WO2021143449A1 - 无人机脚架及无人机 - Google Patents

无人机脚架及无人机 Download PDF

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Publication number
WO2021143449A1
WO2021143449A1 PCT/CN2020/137323 CN2020137323W WO2021143449A1 WO 2021143449 A1 WO2021143449 A1 WO 2021143449A1 CN 2020137323 W CN2020137323 W CN 2020137323W WO 2021143449 A1 WO2021143449 A1 WO 2021143449A1
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WO
WIPO (PCT)
Prior art keywords
mounting plate
main body
weight
drone
cavity
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PCT/CN2020/137323
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English (en)
French (fr)
Inventor
高焓
Original Assignee
深圳市道通智能航空技术股份有限公司
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Application filed by 深圳市道通智能航空技术股份有限公司 filed Critical 深圳市道通智能航空技术股份有限公司
Publication of WO2021143449A1 publication Critical patent/WO2021143449A1/zh
Priority to US17/812,949 priority Critical patent/US11858618B2/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/06—Undercarriages fixed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/30—Undercarriages detachable from the body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs
    • 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
    • B64C1/36—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like adapted to receive antennas or radomes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B64C2025/325—Alighting gear characterised by elements which contact the ground or similar surface  specially adapted for helicopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/04—Arrangement or disposition on aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/70—Constructional aspects of the UAV body
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/40—Weight reduction

Definitions

  • the embodiments of the utility model relate to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle tripod and an unmanned aerial vehicle.
  • UAV is a kind of unmanned aerial vehicle operated by radio remote control equipment and self-provided program control device.
  • UAV technology has matured for civilian use. More and more users use the drone equipped with image acquisition device.
  • the man-machine takes pictures or photography. Understandably, the popularity of drones has greatly facilitated people's lives and work.
  • drones include a fuselage, several arms mounted on the fuselage, and motors, propellers, and drone tripods respectively mounted on the arms.
  • the drone drives the propeller to rotate through the motor to achieve flight.
  • the UAV tripod supports the ground to support the UAV during landing.
  • the inventor of the utility model discovered in the process of realizing the utility model that during the flight of the drone, the high-speed rotation of the propeller will bring periodic vibration, when the frequency of the vibration is close to the resonance frequency of the drone's tripod.
  • the UAV tripod is very easy to resonate with the propeller; the amplitude of the resonance can reach more than 10mm.
  • the amplitude of the vibration at a vibration frequency of several hundred Hertz will cause great damage to the UAV, and it will not only affect the unmanned
  • the normal flight of the drone will cause the gimbal and other functional components to not work normally, and will also cause damage to the structure of the drone's tripod.
  • the embodiments of the utility model aim to provide an unmanned aerial vehicle tripod and an unmanned aerial vehicle, so as to solve the technical problem that the propeller and the unmanned aerial vehicle tripod are prone to resonance during the flight of the unmanned aerial vehicle.
  • An unmanned aerial vehicle tripod includes a main body, a mounting plate, and a supporting structure.
  • One end of the main body is provided with a weight-reducing cavity, and one end of the main body provided with the weight-reducing cavity extends outward to form the mounting plate, so
  • the supporting structure is fixed to the main body, and the supporting structure at least partially extends into the weight-reducing cavity and is connected to the inner wall of the weight-reducing cavity, so as to increase the rigidity of the main body.
  • the support structure includes a first reinforcement rib, the first reinforcement rib is received in the weight reduction cavity, and along a direction parallel to the radial direction of the weight reduction cavity, the first reinforcement rib Two ends of a reinforcing rib are respectively connected to the inner wall of the weight-reducing cavity, and along the axial direction of the weight-reducing cavity, the first reinforcing rib extends from an end close to the mounting plate to an end facing away from the mounting plate .
  • the supporting structure further includes a second reinforcing rib, the second reinforcing rib is accommodated in the weight reduction cavity, and along a direction parallel to the radial direction of the weight reduction cavity, the Both ends of the second reinforcing rib are respectively connected to the inner wall of the weight reduction cavity, and along the axial direction of the weight reduction cavity, the second reinforcement rib extends from the end close to the mounting plate to the end away from the mounting plate extend.
  • the second reinforcing rib is arranged orthogonally to the first reinforcing rib, or the second reinforcing rib is arranged parallel to the first reinforcing rib.
  • the supporting structure includes a resisting portion and a connecting portion, the resisting portion is ring-shaped, and the resisting portion at least partially extends into the weight-reducing cavity and interacts with the weight-reducing cavity.
  • the inner wall of the cavity is attached to the inner wall of the cavity, one end of the holding portion close to the mounting board extends outward to form the connecting portion, and the connecting portion is fixed to the mounting board.
  • the material of the support structure is metal.
  • the support structure is detachably fixed to the mounting plate
  • the supporting structure is used as an insert to be injection molded together with the main body and the mounting plate.
  • the protective wall is ring-shaped, one end of the protective wall is connected to the mounting plate, and the other end of the protective wall extends to an end away from the main body.
  • An unmanned aerial vehicle includes a fuselage and an arm mounted on the fuselage, and further includes the above-mentioned drone tripod, and the drone tripod is installed on the arm through the mounting plate.
  • the drone further includes a positioning module, the positioning module includes a matching boss and a groove, one of the boss and the groove is provided in the The mounting plate is close to one end of the arm, and the other of the boss and the groove is provided at the end of the arm close to the mounting plate.
  • the drone tripod provided by the embodiment of the utility model includes a main body, a mounting plate, and a supporting structure.
  • One end of the main body is provided with a weight reduction cavity, and one end of the main body with the weight reduction cavity extends outward to form a mounting plate, the supporting structure and the main body It is fixed and the supporting structure at least partially extends into the weight-reducing cavity and is connected with the inner wall of the weight-reducing cavity to increase the rigidity of the main body.
  • Figure 1 is an exploded schematic diagram of a drone provided by one of the embodiments of the utility model
  • Fig. 2 is a partial enlarged schematic diagram of A in Fig. 1;
  • Fig. 3 is a schematic sectional view of the UAV tripod in Fig. 1 in one direction;
  • Fig. 4 is a schematic cross-sectional view in one direction of a drone tripod provided by another embodiment of the present invention.
  • the "installation” includes welding, screwing, clamping, bonding, etc. to fix or restrict a certain element or device to a specific position or place, and the element or device can be held in a specific position or place. It can also move within a limited range without moving, and the element or device can be disassembled or cannot be disassembled after being fixed or restricted to a specific position or place, which is not limited in the embodiment of the present invention.
  • the UAV includes a fuselage 100 and an arm 200 , Power assembly 300 and UAV tripod (hereinafter referred to as tripod) 400.
  • one end of the arm 200 is fixed to the fuselage 100, and the other end extends to an end away from the fuselage 100.
  • the power assembly 300 is fixed on the top of the arm 200 at an end away from the fuselage 100.
  • the tripod 400 is fixed to the bottom of the arm 200 at an end away from the fuselage 100.
  • FIG. 1 includes a motor 310 and a propeller 320.
  • the top of the arm 200 away from the fuselage 100 is provided with a first installation slot, and the motor 310 is installed in the first installation slot.
  • the propeller 320 is connected to the output end of the motor 310, and it can rotate under the drive of the motor 310, so as to provide the flying power for the drone.
  • FIG. 3 shows a schematic cross-sectional view of one direction of the tripod 400 provided by one embodiment of the present invention.
  • FIGS. 1 and 2 which includes a main body 410 and a mounting plate. 420 and a supporting structure 430.
  • One end of the main body 410 is connected to the bottom of the end of the arm 200 away from the fuselage 100, and the other end extends to the end away from the top of the arm 200.
  • An end of the main body 410 close to the machine arm 200 is provided with a weight reduction cavity 411, and the weight reduction cavity 411 extends from an end close to the machine arm 200 to a direction away from the machine arm 200.
  • One end of the main body 410 provided with a weight reduction cavity 411 extends radially outward to form a mounting plate 420, and is connected to the arm 200 through the mounting plate 420.
  • the mounting plate 420 is provided with a through connection hole
  • the bottom of the end of the arm 200 away from the fuselage 100 is provided with a matching connection post (not shown) at the corresponding position
  • the end surface of the end of the connection post facing away from the motor 310 is provided.
  • the connecting post is inserted into the above-mentioned connecting hole, the threaded fastener passes through the connecting hole and is threadedly connected with the connecting post, thereby fixing the mounting plate 420 to the arm 200; that is, the main body 410 is connected to the arm 200 through the mounting plate 420 420 fixed indirectly.
  • the supporting structure 430 is fixed to the main body 410 and at least partially extends into the weight-reducing cavity 411 and is connected to the inner wall of the weight-reducing cavity 411 to increase the rigidity of the main body 410.
  • the supporting structure 430 includes a first reinforcing rib 431, and the first reinforcing rib 431 has a strip-shaped structure as a whole and is accommodated in the weight-reducing cavity 411.
  • both ends of the first reinforcement rib 431 are respectively connected to the inner wall of the weight reduction cavity 411; along the axial direction of the weight reduction cavity 411, the first reinforcement rib 431 is close to the mounting plate 420 One end extends toward the end facing away from the mounting plate 420.
  • the supporting structure 430 further includes a second reinforcing rib 432.
  • the second reinforcing rib 432 has a strip-shaped structure as a whole and is accommodated in the weight-reducing cavity 411. Along the direction parallel to the radial direction of the weight reduction cavity 411, both ends of the second reinforcement rib 432 are respectively connected to the inner wall of the weight reduction cavity 411; along the axial direction of the weight reduction cavity 411, the second reinforcement rib 432 is close to the mounting plate 420 One end extends toward the end facing away from the mounting plate 420.
  • the second stiffener 432 and the first stiffener 431 are arranged orthogonally; it is understandable that the positional relationship between the second stiffener 432 and the first stiffener 431 is not specifically limited in the present invention; for example, : In some other embodiments of the present invention, the second reinforcing rib is arranged parallel to the first reinforcing rib.
  • the stand 400 further includes a protective wall 440.
  • the protective wall 440 has a ring structure. Along its axial direction, one end of the protective wall 440 is connected to the edge of the mounting plate 420, and the other end of the protective wall 440 extends to an end away from the main body 410 and abuts against the bottom of the arm 200.
  • the drone further includes a positioning module (not shown).
  • the positioning module includes at least one set of matching bosses and grooves, one of the bosses and grooves is provided at one end of the mounting plate 420 close to the bottom of the arm 200, and the other of the bosses and grooves One is provided at one end of the arm 200 close to the mounting plate 420. Then the tripod 400 can be quickly positioned with the arm 200 through the positioning module.
  • the positioning module can also increase the rigidity of the tripod 400 in the circumferential direction while assisting the positioning of the tripod 400.
  • the drone manufacturers on the market overcome the defect of resonance between the drone scaffold and the propeller, they generally use a more rigid composite material as the drone scaffold material (such as adding glass fiber or Carbon fiber polymer material), the resonant frequency of the UAV tripod will increase accordingly, so that the vibration frequency of the propeller will never reach the resonant frequency of the UAV tripod during the process from starting to smooth rotation. Avoid the drawbacks of the drone's tripod and propeller resonance.
  • the UAV tripod made of this material has high rigidity, the brittleness of the UAV tripod also increases. Therefore, the UAV tripod is in the process of landing or falling. The possibility of damage also increases.
  • the drone provided in this embodiment includes a fuselage 100, an arm 200, a power assembly 300, and a tripod 400.
  • the tripod 400 includes a main body 410, a mounting plate 420, and a supporting structure 430.
  • One end of the main body is provided with a weight-reducing cavity 411, and one end of the main body 410 provided with a weight-reducing cavity 411 extends outward to form a mounting plate 420.
  • the supporting structure 430 and the main body 410 is fixed, and the supporting structure 430 at least partially extends into the weight-reducing cavity 411 and is connected to an end of the inner wall of the weight-reducing cavity 411 close to the mounting plate 420, so that the rigidity of the main body 410 is increased.
  • the resonance frequency of the drone tripod provided by the present invention becomes higher, so the drone provided by the present invention can avoid the hidden danger of resonance between the propeller and the drone tripod.
  • FIG. 4 shows a drone tripod (hereinafter referred to as a tripod) 500 provided by another embodiment of the present invention.
  • a tripod 500 provided by another embodiment of the present invention.
  • FIGS. 1 to 3 which is the same as the tripod in the previous embodiment
  • the main differences of 400 are:
  • the supporting structure 430 in the tripod 400 includes a first reinforcing rib 431 and a second reinforcing rib 432.
  • first reinforcing rib 431 and the second reinforcing rib 432 The two ends of the bracket are respectively connected to the inner wall of the weight-reducing cavity 411 to strengthen the torsional rigidity of the main body 410, thereby increasing the rigidity of the tripod 400;
  • the supporting structure 530 in the tripod 500 in the second embodiment does not include the aforementioned first and second reinforcing ribs, but includes a ring-shaped abutting portion 531 that is attached to the inner wall of the weight reduction cavity and passes through The abutment of the abutting portion 531 and the inner wall of the weight-reducing cavity strengthens the rigidity of the main body 510, thereby increasing the overall rigidity of the tripod 500.
  • the tripod 500 includes a main body 510, a mounting plate 520, a supporting structure 530, and a protective wall 540.
  • the supporting structure 530 is an inner lining structure, which includes a resisting portion 531, a connecting portion 532 and a resisting portion 533.
  • the resisting portion 531 has an annular structure as a whole, and at least a part of it extends into the weight-reducing cavity 411 and is attached to the inner wall of the weight-reducing cavity 411.
  • An end of the resisting portion 531 close to the mounting board 520 extends outward to form a connecting portion 532, and the connecting portion 532 is carried on the mounting board 520.
  • the abutting portion 533 has a ring-shaped structure as a whole.
  • One end of the abutting portion 533 is connected to the connecting portion 532 along its axial direction, and the other end extends to an end away from the connecting portion 532 and is attached to the inner wall of the protective wall 540.
  • the material of the support structure 530 is metal to ensure the rigidity of the support structure 530 itself, thereby providing the rigidity of the tripod 500.
  • the supporting structure 530 is fixed to the mounting plate 520 by a fixing member 550 whose shape is adapted to it.
  • the fixing member 550 includes a resisting section, a connecting section, and a resisting section.
  • the resisting section is a ring structure, which at least partially extends into the inner hole formed by the resisting portion 531 and is attached to the inner wall of the resisting portion 531.
  • One end of the resisting section close to the mounting plate 520 extends radially outward to form the connecting section, and the connecting section is carried on the connecting portion 532.
  • the abutting section is a ring-shaped structure as a whole.
  • the fixing member 550 and the mounting plate 520 are fixed by threaded fasteners or other detachable connection methods, so that the supporting structure 530 is firmly mounted on the mounting plate 520. It is understandable that in the above-mentioned embodiment, the supporting structure 530 is detachably fixed to the mounting plate 520, but the present invention is not limited to this; for example, in some other embodiments of the present invention, The supporting structure is used as an insert to be injection molded together with the main body, the mounting plate and the protective wall.
  • the fixing member 550 may be omitted, and the supporting structure 530 is directly fixed to the mounting plate by threaded fasteners or other detachable connection methods.
  • the specific form of the support structure is not limited to the structural form provided in the above two embodiments, it can also be other forms, as long as it at least partially extends into the weight-reducing cavity and is connected to the inner wall of the weight-reducing cavity, and can It is enough to increase the rigidity of the main body of the UAV tripod, and then increase the rigidity of the UAV tripod.
  • the above-mentioned antenna can also be changed according to the specific structure of the supporting structure.

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

Abstract

一种无人机脚架（400）及无人机。该无人机脚架（400），包括主体（410）、安装板（420）以及支撑结构（430），主体（410）的一端设有减重腔（411），主体（410）设有减重腔（411）的一端向外延伸形成安装板（420），支撑结构（430）与主体（410）固定，且支撑结构（430）至少部分伸入减重腔（411）并与减重腔（411）的内壁连接，以使主体（410）的刚性增大。通过上述设置，无人机脚架（400）的刚性整体增强，其谐振频率相应提高；则在螺旋桨的震动频率不变的情况下，螺旋桨自启动至平稳转动的过程中始终不能达到无人机脚架（400）的谐振频率，能够避免螺旋桨与无人机脚架（400）共振的隐患。

Description

无人机脚架及无人机
本申请要求于2020年1月17日提交中国专利局、申请号为202020116963.9、申请名称为“无人机脚架及无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
【技术领域】
本实用新型实施例涉及无人机技术领域，尤其涉及一种无人机脚架及无人机。
【背景技术】
无人机是一种利用无线电遥控设备和自备的程序控制装置操纵的非载人飞行器，目前，无人机技术已经成熟的民用化，愈来愈多的用户通过搭载有图像获取装置的无人机进行拍照或者摄影。可以理解的，无人机的普及极大地方便了人们的生活与工作。一般地，无人机包括机身、安装于机身的若干个机臂，以及分别安装于机臂的电机、螺旋桨与无人机脚架，无人机通过电机驱动螺旋桨转动从而实现飞行，通过无人机脚架与地面的抵持从而实现降落时对无人机的支撑。
本实用新型的发明人在实现本实用新型的过程中发现：在无人机飞行的过程中，螺旋桨的高速旋转会带来周期性的振动，当振动的频率接近无人机脚架的谐振频率时，无人机脚架极易与螺旋桨发生共振现象；共振的幅值最高可以达到10mm以上，该振幅在几百赫兹的振动频率下对无人机的损害是巨大的，其不仅影响无人机的正常飞行，造成云台及其他功能部件不能正常工作，还会对无人机脚架的结构造成损伤。
【实用新型内容】
本实用新型实施例旨在提供一种无人机脚架及无人机，以解决无人机飞行过程中螺旋桨与无人机脚架极易发生共振的技术问题。
本实用新型实施例解决其技术问题采用以下技术方案：
一种无人机脚架，包括主体、安装板以及支撑结构，所述主体的一端设有减重腔，所述主体设有所述减重腔的一端向外延伸形成所述安装板，所述支撑结构与所述主体固定，且所述支撑结构至少部分伸入所述减重腔并与所述减重腔的内壁连接，以使所述主体的刚性增大。
作为上述技术方案的进一步改进方案，所述支撑结构包括第一加强筋，所述第一加强筋收容于所述减重腔，沿平行于所述减重腔的径向的方向，所述第一加强筋的两端分别与所述减重腔的内壁连接，沿所述减重腔的轴向，所述第一加强筋自靠近所述安装板的一端向背离所述安装板的一端延伸。
作为上述技术方案的进一步改进方案，所述支撑结构还包括第二加强筋，所述第二加强筋收容于所述减重腔，沿平行于所述减重腔的径向的方向，所述第二加强筋的两端分别与所述减重腔的内壁连接，沿所述减重腔的轴向，所述第二加强筋自靠近所述安装板的一端向背离所述安装板的一端延伸。
作为上述技术方案的进一步改进方案，所述第二加强筋与所述第一加强筋正交设置，或者所述第二加强筋与所述第一加强筋平行设置。
作为上述技术方案的进一步改进方案，所述支撑结构包括抵持部与连接部，所述抵持部呈环状，所述抵持部至少部分伸入所述减重腔并与所述减重腔的内壁贴合，所述抵持部靠近所述安装板的一端向外延伸形成所述连接部，所述连接部固定于所述安装板。
作为上述技术方案的进一步改进方案，所述支撑结构的材料为金属。
作为上述技术方案的进一步改进方案，所述支撑结构以可拆卸地方式固定于所述安装板；
或者，所述支撑结构作为嵌件与所述主体、所述安装板一同注塑成型。
作为上述技术方案的进一步改进方案，还包括防护壁，防护壁为环状， 所述防护壁的一端与所述安装板连接，所述防护壁的另一端向远离所述主体的一端延伸。
本实用新型实施例解决其技术问题还采用以下技术方案：
一种无人机，包括机身以及安装于机身的机臂，还包括上述的无人机脚架，所述无人机脚架通过所述安装板安装于所述机臂。
作为上述技术方案的进一步改进方案，所述无人机还包括定位模块，所述定位模块包括相适配的凸台与凹槽，所述凸台与所述凹槽中的一个设于所述安装板靠近所述机臂的一端，所述凸台与所述凹槽中的另一个设于所述机臂靠近所述安装板的一端。
本实用新型的有益效果是：
本实用新型实施例提供的无人机脚架，包括主体、安装板以及支撑结构，主体的一端设有减重腔，主体设有减重腔的一端向外延伸形成安装板，支撑结构与主体固定，且支撑结构至少部分伸入减重腔并与减重腔的内壁连接，以使主体的刚性增大。通过上述设置，无人机脚架的刚性整体增强，其谐振频率相应提高；则在螺旋桨的震动频率不变的情况下，螺旋桨自启动至平稳转动的过程中始终不能达到无人机脚架的谐振频率，故本实用新型提供的无人机脚架能够避免螺旋桨与无人机脚架共振的隐患。
【附图说明】
一个或多个实施例通过与之对应的附图进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本实用新型其中一实施例提供的无人机的分解示意图；
图2为图1中A处的局部放大示意图；
图3为图1中无人机脚架的一个方向的剖切示意图；
图4为本实用新型其中另一实施例提供的无人机脚架的一个方向的剖切示意图。
【具体实施方式】
为了便于理解本实用新型，下面结合附图和具体实施例，对本实用新型进行更详细的说明。需要说明的是，当元件被表述“固定于”/“固接于”/“安装于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”、“内”、“外”以及类似的表述只是为了说明的目的。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本实用新型的技术领域的技术人员通常理解的含义相同。在本实用新型的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本实用新型。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本实用新型不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
在本说明书中，所述“安装”包括焊接、螺接、卡接、粘合等方式将某一元件或装置固定或限制于特定位置或地方，所述元件或装置可在特定位置或地方保持不动也可在限定范围内活动，所述元件或装置固定或限制于特定位置或地方后可进行拆卸也可不能进行拆卸，在本实用新型实施例中不作限制。
请一并参阅图1及图2，其分别示出了本实用新型其中一实施例提供的无人机的分解示意图以及A处的局部放大示意图，该无人机包括机身100、机臂200、动力组件300以及无人机脚架(以下简称脚架)400。其中，机臂200的一端固定于机身100，另一端向远离机身100的一端延伸。动力组件300固定于机臂200远离机身100一端的顶部。脚架400固定于机臂200远离机身100一端的底部。
对于上述动力组件300，请参照图1，其包括电机310与螺旋桨320。机臂200远离机身100一端的顶部设有第一安装槽，电机310安装于该第一安装槽。螺旋桨320与电机310的输出端连接，其可在电机310的驱动下转动，从而为无人机提供飞行的动力。
对于上述脚架400，请参照图3，其示出了本实用新型其中一实施例提供脚架400的一个方向的剖切示意图，请同时参照图1及图2，其包括主体410、安装板420以及支撑结构430。其中，主体410的一端与机臂200远离机身100一端的底部连接，另一端向背离机臂200顶部的一端延伸。主体410靠近机臂200的一端设有减重腔411，该减重腔411自靠近机臂200的一端向远离机臂200的方向延伸。主体410设有减重腔411的一端沿径向向外延伸形成安装板420，并通过安装板420与机臂200连接。具体地，安装板420上设有贯通的连接孔，机臂200远离机身100一端的底部于对应位置设有相适配的连接柱(未示出)，连接柱背离电机310一端的端面设有螺纹孔，该连接柱插入上述连接孔，螺纹紧固件穿过连接孔并与连接柱螺纹连接，从而将安装板420固定于机臂200；即是：主体410通过安装板420与机臂420间接固定。支撑结构430与主体410固定，且至少部分伸入减重腔411并与减重腔411的内壁连接，以使主体410的刚性增大。
本实施例中，支撑结构430包括第一加强筋431，第一加强筋431整体呈条状结构，且收容于减重腔411。沿平行于减重腔411径向的方向，第一加强筋431的两端分别与减重腔411的内壁连接；沿减重腔411的轴向，第一加强筋431自靠近安装板420的一端向背离安装板420的一端延伸。
为进一步强化脚架400的刚度，该支撑结构430还包括第二加强筋432。第二加强筋432整体呈条状结构，且收容于减重腔411。沿平行于减重腔411径向的方向，第二加强筋432的两端分别与减重腔411的内壁连接；沿减重腔411的轴向，第二加强筋432自靠近安装板420的一端向背离安装板420的一端延伸。本实施例中，第二加强筋432与第一加强筋431正交设置；可以理解的是，在本实用新型对第二加强筋432与第一加强筋431的位置关系并不作具体限定；例如：本实用新型其他的一些实施例中，第二加强筋与第一加强筋平行设置。
进一步地，为使减重腔411整体呈一密封状态，从而实现天线450的密闭安装，以避免天线450裸露于外部，该脚架400还包括防护壁440。防护壁440呈环状结构，沿其轴向，防护壁440的一端与安装板420的边缘连接，防护壁440的另一端向远离主体410的一端延伸并与机臂200的底部抵接。
再进一步地，为方便脚架400的定位安装，该无人机还包括定位模块(未 示出)。具体地，定位模块包括至少一组相适配的凸台与凹槽，该凸台与凹槽中的一个设于安装板420靠近机臂200底部的一端，该凸台与凹槽中的另一个设于机臂200靠近安装板420的一端。则脚架400可通过该定位模块实现与机臂200的快速定位。此外，定位模块还能够在辅助脚架400定位的同时，增加脚架400沿周向的刚度。
一般地，一物件刚性变大的同时，其谐振频率也将随之增大。利用这一特性，目前市场上的无人机厂商在克服无人机脚架与螺旋桨共振这一缺陷时，一般采用刚度更大的复合材料作为无人机脚架的材料(如加入玻璃纤维或碳纤维的聚合物材料)，则无人机脚架的谐振频率会随之增高，进而使螺旋桨自启动至平稳转动的过程中，其震动频率始终达不到无人机脚架的谐振频率，从而避免无人机脚架与螺旋桨共振的弊端。采用这种材料制作的无人机脚架虽然具有较高的刚度，但同时无人机脚架的脆性也随之增大，因此在无人机降落或者跌落的过程中，无人机脚架受损的可能性亦随之增加。
本实施例提供的无人机包括机身100、机臂200、动力组件300以及脚架400。其中，脚架400包括主体410、安装板420以及支撑结构430，主体的一端设有减重腔411，主体410设有减重腔411的一端向外延伸形成安装板420，支撑结构430与主体410固定，支撑结构430至少部分伸入所述减重腔411并与减重腔411内壁靠近安装板420的一端连接，以使主体410刚性增大。在螺旋桨320的震动频率不变的情况下，本实用新型提供的无人机脚架谐振频率变高，故本实用新型提供的无人机能够避免螺旋桨与无人机脚架共振的隐患。
请参照图4，其示出了本实用新型另一实施例提供的无人机脚架(以下简称脚架)500，请同时结合图1至图3，其与上一实施例中的脚架400的主要不同在于：
第一个实施例中脚架400中的支撑结构430包括第一加强筋431与第二加强筋432，沿平行于减重腔411径向的方向，第一加强筋431与第二加强筋432的两端分别与减重腔411的内壁连接以强化主体410抗扭的刚度，进而使脚架400的刚性增大；
第二实施例中的脚架500中的支撑结构530不包括上述的第一加强筋与第二加强筋，而是包括一与减重腔内壁贴合且呈环形的抵持部531，并通过该 抵持部531与减重腔内壁的贴合从而强化主体510的刚度，进而提升脚架500的整体刚度。
具体地，脚架500包括主体510、安装板520、支撑结构530以及防护壁540。其中，支撑结构530为一内衬结构，其包括抵持部531、连接部532以及抵接部533。抵持部531整体呈一环状结构，其至少部分伸入减重腔411，并与减重腔411的内壁贴合。抵持部531靠近安装板520的一端向外延伸形成连接部532，连接部532承载于安装板520。抵接部533整体呈一环状结构，沿其轴向，其一端与连接部532连接，另一端向远离连接部532的一端延伸并与防护壁540的内壁贴合。优选地，支撑结构530的材料为金属，以确保支撑结构530本身的刚性，进而提供脚架500的刚性。
本实施例中，支撑结构530通过一形状与其相适配的固定件550固定于安装板520。具体的，该固定件550包括抵持段、连接段以及抵接段。其中，抵持段为一环状结构，其至少部分伸入抵持部531形成的内孔，并与抵持部531的内壁贴合。抵持段靠近安装板520的一端沿径向向外延伸形成所述连接段，该连接段承载于连接部532。抵接段整体呈一环状结构，沿其轴向，其一端与连接段的边缘固定，另一端向远离连接段的一端延伸，并与抵接部的内壁贴合。固定件550与安装板520之间通过螺纹紧固件或通过其他可拆卸的连接方式固定，以使支撑结构530牢固地安装于安装板520。可以理解的是，即是上述实施例中，支撑结构530是以可拆卸的方式固定于安装板520，但本实用新型并不局限于此；例如：在本实用新型其他的一些实施例中，支撑结构作为嵌件与主体、安装板、防护壁一同注塑成型。
可以理解的是，在某些情况下，固定件550是可以省略的，支撑结构530直接通过螺纹紧固件或其他可拆卸的连接方式固定于安装板。此外，应当理解，支撑结构的具体形式并不局限于上述两实施例中提供的结构形式，其还可以是其他形式，只要其至少部分伸入减重腔与减重腔的内壁连接，并能够增大无人机脚架主体的刚度，进而增大无人机脚架的刚度即可。相应地，上述天线亦可以随支撑结构的具体结构变化而做出相应改变。
最后应说明的是：以上实施例仅用以说明本实用新型的技术方案，而非对其限制；在本实用新型的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本实 用新型的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本实用新型进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本实用新型各实施例技术方案的范围。

Claims (10)

  1. 一种无人机脚架，其特征在于，包括主体、安装板以及支撑结构，所述主体的一端设有减重腔，所述主体设有所述减重腔的一端向外延伸形成所述安装板，所述支撑结构与所述主体固定，且所述支撑结构至少部分伸入所述减重腔并与所述减重腔的内壁连接，以使所述主体的刚性增大。
  2. 根据权利要求1所述的无人机脚架，其特征在于，所述支撑结构包括第一加强筋，所述第一加强筋收容于所述减重腔，沿平行于所述减重腔的径向的方向，所述第一加强筋的两端分别与所述减重腔的内壁连接，沿所述减重腔的轴向，所述第一加强筋自靠近所述安装板的一端向背离所述安装板的一端延伸。
  3. 根据权利要求2所述的无人机脚架，其特征在于，所述支撑结构还包括第二加强筋，所述第二加强筋收容于所述减重腔，沿平行于所述减重腔的径向的方向，所述第二加强筋的两端分别与所述减重腔的内壁连接，沿所述减重腔的轴向，所述第二加强筋自靠近所述安装板的一端向背离所述安装板的一端延伸。
  4. 根据权利要求3所述的无人机脚架，其特征在于，所述第二加强筋与所述第一加强筋正交设置，或者所述第二加强筋与所述第一加强筋平行设置。
  5. 根据权利要求1所述的无人机脚架，其特征在于，所述支撑结构包括抵持部与连接部，所述抵持部呈环状，所述抵持部至少部分伸入所述减重腔并与所述减重腔的内壁贴合，所述抵持部靠近所述安装板的一端向外延伸形成所述连接部，所述连接部固定于所述安装板。
  6. 根据权利要求5所述的无人机脚架，其特征在于，所述支撑结构的材料为金属。
  7. 根据权利要求6所述的无人机脚架，其特征在于，所述支撑结构以可拆卸地方式固定于所述安装板；
    或者，所述支撑结构作为嵌件与所述主体、所述安装板一同注塑成型。
  8. 根据权利要求1所述的无人机脚架，其特征在于，还包括防护壁，防护壁为环状，所述防护壁的一端与所述安装板连接，所述防护壁的另一端向远离所述主体的一端延伸。
  9. 一种无人机，包括机身以及安装于机身的机臂，其特征在于，还包括如权利要求1至8中任一项所述的无人机脚架，所述无人机脚架通过所述安装板安装于所述机臂。
  10. 根据权利要求9所述的无人机，其特征在于，所述无人机还包括定位模块，所述定位模块包括相适配的凸台与凹槽，所述凸台与所述凹槽中的一个设于所述安装板靠近所述机臂的一端，所述凸台与所述凹槽中的另一个设于所述机臂靠近所述安装板的一端。
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CN206367580U (zh) * 2017-01-11 2017-08-01 北方天途无人机科技成都有限公司 无人机脚架及无人机
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CN207328813U (zh) * 2017-07-31 2018-05-08 深圳市大疆创新科技有限公司 脚架及无人机
CN211731793U (zh) * 2020-01-17 2020-10-23 深圳市道通智能航空技术有限公司 无人机脚架及无人机

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