WO2022052644A1

WO2022052644A1 - Unmanned aerial vehicle

Info

Publication number: WO2022052644A1
Application number: PCT/CN2021/107714
Authority: WO
Inventors: 何建兵; 肖锭锋; 吴旭民
Original assignee: 广州极飞科技股份有限公司
Priority date: 2020-09-11
Filing date: 2021-07-21
Publication date: 2022-03-17
Also published as: CN112340002A

Abstract

An unmanned aerial vehicle (100), comprising a vehicle body assembly (1), vehicle arm devices (2) and power devices (3). There are two vehicle arm devices (2) respectively located at two opposite sides of the vehicle body assembly (1), the two length ends of each vehicle arm device (2) are respectively an inner end (21) and an outer end (22), the inner end (21) of the vehicle arm device (2) is mounted on the vehicle body assembly (1), the vehicle arm device (2) is arranged obliquely upwards from the inner end (21) to the outer end (22), an included angle between each vehicle arm device (2) and a horizontal plane is 9-35 degrees, and one power device (3) is respectively mounted at the outer end (22) of each vehicle arm device (2). Each of the power devices (3) comprises a power unit (31), the power unit (31) comprising a power motor (311) and a propeller (312).

Description

drone

This application claims the priority of the Chinese patent application with the application number 202010955607.0 and the application name "UAV" filed with the China Patent Office on September 11, 2020, the entire contents of which are incorporated into this application by reference.

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle.

Background technique

With the development of drone technology, people can use drones to complete a lot of work, such as: spraying fire extinguishing liquid in forest fires, aerial photography, power inspection, environmental monitoring and disaster inspection and many other tasks. Unmanned aerial vehicles in the related art are mostly in the form of four, six or eight even-numbered rotors, because the flight control algorithm and motion form of the unmanned aerial system with even-numbered rotors are usually simpler. The rotation speed of the unmanned aerial vehicle can realize the change of the lift of the unmanned aerial vehicle, thereby controlling the attitude and position of the unmanned aerial vehicle. Therefore, the cost of the UAV is relatively high in the related art. Due to its relatively small size and low production cost, dual-rotor UAVs have developed rapidly. However, due to the small number of rotors in related technologies, the flight stability of dual-rotor UAVs needs to be improved.

SUMMARY OF THE INVENTION

The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes an unmanned aerial vehicle, which has dual rotors and can improve flight stability.

An unmanned aerial vehicle according to an embodiment of the present application includes: a fuselage assembly; an aircraft arm device, wherein the number of the aircraft arm devices is two and respectively located on opposite sides of the fuselage assembly, each of the aircraft arm devices The two ends of the length are the inner end and the outer end respectively, the inner end of the arm device is mounted on the fuselage assembly, the arm device is inclined upward from the inner end to the outer end, each of the The angle between the arm device and the horizontal plane is 9-35 degrees; the power device, one of the power devices is installed at the outer end of each of the arm devices, and each of the power devices includes a power unit , the power unit includes a power motor and a propeller mounted on the power motor.

According to the unmanned aerial vehicle of the embodiment of the present application, by setting two arm devices, the dual-rotor unmanned aerial vehicle has a simple structure, a small volume and a low production cost. The power device provides power, and assists the UAV to complete the change of the flight state by changing the working state of the drive unit respectively. By setting the angle between the two arm devices and the horizontal plane to be 9-35 degrees, the center of gravity of the drone is lower than the power device, so as to ensure the balance of the drone, improve the flight stability of the drone, and the flight The consumption is small, and the impact on the flight range is small.

In some embodiments, the angle between each of the arm assemblies and the horizontal plane is 19 degrees.

In some embodiments, the fuselage assembly has a fore-aft direction reference line, the two arm devices are located on opposite sides of the fore-aft direction reference line, and the fuselage assembly includes a reference line along the fore-aft direction The control device, the storage device and the power supply device are arranged in sequence. When the drone is in a hovering state, the central axes of the two power motors are coplanar on a preset plane, and the preset plane is parallel to the front and rear. The intersection of the directional reference lines is located within the storage device.

In some embodiments, the inner end of the arm device is connected to the position of the control device of the fuselage assembly, and the arm device extends from the control device to the control device from the inside to the outside. The direction of the power supply device extends obliquely to the front-rear direction reference line toward the direction away from the fuselage assembly, or the arm device is disposed along a direction perpendicular to the front-rear direction reference line.

In some embodiments, the unmanned aerial vehicle of the embodiments of the present invention further comprises: a driving device, the driving device is mounted on the outer end of the arm device, the driving device is connected with the power unit, and drives The power unit rotates about a predetermined axis on the arm assembly.

In some embodiments, the driving device includes: a driving mechanism, the driving mechanism is mounted on the outer end of the arm device; a moving screw, the moving screw is connected with the driving mechanism, the The axis of the moving screw is coincident with the preset axis, and the driving mechanism drives the moving screw to move along the preset axis; The rotating member is threadedly matched with the moving screw, the rotating member is constrained to rotate around the preset axis when the moving screw moves, and the power device is mounted on the rotating member .

In some embodiments, the driving mechanism includes: a steering gear, the steering gear has a rotating shaft; a gear set, one gear in the gear set is connected to the crankshaft, and the other gear in the gear set is connected to the crankshaft The moving screw rods are connected.

In some embodiments, the driving device includes: a limit component connected with the moving screw rod, configured to limit the rotation of the moving screw rod relative to the machine arm device.

In some embodiments, the outer circumference of the rotating member is formed as a spline, the power device includes a connecting seat, the power unit is connected with the connecting seat, and the connecting seat has a key groove matched with the spline.

In some embodiments, the driving mechanism includes: a mounting seat, the mounting seat includes a socket portion, a fixing seat and a mounting portion, the socket portion is externally connected to the arm device, and the driving mechanism is mounted On the fixing seat, there are two mounting parts which are oppositely arranged on the fixing seat, two mounting parts are provided with coaxially arranged mounting holes, and the moving screw rod passes through the two mounting parts. In the mounting hole; two bearings, the two bearings are fitted in the two mounting holes respectively, the rotating member is fitted on the two bearings, and the two bearings are clamped on the two sides of the rotating member. side to limit the axial movement of the rotating member.

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will become apparent from the following description, or may be learned by practice of the present application.

Description of drawings

1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention;

Figure 2 is a front view of the drone shown in Figure 1;

Fig. 3 is the top view of the unmanned aerial vehicle shown in Fig. 1;

Fig. 4 is the right side view of the UAV shown in Fig. 1;

5 is a front view of the first mounting frame, the second mounting frame and the isolation plate shown in FIG. 1;

Fig. 6 is the structure diagram of the storage device in Fig. 1;

7 is a schematic structural diagram of a machine arm device in an embodiment;

Figure 8 is a perspective view of the first connector shown in Figure 7;

Figure 9 is a perspective view of the second connector shown in Figure 7;

Figure 10 is a cross-sectional view of an embodiment of the arm assembly, drive assembly and part of the power assembly;

Fig. 11 is a partial enlarged view of the K portion shown in Fig. 10;

Figure 12 is a perspective view of a moving screw of one embodiment;

Figure 13 is a perspective view of a rotating member of an embodiment;

Figure 14 is a perspective view of a gear that cooperates with a moving screw according to one embodiment;

Figure 15 is a perspective view of a connector of an embodiment;

Figure 16 is a perspective view of the mount of one embodiment;

17 is a schematic structural diagram of an unmanned aerial vehicle according to another embodiment of the present invention;

FIG. 18 is a relative change diagram of the position of the center of gravity when the arm device is parallel to the horizontal plane and has an inclination angle in the embodiment of the present invention.

Reference number:

Drone 100:

Body assembly 1;

Storage device 11; Power supply device 12; Control device 13; Landing gear 14; Front and rear direction reference line L8;

Overall body 15; top plate 151; bottom plate 152;

The first installation frame 16; the fixing plate 161; the first connecting plate 162; the first installation space 160;

The second installation frame 17; the second connection plate 171; the third connection plate 172; the second installation space 170;

isolation plate 18;

Arm device 2;

Arm body 210; first arm 211; second arm 212;

Inner end 21; Outer end 22;

pivoting connection mechanism 23;

the first connecting piece 231; the first connecting substrate 2311; the first socket part 2312; the matching groove 2313; the first through hole 2314; the connecting lug 2315; the first connecting part 2316;

The second connecting member 232; the second connecting substrate 2321; the second socket portion 2322; the mating protrusion 2323; the second through hole 2324; the pivot portion 2325;

power unit 3;

power unit 31; power motor 311; propeller 312; connecting seat 313; keyway 3131;

Central axis L9; preset plane S3;

drive device 4;

Drive mechanism 41; steering gear 411; crankshaft 4111; gear set 412; gear 4121; mounting seat 413; socket part 4131; fixing seat 4132; mounting part 4133;

Move screw 42; move screw axis L10; preset axis L;

Rotating member 43; Spline 431;

Limit assembly 44 .

detailed description

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be set to explain the present invention, but not to be construed as a limitation of the present invention.

The following disclosure provides many different embodiments or examples for implementing different structures of the invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are only examples and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and/or letters in different instances. This repetition is for the purpose of simplicity and clarity and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the applicability of other processes and/or the use of other materials.

Hereinafter, with reference to the accompanying drawings, an unmanned aerial vehicle 100 according to an embodiment of the present invention will be described.

As shown in FIGS. 1-3 , an unmanned aerial vehicle 100 according to an embodiment of the present invention may include: a fuselage assembly 1 , an arm device 2 and a power device 3 . There are two arm devices 2 and they are located on opposite sides of the fuselage assembly 1 respectively. The length ends of each arm device 2 are an inner end 21 and an outer end 22 respectively. The inner end 21 of the arm device 2 is installed on the In the fuselage assembly 1, a power unit 3 is installed on the outer end 22 of each arm unit 2, respectively.

Each power device 3 may include a power unit 31 , and the power unit 31 may include a power motor 311 and a propeller 312 installed on the power motor 311 , so that when the power device 3 works, the power motor 311 can drive the propeller 312 to rotate, thereby Powers the flight of the drone 100.

It can be understood that, as shown in FIG. 18 , when the propeller 312 rotates, an upward lift force is generated along the central axis L9 of the power motor 311 , and the resultant force of the lift force of the two propellers 312 is the resultant force F shown in FIG. 18 . When the power unit 31 rotates relative to the arm device 2 , the direction of the resultant force F changes, so that the flying direction or the flying speed of the UAV 100 can be adjusted.

Therefore, when the UAV 100 is flying, the power units 31 located at the outer ends 22 of the two arm devices 2 can be respectively driven to rotate at the same or different inclination angles, or the power units 31 at the outer ends 22 of the arm devices 2 can be adjusted. Speed, so that the UAV 100 can complete forward, backward, turning and other actions, and the operation is relatively simple.

2 and 18, the included angle α between each arm device 2 and the horizontal plane is 9-35 degrees, thus, the vertical distance between the center of gravity G of the UAV 100 and the point of action of the lift force is enlarged, Based on the point of action of lift, this is equivalent to lowering the position of the center of gravity G. In the example of the schematic diagram in Fig. 18, after the arm device 2 is set up horizontally and the outer end is tilted upward, the center of gravity of the whole machine is equivalent to dropping from G1 to G2, and the vertical distance between the center of gravity and the lift action point Straight distance increased from m1 to m2. It can be understood that when the UAV 100 encounters unstable airflow or external impact or inconsistent lift force between the left and right, it may cause the whole aircraft to tilt, etc., and once the UAV is tilted, it will affect the direction of the resultant force F. The flight status of the UAV deteriorates rapidly, and some even make the UAV quickly flip and somersault in the air, which is easy to cause damage to the aircraft and others. In order to solve this problem, in this application, the arm device 2 is set to be inclined upward from the inner end 21 to the outer end 22, so that the center of gravity of the whole machine can play the role of a balancer, so that the drone can be operated normally. If it suddenly tilts in a certain direction, the center of gravity of the whole machine will produce a force couple opposite to the tilting direction, and the arm of the force couple becomes longer after the center of gravity is lowered, so the center of gravity of the whole machine can quickly pull the whole body back to the original attitude, thus ensuring the UAV. smooth flight.

Another way of understanding is that after the center of gravity of the UAV 100 is lowered, according to the pendulum principle, the UAV 100 will automatically return to positive when it is tilted for some reason, thereby improving the balance of the UAV 100 and improving the work of the UAV 100 stability.

It needs to be supplemented here that when the UAV 100 is designing the angle between the arm device 2 and the horizontal plane, it is based on the UAV 100 being in the hovering state in the air, that is, the arm device 2 in the suspense state. The angle α with the horizontal plane is 9-35 degrees. It is further added that when the angle α between the arm device 2 and the horizontal plane is too small, the center of gravity of the UAV is not significantly lowered, the balancer of the center of gravity is weak, and the design advantages are not reflected. When the angle α between the arm device 2 and the horizontal plane is too large, it will not only cause the overall size of the aircraft to be too high, but also cause excessive energy consumption due to the influence of gravity when the UAV turns and flies normally. Flight mileage of man and machine. Therefore, after comprehensive consideration, in the present application, the angle α between the extraction arm device 2 and the horizontal plane is 9-35 degrees.

In the model shown in Figures 1 and 2, the inventor's research and development team found the optimal value of the inclination angle setting of the arm device 2 after various simulation model analysis and practical adjustment, that is, the distance between the arm device 2 and the horizontal plane. The included angle α between them is 19 degrees. Under the design from this angle, not only the flight stability of the UAV 100 is very strong, but also the flight energy consumption of the whole machine is also small, and the economical practicability of the whole machine is very strong. Of course, in other models of the present invention, the optimal value of the angle α between the arm device 2 and the horizontal plane may also be other angle values, which are not limited here.

In some embodiments of the present invention, as shown in FIG. 3 , the fuselage assembly 1 has a reference line L8 in the front-rear direction, the two arm devices 2 are located on opposite sides of the reference line L8 in the front-rear direction, and the fuselage assembly 1 includes The control device 13, the storage device 11 and the power supply device 12 are arranged in sequence along the reference line L8 in the front-rear direction. When the drone 100 is in the hovering state, the central axes L9 of the two power motors 311 are coplanar on the preset plane S3, and the preset It is assumed that the intersection of the plane S3 and the reference line L8 in the front-rear direction is located in the storage device 11 .

In some specific embodiments, the front-rear direction reference line L8 can be regarded as the fuselage symmetry line of the UAV 100, and the left-right direction fuselage of the UAV 100 is symmetrical with respect to the front-rear direction reference frame L8, and the UAV 100 is doing The front-rear direction reference line L8 is usually coplanar with the center of gravity of the UAV 100 during design.

In the extension direction of the front-rear direction reference line L8, the control device 13 and the power supply device 12 are located on both sides of the storage device 11, respectively. The power supply devices 12 are arranged in sequence, and are compactly arranged in a line, which effectively saves space and reduces the volume of the UAV 100 . Moreover, during the actual working process of the drone 100, for example, when the drone 100 is used to spray pesticides, the weight of the storage device 11 changes gradually, so the storage device 11 is arranged on the control device 13 and the power supply. Between the devices 12, the center of gravity of the UAV 100 is not easily shifted along the extension direction of the reference line L8 in the front-rear direction, that is, it is not easy for the UAV 100 to be in an out-of-control state such as tilting, so that the UAV 100 is always in a relatively balanced state , to ensure the balance of the UAV 100, and improve the working stability of the UAV 100. As shown in FIG. 6 , the storage device 11 can be used to store liquids, such as water, pesticides, etc. When the drone 100 is set for agriculture, etc., the drone 100 can be used to spray pesticides within a range, and the storage device 11 is used to store pesticides, and the control device 13 includes an ESC module, a flight control and a data link module, etc., which are set to control the working state of the UAV 100 , such as controlling the take-off and steering of the UAV 100 and controlling the UAV 100 For operations such as spraying pesticides, the power supply device 12 can provide electrical energy for the drone 100 .

In some specific embodiments, the material storage device 11 can also be used to store seeds, chemical fertilizers, etc. When the drone 100 is set for agriculture, etc., the drone 100 can also be used for sowing and fertilization within a range. The above embodiments are merely examples of the applicable scope of several storage devices 11 , so as to facilitate understanding of the use process, and do not specifically limit the practical scope of the storage device 11 .

When the drone 100 is in a hovering state, the state of the drone 100 is stable, and the preset plane S3 is a plane extending in a vertical direction. The central axes L9 of the two power motors 311 are coplanar on the preset plane S3, and the intersection of the preset plane S3 and the front-rear direction reference line L8 is located in the storage device 11, and the storage device 11 is located between the control device 13 and the power supply device 12. During the time, when the drone 100 is working, it plays a storage function. The storage device 11 is the heaviest part of the drone 100 as a whole, so arranging it in the center is helpful for the drone 100 to maintain a balanced state, and the power The central axis L9 of the motor 311 is coplanar with the preset plane S3, and the intersection of the preset plane S3 and the front-rear direction reference line L8 is located in the storage device 11, and the line connecting the center of gravity of the power motor 311 is basically at the center of gravity of the drone 100 as a whole. On the same straight line, it is further beneficial to ensure the balance of the UAV 100, and it can further ensure that the overall center of gravity of the UAV 100 is not easy to shift along the direction of the front-rear direction reference line L8 with the weight change of the storage device 11, and further ensures that there is no The balance of the man-machine 100 improves the flight controllability of the drone 100 .

In some embodiments of the present invention, as shown in FIGS. 2 and 3 , the inner end 21 of the arm device 2 is connected to the position where the control device 13 of the fuselage assembly 1 is located, and the arm device 2 runs from the inside to the outside along the direction from the inside to the outside. The direction from the control device 13 to the power supply device 12 extends obliquely to the front-rear direction reference line L8 toward the direction away from the fuselage assembly 1 , so that the central axis L9 of the two power motors 311 located at the outer end 22 of the arm device 2 can be made Coplanar on the preset plane S3, and the intersection of the preset plane S3 and the front-rear direction reference line L8 is located in the storage device 11, so as to ensure the balance of the UAV 100 and improve the flight controllability of the UAV 100.

In a specific embodiment, as shown in FIG. 17 , the arm device 2 can also be arranged along the direction perpendicular to the reference line L8 of the front-rear direction, the inner end 21 of the arm device 2 and the middle part of the fuselage assembly 1 Connected, different from connecting the machine arm device 2 with the location of the control device 13, the inner end 21 of the machine arm device 2 is connected with the location of the material storage device 11, the machine arm device 2 is perpendicular to the front-rear direction reference line L8 direction is arranged, and the machine The angle α between the arm device 2 and the horizontal plane is 9-35 degrees. This arrangement can also make the central axes L9 of the two power motors 311 located at the outer end 22 of the arm device 2 coplanar on the preset plane S3, and the preset The intersection of the plane S3 and the reference line L8 in the front-rear direction is located in the storage device 11 , so that the balance of the UAV 100 can be ensured and the flight controllability of the UAV 100 can be improved.

In some embodiments of the present invention, as shown in FIGS. 2 and 3 , the two arm devices 2 are arranged axially symmetrically with respect to the reference line L8 of the front-rear direction of the fuselage assembly 1 . Thereby, the balance and flight controllability of the drone 100 can be improved.

In addition, in some specific embodiments of the present invention, as shown in FIG. 1 , the UAV 100 may further include: a landing gear 14 , and the landing gear 14 is fixed under the fuselage assembly 1 to ensure that the UAV 100 takes off and landed stability. As shown in FIG. 1 and FIG. 5 , the fuselage assembly 1 may further include an overall body 15 , a first mounting frame 16 , a second mounting frame 17 and an isolation plate 18 , and as shown in FIG. 1 , the overall body 15 may include The top plate 151 and the bottom plate 152 are arranged to carry the control device 13 . Thus, the structure of the fuselage assembly 1 is made compact.

As shown in FIG. 5 , the overall body 15 , the first installation frame 16 and the second installation frame 17 are connected in sequence, wherein the storage device 11 and the power supply device 12 are respectively arranged in the first installation frame 16 and the second installation frame 17 , so that the structure of the fuselage assembly 1 is compact, and the storage device 11 and the power supply device 12 are respectively arranged in the first installation frame 16 and the second installation frame 17 to facilitate disassembly and assembly. For example, it is convenient for users to place the storage device 11 It can be removed for operations such as adding liquid, and it is convenient for the user to remove the power supply device 12 for charging and other operations, and the installation is convenient.

As shown in FIG. 5 , the first mounting frame 16 may include a fixing plate 161 fixedly connected to the main body 15 and two first connecting plates 162 connected to both ends of the fixing plate. The two first connecting plates 162 refer to the front-rear direction. The line L8 is symmetrically arranged, the second mounting frame 17 may include two second connection plates 171 and two third connection plates 172, the two second connection plates 171 are arranged symmetrically with respect to the reference line L8 in the front-rear direction, and the two third connection plates 172 is symmetrically arranged with respect to the reference line L8 in the front-rear direction, one end of the two second connecting plates 171 is respectively connected with one end of the two first connecting plates 162 away from the fixing plate 161, and the two third connecting plates 172 are respectively connected to the two first connecting plates 172. At the other end of the two connecting plates 171, the isolation plate 18 is located between the first mounting frame 16 and the second mounting frame 17, and the isolation plate 18 is connected to the side of the two second connecting plates 171 close to the first connecting plate 161, So that the first installation frame 16 and the second installation frame 17 respectively define the first installation space 160 and the second installation space 170, the storage device 11 can be installed in the first installation space 160, and the power supply device 12 can be installed in the second installation space Space 170. Therefore, the structures of the first installation frame 16 and the second installation frame 17 are simple and easy to process, thereby further reducing the production cost of the UAV 100 .

In some embodiments, as shown in FIG. 7 , the arm body 210 of each arm device 2 includes a first arm 211 and a second arm 212 which can be pivotally connected, so that the arm device 2 is not It can be folded when in use to reduce the storage size.

Specifically, each arm device 2 further includes a pivot connection mechanism 23 , and the pivot connection mechanism 23 includes a first connection member 231 provided on the first arm 211 and a second connection member 232 provided on the second arm 212 , when the first arm 211 and the second arm 212 are rotatably connected, they can be snap-connected.

In a specific example, as shown in FIGS. 7-9 , the first connector 231 includes a first connection substrate 2311 , a first socket portion 2312 and a matching groove 2313 , and the first socket portion 2312 is along the first connection substrate 2311 One end face of the arm 211 extends to form a circular structure, a first assembly groove is formed in the first socket portion 2312, and one end of the first arm 211 away from the fuselage assembly 1 is suitable for being fixed in the first assembly groove. The matching groove 2313 is disposed on the other end surface of the first connecting substrate 2311, and the inner wall of the matching groove 2313 is formed as an arc surface. Further, a connecting lug 2315 and a first connecting portion 2316 also extend outside the first connecting substrate 2311 .

The second connecting member 232 includes a second connecting substrate 2321, a second socket portion 2322 and a mating protrusion 2323. The second socket portion 2322 extends along one end surface of the second connecting substrate 2321 to form a ring structure, and the second socket portion 2322 A second assembling groove is formed inside, and one end of the second arm 212 close to the fuselage assembly 1 is suitable for being fixed in the second assembling groove. The mating protrusion 2323 is disposed on the other end surface of the second connecting substrate 2321, and the peripheral wall of the mating protrusion 2323 is formed as a circular arc surface. Two perforated 2324. Further, a pivot portion 2325 and a second connecting portion 2326 are also extended outside the second connection substrate 2321.

During assembly, the end of the first arm 211 away from the body assembly 1 is fixed in the first assembly groove, and the end of the second arm 212 close to the body assembly 1 is fixed in the second assembly groove. Preferably, the end of the first arm 211 away from the fuselage assembly 1 and the end of the second arm 212 close to the fuselage assembly 1 can be fixed in the first assembly groove and the second assembly groove by gluing. At the same time, limit protrusions can be provided on the inner walls of the first assembly groove and the second assembly groove, and the end of the first arm 211 away from the fuselage assembly 1 and the end of the second arm 212 close to the fuselage assembly 1. Therefore, when the end of the first arm 211 away from the fuselage assembly 1 and the end of the second arm 212 close to the fuselage assembly 1 are fixed in the first assembly groove and the second assembly groove, the first and second assembly grooves can be further avoided. The arm 211 and the second arm 212 and the first connecting member 231 and the second connecting member 232 rotate relative to each other. The connecting lugs 2315 of the first connecting member 231 are connected to the pivot portion 2325 of the second connecting member 232 . Thus, the assembly of the arm device 2 is completed. The first arm 211 and the second arm 212 are rotatably connected by the pivoting connection mechanism 23. When the second arm 212 is unfolded, the first connecting portion 2146 and the second connecting portion 2326 are connected. At this time, the inner wall of the matching groove 2313 and the matching protrusion Since the peripheral wall of 2323 is matched, the first through hole 2314 on the matching groove 2313 and the second through hole 2324 on the matching protrusion 2323 can be deformed, so that the first connecting piece 231 and the second connecting piece 232 are more tightly connected.

In some embodiments of the present invention, as shown in FIG. 2 and FIG. 10 , the UAV 100 further includes: a driving device 4 , the driving device 4 is installed on the outer end 22 of the arm device 2 , and the setting position of the driving device 4 is different Restricted. The driving device 4 is connected with the driving unit 31, and the driving power unit 31 rotates around the preset axis L on the arm device 2, so that the flying direction or the flying speed of the UAV 100 can be changed. Therefore, when the UAV 100 is flying, the two driving devices 4 can be controlled to drive the power units 31 located at the outer ends 22 of the two arm devices 2 to rotate at the same or different inclination angles, and the rotational speed of the power units 31 can be adjusted. , so that the UAV 100 can complete actions such as forward, backward, and turn, etc., and the operation is relatively simple.

In some embodiments of the present application, as shown in FIGS. 11-13 , the driving device 4 includes a driving mechanism 41 , a moving screw 42 and a rotating member 43 . The driving mechanism 41 is installed on the outer end 22 of the arm device 2, the moving screw 42 is connected with the driving mechanism 41, the axis L10 of the moving screw 42 coincides with the preset axis L, and the driving mechanism 41 drives the moving screw 42 along the preset axis L moves, the rotating member 43 is sheathed on the moving screw 42, the rotating member 43 is threadedly matched with the moving screw 42, and the rotating member 43 is restricted to rotate around the preset axis L when the moving screw 42 moves, The power unit 3 is mounted on the rotating member 43 .

The driving mechanism 41 transmits the power to the moving screw 42, and the moving screw 42 transmits the force to the rotating member 43 when moving, so that the rotating member 43 drives the power device 3 to adjust the angle. In this way, the rotating member 43 is sheathed on the moving screw rod 42, the rotating member 43 and the moving screw rod 42 are threadedly matched, the contact area between the two is large, and the transmission stability is high, and the rotating member is driven by the movement of the moving screw rod 42. 43 rotation, strong controllability.

In the above embodiment, as shown in FIG. 11 , the driving mechanism 41 may include: a steering gear 411 and a gear set 412 . The steering gear 411 has a crankshaft 4111 , one gear 4121 in the gear group 412 is connected with the crankshaft 4111 , and the other gear 4121 in the gear group 412 is connected with the moving screw 42 . Using the steering gear 411 not only has a small size, but also has a long service life and a high load capacity. A gear set 412 is provided between the steering gear 411 and the moving screw rod 42 , which can not only maintain the compactness of the fit, but also adjust the transmission ratio through the gear set 412 to achieve the effect of deceleration and torque increase.

Specifically, as shown in FIG. 14 , the gear 4121 connected with the moving screw 42 has an internal thread hole, and the gear 4121 is sleeved on the moving screw 42 and is threadedly matched, and drives the moving screw 42 to move when the gear 4121 rotates. This arrangement can reduce the number of parts and make the structure more compact.

Further, as shown in FIG. 12-FIG. 14, the moving screw 42 is provided with two spaced external threads, one of which is matched with the rotating member 43, the other is matched with the gear 4121, and the two external threads are matched with the gear 4121. Spaced apart to achieve the limit of the rotating member 43 and the gear 4121 .

In some embodiments of the present invention, as shown in FIG. 11 , the driving mechanism 41 includes a limit component 44 , the limit component 44 is connected with the moving screw 42 , and the limit component 44 is configured to limit the moving screw 42 relative to the arm device 2 Turn. Therefore, the limiting component 44 can only move the moving screw 42 in the direction of the preset axis L, so as to stabilize the transmission process.

In some optional embodiments, the limiting component 44 is a guide seat (not shown) connected to the mounting seat 413 , the guide seat is provided with a guide groove extending along the preset axis L, and the moving screw 42 is matched with the guide seat. In the groove, the moving screw 42 can only move along the direction of the preset axis L under the constraint of the guide groove. When the cross section of the guide groove is non-circular, the guide groove can limit the rotation of the moving screw 42 .

In other optional embodiments, as shown in FIG. 11 , the limit assembly 44 includes a limit rod, a fisheye bearing is connected to the mounting seat 413 , and the bottom end of the limit rod is telescopically fit inside the fisheye bearing On the ring, the fisheye bearing restricts the limit rod to swing only along the plane where the preset axis L is located. The end of the moving screw rod 42 is rotatably connected to the upper end of the limit rod, so that the moving screw rod 42 can only move but cannot rotate.

In some embodiments of the present invention, as shown in FIG. 11 , FIG. 13 and FIG. 15 , the outer circumference of the rotating member 43 is formed as a spline 431 , the power device 3 includes a connecting seat 313 , and the power unit 31 is connected with the connecting seat 313 . The seat 313 has a keyway 3131 that cooperates with the spline 431 . In this way, when the spline 431 is rotated, the rotation of the spline 431 can bear a very large torque, and the root is not easily broken, which can make the whole aircraft safer and more reliable.

In FIG. 15 , the keyway 3131 on the connection seat 313 that is matched with the spline 431 has a central angle of 180 degrees, which facilitates the connection between the connection seat 313 and the spline 431 to be sleeved and matched. Of course, the power device 3 also includes a locking member (not shown) configured to lock the power unit 31 on the drive device 4 to ensure reliable connection between the power device 3 and the drive device 4 during rotation.

In some embodiments of the present invention, as shown in FIGS. 11 and 16 , the driving mechanism 41 includes: a mounting seat 413 and a bearing 414 . The mounting seat 413 includes a socket portion 4131, a fixed seat 4132 and a mounting portion 4133. The socket portion 4131 is externally connected to the arm device 2, the driving mechanism 41 is mounted on the fixed seat 4132, and the two mounting portions 4133 are arranged opposite to each other. On the fixed seat 4132, the two mounting parts 4133 are provided with coaxially arranged mounting holes 41331, the moving screw 42 is penetrated in the two mounting holes 41331, and the two bearings 414 are respectively fitted in the two mounting holes 41331, and rotate The member 43 is fitted on two bearings 414 , and the two bearings 414 are clamped on both sides of the rotating member 43 to limit the axial movement of the rotating member 43 .

The mounting seat 413 of this structure can connect the mounting seat 413 to the machine arm device 2 , and other components can be mounted on the mounting seat 413 in a compact manner. The bearing 414 is installed by arranging two mounting seats 4133, and the bearing 414 is used to support the rotating member 43. On the one hand, it ensures that the rotating member 43 is not easily deformed under the support, and on the other hand, the rotating friction force of the rotating member 43 is smaller, and the rotation is more stable. smooth. In addition, the two bearings 414 can also limit the rotating member 43, so that the rotating member 43 can only rotate around the preset bearing L, which can improve the control precision.

The following describes the movement process of the driving device 4 in a specific embodiment of the present invention according to FIG. 11 . After receiving the command from the controller, the steering gear 411 located on the fixed seat 4132 of the mounting seat 413 starts to operate, and the steering gear 411 drives the gear set. A gear 4121 connected to the steering gear 411 in the 412 rotates, and the gear group 412 is meshed with the gear 4121 to transmit the rotational motion to the moving screw 42 arranged above the mounting seat 413. The moving screw 42 is restricted by the limit component 44 It can only move in the direction of the preset axis L, and the rotating member 43 and the moving screw rod 42 are threaded in the same way. The rotating part 43 is also restricted by the mounting part 4133 and the bearing 414 on the mounting part 4133, and can only rotate around the preset axis L. The rotating part 43 is provided with a spline 431, which cooperates with the connecting seat 313 of the power unit 3, and the rotating part 43 rotates in the direction of the preset axis L to drive the power device 3 to rotate, that is, to drive the propeller 312 of the power device 3 to change the direction of rotation, so that the flying state of the UAV 100 can be changed.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, The scope of the invention is defined by the claims and their equivalents.

Industrial Applicability

The solutions provided by the embodiments of the present application can ensure the balance of the drone and improve the flight controllability of the drone. In the technical solutions provided by the embodiments of the present application, the drone 100 includes: a fuselage assembly 1, a machine Arm device 2 and power device 3. There are two arm devices 2 and they are located on opposite sides of the fuselage assembly 1. The length ends of each arm device 2 are an inner end 21 and an outer end 22 respectively. The inner end 21 of the device 2 is installed on the fuselage assembly 1 , and a power device 3 is respectively installed at the outer end 22 of each arm device 2 . The center of gravity of the unmanned aerial vehicle provided by the embodiment of the present application is lower than the lift action point, which can improve the flight stability of the unmanned aerial vehicle, and the unmanned aerial vehicle has a simple structure, a small volume, and a low production cost.

Claims

An unmanned aerial vehicle (100), comprising:

Airframe assembly (1);

A machine arm device (2), the two machine arm devices (2) are respectively located on opposite sides of the fuselage assembly (1), and the length ends of each of the machine arm devices (2) are respectively are an inner end (21) and an outer end (22), the inner end (21) of the arm device (2) is mounted on the fuselage assembly (1), and the arm device (2) is composed of The inner end (21) to the outer end (22) are inclined upward, and the included angle between each of the arm devices (2) and the horizontal plane is 9-35 degrees;

A power device (3), one of the power devices (3) is respectively installed on the outer end (22) of each of the arm devices (2), and each of the power devices (3) includes a power unit ( 31), the power unit (31) includes a power motor (311) and a propeller (312) mounted on the power motor (311).
The drone (100) according to claim 1, wherein the included angle between each of the arm devices (2) and the horizontal plane is 19 degrees.
The unmanned aerial vehicle (100) according to claim 1, wherein the fuselage assembly (1) has a fore-aft direction reference line (L8), and two of the arm devices (2) are located at the fore-aft direction reference line (L8). On the opposite sides of the line (L8), the fuselage assembly (1) includes a control device (13), a material storage device (11) and a power supply device (12) arranged in sequence along the front-rear direction reference line (L8) ;

When the drone (100) is in a hovering state, the central axes (L9) of the two power motors (311) are coplanar on a preset plane (S3), and the preset plane (S3) and the The intersection of the reference lines (L8) in the front-rear direction is located in the storage device (11).
The drone (100) according to claim 3, wherein the inner end (21) of the arm device (2) and the control device (13) of the fuselage assembly (1) The parts are connected, and the arm device (2) is inclined from the inside to the outside along the direction from the control device (13) to the power supply device (12), and is inclined toward the direction away from the fuselage assembly (1). extending on said front-back direction reference line (L8); or,

The arm device (2) is arranged along a direction perpendicular to the front-rear direction reference line (L8).
The unmanned aerial vehicle (100) according to any one of claims 1-4, further comprising: a driving device (4), the driving device (4) being mounted on all parts of the arm device (2) At the outer end, the driving device (4) is connected with the power unit (31), and drives the power unit (31) to rotate around a preset axis (L) on the arm device (2).
The drone (100) according to claim 5, wherein the driving device (4) comprises:

a driving mechanism (41), the driving mechanism (41) is mounted on the outer end of the arm device (2);

A moving screw (42) is connected with the driving mechanism (41), and the axis (L10) of the moving screw (42) coincides with the preset axis (L), so The driving mechanism (41) drives the moving screw (42) to move along the preset axis (L);

A rotating member (43), the rotating member (43) is sleeved on the moving screw rod (42), and the rotating member (43) is threadedly matched with the moving screw rod (42), and the rotating member (43) is restricted so that the rotating member (43) rotates around the preset axis (L) when the moving screw (42) moves, and the power device (3) is mounted on the rotating member (43) )superior.
The drone (100) according to claim 6, wherein the drive mechanism (41) comprises:

a steering gear (411), the steering gear (411) has a crankshaft (4111);

A gear set (412), one gear (4121) in the gear set (412) is connected with the crankshaft (4111), and the other gear (4121) in the gear set (412) is connected with the moving wire Rods (42) are connected.
The unmanned aerial vehicle (100) according to claim 6, wherein the driving device (4) comprises: a limiting component (44) connected with the moving screw (42) and configured to limit the moving screw The rod (42) rotates relative to the arm device (2).
The unmanned aerial vehicle (100) according to claim 6, wherein the outer circumference of the rotating member (43) is formed as a spline (431), the power device (3) comprises a connecting seat (313), the power The unit (31) is connected with the connecting seat (313), and the connecting seat (31) has a key groove (3131) matched with the spline (431).
The drone (100) according to claim 6, wherein the drive mechanism (41) comprises:

A mounting seat (413), the mounting seat (413) includes a socket portion (4131), a fixing seat (4132) and a mounting portion (4133), and the socket portion (4131) is externally connected to the arm device (4133). 2), the driving mechanism (41) is mounted on the fixing seat (4132), the two mounting parts (4133) are oppositely arranged on the fixing seat (4132), and the two mounting parts (4133) The part (4133) is provided with coaxially arranged mounting holes (41331), and the moving screw rod (42) passes through the two mounting holes (41331);

Two bearings (414), the two bearings (414) are fitted in the two mounting holes (41331) respectively, the rotating member (43) is fitted on the two bearings (414), and the two Bearings (414) are clamped on both sides of the rotating member (43) to limit the axial movement of the rotating member (43).