WO2019084815A1 - 无人机 - Google Patents

无人机 Download PDF

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Publication number
WO2019084815A1
WO2019084815A1 PCT/CN2017/108731 CN2017108731W WO2019084815A1 WO 2019084815 A1 WO2019084815 A1 WO 2019084815A1 CN 2017108731 W CN2017108731 W CN 2017108731W WO 2019084815 A1 WO2019084815 A1 WO 2019084815A1
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WO
WIPO (PCT)
Prior art keywords
arm
arm assembly
rotating shaft
disposed
uav according
Prior art date
Application number
PCT/CN2017/108731
Other languages
English (en)
French (fr)
Inventor
刘以奋
赵天菲
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/CN2017/108731 priority Critical patent/WO2019084815A1/zh
Priority to CN201780004931.0A priority patent/CN108513556B/zh
Publication of WO2019084815A1 publication Critical patent/WO2019084815A1/zh
Priority to US16/736,137 priority patent/US20200277040A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/70—Transport or storage specially adapted for UAVs in containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
    • B64C11/16—Blades
    • B64C11/20—Constructional features
    • B64C11/28—Collapsible or foldable blades
    • 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
    • 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
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/46—Blades
    • B64C27/473—Constructional features
    • B64C27/50—Blades foldable to facilitate stowage of aircraft
    • 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

Definitions

  • the invention relates to the technical field of drones, in particular to a drone that can be folded by an arm.
  • the UAV Due to its flexibility, quick response, unmanned flight and low operational requirements, the UAV is also widely used in military, scientific research and civil affairs to carry out transportation, delivery, surveillance and investigation in various fields. , exploration, shooting and other tasks.
  • the arm of the existing drone for carrying the power component is usually fixed to the body by bonding or integral molding, so that the arm cannot be detached from the body or detached from the body requires tools and It is cumbersome and the user can't disassemble. This causes great inconvenience to the storage and transportation of the drone in the non-working state, which is easy to cause damage to the arm and power components.
  • the invention provides a drone with a collapsible arm to solve the above technical problem.
  • a drone including: a body, a first arm assembly disposed at a front portion of the fuselage, and a second machine disposed at a rear of the fuselage
  • An arm assembly the first arm assembly includes a first arm
  • the second arm assembly includes a second arm
  • the first arm and the second arm are rotatably coupled to the body So that the first arm assembly and the second arm assembly are in an unfolded state or a folded state; wherein, when both the first arm assembly and the second arm assembly are in a folded state,
  • the first arm and the second arm are arranged side by side.
  • the invention provides an unmanned aerial vehicle with a collapsible arm.
  • the folding form of the unmanned aerial vehicle is simple and reliable. After folding the arm, the drone can minimize the space and the protection of the arm is enhanced, which can be avoided. The arm is damaged during storage and transportation.
  • FIG. 1 is a schematic structural view of a drone according to an exemplary embodiment of the present invention.
  • FIG. 2 is a bottom view of a drone according to an exemplary embodiment of the present invention.
  • FIG. 3 is a schematic structural view showing an unfolded arm of a drone according to an exemplary embodiment of the present invention
  • FIG. 4 is a schematic structural view showing a folding of an arm in a drone according to an exemplary embodiment of the present invention
  • FIG. 5 is a partial cross-sectional view showing the connection of a second arm to a hinge bracket in a drone according to an exemplary embodiment of the present invention
  • FIG. 6 is a schematic structural view of a robot in a drone after being folded according to an exemplary embodiment of the present invention.
  • the drone 100 of the embodiment of the present invention includes: a fuselage 1, a first arm assembly 22 disposed at the front of the fuselage 1, and a second portion disposed at the rear of the fuselage 1.
  • the first arm assembly 22 includes a first arm 21, and the second arm assembly 33 includes a second arm 31.
  • the first arm 21 and the second arm 31 are respectively rotatably coupled to the body 1 to enable the first machine
  • the arm assembly 22 and the second arm assembly 33 are in an unfolded state or a folded state.
  • the drone 100 of the present invention can be folded and disposed by the arm, so that the space of the drone 100 after the arm is folded can be minimized, and the user can store and transport, thereby protecting the drone 100.
  • the first arm 21 and the second arm 31 are deployed to a maximum deployment range (as shown in FIG. 3), that is, the first arm assembly 22 and the second arm assembly. 33 is in an expanded state.
  • the first arm 21 and the second arm 31 are The body 1 is rotated relative to the first arm 21 and the second arm 31 to be attached to the circumferential side of the body 1 (as shown in FIG. 6), that is, the first arm assembly 22 and the second arm assembly 33 are at Folded state.
  • the first arm 21 and the second arm 31 are arranged side by side, that is, arranged side by side in the same plane.
  • the first arm 21 and the second arm 31 are arranged side by side in the horizontal direction.
  • the horizontal direction here is a state in which the body 1 is squared.
  • both sides of the fuselage 1 have a first arm 21 and a second arm 31, and the first arm 21 and the second arm 31 on both sides of the fuselage 1 are disposed side by side.
  • the first arm 21 and the second arm 31 abut against each other and are integrally attached to the body 1.
  • the body 1 of the drone 100 includes a body main body 11 and a boss portion 12 projecting from below the body main body 11, the boss portion 12 being located at the body main body 11.
  • the intermediate position is such that the boss portion 12 cooperates with the body main body 11 such that the both sides of the boss portion 12 form an accommodation space.
  • the first arm assembly 22 is rotatably coupled to the boss portion 12, and the second arm assembly 33 is rotatably coupled to the body body 11.
  • the first arm 21 is attached to the boss 12 when the first arm assembly 22 is in the folded state
  • the second arm 31 is attached to the first arm assembly 22 when the first arm assembly 22 is in the folded state.
  • the first arm assembly 22 and the second arm assembly 33 are two, and the two first arm assemblies 22 are disposed on two sides of the boss 12, and the two second machines
  • the arm assembly 33 is provided on the body main body 11.
  • the two first arms 21 are attached to the two sides of the boss 12, and the two second arms 31 are located on the same side.
  • the UAV 100 of the present invention will be described in detail below by taking the UAV 100 as a four-rotor 42 unmanned aerial vehicle 100 (i.e., including two first arms 21 and two second arms 31).
  • the body 1 further includes an abutting portion 121 disposed on the boss portion 12 for cooperatively connecting with the first arm 21 .
  • the first arm assembly 22 further includes a first rotating shaft 22 that connects the first arm 21 to the abutting portion 121, and the first arm 21 rotates about the first rotating shaft 22.
  • the first shaft hole is disposed in the first shaft hole and is rotatable in the first shaft hole.
  • the first shaft 22 is coupled to the first shaft.
  • the axial direction of the first shaft hole ie, the axial direction of the first rotating shaft 22
  • the expansion angle and the folding state can be attached to the body 1, satisfying the design requirement that the drone 100 can achieve space minimization.
  • the first arm assembly 22 further includes a stopping portion 13 disposed on the body 1, and the stopping portion 13 is located on a rotating path of the first arm 21.
  • the first arm 21 abuts against the stopping portion 13 to define the rotation angle of the first arm 21;
  • the first arm 21 is attached to the body main body 11.
  • the restriction of the stopping portion 13 when the first arm 21 is in the unfolded state, the first arm 21 is in the horizontal direction, and at this time, the distance between the components 42 of the rotor 42 is the largest, which can be the largest.
  • the interference between the plurality of rotor 42 assemblies 4 is reduced to a lesser extent.
  • the body 1 further includes a hinge bracket 14 disposed on the fuselage body 11 for mating connection with the second arm 31.
  • the second arm assembly 33 further includes a second rotating shaft 32 that connects the second arm 31 to the rotating shaft bracket 14.
  • the second arm 31 is coupled to the inner side of the rotating shaft bracket 14 via the second rotating shaft 32 and has a second rotating shaft 32. Rotate for the shaft.
  • the hinge bracket 14 is disposed on a side surface of the fuselage main body 11 for being coupled to the second arm assembly 33.
  • the second arm 31 is coupled to the inner side surface of the hinge bracket 14, and functions to protect the second arm 31 when the second arm 31 is folded.
  • the shaft bracket 14 is provided with a second shaft hole that cooperates with the second shaft 32.
  • the axial direction of the second shaft hole (ie, the axial direction of the second shaft 32) and the central axis 101 of the body 1 are ⁇ . 118°, so that the second arm 31 has a better deployment angle when in the folded state and can be attached to the first arm 21 when in the folded state, which satisfies the design requirement that the drone 100 can achieve space minimization.
  • the second arm assembly 33 further includes a limiting block 34 disposed on the second arm 31.
  • the rotating bracket 14 is provided with a limiting slot 141.
  • the limiting block can also be disposed on the rotating shaft bracket 14 , and the limiting slot is located on the second arm 31 .
  • the limiting block 34 is engaged in the limiting slot 141 to limit the position, so that the second arm 31 is locked into the deployed state; when the second arm 31 is in the folded state
  • the second arm 31 is disposed adjacent to the first arm 21 on the same side.
  • the limiting block 34 can adopt the structure of the elastic locking pin, and the elastic locking pin can be retracted into the second arm 31 by an external force, and the second machine can be ejected after the external force is removed.
  • the top of the elastic locking pin has a round head structure, so that when the second arm 31 is subjected to a certain external force, the limiting block 34 can be disengaged from the limiting slot 141, so that the second arm can be 31 folds.
  • the hinge bracket 14 is disposed on a side surface of the fuselage main body 11 and is bent to extend below the fuselage main body 11 to make the first rotating shaft 22 of the first arm assembly 22 and the second arm assembly 33
  • the second rotating shaft 32 is on the same horizontal surface, so that the first arm 21 and the second arm 31 can be arranged side by side.
  • the center line where the first rotating shaft 22 is located intersects with the center line where the second rotating shaft 32 is located.
  • the first arm assembly 22 further includes a first driving device disposed on the boss portion 12, and the first driving device can replace the abutting portion 121 described above.
  • the first driving device is connected to the first arm 21 and can drive the first arm 21 to rotate, so that the first arm 21 is in an unfolded state or a folded state, that is, a control signal is sent to the first driving device by the controller.
  • the first arm 21 is automatically or unfolded by the first driving device, which not only simplifies the user's operation steps, but also increases the fun and intelligence of the product.
  • the second arm assembly 33 further includes a second driving device disposed on the main body 11 , and the rotating shaft bracket 14 connected to the second arm 31 can be replaced by a second driving device, and the second driving device is connected.
  • the second arm 31 is driven to rotate the second arm 31 to bring the second arm 31 into an unfolded state or a folded state. That is, the controller sends a control signal to the second driving device, and the second driving device drives the second arm 31 to automatically expand or automatically fold.
  • the first The one arm 21 and the second arm 31 can be controlled to simultaneously unfold or simultaneously fold, thereby causing the drone 100 to be in an active or inoperative state.
  • the axial direction of the driving shaft of the first driving device is the same as the axial direction of the first shaft hole of the abutting portion 121, and the axial direction of the driving shaft of the second driving device is the same as the axial direction of the second shaft hole, thereby being satisfied
  • the first arm assembly 22 and the second arm assembly 33 are automatically deployed or automatically folded and the first arm 21 and the second arm 31 are arranged side by side.
  • the driving device that can be used to drive the folding and unfolding of the first arm 21 and the second arm 31 is suitable for the first driving device and the second driving device of the present invention, and is not specifically limited herein.
  • the drone 100 further includes a rotor 42 assembly 4 disposed at a free end of the first arm 21 and a free end of the second arm 31, respectively.
  • the rotor 42 assembly 4 includes a drive member 41 and a rotor 42 coupled to the drive member 41.
  • the drive member 41 drives the rotation of the rotor 42 to effect the flight function of the drone 100.
  • the driving member 41 may be a driving motor, and the driving portions of the first arm 21 and the second arm 31 are respectively provided.
  • the rotor 42 of the present invention is a folding paddle in which the blades in the rotor 42 are foldably disposed.
  • the blades of the rotor 42 can also be folded and folded, so that the blade can be protected while minimizing the space of the drone 100.
  • the bottom of the first arm 21 is provided with a first stand 23 for the drone 100 to fall, and the bottom of the second arm 31 may also be provided with a second stand 33 for the drone 100 to land.
  • the first stand 23 is located below the drive member 41 on the first arm 21, and the second stand 33 is located below the drive member 41 on the second arm 31.
  • the first leg frame 23 on the first arm 21 can be disposed to be rotated relative to the first arm 21 to be folded, thereby facilitating the first Folding of the arm 21 .
  • the second arm 31 is located outside the first arm 21, so that the second leg 33 of the second arm 31 can be folded or disposed adjacent to the side of the body 11 as needed.
  • the invention designs a UAV collapsible drone, and the folding form of the UAV is simple and reliable. After folding the arm, the UAV can minimize the space and enhance the protection of the arm, which can be avoided. The arm is damaged during storage and transportation.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Toys (AREA)

Abstract

一种无人机，该无人机包括：机身（1）、设置于机身（1）前部的第一机臂组件（2）、以及设于机身（1）后部的第二机臂组件（3），第一机臂组件（2）包括第一机臂（21），第二机臂组件（3）包括第二机臂（31），第一机臂（21）和第二机臂（31）分别转动连接于机身（1），以使第一机臂组件（2）和第二机臂组件（3）处于展开状态或者折叠状态；其中，在第一机臂组件（2）和第二机臂组件（3）均处于折叠状态时，第一机臂（21）和第二机臂（31）并排设置。

Description

无人机 技术领域
本发明涉及无人机技术领域，特别涉及一种机臂可折叠的无人机。
背景技术
无人机因具有机动灵活、反应快速、无人飞行、操作要求低都优点，还被广泛地应用于军事、科研以及民事三大领域，以执行各领域应用中的运输、投递、监视、侦查、勘探、拍摄等任务。
现有无人机中用以承载动力组件的机臂通常通过粘接或者一体成型等方式固定于机身，导致机臂无法从机身上拆卸下来或者从机身上拆卸下来需要借助工具且较为繁琐而导致用户无法拆卸，如此给无人机在非工作状态中的存放及运输均带来很大不便，容易造成机臂及动力组件损坏。
发明内容
本发明提出一种机臂可折叠设置的无人机以解决上述技术问题。
根据本发明实施例的一方面，提供了一种无人机，包括：机身、设置于所述机身前部的第一机臂组件、以及设于所述机身后部的第二机臂组件，所述第一机臂组件包括第一机臂，所述第二机臂组件包括第二机臂，所述第一机臂和所述第二机臂分别转动连接于所述机身，以使所述第一机臂组件和所述第二机臂组件处于展开状态或者折叠状态；其中，在所述第一机臂组件和所述第二机臂组件均处于折叠状态时，所述第一机臂和所述第二机臂并排设置。
本发明提供了一种机臂可折叠的无人机，该无人机的折叠形式简单可靠，折叠机臂后，无人机能实现空间最小化，且对机臂的保护性增强，可以避免在存放及运输过程中机臂受损。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一示例性实施例示出的一种无人机的结构示意图；
图2是本发明一示例性实施例示出的一种无人机的仰视图；
图3是本发明一示例性实施例示出的一种无人机中机臂展开的结构示意图；
图4是本发明一示例性实施例示出的一种无人机中机臂折叠时的结构示意图；
图5是本发明一示例性实施例示出的一种无人机中第二机臂与转轴支架连接的部分剖面示意图；
图6是本发明一示例性实施例示出的一种无人机中机臂折叠后的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施 例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
在本发明使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
下面结合附图，对本发明的无人机的结构作详细说明，在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
如图1和图6所示，本发明实施例的无人机100包括：机身1、设置于机身1前部的第一机臂组件22、以及设于机身1后部的第二机臂组件33。第一机臂组件22包括第一机臂21，第二机臂组件33包括第二机臂31，第一机臂21和第二机臂31分别转动连接于机身1，以使第一机臂组件22和第二机臂组件33处于展开状态或者折叠状态。本发明的无人机100通过机臂可折叠设置，可以实现无人机100在机臂折叠后空间最小化，便于用户存放及运输，从而可以保护无人机100。
具体地，该无人机100在工作时，将第一机臂21和第二机臂31展开至最大展开范围(如图3所示)，即第一机臂组件22和第二机臂组件33处于展开状态。无人机100在不工作时，将第一机臂21和第二机臂31 相对机身1转动以使第一机臂21和第二机臂31贴合于机身1的周侧(如图6所示)，即第一机臂组件22和第二机臂组件33处于折叠状态。
其中，在第一机臂组件22和第二机臂组件33均处于折叠状态时，该第一机臂21和第二机臂31并排设置，即在同一平面并排设置。优选地，第一机臂21和第二机臂31在水平方向上并排设置。其中，需要说明的是，此处的水平方向是以机身1摆正的状态下。本实施例中，机身1的两侧均具有第一机臂21和第二机臂31，机身1两侧的第一机臂21和第二机臂31均并排设置。进一步地，为了使无人机100的整体结构紧凑，第一机臂21和第二机臂31紧靠贴合，且整体贴合与机身1。
如图1至图6所示，无人机100的机身1包括机身主体11、以及从机身主体11下方凸伸出的凸起部12，该凸起部12位于机身主体11的中间位置，如此以使凸起部12与机身主体11配合以使凸起部12的两侧形成了容纳空间。其中，在第一机臂组件22和第二机臂组件33处于折叠状态时，机身1同一侧的第一机臂21和第二机臂31可以并排地位于容纳空间内，从而可以进一步起到保护第一机臂21和第二机臂31的效果。
在本实施例中，第一机臂组件22转动连接于凸起部12，第二机臂组件33转动连接于机身主体11。该种配合方式，以使第一机臂组件22处于折叠状态时，第一机臂21贴合于凸起部12，第一机臂组件22处于折叠状态时，第二机臂31贴合于第一机臂21。
在一可选实施例中，该第一机臂组件22和第二机臂组件33均为两个，两个第一机臂组件22设于凸起部12的两侧，两个第二机臂组件33设于机身主体11上。其中，在第一机臂组件22和第二机臂组件33处于折叠状态时，两个第一机臂21贴合于凸起部12的两侧，两个第二机臂31位于同侧的第一机臂21的外侧。以下均以无人机100为四旋翼42无人机100(即包括两个第一机臂21和两个第二机臂31)为例，对本发明的无人机100进行详细介绍。
相对应地，该机身1还包括设置于凸起部12上的对接部121，用以与第一机臂21配合连接。该第一机臂组件22还包括将第一机臂21连接于对接部121的第一转轴22，第一机臂21以第一转轴22为轴转动。其中，对接部121上设有与第一转轴22配合连接的第一轴孔，第一转轴22连接限位于该第一轴孔内，且可以在第一轴孔内转动，在本实施例中，第一轴孔的轴向(即第一转轴22的轴向)与机身1的中心轴101的夹角α为56°，如此以使第一机臂21在折叠状态时具有较佳地展开角度以及在折叠状态时可以贴合于机身1，满足无人机100能实现空间最小化的设计需求。
进一步地，该第一机臂组件22还包括设置于机身1的止挡部13，止挡部13位于第一机臂21的转动路径上。其中，当第一机臂21为展开状态时，第一机臂21抵接于止挡部13，以限定第一机臂21的转动角度；当第一机臂21为折叠状态时，第一机臂21贴合于机身主体11。本实施例中，通过止挡部13的限制，当在第一机臂21处于展开状态时，该第一机臂21处于水平方向上，此时旋翼42组件4之间的间距最大，可以最大程度地减少多个旋翼42组件4之间的干扰。
在一可选实施例中，该机身1还包括设置于机身主体11的转轴支架14，用以与第二机臂31配合连接。该第二机臂组件33还包括将第二机臂31连接于转轴支架14的第二转轴32，第二机臂31通过第二转轴32连接在转轴支架14的内侧面且以第二转轴32为轴转动。本实施例中，该转轴支架14设置于机身主体11的侧面，用以适配于与第二机臂组件33连接。其中，将第二机臂31连接于转轴支架14的内侧面，在第二机臂31折叠时可以起到保护第二机臂31的作用。
其中，转轴支架14上设有与第二转轴32配合的第二轴孔，第二轴孔的轴向(即第二转轴32的轴向)与机身1的中心轴101的夹角β为118°，如此以使第二机臂31在折叠状态时具有较佳地展开角度以及在折叠状态时可以贴合于第一机臂21，满足无人机100能实现空间最小化的设计需求。
进一步地，第二机臂组件33还包括设于第二机臂31上的限位块34，转轴支架14上设有限位槽141。当然，该限位块还可以设于转轴支架14上，限位槽位于第二机臂31上。其中，当第二机臂31为展开状态时，限位块34配合于限位槽141内以限位，从而使第二机臂31锁定为展开状态；当第二机臂31为折叠状态时，第二机臂31邻近同侧的第一机臂21设置。在一可选的实施例中，该限位块34可以采用弹性锁销的结构方式，该弹性锁销可在外力作用下缩入第二机臂31内，在外力消除后可以弹出第二机臂31的表面。该弹性锁销的顶部为圆头型结构，如此以使第二机臂31在受到一定力度的外力作用时，限位块34可以从限位槽141内脱离出，从而可以使第二机臂31折叠。
在本发明中，该转轴支架14设置于机身主体11的侧面，弯折延伸向机身主体11的下方，以使第一机臂组件22的第一转轴22与第二机臂组件33的第二转轴32在同一水平面上，如此可以满足第一机臂21与第二机臂31并排设置。其中，第一转轴22所在的中心线与第二转轴32所在的中心线交叉。
在又一可选实施例中，第一机臂组件22还包括设置于凸起部12上的第一驱动装置，该第一驱动装置可以代替上述的对接部121。其中，第一驱动装置连接于第一机臂21且可以驱动第一机臂21转动，以使第一机臂21处于展开状态或者折叠状态，即通过控制器向第一驱动装置发送控制信号，由第一驱动装置驱动第一机臂21自动展开或自动折叠，不仅可以简化用户的操作步骤，而且增加了产品的使用乐趣和智能程度。
进一步地，该第二机臂组件33还包括设置于机身主体11上的第二驱动装置，与第二机臂31连接的转轴支架14可以使用第二驱动装置代替，该第二驱动装置连接于第二机臂31且驱动第二机臂31转动，以使第二机臂31处于展开状态或者折叠状态。即通过控制器向第二驱动装置发送控制信号，由第二驱动装置驱动第二机臂31自动展开或自动折叠。其中，该第 一机臂21和第二机臂31可以被控制地同时展开或同时折叠，从而使无人机100处于工作状态或非工作状态。
其中，该第一驱动装置的驱动轴的轴向与对接部121的第一轴孔的轴向相同，第二驱动装置的驱动轴的轴向与第二轴孔的轴向相同，从而可以满足第一机臂组件22和第二机臂组件33自动展开工作，或者自动折叠并使第一机臂21和第二机臂31并排设置。在本发明中，可以配合驱动第一机臂21和第二机臂31转动折叠和展开的驱动装置均适用于本发明的第一驱动装置和第二驱动装置，在此并不作具体地限制。
该无人机100还包括分别设置于第一机臂21的自由端和第二机臂31的自由端的旋翼42组件4。该旋翼42组件4包括驱动件41及连接于驱动件41的旋翼42，通过驱动件41驱动旋翼42的转动，从而实现无人机100的飞行功能。在本实施例中，驱动件41可以为驱动电机，第一机臂21和第二机臂31的端部均设有该驱动电机。
进一步地，该本发明的旋翼42为折叠桨，其中，旋翼42中的桨叶可折叠设置。如此设置以使第一机臂21和第二机臂31在折叠时，该旋翼42的桨叶也可以折叠收起，从而可以保护该桨叶，同时实现无人机100的空间最小化。
其中，第一机臂21的底部设有用于无人机100降落的第一脚架23，第二机臂31的底部也可以设有用于无人机100降落的第二脚架33。该第一脚架23位于第一机臂21上的驱动件41的下方，第二脚架33位于第二机臂31上的驱动件41的下方。本实施例中，由于第一机臂21贴合于凸起部12，因此该第一机臂21上的第一脚架23可以设置为相对第一机臂21转动以折叠，从而便于第一机臂21的折叠。该第二机臂31位于第一机臂21外侧，因此第二机臂31的第二脚架33可以根据需求折叠设置或者靠近机身主体11的侧面设置。
本发明设计了一种机臂可折叠的无人机，该无人机的折叠形式简单可靠，折叠机臂后，无人机能实现空间最小化，且对机臂的保护性增强，可以避免在存放及运输过程中机臂受损。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。

Claims (19)

  1. 一种无人飞行器，其特征在于，包括：机身、设置于所述机身前部的第一机臂组件、以及设于所述机身后部的第二机臂组件，所述第一机臂组件包括第一机臂，所述第二机臂组件包括第二机臂，所述第一机臂和所述第二机臂分别转动连接于所述机身，以使所述第一机臂组件和所述第二机臂组件处于展开状态或者折叠状态；其中，在所述第一机臂组件和所述第二机臂组件均处于折叠状态时，所述第一机臂和所述第二机臂并排设置。
  2. 根据权利要求1所述的无人飞行器，其特征在于，所述第一机臂组件的第一转轴与所述第二机臂组件的第二转轴在同一平面上。
  3. 根据权利要求2所述的无人飞行器，其特征在于，所述第一转轴所在的中心线与第二转轴所在的中心线交叉。
  4. 根据权利要求1所述的无人飞行器，其特征在于，所述机身包括机身主体、以及从所述机身主体下方凸伸出的凸起部；其中，所述第一机臂组件转动连接于所述凸起部，所述第二机臂组件转动连接于所述机身主体。
  5. 根据权利要求4所述的无人飞行器，其特征在于，所述第一机臂组件和所述第二机臂组件均为两个，两个所述第一机臂组件设于所述凸起部的两侧，两个所述第二机臂组件设于所述机身主体上。
  6. 根据权利要求5所述的无人飞行器，其特征在于，在所述第一机臂组件和所述第二机臂组件处于折叠状态时，两个所述第一机臂贴合于所述凸起部的两侧，两个所述第二机臂位于同侧的所述第一机臂的外侧。
  7. 根据权利要求5所述的无人飞行器，其特征在于，所述机身还包括设置于所述凸起部上的对接部，用以与所述第一机臂配合连接。
  8. 根据权利要求7所述的无人飞行器，其特征在于，所述第一机臂组件还包括将所述第一机臂连接于所述对接部的第一转轴，所述第一机臂以所述第一转轴为轴转动。
  9. 根据权利要求8所述的无人飞行器，其特征在于，所述对接部上设有 与所述第一转轴配合连接的第一轴孔，其中，所述第一轴孔的轴向与所述机身的中心轴的夹角α为56°。
  10. 根据权利要求5所述的无人飞行器，其特征在于，所述第一机臂组件还包括设置于所述机身的止挡部，所述止挡部位于所述第一机臂的转动路径上；
    其中，当所述第一机臂为展开状态时，所述第一机臂抵接于所述止挡部；当所述第一机臂为折叠状态时，所述第一机臂贴合于所述机身主体。
  11. 根据权利要求5所述的无人飞行器，其特征在于，所述机身还包括设置于所述机身主体的转轴支架，用以与所述第二机臂配合连接。
  12. 根据权利要求11所述的无人飞行器，其特征在于，所述第二机臂组件还包括将所述第二机臂连接于所述转轴支架的第二转轴，所述第二机臂通过所述第二转轴连接在所述转轴支架的内侧面且以所述第二转轴为轴转动。
  13. 根据权利要求12所述的无人飞行器，其特征在于，所述转轴支架上设有与所述第二转轴配合的第二轴孔，其中，所述第二轴孔的轴向与所述机身的中心轴的夹角β为118°。
  14. 根据权利要求11所述的无人飞行器，其特征在于，所述第二机臂组件还包括设于所述第二机臂上的限位块，所述转轴支架上设有限位槽；
    其中，当所述第二机臂为展开状态时，所述限位块配合于所述限位槽内以限位；当所述第二机臂为折叠状态时，所述第二机臂邻近同侧的所述第一机臂设置。
  15. 根据权利要求5所述的无人飞行器，其特征在于，所述第一机臂组件还包括设置于所述凸起部上的第一驱动装置，所述第一驱动装置连接于所述第一机臂且驱动所述第一机臂转动，以使所述第一机臂处于展开状态或者折叠状态。
  16. 根据权利要求5所述的无人飞行器，其特征在于，所述第二机臂组件还包括设置于所述机身主体上的第二驱动装置，所述第二驱动装置连接于所述第二机臂且驱动所述第二机臂转动，以使所述第二机臂处于展开状态或 者折叠状态。
  17. 根据权利要求1所述的无人飞行器，其特征在于，还包括分别设置于所述第一机臂的自由端和所述第二机臂的自由端的旋翼组件，所述旋翼组件包括驱动件及连接于所述驱动件的旋翼。
  18. 根据权利要求17所述的无人飞行器，其特征在于，所述旋翼为折叠桨，其中，所述旋翼中的桨叶可折叠设置。
  19. 根据权利要求1所述的无人飞行器，其特征在于，所述第一机臂的底部设有用于所述无人飞行器降落的第一脚架，所述第二机臂的底部设有用于所述无人飞行器降落的第二脚架。
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CN205971879U (zh) * 2016-08-23 2017-02-22 深圳市大疆创新科技有限公司 无人飞行器
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