WO2020015239A1

WO2020015239A1 - Unmanned aerial vehicle and engine arm connecting structure thereof

Info

Publication number: WO2020015239A1
Application number: PCT/CN2018/112656
Authority: WO
Inventors: 熊贤武; 熊荣明; 唐尹
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-07-19
Filing date: 2018-10-30
Publication date: 2020-01-23
Also published as: CN110896628A; CN208630850U

Abstract

Disclosed are an unmanned aerial vehicle and an engine arm connecting structure thereof. The engine arm connecting structure (100) comprises an upper clutch member (110) and a lower clutch member (120) matched with the upper clutch member (110); the upper clutch member (110) is provided with a first matching part (111); the lower clutch member (120) is provided with a second matching part (121); at least one matching part is provided with a bulge structure; the corresponding maximum central angle between the highest point and the lowest point of the bulge structure is greater than 180 degrees; a mandrel (130) for supporting the upper clutch member (110) and the lower clutch member (120), wherein the mandrel (130) runs through the upper clutch member (110) and the lower clutch member (120); a shaft sleeve (140) sheathed outside the mandrel (130) and the upper clutch member (110), wherein the shaft sleeve (140) can limit the clutch members; and an elastic member (150) disposed between the shaft sleeve (140) and the upper clutch member (110), wherein the elastic member (150) can provide elastic force for the upper clutch member (110) and the lower clutch member (120). The described unmanned aerial vehicle and the engine arm connecting structure thereof can be folded conveniently and/or the engine arm can be unfolded conveniently.

Description

Unmanned aerial vehicle and its arm connecting structure

Technical field

The embodiment of the invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle and an arm connecting structure thereof.

Background technique

An unmanned aerial vehicle usually includes a fuselage and a plurality of arms extending outward from the fuselage. One or more rotor blades are arranged on the end of the arm away from the fuselage. The rotation of the rotor blades can drive the unmanned aerial vehicle to fly. However, the outwardly extending arms and rotor blades on them increase the volume of the UAV and are not conducive to portability. To enhance portability, a folding drone has emerged.

However, the maximum folding angle of a traditional foldable arm is 180 degrees, that is, the arm and the fuselage are in a relatively parallel posture when deployed. Flying in a relatively parallel attitude of the arm and the fuselage, the stability and wind resistance of the UAV are not strong. If the arm and the fuselage have a certain inclination, its flight stability and wind resistance can be significantly improved.

Summary of the invention

An object of the embodiments of the present invention is to provide an unmanned aerial vehicle capable of conveniently folding and / or unfolding an arm and an arm connecting structure thereof.

An arm connection structure of an unmanned aerial vehicle includes an upper clutch member and a lower clutch member that cooperate with each other, the upper clutch member is provided with a first mating portion, and the lower clutch member is provided with a second mating portion, wherein One of the mating parts is provided with a convex structure, and a maximum center angle corresponding to the highest point and the lowest point of the convex structure is greater than 180 degrees; the mandrel for supporting the upper clutch member and the lower clutch member is The mandrel runs through the upper and lower clutch pieces; a sleeve sleeved on the outside of the mandrel and upper clutch piece, the sleeve can limit the clutch piece; and is provided on the shaft An elastic member between the sleeve and the upper clutch member, the elastic member can provide elastic force for the upper clutch member and the lower clutch member; wherein, when the first mating portion is in contact with the second mating portion The point rotates along the protruding structure, pushing the first mating portion to move in the direction of the mandrel, causing the elastic member to undergo elastic deformation to generate an elastic force, and the upper clutch member and the lower clutch member are tight under the action of the elastic force. Fit so as to have the machine arm connection structure The arm of the UAV can be rotated relative to the fuselage of the UAV in one of the unfolded position and the folded position toward the other, and the rotation angle is greater than 180 degrees.

An unmanned aerial vehicle includes: a fuselage; a plurality of arms, the plurality of arms being connected to the fuselage; and a plurality of the above-mentioned arms connecting structure, which can make the arms relative to The body rotates between an unfolded position and a folded position, and the rotation angle is greater than 180 degrees.

In the above-mentioned unmanned aerial vehicle frame, the arm can be rotated relative to the fuselage between an unfolded position and a folded position. During the rotation of the arm from one of the unfolded position and the folded position to the other, the upper clutch and the lower clutch cooperate with each other to elastically deform the elastic member, and the elastic moment of the elastic member holds the arm to the arm In the expanded or collapsed position. Therefore, the rack of the above-mentioned UAV does not need to manually operate the lock, and the arm can be fixed only by rotating the arm in the unfolded position and the folded position.

In addition, during the rotation of the arm, the contact points of the first mating portion and the second mating portion move along the convex structure, which can promote the elastic deformation of the elastic member. The maximum center angle is greater than 180 degrees. Therefore, when the arm is in the unfolded or folded position, the elastic moment of the elastic member is not zero, and the elastic moment can also keep the arm fixed in the unfolded or folded position. When the arm is folded on the fuselage, the elastic moment of the elastic member keeps the arm stably fixed on the fuselage to prevent the arm from being kept fixed due to shaking. Similarly, when the arm is in the deployed position, the elastic moment of the elastic member also keeps the arm stable at the deployed position to prevent the arm from shaking and improve the wind resistance of the arm.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle when an arm of the embodiment is in a deployed position; FIG.

FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle when the arm of the embodiment is in a folded position; FIG.

3 is a schematic structural diagram of an arm connection structure of an unmanned aerial vehicle according to this embodiment;

4 is a schematic structural diagram of an upper clutch of the arm connecting structure shown in FIG. 3;

5 is a schematic structural diagram of a lower clutch member of the arm connecting structure shown in FIG. 3;

6 is a top view of the upper clutch of the arm connecting structure shown in FIG. 4;

FIG. 7 is a structural schematic diagram of an arm connecting structure when the arm is rotated through 0 °;

FIG. 8 is a structural schematic diagram of an arm connecting structure when the arm is rotated through 100 °;

FIG. 9 is a structural schematic diagram of an arm connecting structure when the arm is rotated through 200 °.

Explanation of reference signs are as follows: 11, fuselage; 12A, arm; 12B, arm; 13, propeller; 100, arm connecting structure; 110, upper clutch member; 111, first mating part; 112, inner layer depression 113, outer layer depression; 114, card slot; 120, lower clutch; 121, second mating portion; 122, inner layer protrusion; 123, outer layer protrusion; 130, mandrel; 140, sleeve; 150 , Elastic parts; 160, fixed parts.

detailed description

Although the embodiments of the present invention can be easily expressed as implementations in different forms, only some of the specific implementations shown in the drawings and detailed description in this specification are understood, and it should be understood that this specification should be regarded as It is an exemplary illustration of the principles of the invention and is not intended to limit the invention to that described herein.

Therefore, a feature pointed out in this specification will be used to explain one of the features of an embodiment of the embodiment of the present invention, rather than implying that each implementation of the embodiment of the invention must have the described feature. In addition, it should be noted that this specification describes many features. Although certain features may be combined to show possible system designs, these features may also be used in other combinations not explicitly stated. Thus, unless stated otherwise, the combinations described are not intended to be limiting.

In the embodiment shown in the drawings, the indication of directions (such as up, down, left, right, front, and rear) is used to explain that the structure and movement of various elements of the embodiments of the present invention are not absolute but relative. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the description of the position of these elements changes, the indications of these directions change accordingly.

The preferred embodiments of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings of the present specification.

Embodiments of the present invention provide an unmanned aerial vehicle and an arm connecting structure thereof. The arm of the unmanned aerial vehicle can be folded and housed on both sides of the fuselage through the rotational connection of the arm connecting structure, and can also be quickly deployed for flight.

Referring to FIG. 1, this embodiment provides an unmanned aerial vehicle 10 in a folded state. In this embodiment, the unmanned aerial vehicle 10 includes a fuselage 11, a plurality of arms 12A that can be rotated and folded, a plurality of arms 12B that can be rotated and folded, and a plurality of arm connection structures 100. A motor and a propeller 13 are mounted on the arm 12A and the arm 12B, respectively. In this embodiment, the arm 12B that can be rotated and folded is connected to the fuselage 11 through the arm connection structure 100. When the arm 12B is in the folded state, the upper end surface on which the propeller 13 is mounted is facing downwards. The folding angle is 0 degrees. It should be noted that the rotation angles of the arms 12B described below are relative to the folded state, that is, the angles when the arms 12B are unfolded relative to the folded state.

Referring to FIG. 2, this embodiment provides an unmanned aerial vehicle 10 in a deployed state. Among them, the fuselage 11 is located at the center of the unmanned aerial vehicle, and provides a supporting platform for a plurality of

arms

12A and 12B. One end of the arm 12A and the arm 12B is connected to the fuselage 11, and the other end is used to support the power mechanism motor and the propeller 13.

In this embodiment, the arm 12A and the arm 12B are both in an expanded state. When the arm 12B is in the deployed state, the upper end surface of the propeller 13 mounted on the arm 12B faces upward. When the power mechanism and the propeller 13 are working, they can provide flying power for the unmanned aerial vehicle.

Referring to FIG. 3, an arm connecting structure 100 is provided at a connection point between the arm 12B and the fuselage 11, and is used to connect the arm 12B with the fuselage 11. In this embodiment, there are two arm connecting structures 100, which are respectively located at the connection points of the two arms 12B and the fuselage 11, so that the arms 12B can be rotatably connected with the fuselage 11. The arm connecting structure 100 is capable of rotating the arm 12B relative to the body 11 between an unfolded position and a folded position. Specifically, the rotation angle of the arm may be greater than 180 degrees.

Specifically, in this embodiment, the arm connecting structure 100 includes an upper clutch member 110, a lower clutch member 120, a mandrel 130, a shaft sleeve 140, and an elastic member 150. The upper clutch member 110 and the lower clutch member 120 can cooperate with each other. The mandrel 130 penetrates the upper clutch member 110 and the lower clutch member 120 and can provide support for the clutch member. The shaft sleeve 140 is sleeved outside the clutch member, and can limit the movement of the clutch member. An elastic member 150 is provided between the inside of the shaft sleeve 140 and the upper clutch member 110. The elastic member 150 can be compressed to provide elastic force.

Please refer to FIG. 4 and FIG. 5, the upper clutch member 110 and the lower clutch member 120 can cooperate with each other, and are connected through the mandrel 130. The upper clutch 110 is provided with a first mating portion 111, and the lower clutch 120 is provided with a second mating portion 121. Among them, at least one mating portion 111 is provided with a convex structure.

In this embodiment, the second mating portion 121 of the lower clutch 120 is provided with a convex structure. The first mating portion 111 of the upper clutch 110 is provided with a concave structure adapted to the convex structure. It can be understood that, in other embodiments, the first mating portion 111 of the upper clutch 110 may be provided with a convex structure. The second mating portion 121 of the lower clutch 120 is provided with a concave structure adapted to the convex structure. The convex structure and the concave structure can cooperate with each other, and the upper clutch member 110 and the lower clutch member 120 can be matched.

Furthermore, the maximum center angle corresponding to the highest point and the lowest point of the raised structure is greater than 180 degrees. Therefore, when the upper clutch member 110 and the lower clutch member 120 are relatively rotated, the upper clutch member 110 and the lower clutch member 120 increase the distance between the upper clutch member 110 and the lower clutch member 120 through a convex structure. The contact point between the upper clutch member 110 and the lower clutch member 120 rotates along the raised structure. When the contact point is at the highest point of the raised structure, the arm 12 is correspondingly located at a working position. When the contact point is at the lowest point of the raised structure, the arm 12 is correspondingly located at another working position. Specifically, the two working positions of the arm 12 are a folded position and a deployed position, respectively.

The mandrel 130 is used to support the upper clutch member 110 and the lower clutch member 120. The mandrel 130 penetrates the upper clutch member 110 and the lower clutch member 120. When the arm 12 is rotated by the arm connection structure 100, the lower clutch 120 can rotate about the mandrel 130.

The sleeve 140 is sleeved outside the mandrel 130 and the upper clutch 110, and the sleeve 140 can limit the movement of the clutch. The shaft sleeve 140 restricts the rotation space of the mandrel 130 and the upper clutch piece 110, prevents the upper clutch piece 110 from moving out of the shaft sleeve 140, and maintains a stable cooperative rotation between the upper clutch piece 110 and the lower clutch piece 120. It can be understood that the lower clutch 120 can also be accommodated in the sleeve 140.

The elastic member 150 is disposed between the shaft sleeve 140 and the upper clutch member 110. The elastic member 150 is in contact with the inner upper wall of the shaft sleeve 140 and the upper end surface of the upper clutch member. When the upper clutch member 110 moves, the elastic member 150 can be compressed to provide elastic force. It can be understood that the elastic member 150 may be a spring, a cone spring, an elastic piece, or the like.

In the UAV 10 described above, the arm 12B is rotatable relative to the fuselage 11 between an unfolded position and a folded position. During the rotation of the arm 12B from one of the unfolded position and the folded position to the other, the upper clutch 110 and the lower clutch 120 are relatively rotated, and the edges of the first engaging portion 111 and the second engaging portion 121 move in contact with each other. At this time, the upper clutch member 110 moves along the axial direction of the mandrel 130 during the movement, and compresses the elastic member, thereby elastically deforming the elastic member 150 and generating elastic force. When the upper clutch member 110 and the lower clutch member 120 rotate through a certain angle and reach another mating angle, the upper clutch member 110 and the lower clutch member 120 can be closely fitted under the action of the elastic force. At this time, the elastic member 150 The elastic moment of force keeps the arm 12B in the extended position or the folded position. Therefore, the rack of the UAV described above does not need to manually operate the lock, and the arm 12B can be fixed only by rotating the arm 12B in the unfolded position and the folded position.

Specifically, in this embodiment, when the contact point between the first mating portion 111 and the second mating portion 121 rotates along the convex structure, the first mating portion 111 is pushed to move in the direction of the mandrel 130, and the elastic member 150 is caused to undergo elastic deformation and generate elasticity. The upper clutch member 110 and the lower clutch member 120 cooperate closely under the action of the elastic force, so that the arm 12B of the unmanned aerial vehicle having the arm connection structure 100 can be in the unfolded position and the fuselage 11 of the unmanned aerial vehicle. One of the folded positions is rotated toward the other, and the rotation angle is greater than 180 degrees.

Therefore, during the rotation of switching the working position of the arm 12B, the maximum center angle corresponding to the highest point and the lowest point of the raised structure is greater than 180 degrees. Therefore, when the arm 12B is in the unfolded or folded position, the elastic moment of the elastic member 150 is not zero, and the elastic moment can also keep the arm 12B fixed in the unfolded or folded position. When the arm 12 is folded on the fuselage 11, the elastic moment of the elastic member 150 keeps the arm 12B stably fixed on the fuselage 11 to prevent the arm 12B from shaking due to insufficient internal cooperation of the connection structure 100. fixed. Similarly, when the arm 12B is in the deployed position, the elastic moment of the elastic member 150 also keeps the arm 12B in the deployed position to prevent the arm 12B from shaking and improve the connection reliability and stability of the arm 12B.

In addition, the aforementioned arm connection structure 100 of the unmanned aerial vehicle can achieve reliable operation of the arm 12B in a folding range greater than or equal to 180.

Specifically, in this embodiment, the protrusion structure includes an inner layer protrusion 122 and an outer layer protrusion 123. The inner layer protrusion 122 and the outer layer protrusion 123 are arranged asymmetrically. The depression structure corresponding to the raised structure includes an inner layer depression 112 and an outer layer depression 113. Accordingly, the inner-layer depression 112 and the outer-layer depression 113 are arranged asymmetrically. The inner layer protrusion 122 is adapted to the inner layer depression 112, and the outer layer protrusion 123 is adapted to the outer layer depression 113.

The edges of the inner layer protrusion 122 and the inner layer depression 112, and the outer layer protrusion 123 and the outer layer depression 113 can closely fit with each other. When the two clutch members rotate relative to each other, the highest point of the inner layer protrusion 122 and the edge of the inner layer depression 112 and the highest point of the outer layer protrusion 123 and the edge of the outer layer depression 113 all have a contact point. Therefore, the upper clutch member 110 and the lower clutch member 120 can contact each other through the above two contact points during rotation, and at the same time rely on the mandrel 130 inside the two clutch members to avoid shaking during the rotation and affect the arm 12 stability.

Specifically, the inner layer protrusion 122 is an arc-shaped protrusion, and the surface of the inner layer protrusion 122 is an arc-shaped surface. The outer layer protrusion 123 is an arc-shaped protrusion, and the surface of the outer layer protrusion 123 is an arc-shaped surface. Accordingly, the surfaces of the outer layer protrusions 123 and the outer layer protrusions 123 are arc-shaped surfaces.

The curved surface facilitates rotation between the upper clutch member 110 and the lower clutch member 120. In addition, the arc-shaped surfaces of the inner layer protrusions 122 and the outer layer protrusions 123 have an asymmetric structure.

Referring to FIG. 6, the inner-layer depression 112 is an arc-shaped depression, and the surface of the arc-shaped depression is an arc-shaped surface. The inner depression 112 includes two lowest points. The maximum center point angle A corresponding to the two lowest points is greater than 180 degrees. Specifically, in this embodiment, the maximum center angle A corresponding to the two lowest points is 200 degrees.

The outer-layer depression 113 is an arc-shaped depression, and the surface of the arc-shaped depression is an arc-shaped surface. The outer layer depression 113 includes two lowest points, and the maximum center angle B corresponding to the two lowest points is greater than 180 degrees. Specifically, in this embodiment, the maximum center angle B corresponding to the two lowest points is 200 degrees. The lowest points of the arc-shaped surfaces of the inner layer depression 112 and the outer-layer depression 113 divide the arc surface into two parts with center angles of 200 degrees and 160 degrees, respectively. That is, the arc-shaped surfaces of the inner layer depression 112 and the outer layer depression 113 are asymmetric structures. The two highest points of the raised structure and the two lowest points of the recessed structure form two dead points of the rotation of the mandrel 130. In these two positions, the inner and outer depressions and the inner and outer protrusions can be closely matched to form a folded or unfolded position of the arm 12B.

Therefore, the inner layer protrusion 122 cooperates with the inner layer depression 112 and the outer layer protrusion 123 cooperates with the outer layer depression 113, so that when the folding range of the arm 12 is less than 200 degrees, it can be ensured that the elastic moment of the elastic member 150 is not zero. To ensure that the arm 12 can be stably in the folded position or the unfolded position.

Please refer to FIG. 7, when the rotation angle of the arm is 0 °, that is, when the arm is in the folded state shown in FIG. 7, the upper clutch member 110 and the lower clutch member 120 cooperate with each other, and the inner layer protrusion 122 and the inner layer The depressions 112 coincide with each other.

Please refer to FIG. 8, when the rotation angle of the arm is 100 °, that is, when the arm is in the folded state and rotated to the unfolded state, the upper clutch member 110 and the lower clutch member 120 cooperate with each other, and the inner layer protrusion 122 rises The inner layer depression 112 and the outer layer protrusion 123 push up the outer layer depression 11 and compress the elastic member 150.

Referring to FIG. 9, when the rotation angle of the arm is 200 °, that is, when the arm is in the unfolded state shown in FIG. 2, the upper clutch 110 and the lower clutch 120 cooperate with each other, and the outer protrusion 123 and The outer depressions 11 coincide with each other.

The upper clutch member 110 is engaged with the inner wall of the shaft sleeve 140. Then, when the lower clutch member 120 is rotated, the upper clutch member 110 moves axially along the mandrel 130 due to the restriction of the engagement connection on the inner wall of the shaft sleeve, thereby pressing the elastic member 140. Specifically, the upper clutch 110 is provided with a clamping groove 114, and the shaft sleeve 140 is provided with a protrusion (not shown) that cooperates with the clamping groove 114.

In other embodiments, the inner wall of the shaft sleeve 140 is provided with a clamping groove, and the upper clutch 110 is provided with a protrusion matching the clamping groove. As long as the upper clutch 110 and the shaft sleeve 140 can be engaged and connected with each other.

The arm connecting structure 100 further includes a fixing member 160 which fixedly connects the shaft sleeve 140 and the arm 12B. When the arm 12B is rotated, the shaft sleeve 140 is driven to move.

The fixing member 160 is a riveting piece. It can be understood that the fixing member 160 may also be a screw or a bolt, etc., and the shaft sleeve 140 and the machine arm 12 are screwed and fixedly connected. Alternatively, the fixing member 160 may be omitted, and the shaft sleeve 140 is directly welded and fixed on the arm 12.

Although embodiments of the present invention have been described with reference to several exemplary embodiments, it should be understood that the terminology used is illustrative and exemplary, and not restrictive. Since the present invention can be embodied in various forms without departing from the spirit or essence of the invention, it should be understood that the above-mentioned embodiments are not limited to any of the foregoing details, but should be broadly interpreted within the spirit and scope defined by the appended claims. , Therefore, all changes and modifications falling within the scope of the claims or their equivalents shall be covered by the appended claims.

Claims

An aircraft arm connection structure of an unmanned aerial vehicle is characterized in that it includes:

The upper clutch member and the lower clutch member that cooperate with each other, the upper clutch member is provided with a first mating portion, and the lower clutch member is provided with a second mating portion, wherein at least one of the mating portions is provided with a convex structure, the The maximum center angle between the highest point and the lowest point of the raised structure is greater than 180 degrees;

A mandrel for supporting the upper clutch member and the lower clutch member, the mandrel penetrating through the upper clutch member and the lower clutch member;

A sleeve which is sleeved outside the mandrel and the upper clutch, and the sleeve can limit the clutch; and

An elastic member provided between the shaft sleeve and the upper clutch member, and the elastic member can provide elastic force to the upper clutch member and the lower clutch member;

Wherein, when the contact point between the first mating portion and the second mating portion rotates along the protruding structure, the first mating portion is pushed to move in the mandrel direction, and the elastic member is caused to undergo elastic deformation and generate elasticity. The upper clutch piece and the lower clutch piece cooperate closely under the action of the elastic force, so that the arm of the unmanned aerial vehicle having the arm connecting structure can be in the unfolded position and folded relative to the fuselage of the unmanned aerial vehicle. One of the positions is rotated toward the other, and the rotation angle is greater than 180 degrees.
The arm connection structure of an unmanned aerial vehicle according to claim 1, wherein the second mating portion is provided with a convex structure, and the first mating portion is provided with a convex portion adapted to the convex structure. Recessed structure

Alternatively, the first mating portion is provided with a convex structure, and the second mating portion is provided with a concave structure adapted to the convex structure.
The arm connection structure of an unmanned aerial vehicle according to claim 2, wherein the raised structure includes an inner layer protrusion and an outer layer protrusion, and the recessed structure includes an inner layer depression and an outer layer depression, The inner layer protrusion is adapted to the inner layer depression, and the outer layer protrusion is adapted to the outer layer depression.
The arm connection structure of an unmanned aerial vehicle according to claim 3, wherein the inner layer protrusions and the outer layer protrusions are arranged asymmetrically.
The arm connection structure of an unmanned aerial vehicle according to claim 3, wherein the inner layer protrusion is an arc-shaped protrusion, and the surface of the inner layer protrusion is an arc-shaped surface.
The arm connection structure of an unmanned aerial vehicle according to claim 3, wherein the outer layer protrusion is an arc-shaped protrusion, and the surface of the outer layer protrusion is an arc-shaped surface.
The arm connection structure of an unmanned aerial vehicle according to claim 3, wherein the inner-layer depression is an arc-shaped depression, and the inner-layer depression includes two lowest points, and the largest corresponding to the two lowest points The center angle is greater than 180 degrees.
The arm connection structure of an unmanned aerial vehicle according to claim 3, wherein the outer-layer depression is an arc-shaped depression, and the outer-layer depression comprises two lowest points, and the largest corresponding to the two lowest points The center angle is greater than 180 degrees.
The arm connection structure of an unmanned aerial vehicle according to claim 1, wherein the upper clutch is engaged with the inner side wall of the shaft sleeve.
The arm connection structure of an unmanned aerial vehicle according to claim 9, wherein a slot is provided on an inner side wall of the shaft sleeve, and a protrusion matching the slot is provided on the upper clutch. Or the upper clutch is provided with a clamping slot, and the shaft sleeve is provided with a protrusion matching the clamping slot.
The arm connection structure of an unmanned aerial vehicle according to claim 1, further comprising a fixing member, the fixing member fixedly connecting the shaft sleeve and the arm.
An unmanned aerial vehicle is characterized by comprising:

body;

Multiple arms that are connected to the fuselage; and

A plurality of arm connection structures. The arm connection structure of the unmanned aerial vehicle includes:

The upper clutch member and the lower clutch member that cooperate with each other, the upper clutch member is provided with a first mating portion, and the lower clutch member is provided with a second mating portion, wherein at least one of the mating portions is provided with a convex structure, the The maximum center angle between the highest point and the lowest point of the raised structure is greater than 180 degrees;

A mandrel for supporting the upper clutch member and the lower clutch member, the mandrel penetrating through the upper clutch member and the lower clutch member;

A sleeve which is sleeved outside the mandrel and the upper clutch, and the sleeve can limit the clutch; and

An elastic member provided between the shaft sleeve and the upper clutch member, and the elastic member can provide elastic force to the upper clutch member and the lower clutch member;

Wherein, when the contact point between the first mating portion and the second mating portion rotates along the protruding structure, the first mating portion is pushed to move in the mandrel direction, and the elastic member is caused to undergo elastic deformation and generate elasticity. The upper clutch piece and the lower clutch piece cooperate closely under the action of the elastic force, so that the arm of the unmanned aerial vehicle having the arm connecting structure can be in the unfolded position and folded relative to the fuselage of the unmanned aerial vehicle. One of the positions is rotated toward the other, and the rotation angle is greater than 180 degrees.

The machine arm connection structure can rotate the machine arm relative to the body between an unfolded position and a folded position, and the rotation angle is greater than 180 degrees.
The unmanned aerial vehicle according to claim 12, wherein the second mating portion is provided with a convex structure, and the first mating portion is provided with a concave structure adapted to the convex structure;

Alternatively, the first mating portion is provided with a convex structure, and the second mating portion is provided with a concave structure adapted to the convex structure.
The unmanned aerial vehicle according to claim 12, wherein the raised structure includes an inner layer protrusion and an outer layer protrusion, and the recessed structure includes an inner layer protrusion and an outer layer depression, and the inner layer protrusion It is adapted to the inner layer depression, and the outer layer protrusion is adapted to the outer layer depression.
The unmanned aerial vehicle according to claim 14, wherein the inner layer protrusions and the outer layer protrusions are arranged asymmetrically.
The unmanned aerial vehicle according to claim 14, wherein the inner layer protrusion is an arc-shaped protrusion, and a surface of the inner layer protrusion is an arc-shaped surface.
The unmanned aerial vehicle according to claim 14, wherein the outer layer protrusion is an arc-shaped protrusion, and a surface of the outer layer protrusion is an arc-shaped surface.
The unmanned aerial vehicle according to claim 14, wherein the inner-layer depression is an arc-shaped depression, the inner-layer depression includes two lowest points, and a maximum center angle corresponding to the two lowest points is greater than 180 degrees .
The unmanned aerial vehicle according to claim 14, wherein the outer-layer depression is an arc-shaped depression, the outer-layer depression includes two lowest points, and a maximum center angle corresponding to the two lowest points is greater than 180 degrees .
The unmanned aerial vehicle according to claim 12, wherein the upper clutch is engaged with the inner wall of the shaft sleeve.
The unmanned aerial vehicle according to claim 20, wherein a slot is provided on an inner side wall of the shaft sleeve, and a protrusion matching the slot is provided on the upper clutch member; or A clutch slot is provided on the clutch member, and a protrusion matching the slot is provided on the shaft sleeve.
The unmanned aerial vehicle according to claim 12, further comprising a fixing member, the fixing member fixedly connecting the shaft sleeve and the arm.