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WO2019205139A1 - 无人机机架和无人机 - Google Patents

无人机机架和无人机 Download PDF

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Publication number
WO2019205139A1
WO2019205139A1 PCT/CN2018/085095 CN2018085095W WO2019205139A1 WO 2019205139 A1 WO2019205139 A1 WO 2019205139A1 CN 2018085095 W CN2018085095 W CN 2018085095W WO 2019205139 A1 WO2019205139 A1 WO 2019205139A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm assembly
assembly
group
rotor
center frame
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/CN2018/085095
Other languages
English (en)
French (fr)
Inventor
吴晓龙
邓磊
卢绰莹
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.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology 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 SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2018/085095 priority Critical patent/WO2019205139A1/zh
Priority to CN201880011479.5A priority patent/CN110382353B/zh
Publication of WO2019205139A1 publication Critical patent/WO2019205139A1/zh
Priority to US17/081,944 priority patent/US20210039764A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • 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
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/50—Foldable or collapsible UAVs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/40—UAVs specially adapted for particular uses or applications for agriculture or forestry operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
    • 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

Definitions

  • the invention belongs to the technical field of drones and relates to a drone rack and a drone.
  • the drone includes a frame and a plurality of rotor assemblies extending radially outward from the frame, such as a four-wing, six-wing, eight-wing multi-rotor drone.
  • the rotor assembly includes a connecting rod fixed to the frame, a motor mounted on the connecting rod, and a rotor mounted on the output shaft of the motor, and the motor drives the rotor to rotate, so that the drone performs the flying action.
  • the rotor assemblies are extended from the frame to the same plane and on the same plane.
  • each rotor assembly is rotated while the rotor assembly is in flight.
  • the ranges of the blades of the rotors of adjacent rotor assemblies are spaced apart from each other to avoid mutual impact.
  • the downwind wind field generated by each rotor rotation is also in an independent state, and the downwind wind field depends on the wind pressure generated by the rotation of the rotor itself.
  • UAVs can be used in agriculture and can be used for spraying operations.
  • agricultural drones include multi-rotor drones such as six wings and eight wings.
  • the agricultural drone needs to be equipped with liquid for spraying operation.
  • a nozzle is provided on the rotor assembly for spraying liquid, and the liquid is sprayed to the crop on the flight path of the drone through the lower pressure wind field generated by the rotor.
  • the force of the downwind wind field increases the penetration of the liquid to spray the liquid between the plant spacing of the crop.
  • the downwind wind fields generated by each rotor are independent of each other and interfere with each other in the lower region of the downwind wind field, resulting in a messy downwind wind field generated by the drone flight.
  • the sprayed liquid also becomes disordered under the action of the lower pressure wind field, resulting in poor penetration of the liquid and poor spraying effect.
  • one of the objects of the present invention is to provide a drone rack and a drone.
  • a drone rack comprising a center frame, a left arm group and a right arm group symmetrically distributed on both sides of the center frame, the left arm
  • the set and the right arm set each include a front arm assembly, a rear arm assembly and a middle arm assembly mounted to the center frame, the middle arm assembly being located between the front arm assembly and the rear arm assembly, wherein the middle arm assembly
  • the arm assembly includes a first rotor assembly including a second rotor assembly, the rear arm assembly including a third rotor assembly, a downwind field at the left arm group and the right arm group In the output direction, the plane of rotation of at least one of the first rotor assembly, the second rotor assembly, and the third rotor assembly is at a different height.
  • a second aspect of the embodiments of the present invention provides a drone, including a rack, a control module mounted on the rack, and a body assembly mounted on the rack, the rack including the center frame, a left arm group and a right arm group installed symmetrically on both sides of the center frame, the left arm group and the right arm group respectively including a front arm assembly and a rear arm assembly assembled to the center frame a middle arm assembly, the middle arm assembly being located between the front arm assembly and the rear arm assembly, the intermediate arm assembly including a first rotor assembly, the front arm assembly including a second rotor assembly,
  • the rear arm assembly includes a third rotor assembly, at least in the output direction of the lower air field of the left arm group and the right arm group, at least the first rotor assembly, the second rotor assembly, and the third rotor assembly
  • the rotation plane of one is at different heights; the control module is for controlling the movement of the left arm group and the right arm group.
  • the left side of the center frame is equipped with a symmetrical left arm group and a right arm group.
  • the rotation planes of at least one of the first rotor assembly, the second rotor assembly and the third rotor assembly are at different heights, and the lower pressure wind fields output by the left arm group and the right arm group at least partially overlap, thereby increasing the downwind field.
  • the wind is pressed down to increase the liquid penetration force in the lower pressure field.
  • FIG. 1 is a schematic top plan view of a drone according to an exemplary embodiment of the present invention.
  • FIG. 2 is a schematic structural view of the unmanned aerial vehicle frame in a stowed position according to an exemplary embodiment of the present invention.
  • FIG 3 is a side elevational view showing the structure of an unmanned aerial vehicle frame according to an exemplary embodiment of the present invention.
  • FIG. 4 is a schematic structural view of a right arm set in a deployed position of the unmanned aerial vehicle frame according to an exemplary embodiment of the present invention.
  • FIG. 5 is a schematic exploded view of a drone frame according to an exemplary embodiment of the present invention.
  • the center frame 10 the body assembly 101; the left arm set 20; the front arm assembly 21; the second rotor assembly 211; the second connecting rod set 212; the intermediate arm assembly 22; the first rotor assembly 221; First connecting rod set 222; threaded portion 223; rear arm assembly 23; third rotor assembly 231; third connecting rod set 232; right arm set 30; locking device 40; fixing base 41; fixing portion 411; 412; external thread 413; insertion groove 414; locking member 42.
  • a drone includes a rack, a rack mounted control module, and a rack mounted body mount 101.
  • the frame comprises a center frame 10, a left arm group 20 and a right arm group 30 which are symmetrically distributed on both sides of the center frame 10.
  • the control module is installed in the center frame 10, and is connected to the left arm group 20 and the right arm.
  • the group 30 is electrically connected, and the control module is used to control the movement of the left arm group 20 and the right arm group 30.
  • the control module controls the left arm group 20 and the right arm group 30 to execute corresponding control commands to enable the drone. Perform straight flight, turn, ascending, descending, etc.
  • the left arm group 20 and the right arm group 30 are symmetrically distributed to each other to maintain balance during flight of the drone.
  • the left arm set 20 and the right arm set 30 each include a front arm assembly 21, a rear arm assembly 23, and a middle arm assembly 22 that are mounted to the center frame 10, wherein the middle arm assembly 22 is located at the front arm assembly 21.
  • the middle arm assembly 22 includes a first rotor assembly 221
  • the front arm assembly 21 includes a second rotor assembly 211
  • the rear arm assembly 23 includes a third rotor assembly 231.
  • the front arm assembly 21, the rear arm assembly 23 and the intermediate arm assembly 22 radiate outward from the center frame 10, and the first rotor assembly 221, the second rotor assembly 211 and the third rotor assembly 231 are executed under the control of the control module.
  • Corresponding rotation actions such as rotating at the same speed, different speeds of one or more of them, and the like.
  • At least in the output direction of the downwind field of the left arm group 20 and the right arm group 30, at least the first rotor assembly 221, the second rotor assembly 211, and the third rotor assembly 231 The plane of rotation of one is at a different height.
  • the first rotor assembly 221, the second rotor assembly 211, and the third rotor assembly 231 perform a rotational motion to drive the drone to fly, and generate under the operation of the first rotor assembly 221, the second rotor assembly 211, and the third rotor assembly 231. Press down the wind farm.
  • the rotation planes of at least one of the first rotor assembly 221, the second rotor assembly 211, and the third rotor assembly 231 are different, which may affect the distribution of the downwind field.
  • the plane of rotation of the first rotor assembly 221 is lower than the plane of rotation of the second rotor assembly 211 and the third rotor assembly 231, and the lower rotor field and the first rotor assembly 221 generated by the second rotor assembly 211 and the third rotor assembly 231
  • the generated downcomer wind fields partially overlap, which improves the penetration force of the downwind field of the first rotor assembly 221 .
  • the drone is used in the agricultural field for spraying liquids such as pesticides.
  • the agricultural drone also includes a rack mounted spray system including a water tank and a spray head assembly, the water tank of the spray system being secured to the frame, and the spray head assembly being mounted to the left arm set 20 and the right arm set 30.
  • the showerhead assembly is mounted at the intermediate arm assembly 22 of the left arm set 20 and the right arm set 30. The liquid sprayed by the nozzle assembly is located within a range of the lower pressure field generated by the rotation of the first rotor assembly 221, the second rotor assembly 211, and the third rotor assembly 231.
  • the drone flight drives the spray system to spray along the flight path, and the downwind wind field blows off the liquid and penetrates the crops of the route. Because the lower pressure wind fields overlap each other, the downward pressure wind of the lower pressure wind field is improved, and the penetration force of the liquid is strong.
  • the first rotor assembly 221 is located at the end of the intermediate arm assembly 22, the second rotor assembly 211 is located at the end of the front arm assembly 21, and the third rotor assembly 231 is located at the end of the rear arm assembly 23.
  • the first rotor assembly 221, the second rotor assembly 211, and the third rotor assembly 231 are respectively located at the outermost peripheral regions of the drone, and have a large downwind field range.
  • the height of the end of the intermediate arm assembly 22 is less than the height of the end of the front arm assembly 21, and the height of the end of the intermediate arm assembly 22 is less than the height of the end of the rear arm assembly 23.
  • the end of the middle arm assembly 22 is located below the front arm assembly 21 and the rear arm assembly 23.
  • the rotational plane height of the first rotor assembly 221 is smaller than the rotational plane height of the second rotor assembly 211, and is also smaller than the third rotor.
  • the paddle extent of the first rotor assembly 221 at least partially coincides with the paddle extent of the second rotor assembly 211 in the direction of the downwind field.
  • the paddle extent of the third rotor assembly 231 at least partially coincides with the paddle extent of the first rotor assembly 221 in the direction of the downwind field. Therefore, when the drone is in flight, the downwind field generated by the second rotor assembly 211 and the third rotor assembly 231 acts on the downwind field generated by the first rotor assembly 221.
  • the downwind generated at the first rotor assembly 221 is large, the energy supplied to the liquid is large, and the penetration of the liquid is strong.
  • the plane of rotation of the first rotor assembly 221 is in a different plane than the plane of rotation of the second rotor assembly 211 and the third rotor assembly 231.
  • the planes of rotation of the second rotor assembly 211 and the third rotor assembly 231 are in the same plane.
  • the first rotor assembly 221 is located at an intermediate portion of the center frame 10
  • the second rotor assembly 211 and the third rotor assembly 231 are located at both sides of the first rotor assembly 221.
  • the lower pressure wind field generated by the second rotor assembly 211 and the third rotor assembly 231 acts on both sides of the lower pressure wind field generated by the first rotor assembly 221 and at least partially overlaps such that the downwind field at the first rotor assembly 221 strengthen.
  • the middle arm assembly 22 includes a first connecting rod set 222 for connecting the first rotor assembly 221 with the center frame 10, the first connecting rod set 222 for supporting the first rotor assembly 221 and maintaining the first rotor assembly 221 and the center
  • the relative position between the shelves 10 is stable.
  • the front arm assembly 21 includes a second connecting rod set 212 for connecting the second rotor assembly 211 with the center frame 10
  • the rear arm assembly 23 includes a third connecting rod set for connecting the third rotor assembly 231 with the center frame 10. 232.
  • the second connecting rod group 212 and the third connecting rod group 232 have the same function as the first connecting rod group 222.
  • the height of the first connecting rod group 222 is smaller than the height of the second connecting rod group 212, and the height of the first connecting rod group 222 is smaller than the height of the third connecting rod group 232.
  • the structures of the first connecting rod group 222, the second connecting rod group 212 and the third connecting rod group 232 may be linear or partially curved, and the plane of rotation of the first rotor assembly 221 passes through the first connecting rod group 222 and The connection position of the center frame 10 and the shape of the first connecting rod group 222 are adjusted accordingly.
  • the shapes of the first connecting rod group 222, the second connecting rod group 212, and the third connecting rod group 232 are all linear, and the first rotor assembly 221 is opposite to the second rotor assembly 211 and the third rotor assembly 231.
  • the plane of rotation is determined by the mounting height of the first connecting rod set 222 on the center frame 10.
  • first connecting rod set 222, the second connecting rod set 212, and the third connecting rod set 232 are respectively connected to the central portion 10 of the center frame 10 as viewed from the side of the flying state of the drone. In a triangular distribution, the first connecting rod set 222 is at the lowest position.
  • connection portion 412 of the first connecting rod group 222, the second connecting rod group 212, and the third connecting rod group 232 to the center frame 10, respectively, to adjust the first rotor assembly 221, the second rotor assembly 211, and the third rotor assembly
  • the relative position of 231 adjusts the range of the downwind wind field of the drone, and the distribution of the downwind wind field is convenient to adjust.
  • the lowest position of the first connecting rod set 222 can improve the flight balance of the drone under the liquid reverse force when the agricultural drone sprays the liquid.
  • the distance between the first connecting rod set 222 and the third connecting rod set 232 is greater than the distance between the first connecting rod set 222 and the second connecting rod set 212.
  • the first connecting rod set 222 is adjacent to the second connecting rod set 212, wherein the connecting portion 412 of the second connecting rod set 212 and the center frame 10 is located near one end of the head.
  • the first connecting rod set 222 is coupled to the center frame 10 and inclined toward one side of the third connecting rod set 232, and the first rotor assembly 221 is located in an intermediate portion between the second rotor assembly 211 and the third rotor assembly 231 such that The paddle extent of the second rotor assembly 211 and the third rotor assembly 231 overlaps at least a portion of the edge of the paddle extent of the first rotor assembly 221.
  • the circular extent produced by the rotation of the first rotor assembly 221 intersects the circular extent produced by the rotation of the second rotor assembly 211 and the third rotor assembly 231 as viewed from a top view of the flight state of the drone.
  • connection portion 412 between the first connecting rod group 222, the second connecting rod group 212, and the third connecting rod group 232 and the center frame 10 such that the first rotor assembly 221, the second rotor assembly 211, and the third rotor assembly 231 acts on the vibration balance of the center frame 10.
  • the total length of the intermediate arm assembly 22 is greater than the total length of the front arm assembly 21, and the total length of the intermediate arm assembly 22 is greater than the total length of the rear arm assembly 23.
  • the total length of the intermediate arm assembly 22 includes the sum of the first connecting rod set 222 and the first rotor assembly 221 in the longitudinal direction, the longitudinal direction of which extends from the intersection of the center frame 10 toward the first rotor assembly 221.
  • the nozzle assembly is mounted on the first connecting rod group 222.
  • the length of the first connecting rod group 222 is lengthened, the mounting range of the nozzle assembly is large, and the position of the nozzle can be adjusted to the corresponding pressing position. The location of the wind farm to increase the spray effect of the liquid.
  • the total length of the front arm assembly 21 is equal to the total length of the rear arm assembly 23.
  • the front arm assembly 21 and the rear arm assembly 23 are respectively located at two ends of the center frame 10, and the two are outwardly deployed in an "eight" shape.
  • the total length of the front arm assembly 21 and the rear arm assembly 23 are equal, which can facilitate adjusting the balance position of the center of gravity of the drone and improve the stability of the flight of the drone.
  • the first rotor assembly 221 includes a first motor and a first propeller mounted to the output shaft of the first motor, the first motor driving the first propeller to rotate to generate a downwind wind field.
  • the first propeller is composed of two or more blades, and during the rotation of the first propeller, the blades form a circular paddle range, and the downcomer wind field extends downward from the circular paddle range.
  • the second rotor assembly 211 and the third rotor assembly 231 are identical in structure to the first rotor assembly 221.
  • the second rotor assembly 211 includes a second motor and a second propeller mounted to the output shaft of the second motor.
  • the third rotor assembly 231 includes a third motor and a third propeller mounted to the output shaft of the third motor.
  • the first rotor assembly 221 is in a different plane of rotation than the second rotor assembly 211 and the third rotor assembly 231, and is modified by adjusting the mounting position of the first rotor assembly 221 relative to the second rotor assembly 211 and the third rotor assembly 231.
  • the range of the wind pressure field of the man-machine wherein, in the output direction of the downwind field of the left arm group 20 and the right arm group 30, the paddle range of the first propeller partially overlaps the paddle range of the second propeller; and/or the paddle of the first propeller The disc range partially overlaps the paddle range of the third propeller.
  • the first lower pressure wind field is generated in the paddle of the first propeller
  • the second lower pressure wind field is generated by the second propeller
  • the third lower pressure wind field is generated by the third propeller. Since the first propeller is located below the second propeller and the third propeller, correspondingly, the lower pressing wind field generated by the second propeller and the third propeller is partially superimposed on the first lower pressing wind field to make the first lower pressing wind field
  • the downforce is getting bigger.
  • the liquid penetration force in the first lower pressure wind field is increased, and the spraying effect is good.
  • the front arm assembly 21, the rear arm assembly 23, and the intermediate arm assembly 22 are radially attached to the center frame 10.
  • the unmanned aerial vehicle has a large deployment size and is difficult to transport.
  • the front arm assembly 21, the rear arm assembly 23, and the intermediate arm assembly 22 are each rotatably coupled to the center frame 10.
  • the front arm assembly 21, the rear arm assembly 23 and the intermediate arm assembly 22 can both rotate and close to the center frame 10 to be in the stowed position or radiate outward from the center frame 10 to be in the flight position.
  • the drone has a collapsed state and an expanded state.
  • the left arm group 20 and the right arm group 30 are in a collapsed state.
  • the left arm set 20 and the right arm set 30 are in an unfolded state.
  • the front arm assembly 21, the rear arm assembly 23, and the intermediate arm assembly 22 are rotatably coupled with respect to the center frame 10, such as the left arm group 20 rotating counterclockwise about the center frame 10, and the right arm group 30 around the center.
  • the frame 10 is rotated clockwise to bring the left arm set 20 and the right arm set 30 together to the center frame 10, or to rotate in the reverse direction to be in an unfolded state.
  • the intermediate arm assembly 22 is on a different plane than the front arm assembly 21 and the rear arm assembly 23, and the front arm assembly 21 and the rear arm assembly 23 are in the same or at least one opposite direction of rotation as the intermediate arm assembly 22.
  • the front arm assembly 21, the rear arm assembly 23, and the intermediate arm assembly 22 rotate in the same direction.
  • the front arm assembly 21 and the intermediate arm assembly 22 are rotated in the direction of the rear arm assembly 23, and the rear arm assembly 23 is rotated in the direction of the intermediate arm assembly 22.
  • the intermediate arm assembly 22 is adjacent to the front arm assembly 21 side, and the total length of the intermediate arm assembly 22 is greater than the front arm assembly 21.
  • the intermediate arm assembly 22 is rotated toward the rear arm assembly 23 to be gathered to the center frame 10. Accordingly, the length of the center arm assembly 22 protruding from the center frame 10 is reduced, which reduces the overall volume of the drone.
  • the front arm assembly 21 and the rear arm assembly 23 are in the same plane, the front arm assembly 21 is rotated in the direction of the rear arm assembly 23 such that the front arm assembly 21 is attached to the center frame 10 adjacent to the rear arm assembly 23. Or attached to the rear arm assembly 23. Alternatively, the front arm assembly 21 is rotated in the direction of the rear arm assembly 23, and the rear arm assembly 23 is rotated in the forward arm assembly 21 such that the front arm assembly 21 and the rear arm assembly 23 are attached to the center frame 10.
  • the front arm assembly 21 and the rear arm assembly 23 are in different planes, the front arm assembly 21 is rotated in the direction of the rear arm assembly 23 such that the front arm assembly 21 is attached to the center frame 10 adjacent to the rear arm assembly 23. Or attached to the rear arm assembly 23. Alternatively, the front arm assembly 21 is rotated in the direction of the rear arm assembly 23, and the rear arm assembly 23 is rotated in the forward arm assembly 21 such that the front arm assembly 21 and the rear arm assembly 23 are attached to the center frame 10.
  • the front arm assembly 21, the rear arm assembly 23 and the intermediate arm assembly 22 are rotatably mounted on the center frame 10, which facilitates the gathering and deployment.
  • the intermediate arm assembly 22 is different from the rotational planes of the front arm assembly 21 and the rear arm assembly 23, and can improve the form of the drape of the drone, enriching the storage state of the drone, and facilitating the transportation of the drone.
  • the drone further includes a locking device 40 secured to the center frame 10, the front arm assembly 21, the rear arm assembly 23 and the intermediate arm assembly 22 being fixed or rotatably coupled by a locking device 40.
  • a locking device 40 secured to the center frame 10
  • the left arm set 20 and the right arm set 30 are rotatably coupled with respect to the center frame 10.
  • the locking device 40 is secured to the center frame 10 for locking the front arm assembly 21, the rear arm assembly 23, and the intermediate arm assembly 22 to the deployed position of the center frame 10.
  • the locking device 40 is spaced apart from the center frame 10.
  • the drone is a six-wing agricultural drone in which three locking devices 40 are attached to one side of the center frame 10.
  • the front arm assembly 21, the rear arm assembly 23 and the intermediate arm assembly 22 are respectively mounted on the center frame 10 by respective corresponding locking devices 40, and the front arm assembly 21, the rear arm assembly 23 and the intermediate arm assembly 22 are respectively Rotation with respect to the center frame 10 by the locking device 40.
  • the locking device 40 has a locked state and an unlocked state.
  • the locking device 40 locks the front arm assembly 21, the rear arm assembly 23 and the intermediate arm assembly 22, the front arm assembly 21, the rear arm assembly 23 and the intermediate arm assembly 22 are fixed relative to the center frame 10 so that The front arm assembly 21, the rear arm assembly 23, and the intermediate arm assembly 22 are in the deployed position.
  • the locking device 40 releases the locking of the front arm assembly 21, the rear arm assembly 23 and the intermediate arm assembly 22, and the front arm assembly 21, the rear arm assembly 23 and the intermediate arm assembly 22 are rotatable relative to the center frame 10,
  • the front arm assembly 21, the rear arm assembly 23, and the intermediate arm assembly 22 are gathered toward the center frame 10 and are in the stowed position.
  • the state of the left arm group 20 and the right arm group 30 is adjusted by the locking device 40, and the adjustment is convenient.
  • the locking device 40 includes a fixing base 41 and a locking member 42 fixed to the center frame 10.
  • the front arm assembly 21, the rear arm assembly 23 and the intermediate arm assembly 22 respectively and the corresponding fixing base 41 Connected.
  • the front arm assembly 21, the rear arm assembly 23 or the intermediate arm assembly 22 are sleeved with a locking member 42 that locks to the fixed seat 41 and limits the front arm assembly 21, the rear arm assembly 23 or the intermediate machine.
  • the arm assembly 22 is rotated about the corresponding mount 41.
  • the middle arm assembly 22 will be described as an example.
  • One end of the first connecting rod set 222 is pivotally connected to the fixing base 41 such that the intermediate arm assembly 22 and the fixing base 41 are rotatably connected.
  • the locking member 42 is sleeved outside the first connecting rod set 222 and rotates with the first connecting rod set 222.
  • the first connecting rod set 222 abuts against the fixed seat 41 to be in a preset deployed position.
  • the locking member 42 is moved in the axial direction of the first connecting rod group 222 and is coupled to the fixing base 41, such as by screwing or the like.
  • the locking member 42 is coupled to the fixed seat 41, and the first connecting rod set 222 is defined by the locking member 42 on the fixed seat 41 such that the intermediate arm assembly 22 is in the deployed position.
  • the reverse operation allows the middle arm assembly 22 to be in a rotatable state, and the intermediate arm assembly 22 performs the unfolding and folding operations.
  • the front arm assembly 21 and the rear arm assembly 23 are connected to the center frame 10 in the same manner or similar to the connection mode of the middle arm assembly 22 and the center frame 10.
  • the fixing base 41 includes a fixing portion 411 fixed to the center frame 10 and a connecting portion 412 protruding from the fixing portion 411.
  • the fixing base 41 and the connecting portion 412 have a "T" shape.
  • the connecting portion 412 is disposed obliquely with respect to the fixing base 41.
  • the front arm assembly 21, the rear arm assembly 23 or the intermediate arm assembly 22 are pivotally connected to the connecting portion 412.
  • the locking member 42 is fixed to the connecting portion 412 and sleeved outside the front arm assembly 21, the rear arm assembly 23 or the intermediate arm assembly 22.
  • the intermediate arm assembly 22 will continue to be described as an example.
  • a through hole is formed in the first connecting rod group 222, and the connecting shaft passes through the through hole and is pivotally connected to the connecting portion 412.
  • the connecting portion 412 is provided with a socket 414, and the first connecting rod group 222 is inserted into the insertion slot 414 and rotatably connected to the connecting shaft.
  • An external thread 413 is provided on the outer circumferential surface of the connecting portion 412.
  • the locking member 42 has a tubular structure with an inner surface provided with internal threads. The locking member 42 is sleeved on the first connecting rod set 222 and screwed to the connecting portion 412. The wall surface of the locking member 42 is used to define the rotation and movement of the first connecting rod set 222.
  • a threaded portion 223 is provided on the outer side surface of the first connecting rod set 222, the threaded portion 223 mating with the notch of the mating slot 414.
  • the frame further includes a linkage assembly mounted to the center frame 10 for driving the front arm assembly 21, the rear arm assembly 23, and the intermediate arm assembly 22 to rotate synchronously or sequentially.
  • the linkage is mounted on the center frame 10, and can be manually opened. For example, the operator tilts the wrench to cause the link mechanism to rotate the front arm assembly 21, the rear arm assembly 23 and the intermediate arm assembly 22 synchronously or sequentially.
  • the linkage member adopts an automatic opening mode, such as a motor drive linkage mechanism to synchronously rotate or sequentially rotate the front arm assembly 21, the rear arm assembly 23, and the intermediate arm assembly 22.
  • the linkage assembly gathers or unfolds the left arm group 20 and the right arm group 30 to improve the unfolding and gathering efficiency of the drone.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Catching Or Destruction (AREA)
  • Wind Motors (AREA)

Abstract

一种无人机机架和无人机。其中，无人机机架包括中心架(10)、安装于中心架(10)两侧且对称分布的左机臂组(20)和右机臂组(30)，左机臂组(20)和右机臂组(30)均包括装配于中心架(10)的前机臂组件(21)、后机臂组件(23)及中机臂组件(22)，中机臂组件(22)位于前机臂组件(21)与后机臂组件(23)之间。中机臂组件(22)包括第一旋翼组件(221)，前机臂组件(21)包括第二旋翼组件(211)，后机臂组件(23)包括第三旋翼组件(231)。在左机臂组(20)和右机臂组(30)的下压风场的输出方向上，第一旋翼组件(221)、第二旋翼组件(211)及第三旋翼组件(231)中至少一者的转动平面处于不同高度。

Description

无人机机架和无人机 技术领域
本发明属于无人机技术领域，涉及一种无人机机架和无人机。
背景技术
无人机包括框架及自框架呈辐射状向外延伸的若干旋翼组件，如四翼、六翼、八翼等多旋翼无人机。旋翼组件包括固设于框架的连杆、安装于连杆的电机及安装于电机输出轴的旋翼，电机驱动旋翼旋转，以使无人机执行飞行动作。在相关技术中，旋翼组件自框架向外延展开并处于同一平面上。
在旋翼组件处于飞行状态时，每一旋翼组件的旋翼进行旋转作业。其中，相邻旋翼组件的旋翼的桨盘范围互相间隔错开，以避免互相冲击。相应地，每一旋翼旋转产生的下压风场也处于独立状态，下压风场取决于旋翼自身旋转产生的风压力。
无人机可应用于农业领域，可用于喷洒作业。其中，农业无人机包括六翼、八翼等多旋翼无人机。农业无人机需搭载液体以进行喷洒作业，相应地，在旋翼组件上设有喷头用于喷洒液体，液体通过旋翼产生的下压风场喷洒至无人机飞行路径上的农作物。下压风场力大可提高液体的穿透力，以将液体喷洒至农作物的植株间距之间。然而，每一旋翼产生的下压风场相互独立，并在下压风场的下部区域互相干扰，导致无人机飞行产生的下压风场凌乱。相应地，喷洒的液体在下压风场的作用下也变的杂乱无序，导致液体的穿透力差，喷洒效果差。
发明内容
有鉴于此，本发明的目的之一是提供一种无人机机架和无人机。
根据本发明实施例的第一方面，提供一种无人机机架，包括中心架、安装于所述中心架两侧且对称分布的左机臂组和右机臂组，所述左机臂组和右机臂组均包括装配于中心架的前机臂组件、后机臂组件及中机臂组件，所述中机臂组件位于前机臂组件与后机臂组件之间，所述中机臂组件包括第一旋翼组件，所述前机臂组件包括第二旋翼组件，所述后机臂组件包括第三旋翼组件，在所述左机臂组和右机臂组的下压风场的输出方向上，所述第一旋翼组件、第二旋翼组件及第三旋翼组件中至少一者的转动平面处于不同高度。
本发明实施例的第二方面，提供一种无人机，包括机架、安装于所述机架的控制模块和安装于所述机架的机身装配件，所示机架包括中心架、安装于所述中心架两侧且对称分布的左机臂组和右机臂组，所述左机臂组和右机臂组均包括装配于中心架的前机臂组件、后机臂组件及中机臂组件，所述中机臂组件位于前机臂组件与后机臂组件之间，所述中机臂组件包括第一旋翼组件，所述前机臂组件包括第二旋翼组件，所述后机臂组件包括第三旋翼组件，在所述左机臂组和右机臂组的下压风场的输出方向上，所述第一旋翼组件、第二旋翼组件及第三旋翼组件中至少一者的转动平面处于不同高度；所述控制模块用于控制所述左机臂组和右机臂组运动。
本发明的实施例提供的技术方案可以包括以下有益效果：
中心架两侧装配对称的左机臂组和右机臂组，在无人机飞行过程中，两侧的受力平衡。第一旋翼组件、第二旋翼组件及第三旋翼组件中至少一者的转动平面处于不同高度，左机臂组和右机臂组输出的下压风场至少部分重叠，提高下压风场的下压风力，提高位于该下压风场内的液体穿透力。
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无人机的俯视结构示意图。
图2是本发明一示例性实施例示出的无人机机架处于收拢位置的结构示意图。
图3是本发明一示例性实施例示出的无人机机架的侧视结构示意图。
图4是本发明一示例性实施例示出的无人机机架中右机臂组处于展开位置的结构示意图。
图5是本发明一示例性实施例示出的无人机机架的爆炸结构示意图。
图中，中心架10；机身装配件101；左机臂组20；前机臂组件21；第二旋翼组件211；第二连接杆组212；中机臂组件22；第一旋翼组件221；第一连接杆组222；螺纹部223；后机臂组件23；第三旋翼组件231；第三连接杆组232；右机臂组30；锁定装置40；固定座41；固定部411；连接部412；外螺纹413；插接槽414；锁定件42。
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。
如图1所示，一种无人机包括机架、安装于机架的控制模块和安装于机架的机身装配件101。机架包括中心架10、安装于中心架10两侧且对称分布的左机臂组20和右机臂组30，控制模块安装于中心架10内，并与左机臂组20及右机臂组30电性连接，控制模块用于控制左机臂组20和右机臂组30运动，如控制模块控制左机臂组20和右机臂组30执行相应的控制指令，以使无人机进行直线飞行、转弯、上升、下降等动作。
如图2所示，左机臂组20和右机臂组30互相对称分布，以保持无人机飞行过程中平衡性。左机臂组20和右机臂组30均包括装配于中心架10的前机臂组件21、后机臂组件23及中机臂组件22，其中，中机臂组件22位于前机臂组件21与后机臂组件23之间。中机臂组件22包括第一旋翼组件221，前机臂组件21包括第二旋翼组件211，后机臂组件23包括第三旋翼组件231。前机臂组件21、后机臂组件23及中机臂组件22自中心架10向外辐射延伸，在控制模块的控制下第一旋翼组件221、第二旋翼组件211及第三旋翼组件231执行相应的旋转动作，如以相同转速转动、其中一个或多个的转速不同等。
如图3和图4所示，在左机臂组20和右机臂组30的下压风场的输出方向上，第一旋翼组件221、第二旋翼组件211及第三旋翼组件231中至少一者的转动平面处于不同高度。第一旋翼组件221、第二旋翼组件211及第三旋翼组件231进行旋转运动以带动无人机飞行，并在第一旋翼组件221、第二旋翼组件211及第三旋翼组件231运行的下方产生下压风场。第一旋翼组件221、第二旋翼组件211及第三旋翼组件231至少一者的转动平面不同，则会影响下压风场的分布情况。
例如，第一旋翼组件221的回转平面低于第二旋翼组件211与第三旋翼组件231的回转平面，第二旋翼组件211与第三旋翼组件231产生的下压风场与第一旋翼组件221产生的下压风场部分重叠，提高了第一旋翼组件221 下压风场的穿透力。
在一实施方式中，无人机应用于农业领域，用于喷洒农药等液体。该农业无人机还包括安装于机架的喷洒系统，喷洒系统包括水箱和喷头组件，喷洒系统的水箱固连于机架，喷头组件安装于左机臂组20和右机臂组30上。在一具体实施例中，喷头组件安装于左机臂组20和右机臂组30的中机臂组件22处。其中，喷头组件喷洒的液体位于第一旋翼组件221、第二旋翼组件211及第三旋翼组件231旋转产生的下压风场范围内。无人机飞行带动喷洒系统沿飞行路线进行喷洒作业，下压风场将液体吹散并穿透至途径的农作物。由于，下压风场之间互相重叠，提高了下压风场的下压风力，液体的穿透力强。
在一实施例中，第一旋翼组件221位于中机臂组件22的末端，第二旋翼组件211位于前机臂组件21的末端，第三旋翼组件231位于后机臂组件23的末端。第一旋翼组件221、第二旋翼组件211和第三旋翼组件231分别位于无人机的最外围区域，其下压风场范围大。中机臂组件22的末端高度小于前机臂组件21的末端高度，且中机臂组件22的末端高度小于后机臂组件23的末端高度。中机臂组件22的末端位于前机臂组件21和后机臂组件23的下方，相应地，第一旋翼组件221的转动平面高度小于第二旋翼组件211的转动平面高度，也小于第三旋翼组件231的转动平面高度。可选地，在下压风场的方向上，第一旋翼组件221的桨盘范围与第二旋翼组件211的桨盘范围至少部分重合。可选地，在下压风场的方向上，第三旋翼组件231的桨盘范围与第一旋翼组件221的桨盘范围至少部分重合。因此，无人机处于飞行状态时，第二旋翼组件211和第三旋翼组件231产生的下压风场作用于第一旋翼组件221产生的下压风场。第一旋翼组件221处产生的下压风力大，对液体提供的能量大，液体的穿透力强。
第一旋翼组件221的旋转平面与第二旋翼组件211及第三旋翼组件231的旋转平面处于不同的平面。可选地，第二旋翼组件211及第三旋翼 组件231的旋转平面处于相同的平面。第一旋翼组件221位于中心架10的中间部位，第二旋翼组件211与第三旋翼组件231位于第一旋翼组件221的两侧。第二旋翼组件211与第三旋翼组件231产生的下压风场作用于第一旋翼组件221产生的下压风场两侧，且至少部分重叠，使得第一旋翼组件221处的下压风场加强。当喷头组件安装于中机臂组件22时，喷头组件喷出的液体受加强的下压风场作用喷洒在农作物上，穿透力强。
中机臂组件22包括用于连接第一旋翼组件221与中心架10的第一连接杆组222，第一连接杆组222用于支撑第一旋翼组件221，并保持第一旋翼组件221与中心架10之间的相对位置稳定。前机臂组件21包括用于连接第二旋翼组件211与中心架10的第二连接杆组212，后机臂组件23包括用于连接第三旋翼组件231与中心架10的第三连接杆组232。相应地，第二连接杆组212、第三连接杆组232与第一连接杆组222的功能相同。其中，第一连接杆组222的高度小于第二连接杆组212的高度，且第一连接杆组222的高度小于第三连接杆组232的高度。
第一连接杆组222、第二连接杆组212和第三连接杆组232的结构可设为直线形或者局部弯曲的形状，第一旋翼组件221的回转平面位置通过第一连接杆组222与中心架10的连接位置及第一连接杆组222的自身形状所相应调整。例如，第一连接杆组222、第二连接杆组212和第三连接杆组232的形状均设为直线形，则第一旋翼组件221相对于第二旋翼组件211及第三旋翼组件231的转动平面通过第一连接杆组222在中心架10上安装高度所决定。在一可选地实施方式中，从无人机飞行状态的侧向观察，第一连接杆组222、第二连接杆组212和第三连接杆组232分别与中心架10的连接部412位呈三角分布，第一连接杆组222处于最低位置。
调整第一连接杆组222、第二连接杆组212和第三连接杆组232分别与中心架10的连接部412位，以调整第一旋翼组件221、第二旋翼组件211和第三旋翼组件231的相对位置，继而使无人机的下压风场的范围进 行调整，下压风场的分布情况调整方便。第一连接杆组222处于最低位置可提高农业无人机喷洒液体时，无人机在液体反向作用力下的飞行平衡。
如图1和图4所示，在一实施例中，第一连接杆组222与第三连接杆组232的距离大于第一连接杆组222与第二连接杆组212的距离。第一连接杆组222靠近第二连接杆组212，其中，第二连接杆组212与中心架10的连接部412位靠近机头一端。第一连接杆组222连接至中心架10并向第三连接杆组232一侧倾斜，第一旋翼组件221位于第二旋翼组件211与第三旋翼组件231之间的中间区域内，以使得第二旋翼组件211与第三旋翼组件231的桨盘范围与第一旋翼组件221的桨盘范围至少部分边缘重叠。从无人机飞行状态的俯视角度观察，第一旋翼组件221旋转产生的圆形范围与第二旋翼组件211与第三旋翼组件231旋转产生的圆形范围相交。
调整第一连接杆组222、第二连接杆组212和第三连接杆组232与中心架10之间的连接部412位，使得第一旋翼组件221、第二旋翼组件211及第三旋翼组件231作用于中心架10的震动力平衡。
在一实施例中，中机臂组件22的总长度大于前机臂组件21的总长度，且中机臂组件22的总长度大于后机臂组件23的总长度。中机臂组件22的总长度包括第一连接杆组222和第一旋翼组件221在长度方向的总和，其长度方向为自中心架10的相交部位向第一旋翼组件221延伸方向。当无人机应用于农业领域时，喷头组件安装于第一连接杆组222上，当第一连接杆组222长度加长时，喷头组件的安装范围大，可将喷头位置调整至相应的下压风场位置，以提高液体的喷洒效果。
在一可选地实施方式中，前机臂组件21的总长度与后机臂组件23的总长度相等。前机臂组件21与后机臂组件23分别位于中心架10的两端，两者呈“八”字形向外展开。前机臂组件21与后机臂组件23的总长度相等，可便于调整无人机的重心平衡位置，提高无人机飞行的稳定性。
在一实施例中，第一旋翼组件221包括第一电机及安装于第一电机输出轴的第一螺旋桨，第一电机驱动第一螺旋桨旋转，以产生下压风场。第一螺旋桨由两个或两个以上的桨叶组成，第一螺旋桨的旋转过程中，桨叶构成一圆形的桨盘范围，下压风场自该圆形的桨盘范围向下扩展。第二旋翼组件211及第三旋翼组件231与第一旋翼组件221的结构相同。其中，第二旋翼组件211包括第二电机及安装于第二电机输出轴的第二螺旋桨，第三旋翼组件231包括第三电机及安装于第三电机输出轴的第三螺旋桨。
第一旋翼组件221与第二旋翼组件211及第三旋翼组件231处于不同的转动平面，并通过调整第一旋翼组件221相对于第二旋翼组件211与第三旋翼组件231安装位置，以改变无人机的下压风场范围。其中，在左机臂组20和右机臂组30的下压风场的输出方向上，第一螺旋桨的桨盘范围与第二螺旋桨的桨盘范围部分重叠；和/或第一螺旋桨的桨盘范围与第三螺旋桨的桨盘范围部分重叠。
第一螺旋桨的桨盘范围内产生第一下压风场，第二螺旋桨产生第二下压风场，第三螺旋桨产生第三下压风场。由于第一螺旋桨位于第二螺旋桨与第三螺旋桨的下方，相应地，第二螺旋桨与第三螺旋桨产生的下压风场部分叠加于第一下压风场上，以使第一下压风场的下压力变大。位于第一下压风场内的液体穿透力增大，喷洒效果好。
如图4和图5所示，前机臂组件21、后机臂组件23及中机臂组件22呈辐射状固连于中心架10上，无人机的展开尺寸大，运输较为困难。在一实施例中，前机臂组件21、后机臂组件23及中机臂组件22均与中心架10可转动连接。其中，前机臂组件21、后机臂组件23及中机臂组件22均可转动并靠拢至中心架10以处于收拢位置，或自中心架10向外辐射延伸以处于飞行位置。
无人机具有收拢状态和展开状态，当无人机处于运输或存储等应用场景下，左机臂组20和右机臂组30处于收拢状态。当无人机处于飞行或待机 状态时，左机臂组20与右机臂组30处于展开状态。相应地，前机臂组件21、后机臂组件23及中机臂组件22可相对于中心架10转动连接，如左机臂组20绕中心架10逆时针旋转，右机臂组30绕中心架10顺时针旋转，以使左机臂组20与右机臂组30合拢至中心架10处，或反向转动以处于展开状态。
中机臂组件22与前机臂组件21及后机臂组件23处于不同的平面上，前机臂组件21及后机臂组件23与中机臂组件22的转动方向相同或至少一个相反。在一实施例中，前机臂组件21、后机臂组件23及中机臂组件22的转动方向相同。在另一实施例中，前机臂组件21与中机臂组件22向后机臂组件23方向转动，后机臂组件23向中机臂组件22方向转动。
中机臂组件22靠近前机臂组件21一侧，且中机臂组件22的总长度大于前机臂组件21。将中机臂组件22向后机臂组件23方向转动以收拢至中心架10处，相应地，中机臂组件22凸出中心架10的长度降低，可减低无人机的整体体积。
当前机臂组件21与后机臂组件23处于同一平面时，前机臂组件21向后机臂组件23方向转动，以使前机臂组件21贴合于靠近后机臂组件23的中心架10或贴合于后机臂组件23处。或者前机臂组件21向后机臂组件23方向转动，后机臂组件23向前机臂组件21方向转动，以使前机臂组件21与后机臂组件23贴合于中心架10处。
当前机臂组件21与后机臂组件23处于不同平面时，前机臂组件21向后机臂组件23方向转动，以使前机臂组件21贴合于靠近后机臂组件23的中心架10或贴合于后机臂组件23处。或者前机臂组件21向后机臂组件23方向转动，后机臂组件23向前机臂组件21方向转动，以使前机臂组件21与后机臂组件23贴合于中心架10处。
将前机臂组件21、后机臂组件23及中机臂组件22设为可转动安装于中心架10上，其收拢和展开方便。中机臂组件22与前机臂组件21及后机臂 组件23的转动平面不同，可改善无人机的收拢状态的形式，丰富无人机的收纳状态，无人机的运输方便。
继续参见图4和图5，无人机还包括固定于中心架10的锁定装置40，前机臂组件21、后机臂组件23及中机臂组件22均通过锁定装置40固定或可转动连接于中心架10。左机臂组20与右机臂组30相对于中心架10可转动连接，在无人机处于飞行状态时，左机臂组20和右机臂组30处于展开位置。锁定装置40固连于中心架10上，其用于将前机臂组件21、后机臂组件23及中机臂组件22锁定于中心架10的展开位置。
锁定装置40间隔设于中心架10上。例如，无人机为六翼农业无人机，其中，在中心架10的一侧固连有三个锁定装置40。前机臂组件21、后机臂组件23及中机臂组件22分别通过各自对应的锁定装置40装配于中心架10上，并且前机臂组件21、后机臂组件23及中机臂组件22通过锁定装置40相对于中心架10转动。
相应地，锁定装置40具有锁定状态和解锁状态。锁定装置40将前机臂组件21、后机臂组件23及中机臂组件22锁定时，前机臂组件21、后机臂组件23及中机臂组件22相对于中心架10固定，以使前机臂组件21、后机臂组件23及中机臂组件22处于展开位置。锁定装置40解除对前机臂组件21、后机臂组件23及中机臂组件22的锁定，前机臂组件21、后机臂组件23及中机臂组件22可相对于中心架10转动，以使前机臂组件21、后机臂组件23及中机臂组件22向中心架10方向收拢并处于收拢位置。通过锁定装置40调节左机臂组20和右机臂组30的状态，调节方便。
在一实施例中，锁定装置40包括固连于中心架10的固定座41及锁定件42，前机臂组件21、后机臂组件23和中机臂组件22分别与对应的固定座41枢接连接。前机臂组件21、后机臂组件23或中机臂组件22均套设一锁定件42，锁定件42锁固至固定座41并限制前机臂组件21、后机臂组件23或中机臂组件22绕相应的固定座41转动。
以中机臂组件22为例进行说明。第一连接杆组222的一端与固定座41枢接连接，使得中机臂组件22与固定座41可转动连接。锁定件42套设于第一连接杆组222外，并随第一连接杆组222转动。可选地，第一连接杆组222转动至展开位置时，第一连接杆组222抵靠至固定座41，以处于预设的展开位置。锁定件42沿第一连接杆组222的轴线方向移动并与固定座41连接，如采用螺纹连接等。锁定件42连接至固定座41，则第一连接杆组222通过锁定件42限定于固定座41上，以使中机臂组件22处于展开位置。反向操作可使中机臂组件22处于可转动状态，中机臂组件22执行展开及收拢动作方便。前机臂组件21及后机臂组件23与中心架10的连接方式相同或相似于中机臂组件22与中心架10的连接方式。
在一可选地的实施方式中，固定座41包括固连至中心架10的固定部411及凸出于固定部411的连接部412，固定座41与连接部412呈“T”字形结构。可选地，连接部412相对于固定座41倾斜设置。前机臂组件21、后机臂组件23或中机臂组件22枢接于连接部412。锁定件42固定至连接部412并套设于前机臂组件21、后机臂组件23或中机臂组件22外。
继续以中机臂组件22为例进行说明。在第一连接杆组222上开设有通孔，连接轴穿过通孔并与连接部412枢接连接。其中，在连接部412上开设有插接槽414，第一连接杆组222插入插接槽414并与连接轴可转动连接。在连接部412的外周面设有外螺纹413。锁定件42呈管状结构，其内侧表面设有内螺纹。锁定件42套设于第一连接杆组222上并与连接部412螺纹连接，锁定件42的壁面用于限定第一连接杆组222的转动及移动。
在一可选地实施方式中，在第一连接杆组222的外侧表面设有螺纹部223，该螺纹部223与插接槽414的槽口相匹配。锁定件42螺纹连接至第一连接杆组222时，内螺纹与螺纹部223螺纹连接，以使第一连接杆组222与锁定件42螺纹连接，进一步限定第一连接杆组222的转动位置，连接牢固。
在一实施例中，机架还包括装配于中心架10的联动组件，联动组件用于驱动前机臂组件21、后机臂组件23及中机臂组件22同步或依次转动。联动件安装于中心架10上，其可采用手动开启，如操作者掰动扳手，以使连杆机构将前机臂组件21、后机臂组件23及中机臂组件22同步转动或依次转动。联动件采用自动开启方式，如电机驱动连杆机构将前机臂组件21、后机臂组件23及中机臂组件22同步转动或依次转动。联动组件将左机臂组20及右机臂组30收拢或展开，提高无人机的展开及收拢效率。
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，在不冲突的情况下，上述的实施例及实施例中的特征可以相互组合。综上，本说明书内容不应理解为对本发明的限制。

Claims (26)

  1. 一种无人机机架，其特征在于，包括中心架、安装于所述中心架两侧且对称分布的左机臂组和右机臂组，所述左机臂组和右机臂组均包括装配于中心架的前机臂组件、后机臂组件及中机臂组件，所述中机臂组件位于前机臂组件与后机臂组件之间，所述中机臂组件包括第一旋翼组件，所述前机臂组件包括第二旋翼组件，所述后机臂组件包括第三旋翼组件，在所述左机臂组和右机臂组的下压风场的输出方向上，所述第一旋翼组件、第二旋翼组件及第三旋翼组件中至少一者的转动平面处于不同高度。
  2. 根据权利要求1所述的机架，其特征在于，所述第一旋翼组件位于所述中机臂组件的末端，所述第二旋翼组件位于所述前机臂组件的末端，所述第三旋翼组件位于所述后机臂组件的末端，所述中机臂组件的末端高度小于所述前机臂组件的末端高度，且所述中机臂组件的末端高度小于所述后机臂组件的末端高度。
  3. 根据权利要求1所述的机架，其特征在于，所述中机臂组件包括用于连接所述第一旋翼组件与所述中心架的第一连接杆组，所述前机臂组件包括用于连接所述第二旋翼组件与所述中心架的第二连接杆组，所述后机臂组件包括用于连接所述第三旋翼组件与所述中心架的第三连接杆组，所述第一连接杆组的高度小于第二连接杆组的高度，且所述第一连接杆组的高度小于第三连接杆组的高度。
  4. 根据权利要求3所述的机架，其特征在于，所述第一连接杆组与所述第三连杆组的距离大于所述第一连接杆组与所述第二连杆组的距离。
  5. 根据权利要求3所述的机架，其特征在于，所述中机臂组件的总长度大于所述前机臂组件的总长度，且所述中机臂组件的总长度大于所述后机臂组件的总长度。
  6. 根据权利要求5所述的机架，其特征在于，所述前机臂组件的总长度与所述后机臂组件的总长度相等。
  7. 根据权利要求1所述的机架，其特征在于，所述第一旋翼组件包括第一螺旋桨，所述第二旋翼组件包括第二螺旋桨，所述第三旋翼组件包括第三螺旋桨，其中，在所述左机臂组和右机臂组的下压风场的输出方向上，所述第一螺旋桨的桨盘范围与所述第二螺旋桨的桨盘范围部分重叠；和/或所述第一螺旋桨的桨盘范围与所述第三螺旋桨的桨盘范围部分重叠。
  8. 根据权利要求1所述的机架，其特征在于，所述前机臂组件、后机臂组件及中机臂组件均与所述中心架可转动连接，所述前机臂组件、后机臂组件及中机臂组件均可转动并靠拢至所述中心架以处于收拢位置，或自中心架向外辐射延伸以处于飞行位置。
  9. 根据权利要求8所述的机架，其特征在于，所述前机臂组件、后机臂组件及中机臂组件的转动方向相同；或者所述前机臂组件与中机臂组件向所述后机臂组件方向转动，所述后机臂组件向所述中机臂组件方向转动。
  10. 根据权利要求1所述的机架，其特征在于，还包括固定于所述中心架的锁定装置，所述前机臂组件、后机臂组件及中机臂组件均通过所述锁定装置固定或可转动连接于所述中心架。
  11. 根据权利要求10所述的机架，其特征在于，所述锁定装置包括固连于所述中心架的固定座及锁定件，所述前机臂组件、后机臂组件和中机臂组件分别与对应所述固定座枢接连接，所述前机臂组件、后机臂组件或中机臂组件均套设一锁定件，所述锁定件锁固至所述固定座并限制所述前机臂组件、后机臂组件或中机臂组件绕相应的所述固定座转动。
  12. 根据权利要求11所述的机架，其特征在于，所述固定座包括固连至所述中心架的固定部及凸出于所述固定部的连接部，所述前机臂组件、后机臂组件或中机臂组件枢接于所述连接部，所述锁定件固定至所述连接部并套设于所述前机臂组件、后机臂组件或中机臂组件外。
  13. 根据权利要求1所述的机架，其特征在于，所述机架还包括装配于所述中心架的联动组件，所述联动组件用于驱动所述前机臂组件、后机臂组件及中机臂组件同步或依次转动。
  14. 一种无人机，其特征在于，包括机架、安装于所述机架的控制模块和安装于所述机架的机身装配件，所示机架包括中心架、安装于所述中心架两侧且对称分布的左机臂组和右机臂组，所述左机臂组和右机臂组均包括装配于中心架的前机臂组件、后机臂组件及中机臂组件，所述中机臂组件位于前机臂组件与后机臂组件之间，所述中机臂组件包括第一旋翼组件，所述前机臂组件包括第二旋翼组件，所述后机臂组件包括第三旋翼组件，在所述左机臂组和右机臂组的下压风场的输出方向上，所述第一旋翼组件、第二旋翼组件及第三旋翼组件中至少一者的转动平面处于不同高度；所述控制模块用于控制所述左机臂组和右机臂组运动。
  15. 根据权利要求14所述的无人机，其特征在于，所述第一旋翼组件位于所述中机臂组件的末端，所述第二旋翼组件位于所述前机臂组件的末端，所述第三旋翼组件位于所述后机臂组件的末端，所述中机臂组件的末端高度小于所述前机臂组件的末端高度，且所述中机臂组件的末端高度小于所述后机臂组件的末端高度。
  16. 根据权利要求14所述的无人机，其特征在于，所述中机臂组件包括用于连接所述第一旋翼组件与所述中心架的第一连接杆组，所述前机臂组件包括用于连接所述第二旋翼组件与所述中心架的第二连接杆组，所述后机臂组件包括用于连接所述第三旋翼组件与所述中心架的第三连接杆组，所述第一连接杆组的高度小于第二连接杆组的高度，且所述第一连接杆组的高度小于第三连接杆组的高度。
  17. 根据权利要求16所述的无人机，其特征在于，所述第一连接杆组与所述第三连杆组的距离大于所述第一连接杆组与所述第二连杆组的距离。
  18. 根据权利要求16所述的无人机，其特征在于，所述中机臂组件的总长度大于所述前机臂组件的总长度，且所述中机臂组件的总长度大于所述后机臂组件的总长度。
  19. 根据权利要求18所述的无人机，其特征在于，所述前机臂组件的 总长度与所述后机臂组件的总长度相等。
  20. 根据权利要求14所述的无人机，其特征在于，所述第一旋翼组件包括第一螺旋桨，所述第二旋翼组件包括第二螺旋桨，所述第三旋翼组件包括第三螺旋桨，其中，在所述左机臂组和右机臂组的下压风场的输出方向上，所述第一螺旋桨的桨盘范围与所述第二螺旋桨的桨盘范围部分重叠；和/或所述第一螺旋桨的桨盘范围与所述第三螺旋桨的桨盘范围部分重叠。
  21. 根据权利要求14所述的无人机，其特征在于，所述前机臂组件、后机臂组件及中机臂组件均与所述中心架可转动连接，所述前机臂组件、后机臂组件及中机臂组件均可转动并靠拢至所述中心架以处于收拢位置，或自中心架向外辐射延伸以处于飞行位置。
  22. 根据权利要求21所述的无人机，其特征在于，所述前机臂组件、后机臂组件及中机臂组件的转动方向相同；或者所述前机臂组件与中机臂组件向所述后机臂组件方向转动，所述后机臂组件向所述中机臂组件方向转动。
  23. 根据权利要求14所述的无人机，其特征在于，还包括固定于所述中心架的锁定装置，所述前机臂组件、后机臂组件及中机臂组件均通过所述锁定装置固定或可转动连接于所述中心架。
  24. 根据权利要求23所述的无人机，其特征在于，所述锁定装置包括固连于所述中心架的固定座及锁定件，所述前机臂组件、后机臂组件和中机臂组件分别与对应所述固定座枢接连接，所述前机臂组件、后机臂组件或中机臂组件均套设一锁定件，所述锁定件锁固至所述固定座并限制所述前机臂组件、后机臂组件或中机臂组件绕相应的所述固定座转动。
  25. 根据权利要求24所述的无人机，其特征在于，所述固定座包括固连至所述中心架的固定部及凸出于所述固定部的连接部，所述前机臂组件、后机臂组件或中机臂组件枢接于所述连接部，所述锁定件固定至所述连接部并套设于所述前机臂组件、后机臂组件或中机臂组件外。
  26. 根据权利要求14所述的无人机，其特征在于，所述机架还包括装 配于所述中心架的联动组件，所述联动组件用于驱动所述前机臂组件、后机臂组件及中机臂组件同步或依次转动。
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