WO2023019404A1 - Arm assembly of aerial vehicle and aerial vehicle - Google Patents

Abstract

An arm assembly (100), comprising a first component (10) and an arm (20). The first component (10) is movably connected to a fuselage (300) of an aerial vehicle (1000); the arm (20) is rotatably connected to the first component (10), so that the arm assembly (100) can be unfolded or folded with respect to the fuselage (300); when the arm assembly (100) is folded, the first component (10) moves with respect to the fuselage (300), so that the projection of a first end (21) of the arm (20) on a side surface of the fuselage (300) moves in a first direction; a second end (22) of the arm (20) rotates with respect to the first component (10), so that the second end (22) of the arm (20) can be close to the fuselage (300), and with respect to the projection of the first end (21) of the arm (20) on the side surface of the fuselage (300), the projection of the second end (22) of the arm (20) on the side surface of the fuselage (300) moves in a second direction opposite to the first direction. The present invention further relates to the aerial vehicle (1000). The arm assembly is convenient to store and carry; and both the miniaturization requirement of the aerial vehicle (1000) in a non-use state and the endurance performance thereof in a use state can be taken into account.

Description

Aircraft arm assembly and aircraft technical field

The present application relates to the technical field of aircraft, in particular to an aircraft arm assembly and the aircraft.

Background technique

With the rapid development of the drone industry, more and more drones are being applied to industries such as agriculture, forestry, electric power, surveying and mapping, and telemetry. If the machine arm of the drone takes up a lot of space when not in use, it is not convenient for the transportation and storage of the drone. If the length of the arm of the UAV is limited during use, it will limit the endurance performance of the aircraft. However, the arm structure design of the existing unmanned aerial vehicle is unreasonable, and it is difficult to take into account the miniaturization requirements of the unmanned aerial vehicle when it is not needed and the endurance performance when it is needed.

Contents of the invention

The present application provides an aircraft arm assembly and the aircraft, aiming at taking into account the miniaturization requirements of the aircraft in the non-use state and the endurance performance in the use state.

In the first aspect, the embodiment of the present application provides an aircraft arm assembly, the arm assembly includes:

The first part is movably connected with the fuselage of the aircraft;

an arm, used to carry a power assembly for providing flight power for the aircraft, the arm is rotatably connected to the first component, so that the arm assembly can be unfolded or folded relative to the fuselage;

When the arm assembly is folded, the first part moves relative to the fuselage, so that the projection of the first end of the arm on the side of the fuselage moves along a first direction; The second end of the arm is rotated relative to the first part, so that the second end of the arm can be close to the fuselage, and the projection of the second end of the arm on the side of the fuselage is opposite The projection of the first end of the arm on the side of the fuselage moves along a second direction opposite to the first direction.

In a second aspect, the embodiment of the present application provides an aircraft, the aircraft includes:

body;

a power assembly for providing flight power for the aircraft; and

The above-mentioned machine arm assembly is used to carry the power assembly.

The embodiment of the present application provides an aircraft arm assembly and the aircraft. The aircraft arm assembly can be stored and folded, which reduces the volume and occupied space of the aircraft when it is not in use, and is convenient for storage and carrying; and can ensure that the aircraft arm assembly is The unfolded state has a longer length to ensure the flight performance and flight efficiency of the aircraft, thereby taking into account the miniaturization requirements of the aircraft in the non-use state and the endurance performance in the use state.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the disclosure content of the embodiments of the present application.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is a schematic structural diagram of an aircraft provided by an embodiment of the present application, wherein the arm assembly is in an unfolded state;

Fig. 2 is a structural schematic diagram of an aircraft provided by an embodiment of the present application, wherein the arm assembly is in a folded state;

Fig. 3 is a partial structural schematic diagram of an aircraft provided by an embodiment of the present application, wherein the arm assembly is in an unfolded state;

Fig. 4 is a partial structural schematic diagram of an aircraft provided by an embodiment of the present application, wherein the arm assembly is in a folded state;

Fig. 5 is a partial structural schematic diagram of an aircraft provided by another embodiment of the present application, wherein the arm assembly is in an unfolded state;

Fig. 6 is a partial structural schematic diagram of an aircraft provided by another embodiment of the present application, wherein the arm assembly is in a folded state;

Fig. 7 is a partial structural schematic diagram of an aircraft provided in another embodiment of the present application, wherein the arm assembly is in an unfolded state;

Fig. 8 is a partial structural schematic diagram of an aircraft provided by another embodiment of the present application, wherein the arm assembly is in a folded state.

Explanation of reference signs:

1000. aircraft;

100. Machine arm assembly;

10. The first component; 11. The sliding part; 12. The rotating connection part; 15. The first rod body; 16. The second rod body;

20. Machine arm; 30. Second rotating shaft mechanism; 40. Third rotating shaft mechanism; 61. Fourth rotating shaft mechanism; 62. Fifth rotating shaft mechanism; 63. Sixth rotating shaft mechanism; 64. Seventh rotating shaft mechanism;

200, power assembly; 201, power motor; 202, propeller;

300, fuselage; 301, side; 3011, first side wall; 3012, second side wall; 3013, third side wall; 302, chute; 303, connection part of first rotating shaft mechanism; 304, second rotating shaft mechanism connecting part.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as limiting the application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of said features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

It should also be understood that the terminology used in the specification of the present application is for the purpose of describing specific embodiments only and is not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural referents unless the context clearly dictates otherwise.

It should also be further understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations .

Some implementations of the present application will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Please refer to FIG. 1 , an aircraft 1000 provided in an embodiment of the present application. The aircraft 1000 may include a rotary-wing unmanned aerial vehicle, a fixed-wing unmanned aerial vehicle, an unmanned helicopter, or a fixed-wing mixed-wing unmanned aerial vehicle, and the like. Among them, the rotor UAV can be a single-rotor aircraft, a dual-rotor aircraft, a three-rotor aircraft, a quad-rotor aircraft, a six-rotor aircraft, an octo-rotor aircraft, a ten-rotor aircraft, a twelve-rotor aircraft, etc.

Exemplarily, the aircraft 1000 may be wirelessly or wiredly connected to the control terminal, so as to control the aircraft 1000 through the control terminal.

Referring to FIG. 1 , the aircraft 1000 may include an arm assembly 100 , a power assembly 200 and a fuselage 300 . The power assembly 200 is carried on the arm assembly 100 . The power assembly 200 is used to provide flight power for the aircraft 1000 .

Please refer to FIG. 1 and FIG. 2 . Exemplarily, the arm assembly 100 is movably connected with the fuselage 300 so that the arm assembly 100 can be unfolded or folded relative to the fuselage 300 . Referring to FIG. 1 , when the aircraft 1000 is in use, the arm assembly 100 can be deployed relative to the fuselage 300 . Referring to Fig. 2, when the aircraft 1000 is in a non-use state, the arm assembly 100 can be folded relative to the fuselage 300, so that not only the arm assembly 100 and the power assembly 200 carried on the arm assembly 100 can be protected, but also The volume of the aircraft 1000 in the non-use state is reduced, which is convenient for storage and carrying.

Referring to FIG. 1 , for example, the number of the arm assembly 100 may include one or more, such as one, two, three, four, five, six or more. When the arm assembly 100 is in the unfolded state, one or more arm assemblies 100 extend radially from the fuselage 300 .

1 and 2, the power assembly 200 may include one or more propellers 202 and one or more power motors 201 corresponding to the one or more propellers 202, the power motors 201 and the propellers 202 are arranged on the arm assembly 100 superior. The power motor 201 is used to drive the propeller 202 to rotate, so as to provide power for the flight of the aircraft 1000 , and the power enables the aircraft 1000 to realize movement of one or more degrees of freedom. In some embodiments, aircraft 1000 may rotate about one or more axes of rotation. For example, the rotation axis may include a roll axis (roll axis), a yaw axis (yaw axis), and a pitch axis (pitch axis). It should be understood that the power motor 201 may be a DC motor or an AC motor. In addition, the power motor 201 may be a brushless motor or a brushed motor.

Referring to FIG. 3 and FIG. 4 , in some embodiments, the arm assembly 100 includes a first part 10 and an arm 20 . The first part 10 is articulated with the fuselage 300 of the aircraft 1000 . The arm 20 is rotatably connected to the first part 10 so that the arm assembly 100 can be unfolded or folded relative to the fuselage 300 . When the machine arm assembly 100 is folded, the first part 10 moves relative to the fuselage 300, so that the projection of the first end 21 of the machine arm 20 on the side 301 of the fuselage 300 moves along the first direction; The end 22 is rotated relative to the first part 10, so that the second end 22 of the machine arm 20 can be close to the fuselage 300, and the projection of the second end 22 of the machine arm 20 on the side 301 of the fuselage 300 is relative to the plane of the machine arm 20. The projection of the first end 21 on the side of the fuselage 300 moves along the second direction. The second direction is opposite to the first direction.

In some embodiments, the boom assembly 100 includes a first component 10 and a boom 20 . The first part 10 is articulated with the fuselage 300 of the aircraft 1000 . The arm 20 is rotatably connected to the first part 10 so that the arm assembly 100 can be unfolded or folded relative to the fuselage 300 . When the machine arm assembly 100 is folded, the first part 10 is movable relative to the fuselage 300, so that the first end 21 of the machine arm 20 moves along the first direction in the extension direction of the fuselage 300; the second end 22 of the machine arm 20 Rotate relative to the first part 10, so that the second end 22 of the machine arm 20 can approach the fuselage 300, and the second end 22 of the machine arm 20 is in the extension direction of the fuselage 300 relative to the first end 21 of the machine arm 20 Move in the second direction. The second direction is opposite to the first direction.

Understandably, the extension direction of the fuselage 300 may be the direction from the nose to the tail.

It can be understood that generally for the aircraft 1000 , the size of the blades of the propeller 202 is basically proportional to the power obtained by the aircraft 1000 , the larger the blade size, the greater the power efficiency of the aircraft 1000 . However, when the length of the machine arm is short, the aircraft 1000 cannot use larger-sized blades, otherwise the blades will interfere with the fuselage 300 during rotation, such as hitting the fuselage 300, etc., resulting in a large security risks.

In the process of designing the aircraft 1000, since the offset of the center of gravity can have a direct impact on the motion characteristics of the aircraft 1000, it is necessary to calculate the offset of the center of gravity of the aircraft 1000, and use the dynamic model of the aircraft 1000 to carry out dynamic construction of the center of gravity of the aircraft 1000. model, and calculate the difference between the coordinates of the center of gravity of the aircraft 1000 and the coordinates of its center of power.

In general, the smaller the offset value of the center of gravity of the aircraft 1000 is, the smaller the power difference between the power motors 201 of the aircraft 1000 is, and the better the overall flight efficiency and endurance of the aircraft 1000 are. Among them, the calculation method of the center of gravity offset value is:

It can be seen from the above formula that if the length of the machine arm is shorter, the distance between different power motors 201 in the Z direction will be smaller, that is, the offset value of the center of gravity of the aircraft 1000 will be too large, which will have a negative impact on the performance of the aircraft 1000. When the length of the arm becomes longer, the distance between different power motors 201 in the Z direction can be increased, and the offset value of the center of gravity of the aircraft 1000 can be reduced, thereby ensuring the flight performance and flight efficiency of the aircraft 1000 .

In the arm assembly 100 of the embodiment of the present application, the arm 20 is rotatably connected to the first component 10 . When the machine arm assembly 100 is folded, the first part 10 moves relative to the fuselage 300, so that the projection of the first end 21 of the machine arm 20 on the side 301 of the fuselage 300 moves along the first direction; The end 22 rotates relative to the first part 10 so that the second end 22 of the machine arm 20 can approach the fuselage 300, and the projection of the second end 22 of the machine arm 20 on the side of the fuselage 300 is relative to the second end 22 of the machine arm 20. The projection of the one end 21 on the side of the fuselage 300 moves along a second direction opposite to the first direction.

In another embodiment, the machine arm 20 is rotatably connected to the first component 10 . When the machine arm assembly 100 is folded, the first part 10 is movable relative to the fuselage 300, so that the first end 21 of the machine arm 20 moves along the first direction in the extension direction of the fuselage 300; the second end 22 of the machine arm 20 Rotate relative to the first part 10, so that the second end 22 of the machine arm 20 can approach the fuselage 300, and the second end 22 of the machine arm 20 is in the extension direction of the fuselage 300 relative to the first end 21 of the machine arm 20 Move in a second direction opposite to the first direction.

In this way, the structural design of the arm assembly 100 is reasonable. On the one hand, the arm assembly 100 can be stored and folded to reduce the volume and space occupied by the aircraft 1000 when it is not in use, which is convenient for storage and carrying; The assembly 100 has a longer length when the aircraft 1000 is in use, so as to avoid interference between the blades of the propeller 202 and the arm assembly 100 when the aircraft 1000 is in use, and to obtain a smaller offset of the center of gravity of the entire aircraft, ensuring the stability of the aircraft 1000. The flight performance and flight efficiency provide a guarantee for using blades with higher power efficiency and improving the endurance performance of the aircraft 1000, thus taking into account the miniaturization requirements of the aircraft in the non-use state and the endurance performance in the use state.

It can be understood that the projection of the second end 22 of the arm 20 on the side of the fuselage 300 includes the projection of the second end 22 of the arm 20 on the side of the fuselage 300 . The same is true for the projection of the first end 21 of the arm 20 on the side of the fuselage 300 , which will not be repeated here.

Referring to FIG. 3 and FIG. 4, in some embodiments, when the arm assembly 100 is unfolded, that is, when the arm assembly 100 is switched from the folded state to the unfolded state, the first part 10 moves relative to the fuselage 300 to Make the projection of the first end 21 of the machine arm 20 on the side 301 of the fuselage 300 move along the second direction; the second end 22 of the machine arm 20 rotates relative to the first part 10, so that the second end 22 of the machine arm 20 Can be away from the fuselage 300 , and the projection of the second end 22 of the arm 20 on the side 301 of the fuselage 300 moves along the first direction relative to the projection of the first end 21 of the arm 20 on the side of the fuselage 300 . In this way, the arm assembly 100 can be stored on the fuselage 300 when the aircraft 1000 is not in use, and the arm assembly 100 can have a longer length when the aircraft 1000 is in use.

In some embodiments, when the arm assembly 100 is unfolded, that is, when the arm assembly 100 is switched from the folded state to the unfolded state, the first part 10 moves relative to the fuselage 300 so that the first end of the arm 20 21 moves along the second direction in the extension direction of the fuselage 300; the second end 22 of the machine arm 20 rotates relative to the first part 10, so that the second end 22 of the machine arm 20 can be away from the fuselage 300, and the machine arm 20 The second end 22 of the arm 20 moves along the first direction in the extension direction of the fuselage 300 relative to the first end 21 of the arm 20 . In this way, the arm assembly 100 can be stored on the fuselage 300 when the aircraft 1000 is not in use, and the arm assembly 100 can have a longer length when the aircraft 1000 is in use.

Exemplarily, the first direction is shown as the X1 direction in FIG. 3 , and the second direction is shown as the X2 direction in FIG. 3 .

Referring to FIG. 3 and FIG. 4 , in some embodiments, the distance between the projections of the first end 21 and the second end 22 of the arm 20 on the side of the fuselage is greater than that in the folded state.

The distance between the first end 21 and the second end 22 of the machine arm 20 in the extending direction of the fuselage is greater than that in the unfolded state in the folded state.

Exemplarily, referring to FIG. 4 , when the arm assembly 100 is switched from the unfolded state to the folded state, the first part 10 moves relative to the fuselage 300 until the first part 10 is in the first position relative to the fuselage 300 , and the arm 20 Rotate relative to the first part 10 until the machine arm 20 is located at the second position relative to the fuselage 300 . The distance between the projections of the side surfaces 301 of the fuselage 300 is the first distance.

In some embodiments, when the arm assembly 100 switches from the unfolded state to the folded state, the first part 10 moves relative to the fuselage 300 until the first part 10 is located at the first position relative to the fuselage 300, and the arm 20 and the first The component 10 is relatively rotated until the machine arm 20 is located at the second position relative to the fuselage 300. At this time, the distance between the first end 21 of the machine arm 20 and the second end 22 of the machine arm 20 in the extending direction of the fuselage 300 is the first distance .

In this way, in the folded state, the arm assembly 100 can be partially or completely folded and stored on the fuselage 300 or the side 301 of the fuselage 300, thereby reducing the volume and occupied space of the aircraft 1000 when it is not in use, and facilitating storage and carry.

Please refer to FIG. 3 , when the arm assembly 100 is switched from the folded state to the unfolded state, the first part 10 moves relative to the fuselage 300 until the first part 10 is in a third position relative to the fuselage 300, and the machine arm 20 and the first part 10 performs relative rotation until the machine arm 20 is located at the fourth position relative to the fuselage 300 . The distance between the projections of the sides 301 is the second distance. The first distance is greater than the second distance.

In some embodiments, when the arm assembly 100 is switched from the folded state to the unfolded state, the first part 10 moves relative to the fuselage 300 until the first part 10 is located at a third position relative to the fuselage 300, and the arm 20 and the first The component 10 is relatively rotated until the machine arm 20 is located at the fourth position relative to the fuselage 300. At this time, the distance between the first end 21 of the machine arm 20 and the second end 22 of the machine arm 20 in the extending direction of the fuselage 300 is the second distance . The first distance is greater than the second distance.

It can be understood that, in the unfolded state, the arm assembly 100 has a sufficient length, so that the distance between the power motors 201 in the Z direction can be increased, thereby reducing the offset value of the center of gravity of the aircraft 1000, ensuring the flight performance of the aircraft 1000 and flight efficiency.

Exemplarily, the first distance is substantially equal to the extension length of the arm 20 .

Exemplarily, when the arm assembly 100 is switched from the folded state to the unfolded state, the projection of the first end 21 of the arm 20 on the side 301 of the fuselage 300 is the same as the projection of the second end 22 of the arm 20 on the fuselage 300 . The distance between the projections of the sides 301 gradually decreases.

In some embodiments, when the arm assembly 100 is switched from the folded state to the unfolded state, the first end 21 of the arm 20 and the second end 22 of the arm 20 are in the direction of extension of the side surface 301 of the fuselage 300 The distance gradually decreases.

Please refer to FIG. 4 , in some embodiments, when the arm assembly 100 is in the folded state, the arm 20 is basically attached to the fuselage 300, so as to minimize the volume of the aircraft 1000 when it is not in use, and reduce the Small footprint, easy to store and carry.

Exemplarily, due to processing errors, when the arm assembly 100 is in the folded state, the included angle between the longitudinal direction of the arm 20 and the side 301 of the fuselage 300 to which the arm 20 is attached may be between -30° and 30°. °, such as -30°, 0°, 30° or any other suitable angle between -30° and 30°.

Exemplarily, the second end 22 of the arm 20 is used to carry the power assembly 200 , and when the arm assembly 100 is in a folded state, the power assembly 200 is basically attached to the fuselage 300 .

Exemplarily, when the arm assembly 100 is in a deployed state, the power assembly 200 is far away from the fuselage 300 .

3 and 4, in some embodiments, when the arm assembly 100 is folded, the first part 10 slides relative to the fuselage 300 along a first direction, so that the first end 21 of the arm 20 is on the fuselage. The projection of the side of 300 moves in a first direction.

In some embodiments, when the arm assembly 100 is folded, the first part 10 slides relative to the fuselage 300 along the first direction, so that the first end 21 of the arm 20 extends along the first direction along the extending direction of the fuselage 300 move.

In some embodiments, when the arm assembly 100 is folded, the first part 10 slides relative to the fuselage 300 in a second direction opposite to the first direction, so that the first end 21 of the arm 20 is on the side of the fuselage 300 . The side projection moves in the second direction.

In some embodiments, when the arm assembly 100 is folded, the first part 10 slides relative to the body 300 in a second direction opposite to the first direction, so that the first end 21 of the arm 20 extends on the body 300 direction to move in the second direction.

Exemplarily, when the aircraft 1000 needs to be switched from the use state to the non-use state, the first part 10 is slid relative to the fuselage 300, so that the projection of the first end 21 of the arm 20 on the side 301 of the fuselage 300 is along the first Move in one direction; relatively rotate the machine arm 20 and the first part 10, so that the second end 22 of the machine arm 20 can be close to the fuselage 300, and the second end 22 of the machine arm 20 is on the side of the fuselage 300 The projection of 301 moves along the second direction relative to the projection of the first end 21 of the arm 20 on the side 301 of the fuselage 300, thereby switching the arm assembly 100 to the folded state, reducing the volume of the aircraft 1000 in the non-use state And take up space, easy to store and carry.

When the aircraft 1000 needs to be switched from the non-use state to the use state, the first part 10 is slid relative to the fuselage 300, so that the projection of the first end 21 of the machine arm 20 on the side 301 of the fuselage 300 moves along the second direction; Relatively rotate the machine arm 20 and the first part 10, so that the second end 22 of the machine arm 20 can be away from the fuselage 300, and the projection of the second end 22 of the machine arm 20 on the side 301 of the fuselage 300 is opposite The projection of the first end 21 of the arm 20 on the side 301 of the fuselage 300 moves along the first direction, so that the arm assembly 100 is switched to the unfolded state, and the aircraft 1000 can be used normally.

Exemplarily, when the aircraft 1000 needs to be switched from the use state to the non-use state, the first part 10 is slid relative to the fuselage 300 so that the first end 21 of the fuselage 20 extends along the first direction along the fuselage 300 Move: relative rotation between the machine arm 20 and the first part 10, so that the second end 22 of the machine arm 20 can be close to the fuselage 300, and the second end 22 of the machine arm 20 is relative to the first part of the machine arm 20 The end 21 moves along the second direction along the extending direction of the fuselage 300, thereby switching the arm assembly 100 to a folded state, reducing the volume and occupied space of the aircraft 1000 in a non-use state, and facilitating storage and portability.

When the aircraft 1000 needs to be switched from the non-use state to the use state, the first part 10 is slid relative to the fuselage 300, so that the first end 21 of the machine arm 20 moves along the second direction in the extending direction of the fuselage 300; Relative rotation is carried out between the arm 20 and the first part 10, so that the second end 22 of the machine arm 20 can be away from the fuselage 300, and the second end 22 of the machine arm 20 is relative to the first end 21 of the machine arm 20. The extension direction of the body 300 moves along the first direction, so that the arm assembly 100 is switched to the unfolded state, and the aircraft 1000 can be used normally at this time.

Referring to FIG. 3 and FIG. 4 , in some embodiments, the first component 10 includes a sliding part 11 and a rotating connection part 12 . The sliding part 11 is slidably connected with the body 300 . The rotating connection part 12 is connected to the sliding part 11 , and the rotating connecting part 12 is rotatably connected to the first end 21 of the machine arm 20 .

Exemplarily, the sliding direction in which the sliding part 11 slides relative to the body 300 is parallel to the first direction or the second direction.

Exemplarily, the shapes of the sliding part 11 , the rotating connecting part 12 and the machine arm 20 can all be designed according to actual needs. For example, the sliding portion 11 is in the shape of a block or the like. The rotating connection part 12 is in the shape of a pin shaft, and the first end 21 of the machine arm 20 is formed with a pin shaft hole. rotatable connection. As another example, the rotating connection part 12 is formed with a pin hole, the first end 21 of the machine arm 20 is pin-shaped, and the first end 21 of the machine arm 20 is inserted in the pin hole and cooperates to realize the first end of the machine arm 20. Rotatable connection of end 21 to first part 10 . For another example, the pin shaft passes through the rotating connection portion 12 and the first end 21 of the machine arm 20 , so as to realize the rotatable connection between the first end 21 of the machine arm 20 and the first component 10 .

Exemplarily, the rotating connection part 12 is rotatably connected to the first end 21 of the machine arm 20 through a first rotating shaft mechanism (not shown), so as to realize the rotatable connection between the first component 10 and the machine arm 20 .

Exemplarily, the extending direction of the slide slot 302 is substantially perpendicular to the axis of the first rotating shaft mechanism (not shown).

Exemplarily, when the arm assembly 100 is in a folded state, the extending direction of the arm 20 is substantially parallel to the extending direction of the chute 302 .

Exemplarily, the machine arm 20 is rod-shaped or the like.

In some embodiments, the arm assembly 100 further includes a first locking portion and a second locking portion. The first locking part can limit the sliding of the first part 10 to fix the first part 10 and prevent the first part 10 from sliding relative to the fuselage 300 when the arm assembly 100 is in a folded or unfolded state. The second locking portion can limit the rotation between the arm 20 and the first component 10 , preventing relative rotation between the arm 20 and the first component 10 when the arm assembly 100 is in a folded state or an unfolded state. In this way, the arm assembly 100 can be kept in the folded state or the unfolded state, and the stability and reliability of the arm assembly 100 in the folded state or the unfolded state can be improved.

Exemplarily, the first locking part includes a first locking subsection and a first matching subsection, and the first locking subsection and the first matching subsection can cooperate to fix the second locking subsection when the arm assembly 100 is in a folded state or an unfolded state. A part 10. One of the first locking subsection and the first matching subsection is disposed on the body 300 , and the other is disposed on the first component 10 .

In some embodiments, the first locking portion includes at least one of an engaging structure, a magnetic attraction structure, a screw locking structure and the like. Exemplarily, one of the first locking sub-section and the first matching sub-section includes a first locking slot, and the other includes a first locking protrusion matched with the first locking slot.

Exemplarily, one of the first locking sub-section and the first matching sub-section includes a first magnet, and the other includes a first magnetic adsorption piece or another magnet that magnetically cooperates with the first magnet.

It can be understood that the first magnet may be a permanent magnet or an electromagnet, and the permanent magnet may be an alnico permanent magnet alloy or an iron chromium cobalt permanent magnet alloy or the like. The electromagnet can be selectively turned on and off according to needs, so as to control the working state of the first locking part. The embodiment of the present application does not limit the specific type and raw material of the first magnetic adsorption member.

It can be understood that when the state of the arm assembly 100 needs to be switched, the locking relationship between the first locking subsection and the first mating subsection can be unlocked, so that the first component 10 can slide freely relative to the sliding groove 302 .

Exemplarily, the second locking part includes a second locking subsection and a second matching subsection, and the second locking subsection and the second matching subsection can cooperate to lock the second locking subsection when the arm assembly 100 is in a folded state or an unfolded state. A part 10 and the machine arm 20 prevent relative rotation between the two.

In some embodiments, the second locking portion includes at least one of an engaging structure, a magnetic attraction structure, a screw locking structure and the like. Exemplarily, one of the second locking sub-part and the second matching sub-part includes a second card slot, and the other includes a second card protrusion matched with the second card slot.

Exemplarily, one of the second locking subsection and the second matching subsection includes a second magnet, and the other includes a second magnetic adsorption piece or another magnet that magnetically cooperates with the second magnet.

It can be understood that the second magnet may be a permanent magnet or an electromagnet, and the permanent magnet may be an alnico permanent magnet alloy or an iron chromium cobalt permanent magnet alloy or the like. The electromagnet can be selectively turned on and off according to needs, so as to control the working state of the second locking part. The embodiment of the present application does not limit the specific type and raw material of the second magnetic adsorption member.

Understandably, when the state of the arm assembly 100 needs to be switched, the locking relationship between the second locking sub-part and the second mating sub-part can be unlocked, so that the relative rotation between the first component 10 and the arm 20 can be achieved.

Referring to FIG. 3 , in some embodiments, the fuselage 300 includes a first side wall 3011 , a second side wall 3012 and a third side wall 3013 connected in sequence. The first side wall 3011 is opposite to the third side wall 3013 . The sliding slot 302 is disposed on the second side wall 3012 , and the sliding slot 302 is disposed close to the first side wall 3011 or the third side wall 3013 . In this way, the volume and occupied space of the aircraft 1000 when the arm assembly 100 is in the folded state can be reduced as much as possible, and the length of the arm assembly 100 in the unfolded state can be increased as much as possible.

Referring to FIG. 3 , for example, the projection of the first end 21 of the machine arm 20 on the side 301 of the fuselage 300 moves along the first direction, including the first end 21 of the machine arm 20 on the second side wall of the fuselage 300 The projection of the plane where 3012 is located moves along the first direction.

The projection of the second end 22 of the machine arm 20 on the side 301 of the fuselage 300 moves along the second direction, including the projection of the second end 22 of the machine arm 20 on the plane where the second side wall 3012 of the fuselage 300 is located relative to the machine arm The projection of the first end 21 of 20 on the plane where the second side wall 3012 of the fuselage 300 is located moves along the second direction.

Exemplarily, the first end 21 of the arm 20 moves along the first direction in the extending direction of the fuselage 300 , including the movement of the first end 21 of the arm 20 along the first direction along the extending direction of the fuselage 300 .

The projection of the second end 22 of the machine arm 20 on the side surface 301 of the fuselage 300 moves along the second direction, including that the second end 22 of the machine arm 20 moves along the extension direction of the fuselage 300 relative to the first end 21 of the machine arm 20 Move in the second direction.

Exemplarily, the center of the slide groove 302 deviates from the center of the second side wall 3012 along the arrangement direction between the first side wall 3011 and the third side wall 3013.

Exemplarily, the center of the chute 302 and the center of the second side wall 3012 are sequentially arranged along the first direction or the second direction.

Exemplarily, the center of the sliding groove 302 and the center of the second side wall 3012 do not coincide.

Exemplarily, the shapes of the first side wall 3011 , the second side wall 3012 and the third side wall 3013 can be designed according to actual needs, for example, they can be flat or curved.

Please refer to FIG. 4 , in some implementations, the distance between the projection of the first end 21 of the machine arm 20 on the side 301 of the fuselage 300 and the first side wall 3011 is smaller than that when the machine arm assembly 100 is in a folded state. The distance when the arm assembly 100 is in the deployed state. In this way, the volume and occupied space of the aircraft 1000 when the arm assembly 100 is in the folded state can be reduced as much as possible, and the length of the arm assembly 100 in the unfolded state can be increased as much as possible.

In some embodiments, the distance between the first end 21 of the machine arm 20 in the extending direction of the fuselage 300 and the first side wall 3011 is smaller when the machine arm assembly 100 is in the folded state than when the machine arm assembly 100 is in the unfolded state. distance. In this way, the volume and occupied space of the aircraft 1000 when the arm assembly 100 is in the folded state can be reduced as much as possible, and the length of the arm assembly 100 in the unfolded state can be increased as much as possible.

Referring to FIG. 4 , in some embodiments, when the arm assembly 100 is in the folded state, the first component 10 slides relative to the sliding slot 302 to an end of the sliding slot 302 close to the first side wall 3011 .

Please refer to FIG. 5 and FIG. 6 , in some embodiments, the first component 10 is rotatably connected to the fuselage 300 . When the arm assembly 100 is folded, the first part 10 moves relative to the fuselage 300 , so that the projection of the first end 21 of the arm 20 on the side 301 of the fuselage 300 moves along a first direction.

In some embodiments, the first component 10 is rotatably connected to the fuselage 300 . When the arm assembly 100 is folded, the first part 10 moves relative to the fuselage 300 , so that the first end 21 of the arm 20 moves along the first direction along the extending direction of the fuselage 300 .

In some embodiments, the first component 10 is rotatably connected to the fuselage 300 . When the arm assembly 100 is folded, the first part 10 moves relative to the fuselage 300 , so that the first end 21 of the arm 20 moves along the first direction along the extending direction of the fuselage 300 .

Referring to FIG. 5 and FIG. 6 , in some embodiments, the first end 13 of the first component 10 is rotatably connected to the body 300 . The second end 14 of the first member 10 is rotatably connected to the first end of the arm 20 .

Exemplarily, when the arm assembly 100 is folded, the first end of the first part 10 rotates relative to the fuselage 300, so that the first end 21 of the arm 20 moves along the first direction along the extending direction of the fuselage 300; Relatively rotate between the second end of the first part 10 and the first end of the machine arm 20, so that the second end 22 of the machine arm 20 can approach the fuselage 300, and the second end 22 of the machine arm 20 of the machine arm 20 The first end 21 moves along a second direction opposite to the first direction in the extending direction of the fuselage 300 .

In some embodiments, the first end 13 of the first component 10 is rotatably connected to the body 300 . The second end 14 of the first member 10 is rotatably connected to the first end of the arm 20 .

Exemplarily, when the arm assembly 100 is folded, the first end of the first part 10 rotates relative to the fuselage 300, so that the projection of the first end 21 of the arm 20 on the side 301 of the fuselage 300 is along the first direction Move; relative rotation between the second end of the first part 10 and the first end of the machine arm 20, so that the second end 22 of the machine arm 20 can be close to the fuselage 300, and the second end 22 of the machine arm 20 is in the machine The projection of the side surface 301 of the body 300 relative to the projection of the first end 21 of the arm 20 on the side surface of the fuselage 300 moves along a second direction opposite to the first direction.

Exemplarily, when the arm assembly 100 is folded, the first end of the first part 10 rotates relative to the fuselage 300, so that the first end 21 of the arm 20 moves along the first direction along the extending direction of the fuselage 300; Relatively rotate between the second end of the first part 10 and the first end of the machine arm 20, so that the second end 22 of the machine arm 20 can be close to the fuselage 300, and the second end 22 of the machine arm 20 is relative to the machine arm The first end 21 of the body 300 moves along a second direction opposite to the first direction in the extending direction of the fuselage 300 .

In this way, when the aircraft 1000 is not in use, the arm assembly 100 can be stored on the fuselage 300 or on the side of the fuselage 300, effectively reducing the volume and occupied space of the arm assembly 100 in the folded state to facilitate storage and carrying, and When the aircraft 1000 is in use, the arm assembly 100 can obtain a longer length to ensure the flight performance and flight efficiency of the aircraft 1000 .

5 and 6, in some embodiments, when the arm assembly 100 is folded, the first part 10 rotates relative to the fuselage 300 in a first rotational direction, so that the first end 21 of the arm 20 is on the fuselage. The projection of the side 301 of 300 moves along the first direction; the machine arm 20 rotates relative to the fuselage 300 along the second rotational direction opposite to the first rotational direction, so that the second end 22 of the machine arm 20 is on the side 301 of the fuselage 300 Relative to the projection of the first end 21 of the machine arm 20 on the side surface 301 of the fuselage 300, the projection of , moves along a second direction opposite to the first direction.

In some embodiments, when the arm assembly 100 is folded, the first part 10 rotates relative to the fuselage 300 along the first rotation direction, so that the first end 21 of the arm 20 is along the first direction along the extending direction of the fuselage 300 Move: the machine arm 20 rotates relative to the fuselage 300 along a second rotational direction opposite to the first rotational direction, so that the second end 22 of the machine arm 20 is in the extension direction of the fuselage 300 relative to the first end 21 of the machine arm 20 Movement in a second direction opposite to the first direction.

In this way, the volume and occupied space of the arm assembly 100 in the folded state can be minimized to facilitate storage and carrying.

5 and 6, in some embodiments, when the arm assembly 100 is unfolded, the first part 10 rotates relative to the fuselage 300 in a second rotational direction, so that the first end 21 of the arm 20 is on the fuselage. The projection of the side 301 of the fuselage 300 moves along the second direction; the arm 20 rotates relative to the fuselage 300 along the first rotation direction, so that the projection of the second end 22 of the arm 20 on the side of the fuselage 300 is relative to that of the arm 20 The projection of the first end 21 on the side surface 301 of the fuselage 300 moves along the first direction.

In some embodiments, when the arm assembly 100 is unfolded, the first part 10 rotates relative to the fuselage 300 along the second rotation direction, so that the first end 21 of the arm 20 is along the second direction along the extending direction of the fuselage 300 Movement: the arm 20 rotates relative to the fuselage 300 along the first rotation direction, so that the second end 22 of the arm 20 moves along the first direction relative to the first end 21 of the arm 20 along the extending direction of the fuselage 300 .

In this way, when the aircraft 1000 is in use, the arm assembly 100 can obtain a longer length to ensure the flight performance and flight efficiency of the aircraft 1000 .

Exemplarily, the first rotation direction is shown as the ω1 direction in FIG. 5 , and the second rotation direction is shown as the ω2 direction in FIG. 5 . Exemplarily, the first direction is shown as the X4 direction in FIG. 5 , and the second direction is shown as the X3 direction in FIG. 5 .

Exemplarily, in the process of switching the arm assembly 100 from the unfolded state to the folded state, the first component 10 is rotated along the first rotation direction, so that the first end 21 of the arm 20 is at the side 301 of the fuselage 300 The projection moves along the first direction until the first end 21 of the arm 20 is basically attached to the fuselage 300 . Rotate the arm 20 in a second rotational direction opposite to the first rotational direction, so that the second end 22 of the arm 20 moves in the second direction until the second end 22 of the arm 20 is substantially attached to the fuselage 300 , thereby completing the folding of the arm assembly 100, so that the arm assembly 100 is in a folded state.

Exemplarily, in the process of switching the arm assembly 100 from the unfolded state to the folded state, the first component 10 is rotated along the first rotation direction, so that the first end 21 of the arm 20 is along the extending direction of the fuselage 300 Move in the first direction until the first end 21 of the arm 20 is basically attached to the fuselage 300 . Rotate the arm 20 in a second rotational direction opposite to the first rotational direction, so that the second end 22 of the arm 20 moves in the second direction until the second end 22 of the arm 20 is substantially attached to the fuselage 300 , thereby completing the folding of the arm assembly 100, so that the arm assembly 100 is in a folded state.

It can be understood that both the first part 10 and the machine arm 20 can be designed according to actual needs, for example, both can be rod-shaped. Referring to FIG. 5 , for example, the shape and/or size of the first component 10 and the machine arm 20 may be the same or different, which is not limited here. For example, the shapes of the first part 10 and the machine arm 20 are basically the same, and the sizes of the first part 10 and the machine arm 20 are different. In this way, the processing is convenient, and the first part 10 and the arm 20 are overlapped as much as possible after the arm assembly 100 is folded, thereby reducing the volume and occupied space of the aircraft 1000 when the arm assembly 100 is in the folded state as much as possible.

Referring to FIG. 6 , it can be understood that when the arm assembly 100 is in the folded state, the length of the arm assembly 100 is less than the sum of the length of the first part 10 and the length of the arm 20 . In this way, when the aircraft 1000 is not in use, the arm assembly 100 can be stored on the fuselage 300 or the side 301 of the fuselage 300, effectively reducing the occupied space of the aircraft arm assembly 100, and reducing the volume of the aircraft 1000 in the non-use state and take up space.

Referring to FIG. 5 , in some embodiments, when the arm assembly 100 is in a deployed state, the length of the arm assembly 100 is substantially equal to the sum of the length of the first part 10 and the length of the arm 20 . In this way, when the aircraft 1000 is in use, the arm assembly 100 can obtain a longer length to the greatest extent.

Referring to FIG. 6 , in some embodiments, when the arm assembly 100 is in the folded state, the angle between the first part 10 and the arm 20 is substantially 0°, so that when the aircraft 1000 is in a non-use state, The volume and occupied space of the arm assembly 100 are greatly reduced.

Referring to FIG. 5 , in some embodiments, when the arm assembly 100 is in a deployed state, the angle between the first part 10 and the arm 20 is substantially 180°. In this way, when the aircraft 1000 is in use, the arm assembly 100 can obtain a longer length to the greatest extent, and the strength of the arm assembly 100 can be improved.

Referring to FIG. 5 and FIG. 6 , in some embodiments, the first component 10 is rotatably connected to the body 300 through the second shaft mechanism 30 . The arm 20 is rotatably connected to the first component 10 through the third shaft mechanism 40 . Exemplarily, the first end 21 of the machine arm 20 is rotatably connected to the first component 10 through the third rotating shaft mechanism 40 .

Exemplarily, the second rotating shaft mechanism 30 passes through the first end 13 of the first component 10 and the body 300 , so as to realize the rotatable connection between the first component 10 and the body 300 . The third rotating shaft mechanism 40 passes through the second end 14 of the first component 10 and the first end 21 of the machine arm 20 , so as to realize the rotational connection between the first component 10 and the machine arm 20 .

Exemplarily, the axis of the second rotating shaft mechanism 30 is substantially parallel to the axis of the third rotating shaft mechanism 40 .

Exemplarily, when the arm assembly 100 is in a folded state, the extending direction of the first component 10 is substantially parallel to the extending direction of the arm 20 .

Exemplarily, when the arm assembly 100 is in a deployed state, the extending direction of the first component 10 is substantially parallel to the extending direction of the arm 20 .

In some embodiments, the arm assembly 100 further includes a third locking portion and a fourth locking portion. The third locking portion is used to limit the relative rotation between the first component 10 and the body 300 . The fourth locking portion is used to limit the relative rotation between the first component 10 and the machine arm 20 . In this way, the arm assembly 100 can be kept in the folded state or the unfolded state, and the stability and reliability of the arm assembly 100 in the folded state or the unfolded state can be improved.

Exemplarily, the third locking part includes a third locking subsection and a third matching subsection, and the third locking subsection can cooperate with the third matching subsection, so as to fix the first A part 10. One of the third locking subsection and the third matching subsection is disposed on the body 300 , and the other is disposed on the first component 10 .

In some embodiments, the third locking portion includes at least one of an engaging structure, a magnetic attraction structure, a screw locking structure and the like. Exemplarily, one of the third locking subsection and the third matching subsection includes a third locking slot, and the other includes a third locking protrusion matched with the third locking slot.

Exemplarily, one of the third locking subsection and the third matching subsection includes a third magnet, and the other includes a third magnetic adsorption piece or another magnet that magnetically cooperates with the third magnet.

Understandably, the third magnet may be a permanent magnet or an electromagnet, and the permanent magnet may be an alnico permanent magnet alloy or an iron chromium cobalt permanent magnet alloy or the like. The electromagnet can be selectively turned on and off according to needs, so as to control the working state of the third locking part. The embodiment of the present application does not limit the specific type and raw material of the third magnetic adsorption member.

Understandably, when the state of the machine arm assembly 100 needs to be switched, the locking relationship between the third locking subsection and the third matching subsection can be unlocked, so that the first component 10 can rotate relative to the fuselage 300 .

Exemplarily, the fourth locking part includes a fourth locking subsection and a fourth matching subsection, and the fourth locking subsection and the fourth matching subsection can cooperate to lock the first arm assembly 100 when the arm assembly 100 is in a folded state or an unfolded state. A part 10 and the machine arm 20 prevent relative rotation between the two.

In some embodiments, the fourth locking portion includes at least one of an engaging structure, a magnetic attraction structure, a screw locking structure and the like. Exemplarily, one of the fourth locking sub-section and the fourth matching sub-section includes a fourth card slot, and the other includes a fourth card protrusion matched with the fourth card slot.

Exemplarily, one of the fourth locking subsection and the fourth matching subsection includes a fourth magnet, and the other includes a fourth magnetic adsorption piece or another magnet that magnetically cooperates with the fourth magnet.

Understandably, the fourth magnet may be a permanent magnet or an electromagnet, and the permanent magnet may be an alnico permanent magnet alloy or an iron chromium cobalt permanent magnet alloy or the like. The electromagnet can be selectively turned on and off according to needs, so as to control the working state of the fourth locking part. The embodiment of the present application does not limit the specific type and raw material of the fourth magnetic adsorption member.

Understandably, when the state of the arm assembly 100 needs to be switched, the locking relationship between the fourth locking subsection and the fourth mating subsection can be unlocked, so that the relative rotation between the first component 10 and the arm 20 can be achieved.

Please refer to FIG. 7 and FIG. 8 , in some embodiments, the fuselage 300 , the first part 10 and the arm 20 cooperate to form a four-bar linkage mechanism.

Referring to FIG. 7 and FIG. 8 , in some embodiments, the first component 10 includes a first rod body 15 and a second rod body 16 . The first end 151 of the first rod body 15 is rotatably connected to the fuselage 300 . The first end 161 of the second rod body 16 is rotatably connected to the fuselage 300 . The second end 152 of the first rod 15 and the second end 162 of the second rod 16 are respectively rotatably connected to different parts of the machine arm 20 . In this way, the volume or occupied space of the arm assembly 100 in the folded state can be reduced as much as possible, and the arm assembly 100 can obtain sufficient length in the unfolded state.

Exemplarily, when the arm assembly 100 is unfolded, the first end 151 of the first rod body 15 is rotated relative to the fuselage 300 , the first end 161 of the second rod body 16 is rotated relative to the fuselage 300 , and the second end 161 of the first rod body 15 is rotated relative to the fuselage 300 . The relative rotation between the end 152 and the arm 20 , and the relative rotation between the second end 162 of the second rod body 16 and the arm 20 , until the arm assembly 100 is in the unfolded state, as shown in FIG. 7 . At this time, the arm assembly 100 has a sufficient length, so that the distance between the power motors 201 in the Z direction can be increased, thereby reducing the offset value of the center of gravity of the aircraft 1000 , ensuring the flight performance and flight efficiency of the aircraft 1000 .

When the arm assembly 100 is folded, the first end 151 of the first rod body 15 is rotated relative to the fuselage 300, the first end 161 of the second rod body 16 is rotated relative to the fuselage 300, and the second end 152 of the first rod body 15 is in contact with the fuselage 300. The arms 20 rotate relative to each other, and the second end 162 of the second rod body 16 rotates relative to the arm 20 until the arm assembly 100 is in a folded state, as shown in FIG. 8 . At this time, the arm assembly 100 is in the folded state, the first rod body 15, the second rod body 16 and the machine arm 20 can be folded, and can be partially or completely folded and stored on the fuselage 300 or the side 301 of the fuselage 300, thereby reducing The volume and occupied space of the small aircraft 1000 when it is not in use are convenient for storage and carrying.

Exemplarily, the shapes and/or sizes of the first rod body 15 , the second rod body 16 and the machine arm 20 can be designed according to actual requirements. For example, the first rod body 15 , the second rod body 16 and the machine arm 20 are all rod-shaped. Exemplarily, the length of the machine arm 20 is greater than the length of the first rod body 15 and/or the length of the second rod body 16 .

Referring to FIG. 7 and FIG. 8 , in some embodiments, when the arm assembly 100 is folded, the first rod body 15 rotates in a third rotation direction relative to the fuselage 300 , and the second rod body 16 rotates in a third rotation direction relative to the fuselage 300 Rotate, so that the projection of the first end 21 of the machine arm 20 on the side 301 of the fuselage 300 moves along the first direction; the machine arm 20 rotates along the fourth rotational direction opposite to the third rotational direction, so that the The projection of the second end 22 on the side 301 of the fuselage 300 moves along the second direction relative to the projection of the first end 21 of the arm 20 on the side 301 of the fuselage 300 .

In some embodiments, when the arm assembly 100 is folded, the first rod body 15 rotates relative to the fuselage 300 along a third rotation direction, and the second rod body 16 rotates relative to the fuselage 300 along a third rotation direction, so that the The first end 21 moves along the first direction in the extension direction of the fuselage 300; The first end 21 moves along the second direction along the extending direction of the fuselage 300 .

Please refer to FIG. 7 and FIG. 8 , in some embodiments, when the arm assembly 100 is deployed, the first rod body 15 rotates in a fourth rotation direction relative to the fuselage 300 , and the second rod body 16 rotates in a fourth rotation direction relative to the fuselage 300 Rotate so that the first end 21 of the machine arm 20 moves along the second direction in the extension direction of the fuselage 300; the machine arm 20 rotates along the third rotation direction so that the second end 22 of the machine arm 20 is relatively The first end 21 of the body 20 moves along the first direction along the extending direction of the fuselage 300 .

In some embodiments, when the arm assembly 100 is unfolded, the first rod body 15 rotates relative to the fuselage 300 along the fourth rotation direction, and the second rod body 16 rotates relative to the fuselage 300 along the fourth rotation direction, so that the The first end 21 moves along the second direction in the extension direction of the fuselage 300; The extending direction of the body 300 moves along the first direction.

In some embodiments, when the arm assembly 100 is unfolded, the first rod body 15 rotates relative to the fuselage 300 along the fourth rotation direction, and the second rod body 16 rotates relative to the fuselage 300 along the fourth rotation direction, so that the The first end 21 moves along the second direction in the extension direction of the fuselage 300; The extending direction of the body 300 moves along the first direction.

Exemplarily, the third rotation direction is shown as ω3 direction in FIG. 7 , and the fourth rotation direction is shown as ω4 direction in FIG. 7 . The first direction is shown as X5 direction in FIG. 7 , and the second direction is shown as X6 in FIG. 7 .

Referring to FIG. 8 , in some embodiments, when the arm assembly 100 is in the folded state, the second end 152 of the first rod body 15 , the first end 151 of the first rod body 15 , and the first end 161 of the second rod body 16 1. Projections of the second end 22 of the machine arm 20 on the machine arm 20 are arranged in sequence along the second direction. In this way, the volume or occupied space of the arm assembly 100 in the folded state can be minimized, and the arm assembly 100 can obtain sufficient length in the unfolded state.

Referring to FIG. 8 , in some embodiments, when the arm assembly 100 is in the folded state, the projection of the second end 152 of the first rod body 15 on the arm 20 is located on the first end 21 of the arm 20 .

Referring to FIG. 8 , in some embodiments, when the arm assembly 100 is in the folded state, the projections of the first end 151 of the first rod body 15 and the second end 162 of the second rod body 16 on the machine arm 20 are substantially coincident.

Exemplarily, when the machine arm assembly 100 is in the folded state, the projection of the second end 152 of the first rod body 15 on the machine arm 20 substantially coincides with the first end 21 of the machine arm 20 , and the first end of the first rod body 15 151 and the projection of the second end 162 of the second rod body 16 on the machine arm 20 are substantially coincident.

Please refer to FIG. 7 , in some embodiments, the body 300 is rotatably connected to the first end 151 of the first rod 15 through the fourth rotating shaft mechanism 61 . The body 300 is rotatably connected to the first end 161 of the second rod body 16 through the fifth shaft mechanism 62 . The second end 152 of the first rod body 15 is rotatably connected to the machine arm 20 through the sixth rotating shaft mechanism 63 . The second end 162 of the second rod body 16 is rotatably connected to the machine arm 20 through the seventh rotating shaft mechanism 64 .

Referring to FIG. 7 , for example, a first rotating shaft mechanism connecting portion 303 and a second rotating shaft mechanism connecting portion 304 are provided on the fuselage 300 . The connecting part 303 of the first rotating shaft mechanism is rotatably connected to the first end 151 of the first rod body 15 through the fourth rotating shaft mechanism 61 . The second rotating shaft mechanism connecting portion 304 is rotatably connected to the first end 161 of the second rod body 16 through the fifth rotating shaft mechanism 62 . Exemplarily, the fourth rotating shaft mechanism 61 passes through the connecting portion 303 of the first rotating shaft mechanism and the first end 151 of the first rod body 15 , so as to realize the rotatable connection between the fuselage 300 and the first rod body 15 . The fifth rotating shaft mechanism 62 passes through the connecting portion 304 of the second rotating shaft mechanism and the first end 161 of the second rod body 16 , so as to realize the rotatable connection between the fuselage 300 and the second rod body 16 .

Exemplarily, the axis of the fourth rotating shaft mechanism 61 is substantially parallel to the axes of the fifth rotating shaft mechanism 62 , the sixth rotating shaft mechanism 63 , and the seventh rotating shaft mechanism 64 .

Exemplarily, when the arm assembly is in the folded state, the extension direction of the first rod body 15 is substantially parallel to the extension direction of the second rod body 16 .

Exemplarily, the extension direction of the first rod body 15 is substantially parallel to the extension direction of the machine arm 20 .

Exemplarily, the extension direction of the second rod body 16 is substantially parallel to the extension direction of the machine arm 20 .

Exemplarily, the length of the first rod body 15 is smaller than the length of the second rod body 16 .

Exemplarily, the second end 152 of the first rod body 15 is closer to the first end 21 of the machine arm 20 than the second end 162 of the second rod body 16 .

Please refer to FIG. 8 , in some embodiments, when the arm assembly 100 is in the folded state, the first rod body 15 is substantially parallel to the second rod body 16 and/or the fuselage arm 20, so as to minimize the impact of the aircraft 1000 on the fuselage arm. The volume or occupied space of the assembly 100 in the folded state.

Please refer to FIG. 8 , in some embodiments, when the arm assembly 100 is in the folded state, the included angle between the first rod body 15 and the second rod body 16 is basically 180°, so as to minimize the aircraft 1000 in the aircraft 1000. The volume or occupied space of the arm assembly 100 in the folded state.

Referring to FIG. 7 , in some embodiments, when the arm assembly 100 is in the unfolded state, the angle between the first rod body 15 , the second rod body 16 and the machine arm 20 is an acute angle, an obtuse angle or a right angle. .

Exemplarily, when the arm assembly 100 is in the unfolded state, the angle between the first rod body 15 and the machine arm 20 is an obtuse angle, the angle between the second rod body 16 and the machine arm 20 is an obtuse angle, and the second rod body 16 The angle between the first rod body 15 and the machine arm 20 is larger than the angle between the first rod body 15 and the machine arm 20 .

In some embodiments, the arm assembly 100 further includes a fifth locking part (not shown in the figure), a sixth locking part (not shown in the figure) and a seventh locking part (not shown in the figure), the fifth locking part is used to limit the A relative rotation between the rod body 15 and the fuselage 300 . The sixth locking portion is used to limit the relative rotation between the second rod body 16 and the fuselage 300 . The seventh locking portion is used to limit the relative rotation between the first component 10 and the machine arm 20 .

Exemplarily, the fifth locking portion includes a fifth locking sub-section and a fifth matching sub-section, and the fifth locking sub-section and the fifth matching sub-section can cooperate to fix the first One rod body 15. One of the fifth locking subsection and the fifth matching subsection is disposed on the fuselage 300 , and the other is disposed on the first rod body 15 .

In some embodiments, the fifth locking portion includes at least one of an engaging structure, a magnetic attraction structure, a screw locking structure and the like. Exemplarily, one of the fifth locking subsection and the fifth matching subsection includes a fifth locking slot, and the other includes a fifth locking protrusion matched with the fifth locking slot.

Exemplarily, one of the fifth locking subsection and the fifth matching subsection includes a fifth magnet, and the other includes a fifth magnetic adsorption piece or another magnet that magnetically cooperates with the fifth magnet.

Understandably, the fifth magnet may be a permanent magnet or an electromagnet, and the permanent magnet may be an alnico permanent magnet alloy or an iron chromium cobalt permanent magnet alloy or the like. The electromagnet can be selectively turned on and off according to needs, so as to control the working state of the fifth locking part. The embodiment of the present application does not limit the specific type and raw material of the fifth magnetic adsorption member.

It can be understood that when the state of the arm assembly 100 needs to be switched, the locking relationship between the fifth locking subsection and the fifth matching subsection can be unlocked, so that the relative rotation between the first rod body 15 and the fuselage 300 can be achieved.

Exemplarily, the sixth locking part includes a sixth locking sub-part and a sixth matching sub-part, and the sixth locking sub-part and the sixth matching sub-part can cooperate to fix the first Two rods 16. One of the sixth locking subsection and the sixth matching subsection is disposed on the fuselage 300 , and the other is disposed on the second rod body 16 .

In some embodiments, the sixth locking portion includes at least one of an engaging structure, a magnetic attraction structure, a screw locking structure and the like. Exemplarily, one of the sixth locking subsection and the sixth matching subsection includes a sixth card slot, and the other includes a sixth card protrusion matched with the sixth card slot.

Exemplarily, one of the sixth locking subsection and the sixth matching subsection includes a sixth magnet, and the other includes a sixth magnetic adsorption piece or another magnet that magnetically cooperates with the sixth magnet.

Understandably, the sixth magnet may be a permanent magnet or an electromagnet, and the permanent magnet may be an alnico permanent magnet alloy or an iron chromium cobalt permanent magnet alloy or the like. The electromagnet can be selectively turned on and off according to needs, so as to control the working state of the sixth locking part. The embodiment of the present application does not limit the specific type and raw material of the sixth magnetic adsorption member.

Understandably, when the state of the machine arm assembly 100 needs to be switched, the locking relationship between the sixth locking subsection and the sixth mating subsection can be unlocked, so that the second rod body 16 and the fuselage 300 can rotate relative to each other.

In some embodiments, the seventh locking portion includes a first locking sub-section and a second locking sub-section. The first locking subpart is used to limit the relative rotation between the first rod body 15 and the machine arm 20 . The second locking subpart is used to limit the relative rotation between the first rod body 15 and the machine arm 20 .

Exemplarily, the first locking sub-section includes a seventh locking sub-section and a seventh matching sub-section, and the seventh locking sub-section and the seventh matching sub-section can cooperate to lock when the arm assembly 100 is in a folded state or an unfolded state. The first rod body 15 and the machine arm 20 . One of the seventh locking subsection and the seventh matching subsection is disposed on the first rod body 15 , and the other is disposed on the machine arm 20 .

In some embodiments, the first locking subpart includes at least one of an engaging structure, a magnetic attraction structure, a screw locking structure and the like. Exemplarily, one of the seventh locking subsection and the seventh matching subsection includes a seventh locking slot, and the other includes a seventh locking protrusion matched with the seventh locking slot.

Exemplarily, one of the seventh locking subsection and the seventh matching subsection includes a seventh magnet, and the other includes a seventh magnetic adsorption piece or another magnet that magnetically cooperates with the seventh magnet.

Understandably, the seventh magnet may be a permanent magnet or an electromagnet, and the permanent magnet may be an alnico permanent magnet alloy or an iron chromium cobalt permanent magnet alloy or the like. The electromagnet can be selectively turned on and off according to needs, so as to control the working state of the first locking subpart. The embodiment of the present application does not limit the specific type and raw material of the seventh magnetic adsorption member.

It can be understood that when the state of the arm assembly 100 needs to be switched, the locking relationship between the seventh locking subsection and the seventh matching subsection can be unlocked, so that the relative rotation between the first rod body 15 and the arm 20 can be enabled.

Exemplarily, the second locking subsection includes an eighth locking subsection and an eighth matching subsection, and the eighth locking subsection and the eighth matching subsection can cooperate to lock the arm assembly 100 when it is in a folded state or an unfolded state. The second rod body 16 and the machine arm 20 . One of the eighth locking subsection and the eighth matching subsection is disposed on the machine arm 20 , and the other is disposed on the second rod body 16 .

In some embodiments, the second locking subpart includes at least one of an engaging structure, a magnetic attraction structure, a screw locking structure and the like. Exemplarily, one of the eighth locking subsection and the eighth matching subsection includes an eighth card slot, and the other includes an eighth card protrusion matched with the eighth card slot.

Exemplarily, one of the eighth locking subsection and the eighth matching subsection includes an eighth magnet, and the other includes an eighth magnetic adsorption piece or another magnet that magnetically cooperates with the eighth magnet.

Understandably, the eighth magnet may be a permanent magnet or an electromagnet, and the permanent magnet may be an alnico permanent magnet alloy or an iron chromium cobalt permanent magnet alloy or the like. The electromagnet can be selectively turned on and off according to needs, so as to control the working state of the second locking subpart. The embodiment of the present application does not limit the specific type and raw material of the eighth magnetic adsorption member.

Understandably, when the state of the machine arm assembly 100 needs to be switched, the locking relationship between the eighth locking subsection and the eighth matching subsection can be unlocked, so that the second rod body 16 and the machine arm 20 can rotate relative to each other.

It can be understood that the shapes of the fuselage 300, the first part 10 and the machine arm 20 can be designed according to actual needs, and the fuselage 300, the first part 10 and the machine arm 20 in FIGS. 3 to 8 are only exemplary. During actual application, the shapes of the fuselage 300 , the first component 10 and the arm 20 may be changed according to actual application requirements, and FIGS. 3 to 8 do not limit the present application.

In the description of this application, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. connected, or integrally connected. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two elements or the interaction relationship between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

In this application, unless otherwise expressly specified and limited, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

The above disclosure provides many different implementations or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and arrangements of specific examples are described above. Of course, they are examples only and are not intended to limit the application. Furthermore, the present application may repeat reference numerals and/or reference letters in various instances, such repetition is for simplicity and clarity and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, various specific process and material examples are provided herein, but one of ordinary skill in the art may recognize the use of other processes and/or the use of other materials.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples", or "some examples" etc. mean that the embodiments are combined Specific method steps, features, structures, materials or features described in or examples are included in at least one implementation or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific method steps, features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a specific embodiment of the application, but the scope of protection of the application is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the scope of the technology disclosed in the application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims (30)

An aircraft arm assembly, characterized in that the arm assembly comprises: The first part is movably connected with the fuselage of the aircraft; an arm, used to carry a power assembly for providing flight power for the aircraft, the arm is rotatably connected to the first component, so that the arm assembly can be unfolded or folded relative to the fuselage; When the arm assembly is folded, the first part moves relative to the fuselage, so that the projection of the first end of the arm on the side of the fuselage moves along a first direction; The second end of the arm is rotated relative to the first part, so that the second end of the arm can be close to the fuselage, and the projection of the second end of the arm on the side of the fuselage is opposite The projection of the first end of the arm on the side of the fuselage moves along a second direction opposite to the first direction. The arm assembly of claim 1, wherein when the arm assembly is deployed, the first member is movable relative to the fuselage such that the first end of the arm is in the the projection of the side of the fuselage moves in a second direction; the second end of the arm rotates relative to the first part so that the second end of the arm can move away from the fuselage and the The projection of the second end of the arm on the surface of the fuselage moves in a first direction relative to the projection of the first end of the arm on the side of the fuselage. The arm assembly according to claim 1, wherein the distance between the projections of the first end and the second end of the arm on the side of the fuselage in the folded state is greater than that in the unfolded state. The distance between the projections of the first end and the second end of the arm on the side of the fuselage. The arm assembly according to claim 1, wherein when the arm assembly is in a folded state, the arm is substantially attached to the fuselage. The arm assembly according to claim 4, wherein the second end of the arm is used to carry the power assembly, and when the arm assembly is in a folded state, the power assembly is basically attached to the fuselage. The arm assembly according to claim 5, wherein when the arm assembly is in a deployed state, the power assembly is far away from the fuselage. The arm assembly according to any one of claims 1-6, characterized in that the first component is slidably connected to the fuselage. The arm assembly according to claim 7, wherein when the arm assembly is folded, the first part slides relative to the fuselage along the first direction, so that the arm The projection of the first end on the side of the fuselage moves along the first direction. The arm assembly according to claim 7, wherein when the arm assembly is folded, the first part slides relative to the fuselage in the second direction, so that the arm The projection of the first end on the side of the fuselage moves along the second direction. The boom assembly of claim 7, wherein the first component comprises: the sliding part is slidably connected with the fuselage; The rotating connection part is rotatably connected with the first end of the machine arm. The arm assembly according to claim 10, wherein a sliding slot is provided on the side of the fuselage, and the sliding part is slidingly connected with the sliding slot. The machine arm assembly according to claim 11, wherein the rotating connection part is rotatably connected to the first end of the machine arm through a first rotating shaft mechanism. The machine arm assembly according to claim 12, wherein the axis of the first rotating shaft mechanism is substantially perpendicular to the extending direction of the slide slot. The arm assembly according to claim 11, wherein when the arm assembly is in a folded state, the extending direction of the arm is substantially parallel to the extending direction of the chute. The arm assembly according to any one of claims 1-4, wherein the first part is rotatably connected to the fuselage. The arm assembly according to claim 15, wherein the first end of the first part is rotatably connected to the fuselage; the second end of the first part is connected to the first end of the arm Rotatable connection at the end. The arm assembly according to claim 16, wherein when the arm assembly is folded, the first part rotates relative to the fuselage in a first rotational direction, so that the first part of the arm The projection of the end on the side of the fuselage moves along the first direction; the arm rotates relative to the fuselage along a second rotation direction opposite to the first rotation direction, so that the arm The projection of the second end on the side of the fuselage moves along the second direction relative to the projection of the first end of the arm on the side of the fuselage. The arm assembly according to claim 17, wherein when the arm assembly is unfolded, the first member rotates relative to the fuselage in the second rotational direction such that the arm The projection of the first end on the side of the fuselage moves along the second direction; the arm rotates relative to the fuselage along the first rotation direction, so that the second end of the arm is at the The projection of the side of the fuselage moves along the first direction relative to the projection of the first end of the arm on the side of the fuselage. The arm assembly according to claim 17, wherein the first component is rotatably connected to the fuselage through a second shaft mechanism; and, The first end of the arm is rotatably connected to the first component through a third shaft mechanism. The machine arm assembly according to claim 19, wherein the axis of the second pivot mechanism is substantially parallel to the axis of the third pivot mechanism. The arm assembly according to claim 19, wherein when the arm assembly is in a folded state, the extending direction of the first part is substantially parallel to the extending direction of the arm; and/or, when When the arm assembly is in a deployed state, the extending direction of the first component is substantially parallel to the extending direction of the arm. The boom assembly of claim 15, wherein said first component comprises: a first rod body, the first end of the first rod body is rotatably connected to the fuselage; The second rod body, the first end of the second rod body is rotatably connected to the fuselage, the second end of the first rod body and the second end of the second rod body are respectively rotatably connected to the machine arm of different parts. The arm assembly according to claim 22, wherein when the arm assembly is folded, the first rod rotates relative to the fuselage in a third rotation direction, and the second rod rotates relative to the fuselage. The body rotates along the third rotation direction, so that the projection of the first end of the machine arm on the side of the fuselage moves along the first direction; the machine arm moves in the direction opposite to the third rotation direction Rotate in the fourth rotation direction, so that the projection of the second end of the arm on the side of the fuselage is relative to the projection of the first end of the arm on the side of the fuselage along the second direction to move. The arm assembly according to claim 23, wherein when the arm assembly is unfolded, the first rod rotates relative to the fuselage along the fourth rotation direction, and the second rod rotates relative to the fuselage. The fuselage rotates along the fourth rotation direction, so that the projection of the first end of the arm on the side of the fuselage moves along the second direction; the arm rotates along the third rotation direction direction rotation, so that the projection of the second end of the arm on the side of the fuselage moves along the first direction relative to the projection of the first end of the arm on the side of the fuselage. The arm assembly according to claim 22, wherein the fuselage is rotatably connected to the first end of the first rod body through a fourth rotating shaft mechanism; the fuselage is connected to the first end of the first rod through a fifth rotating shaft mechanism The first end of the second rod body is rotatably connected; The second end of the first rod body is rotatably connected to the machine arm through a sixth rotating shaft mechanism; the second end of the first rod body is rotatably connected to the machine arm through a seventh rotating shaft mechanism. The machine arm assembly according to claim 25, characterized in that, the axis of the fourth rotating shaft mechanism and the axis of the fifth rotating shaft mechanism, the axis of the sixth rotating shaft mechanism, and the axis of the seventh rotating shaft mechanism are basically parallel. The arm assembly according to claim 25, wherein when the arm assembly is in a folded state, the extension direction of the first rod body is substantially parallel to the extension direction of the second rod body. The arm assembly according to claim 25, wherein the length of the first rod body is smaller than the length of the second rod body. The arm assembly of claim 25, wherein the second end of the first rod is closer to the first end of the arm than the second end of the second rod. An aircraft, characterized in that the aircraft comprises: body; a power assembly for providing flight power for the aircraft; and The arm assembly according to any one of claims 1-29.

Images