WO2021134472A1 - Dispositif pliable, véhicule aérien sans pilote et cardan portatif - Google Patents

Dispositif pliable, véhicule aérien sans pilote et cardan portatif Download PDF

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Publication number
WO2021134472A1
WO2021134472A1 PCT/CN2019/130489 CN2019130489W WO2021134472A1 WO 2021134472 A1 WO2021134472 A1 WO 2021134472A1 CN 2019130489 W CN2019130489 W CN 2019130489W WO 2021134472 A1 WO2021134472 A1 WO 2021134472A1
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WO
WIPO (PCT)
Prior art keywords
damping
abutting
cam wall
cam
component
Prior art date
Application number
PCT/CN2019/130489
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English (en)
Chinese (zh)
Inventor
熊荣明
农贵升
严绍军
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/130489 priority Critical patent/WO2021134472A1/fr
Priority to CN201980053857.0A priority patent/CN112638765A/zh
Publication of WO2021134472A1 publication Critical patent/WO2021134472A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/50—Foldable or collapsible UAVs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
    • F16M11/28—Undercarriages for supports with one single telescoping pillar

Definitions

  • the embodiments of the present invention relate to the technical field of mechanical structures, in particular to foldable equipment, unmanned aerial vehicles, and handheld pan-tilts.
  • Some parts of products such as handheld gimbals and unmanned aerial vehicles usually need to be folded.
  • the body of the unmanned aerial vehicle and the arm usually need to be folded and unfolded. It can be in an unfolded state when in use, and can be folded up for storage when not in use.
  • handheld gimbals, unmanned aerial vehicles, etc. are easy to pinch their hands during the unfolding and folding process, and safe operation cannot be guaranteed. Therefore, it is generally hoped that products such as handheld gimbals and unmanned aerial vehicles can be operated safely, which is an urgent problem to be solved.
  • embodiments of the present invention provide a foldable device, an unmanned aerial vehicle, and a handheld pan/tilt.
  • a first aspect of an embodiment of the present invention provides a foldable device, including a first body and a second body, the first body and the second body are rotatably connected by a rotating connection assembly, wherein the rotating connection assembly include:
  • the first component is fixedly connected to the first body
  • the second part is connected to the first part and fixedly connected to the second shaft arm; the second part can be rotated relative to the first part to a first position, an intermediate position and a second position to Switching the first body and the second body between a folded state and an unfolded state;
  • a damping assembly is provided between the first part and the second part, the damping assembly includes a first damping part and a second damping part, and the first damping part is used to prevent the second part from rotating from the intermediate position To the first position, the second damping part is used to prevent the second component from rotating from the intermediate position to the second position;
  • the rate of change of the first rotational damping provided by the first damping portion is different from the rate of change of the second rotational damping provided by the second damping portion.
  • a second aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including an arm and a fuselage, the arm and the fuselage are rotatably connected by a rotating connection assembly, wherein the rotating connection assembly includes:
  • the first component is fixedly connected to the fuselage
  • the second part is connected to the first part and fixedly connected to the arm; the second part can be rotated relative to the first part to a first position, an intermediate position, and a second position, so that all The arm and the fuselage are switched between a folded state and an unfolded state;
  • a damping assembly is provided between the first part and the second part, the damping assembly includes a first damping part and a second damping part, and the first damping part is used to prevent the second part from rotating from the intermediate position To the first position, the second damping part is used to prevent the second component from rotating from the intermediate position to the second position;
  • the rate of change of the first rotational damping provided by the first damping portion is different from the rate of change of the second rotational damping provided by the second damping portion.
  • a third aspect of the embodiments of the present invention provides a handheld pan/tilt head, including a first shaft arm and a second shaft arm, the first shaft arm and the second shaft arm are rotatably connected by a rotating connection assembly; wherein,
  • the rotating connection components include:
  • the first component is fixedly connected to the first shaft arm
  • the second part is connected to the first part and fixedly connected to the second shaft arm; the second part can be rotated relative to the first part to a first position, an intermediate position and a second position to Switching the first shaft arm and the second shaft arm between a folded state and an unfolded state;
  • a damping assembly is provided between the first part and the second part, the damping assembly includes a first damping part and a second damping part, and the first damping part is used to prevent the second part from rotating from the intermediate position To the first position, the second damping part is used to prevent the second component from rotating from the intermediate position to the second position;
  • the rate of change of the first rotational damping provided by the first damping portion is different from the rate of change of the second rotational damping provided by the second damping portion.
  • the foldable equipment, unmanned aerial vehicle, and handheld pan/tilt provided by the embodiments of the present invention can effectively reduce the unfolding and folding speed due to the damping component, solve the problem of gripping hands to a certain extent, and ensure safe use, and, When switching between the folded state and the unfolded state, the corresponding damping change rate is different. Therefore, the unfolding speed and the folding speed can be different to meet individual requirements.
  • Figure 1 is a top view of a foldable device provided by an embodiment of the present invention.
  • Figure 2 is a top view of another foldable device provided by an embodiment of the present invention.
  • Figure 3 is a side view of a foldable device provided by an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a rotating connection assembly in a foldable device according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of the structure of the first part of the rotating connection assembly in FIG. 4;
  • FIG. 6 is a schematic diagram of an exploded structure of a rotating connection assembly in a foldable device according to an embodiment of the present invention
  • FIG. 7 is a schematic diagram of a state when the second component in the rotating connection assembly is in an intermediate position according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a state in which the second component in the rotating connection assembly is in the first position A according to the embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a state in which the second component in the rotating connection assembly is in the second position B according to the embodiment of the present invention.
  • FIG. 10 is a structural schematic diagram 1 of an unmanned aerial vehicle provided by an embodiment of the present invention.
  • FIG. 11 is a second structural diagram of an unmanned aerial vehicle provided by an embodiment of the present invention.
  • Figure 12 is a top view of a handheld pan/tilt provided by an embodiment of the present invention.
  • Figure 13 is a top view of another handheld pan/tilt provided by an embodiment of the present invention.
  • Fig. 14 is a side view of a handheld pan/tilt provided by an embodiment of the present invention.
  • connection herein includes any direct and indirect means of connection. Therefore, if it is described in the text that a first device is connected to a second device, it means that the first device can be directly connected to the second device, or indirectly connected to the second device through other devices.
  • Figure 1 is a top view of a foldable device provided by an embodiment of the present invention
  • Figure 2 is a top view of another foldable device provided by an embodiment of the present invention
  • Figure 3 is a side view of a foldable device provided by an embodiment of the present invention .
  • the foldable device provided in this embodiment includes a first body 10 and a second body 20, and the first body 10 and the second body 20 are rotatably connected by a rotating connection assembly 30.
  • the foldable device may be any product that requires a folding structure, such as an unmanned aerial vehicle, a handheld pan/tilt, and a mobile robot, which is not limited in this embodiment.
  • the first body 10 may be the fuselage of the unmanned aerial vehicle, and the second body 20 may be the arm of the unmanned aerial vehicle, or the first body 10 may be the fuselage of the unmanned aerial vehicle.
  • the second body 20 is a tripod of the unmanned aerial vehicle, or the first body 10 is one of the components on the unmanned aerial vehicle, and the second body 20 is another component on the unmanned aerial vehicle, which is not limited in this embodiment.
  • the first body 10 may be the first pivot arm of the handheld pan/tilt
  • the second body 20 may be the second pivot arm of the handheld pan/tilt, or other parts that need to be folded. Make a limit.
  • the foldable device provided in this embodiment is not limited to the products exemplified above. In actual situations, it may also be any other foldable device.
  • FIG. 4 is a schematic structural diagram of a rotary connection assembly in a foldable device according to an embodiment of the present invention
  • FIG. 5 is a structural schematic diagram of a first part of the rotary connection assembly in FIG. 4
  • FIG. 6 is a foldable according to an embodiment of the present invention
  • the first component 31 is fixedly connected to the first body 10.
  • the second part 32 is connected to the first part 31 and fixedly connected to the second body 20.
  • the first component 31 and the first body 10 can be detachably connected, such as screw connection, snap connection, etc., or the first component 31 and the first body 10 can be non-detachably connected, such as welding, Riveting, gluing, etc., or alternatively, the first component 31 and the first body 10 may be integrally formed, for example, integral injection molding, etc., which is not specifically limited in this embodiment.
  • the second component 32 and the second body 20 can also be connected in any one of detachable connection, non-detachable connection, integral molding, etc., which will not be repeated here.
  • the second component 32 and the first component 31 can be coaxially connected.
  • the second component 32 can be sleeved outside the first component 31 or inserted into the first component 31, or the two can be coaxially connected through a connecting shaft. Set up.
  • the second component 32 is provided outside the first component 31, and the second component 32 can rotate around the first component 31 with the first component 31 as a center.
  • the present invention is not limited to this.
  • the second part 32 can rotate relative to the first part 31 to a first position A, an intermediate position O, and a second position B, so that the first body 10 and the second body 20 are in a folded state Switch between and expanded state.
  • the second part 32 rotates from the intermediate position O relative to the first part 31 In the process of reaching the first position A, the second body 20 can rotate clockwise from the intermediate position O to the unfolded state. In addition, during the process in which the second member 32 rotates from the intermediate position O to the second position B relative to the first member 31, the second body 20 can be rotated counterclockwise from the intermediate position O to the folded state.
  • the damping assembly 301 includes a first damping part 301a and a second damping part 301b.
  • the two components 32 rotate from the intermediate position O to the first position A, and the second damping portion 301b is used to prevent the second component 32 from rotating from the intermediate position O to the second position B.
  • the damping assembly 301 can effectively reduce the unfolding speed and the folding speed of the foldable device, which improves the operational safety to a certain extent.
  • the rate of change of the first rotational damping provided by the first damping portion 301a and the second rotational damping provided by the second damping portion 301b are different.
  • the unfolding speed and the folding speed of the foldable device can be made different to meet individual requirements.
  • the change of the first rotation damping may be that the damping changes from large to small, or from small to large, which is not limited in this embodiment.
  • the foldable device provided by the embodiment of the present invention can effectively reduce the unfolding and folding speed due to the damping component, solve the problem of gripping hands to a certain extent, and ensure safe use. Moreover, when switching between the folded state and the unfolded state, The corresponding damping change rate is different, therefore, the expansion speed and the folding speed can be different to meet individual needs.
  • this embodiment will further explain on the basis of the first embodiment.
  • the first damping portion 301a and the second damping portion 301b can be reasonably designed so that the rate of change of the first rotational damping provided by the first damping portion 301a can be greater than the second damping portion provided by the second damping portion 301a.
  • the first damping portion 301a and the second damping portion 301b can be reasonably designed so that the first rotation damping provided by the first damping portion 301a is effective
  • the rate of change may be less than the rate of change of the second rotational damping provided by the second damping portion 301a. It can also realize the fast unfolding and slow folding of the foldable device.
  • the unfolding speed of the foldable device may be lower than the folding speed of the foldable device, that is, to achieve the effects of fast folding and slow unfolding.
  • the first damping portion 301a and the second damping portion 301b can specifically design the first damping portion 301a and the second damping portion 301b to achieve the desired purpose, which is not repeated in this embodiment.
  • This embodiment provides a specific structure of the damping component 301 based on the first or second embodiment.
  • the first damping part 301a and the second damping part 301b of the damping component 301 of this embodiment Located on the first component 31, the second component 32 includes a topping device 321 for abutting contact with the first damping portion 301a and the second damping portion 301b.
  • the abutting device 321 abuts against the first damping portion 301a to generate a first rotation damping, and the abutting device 321 and the second damping portion 301b abut to generate a second rotation damping.
  • the second body 20 rotates relative to the first body 10, and the second part 32 rotates relative to the first part 31, so that the abutting device 321 on the second part 32 and the first part A damping portion 301a is in abutting contact or abutting device 321 is in abutting contact with the second damping portion 301b.
  • the first damping part 301a, the second damping part 301b and the topping device 321 are pressed against, and a certain frictional resistance is generated between the two, so that the first damping part 301a and the second damping part 301b hinder the topping device 321 together with the second damping part 301b.
  • the rotation of the component 32 slows down the rotation of the second component 32 relative to the first component 31, or in other words, the rotation of the second body 20 relative to the first body 10 slows down, so that the unfolding or folding speed of the foldable device is slowed down and effectively improved The safety of the foldable device.
  • the abutting device 321 may have elasticity; and/or, the first damping part 301a may have elasticity; and/or, the second damping part 301b may have elasticity.
  • the contact between the abutting device 321 and the first damping portion 301a and/or the second damping portion 301b can be made elastic contact, so that the first member 31 and the second member 32 are in a relative rotation process, thereby making In the process of unfolding or folding, the foldable device can be more stable and gentle, and improve the user experience.
  • the abutting device 321 has elasticity.
  • the abutting device 321 includes an elastic member 3211 and abutting member 3212.
  • the elastic member 3211 is abutting against the abutting member 3212, and the abutting member 3212 is used for contacting the first
  • the damping portion 301a and the second damping portion 301b are in abutting contact.
  • FIG. 7 is a schematic diagram of the state when the second member 32 in the rotating connection assembly is in the intermediate position O according to the embodiment of the present invention; as shown in FIG. 7, when the second member 32 is in the intermediate position, the elastic member 3211 can be in a compressed state
  • Figure 8 is a schematic diagram of a state where the second part of the rotary connection assembly is in the first position A according to an embodiment of the present invention
  • Figure 9 is a state where the second part of the rotary connection assembly is in the second position B according to an embodiment of the present invention Schematic diagram of the state; as shown in Figures 8 and 9, in the process of turning the second member 32 from the intermediate position to the first position A and the second position B, the elastic member 3211 can gradually expand or gradually return to the original from the compressed state Long state.
  • the elastic member 3211 when the second member 32 is in the intermediate position, the elastic member 3211 can be in the original length state or the extended state, and the second member 32 is rotated from the intermediate position to the first position A and the second position B. In this case, the elastic member 3211 can be gradually compressed or gradually restored from the extended state to the original long state.
  • the elastic member 3211 may also be a rubber member or some other elastic members 3211. This embodiment is not particularly limited.
  • the second component 32 may also include a sleeve 322.
  • the abutting device 321 can be accommodated in the sleeve.
  • the abutting device 321 and the sleeve 322 are circumferentially fixed, and the abutting device 321 can be mounted on the sleeve 322.
  • the so-called abutment device 321 and sleeve 322 circumferentially fixed means that the abutment device 321 cannot rotate relative to the sleeve 322 in the circumferential direction.
  • the cross section of the inner side wall of the sleeve 322 may be non-circular, and the shape of the outer side wall of the abutting member 3212 in the abutting device 321 may match the shape of the inner side wall of the sleeve 322.
  • the sleeve The cross section of the inner side wall of the barrel 322 is rectangular, and the shape of the outer side wall of the abutting member 3212 matches the inner side wall of the sleeve 322.
  • the abutting device 321 can also be matched with the inner wall of the sleeve 322 by other structures other than the abutting member 3212 to achieve the purpose of circumferentially fixing the abutting device 321 and the sleeve 322, for example, the sleeve
  • the cross section of the inner side wall of 322 is non-circular, and the end of the abutting device 321 away from the abutting member 3212 matches the inner wall of the sleeve 322.
  • an anti-rotation member is provided on the abutting device 321, for example, a protrusion protruding radially outward is provided on the abutting device 321, and an inner side wall of the sleeve 322 is provided for inserting the protrusion
  • the longitudinal direction of the groove extends in the axial direction parallel to the sleeve 322, and the circumferential positioning of the abutting device 321 and the sleeve 322 is realized through the cooperation of the protrusion and the groove.
  • there are many ways to fix the abutment device 321 and the sleeve 322 in the circumferential direction and those skilled in the art can design it according to the actual situation, and this embodiment does not give an example.
  • the sleeve 322 can be used for fixed connection with the second body 20.
  • the abutting device 321 and the sleeve 322 are circumferentially fixed, so that when the user rotates the sleeve 322, the abutting device 321 is driven to rotate relative to the first component 31, and during the rotation, the abutting device 321 can be relative to the sleeve 322.
  • the sleeve 322 is fixedly connected to the second body 20 in the axial direction. Therefore, during the rotation of the second member 32 relative to the first member 31, the abutting device 321 moves in the axial direction relative to the first member 301b to change the resistance.
  • the second body 20 together with the sleeve 322 only have relative rotation with respect to the first body 10, and the second body 20 will not rotate relative to the first body in the axial direction.
  • the body 10 generates movement.
  • the foldable device provided by the embodiment of the present invention may further include a rotating shaft 323, which passes through the first part 31 and the second part 32, and both ends of the rotating shaft 323 may be respectively provided for connecting the first part 31 and the second part 32 axially fixed axial limiter.
  • a rotating shaft 323 which passes through the first part 31 and the second part 32, and both ends of the rotating shaft 323 may be respectively provided for connecting the first part 31 and the second part 32 axially fixed axial limiter.
  • At least one of the axial limiting members at both ends of the rotating shaft 323 can be detachably connected to the rotating shaft 323.
  • the first axial limiting member 3231a used to axially fix the first component 31 may be non-detachably connected (for example, integrally formed) with the rotating shaft 323, and the second axial stopper 3231a used to axially fix the second component 32
  • the axial limiter 3231b can be detachably connected with the rotating shaft 323, or the other way around, that is, the first axial limiter 3231a is detachably connected with the rotating shaft 323, and the second axial limiter 3231b is not connected with the rotating shaft 323. Detachable connection (for example, integrally formed).
  • first axial limiting member 3231a and the rotating shaft 323, and the second axial limiting member 3231b and the rotating shaft 323 can be detachably connected.
  • first axial limiting member 3231a and the rotating shaft 323 can be detachably connected.
  • the detachable one of the axial limiter 3231a and the second axial limiter 3231b is detached from the shaft 323, and the axial fixation between the first part 31 and the second part 32 is released, so that the first part 31 and the second part 32 are fixed in the axial direction.
  • the component 31 and the second component 32 can be separated, and the first component 31 and the second component 32 can be inspected and repaired, such as cleaning dust and impurities or replacing aging components, etc., to ensure the reliable operation of the first component 31 and the second component 32.
  • the elastic member 3211 may be cylindrical, and the elastic member 3211 may be sleeved outside the rotating shaft 323.
  • the rotating shaft 323 can prevent the elastic member 3211 from deflecting, so that the elastic member 3211 only stretches in the axial direction. .
  • One end of the elastic member 3211 may be fixedly connected or abutted with the sleeve 322, and the other end may be fixedly connected or abutted with the abutting member 3212.
  • the sleeve 322 may have a protective The detachment piece is used to prevent the abutting piece 3212 from falling off the sleeve 322.
  • the first part 31 may include a cam.
  • the cam includes a first cam wall C1 and a second cam wall C2.
  • the first cam wall C1 forms a first cam wall.
  • the damping portion 301a and the second cam wall C2 form a second damping portion 301b. Since the cam has an up-and-down slope, when the second member 32 rotates relative to the first member 31, the abutting device 321 is in contact with the cam. Under the action of the slope of the cam, the elastic member 3211 can expand and contract, and the abutting device The abutment member 3212 of the 321 can be raised and lowered in the axial direction.
  • the height of the abutment member 3212 is different, and the corresponding elastic member 3211 has different elasticity.
  • the damping experience is also different, which is understandable Yes, in the embodiment shown in FIG. 4, the higher the height of the abutting member 3212, the greater the compression of the elastic member 3211, and the greater the corresponding rotational damping.
  • the first cam wall C1 may be a slope
  • the second cam wall C2 may be a slope
  • the slope of the first cam wall C1 is different from the slope of the second cam wall C2.
  • the rate of change of the first rotation damping of the first damping portion 301a and the second rotation damping of the second damping portion 301b can be made Different, so as to achieve the purpose of different unfolding speed and folding speed of the foldable device.
  • the slope of the first cam wall C1 is greater than the slope of the second cam wall C2, so that the effects of rapid expansion and slow folding can be achieved.
  • the first cam wall C1 may be a curved surface
  • the second cam wall C2 is a curved surface
  • the curvature of the first cam wall C1 is different from the curvature of the second cam wall C2.
  • the first rotational damping of the first damping portion 301a and the second rotational damping of the second damping portion 301b can be made The rate of change is different, so as to achieve the purpose of different unfolding speed and folding speed of the foldable device.
  • the curvature of the first cam wall C1 is greater than the curvature of the second cam wall C2.
  • the abutting device 321 slides from the top of the cam to the bottom of the first cam wall C1; the second member 32 rotates from the intermediate position O to the first position A.
  • the abutting device 321 slides from the top of the cam to the bottom of the second cam wall C2.
  • the middle position O is at the top of the cam
  • the second member 32 is at the middle position O
  • the elastic member 3211 is in the largest amount of deformation.
  • the second member 32 under the action of the elastic member 3211, the second member 32 can be maintained in the expanded state, and the second member 32 rotates from the intermediate position O to In the process of the second position B, the abutting device 321 descends, and the elastic potential energy of the elastic member 3211 is gradually released.
  • the elastic member 3211 Under the action, the second component 32 can be maintained in a folded state.
  • the second component 32 is at the intermediate position O, the first position A, and the second position B all refer to the top end of the abutting device 321 of the second component 32 (the top Item 3212) location.
  • the first component 31 may include two cams, and the two cams are arranged symmetrically centered on the axis of the first component 31.
  • the shape of one end of the abutting device 321 used to abut the cam can match the shape formed by the two cams.
  • the abutting device 321 is The one end used for abutting against the cam is in engagement with the two cams.
  • the first body 10 and the second body 20 can be in the most stable state, that is, in the unfolded state, the first body 10 and the second body 20 can be in the most stable state.
  • the relative state of the drone is very stable. For example, in the unfolded state, the arm can be stably maintained in the unfolded state. If the arm needs to be folded, a large external force must be used to overcome the damping component. Resistance can rotate the arm, so that the arm can be better maintained in the unfolded state. During the flight of the unmanned aerial vehicle, the arm is not easy to shake.
  • a damping material such as rubber, silicone, etc.
  • Other elastic limit materials are used to reduce the speed of the unfolding and folding process, and the damping of each part of the damping material is designed to achieve the required damping rate of change of the first damping part 301a and the second damping part 301b.
  • Fig. 10 is a structural schematic diagram 1 of an unmanned aerial vehicle provided by an embodiment of the present invention
  • Fig. 11 is a structural schematic diagram 2 of an unmanned aerial vehicle provided by an embodiment of the present invention
  • the human aircraft includes a fuselage 10a and an arm 20a.
  • the fuselage 10a and the arm 20a are rotatably connected by a rotating connection assembly 30, wherein the rotating connection assembly 30 includes:
  • the first component 31 is fixedly connected to the body 10a.
  • the second part 32 is connected to the first part 31 and fixedly connected to the arm 20a.
  • the first part 31 and the body 10a may be detachably connected, such as screw connection, snap connection, etc., or the first part 31 and the body 10a may be non-detachably connected, such as welding, riveting, Gluing, etc., or alternatively, the first component 31 and the body 10a may be integrally formed, for example, integral injection molding, etc., which is not specifically limited in this embodiment.
  • any of the detachable connection, non-detachable connection, and integral molding can also be adopted between the second component 32 and the arm 20a, which will not be repeated here.
  • the second component 32 and the first component 31 can be coaxially connected.
  • the second component 32 can be sleeved outside the first component 31 or inserted into the first component 31, or the two can be coaxially connected through a connecting shaft. Set up.
  • the second part 32 is provided on the outside of the first part 31, and the second part 32 can rotate around the first part 31 with the first part 31 as the center.
  • the present invention is not limited to this.
  • the second member 32 can rotate relative to the first member 31 to the first position A, the intermediate position O, and the second position B, so that the body 10a and the arm 20a can be switched between the folded state and the unfolded state. .
  • the second part 32 rotates from the intermediate position O to the first part 31 relative to the first part 31.
  • the arm 20a can rotate clockwise from the intermediate position O to the unfolded state.
  • the arm 20a can be rotated counterclockwise from the intermediate position O to the folded state.
  • the damping assembly 301 includes a first damping part 301a and a second damping part 301b.
  • the first damping part 301a is used to hinder the first damping part 301a and the second damping part 301b.
  • the two components 32 rotate from the intermediate position O to the first position A, and the second damping portion 301b is used to prevent the second component 32 from rotating from the intermediate position O to the second position B.
  • the damping assembly 301 can effectively reduce the unfolding speed and the folding speed of the foldable device, which improves the operational safety to a certain extent.
  • the rate of change of the first rotational damping provided by the first damping portion 301a and the second rotational damping provided by the second damping portion 301b are different.
  • the unfolding speed and the folding speed of the foldable device can be made different to meet individual requirements.
  • the change of the first rotation damping may be that the damping changes from large to small, or from small to large, which is not limited in this embodiment.
  • the unfolding and folding speed can be effectively reduced, the problem of gripping hands can be solved to a certain extent, and the safety of use can be ensured, and, When switching between the folded state and the unfolded state, the corresponding damping change rate is different. Therefore, the unfolding speed and the folding speed can be different to meet individual requirements.
  • the first damping part can be reasonably designed 301a and the second damping portion 301b, so that the rate of change of the first rotation damping provided by the first damping portion 301a can be greater than the rate of change of the second rotation damping provided by the second damping portion 301a.
  • the first damping part 301a and the second damping part 301b can be reasonably designed so that the rate of change of the first rotation damping provided by the first damping part 301a can be less than The rate of change of the second rotational damping provided by the second damping portion 301a. It can also realize the fast unfolding and slow folding of the foldable device.
  • the unfolding speed of the foldable device is lower than the folding speed of the foldable device, that is, to achieve the effects of fast folding and slow unfolding.
  • Those skilled in the art can specifically design the first damping portion 301a and the second damping portion 301b to achieve the desired purpose, which is not repeated in this embodiment.
  • This embodiment provides a specific structure of the damping component 301 based on the fourth or fifth embodiment.
  • the first damping part 301a and the second damping part 301b of the damping component 301 of this embodiment Located on the first component 31, the second component 32 includes a topping device 321 for abutting contact with the first damping portion 301a and the second damping portion 301b.
  • the abutting device 321 abuts against the first damping portion 301a to generate a first rotation damping, and the abutting device 321 and the second damping portion 301b abut to generate a second rotation damping.
  • the abutting device 321 may have elasticity; and/or, the first damping part 301a may have elasticity; and/or, the second damping part 301b may have elasticity.
  • the abutting device 321 has elasticity.
  • the abutting device 321 includes an elastic member 3211 and abutting member 3212.
  • the elastic member 3211 is abutting against the abutting member 3212, and the abutting member 3212 is used for contacting the first
  • the damping portion 301a and the second damping portion 301b are in abutting contact.
  • the second component 32 may also include a sleeve 322.
  • the abutting device 321 can be accommodated in the sleeve.
  • the abutting device 321 and the sleeve 322 are circumferentially fixed, and the abutting device 321 can be mounted on the sleeve 322.
  • the foldable device provided by the embodiment of the present invention may further include a rotating shaft 323, which passes through the first part 31 and the second part 32, and both ends of the rotating shaft 323 may be respectively provided for connecting the first part 31 and the second part 32 axially fixed axial limiter. At least one of the axial limiting members at both ends of the rotating shaft 323 can be detachably connected with the rotating shaft 323.
  • the first part 31 may include a cam.
  • the cam includes a first cam wall C1 and a second cam wall C2.
  • the first cam wall C1 forms a first cam wall.
  • the damping portion 301a and the second cam wall C2 form a second damping portion 301b.
  • the first cam wall C1 may be a slope
  • the second cam wall C2 may be a slope
  • the slope of the first cam wall C1 is different from the slope of the second cam wall C2.
  • the slope of the first cam wall C1 is greater than the slope of the second cam wall C2.
  • the first cam wall C1 may be a curved surface
  • the second cam wall C2 is a curved surface
  • the curvature of the first cam wall C1 is different from the curvature of the second cam wall C2.
  • the curvature of the first cam wall C1 is greater than the curvature of the second cam wall C2.
  • the abutting device 321 slides from the top of the cam to the bottom of the first cam wall C1; the second member 32 rotates from the intermediate position O to the first position A.
  • the abutting device 321 slides from the top of the cam to the bottom of the second cam wall C2.
  • the first component 31 may include two cams, and the two cams are arranged symmetrically centered on the axis of the first component 31.
  • the shape of the one end of the abutting device 321 used to abut the cam can match the shape formed by the two cams.
  • the abutting device 321 is The one end used for abutting against the cam is in engagement with the two cams.
  • first body is specifically a fuselage
  • second body is specifically a machine arm
  • FIG. 12 is a top view of a handheld pan/tilt provided by an embodiment of the present invention
  • FIG. 13 is a top view of another handheld pan/tilt provided by an embodiment of the present invention
  • FIG. 14 is a side view of a handheld pan/tilt provided by an embodiment of the present invention.
  • this embodiment provides a handheld pan/tilt head, which includes a first shaft arm 10b and a second shaft arm 20b.
  • the first shaft arm 10b and the second shaft arm 20b are rotatable through a rotating connection assembly 30.
  • Ground connection, wherein the rotating connection assembly 30 includes:
  • the first component 31 is fixedly connected to the first shaft arm 10b.
  • the second part 32 is connected to the first part 31 and fixedly connected to the second shaft arm 20b.
  • the first component 31 and the first shaft arm 10b can be detachably connected, such as screw connection, snap connection, etc., or the first component 31 and the first shaft arm 10b can be non-detachably connected, for example Welding, riveting, gluing, etc., or alternatively, the first component 31 and the first shaft arm 10b may be integrally formed, for example, integral injection molding, etc., which is not specifically limited in this embodiment.
  • any one of detachable connection, non-detachable connection, and integral molding can also be adopted between the second component 32 and the second shaft arm 20b, which will not be repeated here.
  • the second component 32 and the first component 31 can be coaxially connected.
  • the second component 32 can be sleeved outside the first component 31 or inserted into the first component 31, or the two can be coaxially connected through a connecting shaft. Set up.
  • the second component 32 is provided outside the first component 31, and the second component 32 can rotate around the first component 31 with the first component 31 as a center.
  • the present invention is not limited to this.
  • the second member 32 can rotate relative to the first member 31 to a first position A, an intermediate position O, and a second position B, so that the first shaft arm 10b and the second shaft arm 20b are Switch between the collapsed state and the expanded state.
  • the second member 32 is fixedly connected to the second shaft arm 20b, and the second member 32 is in the middle position relative to the first member 31.
  • the second shaft arm 20b can rotate clockwise from the intermediate position O to the unfolded state.
  • the second shaft arm 20b can rotate counterclockwise from the intermediate position O to the folded state.
  • the damping assembly 301 includes a first damping part 301a and a second damping part 301b.
  • the first damping part 301a is used to hinder the first damping part 301a and the second damping part 301b.
  • the two components 32 rotate from the intermediate position O to the first position A, and the second damping portion 301b is used to prevent the second component 32 from rotating from the intermediate position O to the second position B.
  • the damping assembly 301 can effectively reduce the unfolding speed and the folding speed of the foldable device, which improves the operational safety to a certain extent.
  • the rate of change of the first rotational damping provided by the first damping portion 301a and the second rotational damping provided by the second damping portion 301b are different.
  • the unfolding speed and the folding speed of the foldable device can be made different to meet individual requirements.
  • the change of the first rotation damping may be that the damping changes from large to small, or from small to large, which is not limited in this embodiment.
  • the damping assembly is provided in the rotating connection assembly of the first axis arm and the second axis arm, the unfolding and folding speed can be effectively reduced, the problem of gripping hands can be solved to a certain extent, and the use can be guaranteed. It is safe, and when switching between the folded state and the unfolded state, the corresponding damping change rate is different. Therefore, the unfolding speed and the folding speed can be different to meet individual needs.
  • This embodiment is further described on the basis of the seventh embodiment. Specifically, in this embodiment, as shown in FIG. 12, when the second component 32 is at the first position A relative to the first component 31, the first The shaft arm 10b and the second shaft arm 20b are in an unfolded state; when the second member 32 is in the second position B relative to the first member 31, and the first shaft arm 10b and the second shaft arm 20b are in a folded state, it can be reasonable
  • the first damping portion 301a and the second damping portion 301b are designed so that the rate of change of the first rotational damping provided by the first damping portion 301a can be greater than the rate of change of the second rotational damping provided by the second damping portion 301a.
  • the first damping part 301a and the second damping part 301b can be rationally designed so that the first damping part 301a provides the first damping part 301a and 301b.
  • the rate of change of a rotational damping may be less than the rate of change of the second rotational damping provided by the second damping portion 301a. It can also realize the fast unfolding and slow folding of the foldable device.
  • the unfolding speed of the foldable device may be lower than the folding speed of the foldable device, that is, to achieve the effects of fast folding and slow unfolding.
  • the first damping portion 301a and the second damping portion 301b can specifically design the first damping portion 301a and the second damping portion 301b to achieve the desired purpose, which is not repeated in this embodiment.
  • This embodiment provides a specific structure of the damping component 301 based on the seventh or eighth embodiment.
  • the first damping part 301a and the second damping part 301b of the damping component 301 of this embodiment Located on the first component 31, the second component 32 includes a topping device 321 for abutting contact with the first damping portion 301a and the second damping portion 301b.
  • the abutting device 321 abuts against the first damping portion 301a to generate a first rotation damping, and the abutting device 321 and the second damping portion 301b abut to generate a second rotation damping.
  • the abutting device 321 may have elasticity; and/or, the first damping part 301a may have elasticity; and/or, the second damping part 301b may have elasticity.
  • the abutting device 321 has elasticity.
  • the abutting device 321 includes an elastic member 3211 and a abutting member 3212.
  • the elastic member 3211 is abutting against the abutting member 3212, and the abutting member 3212 is used for contacting the first
  • the damping portion 301a and the second damping portion 301b are in abutting contact.
  • the second component 32 may also include a sleeve 322.
  • the abutting device 321 can be accommodated in the sleeve.
  • the abutting device 321 and the sleeve 322 are circumferentially fixed, and the abutting device 321 can be mounted on the sleeve 322.
  • the foldable device provided by the embodiment of the present invention may further include a rotating shaft 323, which passes through the first part 31 and the second part 32, and both ends of the rotating shaft 323 may be respectively provided for connecting the first part 31 and the second part 32 axially fixed axial limiter. At least one of the axial limiting members at both ends of the rotating shaft 323 can be detachably connected to the rotating shaft 323.
  • the first part 31 may include a cam.
  • the cam includes a first cam wall C1 and a second cam wall C2.
  • the first cam wall C1 forms a first cam wall.
  • the damping portion 301a and the second cam wall C2 form a second damping portion 301b.
  • the first cam wall C1 may be a slope
  • the second cam wall C2 may be a slope
  • the slope of the first cam wall C1 is different from the slope of the second cam wall C2.
  • the slope of the first cam wall C1 is greater than the slope of the second cam wall C2.
  • the first cam wall C1 may be a curved surface
  • the second cam wall C2 is a curved surface
  • the curvature of the first cam wall C1 is different from the curvature of the second cam wall C2.
  • the curvature of the first cam wall C1 is greater than the curvature of the second cam wall C2.
  • the abutting device 321 slides from the top of the cam to the bottom of the first cam wall C1; the second member 32 rotates from the intermediate position O to the first position A.
  • the abutting device 321 slides from the top of the cam to the bottom of the second cam wall C2.
  • the first component 31 may include two cams, and the two cams are arranged symmetrically centered on the axis of the first component 31.
  • the shape of one end of the abutting device 321 used to abut the cam can match the shape formed by the two cams.
  • the abutting device 321 is The one end used for abutting against the cam is in engagement with the two cams.
  • first body is specifically a first shaft arm
  • second body is specifically a second shaft arm
  • an embodiment of the present invention also provides a rotating connection assembly 30, which includes: a first part 31 and a second part 32.
  • the second component 32 is connected to the first component 31; specifically, the first component 31 and the second component 32 can be coaxially connected, for example, the second component 32 can be sleeved outside the first component 31 or inserted into the first component 31. In one part 31, or both are coaxially sleeved through a connecting shaft. Or, in some embodiments, the second component 32 is provided outside the first component 31, and the second component 32 can rotate around the first component 31 with the first component 31 as a center.
  • the present invention is not limited to this.
  • the second member 32 can rotate to the first position A, the intermediate position O, and the second position B relative to the first member 31.
  • the first part 31 can be used to be fixedly connected to the first body, and the second part 32 is used to be fixedly connected to the second body, so that the first body and the second body can be relatively rotated to the folded state and the unfolded state.
  • the first body 10 and the second body 20 can be driven to switch between the folded state and the unfolded state.
  • the first component 31 can be connected to the first body 10, and the second component 32 can be connected to the second body 20.
  • the first body 10 and the second body 20 are in an unfolded state; when the second member 32 is at the second position B relative to the first member 31, the first body 10 and the second body 20 are in a folded state.
  • the second part 32 rotates from the intermediate position O relative to the first part 31 In the process of reaching the first position A, the second body 20 can rotate clockwise from the intermediate position O to the unfolded state. In addition, during the process in which the second member 32 is rotated from the intermediate position O to the second position B relative to the first member 31, the second body 20 can be rotated counterclockwise from the intermediate position O to the folded state.
  • the second part 32 when the second part 32 is in the first position A relative to the first part 31, the first body 10 and the second body 20 are in a folded state; the second part 32 When in the second position B relative to the first component 31, the first body 10 and the second body 20 are in an unfolded state. As long as it can be realized that during the rotation of the second component 32 relative to the first component 31, the second body 20 is driven to rotate relative to the first body 10 to switch between the folded state and the unfolded state.
  • the damping assembly 301 includes a first damping part 301a and a second damping part 301b.
  • the first damping part 301a is used to hinder the first damping part 301a and the second damping part 301b.
  • the two components 32 rotate from the intermediate position O to the first position A, and the second damping portion 301b is used to prevent the second component 32 from rotating from the intermediate position O to the second position B.
  • the damping assembly 301 can effectively reduce the unfolding speed and the folding speed of the foldable device, which improves the operational safety to a certain extent.
  • the rate of change of the first rotational damping provided by the first damping portion 301a and the second rotational damping provided by the second damping portion 301b are different. Therefore, the unfolding speed and the folding speed of the foldable device connected with the rotating connection assembly can be made different, so as to meet individual requirements. It should be noted that the change of the first rotation damping may be that the damping changes from large to small, or from small to large, which is not limited in this embodiment.
  • the rotary connection assembly due to the damping assembly, when in use, the rotary connection assembly is connected with the foldable device composed of the first body and the second body, which can effectively reduce the unfolding and folding speed of the foldable device. To a certain extent, solve the problem of gripping hands and ensure safe use. Moreover, when switching between the folded state and the unfolded state, the corresponding damping change rate is different. Therefore, the unfolding speed and the folding speed can be different to meet individual needs. .
  • the first damping portion 301a and the second damping portion 301b can be reasonably designed so that the first rotation damping provided by the first damping portion 301a is effective
  • the rate of change may be less than the rate of change of the second rotational damping provided by the second damping portion 301a. It can also realize the fast unfolding and slow folding of the foldable device.
  • the unfolding speed of the foldable device may be lower than the folding speed of the foldable device, that is, to achieve the effects of fast folding and slow unfolding.
  • the first damping portion 301a and the second damping portion 301b can specifically design the first damping portion 301a and the second damping portion 301b to achieve the desired purpose, which is not repeated in this embodiment.
  • This embodiment provides a specific structure of the damping assembly 301 based on the ninth or tenth embodiment.
  • the first damping part 301a and the second damping part 301b of the damping assembly 301 of this embodiment Located on the first component 31, the second component 32 includes a topping device 321 for abutting contact with the first damping portion 301a and the second damping portion 301b.
  • the abutting device 321 abuts against the first damping portion 301a to generate a first rotation damping, and the abutting device 321 and the second damping portion 301b abut to generate a second rotation damping.
  • the abutting device 321 may have elasticity; and/or, the first damping part 301a may have elasticity; and/or, the second damping part 301b may have elasticity.
  • the abutting device 321 has elasticity.
  • the abutting device 321 includes an elastic member 3211 and abutting member 3212.
  • the elastic member 3211 is abutting against the abutting member 3212, and the abutting member 3212 is used for contacting the first
  • the damping portion 301a and the second damping portion 301b are in abutting contact.
  • the second component 32 may also include a sleeve 322.
  • the abutting device 321 can be accommodated in the sleeve.
  • the abutting device 321 and the sleeve 322 are circumferentially fixed, and the abutting device 321 can be mounted on the sleeve 322.
  • the rotating connection assembly may further include a rotating shaft 323, which passes through the first part 31 and the second part 32, and both ends of the rotating shaft 323 may be respectively provided for connecting the first part 31 and the second part 32 axially fixed axial limiter. At least one of the axial limiting members at both ends of the rotating shaft 323 can be detachably connected to the rotating shaft 323.
  • the first part 31 may include a cam.
  • the cam includes a first cam wall C1 and a second cam wall C2.
  • the first cam wall C1 forms a first cam wall.
  • the damping portion 301a and the second cam wall C2 form a second damping portion 301b.
  • the first cam wall C1 may be a slope
  • the second cam wall C2 may be a slope
  • the slope of the first cam wall C1 is different from the slope of the second cam wall C2.
  • the slope of the first cam wall C1 is greater than the slope of the second cam wall C2.
  • the first cam wall C1 may be a curved surface
  • the second cam wall C2 is a curved surface
  • the curvature of the first cam wall C1 is different from the curvature of the second cam wall C2.
  • the curvature of the first cam wall C1 is greater than the curvature of the second cam wall C2.
  • the abutting device 321 slides from the top of the cam to the bottom of the first cam wall C1; the second member 32 rotates from the intermediate position O to the first position A.
  • the abutting device 321 slides from the top of the cam to the bottom of the second cam wall C2.
  • the first component 31 may include two cams, and the two cams are arranged symmetrically centered on the axis of the first component 31.
  • the shape of one end of the abutting device 321 used to abut the cam can match the shape formed by the two cams.
  • the abutting device 321 is The one end used for abutting against the cam is in engagement with the two cams.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical or mechanical. Or other forms.

Abstract

L'invention concerne un dispositif pliable. Un premier corps (10) et un deuxième corps (20) du dispositif pliable sont reliés de manière rotative au moyen d'un ensemble de liaison rotatif (30). L'ensemble de liaison rotatif (30) comprend : un premier composant (31) relié de manière fixe au premier corps (10), et un deuxième composant (32) relié au premier composant (31) et relié de manière fixe au deuxième corps (20), dans lequel le deuxième composant (32) peut tourner, par rapport au premier composant, jusque sur une première position, une position intermédiaire et une deuxième position, de telle sorte que le premier corps (10) et le deuxième corps (20) permutent entre un état plié et un état déplié ; une première partie d'amortissement (301a) et une deuxième partie d'amortissement (301b) sont agencées entre le premier composant (31) et le deuxième composant (32), la première partie d'amortissement (301a) est utilisée pour empêcher le deuxième composant (32) de tourner pour passer de la position intermédiaire jusque sur la première position, et la deuxième partie d'amortissement (301b) est utilisée pour empêcher le deuxième composant (32) de tourner pour passer de la position intermédiaire jusque sur la deuxième position ; et le premier amortissement de rotation de la première partie d'amortissement (301a) et le deuxième amortissement de rotation de la deuxième partie d'amortissement (301b) ont différentes vitesses de changement. L'invention concerne en outre un véhicule aérien sans pilote et un cardan portatif.
PCT/CN2019/130489 2019-12-31 2019-12-31 Dispositif pliable, véhicule aérien sans pilote et cardan portatif WO2021134472A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2019/130489 WO2021134472A1 (fr) 2019-12-31 2019-12-31 Dispositif pliable, véhicule aérien sans pilote et cardan portatif
CN201980053857.0A CN112638765A (zh) 2019-12-31 2019-12-31 可折叠设备、无人飞行器及手持云台

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Application Number Priority Date Filing Date Title
PCT/CN2019/130489 WO2021134472A1 (fr) 2019-12-31 2019-12-31 Dispositif pliable, véhicule aérien sans pilote et cardan portatif

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