WO2021179257A1 - 机架和无人机 - Google Patents

机架和无人机 Download PDF

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Publication number
WO2021179257A1
WO2021179257A1 PCT/CN2020/079020 CN2020079020W WO2021179257A1 WO 2021179257 A1 WO2021179257 A1 WO 2021179257A1 CN 2020079020 W CN2020079020 W CN 2020079020W WO 2021179257 A1 WO2021179257 A1 WO 2021179257A1
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WO
WIPO (PCT)
Prior art keywords
arm
arms
mechanism component
arm fixing
locking member
Prior art date
Application number
PCT/CN2020/079020
Other languages
English (en)
French (fr)
Inventor
舒展
周乐
周万仁
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 CN202080002827.XA priority Critical patent/CN112154099A/zh
Priority to PCT/CN2020/079020 priority patent/WO2021179257A1/zh
Publication of WO2021179257A1 publication Critical patent/WO2021179257A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
    • B64C1/061—Frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives
    • B64C27/14—Direct drive between power plant and rotor hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Definitions

  • the present disclosure relates to the field of unmanned aerial vehicles, and in particular, to a rack and an unmanned aerial vehicle.
  • a pin-shaft folding scheme can be used for drones with a folding type.
  • a lock cylinder can be used to lock the folding mechanism and other parts of the drone.
  • users often forget to lock the lock cylinder, so that the unfolded state of the folding mechanism is not fixed, and the result of the drone bombing. This result reduces the user experience to a certain extent and affects the reputation of the product.
  • the present disclosure provides a rack and a drone.
  • the rack includes: a rack body, the rack body includes a plurality of arm fixing parts, each arm fixing part is provided with an elastic member;
  • the arms are rotatably connected in a one-to-one correspondence with the plurality of arm fixing parts, and any one of the plurality of arms is configured to be in an expanded state or a retracted state by rotating relative to the corresponding arm fixing part;
  • a plurality of locking parts are arranged on the plurality of machine arms in a one-to-one correspondence.
  • the locking member when any machine arm is in the unfolded state, the locking member can be in the locked state, and when the locking member is in the locked state, any machine arm and the arm fixing part corresponding to any machine arm can be locked.
  • any machine arm When the locking member is in the non-locked state, any machine arm can move to the retracted state under the action of elastic force.
  • each elastic member is fixed to the arm fixing portion where it is provided, each elastic member includes a protruding elastic portion, and the protruding direction of the elastic portion is close to each elastic member.
  • the direction of the arm corresponding to the elastic fixing part.
  • each elastic member further includes a free end, and the free end is slidably connected to the arm fixing part provided with each elastic member.
  • each arm fixing portion is further provided with a first fixing hole; at least one end of the elastic member provided on each arm fixing portion is provided with a second fixing hole.
  • each elastic member is configured to be arranged on the inner side wall of each arm fixing part through the cooperation of the fastener with the first fixing hole and the second fixing hole.
  • each arm fixing part is provided with a fixing groove; at least one end of the elastic member provided on each arm fixing part is provided with a blocking block, wherein each elastic member is configured to: The clamping block and the fixing slot are arranged on the inner side wall of the fixing part of each arm.
  • each arm fixing part is further provided with a trigger switch;
  • the frame also includes an early warning device, wherein, when any arm is in the unfolded state, the arm corresponding to the arm is fixed
  • the trigger switch set in the section is triggered, and in response to the triggering action of the trigger switch, the early warning device sends out an early warning signal.
  • the above-mentioned frame further includes a plurality of limit switches corresponding to the plurality of locking members one-to-one, and the plurality of limit switches are arranged on the plurality of arms or the plurality of arm fixing parts in a one-to-one correspondence.
  • the travel switch is configured to: when any locking member touches its corresponding travel switch, the travel switch corresponding to any locking member is triggered to turn off the early warning device.
  • the rack further includes a timer, which is connected to the early warning device.
  • the timer is configured to: start timing when the trigger switch provided on the arm fixing part corresponding to any one of the arms is triggered; the early warning device is configured to: send an early warning signal when the timer's timing duration exceeds a predetermined duration .
  • each locking member is sleeved on the corresponding arm, and each locking member can move along the central axis of the corresponding arm; each arm fixing part is also provided with a A connecting piece, each arm is also provided with a second connecting piece.
  • each arm fixing part is also provided with a A connecting piece
  • each arm is also provided with a second connecting piece.
  • the second connecting piece on any machine arm is spliced with the first connecting piece provided on the arm fixing part corresponding to the any machine arm to form a closed structure, which is connected to the any machine arm.
  • the locking member corresponding to the arm is configured to lock any arm and the arm fixing part corresponding to any arm through cooperation with the closing structure.
  • the above-mentioned first connecting member and second connecting member have an external thread structure; the inner side wall of each locking member is provided with an internal thread; the locking member corresponding to any arm is configured as : Lock any arm and the arm fixing part corresponding to any arm through the cooperation of internal thread and external thread structure.
  • the above-mentioned frame further includes: a plurality of pin shafts corresponding to a plurality of arm The fixed part of the arm can be rotatably connected.
  • a rack which includes: a rack body, including a plurality of arm fixing parts, each arm fixing part is provided with a trigger switch;
  • the arm fixing parts are rotatably connected in a one-to-one correspondence, and any one of the plurality of arms is configured to be in an expanded state or a retracted state by rotating relative to the corresponding arm fixing part; a plurality of locking parts, One-to-one correspondence is provided on multiple arms; and an early warning device.
  • the trigger switch on the arm fixing part corresponding to any arm is triggered, and in response to the triggering action of the trigger switch, the early warning device sends out an early warning signal; set on any arm
  • the locking member can be in the locked state and the non-locked state.
  • the locking member can be in the locked state.
  • the locking member can lock any arm and Corresponds to the arm fixing part of any arm.
  • the frame further includes: a plurality of limit switches corresponding to the plurality of locking members one-to-one, and the plurality of limit switches are arranged on the plurality of arms or the plurality of arm fixing parts in a one-to-one correspondence.
  • the travel switch is configured such that when any locking element touches its corresponding travel switch, the locking element is in a locked state and the travel switch corresponding to any locking element is triggered to turn off the early warning device.
  • the frame further includes: a timer connected to the early warning device, wherein the timer is configured to start when the trigger switch on the arm fixing part corresponding to any arm is triggered Timing; the early-warning device is configured to: send out an early-warning signal when the timing duration of the timer exceeds a predetermined duration.
  • each locking member is sleeved on the corresponding arm, and each locking member can move along the central axis of the corresponding arm; each arm fixing part is also provided with a first Connecting piece, each arm is also provided with a second connecting piece, wherein, when any arm is in the unfolded state, the second connecting piece on any arm is arranged with the arm fixing part corresponding to any arm
  • the first connecting piece of is spliced to form a closed structure, and the locking piece corresponding to any arm is configured to lock any arm and the arm fixing part corresponding to any arm through cooperation with the closed structure.
  • the first connecting member and the second connecting member have an external thread structure; the inner side wall of each locking member is provided with an internal thread; the locking member corresponding to any arm is configured as: Any machine arm and a machine arm fixing part corresponding to any machine arm are locked through the cooperation of the internal thread and the external thread structure.
  • the frame further includes: a plurality of pin shafts corresponding to the plurality of arm The fixed part of the arm can be rotatably connected.
  • the unmanned aerial vehicle includes: a frame, which is the aforementioned frame; Ye, the multiple power systems are arranged on the multiple arms of the frame in a one-to-one correspondence; and the landing gear is connected to the frame and is used for landing the drone.
  • the unmanned aerial vehicle includes: a first mechanism component; a second mechanism component movably connected to the first mechanism component, and the second mechanism component is configured to: The movement of the first mechanism component causes the second mechanism component to be in an expanded state or a retracted state; the locking member is provided on at least one of the first mechanism member and the second mechanism member; and the elastic member is provided on the first mechanism member And at least one of the second mechanism components.
  • the elastic member can provide elastic force to the second mechanism component, and the locking member can be in the locked state and the non-locked state.
  • the first mechanism component and the second mechanism component can be locked; when the locking member is in the non-locked state, the second mechanism component can move toward the retracted state under the action of elastic force.
  • the first mechanism component includes at least one of the following: a frame body, an arm, and a landing gear.
  • the second mechanism component includes at least one of the following: a frame body, an arm, and a landing gear.
  • the second mechanism component is rotatably connected with the first mechanism component.
  • the second mechanism component is slidably connected with the first mechanism component.
  • the drone when the second mechanism component is in the deployed state, the drone can be in a take-off state.
  • the drone when the second mechanism component is in a retracted state, the drone can be in a packed and transported state.
  • the volume of the drone when the second mechanism component is in the expanded state is greater than the volume of the drone when the second mechanism component is in the retracted state.
  • the unmanned aerial vehicle includes: a first mechanism component; a second mechanism component movably connected to the first mechanism component; The movement of a mechanism component makes the second mechanism component in an expanded state or a retracted state; the locking member is arranged on at least one of the first mechanism component and the second mechanism component; the trigger switch is arranged on the first mechanism component and the second mechanism component.
  • At least one of the two mechanism parts and an early warning device, wherein, when the second mechanism part is in an unfolded state: the trigger switch is triggered, in response to the triggering action of the trigger switch, the early warning device sends out an early warning signal; and the locking member can be in the The locked state and the non-locked state, wherein the first mechanism component and the second mechanism component can be locked when the locking member is in the locked state.
  • the first mechanism component includes at least one of the following: a frame body, an arm, and a landing gear.
  • the second mechanism component includes at least one of the following: a frame body, an arm, and a landing gear.
  • the second mechanism component is rotatably connected with the first mechanism component.
  • the second mechanism component is slidably connected with the first mechanism component.
  • the second mechanism part By arranging the elastic member at the second mechanism part or the first mechanism part, when the second mechanism part is not locked with the locking part after the second mechanism part is unfolded, the second mechanism part can be bounced from the position in the unfolded state to make the second mechanism part.
  • the mechanism component cannot be maintained in the unfolded state, or an early warning device is provided at the first mechanism component or the second mechanism component, and an early warning signal is issued when the locking member is not locked. It can serve as a reminder to the user to lock the first mechanism component and the second mechanism component with the locking member, and to a certain extent avoid the bombing phenomenon. Therefore, the user experience can be improved to a certain extent.
  • Fig. 1 schematically shows a structural diagram of an unmanned aerial vehicle according to an embodiment of the present disclosure
  • Fig. 2 schematically shows a schematic structural diagram of a drone according to another embodiment of the present disclosure
  • Figure 3 schematically shows a structural diagram of a rack of an embodiment of the present disclosure
  • Fig. 4 schematically shows a structural diagram of part A in Fig. 3;
  • Fig. 5 schematically shows a structural perspective view of the frame in Fig. 3 at a first angle
  • Fig. 6 schematically shows a structural perspective view of the frame in Fig. 3 at a second angle
  • Figure 7 schematically shows a schematic structure of the elastic member
  • FIG. 8 schematically shows a block diagram of the connection relationship between the early warning device included in the rack and each device.
  • Fig. 9 schematically shows a schematic diagram of the electrical connection between the early warning device included in the rack and each device.
  • the present disclosure provides a frame and an unmanned aerial vehicle, which can be used to prevent the second mechanism component from being deployed when the locking component does not lock the first mechanism component relative to the second mechanism component through the arrangement of an elastic member or an early warning device Or issue an early warning device. Therefore, the user can be reminded to lock the locking member to a certain extent, and the phenomenon of drone bombing caused by the unfixed second mechanism component can be avoided.
  • Fig. 1 schematically shows a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present disclosure.
  • the UAV 1 may include a frame 10, a plurality of power systems 30 and a landing gear 50.
  • the frame 10 may include, for example, a frame body 100 and a plurality of arms 200.
  • the frame body 100 may enclose a accommodating cavity.
  • a GPS receiver, a flight control system, and an electronic speed controller may be provided in the accommodating cavity.
  • the plurality of power systems 30 correspond to the plurality of arms 200 in a one-to-one correspondence.
  • each power system may include a motor assembly and a blade connected to the motor assembly, and each power system may be disposed on a corresponding arm 200, and the corresponding arm 200 supports the power system 30.
  • the landing gear 50 is located under the frame 10 and connected to the frame 10. When the drone is landing, it can be used for drone landing.
  • the drone 1 may further include a spreading system 70, for example, and the spreading system 70 may include a container for holding liquid or solid to be spread.
  • the container can contain, for example, pesticides, fertilizers, or seeds that need to be spread.
  • the spreading system 70 is arranged under the frame 10 so that the liquid contained in the container can be fixedly spread under the drone during the flight of the drone.
  • Fig. 2 schematically shows a structural diagram of an unmanned aerial vehicle according to another embodiment of the present disclosure.
  • the drone 2 may include a first mechanism component 21 and a second mechanism component 22.
  • the first mechanism component 21 and the second mechanism component 22 may be movably connected.
  • the second mechanism component 22 can be configured, for example, to be able to move the second mechanism component 22 relative to the first mechanism component 21 to make the second mechanism component 22 in an unfolded state or a retracted state.
  • the first mechanism component 21 may be at least one of the frame body 100, the arm 200, and the landing gear 50 in FIG. 1
  • the second mechanism component 22 may be the frame body 100, the arm 200, and the landing gear in FIG. At least one of the landing gear 50.
  • the drone 2 may further include a locking member, which may be provided on at least one of the first mechanism component 21 and the second mechanism component 22 .
  • the locking member can be in a locked state and an unlocked state, for example.
  • the locking member can lock the first mechanism component 21 and the second mechanism component 22 when in the locked state, so that the second mechanism component 22 is maintained in the unfolded state.
  • the locked state and the unlocked state can be switched under the action of an external force, for example.
  • the locking member can be switched between the locked state and the unlocked state in response to a user's operation.
  • the locking member can be switched from the locked state to the non-locked state.
  • the locking member can be switched from the non-locked state to the locked state.
  • the drone 2 when the second mechanism component 22 is in the unfolded state, the drone 2 can be in a take-off state.
  • the second mechanism component 22 when the second mechanism component 22 is in a retracted state or in an incompletely deployed state, the UAV 2 cannot be in a take-off state. Therefore, by using the locking member to lock the second mechanism component 22 and the first mechanism component 21, the second mechanism component 22 can be maintained in the unfolded state, so that the drone can be maintained in the take-off state.
  • the second mechanism component 22 when the second mechanism component 22 is in the retracted state, the drone can be in a packed and transported state, so that the user can pack objects that need to be transported or broadcasted by the drone to the drone.
  • the volume of the drone 2 when the second mechanism component 22 is in the expanded state is greater than the volume of the drone 2 when the second mechanism component 22 is in the retracted state. Therefore, when the drone 2 needs to be transported, the second mechanism component 22 can be retracted to improve the transport convenience of the drone.
  • the second mechanism component 22 is unfolded, if the locking member is not switched to the locked state, after the drone takes off, the second mechanism component 22 is likely to be unable to maintain the unfolded state due to external forces received during flight. Therefore, after the drone takes off, it is easy to explode because the second mechanism component 22 cannot maintain the deployed state. In order to reduce the risk of drone bombing, the user may be reminded to lock the locking member after the second mechanism component 22 is unfolded.
  • the drone 2 may further include an elastic member, for example, the elastic member is provided on at least one of the first mechanism component 21 and the second mechanism component 22.
  • the second mechanism component 22 When the second mechanism component 22 is in the expanded state, for example, it can be compressed to the elastic member, so that the elastic member provides elastic force to the second mechanism component 22, and the direction of the elastic force is toward the retracted state of the second mechanism component 22. Therefore, after the second mechanism component 22 is in the unfolded state, if the locking member is not switched from the non-locked state to the locked state, the second mechanism component 22 will move toward the retracted state under the action of the elastic force, so that the second mechanism The component 22 cannot be maintained in the unfolded state, and the UAV 2 cannot be in the take-off state.
  • the drone 2 may further include a trigger switch and an early warning device, for example, the early warning device may be disposed in a housing cavity enclosed by the frame body, for example, and the early warning device is connected to the trigger switch.
  • the trigger switch may be provided on at least one of the first mechanism component 21 and the second mechanism component 22. When the second mechanism component 22 is in the unfolded state, for example, the trigger switch can be triggered.
  • the early warning device can issue an early warning signal in response to the triggering action of the trigger switch, so as to serve as a reminder to the user.
  • the first mechanism component 21 may be the frame body 100 and the second mechanism component 22 may be the arm 200.
  • the plurality of machine arms 200 are rotatably connected to the frame body, so that each of the plurality of machine arms 200 can rotate relative to the frame body, so that each of the plurality of machine arms 200 can be positioned at Retracted state or expanded state.
  • the frame 100 further includes a trigger switch or an elastic member
  • the trigger switch or elastic member may be arranged at a position where the arm 200 is attached to the frame body 110 when the arm 200 is in the unfolded state, or the frame body 100 The position where it fits with the arm 200.
  • the first mechanism component 21 may be a machine arm 200
  • the second mechanism component 22 may also be a machine arm 200.
  • the arm 200 is slidably connected to the frame body.
  • the arm 200 can be a hollow structure and includes a fixed end and a telescopic end.
  • the fixed end of the arm 200 is fixedly connected to the frame body, and the size of the arm 200 from the fixed end to the telescopic end is gradually reduced.
  • the arm 200 may include a plurality of tubular structures that can be nested sequentially, the fixed end is one end of the largest tubular structure among the plurality of tubular structures, and the telescopic end is one end of the smallest tubular structure among the plurality of tubular structures. .
  • a plurality of power systems 30 are respectively arranged at the telescopic ends of their corresponding arms.
  • the first mechanism component and the second mechanism component refer to two tubular structures adjacent to each other when the multiple tubular structures are deployed.
  • the second mechanism component is in a retracted state.
  • the second mechanism component is in an unfolded state.
  • the trigger switch or elastic member may be arranged at a position where the second mechanism member is attached to the first structural member when the second mechanism member is in the unfolded state, or the first structural member A position on a mechanism component that is attached to a second mechanism component.
  • the first mechanism component 21 may be the frame body 100 and the second mechanism component 22 may be the landing gear 50.
  • the landing gear and the frame body can be rotatably connected, for example, the connection relationship between the landing gear and the frame body is similar to the rotatably connected relationship between the arm and the frame body in the foregoing embodiment, triggering a switch or elastic
  • the setting position of the file is also similar, so I won’t repeat it here.
  • the landing gear and the frame body may also be slidably connected, for example.
  • the first mechanism component and the second mechanism component may both be frame bodies, and the frame body may include at least two shells which are spliced with each other to form the frame body.
  • the at least two shells can be nested or placed on top of each other to reduce the space required for storing the drone.
  • the first mechanism component and the second mechanism component are two housings that are in positional contact when spliced to form the frame body.
  • the second mechanism component is in an unfolded state.
  • the second mechanism component is in a retracted state.
  • the trigger switch or elastic member may be arranged at a position where the second mechanism component is attached to the first structural component when the second mechanism component is in the unfolded state, or The position on the first mechanism component that is attached to the second mechanism component.
  • the frame includes a frame body, a plurality of arms and a plurality of locking members.
  • the frame body includes a plurality of arm fixing parts, and each arm fixing part is provided with an elastic member.
  • the plurality of machine arms are rotatably connected in a one-to-one correspondence with the plurality of machine arm fixing parts. Any one of the plurality of arms is configured to be able to be in an expanded state or a retracted state by rotating relative to the corresponding arm fixing part.
  • the plurality of locking parts correspond to the plurality of machine arms one-to-one.
  • the elastic member on the arm fixing part corresponding to any arm can provide elastic force to any arm; the locking member provided on any arm can be locked State and non-locked state.
  • the locking member provided on any machine arm can be in the locked state, and when the locking member is in the locked state, any machine arm and corresponding to any machine arm can be locked.
  • any arm can move to the retracted state under the action of elastic force when the locking member is in the non-locked state.
  • FIG. 3 schematically shows the structure of the rack of the embodiment of the present disclosure
  • FIG. 4 schematically shows the structure of part A in FIG. 3
  • FIG. 5 schematically shows the structure of the rack in FIG. 3 at a first angle.
  • the frame 10 of this embodiment may include a frame body 100, a plurality of arms 200 and a plurality of locking members 300.
  • the frame body 100 includes a plurality of arm fixing parts 110, and the plurality of arm fixing parts 110 are in one-to-one correspondence with the plurality of arms 200 so as to be rotatably connected with the corresponding arms 200 respectively.
  • the arm 200 can be retracted or expanded by rotating relative to the corresponding arm fixing part 110.
  • the arm 200 needs to be unfolded by rotating the arm 200 relative to the corresponding arm fixing part 110, so that the arm 200 is relative to the frame body 100. Extend outward.
  • the arm 200 can be retracted by rotating the arm 200 relative to the corresponding arm fixing part 110, thereby reducing the size of the frame and facilitating the transport of the drone .
  • the frame 10 of the embodiment of the present disclosure may further include a plurality of pins 400,
  • the plurality of pin shafts 400 correspond to the plurality of machine arms 200 one-to-one, and each machine arm 200 realizes its rotatable connection with the corresponding machine arm fixing portion 110 by hinged connection with the corresponding pin shaft 400.
  • a plurality of fixing positions may be provided on the frame body 100 close to the plurality of arm fixing parts 110, or each arm fixing part 110 of the plurality of arm fixing parts 110 may be provided with a fixing position, Each fixed position is used to penetrate a shaft pin, so as to realize the rotatable connection between each arm 200 and the fixed part 110 relative to the corresponding arm.
  • the plurality of locking members 300 correspond to the plurality of machine arms 200 one-to-one.
  • each locking member 300 can be sleeved on the corresponding arm 200, and each locking member 300 can move along the central axis of the corresponding arm 200.
  • the inner diameter of each locking member 300 may be larger than the outer diameter of the corresponding arm 200, so that the locking member 300 can move freely on the arm 200 in which it is sheathed.
  • any one of the plurality of arms 200 may be rotated in a target direction to change the expanded state or the retracted state, for example.
  • the target direction is the direction of any machine arm approaching its corresponding machine arm fixing part
  • the target direction may be, for example, a counterclockwise direction.
  • the arm fixing portion may be, for example, a semi-circular arc structure, an arch structure, or a square groove structure.
  • any one of the arms is rotated to the maximum angle in the target direction and is in a fully expanded state.
  • the one can be rotated in a direction away from the corresponding arm fixing part (the direction opposite to the target direction, for example, clockwise) until The any arm is attached to the shell of the frame body except for the plurality of arm fixing parts.
  • any of the arms is in a fully retracted state.
  • the aforementioned locking member corresponding to any one of the arms is used to fix the relative position between any one of the arms and the corresponding fixed part of the arm when the any one of the arms is in a fully expanded state, that is, to lock the Any arm and the corresponding arm fixed part, so as to ensure the normal take-off of the drone.
  • the arrangement of any of the above-mentioned arms is only used as an example to facilitate the understanding of the present disclosure, and each of the plurality of arms can be fully deployed or fully retracted by the manner of the above-mentioned first arm.
  • the above-mentioned shape of the arm fixing part is only used as an example to facilitate the understanding of the present disclosure, which is not limited in the present disclosure.
  • any of the above-mentioned arms when any of the above-mentioned arms is in a fully expanded state, it may not be attached to the housing of the frame body, but may be at a predetermined angle with the housing.
  • the predetermined angle may be, for example, any angle less than 30°, such as 5°, 10°, 15°, and 30°.
  • each arm fixing portion 110 may be provided with a first connecting member 112, and each arm 200 may be provided with The second connecting piece 210, when each arm 200 is in the unfolded state, the second connecting piece 210 on each arm 200 can be spliced with the first connecting piece 112 provided on the corresponding arm fixing part to form a closed structure .
  • the first connecting piece 112 and the second connecting piece 210 may, for example, both have a semi-circular arc structure, which are spliced to form a hollow cylindrical structure.
  • the locking member 300 sleeved on each arm 200 can lock each arm 200 and the corresponding arm fixing portion 110, for example, through cooperation with a corresponding closing structure.
  • the size of the locking member 300 should be larger than the size of the closing structure, for example.
  • the first connecting member 112 may be, for example, an external thread structure provided on the outer side wall of the arm fixing portion 110
  • the second connecting member 210 may be an outer thread structure provided on the side wall of the arm.
  • the inner side wall of the locking member 300 may be provided with an internal thread, and the locking member 300 sleeved on each arm 200 is configured to lock each arm through the cooperation of the internal thread and the corresponding external thread structure.
  • the arm 200 and the corresponding arm fixing portion 110 may be, for example, an external thread structure provided on the outer side wall of the arm fixing portion 110
  • the second connecting member 210 may be an outer thread structure provided on the side wall of the arm.
  • the inner side wall of the locking member 300 may be provided with an internal thread
  • the locking member 300 sleeved on each arm 200 is configured to lock each arm through the cooperation of the internal thread and the corresponding external thread structure.
  • each of the plurality of arm fixing parts 110 may be provided with an elastic member 111.
  • the elastic member may be arranged on the inner side wall of the arm fixing part, for example, so that the arm corresponding to the arm fixing part can contact the elastic member when the arm corresponding to the arm fixing part rotates within a predetermined angle range in the target direction.
  • any one of the multiple arms rotates in the target direction to contact the elastic member provided on the corresponding arm fixing part
  • the any one The arm squeezes the elastic member 111 provided on the corresponding arm fixing part.
  • the elastic member 111 generates elastic force due to being squeezed, so that it can provide elastic force to any of the arms.
  • the any one of the arms will move away from each other due to the elastic force.
  • the direction of the corresponding arm fixed part rotates. As a result, any aircraft arm cannot be fixed in a fully extended state, and therefore the drone cannot take off.
  • the locking member When the locking member is not locked, the drone cannot take off because the arm cannot be fully deployed due to the action of the elastic member. Therefore, through the arrangement of the elastic member, the probability of bombing can be reduced to a certain extent, and the user experience can be improved to a certain extent.
  • the structure of the elastic member and the connection relationship with the corresponding arm fixing part are detailed in the description of FIGS. 6 to 7, and will not be described in detail here.
  • the above-mentioned maximum rotation angle may be any angle such as 30°, 60°, 90°, 100°, 120°, etc., for example.
  • the maximum rotation angle can be set according to the actual structure of the frame body and the actual requirements of the drone flight, which is not limited in the present disclosure.
  • the maximum rotation angle may be any angle not greater than 150°, or the maximum rotation angle may be an acute angle.
  • the predetermined angle range includes: the angle when any arm is in contact with the elastic member provided on the corresponding arm fixing part and the angle range formed by the maximum rotation angle. It can be understood that the maximum rotation angle should be greater than the aforementioned predetermined angle, and the predetermined angle range does not include the aforementioned predetermined angle.
  • the number of the plurality of machine arms 200 may be an even number, for example, and the even number of machine arms are arranged symmetrically with respect to the frame body.
  • the maximum angle of rotation of each of the multiple arms along the target direction is the same, so that the UAV in the extended state (that is, the state when the multiple arms are fully extended) has a symmetrical structure, which is convenient for the UAV
  • the operating status of the system is adjusted and controlled.
  • the frame of the embodiment of the present disclosure by arranging the elastic member in the arm fixing part, can bounce the arm from the position in the unfolded state when the arm is not locked with the locking member after the arm is unfolded.
  • the arm cannot be fully deployed, making the drone unable to take off. Thereby, it plays a role of reminding the user to lock the arm and the fixed part of the arm with the locking member, and to a certain extent avoids the phenomenon of bombing. Therefore, the design of the rack in the embodiments of the present disclosure can improve user experience to a certain extent.
  • the arm fixing part and/or the locking part may also be provided with, for example, different from the frame body and the arm. colour.
  • a color with higher saturation may be provided for the arm fixing part and/or the locking member.
  • the color with higher saturation may include bright red, bright yellow, etc., and the present disclosure does not limit the color.
  • Fig. 6 schematically shows a structural perspective view of the frame in Fig. 3 at a second angle
  • Fig. 7 schematically shows a schematic structural diagram of an elastic member.
  • each elastic member 111 may be fixed to the arm fixing portion 110 provided with it. Therefore, when the arm 200 corresponding to the arm fixing portion 110 is rotated within a predetermined angle range, the elastic member 111 contacts with the arm 200 and changes the setting position on the arm fixing portion 110. By fixing the at least one end to the arm fixing portion 110, the elastic force of the elastic member 111 on the arm 200 can be effectively ensured.
  • the elastic member 111 may be, for example, a spring, and the central axis of the spring is perpendicular to the central axis of the arm fixing part on which it is provided.
  • One end of the spring along the central axis is fixed to the arm fixing part, and the other end may be a free end, for example, so as to provide elastic force after being squeezed.
  • the elastic member 111 may include, for example, a protruding elastic portion 1111, and the protruding direction of the elastic portion 1111 is close to the arm corresponding to the arm fixing portion on which it is provided. Direction, so as to ensure that the elastic member 111 provides elastic force to the corresponding arm after contacting with the corresponding arm.
  • the elastic member 111 may be stamped and formed from a metal sheet, so as to ensure that the elastic member has a relatively low cost.
  • the material of the metal sheet may be stainless steel, for example. It is understandable that the material and manufacturing method of the above-mentioned elastic member 111 are only taken as examples to facilitate the understanding of the present disclosure, and the present disclosure does not limit this.
  • the elastic member is stamped and formed from a metal sheet, in order to ensure that the elastic member has a relatively large elastic force when an action is applied to the elastic member during the rotation of the arm, so that the elastic portion 1111 of the elastic member 111 can extend freely.
  • the elastic member may include a free end 1112 and a fixed end. The fixed end is fixedly connected to the corresponding arm fixing part 110, and the free end 1112 is slidably connected to the arm fixing part 110.
  • the elastic portion 1111 is gradually flattened, and the free end 1112 slides away from the fixed end on the inner side wall of the arm fixing portion 110.
  • the free end slides on the inner side wall of the arm fixing part toward the fixing end, so that the elastic part 1111 gradually protrudes from the surface of the arm fixing part 110.
  • each arm fixing part 110 may be provided with a first fixing hole 113, for example.
  • at least one end of the elastic member is provided with a second fixing hole 1114.
  • the fixing of the at least one end is realized by the cooperation of the fastener with the first fixing hole 113 and the second fixing hole 1114.
  • the aforementioned fixing end is provided with a second fixing hole 1114, by inserting the bolt of the fastener into the first fixing hole 113 and the second fixing hole 1114 via a washer, and tightening the nut on the outer side wall of the arm fixing portion 110
  • the fixed end and the arm fixing portion 110 can be firmly connected. Therefore, the elastic member 111 is fixedly arranged on the inner side wall of the arm fixing portion 110.
  • At least one end of the elastic member may be provided with a blocking block 1113.
  • each arm fixing part may be provided with a fixing groove whose size matches the size of the clamping block 1113.
  • the clamping block may be a convex-shaped structure, for example, and the clamping slot may be a convex-shaped structure matching the clamping block, so as to improve the connection stability between at least one end of the elastic member and the arm fixing part.
  • the number of the fixing grooves is equal to the number of the elastic member fixed to at least one end of the arm fixing part.
  • an early warning device may be provided on the frame.
  • the early warning device can, for example, send an early warning signal to the user (for example, sound information or light information) when the arm is in a fully extended state, to remind the user to lock the locking member, thereby fixing the arm and the corresponding arm fixing part The relative position between.
  • FIG. 8 schematically shows a block diagram of the connection relationship between the early warning device included in the rack of an embodiment of the present disclosure and each device
  • FIG. 9 schematically shows a schematic diagram of the early warning device included in the rack being electrically connected to each device.
  • the rack 10 may further include a plurality of trigger switches 500 and an early warning device 600, and the multiple trigger switches 500 are all connected to the early warning device 600.
  • Figures 8-9 only show the connection relationship between the early warning device and one trigger switch. It can be understood that the connection relationship between each trigger switch and the early warning device in the multiple trigger switches is the same as that shown in Figs. 8-9 .
  • multiple trigger switches can be connected to the early warning device in parallel.
  • the plurality of trigger switches 500 correspond to the plurality of arm fixing parts 110 one-to-one.
  • each trigger switch may be disposed on the corresponding arm fixing part 110, for example, may be disposed on the inner side wall of the corresponding arm fixing part 110, for sensing that it corresponds to the arm fixing part 110 on which it is arranged.
  • the arm 200 is rotated to the maximum angle along the target direction (that is, it is used to sense whether the arm is in the unfolded state).
  • the plurality of trigger switches 500 may be, for example, proximity switches, etc., which are used to sense whether the arm 200 is close to the arm fixing portion 110 where it is set.
  • the corresponding trigger switch 500 When the arm 200 is in the unfolded state, the corresponding trigger switch 500 Is triggered.
  • the plurality of trigger switches 500 may be replaced by pressure sensors, for example. When the pressure is sensed, it is determined that the arm corresponding to the arm fixing part is in a fully extended state.
  • the early warning device 600 may include, for example, a control module and an alarm module.
  • the control module can be implemented by, for example, a single-chip microcomputer, and is used to sense the connection between the trigger switch and the early warning device 600 and generate an early warning signal.
  • the alarm module may include a buzzer or indicator light, for example. Wherein, when the alarm module includes a buzzer, the predetermined signal includes a sound signal, and the buzzer is used to play the sound signal. When the alarm module includes an indicator light, the predetermined signal includes a current signal, and the indicator light is used to flash or stably emit light according to the current signal.
  • the early warning device 600 may be disposed on the surface of the frame body, for example.
  • the early warning device 600 may be installed in the frame body.
  • the frame body is a hollow structure, and the early warning device 600 is disposed inside the hollow structure.
  • the trigger switch and the alarm set on the arm fixing part The device is not connected.
  • the trigger switch is in the off state.
  • the trigger switch provided on the arm fixing part is triggered by the action of the arm 200, Therefore, it is electrically connected to the early warning device.
  • the early warning device can issue an early warning signal in response to the trigger switch being triggered.
  • the early warning device is electrically connected to the power supply device 900 in FIG. 9 to generate early warning information.
  • the warning information is used to remind the user that the locking member needs to be locked at this time to fix the relative position between the arm 200 and the corresponding arm fixing portion 110.
  • the rack 10 of this embodiment may further include, for example, a plurality of travel switches 700.
  • Figures 8-9 only show the connection relationship between the early warning device and one travel switch. It can be understood that the connection relationship between each of the multiple travel switches and the early warning device is the same as that shown in Figs. 8-9 The same way.
  • the multiple limit switches 700 correspond to the multiple arm fixing parts 110 one-to-one.
  • Each limit switch 700 may be provided, for example, on the arm 200 corresponding to the arm fixing portion 110 where it is provided.
  • each limit switch 700 may be arranged on the corresponding arm fixing part 110.
  • the limit switch 700 can also be arranged at the connection between the arm fixing portion 110 on the frame body 100 and the frame body 100, and the first connecting member 112 on the arm fixing portion 110 extends outward from the connection.
  • the travel switch 700 is used to sense whether the locking member 300 fixes the relative position between the arm 200 and the arm fixing portion 110 corresponding to the arm.
  • the travel switch 700 is used to sense whether the locking member 300 is in a locked state
  • the locked state may be, for example, the locking member 300 and the aforementioned closed structure (ie, the first connecting member 112 and the second connecting member 112 in FIG. 4).
  • the closed structure formed by the splicing of the connector 210) is in a fully fitted state.
  • the setting position of the travel switch 700 should ensure that the locking member 300 can be in contact with the travel switch 700 when it is in the locked state.
  • the travel switch 700 corresponding to the arm fixing part 110 corresponding to the arm 200 remains connected to the early warning device 600, that is, with The early warning device 600 is connected.
  • the collision of the locking member 300 against the travel switch 700 can cause the arm 200
  • the travel switch 700 corresponding to the corresponding arm fixing part 110 is triggered to disconnect, thereby cutting off the connection with the early warning device, so that the early warning device and the power supply device 900 are powered off.
  • the early warning device 600 cannot generate an early warning signal.
  • the arm 200 rotates to the maximum angle along the target direction, and the locking member provided on the arm 200 is not fixed in relative position, since the electrical connection in FIG. 9 forms a closed loop, the early warning device can generate an early warning signal, Thereby, the user is reminded to lock the locking member 300. After the relative position of the locking member provided on the arm 200 is fixed, since the travel switch 700 is not connected to the early warning device 600, the closed loop is disconnected, and the early warning device 600 can stop generating the early warning signal.
  • circuit shown in FIG. 9 is only one embodiment, and this embodiment can also make the early warning device be configured in any other way: when the arm is in a fully extended state and the locking member is not locked Send out the pre-warning signal; stop sending out the pre-warning signal after the locking part is locked.
  • a plurality of travel switches may be connected to the early warning device in parallel, and each travel switch is connected in series with the trigger switch corresponding to the arm or arm fixing part on which it is provided.
  • the rack 10 of this embodiment may further include a timer 800.
  • the timer 800 is connected to the warning device 600.
  • the timer 800 can be set between the trigger switch 500 and the early warning device 600, or between the early warning device 600 and the travel switch, for example.
  • the timer 800 may be connected to the early warning device 600 in communication, for example, to send the timing result to the early warning device 600.
  • the timer 800 may be provided with, for example, an electronic switch, which is used to be triggered when a predetermined condition is met, so that the timer 800 is connected to the early warning device 600.
  • the predetermined condition may be, for example, that the timing duration exceeds the predetermined duration.
  • the predetermined duration may be any duration such as 1 min, 2 min, etc., and the predetermined duration may be set according to actual needs.
  • the timer may be in communication with the early warning device.
  • the circuit as shown in FIG. 9 forms a closed loop, and the timer is connected to power to start timing.
  • the start-up information can be sent to the early warning device 600.
  • the early-warning device 600 receives the start-up information, it indicates that the time period from the fully extended state of the arm 200 to the current moment has exceeded the predetermined time period.
  • the relative position of the locking member 300 has not been fixed yet.
  • the early warning device 600 can generate an early warning signal in response to the activation information to remind the user to lock the locking member 300.
  • the early warning device 600 If after the early warning device 600 generates the early warning signal, the user fixes the position of the arm 200 through the locking member 300, the closed loop is disconnected due to the disconnection of the travel switch, the early warning device 600 stops generating the early warning signal, and the timer 800 is powered off. And automatically reset. If the timing period has not exceeded the predetermined period, and the user has fixed the position of the arm through the locking member 300, the closed circuit is also disconnected due to the disconnection of the travel switch, the early warning device 600 cannot generate the early warning information, and the timer is also due to Automatically reset to zero after power failure. Therefore, it is possible to avoid the situation that the user experience is reduced due to the generation of early warning information.
  • timer only needs to start timing when the trigger switch is triggered, and the early-warning device sends out an early warning signal after the timing period exceeds the predetermined period. .
  • FIG. 3 The rack including the trigger switch provided by the present disclosure will be described in detail below in conjunction with FIG. 3, FIG. 8 and FIG. 9.
  • FIG. 3 The rack including the trigger switch provided by the present disclosure will be described in detail below in conjunction with FIG. 3, FIG. 8 and FIG. 9.
  • the frame 10 of this embodiment may include a frame body 100, a plurality of arms 200 and a plurality of locking members 300.
  • the arrangement relationship of the frame body 100, the arm 200 and the locking member 300 is similar to the foregoing description, and will not be repeated here.
  • the rack 10 may further include a plurality of trigger switches 500 and an early warning device 600, and the multiple trigger switches 500 are all connected to the early warning device 600.
  • Figures 8-9 only show the connection relationship between the early warning device and one trigger switch. It can be understood that the connection relationship between each trigger switch and the early warning device in the multiple trigger switches is the same as that shown in Figs. 8-9 .
  • the plurality of trigger switches 500 correspond to the plurality of arm fixing parts 110 one-to-one.
  • each trigger switch may be disposed on the corresponding arm fixing part 110, for example, may be disposed on the inner side wall of the corresponding arm fixing part 110, for sensing that it corresponds to the arm fixing part 110 on which it is arranged.
  • the arm 200 is rotated to the maximum angle along the target direction (that is, it is used to sense whether the arm is in the unfolded state). It is understandable that when any arm 200 is in the unfolded state, the trigger switch corresponding to the any arm is triggered, and in response to the trigger switch being triggered, the early warning device can generate an early warning signal.
  • the working principles of the trigger switch and the early warning device are similar to those described in the foregoing embodiment, and will not be repeated here.
  • the rack 10 of this embodiment may further include a timer 800.
  • the timer 800 is connected to the warning device 600.
  • the timer 800 can be set between the trigger switch 500 and the early warning device 600, or between the early warning device 600 and the travel switch, for example.
  • the timer 800 may be connected to the early warning device 600 in communication, for example, to send the timing result to the early warning device 600.
  • the timer 800 may be provided with, for example, an electronic switch, which is used to be triggered when a predetermined condition is met, so that the timer 800 is connected to the early warning device 600.
  • the working principle of the travel switch is similar to the foregoing, and will not be repeated here.
  • the frame of the embodiment of the present disclosure by setting the trigger switch in the arm fixing part, can send out an early warning message when the arm is not locked with the locking member after the arm is unfolded, thereby reminding the user to use the lock
  • the function of locking the arm and the fixed part of the arm can avoid the explosion phenomenon to a certain extent. Therefore, the design of the rack in the embodiments of the present disclosure can improve user experience to a certain extent.

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Abstract

一种机架(10)及无人机(1)。机架(10)包括：机架本体(100)，该机架本体包括多个机臂固定部(110)，每个机臂固定部(110)设置有弹性件(111)；多个机臂(200)，与多个机臂固定部(110)一一对应的可转动连接，多个机臂(200)中的任一机臂被配置为：通过相对于对应的机臂固定部(110)的转动能够处于展开状态或收回状态；以及多个锁紧件(300)，一一对应的设置于多个机臂(200)上。其中，在任一机臂处于展开状态时，对应于任一机臂的机臂固定部上的弹性件能够向任一机臂提供弹力，设置于任一机臂上的锁紧件能够处于锁紧状态和非锁紧状态，在锁紧件处于非锁紧状态时任一机臂能够在弹力作用下向收回状态运动。

Description

机架和无人机 技术领域
本公开涉及无人机领域，具体地，涉及一种机架和无人机。
背景技术
随着无人机技术的发展，无人机的应用领域越来越广泛。随着无人机在运输和农业领域的应用，对大载荷无人机的需求越来越强烈，大载荷意味着无人机的尺寸会增大。但为了便于搬运及转场，又需要无人机能够小巧便携。为了在保证大载荷的同时提高搬运便捷性，折叠式设计的无人机应运而生。
对于具有折叠式的无人机，可以采用销轴式的折叠方案。为了固定折叠机构的展开状态，可以利用锁筒锁紧该折叠机构和无人机的其他部件。但在实际使用中，用户经常会忘记锁紧锁筒，从而使得折叠机构的展开状态未被固定，进而造成无人机炸机的结果。这一结果在一定程度上降低了用户体验，影响了产品的口碑。
发明内容
为了解决因用户忘锁紧锁筒导致的无人机炸机的问题，本公开提供了一种机架和无人机。
本公开一方面提供了一种机架，其中，该机架包括：机架本体，该机架本体包括多个机臂固定部，每个所述机臂固定部设置有弹性件；多个机臂，与多个机臂固定部一一对应的可转动连接，多个机臂中的任一机臂被配置为：通过相对于对应的机臂固定部的转动能够处于展开状态或收回状态；以及多个锁紧件，一一对应的设置于多个机臂上。其中，在任一机臂处于展开状态时，对应于任一机臂的机臂固定部上的弹性件能够向任一机臂提供弹力；设置于任一机臂上的锁紧件能够处于锁紧状态和非锁紧状态。其中，在任一机臂处于展开状态时，锁紧件能够处于锁紧状态，在锁紧件处于锁紧状态时能够锁紧任一机臂和对应于任一机臂的机臂固定部。在锁紧件处于非锁紧状态时，任一机臂能够在弹力作用下向收回状态运动。
在本公开的一些实施例中，每个弹性件的至少一端固定于设置其的 机臂固定部，每个弹性件包括凸出的弹性部，弹性部的凸出方向为靠近设置每个弹性件的弹性固定部所对应的机臂的方向。
在本公开的一些实施例中，每个弹性件还包括自由端，自由端可滑动地连接于设置该每个弹性件的机臂固定部。
在本公开的一些实施例中，每个机臂固定部还设置有第一固定孔；设置于每个机臂固定部的弹性件的至少一端设置有第二固定孔。其中，每个弹性件被配置为：通过紧固件与第一固定孔及第二固定孔的配合设置于每个机臂固定部的内侧壁上。
在本公开的一些实施例中，每个机臂固定部设置有固定槽；设置于每个机臂固定部的弹性件的至少一端设置有卡块，其中，每个弹性件被配置为：通过卡块与固定槽的卡合设置于每个机臂固定部的内侧壁上。
在本公开的一些实施例中，每个机臂固定部还设置有触发开关；机架还包括预警装置，其中，在任一机臂处于展开状态时，与该任一机臂对应的机臂固定部设置的触发开关被触发，响应于触发开关的触发动作，预警装置发出预警信号。
在本公开的一些实施例中，上述机架还包括多个行程开关，与多个锁紧件一一对应，多个行程开关一一对应地设置于多个机臂或多个机臂固定部上。其中，行程开关被配置为：在任一锁紧件碰触到其对应的行程开关时，与该任一锁紧件对应的行程开关被触发以关闭预警装置。
在本公开的一些实施例中，机架还包括计时器，与预警装置连接。其中，计时器被配置为：在与任一机臂对应的机臂固定部设置的触发开关被触发时开始计时；预警装置被配置为：在计时器的计时时长超过预定时长时，发出预警信号。
在本公开的一些实施例中，每个锁紧件套设于对应的机臂上，且每个锁紧件能够沿对应的机臂的中心轴移动；每个机臂固定部还设置有第一连接件，每个机臂上还设置有第二连接件。其中，在任一机臂处于展开状态时，任一机臂上的第二连接件与对应于该任一机臂的机臂固定部设置的第一连接件拼接构成闭合结构，与该任一机臂对应的锁紧件被配置为：经由与闭合结构的配合，锁紧任一机臂和对应于任一机臂的机臂固定部。
在本公开的一些实施例中，上述第一连接件与第二连接件为外螺纹结构；每个锁紧件的内侧壁设置有内螺纹；与任一机臂对应的锁紧件被配置为：通过内螺纹与外螺纹结构的配合锁紧任一机臂和对应于任一机臂的机臂固定部。
在本公开的一些实施例中，上述机架还包括：多个销轴，与多个机臂一一对应，其中，每个机臂与对应的销轴铰接，以使得每个机臂与对应的机臂固定部可转动连接。
本公开的另一方面提供了一种机架，该机架包括：机架本体，包括多个机臂固定部，每个机臂固定部设置有触发开关；多个机臂，与多个机臂固定部一一对应的可转动连接，多个机臂中的任一机臂被配置为：通过相对于对应的机臂固定部的转动能够处于展开状态或收回状态；多个锁紧件，一一对应的设置于多个机臂上；以及预警装置。其中，在任一机臂处于展开状态时，对应于任一机臂的机臂固定部上的触发开关被触发，响应于触发开关的触发动作，预警装置发出预警信号；设置于任一机臂上的锁紧件能够处于锁紧状态和非锁紧状态，在任一机臂处于展开状态时，锁紧件能够处于锁紧状态，在锁紧件处于锁紧状态时能够锁紧任一机臂和对应于任一机臂的机臂固定部。
在本公开的一些实施例中，机架还包括：多个行程开关，与多个锁紧件一一对应，多个行程开关一一对应地设置于多个机臂或多个机臂固定部上，其中，行程开关被配置为：在任一锁紧件触碰到其对应的行程开关时，锁紧件处于锁紧状态且与任一锁紧件对应的行程开关被触发以关闭预警装置。
在本公开的一些实施例中，机架还包括：计时器，与预警装置连接，其中，计时器被配置为：在对应于任一机臂的机臂固定部上的触发开关被触发时开始计时；预警装置被配置为：在计时器的计时时长超过预定时长时，发出预警信号。
在本公开的一些实施例中，每个锁紧件套设于对应的机臂上，每个锁紧件能够沿对应的机臂的中心轴移动；每个机臂固定部还设置有第一连接件，每个机臂上还设置有第二连接件，其中，在任一机臂处于展开状态时，任一机臂上的第二连接件与对应于任一机臂的机臂固定部设置 的第一连接件拼接构成闭合结构，与任一机臂对应的锁紧件被配置为：经由与闭合结构的配合，锁紧任一机臂和对应于任一机臂的机臂固定部。
在本公开的一些实施例中，第一连接件与第二连接件为外螺纹结构；每个锁紧件的内侧壁设置有内螺纹；与任一机臂对应的锁紧件被配置为：通过内螺纹与外螺纹结构的配合锁紧任一机臂和对应于任一机臂的机臂固定部。
在本公开的一些实施例中，机架还包括：多个销轴，与多个机臂一一对应，其中，每个机臂与对应的销轴铰接，以使得每个机臂与对应的机臂固定部可转动连接。
本公开另一方面提供了一种无人机，该无人机包括：机架，该机架为前述的机架；多个动力系统，每个动力系统包括电机组件和与电机组件连接的桨叶，所述多个动力系统一一对应地设置于机架的多个机臂上；以及起落架，与机架连接，用于无人机着陆。
本公开的另一方面提供了一种无人机，该无人机包括：第一机构部件；第二机构部件，与第一机构部件可活动连接，第二机构部件被配置为：通过相对于第一机构部件的活动，使得第二机构部件处于展开状态或收回状态；锁紧件，设置于第一机构部件和第二机构部件中的至少一个上；以及弹性件，设置于第一机构部件和第二机构部件中的至少一个上。其中，在第二机构部件处于展开状态时，弹性件能够向第二机构部件提供弹力，且锁紧件能够处于锁紧状态和非锁紧状态。其中，锁紧件处于锁紧状态时能够锁紧第一机构部件和第二机构部件；在锁紧件处于非锁紧状态时，第二机构部件能够在弹力的作用下朝向收回状态运动。
在本公开的一些实施例中，第一机构部件包括以下至少之一：机架本体、机臂和起落架。
在本公开的一些实施例中，第二机构部件包括以下至少之一：机架本体、机臂和起落架。
在本公开的一些实施例中，第二机构部件与第一机构部件可转动连接。
在本公开的一些实施例中，第二机构部件与第一机构部件可滑动连接。
在本公开的一些实施例中，在第二机构部件处于展开状态时，无人机能够处于可起飞状态。
在本公开的一些实施例中，在第二机构部件处于收回状态时，无人机能够处于打包运输状态。
在本公开的一些实施例中，无人机在第二机构部件处于展开状态时的体积，大于无人机在第二机构部件处于收回状态时的体积。
本公开另一方面提供了一种无人机，该无人机包括：第一机构部件；第二机构部件，与第一机构部件可活动连接，第二机构部件被配置为：通过相对于第一机构部件的活动，使得第二机构部件处于展开状态或收回状态；锁紧件，设置于第一机构部件和第二机构部件中的至少一个上；触发开关，设置于第一机构部件和第二机构部件中的至少一个上；以及预警装置，其中，在第二机构部件处于展开状态时：触发开关被触发，响应于触发开关的触发动作，预警装置发出预警信号；以及锁紧件能够处于锁紧状态和非锁紧状态，其中，在锁紧件处于锁紧状态时能够锁紧第一机构部件和所述第二机构部件。
在本公开的一些实施例中，第一机构部件包括以下至少之一：机架本体、机臂和起落架。
在本公开的一些实施例中，第二机构部件包括以下至少之一：机架本体、机臂和起落架。
在本公开的一些实施例中，第二机构部件与第一机构部件可转动连接。
在本公开的一些实施例中，第二机构部件与第一机构部件可滑动连接。
从上述技术方案可以看出，本公开实施例至少具有以下有益效果：
通过在第二机构部件或第一机构部件处设置弹性件，可以在第二机构部件展开后未用锁紧件锁紧时，将第二机构部件从展开状态所在的位置弹开而使得第二机构部件无法保持展开的状态，或者通过在第一机构部件或第二机构部件处设置预警装置，并在锁紧件未被锁紧时发出预警信号。可以起到提醒用户用锁紧件锁紧第一机构部件与第二机构部件的作用，在一定程度上避免炸机现象。因此，能够在一定程度上提高用户 体验。
附图说明
附图是用来提供对本公开的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本公开，但并不构成对本公开的限制。在附图中：
图1示意性示出了本公开实施例的无人机的结构示意图；
图2示意性示出了本公开另一实施例的无人机的结构示意图；
图3示意性示出了本公开实施例的机架的结构图；
图4示意性示出了图3中A部分的结构图；
图5示意性示出了图3中机架在第一角度的结构立体图；
图6示意性示出了图3中机架在第二角度的结构立体图；
图7示意性示出了弹性件的结构示意性；
图8示意性示出了机架包括的预警装置与各器件的连接关系框图；以及
图9示意性示出了机架包括的预警装置与各器件电连接的示意图。
【附图标记说明】
1、2-无人机；
10-机架；30-动力系统；50-起落架；70-播撒系统；
21-第一机构部件；22-第二机构部件；
100-机架本体；200-机臂；300-锁紧件；400-销轴；500-触发开关；600-预警装置；700-行程开关；800-计时器；900-电源装置；
110-机臂固定部；
111-弹性件；112-第一连接件；113-第一固定孔；
1111-弹性部；1112-自由端；1113-卡块；1114-第二固定孔；
210-第二连接件。
具体实施方式
为使本公开的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并参照附图，对本公开进一步详细说明。
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实 施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
本公开提供了一种机架和无人机，用于通过弹性件或预警装置的设置，可以在锁紧件未锁紧第一机构部件相对于第二机构部件时使得第二机构部件无法展开或者发出预警装置。从而可以在一定程度上提醒用户锁紧锁紧件，避免因第二机构部件未固定而导致的无人机炸机的现象。
图1示意性示出了本公开实施例的无人机的结构示意图。
如图1所示，无人机1可以包括机架10、多个动力系统30以及起落架50。
其中，机架10例如可以包括机架本体100和多个机臂200，该机架本体100可以围成容纳腔，该容纳腔中例如可以设置有GPS接收器、飞控系统和电子调速器等电子元件。多个动力系统30与多个机臂200一一对应。其中，每个动力系统可以包括电机组件和与电机组件连接的桨叶，且每个动力系统可以设置于与其对应的机臂200上，由该对应的机臂200来支撑该动力系统30。起落架50位于机架10下方，且与机架10连接。在无人机降落时，可以用于无人机着陆。
在一实施例中，如图1所示，该无人机1例如还可以包括撒播系统70，该撒播系统70例如可以包括盛物容器，用于盛放需要撒播的液体或固体。在无人机应用于农业领域时，该盛物容器例如可以盛放需要撒播的农药、农肥或种子等。该撒播系统70设置于机架10下方，以便于在无人机飞行过程中，将盛物容器盛放的液体或固定撒播于无人机下方。
图2示意性示出了本公开另一实施例的无人机的结构示意图。
如图2所示，在一实施例中，无人机2可以包括第一机构部件21和第二机构部件22。第一机构部件21和该第二机构部件22可以可活动连接。其中，该第二机构部件22例如可以被配置为：能够通过相对于第一机构部件21的活动，使得第二机构部件22处于展开状态或收回状态。其中，第一机构部件21可以为图1中的机架本体100、机臂200和起落架50中的至少一个，第二机构部件22可以为图1中的机架本体100、机臂200和起落架50中的至少一个。
其中，为了使得第二机构部件22能够固定于展开状态，该无人机2还可以包括锁紧件，该锁紧件可以设置于第一机构部件21和第二机构部件22中的至少一个上。在第二机构部件22处于展开状态时，锁紧件例如能够处于锁紧状态和非锁紧状态。其中，该锁紧件在锁紧状态时能够锁紧第一机构部件21和第二机构部件22，以使得第二机构部件22保持为展开状态。该锁紧状态和非锁紧状态例如可以在外力作用下进行切换。例如，锁紧件可以响应于用户的操作在锁紧状态与非锁紧状态之间切换。在需要将第二机构部件收回时，可以将锁紧件由锁紧状态切换为非锁紧状态。在需要将第二机构部件22维持于展开状态时，可以将锁紧件由非锁紧状态切换为锁紧状态。
在一实施例中，在第二机构部件22处于展开状态时，该无人机2能够处于可起飞状态。而在第二机构部件22处于收回状态或者不完全的展开状态时，该无人机2无法处于可起飞状态。因此，通过使用锁紧件将第二机构部件22和第一机构部件21锁紧，可以使得第二机构部件22维持在展开状态，使得无人机维持于可起飞状态。在第二机构部件22处于收回状态时，该无人机能够处于打包运输状态，以便于用户将需要无人机运输或播撒的物体打包至无人机。
在一实施例中，无人机2在第二机构部件22处于展开状态时的体积，大于无人机在第二机构部件22处于收回状态时的体积。因此，在需要运输无人机2时，可以将第二机构部件22收回，以此提高无人机的运输便捷性。
考虑到将第二机构部件22展开之后，若未将锁紧件切换为锁紧状态，在无人机起飞后，该第二机构部件22容易因飞行时受到的外力而无法维持展开状态。因此，无人机在起飞后，容易因该第二机构部件22无法维持展开状态而发生炸机。为了降低无人机炸机的风险，可以在第二机构部件22展开之后，提醒用户将锁紧件锁紧。
在一实施例中，无人机2例如还可以包括弹性件，该弹性件设置于第一机构部件21和第二机构部件22中的至少一个上。在第二机构部件22处于展开状态时，例如可以压缩到弹性件，使得弹性件向第二机构部件22提供弹力，该弹力的方向朝向第二机构部件22的收回状态。因此， 在第二机构部件22处于展开状态后，锁紧件若未从非锁紧状态切换为锁紧状态，第二机构部件22就会在弹力的作用下朝向收回状态运动，使得第二机构部件22无法维持于展开状态，无人机2无法处于可起飞状态。
在一实施例中，无人机2例如还可以包括触发开关和预警装置，其中，预警装置例如可以设置于机架本体围成的容纳腔中，该预警装置与触发开关连接。触发开关可以设置于第一机构部件21和第二机构部件22中的至少一个上。在第二机构部件22处于展开状态时，例如可以使得触发开关被触发。预警装置可以响应于该触发开关的触发动作而发出预警信号，从而起到提醒用户的作用。
在一实施例中，第一机构部件21可以为机架本体100，第二机构部件22可以为机臂200。多个机臂200与机架本体之间可转动连接，以使得多个机臂200中的每个机臂可以相对于机架本体转动，使得多个机臂200中的每个机臂可以处于收回状态或展开状态。其中，在机架100还包括触发开关或弹性件时，该触发开关或弹性件可以设置于机臂200处于展开状态时机臂200上与机架本体110相贴合的位置，或者机架本体100上与机臂200相贴合的位置。
在一实施例中，第一机构部件21可以为机臂200，第二机构部件22也为机臂200。机臂200与机架本体之间可滑动连接，机臂200可以为中空结构，且包括固定端和伸缩端。其中，机臂200的固定端与机架本体固定连接，且机臂200自固定端至伸缩端的尺寸逐渐减小。例如，该机臂200可以包括多个能够依次嵌套的管状结构，固定端为该多个管状结构中尺寸最大的管状结构的一端，伸缩端为多个管状结构中尺寸最小的管状结构的一端。多个动力系统30分别设置于其对应的机臂的伸缩端。此时，第一机构部件和第二机构部件指该多个管状结构在展开时位置相邻的两个管状结构。在机臂200的多个管状结构依次嵌套时，该第二机构部件处于收回状态。在机臂200的依次嵌套的多个管状结构被抽出而不存在嵌套部分时，该第二机构部件处于展开状态。其中，在机架10还包括触发开关或弹性件时，该触发开关或弹性件可以设置于第二机构部件处于展开状态时第二机构部件上与第一结构部件相贴合的位置，或者第一机构部件上与第二机构部件相贴合的位置。
在一实施例中，第一机构部件21可以为机架本体100，第二机构部件22可以为起落架50。其中，该起落架与机架本体之间例如可以可转动连接，起落架与机架本体之间的连接关系类似于前述实施例中机臂与机架本体可转动连接的关系，触发开关或弹性件的设置位置也类似，在此不再赘述。起落架与机架本体之间例如也可以可滑动连接。
在一实施例中，第一机构部件与第二机构部件可以均为机架本体，机架本体可以包括至少两个壳体，该至少两个壳体相互拼接形成机架本体。在收纳时，可将该至少两个壳体相嵌套或相重叠放置，以减小收纳无人机时所需的空间。相应地，第一机构部件和第二机构部件为拼接形成机架本体时在位置上相接触的两个壳体。在该至少两个壳体拼接形成机架本体时，第二机构部件处于展开状态。在该至少两个壳体相重叠放置时，第二机构部件处于收回状态。其中，该无人机2还包括触发开关或弹性件时，该触发开关或弹性件可以设置于第二机构部件处于展开状态时第二机构部件上与第一结构部件相贴合的位置，或者第一机构部件上与第二机构部件相贴合的位置。
以下以第一机构部件21为机架本体100，第二机构部件22为机臂200为例，对图1中的无人机1包括的机架10进行详细描述。
在一实施例中，机架包括机架本体、多个机臂和多个锁紧件。其中，机架本体包括多个机臂固定部，每个机臂固定部设置有弹性件。多个机臂与多个机臂固定部一一对应的可转动连接。多个机臂中的任一机臂被配置为：通过相对于对应的机臂固定部的转动能够处于展开状态或收回状态。多个锁紧件与多个机臂一一对应。其中，在任一机臂处于展开状态时，对应于任一机臂的机臂固定部上的弹性件能够向任一机臂提供弹力；设置于任一机臂上的锁紧件能够处于锁紧状态和非锁紧状态。其中，在任一机臂处于展开状态时，设置于任一机臂上的锁紧件能够处于锁紧状态，在锁紧件处于锁紧状态时能够锁紧任一机臂和对应于任一机臂的机臂固定部，在锁紧件处于非锁紧状态时任一机臂能够在弹力作用下向收回状态运动。
以下将结合图3～图5对本公开提供的机架进行详细说明。
图3示意性示出了本公开实施例的机架的结构图，图4示意性示出 了图3中A部分的结构图，图5示意性示出了图3中机架在第一角度的结构立体图。
如图3所示，该实施例的机架10可以包括机架本体100、多个机臂200及多个锁紧件300。
机架本体100包括多个机臂固定部110，该多个机臂固定部110与多个机臂200一一对应，以分别与对应的机臂200可转动连接。其中，机臂200通过相对于所对应的机臂固定部110的转动，可以实现机臂200的收回或展开。例如，在包括该机架10的无人机起飞之前，需要通过机臂200相对于所对应的机臂固定部110的转动来将机臂200展开，从而使得机臂200相对于机架本体100向外延伸。在搬运包括该机架10的无人机时，可以通过机臂200相对于所对应的机臂固定部110的转动将机臂200收回，从而减小机架的尺寸，便于无人机的搬运。
在一实施例中，为了便于实现多个机臂200与对应的机臂固定部110的可转动连接，如图4所示，本公开实施例的机架10例如还可以包括多个销轴400，该多个销轴400与多个机臂200一一对应，每个机臂200通过与对应的销轴400的铰接来实现其与对应的机臂固定部110的可转动连接。相应地，机架本体100上靠近多个机臂固定部110的位置可以设置有多个固定位，或者，该多个机臂固定部110中每个机臂固定部110可以设置有固定位，每个固定位用于穿入一个轴销，从而实现每个机臂200与相对于对应的机臂固定部110之间的可转动连接。
多个锁紧件300与多个机臂200一一对应。在一实施例中，每个锁紧件300可以套设于对应的机臂200上，且每个锁紧件300能够沿其对应的机臂200的中心轴移动。例如，每个锁紧件300的内径尺寸可以大于对应的机臂200的外径尺寸，从而使得锁紧件300可以在其所套设的机臂200上进行自由移动。
在一实施例中，多个机臂200中的任一机臂例如可以通过沿目标方向的转动来更改展开状态或收回状态。其中，该目标方向为该任一机臂靠近其对应的机臂固定部的方向，该目标方向例如可以为逆时针方向。其中，机臂固定部例如可以呈半圆弧形结构、拱形结构或方形槽结构等。在该任一机臂沿目标方向转动的过程中，该任一机臂会逐渐靠近对应的 机臂固定部，直至因与对应的机臂固定部的内侧壁贴合而无法转动。此时，该任一机臂即沿目标方向转动至了最大角度从而处于完全展开的状态。在该任一机臂处于完全展开的状态时，例如可以通过将该任一机臂向远离对应的机臂固定部的方向(与目标方向相反的方向，例如可以为顺时针方向)转动，直至该任一机臂与机架本体的除多个机臂固定部外的壳体相贴合。此时，该任一机臂即处于完全收回状态。前述的与任一机臂对应的锁紧件用于在该任一机臂处于完全展开的状态时，固定该任一机臂与对应的机臂固定部之间的相对位置，即锁紧该任一机臂和对应的机臂固定部，从而保证无人机的正常起飞。可以理解的是，上述任一机臂的设置仅作为示例以利于理解本公开，多个机臂中的每一个机臂均可通过上述第一机臂的方式完全展开或完全收回。上述机臂固定部的形状仅作为示例以利于理解本公开，本公开对此不作限定。在一实施例中，上述任一机臂在处于完全展开状态时，也可以与机架本体的壳体不贴合，而是与壳体呈预定角度。该预定角度例如可以为5°、10°、15°、30°等小于30°的任意角度。
在一实施例中，为了实现锁紧件对前述相对位置的固定，如图4所示，每个机臂固定部110上可以设置有第一连接件112，每个机臂200上可以设置有第二连接件210，在每个机臂200处于展开状态时，该每个机臂200上的第二连接件210可以与对应的机臂固定部上设置的第一连接件112拼接构成闭合结构。具体地，该第一连接件112与第二连接件210例如可以均为半圆弧结构，拼接构成中空的圆柱状结构。相应的，套设于该每个机臂200上的锁紧件300例如可以经由与对应的闭合结构的配合，来锁紧该每个机臂200与对应的机臂固定部110。为了保证该紧固件与闭合结构的配合，该锁紧件300的尺寸例如应大于该闭合结构的尺寸。
在一实施例中，第一连接件112例如可以为设置于机臂固定部110的外侧壁的外螺纹结构，第二连接件210为设置于机臂侧壁的外螺纹结构。相应地，锁紧件300的内侧壁可以设置有内螺纹，套设于每个机臂200的锁紧件300被配置为：通过其内螺纹与对应的外螺纹结构的配合来锁紧每个机臂200与对应的机臂固定部110。
在机臂完全展开但用户未通过锁紧件固定相对位置时，若无人机直接起飞，则往往会由于外力作用使得机臂的位置发生变化，并因此导致无人机炸机的结果。为了避免炸机结果的产生，可以在未固定相对位置时，使得机臂无法完全伸展。如图3～图4所示，多个机臂固定部110中的每个机臂固定部110可以设置有弹性件111。该弹性件例如可以设置于机臂固定部的内侧壁，从而使得与机臂固定部对应的机臂在沿目标方向转动至预定角度范围内时，可以与弹性件接触。
具体地，在多个机臂中的任一机臂沿目标方向转动至与对应的机臂固定部设置的弹性件接触时，随着该任一机臂沿目标方向的继续转动，该任一机臂会挤压对应的机臂固定部设置的弹性件111。该弹性件111因受到挤压而产生弹力，从而可以向该任一机臂提供弹力。如此，在该任一机臂转动至最大角度而处于展开状态后，若未通过锁紧件300锁紧该任一机臂与对应的机臂固定部，该任一机臂会由于弹力向远离其对应的机臂固定部的方向转动。从而使得该任一机臂无法固定于完全伸展状态，并因此使得无人机无法起飞。
在锁紧件未锁紧时，由于机臂因弹性件的作用而无法完全展开，因此无人机无法起飞。因此，通过该弹性件的设置，可以在一定程度上降低炸机几率，从而在一定程度上可以提高用户体验。其中，该弹性件的结构及与对应的机臂固定部的连接关系详见针对图6～图7的描述，在此不再详述。
在一实施例中，上述最大转动角度例如可以为30°、60°、90°、100°、120°等任意的角度。该最大转动角度可以根据机架本体的实际结构及无人机飞行的实际需求进行设定，本公开对此不作限定。例如，该最大转动角度可以为不大于150°的任意角度，或者该最大转动角度为锐角。预定角度范围包括：任一机臂与设置于对应的机臂固定部的弹性件接触时的角度及最大转动角度构成的角度范围。可以理解的是，该最大转动角度应大于前述的预定角度，且预定角度范围不包括前述的预定角度。
在一实施例中，多个机臂200的个数例如可以为偶数，该偶数个机臂相对于机架本体对称设置。多个机臂中每个机臂沿目标方向转动的最 大角度均相等，从而使得处于伸展状态(即多个机臂全部完全伸展时的状态)的无人机为对称结构，方便对无人机的运行状态进行调整与控制。
综上可知，本公开实施例的机架，通过在机臂固定部中设置弹性件，可以在机臂展开后未用锁紧件锁紧时，将机臂从展开状态所在的位置弹开而使得机臂无法完全展开，使得无人机无法起飞。从而起到提醒用户用锁紧件锁紧机臂与机臂固定部的作用，在一定程度上避免炸机现象。因此，本公开实施例的机架的设计，能够在一定程度上提高用户体验。
根据本公开的实施例，为了便于提醒用户用锁紧件锁紧机臂与机臂固定部，该机臂固定部和/或锁紧件例如还可以设置有与机架本体和机臂不同的颜色。在一实施例中，例如可以为机臂固定部和/或锁紧件设置饱和度较高的颜色。该饱和度较高的颜色例如可以包括亮红色、亮黄色等，本公开对该颜色不作限定。
以下将结合图6～图7对本公开实施例的机架与弹性件的结构及连接关系进行进一步地说明。
图6示意性示出了图3中机架在第二角度的结构立体图，图7示意性示出了弹性件的结构示意性。
如图6～图7所示，每个弹性件111的至少一端可以固定于设置其的机臂固定部110上。从而避免与设置其的机臂固定部110对应的机臂200在预定角度范围内转动时，该弹性件111因与机臂200接触而改变在机臂固定部110上的设置位置的情况。通过该至少一端与机臂固定部110的固定设置，可以有效保证弹性件111对机臂200的弹力作用。
在一实施例中，该弹性件111例如可以为弹簧，该弹簧的中心轴与设置其的机臂固定部的中心轴垂直。该弹簧沿中心轴的一端固定于机臂固定部，另一端例如可以为自由端，以便于在受到挤压后提供弹力。
在一实施例中，如图6所示，该弹性件111例如可以包括有凸出的弹性部1111，该弹性部1111的凸出方向为靠近与设置其的机臂固定部对应的机臂的方向，以此保证该弹性件111在与对应的机臂接触后对该对应的机臂提供的弹力。其中，该弹性件111例如可以由金属片冲压成型，从而保证该弹性件具有较为低廉的成本。其中，金属片的材质例如可以为不锈钢。可以理解的是，上述弹性件111的材质及制造方法仅作为实 例以利于理解本公开，本公开对此不作限定。
在一实施例中，弹性件由金属片冲压成型，为了保证在机臂转动过程中向弹性件施加作用时，该弹性件具有较大的弹力，可以使得该弹性件111的弹性部1111自由延伸。例如，如图7所示，弹性件可以包括有自由端1112和固定端，固定端与对应的机臂固定部110固定连接，自由端1112可滑动地连接于机臂固定部110。例如，在机臂沿目标方向转动且向弹性件施加作用时，弹性部1111逐渐被压平，则自由端1112在机臂固定部110的内侧壁向远离固定端的方向滑动。在机臂向远离对应的机臂固定部的方向转动时，自由端在机臂固定部的内侧壁向靠近固定端的方向滑动，使得弹性部1111逐渐凸出于机臂固定部110表面。
在一实施例中，为了将弹性件的至少一端固定于机臂固定部，如图5所示，每个机臂固定部110例如可以设置有第一固定孔113。相应地，该弹性件的至少一端设置有第二固定孔1114。通过紧固件与第一固定孔113和第二固定孔1114的配合，来实现该至少一端的固定。例如，前述的固定端设置有第二固定孔1114，通过将紧固件的螺栓经由垫片插入第一固定孔113和第二固定孔1114，并将螺母拧紧在机臂固定部110的外侧壁上，可以实现该固定端与机臂固定部110的紧固连接。从而将弹性件111固定设置于机臂固定部110的内侧壁上。
在一实施例中，为了将弹性件的至少一端固定于机臂固定部，如图7所示，弹性件的至少一端可以设置有卡块1113。相应地，每个机臂固定部可以设置有固定槽，该固定槽的尺寸与卡块1113的尺寸相匹配。通过该卡块1113与固定槽的卡合，可以将该弹性件111的至少一端与对应的机臂固定部固定连接，从而将弹性件设置于对应的机臂固定部的内侧壁上。其中，卡块例如可以为凸字型结构，卡槽可以为与卡块相匹配的凸字型结构，以提高弹性件的至少一端与机臂固定部的连接稳固性。其中，固定槽的个数与弹性件中固定于机臂固定部的至少一端的个数相等。
在一实施例中，在弹性件将未固定的机臂弹开的同时，为了进一步地提醒用户将锁紧件锁紧，机架上还可以设置预警装置。该预警装置例如可以在机臂处于完全伸展状态时向用户发出预警信号(例如可以为声音信息或者灯光信息)，以提醒用户将锁紧件锁紧，从而固定机臂与对应 的机臂固定部之间的相对位置。
以下将结合图8～图9对该机架上设置的控制组件进行详细描述。
图8示意性示出了本公开实施例的机架包括的预警装置与各器件的连接关系框图，图9示意性示出了机架包括的预警装置与各器件电连接的示意图。
如图8所示，在一实施例中，机架10还可以包括多个触发开关500以及预警装置600，该多个触发开关500均与预警装置600连接。图8～图9仅示出预警装置与一个触发开关的连接关系，可以理解的是，多个触发开关中每一个触发开关与预警装置的连接关系均与图8～图9示出的方式相同。例如，多个触发开关可以以并联的方式分别与预警装置连接。
其中，多个触发开关500与多个机臂固定部110一一对应。在一实施例中，每个触发开关可以设置于对应的机臂固定部110，例如可以设置于对应的机臂固定部110的内侧壁，用于感测与设置其的机臂固定部110对应的机臂200是否沿目标方向转动至最大角度(即用于感测机臂是否处于展开状态)。可以理解的是，该多个触发开关500例如可以是接近开关等，用于感测机臂200是否靠近设置其的机臂固定部110，在机臂200处于展开状态时，对应的触发开关500被触发。或者，在一实施例中，该多个触发开关500例如可以通过压力传感器来替代。在感测到压力时，则确定与设置其的机臂固定部对应的机臂处于完全伸展状态。
其中，预警装置600例如可以包括控制模块和报警模块。控制模块例如可以通过单片机等实现，用于感测触发开关与预警装置600的连通，并产生预警信号。报警模块例如可以包括蜂鸣器或指示灯等。其中，在报警模块包括蜂鸣器时，预定信号包括声音信号，蜂鸣器用于播放该声音信号。在报警模块包括指示灯时，预定信号包括电流信号，指示灯用于根据该电流信号闪烁式发光或稳定发光。在一实施例中，该预警装置600例如可以设置于机架本体的表面。或者，为了避免预警装置600因风吹雨打而损坏，该预警装置600可以设置于机架本体内。例如，在一实施例中，机架本体为中空结构，预警装置600设置于该中空结构内部。
如图9所述，在机臂200与对应的机臂固定部110未贴合时(即机臂200未沿目标方向转动至最大角度时)，该机臂固定部上设置的触发开 关与预警装置不连接。触发开关处于断开状态。在机臂200与对应的机臂固定部110贴合时(即机臂200沿目标方向转动至最大角度时)，该机臂固定部上设置的触发开关在机臂200的作用下被触发，因此与预警装置电连接。预警装置可以响应于该触发开关被触发而发出预警信号。具体的，预警装置与图9中的电源装置900电接通而产生预警信息。该预警信息用于提醒用户此时需要将锁紧件锁紧，以固定机臂200与对应的机臂固定部110之间的相对位置。
在一实施例中，为了在用户将锁紧件锁紧后能够及时停止预警信号的产生，如图8～图9所示，该实施例的机架10例如还可以包括有多个行程开关700，图8～图9仅示出于预警装置与一个行程开关的连接关系，可以理解的是，多个行程开关中每一个行程开关与预警装置的连接关系均与图8～图9示出的方式相同。
在一实施例中，该多个行程开关700与多个机臂固定部110一一对应。每个行程开关700例如可以设置于与设置其的机臂固定部110对应的机臂200上。或者，该每个行程开关700可以设置于对应的机臂固定部110上。该行程开关700还可以设置于机架本体100上机臂固定部110与机架本体100的连接处，机臂固定部110上的第一连接件112自该连接处向外延伸设置。行程开关700用于感测锁紧件300是否固定机臂200与对应于该机臂的机臂固定部110之间的相对位置。换言之，该行程开关700用于感测锁紧件300是否处于锁紧状态，该锁紧状态例如可以为锁紧件300与前述的闭合结构(即图4中的第一连接件112与第二连接件210拼接构成的闭合结构)完全配合的状态。其中，该行程开关700的设置位置应保证锁紧件300处于锁紧状态时能与该行程开关700相接触。
在设置于机臂200上的锁紧件未锁紧机臂和机臂固定部时，与该机臂200对应的机臂固定部110所对应的行程开关700与预警装置600保持连接，即与预警装置600相连通。如图9所示，在锁紧件锁紧机臂和机臂固定部时，即锁紧件处于锁紧状态时，由于锁紧件300对行程开关700的碰撞，可以使得与该机臂200对应的机臂固定部110所对应的行程开关700被触发断开，从而切断与预警装置的连接，使得预警装置与 电源装置900之间断电。在该机臂200未沿目标方向转动至最大角度时，则由于触发开关未被触发，即使行程开关700与预警装置600相接，也不存在闭合回路，因此预警装置600无法产生预警信号。在该机臂200沿目标方向转动至最大角度，且设置于机臂200上的锁紧件未固定相对位置时，由于图9中的电连接构成了闭合回路，因此预警装置可以产生预警信号，从而起到提醒用户锁紧所述锁紧件300的作用。在设置于机臂200上的锁紧件固定了相对位置后，由于行程开关700与预警装置600未连接，因此闭合回路被断开，预警装置600可以停止产生预警信号。可以理解的是，图9所示的电路仅为一种实施方式，该实施例还可以通过任意的其他方式使得预警装置被配置为：在机臂处于完全伸展状态，锁紧件未锁紧时发出预警信号；在锁紧件锁紧后停止发出预警信号。
在一实施例中，多个行程开关可以以并联的方式分别与预警装置连接，每个行程开关与设置其的机臂或机臂固定部所对应的触发开关串联连接。
在一实施例中，用户若未忘记通过锁紧件锁紧机臂的位置，但预警装置却产生了预警信号时，容易给用户带来较差的体验。为了避免该用户体验较差的问题，如图8所示，该实施例的机架10还可以包括计时器800。该计时器800与预警装置600连接。
其中，该计时器800例如可以设置于触发开关500与预警装置600之间，或者设置于预警装置600与行程开关之间。该计时器800例如可以与预警装置600通信连接，以将计时结果发送给预警装置600。或者，该计时器800例如可以设置有电子开关，该电子开关用于在满足预定条件时被触发，从而使得计时器800与预警装置600相连通。其中，预定条件例如可以是计时时长超过预定时长。该预定时长例如可以为1min、2min等任意的时长，该预定时长可以根据实际需求进行设定。
在一实施例中，计时器可以与预警装置通信连接。在任一机臂沿目标方向转动至最大角度时，由于触发开关500被触发，如图9所示的电路构成闭合回路，计时器接电开始计时。在计时器的计时时长超过预定时长时，可以向预警装置600发送启动信息，在预警装置600收到该启动信息时，说明从机臂200达到完全伸展状态到当前时刻的时长已超过 预定时长，且锁紧件300还未固定相对位置。预警装置600可以响应于该启动信息产生预警信号，提醒用户锁紧所述锁紧件300。若预警装置600产生预警信号后，用户通过锁紧件300固定了机臂200的位置，则闭合回路由于行程开关的断开而断开，预警装置600停止产生预警信号，计时器800因断电而自动重置。若计时时段还未超过预定时段，用户已经通过锁紧件300固定了机臂的位置，则同样由于闭合回路因行程开关的断开而断开，预警装置600无法产生预警信息，计时器也因断电而自动重置归零。从而可以避免因产生预警信息降低用户体验的情况。
可以理解的是，上述计时器的实现方式仅作为示例以利于理解本公开，该计时器只要使得在触发开关被触发时开始计时，并使得预警装置在计时时长超过预定时长后发出预警信号即可。
以下将结合图3、图8和图9对本公开提供的包括触发开关的机架进行详细说明。
如图3所示，该实施例的机架10可以包括机架本体100、多个机臂200及多个锁紧件300。该机架本体100、机臂200与锁紧件300的设置关系与前述描述类似，在此不再赘述。
如图8所示，在一实施例中，机架10还可以包括多个触发开关500以及预警装置600，该多个触发开关500均与预警装置600连接。图8～图9仅示出预警装置与一个触发开关的连接关系，可以理解的是，多个触发开关中每一个触发开关与预警装置的连接关系均与图8～图9示出的方式相同。
其中，多个触发开关500与多个机臂固定部110一一对应。在一实施例中，每个触发开关可以设置于对应的机臂固定部110，例如可以设置于对应的机臂固定部110的内侧壁，用于感测与设置其的机臂固定部110对应的机臂200是否沿目标方向转动至最大角度(即用于感测机臂是否处于展开状态)。可以理解的是，在任一机臂200处于展开状态时，与该任一机臂对应的触发开关被触发，响应于该触发开关被触发，预警装置可以产生预警信号。该触发开关与预警装置的工作原理与前述实施例描述类似，在此不再赘述。
在一实施例中，如图8所示，该实施例的机架10还可以包括计时器 800。该计时器800与预警装置600连接。
其中，该计时器800例如可以设置于触发开关500与预警装置600之间，或者设置于预警装置600与行程开关之间。该计时器800例如可以与预警装置600通信连接，以将计时结果发送给预警装置600。或者，该计时器800例如可以设置有电子开关，该电子开关用于在满足预定条件时被触发，从而使得计时器800与预警装置600相连通。该行程开关的工作原理与前述类似，在此不再赘述。
综上可知，本公开实施例的机架，通过在机臂固定部中设置触发开关，可以在机臂展开后未用锁紧件锁紧时，发出预警信息，从而起到提醒用户用锁紧件锁紧机臂与机臂固定部的作用，在一定程度上避免炸机现象。因此，本公开实施例的机架的设计，能够在一定程度上提高用户体验。
以上为本公开的最优实施例，需要说明的，该最优的实施例仅用于理解本公开，并不用于限制本公开的保护范围。并且，最优实施例中的特征，在无特别注明的情况下，均同时适用于方法实施例和装置实施例，在相同或不同实施例中出现的技术特征在不相互冲突的情况下可以组合使用。
需要说明的是，上述对各元件的定义并不仅限于实施方式中提到的各种具体结构或形状，本领域的普通技术人员可对其进行简单地熟知地替换，以上所述的具体实施例，对本公开的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本公开的具体实施例而已，并不用于限制本公开，凡在本公开的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (31)

  1. 一种机架，其特征在于，所述机架包括：
    机架本体，包括多个机臂固定部，每个所述机臂固定部设置有弹性件；
    多个机臂，与多个所述机臂固定部一一对应的可转动连接，所述多个机臂中的任一机臂被配置为：通过相对于对应的机臂固定部的转动能够处于展开状态或收回状态；以及
    多个锁紧件，一一对应地设置于多个所述机臂上；
    其中，在所述任一机臂处于所述展开状态时，对应于所述任一机臂的机臂固定部上的弹性件能够向所述任一机臂提供弹力；
    设置于所述任一机臂上的锁紧件能够处于锁紧状态和非锁紧状态，在所述任一机臂处于所述展开状态时，所述锁紧件能够处于锁紧状态，在所述锁紧件处于锁紧状态时能够锁紧所述任一机臂和对应于所述任一机臂的机臂固定部；在所述锁紧件处于所述非锁紧状态时，所述任一机臂能够在所述弹力作用下向所述收回状态运动。
  2. 根据权利要求1所述的机架，其特征在于：
    每个所述弹性件的至少一端固定于设置其的机臂固定部；
    每个所述弹性件包括凸出的弹性部，所述弹性部的凸出方向为靠近设置每个所述弹性部的机臂固定部所对应的机臂的方向。
  3. 根据权利要求2所述的机架，其特征在于，每个所述弹性件还包括自由端，所述自由端可滑动地连接于设置每个所述弹性件的机臂固定部。
  4. 根据权利要求2所述的机架，其特征在于：
    每个所述机臂固定部还设置有第一固定孔；
    设置于每个所述机臂固定部的弹性件的至少一端设置有第二固定孔，
    其中，每个所述弹性件被配置为：通过紧固件与所述第一固定孔及所述第二固定孔的配合设置于每个所述机臂固定部的内侧壁上。
  5. 根据权利要求2所述的机架，其特征在于：
    每个所述机臂固定部设置有固定槽；
    设置于每个所述机臂固定部的弹性件的至少一端设置有卡块，
    其中，每个所述弹性件被配置为：通过所述卡块与所述固定槽的卡合设置于每个所述机臂固定部的内侧壁上。
  6. 根据权利要求1所述的机架，其特征在于：
    每个所述机臂固定部还设置有触发开关；
    所述机架还包括预警装置，
    其中，在所述任一机臂处于展开状态时，与所述任一机臂对应的机臂固定部设置的触发开关被触发，响应于所述触发开关的触发动作，所述预警装置发出预警信号。
  7. 根据权利要求6所述的机架，其特征在于：
    所述机架还包括多个行程开关，与多个所述锁紧件一一对应，多个所述行程开关一一对应地设置于多个所述机臂或多个所述机臂固定部上，
    其中，所述行程开关被配置为：在任一锁紧件触碰到其对应的行程开关时，与所述任一锁紧件对应的所述行程开关被触发以关闭所述预警装置。
  8. 根据权利要求7所述的机架，其特征在于：
    所述机架还包括计时器，与所述预警装置连接，
    其中，所述计时器被配置为：在对应于所述任一机臂的机臂固定部上的触发开关被触发时开始计时；所述预警装置被配置为：在所述计时器的计时时长超过预定时长时，发出预警信号。
  9. 根据权利要求1所述的机架，其特征在于：
    每个锁紧件套设于对应的机臂上，且每个所述锁紧件能够沿对应的机臂的中心轴移动；
    每个所述机臂固定部还设置有第一连接件，每个所述机臂上还设置有第二连接件，
    其中，在所述任一机臂处于展开状态时，所述任一机臂上的所述第二连接件与对应于所述任一机臂的机臂固定部设置的第一连接件拼接构成闭合结构，与所述任一机臂对应的锁紧件被配置为：经由与所述闭合结构的配合，锁紧所述任一机臂和对应于所述任一机臂的机臂固定部。
  10. 根据权利要求9所述的机架，其特征在于：
    所述第一连接件与所述第二连接件为外螺纹结构；
    每个锁紧件的内侧壁设置有内螺纹；
    与所述任一机臂对应的锁紧件被配置为：通过所述内螺纹与所述外螺纹结构的配合锁紧所述任一机臂和对应于所述任一机臂的机臂固定部。
  11. 根据权利要求1所述的机架，其特征在于，所述机架还包括：
    多个销轴，与多个所述机臂一一对应，
    其中，每个所述机臂与对应的所述销轴铰接，以使得每个所述机臂与对应的所述机臂固定部可转动连接。
  12. 一种机架，其特征在于，所述机架包括：
    机架本体，包括多个机臂固定部，每个所述机臂固定部设置有触发开关；
    多个机臂，与多个所述机臂固定部一一对应的可转动连接，所述多个机臂中的任一机臂被配置为：通过相对于对应的机臂固定部的转动能够处于展开状态或收回状态；
    多个锁紧件，一对应的设置于多个所述机臂上；以及
    预警装置，
    其中，在所述任一机臂处于展开状态时，对应于所述任一机臂的机臂固定部上的触发开关被触发，响应于所述触发开关的触发动作，所述预警装置发出预警信号；
    设置于所述任一机臂上的锁紧件能够处于锁紧状态和非锁紧状态，在所述任一机臂处于所述展开状态时，所述锁紧件能够处于锁紧状态，在所述锁紧件处于锁紧状态时能够锁紧所述任一机臂和对应于所述任一机臂的机臂固定部。
  13. 根据权利要求12所述的机架，其特征在于，所述机架还包括：
    多个行程开关，与多个所述锁紧件一一对应，多个所述行程开关一一对应地设置于多个所述机臂或多个所述机臂固定部上，
    其中，所述行程开关被配置为：在任一锁紧件触碰到其对应的行程开关时，所述锁紧件处于锁紧状态且与所述任一锁紧件对应的所述行程开关被触发以关闭所述预警装置。
  14. 根据权利要求13所述的机架，其特征在于，所述机架还包括：
    计时器，与所述预警装置连接，
    其中，所述计时器被配置为：在对应于所述任一机臂的机臂固定部上的触发开关被触发时开始计时；所述预警装置被配置为：在所述计时器的计时时长超过预定时长时，发出预警信号。
  15. 根据权利要求12所述的机架，其特征在于：
    每个锁紧件套设于对应的机臂上，且每个所述锁紧件能够沿对应的机臂的中心轴移动；
    每个所述机臂固定部还设置有第一连接件，每个所述机臂上还设置有第二连接件，
    其中，在所述任一机臂处于展开状态时，所述任一机臂上的所述第二连接件与对应于所述任一机臂的机臂固定部设置的第一连接件拼接构成闭合结构，与所述任一机臂对应的锁紧件被配置为：经由与所述闭合结构的配合，锁紧所述任一机臂和对应于所述任一机臂的机臂固定部。
  16. 根据权利要求12所述的机架，其特征在于：
    所述第一连接件与所述第二连接件为外螺纹结构；
    每个锁紧件的内侧壁设置有内螺纹；
    与所述任一机臂对应的锁紧件被配置为：通过所述内螺纹与所述外螺纹结构的配合锁紧所述任一机臂和对应于所述任一机臂的机臂固定部。
  17. 根据权利要求12所述的机架，其特征在于，所述机架还包括：
    多个销轴，与多个所述机臂一一对应，
    其中，每个所述机臂与对应的所述销轴铰接，以使得每个所述机臂与对应的所述机臂固定部可转动连接。
  18. 一种无人机，其特征在于，所述无人机包括：
    机架，所述机架包括：权利要求1～11中任一项所述的机架或权利要求12～17中任一项所述的机架；以及
    多个动力系统，每个动力系统包括电机组件和与所述电机组件连接的桨叶，所述多个动力系统一一对应地设置于所述机架的多个机臂上；
    起落架，与所述机架连接，用于所述无人机着陆。
  19. 一种无人机，其特征在于，所述无人机包括：
    第一机构部件；
    第二机构部件，与所述第一机构部件可活动连接，所述第二机构部件被配置为：通过相对于所述第一机构部件的活动，使得所述第二机构部件处于展开状态或收回状态；
    锁紧件，设置于所述第一机构部件和所述第二机构部件中的至少一个上；以及
    弹性件，设置于所述第一机构部件和所述第二机构部件中的至少一个上，
    其中，在所述第二机构部件处于展开状态时，所述弹性件能够向所述第二机构部件提供弹力，且所述锁紧件能够处于锁紧状态和非锁紧状态；其中，所述锁紧件处于锁紧状态时能够锁紧所述第一机构部件和所述第二机构部件；在所述锁紧件处于所述非锁紧状态时，所述第二机构部件能够在所述弹力的作用下朝向所述收回状态运动。
  20. 根据权利要求19所述的无人机，其特征在于，所述第一机构部件包括以下至少之一：机架本体、机臂和起落架。
  21. 根据权利要求19所述的无人机，其特征在于，所述第二机构部件包括以下至少之一：机架本体、机臀和起落架。
  22. 根据权利要求19所述的无人机，其特征在于，所述第二机构部件与所述第一机构部件可转动连接。
  23. 根据权利要求19所述的无人机，其特征在于，所述第二机构部件与所述第一机构部件可滑动连接。
  24. 根据权利要求19所述的无人机，其特征在于，在所述第二机构部件处于所述展开状态时，所述无人机能够处于可起飞状态。
  25. 根据权利要求19所述的无人机，其特征在于，在所述第二机构部件处于所述收回状态时，所述无人机能够处于打包运输状态。
  26. 根据权利要求19所述的无人机，其特征在于，所述无人机在所述第二机构部件处于所述展开状态时的体积，大于所述无人机在所述第二机构部件处于所述收回状态时的体积。
  27. 一种无人机，其特征在于，所述无人机包括：
    第一机构部件；
    第二机构部件，与所述第一机构部件可活动连接，所述第二机构部 件被配置为：通过相对于所述第一机构部件的活动，使得所述第二机构部件处于展开状态或收回状态；
    锁紧件，设置于所述第一机构部件和所述第二机构部件中的至少一个上；
    触发开关，设置于所述第一机构部件和所述第二机构部件中的至少一个上；以及
    预警装置，
    其中，在所述第二机构部件处于展开状态时：
    所述触发开关被触发，响应于所述触发开关的触发动作，所述预警装置发出预警信号；以及
    所述锁紧件能够处于锁紧状态和非锁紧状态，其中，在所述锁紧件处于锁紧状态时能够锁紧所述第一机构部件和所述第二机构部件。
  28. 根据权利要求27所述的无人机，其特征在于，所述第一机构部件包括以下至少之一：机架本体、机臂和起落架。
  29. 根据权利要求27所述的无人机，其特征在于，所述第二机构部件包括以下至少之一：机架本体、机臂和起落架。
  30. 根据权利要求27所述的无人机，其特征在于，所述第二机构部件与所述第一机构部件可转动连接。
  31. 根据权利要求27所述的无人机，其特征在于，所述第二机构部件与所述第一机构部件可滑动连接。
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