WO2019061401A1 - Ensemble châssis de véhicule aérien sans pilote et véhicule aérien sans pilote - Google Patents

Ensemble châssis de véhicule aérien sans pilote et véhicule aérien sans pilote Download PDF

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Publication number
WO2019061401A1
WO2019061401A1 PCT/CN2017/104769 CN2017104769W WO2019061401A1 WO 2019061401 A1 WO2019061401 A1 WO 2019061401A1 CN 2017104769 W CN2017104769 W CN 2017104769W WO 2019061401 A1 WO2019061401 A1 WO 2019061401A1
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WO
WIPO (PCT)
Prior art keywords
arm
locking
slider
link
locking portion
Prior art date
Application number
PCT/CN2017/104769
Other languages
English (en)
Chinese (zh)
Inventor
张松
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/104769 priority Critical patent/WO2019061401A1/fr
Priority to CN201780025233.9A priority patent/CN109070991B/zh
Publication of WO2019061401A1 publication Critical patent/WO2019061401A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters

Definitions

  • Embodiments of the present invention relate to the field of drones, and more particularly to a rack assembly and a drone of a drone.
  • Unmanned aerial vehicles are often used in aerial photography, remote air monitoring, monitoring, and detection.
  • Unmanned aerial vehicles generally consist of a central frame, an arm, a power component, a tripod, and several parts of the equipment to be mounted.
  • the equipment used for the work is generally arranged above or below the center frame, and the function of the stand is to support the entire aircraft to avoid contact with the ground when the aircraft or the working equipment is hung. Since the UAV of the fixed arm structure is large in size and inconvenient to carry, folding the arm is a more common method.
  • the UAV of the folding arm of the prior art can only lock a single arm once, and cannot lock the two arms at a time, resulting in low operational efficiency. .
  • the embodiment of the invention provides a rack assembly and a drone of a drone to solve the problem that the two arms cannot be locked at one time in the prior art, resulting in low operation efficiency.
  • An embodiment of the present invention provides a rack assembly for a drone, including a center frame, a first arm and a second arm rotatably coupled to the center frame, and for the first arm a locking mechanism that is locked in synchronization with the second arm;
  • the locking mechanism includes a synchronization device, a locking device, and a mating device;
  • the synchronization device is disposed between the first arm and the second arm to enable the first arm and the second arm to rotate synchronously;
  • the first end of the locking device is rotatably coupled to the first arm, and the locking device is provided with a locking portion;
  • the first end of the mating device is rotatably coupled to the second arm, and the first of the mating devices The two ends are rotatably coupled to the second end of the locking device, and the mating device is provided with a mating portion for engaging with the locking portion to lock the locking device relative to the mating device;
  • the locking portion moves toward the mating portion when the first arm rotates relative to the second arm toward a direction in which the angle increases, until the locking portion cooperates with the mating portion, The first arm and the second arm are in an unfolded state.
  • the rack assembly of the UAV provided by the embodiment of the present invention enables the first arm and the second arm to rotate synchronously through the synchronizing device disposed between the first arm and the second arm, and the first machine
  • the first end of the arm is rotatably connected to the second end of the locking device
  • the second end of the locking device is rotatably connected to the second end of the engaging device.
  • Another embodiment of the present invention provides a drone, including a rack assembly and a power unit disposed on the rack assembly, the power unit for providing flight power to the drone;
  • the rack assembly includes: a center frame, a first arm rotatably coupled to the center frame, a second arm, and a lock for synchronously locking the first arm and the second arm a mechanism;
  • the locking mechanism includes a synchronization device, a locking device, and a mating device;
  • the synchronization device is disposed between the first arm and the second arm to enable the first arm and the second arm to rotate synchronously;
  • the first end of the locking device is rotatably coupled to the first arm, and the locking device is provided with a locking portion;
  • the first end of the mating device is rotatably coupled to the second arm, the second end of the mating device is rotatably coupled to the second end of the locking device, and the mating device is configured to cooperate with the locking portion to lock a mating portion of the device and the mating device relatively locked;
  • the locking portion moves toward the mating portion when the first arm rotates relative to the second arm toward a direction in which the angle increases, until the locking portion cooperates with the mating portion, The first arm and the second arm are in an unfolded state.
  • the first arm and the second arm can be synchronously rotated by the synchronizing device disposed between the first arm and the second arm, and the first arm and the locking device are The first end is rotatably connected, the first end of the mating device is rotatably connected with the second arm, and the second end of the locking device is rotatably connected with the second end of the mating device, when the first arm and the second arm
  • the locking portion is separated from the engaging portion, and the first arm and the second arm are in a folded state.
  • the locking portion faces the engaging portion.
  • the first arm and the second arm are in an unfolded state until the locking portion cooperates with the engaging portion. At this time, the locking portion and the engaging portion are in a locked state, so the first arm and the second arm are also in the locked state. Thus, the locking of the two arms at a time is achieved, which improves the operating efficiency.
  • FIG. 1 is a schematic structural diagram of a rack assembly of a drone according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram 1 of a partial exploded structure of a rack assembly of a drone according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram 2 showing a partial explosion structure of a frame assembly of a drone according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of an explosion structure of a UAV frame assembly according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a drone according to an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be in the middle. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • FIG. 1 is a schematic structural view of a rack assembly of a drone according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a partial exploded structure of a rack assembly of a drone according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of an exploded structure of an unmanned aerial vehicle frame assembly according to an embodiment of the present invention.
  • the rack assembly of the drone provided by the embodiment includes a center frame. (not shown in Figures 1-4), the first arm 10, the second arm 20 rotatably coupled to the center frame, and a locking mechanism for simultaneously locking the first arm 10 and the second arm 20
  • the locking mechanism includes a synchronizing device 30, a locking device 40, and a mating device 50.
  • the first arm 10 and the second arm 20 can be rotatably coupled to the center frame via respective shafts, such as hinges.
  • the synchronization device 30 is disposed between the first arm 10 and the second arm 20 to enable the first arm 10 and the second arm 20 to rotate synchronously. That is, when the first arm 10 is driven to rotate, its rotational power can be transmitted to the second arm 20 through the synchronizing device 30, so that the second arm 20 can rotate synchronously with the first arm 10. It will be appreciated that when the first arm 10 is locked, the second arm 20 will also be unable to rotate due to the limitation of the synchronizing device 30, i.e., the first arm 10 and the second arm 20 can be locked in synchronization.
  • the first end of the locking device 40 is rotatably coupled to the first arm 10, and the locking device 40 is provided with a locking portion 41. Specifically, the first end of the locking device 40 can be hinged with the first arm 10 through the first shaft a.
  • the first end of the mating device 50 is rotatably coupled to the second arm 20, and the second end of the mating device 50 is rotatably coupled to the second end of the locking device 40.
  • the mating device 50 is configured to cooperate with the locking portion 41 to lock The fitting portion 51 of the device 40 and the mating device 50 are locked.
  • the first end of the mating device 50 can also be hinged with the second arm 20 through the second rotating shaft b. Similarly, the second end of the mating device 50 can be rotated through the third rotating shaft c and the second end of the locking device 40. connection.
  • the first arm 10 and the second arm 20 can be relatively rotated to a minimum preset angle.
  • the first arm 10 and the second arm 20 are rotated to be parallel to each other, that is, the angle is zero.
  • the first arm 10 and the second arm 20 may be in a folded state.
  • the folded state here is that the first arm 10 and the second arm 20 are relatively folded, and it should not be understood that the first arm 10 and the second arm 20 are respectively in a folded state.
  • the first arm 10 and the second arm 20 can be relatively rotated to a maximum preset angle, for example, the first arm 10 and the second arm 20 are rotated at an angle of 180 degrees.
  • the first arm 10 is opposite to the second arm 20 When rotating to the maximum preset angle, the first arm 10 and the second arm 20 are in an unfolded state.
  • the unfolded state here is that the first arm 10 and the second arm 20 are separated from each other in an unfolded state, and it should not be understood that the first arm 10 and the second arm 20 are respectively in an unfolded state.
  • the angle between the first arm 10 and the second arm 20 can also be greater than zero, in the first arm.
  • the angle between the first arm 10 and the second arm 20 may also be less than 180 degrees.
  • it can be determined according to the number of the arm and the arrangement position, and the preset deployment form.
  • the embodiment is not limited.
  • the locking portion 41 on the locking device 40 can be fixed to other portions of the locking device 40 in a detachable or non-removable manner.
  • the locking portion 41 can be integrally formed with other portions of the locking device 40, Or welded molding.
  • the mating portion 51 of the mating device 50 can be fixed to other portions of the mating device 50 in a detachable or non-removable manner.
  • the mating portion 51 can be integrally formed with other portions of the mating device 50. Or welded molding.
  • the engaging portion 51 can also be movably disposed on other portions of the mating device 50. For example, after the locking portion 41 is engaged with the engaging portion 51, when the engaging portion 51 is operated, the engaging portion 51 can be disengaged from the locking portion 41 to achieve the first The unlocking of the arm 10 and the second arm 20.
  • the synchronizing device 50 may include a first gear 31 fixed to the first arm 10, and a second gear 32 fixed to the second arm 20, the first gear 31 meshing with the second gear 32.
  • the teeth of the first gear 31 and the second gear 32 may be arranged in the entire circumferential direction, or may also be arranged on the arc segment in the circumferential direction, in particular according to the requirements of the first arm 10 and the second arm 20 The expansion angle is determined.
  • a link transmission may also be adopted. limited.
  • the rack assembly of the drone enables the first arm and the second arm to rotate synchronously through the synchronizing device disposed between the first arm and the second arm, and the first arm is
  • the first end of the locking device is rotatably coupled to the second end of the locking device
  • the second end of the locking device is rotatably coupled to the second end of the mating device.
  • This embodiment describes the specific locking manner of the locking portion 41 on the locking device 40 and the fitting portion 51 on the mating device 50 on the basis of the first embodiment.
  • the locking manner between the locking portion 41 and the engaging portion 51 is engaged.
  • the locking portion 41 and the engaging portion 51 are locked by being engaged, and the stability after the snapping is good.
  • the mating device 50 may include a housing 53.
  • the mating portion 51 may be disposed inside the housing 53.
  • the side of the housing 53 facing the first arm 10 and the second arm 20 may be An opening 52 is provided, and the locking portion 41 can be locked to the fitting portion 51 through the opening 52.
  • the card is attached to the mating portion 51.
  • the entire housing 53 may include a detachable first partial housing 53a and a second partial housing 53b.
  • the second partial housing 53b may be located on one side of the first arm 10 and the second arm 20, corresponding
  • the opening 52 may be located on the second partial casing 53b, and the fitting portion 51 may be disposed between the first partial casing 53a and the second partial casing 53b.
  • the entire casing 53 is composed of two detachable casings, which facilitates installation, maintenance, or replacement of components such as the fitting portion 51 in the casing 53.
  • the housing 53 may not only be composed of two split shells, for example, it may be formed by two or more split shells, for example, four or six equally divided shells may be detachable from each other.
  • the housing 53 is connected to the ground, which is not limited in this embodiment.
  • first split case 53a and the second split case 53b can also be connected in a non-detachable manner, such as bonding, welding, or the like.
  • the locking portion 41 in this embodiment may be a hook
  • the engaging portion 51 may be a card hole or a card slot.
  • the locking device 40 moves toward the mating device 50 until the hook-like locking portion 41 snaps into the card hole or the card slot.
  • the fitting portion 51 the relative locking of the locking device 40 and the engaging device 50 is achieved.
  • the first arm 10 and the second arm 20 are in an unfolded state.
  • the engaging portion 51 may be disposed at a detachable locking portion 41.
  • the slider 54 can be slid to the engagement portion 51 to be disengaged from the lock portion 41 by the external force applied by the operator.
  • the slider 54 may be disposed in the internal cavity of the mating device 50, and specifically, for example, may be disposed in an internal cavity surrounded by the first split case 53a and the second split case 53b.
  • a slide (not shown) for guiding the slider 54 to slide in a predetermined direction may also be provided inside the mating device 50.
  • the mating device 50 may further include a driving member 55 for receiving an external force applied by the operator and transmitting the external force to the slider 54 to drive the slider 54 to slide in a direction away from the locking portion 41.
  • the driving member 55 can abut against the slider 54 to push the slider 54 to slide, so that the position of the engaging portion 51 on the slider 54 can be moved, and when the position of the engaging portion 51 is moved, The fitting portion 51 is separated from the locking portion 41. If the driving member 55 is not operated, the slider 54 can be maintained at the current position, and the engaging portion 51 and the locking portion 41 are always kept in a locked state, and thus the first arm 10 and the second arm 20 are always kept locked. .
  • the direction of the external force applied by the operator may be perpendicular to the sliding direction of the slider 54.
  • the driving member 55 may include a pressing portion 551 for pressing by an operator, and an abutting portion 552 for abutting the slider 54, the abutting portion 552 and the slider 54
  • the slanting surface contact is possible, and when the operator presses the driving member 55, the urging portion 552 can slide the slider 54 in the direction away from the locking portion 41 by the inclined surface.
  • the direction of the external force applied by the operator may coincide with the sliding direction of the slider 54.
  • the operator presses the driving member 55, and the contact surface between the abutting portion 552 and the slider 54 on the driving member 55 is perpendicular to the biasing direction, so that the direct slider 54 can be slid in the direction of the applied external force.
  • an auxiliary elastic member 56 may be disposed between the driving member 55 and the housing 53.
  • the auxiliary elastic member 56 in this embodiment may be an axially extending spring. During an external force applied by the operator to the driving member 55, The auxiliary elastic member 56 is gradually compressed, and during the evacuation of the external force of the driving member 55, the auxiliary elastic member 56 is restored to the drive member 55 to return to the initial state.
  • one end of the auxiliary elastic member 56 may be coupled to the driving member 55, and the other end of the auxiliary elastic member 56 may be in abutting contact with the housing 53.
  • one end of the auxiliary elastic member 56 may be in contact with the driving member 55 to assist the elasticity.
  • the other end of the member 56 is coupled to the housing 53.
  • one end of the auxiliary elastic member 56 is in abutting contact with the driving member 55, and the other end of the auxiliary elastic member 56 is coupled to the housing 53.
  • a stopper (not shown) for preventing the driving member 55 from coming off the housing 53 may be formed on the housing 53, of course, when the auxiliary elastic member 56 is In the case where the both ends are connected to the driving member 55 and the housing 53, respectively, the limiting portion on the housing 53 can be omitted.
  • the auxiliary elastic member 56 By providing the auxiliary elastic member 56 between the driving member 55 and the slider 54, when the operator does not apply a pressing force to the driving member 55, the auxiliary elastic member 56 can be in an initial state, at this time, the pressing on the driving member 55
  • the portion 552 can be in static contact with the slider 54, or a certain gap with the slider 54, and when the operator applies a pressing force to the driving member 55, the auxiliary elastic member 56 can be gradually compressed, and the auxiliary elastic member 56 is continuously pushed and slipped.
  • Block 54 causes the mating portion 51 on the slider 54 to disengage from the locking portion 41 on the locking device 40. If the external force is removed, the auxiliary elastic member 56 can also drive the driving member 55 back to the initial state.
  • the auxiliary elastic member 56 can help the operator to apply the force to the slider 54 more uniformly and gently, and the auxiliary elastic member 56 can help the driving member 55 to automatically return to the initial state, so that the operator can repeatedly unlock and lock. Improve operational efficiency.
  • a return elastic member 57 for abutting the slider 54 may be provided in the mating device 50, and the contraction direction of the return elastic member 57 coincides with the sliding direction of the slider 54.
  • the return elastic member 57 may be an axial telescopic spring, or may be a rubber member as long as the effective resilience can be improved.
  • the return elastic member 57 is an axial telescopic spring, and the elastic recovery effect of the axial telescopic spring is more agile than rubber, and is less prone to wear and has a longer service life.
  • the return elastic member 57 is in the natural state, the abutting slider 54 causes the engaging portion 51 to be in a preset locking position for locking with the locking portion 41; when the slider 54 is slid under the external force of the operator, the elastic member is reset. 57 is deformed; when the external force received by the slider 54 disappears, the return elastic member 57 returns to the deformation driving slider 54 to return to the preset locking position.
  • the preset locking position is that the locking portion 41 of the locking device 50 is located at a position for the locking portion 41 and the engaging portion 51 to cooperate with each other, for example, at a position where the hook is caught in the card hole or the card slot.
  • the return elastic member 57 During the sliding of the slider 54 under the driving of the external force, if the slider 54 slides in the direction of the return elastic member 57, the return elastic member 57 generates compression deformation during the sliding of the slider 54; if the slider 54 faces away from the reset elastic member When the 57 slides in the direction, the return elastic member 57 is elongated and deformed during the sliding of the slider 54. When the external force of the slider 54 disappears, the return elastic member 57 can resume the deformation, so that the slider 54 returns to the preset locking position without manually moving the slider 54 to the preset locking position, thereby adopting the reset elasticity
  • the member 57 can facilitate the next locking operation and, similarly, has an effect of improving efficiency.
  • the return elastic member 57 needs to undergo elongation deformation during the sliding process of the slider 54, and the two ends of the return elastic member 57 should be respectively associated with the housing 53 and The sliders 54 are connected. If the slider 54 slides in the direction of the return elastic member 57, Then, the return elastic member 57 is compressed and deformed during the sliding of the slider 54, and the return elastic member 57 can be connected to the housing 53 at one end and the other end to the slider 54. Alternatively, the return elastic member 57 may be connected to the slider at one end and the other end to the housing 53.
  • the operator only needs to press the pressing portion 551 to realize the locking between the unlocking device 40 and the engaging device 50, that is, the locking of the first arm 10 and the second arm 20.
  • the above-mentioned drive member 55 and auxiliary elastic member 56 may each include two, and may be symmetrically disposed on both sides of the housing 53, whereby the operator When the driving member 55 is pressed, the force can be applied to the middle for easy operation. If the locking device 40 and the matching device 50 are small enough, the one-hand operation of the driving member 55 can be realized, and the one-hand unlocking can be realized, thereby further improving the operation efficiency. .
  • the locking portion 41 and the engaging portion 51 may be locked by magnetic attraction.
  • the locking portion 41 and the fitting portion 51 each include a magnet, and the magnet of the locking portion 41 is opposite in polarity to the magnet of the fitting portion 1.
  • one of the locking portion 41 and the fitting portion 51 includes a magnet, and the other of the locking portion 41 and the fitting portion 51 includes a metal that can be attracted by the magnet.
  • the metal that can be attracted by the magnet may include iron, nickel, cobalt, and some alloys thereof.
  • the locking portion 41 can be quickly attracted by the engaging portion 51, thereby realizing the locking device 40 and the engaging device 51. Locked, that is, the first arm 10 and the second arm 20 are locked. When it is necessary to release the lock, it is only necessary to respectively pull the locking device 40 and the fitting device 50 in a direction away from each other, so that the locking portion 41 and the fitting portion 51 are moved to a position where they are not magnetically attracted to each other.
  • the locking device 40 may include a first link 40a and a second link 40b, and the first link 40a and the first machine
  • the arm 10 is rotatably connected, the second link 40b is rotatably coupled to the mating device 50, and the first link 40a and the second link 40b are inserted into each other and fixed together by a connecting member 40c.
  • the first link 40a may be inserted outside the second link 40b, or the second link 40b may be inserted outside the first link 40a.
  • the connecting member 40c may be a bolt that detachably connects the first link 40a with the second link 40b.
  • the locking portion 41 can be formed on the first link 40a and the first arm 10 can be Turn one end of the connection.
  • the second link 40b may include two oppositely disposed arms (a first arm 401b and a second arm 402b), and two oppositely disposed arms (a first arm 401b, a second)
  • An accommodation space for the insertion of the first link 40a may be formed between the arms 402b), and the two arm first arms 401b and the second arms 402b) may be made of an elastic material. Since the two arms of the second link 40b are made of an elastic material, since the elastic material can be elastically deformed within a certain range, the locking portion 41 can be moved to a position matching the fitting portion 51 within a certain error range. Therefore, it is possible to prevent the locking portion 41 from being locked into place by the fitting portion 51 due to the machining error, and it is possible to improve the reliability of the entire apparatus.
  • the elastic size of the second link 40b can be adjusted, and thus it is possible to ensure that the locking portion 41 is moved to a position matching the engaging portion 51 within a larger error range. .
  • an end of the second link 40b away from the mating device 50 and the first link 40a may be in inclined contact (the first slope M and the second slope N as shown in FIG. 3).
  • the inclined surface contact between the first link 40a and the second link 40b it is more advantageous to generate a crush deformation between the first link 40a and the second link 40b, so that the first link 40a and the second link
  • the total length of the rod 40b is changed to adjust the locking position of the locking portion 41, effectively eliminating the phenomenon that the locking portion 41 cannot be accurately engaged with the fitting portion 51 due to machining errors.
  • the first connecting rod 40a may be provided with a first connecting hole 401a, and the two connecting arms of the second connecting rod 40b are respectively provided with a second connecting hole 403b, and the connecting member 40c passes through the two arms (the first arm 401b)
  • the second connecting hole 403b on the second arm 402b) and the first connecting hole 401a on the first link 40a connect the first link 40a and the second link 40b.
  • the first connecting hole 401a on the first link 40a is an elongated hole.
  • the fixed position of the connecting member 40c on the first link 40a can be adjusted, thereby adjusting the overall length of the locking device 40 formed by the first link 40a and the second link 40b to a greater extent, to a greater extent. Increased flexibility of the device.
  • the embodiment is further defined on the basis of any of the above embodiments.
  • the end of the locking device 40 for rotatably connecting with the mating device 50 may be provided with a resilient member 60 for use as a spring member 60.
  • the locking device 40 is driven away from the fit. The direction of the device 50 is ejected. In this way, the first arm 10 and the second arm 20 can be driven back to the folded state by the fast rebound locking device 40, thereby further improving the degree of automation and facilitating the operation of the operator.
  • the resilient member 60 may be an axial spring, or the resilient member 60 may be a torsion spring.
  • the resilient member 60 is a torsion spring.
  • the resilient member 60 is a torsion spring
  • one end of the resilient member 60 is coupled to the mating device, and the other end of the resilient member 60 is coupled to the locking device 40.
  • the axial direction of the resilient member 60 coincides with the direction of the central axis of rotation of the locking device 40.
  • the resilient member 60 When the resilient member 60 is an axial spring, one end of the resilient member 60 can be coupled to the mating device 50, and the other end of the resilient member 60 is coupled to the locking device 40.
  • the axial direction of the resilient member 60 is at least with the locking device. There is an angle between the central axes of rotation of 40. In this way, the resilient member 60 is caused to drive the locking device 40 to rotate.
  • FIG. 5 is a schematic structural diagram of a drone according to an embodiment of the present invention.
  • the drone of the present embodiment includes a frame assembly and a power unit (not shown) provided on the frame assembly, and the power unit is configured to provide flight power to the drone.
  • the frame assembly comprises: a center frame 100, a first arm 10 and a second arm 20 rotatably connected to the center frame 100, and a lock for synchronously locking the first arm 10 and the second arm 20 Mechanism;
  • the locking mechanism includes a synchronization device 30, a locking device 40, and a mating device 50.
  • the first arm 10 and the second arm 20 can be rotatably coupled to the center frame via respective shafts, such as hinges.
  • the synchronization device 30 is disposed between the first arm 10 and the second arm 20 to enable the first arm 10 and the second arm 20 to rotate synchronously. That is, when the first arm 10 is driven to rotate, its rotational power can be transmitted to the second arm 20 through the synchronizing device 30, so that the second arm 20 can rotate synchronously with the first arm 10. It will be appreciated that when the first arm 10 is locked, the second arm 20 will also be unable to rotate due to the limitation of the synchronizing device 30, i.e., the first arm 10 and the second arm 20 can be locked in synchronization.
  • the first end of the locking device 40 is rotatably coupled to the first arm 10, and the locking device 40 is provided with a locking portion 41. Specifically, the first end of the locking device 40 can be hinged with the first arm 10 through the first rotating shaft a Pick up.
  • the first end of the mating device 50 is rotatably coupled to the second arm 20, and the second end of the mating device 50 is rotatably coupled to the second end of the locking device 40.
  • the mating device 50 is configured to cooperate with the locking portion 41 to lock The fitting portion 51 of the device 40 and the mating device 50 are locked.
  • the first end of the mating device 50 can also be hinged with the second arm 20 through the second rotating shaft b. Similarly, the second end of the mating device 50 can be rotated through the third rotating shaft b and the second end of the locking device 40. connection.
  • the first arm 10 and the second arm 20 can be relatively rotated to a minimum preset angle.
  • the first arm 10 and the second arm 20 are rotated to be parallel to each other, that is, the angle is zero.
  • the first arm 10 and the second arm 20 may be in a folded state.
  • the folded state here is that the first arm 10 and the second arm 20 are relatively folded, and it should not be understood that the first arm 10 and the second arm 20 are respectively in a folded state.
  • the first arm 10 and the second arm 20 can be relatively rotated to a maximum preset angle, for example, the first arm 10 and the second arm 20 are rotated at an angle of 180 degrees.
  • the first arm 10 and the second arm 20 are in an unfolded state.
  • the unfolded state here is that the first arm 10 and the second arm 20 are separated from each other in an unfolded state, and it should not be understood that the first arm 10 and the second arm 20 are respectively in an unfolded state.
  • the angle between the first arm 10 and the second arm 20 can also be greater than zero, in the first arm.
  • the angle between the first arm 10 and the second arm 20 may also be less than 180 degrees.
  • it can be determined according to the number of the arm and the arrangement position, and the preset deployment form.
  • the embodiment is not limited.
  • the locking portion 41 on the locking device 40 can be fixed to other portions of the locking device 40 in a detachable or non-removable manner.
  • the locking portion 41 can be integrally formed with other portions of the locking device 40, Or welded molding.
  • the mating portion 51 on the mating device 50 can be fixed to the mating device in a detachable or non-detachable manner. In other parts of the 50, in an unremovable manner, specifically, the fitting portion 51 may be integrally formed with other portions of the mating device 50, or welded.
  • the engaging portion 51 can also be movably disposed on other portions of the mating device 50. For example, after the locking portion 41 is engaged with the engaging portion 51, when the engaging portion 51 is operated, the engaging portion 51 can be disengaged from the locking portion 41 to achieve the first The unlocking of the arm 10 and the second arm 20.
  • the synchronizing device 50 may include a first gear 31 fixed to the first arm 10, and a second gear 32 fixed to the second arm 20, the first gear 31 meshing with the second gear 32.
  • the teeth of the first gear 31 and the second gear 32 may be arranged in the entire circumferential direction, or may also be arranged on the arc segment in the circumferential direction, in particular according to the requirements of the first arm 10 and the second arm 20 The expansion angle is determined.
  • a link transmission may also be adopted. limited.
  • the first arm and the second arm can be synchronously rotated by the synchronizing device disposed between the first arm and the second arm, and the first arm and the locking device are The first end is rotatably connected, the first end of the mating device is rotatably connected with the second arm, and the second end of the locking device is rotatably connected with the second end of the mating device, when the first arm and the second arm
  • the locking portion is separated from the engaging portion, and the first arm and the second arm are in a folded state.
  • the locking portion faces the engaging portion.
  • the first arm and the second arm are in an unfolded state until the locking portion cooperates with the engaging portion. At this time, the locking portion and the engaging portion are in a locked state, so the first arm and the second arm are also in the locked state. Thus, the locking of the two arms at a time is achieved, which improves the operating efficiency.
  • This embodiment describes the specific locking manner of the locking portion 41 on the locking device 40 and the fitting portion 51 on the mating device 50 on the basis of the fifth embodiment.
  • the locking manner between the locking portion 41 and the engaging portion 51 is engaged.
  • the locking portion 41 and the engaging portion 51 are locked by being engaged, and the stability after the snapping is good.
  • the mating device 50 may include a housing 53.
  • the mating portion 51 may be disposed inside the housing 53.
  • the side of the housing 53 facing the first arm 10 and the second arm 20 may be An opening 52 is provided, and the locking portion 41 can be locked to the fitting portion 51 through the opening 52.
  • the card is attached to the mating portion 51.
  • the entire housing 53 may include a detachable first partial housing 53a and a second partial housing 53b.
  • the second partial housing 53b may be located on one side of the first arm 10 and the second arm 20, corresponding
  • the opening 52 may be located on the second partial casing 53b, and the fitting portion 51 may be disposed between the first partial casing 53a and the second partial casing 53b.
  • the entire casing 53 is composed of two detachable casings, which facilitates installation, maintenance, or replacement of components such as the fitting portion 51 in the casing 53.
  • the housing 53 may not only be composed of two split shells, for example, it may be formed by two or more split shells, for example, four or six equally divided shells may be detachable from each other.
  • the housing 53 is connected to the ground, which is not limited in this embodiment.
  • first split case 53a and the second split case 53b can also be connected in a non-detachable manner, such as bonding, welding, or the like.
  • the locking portion 41 in this embodiment may be a hook
  • the engaging portion 51 may be a card hole or a card slot.
  • the locking device 40 moves toward the mating device 50 until the hook-like locking portion 41 snaps into the card hole or the card slot.
  • the fitting portion 51 the relative locking of the locking device 40 and the engaging device 50 is achieved.
  • the first arm 10 and the second arm 20 are in an unfolded state.
  • the engaging portion 51 may be disposed on a slider 54 that is movable in a direction away from the locking portion 41, and the slider 54 is slidable to the engaging portion 51 by an external force applied by an operator.
  • the lock portion 41 is detached.
  • the slider 54 may be disposed in the internal cavity of the mating device 50, and specifically, for example, may be disposed in an internal cavity surrounded by the first split case 53a and the second split case 53b.
  • a slide (not shown) for guiding the slider 54 to slide in a predetermined direction may also be provided inside the mating device 50.
  • the mating device 50 may further include a driving member 55 for receiving an external force applied by the operator and transmitting the external force to the slider 54 to drive the slider 54 to slide in a direction away from the locking portion 41.
  • the driving member 55 can abut against the slider 54 to push the slider 54 to slide, so that the position of the engaging portion 51 on the slider 54 can be moved, and when the position of the engaging portion 51 is moved, The fitting portion 51 is separated from the locking portion 41. If the driving member 55 is not operated, the slider 54 can be maintained at the current position, and the engaging portion 51 and the locking portion 41 are always kept in a locked state, and thus the first arm 10 and the second arm 20 are always kept locked. .
  • the direction of the external force applied by the operator may be perpendicular to the sliding direction of the slider 54.
  • the driving member 55 may include a pressing portion 551 for pressing by an operator, and an abutting portion 552 for abutting the slider 54, the abutting portion 552 and the slider 54
  • the slanting surface contact is possible, and when the operator presses the driving member 55, the urging portion 552 can slide the slider 54 in the direction away from the locking portion 41 by the inclined surface.
  • the direction of the external force applied by the operator may coincide with the sliding direction of the slider 54.
  • the operator presses the driving member 55, and the contact surface between the abutting portion 552 and the slider 54 on the driving member 55 is perpendicular to the biasing direction, so that the direct slider 54 can be slid in the direction of the applied external force.
  • an auxiliary elastic member 56 may be disposed between the driving member 55 and the housing 53.
  • the auxiliary elastic member 56 in this embodiment may be an axially extending spring. During an external force applied by the operator to the driving member 55, The auxiliary elastic member 56 is gradually compressed, and during the evacuation of the external force of the driving member 55, the auxiliary elastic member 56 is restored to the drive member 55 to return to the initial state.
  • one end of the auxiliary elastic member 56 may be coupled to the driving member 55, and the other end of the auxiliary elastic member 56 may be in abutting contact with the housing 53.
  • one end of the auxiliary elastic member 56 may be in contact with the driving member 55 to assist the elasticity.
  • the other end of the member 56 is coupled to the housing 53.
  • one end of the auxiliary elastic member 56 is in abutting contact with the driving member 55, and the other end of the auxiliary elastic member 56 is coupled to the housing 53.
  • a stopper (not shown) for preventing the driving member 55 from coming off the housing 53 may be formed on the housing 53, of course, when the both ends of the auxiliary elastic member 56 are respectively coupled to the driving member 55 and the housing 53 In the case of connection, the limit portion on the casing 53 can be omitted.
  • the auxiliary elastic member 56 By providing the auxiliary elastic member 56 between the driving member 55 and the slider 54, when the operator does not apply a pressing force to the driving member 55, the auxiliary elastic member 56 can be in an initial state, at this time, the pressing on the driving member 55
  • the portion 552 can be in static contact with the slider 54, or a certain gap with the slider 54, and when the operator applies a pressing force to the driving member 55, the auxiliary elastic member 56 can be gradually compressed, and the auxiliary elastic member 56 is continuously pushed and slipped.
  • Block 54 causes the mating portion 51 on the slider 54 to disengage from the locking portion 41 on the locking device 40. If the external force is removed, the auxiliary elastic member 56 can also drive the driving member 55 back to the initial state.
  • the auxiliary elastic member 56 can help the operator to apply the force to the slider 54 more uniformly and gently, and the auxiliary elastic member 56 can help the driving member 55 to automatically return to the initial state, so that the operator can repeatedly unlock and lock. Improve operational efficiency.
  • a return elastic member 57 for abutting the slider 54 may be provided in the mating device 50, and the contraction direction of the return elastic member 57 coincides with the sliding direction of the slider 54.
  • the reset elastic member The 57 may be an axially extending spring, or may be a rubber member as long as the effective resilience can be improved.
  • the return elastic member 57 is an axial telescopic spring, and the elastic recovery effect of the axial telescopic spring is more agile than rubber, and is less prone to wear and has a longer service life.
  • the return elastic member 57 is in the natural state, the abutting slider 54 causes the engaging portion 51 to be in a preset locking position for locking with the locking portion 41; when the slider 54 is slid under the external force of the operator, the elastic member is reset. 57 is deformed; when the external force received by the slider 54 disappears, the return elastic member 57 returns to the deformation driving slider 54 to return to the preset locking position.
  • the preset locking position is that the locking portion 41 of the locking device 50 is located at a position for the locking portion 41 and the engaging portion 51 to cooperate with each other, for example, at a position where the hook is caught in the card hole or the card slot.
  • the return elastic member 57 During the sliding of the slider 54 under the driving of the external force, if the slider 54 slides in the direction of the return elastic member 57, the return elastic member 57 generates compression deformation during the sliding of the slider 54; if the slider 54 faces away from the reset elastic member When the 57 slides in the direction, the return elastic member 57 is elongated and deformed during the sliding of the slider 54. When the external force of the slider 54 disappears, the return elastic member 57 can resume the deformation, so that the slider 54 returns to the preset locking position without manually moving the slider 54 to the preset locking position, thereby adopting the reset elasticity
  • the member 57 can facilitate the next locking operation and, similarly, has an effect of improving efficiency.
  • the return elastic member 57 needs to undergo elongation deformation during the sliding process of the slider 54, and the two ends of the return elastic member 57 should be respectively associated with the housing 53 and The sliders 54 are connected. If the slider 54 slides in the direction of the return elastic member 57, the return elastic member 57 is compressed and deformed during the sliding of the slider 54, and the return elastic member 57 can be connected to the housing 53 at one end and the slider at the other end. 54 to the top. Alternatively, the return elastic member 57 may be connected to the slider at one end and the other end to the housing 53.
  • the operator only needs to press the pressing portion 551 to realize the locking between the unlocking device 40 and the engaging device 50, that is, the locking of the first arm 10 and the second arm 20.
  • the above-mentioned drive member 55 and auxiliary elastic member 56 may each include two, and may be symmetrically disposed on both sides of the housing 53, whereby the operator When the driving member 55 is pressed, the force can be applied to the middle for easy operation. If the locking device 40 and the matching device 50 are small enough, the one-hand operation of the driving member 55 can be realized, and the one-hand unlocking can be realized, thereby further improving the operation efficiency. .
  • the locking portion 41 and the engaging portion 51 may be locked by magnetic attraction.
  • the locking portion 41 Both the engaging portion 51 and the engaging portion 51 include a magnet, and the magnet of the locking portion 41 and the magnet of the engaging portion 1 have opposite polarities.
  • one of the locking portion 41 and the fitting portion 51 includes a magnet, and the other of the locking portion 41 and the fitting portion 51 includes a metal that can be attracted by the magnet.
  • the metal that can be attracted by the magnet may include iron, nickel, cobalt, and some alloys thereof.
  • the locking portion 41 can be quickly attracted by the engaging portion 51, thereby realizing the locking device 40 and the engaging device 51. Locked, that is, the first arm 10 and the second arm 20 are locked. When it is necessary to release the lock, it is only necessary to respectively pull the locking device 40 and the fitting device 50 in a direction away from each other, so that the locking portion 41 and the fitting portion 51 are moved to a position where they are not magnetically attracted to each other.
  • the locking device 40 may include a first link 40a and a second link 40b, and the first link 40a and the first machine
  • the arm 10 is rotatably connected, the second link 40b is rotatably coupled to the mating device 50, and the first link 40a and the second link 40b are inserted into each other and fixed together by a connecting member 40c.
  • the first link 40a may be inserted outside the second link 40b, or the second link 40b may be inserted outside the first link 40a.
  • the connecting member 40c may be a bolt that detachably connects the first link 40a with the second link 40b.
  • the locking portion 41 may be formed at one end of the first link 40a that is rotatably coupled to the first arm 10.
  • the second link 40b may include two oppositely disposed arms (a first arm 401b and a second arm 402b), and two oppositely disposed arms (a first arm 401b, a second)
  • An accommodation space for the insertion of the first link 40a may be formed between the arms 402b), and the two arm first arms 401b and the second arms 402b) may be made of an elastic material. Since the two arms of the second link 40b are made of an elastic material, since the elastic material can be elastically deformed within a certain range, the locking portion 41 can be moved to a position matching the fitting portion 51 within a certain error range. Therefore, it is possible to prevent the locking portion 41 from being locked into place by the fitting portion 51 due to the machining error, and it is possible to improve the reliability of the entire apparatus.
  • the elastic size of the second link 40b can be adjusted, and thus it is possible to ensure that the locking portion 41 is moved to a position matching the engaging portion 51 within a larger error range. .
  • an end of the second link 40b away from the mating device 50 and the first link 40a may be in inclined contact (the first slope M and the second slope N as shown in FIG. 3).
  • the inclined surface contact between the first link 40a and the second link 40b it is more advantageous to generate a crush deformation between the first link 40a and the second link 40b, so that the first link 40a and the second link
  • the total length of the rod 40b is changed to adjust the locking position of the locking portion 41, effectively eliminating the phenomenon that the locking portion 41 cannot be accurately engaged with the fitting portion 51 due to machining errors.
  • the first connecting rod 40a may be provided with a first connecting hole 401a, and the two connecting arms of the second connecting rod 40b are respectively provided with a second connecting hole 403b, and the connecting member 40c passes through the two arms (the first arm 401b)
  • the second connecting hole 403b on the second arm 402b) and the first connecting hole 401a on the first link 40a connect the first link 40a and the second link 40b.
  • the first connecting hole 401a on the first link 40a is an elongated hole.
  • the fixed position of the connecting member 40c on the first link 40a can be adjusted, thereby adjusting the overall length of the locking device 40 formed by the first link 40a and the second link 40b to a greater extent, to a greater extent. Increased flexibility of the device.
  • the embodiment is further defined on the basis of any of the above embodiments.
  • the end of the locking device 40 for rotatably connecting with the mating device 50 may be provided with a resilient member 60 for use as a spring member 60.
  • the drive locking device 40 is ejected in a direction away from the mating device 50. In this way, the first arm 10 and the second arm 20 can be driven back to the folded state by the fast rebound locking device 40, thereby further improving the degree of automation and facilitating the operation of the operator.
  • the resilient member 60 may be an axial spring, or the resilient member 60 may be a torsion spring.
  • the resilient member 60 is a torsion spring.
  • the resilient member 60 is a torsion spring
  • one end of the resilient member 60 is coupled to the mating device, and the other end of the resilient member 60 is coupled to the locking device 40.
  • the axial direction of the resilient member 60 coincides with the direction of the central axis of rotation of the locking device 40.
  • the resilient member 60 When the resilient member 60 is an axial spring, one end of the resilient member 60 can be coupled to the mating device 50, and the other end of the resilient member 60 is coupled to the locking device 40.
  • the axial direction of the resilient member 60 is at least locked with the locking device. There is an angle between the central axes of rotation of the set 40. In this way, the resilient member 60 is caused to drive the locking device 40 to rotate.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” and “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, for example, two, three, etc., unless specifically defined otherwise.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. Or integrated; can be directly connected, or indirectly connected through an intermediate medium, which can be the internal communication of two elements or the interaction of two elements.
  • an intermediate medium which can be the internal communication of two elements or the interaction of two elements.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Lock And Its Accessories (AREA)
  • Toys (AREA)

Abstract

L'invention concerne un ensemble châssis de véhicule aérien sans pilote, et un véhicule aérien sans pilote. L'ensemble châssis comprend un châssis central, un premier bras (10), un second bras (20), un dispositif de synchronisation (30) permettant au premier bras (10) et au second bras (20) d'être aptes à tourner de manière synchrone; une première extrémité d'un dispositif de verrouillage (40) étant reliée de façon à pouvoir tourner au premier bras (10), et le dispositif de verrouillage (40) ayant une partie de verrouillage (41); et une première extrémité d'un dispositif de coopération (50) étant reliée de façon à pouvoir tourner au second bras (20), une seconde extrémité du dispositif de coopération (50) étant reliée de façon à pouvoir tourner à une seconde extrémité du dispositif de verrouillage (40), et le dispositif de coopération (50) ayant une partie de coopération (51). Quand le premier bras (10) tourne vers le second bras (20) dans une direction dans laquelle l'angle inclus entre ceux-ci diminue, la partie de verrouillage (41) est séparée de la partie de coopération (51), de telle sorte que le premier bras (10) et le second bras (20) sont pliés; et, quand le premier bras (10) tourne par rapport au second bras (20) dans une direction dans laquelle l'angle inclus entre ceux-ci augmente, la partie de verrouillage (41) se déplace vers la partie de coopération (51) jusqu'à ce qu'elles coopèrent toutes les deux l'une avec l'autre, de telle sorte que le premier bras (10) et le second bras (20) sont dépliés.
PCT/CN2017/104769 2017-09-30 2017-09-30 Ensemble châssis de véhicule aérien sans pilote et véhicule aérien sans pilote WO2019061401A1 (fr)

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PCT/CN2017/104769 WO2019061401A1 (fr) 2017-09-30 2017-09-30 Ensemble châssis de véhicule aérien sans pilote et véhicule aérien sans pilote
CN201780025233.9A CN109070991B (zh) 2017-09-30 2017-09-30 无人机的机架组件及无人机

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PCT/CN2017/104769 WO2019061401A1 (fr) 2017-09-30 2017-09-30 Ensemble châssis de véhicule aérien sans pilote et véhicule aérien sans pilote

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CN110395386A (zh) * 2019-09-06 2019-11-01 山东蜂巢航空科技有限公司 油电混合六旋翼无人机
CN111959771B (zh) * 2020-08-18 2021-11-30 北京京东乾石科技有限公司 一种机架以及无人机
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CN114379767B (zh) * 2022-01-14 2023-11-10 成都飞机工业（集团）有限责任公司 一种基于中大型无人机机翼的双铰链机构及角度指示方法

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