WO2023173374A1 - 无人飞行器及机臂组件 - Google Patents

无人飞行器及机臂组件 Download PDF

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Publication number
WO2023173374A1
WO2023173374A1 PCT/CN2022/081520 CN2022081520W WO2023173374A1 WO 2023173374 A1 WO2023173374 A1 WO 2023173374A1 CN 2022081520 W CN2022081520 W CN 2022081520W WO 2023173374 A1 WO2023173374 A1 WO 2023173374A1
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WO
WIPO (PCT)
Prior art keywords
arm
fuselage
resisting
unmanned aerial
aerial vehicle
Prior art date
Application number
PCT/CN2022/081520
Other languages
English (en)
French (fr)
Inventor
郑再峰
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2022/081520 priority Critical patent/WO2023173374A1/zh
Priority to CN202280048950.4A priority patent/CN117751076A/zh
Publication of WO2023173374A1 publication Critical patent/WO2023173374A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors

Definitions

  • Embodiments of the present application relate to the technical field of unmanned aerial vehicle structural design, and in particular to unmanned aerial vehicles and arm assemblies.
  • the arms of some unmanned aerial vehicles currently on the market can be folded or unfolded relative to the fuselage.
  • the unmanned aerial vehicle In the unfolded state, the unmanned aerial vehicle can fly normally, and in the folded state, the unmanned aerial vehicle can be stored. How to maintain the unfolded state of the unmanned aerial vehicle during flight and quickly switch to the folded state when it needs to be stored is particularly important.
  • embodiments of the present application provide an unmanned aerial vehicle and an arm assembly.
  • a first aspect of the embodiment of the present application provides an unmanned aerial vehicle, including:
  • At least one arm assembly is used to carry a power device that provides flight power for the unmanned aerial vehicle;
  • the arm assembly includes an arm and a fuselage connection part for connecting to the fuselage;
  • the arm and The fuselage connecting part is rotatably connected through a rotating shaft, so that the machine arm can be in an unfolded state or a folded state relative to the fuselage;
  • a locking component is movably provided on the fuselage connection part, and the locking component includes a resisting part;
  • the resisting portion When the arm assembly is in the unfolded state and the resisting portion is located at the first position in the extension direction of the rotating shaft, the resisting portion abuts the arm to prevent the arm from moving along the axis. Rotate in the folding direction; when the arm assembly is in the unfolded state and the resisting portion is in the second position in the extension direction of the rotating shaft, the resisting portion releases the contact with the arm so that the The machine arm can rotate along the folding direction.
  • the second aspect of the embodiment of the present application also provides an arm assembly for carrying a power device that provides flight power for an unmanned aerial vehicle, including:
  • the fuselage connection part is rotatably connected to the machine arm through a rotating shaft, so that the machine arm can be in an unfolded state or a folded state relative to the fuselage;
  • a locking component is movably provided on the fuselage connection part, and the locking component includes a resisting part;
  • the resisting portion When the arm assembly is in the unfolded state and the resisting portion is located at the first position in the extension direction of the rotating shaft, the resisting portion abuts the arm to prevent the arm from moving along the axis. Rotate in the folding direction; when the arm assembly is in the unfolded state and the resisting part is located at the second position in the extension direction of the rotating shaft, the resisting part releases the contact with the arm, so as to The machine arm is allowed to rotate along the folding direction.
  • a third aspect of the embodiment of the present application also provides an arm assembly for carrying a power device that provides flight power for an unmanned aerial vehicle;
  • the arm assembly includes an arm and a fuselage connection portion for connecting to the fuselage of the UAV;
  • the machine arm and the fuselage connecting portion are rotatably connected through a rotating shaft, so that the machine arm can be in an unfolded state or a folded state relative to the fuselage;
  • a locking component movably provided on the fuselage connection part, the locking component includes a resisting part and a return elastic member, the return elastic component is connected to the resisting part;
  • the return elastic member drives the resisting portion to move from the second position to the first position in the extending direction of the rotating shaft under the action of elastic force, so that the resisting portion is in contact with the first position.
  • the machine arms abut to prevent the machine arms from rotating in the folding direction.
  • the fourth aspect of the embodiment of the present application also provides an unmanned aerial vehicle, including: a fuselage, and an arm assembly as described above provided on the fuselage 10 .
  • the technical solution provided by the embodiment of the present application is to provide a locking component at the fuselage connection part of the unmanned aerial vehicle.
  • the resisting part of the locking component can move between the first position and the second position.
  • the resisting portion avoids the arm so that the arm can be folded. Therefore, this technical solution enables the machine arm to be maintained in an expanded state, and in the expanded state, the resisting portion can be controlled to move to avoid the machine arm, so that the machine arm can be folded for easy storage.
  • Figure 1a is a schematic structural diagram of an unmanned aerial vehicle in a folded state with the arm assembly provided by an embodiment of the present application;
  • Figure 1b is a schematic structural diagram of the unmanned aerial vehicle in a folded state with the arm assembly provided by the embodiment of the present application;
  • Figure 2a is a schematic diagram of the locking assembly of the arm assembly in the deployed state according to the embodiment of the present application
  • Figure 2b is a schematic diagram of the locking assembly of the arm assembly in the folded state provided by the embodiment of the present application;
  • Figure 3a is a schematic exploded structural diagram of the arm assembly provided by the embodiment of the present application.
  • Figure 3b is an enlarged view of point A in Figure 3a;
  • Figure 4a is a partial cross-sectional view of the arm assembly provided by the embodiment of the present application in an unfolded state and with the resisting portion in the first position;
  • Figure 4b is a partial cross-sectional view of the arm assembly provided by the embodiment of the present application in a folded state and with the resisting portion in the second position;
  • Figure 5a is a partial structural schematic diagram of the fuselage connection part provided by the embodiment of the present application.
  • Figure 5b is a longitudinal sectional view of the fuselage connection part provided by the embodiment of the present application.
  • Figure 5c is an enlarged view of B in Figure 5b.
  • connection here includes any direct and indirect means of connection. Therefore, if a first device is connected to a second device, it means that the first device can be directly connected to the second device, or indirectly connected to the second device through other devices.
  • the arm of an unmanned aerial vehicle is fixed after it is unfolded, usually using a traditional sleeve locking mechanism.
  • the arm needs to be expanded, the arm needs to be sleeved at a designated position. Rotate the sleeve again and confirm that the sleeve is rotated in place.
  • Four steps are also required in reverse order when folding the arm. Due to the cumbersome steps and many points of attention during operation, it is easy for users to cause flight safety hazards due to operational errors;
  • IPX5 or higher waterproofing cannot be achieved when the arms are folded, which leads to the risk of water intrusion into the aircraft body during field handling on rainy days;
  • the arm design in this field does not have the function of arm deployment and position detection. If the user operates improperly, for example, the arm cannot be automatically sensed by the machine when the arm is not deployed in place, and thus it is impossible to set up intelligent checkpoints for safe flight, leading to the risk of unsafe takeoff. hidden danger;
  • the inventor has made creative efforts to provide the solutions in the embodiments of the present application.
  • a locking component that can at least lock the arms in the unfolded state.
  • Some embodiments of the present application aim to provide a simple and reliable structure, so as to at least enable the arm assembly to be locked in the unfolded state, and to quickly switch the arm assembly between the unfolded state and the folded state.
  • Figure 1a is a schematic structural diagram of an unmanned aerial vehicle with an arm assembly in a folded state provided by an embodiment of the present application
  • Figure 1b is a schematic structural diagram of an unmanned aerial vehicle with an arm assembly in a folded state provided by an embodiment of the present application
  • Figure 2a Figure 2b is a schematic diagram of the locking component of the arm assembly in the unfolded state provided by the embodiment of the present application
  • Figure 2b is a schematic diagram of the locking component of the arm assembly in the folded state provided by the embodiment of the present application; please refer to the accompanying drawings 1a ⁇ Figure 2b.
  • the unmanned aerial vehicle provided by the embodiment of the present application includes: a fuselage 10, at least one arm assembly 20, a power unit 30 and a locking assembly 40.
  • the arm assembly 20 is used to carry the power device 30 that provides flight power for the unmanned aerial vehicle.
  • the power device 30 may include a motor 31 and a propeller 32.
  • the motor 31 can rotate to drive the propeller 32 to rotate, thereby providing flight power for the unmanned aerial vehicle.
  • the motor 31 may be an external rotor motor, and the propeller 32 is provided on the external rotor of the motor 31 .
  • the embodiment of the present application provides a quad-rotor unmanned aerial vehicle as shown in Figures 1a to 1b, which includes four arm assemblies 20 and four power units 30.
  • the number of the arm assembly 20 and the power unit 30 can also be other numbers, such as two, six, eight and other numbers, which are not particularly limited in the embodiment of the present application.
  • the arm assembly 20 includes an arm 21 and a fuselage connection part 22 for connecting to the fuselage 10; the arm 21 and the fuselage connection part 22 are rotatably connected through a rotating shaft 220, so that the arm 21 can It is in an unfolded state or a folded state relative to the fuselage 10 .
  • the fuselage connecting part 22 may be formed separately or integrally with the fuselage 10 .
  • the fuselage connection part 22 may be formed separately from the fuselage 10 , and the fuselage connection part 22 may be detachably connected to the fuselage 10 to reduce the molding of the fuselage connection part 22 and the fuselage 10 Process difficulty.
  • a rotating shaft 220 can be used to hinge the arm 21 and the fuselage connecting portion 22.
  • the machine arm 21 may include a first end 21 a connected to the fuselage connection part 22 , and a second end 21 b used to carry the power device 30 .
  • the fuselage connecting part 22 may have a cavity into which the first end 21 a of the machine arm 21 is inserted. The first end 21 a of the machine arm 21 is inserted into the cavity, and the two are rotatably connected through a rotating shaft 220 .
  • the arm 21 can rotate in a direction close to the fuselage 10 to a folded state, and the arm 21 can rotate in a direction away from the fuselage 10 to an unfolded state.
  • the rotation directions of adjacent propellers 32 during operation are different (as shown by the arc-shaped solid arrows in Figure 1a), and the opposite propellers 32 rotate in different directions.
  • the direction of rotation is the same.
  • reaction torque also called reaction torque
  • the entire arm assembly 20 has a tendency to move in the direction of the reaction torque. Since the arm assembly 20 can be switched to the folded state, in order to prevent the reaction torque of the propeller 32 from driving its corresponding arm 21 to rotate in the folding direction, the embodiment of the present application further limits the rotation direction of the propeller 32 of each power unit 30 .
  • the folding direction of the machine arm 21 carrying the power device 30 can be the same as the folding direction of the machine arm 21 carrying the power device 30 .
  • the rotation direction of the propeller 32 of each power unit 30 is shown by the solid arrow
  • the folding direction of the arm assembly 20 can be respectively shown by the dotted arrow in FIG. 1 a . That is to say, for each arm assembly 20 , the direction of the reaction torque of the corresponding propeller 32 is opposite to the folding direction of the arm 21 .
  • Figure 3a is a schematic diagram of the exploded structure of the machine arm assembly 20 provided by the embodiment of the present application
  • Figure 3b is an enlarged view of the A position in Figure 3a
  • Figure 4a shows the machine arm assembly 20 provided by the embodiment of the present application in an unfolded state
  • Figure 4b is a partial cross-sectional view of the arm assembly 20 provided by the embodiment of the present application in a folded state, with the resisting portion 41 in the second position.
  • the locking component 40 is movably provided on the fuselage connecting portion 22, and the locking component 40 includes a resisting portion 41.
  • the resisting portion 41 can be in a first position (the position where the resisting portion 41 is located in Figures 2a and 4a) and a second position (the position where the resisting portion 41 is located in Figures 2b and 4b). position); the extension direction of the machine arm 21 and the movement direction of the resisting portion 41 form a preset angle.
  • the resisting portion 41 When the arm assembly 20 is in the unfolded state and the resisting portion 41 is in the first position in the extension direction of the rotating shaft 220 , the resisting portion 41 contacts the arm 21 to prevent the arm 21 from rotating in the folding direction; when the arm assembly 20 is in the unfolded state and the resisting portion 41 is at the second position in the extension direction of the rotating shaft 220 , the resisting portion 41 releases the contact with the arm 21 so that the arm 21 can rotate in the folding direction.
  • the locking component 40 can extend into the cavity of the fuselage connecting portion 22 so as to abut the first end 21 a of the machine arm 21 so as to prevent the machine arm 21 from rotating in the folding direction.
  • the machine arm 21 can usually have a long arm structure, and the extension direction of the machine arm 21 refers to the length direction of the machine arm 21.
  • the movement of the resisting portion 41 The direction is S1
  • the extending direction of the arm 21 is S2.
  • the movement direction S1 of the resisting portion 41 is substantially perpendicular to the extension direction S2 of the machine arm 21 .
  • the "vertical" mentioned here can refer to an angle range.
  • the movement direction S1 of the resisting portion 41 and the extension direction S2 of the machine arm 21 can form an included angle of 90 degrees, or can be slightly larger than or greater than 90 degrees.
  • the included angle is slightly less than 90 degrees, or it can also be understood as the movement direction S1 of the resisting portion 41 and the extension direction S2 of the machine arm 21 are basically perpendicular.
  • x includes but is not limited to 5. Since when the arm 21 rotates relative to the fuselage 10, the rotation plane of the arm 21 is determined by the angle through which the arm 21 rotates. Therefore, when the movement direction S1 of the resisting portion 41 is substantially perpendicular to the extension direction of the arm 21, The resisting portion 41 has a relatively large resisting force on the arm 21 and can effectively prevent the arm 21 from rotating in the folding direction.
  • the angle between the movement direction S1 of the resisting portion 41 and the extension direction S2 of the machine arm 21 may be other angles, which are not specifically limited in this application.
  • the technical solution provided by the embodiment of the present application is to provide a locking component 40 at the fuselage connection part 22 of the UAV.
  • the resisting part 41 of the locking component 40 can move between the first position and the second position.
  • the resisting portion 41 avoids the folding of the arm 21 , so that the resisting portion 41 avoids the arm 21 .
  • the machine arm 21 can be folded. Therefore, this technical solution enables the arm 21 to be maintained in the deployed state, and in the deployed state, the resisting portion 41 can be controlled to move to avoid the arm 21, so that the arm 21 can be folded for easy storage.
  • the arm 21 may have a fitting portion 211 , when the arm assembly 20 is in the unfolded state, and the resisting portion 41 is in the second position in the extension direction of the rotating shaft 220 .
  • the fitting portion 211 cooperates with the resisting portion 41 to prevent the arm 21 from rotating in the folding direction.
  • the mating portion 211 on the arm 21 can be a contact position on the arm 21 that can contact the resisting portion 41 when the arm 21 is in a deployed state.
  • first end 21a of the machine arm 21 can specifically design the structure of the first end 21a of the machine arm 21, so that when the machine arm 21 is in the unfolded state, a certain part of the first end 21a of the machine arm 21 just contacts the resisting part 41, and this part The above-described fitting portion 211 is formed.
  • the resisting part 41 may include a first resisting surface 411
  • the mating part 211 may include a second resisting surface 2111
  • the resisting part 41 may be at a third position in the extension direction of the rotating shaft 220 .
  • the first resisting surface 411 is in contact with the second resisting surface 2111 to prevent the machine arm 21 from rotating in the folding direction (as shown in Figure 2a, the thick solid arc arrow indicates the rotation of the machine arm 21 in the folding direction. direction of rotation).
  • the second resisting surface 2111 of the arm 21 is resisted by the first resisting surface 411 and cannot rotate in the folding direction, so that the arm 21 is maintained in the deployed state, ensuring that the UAV can be locked in the deployed state. Improve flight safety.
  • the fitting part 211 may even include a rod, a ball, or a block.
  • the fitting part 211 includes a rod, one end of the rod is connected to the machine arm 21 , and the other end of the rod is used to abut against the first resistor.
  • the surface 411 can also achieve the purpose of preventing the machine arm 21 from continuing to rotate in the folding direction.
  • the embodiment of the present application does not strictly limit the specific structure of the matching portion 211.
  • the fitting part 211 is designed to include a second resisting surface 2111.
  • the second resisting surface 2111 is in abutting contact with the first resisting surface 411. Since both It is flat, so the contact area between the two is large. After the second resisting surface 2111 and the first resisting surface 411 are in contact, it is difficult for relative movement to occur between them, which can effectively improve the locking of the machine arm 21 by the locking assembly 40 The effect is to improve flight safety.
  • the first resisting surface 411 can be a first inclined surface
  • the second resisting surface 2111 can be a second inclined surface
  • the self-resisting portion 41 is on the rotating shaft 220.
  • the first inclined surface gradually approaches the fitting part 211
  • the second inclined surface gradually moves away from the resisting part 41 .
  • Figure 2a shows a schematic view of the resisting part 41 in the first position
  • Figure 2b shows a schematic view of the resisting part 41 in the second position.
  • the movement direction of the resisting portion 41 from the first position to the second position is the movement direction from top to bottom in Figures 2a and 2b.
  • the first inclined plane may be an inclined plane that gradually slopes from top to bottom in a direction closer to the fitting part 211
  • the second inclined plane may gradually slope from top to bottom in a direction away from the resisting part 41 of bevel.
  • the direction of movement of the resisting portion 41 from the first position to the second position may not be limited to from top to bottom. In some other embodiments, the direction of movement of the resisting portion 41 from the first position to the second position may be from top to bottom. Bottom to top. Even in other embodiments, the direction in which the resisting portion 41 moves from the first position to the second position is from the first side of the fuselage connecting portion 22 to the second side of the fuselage connecting portion 22 , wherein the first The side portion is opposite the second side portion.
  • the embodiment of the present application does not change the resisting part 41
  • the direction of movement is not particularly limited.
  • orientation of each component in the embodiment of the present application may be the orientation of each component of the unmanned aerial vehicle in the flight attitude shown in Figure 1a.
  • first bevel and the second bevel are adapted to each other, and the first bevel and the second bevel may be parallel, that is to say, the inclination angles of the first bevel and the second bevel relative to the same plane may be equal.
  • parallel may refer to a range of inclination angles.
  • the inclination angles of the first bevel and the second bevel may be 180 degrees, or may be slightly greater than or equal to 180 degrees. Slightly less than 180 degrees, or it can also be understood as the first bevel and the second bevel are basically parallel.
  • substantially parallel means that they remain roughly parallel within the allowable range of processing and manufacturing errors.
  • the angle between the two can be Between 0° ⁇ 5°.
  • the contact area between the first inclined surface and the second inclined surface is the largest, and the contact between the first inclined surface and the second inclined surface becomes more stable, making the machine arm more stable. 21 The harder it is to rotate in the folding direction.
  • the inclination angle between the first inclined surface and the second inclined surface is 5° ⁇ 10°.
  • one possible way is to have a fuselage cable through hole 221 on the fuselage connection part 22 for the cable to pass through. It is sealedly connected to the inner wall of the fuselage cable through hole 221 through a first sealing member 212 .
  • the end face sealing method in the traditional technology can only be sealed when the arm 21 is in the unfolded state. In the folded state, water can easily enter the inside of the fuselage 10 and affect the internal electronic components.
  • the technical solution provided by the embodiment of the present application is to provide a fuselage cable through hole 221 at the fuselage connection part 22 and a first seal 212 at the fuselage cable through hole 221 to realize the connection between the cable and the fuselage.
  • the cable holes 221 are sealed, so that no matter whether the arms 21 are in a folded or unfolded state, the entire body is sealed to prevent water from entering the interior of the body 10 and affecting the internal electronic components.
  • the implementation of the first seal 212 includes but is not limited to sealant.
  • One possible implementation is to bond a circle around the first seal 212 to the fuselage connection part 22 and at the same time use liquid waterproof glue to seal the fuselage.
  • the cable through hole 221 and the wire are sealed, so that the cable through hole 221 of the fuselage can be sealed regardless of whether it is folded or unfolded.
  • the form of sealing is not limited to liquid waterproof glue, sealing rubber over the line can also be used.
  • the fuselage cable through holes 221 can be arranged in various ways.
  • One possible way is that the fuselage cable through holes 221 can be directly provided on the fuselage connection part 22.
  • Another possible way is to The way is, see Figure 5a- Figure 5c, the fuselage connection part 22 is also provided with a cable connection part 222, the cable connection part 222 is mechanically coupled with the fuselage connection part 22, and the fuselage cable through hole 221 is provided on the wire Cable connection part 222.
  • the cable connection part 222 and the fuselage connection part 22 may be connected in various ways, for example, the cable connection part 222 may be bonded to the fuselage connection part 22.
  • the bonding method may effectively reduce the number of connections between the cable connection part 222 and the fuselage connection part 22.
  • the gap between the fuselage connecting parts 22 is to enhance the sealing effect.
  • the cable connection part 222 and the body connection part 22 may also be connected in other ways, such as snap connection, fastener connection, etc.
  • the inside of the machine arm 21 includes a cavity, and the cable can pass through the cavity from the first end 21a to be connected to the power device 30 provided at the second end 21b.
  • the cables connecting the fuselage 10 and the power unit 30 can pass through the inside of the machine arm 21, thereby preventing the cables from being routed externally and preventing the irregular movement of the cables from causing harm to other people.
  • no cables can be seen on the appearance, which can make the overall appearance of the UAV more concise and beautiful.
  • a second sealing member is provided in the cavity, and the inner wall of the cavity and the cable are sealingly connected through the second sealing member.
  • the sealing effect of the machine arm 21 can be further enhanced by providing the second sealing member, so that the inside of the machine arm 21 is also sealed, preventing water, dust and other foreign objects from flowing from the inside of the machine arm 21 to the power unit 30 .
  • the seal between the arm and the fuselage is through the end face seal between the arm and the fuselage, which can only be sealed when the arm is in the unfolded state, and the seal fails in the folded state.
  • the first seal 212 at the fuselage cable through hole 221 and the second seal in the arm 21 achieve separate sealing of the fuselage 10 and the arm 21, thereby improving the sealing level.
  • the length of the cable between the first seal 212 and the second seal is longer than the first seal.
  • the distance between seal 212 and the second seal because the cable is bonded to the fuselage connection part 22 through the first seal 212 and bonded to the machine arm 21 through the second seal, and the machine arm 21 needs to be unfolded and folded, if If the length of the cable between the first sealing member 212 and the second sealing member is not long enough, it will interfere with the unfolding and retracting of the arm 21 .
  • the length of the cable between the first sealing member 212 and the second sealing member is greater than the distance between the first sealing member 212 and the second sealing member, the above interference situation can be effectively avoided.
  • the second end 21b is closer to the second sealing member than the first end 21a.
  • the second end 21b is used to carry the power device 30, so the sealing level required is relatively high.
  • the second end 21b is closer to the second sealing member, which allows the second sealing member to provide a better sealing effect for the power device 30.
  • the locking assembly 40 further includes: an operating portion 42.
  • the operating part 42 is connected to the resisting part 41.
  • the operating part 42 may be fixedly connected to the resisting part 41, for example, integrally formed, or detachably or non-detachably fixedly connected.
  • the operation part 42 includes an operation end 421 for the user to contact and operate, and the operation end 421 can extend from the fuselage connection part 22.
  • the user needs to fold or unfold the machine arm 21, he can control the operating part 42 through the operating end 421 to change the position of the resisting part 41, thereby completing the folding or unfolding of the machine arm 21.
  • the user applies external force to the operating part through the operating end 421, and the operating part 42 receives the external force, and the resisting part 41 moves from the first position to the second position in the extension direction of the rotating shaft 220.
  • the user can The arm 21 is unfolded.
  • the resisting portion 41 moves from the second position to the first position in the extending direction of the rotating shaft 220 .
  • the resisting portion 41 abuts the arm 21 to prevent the arm 21 from rotating in the folding direction.
  • the user applies external force to the operating part through the operating end 421, the operating part 42 receives the external force, and the resisting part 41 moves from the first position to the second position in the extension direction of the rotating shaft 220. At this time, the user can move the machine The arm 21 is folded. After the arm 21 is folded, the resisting portion 41 moves from the second position to the first position in the extending direction of the rotating shaft 220 . The resisting portion 41 abuts the arm 21 to prevent the arm 21 from rotating in the unfolding direction.
  • the user's operation methods include but are not limited to the following.
  • One possible way is that the operating end 421 is used to receive the pressing force and move the operating end 421 in the direction of the fuselage connecting part 22, so that the resisting part 41 moves along the rotating axis. 220 moves from the first position to the second position in the extending direction.
  • Another way is that the operating end 421 is used to receive a pulling force and move the operating end 421 in a direction away from the fuselage connecting part 22 so that the resisting part 41 moves from the first position to the second position in the extension direction of the rotating shaft 220 .
  • the operating part 42 on the locking assembly 40 can extend from the fuselage connecting part 22.
  • the fuselage connecting part 22 has a through hole 2221 for the operating part 42 to pass through.
  • a part of the locking assembly 40 extends into the fuselage connection part 22 through the through hole 2221.
  • the resisting part 41 extends into the fuselage connection part 22 to limit the position of the machine arm 21.
  • the operating part 42 of the locking assembly 40 is removed from the fuselage.
  • the connecting portion 22 extends to facilitate user manipulation.
  • a third seal 223 is provided between the operation part 42 and the fuselage connection part 22.
  • the third seal 223 is used to connect the operation part 42 and the fuselage connection part 22. Seal between the walls of the through hole.
  • the third sealing member 223 includes but is not limited to tower-type silica gel.
  • the tower-type silica gel wraps the operating part 42 , and the end of the tower-shaped silica gel away from the operating end 421 is fixedly connected to the fuselage connecting part 22 to achieve sealing of the through hole 2221 .
  • the tower-shaped silica gel has elasticity. When the user applies external force, the tower-shaped silica gel can deform, causing the operating part 42 to move, thereby realizing the movement of the resisting part 41.
  • the operating part 42 is wrapped in tower-shaped silicone to prevent dust and water, preventing foreign objects from entering the body connection part 22 and causing reliability problems.
  • one method in the embodiment of the present application is to have a first contact surface on the machine arm 21 and a second contact surface on the fuselage connection part 22.
  • the first contact surface and/or the second contact surface are provided with a fourth seal.
  • the first contact surface and the second contact surface press the fourth sealing member to seal the end surfaces of the machine arm 21 and the fuselage connection part 22 .
  • the first contact surface and the second contact surface are end surfaces that meet when the machine arm 21 is in the unfolded state, and the end surface seal is achieved through the fourth sealing member.
  • the fourth sealing member includes but is not limited to a rubber pad and a silicone pad.
  • the fourth sealing member may be provided on the first contact surface or the second contact surface alone, or both the first contact surface and the second contact surface may be provided with a fourth sealing member. Seals.
  • the fourth sealing member can be connected to the contact surface through bonding or fastener connection.
  • One way of connecting the fourth sealing member through a fastener is to use two vertical fixing screws to compress the fourth sealing member in the direction in which the first contact surface contacts the second contact surface. When the contact surfaces come into contact, the fourth seal is pressed to achieve sealing.
  • the fourth sealing member is provided with raised ribs on its surface facing the first contact surface and/or the second contact surface.
  • the first contact surface and/or the second contact surface There is a groove structure used to cooperate with the convex ribs. When the fourth sealing member is pressed, the convex ribs cooperate with the groove structure to achieve better sealing effect.
  • the locking assembly 40 also includes: a reset elastic member 50, and a reset elastic member 50. It is provided between the operating part 42 and the body connection part 22 .
  • the return elastic member 50 When the resisting portion 41 moves from the first position to the second position in the extension direction of the rotating shaft 220 , the return elastic member 50 generates elastic deformation.
  • the return elastic member 50 can recover from the deformation and drive the resisting portion 41 to move to the first position in the extension direction of the rotating shaft 220 .
  • the return elastic member 50 includes but is not limited to a spring.
  • the unfolding of the machine arm 21 can be simplified to a one-step operation.
  • the resisting portion 41 moves to the first position under the action of the spring.
  • the position of the machine arm 21 will be automatically locked and fixed.
  • the corresponding unlocking requires only two steps. Press the operating part 42 and fold the arm 21, which can effectively avoid user problems and improve operation convenience.
  • the external force is less than the preset value, it includes the cancellation of the external force, that is, when the external force is zero.
  • the locking assembly 40 can move up and down under the action of the return elastic member 50 (spring).
  • the resisting portion 41 will move to the same height as the machine arm 21 , hindering the rotational movement of the machine arm 21 , thereby locking the position of the machine arm 21 . If you need to unlock the machine arm 21, you only need to press the locking component 40 from above so that the resisting portion 41 avoids the bottom of the machine arm 21, and the machine arm 21 can freely rotate around its axis.
  • the upward movement trend driven by the spring and the resisting portion 41 of the locking assembly 40 jointly form the function of eliminating the gap between the machine arm 21 and the locking assembly 40.
  • the locking assembly 40 can rise accordingly.
  • the gap is small, the rising height will be relatively low.
  • Cooperating with the locking component 40 are the fuselage connecting part 22 and the machine arm 21 respectively, wherein the second resisting surface 2111 of the machine arm 21 and the first resisting surface 411 on the locking component 40 cooperate with each other.
  • the resisting portion 41 can further be used to limit the expansion of the machine arm 21 .
  • One possible way is that when the arm assembly 20 is in the folded state and the resisting portion 41 is located at the first position in the extension direction of the rotating shaft 220 , the resisting portion 41 abuts the arm 21 to hinder the arm 21 Turn in the unfolding direction.
  • the resisting portion 41 releases the contact with the arm 21 so that the arm 21 can rotate in the unfolding direction. In this arrangement, there are two steps to unfold the machine arm 21. Press the operating part 42, and the resisting part 41 moves from the first position to the second position.
  • the resisting part 41 avoids the machine arm 21 so that the machine arm 21 can be unfolded.
  • the resisting portion 41 moves to the first position under the action of the spring and the position of the machine arm 21 will be automatically locked and fixed.
  • the corresponding unlocking also requires two steps. Press the operating part 42 to fold the arm 21. After the arm 21 is folded, remove the external force, and the resisting part 41 will move to the first position under the action of the spring, and the folded arm 21 will be automatically folded. The position of the machine arm 21 is locked and fixed.
  • One way for the machine arm 21 to cooperate with the resisting part 41 is to have a matching part 211 on the machine arm 21 .
  • the fitting portion 211 cooperates with the resisting portion 41 to prevent the arm 21 from rotating in the unfolding direction.
  • the mating portion 211 on the arm 21 can be a contact position on the arm 21 that can contact the resisting portion 41 when the arm 21 is in a folded state.
  • first end 21a of the machine arm 21 can specifically design the structure of the first end 21a of the machine arm 21, so that when the machine arm 21 is in the folded state, a certain part of the first end 21a of the machine arm 21 just contacts the resisting part 41, and this part The above-described fitting portion 211 is formed.
  • the resisting part 41 may include a third resisting surface
  • the mating part 211 may include a second resisting surface 2111.
  • the third resisting surface and the third resisting surface are The two resisting surfaces 2111 are in contact with each other to prevent the arm 21 from rotating in the deployment direction.
  • the second resisting surface 2111 of the arm 21 is resisted by the third resisting surface and cannot rotate in the unfolding direction, so that the arm 21 remains in the folded state, ensuring that the UAV can be locked in the folded state for easy storage.
  • the third resisting surface is a third inclined surface, and the inclination angle of the third inclined surface is 5° to 10°. It should be noted that the third resisting surface may refer to the arrangement method of the second resisting surface.
  • the unmanned aerial vehicle further includes: an in-position detection device 60, which is used to detect whether the arm assembly 20 is in an unfolded state or a folded state.
  • an in-position detection device 60 is used to detect whether the arm assembly 20 is in an unfolded state or a folded state.
  • the in-position detection device 60 is triggered, so that the state of the arm assembly 20 can be detected to determine whether the arm assembly 20 is unfolded or folded in place, so as to improve the safety of the unmanned aerial vehicle. Use security.
  • the in-position detection device 60 is used to cooperate with the locking assembly 40 .
  • the in-position detection device 60 is triggered by the locking assembly 40 , and issue a preset response.
  • the locking component 40 will squeeze the in-position detection device 60 to trigger the in-position detection device 60 to send out a trigger signal.
  • the locking component 40 bounces up under the action of the spring, and the locking component 40 rises to avoid the in-position detection device 60.
  • the position detection device 60 includes at least one of the following: a micro switch, a photoelectric switch, a contact 61 switch, a reed switch, and a Hall sensor.
  • one way in which the locking component 40 is matched with the in-position detection device 60 is that the locking component 40 has a structural mutation part 43, and the structural mutation part 43 can follow the movement of the resisting part 41.
  • the in-position detection device 60 includes The contact point 61 is located at the structural mutation portion 43 when the resisting portion 41 is at the first position in the extension direction of the rotating shaft 220, so that the in-position detection device 60 is triggered.
  • the structural mutation 43 on the locking component 40 will squeeze the contact 61 of the in-position detection device 60 to trigger the in-position detection device 60 to send out a trigger signal.
  • the structural mutation part 43 includes a recess provided on the locking component 40 .
  • the structural mutation part 43 includes a convex part provided on the locking component 40 . The figure only shows the case where the structural mutation part 43 is a convex part. The realization of the convex part includes but is not limited to a slope structure.
  • the contact point 61 of the in-position detection device 60 when the contact point 61 of the in-position detection device 60 reaches the convex part, it means that the machine arm 21 is deployed in place and locked in the first position, that is, the machine arm 21 is reliably locked in the deployed position or the folded position.
  • the structural mutation part 43 may be a concave part or other structure, as long as it can trigger the contact 61 to extend or extend or be sensed, and there is no specific limitation in the embodiment of this application.
  • the in-position detection device 60 includes a body, and a telescopic portion 62 extending from the body, and the contact 61 is located on the telescopic portion 62 away from the body.
  • the structural mutation part 43 includes a recessed part provided on the locking component 40.
  • the structural mutation part 43 includes a convex part provided on the locking component 40.
  • the telescopic part 62 is in contact with the convex part.
  • the triggering of the position detection device 60 is realized in a scalable manner, with a simple structure and less prone to failure, thus effectively ensuring the accuracy of detection.
  • the structural mutation part 43 includes a recessed part provided on the locking component 40.
  • the telescopic part 62 abuts the recessed part. touch.
  • the concave portion can limit the stroke distance of the telescopic portion 62 and reduce trigger responses caused by factors such as vibration and misoperation, thereby ensuring detection accuracy.
  • the structural mutation part 43 can also be arranged in various ways.
  • the telescopic direction of the telescopic part 62 is set at an angle to the sliding direction of the locking component 40 .
  • the telescopic direction of the telescopic part is substantially perpendicular to the sliding direction of the locking component.
  • the structural mutation part 43 may be arranged as a convex part or a concave part.
  • the telescopic direction of the telescopic part is substantially parallel to the sliding direction of the locking component.
  • the structural mutation part 43 may be arranged as a convex part.
  • the arrangement position of the in-position detection device 60 is not limited to the side of the locking assembly 40 , but can also be placed on the bottom or top of the locking assembly 40 .
  • connection methods between the in-position detection device 60 and the fuselage connection part 22 include multiple ways.
  • One feasible way is that the in-position detection device 60 can be directly installed on the fuselage connection part 22, which can effectively ensure The accuracy of the relative position between the in-position detection device 60 and the fuselage connection part 22 is ensured, thereby ensuring the accuracy of the in-position detection device 60 .
  • the unmanned aerial vehicle also includes: a mounting bracket 70, the mounting bracket 70 is used to install the in-place detection device 60, the in-position detection device 60 is detachably connected to the mounting bracket 70, The mounting bracket 70 is connected to the fuselage connecting portion 22 .
  • the mounting bracket 70 can enhance the connection strength between the in-position detection device 60 and the fuselage connection part 22, thereby improving the stability of the connection between the in-position detection device 60 and the fuselage connection part 22, thereby ensuring the detection stability of the in-position detection device 60.
  • the fifth seal 71 includes but is not limited to a rubber pad, a silicone pad, etc.
  • the fifth seal 71 can be connected to the mounting bracket 70 and the position detection device 60 by bonding or fastener connection.
  • One way of connecting the fifth seal 71 through fasteners is to use two vertical fixing screws to compress the fifth seal 71 .
  • the upper ring of the fifth seal 71 is provided with convex ribs, and the mounting bracket 70 and/or the fuselage connecting part 22 is provided with a groove structure used to cooperate with the convex ribs.
  • the convex ribs cooperate with the groove structure to achieve better sealing effect.
  • connection methods of the fuselage connecting part 22 and the fuselage 10 include multiple ways.
  • One possible way is that the fuselage connecting part 22 and the fuselage 10 are formed into an integral structure.
  • Another possible way is that the fuselage connection part 22 and the fuselage 10 are detachably connected, and the fuselage connection part 22 and the fuselage 10 are end-sealed through a sixth sealing member.
  • the sixth sealing member includes but is not limited to a rubber gasket, a silicone gasket, etc., and the sixth sealing member can be connected to one of the fuselage connecting portion 22 and the fuselage 10 through bonding or fastener connection.
  • One way of connecting the sixth sealing member through fasteners is to use two vertical fixing screws to compress the sixth sealing member.
  • the sixth sealing member When the fuselage connecting part 22 is installed on the fuselage 10, the sixth sealing member is compressed, thereby achieving Seal the gap between the fuselage connection part 22 and the fuselage 10 .
  • the upper ring of the sixth sealing member is provided with convex ribs, and the fuselage connecting part 22 and/or the fuselage 10 is provided with a groove structure used to cooperate with the convex ribs.
  • the sixth sealing member is When pressed, the convex ribs cooperate with the groove structure to achieve better sealing effect.
  • the fuselage 10 has a first butt surface
  • the fuselage connection part 22 has a second butt surface
  • the first butt surface and the second butt surface are in contact
  • the sixth seal is located between the first butt surface and the second butt surface. between the surfaces to achieve end surface sealing between the fuselage 10 and the fuselage connection part 22.
  • the power device 30 includes a motor 31 and a propeller 32.
  • the motor 31 can rotate to drive the propeller 32 to rotate, thereby providing the unmanned aerial vehicle with power. Provides flight power.
  • the motor 31 may be an external rotor motor, and the propeller 32 is provided on the external rotor of the motor 31 .
  • the power device 30 is disposed at an end of the machine arm 21 away from the fuselage 10 , that is, the power device 30 is disposed at the second end 21 b of the machine arm 21 .
  • a seventh seal is provided between the machine arm 21 and the power unit 30. The seventh seal can independently seal the end of the machine arm 21 to prevent water from escaping.
  • the landing arm 21 enters the power unit 30 and affects the operation of the power unit 30.
  • the rotation direction of the propeller 32 of each power unit 30 is the same as the folding direction of the arm 21 carrying the power unit 30 .
  • the rotation direction of the propeller 32 during operation is the direction indicated by the arc-shaped solid arrow in Figure 1a
  • the folding direction of the arm assembly 20 is the direction indicated by the dotted arrow in Figure 1a.
  • reaction torque reaction torque
  • the fuselage 10 of the human aircraft provides flight lift for the unmanned aircraft. Since the air will give the propeller 32 a reaction torque, the arm 21 has a tendency to move in the direction of the reaction torque. Since the machine arm 21 can be switched to the folded state, in order to prevent the reaction torque of the propeller 32 from driving its corresponding machine arm 21 to rotate in the folding direction, the embodiment of the present application further limits the rotation direction of the propeller 32 of each power unit 30. This is the same as the folding direction of the arm 21 carrying the power unit 30, so that when the propeller 32 rotates, the arm 21 has a tendency to move in the unfolding direction, thereby effectively preventing the arm 21 from folding back.
  • the air will exert a force on the propeller 32 in the opposite direction.
  • This force acting on the arm 21 is called a counter-torque force, and the direction of the counter-torque force is counterclockwise.
  • the anti-torque force needs to be in the opposite direction of folding the machine arm 21, thereby preventing the machine arm 21 from folding back.
  • the rotation direction of the propeller 32 is the same as the folding direction of the arm 21, that is, the folding direction of the arm 21 is also set to fold in the clockwise direction. This can achieve the above effect and avoid the folding of the arm 21.
  • the vertical axis of the motor 31 is tilted relative to the yaw axis of the UAV, that is, the axis of the motor 31 is tilted relative to the yaw axis.
  • the tilt is at a preset angle, and the axis of the motor 31 extends obliquely from the arm 21 toward the side away from the folding direction of the arm 21, so that the power provided by the propeller 32 is tilted relative to the yaw axis, so that the power is divided into two parts.
  • One component is upward, providing flight power for the unmanned aerial vehicle, and the other component makes the arm 21 tend to move along the deployment direction, so that the power device 30 can hinder the arm when driving the unmanned aerial vehicle to fly. 21 turns.
  • the direction of part of the power device 30 is opposite to the direction of the other part of the power device 30,
  • the power device 30 includes a motor 31 and a propeller 32 .
  • the orientation of the power device 30 refers to the orientation of the side of the motor 31 on which the propeller 32 is installed. For example, if the propeller 32 is provided on the upward surface of the motor 31, then the orientation of the power device is upward. , the propeller 32 is provided on the downward facing surface of the motor 31, so the direction of the power device is downward.
  • the tripods that support the UAV are usually placed on the fuselage. Due to the size limitations of the fuselage, the relative distance between the tripods is small, and the stability of the UAV after landing is low. .
  • a tripod can be further provided below the power device 30 that is facing upward. Cooperating with the tripods on the fuselage 10 to jointly support the entire unmanned aerial vehicle, the relative distance between the tripods is increased, thereby effectively improving the stability of the support.
  • the power devices 30 include four, and the four power devices 30 are respectively located on both sides of the fuselage 10 in the left and right directions.
  • the four power units 30 are respectively the power unit 30a, the power unit 30b, the power unit 30c and the power unit 30d.
  • the four power units 30 are symmetrically arranged on the fuselage along the symmetry axis in the length direction of the fuselage 10.
  • the power unit 30a and the power unit 30b are arranged symmetrically along the length direction axis of symmetry
  • the power unit 30c and the power unit 30d are arranged symmetrically along the length direction axis of symmetry.
  • the four power units 30 are symmetrically arranged on the front and rear sides of the fuselage 10 along the axis of symmetry in the width direction of the fuselage 10.
  • the power unit 30a and the power unit 30d are symmetrically arranged along the axis of symmetry in the width direction.
  • the power unit 30b and the power unit 30 are symmetrically arranged along the axis of symmetry in the width direction.
  • the device 30c is arranged symmetrically along the width direction of the axis of symmetry.
  • the two power units 30 located on the same side in the left-right direction of the fuselage 10 have opposite directions.
  • the directions of the power unit 30a and the power unit 30d are opposite, with the power unit 30a facing downwards and the power unit 30d facing upwards.
  • the directions of the power unit 30b and the power unit 30c are opposite, with the power unit 30b facing downwards and the power unit 30c facing upwards. This prevents the propellers from interfering with each other when folded.
  • a tripod can be provided below the power unit 30c and the power unit 30d.
  • one implementation method in the embodiment of the present application is to connect the second end 21b of the machine arm 21 to the power unit 30 through a bearing seat.
  • the connection strength between the second end 21b of the machine arm 21 and the power unit 30 can be increased through the bearing seat, thereby improving stability.
  • the seventh seal 33 can be wrapped around the outside of the bearing seat, thereby achieving sealing between the second end 21b and the power device 30.
  • the motor 31 of a part of the power device 30 is installed above the bearing base, and the propeller 32 is located above the motor 31 .
  • the motor 31 of another part of the power unit 30 is installed below the bearing base, and the propeller 32 is located below the motor 31 .
  • a tripod can be provided on the bearing seat.
  • the tripods on the unmanned aerial vehicle can be arranged in a variety of ways.
  • One possible way is to only install the tripod on the fuselage 10 Set up multiple tripods.
  • Another way is that a part of the tripod is arranged on the fuselage 10 and the other part of the tripod is arranged on the power unit.
  • the unmanned aerial vehicle includes a first tripod 80 and a second tripod 81 .
  • the first tripod 80 is located on the fuselage 10 .
  • the second tripod 81 is located below at least one machine arm 21 .
  • the second tripods 81 can be respectively provided below the power unit 30c and the power unit 30d.
  • the machine arm includes a bearing base, and the bearing base is connected to the power device 30 .
  • the machine arm 21 is provided with a bearing seat, one way of arranging the second leg 81 is that the second leg 81 is located below the bearing seat on at least one of the machine arms 21 .
  • each propeller 32 corresponding to each power device 30 is located on the same plane.
  • each propeller 32 can output power to the fuselage 10 on the same plane, making the unmanned aerial vehicle fly more smoothly.
  • the technical solution provided by the embodiment of the present application provides a locking component 40 at the fuselage connection part 22 of the unmanned aerial vehicle, and the resisting part 41 of the locking component 40 can be between the first position and the second position.
  • the resisting part 41 prevents the arm 21 from folding.
  • the resisting portion 41 avoids the machine arm 21 so that the machine arm 21 can be folded. Therefore, this technical solution enables the arm 21 to be maintained in the deployed state, and in the deployed state, the resisting portion 41 can be controlled to move to avoid the arm 21, so that the arm 21 can be folded for easy storage.
  • the technical solution provided by the embodiment of the present application simplifies the arrangement of folding and unfolding the machine arm 21. For example, it only takes one step to unfold and self-lock, and it only takes two steps to fold and store the machine arm 21 and self-lock. function, and at the same time solves the need for IPX5 or higher waterproofing of the machine arm 21 in the folded and unfolded states, and realizes the function of position checking after unfolding the machine arm 21, by setting the folding direction of the machine arm 21 to the power unit 30 The opposite direction of the yaw and tilt force avoids the problem of arm folding caused by the power unit 30.
  • the unfolding of the arm 21 can be simplified to a one-step unfolding operation. After unfolding, the position of the arm 21 will be automatically locked and fixed by the locking component 40 .
  • the corresponding unlocking requires only two steps: press the operating part and fold the arm 21. It can effectively avoid user problems and improve operation convenience.
  • IPX5 or higher waterproofing cannot be achieved when the arms are folded, which leads to the risk of water intrusion into the aircraft during field transportation on rainy days.
  • IPX5 waterproof index In the embodiment of the present application, through the structural design of each seal, the effect of waterproofing the machine arm while crossing the line and folding is achieved. Regardless of the state of the machine arm 21, it can meet the IPX5 waterproof index.
  • the aircraft arm design does not have the function of arm deployment and position detection. If the user operates improperly, for example, the aircraft arm cannot be automatically sensed when the arm is not deployed in place, and thus it is impossible to set up intelligent checkpoints for safe flight, resulting in unsafe takeoffs. hidden dangers.
  • the in-position detection device 60 and the design of the locking component 40 intelligent identification of the deployment position is realized.
  • the deflection angle of the power motor around the arm and the counter-torque of the power motor provide the UAV yaw and tilt force in the same direction as the folding direction.
  • the deflection angle of the power unit 30 around the arm 21 and the reaction torque of the power unit 30 jointly provide the UAV yaw and tilt force in the opposite direction to the folding direction, thereby preventing the possibility of the arm 21 folding back.
  • embodiments of the present application also provide an arm assembly 20.
  • the implementation of the arm assembly 20 may refer to the implementation of the arm assembly 20 in the above embodiments, which will not be discussed here. Let’s go over them one by one.
  • the embodiment of the present application also provides another arm assembly 20.
  • the arm assembly 20 is used to carry a power device that provides flight power for the unmanned aerial vehicle. 30. specifically,
  • the arm assembly 20 includes an arm 21 and a fuselage connection part 22 for connecting with the fuselage 10 of the UAV.
  • the arm 21 is rotatably connected to the fuselage connecting portion 22 through a rotating shaft 220 so that the arm 21 can be in an unfolded state or a folded state relative to the fuselage 10 .
  • the arm assembly 20 also includes a locking assembly 40, which is movably provided at the fuselage connection portion 22.
  • the locking assembly 40 includes a resisting portion 41 and a return elastic member 50, and the return elastic member 50 is connected to the resisting portion 41.
  • the return elastic member 50 drives the resisting portion 41 to move from the second position to the first position in the extension direction of the rotating shaft 220 under the action of elastic force, so that the resisting portion 41 contacts the arm 21 , to prevent the machine arm 21 from rotating in the folding direction.
  • each component in the arm assembly 20 may refer to the implementation of each component in the above embodiment, and will not be described again here.
  • the third aspect of the embodiment of the present application also provides an unmanned aerial vehicle, including: a fuselage 10, and a device as in the above embodiment provided on the fuselage 10. Arm assembly 20.
  • the implementation of each component in the unmanned aerial vehicle may refer to the implementation of each component in the above embodiments, and will not be described again here.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, and may be electrical or mechanical. or other forms.

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Abstract

一种无人飞行器及机臂组件，其中，无人飞行器包括机身(10)；至少一个机臂组件(20)；机臂组件(20)包括机臂(21)以及用于与机身(10)连接的机身连接部(22)；机臂(21)与机身连接部(22)通过一转轴(220)可转动地连接，以使机臂(21)能够相对于机身(10)处于展开状态或折叠状态；锁定组件(40)，活动设于机身连接部(22)；当机臂组件(20)处于展开状态，且抵挡部(41)位于第一位置时，抵挡部(41)与机臂(21)抵接，以阻碍机臂(21)沿折叠方向转动；当机臂组件(20)处于展开状态，且抵挡部(41)位于第二位置时，抵挡部(41)解除与机臂(21)的抵接，以使机臂(21)能够沿折叠方向转动。

Description

无人飞行器及机臂组件 技术领域
本申请实施例涉及无人飞行器结构设计技术领域，尤其涉及无人飞行器及机臂组件。
背景技术
目前市场上的一些无人飞行器的机臂可以相对于机身折叠或展开，在展开状态下实现无人飞行器的正常飞行，在折叠状态下可实现无人飞行器的收纳。如何使得无人飞行器在飞行时能够维持在展开状态，以及在需要收纳时较快地切换至折叠状态，显得尤为重要。
发明内容
针对现有技术中的上述缺陷，本申请实施例提供一种无人飞行器及机臂组件。
本申请实施例第一方面提供一种无人飞行器，包括：
机身；
至少一个机臂组件，用于承载为所述无人飞行器提供飞行动力的动力装置；所述机臂组件包括机臂以及用于与所述机身连接的机身连接部；所述机臂与所述机身连接部通过一转轴可转动地连接，以使所述机臂能够相对于所述机身处于展开状态或折叠状态；
锁定组件，活动设于所述机身连接部，所述锁定组件包括抵挡部；
当所述机臂组件处于展开状态，且所述抵挡部在所述转轴的延伸方向上位于第一位置时，所述抵挡部与所述机臂抵接，以阻碍所述机臂沿所述折叠方向转动；当所述机臂组件处于展开状态，且所述抵挡部在所述转轴的延伸方向上位于第二位置时，所述抵挡部解除与所述机臂的抵接，以使所述机臂能够沿所述折叠方向转动。
本申请实施例第二方面还提供一种机臂组件，用于承载为无人飞行器 提供飞行动力的动力装置，包括：
机臂；
机身连接部，与所述机臂通过一转轴可转动地连接，以使所述机臂能够相对于所述机身处于展开状态或折叠状态；
锁定组件，活动设于所述机身连接部，所述锁定组件包括抵挡部；
当所述机臂组件处于展开状态，且所述抵挡部在所述转轴的延伸方向上位于第一位置时，所述抵挡部与所述机臂抵接，以阻碍所述机臂沿所述折叠方向转动；当所述机臂组件处于展开状态，且所述抵挡部在所述转轴的延伸方向上位于所述第二位置时，所述抵挡部解除与所述机臂的抵接，以使所述机臂能够沿所述折叠方向转动。
本申请实施例第三方面还提供一种机臂组件，用于承载为无人飞行器提供飞行动力的动力装置；
所述机臂组件包括机臂以及用于与所述无人飞行器的机身连接的机身连接部；
所述机臂与所述机身连接部通过一转轴可转动地连接，以使所述机臂能够相对于所述机身处于展开状态或折叠状态；以及
锁定组件，活动设于所述机身连接部，所述锁定组件包括抵挡部和复位弹性件，所述复位弹性件与所述抵挡部连接；
当所述机臂组件处于展开状态时，所述复位弹性件在弹力的作用下带动所述抵挡部在所述转轴的延伸方向上由第二位置运动至第一位置，使所述抵挡部与所述机臂抵接，以阻碍所述机臂沿所述折叠方向转动。
本申请实施例第四方面还提供一种无人飞行器，包括：机身，以及设置在机身10上的如上述中所述的机臂组件。
本申请实施例提供的技术方案通过在无人飞行器的机身连接部设置锁定组件，锁定组件的抵挡部能够在第一位置和第二位置之间运动，当机臂组件处于展开状态，且抵挡部位于第一位置时，抵挡部阻碍机臂折叠， 当机臂组件处于展开状态，且抵挡部处于第二位置时，抵挡部避让机臂，使得机臂可以折叠。因此，本技术方案使得机臂能够维持在展开状态，且在展开状态下，能够通过控制抵挡部运动至避让机臂，使得机臂能够折叠，方便收纳。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1a为本申请实施例提供的机臂组件在折叠状态下的无人飞行器的结构示意图；
图1b为本申请实施例提供的机臂组件在折叠状态下的无人飞行器的结构示意图；
图2a为本申请实施例提供的机臂组件在展开状态下的锁定组件的状态示意图；
图2b为本申请实施例提供的机臂组件在折叠状态下的锁定组件的状态示意图；
图3a为本申请实施例提供的机臂组件的爆炸结构示意图；
图3b为图3a中的A处放大图；
图4a为本申请实施例提供的机臂组件在展开状态下，且抵挡部在第一位置时的局部剖视图；
图4b为本申请实施例提供的机臂组件在折叠状态下，且抵挡部在第二位置时的局部剖视图；
图5a为本申请实施例提供的机身连接部的局部结构示意图；
图5b为本申请实施例提供的机身连接部的纵剖视图；
图5c为图5b中的B处放大图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
除非另有定义，本文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。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。
在通篇说明书及权利要求当中所提及的“包括”为一开放式用语，故应解释成“包括但不限定于”。“大致”是指在可接收的误差范围内，本领域技术人员能够在一定误差范围内解决所述技术问题，基本达到所述技术效果。
此外，“连接”一词在此包含任何直接及间接的连接手段。因此，若文中描述一第一装置连接于一第二装置，则代表所述第一装置可直接连接于所述第二装置，或通过其它装置间接地连接至所述第二装置。
应当理解，本文中使用的术语“及/或、和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A1及/或B1，可以表示：单独存在A1，同时存在A1和B1，单独存在B1这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
发明人在实践本申请时发现，在机臂可折叠的无人飞行器领域中，还存在以下一些不足。
第一，在传统技术中，无人飞行器的机臂展开后机臂的固定方式，通常使用传统的套筒锁紧机构，往往需要展开机臂时，需要将机臂套到指定位置套筒，再旋转套筒，再确认套筒旋转到位等4个步骤，折叠机臂时同样需要顺序相反的4个步骤。由于步骤繁琐，操作注意点多，容易引起用户因操作失误导致的飞行安全隐患；
第二，该领域在机臂折叠状态下无法实现IPX5或更高等级的防水， 导致雨天外场搬运飞机有机身进水风险；
第三，该领域的机臂设计没有机臂展开检位的功能，用户的操作不当，例如机臂未展开到位无法由机器自主感知，进而无法设置安全飞行智能检查点，带来不安全起飞的隐患；
第四，该领域存在机臂回折问题，其原因是动力电机绕机臂的偏转角以及动力电机反扭矩共同提供的无人机偏航倾转力和折叠方向相同。
由于传统技术中存在以上不足，因此，发明人经过创造性劳动，以提供本申请实施例中的方案。本申请实施例中，对于机臂可折叠的无人飞行器，为保证无人飞行器在飞行状态时，机臂能够稳定在展开状态，需要设计至少能够在展开状态下对机臂进行锁定的锁定组件。本申请一些实施例旨在提供一种简单可靠的结构，以至少实现机臂组件能够锁定在展开状态，并且能够快速实现机臂组件在展开状态和折叠状态的切换。
下面结合附图，对本申请的一些实施方式作详细说明。在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
图1a为本申请实施例提供的机臂组件在折叠状态下的无人飞行器的结构示意图；图1b为本申请实施例提供的机臂组件在折叠状态下的无人飞行器的结构示意图；图2a为本申请实施例提供的机臂组件在展开状态下的锁定组件的状态示意图；图2b为本申请实施例提供的机臂组件在折叠状态下的锁定组件的状态示意图；请参照附图1a～附图2b。
本申请实施例提供的无人飞行器，包括：机身10、至少一个机臂组件20、动力装置30和锁定组件40。
机臂组件20用于承载为无人飞行器提供飞行动力的动力装置30。其中，动力装置30可以包括电机31和螺旋桨32，电机31能够通过旋转以带动螺旋桨32旋转，从而为无人飞行器提供飞行动力。在一个示例性实施例中，电机31可以为外转子电机，螺旋桨32设于电机31的外转子上。
在一个示例性实施例中，本申请实施例提供了一种如图1a～图1b所展示的是四旋翼无人飞行器，其包括四个机臂组件20以及四个动力装置30，在其他一些实施例中，机臂组件20及动力装置30的数量也可以为其他数量，例如，两个、六个、八个及其他数量等，本申请实施例不做特别限定。
具体的，机臂组件20包括机臂21以及用于与机身10连接的机身连接部22；机臂21与机身连接部22通过一转轴220可转动地连接，以使机臂21能够相对于机身10处于展开状态或折叠状态。在本申请实施例中，机身连接部22可以与机身10分体成型或一体成型。在一个示例性实施例中，机身连接部22可以与机身10分体成型，并且，机身连接部22与机身10可拆卸连接，以降低机身连接部22和机身10的成型工艺难度。
如图1a所示，机臂21与机身连接部22之间可以采用一转轴220铰接。具体的，机臂21可以包括与机身连接部22连接的第一端21a，以及用于承载动力装置30的第二端21b。机身连接部22可以具有供机臂21的第一端21a插入的腔体，机臂21的第一端21a插入腔体内，并通过转轴220将两者可转动地连接。
机臂21可以沿靠近机身10所在方向转动至处于折叠状态，以及机臂21可以沿远离机身10所在方向转动至处于展开状态。依据空气动力学的原理，为避免动力装置30在转动时产生扰流，相邻的螺旋桨32在工作时的旋转方向(如图1a中弧形实线箭头所示)不同，相对的螺旋桨32的旋转方向相同。
由于螺旋桨32在旋转时，会切割空气，而螺旋桨32给空气以作用力矩，空气必然在同一时间以大小相等、方向相反的反作用力矩(也称反扭矩)作用于螺旋桨32，从而再通过螺旋桨32将这一反作用力矩传递到无人飞行器的机身10上，提供无人飞行器的飞行升力。而由于空气会给螺旋桨32反扭矩，因此，整个机臂组件20具有沿反扭矩方向运动的趋势。 而由于机臂组件20能够切换至折叠状态，因此，为防止螺旋桨32的反扭矩带动其对应的机臂21朝折叠方向转动，本申请实施例进一步限定每个动力装置30的螺旋桨32的旋转方向可以与承载动力装置30的机臂21的折叠方向相同。举例来说，如图1a所示，每个动力装置30的螺旋桨32的旋转方向为实线箭头所示，而机臂组件20的折叠方向可以分别以如图1a中虚线箭头所示。也就是说，对于每个机臂组件20来讲，其对应的螺旋桨32的反扭矩的方向与机臂21的折叠方向相反。
图3a为本申请实施例提供的机臂组件20的爆炸结构示意图；图3b为图3a中的A处放大图；图4a为本申请实施例提供的机臂组件20在展开状态下，且抵挡部41在第一位置时的局部剖视图；图4b为本申请实施例提供的机臂组件20在折叠状态下，且抵挡部41在第二位置时的局部剖视图。
如图2a～图4b所示，锁定组件40活动设于机身连接部22，锁定组件40包括抵挡部41。在一个示例性的实施例中，抵挡部41能够在第一位置(如图2a和图4a中抵挡部41所处的位置)和第二位置(如图2b和图4b中抵挡部41所处的位置)之间运动；机臂21的延伸方向与抵挡部41的运动方向呈预设夹角。
当机臂组件20处于展开状态，且抵挡部41在转轴220的延伸方向上位于第一位置时，抵挡部41与机臂21抵接，以阻碍机臂21沿折叠方向转动；当机臂组件20处于展开状态，且抵挡部41在转轴220的延伸方向上位于第二位置时，抵挡部41解除与机臂21的抵接，以使机臂21能够沿折叠方向转动。
在一个示例性实施例中，锁定组件40可以伸入机身连接部22的腔体内，以能够与机臂21的第一端21a抵顶，而以便能够阻碍机臂21沿折叠方向转动。具体的，机臂21通常可以呈长臂结构，机臂21的延伸方向指的是机臂21的长度方向，在本申请实施例中，如图4a～图4b所示，抵挡部41的运动方向为S1，机臂21的延伸方向为S2。
在一个示例性实施例中，抵挡部41的运动方向S1与机臂21的延伸方向S2基本垂直。需要说明的是，此处所述的“垂直”可以指一个角度范围，如，抵挡部41的运动方向S1与机臂21的延伸方向S2之间可呈90度夹角，也可稍大于或稍小于90度夹角，或者也可理解为抵挡部41的运动方向S1与机臂21的延伸方向S2基本垂直，所谓“基本垂直”是指在制造和装配误差的允许范围内，两者之间的角度为90°±x°，x根据不同需求为不同的数值，如x包括但不限于为5。由于机臂21相对于机身10转动时，机臂21的转动平面由机臂21所转过的角度确定，因此，当抵挡部41的运动方向S1与机臂21的延伸方向基本垂直时，抵挡部41对机臂21的抵挡作用力较大，能够有效地阻碍机臂21向折叠方向转动。
当然，可以理解的是，在其他一些实施例中，抵挡部41的运动方向S1与机臂21的延伸方向S2之间角度可以为其他角度，本申请不做特别限定。
本申请实施例提供的技术方案通过在无人飞行器的机身连接部22设置锁定组件40，锁定组件40的抵挡部41能够在第一位置和第二位置之间运动，当机臂组件20处于展开状态，且抵挡部41位于第一位置时，抵挡部41阻碍机臂21折叠，当机臂组件20处于展开状态，且抵挡部41处于第二位置时，抵挡部41避让机臂21，使得机臂21可以折叠。因此，本技术方案使得机臂21能够维持在展开状态，且在展开状态下，能够通过控制抵挡部41运动至避让机臂21，使得机臂21能够折叠，方便收纳。
进一步地，在一些可实现的实施例中，如图2a所示，机臂21上可以具有配合部211，在机臂组件20处于展开状态，且抵挡部41在转轴220的延伸方向上处于第一位置时，配合部211与抵挡部41配合，以阻碍机臂21沿折叠方向转动。机臂21上的配合部211可以为机臂21在展开状态下，机臂21上能够与抵挡部41抵接的接触位置。本领域技术人员可以具体设计机臂21第一端21a的结构，以使得机臂21在展开状态下，机臂 21的第一端21a的某个部位刚好与抵挡部41抵接，而该部位形成上述的配合部211。
在一些实施例中，如图2a和图2b所示，抵挡部41可以包括第一抵挡面411，配合部211可以包括第二抵挡面2111，在抵挡部41在转轴220的延伸方向上处于第一位置时，第一抵挡面411与第二抵挡面2111抵接接触，以阻碍机臂21沿折叠方向转动(如图2a所示，粗实线弧形箭头为机臂21往折叠方向转动的转动方向)。由图2a可知，机臂21的第二抵挡面2111在第一抵挡面411的抵挡下，而无法向折叠方向转动，使得机臂21维持在展开状态，保证无人飞行器能够锁定在展开状态，提高飞行安全。
在其他一些实施例中，配合部211甚至可以包括杆体、球体、或块等，当配合部211包括杆体时，杆体的一端与机臂21连接，杆体的另一端用于抵接至第一抵挡面411，同样也可以达到阻碍机臂21沿折叠方向继续转动的目的，本申请实施例对于配合部211的具体结构并不严格限制。
相较于配合部211包括杆体、球体、块的形式，本申请中将配合部211设计成包括第二抵挡面2111，第二抵挡面2111与第一抵挡面411抵接接触，由于两者均呈平面状，因此，两者的接触面积较大，第二抵挡面2111与第一抵挡面411抵接后两者之间不易产生相对运动，进而能够有效提高锁定组件40对机臂21的锁定效果，提高飞行安全。
在上述实施例的基础上，进一步的，请继续参照附图2a所示，第一抵挡面411可以为第一斜面，第二抵挡面2111可以为第二斜面；自抵挡部41在转轴220的延伸方向上从第一位置运动至第二位置的运动方向，第一斜面逐渐靠近配合部211，第二斜面逐渐远离抵挡部41。如图2a所示为抵挡部41处于第一位置的示意图，如图2b所示为抵挡部41处于第二位置的示意图。由此可知，在图2a和图2b所展示的示例性实施例中，抵挡部41从第一位置运动至第二位置的运动方向为如图2a和图2b中从 上至下的运动方向。以图2a和图2b为例，而第一斜面可以为从上至下逐渐向靠近配合部211所在方向倾斜的斜面，而第二斜面可以为从上至下逐渐向远离抵挡部41所在方向倾斜的斜面。
当然，抵挡部41从第一位置运动至第二位置的运动方向可以并不限于从上至下，在其他一些实施例中，抵挡部41从第一位置运动至第二位置的方向可以为从下至上。甚至，在另一些实施例中，抵挡部41从第一位置运动至第二位置的方向为从机身连接部22的第一侧部指向机身连接部22的第二侧部，其中第一侧部与第二侧部相对。由于抵挡部41的运动方向对抵挡机臂21的效果影响不大，因此，只要抵挡部41能够在预设位置处刚好抵挡机臂21往折叠方向转动即可，本申请实施例对抵挡部41的运动方向并不做特别限定。
需要说明的是，本申请实施例中各部件的方位可以是无人飞行器在图1a所示飞行姿态下，各部件的方位。
在一些实施例中，第一斜面与第二斜面相适配，第一斜面和第二斜面可以平行，也就是说第一斜面和第二斜面相对于同一平面的倾斜角度可以相等。需要说明的是，需要说明的是，此处所述的“平行”可以指一个倾斜角度的范围，如，第一斜面和第二斜面的倾斜角度之间可呈180度，也可稍大于或稍小于180度，或者也可理解为第一斜面和第二斜面基本平行，所谓“基本平行”是指在加工和制造误差允许的范围内保持大致平行，例如，两者之间的角度可以在0°±5°之间。当然，可以理解的是，当第一斜面与第二斜面完全平行时，第一斜面与第二斜面抵接时接触面积最大，第一斜面对第二斜面之间抵接越稳定，使得机臂21越不易往折叠方向转动。在一种可实现的实施例中，第一斜面和第二斜面之间的倾斜角度为5°～10°。
参见图5a，为方便机身10与动力装置30之间的电性连接，一种可实现的方式是，机身连接部22上具有供线缆穿过的机身线缆穿孔221，线缆 与机身线缆穿孔221的内壁之间通过第一密封件212密封连接。传统技术中的端面密封方式，只能在机臂21处于展开状态下才能密封，在折叠状态下，水容易进入机身10内部，影响内部的电子元器件。相较于传统技术，本申请实施例提供的技术方案，在机身连接部22设置机身线缆穿孔221，在机身线缆穿孔221处设置第一密封件212，实现线缆与机身线缆穿孔221之间密封，这样无论机臂21处于折叠还是展开状态，机身处都密封状态，避免水进入机身10内部，影响内部的电子元器件。第一密封件212的实现方式包括但不限于为密封胶，一种可实现方式是，通过将第一密封件212周边一圈和机身连接部22粘接，同时使用液态防水胶对机身线缆穿孔221和线材进行密封，可以实现无论折叠还是展开状态下机身线缆穿孔221的密封。密封的形式不仅限于液态防水胶，同样可以使用密封橡胶过线的形式。
在本申请实施例中，机身线缆穿孔221的设置方式包括多种，一种可实现的方式是，机身线缆穿孔221可直接设置于机身连接部22上，再一种可实现的方式是，参见图5a-图5c，在机身连接部22上还设有线缆连接部222，线缆连接部222与机身连接部22机械耦合，机身线缆穿孔221设于线缆连接部222。通过将线缆连接部222与机身连接部22分体设置，可便于设置机身线缆穿孔221，将机身线缆穿孔221设置不同需要的位置。进一步地，线缆连接部222与机身连接部22的连接方式包括多种，如，线缆连接部222与机身连接部22粘接，粘接的方式可有效减少线缆连接部222与机身连接部22之间的缝隙，以便增强密封效果。当然，线缆连接部222与机身连接部22的连接方式也可为其他方式，如卡接、紧固件连接等。
进一步地，在本申请的一些可实现的实施例中，机臂21内部包括一腔体，线缆能够由第一端21a穿过腔体而与设置于第二端21b的动力装置30连接。通过机臂21的腔体，可使得连接机身10与动力装置30的线缆 可以从机臂21的内部穿过，从而避免线缆在外部走线，防止线缆的无规则乱动对其他部件的影响，同时，在外观上看不到线缆，可使得无人飞行器的整体外观更加简洁、美观。
为避免外物通过机臂21的内腔流入机身10或动力装置30，腔体内设有第二密封件，腔体的内壁与线缆通过第二密封件密封连接。通过设置第二密封件可进一步地增强机臂21的密封效果，使得机臂21的内部也具有密封性，防止水、灰尘等外物从机臂21的内部流动至动力装置30处。区别于传统技术中的机臂与机身之间的密封是通过机臂与机身之间端面密封，只有在机臂展开状态下才能密封，在折叠状态下就密封失效，本申请中，通过机身线缆穿孔221处的第一密封件212，和机臂21内的第二密封件实现机身10和机臂21的分别密封，从而提高密封等级。
为避免在机臂21转换折叠状态及展开状态时，密封件对线缆造成干涉，在机臂21处于展开状态下，第一密封件212与第二密封件之间的线缆长度大于第一密封件212与第二密封件之间的距离。在一示例性的实施例中，因为线缆与机身连接部22通过第一密封件212粘接，并且与机臂21通过第二密封件粘接，而机臂21需要展开和折叠，如果在第一密封件212和第二密封件之间的线缆长度不够长的话，会对机臂21的展开和收拢造成干涉。当第一密封件212与第二密封件之间的线缆长度大于第一密封件212与第二密封件之间的距离，可有效避免上述干涉情况。
进一步地，第二端21b相对于第一端21a更靠近于第二密封件。第二端21b用于承载动力装置30，因此需要的密封等级相对较高，第二端21b更靠近于第二密封件，可使得第二密封件为动力装置30提供更好地密封作用。
参见图2a-图3b，在本申请的一些实施例中，锁定组件40还包括：操作部42。操作部42与抵挡部41连接，具体的，操作部42可以与抵挡部41固定连接，例如一体成型，或者可拆或不可拆的固定连接。操作部 42包括供用户接触操作的操作端421，操作端421可以从机身连接部22伸出。用户在需要机臂21折叠或展开时，可以通过操作端421控制操作部42，从而改变抵挡部41的位置，从而完成机臂21的折叠或展开。例如，需要机臂21展开时，用户通过操作端421向操作部施加外力，操作部42接收外力，抵挡部41在转轴220的延伸方向上从第一位置到第二位置，此时用户可以将机臂21展开，机臂21展开后，抵挡部41在转轴220的延伸方向上从第二位置到第一位置，抵挡部41抵接机臂21，以阻碍机臂21沿折叠方向转动。当需要机臂21折叠时，用户通过操作端421向操作部施加外力，操作部42接收外力，抵挡部41在转轴220的延伸方向上从第一位置到第二位置，此时用户可以将机臂21折叠，机臂21折叠后，抵挡部41在转轴220的延伸方向上从第二位置到第一位置，抵挡部41抵接机臂21，以阻碍机臂21沿展开方向转动。
用户操作的方式包括但不限于以下几种，一种可实现的方式是，操作端421用于接收按压力而使操作端421朝机身连接部22所在方向运动，以使抵挡部41在转轴220的延伸方向上从第一位置运动至第二位置。另一种方式是，操作端421用于接收拉力而使操作端421沿背离机身连接部22所在方向运动，以使抵挡部41在转轴220的延伸方向上从第一位置运动至第二位置。
为便于用户对操作部42的操控，使得锁定组件40上的操作部42能够从机身连接部22伸出，机身连接部22上具有供操作部42穿过的贯穿孔2221。通过贯穿孔2221使得锁定组件40的一部分伸入机身连接部22内，如抵挡部41伸入机身连接部22从而对机臂21进行限位，锁定组件40中的操作部42从机身连接部22伸出便于用户进行操控。为进一步地避免外物经贯穿孔2221进入进行机身连接部22内，操作部42与机身连接部22之间设有第三密封件223，第三密封件223用于将操作部42与贯穿孔的孔壁之间密封。第三密封件223包括但不限于为塔型硅胶，塔型硅胶 将操作部42包裹，且塔型硅胶远离操作端421的一端与机身连接部22固定连接，从而实现对密封贯穿孔2221。塔型硅胶具有弹性，当用户施加外力时，塔型硅胶可发生形变，使得操作部42发生移动，实现抵挡部41的移动。操作部42被塔型硅胶包裹，起到防尘、防水作用，防止外物进入机身连接部22内导致可靠性问题。
为进一步地增强机臂21与机身连接部22之间的密封，本申请实施例中的一种方式是，机臂21上具有第一接触面，机身连接部22上具有第二接触面，第一接触面和/或第二接触面上具有第四密封件。在机臂21处于展开状态下，第一接触面与第二接触面挤压第四密封件，以使机臂21与机身连接部22端面密封。第一接触面与第二接触面为在机臂21处于展开状态下相接的端面，通过第四密封件实现端面密封。第四密封件包括但不限于为橡胶垫、硅胶垫，第四密封件可单独设置在第一接触面或第二接触面上，或者第一接触面与第二接触面上均设置有第四密封件。第四密封件可通过粘接或紧固件连接的方式实现与接触面的连接。第四密封件通过紧固件连接的一种方式是，利用两个垂直固定螺丝在第一接触面与第二接触面接触的方向对第四密封件实现压紧，第一接触面与第二接触面接触时压紧第四密封件，从而实现密封。
为进一步地提高第四密封件的密封效果，第四密封件朝向第一接触面和/或朝向第二接触面的面上环设有凸筋，第一接触面和/或第二接触面上设有配合凸筋使用的槽结构，第四密封件被压紧时，凸筋配合槽结构可使得密封效果更好。
为便于锁紧组件40能够自动复位，便于多次操作，参见图2a-图2b及图4a-图4b，本申请实施例中，锁紧组件40还包括：复位弹性件50，复位弹性件50设于操作部42与机身连接部22之间。在抵挡部41在转轴220的延伸方向上由第一位置运动至第二位置的过程中，复位弹性件50产生弹性形变。在外力小于预设值时，复位弹性件50能够从形变恢复， 而带动抵挡部41在转轴220的延伸方向上运动至第一位置。复位弹性件50包括但不限于为弹簧，通过设置复位弹性件50可以把展开机臂21简化为展开1步操作，机臂21展开后，在弹簧的作用下抵挡部41运动至第一位置就会自动将机臂21的位置锁死固定。相应的解锁只需要2步操作，按下操作部42，折叠机臂21即可，可以有效避免用户使用问题和提高操作便捷性。其中，在外力小于预设值时包括外力撤销，也就是外力为零时。
一种示例性的实施例中，继续参见图2a-图2b及图4a-图4b，锁定组件40可以在复位弹性件50(弹簧)的作用下上下运动。当锁定组件40被弹簧弹高时，抵挡部41会和机臂21运动到同一高度，阻碍机臂21的转动运动，进而锁定机臂21的位置。若需要解锁机臂21，只需要将锁定组件40从上方按下，使抵挡部41避开到机臂21的下方，机臂21即可自由绕轴转动。
在锁紧状态下，弹簧驱动的向上运动趋势和锁定组件40的抵挡部41共同形成了消除机臂21与锁定组件40之间的间隙的功能，间隙变大时，锁定组件40能够随之上升，间隙小时则上升高度相对较低。和锁定组件40相配合的分别是机身连接部22以及可以机臂21，其中，机臂21的第二抵挡面2111和锁定组件40上的第一抵挡面411相互配合。
在本申请的一些可实现的实施例中，抵挡部41还可进一步地用于限定机臂21的展开。一种可实现的方式是，当机臂组件20处于折叠状态下，且抵挡部41在转轴220的延伸方向上位于第一位置时，抵挡部41与机臂21抵接，以阻碍机臂21沿展开方向转动。当机臂组件20处于折叠状态下，且抵挡部41在转轴220的延伸方向上位于第二位置时，抵挡部41解除与机臂21的抵接，以使机臂21能够沿展开方向转动。此种设置方式下，展开机臂21的步骤为2步，按下操作部42，抵挡部41从第一位置运动至第二位置，此时抵挡部41避让机臂21，以便展开机臂21，机臂21展开后，撤掉外力，在弹簧的作用下抵挡部41运动至第一位置就会自动将机臂21 的位置锁死固定。相应的解锁也需要2步操作，按下操作部42，折叠机臂21，机臂21折叠后，撤掉外力，在弹簧的作用下抵挡部41运动至第一位置就会自动将折叠后的机臂21的位置锁死固定。
机臂21配合抵挡部41的一种方式是，机臂21上具有配合部211。在机臂组件20处于折叠状态，且抵挡部41在转轴220的延伸方向上处于第一位置时，配合部211与抵挡部41配合，以阻碍机臂21沿展开方向转动。机臂21上的配合部211可以为机臂21在折叠状态下，机臂21上能够与抵挡部41抵接的接触位置。本领域技术人员可以具体设计机臂21第一端21a的结构，以使得机臂21在折叠状态下，机臂21的第一端21a的某个部位刚好与抵挡部41抵接，而该部位形成上述的配合部211。
在一些实施例中，抵挡部41可以包括第三抵挡面，配合部211可以包括第二抵挡面2111，在抵挡部41在转轴220的延伸方向上处于第一位置时，第三抵挡面与第二抵挡面2111抵接接触，以阻碍机臂21沿展开方向转动。机臂21的第二抵挡面2111在第三抵挡面的抵挡下，而无法向展开方向转动，使得机臂21维持在折叠状态，保证无人飞行器能够锁定在折叠状态，以便于收纳。第三抵挡面为第三斜面，第三斜面的倾斜角度为5°～10°。需要说明的是，第三抵挡面可参考第二抵挡面的设置方式。
参见图2a-图4b，无人飞行器还包括：到位检测装置60，到位检测装置60用于检测机臂组件20处于展开状态或折叠状态。当机臂组件20进行展开状态及折叠状态转换时，到位检测装置60被触发，从而能够检测到机臂组件20的状态，以判断机臂组件20是否展开或折叠到位，以提高无人飞行器的使用安全性。
到位检测装置60的一种设置方式是，到位检测装置60用于与锁定组件40配合，当抵挡部41在转轴220的延伸方向上运动至第一位置时，到位检测装置60被锁定组件40触发，而发出预设响应。例如，参见图4a-图4b，当锁定组件40往下运动，锁定组件40会挤压到位检测装置60， 以触发到位检测装置60发出触发信号。当机臂21展开到位后，锁定组件40在弹簧作用下弹起，锁定组件40上升避开到位检测装置60，挤压到位检测装置60的力消失，使到位检测装置60恢复未触发状态，进而检验出机臂21的展开到位。当然，到位检测装置60也可用于被触发时，检验机臂21的折叠到位。通过设置到位检测装置60检测抵挡部41的位置，来判断机臂21展开或折叠是否到位，方式更为可靠。本申请实施例中，到位检测装置60包括以下至少一种：微动开关、光电开关、触点61开关、干簧管、霍尔感应器。
继续参见图2a-图4b，锁定组件40配合到位检测装置60的一种设置方式是，锁定组件40上具有一结构突变部43，结构突变部43能够跟随抵挡部41运动，到位检测装置60包括触点61，当抵挡部41在转轴220的延伸方向上位于第一位置时，触点61位于结构突变部43，以使到位检测装置60被触发。举例来说，参见图4a-图4b，当锁定组件40往下运动，锁定组件40上的结构突变部43会挤压到位检测装置60的触点61，以触发到位检测装置60发出触发信号。当机臂21展开到位后，锁定组件40在弹簧作用下弹起，锁定组件40上升，使得结构突变部43避开触点61，使到位检测装置60恢复未触发状态，进而检验出机臂21的展开到位。根据不同的需求，结构突变部43包括设于锁定组件40上的凹部。或者，结构突变部43包括设于锁定组件40上的凸部。图示中仅示出结构突变部43为凸部的情况，凸部的实现方式包括但不限位为一斜面结构。结合图4a-4b中所示，当到位检测装置60的触点61到凸部时，说明机臂21展开到位且锁定在第一位置，也就是机臂21被可靠锁定在展开位置或折叠位置。进一步地，在其他一些实施例可以结构突变部43可为凹部或其他结构，只要能够触发触点61伸进或伸出或感测到即可，本申请实施例不做具体限制。
参见图3b，在申请实施例中，到位检测装置60的一种可实现方式是， 到位检测装置60包括本体，以及从本体延伸出的伸缩部62，触点61位于伸缩部62上远离本体的一端。结构突变部43包括设于锁定组件40上的凹部，当抵挡部41在转轴220的延伸方向上位于第一位置时，伸缩部62伸入凹部。或者，结构突变部43包括设于锁定组件40上的凸部，当抵挡部41在转轴220的延伸方向上位于第一位置时，伸缩部62与凸部抵接接触。通过可伸缩的方式实现到位检测装置60的触发，结构简单，不易发生故障，从而有效确保检测的准确性。
在本申请的一些可实现的实施例中，结构突变部43包括设于锁定组件40上的凹部，当抵挡部41在转轴220的延伸方向上位于第一位置时，伸缩部62与凹部抵接接触。通过凹部可限制伸缩部62的行程距离，减少因震动、误操作等因素引起的触发响应，从而确保检测的准确性。
根据不同的需求，结构突变部43的设置方式也可为多种，为更好地实现触发到位检测装置60的作用，伸缩部62的伸缩方向与锁定组件40的滑动方向呈角度设置。例如，参见图4a-图4b，伸缩部的伸缩方向与锁定组件的滑动方向基本垂直，此种设置方式下，结构突变部43的设置方式可为凸部或者凹部。或者，伸缩部的伸缩方向与锁定组件的滑动方向基本平行，此种设置方式下，结构突变部43的设置方式可为凸部。到位检测装置60的布置位置不仅限于锁定组件40的侧面，同样可以安放在锁定组件40的底面位置或顶面位置。
在本申请实施例中，到位检测装置60与机身连接部22的连接方式包括多种，一种可实现的方式是，到位检测装置60可直接安装于机身连接部22上，可有效确保到位检测装置60与机身连接部22之间的相对位置的准确性，从而确保到位检测装置60的准确性。
另一种可实现的方式是，参见图3b-图4b，无人飞行器还包括：安装架70，安装架70用于安装到位检测装置60，到位检测装置60与安装架70可拆卸地连接，安装架70与机身连接部22连接。安装架70可增强到 位检测装置60与机身连接部22之间的连接强度，从而可提高到位检测装置60与机身连接部22连接的稳定性，进而确保到位检测装置60的检测稳定性。
为增强到位检测装置60的防水性能，到位检测装置60上靠近伸缩部62的一侧与安装架70之间通过第五密封件71端面密封。第五密封件71包括但不限于为橡胶垫、硅胶垫等，第五密封件71可通过粘接或紧固件连接的方式实现与安装架70及到位检测装置60的连接。第五密封件71通过紧固件连接的一种方式是，利用两个垂直固定螺丝对第五密封件71实现压紧，安装架70安装于机身连接部22时压紧第五密封件71，从而实现密封。为进一步地提高第五密封件71的密封效果，第五密封件71上环设有凸筋，安装架70和/或机身连接部22上设有配合凸筋使用的槽结构，第五密封件71被压紧时，凸筋配合槽结构可使得密封效果更好。
在本申请实施例中，机身连接部22与机身10的连接方式包括多种，一种可实现的方式是，机身连接部22与机身10为一体成型结构。另一种可实现的方式是，机身连接部22与机身10可拆卸连接，且机身连接部22与机身10通过第六密封件端面密封。第六密封件包括但不限于为橡胶垫、硅胶垫等，第六密封件可通过粘接或紧固件连接的方式实现与机身连接部22与机身10中的一个连接。第六密封件通过紧固件连接的一种方式是，利用两个垂直固定螺丝对第六密封件实现压紧，机身连接部22安装于机身10时压紧第六密封件，从而实现对机身连接部22与机身10之间间隙的密封。为进一步地提高第六密封件的密封效果，第六密封件上环设有凸筋，机身连接部22和/或机身10上设有配合凸筋使用的槽结构，第六密封件被压紧时，凸筋配合槽结构可使得密封效果更好。举例来说，机身10具有第一对接面，机身连接部22具有第二对接面，第一对接面与第二对接面对接，且第六密封件位于第一对接面与第二对接面之间，以实现机身10与机身连接部22端面密封。此种设置方式，便于实现机身连接部22 与机身10之间的可拆卸连接，便于将到位检测装置60、锁定组件等部件预先安装于机身连接部22上，同时通过第六密封件满足防水性能，避免外物进入机身连接部22内部，影响其他部件的正常使用。
参见图1a-图1b，本申请实施例中，动力装置30的一种可实现方式是，动力装置30包括电机31及螺旋桨32，电机31能够通过旋转以带动螺旋桨32旋转，从而为无人飞行器提供飞行动力。在一个示例性实施例中，电机31可以为外转子电机，螺旋桨32设于电机31的外转子上。动力装置30设置在机臂21远离机身10的一端，即动力装置30设置在机臂21的第二端21b。为确保机臂21与动力装置30的之间的密封性，机臂21与动力装置30之间设有第七密封件，第七密封件可对机臂21的末端进行独立密封，防止水沿着机臂21进入动力装置30，影响动力装置30的运行。
进一步地，为避免机臂21在展开状态下，因螺旋桨32的转动，而导致机臂21回折的问题。本申请实施例中的一种解决方式是，每个动力装置30的螺旋桨32的旋转方向与承载动力装置30的机臂21的折叠方向相同。参见图1a，螺旋桨32在工作时的旋转方向为图1a中弧形实线箭头所示方向，机臂组件20的折叠方向为图1a中虚线箭头所示方向，由于螺旋桨32在旋转时，会切割空气，而螺旋桨32给空气以作用力矩，空气必然在同一时间以大小相等、方向相反的反作用力矩(也称反扭矩)作用于螺旋桨32，从而再通过螺旋桨32将这一反作用力矩传递到无人飞行器的机身10上，提供无人飞行器的飞行升力。而由于空气会给螺旋桨32反扭矩，因此，机臂21具有沿反扭矩方向运动的趋势。而由于机臂21能够切换至折叠状态，因此，为防止螺旋桨32的反扭矩带动其对应的机臂21朝折叠方向转动，本申请实施例进一步限定每个动力装置30的螺旋桨32的旋转方向可以与承载动力装置30的机臂21的折叠方向相同，这样使得螺旋桨32在旋转时，机臂21具有沿展开方向运动的趋势，从而有效避免机臂21发生回折的情况。
举例来说，螺旋桨32沿顺时针旋转，那空气会反向给螺旋桨32作用力，这个作用力作用到机臂21就是称为反扭力，反扭力的方向为逆时针方向。为避免机臂21回折，因此需要这个反扭力是向机臂21折叠的反方向，由此防止机臂21回折。基于此，将螺旋桨32的转动方向与机臂21的折叠方向相同，即将机臂21的折叠方向同样设置为沿着顺时针方向折叠，这样就可以实现上述效果，避免机臂21的回折情况。
螺旋桨32在绕一个方向旋转过程中，会因为角动量守恒原理出现反方向的扭矩，作用在机臂21上会导致机臂21有朝着一个方向活动的趋势。将螺旋桨32绕机臂倾转，进而在无人飞行器横向面(水平面)内有分力，通过控制倾转角度大小和螺旋桨32输出力大小，可以控制整机在横向面内进行航向偏转。这个分力同样会导致有机臂21朝着一个方向活动的趋势，并且这个方向和螺旋桨32反扭矩造成的活动趋势方向相同。因此，为进一步地避免机臂21的回折情况，本申请实施例中，电机31的沿竖直方向的轴线相对于无人飞行器的偏航轴线倾斜，即电机31的轴线与相对于偏航轴线倾斜呈预设角度，且电机31的轴线自机臂21朝远离机臂21的折叠方向所在的一侧倾斜延伸，使得螺旋桨32提供的动力相对于偏航轴线倾斜，使得动力会分成两个分力，一个分力向上，为无人飞行器提供飞行动力，另一个分力则使得机臂21具有沿着展开方向移动的趋势，从而使动力装置30在带动无人飞行器飞行时，能够阻碍机臂21回折。
进一步地，为减少折叠状态下，螺旋桨32之间产生干涉，动力装置30的一种设置方式是，参见图1a-图1b，部分动力装置30的朝向与另一部分的动力装置30的朝向相反，其中，动力装置30包括电机31和螺旋桨32。本申请实施例中，动力装置30的朝向是指电机31上设置有螺旋桨32的那一面的朝向，如，电机31朝向上方的面上设有螺旋桨32，则此动力装置的朝向即为朝上，电机31朝向下方的面上设有螺旋桨32，则此动力装置的朝向即为朝下。此种设置方式下，基于电机31具有一定的高度， 则使得不同朝向的螺旋桨之间具有一收纳空间，在折叠时，朝向上方的螺旋桨32占用上方空间，朝向下方的螺旋桨32占用下方空间，彼此不会造成干涉，便于机臂21及螺旋桨32的折叠。
同时，在传统技术中，通常将支撑无人飞行器的脚架设置在机身上，基于机身的尺寸的限制，脚架之间的相对距离较小，降落后的无人飞行器稳定性较低。为解决此问题，本申请实施例中，基于部分动力装置30的朝向与另一部分的动力装置30的朝向相反的设置方式，进一步地可在朝向上方的设置的动力装置30的下方设置脚架，与机身10上的脚架配合共同支撑整个无人飞行器，增大了脚架彼此之间的相对距离，从而可有效提高支撑的稳定性。
继续参见图1a-图1b，在本申请的一种可实现的实施例中，动力装置30包括四个，四个动力装置30分别位于机身10的左右方向的两侧。一种实现方式是，四个动力装置30分别为动力装置30a、动力装置30b、动力装置30c及动力装置30d，四个动力装置30沿机身10的长度方向的对称轴，对称设置在机身10的左右两侧，如动力装置30a与动力装置30b沿长度方向对称轴对称设置，动力装置30c与动力装置30d沿长度方向对称轴对称设置。同时，四个动力装置30沿机身10的宽度方向的对称轴，对称设置在机身10的前后两侧，如动力装置30a与动力装置30d沿宽度方向对称轴对称设置，动力装置30b与动力装置30c沿宽度方向对称轴对称设置。
进一步地，位于机身10的左右方向的同一侧的两个动力装置30的朝向相反。如动力装置30a与动力装置30d的朝向相反，动力装置30a朝下，动力装置30d朝上。动力装置30b与动力装置30c的朝向相反，动力装置30b朝下，动力装置30c朝上。从而在折叠时，可避免螺旋桨之间的彼此干涉。同时，可在动力装置30c及动力装置30d的下方设置脚架。
为增强动力装置30与机臂21之间的连接稳定性，本申请实施例中的一种可实现方式是，机臂21的第二端21b通过承载座连接动力装置30。通过承载座可增大机臂21的第二端21b与动力装置30之间的连接强度，从而提高稳定性。为实现第二端21b与动力装置30之间的密封，可将第七密封件33包裹在承载座外部，从而实现对第二端21b与动力装置30之间的密封。进一步地，一部分动力装置30的电机31安装于承载座的上方，且螺旋桨32位于电机31上方。另一部分动力装置30的电机31安装于承载座的下方，且螺旋桨32位于电机31下方。当承载座位于动力装置30的下方时，可在承载座上设置脚架。
继续参见图1a，为在降落时，实现对无人飞行器进行支撑，本申请实施例中，无人飞行器上的脚架设置方式包括多种，一种可实现方式是，仅在机身10上设置多个脚架。另一种方式是，一部分脚架设置在机身10上，另一部分脚架设置在动力装置上。在一示例性实施例中，无人飞行器包括第一脚架80和第二脚架81。第一脚架80位于机身10。第二脚架81位于至少一个机臂21下方。如动力装置30a朝下，动力装置30d朝上，动力装置30b朝下，动力装置30c朝上，可在动力装置30c及动力装置30d的下方分别设置第二脚架81。进一步地，在一种可实现的实施例中，机臂包括承载座，承载座与动力装置30连接。当机臂21上设有承载座时，第二脚架81的一种设置方式是，第二脚架81位于至少一个机臂21上的承载座的下方。
进一步地，在本申请的一些可实现的实施例中，各个动力装置30所对应的各个螺旋桨32位于同一平面。此种设置方式下，可使得各个螺旋桨32在同一平面向机身10输出动力，使得无人飞行器飞行更加平稳。
综上，相较于传统技术，本申请实施例提供的技术方案通过在无人飞行器的机身连接部22设置锁定组件40，锁定组件40的抵挡部41能够在第一位置和第二位置之间运动，当机臂组件20处于展开状态，且抵挡部 41位于第一位置时，抵挡部41阻碍机臂21折叠，当机臂组件20处于展开状态，且抵挡部41处于第二位置时，抵挡部41避让机臂21，使得机臂21可以折叠。因此，本技术方案使得机臂21能够维持在展开状态，且在展开状态下，能够通过控制抵挡部41运动至避让机臂21，使得机臂21能够折叠，方便收纳。
同时，通过本申请实施例提供的技术方案，简化了机臂21折叠及展开的布置，如实现只需1步展开即可自锁，机臂21折叠只需2步操作即可折叠收纳自锁的功能，同时解决了机臂21在折叠、展开状态下满足IPX5或更高等级防水的需求，实现了展开机臂21后检位的功能，通过将机臂21折叠方向设置为和动力装置30偏航倾转力方向相反避免了动力装置30造成的机臂回折问题。
本申请方案相较于传统技术能够达到如下效果：
第一，传统技术中，在机臂展开后，机臂的固定上使用传统的套筒锁紧机构，往往需要展开机臂-套到指定位置套筒-旋转套筒-确认套筒旋转到位4个步骤，折叠机臂同样需要顺序相反的4个步骤。由于步骤繁琐，操作注意点多，容易引起用户因操作失误导致的飞行安全隐患。
本申请实施例中，通过设置的锁定组件40，可以把展开机臂21简化为展开1步操作，展开后机臂21的位置就会自动被锁定组件40锁死固定。相应的解锁只需要2步操作，按下操作部，折叠机臂21即可。可以有效避免用户使用问题和提高操作便捷性。
第二，传统技术中，在机臂折叠状态下无法实现IPX5或更高等级的防水，导致雨天外场搬运飞机有机身进水风险。本申请实施例中，通过各个密封件的结构设计，实现了机臂过线加折叠活动的同时可以防水的效果，不论机臂21状态如何，都能满足IPX5防水指标。
第三，传统技术中，机臂设计没有机臂展开检位的功能，用户的操作不当，例如机臂未展开到位无法由机器自主感知，进而无法设置安全飞行 智能检查点，带来不安全起飞的隐患。本申请实施例中，通过设置到位检测装置60配合锁定组件40的设计，实现了展开到位的智能识别。
第四，传统技术中，存在机臂回折问题，其原因是动力电机绕机臂的偏转角以及动力电机反扭矩共同提供的无人机偏航倾转力和折叠方向相同。本申请实施例中，将动力装置30绕机臂21的偏转角以及动力装置30反扭矩共同提供的无人机偏航倾转力和折叠方向相反，进而避免机臂21回折可能。
基于上述实施例中提供的无人飞行器，本申请实施例还提供了一种机臂组件20，机臂组件20的实现方式可参考上述实施例中机臂组件20的实现方式，此处不再一一赘述。
进一步地，基于上述实施例中提供的无人飞行器及机臂组件，本申请实施例还提供了另一种机臂组件20，机臂组件20用于承载为无人飞行器提供飞行动力的动力装置30。具体地，
机臂组件20包括机臂21以及用于与无人飞行器的机身10连接的机身连接部22。机臂21与机身连接部22通过一转轴220可转动地连接，以使机臂21能够相对于机身10处于展开状态或折叠状态。以及机臂组件20还包括锁定组件40，锁定组件40活动设于机身连接部22，锁定组件40包括抵挡部41和复位弹性件50，复位弹性件50与抵挡部41连接。
当机臂组件20处于展开状态时，复位弹性件50在弹力的作用下带动抵挡部41在转轴220的延伸方向上由第二位置运动至第一位置，使抵挡部41与机臂21抵接，以阻碍机臂21沿折叠方向转动。
需要说明的是，机臂组件20中各部件的实现方式可参考上述实施例中各部件的实现方式，此处不再一一赘述。
进一步地，基于上述实施例中提供的机臂组件20，本申请实施例第三方面还提供一种无人飞行器，包括：机身10，以及设置在机身10上的如上述实施例中的机臂组件20。无人飞行器中各部件的实现方式可参考上 述实施例中各部件的实现方式，此处不再一一赘述。
在本申请所提供的几个实施例中，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (83)

  1. 一种无人飞行器，其特征在于，包括：
    机身；
    至少一个机臂组件，用于承载为所述无人飞行器提供飞行动力的动力装置；所述机臂组件包括机臂以及用于与所述机身连接的机身连接部；所述机臂与所述机身连接部通过一转轴可转动地连接，以使所述机臂能够相对于所述机身处于展开状态或折叠状态；
    锁定组件，活动设于所述机身连接部，所述锁定组件包括抵挡部；
    当所述机臂组件处于展开状态，且所述抵挡部在所述转轴的延伸方向上位于第一位置时，所述抵挡部与所述机臂抵接，以阻碍所述机臂沿所述折叠方向转动；
    当所述机臂组件处于展开状态，且所述抵挡部在所述转轴的延伸方向上位于第二位置时，所述抵挡部解除与所述机臂的抵接，以使所述机臂能够沿所述折叠方向转动。
  2. 根据权利要求1所述的无人飞行器，其特征在于，所述机臂的延伸方向与所述抵挡部的运动方向基本垂直。
  3. 根据权利要求1所述的无人飞行器，其特征在于，所述机臂上具有配合部；
    在所述机臂组件处于展开状态，且所述抵挡部在所述转轴的延伸方向上处于第一位置时，所述配合部与所述抵挡部配合，以阻碍所述机臂沿所述折叠方向转动。
  4. 根据权利要求3所述的无人飞行器，其特征在于，所述抵挡部包括第一抵挡面，所述配合部包括第二抵挡面，在所述抵挡部在所述转轴的延伸方向上处于第一位置时，所述第一抵挡面与所述第二抵挡面抵接接触，以阻碍所述机臂沿所述折叠方向转动。
  5. 根据权利要求4所述的无人飞行器，其特征在于，所述第一抵挡 面为第一斜面，所述第二抵挡面为第二斜面；
    自所述抵挡部在所述转轴的延伸方向上从第一位置运动至第二位置的运动方向，所述第一斜面逐渐靠近所述配合部，所述第二斜面逐渐远离所述抵挡部。
  6. 根据权利要求5所述的无人飞行器，其特征在于，所述第一斜面与所述第二斜面基本平行；
    及/或，所述第一斜面和所述第二斜面之间的倾斜角度为5°～10°。
  7. 根据权利要求1所述的无人飞行器，其特征在于，所述机身连接部上具有供线缆穿过的机身线缆穿孔，所述线缆与所述机身线缆穿孔的内壁之间通过第一密封件密封连接。
  8. 根据权利要求7所述的无人飞行器，其特征在于，所述第一密封件包括密封胶。
  9. 根据权利要求8所述的无人飞行器，其特征在于，在所述机身连接部上还设有线缆连接部，所述线缆连接部与所述机身连接部机械耦合，所述机身线缆穿孔设于所述线缆连接部。
  10. 根据权利要求9所述的无人飞行器，其特征在于，所述线缆连接部与所述机身连接部粘接。
  11. 根据权利要求7所述的无人飞行器，其特征在于，
    所述机臂包括：
    第一端，与所述机身连接部可转动地连接；
    第二端，用于承载所述动力装置。
  12. 根据权利要求11所述的无人飞行器，其特征在于，
    所述机臂内部包括一腔体，所述线缆能够由所述第一端穿过所述腔体而与设置于所述第二端的动力装置连接。
  13. 根据权利要求12所述的无人飞行器，其特征在于，所述腔体内设有第二密封件，所述腔体的内壁与所述线缆通过所述第二密封件密封连 接。
  14. 根据权利要求13所述的无人飞行器，其特征在于，在所述机臂处于展开状态下，所述第一密封件与所述第二密封件之间的线缆长度大于所述第一密封件与所述第二密封件之间的距离。
  15. 根据权利要求14所述的无人飞行器，其特征在于，所述第二端相对于所述第一端更靠近于所述第二密封件。
  16. 根据权利要求1所述的无人飞行器，其特征在于，所述锁定组件还包括：操作部，与所述抵挡部连接，所述操作部包括供用户接触操作的操作端；
    所述操作端用于接收按压力而使所述操作端朝所述机身连接部所在方向运动，以使所述抵挡部在所述转轴的延伸方向上从所述第一位置运动至所述第二位置；
    或者，所述操作端用于接收拉力而使所述操作端沿背离所述机身连接部所在方向运动，以使所述抵挡部在所述转轴的延伸方向上从所述第一位置运动至所述第二位置。
  17. 根据权利要求16所述的无人飞行器，其特征在于，所述机身连接部上具有供所述操作部穿过的贯穿孔，所述操作部与所述机身连接部之间设有第三密封件，所述第三密封件用于将所述操作部与所述贯穿孔的孔壁之间密封。
  18. 根据权利要求1所述的无人飞行器，其特征在于，所述机臂上具有第一接触面，所述机身连接部上具有第二接触面，所述第一接触面和/或第二接触面上具有第四密封件；
    在所述机臂处于展开状态下，所述第一接触面与所述第二接触面挤压所述第四密封件，以使所述机臂与所述机身连接部端面密封。
  19. 根据权利要求16所述的无人飞行器，其特征在于，还包括：
    复位弹性件，设于所述操作部与所述机身连接部之间；
    在所述抵挡部在所述转轴的延伸方向上由第一位置运动至第二位置的过程中，所述复位弹性件产生弹性形变；
    在外力小于预设值时，所述复位弹性件能够从形变恢复，而带动所述抵挡部在所述转轴的延伸方向上运动至第一位置。
  20. 根据权利要求1所述的无人飞行器，其特征在于，当所述机臂组件处于折叠状态下，且所述抵挡部在所述转轴的延伸方向上位于所述第一位置时，所述抵挡部与所述机臂抵接，以阻碍所述机臂沿所述展开方向转动；
    当所述机臂组件处于折叠状态下，且所述抵挡部在所述转轴的延伸方向上位于所述第二位置时，所述抵挡部解除与所述机臂的抵接，以使所述机臂能够沿所述展开方向转动。
  21. 根据权利要求20所述的无人飞行器，其特征在于，所述机臂上具有配合部；
    在所述机臂组件处于折叠状态，且所述抵挡部在所述转轴的延伸方向上处于第一位置时，所述配合部与所述抵挡部配合，以阻碍所述机臂沿所述展开方向转动。
  22. 根据权利要求21所述的无人飞行器，其特征在于，所述抵挡部包括第三抵挡面，所述第三抵挡面用于与所述配合部的第二抵挡面抵顶接触，以阻碍所述机臂沿所述展开方向转动。
  23. 根据权利要求22所述的无人飞行器，其特征在于，所述第三抵挡面为第三斜面，所述第三斜面的倾斜角度为5°～10°。
  24. 根据权利要求1所述的无人飞行器，其特征在于，还包括：到位检测装置，用于检测所述机臂组件处于展开状态或折叠状态。
  25. 根据权利要求24所述的无人飞行器，其特征在于，还包括：
    所述到位检测装置用于与所述锁定组件配合，当所述抵挡部在所述转轴的延伸方向上运动至所述第一位置时，所述到位检测装置被所述锁定组 件触发，而发出预设响应。
  26. 根据权利要求25所述的无人飞行器，其特征在于，所述到位检测装置包括以下至少一种：微动开关、光电开关、触点开关、干簧管、霍尔感应器。
  27. 根据权利要求25所述的无人飞行器，其特征在于，所述锁定组件上具有一结构突变部，所述结构突变部能够跟随所述抵挡部运动，所述到位检测装置包括触点，当所述抵挡部在所述转轴的延伸方向上位于所述第一位置时，所述触点位于所述结构突变部，以使所述到位检测装置被触发。
  28. 根据权利要求27所述的无人飞行器，其特征在于，所述结构突变部包括设于所述锁定组件上的凹部；
    或者，所述结构突变部包括设于所述锁定组件上的凸部。
  29. 根据权利要求28所述的无人飞行器，其特征在于，所述到位检测装置包括本体，以及从所述本体延伸出的伸缩部，所述触点位于所述伸缩部上远离所述本体的一端；
    所述结构突变部包括设于所述锁定组件上的凹部，当所述抵挡部在所述转轴的延伸方向上位于所述第一位置时，所述伸缩部伸入所述凹部；
    或者，所述结构突变部包括设于所述锁定组件上的凸部，当所述抵挡部在所述转轴的延伸方向上位于所述第一位置时，所述伸缩部与所述凸部抵顶接触。
  30. 根据权利要求29所述的无人飞行器，其特征在于，所述结构突变部包括设于所述锁定组件上的凹部，当所述抵挡部在所述转轴的延伸方向上位于所述第一位置时，所述伸缩部与所述凹部抵接接触。
  31. 根据权利要求29所述的无人飞行器，其特征在于，所述伸缩部的伸缩方向与所述锁定组件的滑动方向呈角度设置。
  32. 根据权利要求29所述的无人飞行器，其特征在于，还包括：
    安装架，用于安装所述到位检测装置，所述到位检测装置与所述安装架可拆卸地连接，所述安装架与所述机身连接部连接。
  33. 根据权利要求32所述的无人飞行器，其特征在于，所述到位检测装置上靠近所述伸缩部的一侧与所述安装架之间通过第五密封件端面密封。
  34. 根据权利要求1所述的无人飞行器，其特征在于，所述机身连接部与所述机身可拆卸连接，且所述机身连接部与所述机身通过第六密封件端面密封。
  35. 根据权利要求34所述的无人飞行器，其特征在于，所述机身具有第一对接面，所述机身连接部具有第二对接面，所述第一对接面与所述第二对接面对接，且所述第六密封件位于所述第一对接面与所述第二对接面之间，以实现所述机身与所述机身连接部端面密封。
  36. 根据权利要求1所述的无人飞行器，其特征在于，所述动力装置包括电机及螺旋桨，所述电机能够通过旋转以带动所述螺旋桨旋转，从而为所述无人飞行器提供飞行动力。
  37. 根据权利要求36所述的无人飞行器，其特征在于，每个所述动力装置的螺旋桨的旋转方向与承载所述动力装置的机臂的折叠方向相同。
  38. 根据权利要求11所述的无人飞行器，其特征在于，部分所述动力装置的朝向与另一部分的动力装置的朝向相反，其中，所述动力装置包括电机和螺旋桨。
  39. 根据权利要求38所述的无人飞行器，其特征在于，所述动力装置包括四个，四个所述动力装置分别位于所述机身的左右方向的两侧。
  40. 根据权利要求39所述的无人飞行器，其特征在于，位于所述机身的左右方向的同一侧的两个动力装置的朝向相反。
  41. 根据权利要求40所述的无人飞行器，其特征在于，所述机臂的第二端通过承载座连接所述动力装置；
    一部分所述动力装置的电机安装于所述承载座的上方，且所述螺旋桨位于所述电机上方；另一部分所述动力装置的电机安装于所述承载座的下方，且所述螺旋桨位于所述电机下方。
  42. 根据权利要求41所述的无人飞行器，其特征在于，所述无人飞行器包括第一脚架和第二脚架；
    所述第一脚架位于所述机身；
    所述第二脚架位于至少一个所述机臂下方。
  43. 根据权利要求42所述的无人飞行器，其特征在于，所述机臂包括承载座，与所述动力装置连接；
    所述第二脚架位于至少一个所述机臂上的承载座的下方。
  44. 根据权利要求38所述的无人飞行器，其特征在于，各个所述动力装置所对应的各个螺旋桨位于同一平面。
  45. 一种机臂组件，用于承载为无人飞行器提供飞行动力的动力装置，其特征在于，包括：
    机臂；
    机身连接部，与所述机臂通过一转轴可转动地连接，以使所述机臂能够相对于所述机身处于展开状态或折叠状态；
    锁定组件，活动设于所述机身连接部，所述锁定组件包括抵挡部；
    当所述机臂组件处于展开状态，且所述抵挡部在所述转轴的延伸方向上位于第一位置时，所述抵挡部与所述机臂抵接，以阻碍所述机臂沿所述折叠方向转动；
    当所述机臂组件处于展开状态，且所述抵挡部在所述转轴的延伸方向上位于第二位置时，所述抵挡部解除与所述机臂的抵接，以使所述机臂能够沿所述折叠方向转动。
  46. 根据权利要求45所述的机臂组件，其特征在于，所述机臂的延 伸方向与所述抵挡部的运动方向基本垂直。
  47. 根据权利要求45所述的机臂组件，其特征在于，所述机臂上具有配合部；
    在所述机臂组件处于展开状态，且所述抵挡部在所述转轴的延伸方向上处于第一位置时，所述配合部与所述抵挡部配合，以阻碍所述机臂沿所述折叠方向转动。
  48. 根据权利要求47所述的机臂组件，其特征在于，所述抵挡部包括第一抵挡面，所述配合部包括第二抵挡面，在所述抵挡部在所述转轴的延伸方向上处于第一位置时，所述第一抵挡面与所述第二抵挡面抵接接触，以阻碍所述机臂沿所述折叠方向转动。
  49. 根据权利要求48所述的机臂组件，其特征在于，所述第一抵挡面为第一斜面，所述第二抵挡面为第二斜面；
    自所述抵挡部在所述转轴的延伸方向上从第一位置运动至第二位置的运动方向，所述第一斜面逐渐靠近所述配合部，所述第二斜面逐渐远离所述抵挡部。
  50. 根据权利要求49所述的机臂组件，其特征在于，
    所述第一斜面与所述第二斜面基本平行；
    及/或，所述第一斜面和所述第二斜面之间的倾斜角度为5°～10°。
  51. 根据权利要求45所述的机臂组件，其特征在于，所述机身连接部上具有供线缆穿过的机身线缆穿孔，所述线缆与所述机身线缆穿孔的内壁之间通过第一密封件密封连接。
  52. 根据权利要求51所述的机臂组件，其特征在于，所述第一密封件包括密封胶。
  53. 根据权利要求51所述的机臂组件，其特征在于，在所述机身连接部上还设有线缆连接部，所述线缆连接部与所述机身连接部机械耦合，所述机身线缆穿孔设于所述线缆连接部。
  54. 根据权利要求53所述的机臂组件，其特征在于，所述线缆连接部与所述机身连接部粘接。
  55. 根据权利要求51所述的机臂组件，其特征在于，
    所述机臂包括：
    第一端，与所述机身连接部可转动地连接；
    第二端，用于承载所述动力装置。
  56. 根据权利要求55所述的机臂组件，其特征在于，
    所述机臂内部包括一腔体，线缆能够由所述第一端穿过所述腔体而与设置于所述第二端的动力装置连接。
  57. 根据权利要求56所述的机臂组件，其特征在于，所述腔体内设有第二密封件，所述腔体的内壁与所述线缆通过所述第二密封件密封连接。
  58. 根据权利要求57所述的机臂组件，其特征在于，在所述机臂处于展开状态下，所述第一密封件与所述第二密封件之间的线缆长度大于所述第一密封件与所述第二密封件之间的距离。
  59. 根据权利要求58所述的机臂组件，其特征在于，所述第二端相对于所述第一端更靠近于所述第二密封件。
  60. 根据权利要求45所述的机臂组件，其特征在于，所述锁定组件还包括：
    操作部，与所述抵挡部连接，所述操作部包括供用户接触操作的操作端；
    所述操作端用于接收按压力而使所述操作端朝所述机身连接部所在方向运动，以使所述抵挡部在所述转轴的延伸方向上从所述第一位置运动至所述第二位置；
    或者，所述操作端用于接收拉力而使所述操作端沿背离所述机身连接部所在方向运动，以使所述抵挡部在所述转轴的延伸方向上从所述第一位 置运动至所述第二位置。
  61. 根据权利要求60所述的机臂组件，其特征在于，所述机身连接部上具有供所述操作部穿过的贯穿孔，所述操作部与所述机身连接部之间设有第三密封件，所述第三密封件用于将所述操作部与所述贯穿孔的孔壁之间密封。
  62. 根据权利要求45所述的机臂组件，其特征在于，所述机臂上具有第一接触面，所述机身连接部上具有第二接触面，所述第一接触面和/或第二接触面上具有第四密封件；
    在所述机臂处于展开状态下，所述第一接触面与所述第二接触面挤压所述第四密封件，以使所述机臂与所述机身连接部端面密封。
  63. 根据权利要求60所述的机臂组件，其特征在于，还包括：
    复位弹性件，设于所述操作部与所述机身连接部之间；
    在所述抵挡部在所述转轴的延伸方向上由第一位置运动至第二位置的过程中，所述复位弹性件产生弹性形变；
    在外力小于预设值时，所述复位弹性件能够从形变恢复，而带动所述抵挡部在所述转轴的延伸方向上运动至第一位置。
  64. 根据权利要求45所述的机臂组件，其特征在于，当所述机臂组件处于折叠状态下，且所述抵挡部在所述转轴的延伸方向上位于所述第一位置时，所述抵挡部与所述机臂抵接，以阻碍所述机臂沿所述展开方向转动；
    当所述机臂组件处于折叠状态下，且所述抵挡部在所述转轴的延伸方向上位于所述第二位置时，所述抵挡部解除与所述机臂的抵接，以使所述机臂能够沿所述展开方向转动。
  65. 根据权利要求64所述的机臂组件，其特征在于，所述机臂上具有配合部；
    在所述机臂组件处于折叠状态，且所述抵挡部在所述转轴的延伸方向 上处于第一位置时，所述配合部与所述抵挡部配合，以阻碍所述机臂沿所述展开方向转动。
  66. 根据权利要求65所述的机臂组件，其特征在于，所述抵挡部包括第三抵挡面，所述第三抵挡面用于与所述配合部的第二抵挡面抵顶接触，以阻碍所述机臂沿所述展开方向转动。
  67. 根据权利要求66所述的机臂组件，其特征在于，所述第三抵挡面为第三斜面，所述第三斜面的倾斜角度为5°～10°。
  68. 根据权利要求45所述的机臂组件，其特征在于，还包括：
    到位检测装置，用于检测所述机臂组件处于展开状态或折叠状态。
  69. 根据权利要求68所述的机臂组件，其特征在于，
    所述到位检测装置用于与所述锁定组件配合，当所述抵挡部在所述转轴的延伸方向上运动至所述第一位置时，所述到位检测装置被所述锁定组件触发，而发出预设响应。
  70. 根据权利要求69所述的机臂组件，其特征在于，所述到位检测装置包括以下至少一种：微动开关、光电开关、触点开关、干簧管、霍尔感应器。
  71. 根据权利要求69所述的机臂组件，其特征在于，所述锁定组件上具有一结构突变部，所述结构突变部能够跟随所述抵挡部运动，所述到位检测装置包括触点，当所述抵挡部在所述转轴的延伸方向上位于所述第一位置时，所述触点位于所述结构突变部，以使所述到位检测装置被触发。
  72. 根据权利要求71所述的机臂组件，其特征在于，所述结构突变部包括设于所述锁定组件上的凹部；
    或者，所述结构突变部包括设于所述锁定组件上的凸部。
  73. 根据权利要求72所述的机臂组件，其特征在于，所述到位检测装置包括本体，以及从所述本体延伸出的伸缩部，所述触点位于所述伸缩部上远离所述本体的一端；
    所述结构突变部包括设于所述锁定组件上的凹部，当所述抵挡部在所述转轴的延伸方向上位于所述第一位置时，所述伸缩部伸入所述凹部；
    或者，所述结构突变部包括设于所述锁定组件上的凸部，当所述抵挡部在所述转轴的延伸方向上位于所述第一位置时，所述伸缩部与所述凸部抵顶接触。
  74. 根据权利要求73所述的机臂组件，其特征在于，所述结构突变部包括设于所述锁定组件上的凹部，当所述抵挡部在所述转轴的延伸方向上位于所述第一位置时，所述伸缩部与所述凹部抵接接触。
  75. 根据权利要求73所述的机臂组件，其特征在于，所述伸缩部的伸缩方向与所述锁定组件的滑动方向呈角度设置。
  76. 根据权利要求68所述的机臂组件，其特征在于，还包括：
    安装架，用于安装所述到位检测装置，所述到位检测装置与所述安装架可拆卸地连接，所述安装架与所述机身连接部连接。
  77. 根据权利要求73所述的机臂组件，其特征在于，所述到位检测装置上靠近所述伸缩部的一侧与所述机身连接部之间通过第五密封件端面密封。
  78. 根据权利要求45所述的机臂组件，其特征在于，所述机身连接部用于与所述机身可拆卸连接，且所述机身连接部与所述机身通过第六密封件端面密封。
  79. 根据权利要求78所述的机臂组件，其特征在于，所述机身具有第一对接面，所述机身连接部具有第二对接面，所述第一对接面与所述第二对接面对接，且所述第六密封件位于所述第一对接面与所述第二对接面之间，以实现所述机身与所述机身连接部端面密封。
  80. 根据权利要求45所述的机臂组件，其特征在于，所述动力装置包括电机及螺旋桨，所述电机能够通过旋转以带动所述螺旋桨旋转，从而为所述无人飞行器提供飞行动力。
  81. 根据权利要求80所述的机臂组件，其特征在于，每个所述动力装置的螺旋桨的旋转方向与承载所述动力装置的机臂的折叠方向相同。
  82. 一种机臂组件，用于承载为无人飞行器提供飞行动力的动力装置，其特征在于：
    所述机臂组件包括机臂以及用于与所述无人飞行器的机身连接的机身连接部；
    所述机臂与所述机身连接部通过一转轴可转动地连接，以使所述机臂能够相对于所述机身处于展开状态或折叠状态；以及
    锁定组件，活动设于所述机身连接部，所述锁定组件包括抵挡部和复位弹性件，所述复位弹性件与所述抵挡部连接；
    当所述机臂组件处于展开状态时，所述复位弹性件在弹力的作用下带动所述抵挡部在所述转轴的延伸方向上由第二位置运动至第一位置，使所述抵挡部与所述机臂抵接，以阻碍所述机臂沿所述折叠方向转动。
  83. 一种无人飞行器，其特征在于，包括：
    机身，以及设置在机身上的如权利要求82所述的机臂组件。
PCT/CN2022/081520 2022-03-17 2022-03-17 无人飞行器及机臂组件 WO2023173374A1 (zh)

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