WO2019127360A1 - Centre frame and unmanned aerial vehicle - Google Patents

Abstract

Provided is a centre frame applied to an unmanned aerial vehicle, the centre frame comprising a frame assembly (1), wherein the frame assembly (1) comprises multiple frame members (11), the frame members (11) form an integrated structure by means of integral shaping, and the multiple frame members (11) are spliced with one another and form an accommodation space (12); and the accommodation space (12) is used for accommodating replaceable components of the unmanned aerial vehicle, and the replaceable components can be detachably arranged in the accommodation space (12). The centre frame is compact in structure, and has a good structural integrity, thereby facilitating assembly and maintenance.

Description

Center frame and unmanned aerial vehicle Technical field

The invention relates to the field of aircrafts, and in particular to a center frame and an unmanned aerial vehicle.

Background technique

With the continuous development of technology, more and more automatic control devices such as unmanned aerial vehicles have appeared in people's work and life.

At present, the body of the UAV can mainly include components such as a center body and an arm, wherein in order to minimize weight and achieve high structural strength, the center body is usually a plate structure including a center frame, for example, by carbon fiber board. Lap together to form a center frame, and place various electronic devices and loads on the center frame.

However, the existing center frame has many components and accessories, and the structural integrity is poor, and assembly and maintenance are inconvenient.

Summary of the invention

The invention provides a center frame and an unmanned aerial vehicle, has a relatively compact structure, and has good structural integrity, and is convenient for assembly and maintenance.

In a first aspect, the present invention provides a center frame for use in an unmanned aerial vehicle, comprising a frame assembly, the frame assembly comprising a plurality of frame members, the frame members being integrally formed into an integrated structure, and the plurality of frame members are spliced to each other And forming an accommodation space;

The accommodating space is for accommodating the replaceable component of the unmanned aerial vehicle, and the replaceable component can be detachably disposed in the accommodating space.

In a second aspect, the present invention provides an unmanned aerial vehicle comprising a power pack, a boom and a center frame as described above, the power pack being disposed on the arm, the arm being coupled to the center frame.

The center frame and the unmanned aerial vehicle of the present invention are applied to an unmanned aerial vehicle, and specifically include a frame assembly, the frame assembly includes a plurality of frame members, and the frame member is formed into an integrated structure by integral molding, and the plurality of frames The pieces are spliced to each other and form an accommodating space, wherein the accommodating space is for accommodating the replaceable part of the unmanned aerial vehicle, and the replaceable part is detachably disposed in the accommodating space. In this way, the shapes between the frame members remain matched to each other, and a large contact surface is formed between the respective frame members, thereby effectively preventing the twisting and translation of the single frame members by the shape fit of the other frame members, and the frame members are spliced together. The accommodating space can be matched with the replaceable parts, so that the structure and compactness of the center frame are good, and it is easy to assemble, repair and replace.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description of the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.

1 is a schematic structural view of a center frame according to Embodiment 1 of the present invention;

2 is a top plan view of a center frame according to Embodiment 1 of the present invention;

3 is a side view of a center frame according to Embodiment 1 of the present invention;

Figure 4 is a bottom view of the center frame provided by the present invention;

Figure 5 is a partial enlarged view of the portion A in Figure 4;

6 is a schematic exploded view of a center frame according to Embodiment 1 of the present invention;

FIG. 7 is a schematic diagram of the connection between the center frame and the arm provided by the first embodiment of the present invention.

Description of the reference signs:

1—frame assembly; 2—electronic components; 3—spindle assembly; 4—arm; 11—frame member; 12—accommodation space; 13—pretension assembly; 14—guide projection; 111—front beam; - rear beam; 113 - left main beam; 114 - right main beam; 121 - first cavity; 122 - second cavity; 1111 - receiving cavity; 1112 - cavity cover; 11a - cavity; rib.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

1 is a schematic structural view of a center frame according to Embodiment 1 of the present invention. 2 is a top plan view of a center frame according to Embodiment 1 of the present invention. 3 is a side view of a center frame according to Embodiment 1 of the present invention. 4 is a bottom schematic view of a center frame provided by the present invention. Fig. 5 is a partially enlarged schematic view showing a portion A in Fig. 4; FIG. 6 is a schematic exploded view of a center frame according to Embodiment 1 of the present invention. As shown in FIG. 1 to FIG. 6 , the center frame provided in this embodiment is applied to an unmanned aerial vehicle, and specifically includes a frame assembly 1 , the frame assembly includes a plurality of frame members 11 , and the frame member 11 is formed by integral molding. For the integrated structure, the plurality of frame members 11 are spliced to each other and form an accommodating space 12, wherein the accommodating space 12 is for accommodating a replaceable component (not shown) of the unmanned aerial vehicle, and the replaceable component is detachably It is disposed in the accommodating space 12.

Among them, the center frame is the main structural component constituting the fuselage in the unmanned aerial vehicle, and generally includes the frame assembly 1, and may also include an attachment such as a cover. The frame assembly 1 generally includes a plurality of frame members 11. The frame member 11 is an integrated structure formed by integral molding such as injection molding, and generally has an irregular shape. The plurality of frame members 11 in the frame assembly 1 can be spliced to each other by nesting or the like, and together form an accommodating space 12, and the accommodating space 12 can be used for accommodating a functional device of an unmanned aerial vehicle or a replaceable component such as a load. The replaceable components can be detachably disposed in the accommodating space 12. Specifically, the replaceable components can be disposed by inserting or the like.

Specifically, since the frame assembly 1 of the center frame is mainly composed of a plurality of frame members 11 spliced, the overall structure of the frame assembly 1 is relatively compact, and different frame members are spliced to each other, and carbon fiber sheets and carbon fibers are used in conventional unmanned aerial vehicles. Compared with the center frame formed by the overlapping of the rods, the center frame in the embodiment is a frame structure, and the frame structure is formed by splicing a plurality of different frame members, so that the adjacent frame members can be restricted by the outer shape of the frame member 11. Movement in all directions. Since the shapes between the frame members 11 generally remain matched to each other, the frame members 1 formed by the frame members 11 are assembled, and the contact faces between the respective frame members 11 are large, which can be effectively avoided by the shape fit of the other frame members. The individual frame members produce twisting and translation, ensuring that the frame assembly 1 has better integrity. The accommodating space formed by the splicing of the frame members can cooperate with the outer dimensions of the replaceable components, thereby further improving the integrity and compactness of the center frame. In addition, the frame members formed by the splicing of the frame members are also easy to assemble and repair.

Further, since the frame assembly 1 is mainly formed by a combination of a plurality of frame members 11, a certain gap and space can be formed by the shape of the frame member 11 itself or a combination of the plurality of frame members 11. This space serves as an accommodation space 12 for accommodating replaceable components in the unmanned aerial vehicle. Among them, the replaceable parts of the UAV can usually include loads or other functional devices, including various types of electronic components and batteries for providing power and energy, and the load can include many different types, such as a gimbal. And small loads such as cameras, or large loads such as water tanks, medicine boxes or seed boxes.

Since the UAV needs to fly in the air, the main structural components that make up the UAV need to have a lighter weight and good structural strength. Therefore, the material constituting the frame member 11 may mainly include one or more of the following: plastic, glass fiber, nylon, carbon fiber, and the like. The material constituting the frame member 11 may be a single material or a composite material, and different frame members may be composed of the same material or different materials.

Further, in order to ensure that the UAV has sufficient structural strength, as an alternative, the material of the at least one frame member is a carbon fiber reinforced polyamide. Carbon fiber reinforced polyamide is a composite material that includes components such as polyamide and carbon fiber, and has the advantages of light weight and excellent mechanical properties. Therefore, the use of carbon fiber reinforced polyamide as a material for the structural member can enable the unmanned aerial vehicle to achieve lighter weight and higher body strength, and greatly enhance its flight performance.

Since the respective frame members 11 in the frame assembly 1 need to be joined to each other, the frame member 11 generally has a large outer size in order to form a structure that facilitates the splicing. At this time, in order to reduce the weight of the frame member 11, as an alternative manner, the frame member 11 may be a hollow structure. At this time, the frame member 11 has a cavity 11a therein, and the frame member 11 is supported and supported by the cavity wall structure of the cavity 11a. Since the frame member 11 has a hollow structure, its weight is greatly reduced as compared with a solid frame member of the same size. Thus, the frame assembly 1 composed of the frame member 11 also has a small mass, which is advantageous for the weight reduction of the UAV body.

Further, in order to reduce the weight of the frame member 11 as much as possible, the cavity 11a inside the frame member 11 is generally large in size, and the cavity wall of the cavity 11a is thin. At this time, in order to prevent the thinner cavity wall from being crushed or damaged due to the weight of the frame member 11, as an alternative manner, the cavity 11a of the frame member 11 may be provided with reinforcing ribs 11b.

Specifically, the reinforcing ribs 11b are generally spaced apart in the cavity 11a of the frame member 11, and the reinforcing ribs 11b may be arranged in the same direction to enhance the structural strength of the frame member 11 in a certain direction, or diagonally. In the frame member 11, and staggered in different directions, a triangular support structure is formed inside the cavity 11a of the frame member 11, thereby enhancing the structural strength of the frame member 11 in various directions. Among them, in order to facilitate processing and manufacturing, the reinforcing rib 11b is generally integrally formed with the frame member 11.

Alternatively, the plurality of frame members 11 in the frame assembly 1 may be joined together by a mutually matching shape. Thus, the adjacent two frame members can be nested or engaged with each other by a complementary shape, thereby completing the approximate positioning and pre-connection between the plurality of frame members 11.

On the basis of the plurality of frame members 11 being joined by the mutually matching shapes, in order to connect the different frame members together, the divided frame members 11 can be connected by threaded fasteners (not shown). Connected to each other. The frame assembly 1 thus constituted has good structural reliability and strength. In addition, the connection between the frame members 11 can also be realized by other means commonly used by those skilled in the art, and details are not described herein again.

Alternatively, in order to achieve a mutually matching shape, one of each adjacent two frame members 11 may be provided with a groove, and the other is provided with a protrusion that matches the groove. Thus, by the connection between the protrusion and the groove, the positioning and pre-fixing of the different frame members can be effectively performed, the connection strength between the adjacent frame members 11 is improved, and the frame assembly 1 is ensured to have high structural reliability.

In order to accommodate the replaceable components of the UAV, as an alternative, the plurality of frame members 11 are spliced to each other and a plurality of accommodating spaces 12 are formed. The number and size of the accommodating spaces 12 can be set according to the needs of the unmanned aerial vehicle. For example, the number of the accommodating spaces 12 can be two or more; and the size and shape of the accommodating spaces 12 can be the same. , can also be different.

Wherein, since the accommodating space 12 is generally used for accommodating the replaceable component of the unmanned aerial vehicle, and the replaceable component is detachably disposed in the accommodating space 12, the accommodating space 12 is generally in a closed or semi-closed state. At this time, the accommodating space 12 formed by the plurality of frame members 11 may generally include a cavity surrounded by the frame member 11. The cavity can be closed or open, and the cavity is typically enclosed by a plurality of cavity walls so that the replaceable components of the UAV can be well secured and positioned.

Since the frame assembly 1 includes a plurality of different frame members 11, the cavities formed can also be formed in different ways. For example, in one of the ways in which the cavity is formed, the cavity is located in a frame member, and at this time, the frame member 11 may be provided with a through hole or a groove to form the cavity.

In another way of forming the cavity, the cavity can also be formed by splicing different frame members. At this time, different frame members 11 can be nested and combined with each other, and when the frame members 11 are joined together, a certain space can be reserved between the frame members 11 and the other frame members, so that the plurality of frame members 11 are stitched together. Thereafter, a cavity for accommodating the replaceable member can be formed.

Generally, since the unmanned aerial vehicle needs to ensure that the center of gravity is located on the central axis of the body during flight, in order to facilitate the weight, when the accommodating space 12 formed by the frame assembly 1 includes two or more cavities, these The cavities can usually be arranged along the roll axis of the UAV. Thus, the replaceable components or devices provided in the cavity pass through the longitudinal center axis of the UAV, and even if different components or devices with different weights are disposed in different chambers, the UAV can ensure the left and right balance during flight.

Specifically, in order to accommodate different types and shapes of replaceable components, the cavity formed by the frame assembly 1 can generally have different shapes and openings. As a structural shape of one of the cavities, at least one of the top of the cavity and the bottom of the cavity has an opening. In this way, the replaceable parts of the UAV can be placed from the top or bottom opening of the cavity to the inside of the cavity, and the center frame of the UAV can still form a complete structure in the horizontal circumferential direction, and the structural strength of the body is better.

Further, since the replaceable component such as the load to be accommodated in the cavity may need to have a downward detection field of view, or have a need to place the article and material downward, the bottom of the cavity needs to be provided with an opening, and for convenience The replacement component is placed in the cavity, and the top of the cavity is generally provided with an opening, so that the cavity has a structure that penetrates vertically.

Further, when the bottom of the cavity or the upper and lower sides of the cavity are provided with an opening, the bottom wall of the cavity capable of carrying the replaceable component is lacking, and in this case, in order to prevent the replaceable component from falling from the bottom opening of the cavity, The positioning and fixing of the replaceable components can be achieved by the shape of the cavity wall of the cavity or by other fixed structures.

As an alternative embodiment, the opening size of the top of the cavity is larger than the opening size of the bottom of the cavity. In this way, when the replaceable component whose outer shape is close to the size of the top opening of the cavity is inserted into the cavity from the top opening of the cavity, since the size of the opening of the top of the cavity is larger than the size of the opening of the bottom of the cavity, the cavity is located in the cavity. The replacement component cannot pass through the bottom opening of the cavity, but is caught above the bottom opening of the cavity. At this time, the replaceable component can be positioned and fixed through the bottom opening of the cavity, thereby being accommodated in the cavity. And won't fall out.

As a further alternative embodiment, the cavity tapers along the top of the cavity to the bottom of the cavity. At this time, the cavity has a small and large shape from the top to the bottom, and when the load or other replaceable component is inserted into the cavity from the top of the cavity and moves downward under the action of its own gravity, it will touch The cavity wall is gradually reduced and stops moving under the pressure and friction of the cavity wall. At this time, the cavity completes the fixing of the replaceable member by the shape of the cavity wall, so that the load is disposed in the hollow cavity without falling out from the bottom opening of the cavity.

In general, the shape of the cavity needs to be adapted to the shape of the replaceable component to allow effective replacement of the replaceable component, such as a load, in the cavity when accommodating the replaceable component, thereby preventing it from sloshing in the cavity. In order to accommodate the shape of replaceable components such as most loads, the cavity is generally square, that is, generally in the shape of a rectangular parallelepiped or a cube.

In this embodiment, as an optional common layout, at least two cavities formed by the frame assembly 1 include a first cavity 121 and a second cavity 122, and the first cavity 121 and the second cavity 122 are along The UAV's roll axis direction is set. Thus the first cavity 121 and the second cavity 122 can be used to accommodate different replaceable components.

Wherein, the replaceable component may include a load carried by the UAV, and the first cavity 121 may be used to accommodate the load. The load carried by the UAV generally has a large volume and a large weight, and accordingly, the first cavity 121 generally also has a large opening size and an internal volume.

Among them, when the load weight of the unmanned aerial vehicle is large, if the load is located at the edge area or the end position of the unmanned aerial vehicle, the balance of the unmanned aerial vehicle may be affected due to the excessive weight of the load, and even the unmanned person may be The aircraft has a rollover phenomenon. In order to avoid the influence of the load on the flight attitude of the UAV, the first cavity 121 is optionally located in the middle of the frame assembly 1. Thus, when the load is accommodated in the first cavity 121, the gravitational moments of the load in all directions of the UAV are relatively close, which enables the UAV to maintain the center of gravity balance when placed on the ground or during flight, which is beneficial to the unmanned The normal flight and use of the aircraft.

Further, when the load of the unmanned aerial vehicle is mainly used for the throwing and discharging of the material, the weight of the load is continuously decreased due to the decrease of the internal material, and at this time, the overall weight of the load changes with time. In order to adapt the UAV to varying load masses, as an alternative embodiment, the center of gravity of the UAV in the horizontal direction may pass through the interior of the first cavity 121. In this way, no matter what weight change occurs in the load, the load passes through the center of gravity of the UAV, and thus does not change the center of gravity of the UAV in the horizontal direction, ensuring that the UAV can still fly and use normally when the load weight changes.

Alternatively, the type of load may be various, for example, at least one of a water tank or a seed tank. When the water tank or the seed tank is operated by the unmanned aerial vehicle, water, liquid medicine or seeds are sprayed outward, so that the total mass of the load is continuously reduced. At this time, the position of the first cavity 121 can ensure the quality change of the load. At the time, the center of gravity of the unmanned aerial vehicle still does not change, thereby maintaining a normal flight state.

Since the UAV may fly, it may exhibit many changes in speed, acceleration and flight attitude. In order to allow the water tank, seed bin or other load to be pre-tightened in the first cavity 121, the water tank during the flight is avoided. A sway or looseness occurs in the first cavity 121, and a pretensioning assembly 13 for pre-fixing the load may be disposed on the cavity wall of the first cavity 121. The pretensioning assembly 13 can pre-tighten the load in the first cavity 121 such as the water tank, and put the water tank into the first cavity 121 in the correct direction and angle by the contact between the pretensioning assembly 13 and the water tank. The water tank or the like is effectively positioned in the horizontal circumferential direction of the first cavity 121, and at the same time, a certain hindrance is provided during the putting of the water tank or the seed tank to prevent the water tank from falling too fast and causing damage.

In one of the possible configurations, the pretensioning assembly 13 can include a roller assembly 131 disposed on the wall of the first cavity 121, the roller of the roller assembly 131 being oriented in the direction of installation of the water tank or seed bin. When the water tank or seed bin is installed, the rollers in the roller assembly 131 are in rolling connection with the outer surface of the water tank or the seed tank so that the water tank or seed can be made by the relative rolling of the rollers with the water tank or the side wall of the seed tank. The load such as the tank is smoothly placed in the first cavity 121, and the roller in the roller assembly 131 abuts on the side wall of the water tank to complete the preloading of the load such as the water tank.

In another possible configuration, the pretensioning assembly 13 can be a non-movable static component. At this time, the pretensioning assembly 13 may include a friction strip having a friction surface facing the inner side of the first cavity 121. The friction surface is usually a rough surface, so that during the process of placing the water tank, seed bin or other load into the first cavity 121, the friction surface will contact the side wall of the load and generate a certain friction force to make the load suitable. The speed and angle are smoothly placed in the first cavity 121. In order to prevent the friction strip from causing abrasion or damage to the surface of the load such as the water tank or the seed tank, the friction strip is generally a flexible member, such as felt or other object having a flexible friction surface.

In addition, the pretensioning component 13 can also be in other structures or forms, for example, can include balls, slide rails or other pretensioning structures commonly used by those skilled in the art, and details are not described herein.

Alternatively, in order to provide pre-tensioning and positioning for the tank, seed bin or other load in the circumferential direction, the pretensioning assembly 13 may be plural, and the plurality of pretensioning assemblies 13 are along the circumference of the first cavity 121. Interval setting. At this time, the plurality of pretensioning assemblies 13 can provide preloading in different directions from the load of the water tank or the seed tank, so that the load is relatively balanced.

In an alternative embodiment, the replaceable component may further include a power energy component of the UAV, and corresponding to the first cavity 121, the second cavity 122 may be used to house the power energy component. Among them, the power energy component of the unmanned aerial vehicle may mainly include a battery for powering the power device of the unmanned aerial vehicle, etc., and thus generally has a large volume and quality. At this time, the power energy component can be placed in the second cavity 122 disposed along the roll axis of the UAV, at this time, since the first cavity 121 and the second cavity 122 roll along the UAV The directions of the shafts are spaced apart, so that the power energy component can also be balanced with the load placed in the first cavity 121, etc., which is advantageous for the flying weight of the unmanned aerial vehicle.

Alternatively, the second cavity 122 is generally located in the rear half of the frame assembly 1 in the direction of the UAV roll axis. At this point, the battery or other power energy component placed in the second cavity 122 will also be located in the second half of the UAV and can be balanced with the components or equipment provided in the front half of the UAV. The aircraft forms a balance weight that is close to the weight of the two parts. Further, an electronic component such as a control device of the unmanned aerial vehicle or another device requiring cooling may be disposed at a front end position of the frame assembly 1 opposed to the second cavity 122. When the UAV is flying, the front end position of the frame assembly 1 is a windward surface, which is cooled by the blowing of the front airflow, thereby facilitating heat dissipation of electronic components such as control devices, and keeping the electronic components or other devices cool. Ensure the normal flight of the unmanned aerial vehicle.

In addition, in order to further improve the load such as the water tank and the seed tank, or the convenience of the power energy component such as the battery in the cavity, the inner wall of the cavity is usually provided with a guiding groove or a guiding protrusion 14 . . The guiding groove or the guiding protrusion 14 can guide the replaceable parts such as the load or the power energy component into the first cavity 121 and the second cavity 122 in the correct direction and angle, and complete the Installation in a cavity 121 or a second cavity 122.

When the plurality of frame members 1 in the frame assembly 1 are joined together, there may be a plurality of different frame member shapes and split patterns. In one of the alternative configurations of the frame assembly 1, the plurality of frame members 11 include a front cross member 111, a rear cross member 112, a left main beam 113 and a right main beam 114, a left main beam 113 and a right main beam 114 is spaced apart, the front cross member 111 and the rear cross member 112 are spaced apart and are spanned between the left main beam 113 and the right main beam 114, and the front cross member 111 is located in the frame assembly 1 along the roll axis of the unmanned aerial vehicle. In the front half, the rear cross member 112 is located in the rear half of the frame assembly 1 in the direction of the roll axis of the UAV.

At this time, the front cross member 111, the rear cross member 112, the left main beam 113 and the right main beam 114 together form a large hollow frame, and both the front cross member 111 and the rear cross member 12 can be used to set each of the unmanned aerial vehicles. Functional devices and components, while the left main beam 113 and the right main beam 114 traverse the entire body of the UAV in the roll axis direction, so that it can be used as the main bearing structure for the arm and the stand The structural components are connected.

Optionally, a large gap is formed between the front beam 111, the rear beam 112, the left main beam 113, and the right main beam 114, so that the first cavity 121 can be formed. The first cavity 121 occupies the middle position of the entire frame assembly 1 and has a large volume, so it can be used as a main cavity for placing a large volume of replaceable components, such as a water tank, a seed tank, and the like.

Further, as an alternative embodiment, the second cavity 122 may be located on the rear cross member 112. At this time, the second cavity 122 is formed by separately opening or slotting the rear beam 112, and can be used as an auxiliary cavity for accommodating a small-sized replaceable component, such as a power energy component such as a battery.

In addition, optionally, the center frame may further include at least one electronic component 2 located in the front half of the frame assembly 1 along the roll axis of the UAV. Thus, when the UAV is flying, the front half of the frame assembly 1 is set in the wind, and is cooled by the blowing of the front airflow, thereby facilitating the heat dissipation of the electronic component 2, so that the heat generated by the electronic component 2 can be timely. Disperse to ensure the normal flight of the unmanned aerial vehicle.

Optionally, the electronic component 2 on the center frame includes at least one of the following: a flight controller, an image sensor, a power controller, and the like. Among them, the flight controller generally includes a sensing device such as a gyroscope and a height sensor, which can detect the flight state of the UAV's attitude, speed and altitude, and effectively control the flight of the UAV. The image sensor can be used to receive and process images taken by the UAV, and transmit the image signals by wireless or the like. The power controller is used to power the power supply system of the unmanned aerial vehicle to ensure that the devices on the unmanned aerial vehicle can work normally and smoothly. In addition, the electronic component 2 may further include an adapter plate and a distribution board for performing switching and power distribution of different cables.

In order to arrange the electronic component 2 in the frame assembly 1, optionally, the electronic component 2 can be placed on the front cross member 111. Thus, the front beam 111 is located in the windward position of the frame assembly 1, and it is possible to ensure that the airflow is blown to the vicinity of the electronic component 2, and the electronic component 2 is cooled and cooled.

Further, at least one receiving cavity 1111 for accommodating the electronic component 2 is disposed on the front beam 111. Thus, the electronic component 2 can be disposed within the receiving cavity 1111 to provide protection of the front beam structure. In addition, an opening and closing cavity cover 1112 may be disposed on the opening of the receiving cavity 1111 to seal the electronic component 2 in the closed receiving cavity 1111.

In addition, in order to connect with the structural member such as the arm, as an optional structure, the center frame may further include a rotating shaft assembly 3, one end of the rotating shaft assembly 3 is connected with the arm, and the other end of the rotating shaft assembly 3 is connected by a vertical hinge shaft. The frame assembly 1 is hinged. Thus, the arm can be coupled to the frame assembly 1 through the hinge assembly 3 and can be unfolded or folded by articulating the shaft.

FIG. 7 is a schematic diagram of the connection between the center frame and the arm provided by the first embodiment of the present invention. As shown in FIG. 1 to FIG. 7 , optionally, the rotating shaft assemblies 3 are an even number and are symmetrically disposed on both sides of the frame assembly 1 along the roll axis direction of the UAV. Thus, the arms 4 can be symmetrically disposed on both sides of the UAV, so that the power unit on the arm 4 provides equal power to the UAV, ensuring smooth flight of the UAV. For example, the number of the shaft assembly and the arm 4 may be six, and the six arms 4 are respectively disposed at the front, the side, and the rear of the frame assembly 1 as the forearm assembly 41, the middle arm assembly 42, and the rear arm assembly 43, respectively.

In this embodiment, the center frame is applied to the unmanned aerial vehicle, and specifically includes a frame assembly, the frame assembly includes a plurality of frame members, and the frame member is formed into an integrated structure by integral molding, and the plurality of frame members are spliced and formed with each other. The accommodating space is configured to receive the replaceable component of the unmanned aerial vehicle, and the replaceable component is detachably disposed in the accommodating space. In this way, the shapes between the frame members remain matched to each other, and a large contact surface is formed between the respective frame members, thereby effectively preventing the twisting and translation of the single frame members by the shape fit of the other frame members, and the frame members are spliced together. The accommodating space can be matched with the replaceable parts, so that the structure and compactness of the center frame are good, and it is easy to assemble, repair and replace.

Embodiment 2 also provides an unmanned aerial vehicle. The unmanned aerial vehicle provided in this embodiment comprises a power set, a manipulator and a center frame as described in the first embodiment. The power set is disposed on the arm, and the arm is connected to the center frame.

Specifically, the center frame is the main structural component of the unmanned aerial vehicle, and the interior thereof includes the frame assembly, thereby having better integrity and structural strength, and capable of achieving a compact size and lightness on the basis of meeting structural strength requirements. the quality of.

Among them, the unmanned aerial vehicle has a power set on the arm, and the power set can provide the flying force for the unmanned aerial vehicle through the rotating propeller or other device, so that the unmanned aerial vehicle can perform normal flight.

In this embodiment, the unmanned aerial vehicle includes a power kit, an arm and a center frame, and the power kit is disposed on the arm, and the arm is connected to the center frame; wherein the center frame is used in the unmanned aerial vehicle, specifically including the frame assembly The frame assembly comprises a plurality of frame members, and the frame members are integrally formed into an integrated structure. The plurality of frame members are spliced to each other and form an accommodation space, and the accommodation space is used for accommodating the replaceable parts of the UAV, and is replaceable. The component can be detachably disposed in the accommodating space. In this way, the shapes between the frame members in the UAV remain matched to each other and form a large contact surface, thereby effectively preventing the twisting and translation of the single frame member by the shape fit of the other frame members, and the frame members are spliced to each other. The accommodating space can be matched with the replaceable components, so that the structure and compactness of the unmanned aircraft body structure are good, and it is easy to assemble, repair and replace.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims (78)

A center frame for use in an unmanned aerial vehicle, characterized by comprising a frame assembly, the frame assembly comprising a plurality of frame members, the frame members being integrally formed into an integrated structure, a plurality of the frames The pieces are spliced to each other and form an accommodation space; The accommodating space is configured to receive a replaceable component of the UAV, and the replaceable component is detachably disposed in the accommodating space. The center frame according to claim 1, wherein the material constituting the frame member comprises one or more of the following: plastic, glass fiber, nylon, carbon fiber. The center frame according to claim 2, wherein the material of at least one of said frame members is a carbon fiber reinforced polyamide. The center frame of claim 1 wherein said frame member is a hollow structure. The center frame according to claim 4, wherein the inner cavity of the frame member is provided with reinforcing ribs. The center frame of claim 5 wherein said reinforcing ribs are disposed obliquely in said internal cavity. The center frame according to any one of claims 1 to 6, wherein the plurality of frame members are spliced to each other and form a plurality of the accommodating spaces. The center frame according to claim 7, wherein said accommodating space formed by said plurality of said frame members comprises a cavity surrounded by said frame member. The center frame according to claim 8, wherein said cavity is located in one of said frame members; or said cavity is formed by splicing of said different frame members. The center frame according to claim 9, wherein said space comprises at least two said cavities, and at least two of said cavities are arranged along a roll axis direction of said UAV. The center frame according to claim 10, wherein at least one of a top of the cavity and a bottom of the cavity has an opening. The center frame according to claim 11, wherein the top of the cavity and the bottom of the cavity are each provided with an opening. The center frame according to claim 12, wherein the opening size of the top of the cavity is larger than the opening size of the bottom of the cavity. A center frame according to claim 12 or claim 13 wherein the cavity tapers along the top of the cavity to the bottom of the cavity. A center frame according to any one of claims 8 to 13, wherein the cavity is a square cavity. The center frame according to any one of claims 10 to 13, wherein the at least two cavities comprise a first cavity and a second cavity, the first cavity and the second cavity Arranged along the roll axis direction of the UAV. The center stand of claim 16 wherein said replaceable member comprises a load carried by said unmanned aerial vehicle, said first cavity for receiving said load. The center frame of claim 17 wherein said first cavity is located in a central portion of said frame assembly. The center frame according to claim 17 or 18, wherein a center of gravity of the unmanned aerial vehicle in a horizontal direction passes through the inside of the first cavity. A center stand according to any one of claims 17 to 19, wherein the load comprises at least one of the following: a water tank, a seed tank. The center frame according to claim 20, wherein the chamber wall of the first cavity is provided with a pretensioning assembly for pre-fixing the load. The center frame according to claim 21, wherein said pretensioning assembly comprises a roller assembly disposed on a wall of said first cavity, said roller in said roller assembly rolling direction along said water tank Installation direction. The center frame according to claim 21, wherein the pretensioning assembly comprises a friction strip having a friction surface facing the inner side of the first cavity. The center frame according to any one of claims 21 to 23, wherein the pretensioning assembly is plural, and a plurality of the pretensioning assemblies are disposed along a circumferential interval of the first cavity. The center stand of claim 16 wherein said replaceable component comprises a power energy component of said UAV, said second cavity for receiving said power energy component. The center frame according to claim 25, wherein said second cavity is located in a rear half of said frame assembly in a direction of a roll axis of said UAV. The center frame according to any of claims 8-13, characterized in that the inner wall of the cavity is provided with a guiding groove or a guiding protrusion. The center frame according to claim 16, wherein the plurality of frame members comprise a front beam, a rear beam, a left main beam, and a right main beam, the left main beam and the right main beam Arranged, the front beam and the rear beam are spaced apart and are spanned between the left main beam and the right main beam, and the front beam is located along the frame assembly The front half of the human aircraft in the roll axis direction, the rear beam being located along the rear half of the frame assembly along the UAV. The center frame according to claim 28, wherein said first cavity is formed between said front beam, said rear beam, said left side main beam and said right side main beam. The center frame of claim 29 wherein said second cavity is located on said rear beam. A center frame according to any one of claims 28 to 30, further comprising at least one electronic component located in the first half of the frame assembly in the direction of the roll axis of the UAV section. The center frame according to claim 31, wherein said electronic component is disposed on said front beam. The center frame according to claim 32, wherein said front beam is provided with at least one receiving cavity for accommodating said electronic component. The center frame according to claim 31, wherein said electronic component comprises one or more of the following: a flight controller, an image sensor, and a power controller. A center frame according to any one of claims 1 to 6, wherein a plurality of said frame members are joined together by mutually matching shapes. The center frame according to claim 35, wherein the plurality of frame members that are joined together are connected to each other by a threaded fastener. The center frame according to claim 36, wherein one of each of the two adjacent frame members is provided with a groove, and the other is provided with a projection that matches the groove. The center frame according to any one of claims 1 to 6, further comprising a rotating shaft assembly, one end of the rotating shaft assembly being coupled to the arm, and the other end of the rotating shaft assembly passing through the vertical hinge shaft and the frame The components are hinged. The center frame according to claim 38, wherein said shaft assemblies are an even number and are symmetrically disposed on both sides of said frame assembly in the direction of the roll axis of said UAV. An unmanned aerial vehicle, comprising: a power kit, an arm and a center frame, wherein the power kit is disposed on the arm, and the arm is connected to the center frame; The center frame is applied to an unmanned aerial vehicle, the center frame includes a frame assembly, and the frame assembly includes a plurality of frame members, the frame members are integrally formed into an integrated structure, and the plurality of the frame members are Splicing to each other and forming an accommodation space; The accommodating space is configured to receive a replaceable component of the UAV, and the replaceable component is detachably disposed in the accommodating space. The UAV according to claim 40, wherein the material constituting the frame member comprises one or more of the following: plastic, glass fiber, nylon, carbon fiber. The UAV according to claim 41, wherein the material of at least one of said frame members is a carbon fiber reinforced polyamide. The UAV according to claim 40, wherein said frame member is a hollow structure. The UAV according to claim 43, wherein the inner cavity of the frame member is provided with reinforcing ribs. The UAV according to claim 44, wherein said reinforcing ribs are disposed obliquely in said internal cavity. The UAV according to any one of claims 40 to 45, wherein the plurality of frame members are spliced to each other and a plurality of the accommodating spaces are formed. The UAV according to claim 46, wherein said accommodating space formed by said plurality of said frame members comprises a cavity surrounded by said frame member. The UAV according to claim 47, wherein said cavity is located in one of said frame members; or said cavity is formed by splicing of said different frame members. The UAV according to claim 48, wherein said space comprises at least two said cavities, and at least two of said cavities are arranged along a roll axis direction of said UAV. An unmanned aerial vehicle according to claim 49, wherein at least one of the top of the cavity and the bottom of the cavity has an opening. The UAV according to claim 50, wherein the top of the cavity and the bottom of the cavity are each provided with an opening. The UAV according to claim 51, wherein the opening size of the top of the cavity is larger than the opening size of the bottom of the cavity. The UAV according to claim 51 or 52, wherein the cavity is gradually reduced along the top of the cavity to the bottom of the cavity. An unmanned aerial vehicle according to any one of claims 47 to 52, wherein the cavity is a square cavity. The UAV according to any one of claims 49 to 52, wherein the at least two cavities comprise a first cavity and a second cavity, the first cavity and the second cavity The bodies are spaced apart along the roll axis direction of the UAV. The UAV according to claim 55, wherein said replaceable member comprises a load carried by said unmanned aerial vehicle, said first cavity for accommodating said load. The UAV according to claim 56, wherein said first cavity is located in a middle portion of said frame assembly. The UAV according to claim 56 or 57, wherein the center of gravity of the UAV in the horizontal direction passes through the inside of the first cavity. The UAV according to any one of claims 56 to 58, wherein the load comprises at least one of the following: a water tank, a seed tank. The UAV according to claim 59, wherein the chamber wall of the first cavity is provided with a pretensioning assembly for pre-fixing the load. The UAV according to claim 60, wherein said pretensioning assembly comprises a roller assembly disposed on a wall of said first cavity, said roller in said roller assembly rolling direction along said water tank Installation direction. The UAV according to claim 60, wherein said pretensioning assembly comprises a friction strip having a friction surface facing the inside of said first cavity. The UAV according to any one of claims 60 to 62, wherein the pretensioning assembly is plural, and a plurality of the pretensioning assemblies are disposed along a circumferential interval of the first cavity. The UAV according to claim 55, wherein said replaceable component comprises a power energy component of said unmanned aerial vehicle, and said second cavity is adapted to receive said power energy component. The UAV according to claim 64, wherein said second cavity is located in a rear half of said frame assembly in a direction of a roll axis of said UAV. The UAV according to any one of claims 47 to 52, characterized in that the inner wall of the cavity is provided with a guide groove or a guide projection. The UAV according to claim 55, wherein said plurality of said frame members comprise a front cross member, a rear cross member, a left main beam and a right main beam, said left main beam and said right main a beam spacing arrangement, the front beam and the rear beam are spaced apart and both span between the left main beam and the right main beam, and the front beam is located along the frame assembly The front half of the UAV in the roll axis direction, the rear cross member being located along the rear half of the frame assembly along the UAV. The UAV according to claim 67, wherein said first cavity is formed between said front beam, said rear beam, said left side main beam and said right side main beam. The UAV according to claim 68, wherein said second cavity is located on said rear cross member. An unmanned aerial vehicle according to any one of claims 67 to 69, further comprising at least one electronic component located in a direction of the roll axis of the unmanned aerial vehicle of the frame assembly first half. The UAV according to claim 70, wherein said electronic component is disposed on said front cross member. The UAV according to claim 71, wherein said front cross member is provided with at least one receiving chamber for accommodating said electronic component. The UAV according to claim 70, wherein said electronic component comprises one or more of the following: a flight controller, an image sensor, and a power controller. An unmanned aerial vehicle according to any one of claims 40 to 45, wherein a plurality of said frame members are joined together by mutually matching shapes. The UAV according to claim 74, wherein the plurality of frame members that are joined together are connected to each other by a threaded fastener. An unmanned aerial vehicle according to claim 75, wherein one of each of the two adjacent frame members is provided with a groove, and the other is provided with a projection matching the groove. An unmanned aerial vehicle according to any one of claims 40 to 45, further comprising a rotating shaft assembly, one end of the rotating shaft assembly being coupled to the arm, and the other end of the rotating shaft assembly being coupled to the shaft by a vertical hinge The frame assembly is hinged. The UAV according to claim 77, wherein said rotating shaft assemblies are an even number and are symmetrically disposed on both sides of said frame assembly in the direction of the roll axis of said UAV.

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