WO2020015239A1 - Véhicule aérien sans pilote et structure de raccordement de bras de moteur associée - Google Patents

Véhicule aérien sans pilote et structure de raccordement de bras de moteur associée Download PDF

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Publication number
WO2020015239A1
WO2020015239A1 PCT/CN2018/112656 CN2018112656W WO2020015239A1 WO 2020015239 A1 WO2020015239 A1 WO 2020015239A1 CN 2018112656 W CN2018112656 W CN 2018112656W WO 2020015239 A1 WO2020015239 A1 WO 2020015239A1
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WO
WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
clutch member
arm
protrusion
Prior art date
Application number
PCT/CN2018/112656
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English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880016624.9A priority Critical patent/CN110896628A/zh
Publication of WO2020015239A1 publication Critical patent/WO2020015239A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • the arm can be rotated relative to the fuselage between an unfolded position and a folded position.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle when an arm of the embodiment is in a deployed position
  • 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.
  • FIG. 4 is a schematic structural diagram of an upper clutch of the arm connecting structure shown in FIG. 3;
  • FIG. 5 is a schematic structural diagram of a lower clutch member of the arm connecting structure shown in FIG. 3;
  • FIG. 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 °.
  • 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.
  • 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.
  • this embodiment provides an unmanned aerial vehicle 10 in a folded state.
  • 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.
  • the arm 12B that can be rotated and folded is connected to the fuselage 11 through the arm connection structure 100.
  • 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.
  • this embodiment provides an unmanned aerial vehicle 10 in a deployed state.
  • 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.
  • the arm 12A and the arm 12B are both in an expanded state.
  • the upper end surface of the propeller 13 mounted on the arm 12B faces upward.
  • the power mechanism and the propeller 13 are working, they can provide flying power for the unmanned aerial vehicle.
  • 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.
  • 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.
  • 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.
  • 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
  • the lower clutch 120 is provided with a second mating portion 121.
  • at least one mating portion 111 is provided with a convex structure.
  • 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.
  • 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.
  • the arm 12 is correspondingly located at a working position.
  • the arm 12 is correspondingly located at another working position.
  • 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.
  • 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.
  • the elastic member 150 may be a spring, a cone spring, an elastic piece, or the like.
  • the arm 12B is rotatable relative to the fuselage 11 between an unfolded position and a folded position.
  • 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.
  • 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.
  • the first mating portion 111 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the inner layer protrusion 122 is an arc-shaped protrusion
  • the surface of the inner layer protrusion 122 is an arc-shaped surface
  • the outer layer protrusion 123 is an arc-shaped protrusion
  • 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.
  • the arc-shaped surfaces of the inner layer protrusions 122 and the outer layer protrusions 123 have an asymmetric structure.
  • 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.
  • 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.
  • 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.
  • 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.
  • the upper clutch 110 is provided with a clamping groove 114
  • the shaft sleeve 140 is provided with a protrusion (not shown) that cooperates with the clamping groove 114.
  • the inner wall of the shaft sleeve 140 is provided with a clamping groove
  • the upper clutch 110 is provided with a protrusion matching the clamping groove.
  • 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.

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

Abstract

L'invention concerne un véhicule aérien sans pilote et une structure de raccordement de bras de moteur associée. La structure de raccordement de bras de moteur (100) comprend un élément d'embrayage supérieur (110) et un élément d'embrayage inférieur (120) mis en correspondance avec l'élément d'embrayage supérieur (110) ; l'élément d'embrayage supérieur (110) est doté d'une première partie de mise en correspondance (111) ; l'élément d'embrayage inférieur (120) est doté d'une seconde partie de mise en correspondance (121) ; au moins une partie de mise en correspondance est dotée d'une structure de renflement ; l'angle central maximal correspondant entre le point le plus haut et le point le plus bas de la structure de renflement est supérieur à 180 degrés ; un mandrin (130) est destiné à supporter l'élément d'embrayage supérieur (110) et l'élément d'embrayage inférieur (120), le mandrin (130) s'étendant à travers l'élément d'embrayage supérieur (110) et l'élément d'embrayage inférieur (120) ; un manchon d'arbre (140) est emmanché à l'extérieur du mandrin (130) et de l'élément d'embrayage supérieur (110), le manchon d'arbre (140) pouvant limiter les éléments d'embrayage ; et un élément élastique (150) est disposé entre le manchon d'arbre (140) et l'élément d'embrayage supérieur (110), l'élément élastique (150) pouvant fournir une force élastique pour l'élément d'embrayage supérieur (110) et l'élément d'embrayage inférieur (120). Le véhicule aérien sans pilote et la structure de raccordement de bras de moteur associée selon l'invention peuvent être pliés de façon pratique et/ou le bras de moteur peut être déplié de façon pratique.
PCT/CN2018/112656 2018-07-19 2018-10-30 Véhicule aérien sans pilote et structure de raccordement de bras de moteur associée WO2020015239A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201880016624.9A CN110896628A (zh) 2018-07-19 2018-10-30 无人飞行器及其机臂连接结构

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CN201821159893.4 2018-07-19
CN201821159893.4U CN208630850U (zh) 2018-07-19 2018-07-19 无人飞行器及其机臂连接结构

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Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN208630850U (zh) * 2018-07-19 2019-03-22 深圳市大疆创新科技有限公司 无人飞行器及其机臂连接结构
WO2020237678A1 (fr) * 2019-05-31 2020-12-03 深圳市大疆创新科技有限公司 Structure de raccordement, cadre et aéronef
CN113280037B (zh) * 2021-06-30 2022-08-19 华勤技术股份有限公司 一种转轴及电子设备
CN114408157B (zh) * 2022-01-25 2023-12-22 深圳黑砂科技有限公司 一种无人机收桨机构系统
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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CN106081057A (zh) * 2016-06-21 2016-11-09 广州市红鹏直升机遥感科技有限公司 一种稳定的多轴无人机
WO2017132808A1 (fr) * 2016-02-01 2017-08-10 张琬彬 Dispositif de pliage de bras de forme irrégulière de véhicule aérien sans équipage
CN107454882A (zh) * 2016-02-22 2017-12-08 深圳市大疆创新科技有限公司 机架及使用该机架的无人机
CN206797694U (zh) * 2017-06-15 2017-12-26 深圳市高巨创新科技开发有限公司 一种转轴机构
CN207157487U (zh) * 2017-06-21 2018-03-30 宁波派丽肯无人机有限公司 无人机机臂折叠结构及无人机
CN207212921U (zh) * 2017-04-28 2018-04-10 重庆零度智控智能科技有限公司 一种转轴、折叠机构以及遥控器

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CN106314774B (zh) * 2012-04-10 2020-09-04 深圳市大疆创新科技有限公司 多旋翼飞行器
CN208630850U (zh) * 2018-07-19 2019-03-22 深圳市大疆创新科技有限公司 无人飞行器及其机臂连接结构

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WO2017132808A1 (fr) * 2016-02-01 2017-08-10 张琬彬 Dispositif de pliage de bras de forme irrégulière de véhicule aérien sans équipage
CN107454882A (zh) * 2016-02-22 2017-12-08 深圳市大疆创新科技有限公司 机架及使用该机架的无人机
CN106081057A (zh) * 2016-06-21 2016-11-09 广州市红鹏直升机遥感科技有限公司 一种稳定的多轴无人机
CN207212921U (zh) * 2017-04-28 2018-04-10 重庆零度智控智能科技有限公司 一种转轴、折叠机构以及遥控器
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CN207157487U (zh) * 2017-06-21 2018-03-30 宁波派丽肯无人机有限公司 无人机机臂折叠结构及无人机

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CN110896628A (zh) 2020-03-20

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