WO2019242621A1 - Véhicule aérien sans pilote et assemblage de corps associé - Google Patents

Véhicule aérien sans pilote et assemblage de corps associé 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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WO
WIPO (PCT)
Prior art keywords
assembly
bracket
casing
positioning
internal
Prior art date
Application number
PCT/CN2019/091758
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English (en)
Chinese (zh)
Inventor
梁智颖
Original Assignee
深圳市道通智能航空技术有限公司
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.)
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Publication of WO2019242621A1 publication Critical patent/WO2019242621A1/fr

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    • 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
    • B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
    • B64C1/061—Frames
    • 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
    • B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
    • B64C1/068—Fuselage sections
    • B64C1/069—Joining arrangements therefor

Definitions

  • the invention relates to the field of aircraft, and in particular to an unmanned aerial vehicle and a fuselage component.
  • Unmanned aircraft or unmanned aerial vehicle (UAV)
  • UAV unmanned aerial vehicle
  • 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.
  • 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.
  • 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.
  • a fuselage component including:
  • a bracket which is received in the receiving cavity and connected to the shell;
  • An internal assembly is mounted on the bracket.
  • 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.
  • the bracket body has a side wall, and the plurality of positioning structures are a plurality of positioning posts provided on the side wall.
  • 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.
  • 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.
  • bracket body and the positioning structure are integrally formed.
  • the casing includes a first casing and a second casing that is fastened to the first casing to form the receiving cavity.
  • At least one of the first shell and the second shell is connected to the bracket.
  • the first shell is connected to the bracket, and the second shell is connected to the first shell.
  • the second shell is connected to the bracket, and the first shell is connected to the second shell.
  • first shell and the second shell are connected to the bracket, respectively.
  • the bracket is a frame structure, and the bracket has a hollowed-out area for dissipating heat from the internal assembly.
  • the internal assembly includes at least one circuit board.
  • the internal assembly includes a first circuit board and a second circuit board
  • 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 Second Containment Department.
  • 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.
  • the internal assembly further includes a fixing frame or a fixing plate for mounting parts.
  • the casing is a metal piece, a plastic piece or a metal and plastic integrated piece.
  • the embodiments of the present invention also adopt the following technical solutions:
  • 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.
  • 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.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle provided by one embodiment of the present invention
  • FIG. 2 is a perspective view of the unmanned aerial vehicle shown in FIG. 1 from another angle;
  • FIG. 3 is an exploded view of the fuselage components of the unmanned aerial vehicle shown in FIG. 1, with some parts omitted;
  • FIG. 4 is a partial exploded view of the fuselage assembly shown in FIG. 3, with some parts omitted;
  • FIG. 5 is an assembly view of the fuselage assembly shown in FIG. 3, with some parts omitted;
  • FIG. 6 is an exploded view of the unmanned aerial vehicle shown in FIG. 1, in which some components are omitted; FIG.
  • FIG. 7 is a partial cross-sectional view of the unmanned aerial vehicle shown in FIG. 1;
  • FIG. 8 is an exploded view of a rotating shaft mechanism of the unmanned aerial vehicle shown in FIG. 1;
  • FIG. 9 is an exploded view of the rotating shaft mechanism shown in FIG. 8 at another angle;
  • FIG. 10 is a perspective view of a fixing member of the rotating shaft mechanism shown in FIG. 8;
  • FIG. 11 is a perspective view of a rotating member of the rotating shaft mechanism shown in FIG. 8;
  • 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. 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;
  • FIG. 14 is a schematic diagram of a single arm rotation of the unmanned aerial vehicle shown in FIG. 1;
  • FIG. 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;
  • 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.
  • 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.
  • UAV unmanned aerial vehicles
  • 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.
  • 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.
  • 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.
  • 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.
  • the drawings only show components related to the embodiments of the present invention.
  • 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.
  • 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 is provided.
  • 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.
  • 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.
  • 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.
  • the bracket 230 may include a reinforcing structure, a rib position, an irregular screw fixing structure, and the like.
  • 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.
  • 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.
  • 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
  • the second receiving portion 236 is located on the upper side of the bracket 230. .
  • 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.
  • the positioning portion is a plurality of notches or positioning holes.
  • 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.
  • 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.
  • the positioning portion is a plurality of notches or positioning holes.
  • 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.
  • 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.
  • the first internal assembly 240, the second internal assembly 250, and the third internal assembly 260 are fixed to the bracket 230, respectively.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first housing 2202 and the second housing 2204 are fastened to each other to form the receiving cavity 270.
  • each of the first notches 244 receives one positioning post 234 corresponding to one position
  • each of the second notches 254 receives one positioning post 234 corresponding to one position
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • the two recesses 1222 are 180 degrees rotationally symmetric with each other about the central axis 15.
  • 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.
  • each of the protrusions 1122 is received in a corresponding recess 1222 (ie, as shown in FIG. 9).
  • 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.
  • 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.
  • 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.
  • 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.
  • the machine arm 20 can be pushed to a working state along the second rotation direction b with a smaller force.
  • the sizes of the slope angles A and B can be set according to actual needs, and are not particularly limited herein.
  • 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.
  • 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.
  • 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.
  • each of the protrusions 1122 is received in a corresponding recess 1222.
  • the recess 1222 in the middle and the other two recesses 1222 are mutually
  • the minimum rotation angles of rotation symmetry are 45 degrees
  • the minimum rotation angles of the two protrusions 1122 that are rotationally symmetric with each other around the central axis 15 are 45 degrees.
  • the two protrusions 1122 are respectively received in the depression 1222 in the middle and the depression 1222 on the other side.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • the machine arm 20 can be pushed to a working state along the second rotation direction b with a smaller force.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the machine arm 20 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Toys (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un véhicule aérien sans pilote et un assemblage de corps de ce dernier, l'assemblage de corps comprenant un boîtier, un cadre de support et une partie d'assemblage interne. Le boîtier présente une cavité de réception dans laquelle le cadre de support est logé et est relié au boîtier. La partie d'assemblage interne est installée sur le cadre de support. Dans la structure susmentionnée, le boîtier ne nécessite pas de structure fixe pour installer une partie d'assemblage interne, de telle sorte que ses structures internes et externes sont simples, légères, faciles à traiter et ont un faible taux de défauts dans le traitement. En outre, la présente invention peut présenter un aspect de haute qualité à un faible coût, de telle sorte que le coût de fabrication global de l'assemblage de corps peut être réduit.
PCT/CN2019/091758 2018-06-22 2019-06-18 Véhicule aérien sans pilote et assemblage de corps associé WO2019242621A1 (fr)

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CN108609156A (zh) * 2018-06-22 2018-10-02 深圳市道通智能航空技术有限公司 无人飞行器及其机身组件
CN110329484A (zh) * 2019-08-16 2019-10-15 深圳市道通智能航空技术有限公司 一种无人机骨架及其无人机
CN117751076A (zh) * 2022-03-17 2024-03-22 深圳市大疆创新科技有限公司 无人飞行器及机臂组件

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