WO2019242225A1 - Véhicule aérien sans pilote, ensemble bras et mécanisme d'arbre rotatif associé - Google Patents

Véhicule aérien sans pilote, ensemble bras et mécanisme d'arbre rotatif associé Download PDF

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Publication number
WO2019242225A1
WO2019242225A1 PCT/CN2018/116756 CN2018116756W WO2019242225A1 WO 2019242225 A1 WO2019242225 A1 WO 2019242225A1 CN 2018116756 W CN2018116756 W CN 2018116756W WO 2019242225 A1 WO2019242225 A1 WO 2019242225A1
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WO
WIPO (PCT)
Prior art keywords
rotating member
rotating
cam
shaft mechanism
arm
Prior art date
Application number
PCT/CN2018/116756
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English (en)
Chinese (zh)
Inventor
梁智颖
Original Assignee
深圳市道通智能航空技术有限公司
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 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2019242225A1 publication Critical patent/WO2019242225A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts

Definitions

  • the present application relates to the field of aircraft, and in particular, to an unmanned aerial vehicle, an arm assembly and a shaft mechanism thereof.
  • Unmanned aircraft or unmanned aerial vehicle (UAV)
  • UAV unmanned aerial vehicle
  • the UAV is equipped with multiple types of sensors or camera devices through the gimbal, which can realize real-time image transmission and high-risk area detection. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing.
  • the arm of a common UAV is connected to the fuselage by a pivot mechanism.
  • the position is the maximum force point of the rotation of the rotating shaft mechanism, referred to as the transition point.
  • the forces on both sides of the transition point are symmetrical. It is relatively small.
  • the purpose of the embodiments of the present application is to provide an unmanned aerial vehicle, an arm assembly and a rotating shaft mechanism thereof, in order to solve the problem that the unmanned aerial vehicle in the prior art is easily moved to an unintended external force due to an undesired external force when it is in a deployed position in a working state.
  • the unmanned aerial vehicle cannot achieve the technical problem of flying in an effective and accurate attitude.
  • a shaft mechanism includes:
  • a shaft sleeve which is arranged on the central axis and is rotatable relative to the central axis;
  • a rotating member is sleeved on the central shaft and at least partially accommodated in the sleeve (14) shown.
  • the rotating member cooperates with the sleeve so that the rotating member can follow the rotation of the sleeve. Rotate and move within the sleeve along the axis of the central axis;
  • the fixed seat is in contact with the rotating member, and at least one of the fixed seat and the rotating member has a cam curved surface, and the cam curved surface allows the rotating member to rotate along with the rotation of the shaft sleeve. Moving along the axis of the central axis;
  • the cam curved surface has a shape such that a thrust force that the shaft sleeve drives the rotating member to rotate in the first rotation direction is greater than a thrust force that the shaft sleeve drives the rotating member to rotate in the second rotation direction, and the first rotation direction It is opposite to the second rotation direction.
  • the cam curved surface has a transition point, a first slope surface on one side of the transition point, and a second slope surface on the other side of the transition point, the first slope surface and the second slope surface
  • the slope surface is asymmetric with respect to a straight line passing through the transition point and parallel to the central axis.
  • the slope angle of the first slope surface is not equal to the slope angle of the second slope surface.
  • the transition point is a highest point or a lowest point.
  • first slope surface and the second slope surface are planes or curved surfaces.
  • the first slope surface and the second slope surface are curved surfaces having different shapes.
  • the cam surface is located on the fixed seat.
  • the fixing base includes a base and a fixing member provided on the base, and the cam surface is located on an end surface of the fixing member facing the rotating member.
  • the fixing member has a hollow cylindrical shape, and two cam surfaces are provided on an end surface of the fixing member facing the rotating member, and the two cam curved surfaces are opposite to the central axis of the fixing member. Plane symmetry.
  • the cam surface is also provided on an end surface of the rotating member facing the fixing member, and the shape of the end surface of the rotating member facing the fixing member is similar to that of the end surface of the fixing member facing the rotating member. match.
  • a convex portion is provided on an end surface of the rotating member facing the fixing member, and the convex portion is in contact with the cam curved surface.
  • the cam surface is located on the rotating member.
  • the cam curved surface is located on an end surface of the rotating member facing the fixing member.
  • the rotating member is in the shape of a hollow cylinder, and two end surfaces of the cam are provided on an end surface of the rotating member facing the fixing member, and the two cam surfaces are opposite to the central axis of the rotating member. Plane symmetry.
  • the fixing base includes a base and a fixing member provided on the base, and the cam surface is also provided on an end surface of the fixing member facing the rotating member, and the fixing member faces the rotating member.
  • the shape of the end face matches the shape of the end face of the rotating member facing the fixing member.
  • a convex portion is provided on an end surface of the fixing member facing the rotating member, and the convex portion is in contact with the cam curved surface.
  • a machine arm assembly includes a machine arm and a shaft mechanism for rotatably connecting the machine arm to a fuselage.
  • the shaft mechanism is the shaft mechanism described above.
  • An unmanned aerial vehicle includes a fuselage, a power assembly, and an arm assembly described above;
  • the arm assembly is mounted on the fuselage, and the arm assembly is rotatable relative to the fuselage;
  • the power component is mounted on the arm component.
  • the fuselage includes a first mounting block and a second mounting block, and a receiving groove is provided between the first mounting block and the second mounting block;
  • the shaft mechanism is fixedly mounted on the first mounting block and the second mounting block, and the shaft mechanism is at least partially housed in the receiving slot.
  • the fixing base is fixedly installed on the first mounting block
  • One end of the central shaft abuts against the fixed seat, and the other end passes through the second mounting block.
  • An unmanned aerial vehicle includes a fuselage, an arm, and a rotating shaft mechanism for rotatably connecting the arm to the fuselage.
  • the arm can be unfolded and unfolded relative to the fuselage. Rotate between positions;
  • the arm is rotated by a first angle from the stowed position to a limit position, and the arm is rotated by a second angle from the limit position to the deployed position, wherein the limit position is in the stowed position And the expanded position, and the first angle and the second angle are not equal;
  • the rotating shaft mechanism is the rotating shaft mechanism described above.
  • the beneficial effects of the embodiments of the present application are:
  • the fixed seat is in contact with the rotating member and at least one of the fixed seat and the rotating member is in contact.
  • There is a cam curved surface which enables the rotating member to move along the axis of the central axis when the rotating member rotates under the driving of the sleeve.
  • the cam curved surface has a shape such that a thrust force that the shaft sleeve drives the rotating member to rotate in the first rotation direction is greater than a thrust force that the shaft sleeve drives the rotating member to rotate in the second rotation direction.
  • the application of the hinge mechanism to the arm assembly and the unmanned aerial vehicle can effectively prevent the arms of the fuselage connected to the unmanned aerial vehicle through the hinge mechanism from the unfolded position (also referred to as Working state) accidentally moved to its folded position to achieve the purpose of flying the UAV in a safe and stable attitude.
  • the arm when the arm is in the folded position, the arm can be pushed to the unfolded position in a direction that is unfolded to the unfolded position (that is, the second rotation direction) using a smaller force.
  • FIG. 1 is a perspective view of an embodiment of an unmanned aerial vehicle of the present application
  • FIG. 2 is a perspective view of the unmanned aerial vehicle shown in FIG. 1 from another angle;
  • FIG. 3 is an exploded view of the unmanned aerial vehicle shown in FIG. 1, in which some components are omitted;
  • FIG. 4 is a partial cross-sectional view of the unmanned aerial vehicle shown in FIG. 1;
  • FIG. 5 is an exploded view of a rotating shaft mechanism of the unmanned aerial vehicle shown in FIG. 1;
  • FIG. 6 is an exploded view of the rotating shaft mechanism shown in FIG. 5 from another angle;
  • FIG. 7 is a perspective view of a fixing base of the rotating shaft mechanism shown in FIG. 5;
  • FIG. 8 is a perspective view of a rotating member of the rotating shaft mechanism shown in FIG. 5;
  • FIG. 9 is an assembly view of the rotating shaft mechanism shown in FIG. 5, wherein a shaft sleeve of the rotating shaft mechanism is omitted;
  • FIG. 10 is an assembly view of the rotating shaft mechanism shown in FIG. 5 at another angle, in which a shaft sleeve of the rotating shaft mechanism is omitted;
  • FIG. 11 is a schematic diagram of the rotation of a single arm of the unmanned aerial vehicle shown in FIG. 1;
  • FIG. 12 is an assembly view of a rotating shaft mechanism of an unmanned aerial vehicle according to another embodiment of the present application, wherein a shaft sleeve of the rotating shaft mechanism is omitted;
  • FIG. 13 is an assembly diagram of a rotating shaft mechanism of an unmanned aerial vehicle according to another embodiment of the present application, wherein a shaft sleeve of the rotating shaft mechanism is omitted.
  • the rotating shaft mechanism provided in the embodiment of the present application is a mechanism for connecting a first object and a second object and capable of rotating the first object relative to the second object, and is suitable for many mechanical products with a rotating function.
  • Application scenarios include: mobile phone hinges (clamshell or rotary screen mobile phones), laptop hinges, portable DVD hinges, LED table lamp hinges, LCD display hinges, GPS and other vehicle bracket hinges, and so on.
  • the rotating shaft mechanism provided by the embodiment of the present application can be particularly applied to various motor-driven movable objects with foldable arms, including but not limited to unmanned aerial vehicles (UAVs), unmanned ships, mechanical arms, and robots. Wait.
  • UAVs unmanned aerial vehicles
  • the hinge mechanism provided in the embodiment of the present application is applied to the arm connected to the fuselage of the unmanned aerial vehicle through the hinge mechanism, which can effectively prevent the arm from being unfolded from its unfolded position due to undesired external force (also called working state) It is accidentally moved to the folded position along the direction in which the arms are folded (ie, the "first direction of rotation” hereinafter) to achieve the purpose of flying the unmanned aerial vehicle in a safe and stable attitude.
  • the arm when the arm is in the folded position, the arm can be pushed to the unfolded position in a direction of being unfolded to the unfolded position (that is, a “second rotation direction” hereinafter) using a smaller force.
  • An unmanned aerial vehicle 400 provided by one embodiment of the present application includes a fuselage 200, an arm assembly 100 connected to the fuselage 200, and a connection with the arm assembly 100. Power components.
  • the arm assembly 100 includes a pivot mechanism 10 and a boom 20, and the arm 20 is mounted on the fuselage 200 through the pivot mechanism 10 (as shown in FIG. 3) so as to be expandable or foldable relative to the fuselage 200 .
  • the arm 20 can be rotated relative to the fuselage 200 to a stowed state shown in FIG. 1.
  • the unmanned aerial vehicle 400 When the unmanned aerial vehicle 400 is in use, the arm 20 It can be deployed relative to the main body 200 to the deployed position shown in FIG. 2.
  • the arm 20 of the embodiment of the present application can be folded relative to the fuselage 200.
  • the folded arm 20 fits the outer contour of the fuselage 200, that is, the shape of the arm 20 faces at least that part of the fuselage 200 after being folded. Matching the shape of the outer contour of the fuselage 200 makes the UAV 400 more compact and more portable.
  • the application field of the arm 20 provided in the embodiment of the present application should not be limited to the field of UAV technology.
  • the robotic arm 20 can also be mounted on other types of movable objects, such as unmanned boats, unmanned submarines, robots, etc. After folding, the robotic arm 20 fits the outer contour of the movable object, so that the application of the The structure of the movable object of the arm 20 is more compact.
  • the power assembly is mounted on the airframe 20 and is used to provide power to the unmanned aerial vehicle 400.
  • the power assembly includes a motor 300 and a propeller (not shown) mounted on the motor 300, and each propeller is driven by a motor 300 corresponding to the propeller to rotate to generate a lift or a thrust for flying the unmanned aerial vehicle.
  • the power assembly shown may further include an electric adjustment board (not shown) provided inside the arm assembly 100 or the fuselage 200, and the electric adjustment board is used for controlling the throttle controller or the throttle generator according to the throttle controller or the throttle generator.
  • the generated throttle signal generates a motor control signal for controlling the rotation speed of the motor to obtain a flying speed or a flying attitude required by the unmanned aerial vehicle 400.
  • the airframe 200 includes a control circuit assembly composed of electronic components such as a MCU.
  • the control circuit assembly includes a plurality of control modules, for example, a control circuit for controlling the operation of the power module to control the flying attitude of the unmanned aerial vehicle 400.
  • a flight control module is used to navigate the positioning module of the unmanned aerial vehicle 400, and a data processing module used to process environmental information acquired by relevant airborne equipment.
  • the fuselage 200 includes a first mounting block 202 and a second mounting block 204.
  • a receiving groove 206 is provided between the first mounting block 202 and the second mounting block 204. It is used for partially receiving the rotating shaft mechanism 10.
  • the rotating shaft mechanism 10 is fixedly mounted between the first mounting block 202 and the second mounting block 204, and is connected to the first mounting block 202 and the second mounting block 204.
  • One end of the arm 20 is connected to the shaft mechanism 10, and the other end is mounted with the power assembly.
  • the rotating shaft mechanism 10 includes a central shaft 15, a fixed seat 11, a shaft sleeve 14, a rotating member 12, an elastic member 13, and a retaining spring 16.
  • the fixing base 11 is fixedly mounted on the first mounting block 202, and the fixing base 11 is sleeved on the central shaft 15.
  • the sleeve 14 is located between the first mounting block 202 and the second mounting block 204 and is sleeved on the central shaft 15, and the sleeve 14 is rotatable relative to the central shaft 15.
  • the rotating member 12 is sleeved on the central shaft 15 and is at least partially received in the shaft sleeve 14.
  • the rotating member 12 cooperates with the shaft sleeve 14 so that the rotating member 12 can rotate with the rotation of the shaft sleeve 14, and the rotating member 12 can move along the central shaft 15 in the shaft sleeve 14. Move in the direction of the axis.
  • the elastic member 13 is sleeved on the central shaft 15 and accommodated in the shaft sleeve 14. The elastic member 13 is in a compressed state, one end of which is in contact with the shaft sleeve 14 and the other end is in contact with the rotating member. 12 abut.
  • the fixed seat 11 is in contact with the rotating member 12, and at least one of the fixed seat 11 and the rotating member 12 has a cam curved surface, and the cam curved surface enables the rotating member 12 to be in the shaft sleeve 14. It can be moved along the axis of the central shaft 15 when it is driven to rotate.
  • the cam curved surface has a shape such that the thrust force of the sleeve 14 driving the rotating member 12 in the first rotation direction is greater than the thrust force of the sleeve 14 driving the rotating member 12 in the second rotation direction.
  • the first rotation direction is opposite to the second rotation direction.
  • the first rotation direction is, for example, a direction in which the arm 20 is retracted from a position where it is unfolded relative to the fuselage 200 to a position where it is folded with respect to the fuselage 200
  • the second rotation The direction is a direction in which the arm 20 is opened from a position where it is folded relative to the body 200 to a position where it is unfolded relative to the body 200.
  • the cam surface is configured such that the thrust force of the shaft sleeve 14 driving the rotating member 12 in the first rotation direction (the direction in which the arm 20 is stowed) is greater than that of the shaft sleeve 14 driving the rotating member 12 along the second
  • the thrust in the direction of rotation (the direction in which the arm 20 opens)
  • the arm 20 of the fuselage 200 connected to the drone 400 through the pivot mechanism 10 can be effectively prevented Due to undesired external forces, it is accidentally moved from its unfolded position (also referred to as a working state) in its first rotational direction to its folded position.
  • the central shaft 15 passes through the fixed seat 11, the rotating member 12, the elastic member 13, and the sleeve 14 in this order.
  • One end of the central shaft 15 abuts the fixed seat 11, and the other end passes through. Passes through the second mounting block 204.
  • the snap spring 16 is mounted on one end of the central shaft 15 and is used to prevent the shaft sleeve 14 from moving along the axis of the central shaft 15.
  • One end of the machine arm 20 is sleeved on the shaft sleeve 14, and the machine arm 20, the shaft sleeve 14 and the rotating member 12 can rotate together about the central shaft 15 relative to the fixing base 11, Therefore, the arm assembly 100 can be rotated relative to the body 200 between a stowed position and a deployed position.
  • the fixing base 11 includes a base 110 and a fixing member 112 disposed on the base 110.
  • the fixing member 112 extends from the base 110.
  • the cam surface is provided on an end surface of the fixing member 112 facing the rotating member 12.
  • the fixing member 112 has a hollow cylindrical shape, and is provided with a first central hole 114.
  • the first central hole 114 penetrates the base 110 and the fixing member 112 to allow the central shaft 15 to pass through.
  • the base 110 is substantially an oval plate, and has two fixing holes 116.
  • the fixing base 11 fixes the base 110 to the first through screws (not shown) passing through the two fixing holes 116. Installing block 202.
  • the rotating member 12 also has a hollow cylindrical shape, and a second central hole 124 is defined therein, and the second central hole 124 penetrates the rotating member 12 for allowing the central shaft 15 to pass through.
  • the cam 12 is also provided on the end surface of the rotating member 12 facing the fixing member 112.
  • the fixing member 112 is provided with two cam surfaces on its end surface facing the rotating member 12, namely, a first cam surface 1121 and a second cam surface 1122.
  • 1121 and the second cam curved surface 1122 are center symmetrical with respect to a central axis of the fixing member 112.
  • an end surface of the rotating member 12 facing the fixing member 112 is also provided with a cam curved surface, and the cam curved surface and the setting provided on the fixing member 112 are also provided.
  • the cam surface abuts.
  • the shape of the end surface of the rotating member 12 facing the fixing member 112 of the fixing base 11 matches the shape of the end surface of the fixing member 112 facing the rotating member 12.
  • the cam curved surface on the rotating member 12 can be tightly accommodated in the cam curved surface formed on the fixing member 112, and when the rotating member 12 rotates about the central axis 15 relative to the fixing member 112
  • the highest point of the cam curved surface of the rotating member 12 can closely contact the highest point of the cam curved surface on the fixing member 112, so that the rotating member 12 can smoothly rotate relative to the fixing member 112.
  • the shape of the end face of the rotating member 12 facing the fixing member 112 matches the shape of the end face of the fixing member 112 facing the rotating member 12.
  • the first cam curved surface 1121 provided on the fixing member 112 includes a transition point 1123, a first slope surface 1124 and a second slope surface 1125.
  • the first slope surface 1124 is located on one side of the transition point 1123, the second slope surface 1125 is located on the other side of the transition point 1123, and the first slope surface 1124 is opposite to the second slope surface 1125
  • a straight line passing through the transition point 1123 and parallel to the central axis 15 is asymmetric.
  • the transition point 1123 is the vertex of the cam curved surface 1121, that is, the highest point.
  • the first slope surface 1124 and the second slope surface 1125 may be flat or curved.
  • the shape of the first slope surface 1124 and the second slope surface 1125 may be the same or different.
  • the The first slope surface 1124 and the second slope surface 1125 are curved surfaces having different shapes.
  • the slope angle A of the first slope surface 1124 is greater than the slope angle B of the second slope surface 1125. In other embodiments of the present application, the slope angle A of the first slope surface 1124 may be smaller than the slope angle B of the second slope surface 1125.
  • the second cam curved surface 1221 also includes a transition point, a first slope surface, and a second slope surface. The first slope surface is located on one side of the transition point, the second slope surface is located on the other side of the transition point, and the first slope surface and the second slope surface pass through the transition point with respect to each other. The straight line parallel to the central axis 15 is asymmetric. The first cam curved surface 1121 and the second cam curved surface are connected to each other at two lowest points in common, one of which is shown on the figure by reference numeral 1126, and the other lowest point is not shown.
  • the shape of the slope surface in three-dimensional space is a curved surface or a plane, and the shape of the slope surface in two-dimensional space is a curve or a straight line.
  • the shape of the slope is usually studied in two dimensions.
  • the shape of the slope is divided into two types: linear slope and curved slope.
  • the slope surface is a flat surface
  • the shape of the slope surface in a two-dimensional space is a linear slope shape
  • the slope angle refers to a straight line of the linear slope shape and perpendicular to the central axis of the fixing member 112 Angle of the plane.
  • the slope angle of the curved slope the calculated n-slope angle accumulation / n.
  • the slope angle A of the first slope surface 1124 and the slope angle B of the second slope surface 1125 may be selected according to actual needs, as long as the slope angle A of the first slope surface 1124 and the second slope surface
  • the calculation method of the slope angle B of the slope surface 1125 may be the same.
  • the sizes of the slope angles A and B can be set according to actual needs, and are not particularly limited herein.
  • the elastic member 13 is pushed by the axial push of the elastic member 13 along the central axis 15.
  • the thrust force required for the rotation element 12 to rotate in the first rotation direction a is greater than the thrust force required for the rotation element 12 to rotate in the second rotation direction b.
  • the first rotation direction a is opposite to the second rotation direction b.
  • the first cam curved surface 1121 and the second cam curved surface 1122 on the fixed base 11 and the third cam curved surface 1221 of the rotating member 12 and The fourth cam curved surface 1222 is fully and completely abutted due to the form fit. Specifically, a portion of the first cam curved surface 1121 of the fixed seat 11 located at the highest point 1123 is exactly accommodated at a position where a lowest point of the third cam curved surface 1221 and the fourth cam curved surface 1222 is connected to each other.
  • the highest cam portion of the second cam curved surface 1121 of the fixed seat 11 is accommodated at the position where another lowest point of the third cam curved surface 1221 and the fourth cam curved surface 1222 is connected to each other.
  • the highest cam portion of the three cam curved surface 1221 is accommodated at a position where a lowest point where the first cam curved surface 1121 and the second cam curved surface 1122 are connected to each other, and the fourth cam curved surface 1222 of the rotating member 12 is located.
  • the part located at the highest point is exactly accommodated at the position where another lowest point where the first cam curved surface 1121 and the second cam curved surface 1122 are connected to each other is located.
  • the machine arm 20 When the machine arm 20 needs to be stowed, the machine arm 20, the shaft sleeve 14 and the rotating member 12 rotate together about the central axis 15 in the first rotation direction a. At the transition point, The portion of the first cam curved surface 1121 of the fixed seat 11 located at the highest point 1123 is separated from the lowest point where the third cam curved surface 1221 and the fourth cam curved surface 1222 are connected to each other, and the arm is further rotated. 20.
  • the shaft sleeve 14 and the rotating member 12 enable the part of the first cam curved surface 1121 of the fixed seat 11 located at the first highest point 1123 to move to when the arm 20 is in the folded position, And is accommodated at the position where another lowest point of the third cam curved surface 1221 and the fourth cam curved surface 1222 is connected to each other, and a portion of the second cam curved surface 1121 of the fixed seat 11 located at the second highest point moves to And is accommodated at a position where the third cam surface 1221 and the fourth cam surface 1222 are connected to each other, and the lowest point of the first highest point 1123 of the first cam surface 1121 is originally accommodated.
  • a portion of the third cam curved surface 1221 of the rotating member 12 located at the first highest point moves to and is accommodated in another lowest connected to the first cam curved surface 1121 and the second cam curved surface 1122.
  • the portion of the fourth cam curved surface 1222 of the rotating member 12 located at the second highest point moves to and is accommodated in the first cam curved surface 1121 and the second cam curved surface 1122 connected to each other, The lowest point where the first highest point of the third cam curved surface 1221 was originally accommodated.
  • the machine arm 20 can be effectively prevented from being accidentally unfolded from its deployed position due to an undesired external force. Ground to its folded position to achieve the purpose of flying the UAV 100 in a safe and stable attitude.
  • the arm 20 can be pushed to the deployed position along the second rotation direction b by using only a small force.
  • a cam surface is provided on the fixed base 11 and the rotating member 12.
  • a cam surface may be provided only on the fixed base 11, and A convex portion matching the shape of the cam curved surface is provided on the piece 12, and the convex portion abuts the cam curved surface on the fixing base 11.
  • recessed portions may be provided on the rotating member 12, and the number of the recessed portions is equal to the number of the protruding portions. For example, in some embodiments of the present application, when the number of convex portions provided on the rotating member 12 is two, the number of the concave portions provided on the rotating member 12 may also be two.
  • both of the protrusions are cam blocks, and both of the protrusions protrude in the direction of the fixing member 11 along the axial direction of the rotating member 12, that is, along all directions.
  • the axial direction of the central shaft 15 is convex toward the fixing base 11, and the two protruding portions are center symmetrical with respect to the central axis of the rotating member 12.
  • the two recessed portions are also center symmetrical with respect to the central axis of the rotating member 12.
  • At least one of the fixing base 11 and the rotating member 12 has a cam curved surface, and the cam curved surface enables the rotating member 12 to be driven by the shaft sleeve 14. It can move along the axis of the central shaft 15 when it rotates down, and the cam surface has a shape that enables the shaft sleeve 14 to drive the rotary member 12 to rotate in the first rotation direction a.
  • the thrust is greater than the shaft
  • the pushing force of the sleeve 14 driving the rotating member 12 to rotate in the second rotating direction b can effectively prevent the machine arm 20 from being accidentally moved to its unfolded position when it is in a working state due to an undesired external force.
  • the arm 20 When the arm 20 needs to be deployed, the arm 20 can be pushed to a working state along the second rotation direction b with a smaller force.
  • at least one of the fixing base 11 and the rotating member 12 One has a cam curved surface, and the other end is provided with a convex portion, and the convex portion abuts the cam curved surface.
  • a cam curved surface may be provided only on the rotating member 12, and a convex portion matching the shape of the cam curved surface may be provided on the fixing base 11.
  • the cam surface on the rotating member 12 abuts.
  • recessed portions may be provided on the fixing base 11, and the number of the recessed portions is equal to the number of the protruding portions.
  • the number of the concave portions provided on the fixing base 11 may also be two.
  • both of the protrusions are cam blocks, and both of the protrusions protrude in the direction of the rotating member 12 along the axial direction of the fixing base 11, that is, along all directions.
  • the axial direction of the central shaft 15 is convex toward the rotating member 12, and the two protruding portions are center symmetrical with respect to the central axis of the fixing base 11.
  • the two recessed portions are also center symmetrical with respect to the central axis of the fixing base 11.
  • the range of the minimum rotation angle where the two protrusions provided on the fixing member 112 are rotationally symmetric with each other around the central axis 15 may be greater than zero and less than or equal to 180 degrees, and are disposed on the rotating member.
  • the number of the recessed portions on 12 is three, and any two of the recessed portions are rotationally symmetrical about each other about the central axis 15, and the recessed portion in the middle and the other two recessed portions are mutually rotated about the central axis 15.
  • the symmetrical minimum rotation angles are all equal to the minimum rotation angles where the two protrusions are rotationally symmetric with each other around the central axis 15.
  • the convex portion and the concave portion have the same outline and the same size.
  • each of the raised portions is received in a corresponding recessed portion, for example, the recessed portion in the middle and the other two recessed portions are rotationally symmetrical to each other.
  • the minimum rotation angles are 45 degrees, and the minimum rotation angles of the two protrusions that are rotationally symmetrical about each other about the central axis 15 are 45 degrees.
  • the convex portions Out of the recessed portion when the arm 20 is in the folded position, the two protruding portions are respectively accommodated in the recessed portion located in the middle and the recessed portion located on the other side.
  • the minimum rotation angles of the recessed portion in the middle and the other two recessed portions being rotationally symmetrical with each other are 135 degrees, and the two protruding portions are rotationally symmetrical with each other about the minimum axis of the minimum rotation. The angle is 135 degrees.
  • each of the protrusions is tightly received in a corresponding one of the depressions, and each of the protrusions is tightly received in a corresponding of the depressions.
  • Each of the protrusions is an asymmetric structure, and the two protrusions are 180 degrees rotationally symmetric with each other about the central axis 15, and the two recesses are 180 degree rotationally symmetric with each other about the central axis 15 Similarly, the two convex portions are 180-degree rotationally symmetric with each other around the central axis 15, and the two concave portions are 180-degree rotationally symmetric with each other about the central axis 15.
  • the number of convex portions provided on the fixing member 112 may be at least one, and the number of concave portions provided on the rotating member 12 is at least two.
  • the number of the recessed portions is greater than or equal to the number of the raised portions.
  • the range of the minimum rotation angle of any two adjacent recessed portions that are rotationally symmetrical about the central axis 15 is greater than zero and less than or equal to 180 degrees.
  • each of the raised portions is received in a corresponding recessed portion, and the raised portion and the recessed portion have the same outline and the same size, for example,
  • the number of the convex portions is one and the number of the concave portions is two.
  • the minimum rotation angle of the two concave portions that are rotationally symmetric with each other about the central axis 15 is 135 degrees.
  • 20 is in the unfolded position, that is, the raised portion is housed in one of the recessed portions when in a working state, and at the transition point, the raised portion is separated from the recessed portion, and when the arm 20 is in the folded position, The raised portion is housed in another place Mentioned depression.
  • the number of the convex portions provided on the fixing member 112 is three
  • the number of the concave portions provided on the rotating member 12 is three
  • any two adjacent ones The minimum rotation angle of the convex portions that are rotationally symmetrical with each other around the central axis 15 is 120 degrees, and the minimum rotation angle of any two adjacent recesses that are rotationally symmetrical with each other about the central axis 15 is also 120 degrees.
  • the cam curved surfaces provided on the fixed base 11 and the rotating member 12 are both cam blocks and cam recessed structures, so that the rotating member 12 can be opposed to the central axis 15 relative to The fixed base 12 rotates smoothly and stably, so that the machine arm 20 can be smoothly and stably stowed or unfolded.
  • the fixed base 11 and The cam curved surface on the rotating member 12 may be a structure of a gear tooth and a tooth groove, and an end surface of the gear tooth is a cam curved surface, including a transition point, a first slope surface, and a second slope surface.
  • the first slope surface is located on one side of the transition point, the second slope surface is located on the other side of the transition point, and the first slope surface and the second slope surface pass through the transition point with respect to each other.
  • a straight line parallel to the central axis is asymmetric.
  • the transition point is a vertex of the cam curved surface, that is, the highest point; the surface of the cogging is a cam curved surface, including a transition point, a first slope surface, and a second slope surface.
  • the first slope surface is located on one side of the transition point, the second slope surface is located on the other side of the transition point, and the first slope surface and the second slope surface pass through the transition point with respect to each other.
  • a straight line parallel to the central axis is asymmetric.
  • the transition point is the lowest point of the cam surface.
  • the cam surface provided on the fixed seat 11 and the rotating member 12 may be a symmetrical cam block / symmetric gear tooth and a symmetrical cam recess / symmetric Cogged structure
  • the end face of the symmetrical cam block / symmetrical gear tooth is a cam curved surface, including a transition point, a first slope surface and a second slope surface. The first slope surface is located on one side of the transition point, and the second slope surface is located on the other side of the transition point.
  • the slope angle of the first slope surface is equal to the slope angle of the second slope surface, and the first slope surface and the second slope surface are symmetrical with respect to a straight line passing through the transition point and parallel to the central axis.
  • the transition point is the vertex of the cam curved surface, that is, the highest point; the surface of the symmetrical cam recess / symmetrical groove is a cam curved surface, including the transition point, the first slope surface and the second slope surface.
  • the first slope surface is located on one side of the transition point
  • the second slope surface is located on the other side of the transition point
  • the slope angle of the first slope surface is equal to the slope angle of the second slope surface
  • the first slope surface and the second slope surface are symmetrical with respect to a straight line passing through the transition point and parallel to the central axis.
  • the transition point is the lowest point of the cam surface.
  • the elastic member 13 is a compression spring, which is sleeved on the central shaft 15 and received in the shaft sleeve 14, and the elastic member 13 is compressed in the shaft sleeve 14 and Between the rotating members 12, the rotating members 12 are axially pushed along the central axis 15 against the fixing members 112. It can be understood that, in some other embodiments, the elastic member 13 may be any other elastic element that can provide thrust, such as a rubber cylinder.
  • the shaft sleeve 14 is substantially hollow and cylindrical, and is provided with a receiving cavity 140 for receiving the elastic member 13 and the rotating member 12.
  • the cross-sectional shape of the receiving cavity 140 perpendicular to the central axis of the sleeve 14 is non-circular, and is the same as the cross-sectional shape of the rotating member 12 perpendicular to the central axis thereof, so that the rotating member 12 is entirely received or partially When accommodated in the receiving cavity 140, the outer wall of the rotating member 12 abuts the inner wall of the receiving cavity 140.
  • the rotating member 12 When the shaft sleeve 14 rotates about the central axis 15, the rotating member 12 can be driven to rotate together, and When the fixing member 112 is pushed along the axis of the central shaft 15, the rotating member 12 can move within the sleeve 14 along the axis of the central shaft 15.
  • the other end of the sleeve 14 has a bottom wall 142 for supporting the elastic member 13.
  • the bottom wall 142 defines a third central hole 144 for allowing the central shaft 15 to pass through.
  • the central shaft 15 includes a flange 152 and a rod body 154.
  • the flange 152 is connected to one end of the rod body 154, and the other end of the rod body 154 away from the flange 152 is provided with a shaft groove 150.
  • the flange 152 abuts the base 110, the rod body 154 passes through the first center hole 114, the second center hole 124, and the third center hole 144, and the shaft groove 150 is located at The outside of the sleeve 14 is described.
  • the retaining spring 16 is caught in the shaft groove 150, and the retaining spring 16 abuts against the bottom wall 142, thereby preventing the shaft sleeve 14 from moving in the axial direction of the central shaft 15.
  • the snap spring 16 may be replaced by other elements that can prevent the shaft sleeve 14 from moving along the central axis 15, such as a retaining ring for the shaft, or the card
  • the spring 16 may be omitted, and the axial movement of the sleeve 14 along the central shaft 15 is prevented by the arm 20 or the second mounting block 204.
  • the number of the arm assembly 100 and the power assembly are four, two of the arm assembly 100 are installed on one side of the fuselage 200, and the other two of the arm are The assembly 100 is mounted on the other side of the body 200.
  • Each of the power components is installed at one end of a corresponding arm assembly 100, that is, the unmanned aerial vehicle 100 in this embodiment is a four-axis unmanned aerial vehicle. It can be understood that, in some other embodiments, the numbers of the arm assembly 100 and the power assembly may be increased or decreased according to actual needs, for example, reduced to one or two, or increased to six.
  • the pushing force required for the rotating member 12 and the shaft sleeve 14 to rotate in the first rotation direction a is greater than that of the rotating member 12 and the shaft sleeve 14 to rotate together in the second direction.
  • the thrust required for turning in the direction b can effectively prevent the machine arm 20 from being accidentally moved in the first rotating direction a to a non-working state when it is in a deployed position when it is in a working state due to an unexpected external force.
  • the machine arm 20 may be pushed to a working state along the second rotation direction b with a smaller force.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Transmission Devices (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Toys (AREA)

Abstract

L'invention concerne un véhicule aérien sans pilote (400), un ensemble bras (100) et un mécanisme d'arbre rotatif (10) associé. Le mécanisme d'arbre rotatif (10) comprend un arbre central (15), une base fixe (11), un manchon d'arbre (14) pouvant tourner autour de l'arbre central (15), un élément rotatif (12) logé au moins partiellement dans le manchon d'arbre (14), et un élément élastique (13) logé dans le manchon d'arbre (14). La base fixe (11), le manchon d'arbre (14), l'élément rotatif (12) et l'élément élastique (13) sont tous emmanchés sur l'arbre central (15). La base fixe (11) vient en butée contre l'élément rotatif (12), et la base fixe (11) et/ou l'élément rotatif (12) ont des surfaces incurvées de came (1121, 1122, 1221, 1222). Les surfaces incurvées de came (1121, 1122, 1221, 1222) permettent à l'élément rotatif (12) de se déplacer le long de l'axe de l'arbre central (15) lorsqu'il est entraîné en rotation par le manchon d'arbre (14). Les formes des surfaces incurvées de came (1121, 1122, 1221, 1222) permettent à l'élément rotatif (12), lorsqu'il est entraîné par le manchon d'arbre (14) de tourner dans une première direction de rotation (a), d'avoir une force de poussée supérieure à celle obtenue lors de la rotation dans une seconde direction de rotation opposée (b). L'utilisation d'une telle structure peut empêcher efficacement un bras (20) relié par un mécanisme d'arbre rotatif (10) à un véhicule aérien sans pilote (400) de se déplacer de manière inattendue dans une première direction de rotation (a) d'une position déployée d'un état de fonctionnement à une position repliée d'un état de non-fonctionnement sous l'effet d'une force externe inattendue.
PCT/CN2018/116756 2018-06-22 2018-11-21 Véhicule aérien sans pilote, ensemble bras et mécanisme d'arbre rotatif associé WO2019242225A1 (fr)

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CN201810651243.XA CN108791805B (zh) 2018-06-22 2018-06-22 无人飞行器及其机臂组件和转轴机构

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CN111380280A (zh) * 2018-12-29 2020-07-07 海信（山东）冰箱有限公司 一种冰箱
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