WO2021243502A1 - 机臂组件和无人飞行器 - Google Patents

机臂组件和无人飞行器 Download PDF

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Publication number
WO2021243502A1
WO2021243502A1 PCT/CN2020/093670 CN2020093670W WO2021243502A1 WO 2021243502 A1 WO2021243502 A1 WO 2021243502A1 CN 2020093670 W CN2020093670 W CN 2020093670W WO 2021243502 A1 WO2021243502 A1 WO 2021243502A1
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WO
WIPO (PCT)
Prior art keywords
arm
contact surface
limiting member
wall
machine
Prior art date
Application number
PCT/CN2020/093670
Other languages
English (en)
French (fr)
Inventor
舒展
黄彦鑫
农贵升
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.)
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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 CN202080033261.7A priority Critical patent/CN113795424A/zh
Priority to PCT/CN2020/093670 priority patent/WO2021243502A1/zh
Publication of WO2021243502A1 publication Critical patent/WO2021243502A1/zh

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    • 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
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports

Definitions

  • This application relates to the technical field of unmanned aerial vehicles, and specifically to an arm assembly and an unmanned aerial vehicle.
  • the foldable arm configuration is an effective way to solve the two contradictory requirements of increasing the load while minimizing the size of the aircraft.
  • the arm When the arm is unfolded, the arm needs to be locked to prevent explosions during flight.
  • the locking mechanism of the arm in the related art requires the user to manually lock it, but sometimes the user forgets to lock it.
  • it is necessary to design a complex locking device or locking structure during the locking process, such as screws or The buckle structure, but such a locking device or structure is complicated to operate, which increases the complexity, weight and cost of the UAV structure, and its reliability is not strong.
  • the embodiments of the present application provide an arm assembly and an unmanned aerial vehicle.
  • the arm When the arm is unfolded, no complicated locking action is required, the operation is convenient and fast, and the arm can be stably locked with high reliability.
  • an embodiment of the present application provides a machine arm assembly, including: a machine arm, a machine arm support, and a stopper; the machine arm and the machine arm support can be movably connected, and can be in a folded state and an unfolded state; the stopper It is movably connected with the arm support, and the limiting member has a first contact surface and a second contact surface; wherein, during the movement of the arm from the folded state to the unfolded state, the arm can contact the first contact surface to push away The limit piece, the limit piece can be pushed back by the arm to return, so that the arm can be confined between the arm support and the limit piece when the arm is in the unfolded state; when the arm is in the unfolded state, the limit piece The second contact surface abuts the arm to stop the arm from moving in the folded state.
  • an embodiment of the present application provides an unmanned aerial vehicle including a center body, a plurality of rotor devices, and an arm assembly.
  • the arm assembly includes a machine arm, a machine arm support and a limiter; the machine arm support installs the machine arm on the central body; the machine arm and the machine arm support can be movably connected, and can be in a folded state and an unfolded state; the limiter and the machine
  • the arm support can be movably connected, and the limiting member has a first contact surface and a second contact surface; wherein, during the movement of the arm from the folded state to the unfolded state, the arm can contact the first contact surface to push the limit off
  • the limiting member can be pushed back by the arm to return, so that the arm can be confined between the arm support and the limiting member when the arm is in the unfolded state; when the arm is in the unfolded state, the limiting member passes through the first The two contact surfaces abut the arm to stop the arm from moving in the folded state; multiple
  • the machine arm assembly includes a machine arm, a machine arm support, and a stopper.
  • the limiter has a first contact surface and a second contact surface.
  • the arm can push the limit away along the first contact surface when the arm is moved from the folded state to the unfolded state.
  • the limiting member can return after being pushed open, and abut the arm through the second contact surface to block the arm from moving in the folded state. That is to say, it is only necessary to make the limit member return after being pushed open, and then to abut on the machine arm through the second contact surface when returning, which is convenient for operation.
  • this application specifically stops the movement of the arm in the folded state by abutting the second contact surface of the limiter with the arm, and only needs to make the second contact surface abut the arm.
  • the structure is simple. , There is no need to modify the structure of the arm to lock the arm through buckles or threads.
  • the second contact surface to abut the arm it is beneficial to lock the arm in the unfolded state stably, with high reliability , Without worrying about the use of buckle to lock the prone to tripping and other situations.
  • it is suitable for machine arms of various structures, and the locking of the machine arm can be realized when the second contact surface abuts on the machine arm, and the versatility is high.
  • the machine arm assembly proposed in the present application realizes the locking of the machine arm by abutting the second contact surface with the machine arm, without the need to improve the structure of the machine arm, has a simple structure, is convenient to operate, and has high reliability.
  • Fig. 1 shows a schematic structural diagram of the arm assembly of an embodiment of the present application when the arm is in an unfolded state
  • Fig. 2 shows a schematic structural diagram of the arm assembly shown in Fig. 1 when the arm is moved from the folded state to the unfolded state;
  • Fig. 3 shows a schematic front view of the arm assembly of an embodiment of the present application when the arm is in an unfolded state
  • Fig. 4 shows a schematic cross-sectional view of the arm assembly shown in Fig. 3 when the arm is in an unfolded state
  • Fig. 5 shows a schematic structural diagram of the arm assembly shown in Fig. 3 when the arm is moved from the folded state to the unfolded state;
  • FIG. 6 shows a schematic cross-sectional view of the arm assembly shown in FIG. 3 when the arm moves from the folded state to the unfolded state;
  • Figure 7 shows an exploded view of the arm assembly shown in Figure 1;
  • FIG. 8 shows a schematic structural diagram of a machine arm in the machine arm assembly shown in FIG. 1;
  • Fig. 9 shows a schematic structural diagram of the arm assembly shown in Fig. 3 after being turned down by 180°;
  • FIG. 10 shows a schematic structural diagram of the arm assembly shown in FIG. 9 when the arm is moved from the folded state to the unfolded state;
  • Fig. 11 shows a schematic structural view of the arm assembly shown in Fig. 9 viewed from a top perspective
  • Fig. 12 shows a schematic structural view of the arm assembly shown in Fig. 11 when the arm is moved from the folded state to the unfolded state;
  • FIG. 13 shows a schematic structural view of the arm assembly shown in FIG. 3 viewed from a top view and rotated 180° clockwise;
  • Fig. 14 shows a schematic structural view of the arm assembly shown in Fig. 13 when the arm is moved from the folded state to the unfolded state;
  • Fig. 15 shows a schematic structural view of the arm assembly shown in Fig. 3 viewed from the right perspective;
  • FIG. 16 shows a schematic structural diagram of the arm assembly shown in FIG. 15 when the arm moves from the folded state to the unfolded state;
  • Fig. 17 shows a schematic structural view of the arm assembly shown in Fig. 15 viewed from a rear perspective;
  • Figure 18 shows a schematic cross-sectional view of another embodiment of the present application of the arm assembly when the arm is in an unfolded state
  • Fig. 19 shows a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application.
  • 100 arm assembly 110 arm, 111 first end, 120 arm bracket, 121 first wall, 122 second wall, 1221 shaft hole, 123 third wall, 124 receiving cavity, 125 mounting cavity, 126 rotating shaft, 127 Elastic piece, 128 guide groove, 129 handle, 130 stop piece, 131 first contact surface, 132 second contact surface, 133 guide protrusion, 134 locked part, 135 locked part, 200 UAV, 210 central body , 220 rotor device, 221 motor, 222 propeller.
  • FIGS. 1 to 19 the arm assembly 100 and the unmanned aerial vehicle 200 according to some embodiments of the present application will be described with reference to FIGS. 1 to 19.
  • two arms 110 are shown in FIGS. 2, 5, 6, 10, 12, 14 and 16, it does not mean that the arm assembly 100 can accommodate two arms 110 at the same time.
  • But represents a position where the arm 110 can stay during the movement from the folded state to the unfolded state.
  • the arrow directions in FIGS. 2, 5, 6, 12 and 14 represent the direction of movement of the arm 110.
  • the machine arm assembly 100 includes a machine arm 110, a machine arm support 120 and a limiting member 130.
  • the arm 110 and the arm support 120 can be movably connected, and can be in a folded state and an unfolded state.
  • the limiting member 130 is movably connected to the arm support 120, and the limiting member 130 has a first contact surface 131 and a second contact surface 132.
  • the arm 110 can contact the first contact surface 131 to push the limit member 130 away, and the limit member 130 can return after being pushed away by the arm 110 , So that when the arm 110 is in the unfolded state, it can be confined between the arm support 120 and the limiting member 130; when the arm 110 is in the unfolded state, the limiting member 130 abuts against the arm 110 through the second contact surface 132 To stop the movement of the arm 110 toward the folded state.
  • the arm assembly 100 provided by the embodiment of the present application only needs to return the limit member 130 after being pushed away, and abut the arm 110 through the second contact surface 132 when returning, which is convenient to operate.
  • the second contact surface 132 of the limiter 130 is in contact with the arm 110 to stop the arm 110 from moving in the folded state, and the second contact surface 132 only needs to abut the arm 110.
  • the structure is simple, and there is no need to modify the structure of the arm 110 to lock the arm 110 by means of buckles or threads.
  • the second contact surface 132 is used to abut the arm 110, which is beneficial to the machine arm 110.
  • the arm 110 is stably locked in the unfolded state, and the reliability is high, and it is free to consider situations such as tripping that may easily occur by using a buckle method to lock. Moreover, it is beneficial to the machine arm 110 suitable for various structures.
  • the locking of the machine arm 110 can be realized by the second contact surface 132 abutting against the machine arm 110, and the versatility is high.
  • the machine arm assembly 100 proposed in the present application realizes the locking of the machine arm 110 by abutting the second contact surface 132 with the machine arm 110, without the need to improve the structure of the machine arm 110, has simple structure, convenient operation and reliability. high.
  • the limiter 130 can be automatically reset after being pushed away by the arm 110 (such as resetting by its own weight or resetting with the help of other components), it is beneficial to realize that the arm 110 is unfolded and locked, so that it is not necessary
  • the additional locking action can effectively avoid the risk of crashing the machine caused by the omission of the operation, the operation is simple, and the work efficiency is improved.
  • the arm 110 may be cylindrical, which is convenient for production and processing, and has a high structural strength.
  • the cross section of the arm 110 can also be rectangular or square, etc.
  • the arm assembly 100 of the present application can be applied to various types of arm 110.
  • a rotating shaft 126 is provided on the arm support 120, and the arm 110 can surround The rotating shaft 126 rotates to move from the folded state to the unfolded state. That is, by providing the rotating shaft 126 on the arm 110, the moving direction of the arm 110 is restricted, so that the arm 110 moves more smoothly from the folded state to the unfolded state, and it is advantageous for the stopper 130 to pass through the second contact surface 132.
  • the abutment of the arm 110 that restricts the movement path is beneficial to ensure the abutment effect of the second contact surface 132 and the arm 110, thereby improving the locking effect of the stopper 130 on the arm 110.
  • the rotating shaft 126 may be a pin shaft structure, that is, the pivotable connection between the arm 110 and the arm support 120 is realized through the pin, so that the arm 110 can be deployed in place.
  • the second contact surface 132 is an inclined surface inclined with respect to the axial direction of the rotating shaft 126.
  • the friction coefficient ⁇ between the second contact surface 132 and the arm 110 is made to be in contact with the second The inclination angle ⁇ of the surface 132 with respect to the axial direction of the rotating shaft 126 satisfies ⁇ tan ⁇ .
  • the friction coefficient ⁇ between the second contact surface 132 and the arm 110 is constant, the relative movement of the arm 110 and the second contact surface 132 can be effectively avoided by reducing the inclination angle ⁇ , even making the inclination angle ⁇ 0° , Thereby facilitating self-locking of the arm 110.
  • the self-locking of the arm 110 can also be achieved by changing the material of the limiting member 130 and increasing the friction coefficient ⁇ between the second contact surface 132 and the arm 110. As long as the locking condition ⁇ tan ⁇ is satisfied, the arm 110 can be maintained in the unfolded state, and the self-locking of the arm 110 can be realized.
  • the inclination angle ⁇ of the second contact surface 132 relative to the axial direction of the rotating shaft 126 may be less than or equal to 45°, such as 30° or 20° or 15° and so on.
  • the first contact surface 131 is designed to be an inclined surface inclined with respect to the axial direction of the rotating shaft 126.
  • the inclined surface can play a good guiding role, and a small force can be realized to push the arm 110 to unfold, which is convenient for the user to push the arm 110.
  • other methods can be used to push the arm 110 instead of manpower, for example, an electric push rod is provided to push the arm 110.
  • the inclination angle ⁇ of the first contact surface 131 relative to the axial direction of the rotating shaft 126 may be greater than or equal to 30° and less than or equal to 70°, such as 45°, 60°, and so on.
  • the size of the inclination angle ⁇ can be designed as required.
  • the inclination angle ⁇ of the first contact surface 131 with respect to the axial direction of the rotating shaft 126 is greater than the inclination angle ⁇ of the second contact surface 132 with respect to the axial direction of the rotating shaft 126.
  • the inclination angle ⁇ of the first contact surface 131 with respect to the axis of the rotating shaft 126 is larger, which is beneficial to reduce the resistance when the arm 110 is deployed, so that a small force can be applied to push the arm 110 to the first contact.
  • the surface 131 moves relative to each other, pushing away the limiting member 130 and moving to the unfolded state.
  • the inclination angle ⁇ of the second contact surface 132 with respect to the axial direction of the rotating shaft 126 is made small, and even reaches a state parallel to the axial direction of the rotating shaft 126.
  • the contact surface 132 abuts the arm 110, which can effectively stop the movement of the arm 110 in the folded state, and realize the self-locking of the arm 110. It is beneficial to realize that the arm 110 is easy to unfold, and it is stably locked after unfolding.
  • the limit piece 130 when the arm 110 is in the unfolded state, the limit piece 130 The second contact surface 132 abuts against the side wall of the arm 110. That is, the second contact surface 132 is in contact with the side wall of the arm 110 to achieve the locked state of the arm 110 in the unfolded state, and the locking effect is good. There is no need to consider the weight of the arm 110. It is sufficient to abut the side wall of the arm 110 in the folding direction of the arm 110 (that is, the direction of movement from the unfolded state to the folded state).
  • the locking structure of the end of the arm 110 is likely to be released. Obviously, the locking effect is better. Moreover, there is no need to modify the structure of the arm 110 to lock it by an additional locking structure such as a snap or thread, and at the same time it can lock the arm 110 of various structures, such as a circular or square cross-section. It is sufficient that the second contact surface 132 can abut the side wall of the arm 110, which improves the versatility of the arm assembly 100.
  • the movement direction of the limiting member 130 relative to the arm support 120 can be made to be the same as the axial direction of the rotating shaft 126. Therefore, the limiting effect of the limiting member 130 on the arm 110 is better.
  • the thickness of the end of the limiting member 130 close to the arm 110 is smaller than the thickness of the end of the limiting member 130 away from the arm 110. That is, in the axial direction of the rotating shaft 126, the thickness of the end of the limiting member 130 close to the arm 110 is smaller than the thickness of the end of the limiting member 130 away from the arm 110.
  • the center of gravity of the limiter 130 is offset relative to the arm 110, so that the limiter 130 can be pushed apart more easily during the movement of the arm 110 from the folded state to the unfolded state; on the other hand, it is beneficial to the limiter 130.
  • the positioning member 130 smoothly moves to one side of the folding direction of the arm 110 through a sharper part, thereby stopping the movement of the arm 110 in the folded state.
  • the first contact surface 131 and the second contact surface 132 are two opposite sides of the limiting member 130.
  • the first contact surface 131 and the second contact surface 132 are two opposite sides of the limiting member 130.
  • the first contact surface 131 can be contacted to push the limit member 130 away, and then the limit member 130 returns to the folding direction of the arm 110 by moving away from the first contact surface 131.
  • the second contact surface 132 of the contact surface 131 abuts the arm 110, and the locking effect is good. It can be ensured that the arm 110 is smoothly deployed in place, and the arm 110 is more firmly maintained in the unfolded state after being unfolded.
  • the first contact surface 131 is an inclined surface inclined with respect to the axial direction of the rotating shaft 126, and the inclination directions of the first contact surface 131 and the second contact surface 132 are opposite.
  • the first contact surface 131 can better guide the arm 110, which is convenient for the arm 110 to move along the first contact surface 131 to push the stopper 130 away, and on the other hand, the second contact surface 132 can be better guided.
  • the arm 110 is locked on the ground.
  • the first contact surface 131 is a curved surface.
  • the curved surface can play a good guiding role for the arm 110 and facilitate the movement of the arm 110 along the curved surface to push the limit member 130.
  • the shape of the first contact surface 131 defined in the present application is not limited to the above content, and those skilled in the art can think of any that can realize the first contact surface 131 of the arm 110 that can be smoothly deployed through the first contact surface 131. Any shape falls within the protection scope of this application.
  • the second contact surface 132 is a flat surface, and the second contact surface 132 is located at one end of the limiting member 130 in the movement direction of the arm support 120. That is to say, the plane of the end of the limiter 130 close to the arm 110 is in contact with the arm 110 to limit the arm 110, that is, the plane is crimped with the arm 110 to realize the pairing of the limiter 130.
  • the position limiting effect of the arm 110 allows the arm 110 to remain in the unfolded state after being unfolded.
  • the limiting member 130 is slidably connected to the arm support 120. It is advantageous for the limiting member 130 to move relative to the arm support 120, thereby facilitating the arm 110 to push the limiting member 130 away, and it is also beneficial for the limiting member 130 to be smoothly reset after being pushed away.
  • the limit member 130 can be pushed to slide relative to the arm support 120 along the set path, which facilitates the opening of the limit member 130, and even makes the limit member 130 Moving out of the accommodating cavity 124 where the arm 110 in the arm bracket 120 is located also facilitates the stopper 130 to return to position along the set path after being pushed away to achieve abutment against the arm 110.
  • the design arm assembly 100 further includes an elastic member 127, which is connected to the arm support 120 and The limiting member 130 applies elastic force to the limiting member 130 so that the limiting member 130 can automatically reset and abut the arm 110 under the elastic force of the elastic member 127.
  • the elastic member 127 is provided to apply elastic force to the limit member 130. Specifically, after the limit member 130 is pushed away by the arm 110, it can automatically reset to the arm under the elastic force of the elastic member 127.
  • the 110 abutting is beneficial to realize the technical effect of the unfolding and locking of the arm 110, and can effectively avoid the risk of crashing the machine due to the omission of the locking operation.
  • the elastic force Fk applied by the elastic member 127 to the limit member 130 is greater than or equal to that of the limit member 130 and the machine arm 110.
  • the elastic force Fk exerted by the elastic member 127 on the stopper 130 is toward the direction of the arm 110, and at the same time, the limiter 130 and the arm support 120 generate an opposite force, namely the frictional force Ff.
  • the direction of the frictional force Ff is away from the direction of the arm 110, so that the elastic force Fk applied by the elastic member 127 is greater than the friction.
  • the force Ff can push the limiter 130 to abut the arm 110, and by making the elastic force Fk applied by the elastic member 127 equal to the frictional force Ff, the limiter 130 can be kept in contact with the arm 110, namely Fk ⁇ Ff.
  • the limiting member 130 is moved away from the arm 110 to facilitate the arm 110 to return to the folded state.
  • the tensile force Ft applied to the limiting member 130 must be greater than or equal to the elastic force Fk applied to the limiting member 130 by the elastic member 127, and the sum of the frictional force Ff between the limiting member 130 and the arm support 120, that is, Ft ⁇ Fk+ Ff.
  • Ft ⁇ Fk+ Ff the influence caused by the weight of the stopper 130 itself is ignored.
  • the thrust Fz applied to the arm 110 needs to be greater than or equal to the product of the elastic force Fk and cot ⁇ exerted by the elastic member 127 on the limiting member 130, where ⁇ is the first contact surface 131
  • the elastic member 127 can be a spring, which has better energy storage and release effects, which can further improve the effect of unfolding and locking the arm 110, and the spring has a simple structure and low price, thereby improving the arm assembly 100 Applicability.
  • the elastic member 127 may also be a rubber member or an elastic metal member.
  • the arm support 120 is provided with a locking portion 135, and the limiting member 130 is provided with a locked portion 134; the locked portion 134 can cooperate with the locking portion 135 to make the arm 110 In the unfolded state, the second contact surface 132 can maintain the abutting state with the arm 110.
  • the locking effect is good, which can effectively prevent the arm 110 from pushing away the limit member 130 and moving to the folded state, and there is no need to improve the structure of the arm 110.
  • the arm 110 moves from the folded state to the unfolded state, the arm 110 pushes away the limit member 130 to move to the unfolded state.
  • the limit member 130 returns to the arm The 110 abuts to limit the position of the arm 110.
  • the second contact surface 132 of the limiting member 130 can be kept in contact with the arm 110 through the cooperation of the locking portion 135 and the locked portion 134, so that The arm 110 is securely locked between the limiting member 130 and the arm support 120 to prevent the arm 110 from shaking or even folding back.
  • the specific design of the mating manner of the locking portion 135 and the locked portion 134 is magnet adsorption. That is, a permanent magnet is provided on one of the arm support 120 and the limiting member 130, and a magnetic conductive member is provided on the other, or permanent magnets are provided on both to achieve mutual adsorption. It is beneficial to make the limiter 130 compress the arm 110 under the action of magnetic attraction, and closely fit the arm 110, which is beneficial to eliminate the virtual position of the limiter 130 shaking in the rotation direction of the arm 110, and to ensure the limit.
  • the second contact surface 132 of the piece 130 keeps in contact with the arm 110 at all times.
  • limit member 130 it is also beneficial to make the limit member 130 return under the action of magnetic attraction after being pushed away by the arm 110, and abut against the arm 110 to realize the arm 110 being unfolded and locked, avoiding missing the locking operation. Risk of crashing the machine.
  • the locking portion 135 and the locked portion 134 are not limited to the above-mentioned fitting manner, and other fitting manners, such as a fitting manner of a slot and a protrusion, are also possible. In this case, a manual locking operation, such as twisting, is required.
  • the limiting member 130 makes the protrusion fit with the slot and so on.
  • any cooperation manner of the locking portion 135 and the locked portion 134 that can keep the limiting member 130 and the arm 110 in abutment state falls within the protection scope of the present application.
  • the stopper 130 when the arm 110 is in the unfolded state, can maintain the abutment state of the second contact surface 132 with the arm 110 under the action of its own gravity. There is no need to add an additional locking device, and there is no need to improve the structure of the arm 110, the operation is simple, and the work efficiency is improved.
  • the stopper 130 when the arm 110 moves from the folded state to the unfolded state, the stopper 130 is in contact with the arm 110 through the first contact surface 131 and is contacted by the arm 110. Push open, thereby sliding relative to the arm support 120; when the arm 110 pushes the limit piece 130 away from the limit piece 130, the limit piece 130 can return to the original position, so that when the arm 110 is in the unfolded state, the limit The positioning member 130 abuts the arm 110 through the second contact surface 132. By making the limiter 130 slide relative to the arm support 120 and can return after being pushed apart, it is beneficial to realize the deployment or locking of the arm 110.
  • one of the arm support 120 and the limiting member 130 is provided with a guide groove 128, and the other is provided with a guiding protrusion 133, and the limiting member 130 is opposite to each other.
  • the guide protrusion 133 moves in the guide groove 128.
  • the existence of the guide protrusion 133 and the guide groove 128 defines the movement path of the limit member 130, and enables the limit member 130 to return according to the original path during the process of returning after being pushed, which improves the work of the arm assembly 100 Stability and reliability.
  • the arm assembly 100 further includes a handle 129, which is connected with the limit member 130 for driving the limit under the action of external force.
  • the piece 130 is far away from the arm 110.
  • the machine arm 110 can be turned from the locked state to the unlocked state, and then the machine arm 110 can be moved from the unfolded state to the folded state, so that the machine arm 110 can be folded back.
  • the structure is simple and the operation is convenient.
  • the arm 110 when the arm 110 wants to move from the unfolded state to the folded state, that is, when the arm 110 needs to be folded back, by pulling up the handle 129, the arm 110 can be manually moved from the unfolded state to the folded state. That is to say, by pulling up the handle 129, the handle 129 is connected to the limit piece 130, that is, the limit piece 130 is separated from the abutting state of the arm 110, so that the limit piece 130 does not oppose the arm in the unfolded state. 110 is limited, the arm 110 can be folded back.
  • the arm support 120 is provided with a containing cavity 124, and the first end 111 of the arm 110 extends into the containing cavity 124 and is rotatably connected to the cavity wall of the containing cavity 124
  • the arm support 120 is also provided with a mounting cavity 125, communicating with the containing cavity 124, the limiting member 130 is at least partially located in the mounting cavity 125, and the limiting member 130 can slide in and away from the containing cavity 124.
  • the container cavity can accommodate the first end 111 of the arm 110, and is rotatably connected with the arm 110 to achieve a completely closed or semi-closed state
  • the locking of the arm 110 can effectively prevent dust from entering the rotating shaft 126 and affecting the rotation of the arm 110.
  • the positioning of the arm 110 in the unfolding direction is restricted by the cavity wall of the accommodating cavity 124, which facilitates the unfolding of the arm 110 in place.
  • the existence of the accommodating cavity 124 can also avoid pinching hands and enhance the user experience.
  • the arm bracket 120 is also provided with a mounting cavity 125, which is in communication with the accommodating cavity 124.
  • the limiting member 130 is at least partially located in the mounting cavity 125, and the limiting member 130 can enter and move away from the accommodating cavity 124. In the direction of the slide.
  • the limiter 130 is pushed so that the limiter 130 moves from the accommodating cavity 124 to the installation cavity 125.
  • the limiter 130 The piece 130 returns from the installation cavity 125 to the accommodating cavity 124 and abuts against the arm 110 to limit the position of the arm 110.
  • the installation cavity 125 By providing the installation cavity 125, on the one hand, it provides space for the movement of the limiter 130, and on the other hand, it is beneficial for dust and other impurities to enter the containing cavity 124 through the gap between the limiter 130 and the arm 110, causing damage to the arm 110. Influence.
  • the structure of the containing cavity 124 is further defined.
  • the arm support 120 includes a first wall 121, a second wall 122, and a third wall 123.
  • the first wall 121 and the second wall 122 are relatively spaced apart, and the third wall 123 connects the first wall 121 and the second wall 122.
  • the first wall 121, the second wall 122 and the third wall 123 can enclose a C-shaped accommodating cavity 124, and the arm 110 partially extends into the accommodating cavity 124 and partly extends out of the accommodating cavity 124.
  • the arm 110 rotates between the first wall 121 and the second wall 122 to achieve expansion and folding back.
  • the arm 110 can be located between the third wall 123 and the limiting member 130.
  • the third wall 123 can be attached to the arm 110, so as to ensure that the arm 110 will not shake and the locking effect is good.
  • the wall surface of the third wall 123 facing the accommodating cavity 124 may match the outer side surface of the arm 110.
  • the arm 110 rotates between the first wall 121 and the second wall 122 to achieve expansion and folding back.
  • the arm 110 can be located between the second wall 122 and the limiting member 130.
  • the accommodating cavity 124 may also be provided with a fourth wall, where the fourth wall may be connected to the first wall 121, the second wall 122 and the third wall 123. Therefore, when the machine arm 110 needs to be folded back, that is, when the machine arm 110 moves from the unfolded state to the folded state, the fourth wall can limit the position of the machine arm 110 to prevent the machine arm 110 from folding back excessively, causing damage to other parts, and further improving the machine.
  • the stability and applicability of the arm assembly 100 is possible.
  • the first wall 121 and/or the second wall 122 is provided with a shaft hole 1221; the arm support 120 is provided with a rotating shaft 126, and the rotating shaft 126 extends through the shaft hole 1221 into the arm In the first end 111 of the 110, the arm 110 can rotate around the rotating shaft 126 to expand or fold.
  • the first end 111 of the arm 110 is located between the limiting member 130 and the third wall 123. That is, the gear arm 110 is continued to be unfolded through the third wall 123, and the gear arm 110 is folded back by the stopper 130, so that the arm 110 can be firmly fixed in the unfolded position and the locking effect is ensured.
  • an embodiment of the present application also provides an unmanned aerial vehicle 200, which includes a central body 210, a plurality of rotor devices 220, and the arm assembly 100 of any one of the foregoing embodiments.
  • the arm support 120 installs the arm 110 on the central body 210; a plurality of rotor devices 220 are respectively installed on the plurality of arms 110, and each rotor device 220 includes a motor 221 and a propeller 222 mounted on the motor 221.
  • the motor 221 drives the propeller 222 to rotate to provide flight power for the unmanned aerial vehicle 200.
  • the unmanned aerial vehicle 200 has the arm assembly 100 provided by any one of the above embodiments, and thus has all the above-mentioned beneficial effects, it will not be repeated here.
  • the term “plurality” refers to two or more than two, unless otherwise clearly defined, the orientation or positional relationship indicated by the terms “upper”, “lower”, etc. are based on the drawings shown The orientation or positional relationship is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the application;
  • the terms “connected”, “installed”, “fixed”, etc. should be understood in a broad sense. For example, “connected” can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or through an intermediate connection.

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Abstract

一种机臂组件和无人飞行器。其中，机臂组件用于多旋翼无人飞行器，机臂组件（100）包括：机臂（110）、机臂支架（120）和限位件（130）；机臂（110）与机臂支架（120）可活动连接，并能够处于折叠状态和展开状态；限位件（130）与机臂支架(120)可活动连接，限位件（130）具有第一接触面（131）和第二接触面（132）；其中，在机臂（110）自折叠状态至展开状态运动的过程中，机臂（110）能够与第一接触面（131）接触以推开限位件（130），限位件（130）能够在被机臂（110）推开后返回，以使机臂110处于展开状态时能够被限位于机臂支架120与限位件130之间；当机臂（110）处于展开状态时，限位件（130）通过第二接触面（132）抵接机臂（110）以止挡机臂（110）朝折叠状态的方向运动。该机臂组件（100），通过第二接触面132与机臂110进行抵接的方式实现机臂110的锁紧，结构简单，操作方便，可靠性高。

Description

机臂组件和无人飞行器 技术领域
本申请涉及无人机技术领域，具体而言，涉及一种机臂组件和一种无人飞行器。
背景技术
随着植保无人机应用领域的逐渐扩大，对大载荷植保无人机的需求越来越强烈，大载荷意味着无人机的尺寸将会增大，且植保无人机在作业时，经常会有转场的需求，这就要求无人机能够小巧便携，便于搬运和运送。
折叠式的机臂构型是解决增大载荷的同时尽量减小飞机尺寸这两大矛盾需求的有效方法，在机臂展开状态时，需要将机臂锁紧，以免飞行过程中出现炸机，然而，相关技术中的机臂的锁紧机构需要用户手动锁紧，但是有时候用户会忘记锁紧，其次，在锁紧的过程中需要设计复杂的锁紧装置或者锁紧结构，例如螺钉或者卡扣结构，但是这样的锁紧装置或结构操作复杂，增加了无人机结构的复杂度、重量以及成本，而且可靠性不强。
发明内容
本申请实施例提供一种机臂组件和无人飞行器，在机臂展开时，不需要复杂的锁紧动作，操作方便快捷，而且能够稳定锁紧机臂，可靠性高。
第一方面，本申请实施例提供一种机臂组件，包括：机臂、机臂支架和限位件；机臂与机臂支架可活动连接，并能够处于折叠状态和展开状态；限位件与机臂支架可活动连接，限位件具有第一接触面和第二接触面；其中，在机臂自折叠状态至展开状态运动的过程中，机臂能够与第一接触面接触以推开限位件，限位件能够在被机臂推开后返回，以使机臂处于展开状态时能够被限位于机臂支架与限位件之间；当机臂处于展开状态时，限位件通过第二接触面抵接机臂以止挡机臂朝折叠状态的方向运动。
第二方面，本申请实施例提供一种无人飞行器，包括中心体、多个旋翼装置和机臂组件。机臂组件包括机臂、机臂支架和限位件；机臂支架将 机臂安装于中心体；机臂与机臂支架可活动连接，并能够处于折叠状态和展开状态；限位件与机臂支架可活动连接，限位件具有第一接触面和第二接触面；其中，在机臂自折叠状态至展开状态运动的过程中，机臂能够与第一接触面接触以推开限位件，限位件能够在被机臂推开后返回，以使机臂处于展开状态时能够被限位于机臂支架与限位件之间；当机臂处于展开状态时，限位件通过第二接触面抵接机臂以止挡机臂朝折叠状态的方向运动；多个旋翼装置，分别安装在多个机臂，每个旋翼装置包括电机、以及安装在电机上的螺旋桨，电机驱动螺旋桨转动，为无人飞行器提供飞行动力。
本申请实施例提供的机臂组件，包括机臂、机臂支架和限位件。其中，限位件具有第一接触面和第二接触面，通过设置限位件，使得机臂在由折叠状态运动至展开状态的过程中，机臂可以沿着第一接触面推开限位件实现展开状态，且当机臂运动至展开状态时，限位件可以在被推开后返回，并通过第二接触面抵接机臂以阻挡机臂向折叠状态的方向运动。也就是说，只需使限位件在被推开后返回，在返回时通过第二接触面抵接在机臂上即可，操作方便。而且，本申请具体通过限位件的第二接触面与机臂进行抵接来止挡机臂朝折叠状态的方向运动，只需使第二接触面抵接机臂即可，一方面结构简单，无需对机臂的结构进行改进以通过卡扣或螺纹等方式锁紧机臂，另一方面通过采用第二接触面抵接机臂，有利于将机臂稳定锁定在展开状态，可靠性高，无虑考虑采用卡扣方式锁定容易出现的脱扣等情况。而且，有利于适用于多种结构的机臂，满足第二接触面与机臂相抵接即可实现机臂的锁紧，通用性高。本申请提出的机臂组件，通过第二接触面与机臂进行抵接的方式实现机臂的锁紧，无需对机臂的结构进行改进，结构简单，操作方便，可靠性高。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1示出了本申请一个实施例的机臂组件在机臂处于展开状态下的一 个结构示意图；
图2示出了图1所示的机臂组件在机臂自折叠状态向展开状态运动时的结构示意图；
图3示出了本申请的一个实施例的机臂组件在机臂处于展开状态下的主视示意图；
图4示出了图3所示的机臂组件在机臂处于展开状态下的剖视示意图；
图5示出了图3所示的机臂组件在机臂自折叠状态向展开状态运动时的结构示意图；
图6示出了图3所示的机臂组件在机臂自折叠状态向展开状态运动时的剖视示意图；
图7示出了图1所示的机臂组件的爆炸图；
图8示出了图1所示的机臂组件中的机臂的结构示意图；
图9示出了将图3所示的机臂组件向下翻转180°后的结构示意图；
图10示出了图9所示的机臂组件在机臂自折叠状态向展开状态运动时的结构示意图；
图11示出了对图9所示的机臂组件以俯视视角观察的结构示意图；
图12示出了图11所示的机臂组件在机臂自折叠状态向展开状态运动时的结构示意图；
图13示出了对图3所示的机臂组件以俯视视角观察并顺时针旋转180°后的结构示意图；
图14示出了图13所示的机臂组件在机臂自折叠状态向展开状态运动时的结构示意图；
图15示出了对图3所示的机臂组件以右视视角观察的结构示意图；
图16示出了图15所示的机臂组件在机臂自折叠状态向展开状态运动时的结构示意图；
图17示出了对图15所示的机臂组件以后视视角观察的结构示意图；
图18示出了本申请的另一个实施例机臂组件在机臂处于展开状态下的剖视示意图；
图19示出了本申请的一个实施例的无人飞行器的结构示意图。
其中，图1至图19中的附图标记与部件名称之间的对应关系为：
100机臂组件，110机臂，111第一端，120机臂支架，121第一壁，122第二壁，1221轴孔，123第三壁，124容纳腔，125安装腔，126转轴，127弹性件，128导向槽，129提手，130限位件，131第一接触面，132第二接触面，133导向凸起，134被锁定部，135锁定部，200无人飞行器，210中心体，220旋翼装置，221电机，222螺旋桨。
具体实施方式
为了能够更清楚地理解本申请的上述方面、特征和优点，下面结合附图和具体实施方式对本申请进行进一步的详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。
在下面的描述中阐述了很多具体细节以便于充分理解本申请，但是，本申请还可以采用其他不同于在此描述的其他方式来实施，因此，本申请的保护范围并不受下面公开的具体实施例的限制。
下面参照图1至图19描述根据本申请一些实施例的机臂组件100和无人飞行器200。其中，图2、图5、图6、图10、图12、图14和图16中虽然示出了两个机臂110，但并不意味着机臂组件100能够同时容纳两个机臂110，而是代表一个机臂110在从折叠状态至展开状态运动的过程中所能够停留的位置。图2、图5、图6、图12和图14中的箭头方向代表机臂110的运动方向。
以下结合附图详细介绍本申请的第一方面实施例提出的机臂组件100。
如图1和图7所示，机臂组件100包括机臂110、机臂支架120和限位件130。其中，机臂110与机臂支架120可活动连接，并能够处于折叠状态和展开状态。限位件130与机臂支架120可活动连接，限位件130具有第一接触面131和第二接触面132。其中，在机臂110自折叠状态至展开状态运动的过程中，机臂110能够与第一接触面131接触以推开限位件130，限位件130能够在被机臂110推开后返回，以使机臂110处于展开状态时能够被限位于机臂支架120与限位件130之间；当机臂110处于展开状态时，限位件130通过第二接触面132抵接机臂110以止挡机臂110朝折叠 状态的方向运动。
本申请实施例提供的机臂组件100，只需使限位件130在被推开后返回，在返回时通过第二接触面132抵接在机臂110上即可，操作方便。而且，本申请具体通过限位件130的第二接触面132与机臂110进行抵接来止挡机臂110朝折叠状态的方向运动，只需使第二接触面132抵接机臂110即可，一方面结构简单，无需对机臂110的结构进行改进以通过卡扣或螺纹等方式锁紧机臂110，另一方面通过采用第二接触面132抵接机臂110，有利于将机臂110稳定锁定在展开状态，可靠性高，无虑考虑采用卡扣方式锁定容易出现的脱扣等情况。而且，有利于适用于多种结构的机臂110，通过第二接触面132与机臂110相抵接即可实现机臂110的锁紧，通用性高。本申请提出的机臂组件100，通过第二接触面132与机臂110进行抵接的方式实现机臂110的锁紧，无需对机臂110的结构进行改进，结构简单，操作方便，可靠性高。尤其在限位件130能够在被机臂110推开后自动复位的情况下(如依靠自身重力复位或者在其他部件的帮助下复位)，有利于实现机臂110展开即锁紧，从而不需要额外的锁紧动作，可有效避免因操作遗漏而导致的砸机风险，操作简单，提升工作效率。
在具体应用中，如图8所示，机臂110可以呈圆筒状，方便生产加工，且结构强度高。当然机臂110的横截面也可呈长方形或方形等等，本申请的机臂组件100可适用于多种机臂110。
为了使机臂110更好地由折叠状态运动至展开状态，在一些实施例中，如图3、图4和图7所示，在机臂支架120上设置有转轴126，机臂110能够围绕转轴126进行转动，以自折叠状态至展开状态运动。即通过在机臂110上设置有转轴126，限制了机臂110的移动方向，使得机臂110由折叠状态更加平稳地运动至展开状态，而且有利于限位件130通过第二接触面132对限制了移动路径的机臂110进行抵接，有利于保证第二接触面132与机臂110的抵接效果，进而提高限位件130对机臂110的锁紧效果。
在具体应用中，转轴126可以是销轴结构，即通过销轴实现机臂110与机臂支架120的可转动连接，进而使得机臂110可以展开到位。
为了进一步保证机臂110的锁紧效果，如图3、图4和图9所示，在 一些实施例中，第二接触面132为相对于转轴126的轴线方向倾斜的倾斜面。通过采用倾斜面与机臂110进行抵接，一方面可以消除限位件130在机臂110的转动方向上晃动的虚位，保证限位件130的第二接触面132时刻与机臂110保持接触；另一方面，有利于实现自锁，防止机臂110回折。
进一步地，为了更好地实现自锁，防止机臂110回折，在一些实施例中，如图3所示，使第二接触面132与机臂110之间的摩擦系数μ，与第二接触面132相对于转轴126的轴线方向的倾角α，满足μ≥tanα。在第二接触面132与机臂110之间的摩擦系数μ一定的情况下，通过减小倾角α，甚至使倾角α为0°，可有效避免机臂110与第二接触面132发生相对移动，从而有利于实现对机臂110的自锁。当然，也可通过改变限位件130的材质，增加第二接触面132与机臂110之间的摩擦系数μ，来实现对机臂110的自锁。只要满足锁紧条件μ≥tanα即可使得机臂110保持在展开状态，实现对机臂110的自锁。
在具体应用中，可以使第二接触面132相对于转轴126的轴线方向的倾角α小于等于45°，如30°或20°或15°等等。
为了使机臂110更方便地自折叠状态至展开状态运动，在一些实施例中，如图4和图9所示，设计第一接触面131为相对于转轴126的轴线方向倾斜的倾斜面。倾斜面能够起到很好地导向作用，可实现较小的力即可推动机臂110展开，方便用户推动机臂110。当然，也可以采用其他方式推动机臂110，而非人力，如设置电动推杆等结构推动机臂110。
其中，如图3所示，当倾角β越大，机臂110展开时的阻力会越小。在具体应用中，可以使第一接触面131相对于转轴126的轴线方向的倾角β大于等于30°并小于等于70°，如45°、60°等等。可根据需要设计倾角β的大小。
进一步地，如图3所示，第一接触面131相对于转轴126的轴线方向的倾角β大于第二接触面132相对于转轴126的轴线方向的倾角α。一方面使第一接触面131相对于转轴126的轴线方向的倾角β较大，从而有利于减小机臂110展开时的阻力，使得施加较小的力即可推动机臂110与第一接触面131发生相对移动，推开限位件130而向展开状态移动。另一方 面使第二接触面132相对于转轴126的轴线方向的倾角α较小，甚至达到与转轴126的轴线方向相平行的状态，通过相对于转轴126的轴线方向倾斜角度较小的第二接触面132来抵接机臂110，可有效止挡机臂110朝折叠状态的方向运动，实现对机臂110的自锁。有利于实现机臂110展开容易，且展开后稳定锁紧。
为进一步地提高机臂110在展开状态时的锁紧效果，如图3、图4、图9和图18所示，在一些实施例中，当机臂110处于展开状态时，限位件130通过第二接触面132抵接机臂110的侧壁。也即通过第二接触面132与机臂110的侧壁进行抵接的方式以实现机臂110在展开状态时的锁紧状态，锁紧效果好，无需考虑机臂110的重量，只需在机臂110的回折方向(也即自展开状态至折叠状态运动的方向)上对机臂110的侧壁进行抵接即可。与相关技术中，对机臂110的端部进行限位，若机臂110的重量较重，则机臂110端部的锁紧结构容易脱扣相比，很显然锁紧效果更好。而且，无需对机臂110的结构进行改进以通过卡合或螺纹等额外的锁紧结构进行锁紧，同时又能够对多种结构的机臂110进行锁紧，如横截面为圆形或方形的机臂110均可，第二接触面132能够抵接机臂110的侧壁即可，提高了机臂组件100的通用性。
在具体应用中，如图2和图5所示，可以使限位件130相对于机臂支架120的活动方向与转轴126的轴向方向同向。使得限位件130对机臂110的限位效果更好。
在一些实施例中，如图4和图6所示，使限位件130靠近机臂110的一端的厚度小于限位件130远离机臂110的一端的厚度。也就是说，在转轴126的轴线方向上，限位件130靠近机臂110的一端的厚度小于自身远离机臂110的一端的厚度。一方面使得限位件130的重心相对于机臂110偏上，从而使得机臂110自折叠状态向展开状态运动的过程中，能够更容易地推开限位件130；另一方面有利于限位件130在被推开后返回的过程中，通过较尖的部位顺利地移动至机臂110的回折方向的一侧，从而止挡机臂110朝折叠状态的方向运动。
在一些实施例中，如图3和图9所示，第一接触面131与第二接触面 132为限位件130上相背的两侧面。
在这些实施例中，通过使第一接触面131与第二接触面132为限位件130上相背的两侧面。使得机臂110自折叠状态至展开状态运动的过程中，能够接触第一接触面131，将限位件130推开，而后限位件130返回到机臂110的回折方向上，通过背离第一接触面131的第二接触面132与机臂110抵接，锁紧效果好。可以保证机臂110顺利展开到位，并在展开后更加牢靠地使机臂110保持在展开状态。
在一个具体的实施例中，如图3和图9所示，第一接触面131为相对于转轴126的轴线方向倾斜的倾斜面且第一接触面131和第二接触面132的倾斜方向相反。一方面使得第一接触面131能够更好地对机臂110进行导向，方便机臂110沿第一接触面131移动而推开限位件130，另一方面使得第二接触面132能够更好地对机臂110进行锁紧。
在另一个具体的实施例中，第一接触面131为弧面。弧面能够对机臂110起到很好地导向作用，方便机臂110沿弧面移动以推动限位件130。
需要说明的是，本申请限定的第一接触面131的形状不限于上述内容，本领域技术人员能够想到，凡是可以实现机臂110通过第一接触面131顺利展开到位的第一接触面131的任意形状，均落在本申请的保护范围。
在一些实施例中，第二接触面132为平面，第二接触面132位于限位件130在机臂支架120上的活动方向上的一端。也就是说，通过限位件130靠近机臂110的一端的平面与机臂110相接触以对机臂110进行限位，即将该平面与机臂110进行压接，以实现限位件130对机臂110的限位作用，从而使得机臂110在展开后可以保持在展开状态。
在一些实施例中，如图4、图6、图15至图18所示，限位件130与机臂支架120可滑动连接。有利于限位件130相对于机臂支架120移动，从而有利于机臂110推开限位件130，也有利于限位件130在被推开后顺利复位。具体地，在机臂110自折叠装置至展开状态运动的过程中，能够推动限位件130沿设定路径相对于机臂支架120滑动，方便推开限位件130，甚至使限位件130移出机臂支架120中机臂110所在的容纳腔124，也方便限位件130在被推开沿设定路径返回到位以实现对机臂110的抵接。
为实现机臂110展开即锁紧的效果，在一些实施例中，如图4、图6和图18所示，设计机臂组件100还包括弹性件127，弹性件127连接机臂支架120和限位件130，以对限位件130施加弹力，使得限位件130在弹性件127的弹力作用力下能够自动复位与机臂110抵接。
在这些实施例中，通过设置弹性件127给限位件130施加弹力，具体使限位件130在被机臂110推开后，能够在弹性件127的弹力作用力下能够自动复位与机臂110抵接，有利于实现机臂110的展开即锁紧的技术效果，可有效避免因锁紧操作遗漏而导致的砸机风险。
在具体应用中，如图4所示，为使限位件130可以保持与机臂110的抵接状态，设计弹性件127对限位件130施加的弹力Fk大于或等于限位件130与机臂支架120之间的摩擦力Ff。
具体地，在限位件130与机臂110进行抵接以限制机臂110向折叠状态的方向运动时，弹性件127对限位件130施加的弹力Fk是朝向机臂110方向的，与此同时，限位件130则与机臂支架120产生一个相反的作用力，即摩擦力Ff，该摩擦力Ff的方向是背离机臂110方向的，从而通过使弹性件127施加的弹力Fk大于摩擦力Ff，可推动限位件130与机臂110相抵接状态，而通过使弹性件127施加的弹力Fk等于摩擦力Ff，可使限位件130能够保持与机臂110相抵接的状态，即Fk≥Ff。
另外，为了方便提起限位件130而使限位件130远离机臂110，方便机臂110回到折叠状态。给限位件130施加的拉力Ft，需大于等于弹性件127施加于限位件130的弹力Fk，与限位件130和机臂支架120之间的摩擦力Ff之和，即Ft≥Fk+Ff。此处，忽略限位件130自身的重量所带来的影响。
而为了方便机臂110自折叠状态至展开状态运动，给机臂110施加的推力Fz需大于等于弹性件127施加于限位件130的弹力Fk与cotβ的乘积，其中β为第一接触面131相对于转轴126的轴线方向的倾角，即Fz≥Fkcotβ。
在具体应用中，弹性件127可以为弹簧，弹簧的储能以及释能效果较好，可以进一步提高机臂110展开即锁紧的效果，且弹簧结构简单，价格低廉，进而提高机臂组件100的适用性。
当然，弹性件127也可以为橡胶件或弹性金属件。
在一些实施例中，如图18所示，机臂支架120设置有锁定部135，限位件130设置有被锁定部134；被锁定部134能够与锁定部135相配合，以使机臂110处于展开状态时，第二接触面132能够保持与机臂110的抵接状态。锁紧效果好，可有效避免机臂110推开限位件130向折叠状态运动，而且无需对机臂110的结构进行改进。
具体地，当机臂110自折叠状态至展开状态运动的过程中，机臂110推开限位件130以向展开状态移动，当机臂110处于展开状态时，限位件130返回与机臂110进行抵接以对机臂110进行限位。当限位件130与机臂110进行抵接时，通过锁定部135与被锁定部134相配合，可使限位件130的第二接触面132保持与机臂110的抵接状态，从而使机臂110牢靠的锁定在限位件130和机臂支架120之间，避免机臂110大幅度晃动，甚至回折。
在一个具体的实施例中，如图18所示，具体设计锁定部135和被锁定部134的配合方式为是磁铁吸附。即在机臂支架120和限位件130中的一个上设置永磁体，另一个上设有导磁件，或者两者上均设置永磁体，以实现相互吸附。有利于使限位件130在磁吸力的作用下压紧机臂110，与机臂110紧密贴合，有利于消除限位件130在机臂110的转动方向上晃动的虚位，保证限位件130的第二接触面132时刻与机臂110保持接触。而且，还有利于使限位件130在被机臂110推开后，在磁吸力的作用下返回，与机臂110相抵接以实现机臂110展开即锁紧，避免遗漏锁紧操作而出现砸机风险。
需要说明的是，锁定部135和被锁定部134并不限于上述配合方式，还可以有其他配合方式，如卡槽和凸起相配合的方式，此时，需要人为执行锁紧操作，如扭转限位件130，使凸起与卡槽相配合等。本领域技术人员能够想到，凡是可以使得限位件130与机臂110能够保持在抵接状态的，锁定部135与被锁定部134的任意配合方式，均落在本申请的保护范围。
在一些实施例中，当机臂110处于展开状态时，限位件130能够在自身重力作用下保持第二接触面132与机臂110的抵接状态。不需要增加额 外的锁紧装置，也无需对机臂110的结构进行改进，操作简单，提升工作效率。
在一些实施例中，如图11和图12所示，当机臂110自折叠状态至展开状态运动的过程中，限位件130通过第一接触面131与机臂110接触并被机臂110推开，从而相对机臂支架120滑动；当机臂110推开限位件130并脱离限位件130后，限位件130能够返回至原位，以使得机臂110处于展开状态时，限位件130通过第二接触面132抵接机臂110。通过使限位件130相对于机臂支架120滑动，并能够在被推开后返回，有利于实现机臂110的展开即锁紧。
在一些实施例中，如图15、图16和图17所示，机臂支架120和限位件130中一个设置有导向槽128，另一个设置有导向凸起133，在限位件130相对于机臂支架120滑动的过程中，导向凸起133在导向槽128内移动。导向凸起133和导向槽128的存在限定了限位件130的移动路径，并使限位件130在被推开后返回的过程中，可以按照原路径进行返回，提高机臂组件100的工作稳定性和可靠性。
在一些实施例中，如图3、图10、图13和图14所示，机臂组件100还包括提手129，提手129与限位件130连接，用于在外力作用下带动限位件130远离机臂110。可通过拉起提手129，使机臂110由锁定状态转为解锁状态，进而将机臂110由展开状态运动至折叠状态，实现机臂110回折，结构简单，操作方便。
具体地，当机臂110想要由展开状态向折叠状态的方向运动时，即当机臂110需要回折时，通过拉起提手129，将机臂110手动从展开状态移动至折叠状态即可，也就是说，通过拉起提手129，提手129连接限位件130，即将限位件130与机臂110的抵接状态中脱离，使得限位件130不在对处于展开状态的机臂110进行限位，可将机臂110回折。
在一些实施例中，如图1和图4所示，机臂支架120设置有容纳腔124，机臂110的第一端111伸入容纳腔124，并与容纳腔124的腔壁可转动连接；机臂支架120还设置有安装腔125，与容纳腔124连通，限位件130至少部分位于安装腔125内，限位件130能够在进入和远离容纳腔124的 方向滑动。
在这些实施例中，通过使机臂支架120设置有容纳腔124，使容器腔能够容纳机臂110的第一端111，并与机臂110可转动连接，实现了完全封闭或半封闭状态下对机臂110的锁紧，可有效防止转轴126处进入灰尘而影响机臂110转动。而且有利于通过容纳腔124的腔壁也对机臂110进行限位，即当机臂110处于展开位置时，使得机臂110牢靠地锁定在限位件130与容纳腔124的腔壁之间，确保机臂110不会出现晃动，从而有效防脱，提升机臂组件100的稳定性。尤其通过容纳腔124的腔壁对机臂110在展开方向上的进行限位，有利于机臂110展开到位。另外，容纳腔124的存在也能够避免夹手，增强用户体验。
进一步地，如图4所示，机臂支架120还设置有安装腔125，与容纳腔124连通，限位件130至少部分位于安装腔125内，限位件130能够在进入和远离容纳腔124的方向滑动。当机臂110向展开状态的方向运动时，推动限位件130，使得限位件130由容纳腔124内移动至安装腔125内，当机臂110展开到位脱离限位件130时，限位件130再由安装腔125返回至容纳腔124内，并与机臂110抵接以对机臂110进行限位。通过设置安装腔125，一方面为限位件130的移动提供空间，另一方面有利于灰尘等杂质经限位件130与机臂110之间的间隙进入容纳腔124内，对机臂110造成影响。
在一个具体的实施例中，如图3、图4和图6所示，进一步对容纳腔124的结构进行了限定。具体地，机臂支架120包括第一壁121、第二壁122和第三壁123，第一壁121与第二壁122相对间隔分布，第三壁123连接第一壁121和第二壁122，并与第一壁121和第二壁122围合形成容纳腔124。其中，第一壁121、第二壁122和第三壁123能够围合成C型的容纳腔124，机臂110部分伸入容纳腔124，部分伸出容纳腔124。
具体地，机臂110在第一壁121和第二壁122之间转动，实现展开和回折。在机臂110处于展开状态下，机臂110能够位于第三壁123与限位件130之间。其中，第三壁123能够与机臂110贴合，从而确保机臂110不会出现晃动，锁紧效果好。第三壁123朝向容纳腔124的壁面可以与机 臂110的外侧面相匹配。或者机臂110在第一壁121和第二壁122之间转动，实现展开和回折。在机臂110处于展开状态下，机臂110能够位于第二壁122与限位件130之间。
当然，容纳腔124还可以设有第四壁，其中，第四壁可以连接第一壁121、第二壁122和第三壁123。从而当机臂110需要回折时，即机臂110自展开状态至折叠状态运动时，第四壁能够对机臂110进行限位，防止机臂110过度回折，对其他部件造成损伤，进一步提高机臂组件100的稳定性和适用性。
进一步地，如图11和图12所示，第一壁121和/或第二壁122上设有轴孔1221；机臂支架120设置有转轴126，转轴126穿过轴孔1221伸入机臂110的第一端111中，机臂110能够围绕转轴126转动以展开或折叠。
进一步地，如图4和图18所示，当机臂110处于展开状态时，机臂110的第一端111位于限位件130与第三壁123之间。即通过第三壁123止档机臂110继续展开，通过限位件130止档机臂110回折，可以将机臂110牢靠地固定在展开位置，保证锁紧效果。
如图19所示，本申请实施例还提供一种无人飞行器200，包括中心体210、多个旋翼装置220和上述任一实施例的机臂组件100。其中，机臂支架120将机臂110安装于中心体210；多个旋翼装置220分别安装在多个机臂110，每个旋翼装置220包括电机221、以及安装在电机221上的螺旋桨222，电机221驱动螺旋桨222转动，为无人飞行器200提供飞行动力。
由于该无人飞行器200具有上述任一实施例提供的机臂组件100，进而具有上述全部的有益效果，在此不再赘述。
在本申请的描述中，术语“多个”则指两个或两个以上，除非另有明确的限定，术语“上”、“下”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制；术语“连接”、“安装”、“固定”等均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本 领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。在本申请的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本申请的至少一个实施例或示例中。在本申请中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (44)

  1. 一种机臂组件，用于多旋翼无人飞行器，其特征在于，包括：
    机臂、机臂支架和限位件；
    所述机臂与所述机臂支架可活动连接，并能够处于折叠状态和展开状态；
    所述限位件与所述机臂支架可活动连接，所述限位件具有第一接触面和第二接触面；
    其中，在所述机臂自所述折叠状态至所述展开状态运动的过程中，所述机臂能够与所述第一接触面接触以推开所述限位件，所述限位件能够在被所述机臂推开后返回，以使所述机臂处于展开状态时能够被限位于所述机臂支架与所述限位件之间；当所述机臂处于展开状态时，所述限位件通过所述第二接触面抵接所述机臂以止挡所述机臂朝所述折叠状态的方向运动。
  2. 根据权利要求1所述的机臂组件，其特征在于，
    所述机臂支架设置有转轴，所述机臂能够围绕所述转轴转动，以自所述折叠状态至所述展开状态运动。
  3. 根据权利要求2所述的机臂组件，其特征在于，
    所述第二接触面为相对于所述转轴的轴线方向倾斜的倾斜面。
  4. 根据权利要求3所述的机臂组件，其特征在于，
    所述第二接触面与所述机臂之间的摩擦系数μ，与所述第二接触面相对于所述轴线方向的倾角α，满足μ≥tanα。
  5. 根据权利要求3所述的机臂组件，其特征在于，
    所述第一接触面为相对于所述转轴的轴线方向倾斜的倾斜面；
    所述第一接触面相对于所述轴线方向的倾角β大于所述第二接触面相对于所述轴线方向的倾角α。
  6. 根据权利要求1至5中任一项所述的机臂组件，其特征在于，
    当所述机臂处于展开状态时，所述限位件通过所述第二接触面抵接所述机臂的侧壁。
  7. 根据权利要求2所述的机臂组件，其特征在于，
    所述限位件靠近所述机臂的一端的厚度小于所述限位件远离所述机臂的一端的厚度。
  8. 根据权利要求3所述的机臂组件，其特征在于，所述第一接触面与所述第二接触面为所述限位件上相背的两侧面。
  9. 根据权利要求8所述的机臂组件，其特征在于，
    所述第一接触面为相对于所述转轴的轴线方向倾斜的倾斜面且所述第一接触面和所述第二接触面的倾斜方向相反；或
    所述第一接触面为弧面。
  10. 根据权利要求1所述机臂组件，其特征在于，
    所述第二接触面为平面；
    所述第二接触面位于所述限位件在所述机臂支架上的活动方向上的一端。
  11. 根据权利要求1至10中任一项所述的机臂组件，其特征在于，
    所述限位件与所述机臂支架可滑动连接。
  12. 根据权利要求11所述的机臂组件，其特征在于，所述机臂组件还包括：
    弹性件，连接所述机臂支架和所述限位件，以对所述限位件施加弹力，使得所述限位件在所述弹性件的弹力作用力下能够自动复位与所述机臂抵接。
  13. 根据权利要求12所述的机臂组件，其特征在于，
    所述弹性件对所述限位件施加的弹力大于或等于所述限位件与所述机臂支架之间的摩擦力。
  14. 根据权利要求1所述的机臂组件，其特征在于，
    所述机臂支架设置有锁定部，所述限位件设置有被锁定部；
    所述被锁定部能够与所述锁定部相配合，以使所述机臂处于展开状态时，所述第二接触面能够保持与所述机臂的抵接状态。
  15. 根据权利要求11所述的机臂组件，其特征在于，当所述机臂处于展开状态时，所述限位件能够在自身重力作用下保持所述第二接触面与所 述机臂的抵接状态。
  16. 根据权利要求11所述的机臂组件，其特征在于，
    当所述机臂自所述折叠状态至所述展开状态运动的过程中，所述限位件通过所述第一接触面与所述机臂接触并被所述机臂推开，从而相对所述机臂支架滑动；
    当所述机臂推开所述限位件并脱离所述限位件后，所述限位件能够返回至原位，以使得所述机臂处于展开状态时，所述限位件通过所述第二接触面抵接所述机臂。
  17. 根据权利要求11所述的机臂组件，其特征在于，
    所述机臂支架和所述限位件中一个设置有导向槽，另一个设置有导向凸起；
    在所述限位件相对于所述机臂支架滑动的过程中，所述导向凸起在所述导向槽内移动。
  18. 根据权利要求11所述的机臂组件，其特征在于，所述机臂组件还包括：
    提手，与所述限位件连接，用于在外力作用下带动所述限位件远离所述机臂。
  19. 根据权利要求11所述的机臂组件，其特征在于，
    所述机臂支架设置有容纳腔，所述机臂的第一端伸入所述容纳腔，并与所述容纳腔的腔壁可转动连接；
    所述机臂支架还设置有安装腔，与所述容纳腔连通，所述限位件至少部分位于所述安装腔内，所述限位件能够在进入和远离所述容纳腔的方向滑动。
  20. 根据权利要求19所述的机臂组件，其特征在于，
    所述机臂支架包括第一壁、第二壁和第三壁，所述第一壁与所述第二壁相对间隔分布，所述第三壁连接所述第一壁和所述第二壁，并与所述第一壁和所述第二壁围合形成所述容纳腔。
  21. 根据权利要求20所述的机臂组件，其特征在于，
    所述第一壁和/或所述第二壁上设有轴孔；
    所述机臂支架设置有转轴，所述转轴穿过所述轴孔伸入所述机臂的所述第一端中，所述机臂能够围绕所述转轴转动以展开或折叠。
  22. 根据权利要求20所述的机臂组件，其特征在于，
    当所述机臂处于展开状态时，所述机臂的第一端位于所述限位件与所述第三壁之间。
  23. 一种无人飞行器，其特征在于，包括：
    中心体；和
    机臂组件，所述机臂组件包括机臂、机臂支架和限位件，所述机臂支架将所述机臂安装于所述中心体；
    所述机臂与所述机臂支架可活动连接，并能够处于折叠状态和展开状态；
    所述限位件与所述机臂支架可活动连接，所述限位件具有第一接触面和第二接触面；
    其中，在所述机臂自所述折叠状态至所述展开状态运动的过程中，所述机臂能够与所述第一接触面接触以推开所述限位件，所述限位件能够在被所述机臂推开后返回，以使所述机臂处于展开状态时能够被限位于所述机臂支架与所述限位件之间；当所述机臂处于展开状态时，所述限位件通过所述第二接触面抵接所述机臂以止挡所述机臂朝所述折叠状态的方向运动；
    多个旋翼装置，分别安装在多个所述机臂，每个所述旋翼装置包括电机、以及安装在所述电机上的螺旋桨，所述电机驱动所述螺旋桨转动，为所述无人飞行器提供飞行动力。
  24. 根据权利要求23所述的无人飞行器，其特征在于，
    所述机臂支架设置有转轴，所述机臂能够围绕所述转轴转动，以自所述折叠状态至所述展开状态运动。
  25. 根据权利要求24所述的无人飞行器，其特征在于，
    所述第二接触面为相对于所述转轴的轴线方向倾斜的倾斜面。
  26. 根据权利要求25所述的无人飞行器，其特征在于，
    所述第二接触面与所述机臂之间的摩擦系数μ，与所述第二接触面相 对于所述轴线方向的倾角α，满足μ≥tanα。
  27. 根据权利要求25所述的无人飞行器，其特征在于，
    所述第一接触面为相对于所述转轴的轴线方向倾斜的倾斜面；
    所述第一接触面相对于所述轴线方向的倾角β大于所述第二接触面相对于所述轴线方向的倾角α。
  28. 根据权利要求23至27中任一项所述的无人飞行器，其特征在于，
    当所述机臂处于展开状态时，所述限位件通过所述第二接触面抵接所述机臂的侧壁。
  29. 根据权利要求24所述的无人飞行器，其特征在于，
    所述限位件靠近所述机臂的一端的厚度小于所述限位件远离所述机臂的一端的厚度。
  30. 根据权利要求25所述的无人飞行器，其特征在于，所述第一接触面与所述第二接触面为所述限位件上相背的两侧面。
  31. 根据权利要求30所述的无人飞行器，其特征在于，
    所述第一接触面为相对于所述转轴的轴线方向倾斜的倾斜面且所述第一接触面和所述第二接触面的倾斜方向相反；或
    所述第一接触面为弧面。
  32. 根据权利要求23所述的无人飞行器，其特征在于，
    所述第二接触面为平面；
    所述第二接触面位于所述限位件在所述机臂支架上的活动方向上的一端。
  33. 根据权利要求23至32中任一项所述的无人飞行器，其特征在于，
    所述限位件与所述机臂支架可滑动连接。
  34. 根据权利要求33所述的无人飞行器，其特征在于，所述机臂组件还包括：
    弹性件，连接所述机臂支架和所述限位件，以对所述限位件施加弹力，使得所述限位件在所述弹性件的弹力作用力下能够自动复位与所述机臂抵接。
  35. 根据权利要求34所述的无人飞行器，其特征在于，
    所述弹性件对所述限位件施加的弹力大于或等于所述限位件与所述机臂支架之间的摩擦力。
  36. 根据权利要求23所述的无人飞行器，其特征在于，
    所述机臂支架设置有锁定部，所述限位件设置有被锁定部；
    所述被锁定部能够与所述锁定部相配合，以使所述机臂处于展开状态时，所述第二接触面能够保持与所述机臂的抵接状态。
  37. 根据权利要求33所述的无人飞行器，其特征在于，
    当所述机臂处于展开状态时，所述限位件能够在自身重力作用下保持所述第二接触面与所述机臂的抵接状态。
  38. 根据权利要求33所述的无人飞行器，其特征在于，
    当所述机臂自所述折叠状态至所述展开状态运动的过程中，所述限位件通过所述第一接触面与所述机臂接触并被所述机臂推开，从而相对所述机臂支架滑动；
    当所述机臂推开所述限位件并脱离所述限位件后，所述限位件能够返回至原位，以使得所述机臂处于展开状态时，所述限位件通过所述第二接触面抵接所述机臂。
  39. 根据权利要求33所述的无人飞行器，其特征在于，
    所述机臂支架和所述限位件中一个设置有导向槽，另一个设置有导向凸起；
    在所述限位件相对于所述机臂支架滑动的过程中，所述导向凸起在所述导向槽内移动。
  40. 根据权利要求33所述的无人飞行器，其特征在于，所述机臂组件还包括：
    提手，与所述限位件连接，用于在外力作用下带动所述限位件远离所述机臂。
  41. 根据权利要求33所述的无人飞行器，其特征在于，
    所述机臂支架设置有容纳腔，所述机臂的第一端伸入所述容纳腔，并与所述容纳腔的腔壁可转动连接；
    所述机臂支架还设置有安装腔，与所述容纳腔连通，所述限位件至少 部分位于所述安装腔内，所述限位件能够在进入和远离所述容纳腔的方向滑动。
  42. 根据权利要求41所述的无人飞行器，其特征在于，
    所述机臂支架包括第一壁、第二壁和第三壁，所述第一壁与所述第二壁相对间隔分布，所述第三壁连接所述第一壁和所述第二壁，并与所述第一壁和所述第二壁围合形成所述容纳腔。
  43. 根据权利要求42所述的无人飞行器，其特征在于，
    所述第一壁和/或所述第二壁上设有轴孔；
    所述机臂支架设置有转轴，所述转轴穿过所述轴孔伸入所述机臂的所述第一端中，所述机臂能够围绕所述转轴转动以展开或折叠。
  44. 根据权利要求42所述的无人飞行器，其特征在于，
    当所述机臂处于展开状态时，所述机臂的第一端位于所述限位件与所述第三壁之间。
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