WO2019041876A1 - 可折叠的机架和无人机 - Google Patents
可折叠的机架和无人机 Download PDFInfo
- Publication number
- WO2019041876A1 WO2019041876A1 PCT/CN2018/085380 CN2018085380W WO2019041876A1 WO 2019041876 A1 WO2019041876 A1 WO 2019041876A1 CN 2018085380 W CN2018085380 W CN 2018085380W WO 2019041876 A1 WO2019041876 A1 WO 2019041876A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- connecting arm
- fixing member
- rotating member
- conductive housing
- magnetic
- Prior art date
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- 230000005291 magnetic effect Effects 0.000 claims abstract description 130
- 230000003993 interaction Effects 0.000 claims abstract description 3
- 239000000126 substance Substances 0.000 claims description 7
- 230000005294 ferromagnetic effect Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 abstract description 8
- 239000003302 ferromagnetic material Substances 0.000 abstract 1
- 238000000034 method Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 17
- 230000006378 damage Effects 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000010941 cobalt Substances 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 230000002940 repellent Effects 0.000 description 1
- 239000005871 repellent Substances 0.000 description 1
Images
Classifications
-
- 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
Definitions
- the present invention relates to the field of unmanned aerial vehicles, and more particularly to a foldable rack and a drone including the same.
- the existing UAV aircraft has an outwardly extending connecting shaft connected to the fuselage, and the rotor is usually mounted on the connecting shaft, which results in a large overall size of the drone, which is inconvenient to transport; and the rotor is easy to transport during transportation. Suffered from impact and damage.
- the present invention provides a foldable frame such that the frame is used for a drone, and the rotor can be folded to facilitate the transportation of the drone and avoid damage.
- a foldable rack that includes:
- a connecting arm coupled to the body and rotatable relative to the body between a deployed position and a folded position
- the rotating member is disposed to be mounted on the connecting arm
- the fixing member is disposed to be mounted on the body
- one of the rotating member and the fixing member is a magnet capable of generating a magnetic field
- the other is a magnet or a ferromagnetic substance capable of being attracted by the magnet
- the connecting arm is coupled to the body and rotatable relative to the body such that the connecting arm is rotatable relative to the body between the deployed position and the folded position, such that the frame is used for the unmanned
- the connecting arm can rotate the rotor to the deployed position, so that the drone can fly and perform aerial photography;
- the connecting arm drives the rotor to rotate to the folded position, the rotor can be retracted, the size of the drone is reduced, and the transportation is convenient, and
- the rotor is retracted, the rotor can be prevented from colliding and being damaged.
- the connecting arm is provided with a rotating member
- the body is provided with a fixing member
- one of the rotating member and the fixing member is a magnet capable of generating a magnetic field
- the other is a magnet or a ferromagnetic substance capable of being attracted by the magnet, so that the rotating member A magnetic force is generated between the fixed member and the fixing member, and the magnetic force can automatically rotate the connecting arm to the deployed position or the folded position, and maintain the connecting arm in the deployed position or the folded position in the deployed position or the folded position.
- the connecting arm is maintained in the deployed position or the folded position by the magnetic force between the rotating member and the fixing member, which is simple in structure, convenient to install, easy to implement, and low in cost.
- the rotating member and the fixing member are disposed adjacent to each other, and in the unfolding position or the folded position, a magnetic force between the rotating member and the fixing member is in an axial direction, and The connecting arm is maintained in the deployed position or the folded position;
- a magnetic force between the rotating member and the fixing member can generate a magnetic restoring force in a circumferential direction, the magnetic restoring force enabling the connecting arm to return to the unfolding Position or the folded position.
- the rotating member and the fixing member are disposed adjacent to each other, and when the connecting arm is in the deployed position or the folded position, the magnetic force between the rotating member and the fixing member is in the axial direction, so that the connecting arm can be maintained in the deployed position or the folded position;
- the magnetic force between the rotating member and the fixing member can be decomposed into a magnetic restoring force including a circumferential direction, and the connecting arm rotates under the magnetic restoring force in the circumferential direction and returns to the folding. Or expand the location.
- the rotating member and the fixing member are both magnets
- the magnet includes at least one N pole portion and at least one S pole portion, and when the number of N pole portions or S pole portions is greater than one, The N pole portion and the S pole portion are alternately arranged.
- the rotating member and the fixing member are magnets, and each of the magnets includes an N pole portion and an S pole portion, and the N pole portion and the S pole portion in the magnet are alternately disposed.
- the rotating member and the fixing member are in a state of opposite-phase attraction so that the connecting arm can be stably maintained in the unfolded state.
- an external force is applied to the connecting arm to drive the rotation thereof, and during the rotating process, the rotating member and the fixing member undergo a process of attracting from the opposite sex to the same pole, in the process.
- the circumferential component of the magnetic force between the rotating member and the fixing member is opposite to the direction of rotation thereof, so that an external force is required to overcome the circumferential component; the connecting arm is rotated, and the magnetic force between the rotating member and the fixing member is continued.
- the circumferential component force is the same as the direction of rotation.
- the circumferential component force can promote the automatic rotation of the connecting arm, and the external force can be cancelled.
- the automatic rotation of the connecting arm causes the rotating member and the fixing member to repel from the same pole to the opposite phase.
- sucking the automatic rotation of the connecting arm is stopped, and at this time, the connecting arm is in the folded position, and the connecting arm can be stably maintained in the folded state under the action of the magnetic attraction.
- the connecting arm when the connecting arm is in the deployed position or the folded position, if the connecting arm is shaken, the magnetic restoring force generated by the magnetic attraction in the circumferential direction enables the connecting arm to automatically return to the deployed position or the folded position, so that the connecting arm can be stabilized
- the ground is maintained in an unfolded state or a folded state.
- the magnetic force between the first magnet unit and the second magnet unit can facilitate its rotation to facilitate unfolding or folding the rotor of the drone.
- the rotating member includes four N pole portions and four S pole portions, and four N pole portions and four S pole portions are alternately arranged in a circumferential direction;
- the fixing member includes four N pole portions and four S pole portions, four N pole portions and four S pole portions, and four N pole portions and four S pole portions are alternately arranged in the circumferential direction.
- the outer portion of the rotating member is provided with a first magnetic conductive housing, the first magnetic conductive housing has a first opening, and the first opening faces the fixing member;
- the outer portion of the fixing member is provided with a second magnetic conductive housing, the second magnetic conductive housing has a second opening, and the second opening faces the rotating member.
- the magnetically permeable shell is made of magnetic conductive material to shield the magnetic field, thereby reducing interference and improving the performance of the electronic component; in addition, opening the opening on the magnetic conductive shell And opening the opening of the first magnetic conductive housing outside the rotating member toward the fixing member, so that the opening of the second magnetic conductive housing outside the fixing member faces the rotating member to ensure a magnetic force between the rotating member and the fixing member, so that The connecting arm is capable of rotating under the action of a magnetic force.
- a fixing member is fixed on the fixing member, one of the connecting arm and the connecting member is provided with a protrusion, and the other is provided with a groove that cooperates with the protrusion, and the The side walls on both sides of the groove are inclined outward, and the inclined side walls are capable of decomposing the axial magnetic force into a component including the circumferential direction.
- One of the connecting arm and the connecting member (fixed to the fixing member) is provided with a protrusion, and the other portion is provided with a groove that cooperates with the protrusion, and the side walls on both sides of the groove are inclined outward, the inclined side wall
- the magnetic force in the axial direction between the oppositely disposed rotating member and the fixing member can be decomposed into a component force including a direction of a vertical side wall and a component force in a direction of the side wall, the force component along the side wall direction
- It can be decomposed into a component force including a circumferential direction
- the component force in the circumferential direction can promote the rotation of the connecting arm during the rotation of the connecting arm to facilitate the unfolding and folding of the connecting arm while the connecting arm is in the unfolding In the position or the folded position
- the component of the circumferential direction can also prevent the rotation of the connecting arm, and can automatically return to the deployed position or the folded position when the connecting arm is shaken.
- the projections are located within the recesses to enable the connecting arms to be stably maintained in the deployed or folded condition.
- the outer portion of the rotating member is provided with a first magnetic conductive housing, the first magnetic conductive housing has a first opening, and the first opening faces the fixing member;
- the connecting member is a second magnetically conductive housing disposed outside the fixing member, the second magnetically conductive housing has a second opening, and the second opening faces the rotating member;
- the groove of the first magnetically conductive housing adjacent to the fixing member is disposed on the end surface of the second magnetically conductive housing adjacent to the rotating member.
- the first magnetically permeable housing and the second magnetically permeable housing are arranged to shield the magnetic field and prevent the magnetic field from interfering with some electronic components of the drone, and at the same time not affecting the magnetic force between the rotating member and the fixing member, so that
- the connecting arm can be rotated by the magnetic force; the protrusion and the groove are respectively disposed on the first magnetic conductive shell and the second magnetic conductive shell, and the processing is convenient; the connecting member is used for setting the convexity, and at the same time It has the function of shielding magnetic field, which can reduce the number of parts and simplify the structure.
- the grooves are provided with at least two, and are evenly arranged along a circumferential direction of the first magnetically conductive housing;
- the projections are provided with at least two and are evenly arranged along the circumferential direction of the second magnetically permeable housing.
- one of the first magnetically conductive housing and the connecting arm is provided with an axial connecting rod, and the other is provided with an axial mounting hole, and the axial connecting rod extends into the axial direction.
- the inside of the mounting hole is movable in the axial mounting hole, and an elastic member is disposed between the end surface of the first magnetic conductive housing remote from the fixing member and the connecting arm;
- the second magnetically conductive housing is coupled to the fuselage and movable axially relative to the fuselage, and an end surface of the second magnetically conductive housing remote from the rotating member and the fuselage There are elastic elements between them.
- the connecting arm there may be two states in which the protrusion is located in the groove and the protrusion abuts the end surface of the second magnetically conductive housing. Between the two states, the first magnetically conductive housing and the second magnetically conductive The axial relative displacement occurs between the housings, so that the first magnetically conductive housing can be axially moved relative to the connecting arm, or the second magnetically conductive housing can be moved axially relative to the fuselage; An elastic member is disposed between the housing and the connecting arm or between the second magnetic conductive housing and the body, and the elastic member is axially displaced between the first magnetic conductive housing and the second magnetic conductive housing. Deformation occurs to ensure that the first magnetically conductive housing and the second magnetically conductive housing are always in contact during the rotation of the connecting arm, and the two do not axially shake.
- the elastic element is an elastic pad or a spring.
- the frame further includes a base, the base is disposed to be fixed to the body, the connecting arm is rotatably coupled to the base, and the fixing member is mounted on the base.
- the frame includes the base, the connecting arm and the base are rotatably connected, the fixing member is mounted on the base, and then the base is fixed to the body, and the connecting arm is also rotated relative to the body;
- the setting of the pedestal avoids fixing the fixing parts on the body, and only needs to fix the pedestal and the body, thereby reducing the modification of the body, so that the frame can be used on various drones, and the improvement is improved.
- the suitability of a collapsible rack is rotatably connected, the fixing member is mounted on the base, and then the base is fixed to the body, and the connecting arm is also rotated relative to the body;
- an embodiment of the present invention further provides a drone comprising a rotor and the foldable frame of any of the above embodiments, wherein one end of the connecting arm of the frame rotates with the body Connected and the other end connected to the rotor.
- the rotor is connected to the airframe through the foldable frame, so that the rotor can be rotated or unfolded, so that when the UAV is used, the rotor can be deployed to fly the UAV and perform aerial photography.
- the rotor can be folded to reduce the size of the drone, which is convenient for transportation, and avoids collision and destruction of the rotor during transportation.
- an embodiment of the present invention further provides a drone, including a gimbal and the foldable rack of any of the above embodiments, wherein one end of the connecting arm of the rack and the fuselage Rotate the connection and connect the other end to the pan/tilt.
- the PTZ is connected to the airframe through the foldable frame, so that the PTZ can be rotated or unfolded, so that when the UAV is used for aerial photography, the Rack can be rotated and unfolded to fix
- the camera on the pan/tilt is lower than the landing gear to effectively avoid the interference of the landing gear, and achieves interference-free panoramic imaging of the camera.
- the foldable frame provided by the embodiment of the invention has a connecting arm that can rotate under the magnetic force between the rotating member and the fixing member and maintain the connecting arm in the deployed position or the folded position, so that the frame is used
- the rotor When the rotor is connected to the fuselage of the drone, the rotor can be rotated or folded, and the rotor can be folded to facilitate the transportation of the drone, while avoiding collision and destruction of the rotor during transportation;
- the pan/tilt can be rotated or unfolded. After the pan/tilt is deployed, the camera on the pan/tilt can avoid the interference of the landing gear and realize the interference-free panoramic camera of the camera.
- FIG. 1 is a schematic structural view of a foldable frame according to an embodiment of the invention.
- Figure 2 is a side elevational view showing the foldable frame of Figure 1;
- Figure 3 is an exploded perspective view of the foldable frame shown in Figure 1;
- Figure 4 is a cross-sectional structural view of the foldable frame shown in Figure 1;
- Figure 5 is a schematic structural view of the rotating member of Figure 3.
- Figure 6 is a schematic view showing a state of change of the rotating member and the fixing member during the rotation of the foldable frame shown in Figure 1;
- Figure 7 is a schematic structural view of the first magnetically permeable housing of Figure 3;
- FIG. 8 is an exploded perspective view of a foldable frame according to another embodiment of the present invention.
- Figure 9 is a schematic structural view of the first magnetically permeable housing of Figure 8.
- FIG. 10 is a schematic structural view of the second magnetic conductive housing of FIG. 8.
- FIG. 10 is a schematic structural view of the second magnetic conductive housing of FIG. 8.
- 1 connecting arm 10 axial mounting holes, 2-1, 2-2 base, 3 rotating parts, 30N pole part, 31S pole part, 4 fixing parts, 40N pole part, 41S pole part, 5 first magnetic conducting case Body, 50 grooves, 51 axial connecting rods, 6 second magnetically conductive housing, 60 protrusions, 7 shafts, 8 elastic pads.
- Embodiment 1 is a diagrammatic representation of Embodiment 1:
- the frame includes a body, a connecting arm 1, a rotating member 3, and a fixing member 4.
- one end of the connecting arm 1 is connected to the body of the drone and can be rotated relative to the body, and the other end can be arranged to be connected with a rotor such as a drone.
- the rotor When the connecting arm 1 rotates relative to the body, the rotor can be rotated to the deployed position and the folded position, so that when the connecting arm drives the rotor to rotate to the deployed position, the rotor can work normally, so that the drone can fly and perform aerial photography;
- the rotor When the rotor is rotated to the folded position, the rotor can be retracted, the size of the drone is reduced, and the transportation is facilitated, and the rotor can be prevented from colliding and being damaged after the rotor is retracted.
- the rotating member 3 is mounted on the connecting arm 1, and the fixing member 4 is provided to be directly or indirectly mounted on the body.
- one of the rotating member 3 and the fixing member 4 is a magnet capable of generating a magnetic field
- the other is a magnet or a ferromagnetic substance capable of being attracted by the magnet, and when the connecting arm 1 rotates, the rotating member 3 and the fixing member 4 are mutually Under the action, the connecting arm 1 can be automatically rotated relative to the body to the deployed position or the folded position and maintained in the deployed position or the folded position.
- the connecting arm 1 is provided with a rotating member 3, and the fixing member 4 is disposed on the body, and one of the rotating member 3 and the fixing member 4 is a magnet capable of generating a magnetic field, and the other is a magnet or an iron capable of being attracted by the magnet.
- the magnetic substance, the ferromagnetic substance is a substance containing one or more of iron, cobalt, and nickel.
- the connecting arm 1 is maintained in the deployed position or the folded position by the magnetic force between the rotating member 3 and the fixing member 4, which is simple in structure, convenient in installation, easy to implement, and low in cost.
- the rotating member 3 and the fixing member 4 are disposed adjacent to each other.
- the magnetic force between the rotating member 3 and the fixing member 4 is in the axial direction, and the axial magnetic force maintains the connecting arm 1 in the deployed position or the folded position;
- the magnetic force between the rotating member 3 and the fixing member 4 can generate a component force in the circumferential direction, and the component force in the circumferential direction can be a magnetic restoring force, so that the connecting arm 1 returns to the deployed position.
- the component force in the circumferential direction can also contribute to the rotation of the connecting arm 1 to achieve folding or unfolding of the connecting arm 1.
- the magnetic force between the rotating member 3 and the fixing member 4 can generate a component force in the circumferential direction, which can be achieved in the following manner.
- the rotating member 3 and the fixing member 4 are both magnets, and the magnet includes at least one N pole portion and at least one S pole portion, and when the number of the N pole portion and the S pole portion is one The N pole portion and the S pole portion are sequentially arranged in the circumferential direction. When the number of the N pole portion or the S pole portion is greater than one, the N pole portion and the S pole portion are alternately arranged circumferentially to form a loop of NSNS.
- the rotating member 3 includes four N pole portions 30 and four S pole portions 31, and four N pole portions 30 and four S pole portions 31 are alternately arranged in the circumferential direction; the fixing member 4
- the structure is the same as that of the rotating member 3, and includes four N pole portions 40 and four S pole portions 41, and four N pole portions 40 and four S pole portions 41 are alternately arranged in the circumferential direction.
- the magnet may further include other numbers of N pole portions and S pole portions, such as 1, 2, 3 or 4; the number of N pole portions and S pole portions included in the fixing member 4 and the rotating member 3
- the number of N pole portions and S pole portions included may be the same or different.
- the rotating member 3 may include eight magnet units, and the eight magnet units are alternately disposed with the N pole portion 30 and the S pole portion 31 toward one end of the fixing member 4; likewise, the fixing member 4 may include eight magnet units. And one end of the eight magnet units facing the rotating member 3 is an alternating N-pole portion 40 and an S-pole portion 41.
- the rotating member 3 and the fixing member 4 are in a state of opposite-phase attraction, and as shown in the state (a) in Fig. 6, the magnetic attraction force enables the connecting arm 1 to be stably maintained in the unfolded state.
- the magnetic force between the rotating member 3 and the fixing member 4 can facilitate its rotation to facilitate unfolding or folding the rotor of the drone; and when connecting the arm 1
- the connecting arm 1 When the connecting arm 1 is swayed in the deployed position or the folded position, the component force in the circumferential direction generated by the magnetic attraction hinders the rotation of the connecting arm 1 and enables the connecting arm 1 to automatically return to the deployed position or the folded position, so that the connecting arm 1 can automatically return to the deployed position or the folded position.
- the connecting arm 1 can be stably maintained in an unfolded state or a folded state.
- the outer portion of the rotating member 3 is provided with a first magnetic conductive housing 5, and the first magnetic conductive housing 5 is fixed to the rotating member 3, and the first magnetic conductive housing 5 has a first opening, and the first opening faces the fixing member 4;
- the second magnetically permeable housing 6 is fixed to the outside of the fixing member 4, the second magnetically permeable housing 6 is fixed to the fixing member 4, the second magnetically permeable housing 6 has a second opening, and the second opening faces the rotating member 3.
- the magnetic conductive shell is made of a magnetic conductive material to shield the magnetic field, thereby reducing interference and improving the performance of the electronic component; further, in the first magnetic conductive housing 5 Opening an opening in the second magnetically permeable housing 6 and opening the opening of the first magnetically permeable housing 5 outside the rotating member 3 toward the fixing member 4, so that the opening of the second magnetically permeable housing 6 outside the fixing member 4 is turned toward the rotation
- the piece 3 is used to ensure that there is a magnetic force between the rotating member 3 and the fixing member 4, so that the connecting arm 1 can be rotated by the magnetic force.
- two axial connecting rods 51 are disposed on the end surface of the first magnetic conductive housing 5 away from the fixing member 4; the connecting arm 1 is provided with two axial mounting holes 10 (in FIG. 3 Only one is shown), and each of the axial connecting rods 51 projects into an axial mounting hole 10.
- an elastic member is disposed between the end surface of the first magnetically permeable casing 5 remote from the fixing member 4 and the connecting arm 1.
- the elastic member may be an elastic pad 8.
- the elastic member may also be a spring or the like. The elastic member ensures that the first magnetic conductive housing 5 and the second magnetic conductive housing 6 are always in contact during the rotation of the connecting arm 1, and the two do not axially shake.
- the elastic pad 8 is provided with two to avoid the axial connecting rod 51.
- the axial connecting rod 51 can pass between the two elastic mats 8 and then protrude into the axial mounting hole 10.
- the rack further includes a base.
- the frame includes two bases 2-1, 2-2, and both bases 2-1, 2-2 are disposed to be fixedly coupled to the body.
- the two bases 2-1, 2-2 may also be provided as part of the fuselage, ie the bases 2-1, 2-2 belong to the fuselage.
- the connecting arm 1 is rotatably connected to the bases 2-1 and 2-2 via a rotating shaft 7. Specifically, both ends of the rotating shaft 7 are connected to the bases 2-1 and 2-2, respectively. Both the fixing member 4 and the second magnetically conductive housing 6 are mounted on the base 2-2.
- the connecting arm 1 and the bases 2-1 and 2-2 can be rotatably connected, and the fixing member 4 and the second magnetic conductive housing 6 are both mounted on the base 2.
- the fixing member 4 and the second magnetic conductive housing 6 are both mounted on the base 2.
- the fixing member 4 and the second magnetic conductive housing 6 are both mounted on the base 2.
- the fixing member 4 and the second magnetic conductive housing 6 are both mounted on the base 2.
- the fixing member 4 and the second magnetic conductive housing 6 are both mounted on the base 2.
- the fixing member 4 and the second magnetic conductive housing 6 are both mounted on the base 2.
- the fixing member 4 and the second magnetic conductive housing 6 are both mounted on the base 2.
- the fixing member 4 and the second magnetic conductive housing 6 are both mounted on the base 2.
- the fixing member 4 and the second magnetic conductive housing 6 are both mounted on the base 2.
- the fixing member 4 and the second magnetic conductive housing 6 are both mounted on the base 2.
- the fixing member 4 and the second magnetic conductive housing 6 are both mounted on the base 2.
- both ends of the rotating shaft 7 are fixed to the bases 2-1 and 2-2, and the connecting arm 1 is rotatably coupled to the rotating shaft 7.
- the connecting arm 1 is rotatable about the rotating shaft 7 to open or close the rotor.
- the connecting arm 1 can be fixed to the rotating shaft 7, and both ends of the rotating shaft 7 are rotatably connected to the bases 2-1 and 2-2. In this case, the connecting arm 1 and the rotating shaft 7 rotate together with respect to the base 2-1 under the action of the magnetic force.
- Embodiment 2 is a diagrammatic representation of Embodiment 1:
- the present embodiment provides a foldable frame which is different from the frame of the first embodiment in that the magnetic property between the rotating member 3 and the fixing member 4 is made.
- the force can produce a component of force in the circumferential direction in a different way.
- the fixing member 4 is fixed with a connecting member, one of the connecting arm 1 and the connecting member is provided with a protrusion 60, and the other portion is provided with a groove 50 engaged with the protrusion 60, and the groove 50 is provided.
- the side walls on both sides are inclined outward, and the inclined side walls are capable of decomposing the axial magnetic force into a component including the circumferential direction.
- the inclined side walls are disposed such that the magnetic force in the axial direction between the oppositely disposed rotating member 3 and the fixing member 4 can be decomposed into a component force including a vertical side wall direction and a direction along the side wall direction.
- a component force the component force in the direction of the side wall may be decomposed into a component force including a circumferential direction, and the component force in the circumferential direction can promote the rotation of the connecting arm 1 during the rotation of the connecting arm 1 to facilitate The expansion and folding of the connecting arm 1 while the connecting arm 1 is in the deployed position or the folded position, the component of the circumferential direction can also prevent the rotation of the connecting arm 1 and automatically return to the deployed position when the connecting arm is shaken or Folding position.
- the projection 60 is located within the recess 50 to enable the connecting arm 1 to be stably maintained in the deployed or folded condition.
- the groove 50 is disposed on an end surface of the first magnetic conductive housing 5 adjacent to the fixing member 4, the connecting member is a second magnetic conductive housing 6 disposed outside the fixing member 4, and the protrusion 60 is disposed at the The two magnetically conductive housings 6 are adjacent to the end faces of the rotating member 3.
- the protrusion 60 and the groove 50 are respectively disposed on the first magnetic conductive housing 5 and the second magnetic conductive housing 6, and the processing is convenient; the connecting member is used for both the protrusion 60 and the function of shielding the magnetic field. Reduce the number of parts and simplify the structure.
- the grooves 50 are provided with at least two and are evenly arranged along the circumferential direction of the first magnetically permeable casing 5; that is, the respective grooves 50 are equally spaced at intervals on the circumference.
- the projections 60 are provided with at least two and are evenly arranged along the circumferential direction of the second magnetically permeable housing 6, i.e., the respective projections 60 are circumferentially spaced at the same angle.
- the recesses 50 are provided with at least two and are non-uniformly arranged along the circumference of the first magnetically permeable housing 5, and accordingly, the projections 60 are also provided with at least two, and along the second magnetically conductive The circumferential direction of the housing 6 is non-uniformly arranged.
- the connecting arm 1 there may be two states in which the protrusion 60 is located in the groove 50 and the protrusion 60 is in contact with the end surface of the second magnetic conductive case 6, and between the two states, the first magnetically conductive case
- the axial relative displacement between the fifth magnetically permeable casing 6 and the second magnetically permeable casing 6 is achieved by the axial connecting rod 51 provided on the first magnetically permeable casing 5 and the axial mounting hole 10 provided on the connecting arm 1.
- a magnetically permeable housing 5 is axially movable relative to the connecting arm 1 to facilitate rotation of the connecting arm 1. It can be understood that in other embodiments, the axial connecting rod 51 can also be disposed on the connecting wall 1 , and the axial mounting hole 10 is disposed on the second magnetic guiding shell 6 .
- the elastic member disposed between the first magnetically permeable housing 5 and the connecting arm 1 can be deformed when axial relative displacement occurs between the first magnetically permeable housing 5 and the second magnetically permeable housing 6 to ensure During the rotation of the connecting arm 1, the first magnetic conductive housing 5 and the second magnetic conductive housing 6 are always in contact, and the two do not axially shake.
- the second magnetic conductive housing 6 and the base 2-2 are axially movably connected, and are disposed between the end surface of the second magnetic conductive housing 6 away from the rotating member 3 and the base 2-2.
- There are elastic components. This structure is also advantageous in achieving the rotation of the connecting arm 1 while avoiding axial sway of the first magnetic conducting case 5 or the second magnetic conducting case 6.
- the projection 60 is located within the recess 50, enabling the connecting arm 1 to be stably maintained in the deployed state.
- the magnetic repulsive force F received in the axial direction of a magnetically permeable casing 5 can be decomposed into a component force F1 including a vertical side wall direction and a component force F2 along a side wall direction, and the component force F2 along the side wall direction can be decomposed
- the component includes a component force in a circumferential direction, and the direction of the component force in the circumferential direction is opposite to the direction of rotation of the connecting arm 1, so that an external force needs to be applied to overcome the circumferential component;
- the magnetic repulsion F received in the axial direction on the first magnetic conductive housing 5 can be decomposed into vertical side walls.
- a component force F1' of the direction and a component force F2' along the direction of the side wall, the component force F2' along the side wall direction may be decomposed into a component force including a circumferential direction, and the direction of the component force in the circumferential direction is
- the connecting arm 1 has the same direction of rotation, and the circumferential component force can promote the automatic rotation of the connecting arm 1, and the external force can be cancelled at this time;
- the connecting arm 1 With the cooperation of the projection 60 and the recess 50, the connecting arm 1 can be stably maintained in the folded state, at which time the folding process of the connecting arm 1 is completed.
- the projection 60 is located within the recess 50, enabling the connecting arm 1 to be stably maintained in the deployed state.
- the rotating member 3 and the fixing member 4 gradually approach axially, and the magnetic attraction between the rotating member 3 and the fixing member 4 causes the axial direction thereof. Close to the movement, the magnetic attraction generates a circumferential component that promotes the rotation of the connecting arm 1. At this time, it is not necessary to apply an external force to rotate the connecting arm 1.
- the first magnetic housing 5 drives the connecting arm 1 under the action of magnetic attraction. ;
- the connecting arm 1 Under the action of the engagement of the projection 60 and the recess 50 and the magnetic attraction, the connecting arm 1 can be stably maintained in the folded state, at which time the folding process of the connecting arm 1 is completed.
- the connecting arm 1 When the connecting arm 1 is rotated between the folded position and the deployed position, the circumferential component of the magnetic force between the rotating member 3 and the fixing member 4 can facilitate its rotation to facilitate unfolding or folding the rotor of the drone; And when the connecting arm 1 is in the deployed position or the folded position, if the connecting arm 1 is shaken, the circumferential component of the magnetic force can hinder the rotation of the connecting arm 1 and enable the connecting arm 1 to automatically return to the deployed position or the folded position. This enables the connecting arm 1 to be stably maintained in the unfolded state or the folded state.
- Embodiment 3 is a diagrammatic representation of Embodiment 3
- This embodiment provides a drone (not shown) including a rotor and a foldable frame.
- the rack may be the rack described in the first embodiment or the rack described in the second embodiment.
- one end of the connecting arm of the frame is rotatably connected to the body, and the other end is connected with the rotor.
- the rotor is connected to the airframe through the foldable frame, so that the rotor can be rotated or unfolded, so that when the UAV is used, the rotor can be deployed to fly the UAV and perform aerial photography.
- the rotor can be folded to reduce the size of the drone, which is convenient for transportation, and avoids collision and destruction of the rotor during transportation.
- Embodiment 4 is a diagrammatic representation of Embodiment 4:
- This embodiment provides a drone (not shown) including a pan/tilt and a foldable rack.
- the rack may be the rack described in the first embodiment or the rack described in the second embodiment.
- one end of the connecting arm of the rack is rotatably connected to the body, and the other end is connected to the pan/tilt.
- the pan/tilt is connected to the fuselage through a foldable frame, so that the pan/tilt head can be rotated or unfolded, so that when the aerial camera is used for aerial photography, the rack can be rotated and deployed, so that the camera mounted on the pan/tilt is lower than
- the landing gear can effectively avoid the interference of the landing gear and realize the interference-free panoramic camera of the camera.
- the foldable rack in the above embodiment of the present invention can be used not only for the drone, but also for other products other than the drone, such as for a handheld head, etc. Not enumerated one by one.
Abstract
一种可折叠的机架和无人机。该机架包括：机身；连接臂（1），其与机身连接并可在展开位置与折叠位置间转动；和转动件（3）及固定件（4），转动件安装在连接臂（1）上，固定件（4）安装在机身上；转动件（3）和固定件（4）中一个为能产生磁场的磁体，另一个为磁体或能被磁体吸引的铁磁性物质，当连接臂转动时，在转动件（3）和固定件（4）的相互作用下，连接臂（1）能旋转至展开或折叠位置并维持在该位置。该机架可应用到无人机技术领域，连接臂可转动并带动旋翼或云台展开或折叠，旋翼折叠后便于无人机运输，同时避免旋翼发生碰撞、毁坏，云台展开后可使摄像装置避开起落架的干扰，实现无干扰的全景摄像；在转动件和固定件的磁场力的作用下，连接臂能使旋翼或云台维持在展开或折叠位置。
Description
申请要求于2017年8月30日申请的、申请号为201710765302.1、申请名称为“可折叠的机架和无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本发明涉及无人机技术领域，特别涉及一种可折叠的机架和包括该机架的无人机。
现有的无人机飞行器，机身上连接有向外伸展的连接轴，旋翼通常安装在连接轴上，导致无人机的整体尺寸较大，不便于运输；且旋翼在运输过程中，容易受到撞击、发生损害。
发明内容
为了解决上述技术问题，本发明提供了一种可折叠的机架，使得该机架用于无人机，旋翼能够折叠，便于无人机的运输，避免发生损害。
为了达到本发明的目的，本发明的实施例提供了一种可折叠的机架，所述机架包括：
机身；
连接臂，所述连接臂与所述机身连接并可相对于所述机身在展开位置与折叠位置之间转动；和
转动件及固定件，所述转动件设置成安装在所述连接臂上，所述固定件设置成安装在所述机身上；
其中，所述转动件和所述固定件中的一个为能够产生磁场的磁体，另一个为磁体或能够被磁体吸引的铁磁性物质，当所述连接臂转动时，在所述转动件和所述固定件的相互作用下，所述连接臂能够自动旋转至所述展开位置 或所述折叠位置并维持在该位置。
本实施例的可折叠的机架，连接臂与机身连接并能够相对于机身转动，使得连接臂可相对于机身在展开位置和折叠位置之间转动，这样在机架用于无人机时，连接臂可带动旋翼转动至展开位置，以便无人机飞行、进行航拍；连接臂带动旋翼转动至折叠位置时，可将旋翼收起，减小无人机的尺寸，便于运输，且将旋翼收起后，可避免旋翼受到碰撞、发生损坏。
连接臂上设有转动件，机身上设有固定件，且转动件和固定件中的一个为能够产生磁场的磁体，另一个为磁体或能够被磁体吸引的铁磁性物质，这样在转动件和固定件之间可产生磁性力，该磁性力可使连接臂自动旋转至展开位置或折叠位置，并使处于展开位置或折叠位置的连接臂保持不动，维持在该展开位置或折叠位置，以便将展开或收起的旋翼固定。
通过转动件和固定件之间的磁性力来使连接臂维持在展开位置或折叠位置，该结构简单，安装方便，易于实现，且成本低。
可选地，所述转动件和所述固定件相邻设置，在所述展开位置或所述折叠位置，所述转动件和所述固定件之间的磁性力沿轴向方向，并将所述连接臂维持在所述展开位置或所述折叠位置；
在所述连接臂转动过程中，所述转动件和所述固定件之间的磁性力能够产生沿周向方向的磁性回复力，所述磁性回复力能够使得所述连接臂回复至所述展开位置或所述折叠位置。
转动件和固定件相邻设置，且当连接臂处于展开位置或折叠位置时，转动件和固定件之间的磁性力沿轴向方向，使得连接臂能够维持在该展开位置或折叠位置；在连接臂转动过程中，转动件和固定件之间的磁性力可分解成包括沿周向方向的磁性回复力，连接臂在该周向方向的磁性回复力的作用下进行转动，并回复至折叠或展开位置。
可选地，所述转动件和所述固定件均为磁体，所述磁体包括至少一个N极部和至少一个S极部，且当N极部或S极部的数量大于一个时，所述N极部和S极部交替布置。
转动件和固定件均为磁体，且每一磁体均包括有N极部和S极部，且磁 体中的N极部和S极部交替设置。
展开状态下，转动件和固定件处于异性相吸的状态，以使连接臂能够稳定地维持在该展开状态。当需要将展开位置的连接臂折叠时，给连接臂施加外力以驱动其转动，在转动过程中，转动件和固定件之间会经历从异性相吸到同极相斥的过程，在该过程中，转动件和固定件之间的磁性力的周向分力与其转动方向相反，因此需要施加外力克服该周向分力；继续连接臂转动，此时转动件和固定件之间的磁性力的周向分力与其转动方向相同，该周向分力可促进连接臂自动转动，此时可撤销外力；当连接臂的自动转动使转动件和固定件之间从同极相斥到异性相吸时，连接臂的自动转动停止，此时连接臂处于折叠位置，在磁性吸力的作用下，连接臂能够稳定地维持在该折叠状态。
其中，当连接臂处于展开位置或折叠位置时，若连接臂发生晃动，该磁性吸力产生的沿周向方向的磁性回复力使连接臂能够自动回复至展开位置或折叠位置，使得连接臂能够稳定地维持在展开状态或折叠状态。
连接臂由折叠位置转动至展开位置的过程与上述过程类似。
连接臂在折叠位置和展开位置之间转动时，第一磁铁单元和第二磁铁单元之间的磁性力可有助于其转动，以便于将无人机的旋翼展开或折叠。
可选地，所述转动件包括4个N极部和4个S极部，4个N极部和4个S极部沿周向方向交替设置；
所述固定件包括4个N极部和4个S极部，4个N极部和4个S极部，4个N极部和4个S极部沿周向方向交替设置。
可选地，所述转动件的外部设有第一导磁壳体，所述第一导磁壳体具有第一开口，且所述第一开口朝向所述固定件；
所述固定件的外部设有第二导磁壳体，所述第二导磁壳体具有第二开口，且所述第二开口朝向所述转动件。
因磁场对无人机的某些电子元件有干扰，故采用导磁材料制作导磁壳体，屏蔽磁场，从而减小干扰，提高电子元件的使用性能；此外，在导磁壳体上开设开口，且使转动件外的第一导磁壳体的开口朝向固定件，使固定件外的 第二导磁壳体的开口朝向转动件，以保证转动件和固定件之间存在磁性力，使连接臂能够在磁性力的作用下进行转动。
可选地，所述固定件上固定有连接件，所述连接臂和所述连接件中的一个上设有凸起，另一个上设有与所述凸起配合的凹槽，且所述凹槽两侧的侧壁向外倾斜，倾斜的所述侧壁能够使轴向的磁性力分解成包括沿周向方向的分力。
连接臂和连接件(与固定件固定)中的一个上设有凸起，另一个上设有与凸起配合的凹槽，且凹槽两侧的侧壁向外倾斜，该倾斜的侧壁的设置，使相对设置的转动件和固定件之间的沿轴向方向的磁性力能够分解成包括垂直侧壁方向的分力和沿侧壁方向的分力，该沿侧壁方向的分力可分解成包括沿周向方向的分力，该沿周向方向的分力在连接臂转动过程中能够促进连接臂的转动，以有助于连接臂的展开和折叠，同时当连接臂处于展开位置或折叠位置时，该周向方向的分力也可以阻止连接臂的转动，使连接臂发生晃动时能够自动回复至该展开位置或折叠位置。
在展开位置或折叠位置时，凸起位于凹槽内，使连接臂能够稳定地维持在展开或折叠状态。
可选地，所述转动件的外部设有第一导磁壳体，所述第一导磁壳体具有第一开口，且所述第一开口朝向所述固定件；
所述连接件为设在所述固定件外部的第二导磁壳体，所述第二导磁壳体具有第二开口，且所述第二开口朝向所述转动件；
所述第一导磁壳体的邻近所述固定件的端面上设有所述凹槽，所述第二导磁壳体的邻近所述转动件的端面上设有所述凸起。
第一导磁壳体和第二导磁壳体的设置，既能够屏蔽磁场，避免磁场对无人机的某些电子元件造成干扰，同时不影响转动件和固定件之间的磁性力，使连接臂能够在磁性力的作用下进行转动；将凸起和凹槽分别设置在第一导磁壳体和第二导磁壳体上，加工方便；将连接件既用于设置凸起，同时具有屏蔽磁场的功能，可减少部件的数量，简化结构。
可选地，所述凹槽设置有至少两个，且沿所述第一导磁壳体的周向均匀 布置；
所述凸起设置有至少两个，且沿所述第二导磁壳体的周向均匀布置。
可选地，所述第一导磁壳体和所述连接臂中的一个上设有轴向连接杆，另一个上设有轴向安装孔，所述轴向连接杆伸入所述轴向安装孔内并可在所述轴向安装孔内移动，且所述第一导磁壳体的远离所述固定件的端面与所述连接臂之间设有弹性元件；
或者，所述第二导磁壳体和所述机身连接并可相对于所述机身轴向移动，且所述第二导磁壳体的远离所述转动件的端面与所述机身之间设有弹性元件。
在连接臂转动过程中，会存在凸起位于凹槽内以及凸起与第二导磁壳体的端面相抵两种状态，在两种状态之间，第一导磁壳体和第二导磁壳体之间发生轴向相对位移，因此，可设置成第一导磁壳体可相对于连接臂轴向移动，或者第二导磁壳体可相对于机身轴向移动；第一导磁壳体与连接臂之间或者第二导磁壳体与机身之间设有弹性元件，在第一导磁壳体和第二导磁壳体之间发生轴向相对位移时，该弹性元件发生变形，以确保在连接臂转动过程中，第一导磁壳体与第二导磁壳体始终接触，二者不会发生轴向晃动。
可选地，所述弹性元件为弹性垫或弹簧。
可选地，所述机架还包括基座，所述基座设置成与所述机身固定，所述连接臂与所述基座转动连接，所述固定件安装在所述基座上。
机架包括基座时，可将连接臂与基座转动连接，将固定件安装在基座上，然后再将基座与机身固定，同样可实现连接臂相对于机身的转动；此外，基座的设置，避免了在机身上设置固定件等，只需将基座与机身固定即可，减小了对机身的改动，使得机架可用于各种无人机上，提高了可折叠的机架的适用性。
可选地，本发明的实施例还提供了一种无人机，包括旋翼和上述任一实施例所述的可折叠的机架，所述机架的连接臂的一端与所述机身转动连接，另一端与所述旋翼连接。
本实施例的无人机，其旋翼通过可折叠的机架连接至机身，使得旋翼可转动展开或折叠，这样在使用无人机时，可将旋翼展开，以便无人机飞行、 进行航拍；在运输无人机时，可将旋翼折叠，减小无人机的尺寸，便于运输，同时避免旋翼在运输过程中发生碰撞、毁坏。
可选地，本发明的实施例又提供了一种无人机，包括云台和上述任一实施例所述的可折叠的机架，所述机架的连接臂的一端与所述机身转动连接，另一端与所述云台连接。
本实施例的无人机，其云台通过可折叠的机架连接至机身，使得云台可转动展开或折叠，这样在使用无人机进行航拍时，可将机架转动展开，使固定在云台上的摄像装置低于起落架，以有效避开起落架的干扰，实现摄像装置的无干扰的全景摄像。
本发明提供的技术方案和现有技术相比，具有如下有益效果：
本发明实施例提供的可折叠的机架，其连接臂在转动件和固定件之间的磁性力的作用下可进行转动并且将连接臂维持在展开位置或折叠位置，这样在用该机架将旋翼连接至无人机的机身上时，旋翼可转动展开或折叠，旋翼折叠后便于无人机的运输，同时避免旋翼在运输过程中发生碰撞、毁坏；在用该机架将云台连接至无人机的机身上时，云台可转动展开或折叠，云台展开后，云台上的摄像装置可以避开起落架的干扰，实现摄像装置的无干扰的全景摄像。
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在说明书、权利要求书以及附图中所特别指出的结构来实现和获得。
附图用来提供对本发明技术方案的进一步理解，并且构成说明书的一部分，与本申请的实施例一起用于解释本发明的技术方案，并不构成对本发明技术方案的限制。
图1为根据本发明的一实施例所述的可折叠的机架的结构示意图；
图2是图1所示的可折叠的机架的侧视结构示意图；
图3是图1所示的可折叠的机架的分解结构示意图；
图4为图1所示的可折叠的机架的剖视结构示意图；
图5为图3中转动件的结构示意图；
图6为图1所示的可折叠的机架在转动过程中转动件和固定件的变化状态示意图；
图7为图3中第一导磁壳体的结构示意图；
图8是根据本发明的另一实施例所述的可折叠的机架的分解结构示意图；
图9为图8中第一导磁壳体的结构示意图；
图10为图8中第二导磁壳体的结构示意图。
其中，图1-图10中附图标记与部件名称之间的关系为：
1连接臂，10轴向安装孔，2-1、2-2基座，3转动件，30N极部，31S极部，4固定件，40N极部，41S极部，5第一导磁壳体，50凹槽，51轴向连接杆，6第二导磁壳体，60凸起，7转轴，8弹性垫。
为使本发明的目的、技术方案和优点更加清楚明白，下文中将结合附图对本发明的实施例进行详细说明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互任意组合。
实施例一：
本实施例提供了一种可折叠的机架，该机架可用于无人机。具体地，如图1-图3所示，机架包括机身、连接臂1、转动件3和固定件4。
其中，连接臂1的一端与无人机的机身连接并能够相对于机身转动，另一端可设置成与无人机的如旋翼等连接。
连接臂1相对于机身转动时，可带动旋翼转动至展开位置和折叠位置，这样在连接臂带动旋翼转动至展开位置时，旋翼可正常工作，以便无人机进行飞行、进行航拍；连接臂带动旋翼转动至折叠位置时，可将旋翼收起，减小无人机的尺寸，便于运输，且将旋翼收起后，可避免旋翼受到碰撞、发生损坏。
其中，转动件3安装在连接臂1上，固定件4设置成直接或间接地安装在所述机身上。此外，转动件3和固定件4中的一个为能够产生磁场的磁体，另一个为磁体或能够被磁体吸引的铁磁性物质，当连接臂1转动时，在转动件3和固定件4的相互作用下，连接臂1能够相对于机身自动旋转至展开位置或折叠位置并维持在该展开位置或折叠位置。
连接臂1上设有转动件3，机身上设有固定件4，且转动件3和固定件4中的一个磁性元件为能够产生磁场的磁体，另一个为磁体或能够被磁体吸引的铁磁性物质，铁磁性物质为含有铁、钴、镍中的一种或多种的物质。这样在转动件3和固定件4之间可产生磁性力，该磁性力可使连接臂1自动旋转至展开位置或折叠位置，并使处于展开位置或折叠位置的连接臂1保持不动，维持在该展开位置或折叠位置，以便将展开或收起的旋翼固定。
通过转动件3和固定件4之间的磁性力来使连接臂1维持在展开位置或折叠位置，该结构简单，安装方便，易于实现，且成本低。
可选地，如图4所示，转动件3和固定件4相邻设置。其中，当连接臂1处于展开位置或折叠位置，转动件3和固定件4之间的磁性力沿轴向方向，该轴向磁性力将连接臂1维持在该展开位置或折叠位置；在连接臂1转动过程中，转动件3和固定件4之间的磁性力能够产生沿周向方向的分力，该沿周向方向的分力可以为磁性回复力，使连接臂1回复至展开位置或折叠位置，该沿周向方向的分力也可以有助于连接臂1的转动，以实现连接臂1的折叠或展开。
使转动件3和固定件4之间的磁性力能够产生沿周向方向的分力，可通过以下方式实现。
可选地，如图5所示，转动件3和固定件4均为磁体，磁体包括至少一个N极部和至少一个S极部，且当N极部和S极部的数量均为一个时，N极部和S极部沿圆周依次排布，当N极部或S极部的数量大于一个时，所述N极部和S极部沿圆周交替布置，形成NSNS……的循环。具体地，在本实施例中，转动件3包括4个N极部30和4个S极部31，4个N极部30和4个S极部31沿周向方向交替设置；固定件4的结构与转动件3的结构相同，也包括4个N极部40和4个S极部41，4个N极部40和4个S极部41沿 周向方向交替设置。当然，磁体还可以包括其它数量的N极部和S极部，如1个、2个、3个或4个以上；固定件4所包含的N极部和S极部的数量与转动件3所包含的N极部和S极部的数量可以相同，也可以不同。
具体地，转动件3可包括八个磁铁单元，且八个磁铁单元朝向固定件4的一端为交替设置N极部30和S极部31；同样地，固定件4中可包括八个磁铁单元，且八个磁铁单元的朝向转动件3的一端为交替设置N极部40和S极部41。
下面，具体说明本实施例的可折叠的机架的折叠与展开过程。
在展开状态下，转动件3和固定件4处于异性相吸的状态，如图6中状态(a)所示，该磁性吸力使连接臂1能够稳定地维持在该展开状态。
当需要将展开位置的连接臂1折叠时，给连接臂1施加外力以驱动其转动，在转动过程中，转动件3和固定件4之间会经历从异性相吸到同极相斥的过程，即从图6中状态(a)变化至图6中的状态(b)，在该过程中，转动件3和固定件4之间的磁性力的周向分力的方向与其转动方向相反，因此需要施加外力克服该周向分力；
继续转动连接臂1，此时转动件3和固定件4之间的磁性力的周向分力与其转动方向相同，该周向分力可促进连接臂1自动转动，此时可撤销外力；
当连接臂1的自动转动使转动件3和固定件4之间从同极相斥到异性相吸时，如图6中状态(c)所示，连接臂1的自动转动停止，此时连接臂1处于折叠位置，在磁性吸力的作用下，连接臂1能够稳定地维持在该折叠状态。此时，连接臂1的折叠过程完毕。
连接臂1由折叠位置转动至展开位置的过程与上述过程类似，不再重复。
连接臂1在折叠位置和展开位置之间转动时，转动件3和固定件4之间的磁性力可有助于其转动，以便于将无人机的旋翼展开或折叠；且当连接臂1处于展开位置或折叠位置时，若连接臂1发生晃动，该磁性吸力产生的沿周向方向的分力阻碍连接臂1的转动，且使连接臂1能够自动回复至展开位置或折叠位置，使得连接臂1能够稳定地维持在展开状态或折叠状态。
可选地，如图3和图4所示，转动件3的外部设有第一导磁壳体5，第 一导磁壳体5与转动件3相固定，第一导磁壳体5具有第一开口，且第一开口朝向固定件4；
固定件4的外部设有第二导磁壳体6，第二导磁壳体6与固定件4相固定，第二导磁壳体6具有第二开口，且第二开口朝向转动件3。
因磁场对无人机的某些电子元件有干扰，故采用导磁材料制作导磁壳体，屏蔽磁场，从而减小干扰，提高电子元件的使用性能；此外，在第一导磁壳体5和第二导磁壳体6上开设开口，且使转动件3外的第一导磁壳体5的开口朝向固定件4，使固定件4外的第二导磁壳体6的开口朝向转动件3，以保证转动件3和固定件4之间存在磁性力，使连接臂1能够在磁性力的作用下进行转动。
可选地，如图7所示，第一导磁壳体5的远离固定件4的端面上设有两轴向连接杆51；连接臂1上设有两轴向安装孔10(图3中仅示出1个)，每一轴向连接杆51伸入一轴向安装孔10内。通过两轴向连接杆51与两轴向安装孔10的配合，实现了第一导磁壳体5与连接臂1的周向固定，以便第一导磁壳体5带动连接臂1装置。
进一步，如图3所示，第一导磁壳体5的远离固定件4的端面与连接臂1之间设有弹性元件。具体地，在本实施例中，该弹性元件可以为弹性垫8。当然，该弹性元件还可以是弹簧等。该弹性元件可确保在连接臂1转动过程中，第一导磁壳体5与第二导磁壳体6始终接触，二者不会发生轴向晃动。
可选地，如图3所示，弹性垫8设置有两个，以避让轴向连接杆51。轴向连接杆51可自两弹性垫8之间穿过后再伸入轴向安装孔10。
可选地，机架还包括基座。具体地，如图3所示，在本实施例中，机架包括两基座2-1、2-2，两基座2-1、2-2均设置成与机身固定连接。可以理解，在其他实施例中，两基座2-1、2-2还可设置成所述机身的一部分，即基座2-1、2-2属于机身。
其中，连接臂1通过转轴7与基座2-1、2-2转动连接。具体地，转轴7的两端分别与基座2-1、2-2连接。固定件4和第二导磁壳体6均安装在基座2-2上。
机架包括基座2-1、2-2时，可将连接臂1与基座2-1、2-2转动连接，将固定件4、第二导磁壳体6均安装在基座2-2上，然后再将基座2-1、2-2与机身固定，同样可实现连接臂1相对于机身的转动；此外，基座2-1、2-2的设置，避免了在机身上固定固定件4、第二导磁壳体6等，只需将基座2-1、2-2与机身固定即可，减小了对机身的改动，使得机架可用于各种无人机上，提高了可折叠的机架的适用性。
具体地，转轴7的两端与基座2-1、2-2相固定，连接臂1与转轴7转动连接。这种情况下，在磁性力的作用下，连接臂1可绕转轴7转动，以将旋翼打开或收起。
当然，也可以将连接臂1与转轴7相固定，转轴7的两端与基座2-1、2-2转动连接。这种情况下，在磁性力的作用下，连接臂1和转轴7一起相对于基座2-1转动。
实施例二：
如图8-图10所示，本实施例提供了一种可折叠的机架，其与实施例一所述的机架的不同之处在于：使转动件3和固定件4之间的磁性力能够产生沿周向方向的分力的方式不同。
在本实施例中，固定件4上固定有连接件，连接臂1和连接件中的一个上设有凸起60，另一个上设有与凸起60配合的凹槽50，且凹槽50两侧的侧壁向外倾斜，倾斜的侧壁能够使轴向的磁性力分解成包括沿周向方向的分力。
具体而言，该倾斜的侧壁的设置，使相对设置的转动件3和固定件4之间的沿轴向方向的磁性力能够分解成包括垂直侧壁方向的分力和沿侧壁方向的分力，该沿侧壁方向的分力可分解成包括沿周向方向的分力，该沿周向方向的分力在连接臂1转动过程中能够促进连接臂1的转动，以有助于连接臂1的展开和折叠，同时当连接臂1处于展开位置或折叠位置时，该周向方向的分力也可以阻止连接臂1的转动，使连接臂发生晃动时能够自动回复至该展开位置或折叠位置。
在展开位置或折叠位置时，凸起60位于凹槽50内，使连接臂1能够稳定地维持在展开或折叠状态。
可选地，凹槽50设置在第一导磁壳体5的邻近固定件4的端面上，连接件为设在固定件4外部的第二导磁壳体6，且凸起60设置在第二导磁壳体6的邻近转动件3的端面上。
将凸起60和凹槽50分别设置在第一导磁壳体5和第二导磁壳体6上，加工方便；将连接件既用于设置凸起60，同时具有屏蔽磁场的功能，可减少部件的数量，简化结构。
可选地，如图9所示，凹槽50设置有至少两个，且沿第一导磁壳体5的周向均匀布置；即各个凹槽50在圆周上的间隔相同的角度。
如图10所示，凸起60设置有至少两个，且沿第二导磁壳体6的周向均匀布置，即各个凸起60在圆周上的间隔相同的角度。
在其它的一些实施例中，凹槽50设置有至少两个，且沿第一导磁壳体5的周向非均匀布置，相应地，凸起60也设置有至少两个，且沿第二导磁壳体6的周向非均匀布置。
在连接臂1转动过程中，会存在凸起60位于凹槽50内以及凸起60与第二导磁壳体6的端面相抵两种状态，在两种状态之间，第一导磁壳体5和第二导磁壳体6之间发生轴向相对位移，因此，通过第一导磁壳体5上设置的轴向连接杆51以及连接臂1上设置的轴向安装孔10，实现第一导磁壳体5可相对于连接臂1轴向移动，以便于连接臂1的转动。可以理解，在其他实施例中，还可以将轴向连接杆51设置在连接壁1上，将所述轴向安装孔10设置在所述第二导磁壳体6上。
第一导磁壳体5与连接臂1之间设置的弹性元件，在第一导磁壳体5和第二导磁壳体6之间发生轴向相对位移时，能够发生变形，以确保在连接臂1转动过程中，第一导磁壳体5与第二导磁壳体6始终接触，二者不会发生轴向晃动。
当然，也可以设置成第二导磁壳体6和基座2-2可轴向移动地连接，并在第二导磁壳体6远离转动件3的端面与基座2-2之间设有弹性元件。该结构同样既有利于实现连接臂1的转动，同时避免第一导磁壳体5或第二导磁壳体6发生轴向晃动。
下面结合附图，具体说明本实施例的可折叠的机架的折叠与展开过程。
(1)若转动件3和固定件4处于同极相斥的状态：
在展开位置时，凸起60位于凹槽50内，使连接臂1能够稳定地维持在展开状态。
当需要将展开位置的连接臂1折叠时，给连接臂1施加外力以驱动其转动，如向图9中右侧方向转动，当凸起60与凹槽50右侧的侧壁接触时，第一导磁壳体5上受到的沿轴向方向的磁性斥力F能够分解成包括垂直侧壁方向的分力F1和沿侧壁方向的分力F2，该沿侧壁方向的分力F2可分解成包括沿周向方向的分力，该沿周向方向的分力的方向与连接臂1的转动方向相反，因此需要施加外力克服该周向分力；
继续施加外力使连接臂1转动，凸起60与第二导磁壳体6的端面相抵，此时转动件3和固定件4之间的沿轴向方向的磁性斥力F不产生沿周向方向的分力；
继续转动连接臂1，当凸起60与右侧的凹槽50左侧的侧壁接触时，第一导磁壳体5上受到的沿轴向方向的磁性斥力F能够分解成包括垂直侧壁方向的分力F1’和沿侧壁方向的分力F2’，该沿侧壁方向的分力F2’可分解成包括沿周向方向的分力，该沿周向方向的分力的方向与连接臂1的转动方向相同，该周向分力可促进连接臂1自动转动，此时可撤销外力；
当连接臂1自动转动至凸起60完全落入右侧的凹槽50内时，转动件3和固定件4之间的沿轴向方向的磁性斥力F不产生沿周向方向的分力，连接臂1的自动转动停止，此时连接臂1处于折叠位置；
在凸起60与凹槽50的配合下，连接臂1能够稳定地维持在该折叠状态，此时完成了连接臂1的折叠过程。
连接臂1由折叠位置转动至展开位置的过程与上述过程类似，不再重复。
(2)若转动件3和固定件4处于异性相吸的状态：
在展开位置时，凸起60位于凹槽50内，使连接臂1能够稳定地维持在展开状态。
当需要将展开位置的连接臂1折叠时，给连接臂1施加外力以驱动其转 动，此时凸起60与凹槽50逐渐分离时，即转动件3和固定件4逐渐轴向远离，此时转动件3和固定件4之间的磁性吸力阻碍远离运动，因此磁性吸力会产生阻碍连接臂1旋转的周向分力，此时需要施加外力来使连接臂1旋转；
继续施加外力使连接臂1转动，凸起60与第二导磁壳体6的端面相抵，此时转动件3和固定件4之间的轴向距离不变，转动件3和固定件4之间的沿轴向方向的磁性吸力F不产生沿周向方向的分力；
继续转动连接臂1，当凸起60开始进入另一凹槽50内时，转动件3和固定件4逐渐轴向靠近，此时转动件3和固定件4之间的磁性吸力促使其轴向靠近运动，因此磁性吸力会产生促进连接臂1旋转的周向分力，此时不需要施加外力来使连接臂1旋转，第一导磁壳体5在磁性吸力的作用下带动连接臂1旋转；
当连接臂1自动转动至凸起60完全落入该另一凹槽50内时，转动件3和固定件4之间的沿轴向方向的磁性吸力阻止连接臂1自动转动，此时连接臂1处于折叠位置；
在凸起60与凹槽50的配合以及磁性吸力的作用下，连接臂1能够稳定地维持在该折叠状态，此时完成了连接臂1的折叠过程。
连接臂1由折叠位置转动至展开位置的过程与上述过程类似，不再重复。
连接臂1在折叠位置和展开位置之间转动时，转动件3和固定件4之间的磁性力的周向分力可有助于其转动，以便于将无人机的旋翼展开或折叠；且当连接臂1处于展开位置或折叠位置时，若连接臂1发生晃动，该磁性力的周向分力可阻碍连接臂1的转动，且使连接臂1能够自动回复至展开位置或折叠位置，使得连接臂1能够稳定地维持在展开状态或折叠状态。
实施例三：
本实施例提供了一种无人机(未示出)，包括旋翼和可折叠的机架。该机架可以是实施例一所述的机架或实施例二所述的机架。
其中，机架的连接臂的一端与机身转动连接，另一端与旋翼连接。
本实施例的无人机，其旋翼通过可折叠的机架连接至机身，使得旋翼可转动展开或折叠，这样在使用无人机时，可将旋翼展开，以便无人机飞行、 进行航拍；在运输无人机时，可将旋翼折叠，减小无人机的尺寸，便于运输，同时避免旋翼在运输过程中发生碰撞、毁坏。
实施例四：
本实施例提供了一种无人机(未示出)，包括云台和可折叠的机架。该机架可以是实施例一所述的机架或实施例二所述的机架。
其中，机架的连接臂的一端与机身转动连接，另一端与云台连接。
云台通过可折叠的机架连接至机身，使得云台可转动展开或折叠，这样在使用无人机进行航拍时，可将机架转动展开，使固定在云台上的摄像装置低于起落架，以有效避开起落架的干扰，实现摄像装置的无干扰的全景摄像。
需要说明的是，本发明的上述实施例中的可折叠的机架不仅可以用于无人机，还可以用于除无人机外的其它产品上，如用于手持云台等，在此不一一列举。
虽然本发明所揭露的实施方式如上，但所述的内容仅为便于理解本发明而采用的实施方式，并非用以限定本发明。任何本发明所属领域内的技术人员，在不脱离本发明所揭露的精神和范围的前提下，可以在实施的形式及细节上进行任何的修改与变化，但本发明的专利保护范围，仍须以所附的权利要求书所界定为准。
Claims (13)
- 一种可折叠的机架，其特征在于，所述机架包括：机身；连接臂，所述连接臂与所述机身连接并可相对于所述机身在展开位置与折叠位置之间转动；和转动件及固定件，所述转动件设置成安装在所述连接臂上，所述固定件设置成安装在所述机身上；其中，所述转动件和所述固定件中的一个为能够产生磁场的磁体，另一个为磁体或能够被磁体吸引的铁磁性物质，当所述连接臂转动时，在所述转动件和所述固定件的相互作用下，所述连接臂能够自动旋转至所述展开位置或所述折叠位置并维持在该位置。
- 根据权利要求1所述的可折叠的机架，其特征在于，所述转动件和所述固定件相邻设置，在所述展开位置或所述折叠位置，所述转动件和所述固定件之间的磁性力沿轴向方向，并将所述连接臂维持在所述展开位置或所述折叠位置；在所述连接臂转动过程中，所述转动件和所述固定件之间的磁性力能够产生沿周向方向的磁性回复力，所述磁性回复力能够使得所述连接臂回复至所述展开位置或所述折叠位置。
- 根据权利要求2所述的可折叠的机架，其特征在于，所述转动件和所述固定件均为磁体，所述磁体包括至少一个N极部和至少一个S极部，且当所述N极部或所述S极部的数量大于一个时，所述N极部和所述S极部交替布置。
- 根据权利要求3所述的可折叠的机架，其特征在于，所述转动件包括4个N极部和4个S极部，4个N极部和4个S极部沿周向方向交替设置；所述固定件包括4个N极部和4个S极部，4个N极部和4个S极部，4个N极部和4个S极部沿周向方向交替设置。
- 根据权利要求1～4任一项所述的可折叠的机架，其特征在于，所述转动件的外部设有第一导磁壳体，所述第一导磁壳体具有第一开口，且所述第一开口朝向所述固定件；所述固定件的外部设有第二导磁壳体，所述第二导磁壳体具有第二开口，且所述第二开口朝向所述转动件。
- 根据权利要求1所述的可折叠的机架，其特征在于，所述固定件上固定有连接件，所述连接臂和所述连接件中的一个上设有凸起，另一个上设有与所述凸起配合的凹槽，且所述凹槽两侧的侧壁向外倾斜，倾斜的所述侧壁能够使轴向的磁性力分解成包括沿周向方向的分力。
- 根据权利要求1或6所述的可折叠的机架，其特征在于，所述转动件的外部设有第一导磁壳体，所述第一导磁壳体具有第一开口，且所述第一开口朝向所述固定件；所述连接件为设在所述固定件外部的第二导磁壳体，所述第二导磁壳体具有第二开口，且所述第二开口朝向所述转动件；所述第一导磁壳体的邻近所述固定件的端面上设有所述凹槽，所述第二导磁壳体的邻近所述转动件的端面上设有所述凸起。
- 根据权利要求7所述的可折叠的机架，其特征在于，所述凹槽设置有至少两个，且沿所述第一导磁壳体的周向均匀布置；所述凸起设置有至少两个，且沿所述第二导磁壳体的周向均匀布置。
- 根据权利要求7所述的可折叠的机架，其特征在于，所述第一导磁壳体和所述连接臂中的一个上设有轴向连接杆，另一个上设有轴向安装孔，所述轴向连接杆伸入所述轴向安装孔内并可在所述轴向安装孔内移动，且所述第一导磁壳体的远离所述固定件的端面与所述连接臂之间设有弹性元件；或者，所述第二导磁壳体和所述机身连接并可相对于所述机身轴向移动，且所述第二导磁壳体的远离所述转动件的端面与所述机身之间设有弹性元件。
- 根据权利要求9所述的可折叠的机架，其特征在于，所述弹性元件为弹性垫或弹簧。
- 根据权利要求1-10中任一项所述的可折叠的机架，其特征在于，所述机架还包括基座，所述基座设置成与所述机身固定，所述连接臂与所述基座转动连接，所述固定件安装在所述基座上。
- 一种无人机，其特征在于，包括旋翼和如权利要求1-11中任一项所述的可折叠的机架，所述机架的连接臂的一端与所述机身转动连接，另一端与所述旋翼连接。
- 一种无人机，其特征在于，包括云台和如权利要求1-11中任一项所述的可折叠的机架，所述机架的连接臂的一端与所述机身转动连接，另一端与所述云台连接。
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