , the first driving shaft 2112 is received in the second receiving cavity 2213 and fixed to the first mounting portion 2211 . In this way, the appearance of the first drive mechanism 211 and the first arm 221 can be made flat to save space.
  • the second mounting portion 2221 of the second arm 222 is provided with a third receiving cavity (not shown) adapted to the second motor body 2121, and the bottom wall of the second receiving cavity is provided with the second driving
  • the shaft 2122 is fitted with a fourth receiving cavity (not shown).
  • the second motor main body 2121 is received in the third receiving cavity, and the second driving shaft 2122 is received in the fourth receiving cavity and fixed to the second mounting portion 2221. In this way, the appearance of the first drive mechanism 212 and the second arm 222 can be flattened to save space.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
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Abstract

一种无人机（1）包括机身主体（10）和设置于机身主体（10）的多个机臂组件（201、202），每个机臂组件（201、202）均包括连接于机身主体（10）的机臂（221、222）和用于驱动机臂（221、222）转动的驱动机构（211、212）。机臂（221、222）包括展开状态和折叠状态，每个驱动机构（211、212）驱动对应的机臂（221、222）相对于机身主体（10）转动，使机臂（221、222）在展开状态和折叠状态之间切换。该无人机（1）通过驱动机构（211、212）驱动机臂（221、222）自动打开或收起，简化了用户的操作步骤，更加便于使用。

Description

无人机 技术领域
本发明涉及无人机技术领域，特别涉及一种可折叠的无人机。
背景技术
无人机作为时下最流行的航拍工具，越来越多的消费者选择无人机进行拍摄使用。为满足用户对无人的便携性要求，目前市场上逐渐出现一种可折叠机臂的无人机，这种可折叠式的无人机在机臂收起后体积更小，占用更小的空间，更方便用户携带。
但是，用户在实际使用中，现有的无人机都需要用户手动将机臂展开或收起，才能使用或收起无人机，操作步骤较繁琐。
发明内容
本发明提供一种无人机，包括机身主体和设置于所述机身主体的多个机臂组件，每个所述机臂组件均包括连接于所述机身主体的机臂和用于驱动所述机臂转动的驱动机构；所述机臂包括展开状态和折叠状态，每个所述驱动机构驱动对应的所述机臂相对所述机身主体转动，使得所述机臂在展开状态和折叠状态之间切换。
本发明的无人机，通过驱动机构驱动机臂打开或收起，从而实现无人机的机臂自动打开或收起，简化了用户的操作步骤，更便于用户使用。
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是本发明一实施例示出的一种无人机在折叠状态下的立体示意图。
图2是图1所示的无人机的分解示意图。
图3是本发明一实施例示出的一种无人机在展开状态下的立体示意图。
图4是本发明一实施例示出的一种无人机在展开/折叠过程中的立体示意图。
图5是图2中A处的放大示意图。
图6是图3所示的无人机的仰视图。
图7是图6中B处的放大示意图。
图8是图3所示的无人机的内部结构示意图。
图9是图8中C处的放大示意图。
图10和图11是本发明一实施例示出的一种无人机的机臂和驱动机构的连接示意图。
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。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
在本发明使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
本发明提供一种无人机，包括机身主体和设置于所述机身主体的多个机臂组件，每个所述机臂组件均包括连接于所述机身主体的机臂和用于驱动所述机臂转动的驱动机构；所述机臂包括展开状态和折叠状态，每个所述驱动机构驱动对应的所述机臂相对所述机身主体转动，使得所述机臂在展开状态和折叠状态之间切换。本发明的无人机，通过驱动机构驱动机臂打开或收起，从而实现无人机的机臂自动打开或收起，简化了用户的操作步骤，更便于用户使用。
下面结合附图，对本发明的无人机进行详细说明。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和图2所示，在一可选的实施例中，本发明实施例提供的无人机1，包括机身主体10、多个机臂组件201、202、控制器、的电池50以及云台拍摄器60。在本实施例中，多个机臂组件201、202可以设置于 所述机身主体10的周侧。
机身主体10的顶部可以设有收容槽100，电池50设置于该收容槽100内并与所述控制器电连接，用于向控制器供电。控制器可以设置在一电机板30，电机板30可以设在所述收容槽100内并贴合设置于所述电池50的底部。所述收容槽100的底部可以设置散热板，所述散热板贴合设置于所述电机板30，起到为电机板30散热的作用。
云台拍摄器60可以设置于机身主体10的前部。所述云台拍摄器60包括云台支架和搭载于所述云台支架的拍摄器。可选地，所述云台支架为三轴云台支架，所述云台支架包括偏航轴组件、与所述偏航轴组件活动连接的横滚轴组件、以及与所述横滚轴组件活动连接的俯仰轴组件，所述拍摄器搭载于所述俯仰轴组件。
所述机臂组件201、202可以包括连接于所述机身主体10的机臂221、222、驱动机构211、212以及旋翼组件。其中，所述驱动机构211、212与所述控制器电连接并能够驱动对应的机臂221、222相对机身主体10转动，从而实现无人机1可折叠机臂的便携式功能。所述旋翼组件包括设置于机臂221、222的电机70和连接于电机70的旋翼(未图示)，通过电机70驱动旋翼转动，从而实现无人机1的飞行功能。在本实施例中，驱动机构211、212设置于机臂221、222的一端，所述旋翼组件的电机70设置于机臂221、222上远离驱动机构211、212的一端，机臂221、222通过对应的驱动机构211、212与机身主体10连接。
参见图1至图3所示，所述机身主体10上还可以设有用于指示无人机机头方向的机头指示灯410、用于指示无人机状态的状态指示灯420、以及用于指示电池50电量的电量指示灯430。可选地，机头指示灯410、状态指示灯420以及电量指示灯430均可采用LED指示灯。
在图中所示的例子中，所述机头指示灯410设置在位于机身主体10 前部的机臂221、222上，用于指示无人机的机头方向，无人机启动后将会显示红灯常亮，方便用户进行识别。所述电量指示灯430设置在电池50上，电量指示灯430的数量是四个，电量指示灯430亮起的数量越多，表示电池50的电量越高。
所述状态指示灯420设置在机身主体10的后部，用于指示当前无人机的状态。无人机可以配合遥控器使用，内部还可以设置GPS定位系统、视觉系统、报警系统、传感器及指南针等，状态指示灯420可以闪不同颜色的灯以表明无人机的不同状态。例如，当状态指示灯420以红绿黄灯连续闪烁，表示系统自检。当状态指示灯420以黄绿灯交替闪烁，表示预热。当状态指示灯420以绿灯慢闪，表示使用GPS定位。当状态指示灯420以绿灯双闪，表示使用视觉系统定位。当状态指示灯420以黄灯慢闪，表示无GPS无视觉定位。当状态指示灯420以绿灯快闪，表示刹车。当状态指示灯420以黄灯快闪，表示遥控器信号中断。当状态指示灯420以红灯慢闪，表示低电量报警。当状态指示灯420以红灯快闪，表示严重低电量报警。当状态指示灯420以红灯间隔闪烁，表示放置不平或传感器误差过大。当状态指示灯420以红灯常亮，表示严重错误。当状态指示灯420以红黄灯交替闪烁，表示指南针数据错误，需校准。
参见图1和图3所示，所述机臂221、222包括展开状态和折叠状态。无人机1不工作时，机臂221、222处于折叠状态，各机臂221、222均折叠贴合在机身主体10的周侧，如图1所示。无人机1工作时，机臂221、222处于展开状态，各机臂221、222均相对机身主体10完全展开，如图3所示。所述控制器用于向所述驱动机构211、212发送控制信号，以使得驱动机构211、212驱动对应的所述机臂221、222相对所述机身主体10转动，实现机臂221、222在展开状态和折叠状态之间切换。参见图4所示，机臂221、222从折叠状态转动至展开状态时，各机臂221、222先从如图1所示的折叠贴合在机身主体10周侧的位置沿远离机身主体10的方向转动至 如图4所示的中间位置，再逐步转动至如图3所示的相对机身主体10完全展开的位置。机臂221、222从展开状态转动至折叠状态时，各机臂221、222先从如图3所示的相对机身主体10完全展开的位置沿靠近机身主体10的方向转动至如图4所示的中间位置，再逐步转动至如图1所示的折叠贴合在机身主体10周侧的位置。
由上述实施例可知，本发明的无人机1，通过控制器向驱动机构211、212发送控制信号，由驱动机构211、212驱动对应的机臂221、222打开或收起，实现无人机1的机臂221、222自动打开或收起，增加了产品的使用乐趣和智能程度，简化了用户的操作步骤，更便于用户使用，从而提高用户的使用体验和产品的市场竞争力。
在一可选的实施例中，控制器向驱动机构211、212发送的控制信号包括用于控制所述驱动机构211、212沿第一方向转动的第一信号，进而使驱动机构211、212驱动对应的机臂221、222沿第一方向转动。在本实施例中，驱动机构211、212驱动机臂221、222沿第一方向转动指的是机臂221、222从折叠状态转动至展开状态，即驱动机构211、212驱动机臂221、222沿远离机身主体10的方向转动。当用户启动无人机1并且飞机检测成功后，所述控制器向所述多个机臂组件201、202各自的驱动机构211、212同步发送所述第一信号，以使得多个机臂组件201、202各自的驱动机构211、212驱动对应的机臂221、222相对机身主体10同步转动至展开状态。
在一可选的实施例中，控制器向驱动机构211、212发送的控制信号包括用于控制所述驱动机构211、212沿第二方向转动的第二信号，进而使驱动机构211、212驱动对应的机臂221、222沿第二方向转动。其中，所述第二方向与所述第一方向相反。在本实施例中，驱动机构211、212驱动机臂221、222沿第二方向转动指的是机臂221、222从展开状态转动至折叠状态，即驱动机构211、212驱动机臂221、222沿靠近机身主体10的方向转动。当用户关闭无人机1并且飞机检测成功后，所述控制器向所述多 个机臂组件201、202各自的驱动机构211、212同步发送所述第二信号，以使得多个机臂组件201、202各自的驱动机构211、212驱动对应的机臂221、222相对所述机身主体10同步转动至折叠状态。
在一可选的实施例中，所述无人机1还包括用于启闭无人机1的开关按钮40，该开关按钮40设置于所述电池50上并与所述控制器电连接。当用户按下该开关按钮40启动无人机1，多个机臂组件201、202各自的驱动机构211、212驱动对应的机臂221、222打开，直到转动至展开状态。当用户按下该开关按钮40关闭无人机1，多个机臂组件201、202各自的驱动机构211、212驱动对应的机臂221、222收起，直到转动至折叠状态。
在一可选的实施例中，所述机臂组件201、202还包括止挡部231、232，所述止挡部231、232沿所述机臂221、222的转动方向设置于所述机身主体10，所述转动方向指的是机臂221、222从折叠状态转动至展开状态的方向。当所述机臂221、222从折叠状态转动至展开状态时，所述机臂221、222抵接于所述止挡部231、232，止挡部231、232可以对机臂221、222起到限位的作用。当所述机臂221、222从展开状态转动至折叠状态时，所述机臂221、222贴合于所述机身主体10。
进一步地，控制器向驱动机构211、212发送的控制信号包括用于控制所述驱动机构211、212沿第一方向持续转动的第三信号，进而使驱动机构211、212驱动对应的机臂221、222沿第一方向持续转动。当所述机臂221、222处于展开状态时，所述控制器向所述多个机臂组件201、202各自的驱动机构211、212发送所述第三信号，以使得多个机臂组件201、202各自的驱动机构211、212驱动对应的机臂221、222以一持续的驱动力抵接于所述止挡部231、232，即相当于机臂221、222转动至展开状态后，通过止挡部231、232使机臂221、222停止转动，但电池50仍会持续给驱动机构211、212供电，以提供一定的扭力保持机臂221、222的展开扭力，避免无人机1在飞行过程或者受到撞击时机臂221、222收起来的情况发生， 直到用户按下所述开关按钮40关闭无人机1，控制器向驱动机构211、212发送所述第二信号，以使得驱动机构211、212驱动对应的机臂221、222收起。
在一可选的实施例中，所述无人机1为多旋翼无人机。所述多个机臂组件201、202包括至少两个第一机臂组件201和至少两个第二机臂组件202，所述至少两个第一机臂组件201设置于所述机身主体10的前部，所述至少两个第二机臂组件202设置于所述机身主体10的后部。
下面，均以无人机1为四旋翼无人机为例，对本发明的无人机1进行详细介绍。其中，第一机臂组件201为两个，对称设置于所述机身主体10的前部两侧。第二机臂组件202为两个，对称设置于所述机身主体10的后部两侧。
所述第一机臂组件201包括设置于所述机身主体10前部的第一驱动机构211、连接于第一驱动机构211的第一机臂221、以及沿第一机臂221的转动方向设置于机身主体10的第一止挡部231。所述第一驱动机构211与所述控制器连接，所述控制器向第一驱动机构211发送控制信号，以使得第一驱动机构211驱动第一机臂221相对机身主体10转动。在本实施例中，第一机臂组件201的第一驱动机构221与第一机臂211之间垂直连接，所述控制器控制第一机臂组件201的第一驱动机构211沿竖直方向910转动，以使得第一驱动机构211驱动第一机臂221相对机身主体10沿竖直方向910转动，即相当于第一驱动机构211驱动第一机臂221相对机身主体10前后翻折。
所述第二机臂组件202包括设置于所述机身主体10后部的第二驱动机构212、连接于第二驱动机构212的第二机臂222、以及沿第二机臂222的转动方向设置于机身主体10的第二止挡部232。所述第二驱动机构212与所述控制器连接，所述控制器向第二驱动机构212发送控制信号，以使得第二驱动机构212驱动第二机臂222相对机身主体10转动。在本实施例 中，第二机臂组件202的第二驱动机构212与第二机臂222之间倾斜连接，所述控制器控制第二机臂组件202的第二驱动机构212沿水平方向920转动，以使得第二驱动机构212驱动第二机臂222相对机身主体10沿水平方向920转动，即相当于第二驱动机构212驱动第二机臂222相对机身主体10上下翻折。
进一步地，第一机臂组件201的第一机臂221上装设电机70的一端底部设有用于所述无人机1降落的脚架80。为了避免第一机臂221和第二机臂222在打开或收起的过程中，受到脚架80的影响而无法正常打开或收起的情况发生，所述控制器可以根据指定的顺序依次向第一驱动机构211和第二驱动机构212发送控制指令，以使得第一机臂221和第二机臂222根据指定的顺序依次打开或收起。
当用户启动无人机1并且飞机检测成功后，所述控制器根据第一顺序依次向第一驱动机构211及第二驱动机构212发送所述第一信号，以使得第一机臂221和第二机臂222依次转动至展开状态。在本实施例中，所述第一顺序是所述控制器先向第一驱动机构211发送控制信号，再向第二驱动机构212发送控制信号，即所述控制器先向第一驱动机构211发送第一信号，再向第二驱动机构212发送第一信号，进而使第一驱动机构211驱动第一机臂221先打开，第二驱动机构212驱动第二机臂222后打开，防止第二机臂222先于第一机臂221打开后，由于脚架80被第二机臂222挡住，而造成第一机臂221无法正常打开的情况发生。
当用户关闭无人机1并且飞机检测成功后，所述控制器根据第二顺序依次向第一驱动机构211及第二驱动机构212发送所述第二信号，以使得第一机臂221和第二机臂222依次转动至折叠状态。其中，所述第二顺序与所述第一顺序相反。在本实施例中，所述第二顺序是所述控制器先向第二驱动机构212发送控制信号，再向第一驱动机构211发送控制信号，即所述控制器先向第二驱动机构212发送第二信号，再向第一驱动机构211 发送第二信号，进而使第二驱动机构212驱动第二机臂222先收起，第一驱动机构211驱动第一机臂221后收起，防止第一机臂221先于第二机臂222收起时，由于脚架80被第二机臂222挡住，而造成第一机臂221无法正常收起的情况发生。
在一可选的实施例中，参见图5所示，所述机身主体10的前侧部设有第一收容部110，第一机臂组件201的第一驱动机构211沿竖直方向910装设于所述第一收容部110内，第一机臂组件201的第一止挡部231为所述机身主体10上位于所述第一收容部110前方并与所述第一收容部110相邻接的部分构成。参见图2所示，所述机身主体10的后侧部设有第二收容部120，第二机臂组件202的第二驱动机构212沿水平方向装设于所述第二收容部120内，第二机臂组件202的第二止挡部232为所述机身主体10上位于所述第二收容部120上方的部分向外延伸而成。
进一步地，第一机臂221包括相对设置的第一侧壁和第二侧壁，第一机臂221的第一侧壁设有第一抵接部2214，第一机臂221的第二侧壁设有第一贴合部2215。当第一机臂221转动至展开状态时，第一抵接部2214抵接于第一止挡部231。当第一机臂221转动至折叠状态时，第一贴合部2215贴合于机身主体10。第二机臂222包括相对设置的第一侧壁和第二侧壁，第二机臂222的第一侧壁设有第二抵接部2222，第二机臂222的第二侧壁设有第三抵接部2223，第二机臂222上位于其第一侧壁和第二侧壁之间并靠近机身主体10的第三侧壁设有第二贴合部2224。当第二机臂222转动至展开状态时，第二抵接部2222抵接于第二止挡部232。当第二机臂222转动至折叠状态时，第三抵接部2223抵接于第二止挡部232，第二贴合部2224贴合于机身主体10。
在一可选的实施例中，参见图2所示，第一驱动机构211为驱动电机，第一机臂221的端部设有第一安装部2211，该第一安装部2211装设于第一收容部110内并与第一驱动机构211连接。进一步地，参见图5所 示，第一驱动机构211包括第一电机主体2111以及设置于第一电机主体2111两端的第一驱动轴2112和第一安装板2113，第一安装板2113与第一收容部110的侧壁固接，第一驱动轴2112沿竖直方向910延伸设置，并与第一安装部2211固接。第一收容部110的侧壁设有第一通孔111和第一安装孔112，第一安装板2113上设有与第一安装孔112相对应的第一连接孔2114。参见图6和图7所示，第一电机主体2111穿设于第一通孔111，第一安装板2113通过穿设于第一连接孔2114及第一安装孔112的第一紧固件2115(优选为螺栓)与第一收容部110的侧壁固接。当然，第一收容部110的侧壁也可以不设置第一通孔111，第一电机主体2111直接通过第一紧固件2115与第一收容部110侧壁固接。
参见图2所示，第二驱动机构212为驱动电机，第二机臂222的端部设有第二安装部2221，该第二安装部2221装设于第二收容部120内并与第二驱动机构212连接。进一步地，第二驱动机构212包括第二电机主体2121以及设置于第二电机主体2121两端的第二驱动轴2122和第二安装板2123，第二安装板2123与第二收容部120的底壁固接，第二驱动轴2122沿第二轴向920延伸设置，并与第二安装部2221固接。第二收容部120的底壁设有第二通孔121和第二安装孔122，第二安装板2123上设有与第二安装孔122相对应的第二连接孔2124。参见图8和图9所示，第二电机主体2121穿设于第二通孔121，第二安装板2123通过穿设于第二连接孔2124及第二安装孔122的第二紧固件2125(优选为螺栓)与第二收容部120的底壁固接。当然，第二收容部120的底壁也可以不设置第二通孔121，第二电机主体2121直接通过第二紧固件2125与第二收容部120的底壁固接。
参见图10和图11所示，第一机臂221的第一安装部2211设有与第一电机主体2111相适配的第一收容腔2212，第一收容腔2212的底壁设有与第一驱动轴2112相适配的第二收容腔2213。第一电机主体2111收容于 第一收容腔2212内，第一驱动轴2112收容于第二收容腔2213内并与第一安装部2211固接。这样，可以使第一驱动机构211和第一机臂221的外观平整，以节约空间。同样地，第二机臂222的第二安装部2221设有与第二电机主体2121相适配的第三收容腔(未图示)，第二容置腔的底壁设有与第二驱动轴2122相适配的第四收容腔(未图示)。第二电机主体2121收容于第三收容腔内，第二驱动轴2122收容于第四收容腔内并与第二安装部2221固接。这样，可以使第而驱动机构212和第二机臂222的外观平整，以节约空间。
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机进行了详细介绍，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 (25)

  1. 一种无人机，其特征在于，包括机身主体和设置于所述机身主体的多个机臂组件，每个所述机臂组件均包括连接于所述机身主体的机臂和用于驱动所述机臂转动的驱动机构；所述机臂包括展开状态和折叠状态，每个所述驱动机构驱动对应的所述机臂相对所述机身主体转动，使得所述机臂在展开状态和折叠状态之间切换。
  2. 根据权利要求1所述的无人机，其特征在于，还包括与每个所述驱动机构电连接的控制器，用于向所述驱动机构发送控制信号，以使得所述驱动机构驱动对应的所述机臂相对所述机身主体转动。
  3. 根据权利要求2所述的无人机，其特征在于，所述控制信号包括用于控制所述驱动机构沿第一方向转动的第一信号；
    所述无人机启动时，所述控制器向所述多个机臂组件各自的驱动机构同步发送所述第一信号，以驱动所述多个机臂组件各自的机臂相对所述机身主体同步转动至展开状态。
  4. 根据权利要求3所述的无人机，其特征在于，所述控制信号还包括用于控制所述驱动机构沿第二方向转动的第二信号，所述第二方向与所述第一方向相反；
    所述无人机关闭时，所述控制器向所述多个机臂组件各自的驱动机构同步发送所述第二信号，以驱动所述多个机臂组件各自的机臂相对所述机身主体同步转动至折叠状态。
  5. 根据权利要求2所述的无人机，其特征在于，所述机臂组件还包括止挡部，所述止挡部沿所述机臂的转动方向设置于所述机身主体；
    当所述机臂为展开状态时，所述机臂抵接于所述止挡部；当所述机臂为折叠状态时，所述机臂贴合于所述机身主体。
  6. 根据权利要求5所述的无人机，其特征在于，所述控制信号包括用于控制所述驱动机构沿第一方向持续转动的第三信号；
    当所述机臂为展开状态时，所述控制器向所述驱动机构发送所述第三信号，以驱动所述机臂以一持续的驱动力抵接于所述止挡部。
  7. 根据权利要求5所述的无人机，其特征在于，所述多个机臂组件包括至少两个第一机臂组件和至少两个第二机臂组件，所述至少两个第一机臂组件设置于所述机身主体的前部，所述至少两个第二机臂组件设置于所述机身主体的后部。
  8. 根据权利要求7所述的无人机，其特征在于，所述控制信号包括用于控制所述第一机臂组件的驱动机构及所述第二机臂组件的驱动机构沿第一方向转动的第一信号；
    所述无人机启动时，所述控制器根据第一顺序依次向所述第一机臂组件的驱动机构及所述第二机臂组件的驱动机构发送所述第一信号，以驱动所述第一机臂组件的机臂和所述第二机臂组件的机臂依次转动至展开状态。
  9. 根据权利要求8所述的无人机，其特征在于，所述控制信号还包括用于控制所述第一机臂组件的驱动机构及所述第二机臂组件的驱动机构沿第二方向转动的第二信号，所述第二方向与所述第一方向相反；
    所述无人机关闭时，所述控制器根据第二顺序依次向所述第一机臂组件的驱动机构及所述第二机臂组件的驱动机构发送所述第二信号，以驱动所述第一机臂组件的机臂和所述第二机臂组件的机臂依次转动至折叠状态；其中，所述第二顺序与所述第一顺序相反。
  10. 根据权利要求9所述的无人机，其特征在于，所述第一顺序是所述控制器先向所述第一机臂组件的驱动机构发送控制信号，再向所述第二机臂组件的驱动机构发送控制信号；所述第二顺序是所述控制器先向所述第二机臂组件的驱动机构发送控制信号，再向所述第一机臂组件的驱动机构发送控制信号。
  11. 根据权利要求7所述的无人机，其特征在于，所述第一机臂组件的驱动机构与机臂之间垂直连接，所述控制器控制所述第一机臂组件的驱 动机构沿竖直方向转动；
    所述第二机臂组件的驱动机构与机臂之间倾斜连接，所述控制器控制所述第二机臂组件的驱动机构沿水平方向转动。
  12. 根据权利要求11所述的无人机，其特征在于，所述机身主体的前侧部设有第一收容部，所述第一机臂组件的驱动机构装设于所述第一收容部内，所述第一机臂组件的止挡部为所述机身主体上位于所述第一收容部前方并与所述第一收容部相邻接的部分构成；
    所述机身主体的后侧部设有第二收容部，所述第二机臂组件的驱动机构装设于所述第二收容部内，所述第二机臂组件的止挡部为所述机身主体上位于所述第二收容部上方的部分向外延伸而成。
  13. 根据权利要求2所述的无人机，其特征在于，还包括用于向所述控制器供电的电池，所述机身主体的顶部设有收容槽，所述电池设置于所述收容槽内并与所述控制器电连接。
  14. 根据权利要求13所述的无人机，其特征在于，还包括用于启闭所述无人机的开关按钮，设置于所述电池上并与所述控制器电连接。
  15. 根据权利要求13所述的无人机，其特征在于，所述控制器设置于一电机板，所述电机板贴合设置于所述电池的底部。
  16. 根据权利要求15所述的无人机，其特征在于，所述收容槽的底部设有散热板，所述散热板贴合设置于所述电机板。
  17. 根据权利要求13所述的无人机，其特征在于，还包括用于指示无人机机头方向的机头指示灯，设置于所述机身主体的前部。
  18. 根据权利要求13所述的无人机，其特征在于，还包括用于指示所述电池电量的电量指示灯，设置于所述电池上。
  19. 根据权利要求13所述的无人机，其特征在于，还包括用于指示无人机状态的状态指示灯，设置于所述机身主体的后部；所述状态指示灯闪不同颜色的灯以表明无人机的不同状态。
  20. 根据权利要求1所述的无人机，其特征在于，所述多个机臂组件 设置于所述机身主体的周侧。
  21. 根据权利要求1所述的无人机，其特征在于，还包括云台拍摄器，设置于所述机身主体的前部，所述云台拍摄器包括云台支架和搭载于所述云台支架的拍摄器。
  22. 根据权利要求21所述的无人机，其特征在于，所述云台支架为三轴云台支架，所述云台支架包括偏航轴组件、与所述偏航轴组件活动连接的横滚轴组件、以及与所述横滚轴组件活动连接的俯仰轴组件，所述拍摄器搭载于所述俯仰轴组件。
  23. 根据权利要求1所述的无人机，其特征在于，所述机臂组件还包括旋翼组件，所述驱动机构设置于所述机臂的一端，所述旋翼组件设置于所述机臂上远离所述驱动机构的一端。
  24. 根据权利要求23所述的无人机，其特征在于，所述旋翼组件包括设置于机臂的电机和连接于所述电机的旋翼，所述电机设置于所述机臂上远离所述驱动机构的一端。
  25. 根据权利要求1所述的无人机，其特征在于，所述机臂的底部设有用于所述无人机降落的脚架。
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