WO2020133834A1 - 用于无人机的机架及无人机 - Google Patents

用于无人机的机架及无人机 Download PDF

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Publication number
WO2020133834A1
WO2020133834A1 PCT/CN2019/083654 CN2019083654W WO2020133834A1 WO 2020133834 A1 WO2020133834 A1 WO 2020133834A1 CN 2019083654 W CN2019083654 W CN 2019083654W WO 2020133834 A1 WO2020133834 A1 WO 2020133834A1
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WO
WIPO (PCT)
Prior art keywords
fuselage
folding
cabin
mounting
shell
Prior art date
Application number
PCT/CN2019/083654
Other languages
English (en)
French (fr)
Inventor
尹亮亮
林能涛
王飞
张羽
Original Assignee
拓攻（南京）机器人有限公司
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 拓攻（南京）机器人有限公司 filed Critical 拓攻（南京）机器人有限公司
Publication of WO2020133834A1 publication Critical patent/WO2020133834A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
    • B64C1/068—Fuselage sections
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
    • B64C1/068—Fuselage sections
    • B64C1/069—Joining arrangements therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like

Definitions

  • the present application relates to the technical field of unmanned aerial vehicles, in particular to a rack for unmanned aerial vehicles and unmanned aerial vehicles.
  • UAV is an unmanned aerial vehicle operated by radio remote control equipment or its own program control device.
  • radio remote control equipment or its own program control device.
  • more and more unmanned aerial vehicles are used in agriculture, forestry, power, surveying and telemetry and other industries.
  • the frame of the drone includes a fuselage and electronic components installed in the fuselage.
  • the electronic components include a flight controller, an image transmission module, and a differential module.
  • Each electronic component is integrated in a layered fuselage. Two circuit boards.
  • this application provides a rack and a drone for a drone.
  • an embodiment of the present application provides a rack for a drone, including a fuselage, the fuselage includes an upper shell and a lower shell adapted to the upper shell, the upper shell and The lower shell is fixedly connected to each other after being connected up and down, and an accommodation space is formed between the upper shell and the lower shell; the lower shell is provided with a first cabin and a second cabin, the first cabin and the second cabin The hatches of the body are respectively sealed and connected with hatches.
  • the rack provided in this application is provided with a first cabin and a second cabin in the lower shell of the fuselage, the hatches of the two cabins are opened at the bottom of the lower shell, and each cabin is equipped with a flight control function element or a circuit board , Install relevant electronic components in the accommodating space, such as flight controller and another circuit board; when the electronic components need to be repaired, there is no need to remove the entire fuselage, for example, if the electronic components in the cabin are damaged, only the corresponding hatch cover needs to be removed , To repair the electronic components inside the hatch cover; if the electronic components in the accommodating space are damaged, only the upper shell needs to be removed, and the maintenance is convenient and fast.
  • the rack further includes an upper fixing plate, a lower fixing plate, a bracket and four arms disposed around the body in parallel, and the bracket is supported on the upper fixing plate 1.
  • the arm Between the lower fixing plates; the arm includes a square tubular head that extends into the fuselage and is fixed between the upper fixing plate and the lower fixing plate.
  • a GPS is installed on the upper fixing plate through a rubber connector, and the GPS is provided with a ring outer edge; the rubber connector includes a shock absorbing portion, an upper stop portion and a lower stop portion, the The damping part and the upper stop part and the lower stop part are respectively provided with mounting card positions; the upper stop part and the lower stop part pass through the outer edges and the mounting holes on the upper fixing plate respectively, and the corresponding mounting cards are installed The positions are respectively clamped on the outer edge and the upper fixing plate.
  • the arm further includes a main arm, an extension arm, and a folding mechanism, one end of the main arm is integrally connected to the square tubular head, and the other end is folded and connected to the extension arm through the folding mechanism .
  • the folding mechanism includes a first folding member, a second folding member, and a sleeve, and the second folding member rotates and folds relative to the first folding member; the first folding member and the second folding member rotate After docking, a complete cylinder is formed, and the sleeve is tightly sleeved on the first folding member and the second folding member; the first folding member is provided with a first half screw thread on the outer wall, and the second folding A second half screw thread is provided on the outer wall of the piece, the first half screw thread and the second half screw thread form a full circle of threads, and the inner wall of the sleeve is provided with an internal thread corresponding to the full circle of threads.
  • a plurality of first connecting posts protrude from the inner wall of the upper case, a first connecting hole is provided in the first connecting post, and a plurality of first connecting posts protrude from the inner wall of the lower case
  • the connection piece is fixedly connected.
  • two opposite sides of the lower shell are respectively provided with an air inlet and an air outlet.
  • the landing gear also includes a landing gear supported on the bottom of the fuselage, the landing gear includes at least two side frames, the side frames include two parallel support frames for fixing the support frame to the fuselage Mounting piece and connecting rod connecting two supporting frames;
  • the mounting piece includes a mounting plate fixedly connected with the fuselage and a first pipe clamp fixedly connected with the mounting plate, the first pipe clamp is used for clamping Fixing the support frame; one end of the first pipe clamp is connected to the fuselage through the mounting plate, and the other end is used for inserting and fixing the support frame; the plane where the mounting plate is located and the first pipe clamp The centerline of is vertical, and the mounting plate includes an extension that extends beyond the outer wall of the first tube clamp in a direction perpendicular to the centerline of the first tube clamp.
  • an embodiment of the present application provides a drone, including the above-mentioned rack, and a second circuit board and a flight controller are fixed in the accommodating space formed between the upper shell and the lower shell.
  • a flight control function module is installed in the first cabin, and a first circuit board is installed in the second cabin.
  • the landing gear includes at least two side frames.
  • the side frames include two parallel support frames and two connecting frames. Connecting rods of two supporting frames, the two ends of the connecting rods are respectively connected to the two supporting frames; the connecting rods are provided with a first fixing part, and the first fixing part is arranged on the medicine through the first connecting piece The second fixing part on the box is connected.
  • the adoption of the above technical solution includes the following beneficial effects:
  • the rack for a drone provided in this application is provided with two cabins in the lower shell of the fuselage, and the accommodating space is provided in the fuselage to accommodate the space And the two cabins are equipped with flight control function components and circuit boards, etc.
  • the rack for a drone provided in this application is provided with two cabins in the lower shell of the fuselage, and the accommodating space is provided in the fuselage to accommodate the space
  • the two cabins are equipped with flight control function components and circuit boards, etc.
  • FIG. 1 is a schematic structural diagram of a drone provided by an embodiment of this application.
  • FIG. 2 is a schematic diagram of a separated structure of a drone fuselage provided by an embodiment of this application;
  • FIG. 3 is a cross-sectional view of a drone fuselage provided by an embodiment of this application.
  • FIG. 4 is a schematic diagram of an internal structure of a lower case of a fuselage provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of the installation structure of a fuselage lower case and a flight control functional element provided by an embodiment of this application;
  • FIG. 6 is a schematic diagram of an installation structure of a GPS and an upper fixing plate provided by an embodiment of this application;
  • FIG. 7 is a schematic structural diagram of a rubber connector provided by an embodiment of the present application.
  • FIG. 8 is a schematic diagram of the installation structure of a medicine box and a landing gear provided by an embodiment of the present application
  • FIG. 9 is a partial schematic view at A in FIG. 8.
  • FIG. 10 is a partial schematic diagram at B of FIG. 8;
  • FIG. 11 is a partial structural diagram of a landing gear provided by an embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of another part of a landing gear provided by an embodiment of the present application.
  • FIG. 13 is a schematic structural diagram of a folding mechanism provided by an embodiment of the application.
  • FIG. 14 is a schematic diagram of a separate structure of a folding mechanism provided by an embodiment of the present application.
  • FIG. 15 is a schematic structural diagram of a first folding member in a folding mechanism provided by an embodiment of the present application.
  • This embodiment provides a drone.
  • the rack includes a fuselage 1.
  • the fuselage 1 includes an upper shell 1.1 and an adaptor adapted to the upper shell 1.1.
  • the lower shell 1.2, the upper shell 1.1 and the lower shell 1.2 are fixedly connected to each other after being butted up and down, and the inner wall of the upper shell 1.1 protrudes a plurality of first connection posts, and the first connection posts are provided with first connection holes, A plurality of second connection posts 1.26 corresponding to the positions of the first connection posts protrude from the inner wall of the lower case 1.2, a second connection hole is provided in the second connection posts 1.26, the upper case 1.1 and the lower
  • the shell 1.2 is fixedly connected by a connecting piece that is sequentially penetrated in the first connecting hole and the second connecting hole from the top of the upper shell 1.1.
  • the connecting piece may be a long bolt.
  • the inner wall of the upper shell 1.1 is provided with six first connecting posts
  • the inner wall of the lower shell 1.2 is provided with six second connecting posts 1.26
  • the upper shell 1.1 and the lower shell 1.2 are butted up and down
  • the first connecting column and the second connecting column at the corresponding positions in 1.1 and the lower shell 1.2 are butted against each other and fixedly connected by a connecting piece.
  • the fixing method between the upper shell 1.1 and the lower shell 1.2 strengthens the overall strength of the fuselage 1, And disassembly and processing are more convenient.
  • a storage space is formed between the upper shell 1.1 and the lower shell 1.2; the lower shell 1.2 is provided with a first cabin 1.21 and a second cabin 1.22, the hatches of the first cabin 1.21 and the second cabin 1.22 are respectively There is a hatch door 1.23 for sealing connection. Specifically, the hatch door 1.23 can be sealed and connected to the hatch by connecting parts such as screws, screws or bolts.
  • the hatches of the two cabins are opened at the bottom of the lower shell 1.2, and each cabin is equipped with a flight control function element or a circuit board.
  • the first cabin 1.21 is provided with a hatch at the bottom of the lower shell 1.2, and the first cabin 1.21 and the accommodating space are separated by a bottom plate, a differential module 10 is installed in the first compartment 1.21, and the differential module 10 is fixed on the bottom plate; the interior of the second compartment 1.22 communicates with the accommodating space, and the inner wall of the second compartment 1.22 There is a fixed column protruding, and a first circuit board 9 is provided in the second compartment 1.22.
  • the first circuit board 9 can be a breakout board, and the breakout board is installed on the fixed post through a connector, a differential module 10, and a picture transmission module 11 and the flight controller 8 are connected to the breakout board through wires, which can reduce the internal wiring connection of the fuselage and facilitate the assembly and maintenance of each electronic component in the fuselage 1.
  • the electronic components or circuit boards in the first cabin 1.21 or the second cabin 1.22 need to be repaired, only the cabin door 1.23 needs to be dismantled, without removing each part of the fuselage 1 from top to bottom, which simplifies The disassembly and assembly process facilitates maintenance and avoids damage to electronic components.
  • the fuselage 1 provided in this embodiment further includes an upper fixing plate 1.3 and a lower plate which are arranged in parallel in the fuselage A fixed plate 1.4, a bracket 1.5 and four arms 2 spaced around the fuselage 1, the bracket 1.5 is I-shaped, and the bracket 1.5 is supported between the upper fixed plate 1.3 and the lower fixed plate 1.4;
  • the arm 2 includes a square tubular head 2.1 that extends into the fuselage 1 and is fixed between the upper fixed plate 1.3 and the lower fixed plate 1.4.
  • the square tubular heads 2.1 of the four arms 2 enclose an installation space in the accommodating space for the second circuit board 7 to be fixed, and the second circuit board 7 is fixedly mounted on the support member fixedly connected to the lower fixing plate 1.4 through the bottom.
  • the second circuit board 7 is a power distribution board, which is connected between the external battery and each electronic component, and the external battery supplies power to each electronic component through the power distribution board; there is also an installation place between the upper fixed plate 1.3 and the lower fixed plate 1.4
  • the installation position of the flight controller 8 makes full use of the accommodation space, the overall layout in the fuselage 1 is reasonable and compact, and the arm 2 with a square tubular head 2.1 makes the installation of the arm 2 more convenient and faster , Simplify the structure and facilitate disassembly.
  • the GPS Global Positioning System
  • the GPS is exposed to the external environment for a long time, which is not only easily eroded by rain, damaged by foreign objects, but also without The vibration generated during the man-machine flight will affect the GPS accuracy.
  • FIGS. 1-10 In order to overcome the above-mentioned defects in this embodiment, referring to FIGS.
  • a GPS 5 is installed on the upper fixing plate 1.3 through a rubber connector 6, and the GPS 5 is provided with a circle of outer edges 5.1;
  • the rubber connector 6 includes shock absorbers Part 6.3, the upper stop 6.1 and the lower stop 6.2, the damping part 6.3 and the upper stop 6.1, the lower stop 6.2 are provided with an installation position 6.4;
  • the GPS 5 is fixed on the upper fixing plate 1.3 through the rubber connecting piece 6, the upper stop portion 6.1 and the lower stop portion 6.2 are extruded into the mounting holes on the GPS and the upper fixing plate 1.3, respectively, wherein the outer edge 5.1 is stuck at The mounting clip 6.4 between the shock absorber 6.3 and the upper stop 6.1, and the lower fixing plate 1.4 are clamped at the installation clip 6.4 between the shock absorber 6.3 and the lower stop 6.2.
  • the rubber connecting piece 6 has a good shock absorption effect on the GPS 5 and avoids the GPS 5 being affected by the vibration generated during the flight of the drone.
  • the related art one-line folding arm includes two sub-arms, where the two sub-arms are connected, one side is rotationally connected, and the other side is fixedly connected by a connecting piece.
  • the one-fold folding arm needs to be folded, it will be connected After the parts are removed, the two sub-arms rotate and fold; the folding structure of the in-line folding arm is unstable and prone to breakage.
  • the arm provided in this embodiment further includes a main arm 2.2, an extension arm 2.3, and a folding mechanism 2.4.
  • One end of the main arm 2.2 is integrally connected to the square tubular head 2.1, and the other end of the main arm 2.2 is folded and connected to the extension arm 2.3 through the folding mechanism 2.4.
  • the folding mechanism 2.4 includes a first folding member, a second folding member and a sleeve 2.45, the second folding member is rotated and folded relative to the first folding member; the first folding member After rotating and docking with the second folding member to form a complete cylinder, the sleeve 2.45 is tightly sleeved on the first folding member and the second folding member; the first wall is provided with a first half on the outer wall Threads, a second half thread is provided on the outer wall of the second folding member, the first half thread and the second half thread form a full circle of threads, and the inner wall of the sleeve 2.45 is provided with a thread corresponding to the full circle of threads internal thread.
  • the first folding piece is fixedly connected to the main body arm 2.2, and the second folding piece is connected to the extension arm 2.3.
  • the connection method is not limited and can be glued.
  • the sleeve 2.45 is used for fixedly connecting the rotatably connected first folding piece and the second folding piece.
  • an outer wall of the first folding member extends outwardly with a mounting seat 2.42, a rotating groove 2.44 is provided in the mounting seat 2.42, and one end of the second folding member is rotationally connected in the rotating groove 2.44.
  • the first folding member includes a first tubular portion 2.41, an outer wall of one end of the first tubular portion 2.41 extends outwardly with a first connecting portion 2.43;
  • the second folding member includes a second tubular portion 2.49 and A second connecting portion 2.50 provided outside the second tubular portion 2.49, the first connecting portion 2.43 and the second connecting portion 2.50 are rotated and butted to form a complete cylinder, and the first half screw thread is provided in the first tubular portion
  • the outer wall of the portion 2.41, the second half thread is provided on the outer wall of the second connection portion 2.50.
  • One end of the main arm 2.2 of the UAV is inserted into the first tubular portion 2.41 of the first folding piece, the other end of the main arm 2.2 is connected to the fuselage 1, and one end of the extension arm 2.3 is inserted into the In the second tubular portion 2.49 of the second folding piece, since the main arm 2.2 and the extension arm 2.3 are fixedly connected to the first folding piece and the second folding piece, respectively, the second folding piece rotates relative to the first folding piece, so that the extension arm 2.3 Rotate and fold relative to the host arm 2.2.
  • a rotating portion extends outwardly from one end of the second connecting portion 2.50 and one end of the second connecting portion 2.50 is connected to one end of the second tubular portion 2.49, and the rotating portion is connected to the rotating groove through a rotating shaft.
  • the arm provided in this embodiment is easy to fold, and the folding mechanism 2.4 can realize a 90-degree folding angle between the main arm 2.2 and the extension arm 2.3.
  • the RTK antenna 2.47 is installed on the fuselage, the installation structure is complicated, and the distance between the two RTK antennas is relatively small, which affects the differential accuracy.
  • a fixing seat is provided on the mounting seat of the folding mechanism 2.4, an RTK antenna is fixed on the fixing seat, the fixing seat includes a fixing collar 2.48, and a ring clamping table is provided on the bottom of the RTK antenna.
  • a clamping ring matched with the clamping platform extends inward at the top opening of the fixed collar.
  • the fixing base is sleeved on the RTK antenna by the top of the RTK antenna, the bottom of the fixing base is fixed on the mounting base, and the clamping ring is set on the clamping platform to prevent the RTK antenna from coming out of the fixing sleeve.
  • the outer wall of the bottom of the fixed collar extends outwardly with a boss, and the boss is provided with a mounting hole.
  • the fixed collar is fixed to the mounting seat through a connecting piece penetrated into the mounting hole, and the connecting piece can be a screw, a screw, or a bolt, etc. .
  • the drone includes four folding arms. Two spaced folding arms are optional to install the RTK antenna.
  • the mounting base is provided with a through hole for the signal line at the bottom of the RTK to pass through and fly with the drone.
  • the controller 8 is connected.
  • the folding mechanism 2.4 provided in this embodiment further includes a support member 2.46, the support member is of the " ⁇ " type, and one side surface of the support member Is an arc-shaped surface matching the outer wall of the first folding member, the arc-shaped surface is snapped on the outer wall of the first folding member and fixed on the first folding member by a connecting member; the other of the support member
  • the side is "L” shaped, and the cushion is provided on the other side of the support.
  • the cushion pad may be a rubber pad.
  • the motor in the power unit of the folded arm is placed on the " ⁇ " type support.
  • the " ⁇ " type support supports the motor upwards. The cushion can strengthen the vibration reduction effect of the motor and reduce the transportation process. The probability of being damaged.
  • the two opposite sides of the lower casing 1.2 are respectively provided with an air inlet 1.24 and an air outlet 1.25.
  • the air inlet 1.24 is provided in the direction of the nose, and the air outlet 1.25 is provided in the direction of the tail. The heat is taken out of the fuselage 1, which reduces the failure rate of electronic components and extends the service life.
  • the rack provided in this embodiment further includes a landing gear 4 supported on the bottom of the fuselage 1, the landing gear 4 includes at least two side frames, and the side frames include two parallel support frames 4.1.
  • the mounting piece includes a mounting plate fixedly connected to the fuselage 1 and a mounting plate fixedly connected to the mounting plate
  • a first pipe clamp 4.3, the first pipe clamp 4.3 is used to clamp and fix the support frame 4.1; one end of the first pipe clamp 4.3 is connected to the body 1 through the mounting plate, the first pipe
  • the other end of the clip 4.3 is used for inserting and fixing the support frame 4.1;
  • the plane of the mounting plate is perpendicular to the center line of the first tube clip 4.3, and the mounting plate includes 4.3 The centerline extends perpendicularly to the extension 4.4 beyond the outer wall of the first pipe clamp 4.3.
  • the mounting plate includes an extension portion 4.4, and the support frame 4.1 is connected by the mounting plate, which increases the contact area with the fuselage 1.
  • the support frame 4.1 is clamped and fixed by the first pipe clamp 4.3 integrally connected to the mounting plate and then connected to the fuselage 1, on the one hand, it can strengthen the stability of the support frame 4.1 and the fuselage 1, the other
  • the mounting member can disperse the external force received by the landing gear 4 and reduce damage.
  • the side frame further includes a bottom frame 4.6, the bottom frame 4.6 is connected to the bottom of the side frame, and the two support frames 4.1 of the side frame are respectively connected with The bottom frame is connected; two ends of the bottom frame are sleeved with buffer cushions 4.7. Buffer cushioning cushions are provided at both ends of the chassis to improve the stability of the drone's landing, improve the shock absorption effect, and reduce the external force on the drone when it falls to the ground.
  • the connecting piece is a " ⁇ " shaped three-way pipe 4.8.
  • the " ⁇ " shaped three-way pipe 4.8 is formed by two half pipes facing each other, and the two half pipes facing each other are clamped and fixed by bolts.
  • the support frame 4.1 and the bottom frame 4.6 are fixed by the " ⁇ " three-way pipe 4.8, the two half pipes form a round pipe matching the shape of the arm, the bottom of the support rack is inserted into the round pipe, and the two half pipes are connected It is clamped and fixed by bolts, so that the support frame 4.1 is fixedly connected in the " ⁇ " shaped tee tube, which is convenient for replacement and maintenance.
  • the support frame 4.1 or the bottom frame in the landing gear is damaged, it can be replaced separately without the need for overall replacement, saving costs.
  • the mounting plate is connected to the I-shaped bracket in the fuselage through bolts passing through the fuselage , Bolts are passed through the mounting plate and the fuselage in turn, and then screwed into the I-shaped bracket to increase the strength of the connection between the mounting plate and the fuselage, enhance the ability to withstand external forces, and thus improve the stability of the landing gear support.
  • the mounting plate is provided with two mounting holes, including a first mounting hole 4.9 and a second mounting hole 4.10, the first mounting hole 4.9 is opened on the extension portion 4.4 of the mounting plate, the second The mounting hole 4.10 communicates with the inside of the first pipe clamp 4.3.
  • the mounting plate is connected to the fuselage 1 through two mounting holes.
  • the second mounting hole 4.10 is located inside the first pipe clamp 4.3. Bolts or screws are screwed in from the first pipe clamp 4.3.
  • it is beneficial to the mounting plate and the fuselage 1 The stability of the connection, on the other hand, is conducive to improving aesthetics.
  • the side frame further includes a second connecting rod 4.5, and two ends of the second connecting rod 4.5 are respectively connected to a second pipe clamp 4.11 that clamps and fixes the support frame 4.1; the second The connecting rod 4.5 is located in the middle of the side frame, and two ends of the second connecting rod 4.5 are respectively connected to the two supporting frames 4.1.
  • the two ends of the second link 4.5 are fixedly connected to the support frame 4.1 through the second pipe clamp 4.11, the first link 4.2 and the second link 4.5 can enhance the stability and strength of the overall structure of the side frame and improve The stability during landing is conducive to extending the life of landing gear 4.
  • the drone needs to be equipped with a remote control.
  • the remote control configured for a drone is unique. If stored separately, it is likely to cause Mismatching affects the normal operation of the drone. Therefore, in this embodiment, a structure for mounting a remote controller is provided on the landing gear 4.
  • the second connecting rod 4.5 is provided with two mounting ears 4.12, and the two mounting ears 4.12 are spaced apart from the first Two connecting rods on 4.5. To store the remote control, hang the hook on the remote control directly on the mounting ear 4.12.
  • a magnetic compass needs to be installed on the drone.
  • the magnetic compass is usually installed inside the fuselage, but due to the large number of fuselage parts, the magnetic compass is greatly disturbed.
  • the magnetic compass is mounted on the landing gear, and an installation block is provided on the inner side of the landing gear, and an accommodation groove is provided in the installation block, and a magnetic compass sensor is fixed in the accommodation groove.
  • the magnetic compass sensor is installed on the landing gear, and there is less interference around the magnetic compass sensor, which is beneficial to improve the measurement accuracy.
  • the rack provided in this embodiment further includes a medicine box 3 mounted on the landing gear 4, and a first fixing portion is provided on the second connecting rod 4.5, The first fixing part is connected to the second fixing part provided on the medicine box 3 through a first connecting piece.
  • a first type of connection between the medicine box 3 and the landing gear 4 is provided, the first fixing portion is a first fixing block 4.51 protruding from the second link 4.5
  • the first fixing block 4.51 is provided with a first fixing hole
  • the second fixing portion on the medicine box 3 is a second fixing block 3.1 protruding from the medicine box 3
  • the second fixing block 3.1 is provided with The second fixing hole, the first fixing block 4.51 and the second fixing block 3.1 are fixedly connected by a first connecting piece that is sequentially penetrated through the first fixing hole and the second fixing hole.
  • the medicine box 3 includes a box body. The upper side of the box body extends upward from the medicine injection port 3.2.
  • the medicine injection port 3.2 is located between the two support frames 4.1 of one side frame ,
  • the second fixing block is formed by the bottom wall of the medicine injection port extending downward, the position of the second fixing block corresponds to the position of the first fixing block protruding from the second connecting rod 4.5, the second fixing block and the first fixing block It is fixed and fixed by screwing the first connector, such as bolts.
  • the second connecting rod 4.5 is supported on the bottom wall of the medicine injection port 3.2, and the second connecting rod 4.5 plays a supporting role for the medicine box 3 to avoid the first fixing block due to the heavy weight of the medicine box 3 loaded with the medicine liquid
  • the connection with the second fixing block is not secure. It should be noted that the medicine box 3 and the other side frame can also adopt the above-mentioned connection method.
  • a second type of connection between the medicine box 3 and the landing gear 4 is provided, and the first fixing portion may be an installation boss 4.13 extending inward from the tube clamp, the first The second fixing portion may be a groove 3.3 recessed from the outside of the medicine box 3 to the inside.
  • the medicine box 3 is provided with two grooves, and the mounting boss is fixedly installed in the groove through a connecting member. The setting of the groove can prevent the medicine liquid in the medicine box 3 from oscillating during the flight of the drone and affecting the flight stability of the drone.
  • connection method of the medicine box 3 and the landing gear 4 can be used in combination with the first connection method, that is, one side of the medicine box 3 with a medicine injection port is connected to the landing gear 4 by the first connection method, and the other side
  • the second connection method is used to connect with the landing gear 4.
  • the rack for a drone of the present application is provided with two cabins in the lower shell of the fuselage, and an accommodating space is provided in the fuselage.
  • the accommodating space and the two cabins are respectively equipped with flight control functional elements and For circuit boards, etc., when maintenance is needed, only the corresponding cabin or upper shell needs to be disassembled, which is convenient and quick to disassemble and avoid damage to the electronic components in the fuselage.

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  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

一种用于无人机的机架及无人机，机架包括机身（1），机身包括上壳（1.1）和与上壳相适配的下壳（1.2），上壳和下壳上下对接后相互固定连接，且上壳和下壳之间形成容置空间；下壳设有第一舱体（1.22）和第二舱体（1.23），第一舱体和第二舱体的舱口分别密封连接有舱门。

Description

用于无人机的机架及无人机
本申请要求在2018年12月25日提交中国专利局、申请号为201811585926.6、发明名称为“一种用于无人机的机架及无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及无人机技术领域，具体涉及一种用于无人机的机架及无人机。
背景技术
无人机是一种由无线电遥控设备或自身程序控制装置操纵的无人驾驶飞行器。随着无人机行业的迅速发展，越来越多的无人机被应用到农业、林业、电力、测绘和遥测等行业。
相关技术中，无人机的机架包括机身以及设于机身内的电子元件，电子元件包括飞行控制器、图传模块以及差分模块，各电子元件分别集成于层叠设于机身内的两个电路板上。
发明内容
本申请为了解决上述技术问题，提供了一种用于无人机的机架及无人机。
第一方面，本申请实施例提供了一种用于无人机的机架，包括机身，所述机身包括上壳和与所述上壳相适配的下壳，所述上壳和下壳上下对接后相互固定连接，且所述上壳和下壳之间形成容置空间；所述下壳设有第一舱体和第二舱体，所述第一舱体和第二舱体的舱口分别密封连接有舱门。
本申请所提供的机架，在机身下壳设置了第一舱体和第二舱体，两个舱体的舱口开设在下壳底部，每个舱体内安装有飞控功能元件或者电路板，容置空间内安装相关电子元件，例如飞行控制器和另一电路板；当需要对电子元件维修时，无需对整个机身拆除，例如，若舱体内电子元件损坏，只需要拆除相应舱盖，对舱盖内部电子元件进行维修；如果容置空间内的电子元件损坏，只需要将上壳拆除，维修方便且快捷。
可选的，机架还包括平行设于所述机身内的上固定板、下固定板、支架和四个间隔环绕所述机身设置的机臂，所述支架支撑于所述上固定板、下固定板之间；所述机 臂包括方形管状头部，所述方形管状头部伸入所述机身内且固定在所述上固定板和下固定板之间。
可选的，所述上固定板上通过橡胶连接件安装有GPS，所述GPS上设有一圈外缘；所述橡胶连接件包括减震部，上止挡部和下止挡部，所述减震部与上止挡部、下止挡部之间分别设有安装卡位；所述上止挡部、下止挡部分别穿过外缘、上固定板上的安装孔，相应安装卡位分别卡设于外缘以及上固定板处。
可选的，所述机臂还包括主机臂、分机臂和折叠机构，所述主机臂的一端与所述方形管状头部连接为一体，另一端通过所述折叠机构与所述分机臂折叠连接。
可选的，所述折叠机构包括第一折叠件、第二折叠件和套筒，所述第二折叠件相对所述第一折叠件旋转折叠；所述第一折叠件和第二折叠件旋转对接后形成完整的圆筒，所述套筒旋紧套设于所述第一折叠件、第二折叠件上；所述第一折叠件外壁上设有第一半螺纹，所述第二折叠件外壁上设有第二半螺纹，所述第一半螺纹和第二半螺纹形成整圈螺纹，所述套筒内壁设有与所述整圈螺纹相对应的内螺纹。
可选的，所述上壳内壁凸出有多个第一连接柱，所述第一连接柱内设有第一连接孔，所述下壳内壁凸出有多个与所述第一连接柱位置相对应的第二连接柱，所述第二连接柱内设有第二连接孔，所述上壳和下壳通过由上壳顶部依次穿设于第一连接孔、第二连接孔内的连接件固定连接。
可选的，所述下壳相对的两侧面分别开设有进气口和出气口。
可选的，还包括支撑于所述机身底部的起落架，所述起落架包括至少两个侧架，所述侧架包括两个平行设置的支撑架、用于将支撑架固定于机身的安装件以及连接两个支撑架的连杆；所述安装件包括与机身固定连接的安装板和与所述安装板固定连接的第一管夹，所述第一管夹用于夹持固定所述支撑架；所述第一管夹一端通过所述安装板与所述机身连接，另一端用于供所述支撑架插入固定；所述安装板所在平面与所述第一管夹的中心线垂直，且所述安装板包括沿着与所述第一管夹中心线垂直的方向延伸至所述第一管夹的外壁之外的延伸部。
第二方面，本申请实施例提供了一种无人机，包括上述的机架，所述上壳和下壳之间所形成的容置空间内固定有第二电路板和飞行控制器，所述第一舱体内安装有飞控功能模块，所述第二舱体内安装有第一电路板。
还包括支撑于所述机身底部的起落架以及安装于所述起落架上的药箱，所述起落 架包括至少两个侧架，所述侧架包括两个平行设置的支撑架以及连接两个支撑架的连杆，所述连杆的两端分别连接在两个支撑架上；所述连杆上设有第一固定部，所述第一固定部通过第一连接件与设于药箱上的第二固定部连接。
采用上述技术方案，包括以下有益效果：本申请所提供的用于无人机的机架，在机身的下壳内设有两个舱体，机身内设有容置空间，容置空间以及两个舱体内分别安装飞控功能元件及电路板等，当需要维修时，只需拆卸对应的舱体或者上壳即可，拆装方便且快捷，避免对机身内的电子元件造成损坏。
附图说明
图1为本申请一实施例所提供无人机的结构示意图；
图2为本申请一实施例所提供无人机机身的分离式结构示意图；
图3为本申请一实施例所提供无人机机身的剖视图；
图4为本申请一实施例所提供机身下壳的内部结构示意图；
图5为本申请一实施例所提供机身下壳与飞控功能元件的安装结构示意图；
图6为本申请一实施例所提供GPS与上固定板的安装结构示意图；
图7为本申请一实施例所提供橡胶连接件的结构示意图；
图8为本申请一实施例所提供药箱与起落架的安装结构示意图；
图9为图8中A处局部示意图；
图10为图8中B处局部示意图；
图11为本申请一实施例所提供起落架的部分结构示意图；
图12为本申请一实施例所提供起落架另一部分结构示意图；
图13为本申请一实施例所提供折叠机构的结构示意图；
图14为本申请一实施例所提供折叠机构的分离式结构示意图；
图15为本申请一实施例所提供折叠机构中第一折叠件的结构示意图。
图中：
1、机身；1.1、上壳；1.2、下壳；1.21、第一舱体；1.22、第二舱体；1.23、舱 门；1.24、进气口；1.25、出气口；1.26、第二连接柱；1.3、上固定板；1.4、下固定板；1.5、支架；2、机臂；2.1、方形管状头部；2.2、主机臂；2.3、分机臂；2.4、折叠机构；2.41、第一管状部；2.42、安装座；2.43、第一连接部；2.44、转动槽；2.45、套筒；2.46、支撑件；2.47、RTK天线；2.48、固定套环；2.49、第二管状部；2.50、第二连接部；3、药箱；3.1、第二固定块；3.2、注药口；3.3、凹槽；4、起落架；4.1、支撑架；4.2、第一连杆；4.3、第一管夹；4.4、延伸部；4.5、第二连杆；4.51、第一固定块；4.6、底架；4.7、缓冲减震垫；4.8、“⊥”形三通管；4.9、第一安装孔；4.10、第二安装孔；4.11、第二管夹；4.12、挂耳；4.13、安装凸台；5、GPS；5.1、外缘；6、橡胶连接件；6.1、上止挡部；6.2、下止挡部；6.3、减震部；6.4、安装卡位；7、第二电路板；8、飞行控制器；9、第一电路板；10、差分模块；11、图传模块。
具体实施方式
下面通过具体的实施例并结合附图对本申请实施例做进一步的详细描述。
实施例1：
本实施例提供了一种无人机，参阅图1-5，包括机架，所述机架包括机身1，所述机身1包括上壳1.1和与所述上壳1.1相适配的下壳1.2，所述上壳1.1和下壳1.2上下对接后相互固定连接，所述上壳1.1内壁凸出有多个第一连接柱，所述第一连接柱内设有第一连接孔，所述下壳1.2内壁凸出有多个与所述第一连接柱位置相对应的第二连接柱1.26，所述第二连接柱1.26内设有第二连接孔，所述上壳1.1和下壳1.2通过由上壳1.1顶部依次穿设于第一连接孔、第二连接孔内的连接件固定连接，可选的，连接件可以为长螺栓。本实施例中，可选的，上壳1.1内壁间隔设有六个第一连接柱，下壳1.2内壁间隔设有六个第二连接柱1.26，上壳1.1和下壳1.2上下对接，上壳1.1和下壳1.2中对应位置处的第一连接柱和第二连接柱相互对接，并由连接件固定连接，上壳1.1与下壳1.2之间的固定方式加强了机身1的整体强度，而且拆卸和加工较为方便。
上壳1.1和下壳1.2之间形成容置空间；所述下壳1.2设有第一舱体1.21和第二舱体1.22，所述第一舱体1.21和第二舱体1.22的舱口分别密封连接有舱门1.23，具体地，舱门1.23可以通过螺丝、螺钉或螺栓等连接件密封连接在舱口。两个舱体的舱口开设在下壳1.2底部，每个舱体内安装有飞控功能元件或者电路板，本实施例中，第一舱体1.21在下壳1.2底部设有舱口，第一舱体1.21与容置空间之间由底板相隔， 第一舱体1.21内安装有差分模块10，差分模块10固定在底板上；第二舱体1.22的内部与容置空间相通，第二舱体1.22内壁凸出有固定柱，第二舱体1.22内设有第一电路板9，第一电路板9可以为分线板，分线板通过连接件安装在固定柱上，差分模块10、图传模块11以及飞行控制器8皆通过导线与所述分线板连接，能够减少机身内部线路连接，便于机身1内每个电子元件的组装和维修。当第一舱体1.21或第二舱体1.22内的电子元件或电路板需要维修时，只需对应拆卸舱门1.23即可，无需由上向下拆离机身1的每个部件，简化了拆装过程，便于维修，同时能够避免对电子元件造成损坏。
实施例2：
在实施例1的基础上，为了加强机身1与机臂2之间连接的稳固性，本实施例所提供的机身1还包括平行设于所述机身内的上固定板1.3、下固定板1.4、支架1.5和四个间隔环绕所述机身1设置的机臂2，所述支架1.5为工字型，支架1.5支撑于所述上固定板1.3和下固定板1.4之间；所述机臂2包括方形管状头部2.1，所述方形管状头部2.1伸入所述机身1内且固定在所述上固定板1.3和下固定板1.4之间。四个机臂2的方形管状头部2.1在容置空间内围成供第二电路板7固定的安装位，第二电路板7通过底部固定连接在下固定板1.4上的支撑部件固定安装。第二电路板7为分电板，连接在外部电池与每个电子元件之间，外部电池通过分电板为每个电子元件供电；上固定板1.3和下固定板1.4之间还具有安装所述飞行控制器8的安装位，使得容置空间得到充分利用，机身1内整体布局合理且紧凑，以及，设有方形管状头部2.1的机臂2，使得机臂2安装更加方便且快捷，简化了结构，便于拆装。
相关技术中无人机上的GPS(Global Positioning System，全球定位系统)通常通过支撑组件安装在机身外，GPS长期暴露在外部环境，不仅容易被雨水侵蚀、受到外物碰撞后受损，而且无人机飞行过程中产生的振动会对GPS精度造成影响。本实施例为了克服上述缺陷，参阅图6和7，在所述上固定板1.3上通过橡胶连接件6安装GPS5，所述GPS5上带有一圈外缘5.1；所述橡胶连接件6包括减震部6.3，上止挡部6.1和下止挡部6.2，所述减震部6.3与上止挡部6.1、下止挡部6.2之间分别设有安装卡位6.4；所述上止挡部6.1、下止挡部6.2分别穿过外缘5.1、上固定板1.3上的安装孔，上止挡部6.1和下止挡部6.2对应的安装卡位6.4分别卡设于外缘5.1以及上固定板1.3处。通过橡胶连接件6将GPS5固定在上固定板1.3上，上止挡部6.1和下止挡部6.2分别挤压入GPS以及上固定板1.3上的安装孔内，其中，外缘5.1卡设在减震部6.3与上止挡部6.1之间的安装卡位6.4处，下固定板1.4卡设于减震部6.3与 下止挡部6.2之间的安装卡位6.4处。橡胶连接件6对GPS5起到较好的减震作用，避免GPS5受到无人机飞行过程中所产生振动的影响。
实施例3：
相关技术的一字型折叠机臂，包括两段子机臂，两段子机臂相接处，一侧转动连接，另一侧通过连接件固定连接，需要折叠一字型折叠机臂时，将连接件取下，两段子机臂旋转折叠；一字型折叠式机臂的折叠处结构不稳固，容易发生断裂。
在实施例1和2的基础上，为了便于无人机运输及存储，减小无人机占用面积，本实施例所提供机臂还包括主机臂2.2、分机臂2.3和折叠机构2.4，所述主机臂2.2的一端与所述方形管状头部2.1连接为一体，所述主机臂2.2的另一端通过所述折叠机构2.4与所述分机臂2.3折叠连接。
参阅图13、14和15，所述折叠机构2.4包括第一折叠件、第二折叠件和套筒2.45，所述第二折叠件相对所述第一折叠件旋转折叠；所述第一折叠件和第二折叠件旋转对接后形成完整的圆筒，所述套筒2.45旋紧套设于所述第一折叠件、第二折叠件上；所述第一折叠件外壁上设有第一半螺纹，所述第二折叠件外壁上设有第二半螺纹，所述第一半螺纹和第二半螺纹形成整圈螺纹，所述套筒2.45内壁设有与所述整圈螺纹相对应的内螺纹。
第一折叠件与主机臂2.2固定连接，第二折叠件与分机臂2.3连接，连接方式不限，可以胶接。套筒2.45用于将旋转对接的第一折叠件和第二折叠件固定连接。
可选的，所述第一折叠件外壁向外延伸有安装座2.42，所述安装座2.42内设有转动槽2.44，所述第二折叠件的一端转动连接在所述转动槽2.44内。
可选的，所述第一折叠件包括第一管状部2.41，所述第一管状部2.41的一端外壁向外延伸有第一连接部2.43；所述第二折叠件包括第二管状部2.49和设于第二管状部2.49外侧的第二连接部2.50，所述第一连接部2.43和第二连接部2.50旋转对接后形成完整的圆筒，所述第一半螺纹设于所述第一管状部2.41外壁，所述第二半螺纹设于所述第二连接部2.50外壁。无人机的主机臂2.2的一端插接在所述第一折叠件的第一管状部2.41内，主机臂2.2的另一端与机身1连接，所述分机臂2.3的一端插接在所述第二折叠件的第二管状部2.49内，由于主机臂2.2、分机臂2.3分别与第一折叠件、第二折叠件固定连接，使第二折叠件相对第一折叠件旋转，从而使分机臂2.3相对主机臂2.2旋转折叠。所述第二连接部2.50的一端向外延伸有转动部且第二 连接部2.50的一端与所述第二管状部2.49的一端连接，所述转动部通过转轴转动连接于转动槽内。
本实施例所提供的机臂，折叠方便，通过折叠机构2.4能够实现主机臂2.2与分机臂2.3之间90度折叠角度。相关技术中将RTK天线2.47安装于机身上，安装结构复杂，两个RTK天线之间距离相对较小，影响差分精度。本实施例，在所述折叠机构2.4的安装座上设有固定座，所述固定座上固定有RTK天线，所述固定座包括固定套环2.48，所述RTK天线底部设有一圈卡台，所述固定套环顶部开口处向内延伸有与卡台相配合的卡圈。所述固定座由RTK天线顶部套在所述RTK天线上，固定座底部固定在安装座上，卡圈卡设于卡台上，避免RTK天线由固定套环脱出。固定套环的底部外壁向外延伸有凸台，凸台上设有安装孔，固定套环通过穿设于安装孔内的连接件固定在安装座上，连接件可以为螺丝、螺钉或螺栓等。无人机包括四个折叠机臂，任选两个间隔设置的折叠机臂用以安装RTK天线，安装座上设有通孔以供RTK底部的信号线穿过后与无人机上自带的飞行控制器8连接。
为了避免电机在运输过程中受震动而造成损伤，可选的，本实施例所提供的折叠机构2.4还包括支撑件2.46，所述支撑件为“⊥”型，所述支撑件的一侧表面为与所述第一折叠件外壁相匹配的弧形面，所述弧形面卡接于所述第一折叠件外壁且通过连接件固定于第一折叠件上；所述支撑件的另一侧面为“L”形，支撑件的另一侧面上设有缓冲垫。缓冲垫可以为橡胶垫。折叠后机臂的动力装置中的电机被放置于“⊥”型支撑件上，“⊥”型支撑件对电机起到向上的支撑作用，缓冲垫能够加强对电机的减震效果，降低运输过程中受到损坏的概率。
实施例4：
由于机身1内电子元件在运行过程中会产生较多热量，如果热量不能及时散发出去，会对电子元件造成损坏而影响无人机正常飞行。本实施例中所述下壳1.2相对的两侧面分别开设有进气口1.24和出气口1.25，进气口1.24设置在机头方向，出气口1.25设置在机尾方向，由此通过气体流动将热量带出机身1外，降低了电子元件的故障率，延长了使用寿命。
本实施例中所提供机架还包括支撑于所述机身1底部的起落架4，所述起落架4包括至少两个侧架，所述侧架包括两个平行设置的支撑架4.1、用于将支撑架4.1固定于机身1的安装件以及连接两个支撑架4.1的第一连杆4.2；所述安装件包括与机身1固定连接的安装板和与所述安装板固定连接的第一管夹4.3，所述第一管夹4.3 用于夹持固定所述支撑架4.1；所述第一管夹4.3一端通过所述安装板与所述机身1连接，所述第一管夹4.3的另一端用于供所述支撑架4.1插入固定；所述安装板所在平面与所述第一管夹4.3的中心线垂直，且所述安装板包括沿着与所述第一管夹4.3中心线垂直的方向延伸至所述第一管夹4.3的外壁之外的延伸部4.4。本实施例中，安装板包括延伸部4.4，支撑架4.1通过安装板连接，加大了与机身1的接触面积，当无人机降落与地面碰撞时，能够减小无人机所受到的冲击力；另外，支撑架4.1由与安装板固定连接为一体的第一管夹4.3夹持固定后与机身1连接，一方面能够加强支撑架4.1与机身1连接的稳固性，另一方面在起落架4受到地面冲击力时，安装件能够分散起落架4所受到的外力，减小受损。
可选的，为了提高侧架整体结构的稳定性，所述侧架还包括底架4.6，所述底架4.6连接在侧架底部，所述侧架的两个支撑架4.1分别通过连接件与所述底架连接；所述底架的两端套接有缓冲减震垫4.7。在底架两端设置缓冲减震垫以提高无人机降落的稳定性，提高减震效果，降低降落至地面时无人机所受外力。所述连接件为“⊥”形三通管4.8，所述“⊥”形三通管4.8由两个半管相对接而成，相对接的两个半管通过螺栓夹紧固定。通过“⊥”形三通管4.8将支撑架4.1与底架4.6固定，两个半管形成与机臂形状相配合的整圆管，支撑架底部插入在整圆管内，两个半管对接后通过螺栓夹紧固定，从而将支撑架4.1固定连接在“⊥”形三通管内，便于更换维修。当起落架中的支撑架4.1或者底架损坏时，可以单独更换，无需整体更换，节省了成本。
在本实施例中，为了提高起落架与机身连接结构的稳固性，使得无人机能够平稳着陆，所述安装板通过穿过机身的螺栓与所述机身内的工字型支架连接，螺栓依次穿过安装板、机身后旋紧拧入工字型支架内增加安装板与机身连接的强度，增强承受外力的能力，从而提高起落架支撑的平稳性。
可选的，所述安装板上设有两个安装孔，包括第一安装孔4.9和第二安装孔4.10，所述第一安装孔4.9开设于所述安装板的延伸部4.4上，第二安装孔4.10与所述第一管夹4.3的内部相通。安装板通过两个安装孔与机身1连接，第二安装孔4.10位于第一管夹4.3内部，螺栓或螺丝由第一管夹4.3内部拧入，一方面，有利于安装板与机身1连接的稳固性，另一方面，有利于提高美观性。
本实施例中，可选的，所述侧架还包括第二连杆4.5，所述第二连杆4.5的两端分别连接夹持固定支撑架4.1的第二管夹4.11；所述第二连杆4.5位于所述侧架的中 部，且所述第二连杆4.5的两端分别连接两个支撑架4.1。所述第二连杆4.5的两端分别通过第二管夹4.11与所述支撑架4.1固定连接，第一连杆4.2和第二连杆4.5能够增强侧架整体结构的稳固性和强度，提高着陆时的平稳性，有利于延长起落架4使用寿命。
无人机需要配置遥控器使用，相关技术中无人机上没有放置遥控器的位置，不便于无人机存放，一个无人机所配置的遥控器是唯一的，如果分开存放，很有可能造成错误匹配而影响无人机正常作业。因此，本实施例中，在起落架4上设置了安装遥控器的结构，具体地，所述第二连杆4.5上设有两个挂耳4.12，两个挂耳4.12间隔设置于所述第二连杆4.5上。需要存放遥控器时，将遥控器上的挂钩直接挂在挂耳4.12上。
相关技术中无人机上需要安装有磁罗盘，磁罗盘通常安装在机身内部，但是由于机身零部件较多，对磁罗盘干扰较大。本实施例中，将磁罗盘安装于起落架上，在所述起落架内侧面设有安装块，所述安装块内设有收容槽，所述收容槽内固定有磁罗盘传感器。将磁罗盘传感器安装在起落架上，磁罗盘传感器周围干扰较少，有利于提高测量精度。
实施例5：
在上述实施例的基础上，参阅图8-12，本实施例所提供机架还包括安装于所述起落架4上的药箱3，所述第二连杆4.5上设第一固定部，所述第一固定部通过第一连接件与设于药箱3上的第二固定部连接。在一些实施例中，提供了第一种药箱3与起落架4之间的连接方式，所述第一固定部为凸出于所述第二连杆4.5的第一固定块4.51，所述第一固定块4.51上开设有第一固定孔，所述药箱3上的第二固定部为凸出于所述药箱3的第二固定块3.1，所述第二固定块3.1上开设有第二固定孔，所述第一固定块4.51和第二固定块3.1通过依次穿设于第一固定孔和第二固定孔的第一连接件固定连接。具体地，药箱3包括箱体，箱体上侧部向上延伸出注药口3.2，药箱3安装于起落架4时，注药口3.2位于其中一侧架的两个支撑架4.1之间，第二固定块由注药口底壁向下延伸而成，第二固定块的位置与第二连杆4.5上凸出的第一固定块位置对应，第二固定块和第一固定块相贴合并通过第一连接件旋紧后固定，例如螺栓。另外，第二连杆4.5支撑于注药口3.2底壁，第二连杆4.5对药箱3起到承托作用，避免由于装载有药液的药箱3重量较重而使得第一固定块与第二固定块之间的连接不牢靠。需要说明的是，药箱3与另一侧架也可以采用上述连接方式。
在一些实施例中，提供了第二种药箱3与起落架4之间的连接方式，所述第一固定部可为由所述管夹向内侧延伸出的安装凸台4.13，所述第二固定部可为由所述药箱3外部向内部凹陷的凹槽3.3，药箱3上设置两个凹槽，所述安装凸台通过连接件固定安装于所述凹槽内。凹槽的设置能够防止药箱3内药液在无人机飞行过程中发生震荡而影响无人机飞行稳定性。所述药箱3与起落架4的连接方式可以与第一种连接方式相结合使用，即带有注药口的药箱3一侧采用第一种连接方式与起落架4连接，另一侧采用第二种连接方式与起落架4连接。
工业实用性
本申请的用于无人机的机架，在机身的下壳内设有两个舱体，机身内设有容置空间，容置空间以及两个舱体内分别安装飞控功能元件及电路板等，当需要维修时，只需拆卸对应的舱体或者上壳即可，拆装方便且快捷，避免对机身内电子元件造成损坏。

Claims (10)

  1. 一种用于无人机的机架，包括机身，其特征在于，所述机身包括上壳和与所述上壳相适配的下壳，所述上壳和下壳上下对接后相互固定连接，且所述上壳和下壳之间形成容置空间；所述下壳设有第一舱体和第二舱体，所述第一舱体和第二舱体的舱口分别密封连接有舱门。
  2. 根据权利要求1所述的机架，其特征在于，还包括平行设于所述机身内的上固定板、下固定板、支架和四个间隔环绕所述机身设置的机臂，所述支架支撑于所述上固定板、下固定板之间；所述机臂包括方形管状头部，所述方形管状头部伸入所述机身内且固定在所述上固定板和下固定板之间。
  3. 根据权利要求2所述的机架，其特征在于，所述上固定板上通过橡胶连接件安装有GPS，所述GPS上设有一圈外缘；所述橡胶连接件包括减震部，上止挡部和下止挡部，所述减震部与上止挡部、下止挡部之间分别设有安装卡位；所述上止挡部、下止挡部分别穿过外缘、上固定板上的安装孔，相应安装卡位分别卡设于外缘以及上固定板处。
  4. 根据权利要求2所述的机架，其特征在于，所述机臂还包括主机臂、分机臂和折叠机构，所述主机臂的一端与所述方形管状头部连接为一体，另一端通过所述折叠机构与所述分机臂折叠连接。
  5. 根据权利要求4所述的机架，其特征在于，所述折叠机构包括第一折叠件、第二折叠件和套筒，所述第二折叠件相对所述第一折叠件旋转折叠；所述第一折叠件和第二折叠件旋转对接后形成完整的圆筒，所述套筒旋紧套设于所述第一折叠件、第二折叠件上；所述第一折叠件外壁上设有第一半螺纹，所述第二折叠件外壁上设有第二半螺纹，所述第一半螺纹和第二半螺纹形成整圈螺纹，所述套筒内壁设有与所述整圈螺纹相对应的内螺纹。
  6. 根据权利要求1所述的机架，其特征在于，所述上壳内壁凸出有多个第一连接柱，所述第一连接柱内设有第一连接孔，所述下壳内壁凸出有多个与所述第一连接柱位置相对应的第二连接柱，所述第二连接柱内设有第二连接孔，所述上壳和下壳通过由上壳顶部依次穿设于第一连接孔、第二连接孔内的连接件固定连接。
  7. 根据权利要求1所述的机架，其特征在于，所述下壳相对的两侧面分别开设有进气口和出气口。
  8. 根据权利要求1所述的机架，其特征在于，还包括支撑于所述机身底部的起落架，所述起落架包括至少两个侧架，所述侧架包括两个平行设置的支撑架、用于将支撑架固定于机身的安装件以及连接两个支撑架的第一连杆；所述安装件包括与机身固定连接的安装板和与所述安装板固定连接的第一管夹，所述第一管夹用于夹持固定所述支撑架；所述第一管夹一端通过所述安装板与所述机身连接，另一端用于供所述支撑架插入固定；所述安装板所在平面与所述第一管夹的中心线垂直，且所述安装板包括沿着与所述第一管夹中心线垂直的方向延伸至所述第一管夹的外壁之外的延伸部。
  9. 一种无人机，其特征在于，包括权利要求1-8任意一项中所述的机架，所述上壳和下壳之间所形成的容置空间内固定有第二电路板和飞行控制器，所述第一舱体内安装有飞控功能模块，所述第二舱体内安装有第一电路板。
  10. 根据权利要求9所述的无人机，其特征在于，还包括支撑于所述机身底部的起落架以及安装于所述起落架上的药箱，所述起落架包括至少两个侧架，所述侧架包括两个平行设置的支撑架以及连接两个支撑架的第二连杆，所述第二连杆的两端分别连接在两个支撑架上；所述第二连杆上设有第一固定部，所述第一固定部通过第一连接件与设于药箱上的第二固定部连接。
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