WO2019061415A1 - 无人机的机架组件及无人机 - Google Patents

无人机的机架组件及无人机 Download PDF

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Publication number
WO2019061415A1
WO2019061415A1 PCT/CN2017/104815 CN2017104815W WO2019061415A1 WO 2019061415 A1 WO2019061415 A1 WO 2019061415A1 CN 2017104815 W CN2017104815 W CN 2017104815W WO 2019061415 A1 WO2019061415 A1 WO 2019061415A1
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WO
WIPO (PCT)
Prior art keywords
arm
locking member
locking
transmission
cam
Prior art date
Application number
PCT/CN2017/104815
Other languages
English (en)
French (fr)
Inventor
张松
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 CN201780025423.0A priority Critical patent/CN109070992B/zh
Priority to PCT/CN2017/104815 priority patent/WO2019061415A1/zh
Publication of WO2019061415A1 publication Critical patent/WO2019061415A1/zh

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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
    • 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

Definitions

  • Embodiments of the present invention relate to the field of drones, and more particularly to a rack assembly and a drone of a drone.
  • Unmanned aerial vehicles are often used in aerial photography, remote air monitoring, monitoring, and detection.
  • Unmanned aerial vehicles generally consist of a central frame, an arm, a power component, a tripod, and several parts of the equipment to be mounted.
  • the equipment used for the work is generally arranged above or below the center frame, and the function of the stand is to support the entire aircraft to avoid contact with the ground when the aircraft or the working equipment is hung. Since the UAV of the fixed arm structure is large in size and inconvenient to carry, folding the arm is a more common method.
  • the UAV of the folding arm of the prior art can only lock a single arm once, and cannot lock the two arms at a time, resulting in low operational efficiency. .
  • the embodiment of the invention provides a rack assembly and a drone of a drone to solve the problem that the two arms cannot be locked at one time in the prior art, resulting in low operation efficiency.
  • An embodiment of the present invention provides a rack assembly for a drone, including a center frame, a first arm and a second arm rotatably coupled to the center frame, and for the first arm a locking mechanism synchronously locked with the second arm, a first engaging portion of the first arm adjacent to the center of rotation is provided for engaging with the locking mechanism, and an end of the second arm adjacent to the rotating center is provided a second mating portion that cooperates with the locking mechanism;
  • the locking mechanism includes:
  • the first arm and the second arm are respectively rotatable relative to the support member, and the support member is held stationary relative to the center frame;
  • a driving device disposed on the support member for driving the locking member toward the first Rotating the mating portion and the second mating portion;
  • the first engaging portion and the second engaging portion are rotated to a preset locking position when the first arm is rotated to a deployed state with respect to the second arm toward the increased angle;
  • the driving device drives the locking member to rotate to the preset locking position and catch the first mating portion and the second mating portion To prevent the first arm and the second arm from rotating in a direction in which the angle of the clip is reduced.
  • the rack assembly of the unmanned aerial vehicle has a first engaging portion and a second engaging portion respectively disposed on the first arm and the second arm rotatably connected to the center frame, and the locking member is Rotatingly disposed on the support member, the first arm and the second arm are rotatable relative to the support member, the support member is stationary relative to the center frame, and the support member is rotated when the first arm and the second arm are rotated When the first arm and the second arm are rotated to the unfolded state, the first engaging portion and the second engaging portion are rotated to a preset locking position. At this time, the driving device drives the locking member to rotate to the stuck position.
  • the first engaging portion and the second engaging portion are configured to block the first arm and the second arm from rotating in a direction in which the angle is reduced, that is, to simultaneously lock the first arm and the second arm. This achieves locking of the two arms at a time, improving operational efficiency.
  • Another embodiment of the present invention provides a drone, including a rack assembly and a power unit disposed on the rack assembly, the power unit for providing flight power to the drone;
  • the rack assembly includes: a center frame, a first arm and a second arm rotatably coupled to the center frame, and a synchronous lock for the first arm and the second arm a locking mechanism, a first engaging portion of the first arm near the center of rotation is provided for engaging with a locking mechanism, and an end of the second arm adjacent to the center of rotation is provided with a second for engaging with the locking mechanism a mating portion;
  • the locking mechanism includes:
  • the first arm and the second arm are respectively rotatable relative to the support member, and the support member is held stationary relative to the center frame;
  • a driving device disposed on the support member for driving the locking member to rotate toward the first engaging portion and the second engaging portion;
  • the first engaging portion and the second engaging portion are rotated to a preset locking position when the first arm is rotated to a deployed state with respect to the second arm toward the increased angle;
  • the driving device After the first mating portion and the second mating portion are in a preset locking position, the driving device The locking member is driven to rotate to the preset locking position and to catch the first engaging portion and the second engaging portion to prevent the first arm and the second arm from rotating in a direction in which the angle is reduced.
  • the first matching portion and the second engaging portion are respectively disposed on the first arm and the second arm rotatably connected to the center frame, and the locking member is rotatably disposed on the On the support member, the first arm and the second arm are rotatable relative to the support member, and the support member is held stationary relative to the center frame.
  • the support member may not rotate.
  • the driving device drives the locking member to rotate to catch the first engaging portion.
  • the second engaging portion prevents the first arm and the second arm from rotating in a direction in which the angle is reduced, that is, the first arm and the second arm are simultaneously locked. This achieves locking of the two arms at a time, improving operational efficiency.
  • FIG. 1 is a schematic structural diagram of a rack assembly of a drone according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of an explosion structure of a UAV frame assembly according to an embodiment of the present invention
  • FIG. 3 is a cross-sectional view 1 of an unmanned aerial vehicle frame assembly according to an embodiment of the present invention.
  • FIG. 4 is a cross-sectional view 2 of an unmanned aerial vehicle frame assembly according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a drone according to an embodiment of the present invention.
  • 50a-force member 50b-transmission member; E-avoidance portion;
  • E1-elastic device E11-elastic element; E12-friction element.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be in the middle. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • FIG. 1 is a schematic structural view of a rack assembly of a drone according to an embodiment of the present invention
  • FIG. 2 is a schematic exploded view of an unmanned aerial vehicle frame assembly according to an embodiment of the present invention
  • FIG. 4 is a cross-sectional view 2 of the unmanned aerial vehicle frame assembly according to an embodiment of the present invention.
  • the present embodiment provides a rack assembly for a drone, including a center frame, a first arm 10 and a second arm 20 rotatably coupled to the center frame, and A locking mechanism that is synchronously locked by the arm 10 and the second arm 20, and one end of the first arm 10 near the center of rotation is provided with a first engaging portion 11 for engaging with the locking mechanism, and the second arm 20 is close to the center of rotation One end is provided with a second mating portion 21 for mating with the locking mechanism.
  • the locking mechanism comprises: a support member 30, a locking member 40, and a driving device 50.
  • the “rotation center” in the end of the first arm 10 near the center of rotation refers to the center of rotation of the first arm 10 relative to the center frame.
  • the “rotation center” in the end of the second arm 20 near the center of rotation refers to the center of rotation of the second arm 20 with respect to the rotation of the center frame.
  • the first arm 10 and the second arm 20 are rotatable relative to the support member 30, respectively, and the support member 30 remains stationary relative to the center frame.
  • at least two implementation methods are included:
  • the support member 30 can be rotatably coupled to the first arm 10 and the second arm 20 via a rotating shaft. More specifically, the rotating shaft of the supporting member 30 can be the same as the rotating shaft of the first arm 10 and the second arm 20 and the center frame. The shaft, as such, when the first arm 10 and the second arm 20 are rotated relative to the center frame, the support member 30 may not rotate.
  • the support member 30 may include an upper case 31, a lower case 32, and a left case 33 and a right case connected between the upper case 31 and the lower case 32.
  • the housing 34 has two ends of the left housing 33 connected to the upper housing 31 and the lower housing 32, and two ends of the right housing 34 are connected to the upper housing 31 and the lower housing 32, respectively.
  • the connection manner of the left casing 33 and the right casing 34 with the upper casing 31 and the lower casing 32 can be detachably connected by a connecting member such as a bolt, so as to facilitate disassembly and maintenance of each component, of course, It is also possible to use a non-removable connection, which is not limited in this embodiment.
  • the first arm 10 and the second arm 20 may be located between the upper housing 31 and the lower housing 32.
  • One end of the upper casing 31 and one end of the lower casing 32, and the first arm 10 and the center frame are rotatably coupled by the first rotating shaft 30a.
  • the other end of the upper casing 31 and the other end of the lower casing 32, and the second arm 20, the center frame may be rotatably coupled by the second rotating shaft 30b.
  • the support member 30 may be directly fixed to the center frame, for example, welded to the center frame, or fixedly connected to the center frame through the connecting member, or integrally formed with the center frame, and the first arm 10 and the second arm 20 are opposite to each other. When the center frame is rotated, the support member 30 may not rotate.
  • the locking member 40 is rotatably disposed on the support member 30.
  • the locking member 40 can be rotatably coupled to the support frame 30 via a rotating shaft.
  • the locking member 40 may be rotatably coupled to the left housing 33 and/or the right housing 34 of the support member 30 by a locking member shaft.
  • the locking member 40 is locked.
  • Both ends of the shaft of the member may be coupled to the left and right housings 33, 34, respectively.
  • both ends of the locking member shaft can be fixedly coupled to the left housing 33 and the right housing 34, and the locking member 40 can be rotated on the locking shaft.
  • the driving device 50 is disposed on the support member 30 for driving the locking member 40 to rotate toward the first engaging portion 11 and the second engaging portion 21.
  • the driving device 50 drives the locking member 40 to rotate to the preset locking position and catches the first engaging portion 11 and the second engaging portion 21 to block the first
  • the one arm 10 and the second arm 20 are rotated in a direction in which the angle of the cut is reduced.
  • the first arm 10 and the second arm 20 can be relatively rotated to a minimum preset angle.
  • the first arm 10 and the second arm 20 are rotated to be parallel to each other, that is, the angle is zero.
  • the first arm 10 and the second arm 20 may be in a folded state.
  • the folded state here is that the first arm 10 and the second arm 20 are relatively folded, and it should not be understood that the first arm 10 and the second arm 20 are respectively in a folded state.
  • the first arm 10 and the second arm 20 can be relatively rotated to a maximum preset angle, for example, the first arm 10 and the second arm 20 are rotated at an angle of 180 degrees.
  • the first arm 10 and the second arm 20 are in an unfolded state.
  • the unfolded state here is that the first arm 10 and the second arm 20 are separated from each other in an unfolded state, and it should not be understood that the first arm 10 and the second arm 20 are respectively in an unfolded state.
  • the angle between the first arm 10 and the second arm 20 can also be greater than zero, in the first arm.
  • the angle between the first arm 10 and the second arm 20 may also be less than 180 degrees.
  • it can be determined according to the number of the arm and the arrangement position, and the preset deployment form.
  • the embodiment is not limited.
  • the first mating portion 11 may include a first connecting end 111 and a first free end 112.
  • the first connecting end 111 is for fixedly connecting with an end of the first arm 10 near the center of rotation.
  • the first arm 112 is welded, integrally formed or fixedly connected by a connecting member; the first free end 112 is an end of the first mating portion 11 away from the first connecting end 111.
  • the second mating portion 21 may also include a second connecting end 211 and a second free end 212.
  • the second connecting end 211 is fixedly connected to the end of the second arm 20 near the center of rotation.
  • it may be welded to the second arm 20, integrally formed or fixedly connected by a connecting member; the second free end 212 is second.
  • the free end (first free end 112) end of the first mating portion 11 may be opposite the free end of the second mating portion 21 ( The ends of the second free end 212) are in contact.
  • the locking member 40 can more easily simultaneously catch the first engaging portion 11 and the second engaging portion 21 to hinder the first arm 10 and the second arm 20 from being prevented from rotating in the direction in which the angle is reduced.
  • the frame assembly of the UAV provided by the embodiment is configured to rotate the locking member by respectively providing a first engaging portion and a second engaging portion on the first arm and the second arm rotatably connected to the center frame.
  • the support member is fixed relative to the center frame, and when the first arm and the second arm are rotated, the support member can be
  • the first engaging portion and the second engaging portion are rotated to a preset locking position.
  • the driving device drives the locking member to rotate to the stuck position.
  • a mating portion and a second mating portion are configured to block the first arm and the second arm from rotating in a direction in which the angle is reduced, that is, to simultaneously lock the first arm and the second arm. This achieves locking of the two arms at a time, improving operational efficiency.
  • the locking member 40 may include an upper locking member 41 for locking the top of the first mating portion 11 and the second mating portion 21, and a lower locking member 42 for locking the top portion of the first mating portion 11 and the second mating portion 21, the lower locking member 42 It is used to lock the bottoms of the first mating portion 11 and the second mating portion 21.
  • the structure of the upper locking member 41 and the lower locking member 42 may be the same or different as long as the top and bottom portions of the first fitting portion 11 and the second fitting portion 21 can be locked.
  • the top and bottom portions of the first engaging portion 11 and the second engaging portion 21 are respectively locked by the two locking members, which can further improve the firmness after locking and the manner in which only one locking member is locked. Stability, thereby improving the locking effect of the first arm 10 and the second arm 20.
  • the driving device 50 can simultaneously cooperate with the upper locking member 41 and the lower locking member 42 to simultaneously drive the upper locking member 41 and the lower locking member 42 to rotate relative to each other. Simultaneously driving the upper locking member 41 and the lower locking member 42 relative to each other by a driving device 50, on the one hand, the locking 41 and the lower locking member 42 can be synchronized, and on the other hand, the utility model can effectively save costs and occupy as small as possible. The space is conducive to the miniaturization of the entire drone device. Of course, if only the driving function is realized, the upper locking member 41 and the lower locking member 42 can be respectively driven by the respective driving devices.
  • the embodiment is not particularly limited.
  • the upper locking member 41 may be rotatably coupled to the support member 30 via the upper locking member rotating shaft 41s
  • the lower locking member 42 may be rotatably coupled to the supporting member 30 through the lower locking member rotating shaft 42s.
  • the locking member 40 may include a locking portion 40a for catching the first fitting portion 11 and the second fitting portion 21, and a force receiving portion 40b for receiving the force of the driving device 50.
  • the locking portion 40a may be in the shape of a hook, and the middle portion of the locking member 40 is connected to the supporting portion 30 through the locking member rotating shaft, and the two sides of the locking member rotating shaft of the locking member 40 are respectively the locking portion 40a.
  • the force receiving portion 40b wherein the locking portion 40a is located on a side close to the first mating portion 11 on the first arm 10 and the second mating portion 21 on the second arm 20.
  • the driving device 50 may include a urging member 50a for receiving an external force to drive the transmission member 50b to rotate or linearly move, and the transmission member 50b for engaging with the force receiving portion 40b of the locking member 40 to drive The locking member 40 rotates.
  • the urging member 50a can drive the transmission member 50b to rotate, and then the transmission member 50b transmits the rotational motion to the force receiving portion 40b of the locking member 40.
  • the force receiving portion 40b of the locking member 40 drives the locking portion 40a to rotate to the stuck portion.
  • the urging member 50a can drive the transmission member 50b to move linearly.
  • the force receiving portion 40b can have a linear motion to be converted into a rotary motion structure.
  • the transmission member 50b is a rack, and the force receiving portion 40b is placed on the force receiving portion 40b. There is at least a gear portion that cooperates with the rack.
  • the transmission mode between the transmission member 50b and the force receiving portion 40b includes at least one of the following: cam transmission, gear transmission, and direct transmission.
  • the transmission mode may include a cam transmission.
  • the transmission member 50b may include a cam and a force receiving portion. 40b may be in contact with the outer surface of the cam, and the cam rotates to urge the force receiving portion 40b in contact with the outer surface of the cam to rotate the locking member 40.
  • the force receiving portion 40b may have an abutting surface abutting against the cam, and the abutting surface may have a special shape to be engaged with the cam, and the locking member 40 can face the first engaging portion 11 and the driving of the cam
  • the second fitting portion 21 is close.
  • the urging member 50a can directly drive the cam to rotate, and there are many ways to specifically drive the cam to rotate.
  • the cam can be rotated by pressing the pressing member in the direction of the cam rotation, for example, as shown in FIG.
  • the urging member 50a is a wrench that is fixedly coupled to the cam.
  • the urging member 50a can be a rotating member, such as a knob, and the knob can be directly connected to the cam, and the cam can be directly rotated by rotating the knob.
  • the cam can be directly rotated by rotating the knob.
  • a relief portion E may be provided on the inner side of the first mating portion 11 and/or the inner side of the second mating portion 21, and the relief portion E is used to provide a rotational space for the cam. That is, the relief portion E is provided inside the first fitting portion 11 or inside the second fitting portion 21, or preferably, the relief portion E is provided inside the first fitting portion 11 and the second fitting portion 21.
  • the relief portion E is simultaneously provided on the first engaging portion 11 and the second engaging portion 21 can be specifically set according to the position of the cam with respect to the first engaging portion 11 and the second engaging portion 21, and if the cam is rotating, only When the first mating portion 11 or the second mating portion 21 is in contact with each other, the relief portion E may be provided only on the first mating portion 11 or the second mating portion 21; if the cam is rotating, the first mating portion 11 and the second portion When the engaging portions 21 are in contact with each other, the relief portion E can be disposed on both the first mating portion 11 and the second mating portion 21; this embodiment is not limited.
  • the relief portions on the first mating portion 11 and the second mating portion 21 may be at the end of the first free end 112 of the first mating portion 11 When it comes into contact with the end of the second free end 212 of the second engaging portion 21, the surrounding portion forms a large relief portion.
  • an elastic device E1 may be disposed in the relief portion E, and the elastic device E1 is used for contacting the cam to provide a preset elastic resistance, and the external force of the cam overcomes the preset.
  • the cam can rotate.
  • the locking member 40 catches the first engaging portion 11 and the second engaging portion 21, and when the cam continues to rotate, it can be abutted under the elastic abutment of the elastic device E1, thereby enabling the cam to be maintained.
  • the first engaging portion 11 and the second engaging portion 21 can also be maintained at the position where the locking member 40 is caught, so that the first arm 10 and the second arm 20 are firmly locked and the locking can be eliminated. gap.
  • the elastic device E1 includes an elastic member E11 and a friction member E12, and the elastic member E11 is fixed in the relief portion E.
  • the friction member is disposed on the top of the elastic member for contacting the cam.
  • the elastic member E11 may include at least one of the following: a metal dome, a rubber pad, and an axial spring.
  • the friction element E12 may preferably be a brass piece. The arrangement of the frictional element E12 can improve the frictional resistance between the cam and the elastic device E1, and prevent the cam from slipping when the elastic device E1 is abutted, further improving the reliability of the device.
  • the transmission mode may include a gear transmission.
  • the transmission member 50b may include a gear.
  • the force receiving portion 40b has a tooth shape, and the tooth-shaped force receiving portion 40b meshes with the gear.
  • the force applying member 50a drives the gear to rotate, so that the gear drives the locking member 40.
  • This embodiment adopts a gear transmission method
  • the transmission mode may include direct transmission, and both ends of the transmission member 50b and the force applying member 50a and the locking member 40 respectively
  • the force receiving portion 40b is fixedly connected, and the urging member 50a is rotated by an external force, and the locking member 40 is directly driven to rotate by the transmission member 50b.
  • the transmission member 50b and the force applying portion 50a and the force receiving portion 40b of the locking member 40 may be fixedly connected by a connecting member, or may be integrally formed or fixedly connected by welding or the like.
  • the force applied by the urging member 50a is directly transmitted to the locking member 40, and the urging member 50a is moved in the same manner as the locking member 40, and the rotational driving of the locking member 40 can also be achieved.
  • the force-applying member 50a may select at least one of the following types of force-applying members 50a according to specific conditions: a pressing member, Rotating parts, push-pull parts.
  • the locking member 40 can also be directly electrically driven.
  • the driving device 50 can include a motor.
  • the output shaft of the motor is fixedly connected to the locking member.
  • the motor is also electrically connected to the control device, and the control device is configured to receive a trigger signal from the user. In order to control the motor to perform a rotating motion according to the trigger signal, the motor rotates to drive the locking member to rotate.
  • the degree of automation can be increased, but the cost is slightly higher.
  • the embodiment is further defined on the basis of the first embodiment or the second embodiment. Specifically, as shown in FIG. 2, the locking member 40 is rotatably coupled to the support member 30 through the locking member rotating shaft, and the locking member 40 and the locking member are locked.
  • a return elastic member 60 may be provided between the rotating shafts for maintaining the initial state of the locking member 40 away from the first fitting portion 11 and the second fitting portion 21 in a natural state.
  • the driving elastic device 60 is deformed during the rotation of the driving lock 40 to the preset locking position; during the process of reducing or disappearing the force applied by the driving device 50, the return elastic member 60 is restored and deformed.
  • the lock 40 is restored to the initial state.
  • the return elastic member 60 is a torsion spring.
  • the locking member 40 can be made in the process of the driving device 50 driving the locking member 40 in a direction away from the first fitting portion 11 and the second fitting portion 21, and the locking member 40 can be at the return elastic member 60.
  • the initial state is restored by the action, and the return elastic member 60 can maintain the lock member 40 in the initial state before the lock member 40 is driven by the driving device 40 due to its own elastic force.
  • FIG. 5 is a schematic structural diagram of a drone according to an embodiment of the present invention.
  • the drone provided in this embodiment includes a rack assembly and a power device disposed on the rack assembly, and the power device is configured to provide flight power to the drone;
  • the rack assembly includes: a center frame 100, a first arm 10 and a second arm 20 rotatably connected to the center frame 100, and a synchronous lock for the first arm 10 and the second arm 20; a locking mechanism, one end of the first arm 10 near the center of rotation is provided with a first mating portion 11 for engaging with the locking mechanism, and one end of the second arm 20 adjacent to the center of rotation is provided with a second fit for engaging with the locking mechanism Department 21.
  • the locking mechanism comprises: a support member 30, a locking member 40, and a driving device 50.
  • the “rotation center” in the end of the first arm 10 near the center of rotation refers to the center of rotation of the first arm 10 relative to the center frame.
  • the “rotation center” in the end of the second arm 20 near the center of rotation refers to the center of rotation of the second arm 20 with respect to the rotation of the center frame.
  • the first arm 10 and the second arm 20 are rotatable relative to the support member 30, respectively, and the support member 30 remains stationary relative to the center frame.
  • at least two implementation methods are included:
  • the support member 30 can be rotatably coupled to the first arm 10 and the second arm 20 via a rotating shaft. More specifically, the rotating shaft of the supporting member 30 can be the same as the rotating shaft of the first arm 10 and the second arm 20 and the center frame. The shaft, as such, when the first arm 10 and the second arm 20 are rotated relative to the center frame, the support member 30 may not rotate.
  • the support member 30 may include an upper case 31, a lower case 32, and a left case 33 and a right case connected between the upper case 31 and the lower case 32.
  • the housing 34 has two ends of the left housing 33 connected to the upper housing 31 and the lower housing 32, and two ends of the right housing 34 are connected to the upper housing 31 and the lower housing 32, respectively.
  • the left housing 33 and the right housing The connection manner with the upper casing 31 and the lower casing 32 can be detachably connected by a connecting member such as a bolt, so as to facilitate disassembly and maintenance of each component, and of course, it can also be connected in a non-removable manner.
  • the embodiment is not limited.
  • the first arm 10 and the second arm 20 may be located between the upper housing 31 and the lower housing 32.
  • One end of the upper casing 31 and one end of the lower casing 32, and the first arm 10 may be rotatably coupled by the first rotating shaft 30a.
  • the other end of the upper casing 31 and the other end of the lower casing 32, and the second arm 20 may be rotatably coupled by the second rotating shaft 30b.
  • the support member 30 may be directly fixed to the center frame, for example, welded to the center frame, or fixedly connected to the center frame through the connecting member, or integrally formed with the center frame, and the first arm 10 and the second arm 20 are opposite to each other. When the center frame is rotated, the support member 30 may not rotate.
  • the locking member 40 is rotatably disposed on the support member 30.
  • the locking member 40 can be rotatably coupled to the support frame 30 via a rotating shaft.
  • the locking member 40 may be rotatably coupled to the left housing 33 and/or the right housing 34 of the support member 30 by a locking member shaft.
  • the locking member 40 is locked.
  • Both ends of the shaft of the member may be coupled to the left and right housings 33, 34, respectively.
  • both ends of the locking member shaft can be fixedly coupled to the left housing 33 and the right housing 34, and the locking member 40 can be rotated on the locking shaft.
  • the driving device 50 is disposed on the support member 30 for driving the locking member 40 to rotate toward the first engaging portion 11 and the second engaging portion 21.
  • the driving device 50 drives the locking member 40 to rotate to the preset locking position and catches the first engaging portion 11 and the second engaging portion 21 to block the first
  • the one arm 10 and the second arm 20 are rotated in a direction in which the angle of the cut is reduced.
  • the first arm 10 and the second arm 20 can be relatively rotated to a minimum preset angle.
  • the first arm 10 and the second arm 20 are rotated to be parallel to each other, that is, the angle is zero.
  • the first arm 10 and the second arm 20 may be in a folded state.
  • the folded state here is that the first arm 10 and the second arm 20 are relatively folded, and it should not be understood that the first arm 10 and the second arm 20 are respectively in a folded state.
  • the first arm 10 and the second arm 20 can be relatively rotated to a maximum preset angle, for example, the first arm 10 and the second arm 20 are rotated at an angle of 180 degrees.
  • the first arm 10 and the second arm 20 are in an unfolded state.
  • the unfolded state is that the first arm 10 and the second arm 20 are separated from each other in an unfolded state, and it should not be understood that the first arm 10 and the second arm 20 are respectively in an unfolded state.
  • the angle between the first arm 10 and the second arm 20 can also be greater than zero, in the first arm.
  • the angle between the first arm 10 and the second arm 20 may also be less than 180 degrees.
  • it can be determined according to the number of the arm and the arrangement position, and the preset deployment form.
  • the embodiment is not limited.
  • the first mating portion 11 may include a first connecting end 111 and a first free end 112.
  • the first connecting end 111 is for fixedly connecting with an end of the first arm 10 near the center of rotation.
  • the first arm 112 is welded, integrally formed or fixedly connected by a connecting member; the first free end 112 is an end of the first mating portion 11 away from the first connecting end 111.
  • the second mating portion 21 may also include a second connecting end 211 and a second free end 212.
  • the second connecting end 211 is fixedly connected to the end of the second arm 20 near the center of rotation.
  • it may be welded to the second arm 20, integrally formed or fixedly connected by a connecting member; the second free end 212 is second.
  • the free end (first free end 112) end of the first mating portion 11 may be opposite the free end of the second mating portion 21 ( The ends of the second free end 212) are in contact.
  • the locking member 40 can more easily simultaneously catch the first engaging portion 11 and the second engaging portion 21 to hinder the first arm 10 and the second arm 20 from being prevented from rotating in the direction in which the angle is reduced.
  • the first engaging portion and the second engaging portion are respectively disposed on the first arm and the second arm rotatably connected to the center frame, and the locking member is rotatably disposed on the support
  • the support member is fixed relative to the center frame, and the first arm and the second arm are rotatable relative to the support member. When the first arm and the second arm are rotated, the support member may not rotate.
  • the driving device drives the locking member to rotate to catch the first engaging portion and
  • the second engaging portion prevents the first arm and the second arm from rotating in a direction in which the angle is reduced, that is, the first arm and the second arm are simultaneously locked. This achieves locking of the two arms at a time, improving operational efficiency.
  • the locking member 40 may include an upper locking member 41 for locking the top of the first mating portion 11 and the second mating portion 21, and a lower locking member 42 for locking the top portion of the first mating portion 11 and the second mating portion 21, the lower locking member 42 It is used to lock the bottoms of the first mating portion 11 and the second mating portion 21.
  • the structure of the upper locking member 41 and the lower locking member 42 may be the same or different as long as the top and bottom portions of the first fitting portion 11 and the second fitting portion 21 can be locked.
  • the top and bottom portions of the first engaging portion 11 and the second engaging portion 21 are respectively locked by the two locking members, which can further improve the firmness after locking and the manner in which only one locking member is locked. Stability, thereby improving the locking effect of the first arm 10 and the second arm 20.
  • the driving device 50 can simultaneously cooperate with the upper locking member 41 and the lower locking member 42 to simultaneously drive the upper locking member 41 and the lower locking member 42 to rotate relative to each other. Simultaneously driving the upper locking member 41 and the lower locking member 42 relative to each other by a driving device 50, on the one hand, the locking 41 and the lower locking member 42 can be synchronized, and on the other hand, the utility model can effectively save costs and occupy as small as possible. The space is conducive to the miniaturization of the entire drone device. Of course, if only the driving function is realized, the upper locking member 41 and the lower locking member 42 can be respectively driven by the respective driving devices, which is not particularly limited in this embodiment.
  • the upper locking member 41 may be rotatably coupled to the support member 30 via the upper locking member rotating shaft 41s
  • the lower locking member 42 may be rotatably coupled to the supporting member 30 through the lower locking member rotating shaft 42s.
  • the locking member 40 may include a locking portion 40a for catching the first fitting portion 11 and the second fitting portion 21, and a force receiving portion 40b for receiving the force of the driving device 50.
  • the locking portion 40a may be in the shape of a hook, and the middle portion of the locking member 40 is connected to the supporting portion 30 through the locking member rotating shaft, and the two sides of the locking member rotating shaft of the locking member 40 are respectively the locking portion 40a.
  • the force receiving portion 40b wherein the locking portion 40a is located on a side close to the first mating portion 11 on the first arm 10 and the second mating portion 21 on the second arm 20.
  • the driving device 50 may include a urging member 50a for receiving an external force to drive the transmission member 50b to rotate or linearly move, and the transmission member 50b for engaging with the force receiving portion 40b of the locking member 40 to drive The locking member 40 rotates.
  • the urging member 50a can drive the transmission member 50b to rotate, and then the transmission member 50b transmits the rotational motion to the force receiving portion 40b of the locking member 40.
  • the force receiving portion 40b of the locking member 40 drives the locking portion 40a to rotate to the stuck portion.
  • the urging member 50a can drive the transmission member 50b to move linearly.
  • the force receiving portion 40b may have a linear motion to be converted into a rotary motion structure.
  • the transmission member 50b is a rack, and the force receiving portion 40b has at least a gear portion that engages with the rack.
  • the transmission mode between the transmission member 50b and the force receiving portion 40b includes at least one of the following: cam transmission, gear transmission, and direct transmission.
  • the transmission mode may include a cam transmission.
  • the transmission member 50b may include a cam and a force receiving portion. 40b may be in contact with the outer surface of the cam, and the cam rotates to urge the force receiving portion 40b in contact with the outer surface of the cam to rotate the locking member 40.
  • the force receiving portion 40b may have an abutting surface abutting against the cam, and the abutting surface may have a special shape to be engaged with the cam, and the locking member 40 can face the first engaging portion 11 and the driving of the cam
  • the second fitting portion 21 is close.
  • the urging member 50a can directly drive the cam to rotate, and there are many ways to specifically drive the cam to rotate.
  • the cam can be rotated by pressing the pressing member in the direction of the cam rotation, for example, as shown in FIG.
  • the urging member 50a is a wrench that is fixedly coupled to the cam.
  • the urging member 50a can be a rotating member, such as a knob, and the knob can be directly connected to the cam, and the cam can be directly rotated by rotating the knob.
  • cam rotation which are not exemplified here.
  • a relief portion E may be provided on the inner side of the first mating portion 11 and/or the inner side of the second mating portion 21, and the relief portion E is used to provide a rotational space for the cam. That is, the relief portion E is provided inside the first fitting portion 11 or inside the second fitting portion 21, or preferably, the relief portion E is provided inside the first fitting portion 11 and the second fitting portion 21.
  • the relief portion E is simultaneously provided on the first engaging portion 11 and the second engaging portion 21 can be specifically set according to the position of the cam with respect to the first engaging portion 11 and the second engaging portion 21, and if the cam is rotating, only When the first mating portion 11 or the second mating portion 21 is in contact with each other, the relief portion E may be provided only on the first mating portion 11 or the second mating portion 21; if the cam is rotating, the first mating portion 11 and the second portion When the engaging portions 21 are in contact with each other, the relief portion E can be disposed on both the first mating portion 11 and the second mating portion 21; this embodiment is not limited.
  • the relief portions on the first mating portion 11 and the second mating portion 21 may be at the end of the first free end 112 of the first mating portion 11 When it comes into contact with the end of the second free end 212 of the second engaging portion 21, the surrounding portion forms a large relief portion.
  • an elastic device E1 may be disposed in the relief portion E, and the elastic device E1 is used for contacting the cam to provide a preset elastic resistance, and the external force of the cam overcomes the preset.
  • the cam can rotate.
  • the locking member 40 catches the first engaging portion 11 and the second engaging portion 21, and when the cam continues to rotate, it can be abutted under the elastic abutment of the elastic device E1, thereby enabling the cam to be maintained.
  • the first engaging portion 11 and the second engaging portion 21 can also be maintained at the position where the locking member 40 is caught, so that the first arm 10 and the second arm 20 are firmly locked and the locking can be eliminated. gap.
  • the elastic device E1 includes an elastic member E11 and a friction member E12, and the elastic member E11 is fixed in the relief portion E.
  • the friction member is disposed on the top of the elastic member for contacting the cam.
  • the elastic member E11 may include at least one of the following: a metal dome, a rubber pad, and an axial spring.
  • the friction element E12 may preferably be a brass piece. The arrangement of the frictional element E12 can improve the frictional resistance between the cam and the elastic device E1, and prevent the cam from slipping when the elastic device E1 is abutted, further improving the reliability of the device.
  • the transmission mode may include a gear transmission
  • the transmission member 50b may include a gear
  • the force receiving portion 40b has a tooth shape and a tooth shape.
  • the force portion 40b meshes with the gear
  • the urging member 50a drives the gear to rotate, so that the gear drives the locking member 40 to rotate; or
  • the transmission member 50b includes a rack
  • the locking member 40 includes a tooth portion that meshes with the rack, and the urging member 50a
  • the rack is driven to move linearly so that the rack drives the locking member 40 to rotate.
  • the transmission mode may include direct transmission, and both ends of the transmission member 50b and the force applying member 50a and the locking member 40 respectively
  • the force receiving portion 40b is fixedly connected, and the urging member 50a is rotated by an external force, and the locking member 40 is directly driven to rotate by the transmission member 50b.
  • the transmission member 50b and the force applying portion 50a and the force receiving portion 40b of the locking member 40 may be fixedly connected by a connecting member, or may be integrally formed or fixedly connected by welding or the like.
  • the force applied by the urging member 50a is directly transmitted to the locking member 40, and the urging member 50a is moved in the same manner as the locking member 40, and the rotational driving of the locking member 40 can also be achieved.
  • the force applying member 50a may select at least one of the following forms according to the specific situation.
  • the force applying member 50a a pressing member, a rotating member, and a push-pull member.
  • the locking member 40 can also be directly electrically driven.
  • the driving device 50 can include a motor.
  • the output shaft of the motor is fixedly connected to the locking member.
  • the motor is also electrically connected to the control device, and the control device is configured to receive a trigger signal from the user. In order to control the motor to perform a rotating motion according to the trigger signal, the motor rotates to drive the locking member to rotate.
  • the degree of automation can be increased, but the cost is slightly higher.
  • the embodiment is further defined on the basis of the fourth embodiment or the fifth embodiment.
  • the locking member 40 is rotatably coupled to the support member 30 through the locking member rotating shaft, and the locking member 40 and the locking member are locked.
  • a return elastic member 60 may be provided between the rotating shafts for maintaining the initial state of the locking member 40 away from the first fitting portion 11 and the second fitting portion 21 in a natural state.
  • the driving elastic device 60 is deformed during the rotation of the driving lock 40 to the preset locking position; during the process of reducing or disappearing the force applied by the driving device 50, the return elastic member 60 is restored and deformed.
  • the lock 40 is restored to the initial state.
  • the return elastic member 60 is a torsion spring.
  • the locking member 40 can be made in the process of the driving device 50 driving the locking member 40 in a direction away from the first fitting portion 11 and the second fitting portion 21, and the locking member 40 can be at the return elastic member 60.
  • the initial state is restored by the action, and the return elastic member 60 can maintain the lock member 40 in the initial state before the lock member 40 is driven by the driving device 40 due to its own elastic force.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, there is a limit A feature of "a” or “second” may include at least one of the features, either explicitly or implicitly. In the related description of the invention, the meaning of "a plurality” is at least two, such as two, three, etc., unless otherwise There are clear and specific limits.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. Or integrated; can be directly connected, or indirectly connected through an intermediate medium, which can be the internal communication of two elements or the interaction of two elements.
  • an intermediate medium which can be the internal communication of two elements or the interaction of two elements.

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Abstract

一种无人机及其机架组件被公开。该无人机的机架组件包括中心架，第一机臂（10）、第二机臂（20），第一机臂（10）上有第一配合部（11），第二机臂（20）上有第二配合部（21）；第一机臂（10）和第二机臂（20）相对于支撑件（30）转动，支撑件（30）相对于中心架保持不动；锁定件（40）可转动地设于支撑件（30）上；驱动装置（50）用于驱动锁定件（40）朝第一配合部（11）和第二配合部（21）转动；在第一机臂（10）相对于第二机臂（20）朝夹角增大方向转动至展开状态时，第一配合部（11）和第二配合部（21）转动至预设锁定位置；当第一配合部（11）和第二配合部（21）处于预设锁定位置后，驱动装置（50）驱动锁定件（40）转动至预设锁定位置并卡住第一配合部（11）和第二配合部（21），以阻止第一机臂（10）和第二机臂（20）朝夹角减小方向转动。

Description

无人机的机架组件及无人机 技术领域
本发明实施例涉及无人机领域，尤其涉及一种无人机的机架组件及无人机。
背景技术
无人飞行器常常用在航拍，远程空中监控，监测，侦查等领域。无人飞行器一般由中心架，机臂，动力组件，脚架以及作业需挂载的设备几部分组成。用于作业的设备一般设置在中心架的上方或下方，而脚架的作用是支撑整个飞行器，避免飞行器或者作业设备下挂时与地面接触。由于固定式机臂结构的无人飞行器体积较大，携带不便，将机臂进行折叠是一种较通用的方式。
由于无人飞行器在飞行时机臂至少应该被锁定，现有技术中的折叠式机臂的无人飞行器，只能实现一次锁定单个机臂，不能实现一次锁定两个机臂，导致操作效率较低。
发明内容
本发明实施例提供一种无人机的机架组件及无人机，以解决用于解决现有技术存在的不能一次锁定两个机臂，导致操作效率较低的问题。
本发明一方面实施例提供一种无人机的机架组件，包括中心架，与所述中心架可转动连接的第一机臂、第二机臂，以及用于将所述第一机臂与第二机臂同步锁定的锁定机构，所述第一机臂上靠近转动中心的一端设有用于与锁定机构配合的第一配合部，所述第二机臂上靠近转动中心的一端设有用于与锁定机构配合的第二配合部；所述锁定机构包括：
支撑件，所述第一机臂和所述第二机臂能够分别相对于支撑件转动，支撑件相对于中心架保持不动；
锁定件，可转动地设置于所述支撑件上；
驱动装置，设置于所述支撑件上，用于驱动所述锁定件朝向所述第一 配合部和第二配合部转动；
其中，在第一机臂相对于所述第二机臂朝向夹角增大的方向转动至展开状态时，所述第一配合部和所述第二配合部转动至预设锁定位置；
当所述第一配合部和第二配合部处于预设锁定位置后，所述驱动装置驱动所述锁定件转动至所述预设锁定位置并卡住所述第一配合部和第二配合部，以阻止所述第一机臂和第二机臂朝夹角减小的方向转动。
本发明实施例提供的无人机的机架组件，通过在与中心架可转动连接的第一机臂和第二机臂上分别对应设置第一配合部和第二配合部，将锁定件可转动地设置于支撑件上，而第一机臂和第二机臂能够相对于支撑件转动，支撑件相对于中心架保持不动，当第一机臂和第二机臂转动时，支撑件可以不转动，第一机臂和第二机臂转动至展开状态时，带动第一配合部和所述第二配合部转动至预设锁定位置，此时，驱动装置驱动锁定件转动至卡住第一配合部和第二配合部，以阻碍第一机臂和第二机臂朝夹角减小的方向转动，即实现了同时锁定第一机臂和第二机臂。由此实现了一次锁定两个机臂，提高了操作效率。
本发明另一方面实施例提供一种无人机，包括机架组件以及设于所述机架组件上的动力装置，所述动力装置用于提供飞行动力给所述无人机；
其中，所述机架组件包括：包括中心架，与所述中心架可转动连接的第一机臂、第二机臂，以及用于将所述第一机臂与第二机臂同步锁定的锁定机构，所述第一机臂上靠近转动中心的一端设有用于与锁定机构配合的第一配合部，所述第二机臂上靠近转动中心的一端设有用于与锁定机构配合的第二配合部；所述锁定机构包括：
支撑件，所述第一机臂和所述第二机臂能够分别相对于支撑件转动，支撑件相对于中心架保持不动；
锁定件，可转动地设置于所述支撑件上；
驱动装置，设置于所述支撑件上，用于驱动所述锁定件朝向所述第一配合部和第二配合部转动；
其中，在第一机臂相对于所述第二机臂朝向夹角增大的方向转动至展开状态时，所述第一配合部和所述第二配合部转动至预设锁定位置；
当所述第一配合部和第二配合部处于预设锁定位置后，所述驱动装置 驱动所述锁定件转动至所述预设锁定位置并卡住所述第一配合部和第二配合部，以阻止所述第一机臂和第二机臂朝夹角减小的方向转动。
本发明实施例提供的无人机，通过在与中心架可转动连接的第一机臂和第二机臂上分别对应设置第一配合部和第二配合部，将锁定件可转动地设置于支撑件上，而第一机臂和第二机臂能够相对于支撑件转动，支撑件相对于中心架保持不动，当第一机臂和第二机臂转动时，支撑件可以不转动，第一机臂和第二机臂转动至展开状态时，带动第一配合部和所述第二配合部转动至预设锁定位置，此时，驱动装置驱动锁定件转动至卡住第一配合部和第二配合部，以阻碍第一机臂和第二机臂朝夹角减小的方向转动，即实现了同时锁定第一机臂和第二机臂。由此实现了一次锁定两个机臂，提高了操作效率。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例所提供的无人机的机架组件的结构示意图；
图2为本发明实施例所提供的无人机机架组件的爆炸结构示意图；
图3为本发明实施例所提供的无人机机架组件的剖视图一；
图4为本发明实施例所提供的无人机机架组件的剖视图二；
图5为本发明实施例所提供的无人机的结构示意图。
附图标记：
10-第一机臂；         20-第二机臂；          30-支撑件；
40-锁定件；           50-驱动装置；          60-复位弹性件；
11-第一配合部；       21-第二配合部；        31-上壳体；
32-下壳体；           33-左壳体；            34-右壳体；
30a-第一转轴；        30b-第二转轴；         111-第一连接端；
112-第一自由端；      211-第二连接端；       212-第二自由端；
41-上锁定件；         42-下锁定件；          41s-上锁定件转轴；
42s-下锁定件转轴；     40a-锁定部；          40b-受力部；
50a-施力件；           50b-传动件；          E-避让部；
E1-弹性装置；          E11-弹性元件；        E12-摩擦元件。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
实施例一
图1为本发明实施例所提供的无人机的机架组件的结构示意图；图2为本发明实施例所提供的无人机机架组件的爆炸结构示意图；图3为本发明实施例所提供的无人机机架组件的剖视图一；图4为本发明实施例所提供的无人机机架组件的剖视图二。
请参照附图1-附图4，本实施例提供无人机的机架组件，包括中心架，与中心架可转动连接的第一机臂10、第二机臂20，以及用于将第一机臂10与第二机臂20同步锁定的锁定机构，第一机臂10上靠近转动中心的一端设有用于与锁定机构配合的第一配合部11，第二机臂20上靠近转动中心的一端设有用于与锁定机构配合的第二配合部21。其中，锁定机构包括：支撑件30，锁定件40，驱动装置50。
其中，第一机臂10上靠近转动中心的一端中的“转动中心”是指第一机臂10上相对于中心架转动的转动中心。第二机臂20上靠近转动中心的一端中的“转动中心”是指第二机臂20上相对于中心架转动的转动中心。
第一机臂10和第二机臂20能够分别相对于支撑件30转动，支撑件30相对于中心架保持不动。具体至少包括两种实施方式：
支撑件30可以通过转轴与第一机臂10和第二机臂20可转动连接，更具体的，支撑件30的转轴可以与第一机臂10和第二机臂20与中心架的转轴同轴，如此一来，当第一机臂10和第二机臂20相对于中心架转动时，支撑件30可以不转动。
具体的，例如，如图2所示，支撑件30可以包括相对设置的上壳体31、下壳体32、以及连接于上壳体31与下壳体32之间的左壳体33、右壳体34，左壳体33的两端分别与上壳体31和下壳体32连接，右壳体34的两端分别与上壳体31和下壳体32连接。优选的，左壳体33和右壳体34与上壳体31和下壳体32的连接方式，具体可以通过螺栓等连接件可拆卸连接，以便于各零部件的拆装与维修，当然，也可以以不可拆卸的连接，在此本实施例不做限定。第一机臂10和第二机臂20可以位于上壳体31和下壳体32之间。上壳体31的一端与下壳体32的一端，以及第一机臂10、中心架可以通过第一转轴30a可转动地连接。上壳体31的另一端与下壳体32的另一端，以及第二机臂20、中心架可以通过第二转轴30b可转动地连接。
或者，支撑件30可以直接固定在中心架上，例如焊接在中心架上，或者与中心架通过连接件固定连接，或者与中心架一体成型，第一机臂10和第二机臂20相对于中心架转动时，支撑件30可以不转动。
锁定件40可转动地设置于支撑件30上。锁定件40可以通过转轴与支撑架30可转动地连接。具体的，例如，如图2所示，锁定件40可以通过锁定件转轴与支撑件30的左壳体33和/或右壳体34可转动地连接，当然，优选的，锁定件40的锁定件转轴的两端可以分别与左壳体33和右壳体34连接。具体的，锁定件转轴的两端可以与左壳体33和右壳体34固定连接，锁定件40可以在锁定转轴上转动。
驱动装置50设置于支撑件30上，用于驱动锁定件40朝向第一配合部11和第二配合部21转动。
其中，在第一机臂10相对于第二机臂20朝向夹角增大的方向转动至展开状态时，第一配合部11和第二配合部21转动至预设锁定位置。当第一配合部11和第二配合部21处于预设锁定位置后，驱动装置50驱动锁定件40转动至预设锁定位置并卡住第一配合部11和第二配合部21，以阻止第一机臂10和第二机臂20朝夹角减小的方向转动。
具体的，第一机臂10与第二机臂20可以相对转动至最小预设夹角，例如第一机臂10与第二机臂20转动至相互平行，即夹角为零。在第一机臂10与第二机臂20相对转动至最小预设夹角时，第一机臂10、第二机臂20可以处于折叠状态。此处的折叠状态是第一机臂10和第二机臂20相对呈折叠状态，而不应理解为第一机臂10和第二机臂20分别各自呈折叠状态。
第一机臂10与第二机臂20可以相对转动至最大预设夹角，例如第一机臂10与第二机臂20转动夹角呈180度。在第一机臂10与第二机臂20相对转动至最大预设夹角时，第一机臂10、第二机臂20处于展开状态。此处的展开状态是第一机臂10和第二机臂20相背离呈展开状态，而不应理解为第一机臂10和第二机臂20分别各自呈展开状态。
当然，可以理解的是，在第一机臂10和第二机臂20处于折叠状态时，第一机臂10与第二机臂20之间的夹角还可以大于零，在第一机臂10和第二机臂20处于展开状态时，第一机臂10与第二机臂20之间的夹角还可以小于180度。具体可根据机臂数量和布置位置，以及预设的展开形式而确定，在此，本实施例不做限定。
如图2所示，第一配合部11可以包括第一连接端111和第一自由端112，第一连接端111用于与第一机臂10上靠近转动中心的一端固定连接，例如，可以与第一机臂10焊接、一体成型或采用连接件固定连接；第一自由端112为第一配合部11上远离第一连接端111的一端。第二配合部21也可以包括第二连接端211和第二自由端212。第二连接端211用于与第二机臂20上靠近转动中心的一端固定连接，例如，可以与第二机臂20焊接、一体成型或采用连接件固定连接；第二自由端212为第二配合部21上远离第二连接端211的一端。
优选的，在第一机臂10和第二机臂20相对转动至展开状态时，第一配合部11的自由端(第一自由端112)端部可以与第二配合部21的自由端(第二自由端212)端部相接触。如此一来，使得锁定件40能够更方便地同时卡住第一配合部11和第二配合部21，以阻碍阻止第一机臂10和第二机臂20朝夹角减小的方向转动。
本实施例提供的无人机的机架组件，通过在与中心架可转动连接的第一机臂和第二机臂上分别对应设置第一配合部和第二配合部，将锁定件可转动地设置于支撑件上，而第一机臂和第二机臂能够相对于支撑件转动，支撑件相对于中心架保持不动，当第一机臂和第二机臂转动时，支撑件可以不转动，第一机臂和第二机臂转动至展开状态时，带动第一配合部和所述第二配合部转动至预设锁定位置，此时，驱动装置驱动锁定件转动至卡住第一配合部和第二配合部，以阻碍第一机臂和第二机臂朝夹角减小的方向转动，即实现了同时锁定第一机臂和第二机臂。由此实现了一次锁定两个机臂，提高了操作效率。
实施例二
本实施例基于实施例一，对锁定件40及驱动装置50进行进一步限定。请继续参照附图2，具体的，锁定件40可以包括上锁定件41和下锁定件42，上锁定件41用于锁定第一配合部11和第二配合部21的顶部，下锁定件42用于锁定第一配合部11和第二配合部21的底部。上锁定件41和下锁定件42的结构可以相同，也可以不同，只要能实现锁定第一配合部11和第二配合部21的顶部和底部即可。本实施例通过两个锁定件分别锁定第一配合部11和第二配合部21的顶部和底部，相较于仅只有一个锁定件锁定的方式，该种方式能够进一步提高锁定后的牢固度和稳定性，从而提高第一机臂10和第二机臂20的锁定效果。
优选的，驱动装置50可以同时与上锁定件41和下锁定件42配合，以同时驱动上锁定件41和下锁定件42相对转动。通过一个驱动装置50同时驱动上锁定件41和下锁定件42相对转动，一方面能够保上锁定41与下锁定件42能够同步动作，另一方面能够有效节省成本，并尽可能地占用较小的空间，有利于整个无人机装置的体积小型化。当然，若仅实现驱动功能，上锁定件41和下锁定件42可以分别被各自的驱动装置分别驱 动，本实施例不特别限定。
另外，上锁定件41可以通过上锁定件转轴41s与支撑件30可转动地连接，下锁定件42可以通过下锁定件转轴42s与支撑件30可转动地连接。
进一步的，锁定件40可以包括用于卡住第一配合部11和第二配合部21的锁定部40a，以及用于接收驱动装置50的作用力的受力部40b。具体的，例如如图2所示，锁定部40a可以呈卡勾状，锁定件40的中部穿过锁定件转轴与支撑部30连接，锁定件40的锁定件转轴的两侧分别为锁定部40a和受力部40b，其中，锁定部40a位于靠近第一机臂10上的第一配合部11和第二机臂20上的第二配合部21所在的一侧。
驱动装置50可以包括施力件50a和传动件50b，施力件50a用于接收外力以带动传动件50b转动或直线运动，传动件50b用于与锁定件40的受力部40b配合，以带动锁定件40转动。具体的，施力件50a可以带动传动件50b转动，然后传动件50b再将转动运动传递给锁定件40的受力部40b，锁定件40的受力部40b再带动锁定部40a转动至卡住第一配合部11和第二配合部21。或者，施力件50a可以带动传动件50b直线运动，而此种情况下，受力部40b上可以具有将直线运动转化为旋转运动结构，例如，传动件50b为齿条，受力部40b上至少具有与齿条配合的齿轮部。
传动件50b与受力部40b之间的传动方式包括以下至少一种：凸轮传动，齿轮传动，直接传动。
对于传动件50b与受力部40b之间的传动方式，在本实施例中，优选的，传动方式可以包括凸轮传动，如图2-图4所示，传动件50b可以包括凸轮，受力部40b可以与凸轮外表面抵顶接触，凸轮转动以推动与凸轮外表面接触的受力部40b以使锁定件40转动。具体的，在受力部40b上可以具有与凸轮抵顶的抵顶面，该抵顶面可以具有特殊的形状能够与凸轮配合，在凸轮的驱动下锁定件40能朝向第一配合部11和第二配合部21靠近。在该种方式下，施力件50a可以直接带动凸轮转动，而具体带动凸轮转动的方式有很多，例如可以通过按压件沿凸轮转动方向按压，即可实现凸轮的转动，例如如图2所示施力件50a为与凸轮固定连接的扳手。当然，在本实施方式中，施力件50a可以为旋转件，例如旋钮，旋钮可以直接与凸轮同轴连接，通过转动旋钮而直接带动凸轮转动。具体实现凸轮转动的 方式有很多，在此不一一举例。
进一步的，在第一配合部11的内侧和/或第二配合部21的内侧可以设有避让部E，避让部E用于为凸轮提供转动空间。即，在第一配合部11的内侧或第二配合部21的内侧设有避让部E，或者，优选的，在第一配合部11和第二配合部21的内侧均设有避让部E。是否在第一配合部11和第二配合部21上同时设置避让部E，具体可根据凸轮相对于第一配合部11和第二配合部21的位置来设定，若凸轮在转动时，仅与第一配合部11或第二配合部21接触，则可只在第一配合部11或第二配合部21上设置避让部E；若凸轮在转动时，与第一配合部11和第二配合部21均接触，则可在第一配合部11和第二配合部21上均设置避让部E；，本实施例不做限定。在第一配合部11和第二配合部21均设置避让部的情况下，第一配合部11和第二配合部21上的避让部可以在第一配合部11的第一自由端112端部和第二配合部21的第二自由端212的端部接触时，围合形成一大避让部。通过避让部E的设置，可以避免因第一配合部11和第二配合部21的阻挡而导致凸轮卡死无法转动的情况。
在上述实施例的基础上，更进一步的，在避让部E中还可以设置弹性装置E1，弹性装置E1用于与凸轮抵顶接触，以提供预设弹性阻力，当凸轮所受外力克服预设弹性阻力时，凸轮能够转动。当凸轮转动到一定角度后，锁定件40卡住第一配合部11和第二配合部21，当凸轮继续转动，则可在弹性装置E1的弹性抵顶下被抵紧，进而使得凸轮能够维持在当前的位置，进而第一配合部11和第二配合部21也能够维持在被锁定件40卡住的位置，使得第一机臂10和第二机臂20被稳固锁定，并能够消除锁定间隙。
弹性装置E1包括弹性元件E11和摩擦元件E12，弹性元件E11固定于避让部E中，摩擦元件设置于弹性元件的顶部，摩擦元件用于与凸轮抵顶接触。具体的，弹性元件E11可以包括以下至少一种：金属弹片、橡胶垫、轴向弹簧。摩擦元件E12可以优选为黄铜片。摩擦元件E12的设置可以提高凸轮与弹性装置E1之间的摩擦阻力，避免凸轮在被弹性装置E1抵顶的时候出现打滑的现象，进一步地提高了装置可靠性。
对于传动件50b与受力部40b之间的传动方式，作为其中一种可选的 方式，传动方式可以包括齿轮传动，传动件50b可以包括齿轮，受力部40b呈齿形状，齿形状的受力部40b与齿轮啮合，施力件50a带动齿轮转动，以使齿轮带动锁定件40转动；或者，传动件50b包括齿条，锁定件40包括与齿条啮合的齿形部，施力件50a带动齿条直线运动，以使齿条带动锁定件40转动。本实施方式通过齿轮传动的方式
对于传动件50b与受力部40b之间的传动方式，作为另外一种可选的方式，具体的，传动方式可以包括直接传动，传动件50b的两端分别与施力件50a和锁定件40的受力部40b固定连接，施力件50a在外力作用下转动，并通过传动件50b直接带动锁定件40转动。具体的，传动件50b与施力件50a和锁定件40的受力部40b可以通过连接件固定连接，也可以一体成型，或者通过焊接等方式固定连接。本实施方式通过使得施力件50a所施加的动力直接传递到锁定件40上，施力件50a的运动方式与锁定件40相同，同样也可以实现对锁定件40的转动驱动。
无论传动件50b与受力部40b之间的采取凸轮传动，齿轮传动，直接传动中的何种方式，施力件50a可以根据具体情况选择以下至少一种形式的施力件50a：按压件，旋转件，推拉件。
当然，锁定件40还可以被直接电控驱动，具体的，驱动装置50可以包括电机，电机的输出轴与锁定件固定连接，电机还与控制装置电连接，控制装置用于接收用户的触发信号，以根据触发信号控制电机执行转动动作，电机转动带动锁定件转动。通过电控的方式驱动锁定件40转动，可以提高自动化程度，但其成本稍高。
实施例三
本实施例在实施例一或实施例二的基础上，进行进一步限定，具体的，如图2所示，锁定件40通过锁定件转轴可转动地连接在支撑件30上，锁定件40与锁定件转轴之间可以设有复位弹性件60，复位弹性件60用于在自然状态下维持锁定件40处于远离第一配合部11和第二配合部21的初始状态。
驱动装置50在驱动锁定件40转动至预设锁定位置的过程中，复位弹性件60产生形变；当驱动装置50所施加的作用力减小或者消失的过程中，复位弹性件60恢复形变，带动锁定件40恢复至初始状态。在本实施例中， 优选的，复位弹性件60为扭簧。
通过复位弹性件60的设置可以使得锁定件40能够在驱动装置50驱动锁定件40朝远离第一配合部11和第二配合部21的方向运动的过程中，锁定件40能够在复位弹性件60的作用下回复初始状态，并且复位弹性件60能够由于自身的弹力在锁定件40被驱动装置40驱动前维持锁定件40在初始状态。
实施例四
本实施例提供一种无人机，图5为本发明实施例所提供的无人机的结构示意图。如图1-图5所示，本实施例提供的无人机包括机架组件以及设于机架组件上的动力装置，动力装置用于提供飞行动力给无人机；
其中，机架组件包括：包括中心架100，与中心架100可转动连接的第一机臂10、第二机臂20，以及用于将第一机臂10与第二机臂20同步锁定的锁定机构，第一机臂10上靠近转动中心的一端设有用于与锁定机构配合的第一配合部11，第二机臂20上靠近转动中心的一端设有用于与锁定机构配合的第二配合部21。其中，锁定机构包括：支撑件30，锁定件40，驱动装置50。
其中，第一机臂10上靠近转动中心的一端中的“转动中心”是指第一机臂10上相对于中心架转动的转动中心。第二机臂20上靠近转动中心的一端中的“转动中心”是指第二机臂20上相对于中心架转动的转动中心。
第一机臂10和第二机臂20能够分别相对于支撑件30转动，支撑件30相对于中心架保持不动。具体至少包括两种实施方式：
支撑件30可以通过转轴与第一机臂10和第二机臂20可转动连接，更具体的，支撑件30的转轴可以与第一机臂10和第二机臂20与中心架的转轴同轴，如此一来，当第一机臂10和第二机臂20相对于中心架转动时，支撑件30可以不转动。
具体的，例如，如图2所示，支撑件30可以包括相对设置的上壳体31、下壳体32、以及连接于上壳体31与下壳体32之间的左壳体33、右壳体34，左壳体33的两端分别与上壳体31和下壳体32连接，右壳体34的两端分别与上壳体31和下壳体32连接。优选的，左壳体33和右壳体 34与上壳体31和下壳体32的连接方式，具体可以通过螺栓等连接件可拆卸连接，以便于各零部件的拆装与维修，当然，也可以以不可拆卸的连接，在此本实施例不做限定。第一机臂10和第二机臂20可以位于上壳体31和下壳体32之间。上壳体31的一端与下壳体32的一端，以及第一机臂10可以通过第一转轴30a可转动地连接。上壳体31的另一端与下壳体32的另一端，以及第二机臂20可以通过第二转轴30b可转动地连接。
或者，支撑件30可以直接固定在中心架上，例如焊接在中心架上，或者与中心架通过连接件固定连接，或者与中心架一体成型，第一机臂10和第二机臂20相对于中心架转动时，支撑件30可以不转动。
锁定件40可转动地设置于支撑件30上。锁定件40可以通过转轴与支撑架30可转动地连接。具体的，例如，如图2所示，锁定件40可以通过锁定件转轴与支撑件30的左壳体33和/或右壳体34可转动地连接，当然，优选的，锁定件40的锁定件转轴的两端可以分别与左壳体33和右壳体34连接。具体的，锁定件转轴的两端可以与左壳体33和右壳体34固定连接，锁定件40可以在锁定转轴上转动。
驱动装置50设置于支撑件30上，用于驱动锁定件40朝向第一配合部11和第二配合部21转动。
其中，在第一机臂10相对于第二机臂20朝向夹角增大的方向转动至展开状态时，第一配合部11和第二配合部21转动至预设锁定位置。当第一配合部11和第二配合部21处于预设锁定位置后，驱动装置50驱动锁定件40转动至预设锁定位置并卡住第一配合部11和第二配合部21，以阻止第一机臂10和第二机臂20朝夹角减小的方向转动。
具体的，第一机臂10与第二机臂20可以相对转动至最小预设夹角，例如第一机臂10与第二机臂20转动至相互平行，即夹角为零。在第一机臂10与第二机臂20相对转动至最小预设夹角时，第一机臂10、第二机臂20可以处于折叠状态。此处的折叠状态是第一机臂10和第二机臂20相对呈折叠状态，而不应理解为第一机臂10和第二机臂20分别各自呈折叠状态。
第一机臂10与第二机臂20可以相对转动至最大预设夹角，例如第一机臂10与第二机臂20转动夹角呈180度。在第一机臂10与第二机臂20相对转动至最大预设夹角时，第一机臂10、第二机臂20处于展开状态。此处的 展开状态是第一机臂10和第二机臂20相背离呈展开状态，而不应理解为第一机臂10和第二机臂20分别各自呈展开状态。
当然，可以理解的是，在第一机臂10和第二机臂20处于折叠状态时，第一机臂10与第二机臂20之间的夹角还可以大于零，在第一机臂10和第二机臂20处于展开状态时，第一机臂10与第二机臂20之间的夹角还可以小于180度。具体可根据机臂数量和布置位置，以及预设的展开形式而确定，在此，本实施例不做限定。
如图2所示，第一配合部11可以包括第一连接端111和第一自由端112，第一连接端111用于与第一机臂10上靠近转动中心的一端固定连接，例如，可以与第一机臂10焊接、一体成型或采用连接件固定连接；第一自由端112为第一配合部11上远离第一连接端111的一端。第二配合部21也可以包括第二连接端211和第二自由端212。第二连接端211用于与第二机臂20上靠近转动中心的一端固定连接，例如，可以与第二机臂20焊接、一体成型或采用连接件固定连接；第二自由端212为第二配合部21上远离第二连接端211的一端。
优选的，在第一机臂10和第二机臂20相对转动至展开状态时，第一配合部11的自由端(第一自由端112)端部可以与第二配合部21的自由端(第二自由端212)端部相接触。如此一来，使得锁定件40能够更方便地同时卡住第一配合部11和第二配合部21，以阻碍阻止第一机臂10和第二机臂20朝夹角减小的方向转动。
本实施例提供的无人机，通过在与中心架可转动连接的第一机臂和第二机臂上分别对应设置第一配合部和第二配合部，将锁定件可转动地设置于支撑件上，支撑件相对于中心架保持不动，而第一机臂和第二机臂能够相对于支撑件转动，当第一机臂和第二机臂转动时，支撑件可以不转动，第一机臂和第二机臂转动至展开状态时，带动第一配合部和所述第二配合部转动至预设锁定位置，此时，驱动装置驱动锁定件转动至卡住第一配合部和第二配合部，以阻碍第一机臂和第二机臂朝夹角减小的方向转动，即实现了同时锁定第一机臂和第二机臂。由此实现了一次锁定两个机臂，提高了操作效率。
实施例五
本实施例基于实施例四，对锁定件40及驱动装置50进行进一步限定。请继续参照附图2，具体的，锁定件40可以包括上锁定件41和下锁定件42，上锁定件41用于锁定第一配合部11和第二配合部21的顶部，下锁定件42用于锁定第一配合部11和第二配合部21的底部。上锁定件41和下锁定件42的结构可以相同，也可以不同，只要能实现锁定第一配合部11和第二配合部21的顶部和底部即可。本实施例通过两个锁定件分别锁定第一配合部11和第二配合部21的顶部和底部，相较于仅只有一个锁定件锁定的方式，该种方式能够进一步提高锁定后的牢固度和稳定性，从而提高第一机臂10和第二机臂20的锁定效果。
优选的，驱动装置50可以同时与上锁定件41和下锁定件42配合，以同时驱动上锁定件41和下锁定件42相对转动。通过一个驱动装置50同时驱动上锁定件41和下锁定件42相对转动，一方面能够保上锁定41与下锁定件42能够同步动作，另一方面能够有效节省成本，并尽可能地占用较小的空间，有利于整个无人机装置的体积小型化。当然，若仅实现驱动功能，上锁定件41和下锁定件42可以分别被各自的驱动装置分别驱动，本实施例不特别限定。
另外，上锁定件41可以通过上锁定件转轴41s与支撑件30可转动地连接，下锁定件42可以通过下锁定件转轴42s与支撑件30可转动地连接。
进一步的，锁定件40可以包括用于卡住第一配合部11和第二配合部21的锁定部40a，以及用于接收驱动装置50的作用力的受力部40b。具体的，例如如图2所示，锁定部40a可以呈卡勾状，锁定件40的中部穿过锁定件转轴与支撑部30连接，锁定件40的锁定件转轴的两侧分别为锁定部40a和受力部40b，其中，锁定部40a位于靠近第一机臂10上的第一配合部11和第二机臂20上的第二配合部21所在的一侧。
驱动装置50可以包括施力件50a和传动件50b，施力件50a用于接收外力以带动传动件50b转动或直线运动，传动件50b用于与锁定件40的受力部40b配合，以带动锁定件40转动。具体的，施力件50a可以带动传动件50b转动，然后传动件50b再将转动运动传递给锁定件40的受力部40b，锁定件40的受力部40b再带动锁定部40a转动至卡住第一配合部11和第二配合部21。或者，施力件50a可以带动传动件50b直线运动， 而此种情况下，受力部40b上可以具有将直线运动转化为旋转运动结构，例如，传动件50b为齿条，受力部40b上至少具有与齿条配合的齿轮部。
传动件50b与受力部40b之间的传动方式包括以下至少一种：凸轮传动，齿轮传动，直接传动。
对于传动件50b与受力部40b之间的传动方式，在本实施例中，优选的，传动方式可以包括凸轮传动，如图2-图4所示，传动件50b可以包括凸轮，受力部40b可以与凸轮外表面抵顶接触，凸轮转动以推动与凸轮外表面接触的受力部40b以使锁定件40转动。具体的，在受力部40b上可以具有与凸轮抵顶的抵顶面，该抵顶面可以具有特殊的形状能够与凸轮配合，在凸轮的驱动下锁定件40能朝向第一配合部11和第二配合部21靠近。在该种方式下，施力件50a可以直接带动凸轮转动，而具体带动凸轮转动的方式有很多，例如可以通过按压件沿凸轮转动方向按压，即可实现凸轮的转动，例如如图2所示施力件50a为与凸轮固定连接的扳手。当然，在本实施方式中，施力件50a可以为旋转件，例如旋钮，旋钮可以直接与凸轮同轴连接，通过转动旋钮而直接带动凸轮转动。具体实现凸轮转动的方式有很多，在此不一一举例。
进一步的，在第一配合部11的内侧和/或第二配合部21的内侧可以设有避让部E，避让部E用于为凸轮提供转动空间。即，在第一配合部11的内侧或第二配合部21的内侧设有避让部E，或者，优选的，在第一配合部11和第二配合部21的内侧均设有避让部E。是否在第一配合部11和第二配合部21上同时设置避让部E，具体可根据凸轮相对于第一配合部11和第二配合部21的位置来设定，若凸轮在转动时，仅与第一配合部11或第二配合部21接触，则可只在第一配合部11或第二配合部21上设置避让部E；若凸轮在转动时，与第一配合部11和第二配合部21均接触，则可在第一配合部11和第二配合部21上均设置避让部E；，本实施例不做限定。在第一配合部11和第二配合部21均设置避让部的情况下，第一配合部11和第二配合部21上的避让部可以在第一配合部11的第一自由端112端部和第二配合部21的第二自由端212的端部接触时，围合形成一大避让部。通过避让部E的设置，可以避免因第一配合部11和第二配合部21的阻挡而导致凸轮卡死无法转动的情况。
在上述实施例的基础上，更进一步的，在避让部E中还可以设置弹性装置E1，弹性装置E1用于与凸轮抵顶接触，以提供预设弹性阻力，当凸轮所受外力克服预设弹性阻力时，凸轮能够转动。当凸轮转动到一定角度后，锁定件40卡住第一配合部11和第二配合部21，当凸轮继续转动，则可在弹性装置E1的弹性抵顶下被抵紧，进而使得凸轮能够维持在当前的位置，进而第一配合部11和第二配合部21也能够维持在被锁定件40卡住的位置，使得第一机臂10和第二机臂20被稳固锁定，并能够消除锁定间隙。
弹性装置E1包括弹性元件E11和摩擦元件E12，弹性元件E11固定于避让部E中，摩擦元件设置于弹性元件的顶部，摩擦元件用于与凸轮抵顶接触。具体的，弹性元件E11可以包括以下至少一种：金属弹片、橡胶垫、轴向弹簧。摩擦元件E12可以优选为黄铜片。摩擦元件E12的设置可以提高凸轮与弹性装置E1之间的摩擦阻力，避免凸轮在被弹性装置E1抵顶的时候出现打滑的现象，进一步地提高了装置可靠性。
对于传动件50b与受力部40b之间的传动方式，作为其中一种可选的方式，传动方式可以包括齿轮传动，传动件50b可以包括齿轮，受力部40b呈齿形状，齿形状的受力部40b与齿轮啮合，施力件50a带动齿轮转动，以使齿轮带动锁定件40转动；或者，传动件50b包括齿条，锁定件40包括与齿条啮合的齿形部，施力件50a带动齿条直线运动，以使齿条带动锁定件40转动。本实施方式通过齿轮传动的方式
对于传动件50b与受力部40b之间的传动方式，作为另外一种可选的方式，具体的，传动方式可以包括直接传动，传动件50b的两端分别与施力件50a和锁定件40的受力部40b固定连接，施力件50a在外力作用下转动，并通过传动件50b直接带动锁定件40转动。具体的，传动件50b与施力件50a和锁定件40的受力部40b可以通过连接件固定连接，也可以一体成型，或者通过焊接等方式固定连接。本实施方式通过使得施力件50a所施加的动力直接传递到锁定件40上，施力件50a的运动方式与锁定件40相同，同样也可以实现对锁定件40的转动驱动。
无论传动件50b与受力部40b之间的采取凸轮传动，齿轮传动，直接传动中的何种方式，施力件50a可以根据具体情况选择以下至少一种形式 的施力件50a：按压件，旋转件，推拉件。
当然，锁定件40还可以被直接电控驱动，具体的，驱动装置50可以包括电机，电机的输出轴与锁定件固定连接，电机还与控制装置电连接，控制装置用于接收用户的触发信号，以根据触发信号控制电机执行转动动作，电机转动带动锁定件转动。通过电控的方式驱动锁定件40转动，可以提高自动化程度，但其成本稍高。
实施例六
本实施例在实施例四或实施例五的基础上，进行进一步限定，具体的，如图2所示，锁定件40通过锁定件转轴可转动地连接在支撑件30上，锁定件40与锁定件转轴之间可以设有复位弹性件60，复位弹性件60用于在自然状态下维持锁定件40处于远离第一配合部11和第二配合部21的初始状态。
驱动装置50在驱动锁定件40转动至预设锁定位置的过程中，复位弹性件60产生形变；当驱动装置50所施加的作用力减小或者消失的过程中，复位弹性件60恢复形变，带动锁定件40恢复至初始状态。在本实施例中，优选的，复位弹性件60为扭簧。
通过复位弹性件60的设置可以使得锁定件40能够在驱动装置50驱动锁定件40朝远离第一配合部11和第二配合部21的方向运动的过程中，锁定件40能够在复位弹性件60的作用下回复初始状态，并且复位弹性件60能够由于自身的弹力在锁定件40被驱动装置40驱动前维持锁定件40在初始状态。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
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该特征。在本发明的相关描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (42)

  1. 一种无人机的机架组件，其特征在于，包括中心架，与所述中心架可转动连接的第一机臂、第二机臂，以及用于将所述第一机臂与第二机臂同步锁定的锁定机构，所述第一机臂上靠近转动中心的一端设有用于与锁定机构配合的第一配合部，所述第二机臂上靠近转动中心的一端设有用于与锁定机构配合的第二配合部；所述锁定机构包括：
    支撑件，所述第一机臂和所述第二机臂能够分别相对于支撑件转动，支撑件相对于中心架保持不动；
    锁定件，可转动地设置于所述支撑件上；
    驱动装置，设置于所述支撑件上，用于驱动所述锁定件朝向所述第一配合部和第二配合部转动；
    其中，在第一机臂相对于所述第二机臂朝向夹角增大的方向转动至展开状态时，所述第一配合部和所述第二配合部转动至预设锁定位置；
    当所述第一配合部和第二配合部处于预设锁定位置后，所述驱动装置驱动所述锁定件转动至所述预设锁定位置并卡住所述第一配合部和第二配合部，以阻止所述第一机臂和第二机臂朝夹角减小的方向转动。
  2. 根据权利要求1所述的无人机的机架组件，其特征在于，
    在第一机臂与第二机臂相对转动至最小预设夹角时，所述第一机臂、第二机臂处于所述折叠状态；
    在第一机臂与第二机臂相对转动至最大预设夹角时，所述第一机臂、第二机臂处于所述展开状态。
  3. 根据权利要求1所述的无人机的机架组件，其特征在于，在第一机臂和第二机臂相对转动至展开状态时，所述第一配合部的自由端端部与所述第二配合部的自由端端部相接触。
  4. 根据权利要求1所述的无人机的机架组件，其特征在于，所述支撑件与所述第一机臂及第二机臂通过转轴可转动地连接；及/或，所述支撑件固定设置于所述中心架上。
  5. 根据权利要求1所述的无人机的机架组件，其特征在于，所述锁定件包括上锁定件和下锁定件，所述上锁定件用于锁定第一配合部和第二配合部的顶部，所述下锁定件用于锁定第一配合部和第二配合部的底部。
  6. 根据权利要求5所述的无人机的机架组件，其特征在于，所述驱动装置同时与上锁定件和下锁定件配合，以同时驱动所述上锁定件和所述下锁定件相对转动。
  7. 根据权利要求1所述的无人机的机架组件，其特征在于，所述锁定件包括用于卡住所述第一配合部和所述第二配合部的锁定部，以及用于接收所述驱动装置的作用力的受力部。
  8. 根据权利要求7所述的无人机的机架组件，其特征在于，所述驱动装置包括施力件和传动件，所述施力件用于接收外力以带动所述传动件转动或直线运动，所述传动件用于与所述锁定件的受力部配合，以带动所述锁定件转动。
  9. 根据权利要求8所述的无人机的机架组件，其特征在于，所述传动件与所述受力部之间的传动方式包括以下至少一种：凸轮传动，齿轮传动，直接传动。
  10. 根据权利要求9所述的无人机的机架组件，其特征在于，当所述传动方式包括凸轮传动时，所述传动件包括凸轮，所述受力部与所述凸轮外表面抵顶接触，所述凸轮转动以推动与所述凸轮外表面接触的受力部以使所述锁定件转动。
  11. 根据权利要求10所述的无人机的机架组件，其特征在于，所述凸轮通过转轴可转动地设置于所述支撑件上。
  12. 根据权利要求10所述的无人机的机架组件，其特征在于，所述第一配合部的内侧和/或所述第二配合部的内侧设有避让部，所述避让部用于为所述凸轮提供转动空间。
  13. 根据权利要求12所述的无人机的机架组件，其特征在于，所述避让部中设有弹性装置，所述弹性装置用于与所述凸轮抵顶接触，以提供预设弹性阻力，当所述凸轮所受外力克服所述预设弹性阻力时，所述凸轮能够转动。
  14. 根据权利要求13所述的无人机的机架组件，其特征在于，所述弹性装置包括弹性元件和摩擦元件，所述弹性元件固定于所述避让部中，所述摩擦元件设置于所述弹性元件的顶部，所述摩擦元件用于与凸轮抵顶接触。
  15. 根据权利要求14所述的无人机的机架组件，其特征在于，所述弹性元件包括以下至少一种：金属弹片、橡胶垫、轴向弹簧。
  16. 根据权利要求9所述的无人机的机架组件，其特征在于，当所述传动方式包括齿轮传动时，所述传动件包括齿轮，所述受力部呈齿形状，齿形状的受力部与所述齿轮啮合，所述施力件带动所述齿轮转动，以使所述齿轮带动所述锁定件转动；
    或者，所述传动件包括齿条，所述锁定件包括与所述齿条啮合的齿形部，所述施力件带动所述齿条直线运动，以使所述齿条带动所述锁定件转动。
  17. 根据权利要求9所述的无人机的机架组件，其特征在于，当所述传动方式包括直接传动时，所述传动件的两端分别与施力件和所述锁定件的受力部固定连接，所述施力件在外力作用下转动，并通过传动件直接带动锁定件转动。
  18. 根据权利要求8所述的无人机的机架组件，其特征在于，所述施力件包括以下至少一种：按压件，旋转件，推拉件。
  19. 根据权利要求1所述的无人机的机架组件，其特征在于，所述驱动装置包括电机，所述电机的输出轴与所述锁定件固定连接，所述电机还与控制装置电连接，所述控制装置用于接收用户的触发信号，以根据所述触发信号控制所述电机执行转动动作，所述电机转动带动所述锁定件转动。
  20. 根据权利要求1所述的无人机的机架组件，其特征在于，所述锁定件通过转轴可转动地连接在支撑件上，所述锁定件与所述转轴之间设有复位弹性件，所述复位弹性件用于在自然状态下维持所述锁定件处于远离所述第一配合部和第二配合部的初始状态；
    所述驱动装置在驱动所述锁定件转动至预设锁定位置的过程中，所述复位弹性件产生形变；当所述驱动装置所施加的作用力减小或者消失的过程中，所述复位弹性件恢复形变，带动所述锁定件恢复至所述初始状态。
  21. 根据权利要求20所述的无人机的机架组件，其特征在于，所述复位弹性件为扭簧。
  22. 一种无人机，其特征在于，包括机架组件以及设于所述机架组件 上的动力装置，所述动力装置用于提供飞行动力给所述无人机；
    其中，所述机架组件包括：包括中心架，与所述中心架可转动连接的第一机臂、第二机臂，以及用于将所述第一机臂与第二机臂同步锁定的锁定机构，所述第一机臂上靠近转动中心的一端设有用于与锁定机构配合的第一配合部，所述第二机臂上靠近转动中心的一端设有用于与锁定机构配合的第二配合部；所述锁定机构包括：
    支撑件，所述第一机臂和所述第二机臂能够分别相对于支撑件转动，支撑件相对于中心架保持不动；
    锁定件，可转动地设置于所述支撑件上；
    驱动装置，设置于所述支撑件上，用于驱动所述锁定件朝向所述第一配合部和第二配合部转动；
    其中，在第一机臂相对于所述第二机臂朝向夹角增大的方向转动至展开状态时，所述第一配合部和所述第二配合部转动至预设锁定位置；
    当所述第一配合部和第二配合部处于预设锁定位置后，所述驱动装置驱动所述锁定件转动至所述预设锁定位置并卡住所述第一配合部和第二配合部，以阻止所述第一机臂和第二机臂朝夹角减小的方向转动。
  23. 根据权利要求22所述的无人机，其特征在于，
    在第一机臂与第二机臂相对转动至最小预设夹角时，所述第一机臂、第二机臂处于所述折叠状态；
    在第一机臂与第二机臂相对转动至最大预设夹角时，所述第一机臂、第二机臂处于所述展开状态。
  24. 根据权利要求22所述的无人机，其特征在于，在第一机臂和第二机臂相对转动至展开状态时，所述第一配合部的自由端端部与所述第二配合部的自由端端部相接触。
  25. 根据权利要求22所述的无人机，其特征在于，所述支撑件与所述第一机臂及第二机臂通过转轴可转动地连接；及/或，所述支撑件固定设置于所述中心架上。
  26. 根据权利要求22所述的无人机，其特征在于，所述锁定件包括上锁定件和下锁定件，所述上锁定件用于锁定第一配合部和第二配合部的顶部，所述下锁定件用于锁定第一配合部和第二配合部的底部。
  27. 根据权利要求26所述的无人机，其特征在于，所述驱动装置同时与上锁定件和下锁定件配合，以同时驱动所述上锁定件和所述下锁定件相对转动。
  28. 根据权利要求22所述的无人机，其特征在于，所述锁定件包括用于卡住所述第一配合部和所述第二配合部的锁定部，以及用于接收所述驱动装置的作用力的受力部。
  29. 根据权利要求28所述的无人机，其特征在于，所述驱动装置包括施力件和传动件，所述施力件用于接收外力以带动所述传动件转动或直线运动，所述传动件用于与所述锁定件的受力部配合，以带动所述锁定件转动。
  30. 根据权利要求29所述的无人机，其特征在于，所述传动件与所述受力部之间的传动方式包括以下至少一种：凸轮传动，齿轮传动，直接传动。
  31. 根据权利要求30所述的无人机，其特征在于，当所述传动方式包括凸轮传动时，所述传动件包括凸轮，所述受力部与所述凸轮外表面抵顶接触，所述凸轮转动以推动与所述凸轮外表面接触的受力部以使所述锁定件转动。
  32. 根据权利要求31所述的无人机，其特征在于，所述凸轮通过转轴可转动地设置于所述支撑件上。
  33. 根据权利要求31所述的无人机，其特征在于，所述第一配合部的内侧和/或所述第二配合部的内侧设有避让部，所述避让部用于为所述凸轮提供转动空间。
  34. 根据权利要求33所述的无人机，其特征在于，所述避让部中设有弹性装置，所述弹性装置用于与所述凸轮抵顶接触，以提供预设弹性阻力，当所述凸轮所受外力克服所述预设弹性阻力时，所述凸轮能够转动。
  35. 根据权利要求34所述的无人机，其特征在于，所述弹性装置包括弹性元件和摩擦元件，所述弹性元件固定于所述避让部中，所述摩擦元件设置于所述弹性元件的顶部，所述摩擦元件用于与凸轮抵顶接触。
  36. 根据权利要求35所述的无人机，其特征在于，所述弹性元件包括以下至少一种：金属弹片、橡胶垫、轴向弹簧。
  37. 根据权利要求30所述的无人机，其特征在于，当所述传动方式包括齿轮传动时，所述传动件包括齿轮，所述受力部呈齿形状，齿形状的受力部与所述齿轮啮合，所述施力件带动所述齿轮转动，以使所述齿轮带动所述锁定件转动；
    或者，所述传动件包括齿条，所述锁定件包括与所述齿条啮合的齿形部，所述施力件带动所述齿条直线运动，以使所述齿条带动所述锁定件转动。
  38. 根据权利要求30所述的无人机，其特征在于，当所述传动方式包括直接传动时，所述传动件的两端分别与施力件和所述锁定件的受力部固定连接，所述施力件在外力作用下转动，并通过传动件直接带动锁定件转动。
  39. 根据权利要求29所述的无人机，其特征在于，所述施力件包括以下至少一种：按压件，旋转件，推拉件。
  40. 根据权利要求22所述的无人机，其特征在于，所述驱动装置包括电机，所述电机的输出轴与所述锁定件固定连接，所述电机还与控制装置电连接，所述控制装置用于接收用户的触发信号，以根据所述触发信号控制所述电机执行转动动作，所述电机转动带动所述锁定件转动。
  41. 根据权利要求22所述的无人机，其特征在于，所述锁定件通过转轴可转动地连接在支撑件上，所述锁定件与所述转轴之间设有复位弹性件，所述复位弹性件用于在自然状态下维持所述锁定件处于远离所述第一配合部和第二配合部的初始状态；
    所述驱动装置在驱动所述锁定件转动至预设锁定位置的过程中，所述复位弹性件产生形变；当所述驱动装置所施加的作用力减小或者消失的过程中，所述复位弹性件恢复形变，带动所述锁定件恢复至所述初始状态。
  42. 根据权利要求41所述的无人机，其特征在于，所述复位弹性件为扭簧。
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