WO2023178687A1

WO2023178687A1 - Unmanned aerial vehicle

Info

Publication number: WO2023178687A1
Application number: PCT/CN2022/083166
Authority: WO
Inventors: 舒展; 赵进; 李日照
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2022-03-25
Filing date: 2022-03-25
Publication date: 2023-09-28
Also published as: CN117642339A

Abstract

An unmanned aerial vehicle (100). The unmanned aerial vehicle (100) comprises a main body (10), first rotation portions (20), and first arms (30). The first arms (30) can rotate around the first rotation portions (20) relative to the main body (10) so as for switching between a folded state and an unfolded state, and corresponding rotation axes around which the first arms (30) rotate are inclined relative to a normal plane of a yaw axis of the main body (10). The angle of rotation of each first arm (30) during the process of switching from the unfolded state to the folded state is greater than 90 degrees.

Description

drone

Technical field

This application relates to the field of drones, and in particular, to a drone.

Background technique

When plant protection drones are operating, there is often a need to transition between locations, which requires the drone to be small, portable, and easy to handle and transport. The folding aircraft configuration is an effective way to solve the two contradictory needs of increasing the load while minimizing the size of the aircraft. However, in order to leave space for the folding arms of the drone, the main body of the drone is often made relatively high, making it difficult to miniaturize the drone.

Contents of the invention

An embodiment of the present application provides a drone.

The drone according to the embodiment of the present application includes a main body, a first rotating part and a first arm. The first rotating part is provided on the main body. The first machine arm is rotatably connected to the first rotating part, and the first machine arm can rotate around the first rotating part relative to the main body to switch a folded state and an unfolded state. The arm rotates around the rotation axis of the first rotating part, and the rotation axis is inclined relative to the normal plane of the yaw axis of the main body. The first arm is provided with a first rotor. When the first arm When in the unfolded state, both the first arm and the first rotor extend beyond the range of the main body. When the first arm is in the folded state, the first arm and the first rotor are folded to the top of the main body and are located within the scope of the main body, and the first arm rotates around the first rotating part when switching from the unfolded state to the folded state. The angle of rotation is greater than 90 degrees.

An embodiment of the present application also provides another drone. The UAV includes a main body, two first rotating parts and two first arms. The first rotating part is provided on the main body. Each of the first arms is rotatably connected to the corresponding first rotating part, and the first arm can rotate relative to the main body around the first rotating part to switch the folded state and the unfolded state, so The first arm is provided with a first rotor and a first motor. When the first arm is in the unfolded state, both the first arm and the first rotor extend to the range of the main body. Outside, and the two first motors are far away from each other, when the first arm is in the folded state, both the first arm and the first rotor are folded to the top of the main body and located Within the scope of the main body, and the two first motors are close to each other.

An embodiment of the present application also provides another drone. The UAV includes a main body, a first rotating part and a first arm. The main body includes a machine frame, and the machine frame is provided with an accommodating portion for accommodating functional components of the drone, and the functional components can be detachably inserted into the accommodating portion. The first rotating part is provided on the main body. The first machine arm is rotatably connected to the first rotating part, and the first machine arm can rotate around the first rotating part relative to the main body to switch a folded state and an unfolded state. The arm is provided with a first rotor. When the first arm is in the unfolded state, both the first arm and the first rotor extend outside the scope of the main body. When the first arm is in the unfolded state, When the arms are in the folded state, both the first arm and the first rotor are folded to the top of the functional component.

An embodiment of the present application also provides another drone. The drone includes a main body, a first rotating part, a first arm and a plurality of second arms. The first rotating part is provided on the main body. The first machine arm is rotatably connected to the first rotating part, and the first machine arm can rotate around the first rotating part relative to the main body to switch a folded state and an unfolded state. The arm is provided with a first rotor. When the first arm is in the unfolded state, both the first arm and the first rotor extend outside the scope of the main body. When the first arm is in the unfolded state, When the arms are in the folded state, both the first arm and the first rotor are folded to the top of the main body and located within the range of the main body. At least one of the second arms is disposed on the side of the main body along the pitch axis direction. Wherein, when the first arm is in the folded state, in the projection plane of the horizontal plane of the main body, the orthographic projection of the first arm is located at the left and right sides of the main body. Between the orthographic projections of the two machine arms.

The drone according to the embodiment of the present application can ensure that the first arm in the folded state is located within the scope of the main body, so as to reduce the space occupied by the first arm after being folded to the folded state, so as to facilitate the storage of the drone.

Additional aspects and advantages of embodiments of the application will be set forth in part in the description which follows, and in part will be apparent from the description, or may be learned by practice of the embodiments of the application.

Description of the drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

Figure 1 is a three-dimensional schematic diagram of the unfolded state of a drone according to certain embodiments of the present application;

Figure 2 is a three-dimensional schematic diagram of a folded state of a drone according to certain embodiments of the present application;

Figure 3 is a schematic three-dimensional view of the folded state of a drone according to certain embodiments of the present application;

Figure 4 is an enlarged schematic diagram of IV in Figure 1.

Detailed ways

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application and cannot be understood as limiting the present application.

In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "thickness", "upper", "top", "bottom", "inner", "outer", etc. are based on those shown in the accompanying drawings. The orientation or positional relationship is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. . In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, the features defined as “first” and “second” may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more than two, unless otherwise explicitly and specifically limited.

In the description of this application, it should be noted that, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. Connection, or integral connection; it can be mechanical connection, electrical connection or mutual communication; it can be direct connection, or indirect connection through an intermediary, it can be internal connection of two elements or interaction of two elements relation.

The following disclosure provides many different embodiments or examples for implementing the various structures of the present application. To simplify the disclosure of the present application, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the application. Furthermore, this application may repeat reference numbers and/or reference letters in different examples, such repetition being for the purposes of simplicity and clarity and does not by itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, this application provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

Please refer to Figure 1. An embodiment of the present application provides a drone 100. The drone 100 includes a main body 10 , a first rotating part 20 , and a first arm 30 . The first rotating part 20 is provided on the main body 10 . The first arm 30 is rotatably connected to the first rotating part 20 . The first arm 30 can rotate around the first rotating part 20 relative to the main body 10 to switch the folded state and the unfolded state. The first arm 30 revolves around the first rotating part 20 . The rotation axis 21 of 20 rotates, and the rotation axis 21 is inclined relative to the normal plane of the yaw axis Ly of the main body 10. The first arm 30 is provided with a first rotor 31. When the first arm 30 is in the unfolded state, the first arm 30 30 and the first rotor 31 both extend outside the range of the main body 10 (as shown in Figure 1). When the first arm 30 is in a folded state, both the first arm 30 and the first rotor 31 are folded to the side of the main body 10. The top 11 is located within the scope of the main body 10 (as shown in FIG. 2 ). When the first arm 30 switches from the unfolded state to the folded state, the angle of rotation around the first rotating part 20 is greater than 90 degrees.

Among them, the yaw axis Ly of the UAV 100 is based on the coordinate system corresponding to the attitude angle of the UAV 100 when flying. The axis around which the UAV 100 rotates along the heading angle direction Ry1/Ry2 is the yaw axis. Ly. The pitch axis Lp and the roll axis Lr in the following are both based on the coordinate system corresponding to the attitude angle of the UAV at 100 degrees.

Please refer to FIG. 2 , the first arm 30 is rotatably connected to the first rotating part 20 , and the first arm 30 can rotate around the first rotating part 20 . In the unfolded state, the first arm 30 and the first rotor 31 provided on the first arm 30 both extend out of the range of the main body 10 . In the folded state, the first arm 30 and the first rotor 31 are evenly spaced. It is folded to the top 11 of the main body 10 and located within the main body 10 . In this way, the space occupied by the drone 100 is reduced in the folded state, making it easy to store and carry.

In the normal flight state of the UAV 100 , the side of the main body 10 facing the sky is the top 11 of the main body 10 , and the side of the main body 10 facing the ground is the bottom 12 of the main body 10 .

In one embodiment, the first arm 30 , the first rotor 31 , and the main body 10 are vertically projected along the normal plane of the yaw axis Ly of the main body 10 , and the projections of the first arm 30 and the first rotor 31 are not If the projection of the main body 10 is completely covered, it is considered that the first arm 30 and the first rotor 31 provided on the first arm 30 both extend outside the scope of the main body 10 . Correspondingly, if the projection of the first arm 30 and the first rotor 31 is completely covered by the projection of the main body 10 , it is considered that the first arm 30 and the first rotor 31 provided on the first arm 30 both extend to the range of the main body 10 within.

Please refer to FIGS. 1 , 2 and 4 . When the first arm 30 rotates around the first rotating part 20 , the rotation axis 21 is inclined relative to the normal plane of the yaw axis Ly of the main body 10 . That is, the rotation axis 21 is not perpendicular to the normal plane of the yaw axis Ly of the main body 10 . The normal plane of the yaw axis Ly of the main body 10 is not parallel to the normal plane of the yaw axis Ly of the main body 10. This can reduce the space occupied by the first arm 30 after it is folded to the folded state, so as to facilitate unmanned operation. Machine 100 storage.

In the UAV 100 according to the embodiment of the present application, when the first arm 30 rotates around the first rotating part 20, the rotation axis 21 is inclined relative to the normal plane of the yaw axis Ly of the main body 10, so that the first arm 30 and the first The rotor 31 folds along the pitch angle and the roll angle at the same time. That is, while the first arm 30 and the first rotor 31 are folded along the pitch angle to the top 11 of the main body 10, the first arm 30 and the first rotor 31 are also folded along the roll angle. In the embodiment of FIG. 2 In the illustrated UAV 100, the first arm 30 and the first rotor 31 that are folded to the top 11 also need to be folded 90° along the pitch and roll angle. In this way, in the folded state, the first rotor 31 and the first rotor 31 are folded. One arm 30 is arranged side by side along the pitch axis Lp instead of between the first arm 30 and the top 11 of the main body 10 on the yaw axis Ly, so that the first arm 30 and the first rotor 31 move along the pitch angle. The maximum folding angle can reach 180°, thereby reducing the space occupied by the first arm 30 and the first rotor 31 after folding to the folded state, so as to facilitate the storage of the UAV 100 . Moreover, in the folded state, the first rotor 31 is not located between the first arm 30 and the top 11 of the main body 10 on the yaw axis Ly to prevent the first rotor 31 from being compressed when the first arm 30 is pressed. Crushed.

Please refer to FIGS. 1 and 2 . When the first arm 30 switches from the unfolded state to the folded state, the angle of rotation around the first rotating part 20 is greater than 90 degrees. In this way, it can be ensured that the first arm 30 in the folded state is located within the range of the main body 10 , thereby reducing the space occupied by the first arm 30 after being folded to the folded state, so as to facilitate the storage of the drone 100 .

Further explanation will be provided below with reference to the accompanying drawings.

Please refer to Figure 1. In some embodiments, the main body 10 includes a machine frame 13. The machine frame 13 is provided with a receiving portion 131 for receiving the functional components 110 of the drone 100. The functional components 110 can be detachably inserted into the receiving portion. Within 131. Among them, the functional component 110 can be a water tank, a sowing bin, a shooting device, a battery, etc., which are not limited here. When the drone 100 is loaded with functional components 110, corresponding functions are implemented according to the functional components 110 loaded on the drone 100. For example, when the UAV 100 is loaded with a water tank, the UAV 100 can be used as a sprinkler UAV 100 to perform sprinkler irrigation tasks, or as a firefighting UAV 100 to perform firefighting tasks; when the UAV 100 is loaded with a sowing bin In the case of the UAV 100, the UAV 100 can be used as a seeding UAV 100 to perform sowing tasks; in the case where the UAV 100 is loaded with a shooting device, the UAV 100 can be used as a monitoring UAV 100 to perform monitoring tasks, which is different here. List one. When the UAV 100 uninstalls the functional component 110, the UAV 100 can perform the flight mission normally, that is, the functional component 110 is not a necessary component for the flight of the UAV 100. The UAV 100 can perform the flight mission normally when the functional component 110 is uninstalled. Normal flight.

Referring to FIG. 3 , in some embodiments, the drone 100 may further include a tripod 50 , which is disposed on the bottom 12 of the main body 10 . The tripod 50 is used to support the drone 100 . Please refer to Figure 2. In some embodiments, the stand 50 includes a connecting portion 51 and a supporting portion 52. The connecting portion 51 is located at the first end 53 of the stand 50. The connecting portion 51 is used to connect the main body 10. The supporting portion 52 is located at The support portion 52 of the second end 54 of the tripod 50 opposite to the first end 53 is used to support the drone 100 . In one embodiment, the bottom 12 of the main body 10 is provided with a connecting shaft, the connecting portion 51 is rotatably connected to the connecting shaft, and the tripod 50 can rotate around the connecting shaft, so that the tripod 50 can be folded at the bottom 12 of the drone 100 , so that the folded tripod 50 fits the bottom 12 of the drone 100 to facilitate the carrying and storage of the drone 100.

Referring to FIGS. 1 and 3 , in some embodiments, the distance from the bottom 12 of the main body 10 to the support portion 52 is less than the length of the first arm 30 . In some solutions, in the folded state, the arms of the drone can be folded to the bottom of the main body. In this way, when the drone is supported by a tripod, for example, the drone is placed on the ground through the tripod support. In order to ensure smooth switching between the unfolded and folded states of the drone, you must ensure that the height from the main body to the ground is greater than the length of the arm when the tripod is supporting the drone, otherwise the ground will block the folding or folding state of the drone. Unfolded, causing the machine arm to fail to fold or unfold smoothly. Therefore, this type of drone requires a longer tripod to ensure that there is sufficient height between the main body and the ground when the tripod supports the drone. In this way, the longer size of the tripod is not conducive to the carrying and storage of the drone, and results in low stiffness of the tripod, making it difficult to support a heavier drone. In the drone 100 according to the embodiment of the present application, the first arm 30 is located at the top 11 of the main body 10 after switching from the unfolded state to the folded state, that is, the first arm 30 is folded toward the top 11 of the main body 10 . In this way, the size of the tripod 50 in the UAV 100 according to the embodiment of the present application is not limited by the length of the first arm 30. A shorter tripod 50 can be provided to reduce the overall size of the UAV 100 so that For carrying and storing the drone 100. In addition, the shorter tripod 50 has greater rigidity, can support the heavier main body 10 , and can make the insertion and removal of the functional components 110 easier to meet the need for the UAV 100 to load the heavier functional components 110 .

Please refer to FIGS. 1 and 2 . In some embodiments, the first rotating part 20 is provided on the side 15 of the main body 10 along the direction of the roll axis Lr, and the first rotor 31 includes a first blade 311 . When the first arm 30 is in the unfolded state, the suction surface 3111 of the first blade 311 faces the sky end, and the pressure surface 3112 of the first blade 311 faces the ground end, so as to ensure that the first blade 311 can provide sufficient power after rotation. Lift drives the UAV 100 to fly. When the first arm 30 is in the folded state, the suction surface 3111 and the pressure surface 3112 are both facing the direction of the pitch axis Lp of the main body 10, that is, the first rotor 31 in the folded state "stands sideways" on the top 11 of the main body 10. In this way, The space occupied by the drone 100 in the folded state can be further saved, making it easier to carry and store the drone 100 .

Specifically, the main body 10 includes a top 11 , a bottom 12 , and a side 15 connected between the top 11 and the bottom 12 . The yaw axis Ly of the main body 10 passes through the top 11 and the bottom 12 of the main body 10 , and the roll axis Lr of the main body 10 passes through two opposite side surfaces 15 of the main body 10 . The flight direction of the UAV 100 is along the roll axis Lr direction of the main body 10 , that is, the roll axis Lr direction is the forward and backward traveling direction of the UAV 100 , and correspondingly, the pitch axis Lp direction is the left and right direction of the UAV 100 . The first rotating part 20 is provided on the side 15 of the main body 10 along the direction of the roll axis Lr. That is, the first rotating part 20 is provided on the side 15 of the main body 10 facing the front of the UAV 100 or the side 15 facing the rear of the UAV 100 . Since the rotation axis 21 around which the first rotating part 20 rotates is tilted relative to the normal plane of the yaw axis Ly of the main body 10, the first arm 30 and the second

A rotor 31 can be folded along both the pitch angle and the roll angle. Therefore, in the folded state, the suction surface 3111 and the pressure surface 3112 of the first blade 311 both face the direction of the pitch axis Lp of the main body 10 . Specifically, the direction from the suction surface 3111 to the pressure surface 3112 is the thickness direction of the first blade 311. In the folded state, the side of the thickness direction of the first blade 311 faces the sky end, and the suction surface 3111 and the pressure surface 3112 both Towards the direction of the pitch axis Lp of the main body 10, in this way, the space occupied by the first blade 311 on the top 11 of the main body 10 can be saved, so as to facilitate the carrying and storage of the UAV 100.

Please refer to FIG. 2 . In some embodiments, the first rotating part 20 may include a first rotating shaft 21 . The first rotating shaft 21 is parallel to the normal plane of the roll axis Lr of the main body 10 and opposite to the yaw axis Ly of the main body 10 . The normal plane is inclined, and the first arm 30 is rotatably connected to the first rotating shaft 21 . The first rotation axis 21 is the rotation axis 21 around which the first arm 30 rotates. In one embodiment, the first rotating shaft 21 is a pin shaft, and the first rotating part 20 and the first rotating shaft 21 are connected by a pin.

Please refer to Figure 4, which is a partial enlarged view of the IV area in Figure 1. In some embodiments, the angle between the axis Ld1 of the first rotation axis 21 and the normal plane of the yaw axis Ly of the main body 10 is 45°. Please refer to Figures 1 and 2, when the angle between the axis Ld1 of the first rotating shaft 21 and the normal plane of the yaw axis Ly of the main body 10 is 45°, when the first arm 30 changes from the folded state After switching to the unfolded state or from the unfolded state to the folded state, the first rotor 31 can rotate 90° along the roll angle, so that the suction surface 3111 of the first rotor 31 faces the sky when in the unfolded state and toward the main body in the folded state. 10 in the pitch axis Lp direction, so that when the first rotor 31 is in the deployed state, the suction surface 3111 and the pressure surface 3112 of the first blade 311 face the sky end and the ground end respectively, thereby ensuring that the first blade 311 in the deployed state rotates It can provide lift for the UAV 100; and the first rotor 31 in the folded state can further save space and facilitate the carrying and storage of the UAV 100.

Please refer to FIGS. 1 and 2 . In some embodiments, each first rotor 31 may include two first blades 311 . When the first arm 30 is in a folded state, the two first blades 311 overlap. , when the first arm 30 is in the unfolded state, the two first blades 311 do not overlap, and the length directions of the two first blades 311 are consistent. In this way, when the first arm 30 is in the folded state, the space occupied by the first rotor 31 can be further saved.

Please refer to Figures 1 and 2. In some embodiments, the main body 10 includes a nose 16 and a tail 17. Both the nose 16 and the tail 17 are provided with a first rotating part 20 and a first arm 30. Specifically, the direction of the roll axis Lr is the front-to-back direction of the UAV 100, and the nose 16 and the tail 17 are the two opposite ends of the main body 10 facing the front and rear of the UAV 100 respectively. In some embodiments, the UAV 100 can fly forward with the nose 16 in front and the tail 17 in the back, or it can fly backward with the tail 17 in front and the nose 16 in the back.

Please refer to Figures 1 and 2. In some embodiments, the first rotating part 20 includes two, the first arm 30 includes two, and the nose 16 and the tail 17 are respectively provided with one first rotating part 20 and one first rotating part 20. A first machine arm 30. In this way, the structure of the drone 100 is relatively simple, and the size of the main body 10 can be designed to be smaller for easy portability and storage.

In some embodiments, the nose 16 may be provided with a plurality of first rotating parts 20 and a plurality of first arms 30 , and the tail 17 may be provided with a plurality of first rotating parts 20 and a plurality of first arms 30 , each first arm 30 corresponds to a first rotating part 20 . For example, the nose 16 can be provided with 2, 3, 4 or more first rotating parts 20 and a first arm 30 to provide stronger power for the UAV 100 and improve the efficiency of the UAV. 100 load capacity. Correspondingly, the number of the first rotating part 20 and the first arm 30 of the tail 17 is consistent with the number of the first rotating part 20 and the first arm 30 of the nose 16, so that the nose of the UAV 100 can be adjusted during flight. The power in

directions

16 and 17 of the tail can be balanced, making it easy for the UAV 100 to maintain a hovering attitude.

Please refer to FIGS. 1 and 2 . In some embodiments, the first arm 30 further includes a first receiving part 32 , and the first receiving part 32 extends from the first arm 30 . Referring to FIG. 1 , in the deployed state, the extending direction of the first receiving portion 32 is toward the ground end. Please refer to FIG. 2 . In the folded state, the extension direction of the first receiving portion 32 is toward the pitch axis Lp direction of the main body 10 . In this way, the space occupied by the first receiving portion 32 in the folded state can be saved. The first receiving part 32 can be used to store functional components 110 such as radar, batteries, lighting lamps, etc. For example, radars are accommodated in the first receiving portions 32 of the nose 16 and the tail 17 for obstacle avoidance of the UAV 100 . Wherein, the extending direction of the first receiving portion 32 toward the pitch axis Lp direction of the main body 10 means that the extending direction of the first receiving portion 32 is toward the left or right direction of the main body 10 , which is not strictly limited to the extending direction of the first receiving portion 32 . It is parallel to the pitch axis Lp direction of the main body 10 .

Please refer to FIGS. 1 and 2 . In some embodiments, the drone 100 further includes a second rotating part 60 and a second arm 70 . The second arm 70 is rotatably connected to the second rotating part 60. The second arm 70 can rotate around the second rotating part 60 relative to the main body 10 to switch the storage state and the working state. The second arm 70 is provided with a second rotor. 71. When the second arm 70 is in the working state, both the second arm 70 and the second rotor 71 extend outside the range of the main body 10, and the extension direction of the second arm 70 is the direction of the pitch axis Lp of the main body 10. When the second arm 70 is in the stowed state, both the second arm 70 and the second rotor 71 are folded to the first side 18 or the second side 19 of the main body 10 along the direction of the pitch axis Lp. The extension of the second arm 70 The direction is toward the roll axis Lr direction of the main body 10 . Wherein, the extension direction of the second arm 70 toward the pitch axis Lp direction of the main body 10 means that the extension direction of the second arm 70 is toward the left direction or the right direction of the main body 10 , which is not strictly limited to the extension direction of the second arm 70 . It is parallel to or consistent with the direction of the pitch axis Lp of the main body 10 . Similarly, the extension direction of the second arm 70 toward the roll axis Lr of the main body 10 means that the extension direction of the second arm 70 is toward the nose 16 or the tail 17 of the main body 10 , which is not strictly limited to the direction of the second arm 70 . The extending direction is parallel to or consistent with the direction of the rolling axis Lr of the main body 10 .

Please refer to FIG. 3 . The second arm 70 and the second rotating part 60 are provided on the first side 18 or the second side 19 of the main body 10 along the pitch axis Lp direction, that is, they are provided on the first side 18 of the UAV 100 in the left-right direction. Or the second side 19, combined with the first arm 30 provided on the side 15 of the drone 100 in the front and rear direction, so that the drone 100 has rotors in both the front and rear directions and the left and right directions (that is, it has the first rotor 31 in the front and rear directions, There is a second rotor 71) in the left and right directions, allowing the UAV 100 to fly and turn flexibly.

Please refer to Figure 2. In the folded state, the second arm 70 is located on the left and/or right side of the main body 10, and the first arm 30 is located on the top 11 of the main body 10, so that the first arm 30 and the second arm The arms 70 can be staggered so that the folded first arm 30 and the second arm 70 can be closer to the main body 10 to save space of the folded drone 100 .

In some embodiments, similar to the first arm 30 , the second arm 70 may also include a second receiving part 72 extending from the second arm 70 . In the deployed state, the second receiving part 72 The extending direction of 72 is toward the ground end. The second receiving portion 72 can be used to store components such as radar, rotor motors, batteries, lights, etc. Similar to the first rotor 31, each second rotor 71 may include two second blades 711. When the second arm 70 is in the folded state, the two second blades 711 overlap. When the second arm 70 is in the folded state, the two second blades 711 overlap. In the unfolded state, the two second blades 711 do not overlap, and the length directions of the two second blades 711 are consistent.

Please refer to FIGS. 1 and 2 . In some embodiments, the first rotating part 20 includes two. The two first rotating parts 20 are respectively provided at the nose 16 and the tail 17 . The second rotating part 60 includes four , the first side 18 and the second side 19 are each provided with two second rotating parts 60, and each second rotating part 60 is connected to a second arm 70. That is, the UAV 100 has six arms in total, each arm is equipped with a rotor, and the UAV 100 constitutes a six-rotor UAV 100 configuration. The two second rotating parts 60 of the first side 18 are staggered from each other. In the folded state, the two second receiving parts 72 of the two second arms 70 of the first side 18 are staggered from each other. Similarly, the two second rotating parts 60 of the second side 19 are staggered from each other. In the folded state, the two second receiving parts 72 of the two second arms 70 of the second side 19 are staggered from each other. In this way, the space occupied by the folded second arm 70 can be further saved.

In other embodiments, the configuration of the UAV 100 may also be as follows: a first arm 30 is provided on the nose 16 and a tail 17 respectively, and a second arm 70 is provided on the first side 18 and the second side 19 respectively. The quadcopter UAV 100 constitutes. Alternatively, the eight-rotor UAV 100 may be configured as follows: the nose 16 and the tail 17 are respectively provided with two first arms 30, and the first side 18 and the second side 19 are respectively provided with two second arms 70. Or it can also be a UAV 100 with ten wings, twelve wings, sixteen wings, etc., which will not be listed here.

Referring to FIGS. 1 and 2 , in some embodiments, the second rotating part 60 may include a second rotating shaft, and the second arm 70 is rotatably connected to the second rotating shaft. The second rotating shaft is accommodated inside the second rotating part 60 and is therefore not shown in the figure. In other embodiments, the second rotating shaft may be arranged outside the second rotating part 60 , which is not limited here. In one embodiment, the second rotation axis is parallel to the yaw axis Ly of the main body 10, that is, the second arm 70 can be folded along the yaw angle of the main body 10.

Please refer to FIG. 3 . In some embodiments, since the second arm 70 is folded to the left/right side of the main body 10 , the length of the second arm 70 may not be limited by the distance from the bottom 12 to the support part 52 . The size of the tripod 50 can be set shorter. For example, the distance from the bottom 12 of the main body 10 to the support portion 52 can be designed to be smaller than the length of the second arm 70 , which can reduce the size of the tripod 50 while ensuring that the rigidity is increased. Human machine 100 size.

Referring to FIGS. 1 to 3 , in some embodiments, the drone 100 may further include a functional component 110 and a plurality of spray assemblies 80 . Functional component 110 may be a water tank. Each sprinkler assembly 80 may include a pipe 81 and at least one sprinkler 83 . The pipe 81 is connected to the water tank, and the spray member 83 is provided on the second arm 70 and communicates with the pipe 81 . In this way, the UAV 100 can be used as a plant protection UAV 100 to perform tasks such as spraying and irrigation. The pipe 81 can be disposed inside the second arm 70 or can be disposed outside the second arm 70 . There is no limitation here. For example, please refer to FIG. 3 . A part of the pipe 81 is disposed inside the second arm 70 . and is connected to the water tank from the inside of the main body 10 , and another part of the pipe 81 extends from the inside of the second arm 70 to the outside and is connected to the sprinkler 83 .

Please refer to FIG. 1 . In some embodiments, the spray member 83 is disposed on the second arm 70 close to the machine head 16 . The spray member 83 may include multiple spray members 83 . In the working state, the multiple spray members 83 The second arms 70 are generally arranged in a "one" shape and do not overlap in the flight direction of the drone 100 . Among them, the second arm 70 close to the nose 16 is the second arm 70 closest to the nose 16 when the drone 100 is deployed. When the UAV 100 is flying, the plurality of spray members 83 are arranged in a "one" shape on the unfolded second arm 70 from the left to the right side of the UAV 100 to have a large horizontal spraying range. Moreover, the plurality of spraying members 83 do not overlap in the flight direction of the UAV 100 , that is, the orthographic projections of the plurality of spraying members 83 on the normal plane of the roll axis Lr of the main body 10 do not overlap, so as to reduce repeated spraying. area to improve the uniformity of spraying.

Referring to FIG. 1 , in some embodiments, the second arm 70 includes a head end, a middle end, and a distal end. The head end is the end of the second arm 70 closest to the main body 10 in the unfolded state, and the end is the end of the second arm 70 farthest from the main body 10 in the unfolded state. The second rotor 71 is provided at the end, and the middle end is located at between the beginning and end. The spray member 83 can be provided at the middle end; or the spray member 83 can be provided at the end; or the spray member 83 can be provided at both the middle end and the end to cover a larger spray range, which is not limited here.

Please refer to FIG. 1 . In some embodiments, the second rotating part 60 may also include a spray receiving part 61 , and the spray assembly 80 may further include a water pump and a flow meter. The water pump and the flow meter may be received in the spray receiving part 61 inside, so it is not shown in the figure. The water pump is used to pump the liquid in the water tank to the spray member 83 for spraying. The flow meter is used to detect the flow rate of the liquid in the pipe 81 in order to calculate the amount of liquid sprayed. Combined with the flight speed of the drone 100, the amount of liquid sprayed in the area where the drone 100 flies can be accurately calculated, so that the amount of liquid sprayed can be accurately calculated according to the flow rate of the drone 100. Carry out spraying tasks in an appropriate amount to avoid spraying too much or too little liquid.

Referring to FIG. 1 and FIG. 3 , in some embodiments, the drone 100 may further include a control panel 90 . The control panel 90 is provided on the side where the nose 16 or the tail 17 is located. The control board 90 is connected to the water pump and the flow meter. The control board 90 can obtain the flow data of the flow meter, and can control the water pumping volume of the water pump according to the flow data to achieve precise control of the spray volume of the sprinkler 83. In some embodiments, the control panel 90 may be provided with buttons for controlling the drone 100, such as a power button, a power button, a standby button, a navigation button and other functional buttons, which are not listed here. In some embodiments, the control board 90 is also provided with an interface for connecting to external devices. For example, the control board 90 stores a control program for controlling the drone 100, and the control board 90 can be connected to external devices through the interface. The control program of the drone 100 can be edited through an external device.

Please refer to FIG. 1 . In some embodiments, in the unfolded state, the control panel 90 , the water pump, the flow meter and the spray member 83 are all located at the head 16 of the main body 10 or are all located at the tail 17 of the main body 10 . That is, the control panel 90, the water pump, the flow meter and the sprinkler 83 are all located on the same side of the main body 10. In this way, the locations of the various components of the sprinkler assembly 80 are relatively concentrated, and the pipe 81 of the sprinkler assembly 80 can be arranged more concisely. , the pipe length can be set shorter, so that the spray assembly 80 has a higher degree of integration and saves the space occupied by the spray assembly 80 .

Referring to FIG. 1 , this application also provides a drone 200 . The drone 200 includes a main body 10 , two first rotating parts 20 , and two first arms 30 . The first rotating part 20 is provided on the main body 10 . Each first arm 30 is rotatably connected to the corresponding first rotating part 20. The first arm 30 can rotate relative to the main body 10 around the first rotating part 20 to switch the folded state and the unfolded state. The first arm 30 is configured There is a first rotor 31 and a first motor 33. When the first arm 30 is in an unfolded state, both the first arm 30 and the first rotor 31 extend out of the range of the main body 10, and the two first motors 33 are mutually exclusive. Far away, when the first arm 30 is in the folded state, both the first arm 30 and the first rotor 31 are folded to the top 11 of the main body 10 and are located within the range of the main body 10 , and the two first motors 33 are close to each other. In this way, in the folded state, the two first motors 33 are located on the top 11 of the main body 10 and are staggered from each other. The distance between the two first motors 33 is relatively close to save the space occupied by the two first motors 33 in the folded state. , to reduce the size of the drone 200 in the folded state.

Please refer to FIGS. 1 to 3 . In some embodiments, the structure of the UAV 100 in any of the above embodiments can also be applied to the UAV 300 in the embodiment of the present application, and will not be described again here. In some embodiments, in the drone 100, when the first arm 30 is in the unfolded state, the two first receiving parts 32 are away from each other. When the first arm 30 is in the folded state, the two first receiving parts 32 are in the folded state. The receiving parts 32 are close to each other. In this way, in the folded state, the two first receiving portions 32 are located on the top 11 of the main body 10 and are staggered from each other. The distance between the two first receiving portions 32 is relatively short to save space between the two first receiving portions 32 in the folded state. occupy space to reduce the size of the drone 100 in the folded state.

Please refer to FIG. 1 . This application also provides a drone 300 . The drone 300 includes a main body 10 , a first rotating part 20 , and a first arm 30 . The main body 10 includes a machine frame 13. The machine frame 13 is provided with a receiving portion 131 for receiving the functional components 110 of the UAV 100. The functional components 110 can be detachably inserted into the receiving portion 131. The first rotating part 20 is provided on the main body 10 . The first arm 30 is rotatably connected to the first rotating part 20. The first arm 30 can rotate around the first rotating part 20 relative to the main body 10 to switch the folded state and the unfolded state. The first arm 30 is provided with a first rotor. 31. When the first arm 30 is in the unfolded state, both the first arm 30 and the first rotor 31 extend outside the range of the main body 10. When the first arm 30 is in the folded state, the first arm 30 and the first rotor 31 extend out of the range of the main body 10. The first rotors 31 are folded to the top 11 of the functional component 110 .

In this way, the drone 300 can be loaded with different functional components 110 to perform different functions. For example, when the drone 300 is loaded with a water tank, the drone 300 can be used as a spray drone 300 to perform sprinkler irrigation tasks. When the UAV 300 is equipped with a camera device, the UAV 300 can perform a cruise mission as a cruise aircraft.

Please refer to FIGS. 1 to 3 . In some embodiments, the structure of the UAV 100 in any of the above embodiments can also be applied to the UAV 300 in the embodiment of the present application, and will not be described again here.

Referring to FIG. 1 , the present application also provides a drone 400 . The drone 400 includes a main body 10 , a first rotating part 20 , a first arm 30 , and a plurality of second arms 70 . The first rotating part 20 is provided on the main body 10 . The first arm 30 is rotatably connected to the first rotating part 20. The first arm 30 can rotate around the first rotating part 20 relative to the main body 10 to switch the folded state and the unfolded state. The first arm 30 is provided with a first rotor. 31. When the first arm 30 is in the unfolded state, both the first arm 30 and the first rotor 31 extend outside the range of the main body 10. When the first arm 30 is in the folded state, the first arm 30 and the first rotor 31 extend out of the range of the main body 10. The first rotors 31 are folded to the top 11 of the main body 10 and are located within the scope of the main body 10 . At least one second arm 70 is disposed on the side 15 of the main body 10 along the pitch axis Lp direction. When the first arm 30 is in the folded state, in the projection plane of the horizontal plane of the main body 10 , the orthographic projection of the first arm 30 is located between the orthographic projections of the second arm 70 on the left and right sides of the main body 10 . between.

In this way, the distance between the first arm 30 and the second arm 70 in the folded state can be set relatively close, which can save the space occupied by the first arm 30 and the second arm 70 in the folded state, thereby reducing The size of the small drone 400 in the folded state.

In some embodiments, the structure of the drone 100 in any of the above embodiments can also be applied to the drone 400 in the embodiment of the present application, and will not be described again here.

In the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" is intended to be in conjunction with the description. An embodiment or example describes a specific feature, structure, material, or characteristic that is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims

An unmanned aerial vehicle is characterized by:

main body;

A first rotating part, the first rotating part is provided on the main body; and

A first machine arm, the first machine arm is rotatably connected to the first rotating part, and the first machine arm can rotate around the first rotating part relative to the main body to switch the folded state and the unfolded state, The first arm rotates around the rotation axis of the first rotating part, and the rotation axis is inclined relative to the normal plane of the yaw axis of the main body. The first arm is provided with a first rotor. When the third When one arm is in the unfolded state, both the first arm and the first rotor extend outside the scope of the main body. When the first arm is in the folded state, the first arm is in the folded state. Both an arm and the first rotor are folded to the top of the main body and are located within the range of the main body. The first arm rotates around the first arm when switching from the unfolded state to the folded state. The angle of rotation of one rotating part is greater than 90 degrees.
An unmanned aerial vehicle is characterized by:

main body;

Two first rotating parts, the first rotating parts are provided on the main body; and

Two first machine arms, each of the first machine arms is rotatably connected to the corresponding first rotating part, and the first machine arm can rotate relative to the main body around the first rotating part to switch. In the folded state and the unfolded state, the first arm is provided with a first rotor and a first motor. When the first arm is in the unfolded state, both the first arm and the first rotor are extended. out of the scope of the main body, and the two first motors are far away from each other. When the first arm is in the folded state, both the first arm and the first rotor are folded to The top of the main body is located within the range of the main body, and the two first motors are close to each other.
An unmanned aerial vehicle is characterized by:

The main body includes a machine frame, and the machine frame is provided with an accommodating portion for accommodating the functional components of the drone, and the functional components can be detachably inserted into the accommodating portion;

A first rotating part, the first rotating part is provided on the main body; and

A first machine arm, the first machine arm is rotatably connected to the first rotating part, and the first machine arm can rotate around the first rotating part relative to the main body to switch the folded state and the unfolded state, The first arm is provided with a first rotor. When the first arm is in the unfolded state, both the first arm and the first rotor extend outside the range of the main body. When the first arm is in the folded state, both the first arm and the first rotor are folded to the top of the functional component.
An unmanned aerial vehicle is characterized by:

main body;

A first rotating part, the first rotating part is provided on the main body;

A first machine arm, the first machine arm is rotatably connected to the first rotating part, and the first machine arm can rotate around the first rotating part relative to the main body to switch the folded state and the unfolded state, The first arm is provided with a first rotor. When the first arm is in the unfolded state, both the first arm and the first rotor extend outside the range of the main body. When the first arm is in the folded state, both the first arm and the first rotor are folded to the top of the main body and are located within the range of the main body; and

A plurality of second arms, at least one of the second arms is disposed on the side of the main body along the pitch axis direction;

Wherein, when the first arm is in the folded state, in the projection plane of the horizontal plane of the main body, the orthographic projection of the first arm is located at the left and right sides of the main body. Between the orthographic projections of the two machine arms.
The UAV according to any one of claims 1 to 4, characterized in that the main body includes a machine frame, and the machine frame is provided with a receiving portion for accommodating functional components of the UAV, and the The functional component can be detachably inserted into the receiving portion.
The UAV according to any one of claims 1 to 4, wherein the first rotating part is provided on the side of the main body along the roll axis direction, and the first rotor includes a first blade; When the first arm is in the unfolded state, the suction surface of the first blade faces the sky end, and the pressure surface of the first blade faces the ground end; when the first arm is in the folded state, The suction surface and the pressure surface both face the pitch axis direction of the main body.
The UAV according to claim 6, wherein the first rotation part includes a first rotation axis, the first rotation axis is parallel to the normal plane of the roll axis of the main body and relative to the deflection of the main body. The normal plane of the flight axis is inclined, and the first arm is rotatably connected to the first rotating shaft.
The UAV according to any one of claims 1 to 4, characterized in that the main body includes a nose and a tail, and both the nose and the tail are provided with the first rotating part and the Describe the first machine arm.
The UAV according to any one of claims 1 to 4, wherein the first arm further includes a first receiving portion extending from the first arm. In the unfolded state, the extending direction of the first receiving portion is toward the ground end, and in the folded state, the extending direction of the first receiving portion is toward the pitch axis direction of the main body.
The UAV according to any one of claims 1 to 4, wherein the main body further includes a side connecting the nose and the tail, and the UAV further includes:

A second rotating part, the second rotating part is provided on the side of the main body along the pitch axis direction; and

a second machine arm, the second machine arm is rotatably connected to the second rotating part, and the second machine arm can rotate around the second rotating part relative to the main body to switch the storage state and the working state, The second machine arm is provided with a second rotor. When the second machine arm is in a working state, both the second machine arm and the second rotor extend out of the range of the main body. The extension direction of the two arms is toward the pitch axis direction of the main body. When the second arm is in the stowed state, both the second arm and the second rotor are folded to the direction of the pitch axis of the main body. The side surface of the second machine arm extends in the direction of the roll axis of the main body.
The UAV according to claim 10, wherein the main body includes a first side and a second side along the pitch axis direction and opposite to each other, and the first connecting part includes two, two of the first connecting parts. The first connecting parts are respectively provided at the nose and the tail, the second rotating parts include four, and the first side and the second side are respectively provided with two second rotating parts.
The UAV according to claim 10, wherein the second rotating part includes a second rotating shaft, and the second arm is rotatably connected to the second rotating shaft,

The second rotation axis is parallel to the pitch axis of the main body; or

The second rotation axis is parallel to the yaw axis of the main body.
The UAV according to claim 10, characterized in that the UAV further includes a functional component and a spray component, the functional component is a water tank, and the spray component includes:

a pipe connecting the water tank; and

A spray member is provided on the second machine arm and communicates with the pipe.
The UAV according to claim 13, characterized in that the spray member is provided on the second arm close to the machine head, and the spray member includes multiple spray members. When in the working state, , a plurality of the spray parts are arranged in a "one" shape on the second arm and do not overlap in the flight direction of the drone.
The UAV according to claim 13, wherein the second arm includes a middle end and a distal end, and the distal end is away from the main body in an unfolded state,

The spray member is arranged at the middle end; or

The spray member is provided at the end; or

The spray member is provided at the middle end and the end.
The UAV according to claim 15, wherein the spray assembly further includes a water pump and a flow meter, the second rotating part further includes a spray receiving part, and the water pump and the flow meter are accommodated in The spray receiving part.
The UAV according to claim 13, characterized in that the UAV further includes a control panel, the control panel is arranged on the side of the machine head; or the control panel is arranged on the machine head. The side where the tail is.
The UAV according to claim 17, characterized in that, in the unfolded state, the control panel, the water pump, the flow meter and the spray member are all located on the nose or head of the main body. are located at the tail of the main body.
The UAV according to any one of claims 1-4, characterized in that the UAV further includes a tripod, and the tripod is arranged at the bottom of the main body.
The UAV according to claim 19, wherein the tripod includes a connecting part and a supporting part, the connecting part is located at the first end of the tripod, and the connecting part is used to connect the main body , the support part is located at the second end of the tripod opposite to the first end, and the support part is used to support the drone.
The UAV according to claim 20, wherein the distance from the bottom of the main body to the support part is less than the length of the first arm; and/or

The distance from the bottom of the main body to the support part is less than the length of the second arm.