WO2021121184A1 - Manned aircraft - Google Patents

Manned aircraft Download PDF

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Publication number
WO2021121184A1
WO2021121184A1 PCT/CN2020/136130 CN2020136130W WO2021121184A1 WO 2021121184 A1 WO2021121184 A1 WO 2021121184A1 CN 2020136130 W CN2020136130 W CN 2020136130W WO 2021121184 A1 WO2021121184 A1 WO 2021121184A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
flying
fuselage
machine according
driving device
Prior art date
Application number
PCT/CN2020/136130
Other languages
French (fr)
Chinese (zh)
Inventor
卢志宏
董国帅
朱路路
郑卫锋
Original Assignee
苏州臻迪智能科技有限公司
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
Priority claimed from CN201911299654.8A external-priority patent/CN113059969A/en
Priority claimed from CN202010030633.2A external-priority patent/CN113120214A/en
Priority claimed from CN202020058969.5U external-priority patent/CN211417573U/en
Application filed by 苏州臻迪智能科技有限公司 filed Critical 苏州臻迪智能科技有限公司
Publication of WO2021121184A1 publication Critical patent/WO2021121184A1/en

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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
    • B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
    • B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft

Definitions

  • This application relates to the field of flight equipment, and specifically to a manned machine.
  • the embodiment of the present application provides a manned machine, which is used to improve the problem that the flight power device of the existing manned machine easily interferes with the driver in the flight mode.
  • a manned machine includes: a fuselage; a retractable mechanism arranged on the fuselage; and a flight power device arranged on the retractable mechanism; wherein the retractable mechanism is folded in a first manned mode On the fuselage, the retracting mechanism is deployed in a manned flight mode.
  • FIG. 1 is a schematic structural diagram of a manned machine provided in an embodiment of the application in the first manned mode.
  • Fig. 2 is a schematic structural diagram of a manned machine in a manned flight mode according to an embodiment of the application.
  • Fig. 3 is a schematic diagram of a connection between the flying arm and the fuselage shown in Fig. 2.
  • Fig. 4 is another schematic diagram of the connection between the flying arm and the fuselage shown in Fig. 2.
  • FIG. 5 is a schematic structural diagram of a manned machine in the first manned mode according to another embodiment of the application.
  • FIG. 6 is a schematic structural diagram of a manned machine in a manned flight mode according to another embodiment of the application.
  • FIG. 7 is a schematic structural diagram of a manned machine in the first manned mode according to another embodiment of the application.
  • FIG. 8 is a schematic structural diagram of a manned machine in a manned flight mode according to another embodiment of the application.
  • FIG. 9 is a schematic structural diagram of a manned machine in the first manned mode according to another embodiment of the application.
  • FIG. 10 is a schematic structural diagram of a manned machine in a manned flight mode according to another embodiment of the application.
  • Fig. 11 is a perspective view of a flight power unit provided by an embodiment of the application.
  • Fig. 12 is an enlarged view of area A in Fig. 11.
  • FIG. 13 is a schematic diagram of the structure of the upper cover of the driving device of FIG. 11.
  • Fig. 14 is a perspective view of the hub in Fig. 11.
  • Fig. 15 is a perspective view of the paddle in Fig. 11.
  • Fig. 16 is a perspective view of the paddle tray in Fig. 11.
  • FIG. 17 is a schematic structural diagram of an elastic member in a natural state according to an embodiment of the application.
  • Fig. 18 is a schematic structural diagram of the elastic member of Fig. 17 in a stretched state.
  • Fig. 19 is a schematic structural diagram of the elastic member of Fig. 17 in a stretched state in the propeller.
  • Fig. 20 is a schematic structural diagram of the elastic member of Fig. 17 in a natural state in the propeller.
  • FIG. 21 is a schematic structural diagram of an elastic member in a natural state according to another embodiment of the application.
  • Fig. 22 is a schematic structural diagram of the elastic member of Fig. 21 in a compressed state.
  • Fig. 23 is a schematic structural diagram of the elastic member of Fig. 21 in a stretched state in the propeller.
  • Fig. 24 is a schematic structural diagram of the elastic member of Fig. 21 in a natural state in the propeller.
  • FIG. 25 is a schematic structural diagram of an unfolded state of a flying arm provided by an embodiment of the application.
  • FIG. 26 is a schematic structural diagram of a folded state of a flying arm provided by an embodiment of the application.
  • FIG. 27 is a schematic structural diagram of a bracket provided by an embodiment of the application.
  • FIG. 28 is a schematic structural diagram of a fixing frame provided by an embodiment of the application.
  • FIG. 29 is a schematic structural diagram of a landing gear provided by an embodiment of the application.
  • FIG. 30 is a schematic structural diagram of a connecting member connected with a flying arm provided by an embodiment of the application.
  • FIG. 31 is a schematic structural diagram of a connecting member in a folded state according to an embodiment of the application.
  • FIG. 32 is a schematic structural diagram of the connecting member for removing the upper pressure plate in the unfolded state according to an embodiment of the application.
  • FIG. 33 is an exploded view of a connecting member provided by an embodiment of the application.
  • FIG. 34 is a top view of the connecting member with the flying arm connected and the upper pressing plate removed in the folded state according to another embodiment of the application.
  • 35 is a top view of the connecting member with the flying arm connected and the upper pressure plate removed in the unfolded state provided by another embodiment of the application.
  • FIG. 36 is a schematic structural diagram of a connecting member provided by another embodiment of the application.
  • Fig. 37 is a top view of Fig. 36;
  • Fig. 38 is a cross-sectional view of the connecting member along the line A-A in Fig. 37;
  • Fig. 39 is a schematic diagram of the mating process of the dial wheel and the sheave wheel of the connecting member in Fig. 36.
  • FIG. 40 is a schematic structural diagram of a connecting member provided by another embodiment.
  • Fig. 41 is a schematic structural diagram of a connecting member provided by still another embodiment.
  • Fig. 42 is a schematic diagram of the mating process of the dial wheel and the sheave wheel of the connecting member in Fig. 41.
  • Icon 100-manned machine; 101-fuselage; 1011-frame; 1021-first fixing ring; 1022-second fixing ring; 1012-chassis; 1013-traveling wheel; 1031-front wheel; 1032-rear Wheel; 30, 30a, 30b, 30c- connecting member; 301- first arm connecting part; 302- second arm connecting part; 102- retracting mechanism; 20- flying arm; 21- arm main body; 303, 33 ,33a,33b,33c-first arm fixing part; 304,35,35a,35c-second arm fixing part; 10-flight power unit; 13-propeller; 11-drive device; 12-reducer 1051-first side protection body; 1052-second side protection body; 13-propeller; 15-blade tray; 111-housing; 112-upper cover; 113-body; 114-cylindrical part; 1141-through hole 115-first shaft; 116-lower shell; 131-hub; 136-blade; 1311-top surface; 1312-
  • An embodiment of the present application provides a manned machine 100, which includes a fuselage 101, a retractable mechanism 102, and a flight power device.
  • the retracting mechanism 102 is arranged on the fuselage 101.
  • the flight power device is arranged on the retracting mechanism 102.
  • the retractable mechanism 102 is retracted to the fuselage 101 in the first manned mode (see FIG.
  • the first manned mode includes, but is not limited to, a land driving mode, a water driving mode, and an amphibious driving mode. If the first manned mode is the land travel mode, the fuselage 101 can travel on land; if the first manned mode is the water travel mode, the buoyancy of the fuselage 101 in the water makes it possible to travel on the water; if The first manned mode is the amphibious driving mode, and the fuselage 101 can be driven on water or on land.
  • the fuselage 101 includes a frame 1011, a casing 1012, running wheels 1013 and a power system (not shown in FIG. 2 ).
  • the casing 1012 is arranged on the outside of the frame 1011.
  • the running wheels 1013 are rotatably arranged on the frame 1011.
  • the power system is used to drive the running wheels 1013 to rotate relative to the frame 1011 to realize running.
  • the specific structure of the power system can be referred to related prior art, which will not be introduced here.
  • the number of driving wheels 1013 is not limited, and can be one, two, three, four, etc. In FIG. 2, the number of driving wheels 1013 is two, which are front wheels 1031 and rear wheels 1032 respectively.
  • the retractable mechanism 102 includes a plurality of flying arms 20 flexibly connected to the fuselage 101.
  • the fuselage 101 is provided with flying arms 20 on both sides in the width direction thereof.
  • the flight power device includes a plurality of flight power units 10, and each flight arm 20 is provided with at least one flight power unit 10.
  • the two sides of the fuselage 101 in the width direction are provided with the flight power unit 10, so that the power distribution of the manned machine 100 in the manned flight mode is uniform, the force is balanced, and the stability of the manned flight is improved. Sex.
  • the flying arm 20 is rotatably connected to the fuselage 101 to achieve folding or unfolding.
  • the flying arm 20 can also be flexibly connected to the fuselage 101 in other ways.
  • the flying arm 20 is a telescopic structure, the flying arm 20 is extended outwards to expand, and the flying arm 20 is shortened inward to collapse.
  • the flying arm 20 rotates the frame 1011 connected to the fuselage 101.
  • the free end of each flying arm 20 is correspondingly provided with a flying power unit 10.
  • one flying arm 20 can also be provided with two or more flying power units 10 correspondingly.
  • the retracting mechanism 102 may also have other structures.
  • the retracting mechanism 102 includes a flying arm 20, which is rotatably disposed at the bottom of the fuselage 101, and the flying arm 20 A flight power unit 10 is respectively provided at both ends of the.
  • the flying arm 20 rotates to be consistent with the width direction of the fuselage 101, the flying arm 20 is in an unfolded state.
  • the flying power units 10 at both ends of the flying arm 20 are respectively located on both sides in the width direction of the fuselage 101;
  • the flying arm 20 is in a folded state, and the flying arm 20 and the flying power unit 10 are located at the bottom of the fuselage 101.
  • the flying arm 20 serves to connect the flying power unit 10 and the fuselage 101, and the flying arm 20 may have various structures.
  • the flying arm 20 includes an arm main body 21.
  • One end of the arm main body 21 is rotatably connected with the main body 101.
  • the flying power unit 10 is connected to the free end of the arm body 21.
  • a connecting member 30 is provided on the fuselage 101.
  • the connecting member 30 includes a first arm connecting portion 301 and a second arm connecting portion 302 arranged opposite to each other in the width direction of the fuselage 101, and respectively rotates with the first arm connecting portion 301 and the second arm connecting portion 302
  • the first arm fixing member 303 and the second arm fixing member 304 are connected.
  • the two flying arms 20 are respectively rotatably connected to the first arm connecting portion 301 and the second arm connecting part 301 and the second arm fixing member 303 and the second arm fixing member 304. ⁇ 302. That is, the flying arms 20 are arranged in pairs in the width direction of the fuselage 101, which improves the stability of the manned machine 100 in the manned flight mode. Among them, the arrangement of the first arm connecting portion 301, the second arm connecting portion 302, the first arm fixing member 303 and the second arm fixing member 304 facilitates the connection of the flying arm 20.
  • the flying arms 20 are arranged in pairs in the width direction of the fuselage 101, that is, the number of flying arms 20 is an even number, and the number of flying arms 20 can be two, four, six, and so on. In other embodiments, there may be an odd number of flying arms 20.
  • two flying arms 20 are provided on one side in the width direction of the fuselage 101, and one flying arm 20 is provided on the other side in the width direction of the fuselage 101. .
  • first arm connecting portion 301 and the second arm connecting portion 302 are both fixed on the frame 1011 of the fuselage 101.
  • the first arm connecting portion 301 and the second arm connecting portion 302 may be an integrated structure, and the first arm connecting portion 301 and the second arm connecting portion 302 form an integral long member;
  • the first arm connecting part 301 and the second arm connecting part 302 can also be of a split structure, and the first arm connecting part 301 and the second arm connecting part 302 are both rectangular block structures.
  • the first arm connecting part 301 and the second arm connecting part 302 can be manufactured separately. After the first arm connecting part 301 and the second arm connecting part 302 are manufactured separately, they can be combined with the frame. 1011 fixed together.
  • the arm fixing member (the first arm fixing member 303 or the second arm fixing member 304) is detachably connected to one end of the arm body 21, thereby facilitating the alignment of the flying arm 20 and The flying power unit 10 at the free end of the arm body 21 is replaced.
  • the arm main body 21 is inserted into the arm fixing member to realize a detachable connection between the arm main body 21 and the arm fixing member. Insert the arm main body 21 into the arm fixing part to connect the two, pull out the arm main body 21 from the arm fixing part, and then detach the two.
  • This structure can realize the arm main body 21 and the arm Fast installation and removal of fixing parts.
  • the arm main body 21 and the arm fixing member are both hollow tubular structures and have good bending strength.
  • One end of the arm fixing part is rotatably connected with the frame 1011 of the fuselage 101 through a rotating shaft, one end of the arm main body 21 is inserted into the arm fixing part, and the flight power unit 10 is connected to the arm main body 21 away from the arm fixing part One end.
  • the two can be fixed together by a locking screw.
  • the arm main body 21 and the arm fixing member can also be in other detachable connection forms.
  • the end of the arm main body 21 and the end of the arm fixing member are both provided with flanges, and the two methods After the flanges abut, the two flanges are connected together by bolts, so as to realize the detachable connection of the arm main body 21 and the arm fixing member.
  • the function of the flight power unit 10 is to provide lift for the manned machine 100.
  • the flight power unit 10 includes a propeller 13 and a driving device 11, and the propeller 13 and the flying arm 20 are connected through the driving device 11, and the driving device 11 is used to drive the propeller 13 to rotate relative to the flying arm 20 to generate lift.
  • the driving device 11 is a motor, the motor and the propeller 13 are connected through a reducer 12, the motor is connected to the arm body 21 of the flying arm 20, the input shaft of the reducer 12 is connected to the output shaft of the motor, and the speed reducer 12 The output shaft is connected with the propeller 13, and the rotation of the motor can drive the propeller 13 to rotate.
  • the output shaft of the motor may be directly connected to the propeller 13.
  • the blades in the propeller 13 are of foldable structure. When the motor is not working, each blade in the propeller 13 is in a closed state; when the motor is working, the blades are unfolded, and the propeller 13 rotates under the action of the motor to make the manned machine 100 in Provides lift in manned flight mode.
  • the flying arm 20 When the manned machine 100 switches between the first manned mode and the manned flight mode, the flying arm 20 needs to be rotated to expand or close the flying arm 20.
  • a driving unit can be separately arranged between the flying arm 20 and the frame 1011 to realize the deployment and folding of the flying arm 20.
  • a cylinder is arranged between the flying arm 20 and the frame 1011, and the flying arm is realized by the expansion and contraction of the cylinder.
  • the rotation of the flying arm 20 can also be driven by the driving device 11 in the flying power unit 10.
  • a transmission mechanism is provided between the rotating shaft connected between the flying arm 20 and the frame 1011 and the driving device 11 ,
  • the driving device 11 transmits the power to the rotating shaft through the transmission mechanism, and the flying arm 20 rotates following the rotating shaft to realize the unfolding or folding of the flying arm 20.
  • the transmission mechanism may be a belt transmission mechanism, a chain transmission mechanism, and the like.
  • the driving device 11 in the flight power unit 10 drives the flying arm 20 to rotate
  • the driving device 11 can selectively drive the propeller 13 to rotate relative to the flying arm 20 or drive the flying arm 20 to rotate relative to the fuselage 101, that is, when When the propeller 13 needs to be rotated, the driving device 11 is connected to the propeller 13 in transmission, the driving device 11 is disconnected from the transmission mechanism, and the driving device 11 drives the propeller 13 to rotate, and the rotating shaft connected with the flying arm 20 is stationary, that is, the flying arm 20 is stationary;
  • the power switch of the driving device 11 can be realized through a clutch, that is, the power of the driving device 11 is transmitted to the transmission mechanism or the input shaft of the reducer 12 through the clutch.
  • the manned machine 100 further includes a first side protector 1051 and a second side protector (not shown in FIG. 1), both of the first side protector 1051 and the second side protector 1052
  • the body 101 is movably disposed, and the first side protection body 1051 and the second side protection body 1052 are respectively located on both sides in the width direction of the body 101.
  • the first side protection body 1051 and the second side protection body 1052 can be located on both sides of the driver when moving forward relative to the fuselage 101.
  • the first side protection body 1051 and the second side protection body 1052 move backward relative to the main body 101 and can be located on both sides of the retractable mechanism 102 gathered in the main body 101.
  • the first side protection body 1051 and the second side protection body 1052 By moving the first side protection body 1051 and the second side protection body 1052 forward relative to the fuselage 101, the first side protection body 1051 and the second side protection body can be moved to both sides of the driver, and the first side protection body 1051 It can protect the driver with the second side protector 1052; by moving the first side protector 1051 and the second side protector 1052 backwards relative to the fuselage 101, the first side protector 1051 and the second side protector 1051 can be moved back.
  • the side protectors 1052 move to both sides of the retractable mechanism 102 gathered in the fuselage 101.
  • the first side protectors 1051 and the second side protectors 1052 can restrict the retractable mechanism 102 and prevent the retractable mechanism 102 from being Expand outwards in the first manned mode.
  • the frame 1011 of the fuselage 101 can be provided with a sliding rail for the first side protector 1051 to slide back and forth, and similarly, the frame 1011 of the fuselage 101 can also be provided with a sliding rail for the second protection body to slide back and forth. rail.
  • the flying arm 20 in the retracting mechanism 102 can be expanded or retracted by rotating.
  • the rotating direction of the flying arm 20 can be various.
  • the flying arm 20 can rotate relative to the fuselage 101 in a horizontal plane, that is, the rotation axis of the flying arm 20 is arranged vertically.
  • the flying arm 20 is folded on the side of the fuselage 101 and is located in the horizontal plane, which effectively reduces the volume of the manned machine 100 in the first manned mode.
  • this structure makes the deployment and folding of the flying arm 20 more convenient.
  • the retractable mechanism 102 when the retractable mechanism 102 is retracted to the fuselage 101 in the first manned mode, two of the four flying arms 20 are retracted in the middle of the fuselage 101, and the two flying arms 20 Close up with the rear side of the body 101.
  • the first side protection body 1051 and the second side protection body 1052 rearward the first side protection body 1051 can be positioned at the two flying arms 20 on one side in the width direction of the fuselage 101.
  • the second side protector 1052 is positioned outside the two flying arms 20 on the other side in the width direction of the fuselage 101.
  • the retracting mechanism 102 when the retracting mechanism 102 needs to be deployed, the first side protection body 1051 and the second side protection body 1052 can be moved forward, and then the four flying arms 20 can be rotated forward. 102 expand.
  • the flying arm 20 in the retracting mechanism 102 may also be located in various positions.
  • the four flying arms 20 are all retracted to the bottom of the fuselage 101.
  • This structure can further reduce the resistance of the manned machine 100 in the first manned mode, and at the same time prevent the retractable mechanism 102 from causing interference to the driver.
  • FIG. 6 when the retracting mechanism 102 needs to be deployed, two of the four flying arms 20 rotate forward and are located on both sides of the front wheel 1031, and the other two of the four flying arms 20 The flying arm 20 rotates backward and is located on both sides of the rear wheel 1032, and the retracting mechanism 102 is deployed.
  • FIG. 7 when the retractable mechanism 102 is folded in the fuselage 101 in the first manned mode, two flying arms 20 of the four flying arms 20 are respectively folded in the front. On both sides of the wheel 1031, the other two flying arms 20 of the four flying arms 20 are folded on both sides of the rear wheel 1032, respectively.
  • This structure can further reduce the resistance of the manned machine 100 in the first manned mode, and at the same time prevent the retractable mechanism 102 from causing interference to the driver. As shown in FIG.
  • the frame 1011 of the fuselage 101 is provided with a first fixing ring 1021 and a second fixing ring 1022, the first fixing ring 1021 and the second fixing ring 1022 are both oval, and the first fixing ring 1021 is sleeved on the front wheel On the outer side of 1031, the second fixing ring 1022 is sleeved on the outer side of the rear wheel 1032.
  • Two running wheels 1013 of the four running wheels 1013 are respectively rotatably connected to both sides of the first fixed ring 1021; the other two running wheels 1013 of the four running wheels 1013 are respectively rotatably connected to both sides of the second fixed ring 1022 .
  • the flying arm 20 can also rotate in other planes to realize expansion or folding.
  • the flying arm 20 can rotate in a vertical plane relative to the fuselage 101, that is, the axis of rotation of the flying arm 20 is arranged horizontally.
  • the flying arm 20 Tucked up on the side of the fuselage 101 and located in the vertical plane, the volume of the manned machine 100 in the first manned mode is effectively reduced.
  • the above-mentioned vertical plane is a vertical plane arranged along the width direction of the body 101.
  • the flying arm 20 can rotate in an inclined plane relative to the fuselage 101.
  • the inclined plane and the horizontal plane are arranged at an angle, and the inclined plane and the plane along the fuselage 101
  • the vertical plane arranged in the length direction is vertical, and the inclined plane is arranged at an included angle with the vertical plane arranged in the width direction of the fuselage 101.
  • the front side of the fuselage 101 is provided with a first containing box (not shown in FIGS. 9 and 10), and the rear side of the body 101 is provided with a second containing box (not shown in FIGS. 9 and 10).
  • the retracting mechanism 102 is folded in the fuselage 101 in the first manned mode
  • the flight power units 10 on the two flying arms 20 located on the front side of the fuselage 101 are accommodated in the first containing box, which is located in the fuselage 101
  • the flight power units 10 on the two flight arms 20 on the rear side of the two are accommodated in the second accommodating box.
  • the first containing box can protect the two flying arms 20 located on the front side of the fuselage 101
  • the second containing box can protect the two flying arms 20 located on the rear side of the fuselage 101.
  • the flying arm 20 and the fuselage 101 are connected by a cardan shaft.
  • This structure can realize the flying arm 20 to rotate in multiple planes.
  • the rotation direction of the flying arm 20 can be selected according to the requirements.
  • the unfolding and folding of the flying arm 20 is realized.
  • An embodiment of the present application provides a flying power unit 10 connected to the free end of the arm body 21.
  • the flight power unit 10 includes a driving device 11, a propeller 13 connected to the driving device 11, and a blade tray 15 provided at the connection between the driving device 11 and the propeller 13.
  • the blade tray 15 can move back and forth along its axial direction to allow the propeller 13 to be folded and/or unfolded.
  • the driving device 11 is used to drive the propeller 13 to rotate after the blade tray 15 is moved to allow the propeller 13 to be deployed, so as to provide flight power for the manned machine.
  • the driving device 11 may be a motor.
  • the driving device 11 includes a housing 111.
  • the casing 111 includes an upper cover 112 and a lower casing 116.
  • the upper cover 112 and the lower casing 116 enclose a containing space for containing the driving mechanism included in the driving device.
  • the upper cover 112 includes a main body 113 and a cylindrical portion 114 protruding from the main body 113.
  • the body 113 may include a step portion 1131.
  • the step portion 1131 is substantially elongated.
  • the cylindrical portion 114 protrudes from one end of the step portion 1131.
  • the cylindrical portion 114 is provided with a through hole 1141 along its axial direction. The through hole 1141 penetrates the body 113.
  • the driving device 11 further includes a first rotating shaft 115.
  • the first rotating shaft 115 passes through the through hole 1141 and is fixedly connected to the propeller 13.
  • the outer side wall of the cylindrical portion 114 is provided with external threads, which are used to cooperate with the blade tray 15 to realize the back and forth movement of the blade tray 15 along its axial direction.
  • the propeller 13 is disposed on the upper cover 112 and connected with the driving device 11.
  • the propeller 13 includes a hub 131 and a blade 136 connected to the hub 131.
  • the driving device 11 is connected to the propeller hub 131 for driving the propeller hub 131 to rotate.
  • the first rotating shaft 115 is fixedly connected to the propeller hub 131 for driving the propeller hub 131 to rotate.
  • the direction of rotation of the hub 131 is perpendicular to the direction of rotation of the blade 136 relative to the hub 131 during the unfolding process or the retracting process.
  • the hub 131 is substantially in the shape of a disc.
  • the hub 131 includes a top surface 1311, a bottom surface 1312 parallel to the top surface 1311, and an outer peripheral surface 1313 connected between the top surface 1311 and the bottom surface 1312.
  • a fixing hole 132 is provided in the center of the hub 131.
  • the fixing hole 132 penetrates the top surface 1311 and the bottom surface 1312.
  • the wall of the fixing hole 132 is provided with ribs 1321 extending in the axial direction of the hub 131 at intervals.
  • the outer peripheral surface of the first rotating shaft 115 is provided with a complementary structure of the rib 1321, and the boss 131 is fixedly connected to the first rotating shaft 115 through the cooperation of the rib 1321 and the complementary structure, so that the rotation of the first rotating shaft 115 is driven.
  • the propeller hub 131 rotates, thereby driving the propeller 13 to rotate.
  • the fixing between the first rotating shaft 115 and the hub 131 is not limited to the fixing holes 132 provided on the hub 131 and the ribs 1321 are provided on the wall of the fixing holes 132, and the first rotating shaft 115
  • the outer peripheral surface of the shaft is provided with the complementary structure of the rib 1321, as long as the fixed connection between the first shaft 115 and the hub 131 can be realized, for example, the first shaft 115 and the propeller can also be realized by welding. Fixing of the hub 131.
  • the hub 131 is also provided with a blade connecting groove 133.
  • a plurality of radially extending blade connection grooves 133 are provided equiangularly from the outer circumference of the hub 131 to the inside of the hub 131.
  • the blade connecting groove 133 penetrates the top surface 1311, the bottom surface 1312 and the outer peripheral surface 1313 of the hub 131 to facilitate the folding and unfolding of the blade 136.
  • the part of the propeller hub 131 located between two adjacent blade connecting grooves 133 may be hollowed out.
  • the side groove wall of each blade connection groove 133 is provided with a groove connection hole 1331.
  • the number of blade connecting grooves 133 is three.
  • a hook portion (not shown in the figure) may be provided on the bottom wall of the blade connecting groove 133, which is used for when the flight power unit 10 includes an elastic member connected between the hub 131 and the blade 136. One end of the elastic piece is hung.
  • the number of blades 136 corresponds to the number of blade connecting grooves 133.
  • the blade 136 includes a handle 137 and a blade 138 fixedly connected to the handle 137.
  • the handle 137 is arranged in the blade connecting groove 133 and is connected with the groove wall of the blade connecting groove 133 through a connecting shaft, so that the handle 137 is hinged with the hub 131 and the blade 136 can rotate around the connecting shaft.
  • the handle 137 is provided with a handle connecting hole 1371 corresponding to the slot connecting hole 1331, and a connecting shaft is inserted through the slot connecting hole 1331 and the handle connecting hole 1371, so that the handle 137 is hinged with the hub 131 .
  • the blade 138 and the handle 137 may be integrally formed, or the blade 138 and the handle 137 are connected by a screw and a screw hole.
  • the handle 137 includes a first extension portion 1372 and a second extension portion 1373 that extend in a direction away from the blade 138 and are disposed oppositely.
  • the first extension portion 1372 and the second extension portion 1373 are respectively provided with a handle connection hole 1371.
  • the handle connecting hole 1371 of the first extension portion 1372 and the handle connecting hole 1371 of the second extension portion 1373 are arranged coaxially.
  • a receiving space 1374 is formed between the first extension portion 1372 and the second extension portion 1373.
  • the handle 137 may also be provided with an insertion groove (not shown) for providing the other end of the elastic member when the flight power unit 10 includes an elastic member connected between the blade 136 and the hub 131 insert.
  • the insertion groove may be opened from the bottom wall of the receiving space 1374 into the handle 137.
  • the blade tray 15 is provided at the connection between the driving device 11 and the propeller 13.
  • the paddle tray 15 is sleeved on the cylindrical portion 114.
  • the paddle tray 15 defines a through hole 151 along its axial direction.
  • the through hole 151 includes a hole wall 1511.
  • the hole wall 1511 is provided with an internal thread that cooperates with the external thread of the outer side wall of the cylindrical portion 114.
  • the paddle tray 15 is further provided with a receiving hole 153 along its axial direction.
  • the receiving hole 153 and the through hole 151 are arranged coaxially, and the hole diameter of the receiving hole 153 is larger than the hole diameter of the through hole 151.
  • the accommodating hole 153 is used for accommodating the hub 131 and the end of the blade 136 connected to the hub 131 (ie, the handle 137) when the propeller 13 is folded.
  • the handle 137 when the propeller 13 is closed, the handle 137 is received in the receiving hole 153, and the end of the handle 137 away from the blade 138 abuts against the bottom wall of the receiving hole 153, which can increase the blade 136 when the propeller 13 is closed.
  • the stability of the blade 136 is prevented from shaking.
  • the flight power unit 10 further includes a tray driving device 14.
  • the tray driving device 14 is arranged on the upper cover 112 and arranged in parallel with the paddle tray 15.
  • the tray driving device 14 is disposed on the step portion 1131 and is located at the other end of the step portion 1131 relative to the end of the cylindrical portion 114.
  • the tray driving device 14 is connected to the paddle tray 15 for driving the paddle tray 15 to move the paddle tray 15 back and forth.
  • the tray driving device 14 and the paddle tray 15 are connected by a gear structure.
  • the tray driving device 14 includes a fixing member 141, a driving motor 142, a driving shaft 143, and a driving gear 144.
  • the fixing member 141 is used to fix the tray driving device 14 on the upper cover 112.
  • the driving motor 142 is connected to the driving shaft 143 for driving the driving shaft 143 to rotate.
  • the driving gear 144 is fixedly connected to the driving shaft 143, and the rotation of the driving shaft 143 drives the driving gear 144 to rotate.
  • the outer peripheral surface of the blade tray 15 is provided with a toothed structure meshing with the driving gear 144, and the rotation of the driving gear 144 drives the blade tray 15 to rotate.
  • the paddle tray 15 rotates forward or backward under the drive of the tray driving device 14, the back and forth movement is realized through the cooperation of the internal thread and the external thread.
  • the tray driving device 14 and the paddle tray 15 may be connected by a conveyor belt.
  • the drive gear 144 of the tray drive device 14 can be replaced with a driving wheel fixedly connected to the drive shaft 143, the toothed structure of the outer peripheral surface of the blade tray 15 can be omitted, and the blade tray 15 serves as a driven wheel, which is passed by the driving wheel.
  • the conveyor belt drives forward or reverse rotation.
  • the connection mode of the tray driving device 14 and the paddle tray 15 may also be a chain transmission connection, or a combination of one or more transmission modes such as a gear structure connection, a conveyor belt connection, and a chain transmission connection.
  • the tray driving device 14 may be configured as a lifting mechanism fixedly connected to the paddle tray 15. At this time, the internal thread of the hole wall of the through hole 151, the external thread of the outer peripheral surface of the cylindrical portion 114, and the paddle The toothed structure on the outer peripheral surface of the leaf tray 15 can be omitted, and the back and forth movement of the blade tray 15 is directly realized by the lifting mechanism.
  • the propeller 13 when the tray driving device 14 moves the blade tray 15 to allow the propeller 13 to expand, the propeller 13 may remain in the collapsed state due to inertia. In this case, when the driving device 11 drives the propeller 13 to rotate in the radial direction of the blade tray 15, the propeller 13 is deployed by the centrifugal force generated by the rotation.
  • the flight power unit 10 may further include an elastic member 16 connected between the hub 131 and the blade 136.
  • the elastic member 16 is used to collapse the propeller 13 and/or expand the propeller 13 (that is, make the blades 136 of the propeller 13 in a collapsed state or an expanded state).
  • the elastic member 16 may be, for example, a torsion spring, a tension spring, or the like. In this embodiment, the elastic member 16 is a torsion spring.
  • the elastic member 16 stores the elastic force that causes the propeller 13 to collapse (that is, the elastic member 16 can keep the blade 136 in the collapsed state).
  • the tray driving device 14 moves the blade tray 15 to allow the propeller 13 to be deployed, the propeller 13 is kept in a collapsed state due to the action of the elastic member 16.
  • the centrifugal force generated by the rotation gradually increases as the rotation speed increases.
  • the centrifugal force increases to be greater than or equal to the elastic force of the elastic member 16
  • the combined force of the centrifugal force generated by the rotation and the elastic force of the elastic member 16 causes the propeller 13 to be in an unfolded state.
  • the driving device 11 stops driving the propeller 13 to rotate the centrifugal force gradually disappears, and the elastic force of the elastic member 16 drives the propeller 13 to close up.
  • the elastic member 16 includes a first connecting end 161 and a second connecting end 163 opposite to each other.
  • the first connecting end 161 is connected with the blade 136 (in the illustrated embodiment, with the handle 137 of the blade 136).
  • the second connecting end 163 is connected to the hub 131.
  • the angle between the extending direction of the first connecting end 161 and the extending direction of the second connecting end 163 ranges from 85° to 95°.
  • the elastic member 16 may further include a winding portion 162 connected between the first connecting end 161 and the second connecting end 163.
  • the elastic member 16 is generally a ring-like structure.
  • the first connecting end 161 is inserted into the insertion groove of the handle 137 to realize the connection between the elastic member 16 and the handle 137.
  • the winding portion 162 is wound around the connecting shaft connecting the blade 136 and the hub 131 (that is, the connecting shaft passing through the slot connecting hole 1331 and the handle connecting hole 1371).
  • the second connecting end 163 connects the elastic member 16 with the hub 131 by hooking on the hooking portion provided on the bottom wall of the blade connecting groove 133.
  • the elastic member 16 includes a first extension rod 164 and a second extension rod 165 that extend from the first connection end 161 to the second connection end 163 and are arranged in parallel.
  • the elastic member 16 has an axisymmetric structure with respect to the connection line between the midpoint of the first connecting end 161 and the midpoint of the second connecting end 163, so that the stability of the elastic member 16 can be improved.
  • an inserting groove may be opened from the bottom wall of the blade connecting groove 133 to the inside of the hub 131 for the second connecting end 163 to be inserted, and the bottom wall of the receiving space is provided for the first connecting end.
  • the hooking portion for hanging, or, respectively, opening from the bottom wall of the blade connecting groove 133 to the inside of the hub 131 and from the bottom wall of the receiving space 1374 to the inside of the handle 137 for the first connecting end 161 and the second connecting end 163 is inserted into the insertion groove, or respectively provided on the bottom wall of the blade connection groove 133 and the bottom wall of the receiving space 1374 with hooking parts for the first connection end 161 and the second connection end 163 to be hung, the elastic member 16
  • the connection with the blade 136 and the hub 131 is not limited to the manner described in the above embodiment, as long as the connection between the elastic member 16 and the blade 136 and the hub 131 can be realized.
  • the elastic member 16a stores an elastic force for deploying the propeller 13 (that is, the elastic member 16 can keep the blade 136 in the deployed state).
  • the structure of the elastic element 16a provided in this embodiment is substantially the same as the structure of the elastic element 16 provided in the previous embodiment, with the difference that in the natural state of the elastic element 16a, the extension direction of the first connecting end 161a is the same as The angle formed by the extending direction of the second connecting end 161a ranges from 120° to 130°.
  • the tray driving device 14 moves the blade tray 15 to allow the propeller 13 to be collapsed
  • the propeller 13 gradually reaches the collapsed state due to the restriction of the blade tray 15 (ie, restraining the elastic force of the elastic member 16);
  • the restriction of the blade tray 15 on the propeller 13 gradually disappears (that is, the elastic force of the elastic member 16 is released), and the elastic member 16a makes the propeller 13
  • the unfolding elastic force drives the propeller to gradually unfold.
  • the flight power unit 10 further includes a cooling device 17 connected to the driving device 11 for cooling the driving device 11 to prevent the driving device 11 from overheating during operation.
  • the cooling device 17 is connected to one end of the driving device 11 and is located on the side of the driving device 11 away from the blade tray 15 and the tray driving device 14.
  • the outer shell of the cooling device 17 includes a top cover 171 and a bottom shell 172.
  • the top cover 171 and the bottom shell 172 enclose a storage space for containing the cooling mechanism included in the cooling device.
  • the top cover 171 is connected to one end of the lower case 116.
  • the top cover 171 and the lower housing 116 are integrally formed.
  • the flight power unit provided by the present application enables the propeller to be unfolded when in use and folded when not in use through the back and forth movement of the blade tray along its axial direction, thereby facilitating the storage and placement of the flight power unit, thereby improving the performance of the flight power unit.
  • the storage and placement of manned machines enables the propeller to be unfolded when in use and folded when not in use through the back and forth movement of the blade tray along its axial direction, thereby facilitating the storage and placement of the flight power unit, thereby improving the performance of the flight power unit.
  • an embodiment of the present application further provides a flying arm 20 including an arm main body 21.
  • the flying power unit 10 is rotatably connected to one end of the arm main body 21, and the flying power unit 10 has the structure shown in FIGS. 11-24.
  • the flying arm 20 further includes a bracket 22.
  • the bracket 22 is fixedly connected to one end of the arm main body 21.
  • the flying power unit 10 is rotatably connected to one end of the arm body 21 through a bracket 22.
  • the bracket 22 may be integrally formed with the arm main body 21.
  • the bracket 22 includes a connecting portion 221 and a first cantilever 222 and a second cantilever 223 extending in the same direction from the connecting portion 221 and arranged in parallel.
  • the connecting portion 221, the first cantilever 222 and the second cantilever 223 form a U-like structure.
  • the connecting portion 221 is fixedly connected to the arm main body 21.
  • the connecting portion 221 is provided with a connecting hole 2211 along its axial direction for connecting with the arm main body 21.
  • the connecting hole 2211 may be a through hole or a blind hole opened from the surface of the connecting portion 221 away from the first cantilever 222 and the second cantilever 223 toward the inside of the connecting portion 221 along the axial direction thereof.
  • the hole wall of the connecting portion 221 may be provided with a fixing hole 2212, and the corresponding fixing hole 2212 on the arm main body 21 may be provided with an organic arm fixing hole, which is matched with the fixing hole 2212 and the arm fixing hole by a screw , In order to improve the stability of the connection between the connecting portion 221 and the arm main body 21.
  • the hole wall of the connecting portion 221 may be hollowed out.
  • the ends of the first cantilever 222 and the second cantilever 223 away from the connecting portion 221 are respectively provided with a first shaft hole 2221 and a second shaft hole 2231.
  • the first shaft hole 2221 and the second shaft hole 2231 are coaxially arranged.
  • the outer peripheral surface of the driving device 11 is provided with a first convex shaft 1161 and a second convex shaft 1162 respectively passing through the first shaft hole 2221 and the second shaft hole 2231.
  • the first convex shaft 1161 and the second convex shaft 1162 are coaxial and protrude in opposite directions from the outer peripheral surface of the driving device 11.
  • first convex shaft 1161 and the second convex shaft 1162 are disposed on the lower casing 116 and are located in the middle of the length direction of the lower casing 116 near the top cover 171.
  • the first convex shaft 1161 and the second convex shaft 1162 are respectively protruded in opposite directions along the width direction of the lower housing 116.
  • the first convex shaft 1161 and the second convex shaft 1162 may also be arranged at other positions on the outer peripheral surface of the driving device 11, for example, on the bottom shell 172 of the cooling device 17, which is not covered in this application. limited.
  • the first cantilever 222 and the second cantilever 223 may also be hollowed out.
  • the flying arm 20 also includes a rotation driving device 23 for driving the flying power unit 10 to rotate and fold parallel to the arm main body 21 or to rotate and unfold perpendicular to the arm main body 21.
  • the rotation driving device 23 can be a hydraulic push rod, a pneumatic push rod or an electric push rod. One end of the rotation driving device 23 is connected to the arm main body 21, and the other end is connected to the flight power unit 10.
  • the rotation driving device 23 is connected to the arm main body 21 through a socket 24.
  • the sleeve 24 is sleeved on the arm main body 21.
  • the socket 24 includes a connecting portion 241 protruding in the radial direction thereof.
  • One end of the rotation driving device 23 is connected to the connecting portion 241.
  • the flying arm 20 may further include a fixing frame 25.
  • the rotation driving device 23 is fixedly connected to the fixing frame 25.
  • the flight power unit 10 is rotatably connected with the fixed frame 25.
  • the other end of the rotation driving device 23 is connected to the flight power unit 10 through a fixing frame 25.
  • the rotation driving device 23 drives the flight power unit 10 to rotate relative to the support 22 by moving the fixed frame 25. It can be understood that in other embodiments, the rotation driving device 23 and the fixing frame 25 may be integrally formed.
  • the fixing frame 25 includes a fixing portion 251 and a third cantilever 252 and a fourth cantilever 253 extending in the same direction from the fixing portion 251 and arranged in parallel.
  • the fixing portion 251 is fixedly connected to the rotation driving device 23.
  • the ends of the third cantilever 252 and the fourth cantilever 253 away from the fixing portion 251 have a third shaft hole 2521 and a fourth shaft hole 2531 respectively.
  • the third shaft hole 2521 and the fourth shaft hole 2531 are arranged coaxially. Please refer to FIG. 1, FIG. 25 and FIG. 26 again.
  • the outer peripheral surface of the driving device 11 is further provided with a third convex shaft 1721 and a fourth convex shaft 1722 respectively penetrated in the third shaft hole 2521 and the fourth shaft hole 2531.
  • the third convex shaft 1721 and the fourth convex shaft 1722 are coaxial and protrude in opposite directions from the outer peripheral surface of the driving device 11.
  • the third convex shaft 1721 and the fourth convex shaft 1722 are arranged in parallel with the first convex shaft 1161 and the second convex shaft 1162.
  • the outer peripheral surface of the driving device 11 is protruded with a limiting protrusion 1723 at positions adjacent to the third convex shaft 1721 and the fourth convex shaft 1722 respectively.
  • the limiting protrusion 1723 includes a first limiting surface 1724 and a second limiting surface 1725 perpendicular to each other.
  • the first limit surface 1724 is used to abut against the third cantilever 252 and the fourth cantilever 253 after the rotation driving device 23 drives the flight power unit 10 to rotate and fold, so as to restrict the flight power unit 10 from continuing to rotate.
  • the second limit surface 1725 is used for abutting against the first cantilever 222 and the second cantilever 223 after the rotation driving device 23 drives the flying power unit 10 to rotate and unfold, so as to restrict the flying power unit 10 from continuing to rotate.
  • a limit protrusion 1723 may be provided only at a position adjacent to the third convex shaft 1721 or the fourth convex shaft 1722, and it can also be used after the rotation driving device 23 drives the flight power unit 10 to rotate and fold or After the rotation driving device 23 drives the flight power unit 10 to rotate and unfold, the flight power unit 10 is restricted from continuing to rotate.
  • the third convex shaft 1721, the fourth convex shaft 1722 and the limiting protrusion 1723 are all disposed on the bottom shell 172.
  • the flying arm 20 further includes a landing gear 26.
  • the landing gear 26 is fixedly connected to the driving device 11.
  • the landing gear 26 and the propeller 13 are respectively located on opposite sides of the driving device 11.
  • the landing gear 26 extends in the opposite direction with respect to the propeller 13 after being folded.
  • the landing gear 26 rotates and folds or unfolds together when the rotating drive device 23 drives the flying power unit 10 to rotate and fold or rotate and unfold.
  • the landing gear 26 is used to maintain the stability of the manned machine when the manned machine is taking off or landing.
  • the landing gear 26 is connected to the side of the bottom shell 172 away from the top cover 171.
  • the landing gear 26 includes a connecting end 261 and a free end 262 opposite to the connecting end 261.
  • the landing gear 26 also includes a pulley 263 connected to the free end 262.
  • the flying power unit 10 is driven by the rotary drive device 23 to rotate and fold parallel to the arm main body 21 or to rotate and unfold perpendicular to the arm, which can facilitate the storage of the flying arm 20 and further improve the There is a problem with the storage and placement of the manned machine of the flying arm 20.
  • An embodiment of the present application further provides a connecting member 30.
  • the connecting member 30 is used to connect the flying arm 20 to the fuselage of the manned machine.
  • the connecting member 30 includes a fuselage fixing member 31 and a first arm fixing member 33 and a second arm fixing member 35 rotatably connected to opposite ends of the fuselage fixing member 31.
  • the first arm fixing member 33 and the second arm fixing member 35 are respectively fixedly connected to the arm main body 21 of a flying arm 20.
  • the fuselage fixing member 31 is fixedly connected with the fuselage of the manned machine.
  • the fuselage fixing member 31 includes an upper pressing plate 311 and a lower pressing plate 313 arranged in parallel and spaced apart.
  • the upper pressing plate 311 and the lower pressing plate 313 are respectively fixedly connected with the body of the manned machine.
  • the upper pressing plate 311 is substantially elongated and has a centrally symmetric structure.
  • Axle holes 3111 are opened at opposite ends of the upper pressing plate 311.
  • the shaft hole 3111 is provided along the thickness direction of the upper pressing plate 311.
  • the middle part of the upper pressing plate 311 is respectively provided with fixing plates 3113 extending to both sides.
  • the fixing plate 3113 is provided with screw holes for matching with screws to fix the upper pressing plate 311 to the body of the manned machine.
  • the lower pressing plate 313 and the upper pressing plate 311 have the same structure.
  • the opposite ends of the lower pressing plate 313 are provided with shaft connection holes 3131, and the middle part of the lower pressing plate 313 is respectively provided with fixing plates 3133 extending to both sides.
  • the fixing plate 3133 is provided with screw holes for matching with screws to fix the lower pressing plate 313 to the body of the man-carrying machine.
  • the connecting member 30 further includes a first connecting shaft 32 and a second connecting shaft 34.
  • the first connecting shaft 32 and the second connecting shaft 34 are respectively connected to opposite ends of the body fixing member 31.
  • the first arm fixing member 33 and the fuselage fixing member 31 are rotatably connected by a first connecting shaft 32.
  • the second arm fixing member 35 and the fuselage fixing member 31 are rotatably connected by a second connecting shaft 34.
  • the two ends of the first connecting shaft 32 are respectively connected to the shaft hole 3111 of the upper pressing plate 311 and the shaft hole 3131 of the lower pressing plate 313.
  • Two ends of the second connecting shaft 34 are respectively connected to the shaft hole 3111 of the upper pressing plate 311 and the shaft hole 3131 of the lower pressing plate 313.
  • the connecting member 30 further includes a machine arm driving device 36, and a transmission assembly 37 connected between the machine arm driving device 36 and the first machine arm fixing part 33 and the second machine arm fixing part 35 .
  • the arm driving device 36 drives the transmission assembly 37 to drive the first arm fixing member 33 and the second arm fixing member 35 to rotate in opposite directions at the same time, thereby driving the first arm fixing member 33 and the second arm fixing member 33
  • the flying arm 20 connected by the connector 35 can be unfolded or folded.
  • the arm driving device 36 and the transmission assembly 37 are both arranged between the upper pressing plate 311 and the lower pressing plate 313.
  • the arm driving device 36 may be, for example, a motor, including a driving shaft 361.
  • the transmission assembly 37 is a screw transmission assembly.
  • the transmission assembly 37 includes a screw rod 371 and a sliding plate 372 connected with the screw rod 371.
  • the opposite ends of the sliding plate 372 are slidably connected to the first arm fixing member 33 and the second arm fixing member 35.
  • the screw rod 371 includes a connecting end 3711.
  • the connecting end 3711 is rotatably connected with the arm driving device 36.
  • the arm driving device 36 drives the screw rod 371 to rotate through the connecting end 3711.
  • the screw rod 371 is a trapezoidal screw rod, which can realize self-locking, and can avoid the rotation of the first arm fixing member 33 and the second arm fixing member 35.
  • a threaded hole 3721 is opened in the middle of the sliding plate 372.
  • the threaded hole 3721 is opened along the width direction of the sliding plate 372.
  • the screw rod 371 is threadedly engaged with the threaded hole 3721.
  • the arm driving device 36 can drive the screw rod 371 to rotate, thereby driving the sliding plate 372 to move.
  • the opposite ends of the sliding plate 372 are further provided with a first sliding groove 3722 and a second sliding groove 3723 respectively. Both the first sliding groove 3722 and the second sliding groove 3723 extend along the length direction of the sliding plate 372.
  • the opposite ends of the sliding plate 372 are connected to the first arm fixing member 33 and the second arm fixing member 35 through the first sliding groove 3722 and the second sliding groove 3723, respectively.
  • the sliding plate 372 is also provided with a first sliding hole 3724 and a second sliding hole 3725 for the sliding rod to pass through.
  • the first sliding hole 3724 and the second sliding hole 3725 are both opened along the width direction of the sliding plate 372 and are located on both sides of the threaded hole 3721 respectively.
  • the first sliding hole 3724 is arranged between the threaded hole 3721 and the first sliding groove 3722
  • the second sliding hole 3725 is arranged between the threaded hole 3721 and the second sliding groove 3723.
  • the structure of the sliding plate 372 is axisymmetric with respect to the axis where the threaded hole 3721 is located.
  • the transmission assembly 37 further includes a first stroke support 373 and a second stroke support 374.
  • the first travel support 373 and the second travel support 374 are arranged in parallel and fixedly connected to opposite sides of the fuselage fixing member 31 respectively.
  • the sliding plate 372 is located between the first stroke support 373 and the second stroke support 374.
  • the first stroke support 373 and the second stroke support 374 are used to limit the sliding range of the sliding plate 372.
  • the arm driving device 36 is also located between the first stroke support 373 and the second stroke support 374.
  • the screw rod 371 is also located between the first stroke support 373 and the second stroke support 374.
  • the screw rod 371 extends from the first stroke support 373 to the second stroke support 374.
  • the connecting end 3711 passes through the opposite side of the second stroke support 374 and the first stroke support 373.
  • the first stroke bracket 373 is provided with a connecting hole 3731 connected to the other end of the screw rod 371 opposite to the connecting end 3711.
  • the connecting hole 3731 is opened along the thickness direction of the first stroke bracket 373.
  • the second stroke bracket 374 is provided with a first through hole 3741 and a second through hole 3742.
  • the first through hole 3741 is used for passing the connecting end 3711 of the screw rod 371 through.
  • the second through hole 3742 is used for the driving shaft 361 of the arm driving device 36 to pass through.
  • the first through hole 3741 and the second through hole 3742 are staggered in the width direction and the length direction of the second stroke bracket 374 to prevent the arm driving device 36 from obstructing the movement of the sliding plate 372 after the connecting member 30 is assembled.
  • the arm driving device 36 can also be arranged on the side of the second stroke support 374 away from the first stroke support 373, and It is directly connected to the connecting end 3711 of the screw rod 371.
  • the driving shaft 361 of the arm driving device 36 may be directly and fixedly connected to the connecting end 3711 of the screw rod 371 through a coupling.
  • the transmission assembly 37 further includes a first gear 375 and a second gear 376 meshing with the first gear 375.
  • the arm driving device 36 is connected to the first gear 375.
  • the second gear 376 is fixedly connected to the connecting end 3711 of the screw rod 371.
  • the arm driving device 36 drives the first gear 375 to rotate, thereby driving the screw rod 371 fixedly connected to the second gear 376 to rotate.
  • the first gear 375 and the second gear 376 are both arranged on the side of the second stroke support 374 away from the first stroke support 373.
  • first gear 375 and the second gear 376 can be replaced with a first pulley and a second pulley, respectively.
  • the first pulley and the second pulley are connected by a transmission belt.
  • the arm driving device 36 drives the first pulley to rotate, so as to drive the second pulley to rotate through the transmission belt, thereby driving the screw rod 371 to rotate.
  • the transmission assembly 37 further includes a first sliding rod 377 and a second sliding rod 378 connected between the first stroke support 373 and the second stroke support 374.
  • the first sliding rod 377 and the second sliding rod 378 are respectively inserted in the first sliding hole 3724 and the second second sliding hole 3725, and the opposite ends of each are respectively connected to the first stroke bracket 373 and the second stroke bracket 374.
  • the first stroke bracket 373 is provided with fixing holes 3732 and 3733 for fixedly connecting with the first sliding rod 377 and the second sliding rod 378.
  • the fixing holes 3732 and 3733 are arranged axisymmetrically with respect to the axis of the connecting hole 3731.
  • the second stroke bracket 374 is provided with fixing holes 3743 and 3744 for fixedly connecting with the second sliding rod 377 and the second sliding rod 378.
  • the fixing holes 3743 and 3744 are arranged axisymmetrically with respect to the axis of the first through hole 3741.
  • the first sliding rod 377 and the second sliding rod 378 can guide the sliding of the sliding plate 372 on the one hand, so that the sliding plate 372 keeps the screw rod 371 moving axially; 372 and the screw rod 371 have a certain supporting effect.
  • the torque caused by the impact can be caused by the screw rod 371,
  • the first sliding rod 377 and the second sliding rod 378 are shared, avoiding the impact caused by the impact of the flying arm 20 connected to the first arm fixing member 33 or the second arm fixing member 35, resulting in excessive torque.
  • the sliding plate 372 or the screw rod 371 is bent and damaged; in addition, it can support the first stroke support 373 and the second stroke support 374 to a certain extent, and enhance the rigidity of the first stroke support 373 and the second stroke support 374.
  • the transmission assembly 37 may further include a first bearing 3791 and a second bearing 3792.
  • the first bearing 3791 and the second bearing 3792 are respectively connected to opposite ends of the screw rod 371, and are respectively disposed in the connecting hole 3731 and the first through hole 3741.
  • the other end of the screw rod 371 opposite to the connecting end 3711 is connected to the first travel bracket 373 through the first bearing 3791.
  • the connecting end 3711 of the screw rod 371 is connected to the second stroke support 374 through the second bearing 3792, and the connecting end 3711 passes through the central axis hole of the second bearing 3792 to connect with the second gear 376.
  • the transmission assembly 37 may further include two circlips 370.
  • the connecting end 3711 of the screw rod 371 is provided with a clamping portion 3712 for clamping the clamping spring 370.
  • the driving shaft 361 of the arm driving device 36 is provided with a clamping portion 3611 for the clamping spring 370 to be clamped.
  • the two circlips 370 are respectively disposed at the clamping portions 3712 and 3611, and after the connecting member 30 is assembled, they are located on the side of the second stroke support 374 close to the first stroke support 373 and abut against the second stroke support 374.
  • the first arm fixing member 33 and the second arm fixing member 35 are respectively connected to the transmission assembly 37.
  • the first arm fixing member 33 and the second arm fixing member 35 are slidably connected to the first sliding groove 3722 and the second sliding groove 3723 at both ends of the sliding plate 372, respectively.
  • the first arm fixing member 33 is provided with a connecting hole 330 for the first connecting shaft 32 to pass through.
  • the connecting hole 330 is opened along the thickness direction of the first arm fixing member 33.
  • the first arm fixing member 33 includes a arm fixing end 331 and a sliding connection end 333 opposite to the arm fixing end 331.
  • the included angle between the sliding connection end 333 and the arm fixing end 331 is an obtuse angle.
  • the arm fixing end 331 is provided with an organic arm connecting hole 3311 for fixed connection with the other end of the arm main body 21 of the flying arm 20 relative to the end connected with the bracket 22.
  • the arm connecting hole 3311 is opened from the end of the arm fixing end 331 away from the sliding connecting end 333 to the inside of the arm fixing end 331.
  • the hole wall of the connecting hole 3311 is provided with a fixing hole.
  • the arm body 21 is also provided with a fixing hole. The screw is matched with the fixing hole of the hole wall of the connecting hole 3311 and the fixing hole of the arm body 21, so that The arm main body 21 is fixedly connected with the first arm fixing member 33.
  • the present application is not limited to the use of screws and screw holes to make the arm main body 21 and the first arm fixing member 33 fixedly connected.
  • it can also be welded, clipped, etc., as long as the arm main body 21 can be made It suffices to be fixedly connected with the first arm fixing member 33.
  • the sliding connection end 333 includes a first extension arm 3331 and a second extension arm 3333 that are arranged in parallel.
  • the first extension arm 3331 and the second extension arm 3333 extend from the position of the connecting hole 330 in a direction away from the fixing end 331 of the arm.
  • the vertical distance between the first extension arm 3331 and the second extension arm 3333 is greater than or equal to the thickness of the sliding plate 372.
  • the first extension arm 3331 is provided with a shaft hole 3332 connected to the slider along its thickness direction.
  • the second extension arm 3333 is provided with a shaft hole 3334 connected to the slider along its thickness direction.
  • the shaft hole 3332 and the shaft hole 3334 are arranged coaxially.
  • the connecting member 30 further includes a first sliding block 381 disposed in the first sliding groove 3722.
  • the first sliding block 381 is rotatably connected with the sliding connection end 333.
  • the first sliding block 381 is rotatably connected with the first extension arm 3331 and the second extension arm 3333.
  • the first extension arm 3331 and the second extension arm 3333 define the first sliding block 381 in the first sliding groove 3722.
  • the first sliding block 381 is provided with a shaft hole 3811.
  • the shaft hole 3811 is connected with the shaft hole 3332 and the shaft hole 3334 by a rotating shaft.
  • the second arm fixing member 35 is provided with a connecting hole 350 for the second connecting shaft 34 to pass through.
  • the connecting hole 350 is opened along the thickness direction of the second arm fixing member 35.
  • the second arm fixing member 35 includes a arm fixing end 351 and a sliding connection end 353 relative to the arm fixing end 351.
  • the included angle between the sliding connection end 353 and the arm fixed connection end 351 is an obtuse angle.
  • the arm fixing end 351 is provided with an organic arm connecting hole 3511 for fixedly connecting with the other end of the arm main body 21 of the other flying arm 20 relative to the end connected to the bracket 22.
  • the arm connecting hole 3511 is opened from the end of the arm fixing end 351 away from the sliding connecting end 353 to the inside of the arm fixing end 351.
  • the hole wall of the connecting hole 3511 is provided with a fixing hole.
  • the arm body 21 is also provided with a fixing hole. The screw is matched with the fixing hole of the hole wall of the connecting hole 3511 and the fixing hole of the arm body 21, so that The arm main body 21 is fixedly connected with the second arm fixing member 35.
  • the present application is not limited to the use of screws and screw holes to make the arm main body 21 and the second arm fixing member 35 fixedly connected.
  • it can also be welded, clipped, etc., as long as the arm main body 21 can be made It is only required to be fixedly connected with the second arm fixing member 35.
  • the sliding connection end 353 includes a first extension arm 3531 and a second extension arm 3533 arranged in parallel.
  • the first extension arm 3531 and the second extension arm 3533 extend from the position of the connecting hole 350 in a direction away from the fixed end 351 of the arm.
  • the vertical distance between the first extension arm 3531 and the second extension arm 3533 is greater than or equal to the thickness of the sliding plate 372.
  • the first extension arm 3531 is provided with a shaft hole 3532 connected to the slider along its thickness direction.
  • the second extension arm 3533 is provided with a shaft hole 3534 connected to the slider along its thickness direction.
  • the shaft hole 3532 and the shaft hole 3534 are arranged coaxially.
  • the connecting member 30 further includes a second sliding block 382 provided in the second sliding groove 3723.
  • the second sliding block 382 is rotatably connected with the sliding connection end 353.
  • the second sliding block 382 is rotatably connected with the first extension arm 3531 and the second extension arm 3533.
  • the first extension arm 3531 and the second extension arm 3533 define the second sliding block 382 in the second sliding groove 3723.
  • the second sliding block 382 is provided with a shaft hole 3821.
  • the shaft hole 3821 is connected with the shaft hole 3532 and the shaft hole 3534 by a rotating shaft.
  • the screw rod 371 when the arm driving device 36 drives the screw rod 371 to rotate, the screw rod 371 is threadedly connected with the sliding plate 372, and the opposite ends of the sliding plate 372 are caused by the first sliding rod 377 and the second sliding rod 377.
  • the restriction of the rod 378 cannot follow the rotation of the screw rod 371, but converts the rotation into a movement along the axial direction of the screw rod 371. Since the opposite ends of the sliding plate 372 are respectively slidably connected to the sliding connection end 333 of the first arm fixing member 33 and the sliding connection end 353 of the second arm fixing member 35, the sliding plate 372 is slidably connected along the screw rod.
  • the movement of 371 causes the first machine arm fixing part 33 and the second machine arm fixing part 35 to rotate in opposite directions and synchronously around the first connecting shaft 32 and the second connecting shaft 34, so as to realize the fixing part with the first machine arm Folding and unfolding of the flying arm 20 connected with 33 and the flying arm connected with the second arm fixing member 35.
  • the connecting member 30 provided in the present application can make the first arm fixing member 33 and the second arm fixing member 35 respectively connected to the flying arm 20 rotate in reverse synchronously through the arm drive device 36, and the positioning after the rotation is in place And lockup.
  • the rotatable angles of the first arm fixing member 33 and the second arm fixing member 35 can be designed to be any angle between 0° and 180°, for example, 45°, 90°, 120°, etc. .
  • the connecting member 30 provided by the present application has the advantages of small space occupation, strong driving power, reliable positioning and locking, etc., and is suitable for the arm connection of various dual-axis, four-axis and multi-axis unmanned and manned aerial vehicles, and
  • the connected flying arm 20 can be stored and folded to reduce the space occupied by the flying arm 20. In conjunction with the folding and unfolding design of the power assembly 10, the space occupied by the flying arm 20 can be reduced as much as possible.
  • the transmission assembly 37 includes a first rack 3726 and a second rack 3727 respectively connected to the opposite ends of the sliding plate 372.
  • the first rack 3726 includes a connecting end and a tooth end.
  • the first rack is fixedly connected to one end of the sliding plate 372 through its connecting end.
  • the tooth structure of the tooth end of the first rack 3726 is arranged along a straight line perpendicular to the length direction of the sliding plate 372.
  • the second rack 3727 has the same structure as the first rack 3726.
  • the second rack 3727 includes a connecting end and a tooth structure end.
  • the second rack 3727 is fixedly connected to the other end of the sliding plate 372 through its connecting end.
  • the tooth structure of the tooth end of the second rack 3727 is arranged along a straight line perpendicular to the length direction of the sliding plate 372.
  • the tooth structure of the first rack 3726 and the tooth structure of the second rack 3727 are arranged in parallel and facing opposite directions.
  • the first rack 3726 and the second rack 3727 can also be integrally formed with the sliding plate 372.
  • the sliding connection end 333 of the first arm fixing member 33 and the sliding connection end 353 of the second arm fixing member 35 can be omitted.
  • the first arm fixing member 33 includes a first tooth joint 334 meshed with the first rack 3726.
  • the first toothed portion 334 is disposed at an end of the first arm fixing member 33 away from the arm fixing end 331.
  • the tooth structure of the first tooth connection part 334 is arranged in an arc along the width direction of the first arm fixing member 33, and the first tooth connection part 334 and the connecting hole 330 are arranged coaxially.
  • the second arm fixing member 35 includes a second toothed portion 354 engaged with the second rack 3727.
  • the second tooth connection portion 354 is disposed at an end of the second arm fixing member 35 away from the arm fixing end 351.
  • the tooth structure of the second tooth connection part 354 is arranged in an arc along the width direction of the second arm fixing member 35, and the second tooth connection part 354 and the connecting hole 350 are arranged coaxially.
  • the screw rod 371 when the arm driving device 36 drives the screw rod 371 to rotate, the screw rod 371 is threadedly connected to the sliding plate 372, and the opposite ends of the sliding plate 372 are caused by the first sliding rod 377 and the second sliding rod 377.
  • the restriction of the sliding rod 378 cannot follow the rotation of the screw rod 371, but converts the rotation into a movement along the axial direction of the screw rod 371. Since the opposite ends of the sliding plate 372 pass through the first rack 3726 and the second rack 3727, the first toothed portion 334 of the first arm fixing member 33 and the second toothed portion 334 of the second arm fixing member 35, respectively.
  • the tooth connection portion 353 is connected, and the sliding plate 372 moves along the screw rod 371, which causes the first arm fixing member 33 and the second arm fixing member 35 to be synchronized in reverse directions around the first connecting shaft 32 and the second connecting shaft 34, respectively.
  • the flying arm 20 connected with the first arm fixing member 33 and the flying arm connected with the second arm fixing member 35 are folded and unfolded.
  • the sliding plate 372 can move along the first sliding rod 377 and the second sliding rod 378 through the cooperation of gears and racks.
  • the threaded hole 3721 of the sliding plate 372, the screw rod 371, The first bearing 3791 and the second bearing 3792 can be omitted.
  • the driving shaft 361 of the arm driving device 36 may be arranged perpendicular to the thickness direction of the sliding plate 372.
  • the gear is fixedly connected with the driving shaft 361.
  • the rack is fixedly connected to the sliding plate 372 and is arranged along the width direction of the sliding plate 372.
  • the rack meshes with the gear, and the arm driving device 36 drives the rack meshed with the gear to move through the driving gear, and then drives the sliding plate 372 to move.
  • the rack, gear and arm driving device 36 may be arranged between the first sliding rod 377 and the second sliding rod 378.
  • first sliding block 381 and the second sliding block 382 may be replaced by deep groove ball bearings.
  • first sliding rod 377 and the second sliding rod 378 may be omitted.
  • design of one screw rod and two sliding rods in the foregoing embodiment can be replaced by two screw rods.
  • the two screw rods are arranged symmetrically with respect to the center line of the sliding plate 372 in the width direction.
  • the two screw rods are respectively provided with the transmission mechanism of the charter arm driving device 36, the first gear 375 and the second gear 376 in the foregoing embodiment.
  • the specific setting method can refer to the foregoing embodiment, and will not be repeated here.
  • FIGS. 36 to 39 Another embodiment of the present application provides a connecting member 30a for connecting the flying arm 20 to the fuselage of the manned machine.
  • the connecting member 30a includes a body fixing member 31a and a first arm fixing member 33a and a second arm fixing member 35a connected to opposite ends of the arm fixing member 31a.
  • the first arm fixing member 33a and the second arm fixing member 35a are respectively fixedly connected to the arm main body 21 of a flying arm 20.
  • the fuselage fixing member 31a is fixedly connected with the fuselage of the manned machine.
  • the fuselage fixing member 31a includes an upper pressing plate 311a and a lower pressing plate 313a arranged in parallel and spaced apart.
  • the upper pressing plate 311a and the lower pressing plate 313a are respectively fixedly connected to the body of the manned machine.
  • the upper pressing plate 311a is provided with two axial connection holes 3111a and two first connection holes 3113a.
  • the shaft connecting hole 3111a and the first connecting hole 3113a are both opened along the thickness direction of the upper pressing plate 311a.
  • the two shaft connecting holes 3111a and the two connecting holes 3113a are both through holes.
  • the two shaft contact holes 3111a are respectively located at opposite ends of the upper pressing plate 311a.
  • the two first connecting holes 3113a are located between the two shaft connecting holes 3111a.
  • the upper pressing plate 311a may include a side from the upper pressing plate 311a close to the lower pressing plate 313a
  • the convex portion 3112a protrudes outward, and the shaft connection hole 3111a and the first connecting hole 3113a are both opened from the side of the convex portion 3112a close to the lower pressing plate 313a inside the upper pressing plate 311a.
  • the lower pressing plate 313a is provided with two shaft connecting holes 3131a and two third connecting holes 3133a.
  • the two shaft contact holes 3131a are respectively located at opposite ends of the lower pressing plate 313a.
  • the two third connecting holes 3133a are located between the two shaft connecting holes 3131a.
  • the shaft connecting hole 3131a and the third connecting hole 3133a are blind holes opened inside the lower pressing plate 313a from the side of the lower pressing plate 313a close to the upper pressing plate 311a.
  • the lower pressing plate 313a may include a side from the lower pressing plate 313a close to the upper pressing plate 311a.
  • a protruding portion 3132a is formed on the outside, and the shaft connection holes 3131a and 3133a are both opened from the side of the protruding portion 3132a close to the upper pressing plate 311a to the inside of the downward pressing plate 313a.
  • the shaft connecting hole 3131a is opposite to the shaft connecting hole 3111a and arranged coaxially, and the third connecting hole is opposite to the first connecting hole 3113a and arranged coaxially.
  • the upper pressing plate 311a and the lower pressing plate 313a are also provided with connecting holes (not shown) for fixed connection with the body of the man-carrying machine.
  • the connecting member 30a further includes a first connecting shaft 32a and a second connecting shaft 34a.
  • the first connecting shaft 32a and the second connecting shaft 34a are respectively connected to opposite ends of the body fixing member 31a.
  • the first arm fixing member 33a and the fuselage fixing member 31a are rotatably connected by a first connecting shaft 32a.
  • the second arm fixing member 35a and the fuselage fixing member 31a are rotatably connected by a second connecting shaft 34a.
  • Both ends of the first connecting shaft 32a are respectively connected with the shaft hole 3111a of the upper pressing plate 311a and the shaft hole 3131a of the lower pressing plate 313a.
  • Two ends of the second connecting shaft 34a are respectively connected with the shaft hole 3111a of the upper pressing plate 311a and the shaft hole 3131a of the lower pressing plate 313a.
  • the body fixing member 31a may further include an end cover 315a.
  • the end cover 315a is arranged on the side of the upper pressing plate 311a away from the lower pressing plate 313a, and is fixedly connected to the upper pressing plate 311a, and is used to confine the first connecting shaft 32a and the second connecting shaft 34a between the end cover 315a and the lower pressing plate 313a. Between the pressure plate 313a.
  • the end cover 315a and the upper pressing plate 311a can be fixedly connected by the fit of the screw hole and the screw or the fit of the buckle and the slot.
  • the connecting member 30a further includes an arm driving device 36a, and the arm driving device 36a is connected to the first arm fixing member 33a and the arm driving device 36a and The transmission assembly 37a between the second arm fixing parts 35a.
  • the arm driving device 36a, the transmission assembly 37a, the first arm fixing member 33a and the second arm fixing member 35a are all arranged between the upper pressing plate 311a and the lower pressing plate 313a.
  • the first arm fixing member 33a and the second arm fixing member 35a correspond to an arm driving device 36a and a rotating assembly 37a, respectively.
  • the arm driving device 36a corresponding to the first arm fixing part 33a drives the first arm fixing part 33a to rotate by driving the corresponding transmission assembly 37a, thereby driving the flying arm connected to the first arm fixing part 33a 20 realizes the rotation to expand or collapse.
  • the arm driving device 36a corresponding to the second arm fixing part 35a drives the second arm fixing part 33a to rotate by driving the corresponding transmission assembly 37a, thereby driving the flying arm connected to the second arm fixing part 35a 20 realizes the rotation to expand or collapse.
  • the arm driving device 36a corresponding to the first arm fixing member 33a and the arm driving device 36a corresponding to the second arm fixing member 35a are synchronous motors with opposite rotation directions.
  • the arm driving device 36a is fixed on the lower pressing plate 313a.
  • the arm driving device 36a includes a motor 361a and a first transmission wheel 363a.
  • the motor 361a is connected to the first transmission wheel 363a, and is used to drive the first transmission wheel 363a to rotate.
  • the arm driving device 36a may further include a motor mounting base 362a.
  • the motor mounting seat 362a is used to fix the motor 361a on the lower pressing plate 313a and support the first transmission wheel 363a.
  • the motor mounting seat 362a is roughly in the shape of an arch bridge, and includes a mounting platform 3621a, a first side plate 3622a and a second side plate (not shown).
  • the first side plate 3622a and the second side plate are respectively connected to two ends of the installation platform 3621a, and are used to support the installation platform 3621a.
  • the first side plate 3622a, the installation platform 3621a and the second side plate enclose a bridge-like accommodation space.
  • the motor 361a is accommodated in the bridge-shaped accommodation space, and is fixed on the lower plate 313a through the motor mounting seat 362a.
  • the rotating shaft of the motor 361a passes through the side of the mounting platform 3621a away from the lower pressing plate 313a, and is connected to the first transmission wheel 363a to drive the first transmission wheel 363a to rotate.
  • the first transmission wheel 363a is arranged on the installation platform 3621a, and the axle of the first transmission wheel 363a is perpendicular to the installation platform 3621a.
  • the first side plate 3622a and the second side plate are vertically connected to both ends of the installation platform 3621a. It can be understood that in other embodiments, the first side plate 3622a and the second side plate may also be connected to the two ends of the mounting platform 3621a at other angles (for example, obtuse angles) to the mounting platform 3621a, and the application is not limited thereto.
  • the motor mounting seat 362a may further include a first lug 3624a and a second lug (not shown).
  • the first lug 3624a and the second lug are respectively connected to the first side plate 3622a and the end of the second side plate away from the mounting platform 3621a for fixing the motor mounting seat 362a.
  • the first lug 3624a and the second lug can be fixedly connected to the lower pressing plate 313a by a screw and a screw hole or a buckle and a clamping groove, so as to fix the motor mounting seat 362a on the lower pressing plate 313a. on.
  • first lug 3624a and the second lug are both arranged in parallel with the mounting platform 3621a, and the first lug 3624a and the second lug are located on the same plane.
  • first lug 3624a and the second lug extend away from each other in opposite directions.
  • the transmission assembly 37a is in transmission connection with the arm driving device 36a. In this embodiment, the transmission assembly 37a is in transmission connection with the first transmission wheel 363a.
  • the transmission assembly 37a may be a dial assembly.
  • the transmission assembly 37a includes a shift wheel 371a and a second transmission wheel 373a fixedly connected to the shift wheel 371a.
  • the transmission assembly 37a further includes a dial shaft 375a.
  • the dial 371a is fixedly connected with the dial shaft 375a
  • the second transmission wheel 373a is fixedly connected with the dial shaft 375a
  • the second transmission wheel 373a is fixedly connected with the dial 371a through the dial shaft 375a.
  • the shift lever 3713a of the shift wheel 371a extends in a direction away from the second transmission wheel 373a, and is spaced from the second transmission wheel 373a in the axial direction of the shift wheel shaft 375a, so as to prevent the arm driving device 36a from driving the second transmission wheel 373a.
  • the arm driving device 36a blocks the rotation of the dial wheel 371a.
  • the dial 371a and the dial shaft 375a are integrally formed.
  • the dial 371a includes a main body 3711a and a dial 3713a protruding from the outer edge of the main body 3711a.
  • the body 3711a may be arranged coaxially with the dial shaft 375a.
  • the number of the shift lever 3713a is one.
  • the extension direction of the shift lever 3713a is parallel to the axial direction of the shift wheel 371a.
  • the shift lever 3713a protrudes outward from the outer edge of the body 3711a along the radial direction of the body 3711a, and the extension direction of the shift lever 3713a is parallel to the axial direction of the shift wheel 371a.
  • the second transmission wheel 373a is sleeved on the dial shaft 375a, and the second transmission wheel 373a is drivingly connected with the first transmission wheel 363a.
  • the radius of the second transmission wheel 373a may be, for example, larger than the radius of the first transmission wheel 363a and smaller than the distance from the center of the body 3711a of the dial wheel 371a to the distal end of the shift lever 3713a.
  • both the first transmission wheel 363a and the second transmission wheel 373a are gears.
  • the second transmission wheel 373a meshes with the first transmission wheel 363a. It can be understood that in other embodiments, the second transmission wheel 373a may also be integrally formed with the dial shaft 375a, which is not limited in this application.
  • the connecting member 30a may further include a bearing (not shown).
  • the bearing may be arranged in the first connecting hole 3113a and/or the third connecting hole 3133a, and located between the hole wall of the dial shaft 375a and the first connecting hole 3113a and/or the hole wall of the dial shaft 375a and the third connecting hole 3133a .
  • the first arm fixing member 33a is fixedly connected to one end of the arm main body 21 of the flying arm 20, and is rotatably connected to the fuselage fixing member 31a through the first connecting shaft 32a.
  • the first arm fixing member 33a is drivingly connected with the dial wheel 371a of the corresponding transmission assembly 37a.
  • the second arm fixing member 35a is fixedly connected to one end of the arm main body 21 of the other flying arm 20, and is rotatably connected to the fuselage fixing member 31a through the second connecting shaft 34a.
  • the second arm fixing member 35a is drivingly connected with the dial wheel 371a of the corresponding transmission assembly 37a.
  • the first arm fixing member 33a and the arm body 21 of the flying arm 20 fixedly connected to it are integrally formed.
  • the second arm fixing member 35a and the arm main body 21 of the flying arm 20 fixedly connected therewith are integrally formed. It can be understood that in other embodiments, the arm fixing member can be fixedly connected to one end of the arm body 21 of the corresponding flying arm 20 through the cooperation of the screw hole and the screw or the cooperation of the buckle and the slot. Not limited.
  • the first arm fixing member 33a is a sheave.
  • the first arm fixing member 33a includes the first arm fixing member 33a from the outer edge of the first arm fixing member 33a to the inside of the first arm fixing member 33a and extending along the radial direction of the first arm fixing member 33a.
  • the channel 331a is located between two adjacent arc-shaped portions 333a.
  • the radius of the circle where the arc-shaped portion 333a is located is the same as the radius of the body 3711a of the dial 371a of the corresponding transmission assembly 37a.
  • the number of grooves 331a is two, and the number of corresponding arc-shaped portions 333a is three.
  • the first arm fixing member 33a realizes the transmission connection with the dial 371a of the transmission assembly 37a through the cooperation of the channel 331a and the shift lever 3713a of the corresponding transmission assembly 37a.
  • the second arm fixing member 35a is also a sheave and has the same structure as the first arm fixing member 33a.
  • the second arm fixing member 35a includes a groove extending from the outer edge of the second arm fixing member 35a to the inside of the second arm fixing member 35a along the radial direction of the second arm fixing member 35a Road 351a, and at least two arc-shaped portions 353a provided along the outer edge of the second arm fixing member 35a.
  • the channel 351a is located between two adjacent arc-shaped portions 353a.
  • the radius of the circle where the arc-shaped portion 353a is located is the same as the radius of the body 3711a of the dial 371a of the corresponding transmission assembly 37a.
  • the number of grooves 351a is two, and the number of corresponding arc-shaped portions 353a is three.
  • the second arm fixing member 35a realizes the transmission connection with the dial 371a of the transmission assembly 37a through the cooperation of the channel 351a and the shift lever 3713a of the corresponding transmission assembly 37a.
  • first arm fixing member 33a and the first connecting shaft 32a can also be fixed between the first arm fixing member 33a and the first connecting shaft 32a.
  • a bearing is arranged between the connecting piece 35a and the second connecting shaft 34a.
  • the arm driving device 36a drives the first transmission wheel 363a to rotate; the first transmission wheel 363a drives the second transmission wheel 373a to rotate; because the second transmission wheel 373a is fixedly connected with the dial shaft 375a, and the dial 371a and the dial shaft 375a Fixed connection, the second transmission wheel 373a drives the dial shaft 375a to rotate, and then drives the dial 371a to rotate; because the dial 371a and the arm fixing part (including the first arm fixing part 33a and the second arm fixing part 35a ) Transmission connection, and the arm fixing member is fixedly connected with the arm main body 21 of the flying arm 20, and the rotation of the dial 371a drives the arm fixing member to rotate, which in turn drives the flying arm 20 to rotate, so as to realize the rotating expansion and rotating folding of the flying arm .
  • the following takes the cooperation of the first arm fixing member 33a and the dial wheel 371a of the corresponding transmission assembly 37a as an example, the cooperation between the dial wheel 371a and the arm fixing member to achieve the rotation and deployment process is performed Introduction.
  • the flying arm 20 connected to the first arm fixing member 33a is in a folded state.
  • the outer edge of the body 3711a of the dial wheel 371a is coupled with the arc-shaped portion 333a on the left side of the first arm fixing member 33a, and the lever 3713a of the dial wheel 371a is set away from the arm fixing member 33a.
  • the arm driving device 36a drives the first transmission wheel 363a to drive the second transmission wheel 373a to rotate in the counterclockwise direction
  • the lever 3713a of the dial 371a rotates to the left arc 333a of the first arm fixing member 33a and the middle At the notch of the groove 331a (for ease of description, hereinafter referred to as the first groove) between the arc-shaped portions 333a (corresponding to state 2 in FIG. 39).
  • the motor 361a continues to drive the first transmission wheel 363a to drive the second transmission wheel 373a to rotate, and then to drive the dial 371a to rotate counterclockwise
  • the dial 3713a slides in along the first groove and passes through the groove with the first groove.
  • the interaction of the walls drives the first arm fixing member 33a to rotate in a clockwise direction (corresponding to state 3 in FIG. 39).
  • the shift lever 3713a gradually slides with the rotation of the shift wheel 371a until the first channel is close to the axis of the first arm fixing member 33a.
  • the shift lever 3713a will slide back along the first channel to the notch of the first channel in the direction away from the axis of the first arm fixing member 33a (corresponding to state 4 in FIG. 39).
  • the shift lever 3713a reaches the middle arc part 333a and the right side of the sheave wheel.
  • the notch of the channel 331a (for ease of description, hereinafter referred to as the second channel) between the arc-shaped portions 333a.
  • the shift lever 3713a will cooperate with the second channel to repeat the transmission process of the shift lever 3713a and the first channel, thereby making the first channel
  • the flying arm connected to the arm fixing member 33a reaches the unfolded state.
  • the process in which the flying arm connected by the first arm fixing member 33a is converted from the unfolded state to the folded state is opposite to the above process, and will not be repeated here.
  • the angle range that the arm fixing member (the first arm fixing member 33a and the second arm fixing member 33a and the second arm 35a can be used for reference) and the number of the lever 3713a of the dial wheel 371a, the channel on the arm fixing member The number and the included angle between the channels are related, and those skilled in the art can design according to needs, and this application does not limit this.
  • first arm fixing member 33a and the first connecting shaft 32a may be integrally formed.
  • the second arm fixing member 35a and the second connecting shaft 34a may be integrally formed. At this time, the arm fixing member and the connecting shaft rotate together with respect to the shaft connecting hole.
  • the connecting member provided by the embodiment of the present application drives the transmission assembly 37a to rotate through the arm drive device 36a, thereby driving the first arm fixing member 33a and the flying arm 20 fixedly connected to the first arm fixing member 33a, or the second The second arm fixing member 35a and the flying arm 20 fixedly connected to the second arm fixing member 35a rotate to expand or retract the flying arm 20, thereby enabling the flying arm 20 to be deployed when in use, and when not in use Tucked up, convenient for storage of manned machines.
  • FIG. 40 another embodiment of the present application provides a connecting member 30b for connecting the flying arm 20 to the fuselage of a manned machine.
  • the connecting member 30b includes a fuselage fixing member 31b and an arm fixing member 33b connected to the fuselage fixing member 31b.
  • the fuselage fixing member 31b is fixedly connected with the fuselage of the manned machine.
  • the body fixing member 31b includes an upper pressing plate 311b and a lower pressing plate 313b arranged in parallel and spaced apart, and a mounting plate 312b perpendicularly connected to the upper pressing plate 311b and the lower pressing plate 313b.
  • the fuselage fixing member 31b is fixedly connected to the fuselage of the manned machine through the mounting plate 312b.
  • the upper pressing plate 311b is provided with a shaft connection hole (not shown in the figure) and a first connection hole (not shown in the figure). Both the shaft connection hole and the first connection hole are opened along the thickness direction of the upper pressing plate 311b.
  • the shaft connection hole and the first connection hole are both through holes, and the shaft connection hole is closer to the mounting plate 312b than the first connection hole.
  • the lower pressing plate 313b includes a first mounting portion 3131b and a second mounting portion 3133b arranged in parallel, and a connecting portion 3132b connected between the first mounting portion 3131b and the second mounting portion 3133b.
  • the first mounting portion 3131b, the connecting portion 3132b and the second mounting portion 3133b jointly form a stepped structure.
  • the first mounting portion 3131b is provided with a third connecting hole (not shown in the figure).
  • the third connecting hole is coaxially arranged with the first connecting hole 3113b, and the third connecting hole is a through hole.
  • the second mounting portion 3133b is provided with an axial connection hole (not shown) that is coaxially arranged with the axial connection hole of the upper pressing plate 311b.
  • the shaft hole opened in the second mounting portion 3133b is a blind hole with an opening facing the upper pressing plate 311b.
  • the connecting member 30b further includes a connecting shaft (not shown in the figure).
  • the arm fixing member 33b is rotatably connected with the fuselage fixing member 31b through a connecting shaft.
  • the two ends of the connecting shaft are respectively penetrated in the shaft connection hole of the upper pressing plate 311b and the shaft connection hole of the second mounting portion 3133b.
  • the body fixing member 31b may further include an end cover 315b.
  • the end cover 315b is arranged on the side of the upper pressing plate 311b away from the lower pressing plate 313b, and is fixedly connected to the upper pressing plate 311b, and is used to limit the connecting shaft between the end cover 315b and the second mounting portion 3133b of the lower pressing plate 313b. between.
  • the end cover 315b and the upper pressing plate 311b may be fixedly connected by the cooperation of the screw hole and the screw or the cooperation of the buckle and the groove.
  • the connecting member 30b further includes a machine arm driving device 36b, and a transmission assembly 37b connected between the machine arm driving device 36a and the machine arm fixing member 33b.
  • the arm driving device 36b drives the transmission assembly 37b to rotate the motor arm fixing member 33b, so as to drive the flying arm 20 connected with the arm fixing member 33b to rotate and expand or retract.
  • the arm driving device 36b is arranged in the space enclosed by the first mounting portion 3131b, the connecting portion 3132b, and the mounting plate 312b, and the arm driving device 36b, the mounting plate 312b and/or the first mounting portion 3131b and/or the connecting portion 3132b fixed connection.
  • the arm driving device 36b is a motor, and its rotating shaft passes through the third connecting hole of the first mounting portion 3131b to between the first mounting portion 3131b and the upper pressing plate 311b.
  • the transmission assembly 37b is arranged between the upper pressing plate 311b and the first mounting portion 3131b.
  • the transmission assembly 37b includes a dial 371b and a dial shaft (not shown).
  • the wheel shaft is fixedly connected with the rotating shaft of the arm driving device 36b.
  • the dial 371b is fixedly connected to the dial shaft.
  • the arm driving device 36b drives the rotating shaft to rotate, drives the dial shaft to rotate, and then drives the dial 371b to rotate. It can be understood that the dial 371b can be integrally formed with the dial shaft.
  • the dial 371b includes a main body 3711b and a dial 3713b protruding from the outer edge of the main body 3711b.
  • the body 3711b may be arranged coaxially with the dial shaft 375a.
  • the number of the shift lever 3713b is one.
  • the extension direction of the shift lever 3713b is parallel to the axial direction of the shift wheel 371b.
  • the shift lever 3713b protrudes outward from the outer edge of the body 3711b along the radial direction of the body 3711b, and the extension direction of the shift lever 3713b is parallel to the axial direction of the shift wheel 371b.
  • the connecting member 30a may further include a bearing (not shown in the figure). The bearing may be arranged in the first connecting hole and/or the third connecting hole, and between the hole wall of the dial shaft and the first connecting hole and/or the hole wall of the dial shaft and the third connecting hole.
  • the arm fixing member 33b is fixedly connected to one end of the arm main body 21 of the flying arm 20, and is rotatably connected to the fuselage fixing member 31b through a connecting shaft.
  • the arm fixing member 33b is drivingly connected with the dial wheel 371b of the corresponding transmission assembly 37b.
  • the arm fixing member 33b and the arm body 21 of the flying arm 20 fixedly connected to it are integrally formed. It can be understood that in other embodiments, the arm fixing member 33b can be fixedly connected to one end of the arm main body 21 of the flying arm 20 through the cooperation of the screw hole and the screw or the cooperation of the buckle and the slot. limited.
  • the arm fixing member 33b is a sheave.
  • the arm fixing member 33b includes a channel 331b opened along the radial direction of the arm fixing member 33b from the outer edge of the arm fixing member 33b to the inside of the arm fixing member 33b, and along the machine arm fixing member 33b.
  • At least two arc-shaped portions 333b are provided on the outer edge of the arm fixing member 33b.
  • the channel 331b is located between two adjacent arc-shaped portions 333b.
  • the radius of the circle where the arc-shaped portion 333b is located is the same as the radius of the body 3711b of the dial 371b of the transmission assembly 37b.
  • the number of grooves 331b is two, and the number of corresponding arc-shaped portions 333a is three.
  • the arm fixing member 33b realizes the transmission connection with the dial 371b of the transmission assembly 37b through the cooperation of the channel 331b and the shift lever 3713b of the transmission assembly 37b.
  • a bearing may also be provided between the arm fixing member 33b and the connecting shaft.
  • the arm driving device 36b drives its shaft to drive the dial shaft to rotate, and then drives the dial 371b to rotate; because the dial 371b is in transmission connection with the arm fixing part 33b, and the arm fixing part is connected to the arm body of the flying arm 20 21 is fixedly connected, the dial 371b rotates and the motor arm fixing member 33b rotates, and then drives the flying arm 20 to rotate, so as to realize the rotating expansion and the rotating folding of the flying arm.
  • Yet another embodiment of the present application further provides a connecting member 30c for connecting the flying arm 20 to the fuselage of the manned machine.
  • the connecting member 30c includes a fuselage fixing member 31c and a first arm fixing member 33c and a second arm fixing member 35c connected to opposite ends of the arm fixing member 31c.
  • the first arm fixing member 33c and the second arm fixing member 35c are respectively fixedly connected to the arm main body 21 of a flying arm 20.
  • the fuselage fixing member 31c is fixedly connected with the fuselage of the manned machine.
  • the body fixing member 31c includes an upper pressing plate 311c and a lower pressing plate 313c arranged in parallel and spaced apart.
  • the upper pressing plate 311c and the lower pressing plate 313c are respectively fixedly connected to the body of the manned machine.
  • the upper pressing plate 311c is provided with two axial connection holes 3111c, two first connection holes 3113c, and two second connection holes 3115c.
  • the shaft connecting hole 3111c, the first connecting hole 3113c and the second connecting hole 3115c are all opened along the thickness direction of the upper pressing plate 311c.
  • the two shaft contact holes 3111c are respectively located at opposite ends of the upper pressing plate 311c.
  • the two first connecting holes 3113c are located between the two shaft connecting holes 3111c.
  • the two second connecting holes 3115c are located between the two first connecting holes 3113c.
  • the lower pressing plate 313c is provided with two shaft connection holes (not shown in the figure), two third connection holes (not shown in the figure) and two fourth connection holes (not shown in the figure).
  • the two shaft connection holes are respectively located at opposite ends of the lower pressing plate 313c.
  • the two third connecting holes are located between the two shaft connecting holes.
  • the two fourth connecting holes are located between the two third connecting holes.
  • the axial connection hole of the lower pressing plate 313c is opposite to the axial connection hole 3111c of the upper pressing plate 311c and arranged coaxially, the third connecting hole is opposite to the first connecting hole 3113c and arranged coaxially, and the fourth connecting hole It is opposite to the second connecting hole 3115c and is arranged coaxially.
  • the surface of the lower pressing plate 313c close to the upper pressing plate 311c is convexly provided with a bump 3132c.
  • the protrusion 3132c is used to set a lever for adjusting the tension of the transmission belt and the pulley.
  • the fuselage fixing member 31c may further include a plurality of auxiliary support members 315c for supporting the lower pressing plate 313c.
  • the connecting member 30c further includes a first connecting shaft 32c and a second connecting shaft 34c.
  • the first connecting shaft 32c and the second connecting shaft 34c are respectively connected to opposite ends of the body fixing member 31c.
  • the first arm fixing member 33c and the fuselage fixing member 31c are rotatably connected by a first connecting shaft 32c.
  • the second arm fixing member 35c and the fuselage fixing member 31 are rotatably connected by a second connecting shaft 34c.
  • Two ends of the first connecting shaft 32c are respectively connected to the shaft hole 3111c of the upper pressing plate 311c and the shaft hole 313c of the lower pressing plate 313c.
  • Two ends of the second connecting shaft 34c are respectively connected to the shaft hole 3111c of the upper pressing plate 311c and the shaft hole 313c of the lower pressing plate 313c. It can be understood that, in order to avoid shaking of the first connecting shaft 32c and the second connecting shaft 34c, bearing end caps may be provided at the shaft connection holes 3111c of the upper pressure plate 311c and the shaft connection holes of the lower pressure plate 313c.
  • the connecting member 30c further includes a machine arm driving device 36c, and a transmission assembly 37c connected between the machine arm driving device 36c and the first machine arm fixing part 33c and the second machine arm fixing part 35c .
  • the arm driving device 36c, the transmission assembly 37c, the first arm fixing member 33c and the second arm fixing member 35c are all arranged between the upper pressing plate 311c and the lower pressing plate 313c.
  • the first arm fixing member 33c and the second arm fixing member 35c respectively correspond to an arm driving device 36c and a rotating assembly 37c.
  • the arm driving device 36c corresponding to the first arm fixing member 33c drives the first arm fixing member 33c to rotate by driving the corresponding transmission assembly 37c, thereby driving the flying arm connected to the first arm fixing member 33c 20 realizes the rotation to expand or collapse.
  • the arm driving device 36c corresponding to the second arm fixing member 35c drives the second arm fixing member 33c to rotate by driving the corresponding transmission assembly 37c, thereby driving the flying arm connected to the second arm fixing member 35c 20 realizes the rotation to expand or collapse.
  • the arm driving device 36c corresponding to the first arm fixing member 33c and the arm driving device 36c corresponding to the second arm fixing member 35c are synchronous motors with opposite rotation directions.
  • the arm driving device 36c is fixed on the lower pressing plate 313c.
  • the arm driving device 36c includes a motor 361c and a first transmission wheel 363c.
  • the motor 361c is connected to the first transmission wheel 363c, and is used to drive the first transmission wheel 363c to rotate.
  • the arm driving device 36c may further include a motor mounting seat 362c.
  • the motor mounting seat 362c is used to support the motor 361c and the first transmission wheel 363c.
  • the motor mounting seat 362c is roughly in the shape of an arch bridge, and includes a mounting platform 3621c, a first side plate 3622c, and a second side plate 3623c.
  • the first side plate 3622c and the second side plate 3623c are respectively connected to both ends of the installation platform 3621c for supporting the installation platform 3621c.
  • the first side plate 3622c, the installation platform 3621c and the second side plate 3623c enclose a bridge-like accommodation space.
  • the motor 361c is installed on the installation platform 3621c.
  • the end of the motor 361c away from the installation platform is inserted through the first connecting hole 3113c.
  • the first transmission wheel 363c is arranged in the bridge-shaped receiving space, and the axle of the first transmission wheel 363c is perpendicular to the installation platform 3621c.
  • the drive shaft of the motor 361c passes through the mounting platform 3621c and is connected to the first transmission wheel 363c, and passes through the third connecting hole.
  • the first side plate 3622c and the second side plate 3623c are vertically connected to both ends of the installation platform 3621c.
  • first side plate 3622c and the second side plate 3623c can also be connected to the mounting platform 3621c at other angles (for example, obtuse angles) at both ends of the mounting platform 3621c, and the application is not limited to this. .
  • the motor mounting seat 362c may further include a first lug 3624c and a second lug 3625c.
  • the first lug 3624c and the second lug 3625c are respectively connected to the end of the first side plate 3622c and the second side plate 3623c away from the installation platform 3621c for fixing the motor mounting seat 362c.
  • the first lug 3624c and the second lug 3625c are both arranged in parallel with the mounting platform 3621c, and the first lug 3624c and the second lug 3625c are located on the same plane.
  • the first lug 3624c and the second lug 3625c extend away from each other in opposite directions.
  • the first lug 3624c is provided with an elongated first adjusting groove 3626c.
  • the second lug 3625c is provided with an elongated second adjusting groove (not shown in the figure).
  • the second adjusting groove and the first adjusting groove 3626c are parallel to each other and parallel to the first side plate 3622c and the second side plate 3623c.
  • the first adjusting groove 3626c and the second adjusting groove are used to coordinate with the fixing bolt (the fixing bolt is used to fix the motor mounting seat 362c) to adjust the tension of the transmission belt and the pulley when the first transmission wheel 363c is a pulley.
  • a first abutting plate 3628c is protrudingly provided at one side edge of the first lug 3624c.
  • the first abutment plate 3628c is perpendicular to the first lug 3624c and the first side plate 3622c.
  • a second abutment plate protrudes from one side edge of the second lug 3625c.
  • the second abutment plate is perpendicular to the second lug 3625c and the second side plate 3623c.
  • the first abutment plate 3628c and the second abutment plate are located on the same side and are used to cooperate with the abutment rod.
  • the first abutment plate 3628c and the second abutment plate of the motor mounting seat 362c are respectively disposed opposite to the protrusion 3132c.
  • the abutment rod installed on the protrusion 3132c is used to adjust the tension of the transmission belt and the pulley to a proper degree of tension through the cooperation of the adjusting groove and the fixing bolt, and then cooperate with the abutment plate to make the transmission belt and the pulley tension. The degree of tightness is maintained at the appropriate degree of tension.
  • the transmission assembly 37c is in transmission connection with the arm driving device 36c. In this embodiment, the transmission assembly 37c is in transmission connection with the first transmission wheel 363c.
  • the transmission assembly 37c is a dial assembly.
  • the transmission assembly 37c includes a dial 371c and a second transmission wheel 373c fixedly connected to the dial 371c.
  • the dial 371c and the second transmission wheel 373c are fixedly connected by a fixing screw. It can be understood that in other embodiments, the dial 371c may also be integrally formed with the second transmission wheel 373c, which is not limited in this application.
  • the dial 371c includes a main body 3711c and a dial 3713c protruding from the outer edge of the main body 3711c.
  • the main body 3711c is provided with a screw hole for mating with a fixing screw to realize a fixed connection with the second transmission wheel 373c.
  • the dial 371c includes two dials 3713c spaced apart along the outer edge of the body 3711c.
  • the extension direction of the shift lever 3713c is parallel to the axial direction of the shift wheel 371c.
  • the shift lever 3713c protrudes outward from the outer edge of the main body 3711c along the radial direction of the main body 3711c, and the extension direction of the shift lever is parallel to the axial direction of the shift wheel 371c.
  • the included angle formed by the line connecting the two shift levers 3713c and the axis of the shift wheel 371c is 120°.
  • the second transmission wheel 373c is in transmission connection with the first transmission wheel 363c, and is fixedly connected with the dial 371c.
  • the diameter of the second transmission wheel 373c may be, for example, greater than the diameter of the first transmission wheel 363c, and less than or equal to the diameter of the dial 371c (the body 3711c).
  • both the first transmission wheel 363c and the second transmission wheel 373c are pulleys.
  • the first transmission wheel 363c and the second transmission wheel 373c are connected by a transmission belt. Through the belt transmission, a large center distance transmission can be realized, so that the connecting member 30c has impact resistance.
  • first transmission wheel 363c and the second transmission wheel 373c may also be gears, and the first transmission wheel 363c meshes with the second transmission wheel 373c, which is not limited in this application, as long as the first transmission wheel 373c
  • the wheel 363c can drive the second transmission wheel 373c to rotate under the drive of the arm driving device 361c, and then drive the dial wheel 371c to rotate.
  • the transmission assembly 37c may further include a dial shaft 375c.
  • the opposite ends of the wheel shaft 375c are respectively disposed in the second connecting hole 3115c and the fourth connecting hole.
  • the opposite ends of the wheel shaft 375c are respectively fixedly connected to the second connecting hole 3115c and the fourth connecting hole.
  • the dial 371c and the second transmission wheel 373c are sleeved on the dial shaft 375c, and are connected to the upper pressing plate 311c and the lower pressing plate 313c through the dial shaft 375c.
  • the transmission assembly 37c may further include being arranged between the dial 371c and the dial shaft 375c and/or between the second transmission wheel 373c and the dial shaft 375c. Bearings.
  • the first arm fixing member 33c is fixedly connected with one end of the arm main body 21 of the flying arm 20, and the first arm fixing member 33c is drivingly connected with the dial wheel 371c of the corresponding transmission assembly 37c.
  • the second arm fixing member 35c is fixedly connected to one end of the arm main body 21 of the other flying arm 20, and is drivingly connected to the dial 371c of the corresponding transmission assembly 37c.
  • connection between the machine arm fixing member and the machine arm can be realized by a screw and a screw hole.
  • the arm fixing parts (the first arm fixing part 33c and the second arm fixing part 35c) can be integrally formed with the arm, and pass through the connecting shafts (the first connecting shaft 32c and the second connecting shaft 32c).
  • the two connecting shafts 34c) are rotatably connected with the body fixing member 31c.
  • the first arm fixing member 33c is a sheave.
  • the first arm fixing member 33c includes the first arm fixing member 33c from the outer edge of the first arm fixing member 33c to the inside of the first arm fixing member 33c and extending along the radial direction of the first arm fixing member 33c.
  • the channel 331c is located between two adjacent arc-shaped portions 333c.
  • the radius of the circle where the arc-shaped portion 333c is located is the same as the radius of the body 3711c of the dial 371c of the corresponding transmission assembly 37c.
  • the number of grooves 331c is two, and the number of corresponding arc-shaped portions 333c is three.
  • the central angle subtended by each arc-shaped portion 333c is the same as the included angle formed by the line connecting the two shifting rods 3713c and the axis of the shifting wheel 371c (in this embodiment, it is 120°).
  • the first arm fixing member 33c realizes the transmission connection with the dial 371c of the transmission assembly 37c through the cooperation of the channel 331c and the shift lever 3713c of the corresponding transmission assembly 37c.
  • the second arm fixing member 35c is also a sheave and has the same structure as the first arm fixing member 33c.
  • the second arm fixing member 35c includes a groove extending from the outer edge of the second arm fixing member 35c to the inside of the second arm fixing member 35c along the radial direction of the second arm fixing member 35c
  • the channel 351c is located between two adjacent arc-shaped portions 353c.
  • the radius of the circle where the arc-shaped portion 353c is located is the same as the radius of the body 3711c of the dial 371c of the corresponding transmission assembly 37c.
  • the number of grooves 351c is two, and the number of corresponding arc-shaped portions 353c is three.
  • the central angle subtended by each arc-shaped portion 353c is the same as the angle formed by the line connecting the two shift rods 3713c of the corresponding transmission assembly 37c and the axis of the shift wheel 371c (in this embodiment, it is 120°).
  • the second arm fixing member 35c realizes the transmission connection with the dial 371c of the transmission assembly 37c through the cooperation of the channel 351c and the shift lever 3713c of the corresponding transmission assembly 37c.
  • first arm fixing member 33c and the first connecting shaft 32c can also be fixed between the first arm fixing member 33c and the first connecting shaft 32c.
  • a bearing is provided between the connecting piece 35c and the second connecting shaft 34c.
  • the flying arm 20 connected to the first arm fixing member 33c is in a folded state (corresponding to the state 1 in FIG. 42), and the outer edge of the body 3711c of the dial 371c is on the left side of the first arm fixing member 33c.
  • the side arc portion 333c is coupled, and the right lever 3713c (for ease of description, hereinafter referred to as the right lever) of the dial 371c is located at the left arc portion 333c and the middle arc of the first arm fixing member 33c At the notch of the channel 331c (for ease of description, hereinafter referred to as the first channel) between the portions 333c.
  • the first transmission wheel 363c drives the second transmission wheel 373c to rotate and then drives the dial wheel 371c to rotate in the counterclockwise direction
  • the right lever slides in along the first channel and passes through and The interaction of the groove walls of the first groove drives the first arm fixing member 33c to rotate in a clockwise direction (corresponding to state 2 in FIG. 42).
  • the dial wheel 371c With the rotation of the dial wheel 371c, the right shift lever gradually slides until the first channel is close to the axis of the first arm fixing member 33c. At this time, if the shift wheel 371c is driven by the second transmission wheel 373c, it continues to move counterclockwise.
  • the right shift lever will slide back along the first groove to the notch of the first groove in the direction away from the axis of the first arm fixing member 33c.
  • the left shift lever 3713c of the shift wheel reaches the channel 331c between the middle arc part 333c and the right arc part 333c of the wheel (for convenience Description, hereinafter referred to as the second channel) notch, the outer edge of the inferior arc between the two levers 3713c of the body 3711c is coupled with the middle arc 333c (corresponding to state 3 in FIG. 42).
  • the left dial slides into the second channel and drives the first arm fixing member 33c to continue to rotate in the clockwise direction.
  • the left shift lever gradually slides until the second channel is close to the axis of the first arm fixing member 33c.
  • the shift wheel 371c is driven by the second transmission wheel 373c, it continues to move counterclockwise.
  • the left lever will slide back to the notch of the second channel along the second channel in the direction away from the axis of the first arm fixing member 33c, the body 3711c is located between the two levers 3713c
  • the outer edge of the predominant arc is matched with the right arc portion 333c (corresponding to state 4 in FIG. 42).
  • the dial 371c continues to rotate, since the dial 3713c (including the left and right dials) does not cooperate with the channel 331c including the first channel and the second channel, the dial 371c is idling (corresponding to State 5) in FIG. 42 does not drive the first machine arm fixing member 33c to continue to rotate (that is, to realize the circumferential locking of the first machine arm fixing member 33c).
  • the flying arm connected to the first arm fixing member 33c remains in the unfolded state.
  • the process of converting the flying arm connected by the first arm fixing member 33c from the unfolded state to the folded state is the opposite of the above process, and will not be repeated here.
  • the rotatable angle range of the arm fixing member (the first arm fixing member 33c and the second arm fixing member 35c) is related to the number of the dial lever 3713c of the dial wheel 371c, and those skilled in the art can according to their needs. For design, this application does not limit it.
  • first arm fixing member 33c and the first connecting shaft 32c may be integrally formed.
  • the second arm fixing member 35c and the second connecting shaft 34c may be integrally formed.
  • the connecting member provided by the embodiment of the present application drives the transmission assembly 37c to rotate through the arm drive device 36c, thereby driving the first arm fixing member 33c and the flying arm 20 fixedly connected to the first arm fixing member 33c, or the second The second arm fixing member 35c and the flying arm 20 fixedly connected to the second arm fixing member 35c rotate to expand or retract the flying arm 20, thereby enabling the flying arm 20 to be unfolded when in use, and when not in use Tucked up, convenient for storage of manned machines.
  • the retracting mechanism is folded to the machine body in the first manned mode, so that the flight power device is close to the machine body, which can effectively reduce the resistance of the manned machine in the first manned mode;
  • the retractable mechanism is deployed in the manned flight mode, so that the flight power device is far away from the machine body, avoiding the flight power device from causing interference to the driver, and at the same time improving the stability of the manned machine in the manned flight mode.

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Abstract

A manned aircraft (100), relating to the field of flying devices. The manned aircraft comprises a body (101), a folding/unfolding mechanism (102), and a flying power device. The folding/unfolding mechanism is provided on the body. The flying power device is provided on the folding/unfolding mechanism. The folding/unfolding mechanism is folded in the body in a first manned mode and is unfolded in a manned flight mode. The folding/unfolding mechanism is folded on the body in the first manned mode, so that the flying power device is close to the body, thereby effectively reducing resistance experienced by the manned aircraft in the first manned mode; the folding/unfolding mechanism is unfolded in the manned flight mode, so that the flying power device is distant from the body, thereby avoiding interference of the flying power device to a pilot, and improving the stability of the manned aircraft in the manned flight mode.

Description

载人机器Manned machine
相关申请的交叉引用Cross-references to related applications
本申请要求于2019年12月16日提交中国专利局的申请号为201911299654.8，名称为“一种载人机器”；于2020年01月10日提交中国专利局的申请号为202020058969.5，名称为“机臂连接件及无人机”；以及于2020年01月10日提交中国专利局的申请号为202010030633.2，名称为“动力组件，机臂组件，机臂连接件及无人机”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。This application requires that the application number submitted to the China Patent Office on December 16, 2019 is 201911299654.8 and the name is "a manned machine"; the application number submitted to the China Patent Office on January 10, 2020 is 202020058969.5 and the name is " Arm attachments and drones"; and the Chinese patent filed with the Chinese Patent Office on January 10, 2020, with the application number 202010030633.2, titled "Power Components, Arm Components, Arm Connectors and UAVs" The priority of the application, the entire content of which is incorporated in this application by reference.
技术领域Technical field
本申请涉及飞行设备领域，具体而言，涉及一种载人机器。This application relates to the field of flight equipment, and specifically to a manned machine.
背景技术Background technique
现有的载人机器一般通过设置飞行动力装置实现飞行。为减小陆地行驶过程中受到的阻力，飞行动力装置安装于离机身较近的位置。然而，在飞行模式下飞行动力装置容易对驾驶员造成干扰。Existing manned machines generally realize flight by setting up a flight power device. In order to reduce the resistance during land travel, the flight power unit is installed closer to the fuselage. However, in flight mode, the flight power unit easily causes interference to the pilot.
发明内容Summary of the invention
本申请实施例提供一种载人机器，用以改善现有载人机器在飞行模式下飞行动力装置容易对驾驶员造成干扰的问题。The embodiment of the present application provides a manned machine, which is used to improve the problem that the flight power device of the existing manned machine easily interferes with the driver in the flight mode.
一种载人机器，包括：机身；设置于机身上的收展机构；以及设置于所述收展机构上的飞行动力装置；其中，所述收展机构在第一载人模式下收拢于所述机身，所述收展机构在载人飞行模式下展开。A manned machine includes: a fuselage; a retractable mechanism arranged on the fuselage; and a flight power device arranged on the retractable mechanism; wherein the retractable mechanism is folded in a first manned mode On the fuselage, the retracting mechanism is deployed in a manned flight mode.
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。The details of one or more embodiments of the present application are set forth in the following drawings and description. Other features, purposes and advantages of this application will become apparent from the description, drawings and claims.
附图说明Description of the drawings
为了更好地描述和说明这里公开的那些发明的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的发明、目前描述的实施例和/或示例以及目前理解的这些发明的最佳模式中的任何一者的范围的限制。In order to better describe and illustrate the embodiments and/or examples of the inventions disclosed herein, one or more drawings may be referred to. The additional details or examples used to describe the drawings should not be considered as limiting the scope of any of the disclosed inventions, the currently described embodiments and/or examples, and the best mode of these inventions currently understood.
图1为本申请一实施例提供的载人机器在第一载人模式下的结构示意图。FIG. 1 is a schematic structural diagram of a manned machine provided in an embodiment of the application in the first manned mode.
图2为本申请一实施例提供的载人机器在载人飞行模式下的结构示意图。Fig. 2 is a schematic structural diagram of a manned machine in a manned flight mode according to an embodiment of the application.
图3为图2所示的飞行臂与机身的一种连接示意图。Fig. 3 is a schematic diagram of a connection between the flying arm and the fuselage shown in Fig. 2.
图4为图2所示的飞行臂与机身的另一种连接示意图。Fig. 4 is another schematic diagram of the connection between the flying arm and the fuselage shown in Fig. 2.
图5为本申请另一实施例提供的载人机器在第一载人模式下的结构示意图。FIG. 5 is a schematic structural diagram of a manned machine in the first manned mode according to another embodiment of the application.
图6为本申请另一实施例提供的载人机器在载人飞行模式下的结构示意图。FIG. 6 is a schematic structural diagram of a manned machine in a manned flight mode according to another embodiment of the application.
图7为本申请又一实施例提供的载人机器在第一载人模式下的结构示意图。FIG. 7 is a schematic structural diagram of a manned machine in the first manned mode according to another embodiment of the application.
图8为本申请又一实施例提供的载人机器在载人飞行模式下的结构示意图。FIG. 8 is a schematic structural diagram of a manned machine in a manned flight mode according to another embodiment of the application.
图9为本申请再一实施例提供的载人机器在第一载人模式下的结构示意图。FIG. 9 is a schematic structural diagram of a manned machine in the first manned mode according to another embodiment of the application.
图10为本申请再一实施例提供的载人机器在载人飞行模式下的结构示意图。FIG. 10 is a schematic structural diagram of a manned machine in a manned flight mode according to another embodiment of the application.
图11为本申请一实施例提供的飞行动力单元的立体图。Fig. 11 is a perspective view of a flight power unit provided by an embodiment of the application.
图12为图11的A区域的放大图。Fig. 12 is an enlarged view of area A in Fig. 11.
图13为图11的驱动装置的上盖体的结构示意图。FIG. 13 is a schematic diagram of the structure of the upper cover of the driving device of FIG. 11.
图14为图11中的桨毂的立体图。Fig. 14 is a perspective view of the hub in Fig. 11.
图15为图11中的桨叶的立体图。Fig. 15 is a perspective view of the paddle in Fig. 11.
图16为图11中的桨叶托盘的立体图。Fig. 16 is a perspective view of the paddle tray in Fig. 11.
图17为本申请一实施例提供的弹性件在自然状态下的结构示意图。FIG. 17 is a schematic structural diagram of an elastic member in a natural state according to an embodiment of the application.
图18为图17的弹性件在拉伸状态下的结构示意图。Fig. 18 is a schematic structural diagram of the elastic member of Fig. 17 in a stretched state.
图19为图17的弹性件在螺旋桨内处于拉伸状态的结构示意图。Fig. 19 is a schematic structural diagram of the elastic member of Fig. 17 in a stretched state in the propeller.
图20为图17的弹性件在螺旋桨内处于自然状态的结构示意图。Fig. 20 is a schematic structural diagram of the elastic member of Fig. 17 in a natural state in the propeller.
图21为本申请另一实施例提供的弹性件在自然状态下的结构示意图。FIG. 21 is a schematic structural diagram of an elastic member in a natural state according to another embodiment of the application.
图22为图21的弹性件在压缩状态下的结构示意图。Fig. 22 is a schematic structural diagram of the elastic member of Fig. 21 in a compressed state.
图23为图21的弹性件在螺旋桨内处于拉伸状态的结构示意图。Fig. 23 is a schematic structural diagram of the elastic member of Fig. 21 in a stretched state in the propeller.
图24为图21的弹性件在螺旋桨内处于自然状态的结构示意图。Fig. 24 is a schematic structural diagram of the elastic member of Fig. 21 in a natural state in the propeller.
图25为本申请一实施例提供的一种飞行臂的展开状态的结构示意图。FIG. 25 is a schematic structural diagram of an unfolded state of a flying arm provided by an embodiment of the application.
图26为本申请一实施例提供的一种飞行臂的折叠状态的结构示意图。FIG. 26 is a schematic structural diagram of a folded state of a flying arm provided by an embodiment of the application.
图27为本申请实施例提供的支架的结构示意图。FIG. 27 is a schematic structural diagram of a bracket provided by an embodiment of the application.
图28为本申请一实施例提供的固定架的结构示意图。FIG. 28 is a schematic structural diagram of a fixing frame provided by an embodiment of the application.
图29为本申请一实施例提供的起落架的结构示意图。FIG. 29 is a schematic structural diagram of a landing gear provided by an embodiment of the application.
图30为本申请一实施例提供的与飞行臂连接的连接构件的结构示意图。FIG. 30 is a schematic structural diagram of a connecting member connected with a flying arm provided by an embodiment of the application.
图31为本申请一实施例提供的折叠状态下的连接构件的结构示意图。FIG. 31 is a schematic structural diagram of a connecting member in a folded state according to an embodiment of the application.
图32为本申请一实施例提供的展开状态下的拆除上压板的连接构件的结构示意图。FIG. 32 is a schematic structural diagram of the connecting member for removing the upper pressure plate in the unfolded state according to an embodiment of the application.
图33为本申请一实施例提供的连接构件的爆炸图。FIG. 33 is an exploded view of a connecting member provided by an embodiment of the application.
图34为本申请另一实施例提供的折叠状态下连接有飞行臂且拆除上压板的连接构件的俯视图。FIG. 34 is a top view of the connecting member with the flying arm connected and the upper pressing plate removed in the folded state according to another embodiment of the application.
图35为本申请另一实施例提供的展开状态下连接有飞行臂且拆除上压板的连接构件的俯视图。35 is a top view of the connecting member with the flying arm connected and the upper pressure plate removed in the unfolded state provided by another embodiment of the application.
图36为本申请又一实施例提供的连接构件的结构示意图。FIG. 36 is a schematic structural diagram of a connecting member provided by another embodiment of the application.
图37为图36的俯视图。Fig. 37 is a top view of Fig. 36;
图38为沿图37中A-A线的连接构件的剖视图。Fig. 38 is a cross-sectional view of the connecting member along the line A-A in Fig. 37;
图39为图36中的连接构件的拨轮与槽轮的配合过程的示意图。Fig. 39 is a schematic diagram of the mating process of the dial wheel and the sheave wheel of the connecting member in Fig. 36.
图40为又一实施例提供的连接构件的结构示意图。FIG. 40 is a schematic structural diagram of a connecting member provided by another embodiment.
图41为再一实施例提供的连接构件的结构示意图。Fig. 41 is a schematic structural diagram of a connecting member provided by still another embodiment.
图42为图41中的连接构件的拨轮与槽轮的配合过程的示意图。Fig. 42 is a schematic diagram of the mating process of the dial wheel and the sheave wheel of the connecting member in Fig. 41.
图标：100-载人机器；101-机身；1011-机架；1021-第一固定环；1022-第二固定环；1012-机壳；1013-行驶轮；1031-前轮；1032-后轮；30,30a,30b,30c-连接构件；301-第一机臂连接部；302-第二机臂连接部；102-收展机构；20-飞行臂；21-臂主体；303,33,33a,33b,33c-第一机臂固接件；304,35,35a,35c-第二机臂固接件；10-飞行动力单元；13-螺旋桨；11-驱动装置；12-减速器；1051-第一侧保护体；1052-第二侧保护体；13-螺旋桨；15-桨叶托盘；111-外壳；112-上盖体；113-本体；114-圆柱部；1141-通孔；115-第一转轴；116-下壳体；131-桨毂；136-桨叶；1311-顶面；1312-底面；1313-外周面；132-固接孔；1321-凸肋；133-桨叶连接槽；1331-槽连接孔；137-柄部；138-叶片；1371-柄部连接孔；1372-第一延伸部；1373-第二延伸部；1374-收容空间；151-通孔；1511-孔壁；153-收容孔；14-托盘驱动装置；141-固定件；142-驱动电机；143-驱动轴；144-驱动齿轮；16，16a-弹性件；161,161a-第一连接端；162-缠绕部；163,163a-第二连接端；164-第一延伸杆；165-第二延伸杆；17-冷却装置；171-顶盖；172-底壳；22-支架；221-连接部；222-第一悬臂；223-第二悬臂；2211,3731,330，350-连接孔；2212-固接孔；2221-第一轴孔；2231-第二轴孔；1161-第一凸轴；1162-第二凸轴；23-旋转驱动装置；24-套接件；241-连接部；25-固定架；251-固接部；252-第三悬臂；253-第四悬臂；2521-第三轴孔；2531-第四轴孔；1721-第三凸轴；1722-第四凸轴；1723-限位凸块；1724-第一限位面；1725-第二限位面； 26-起落架；261，3711-连接端；262-自由端；263-滑轮；31,31a,31b,31c-机身固接件；311,311a,311b,311c-上压板；313,313a,313b,313c-下压板；3111,3111a,3111c,3131,3131a-轴接孔；3113,3133-固定板；32,32a,32c-第一连接轴；34,34a,34c-第二连接轴；36,36a,36b,36c-机臂驱动装置；37,37a,37b,37c-传动组件；361-驱动转轴；371-丝杆；372-滑动板；3721-螺纹孔；3722-第一滑槽；3723-第二滑槽；3724-第一滑孔；3725-第二滑孔；373-第一行程支架；374-第二行程支架；3741-第一穿孔；3742-第二穿孔；375-第一齿轮；376-第二齿轮；377-第一滑杆；378-第二滑杆；3732,3733,3743,3744-固接孔；3791-第一轴承；3792-第二轴承；370-卡簧；3712,3611-卡接部；331,351-机臂固接端；333,353-滑动连接端；3311,3511-机臂连接孔；3331,3531-第一延伸臂；3333,3533-第二延伸臂；3332,3334,3811,3532,3534,3821-轴孔；381-第一滑块；382-第二滑块；3726-第一齿条；3727-第二齿条；334-第一齿接部；354-第二齿接部；100-载人机器；1011-连接部；1012-连接孔；3113a,3113c-第一连接孔；3112a-凸起部；3133a-第三连接孔；315a,315b-端盖；361a,361c-电机；363a,363c-第一传动轮；362a,362c-电机安装座；3621a,3621c-安装平台；3622a,3622c-第一侧板；3624a,3624c-第一凸耳；371a,371b,371c-拨轮；373a,373c-第二传动轮；375a,375b,375c-拨轮轴；3711a,3711b,3711c-本体；3713a,3713b,3713c-拨杆；331a,351a，331b,331c,351c-槽道；333a,353a,333b,333c,353c-弧形部；312b-安装板；3131b-第一安装部；3133b-第二安装部；3132b-连接部；3115c-第二连接孔；3132c-凸块；315c-辅助支撑件；3623c-第二侧板；3625c-第二凸耳；3626c-第一调节槽；3628c-第一抵靠板。Icon: 100-manned machine; 101-fuselage; 1011-frame; 1021-first fixing ring; 1022-second fixing ring; 1012-chassis; 1013-traveling wheel; 1031-front wheel; 1032-rear Wheel; 30, 30a, 30b, 30c- connecting member; 301- first arm connecting part; 302- second arm connecting part; 102- retracting mechanism; 20- flying arm; 21- arm main body; 303, 33 ,33a,33b,33c-first arm fixing part; 304,35,35a,35c-second arm fixing part; 10-flight power unit; 13-propeller; 11-drive device; 12-reducer 1051-first side protection body; 1052-second side protection body; 13-propeller; 15-blade tray; 111-housing; 112-upper cover; 113-body; 114-cylindrical part; 1141-through hole 115-first shaft; 116-lower shell; 131-hub; 136-blade; 1311-top surface; 1312-bottom surface; 1313-outer surface; 132-fixing hole; 1321-rib; 133- Blade connecting groove; 1331-slot connecting hole; 137-stem; 138-blade; 1371-stem connecting hole; 1372-first extension; 1373-second extension; 1374-accommodating space; 151-through hole 1511-hole wall; 153-receiving hole; 14-tray drive device; 141-fixed part; 142-drive motor; 143-drive shaft; 144-drive gear; 16,16a-elastic part; 161,161a-first connection End; 162- winding part; 163, 163a- second connecting end; 164- first extension rod; 165- second extension rod; 17- cooling device; 171- top cover; 172- bottom shell; 22- support; 221- Connecting part; 222-first cantilever; 223-second cantilever; 2211,3731,330,350-connection hole; 2212-fixing hole; 2221-first shaft hole; 2231-second shaft hole; 1161-first Convex shaft; 1162-Second convex shaft; 23-Rotation drive device; 24-Socket member; 241-Connecting part; 25-Fixture frame; 251-Fixed part; 252-third cantilever; 253-fourth cantilever; 2521-third shaft hole; 2531-fourth shaft hole; 1721-third convex shaft; 1722-fourth convex shaft; 1723-limiting bump; 1724-first limiting surface; 1725-second limiting surface ; 26-Landing gear; 261,3711-connecting end; 262-free end; 263-pulley; 31,31a,31b,31c-fuselage fixing parts; 311,311a,311b,311c-upper plate; 313,313a,313b ,313c- lower pressing plate; 3111, 3111a, 3111c, 3131, 3131a- shaft connection hole; 3113,3133-fixing plate; 32, 32a, 32c- first connecting shaft; 34, 34a, 34c- second connecting shaft; 36, 36a, 36b, 36c- arm driving device; 37, 37a, 37b, 37c- transmission assembly; 361- driving shaft; 371 -Screw; 372-Slide plate; 3721-Threaded hole; 3722-First slide groove; 3723-Second slide groove; 3722-First slide hole; 3725-Second slide hole; 373-First stroke bracket; 374 -Second Stroke Bracket; 3741-first perforation; 3742-second perforation; 375-first gear; 376-second gear; 377-first slide bar; 378-second slide bar; 3732,3733,3743, 3744-fixing hole; 3791-first bearing; 3792-second bearing; 370-circlip; 3712,3611-clamping part; 331,351-arm fixed end; 333,353-sliding connection end; 3311,3511-machine Arm connection hole; 3331,3531-first extension arm; 3333,3533-second extension arm; 3332,3334,3811,3532,3534,3821-axis hole; 381-first slider; 382-second slider ; 3726-First rack; 3727-Second rack; 334-First gear joint; 354-Second gear joint; 100-Manned machine; 1011-Connecting part; 1012-Connecting hole; 3113a, 3113c -First connecting hole; 3112a- raised part; 3133a- third connecting hole; 315a, 315b- end cover; 361a, 361c- motor; 363a, 363c- first transmission wheel; 362a, 362c- motor mounting seat; 3621a ,3621c-installation platform; 3622a,3622c-first side plate; 3624a,3624c-first lug; 371a,371b,371c-wheel; 373a,373c-second transmission wheel; 375a,375b,375c-wheel shaft ; 3711a, 3711b, 3711c- body; 3713a, 3713b, 3713c- lever; 331a, 351a, 331b, 331c, 351c- channel; 333a, 353a, 333b, 333c, 353c- arc part; 312b- mounting plate; 3131b-first mounting part; 3133b-second mounting part; 3132b-connecting part; 3115c-second connecting hole; 3132c-bump; 315c-auxiliary support; 3623c-second side plate; 3625c-second lug ; 3626c-first adjustment groove; 3628c-first abutment plate.
具体实施方式Detailed ways
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。In order to make the purpose, technical solutions, and advantages of this application clearer and clearer, the following further describes the application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not used to limit the present application.
请一并参阅图1及图2，本申请一实施例提供一种载人机器100，包括机身101、收展机构102和飞行动力装置。收展机构102设置于机身101上。飞行动力装置设置于收展机构102上。收展机构102在第一载人模式下收拢于机身101(见图1)，使得飞行动力装置靠近于机身101，以有效减小载人机器100在此模式下所受到的阻力；在载人飞行模式(第二载人模式)下展开(见图2)，使得飞行动力装置远离于机身101，避免飞行动力装置干扰驾驶员，同时提高载人机器100在此模式下的平稳性。Please refer to FIG. 1 and FIG. 2 together. An embodiment of the present application provides a manned machine 100, which includes a fuselage 101, a retractable mechanism 102, and a flight power device. The retracting mechanism 102 is arranged on the fuselage 101. The flight power device is arranged on the retracting mechanism 102. The retractable mechanism 102 is retracted to the fuselage 101 in the first manned mode (see FIG. 1), so that the flight power unit is close to the fuselage 101, so as to effectively reduce the resistance of the manned machine 100 in this mode; Unfold in the manned flight mode (second manned mode) (see Figure 2) to keep the flight power unit away from the fuselage 101, avoid the flight power unit from interfering with the pilot, and at the same time improve the stability of the manned machine 100 in this mode .
需要说明的是，第一载人模式包括但不限于陆地行驶模式、水上行驶模式、水陆两栖行驶模式等。若第一载人模式为陆地行驶模式，则机身101可在陆地上行驶；若第一载人模式为水上行驶模式，则机身101在水中所受到的浮力使其可在水上行驶；若第一载人模式为水陆两栖行驶模式，则机身101既可在水上行驶，也可在陆地上行驶。It should be noted that the first manned mode includes, but is not limited to, a land driving mode, a water driving mode, and an amphibious driving mode. If the first manned mode is the land travel mode, the fuselage 101 can travel on land; if the first manned mode is the water travel mode, the buoyancy of the fuselage 101 in the water makes it possible to travel on the water; if The first manned mode is the amphibious driving mode, and the fuselage 101 can be driven on water or on land.
请参阅图2，本实施例中，机身101包括机架1011、机壳1012、行驶轮1013和动力系统(图2未示出)。机壳1012罩设于机架1011外侧。行驶轮1013可转动地设置于机架1011。动力系统用于带动行驶轮1013相对机架1011转动，以实现行驶。动力系统的具体结构可参见相关现有技术，在此不作展开介绍。Please refer to FIG. 2. In this embodiment, the fuselage 101 includes a frame 1011, a casing 1012, running wheels 1013 and a power system (not shown in FIG. 2 ). The casing 1012 is arranged on the outside of the frame 1011. The running wheels 1013 are rotatably arranged on the frame 1011. The power system is used to drive the running wheels 1013 to rotate relative to the frame 1011 to realize running. The specific structure of the power system can be referred to related prior art, which will not be introduced here.
可以理解，行驶轮1013的数量不作限定，可以是一个、两个、三个、四个等，图2中，行驶轮1013的数量为两个，分别为前轮1031和后轮1032。It can be understood that the number of driving wheels 1013 is not limited, and can be one, two, three, four, etc. In FIG. 2, the number of driving wheels 1013 is two, which are front wheels 1031 and rear wheels 1032 respectively.
收展机构102包括可收展地连接于机身101的多个飞行臂20。机身101在其宽度方向上的两侧均设有飞行臂20。飞行动力装置包括多个飞行动力单元10，每个飞行臂20上设有至少一个飞行动力单元10。由此，使得机身101的宽度方向上的两侧均设置有飞行动力单元10，从而使得载人机器100在载人飞行模式下的动力分布均匀，受力平衡，进而提升载人飞行的平稳性。The retractable mechanism 102 includes a plurality of flying arms 20 flexibly connected to the fuselage 101. The fuselage 101 is provided with flying arms 20 on both sides in the width direction thereof. The flight power device includes a plurality of flight power units 10, and each flight arm 20 is provided with at least one flight power unit 10. As a result, the two sides of the fuselage 101 in the width direction are provided with the flight power unit 10, so that the power distribution of the manned machine 100 in the manned flight mode is uniform, the force is balanced, and the stability of the manned flight is improved. Sex.
可选地，飞行臂20可转动地连接于机身101，以实现收拢或展开。当然，飞行臂20也可以通过其他方式来实现可收展地连接于机身101，比如，飞行臂20为伸缩结构，飞行臂20向外伸长则展开，飞行臂20向内缩短则收拢。Optionally, the flying arm 20 is rotatably connected to the fuselage 101 to achieve folding or unfolding. Of course, the flying arm 20 can also be flexibly connected to the fuselage 101 in other ways. For example, the flying arm 20 is a telescopic structure, the flying arm 20 is extended outwards to expand, and the flying arm 20 is shortened inward to collapse.
请参阅图3，飞行臂20转动连接于机身101的机架1011。示例性地，每个飞行臂20的自由端对应设置一个飞行动力单元10。在其他实施例中，一个飞行臂20也可对应设置两个及以上的飞行动力单元10。Please refer to FIG. 3, the flying arm 20 rotates the frame 1011 connected to the fuselage 101. Exemplarily, the free end of each flying arm 20 is correspondingly provided with a flying power unit 10. In other embodiments, one flying arm 20 can also be provided with two or more flying power units 10 correspondingly.
需要说明的是，在其他实施例中，收展机构102也可以是其他结构，比如，收展机构102包括一个飞行臂20，飞行臂20可转动地设置于机身101的底部，飞行臂20的两端分别设置一个飞行动力单元10。当飞行臂20转动至与机身101的宽度方向一致时，飞行臂20处于展开状态，此时，飞行臂20两端的飞行动力单元10分别位于机身101宽度方向上的两侧；当飞行臂20转动至与机身101的长度方向一致时，飞行臂20处于收拢状态，飞行臂20以及飞行动力单元10位于机身101的底部。It should be noted that in other embodiments, the retracting mechanism 102 may also have other structures. For example, the retracting mechanism 102 includes a flying arm 20, which is rotatably disposed at the bottom of the fuselage 101, and the flying arm 20 A flight power unit 10 is respectively provided at both ends of the. When the flying arm 20 rotates to be consistent with the width direction of the fuselage 101, the flying arm 20 is in an unfolded state. At this time, the flying power units 10 at both ends of the flying arm 20 are respectively located on both sides in the width direction of the fuselage 101; When 20 is rotated to be consistent with the length direction of the fuselage 101, the flying arm 20 is in a folded state, and the flying arm 20 and the flying power unit 10 are located at the bottom of the fuselage 101.
其中，飞行臂20起到连接飞行动力单元10与机身101的作用，飞行臂20可以是多种结构。Wherein, the flying arm 20 serves to connect the flying power unit 10 and the fuselage 101, and the flying arm 20 may have various structures.
示例性地，飞行臂20包括臂主体21。臂主体21一端与机身101可转动地连接。飞行动力单元10连接在臂主体21的自由端。Illustratively, the flying arm 20 includes an arm main body 21. One end of the arm main body 21 is rotatably connected with the main body 101. The flying power unit 10 is connected to the free end of the arm body 21.
请继续参照图3，机身101上设有连接构件30。连接构件30包括在机身101的宽度方向上相对布置的第一机臂连接部301和第二机臂连接部302，以及分别与第一机臂连接部301及第二机臂连接部302转动连接的第一机臂固接件303及第二机臂固接件304。Please continue to refer to FIG. 3, a connecting member 30 is provided on the fuselage 101. The connecting member 30 includes a first arm connecting portion 301 and a second arm connecting portion 302 arranged opposite to each other in the width direction of the fuselage 101, and respectively rotates with the first arm connecting portion 301 and the second arm connecting portion 302 The first arm fixing member 303 and the second arm fixing member 304 are connected.
两个飞行臂20(的臂主体21的一端)分别通过第一机臂固接件303及第二机臂固接件304可转动地连接于第一机臂连接部301和第二机臂连接部302。也就是说，飞行臂20在机身101的宽度方向上成对布置，提高了载人机器100在载人飞行模式下的平稳性。其中，第一机臂连接部301，第二机臂连接部302，第一机臂固接件303及第二机臂固接件304的设置便于飞行臂20的连接。The two flying arms 20 (one end of the arm body 21) are respectively rotatably connected to the first arm connecting portion 301 and the second arm connecting part 301 and the second arm fixing member 303 and the second arm fixing member 304.部302. That is, the flying arms 20 are arranged in pairs in the width direction of the fuselage 101, which improves the stability of the manned machine 100 in the manned flight mode. Among them, the arrangement of the first arm connecting portion 301, the second arm connecting portion 302, the first arm fixing member 303 and the second arm fixing member 304 facilitates the connection of the flying arm 20.
上述结构中，飞行臂20在机身101的宽度方向上成对布置，即飞行臂20的个数为偶数个，飞行臂20的个数可以是两个、四个、六个等。在其他实施例中，飞行臂20也可以是奇数个，比如，在机身101宽度方向上的一侧设置两个飞行臂20，在机身101宽度方向上的另一侧设置一个飞行臂20。In the above structure, the flying arms 20 are arranged in pairs in the width direction of the fuselage 101, that is, the number of flying arms 20 is an even number, and the number of flying arms 20 can be two, four, six, and so on. In other embodiments, there may be an odd number of flying arms 20. For example, two flying arms 20 are provided on one side in the width direction of the fuselage 101, and one flying arm 20 is provided on the other side in the width direction of the fuselage 101. .
进一步地，第一机臂连接部301和第二机臂连接部302均固定于机身101的机架1011上。如图3所示，第一机臂连接部301和第二机臂连接部302可以是一体式结构，第一机臂连接部301与第二机臂连接部302构成一个整体的长条构件；如图4所示，第一机臂连接部301和第二机臂连接部302也可是分体式结构，第一机臂连接部301和第二机臂连接部302均为矩形块状结构，在实际生产过程中，可先对第一机臂连接部301和第二机臂连接部302单独制造，第一机臂连接部301和第二机臂连接部302单独制造完成后，再与机架1011固定在一起。Furthermore, the first arm connecting portion 301 and the second arm connecting portion 302 are both fixed on the frame 1011 of the fuselage 101. As shown in FIG. 3, the first arm connecting portion 301 and the second arm connecting portion 302 may be an integrated structure, and the first arm connecting portion 301 and the second arm connecting portion 302 form an integral long member; As shown in Figure 4, the first arm connecting part 301 and the second arm connecting part 302 can also be of a split structure, and the first arm connecting part 301 and the second arm connecting part 302 are both rectangular block structures. In the actual production process, the first arm connecting part 301 and the second arm connecting part 302 can be manufactured separately. After the first arm connecting part 301 and the second arm connecting part 302 are manufactured separately, they can be combined with the frame. 1011 fixed together.
可选地，机臂固接件(第一机臂固接件303或第二机臂固接件304)与臂主体21的一端可拆卸地连接，由此，方便对飞行臂20及连接在臂主体21的自由端的飞行动力单元10进行更换。Optionally, the arm fixing member (the first arm fixing member 303 or the second arm fixing member 304) is detachably connected to one end of the arm body 21, thereby facilitating the alignment of the flying arm 20 and The flying power unit 10 at the free end of the arm body 21 is replaced.
可以理解，臂主体21与机臂固接件之间的可拆卸连接方式可以有多种。示例性地，臂主体21与机臂固接件插接，以实现臂主体21与机臂固接件之间的可拆卸连接。将臂主体21插入机臂固接件中，则将两者连接，将臂主体21从机臂固接件中拔出，则将两者拆卸分离，这种结构可实现臂主体21与机臂固接件的快速安装与拆卸。It can be understood that there may be multiple ways of detachable connection between the arm main body 21 and the arm fixing member. Exemplarily, the arm main body 21 is inserted into the arm fixing member to realize a detachable connection between the arm main body 21 and the arm fixing member. Insert the arm main body 21 into the arm fixing part to connect the two, pull out the arm main body 21 from the arm fixing part, and then detach the two. This structure can realize the arm main body 21 and the arm Fast installation and removal of fixing parts.
示例性地，臂主体21与机臂固接件均为空心的管状结构，具有很好的抗弯强度。机臂固接件的一端与机身101的机架1011通过转轴转动连接，臂主体21的一端插设于机臂固接件内，飞行动力单元10连接于臂主体21远离机臂固接件的一端。当然，为提高臂主体21与机臂固接件插接后的牢固性，在臂主体21与机臂固接件插接后，可通过锁紧螺钉将两者固定在一起。Exemplarily, the arm main body 21 and the arm fixing member are both hollow tubular structures and have good bending strength. One end of the arm fixing part is rotatably connected with the frame 1011 of the fuselage 101 through a rotating shaft, one end of the arm main body 21 is inserted into the arm fixing part, and the flight power unit 10 is connected to the arm main body 21 away from the arm fixing part One end. Of course, in order to improve the firmness of the arm main body 21 and the arm fixing member after being inserted, after the arm main body 21 and the arm fixing member are inserted, the two can be fixed together by a locking screw.
在其他实施例中，臂主体21与机臂固接件也可以是其他可拆卸的连接形式，比如，臂主体21的端部与机臂固接件的端部均设置法兰，两个法兰抵靠后，通过螺栓将两个法兰连接在一起，从而实现臂主体21与机臂固接件的可拆卸连接。In other embodiments, the arm main body 21 and the arm fixing member can also be in other detachable connection forms. For example, the end of the arm main body 21 and the end of the arm fixing member are both provided with flanges, and the two methods After the flanges abut, the two flanges are connected together by bolts, so as to realize the detachable connection of the arm main body 21 and the arm fixing member.
飞行动力单元10的作用是为载人机器100提供升力，示例性地，继续参照图3，飞行动力单元10包括螺旋桨13和驱动装置11，螺旋桨13与飞行臂20通过驱动装置11连接，驱动装置11用于驱动螺旋桨13相对飞行臂20转动，以产生升力。The function of the flight power unit 10 is to provide lift for the manned machine 100. For example, referring to FIG. 3, the flight power unit 10 includes a propeller 13 and a driving device 11, and the propeller 13 and the flying arm 20 are connected through the driving device 11, and the driving device 11 is used to drive the propeller 13 to rotate relative to the flying arm 20 to generate lift.
示例性地，驱动装置11为电机，电机与螺旋桨13之间通过减速器12连接，电机连接于飞行臂20的臂主体21，减速器12的输入轴与电机的输出轴连接，减速器12的输出轴与螺旋桨13连接，电机转动则可带动螺旋桨13转动。当然，在其他实施例中，也可以是电机的输出轴与螺旋桨13直接相连。Exemplarily, the driving device 11 is a motor, the motor and the propeller 13 are connected through a reducer 12, the motor is connected to the arm body 21 of the flying arm 20, the input shaft of the reducer 12 is connected to the output shaft of the motor, and the speed reducer 12 The output shaft is connected with the propeller 13, and the rotation of the motor can drive the propeller 13 to rotate. Of course, in other embodiments, the output shaft of the motor may be directly connected to the propeller 13.
其中，螺旋桨13中的叶片为可折叠结构，电机未工作时，螺旋桨13中的各个叶片处于收拢状态；电机工作时，叶片展开，螺旋桨13在电机的作用下转动则可为载人机器100在载人飞行模式下提供升力。Among them, the blades in the propeller 13 are of foldable structure. When the motor is not working, each blade in the propeller 13 is in a closed state; when the motor is working, the blades are unfolded, and the propeller 13 rotates under the action of the motor to make the manned machine 100 in Provides lift in manned flight mode.
载人机器100在第一载人模式与载人飞行模式之间切换时，需要使飞行臂20转动，以将飞行臂20展开或收拢。当然，可单独在飞行臂20与机架1011之间设置驱动单元来实现飞行臂20的展开和收拢，比如，在飞行臂20与机架1011之间设置气缸，通过气缸的伸缩来实现飞行臂20的转动；当然，飞行臂20的转动也可由飞行动力单元10中的驱动装置11来驱动，比如，在连接于飞行臂20与机架1011之间的转轴与驱动装置11之间设置传动机构，驱动装置11通过传动机构将动力传递给转轴，飞行臂20则跟随转轴转动，以实现飞行臂20的展开或收拢。其中，传动机构可以是带传动机构、链传动机构等。When the manned machine 100 switches between the first manned mode and the manned flight mode, the flying arm 20 needs to be rotated to expand or close the flying arm 20. Of course, a driving unit can be separately arranged between the flying arm 20 and the frame 1011 to realize the deployment and folding of the flying arm 20. For example, a cylinder is arranged between the flying arm 20 and the frame 1011, and the flying arm is realized by the expansion and contraction of the cylinder. Of course, the rotation of the flying arm 20 can also be driven by the driving device 11 in the flying power unit 10. For example, a transmission mechanism is provided between the rotating shaft connected between the flying arm 20 and the frame 1011 and the driving device 11 , The driving device 11 transmits the power to the rotating shaft through the transmission mechanism, and the flying arm 20 rotates following the rotating shaft to realize the unfolding or folding of the flying arm 20. Among them, the transmission mechanism may be a belt transmission mechanism, a chain transmission mechanism, and the like.
在上述通过飞行动力单元10中的驱动装置11来驱动飞行臂20转动的情况下，驱动装置11可选择性地驱动螺旋桨13相对飞行臂20转动或驱动飞行臂20相对机身101转动，即当螺旋桨13需要转动时，驱动装置11与螺旋桨13传动连接，驱动装置11与传动机构断开，驱动装置11驱动螺旋桨13转动，与飞行臂20连接在一起的转轴静止，即飞行臂20静止；当飞行臂20需要转动时，驱动装置11与传动机构传动连接，驱动装置11与螺旋桨13断开，驱动装置11驱动与飞行臂20连接在一起的转轴转动，则实现飞行臂20的转动，螺旋桨13静止。示例性地，可通过离合器来实现驱动装置11的动力切换，即通过离合器将驱动装置11的动力传递给传动机构或减速器12的输入轴。In the above case that the driving device 11 in the flight power unit 10 drives the flying arm 20 to rotate, the driving device 11 can selectively drive the propeller 13 to rotate relative to the flying arm 20 or drive the flying arm 20 to rotate relative to the fuselage 101, that is, when When the propeller 13 needs to be rotated, the driving device 11 is connected to the propeller 13 in transmission, the driving device 11 is disconnected from the transmission mechanism, and the driving device 11 drives the propeller 13 to rotate, and the rotating shaft connected with the flying arm 20 is stationary, that is, the flying arm 20 is stationary; When the flying arm 20 needs to rotate, the driving device 11 is connected to the transmission mechanism, the driving device 11 is disconnected from the propeller 13, and the driving device 11 drives the rotating shaft connected with the flying arm 20 to rotate, so as to realize the rotation of the flying arm 20, and the propeller 13 still. Exemplarily, the power switch of the driving device 11 can be realized through a clutch, that is, the power of the driving device 11 is transmitted to the transmission mechanism or the input shaft of the reducer 12 through the clutch.
进一步地，继续参照图1、图2，载人机器100还包括第一侧保护体1051和第二侧保护(图1未示出)，第一侧保护体1051和第二侧保护体1052均可移动地设置于机身101，第一侧保护体1051和第二侧保护体1052分别位于机身101宽度方向上的两侧。第一侧保护体1051和第二侧保护体1052相对机身101向前移动能够位于驾驶员的两侧。第一侧保护体1051和第二侧保护体1052相对机身101向后移动能够位于收拢于机身101的收展机构102的两侧。Further, with continued reference to FIGS. 1 and 2, the manned machine 100 further includes a first side protector 1051 and a second side protector (not shown in FIG. 1), both of the first side protector 1051 and the second side protector 1052 The body 101 is movably disposed, and the first side protection body 1051 and the second side protection body 1052 are respectively located on both sides in the width direction of the body 101. The first side protection body 1051 and the second side protection body 1052 can be located on both sides of the driver when moving forward relative to the fuselage 101. The first side protection body 1051 and the second side protection body 1052 move backward relative to the main body 101 and can be located on both sides of the retractable mechanism 102 gathered in the main body 101.
通过使第一侧保护体1051和第二侧保护体1052相对机身101向前移动，可将第一侧保护体1051和第二侧保护移动至驾驶员的两侧，第一侧保护体1051与第二侧保护体1052可对驾驶员起到保护作用；通过使第一侧保护体1051和第二侧保护体1052相对机身101向后移动，可将第一侧保护体1051和第二侧保护体1052移动至收拢于机身101的收展机构102的两侧， 第一侧保护体1051和第二侧保护体1052可对收展机构102起到限制作用，防止收展机构102在第一载人模式下向外展开。By moving the first side protection body 1051 and the second side protection body 1052 forward relative to the fuselage 101, the first side protection body 1051 and the second side protection body can be moved to both sides of the driver, and the first side protection body 1051 It can protect the driver with the second side protector 1052; by moving the first side protector 1051 and the second side protector 1052 backwards relative to the fuselage 101, the first side protector 1051 and the second side protector 1051 can be moved back. The side protectors 1052 move to both sides of the retractable mechanism 102 gathered in the fuselage 101. The first side protectors 1051 and the second side protectors 1052 can restrict the retractable mechanism 102 and prevent the retractable mechanism 102 from being Expand outwards in the first manned mode.
其中，可在机身101的机架1011上设有供第一侧保护体1051前后滑动的滑轨，同样，也可在机身101的机架1011上设置供第二保护体前后滑动的滑轨。Wherein, the frame 1011 of the fuselage 101 can be provided with a sliding rail for the first side protector 1051 to slide back and forth, and similarly, the frame 1011 of the fuselage 101 can also be provided with a sliding rail for the second protection body to slide back and forth. rail.
由上述内容可知，收展机构102中的飞行臂20通过转动的方式来实现展开或收拢，当然，飞行臂20的转动方向可以是多种。From the above content, it can be seen that the flying arm 20 in the retracting mechanism 102 can be expanded or retracted by rotating. Of course, the rotating direction of the flying arm 20 can be various.
请继续参照图1、图2所示，飞行臂20能够相对机身101在水平面内转动，即飞行臂20的转动轴线竖向布置。载人机器100在第一载人模式下，飞行臂20收拢于机身101的侧部，且位于水平面内，有效减小载人机器100在第一载人模式下的体积。此外，这种结构使得飞行臂20的展开和收拢更加方便。Please continue to refer to FIGS. 1 and 2, the flying arm 20 can rotate relative to the fuselage 101 in a horizontal plane, that is, the rotation axis of the flying arm 20 is arranged vertically. When the manned machine 100 is in the first manned mode, the flying arm 20 is folded on the side of the fuselage 101 and is located in the horizontal plane, which effectively reduces the volume of the manned machine 100 in the first manned mode. In addition, this structure makes the deployment and folding of the flying arm 20 more convenient.
示例性地，飞行臂20为四个。如图1所示，当收展机构102在第一载人模式下收拢于机身101时，四个飞行臂20中的两个飞行臂20收拢于机身101的中部，两个飞行臂20收拢与机身101的后侧。在这种情况下，将第一侧保护体1051和第二侧保护体1052向后移动，则可使第一侧保护体1051位于机身101宽度方向上的一侧的两个飞行臂20的外侧，使第二侧保护体1052位于机身101宽度方向上的另一侧的两个飞行臂20的外侧。如图2所示，当需要使收展机构102展开时，可先将第一侧保护体1051和第二侧保护体1052向前移动，再使四个飞行臂20向前转动，收展机构102展开。Illustratively, there are four flying arms 20. As shown in Figure 1, when the retractable mechanism 102 is retracted to the fuselage 101 in the first manned mode, two of the four flying arms 20 are retracted in the middle of the fuselage 101, and the two flying arms 20 Close up with the rear side of the body 101. In this case, by moving the first side protection body 1051 and the second side protection body 1052 rearward, the first side protection body 1051 can be positioned at the two flying arms 20 on one side in the width direction of the fuselage 101. On the outside, the second side protector 1052 is positioned outside the two flying arms 20 on the other side in the width direction of the fuselage 101. As shown in Figure 2, when the retracting mechanism 102 needs to be deployed, the first side protection body 1051 and the second side protection body 1052 can be moved forward, and then the four flying arms 20 can be rotated forward. 102 expand.
当然，在飞行臂20能够相对机身101在水平面内转动的情况下，收展机构102收展于机身101时，收展机构102中的飞行臂20也可以位于多种位置。Of course, when the flying arm 20 can rotate in a horizontal plane relative to the fuselage 101, when the retracting mechanism 102 is retracted on the fuselage 101, the flying arm 20 in the retracting mechanism 102 may also be located in various positions.
在本申请的一些实施例中，如图5所示，当收展机构102在第一载人模式下收拢于机身101时，四个飞行臂20均收拢于机身101的底部。这种结构可进一步减小载人机器100在第一载人模式所受到的阻力，同时避免收展机构102对驾驶员造成干扰。如图6所示，当需要使收展机构102展开时，四个飞行臂20中的两个飞行臂20向前转动并位于前轮1031的两侧，四个飞行臂20中的另两个飞行臂20向后转动并位于后轮1032的两侧，收展机构102展开。In some embodiments of the present application, as shown in FIG. 5, when the retractable mechanism 102 is retracted to the fuselage 101 in the first manned mode, the four flying arms 20 are all retracted to the bottom of the fuselage 101. This structure can further reduce the resistance of the manned machine 100 in the first manned mode, and at the same time prevent the retractable mechanism 102 from causing interference to the driver. As shown in FIG. 6, when the retracting mechanism 102 needs to be deployed, two of the four flying arms 20 rotate forward and are located on both sides of the front wheel 1031, and the other two of the four flying arms 20 The flying arm 20 rotates backward and is located on both sides of the rear wheel 1032, and the retracting mechanism 102 is deployed.
在本申请的一些实施例中，如图7所示，当收展机构102在第一载人模式下收拢于机身101时，四个飞行臂20中的两个飞行臂20分别收拢于前轮1031的两侧，四个飞行臂20中的另两个飞行臂20分别收拢于后轮1032的两侧。这种结构可进一步减小载人机器100在第一载人模式所受到的阻力，同时避免收展机构102对驾驶员造成干扰。如图8所示，当需要使收展机构102展开时，四个飞行臂20中的两个飞行臂20向前转动并位于前轮1031的前侧，四个飞行臂20中的另两个飞行臂20向后转动并位于后轮1032的后侧，收展机构102展开。In some embodiments of the present application, as shown in FIG. 7, when the retractable mechanism 102 is folded in the fuselage 101 in the first manned mode, two flying arms 20 of the four flying arms 20 are respectively folded in the front. On both sides of the wheel 1031, the other two flying arms 20 of the four flying arms 20 are folded on both sides of the rear wheel 1032, respectively. This structure can further reduce the resistance of the manned machine 100 in the first manned mode, and at the same time prevent the retractable mechanism 102 from causing interference to the driver. As shown in FIG. 8, when the retracting mechanism 102 needs to be deployed, two of the four flying arms 20 rotate forward and are located on the front side of the front wheel 1031, and the other two of the four flying arms 20 The flying arm 20 rotates backward and is located behind the rear wheel 1032, and the retracting mechanism 102 is deployed.
其中，机身101的机架1011上设有第一固定环1021和第二固定环1022，第一固定环1021和第二固定环1022均为椭圆形，第一固定环1021套设于前轮1031的外侧，第二固定环1022套设于后轮1032的外侧。四个行驶轮1013中的两个行驶轮1013分别转动连接于第一固定环1021的两侧；四个行驶轮1013中的另两个行驶轮1013分别转动连接于第二固定环1022的两侧。Wherein, the frame 1011 of the fuselage 101 is provided with a first fixing ring 1021 and a second fixing ring 1022, the first fixing ring 1021 and the second fixing ring 1022 are both oval, and the first fixing ring 1021 is sleeved on the front wheel On the outer side of 1031, the second fixing ring 1022 is sleeved on the outer side of the rear wheel 1032. Two running wheels 1013 of the four running wheels 1013 are respectively rotatably connected to both sides of the first fixed ring 1021; the other two running wheels 1013 of the four running wheels 1013 are respectively rotatably connected to both sides of the second fixed ring 1022 .
当然，飞行臂20除了在水平面内转动来实现展开或收拢以外，飞行臂20还可以在其他平面内转动来实现展开或收拢。Of course, in addition to rotating the flying arm 20 in a horizontal plane to realize expansion or folding, the flying arm 20 can also rotate in other planes to realize expansion or folding.
在本申请的一些实施例中，飞行臂20能够相对机身101在竖直面内转动，即飞行臂20的转动轴线水平布置，载人机器100人在第一载人模式下，飞行臂20收拢于机身101的侧部，且位于竖直平面内，有效减小了载人机器100在第一载人模式下的体积。示例性地，上述竖直面为沿机身101的宽度方向布置的竖直面。In some embodiments of the present application, the flying arm 20 can rotate in a vertical plane relative to the fuselage 101, that is, the axis of rotation of the flying arm 20 is arranged horizontally. When the manned machine 100 is in the first manned mode, the flying arm 20 Tucked up on the side of the fuselage 101 and located in the vertical plane, the volume of the manned machine 100 in the first manned mode is effectively reduced. Illustratively, the above-mentioned vertical plane is a vertical plane arranged along the width direction of the body 101.
在本申请的一些实施例中，如图9、图10所示，飞行臂20能够在相对机身101在斜平面内转动，斜平面与水平面呈夹角设置，斜平面与沿机身101的长度方向布置的竖直平面垂直，斜平面与沿机身101的宽度方向布置的竖直平面呈夹角设置。In some embodiments of the present application, as shown in FIG. 9 and FIG. 10, the flying arm 20 can rotate in an inclined plane relative to the fuselage 101. The inclined plane and the horizontal plane are arranged at an angle, and the inclined plane and the plane along the fuselage 101 The vertical plane arranged in the length direction is vertical, and the inclined plane is arranged at an included angle with the vertical plane arranged in the width direction of the fuselage 101.
如图9所示，当收展机构102在第一载人模式下收拢于机身101时，四个飞行臂20中的两个飞行臂20收拢于机身101的前侧，该两个飞行臂20向前倾斜布置，四个飞行臂20中的另两个飞行臂20收拢于机身101的后侧，该两个飞行臂20向后倾斜布置。如图10所示，当需要使收展机构102展开时，位于前侧的两个飞行臂20向后下方转动至水平面内，位于后侧的两个飞行臂20向前下方转动至水平面内，收展机构102展开。As shown in Figure 9, when the retractable mechanism 102 is retracted to the fuselage 101 in the first manned mode, two of the four flying arms 20 are retracted on the front side of the fuselage 101, and the two flying The arms 20 are arranged obliquely forward, the other two flying arms 20 among the four flying arms 20 are folded on the rear side of the fuselage 101, and the two flying arms 20 are arranged obliquely backward. As shown in Fig. 10, when the retracting mechanism 102 needs to be deployed, the two flying arms 20 on the front side are rotated backward and downward into the horizontal plane, and the two flying arms 20 on the rear side are rotated forward and downward into the horizontal plane. The exhibition organization 102 expands.
可选地，机身101的前侧设有第一容纳箱(图9、图10未示出)，机身101的后侧设有第二容纳箱(图9、图10未示出)。当收展机构102在第一载人模式下收拢于机身101时，位于机身101的前侧的两个飞行臂20上的飞行动力单元10容纳于第一容纳箱内，位于机身101的后侧的两个飞行臂20上的飞行动力单元10容纳于第二容纳箱内。第一容纳箱可对位于机身101前侧的两个飞行臂20起到保护作用；第二容纳箱可对位于机身101后侧的两个飞行臂20起到保护作用。Optionally, the front side of the fuselage 101 is provided with a first containing box (not shown in FIGS. 9 and 10), and the rear side of the body 101 is provided with a second containing box (not shown in FIGS. 9 and 10). When the retracting mechanism 102 is folded in the fuselage 101 in the first manned mode, the flight power units 10 on the two flying arms 20 located on the front side of the fuselage 101 are accommodated in the first containing box, which is located in the fuselage 101 The flight power units 10 on the two flight arms 20 on the rear side of the two are accommodated in the second accommodating box. The first containing box can protect the two flying arms 20 located on the front side of the fuselage 101; the second containing box can protect the two flying arms 20 located on the rear side of the fuselage 101.
在本申请的一些实施例中，飞行臂20与机身101通过万向轴连接，这种结构可实现飞行臂20在多个平面内转动，可根据需求来选择飞行臂20的转动方向，以实现飞行臂20的展开和收拢。In some embodiments of the present application, the flying arm 20 and the fuselage 101 are connected by a cardan shaft. This structure can realize the flying arm 20 to rotate in multiple planes. The rotation direction of the flying arm 20 can be selected according to the requirements. The unfolding and folding of the flying arm 20 is realized.
接下来对本申请提供的飞行动力单元10的其他实施例进行介绍。Next, other embodiments of the flight power unit 10 provided in the present application will be introduced.
请一并参阅图11及图12，本申请一实施例提供一种飞行动力单元10，连接在臂主体21的自由端。飞行动力单元10包括驱动装置11，与驱动装置11连接的螺旋桨13，以及设置在驱动装置11与螺旋桨13的连接处的桨叶托盘15。桨叶托盘15可沿其轴向来回移动，以允许螺旋桨13收拢和/或展开。驱动装置11用于在桨叶托盘15移动至允许螺旋桨13展开后驱动螺旋桨13旋转，从而为载人机器提供飞行动力。Please refer to FIGS. 11 and 12 together. An embodiment of the present application provides a flying power unit 10 connected to the free end of the arm body 21. The flight power unit 10 includes a driving device 11, a propeller 13 connected to the driving device 11, and a blade tray 15 provided at the connection between the driving device 11 and the propeller 13. The blade tray 15 can move back and forth along its axial direction to allow the propeller 13 to be folded and/or unfolded. The driving device 11 is used to drive the propeller 13 to rotate after the blade tray 15 is moved to allow the propeller 13 to be deployed, so as to provide flight power for the manned machine.
本实施例中，驱动装置11可以是电机。In this embodiment, the driving device 11 may be a motor.
请一并参阅图12及图13，驱动装置11包括外壳111。外壳111包括上盖体112及下壳体116。上盖体112和下壳体116围合成收容空间，用于收容驱动装置所包括的驱动机构。图示实施例中，上盖体112包括本体113及自本体113凸设的圆柱部114。可选地，本体113可以包括台阶部1131。台阶部1131大致呈长条状。圆柱部114自台阶部1131的一端凸设。圆柱部114沿其轴向开设有通孔1141。通孔1141贯穿本体113。本实施例中，驱动装置11还包括第一转轴115。第一转轴115自通孔1141穿设，且与螺旋桨13固定连接。图示实施例中，圆柱部114外侧壁设置有外螺纹，用于与桨叶托盘15配合，实现桨叶托盘15沿其轴向的来回移动。Please refer to FIG. 12 and FIG. 13 together, the driving device 11 includes a housing 111. The casing 111 includes an upper cover 112 and a lower casing 116. The upper cover 112 and the lower casing 116 enclose a containing space for containing the driving mechanism included in the driving device. In the illustrated embodiment, the upper cover 112 includes a main body 113 and a cylindrical portion 114 protruding from the main body 113. Optionally, the body 113 may include a step portion 1131. The step portion 1131 is substantially elongated. The cylindrical portion 114 protrudes from one end of the step portion 1131. The cylindrical portion 114 is provided with a through hole 1141 along its axial direction. The through hole 1141 penetrates the body 113. In this embodiment, the driving device 11 further includes a first rotating shaft 115. The first rotating shaft 115 passes through the through hole 1141 and is fixedly connected to the propeller 13. In the illustrated embodiment, the outer side wall of the cylindrical portion 114 is provided with external threads, which are used to cooperate with the blade tray 15 to realize the back and forth movement of the blade tray 15 along its axial direction.
请一并参阅图12，图13及图14，螺旋桨13设置在上盖体112上，并与驱动装置11连接。螺旋桨13包括桨毂131及与桨毂131连接的桨叶136。驱动装置11与桨毂131连接，用于驱动桨毂131转动。本实施例中，第一转轴115与桨毂131固定连接，用于驱动桨毂131转动。桨毂131的转动方向与桨叶136在展开过程中或收拢过程中相对桨毂131的转动方向相互垂直。Please refer to FIG. 12, FIG. 13 and FIG. 14 together, the propeller 13 is disposed on the upper cover 112 and connected with the driving device 11. The propeller 13 includes a hub 131 and a blade 136 connected to the hub 131. The driving device 11 is connected to the propeller hub 131 for driving the propeller hub 131 to rotate. In this embodiment, the first rotating shaft 115 is fixedly connected to the propeller hub 131 for driving the propeller hub 131 to rotate. The direction of rotation of the hub 131 is perpendicular to the direction of rotation of the blade 136 relative to the hub 131 during the unfolding process or the retracting process.
本实施例中，桨毂131大致呈圆盘状。桨毂131包括顶面1311，与顶面1311平行的底面1312，及连接在顶面1311与底面1312之间的外周面1313。桨毂131的中心设置有固接孔132。固接孔132贯穿顶面1311及底面1312。固接孔132的孔壁间隔设置有沿桨毂131的轴向延伸的凸肋1321。相应地，第一转轴115的外周面设置有凸肋1321的互补结构，通过凸肋1321与互补结构的配合使得桨毂131与第一转轴115固定连接，从而实现通过第一转轴115的转动带动桨毂131转动，进而带动螺旋桨13转动。In this embodiment, the hub 131 is substantially in the shape of a disc. The hub 131 includes a top surface 1311, a bottom surface 1312 parallel to the top surface 1311, and an outer peripheral surface 1313 connected between the top surface 1311 and the bottom surface 1312. A fixing hole 132 is provided in the center of the hub 131. The fixing hole 132 penetrates the top surface 1311 and the bottom surface 1312. The wall of the fixing hole 132 is provided with ribs 1321 extending in the axial direction of the hub 131 at intervals. Correspondingly, the outer peripheral surface of the first rotating shaft 115 is provided with a complementary structure of the rib 1321, and the boss 131 is fixedly connected to the first rotating shaft 115 through the cooperation of the rib 1321 and the complementary structure, so that the rotation of the first rotating shaft 115 is driven. The propeller hub 131 rotates, thereby driving the propeller 13 to rotate.
可以理解，第一转轴115与桨毂131之间的固接并不限于通过在桨毂131上开设固接孔132且在固接孔132的孔壁设置凸肋1321，以及在第一转轴115的外周面设置与凸肋1321的互补结构这一种方式，只要能够实现第一转轴115与桨毂131之间的固定连接即可，例如，还可以通过焊接等方式实现第一转轴115与桨毂131的固接。It can be understood that the fixing between the first rotating shaft 115 and the hub 131 is not limited to the fixing holes 132 provided on the hub 131 and the ribs 1321 are provided on the wall of the fixing holes 132, and the first rotating shaft 115 The outer peripheral surface of the shaft is provided with the complementary structure of the rib 1321, as long as the fixed connection between the first shaft 115 and the hub 131 can be realized, for example, the first shaft 115 and the propeller can also be realized by welding. Fixing of the hub 131.
桨毂131还开设有桨叶连接槽133。本实施例中，自桨毂131的外周面向桨毂131内部等角距地设置有多个径向延伸的桨叶连接槽133。桨叶连接槽133贯穿桨毂131的顶面1311，底面1312及外周面1313，以方便桨叶136的收拢与展开。为减轻桨毂131的重量，桨毂131位于两相邻的桨叶连接槽133之间的部分可设置成镂空状。为方便桨毂131与桨叶136的连接，每个桨叶连接槽133的侧槽壁开设有槽连接孔1331。本实施例中，桨叶连接槽133的数量为三个。可选地，桨叶连接槽133的底壁上可设置有挂接部(图未示)，用于在飞行动力单元10包括连接在桨毂131与桨叶136之间的弹性件时，供弹性件的一端挂靠。The hub 131 is also provided with a blade connecting groove 133. In this embodiment, a plurality of radially extending blade connection grooves 133 are provided equiangularly from the outer circumference of the hub 131 to the inside of the hub 131. The blade connecting groove 133 penetrates the top surface 1311, the bottom surface 1312 and the outer peripheral surface 1313 of the hub 131 to facilitate the folding and unfolding of the blade 136. In order to reduce the weight of the propeller hub 131, the part of the propeller hub 131 located between two adjacent blade connecting grooves 133 may be hollowed out. In order to facilitate the connection between the hub 131 and the blade 136, the side groove wall of each blade connection groove 133 is provided with a groove connection hole 1331. In this embodiment, the number of blade connecting grooves 133 is three. Optionally, a hook portion (not shown in the figure) may be provided on the bottom wall of the blade connecting groove 133, which is used for when the flight power unit 10 includes an elastic member connected between the hub 131 and the blade 136. One end of the elastic piece is hung.
桨叶136的数量与桨叶连接槽133的数量对应。The number of blades 136 corresponds to the number of blade connecting grooves 133.
请一并参阅图12，图14及图15，桨叶136包括柄部137及与柄部137固定连接的叶片138。Please refer to FIGS. 12, 14 and 15 together. The blade 136 includes a handle 137 and a blade 138 fixedly connected to the handle 137.
柄部137设置在桨叶连接槽133内，且与桨叶连接槽133的槽壁通过连接轴连接，使得柄部137与桨毂131铰接且桨叶136可绕连接轴转动。本实施例中，柄部137设置有与槽连接孔1331对应的柄部连接孔1371，通过在槽连接孔1331及柄部连接孔1371中穿设连接轴，使得柄部137与桨毂131铰接。可以理解，叶片138与柄部137可以一体成型，或者，叶片138与柄部137通过螺钉与螺孔的配合连接。The handle 137 is arranged in the blade connecting groove 133 and is connected with the groove wall of the blade connecting groove 133 through a connecting shaft, so that the handle 137 is hinged with the hub 131 and the blade 136 can rotate around the connecting shaft. In this embodiment, the handle 137 is provided with a handle connecting hole 1371 corresponding to the slot connecting hole 1331, and a connecting shaft is inserted through the slot connecting hole 1331 and the handle connecting hole 1371, so that the handle 137 is hinged with the hub 131 . It can be understood that the blade 138 and the handle 137 may be integrally formed, or the blade 138 and the handle 137 are connected by a screw and a screw hole.
本实施例中，柄部137包括沿远离叶片138的方向延伸且相对设置的第一延伸部1372及第二延伸部1373。第一延伸部1372及第二延伸部1373上分别开设有柄部连接孔1371。第一延伸部1372的柄部连接孔1371与第二延伸部1373的柄部连接孔1371共轴设置。第一延伸部1372及第二延伸部1373之间形成收容空间1374。可选地，柄部137还可以开设有插接槽(图未示)，用于在飞行动力单元10包括连接在桨叶136与桨毂131之间的弹性件时，供弹性件的另一端插入。具体地，插接槽可以自收容空间1374的底壁向柄部137内开设。In this embodiment, the handle 137 includes a first extension portion 1372 and a second extension portion 1373 that extend in a direction away from the blade 138 and are disposed oppositely. The first extension portion 1372 and the second extension portion 1373 are respectively provided with a handle connection hole 1371. The handle connecting hole 1371 of the first extension portion 1372 and the handle connecting hole 1371 of the second extension portion 1373 are arranged coaxially. A receiving space 1374 is formed between the first extension portion 1372 and the second extension portion 1373. Optionally, the handle 137 may also be provided with an insertion groove (not shown) for providing the other end of the elastic member when the flight power unit 10 includes an elastic member connected between the blade 136 and the hub 131 insert. Specifically, the insertion groove may be opened from the bottom wall of the receiving space 1374 into the handle 137.
请一并参阅图11，图12及图16，桨叶托盘15设置在驱动装置11与螺旋桨13的连接处。Please refer to FIG. 11, FIG. 12 and FIG. 16 together, the blade tray 15 is provided at the connection between the driving device 11 and the propeller 13.
本实施例中，桨叶托盘15套设在圆柱部114上。桨叶托盘15沿其轴向开设通孔151。通孔151包括孔壁1511。孔壁1511设置有与圆柱部114的外侧壁的外螺纹配合的内螺纹。本实施例中，桨叶托盘15沿其轴向还开设有收容孔153。收容孔153与通孔151共轴设置，且收容孔153的孔径大于通孔151的孔径。收容孔153用于在螺旋桨13收拢时，收容桨毂131及桨叶136与桨毂131连接的端部(即，柄部137)。In this embodiment, the paddle tray 15 is sleeved on the cylindrical portion 114. The paddle tray 15 defines a through hole 151 along its axial direction. The through hole 151 includes a hole wall 1511. The hole wall 1511 is provided with an internal thread that cooperates with the external thread of the outer side wall of the cylindrical portion 114. In this embodiment, the paddle tray 15 is further provided with a receiving hole 153 along its axial direction. The receiving hole 153 and the through hole 151 are arranged coaxially, and the hole diameter of the receiving hole 153 is larger than the hole diameter of the through hole 151. The accommodating hole 153 is used for accommodating the hub 131 and the end of the blade 136 connected to the hub 131 (ie, the handle 137) when the propeller 13 is folded.
本实施例中，当螺旋桨13收拢时，柄部137收容在收容孔153中，且柄部137远离叶片138的一端抵靠收容孔153的底壁，这样可以增大螺旋桨13收拢时桨叶136的稳定性，避免桨叶136晃动。In this embodiment, when the propeller 13 is closed, the handle 137 is received in the receiving hole 153, and the end of the handle 137 away from the blade 138 abuts against the bottom wall of the receiving hole 153, which can increase the blade 136 when the propeller 13 is closed. The stability of the blade 136 is prevented from shaking.
本实施例中，飞行动力单元10还包括托盘驱动装置14。托盘驱动装置14设置在上盖体112上，与桨叶托盘15并行设置。图12所示实施例中，托盘驱动装置14设置在台阶部1131上，且位于台阶部1131的相对于圆柱部114所在端部的另一端。托盘驱动装置14与桨叶托盘15连接，用于驱动桨叶托盘15以使桨叶托盘15来回移动。In this embodiment, the flight power unit 10 further includes a tray driving device 14. The tray driving device 14 is arranged on the upper cover 112 and arranged in parallel with the paddle tray 15. In the embodiment shown in FIG. 12, the tray driving device 14 is disposed on the step portion 1131 and is located at the other end of the step portion 1131 relative to the end of the cylindrical portion 114. The tray driving device 14 is connected to the paddle tray 15 for driving the paddle tray 15 to move the paddle tray 15 back and forth.
本实施例中，托盘驱动装置14与桨叶托盘15通过齿轮结构连接。托盘驱动装置14包括固定件141，驱动电机142，驱动轴143，驱动齿轮144。固定件141用于将托盘驱动装置14固定在上盖体112上。驱动电机142与驱动轴143连接，用于驱动该驱动轴143转动。驱动齿轮144与驱动轴143固定连接，驱动轴143的转动带动该驱动齿轮144转动。本实施例中，桨 叶托盘15的外周面设置有与驱动齿轮144啮合的齿状结构，驱动齿轮144的转动带动桨叶托盘15转动。本实施例中，桨叶托盘15在托盘驱动装置14的驱动下正向旋转或反向旋转时，通过内螺纹与外螺纹的配合实现来回移动。In this embodiment, the tray driving device 14 and the paddle tray 15 are connected by a gear structure. The tray driving device 14 includes a fixing member 141, a driving motor 142, a driving shaft 143, and a driving gear 144. The fixing member 141 is used to fix the tray driving device 14 on the upper cover 112. The driving motor 142 is connected to the driving shaft 143 for driving the driving shaft 143 to rotate. The driving gear 144 is fixedly connected to the driving shaft 143, and the rotation of the driving shaft 143 drives the driving gear 144 to rotate. In this embodiment, the outer peripheral surface of the blade tray 15 is provided with a toothed structure meshing with the driving gear 144, and the rotation of the driving gear 144 drives the blade tray 15 to rotate. In this embodiment, when the paddle tray 15 rotates forward or backward under the drive of the tray driving device 14, the back and forth movement is realized through the cooperation of the internal thread and the external thread.
可以理解，其他实施例中，托盘驱动装置14与桨叶托盘15可以通过传送带连接。此时，托盘驱动装置14的驱动齿轮144可以替换为与驱动轴143固定连接的主动轮，桨叶托盘15的外周面的齿状结构可省略，桨叶托盘15作为从动轮，由主动轮经传送带带动实现正向或反向旋转。当然，托盘驱动装置14与桨叶托盘15连接方式还可以为链传动连接等，或者齿轮结构连接、传送带连接、链传动连接等一种或多种传动方式的组合。It can be understood that in other embodiments, the tray driving device 14 and the paddle tray 15 may be connected by a conveyor belt. At this time, the drive gear 144 of the tray drive device 14 can be replaced with a driving wheel fixedly connected to the drive shaft 143, the toothed structure of the outer peripheral surface of the blade tray 15 can be omitted, and the blade tray 15 serves as a driven wheel, which is passed by the driving wheel. The conveyor belt drives forward or reverse rotation. Of course, the connection mode of the tray driving device 14 and the paddle tray 15 may also be a chain transmission connection, or a combination of one or more transmission modes such as a gear structure connection, a conveyor belt connection, and a chain transmission connection.
可以理解，其他实施例中，托盘驱动装置14可以设置为与桨叶托盘15固定连接的升降机构，此时，通孔151的孔壁的内螺纹，圆柱部114的外周面的外螺纹及桨叶托盘15的外周面的齿状结构均可省略，直接通过升降机构实现桨叶托盘15的来回移动。It can be understood that in other embodiments, the tray driving device 14 may be configured as a lifting mechanism fixedly connected to the paddle tray 15. At this time, the internal thread of the hole wall of the through hole 151, the external thread of the outer peripheral surface of the cylindrical portion 114, and the paddle The toothed structure on the outer peripheral surface of the leaf tray 15 can be omitted, and the back and forth movement of the blade tray 15 is directly realized by the lifting mechanism.
本实施例中，当托盘驱动装置14将桨叶托盘15移动至允许螺旋桨13展开时，螺旋桨13可能因为惯性原因保持收拢的状态。此种情况下，当驱动装置11驱动螺旋桨13沿桨叶托盘15的径向旋转时，螺旋桨13通过旋转产生的离心力展开。In this embodiment, when the tray driving device 14 moves the blade tray 15 to allow the propeller 13 to expand, the propeller 13 may remain in the collapsed state due to inertia. In this case, when the driving device 11 drives the propeller 13 to rotate in the radial direction of the blade tray 15, the propeller 13 is deployed by the centrifugal force generated by the rotation.
可以理解，请一并参阅图17至图20，一实施例中，飞行动力单元10还可以包括连接在桨毂131与桨叶136之间的弹性件16。该弹性件16用于使螺旋桨13收拢，和/或使螺旋桨13展开(即，使螺旋桨13的桨叶136处于收拢状态或展开状态)。弹性件16可以例如为扭簧，拉簧等。本实施例中，弹性件16为扭簧。It is understandable that please refer to FIGS. 17 to 20 together. In one embodiment, the flight power unit 10 may further include an elastic member 16 connected between the hub 131 and the blade 136. The elastic member 16 is used to collapse the propeller 13 and/or expand the propeller 13 (that is, make the blades 136 of the propeller 13 in a collapsed state or an expanded state). The elastic member 16 may be, for example, a torsion spring, a tension spring, or the like. In this embodiment, the elastic member 16 is a torsion spring.
一实施例中，弹性件16蓄存有使螺旋桨13收拢的弹力(即，弹性件16能够使桨叶136保持收拢状态)。当托盘驱动装置14将桨叶托盘15移动至允许螺旋桨13展开时，螺旋桨13由于弹性件16的作用保持收拢的状态。此种情况下，当驱动装置11驱动螺旋桨13转动时，旋转产生的离心力随着旋转转速的增大逐渐增大。当离心力增大到大于等于弹性件16的弹力时，旋转产生的离心力与弹性件16的弹力的合力使螺旋桨13处于展开状态。当驱动装置11停止驱动螺旋桨13转动时，离心力逐渐消失，弹性件16的弹力驱使螺旋桨13收拢。In one embodiment, the elastic member 16 stores the elastic force that causes the propeller 13 to collapse (that is, the elastic member 16 can keep the blade 136 in the collapsed state). When the tray driving device 14 moves the blade tray 15 to allow the propeller 13 to be deployed, the propeller 13 is kept in a collapsed state due to the action of the elastic member 16. In this case, when the driving device 11 drives the propeller 13 to rotate, the centrifugal force generated by the rotation gradually increases as the rotation speed increases. When the centrifugal force increases to be greater than or equal to the elastic force of the elastic member 16, the combined force of the centrifugal force generated by the rotation and the elastic force of the elastic member 16 causes the propeller 13 to be in an unfolded state. When the driving device 11 stops driving the propeller 13 to rotate, the centrifugal force gradually disappears, and the elastic force of the elastic member 16 drives the propeller 13 to close up.
弹性件16包括相对的第一连接端161及第二连接端163。第一连接端161与桨叶136(图示实施例中，与桨叶136的柄部137)连接。第二连接端163与桨毂131连接。在弹性件16的自然状态下，第一连接端161的延伸方向与第二连接端163的延伸方向所成夹角范围为85°～95°。弹性件16还可以包括连接在第一连接端161及第二连接端163之间的缠绕部162。The elastic member 16 includes a first connecting end 161 and a second connecting end 163 opposite to each other. The first connecting end 161 is connected with the blade 136 (in the illustrated embodiment, with the handle 137 of the blade 136). The second connecting end 163 is connected to the hub 131. In the natural state of the elastic member 16, the angle between the extending direction of the first connecting end 161 and the extending direction of the second connecting end 163 ranges from 85° to 95°. The elastic member 16 may further include a winding portion 162 connected between the first connecting end 161 and the second connecting end 163.
图示实施例中，弹性件16大致呈类环状结构。第一连接端161通过插入柄部137的插接槽，实现弹性件16与柄部137连接。缠绕部162绕设在连接桨叶136与桨毂131的连接轴(即，穿设在槽连接孔1331及柄部连接孔1371中的连接轴)上。第二连接端163通过挂靠设置在桨叶连接槽133底壁的挂接部，实现弹性件16与桨毂131的连接。可选地，弹性件16包括自第一连接端161向第二连接端163延伸且并行设置的第一延伸杆164及第二延伸杆165。第二延伸杆165与第一延伸杆164之间的间距自第二连接端163向第一连接端161逐渐减小。可选地，弹性件16相对于第一连接端161的中点与第二连接端163的中点的连线呈轴对称结构，由此可以提升弹性件16的稳定性。In the illustrated embodiment, the elastic member 16 is generally a ring-like structure. The first connecting end 161 is inserted into the insertion groove of the handle 137 to realize the connection between the elastic member 16 and the handle 137. The winding portion 162 is wound around the connecting shaft connecting the blade 136 and the hub 131 (that is, the connecting shaft passing through the slot connecting hole 1331 and the handle connecting hole 1371). The second connecting end 163 connects the elastic member 16 with the hub 131 by hooking on the hooking portion provided on the bottom wall of the blade connecting groove 133. Optionally, the elastic member 16 includes a first extension rod 164 and a second extension rod 165 that extend from the first connection end 161 to the second connection end 163 and are arranged in parallel. The distance between the second extension rod 165 and the first extension rod 164 gradually decreases from the second connection end 163 to the first connection end 161. Optionally, the elastic member 16 has an axisymmetric structure with respect to the connection line between the midpoint of the first connecting end 161 and the midpoint of the second connecting end 163, so that the stability of the elastic member 16 can be improved.
可以理解，其他实施例中，也可以自桨叶连接槽133的底壁向桨毂131的内部开设插接槽供第二连接端163插设，而在收容空间底壁设置供第一连接端挂靠的挂接部，或者，分别自桨叶连接槽133的底壁向桨毂131的内部及自收容空间1374的底壁向柄部137的内部开设供第一连接端161及第二连接端163插设的插接槽，或者分别在桨叶连接槽133的底壁上及收容空间1374的底壁上设置供第一连接端161及第二连接端163挂靠的挂接部，弹性件16与桨叶 136及桨毂131的连接并不限于上述实施例中描述的方式，只要能够实现弹性件16与桨叶136及桨毂131的连接即可。It can be understood that in other embodiments, an inserting groove may be opened from the bottom wall of the blade connecting groove 133 to the inside of the hub 131 for the second connecting end 163 to be inserted, and the bottom wall of the receiving space is provided for the first connecting end. The hooking portion for hanging, or, respectively, opening from the bottom wall of the blade connecting groove 133 to the inside of the hub 131 and from the bottom wall of the receiving space 1374 to the inside of the handle 137 for the first connecting end 161 and the second connecting end 163 is inserted into the insertion groove, or respectively provided on the bottom wall of the blade connection groove 133 and the bottom wall of the receiving space 1374 with hooking parts for the first connection end 161 and the second connection end 163 to be hung, the elastic member 16 The connection with the blade 136 and the hub 131 is not limited to the manner described in the above embodiment, as long as the connection between the elastic member 16 and the blade 136 and the hub 131 can be realized.
请一并参阅图21至图24，另一实施例中，弹性件16a蓄存有使螺旋桨13展开的弹力(即，弹性件16能够使桨叶136保持展开状态)。本实施例所提供的弹性件16a的结构与前述实施例所提供的弹性件16的结构大致相同，其不同之处在于，在弹性件16a的自然状态下，第一连接端161a的延伸方向与第二连接端161a的延伸方向所成夹角范围为120°～130°。此种情况下，在托盘驱动装置14将桨叶托盘15移动至允许螺旋桨13收拢的过程中，螺旋桨13由于桨叶托盘15的限制(即，抑制弹性件16的弹力)逐渐达到收拢状态；在托盘驱动装置14将桨叶托盘15移动至允许螺旋桨13展开的过程中，桨叶托盘15对螺旋桨13的限制逐渐消失(即，释放弹性件16的弹力)，弹性件16a所蓄存的使螺旋桨13展开的弹力驱使螺旋桨逐渐展开。Please refer to FIGS. 21 to 24 together. In another embodiment, the elastic member 16a stores an elastic force for deploying the propeller 13 (that is, the elastic member 16 can keep the blade 136 in the deployed state). The structure of the elastic element 16a provided in this embodiment is substantially the same as the structure of the elastic element 16 provided in the previous embodiment, with the difference that in the natural state of the elastic element 16a, the extension direction of the first connecting end 161a is the same as The angle formed by the extending direction of the second connecting end 161a ranges from 120° to 130°. In this case, when the tray driving device 14 moves the blade tray 15 to allow the propeller 13 to be collapsed, the propeller 13 gradually reaches the collapsed state due to the restriction of the blade tray 15 (ie, restraining the elastic force of the elastic member 16); When the tray driving device 14 moves the blade tray 15 to allow the propeller 13 to expand, the restriction of the blade tray 15 on the propeller 13 gradually disappears (that is, the elastic force of the elastic member 16 is released), and the elastic member 16a makes the propeller 13 The unfolding elastic force drives the propeller to gradually unfold.
请再次参阅图11，本实施例中，飞行动力单元10还包括与驱动装置11连接的冷却装置17，用于对驱动装置11进行冷却处理，避免驱动装置11工作时温度过高。该冷却装置17与驱动装置11的一端连接，且位于驱动装置11背离桨叶托盘15及托盘驱动装置14的一侧。图11及图12所示的实施例中，冷却装置17的外壳包括顶盖171及底壳172。顶盖171与底壳172围合成收容空间，用于收容冷却装置所包括的冷却机构。顶盖171与下壳体116的一端连接。可选地，顶盖171与下壳体116一体成型。Please refer to FIG. 11 again. In this embodiment, the flight power unit 10 further includes a cooling device 17 connected to the driving device 11 for cooling the driving device 11 to prevent the driving device 11 from overheating during operation. The cooling device 17 is connected to one end of the driving device 11 and is located on the side of the driving device 11 away from the blade tray 15 and the tray driving device 14. In the embodiment shown in FIGS. 11 and 12, the outer shell of the cooling device 17 includes a top cover 171 and a bottom shell 172. The top cover 171 and the bottom shell 172 enclose a storage space for containing the cooling mechanism included in the cooling device. The top cover 171 is connected to one end of the lower case 116. Optionally, the top cover 171 and the lower housing 116 are integrally formed.
本申请提供的飞行动力单元通过桨叶托盘沿其轴向的来回移动能够使得螺旋桨在使用时展开，而在不使用时收拢，从而方便飞行动力单元的收纳放置，进而改善具有该飞行动力单元的载人机器的收纳放置问题。The flight power unit provided by the present application enables the propeller to be unfolded when in use and folded when not in use through the back and forth movement of the blade tray along its axial direction, thereby facilitating the storage and placement of the flight power unit, thereby improving the performance of the flight power unit. The storage and placement of manned machines.
接下来对本申请提供的飞行臂20的其他实施例进行介绍。Next, other embodiments of the flying arm 20 provided in the present application will be introduced.
请参阅图25及图26，本申请一实施例还提供一种飞行臂20，包括臂主体21。本实施例中，飞行动力单元10可转动地连接在臂主体21的一端，且飞行动力单元10具有图11至图24所示的结构。Referring to FIG. 25 and FIG. 26, an embodiment of the present application further provides a flying arm 20 including an arm main body 21. In this embodiment, the flying power unit 10 is rotatably connected to one end of the arm main body 21, and the flying power unit 10 has the structure shown in FIGS. 11-24.
本实施例中，飞行臂20还包括支架22。支架22与臂主体21的一端固定连接。飞行动力单元10通过支架22可转动地连接在臂主体21的一端。可以理解，其他实施例中，支架22可以与臂主体21一体成型。In this embodiment, the flying arm 20 further includes a bracket 22. The bracket 22 is fixedly connected to one end of the arm main body 21. The flying power unit 10 is rotatably connected to one end of the arm body 21 through a bracket 22. It can be understood that in other embodiments, the bracket 22 may be integrally formed with the arm main body 21.
请一并参阅图25至图27，本实施例中，支架22包括连接部221及自连接部221朝同一方向延伸且平行设置的第一悬臂222及第二悬臂223。连接部221，第一悬臂222及第二悬臂223形成类U形结构。Please also refer to FIGS. 25-27. In this embodiment, the bracket 22 includes a connecting portion 221 and a first cantilever 222 and a second cantilever 223 extending in the same direction from the connecting portion 221 and arranged in parallel. The connecting portion 221, the first cantilever 222 and the second cantilever 223 form a U-like structure.
连接部221与臂主体21固定连接。本实施例中，连接部221沿其轴向开设有连接孔2211，用于与臂主体21连接。连接孔2211可以是通孔或自连接部221远离第一悬臂222及第二悬臂223的表面向连接部221内部沿其轴向开设的盲孔。可选地，连接部221的孔壁可开设有固接孔2212，臂主体21上对应固接孔2212可设置有机臂固接孔，通过螺钉与固接孔2212及机臂固接孔的配合，以提升连接部221与臂主体21之间的连接的稳固性。可选地，为减小飞行臂20的重量，连接部221的孔壁可设置成镂空状。The connecting portion 221 is fixedly connected to the arm main body 21. In this embodiment, the connecting portion 221 is provided with a connecting hole 2211 along its axial direction for connecting with the arm main body 21. The connecting hole 2211 may be a through hole or a blind hole opened from the surface of the connecting portion 221 away from the first cantilever 222 and the second cantilever 223 toward the inside of the connecting portion 221 along the axial direction thereof. Optionally, the hole wall of the connecting portion 221 may be provided with a fixing hole 2212, and the corresponding fixing hole 2212 on the arm main body 21 may be provided with an organic arm fixing hole, which is matched with the fixing hole 2212 and the arm fixing hole by a screw , In order to improve the stability of the connection between the connecting portion 221 and the arm main body 21. Optionally, in order to reduce the weight of the flying arm 20, the hole wall of the connecting portion 221 may be hollowed out.
第一悬臂222及第二悬臂223远离连接部221的端部分别开设有第一轴孔2221及第二轴孔2231。第一轴孔2221与第二轴孔2231共轴设置。请再次参阅图1及图2，相应地，驱动装置11的外周面设置有分别穿设在第一轴孔2221及第二轴孔2231中的第一凸轴1161及第二凸轴1162。第一凸轴1161及第二凸轴1162共轴且自驱动装置11的外周面朝相反的方向凸设。本实施例中，第一凸轴1161及第二凸轴1162设置在下壳体116上，且位于下壳体116长度方向的中间靠近顶盖171的位置。第一凸轴1161及第二凸轴1162分别沿下壳体116的宽度方向朝相反的方向凸设。可以理解，其他实施例中，第一凸轴1161及第二凸轴1162也可以设置在 驱动装置11的外周面的其他位置，例如，冷却装置17的底壳172上，本申请对此不做限定。本实施例中，为减小飞行臂20的重量，第一悬臂222及第二悬臂223也可以设置成镂空状。The ends of the first cantilever 222 and the second cantilever 223 away from the connecting portion 221 are respectively provided with a first shaft hole 2221 and a second shaft hole 2231. The first shaft hole 2221 and the second shaft hole 2231 are coaxially arranged. Please refer to FIGS. 1 and 2 again. Correspondingly, the outer peripheral surface of the driving device 11 is provided with a first convex shaft 1161 and a second convex shaft 1162 respectively passing through the first shaft hole 2221 and the second shaft hole 2231. The first convex shaft 1161 and the second convex shaft 1162 are coaxial and protrude in opposite directions from the outer peripheral surface of the driving device 11. In this embodiment, the first convex shaft 1161 and the second convex shaft 1162 are disposed on the lower casing 116 and are located in the middle of the length direction of the lower casing 116 near the top cover 171. The first convex shaft 1161 and the second convex shaft 1162 are respectively protruded in opposite directions along the width direction of the lower housing 116. It can be understood that in other embodiments, the first convex shaft 1161 and the second convex shaft 1162 may also be arranged at other positions on the outer peripheral surface of the driving device 11, for example, on the bottom shell 172 of the cooling device 17, which is not covered in this application. limited. In this embodiment, in order to reduce the weight of the flying arm 20, the first cantilever 222 and the second cantilever 223 may also be hollowed out.
飞行臂20还包括旋转驱动装置23，用于驱动飞行动力单元10趋向与臂主体21平行地旋转折叠或趋向与臂主体21垂直的旋转展开。旋转驱动装置23可以为液压推杆，气压推杆或电动推杆等。旋转驱动装置23的一端连接至臂主体21，另一端连接至飞行动力单元10。The flying arm 20 also includes a rotation driving device 23 for driving the flying power unit 10 to rotate and fold parallel to the arm main body 21 or to rotate and unfold perpendicular to the arm main body 21. The rotation driving device 23 can be a hydraulic push rod, a pneumatic push rod or an electric push rod. One end of the rotation driving device 23 is connected to the arm main body 21, and the other end is connected to the flight power unit 10.
本实施例中，旋转驱动装置23通过套接件24连接至臂主体21。套接件24套设在臂主体21上。套接件24包括沿其径向凸设的连接部241。旋转驱动装置23的一端与连接部241连接。In this embodiment, the rotation driving device 23 is connected to the arm main body 21 through a socket 24. The sleeve 24 is sleeved on the arm main body 21. The socket 24 includes a connecting portion 241 protruding in the radial direction thereof. One end of the rotation driving device 23 is connected to the connecting portion 241.
请一并参阅图25，图26及图28，飞行臂20还可以包括固定架25。旋转驱动装置23与固定架25固定连接。飞行动力单元10与固定架25可转动地连接。旋转驱动装置23的另一端通过固定架25连接至飞行动力单元10。旋转驱动装置23通过移动固定架25带动飞行动力单元10相对于支架22转动。可以理解，其他实施例中，旋转驱动装置23与固定架25可以一体成型。Please refer to FIG. 25, FIG. 26 and FIG. 28 together, the flying arm 20 may further include a fixing frame 25. The rotation driving device 23 is fixedly connected to the fixing frame 25. The flight power unit 10 is rotatably connected with the fixed frame 25. The other end of the rotation driving device 23 is connected to the flight power unit 10 through a fixing frame 25. The rotation driving device 23 drives the flight power unit 10 to rotate relative to the support 22 by moving the fixed frame 25. It can be understood that in other embodiments, the rotation driving device 23 and the fixing frame 25 may be integrally formed.
本实施例中，固定架25包括固接部251及自固接部251朝同一方向延伸且平行设置的第三悬臂252及第四悬臂253。固接部251与旋转驱动装置23固定连接。第三悬臂252及第四悬臂253远离固接部251的端部分别具有第三轴孔2521及第四轴孔2531。第三轴孔2521与第四轴孔2531共轴设置。请再次参阅图1，图25及图26，驱动装置11的外周面还设置有分别穿设在第三轴孔2521及第四轴孔2531中的第三凸轴1721及第四凸轴1722。第三凸轴1721及第四凸轴1722共轴且自驱动装置11的外周面朝相反的方向凸设。本实施例中，第三凸轴1721及第四凸轴1722与第一凸轴1161及第二凸轴1162平行设置。可选地，驱动装置11的外周面在临近第三凸轴1721及第四凸轴1722的位置分别凸设有一限位凸块1723。限位凸块1723包括相互垂直的第一限位面1724及第二限位面1725。第一限位面1724用于在旋转驱动装置23驱动飞行动力单元10旋转折叠后，分别与第三悬臂252及第四悬臂253抵靠，以限制飞行动力单元10继续转动。第二限位面1725用于在旋转驱动装置23驱动飞行动力单元10旋转展开后，分别与第一悬臂222及第二悬臂223抵靠，以限制飞行动力单元10继续转动。可以理解，其他实施例中，也可以仅在临近第三凸轴1721或第四凸轴1722的位置设置一限位凸块1723，也能在旋转驱动装置23驱动飞行动力单元10旋转折叠后或在旋转驱动装置23驱动飞行动力单元10旋转展开后，限制飞行动力单元10继续转动。图1，图13及图14所示的实施例中，第三凸轴1721，第四凸轴1722及限位凸块1723均设置在底壳172上。In this embodiment, the fixing frame 25 includes a fixing portion 251 and a third cantilever 252 and a fourth cantilever 253 extending in the same direction from the fixing portion 251 and arranged in parallel. The fixing portion 251 is fixedly connected to the rotation driving device 23. The ends of the third cantilever 252 and the fourth cantilever 253 away from the fixing portion 251 have a third shaft hole 2521 and a fourth shaft hole 2531 respectively. The third shaft hole 2521 and the fourth shaft hole 2531 are arranged coaxially. Please refer to FIG. 1, FIG. 25 and FIG. 26 again. The outer peripheral surface of the driving device 11 is further provided with a third convex shaft 1721 and a fourth convex shaft 1722 respectively penetrated in the third shaft hole 2521 and the fourth shaft hole 2531. The third convex shaft 1721 and the fourth convex shaft 1722 are coaxial and protrude in opposite directions from the outer peripheral surface of the driving device 11. In this embodiment, the third convex shaft 1721 and the fourth convex shaft 1722 are arranged in parallel with the first convex shaft 1161 and the second convex shaft 1162. Optionally, the outer peripheral surface of the driving device 11 is protruded with a limiting protrusion 1723 at positions adjacent to the third convex shaft 1721 and the fourth convex shaft 1722 respectively. The limiting protrusion 1723 includes a first limiting surface 1724 and a second limiting surface 1725 perpendicular to each other. The first limit surface 1724 is used to abut against the third cantilever 252 and the fourth cantilever 253 after the rotation driving device 23 drives the flight power unit 10 to rotate and fold, so as to restrict the flight power unit 10 from continuing to rotate. The second limit surface 1725 is used for abutting against the first cantilever 222 and the second cantilever 223 after the rotation driving device 23 drives the flying power unit 10 to rotate and unfold, so as to restrict the flying power unit 10 from continuing to rotate. It can be understood that in other embodiments, a limit protrusion 1723 may be provided only at a position adjacent to the third convex shaft 1721 or the fourth convex shaft 1722, and it can also be used after the rotation driving device 23 drives the flight power unit 10 to rotate and fold or After the rotation driving device 23 drives the flight power unit 10 to rotate and unfold, the flight power unit 10 is restricted from continuing to rotate. In the embodiments shown in FIG. 1, FIG. 13 and FIG. 14, the third convex shaft 1721, the fourth convex shaft 1722 and the limiting protrusion 1723 are all disposed on the bottom shell 172.
请一并参阅图25，图26及图29，本实施例中，飞行臂20还包括起落架26。起落架26与驱动装置11固定连接。起落架26与螺旋桨13分别位于驱动装置11的相背两侧。且起落架26相对于收拢后的螺旋桨13朝向相反的方向延伸。起落架26在旋转驱动装置23驱动飞行动力单元10旋转折叠或旋转展开时一并旋转折叠或展开。起落架26用于在载人机器起飞或降落时保持载人机器的稳定。Please refer to FIG. 25, FIG. 26 and FIG. 29 together. In this embodiment, the flying arm 20 further includes a landing gear 26. The landing gear 26 is fixedly connected to the driving device 11. The landing gear 26 and the propeller 13 are respectively located on opposite sides of the driving device 11. In addition, the landing gear 26 extends in the opposite direction with respect to the propeller 13 after being folded. The landing gear 26 rotates and folds or unfolds together when the rotating drive device 23 drives the flying power unit 10 to rotate and fold or rotate and unfold. The landing gear 26 is used to maintain the stability of the manned machine when the manned machine is taking off or landing.
图25，图26及图29所示的实施例中，起落架26连接在底壳172远离顶盖171的一侧。起落架26包括连接端261及相对于连接端261的自由端262。起落架26还包括连接在自由端262的滑轮263。In the embodiments shown in FIGS. 25, 26 and 29, the landing gear 26 is connected to the side of the bottom shell 172 away from the top cover 171. The landing gear 26 includes a connecting end 261 and a free end 262 opposite to the connecting end 261. The landing gear 26 also includes a pulley 263 connected to the free end 262.
本申请提供的飞行臂20，通过旋转驱动装置23驱动飞行动力单元10趋向于与臂主体21平行的旋转折叠或趋向于与机臂垂直的旋转展开，能够方便飞行臂20的收纳，进一步改善具有该飞行臂20的载人机器的收纳放置问题。In the flying arm 20 provided by the present application, the flying power unit 10 is driven by the rotary drive device 23 to rotate and fold parallel to the arm main body 21 or to rotate and unfold perpendicular to the arm, which can facilitate the storage of the flying arm 20 and further improve the There is a problem with the storage and placement of the manned machine of the flying arm 20.
接下来对本申请所提供的连接构件30的其他实施例进行介绍。Next, other embodiments of the connecting member 30 provided by the present application will be introduced.
请一并参阅图30至图33，本申请一实施例还提供一种连接构件30。连接构件30用于将飞行臂20连接至载人机器的机身。Please refer to FIGS. 30 to 33 together. An embodiment of the present application further provides a connecting member 30. The connecting member 30 is used to connect the flying arm 20 to the fuselage of the manned machine.
本实施例中，连接构件30包括机身固接件31及可转动地连接在机身固接件31相对两端的第一机臂固接件33及第二机臂固接件35。第一机臂固接件33及第二机臂固接件35分别与一个飞行臂20的臂主体21固定连接。In this embodiment, the connecting member 30 includes a fuselage fixing member 31 and a first arm fixing member 33 and a second arm fixing member 35 rotatably connected to opposite ends of the fuselage fixing member 31. The first arm fixing member 33 and the second arm fixing member 35 are respectively fixedly connected to the arm main body 21 of a flying arm 20.
机身固接件31与载人机器的机身固定连接。本实施例中，机身固接件31包括平行且间隔设置的上压板311及下压板313。上压板311与下压板313分别与载人机器的机身固定连接。The fuselage fixing member 31 is fixedly connected with the fuselage of the manned machine. In this embodiment, the fuselage fixing member 31 includes an upper pressing plate 311 and a lower pressing plate 313 arranged in parallel and spaced apart. The upper pressing plate 311 and the lower pressing plate 313 are respectively fixedly connected with the body of the manned machine.
本实施例中，上压板311大致呈长条状，且具有中心对称结构。上压板311的相对两端开设有轴接孔3111。本实施例中，轴接孔3111沿上压板311的厚度方向设置。上压板311的中部向两侧分别延伸设置有固定板3113。固定板3113上开设有螺孔，用于与螺钉配合，以将上压板311固定连接至载人机器的机身。下压板313与上压板311具有相同的结构，相应地，下压板313的相对两端开设有轴接孔3131，下压板313的中部向两侧分别延伸设置有固定板3133。固定板3133上开设有螺孔，用于与螺钉配合，以将下压板313固定连接载人机器的机身。In this embodiment, the upper pressing plate 311 is substantially elongated and has a centrally symmetric structure. Axle holes 3111 are opened at opposite ends of the upper pressing plate 311. In this embodiment, the shaft hole 3111 is provided along the thickness direction of the upper pressing plate 311. The middle part of the upper pressing plate 311 is respectively provided with fixing plates 3113 extending to both sides. The fixing plate 3113 is provided with screw holes for matching with screws to fix the upper pressing plate 311 to the body of the manned machine. The lower pressing plate 313 and the upper pressing plate 311 have the same structure. Correspondingly, the opposite ends of the lower pressing plate 313 are provided with shaft connection holes 3131, and the middle part of the lower pressing plate 313 is respectively provided with fixing plates 3133 extending to both sides. The fixing plate 3133 is provided with screw holes for matching with screws to fix the lower pressing plate 313 to the body of the man-carrying machine.
本实施例中，连接构件30还包括第一连接轴32及第二连接轴34。第一连接轴32及第二连接轴34分别连接在机身固接件31的相对两端。第一机臂固接件33与机身固接件31通过第一连接轴32可转动地连接。第二机臂固接件35与机身固接件31通过第二连接轴34可转动地连接。图30至图22所示实施例中，第一连接轴32的两端分别与上压板311的轴接孔3111及下压板313的轴接孔3131连接。第二连接轴34的两端分别与上压板311的轴接孔3111及下压板313的轴接孔3131连接。In this embodiment, the connecting member 30 further includes a first connecting shaft 32 and a second connecting shaft 34. The first connecting shaft 32 and the second connecting shaft 34 are respectively connected to opposite ends of the body fixing member 31. The first arm fixing member 33 and the fuselage fixing member 31 are rotatably connected by a first connecting shaft 32. The second arm fixing member 35 and the fuselage fixing member 31 are rotatably connected by a second connecting shaft 34. In the embodiments shown in FIGS. 30 to 22, the two ends of the first connecting shaft 32 are respectively connected to the shaft hole 3111 of the upper pressing plate 311 and the shaft hole 3131 of the lower pressing plate 313. Two ends of the second connecting shaft 34 are respectively connected to the shaft hole 3111 of the upper pressing plate 311 and the shaft hole 3131 of the lower pressing plate 313.
本实施例中，连接构件30还包括机臂驱动装置36，以及连接在机臂驱动装置36与第一机臂固接件33及所述第二机臂固接件35之间的传动组件37。机臂驱动装置36驱动传动组件37带动第一机臂固接件33及第二机臂固接件35同时沿相反的方向旋转，进而带动第一机臂固接件33及第二机臂固接件35连接的飞行臂20实现展开或折叠。本实施例中，机臂驱动装置36及传动组件37均设置在上压板311与下压板313之间。In this embodiment, the connecting member 30 further includes a machine arm driving device 36, and a transmission assembly 37 connected between the machine arm driving device 36 and the first machine arm fixing part 33 and the second machine arm fixing part 35 . The arm driving device 36 drives the transmission assembly 37 to drive the first arm fixing member 33 and the second arm fixing member 35 to rotate in opposite directions at the same time, thereby driving the first arm fixing member 33 and the second arm fixing member 33 The flying arm 20 connected by the connector 35 can be unfolded or folded. In this embodiment, the arm driving device 36 and the transmission assembly 37 are both arranged between the upper pressing plate 311 and the lower pressing plate 313.
本实施例中，机臂驱动装置36可以例如为电机，包括驱动转轴361。In this embodiment, the arm driving device 36 may be, for example, a motor, including a driving shaft 361.
本实施例中，传动组件37为丝杆传动组件。In this embodiment, the transmission assembly 37 is a screw transmission assembly.
传动组件37包括丝杆371及与丝杆371连接的滑动板372。滑动板372的相对两端与第一机臂固接件33及第二机臂固接件35滑动连接。The transmission assembly 37 includes a screw rod 371 and a sliding plate 372 connected with the screw rod 371. The opposite ends of the sliding plate 372 are slidably connected to the first arm fixing member 33 and the second arm fixing member 35.
丝杆371包括连接端3711。连接端3711与机臂驱动装置36转动连接。机臂驱动装置36通过连接端3711驱动丝杆371转动。本实施例中，丝杆371为梯形丝杆，能够实现自锁定，能够避免第一机臂固接件33及第二机臂固接件35出现回转的情况。The screw rod 371 includes a connecting end 3711. The connecting end 3711 is rotatably connected with the arm driving device 36. The arm driving device 36 drives the screw rod 371 to rotate through the connecting end 3711. In this embodiment, the screw rod 371 is a trapezoidal screw rod, which can realize self-locking, and can avoid the rotation of the first arm fixing member 33 and the second arm fixing member 35.
具体地，滑动板372中部开设有螺纹孔3721。螺纹孔3721沿滑动板372的宽度方向开设。丝杆371与螺纹孔3721螺纹配合。机臂驱动装置36能够驱动丝杆371转动，进而带动滑动板372移动。本实施例中，滑动板372的相对两端还分别开设有第一滑槽3722及第二滑槽3723。第一滑槽3722及第二滑槽3723均沿滑动板372的长度方向延伸设置。本实施例中，滑动板372的相对两端与第一机臂固接件33及第二机臂固接件35通过第一滑槽3722及第二滑槽3723分别与连接在第一机臂固接件33及第二机臂固接件35上的滑块进行配合，从而实现滑动连接。本实施例中，滑动板372上还开设有供滑杆穿设的第一滑孔3724及第二滑孔3725。第一滑孔3724及第二滑孔3725均沿滑动板372的宽度方向开设，且分别位于螺纹孔3721的两侧。具体地，第一滑孔3724设置在螺纹孔3721与第一滑槽3722之间，第二滑孔3725设置在螺纹孔3721与第二滑槽3723之间。可选地，滑动板372的结构相对于螺纹孔3721所在轴线呈轴对称。Specifically, a threaded hole 3721 is opened in the middle of the sliding plate 372. The threaded hole 3721 is opened along the width direction of the sliding plate 372. The screw rod 371 is threadedly engaged with the threaded hole 3721. The arm driving device 36 can drive the screw rod 371 to rotate, thereby driving the sliding plate 372 to move. In this embodiment, the opposite ends of the sliding plate 372 are further provided with a first sliding groove 3722 and a second sliding groove 3723 respectively. Both the first sliding groove 3722 and the second sliding groove 3723 extend along the length direction of the sliding plate 372. In this embodiment, the opposite ends of the sliding plate 372 are connected to the first arm fixing member 33 and the second arm fixing member 35 through the first sliding groove 3722 and the second sliding groove 3723, respectively. The fixing member 33 and the sliding block on the second arm fixing member 35 cooperate to achieve a sliding connection. In this embodiment, the sliding plate 372 is also provided with a first sliding hole 3724 and a second sliding hole 3725 for the sliding rod to pass through. The first sliding hole 3724 and the second sliding hole 3725 are both opened along the width direction of the sliding plate 372 and are located on both sides of the threaded hole 3721 respectively. Specifically, the first sliding hole 3724 is arranged between the threaded hole 3721 and the first sliding groove 3722, and the second sliding hole 3725 is arranged between the threaded hole 3721 and the second sliding groove 3723. Optionally, the structure of the sliding plate 372 is axisymmetric with respect to the axis where the threaded hole 3721 is located.
本实施例中，传动组件37还包括第一行程支架373及第二行程支架374。第一行程支架373及第二行程支架374平行设置且分别固定连接在所述机身固接件31的相对两侧。滑动板372位于第一行程支架373及第二行程支架374之间。第一行程支架373及第二行程支架374用于限定滑动板372的滑动范围。本实施例中，为使连接构件30的结构更为紧凑，机臂驱动装置36也位于第一行程支架373与第二行程支架374之间。本实施例中，丝杆371也位于第一行程支架373与第二行程支架374之间。具体地，丝杆371从第一行程支架373延伸至第二行程支架374。连接端3711自第二行程支架374与第一行程支架373的相背侧穿出。本实施例中，第一行程支架373开设有与丝杆371的相对于连接端3711的另一端连接的连接孔3731。连接孔3731沿第一行程支架373的厚度方向开设。第二行程支架374开设有第一穿孔3741及第二穿孔3742。第一穿孔3741用于供丝杆371的连接端3711穿出。第二穿孔3742用于供机臂驱动装置36的驱动转轴361穿出。本实施例中，第一穿孔3741及第二穿孔3742在第二行程支架374的宽度方向及长度方向上均错开，以免连接构件30组装完成后，机臂驱动装置36阻碍滑动板372的移动。可以理解，为避免连接构件30组装完成后，机臂驱动装置36阻碍滑动板372的移动，也可以将机臂驱动装置36设置在第二行程支架374背离第一行程支架373的一侧，且与丝杆371的连接端3711直接连接。具体地，机臂驱动装置36的驱动转轴361可以通过联轴器与丝杆371的连接端3711直接固定连接。In this embodiment, the transmission assembly 37 further includes a first stroke support 373 and a second stroke support 374. The first travel support 373 and the second travel support 374 are arranged in parallel and fixedly connected to opposite sides of the fuselage fixing member 31 respectively. The sliding plate 372 is located between the first stroke support 373 and the second stroke support 374. The first stroke support 373 and the second stroke support 374 are used to limit the sliding range of the sliding plate 372. In this embodiment, in order to make the structure of the connecting member 30 more compact, the arm driving device 36 is also located between the first stroke support 373 and the second stroke support 374. In this embodiment, the screw rod 371 is also located between the first stroke support 373 and the second stroke support 374. Specifically, the screw rod 371 extends from the first stroke support 373 to the second stroke support 374. The connecting end 3711 passes through the opposite side of the second stroke support 374 and the first stroke support 373. In this embodiment, the first stroke bracket 373 is provided with a connecting hole 3731 connected to the other end of the screw rod 371 opposite to the connecting end 3711. The connecting hole 3731 is opened along the thickness direction of the first stroke bracket 373. The second stroke bracket 374 is provided with a first through hole 3741 and a second through hole 3742. The first through hole 3741 is used for passing the connecting end 3711 of the screw rod 371 through. The second through hole 3742 is used for the driving shaft 361 of the arm driving device 36 to pass through. In this embodiment, the first through hole 3741 and the second through hole 3742 are staggered in the width direction and the length direction of the second stroke bracket 374 to prevent the arm driving device 36 from obstructing the movement of the sliding plate 372 after the connecting member 30 is assembled. It can be understood that in order to prevent the arm driving device 36 from obstructing the movement of the sliding plate 372 after the connecting member 30 is assembled, the arm driving device 36 can also be arranged on the side of the second stroke support 374 away from the first stroke support 373, and It is directly connected to the connecting end 3711 of the screw rod 371. Specifically, the driving shaft 361 of the arm driving device 36 may be directly and fixedly connected to the connecting end 3711 of the screw rod 371 through a coupling.
本实施例中，传动组件37还包括第一齿轮375及与第一齿轮375啮合的第二齿轮376。机臂驱动装置36与第一齿轮375连接。第二齿轮376与丝杆371的连接端3711固定连接。机臂驱动装置36驱动第一齿轮375转动，进而带动与第二齿轮376固定连接的丝杆371转动。本实施例中，第一齿轮375及第二齿轮376均设置在第二行程支架374背离第一行程支架373的一侧。In this embodiment, the transmission assembly 37 further includes a first gear 375 and a second gear 376 meshing with the first gear 375. The arm driving device 36 is connected to the first gear 375. The second gear 376 is fixedly connected to the connecting end 3711 of the screw rod 371. The arm driving device 36 drives the first gear 375 to rotate, thereby driving the screw rod 371 fixedly connected to the second gear 376 to rotate. In this embodiment, the first gear 375 and the second gear 376 are both arranged on the side of the second stroke support 374 away from the first stroke support 373.
可以理解，其他实施例中，第一齿轮375及第二齿轮376可以分别替换为第一带轮及第二带轮。第一带轮与第二带轮通过传动带连接。机臂驱动装置36驱动第一带轮转动，从而通过传动带带动第二带轮转动，进而带动丝杆371转动。It can be understood that in other embodiments, the first gear 375 and the second gear 376 can be replaced with a first pulley and a second pulley, respectively. The first pulley and the second pulley are connected by a transmission belt. The arm driving device 36 drives the first pulley to rotate, so as to drive the second pulley to rotate through the transmission belt, thereby driving the screw rod 371 to rotate.
本实施例中，为增加滑动板372滑动时的稳定性，传动组件37还包括连接在第一行程支架373及第二行程支架374之间的第一滑杆377及第二滑杆378。第一滑杆377及第二滑杆378分别穿设在第一滑孔3724及第二第二滑孔3725中，且各自的相对两端均分别与第一行程支架373及第二行程支架374固定连接。本实施例中，第一行程支架373开设有用于与第一滑杆377及第二滑杆378固定连接的固接孔3732及3733。可选地，固接孔3732及3733相对于连接孔3731的轴线呈轴对称设置。第二行程支架374开设有用于与第二滑杆377及第二滑杆378固定连接的固接孔3743及3744。相应地，固接孔3743及3744相对于第一穿孔3741的轴线呈轴对称设置。本实施例中，第一滑杆377及第二滑杆378一方面能够对滑动板372的滑动起到导引的作用，使得滑动板372保持丝杆371轴向移动；另一方面对滑动板372及丝杆371有一定的支撑作用，当与第一机臂固接件33或第二机臂固接件35连接的飞行臂20受到冲击时，冲击所造成的扭矩能够由丝杆371，第一滑杆377及第二滑杆378共同承担，避免了与第一机臂固接件33或第二机臂固接件35连接的飞行臂20受到的冲击所导致的扭矩过大，造成滑动板372或者丝杆371的折弯及损坏；另外，能够对第一行程支架373及第二行程支架374起到一定的支撑作用，增强第一行程支架373及第二行程支架374的刚度。In this embodiment, in order to increase the stability of the sliding plate 372 when sliding, the transmission assembly 37 further includes a first sliding rod 377 and a second sliding rod 378 connected between the first stroke support 373 and the second stroke support 374. The first sliding rod 377 and the second sliding rod 378 are respectively inserted in the first sliding hole 3724 and the second second sliding hole 3725, and the opposite ends of each are respectively connected to the first stroke bracket 373 and the second stroke bracket 374. Fixed connection. In this embodiment, the first stroke bracket 373 is provided with fixing holes 3732 and 3733 for fixedly connecting with the first sliding rod 377 and the second sliding rod 378. Optionally, the fixing holes 3732 and 3733 are arranged axisymmetrically with respect to the axis of the connecting hole 3731. The second stroke bracket 374 is provided with fixing holes 3743 and 3744 for fixedly connecting with the second sliding rod 377 and the second sliding rod 378. Correspondingly, the fixing holes 3743 and 3744 are arranged axisymmetrically with respect to the axis of the first through hole 3741. In this embodiment, the first sliding rod 377 and the second sliding rod 378 can guide the sliding of the sliding plate 372 on the one hand, so that the sliding plate 372 keeps the screw rod 371 moving axially; 372 and the screw rod 371 have a certain supporting effect. When the flying arm 20 connected to the first arm fixing member 33 or the second arm fixing member 35 is impacted, the torque caused by the impact can be caused by the screw rod 371, The first sliding rod 377 and the second sliding rod 378 are shared, avoiding the impact caused by the impact of the flying arm 20 connected to the first arm fixing member 33 or the second arm fixing member 35, resulting in excessive torque. The sliding plate 372 or the screw rod 371 is bent and damaged; in addition, it can support the first stroke support 373 and the second stroke support 374 to a certain extent, and enhance the rigidity of the first stroke support 373 and the second stroke support 374.
可以理解，为便于丝杆371的转动，传动组件37还可以包括第一轴承3791及第二轴承3792。第一轴承3791及第二轴承3792分别连接在丝杆371的相对两端，且分别设置在连接孔3731及第一穿孔3741中。丝杆371与连接端3711相对的另一端通过第一轴承3791与第一行 程支架373连接。丝杆371的连接端3711通过第二轴承3792与第二行程支架374连接，且连接端3711自第二轴承3792的中轴孔穿出，以便与第二齿轮376连接。It can be understood that, in order to facilitate the rotation of the screw rod 371, the transmission assembly 37 may further include a first bearing 3791 and a second bearing 3792. The first bearing 3791 and the second bearing 3792 are respectively connected to opposite ends of the screw rod 371, and are respectively disposed in the connecting hole 3731 and the first through hole 3741. The other end of the screw rod 371 opposite to the connecting end 3711 is connected to the first travel bracket 373 through the first bearing 3791. The connecting end 3711 of the screw rod 371 is connected to the second stroke support 374 through the second bearing 3792, and the connecting end 3711 passes through the central axis hole of the second bearing 3792 to connect with the second gear 376.
可以理解，为限定丝杆371的轴向运动，以增加丝杆371及机臂驱动装置36转动时的稳定性，传动组件37还可以包括两个卡簧370。丝杆371的连接端3711设置有供卡簧370卡设的卡接部3712。机臂驱动装置36的驱动转轴361设置有供卡簧370卡设的卡接部3611。两个卡簧370分别设置在卡接部3712及3611处，且在连接构件30组装完成后，位于第二行程支架374靠近第一行程支架373的一侧，并抵靠第二行程支架374。It can be understood that, in order to limit the axial movement of the screw rod 371 to increase the stability of the screw rod 371 and the arm driving device 36 when rotating, the transmission assembly 37 may further include two circlips 370. The connecting end 3711 of the screw rod 371 is provided with a clamping portion 3712 for clamping the clamping spring 370. The driving shaft 361 of the arm driving device 36 is provided with a clamping portion 3611 for the clamping spring 370 to be clamped. The two circlips 370 are respectively disposed at the clamping portions 3712 and 3611, and after the connecting member 30 is assembled, they are located on the side of the second stroke support 374 close to the first stroke support 373 and abut against the second stroke support 374.
第一机臂固接件33及第二机臂固接件35分别与传动组件37连接。本实施例中，第一机臂固接件33及第二机臂固接件35分别与滑动板372两端的第一滑槽3722及第二滑槽3723滑动连接。The first arm fixing member 33 and the second arm fixing member 35 are respectively connected to the transmission assembly 37. In this embodiment, the first arm fixing member 33 and the second arm fixing member 35 are slidably connected to the first sliding groove 3722 and the second sliding groove 3723 at both ends of the sliding plate 372, respectively.
本实施例中，第一机臂固接件33开设有供第一连接轴32穿设的连接孔330。连接孔330沿第一机臂固接件33的厚度方向开设。第一机臂固接件33包括机臂固接端331及相对于机臂固接端331的滑动连接端333。本实施例中，滑动连接端333与机臂固接端331之间的夹角呈钝角。In this embodiment, the first arm fixing member 33 is provided with a connecting hole 330 for the first connecting shaft 32 to pass through. The connecting hole 330 is opened along the thickness direction of the first arm fixing member 33. The first arm fixing member 33 includes a arm fixing end 331 and a sliding connection end 333 opposite to the arm fixing end 331. In this embodiment, the included angle between the sliding connection end 333 and the arm fixing end 331 is an obtuse angle.
机臂固接端331开设有机臂连接孔3311，用于与飞行臂20的臂主体21相对于与支架22连接的端部的另一端固定连接。机臂连接孔3311自机臂固接端331远离滑动连接端333的端面向机臂固接端331的内部开设。本实施例中，连接孔3311的孔壁开设有固定孔，相应地，臂主体21也开设有固定孔，通过螺钉与连接孔3311的孔壁的固定孔及臂主体21的固定孔配合，使得臂主体21与第一机臂固接件33固定连接。可以理解，本申请并不限于使用螺钉与螺孔的配合来使得臂主体21与第一机臂固接件33固定连接，例如，还可以通过焊接，卡接等方式，只要能使得臂主体21与第一机臂固接件33固定连接即可。The arm fixing end 331 is provided with an organic arm connecting hole 3311 for fixed connection with the other end of the arm main body 21 of the flying arm 20 relative to the end connected with the bracket 22. The arm connecting hole 3311 is opened from the end of the arm fixing end 331 away from the sliding connecting end 333 to the inside of the arm fixing end 331. In this embodiment, the hole wall of the connecting hole 3311 is provided with a fixing hole. Correspondingly, the arm body 21 is also provided with a fixing hole. The screw is matched with the fixing hole of the hole wall of the connecting hole 3311 and the fixing hole of the arm body 21, so that The arm main body 21 is fixedly connected with the first arm fixing member 33. It can be understood that the present application is not limited to the use of screws and screw holes to make the arm main body 21 and the first arm fixing member 33 fixedly connected. For example, it can also be welded, clipped, etc., as long as the arm main body 21 can be made It suffices to be fixedly connected with the first arm fixing member 33.
滑动连接端333包括平行设置的第一延伸臂3331及第二延伸臂3333。第一延伸臂3331及第二延伸臂3333自连接孔330所在位置沿远离机臂固接端331的方向延伸。第一延伸臂3331与第二延伸臂3333之间的垂直距离大于等于滑动板372的厚度。第一延伸臂3331沿其厚度方向开设有与滑块连接的轴孔3332。第二延伸臂3333沿其厚度方向开设有与滑块连接的轴孔3334。轴孔3332与轴孔3334共轴设置。本实施例中，连接构件30还包括设置在第一滑槽3722中第一滑块381。第一滑块381与滑动连接端333转动连接。本实施例中，第一滑块381与第一延伸臂3331及第二延伸臂3333转动连接。第一延伸臂3331及第二延伸臂3333将第一滑块381限定在第一滑槽3722中。第一滑块381开设有轴孔3811。轴孔3811与轴孔3332及轴孔3334通过转轴连接。The sliding connection end 333 includes a first extension arm 3331 and a second extension arm 3333 that are arranged in parallel. The first extension arm 3331 and the second extension arm 3333 extend from the position of the connecting hole 330 in a direction away from the fixing end 331 of the arm. The vertical distance between the first extension arm 3331 and the second extension arm 3333 is greater than or equal to the thickness of the sliding plate 372. The first extension arm 3331 is provided with a shaft hole 3332 connected to the slider along its thickness direction. The second extension arm 3333 is provided with a shaft hole 3334 connected to the slider along its thickness direction. The shaft hole 3332 and the shaft hole 3334 are arranged coaxially. In this embodiment, the connecting member 30 further includes a first sliding block 381 disposed in the first sliding groove 3722. The first sliding block 381 is rotatably connected with the sliding connection end 333. In this embodiment, the first sliding block 381 is rotatably connected with the first extension arm 3331 and the second extension arm 3333. The first extension arm 3331 and the second extension arm 3333 define the first sliding block 381 in the first sliding groove 3722. The first sliding block 381 is provided with a shaft hole 3811. The shaft hole 3811 is connected with the shaft hole 3332 and the shaft hole 3334 by a rotating shaft.
本实施例中，第二机臂固接件35开设有供第二连接轴34穿设的连接孔350。连接孔350沿第二机臂固接件35的厚度方向开设。第二机臂固接件35包括机臂固接端351及相对于机臂固接端351的滑动连接端353。本实施例中，滑动连接端353与机臂固接端351之间的夹角呈钝角。In this embodiment, the second arm fixing member 35 is provided with a connecting hole 350 for the second connecting shaft 34 to pass through. The connecting hole 350 is opened along the thickness direction of the second arm fixing member 35. The second arm fixing member 35 includes a arm fixing end 351 and a sliding connection end 353 relative to the arm fixing end 351. In this embodiment, the included angle between the sliding connection end 353 and the arm fixed connection end 351 is an obtuse angle.
机臂固接端351开设有机臂连接孔3511，用于与另一飞行臂20的臂主体21相对于与支架22连接的端部的另一端固定连接。机臂连接孔3511自机臂固接端351远离滑动连接端353的端面向机臂固接端351的内部开设。本实施例中，连接孔3511的孔壁开设有固定孔，相应地，臂主体21也开设有固定孔，通过螺钉与连接孔3511的孔壁的固定孔及臂主体21的固定孔配合，使得臂主体21与第二机臂固接件35固定连接。可以理解，本申请并不限于使用螺钉与螺孔的配合来使得臂主体21与第二机臂固接件35固定连接，例如，还可以通过焊接，卡接等方式，只要能使得臂主体21与第二机臂固接件35固定连接即可。The arm fixing end 351 is provided with an organic arm connecting hole 3511 for fixedly connecting with the other end of the arm main body 21 of the other flying arm 20 relative to the end connected to the bracket 22. The arm connecting hole 3511 is opened from the end of the arm fixing end 351 away from the sliding connecting end 353 to the inside of the arm fixing end 351. In this embodiment, the hole wall of the connecting hole 3511 is provided with a fixing hole. Correspondingly, the arm body 21 is also provided with a fixing hole. The screw is matched with the fixing hole of the hole wall of the connecting hole 3511 and the fixing hole of the arm body 21, so that The arm main body 21 is fixedly connected with the second arm fixing member 35. It can be understood that the present application is not limited to the use of screws and screw holes to make the arm main body 21 and the second arm fixing member 35 fixedly connected. For example, it can also be welded, clipped, etc., as long as the arm main body 21 can be made It is only required to be fixedly connected with the second arm fixing member 35.
滑动连接端353包括平行设置的第一延伸臂3531及第二延伸臂3533。第一延伸臂3531及第二延伸臂3533自连接孔350所在位置沿远离机臂固接端351的方向延伸。第一延伸臂3531与第二延伸臂3533之间的垂直距离大于等于滑动板372的厚度。第一延伸臂3531沿其厚度方向开设有与滑块连接的轴孔3532。第二延伸臂3533沿其厚度方向开设有与滑块连接的轴孔3534。轴孔3532与轴孔3534共轴设置。本实施例中，连接构件30还包括设置在第二滑槽3723中第二滑块382。第二滑块382与滑动连接端353转动连接。本实施例中，第二滑块382与第一延伸臂3531及第二延伸臂3533转动连接。第一延伸臂3531及第二延伸臂3533将第二滑块382限定在第二滑槽3723中。第二滑块382开设有轴孔3821。轴孔3821与轴孔3532及轴孔3534通过转轴连接。The sliding connection end 353 includes a first extension arm 3531 and a second extension arm 3533 arranged in parallel. The first extension arm 3531 and the second extension arm 3533 extend from the position of the connecting hole 350 in a direction away from the fixed end 351 of the arm. The vertical distance between the first extension arm 3531 and the second extension arm 3533 is greater than or equal to the thickness of the sliding plate 372. The first extension arm 3531 is provided with a shaft hole 3532 connected to the slider along its thickness direction. The second extension arm 3533 is provided with a shaft hole 3534 connected to the slider along its thickness direction. The shaft hole 3532 and the shaft hole 3534 are arranged coaxially. In this embodiment, the connecting member 30 further includes a second sliding block 382 provided in the second sliding groove 3723. The second sliding block 382 is rotatably connected with the sliding connection end 353. In this embodiment, the second sliding block 382 is rotatably connected with the first extension arm 3531 and the second extension arm 3533. The first extension arm 3531 and the second extension arm 3533 define the second sliding block 382 in the second sliding groove 3723. The second sliding block 382 is provided with a shaft hole 3821. The shaft hole 3821 is connected with the shaft hole 3532 and the shaft hole 3534 by a rotating shaft.
本申请提供的连接构件30，当机臂驱动装置36驱动丝杆371转动时，由于丝杆371与滑动板372螺纹连接，且滑动板372的相对两端由于第一滑杆377及第二滑杆378的限制无法跟随丝杆371转动，而是将转动转换为沿丝杆371轴向的移动。而由于滑动板372的相对两端分别通过滑块与第一机臂固接件33的滑动连接端333及第二机臂固接件35的滑动连接端353滑动连接，滑动板372沿丝杆371的移动，促使第一机臂固接件33及第二机臂固接件35分别绕第一连接轴32和第二连接轴34反向同步转动，从而实现与第一机臂固接件33连接的飞行臂20及与第二机臂固接件35连接的飞行臂的折叠及展开。In the connecting member 30 provided in the present application, when the arm driving device 36 drives the screw rod 371 to rotate, the screw rod 371 is threadedly connected with the sliding plate 372, and the opposite ends of the sliding plate 372 are caused by the first sliding rod 377 and the second sliding rod 377. The restriction of the rod 378 cannot follow the rotation of the screw rod 371, but converts the rotation into a movement along the axial direction of the screw rod 371. Since the opposite ends of the sliding plate 372 are respectively slidably connected to the sliding connection end 333 of the first arm fixing member 33 and the sliding connection end 353 of the second arm fixing member 35, the sliding plate 372 is slidably connected along the screw rod. The movement of 371 causes the first machine arm fixing part 33 and the second machine arm fixing part 35 to rotate in opposite directions and synchronously around the first connecting shaft 32 and the second connecting shaft 34, so as to realize the fixing part with the first machine arm Folding and unfolding of the flying arm 20 connected with 33 and the flying arm connected with the second arm fixing member 35.
本申请提供的连接构件30通过机臂驱动装置36能够使得分别连接飞行臂20的第一机臂固接件33及第二机臂固接件35的反向同步转动，以及转动到位后的定位及锁死。第一机臂固接件33及第二机臂固接件35的可转动角度可以根据需要进行设计为0°到180°之间的任意角度，例如，45°，90°，120°等等。本申请所提供的连接构件30具有占用空间小，驱动动力强，定位及锁死可靠等优点，适用于各类双轴、四轴以及多轴无人及载人航空飞行器的机臂连接，且能够使得所连接的飞行臂20并与收纳、折叠，减少飞行臂20所占用的空间，配合动力组件10的收拢和展开设计，能够尽可能的降低飞行臂20所占用的空间。The connecting member 30 provided in the present application can make the first arm fixing member 33 and the second arm fixing member 35 respectively connected to the flying arm 20 rotate in reverse synchronously through the arm drive device 36, and the positioning after the rotation is in place And lockup. The rotatable angles of the first arm fixing member 33 and the second arm fixing member 35 can be designed to be any angle between 0° and 180°, for example, 45°, 90°, 120°, etc. . The connecting member 30 provided by the present application has the advantages of small space occupation, strong driving power, reliable positioning and locking, etc., and is suitable for the arm connection of various dual-axis, four-axis and multi-axis unmanned and manned aerial vehicles, and The connected flying arm 20 can be stored and folded to reduce the space occupied by the flying arm 20. In conjunction with the folding and unfolding design of the power assembly 10, the space occupied by the flying arm 20 can be reduced as much as possible.
可以理解，请一并参阅图34及图35，其他实施例中，滑动板372的相对两端与第一机臂固接件33及第二机臂固接件35通过齿轮连接。此时，滑动板372相对两端的第一滑槽3722及第二滑槽3723可省略，取而代之地，传动组件37包括分别连接在滑动板372相对两端的第一齿条3726及第二齿条3727。第一齿条3726包括连接端及齿端。第一齿条通过其连接端与滑动板372的一端固定连接。本实施例中，第一齿条3726的齿端的齿结构沿垂直于滑动板372的长度方向的直线设置。第二齿条3727具有与第一齿条3726相同的结构。相应地，第二齿条3727包括连接端及齿结构端。第二齿条3727通过其连接端与滑动板372的另一端固定连接。第二齿条3727的齿端的齿结构沿垂直于滑动板372的长度方向的直线设置。本实施例中，第一齿条3726的齿结构与第二齿条3727的齿结构平行且朝向相反的方向设置。可选地，第一齿条3726及第二齿条3727也可以与滑动板372一体成型。相应地，第一机臂固接件33的滑动连接端333及第二机臂固接件35的滑动连接端353可省略。取而代之地，第一机臂固接件33包括与第一齿条3726啮合的第一齿接部334。第一齿接部334设置在第一机臂固接件33远离机臂固接端331的端部。第一齿接部334的齿结构沿第一机臂固接件33宽度方向的呈弧线设置，且第一齿接部334与连接孔330共轴设置。第二机臂固接件35包括与第二齿条3727啮合的第二齿接部354。第二齿接部354设置在第二机臂固接件35远离机臂固接端351的端部。第二齿接部354的齿结构沿第二机臂固接件35宽度方向的呈弧线设置，且第二齿接部354与连接孔350共轴设置。Understandably, please refer to FIGS. 34 and 35 together. In other embodiments, opposite ends of the sliding plate 372 are connected to the first arm fixing member 33 and the second arm fixing member 35 by gears. At this time, the first sliding groove 3722 and the second sliding groove 3723 at the opposite ends of the sliding plate 372 can be omitted. Instead, the transmission assembly 37 includes a first rack 3726 and a second rack 3727 respectively connected to the opposite ends of the sliding plate 372. . The first rack 3726 includes a connecting end and a tooth end. The first rack is fixedly connected to one end of the sliding plate 372 through its connecting end. In this embodiment, the tooth structure of the tooth end of the first rack 3726 is arranged along a straight line perpendicular to the length direction of the sliding plate 372. The second rack 3727 has the same structure as the first rack 3726. Correspondingly, the second rack 3727 includes a connecting end and a tooth structure end. The second rack 3727 is fixedly connected to the other end of the sliding plate 372 through its connecting end. The tooth structure of the tooth end of the second rack 3727 is arranged along a straight line perpendicular to the length direction of the sliding plate 372. In this embodiment, the tooth structure of the first rack 3726 and the tooth structure of the second rack 3727 are arranged in parallel and facing opposite directions. Optionally, the first rack 3726 and the second rack 3727 can also be integrally formed with the sliding plate 372. Correspondingly, the sliding connection end 333 of the first arm fixing member 33 and the sliding connection end 353 of the second arm fixing member 35 can be omitted. Instead, the first arm fixing member 33 includes a first tooth joint 334 meshed with the first rack 3726. The first toothed portion 334 is disposed at an end of the first arm fixing member 33 away from the arm fixing end 331. The tooth structure of the first tooth connection part 334 is arranged in an arc along the width direction of the first arm fixing member 33, and the first tooth connection part 334 and the connecting hole 330 are arranged coaxially. The second arm fixing member 35 includes a second toothed portion 354 engaged with the second rack 3727. The second tooth connection portion 354 is disposed at an end of the second arm fixing member 35 away from the arm fixing end 351. The tooth structure of the second tooth connection part 354 is arranged in an arc along the width direction of the second arm fixing member 35, and the second tooth connection part 354 and the connecting hole 350 are arranged coaxially.
本实施例提供的连接构件30，当机臂驱动装置36驱动丝杆371转动时，由于丝杆371与滑动板372螺纹连接，且滑动板372的相对两端由于第一滑杆377及第二滑杆378的限制无法 跟随丝杆371转动，而是将转动转换为沿丝杆371轴向的移动。而由于滑动板372的相对两端分别通过第一齿条3726及第二齿条3727与第一机臂固接件33的第一齿接部334及第二机臂固接件35的第二齿接部353连接，滑动板372沿丝杆371的移动，促使第一机臂固接件33及第二机臂固接件35分别绕第一连接轴32和第二连接轴34反向同步转动，从而实现与第一机臂固接件33连接的飞行臂20及与第二机臂固接件35连接的飞行臂的折叠及展开。In the connecting member 30 provided in this embodiment, when the arm driving device 36 drives the screw rod 371 to rotate, the screw rod 371 is threadedly connected to the sliding plate 372, and the opposite ends of the sliding plate 372 are caused by the first sliding rod 377 and the second sliding rod 377. The restriction of the sliding rod 378 cannot follow the rotation of the screw rod 371, but converts the rotation into a movement along the axial direction of the screw rod 371. Since the opposite ends of the sliding plate 372 pass through the first rack 3726 and the second rack 3727, the first toothed portion 334 of the first arm fixing member 33 and the second toothed portion 334 of the second arm fixing member 35, respectively. The tooth connection portion 353 is connected, and the sliding plate 372 moves along the screw rod 371, which causes the first arm fixing member 33 and the second arm fixing member 35 to be synchronized in reverse directions around the first connecting shaft 32 and the second connecting shaft 34, respectively. By rotating, the flying arm 20 connected with the first arm fixing member 33 and the flying arm connected with the second arm fixing member 35 are folded and unfolded.
可以理解，其他实施例中，滑动板372可以通过齿轮和齿条的配合实现沿第一滑杆377及第二滑杆378的移动，此时，滑动板372的螺纹孔3721，丝杆371，第一轴承3791及第二轴承3792可省略。机臂驱动装置36的驱动转轴361可以垂直于滑动板372的厚度方向设置。齿轮与驱动转轴361固定连接。齿条与滑动板372固定连接且沿滑动板372的宽度方向设置。齿条与齿轮啮合，机臂驱动装置36通过驱动齿轮带动与齿轮啮合的齿条移动，进而带动滑动板372移动。可选地，齿条，齿轮及机臂驱动装置36可以设置在第一滑杆377及第二滑杆378之间。It can be understood that in other embodiments, the sliding plate 372 can move along the first sliding rod 377 and the second sliding rod 378 through the cooperation of gears and racks. At this time, the threaded hole 3721 of the sliding plate 372, the screw rod 371, The first bearing 3791 and the second bearing 3792 can be omitted. The driving shaft 361 of the arm driving device 36 may be arranged perpendicular to the thickness direction of the sliding plate 372. The gear is fixedly connected with the driving shaft 361. The rack is fixedly connected to the sliding plate 372 and is arranged along the width direction of the sliding plate 372. The rack meshes with the gear, and the arm driving device 36 drives the rack meshed with the gear to move through the driving gear, and then drives the sliding plate 372 to move. Optionally, the rack, gear and arm driving device 36 may be arranged between the first sliding rod 377 and the second sliding rod 378.
可以理解，其他实施例中，第一滑块381及第二滑块382可以采用深沟球轴承代替。It can be understood that in other embodiments, the first sliding block 381 and the second sliding block 382 may be replaced by deep groove ball bearings.
可以理解，其他实施例中，第一滑杆377及第二滑杆378可省略。或者前述实施例中一根丝杆与两个滑杆的设计可以采用两根丝杆代替。可选地，两根丝杆相对于滑动板372宽度方向的中线轴对称设置。相应地，针对两根丝杆分别设置前述实施例中的包机臂驱动装置36，第一齿轮375及第二齿轮376的传动机构，具体的设置方式可以参照前述实施例，在此不再赘述。It can be understood that in other embodiments, the first sliding rod 377 and the second sliding rod 378 may be omitted. Or the design of one screw rod and two sliding rods in the foregoing embodiment can be replaced by two screw rods. Optionally, the two screw rods are arranged symmetrically with respect to the center line of the sliding plate 372 in the width direction. Correspondingly, the two screw rods are respectively provided with the transmission mechanism of the charter arm driving device 36, the first gear 375 and the second gear 376 in the foregoing embodiment. The specific setting method can refer to the foregoing embodiment, and will not be repeated here.
请一并参阅图36到图39，本申请又一实施例提供一种连接构件30a，用于将飞行臂20连接至载人机器的机身。Please refer to FIGS. 36 to 39 together. Another embodiment of the present application provides a connecting member 30a for connecting the flying arm 20 to the fuselage of the manned machine.
请参阅图36，本实施例中，连接构件30a包括机身固接件31a及连接在机臂固接件31a相对两端的第一机臂固接件33a及第二机臂固接件35a。第一机臂固接件33a及第二机臂固接件35a分别与一个飞行臂20的臂主体21固定连接。Referring to FIG. 36, in this embodiment, the connecting member 30a includes a body fixing member 31a and a first arm fixing member 33a and a second arm fixing member 35a connected to opposite ends of the arm fixing member 31a. The first arm fixing member 33a and the second arm fixing member 35a are respectively fixedly connected to the arm main body 21 of a flying arm 20.
机身固接件31a与载人机器的机身固定连接。本实施例中，机身固接件31a包括平行且间隔设置的上压板311a及下压板313a。上压板311a与下压板313a分别与载人机器的机身固定连接。The fuselage fixing member 31a is fixedly connected with the fuselage of the manned machine. In this embodiment, the fuselage fixing member 31a includes an upper pressing plate 311a and a lower pressing plate 313a arranged in parallel and spaced apart. The upper pressing plate 311a and the lower pressing plate 313a are respectively fixedly connected to the body of the manned machine.
请一并参阅图36，图37及图38，上压板311a开设有两个轴接孔3111a及两个第一连接孔3113a。轴接孔3111a及第一连接孔3113a均沿上压板311a的厚度方向开设。本实施例中，两个轴接孔3111a及两个连接孔3113a均为通孔。两个轴接孔3111a分别位于上压板311a的相对两端。两个第一连接孔3113a位于两个轴接孔3111a之间。Please refer to FIG. 36, FIG. 37, and FIG. 38 together. The upper pressing plate 311a is provided with two axial connection holes 3111a and two first connection holes 3113a. The shaft connecting hole 3111a and the first connecting hole 3113a are both opened along the thickness direction of the upper pressing plate 311a. In this embodiment, the two shaft connecting holes 3111a and the two connecting holes 3113a are both through holes. The two shaft contact holes 3111a are respectively located at opposite ends of the upper pressing plate 311a. The two first connecting holes 3113a are located between the two shaft connecting holes 3111a.
可选地，为增大孔深，进而增大基于轴接孔3111a及第一连接孔3113a的连接稳定性，本实施例中，上压板311a可以包括自上压板311a靠近下压板313a的一侧向外凸设的凸起部3112a，且轴接孔3111a及第一连接孔3113a均自凸起部3112a靠近下压板313a的一侧向上压板311a的内部开设。Optionally, in order to increase the depth of the hole and thereby increase the connection stability based on the shaft connection hole 3111a and the first connection hole 3113a, in this embodiment, the upper pressing plate 311a may include a side from the upper pressing plate 311a close to the lower pressing plate 313a The convex portion 3112a protrudes outward, and the shaft connection hole 3111a and the first connecting hole 3113a are both opened from the side of the convex portion 3112a close to the lower pressing plate 313a inside the upper pressing plate 311a.
下压板313a开设有两个轴接孔3131a及两个第三连接孔3133a。两个轴接孔3131a分别位于下压板313a的相对两端。两个第三连接孔3133a位于两个轴接孔3131a之间。本实施例中，轴接孔3131a及第三连接孔3133a为自下压板313a靠近上压板311a的一侧向下压板313a内部开设的盲孔。The lower pressing plate 313a is provided with two shaft connecting holes 3131a and two third connecting holes 3133a. The two shaft contact holes 3131a are respectively located at opposite ends of the lower pressing plate 313a. The two third connecting holes 3133a are located between the two shaft connecting holes 3131a. In this embodiment, the shaft connecting hole 3131a and the third connecting hole 3133a are blind holes opened inside the lower pressing plate 313a from the side of the lower pressing plate 313a close to the upper pressing plate 311a.
相应地，为增大孔深，进而增大基于轴接孔3131a及第三连接孔3133a的连接稳定性，本实施例中，下压板313a可以包括自下压板313a靠近上压板311a的一侧向外凸设的凸起部3132a，且轴接孔3131a及3133a均自凸起部3132a靠近上压板311a的一侧向下压板313a的内部开设。Correspondingly, in order to increase the hole depth and thereby increase the connection stability based on the shaft connection hole 3131a and the third connection hole 3133a, in this embodiment, the lower pressing plate 313a may include a side from the lower pressing plate 313a close to the upper pressing plate 311a. A protruding portion 3132a is formed on the outside, and the shaft connection holes 3131a and 3133a are both opened from the side of the protruding portion 3132a close to the upper pressing plate 311a to the inside of the downward pressing plate 313a.
连接构件30a组装完成后，轴接孔3131a与轴接孔3111a相对且共轴设置，第三连接孔与第一连接孔3113a相对且共轴设置。After the connecting member 30a is assembled, the shaft connecting hole 3131a is opposite to the shaft connecting hole 3111a and arranged coaxially, and the third connecting hole is opposite to the first connecting hole 3113a and arranged coaxially.
可以理解，上压板311a及下压板313a上还开设有用于与载人机器的机身固定连接的连接孔(图未示)。It can be understood that the upper pressing plate 311a and the lower pressing plate 313a are also provided with connecting holes (not shown) for fixed connection with the body of the man-carrying machine.
本实施例中，连接构件30a还包括第一连接轴32a及第二连接轴34a。第一连接轴32a及第二连接轴34a分别连接在机身固接件31a的相对两端。第一机臂固接件33a与机身固接件31a通过第一连接轴32a可转动地连接。第二机臂固接件35a与机身固接件31a通过第二连接轴34a可转动地连接。第一连接轴32a的两端分别与上压板311a的轴接孔3111a及下压板313a的轴接孔3131a连接。第二连接轴34a的两端分别与上压板311a的轴接孔3111a及下压板313a的轴接孔3131a连接。In this embodiment, the connecting member 30a further includes a first connecting shaft 32a and a second connecting shaft 34a. The first connecting shaft 32a and the second connecting shaft 34a are respectively connected to opposite ends of the body fixing member 31a. The first arm fixing member 33a and the fuselage fixing member 31a are rotatably connected by a first connecting shaft 32a. The second arm fixing member 35a and the fuselage fixing member 31a are rotatably connected by a second connecting shaft 34a. Both ends of the first connecting shaft 32a are respectively connected with the shaft hole 3111a of the upper pressing plate 311a and the shaft hole 3131a of the lower pressing plate 313a. Two ends of the second connecting shaft 34a are respectively connected with the shaft hole 3111a of the upper pressing plate 311a and the shaft hole 3131a of the lower pressing plate 313a.
可以理解，为避免第一连接轴32a及第二连接轴34a晃动，机身固接件31a还可以包括端盖315a。本实施例中，端盖315a设置在上压板311a背离下压板313a的一侧，且与上压板311a固定连接，用于将第一连接轴32a及第二连接轴34a限定在端盖315a与下压板313a之间。可选地，端盖315a与上压板311a可通过螺孔与螺钉的配合或者卡扣和卡槽的配合实现固定连接。It can be understood that, in order to avoid shaking of the first connecting shaft 32a and the second connecting shaft 34a, the body fixing member 31a may further include an end cover 315a. In this embodiment, the end cover 315a is arranged on the side of the upper pressing plate 311a away from the lower pressing plate 313a, and is fixedly connected to the upper pressing plate 311a, and is used to confine the first connecting shaft 32a and the second connecting shaft 34a between the end cover 315a and the lower pressing plate 313a. Between the pressure plate 313a. Optionally, the end cover 315a and the upper pressing plate 311a can be fixedly connected by the fit of the screw hole and the screw or the fit of the buckle and the slot.
请一并参阅图36及图38，本实施例中，连接构件30a还包括机臂驱动装置36a，以及连接在机臂驱动装置36a与第一机臂固接件33a及机臂驱动装置36a与第二机臂固接件35a之间的传动组件37a。机臂驱动装置36a，传动组件37a，第一机臂固接件33a及第二机臂固接件35a均设置在上压板311a与下压板313a之间。本实施例中，第一机臂固接件33a及第二机臂固接件35a分别对应一个机臂驱动装置36a及一个转动组件37a。与第一机臂固接件33a对应的机臂驱动装置36a，通过驱动相应的传动组件37a带动第一机臂固接件33a转动，进而带动与第一机臂固接件33a连接的飞行臂20实现旋转展开或收拢。与第二机臂固接件35a对应的机臂驱动装置36a，通过驱动相应的传动组件37a带动第二机臂固接件33a转动，进而带动与第二机臂固接件35a连接的飞行臂20实现旋转展开或收拢。本实施例中，与第一机臂固接件33a对应的机臂驱动装置36a和与第二机臂固接件35a对应的机臂驱动装置36a为同步电机且转动方向相反。Please refer to FIGS. 36 and 38 together. In this embodiment, the connecting member 30a further includes an arm driving device 36a, and the arm driving device 36a is connected to the first arm fixing member 33a and the arm driving device 36a and The transmission assembly 37a between the second arm fixing parts 35a. The arm driving device 36a, the transmission assembly 37a, the first arm fixing member 33a and the second arm fixing member 35a are all arranged between the upper pressing plate 311a and the lower pressing plate 313a. In this embodiment, the first arm fixing member 33a and the second arm fixing member 35a correspond to an arm driving device 36a and a rotating assembly 37a, respectively. The arm driving device 36a corresponding to the first arm fixing part 33a drives the first arm fixing part 33a to rotate by driving the corresponding transmission assembly 37a, thereby driving the flying arm connected to the first arm fixing part 33a 20 realizes the rotation to expand or collapse. The arm driving device 36a corresponding to the second arm fixing part 35a drives the second arm fixing part 33a to rotate by driving the corresponding transmission assembly 37a, thereby driving the flying arm connected to the second arm fixing part 35a 20 realizes the rotation to expand or collapse. In this embodiment, the arm driving device 36a corresponding to the first arm fixing member 33a and the arm driving device 36a corresponding to the second arm fixing member 35a are synchronous motors with opposite rotation directions.
本实施例中，机臂驱动装置36a固定在下压板313a上。机臂驱动装置36a包括电机361a及第一传动轮363a。电机361a与第一传动轮363a连接，用于驱动第一传动轮363a转动。In this embodiment, the arm driving device 36a is fixed on the lower pressing plate 313a. The arm driving device 36a includes a motor 361a and a first transmission wheel 363a. The motor 361a is connected to the first transmission wheel 363a, and is used to drive the first transmission wheel 363a to rotate.
本实施例中，机臂驱动装置36a还可以包括电机安装座362a。电机安装座362a用于将电机361a固定在下压板313a上，并支撑第一传动轮363a。In this embodiment, the arm driving device 36a may further include a motor mounting base 362a. The motor mounting seat 362a is used to fix the motor 361a on the lower pressing plate 313a and support the first transmission wheel 363a.
电机安装座362a大致呈拱桥状，包括安装平台3621a，第一侧板3622a及第二侧板(图未示)。第一侧板3622a及第二侧板分别连接在安装平台3621a的两端，用于支撑安装平台3621a。第一侧板3622a，安装平台3621a及第二侧板围成桥洞状的收容空间。The motor mounting seat 362a is roughly in the shape of an arch bridge, and includes a mounting platform 3621a, a first side plate 3622a and a second side plate (not shown). The first side plate 3622a and the second side plate are respectively connected to two ends of the installation platform 3621a, and are used to support the installation platform 3621a. The first side plate 3622a, the installation platform 3621a and the second side plate enclose a bridge-like accommodation space.
本实施例中，电机361a收容在该桥洞状的收容空间内，并通过该电机安装座362a固定在下压板313a上。电机361a的转轴自安装平台3621a背离下压板313a的一侧穿出，并与第一传动轮363a连接，以驱使第一传动轮363a转动。In this embodiment, the motor 361a is accommodated in the bridge-shaped accommodation space, and is fixed on the lower plate 313a through the motor mounting seat 362a. The rotating shaft of the motor 361a passes through the side of the mounting platform 3621a away from the lower pressing plate 313a, and is connected to the first transmission wheel 363a to drive the first transmission wheel 363a to rotate.
第一传动轮363a设置在安装平台3621a上，且第一传动轮363a的轮轴垂直于安装平台3621a。可选地，第一侧板3622a及第二侧板垂直连接在安装平台3621a的两端。可以理解，其他实施例中，第一侧板3622a及第二侧板也可以与安装平台3621a呈其他角度(例如钝角)地连接在安装平台3621a的两端，本申请并不以此为限。The first transmission wheel 363a is arranged on the installation platform 3621a, and the axle of the first transmission wheel 363a is perpendicular to the installation platform 3621a. Optionally, the first side plate 3622a and the second side plate are vertically connected to both ends of the installation platform 3621a. It can be understood that in other embodiments, the first side plate 3622a and the second side plate may also be connected to the two ends of the mounting platform 3621a at other angles (for example, obtuse angles) to the mounting platform 3621a, and the application is not limited thereto.
本实施例中，电机安装座362a还可以包括第一凸耳3624a及第二凸耳(图未示)。第一凸耳3624a及第二凸耳分别连接在第一侧板3622a及第二侧板远离安装平台3621a的一端，用于固定电机安装座362a。本实施例中，第一凸耳3624a及第二凸耳可以通过螺钉与螺孔配合的方 式或者卡扣与卡槽配合的方式与下压板313a固定连接，以将电机安装座362a固定在下压板313a上。In this embodiment, the motor mounting seat 362a may further include a first lug 3624a and a second lug (not shown). The first lug 3624a and the second lug are respectively connected to the first side plate 3622a and the end of the second side plate away from the mounting platform 3621a for fixing the motor mounting seat 362a. In this embodiment, the first lug 3624a and the second lug can be fixedly connected to the lower pressing plate 313a by a screw and a screw hole or a buckle and a clamping groove, so as to fix the motor mounting seat 362a on the lower pressing plate 313a. on.
可选地，第一凸耳3624a及第二凸耳均与安装平台3621a平行设置，且第一凸耳3624a与第二凸耳位于同一平面。可选地，第一凸耳3624a及第二凸耳沿相反的方向远离彼此的延伸设置。Optionally, the first lug 3624a and the second lug are both arranged in parallel with the mounting platform 3621a, and the first lug 3624a and the second lug are located on the same plane. Optionally, the first lug 3624a and the second lug extend away from each other in opposite directions.
传动组件37a与机臂驱动装置36a传动连接。本实施例中，传动组件37a与第一传动轮363a传动连接。The transmission assembly 37a is in transmission connection with the arm driving device 36a. In this embodiment, the transmission assembly 37a is in transmission connection with the first transmission wheel 363a.
传动组件37a可以是拨轮组件。传动组件37a包括拨轮371a及与拨轮371a固定连接的第二传动轮373a。本实施例中，传动组件37a还包括拨轮轴375a。拨轮371a与拨轮轴375a固定连接，第二传动轮373a与拨轮轴375a固定连接，第二传动轮373a通过拨轮轴375a与拨轮371a固定连接。本实施例中，拨轮371a的拨杆3713a沿远离第二传动轮373a的方向延伸，且与第二传动轮373a在拨轮轴375a的轴向上间隔设置，以免机臂驱动装置36a在驱动第二传动轮373a带动拨轮371a转动时，机臂驱动装置36a对拨轮371a的转动形成阻挡。The transmission assembly 37a may be a dial assembly. The transmission assembly 37a includes a shift wheel 371a and a second transmission wheel 373a fixedly connected to the shift wheel 371a. In this embodiment, the transmission assembly 37a further includes a dial shaft 375a. The dial 371a is fixedly connected with the dial shaft 375a, the second transmission wheel 373a is fixedly connected with the dial shaft 375a, and the second transmission wheel 373a is fixedly connected with the dial 371a through the dial shaft 375a. In this embodiment, the shift lever 3713a of the shift wheel 371a extends in a direction away from the second transmission wheel 373a, and is spaced from the second transmission wheel 373a in the axial direction of the shift wheel shaft 375a, so as to prevent the arm driving device 36a from driving the second transmission wheel 373a. When the second transmission wheel 373a drives the dial wheel 371a to rotate, the arm driving device 36a blocks the rotation of the dial wheel 371a.
本实施例中，拨轮371a与拨轮轴375a一体成型。拨轮371a包括本体3711a及自本体3711a外缘凸设的拨杆3713a。本体3711a可以与拨轮轴375a共轴设置。本实施例中，拨杆3713a的数量为1。拨杆3713a的延伸方向平行于拨轮371a的轴向。本实施例中，拨杆3713a自本体3711a的外缘沿本体3711a的径向向外凸设且拨杆3713a的延伸方向平行于拨轮371a的轴向。In this embodiment, the dial 371a and the dial shaft 375a are integrally formed. The dial 371a includes a main body 3711a and a dial 3713a protruding from the outer edge of the main body 3711a. The body 3711a may be arranged coaxially with the dial shaft 375a. In this embodiment, the number of the shift lever 3713a is one. The extension direction of the shift lever 3713a is parallel to the axial direction of the shift wheel 371a. In this embodiment, the shift lever 3713a protrudes outward from the outer edge of the body 3711a along the radial direction of the body 3711a, and the extension direction of the shift lever 3713a is parallel to the axial direction of the shift wheel 371a.
本实施例中，第二传动轮373a套设在拨轮轴375a上，且第二传动轮373a与第一传动轮363a传动连接。第二传动轮373a的半径可以例如大于第一传动轮363a的半径，且小于拨轮371a的本体3711a的中心到拨杆3713a的远端的距离。本实施例中，第一传动轮363a及第二传动轮373a均为齿轮。第二传动轮373a与第一传动轮363a啮合。可以理解，其他实施例中，第二传动轮373a也可以与拨轮轴375a一体成型，本申请对此不作限定。In this embodiment, the second transmission wheel 373a is sleeved on the dial shaft 375a, and the second transmission wheel 373a is drivingly connected with the first transmission wheel 363a. The radius of the second transmission wheel 373a may be, for example, larger than the radius of the first transmission wheel 363a and smaller than the distance from the center of the body 3711a of the dial wheel 371a to the distal end of the shift lever 3713a. In this embodiment, both the first transmission wheel 363a and the second transmission wheel 373a are gears. The second transmission wheel 373a meshes with the first transmission wheel 363a. It can be understood that in other embodiments, the second transmission wheel 373a may also be integrally formed with the dial shaft 375a, which is not limited in this application.
本实施例中，拨轮轴375a的相对两端分别设置在第一连接孔3113a及第三连接孔3133a内，且拨轮轴375a的相对两端分别与第一连接孔3113a及第三连接孔3133a可转动地连接。为便于拨轮轴375a的转动，连接构件30a还可以包括轴承(图未示)。轴承可以设置在第一连接孔3113a和/或第三连接孔3133a中，且位于拨轮轴375a与第一连接孔3113a的孔壁和/或拨轮轴375a与第三连接孔3133a的孔壁之间。In this embodiment, the opposite ends of the wheel shaft 375a are respectively disposed in the first connecting hole 3113a and the third connecting hole 3133a, and the opposite ends of the wheel shaft 375a are connected to the first connecting hole 3113a and the third connecting hole 3133a, respectively. Rotatingly connected. In order to facilitate the rotation of the dial shaft 375a, the connecting member 30a may further include a bearing (not shown). The bearing may be arranged in the first connecting hole 3113a and/or the third connecting hole 3133a, and located between the hole wall of the dial shaft 375a and the first connecting hole 3113a and/or the hole wall of the dial shaft 375a and the third connecting hole 3133a .
第一机臂固接件33a与飞行臂20的臂主体21的一端固定连接，并通过第一连接轴32a可转动地连接至机身固接件31a。第一机臂固接件33a与对应的传动组件37a的拨轮371a传动连接。第二机臂固接件35a与另一飞行臂20的臂主体21的一端固定连接，并通过第二连接轴34a可转动地连接至机身固接件31a。第二机臂固接件35a与对应的传动组件37a的拨轮371a传动连接。本实施例中，第一机臂固接件33a和与之固定连接的飞行臂20的臂主体21一体成型。第二机臂固接件35a和与之固定连接的飞行臂20的臂主体21一体成型。可以理解，其他实施例中，也可以通过螺孔与螺钉的配合或卡扣与卡槽的配合使得机臂固接件与相应的飞行臂20的臂主体21的一端固定连接，本申请对此不作限定。The first arm fixing member 33a is fixedly connected to one end of the arm main body 21 of the flying arm 20, and is rotatably connected to the fuselage fixing member 31a through the first connecting shaft 32a. The first arm fixing member 33a is drivingly connected with the dial wheel 371a of the corresponding transmission assembly 37a. The second arm fixing member 35a is fixedly connected to one end of the arm main body 21 of the other flying arm 20, and is rotatably connected to the fuselage fixing member 31a through the second connecting shaft 34a. The second arm fixing member 35a is drivingly connected with the dial wheel 371a of the corresponding transmission assembly 37a. In this embodiment, the first arm fixing member 33a and the arm body 21 of the flying arm 20 fixedly connected to it are integrally formed. The second arm fixing member 35a and the arm main body 21 of the flying arm 20 fixedly connected therewith are integrally formed. It can be understood that in other embodiments, the arm fixing member can be fixedly connected to one end of the arm body 21 of the corresponding flying arm 20 through the cooperation of the screw hole and the screw or the cooperation of the buckle and the slot. Not limited.
第一机臂固接件33a为槽轮。本实施例中，第一机臂固接件33a包括自第一机臂固接件33a的外缘向第一机臂固接件33a的内部沿第一机臂固接件33a的径向开设的槽道331a，及沿第一机臂固接件33a外缘设置的至少两个弧形部333a。槽道331a位于相邻的两个弧形部333a之间。弧形部333a所在圆的半径与对应的传动组件37a的拨轮371a的本体3711a的半径相同。本实施例中，槽道331a的数量为两个，相应的弧形部333a的数量为三个。第一机臂固接件33a通过槽道331a与对应的传动组件37a的拨杆3713a的配合，实现与传动组件37a的拨轮371a的传动连接。The first arm fixing member 33a is a sheave. In this embodiment, the first arm fixing member 33a includes the first arm fixing member 33a from the outer edge of the first arm fixing member 33a to the inside of the first arm fixing member 33a and extending along the radial direction of the first arm fixing member 33a. The groove 331a, and at least two arc-shaped portions 333a provided along the outer edge of the first arm fixing member 33a. The channel 331a is located between two adjacent arc-shaped portions 333a. The radius of the circle where the arc-shaped portion 333a is located is the same as the radius of the body 3711a of the dial 371a of the corresponding transmission assembly 37a. In this embodiment, the number of grooves 331a is two, and the number of corresponding arc-shaped portions 333a is three. The first arm fixing member 33a realizes the transmission connection with the dial 371a of the transmission assembly 37a through the cooperation of the channel 331a and the shift lever 3713a of the corresponding transmission assembly 37a.
第二机臂固接件35a也为槽轮，且具有与第一机臂固接件33a相同的结构。相应地，第二机臂固接件35a包括自第二机臂固接件35a的外缘向第二机臂固接件35a的内部沿第二机臂固接件35a的径向开设的槽道351a，及沿第二机臂固接件35a外缘设置的至少两个弧形部353a。槽道351a位于相邻的两个弧形部353a之间。弧形部353a所在圆的半径与对应的传动组件37a的拨轮371a的本体3711a的半径相同。本实施例中，槽道351a的数量为两个，相应的弧形部353a的数量为三个。第二机臂固接件35a通过槽道351a与对应的传动组件37a的拨杆3713a的配合，实现与传动组件37a的拨轮371a的传动连接。The second arm fixing member 35a is also a sheave and has the same structure as the first arm fixing member 33a. Correspondingly, the second arm fixing member 35a includes a groove extending from the outer edge of the second arm fixing member 35a to the inside of the second arm fixing member 35a along the radial direction of the second arm fixing member 35a Road 351a, and at least two arc-shaped portions 353a provided along the outer edge of the second arm fixing member 35a. The channel 351a is located between two adjacent arc-shaped portions 353a. The radius of the circle where the arc-shaped portion 353a is located is the same as the radius of the body 3711a of the dial 371a of the corresponding transmission assembly 37a. In this embodiment, the number of grooves 351a is two, and the number of corresponding arc-shaped portions 353a is three. The second arm fixing member 35a realizes the transmission connection with the dial 371a of the transmission assembly 37a through the cooperation of the channel 351a and the shift lever 3713a of the corresponding transmission assembly 37a.
可以理解，为便于第一机臂固接件33a及第二机臂固接件35a的转动，还可以在第一机臂固接件33a与第一连接轴32a之间及第二机臂固接件35a与第二连接轴34a之间设置轴承。It can be understood that, in order to facilitate the rotation of the first arm fixing member 33a and the second arm fixing member 35a, the first arm fixing member 33a and the first connecting shaft 32a can also be fixed between the first arm fixing member 33a and the first connecting shaft 32a. A bearing is arranged between the connecting piece 35a and the second connecting shaft 34a.
工作时，机臂驱动装置36a驱动第一传动轮363a转动；第一传动轮363a带动第二传动轮373a转动；由于第二传动轮373a与拨轮轴375a固定连接，且拨轮371a与拨轮轴375a固定连接，第二传动轮373a带动拨轮轴375a转动，继而带动拨轮371a转动；由于拨轮371a与机臂固接件(包括第一机臂固接件33a及第二机臂固接件35a)传动连接，且机臂固接件与飞行臂20的臂主体21固定连接，拨轮371a转动带动机臂固接件转动，进而带动飞行臂20转动，以实现飞行臂的旋转展开及旋转折叠。When working, the arm driving device 36a drives the first transmission wheel 363a to rotate; the first transmission wheel 363a drives the second transmission wheel 373a to rotate; because the second transmission wheel 373a is fixedly connected with the dial shaft 375a, and the dial 371a and the dial shaft 375a Fixed connection, the second transmission wheel 373a drives the dial shaft 375a to rotate, and then drives the dial 371a to rotate; because the dial 371a and the arm fixing part (including the first arm fixing part 33a and the second arm fixing part 35a ) Transmission connection, and the arm fixing member is fixedly connected with the arm main body 21 of the flying arm 20, and the rotation of the dial 371a drives the arm fixing member to rotate, which in turn drives the flying arm 20 to rotate, so as to realize the rotating expansion and rotating folding of the flying arm .
请参阅图39，下面以第一机臂固接件33a与对应的传动组件37a的拨轮371a的配合为例，对拨轮371a与机臂固接件之间的配合实现旋转展开的过程进行介绍。Referring to FIG. 39, the following takes the cooperation of the first arm fixing member 33a and the dial wheel 371a of the corresponding transmission assembly 37a as an example, the cooperation between the dial wheel 371a and the arm fixing member to achieve the rotation and deployment process is performed Introduction.
初始状态下(对应图39中的状态1)，第一机臂固接件33a所连接的飞行臂20处于折叠状态。此时，拨轮371a的本体3711a的外缘与第一机臂固接件33a左侧的弧形部333a耦合，且拨轮371a的拨杆3713a背离机臂固接件33a设置。当机臂驱动装置36a驱动第一传动轮363a带动第二传动轮373a沿逆时针方向转动，拨轮371a的拨杆3713a转动至第一机臂固接件33a的左侧弧形部333a与中间弧形部333a之间的槽道331a(为便于描述，以下简称，第一槽道)的槽口处(对应图39中的状态2)。当电机361a继续驱动第一传动轮363a带动第二传动轮373a转动，进而带动拨轮371a沿逆时针方向转动时，拨杆3713a沿第一槽道滑入，并通过与第一槽道的槽壁的相互作用带动第一机臂固接件33a沿顺时针方向转动(对应图39中的状态3)。拨杆3713a随着拨轮371a的转动逐渐滑至第一槽道靠近第一机臂固接件33a轴心，此时，若拨轮371a在第二传动轮373a的带动下继续沿逆时针方向转动，拨杆3713a将沿远离第一机臂固接件33a的轴心的方向顺着第一槽道滑回至第一槽道的槽口(对应图39中的状态4)。In the initial state (corresponding to state 1 in FIG. 39), the flying arm 20 connected to the first arm fixing member 33a is in a folded state. At this time, the outer edge of the body 3711a of the dial wheel 371a is coupled with the arc-shaped portion 333a on the left side of the first arm fixing member 33a, and the lever 3713a of the dial wheel 371a is set away from the arm fixing member 33a. When the arm driving device 36a drives the first transmission wheel 363a to drive the second transmission wheel 373a to rotate in the counterclockwise direction, the lever 3713a of the dial 371a rotates to the left arc 333a of the first arm fixing member 33a and the middle At the notch of the groove 331a (for ease of description, hereinafter referred to as the first groove) between the arc-shaped portions 333a (corresponding to state 2 in FIG. 39). When the motor 361a continues to drive the first transmission wheel 363a to drive the second transmission wheel 373a to rotate, and then to drive the dial 371a to rotate counterclockwise, the dial 3713a slides in along the first groove and passes through the groove with the first groove. The interaction of the walls drives the first arm fixing member 33a to rotate in a clockwise direction (corresponding to state 3 in FIG. 39). The shift lever 3713a gradually slides with the rotation of the shift wheel 371a until the first channel is close to the axis of the first arm fixing member 33a. At this time, if the shift wheel 371a is driven by the second transmission wheel 373a to continue in the counterclockwise direction Rotating, the shift lever 3713a will slide back along the first channel to the notch of the first channel in the direction away from the axis of the first arm fixing member 33a (corresponding to state 4 in FIG. 39).
当拨杆滑回至第一槽道的槽口时，若拨轮371a在第二传动轮373a的带动下继续沿逆时针方向转动，拨杆3713a到达槽轮的中间弧形部333a与右侧弧形部333a之间的槽道331a(为便于描述，以下简称第二槽道)的槽口。此时，若拨轮371a在第二传动轮373a的带动下继续沿逆时针方向转动，拨杆3713a将与第二槽道配合重复前述拨杆3713a与第一槽道的传动过程，进而使得第一机臂固接件33a所连接的飞行臂达到展开状态。第一机臂固接件33a所连接的飞行臂由展开状态转换为折叠状态的过程则与上述过程相反，在此不再赘述。When the shift lever slides back to the notch of the first channel, if the shift wheel 371a is driven by the second transmission wheel 373a to continue to rotate in the counterclockwise direction, the shift lever 3713a reaches the middle arc part 333a and the right side of the sheave wheel. The notch of the channel 331a (for ease of description, hereinafter referred to as the second channel) between the arc-shaped portions 333a. At this time, if the dial 371a is driven by the second transmission wheel 373a to continue to rotate in the counterclockwise direction, the shift lever 3713a will cooperate with the second channel to repeat the transmission process of the shift lever 3713a and the first channel, thereby making the first channel The flying arm connected to the arm fixing member 33a reaches the unfolded state. The process in which the flying arm connected by the first arm fixing member 33a is converted from the unfolded state to the folded state is opposite to the above process, and will not be repeated here.
第二机臂固接件35a与对应的传动组件37a的拨轮371a的配合过程与上述过程相同，在此不再赘述。The mating process of the second arm fixing member 35a and the dial wheel 371a of the corresponding transmission assembly 37a is the same as the above process, and will not be repeated here.
可以理解，机臂固接件(第一机臂固接件33a及第二机臂故借鉴35a)可转动的角度范围与拨轮371a的拨杆3713a数量，机臂固接件上的槽道的数量及槽道之间的夹角相关，本领域技术人员可根据需要进行设计，本申请对此不做限定。It can be understood that the angle range that the arm fixing member (the first arm fixing member 33a and the second arm fixing member 33a and the second arm 35a can be used for reference) and the number of the lever 3713a of the dial wheel 371a, the channel on the arm fixing member The number and the included angle between the channels are related, and those skilled in the art can design according to needs, and this application does not limit this.
可以理解，其他实施例中，第一机臂固接件33a与第一连接轴32a可以一体成型。第二机臂固接件35a与第二连接轴34a可以一体成型，此时，机臂固接件与连接轴一起相对于轴接孔转动。It can be understood that in other embodiments, the first arm fixing member 33a and the first connecting shaft 32a may be integrally formed. The second arm fixing member 35a and the second connecting shaft 34a may be integrally formed. At this time, the arm fixing member and the connecting shaft rotate together with respect to the shaft connecting hole.
本申请实施例提供的连接构件，通过机臂驱动装置36a驱动传动组件37a转动，从而带动第一机臂固接件33a及与第一机臂固接件33a固定连接的飞行臂20，或第二机臂固接件35a及与第二机臂固接件35a固定连接的飞行臂20转动，使得飞行臂20展开或收拢，由此，可使得飞行臂20在使用时展开，在不使用时收拢，方便载人机器的收纳。The connecting member provided by the embodiment of the present application drives the transmission assembly 37a to rotate through the arm drive device 36a, thereby driving the first arm fixing member 33a and the flying arm 20 fixedly connected to the first arm fixing member 33a, or the second The second arm fixing member 35a and the flying arm 20 fixedly connected to the second arm fixing member 35a rotate to expand or retract the flying arm 20, thereby enabling the flying arm 20 to be deployed when in use, and when not in use Tucked up, convenient for storage of manned machines.
请参阅图40，本申请又一实施例提供一种连接构件30b，用于将飞行臂20连接至载人机器的机身。Referring to FIG. 40, another embodiment of the present application provides a connecting member 30b for connecting the flying arm 20 to the fuselage of a manned machine.
本实施例中，连接构件30b包括机身固接件31b及与机身固接件31b连接的机臂固接件33b。In this embodiment, the connecting member 30b includes a fuselage fixing member 31b and an arm fixing member 33b connected to the fuselage fixing member 31b.
机身固接件31b与载人机器的机身固定连接。本实施例中，机身固接件31b包括平行且间隔设置的上压板311b及下压板313b，以及与上压板311b及下压板313b垂直连接的安装板312b。机身固接件31b通过安装板312b与载人机器的机身固定连接。The fuselage fixing member 31b is fixedly connected with the fuselage of the manned machine. In this embodiment, the body fixing member 31b includes an upper pressing plate 311b and a lower pressing plate 313b arranged in parallel and spaced apart, and a mounting plate 312b perpendicularly connected to the upper pressing plate 311b and the lower pressing plate 313b. The fuselage fixing member 31b is fixedly connected to the fuselage of the manned machine through the mounting plate 312b.
上压板311b开设有轴接孔(图未示)及第一连接孔(图未示)。轴接孔及第一连接孔均沿上压板311b的厚度方向开设。本实施例中，轴接孔及第一连接孔均为通孔，且轴接孔较第一连接孔更靠近安装板312b。The upper pressing plate 311b is provided with a shaft connection hole (not shown in the figure) and a first connection hole (not shown in the figure). Both the shaft connection hole and the first connection hole are opened along the thickness direction of the upper pressing plate 311b. In this embodiment, the shaft connection hole and the first connection hole are both through holes, and the shaft connection hole is closer to the mounting plate 312b than the first connection hole.
下压板313b包括平行设置的第一安装部3131b和第二安装部3133b，以及连接在第一安装部3131b与第二安装部3133b之间的连接部3132b。第一安装部3131b，连接部3132b与第二安装部3133b共同形成台阶结构。第一安装部3131b开设有第三连接孔(图未示)。第三连接孔与第一连接孔3113b共轴设置，且第三连接孔为通孔。第二安装部3133b开设有与上压板311b的轴接孔共轴设置的轴接孔(图未示)。本实施例中，第二安装部3133b所开设的轴接孔为开口朝向上压板311b的盲孔。The lower pressing plate 313b includes a first mounting portion 3131b and a second mounting portion 3133b arranged in parallel, and a connecting portion 3132b connected between the first mounting portion 3131b and the second mounting portion 3133b. The first mounting portion 3131b, the connecting portion 3132b and the second mounting portion 3133b jointly form a stepped structure. The first mounting portion 3131b is provided with a third connecting hole (not shown in the figure). The third connecting hole is coaxially arranged with the first connecting hole 3113b, and the third connecting hole is a through hole. The second mounting portion 3133b is provided with an axial connection hole (not shown) that is coaxially arranged with the axial connection hole of the upper pressing plate 311b. In this embodiment, the shaft hole opened in the second mounting portion 3133b is a blind hole with an opening facing the upper pressing plate 311b.
本实施例中，连接构件30b还包括连接轴(图未示)。机臂固接件33b通过连接轴与机身固接件31b可转动地连接。本实施例中，连接轴的两端分别穿设在上压板311b的轴接孔及第二安装部3133b的轴接孔中。In this embodiment, the connecting member 30b further includes a connecting shaft (not shown in the figure). The arm fixing member 33b is rotatably connected with the fuselage fixing member 31b through a connecting shaft. In this embodiment, the two ends of the connecting shaft are respectively penetrated in the shaft connection hole of the upper pressing plate 311b and the shaft connection hole of the second mounting portion 3133b.
可以理解，为避免连接轴晃动，机身固接件31b还可以包括端盖315b。本实施例中，端盖315b设置在上压板311b背离下压板313b的一侧，且与上压板311b固定连接，用于将连接轴限定在端盖315b与下压板313b的第二安装部3133b之间。可选地，端盖315b与上压板311b可通过螺孔与螺钉的配合或者卡扣和卡槽的配合实现固定连接。It can be understood that, in order to avoid shaking of the connecting shaft, the body fixing member 31b may further include an end cover 315b. In this embodiment, the end cover 315b is arranged on the side of the upper pressing plate 311b away from the lower pressing plate 313b, and is fixedly connected to the upper pressing plate 311b, and is used to limit the connecting shaft between the end cover 315b and the second mounting portion 3133b of the lower pressing plate 313b. between. Optionally, the end cover 315b and the upper pressing plate 311b may be fixedly connected by the cooperation of the screw hole and the screw or the cooperation of the buckle and the groove.
本实施例中，连接构件30b还包括机臂驱动装置36b，以及连接在机臂驱动装置36a与机臂固接件33b之间的传动组件37b。机臂驱动装置36b驱动传动组件37b带动机臂固接件33b转动，以实现带动与机臂固接件33b连接的飞行臂20实现旋转展开或收拢。In this embodiment, the connecting member 30b further includes a machine arm driving device 36b, and a transmission assembly 37b connected between the machine arm driving device 36a and the machine arm fixing member 33b. The arm driving device 36b drives the transmission assembly 37b to rotate the motor arm fixing member 33b, so as to drive the flying arm 20 connected with the arm fixing member 33b to rotate and expand or retract.
机臂驱动装置36b设置在第一安装部3131b与连接部3132b及安装板312b所围成的空间内，且机臂驱动装置36b与安装板312b和/或第一安装部3131b和/或连接部3132b固定连接。本实施例中，机臂驱动装置36b为电机，其转轴自第一安装部3131b的第三连接孔穿出至第一安装部3131b与上压板311b之间。The arm driving device 36b is arranged in the space enclosed by the first mounting portion 3131b, the connecting portion 3132b, and the mounting plate 312b, and the arm driving device 36b, the mounting plate 312b and/or the first mounting portion 3131b and/or the connecting portion 3132b fixed connection. In this embodiment, the arm driving device 36b is a motor, and its rotating shaft passes through the third connecting hole of the first mounting portion 3131b to between the first mounting portion 3131b and the upper pressing plate 311b.
传动组件37b设置在上压板311b与第一安装部3131b之间。本实施例中，传动组件37b包括拨轮371b及拨轮轴(图未示)。拨轮轴与机臂驱动装置36b的转轴固定连接。拨轮371b与拨轮轴固定连接。机臂驱动装置36b驱动转轴转动，带动拨轮轴转动进而带动拨轮371b转动。可以理解，拨轮371b可以与拨轮轴一体成型。The transmission assembly 37b is arranged between the upper pressing plate 311b and the first mounting portion 3131b. In this embodiment, the transmission assembly 37b includes a dial 371b and a dial shaft (not shown). The wheel shaft is fixedly connected with the rotating shaft of the arm driving device 36b. The dial 371b is fixedly connected to the dial shaft. The arm driving device 36b drives the rotating shaft to rotate, drives the dial shaft to rotate, and then drives the dial 371b to rotate. It can be understood that the dial 371b can be integrally formed with the dial shaft.
本实施例中，拨轮371b包括本体3711b及自本体3711b外缘凸设的拨杆3713b。本体3711b可以与拨轮轴375a共轴设置。本实施例中，拨杆3713b的数量为1。拨杆3713b的延伸方向平行于拨轮371b的轴向。本实施例中，拨杆3713b自本体3711b的外缘沿本体3711b的径向向外凸设且拨杆3713b的延伸方向平行于拨轮371b的轴向。In this embodiment, the dial 371b includes a main body 3711b and a dial 3713b protruding from the outer edge of the main body 3711b. The body 3711b may be arranged coaxially with the dial shaft 375a. In this embodiment, the number of the shift lever 3713b is one. The extension direction of the shift lever 3713b is parallel to the axial direction of the shift wheel 371b. In this embodiment, the shift lever 3713b protrudes outward from the outer edge of the body 3711b along the radial direction of the body 3711b, and the extension direction of the shift lever 3713b is parallel to the axial direction of the shift wheel 371b.
拨轮轴的相对两端分别设置在第一连接孔及第三连接孔中，且拨轮轴的相对两端分别与第一连接孔及第三连接孔可转动地连接。为便于拨轮轴的转动，连接构件30a还可以包括轴承(图未示)。轴承可以设置在第一连接孔和/或第三连接孔中，且位于拨轮轴与第一连接孔的孔壁和/或拨轮轴与第三连接孔的孔壁之间。The opposite ends of the wheel shaft are respectively arranged in the first connection hole and the third connection hole, and the opposite ends of the wheel shaft are respectively rotatably connected with the first connection hole and the third connection hole. In order to facilitate the rotation of the dial shaft, the connecting member 30a may further include a bearing (not shown in the figure). The bearing may be arranged in the first connecting hole and/or the third connecting hole, and between the hole wall of the dial shaft and the first connecting hole and/or the hole wall of the dial shaft and the third connecting hole.
机臂固接件33b与飞行臂20的臂主体21的一端固定连接，并通过连接轴可转动地连接至机身固接件31b。机臂固接件33b与对应的传动组件37b的拨轮371b传动连接。本实施例中，机臂固接件33b和与之固定连接的飞行臂20的臂主体21一体成型。可以理解，其他实施例中，也可以通过螺孔与螺钉的配合或卡扣与卡槽的配合使得机臂固接件33b与飞行臂20的臂主体21的一端固定连接，本申请对此不作限定。The arm fixing member 33b is fixedly connected to one end of the arm main body 21 of the flying arm 20, and is rotatably connected to the fuselage fixing member 31b through a connecting shaft. The arm fixing member 33b is drivingly connected with the dial wheel 371b of the corresponding transmission assembly 37b. In this embodiment, the arm fixing member 33b and the arm body 21 of the flying arm 20 fixedly connected to it are integrally formed. It can be understood that in other embodiments, the arm fixing member 33b can be fixedly connected to one end of the arm main body 21 of the flying arm 20 through the cooperation of the screw hole and the screw or the cooperation of the buckle and the slot. limited.
本实施例中，机臂固接件33b为槽轮。本实施例中，机臂固接件33b包括自机臂固接件33b的外缘向机臂固接件33b的内部沿机臂固接件33b的径向开设的槽道331b，及沿机臂固接件33b外缘设置的至少两个弧形部333b。槽道331b位于相邻的两个弧形部333b之间。弧形部333b所在圆的半径与传动组件37b的拨轮371b的本体3711b的半径相同。本实施例中，槽道331b的数量为两个，相应的弧形部333a的数量为三个。机臂固接件33b通过槽道331b与传动组件37b的拨杆3713b的配合，实现与传动组件37b的拨轮371b的传动连接。In this embodiment, the arm fixing member 33b is a sheave. In this embodiment, the arm fixing member 33b includes a channel 331b opened along the radial direction of the arm fixing member 33b from the outer edge of the arm fixing member 33b to the inside of the arm fixing member 33b, and along the machine arm fixing member 33b. At least two arc-shaped portions 333b are provided on the outer edge of the arm fixing member 33b. The channel 331b is located between two adjacent arc-shaped portions 333b. The radius of the circle where the arc-shaped portion 333b is located is the same as the radius of the body 3711b of the dial 371b of the transmission assembly 37b. In this embodiment, the number of grooves 331b is two, and the number of corresponding arc-shaped portions 333a is three. The arm fixing member 33b realizes the transmission connection with the dial 371b of the transmission assembly 37b through the cooperation of the channel 331b and the shift lever 3713b of the transmission assembly 37b.
可以理解，为便于机臂固接件33b的转动，还可以在机臂固接件33b与连接轴之间设置轴承。It can be understood that, in order to facilitate the rotation of the arm fixing member 33b, a bearing may also be provided between the arm fixing member 33b and the connecting shaft.
工作时，机臂驱动装置36b驱动其转轴带动拨轮轴转动，继而带动拨轮371b转动；由于拨轮371b与机臂固接件33b传动连接，且机臂固接件与飞行臂20的臂主体21固定连接，拨轮371b转动带动机臂固接件33b转动，进而带动飞行臂20转动，以实现飞行臂的旋转展开及旋转折叠。During operation, the arm driving device 36b drives its shaft to drive the dial shaft to rotate, and then drives the dial 371b to rotate; because the dial 371b is in transmission connection with the arm fixing part 33b, and the arm fixing part is connected to the arm body of the flying arm 20 21 is fixedly connected, the dial 371b rotates and the motor arm fixing member 33b rotates, and then drives the flying arm 20 to rotate, so as to realize the rotating expansion and the rotating folding of the flying arm.
拨轮371b与机臂固接件33b的具体配合过程可以参考前述实施例，在此不再赘述。For the specific mating process of the dial 371b and the arm fixing member 33b, reference may be made to the foregoing embodiment, which will not be repeated here.
请参阅图41，本申请再一实施例还提供一种连接构件30c，用于将飞行臂20连接至载人机器的机身。Please refer to FIG. 41. Yet another embodiment of the present application further provides a connecting member 30c for connecting the flying arm 20 to the fuselage of the manned machine.
本实施例中，连接构件30c包括机身固接件31c及连接在机臂固接件31c相对两端的第一机臂固接件33c及第二机臂固接件35c。第一机臂固接件33c及第二机臂固接件35c分别与一个飞行臂20的臂主体21固定连接。In this embodiment, the connecting member 30c includes a fuselage fixing member 31c and a first arm fixing member 33c and a second arm fixing member 35c connected to opposite ends of the arm fixing member 31c. The first arm fixing member 33c and the second arm fixing member 35c are respectively fixedly connected to the arm main body 21 of a flying arm 20.
机身固接件31c与载人机器的机身固定连接。本实施例中，机身固接件31c包括平行且间隔设置的上压板311c及下压板313c。上压板311c与下压板313c分别与载人机器的机身固定连接。本实施例中，上压板311c开设有两个轴接孔3111c及两个第一连接孔3113c及两个第二连接孔3115c。轴接孔3111c，第一连接孔3113c及第二连接孔3115c均沿上压板311c的厚度方向开设。两个轴接孔3111c分别位于上压板311c的相对两端。两个第一连接孔3113c位于两个轴接孔3111c之间。两个第二连接孔3115c位于两个第一连接孔3113c之间。下压板313c开设有两个轴接孔(图未示)，两个第三连接孔(图未示)及两个第四连接孔(图未示)。两个轴接孔分别位于下压板313c的相对两端。两个第三连接孔位于两个轴接孔之间。两个第四连接孔位于两个第三连接孔之间。连接构件30c组装完成后，下压板313c的轴接孔与上压板311c的轴接孔3111c相对且共轴设置，第三连接孔与第一连接孔3113c相对且共轴设置，及第四连接孔与第二连接孔3115c相对且共轴设置。本实施例中，下压板313c靠近上压板311c一侧的表面凸设有凸块3132c。凸块3132c用于设置调节传动带与带轮的张紧程度的抵杆。The fuselage fixing member 31c is fixedly connected with the fuselage of the manned machine. In this embodiment, the body fixing member 31c includes an upper pressing plate 311c and a lower pressing plate 313c arranged in parallel and spaced apart. The upper pressing plate 311c and the lower pressing plate 313c are respectively fixedly connected to the body of the manned machine. In this embodiment, the upper pressing plate 311c is provided with two axial connection holes 3111c, two first connection holes 3113c, and two second connection holes 3115c. The shaft connecting hole 3111c, the first connecting hole 3113c and the second connecting hole 3115c are all opened along the thickness direction of the upper pressing plate 311c. The two shaft contact holes 3111c are respectively located at opposite ends of the upper pressing plate 311c. The two first connecting holes 3113c are located between the two shaft connecting holes 3111c. The two second connecting holes 3115c are located between the two first connecting holes 3113c. The lower pressing plate 313c is provided with two shaft connection holes (not shown in the figure), two third connection holes (not shown in the figure) and two fourth connection holes (not shown in the figure). The two shaft connection holes are respectively located at opposite ends of the lower pressing plate 313c. The two third connecting holes are located between the two shaft connecting holes. The two fourth connecting holes are located between the two third connecting holes. After the connecting member 30c is assembled, the axial connection hole of the lower pressing plate 313c is opposite to the axial connection hole 3111c of the upper pressing plate 311c and arranged coaxially, the third connecting hole is opposite to the first connecting hole 3113c and arranged coaxially, and the fourth connecting hole It is opposite to the second connecting hole 3115c and is arranged coaxially. In this embodiment, the surface of the lower pressing plate 313c close to the upper pressing plate 311c is convexly provided with a bump 3132c. The protrusion 3132c is used to set a lever for adjusting the tension of the transmission belt and the pulley.
可以理解，上压板311c及下压板313c上还开设有用于与载人机器的机身固定连接的连接孔。机身固接件31c还可以包括多个辅助支撑件315c，用于支撑下压板313c。It can be understood that the upper pressing plate 311c and the lower pressing plate 313c are also provided with connection holes for fixed connection with the body of the manned machine. The fuselage fixing member 31c may further include a plurality of auxiliary support members 315c for supporting the lower pressing plate 313c.
本实施例中，连接构件30c还包括第一连接轴32c及第二连接轴34c。第一连接轴32c及第二连接轴34c分别连接在机身固接件31c的相对两端。第一机臂固接件33c与机身固接件31c通过第一连接轴32c可转动地连接。第二机臂固接件35c与机身固接件31通过第二连接轴34c可转动地连接。第一连接轴32c的两端分别与上压板311c的轴接孔3111c及下压板313c的轴接孔连接。第二连接轴34c的两端分别与上压板311c的轴接孔3111c及下压板313c的轴接孔连接。可以理解，为避免第一连接轴32c及第二连接轴34c晃动，可以在上压板311c的轴接孔3111c及下压板313c的轴接孔处设置轴承端盖。In this embodiment, the connecting member 30c further includes a first connecting shaft 32c and a second connecting shaft 34c. The first connecting shaft 32c and the second connecting shaft 34c are respectively connected to opposite ends of the body fixing member 31c. The first arm fixing member 33c and the fuselage fixing member 31c are rotatably connected by a first connecting shaft 32c. The second arm fixing member 35c and the fuselage fixing member 31 are rotatably connected by a second connecting shaft 34c. Two ends of the first connecting shaft 32c are respectively connected to the shaft hole 3111c of the upper pressing plate 311c and the shaft hole 313c of the lower pressing plate 313c. Two ends of the second connecting shaft 34c are respectively connected to the shaft hole 3111c of the upper pressing plate 311c and the shaft hole 313c of the lower pressing plate 313c. It can be understood that, in order to avoid shaking of the first connecting shaft 32c and the second connecting shaft 34c, bearing end caps may be provided at the shaft connection holes 3111c of the upper pressure plate 311c and the shaft connection holes of the lower pressure plate 313c.
本实施例中，连接构件30c还包括机臂驱动装置36c，以及连接在机臂驱动装置36c与第一机臂固接件33c及所述第二机臂固接件35c之间的传动组件37c。机臂驱动装置36c，传动组件37c，第一机臂固接件33c及第二机臂固接件35c均设置在上压板311c与下压板313c之间。本实施例中，第一机臂固接件33c及第二机臂固接件35c分别对应一个机臂驱动装置36c及一个转动组件37c。与第一机臂固接件33c对应的机臂驱动装置36c，通过驱动相应的传动组件37c带动第一机臂固接件33c转动，进而带动与第一机臂固接件33c连接的飞行臂20实现旋转展开或收拢。与第二机臂固接件35c对应的机臂驱动装置36c，通过驱动相应的传动组件37c带动第二机臂固接件33c转动，进而带动与第二机臂固接件35c连接的飞行臂20实现旋转展开或收拢。本实施例中，与第一机臂固接件33c对应的机臂驱动装置36c和与第二机臂固接件35c对应的机臂驱动装置36c为同步电机且转动方向相反。In this embodiment, the connecting member 30c further includes a machine arm driving device 36c, and a transmission assembly 37c connected between the machine arm driving device 36c and the first machine arm fixing part 33c and the second machine arm fixing part 35c . The arm driving device 36c, the transmission assembly 37c, the first arm fixing member 33c and the second arm fixing member 35c are all arranged between the upper pressing plate 311c and the lower pressing plate 313c. In this embodiment, the first arm fixing member 33c and the second arm fixing member 35c respectively correspond to an arm driving device 36c and a rotating assembly 37c. The arm driving device 36c corresponding to the first arm fixing member 33c drives the first arm fixing member 33c to rotate by driving the corresponding transmission assembly 37c, thereby driving the flying arm connected to the first arm fixing member 33c 20 realizes the rotation to expand or collapse. The arm driving device 36c corresponding to the second arm fixing member 35c drives the second arm fixing member 33c to rotate by driving the corresponding transmission assembly 37c, thereby driving the flying arm connected to the second arm fixing member 35c 20 realizes the rotation to expand or collapse. In this embodiment, the arm driving device 36c corresponding to the first arm fixing member 33c and the arm driving device 36c corresponding to the second arm fixing member 35c are synchronous motors with opposite rotation directions.
本实施例中，机臂驱动装置36c固定在下压板313c上。机臂驱动装置36c包括电机361c及第一传动轮363c。电机361c与第一传动轮363c连接，用于驱动第一传动轮363c转动。In this embodiment, the arm driving device 36c is fixed on the lower pressing plate 313c. The arm driving device 36c includes a motor 361c and a first transmission wheel 363c. The motor 361c is connected to the first transmission wheel 363c, and is used to drive the first transmission wheel 363c to rotate.
本实施例中，机臂驱动装置36c还可以包括电机安装座362c。电机安装座362c用于支撑电机361c及第一传动轮363c。电机安装座362c大致呈拱桥状，包括安装平台3621c，第一侧板3622c及第二侧板3623c。第一侧板3622c及第二侧板3623c分别连接在安装平台3621c的两端，用于支撑安装平台3621c。第一侧板3622c，安装平台3621c及第二侧板3623c围成桥洞状的收容空间。In this embodiment, the arm driving device 36c may further include a motor mounting seat 362c. The motor mounting seat 362c is used to support the motor 361c and the first transmission wheel 363c. The motor mounting seat 362c is roughly in the shape of an arch bridge, and includes a mounting platform 3621c, a first side plate 3622c, and a second side plate 3623c. The first side plate 3622c and the second side plate 3623c are respectively connected to both ends of the installation platform 3621c for supporting the installation platform 3621c. The first side plate 3622c, the installation platform 3621c and the second side plate 3623c enclose a bridge-like accommodation space.
本实施例中，电机361c安装在安装平台3621c上。电机361c远离安装平台的一端穿设在第一连接孔3113c中。第一传动轮363c设置在桥洞状的收容空间中，且第一传动轮363c的轮轴垂直于安装平台3621c。电机361c的驱动轴穿过安装平台3621c与第一传动轮363c连接，且穿设在第三连接孔内。可选地，第一侧板3622c及第二侧板3623c垂直连接在安装平台3621c的两端。可以理解，其他实施例中，第一侧板3622c及第二侧板3623c也可以与安装平台3621c呈其他角度(例如钝角)地连接在安装平台3621c的两端，本申请并不以此为限。In this embodiment, the motor 361c is installed on the installation platform 3621c. The end of the motor 361c away from the installation platform is inserted through the first connecting hole 3113c. The first transmission wheel 363c is arranged in the bridge-shaped receiving space, and the axle of the first transmission wheel 363c is perpendicular to the installation platform 3621c. The drive shaft of the motor 361c passes through the mounting platform 3621c and is connected to the first transmission wheel 363c, and passes through the third connecting hole. Optionally, the first side plate 3622c and the second side plate 3623c are vertically connected to both ends of the installation platform 3621c. It can be understood that in other embodiments, the first side plate 3622c and the second side plate 3623c can also be connected to the mounting platform 3621c at other angles (for example, obtuse angles) at both ends of the mounting platform 3621c, and the application is not limited to this. .
本实施例中，电机安装座362c还可以包括第一凸耳3624c及第二凸耳3625c。第一凸耳3624c及第二凸耳3625c分别连接在第一侧板3622c及第二侧板3623c远离安装平台3621c的一端，用于固定电机安装座362c。可选地，第一凸耳3624c及第二凸耳3625c均与安装平台3621c平行设置，且第一凸耳3624c与第二凸耳3625c位于同一平面。可选地，第一凸耳3624c及第二凸耳3625c沿相反的方向远离彼此的延伸设置。本实施例中，第一凸耳3624c开设有长条形的第一调节槽3626c。第二凸耳3625c开设有长条形的第二调节槽(图未示)。第二调节槽与第一调节槽3626c相互平行且平行于第一侧板3622c及第二侧板3623c。第一调节槽3626c及第二调节槽用于在第一传动轮363c为带轮时，与固定螺栓(固定螺栓用于固定电机安装座362c)配合调节传动带与带轮的张紧程度。本实施例中，第一凸耳3624c的一侧缘处凸设有第一抵靠板3628c。可选地，第一抵靠板3628c垂直于第一凸耳3624c及第一侧板3622c。第二凸耳3625c的一侧缘处凸设有第二抵靠板(图未示)。可选地，第二抵靠板垂直于第二凸耳3625c及第二侧板3623c。第一抵靠板3628c与第二抵靠板位于同一侧，用于与抵杆配合，在通过调 节槽与固定螺栓的配合将传动带与带轮的张紧程度调节至合适的张紧程度后，使得传动带与带轮的张紧程度保持在该合适的张紧程度。In this embodiment, the motor mounting seat 362c may further include a first lug 3624c and a second lug 3625c. The first lug 3624c and the second lug 3625c are respectively connected to the end of the first side plate 3622c and the second side plate 3623c away from the installation platform 3621c for fixing the motor mounting seat 362c. Optionally, the first lug 3624c and the second lug 3625c are both arranged in parallel with the mounting platform 3621c, and the first lug 3624c and the second lug 3625c are located on the same plane. Optionally, the first lug 3624c and the second lug 3625c extend away from each other in opposite directions. In this embodiment, the first lug 3624c is provided with an elongated first adjusting groove 3626c. The second lug 3625c is provided with an elongated second adjusting groove (not shown in the figure). The second adjusting groove and the first adjusting groove 3626c are parallel to each other and parallel to the first side plate 3622c and the second side plate 3623c. The first adjusting groove 3626c and the second adjusting groove are used to coordinate with the fixing bolt (the fixing bolt is used to fix the motor mounting seat 362c) to adjust the tension of the transmission belt and the pulley when the first transmission wheel 363c is a pulley. In this embodiment, a first abutting plate 3628c is protrudingly provided at one side edge of the first lug 3624c. Optionally, the first abutment plate 3628c is perpendicular to the first lug 3624c and the first side plate 3622c. A second abutment plate (not shown in the figure) protrudes from one side edge of the second lug 3625c. Optionally, the second abutment plate is perpendicular to the second lug 3625c and the second side plate 3623c. The first abutment plate 3628c and the second abutment plate are located on the same side and are used to cooperate with the abutment rod. After the tension of the transmission belt and the pulley is adjusted to a proper tension through the cooperation of the adjusting groove and the fixing bolt, The tension of the transmission belt and the pulley is maintained at the proper tension.
连接构件30c组装完成后，电机安装座362c的第一抵靠板3628c及第二抵靠板分别与凸块3132c相对设置。安装在凸块3132c上的抵杆用于在通过调节槽与固定螺栓的配合将传动带与带轮的张紧程度调节至合适的张紧程度后，与抵靠板配合使得传动带与带轮的张紧程度保持在该合适的张紧程度。After the connecting member 30c is assembled, the first abutment plate 3628c and the second abutment plate of the motor mounting seat 362c are respectively disposed opposite to the protrusion 3132c. The abutment rod installed on the protrusion 3132c is used to adjust the tension of the transmission belt and the pulley to a proper degree of tension through the cooperation of the adjusting groove and the fixing bolt, and then cooperate with the abutment plate to make the transmission belt and the pulley tension. The degree of tightness is maintained at the appropriate degree of tension.
传动组件37c与机臂驱动装置36c传动连接。本实施例中，传动组件37c与第一传动轮363c传动连接。The transmission assembly 37c is in transmission connection with the arm driving device 36c. In this embodiment, the transmission assembly 37c is in transmission connection with the first transmission wheel 363c.
本实施例中，传动组件37c为拨轮组件。传动组件37c包括拨轮371c及与拨轮371c固定连接的第二传动轮373c。本实施例中，拨轮371c与第二传动轮373c通过固定螺钉固定连接。可以理解，其他实施例中，拨轮371c也可以与第二传动轮373c一体成型，本申请对此不做限定。In this embodiment, the transmission assembly 37c is a dial assembly. The transmission assembly 37c includes a dial 371c and a second transmission wheel 373c fixedly connected to the dial 371c. In this embodiment, the dial 371c and the second transmission wheel 373c are fixedly connected by a fixing screw. It can be understood that in other embodiments, the dial 371c may also be integrally formed with the second transmission wheel 373c, which is not limited in this application.
拨轮371c包括本体3711c及自本体3711c外缘凸设的拨杆3713c。本体3711c开设有用于与固定螺钉配合，以实现与第二传动轮373c固定连接的螺孔。The dial 371c includes a main body 3711c and a dial 3713c protruding from the outer edge of the main body 3711c. The main body 3711c is provided with a screw hole for mating with a fixing screw to realize a fixed connection with the second transmission wheel 373c.
本实施例中，拨轮371c包括两个沿本体3711c外缘间隔设置的拨杆3713c。拨杆3713c的延伸方向平行于拨轮371c的轴向。本实施例中，拨杆3713c自本体3711c的外缘沿本体3711c的径向向外凸设且拨杆的延伸方向平行于拨轮371c的轴向。可选地，两个拨杆3713c与拨轮371c的轴心的连线所成的夹角为120°。In this embodiment, the dial 371c includes two dials 3713c spaced apart along the outer edge of the body 3711c. The extension direction of the shift lever 3713c is parallel to the axial direction of the shift wheel 371c. In this embodiment, the shift lever 3713c protrudes outward from the outer edge of the main body 3711c along the radial direction of the main body 3711c, and the extension direction of the shift lever is parallel to the axial direction of the shift wheel 371c. Optionally, the included angle formed by the line connecting the two shift levers 3713c and the axis of the shift wheel 371c is 120°.
第二传动轮373c与第一传动轮363c传动连接，且与拨轮371c固定连接。第二传动轮373c的直径可以例如大于第一传动轮363c的直径，且小于或等于拨轮371c(的本体3711c)的直径。本实施例中，第一传动轮363c及第二传动轮373c均为带轮。第一传动轮363c与第二传动轮373c通过传动带连接。通过传动带传动，可以实现大中心距的传动，使连接构件30c具备抗冲击性。The second transmission wheel 373c is in transmission connection with the first transmission wheel 363c, and is fixedly connected with the dial 371c. The diameter of the second transmission wheel 373c may be, for example, greater than the diameter of the first transmission wheel 363c, and less than or equal to the diameter of the dial 371c (the body 3711c). In this embodiment, both the first transmission wheel 363c and the second transmission wheel 373c are pulleys. The first transmission wheel 363c and the second transmission wheel 373c are connected by a transmission belt. Through the belt transmission, a large center distance transmission can be realized, so that the connecting member 30c has impact resistance.
可以理解，其他实施例中，第一传动轮363c及第二传动轮373c也可以均为齿轮且第一传动轮363c与第二传动轮373c啮合，本申请对此不做限定，只要第一传动轮363c在机臂驱动装置361c的驱动下能够带动第二传动轮373c转动，进而带动拨轮371c转动即可。It can be understood that in other embodiments, the first transmission wheel 363c and the second transmission wheel 373c may also be gears, and the first transmission wheel 363c meshes with the second transmission wheel 373c, which is not limited in this application, as long as the first transmission wheel 373c The wheel 363c can drive the second transmission wheel 373c to rotate under the drive of the arm driving device 361c, and then drive the dial wheel 371c to rotate.
本实施例中，传动组件37c还可以包括拨轮轴375c。拨轮轴375c的相对两端分别设置在第二连接孔3115c及第四连接孔内。本实施例中，拨轮轴375c的相对两端分别与第二连接孔3115c及第四连接孔固定连接。拨轮371c及第二传动轮373c套设在拨轮轴375c上，通过该拨轮轴375c连接至上压板311c及下压板313c。In this embodiment, the transmission assembly 37c may further include a dial shaft 375c. The opposite ends of the wheel shaft 375c are respectively disposed in the second connecting hole 3115c and the fourth connecting hole. In this embodiment, the opposite ends of the wheel shaft 375c are respectively fixedly connected to the second connecting hole 3115c and the fourth connecting hole. The dial 371c and the second transmission wheel 373c are sleeved on the dial shaft 375c, and are connected to the upper pressing plate 311c and the lower pressing plate 313c through the dial shaft 375c.
可以理解，为便于第二传动轮373c及拨轮371c的转动，传动组件37c还可以包括设置在拨轮371c与拨轮轴375c之间和/或设置在第二传动轮373c与拨轮轴375c之间的轴承。It can be understood that, in order to facilitate the rotation of the second transmission wheel 373c and the dial 371c, the transmission assembly 37c may further include being arranged between the dial 371c and the dial shaft 375c and/or between the second transmission wheel 373c and the dial shaft 375c. Bearings.
第一机臂固接件33c与飞行臂20的臂主体21的一端固定连接，且第一机臂固接件33c与对应的传动组件37c的拨轮371c传动连接。第二机臂固接件35c与另一飞行臂20的臂主体21的一端固定连接，且与对应的传动组件37c的拨轮371c传动连接。The first arm fixing member 33c is fixedly connected with one end of the arm main body 21 of the flying arm 20, and the first arm fixing member 33c is drivingly connected with the dial wheel 371c of the corresponding transmission assembly 37c. The second arm fixing member 35c is fixedly connected to one end of the arm main body 21 of the other flying arm 20, and is drivingly connected to the dial 371c of the corresponding transmission assembly 37c.
本实施例中，机臂固接件与机臂之间的连接可通过螺钉与螺孔配合的方式实现。可以理解，其他实施例中机臂固接件(第一机臂固接件33c及第二机臂固接件35c)可以与机臂一体成型，并通过连接轴(第一连接轴32c及第二连接轴34c)与机身固接件31c可转动地连接。In this embodiment, the connection between the machine arm fixing member and the machine arm can be realized by a screw and a screw hole. It can be understood that in other embodiments, the arm fixing parts (the first arm fixing part 33c and the second arm fixing part 35c) can be integrally formed with the arm, and pass through the connecting shafts (the first connecting shaft 32c and the second connecting shaft 32c). The two connecting shafts 34c) are rotatably connected with the body fixing member 31c.
第一机臂固接件33c为槽轮。本实施例中，第一机臂固接件33c包括自第一机臂固接件33c的外缘向第一机臂固接件33c的内部沿第一机臂固接件33c的径向开设的槽道331c，及沿第一机臂固接件33c外缘设置的至少两个弧形部333c。槽道331c位于相邻的两个弧形部333c之间。弧形部333c所在圆的半径与对应的传动组件37c的拨轮371c的本体3711c的半径相同。本实 施例中，槽道331c的数量为两个，相应的弧形部333c的数量为三个。每个弧形部333c所对的圆心角与两个拨杆3713c与拨轮371c的轴心的连线所成的夹角相同(本实施例中，为120°)。第一机臂固接件33c通过槽道331c与对应的传动组件37c的拨杆3713c的配合，实现与传动组件37c的拨轮371c的传动连接。The first arm fixing member 33c is a sheave. In this embodiment, the first arm fixing member 33c includes the first arm fixing member 33c from the outer edge of the first arm fixing member 33c to the inside of the first arm fixing member 33c and extending along the radial direction of the first arm fixing member 33c. The groove 331c, and at least two arc-shaped portions 333c provided along the outer edge of the first arm fixing member 33c. The channel 331c is located between two adjacent arc-shaped portions 333c. The radius of the circle where the arc-shaped portion 333c is located is the same as the radius of the body 3711c of the dial 371c of the corresponding transmission assembly 37c. In this embodiment, the number of grooves 331c is two, and the number of corresponding arc-shaped portions 333c is three. The central angle subtended by each arc-shaped portion 333c is the same as the included angle formed by the line connecting the two shifting rods 3713c and the axis of the shifting wheel 371c (in this embodiment, it is 120°). The first arm fixing member 33c realizes the transmission connection with the dial 371c of the transmission assembly 37c through the cooperation of the channel 331c and the shift lever 3713c of the corresponding transmission assembly 37c.
第二机臂固接件35c也为槽轮，且具有与第一机臂固接件33c相同的结构。相应地，第二机臂固接件35c包括自第二机臂固接件35c的外缘向第二机臂固接件35c的内部沿第二机臂固接件35c的径向开设的槽道351c，及沿第二机臂固接件35c外缘设置的至少两个弧形部353c。槽道351c位于相邻的两个弧形部353c之间。弧形部353c所在圆的半径与对应的传动组件37c的拨轮371c的本体3711c的半径相同。本实施例中，槽道351c的数量为两个，相应的弧形部353c的数量为三个。每个弧形部353c所对的圆心角与对应的传动组件37c的两个拨杆3713c与拨轮371c的轴心的连线所成的夹角相同(本实施例中，为120°)。第二机臂固接件35c通过槽道351c与对应的传动组件37c的拨杆3713c的配合，实现与传动组件37c的拨轮371c的传动连接。The second arm fixing member 35c is also a sheave and has the same structure as the first arm fixing member 33c. Correspondingly, the second arm fixing member 35c includes a groove extending from the outer edge of the second arm fixing member 35c to the inside of the second arm fixing member 35c along the radial direction of the second arm fixing member 35c The channel 351c, and at least two arc-shaped portions 353c arranged along the outer edge of the second arm fixing member 35c. The channel 351c is located between two adjacent arc-shaped portions 353c. The radius of the circle where the arc-shaped portion 353c is located is the same as the radius of the body 3711c of the dial 371c of the corresponding transmission assembly 37c. In this embodiment, the number of grooves 351c is two, and the number of corresponding arc-shaped portions 353c is three. The central angle subtended by each arc-shaped portion 353c is the same as the angle formed by the line connecting the two shift rods 3713c of the corresponding transmission assembly 37c and the axis of the shift wheel 371c (in this embodiment, it is 120°). The second arm fixing member 35c realizes the transmission connection with the dial 371c of the transmission assembly 37c through the cooperation of the channel 351c and the shift lever 3713c of the corresponding transmission assembly 37c.
可以理解，为便于第一机臂固接件33c及第二机臂固接件35c的转动，还可以在第一机臂固接件33c与第一连接轴32c之间及第二机臂固接件35c与第二连接轴34c之间设置轴承。It can be understood that, in order to facilitate the rotation of the first arm fixing member 33c and the second arm fixing member 35c, the first arm fixing member 33c and the first connecting shaft 32c can also be fixed between the first arm fixing member 33c and the first connecting shaft 32c. A bearing is provided between the connecting piece 35c and the second connecting shaft 34c.
请参照图42，下面以第一机臂固接件33c与对应的传动组件37c的拨轮371c的配合为例，对拨轮371c与机臂固接件之间的配合过程进行介绍。Please refer to FIG. 42, taking the cooperation of the first arm fixing member 33c and the dial wheel 371c of the corresponding transmission assembly 37c as an example, the cooperation process between the dial wheel 371c and the arm fixing member will be introduced.
初始状态下，第一机臂固接件33c所连接的飞行臂20处于折叠状态(对应图42中的状态1)，拨轮371c的本体3711c的外缘与第一机臂固接件33c左侧的弧形部333c耦合，拨轮371c的右侧拨杆3713c(为便于描述，以下简称，右侧拨杆)位于第一机臂固接件33c的左侧弧形部333c与中间弧形部333c之间的槽道331c(为便于描述，以下简称，第一槽道)的槽口处。当电机361c驱动第一传动轮363c转动，第一传动轮363c带动第二传动轮373c转动进而带动拨轮371c沿逆时针方向转动时，右侧拨杆沿第一槽道滑入，并通过与第一槽道的槽壁的相互作用带动第一机臂固接件33c沿顺时针方向转动(对应图42中的状态2)。右侧拨杆随着拨轮371c的转动逐渐滑至第一槽道靠近第一机臂固接件33c轴心，此时，若拨轮371c在第二传动轮373c的带动下继续沿逆时针方向转动，右侧拨杆将沿远离第一机臂固接件33c的轴心的方向顺着第一槽道滑回至第一槽道的槽口。当右侧拨杆滑回至第一槽道的槽口时，拨轮的左侧拨杆3713c到达槽轮的中间弧形部333c与右侧弧形部333c之间的槽道331c(为便于描述，以下简称第二槽道)的槽口，本体3711c位于两个拨杆3713c之间的劣弧外缘与中间弧形部333c耦合(对应图42中的状态3)。此时，若拨轮371c在第二传动轮373c的带动下继续沿逆时针方向转动，左侧拨杆滑入第二槽道并带动第一机臂固接件33c继续沿顺时针方向转动。左侧拨杆随着拨轮371c的转动逐渐滑至第二槽道靠近第一机臂固接件33c轴心，此时，若拨轮371c在第二传动轮373c的带动下继续沿逆时针方向转动，左侧拨杆将沿远离第一机臂固接件33c的轴心的方向顺着第二槽道滑回至第二槽道的槽口，本体3711c位于两个拨杆3713c之间的优弧外缘与右侧弧形部333c配合(对应图42中的状态4)。此时，若拨轮371c继续转动，由于拨杆3713c(包括左侧拨杆及右侧拨杆)未与槽道331c包括第一槽道及第二槽道)配合，拨轮371c空转(对应图42中的状态5)，并不会带动第一机臂固接件33c继续转动(即，实现第一机臂固接件33c的周向锁死)。此时，第一机臂固接件33c所连接的飞行臂保持在展开状态。第一机臂固接件33c所连接的飞行臂由展开状态转换为折叠状态的过程则与上述过程相反，在此不再赘述。In the initial state, the flying arm 20 connected to the first arm fixing member 33c is in a folded state (corresponding to the state 1 in FIG. 42), and the outer edge of the body 3711c of the dial 371c is on the left side of the first arm fixing member 33c. The side arc portion 333c is coupled, and the right lever 3713c (for ease of description, hereinafter referred to as the right lever) of the dial 371c is located at the left arc portion 333c and the middle arc of the first arm fixing member 33c At the notch of the channel 331c (for ease of description, hereinafter referred to as the first channel) between the portions 333c. When the motor 361c drives the first transmission wheel 363c to rotate, the first transmission wheel 363c drives the second transmission wheel 373c to rotate and then drives the dial wheel 371c to rotate in the counterclockwise direction, the right lever slides in along the first channel and passes through and The interaction of the groove walls of the first groove drives the first arm fixing member 33c to rotate in a clockwise direction (corresponding to state 2 in FIG. 42). With the rotation of the dial wheel 371c, the right shift lever gradually slides until the first channel is close to the axis of the first arm fixing member 33c. At this time, if the shift wheel 371c is driven by the second transmission wheel 373c, it continues to move counterclockwise. Rotating in the direction, the right shift lever will slide back along the first groove to the notch of the first groove in the direction away from the axis of the first arm fixing member 33c. When the right shift lever slides back to the notch of the first channel, the left shift lever 3713c of the shift wheel reaches the channel 331c between the middle arc part 333c and the right arc part 333c of the wheel (for convenience Description, hereinafter referred to as the second channel) notch, the outer edge of the inferior arc between the two levers 3713c of the body 3711c is coupled with the middle arc 333c (corresponding to state 3 in FIG. 42). At this time, if the dial 371c is driven by the second transmission wheel 373c to continue to rotate in the counterclockwise direction, the left dial slides into the second channel and drives the first arm fixing member 33c to continue to rotate in the clockwise direction. With the rotation of the dial wheel 371c, the left shift lever gradually slides until the second channel is close to the axis of the first arm fixing member 33c. At this time, if the shift wheel 371c is driven by the second transmission wheel 373c, it continues to move counterclockwise. Rotate in the direction, the left lever will slide back to the notch of the second channel along the second channel in the direction away from the axis of the first arm fixing member 33c, the body 3711c is located between the two levers 3713c The outer edge of the predominant arc is matched with the right arc portion 333c (corresponding to state 4 in FIG. 42). At this time, if the dial 371c continues to rotate, since the dial 3713c (including the left and right dials) does not cooperate with the channel 331c including the first channel and the second channel, the dial 371c is idling (corresponding to State 5) in FIG. 42 does not drive the first machine arm fixing member 33c to continue to rotate (that is, to realize the circumferential locking of the first machine arm fixing member 33c). At this time, the flying arm connected to the first arm fixing member 33c remains in the unfolded state. The process of converting the flying arm connected by the first arm fixing member 33c from the unfolded state to the folded state is the opposite of the above process, and will not be repeated here.
第二机臂固接件35c与对应的传动组件37c的拨轮371c的配合过程与上述过程相同，在此不再赘述。The mating process of the second arm fixing member 35c and the dial wheel 371c of the corresponding transmission assembly 37c is the same as the above process, and will not be repeated here.
可以理解，机臂固接件(第一机臂固接件33c及第二机臂固接件35c)可转动的角度范围与拨轮371c的拨杆3713c数量相关，本领域技术人员可根据需要进行设计，本申请对此不做限定。It can be understood that the rotatable angle range of the arm fixing member (the first arm fixing member 33c and the second arm fixing member 35c) is related to the number of the dial lever 3713c of the dial wheel 371c, and those skilled in the art can according to their needs. For design, this application does not limit it.
可以理解，其他实施例中，第一机臂固接件33c与第一连接轴32c可以一体成型。第二机臂固接件35c与第二连接轴34c可以一体成型。It can be understood that in other embodiments, the first arm fixing member 33c and the first connecting shaft 32c may be integrally formed. The second arm fixing member 35c and the second connecting shaft 34c may be integrally formed.
本申请实施例提供的连接构件，通过机臂驱动装置36c驱动传动组件37c转动，从而带动第一机臂固接件33c及与第一机臂固接件33c固定连接的飞行臂20，或第二机臂固接件35c及与第二机臂固接件35c固定连接的飞行臂20转动，使得飞行臂20展开或收拢，由此，可使得飞行臂20在使用时展开，在不使用时收拢，方便载人机器的收纳。The connecting member provided by the embodiment of the present application drives the transmission assembly 37c to rotate through the arm drive device 36c, thereby driving the first arm fixing member 33c and the flying arm 20 fixedly connected to the first arm fixing member 33c, or the second The second arm fixing member 35c and the flying arm 20 fixedly connected to the second arm fixing member 35c rotate to expand or retract the flying arm 20, thereby enabling the flying arm 20 to be unfolded when in use, and when not in use Tucked up, convenient for storage of manned machines.
以上仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。The above are only preferred embodiments of the application, and are not used to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.
工业实用性Industrial applicability
上述技术方案中，收展机构在第一种载人模式下收拢于机器本体，使得飞行动力装置靠近于机器本体，可有效减小载人机器在第一种载人模式下所受到的阻力；收展机构在载人飞行模式下展开，使得飞行动力装置远离于机器本体，避免飞行动力装置对驾驶员造成干扰，同时提高了载人机器在载人飞行模式下的平稳性。In the above technical solution, the retracting mechanism is folded to the machine body in the first manned mode, so that the flight power device is close to the machine body, which can effectively reduce the resistance of the manned machine in the first manned mode; The retractable mechanism is deployed in the manned flight mode, so that the flight power device is far away from the machine body, avoiding the flight power device from causing interference to the driver, and at the same time improving the stability of the manned machine in the manned flight mode.

Claims (44)

  1. 一种载人机器，包括：A manned machine, including:
    机身；body;
    设置于机身上的收展机构；以及The retractable mechanism installed on the fuselage; and
    设置于所述收展机构上的飞行动力装置；The flight power device installed on the retracting mechanism;
    其中，所述收展机构在第一载人模式下收拢于所述机身，在载人飞行模式下展开。Wherein, the retracting mechanism is folded in the fuselage in the first manned mode, and deployed in the manned flight mode.
  2. 如权利要求1所述的载人机器，其中，所述收展机构包括可收展地连接于所述机身的多个飞行臂，所述机身在其宽度方向上的两侧均设有所述飞行臂；所述飞行动力装置包括多个飞行动力单元，每个飞行臂上设有至少一个飞行动力单元。The manned machine according to claim 1, wherein the retractable mechanism includes a plurality of flying arms flexibly connected to the fuselage, and the fuselage is provided on both sides in the width direction thereof. The flying arm; the flying power device includes a plurality of flying power units, and each flying arm is provided with at least one flying power unit.
  3. 如权利要求2所述的载人机器，其中，所述飞行臂与所述机身转动连接。The manned machine according to claim 2, wherein the flying arm is rotatably connected with the fuselage.
  4. 如权利要求3所述的载人机器，其中，所述飞行臂能够相对所述机身在水平面内转动。The manned machine according to claim 3, wherein the flying arm can rotate in a horizontal plane relative to the fuselage.
  5. 如权利要求4所述的载人机器，其中，所述多个飞行臂包括四个飞行臂；所述机身具有前轮和后轮；当所述收展机构在所述第一载人模式下收拢于所述机身时，四个所述飞行臂中的两个所述飞行臂分别收拢于所述前轮的两侧，四个所述飞行臂中的另两个所述飞行臂分别收拢于所述后轮的两侧。The manned machine according to claim 4, wherein the plurality of flying arms includes four flying arms; the fuselage has front wheels and rear wheels; when the retractable mechanism is in the first manned mode When being folded down on the fuselage, two of the four flying arms are respectively folded on both sides of the front wheel, and the other two flying arms of the four flying arms are respectively Tucked up on both sides of the rear wheel.
  6. 如权利要求4所述的载人机器，其中，所述多个飞行臂包括四个飞行臂；当所述收展机构在所述第一载人模式下收拢于所述机身时，四个所述飞行臂均收拢于机身的底部。The manned machine according to claim 4, wherein the plurality of flying arms includes four flying arms; when the retractable mechanism is folded in the fuselage in the first manned mode, the four The flying arms are all gathered at the bottom of the fuselage.
  7. 如权利要求3所述的载人机器，其中，所述飞行臂能够相对所述机身在竖直面内转动。The manned machine according to claim 3, wherein the flying arm can rotate in a vertical plane relative to the fuselage.
  8. 如权利要求3所述的载人机器，其中，所述飞行臂与所述机身通过万向轴连接。The manned machine according to claim 3, wherein the flying arm and the fuselage are connected by a cardan shaft.
  9. 如权利要求3所述的载人机器，其中，所述机身上设有连接构件；连接构件包括在所述机身的宽度方向上相对布置的第一机臂连接部和第二机臂连接部，以及分别与所述第一机臂连接部及所述第二机臂连接部转动连接的第一机臂固接件及第二机臂固接件；两个所述飞行臂分别通过所述第一机臂固接件及所述第二机臂固接件可转动地连接于所述第一机臂连接部和所述第二机臂连接部。The manned machine according to claim 3, wherein the fuselage is provided with a connecting member; the connecting member includes a first arm connecting portion and a second arm connecting portion arranged oppositely in the width direction of the fuselage Part, and a first arm fixing part and a second arm fixing part rotatably connected to the first arm connecting part and the second arm connecting part; the two flying arms pass through the The first machine arm fixing part and the second machine arm fixing part are rotatably connected to the first machine arm connecting part and the second machine arm connecting part.
  10. 如权利要求9所述的载人机器，其中，两个所述飞行臂分别与所述第一机臂固接件及所述第二机臂固接件可拆连接，所述飞行动力单元连接于所述飞行臂的自由端。The manned machine according to claim 9, wherein the two flying arms are detachably connected to the first arm fixing part and the second arm fixing part, and the flying power unit is connected At the free end of the flying arm.
  11. 如权利要求10所述的载人机器，其中，两个所述飞行臂的臂主体分别与所述第一机臂固接件及所述第二机臂固接件插接。The manned machine according to claim 10, wherein the arm main bodies of the two flying arms are respectively inserted into the first arm fixing part and the second arm fixing part.
  12. 如权利要求9所述的载人机器，其中，所述第一机臂连接部和所述第二机臂连接部为一体式结构；或所述第一机臂连接部和所述第二机臂连接部为分体式结构。The manned machine according to claim 9, wherein the first arm connecting part and the second arm connecting part are an integrated structure; or the first arm connecting part and the second machine The arm connecting part is a split structure.
  13. 如权利要求3所述的载人机器，其中，所述飞行动力单元包括螺旋桨和驱动装置；所述螺旋桨与所述飞行臂通过所述驱动装置连接，所述驱动装置用于可选择性地驱动所述螺旋桨相对飞行臂转动或驱动飞行臂相对机身转动。The manned machine according to claim 3, wherein the flight power unit includes a propeller and a driving device; the propeller and the flying arm are connected by the driving device, and the driving device is used to selectively drive The propeller rotates relative to the flying arm or drives the flying arm to rotate relative to the fuselage.
  14. 如权利要求2所述的载人机器，其中，所述飞行动力单元包括驱动装置；与所述驱动装置连接的螺旋桨；以及设置在所述驱动装置与所述螺旋桨的连接处的桨叶托盘，所述桨叶托盘可沿其轴向来回移动，以允许所述螺旋桨收拢和/或展开，所述驱动装置用于在所述桨叶托盘移动至允许所述螺旋桨展开时驱动所述螺旋桨旋转。The manned machine according to claim 2, wherein the flight power unit comprises a driving device; a propeller connected to the driving device; and a blade tray provided at the connection between the driving device and the propeller, The blade tray can move back and forth along its axial direction to allow the propeller to be folded and/or unfolded, and the driving device is used to drive the propeller to rotate when the blade tray moves to allow the propeller to unfold.
  15. 如权利要求14所述的载人机器，其中，所述螺旋桨包括桨毂及桨叶，所述驱动装置与所述桨毂连接，用于驱动所述桨毂转动，所述桨叶与所述桨毂可转动地连接，所述桨毂的转动方向与所述桨叶在展开过程中或收拢过程中相对所述桨毂的转动方向相互垂直。The manned machine according to claim 14, wherein the propeller includes a hub and blades, and the driving device is connected to the hub for driving the hub to rotate, and the blades are connected to the The propeller hub is rotatably connected, and the rotation direction of the propeller hub is perpendicular to the rotation direction of the propeller blade relative to the propeller hub during the unfolding process or the retracting process.
  16. 如权利要求14所述的载人机器，其中，所述飞行动力单元还包括托盘驱动装置，所述托盘驱动装置与所述桨叶托盘连接，用于驱动所述桨叶托盘以使所述桨叶托盘来回移动。The manned machine according to claim 14, wherein the flight power unit further comprises a tray driving device connected to the paddle tray for driving the paddle tray so that the paddle The leaf tray moves back and forth.
  17. 如权利要求16所述的载人机器，其中，所述托盘驱动装置与所述桨叶托盘通过齿轮结构连接。The manned machine according to claim 16, wherein the tray driving device and the paddle tray are connected by a gear structure.
  18. 如权利要求16所述的载人机器，其中，所述托盘驱动装置与所述桨叶托盘通过传送带连接。The manned machine according to claim 16, wherein the tray driving device and the paddle tray are connected by a conveyor belt.
  19. 如权利要求14所述的载人机器，其中，所述驱动装置驱动所述螺旋桨沿所述桨叶托盘的径向旋转时，所述螺旋桨通过旋转产生的离心力展开。The manned machine according to claim 14, wherein when the driving device drives the propeller to rotate in the radial direction of the blade tray, the propeller is deployed by centrifugal force generated by the rotation.
  20. 如权利要求15所述的载人机器，其中，所述飞行动力单元还包括连接在所述桨毂与桨叶之间的弹性件，所述弹性件用于使所述螺旋桨收拢，和/或使所述螺旋桨展开。The manned machine according to claim 15, wherein the flight power unit further comprises an elastic member connected between the hub and the blade, and the elastic member is used to gather the propeller, and/or Unfold the propeller.
  21. 如权利要求20所述的载人机器，其中，所述弹性件蓄存有使所述螺旋桨收拢的弹力，在所述驱动装置驱动所述螺旋桨转动时，旋转产生的离心力与所述弹力的合力使所述螺旋桨处于展开状态，在所述驱动装置停止驱动所述螺旋桨转动时，所述离心力消失，所述弹力驱使所述螺旋桨收拢。The manned machine according to claim 20, wherein the elastic member stores an elastic force for condensing the propeller, and when the driving device drives the propeller to rotate, the combined force of the centrifugal force generated by the rotation and the elastic force The propeller is in an expanded state, and when the driving device stops driving the propeller to rotate, the centrifugal force disappears, and the elastic force drives the propeller to close.
  22. 如权利要求20所述的载人机器，其中，所述弹性件蓄存有使所述螺旋桨展开的弹力，在所述桨叶托盘移动至允许所述螺旋桨展开的过程中，所述弹力驱使所述螺旋桨展开，在所述桨叶托盘移动至使所述螺旋桨收拢的过程中，所述桨叶托盘抑制所述弹力。The manned machine according to claim 20, wherein the elastic member stores an elastic force to expand the propeller, and when the blade tray moves to allow the propeller to expand, the elastic force drives the propeller The propeller is unfolded, and the blade tray suppresses the elastic force during the process of moving the blade tray to retract the propeller.
  23. 如权利要求15所述的载人机器，其中，所述飞行动力单元还包括与所述驱动装置连接的冷却装置，用于对所述驱动装置进行冷却处理。The manned machine according to claim 15, wherein the flight power unit further comprises a cooling device connected to the driving device for cooling the driving device.
  24. 如权利要求2至23任一项所述的载人机器，其中，所述飞行动力单元可转动地连接在相应的所述飞行臂远离所述机身的一端，所述飞行臂还包括与所述飞行臂的臂主体连接的旋转驱动装置，用于驱动所述飞行动力单元趋向与所述飞行臂平行地旋转折叠或趋向与所述飞行臂垂直的旋转展开。The manned machine according to any one of claims 2 to 23, wherein the flying power unit is rotatably connected to the corresponding end of the flying arm away from the fuselage, and the flying arm further includes The rotation driving device connected to the arm main body of the flying arm is used to drive the flying power unit to rotate and fold in parallel with the flying arm or to rotate and unfold in a direction perpendicular to the flying arm.
  25. 如权利要求24所述的载人机器，其中，所述飞行臂还包括支架，所述支架固定连接在与所述飞行臂远离所述机身的一端，所述飞行动力单元通过所述支架可转动地连接在所述飞行臂的一端。The manned machine according to claim 24, wherein the flying arm further comprises a bracket fixedly connected to an end of the flying arm away from the fuselage, and the flying power unit can be used through the bracket. It is rotatably connected to one end of the flying arm.
  26. 如权利要求25所述的载人机器，其中，所述飞行臂还包括固定架，所述旋转驱动装置与所述固定架固定连接，所述飞行动力单元与所述固定架可转动连接，所述旋转驱动装置通过所述固定架带动所述飞行动力单元相对于所述支架转动。The manned machine according to claim 25, wherein the flying arm further comprises a fixing frame, the rotation driving device is fixedly connected with the fixing frame, the flying power unit is rotatably connected with the fixing frame, and The rotation driving device drives the flight power unit to rotate relative to the support through the fixing frame.
  27. 如权利要求26所述的载人机器，其中，所述旋转驱动装置为液压推杆，气压推杆或电动推杆。The manned machine according to claim 26, wherein the rotation driving device is a hydraulic push rod, a pneumatic push rod or an electric push rod.
  28. 如权利要求24所述的载人机器，其中，所述飞行臂还包括起落架，所述起落架与所述驱动装置固定连接，所述起落架与所述螺旋桨分别位于所述驱动装置的相背两侧，且相对于收拢后的所述螺旋桨朝向相反的方向延伸，所述起落架在所述旋转驱动装置驱动所述飞行动力单元旋转折叠或旋转展开时一并旋转折叠或展开。The manned machine according to claim 24, wherein the flying arm further comprises a landing gear, the landing gear is fixedly connected to the driving device, and the landing gear and the propeller are located opposite to the driving device. On both sides of the back and extend in the opposite direction relative to the propeller after being folded, the landing gear rotates and folds or unfolds together when the rotating driving device drives the flying power unit to rotate and fold or rotate and unfold.
  29. 如权利要求3所述的载人机器，其中，所述载人机器还包括连接构件，所述连接构件包括机身固接件及可转动连接在机身固接件相对两端的第一机臂固接件及第二机臂固接件，所述机身固接件与所述无人机的机身固定连接，所述第一机臂固接件及所述第二机臂固接件分别与一个所述飞行臂固定连接。The manned machine according to claim 3, wherein the manned machine further comprises a connecting member, and the connecting member includes a fuselage fixing part and a first arm rotatably connected to opposite ends of the fuselage fixing part A fixing part and a second arm fixing part, the fuselage fixing part is fixedly connected with the fuselage of the drone, the first arm fixing part and the second arm fixing part They are respectively fixedly connected with one of the flying arms.
  30. 如权利要求29所述的载人机器，其中，所述连接构件还包括第一连接轴及第二连接轴，所述第一连接轴及第二连接轴分别固定连接在所述机身固接件的相对两端，所述第一机臂固接件与所述机身固接件通过第一连接轴可转动地连接，所述第二机臂固接件与所述机身固接件通过所述第二连接轴可转动地连接。The manned machine according to claim 29, wherein the connecting member further comprises a first connecting shaft and a second connecting shaft, and the first connecting shaft and the second connecting shaft are respectively fixedly connected to the fuselage. At opposite ends of the piece, the first arm fixing piece and the fuselage fixing piece are rotatably connected by a first connecting shaft, and the second arm fixing piece is rotatably connected with the fuselage fixing piece It is rotatably connected by the second connecting shaft.
  31. 如权利要求29所述的载人机器，其中，所述机身固接件包括平行设置的上压板及下压板，所述上压板及下压板分别与所述机身固定连接。The manned machine according to claim 29, wherein the body fixing member comprises an upper pressing plate and a lower pressing plate arranged in parallel, and the upper pressing plate and the lower pressing plate are respectively fixedly connected to the body.
  32. 如权利要求29所述的载人机器，其中，所述连接构件还包括机臂驱动装置，以及连接在所述机臂驱动装置与所述第一机臂固接件及所述第二机臂固接件之间的传动组件，所述机臂驱动装置驱动所述传动组件带动所述第一机臂固接件及所述第二机臂固接件旋转，进而带动所述飞行臂实现展开或折叠。The manned machine according to claim 29, wherein the connecting member further comprises a machine arm driving device, and a fixing member connected between the machine arm driving device and the first machine arm and the second machine arm The transmission assembly between the fixing parts, the arm drive device drives the transmission assembly to drive the first arm fixing part and the second arm fixing part to rotate, and then drive the flying arm to expand Or fold.
  33. 如权利要求32所述的载人机器，其中，所述传动组件为丝杆传动组件。The manned machine according to claim 32, wherein the transmission component is a screw transmission component.
  34. 如权利要求33所述的载人机器，其中，所述传动组件包括丝杆及滑动板，所述滑动板的相对两端与所述第一机臂固接件及第二机臂固接件连接，所述滑动板中部开设有螺纹孔，所述丝杆与所述螺纹孔螺纹配合，所述机臂驱动装置能够驱动所述丝杆转动。The manned machine according to claim 33, wherein the transmission assembly includes a screw rod and a sliding plate, and opposite ends of the sliding plate are connected to the first arm fixing member and the second arm fixing member In connection, a threaded hole is opened in the middle of the sliding plate, and the threaded rod is matched with the threaded hole, and the arm driving device can drive the threaded rod to rotate.
  35. 如权利要求34所述的载人机器，其中，所述滑动板的相对两端与所述第一机臂固接件及第二机臂固接件滑动连接或齿轮连接。The manned machine according to claim 34, wherein opposite ends of the sliding plate are slidably connected or geared to the first arm fixing member and the second arm fixing member.
  36. 如权利要求32所述的载人机器，其中，所述机臂驱动装置包括两个驱动组件，所述传动组件为两个拨轮传动组件，一个所述拨轮传动组件传动连接在一个所述驱动组件与所述第一机臂固接件之间，另一个所述拨轮传动组件传动连接在另一个所述驱动组件与所述第二机臂固接件之间，所述第一机臂固接件，所述第二机臂固接件，所述拨轮传动组件及所述驱动组件均设置在所述机身固接件上。The manned machine according to claim 32, wherein the arm drive device includes two drive components, and the transmission components are two dial transmission components, and one of the dial transmission components is connected to one of the Between the drive assembly and the first arm fixing part, the other of the dial transmission assembly is drivingly connected between the other drive assembly and the second arm fixing part, and the first machine The arm fixing part, the second arm fixing part, the dial transmission assembly and the driving assembly are all arranged on the fuselage fixing part.
  37. 如权利要求36所述的载人机器，其中，所述驱动组件包括电机及第一传动轮，所述拨轮传动组件包括拨轮及与所述拨轮固定连接的第二传动轮，所述第一传动轮与所述第二传动轮传动连接，所述电机驱动所述第一传动轮转动，所述第一传动轮带动所述第二传动轮转动，进而带动所述拨轮转动。The manned machine according to claim 36, wherein the drive assembly includes a motor and a first transmission wheel, the dial transmission assembly includes a dial and a second transmission wheel fixedly connected to the dial, the The first transmission wheel is in transmission connection with the second transmission wheel, the motor drives the first transmission wheel to rotate, and the first transmission wheel drives the second transmission wheel to rotate, thereby driving the dial wheel to rotate.
  38. 如权利要求37所述的载人机器，其中，所述第一传动轮及所述第二传动轮均为齿轮，且所述第一传动轮与所述第二传动轮啮合。The manned machine according to claim 37, wherein the first transmission wheel and the second transmission wheel are both gears, and the first transmission wheel meshes with the second transmission wheel.
  39. 如权利要求37所述的载人机器，其中，所述第一传动轮与所述第二传动轮均为带轮，所述第一传动轮与所述第二传动轮通过传动带连接。The manned machine according to claim 37, wherein the first transmission wheel and the second transmission wheel are both belt wheels, and the first transmission wheel and the second transmission wheel are connected by a transmission belt.
  40. 如权利要求37所述的载人机器，其中，所述驱动组件还包括电机安装座，所述电机安装座用于支撑所述电机及所述第一传动轮。The manned machine according to claim 37, wherein the drive assembly further comprises a motor mounting seat, the motor mounting seat being used to support the motor and the first transmission wheel.
  41. 如权利要求37所述的载人机器，其中，所述拨轮包括本体及拨杆，所述第一机臂固接件包括槽轮，自所述槽轮的外缘向所述槽轮的内部沿所述槽轮的径向开设有与所述拨杆配合的槽道，所述拨轮转动时通过所述拨杆与所述槽道的配合带动所述槽轮转动，进而带动与所述第一机臂固接件固接的所述收展机构转动。The manned machine according to claim 37, wherein the shift wheel comprises a body and a shift lever, and the first arm fixing member comprises a sheave wheel, which extends from the outer edge of the sheave wheel to the side of the sheave wheel. A groove that cooperates with the shift lever is opened in the inside along the radial direction of the sheave wheel. When the shift wheel rotates, the shift lever and the groove drive the sheave wheel to rotate, thereby driving the sheave wheel to rotate. The retracting mechanism fixed to the first arm fixing member rotates.
  42. 如权利要求41所述的载人机器，其中，所述拨杆自所述本体的外缘沿所述本体的径向向外凸设且所述拨杆的延伸方向平行于所述拨轮的轴向。The manned machine according to claim 41, wherein the shift lever protrudes outward from the outer edge of the body along the radial direction of the body, and the extension direction of the shift lever is parallel to the direction of the shift wheel. Axial.
  43. 如权利要求41所述的载人机器，其中，所述槽轮的外缘包括至少两个弧形部，所述槽道位于相邻的两个弧形部之间，所述弧形部所在圆的半径与所述本体的半径相同。The manned machine according to claim 41, wherein the outer edge of the sheave wheel includes at least two arc-shaped parts, and the channel is located between two adjacent arc-shaped parts, where the arc-shaped parts are located The radius of the circle is the same as the radius of the body.
  44. 如权利要求1至43任一项所述的载人机器，其中，所述载人机器还包括第一侧保护体和第二侧保护体；所述第一侧保护体和所述第二侧保护体均可移动地设置于所述机身，所述第一侧保护体和第二侧保护体分别位于所述机身宽度方向上的两侧；所述第一侧保护体和所述第二侧保护体相对所述机身向前移动能够位于驾驶员的两侧；所述第一侧保护体和所述第二侧保护体相对所述机身向后移动能够位于收拢于所述机身的所述收展机构的两侧。The manned machine according to any one of claims 1 to 43, wherein the manned machine further comprises a first side protector and a second side protector; the first side protector and the second side protector The protective body can be movably arranged on the fuselage, the first side protective body and the second side protective body are respectively located on both sides in the width direction of the fuselage; the first side protective body and the first side protective body The two side protection bodies move forward relative to the fuselage and can be located on both sides of the driver; the first side protection body and the second side protection body can move backwards relative to the fuselage and can be located and retracted into the aircraft. On both sides of the retracting mechanism of the body.
PCT/CN2020/136130 2019-12-16 2020-12-14 Manned aircraft WO2021121184A1 (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN201911299654.8 2019-12-16
CN201911299654.8A CN113059969A (en) 2019-12-16 2019-12-16 Manned machine
CN202010030633.2 2020-01-10
CN202010030633.2A CN113120214A (en) 2020-01-10 2020-01-10 Power component, horn subassembly, horn connecting piece and unmanned aerial vehicle
CN202020058969.5U CN211417573U (en) 2020-01-10 2020-01-10 Arm connecting piece and unmanned aerial vehicle
CN202020058969.5 2020-01-10

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