WO2022077152A1 - 用于夹持多旋翼无人机的部件的夹紧固定装置及飞行套装 - Google Patents

用于夹持多旋翼无人机的部件的夹紧固定装置及飞行套装 Download PDF

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Publication number
WO2022077152A1
WO2022077152A1 PCT/CN2020/120336 CN2020120336W WO2022077152A1 WO 2022077152 A1 WO2022077152 A1 WO 2022077152A1 CN 2020120336 W CN2020120336 W CN 2020120336W WO 2022077152 A1 WO2022077152 A1 WO 2022077152A1
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WO
WIPO (PCT)
Prior art keywords
clamping
side wall
fixing device
card slot
main body
Prior art date
Application number
PCT/CN2020/120336
Other languages
English (en)
French (fr)
Inventor
周万仁
卢绰莹
舒展
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 PCT/CN2020/120336 priority Critical patent/WO2022077152A1/zh
Publication of WO2022077152A1 publication Critical patent/WO2022077152A1/zh

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    • 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
    • B64U30/291—Detachable rotors or rotor supports
    • B64U30/292—Rotors or rotor supports specially adapted for quick release
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B2/00—Friction-grip releasable fastenings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B2/00—Friction-grip releasable fastenings
    • F16B2/02—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening
    • F16B2/04—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening internal, i.e. with spreading action
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters

Definitions

  • the present disclosure relates to the technical field of unmanned aerial vehicles, and in particular, to a clamping and fixing device and a flying suit for clamping parts of a multi-rotor unmanned aerial vehicle.
  • embodiments of the present disclosure provide a clamping and fixing device and a flying suit for clamping components of a multi-rotor unmanned aerial vehicle.
  • an aspect provides a clamping fixture for clamping components of a multi-rotor drone, comprising:
  • the first side of the main body part is provided with a card slot; the card slot is used for receiving the arms and/or blades of the multi-rotor unmanned aerial vehicle;
  • the quick-release connector is arranged on the second side of the main body,
  • the quick-release connector is detachably installed on the fuselage of the multi-rotor UAV, when the arm and/or the blade of the multi-rotor UAV is stuck in the slot , the arms and/or the blades can be fixed relative to the fuselage.
  • one aspect provides a flying suit, including a multi-rotor drone and a clamping fixture;
  • the multi-rotor UAV comprises: a fuselage and a rotatable rotor assembly mounted on the fuselage;
  • the clamping and fixing device includes:
  • the first side of the main body part is provided with a card slot; the card slot is used for receiving the arm or/and the blade of the multi-rotor drone;
  • the quick-release connector is arranged on the second side of the main body,
  • the quick-release connector is detachably mounted on the fuselage, and the rotor assembly can be rotated relative to the fuselage to be received in the slot of the clamping and fixing device;
  • the arm and/or the propeller of the rotor assembly When the arm and/or the propeller of the rotor assembly is stuck in the slot, the arm and/or the blade can be fixed relative to the fuselage.
  • the clamping and fixing device that can be installed on the fuselage in a quick-removal manner, since the clamping and fixing device is provided with a card slot, the arms and/or the arms folded around the fuselage are provided. Or the paddle can be stored in the card slot. In this way, the arm and/or the blade can be relatively fixed to the fuselage by the clamping and fixing device, so that the collision of the arm and/or the blade with other objects or other parts of the fuselage can be avoided, and the arm and/or the blade can be avoided. damage.
  • FIG. 1 is a top view of a UAV structure according to an embodiment of the present disclosure
  • Fig. 2 is the axonometric view of the UAV in Fig. 1;
  • Fig. 3 is the structural representation after the UAV in Fig. 1 removes the frame
  • FIG. 4 is a schematic structural diagram of the UAV in FIG. 1 after removing a part of the frame and a part of the rotor assembly;
  • Fig. 5 is a partial enlarged view of Fig. 2;
  • FIG. 6 is an axonometric view of a clamping and fixing device according to an embodiment of the present disclosure
  • Fig. 7 is the side view of Fig. 6;
  • Fig. 8 is the bottom view of Fig. 6;
  • Fig. 9 is the front view of Fig. 6;
  • FIG. 9 is a partial enlarged views of FIG. 9;
  • Fig. 12 is a partial enlarged view of Fig. 6;
  • FIG. 13 to 18 are schematic flowcharts of installing a clamping and fixing device on a frame according to an embodiment of the present disclosure.
  • 300-clamping and fixing device 310-main body; 311-paddle slot; 3111-storage section; 3113-guide section; 3115-connection section; 3117-transition section; 313-arm slot; 3131-storage section 3133-guide section; 3135-connection section; 3137-transition section; 314-abutment projection; 315-upright plate; 333-second side wall; 334-receiving part; 335-flange; 337-installation table; 339-reinforcing rib; 336-rotating wrench;
  • drones are often used for operations. For example, using drones to sow, fertilize or spray pesticides; another example, using drones equipped with cameras to inspect power cables; another example, using drones equipped with infrared sensors to monitor forests, monitor Fire in the forest.
  • UAVs are basically multi-rotor UAVs, and due to the characteristics of the operation, the arms and rotors of these UAVs will be relatively large in order to provide large lift. However, this results in that the drone will take up too much space when transported in the storage box. Therefore, a foldable arm has been developed, so that when it needs to be transported or stored, the arm can be folded to an unmanned level. around the fuselage of the drone, thereby reducing the space occupied by the drone.
  • the arms and propellers are easily damaged during transportation.
  • the arms and/or The blades are prone to collide with other objects or other parts of the drone, resulting in damage to the arms and/or blades.
  • the present disclosure provides a clamping and fixing device for clamping an arm and/or a blade of a component of a multi-rotor unmanned aerial vehicle, which is installed on the fuselage in a quick-release manner and the clamping and fixing device
  • the device is also provided with a card slot so that the arms and/or paddles folded around the fuselage can be accommodated in the card slot.
  • the arm and/or the blade can be relatively fixed to the fuselage by the clamping and fixing device, so that the collision of the arm and/or the blade with other objects or other parts of the fuselage can be avoided, and the arm and/or the blade can be avoided. damage.
  • FIG. 1 is a top view of the structure of an unmanned aerial vehicle provided in this embodiment, wherein the fuselage part only shows the frame body
  • FIG. 2 is an axonometric view of the unmanned aerial vehicle in FIG. 1
  • FIG. Figure 4 is a schematic structural diagram of the drone in Figure 1 after removing a part of the frame and a part of the rotor assembly.
  • the UAV 100 provided in this embodiment includes a fuselage and a rotor assembly.
  • the rotor assembly is foldably mounted on the fuselage, and a clamping and fixing device is detachably provided on the fuselage. 300 , so that the folded rotor assembly can be fixed relative to the fuselage by the clamping and fixing device 300 .
  • the fuselage may include a rectangular or oval frame body 110, which may be made of metal or non-metallic material, for example, the frame body 110 is made of plastic by injection molding.
  • the frame body 110 has a rectangular shape, which is composed of four hollow beams 111 connected end to end, and the four hollow beams 111 enclose the annular frame body 110 .
  • the frame body 110 is mainly surrounded by beams connected end to end, which can improve the structural strength of the fuselage.
  • the frame body 110 is formed by welding four hollow beams 111 made of metal materials, or the frame body 110 is formed into an integral structure by molding thermoplastic plastics.
  • Several weight-reducing holes 113 may be provided on the hollow beam 111 to improve the aerodynamic performance of the UAV 100 under the condition of satisfying the structural strength.
  • the rotor assembly includes an arm 130 and a propeller 150 mounted on the arm 130 , and the rotation of the propeller 150 drives the drone 100 to fly in the air.
  • the machine arm 130 is a rod, which may be a hollow rod made of carbon fiber material, and its cross-section is in the shape of a circle, an ellipse, a rectangle, or the like.
  • the first end of the machine arm 130 is a connecting end, which is rotatably mounted on the frame body 110 .
  • the arm 130 rotates in the first direction to a position inclined to the hollow beam 111
  • the propeller 150 rotates to generate lift
  • the drone 100 can be driven to ascend, descend, hover, accelerate, decelerate or turn, etc.; 130 is rotated in a direction opposite to the first direction to a position parallel to the hollow beam 111 , and the drone 100 is in a folded and stored state, thereby reducing the space occupied by the drone 100 when it is stored.
  • the arms 130 can be folded around the fuselage, so as to reduce the space occupied by the drone 100 for storage; when the drone 100 needs to be used, the arms 130 can be unfolded to the same size as the drone 100.
  • the frame body 110 is inclined so that the propeller 150 can drive the drone 100 to fly in the air.
  • the first end of the machine arm 130 may be rotatably mounted on the hollow beam 111 through a connecting member such as a hinge.
  • the hinge part is a hollow cylindrical part
  • the first end of the arm 130 is inserted into the cylindrical part
  • the arm 130 and the cylindrical part can be fastened by interference fit and/or bolts way fastened together.
  • the line of the machine arm 130 relative to the rotation axis 120 of the frame body 110 may be parallel to the gravity line, or may also be inclined to the gravity line.
  • the rotation axis 120 of at least one of the arms 130 of the multi-rotor UAV 100 is inclined to the gravity line, that is, the rotation axis 120 is inclined to the length of the vertically arranged main body part 310 direction.
  • the two arms 130 can be rotated in opposite directions to be stacked together.
  • 130 can be accommodated on one clamping and fixing device 300 at the same time, or can also be accommodated on two clamping and fixing devices 300 respectively.
  • the thickness of the main body portion 310 can be reduced, which is beneficial to reducing the area occupied by the drone 100 after storage.
  • the second end of the arm 130 is a free end, and the rotor assembly is mounted on the second end of the arm 130 .
  • the rotor assembly includes an electronic governor, motor 153 and propeller 150 .
  • a mounting seat for the motor 153 may be provided at the second end of the machine arm 130 , and the motor 153 is installed in the mounting seat for the motor 153 .
  • the hub of the propeller 150 is sheathed and fixed on the output shaft of the motor 153 , so that the motor 153 can drive the blades 151 of the propeller 150 to rotate clockwise or counterclockwise to drive the drone 100 to fly in the air.
  • the electronic governor is disposed below the motor 153 or in the body, and is connected to the motor 153 in communication, so as to control the working state of the motor 153 . It is easy to understand that when the electronic governor is installed in the fuselage, the communication connection line between the motor 153 and the electronic governor passes through the hollow arm 130 .
  • the blades 151 of the propeller 150 are usually multiple pieces.
  • the propeller 150 shown in FIG. 1 to FIG. 3 is configured with two blades 151 .
  • three blades may be evenly arranged on the propeller hub of the propeller 150 Paddle 151 .
  • the paddles 151 can also be configured to be rotatable relative to the hub, so as to fold the plurality of paddles 151 to a position parallel to the machine arm 130 .
  • the leaves 151 may be stacked on top of each other.
  • the blades 151 and/or the arms 130 can be fixed relative to the fuselage by the clamping and fixing device 300 .
  • the structure of the clamping and fixing device 300 will be described in detail below with reference to the accompanying drawings, so as to more clearly understand the optional structure of the clamping and fixing device 300 and the way of fixing the blade 151 and/or the arm 130 relative to the fuselage.
  • FIG. 5 is a partial enlarged view of FIG. 2
  • FIG. 6 is an axonometric view of a clamping and fixing device 300 provided in this embodiment
  • FIG. 7 is a side view of FIG. 6
  • FIG. 8 is a bottom view of FIG. 6
  • FIG. 9 FIG. 6 is a front view
  • FIG. 10 and FIG. 11 are partial enlarged views of FIG. 9
  • FIG. 12 is a partial enlarged view of FIG. 6 .
  • the clamping and fixing device 300 includes a main body portion 310 and a quick-release connector 330 that is fastened to the main body portion 310 , so that the clamping and fixing device 300 can be quickly installed through the quick-release connector 330 to the fuselage, so that the main body 310 can fix the folded arms 130 and/or the blades 151 relative to the fuselage, so as to prevent them from shaking, so that the arms 130 and/or the blades 151 can be prevented from occurring.
  • a bump can also reduce the space occupied by the drone 100 when it is stored.
  • the main body portion 310 may be a rectangular plate-like structure or a block-like structure, and a slot for accommodating the machine arm 130 and/or the paddle 151 is provided on one side of the main body portion 310 .
  • FIG. 4 shows that a card slot is provided on the left side of the main body portion 310 .
  • the main body portion 310 includes a vertical plate 315 and a surrounding wall 317 surrounding the edge of the vertical plate 315 , and a cavity is formed between the vertical plate 315 and the surrounding wall 317 .
  • the slot for the storage machine arm 130 and/or the paddle 151 is formed by the vertical plate 315 and the left side of the surrounding wall 317 being recessed into the cavity.
  • One or more partition ribs 319 may be provided in the cavity to improve the structural strength of the main body portion 310 and facilitate supporting the arms 130 and/or the blades 151 .
  • the separation ribs 319 may form a net-like structure to further improve the structural strength of the main body portion 310 .
  • the main body portion 310 may also have no vertical plate 315 and only include a surrounding wall 317 and a separation rib 319 forming a net-like structure.
  • the structure of the card slot can be configured according to actual needs.
  • the card slot provided on the main body part 310 can be configured as a structure capable of elastic deformation, so that the arm 130 and/or the paddle 151 can be squeezed into the slot, so as to realize the arm 130 and/or the paddle 151 foldable storage.
  • the main body portion 310 can be made of elastic plastic, so that the portion of the main body portion 310 surrounding the card slot can be elastically deformed, so as to change the size of the card slot, so as to improve the effect of the card slot on the arm 130 and/or the paddle 151
  • the clamping force can be increased to prevent the arm 130 and/or the paddle 151 from shaking in the slot, and further reduce the risk of collision and damage to the arm 130 and/or the paddle 151 .
  • the number of card slots can also be configured according to actual needs.
  • FIG. 6 and FIG. 9 show that the main body portion 310 is sequentially provided with two groups of card slots from top to bottom, and each group of card slots may include a first card slot and a second card slot, wherein the first card slot
  • the slot is suitable for accommodating the sheet-like structure, which can be used for accommodating the paddle 151
  • the second slot is suitable for accommodating the rod-shaped structure, which can be used for accommodating the machine arm 130, of course, this is not a limitation, in other examples Among them, the first card slot and the second card slot may also be suitable for accommodating structures of other shapes.
  • the first slot may be referred to as the paddle slot 311
  • the second slot may be referred to as the arm slot 313
  • the paddle slot 311 may be located above or below the arm slot 313 .
  • the blade slot 311 can be arranged above the arm slot 313, and when the propeller 150 is located below the arm 130, the blade slot 311 can be configured accordingly It is arranged below the arm slot 313 .
  • two blade clip slots 311 and one arm clip slot 313 can be arranged on the main body 310 , and the three clip slots are used as a group.
  • the main body portion 310 is sequentially provided with an upper blade clamping slot 311 , an upper arm clamping slot 313 , a lower blade clamping slot 311 , a lower arm clamping slot 313 , and an upper blade clamping slot 313 from top to bottom.
  • the slot 311 and the lower blade slot 311 are respectively used to accommodate the blades 151 of two different propellers 150
  • the upper arm slot 313 and the lower arm slot 313 are respectively used to accommodate the two arms 130 .
  • the upper blade clip slot 311 and the upper arm clip slot 313 are respectively used for clipping the blade 151 and the arm 130 of the upper right rotor assembly of the UAV 100 , and the lower blade clip slot 311 and the lower machine arm 130 respectively.
  • the arm clamping slot 313 is used for clamping the blade 151 and the arm 130 of the lower left rotor assembly of the UAV 100 .
  • FIG. 6 and FIG. 9 show that the main body part 310 is provided with two card groove groups to respectively hold the arms 130 and the blades 151 of the two adjacent rotor assemblies, in other examples, the main body The part 310 can also be provided with only one set of card slots, which are used to hold the arms 130 and blades 151 of one rotor assembly, or this set of card slots can also be used to respectively hold the arms of one rotor assembly. 130 and blade 151 of another rotor assembly.
  • FIG. 6 and FIG. 9 show that the main body 310 is provided with separate slots for the paddle 151 and the arm 130, in other examples, the same slot can also be used to hold the paddle.
  • the blade 151 and the arm 130 that is, the height and width of the clamping slot are larger than the blade clamping slot 311 and the clamping slot of the arm 130 for clamping the blade 151 alone.
  • the shape of the card slot can also be configured according to actual needs.
  • the card slot may be rectangular, circular, or other suitable shapes.
  • the paddle slot 311 includes a storage section 3111 for storing the paddle 151 , and the storage section 3111 is, for example, a long strip. slot; the arm slot 313 includes a receiving section 3131 for receiving the second part, and the receiving section 3131 can be, for example, a semicircular hole.
  • the thickness direction of the main body portion 310 is the X axis
  • the width direction of the main body portion 310 is the Y axis
  • the longitudinal direction of the main body portion 310 is the Z axis. It can be understood that, along the Z-axis direction, the distance of the storage section 3111 of the blade clip slot 311 is smaller than the distance of the storage section 3131 of the arm clip slot 313 .
  • the paddle clip slot 311 further includes a guide section 3113 for guiding the paddle 151 into the storage section of the paddle clip slot 311 .
  • the guidance of the section 3113 allows the paddle 151 to easily enter the receiving section 3111 .
  • the guiding segment 3113 and the receiving segment 3111 may be connected by a connecting segment 3115 with a smooth transition.
  • both side walls of the guide section 3113 of the paddle slot 311 are inclined in the same direction, for example, both side walls of the guide section 3113 of the paddle slot 311 are inclined toward the arm slot 313 The direction is inclined. In this way, after the paddle 151 is installed in the paddle slot 311 , the paddle 151 will not easily come out of the paddle slot 311 without an external force to overcome the resistance of the guide section 3113 .
  • the guide sections 3113 of the blade clip slot 311 are arranged at equal intervals from the notch of the blade clip slot 311 to the direction of the receiving section 3111 of the paddle clip slot 311 , so that the paddle clip can be prevented from being installed in the paddle 151 . Slot 311 is blocked.
  • the two side walls of the guide section 3113 of the blade clip slot 311 and the surrounding wall 317 may be connected by a smooth transition transition section 3117 .
  • the arm slot 313 further includes a guide section 3133 for guiding the arm 130 into the receiving section 3131 of the arm 130 slot.
  • a guide section 3133 for guiding the arm 130 into the receiving section 3131 of the arm 130 slot.
  • the guidance of the section 3133 enables the arm 130 to easily enter the receiving section 3131 .
  • the guiding section 3113 and the receiving section 3131 may be connected by a connecting section 3135 with a smooth transition.
  • the two side walls of the guide section 3133 of the arm slot 313 may be inclined in opposite directions, for example, the guide section 3133 of the arm slot 313 goes from the notch of the arm slot 313 to the arm slot
  • the direction of the accommodating section 3131 of the slot 313 is arranged in a necked manner, so that the arm slot 313 has a larger opening, which is beneficial to push the arm 130 into the arm slot 313 .
  • the two side walls of the guide section 3133 of the arm slot 313 and the surrounding wall 317 may be connected by a smooth transition transition section 3137 .
  • the quick release connector 330 is detachably installed on the fuselage of the drone 100 .
  • FIG. 6 shows that the quick release connector 330 is installed on the right side of the main body. side, so that the clamping and fixing device 300 can be quickly installed on the fuselage through the quick-release connector 330, and the quick-release connector 330 will not affect the effect of the card slot provided on the main body 310 on the blades 151 and/or Or the clamping of the machine arm 130 .
  • the quick-release connector 330 may include Velcro or elastic buckles 338 , etc., so that the clamping and fixing device 300 can be quickly installed on the fuselage through the quick-release connector 330 .
  • the quick-release connector includes a Velcro
  • a through hole for the Velcro to pass through can be provided on the main body 310 , and the Velcro can be fastened on the body, so that the velcro can be fastened to the body through the card slot of the clamping and fixing device 300 .
  • the arms 130 and/or the blades 151 are fixed relative to the fuselage.
  • an engaging hole for engaging with the elastic buckle 338 can be provided on the main body portion 310, so that the elastic buckle 338 can be fastened on the body so that the The arms 130 and/or the paddles 151 are fixed relative to the fuselage by clamping the slots of the fixing device 300 .
  • the clamping and fixing device 300 can be fastened to one or more of the hollow beams 111 of the frame body 110 through the above-mentioned Velcro, or , the clamping and fixing device 300 can also be fastened on one or more hollow beams 111 of the frame body 110 through the above-mentioned elastic buckles 338 .
  • the quick release connector 330 may include a first side wall 331 and a second side wall 333 arranged in the up-down direction, the two side walls define a accommodating part 334 .
  • a part of the fuselage can be accommodated and held in the accommodating part 334 , for example, the accommodating part 334 can be an interference fit with a part of the fuselage, or the accommodating part 334 can be elastically deformed, so that a part of the fuselage can be squeezed into the accommodating part 334 within and kept in it.
  • the connecting ends of the first side wall 331 and the second side wall 333 are both firmly connected to the main body portion 310 , and the free ends of the first side wall 331 and the second side wall 333 form a receiving portion 334 opening.
  • the connecting ends of the first side wall 331 and the second side wall 333 may be fixed to the main body 310 by bonding or bolting, or the first and second side walls 331 and 333 and the main body 310 may be integrally formed. way to form an integrated structure.
  • the main body portion 310 , the first side wall 331 and the second side wall 333 may be formed into a one-piece structure by injection molding using plastic.
  • the clamping fixture 300 is further provided with one or more reinforcing ribs 339 that are fastened to the side wall and the main body portion 310 .
  • the reinforcing rib 339 may be a right-angled triangular plate, one right-angled side of the right-angled triangular plate is fastened to the main body portion 310 , and the other right-angled side of the right-angled triangular plate is fastened to the side wall.
  • the reinforcing rib 339 in the form of a right-angled triangular plate may be formed into an integral structure with the main body portion 310 and the first side wall 331 or the second side wall 333 by means of injection molding.
  • the reinforcement rib 339 may be provided on the upper side wall or the lower side wall, or, the reinforcement rib 339 may be provided on both the upper side wall and the lower side wall.
  • the plurality of reinforcing ribs 339 may be arranged in parallel, or the plurality of reinforcing ribs 339 may also be formed into a network structure by reinforcing ribs.
  • the central axis of the storage portion 334 may be perpendicular to the longitudinal direction of the main body portion 310 .
  • FIG. 5 shows that the length direction of the main body portion 310 is the vertical direction, the central axis of the accommodating portion 334 is the left-right direction perpendicular to the vertical direction, and the central axis of the hollow beam 111 is aligned with the central axis of the accommodating portion 334 And the longitudinal direction of the main body portion 310 is vertical.
  • the plurality of reinforcing ribs 339 provided on the side walls above may be provided at intervals along the central axis of the receiving portion 334 .
  • a portion of the main body portion 310 located between the two side walls is provided with abutting protrusions 314 , and the abutting protrusions 314 are used for abutting against the receiving portion and being accommodated in the receiving portion.
  • the fuselage part in the 334 can improve the fastening effect of the receiving part 334 on the fuselage. With the locks above, it can realize the backlog of the part of the fuselage accommodated in the receiving part 334 from the four faces, so as to avoid clamping
  • the tight fixture 300 is offset relative to the fuselage, thereby reducing the risk of damage to the blades 151 and/or the arms 130 .
  • the abutting protrusion 314 may be a cylinder, or may also be a column with other vertical cross-sectional shapes. It should be understood that the length of the abutting protrusion 314 extending into the receiving portion 334 may be determined according to the structure of the drone 100 matched with the clamping and fixing device 300 . , the length of the abutting protrusion 314 extending into the receiving portion 334 can be configured to be relatively short.
  • the fuselage when the fuselage includes the frame body 110 mainly composed of the hollow beam 111, the abutting protrusions 314 located between the two opposite side walls of the quick release connector 330 are used to abut against the side walls of the hollow beam 111.
  • the width of the hollow beam 111 is small, the length of the abutting protrusion 314 extending into the receiving portion 334 needs to be relatively long. It can be configured to be relatively small.
  • the quick-release connector 330 further includes a latch provided at the free end of the side wall, and the latch is used to lock and unlock the receiving portion 334 so that the receiving portion 334 can be locked and unlocked.
  • the receiving portion 334 Fixed on the fuselage or removed from the fuselage.
  • the fuselage includes the frame body 110 mainly composed of the hollow beam 111
  • the receiving portion 334 can be locked on the hollow beam 111 or removed from the hollow beam 111 through the lock, so as to be in the hollow of the frame body 110
  • the clamping and fixing device 300 is quickly disassembled and assembled on the beam 111 .
  • the lock is first released, and then the receiving portion 334 is moved toward the hollow beam 111 and sleeved on the hollow beam 111 , and then lock the lock, so that the clamping and fixing device 300 is fixed on the hollow beam 111 of the frame body 110 .
  • the lock is first released, and then the receiving part 334 is moved away from the hollow beam 111, so that the hollow beam 111 and the receiving part are moved away from the hollow beam 111. 334 is disengaged, thereby realizing the disassembly of the clamping fixture 300 from the hollow beam 111 .
  • the lock includes a rotary spanner 336 and a buckle 338.
  • the rotary spanner 336 is rotatably mounted on a mounting platform 337 provided at the free end of the lower side wall, and the buckle 338 One part is fixed with the rotary wrench 336, and the other part of the buckle 338 is detachably fastened to the flange 335 provided at the free end of the upper side wall, and the flange 335 can be formed by bending the free end of the upper side wall upward. .
  • the lock fastens the clamping and locking device on the hollow beam 111 of the frame body 110.
  • the buckle 338 is separated from the flange 335, the clamping and locking device can be removed from the frame.
  • the hollow beam 111 of the body 110 is removed.
  • the rotary wrench 336 includes a first metal rod that is bent into a semi-closed ring.
  • the left free end of the first metal rod is inserted into the shaft 120 hole of the left mounting table 337
  • the right free end of the first metal rod is inserted into the rotating shaft 120 hole of the right mounting table 337 .
  • the mounting platform 337 of the lower side wall may be a protrusion formed by expanding the free end of the lower side wall downward, and a hole for the rotation shaft 120 parallel to the axis of the hollow beam 111 is provided on the protrusion.
  • the positions of the first metal rods close to the left and right free ends are respectively bent to form a fastening hole.
  • the middle part of the first metal rod is bent into a handle suitable for manual operation, and a non-slip sleeve or an anti-slip coating can be set on the handle.
  • the clip 338 includes a second metal rod that is bent into a semi-closed ring.
  • the free end on the left side of the second metal rod is plugged and fixed in the fastening hole formed by bending the left side of the first metal rod, and the free end on the right side of the second metal rod is plugged and fixed on the right side of the first metal rod and formed by bending in the fastening hole.
  • FIGS. 13 to 18 show the process of installing the clamping and fixing device 300 on the hollow beam 111 of the frame body 110 through the clips 338 .
  • the buckle 338 is opened, and the second metal rod of the buckle 338 is connected to the flange of the upper side wall. 335 is disengaged, and at this time, the receiving portion 334 is moved toward the hollow beam 111 and sleeved on the hollow beam 111 . Then, as shown in FIG. 15 and FIG.
  • the middle part of the second metal rod is clamped on the flange 335 of the upper side wall to realize the clamping and fixing device 300 and Pre-locking of the hollow beam 111 .
  • the rotary wrench 336 is pulled down, so that the rotary wrench 336 drives the two free ends of the second metal rod connected to it to rotate to the left, thereby connecting the first side wall 331 and the second metal rod to the left.
  • the two side walls 333 are locked, that is, the receiving portion 334 is locked, so that the clamping and fixing device 300 is firmly fixed on the hollow beam 111 .
  • clamping and fixing device 300 of the present disclosure can be configured independently, or can also be combined with the drone 100 to form a flying suit.

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Abstract

一种用于夹持多旋翼无人机（100）的部件的夹紧固定装置（300），包括：主体部（310），在主体部（310）的第一侧设置有用于收纳多旋翼无人机（100）的机臂（130）和/或桨叶（151）的卡槽；在主体部（310）的第二侧设置有可拆卸地安装在多旋翼无人机（100）的机身上的快拆连接件（330）；当机臂（130）和/或桨叶（151）卡在卡槽内时，机臂（130）和/或桨叶（151）能够相对于机身固定。

Description

用于夹持多旋翼无人机的部件的夹紧固定装置及飞行套装 技术领域
本公开涉及无人机技术领域，尤其涉及一种用于夹持多旋翼无人机的部件的夹紧固定装置及飞行套装。
背景技术
在植保、电力勘探、森林防火等较大型无人机应用领域中，由于旋翼之间跨距较大，会导致无人机占用空间偏大，给无人机存储、运输的便利性和经济性带来较大的困扰。由此，出现了机臂可折叠的无人机，在不使用无人机时，可以将无人机的机臂折叠起来，需要飞行时再将其展开。但是，即使将机臂折叠起来进行存储或者运输，也依然存在散开或者碰撞的风险。
发明内容
为了解决现有技术中存在的上述或其他潜在问题，本公开实施例提供一种用于夹持多旋翼无人机的部件的夹紧固定装置及飞行套装。
根据本公开的一些实施例，一方面提供一种用于夹持多旋翼无人机的部件的夹紧固定装置，包括：
主体部，所述主体部的第一侧设置有卡槽；所述卡槽用于收纳多旋翼无人飞行器的机臂和/或桨叶；以及
快拆连接件，设于所述主体部的第二侧，
其中，所述快拆连接件可拆卸地安装在所述多旋翼无人机的机身上，当所述多旋翼无人机的机臂和/或所述桨叶卡在所述卡槽内时，所述机臂和/或所述桨叶能够相对于所述机身固定。
根据本公开的一些实施例，一方面提供一种飞行套装，包括多旋翼无人机以及夹紧固定装置；
所述多旋翼无人机包括：机身和可转动的安装于所述机身的旋翼组件；
所述夹紧固定装置，包括：
主体部，所述主体部的第一侧设置有卡槽；所述卡槽用于收纳多旋翼无人机的机臂或/及桨叶；以及
快拆连接件，设于所述主体部的第二侧，
其中，所述快拆连接件可拆卸地安装在所述机身上，所述旋翼组件可相对于所述机身转动以收纳于所述夹紧固定装置的卡槽；
当所述旋翼组件的机臂和/或螺旋桨卡在所述卡槽内时，所述机臂和/或所述桨叶能够相对于所述机身固定。
根据本公开实施例的技术方案，通过设置能够以快速拆卸的方式安装在机身上的夹紧固定装置，由于该夹紧固定装置设置有卡槽，从而折叠到机身周围的机臂和/或桨叶可以收纳在卡槽内。如此，机臂和/或桨叶可以通过夹紧固定装置相对固定于机身，从而可以避免机臂和/或桨叶与其他物体或者机身的其他部分磕碰，避免机臂和/或桨叶损坏。
附图说明
通过参照附图的以下详细描述，本公开实施例的上述和其他目的、特征和优点将变得更容易理解。在附图中，将以示例以及非限制性的方式对本公开的多个实施例进行说明，其中：
图1为本公开实施例提供的一种无人机结构的俯视图；
图2为图1中无人机的轴测图；
图3为图1中的无人机去除框体后的结构示意图；
图4为图1中的无人机去除一部分框体和一部分旋翼组件后的结构示意图；
图5为图2的局部放大图；
图6为本公开实施例提供的一种夹紧固定装置的轴测图；
图7为图6的侧视图；
图8为图6的仰视图；
图9为图6的正视图；
图10和图11为图9的局部放大图；
图12为图6的局部放大图；
图13至图18为本公开实施例提供的一种将夹紧固定装置安装在框体上的流程示意图。
图中：
100-无人机；110-框体；111-空心梁；113-减重孔；120-转轴；130-机臂；150-螺旋桨；151-桨叶；153-电机；
300-夹紧固定装置；310-主体部；311-桨叶卡槽；3111-收纳段；3113-引导段；3115-连接段；3117-过渡段；313-机臂卡槽；3131-收纳段；3133-引导段；3135-连接段；3137-过渡段；314-抵顶凸起；315-立板；317-围壁；319-分隔肋；330-快拆连接件；331-第一侧壁；333-第二侧壁；334-收纳部；335-翻边；337-安装台；339-加强肋；336-旋转扳手；338-卡扣。
具体实施方式
下面结合附图，对本公开的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
在植保、电力勘探、森林防火等领域，时常会采用无人机进行作业。例如，通过无人机进行播种、施肥或者喷洒农药；又如，通过安装有摄像头的无人机进行电力线缆的巡察；再如，采用搭载有红外传感器的无人机对森林进行监控，监察森林中的起火点。这些无人机采用的基本都是多旋翼型的无人机，而且由于作业的特点，这些无人机的机臂和旋翼会比较大，以便提供大的升力。但是，这样就导致了无人机在收纳盒运输的时候会占用过大的空间，因此，发展出了可以折叠的机臂，这样当需要运输或者收纳的时候，可以将机臂折叠到无人机的机身周围，从而减少无人机占用的空间。
可是，在使用过程中发现机臂和螺旋桨容易在运输过程中容易被损坏，例如，无人机在运输过程中，即使机臂折叠到了机身周围，随着车辆的颠簸，机臂和/或桨叶容易与其他物体或者无人机的其他部分发生磕碰，导致机臂和/或桨叶损坏。
有鉴于此，本公开提供一种用于夹持多旋翼无人机的部件的机臂和/或桨叶的夹紧固定装置，其通过快速拆卸的方式安装在机身上并且该夹紧固定装置还设置有卡槽，从而折叠到机身周围的机臂和/或桨叶可以收纳 在卡槽内。如此，机臂和/或桨叶可以通过夹紧固定装置相对固定于机身，从而可以避免机臂和/或桨叶与其他物体或者机身的其他部分磕碰，避免机臂和/或桨叶损坏。
以下结合附图，对本公开的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
图1为本实施例提供的一种无人机结构的俯视图，其中，机身部分仅示意了框体，图2为图1中无人机的轴测图，图3为图1中的无人机去除框体后的结构示意图，图4为图1中的无人机去除一部分框体和一部分旋翼组件后的结构示意图。
如图1至图4所示，本实施例提供的无人机100包括机身以及旋翼组件，旋翼组件可折叠地安装在机身上，在机身上可拆装地设有夹紧固定装置300，从而折叠后的旋翼组件可以通过该夹紧固定装置300相对于机身固定。
机身可以包括矩形或者椭圆形的框体110，其可以通过金属或者非金属材料制作而成，例如，框体110采用塑料经过注塑的方式制造得到。可选地，框体110为矩形形状，其由四根首尾相连的空心梁111构成，这四根空心梁111围成环形的框体110。框体110主要由首尾相连的梁围成，可以提高机身的结构强度。
示意性地，框体110由四根金属材料制成的空心梁111焊接而成，或者框体110由热塑性塑料通过模塑的方式形成为一体结构。在空心梁111上可以设置若干减重孔113，以在满足结构强度的情况下提升无人机100的空气动力学性能。
旋翼组件包括机臂130和安装在机臂130上的螺旋桨150，通过螺旋桨150的转动带动无人机100在空中飞行。机臂130为杆件，其可以是碳纤维材料制成的空心杆件，其横截面为圆形、椭圆形或者矩形等形状。
如图1至图4，机臂130的第一端为连接端，其可转动地安装在框体110上。当机臂130往第一方向转动到与空心梁111倾斜的位置时，如果螺旋桨150旋转产生升力，即可可带动无人机100上升、下降、悬停、加速、减速或者转向等；当机臂130往与第一方向相反的方向转动到与空心梁111平行的位置，无人机100处于折叠收纳状态，以此减少无人机100 收纳时占用的空间。换言之，当无人机100需要收纳时，可以将机臂130折叠到机身周围，以便减少无人机100收纳占用的空间；当无人机100需要使用时，可以将机臂130展开到与框体110倾斜的位置，以便螺旋桨150可以带动无人机100在空中飞行。
示意性地，机臂130的第一端可以通过诸如铰接部之类的连接部件可转动地安装在空心梁111上。例如，在一些示例中，铰接部为空心的筒状部件，机臂130的第一端插接在筒状部件内，机臂130和筒状部件可以通过过盈配合和/或螺栓紧固的方式紧固在一起。机臂130相对于框体110的旋转轴120线可以平行于重力线，或者也可以倾斜于重力线。当多旋翼无人机100的多个机臂130中有至少一个机臂130的旋转轴120线倾斜于重力线时，也即，该旋转轴120线倾斜于竖直布置的主体部310的长度方向。
当相邻两个机臂130的旋转轴120线与重力线的倾斜角度不同时，可以使得两个机臂130能够往相反的方向转动到上下叠置在一起，此时，这两个机臂130可以同时收纳在一个夹紧固定装置300上，或者，也可以分别收纳在两个夹紧固定装置300上。通过使得两个机臂130在收纳位置时上下叠置在一起，可以减小主体部310的厚度，有利于减少收纳后的无人机100所占用的面积。
如图1至图4，机臂130的第二端为自由端，旋翼组件安装在机臂130的第二端。示意性地，旋翼组件包括电子调速器，电机153以及螺旋桨150。例如，为了便于装配电机153，可以在机臂130的第二端设置电机153安装座，电机153安装在电机153安装座内。螺旋桨150的轮毂套装并固定在电机153的输出轴上，从而电机153可以驱动螺旋桨150的桨叶151顺时针或者逆时针旋转，以带动无人机100在空中飞行。电子调速器设置在电机153的下方或者机身内，其与电机153通信连接，以便控制电机153的工作状态。容易理解，当电子调速器安装在机身内时，电机153和电子调速器的通信连接线穿过空心的机臂130。
螺旋桨150的桨叶151通常为多片，例如，图1至图3示出的螺旋桨150配置有两片桨叶151，在其他一些示例中，螺旋桨150的桨毂上也可以均匀的设置三片桨叶151。应当理解，为了进一步减小无人机100收纳 时占用的空间，桨叶151同样可以构造成能够相对于轮毂转动，以便将多片桨叶151折叠到与机臂130平行的位置，多片桨叶151可以上下叠置在一起。
需要指出的是，桨叶151和/或机臂130可以通过夹紧固定装置300相对于机身固定。下文结合附图具体介绍夹紧固定装置300的结构，以便更清晰地理解夹紧固定装置300的可选结构及其将桨叶151和/或机臂130相对于机身固定的方式。
图5为图2的局部放大图，图6为本实施例提供的一种夹紧固定装置300的轴测图；图7为图6的侧视图，图8为图6的仰视图，图9为图6的正视图，图10和图11为图9的局部放大图，图12为图6的局部放大图。
如图5至图12所示，夹紧固定装置300包括主体部310以及与主体部310紧固连接的快拆连接件330，从而通过快拆连接件330可以快速的将夹紧固定装置300安装到机身上，以便主体部310可以将折叠后的机臂130和/或桨叶151相对于机身进行固定，从而避免其晃动，如此，既能够避免机臂130和/或桨叶151发生磕碰，又能够减小无人机100收纳时所占用的空间。
如图6至图12所示，主体部310可以是一个矩形的板状结构或者块状结构，在该主体部310的一侧设置有用于收纳机臂130和/或桨叶151的卡槽。例如，图4中示出了在主体部310的左侧设置卡槽。
在一些可选的实现方式中，如图9所示，主体部310包括立板315、环绕立板315边缘的围壁317，在立板315和围壁317之间围成有空腔，用于收纳机臂130和/或桨叶151的卡槽由立板315和围壁317的左侧向空腔内凹陷形成。通过形成具有空腔的主体部310，可以降低夹紧固定装置300的重量。
在空腔内可以设置一个或者多个分隔肋319，以提高主体部310的结构强度，有利于支撑机臂130和/或桨叶151。当有多个分隔肋319时，这些分隔肋319可以形成网状结构，以进一步提高主体部310的结构强度。
需要指出的是，在某些实现方式中，主体部310也可以没有立板315而只包括围壁317和形成网状结构的分隔肋319。
可选地，卡槽的结构可以根据实际需要进行配置。例如，可以将设置在主体部310上的卡槽构造成为能够发生弹性变形的结构，以便机臂130和/或桨叶151能够挤入卡槽内，从而实现机臂130和/或桨叶151的折叠收纳。例如，可以采用弹性塑料来制作主体部310，从而使得位于主体部310围合成卡槽的部分能够发生弹性变形，以改变卡槽的大小，以便提高卡槽对机臂130和/或桨叶151的夹紧力，避免机臂130和/或桨叶151在卡槽内晃动，进一步减小机臂130和/或桨叶151发生磕碰损坏的风险。
卡槽的数量同样可以根据实际需要进行配置。例如，图6和图9中示出了主体部310从上到下依次设置有两组卡槽，每组卡槽均可以包括一个第一卡槽和一个第二卡槽，其中，第一卡槽适宜于收纳片状结构，其可以用于收纳桨叶151，第二卡槽则适宜于收纳杆状结构，其可以用于收纳机臂130，当然，这并非是限制性的，在其他示例中，第一卡槽和第二卡槽也可以适宜于收纳其他形状的结构。
为了描述简便，不妨将第一卡槽称为桨叶卡槽311，将第二卡槽称为机臂卡槽313。在具体配置时，桨叶卡槽311可以位于机臂卡槽313的上方或者下方。例如，当螺旋桨150位于机臂130的上方时，桨叶卡槽311可以配置在机臂卡槽313的上方，而当螺旋桨150位于机臂130的下方时，则桨叶卡槽311可以相应的配置在机臂卡槽313的下方。而且，当一个机臂130上设置有上下两个螺旋桨150时，在主体部310上可以设置两个桨叶卡槽311和一个机臂卡槽313，这三个卡槽作为一组。
在图6和图9中，主体部310从上到下依次设置有上桨叶卡槽311，上机臂卡槽313，下桨叶卡槽311和下机臂卡槽313，上桨叶卡槽311和下桨叶卡槽311分别用于收纳两个不同的螺旋桨150的桨叶151，上机臂卡槽313和下机臂卡槽313分别用于收纳两个机臂130。结合图2可知，上桨叶卡槽311和上机臂卡槽313分别用于卡持无人机100的右上部旋翼组件的桨叶151和机臂130，下桨叶卡槽311和下机臂卡槽313用于卡持无人机100的左下部旋翼组件的桨叶151和机臂130。
需要指出的是，虽然图6和图9示出了在主体部310设置两个卡槽组来分别卡持相邻两个旋翼组件的机臂130和桨叶151，但在其他示例中，主体部310也可以仅设置一组卡槽，这组卡槽用于卡持一个旋翼组件的机 臂130和桨叶151，或者这一组卡槽也可以用于分别卡持一个旋翼组件的机臂130以及另一个旋翼组件的桨叶151。
此外，虽然图6和图9示出了在主体部310上分别为桨叶151和机臂130设置单独的卡槽，但在其他一些示例中，也可以将使用同一个卡槽来卡持桨叶151和机臂130，也即，该卡槽的高度和宽度比单独卡持桨叶151的桨叶卡槽311和卡槽机臂130的卡槽更大。
卡槽的形状也可以根据实际需要进行配置。例如，卡槽可以是矩形、圆形或者其他合适的形状。如图6、图9、图10至图11所示，在一些可选的实现方式中，桨叶卡槽311包括用于收纳桨叶151的收纳段3111，该收纳段3111例如长条形狭缝；机臂卡槽313包括用于收纳所述第二部分的收纳段3131，该收纳段3131例如可以是半圆形孔。
在图6中，假设主体部310的厚度方向为X轴，主体部310的宽度方向为Y轴，主体部310的长度方向为Z轴。可以理解，沿Z轴方向，桨叶卡槽311的收纳段3111的距离小于机臂卡槽313的收纳段3131的距离。
可选地，桨叶卡槽311还包括用于引导桨叶151进入桨叶卡槽311的收纳段的引导段3113，如此，在将桨叶151收纳到桨叶卡槽311时，可以通过引导段3113的引导使得桨叶151轻易的进入到收纳段3111内。应当理解，引导段3113和收纳段3111之间可以通过圆滑过渡的连接段3115连接。
在一些示例中，桨叶卡槽311的引导段3113的两个侧壁均向同一个方向倾斜，例如，桨叶卡槽311的引导段3113的两个侧壁均往机臂卡槽313的方向倾斜，如此，则桨叶151在装入桨叶卡槽311后，在没有外力克服引导段3113的阻力的情况下，桨叶151就不容易从桨叶卡槽311内脱出。此外，桨叶卡槽311的引导段3113自桨叶卡槽311的槽口往桨叶卡槽311的收纳段3111的方向呈等间距设置，如此，可以避免在桨叶151装入桨叶卡槽311的时候受到阻碍。
示意性地，桨叶卡槽311的引导段3113的两个侧壁与围壁317之间可以通过圆滑过渡的过渡段3117连接。
可选地，机臂卡槽313还包括用于引导机臂130进入机臂130槽的收纳段3131的引导段3133，如此，在将机臂130收纳到机臂卡槽313时，可以通过引导段3133的引导使得机臂130轻易的进入到收纳段3131内。应当理 解，引导段3113和收纳段3131之间可以通过圆滑过渡的连接段3135连接。
在一些示例中，机臂卡槽313的引导段3133的两个侧壁可以向相反的方向倾斜，例如，机臂卡槽313的引导段3133自机臂卡槽313的槽口往机臂卡槽313的收纳段3131的方向呈缩颈设置，如此，可以使得机臂卡槽313具有较大的开口，从而有利于将机臂130推进机臂卡槽313内。
示意性地，机臂卡槽313的引导段3133的两个侧壁与围壁317之间可以通过圆滑过渡的过渡段3137连接。
如图6至图9以及图12所示，快拆连接件330可拆装地安装在无人机100的机身上，例如，图6示出了将快拆连接件330安装在主体的右侧，从而既能够通过该快拆连接件330将夹紧固定装置300快速地安装到机身上，该快拆连接件330也不会影响主体部310上设置的卡槽对于桨叶151和/或机臂130的夹持。
在一些可选地实现方式中，快拆连接件330可以包括魔术贴或者弹性卡扣338等，从而可以通过该快拆连接件330快速的将夹紧固定装置300安装在机身上。例如，当快拆连接件包括魔术贴时，可以在主体部310上设置供魔术贴穿过的通孔，该魔术贴能够束紧在机身上，以便通过夹紧固定装置300的卡槽将机臂130和/或桨叶151相对机身固定。又如，当快拆连接件包括弹性卡扣338时，可以在主体部310上设置与该弹性卡扣338扣合的卡合孔，从而该弹性卡扣338可以扣紧在机身上，以便通过夹紧固定装置300的卡槽将机臂130和/或桨叶151相对机身固定。
应当理解，当机身包括主要由空心梁111组成的框体110时，可以通过上述的魔术贴将夹紧固定装置300束紧在框体110的其中一根或者多根空心梁111上，或者，也可以通过上述弹性卡扣338将夹紧固定装置300扣紧在框体110的一根或者多根空心梁111上。
如图6、图9和图12所示，在其他一些示例中，快拆连接件330可以包括沿上下方向布置的第一侧壁331和第二侧壁333，这两个侧壁限定出一收纳部334。机身的一部分能够容纳并保持在该收纳部334内，例如，收纳部334可以与机身的一部分过盈配合，或者收纳部334可弹性变形，从而机身的一部分能够挤入该收纳部334内并被保持在其中。
如图6和图9所示，第一侧壁331和第二侧壁333的连接端均与主体 部310紧固连接，第一侧壁331和第二侧壁333的自由端形成收纳部334的开口。第一侧壁331和第二侧壁333的连接端可以通过粘接或者螺栓紧固的方式与主体部310固定，或者第一侧壁331和第二侧壁333与主体部310通过一体成型的方式形成一体结构。例如，主体部310、第一侧壁331和第二侧壁333可以使用塑料经过注塑的方式制成一体结构。
可选地，夹紧固定装置300还设有与侧壁和主体部310紧固连接的一个或者多个加强肋339。加强肋339可以是直角三角形板，直角三角形板的一条直角边与主体部310紧固连接，直角三角形板的另一条直角边与侧壁紧固连接。在制造时，直角三角形板形式的加强肋339可以与主体部310和第一侧壁331或第二侧壁333通过注塑的方式形成为一体结构。
可选地，加强肋339可以设置在上侧壁或者下侧壁上，或者，也可以在上侧壁和下侧壁均设置加强肋339。当加强肋339设置有多个时，这多个加强肋339可以平行设置，或者多个加强肋339也可以通过加强筋形成网状结构。
需要说明的是，收纳部334的中轴线可以垂直于主体部310的长度方向。例如，图5中示出了主体部310的长度方向为竖直方向，收纳部334的中轴线则为垂直于竖直方向的左右方向，空心梁111的中轴线则与收纳部334的中轴线以及主体部310的长度方向均垂直。此外，上文中设置在侧壁上的多条加强肋339可以沿着收纳部334的中轴线间隔设置。
可选地，如图6、图9和图12所示，主体部310位于两个侧壁之间的部分设有抵顶凸起314，该抵顶凸起314用于抵顶容纳在收纳部334内的机身部分，以提高收纳部334对机身的紧固效果，搭配上文中的锁扣，可以实现从四个面对机身容纳在收纳部334内的部分进行积压，从而避免夹紧固定装置300出现相对于机身偏移的情况，继而降低桨叶151和/或机臂130损坏的风险。
需要指出的是，抵顶凸起314可以是圆柱体，或者也可以是具有其他竖直截面形状的柱状物。应当理解，抵顶凸起314伸入收纳部334内的长度可以根据与该夹紧固定装置300配合的无人机100的结构来决定，当无人机100容纳在收纳部334内的部分多时，抵顶凸起314伸入收纳部334的长度可以配置的比较短。
例如，当机身包括主要由空心梁111构成的框体110时，位于快拆连接件330两个相对侧壁之间的抵顶凸起314用于与空心梁111的侧壁抵接，当空心梁111的宽度较小时，抵顶凸起314伸入收纳部334的长度需要配置的比较长，当空心梁111的宽度较大时，该抵顶凸起314伸入收纳部334的长度则可以配置的比较小。
参考图6至图9以及图12，在一些实现方式中，快拆连接件330还包括设置在侧壁自由端的锁扣，锁扣则用于锁紧和解锁收纳部334，以便将收纳部334固定在机身上或者从机身上取下。例如，当机身包括主要由空心梁111构成的框体110时，通过锁扣，可以将收纳部334锁紧在空心梁111上或者从空心梁111上取下，以便在框体110的空心梁111上快速地拆装夹紧固定装置300。
具体而言，当需要将夹紧固定装置300套接到框体110的空心梁111上时，首先将锁扣松开，然后将收纳部334往空心梁111方向移动并套装在空心梁111上，然后将锁扣锁紧，从而将夹紧固定装置300固定在框体110的空心梁111上。当需要将夹紧固定装置300从框体110的空心梁111上取下时，首先将锁扣松开，然后将收纳部334往远离空心梁111的方向移动，以便使空心梁111和收纳部334脱离，从而实现夹紧固定装置300从空心梁111得拆卸。
继续参考图6至图9以及图12，在一些实现方式中，锁扣包括旋转扳手336和卡扣338，旋转扳手336可转动地安装在下侧壁自由端设置的安装台337上，卡扣338的一部分与旋转扳手336固定，卡扣338的另一部分可分离的扣合在上侧壁自由端所设置的翻边335上，该翻边335可以为上侧壁的自由端向上弯折而成。当卡扣338扣合在翻边335上时，锁扣将夹紧锁定装置扣紧在框体110的空心梁111上，当卡扣338与翻边335分离市，夹紧锁定装置能够从框体110的空心梁111取下。
旋转扳手336包括第一金属杆，该第一金属杆弯折成半封闭的环形。第一金属杆左边的自由端插设在左侧安装台337的转轴120孔内，第一金属杆右边的自由端插设在右侧安装台337的转轴120孔内。下侧壁的安装台337可以是下侧壁的自由端往下膨大形成的凸起，在凸起上设置平行于空心梁111轴线的转轴120孔。第一金属杆靠近左侧和右侧自由端得位置 各自弯折形成有一个紧固孔。第一金属杆的中间部分弯折成适宜用手操作的手柄，在手柄上可以套设有防滑套或者设置防滑涂层。
卡扣338包括第二金属杆，该第二金属杆弯折成半封闭的环形。第二金属杆左侧的自由端插接固定在第一金属杆左侧弯折形成的紧固孔内，第二金属杆右侧的自由端插接固定在第一金属杆右侧弯折形成的紧固孔内。
图13至图18示出了通过卡扣338将夹紧固定装置300安装在框体110的空心梁111上的过程。如图13和图14所示，当需要将夹紧固定装置300安装到框体110的空心梁111上时，将卡扣338打开，卡扣338的第二金属杆与上侧壁的翻边335脱离，此时将收纳部334往空心梁111方向移动并套在空心梁111上。然后，如图15和图16所示，当将收纳部334套在空心梁111上之后，将第二金属杆的中间部分卡在上侧壁的翻边335上，实现夹紧固定装置300和空心梁111的预锁紧。最后，如图17和图18所示，往下扳动旋转扳手336，使得旋转扳手336带动与其连接的第二金属杆的两个自由端往左转动，从而将第一侧壁331和第二侧壁333锁紧，也即，将收纳部334锁紧，使得夹紧固定装置300牢牢的固定在空心梁111上。
需要指出的是，本公开的夹紧固定装置300可以单独配置，或者，也可以与无人机100组成飞行套装。
最后应说明的是：以上实施方式仅用以说明本公开的技术方案，而非对其进行限制；尽管参照前述实施方式对本公开已经进行了详细的说明，但本领域的普通技术人员应当理解：其依然可以对前述实施方式所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开实施方式技术方案的范围。

Claims (71)

  1. 一种用于夹持多旋翼无人机的部件的夹紧固定装置，其特征在于，包括：
    主体部，所述主体部的第一侧设置有卡槽；所述卡槽用于收纳多旋翼无人飞行器的机臂和/或桨叶；以及
    快拆连接件，设于所述主体部的第二侧，
    其中，所述快拆连接件可拆卸地安装在所述多旋翼无人机的机身上，当所述多旋翼无人机的机臂和/或所述桨叶卡在所述卡槽内时，所述机臂和/或所述桨叶能够相对于所述机身固定。
  2. 根据权利要求1所述的夹紧固定装置，其特征在于，沿所述主体部的长度方向间隔设置有多组所述卡槽，每组所述卡槽用于收纳所述多旋翼无人机的一个机臂和/或至少一个桨叶；
    所述多旋翼无人机的多个所述机臂中至少有一个具有倾斜于所述主体部的长度方向的旋转轴线。
  3. 根据权利要求2所述的夹紧固定装置，其特征在于，每组所述卡槽均包括沿所述主体部的长度方向间隔设置的第一卡槽和第二卡槽，所述第一卡槽用于收纳所述机臂和/或桨叶的第一部分，所述第二卡槽用于收纳所述机臂和/或桨叶的第二部分。
  4. 根据权利要求3所述的夹紧固定装置，其特征在于，所述第一卡槽包括用于收纳所述第一部分的收纳段，所述第二卡槽包括用于收纳所述第二部分的收纳段，所述第一卡槽的收纳段沿所述主体部的长度方向的距离小于所述第二卡槽的收纳段沿所述主体部的长度方向的距离。
  5. 根据权利要求4所述的夹紧固定装置，其特征在于，所述第一卡槽的收纳段被配置成适宜收纳片状结构，所述第二卡槽的收纳段被配置成适宜收纳杆状结构。
  6. 根据权利要求5所述的夹紧固定装置，其特征在于，当所述主体部的长度方向沿竖直方向布置时，所述第一卡槽位于所述第二卡槽的上方。
  7. 根据权利要求4-6任一项所述的夹紧固定装置，其特征在于，所述第一卡槽还包括用于引导所述第一部分进入所述第一卡槽的收纳段的引导段，所述第二卡槽还包括用于引导所述第二部分进入所述第二卡槽的收纳段的引 导段。
  8. 根据权利要求7所述的夹紧固定装置，其特征在于，所述第二卡槽的引导段的两个侧壁向相反的方向倾斜。
  9. 根据权利要求7或8所述的夹紧固定装置，其特征在于，所述第一卡槽的引导段的两个侧壁均向同一个方向倾斜。
  10. 根据权利要求9所述的夹紧固定装置，其特征在于，所述第一卡槽的引导段的侧壁往所述第二卡槽的方向倾斜。
  11. 根据权利要求7所述的夹紧固定装置，其特征在于，所述第二卡槽的引导段自所述第二卡槽的槽口往所述第二卡槽的收纳段呈缩颈设置。
  12. 根据权利要求7或11所述的夹紧固定装置，其特征在于，所述第一卡槽的引导段自所述第一卡槽的槽口往所述第一卡槽的收纳段呈等间距设置。
  13. 根据权利要求12所述的夹紧固定装置，其特征在于，所述第一卡槽的引导段朝向所述第二卡槽的槽口方向倾斜。
  14. 根据权利要求2-13任一项所述的夹紧固定装置，其特征在于，所述卡槽为两组。
  15. 根据权利要求1-14任一项所述的夹紧固定装置，其特征在于，所述主体部包括立板、环绕所述立板边缘的围壁，所述立板和围壁围成空腔，所述立板和围壁的第一侧向所述空腔内凹陷形成所述卡槽。
  16. 根据权利要求15所述的夹紧固定装置，其特征在于，所述空腔内设置有分隔肋。
  17. 根据权利要求16所述的夹紧固定装置，其特征在于，所述分隔肋被构造成网状。
  18. 根据权利要求1-17任一项所述的夹紧固定装置，其特征在于，所述快拆连接件包括相对的第一侧壁和第二侧壁，所述第一侧壁和第二侧壁限定出用于容纳机身的一部分的收纳部；所述第一侧壁的第一端以及所述第二侧壁的第一端与所述主体部的第二侧紧固连接，所述第一侧壁的第二端以及所述第二侧壁的第二端为自由端。
  19. 根据权利要求18所述的夹紧固定装置，其特征在于，所述快拆连接件还包括锁扣；
    所述锁扣用于将所述第一侧壁和第二侧壁锁紧以将所述收纳部紧固于所 述机身，以及，用于将所述第一侧壁和第二侧壁解锁以使所述收纳部能够套接到所述机身上或者从所述机身上取下。
  20. 根据权利要求19所述的夹紧固定装置，其特征在于，所述锁扣包括旋转扳手和卡扣，所述旋转扳手可转动地安装在所述第二侧壁的自由端上，所述卡扣的一端安装于所述旋转扳手、所述卡扣的另一端用于与所述第一侧壁的自由端相扣合。
  21. 根据权利要求20所述的夹紧固定装置，其特征在于，所述第二侧壁的自由端设置有与所述卡扣配合的安装台，所述安装台位于所述第二侧壁背离所述第一侧壁的表面，所述旋转扳手可转动地安装于所述安装台。
  22. 根据权利要求21所述的夹紧固定装置，其特征在于，所述第二侧壁沿所述收纳部的中轴线方向间隔设置有两个所述安装台；
    所述旋转扳手包括第一金属杆，所述第一金属杆形成为半封闭的环形，所述第一金属杆的一个自由端可转动地安装于一个所述安装台，所述第一金属杆的另一个自由端可转动地安装于另一个所述安装台。
  23. 根据权利要求20-22任一项所述的夹紧固定装置，其特征在于，所述第一侧壁的自由端设置有与所述卡扣配合的翻边，所述翻边往远离所述第二侧壁的方向延伸。
  24. 根据权利要求23所述的夹紧固定装置，其特征在于，所述卡扣为第二金属杆，所述第二金属杆形成为半封闭的环形，所述金属杆的两个自由端紧固于所述旋转扳手。
  25. 根据权利要求18-24任一项所述的夹紧固定装置，其特征在于，所述主体部位于所述第一侧壁和第二侧壁之间的部分形成有往所述收纳部的中轴线方向延伸的抵顶凸起。
  26. 根据权利要求18-25任一项所述的夹紧固定装置，其特征在于，所述收纳部的中轴线垂直于所述主体部的长度方向。
  27. 根据权利要求18-26任一项所述的夹紧固定装置，其特征在于，所述第一侧壁和/或第二侧壁与所述主体部的围壁之间设置有加强肋。
  28. 根据权利要求27所述的夹紧固定装置，其特征在于，所述加强肋为多条，沿着所述收纳部的中轴线间隔设置。
  29. 根据权利要求27或28所述的夹紧固定装置，其特征在于，所述主 体部、加强肋和收纳部通过一体成形方式形成为一体结构。
  30. 根据权利要求18-29任一项所述的夹紧固定装置，其特征在于，所述主体部和收纳部通过一体成形方式形成为一体结构。
  31. 根据权利要求1-30任一项所述的夹紧固定装置，其特征在于，所述快拆连接件包括魔术贴，所述主体部设有供所述魔术贴穿过的通孔，所述魔术贴能够束紧在所述机身上。
  32. 根据权利要求1-31任一项所述的夹紧固定装置，其特征在于，所述快拆连接件包括弹性卡扣，所述机身设有用于与所述弹性卡扣相扣合的卡合孔。
  33. 根据权利要求1-32任一项所述的夹紧固定装置，其特征在于，所述机身包括框体，所述快拆连接件可拆卸地安装于所述框体。
  34. 根据权利要求1-33任一项所述的夹紧固定装置，其特征在于，所述卡槽的侧壁能够发生弹性形变，使得所述多旋翼无人飞行器的机臂和/或桨叶能够挤入所述卡槽内。
  35. 一种飞行套装，其特征在于，包括多旋翼无人机以及夹紧固定装置；
    所述多旋翼无人机包括：机身和可转动的安装于所述机身的旋翼组件；
    所述夹紧固定装置，包括：
    主体部，所述主体部的第一侧设置有卡槽；所述卡槽用于收纳多旋翼无人机的机臂或/及桨叶；以及
    快拆连接件，设于所述主体部的第二侧，
    其中，所述快拆连接件可拆卸地安装在所述机身上，所述旋翼组件可相对于所述机身转动以收纳于所述夹紧固定装置的卡槽；
    当所述旋翼组件的机臂和/或螺旋桨卡在所述卡槽内时，所述机臂和/或所述桨叶能够相对于所述机身固定。
  36. 根据权利要求35所述的飞行套装，其特征在于，沿所述主体部的长度方向间隔设置有多组所述卡槽，每组所述卡槽用于收纳所述多旋翼无人机的一个机臂和/或至少一个桨叶；
    所述多旋翼无人机的多个所述机臂中至少有一个具有倾斜于所述主体部的长度方向的旋转轴线。
  37. 根据权利要求36所述的飞行套装，其特征在于，每组所述卡槽均包 括沿所述主体部的长度方向间隔设置的第一卡槽和第二卡槽，所述第一卡槽用于收纳所述机臂和/或桨叶的第一部分，所述第二卡槽用于收纳所述机臂和/或桨叶的第二部分。
  38. 根据权利要求37所述的飞行套装，其特征在于，所述第一卡槽包括用于收纳所述第一部分的收纳段，所述第二卡槽包括用于收纳所述第二部分的收纳段，所述第一卡槽的收纳段沿所述主体部的长度方向的距离小于所述第二卡槽的收纳段沿所述主体部的长度方向的距离。
  39. 根据权利要求38所述的飞行套装，其特征在于，所述第一卡槽的收纳段被配置成适宜收纳片状结构，所述第二卡槽的收纳段被配置成适宜收纳杆状结构。
  40. 根据权利要求39所述的飞行套装，其特征在于，当所述主体部的长度方向沿竖直方向布置时，所述第一卡槽位于所述第二卡槽的上方。
  41. 根据权利要求38-40任一项所述的飞行套装，其特征在于，所述第一卡槽还包括用于引导所述第一部分进入所述第一卡槽的收纳段的引导段，所述第二卡槽还包括用于引导所述第二部分进入所述第二卡槽的收纳段的引导段。
  42. 根据权利要求41所述的飞行套装，其特征在于，所述第二卡槽的引导段的两个侧壁向相反的方向倾斜。
  43. 根据权利要求41或42所述的飞行套装，其特征在于，所述第一卡槽的引导段的两个侧壁均向同一个方向倾斜。
  44. 根据权利要求43所述的飞行套装，其特征在于，所述第一卡槽的引导段的侧壁往所述第二卡槽的方向倾斜。
  45. 根据权利要求41所述的飞行套装，其特征在于，所述第二卡槽的引导段自所述第二卡槽的槽口往所述第二卡槽的收纳段呈缩颈设置。
  46. 根据权利要求41或45所述的飞行套装，其特征在于，所述第一卡槽的引导段自所述第一卡槽的槽口往所述第一卡槽的收纳段呈等间距设置。
  47. 根据权利要求46所述的飞行套装，其特征在于，所述第一卡槽的引导段朝向所述第二卡槽的槽口方向倾斜。
  48. 根据权利要求36-47任一项所述的飞行套装，其特征在于，所述卡槽为两组。
  49. 根据权利要求35-48任一项所述的飞行套装，其特征在于，所述主体部包括立板、环绕所述立板边缘的围壁，所述立板和围壁围成空腔，所述立板和围壁的第一侧向所述空腔内凹陷形成所述卡槽。
  50. 根据权利要求49所述的飞行套装，其特征在于，所述空腔内设置有分隔肋。
  51. 根据权利要求50所述的飞行套装，其特征在于，所述分隔肋被构造成网状。
  52. 根据权利要求35-51任一项所述的飞行套装，其特征在于，所述快拆连接件包括相对的第一侧壁和第二侧壁，所述第一侧壁和第二侧壁限定出用于容纳机身的一部分的收纳部；所述第一侧壁的第一端以及所述第二侧壁的第一端与所述主体部的第二侧紧固连接，所述第一侧壁的第二端以及所述第二侧壁的第二端为自由端。
  53. 根据权利要求52所述的飞行套装，其特征在于，所述快拆连接件还包括锁扣；
    所述锁扣用于将所述第一侧壁和第二侧壁锁紧以将所述收纳部紧固于所述机身，以及，用于将所述第一侧壁和第二侧壁解锁以使所述收纳部能够套接到所述机身上或者从所述机身上取下。
  54. 根据权利要求53所述的飞行套装，其特征在于，所述锁扣包括旋转扳手和卡扣，所述旋转扳手可转动地安装在所述第二侧壁的自由端，所述卡扣的一端安装于所述旋转扳手、所述卡扣的另一端用于与所述第一侧壁的自由端相扣合。
  55. 根据权利要求54所述的飞行套装，其特征在于，所述第二侧壁的自由端设置有与所述卡扣配合的安装台，所述安装台位于所述第二侧壁背离所述第一侧壁的表面，所述旋转扳手可转动地安装于所述安装台。
  56. 根据权利要求55所述的飞行套装，其特征在于，所述第二侧壁沿所述收纳部的中轴线方向间隔设置有两个所述安装台；
    所述旋转扳手包括第一金属杆，所述第一金属杆形成为半封闭的环形，所述第一金属杆的一个自由端可转动地安装于一个所述安装台，所述第一金属杆的另一个自由端可转动地安装于另一个所述安装台。
  57. 根据权利要求54-56任一项所述的飞行套装，其特征在于，所述第 一侧壁的自由端设置有与所述卡扣配合的翻边，所述翻边往远离所述第二侧壁的方向延伸。
  58. 根据权利要求57所述的飞行套装，其特征在于，所述卡扣为第二金属杆，所述第二金属杆形成为半封闭的环形，所述金属杆的两个自由端紧固于所述旋转扳手。
  59. 根据权利要求52-58任一项所述的飞行套装，其特征在于，所述主体部位于所述第一侧壁和第二侧壁之间的部分形成有往所述收纳部的中轴线方向延伸的抵顶凸起。
  60. 根据权利要求52-59任一项所述的飞行套装，其特征在于，所述收纳部的中轴线垂直于所述主体部的长度方向。
  61. 根据权利要求52-60任一项所述的飞行套装，其特征在于，所述第一侧壁和/或第二侧壁与所述主体部的围壁之间设置有加强肋。
  62. 根据权利要求61所述的飞行套装，其特征在于，所述加强肋为多条，沿着所述收纳部的中轴线间隔设置。
  63. 根据权利要求61或62所述的飞行套装，其特征在于，所述主体部、加强肋和收纳部通过一体成形方式形成为一体结构。
  64. 根据权利要求52-63任一项所述的飞行套装，其特征在于，所述主体部和收纳部通过一体成形方式形成为一体结构。
  65. 根据权利要求35-64任一项所述的飞行套装，其特征在于，所述快拆连接件包括魔术贴，所述主体部设有供所述魔术贴穿过的通孔，所述魔术贴能够束紧在所述机身上。
  66. 根据权利要求35-65任一项所述的飞行套装，其特征在于，所述快拆连接件包括弹性卡扣，所述机身设有用于与所述弹性卡扣相扣合的卡合孔。
  67. 根据权利要求35-66任一项所述的飞行套装，其特征在于，所述机身包括框体，所述快拆连接件可拆卸地安装于所述框体。
  68. 根据权利要求67所述的飞行套装，其特征在于，所述框体包括围成环形的多根梁，每一根梁均可转动地安装有至少两个所述旋翼组件。
  69. 根据权利要求68所述的飞行套装，其特征在于，可转动地安装于同一根梁的两个所述旋翼组件能够往相反方向转动并收纳位于二者之间的同一个所述夹紧固定装置。
  70. 根据权利要求35-68任一项所述的飞行套装，其特征在于，所述卡槽的侧壁能够发生弹性形变，使得所述多旋翼无人飞行器的机臂和/或桨叶能够挤入所述卡槽内。
  71. 根据权利要求35-68任一项所述的飞行套装，其特征在于，所述旋翼组件的桨叶安装于所述机臂自由端。
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