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WO2019119939A1 - Véhicule aérien sans pilote - Google Patents

Véhicule aérien sans pilote Download PDF

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Publication number
WO2019119939A1
WO2019119939A1 PCT/CN2018/109765 CN2018109765W WO2019119939A1 WO 2019119939 A1 WO2019119939 A1 WO 2019119939A1 CN 2018109765 W CN2018109765 W CN 2018109765W WO 2019119939 A1 WO2019119939 A1 WO 2019119939A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
drive shaft
assembly
drive
arm
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2018/109765
Other languages
English (en)
Chinese (zh)
Inventor
余春
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
Original Assignee
Autel Robotics Co Ltd
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 Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2019119939A1 publication Critical patent/WO2019119939A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals

Definitions

  • the present invention relates to the field of aircraft, and more particularly to an unmanned aerial vehicle having a photographing function.
  • the drone referred to as the Unmanned Aerial Vehicle (UAV)
  • UAV Unmanned Aerial Vehicle
  • the UAV is equipped with a variety 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 gimbal is usually installed under the fuselage of the unmanned aerial vehicle, and the working angle of the gimbal is limited.
  • the camera mounted on the gimbal can only be used for horizontal or oblique downward shooting.
  • the shooting angle of the camera device is limited.
  • an embodiment of the present invention provides a UAV that can be rotated by a fuselage, so that a shooting component mounted on the UAV can achieve multi-angle shooting.
  • An unmanned aerial vehicle comprising:
  • An arm assembly coupled to the body
  • a propeller connected to a motor shaft of the motor
  • a camera assembly mounted to the body
  • a fuselage drive assembly mounted to the fuselage
  • the arm assembly is configured to drive the body and the camera assembly to rotate relative to the arm assembly.
  • the body drive assembly includes a motor, a worm, a worm wheel, and a drive shaft;
  • the motor is housed in the fuselage
  • the worm is coupled to a rotating shaft of the motor, a central axis of the worm is coincident with an axis of rotation of a rotating shaft of the motor, and is perpendicular to the driving shaft;
  • the worm wheel is sleeved on the drive shaft, and the worm wheel meshes with the worm;
  • the drive shaft is disposed through the fuselage, and the arm assembly is fixedly coupled to an end of the drive shaft;
  • the motor and the worm can rotate together around the worm wheel and the drive shaft, thereby driving the body and the camera assembly to rotate relative to the arm assembly about the drive shaft.
  • the outer surface of the worm has a first helical tooth
  • the outer surface of the worm wheel has a second helical tooth that meshes with the second helical tooth.
  • the worm gear is hollow cylindrical with an axis that is perpendicular but not intersecting the axis of rotation.
  • the central axis of the drive shaft is perpendicular but not intersecting the axis of rotation.
  • the body drive assembly includes a motor, a first bevel gear, a second bevel gear, and a drive shaft;
  • the motor is housed in the fuselage
  • the first bevel gear is fixedly mounted to a rotating shaft of the motor
  • the second bevel gear is sleeved on the drive shaft, and the first bevel gear meshes with the second bevel gear;
  • the drive shaft is disposed through the fuselage, the arm assembly is fixedly coupled to an end of the drive shaft, and a central axis of the drive shaft is perpendicular to an axis of rotation of a rotating shaft of the motor;
  • the motor and the first bevel gear are rotatable together about the drive shaft to drive the body and the camera assembly to rotate relative to the arm assembly about the drive shaft.
  • the body drive assembly includes a motor, a first spur gear, a second spur gear, and a drive shaft;
  • the motor is housed in the fuselage
  • the first spur gear is fixedly mounted to a rotating shaft of the motor
  • the second spur gear is sleeved on the drive shaft, and the first spur gear meshes with the second spur gear;
  • the drive shaft is disposed in parallel with the rotation axis of the motor, the drive shaft is disposed through the body, and the arm assembly is fixedly coupled to the end of the drive shaft;
  • the motor and the first spur gear may rotate together around the drive shaft to drive the body and the camera assembly to rotate relative to the arm assembly about the drive shaft.
  • the body drive assembly further includes a bearing seat, two of the bearing seats are fixedly mounted to the body, and two ends of the drive shaft are movably mounted to the two bearings respectively.
  • the drive shaft is rotatable relative to the bearing housing.
  • a bearing is disposed in each of the bearing housings, and the bearing is sleeved on the drive shaft.
  • the number of the arm assemblies is two, and the two arm assemblies are respectively symmetrically disposed on opposite sides of the body, and are respectively fixedly mounted on the two sides of the drive shaft. end.
  • the arm assembly includes a main body arm and two connecting arms, one end of the main arm is fixedly mounted to one end of the driving shaft, and the two connecting arms are commonly connected to the The main arm is away from the other end of the drive shaft, and the main arm and the two connecting arms form a "Y" shape;
  • the motor is mounted at an end of the connecting arm away from the host arm.
  • the body drive assembly is mounted to the airframe, and the body drive assembly is coupled to the arm assembly to drive the airframe.
  • the camera assembly mounted on the UAV can be rotated 360 degrees, so that the camera assembly can adjust the working position and angle as needed, thereby achieving multi-angle shooting.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Figure 2 is a perspective view of another angle of the unmanned aerial vehicle shown in Figure 1;
  • FIG. 3 and FIG. 4 are respectively perspective views of still another angle of the UAV shown in FIG. 1, wherein a part of the fuselage of the UAV is omitted;
  • Figure 5 is a partial enlarged view of a portion A of Figure 4.
  • Figure 6 is a schematic view showing the assembly of the fuselage driving assembly of the unmanned aerial vehicle shown in Figure 1;
  • FIG. 7 is a schematic view showing the assembly of the body drive assembly in some embodiments of the present invention.
  • FIG. 8 is a schematic view showing the assembly of the body drive assembly in other embodiments of the present invention.
  • an unmanned aerial vehicle 100 includes a body 10 , a body drive assembly 20 , an arm assembly 30 , a motor 40 , a propeller 50 , and a camera assembly 60 .
  • the body drive assembly 20 is mounted in the body 10, and the body drive assembly 20 is coupled to the arm assembly 30 for driving the body 10 to perform 360 with respect to the arm assembly 30. Degree of rotation.
  • the motor 40 is mounted to the arm assembly 30, and the propeller 50 is mounted to the motor 40 for driving the propeller 50 to rotate to power the UAV 100.
  • the camera assembly 60 is mounted to the body 10 for capturing an image.
  • the body 10 includes a control circuit component composed of electronic components such as an MCU, and the control circuit component includes a plurality of control modules, for example, for controlling the body drive component 20 to drive the body 10 relative to the a control module for rotating the arm assembly 30, a flight control module for controlling the operation of the motor 40 to control the flight attitude of the UAV 100, for navigating a positioning module of the UAV 100, and for processing A data processing module for environmental information acquired by related onboard devices.
  • the drawings illustrate only the components related to the embodiments of the present invention.
  • the body drive assembly 20 includes a motor 202, a worm 203, a worm wheel 204, a drive shaft 205, and a bearing housing 206.
  • the motor 202 is received in the body 10 and fixedly mounted to the body 10, and its rotating shaft is coupled to the worm 203, and the rotation axis O of the rotating shaft of the motor 202 and the worm 203 The central axis coincides.
  • the motor 202 is configured to drive the worm 203 to rotate about the rotation axis O.
  • the worm 203 is cylindrical and has an outer surface having a first helical tooth 2032 for mating with the worm gear 204.
  • the worm gear 204 is hollow cylindrical with an axis that is perpendicular but not intersecting the axis of rotation O.
  • the outer surface of the worm wheel 204 has a second helical tooth 2042 that meshes with the second helical tooth 2042.
  • the worm wheel 204 is sleeved on the drive shaft 205.
  • the drive shaft 205 passes through the fuselage 10, wherein an axis coincides with a central axis of the worm wheel 204, and a central axis of the drive shaft 205 is also perpendicular but not intersecting the axis of rotation O.
  • the number of the bearing seats 206 is two, and is fixedly mounted on opposite sides of the body 10 respectively.
  • a bearing 2062 is disposed in each of the bearing housings 206. Both ends of the driving shaft 205 respectively pass through the bearing 2062 corresponding thereto and are exposed to the outside of the body 10 for connecting the machine. Arm assembly 30.
  • the drive shaft 205 is rotatable relative to the bearing 2062.
  • the bearing housing 206 can be omitted, and both ends of the driving shaft 205 are directly movably mounted to the body 10, both ends of the driving shaft 205 and the machine Lubricating oil may be added between the bodies 10 such that the drive shaft 205 is smoothly rotatable relative to the body 10.
  • the number of the arm assemblies 30 is two, and the two arm assemblies 30 are respectively mounted at two ends of the drive shaft 205.
  • Each of the arm assemblies 30 includes a main body arm 302 and a connecting arm 304.
  • one end of the main arm 302 is fixedly mounted to one end of the driving shaft 205, and the two The connecting arm 304 is commonly connected to the other end of the main arm 302 away from the drive shaft 205, and the main arm 302 and the two connecting arms 304 form a "Y" shape.
  • Two of the arm assemblies 30 symmetrically distributed on opposite sides of the fuselage 10 share a total of four of the connecting arms 304, two of which are located on one side of the fuselage 10, and two The connecting arm 304 is located on the other side of the body 10.
  • the motor 40 is mounted at an end of each of the connecting arms 304 away from the host arm 302.
  • the number of the arm assemblies 30 is two, which are symmetrically disposed on opposite sides of the body 10, and are respectively fixedly mounted on both ends of the drive shaft 205.
  • the number of the motors 40 is four, and the four motors 40 are located on the same plane and are respectively located at four vertex angles of one square.
  • the number of the arm assemblies 30 may also be one, one end of the drive shaft 205 is fixedly connected to the arm assembly 30, and the other end is passed through the corresponding Bearing 2062.
  • each of the motors 40 is correspondingly mounted with one of the propellers 50.
  • each of the arm assemblies 30 includes two of the connecting arms 304, and each of the connecting arms 304 is mounted with one of the motor 40 and one of the propellers 50, that is, the embodiment provides
  • the UAV 100 includes four propellers 50, which are four-rotor unmanned aerial vehicles.
  • each of the main arms 302 is directly mounted with one of the motor 40 and one of the propellers 50, that is, the unmanned aerial vehicle 100. Two of the propellers 50 are included.
  • the camera assembly 60 is mounted to the body 10, which includes a pan/tilt 602 and a camera 604.
  • the pan/tilt 602 is equipped with the imaging device 604.
  • the pan/tilt 602 is a three-axis stabilization pan/tilt that stabilizes the in-flight camera device 604 on three axes: a heading axis (Yaw), a pitch axis (Pitch) And the roll shaft (Roll).
  • the pitch axis is perpendicular to the roll axis
  • the heading axis is perpendicular to the pitch axis and the roll axis.
  • the pan/tilt 602 includes a first motor, a second motor, and a third motor.
  • the central axis of the rotor of the first motor is coaxial with the roll axis.
  • the central axis of the rotor of the second motor is coaxial with the pitch axis, and the central axis of the rotor of the third motor is coaxial with the heading axis.
  • the stator of the third motor is detachably mounted to the fuselage 10 through a mount, the rotor of the third motor is coupled to the stator of the second motor, and the rotor of the second motor is coupled to the stator of the first motor.
  • the third motor can be omitted, and the stator of the second motor is detachably mounted to the body 10 through a mount.
  • the pan/tilt 602 is detachably mounted to the body 10 through a fixing base, which facilitates replacement of the camera assembly 60.
  • the pan/tilt 602 can be detachably mounted to the body 10 by a snap, thread or the like.
  • the PTZ 602 when the UAV 100 is flying, the PTZ 602 is located below the fuselage 10. It can be understood that in some other implementations, the PTZ 602 can be based on actual needs. Mounted at any position of the body 10.
  • the imaging device 604 is fixed to a rotor of a first motor mounted to the pan/tilt 602.
  • the camera device 604 can be a camera, a camera, a camera, etc., which can include at least one lens, for example each of the camera devices 604 includes two lenses disposed away from each other.
  • the pan/tilt 602 can also be a single-axis pan/tilt; or the pan-tilt 602 is omitted, and the camera device 604 is directly mounted to the body 10.
  • the motor 40 operates to drive the propeller 50 to rotate to provide flight power to the UAV 100.
  • the camera assembly 60 may be positioned below the body 10 to shoot in a horizontal or oblique downward direction.
  • the UAV 100 controls the operation of the motor 202 when it is required to photograph the upper portion of the body 10.
  • the rotating shaft of the motor 202 drives the worm 203 to provide rotational power to the worm gear 204 and the drive shaft 205.
  • the propeller 50 Since the arm assembly 30 is fixedly coupled to the drive shaft 205, the propeller 50 provides the arm assembly 30 with a thrust that is opposite to the direction of rotation of the drive shaft 205 such that the drive shaft 205 and the worm gear 204 stay still.
  • the first helical teeth 2032 mesh with the second helical teeth 2042, and the rotational power provided by the motor 202 causes the worm 203 and the motor 202 rotates around the worm wheel 204 and the driving shaft 205, so that the body 10 can be rotated 180 degrees, and the camera assembly 60 is located above the body 10, and can be photographed in an upward direction without being hit by The fuselage 10 is blocked. Similarly, the body 10 can be rotated 360 degrees, and the working position and angle of the camera assembly 60 can be arbitrarily adjusted.
  • the worm 203 in the fuselage drive assembly 20 can be replaced with a first bevel gear 203a that can be replaced with a second bevel gear 204a.
  • the first bevel gear 203a is fixedly mounted to a rotating shaft of the motor 202, and the first bevel gear 203a includes a first conical surface 2032a, and the first conical surface 2032a and an axis of rotation of the rotating shaft of the motor 202 The angle O is 45 degrees, and the first conical surface 2032a is provided with teeth.
  • the second bevel gear 204a is sleeved on the drive shaft 205, and the second bevel gear 204a includes a second conical surface 2042a.
  • the angle between the second conical surface 2042a and the central axis of the drive shaft 205 is At 45 degrees, the second conical surface 2042a is provided with teeth, and the teeth of the first conical surface 2032a mesh with the teeth of the second conical surface 2042a.
  • the central axis of the drive shaft 205 is perpendicular to and intersects with the rotational axis O, and the first bevel gear 203a meshes with the second bevel gear 204a.
  • the worm 203 in the fuselage drive assembly 20 can be replaced with a first spur gear 203b, which can be replaced with a second spur gear 204b.
  • the rotating shaft of the motor 202 may be disposed in parallel with the driving shaft 205.
  • the first spur gear 203b is fixedly mounted on the rotating shaft of the motor 202, and the second spur gear 204b is sleeved on the driving shaft 205.
  • the first spur gear 203b is meshed with the second spur gear 204b.
  • the body drive assembly 20 can also be a belt drive, that is, the rotation axis of the motor 202 is disposed in parallel with the drive shaft 205, and the rotation axis of the motor 202 passes.
  • a belt is coupled to the drive shaft 205; alternatively, the fuselage drive assembly 20 can be otherly driven as long as the body 10 can be driven to rotate relative to the drive shaft 205 and the arm assembly 30. Degree can be.
  • the body drive assembly 20 is mounted to the body 10, and the body drive assembly 20 is coupled to the arm assembly 30 to drive the body 10 relative to the arm
  • the assembly 30 is rotated 360 degrees so that the camera assembly 60 can be rotated 360 degrees, so that the camera assembly 60 can adjust the working position and angle as needed to achieve multi-angle shooting.
  • Another embodiment of the present invention also provides a frame including the body 10 of the above embodiment, the body drive assembly 20, and the arm assembly 30.
  • the body drive assembly 20 is mounted in the body 10, and the body drive assembly 20 is coupled to the arm assembly 30 for driving the body 10 to perform 360 with respect to the arm assembly 30. Degree of rotation.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Toys (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne un véhicule aérien sans pilote (100), comprenant un fuselage (10), un ensemble d'entraînement de fuselage (20) et un ensemble bras (30). L'ensemble d'entraînement de fuselage (20) est monté sur le fuselage (10). L'ensemble bras (30) est couplé à l'ensemble d'entraînement de fuselage (20) qui peut entraîner le fuselage (10) en rotation sur 360 degrés par rapport à l'ensemble bras (30). Il peut entraîner l'ensemble caméra monté sur le véhicule aérien sans pilote pour tourner sur 360 degrés, de telle sorte que l'ensemble caméra peut régler la position et l'angle de travail selon les besoins, ce qui permet d'obtenir une prise de vue multi-angle.
PCT/CN2018/109765 2017-12-22 2018-10-11 Véhicule aérien sans pilote Ceased WO2019119939A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201711403687.3 2017-12-22
CN201711403687.3A CN108100243A (zh) 2017-12-22 2017-12-22 无人飞行器及其机架

Publications (1)

Publication Number Publication Date
WO2019119939A1 true WO2019119939A1 (fr) 2019-06-27

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/109765 Ceased WO2019119939A1 (fr) 2017-12-22 2018-10-11 Véhicule aérien sans pilote

Country Status (2)

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CN (1) CN108100243A (fr)
WO (1) WO2019119939A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113879511A (zh) * 2021-11-18 2022-01-04 西南石油大学 一种四轴折叠翼微型无人机

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108100243A (zh) * 2017-12-22 2018-06-01 深圳市道通智能航空技术有限公司 无人飞行器及其机架
US20240083604A1 (en) * 2021-01-21 2024-03-14 Trim Robotics Ltd. Dynamic drive
CN121487871A (zh) * 2023-10-10 2026-02-06 深圳市大疆创新科技有限公司 一种飞行器

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CN103921933A (zh) * 2013-01-10 2014-07-16 深圳市大疆创新科技有限公司 飞行器变形结构及微型飞行器
JP2017063960A (ja) * 2015-09-29 2017-04-06 京商株式会社 マルチコプター玩具
CN105235899A (zh) * 2015-11-17 2016-01-13 永嘉县恒瑞礼品有限公司 一种可变形无人飞行器
WO2017132796A1 (fr) * 2016-02-01 2017-08-10 Autel Robotics Co., Ltd Aéronef multirotor et procédé permettant de commander l'aéronef multirotor
CN107444606A (zh) * 2017-09-15 2017-12-08 汤新哲 新型飞行器及飞行器系统
CN108100243A (zh) * 2017-12-22 2018-06-01 深圳市道通智能航空技术有限公司 无人飞行器及其机架
CN207956048U (zh) * 2017-12-22 2018-10-12 深圳市道通智能航空技术有限公司 无人飞行器及其机架

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113879511A (zh) * 2021-11-18 2022-01-04 西南石油大学 一种四轴折叠翼微型无人机

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