WO2023035236A1

WO2023035236A1 - Frame for unmanned aerial vehicle, unmanned aerial vehicle, and kit

Info

Publication number: WO2023035236A1
Application number: PCT/CN2021/117755
Authority: WO
Inventors: 舒展; 黄彦鑫
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-09-10
Filing date: 2021-09-10
Publication date: 2023-03-16

Abstract

A frame for an unmanned aerial vehicle, an unmanned aerial vehicle, and a kit. The frame for an unmanned aerial vehicle comprises a body and an engine arm, which is connected to the body, wherein the engine arm is used to bear a power assembly (30) for providing flight power, and the body is foldable.

Description

Racks, UAVs and kits for UAVs

technical field

The present application relates to the technical field of unmanned aerial vehicles, in particular to a frame for unmanned aerial vehicles, unmanned aerial vehicles and kits.

Background technique

With the gradual development of unmanned aerial vehicles and the gradual expansion of their application fields, the demand for large payload unmanned aerial vehicles is becoming stronger and stronger. Taking the plant protection UAV as an example, the load of the plant protection UAV is related to the liquid storage tank it carries. In order to meet the operation requirements of the plant protection UAV, the liquid storage tank needs to have a large liquid storage capacity, that is, a large volume storage tank is required. liquid tank.

However, the "large payload" of the UAV means that the size of the UAV will be large. For some types of unmanned aerial vehicles (such as plant protection drones), there is often a need to carry, transfer, or store, which requires that the size of the unmanned aerial vehicle be relatively small in the above process. In order to reduce the size of the unmanned aerial vehicle under certain circumstances while increasing the load of the unmanned aerial vehicle, the existing unmanned aerial vehicle is designed in a foldable form.

However, in the prior art, the folding method of the unmanned aerial vehicle is: folding the arm of the unmanned aerial vehicle relative to the fuselage; and/or folding the landing gear of the unmanned aerial vehicle relative to the fuselage, and using The folding ratio of the above-mentioned folding method is not high, and the size of the folded unmanned aerial vehicle is still relatively large, which cannot meet the requirements for the portability of the unmanned aerial vehicle.

Contents of the invention

The embodiment of the present application proposes a frame for an unmanned aerial vehicle, an unmanned aerial vehicle and a kit.

In a first aspect, the embodiment of the present application provides a rack for an unmanned aerial vehicle, including a body and an arm connected to the body, the arm is used to carry a power assembly for providing flight power, wherein the body is foldable.

In a second aspect, the embodiment of the present application provides an unmanned aerial vehicle, including a frame and a power assembly, the frame is the above-mentioned frame for the unmanned aerial vehicle, and the power assembly is installed on the arm of the frame.

In the third aspect, the embodiment of the present application provides a kit for assembling an unmanned aerial vehicle, including a frame and a power assembly, the frame is the above-mentioned frame for the unmanned aerial vehicle, and the power assembly is used to install On the arm of the frame, the power assembly is used to provide flight power.

The frame for an unmanned aerial vehicle according to the embodiment of the present application includes a body and an arm connected to the body, and the arm is used to carry a power assembly for providing flight power. Wherein, the body is foldable. Since the body of the unmanned aerial vehicle can be folded, the size of the folded body is reduced, which is conducive to improving the folding ratio of the unmanned aerial vehicle, thereby reducing the overall size of the folded unmanned aerial vehicle and meeting the portability requirements.

Description of drawings

Fig. 1 is a schematic structural view of an unmanned aerial vehicle according to an embodiment of the present application;

Fig. 2 is a schematic diagram of an exploded structure of the frame and mounted components of the unmanned aerial vehicle of Fig. 1;

Fig. 3 is a schematic structural view of a rack for an unmanned aerial vehicle in an unfolded state according to an embodiment of the present application;

Fig. 4 is a partially enlarged schematic diagram of the frame of Fig. 3;

Fig. 5 is a schematic diagram of the positional relationship between each rotating shaft of the frame for the unmanned aerial vehicle of Fig. 3 and the corresponding pitch axis, roll axis and yaw axis of the unmanned aerial vehicle;

Fig. 6 is a schematic structural view of the frame for the unmanned aerial vehicle of Fig. 3 when it is in a folded state;

Fig. 7 is a schematic structural view of the frame for the unmanned aerial vehicle in Fig. 6 after the power assembly is removed;

Fig. 8 is a schematic top view of the frame for the unmanned aerial vehicle of Fig. 7;

FIG. 9 is a schematic bottom view of the rack for the unmanned aerial vehicle of FIG. 7 .

Explanation of reference signs:

11. Accommodating space; 12. First member; 13. Second member; 14. First rotating shaft; 15. Second rotating shaft; 16. Reinforcing member; 161. Recessed part; 21. First arm; 22. Second Two arms; 30, power assembly; 40, carrying parts; 50, landing frame; 61, pin shaft; 62, limit part; 63, lock nut; 101, pitch axis; 102, roll axis; 103, yaw voyage axis.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Apparently, the described embodiment is one embodiment of the present application, but not all of the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the application shall have the usual meanings understood by those skilled in the art to which the application belongs. If the descriptions such as "first" and "second" are involved in the whole text, the descriptions such as "first" and "second" are only used to distinguish similar objects, and cannot be understood as indicating or implying their relative importance, sequence, etc. The order or the number of technical features indicated by implicit indication should be understood as "first", "second" and other described data can be interchanged under appropriate circumstances. If "and/or" appears throughout the text, it means to include three parallel plans, taking "A and/or B" as an example, including plan A, or plan B, or a plan that satisfies both A and B. In addition, for ease of description, spatially relative terms, such as "above", "below", "top", "bottom", etc., may be used herein to describe only one device or feature as shown in the figures in relation to other devices or features. The spatial relationship of features should be understood to also encompass different orientations in use or operation than those shown in the figures.

An embodiment of the present application provides a rack for an unmanned aerial vehicle, wherein there may be various types of the unmanned aerial vehicle. Divided by the application fields of unmanned aerial vehicles, which may include but not limited to plant protection drones, logistics drones, fire-fighting drones, etc.; divided by the configuration of unmanned aerial vehicles, which may include but not limited to four-axis unmanned aerial vehicles machine, six-axis UAV, eight-axis UAV, etc.

FIG. 1 shows a schematic structural view of an unmanned aerial vehicle according to an embodiment of the present application. The unmanned aerial vehicle is specifically a six-axis unmanned aerial vehicle, which includes a frame and a carrying part 40 arranged on the frame. FIG. 2 shows a schematic diagram of an exploded structure of the frame and the carrying part 40 of the unmanned aerial vehicle of FIG. 1 , that is, a schematic view of the structure after the carrying part 40 is removed from the frame.

Fig. 3 shows a schematic structural view of an unmanned aerial vehicle rack in an unfolded state according to an embodiment of the present application, wherein "the rack is in an unfolded state" means that the body of the rack is not folded, and the arms And the state that the landing frame 50 is not folded relative to the main body. FIG. 4 shows a partially enlarged schematic diagram of the rack in FIG. 3 , specifically, the main body of the rack and its connecting parts with the arms and the landing gear 50 are enlarged. FIG. 5 shows a schematic diagram of the positional relationship between each rotation axis of the rack in FIG. 3 and the corresponding pitch axis, roll axis and yaw axis of the unmanned aerial vehicle.

Fig. 6 shows a schematic diagram of the structure of the frame in Fig. 3 when it is in a folded state, wherein "the frame is in a folded state" refers to the state in which the body itself, the arms and the landing gear 50 of the frame are folded relative to the body. state. FIG. 7 shows a schematic structural view of the rack in the folded state in FIG. 6 without the power assembly 30 . FIG. 8 shows a schematic top view of the frame shown in FIG. 7 in a folded state with the power assembly 30 removed. FIG. 9 shows a schematic bottom view of the frame shown in FIG. 7 in a folded state with the power assembly 30 removed.

As shown in Figures 1 to 3 and Figure 6, in some embodiments of the present application, a frame for an unmanned aerial vehicle includes a body and an arm connected to the body, and the arm is used to carry a power assembly that provides flight power 30. Wherein, the body is foldable. Since the body of the unmanned aerial vehicle can be folded, the size of the folded body is reduced, which is conducive to improving the folding ratio of the unmanned aerial vehicle, thereby reducing the overall size of the folded unmanned aerial vehicle and meeting the portability requirements.

It should be noted that the folding manner of the main body of the rack is not limited, and may be any manner that can realize folding and have a relatively small folded size, which will be described with examples below.

As shown in FIGS. 1 to 3 and FIGS. 6 to 9 , in some embodiments of the present application, the body includes a frame structure, and the frame structure has an unfolded state and a folded state. When the frame structure is in an unfolded state, an accommodating space 11 is formed in the frame structure. The accommodating space 11 is used for accommodating the carrying parts 40 of the UAV. The carrying part 40 can be detachably arranged in the accommodating space 11 .

When the unmanned aerial vehicle is operating, the frame structure of the frame of the unmanned aerial vehicle is in an unfolded state. At this time, the carrying part 40 is assembled into the accommodation space 11 formed in the frame structure. The specific assembly method of the carrying part 40 can be various For example, the mounting component 40 is inserted into the accommodation space 11 and detachably connected to the frame structure through connectors such as clips and sockets; Structures such as hooks are hung on the frame structure.

When the unmanned aerial vehicle needs to be carried, transported or stored, the carrying part 40 is first disassembled from the frame structure, and then the frame structure is folded so that it is finally in a folded state. Since the frame structure is hollow, the folded size of the frame structure can be relatively small after reasonable design of the folding method, thereby further reducing the folded size of the rack and improving portability. In addition, the carrying part 40 can be removed from the frame, that is, the carrying part 40 and the frame can be carried, transported or stored as two independent parts, which is more flexible and convenient.

As shown in FIG. 5 , the UAV has a pitch axis 101 , a roll axis 102 and a yaw axis 103 . In some embodiments of the present application, the pitch axis 101, the roll axis 102 and the yaw axis 103 intersect at one point, and this point is roughly located at the center of the body of the rack, and the body of the rack is roughly arranged on the pitch axis 101 and the plane formed by the roll axis 102. It should be noted that the frame structure of the main body can be roughly set in the plane formed by the pitch axis 101 and the roll axis 102, or can be set roughly in other planes parallel to the plane formed by the pitch axis 101 and the roll axis 102. , and may even be roughly arranged in other planes intersecting the plane formed by the pitch axis 101 and the roll axis 102 .

As shown in FIGS. 3 to 8 , in some embodiments of the present application, the folding direction of the frame structure is parallel to the plane formed by the pitch axis 101 and the roll axis 102 of the UAV. Wherein, the "folding direction" refers to the direction in which the overall size of the frame structure is compressed after being folded. Therefore, the above folding method enables the frame structure to be compressed along a direction parallel to the plane formed by the pitch axis 101 and the roll axis 102 of the UAV after being folded. Since the machine arm of the unmanned aerial vehicle is generally arranged on the plane formed by the pitch axis 101 and the roll axis 102 or in a plane substantially parallel to the plane formed by the pitch axis 101 and the roll axis 102, if the machine arm is relative to the frame The structure can be folded, and the above-mentioned folding method combined with the frame structure is more conducive to improving the overall folding ratio of the UAV, so that the size of the folded UAV can be as small as possible.

It should be noted that the folding direction of the frame structure is not limited to one direction. When the frame structure is folded, some structures in the frame structure may be folded along one direction while other structures are folded along another direction. Condition. Of course, those skilled in the art can understand that the folding method of the frame structure is not limited thereto, and in other embodiments, the folding of the frame structure can also be carried out along the direction intersecting the plane formed by the pitch axis 101 and the roll axis 102 , for example, the direction perpendicular to the plane formed by the pitch axis 101 and the roll axis 102; or, the frame structure is divided into multiple parts, and the two adjacent parts are rotationally connected, and the rotation axis is parallel to the pitch axis 101 and the roll axis. The plane formed by the axis 102 enables each part of the frame structure to be folded relative to the adjacent part.

As shown in FIGS. 1 to 9 , in some embodiments of the present application, the frame structure includes two first members 12 and at least one set of second members 13 . Wherein, two first components 12 are arranged at intervals, and at least one group of second components 13 is connected between the two first components 12 . The second member 13 can be one group, two groups or more than three groups. Each set of second members 13 includes a plurality of second members 13 . A plurality of second members 13 are arranged in sequence, two adjacent second members 13 are rotatably connected, and the second member 13 close to the first member 12 is rotatably connected to the first member 12 . Preferably, in the specific embodiment shown in the figure, the plurality of second members 13 in each group of second members 13 are connected end to end, of course, the connection method of the plurality of second members 13 is not limited thereto, in other implementations In the mode, other sequentially arranged connection modes may also be used. For example, the end of a certain second member 13 is connected to the middle of another adjacent second member 13 ; or, the middle of a certain second member 13 is connected to the middle of another adjacent second member 13 .

Further, when the frame structure is in the unfolded state, the two first components 12 and at least one group of second components 13 jointly enclose the accommodating space 11 . Due to the existence of at least one set of second members 13 , it is possible to keep a certain distance between two first members 12 . Wherein, a plurality of second members 13 in each group of second members 13 can be folded with each other and/or the second member 13 connected to the first member 12 in each group of second members 13 can be folded relative to the first member 12, In order to make the two first members 12 close to each other, so that the frame structure is in a folded state. That is to say, by folding a plurality of second members 13 with each other and/or folding the second members 13 relative to the first members 12, the overall size of each group of second members 13 is compressed, so that the two first members 12 They can be moved closer to each other, thereby reducing the size of the frame structure along the direction in which the two first members 12 are arranged, the folding operation is simple, and the folding effect is better.

As shown in Figures 1 to 9, in some embodiments of the present application, each set of second members 13 includes two second members 13, and one end of the two second members 13 is rotatable with the two first members 12 respectively. connected, the other ends of the two second members 13 are rotatably connected to each other. When the frame structure is in the unfolded state, the two second members 13 can be arranged roughly in a straight line or at an angle. A member 12 (as shown in FIGS. 1 to 5 ) may also be recessed in two first members 12 , that is, located between the two first members 12 .

Preferably, when the frame structure needs to be folded, the two second members 13 in each set of second members 13 are rotated in a direction toward the accommodating space 11 from the unfolded position. During this process, the two second members 13 are folded with each other, and each second member 13 is also folded with the corresponding first member 12 . After being folded, the two second members 13 in each group of second members 13 are located between the two first members 12, so that the overall size of the folded frame structure along the extending direction of the first members 12 can be as small as possible. .

Of course, in other embodiments not shown in the figure, when the frame structure needs to be folded, the two second members 13 in each set of second members 13 can also rotate in a direction away from the accommodating space 11, After being folded, the two second members 13 and the two first members 12 in each group of second members 13 are roughly arranged along a straight line or a broken line, that is to say, the overall frame structure is elongated at this time, and the reduction can also be realized. The purpose of the folded size of the frame structure.

It should be noted that each group of second members 13 includes two second members 13 , the frame structure can be folded with a small number of second members 13 and the folding effect can be guaranteed, the structure is simple, and it is convenient for manufacturing. Of course, in other implementations not shown in the figure, each set of second members 13 may also include other numbers of second members 13 . For example, in some embodiments, each set of second members 13 may only include one second member 13, and the two ends of the second member 13 are respectively rotatably connected to two first members 12; or, in some embodiments, Each set of second members 13 includes three second members 13, the ends of the second members 13 on both sides are respectively connected to the two first members 12 in rotation, and the second member 13 in the middle is connected to the other two second members 13. The other end is rotatably connected. It should be understood that the number of second components 13 included in each set of second components 13 can be adjusted according to actual design requirements, which is not limited here.

As shown in FIGS. 3 to 9 , in some embodiments of the present application, in each group of second members 13, two second members 13 and corresponding first members 12 can rotate around their respective first rotation axes 14 ( axis of rotation) relative rotation. Wherein, the two first rotating shafts 14 are parallel to each other. That is to say, the rotating planes of the two second members 13 when rotating are substantially overlapped or parallel, which makes the rotating process easier. Preferably, the first rotating shaft 14 passes through the corresponding second member 13 and the first member 12, that is, the first member 12 is directly hinged to the second member 13, and the rotational connection method is simpler. Of course, in other embodiments, the first member 12 and the second member 13 may be connected through an intermediate connecting piece. distance. For example, the first member 12 and the second member 13 are connected through an eccentric cam mechanism. It should be understood that the rotational connection between the first member 12 and the second member 13 can be adjusted according to design requirements, and is not limited here. Further, in some embodiments of the present application, in each set of second members 13 , two second members 13 can relatively rotate around the second rotating shaft 15 (rotation axis). Wherein, the second rotating shaft 15 and the first rotating shaft 14 are parallel to each other. When the two second members 13 are respectively rotated and folded relative to the first member 12, the rotation and folding between the two second members 13 will also be carried out accordingly, that is, around the two first rotating shafts 14 and the second rotating shaft 15 Rotation can be carried out at the same time, so that the rotation method is simpler. Preferably, the second rotating shaft 15 passes through each second member 13, that is, the two second members 13 are directly hinged, and the rotational connection method is simpler. Certainly, in other embodiments, the two second members 13 may be connected through an intermediate connecting piece, and at this time, there may be a certain distance between the second rotating shaft 15 and at least one second member 13 . For example, the two second members 13 are connected through an eccentric cam mechanism. It should be understood that the rotational connection between the two second members 13 can be adjusted according to design requirements, and is not limited here.

Preferably, both the first rotation axis 14 and the second rotation axis 15 are parallel to the yaw axis 103 of the UAV. Therefore, when the two second members 13 are rotated and folded, the rotation plane is roughly overlapped or parallel to the plane formed by the pitch axis 101 and the roll axis 102 of the unmanned aerial vehicle, so as to facilitate the realization of the frame structure along the direction parallel to the plane. fold. Of course, in other embodiments, the first rotation axis 14 and the second rotation axis 15 may also form a certain angle with the yaw axis 103 of the UAV. In addition, it should be noted that, in other embodiments not shown in the figure, for each group of second members 13, there may also be two first rotation axes 14 that are not parallel to each other or two first rotation axes 14 that are parallel to each other but not parallel to each other. When the second rotating shaft 15 is not parallel to the two first rotating shafts 14, during the rotation process, the first member 12 and the second member 13 will undergo more complicated position changes, but the reasonable design of the rotating structure still The purpose of folding and compressing the two first members 12 and at least one group of second members 13 can be achieved.

As shown in FIG. 5 , in some embodiments of the present application, the two first rotating shafts 14 are arranged symmetrically with respect to the first axis of symmetry passing through the second rotating shaft 15 . Wherein, “the first axis of symmetry passing through the second axis of rotation 15 ” means that the first axis of symmetry intersects the second axis of rotation 15 . The two first rotating shafts 14 are arranged symmetrically on both sides of the second rotating shaft 15 , and the distances between the two first rotating shafts 14 and the second rotating shaft 15 are equal. When the first member 12 and the second member 13 are hinged between the two second members 13, the lengths of the two second members 13 between the corresponding first rotating shaft 14 and the second rotating shaft 15 are equal, so that After folding, the two second members 13 can also be distributed symmetrically with respect to the first axis of symmetry, so that the folded frame structure is more regular and beautiful. Preferably, the first axis of symmetry is the pitch axis 101 or roll axis 102 of the UAV.

As shown in Figures 6 to 9, in some embodiments of the present application, when the frame structure is in the folded state, the second member 13 and the first member 12 are parallel to each other, which can minimize The size of the direction in which the first members 12 are arranged. Wherein, the first member 12 and the corresponding second member 13 may be in close contact, or may have a small gap. In addition, the folded two second members 13 are preferably parallel to the plane formed by the pitch axis 101 and the roll axis 102 . In other embodiments, when the frame structure is in the folded state, the second member 13 may have a certain angle with the corresponding first member 12 . It should be understood that when the frame structure is in the folded state, the second member 13 and the corresponding first member 12 may be parallel or non-parallel, which is not limited here.

Further, as shown in FIGS. 1 to 9 , in some embodiments, the frame structure includes two sets of second members 13 , and the two sets of second members 13 are arranged at intervals. The two groups of second members 13 are arranged symmetrically with respect to the second axis of symmetry, and the structure is simpler, and the two groups of second members 13 are also folded in the same way (the two groups of second members 13 are all along the direction toward or away from the accommodating space 11 The direction of rotation), the operation is more convenient. Preferably, the second axis of symmetry is the pitch axis 101 or the roll axis 102 of the UAV.

As shown in Figure 5, Figure 8 and Figure 9, in some embodiments of the present application, the pitch axis 101 and the roll axis 102 of the unmanned aerial vehicle form a plane, when the frame structure is in the folded state, the folded two groups The projections of the second components 13 in the plane are spaced or attached to each other, so as to avoid interference between two groups of second components 13 . In addition, the second members 13 in the folded two groups of second members 13 may be located in the same plane or in different planes. In other embodiments not shown in the figure, when the frame structure is in the folded state, the projections of the folded two groups of second members 13 on the plane may also at least partially overlap, which can reduce the The dimension in the direction of the pitch axis 101 or the roll axis 102 of the human aircraft.

As shown in FIGS. 2 to 9 , in some embodiments of the present application, when the frame structure is in the unfolded state and/or the folded state, the two first members 12 are parallel to each other. During the switching process of the frame structure between the unfolded state and the folded state, the two first members 12 always perform a translational movement, and at least one group of second members 13 is folded between the two first members 12, which can ensure The size of the folded frame structure is as small as possible, and the folding process is relatively simple. Preferably, the plane formed by the two first members 12 substantially overlaps or is parallel to the plane formed by the pitch axis 101 and the roll axis 102 .

As shown in Figures 3 to 5 and Figures 7 to 9, in some embodiments of the present application, in each set of second members 13, the rotation planes of multiple second members 13 are staggered up and down, that is to say, multiple The planes where the second member 13 is in the unfolded state and the folded state are all staggered up and down, which can improve space utilization and help reduce the size of the folded frame structure.

As shown in FIGS. 1 to 9 , in some embodiments of the present application, the arms include two pairs of first arms 21 . The two pairs of first machine arms 21 are respectively located on opposite sides of the main body and are respectively rotatably connected to the main body. In some embodiments, each pair of first arms 21 can be rotated backwards to be in an unfolded state. At this time, each pair of first arms 21 is radially deployed relative to the body; each pair of first arms 21 can face each other. Rotate to be in the folded state, at this time each pair of first machine arms 21 is stacked up and down, which is beneficial to reduce the overall size of the folded machine frame.

Further, in some embodiments, when each pair of first arms 21 is in an unfolded state, each pair of first arms 21 is arranged symmetrically with respect to the third axis of symmetry, so as to ensure flight stability. Preferably, the third axis of symmetry is the pitch axis 101 or the roll axis 102 of the UAV. In addition, the rotation surfaces of each pair of first arms 21 are staggered up and down, which can prevent each pair of first arms 21 from interfering with each other when they rotate. In the specific embodiment shown in the figure, each first machine arm 21 has a mounting lug that protrudes toward the outside, and the power assembly 30 is mounted on the mounting lug, so as to prevent the first machine arm 21 from rotating during the rotation process. The power assembly 30 interferes with the frame structure, other first arms 21 and other structures.

In particular, each first machine arm 21 can rotate around a third rotation axis relative to the main body. In some embodiments, the third axis of rotation coincides with the corresponding first axis of rotation 14 . That is to say, the first arm 21 and the second member 13 rotate and fold relative to the first member 12 around the same rotation axis. Further, for the first machine arm 21 and the second member 13 that rotate around the same rotation axis, the rotation surfaces of the first machine arm 21 and the second member 13 are staggered up and down, thereby improving the space utilization rate and helping to reduce folding The dimensions of the rear rack.

In the specific embodiment shown in Figure 4, the first machine arm 21 and the second member 13 are provided with connecting lugs, the first member 12 is provided with two accommodating grooves distributed up and down, the first machine arm The connecting lugs on the arm 21 and the connecting lugs on the second member 13 are respectively inserted into the two accommodating grooves, and then rotatably connected through the connecting structure. Reasonable design of the above-mentioned connecting lugs and accommodating grooves can realize that the first member 12 and the first machine arm 21 are parallel to each other and/or the first member 12 and the second member 13 are parallel to each other after folding.

In some embodiments, as shown in FIG. 4 , the connecting structure includes a pin shaft 61 , a stopper 62 and a lock nut 63 , and the pin shaft 61 passes through the first member 12 , the connecting lug of the first machine arm 21 and On the connecting lug of the second member 13. One end of the pin shaft 61 is provided with a limiting portion 62 , the diameter of the limiting portion 62 is slightly larger than that of the pin shaft 61 , and the limiting portion 62 cooperates with the outer surface of the first member 12 to prevent the pin shaft 61 from falling off. The other end of the pin shaft 61 is connected with a locking nut 63 . When the lock nut 63 is loosened, the accommodation groove wall of the first member 12 and the connecting lug are not clamped, and the first machine arm 21 and the second member 13 can rotate relative to the first member 12; When the locking nut 63 is tightened, the accommodation groove wall of the first component 12 and the connecting lug are clamped, and the first machine arm 21 , the second component 13 and the first component 12 are relatively fixed.

It should be noted that, in order to facilitate the operation of the locking nut 63, the locking nut 63 may be designed in the form of a handle for easy rotation operation. In addition, in order to prevent the locking nut 63 from loosening due to the vibration of the unmanned aerial vehicle during flight, a plurality of locking nuts 63 may be stacked and locked together. It should be understood that the specific form of the connection structure is not limited thereto, and in other embodiments not shown in the figure, the connection structure may also adopt other structures that can be selectively locked or allowed to rotate.

As shown in FIGS. 1 to 9 , in some embodiments of the present application, the arms include a pair of second arms 22 . A pair of second machine arms 22 are respectively rotatably connected with two groups of second members 13 . When the frame structure is in the unfolded state, a pair of second arms 22 are deployed on opposite sides of the frame structure. Further, a pair of second machine arms 22 are located on two sides of the frame structure different from the first machine arms 21 . Preferably, when the frame structure is in the unfolded state, a pair of second arms 22 are arranged along the direction of the pitch axis 101 or the roll axis 102 of the UAV.

In particular, the two second members 13 both rotate in a direction toward the accommodating space 11 when they are folded. When two second members 13 in each set of second members 13 are folded, the corresponding second machine arm 22 is driven to move inwardly, and the second machine arm 22 can rotate relative to at least one second member 13 to be in the folded state. state. The second arm 22 is able to move in its folding direction along with the folding of the two second members 13 . The second machine arm 22 is folded relative to the at least one second member 13 and finally at least partially accommodated between the two first members 12 , so that the folded machine frame as a whole is more beautiful and smaller in size. In other embodiments, the second arm 22 can also be folded in other ways relative to the body, for example, the second arm 22 is folded up or down to fit the top or bottom of the body. It should be understood that the folding manner of the second machine arm 22 can be adjusted according to design requirements, which is not limited here.

As shown in FIGS. 3 to 9 , in some embodiments, each second machine arm 22 can rotate around a fourth rotation axis relative to a corresponding set of second members 13 . In some embodiments, the fourth axis of rotation coincides with the second axis of rotation 15 . That is to say, the rotation of the second machine arm 22 relative to the second member 13 and the rotation between the two second members 13 are performed around the same rotation axis. In the specific embodiment shown in the figure, the two second members 13 are provided with connecting lugs, and the second machine arm 22 is provided with two accommodating grooves distributed up and down. The connection of the two second members 13 The lugs are respectively inserted into the two accommodating grooves, and then rotatably connected through the connection structure. The specific form of the connection structure is the same as the aforementioned connection structure, and will not be repeated here.

As shown in FIGS. 6 to 9 , further, when the frame structure is in the folded state, the second machine arm 22 and the second member 13 are parallel to each other, and/or, the second machine arm 22 and the first member 12 are parallel to each other, In this way, the size of the folded frame structure along the distribution direction of the two first members 12 can be reduced as much as possible. As for the mutual parallelism between the second machine arm 22 and the second member 13 , and the mutual parallelism between the second machine arm 22 and the first member 12 , it can also be realized by rationally designing the above-mentioned connecting lugs and accommodating grooves.

In the specific embodiment shown in Figures 1 to 9, based on the special configuration of the six-axis drone, the body of the frame of the unmanned aerial vehicle is folded, and the arm and the body are folded, and the folding ratio is high. Good portability. Specifically, in some embodiments, the frame structure of the body of the rack is composed of two first members 12 and four second members 13 (divided into two groups, each group including two second members 13), wherein, The two first members 12 have the same size, the four second members 13 have the same size (the size can also be different in other embodiments), and the two first members 12 and the four second members 13 are head to tail in the manner shown in the figure. After being hinged successively, a hexagonal mechanism is formed. The hexagonal mechanism can be folded along the direction of the roll axis 102 , and the folded first member 12 is in close contact with the second member 13 or has a small gap.

One machine arm is respectively connected to the six corners of the above-mentioned hexagonal mechanism, that is, two pairs of first machine arms 21 and one pair of second machine arms 22 . Each machine arm is articulated with the frame structure. Wherein, the two pairs of first machine arms 21 can be parallel to the first member 12 after being rotated and folded, and are in close contact with the frame structure or have a small gap. The pair of second machine arms 22 moves to be completely accommodated in the space between the two first components 12 as the second component 13 is folded. In addition, a power assembly 30 is installed on the machine arm, and the power assembly 30 includes a rotor and a motor for driving the rotor to rotate. After the two pairs of first machine arms 21 and one pair of second machine arms 22 are folded, the heights of the power components 30 installed on each machine arm are the same, thereby ensuring the flight stability of the UAV.

It should be noted that the frame structure is not limited to the above-mentioned forms, and in other embodiments not shown in the figure, the frame structure may include two first members 12 and at least one third member, and the two ends of the third member are respectively connected to The two first members 12 are rotatably connected. When the frame structure is in the unfolded state, the two first members 12 and at least one third member jointly enclose the accommodation space 11, wherein the third member can be relatively opposite to the two first members. One of the members 12 is folded so that the two first members 12 can be brought closer to each other so that the frame structure is in a folded state. Preferably, there are two third members, and the two third members are arranged at intervals. The two third members and the two first members 12 together form a parallelogram. It should be understood that the numbers of the first component 12 and the third component can be adjusted according to design requirements, and are not limited here.

As shown in FIGS. 2 to 5 , 7 and 8 , in some embodiments of the present application, the frame structure further includes at least one reinforcing member 16 . When the frame structure is in the unfolded state, the two ends of the reinforcing member 16 are respectively connected with the two first members 12, so as to improve the rigidity of the frame structure after unfolding, thereby ensuring the reliability of the UAV. When the frame structure needs to be folded, at least one end of the reinforcing member 16 is disconnected from the corresponding first member 12, so that the two first members 12 can move closer to each other, and the reinforcing member 16 is prevented from hindering the first member 12, the second Folding of member 13.

Further, in some embodiments, the first end of the reinforcement member 16 is rotatably connected to one first member 12 , and the second end of the reinforcement member 16 is detachably connected to the other first member 12 . When the frame structure needs to be folded, the second end of the reinforcing member 16 is disconnected from the corresponding first member 12 , and the reinforcing member 16 is rotated to a position that does not affect the folding of the first member 12 and the second member 13 . Preferably, after the second end of the reinforcement member 16 is disconnected from the corresponding first member 12 , the reinforcement member 16 is rotated so that the first members 12 corresponding to the first end of the reinforcement member 16 are stacked up and down. Since the first member 12 performs translational movement during the folding process, the reinforcing member 16 is rotated to be stacked up and down with the first member 12, no matter how the first member 12 and the second member 13 are folded, they will not touch the reinforcing member 16. bump.

It should be noted that, the detachable end of the reinforcing member 16 can be connected by using the aforementioned connection structure (ie including the pin shaft 61 , the limiting portion 62 and the locking nut 63 ). For example, the end of the reinforcing member 16 has an open slot, which can be locked on the pin shaft 61 , and the reinforcing member 16 and the first member 12 can be compressed or loosened by turning the locking nut 63 . In addition, one end of the reinforcing member 16 that is rotatably connected can also be connected by using the above connection structure. After the reinforcement member 16 is rotated to be stacked up and down with the first member 12, the free end of the reinforcement member 16 can be fixed with the first member 12 through a structure such as snap-fitting, or it can not be connected and fixed. The lock nut 63 is locked.

In particular, as shown in FIG. 3 to FIG. 5 and FIG. 7 , there are two reinforcing members 16 , and the first ends of the two reinforcing members 16 are respectively rotatably connected to different first members 12 . Due to the influence of factors such as the size and location of the two reinforcing members 16, when the two reinforcing members 16 are rotating, it is possible that the two reinforcing members 16 will meet at a certain period of time or at a certain moment. Therefore, at least one reinforcing member 16 is provided with an escape portion near its second end, so as to prevent the two reinforcing members 16 from interfering when rotating.

Specifically, in some embodiments, a portion near the second end of the reinforcement member 16 is provided with a concave portion 161 that is concave in a direction perpendicular to the rotation surface of the reinforcement member 16 , and the avoiding portion includes the concave portion 161 . When the two reinforcement members 16 are rotated to meet, the recess 161 can allow the passage of the other reinforcement member 16, thereby preventing the two reinforcement members 16 from interfering. Preferably, as shown in FIG. 3 , recessed portions 161 are provided on the two reinforcing members 16 , and the directions of the recessed portions 161 on the two reinforcing members 16 are opposite. When the two reinforcing members 16 are rotated to meet each other, the concave portions 161 on the two reinforcing members 16 face each other, thereby further preventing the two reinforcing members 16 from touching and interfering.

In the specific embodiment shown in FIG. 4 , the rotation planes of the two reinforcement members 16 coincide, and the rotation planes are parallel to the plane formed by the pitch axis 101 and the roll axis 102 . The reinforcing member 16 is thicker near its first end than near its second end, thereby forming a concave portion 161 at the second end of the reinforcing member 16 . When the two reinforcing members 16 are rotated to meet each other, the two concave portions 161 face each other with a certain gap therebetween, so that the two reinforcing members 16 will not interfere.

In addition, it should be noted that the arrangement manner between the reinforcement member 16 and the two first members 12 is not limited to the above manner. In other embodiments not shown in the figures, the two ends of the reinforcement member 16 can be detachably connected to the two first members 12 respectively, so that the two ends of the reinforcement member 16 can be disconnected from the corresponding first members 12 to The reinforcing member 16 is removed.

As shown in Figures 1 to 5, in some embodiments of the present application, when the frame structure is in the unfolded state, at least one reinforcement member 16 divides the accommodation space 11 into a plurality of sub-accommodation spaces, and the plurality of sub-accommodation spaces use It accommodates a plurality of carrying parts 40 of the unmanned aerial vehicle. The onboard component 40 includes payload and/or flight functionality. The load includes at least one of a liquid storage tank, a spraying device, a cargo box, a cloud platform, a photographing device, and a measuring device; and/or, the flight function device includes at least one of a battery, a controller, and an electronic governor. It should be noted that the plurality of mounting components 40 accommodated in the plurality of sub-accommodating spaces may be the same or different. For example, in the specific embodiment shown in the figure, there are two reinforcing members 16 , and the two reinforcing members 16 divide the accommodating space 11 into three sub-accommodating spaces for accommodating three mounting components 40 . Wherein, the carrying part 40 located in the middle is a liquid storage tank or a carrying case, and the carrying parts 40 located on both sides are respectively a battery and a control module including at least a controller.

As shown in FIGS. 1 to 9 , in some embodiments of the present application, the frame further includes a landing frame 50 , and the landing frame 50 is rotatably connected to the main body. The landing frame 50 can be rotated away from the main body to be in an unfolded state, and the landing frame 50 can be rotated toward the main body to be in a folded state. Further, when the landing frame 50 is in the folded state, the landing frame 50 is attached to the bottom surface of the body, thereby further reducing the size of the frame along the yaw axis 103. Preferably, there are two landing gears 50, and the two landing gears 50 are respectively rotatably connected to the two first members 12, and the two landing gears 50 can be rotated backwards to be in an unfolded state, and the two landing gears 50 can be rotated toward each other to is collapsed. Wherein, the landing frame 50 can be rotatably connected with the first member 12 through the aforementioned connection structure, and the specific structure of the connection structure will not be repeated here. Through the folding of the above-mentioned landing frame 50, combined with the folding of the body and arms of the UAV, the frame can be roughly folded into a cuboid, thereby further increasing the folding ratio of the frame and enhancing its portability.

In addition, in other embodiments of the present application, the body includes multiple splicing modules. At least one splicing module is used for connecting with the carrying part 40 of the UAV as a whole. At least two adjacent splicing modules are rotatably connected so that the body can be folded. At this time, the rotation axes of adjacent splicing modules are parallel to the plane formed by the pitch axis 101 and the roll axis 102 .

The embodiment of the present application also provides an unmanned aerial vehicle. The unmanned aerial vehicle includes a frame and a power assembly 30. The frame is the above-mentioned frame for the unmanned aerial vehicle. The power assembly 30 is installed on the arm of the frame. Preferably, the unmanned aerial vehicle is an agricultural plant protection drone.

In addition, the embodiment of the present application also provides a kit for assembling an unmanned aerial vehicle, including a frame and a power assembly 30, the frame is the above-mentioned frame for an unmanned aerial vehicle, and the power assembly 30 is used to install On the arm of the frame, the power assembly 30 is used to provide flight power.

Regarding the embodiments of the present application, it should also be noted that, under the condition of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other to obtain new embodiments.

The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto, and the protection scope of the present application should be based on the protection scope of the claims.

Claims

A frame for an unmanned aerial vehicle is characterized in that it comprises a body and a machine arm connected to the body, the machine arm is used to carry a power assembly (30) for providing flight power, wherein the body can fold.
The rack according to claim 1, wherein the body comprises a frame structure, the frame structure has an unfolded state and a folded state, and when the frame structure is in the unfolded state, a An accommodating space (11), the accommodating space (11) is used for accommodating the carrying part (40) of the unmanned aerial vehicle, and the carrying part (40) can be detachably arranged in the accommodating space ( 11) inside.
The frame according to claim 2, characterized in that, the folding direction of the frame structure is parallel to the plane formed by the pitch axis (101) and the roll axis (102) of the unmanned aerial vehicle.
The rack according to claim 2 or 3, wherein the frame structure comprises:

Two first components (12), the two first components (12) are arranged at intervals;

At least one group of second members (13) connected between two first members (12), each group of second members (13) includes a plurality of second members (13), and a plurality of the second members (13) The second members (13) are arranged in sequence, two adjacent second members (13) are rotatably connected, and the second member (13) close to the first member (12) Rotatably connected with the first member (12), when the frame structure is in the unfolded state, the two first members (12) and the at least one group of second members (13) jointly enclose the Said accommodating space (11),

Wherein, a plurality of said second members (13) in each group of said second members (13) can be folded mutually and/or each group of said second members (13) is compatible with said first member (12) The connected second member (13) can be folded relative to the first member (12), so that the two first members (12) can approach each other, so that the frame structure is in the folded state.
The rack according to claim 4, characterized in that each set of said second members (13) comprises two said second members (13).
The frame according to claim 5, characterized in that, when folded, two of the second members (13) in each group of the second members (13) are facing toward the accommodating space (11) direction of rotation.
The frame according to claim 5, characterized in that, when folded, two of the second members (13) in each group of the second members (13) are away from the accommodating space (11) direction of rotation.
The rack according to any one of claims 5 to 7, characterized in that, in each group of said second members (13), two said second members (13) are respectively connected to the corresponding said first A member (12) is relatively rotatable around respective first rotation axes (14), wherein the two first rotation axes (14) are parallel to each other.
The frame according to claim 8, characterized in that, the first rotating shaft (14) passes through the corresponding second member (13) and the first member (12).
The rack according to claim 8 or 9, characterized in that, in each group of said second members (13), two said second members (13) can be opposite around the second rotating shaft (15) rotation, wherein the second shaft (15) and the first shaft (14) are parallel to each other.
The rack according to claim 10, characterized in that, the second rotating shaft (15) passes through each of the second members (13).
The frame according to claim 10 or 11, characterized in that, the first axis of rotation (14) and the second axis of rotation (15) are parallel to the yaw axis (103) of the unmanned aerial vehicle.
The rack according to any one of claims 10 to 12, characterized in that, the two first rotating shafts (14) are arranged symmetrically with respect to a first symmetrical axis passing through the second rotating shaft (15).
The rack according to claim 13, characterized in that the first axis of symmetry is the pitch axis (101) or roll axis (102) of the UAV.
The frame according to any one of claims 4 to 14, characterized in that, in each group of the second members (13), the rotation planes of the plurality of second members (13) are staggered up and down.
The frame according to any one of claims 4 to 15, characterized in that, when the frame structure is in the folded state, the second member (13) and the first member (12) are mutually parallel.
The rack according to any one of claims 4 to 16, characterized in that, the frame structure comprises two groups of the second members (13), and the two groups of the second members (13) are arranged at intervals.
The rack according to claim 17, characterized in that, two groups of said second members (13) are arranged symmetrically with respect to the second axis of symmetry.
The frame according to claim 18, characterized in that, the second axis of symmetry is the pitch axis (101) or roll axis (102) of the UAV.
The frame according to any one of claims 17 to 19, characterized in that, the pitch axis (101) and the roll axis (102) of the unmanned aerial vehicle form a plane, when the frame structure is in the In the folded state, the projections of the folded two groups of second members (13) in the plane are spaced apart from or attached to each other.
The rack according to claim 2 or 3, wherein the frame structure comprises:

Two first components (12) and at least one third component, the two ends of the third component are respectively rotatably connected to the two first components (12), when the frame structure is in the unfolded state , the two first members (12) and the at least one third member jointly enclose the accommodating space (11),

Wherein, the third member can be folded relative to one of the two first members (12), so that the two first members (12) can approach each other, so that the frame structure is in the folded state.
The frame according to any one of claims 4 to 21, characterized in that, when the frame structure is in the unfolded state and/or the folded state, the two first members (12) are mutually parallel.
The frame according to any one of claims 4 to 22, characterized in that, when the frame structure is switched between the unfolded state and the folded state, two of the first members ( 12) Always perform translational motion.
The rack according to any one of claims 4 to 23, wherein the frame structure further comprises:

At least one reinforcement member (16), when the frame structure is in the unfolded state, both ends of the reinforcement member (16) are respectively connected to the two first members (12), when the frame structure needs to be folded During construction, at least one end of the reinforcement member (16) is disconnected from the corresponding first member (12), so that the two first members (12) can approach each other.
The frame according to claim 24, characterized in that, the first end of the reinforcement member (16) is rotatably connected to one of the first members (12), and the second end of the reinforcement member (16) It is detachably connected with another said first member (12).
The frame according to claim 25, characterized in that, when the frame structure needs to be folded, the second end of the reinforcement member (16) is disconnected from the corresponding first member (12), and The reinforcing member (16) is rotated until the first member (12) corresponding to its first end is in a state of being folded up and down.
The frame according to claim 25 or 26, characterized in that there are two reinforcing members (16), and the first ends of the two reinforcing members (16) are respectively connected to different first members ( 12) A rotatable connection, wherein at least one of the reinforcement members (16) is provided with an escape portion near its second end, so as to prevent the two reinforcement members (16) from interfering when rotating.
The rack according to claim 27, characterized in that, the reinforcement member (16) is provided with a recessed portion (161) in a direction perpendicular to the rotation surface of the reinforcement member (16) near its second end. ), the avoidance portion includes the concave portion (161).
The rack according to claim 28, characterized in that, the two reinforcement members (16) are provided with the recesses (161), and the recesses on the two reinforcement members (16) The orientation of the entry portion (161) is opposite.
The rack according to claim 24, characterized in that, the two ends of the reinforcement member (16) are respectively detachably connected to the two first members (12), so that the reinforcement member (16) Both ends can be disconnected from the corresponding first member (12) to remove the reinforcement member (16).
The frame according to any one of claims 24 to 30, characterized in that, when the frame structure is in the unfolded state, the at least one reinforcing member (16) divides the accommodating space (11) Divided into a plurality of sub-accommodating spaces, the plurality of sub-accommodating spaces are used to accommodate a plurality of the carrying components (40) of the unmanned aerial vehicle.
The frame according to claim 2, wherein the body includes a plurality of splicing modules, at least one of the splicing modules is used to be connected as one with the carrying parts (40) of the unmanned aerial vehicle, at least two The adjacent splicing modules are rotatably connected so that the body can be folded.
Frame according to any one of claims 2 to 32, characterized in that the carrying part (40) comprises load and/or flight function devices.
The rack of claim 33 wherein,

The load includes at least one of a liquid storage tank, a spraying device, a load box, a cloud platform, a photographing device, and a measuring device; and/or,

The flight function device includes at least one of a battery, a controller, and an electronic governor.
The frame according to claim 1, wherein the arm comprises:

Two pairs of first machine arms (21) are respectively located on opposite sides of the body and are respectively rotatably connected to the body, wherein,

Each pair of the first machine arms (21) can be rotated backwards to be in an unfolded state, and at this time, each pair of the first machine arms (21) is radially deployed relative to the main body;

Each pair of first machine arms (21) can rotate in opposite directions to be in a folded state, and at this time each pair of said first machine arms (21) is in a stacked state up and down.
The frame according to claim 35, characterized in that, when each pair of said first arms (21) is in said unfolded state, each pair of said first arms (21) relative to the third axis of symmetry Symmetrical setting.
The frame according to claim 36, characterized in that, the third axis of symmetry is the pitch axis (101) or roll axis (102) of the UAV.
The frame according to any one of claims 35 to 37, characterized in that, the rotation planes of each pair of said first machine arms (21) are staggered up and down.
The frame according to claim 4, characterized in that, the second member (13) and the corresponding first member (12) can rotate relatively around the first rotating shaft (14), and the machine arm includes two For the first arms (21), each of the first arms (21) can rotate around a third rotation axis relative to the body, wherein the third rotation axis coincides with the first rotation axis (14) .
The frame according to any one of claims 17 to 19, characterized in that, each group of said second members (13) comprises two said second members (13), two said second members ( 13) All rotate along the direction towards the accommodation space (11) when folded, and the arms include:

A pair of second machine arms (22), a pair of said second machine arms (22) are rotatably connected with two groups of said second members (13) respectively, when said frame structure is in said unfolded state, one The second machine arm (22) is deployed on the opposite sides of the frame structure, and when two of the second members (13) in each group of the second members (13) are folded, the corresponding The second machine arm (22) moves inwardly, and the second machine arm (22) can rotate relative to at least one of the second members (13) to be in a folded state.
The rack according to claim 40, characterized in that, in each group of said second members (13), two said second members (13) can relatively rotate around a second rotating shaft (15), Each of the second machine arms (22) can rotate around a fourth rotation axis relative to a corresponding set of the second members (13), wherein the fourth rotation axis coincides with the second rotation axis (15) .
The frame according to claim 40 or 41, characterized in that, when the frame structure is in the folded state, the second arm (22) and the second member (13) are parallel to each other, and /or, the second machine arm (22) and the first member (12) are parallel to each other.
The frame according to any one of claims 40 to 42, characterized in that, when the frame structure is in the unfolded state, a pair of the second arms (22) The direction of the pitch axis (101) or the roll axis (102) is set.
The rack according to any one of claims 1 to 43, further comprising:

The landing frame (50) is rotatably connected with the body, the landing frame (50) can be rotated away from the body to be in an unfolded state, and the landing frame (50) can be rotated toward the body to be in a folded state .
The frame according to claim 44, characterized in that, when the landing frame (50) is in the folded state, the landing frame (50) is attached to the bottom surface of the body.
The rack according to any one of claims 4 to 21, further comprising:

Two landing gears (50), the two landing gears (50) are respectively rotatably connected to the two first members (12), and the two landing gears (50) can rotate backwards to be in an unfolded state , the two landing frames (50) can rotate towards each other and are in a folded state.
An unmanned aerial vehicle, characterized in that it comprises a frame and a power assembly (30), the frame is the frame for an unmanned aerial vehicle according to any one of claims 1 to 46, and the power assembly (30) mounted on the arm of the frame.
The unmanned aerial vehicle according to claim 47, wherein the unmanned aerial vehicle is an agricultural plant protection drone.
A kit for assembling an unmanned aerial vehicle, characterized in that it comprises a frame and a power assembly (30), and the frame is the machine for an unmanned aerial vehicle according to any one of claims 1 to 46. The frame, the power assembly (30) is used to be installed on the arm of the frame, and the power assembly (30) is used to provide flight power.