WO2023005666A1 - 一种无人机 - Google Patents
一种无人机 Download PDFInfo
- Publication number
- WO2023005666A1 WO2023005666A1 PCT/CN2022/105440 CN2022105440W WO2023005666A1 WO 2023005666 A1 WO2023005666 A1 WO 2023005666A1 CN 2022105440 W CN2022105440 W CN 2022105440W WO 2023005666 A1 WO2023005666 A1 WO 2023005666A1
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- WIPO (PCT)
- Prior art keywords
- transmission shaft
- fuselage
- wall
- drive
- connecting arm
- Prior art date
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- 230000005540 biological transmission Effects 0.000 claims abstract description 167
- 230000001154 acute effect Effects 0.000 claims abstract description 27
- 230000001360 synchronised effect Effects 0.000 claims description 48
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009510 drug design Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
Definitions
- the embodiment of the present application relates to the technical field of drones.
- the unmanned aircraft is referred to as "UAV", the English name is Unmanned Aerial Vehicle, and the English abbreviation is "UAV".
- An unmanned aerial vehicle is an unmanned aircraft operated by radio remote control equipment and self-contained program control device, or an unmanned aircraft completely or intermittently operated autonomously by an on-board computer.
- UAVs are currently widely used in aerial photography, agriculture, plant protection, micro-selfies, express transportation, disaster relief, observing wild animals, monitoring infectious diseases, surveying and mapping, news reports, power inspections, disaster relief, film and television shooting, etc.
- a drone includes a fuselage and a landing gear that supports the fuselage of the drone when the drone lands on the ground or other objects.
- the landing gear includes a first support foot.
- the applicant of the present application found that: at present, the first rotation axis of the first support leg is perpendicular to the axial section of the fuselage, and when the first support leg is retracted or opened, the first support leg is away from the The distance between one end of the fuselage and the axial section of the fuselage is fixed, which is not applicable in some occasions, for example, it is not applicable when the first support leg is expected to be close to the fuselage when it is stowed, and away from the fuselage when it is opened, or It is not applicable when you want the first support leg to be far away from the fuselage when it is stowed and close to the fuselage when it is opened.
- an embodiment of the present application provides a drone that overcomes or at least partially solves the problem that the distance between the end of the first support leg away from the fuselage and the axial section of the fuselage is fixed. Questions that do not apply to the occasion.
- a drone including: a fuselage and a landing gear, the landing gear includes a driving device, a first transmission shaft and a first support foot, and the driving device is arranged on the The fuselage, one end of the first transmission shaft is connected to the driving device, the other end of the first transmission shaft is connected to the first supporting foot, and the driving device is used to drive the first transmission shaft , the first transmission shaft drives the first support leg to rotate, and the angle between the line from one end of the first support leg to the other end and the first rotation axis of the first support leg is greater than zero, The included angle between the first rotation axis and the shaft section of the fuselage is an acute angle.
- the landing gear further includes a second transmission shaft and a second support foot, one end of the second transmission shaft is connected to the driving device, and the other end of the second transmission shaft is connected to the The second supporting foot is connected, the driving device is used to drive the second transmission shaft, the second transmission shaft drives the second supporting foot to rotate, and the connection between one end of the second supporting foot and the other end
- the included angle between the line and the second rotation axis of the second support leg is greater than zero, and the included angle between the second rotation axis and the shaft section of the fuselage is an acute angle.
- the driving device includes two driving units, both of which are arranged on the fuselage, one of the driving units and one end of the first transmission shaft
- the other drive unit is connected to one end of the second drive shaft, one drive unit is used to drive the first drive shaft, and the other drive unit is used to drive the second drive shaft transmission shaft.
- the driving device is used to drive the first transmission shaft to rotate along the first rotation axis
- the driving device is used to drive the second transmission shaft to rotate along the first rotation axis.
- Two rotation axes rotate.
- the fuselage includes a first wall, a second wall and a third wall, and the second wall and the third wall are connected to the first wall along the width direction of the fuselage.
- the two ends of the wall; the first transmission shaft and the second transmission shaft are arranged on the first wall; the first transmission shaft drives the first supporting foot to rotate, and the second transmission shaft drives the second
- the distance between the end of the first supporting leg far away from the first transmission shaft and the end of the second supporting leg far away from the second transmission shaft is not greater than a preset value, and the preset value is The width of the first wall along the width direction of the fuselage.
- the axial section of the fuselage is perpendicular to the width direction of the fuselage, and the first transmission shaft and the second transmission shaft are arranged symmetrically on both sides of the axial section of the fuselage.
- the fuselage further includes a fourth wall, the fourth wall is respectively connected to the first wall, the second wall and the third wall, and the fourth wall, the first wall , the second wall and the third wall enclose to form a receiving cavity; the first wall is recessed toward the receiving cavity to form a recess, and the first transmission shaft and the second transmission shaft are arranged in the recess.
- the driving device is used to drive the first transmission shaft to rotate around a first direction and a second direction, wherein the included angle between the first direction and the second direction is an acute angle , the first direction is perpendicular to the shaft section of the fuselage, the second direction coincides with the first rotation axis; the driving device is used to drive the second transmission shaft around the third direction and the fourth direction, wherein the angle between the third direction and the fourth direction is an acute angle, the third direction is perpendicular to the shaft section of the fuselage, and the fourth direction coincides with the second rotation axis .
- the drive device includes a drive assembly and a synchronous wheel, the drive assembly is arranged on the fuselage, the drive assembly is connected to the synchronous wheel, and the drive assembly is used to drive the The synchronous wheel rotates; one end of the synchronous wheel is connected to one end of the first transmission shaft, and when the drive assembly drives the synchronous wheel to rotate, the synchronous wheel drives the first transmission shaft to circle the first direction and the second direction; the other end of the synchronous wheel is connected to one end of the second transmission shaft, and when the drive assembly drives the synchronous wheel to rotate, the synchronous wheel drives the second transmission shaft to circle the Rotate in the third and fourth directions.
- the driving assembly includes a driving unit, a driving wheel and a synchronous belt, the driving wheel is rotatably connected to the driving unit, and the synchronous belt is sheathed on the driving wheel and the synchronizing wheel,
- the driving unit is used to drive the driving wheel to rotate, the concave portion is disposed close to the fourth wall, and the driving unit is disposed on the fourth wall.
- the first supporting foot includes a first connecting arm and a second connecting arm, one end of the first connecting arm is connected to the other end of the first transmission shaft, and the first The other end of the connecting arm is connected to one end of the second connecting arm, and the angle between the first connecting arm and the second connecting arm is an obtuse angle; the other end of the second connecting arm is used to connect with the second connecting arm When the other end of the second connecting arm is in contact with the first wall, along the direction perpendicular to the first wall, the other end of the first connecting arm is in contact with the first wall. There is a gap between one wall.
- a drone including a fuselage and a landing gear
- the landing gear includes a driving device, a first transmission shaft and a first support foot
- the driving device is arranged on the The fuselage, one end of the first transmission shaft is connected to the driving device, and the other end of the first transmission shaft is connected to the first supporting foot.
- the drone Drive the first transmission shaft through the driving device, and then drive the first support foot, because the angle between the first rotation axis of the first support foot and the shaft section of the fuselage is an acute angle, and one end of the first support foot to The angle between the connecting line at the other end and the first rotation axis of the first support leg is greater than zero, so that when the first support leg rotates, the end of the first support leg far away from the fuselage can approach and close to the fuselage or Far from the fuselage, the drone has a wide range of use.
- the end of the first supporting leg away from the fuselage is close to the fuselage, and when the first supporting leg is opened, the end of the first supporting leg is far away from the fuselage.
- One end is far away from the fuselage, so that the first support leg can be folded into the fuselage when it is retracted, and the first support leg is opened to support the UAV when it lands on the ground, providing stable support for the fuselage.
- Fig. 1 is a schematic diagram of one direction of the drone provided by the embodiment of the present application.
- Fig. 2 is a schematic diagram of one direction of the fuselage provided by the embodiment of the present application.
- Fig. 3 is a schematic diagram of another direction of the fuselage provided by the embodiment of the present application.
- Fig. 4 is a schematic diagram of the landing gear provided by the embodiment of the present application.
- Fig. 5 is a schematic diagram of an implementation mode in which the driving device provided by the embodiment of the present application is arranged on the first wall;
- Fig. 6 is a schematic diagram of another implementation mode in which the driving device provided by the embodiment of the present application is arranged on the first wall;
- Fig. 7 is a schematic diagram of one direction of the driving device provided by the embodiment of the present application.
- Fig. 8 is a schematic diagram of another direction of the driving device provided by the embodiment of the present application.
- Fig. 9 is a schematic diagram of another direction of the drone provided by the embodiment of the present application.
- Fig. 10 is a schematic diagram of a first supporting foot provided by an embodiment of the present application.
- the drone 100 includes: a landing gear 1 and a fuselage 2 , the landing gear 1 is disposed on the fuselage 2 .
- the landing gear 1 is used to support the fuselage 2 when the UAV 100 is parked on the ground or the like.
- the fuselage 2 is provided with a first wall 21, a second wall 22, a third wall 23 and a fourth wall 24, In the width direction L1, the second wall 22 and the third wall 23 are connected to both ends of the first wall 21 .
- the axial section 21s of the fuselage 2 is perpendicular to the width direction L1 of the fuselage 2
- the centerline C1 of the first wall 21 is perpendicular to the width direction L1 of the fuselage 2
- the axis of the fuselage 2 The section 21s passes through the center line C1 of said first wall 21 .
- the fourth wall 24 is respectively connected to the first wall 21, the second wall 22 and the third wall 23, and the fourth wall 24, the first wall 21, the second wall 22 and the third wall 23 are enclosed to form Containment cavity 22s.
- the first wall 21 is recessed toward the receiving cavity 22s to form a recess 211 , and the recess 211 is used for setting the landing gear 1 .
- the landing gear 1 includes a driving device 10 , a first transmission shaft 20 , a first support foot 30 , a second transmission shaft 40 and a second support foot 50 .
- the driving device 10 is connected to one end of the first transmission shaft 20, the first supporting foot 30 is connected to the other end of the first transmission shaft 20, and the driving device 10 is used to drive the first transmission shaft 20.
- shaft 20 the first transmission shaft 20 drives the first supporting foot 30 to rotate.
- the driving device 10 is connected to one end of the second transmission shaft 40, the second supporting foot 50 is connected to the other end of the second transmission shaft 40, and the driving device 10 is used to drive the second transmission shaft 40.
- shaft 40 , the second transmission shaft 40 drives the second supporting foot 50 to rotate.
- the driving device 10 includes two driving units 101a, both of the driving units 101a are arranged on the fuselage 2, one The driving unit 101a is connected to one end of the first transmission shaft 20, the other driving unit 101a is connected to one end of the second transmission shaft 40, and one driving unit 101a is used to drive the first transmission shaft 20.
- One drive shaft 20 , and the other drive unit 101 a is used to drive the second drive shaft 40 .
- the driving device 10 includes a driving assembly 101 and a synchronous wheel 102, the driving assembly 101 is arranged on the fuselage 2, and the driving assembly 101 Connected with the synchronous wheel 102, the driving assembly 101 is used to drive the synchronous wheel 102 to rotate.
- One end of the synchronous wheel 102 is connected to one end of the first transmission shaft 20 , and when the driving assembly 101 drives the synchronous wheel 102 to rotate, the synchronous wheel 102 drives the first transmission shaft 20 to rotate.
- the other end of the synchronous wheel 102 is connected to one end of the second transmission shaft 40 , and when the driving assembly 101 drives the synchronous wheel 102 to rotate, the synchronous wheel 102 drives the second transmission shaft 40 to rotate.
- the driving assembly 101 includes a driving unit 1011 , a driving wheel 1012 and a synchronous belt 1013 .
- the driving unit 1011 is disposed on the body 2 .
- the driving wheel 1012 is rotationally connected with the driving unit 1011, the synchronous belt 1013 is sheathed on the driving wheel 1012 and the synchronizing wheel 102, and the driving unit 1011 is used to drive the driving wheel 1012 to rotate, thereby driving the The synchronous wheel 102 rotates, and then drives the first transmission shaft 20 and the second transmission shaft 40 to rotate.
- the driving device 10 further includes a first bracket 103, a second bracket 104, a first bearing 105, a second bearing 106, a third bracket 107, a third bearing 108, a fourth bracket 109 and a fourth Bearing 110.
- the first bracket 103 , the second bracket 104 , the third bracket 107 and the fourth bracket 109 are all disposed on the fuselage 2 .
- the first bracket 103 is provided with a first through hole 1031, the first bearing 105 is installed in the first through hole 1031, the second bracket 104 is provided with a second through hole 1041, and the second bearing 106 is installed in the second through hole 1041 , the first bearing 105 is used for one end of the first transmission shaft 20 , and the second bearing 106 is used for one end of the second transmission shaft 40 .
- the third bracket 107 is provided with a third through hole 1071 , the third bearing 108 is installed in the third through hole 1071 , and the third bearing 108 is used for the other end of the first transmission shaft 20 to be disposed.
- the fourth bracket 109 is provided with a fourth through hole 1091 , the fourth bearing 110 is installed in the fourth through hole 1091 , and the fourth bearing 110 is used for the other end of the second transmission shaft 40 to be disposed.
- first bracket 103, the second bracket 104, the first bearing 105, the second bearing 106, the third bracket 107, the third bearing 108, the fourth bracket 109 and the fourth bearing 110 may not be provided.
- the driving device 10 can realize the function of driving the first transmission shaft 20 and the second transmission shaft 40 .
- first transmission shaft 20 and first support foot 30 please refer to FIG. Pin 30 is connected.
- the first transmission shaft 20 drives the first supporting foot 30 to rotate.
- the included angle a1 between the line from one end to the other end of the first support leg 30 and the first rotation axis W1 of the first support leg 30 is greater than zero, and the first support leg 30 from one end to the other end
- the connecting line of is not coincident with the first rotation axis W1 of the first support foot 30 .
- the included angle a2 between the first rotation axis W1 and the shaft section 21s of the fuselage 2 is an acute angle.
- the angle a2 between the first rotation axis W1 of the first support leg 30 and the shaft section 21s of the fuselage 2 is an acute angle, the line connecting one end of the first support leg 30 to the other end and the first support leg 30
- the angle a1 between the rotation axes W1 is greater than zero.
- the acute angle ranges from 30 to 60 degrees.
- the first transmission shaft 20 can rotate along the first rotation axis W1.
- the driving unit 101a drives the first transmission shaft 20 to rotate along the first rotation axis W1.
- the first transmission shaft 20 is rotatable along the first rotation axis W1.
- the driving device 10 includes the driving assembly 101 and a synchronous wheel 102 , one end of the synchronous wheel 102 drives the first transmission shaft 20 to rotate along the first rotation axis W1 .
- the first transmission shaft 20 can rotate around the first direction O1 and the second direction O2, wherein the angle b1 between the first direction O1 and the second direction O2 is an acute angle, and the second One direction O1 is perpendicular to the axial section 21s of the fuselage 2, and the second direction O2 coincides with the first rotation axis W1, that is, between the second direction O2 and the axial section 21s of the fuselage 2
- the included angle a2 is an acute angle.
- the driving unit 101a drives the first transmission shaft 20 to rotate around the first direction O1 and the second direction O2.
- the first transmission shaft 20 can rotate around the first direction O1 and the second direction O2, wherein the angle b1 between the first direction O1 and the second direction O2 is an acute angle,
- the first direction O1 is perpendicular to the axial section 21s of the fuselage 2
- the second direction O2 coincides with the first rotation axis W1, that is, the second direction O2 is perpendicular to the axial section 21s of the fuselage 2.
- the included angle a2 between 21s is an acute angle.
- the driving device 10 includes the driving assembly 101 and the synchronous wheel 102
- one end of the synchronous wheel 102 drives the first transmission shaft 20 to rotate around the first direction O1 and the second direction O2 .
- the first transmission shaft 20 is a cardan shaft.
- the first transmission shaft 20 rotates around the first direction O1 and the second direction O2, so that the driving device 10 drives the first transmission shaft 20 to rotate
- the first transmission shaft 20 drives the first supporting foot 30 to rotate around the second direction O2, that is, the first A transmission shaft 20 drives the first support leg 30 to rotate around the first rotation axis W1, so that the rotation flexibility of the first support leg 30 is good.
- first supporting foot 30 For the above-mentioned first supporting foot 30, please refer to FIG.
- the other end of a transmission shaft 20 is connected, the other end of the first connecting arm 301 is connected to one end of the second connecting arm 302 , one end of the first connecting member 303 is connected to the other end of the first transmission shaft 20 One end is connected, the other end of the first connecting member 303 is connected to one end of the first connecting arm 301 , and the included angle m1 between the first connecting arm 301 and the second connecting arm 302 is an obtuse angle.
- the angle m1 between the first connecting arm 301 and the second connecting arm 302 is an obtuse angle, when the first supporting leg 30 rotates away from the fuselage 2, the other side of the second connecting arm 302 One end is closer to the fuselage 2, so that the UAV 100 has a compact structure.
- the included angle m1 between the first connecting arm 301 and the second connecting arm 302 is In the case of an obtuse angle, compared to the case where the angle m1 between the first connecting arm 301 and the second connecting arm 302 is zero, the distance between the fuselage 2 of the UAV 100 and the other end of the second connecting arm 302 The vertical distance is large, and when the UAV 100 is parked on the ground with the assistance of the first support feet 30 , the fuselage 2 of the UAV 100 is raised, so that more equipment can be arranged on the first wall 21 of the fuselage 2 .
- the other end of the second connecting arm 302 is used to abut against the first wall 21 , and when the other end of the second connecting arm 302 abuts against the first wall 21 , it will abut against the first wall 21 .
- 21 perpendicular to the direction L2 there is a gap between the other end of the first connecting arm 301 and the first wall 21, because there is a gap between the other end of the first connecting arm 301 and the first wall 21 , so that the other end of the second connecting arm 302 abuts against the first wall 21 .
- the first connecting piece 303 is arranged between the first transmission shaft 20 and the first connecting arm 301, then the size of the first connecting piece 303 can be reasonably selected to adjust the first transmission shaft 20 and the first connecting arm 301 The distance between them, and then improve the compatibility of the landing gear 1 and the fuselage 2.
- the first connecting member 303 may not be provided.
- the second transmission shaft 40 drives the second supporting foot 50 to rotate.
- the included angle a3 between the line from one end to the other end of the second support leg 50 and the second rotation axis W2 of the second support leg 50 is greater than zero, and the one end to the other end of the second support leg 50
- the connecting line of is not coincident with the second rotation axis W2 of the second support foot 50 .
- the included angle a4 between the second rotation axis W2 and the shaft section 21s of the fuselage 2 is an acute angle.
- the angle a4 between the second rotation axis W2 of the second support leg 50 and the shaft section 21s of the fuselage 2 is an acute angle, the line connecting one end of the second support leg 50 to the other end and the first end of the second support leg 50
- the angle a3 between the two rotation axes W2 is greater than zero.
- the acute angle ranges from 30 to 60 degrees.
- the first transmission shaft 20 drives the first support foot 30 to rotate, and when the second transmission shaft 40 drives the second support foot 50 to rotate, the first support foot 30 is far away from the
- the distance between one end of the first transmission shaft 20 and the end of the second supporting foot 50 away from the second transmission shaft 40 is not greater than a preset value, and the preset value is that the first wall 21 moves along the machine.
- the axial section 21s of the fuselage 2 is perpendicular to the width direction L1 of the fuselage 2 , and the first transmission shaft 20 and the second transmission shaft 40 are arranged symmetrically on both sides of the axial section 21s of the fuselage 2 .
- the first transmission shaft 20 drives the first support foot 30 to rotate
- the second transmission shaft 40 drives the second support foot 50 to rotate
- the first support foot 30 and the second support foot 50 can be connected with each other.
- the first wall 21 of the fuselage 2 abuts, that is, when the first support leg 30 and the second support leg 50 are retracted, they can be retracted to the first wall 21, thereby reducing the blocking of the shooting field of view of the UAV 100, and It can reduce the resistance when the UAV 100 is flying.
- first transmission shaft 20 and the second transmission shaft 40 are arranged in the recess 211 of the first wall 21, so that the first transmission shaft 20 and the second transmission shaft
- the arrangement of the shaft 40 increases the size of the fuselage 2 of the drone 100 in a direction perpendicular to the first wall 21 .
- the drive unit 1011 is also arranged on the fourth wall 24, so that the fuselage 2 of the drone 100 is not connected to the fourth wall 24 due to the drive unit 1011.
- first transmission shaft 20 passes through the first bearing 105 and is connected with one end of the synchronous wheel 102
- second transmission shaft 40 passes through After passing through the second bearing 106, it is connected with the other end of the synchronous wheel 102.
- first transmission shaft 20 is disposed on the first wall 21 through the first bracket 103
- second transmission shaft 40 is disposed on the first wall 21 through the second bracket 104 .
- the driving device 10 includes the third bracket 107 and the third bearing 108
- the other end of the first transmission shaft 20 is socketed with the third bearing 108 and connected to the first supporting foot 30
- the first transmission shaft 20 is also arranged on the first wall 21 through the third bracket 107 .
- the driving device 10 includes the fourth bracket 109 and the fourth bearing 110
- the other end of the second transmission shaft 40 is socketed with the fourth bearing 110 and connected to the second supporting foot 50
- the second transmission shaft 40 is also arranged on the first wall 21 through the fourth bracket 109 .
- the second transmission shaft 40 can rotate along the second rotation axis W2.
- the driving device 10 includes another driving unit 101a
- the other driving unit 101a drives the second transmission shaft 40 to rotate along the second rotation axis W2.
- the second transmission shaft 40 is rotatable along the second rotation axis W2.
- the driving device 10 includes the driving assembly 101 and the synchronous wheel 102
- the other end of the synchronous wheel 102 drives the second transmission shaft 40 to rotate along the second rotation axis W2 .
- first rotation axis W1 and the second rotation axis W2 are arranged symmetrically with respect to the shaft section 21s of the fuselage 2, so that the driving device 10 can synchronously drive the first support leg 30 and the second rotation axis.
- the two supporting feet 50 move synchronously, and the first supporting foot 30 and the second supporting foot 50 move in the same direction relative to the fuselage 2 .
- the second transmission shaft 40 can rotate around the third direction O3 and the fourth direction O4, wherein the angle b2 between the third direction O3 and the fourth direction O4 is an acute angle, and the second transmission shaft 40
- the three directions O3 are perpendicular to the axial section 21s of the fuselage 2, the fourth direction O4 coincides with the second rotation axis W2, that is, between the fourth direction O4 and the axial section 21s of the fuselage 2
- the included angle a4 is an acute angle.
- the driving unit 101a drives the second transmission shaft 40 to rotate around the third direction O3 and the fourth direction O4.
- the second transmission shaft 40 can rotate around the third direction O3 and the fourth direction O4, wherein the angle b2 between the third direction O3 and the fourth direction O4 is an acute angle,
- the third direction O3 is perpendicular to the axial section 21s of the fuselage 2
- the fourth direction O4 coincides with the second rotation axis W2, that is, the fourth direction O4 is perpendicular to the axial section 21s of the fuselage 2.
- the included angle a4 between 21s is an acute angle.
- the fourth direction O4 rotates, that is, the driving device 10 simultaneously drives the first support leg 30 and the second support leg 50 , so that the structure of the landing gear 1 is compact, and the space it occupies on the fuselage 2 is small.
- the first direction O1 and the third direction O3 coincide.
- the second direction O2 and the fourth direction O4 are symmetrical with respect to the axial section 21s of the fuselage 2, so that the driving device 10 simultaneously drives the first supporting leg 30 and the second supporting leg 50 to move synchronously, the first The movement directions of the supporting feet 30 and the second supporting feet 50 relative to the fuselage 2 are consistent.
- the second transmission shaft 40 is a cardan shaft.
- the driving device 10 drives the second transmission shaft 40 to rotate, and the second transmission shaft 40 drives the second supporting foot 50 to rotate around the fourth direction O4, that is, the second The second transmission shaft 40 drives the second support leg 50 to rotate around the second rotation axis W2, so that the rotation flexibility of the second support leg 50 is good.
- the second supporting foot 50 includes a third connecting arm (not marked), a fourth connecting arm (not marked) and a second connecting piece (not marked), one end of the third connecting arm is connected to The other end of the second transmission shaft 40 is connected, the other end of the third connecting arm is connected to one end of the fourth connecting arm, one end of the second connecting member is connected to the other end of the second transmission shaft 40 One end is connected, the other end of the second connecting piece is connected to one end of the third connecting arm, and the included angle between the third connecting arm and the fourth connecting arm is an obtuse angle.
- the included angle between the third connecting arm and the fourth connecting arm is an obtuse angle, when the second supporting leg 50 rotates away from the fuselage 2, the other end of the fourth connecting arm is closer to the The fuselage 2 is described, so that the structure of the UAV 100 is compact.
- the angle between the third connecting arm and the fourth connecting arm is an obtuse angle , compared to the case where the angle between the third connecting arm and the fourth connecting arm is zero, the vertical distance between the fuselage 2 of the drone 100 and the other end of the fourth connecting arm is large, and the drone
- the fuselage 2 of the drone 100 is raised, so that more equipment can be arranged on the first wall 21 of the fuselage 2.
- the other end of the fourth connecting arm is used to abut against the first wall 21 , and when the other end of the fourth connecting arm abuts against the first wall 21 , it is perpendicular to the first wall 21 In the direction L2 of the third connecting arm, there is a gap between the other end of the third connecting arm and the first wall 21. Since there is a gap between the other end of the third connecting arm and the first wall 21, it is convenient for the second The other ends of the four connecting arms abut against the first wall 21 .
- the second connecting piece is arranged between the second transmission shaft 40 and the third connecting arm, and the distance between the second transmission shaft 40 and the third connecting arm can be adjusted by selecting the size of the second connecting piece reasonably. , and then improve the compatibility of the landing gear 1 and the fuselage 2.
- the second connecting piece may not be provided.
- the second transmission shaft 40 and the second support foot 50 may not be placed in the above-mentioned manner, and the end of the first support foot 30 of the present application that is far away from the fuselage 2 can be close to and folded in the fuselage 2 or away from the fuselage 2.
- the second transmission shaft 40 and the second support foot 50 can refer to the arrangement in the prior art where the second rotation axis W2 of the second support foot 50 is perpendicular to the shaft section 21s of the fuselage 2, without This affects the application purpose of the application that the end of the first support leg 30 away from the fuselage 2 can be close to and folded in the fuselage 2 or away from the fuselage 2 .
- the landing gear 1 is also provided with a controller (not shown), the controller is connected to the driving device 10, the controller is used to control the driving device 10 to drive the first transmission shaft 20, and the controller is also used to control The drive device 10 drives the second transmission shaft 40 .
- the program steps involved in the controller adopt existing program steps, and the controller also adopts existing processors, such as Intel's I3 processor, AMD Ryzen processor, and the like.
- the UAV 100 includes a fuselage 2 and a landing gear 1, the landing gear 1 includes a driving device 10, a first transmission shaft 20 and a first support foot 30, and the driving device 10 is arranged on the The fuselage 2, one end of the first transmission shaft 20 is connected to the driving device 10, the other end of the first transmission shaft 20 is connected to the first supporting foot 30, and the driving device 10 is used to drive The first transmission shaft 20, the first transmission shaft 20 drives the first support foot 30 to rotate, the line connecting one end of the first support foot 30 to the other end is connected to the first support foot 30
- An included angle a1 between a rotation axis W1 is greater than zero, and an included angle a2 between the first rotation axis W1 and the shaft section 21s of the fuselage 2 is an acute angle.
- the angle a2 between the first rotation axis W1 of the first support leg 30 and the axial section 21s of the fuselage 2 is an acute angle, and the line connecting one end to the other end of the first support leg 30 and The included angle a1 between the first rotation axes W1 of the first support legs 30 is greater than zero, so that when the first support legs 30 rotate, the end of the first support legs 30 away from the fuselage 2 can approach and close to the fuselage 2 Or away from the fuselage 2, the drone 100 can be used in a wide range.
- the included angle a1 between the axes W1 can make the first support leg 30 close to the fuselage 2 when the first support leg 30 is retracted towards the fuselage 2, and the end of the first support leg 30 away from the fuselage 2 is close to and folded in the fuselage 2, and the first support leg 30
- the end of the first supporting leg 30 away from the fuselage 2 is far away from the fuselage 2, so that the first supporting leg 30 can be folded in the fuselage 2 when retracted, thereby reducing the blocking of the shooting field of view and reducing the flight resistance.
- the first support feet 30 are opened to support the UAV 100 and provide stable support for the fuselage 2 when it lands on the ground.
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Abstract
本申请实施例涉及一种无人机，无人机包括机身和起落架，起落架包括驱动装置、第一传动轴和第一支撑脚，驱动装置设置于机身，第一传动轴的一端与驱动装置连接，第一传动轴的另一端与第一支撑脚连接，驱动装置用于驱动第一传动轴，第一传动轴带动第一支撑脚转动，第一支撑脚的一端至另一端的连线与第一支撑脚的第一转动轴线之间的夹角大于零，第一转动轴线与机身的轴截面之间的夹角为锐角。通过上述方式，由于第一支撑脚的第一转动轴线与机身的轴截面之间的夹角为锐角，第一支撑脚的一端至另一端的连线与第一支撑脚的第一转动轴线之间的夹角大于零，第一支撑脚转动时，第一支撑脚远离机身的一端可靠近并收拢于机身或者远离机身，无人机的适用范围广。
Description
本申请要求于2021年07月30日提交中国专利局、申请号为2021108714279、申请名称为“一种无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本申请实施例涉及无人机技术领域。
无人驾驶飞机简称“无人机”，英文名称为Unmanned Aerial Vehicle，英文缩写为“UAV”。无人机是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞机，或者由车载计算机完全地或间歇性地自主操作的不载人飞机。无人机目前在航拍、农业、植保、微型自拍、快递运输、灾难救援、观察野生动物、监控传染病、测绘、新闻报道、电力巡检、救灾、影视拍摄等等领域均有广泛应用。无人机包括机身和起落架，在无人机停落在地面或者其他物体上时，起落架支撑无人机的机身。起落架包括第一支撑脚。
本申请的申请人在实现本申请的过程中，发现：目前，第一支撑脚的第一转动轴线和机身的轴截面垂直，在第一支撑脚收起或者打开时，第一支撑脚远离机身的一端与机身的轴截面之间的距离是固定的，在一些场合不适用，例如，当希望第一支撑脚收起时靠近机身，打开时远离机身的场合不适用，或者当希望第一支撑脚收起时远离机身，打开时靠近机身的场合不适用。
发明内容
鉴于上述问题，本申请实施例提供了一种无人机，克服了或者至少部分地解决了上述第一支撑脚远离机身的一端与机身的轴截面之间的距离是固定的，在一些场合不适用的问题。
根据本申请实施例的一个方面，提供了一种无人机，包括：机身和起落架，所述起落架包括驱动装置、第一传动轴和第一支撑脚，所述驱动装置设置于所述机身，所述第一传动轴的一端与所述驱动装置连接，所述第一传动轴的另一端与所述第一支撑脚连接，所述驱动装置用于驱动所述第一传动轴，所述第一传动轴带动所述第一支撑脚转动，所述第一支撑脚的一端至另一端的连线与所述第一支撑脚的第一转动轴线之间的夹角大于零，所述第一转动轴线与所述机身的轴截面之间的夹角为锐角。
在一种可选的方式中，所述起落架还包括第二传动轴和第二支撑脚，所述第二传动轴的一端与所述驱动装置连接，所述第二传动轴的另一端与所述第二支撑脚连接，所述驱动装置用于驱动所述第二传动轴，所述第二传动轴带动所述第二支撑脚转动，所述第二支撑脚的一端至另一端的连线与所述第二支撑脚的第二转动轴线之间的夹角大于零，所述第二转动轴线与所述机身的轴截面之间的夹角为锐角。
在一种可选的方式中，所述驱动装置包括两个驱动单体，两个所述驱动单体均设置于所述机身，一所述驱动单体与所述第一传动轴的一端连接，另一所述驱动单体与所述第二传动轴的一端连接，一所述驱动单体用于驱动所述第一传动轴，另一所述驱动单体用于驱动所述第二传动轴。
在一种可选的方式中，所述驱动装置用于驱动所述第一传动轴沿着所述第一转动轴线转动，所述驱动装置用于驱动所述第二传动轴沿着所述第二转动轴线转动。
在一种可选的方式中，所述机身包括第一壁、第二壁和第三壁，沿所述机身的宽度方向，所述第二壁和第三壁连接于所述第一壁的两端；所述第一传动轴和第二传动轴设置于所述第一壁；所述第一传动轴带动所述第一支撑脚转动，所述第二传动轴带动所述第二支撑脚转动时，所述第一支撑脚远离所述第一传动轴的一端与所述第二支撑脚远离所述第二传动轴的一端的距离不大于预设值，所述预设值为所述第一壁沿所述机身的宽度方向的宽度。
在一种可选的方式中，所述机身的轴截面与所述机身的宽度方向垂直，所述第一传动轴和第二传动轴对称设置于所述机身的轴截面的两边。
在一种可选的方式中，所述机身还包括第四壁，所述第四壁分别与所述第一壁、第二壁和第三壁连接，所述第四壁、第一壁、第二壁和第三壁围合形成收容腔；所述第一壁朝向所述收容腔凹陷形成凹部，所述第一传动轴和第二传动轴设置于所述凹部。
在一种可选的方式中，所述驱动装置用于驱动所述第一传动轴环绕第一方向和第二方向转动，其中，所述第一方向和第二方向之间的夹角为锐角，所述第一方向与所述机身的轴截面垂直，所述第二方向与所述第一转动轴线重合；所述驱动装置用于驱动所述第二传动轴环绕第三方向和第四方向转动，其中，所述第三方向和第四方向之间的夹角为锐角，所述第三方向与所述机身的轴截面垂直，所述第四方向与所述第二转动轴线重合。
在一种可选的方式中，所述驱动装置包括驱动组件和同步轮，所述驱动组件设置于所述机身，所述驱动组件与所述同步轮连接，所述驱动组件用于驱动所述同步轮转动；所述同步轮的一端与所述第一传动轴的一端连接，所述驱动组件驱动所述同步轮转动时，所述同步轮带动所述第一传动轴环绕所述第一方向和第二方向转动；所述同步轮的另一端与所述第二传动轴的一端连接，所述驱动组件驱动所述同步轮转动时，所述同步轮带动所述第二传动轴环绕所述第三方向和第四方向转动。
在一种可选的方式中，所述驱动组件包括驱动单元、主动轮和同步带，所述主动轮与所述驱动单元转动连接，所述同步带套设于所述主动轮和同步轮，所述驱动单元用于驱动所述主动轮转动，所述凹部靠近所述第四壁设置，所述驱动单元设置于所述第四壁。
在一种可选的方式中，所述第一支撑脚包括第一连接臂和第二连接臂，所述第一连接臂的一端与所述第一传动轴的另一端连接，所述第一连接臂的另一端与所述第二连接臂的一端连接，所述第一连接臂与所述第二连接臂之间的夹角为钝角；所述第二连接臂的另一端用于与所述第一壁抵接，所述第二连接臂的另一端与所述第一壁抵接时，沿与所述第 一壁垂直的方向，所述第一连接臂的另一端与所述第一壁之间具有间隙。
本申请实施例的有益效果是：提供了一种无人机，包括机身和起落架，所述起落架包括驱动装置、第一传动轴和第一支撑脚，所述驱动装置设置于所述机身，所述第一传动轴的一端与所述驱动装置连接，所述第一传动轴的另一端与所述第一支撑脚连接。通过驱动装置驱动第一传动轴，进而驱动第一支撑脚，由于第一支撑脚的第一转动轴线与机身的轴截面之间的夹角为锐角，且所述第一支撑脚的一端至另一端的连线与所述第一支撑脚的第一转动轴线之间的夹角大于零，从而第一支撑脚转动时，第一支撑脚远离机身的一端可靠近并收拢于机身或者远离机身，无人机的使用范围广。另外，通过合理的设计，可使得第一支撑脚朝向机身收起时，第一支撑脚远离机身的一端靠近机身，以及在第一支撑脚打开时，第一支撑脚远离机身的一端远离机身，从而第一支撑脚收起时可收拢于机身，第一支撑脚打开以支撑无人机停落在地面时，对机身提供稳定的支撑。
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本申请实施例提供的无人机的一个方向的示意图；
图2是本申请实施例提供的机身的一个方向的示意图；
图3是本申请实施例提供的机身的另一个方向的示意图；
图4是本申请实施例提供的起落架的示意图；
图5是本申请实施例提供的驱动装置设置于第一壁的一种实现方式的示意图；
图6是本申请实施例提供的驱动装置设置于第一壁的另一种实现方式的示意图；
图7是本申请实施例提供的驱动装置的一个方向的示意图；
图8是本申请实施例提供的驱动装置的另一个方向的示意图；
图9是本申请实施例提供的无人机的另一个方向的示意图；
图10是本申请实施例提供的第一支撑脚的示意图。
为了便于理解本申请，下面结合附图和具体实施例，对本申请进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”、“内”、“外”以及类似的表述只是为了说明的目的。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。在本申请的说明书中所使用的术语只是为了描述具体实施例的目的，不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1，无人机100包括：起落架1和机身2，所述起落架1设置于所述机身2。所述起落架1用于所述无人机100停落在地面上等时对机身2起支撑作用。
对于上述机身2，请参阅图2和图3，在一些实施例中，机身2设置第一壁21、第二壁22、第三壁23和第四壁24，沿所述机身2的宽度方向L1，所述第二壁22和第三壁23连接于所述第一壁21的两端。所述机身2的轴截面21s与所述机身2的宽度方向L1垂直，所述第一壁21的中心线C1与所述机身2的宽度方向L1垂直，所述机身2的轴截面21s经过所述第一壁21的中心线C1。所述第四壁24分别与所述第一壁21、第二壁22和第三壁23连接，所述第四壁24、第一壁21、第二壁22和第三壁23围合形成收容腔22s。所述第一壁21朝向所述收容腔22s凹陷形成凹部211，所述凹部211用于所述起落架1设置。
对于上述起落架1，请参阅图4，起落架1包括驱动装置10、第一传动轴20、第一支撑脚30、第二传动轴40和第二支撑脚50。所述驱动装置10与所述第一传动轴20的一端连接，所述第一支撑脚30与所述第一传动轴20的另一端连接，所述驱动装置10用于驱动所述第一传动轴20，所述第一传动轴20带动所述第一支撑脚30转动。所述驱动装置10与所述第二传动轴40的一端连接，所述第二支撑脚50与所述第二传动轴40的另一端连接，所述驱动装置10用于驱动所述第二传动轴40，所述第二传动轴40带动所述第二支撑脚50转动。
对于上述驱动装置10，请参阅图5和图6，在一些实施例中，驱动装置10包括两个驱动单体101a，两个所述驱动单体101a均设置于所述机身2，一所述驱动单体101a与所述第一传动轴20的一端连接，另一所述驱动单体101a与所述第二传动轴40的一端连接，一所述驱动单体101a用于驱动所述第一传动轴20，另一所述驱动单体101a用于驱动所述第二传动轴40。
对于上述驱动装置10，请参阅图7和图8，在一些实施例中，驱动装置10包括驱动组件101和同步轮102，所述驱动组件101设置于所述机身2，所述驱动组件101与所述同步轮102连接，所述驱动组件101用于驱动所述同步轮102转动。所述同步轮102的一端与所述第一传动轴20的一端连接，所述驱动组件101驱动所述同步轮102转动时，所述同步轮102带动所述第一传动轴20转动。所述同步轮102的另一端与所述第二传动轴40的一端连接，所述驱动组件101驱动所述同步轮102转动时，所述同步轮102带动所述第二传动轴40转动。
对于上述驱动组件101，在一些实施例中，驱动组件101包括驱动单元1011、主动轮1012和同步带1013。所述驱动单元1011设置于所述机身2。所述主动轮1012与所述驱动单元1011转动连接，所述同步带1013套设于所述主动轮1012和同步轮102，所述驱动单元1011用于驱动所述主动轮1012转动，从而带动所述同步轮102转动，进而带动所述第一传动轴20、第二传动轴40转动。
在一些实施例中，所述驱动装置10还包括第一支架103、第二支架 104、第一轴承105、第二轴承106、第三支架107、第三轴承108、第四支架109和第四轴承110。所述第一支架103、第二支架104、第三支架107和第四支架109均设置于所述机身2。所述第一支架103设置有第一通孔1031，所述第一轴承105安装于所述第一通孔1031内，所述第二支架104设置有第二通孔1041，所述第二轴承106安装于所述第二通孔1041内，所述第一轴承105用于所述第一传动轴20的一端设置，所述第二轴承106用于所述第二传动轴40的一端设置。所述第三支架107设置有第三通孔1071，所述第三轴承108安装于第三通孔1071内，所述第三轴承108用于所述第一传动轴20的另一端设置。所述第四支架109设置有第四通孔1091，所述第四轴承110安装于第四通孔1091内，所述第四轴承110用于所述第二传动轴40的另一端设置。
值得说明的是，也可不设置上述第一支架103、第二支架104、第一轴承105、第二轴承106、第三支架107、第三轴承108、第四支架109和第四轴承110，也可实现驱动装置10驱动第一传动轴20和第二传动轴40的功能。
对于上述第一传动轴20和第一支撑脚30，请参阅图9，第一传动轴20的一端与所述驱动装置10连接，所述第一传动轴20的另一端与所述第一支撑脚30连接。所述第一传动轴20带动所述第一支撑脚30转动。所述第一支撑脚30的一端至另一端的连线与所述第一支撑脚30的第一转动轴线W1之间的夹角a1大于零，所述第一支撑脚30的一端至另一端的连线与所述第一支撑脚30的第一转动轴线W1不重合。所述第一转动轴线W1与所述机身2的轴截面21s之间的夹角a2为锐角。由于第一支撑脚30的第一转动轴线W1与机身2的轴截面21s之间的夹角a2为锐角，第一支撑脚30的一端至另一端的连线与第一支撑脚30的第一转动轴线W1之间的夹角a1大于零，第一支撑脚30转动时，第一支撑脚30远离机身2的一端可靠近并收拢于机身2或者远离机身2。
在一些实施例中，所述锐角的角度范围在30至60度之间。
请参阅图5，所述第一传动轴20可沿着所述第一转动轴线W1转动。所述驱动装置10包括一所述驱动单体101a时，一所述驱动单体101a 驱动所述第一传动轴20沿着所述第一转动轴线W1转动。
所述第一传动轴20可沿着所述第一转动轴线W1转动。所述驱动装置10包括所述驱动组件101和同步轮102时，所述同步轮102的一端带动所述第一传动轴20沿着所述第一转动轴线W1转动。
请参阅图6，所述第一传动轴20可环绕第一方向O1和第二方向O2转动，其中，所述第一方向O1和第二方向O2之间的夹角b1为锐角，所述第一方向O1与所述机身2的轴截面21s垂直，所述第二方向O2与所述第一转动轴线W1重合，即所述第二方向O2与所述机身2的轴截面21s之间的夹角a2为锐角。所述驱动装置10包括一所述驱动单体101a时，一所述驱动单体101a驱动所述第一传动轴20环绕所述第一方向O1和第二方向O2转动。
请参阅图8和图9，所述第一传动轴20可环绕第一方向O1和第二方向O2转动，其中，所述第一方向O1和第二方向O2之间的夹角b1为锐角，所述第一方向O1与所述机身2的轴截面21s垂直，所述第二方向O2与所述第一转动轴线W1重合，即所述第二方向O2与所述机身2的轴截面21s之间的夹角a2为锐角。所述驱动装置10包括所述驱动组件101和同步轮102时，所述同步轮102的一端带动所述第一传动轴20环绕所述第一方向O1和第二方向O2转动。
值得说明的是，在一些实施例中，所述第一传动轴20为万向轴。
当第一传动轴20环绕第一方向O1和第二方向O2转动，从而驱动装置10驱动第一传动轴20转动，第一传动轴20带动第一支撑脚30环绕第二方向O2转动，即第一传动轴20带动第一支撑脚30环绕第一转动轴线W1转动，从而第一支撑脚30的转动灵活性好。
当无人机100的起落架1中的第一支撑脚30收起或者放下，第一传动轴20环绕第一方向O1和第二方向O2转动，与第一传动轴30环绕一个方向转动的情况给用户带来的观感是不同的。
对于上述第一支撑脚30，请参阅图10，第一支撑脚30包括第一连接臂301、第二连接臂302和第一连接件303，所述第一连接臂301的一端与所述第一传动轴20的另一端连接，所述第一连接臂301的另一 端与所述第二连接臂302的一端连接，所述第一连接件303的一端与所述第一传动轴20的另一端连接，所述第一连接件303的另一端与所述第一连接臂301的一端连接，所述第一连接臂301与所述第二连接臂302之间的夹角m1为钝角。由于所述第一连接臂301与所述第二连接臂302之间的夹角m1为钝角，则第一支撑脚30在转动远离所述机身2时，所述第二连接臂302的另一端更靠近所述机身2，从而无人机100的结构紧凑。
另外，当第一支撑脚30在转动远离所述机身2时，当第一支撑脚30转动特定的角度时，第一连接臂301与所述第二连接臂302之间的夹角m1为钝角的情况，相对于第一连接臂301与所述第二连接臂302之间的夹角m1为零的情况，无人机100的机身2距离第二连接臂302的另一端之间的垂直距离大，无人机100被第一支撑脚30辅助停在地面上时，无人机100的机身2被抬高，从而机身2的第一壁21上可设置更多的设备。
所述第二连接臂302的另一端用于与所述第一壁21抵接，所述第二连接臂302的另一端与所述第一壁21抵接时，沿与所述第一壁21垂直的方向L2，所述第一连接臂301的另一端与所述第一壁21之间具有间隙，由于所述第一连接臂301的另一端与所述第一壁21之间具有间隙，从而便于第二连接臂302的另一端与所述第一壁21抵接。
所述第一连接件303设置于第一传动轴20与第一连接臂301之间，则可通过合理的选择第一连接件303的尺寸，从而调整第一传动轴20与第一连接臂301之间的距离，进而提高起落架1和机身2的匹配性。
值得说明的是，在一些实施例中，也可不设置所述第一连接件303。
对于上述第二传动轴40和第二支撑脚50，请参阅图9，第二传动轴40的一端与所述驱动装置10连接，所述第二传动轴40的另一端与所述第二支撑脚50连接。所述第二传动轴40带动所述第二支撑脚50转动。所述第二支撑脚50的一端至另一端的连线与所述第二支撑脚50的第二转动轴线W2之间的夹角a3大于零，所述第二支撑脚50的一端至另一端的连线与所述第二支撑脚50的第二转动轴线W2不重合。所述 第二转动轴线W2与所述机身2的轴截面21s之间的夹角a4为锐角。由于第二支撑脚50的第二转动轴线W2与机身2的轴截面21s之间的夹角a4为锐角，第二支撑脚50的一端至另一端的连线与第二支撑脚50的第二转动轴线W2之间的夹角a3大于零，第二支撑脚50转动时，第二支撑脚50远离机身2的一端可靠近并收拢于机身2或者远离机身2。
在一些实施例中，所述锐角的角度范围在30至60度之间。
在一些实施例中，所述第一传动轴20带动所述第一支撑脚30转动，所述第二传动轴40带动所述第二支撑脚50转动时，所述第一支撑脚30远离所述第一传动轴20的一端与所述第二支撑脚50远离所述第二传动轴40的一端的距离不大于预设值，所述预设值为所述第一壁21沿所述机身2的宽度方向L1的宽度。所述机身2的轴截面21s与所述机身2的宽度方向L1垂直，所述第一传动轴20和第二传动轴40对称设置于所述机身2的轴截面21s的两边。从而在所述第一传动轴20带动所述第一支撑脚30转动，所述第二传动轴40带动所述第二支撑脚50转动时，第一支撑脚30和第二支撑脚50可与机身2的第一壁21抵接，即第一支撑脚30和第二支撑脚50收起时，可收拢至第一壁21，从而可减少对无人机100的拍摄视野的阻挡，且可减小无人机100飞行时的阻力。
值得说明的是，在一些实施例中，所述第一传动轴20和第二传动轴40设置于所述第一壁21的所述凹部211，从而不因为第一传动轴20和第二传动轴40的设置增加无人机100的机身2在与第一壁21垂直的方向上的尺寸。
在一些实施例中，请参阅图1、图2和图8，所述驱动单元1011还设置于所述第四壁24，从而不因为驱动单元1011增加无人机100的机身2在与第一壁21垂直的方向上的尺寸。
可以理解的是，请一并参阅图7-图9，所述驱动装置10包括第一支架103、第二支架104、第一轴承105和第二轴承106时，所述第一支架103、第二支架104设置于所述第一壁21，所述第一传动轴20的一端穿过所述第一轴承105后与所述同步轮102的一端连接，所述第二传动轴40的一端穿过所述第二轴承106后与所述同步轮102的另一端 连接。换而言之，所述第一传动轴20通过所述第一支架103设置于所述第一壁21，所述第二传动轴40通过所述第二支架104设置于所述第一壁21。
可以理解的是，所述驱动装置10包括第三支架107和第三轴承108时，所述第一传动轴20的另一端与所述第三轴承108套接后与所述第一支撑脚30连接，换而言之，所述第一传动轴20还通过所述第三支架107设置于所述第一壁21。
可以理解的是，所述驱动装置10包括第四支架109和第四轴承110时，所述第二传动轴40的另一端与所述第四轴承110套接后与所述第二支撑脚50连接，换而言之，所述第二传动轴40还通过所述第四支架109设置于所述第一壁21。
请参阅图5，所述第二传动轴40可沿着所述第二转动轴线W2转动。所述驱动装置10包括另一所述驱动单体101a时，另一所述驱动单体101a驱动所述第二传动轴40沿着所述第二转动轴线W2转动。
所述第二传动轴40可沿着所述第二转动轴线W2转动。所述驱动装置10包括所述驱动组件101和同步轮102时，所述同步轮102的另一端带动所述第二传动轴40沿着所述第二转动轴线W2转动。
值得说明的是，在一些实施例中，第一转动轴线W1和第二转动轴线W2相对于所述机身2的轴截面21s对称设置，从而驱动装置10可同步驱动第一支撑脚30和第二支撑脚50同步运动，第一支撑脚30和第二支撑脚50相对于机身2的运动方向一致。
请参阅图6，所述第二传动轴40可环绕第三方向O3和第四方向O4转动，其中，所述第三方向O3和第四方向O4之间的夹角b2为锐角，所述第三方向O3与所述机身2的轴截面21s垂直，所述第四方向O4与所述第二转动轴线W2重合，即所述第四方向O4与所述机身2的轴截面21s之间的夹角a4为锐角。所述驱动装置10包括一所述驱动单体101a时，一所述驱动单体101a驱动所述第二传动轴40环绕所述第三方向O3和第四方向O4转动。
请参阅图8和图9，所述第二传动轴40可环绕第三方向O3和第四 方向O4转动，其中，所述第三方向O3和第四方向O4之间的夹角b2为锐角，所述第三方向O3与所述机身2的轴截面21s垂直，所述第四方向O4与所述第二转动轴线W2重合，即所述第四方向O4与所述机身2的轴截面21s之间的夹角a4为锐角。所述驱动装置10包括所述驱动组件101和同步轮102时，所述同步轮102的另一端带动所述第二传动轴40环绕所述第三方向O3和第四方向O4转动。由于同步轮102的一端带动所述第一传动轴20环绕所述第一方向O1和第二方向O2转动，同步轮102的另一端带动所述第二传动轴40环绕所述第三方向O3和第四方向O4转动，即驱动装置10同时驱动第一支撑脚30和第二支撑脚50，从而起落架1的结构紧凑，其在机身2上所占用的空间小。
值得说明的是，在一些实施例中，第一方向O1和第三方向O3重合。
在一些实施例中，第二方向O2和第四方向O4相对于所述机身2的轴截面21s对称，从而驱动装置10同时驱动第一支撑脚30和第二支撑脚50同步运动，第一支撑脚30和第二支撑脚50的相对于机身2的运动方向一致。
值得说明的是，在一些实施例中，所述第二传动轴40为万向轴。
当第二传动轴40环绕第三方向O3和第四方向O4转动，从而驱动装置10驱动第二传动轴40转动，第二传动轴40带动第二支撑脚50环绕第四方向O4转动，即第二传动轴40带动第二支撑脚50环绕第二转动轴线W2转动，从而第二支撑脚50的转动灵活性好。
对于上述第二支撑脚50，第二支撑脚50包括第三连接臂(未标示)、第四连接臂(未标示)和第二连接件(未标示)，所述第三连接臂的一端与所述第二传动轴40的另一端连接，所述第三连接臂的另一端与所述第四连接臂的一端连接，所述第二连接件的一端与所述第二传动轴40的另一端连接，所述第二连接件的另一端与所述第三连接臂的一端连接，所述第三连接臂与所述第四连接臂之间的夹角为钝角。由于所述第三连接臂与所述第四连接臂之间的夹角为钝角，则第二支撑脚50在转动远离所述机身2时，所述第四连接臂的另一端更靠近所述机身2，从而无人机100的结构紧凑。
另外，当第二支撑脚50在转动远离所述机身2时，当第二支撑脚50转动特定的角度时，第三连接臂与所述第四连接臂之间的夹角为钝角的情况，相对于第三连接臂与所述第四连接臂之间的夹角为零的情况，无人机100的机身2距离第四连接臂的另一端之间的垂直距离大，无人机100被第二支撑脚50辅助停在地面上时，无人机100的机身2被抬高，从而机身2的第一壁21上可设置更多的设备。
所述第四连接臂的另一端用于与所述第一壁21抵接，所述第四连接臂的另一端与所述第一壁21抵接时，沿与所述第一壁21垂直的方向L2，所述第三连接臂的另一端与所述第一壁21之间具有间隙，由于所述第三连接臂的另一端与所述第一壁21之间具有间隙，从而便于第四连接臂的另一端与所述第一壁21抵接。
所述第二连接件设置于第二传动轴40与第三连接臂之间，则可通过合理的选择第二连接件的尺寸，从而调整第二传动轴40与第三连接臂之间的距离，进而提高起落架1和机身2的匹配性。
值得说明的是，在一些实施例中，也可不设置所述第二连接件。
值得说明的是，所述第二传动轴40和第二支撑脚50可不参照上述方式放置，也可实现本申请第一支撑脚30远离机身2的一端可靠近并收拢于机身2或者远离机身2的申请目的。换而言之，第二传动轴40和第二支撑脚50可参照现有技术中的第二支撑脚50的第二转动轴线W2与所述机身2的轴截面21s垂直的设置方式，不影响本申请第一支撑脚30远离机身2的一端可靠近并收拢于机身2或者远离机身2的申请目的。
值得说明的是，起落架1还设置控制器(图未示)，控制器与所述驱动装置10连接，控制器用于控制驱动装置10驱动所述第一传动轴20，控制器还用于控制驱动装置10驱动所述第二传动轴40。所述控制器所涉及的程序步骤是采用现有程序步骤，控制器也是采用现有的处理器，例如：英特尔的I3处理器、AMD锐龙处理器等等。
在本申请实施例中，无人机100包括机身2和起落架1，所述起落架1包括驱动装置10、第一传动轴20和第一支撑脚30，所述驱动装置10设置于所述机身2，所述第一传动轴20的一端与所述驱动装置10连 接，所述第一传动轴20的另一端与所述第一支撑脚30连接，所述驱动装置10用于驱动所述第一传动轴20，所述第一传动轴20带动所述第一支撑脚30转动，所述第一支撑脚30的一端至另一端的连线与所述第一支撑脚30的第一转动轴线W1之间的夹角a1大于零，所述第一转动轴线W1与所述机身2的轴截面21s之间的夹角a2为锐角。通过上述方式，由于第一支撑脚30的第一转动轴线W1与机身2的轴截面21s之间的夹角a2为锐角，且所述第一支撑脚30的一端至另一端的连线与所述第一支撑脚30的第一转动轴线W1之间的夹角a1大于零，从而第一支撑脚30转动时，第一支撑脚30远离机身2的一端可靠近并收拢于机身2或者远离机身2，无人机100的使用范围广。另外，通过合理的设计，例如，增加第一支撑脚30的长度，和/或，调整所述第一支撑脚30的一端至另一端的连线与所述第一支撑脚30的第一转动轴线W1之间的夹角a1，可使得第一支撑脚30朝向机身2收起时，第一支撑脚30远离机身2的一端靠近并收拢于机身2，以及在第一支撑脚30打开时，第一支撑脚30远离机身2的一端远离机身2，从而第一支撑脚30收起时可收拢于机身2，从而减小对拍摄视野的遮挡，以及减小飞行阻力，第一支撑脚30打开以支撑无人机100停落在地面时，对机身2提供稳定的支撑。
需要说明的是，本申请的说明书及其附图中给出了本申请的较佳的实施例，但是，本申请可以通过许多不同的形式来实现，并不限于本说明书所描述的实施例，这些实施例不作为对本申请内容的额外限制，提供这些实施例的目的是使对本申请的公开内容的理解更加透彻全面。并且，上述各技术特征继续相互组合，形成未在上面列举的各种实施例，均视为本申请说明书记载的范围；进一步地，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，而所有这些改进和变换都应属于本申请所附权利要求的保护范围。
Claims (11)
- 一种无人机，其特征在于，包括：机身和起落架，所述起落架包括驱动装置、第一传动轴和第一支撑脚，所述驱动装置设置于所述机身，所述第一传动轴的一端与所述驱动装置连接，所述第一传动轴的另一端与所述第一支撑脚连接，所述驱动装置用于驱动所述第一传动轴，所述第一传动轴带动所述第一支撑脚转动，所述第一支撑脚的一端至另一端的连线与所述第一支撑脚的第一转动轴线之间的夹角大于零，所述第一转动轴线与所述机身的轴截面之间的夹角为锐角。
- 根据权利要求1所述的无人机，其特征在于，所述起落架还包括第二传动轴和第二支撑脚，所述第二传动轴的一端与所述驱动装置连接，所述第二传动轴的另一端与所述第二支撑脚连接，所述驱动装置用于驱动所述第二传动轴，所述第二传动轴带动所述第二支撑脚转动，所述第二支撑脚的一端至另一端的连线与所述第二支撑脚的第二转动轴线之间的夹角大于零，所述第二转动轴线与所述机身的轴截面之间的夹角为锐角。
- 根据权利要求2所述的无人机，其特征在于，所述驱动装置包括两个驱动单体，两个所述驱动单体均设置于所述机身，一所述驱动单体与所述第一传动轴的一端连接，另一所述驱动单体与所述第二传动轴的一端连接，一所述驱动单体用于驱动所述第一传动轴，另一所述驱动单体用于驱动所述第二传动轴。
- 根据权利要求3所述的无人机，其特征在于，所述驱动装置用于驱动所述第一传动轴沿着所述第一转动轴线转动，所述驱动装置用于驱动所述第二传动轴沿着所述第二转动轴线转动。
- 根据权利要求2所述的无人机，其特征在于，所述机身包括第一壁、第二壁和第三壁，沿所述机身的宽度方向，所述第二壁和第三壁连接于所述第一壁的两端；所述第一传动轴和第二传动轴设置于所述第一壁；所述第一传动轴带动所述第一支撑脚转动，所述第二传动轴带动所述第二支撑脚转动时，所述第一支撑脚远离所述第一传动轴的一端与所述第二支撑脚远离所述第二传动轴的一端的距离不大于预设值，所述预设值为所述第一壁沿所述机身的宽度方向的宽度。
- 根据权利要求5所述的无人机，其特征在于，所述机身的轴截面与所述机身的宽度方向垂直，所述第一传动轴和第二传动轴对称设置于所述机身的轴截面的两边。
- 根据权利要求6所述的无人机，其特征在于，所述机身还包括第四壁，所述第四壁分别与所述第一壁、第二壁和第三壁连接，所述第四壁、第一壁、第二壁和第三壁围合形成收容腔；所述第一壁朝向所述收容腔凹陷形成凹部，所述第一传动轴和第二传动轴设置于所述凹部。
- 根据权利要求7所述的无人机，其特征在于，所述驱动装置用于驱动所述第一传动轴环绕第一方向和第二方向转动，其中，所述第一方向和第二方向之间的夹角为锐角，所述第一方向与所述机身的轴截面垂直，所述第二方向与所述第一转动轴线重合；所述驱动装置用于驱动所述第二传动轴环绕第三方向和第四方向转动，其中，所述第三方向和第四方向之间的夹角为锐角，所述第三方向与所述机身的轴截面垂直，所述第四方向与所述第二转动轴线重合。
- 根据权利要求8所述的无人机，其特征在于，所述驱动装置包括驱动组件和同步轮，所述驱动组件设置于所述机身，所述驱动组件与所述同步轮连接，所述驱动组件用于驱动所述同步轮转动；所述同步轮的一端与所述第一传动轴的一端连接，所述驱动组件驱动所述同步轮转动时，所述同步轮带动所述第一传动轴环绕所述第一方向和第二方向转动；所述同步轮的另一端与所述第二传动轴的一端连接，所述驱动组件驱动所述同步轮转动时，所述同步轮带动所述第二传动轴环绕所述第三方向和第四方向转动。
- 根据权利要求9所述的无人机，其特征在于，所述驱动组件包括驱动单元、主动轮和同步带，所述主动轮与所述驱动单元转动连接，所述同步带套设于所述主动轮和同步轮，所述驱动单元用于驱动所述主动轮转动，所述凹部靠近所述第四壁设置，所述驱动单元设置于所述第四壁。
- 根据权利要求7所述的无人机，其特征在于，所述第一支撑脚包括第一连接臂和第二连接臂，所述第一连接臂的一端与所述第一传动轴的另一端连接，所述第一连接臂的另一端与所述第二连接臂的一端连接，所述第一连接臂与所述第二连接臂之间的夹角为钝角；所述第二连接臂的另一端用于与所述第一壁抵接，所述第二连接臂的另一端与所述第一壁抵接时，沿与所述第一壁垂直的方向，所述第一连接臂的另一端与所述第一壁之间具有间隙。
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