CN208102312U - The undercarriage and rack, unmanned plane of a kind of rotating mechanism, unmanned plane - Google Patents
The undercarriage and rack, unmanned plane of a kind of rotating mechanism, unmanned plane Download PDFInfo
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- CN208102312U CN208102312U CN201820349590.2U CN201820349590U CN208102312U CN 208102312 U CN208102312 U CN 208102312U CN 201820349590 U CN201820349590 U CN 201820349590U CN 208102312 U CN208102312 U CN 208102312U
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Abstract
A kind of rotating mechanism is applied to unmanned plane, and unmanned plane includes centerbody and carrier, foot prop below centerbody, and carrier is used to support payload, and rotating mechanism includes：Rotating part and driving portion；Rotating part is used to rotate relative to centerbody for connecting with foot prop；Driving portion is used for the driving rotating part rotation in carrier rotation.The rotating mechanism may be implemented the foot prop of unmanned plane and follow rotation relative to the carrier of unmanned plane carry, and between the foot prop and carrier of unmanned plane, so as to not impact to itself mode of carrier, be conducive to the autonomous working of carrier there is no rigid connection.
Description
Technical field
The utility model embodiment is related to unmanned plane construction applications more particularly to a kind of rotating mechanism, unmanned plane rises and falls
Frame and rack, unmanned plane.
Background technique
Foot prop has the accessories apparatus of load and maneuverability as unmanned plane, undertakes during the safe landing of unmanned plane
Extremely important mission, be one of important component of unmanned plane.
In recent years, unmanned plane manufacturing industry is fast-developing, take photo by plane, plant protection, the fields such as mapping are used widely.It is taking photo by plane
In field, in order to reduce interference of the foot prop to capture apparatus, the foot prop of extendible has design, however, working as the view of capture apparatus
When range is larger and the shooting direction of capture apparatus is more special, still it is easy to appear foot prop and exposes the false pictaresque situation, be unfavorable for
The aerial photographing effect of unmanned plane.
Based on the above issues, existing foot prop uses the synchronous foot prop of the formula of being connected, which can fix
In on the holder of unmanned plane, so that the synchronous foot prop of the formula that is connected can when holder support capture apparatus carries out the variation of shooting direction
With with holder synchronous rotary, to avoid foot prop in the field range of capture apparatus.
However, the formula of being connected synchronous foot prop is with holder due to being fixedly connected, the rigid connection relationship affect with holder
The mode of holder itself is unfavorable for the autonomous working of holder.
Summary of the invention
The utility model embodiment provides the undercarriage and rack, unmanned plane of a kind of rotating mechanism, unmanned plane, for real
The foot prop of existing unmanned plane follows rotation relative to the carrier of unmanned plane carry, and is not present between the foot prop and carrier of unmanned plane
Rigid connection, so as to not impact to itself mode of carrier, is conducive to the autonomous working of carrier.
In view of this, the utility model first aspect provides a kind of rotating mechanism, which is applied to unmanned plane, nothing
Man-machine includes that centerbody and carrier, foot prop below centerbody, carrier are used to support payload, and rotating mechanism can wrap
It includes：
Rotating part and driving portion；
Rotating part is used to rotate relative to centerbody for connecting with foot prop；
Driving portion is used for the driving rotating part rotation in carrier rotation.
Optionally, carrier is holder；Payload is imaging device.
Optionally, rotating part includes revolving part and frame unit, and revolving part is connect with frame unit；
Revolving part is also used to connect with driving portion；
Frame unit is also used to connect with foot prop.
Optionally, frame unit is set to the bottom of revolving part；
Frame unit includes upper frame, lower frame and middle frame, and upper frame and lower frame are respectively provided with connection foot prop
First mounting portion and the second mounting portion；
Center is set up between frame and lower frame.
Optionally, the first mounting portion and/or the second mounting portion are Screw hole structure.
Optionally, revolving part is driving wheel.
Optionally, the center of rotating part is equipped with hatch frame, and hatch frame is used for the adapter through carrier.
Optionally, rotating mechanism further includes connector, and connector on rotating part for connecting foot prop.
Optionally, driving portion includes motor and actuator, and motor is for driving actuator, and actuator is for driving rotation
Portion.
Optionally, driving portion further includes transmission belt, and actuator drives rotating part by transmission belt；Alternatively,
Actuator is engaged with rotating part, and actuator drives rotating part by engagement.
Optionally, actuator is driving wheel.
Optionally, rotating mechanism further includes support portion, and support portion is used to support rotating part.
Optionally, support portion includes that support shaft, lower axle support plate, support column and upper axis support plate, lower axle support plate are set to
The lower end of support shaft, upper axis support plate are set to the upper end of support shaft, and support column is set in upper axis support plate；
Rotating part is surrounded on the outside of support shaft, and rotating part is placed in lower axle support plate.
Optionally, support shaft is hollow shaft structure, and hollow shaft structure is used for the adapter through carrier.
Optionally, rotating mechanism further includes first bearing, and first bearing is installed on the upper surface of rotating part, and/or, rotation
Mechanism further includes second bearing, and second bearing is installed on the lower surface of rotating part；Alternatively,
The upper surface of rotating part or the contact surface being bonded with upper surface are equipped with the first bearing structure being connected as one, and/
Or, the lower surface of rotating part or the contact surface being bonded with lower surface are equipped with the second bearing structure being connected as one.
Optionally, first bearing structure and/or second bearing structure are ball bearing structure.
The utility model second aspect provides a kind of undercarriage of unmanned plane, it may include foot prop and the rotation such as first aspect
Mechanism.
Optionally, foot prop includes the first foot prop part and crus secunda frame member；
The both ends of first foot prop part are connect with the rotating part in crus secunda frame member, rotating mechanism respectively, the first foot prop part
Length is less than the length of crus secunda frame member.
Optionally, foot prop further includes holding part tightly, and the first foot prop part is connected by holding part tightly with crus secunda frame member.
The utility model third aspect provides a kind of rack of unmanned plane, and rack includes the centerbody of unmanned plane, and rack is used
In carry carrier, carrier is used to support payload, and rack further includes the undercarriage such as second aspect.
Optionally, the lower section of centerbody is equipped with first sensor, and the foot prop of undercarriage is equipped with cooperation first sensor
Second sensor, first sensor and second sensor are for positioning foot prop.
Optionally, first sensor and/or second sensor are Hall magnet sensor.
Optionally, rack further includes shock mitigation system, and the adapter of shock mitigation system and carrier connects, and shock mitigation system is set to and rises and falls
Within the scope of the height space that the support column of support portion is formed in the rotating mechanism of frame.
Optionally, shock mitigation system is cross vibration damper plate.
The utility model fourth aspect provides a kind of unmanned plane, it may include such as the rack of third aspect offer and by rack
The carrier of carry, carrier are used to support payload.
As can be seen from the above technical solutions, the utility model embodiment has the following advantages that：
The utility model embodiment provides a kind of rotating mechanism, which may include rotating part and driving portion,
When the rotational structure be applied to including centerbody and carrier below centerbody, foot prop unmanned plane when, which can
With for connecting with foot prop, which can be when carrier rotates, for driving rotating part to rotate.As a result, when carrier rotates
When, for the payload of carrier supported by synchronous rotary, the foot prop of rotating part connection then under the action of driving portion, will also follow load
Body support payload rotation and rotate, and the rotating part of foot prop and rotating mechanism connect so that foot prop and carrier
It is separated rather than is rigidly connected to each other, it is possible thereby to not impact to itself mode of carrier, be conducive to the independence of carrier
Work.Meanwhile when the payload of carrier supported is such as imaging device, revolved accordingly by driving foot prop with carrier
The case where turning, the field range of imaging device can be entered to avoid foot prop.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the utility model
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the partial structure diagram of unmanned plane in the utility model embodiment；
Fig. 2 is the rotating part schematic diagram of rotating mechanism in the utility model embodiment；
Fig. 3 is the overall schematic of rotating mechanism in the utility model embodiment；
Fig. 4 is the structural schematic diagram of support portion in rotating mechanism in the utility model embodiment；
Fig. 5 is the perspective view of the explosion of rotating mechanism in the utility model embodiment；
Fig. 6 is the overall structure diagram of unmanned plane in the utility model embodiment.
Specific embodiment
The utility model embodiment provides the undercarriage and rack, unmanned plane of a kind of rotating mechanism, unmanned plane, for real
The foot prop of existing unmanned plane follows rotation relative to the carrier of unmanned plane carry, and is not present between the foot prop and carrier of unmanned plane
Rigid connection, so as to not impact to itself mode of carrier, is conducive to the autonomous working of carrier.
In order to make those skilled in the art better understand the scheme of the utility model, below in conjunction with the utility model reality
The attached drawing in example is applied, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment is only the embodiment of the utility model a part, instead of all the embodiments.Based on the reality in the utility model
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts is all answered
When the range for belonging to the utility model protection.
The specification and claims of the utility model and term " first " in above-mentioned attached drawing, " second ", " third ",
(if present)s such as " the 4 " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It answers
The data that the understanding uses in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to herein
Sequence other than diagram or the content of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not
Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side
The intrinsic other step or units of method, product or equipment.
In the utility model embodiment, unmanned plane can be applied to the field of taking photo by plane, it is particularly possible to preferable load-bearing
Performance, structural stability and be suitable for play staff shoot demand.Holder work is influenced in order to solve the holder of the connected unmanned plane of foot prop
The problem of making, the utility model embodiment provide a kind of rotating mechanism, which may be implemented point of foot prop and holder
From, be conducive to the autonomous working of holder, and be also able to solve in unmanned plane shooting process by the corresponding control to rotational structure
Foot prop is exposed the false pictaresque problem.
Below by for above-mentioned application scenarios to the undercarriage of rotating mechanism, unmanned plane in the utility model embodiment,
The rack of unmanned plane, unmanned plane carry out corresponding expansion explanation.
Certainly, unmanned plane also can be applied to other scenes other than above-mentioned application scenarios, not do specific limit herein
It is fixed.
For ease of understanding, specific detailed description is carried out to the rotating mechanism in the utility model embodiment below, please join
Fig. 1 is read, rotating mechanism one embodiment may include in the utility model embodiment：
Rotating part 1 and driving portion 2；
Rotating part 1 is used to rotate relative to centerbody 5 for connecting with foot prop 3；
Driving portion 2 is used for the driving rotating part 1 when carrier 4 rotates and rotates.
In the utility model embodiment, which can be applied to unmanned plane, which may include centerbody
5, it may include the flight control system of unmanned plane which, which is the main part of unmanned plane, corresponding to carry out to unmanned plane
Flight control；Around centerbody 5 can horn that is symmetrical or being alternatively arranged respective numbers, each horn is far from center
One end of body can be equipped with one or more dynamical systems, and the one or more dynamical system is used for the rising of unmanned plane, preceding
Into, rotation etc. movements provide power；The lower section of centerbody 5 can be equipped with foot prop 3, and foot prop 3 can be used for when unmanned plane lands
Ground is supported on or on ordered goods, so that the contact of the structures such as centerbody 5 with ground or ordered goods is avoided, to play support nothing
Unmanned plane is protected while man-machine；Further, the lower section of centerbody 5 can also be mounted with carrier 4, and carrier 4 can be used for propping up
Payload 6 is supportted, to realize other corresponding functions of unmanned plane by the auxiliary of payload 6.
Illustratively, as shown in Figure 1, the centerbody 5 of unmanned plane may include the first mounting plate 51 and the second mounting plate 52.
The battery for unmanned plane power supply can be equipped between first mounting plate 51 and the second mounting plate 52；First mounting plate 51 and the second peace
The mounting portion for installing horn can be equipped on the side of loading board 52, so that horn is located at the first mounting plate 51 and the second installation
Between plate 52；The one end of horn far from centerbody 5 can be set there are two dynamical system, to provide power for the flight of unmanned plane；
The foot prop 3 of unmanned plane and the carrier 4 of carry can then be set to the lower section of the second mounting plate 52.Wherein, rotational structure can also be with
Set on the lower section of the centerbody 5 of unmanned plane, specially：The unmanned plane of 52 lower section of rotating part 1, driving portion 2 and the second mounting plate
(fuselage of unmanned plane may include multiple components, and driving portion 2 can be with one or more in this multiple component for corresponding component connection
A component is connected directly or indirectly, is indirectly connected with realizing with centerbody 5, even, can also not had relative to centerbody 5
Have connection relationship), alternatively, can also directly be connect with the centerbody of unmanned plane 5, to realize the fuselage of rotating mechanism and unmanned plane
Stabilization, be reliably connected, and be able to maintain rotating part 1 and be transmitted function, the main transmission function of driving portion 2, rotating part 1 accordingly
Then it is connect with foot prop 3.When the carrier 4 of unmanned plane carry rotates, driving portion 2 can drive according to the rotation information of carrier to be rotated
Portion 1 rotates, and is achieved in rotation of the rotating part 1 relative to centerbody 5.To which in unmanned plane, during taking photo by plane, unmanned plane can
To keep the corresponding posture of centerbody 5, and the payload 6 supported to carrier 4 may be implemented in the foot prop 3 that rotating part 1 connects
Follow rotation.It may include that synchronous rotary or other preset rules follow rotation that this, which follows rotation,.Wherein, rotating part 1 with
Can according to need with the direction and/or speed of rotation and be arranged accordingly, with realize foot prop 3 multitude of different ways with
With rotation mode, meets foot prop 3 relative to the difference of payload 6 and follow rotation demand.
Preferably, foot prop 3 may include avoiding foot prop 3 to the need of payload 6 relative to the rotation that follows of payload 6
The influence asked.For example, in carrier rotation, all foot props 3 can be located at imaging dress when payload is such as imaging device
Outside the field range set.
From the above it is found that foot prop 3 is connect with rotating part 1, and connection relationship is not present between rotating part 1 and carrier 4,
Then rotating part 1 can make to avoid the connection (connection may include connected directly or indirectly) between foot prop 3 and carrier 4
It obtains foot prop 3 and carrier 4 is separated from each other, rather than be rigidly connected to each other, thus when carrier 4 works, it will not be due to foot prop 3
Reason and itself mode is impacted, be conducive to the autonomous working of carrier 4, such as carrier 4 will not be caused due to the shaking of foot prop 3
Attitudes vibration and influence the work of carrier 4, while foot prop 3 also can satisfy by the design of corresponding method and carrier 4 supports
Payload 6 follow rotation, can solve foot prop 3 during unmanned plane and expose the false pictaresque problem.
Further, it is separated due to foot prop 3 with carrier 4, then foot prop 3 will not be straight by impact force in unmanned plane landing
It connects and is transferred to carrier 4, to be conducive to the structural stability of carrier 4, be also beneficial to protection carrier 4.
In the utility model embodiment, optionally, carrier 4 can be holder.Holder can refer to allow payload 6 around
The pivot supports that one or more rotation axis is rotated.Holder can provide stability for the payload 6 of support,
It may be configured to the state of control payload 6, and provide rotationally and/or translationally locomotivity for payload 6.Wherein,
Holder can be uniaxial holder, twin shaft holder or three axis holders or other types of holder.
In the utility model embodiment, optionally, payload 6 can refer to by the load of holder support or appointing for object
What part.Payload 6, which can be configured as, does not execute any operation or function.Alternatively, payload 6 can be arranged to
For executing corresponding operation or function, also referred to as functional payload.For example, payload 6 may include for surveying
The one or more sensors of one or more targets.The sensor can collect the information about sensor ambient enviroment.It can
Any suitable sensor to be integrated in payload, such as imaging device is (for example, vision imaging device is (for example, image
Capture device, camera etc.), infrared imaging device, ultraviolet imaging device, thermal imaging device etc.), audio capture device (example
Such as, parabola microphone), radio frequency (rf) sensor, Magnetic Sensor, in ultrasonic sensor etc..Wherein, payload 6 can be with
Sensor, emitter and/or tool including single type, also may include a plurality of types of sensors, emitter and/or work
Tool can also include any amount of sensor, emitter and/or tool with and combinations thereof, such as sensor array.
Further, in the utility model embodiment, when the corresponding unmanned plane of the rotating mechanism is shot for play staff, at
As device can be video camera, such as video camera.
It is illustrated so that carrier 4 is three axis holders, payload 6 is imaging device as an example.When carrier 4 is three axis holders
When, it can be around first axle A1 (for example, course yaw axis), the second axis A2 (for example, roll roll axis) and third axis A3 (example
Such as, pitching pitch axis) rotation.Wherein, it during three axis holders are rotated around yaw axis, is filled by the imaging of three axis holders support
Setting also will be around yaw axis synchronous rotary.Relative position design based on foot prop 3 in unmanned plane, in order to avoid foot prop 3 blocks imaging
The camera lens of device, the flight control system of unmanned plane is when three axis holders rotate, the rotation that can be rotated according to three axis holders around yaw axis
Information controls driving portion 2, the rotation speed that driving portion 2 is rotated according to three axis holders around yaw axis and/or direction of rotation
Equal rotation informations drive rotating part 1, to realize that the foot prop 3 that rotating part 1 connects is revolved relative to imaging device around the synchronous of yaw axis
Turn, and then avoid foot prop 3 in the field range of imaging device, prevents foot prop 3 from exposing the false pictaresque situation.Simultaneously as foot prop 3
Not between three axis holders there are connected directly or indirectly, to will not influence itself mode of three axis holders, favorably
In the autonomous working of three axis holders.
It is appreciated that foot prop 3 may include two or more, wherein foot prop 3 in the utility model embodiment
Quantity can be identical as the quantity of rotating part 1, can also be greater than the quantity of rotating part 1, for example, a rotating part 1 can be with one
A foot prop 1 connects, and a rotating part 1 can also be connect with more than one foot prop 1, correspondingly, the quantity of rotating part 1 can be with
The quantity of driving portion 2 is identical, also greater than the quantity of driving portion 2, specifically can be arranged accordingly according to actual needs,
It is not specifically limited herein.
It should be noted that foot prop 3 may include two or more in the utility model embodiment, wherein carrying
In the rotary course of body 4, the one or more in rotation foot prop 3 can according to need, the foot prop 3 of this one or more can be by
Same driving portion 2 drives and rotates, and can also be driven and be rotated by different driving portion 2, and the rotation of the foot prop 3 of this one or more
Turning the rotation informations such as direction and/or rotation speed may be the same or different, and be not specifically limited herein.
It include below a driving portion 2 and a rotating part 2 with rotating mechanism, one drives in the structure basis of above-described embodiment
A dynamic rotating part 2, for a rotating part 2 connects all foot props 3 of unmanned plane, to rotating part 1, the driving portion 2 in rotating mechanism
And the contents such as other additional structures are described in further detail：
Referring to Fig. 2, another embodiment of rotating mechanism may include in the utility model embodiment：
Rotating part 1 includes revolving part 11 and frame unit 12, and revolving part 11 and frame unit 12 connect；
Revolving part 11 is also used to connect with driving portion 2；
Frame unit 12 is also used to connect with foot prop 3.
Specifically, rotating part 1 may include revolving part 11 and frame unit 12.Wherein, revolving part 11 and frame unit 12 can be with
Connected by way of such as screw, and revolving part 11 can be also used for connecting with driving portion 2, frame unit 12 can be also used for
Foot prop 3 connects.When realizing rotation under the action of revolving part 11 is in driving portion 2 as a result, revolving part 11 can drive frame unit 12
Rotation, so as to realize the rotation of foot prop 3, i.e. foot prop 3 can be rotated with the rotation of the payload 6 on carrier 4, such as
Foot prop 3 is moved synchronously with payload 6.By above structure, the connective stability of foot prop 3 is not only contributed to, is also beneficial to
Simplify the structure design of revolving part 11.
Wherein, revolving part 11 and/or frame unit 12 can directly connect with one or more components on the fuselage of unmanned plane
It connects or is indirectly connected with, the lower section of the second mounting plate 52 can be specifically set to, so that the supporting fuselage rotating part 1 of unmanned plane is same
When, rotating part 1 can be kept to be transmitted function accordingly.
It is understood that revolving part 11 and frame unit 12 can be the knot being separately separated in the utility model embodiment
Structure, or integrally formed structure is not specifically limited herein.
Optionally, in some embodiments, frame unit 12 can be set to the bottom of revolving part 11, and the side of frame unit 12 can
To be connected with foot prop 3.As a result, when foot prop 3 is connected to the side of frame unit 12, since connection area is larger, stable connection
Property available raising, be conducive to the influence that impact force is reduced when unmanned plane lands；Secondly, frame unit 12 is set to revolving part 11
Bottom, the obstruction when foot prop 3 that is subject to rotates when can prevent driving portion 2 from driving revolving part 11, be also beneficial to driving portion 2 with
And the summary of control and the installation of the mounting height of revolving part 11, it is more advantageous to when rotating mechanism is applied to unmanned plane,
Improve integrated level, space utilization degree and the appearance beautification of unmanned plane total.
It is understood that in practical applications, frame unit 12 and revolving part 11, foot prop 3 positional relationship in addition to above-mentioned
The content of explanation can also carry out other Position Designs as needed, be not specifically limited herein.
Optionally, in some embodiments, frame unit 12 may include upper frame 121 and lower frame 122.When foot prop 3 is
When such as tubular structure, the height between upper frame 121 and lower frame 122 can be greater than the diameter of foot prop 3, to improve foot prop 3
Connective stability, and reinforce supporting role to foot prop 3.Upper frame 121 and lower frame 122 can be respectively provided with connection
The first mounting portion and the second mounting portion of foot prop 3, correspondingly, foot prop 3 may include for cooperating the first mounting portion and the second peace
The mounting portion in dress portion, to realize installation and fixation of the foot prop 3 on the side of frame unit 12.
Wherein, the outside of upper frame 121 and lower frame 122 can be polygon, and the number of edges of the polygon can basis
Depending on the quantity of foot prop 3, to improve aesthetic appearance, meanwhile, the opening at the center of the rotating part 1 of subsequent explanation herein can be cooperated
Structure to improve space utilization degree, and reduces exposed part.For example, when foot prop 3 includes 3, upper frame 121 and lower frame
122 outside can be hexagon, every to be equipped at intervals with a foot prop 3 on one side.Certainly, upper frame 121 and lower frame 122 is outer
The shape of surrounding, which also can according to need, carries out other settings, is not specifically limited herein.
It is understood that the mounting portion that foot prop 3 includes can be with the integrally formed part of foot prop 3, be also possible to list
The part solely separated, with for connecting foot prop 3 and frame unit 12, which can be independent intermediate connection
Part can also be attached to rotating mechanism, be not specifically limited herein.
Optionally, in some embodiments, rotating mechanism can also include connector 7, and connector 7 can be used for rotating
Foot prop 3 is connected in portion 1.The connector 8 is the mounting portion as described above being separately separated with foot prop 3, is attached to rotating mechanism.
In order to further strengthen the connective stability and structural strength of foot prop 3 Yu rotating part 1, connector 7 can be carbon pipe connections.
Wherein, the first mounting portion and/or the second mounting portion can be Screw hole structure, to pass through bolt or screw in frame unit
Foot prop 3 is fixedly connected on 12.
It should be noted that the first mounting portion and/or the second mounting portion be in addition to above explained structure, in practical application
In, can also be other structures, such as buckle, connection type between foot prop 3 and frame unit 12 in addition to above explained content,
Can use other connection types, the connection illustrated in the utility model embodiment can include but is not limited to be directly connected to,
It connects, dismountable connection or permanent connection etc., is not specifically limited herein in succession.
Further, in some embodiments, frame unit 12 can also include middle frame 123, and middle frame 123 can be set to
Between upper frame 121 and lower frame 122.That is, the upper and lower ends of middle frame 123 can respectively with upper frame 121 and lower frame 122
Connection.Wherein, middle frame 123 may include multiple, and is spaced apart by foot prop 3 and to be surrounded on upper frame 121 and formed with lower frame
Space outside.The increase of middle frame 123 is conducive to the structural strength for improving frame unit 12.Meanwhile middle frame 123 can
Think engraved structure, i.e., can be equipped with multiple through-holes, the size of multiple through-hole, shape, arrangement mode, row on middle frame 123
Column density, which can according to need, carries out different settings, to reduce frame unit 12 while the structural strength of reinforcing frame frame member 12
Weight loading so that rotational structure be applied to unmanned plane when, the cruising ability of unmanned plane can be improved.
It is understood that when frame unit 12 include middle frame 123 when, foot prop 3 can also with upper frame 121, lower frame
It while frame 122 connects, is connect with middle frame 123, to further increase connective stability, reinforces connection structure intensity, may be used also
Only to connect with middle frame 123, connection relationship and connection type are not specifically limited herein.
Optionally, in some embodiments, revolving part 11 can be driving wheel, in order to the power transmission of driving portion 2.Its
In, driving wheel can include but is not limited to gear or pulley.
Optionally, in some embodiments, for the ease of carrier 4 rotate freely and the reinforcement of structure space utilization rate,
Carrier 4 may include adapter 41, and the center of rotating part 1 can be equipped with hatch frame, which can be used for
Through the adapter 41 of carrier 4.As a result, when adapter 41 can be used as 4 carry of carrier in intermediate connector on unmanned plane,
Adapter 41 is by the hatch frame through the center of rotating part 1, and both ends can protrude from hatch frame respectively, to transfer
One end of part 41 can fix carry on unmanned plane, and the connection with carrier 4 then may be implemented in the other end.
It is understood that the difference based on carrier 4 Yu the positional relationship of foot prop 3, adapter 41 can also be without setting
It sets, or as a part of carrier 4, specifically can according to need and be adjusted correspondingly, be not specifically limited herein.
Referring to Fig. 3, another embodiment of rotating mechanism may include in the utility model embodiment：
Driving portion 2 includes motor 21 and actuator 22, and motor 21 is for driving actuator 22, and actuator 22 is for driving rotation
Transfer part 1.
Specifically, the lower section of the centerbody 5 of 2 remex unmanned plane of driving portion, may include motor 21 and actuator 22.Its
In, the output shaft of motor 21 can be connect with actuator 22, and actuator 22 can be driven by motor 21.For example, motor 21 can be with
It is controlled by electron speed regulator, electron speed regulator can be communicated with the flight control system of unmanned plane, and electron speed regulator passes through reception
The coherent signal that the flight control system of unmanned plane is sent according to the rotation information of carrier 4, can direction of rotation to motor 21 and
The rotation informations such as rotation speed are controlled accordingly, so that the direction of rotation of actuator 22 and rotation speed etc. rotate
Information can be adjusted accordingly via motor 21.Actuator 22 can drive the rotation of rotating part 1 under the driving of motor 21
Turn.
Illustratively, motor 21 may include motor mount 211.The upper surface of actuator 22 can be equipped with for installing
The mounting portion of motor 21, motor 21 can realize the connection with actuator 22 by motor mount 211, meanwhile, motor installation
Seat 211 can be used for fixed driving portion 2, so that driving portion 2 can be fixed on a certain position and drive rotating part 1.Wherein, electric
The one end of machine mounting base 211 far from motor 21 can be fixedly connected with any suitable position of unmanned plane, can be specifically set to
The lower section of second mounting plate 52 of the centerbody 5 of unmanned plane such as connects with the spherical vibration damper plate for the lower section for being set to the second mounting plate 52
It connects, as long as can be realized the stability of driving portion 2.
Optionally, in some embodiments, actuator 22 can be driving wheel.Wherein, when actuator 22 is as driving wheel,
It may include following two driving method：
1, in some embodiments, driving portion 2 can also include transmission belt 23, and the both ends of the transmission belt 23 can cover respectively
On the revolving part 11 of rotating part 1, the actuator 22 of driving portion 2, to realize the transmission connection of actuator 22 Yu revolving part 11.
Under the action of motor 21, actuator 22 can drive rotating part 2 by transmission belt 23.Wherein, actuator 22 can be used as master
Driving wheel, revolving part 11 can be used as driven wheel, and actuator 22 can drive rotating part 1 by the transmission effect of transmission belt 23.
It is understood that the transmission belt 23 in the utility model embodiment can be the transmission belt of surfacing, it can also
To be transmission belt of the surface with tooth form, it can need and set according to the structure or actual use of revolving part 11 and actuator 22
It sets, is not specifically limited herein.
2, in some embodiments, actuator 22 can be engaged with rotating part 1, i.e. rotation in actuator 22 and rotating part 1
Turning part 11 can be gear structure, can be intermeshed between the two.Wherein, actuator 22 can be used as driving wheel, rotation
Part 11 can be used as driven wheel, and actuator 22 can be by driving rotating part 1 with the engagement of revolving part 11.
It should be noted that driving portion 2 drives the driving method of rotating part 1 in addition to above-mentioned in the utility model embodiment
The content of explanation can also use other way in practical applications, as long as can rationally realize, not do herein specific
It limits.
It is understood that in the utility model embodiment, actuator 22 is in addition to for above explained driving wheel, in reality
In herein, or other structures for being suitable for driving are not specifically limited.
Fig. 3 and Fig. 4 are please referred to, another embodiment of rotating mechanism may include in the utility model embodiment：
Rotating mechanism further includes support portion 8, and support portion 8 is used to support rotating part 1.
Specifically, in order to improve the stability of rotating mechanism, the impact force caused by unmanned plane when weakening unmanned plane landing,
The influence of the impact on the carrier 4 of unmanned plane carry is in turn resulted in, rotating mechanism can also include support portion 8, strong with reinforcement structure
Degree.Support portion 8 can be used for supporting rotating part 1.Wherein, support portion 8 can be with any suitable component of the fuselage of unmanned plane
Connection, can specifically connect with the second mounting plate 52 of the centerbody 5 of unmanned plane.
Optionally, in some embodiments, support portion 8 may include support shaft 81 and lower axle support plate 82.Wherein, lower axle
Support plate 82 can be set to the outside of the lower end surface of support shaft 81, and connect with the outside of the lower end surface of support shaft 81, should
The outside of lower axle support plate 82 can be such as round；Rotating part 1 can be surrounded on the outside of support shaft 81, while can be with
It is placed in lower axle support plate 82, to play corresponding supporting role by lower axle support plate 82.
Correspondingly, in order to reinforce the reasonable utilization of space resources, the integrated level of reinforcement structure, support shaft 81 can be hollow
Axle construction, the i.e. center of support shaft 81 are also through-hole, so that the adapter 41 of carrier 4 can realize phase through support shaft 81
The connection answered.Above structure ecto-entad successively can see as a result,：Rotating part 1, support portion 8, carrier 4 adapter 41, should
Structure design maintains foot prop 3 and designs around the original structure of carrier 4, meanwhile, in carrier 4 and the payload 6 of support
When weight is larger, is conducive to the balance for maintaining unmanned plane, reduces flight resistance etc..
Optionally, in some embodiments, support portion 8 can also include support column 83, and support column 83 can be set to support
The upper end of axis 81, to be connect by support column 83 with the second mounting plate 52 such as shown in FIG. 1, thus realization and unmanned aerial vehicle body
Fixation.Meanwhile the height space range of the formation of support column 83 can be used for installing other additional structures of unmanned plane, to have
Conducive to raising space utilization degree.
Wherein, one end that support column 83 is connect with unmanned aerial vehicle body can be equipped with the connecting plate of such as triangle, to increase
With the connection area of the fuselage of unmanned plane, connective stability is improved.
It is understood that the connecting plate of one end that support column 83 is connect with unmanned aerial vehicle body can have other shapes to set
Meter, such as rectangular, round, Else Rule shape, irregular shape, are not specifically limited herein.
Optionally, in some embodiments, support portion 8 can also include upper axis support plate 84.Upper axis support plate 94 can be with
It is connect with the upper end of support shaft 81, i.e., upper axis support plate 84 can be surrounded on the outside setting of 81 upper surface of support shaft, on this
The outside of axis support plate 84 can be to be such as rectangular, and support column 83 can be set in upper axis support plate 84.Specifically, support column
83 can be provided close to the position at the edge of axis support plate 84, to improve the spatial dimension that multiple support columns 83 surround, favorably
In space utilization.
It is understood that the outside of lower axle support plate 82 is such as circular design in the utility model embodiment, it can
Realize supporting role while to reduce material cost, the outside of upper axis support plate 84 is such as squared design, then can be so as to
Expand multiple support columns 83 while the connection of support column 83 around the spatial dimension formed, in practical applications, lower axle branch
Fagging 82 and upper axis support plate 84 can also be designed using other shapes of structure, not done herein in addition to above-mentioned shape explanation
It is specific to limit.
It should be noted that upper axis support plate 84 may include multiple through-holes in the utility model embodiment, to mitigate branch
The weight of support part 8 improves the cruising ability of unmanned plane, and the shape between this multiple through-hole can be identical and symmetrically sets
It sets, shape can also be different, and shape, queueing discipline, size are not specifically limited herein.
Referring to Fig. 5, another embodiment of rotating mechanism may include in the utility model embodiment：
Rotating mechanism further includes first bearing 9, and first bearing 9 is installed on the upper surface of rotating part 1.
Specifically, when the upper surface of rotating part 1 and other component contacts, in order to reduce rotating part 1 during the motion
Coefficient of friction, and guarantee its rotating accuracy, rotational structure can also include first bearing 9.The first bearing 9 can be installed on
The upper surface of rotating part 1.Wherein, when the revolving part 11 that rotating part 1 includes for realizing rotation, and revolving part 11 is in rotating part 1
Top when, first bearing 9 can also be set to revolving part 11 upper surface.
When the lower surface of rotating part 1 and when other component contacts, in order to further decrease rotating part 1 during the motion
Coefficient of friction, rotating mechanism can also include second bearing 10, and second bearing 10 can be installed on the lower surface of rotating part 1.
In this way, when the upper and lower surface of rotating part 1 may be with other component contacts, by the upper surface of rotating part 1
And/or corresponding bearing is arranged in lower surface, can greatly improve the rotation smoothness of rotating part 1.
It is understood that in the utility model embodiment, structure design and composition based on rotating part 1, first bearing
10 and/or second bearing 10 can correspondingly be set to rotating part 1 in realize rotation component upper surface or lower surface, without office
It is limited to the whole upper surface or lower surface of rotating part 1.
Correspondingly, in some embodiments, the upper surface of rotating part 1 or the contact surface being bonded with upper surface can the companies of being equipped with
It is connected in integrated first bearing structure, i.e. the upper surface of first bearing structure and rotating part 1 is connected as one or first bearing knot
The contact surface that structure is bonded with the upper surface of rotating part 1 is connected as one, to substitute first bearing 10.Accordingly, under rotating part 1
Surface or the contact surface being bonded with lower surface can be equipped with the second bearing structure being connected as one, to substitute second bearing 10.
It is understood that when rotating part 1 includes the revolving part 11 for realizing rotation, if revolving part 11 is set to rotation
The top in portion 1, then first bearing structure can also be set to the upper surface of revolving part 11 or be bonded with the upper surface of revolving part 11
On contact surface, alternatively, then second bearing structure can also be set to revolving part 11 when revolving part 11 is set to the lower part of rotating part 2
On lower surface or the contact surface being bonded with the lower surface of revolving part 11, it is specifically referred to above-mentioned first bearing 9 and second bearing
10 respective description, details are not described herein again.
Wherein, first bearing structure and/or second bearing structure can include but is not limited to ball bearing structure, the ball
Bearing arrangement can be changed accordingly according to existing design and the structure of rotating part 1, as long as can be realized reduction rotation
The coefficient of friction of portion 1 during the motion.
In the structure basis of above-described embodiment, Fig. 3 and Fig. 5 are please referred to, the utility model embodiment additionally provides one kind
The undercarriage of unmanned plane, the undercarriage may include foot prop 3 and any rotating mechanism recited above.
During the undercarriage is applied to unmanned plane, when the carrier 4 of unmanned plane carry rotates, rotated in undercarriage
The driving portion 2 of mechanism can drive rotating part 1 to rotate according to the rotational case of carrier 4, to realize foot prop 3 relative to carrier 4
The payload 6 of support follows rotation, can solve foot prop 3 during unmanned plane and exposes the false pictaresque problem.Meanwhile by
It is connect in foot prop 3 with the rotating part 1 in rotating mechanism, and rotating mechanism is not between carrier 4 that there are direct or indirect connections
Relationship is conducive to the autonomous working of carrier 4 so that foot prop 3 will not influence itself mode of carrier 4.
Further, it is separated due to foot prop 3 with carrier 4, then foot prop 3 will not be straight by impact force in unmanned plane landing
It connects and is transferred to carrier 4, to be conducive to the structural stability of carrier 4, be also beneficial to protection carrier 4.
It is understood that the rotating part 1 in rotating mechanism can be one of foot prop 3 in the utility model embodiment
Point, i.e., foot prop 3 is equipped with the structure for rotation, which is equivalent to rotating part 1, so that in rotating mechanism
Under the action of middle driving portion 2, directly drives foot prop 3 and rotated according to corresponding direction or speed.
Optionally, in some embodiments, foot prop 3 may include the first foot prop part 31 and crus secunda frame member 32.Wherein,
One end of one foot prop part 31 can be connect with the rotating part 1 in rotating mechanism, and the other end can then be connect with crus secunda frame member 32.
First foot prop part 31 is in bending structure after connecting with crus secunda frame member 32, and crus secunda frame member 32 connects when can alleviate unmanned plane landing
The impact force that tread surface or ordered goods are subject to, reducing the impact on unmanned plane influences.Meanwhile first the length of foot prop part 31 can be with
Less than the length of crus secunda frame member 32, to improve the support strength of foot prop 3.
Optionally, in some embodiments, foot prop 3 can also include holding part 33 tightly, and the first foot prop part 31 can be by embracing
Tight part 33 and crus secunda frame member 32 connect.The first foot prop part 31 can be easy to disassemble with crus secunda frame member 32 as a result,.Wherein, it embraces
Tight part 33 can hold part tightly for carbon pipe, to improve structural strength.
It is understood that in the utility model embodiment, the connection type of the first foot prop part 31 and crus secunda frame member 32
In addition to above explained content, in practical applications, other way can also be used, such as welds, is not specifically limited herein.
It should be noted that, in order to mitigate the load capacity of unmanned plane, reducing rotating mechanism in the utility model embodiment
The torque of middle motor 21 exports, and foot prop 3 can be such as hollow structure.
In the structure basis of above-described embodiment, Fig. 1 and Fig. 3 are please referred to, the utility model embodiment additionally provides one kind
The rack of unmanned plane, the rack may include the centerbody 5 of unmanned plane, and rack can be used for the load of carry support payload 6
Body can also include any undercarriage recited above, i.e., be equipped with foot prop 3 and rotating mechanism in the lower section of centerbody 5, with
While realization to the support of unmanned plane, can meet under the action of rotating mechanism foot prop 3 supported relative to carrier 4 it is effective
Load 6 follows rotation.
Optionally, in some embodiments, in order to control the rotation of foot prop 3 and the positioning to foot prop 3, centerbody 5
Lower section can be equipped with first sensor, can be equipped with the second sensor of cooperation first sensor on the foot prop 3 of undercarriage, and first
Sensor and second sensor can be used for positioning foot prop 3, to determine the rotation position of foot prop 3, and can be in foot prop 3
It carries out after rotating accordingly, the home position of foot prop 3 can be returned according to corresponding location information.Certainly, in practical applications,
If the relative position of foot prop 3 does not influence the landing of unmanned plane, support construction intensity will not influence, foot prop 3 can not also return
To home position.
It is understood that when foot prop 3 includes two or more, if the position of two or more foot props 3 is relatively solid
It is fixed, then the quantity of second sensor can be identical as the quantity of foot prop 3, it might be less that the quantity of foot prop 3, for example, can be with
Second sensor only is set on a foot prop 3, is not specifically limited herein.
Wherein, first sensor and/or second sensor can include but is not limited to Hall magnet sensor, as long as can
Realize corresponding positioning function.
Optionally, in some embodiments, rack can also include shock mitigation system, the centerbody of shock mitigation system and unmanned plane
5 connections, and connect with the adapter of carrier 4 41.Shock mitigation system is configured for shaking carrier 4 with unmanned plane
Isolation, to reduce influence of the vibration of unmanned plane to carrier 4.
Optionally, in some embodiments, when the rotating mechanism of undercarriage includes support portion 8, and support portion 8 includes support
When column 83, shock mitigation system can be set within the scope of the height space that support column 83 is formed, and not have to change original unmanned plane
The structure of centerbody 5 is conducive to the simplification of preparation process and structure.Wherein, shock mitigation system can include but is not limited to cross
Vibration damper plate.
In the structure basis of above-described embodiment, referring to Fig. 6, the utility model embodiment additionally provide it is a kind of nobody
Machine, the unmanned plane may include that any of the above kind rack and the carrier 4 by rack carry, the lower section of centerbody can then be hung
It is loaded with carrier 4, carrier 4 can be used for supporting payload 6, which can be such as imaging device, to meet nobody
The demand of taking photo by plane of machine.
As can be seen from the above description, when rotating mechanism is applied to unmanned plane, foot prop 3 can be by driving portion 2 to rotating part 1
It drives and realizes and follow rotation relative to carrier 4.As a result, due to the separation design of foot prop 3 and carrier 4, carrier 4 itself
Mode not will receive the influence of foot prop 3, can be realized the synchronous rotary with carrier 4 yet, to solve in unmanned plane shooting process
Foot prop 3 is exposed the false pictaresque problem, will not due to foot prop 3 can not normal folding and unfolding the problem of and threaten the safety of unmanned plane.Into one
Step, above structure has stronger connective stability and structural strength, is advantageously implemented steady in unmanned plane shooting process
It is qualitative, improve the service performance of unmanned plane, additionally it is possible to which the impact force being subject to when unmanned plane being avoided to land is transferred directly to from foot prop 3
Carrier 4, improve carrier 4 using safe.
It is apparent to those skilled in the art that for convenience and simplicity of description, it is each in this specification
Embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, each
Same and similar part may refer to each other between embodiment.
In several embodiments provided by the utility model, it should be understood that above embodiments are only to illustrate this reality
With novel technical solution, rather than its limitations；Although the utility model is described in detail with reference to the foregoing embodiments,
Those skilled in the art should understand that：It can still repair technical solution documented by foregoing embodiments
Change or equivalent replacement of some of the technical features；And these are modified or replaceed, and do not make corresponding technical solution
Essence is detached from the spirit and scope of various embodiments of the utility model technical solution.
Claims (17)
1. a kind of rotating mechanism is applied to unmanned plane, the unmanned plane includes centerbody and the load below the centerbody
Body, foot prop, the carrier are used to support payload, which is characterized in that the rotating mechanism includes：
Rotating part and driving portion；
The rotating part is used to rotate relative to the centerbody for connecting with the foot prop；
The driving portion is used to drive the rotating part to rotate in carrier rotation.
2. rotating mechanism according to claim 1, which is characterized in that the carrier is holder；The payload be at
As device.
3. rotating mechanism according to claim 1, which is characterized in that the rotating part includes revolving part and frame unit, institute
Revolving part is stated to connect with the frame unit；
The revolving part is also used to connect with the driving portion；
The frame unit is also used to connect with the foot prop.
4. rotating mechanism according to claim 3, which is characterized in that the frame unit is set to the bottom of the revolving part；
The frame unit includes upper frame, lower frame and middle frame, and the upper frame and the lower frame are respectively provided with company
Connect the first mounting portion and the second mounting portion of the foot prop；
The center is set up between the upper frame and the lower frame.
5. rotating mechanism according to any one of claim 1 to 4, which is characterized in that the center of the rotating part is equipped with
Hatch frame, the hatch frame are used for the adapter through the carrier.
6. rotating mechanism according to any one of claim 1 to 4, which is characterized in that the driving portion include motor and
Actuator, the motor is for driving the actuator, and the actuator is for driving the rotating part.
7. rotating mechanism according to claim 6, which is characterized in that the driving portion further includes transmission belt, the driving
Part drives the rotating part by the transmission belt；Alternatively,
The actuator is engaged with the rotating part, and the actuator drives the rotating part by engagement.
8. rotating mechanism according to any one of claim 1 to 4, which is characterized in that the rotating mechanism further includes branch
Support part, the support portion are used to support the rotating part.
9. rotating mechanism according to claim 8, which is characterized in that the support portion include support shaft, lower axle support plate,
Support column and upper axis support plate, the lower axle support plate are set to the lower end of the support shaft, and the upper axis support plate is set to described
The upper end of support shaft, the support column are set in the upper axis support plate；
The rotating part is surrounded on the outside of the support shaft, and the rotating part is placed in the lower axle support plate.
10. rotating mechanism according to claim 9, which is characterized in that the support shaft is hollow shaft structure, described hollow
Axle construction is used for the adapter through the carrier.
11. rotating mechanism according to any one of claim 1 to 4, which is characterized in that the rotating mechanism further includes
One bearing, the first bearing are installed on the upper surface of the rotating part, and/or, the rotating mechanism further includes second bearing,
The second bearing is installed on the lower surface of the rotating part；Alternatively,
The upper surface of the rotating part or the contact surface being bonded with the upper surface are equipped with the first bearing structure being connected as one,
And/or the rotating part lower surface or the contact surface that is bonded with the lower surface be equipped with the second bearing knot being connected as one
Structure.
12. rotating mechanism according to claim 11, which is characterized in that the first bearing structure and/or second bearing
Structure is ball bearing structure.
13. a kind of undercarriage of unmanned plane, which is characterized in that including foot prop and as described in any one of claims 1 to 12
Rotating mechanism.
14. a kind of rack of unmanned plane, the rack includes the centerbody of the unmanned plane, and the rack is used for carry carrier,
The carrier is used to support payload, which is characterized in that the rack further includes unmanned plane as claimed in claim 13
Undercarriage.
15. rack according to claim 14, which is characterized in that the lower section of the centerbody is equipped with first sensor, institute
The foot prop for stating undercarriage is equipped with the second sensor for cooperating the first sensor, and the first sensor and described second pass
Sensor is for positioning the foot prop.
16. rack according to claim 14 or 15, which is characterized in that the rack further includes shock mitigation system, described to subtract
Shake system is connect with the adapter of the carrier, and the shock mitigation system is set to the branch of support portion in the rotating mechanism of the undercarriage
Within the scope of the height space that dagger is formed.
17. a kind of unmanned plane, which is characterized in that including the rack as described in any one of claim 14 to 16 and by described
The carrier of rack carry, the carrier are used to support payload.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820349590.2U CN208102312U (en) | 2018-03-14 | 2018-03-14 | The undercarriage and rack, unmanned plane of a kind of rotating mechanism, unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820349590.2U CN208102312U (en) | 2018-03-14 | 2018-03-14 | The undercarriage and rack, unmanned plane of a kind of rotating mechanism, unmanned plane |
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| Publication Number | Publication Date |
|---|---|
| CN208102312U true CN208102312U (en) | 2018-11-16 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019173990A1 (en) * | 2018-03-14 | 2019-09-19 | 深圳市大疆创新科技有限公司 | Mounting mechanism, landing gear, rack and unmanned aerial vehicle |
| CN110461709A (en) * | 2018-03-14 | 2019-11-15 | 深圳市大疆创新科技有限公司 | The undercarriage and rack, unmanned plane of a kind of rotating mechanism, unmanned plane |
-
2018
- 2018-03-14 CN CN201820349590.2U patent/CN208102312U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019173990A1 (en) * | 2018-03-14 | 2019-09-19 | 深圳市大疆创新科技有限公司 | Mounting mechanism, landing gear, rack and unmanned aerial vehicle |
| CN110461709A (en) * | 2018-03-14 | 2019-11-15 | 深圳市大疆创新科技有限公司 | The undercarriage and rack, unmanned plane of a kind of rotating mechanism, unmanned plane |
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