WO2019041221A1 - 飞行器的变形机架及飞行器 - Google Patents

飞行器的变形机架及飞行器 Download PDF

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Publication number
WO2019041221A1
WO2019041221A1 PCT/CN2017/099896 CN2017099896W WO2019041221A1 WO 2019041221 A1 WO2019041221 A1 WO 2019041221A1 CN 2017099896 W CN2017099896 W CN 2017099896W WO 2019041221 A1 WO2019041221 A1 WO 2019041221A1
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WO
WIPO (PCT)
Prior art keywords
deformation
frame
rotating
deforming
limiting
Prior art date
Application number
PCT/CN2017/099896
Other languages
English (en)
French (fr)
Inventor
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 CN201780005377.8A priority Critical patent/CN108495786B/zh
Priority to PCT/CN2017/099896 priority patent/WO2019041221A1/zh
Publication of WO2019041221A1 publication Critical patent/WO2019041221A1/zh
Priority to US16/704,869 priority patent/US20200115025A1/en

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Classifications

    • 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
    • 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
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • 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
    • 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
    • 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

Definitions

  • the invention relates to the field of aircrafts, and in particular to a deformation frame and an aircraft of an aircraft.
  • Unmanned aerial vehicles usually require different locations to operate and transport over long distances.
  • the rotor that protrudes out of the fuselage is not easy to carry and transport.
  • Embodiments of the present invention provide a deformable gantry and aircraft for an aircraft.
  • Two arm assemblies respectively disposed on both sides of the center frame and rotatably coupled to the center frame to enable the deforming frame to switch between an extended state and a folded state ;
  • the arm assembly includes a deformation rod and a cross bar
  • the deformation rod includes a first end rotatably coupled to the center frame, and a second end rotatably coupled to the cross bar, the height of the second end Greater than the height of the first end;
  • the second ends of the two arm assemblies are respectively away from the center frame, and in the folded state, the deformed rods of the two arm assemblies are stacked and disposed in the Above the center frame.
  • the deformed frame of the embodiment of the present invention can be folded into a stacked structure when the extended state is switched to the folded state, and the folded deformed frame is small in size, convenient to fold, and convenient to carry and transport.
  • the load is mounted on the center frame.
  • the frame when the deformation frame is switched to the folded state in the extended state, the frame can be folded into a stacked structure, and the folded deformation frame is small in size, convenient to fold, and convenient to carry and transport.
  • FIG. 1 is a schematic perspective view of a deformed frame according to an embodiment of the present invention in an extended state.
  • FIG. 2 is a perspective view showing the deformed frame of the embodiment of the present invention in a folded state.
  • Figure 3 is an enlarged schematic view of the deformed frame of Figure 2 at III.
  • FIG. 4 is a partially exploded perspective view of a deformed frame of an embodiment of the present invention.
  • Fig. 5 is a plan view showing a deformed frame according to an embodiment of the present invention in a folded state.
  • Fig. 6 is a side elevational view showing the deformed frame of the embodiment of the present invention in a folded state.
  • Fig. 7 is a schematic side view showing another side of the deformed frame in the folded state according to the embodiment of the present invention.
  • Figure 8 is a perspective view of an aircraft according to an embodiment of the present invention.
  • Aircraft 100 deformation frame 10, center frame 12, arm assembly 14, deformation rod 142, first end 1422, second end 1424, crossbar 144, rotating pair 146, linkage synchronization mechanism 16, gear 162, connector 164 , flange portion 1642, cylindrical portion 1644, locking mechanism 18, rotating toothed plate 181, limiting tooth 1812, limiting toothed plate 182, limiting groove 1822, operating button 183, connecting plate 184, pressing rod 185, elastic member 186, support shaft 187, fixing assembly 188, fixed upper plate 1882, fixed lower plate 1884, limiting piece 189, power assembly 20, motor 22, propeller 24.
  • the first feature "on” or “under” the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact.
  • the first feature "above”, “above” and “above” the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.
  • an embodiment of the present invention provides a deformation frame 10 of an aircraft 100 .
  • the deformation frame 10 includes a center frame 12 and two arm assemblies 14.
  • Two arm assemblies 14 are respectively disposed on both sides of the center frame 12 and are rotatably coupled to the center frame 12 to enable the deformation frame 10 to be switched between an extended state (as shown in FIG. 1) and a folded state (FIG. 2). .
  • the arm assembly 14 includes a deforming rod 142 and a cross bar 144.
  • the deforming rod 142 includes a first end 1422 rotatably coupled to the center frame 12 and a second end 1424 rotatably coupled to the cross bar 144. The height of the second end 1424 Greater than the first The height of the end 1422.
  • the second ends 1424 of the two arm assemblies 14 are respectively away from the center frame 12.
  • the deforming rods 142 of the two arm assemblies 14 are stacked on top of the center frame 12, as shown in FIG. Show.
  • the deformation frame 10 can be folded into a stacked structure when the extended state is switched to the folded state.
  • the folded deformation frame 10 is small in size, convenient to fold, and convenient to carry and transport.
  • the deforming rods 142 of the two arm assemblies 14 are stacked above the center frame 12, and two of the two arm assemblies 14 are The cross bars 144 are respectively disposed on both sides of the deforming bar 142 against the deforming bars 142, so that the space occupied by the deforming frame 10 in the folded state is small.
  • the deforming rod 142 may be linear in a whole shape, and the deforming rod 142 is disposed obliquely with respect to the center frame 12 to realize that the height of the second end 1424 is greater than the height of the first end 1422.
  • the deforming rod 142 may also be in the shape of being flat at both ends and the intermediate connecting portion 1426 being bent. The deforming rod 142 realizes the height of the second end 1424 to be greater than the height of the first end 1422 by the bent intermediate connecting portion 1426.
  • the deforming rod 142 has a shape in which the two ends are straight and the intermediate connecting portion 1426 is bent, and the intermediate connecting portion 1426 is curved with the joints at both ends, so that the intermediate connecting portion 1426 can be reduced in the aircraft 100. Resistance caused by flying.
  • Crossbar 144 can be used to mount power assembly 20.
  • the second end 1424 of the deforming rod 142 is away from the center frame 12, and the crossbar 144 pivotally coupled to the second end 1424 is separated from the center frame 12 by the second end 1424, thereby being mounted on the two cross bars 144, respectively.
  • the power components 20 are remote from the center frame 12, respectively.
  • the two arm assemblies 14 are symmetrically disposed along the roll axis X of the center frame 12.
  • the symmetric arrangement of the two arm assemblies 14 makes the structure of the deforming frame 10 more stable.
  • the deformation frame 10 when the deformation frame 10 is applied to the aircraft 100, when the aircraft 100 is in flight, the symmetric arrangement of the two arm assemblies 14 along the center frame 12 makes the aircraft 100 more stable when the deformation frame 10 is in the extended state.
  • the deformation frame 10 includes a linkage synchronization mechanism 16 that connects the two arm assemblies 14, and the two arm assemblies 14 are linked by a linkage synchronization mechanism 16.
  • the linkage synchronization mechanism 16 allows the two arm assemblies 14 to achieve a more precise synchronization, thereby enhancing the user experience.
  • the linkage synchronizing mechanism 16 synchronizes the rotation of the deforming rods 142 of the two arm assemblies 14 with respect to the center frame 12. That is, when the deforming rod 142 of one of the arm assemblies 14 is rotated away from the center frame 12, the deforming rod 142 of the other arm assembly 14 is also rotated away from the center frame 12; When the deforming rod 142 of the arm assembly 14 is rotated toward the center frame 12, the deforming rod 142 of the other arm assembly 14 also rotates toward the center frame 12.
  • the user can rotate the deforming rod 142 of the two arm assemblies 14 by operating the deforming rod 142 of one arm assembly 14, thereby causing the deforming frame 10 to be in the extended state and the folded state. Switching between makes the user's operation easier.
  • the linkage synchronization mechanism 16 includes two gears 162 that are coupled to each other, and the two deformation rods 142 are coupled to the two gears 162, respectively.
  • the arrangement of the two gears 162 can improve the stability of the operation of the linkage synchronization mechanism 16.
  • the two gears 162 are respectively coupled to the first ends 1422 of the deforming rods 142 of the two arm assemblies 14, and one of the gears 162 and one of the gears 162 are coupled to one of the gears 162.
  • the deforming rod 142 of the arm assembly 14 rotates
  • the other gear 162 and the deforming rod 142 of the other arm assembly 14 coupled to the other gear 162 also rotate.
  • the curvature of the teeth of the gear 162 can be set according to the range of rotational angles of the deformation rod 142.
  • the angle of rotation of the deforming rod 142 ranges from 90 degrees
  • the arc of the tooth portion of the gear 162 can be set to be greater than 90 degrees and less than or equal to 360 degrees, such as greater than 90 degrees and less than or equal to 95 degrees. degree.
  • the linkage synchronization mechanism 16 includes a connector 164 that connects the gear 162 and the deformation rod 142.
  • the connector 164 includes a cylindrical portion 1642 and a flange portion 1644 extending radially outward from the cylindrical portion 1642.
  • the flange portion 1644 is fixed to the first end 1422 of the deforming rod 142, and the cylindrical portion 1642 is coupled to the gear 162 to fixedly connect the gear 162 and the deforming rod 142.
  • the linkage synchronizing mechanism 16 includes two sprockets (not shown) that are connected by a chain, and the two deforming rods 142 respectively connect the two sprockets.
  • the arrangement of the two sprockets enables simultaneous rotation of the two arm assemblies 14.
  • the two sprockets are connected by a chain, and the directions of rotation of the two sprockets are always opposite.
  • the two sprockets are meshed with the chain.
  • the two sprockets respectively connect the deforming rods 142 of the two arm assemblies 14, the two sprockets meshing with the chain, such that one of the sprockets and the deforming rod 142 of one of the arm assemblies 14 connected to the one of the sprockets When rotated, the other sprocket and the deforming rod 142 of the other arm assembly 14 coupled to the other sprocket also rotate.
  • the linkage synchronizing mechanism 16 includes two pulleys (not shown) that are connected by a belt, and the two deforming rods 142 respectively connect the two pulleys.
  • the arrangement of the two pulleys enables simultaneous rotation of the two arm assemblies 14.
  • the two pulleys are connected by a belt, and the directions of rotation of the two pulleys are always opposite.
  • the two pulleys respectively connect the deforming rods 142 of the two arm assemblies 14, and when the two pulleys are connected by the belt, one of the pulleys and the deforming rod 142 of one of the arm assemblies 14 connected to the one of the pulleys rotates, A pulley and a deforming rod 142 of the other arm assembly 14 coupled to the other pulley are also rotated.
  • the deformation frame 10 includes a locking mechanism 18 configured to define a rotational angle of the arm assembly 14, the locking mechanism 18 being coupled between the arm assembly 14 and the center frame 12, or Connected to two Between the arm assemblies 14.
  • the locking mechanism 18 locks the deforming rod 142 and the center frame 12 to fix the deforming rod 142 and the center frame 12, thereby preventing the deforming rod 142 from rotating relative to the center frame 12, thereby deforming
  • the frame 10 can be maintained in a folded or extended state.
  • the locking mechanism 18 releases the locking of the deforming rod 142 and the center frame 12, so that the deforming rod 142 can be rotated relative to the center frame 12, so that the user can fold or Stretch the deformation frame 10.
  • the locking mechanism 18 includes a rotatable toothed 181 and a limiting sprocket 182.
  • the deforming rod 142 is coupled to the rotating sprocket 181, and the deforming frame 10 is in a folded state and a stretched state. At this time, the rotating toothed disc 181 and the limit-shaped toothed disc 182 are engaged to lock the deformed frame 10.
  • the locking deformation lever 142 and the center frame 12 are coupled by the rotating toothed disc 181 and the limiting toothed disc 182, so that the relative positions of the deforming rod 142 and the center frame 12 are fixed, so that the deforming frame 10 is in the folded state and the extended state.
  • the state is more stable, effectively preventing the deformation rod 142 from rotating relative to the center frame 12.
  • the rotating toothed disc 181 forms a limiting tooth 1812
  • the limiting toothed disc 182 is formed with a circular arc shaped limiting slot 1822; the limiting tooth 1812 is received at the limit position.
  • the groove 1822 is such that the rotating sprocket 181 and the limit spur 182 are engaged.
  • the number of the limiting teeth 1812 is plural, and the plurality of limiting teeth 1812 are distributed along the circumferential direction of the rotating sprocket 181.
  • the number of the limiting slots 1822 is plural.
  • a plurality of limiting slots 1822 are spaced along the circumferential spacing of the limiting spurs 182.
  • Each of the limiting teeth 1812 is received in the corresponding limiting slot 1822.
  • the limiting slot 1822 can be formed between the adjacent two limiting teeth 1812.
  • the adjacent limiting slot 1822 A limit tooth 1812 is formed therebetween. That is to say, the rotating toothed disc 181 is formed with a plurality of limiting teeth 1812 and a plurality of limiting slots 1822.
  • the limiting toothed disc 182 is also formed with a plurality of limiting teeth 1812 and a plurality of limiting slots 1822.
  • the number of the limiting teeth 1812 and the number of the limiting slots 1822 can be set according to specific conditions.
  • the shape of the limiting teeth 1812 and the shape of the limiting groove 1822 can also be set according to specific conditions.
  • the shape of the limiting tooth 1812 is matched with the shape of the limiting slot 1822 to ensure that the two arm connectors 164 are locked when the rotating toothed disc 181 and the limiting toothed disc 182 are engaged. Stability.
  • the limiting spurs 182 form a limited-position tooth
  • the rotating spur 181 is formed with a circular-shaped limiting groove.
  • the rotating sprocket 181 is rotated relative to the limit sprocket 182 to a predetermined angle and re-toothed,
  • the deformation frame 10 is switched between a folded state and an extended state.
  • the deformation frame 10 can be stretched or folded at different angles according to a preset angle, so that the adjustable posture of the deformation frame 10 is wider.
  • the foregoing preset angles may be set according to specific conditions.
  • the rotating sprocket 181 and the limiting sprocket 182 are separated, the limiting tooth 1812 is separated from the limiting slot 1822, and the rotation of the rotating sprocket 181 is not limited to the limiting slot 1822.
  • the two arm connectors 164 are in an unlocked state, at which point the attitude of the two arm connectors 164 can be adjusted by rotating the two arm connectors 164.
  • the locking mechanism 18 includes an operation button 183, and the operation button 183 is coupled to the limit sprocket 182.
  • the operation button 183 can be switched between the first position and the second position.
  • the limit sprocket 182 is in engagement with the rotating sprocket 181.
  • the limit sprocket 182 is separated from the rotating sprocket 181.
  • the user can lock and unlock the deformation frame 10 by operating the button 183, thereby improving the operability of the deformation frame 10 and contributing to the user experience.
  • the operation button 183 is switched between the first position and the second position by pressing, and the first position and the second position are two positions in the height direction of the center frame 12.
  • the positional relationship between the first position and the second position is not limited to two positions in the height direction of the center frame 12, and the first position and the second position may be set to any other achievable position.
  • the first position and the second position are two positions perpendicular to the height direction of the center frame 12.
  • the operation button 183 is in the first position, which can be understood as any arbitrary position of the operation button 183 corresponding to when the limit toothed disc 182 is engaged with the rotating toothed disc 181.
  • the number of the limiting spurs 182 is two, and the two limiting spurs 182 are respectively connected to the first ends 1422 of the two deforming rods 142.
  • the two limiting spurs 182 are connected by the connecting plate 184, and the locking mechanism 18 A pressing lever 185 is included, and the pressing lever 185 is connected to the operation button 183 and the connecting plate 184.
  • the connecting plate 184 moves downward to drive the limiting sprocket 182 to move downward, thereby limiting the limit.
  • the bit gear plate 182 and the rotating tooth plate 181 are separated.
  • the locking mechanism 18 includes an elastic member 186 that abuts between the limiting sprocket 182 and the center frame 12 and is configured to drive the limit sprocket 182 to engage the rotating sprocket 181 .
  • the elastic member 186 is in a pre-stressed state, and the resisting spur 182 is engaged with the rotating sprocket 181, so that the deforming frame 10 remains stable during locking.
  • the deforming rod 142 is rotated relative to the center frame 12 to rotate the limiting sprocket 182 relative to the rotating sprocket 181 to a preset angle, and the rotating sprocket 181 and the limit are rotated.
  • the toothed disc 182 is in the pre-
  • the engagement of the elastic member 186 in the pressed state enables the engagement, and the elastic member 186 in the pre-stressed state enables the rotary sprocket 181 and the limit spur 182 to be in a stable toothed state.
  • the limiting tooth 1812 of the rotating toothed disc 181 is disengaged from the limiting slot 1822 and abuts against the top surface of the limiting sprocket 182, so that the elastic member 186 is compressed and contracted, and is compressed. status.
  • the elastic member 186 in the compressed state is elongated and can drive the limiting sprocket 182 to move axially upward along the pressing rod 185, thereby
  • the limiting teeth 1812 are re-accommodated in the limiting slots 1822 to re-engage the rotating sprocket 181 and the limiting sprocket 182.
  • the toothing of the rotating toothed disc 181 and the limiting toothed disc 182 is achieved in a relatively simple manner by the elastic member 186.
  • the elastic member 186 can drive the limiting sprocket 182, the connecting plate 184 and the operating button 183 to move axially upward along the pressing rod 185, and the limiting sprocket 182 is driven by the elastic member 186.
  • the upward movement is engaged with the rotating toothed disc 181.
  • the operation button 183 is in the first position.
  • the resilient member 186 is a spring. As such, the elastic member 186 has greater elasticity. It can be understood that in other embodiments, the elastic member 186 can be other elastic members that meet the elastic requirements.
  • the locking mechanism 18 includes a support shaft 187 that connects the center frame 12 and the deforming rod 142.
  • the rotating toothed disc 181 is rotatably sleeved on the support shaft 187, and the limiting toothed disc 182 is slidably sleeved on the On the support shaft 187, the elastic member 186 is sleeved on the support shaft 187.
  • the deforming rod 142 is more stable when rotated, and the elastic member 186 can relatively firmly apply a driving force to the limiting sprocket 182.
  • the support shaft 187 is threaded through the limit sprocket 182, and the limit sprocket 182 is slidable up and down in the axial direction of the support shaft 187.
  • the moving position of the limiting sprocket 182 is fixed so that the limiting sprocket 182 and the rotating sprocket 181 are switched between the toothing and the disengagement.
  • the locking mechanism 18 includes a securing assembly 188 that includes a fixed upper plate 1882 and a fixed lower plate 1884.
  • the two deformed rods 142 of the two arm assemblies 14 rotate.
  • the upper plate 1882 is fixedly connected
  • the fixed upper plate 1882 and the fixed lower plate 1884 are respectively disposed at two ends of the support shaft 187
  • the fixed lower plate 1884 is connected to the center frame 12
  • the rotating tooth plate 181 and the limiting tooth plate 182 are located on the fixed upper plate 1882. And between the fixed lower plate 1884.
  • the fixed upper plate 1882 and the fixed lower plate 1884 can define the positions of the upper side and the lower side of the deformed rod 142, so that the stability of the deformed rod 142 when rotated can be improved.
  • the upper end of the support shaft 187 may be coupled to the fixed upper plate 1882 by an upper bearing, and the lower end of the support shaft 187 may be coupled to the fixed lower plate 1884 by a lower bearing 166.
  • the fixed lower plate 1884 can be fixedly coupled to one end of the center frame 12.
  • a fixed upper plate 1882 is provided with a limiting piece 189 that defines the operating button 183 in the first position.
  • the limiting tab 189 stabilizes the position of the operating button 183 in the first position, thereby causing the limiting sprocket 182 to be in mesh with the rotating sprocket 181, thereby making the anamorphic frame 10 more stable in the folded and extended states.
  • the operation button 183 when the operation button 183 is in the first position, the limiting sprocket 182 is engaged with the rotating sprocket 181, the locking mechanism 18 is in the locked state, and the deformation frame 10 is locked.
  • the limiting piece 189 is located below the operation button 183 (for example, in FIG. 3, the operation button 183 is rotated by a certain angle so that the operation button 183 is located above the limiting piece 189), the operation button 183 cannot be pressed downward, and the operation button is pressed.
  • 183 is limited to the first position. This prevents erroneous triggering of the operation button 183 and causes the deformation of the deformation frame 10 to be unlocked.
  • the operation button 183 When unlocking is required, the operation button 183 may be rotated first to cause the operation button 183 to be disengaged from the limiting piece 189, as shown in FIG. 3 and FIG. 7, and then the limit sprocket 182 can be rotated by pressing the operation button 183 downward.
  • the chainring 181 is separated.
  • the elastic member 186 is compressed.
  • the elastic member 186 drives the limit spur 182 to re-engage with the rotation sprocket 181, and the deformation frame 10 is relocked.
  • the operation button 183 when the operation button 183 is in the first position, the operation button 183 can be in contact with the limiting piece 189 and the contact faces of the two are rough.
  • the operation button 183 and the limiting piece 189 are operated.
  • the static friction is generated to prevent the operation button 183 from moving, which prevents the position of the operation button 183 from being accidentally moved.
  • the operation button 183 rotates, and the limit plate 189 forms a sliding friction force with respect to the operation direction of the operation button 183, thereby preventing the operation button 183 from being too fast. Sliding in or out of the limiting piece 189, thereby ensuring the stability of the locking mechanism 18 as a whole.
  • the operation button 183 is in the first position, including the position of the operation button 183 as shown in FIG. 3 and the position of the operation button 183 above the limiting piece 189, that is, rotating at the position shown in FIG.
  • the position of the operation button 183 after a certain angle is at any other position of the operation button 183 corresponding to the engagement of the limit sprocket 182 with the rotation sprocket 181.
  • one end of the pressing lever 185 is rotatably coupled to the operating button 183.
  • each of the arm assemblies 14 includes two deformable rods 142 that form a parallelogram mechanism with the center frame 12 when the deformable frame 10 is in an extended state.
  • the structure of the deforming frame 10 is more stable in the extended state.
  • each arm assembly 14 includes two deformed rods 142 and one crossbar 144.
  • One end of the deforming rod 142 is rotatably coupled to the center frame 12, and the other end is rotatably coupled to the cross bar 144.
  • the two deformed rods 142 are parallel, and the crossbar 144 is parallel to the roll axis X of the center frame 12.
  • the number of the deformation bars 142 is not limited to two, and may be one or any other number.
  • each of the deformation bars 142 are stacked above the center frame 12, and the cross bars 144 are parallel to the deformation bars 142.
  • the size of the space occupied by the deforming frame 10 in the folded state is further reduced, making the deforming frame 10 more portable and transportable.
  • the crossbar 144 is also parallel to the center frame 12.
  • each of the arm assemblies 14 includes two deforming rods 142, the ends of which are inconsistent in height.
  • the two deforming bars 142 can be stacked to further reduce the size of the space occupied by the deforming frame 10 in the folded state.
  • the second end 1424 of one of the deformed rods 142 and the first end 1422 of the other deformed rod 142 are inconsistent in height.
  • the deforming frame 10 is in a folded state in which one of the second ends 1424 of the deforming rod 142 and the first end 1422 of the other deforming rod 142 are stacked.
  • the first end 1422 of one of the deforming rods 142 and the first end 1422 of the other deforming rod 142 are in a height, wherein the second end 1424 of one of the deforming rods 142 and the second end 1424 of the other deforming rod 142 are high. Consistent.
  • one of the connecting points of the deforming rod 142 and the crossbar 144 is located at the junction of the other deforming rod 142 and the center frame 12. Just above it.
  • the second end 1424 of one of the deforming rods 142 is higher than the first end 1422 of the other deforming rod 142.
  • the second end 1424 of one deforming rod 142 is laminated on the other deforming rod.
  • the first end 1422 of the 142 is directly above.
  • the spacing L1 between the two deformed rods 142 is less than the length L2 of the deformed rod 142.
  • the two deforming bars 142 can be stacked to effectively shorten the length dimension of the space occupied by the deforming frame 10.
  • L1 is the distance between the ends of the first ends 1422 of the two deformed rods;
  • L2 is the distance between the head and the tail of the deformed rod 142.
  • the crossbar 144 is inconsistent with the height of the deformed rod 142.
  • the cross bar 144 and the deforming bar 142 are disposed in a layered manner, and when the deforming frame 10 is in the folded state, the cross bar 144 and the deforming bar 142 are stacked to reduce the width dimension of the space occupied by the deforming frame 10.
  • the height of the cross bar 144 is higher than the height of the deforming bar 142.
  • the cross bar 144 is stacked above the deforming bar 142, effectively reducing the width dimension of the space occupied by the deforming frame 10. .
  • the height of the deforming rod 142 is higher than the height of the cross bar 144.
  • the deforming rods 142 are stacked above the cross bar 144, effectively reducing the space occupied by the deforming frame 10. Width size.
  • the crossbars 144 of the two arm assemblies 14 are parallel to each other.
  • the aircraft 100 is made to fly more smoothly.
  • the arm assembly 14 includes a rotating pair 146 disposed on the crossbar 144, the rotating pair 146 being coupled The deformation rod 142 and the cross rod 144.
  • the deforming rod 142 and the cross bar 144 are rotatably coupled by the rotating pair 146.
  • each of the arm assemblies 14 includes two deforming rods 142 that are provided with two rotating pairs 146, each of which is coupled to the crossbar 144 by a corresponding one of the rotating pairs 146, two The rotating pair 146 is located on the upper side of the crossbar 144 or both of the rotating pairs 146 are located on the lower side of the crossbar 144.
  • the rotating pair 146 when the two rotating pairs 146 are located on the upper side or the lower side of the cross bar 144 such that the deforming frame 10 is in the folded state, the rotating pair 146 does not cause an increase in the width dimension of the space occupied by the deforming frame 10, and the deformation frame is reduced. 10 occupied space size.
  • the two rotating pairs 146 are located on the upper side of the cross bar 144 at the same time, or the two rotating pairs 146 may be located on the lower side of the cross bar 144 at the same time.
  • each of the arm assemblies 14 includes two deforming rods 142 that are provided with two rotating pairs 146, each of which is coupled to the crossbar 144 by a corresponding one of the rotating pairs 146, two The rotating pairs 146 are respectively located on the upper side and the lower side of the cross bar 144.
  • the rotating pair 146 when the two rotating pairs 146 are respectively located on the upper side and the lower side of the cross bar 144 such that the deforming frame 10 is in the folded state, the rotating pair 146 does not cause an increase in the width dimension of the space occupied by the deforming frame 10, and the deformation frame is reduced. 10 occupied space size.
  • the arm assembly 14 includes a rotating pair 146 that connects the deforming rod 142 and the crossbar 144, the rotating pair 146 being located inside the crossbar 144.
  • a rotating pair 146 coupled to the second end 1424 of one of the deforming rods 142 is disposed above the first end 1422 of the other deforming rod 142.
  • the rotating pair 146 does not increase the width dimension of the space occupied by the deforming frame 10.
  • the deformation frame 10 includes a drive member coupled to the deformation rod 142, the drive member being configured to drive the deformation rod 142 to rotate to switch the deformation frame 10 between the extended and folded states.
  • the drive member can automatically switch the deformable frame 10 between the extended state and the collapsed state without requiring the user to manually operate the arm assembly 14, helping to enhance the user experience.
  • the driving member may include a motor, and an output shaft of the motor outputs a driving force to the deforming rod 142 through a transmission member (such as a gear, a belt, a chain, or the like), so that the deforming rod 142 rotates relative to the center frame 12 to be in an extended state and folded. Switch between states.
  • a transmission member such as a gear, a belt, a chain, or the like
  • an aircraft 100 includes a load and a deformation frame 10 of any of the above embodiments, and a load (not shown) is mounted on the center frame 12.
  • the deforming frame 10 can be folded into a stacked arrangement when the extended state is switched to the folded state.
  • the structure and the deformed deformation frame 10 are small in size, convenient to fold, and convenient to carry and transport.
  • the aircraft 100 can be a multi-rotor aircraft 100, which can be used for aerial photography, mapping, plant protection, fire protection, and the like.
  • the aircraft 100 has the advantage of being easy to carry, easy to operate, and relatively low in cost.
  • aircraft 100 includes a power assembly 20 mounted to a crossbar 144.
  • the power assembly 20 provides power to the aircraft 100.
  • the aircraft 100 may include a plurality of power components 20, such as one, two, three, four, five, six, and the like.
  • the aircraft 100 includes four power assemblies 20, each of which includes a crossbar 144, each of which is provided with a power assembly 20 at each end.
  • the power assembly 20 When the deforming frame 10 is in the folded state, the power assembly 20 is folded together with the crossbar 144, making the deforming frame 10 easy to carry and transport.
  • the power assembly 20 projects with the crossbar 144 away from the center frame 12 to facilitate powering the aircraft 100.
  • the power assembly 20 includes a motor 22 and a propeller 24 that is disposed on a crossbar 144 that is coupled to the propeller 24.
  • the motor 22 drives the propeller 24 to rotate to power the aircraft 100.
  • the aircraft 100 includes a plurality of propellers 24 that can be controlled by the rotational speed of the plurality of propellers 24, respectively.
  • the load includes a pan/tilt and/or a camera.
  • the aircraft 100 is equipped with other equipment through the pan/tilt, image acquisition is completed by the camera, the function of the aircraft 100 is enriched, and the application field of the aircraft 100 is expanded.
  • the pan/tilt can be mounted on the center frame 12, and then the camera can be mounted on the pan/tilt head; or the camera can be directly mounted on the center frame 12.
  • the load includes a pan/tilt and/or a camera, and the load may include a pan/tilt head, and the pan/tilt head carries other devices; the load may include a camera, and the camera is disposed in the center frame 12; or the load may include a pan/tilt head and a camera, and the pan/tilt can be carried
  • the PTZ can also be equipped with other devices, and the camera is placed in the center frame 12.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Or implicitly indicate the number of technical features indicated. Thus, features defining “first” and “second” may include at least one feature, either explicitly or implicitly. In the description of the present invention, "a plurality” means at least two, for example two, three, unless specifically defined otherwise.

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Abstract

一种变形机架（10）及使用该变形机架的飞行器（100）。变形机架（10）包括中心架（12）以及两个机臂组件（14）。两个机臂组件（14）分别设置在中心架（12）的两侧，并且与中心架（12）转动连接，以使变形机架（10）能够在伸展状态和折叠状态之间切换。其中，机臂组件（14）包括变形杆（142）及横杆（144），变形杆（142）包括与中心架（12）转动连接的第一端（1422）、以及与横杆（144）转动连接的第二端（1424），第二端（1424）的高度大于第一端（1422）的高度。在伸展状态时，两个机臂组件（14）的第二端（1424）分别远离中心架（12），在折叠状态时，两个机臂组件（14）的变形杆（142）层叠设置在中心架（12）的上方。

Description

飞行器的变形机架及飞行器 技术领域
本发明涉及飞行器领域，特别涉及一种飞行器的变形机架及飞行器。
背景技术
无人飞行器通常需要在不同地方作业，长距离的运输。然而伸出机身外的旋翼不便于携带和运输。
发明内容
本发明的实施方式提供了一种飞行器的变形机架及飞行器。
本发明实施方式的一种飞行器的变形机架包括：
中心架；以及
两个机臂组件，所述两个机臂组件分别设置在所述中心架的两侧，并且与所述中心架转动连接，以使所述变形机架能够在伸展状态和折叠状态之间切换；
其中，所述机臂组件包括变形杆及横杆，所述变形杆包括与所述中心架转动连接的第一端、以及与所述横杆转动连接的第二端，所述第二端的高度大于所述第一端的高度；
在所述伸展状态时，两个所述机臂组件的所述第二端分别远离所述中心架，在所述折叠状态时，两个所述机臂组件的所述变形杆层叠设置在所述中心架的上方。
本发明实施方式的变形机架，在伸展状态切换至折叠状态时，可折叠成层叠设置的结构，折叠后的变形机架体积小，折叠方便，便于携带和运输。
本发明实施方式的一种飞行器包括：
负载；
上述实施方式所述的变形机架，所述负载安装在所述中心架。
上述飞行器中，变形机架在伸展状态切换至折叠状态时，可折叠成层叠设置的结构，折叠后的变形机架体积小，折叠方便，便于携带和运输。
本发明的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实施方式的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明实施方式的变形机架处于伸展状态时的立体示意图。
图2是本发明实施方式的变形机架处于折叠状态时的立体示意图。
图3是图2中的变形机架在III处的放大示意图。
图4是本发明实施方式的变形机架的部分分解示意图。
图5是本发明实施方式的变形机架处于折叠状态时的俯视图。
图6是本发明实施方式的变形机架处于折叠状态时的侧面示意图。
图7是本发明实施方式的变形机架处于折叠状态时的另一侧面示意图。
图8是本发明实施方式的飞行器的立体示意图。
主要元件符号附图说明：
飞行器100，变形机架10，中心架12，机臂组件14，变形杆142，第一端1422，第二端1424，横杆144，转动副146，联动同步机构16，齿轮162，连接件164，法兰部1642，圆筒部1644，锁定机构18，转动齿盘181，限位齿1812，限位齿盘182，限位槽1822，操作按键183，连接板184，按压杆185，弹性件186，支撑轴187，固定组件188，固定上板1882，固定下板1884，限位片189，动力组件20，电机22，螺旋桨24。
具体实施方式
以下结合附图对本发明的实施方式作进一步说明。附图中相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。
另外，下面结合附图描述的本发明的实施方式是示例性的，仅用于解释本发明的实施方式，而不能理解为对本发明的限制。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
请参阅图1、图2和图8，本发明实施方式提供一种飞行器100的变形机架10。变形机架10包括中心架12以及两个机臂组件14。两个机臂组件14分别设置在中心架12的两侧，并且与中心架12转动连接，以使变形机架10能够在伸展状态(如图1)和折叠状态(如图2)之间切换。
其中，机臂组件14包括变形杆142及横杆144，变形杆142包括与中心架12转动连接的第一端1422、以及与横杆144转动连接的第二端1424，第二端1424的高度大于第一 端1422的高度。
在伸展状态时，两个机臂组件14的第二端1424分别远离中心架12，在折叠状态时，两个机臂组件14的变形杆142层叠设置在中心架12的上方，如图6所示。
上述变形机架10，在伸展状态切换至折叠状态时，可折叠成层叠设置的结构，折叠后的变形机架10体积小，折叠方便，便于携带和运输。
进一步地，本发明实施方式的变形机架10，变形机架10在折叠状态时，两个机臂组件14的变形杆142层叠设置在中心架12的上方，两个机臂组件14的两个横杆144紧靠变形杆142分别设置在变形杆142的两侧，这样使得变形机架10在折叠状态时占用的空间尺寸小。
具体地，变形杆142可以是整体呈直线状，变形杆142通过相对于中心架12倾斜设置来实现第二端1424的高度大于第一端1422的高度。变形杆142也可以是呈两端平直的而中间连接段1426弯折的形状，变形杆142通过弯折的中间连接段1426实现第二端1424的高度大于第一端1422的高度。本发明实施方式中，变形杆142是呈两端平直的而中间连接段1426弯折的形状，中间连接段1426分别与两端的连接处呈曲线形，这样可以减少中间连接段1426在飞行器100飞行时带来的阻力。
横杆144可用于安装动力组件20。在伸展状态时，变形杆142的第二端1424远离中心架12，转动连接在第二端1424的横杆144随第二端1424远离中心架12，从而使得分别安装在两个横杆144上的动力组件20分别远离中心架12。
在某些实施方式中，两个机臂组件14沿中心架12的横滚轴X对称布置。
如此，两个机臂组件14对称布置使变形机架10的结构更加稳定。
具体地，当变形机架10应用于飞行器100时，飞行器100飞行时，变形机架10处于伸展状态时，两个机臂组件14沿中心架12的对称布置使得飞行器100更加平稳。
在某些实施方式中，变形机架10包括连接两个机臂组件14的联动同步机构16，两个机臂组件14通过联动同步机构16进行联动。
如此，联动同步机构16可使得两个机臂组件14实现较精确的同步作用，从而提升用户体验。
具体地，联动同步机构16使得两个机臂组件14的变形杆142相对于中心架12的转动是同步地。也即是说，当其中一个机臂组件14的变形杆142朝远离中心架12的方向转动时，另一个机臂组件14的变形杆142也会朝远离中心架12的方向转动；当其中一个机臂组件14的变形杆142朝靠近中心架12的方向转动时，另一个机臂组件14的变形杆142也会朝靠近中心架12的方向转动。如此，用户可通过操作一个机臂组件14的变形杆142转动使两个机臂组件14的变形杆142转动，从而使得变形机架10在伸展状态和折叠状态之 间切换，使用户操作更加简便。
请参阅图3，在某些实施方式中，联动同步机构16包括相互齿合的两个齿轮162，两个变形杆142分别连接两个齿轮162。
如此，两个齿轮162的设置能够提高联动同步机构16运行的稳定性。
具体地，两个齿轮162分别连接两个机臂组件14的变形杆142的第一端1422，由于两个齿轮162齿合，使得其中一个齿轮162和与该其中一个齿轮162连接的其中一个机臂组件14的变形杆142转动时，另一个齿轮162和与该另一个齿轮162连接的另一个机臂组件14的变形杆142也随之转动。
在某些实施方式中，进一步地，为使得变形机架10更紧凑，可根据变形杆142的转动角度范围，来设定齿轮162的齿部的弧度。例如，在一个例子中，变形杆142的转动角度范围为90度，那么，齿轮162的齿部的弧度可设定为大于90度而小于或等于360度，例如大于90度而小于或等于95度。
进一步地，请参阅图4，联动同步机构16包括连接件164，连接件164连接齿轮162和变形杆142。本实施方式中，连接件164包括圆筒部1642和自圆筒部1642的径向向外延伸的法兰部1644,。法兰部固1644定连接变形杆142的第一端1422，圆筒部1642连接齿轮162以使齿轮162和变形杆142固定连接。
在某些实施方式中，联动同步机构16包括通过链条相连接的两个链轮(图未示)，两个变形杆142分别连接两个链轮。
如此，两个链轮的设置能够实现两个机臂组件14同步转动。
具体地，两个链轮通过链条连接，两个链轮的转动方向始终保持相反。两个链轮与链条齿合。两个链轮分别连接两个机臂组件14的变形杆142，两个链轮与链条齿合，使得其中一个链轮和与该其中一个链轮连接的其中一个机臂组件14的变形杆142转动时，另一个链轮和与该另一个链轮连接的另一个机臂组件14的变形杆142也随之转动。
在某些实施方式中，联动同步机构16包括通过皮带相连接的两个皮带轮(图未示)，两个变形杆142分别连接两个皮带轮。
如此，两个皮带轮的设置能够实现两个机臂组件14同步转动。
具体地，两个皮带轮通过皮带连接，两个皮带轮的转动方向始终保持相反。两个皮带轮分别连接两个机臂组件14的变形杆142，由于两个皮带轮通过皮带连接，使得其中一个皮带轮和与该其中一个皮带轮连接的其中一个机臂组件14的变形杆142转动时，另一个皮带轮和与该另一个皮带轮连接的另一个机臂组件14的变形杆142也随之转动。
请参阅图2，在某些实施方式中，变形机架10包括被配置成限定机臂组件14的转动角度的锁定机构18，锁定机构18连接于机臂组件14与中心架12之间，或者连接于两个 机臂组件14之间。
如此，当变形机架10在折叠状态和伸展状态时，锁定机构18锁定变形杆142和中心架12，使变形杆142和中心架12固定，避免变形杆142相对于中心架12转动，使得变形机架10能够保持在折叠状态或伸展状态。
具体地，在变形机架10在折叠状态与伸展状态之间切换时，锁定机构18解除对变形杆142和中心架12的锁定，使变形杆142能够相对于中心架12转动，便于用户折叠或伸展变形机架10。
请参阅图3，在某些实施方式中，锁定机构18包括能够齿合的转动齿盘181和限位齿盘182，变形杆142连接转动齿盘181，变形机架10在折叠状态和伸展状态时，转动齿盘181和限位齿盘182齿合以锁定变形机架10。
如此，通过转动齿盘181和限位齿盘182齿合锁定变形杆142和中心架12，使变形杆142和中心架12的相对位置固定，从而使得变形机架10在折叠状态和伸展状态时，状态更加稳定，有效地避免变形杆142相对于中心架12转动。
请参阅图3及图7，在某些实施方式中，转动齿盘181形成有限位齿1812，限位齿盘182形成有圆弧形的限位槽1822；限位齿1812容置在限位槽1822内以使得转动齿盘181和限位齿盘182齿合。
如此，转动齿盘181和限位齿盘182齿合时的状态更加稳定。
具体地，限位齿1812的数目为多个，多个限位齿1812沿转动齿盘181的周向间隔分布。限位槽1822的数目为多个。多个限位槽1822沿限位齿盘182的周向间隔分布。每个限位齿1812容置在对应的限位槽1822内。如此，这样进一步提高了转动齿盘181和限位齿盘182齿合时的稳定性。
可以理解，限位齿1812的数目为多个时，相邻的两个限位齿1812之间可形成限位槽1822，限位槽1822的数目为多个时，相邻的限位槽1822之间形成限位齿1812。也即是说，转动齿盘181形成有多个限位齿1812和多个限位槽1822，限位齿盘182也形成有多个限位齿1812和多个限位槽1822。
需要指出的是，限位齿1812的数目和限位槽1822的数目均可根据具体情况进行设置。另外，限位齿1812的形状和限位槽1822的形状也均可根据具体情况进行设置。当然，可以理解，将限位齿1812的形状设置成与限位槽1822的形状相匹配是更加能够保证转动齿盘181和限位齿盘182齿合时两个机臂连接件164处于锁定状态的稳定性。
在另外的实施方式中，限位齿盘182形成有限位齿，转动齿盘181形成有圆弧形的限位槽。
在某些实施方式中，转动齿盘181相对于限位齿盘182转动至预设角度并且重新齿合， 使变形机架10在折叠状态与伸展状态之间切换。
如此，可根据预设角度对变形机架10进行不同角度的伸展或折叠，使变形机架10的可调姿态范围较广。
需要说明的是，上述预设角度可根据具体情况进行设置。另外，在图示的实施方式中，在转动齿盘181和限位齿盘182分离时，限位齿1812与限位槽1822分离，转动齿盘181的转动不受限于限位槽1822，两个机臂连接件164处于解锁状态，此时可通过转动两个机臂连接件164来调节两个机臂连接件164的姿态。
在某些实施方式中，锁定机构18包括操作按键183，操作按键183连接限位齿盘182，操作按键183能够在第一位置和第二位置之间切换，操作按键183在第一位置时，限位齿盘182与转动齿盘181齿合，操作按键183在第二位置时，限位齿盘182与转动齿盘181分离。
如此，用户可以通过操作按键183使变形机架10锁定和解锁，从而提高了变形机架10的可操作性，有助于提升用户体验。
本发明实施方式中，操作按键183通过按压在第一位置和第二位置之间切换，第一位置与第二位置为中心架12高度方向上的两个位置。如此，便于用于操作操作按键183。当然在其他实施方式中，第一位置和第二位置之间的位置关系也不限于中心架12高度方向上的两个位置，第一位置和第二位置可以设置为其他任意可实现的位置，例如，第一位置和第二位置为垂直于中心架12高度方向上的两个位置。再如，操作按键183在第一位置，可以理解为，在限位齿盘182与转动齿盘181齿合时所对应的操作按键183的所有任意位置。
具体地，限位齿盘182的数量为两个，两个限位齿盘182分别连接两个变形杆142的第一端1422，两个限位齿盘182通过连接板184连接，锁定机构18包括按压杆185，按压杆185连接操作按键183和连接板184。请结合图7，当操作按键183在第二位置时沿按压杆185轴向向下移动并按压连接板184时，连接板184向下移动从而带动限位齿盘182向下移动，进而使得限位齿盘182和转动齿盘181分离。当操作按键183在第一位置时沿按压杆185轴向向上移动并带动连接板184向上移动时，限位齿盘182向上移动，进而使得限位齿盘182和转动齿盘181齿合。
在某些实施方式中，锁定机构18包括弹性件186，弹性件186抵持在限位齿盘182和中心架12之间，并被配置成驱动限位齿盘182与转动齿盘181齿合。
如此，弹性件186处于预压状态，抵持限位齿盘182与转动齿盘181齿合，使变形机架10在锁定时保持稳定。
具体地，在限位齿盘182和转动齿盘181分离时，变形杆142相对中心架12转动使限位齿盘182相对于转动齿盘181转动至预设角度，转动齿盘181和限位齿盘182在处于预 压状态的弹性件186的作用下能够实现齿合，并且处于预压状态的弹性件186能够使得转动齿盘181和限位齿盘182处于稳定的齿合状态。
当操作按键183位于第二位置时，转动齿盘181的限位齿1812脱离限位槽1822并抵持在限位齿盘182的顶面，从而使得弹性件186承压而收缩，并处于压缩状态。当转动变形杆142并使得限位齿1812脱离限位齿盘182的顶面时，处于压缩状态的弹性件186伸长并能够驱动限位齿盘182沿按压杆185轴向向上移动，从而使得限位齿1812重新容置在限位槽1822内以使得转动齿盘181和限位齿盘182重新齿合。这样便通过弹性件186以较简单的方式实现了转动齿盘181和限位齿盘182的齿合。
当操作按键183在第二位置时，弹性件186可驱动限位齿盘182、连接板184和操作按键183沿按压杆185轴向向上移动，限位齿盘182在弹性件186的驱动作用下，向上移动与转动齿盘181齿合。此时，操作按键183在第一位置。
在某些实施方式中，弹性件186为弹簧。如此，弹性件186具有较大的弹性。可以理解，在其它实施方式中，弹性件186可为符合弹力要求的其它弹性件。
在某些实施方式中，锁定机构18包括连接中心架12和变形杆142的支撑轴187，转动齿盘181能够转动地套设在支撑轴187上，限位齿盘182能够滑动地套设在支撑轴187上，弹性件186套设在支撑轴187上。
如此，变形杆142转动时更稳定，弹性件186可较稳固地向限位齿盘182施加驱动力。
具体地，支撑轴187穿设限位齿盘182，限位齿盘182能够沿支撑轴187的轴向上下滑动。如此，使限位齿盘182的移动位置固定，以便于限位齿盘182和转动齿盘181在齿合和分离之间切换。
请参阅图6及图7，在某些实施方式中，锁定机构18包括固定组件188，固定组件188包括固定上板1882和固定下板1884，两个机臂组件14的两个变形杆142转动地连接固定上板1882，固定上板1882和固定下板1884分别设置在支撑轴187的两端，固定下板1884连接中心架12，转动齿盘181和限位齿盘182位于固定上板1882和固定下板1884之间。
如此，固定上板1882和固定下板1884可限定变形杆142上侧和下侧的位置，从而可提高变形杆142转动时的稳定性。
另外，支撑轴187的上端可通过上轴承与固定上板1882连接，支撑轴187的下端可通过下轴承166与固定下板1884连接。固定下板1884可与中心架12的一端固定连接。
在某些实施方式中，固定上板1882上设置有限位片189，限位片189限定操作按键183在第一位置。
如此，限位片189使操作按键183在第一位置时位置稳定，从而使限位齿盘182与转动齿盘181保持齿合，进而使得变形机架10在折叠和伸展状态时更加稳定。
具体地，在本发明实施方式中，操作按键183在第一位置时，限位齿盘182与转动齿盘181齿合，锁定机构18处于锁定状态，变形机架10被锁定。限位片189位于操作按键183的下方(例如，在图3中，操作按键183再旋转一定角度，使操作按键183位于限位片189的上方)，操作按键183无法被向下按压，操作按键183被限位在第一位置。这样可防止操作按键183的误触发而引起变形机架10期望外的解锁。
在需要解锁时，可先旋转操作按键183以使得操作按键183脱离限位片189，如图3和图7所示，这时可再通过向下按压操作按键183使限位齿盘182与转动齿盘181分离。弹性件186被压缩。当向下按压操作按键183的力撤消时，弹性件186驱动限位齿盘182重新与转动齿盘181齿合，变形机架10被重新锁定。
需要指出的是，操作按键183处于第一位置时，操作按键183可与限位片189接触并且两者的接触面粗糙，当操作按键183被误碰时，操作按键183与限位片189之间产生静摩擦力阻止操作按键183移动，这样可防止操作按键183位置被意外移动。当用户施加大于最大静摩擦力的外力转动操作按键183时，操作按键183转动，限位片189对操作按键183形成与操作按键183运动方向相反的滑动摩擦力，这样能够防止操作按键183过快地滑进或滑出限位片189，从而可保证锁定机构18整体的稳定性。
在本发明实施方式中，操作按键183在第一位置，包括如图3所示的操作按键183的位置和操作按键183位于限位片189上方的位置，即在图3所示的位置再旋转操作按键183一定角度后的位置，和在限位齿盘182与转动齿盘181齿合时所对应的操作按键183的其它任意位置。在这样的实施方式中，按压杆185的一端与操作按键183可转动连接。
请参阅图1，在某些实施方式中，每个机臂组件14包括两个变形杆142，在变形机架10处于伸展状态时，两个机臂组件14与中心架12形成平行四边形机构。
如此，在伸展状态时，变形机架10的结构更加稳定。
具体地，每个机臂组件14包括两个变形杆142和一个横杆144。变形杆142的一端与中心架12转动连接，另一端和横杆144转动连接。在伸展状态时，两个变形杆142平行，横杆144和中心架12的横滚轴X平行。
当然，在其他实施方式中，变形杆142的数量不限于两个，也可以是一个或其他任意多个。
请参阅图2、图5及图6，在某些实施方式中，在折叠状态时，每个变形杆142层叠设置在中心架12上方，横杆144与变形杆142平行。
如此，进一步地减小变形机架10在折叠状态时占用的空间尺寸，使变形机架10更加便于携带和运输。
具体地，横杆144与变形杆142平行时，横杆144与变形杆142之间的夹角为0，横 杆144紧贴变形杆142，从而减小变形机架10占用的空间尺寸。在这样的实施方式中，横杆144也与中心架12平行。
在某些实施方式中，每个机臂组件14包括两个变形杆142，两个变形杆142的端部的高度不一致。
如此，变形机架10在折叠状态时，两个变形杆142可以层叠设置，进一步地减小变形机架10在折叠状态时占用的空间尺寸。
具体地，其中一个变形杆142的第二端1424和另一个变形杆142的第一端1422高度不一致。变形机架10在折叠状态时其中一个变形杆142的第二端1424和另一个变形杆142的第一端1422层叠设置。较佳地，其中一个变形杆142的第一端1422和另一个变形杆142的第一端1422高度一致，其中一个变形杆142的第二端1424和另一个变形杆142的第二端1424高度一致。
在某些实施方式中，变形机架10在折叠状态时，在每个机臂组件14中，其中一个变形杆142与横杆144的连接处位于另一个变形杆142与中心架12的连接处的正上方。
如此，有效地缩短变形机架10占用的空间的长度尺寸。
具体地，其中一个变形杆142的第二端1424高于另一个变形杆142的第一端1422，变形机架10在折叠状态时，一个变形杆142的第二端1424层叠在另一个变形杆142的第一端1422正上方。
在某些实施方式中，两个变形杆142之间的间距L1小于变形杆142的长度L2。
如此，变形机架10在折叠状态时，两个变形杆142可以层叠设置，有效地缩短变形机架10占用的空间的长度尺寸。
具体地，L1为两个变形杆的第一端1422的端部之间的距离；L2为变形杆142的首和尾之间的距离。
在某些实施方式中，横杆144与变形杆142高度不一致。
如此，横杆144与变形杆142错层设置，变形机架10在折叠状态时，横杆144和变形杆142层叠，减小变形机架10占用空间的宽度尺寸。
在一个例子中，横杆144的高度高于变形杆142的高度，变形机架10在折叠状态时，横杆144层叠设置在变形杆142上方，有效地缩短变形机架10占用空间的宽度尺寸。
在另一个例子中，变形杆142的高度高于横杆144的高度，变形机架10在折叠状态时，变形杆142层叠设置在横杆144上方，有效地缩短变形机架10占用的空间的宽度尺寸。
在某些实施方式中，两个机臂组件14的横杆144相互平行。
如此，使飞行器100飞行更加平稳。
在某些实施方式中，机臂组件14包括设置在横杆144的转动副146，转动副146连接 变形杆142和横杆144。
如此，通过转动副146使变形杆142和横杆144转动连接。
在某些实施方式中，每个机臂组件14包括两个变形杆142，横杆144设置有两个转动副146，每个变形杆142通过对应的一个转动副146连接横杆144，两个转动副146均位于横杆144的上侧或两个转动副146均位于横杆144的下侧。
如此，两个转动副146均位于横杆144的上侧或下侧使得变形机架10在折叠状态时，转动副146不会导致增加变形机架10占用空间的宽度尺寸，减小变形机架10占用的空间尺寸。
具体地，可以是两个转动副146同时位于横杆144的上侧，也可以是两个转动副146同时位于横杆144的下侧。
在某些实施方式中，每个机臂组件14包括两个变形杆142，横杆144设置有两个转动副146，每个变形杆142通过对应的一个转动副146连接横杆144，两个转动副146分别位于横杆144的上侧和下侧。
如此，两个转动副146分别位于横杆144的上侧和下侧使得变形机架10在折叠状态时，转动副146不会导致增加变形机架10占用空间的宽度尺寸，减小变形机架10占用的空间尺寸。
在本发明图示的实施方式中，机臂组件14包括转动副146，转动副146连接变形杆142和横杆144，转动副146位于横杆144的内侧。
如此，使得变形机架10的结构稳定。
本发明实施方式中，当变形机架10折叠时，与其中一个变形杆142的第二端1424连接的转动副146设置在另一个变形杆142的第一端1422的上方。如此，转动副146不会增加变形机架10占用空间的宽度尺寸。
在某些实施方式中，变形机架10包括驱动件，驱动件与变形杆142连接，驱动件被配置成驱动变形杆142转动以使变形机架10在伸展状态和折叠状态之间切换。
如此，驱动件可使变形机架10可以自动在伸展状态和折叠状态之间切换，无需用户手动操作机臂组件14，有助于提升用户体验。
具体地，驱动件可包括电机，电机的输出轴通过传动部件(如齿轮、皮带、链条等)将驱动力输出至变形杆142，使得变形杆142相对于中心架12转动而在伸展状态和折叠状态之间切换。
请参阅图8，本发明实施方式的一种飞行器100包括负载及上述任一实施方式的变形机架10，负载(图未示)安装在中心架12。
上述飞行器100中，变形机架10在伸展状态切换至折叠状态时，可折叠成层叠设置的 结构，折叠后的变形机架10体积小，折叠方便，便于携带和运输。
飞行器100可为多旋翼飞行器100，可用于航拍、测绘、植保、消防等。飞行器100具有便于携带、操作方便并且成本相对较低的优点。
在某些实施方式中，飞行器100包括安装在横杆144的动力组件20。
如此，动力组件20为飞行器100提供动力。
具体地，飞行器100可以包括多个动力组件20，例如可以是1个、2个、3个、4个、5个、6个等。本发明实施方式中，飞行器100包括四个动力组件20，每个机臂组件14包括一个横杆144，每个横杆144的两端各设置有一个动力组件20。变形机架10处于折叠状态时，动力组件20随横杆144一起折叠，使变形机架10便于携带和运输。变形机架10处于伸展状态时，动力组件20随横杆144一起伸出远离中心架12，以便于动力组件20为飞行器100提供动力。
在某些实施方式中，动力组件20包括电机22及螺旋桨24，电机22设置在横杆144，电机22连接螺旋桨24。
如此，电机22驱动螺旋桨24转动为飞行器100提供动力。
具体地，飞行器100包括多个螺旋桨24，可通过分别通过多个螺旋桨24的转速来控制飞行器100的运动速度和方向。
在某些实施方式中，负载包括云台和/或相机。
如此，使飞行器100通过云台搭载其它设备，通过相机完成图像采集，丰富飞行器100的功能，扩展飞行器100的应用领域。
具体地，可将云台安装在中心架12，然后将相机搭载在云台上；也可以直接将相机安装在中心架12。
负载包括云台和/或相机，可以是负载包括云台，云台搭载其它设备；也可以是负载包括相机，相机设置在中心架12；也可以是负载包括云台和相机，云台可搭载相机和其它设备，云台也可搭载其它设备，而相机设置在中心架12。
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性 或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个，除非另有明确具体的限定。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (31)

  1. 一种飞行器的变形机架，其特征在于包括：
    中心架；以及
    两个机臂组件，所述两个机臂组件分别设置在所述中心架的两侧，并且与所述中心架转动连接，以使所述变形机架能够在伸展状态和折叠状态之间切换；
    其中，所述机臂组件包括变形杆及横杆，所述变形杆包括与所述中心架转动连接的第一端、以及与所述横杆转动连接的第二端，所述第二端的高度大于所述第一端的高度；
    在所述伸展状态时，两个所述机臂组件的所述第二端分别远离所述中心架，在所述折叠状态时，两个所述机臂组件的所述变形杆层叠设置在所述中心架的上方。
  2. 根据权利要求1所述的变形机架，其特征在于，所述两个机臂组件沿所述中心架的横滚轴对称布置。
  3. 根据权利要求1所述的变形机架，其特征在于，所述变形机架包括连接所述两个机臂组件的联动同步机构，所述两个机臂组件通过所述联动同步机构进行联动。
  4. 根据权利要求3所述的变形机架，其特征在于，所述联动同步机构包括相互齿合的两个齿轮，两个所述变形杆分别连接所述两个齿轮。
  5. 根据权利要求3所述的变形机架，其特征在于，所述联动同步机构包括通过链条相连接的两个链轮，两个所述变形杆分别连接所述两个链轮。
  6. 根据权利要求3所述的变形机架，其特征在于，所述联动同步机构包括通过皮带相连接的两个皮带轮，两个所述变形杆分别连接所述两个皮带轮。
  7. 根据权利要求1所述的变形机架，其特征在于，所述变形机架包括被配置成限定所述机臂组件的转动角度的锁定机构，所述锁定机构连接于所述机臂组件与所述中心架之间，或者连接于所述两个机臂组件之间。
  8. 根据权利要求7所述的变形机架，其特征在于，所述锁定机构包括能够齿合的转动齿盘和限位齿盘，所述变形杆连接所述转动齿盘，所述变形机架在所述折叠状态和所述伸 展状态时，所述转动齿盘和所述限位齿盘齿合以锁定所述变形机架。
  9. 根据权利要求8所述的变形机架，其特征在于，所述转动齿盘形成有限位齿，所述限位齿盘形成有圆弧形的限位槽；或所述限位齿盘形成有限位齿，所述转动齿盘形成有圆弧形的限位槽；
    所述限位齿容置在所述限位槽内以使得所述转动齿盘和所述限位齿盘齿合。
  10. 根据权利要求8所述的变形机架，其特征在于，所述转动齿盘相对于所述限位齿盘转动至预设角度并且重新齿合，使所述变形机架在所述折叠状态与所述伸展状态之间切换。
  11. 根据权利要求8述的变形机架，其特征在于，所述锁定机构包括操作按键，所述操作按键连接所述限位齿盘，所述操作按键能够在第一位置和第二位置之间切换，所述操作按键在所述第一位置时，所述限位齿盘与所述转动齿盘齿合，所述操作按键在所述第二位置时，所述限位齿盘与所述转动齿盘分离。
  12. 根据权利要求11所述的变形机架，其特征在于，所述锁定机构包括弹性件，所述弹性件抵持在所述限位齿盘和所述中心架之间，并被配置成驱动所述限位齿盘与所述转动齿盘齿合。
  13. 根据权利要求12所述的变形机架，其特征在于，所述锁定机构包括连接所述中心架和所述变形杆的支撑轴，所述转动齿盘能够转动地套设在所述支撑轴上，所述限位齿盘能够滑动地套设在所述支撑轴上，所述弹性件套设在所述支撑轴上。
  14. 根据权利要求13所述的变形机架，其特征在于，所述锁定机构包括固定组件，所述固定组件包括固定上板和固定下板，所述两个机臂组件的两个所述变形杆转动地连接所述固定上板，所述固定上板和所述固定下板分别设置在所述支撑轴的两端，所述固定下板连接所述中心架，所述转动齿盘和所述限位齿盘位于所述固定上板和所述固定下板之间。
  15. 根据权利要求14所述的变形机架，其特征在于，所述固定上板上设置有限位片，所述限位片限定所述操作按键在所述第一位置。
  16. 根据权利要求1所述的变形机架，其特征在于，每个所述机臂组件包括两个所述变形杆，在所述变形机架处于所述伸展状态时，两个所述机臂组件与所述中心架形成平行四边形机构。
  17. 根据权利要求16所述的变形机架，其特征在于，在所述折叠状态时，每个所述变形杆层叠设置在所述中心架上方，所述横杆与所述变形杆平行。
  18. 根据权利要求1所述的变形机架，其特征在于，每个所述机臂组件包括两个所述变形杆，两个所述变形杆的端部的高度不一致。
  19. 根据权利要求18所述的变形机架，其特征在于，所述变形机架在所述折叠状态时，在每个所述机臂组件中，其中一个所述变形杆与所述横杆的连接处位于另一个所述变形杆与所述中心架的连接处的正上方。
  20. 根据权利要求16或18所述的变形机架，其特征在于，两个所述变形杆之间的间距小于所述变形杆的长度。
  21. 根据权利要求1所述的变形机架，其特征在于，所述横杆与所述变形杆高度不一致。
  22. 根据权利要求1所述的变形机架，其特征在于，两个所述机臂组件的所述横杆相互平行。
  23. 根据权利要求1所述的变形机架，其特征在于，所述机臂组件包括设置在所述横杆的转动副，所述转动副连接所述变形杆和所述横杆。
  24. 根据权利要求23所述的变形机架，其特征在于，每个所述机臂组件包括两个所述变形杆，所述横杆设置有两个所述转动副，每个所述变形杆通过对应的一个所述转动副连接所述横杆，两个所述转动副均位于所述横杆的上侧或所述两个转动副均位于所述横杆的下侧。
  25. 根据权利要求23所述的变形机架，其特征在于，每个所述机臂组件包括两个所述 变形杆，所述横杆设置有两个所述转动副，每个所述变形杆通过对应的一个所述转动副连接所述横杆，两个所述转动副分别位于所述横杆的上侧和下侧。
  26. 根据权利要求1所述的变形机架，其特征在于，所述机臂组件包括转动副，所述转动副连接所述变形杆和所述横杆，所述转动副位于所述横杆的内侧。
  27. 根据权利要求1所述的变形机架，其特征在于，所述变形机架包括驱动件，所述驱动件与所述变形杆连接，所述驱动件被配置成驱动所述变形杆转动以使所述变形机架在所述伸展状态和所述折叠状态之间切换。
  28. 一种飞行器，其特征在于包括：
    负载；
    权利要求1-27任意一项所述的变形机架，所述负载安装在所述中心架。
  29. 根据权利要求28所述的飞行器，其特征在于，所述飞行器包括安装在所述横杆的动力组件。
  30. 根据权利要求29所述的飞行器，其特征在于，所述动力组件包括电机及螺旋桨，所述电机设置在所述横杆，所述电机连接所述螺旋桨。
  31. 根据权利要求28所述的飞行器，其特征在于，所述负载包括云台和/或相机。
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