WO2019227445A1 - 机架及无人机 - Google Patents

机架及无人机 Download PDF

Info

Publication number
WO2019227445A1
WO2019227445A1 PCT/CN2018/089402 CN2018089402W WO2019227445A1 WO 2019227445 A1 WO2019227445 A1 WO 2019227445A1 CN 2018089402 W CN2018089402 W CN 2018089402W WO 2019227445 A1 WO2019227445 A1 WO 2019227445A1
Authority
WO
WIPO (PCT)
Prior art keywords
wall
side wall
arm
bottom wall
top wall
Prior art date
Application number
PCT/CN2018/089402
Other languages
English (en)
French (fr)
Inventor
熊荣明
周震昊
熊贤武
李阳
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 PCT/CN2018/089402 priority Critical patent/WO2019227445A1/zh
Priority to CN201880012032.XA priority patent/CN110325440A/zh
Priority to EP18920338.3A priority patent/EP3805093A1/en
Priority to JP2020563748A priority patent/JP7074894B2/ja
Publication of WO2019227445A1 publication Critical patent/WO2019227445A1/zh
Priority to US17/105,384 priority patent/US20210094689A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV

Definitions

  • the present application relates to the technical field of aircraft, and in particular, to a rack and an unmanned aerial vehicle.
  • An unmanned aerial vehicle is a non-manned aerial vehicle operated by a radio remote control device or a remote control device to perform a mission.
  • drones have been developed and applied in many fields, such as civilian, industrial, and military applications.
  • the drone includes an arm and a fuselage.
  • the arm and the fuselage are integrated.
  • the arm is assembled to the fuselage and can be folded or unfolded relative to the fuselage, with a small footprint and easy storage.
  • the present application provides a rack and an unmanned aerial vehicle. When the boom is in the deployed position, the boom is held on the rack.
  • the present application provides a frame for connecting a machine arm.
  • the frame includes opposite top and bottom walls and a receiving space located between the top and bottom walls.
  • the receiving space is used for receiving the At least a part of the arm, at least one of a top wall and a bottom wall of the frame is provided with a holder, and when the arm is in the deployed position, the holder and the arm are in opposition to generate a catch Force to hold the machine arm between the top wall and the bottom wall.
  • an unmanned aerial vehicle including a frame, a rotating shaft assembled to the frame, and a robot arm assembled to the rotating shaft, wherein the arm surrounds the rotating shaft between an expanded position and a folded position
  • the frame includes opposite top and bottom walls
  • the machine arm includes a mounting portion assembled to the rotating shaft and an extension portion extending from the mounting portion
  • the top or bottom wall of the frame is provided with
  • the rack and the drone of the present application are provided with a holder on the rack, and when the arm is in the deployed position, the holder abuts the arm to generate a clamping force, and the The arm is clamped between the top wall and the bottom wall to ensure the flying performance of the drone.
  • FIG. 1 is a schematic cross-sectional view of a drone according to an embodiment.
  • FIG. 2 is an exploded view of an embodiment of the drone of the present application.
  • FIG. 3 is a partial schematic view of a frame of the drone shown in FIG. 2.
  • FIG. 4 is a partial schematic view of the unmanned aerial vehicle shown in FIG. 2 after the arm and the frame are assembled.
  • FIG. 5 is a cross-sectional view of the schematic diagram shown in FIG. 3.
  • FIG. 6 is a partial cross-sectional view of the unmanned aerial vehicle shown in FIG. 2 in a deployed state.
  • FIG. 7 is a schematic cross-sectional view of another embodiment of the drone of the present application, wherein the arm is in a deployed state.
  • FIG. 8 is a schematic cross-sectional view of another embodiment of the drone of the present application, wherein the arm is in a deployed state.
  • Figure 1 shows an exploded view of one embodiment of a drone.
  • the drone includes a frame 7, a rotating shaft 8 assembled to the frame 7, and an arm 9 assembled to the rotating shaft 8.
  • the arm 9 can be folded or unfolded relative to the frame 7.
  • the frame 7 includes an upper wall 70 and a lower wall 71 opposite to each other.
  • the machine arm 9 is located between the upper wall 70 and the lower wall 71.
  • a gap 92 is left between the arm 9 and the upper wall 70 and the lower wall 71.
  • FIG. 2 to FIG. 6 are diagrams illustrating one embodiment of the drone of the present application.
  • the drone shown in FIG. 2 can be used for aerial photography, mapping, and monitoring, but is not limited thereto. In other embodiments, drones can also be used in agriculture, express delivery, providing network services, and the like.
  • the drone includes a frame 1, a rotating shaft 2 assembled to the frame 1, an arm 3 assembled to the rotating shaft 2, and the arm 3 and the arm 3 Spacers 4 between the frames 1 and a power unit (not shown) assembled to the arm 3.
  • the power unit is used to move the drone.
  • the power unit includes a motor (not shown) and a rotor (not shown) driven and rotated by the motor (not shown). The rotation of the rotor drives the movement of the drone.
  • the movement may include taking off, landing, hovering, changing direction, speed, orientation, and the like.
  • the rack 1 includes a top wall 10 and a bottom wall 11 opposite to each other, and a receiving space 12 located between the top wall 10 and the bottom wall 11.
  • the frame 1 includes a holder (not labeled). When the arm 3 is deployed, the holder and the arm generate a clamping force, and the arm 3 is held on the machine. Shelf 1.
  • the holding member includes an inclined portion 112 formed on at least one of the top wall 10 and the bottom wall 11 of the frame 11.
  • the top wall 10 includes opposite first ends 101 and second ends 102 and a first
  • the connecting wall 13 between the end 101 and the bottom wall 11, and the inclined portion 112 extends obliquely into the receiving space 12 in a direction from the second end 102 to the first end 101.
  • the top wall 10 includes a first inner side wall 105 near the receiving space 12.
  • the bottom wall 11 includes a second inner side wall 110 near the receiving space 12.
  • the first inner side wall 105 of the top wall 10 extends parallel to the second inner side wall 110 of the bottom wall 11, and the inclined portion 112 extends obliquely upward from the second inner side wall 110.
  • the inclined portion 112 extends obliquely downward from the first inner side wall 105 or the inclined portion 112 includes a first inner side wall 105 formed on the top wall 10 A first inclined portion (not shown) on the upper side and a second inclined portion (not shown) formed on the second inner side wall 110 of the bottom wall 11, the first inclined portion is from the first inner side wall 105 extends obliquely downward, and the second inclined portion extends obliquely upward from the second inner sidewall 110.
  • the rack 1 further includes a connecting wall 13 at the first end 101.
  • the connecting wall 13 connects the top wall 10 and the bottom wall 11.
  • the connecting wall 13 includes a third inner side wall 130 near the receiving space 12.
  • the third inner side wall 130 extends obliquely toward the outside of the frame 1 and away from the second end 102, so that the machine arm 3 has a larger deployment angle.
  • the machine arm 3 is switched between a deployed position and a folded position around the rotating shaft 2.
  • the arm 3 includes a mounting portion 30 located in the receiving space 12 and an extension portion 31 extending from the mounting portion 30.
  • the arm 3 is also provided with a wedge-shaped structure, that is, the width of the mounting portion 30 is smaller than the width of the extension portion 31.
  • the mounting portion 30 is provided with a through hole 301 through which the rotating shaft 2 passes.
  • the mounting portion 30 is provided with a pressing portion 302 near the top wall 10, and the pressing portion 302 is crimped to the rotating shaft 2 to ensure that the arm 3 and the frame 1 are secured.
  • a first gap 104 is left between the bottom wall 11 and a gasket 4 is provided between the mounting portion 30 and the top wall 10 of the rack 1 to ensure that the arm 3 and the top of the rack 1
  • a second gap 103 is left between the walls 10.
  • the application is not limited to this.
  • the pressing portion 302 may also be disposed near the bottom wall 11.
  • the gasket 4 is disposed between the mounting portion 30 and the bottom wall 11 of the rack 1.
  • the rotating shaft 2 includes a shaft sleeve 20, a positioning shaft 21, an elastic element 22, an upper clutch portion 23 and a lower clutch portion 24.
  • the sleeve 20 is received in the through hole 301 of the arm 3.
  • the shaft sleeve 20 and the machine arm 3 are matched in shape.
  • the rotation of the machine arm 3 can drive the shaft sleeve. 20 coaxial rotation.
  • the cooperation manner between the shaft sleeve 20 and the arm 3 may also be any other suitable manner, as long as the shaft sleeve 20 and the arm 3 are made between No relative rotation is required.
  • the fitting method may be a snap fit.
  • one of the outer wall of the sleeve 20 and the arm 3 is provided with a buckle, and the other is provided with a slot or a hook.
  • the engaging groove or the engaging hook cooperates with the engaging hook to fix the shaft sleeve 20 in the through hole 301.
  • the shaft sleeve 20 is a hollow cylinder with a bottom wall 201.
  • the elastic element 22 and the upper clutch portion 23 are housed in the shaft sleeve 20.
  • the bottom wall 201 of the sleeve 20 is provided with a through hole (not labeled).
  • the positioning shaft 21 passes through the through hole and the through hole 301 of the machine arm 3 to expose the machine arm 3.
  • the gasket 4 is provided with a hole 40 through which the positioning shaft 21 passes.
  • the arm 3 and the shaft sleeve 20 can rotate around the positioning shaft 21.
  • the elastic element 22 is sleeved on the positioning shaft 21 and received in the shaft sleeve 20.
  • the elastic element 22 can be fixed on the bottom wall 201 of the sleeve 20.
  • the elastic element 22 may be a metal spring or a plastic spring.
  • the upper clutch portion 23 is sleeved on the positioning shaft 21 and received in the sleeve 20. One end of the upper clutch portion 23 abuts the elastic element 22, and the other end is engaged with the lower clutch portion 24.
  • the upper clutch portion 23 rotates synchronously with the sleeve 20. Similar to the matching manner between the shaft sleeve 20 and the machine arm 3, the cooperation manner between the upper clutch portion 23 and the shaft sleeve 20 may be any suitable manner, as long as the upper clutch portion 23 and The shaft sleeve 20 can be rotated synchronously, such as a shape fit or a snap fit.
  • the lower clutch portion 24 is fixedly connected to the frame 1.
  • a cam structure (not shown) is provided on a side of the lower clutch portion 24 that cooperates with the upper clutch portion 23.
  • the cam structure includes a first protrusion (not shown) and a first depression (not shown).
  • the side on which the upper clutch portion 23 and the lower clutch portion 24 cooperate has a corresponding structure, and also includes a second protrusion (not shown) and a second depression (not shown).
  • the shape of the second protrusion corresponds to the shape of the first depression, and can be accommodated in the first depression; the shape of the first protrusion corresponds to the shape of the second depression, just It can be accommodated in the second recess 3 so that the upper clutch portion 23 is just engaged with the lower clutch portion 24 when it is not subjected to external force.
  • the compression of the elastic element 22 can increase its elastic energy, thereby increasing the driving force for rotating the arm 3.
  • the elastic element 22 is compressed to the extreme position.
  • the upper clutch portion 23 continues to rotate relative to the lower clutch portion 24, the second protrusion slides from the highest point of the first protrusion to the first depression, and the elastic force of the elastic element 22 is released
  • the external force applied to the machine arm 3 is removed, and the machine arm 3 can also be automatically expanded or folded under the action of the elastic force of the elastic element 22.
  • the elastic force of the elastic element 22 is completely released. If the machine arm 31 is not continuously rotated by applying an external force, the upper clutch portion 23 will not face each other.
  • the lower clutch portion 24 rotates to limit the position of the arm 3, that is, the arm 3 is locked in the expanded / folded state at this time.
  • the rotating shaft 2 includes a shaft sleeve 20, which is not limited in this application.
  • the shaft sleeve 20 may be omitted, the elastic element 22, the upper clutch portion 23, and the lower clutch portion 24.
  • the sleeves are sequentially sleeved on the positioning shaft 21 and directly received in the through holes 301 of the machine arm 3.
  • the cam structure is provided with a first protrusion and a second protrusion, which is not limited in this application.
  • the protrusion may be one, two, or two or more.
  • the holder includes an elastic sheet 5 mounted on a bottom wall 11 'of the frame 1'.
  • the elastic sheet 5 is close to the connecting wall 13 '.
  • the elastic piece 5 includes a fixing portion 51 fixed to the bottom wall 11 ′ and an elastic portion 50 extending from the fixing portion 51.
  • the elastic portion 50 is located between the connecting wall 13 ′ and the fixing portion 51. between.
  • the holder in another embodiment, includes a plunger 6 mounted on a bottom wall 11 ′′ of the frame 1 ′′.
  • the plunger 6 is close to the connecting wall 13 ".
  • the plunger 6 includes an elastic member 61 and a resisting portion 62 connected to the elastic member 61, and the resisting portion 62 extends into the receiving space 12" to communicate with The arm 3 "resists.
  • the resisting portion 62 is spherical.
  • the plunger 6 includes a sleeve 63 that accommodates the elastic member 61 and the resisting portion 62, and the resisting portion 62 is partially exposed.
  • the bottom wall 11 ′′ is provided with a recess 110 for receiving the plunger 6.
  • the arm 3 ′′ When the arm 3 ′′ is in the deployed position, the arm 3 ′′ is in abutment with the abutment portion 62, and the arm 3 ′′ is held on the top wall 10 ′′ and the bottom wall 11. ", To prevent the arm 3" from being shaken when subjected to an external force along the axial direction of the rotating shaft 2, and to ensure the flying performance of the drone.
  • the plunger 6 may be mounted on the top wall 10 "of the frame 1".
  • the drone of the present application is provided with a holder on the frame 1.
  • the holder 3 When the arm 3 is in a deployed position, the holder 3 abuts on the arm 3 to generate a clamping force, preventing the aircraft
  • the shaking of the arm 3 when receiving an external force along the axial direction of the rotation shaft 2 ensures the flying performance of the drone.
  • the holder includes a wedge structure provided on the frame 1 or an elastic sheet 5 provided on the top wall 10 or the bottom wall 11 of the frame 1 or a top wall 10 or Plunger 6 on the bottom wall 11.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Remote Sensing (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Vehicle Step Arrangements And Article Storage (AREA)
  • Toys (AREA)

Abstract

一种无人机，包括机架（1）、组装至机架（1）的转轴（2）、组装至转轴（2）的机臂（3），机架（1）包括相对的顶壁（10）与底壁（11）以及位于顶壁（10）与底壁（11）之间的收容空间（12），收容空间（12）用于收容机臂（3）的至少一部分，机架（1）的顶壁（10）和底壁（11）中的至少一者设有保持件。当机臂（3）处于展开位置时，保持件与机臂（3）抵持产生卡持力，将机臂（3）卡持于顶壁（10）与底壁（11）之间，保证无人机的飞行性能。

Description

机架及无人机 技术领域
本申请涉及飞行器技术领域，特别涉及一种机架及无人机。
背景技术
无人机是一种由无线电遥控设备或者远程控制装置操纵以执行任务的非载人飞行器。近些年来，无人机在多个领域得到发展和应用，例如民用、工业应用和军事应用等。无人机包括机臂和机身。在一些无人机中，所述机臂和机身一体设置。在另一些无人机中，所述机臂组装至所述机身且可相对所述机身折叠或者展开，占用空间小，容易收纳。
发明内容
本申请提供一种机架及无人机，在机臂处于展开位置时，将所述机臂卡持于所述机架上。
本申请提供一种机架，用于连接机臂，所述机架包括相对的顶壁与底壁以及位于所述顶壁与底壁之间的收容空间，所述收容空间用于收容所述机臂的至少一部分，所述机架的顶壁和底壁中的至少一者设有保持件，当所述机臂处于展开位置时，所述保持件与所述机臂抵持产生卡持力，将所述机臂卡持于所述顶壁与所述底壁之间。
本申请的再一面提供一种无人机，包括机架、组装至所述机架的转轴以及组装至所述转轴的机臂，所述机臂围绕所述转轴在展开位置与折叠位置之间旋转，所述机架包括相对的顶壁与底壁，所述机臂包括组装至所述转轴的安装部以及自所述安装部延伸的延伸部，所述机架的顶壁或底壁设有保持件，当所述机臂处于展开位置时，所述保持件与所述延伸部抵持 产生卡持力，将所述机臂卡持于所述顶壁与所述底壁之间。
本申请的机架及无人机通过在所述机架上设置保持件，当所述机臂处于展开位置时，所述保持件与所述机臂抵接产生卡持力，将所述机臂卡持于所述顶壁与所述底壁之间，保障了无人机的飞行性能。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是一个实施例的无人机的剖面示意图。
图2是本申请无人机的一个实施例的分解图。
图3是图2所示的无人机的机架的局部示意图。
图4是图2所示的无人机的机臂与机架组装后的局部示意图。
图5是图3所示的示意图的剖面图。
图6是图2所示的无人机的机臂处于展开状态的局部剖面示意图。
图7是本申请无人机的另一个实施例的剖面示意图，其中，机臂处于展开状态。
图8是本申请无人机的又一个实施例的剖面示意图，其中，机臂处于展开状态。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，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，都属于本申请保护的范围。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置的例子。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。除非另行指出，“前部”、“后部”、“下部”和/或“上部”等类似词语只是为了便于说明，而并非限于一个位置或者一种空间定向。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而且可以包括电性的连接，不管是直接的还是间接的。
图1所示为无人机的一个实施例的分解图。如图1所示，无人机包括机架7、组装至机架7的转轴8、组装至转轴8的机臂9。机臂9可相对所述机架7折叠或者展开。机架7包括相对的上壁70与下壁71。所述机臂9位于所述上壁70与下壁71之间。为了保证所述机臂9可以顺畅地折叠或者展开，所述机臂9与所述上壁70以及下壁71之间留有间隙92。然而，因为间隙92的存在，当所述机臂9处于展开状态时，导致机臂9在受到沿转轴8的轴向的外力时，会出现一定的晃动，降低了飞行器的飞行性能。
下面结合附图，对本申请的无人机进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
图2至图6所示为本申请无人机的一个实施例的图示。图2所示的无人机可以用于航拍、测绘、监测，但不限于此。在其他一些实施例中，无人机还可用于农业、快递送货、提供网络服务等。参照图2至图6所示，在本实施例中，无人机包括机架1、组装至机架1的转轴2、组装至转轴2的机臂3、位于所述机臂3与所述机架1之间的垫片4以及组装至机臂3的动力单元(未图示)。所述动力单元用于移动所述无人机。所述动力单元包括马达(未图示)及被所述马达(未图示)驱动而旋转的旋翼(未图示)。旋翼的转动带动所述无人机的移动。所述移动可包括起飞、降落、盘旋、改变方向、速度、方位等。
所述机架1包括相对的顶壁10与底壁11以及位于顶壁10与底壁11之间的收容空间12。所述机架1包括保持件(未标示)，当所述机臂3展开时，所述保持件与所述机臂抵持产生卡持力，将所述机臂3卡持于所述机架1上。所述保持件包括所述机架11的顶壁10和底壁11的至少一者上形成的倾斜部112，所述顶壁10包括相对的第一端101与第二端102以及连接第一端101与底壁11的连接壁13，所述倾斜部112在从第二端102向第一端101的方向上，倾斜向所述收容空间12内延伸。所述顶壁10包括靠近所述收容空间12的第一内侧壁105。所述底壁11包括靠近所述收容空间12的第二内侧壁110。在本实施例中，所述顶壁10的第一内侧壁105与所述底壁11的第二内侧壁110平行延伸，所述倾斜部112自所述第二内侧壁110倾斜向上延伸。本申请并不局限于此，也可设置为，所述倾斜部112自所述第一内侧壁105倾斜向下延伸或者所述倾斜部112包括形成于所述顶壁10的第一内侧壁105上的第一倾斜部(未图示)和形成于所述底壁11的第二内侧壁110上的第二倾斜部(未图示)，所述第一倾斜部自所述第一内侧壁105倾斜向下延伸，所述第二倾斜部自所述第二内侧壁110倾斜向上延伸。所述机架1还包括位于第一端101的连接壁13，所述连接壁13连接所述顶壁10与底壁11所述连接壁13包括靠近所述收容空 间12的第三内侧壁130，所述第三内侧壁130倾斜向机架1的外侧和远离第二端102的方向延伸，使得所述机臂3具有较大的展开角度。
所述机臂3围绕所述转轴2在展开位置与折叠位置之间切换。所述机臂3包括位于所述收容空间12内的安装部30以及自所述安装部30延伸的延伸部31。所述机臂3也设有楔形结构，即所述安装部30的宽度小于所述延伸部31的宽度。所述机臂3处于展开位置时，所述延伸部31与所述顶壁10以及底壁11抵持，将所述机臂3卡持于所述顶壁10与所述底壁11之间，防止所述机臂3在受到沿转轴2的轴向的外力时导致的晃动，保证了无人机的飞行性能。所述机臂3除了位于展开位置时，所述延伸部31与所述底壁11之间具有第一间隙104，所述机臂3与所述机架1的顶壁10之间具有第二间隙103，有效地保证所述机臂3顺畅地围绕所述转轴2旋转。所述安装部30设有供所述转轴2穿过的贯穿孔301。在本实施例中，所述安装部30设有靠近顶壁10的抵压部302，所述抵压部302压接在所述转轴2上，保证所述机臂3与所述机架1的底壁11之间留有第一间隙104，所述安装部30与所述机架1的顶壁10之间设有垫片4，保证所述机臂3与所述机架1的顶壁10之间留有第二间隙103。本申请并不局限于此，所述抵压部302也可靠近底壁11设置，同时，所述垫片4设置在所述安装部30与所述机架1的底壁11之间。所述机臂3处于展开位置时与所述连接壁13抵接，防止所述机臂3旋转过度。
所述转轴2包括轴套20、定位轴21、弹性元件22、上离合部23及下离合部24。所述轴套20收容在所述机臂3的贯穿孔301内。在本实施例中，所述轴套20与所述机臂3通过形状配合，当所述轴套20收容在所述贯穿孔301中时，所述机臂3的转动能带动所述轴套20同轴转动。可以理解的是，在其他实施例中，所述轴套20与所述机臂3的配合方式还可以是其他任意适宜的配合方式，只要使得所述轴套20与所述机臂3之间不发生相对转动即可。例如所述配合方式可以是卡扣配合，此种情况下，所述 轴套20的外侧壁与所述机臂3其中之一设有卡扣，而另一者上设有卡槽或卡勾，所述卡槽或卡勾与所述卡勾配合而固定所述轴套20于所述贯穿孔301内。
所述轴套20为具有底壁201的中空柱体。所述弹性元件22及所述上离合部23收容在所述轴套20内。所述轴套20的底壁201设有通孔(未标示)。所述定位轴21穿过所述通孔以及所述机臂3的贯穿孔301而露出所述机臂3。所述垫片4设有供所述定位轴21穿过的孔40。所述机臂3及所述轴套20可绕所述定位轴21转动。
所述弹性元件22套设在所述定位轴21上并容纳在所述轴套20内。所述弹性元件22可固定设置在所述轴套20的底壁201上。所述弹性元件22可为金属弹簧或塑料弹簧。
所述上离合部23套设在所述定位轴21上并收纳在所述轴套20内，其一端抵持于所述弹性元件22，另一端与所述下离合部24啮合。所述上离合部23随着所述轴套20同步旋转。同所述轴套20与所述机臂3的配合方式相类似，所述上离合部23与所述轴套20的配合方式可以是任意适宜的配合方式，只要使得所述上离合部23与所述轴套20同步旋转即可，例如形状配合或卡扣配合等。
所述下离合部24固定连接至所述机架1。所述下离合部24与所述上离合部23相配合的一侧具有凸轮结构(未图示)，所述凸轮结构包括第一突起(未图示)及第一凹陷(未图示)。所述上离合部23与所述下离合部24配合的一侧具有相对应的结构，也包括第二突起(未图示)及第二凹陷(未图示)。其中，所述第二突起的形状与所述第一凹陷的形状相对应，刚好能容纳在所述第一凹陷中；所述第一突起的形状与所述第二凹陷的形状相对应，刚好能容纳在所述第二凹陷3中，从而使得所述上离合部23在未受外力作用时刚好与所述下离合部24相啮合。
当将所述机臂3折叠至折叠状态或展开至展开状态时，施加外力在所述机臂3上使得所述机臂3受外力旋转，所述轴套20及所述上离合部23被所述机臂3带动而同步旋转，而所述下离合部24固定在所述机架1上，故所述上离合部23在所述机臂3及所述轴套20的转动力的驱动下，相对所述下离合部24旋转，所述第二突起从所述第一凹陷中脱离出来慢慢滑动至所述第一突起，从而使得所述上离合部23沿着轴向在所述轴套20内滑动，压缩所述弹性元件22。所述弹性元件22的压缩可增加其弹性能量，从而增加对所述机臂3旋转的驱动力。当所述上离合部23的第二突起旋转至所述第一突起的最高点时，所述弹性元件22被压缩到极限位置。所述上离合部23继续相对所述下离合部24旋转时，所述第二突起从所述第一突起的最高点向所述第一凹陷处滑动，所述弹性元件22的弹性力得到释放，此时，撤掉施加在所述机臂3上的外力，所述机臂3也可在所述弹性元件22的弹性力作用下自动展开或折叠。当所述第一突起收容在所述第一凹陷中时，所述弹性元件22的弹性力得到完全释放，若不继续施加外力旋转所述机臂31，所述上离合部23将不会相对所述下离合部24旋转，从而实现对所述机臂3的限位，也即，此时所述机臂3被锁持在所述展开/折叠状态。
在本实施例中，所述转轴2包括轴套20，本申请并不局限于此，所述轴套20可以省略，所述弹性元件22、所述上离合部23及所述下离合部24依次套设在所述定位轴21上并直接容设在所述机臂3的贯穿孔301内。在本实施例中，所述凸轮结构设有第一突起与第二突起，本申请并不局限于此，所述突起可以为1个、2个及2个以上。
参照图7所示，在另一实施例中，所述保持件包括安装在所述机架1’的底壁11’上的弹性片5。所述弹性片5靠近所述连接壁13’。所述弹性片5包括固定至所述底壁11’的固定部51以及自所述固定部51延伸的弹性部50，所述弹性部50位于所述连接壁13’与所述固定部51之间。当所 述机臂3’处于展开位置时，所述机臂3’与所述弹性部50抵持，将所述机臂3’卡持于所述顶壁10’与所述底壁11’之间，防止所述机臂3’在受到沿转轴2的轴向的外力时导致的晃动，保证了无人机的飞行性能。本申请并局限于此，在另一个实施例中，所述弹性片5可安装在所述机架1’的顶壁10’。
参照图8所示，在又一个实施例中，所述保持件包括安装在所述机架1”的底壁11”上的柱塞6。所述柱塞6靠近所述连接壁13”。所述柱塞6包括弹性件61以及与弹性件61连接的抵持部62，所述抵持部62延伸入所述收容空间12”以与所述机臂3”抵持。所述抵持部62呈球形。所述柱塞6包括收容所述弹性件61与所述抵持部62的套筒63，所述抵持部62部分露出所述套筒63。所述底壁11”设有收容所述柱塞6的凹陷110。当所述机臂3”处于展开位置时，所述机臂3”与所述抵持部62抵持，将所述机臂3”卡持于所述顶壁10”与所述底壁11”之间，防止所述机臂3”在受到沿转轴2的轴向的外力时导致的晃动，保证了无人机的飞行性能。本申请并局限于此，在另一个实施例中，所述柱塞6可安装在所述机架1”的顶壁10”。
本申请无人机通过在所述机架1上设置保持件，当所述机臂3处于展开位置时，所述保持件3与所述机臂3抵接产生卡持力，防止所述机臂3在受到沿转轴2的轴向的外力时导致的晃动，保证了无人机的飞行性能。所述保持件包括设置在所述机架1上的楔形结构或者设置在所述机架1的顶壁10或底壁11上的弹性片5或者设置在所述机架1的顶壁10或底壁11上的柱塞6。
需要说明的是，在本文中，诸如“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素， 而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本申请实施例所提供装置进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。

Claims (30)

  1. 一种机架，用于连接机臂，其特征在于，所述机架包括相对的顶壁与底壁以及位于所述顶壁与底壁之间的收容空间，所述收容空间用于收容所述机臂的至少一部分，所述机架的顶壁和底壁中的至少一者设有保持件，当所述机臂处于展开位置时，所述保持件与所述机臂抵持产生卡持力，将所述机臂卡持于所述顶壁与所述底壁之间。
  2. 根据权利要求1所述的机架，其特征在于，所述保持件包括所述机架的顶壁和底壁的至少一者上形成的倾斜部，所述顶壁包括相对的第一端与第二端以及连接第一端与底壁的连接壁，所述倾斜部在从第二端向第一端的方向上，倾斜向所述收容空间内延伸。
  3. 根据权利要求2所述的机架，其特征在于，所述顶壁包括靠近所述收容空间的第一内侧壁，所述倾斜部形成于所述顶壁的第一内侧壁。
  4. 根据权利要求3所述的机架，其特征在于，所述底壁包括靠近所述收容空间的第二内侧壁，所述顶壁的第一内侧壁与所述底壁的第二内侧壁平行延伸，所述倾斜部自所述第一内侧壁倾斜向下延伸。
  5. 根据权利要求2所述的机架，其特征在于，所述底壁包括靠近所述收容空间的第二内侧壁，所述倾斜部形成于所述底壁的第二内侧壁。
  6. 根据权利要求5所述的机架，其特征在于，所述顶壁包括靠近所述收容空间的第一内侧壁，所述顶壁的第一内侧壁与所述底壁的第二内侧壁平行延伸，所述倾斜部自所述第二内侧壁倾斜向上延伸。
  7. 根据权利要求2所述的机架，其特征在于，所述顶壁包括靠近所述收容空间的第一内侧壁，所述底壁包括靠近所述收容空间的第二内侧壁，所述倾斜部包括形成于所述顶壁的第一内侧壁上的第一倾斜部和形成于所述底壁的第二内侧壁上的第二倾斜部，所述第一倾斜部自所述第一内侧壁倾斜向下延伸，所述第二倾斜部自所述第二内侧壁倾斜向上延伸。
  8. 根据权利要求1所述的机架，其特征在于，所述保持件包括设置在 所述机架的顶壁或底壁上的弹性片，当所述机臂处于展开位置时，所述弹性片与所述机臂抵持。
  9. 根据权利要求8所述的机架，其特征在于，所述机架包括连接顶壁与底壁的连接壁，所述弹性片靠近所述连接壁。
  10. 根据权利要求8所述的机架，其特征在于，所述弹性片包括固定部与弹性部，所述固定部固定至所述机架，所述弹性部延伸入所述收容空间与所述机臂抵持，所述弹性部位于所述连接壁与所述固定部之间。
  11. 根据权利要求1所述的机架，其特征在于，所述保持件包括设置在所述机架的顶壁或底壁上的柱塞，所述柱塞包括弹性件以及与弹性件连接的抵持部，所述抵持部延伸入所述收容空间以与所述机臂抵持。
  12. 根据权利要求11所述的机架，其特征在于，所述柱塞靠近所述连接壁。
  13. 根据权利要求11所述的机架，其特征在于，所述抵持部呈球形。
  14. 根据权利要求11至13中任一项所述的机架，其特征在于，所述柱塞包括收容所述弹性件与所述抵持部的套筒，所述抵持部部分露出所述套筒。
  15. 一种无人机，其特征在于，其包括：机架、组装至所述机架的转轴以及组装至所述转轴的机臂，所述机臂围绕所述转轴在展开位置与折叠位置之间旋转，所述机架包括相对的顶壁与底壁，所述机臂包括组装至所述转轴的安装部以及自所述安装部延伸的延伸部，所述机架的顶壁或底壁设有保持件，当所述机臂处于展开位置时，所述保持件与所述延伸部抵持产生卡持力，将所述机臂卡持于所述顶壁与所述底壁之间。
  16. 根据权利要求15所述的无人机，其特征在于，所述保持件包括设置在所述机架的顶壁和底壁的至少一者上形成的倾斜部，所述顶壁包括相对的第一端与第二端以及连接第一端与底壁的连接壁，所述倾斜部在从第二端向第一端的方向上，倾斜向所述收容空间内延伸。
  17. 根据权利要求16所述的无人机，其特征在于，所述顶壁包括靠 近所述收容空间的第一内侧壁，所述倾斜部形成于所述顶壁的第一内侧壁。
  18. 根据权利要求17所述的无人机，其特征在于，所述底壁包括靠近所述收容空间的第二内侧壁，所述顶壁的第一内侧壁与所述底壁的第二内侧壁平行延伸，所述倾斜部自所述第一内侧壁倾斜向下延伸。
  19. 根据权利要求16所述的无人机，其特征在于，所述底壁包括靠近所述收容空间的第二内侧壁，所述倾斜部形成于所述底壁的第二内侧壁。
  20. 根据权利要求19所述的无人机，其特征在于，所述顶壁包括靠近所述收容空间的第一内侧壁，所述顶壁的第一内侧壁与所述底壁的第二内侧壁平行延伸，所述倾斜部自所述第二内侧壁倾斜向上延伸。
  21. 根据权利要求16所述的无人机，其特征在于，所述顶壁包括靠近所述收容空间的第一内侧壁，所述底壁包括靠近所述收容空间的第二内侧壁，所述倾斜部包括形成于所述顶壁的第一侧壁上的第一倾斜部和形成于所述底壁的第二内侧壁上的第二倾斜部，所述第一倾斜部自所述第一内侧壁倾斜向下延伸，所述第二倾斜部自所述第二内侧壁倾斜向上延伸。
  22. 根据权利要求15至21中任一项所述的无人机，其特征在于，所述安装部沿所述转轴的轴向上的宽度小于所述延伸部沿所述转轴的轴向上的宽度。
  23. 根据权利要求22所述的无人机，其特征在于，所述安装部设有供所述转轴穿过的贯穿孔，所述安装部设有靠近顶壁或底壁的抵压部，所述抵压部接在所述转轴上。
  24. 根据权利要求15所述的无人机，其特征在于，所述保持件包括设置在所述机架的顶壁或底壁上的弹性片，当所述机臂完全展开时，所述弹性片与所述延伸部抵持。
  25. 根据权利要求24所述的无人机，其特征在于，所述机架包括连接顶壁与底壁的连接壁，所述弹性片靠近所述连接壁。
  26. 根据权利要求25所述的无人机，其特征在于，所述弹性片包括固定部与弹性部，所述固定部固定至所述机架，所述弹性部与所述机臂抵 持，所述弹性部位于所述连接壁与所述固定部之间。
  27. 根据权利要求15所述的无人机，其特征在于，所述保持件包括设置在所述机架的顶壁或底壁上的柱塞，所述柱塞包括弹性件以及与弹性件连接的抵持部，所述抵持部与所述延伸部抵持。
  28. 根据权利要求27所述的无人机，其特征在于，所述机架包括连接顶壁与底壁的连接壁，所述柱塞靠近所述连接壁。
  29. 根据权利要求27所述的无人机，其特征在于，所述抵持部呈球形。
  30. 根据权利要求27至29中任一项所述的无人机，其特征在于，所述柱塞包括收容所述弹性件与所述抵持部的套筒，所述抵持部部分露出所述套筒。
PCT/CN2018/089402 2018-05-31 2018-05-31 机架及无人机 WO2019227445A1 (zh)

Priority Applications (5)

Application Number Priority Date Filing Date Title
PCT/CN2018/089402 WO2019227445A1 (zh) 2018-05-31 2018-05-31 机架及无人机
CN201880012032.XA CN110325440A (zh) 2018-05-31 2018-05-31 机架及无人机
EP18920338.3A EP3805093A1 (en) 2018-05-31 2018-05-31 Rack and unmanned aerial vehicle
JP2020563748A JP7074894B2 (ja) 2018-05-31 2018-05-31 ラック及び無人機
US17/105,384 US20210094689A1 (en) 2018-05-31 2020-11-25 Frame and uav

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/089402 WO2019227445A1 (zh) 2018-05-31 2018-05-31 机架及无人机

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/105,384 Continuation US20210094689A1 (en) 2018-05-31 2020-11-25 Frame and uav

Publications (1)

Publication Number Publication Date
WO2019227445A1 true WO2019227445A1 (zh) 2019-12-05

Family

ID=68112764

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/089402 WO2019227445A1 (zh) 2018-05-31 2018-05-31 机架及无人机

Country Status (5)

Country Link
US (1) US20210094689A1 (zh)
EP (1) EP3805093A1 (zh)
JP (1) JP7074894B2 (zh)
CN (1) CN110325440A (zh)
WO (1) WO2019227445A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117465712A (zh) * 2023-12-26 2024-01-30 成都金支点科技有限公司 一种无人机用带舌型弹片的锁紧结构、载荷舱及无人机

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2888144A1 (en) * 2012-10-19 2014-04-24 Aeryon Labs Inc. Hovering unmanned aerial vehicle
CN105644769A (zh) * 2016-02-29 2016-06-08 无锡觅睿恪科技有限公司 无人机的折叠臂组件
CN206939046U (zh) * 2017-07-04 2018-01-30 上海小蚁科技有限公司 无人机的机架及无人机
CN107651182A (zh) * 2017-09-25 2018-02-02 湖南山河科技股份有限公司 一种多功能便携式多旋翼无人机

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205010490U (zh) * 2015-08-27 2016-02-03 零度智控（北京）智能科技有限公司 无人机机臂与机身的连接装置
CN205168865U (zh) * 2015-07-30 2016-04-20 深圳飞马机器人科技有限公司 一种无人机折叠臂
CN205574259U (zh) * 2016-04-08 2016-09-14 北京博瑞空间科技发展有限公司 无人机的机臂折叠装置
CN106564582B (zh) 2016-04-27 2022-06-24 北京远度互联科技有限公司 无人机
CN205837170U (zh) * 2016-07-04 2016-12-28 南京奇蛙智能科技有限公司 一种无人机折叠机臂的锁扣机构
CN206485559U (zh) * 2016-11-18 2017-09-12 西华大学 一种多旋翼无人机可折叠机臂
CN206456545U (zh) * 2017-01-18 2017-09-01 北京韩品航通科技发展有限公司 一种可快速折叠的多旋翼无人机
CN107117296A (zh) 2017-04-05 2017-09-01 西北工业大学 一种可折叠四旋翼飞行器机架
CN206914618U (zh) 2017-05-05 2018-01-23 比亚迪股份有限公司 无人机机臂折叠装置及无人机

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2888144A1 (en) * 2012-10-19 2014-04-24 Aeryon Labs Inc. Hovering unmanned aerial vehicle
CN105644769A (zh) * 2016-02-29 2016-06-08 无锡觅睿恪科技有限公司 无人机的折叠臂组件
CN206939046U (zh) * 2017-07-04 2018-01-30 上海小蚁科技有限公司 无人机的机架及无人机
CN107651182A (zh) * 2017-09-25 2018-02-02 湖南山河科技股份有限公司 一种多功能便携式多旋翼无人机

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117465712A (zh) * 2023-12-26 2024-01-30 成都金支点科技有限公司 一种无人机用带舌型弹片的锁紧结构、载荷舱及无人机
CN117465712B (zh) * 2023-12-26 2024-03-15 成都金支点科技有限公司 一种无人机用带舌型弹片的锁紧结构、载荷舱及无人机

Also Published As

Publication number Publication date
JP2021523850A (ja) 2021-09-09
CN110325440A (zh) 2019-10-11
EP3805093A1 (en) 2021-04-14
JP7074894B2 (ja) 2022-05-24
US20210094689A1 (en) 2021-04-01

Similar Documents

Publication Publication Date Title
US20200115055A1 (en) Launched Unmanned Aerial Vehicle
CN204223178U (zh) 一种可折叠式无人机
JP2010241408A (ja) 航空システム用ペイロード迅速解放器
US11420734B2 (en) Propeller, propeller kit, power assembly, power kit and unmanned aerial vehicle
WO2020015239A1 (zh) 无人飞行器及其机臂连接结构
CN108513556B (zh) 无人机
WO2020237463A1 (zh) 可折叠的手持云台
WO2019129304A1 (zh) 起落架及具有此起落架的无人飞行器
US20180312254A1 (en) Arm and unmanned aerial vehicle
US20200135011A1 (en) Remote controller
KR101484613B1 (ko) 영상장비 고정장치
WO2019227445A1 (zh) 机架及无人机
WO2020237464A1 (zh) 可折叠的手持云台
US20190210718A1 (en) Foldable rotor blade assembly and aerial vehicle with a foldable rotor blade assembly
CN115649504A (zh) 一种便于对起落架进行收放的无人机
WO2023143199A1 (zh) 云台连接组件及无人机
CN212099341U (zh) 一种折叠式多旋翼救援无人机
KR20190088208A (ko) 무인 비행체용 붐 결합 장치 및 이를 이용하는 무인 비행체
CN113525671A (zh) 一种起落架以及无人机
CN208715477U (zh) 无人机
CN210618461U (zh) 可驻扎于峭壁的无人机
CN210284626U (zh) 助推器分离装置
CN211336407U (zh) 一种可折叠机臂的旋翼无人机结构
CN217994778U (zh) 螺旋桨组件、驱动装置和飞行器
WO2019140661A1 (zh) 脚架及无人飞行器

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18920338

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2020563748

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2018920338

Country of ref document: EP

Effective date: 20210111