WO2019242621A1 - Unmanned aerial vehicle and body assembly thereof - Google Patents

Unmanned aerial vehicle and body assembly thereof Download PDF

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Publication number
WO2019242621A1
WO2019242621A1 PCT/CN2019/091758 CN2019091758W WO2019242621A1 WO 2019242621 A1 WO2019242621 A1 WO 2019242621A1 CN 2019091758 W CN2019091758 W CN 2019091758W WO 2019242621 A1 WO2019242621 A1 WO 2019242621A1
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Prior art keywords
assembly
bracket
casing
positioning
internal
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PCT/CN2019/091758
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French (fr)
Chinese (zh)
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梁智颖
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深圳市道通智能航空技术有限公司
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Priority to CN201810651249.7A priority Critical patent/CN108609156A/en
Priority to CN201810651249.7 priority
Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2019242621A1 publication Critical patent/WO2019242621A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C1/00Fuselages; Constructional features common to fuselages, wings, stabilising surfaces and the like
    • B64C1/06Frames; Stringers; Longerons ; Fuselage sections
    • B64C1/061Frames
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C1/00Fuselages; Constructional features common to fuselages, wings, stabilising surfaces and the like
    • B64C1/06Frames; Stringers; Longerons ; Fuselage sections
    • B64C1/068Fuselage sections
    • B64C1/069Joining arrangements therefor

Abstract

Disclosed in the present invention are an unmanned aerial vehicle and a body assembly thereof, wherein the body assembly comprises a housing, a support frame, and an internal assembly part. The housing has an accommodating cavity in which the support frame is accommodated and is connected to the housing. The internal assembly part is installed on the support frame. In the above-mentioned structure, the housing does not require a fixed structure for installing an internal assembly part, such that the internal and external structures thereof are simple, light-weight, easy to process and have a low defective rate in processing. Further, the present invention can have a high-quality appearance at a low cost, such that the overall manufacturing cost of the body assembly can be reduced.

Description

无人飞行器及其机身组件UAV and its fuselage components
【相关申请的交叉引用】[Cross-reference to related applications]
本申请要求申请号为201810651249.7,申请日为2018年6月22日申请的中国专利申请的优先权,其全部内容通过引用结合于本文。This application claims priority from a Chinese patent application filed with application number 201810651249.7 and filing date of June 22, 2018, the entire contents of which are incorporated herein by reference.
【技术领域】[Technical Field]
本发明涉及飞行器领域,尤其涉及一种无人飞行器及机身组件。The invention relates to the field of aircraft, and in particular to an unmanned aerial vehicle and a fuselage component.
【背景技术】【Background technique】
无人驾驶飞机,简称无人飞行器(UAV),是一种处在迅速发展中的新概念装备,其具有机动灵活、反应快速、无人驾驶、操作要求低的优点。无人飞行器通过云台搭载多类传感器或摄像装置,可以实现影像实时传输、高危地区探测功能,是卫星遥感与传统航空遥感的有力补充。Unmanned aircraft, or unmanned aerial vehicle (UAV), is a new concept equipment under rapid development. It has the advantages of flexible maneuverability, fast response, unmanned operation, and low operating requirements. The UAV is equipped with multiple types of sensors or camera devices through the gimbal, which can realize real-time image transmission and high-risk area detection. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing.
通常,无人飞行器的机身组件包括第一壳体和第二壳体,机身组件内的内部组装件,如印刷电路板等,固定于所述第一壳体和所述第二壳体,所述第二壳体扣合于所述第一壳体。由于所述第一壳体和所述第二壳体需有固定结构用于固定所述内部组装件,导致所述第一壳体和所述第二壳体的结构复杂、重量较大且制造成本高,不能满足无人飞行器类产品外壳要求轻、薄的需求。Generally, the fuselage assembly of an unmanned aerial vehicle includes a first casing and a second casing, and internal assemblies in the fuselage assembly, such as a printed circuit board, are fixed to the first casing and the second casing. The second casing is fastened to the first casing. Because the first shell and the second shell need to have a fixing structure for fixing the internal assembly, the structure of the first shell and the second shell is complicated, heavy, and manufactured. The cost is high, and it cannot meet the requirements of light and thin shells of unmanned aerial vehicle products.
【发明内容】[Summary of the Invention]
本发明实施例的目的在于提供一种无人飞行器及其机身组件,以解决现有技术中无人飞行器的机身组件外壳结构复杂、重量较大的技术问题。The purpose of the embodiments of the present invention is to provide an unmanned aerial vehicle and its fuselage assembly, so as to solve the technical problems of complicated structure and heavy weight of the fuselage assembly shell of the unmanned aerial vehicle in the prior art.
本发明实施例解决其技术问题采用以下技术方案:The embodiments of the present invention solve the technical problems by adopting the following technical solutions:
一种机身组件,包括:A fuselage component including:
外壳,具有一收容腔;A shell with a receiving cavity;
支架,收容于所述收容腔并与所述外壳相连;A bracket, which is received in the receiving cavity and connected to the shell;
内部组装件,安装于所述支架。An internal assembly is mounted on the bracket.
可选地,所述支架包括支架本体和多个定位结构,所述支架本体用于装设所述内部组装件,所述多个定位结构用于将所述内部组装件固定于所述支架本体。Optionally, the bracket includes a bracket body and a plurality of positioning structures, wherein the bracket body is used for mounting the internal assembly, and the plurality of positioning structures are used for fixing the internal assembly to the bracket body. .
可选地,所述支架本体具有侧壁,所述多个定位结构为设置在所述侧壁上的多个定位柱。Optionally, the bracket body has a side wall, and the plurality of positioning structures are a plurality of positioning posts provided on the side wall.
可选地,所述内部组装件设有与所述多个定位柱配合的定位部,所述内部组装件通过所述定位部与所述多个定位柱的配合固定于所述支架本体。Optionally, the internal assembly is provided with a positioning portion that cooperates with the plurality of positioning posts, and the internal assembly is fixed to the bracket body through the cooperation of the positioning portion and the plurality of positioning posts.
可选地,所述定位部为多个缺口或定位孔,所述多个缺口或定位孔与所述多个定位柱数量一致且位置对应。Optionally, the positioning portion is a plurality of notches or positioning holes, and the plurality of notches or positioning holes are consistent with the number and position of the plurality of positioning posts.
可选地,所述支架本体和所述定位结构一体成型。Optionally, the bracket body and the positioning structure are integrally formed.
可选地,所述外壳包括第一外壳和与所述第一外壳相互扣合以形成所述收容腔的第二外壳。Optionally, the casing includes a first casing and a second casing that is fastened to the first casing to form the receiving cavity.
可选地,所述第一外壳与所述第二外壳中至少有一个与所述支架相连。Optionally, at least one of the first shell and the second shell is connected to the bracket.
可选地,所述第一外壳与所述支架相连,所述第二外壳与所述第一外壳相连。Optionally, the first shell is connected to the bracket, and the second shell is connected to the first shell.
可选地,所述第二外壳与所述支架相连,所述第一外壳与所述第二外壳相连。Optionally, the second shell is connected to the bracket, and the first shell is connected to the second shell.
可选地,所述第一外壳与所述第二外壳分别与所述支架相连。Optionally, the first shell and the second shell are connected to the bracket, respectively.
可选地,所述支架为框架结构,所述支架具有用于给所述内部组装件散热的镂空区域。Optionally, the bracket is a frame structure, and the bracket has a hollowed-out area for dissipating heat from the internal assembly.
可选地,所述内部组装件包括至少一个电路板。Optionally, the internal assembly includes at least one circuit board.
可选地,所述内部组装件包括第一电路板和第二电路板,所述支架包括分别用于收容所述第一电路板的第一收容部和用于收容所述第二电路板的第二收容部。Optionally, the internal assembly includes a first circuit board and a second circuit board, and the bracket includes a first receiving part for receiving the first circuit board and a second receiving part for receiving the second circuit board, respectively. Second Containment Department.
可选地,所述第一收容部位于所述支架的下侧,所述第二收容部位于所述支架的上侧。Optionally, the first receiving portion is located on a lower side of the bracket, and the second receiving portion is located on an upper side of the bracket.
可选地,所述内部组装件还包括用于安装零件的固定架或固定板。Optionally, the internal assembly further includes a fixing frame or a fixing plate for mounting parts.
可选地,所述外壳为金属件、塑胶件或者金属与塑胶一体件。Optionally, the casing is a metal piece, a plastic piece or a metal and plastic integrated piece.
本发明实施例解决其技术问题还采用以下技术方案:To solve the technical problems, the embodiments of the present invention also adopt the following technical solutions:
一种无人飞行器,包括以上所述的机身组件、与所述机身组件连接的机臂组件以及设置在所述机臂组件上的动力组件。An unmanned aerial vehicle includes the fuselage component described above, an arm component connected to the fuselage component, and a power component provided on the arm component.
与现有技术相比较,所述支架收容于所述收容腔并与所述外壳相连,所述内部组装件安装于所述支架,使得所述外壳不需要用于安装内部组装件的固定结构,其内外结构简洁、重量轻、加工简易、加工不良率偏低,而且在低成本的条件下也能获得高品质外观,从而使得所述机身组件的整体制造成本降低。进一步地,将本发明实施例提供的机身组件应用于无人飞行器上,可降低无人飞行器的制造成本。Compared with the prior art, the bracket is housed in the receiving cavity and connected to the casing, and the internal assembly is mounted on the bracket, so that the casing does not need a fixing structure for installing the internal assembly, Its internal and external structure is simple, light weight, simple processing, low processing defect rate, and high-quality appearance can also be obtained under low-cost conditions, thereby reducing the overall manufacturing cost of the fuselage component. Further, applying the fuselage assembly provided in the embodiment of the present invention to an unmanned aerial vehicle can reduce the manufacturing cost of the unmanned aerial vehicle.
【附图说明】[Brief Description of the Drawings]
一个或多个实施例通过与之对应的附图进行示例性说明,这些示例性说明并不构成对实施例的限定,附图中具有相同参考数字标号的元件表示为类似的元件,除非有特别申明,附图中的图不构成比例限制。One or more embodiments are exemplarily described by corresponding drawings, which do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements, unless there are special It is stated that the drawings in the drawings do not constitute a limitation on scale.
图1为本发明其中一实施例提供的一种无人飞行器的立体图;FIG. 1 is a perspective view of an unmanned aerial vehicle provided by one embodiment of the present invention; FIG.
图2为图1所示的无人飞行器的另一角度的立体图;2 is a perspective view of the unmanned aerial vehicle shown in FIG. 1 from another angle;
图3为图1所示的无人飞行器的机身组件的分解图,其中部分部件被省略;FIG. 3 is an exploded view of the fuselage components of the unmanned aerial vehicle shown in FIG. 1, with some parts omitted;
图4为图3所示的机身组件的局部分解图,其中部分部件被省略;FIG. 4 is a partial exploded view of the fuselage assembly shown in FIG. 3, with some parts omitted;
图5为图3所示的机身组件的装配图,其中部分部件被省略;FIG. 5 is an assembly view of the fuselage assembly shown in FIG. 3, with some parts omitted;
图6为图1所示的无人飞行器的分解图,其中部分部件被省略;FIG. 6 is an exploded view of the unmanned aerial vehicle shown in FIG. 1, in which some components are omitted; FIG.
图7为图1所示的无人飞行器的局部剖面图;7 is a partial cross-sectional view of the unmanned aerial vehicle shown in FIG. 1;
图8为图1所示的无人飞行器的转轴机构的分解图;8 is an exploded view of a rotating shaft mechanism of the unmanned aerial vehicle shown in FIG. 1;
图9为图8所示的转轴机构的另一角度的分解图;9 is an exploded view of the rotating shaft mechanism shown in FIG. 8 at another angle;
图10为图8所示的转轴机构的固定件的立体图;10 is a perspective view of a fixing member of the rotating shaft mechanism shown in FIG. 8;
图11为图8所示的转轴机构的转动件的立体图;11 is a perspective view of a rotating member of the rotating shaft mechanism shown in FIG. 8;
图12为图8所示的转轴机构的装配图,其中所述转轴机构的固定套被省略;FIG. 12 is an assembly view of the rotating shaft mechanism shown in FIG. 8, wherein a fixing sleeve of the rotating shaft mechanism is omitted; FIG.
图13为图8所示的转轴机构的另一角度的装配图,其中所述转轴机构的固定套被省略;13 is an assembly view of the rotating shaft mechanism shown in FIG. 8 at another angle, wherein a fixing sleeve of the rotating shaft mechanism is omitted;
图14为图1所示的无人飞行器的单个机臂的转动示意图;14 is a schematic diagram of a single arm rotation of the unmanned aerial vehicle shown in FIG. 1;
图15为本发明另一实施例提供的无人飞行器的转轴机构的装配图,其中所述转轴机构的固定套被省略;15 is an assembly view of a rotating shaft mechanism of an unmanned aerial vehicle according to another embodiment of the present invention, wherein a fixing sleeve of the rotating shaft mechanism is omitted;
图16为本发明又一实施例提供的无人飞行器的转轴机构的装配图,其中所述转轴机构的固定套被省略。FIG. 16 is an assembly diagram of a rotating shaft mechanism of an unmanned aerial vehicle according to another embodiment of the present invention, wherein a fixing sleeve of the rotating shaft mechanism is omitted.
【具体实施方式】【detailed description】
为了便于理解本发明,下面结合附图和具体实施例,对本发明进行更详细的说明。需要说明的是,当元件被表述“固定于”另一个元件,它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件,它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”、“内”、“外”以及类似的表述只是为了说明的目的。In order to facilitate understanding of the present invention, the following describes the present invention in more detail with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it may be directly on the other element, or there may be one or more centered elements in between. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical", "horizontal", "left", "right", "inside", "outside" and similar expressions used in this specification are for illustrative purposes only.
除非另有定义,本说明书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。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,不是用于限制本发明。本说明书所使用的术语“和/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。Unless defined otherwise, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the associated listed items.
此外,下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
本发明实施例提供的机身组件,适用于各种具有外壳以及收容在外壳内的内部组装件的各种电子设备,包括但不限于无人飞行器(unmanned aerial vehicle,UAV)、无人船、机械臂、机器人等。该机身组件,将支架收容于外壳的收容腔并与所述外壳相连,所述内部组装件安装于所述支架,使得所述外壳不需要用于安装内部组装件的固定结构,其内外结构简洁、重量轻、加工简易、加工不良率偏低,而且在低成本的条件下也能获得高品质外观,从而使得所述机身组件的整体制造成本降低。进一步地,将本发明实施例提供的机身组件应用于无人飞行器上,可降低无人飞行器的制造成本。请一并参阅图1和图2,本发明其中一实施例提供的一种无人飞行器400,包括机臂组件100,机身组件200和动力组件300。所述机臂组件100安装于所述机身组件200,并且所述机臂组件100可相对于所述机身组件200转动,使得所述无人飞行器400在不使用时,所述机臂组件100可相对于所述机身组件200收起(见图1),所述无人飞行器400在使用时,所述机臂组件100可相对于所述机身组件200展开(见图2)。所述动力组件300安装于所述机臂组件100,用于为所述无人飞行器400提供动力。The fuselage assembly provided by the embodiment of the present invention is applicable to various electronic devices having a casing and internal assembly components contained in the casing, including but not limited to unmanned aerial vehicles (UAV), unmanned ships, Robotic arms, robots, etc. In this fuselage assembly, a bracket is received in a receiving cavity of a casing and connected to the casing, and the internal assembly is mounted on the bracket, so that the casing does not need a fixing structure for installing the internal assembly, and its internal and external structures Conciseness, light weight, simple processing, low processing defect rate, and high-quality appearance can also be obtained under low-cost conditions, thereby reducing the overall manufacturing cost of the fuselage component. Further, applying the fuselage assembly provided in the embodiment of the present invention to an unmanned aerial vehicle can reduce the manufacturing cost of the unmanned aerial vehicle. Please refer to FIG. 1 and FIG. 2 together. An unmanned aerial vehicle 400 provided by one embodiment of the present invention includes an arm assembly 100, a fuselage assembly 200, and a power assembly 300. The arm assembly 100 is mounted on the fuselage assembly 200, and the arm assembly 100 is rotatable relative to the fuselage assembly 200, so that when the unmanned aerial vehicle 400 is not in use, the arm assembly 100 can be retracted relative to the fuselage assembly 200 (see FIG. 1), and when the unmanned aerial vehicle 400 is in use, the arm assembly 100 can be deployed relative to the fuselage assembly 200 (see FIG. 2). The power assembly 300 is mounted on the arm assembly 100 and is used to provide power to the unmanned aerial vehicle 400.
所述动力组件300包括电机和螺旋桨(图未示),所述螺旋桨安装于所述电机,所述电机安装于所述机臂组件100,用于驱动所述螺旋桨转动,从而为所述无人飞行器400提供动力。The power assembly 300 includes a motor and a propeller (not shown), the propeller is installed on the motor, and the motor is installed on the arm assembly 100, and is used to drive the propeller to rotate, so that the unmanned The aircraft 400 provides power.
所述机身组件200内包括由MCU等电子元器件组成的控制电路组件,该控制电路组件包括多个控制模块,如,用于控制所述动力组件300工作以控制所述无人飞行器400飞行姿态的飞行控制模块,用于导航所述无人飞行器400的定位模块,以及用于处理相关机载设备所获取的环境信息的数据处理模块等。为了便于说明本发明实施例,附图仅示出与本发明实施例相关的部件。The fuselage assembly 200 includes a control circuit assembly composed of electronic components such as a MCU. The control circuit assembly includes a plurality of control modules, for example, for controlling the operation of the power assembly 300 to control the flight of the unmanned aerial vehicle 400. An attitude flight control module is used to navigate the positioning module of the unmanned aerial vehicle 400, and a data processing module used to process environmental information acquired by relevant airborne equipment. In order to facilitate the description of the embodiments of the present invention, the drawings only show components related to the embodiments of the present invention.
请一并参阅图3至图5,所述机身组件200包括外壳220,支架230及内部组装件。所述内部组装件包括第一内部组装件240,第二内部组装件250以及第三内部组装件260,所述第一内部组装件240,所述第二内部组装件250 以及所述第三内部组装件260都固定安装于所述支架230。所述外壳220具有一收容腔270,所述支架230,所述第一内部组装件240,所述第二内部组装件250和所述第三内部组装件260都收容于所述收容腔270,所述支架230与所述外壳220相连。Please refer to FIG. 3 to FIG. 5 together. The fuselage assembly 200 includes a housing 220, a bracket 230, and internal assemblies. The internal assembly includes a first internal assembly 240, a second internal assembly 250, and a third internal assembly 260, the first internal assembly 240, the second internal assembly 250, and the third internal The assembly members 260 are fixedly mounted on the bracket 230. The housing 220 has a receiving cavity 270, the bracket 230, the first internal assembly 240, the second internal assembly 250, and the third internal assembly 260 all received in the receiving cavity 270. The bracket 230 is connected to the casing 220.
所述外壳220包括第一外壳部2202和第二外壳部2204。所述第一外壳部2102和所述第二外壳部2104均为外观件,可为金属件,塑胶件或者金属与塑胶一体件。所述第一外壳部2102和所述第二外壳部2104设有螺纹孔,用于与螺钉配合将所述第一外壳部2102和所述第二外壳部2104固定安装于所述支架230。所述第一外壳部2102包括第一安装块2205和第二安装块2206,所述第一安装块2205和所述第二安装块2206之间具有收容槽2207,用于部分收容所述机臂组件100。The casing 220 includes a first casing portion 2202 and a second casing portion 2204. The first housing part 2102 and the second housing part 2104 are both appearance parts, and may be metal parts, plastic parts, or metal and plastic integrated parts. The first housing part 2102 and the second housing part 2104 are provided with threaded holes for fixing the first housing part 2102 and the second housing part 2104 to the bracket 230 in cooperation with screws. The first housing part 2102 includes a first mounting block 2205 and a second mounting block 2206, and a receiving groove 2207 is provided between the first mounting block 2205 and the second mounting block 2206 for partially receiving the machine arm. Component 100.
所述支架230为所述机身组件200内部的支撑元件,用于安装所述第一外壳部2102,所述第二外壳部2104,所述第一内部组装件240,所述第二内部组装件250以及所述第三内部组装件260。所述支架230由强度大重量轻的材料制得,以使所述支架230有足够的强度以支撑所述第一外壳部2102,所述第二外壳部2104,所述第一内部组装件240,所述第二内部组装件250以及所述第三内部组装件260,并且不会增加所述机身组件200的重量,例如,所述支架230可由强度大重量轻的工程塑料制得,如聚亚苯基硫醚,聚对苯二甲酸丁二醇酯等;或者,所述支架230可由强度大重量轻的金属材料制得,如镁合金,铝等。为了进一步提高所述支架230的强度,所述支架230可包括加强结构,筋位、不规则螺丝固定结构等。为了进一步减轻所述支架230的重量,所述支架230为框架结构,包括多个镂空区域,所述多个镂空区域除了可以减轻所述支架230的重量,还可以为所述内部组装件上的某些电子元器件的走线进行让位,以方便所述内部组装件上的电子元器件的布局与排列,同时,所述多个镂空区域还有利于所述内部组装件上的电子元器件散热。The bracket 230 is a supporting element inside the fuselage assembly 200, and is used to install the first housing portion 2102, the second housing portion 2104, the first internal assembly 240, and the second internal assembly. Piece 250 and the third internal assembly piece 260. The bracket 230 is made of a material with high strength and light weight, so that the bracket 230 has sufficient strength to support the first housing portion 2102, the second housing portion 2104, and the first internal assembly 240. The second internal assembly 250 and the third internal assembly 260 do not increase the weight of the fuselage assembly 200. For example, the bracket 230 may be made of engineering plastic with high strength and light weight, such as Polyphenylene sulfide, polybutylene terephthalate, or the like; or, the bracket 230 may be made of a metal material with high strength and light weight, such as magnesium alloy, aluminum, and the like. In order to further increase the strength of the bracket 230, the bracket 230 may include a reinforcing structure, a rib position, an irregular screw fixing structure, and the like. In order to further reduce the weight of the bracket 230, the bracket 230 is a frame structure and includes a plurality of hollow areas. In addition to reducing the weight of the bracket 230, the plurality of hollow areas can also be used for the internal assembly. The routing of certain electronic components is conceded to facilitate the layout and arrangement of the electronic components on the internal assembly. At the same time, the multiple hollowed-out areas are also beneficial to the electronic components on the internal assembly. Cooling.
所述支架230包括支架本体232和多个定位结构,所述支架本体232用于装设所述内部组装件,所述多个定位结构用于将所述内部组装件固定于所述支架本体232。所述支架本体232为框架结构,包括所述多个镂空区域。所述支架本体232具有侧壁231,所述定位结构为定位柱234,所述定位柱234分别设置在所述支架本体232相对的两个所述侧壁231,每个所述定位柱234 的两端均设有螺纹孔,用于与螺钉配合将所述第一外壳部2102和所述第二外壳部2104固定安装于所述支架230。所述支架本体232和所述定位柱234为一体成型结构,可提高所述支架200的结构强度。可以理解的是,在一些其它实施例中,所述支架本体232和所述定位柱234可为分立结构,所述定位柱234可通过嵌入或粘附等方式固定于所述支架本体232。The bracket 230 includes a bracket body 232 and a plurality of positioning structures. The bracket body 232 is used to install the internal assembly. The multiple positioning structures are used to fix the internal assembly to the bracket body 232. . The bracket body 232 is a frame structure and includes the plurality of hollowed areas. The bracket body 232 has a side wall 231, and the positioning structure is a positioning column 234. The positioning columns 234 are respectively disposed on two opposite side walls 231 of the bracket body 232. Both ends are provided with threaded holes for fixing the first housing part 2102 and the second housing part 2104 to the bracket 230 in cooperation with screws. The bracket body 232 and the positioning post 234 are an integrated structure, which can improve the structural strength of the bracket 200. It can be understood that, in some other embodiments, the support body 232 and the positioning post 234 may be separate structures, and the positioning post 234 may be fixed to the support body 232 by means of embedding or adhesion.
所述支架230还设有第一收容部235和第二收容部236,所述第一收容部235位于所述支架230的下侧,所述第二收容部236位于所述支架230的上侧。The bracket 230 is further provided with a first receiving portion 235 and a second receiving portion 236. The first receiving portion 235 is located on the lower side of the bracket 230, and the second receiving portion 236 is located on the upper side of the bracket 230. .
所述第一内部组装件240为印刷电路板,其上安装有电子元器件。所述第一内部组装件240设有与所述多个定位柱234配合的定位部,所述第一内部组装件240通过所述定位部与所述多个定位柱234的配合固定于所述支架本体232。在本实施例中,所述定位部为多个缺口或定位孔,具体地,所述第一内部组装件240开设有第一定位孔243和第一缺口244。所述第一定位孔243贯穿所述第一内部组装件240,用于安装螺钉将所述第一内部组装件240固定安装于所述支架本体232。若干个所述第一缺口244开设于所述第一内部组装件240的相对两侧,所述第一缺口244与所述定位柱234数量一致且位置对应,每个所述第一缺口244收容一个位置对应的所述定位柱234。所述第一内部组装件240从所述支架230的下方装设于所述第一收容部235内。The first internal assembly 240 is a printed circuit board on which electronic components are mounted. The first internal assembly 240 is provided with a positioning portion that cooperates with the plurality of positioning posts 234. The first internal assembly 240 is fixed to the positioning unit through the cooperation of the positioning portion and the plurality of positioning posts 234. Holder body 232. In this embodiment, the positioning portion is a plurality of notches or positioning holes. Specifically, the first internal assembly 240 is provided with a first positioning hole 243 and a first notch 244. The first positioning hole 243 penetrates the first internal assembly 240 and is used for fixing screws for fixing the first internal assembly 240 to the bracket body 232. A plurality of the first notches 244 are opened on opposite sides of the first internal assembly 240. The first notches 244 are in the same number and position as the positioning posts 234. Each of the first notches 244 receives One position corresponds to the positioning post 234. The first internal assembly 240 is installed in the first receiving portion 235 from below the bracket 230.
相似地,所述第二内部组装件250也为印刷电路板,其上安装有电子元器件。所述第二内部组装件250设有与所述多个定位柱234配合的定位部,所述第二内部组装件250通过所述定位部与所述多个定位柱234的配合固定于所述支架本体232。在本实施例中,所述定位部为多个缺口或定位孔,具体地,所述第二内部组装件250开设有第二定位孔253和第二缺口254。所述第二定位孔253贯穿所述第二内部组装件250,用于安装螺钉将所述第二内部组装件250固定安装于所述支架本体232。若干个所述第二缺口254开设于所述第二内部组装件250的相对两侧,所述第二缺口254与所述定位柱234数量一致且位置对应,每个所述第二缺口254收容一个位置对应的所述定位柱234。所述第二内部组装件250从所述支架230的上方装设于所述第二收容部236内。Similarly, the second internal assembly 250 is also a printed circuit board on which electronic components are mounted. The second internal assembly 250 is provided with a positioning portion that cooperates with the plurality of positioning posts 234, and the second internal assembly 250 is fixed to the second assembly by the cooperation of the positioning portion and the plurality of positioning posts 234. Holder body 232. In this embodiment, the positioning portion is a plurality of notches or positioning holes. Specifically, the second internal assembly 250 is provided with a second positioning hole 253 and a second notch 254. The second positioning hole 253 penetrates the second internal assembly 250 and is used for fixing screws to fix the second internal assembly 250 to the bracket body 232. A plurality of the second notches 254 are provided on opposite sides of the second internal assembly 250. The second notches 254 are consistent with the number and positions of the positioning posts 234, and each of the second notches 254 receives One position corresponds to the positioning post 234. The second internal assembly 250 is installed in the second receiving portion 236 from above the bracket 230.
所述第三内部组装件260为固定架或固定板,用于固定GPS电路板或风扇等。所述第三内部组装件260设有第三定位孔263,用于安装螺钉将所述第 三内部组装件260固定安装于所述支架本体232。The third internal assembly 260 is a fixing frame or a fixing plate, and is used for fixing a GPS circuit board or a fan. The third internal assembly 260 is provided with a third positioning hole 263 for fixing the third internal assembly 260 to the bracket body 232 by mounting screws.
组装所述机身组件200时,分别将所述第一内部组装件240,所述第二内部组装件250以及所述第三内部组装件260固定安装于所述支架230,具体为,所述第一内部组装件240从所述支架230的下方装设于所述第一收容部235内,每个所述第一缺口244收容一个位置对应的所述定位柱234,所述定位柱234抵靠所述第一内部组装件240的侧边,利用螺钉安装于所述第一定位孔243和所述支架本体232,将所述第一内部组装件240固定安装于所述支架本体232。相似地,所述第二内部组装件250从所述支架230的上方装设于所述第二收容部236内,每个所述第二缺口254收容一个位置对应的所述定位柱234,所述定位柱234抵靠所述第二内部组装件240的侧边,利用螺钉安装于所述第二定位孔253和所述支架本体232,将所述第二内部组装件250固定安装于所述支架本体232。所述第一内部组装件240和所述第二内部组装件250分别位于所述支架230的相对两侧。利用螺钉安装于所述第三安装孔263和所述支架本体232,将所述第三内部组装件260固定安装于所述支架本体232。When assembling the fuselage assembly 200, the first internal assembly 240, the second internal assembly 250, and the third internal assembly 260 are fixed to the bracket 230, respectively. Specifically, the The first internal assembly 240 is installed in the first receiving portion 235 from below the bracket 230, and each of the first notches 244 receives a corresponding positioning post 234, and the positioning post 234 abuts Leaning on the side of the first internal assembly 240, the first positioning hole 243 and the bracket body 232 are fixed by screws, and the first internal assembly 240 is fixed to the bracket body 232. Similarly, the second internal assembly 250 is installed in the second receiving portion 236 from above the bracket 230, and each of the second notches 254 receives a positioning post 234 corresponding to a position. The positioning post 234 is abutted against the side of the second internal assembly 240, and is fixed to the second positioning hole 253 and the bracket body 232 with screws, and the second internal assembly 250 is fixedly installed on the second internal assembly 240. Holder body 232. The first internal assembly 240 and the second internal assembly 250 are located on opposite sides of the bracket 230, respectively. The third mounting hole 263 and the bracket body 232 are fixed by screws, and the third internal assembly 260 is fixed to the bracket body 232.
然后,利用螺钉分别将所述第一外壳部2102和所述第二外壳部2104固定安装于所述定位柱234,以使所述第一外壳部2102和所述第二外壳部2104固定安装于所述支架230,同时,所述第一外壳2202和所述第二外壳2204相互扣合以形成所述收容腔270。Then, the first housing part 2102 and the second housing part 2104 are fixed to the positioning post 234 by screws, respectively, so that the first housing part 2102 and the second housing part 2104 are fixed to the positioning post 234. In the bracket 230, the first housing 2202 and the second housing 2204 are fastened to each other to form the receiving cavity 270.
在本实施例中,每个所述第一缺口244收容一个位置对应的所述定位柱234,每个所述第二缺口254收容一个位置对应的所述定位柱234,所述定位柱234抵靠所述第一内部组装件240和所述第二内部组装件250的侧边,使得所述定位柱234可以限制所述第一内部组装件240和所述第二内部组装件250在垂直于所述定位柱234的中心轴的方向运动。In this embodiment, each of the first notches 244 receives one positioning post 234 corresponding to one position, and each of the second notches 254 receives one positioning post 234 corresponding to one position, and the positioning posts 234 abut against each other. Leaning on the sides of the first internal assembly 240 and the second internal assembly 250 makes the positioning post 234 restrict the first internal assembly 240 and the second internal assembly 250 from being perpendicular to The positioning post 234 moves in a direction of a central axis.
由于,所述第一外壳部2102和所述第二外壳部2104没有任何用于安装内部组装件的固定结构,使得其内外结构简洁、重量轻、加工简易、加工不良率偏低,而且在低成本的条件下也能获得高品质外观,从而使得所述机身组件200的整体制造成本降低。Because the first housing part 2102 and the second housing part 2104 do not have any fixing structure for installing internal assemblies, the internal and external structures are simple, light in weight, easy to process, and the rate of defective machining is low, and A high-quality appearance can also be obtained under the condition of cost, so that the overall manufacturing cost of the fuselage assembly 200 is reduced.
在本实施例中,所述外壳220包括所述第一外壳部2102和所述第二外壳部2104,可以理解的是,在一些其它实施例中,所述外壳部的数量可以根据实际需求增加,只要包括所述第一外壳部2102和所述第二外壳部2104即可, 例如,所述外壳饰件可为三个或四个等;或者,所述外壳220为一体成型。In this embodiment, the casing 220 includes the first casing portion 2102 and the second casing portion 2104. It can be understood that, in some other embodiments, the number of the casing portions may be increased according to actual requirements. As long as the first housing part 2102 and the second housing part 2104 are included, for example, the housing trim may be three or four, or the housing 220 is integrally formed.
在本实施例中,内部组装件的数量为三个,即为所述第一内部组装件240,所述第二内部组装件250以及所述第三内部组装件260,可以理解的是,在一些其它实施例中,所述内部组装件的数量可以根据实际需求增加或减少,只要为包括至少一个内部组装件即可,例如,所述第二内部组装件250和所述第三内部组装件260省略。In this embodiment, the number of internal assemblies is three, that is, the first internal assembly 240, the second internal assembly 250, and the third internal assembly 260. It can be understood that In some other embodiments, the number of the internal assemblies can be increased or decreased according to actual needs, as long as it includes at least one internal assembly, for example, the second internal assembly 250 and the third internal assembly 260 omitted.
在本实施例中,所述第一外壳部2102,所述第二外壳部2104,所述第一内部组装件240,所述第二内部组装件250和所述第三内部组装件260通过螺钉固定安装于所述支架230,可以理解的是,在一些其它实施中,所述第一外壳部2102,所述第二外壳部2104,所述第一内部组装件240,所述第二内部组装件250和所述第三内部组装件260可通过铆接或卡扣等其它固定方式固定安装于所述支架230。In this embodiment, the first housing part 2102, the second housing part 2104, the first internal assembly 240, the second internal assembly 250, and the third internal assembly 260 are through screws. It is fixedly mounted on the bracket 230. It can be understood that, in some other implementations, the first housing portion 2102, the second housing portion 2104, the first internal assembly 240, and the second internal assembly The component 250 and the third internal assembly component 260 can be fixedly mounted on the bracket 230 by other fixing methods such as riveting or snapping.
在本实施例中,所述第一外壳部2102和所述第二外壳部2104分别固定安装于所述支架本体232,可以理解的是,在一些其它实施例中,所述第一外壳2202和所述第二外壳2204相互扣合,所述第一外壳2202与所述第二外壳2204中至少有一个与所述支架230相连即可,例如,所述第一外壳2202与所述支架230相连,所述第二外壳2204与所述第一外壳2202相连;又例如,所述第二外壳2204与所述支架230相连,所述第一外壳2202与所述第二外壳2204相连。In this embodiment, the first housing portion 2102 and the second housing portion 2104 are fixedly installed on the bracket body 232, respectively. It can be understood that, in some other embodiments, the first housing 2202 and The second shell 2204 is fastened to each other. At least one of the first shell 2202 and the second shell 2204 may be connected to the bracket 230. For example, the first shell 2202 is connected to the bracket 230. The second casing 2204 is connected to the first casing 2202; for another example, the second casing 2204 is connected to the bracket 230, and the first casing 2202 is connected to the second casing 2204.
请一并参阅图6和图7,所述机臂组件100包括转轴机构10和机臂20。所述转轴机构10固定安装于所述第一安装块2205和所述第二安装块2206,并且所述转轴机构10收容于所述收容槽2207。所述机臂20的一端连接所述转轴机构10,另一端连接所述动力组件300。Please refer to FIGS. 6 and 7 together. The arm assembly 100 includes a rotating shaft mechanism 10 and an arm 20. The rotating shaft mechanism 10 is fixedly mounted on the first mounting block 2205 and the second mounting block 2206, and the rotating shaft mechanism 10 is received in the receiving groove 2207. One end of the arm 20 is connected to the shaft mechanism 10, and the other end is connected to the power assembly 300.
所述转轴机构10包括固定件11,转动件12,弹性件13,固定套14,中心轴15和卡簧16。所述固定件11固定安装于所述第一安装块2205,所述转动件12和所述弹性件13收容于所述固定套14,且所述弹性件13被压缩于所述转动件12与所述固定套14之间,所述弹性件13用于沿所述中心轴15的轴向推动所述转动件12抵靠所述固定件11,所述中心轴15依次穿过所述固定件11,所述转动件12,所述弹性件13和所述固定套14,所述中心轴15的一端抵靠所述固定件11,另一端穿过所述第二安装块2206。所述卡簧16安 装于所述中心轴15的一端,用于阻止所述转动件12,所述弹性件13和所述固定套14沿所述中心轴15的轴向运动。所述机臂20的一端套设于所述固定套14,所述机臂20,所述固定套14和所述转动件12可一同绕所述中心轴15相对于所述固定件11转动,以使得所述机臂组件100可相对于所述机身组件200收起或展开。The rotating shaft mechanism 10 includes a fixing member 11, a rotating member 12, an elastic member 13, a fixing sleeve 14, a central shaft 15 and a retaining spring 16. The fixing member 11 is fixedly mounted on the first mounting block 2205, the rotating member 12 and the elastic member 13 are received in the fixing sleeve 14, and the elastic member 13 is compressed between the rotating member 12 and Between the fixing sleeves 14, the elastic member 13 is configured to push the rotating member 12 against the fixing member 11 in the axial direction of the central shaft 15, and the central shaft 15 passes through the fixing member in order. 11, the rotating member 12, the elastic member 13, and the fixing sleeve 14, one end of the central shaft 15 abuts against the fixing member 11, and the other end passes through the second mounting block 2206. The snap spring 16 is mounted on one end of the central shaft 15 and is used to prevent the rotating member 12, the elastic member 13 and the fixing sleeve 14 from moving in the axial direction of the central shaft 15. One end of the machine arm 20 is sleeved on the fixing sleeve 14. The machine arm 20, the fixing sleeve 14 and the rotating member 12 can rotate relative to the fixing member 11 about the central axis 15 together. Therefore, the arm assembly 100 can be stowed or deployed relative to the fuselage assembly 200.
请一并参阅图8和图9,所述固定件11包括安装部110和抵持部112,所述抵持部112从所述安装部110延伸而出。所述固定件11开设第一中心孔114,所述第一中心孔114贯穿所述安装部110和所述抵持部112,用于允许所述中心轴15穿过。所述安装部110大致为椭圆形板状,开设两个固定孔116,用于使用螺钉(图未示)将所述安装部110固定安装于所述第一安装块2205。所述抵持部112位于两个所述固定孔116之间,用于在所述弹性件13的推动下抵靠所述转动件12。Please refer to FIGS. 8 and 9 together. The fixing member 11 includes a mounting portion 110 and a resisting portion 112. The resisting portion 112 extends from the mounting portion 110. The fixing member 11 defines a first central hole 114. The first central hole 114 penetrates the mounting portion 110 and the abutting portion 112, and is used to allow the central shaft 15 to pass through. The mounting portion 110 has a substantially oval plate shape, and has two fixing holes 116 for fixing the mounting portion 110 to the first mounting block 2205 by using screws (not shown). The abutting portion 112 is located between the two fixing holes 116 and is configured to abut the rotating member 12 under the push of the elastic member 13.
请参阅图10,所述抵持部112为圆柱凸轮,在其圆柱端面设有两个凸起1122,两个所述凸起1122皆为凸轮块且沿所述抵持部112的轴向延伸(也即沿所述中心轴15的轴向延伸)。Referring to FIG. 10, the abutting portion 112 is a cylindrical cam, and two protrusions 1122 are provided on a cylindrical end surface of the abutting portion 112, and both of the abutments 1122 are cam blocks and extend along the axial direction of the abutting portion 112. (That is, extending in the axial direction of the central axis 15).
请参阅图11,所述转动件12也为圆柱凸轮,在其圆柱端面设有两个凹陷1222,两个所述凹陷1222皆为凸轮凹陷。所述转动件12开设第二中心孔124,所述第二中心孔124贯穿所述转动件12,用于允许所述中心轴15穿过。Referring to FIG. 11, the rotating member 12 is also a cylindrical cam, and two recesses 1222 are provided on a cylindrical end surface thereof, and both of the recesses 1222 are cam recesses. The rotating member 12 defines a second central hole 124. The second central hole 124 penetrates the rotating member 12 and is used to allow the central shaft 15 to pass through.
请一并参阅图12和图13,在所述弹性件13沿所述中心轴15轴向的推动下,所述抵持部112的圆柱端面抵靠所述转动件12的圆柱端面,两个所述凸起1122和两个所述凹陷1222四者具有相同轮廓且大小相同,使得每个所述凸起1122可紧密收容于一个相应的所述凹陷1222。每个所述凸起1122为非对称结构,其包括相连接的第一坡面1123和第二坡面1125,所述第一坡面1123的坡角A大于所述第二坡面1125的坡角B。两个所述凸起1122绕所述中心轴15相互为180度旋转对称,相似地,两个所述凹陷1222绕所述中心轴15相互为180度旋转对称。Please refer to FIGS. 12 and 13 together. When the elastic member 13 is axially pushed along the central axis 15, the cylindrical end surface of the abutting portion 112 abuts the cylindrical end surface of the rotating member 12. The four protrusions 1122 and the two depressions 1222 have the same outline and the same size, so that each of the protrusions 1122 can be tightly received in a corresponding depression 1222. Each of the protrusions 1122 is an asymmetric structure and includes a first slope surface 1123 and a second slope surface 1125 connected to each other. A slope angle A of the first slope surface 1123 is greater than a slope of the second slope surface 1125. Angle B. The two protrusions 1122 are 180 degrees rotationally symmetric with each other about the central axis 15. Similarly, the two recesses 1222 are 180 degrees rotationally symmetric with each other about the central axis 15.
在本实施例中,由于所述第一坡面1123的坡角A大于所述第二坡面1125的坡角B,使得在所述弹性件13沿所述中心轴15轴向的推动下所述转动件12沿第一转动方向a转动所需的推力大于所述转动件12沿第二转动方向b转动所需的推力,所述第一转动方向a与所述第二转动方向b相反。In this embodiment, since the slope angle A of the first slope surface 1123 is greater than the slope angle B of the second slope surface 1125, the elastic member 13 is pushed by the axial push of the elastic member 13 along the central axis 15. The thrust force required for the rotation element 12 to rotate in the first rotation direction a is greater than the thrust force required for the rotation element 12 to rotate in the second rotation direction b. The first rotation direction a is opposite to the second rotation direction b.
请参阅图14,所述机臂20在工作状态时(也即所述机臂20展开时),每个所述凸起1122收容于一个相应的所述凹陷1222(即如图9所示)。当所述机臂20需收起时,所述机臂20,所述固定套14和所述转动件12一同沿所述第一转动方向a绕所述中心轴15转动,在过度点时,所述凸起1122的顶点脱离所述凹陷1222,继续转动所述机臂20,所述固定套14和所述转动件12,使所述机臂20在收起状态时,其中一个凸起1122部分收容于一个相应的所述凹陷1222,另一个所述凸起1122部分收容于另一个所述凹陷1222。当所述机臂20需在工作状态展开时,将所述机臂20,所述固定套14和所述转动件12一同沿所述第二转动方向b转动。由于在所述弹性件13的推动下所述转动件12沿所述第一转动方向a转动所需的推力较大,使得所述机臂20在工作状态时可有效防止反弹,以实现所述无人飞行器100在有效准确的姿态飞行的目的。而所述机臂20需展开时,可使用较小的力度将所述机臂20沿所述第二转动方向b推动至工作状态。Referring to FIG. 14, when the arm 20 is in a working state (ie, when the arm 20 is deployed), each of the protrusions 1122 is received in a corresponding recess 1222 (ie, as shown in FIG. 9). . When the machine arm 20 needs to be stowed, the machine arm 20, the fixing sleeve 14 and the rotating member 12 rotate together about the central axis 15 in the first rotation direction a. At the transition point, The apex of the protrusion 1122 is separated from the depression 1222, and the arm 20, the fixing sleeve 14 and the rotating member 12 are further rotated, so that when the arm 20 is in a stowed state, one of the protrusions 1122 is A portion is received in one of the corresponding recesses 1222, and another one of the protrusions 1122 is received in another of the recesses 1222. When the machine arm 20 needs to be deployed in a working state, the machine arm 20, the fixing sleeve 14 and the rotating member 12 are rotated together in the second rotation direction b. Since the pushing force required for the rotating member 12 to rotate in the first rotation direction a under the push of the elastic member 13 is large, the machine arm 20 can effectively prevent rebound in the working state to achieve the The purpose of flying the UAV 100 in an effective and accurate attitude. When the machine arm 20 needs to be deployed, the machine arm 20 can be pushed to a working state along the second rotation direction b with a smaller force.
在本实施例中,所述坡角A、B的大小可根据实际需求而设定,在此不作特别限定。In this embodiment, the sizes of the slope angles A and B can be set according to actual needs, and are not particularly limited herein.
在本实施例中,两个所述凸起1122绕所述中心轴15相互为180度旋转对称,两个所述凹陷1222绕所述中心轴15也相互为180度旋转对称,在所述机臂20展开时,在所述弹性件13的推动下,每个所述凸起1122可紧密收容于一个相应的所述凹陷1222,且所述机臂20沿所述第一转动方向a转动所需的推力较大,可有效防止所述机臂20反弹。可以理解的是,在一些其它实施例中,两个所述凸起1122绕所述中心轴15相互为旋转对称的最小旋转角的范围可为大于零且小于或等于180度,所述凹陷1222的数量为三个,任意两个所述凹陷1222绕所述中心轴15相互为旋转对称,位于中间的所述凹陷1222与另两个所述凹陷1222绕所述中心轴15分别相互为旋转对称的最小旋转角皆等于两个所述凸起1122绕所述中心轴15相互为旋转对称的最小旋转角。所述凸起1122和所述凹陷122具有相同轮廓且大小相同。所述机臂20无论在展开状态和收起状态,每个所述凸起1122收容于一个相应的所述凹陷1222,例如,位于中间的所述凹陷1222与另两个所述凹陷1222相互为旋转对称的最小旋转角分别为45度,两个所述凸起1122绕所述中心轴15相互为旋转对称的最小旋转角为45度。在所述机臂20位于工作状态(即展开状态 时),两个所述凸起1122分别收容于位于一侧的所述凹陷1222和位于中间的所述凹陷1222,在过度点时,所述凸起1122脱离所述凹陷1222,在所述机臂20位于收起状态时,两个所述凸起1122分别收容于位于中间的所述凹陷1222和位于另一侧的所述凹陷1222。又例如,位于中间的所述凹陷1222与另两个所述凹陷1222相互为旋转对称的最小旋转角都分别为135度,两个所述凸起1122绕所述中心轴15相互为旋转对称的最小旋转角为135度。In this embodiment, the two protrusions 1122 are 180 degrees rotationally symmetric with each other around the central axis 15 and the two recesses 1222 are 180 degrees rotationally symmetric with each other around the central axis 15 in the machine. When the arm 20 is unfolded, each of the protrusions 1122 can be tightly received in a corresponding recess 1222 under the push of the elastic member 13, and the arm 20 is rotated by the first rotation direction a. The required thrust force is large, which can effectively prevent the arm 20 from rebounding. It can be understood that, in some other embodiments, the range of the minimum rotation angle where the two protrusions 1122 are rotationally symmetric with each other around the central axis 15 may be greater than zero and less than or equal to 180 degrees, and the depression 1222 The number is three, and any two of the recesses 1222 are rotationally symmetrical with each other around the central axis 15, and the two recesses 1222 in the middle and the other two recesses 1222 are rotationally symmetrical with each other around the central axis 15. The minimum rotation angle is equal to the minimum rotation angle where the two protrusions 1122 are rotationally symmetric with each other around the central axis 15. The protrusions 1122 and the depressions 122 have the same outline and the same size. Regardless of whether the arm 20 is in the unfolded state or the retracted state, each of the protrusions 1122 is received in a corresponding recess 1222. For example, the recess 1222 in the middle and the other two recesses 1222 are mutually The minimum rotation angles of rotation symmetry are 45 degrees, and the minimum rotation angles of the two protrusions 1122 that are rotationally symmetric with each other around the central axis 15 are 45 degrees. When the arm 20 is in the working state (that is, in the unfolded state), the two protrusions 1122 are respectively received in the recess 1222 on one side and the recess 1222 on the middle. The protrusion 1122 is separated from the depression 1222. When the arm 20 is in the stowed state, the two protrusions 1122 are respectively received in the depression 1222 in the middle and the depression 1222 on the other side. For another example, the minimum rotation angles of the depression 1222 and the other two depressions 1222 which are located in the middle are rotationally symmetrical with each other, and each of the protrusions 1122 is rotationally symmetrical with respect to the central axis 15 The minimum rotation angle is 135 degrees.
还可以理解的是,在一些其它实施例中,所述凸起1122的数量可为至少一个,所述凹陷1222的数量为至少两个,所述凹陷1222的数量大于或等于所述凸起1122的数量,任意两个相邻的所述凹陷1222绕所述中心轴15相互为旋转对称的最小旋转角的范围为大于零且小于或等于180度,并且所述机臂20无论在展开状态和收起状态,每个所述凸起1122收容于一个相应的所述凹陷1222,所述凸起1122和所述凹陷1222具有相同轮廓且大小相同,例如,所述凸起1122的数量为一个,所述凹陷1222的数量为两个,两个所述凹陷1222绕所述中心轴15相互为旋转对称的最小旋转角为135度,在所述机臂20位于工作状态(即展开状态时),所述凸起1122收容于一个所述凹陷1222,在过度点时,所述凸起1122脱离所述凹陷1222,在所述机臂20位于收起状态时,所述凸起1122收容于另一所述凹陷1222。又例如,所述凸起1122的数量为三个,所述凹陷1222的数量为三个,任意两个相邻的所述凸起1122绕所述中心轴15相互为旋转对称的最小旋转角为120度,任意两个相邻的所述凹陷1222绕所述中心轴15相互为旋转对称的最小旋转角也为120度。It can also be understood that, in some other embodiments, the number of the protrusions 1122 may be at least one, the number of the depressions 1222 is at least two, and the number of the depressions 1222 is greater than or equal to the number of the protrusions 1122. The number of any two adjacent recesses 1222 which are rotationally symmetric with each other around the central axis 15 ranges from greater than zero to less than or equal to 180 degrees, and whether the arm 20 is in the unfolded state and In the folded state, each of the protrusions 1122 is received in a corresponding one of the depressions 1222. The protrusions 1122 and the depressions 1222 have the same outline and the same size. For example, the number of the protrusions 1122 is one. The number of the recesses 1222 is two, and the minimum rotation angle of the two recesses 1222 is rotationally symmetric with each other about the central axis 15 is 135 degrees. The protrusion 1122 is accommodated in one of the depressions 1222. At the transition point, the protrusion 1122 is separated from the depression 1222. When the arm 20 is in the retracted state, the protrusion 1122 is accommodated in another The depression 1222. For another example, the number of the protrusions 1122 is three, and the number of the depressions 1222 is three. The minimum rotation angle of any two adjacent protrusions 1122 that are rotationally symmetrical about the central axis 15 is At 120 degrees, the minimum rotation angle of any two adjacent recesses 1222 that are rotationally symmetric with each other around the central axis 15 is also 120 degrees.
在本实施例中,所述抵持部112和所述转动件12皆为圆柱凸轮,可使得所述转动件12可绕所述中心轴15相对于所述抵持部112平缓稳定地转动,以使所述机臂20平缓稳定地收起或展开,可以理解的是,在一些其它实施例中,请参阅图15,所述抵持部112和所述转动件12皆为圆柱齿轮,所述凸起1122为沿所述中心轴15的轴向从所述抵持部112的圆柱端面凸起的非对称齿牙,所述凹陷1222为沿所述中心轴15的轴向在所述转动件12的圆柱端面开设的非对称齿牙状凹陷。还可以理解的是,在一些其它实施例中,请参阅图16,所述凸起1122为沿所述中心轴15的轴向从所述抵持部112的圆柱端面凸起的对称凸轮块或对称齿牙,所述第一坡面1123的坡角等于所述第二坡面1125的坡角,所述凹陷1222为沿所述中心轴15的轴向在所述转动件12的圆 柱端面开设的对称凸轮凹陷或对称齿牙状凹陷,所述凸起1122与所述凹陷1222具有相同轮廓且大小相同,所述机臂20在工作状态时(即展开状态时),所述凸起1122的顶点位于所述凹陷1222的坡面上,例如,所述凸起1122的顶点位于所述凹陷1222的坡面的中间位置,在所述弹性件13沿所述中心轴15的轴向的推动下,所述转动件12沿所述第一转动方向a转动所需的推力较大,使得所述机臂20在工作状态时可有效防止反弹,以实现在有效准确的姿态飞行的目的。而所述机臂20需展开时,可使用较小的力度将所述机臂20沿所述第二转动方向b推动至工作状态。In this embodiment, the abutting portion 112 and the rotating member 12 are both cylindrical cams, so that the rotating member 12 can rotate smoothly and stably around the central axis 15 relative to the abutting portion 112. In order to make the machine arm 20 smoothly and stably stowed or unfolded, it can be understood that, in some other embodiments, referring to FIG. 15, the resisting portion 112 and the rotating member 12 are both cylindrical gears. The protrusion 1122 is an asymmetric tooth protruding from a cylindrical end surface of the abutting portion 112 along the axial direction of the central axis 15, and the depression 1222 is a rotation along the axial direction of the central axis 15 in the rotation. The asymmetrical tooth-shaped depression of the cylindrical end surface of the piece 12 is opened. It can also be understood that, in some other embodiments, referring to FIG. 16, the protrusion 1122 is a symmetrical cam block or a symmetrical cam block protruding from a cylindrical end surface of the abutment portion 112 along the axial direction of the central axis 15. Symmetric teeth, the slope angle of the first slope surface 1123 is equal to the slope angle of the second slope surface 1125, and the recess 1222 is opened on the cylindrical end surface of the rotating member 12 along the axial direction of the central axis 15 The symmetrical cam recess or symmetrical tooth-like recess of the protrusion 1122 has the same contour and the same size as the recess 1222. When the arm 20 is in the working state (ie, in the unfolded state), the protrusion 1122 The apex is located on the slope of the depression 1222. For example, the apex of the protrusion 1122 is located at the middle of the slope of the depression 1222. The elastic member 13 is pushed along the central axis 15 in the axial direction. The thrust required for the rotating member 12 to rotate in the first rotation direction a is large, so that the arm 20 can effectively prevent rebound when it is in working state, so as to achieve the purpose of flying in an effective and accurate attitude. When the machine arm 20 needs to be deployed, the machine arm 20 can be pushed to a working state along the second rotation direction b with a smaller force.
可以理解的是,在一些其它实施例中,所述凸起1122和所述凹陷1222的位置可以互换,也即,所述抵持件112设有所述凹陷1222,所述转动件12具有凸起1122。It can be understood that, in some other embodiments, the positions of the protrusion 1122 and the recess 1222 are interchangeable, that is, the resisting member 112 is provided with the recess 1222, and the rotating member 12 has Convex 1122.
在一些实施例中,所述抵持部112和所述转动件12两者之一包括至少一个凸起1122,所述抵持部112和所述转动件12中的另一者包括至少两个所述凹陷1222,且所述凹陷1222的数量大于或等于所述凸起1122的数量,而所述凸起1122和所述凹陷1222的具体数量可根据需求而确定。In some embodiments, one of the resisting portion 112 and the rotating member 12 includes at least one protrusion 1122, and the other of the resisting portion 112 and the rotating member 12 includes at least two protrusions 1122. The number of the depressions 1222 is greater than or equal to the number of the projections 1122, and the specific number of the projections 1122 and the depressions 1222 can be determined according to requirements.
请复参阅图8和图9,所述弹性件13为压簧,其套设于所述中心轴15,收容于所述固定套14,且所述弹性件13压缩于所述固定套14与所述转动件12之间,用于沿所述中心轴15轴向推动所述转动件12抵靠所述抵持部112。可以理解的是,在一些其它实施例中,所述弹性件13可为其它可以提供推力的任何弹性元件,例如,橡胶圆柱等。Please refer to FIG. 8 and FIG. 9 again, the elastic member 13 is a compression spring, which is sleeved on the central shaft 15 and received in the fixing sleeve 14, and the elastic member 13 is compressed in the fixing sleeve 14 and Between the rotating members 12, the rotating members 12 are axially pushed along the central axis 15 against the abutting portion 112. It can be understood that, in some other embodiments, the elastic member 13 may be any other elastic element that can provide thrust, such as a rubber cylinder.
所述固定套14大致为中空圆柱形,其一端具有开口,用于放入所述弹性件13和所述转动件12,所述固定套14的另一端具有底壁142,用于支撑所述弹性件13。所述底壁142开设第三中心孔144,用于允许所述中心轴15穿过。The fixing sleeve 14 is substantially hollow and cylindrical, and has an opening at one end for receiving the elastic member 13 and the rotating member 12. The other end of the fixing sleeve 14 has a bottom wall 142 for supporting the fixing member 14. Elastic member 13. The bottom wall 142 defines a third central hole 144 for allowing the central shaft 15 to pass through.
所述中心轴15包括凸缘152和杆体154,所述凸缘152连接于所述杆体154的一端,所述杆体154远离所述凸缘152的另一端设有轴槽150。所述凸缘152抵靠所述安装部110,所述杆体154依次穿过所述第一中心孔114,所述第二中心孔124和所述第三中心孔144,所述轴槽150位于所述固定套14的外部。The central shaft 15 includes a flange 152 and a rod body 154. The flange 152 is connected to one end of the rod body 154, and the other end of the rod body 154 away from the flange 152 is provided with a shaft groove 150. The flange 152 abuts the mounting portion 110, the rod body 154 passes through the first center hole 114, the second center hole 124, and the third center hole 144 in sequence, and the shaft groove 150 is located at The outside of the fixing sleeve 14.
所述卡簧16卡于所述轴槽150,并且所述卡簧16抵靠所述底壁142,从 而阻止所述固定套14,所述弹性件13以及所述转动件12沿所述中心轴15的轴向运动。可以理解的是,在一些其它实施例中,所述卡簧16可由其它可阻止所述固定套14,所述弹性件13以及所述转动件12沿所述中心轴15运动的元件代替,例如,轴用挡圈等;或者,所述卡簧16可省略,而由所述机臂20或者所述第二安装块2206阻止所述固定套14,所述弹性件13以及所述转动件12沿所述中心轴15的轴向运动。The retaining spring 16 is caught in the shaft groove 150, and the retaining spring 16 abuts against the bottom wall 142, thereby preventing the fixing sleeve 14, the elastic member 13 and the rotating member 12 along the center. Axial movement of the shaft 15. It can be understood that, in some other embodiments, the retaining spring 16 may be replaced by other elements that can prevent the fixing sleeve 14, the elastic member 13 and the rotating member 12 from moving along the central axis 15, for example, , A retaining ring for a shaft, or the like; or the retaining spring 16 may be omitted, and the fixing sleeve 14, the elastic member 13, and the rotating member 12 are prevented by the arm 20 or the second mounting block 2206. It moves in the axial direction of the central axis 15.
在本实施例中,所述机臂组件100和所述动力组件300的数量分别为四个,两个所述机臂组件100安装于所述机身组件200的一侧,另两个所述机臂组件100安装于所述机身组件200的另一侧。每个所述动力组件300安装于一个对应的所述机臂组件100的一端,也即本实施例的所述无人飞行器100为四轴无人飞行器。可以理解的是,在一些其它实施例中,所述机臂组件100和所述动力组件300的数量可根据实际需求增加或减少,例如减少至1个或2个,或者增加至6个。In this embodiment, the number of the arm assembly 100 and the power assembly 300 are four, two of the arm assemblies 100 are installed on one side of the fuselage assembly 200, and the other two are The arm assembly 100 is mounted on the other side of the fuselage assembly 200. Each of the power assemblies 300 is installed at one end of a corresponding arm assembly 100, that is, the unmanned aerial vehicle 100 in this embodiment is a four-axis unmanned aerial vehicle. It can be understood that, in some other embodiments, the number of the arm assembly 100 and the power assembly 300 may be increased or decreased according to actual needs, for example, reduced to one or two, or increased to six.
在本实施例中,所述转动件12和所述固定套14一同沿所述第一转动方向a转动所需的推力大于所述转动件12和所述固定套14一同沿所述第二转动方向b转动所需的推力,可使得所述机臂20在工作状态时可有效防止其沿所述第一转动方向a反弹,以实现无人飞行器100在有效准确的姿态飞行的目的。另外,所述机臂20在收起状态时,可使用较小的力度将所述机臂20沿所述第二转动方向b推动至工作状态。In this embodiment, the pushing force required for the rotating member 12 and the fixing sleeve 14 to rotate in the first rotation direction a is greater than that of the rotating member 12 and the fixing sleeve 14 to rotate together in the second rotation direction. The thrust required for the rotation in the direction b can make the arm 20 effectively prevent it from rebounding in the first rotation direction a in the working state, so as to achieve the purpose of flying the UAV 100 in an effective and accurate attitude. In addition, when the machine arm 20 is in the stowed state, the machine arm 20 may be pushed to the working state along the second rotation direction b with a smaller force.
最后应说明的是:以上实施例仅用以说明本发明的技术方案,而非对其限制;在本发明的思路下,以上实施例或者不同实施例中的技术特征之间也可以进行组合,步骤可以以任意顺序实现,并存在如上所述的本发明的不同方面的许多其它变化,为了简明,它们没有在细节中提供;尽管参照前述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。Finally, it should be noted that the above embodiments are only used to describe the technical solution of the present invention, but not limited thereto. Under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined. The steps can be implemented in any order, and there are many other variations of different aspects of the invention as described above, for the sake of brevity, they are not provided in the details; although the invention is described in detail with reference to the foregoing embodiments, it is common in the art The skilled person should understand that they can still modify the technical solutions described in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the implementation of the present invention. The scope of the technical solutions.

Claims (18)

  1. 一种机身组件(200),其特征在于,包括:A fuselage assembly (200), comprising:
    外壳(220),具有一收容腔(270);A housing (220) having a receiving cavity (270);
    支架(230),收容于所述收容腔(270)并与所述外壳(220)相连;A bracket (230) received in the receiving cavity (270) and connected to the casing (220);
    内部组装件,安装于所述支架(230)。An internal assembly is mounted on the bracket (230).
  2. 根据权利要求1所述的机身组件(200),其特征在于,所述支架(230)包括支架本体(232)和多个定位结构,所述支架本体(232)用于装设所述内部组装件,所述多个定位结构用于将所述内部组装件固定于所述支架本体(232)。The fuselage assembly (200) according to claim 1, wherein the bracket (230) comprises a bracket body (232) and a plurality of positioning structures, and the bracket body (232) is used for mounting the interior An assembly, the plurality of positioning structures are used to fix the internal assembly to the bracket body (232).
  3. 根据权利要求2所述的机身组件(200),其特征在于,所述支架本体(232)具有侧壁(231),所述多个定位结构为设置在所述侧壁(231)上的多个定位柱(234)。The fuselage assembly (200) according to claim 2, wherein the bracket body (232) has a side wall (231), and the plurality of positioning structures are provided on the side wall (231) Multiple positioning posts (234).
  4. 根据权利要求3所述的机身组件(200),其特征在于,所述内部组装件设有与所述多个定位柱(234)配合的定位部,所述内部组装件通过所述定位部与所述多个定位柱(234)的配合固定于所述支架本体(232)。The fuselage assembly (200) according to claim 3, wherein the internal assembly is provided with a positioning portion that cooperates with the plurality of positioning posts (234), and the internal assembly passes through the positioning portion The cooperation with the plurality of positioning posts (234) is fixed to the bracket body (232).
  5. 根据权利要求4所述的机身组件(200),其特征在于,所述定位部为多个缺口或定位孔(244,254),所述多个缺口或定位孔(244,254)与所述多个定位柱(234)数量一致且位置对应。The fuselage assembly (200) according to claim 4, wherein the positioning portion is a plurality of notches or positioning holes (244, 254), and the plurality of notches or positioning holes (244, 254) and The plurality of positioning posts (234) have the same number and corresponding positions.
  6. 根据权利要求2-5中任一项所述的机身组件(200),其特征在于,所述支架本体(232)和所述定位结构一体成型。The fuselage assembly (200) according to any one of claims 2-5, wherein the bracket body (232) and the positioning structure are integrally formed.
  7. 根据权利要求1-6中任一项所述的机身组件(200),其特征在于,所述外壳(220)包括第一外壳(2202)和与所述第一外壳(2202)相互扣合以形成所述收容腔(270)的第二外壳(2204)。The fuselage assembly (200) according to any one of claims 1-6, wherein the housing (220) comprises a first housing (2202) and is interlocked with the first housing (2202) To form a second casing (2204) of the receiving cavity (270).
  8. 根据权利要求1-7中任一项所述的机身组件(200),其特征在于,所述第一外壳(2202)与所述第二外壳(2204)中至少有一个与所述支架(230)相连。The fuselage assembly (200) according to any one of claims 1-7, characterized in that at least one of the first casing (2202) and the second casing (2204) is connected to the bracket ( 230) connected.
  9. 根据权利要求8所述的机身组件(200),其特征在于,所述第一外壳(2202)与所述支架(230)相连,所述第二外壳(2204)与所述第一外壳(2202)相连。The fuselage assembly (200) according to claim 8, characterized in that the first casing (2202) is connected to the bracket (230), and the second casing (2204) is connected to the first casing (230). 2202) connected.
  10. 根据要求8所述的机身组件(200),其特征在于,所述第二外壳(2204)与所述支架(230)相连,所述第一外壳(2202)与所述第二外壳(2204)相连。The fuselage assembly (200) according to claim 8, wherein the second casing (2204) is connected to the bracket (230), and the first casing (2202) and the second casing (2204) ) Connected.
  11. 根据权利要求8所述的机身组件(200),其特征在于,所述第一外壳(2202)与所述第二外壳(2204)分别与所述支架(230)相连。The fuselage assembly (200) according to claim 8, wherein the first casing (2202) and the second casing (2204) are connected to the bracket (230), respectively.
  12. 根据权利要求1-11中任一项所述的机身组件(200),其特征在于,所述支架(230)为框架结构,所述支架(230)具有用于给所述内部组装件散热的镂空区域。The fuselage assembly (200) according to any one of claims 1-11, wherein the bracket (230) is a frame structure, and the bracket (230) has a structure for dissipating heat from the internal assembly. Openwork area.
  13. 根据权利要求1-12中任一项所述的机身组件(200),其特征在于,所述内部组装件包括至少一个电路板。The fuselage assembly (200) according to any one of claims 1-12, wherein the internal assembly comprises at least one circuit board.
  14. 根据权利要求13所述的机身组件(200),其特征在于,所述内部组装件包括第一电路板(240)和第二电路板(250),所述支架(230)包括分别用于收容所述第一电路板(240)的第一收容部(235)和用于收容所述第二电路板(250)的第二收容部(236)。The fuselage assembly (200) according to claim 13, wherein the internal assembly includes a first circuit board (240) and a second circuit board (250), and the brackets (230) include A first receiving portion (235) for receiving the first circuit board (240) and a second receiving portion (236) for receiving the second circuit board (250).
  15. 根据权利要求14所述的机身组件(200),其特征在于,所述第一收容部(235)位于所述支架(230)的下侧,所述第二收容部(236)位于所述 支架(230)的上侧。The fuselage assembly (200) according to claim 14, characterized in that the first receiving portion (235) is located under the bracket (230), and the second receiving portion (236) is located in the The upper side of the bracket (230).
  16. 根据权利要求1-15中任一项所述的机身组件(200),其特征在于,所述内部组装件还包括用于安装零件的固定架或固定板(260)。The fuselage assembly (200) according to any one of claims 1-15, wherein the internal assembly further comprises a fixing frame or a fixing plate (260) for mounting parts.
  17. 根据权利要求1-15中任一项所述的机身组件(200),其特征在于,所述外壳为金属件、塑胶件或者金属与塑胶一体件。The fuselage assembly (200) according to any one of claims 1-15, wherein the casing is a metal piece, a plastic piece, or a metal and plastic integrated piece.
  18. 一种无人飞行器(400),其特征在于,包括如权利要求1-17中任一项所述的机身组件(200)、与所述机身组件(200)连接的机臂组件(100)以及设置在所述机臂组件(100)上的动力组件(300)。An unmanned aerial vehicle (400), comprising a fuselage assembly (200) according to any one of claims 1-17, and an arm assembly (100) connected to the fuselage assembly (200) ) And a power assembly (300) provided on the arm assembly (100).
PCT/CN2019/091758 2018-06-22 2019-06-18 Unmanned aerial vehicle and body assembly thereof WO2019242621A1 (en)

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CN108609156A (en) * 2018-06-22 2018-10-02 深圳市道通智能航空技术有限公司 Unmanned vehicle and its frame assembly

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