WO2019144301A1

WO2019144301A1 - Mechanical arm assembly and unmanned aerial vehicle

Info

Publication number: WO2019144301A1
Application number: PCT/CN2018/073894
Authority: WO
Inventors: 郭超凡; 冯建刚
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-01-23
Filing date: 2018-01-23
Publication date: 2019-08-01
Also published as: CN110300704A

Abstract

Provided are a mechanical arm assembly and an unmanned aerial vehicle, said mechanical arm assembly (100) being used for said unmanned aerial vehicle, the unmanned aerial vehicle comprising a body (200), and the mechanical arm assembly (100) being foldably mounted on said body (200). The mechanical arm assembly (100) comprises an arm body (20), and the arm body (20) end connected to the body (200) is provided with a rotary shaft hole (21) and an anti-rotation part (22) disposed at the rotary shaft hole (21); the mechanical arm assembly (100) also comprises an upper rotary shaft assembly (10) and a lower rotary shaft assembly (30); the upper rotary shaft assembly (10) is fixedly connected to the body (200) and is inserted into the arm body (20) along a first end of the rotary shaft hole (21); the lower rotary shaft assembly (30) is fixedly connected to the body (200) and is inserted into the arm body (20) along a second end of the rotary shaft hole (21). at least one of the upper rotary shaft assembly (10) and the lower rotary shaft assembly (30) is matched to the anti-rotation part (22), such that the upper rotary shaft assembly (30) and the anti-rotation part (22) of the rotary shaft hole (21) are interlocked.

Description

Arm assembly and drone

Technical field

The invention belongs to the technical field of drones and relates to an arm assembly and a drone.

Background technique

In the prior art, the drone includes a body and an arm assembly detachably mounted to the body, wherein each arm assembly is coupled to the body through a connecting shaft. Both ends of the connecting shaft extend through the arm assembly and are connected to the body, such as a connecting shaft fixedly connected to the body or rotatably connected. The force of the arm assembly acts on the connecting shaft and is transmitted to the fuselage through the connecting shaft.

During the flight of the drone, the force generated by the rotation of the rotor assembly is transmitted to the connecting shaft through the arm assembly. Due to the strength of the connecting shaft itself and the matching clearance with the connecting part of the fuselage, when the arm assembly is connected with a single connecting shaft, it is easy to cause swaying and the like, which affects the stability of the normal flight of the drone, and the drone Poor handling.

In some folding drones, in addition to the connection of the connecting shaft, the arm assembly and the body need to be provided with corresponding positioning mechanisms to lock the arm assembly to the deployed or closed position of the body. Usually, such a positioning mechanism needs to occupy a part of the volume of the fuselage and increase the weight of the fuselage, thereby reducing the endurance of the drone. Moreover, after the positioning mechanism is added to the drone, the transportation volume is increased and the operation complexity is high.

Summary of the invention

In view of the above, it is an object of the present invention to provide a boom assembly and a drone.

According to a first aspect of the embodiments of the present invention, an arm assembly is provided for use in a drone, the drone including a body, the arm assembly being detachably mounted to the body, the machine The arm assembly includes an arm body, and one end of the arm body connected to the fuselage is provided with a rotating shaft hole and an anti-rotation portion provided at the rotating shaft hole, and the arm assembly further includes an upper rotating shaft assembly and a lower rotating shaft assembly. The upper shaft assembly is fixed to the body and inserted along the first end of the shaft hole to the arm body, and the lower shaft assembly is fixed to the body and along the shaft hole Two ends are inserted into the arm body, wherein at least one of the upper shaft assembly and the lower shaft assembly is matched with the anti-rotation portion to make the upper shaft assembly and/or the lower shaft The assembly and the anti-rotation portion of the shaft hole are interlocked with each other.

According to a second aspect of the embodiments of the present invention, a drone includes a body and an arm assembly, the arm assembly includes an arm body, and one end of the arm body connected to the body is provided with a shaft hole and An anti-rotation portion disposed at the shaft hole, the arm assembly further includes an upper shaft assembly and a lower shaft assembly, the upper shaft assembly being fixed to the body and inserted along the first end of the shaft hole Provided to the arm body, the lower shaft assembly is fixed to the body and inserted along the second end of the shaft hole to the arm body, wherein the upper shaft assembly and the lower shaft assembly At least one of the anti-rotation portions is matched to interlock between the upper shaft assembly and/or the lower shaft assembly and the anti-rotation portion of the shaft hole, the arm assembly being detachable Installed on the fuselage.

The technical solutions provided by the embodiments of the present invention may include the following beneficial effects:

The upper shaft assembly and the lower shaft assembly are respectively fixedly coupled to the body, and both sides of the arm body are defined by the upper shaft assembly and the lower shaft assembly to be mounted to the body, and the installation is convenient and the connection is reliable. During the flight of the drone, the vibration generated at the arm assembly is transmitted to the fuselage through the upper shaft assembly and the lower shaft assembly respectively, and the arm assembly has small shaking and good stability. The connecting parts of the upper rotating shaft assembly and the lower rotating shaft assembly and the arm body cooperate with each other, and the mounting position of the arm body is stable, and the fitting tightness is high.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a schematic structural view of a drone according to an exemplary embodiment of the present invention.

2 is a partial cross-sectional structural view showing an arm assembly mounted to a fuselage according to an exemplary embodiment of the present invention.

FIG. 3 is a schematic view showing the assembly of an arm assembly and a fuselage according to an exemplary embodiment of the present invention.

4 is a schematic exploded view of an upper shaft assembly according to an exemplary embodiment of the present invention.

FIG. 5 is an enlarged schematic structural view of a bushing according to an exemplary embodiment of the present invention.

Fig. 6 is a schematic enlarged plan view showing a cam member according to an exemplary embodiment of the present invention.

FIG. 7 is an enlarged schematic structural view of a fixing base according to an exemplary embodiment of the present invention.

Wherein, the upper shaft assembly 10; the fixed seat 11; the fixed portion 111; the cam portion 112; the groove portion 1121; the raised portion 1122; the smooth surface 1123; the T-shaped hole 113; the sleeve 12; the limiting surface 121; 122; through hole 123; positioning assembly 13; cam member 131; body portion 1311; cam surface 1312; peak top 13121; slope portion 13122; peak bottom 13123; sliding surface 1313; central hole 1314; elastic member 132; ; shaft end piece 141; arm body 20; shaft hole 21; anti-rotation portion 22; boss portion 23; arm body 24; lower shaft assembly 30; first mounting portion 40; first mounting hole 41; mounting post 42; a limiting portion 43; a second limiting portion 44; a mounting groove 50; a second mounting portion 60; a first defining boss 70; a second limiting boss 80; a fastener 90; an arm assembly 100; 200.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

As shown in FIG. 1, the drone includes a body 200 and an arm assembly 100 mounted to the body 200, wherein the arm assembly 100 is foldably coupled to the body 200. The drone includes a four-, six-, eight- or more-rotor drone, and accordingly, four, six, eight or more arm assemblies 100 are provided on the fuselage 200.

As shown in FIG. 2 and FIG. 3, the arm assembly 100 includes an arm body 20, and one end of the arm body 20 connected to the body 200 is provided with a shaft hole 21 and an anti-disconnection provided at the shaft hole 21. Turning section 22. One end of the arm body 20 is fixedly coupled to the body 200 such that the arm body 20 is in the deployed position. Or the arm body 20 is rotatably connected to the body 200, wherein the arm assembly 100 is rotatably attached to the body 200 at the connection position of the arm body 20 to the body 200 to be in the stowed position, or is deployed outward to be in the deployed position. . The other end of the arm body 20 is provided with a rotor assembly that controls the operation of the rotor assembly to cause the drone to be in flight or to stop flying.

In an embodiment, the arm assembly 100 further includes an upper shaft assembly 10 and a lower shaft assembly 30, and the upper shaft assembly 10 is fixed to the body 200 and inserted along the first end of the shaft hole 21 Provided to the arm body 20, the lower shaft assembly 30 is fixed to the body 200 and inserted along the second end of the shaft hole 21 to the arm body 20. The upper shaft assembly 10 and the lower shaft assembly 30 are respectively inserted into the shaft holes 21 of the arm body 20 to fix the arm assembly 100 to the body 200.

Wherein at least one of the upper shaft assembly 10 and the lower shaft assembly 30 is matched with the anti-rotation portion 22 such that the upper shaft assembly 10 and/or the lower shaft assembly 30 and the shaft The anti-rotation portions 22 of the holes 21 are locked to each other. One or both of the upper shaft assembly 10 or the lower shaft assembly 30 are simultaneously engaged with the anti-rotation portion 22 to define a relative position between the upper shaft assembly 10 and the lower shaft assembly 30 and the arm body 20, and the arm body 20 is mounted. The position is stable. The strengths of the upper shaft assembly 10 and the lower shaft assembly 30 are high, and the deformation of the upper shaft assembly 10 and the lower shaft assembly 30 is small after being fixed to the body 200. The arm assembly 100 is coupled to the body 200 through the upper shaft assembly 10 and the lower shaft assembly 30, and has a small amount of shaking and stable operation.

The upper shaft assembly 10 and/or the lower shaft assembly 30 and the arm body 20 are coupled to each other by the anti-rotation portion 22, wherein the upper shaft assembly 10 and/or the lower shaft assembly 30 and the shaft hole 21 wall surface contact portion and the shaft hole 21 are The rest is relatively stationary, and the power of the arm body 20 can be transmitted to the upper shaft assembly 10 and/or the lower shaft assembly 30 through the anti-rotation portion 22.

For example, the anti-rotation portion 22 is provided as an elastic thimble or a bead, a fastener abutment or the like abutting against the upper shaft assembly 10 and/or the lower shaft assembly 30 against the limit structure to define the upper shaft assembly 10 and/or the lower shaft The degree of freedom of rotation of the component 30 in contact with the peripheral wall surface of the spindle hole 21. Or the upper shaft assembly 10 and/or the lower shaft assembly 30 and the anti-rotation portion 22 are defined in a plane and a plane or a boss and a groove, to define the upper shaft assembly 10 and/or the lower shaft assembly 30 and the shaft hole 21 The degree of freedom of rotation of the wall contact portion.

In one embodiment, the anti-rotation portion 22 is at least one anti-rotation surface provided at a peripheral wall surface of the shaft hole 21, and the anti-rotation surface is parallel to the axis of the shaft hole 21 or pre-aligned with the axis of the shaft hole 21. Set the angle of inclination. Accordingly, a corresponding mating plane is provided on the upper shaft assembly 10 and/or the lower shaft assembly 30 to define the degree of freedom of rotation of the upper shaft assembly 10 and/or the lower shaft assembly 30 with the peripheral wall surface contact portion of the shaft hole 21.

When the arm assembly 100 is mounted to the fuselage 200, the upper shaft assembly 10 and/or the lower shaft assembly 30 are fixed to the body 200 by fasteners. And the upper shaft assembly 10 and/or the lower shaft assembly 30 are at least partially inserted and coupled to the shaft hole 21 of the arm body 20 and mutually defined with the anti-rotation surface to stabilize the mounting position of the arm assembly 100. In order to improve the positioning effect of the upper shaft assembly 10 and/or the lower shaft assembly 30 on the arm body 20, the arm body 20 is provided with two anti-rotation surfaces at a predetermined angle, and the two anti-rotation surfaces are respectively associated with the upper shaft assembly 10 and the lower portion. The spindle assembly 30 is matched.

In an embodiment, the upper shaft assembly 10 includes a fixing base 11 and a sleeve 12 mounted to the fixing base 11, the fixing base 11 being fixed to the body 200, the outer side of the sleeve 12 The wall is provided with at least one limiting surface 121 , and the sleeve 12 is at least partially inserted into the rotating shaft hole 21 , and the at least one limiting surface 121 is coupled to the anti-rotation portion 22 .

The fixing base 11 and the sleeve 12 can be integrally formed, or the two separate parts can be fixedly connected by a fastener connection, a screw connection, a snap connection or the like. The fixing seat 11 is fixed to the body 200 by a fastener. The sleeve 12 is at least partially inserted into the rotating shaft hole 21 and the limiting surface 121 cooperates with the anti-rotation surface to define the relative rotation of the two. The arm assembly 100 is detachably mounted to the body 200 by the upper shaft assembly 10 and the lower shaft assembly 30. The structures of the upper shaft assembly 10 and the lower shaft assembly 30 may be the same, or one of them may be a cylindrical structure fixed to the body 200.

As shown in FIGS. 3 and 4, when the arm assembly 100 is foldably mounted to the body 200 and rotatable relative to the body 200, the arm assembly 100 has a deployed position and at least one stowed position.

In an embodiment, the arm body 20 rotates around at least a portion of the upper shaft assembly 10 and/or the lower shaft assembly 30 about the axis of the shaft hole 21 until the upper shaft assembly 10 and/or The lower shaft assembly 30 defines the arm assembly 100 to a deployed or collapsed position of the body 200.

The upper shaft assembly 10 and/or the lower shaft assembly 30 includes at least a fixed portion 111 fixed to the body 200 and a rotatable portion coupled to the arm body 20. Wherein, the rotatable portion rotates with the arm body 20 to cause the arm assembly 100 to be attached to the body 200 to be in the stowed position to place the drone in a transport and storage state. Or expand outward to be in the deployed position, the drone can fly.

The upper shaft assembly 10 includes a fixing base 11 and a sleeve 12 mounted on the fixing base 11. The fixing base 11 is fixed to the body 200, and the outer side wall of the sleeve 12 is provided with at least one limit. The sleeve surface 12 is at least partially inserted into the shaft hole 21 and the at least one limiting surface 121 is mated with the anti-rotation portion 22 . The sleeve 12 is inserted into the shaft hole 21, and optionally, the outer surface of the sleeve 12 and the inner side wall of the shaft hole 21 are slightly interference fit or tight fit.

As shown in FIGS. 4 and 7, in an embodiment, the upper shaft assembly 10 includes a fixing base 11 and a sleeve 12 mounted to the fixing base 11, the fixing base 11 being fixed to the body The outer side wall of the sleeve 12 is provided with at least one limiting surface 121. The sleeve 12 is at least partially inserted into the rotating shaft hole 21, and the at least one limiting surface 121 is coupled with the anti-rotation portion 22. . The upper shaft assembly 10 further includes a connecting post 14 mounted on the fixing base 11, and the fixing base 11 is provided with a T-shaped hole 113, the connecting post 14 passes through the T-shaped hole 113, and one end is defined The connecting post 14 is rotatably connected to the sleeve 12 on the fixing base 11 . The sleeve 12 has a barrel structure, and the bottom of the sleeve 12 is provided with a through hole 123. The connecting post 14 passes through the T-shaped hole 113 and the through hole 123. The end of the connecting post 14 is fixed to a shaft end piece 141 to fix the sleeve 12 It is defined between the shaft end piece 141 and the fixing seat 11. The outer surface of the sleeve 12 cooperates with the inner side wall of the shaft hole 21, and the sleeve 12 rotates with the arm body 20 about the connecting post 14.

The arm assembly 100 is rotated to be in the deployed or stowed position of the body 200. Accordingly, the arm assembly 100 is further provided with a positioning mechanism for defining the relative position between the arm assembly 100 and the body 200. In an embodiment, the upper shaft assembly 10 further includes a positioning assembly 13 disposed in the sleeve 12, and the positioning assembly 13 and the fixing base 11 can be locked with each other, for example, a groove and a boss The mating lock between the locks, the mating lock between the wedges and the ramps, etc., allows the arm assembly 100 to remain folded or unfolded relative to the body 200 in order to maintain the feel of the folding or opening of the arm assembly 100. The positioning component 13 includes an elastic member 132 and a cam member 131 slidably disposed on the sleeve 12 , and the elastic member 132 elastically pushes against the cam member 131 to abut against the fixing base 11 . The elastic member 132 may be an element such as a spring, and both ends of the elastic member 132 abut against the cam member 131 and the bottom wall of the sleeve 12, respectively. The sleeve 12 drives the cam member 131 to rotate, and the cam member 131 compresses or loosens the elastic member 132 in the axial direction of the sleeve 12 with respect to the fixing base 11. As such, the arm assembly 100 can be maintained at any of the opening angles of the process during the transition from the open state to the collapsed state or reverse motion.

The cam member 131 is provided with a central hole 1314. One end of the connecting post 14 is defined in the T-shaped hole 113, and the other end sequentially passes through the central hole 1314 of the cam member 131, the elastic member 132 and the through hole 123, and is mutually coupled with the shaft end member 141. fixed.

As shown in FIGS. 5 and 6, the positioning assembly 13 is located within the sleeve 12, and the degree of freedom of rotation of the positioning assembly 13 needs to be defined so that the positioning assembly 13 can only move in the axial direction of the sleeve 12. In an embodiment, the inner side wall of the sleeve 12 is provided with at least one stopping surface 122, and the positioning component 13 and the at least one stopping surface 122 cooperate to make the positioning component 13 along the The axial direction of the sleeve 12 is elastically stretched and moved. The stopping surface 122 is parallel to the axis of the sleeve 12, and the positioning assembly 13 is disposed on the sliding surface 1313 matching the stopping surface 122. The mutual engagement of the stopping surface 122 and the sliding surface 1313 can restrict the axial rotation of the positioning assembly 13. In order that the positioning assembly 13 is squeezed or extended in the axial direction during the pressing of the fixing base 11, the locking position of the arm assembly 100 can be controlled. Of course, the relative rotation between the restriction positioning assembly 13 and the sleeve 12 is not limited to the above-mentioned solution, but also includes other guiding definitions, such as the matching of the wire slot and the wire boss.

The cam member 131 and the fixed seat 11 employ a cam structure to compress or loosen the elastic member 132 to constrain the arm assembly 100 to the deployed or stowed position. In one embodiment, the cam member 131 includes a body portion 1311, a cam surface 1312 disposed on the body portion 1311, and a sliding surface 1313 disposed on a sidewall of the body portion 1311. The sliding surface 1313 is provided on the outer side surface of the cam member 131, which is parallel to the axis of the cam member 131. When the cam member 131 is inserted into the sleeve 12, the sliding surface 1313 matches the stop surface 122 of the sleeve 12 to define the rotation of the cam member 131. The cam surface 1312 is placed toward the fixed seat 11 , and the elastic member 132 is pushed against the other end of the body portion 1311 such that the cam surface 1312 abuts against the fixed seat 11 . Wherein, the cam surface 1312 is provided with at least one lowest position and at least one highest position. For example, the cam surface 1312 has a symmetrical configuration in which the highest position and the lowest position form a similar "V" shaped groove shape.

When the sleeve 12 rotates to drive the cam member 131 to rotate, the cam surface 1312 moves relative to the contact surface with the fixed seat 11 to cause the cam member 131 to compress or loosen the elastic member 132. For example, the fixed seat 11 and the lowest position of the cam surface 1312 are in mesh with each other. When the sleeve 12 is rotated, the cam surface 1312 is rotated relative to the fixed seat 11, so that the contact surface of the cam surface 1312 and the fixed seat 11 is from the lowest position to the highest position. Move in direction. Since the spacing between the sleeve 12 and the fixing seat 11 is a fixed value, the cam member 131 passes through the compression elastic member 132 to obtain an axial displacement, and the elastic member 132 forms a force for restoring the elastic deformation to hold the cam member 131 tightly against On the mount 11, the sleeve 12 and the mount 11 are held in close engagement so that the arm remains at the current open or folded angle.

The holder 11 is used for fixing the body 200 and cooperating with the positioning assembly 13. In an embodiment, the fixing base 11 includes a fixing portion 111 and a cam portion 112 protruding from the fixing portion 111. The fixing portion 111 is for fixing to the body 200, and the cam member 131 The elastic portion abuts against the cam portion 112. The cam portion 112 includes at least one protrusion portion 1122, a groove portion 1121, and a smooth surface 1123 connecting the protrusion portion 1122 and the groove portion 1121.

In one embodiment, the cam surface 1312 of the cam member 131 includes a peak top portion 13121, a sloped surface portion 13122, and a peak bottom portion 13123, wherein the raised portion 1122 mates with the peak bottom portion 13123, and the groove portion 1121 mates with the peak top portion 13121. At this time, the arm is in a folded state, and the spring is slightly deformed or not deformed. Rotating the arm assembly 100, the cam member 131 follows the arm assembly 100 for rotation. The boss portion 1122 is relatively rotated with the peak bottom portion 13123, wherein the slope portion 13122 slides relative to the smooth surface 1123, and a longitudinal displacement rear compression spring is generated. The spring is elastically deformed and generates an elastic force that abuts the slope portion 13122 on the boss portion 112. Continuing to rotate the arm assembly 100, the spring is further compressed until the arm assembly 100 is deployed to a predetermined angle. The elastic member 132 urges the peak top portion 13121 of the cam member 131 against the boss portion 1122 to maintain the arm assembly 100 at the predetermined angle. The cam member 131 compresses the elastic member 132 during deployment so that the cam member 131 and the boss portion 122 are always held in abutment state, maintaining the hand of the folding machine arm assembly 100.

The elastic member 132 elastically pushes against the cam member 131 against the cam portion 112, so that the arm assembly 100 is rotatably mounted on the body 200 and is defined in a preset unfolded position or a closed position, and the structure is ingenious. The positioning assembly 13 is disposed within the upper shaft assembly 10 and/or the lower shaft assembly 30, which has little effect on the volume and weight of the body 200.

As shown in FIGS. 2 and 3, the arm assembly 100 is rotatably mounted to the body 200. In an embodiment, the body 200 includes a first mounting portion 40, a second mounting portion 60, and a mounting slot 50 between the first mounting portion 40 and the second mounting portion 60. The arm body 20 is inserted into the chassis. The mounting groove 50 is described. The upper shaft assembly 10 is fixedly coupled to the first mounting portion 40 and is connected to the arm body 20 . The lower shaft assembly 30 is fixed to the second mounting portion 60 and the arm body 20 . Plug connection.

The mounting groove 50 is located at the side wall of the body 200, wherein the first mounting portion 40, the second mounting portion 60, and the mounting groove 50 constitute a U-shaped structure. The fixing base 11 of the upper shaft assembly 10 is fixed to the first mounting portion 40, and the sleeve 12 passes through the first mounting portion 40 and is connected to the shaft hole 21 of the arm. The fixing base 11 of the lower shaft assembly 30 is fixed to the second mounting portion 60. The sleeve 12 passes through the second mounting portion 60 and is connected to the shaft hole 21 of the arm.

The arm assembly 100 defines its range of rotation by an internal positioning assembly 13 that damages the arm assembly 100 to avoid excessive rotation of the arm assembly 100. In an embodiment, the body 200 further includes a first defining boss 70 and a second limiting boss 80 at the two ends of the mounting groove 50, the first defining boss 70 or the second limiting protrusion The table 80 is used to define the range of rotation of the arm assembly 100. Wherein, when the arm assembly 100 is rotated to the deployed position, the positioning assembly 13 and the fixed seat 11 abut each other. If the arm assembly 100 continues to be rotated, the arm body 20 abuts against the first defining boss 70 to prevent the arm assembly 100 from rotating excessively without being in the deployed position. Similarly, when the arm assembly 100 is rotated to the stowed position, the positioning assembly 13 and the fixed seat 11 are engaged with each other. If the arm assembly 100 continues to be rotated, the arm body 20 abuts against the second defining boss to prevent the arm assembly 100 from rotating excessively without being in the stowed position.

The upper shaft assembly 10 and the lower shaft assembly 30 are inserted into the shaft hole 21. In an embodiment, the arm body 20 further includes a resisting portion (not shown) that protrudes from the inner side wall of the shaft hole 21 toward the center. When the upper shaft assembly 10 and the lower shaft assembly 30 are inserted into the shaft hole 21, at least one of them abuts against the abutting portion and pushes the arm body 20 to the body 200. By providing the abutting portion, the mounting tightness of the arm body 20 and the body 200 can be improved, and an axial gap between the arm body 20 and the body 200 can be avoided.

In order to further improve the mounting tightness between the arm body 20 and the first mounting portion 40 and the second mounting portion 60, in an embodiment, the arm body 20 further includes an arm body 24 and partially protrudes from the arm body 24 The two boss portions 23 are respectively located at two ends of the rotating shaft hole 21 and surrounding the opening of the rotating shaft hole 21. The shaft hole 21 is located at one end of the arm body 24, and the rotor assembly is located at the other end of the arm body 24.

The boss portion 23 protrudes from the surface of the arm body 24 and abuts against the first mounting portion 40 and the second mounting portion 60, and can adjust the mounting gap between the arm body 20 and the body 200 and reduce the rotational friction. Of course, the boss portion 23 may be formed as a separate member and the arm body 24. For example, an adjustment member such as a gasket or a rubber ring is attached between the arm main body 24 and the first mounting portion 40 or the second mounting portion 60 to change the mounting gap between the arm body 20 and the body 200.

The structures of the upper shaft assembly 10 and the lower shaft assembly 30 may be the same or similar, for example, the structures of the two are the same. The structures of the first mounting portion 40 and the second mounting portion 60 for mounting the upper shaft assembly 10 and the lower shaft assembly 30 may also be set to the same mounting structure.

For example, the first mounting portion 40 includes a first mounting hole 41 and a mounting post 42 disposed on two sides of the first mounting hole 41. The mounting post 42 protrudes from the surface of the body 200. The cylindrical structure is provided with a locking hole connected to the fastener. The mounting post 42 is provided with two and is located on both sides of the first mounting hole 41. When the upper shaft assembly 10 is fixed to the mounting post 42 by a fastener, the fixing portion 111 of the fixing base 11 is provided with a through hole, and the fastener passes through the through hole and is fixedly connected with the locking hole, and the sleeve 12 and the positioning assembly 13 are inserted into the shaft hole 21 of the arm body 20 through the first mounting hole 41.

The upper shaft assembly 10 is at least partially passed through the first mounting hole 41 and is inserted into the arm body 20, and the two are conveniently connected. The upper shaft assembly 10 transmits the torque force to the body 200 through the fixing portion 111, and the transmission torque is large. The mounting posts 42 are distributed on both sides of the first mounting hole 41, and the force is uniform. The number of mounting posts 42 can be modulated according to installation requirements, such as two, three, and the like.

In an embodiment, the first mounting portion 40 further includes a first limiting portion 43 and a second limiting portion 44 protruding from the body 200, the first limiting portion 43 and the second portion A limiting space is formed between the limiting portions 44, and the upper rotating shaft assembly 10 is defined in the limiting space. The sidewall of the fixing base 11 is defined between the first limiting portion 43 and the second limiting portion 44. The first limiting portion 43 and the second limiting portion 44 can be configured to protrude from the surface of the body 200. The table or the limit structure installed on the body 200, such as a thimble, a positioning pin, and the like. The first limiting portion 43 and the second limiting portion 44 constitute a defined area for defining the movable range of the fixed seat 11, the mounting effect is good, and the torque transmission effect is good.

The method and apparatus provided by the embodiments of the present invention are described in detail above. The principles and implementations of the present invention are described in the specific examples. The description of the above embodiments is only used to help understand the method of the present invention and At the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific embodiments and application scopes, and in the case of no conflict, the above embodiments and examples Features can be combined with each other. In summary, the content of the specification should not be construed as limiting the invention.

Claims

An arm assembly for use in a drone, the drone comprising a fuselage, the arm assembly being foldably mounted to the fuselage, wherein the arm assembly comprises an arm body One end of the arm body connected to the fuselage is provided with a rotating shaft hole and an anti-rotation portion provided at the rotating shaft hole, the arm assembly further includes an upper rotating shaft assembly and a lower rotating shaft assembly, and the upper rotating shaft assembly is fixedly connected a first end of the body and along the shaft hole is inserted into the arm body, the lower shaft assembly is fixed to the body and inserted along the second end of the shaft hole to the An arm body, wherein at least one of the upper shaft assembly and the lower shaft assembly is matched with the anti-rotation portion such that the upper shaft assembly and/or the lower shaft assembly and the shaft hole The anti-rotation parts are locked to each other.
The arm assembly according to claim 1, wherein said arm body drives at least a portion of said upper shaft assembly and/or said lower shaft assembly to rotate about an axis of said shaft hole until said upper shaft assembly And/or the lower shaft assembly defines the arm assembly to a deployed or collapsed position of the fuselage.
The arm assembly of claim 1, wherein the upper shaft assembly comprises a fixed seat and a sleeve mounted to the fixed seat, the fixed seat being fixed to the body, the sleeve The outer side wall is provided with at least one limiting surface, the sleeve is at least partially inserted into the rotating shaft hole, and the at least one limiting surface is cooperatively connected with the anti-rotation portion.
The arm assembly according to claim 3, wherein the upper shaft assembly further comprises a connecting post mounted to the fixing base, the connecting post being rotatably coupled to the sleeve, the upper shaft assembly A positioning assembly disposed in the sleeve, the positioning assembly elastically sliding along the axis of the sleeve, the sleeve rotating and driving the positioning assembly to elastically slide, the positioning assembly and the fixing The seats are mutually defined to lock the upper shaft assembly in a respective defined position.
The arm assembly according to claim 4, wherein the inner side wall of the sleeve is provided with at least one stop surface, and the positioning assembly cooperates with the at least one stop surface to enable the positioning The assembly is elastically telescopically moved in the axial direction of the sleeve.
The arm assembly according to claim 4, wherein the positioning assembly comprises an elastic member and a cam member slidably disposed on the sleeve, the elastic member elastically pushing against the cam member to abut a fixing seat, the sleeve driving the cam member to rotate, and the cam member compresses or loosens the elastic member in the axial direction of the sleeve relative to the fixing seat.
The arm assembly according to claim 6, wherein the cam member comprises a body portion, a cam surface provided on the body portion, and a sliding surface provided on a side wall of the body portion, the sliding surface and the sliding surface The sleeves are matched to define the rotation of the cam member, and the cam surface abuts against the fixing seat to elastically move the cam member in the axial direction of the sleeve.
The arm assembly of claim 7 wherein said cam surface is provided with at least one lowermost position and at least one highest position.
The arm assembly according to claim 4, wherein the fixing base comprises a fixing portion and a cam portion protruding from the fixing portion, the fixing portion is for fixing to the body, The positioning assembly is resiliently abutted to the cam portion.
The arm assembly according to claim 9, wherein the cam portion includes at least one boss portion, a groove portion, and a smooth surface connecting the boss portion and the groove portion, The positioning assembly elastically abuts against the cam portion and slides along the smooth surface to the boss or groove portion.
The arm assembly according to claim 1, wherein the anti-rotation portion is at least one anti-rotation surface provided at a peripheral wall surface of the shaft hole.
The arm assembly according to claim 1, wherein the arm body further comprises an arm body and two boss portions partially protruding from the arm body, and the two boss portions are respectively located in the shaft hole Both ends and around the opening of the shaft hole.
An unmanned aerial vehicle, comprising: a fuselage and an arm assembly, wherein the arm assembly comprises an arm body, and one end of the arm body connected to the fuselage is provided with a rotating shaft hole and is disposed in the rotating shaft hole The anti-rotation portion, the arm assembly further includes an upper shaft assembly and a lower shaft assembly, the upper shaft assembly being fixed to the body and inserted along the first end of the shaft hole to the arm body The lower shaft assembly is fixed to the body and inserted along the second end of the shaft hole to the arm body, wherein at least one of the upper shaft assembly and the lower shaft assembly The anti-rotation portions are matched to interlock the anti-rotation portion of the upper shaft assembly and/or the lower shaft assembly with the shaft hole, and the arm assembly is foldably mounted to the body .
The drone according to claim 13, wherein said arm body drives at least a portion of said upper shaft assembly and/or said lower shaft assembly to rotate about an axis of said shaft hole until said upper shaft assembly And/or the lower shaft assembly defines the arm assembly to a deployed or collapsed position of the fuselage.
The drone according to claim 13, wherein the upper shaft assembly comprises a fixing base and a sleeve mounted to the fixing base, the fixing base being fixed to the body, the sleeve The outer side wall is provided with at least one limiting surface, the sleeve is at least partially inserted into the rotating shaft hole, and the at least one limiting surface is cooperatively connected with the anti-rotation portion.
The drone according to claim 15, wherein the upper shaft assembly further comprises a connecting post mounted to the fixing base, the connecting post is rotatably coupled to the sleeve, and the upper shaft assembly A positioning assembly disposed in the sleeve, the positioning assembly elastically sliding along the axis of the sleeve, the sleeve rotating and driving the positioning assembly to elastically slide, the positioning assembly and the fixing The seats are mutually defined to lock the upper shaft assembly in a respective defined position.
The drone according to claim 16, wherein the inner side wall of the sleeve is provided with at least one stop surface, and the positioning assembly cooperates with the at least one stop surface to enable the positioning The assembly is elastically telescopically moved in the axial direction of the sleeve.
The drone according to claim 16, wherein the positioning assembly comprises an elastic member and a cam member slidably disposed on the sleeve, the elastic member elastically pushing against the cam member to abut a fixing seat, the sleeve driving the cam member to rotate, and the cam member compresses or loosens the elastic member in the axial direction of the sleeve relative to the fixing seat.
The drone according to claim 18, wherein the cam member comprises a body portion, a cam surface provided on the body portion, and a sliding surface provided on a side wall of the body portion, the sliding surface and the sliding surface The sleeves are matched to define the rotation of the cam member, and the cam surface abuts against the fixing seat to elastically move the cam member in the axial direction of the sleeve.
The drone according to claim 19, wherein said cam surface is provided with at least one lowest position and at least one highest position.
The drone according to claim 16, wherein the fixing base includes a fixing portion and a cam portion protruding from the fixing portion, the fixing portion for fixing to the body, The positioning assembly is resiliently abutted to the cam portion.
The drone according to claim 21, wherein said cam portion includes at least one boss portion, a groove portion, and a smooth surface connecting said boss portion and said groove portion, The positioning assembly elastically abuts against the cam portion and slides along the smooth surface to the boss or groove portion.
The unmanned aerial vehicle according to claim 13, wherein the anti-rotation portion is at least one anti-rotation surface provided at a peripheral wall surface of the rotary shaft hole.
The drone according to claim 13, wherein the arm body further comprises an arm body and two boss portions partially protruding from the arm body, and the two boss portions are respectively located in the shaft hole Both ends and around the opening of the shaft hole.
The drone according to claim 13, wherein the body comprises a first mounting portion, a second mounting portion, and a mounting groove between the first mounting portion and the second mounting portion, the arm body Inserting the mounting slot, the upper shaft assembly is fixedly connected to the first mounting portion and is connected to the arm body, and the lower shaft assembly is fixed to the second mounting portion and the arm body Plug connection.
The drone according to claim 25, wherein the body further comprises a first defining boss and a second limiting boss at both ends of the mounting groove, the first defining boss or the The second limiting boss is used to define the range of rotation of the arm assembly.
The drone according to claim 25, wherein the first mounting portion includes a first mounting hole opened to the body and a mounting post provided on both sides of the first mounting hole, The upper shaft assembly at least partially passes through the first mounting hole and is plugged into the arm body, and the upper shaft assembly is fixed to the mounting post by a fastener.
The unmanned aerial vehicle according to claim 27, wherein the first mounting portion further includes a first limiting portion and a second limiting portion protruding from the fuselage, the first limiting portion A limiting space is formed between the second limiting portion and the upper rotating shaft assembly is defined in the limiting space.