WO2020062758A1 - 无人机及倾转机构 - Google Patents

无人机及倾转机构 Download PDF

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Publication number
WO2020062758A1
WO2020062758A1 PCT/CN2019/075083 CN2019075083W WO2020062758A1 WO 2020062758 A1 WO2020062758 A1 WO 2020062758A1 CN 2019075083 W CN2019075083 W CN 2019075083W WO 2020062758 A1 WO2020062758 A1 WO 2020062758A1
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WO
WIPO (PCT)
Prior art keywords
plug
hole
positioning pin
positioning
driver
Prior art date
Application number
PCT/CN2019/075083
Other languages
English (en)
French (fr)
Inventor
林天宇
于明智
郝涛帅
李菲菲
Original Assignee
沈阳无距科技有限公司
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Filing date
Publication date
Application filed by 沈阳无距科技有限公司 filed Critical 沈阳无距科技有限公司
Publication of WO2020062758A1 publication Critical patent/WO2020062758A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/52—Tilting of rotor bodily relative to fuselage

Definitions

  • the invention relates to the technical field of aviation vehicles, and in particular, to an unmanned aerial vehicle and a tilting mechanism.
  • Tilt rotor UAV is an aircraft that has both vertical take-off and fixed-wing flight modes.
  • the tilt mechanism is one of its core components.
  • the tilt mechanism is connected to the fuselage to realize this type of UAV. Switch between fixed-wing mode and vertical take-off and landing mode.
  • the tilt mechanism of this type of drone usually adopts a link structure, that is, the propeller is driven to tilt by the link structure, so as to achieve the conversion of the drone's flight mode.
  • the tilting angle range of the tilting mechanism constituted by the link structure is easy to be limited, so that it cannot meet the flight requirements of the tilting rotor drone.
  • embodiments of the present invention provide a drone and a tilting mechanism, the main purpose of which is to prevent the tilting angle of the tilting mechanism from being limited, so as to meet the flying requirements of the drone.
  • the present invention mainly provides the following technical solutions:
  • an embodiment of the present invention provides a drone, including:
  • a tilting mechanism comprising a main body and a first insertion portion and a first positioning portion provided on the main body, the main body includes a driver and a tilting shaft, and an output shaft of the driver is connected with a driving pulley, A driven pulley is connected to the tilting shaft, and the driving pulley and the driven pulley are connected through a timing belt transmission;
  • a fuselage wherein the fuselage is provided with a second plug-in portion and a second positioning portion, and the first plug-in portion and the second plug-in portion are pluggably connected, and the first positioning portion Removably cooperate with the second positioning portion to prevent relative movement between the first plug-in portion and the second plug-in portion.
  • the tilting mechanism further includes an adjustment portion, and the adjustment portion is used to adjust the tightening degree of the timing belt.
  • the body further comprises a housing
  • the adjusting portion includes an adjusting bolt, a locking member, and an adjusting screw hole provided on the housing;
  • An extension direction of the adjustment screw hole is parallel to a transmission direction of the timing belt
  • the adjustment bolt is screwed into the adjustment thread hole and is connected to the driver.
  • the adjustment bolt is used to screw in or out of the adjustment screw hole to drive the driver closer to or away from the driven belt. The direction of the wheel
  • the locking member is used for fixing the driver to the housing.
  • a frame connected to the driver is provided in the casing;
  • the locking member includes a locking bolt, a locking through hole is provided on the housing, and a locking screw hole is provided on the frame;
  • the locking bolt is threadedly connected to the locking threaded hole through the locking through hole, and is used for fixing the frame to the housing, so that the driver is fixed to the housing through the frame. shell.
  • the body is further provided with a first electrical plug connector electrically connected to the driver;
  • the body is further provided with a second electrical plug connector capable of being electrically connected to an external electrical module, and the second electrical plug connector is pluggably and electrically connected to the first electrical plug connector;
  • the plugging direction of the first electrical plug connector and the second electrical plug connector is the same as that of the first plug portion and the second plug portion; the first plug portion When mating with the second plug-in portion, the first electrical plug connector and the second electrical plug connector are mated with each other; the first plug-in portion and the second plug-in portion are mutually During separation, the first electrical plug connector and the second electrical plug connector are separated from each other.
  • the first plug-in portion includes a first plug-in post disposed on the body and parallel to a surface of the body;
  • the second plug-in portion includes a first plug-in hole provided in the body and extending in a direction parallel to the first plug-in post;
  • the first plug-in post is plug-fitted into the first plug-in hole.
  • the first plug-in portion further includes a second plug-in post disposed on the body and parallel to the first plug-in post and extending in the same direction as the first plug-in post;
  • the second plug-in portion further includes a second plug-in hole provided in the body and extending in a direction parallel to the second plug-in post;
  • the second plug-in post is insertedly connected to the second plug-in hole.
  • the first positioning portion includes a positioning card seat disposed on the body, and the positioning card seat includes a card seat body and a positioning pin elastically connected to the card seat body;
  • the second positioning portion includes a third insertion hole provided in the body
  • the positioning pin moves relative to the card holder body, the positioning pin is separated from the third insertion hole; when the positioning pin is reset, the positioning pin is inserted in the third insertion hole.
  • an accommodating slot is provided on the card holder body, an elastic member is disposed in the accommodating slot, and an end of the card holder body is provided with a through hole communicating with the accommodating slot;
  • a boss is provided on one side of the positioning pin, one end of the positioning pin is inserted into the through hole, and the positioning pin abuts the elastic member through the boss;
  • the positioning pin When the positioning pin moves relative to the card body, the positioning pin compresses the elastic member through the boss, one end of the positioning pin is retracted into the through hole, and the positioning pin is separated from the first hole.
  • the positioning pin When the positioning pin is reset under the elastic force of the elastic member, one end of the positioning pin is exposed in the through hole, and one end of the positioning pin is inserted in the third insertion hole.
  • an embodiment of the present invention also provides a tilting mechanism for a drone.
  • the tilting mechanism is a tilting mechanism in the aforementioned drone.
  • the present invention has at least the following beneficial effects:
  • the technical solution provided by the embodiment of the present invention is realized by setting the body of the tilting mechanism to include a driver and a tilting shaft, and the output end of the driver is drivingly connected to the tilting shaft through a driving pulley, a driven pulley, and a timing belt.
  • the tilting axis rotates synchronously with the output end of the driver, so that the angular range to which the output end of the driver can rotate is the angular range that the tilting axis rotates, thereby avoiding the limitation of the tilting angle range of the tilting mechanism and satisfying the tilting
  • the flying requirements of the rotary wing drone are more convenient to use.
  • first plug-in portion and a first positioning portion on the body, and a second plug-in portion and a second positioning portion on the body
  • first plug-in part and the second plug-in part are mated and connected
  • first positioning part and the second positioning part are mated and connected to prevent relative movement between the first plug-in part and the second plug-in part
  • the assembly and connection of the tilting mechanism and the fuselage can be realized; when the tilting mechanism needs to be detached from the fuselage, only the first positioning portion and the second positioning portion need to be separated, and the first plug-in portion and the The separation of the second plug-in part can realize the disassembly and separation of the tilting mechanism from the fuselage.
  • the operation is simple and convenient, and the disassembly efficiency between the tilting mechanism and the fuselage is improved.
  • FIG. 1 is a schematic structural diagram of a drone provided by an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of the tilting mechanism in FIG. 1 after the casing is removed;
  • FIG. 3 is a schematic structural diagram of the tilting mechanism in FIG. 1;
  • FIG. 4 is a schematic structural diagram of a rack in FIG. 2 or FIG. 3;
  • FIG. 5 is an exploded view of the positioning card holder in FIG. 3;
  • FIG. 6 is a schematic structural diagram of a positioning card seat in FIG. 3.
  • an embodiment of the present invention provides an unmanned aerial vehicle, including a tilting mechanism.
  • the tilting mechanism includes a main body 1 and a first insertion portion 2 and a first positioning portion provided on the main body 1.
  • the main body 1 includes a driver 11 and a tilting shaft 12.
  • the output shaft of the driver 11 is connected with a driving pulley 111.
  • the tilting shaft 12 is connected with a driven pulley 121.
  • the driving pulley 111 and the driven pulley 121 pass through a timing belt 122.
  • fuselage 3 the fuselage 3 is provided with a second plug-in portion 4 and a second positioning portion, and the first plug-in portion 2 and the second plug-in portion 4 are pluggably plugged and connected, and the first positioning And the second positioning portion are detachably cooperatively connected to prevent relative movement between the first plug-in portion 2 and the second plug-in portion 4.
  • the two ends of the tilting shaft 12 in the drone can be connected to a motor and a propeller
  • the driver 11 can be a steering gear
  • the active pulley 111 can be connected to the output shaft of the steering gear through a coupling to achieve The synchronous rotation of the driving pulley 111 and the output shaft of the steering gear.
  • the steering gear After the steering gear is powered on and receives a control signal, its output shaft starts to rotate, so that the driving pulley 111 transmits torque to the driven pulley 121 through the timing belt 122. Therefore, the driven pulley 121 drives the tilting shaft 12 to perform synchronous rotation, and then drives the motor and the propeller at both ends of the tilting shaft 12 to rotate at the same angle, which meets the flying requirements of the drone.
  • the two ends of the tilting shaft 12 located on the driven pulley 121 can be rotatably connected to the fuselage 3 through bearings 123, and in order to avoid the bearing 123 from moving, to ensure a reliable rotational connection between the tilting shaft 12 and the fuselage 3,
  • a bearing stop ring 124 may be sleeved on the outside of the bearing on the tilting shaft 12; in order to ensure a reliable connection between the driven pulley 121 and the tilting shaft 12, the driven pulley 121 may be fixedly sleeved on the outside of the tilting shaft 12 through a sleeve.
  • the tilting shaft 12 may be made of a carbon fiber tube to increase the strength of the tilting shaft 12 and reduce its structural weight.
  • the drone provided by the embodiment of the present invention is realized by setting the body of the tilting mechanism to include a driver and a tilting shaft, and the output end of the driver is drivingly connected to the tilting shaft through a driving pulley, a driven pulley, and a timing belt.
  • the synchronous rotation of the tilting shaft and the output end of the driver, so that the angular range to which the output end of the driver can be rotated, is the angular range that the tilting axis rotates, thereby avoiding the limitation of the tilting angle range of the tilting mechanism and satisfying the tilting Rotorcraft UAV flight requirements, more convenient to use.
  • first plug-in portion and a first positioning portion on the body, and a second plug-in portion and a second positioning portion on the body
  • first plug-in part and the second plug-in part are mated and connected
  • first positioning part and the second positioning part are mated and connected to prevent relative movement between the first plug-in part and the second plug-in part
  • the assembly and connection of the tilting mechanism and the fuselage can be realized; when the tilting mechanism needs to be detached from the fuselage, only the first positioning portion and the second positioning portion need to be separated, and the first plug-in portion and the The separation of the second plug-in part can realize the disassembly and separation of the tilting mechanism from the fuselage.
  • the operation is simple and convenient, and the disassembly efficiency between the tilting mechanism and the fuselage is improved.
  • the tilting mechanism may further include an adjusting portion for adjusting the tightening degree of the timing belt 122 to ensure the synchronous rotation of the tilting shaft 12 and the output shaft of the driver 11.
  • the structure of the adjusting section may have various forms, as long as the tightness of the timing belt 122 can be adjusted.
  • the body 1 may further include a housing 13; the adjusting section may specifically include adjusting The bolt 14, the locking member and the adjusting screw hole 15 provided on the housing 13; wherein the extending direction of the adjusting screw hole 15 may be parallel to the driving direction of the timing belt 122; the adjusting bolt 14 may be screwed into the adjusting screw hole 15 and Connected to the driver 11, the adjusting bolt 14 can be used to screw in or out the adjusting screw hole 15 to drive the driver 11 to move toward or away from the driven pulley 121; the locking member is used to fix the moved driver 11 to ⁇ 13 ⁇ Shell 13.
  • the operator may first open the locking member so that the driver 11 can move, and then screw the adjustment bolt 14 to screw it into or out of the adjustment screw hole 15 to The driver 11 is moved toward or away from the driven pulley 121, so as to adjust the distance between the driving pulley 111 and the driven pulley 121, and then adjust the tension of the timing belt 122.
  • the driver 11 can be fixed on the casing 13 by using a locking member, and the operation is completed, the structure is simple, and it is easy to implement.
  • the housing 13 may include an upper fixing plate 131 and a lower fixing plate 132 opposite to the upper fixing plate 131, and a connection plate 133 may be sleeved outside the corresponding bearing of the tilting shaft 12 described above, and the aforementioned bearing limit
  • the ring 124 is located outside the corresponding connecting plate 133, and one end of the upper fixing plate 131 and the lower fixing plate 132 are connected through the connecting plate 133.
  • the first plug-in portion 2 may be disposed on the surface of the lower fixing plate 132.
  • the structure of the locking member can also be various, as long as the driver 11 can be fixed on the casing 13 after the moving.
  • a frame 16 connected to the driver 11 may be provided in the casing 13; the locking member may include a locking bolt, and a locking through hole 1321 is provided on the casing 13.
  • 16 is provided with a locking screw hole 161; the locking through hole 1321 can be a waist-shaped hole and the extension direction is the same as that of the adjustment screw hole 15; the locking bolt can pass through the locking through hole 1321 and the locking screw hole A 161 screw connection is used to fix the frame 16 to the casing 13 so that the driver 11 is fixed to the casing 13 through the frame 16.
  • the locking bolt can be loosened so that the driver 11 can be moved, and then the adjusting bolt 14 is rotated to adjust the distance between the driving pulley 111 and the driven pulley 121. Therefore, the tension of the timing belt 122 can be adjusted.
  • the locking bolt can be tightened so that the frame 16 is fixed on the casing 13, and the driver is fixed on the casing 13. Simple and easy to implement.
  • the lock bolt in an incompletely tightened state moves in the lock through hole 1321 with the movement of the frame 16. In the process, the lock through hole 1321 is moved. It can guide the movement of the driver 11 and the frame 16 to facilitate the adjustment of the tension of the timing belt 122.
  • the number of the locking through holes 1321 may be multiple, and the number of the locking screw holes 161 on the frame 16 may also be multiple.
  • the frame 16 is used to install the steering gear, and the active pulley can be fixed to the steering gear radially through the steering gear bearing and the frame 16 through the cap screws 112.
  • the aforementioned adjusting bolt 14 may be connected to the frame 16, that is, the driver 11 is connected to the adjusting bolt 14 through the frame 16.
  • the body 1 may further be provided with a first electrical plug connector 5 electrically connected to the driver 11; the body 3 may further be provided with a first electrical connector capable of being electrically connected to an external electrical module.
  • Two electrical plug connectors 31, the second electrical plug connector 31 and the first electrical plug connector 5 are pluggable and electrically connected; the first electrical plug connector 5 and the second electrical plug connector 31 are plugged in The direction is the same as that of the first plug-in part 2 and the second plug-in part 4; when the first plug-in part 2 and the second plug-in part 4 are mated with each other, the first electrical plug connector 5 and the second electrical plug When the first plug-in part 2 and the second plug-in part 4 are separated from each other, the first electrical plug connector 5 and the second electrical plug 31 are separated from each other.
  • the external electrical module may be a flight control system.
  • the external electrical module may also be a power system, a communication system, or a variety of load systems such as imaging, spraying, yelling, and launching that can be mounted on the drone, which is not limited herein.
  • the first electrical plug connector 5 and the second electrical plug connector 31 can be plugged in, thereby realizing the electrical connection between the driver 11 and the flight control system.
  • the first positioning part and the second positioning part can be connected to each other to ensure that the first electrical connector 5 and the second electrical The male connector 31 does not move relatively, so as to ensure a reliable electrical connection between the two.
  • the first positioning portion and the second positioning portion are separated, and then By separating the first plug-in part 2 and the second plug-in part 4, the first electrical plug connector 5 and the second electrical plug connector 31 can be separated, thereby achieving the disconnection of the steering gear from the flight control system. That is to say, such a structural design realizes that the electrical connection or disconnection between the driver 11 and the flight control system can be completed during the installation or disassembly of the tilting mechanism and the fuselage 3, and there is no need to connect the servo and the flight separately.
  • both the first electrical plug connector 5 and the second electrical plug connector 31 may be aviation plugs, and the first electrical plug connector 5 may be an aviation plug head, and the second electrical plug connector 31 may be an aviation plug.
  • Male, and the first electrical plug connector 5 may be disposed on the surface of the lower fixing plate 132 described above.
  • first plug-in portion 2 and the second plug-in portion 4 there may be various structural forms of the first plug-in portion 2 and the second plug-in portion 4 as long as the plug-in connection between the two can be achieved.
  • the first plug-in portion 2 may include a first plug-in column 21 disposed on the body 1 and parallel to the surface of the body 1; the second plug-in portion 4 may include a body 3
  • the first plug-in hole 41 extends in a direction parallel to the first plug-in post 21; the first plug-in post 21 is plugged into the first plug-in hole 41.
  • first plug-in portion 2 and the second plug-in portion 4 may be on the surface of the fuselage 3, for example, a surface of a wing portion of the fuselage 3 may be provided with a surface provided with slots penetrating through both end surfaces thereof.
  • the first clamping block 32 is fastened to the surface of the fuselage 3, so that the slot thereon forms a first insertion hole 41 with the surface of the fuselage 3, and the surface of the lower fixing plate 132 is described above.
  • a first plug block 1322 may be installed, and an L-shaped plug arm may be provided on the first plug block 1322.
  • a portion of the plug arm parallel to the surface of the body 1 forms a first plug post 21, and when the tilting mechanism is assembled At this time, the tilting mechanism can be moved so that the first plug-in post 21 thereof is inserted into the first plug-in hole 41 of the fuselage 3 until the corresponding part on the first plug block 1322 and the corresponding part on the first clip block 32
  • the first plug-in post 21 and the first plug-in hole 41 are plugged into position, and the plug-in connection of the first plug-in part 2 and the second plug-in part 4 can be achieved.
  • the structure is simple, the operation is convenient, and Damage to the fuselage 3.
  • the number of the first plug-in posts 21 may be two or more, and the number of slots on the first plug-in block 1322 may also be two or more.
  • the first plug-in portion 2 may further include a second plug-in post disposed on the body 1 and parallel to the first plug-in post 21 and extending in the same direction as the first plug-in post 21. 22; the second plug-in part 4 further includes a second plug-in hole 42 provided in the main body 3 and extending in a direction parallel to the second plug-in post 22; the second plug-in post 22 is plug-connected to the second plug ⁇ ⁇ 42 ⁇ Inside the connection hole 42.
  • the second plug-in post 22 and the first plug-in post 21 may be located on both sides of the surface of the lower fixing plate 132, and the second plug-in hole 42 and the first plug-in hole 41 may be respectively located in the fuselage. 3 on both sides of the corresponding surface to further improve the assembly stability of the tilting mechanism and the fuselage 3.
  • a second clip 33 may be provided on the fuselage 3 on the surface of which is provided with slots penetrating through both end surfaces thereof.
  • the second clip 33 is fastened and connected to the surface of the fuselage 3 so that the plug thereon.
  • the slot forms a second plugging hole 42 on the surface of the fuselage 3, and a second plug block can be installed on the surface of the lower fixing plate 132.
  • the second plug block can be provided with an L-shaped plug arm.
  • the parallel portion of the surface forms the second plug post 22, and when the tilt mechanism is assembled, the tilt mechanism can be moved so that the first plug post 21 and the second plug post 22 thereof are sequentially inserted into the first A plug hole 41 and a second plug hole 42 until the corresponding part on the second plug block abuts the corresponding part on the second clip block 33, and the second plug post 22 is inserted into the second plug hole 42
  • the first plug-in portion 2 and the second plug-in portion 4 can be plugged in.
  • the structure is simple, the operation is convenient, and the fuselage 3 is not damaged.
  • the lengths of the first plug-in post 21 and the second plug-in post 22 may be equal to ensure that when the first plug-in post 21 and the first plug-in hole 41 are in place, the second plug-in post 22 and The second insertion hole 42 can also be inserted into place.
  • first positioning portion and the second positioning portion there may be multiple structural forms of the first positioning portion and the second positioning portion, as long as the detachable and cooperative connection between the two can be achieved.
  • the first positioning portion may include a positioning card holder 6 provided on the body 1.
  • the positioning card holder 6 includes a card holder body 61 and a positioning pin 62 elastically connected to the card holder body 61.
  • the second positioning portion may include a third insertion hole 341 provided in the fuselage 3; when the positioning pin 62 moves relative to the card body 61, the positioning pin 62 is detached from the third insertion hole 341; when the positioning pin 62 is reset, it is inserted In the third insertion hole 341.
  • an external force may be applied to the positioning pin 62 to pull the positioning pin 62 away from the third insertion hole 341, so that the first positioning portion is separated from the second positioning portion, and then the tilt mechanism is moved so that the first insertion
  • the connection part 2 is separated from the second insertion part 4 so as to disassemble the tilting mechanism.
  • an external force can be applied to the positioning pin 62 first to ensure that it will not be inserted into the third insertion hole 341 and then moved. Tilt the mechanism to make the first plug-in part 2 and the second plug-in part 4 plug-in connection.
  • a third card block 34 may be provided on the fuselage 3 with a surface penetrating through the two end surfaces thereof.
  • the third insertion hole 341 may be provided on the third card block 34, and the card seat is positioned.
  • 6 can be disposed on one side of the main body 11, and can be specifically connected to the other end of the upper fixing plate 131 and the lower fixing plate 132. The structure is simple, the operation is convenient, and the fuselage 3 will not be damaged.
  • the aforementioned second insert block may be the same component as the card holder body 61, that is, the card holder body 61
  • the end portion may be designed to be L-shaped so as to form an L-shaped plugging arm, and a portion of the plugging arm parallel to the lower fixing plate 132 forms the aforementioned second plugging post 22.
  • the aforementioned adjustment screw hole 15 may be provided on the card body 61.
  • the aforementioned second electrical plug connector 31, the first clamping block 32, the second clamping block 33, and the third clamping block 34 can be connected to the casing of the fuselage 3 through a connection cushion 35 which is arranged inside the casing of the fuselage 3, that is, the connection cushion 35 is arranged on the inner surface of the casing of the fuselage 3, and then the fasteners are sequentially passed through the connection
  • the backing plate 35 and the housing of the fuselage 3 are respectively connected to the second electrical plug connector 31, the first clamping block 32, the second clamping block 33, and the third clamping block 34, which ensures the connection between the fuselage 3 and the tilting mechanism. Connection strength.
  • the first insert block 1322, the first electrical plug connector 5 and the positioning card holder 6 may be disposed on the same surface of the body 1, specifically, It is arranged on the surface of the lower fixing plate 132, and the first electrical plug connector 5 can be located between the first plug block 1322 and the positioning card holder 6. Accordingly, the second electrical plug connector 31, the first clip block 32, the first The two clamping blocks 33 and the third clamping block 34 can be disposed at corresponding positions on a surface of the housing of the fuselage 3.
  • a receiving slot 611 may be provided on the card holder body 61, and an elastic member 612 may be provided in the receiving slot 611.
  • the end of 61 may be provided with a through hole 613 that communicates with the accommodation groove 611; one side of the positioning pin 62 is provided with a boss 621, one end of the positioning pin 62 is inserted into the through hole 613, and the positioning pin 62 is connected with the through
  • the elastic member 612 abuts; when the positioning pin 62 moves relative to the card body 61, the positioning pin 62 compresses the elastic member 612 through the boss 621, one end of the positioning pin 62 is retracted into the through hole 613, and the positioning pin 62 is detached from the third insertion hole.
  • Connection hole 341 when the positioning pin 62 is reset under the elastic force of the elastic member 612, one end of the positioning pin 62 is exposed in the through hole 613, and one end of the positioning pin 62
  • the elastic member 612 may be a cylindrical spring, and a screw 614 may be threaded on the side wall of the accommodation groove 611, so that the elastic member 612 is sleeved on the outside of the screw 614 and can be compressed or pulled relative to the screw 614
  • the positioning pin 62 may be Z-shaped as a whole, and a protrusion 621 is formed at the turning point. One end of the positioning pin 62 is inserted into the through hole 613, and the turning point is snapped to the end of the spring.
  • a push plate 622 that is vertically connected to the positioning pin 62 may be provided at the other end of the positioning pin 62, so that when the user pushes the push plate 622, the positioning pin 62 passes through the boss 621 compresses the spring and overcomes the elastic force of the spring so that one end of the positioning pin 62 is retracted into the through hole 613, so that the positioning pin 62 is detached from the third insertion hole 341, thereby realizing the component force of the first positioning portion and the second positioning portion;
  • the positioning pin 62 is reset under the elastic force of the spring, so that one end of the positioning pin 62 is exposed from the through hole 613, so that the positioning pin 62 is inserted into the third insertion hole 341, thereby realizing
  • the cooperative connection of the first positioning portion and the second positioning portion has a simple structure and reliable implementation.
  • an inclined surface 623 may be provided at an end of one end of the positioning pin 62; the contour shape of the third insertion hole 341 may be adapted to the contour shape of one end of the positioning pin 62. .
  • the positioning pin 62 and the third insertion hole 341 are realized. When it is not fully plugged firmly, the positioning pin 62 will smoothly slide into the third insertion hole 341 through the inclined surface 623 due to the vibration effect caused by the drone operation, so that the positioning pin 62 is inserted into the third insertion hole 341. It is firmly connected to further ensure the assembly stability between the tilting mechanism and the fuselage 3.
  • an embodiment of the present invention further provides a tilting mechanism, which includes a body 1.
  • the body 1 includes a driver 11 and a tilting shaft 12.
  • An output shaft of the driver 11 is connected with a driving pulley 111.
  • a driven pulley 121 is connected to the rotating shaft 12.
  • the driving pulley 111 and the driven pulley 121 are drivingly connected through a timing belt 122.
  • the main body 1 is provided with a first insertion portion 2 and a first positioning portion.
  • the tilting mechanism involved in this embodiment can adopt the tilting mechanism structure described in the drone of the above embodiment.
  • the tilting mechanism structure described in the drone of the above embodiment For specific implementation and working principle, refer to the corresponding content in the above embodiment, here No longer.
  • the tilting mechanism realizes the tilting shaft and the tilting shaft by setting the body to include a driver and a tilting shaft, and the output end of the driver is connected to the tilting shaft through a driving pulley, a driven pulley, and a timing belt.
  • the output end of the driver rotates synchronously, so that the angular range to which the output end of the driver can be rotated, that is, the angular range that the tilting axis rotates, thereby avoiding the limitation of the tilting angle range of the tilting mechanism and satisfying the unmanned tilting rotor Aircraft flight requirements, more convenient to use.
  • first plug-in portion and a first positioning portion on the body, and a second plug-in portion and a second positioning portion on the body
  • first plug-in part and the second plug-in part are mated and connected
  • first positioning part and the second positioning part are mated and connected to prevent relative movement between the first plug-in part and the second plug-in part
  • the assembly and connection of the tilting mechanism and the fuselage can be realized; when the tilting mechanism needs to be detached from the fuselage, only the first positioning portion and the second positioning portion need to be separated, and the first plug-in portion and the The separation of the second plug-in part can realize the disassembly and separation of the tilting mechanism from the fuselage.
  • the operation is simple and convenient, and the disassembly efficiency between the tilting mechanism and the fuselage is improved.

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  • Aviation & Aerospace Engineering (AREA)
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Abstract

一种无人机，包括倾转机构，所述倾转机构包括本体（1）和设置于所述本体（1）的第一插接部（2）和第一定位部，所述本体（1）包括驱动器（11）和倾转轴（12），所述驱动器（11）的输出轴连接有主动带轮（111），所述倾转轴（12）上连接有从动带轮（121），所述主动带轮（111）和所述从动带轮（121）通过同步带（122）传动连接；机身（3），所述机身（3）上设置有第二插接部（4）和第二定位部，所述第一插接部（2）和所述第二插接部（4）可插拔地插合连接，所述第一定位部和所述第二定位部可拆卸地配合连接以阻止所述第一插接部和第二插接部之间产生相对运动。该结构避免了无人机倾转机构的倾转角度受限，满足了无人机的飞行需求。还包括用于该无人机的一种倾转机构。

Description

无人机及倾转机构 技术领域
本发明涉及航空飞行器技术领域，具体而言，涉及一种无人机及倾转机构。
背景技术
倾转旋翼无人机是一种兼具垂直起降和固定翼飞行模态的飞行器，倾转机构是其核心组成部分之一，倾转机构与机身连接，用于实现该类无人机在固定翼模态和垂直起降模态之间的转换。
目前，该类无人机的倾转机构通常采用连杆结构，即通过连杆结构驱动螺旋桨倾转，从而实现无人机飞行模态的转换。然而，由连杆结构构成的倾转机构的倾转角度范围易受到限制，从而无法满足倾转旋翼无人机的飞行需求。
发明内容
有鉴于此，本发明实施例提供一种无人机及倾转机构，主要目的是避免倾转机构的倾转角度受限，以满足无人机的飞行需求。
为达到上述目的，本发明主要提供如下技术方案：
一方面，本发明实施例提供了一种无人机，包括：
倾转机构，所述倾转机构包括本体和设置于所述本体的第一插接部和第一定位部，所述本体包括驱动器和倾转轴，所述驱动器的输出轴连接有主动带轮，所述倾转轴上连接有从动带轮，所述主动带轮和所述从动带轮通过同步带传动连接；
机身，所述机身上设置有第二插接部和第二定位部，所述第一插接部和所述第二插接部可插拔地插合连接，所述第一定位部和所述第二定位部可拆卸地配合连接以阻止所述第一插接部和所述第二插接部之间产生相对运动。
进一步地，所述倾转机构还包括调节部，所述调节部用于调节所述同步带的涨紧度。
进一步地，所述本体还包括外壳；
所述调节部包括调节螺栓、锁止件和设置于所述外壳上的调节螺纹孔；
所述调节螺纹孔的延伸方向与所述同步带的传动方向平行；
所述调节螺栓螺纹连接于所述调节螺纹孔内且与所述驱动器连接，所述调节螺栓用于旋入或旋出所述调节螺纹孔以带动所述驱动器向靠近或远离所述从动带轮的方向移动；
所述锁止件用于将所述驱动器固定于所述外壳。
进一步地，所述外壳内设置有与所述驱动器连接的机架；
所述锁止件包括锁止螺栓，所述外壳上设置有锁止通孔，所述机架上设置有锁止螺纹孔；
所述锁止螺栓穿过所述锁止通孔与所述锁止螺纹孔螺纹连接，用于将所述机架固定于所述外壳，以使所述驱动器通过所述机架固定于所述外壳。
进一步地，所述本体上还设置有与所述驱动器电连接的第一电性插接头；
所述机身上还设置有能够与外部电器模块电连接的第二电性插接头，所述第二电性插接头与所述第一电性插接头可插拔地电性插合连接；
所述第一电性插接头和所述第二电性插接头的插接方向与所述第一插接部和所述第二插接部的插接方向相同；所述第一插接部和所述第二插接部相互插合时，所述第一电性插接头和所述第二电性插接头相互插合；所述第一插接部和所述第二插接部相互分离时，所述第一电性插接头和所述第二电性插接头相互分离。
进一步地，所述第一插接部包括设置于所述本体且与所述本体的表面相平行的第一插接柱；
所述第二插接部包括设置于所述机身且沿与所述第一插接柱相平行的方向延伸的第一插接孔；
所述第一插接柱插合连接于所述第一插接孔内。
进一步地，所述第一插接部还包括设置于所述本体，并与所述第一插接柱相平行且与所述第一插接柱延伸方向相同的第二插接柱；
所述第二插接部还包括设置于所述机身且沿与所述第二插接柱相平行的方向延伸的第二插接孔；
所述第二插接柱插合连接于所述第二插接孔内。
进一步地，所述第一定位部包括设置于所述本体的定位卡座，所述定位卡座包括卡座本体和与所述卡座本体弹性连接的定位销；
所述第二定位部包括设置于所述机身的第三插接孔；
所述定位销相对所述卡座本体移动时，所述定位销脱离所述第三插接孔；所述定位销复位时，所述定位销插设于所述第三插接孔。
进一步地，所述卡座本体上设置有容置槽，所述容置槽内设置有弹性件，所述卡座本体的端部设置有与所述容置槽连通的通孔；
所述定位销的一侧设置有凸台，所述定位销的一端插设于所述通孔，所述定位销通过所述凸台与所述弹性件相抵接；
所述定位销相对所述卡座本体移动时，所述定位销通过所述凸台压缩所述弹性件，所述定位销的一端缩入所述通孔内，所述定位销脱离所述第三插接孔；
所述定位销在所述弹性件的弹力作用下复位时，所述定位销的一端显露于所述通孔，所述定位销的一端插设于所述第三插接孔。
另一方面，本发明实施例还提供一种倾转机构，用于无人机，所述倾转机构为前述的无人机中的倾转机构。
借由上述技术方案，本发明至少具有以下有益效果：
本发明实施例提供的技术方案，通过将倾转机构的本体设置为包括驱动器和倾转轴，且驱动器的输出端通过主动带轮、从动带轮和同步带与倾转轴进行传动连接，实现了倾转轴与驱动器的输出端同步转动，使得驱动器输出端所能转动到的角度范围，即为倾转轴所转动的角度范围，从而避免了倾转机构的倾转角度范围受到限制，满足了倾转旋翼无人机的飞行需求，使用更方便。而且，通过在本体上设置第一插接部和第一定位部，以及在机身上设置第二插接部和第二定位部，实现了当需要将倾转机构组装在机身上时，只需将第一插接部和第二插接部插合连接，以及将第一定位部和第二定位部进行配合连接以阻止第一插接部和第二插接部之间产生相对运动，即可实现倾转机构与机身的组装连接；当需要将倾转机构从机身上拆卸下来时，只需将第一定位部和第二定位部分离，以及将第一插接部和第二插接部分离，即可实现倾转机构与机身的拆卸分离，操作简单方便，提高了倾转机构与机身之间的拆装效率。
附图说明
图1为本发明实施例提供的一种无人机的结构示意图；
图2为图1中倾转机构拆除外壳后的结构示意图；
图3为图1中倾转机构的结构示意图；
图4为图2或图3中机架的结构示意图；
图5为图3中定位卡座的爆炸图；
图6为图3中定位卡座的结构示意。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明的优选实施例中的附图，对本发明实施例中的技术方案进行更加详细的描述。在附图中，自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。所描述的实施例是本发明一部分实施例，而不是全部的实施例。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。下面结合附图对本发明的实施例进行详细说明。
在本实施例的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本实施例保护范围的 限制。
如图1和图2所示，本发明实施例提供了一种无人机，包括倾转机构，该倾转机构包括本体1和设置于本体1的第一插接部2和第一定位部，该本体1包括驱动器11和倾转轴12，驱动器11的输出轴连接有主动带轮111，倾转轴12上连接有从动带轮121，主动带轮111和从动带轮121通过同步带122传动连接；机身3，该机身3上设置有第二插接部4和第二定位部，第一插接部2和第二插接部4可插拔地插合连接，第一定位部和第二定位部可拆卸地配合连接以阻止第一插接部2和第二插接部4之间产生相对运动。
在一些示例中，该无人机中的倾转轴12两端可以连接电机和螺旋桨，而驱动器11可以为舵机，且主动带轮111可以通过联轴器与舵机的输出轴连接，以实现主动带轮111与舵机输出轴的同步转动，在舵机上电收到控制信号后，其输出轴便开始转动，使得主动带轮111通过同步带122把转矩传递至从动带轮121，从而使得从动带轮121带动倾转轴12进行同步转动，进而带动倾转轴12两端的电机和螺旋桨同角度转动，满足了无人机的飞行要求。其中，倾转轴12上位于从动带轮121的两端可以分别通过轴承123与机身3转动连接，且为了避免轴承123发生窜动，以保证倾转轴12与机身3的可靠转动连接，可以在倾转轴12上轴承的外侧套接轴承限位环124；为了保证从动带轮121与倾转轴12的可靠连接，从动带轮121可以通过套管固定套接在倾转轴12外部。具体地，倾转轴12可以由碳纤维管制成，以提高倾转轴12的强度以及减小其结构重量。
本发明实施例提供的无人机，通过将倾转机构的本体设置为包括驱动器和倾转轴，且驱动器的输出端通过主动带轮、从动带轮和同步带与倾转轴进行传动连接，实现了倾转轴与驱动器的输出端同步转动，使得驱动器输出端所能转动到的角度范围，即为倾转轴所转动的角度范围，从而避免了倾转机构的倾转角度范围受到限制，满足了倾转旋翼无人机的飞行需求，使用更方便。而且，通过在本体上设置第一插接部和第一定位部，以及在机身上设置第二插接部和第二定位部，实现了当需要将倾转机构组装在机身上时，只需将第一插接部和第二插接部插合连接，以及将第一定位部和第二定位部进行配合连接以阻止第一插接部和第二插接部之间产生相对运动，即可实现倾转机构与机身的组装连接；当需要将倾转机构从机身上拆卸下来时，只需将第一定位部和第二定位部分离，以及将第一插接部和第二插接部分离，即可实现倾转机构与机身的拆卸分离，操作简单方便，提高了倾转机构与机身之间的拆装效率。
在一些示例中，倾转机构还可以包括调节部，该调节部用于调节同步带122的涨紧度，以保证倾转轴12与驱动器11输出轴的同步转动。
其中，调节部的结构形式可以有多种，只要可以实现对同步带122的松紧度进行调节即可，在一些示例中，参见图3，本体1还可以包括外壳13； 调节部具体可以包括调节螺栓14、锁止件和设置于外壳13上的调节螺纹孔15；其中，调节螺纹孔15的延伸方向可以与同步带122的传动方向平行；调节螺栓14可以螺纹连接于调节螺纹孔15内且与驱动器11连接，调节螺栓14可以用于旋入或旋出调节螺纹孔15以带动驱动器11向靠近或远离从动带轮121的方向移动；锁止件用于将移动后的驱动器11固定于外壳13。在需要调节同步带122的涨紧度时，操作人员可以首先将锁止件打开，以使得驱动器11可以进行移动，然后旋拧调节螺栓14以使其旋入或旋出调节螺纹孔15，以使得驱动器11向靠近或远离从动带轮121的方向移动，从而调节主动带轮111和从动带轮121之间的距离，进而调节同步带122的涨紧度，待同步带122的涨紧度调整完毕后，可以利用锁止件将驱动器11固定在外壳13上，操作完毕，结构简单，易于实现。
在一些示例中，该外壳13可以包括上固定板131和与上固定板131相对的下固定板132，且在上述的倾转轴12相应轴承外部可以套接有连接板133，上述的轴承限位环124位于相应连接板133的外侧，而上固定板131和下固定板132的一端通过该连接板133连接，第一插接部2可以设置在下固定板132的表面。
其中，锁止件的结构形式亦可以有多种，只要可以实现将移动后的驱动器11固定在外壳13上即可。
在一些示例中，参见图3和图4,在外壳13内可以设置有与驱动器11连接的机架16；锁止件可以包括锁止螺栓，外壳13上设置有锁止通孔1321，机架16上设置有锁止螺纹孔161；锁止通孔1321可以为腰型孔且其延伸方向与调节螺纹孔15的延伸方向相同；锁止螺栓可以穿过锁止通孔1321与锁止螺纹孔161螺纹连接，用于将机架16固定于外壳13，以使驱动器11通过机架16固定于外壳13。在需要调节同步带122的涨紧度时，可以旋松锁止螺栓，以使得驱动器11可以进行移动，然后旋拧调节螺栓14以调节主动带轮111和从动带轮121之间的距离，从而调节同步带122的涨紧度，待同步带122的涨紧度调整完毕后，可以旋紧锁止螺栓，以使得机架16固定在外壳13上，进而使得驱动机固定于外壳13，结构简单，易于实现。而且，在旋拧调节螺栓14的过程中，处于不完全拧紧状态的锁止螺栓会随着机架16的移动而在锁止通孔1321内进行移动，在此过程中，锁止通孔1321可以为驱动器11和机架16的移动起到导向作用，以便于同步带122涨紧度的调节。
为了保证驱动器11与外壳13之间连接的稳固性，在一些示例中，锁止通孔1321的数量可以为多个，机架16上锁止螺纹孔161的数量也可以相应为多个。
此外，在一些示例中，机架16用于安装舵机，主动带轮可以通过塞打螺钉112径向穿过舵机轴承和机架16固定在舵机上。
在一些示例中，前述的调节螺栓14可以与机架16连接，即驱动器11 通过机架16与调节螺栓14进行连接。
在一些示例中，参见图1和图3，本体1上还可以设置有与驱动器11电连接的第一电性插接头5；机身3上还可以设置有能够与外部电器模块电连接的第二电性插接头31，第二电性插接头31与第一电性插接头5可插拔地电性插合连接；第一电性插接头5和第二电性插接头31的插接方向与第一插接部2和第二插接部4的插接方向相同；第一插接部2和第二插接部4相互插合时，第一电性插接头5和第二电性插接头31相互插合；第一插接部2和第二插接部4相互分离时，第一电性插接头5和第二电性插接头31相互分离。其中，外部电器模块可以为飞控系统。
需要说明的是，上述外部电器模块还可以是可搭载在无人机上的电源系统、通信系统或成像、喷淋、喊话、投放等多种载荷系统，在此不做限定。
根据上述实施例，当组装倾转机构与机身3时，在将第一插接部2与第二插接部4插接完毕后，第一电性插接头5与第二电性插接头31即可插接完毕，从而实现了驱动器11与飞控系统的电连接，而且，通过第一定位部和第二定位部地配合连接，还可以保证第一电性插接头5与第二电性插接头31不会发生相对移动，从而保证二者之间的可靠电连接；同样地，当拆卸倾转机构与机身3时，在将第一定位部和第二定位部分离后，再将第一插接部2和第二插接部4分离，第一电性插接头5与第二电性插接头31即可相分离，从而实现了舵机与飞控系统的断开，也就是说，这样的结构设计，实现了在倾转机构与机身3安装或拆卸的过程中即可完成驱动器11与飞控系统之间的电连接或断开，不必再另行连接舵机与飞控系统，使得倾转机构的舵机与机身3的飞控系统之间的连接或断开同样更加简单方便，进一步提高了倾转机构与机身3之间的拆装效率。具体地，第一电性插接头5和第二电性插接头31均可以为航空插头，且第一电性插接头5可以为航插母头，第二电性插接头31可以为航插公头，而第一电性插接头5可以设置在上述的下固定板132表面。
需要说明的是，第一插接部2和第二插接部4的结构形式可以有多种，只要可以实现二者之间的插合连接即可。
在一些示例中，参见图1，第一插接部2可以包括设置于本体1且与本体1的表面相平行的第一插接柱21；第二插接部4可以包括设置于机身3且沿与第一插接柱21相平行的方向延伸的第一插接孔41；第一插接柱21插合连接于第一插接孔41内。
在一些示例中，第一插接部2和第二插接部4可以在机身3表面上，例如，可以为机身3的机翼部位表面安装一表面设置有贯通其两端面的插槽的第一卡块32，该第一卡块32扣合连接于机身3的表面，使得其上的插槽与机身3表面形成第一插接孔41，在上述下固定板132的表面可以安装有第一插块1322，该第一插块1322上可以设置有L形插接臂，该插接臂上与本体 1表面平行的部分形成第一插接柱21，当组装倾转机构时，可以移动倾转机构使其上的第一插接柱21插入机身3的第一插接孔41内，直到第一插块1322上的相应部位与第一卡块32上的相应部位相抵接，第一插接柱21与第一插接孔41插接到位，即可实现第一插接部2与第二插接部4的插合连接，结构简单，操作方便，且不会对机身3造成损伤。
在一些示例中，第一插接柱21的数量可以为两个或两个以上，而第一插块1322上的插槽数量亦可以为两个或两个以上。
在一些示例中，参见图1，第一插接部2还可以包括设置于本体1，并与第一插接柱21相平行且与第一插接柱21延伸方向相同的第二插接柱22；第二插接部4还包括设置于机身3且沿与第二插接柱22相平行的方向延伸的第二插接孔42；第二插接柱22插合连接于第二插接孔42内。其中，该第二插接柱22与第一插接柱21可以分别位于下固定板132的表面两侧，相应地，该第二插接孔42与第一插接孔41可以分别位于机身3上相应表面的两侧，以进一步提高倾转机构与机身3的组装稳固性。
在一些示例中，可以在机身3上设置表面设置有贯通其两端面的插槽的第二卡块33，该第二卡块33扣合连接于机身3的表面，使得其上的插槽与机身3表面形成第二插接孔42，在下固定板132的表面可以安装有第二插块，该第二插块上可以设置有L形插接臂，该插接臂上与本体1表面平行的部分形成第二插接柱22，当组装倾转机构时，可以移动倾转机构使其上的第一插接柱21和第二插接柱22依次分别插入机身3的第一插接孔41和第二插接孔42内，直到第二插块上的相应部位与第二卡块33上的相应部位相抵接，第二插接柱22与第二插接孔42插接到位，即可实现第一插接部2与第二插接部4的插合连接，结构简单，操作方便，且不会对机身3造成损伤。
在一些示例中，第一插接柱21与第二插接柱22的长度可以相等，以保证第一插接柱21与第一插接孔41插接到位时，第二插接柱22与第二插接孔42亦可以插接到位。
需要说明的是，第一定位部和第二定位部的结构形式可以有多种，只要可以实现二者之间的可拆卸配合连接即可。
在一些示例中，参见图1和图3，第一定位部可以包括设置于本体1的定位卡座6，该定位卡座6包括卡座本体61和与卡座本体61弹性连接的定位销62；第二定位部可以包括设置于机身3的第三插接孔341；定位销62相对卡座本体61移动时，定位销62脱离第三插接孔341；定位销62复位时，插设于第三插接孔341。当拆卸倾转机构时，可以向定位销62施加外力以将定位销62拔离第三插接孔341，使得第一定位部与第二定位部分离，再移动倾转机构，使得第一插接部2与第二插接部4分离，从而实现倾转机构的拆卸；当组装倾转机构时，可以首先向定位销62施加外力以保证其不会插入第三插接孔341，然后移动倾转机构以使第一插接部2与第二插接部4插合 连接，待第一插接部2与第二插接部4插接到位后，撤除向定位销62施加的外力以使定位销62复位，使得定位销62插入第三插接孔341内，从而实现倾转机构的组装。
在一些示例中，可以在机身3上设置表面设置有贯通其两端面的插槽的第三卡块34，第三插接孔341可以设置在该第三卡块34上，且定位卡座6可以设置在本体11的一侧，具体可以连接上固定板131和下固定板132的另一端，结构简单，操作方便，且不会对机身3造成损伤。
需要说明的是，在一些示例中，参见图1，为了使得倾转机构的结构更加简单紧凑，前述的第二插块可以与卡座本体61为同一部件，也就是说，卡座本体61的端部可以设计呈L形从而形成L形插接臂，该插接臂上与下固定板132平行的部分形成前述的第二插接柱22。此外，前述的调节螺纹孔15可以设置在卡座本体61上。
在一些示例中，参见图1，为了保证机身3与倾转机构之间的连接强度，前述的第二电性插接头31、第一卡块32、第二卡块33以及第三卡块34均可以通过垫设于机身3壳体内部的连接垫板35与机身3壳体连接，即连接垫板35垫设在机身3壳体内表面，然后将紧固件依次穿过连接垫板35和机身3壳体分别与第二电性插接头31、第一卡块32、第二卡块33以及第三卡块34连接，保证了机身3与倾转机构之间的连接强度。
在一些示例中，为了进一步便于机身3与倾转机构之间的拆装，可以将第一插块1322、第一电性插接头5和定位卡座6设置在本体1的同一表面，具体为均设置在下固定板132表面，且第一电性插接头5可以位于第一插块1322和定位卡座6之间，相应地，第二电性插接头31、第一卡块32、第二卡块33以及第三卡块34可以设置在机身3壳体的用一表面上的相应位置。
在一些示例中，参见图3、图5和图6，并结合图1，在卡座本体61上可以设置有容置槽611，该容置槽611内可以设置有弹性件612，卡座本体61的端部可以设置有与容置槽611连通的通孔613；定位销62的一侧设置有凸台621，定位销62的一端插设于通孔613，定位销62通过凸台621与弹性件612相抵接；定位销62相对卡座本体61移动时，定位销62通过凸台621压缩所述弹性件612，定位销62的一端缩入通孔613内，定位销62脱离第三插接孔341；定位销62在弹性件612的弹力作用下复位时，定位销62的一端显露于通孔613，定位销62的一端插设于第三插接孔341。
在一些示例中，弹性件612可以为圆柱弹簧，且在容置槽611的侧壁上可以螺纹连接一螺钉614，使得弹性件612套接在螺钉614的外部并可相对螺钉614进行压缩或拉伸，而定位销62的整体可以呈Z形，其转折处形成凸台621，该定位销62的一端插设在通孔613内，转折处卡接于弹簧的端部。
在一些示例中，为了便于定位销62的控制，可以在定位销62的另一端设置与其一体垂直连接的推板622，这样便实现了当用户推动该推板622， 使定位销62通过凸台621压缩弹簧并克服弹簧的弹性力使得定位销62的一端缩入通孔613内，从而使得定位销62脱离第三插接孔341，进而实现第一定位部和第二定位部的分力；当用户放开该推板622，使定位销62在弹簧的弹性力作用下复位以使定位销62的一端从通孔613中显露，从而使得定位销62插入第三插接孔341，进而实现第一定位部和第二定位部的配合连接，结构简单，实现可靠。
在一些示例中，参见图1和图5，在定位销62一端的端部可以设置有倾斜面623；第三插接孔341的轮廓形状可以与定位销62一端端部的轮廓形状相适配。通过定位销62上倾斜面623的设置，同时将第三插接孔341的轮廓形状设计为与定位销62端部的轮廓形状相适配，实现了在定位销62与第三插接孔341没有完全插接牢靠时，定位销62会因无人机运行而产生的震动作用而通过该倾斜面623顺利地滑入第三插接孔341，使得定位销62与第三插接孔341插接牢靠，进一步保证了倾转机构与机身3之间的组装稳固性。
如图2和图3所示，本发明实施例还提供了一种倾转机构，包括本体1，该本体1包括驱动器11和倾转轴12，驱动器11的输出轴连接有主动带轮111，倾转轴12上连接有从动带轮121，主动带轮111和从动带轮121通过同步带122传动连接，本体1上设置有第一插接部2和第一定位部。
需要说明的是，本实施例中所涉及的倾转机构可采用上述实施例无人机中所描述的倾转机构结构，具体的实现和工作原理可参见上述实施例中的相应内容，此处不再赘述。
本发明实施例提供的倾转机构，通过将本体设置为包括驱动器和倾转轴，且驱动器的输出端通过主动带轮、从动带轮和同步带与倾转轴进行传动连接，实现了倾转轴与驱动器的输出端同步转动，使得驱动器输出端所能转动到的角度范围，即为倾转轴所转动的角度范围，从而避免了倾转机构的倾转角度范围受到限制，满足了倾转旋翼无人机的飞行需求，使用更方便。而且，通过在本体上设置第一插接部和第一定位部，以及在机身上设置第二插接部和第二定位部，实现了当需要将倾转机构组装在机身上时，只需将第一插接部和第二插接部插合连接，以及将第一定位部和第二定位部进行配合连接以阻止第一插接部和第二插接部之间产生相对运动，即可实现倾转机构与机身的组装连接；当需要将倾转机构从机身上拆卸下来时，只需将第一定位部和第二定位部分离，以及将第一插接部和第二插接部分离，即可实现倾转机构与机身的拆卸分离，操作简单方便，提高了倾转机构与机身之间的拆装效率。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (10)

  1. 一种无人机，其特征在于，包括：
    倾转机构，所述倾转机构包括本体和设置于所述本体的第一插接部和第一定位部，所述本体包括驱动器和倾转轴，所述驱动器的输出轴连接有主动带轮，所述倾转轴上连接有从动带轮，所述主动带轮和所述从动带轮通过同步带传动连接；
    机身，所述机身上设置有第二插接部和第二定位部，所述第一插接部和所述第二插接部可插拔地插合连接，所述第一定位部和所述第二定位部可拆卸地配合连接以阻止所述第一插接部和所述第二插接部之间产生相对运动。
  2. 根据权利要求1所述的无人机，其特征在于，
    所述倾转机构还包括调节部，所述调节部用于调节所述同步带的涨紧度。
  3. 根据权利要求2所述的无人机，其特征在于，
    所述本体还包括外壳；
    所述调节部包括调节螺栓、锁止件和设置于所述外壳上的调节螺纹孔；
    所述调节螺纹孔的延伸方向与所述同步带的传动方向平行；
    所述调节螺栓螺纹连接于所述调节螺纹孔内且与所述驱动器连接，所述调节螺栓用于旋入或旋出所述调节螺纹孔以带动所述驱动器向靠近或远离所述从动带轮的方向移动；
    所述锁止件用于将所述驱动器固定于所述外壳。
  4. 根据权利要求3所述的无人机，其特征在于，
    所述外壳内设置有与所述驱动器连接的机架；
    所述锁止件包括锁止螺栓，所述外壳上设置有锁止通孔，所述机架上设置有锁止螺纹孔；
    所述锁止螺栓穿过所述锁止通孔与所述锁止螺纹孔螺纹连接，用于将所述机架固定于所述外壳，以使所述驱动器通过所述机架固定于所述外壳。
  5. 根据权利要求1至4中任一项所述的无人机，其特征在于，
    所述本体上还设置有与所述驱动器电连接的第一电性插接头；
    所述机身上还设置有能够与外部电器模块电连接的第二电性插接头，所述第二电性插接头与所述第一电性插接头可插拔地电性插合连接；
    所述第一电性插接头和所述第二电性插接头的插接方向与所述第一插接部和所述第二插接部的插接方向相同；所述第一插接部和所述第二插接部相互插合时，所述第一电性插接头和所述第二电性插接头相互插合；所述第一插接部和所述第二插接部相互分离时，所述第一电性插接头和所述第二电 性插接头相互分离。
  6. 根据权利要求1至4中任一项所述的无人机，其特征在于，
    所述第一插接部包括设置于所述本体且与所述本体的表面相平行的第一插接柱；
    所述第二插接部包括设置于所述机身且沿与所述第一插接柱相平行的方向延伸的第一插接孔；
    所述第一插接柱插合连接于所述第一插接孔内。
  7. 根据权利要求6所述的无人机，其特征在于，
    所述第一插接部还包括设置于所述本体，并与所述第一插接柱相平行且与所述第一插接柱延伸方向相同的第二插接柱；
    所述第二插接部还包括设置于所述机身且沿与所述第二插接柱相平行的方向延伸的第二插接孔；
    所述第二插接柱插合连接于所述第二插接孔内。
  8. 根据权利要求1至7中任一项所述的无人机，其特征在于，
    所述第一定位部包括设置于所述本体的定位卡座，所述定位卡座包括卡座本体和与所述卡座本体弹性连接的定位销；
    所述第二定位部包括设置于所述机身的第三插接孔；
    所述定位销相对所述卡座本体移动时，所述定位销脱离所述第三插接孔；所述定位销复位时，所述定位销插设于所述第三插接孔。
  9. 根据权利要求8所述的无人机，其特征在于，
    所述卡座本体上设置有容置槽，所述容置槽内设置有弹性件，所述卡座本体的端部设置有与所述容置槽连通的通孔；
    所述定位销的一侧设置有凸台，所述定位销的一端插设于所述通孔，所述定位销通过所述凸台与所述弹性件相抵接；
    所述定位销相对所述卡座本体移动时，所述定位销通过所述凸台压缩所述弹性件，所述定位销的一端缩入所述通孔内，所述定位销脱离所述第三插接孔；
    所述定位销在所述弹性件的弹力作用下复位时，所述定位销的一端显露于所述通孔，所述定位销的一端插设于所述第三插接孔。
  10. 一种倾转机构，用于无人机，其特征在于，所述倾转机构为权利要求1至9中任一项所述的无人机中的倾转机构。
PCT/CN2019/075083 2018-09-26 2019-02-14 无人机及倾转机构 WO2020062758A1 (zh)

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CN109131871B (zh) * 2018-09-26 2019-12-31 沈阳无距科技有限公司 无人机及倾转机构
CN110576964A (zh) * 2019-09-24 2019-12-17 中国人民解放军战略支援部队航天工程大学 一种用于四轴无人机的旋翼倾转装置
CN112265633B (zh) * 2020-12-28 2021-04-16 尚良仲毅(沈阳)高新科技有限公司 多旋翼无人机及其驱动装置

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