Flight device

Abstract

The invention provides a flight device. The flight device comprises an unmanned aerial vehicle; the unmanned aerial vehicle is fixed to the first mounting base, the first mounting base is mounted on the second mounting base and suitable for rotating around a first axis extending in the first direction, the second mounting base is suitable for rotating around a second axis extending in the second direction, and the first direction is perpendicular to the second direction; the locking mechanism is connected between the second mounting base and the frame mechanism, the locking mechanism is suitable for unlocking or locking the second mounting base so as to enable the second mounting base to rotate or be fixed, and the locking mechanism is further suitable for unlocking or locking the first mounting base so as to enable the first mounting base to rotate or be fixed. Therefore, through cooperation of the unmanned aerial vehicle, the first mounting seat, the second mounting seat and the locking mechanism, the unmanned aerial vehicle can rotate along the first axis and the second axis, so that over-driven flight of the flight device can be realized, and the application range of the flight device can be widened.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a flying device. Background Art

[0002] Among the related technologies, drones have shown great application value in both military and civilian fields. However, existing drones are unable to achieve overdriven flight, which limits the flight posture of drones and affects the application scope of drones. How to achieve overdriven flight of drones has always been a pain point in the field of drone technology. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a flying device that can be overdriven to fly and has a wide range of applications.

[0004] The flying device according to the present invention includes: a drone; a first mounting seat and a second mounting seat, the drone and the first mounting seat are fixed, the first mounting seat is installed on the second mounting seat and is suitable for rotating around a first axis extending along a first direction, the second mounting seat is suitable for rotating around a second axis extending along a second direction, the first direction and the second direction are perpendicular; a locking mechanism and a frame mechanism, the locking mechanism is connected between the second mounting seat and the frame mechanism, the locking mechanism is suitable for unlocking or locking the second mounting seat so that the second mounting seat can be rotated or fixed, and the locking mechanism is also suitable for unlocking or locking the first mounting seat so that the first mounting seat can be rotated or fixed.

[0005] According to the flying device of the present invention, the unmanned aerial vehicle, the first mounting seat, the second mounting seat and the locking mechanism cooperate to enable the unmanned aerial vehicle to rotate along the first axis and the second axis, thereby realizing overdriven flight of the flying device and improving the application range of the flying device.

[0006] In some examples of the present invention, the frame mechanism is suitable for connecting with a frame mechanism of an adjacent flying device.

[0007] In some examples of the present invention, the second mounting seat forms a mounting groove, and the first mounting seat is rotatably mounted in the mounting groove.

[0008] In some examples of the present invention, the assembly groove is configured as an arc-shaped groove, and the first mounting seat is configured as a circular ring.

[0009] In some examples of the present invention, the first mounting mount is disposed on the outside of the drone.

[0010] In some examples of the present invention, the locking mechanism includes: a locking rod, the first mounting seat has a positioning opening, and the locking rod is suitable for moving along the second direction so that the locking rod is inserted into or pulled out of the positioning opening to unlock or lock the first mounting seat.

[0011] In some examples of the present invention, there are multiple positioning openings, and the multiple positioning openings are arranged along the rotation direction of the first mounting seat.

[0012] In some examples of the present invention, the second mounting seat is arranged around the first mounting seat and has an assembly hole corresponding to the positioning opening, and the locking rod is assembled in the assembly hole.

[0013] In some examples of the present invention, the locking rod is provided with a first anti-rotation portion, the outer peripheral wall of the second mounting seat corresponding to the locking rod has a second anti-rotation portion, and the locking rod is suitable for moving along the second direction to separate or engage the first anti-rotation portion and the second anti-rotation portion to unlock or lock the second mounting seat.

[0014] In some examples of the present invention, the second anti-rotation portion is sleeved on the outer side of the locking rod.

[0015] In some examples of the present invention, the first anti-rotation portion is located on a side of the second anti-rotation portion away from the second mounting seat, one of a groove structure and a protrusion structure is formed at the end of the first anti-rotation portion opposite to the second anti-rotation portion, the other of the groove structure and the protrusion structure is formed at the end of the second anti-rotation portion opposite to the first anti-rotation portion, and the protrusion structure is suitable for inserting or pulling out of the groove structure.

[0016] In some examples of the present invention, the locking mechanism further includes: a driving assembly, the driving assembly is connected to the locking rod, and the driving assembly is suitable for driving the locking rod to move along the second direction.

[0017] In some examples of the present invention, the drive assembly includes: a drive motor, a first transmission part and a second transmission part, the first transmission part is transmission-connected between the drive motor and the second transmission part, and one of the drive motor and the second transmission part is connected to the locking rod.

[0018] In some examples of the present invention, the first transmission part is a gear, and the second transmission part is a rack.

[0019] In some examples of the present invention, the frame mechanism has a connection structure, and the connection structure is suitable for connecting with the frame mechanism of the adjacent flying device.

[0020] In some examples of the present invention, the frame mechanism includes: a plurality of connecting members and a plurality of connecting structures, the plurality of connecting members and the plurality of connecting structures are assembled together to form a frame structure, and the drone, the first mounting seat and the second mounting seat are all installed in the frame structure.

[0021] In some examples of the present invention, the connection structure includes: a connection block and an electromagnetic attraction component, the connection block is formed with a plurality of connection columns, and each of the connection columns is provided with the electromagnetic attraction component.

[0022] In some examples of the present invention, the connecting column of at least one of the connecting structures has a mounting hole, the corresponding electromagnetic attraction component is assembled in the mounting hole, and a guide portion is formed at the end of the mounting hole away from the connecting block; the electromagnetic attraction component is provided at the end of the connecting column of at least one of the connecting structures away from the connecting block.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0025] Figure 1 is a schematic diagram of a flying device according to an embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of a flying device according to an embodiment of the present invention (excluding the frame mechanism and omitting some structures);

[0027] Figure 3 yes Figure 2 The enlarged view of point A in the middle;

[0028] Figure 4 Schematic diagram of a flying device according to an embodiment of the present invention (excluding the frame mechanism and omitting some structures).

[0029] Reference numerals:

[0030] Flying device 100;

[0031] Drone 10; propeller 101;

[0032] First mounting seat 20; positioning opening 201;

[0033] Second mounting seat 30; mounting groove 301; arc-shaped groove 302; mounting hole 303; second anti-rotation portion 304;

[0034] Locking mechanism 40; locking rod 401; first anti-rotation portion 402; groove structure 4021; protrusion structure 4022;

[0035] Driving assembly 50; driving motor 501; first transmission part 502; gear 5021; second transmission part 504; rack 5041;

[0036] Frame mechanism 60; connecting member 601; connecting structure 602; connecting block 6021; connecting column 6022; mounting hole 60221; guide portion 60222; electromagnetic attraction member 6023; mounting block 603;

[0037] Control board 70. DETAILED DESCRIPTION

[0038] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0039] Reference below Figure 1-Figure 4 A flying device 100 according to an embodiment of the present invention is described.

[0040] like Figure 1-Figure 4 As shown, the flying device 100 according to the embodiment of the present invention includes: a drone 10 , a first mounting seat 20 , a second mounting seat 30 , a locking mechanism 40 and a frame mechanism 60 .

[0041] The drone 10 may have a plurality of propellers 101, and the plurality of propellers 101 may rotate around an axis in the same direction. For example, the plurality of propellers 101 may rotate around an axis in the same direction. Figure 1 The plurality of propellers 101 can be driven by a plurality of motors respectively. As some optional embodiments of the present application, for example Figure 1 As shown, the drone 10 may have four propellers 101 and four motors. The four motors may be connected to the four propellers 101 in a one-to-one correspondence. Each motor may drive the corresponding propeller 101 to rotate. The four propellers 101 may rotate. Figure 1 The Z direction rotation is shown.

[0042] The drone 10 and the first mounting seat 20 are fixed. As some optional embodiments of the present application, the drone 10 and the first mounting seat 20 can be fixed by, but not limited to, screwing, riveting, etc., or the drone 10 and the first mounting seat 20 can be integrally formed by 3D printing. The first mounting seat 20 is mounted on the second mounting seat 30, and the first mounting seat 20 can rotate around a first axis extending along a first direction, for example, Figure 1As shown, the first mounting seat 20 can be around Figure 1 The second mounting seat 30 can rotate about a second axis extending along a second direction, for example, Figure 1 As shown, the second mounting base 30 can be around Figure 1 The propeller 101 of the drone 10 can rotate in the X direction as shown. The first direction and the second direction are perpendicular to each other. Figure 1 The Z direction shown rotates, and the Z direction, Y direction, and X direction are perpendicular to each other.

[0043] The locking mechanism 40 is connected between the second mounting seat 30 and the frame mechanism 60. The locking mechanism 40 can unlock or lock the second mounting seat 30. When the locking mechanism 40 unlocks the second mounting seat 30, the second mounting seat 30 can rotate around the second axis. When the locking mechanism 40 locks the second mounting seat 30, the second mounting seat 30 is fixed, that is, when the locking mechanism 40 locks the second mounting seat 30, the second mounting seat 30 cannot rotate around the second axis. In addition, the locking mechanism 40 can also unlock or lock the first mounting seat 20. When the locking mechanism 40 unlocks the first mounting seat 20, the first mounting seat 20 can rotate around the first axis. When the locking mechanism 40 locks the first mounting seat 20, the first mounting seat 20 is fixed, that is, when the locking mechanism 40 locks the first mounting seat 20, the first mounting seat 20 cannot rotate around the first axis.

[0044] It can be understood that when the locking mechanism 40 unlocks the first mounting seat 20 and the second mounting seat 30, the drone 10 can rotate around the first axis and the second axis, thereby realizing overdriven flight of the flying device, and the first mounting seat 20 and the second mounting seat 30 can be locked according to actual needs, so that the degrees of freedom of the drone 10 of the flying device 100 can be controlled according to actual needs.

[0045] Therefore, through the cooperation of the drone 10, the first mounting seat 20, the second mounting seat 30 and the locking mechanism 40, the drone 10 can be rotated along the first axis and the second axis, thereby realizing overdriven flight of the flying device 100 and improving the application range of the flying device 100.

[0046] In some embodiments of the present invention, the frame mechanism 60 is suitable for connecting with the frame mechanism 60 of the adjacent flying device 100, that is, multiple flying devices 100 can be connected to each other through the frame mechanism 60 to form a cluster of flying devices 100. By setting the frame mechanism 60, multiple flying devices 100 can independently complete tasks such as building a flying structure, changing configuration, and decomposing configuration, thereby realizing self-reconstruction of multiple flying devices 100, and by setting a first mounting seat 20 that can rotate around a first direction and a second mounting seat 30 that can rotate around a second direction, the drone 10 can rotate around two directions, thereby realizing omnidirectional flight of a single flying device 100 or a cluster of flying devices 100, and realizing overdriven flight of a cluster of flying devices 100.

[0047] It can be understood that, in the flying device 100 cluster, the flying device 100 whose first mounting seat 20 and second mounting seat 30 are not locked by the locking mechanism 40 can be used as an omnidirectional thrust generator.

[0048] As a result, multiple flying devices 100 can independently complete tasks such as building a flying structure, changing configuration, and decomposing configuration, and can achieve self-reconstruction of a cluster of flying devices 100. In addition, the drone 10 of each flying device 100 can rotate in two directions, and can achieve omnidirectional flight of a single flying device 100 or a cluster of flying devices 100, thereby achieving overdriven flight of a cluster of flying devices 100, and can improve the load capacity of the flying device 100 and the cluster of flying devices 100.

[0049] As some optional embodiments of the present application, the rotation speed of the plurality of propellers 101 may be controlled to rotate the drone 10 around a first axis and / or to rotate the drone 10 around a second axis.

[0050] In some embodiments of the present invention, Figure 3 As shown, the second mounting seat 30 can form an assembly groove 301, and the first mounting seat 20 can be rotatably mounted in the assembly groove 301. That is, the first mounting seat 20 can be mounted in the assembly groove 301 of the second mounting seat 30, and the first mounting seat 20 can rotate. By mounting the first mounting seat 20 in the assembly groove 301 formed by the second mounting seat 30, when the second mounting seat 30 rotates around the second axis, it can drive the first mounting seat 20 to rotate around the second axis, thereby driving the drone 10 to rotate around the first axis, and by mounting the first mounting seat 20 in the assembly groove 301 formed by the second mounting seat 30, the structure of the first mounting seat 20 and the second mounting seat 30 can be made compact, which is conducive to reducing the total volume of the first mounting seat 20 and the second mounting seat 30.

[0051] In some embodiments of the present invention, Figure 3As shown, the assembly groove 301 can be configured as a circular arc groove 302, and the first mounting seat 20 can be configured as a circular ring. By configuring the first mounting seat 20 as a circular ring, the structure of the first mounting seat 20 can be reasonable, so that the first mounting seat 20 can rotate smoothly around the first axis. In addition, by configuring the assembly groove 301 as a circular arc groove 302, the first mounting seat 20 can be adapted to the assembly groove 301.

[0052] As some optional embodiments of the present application, the first mounting seat 20 can be directly mounted in the arc-shaped groove 302. As some optional embodiments of the present application, at least one ball can be arranged between the first mounting seat 20 and the arc-shaped groove 302, so that the friction when the first mounting seat 20 rotates around the first axis can be reduced, which is conducive to improving the service life of the first mounting seat 20 and the second mounting seat 30, and can improve the stability of the first mounting seat 20 when rotating around the first axis.

[0053] In some embodiments of the present invention, Figure 1 and Figure 2 As shown, the first mounting seat 20 can be sleeved on the outside of the drone 10. It should be explained that the first mounting seat 20 can be constructed as a circular ring, and the first mounting seat 20 can be sleeved on the outside of the drone 10, that is, part of the structure of the drone 10 can be inserted into the first mounting seat 20. As some optional embodiments of the present application, a part of the propeller 101 of the drone 10 can be located on one side of the first mounting seat 20, and another part of the propeller 101 of the drone 10 can be located on the other side of the first mounting seat 20, and the number of propellers 101 located on one side of the first mounting seat 20 can be the same as the number of propellers 101 located on the other side of the first mounting seat 20. By sleeved the first mounting seat 20 on the outside of the drone 10, the structural form of the first mounting seat 20 and the drone 10 can be reasonable, and if the first mounting seat 20 and the drone 10 are formed by 3D printing, such a setting can reduce the difficulty of printing. Moreover, by making the number of propellers 101 located on both sides of the first mounting seat 20 the same, the rotation speed of multiple propellers 101 can be reliably controlled to rotate the drone 10 around the first axis.

[0054] In some embodiments of the present invention, Figure 2 and Figure 3As shown, the locking mechanism 40 may include: a locking rod 401, wherein the first mounting seat 20 may have a positioning opening 201, the positioning opening 201 may be a through hole, or the positioning opening 201 may also be a blind hole, in other words, the positioning opening 201 may pass through the first mounting seat 20, or the positioning opening 201 may not pass through the first mounting seat 20. The locking rod 401 can move along the second direction so that the locking rod 401 is inserted into or pulled out of the positioning opening 201 to unlock or lock the first mounting seat 20. Specifically, the insertion of the locking rod 401 into the positioning opening 201 can lock the first mounting seat 20, in which state, the first mounting seat 20 cannot rotate around the first axis, and the pulling out of the locking rod 401 from the positioning opening 201 can unlock the first mounting seat 20, in which state, the first mounting seat 20 can rotate around the first axis. Through the cooperation between the locking rod 401 and the positioning opening 201, the first mounting seat 20 can be reliably locked or unlocked.

[0055] In some embodiments of the present invention, Figure 2 and Figure 3 As shown, the number of the positioning openings 201 can be multiple, and the multiple positioning openings 201 can be arranged along the rotation direction of the first mounting seat 20. As some optional embodiments of the present application, the multiple positioning openings 201 can be evenly spaced and arranged along the rotation direction of the first mounting seat 20. For example, the interval angle between each two adjacent positioning openings 201 can be but not limited to 5 degrees, 15 degrees, 25 degrees, etc. It can be understood that the first mounting seat 20 can rotate along the first axis. By setting the positioning openings 201 to be multiple and arranged along the rotation direction of the first mounting seat 20, the probability that the locking rod 401 cannot match the positioning openings 201 can be reduced, so that the locking mechanism 40 can reliably lock the first mounting seat 20.

[0056] In some embodiments of the present invention, Figure 1-Figure 3 As shown, the second mounting seat 30 can be arranged around the first mounting seat 20, and the second mounting seat 30 can have an assembly hole 303 (such as Figure 3 As shown in FIG. 3 , the assembly hole 303 may correspond to the positioning opening 201, and the locking rod 401 may be assembled in the assembly hole 303. It should be explained that the assembly hole 303 is configured as a through hole, the locking rod 401 may be assembled in the assembly hole 303, and the locking rod 401 may move toward the positioning opening 201 corresponding to the assembly hole 303 to be inserted into the positioning opening 201 to lock the first mounting seat 20. It is understandable that in the embodiment where there are multiple positioning openings 201, since the first mounting seat 20 can rotate, the positioning openings 201 corresponding to the assembly hole 303 at different times may be different positioning openings 201.

[0057] By arranging the second mounting seat 30 around the first mounting seat 20, the structure of the second mounting seat 30 can be reasonable, and the structure of the first mounting seat 20 and the second mounting seat 30 can be compact, which is beneficial to reducing the total volume of the first mounting seat 20 and the second mounting seat 30. In addition, by assembling the locking rod 401 in the assembly hole 303, the distance between the locking rod 401 and the positioning port 201 can be shortened, which is beneficial to reducing the stroke of the locking rod 401, and the length of the locking rod 401 can be reduced, which is beneficial to reducing the volume of the locking mechanism 40.

[0058] In some embodiments of the present invention, Figure 2 and Figure 3 As shown, the locking rod 401 may be provided with a first anti-rotation portion 402, and the outer peripheral wall of the second mounting seat 30 corresponding to the locking rod 401 may have a second anti-rotation portion 304, and the locking rod 401 is suitable for moving along the second direction to separate or engage the first anti-rotation portion 402 and the second anti-rotation portion 304, so as to unlock or lock the second mounting seat 30. As some optional embodiments of the present application, the first anti-rotation portion 402 and the locking rod 401 may be fixedly connected, or the first anti-rotation portion 402 and the locking rod 401 may be configured as an integrally formed part, and the locking rod 401 can be moved along the second direction to separate or engage the first anti-rotation portion 402 and the second anti-rotation portion 304, and the first anti-rotation portion 402 and the second anti-rotation portion 304 can be combined to lock the second mounting seat 30, in this state, the second mounting seat 30 cannot rotate around the second axis, and the first anti-rotation portion 402 and the second anti-rotation portion 304 can be separated to unlock the second mounting seat 30, in this state, the second mounting seat 30 can rotate around the second axis. The second mounting seat 30 can be reliably locked or unlocked by the cooperation between the first anti-rotation portion 402 and the second anti-rotation portion 304 .

[0059] In some embodiments of the present invention, Figure 2 and Figure 3 As shown, the second anti-rotation portion 304 can be sleeved on the outside of the locking rod 401. In other words, the locking rod 401 can be inserted into the second anti-rotation portion 304. This arrangement can make the second anti-rotation portion 304 be arranged at a reasonable position, and by driving the locking rod 401 to move, the first mounting seat 20 can be unlocked or locked, and the second mounting seat 30 can also be unlocked or locked, which is conducive to simplifying the structure of the flying device 100.

[0060] As some optional embodiments of the present application, the locking rod 401 may have a first end, which is the end of the locking rod 401 closest to the first mounting seat 20, and the first anti-rotation portion 402 may have a second end, which is the end of the first anti-rotation portion 402 closest to the first mounting seat 20, and the first end of the locking rod 401 is always closer to the first mounting seat 20 than the second end of the first anti-rotation portion 402. The locking rod 401 can move along the second direction so that the locking rod 401 is inserted into the positioning port 201 to lock the first mounting seat 20, and the locking rod 401 can continue to move along the second direction so that the first anti-rotation portion 402 and the second anti-rotation portion 304 sleeved on the outside of the locking rod 401 are combined to lock the second mounting seat 30. Such a configuration can make the structure of the locking rod 401 and the second anti-rotation portion 304 reasonable.

[0061] In some embodiments of the present invention, Figure 2 and Figure 3 As shown, the first anti-rotation portion 402 may be located at a side of the second anti-rotation portion 304 away from the second mounting seat 30, and the end of the first anti-rotation portion 402 opposite to the second anti-rotation portion 304 may be formed with one of a groove structure 4021 and a protrusion structure 4022, and the end of the second anti-rotation portion 304 opposite to the first anti-rotation portion 402 is formed with the other of the groove structure 4021 and the protrusion structure 4022. The protrusion structure 4022 is suitable for inserting or pulling out of the groove structure 4021, and when the protrusion structure 4022 is inserted into the groove structure 4021, the second mounting seat 30 can be locked, and when the protrusion structure 4022 is pulled out of the groove structure 4021 (i.e., the protrusion structure 4022 is separated from the groove structure 4021), the second mounting seat 30 can be unlocked. Through the cooperation of the groove structure 4021 and the protrusion structure 4022, the second mounting seat 30 can be reliably locked or unlocked.

[0062] As some optional embodiments of the present application, a groove structure 4021 may be formed at the end opposite to the first anti-rotation part 402 and the second anti-rotation part 304, and a protrusion structure 4022 may be formed at the end opposite to the first anti-rotation part 304 and the first anti-rotation part 402, and the protrusion structure 4022 may correspond to the groove structure 4021 along the second direction.

[0063] As some optional embodiments of the present application, a protrusion structure 4022 may be formed at the end opposite to the second anti-rotation part 402 and the second anti-rotation part 304, and a groove structure 4021 may be formed at the end opposite to the first anti-rotation part 304 and the first anti-rotation part 402, and the protrusion structure 4022 may correspond to the groove structure 4021 along the second direction.

[0064] As some optional embodiments of the present application, the end of the first anti-rotation part 402 opposite to the second anti-rotation part 304 may be formed with a protrusion structure 4022 and a groove structure 4021, and the end of the second anti-rotation part 304 opposite to the first anti-rotation part 402 may be formed with a groove structure 4021 and a protrusion structure 4022. The protrusion structure 4022 of the first anti-rotation part 402 may correspond to the groove structure 4021 of the second anti-rotation part 304 along the second direction, and the groove structure 4021 of the first anti-rotation part 402 may correspond to the protrusion structure 4022 of the second anti-rotation part 304 along the second direction.

[0065] As some optional embodiments of the present application, the number of the protrusion structure 4022 and the groove structure 4021 of the first anti-rotation part 402 can be set to multiple, and the multiple protrusion structures 4022 and the multiple groove structures 4021 can be arranged at intervals along the circumference of the first anti-rotation part 402, and there can be a groove structure 4021 between every two adjacent protrusion structures 4022. The number of the protrusion structure 4022 and the groove structure 4021 of the second anti-rotation part 304 can be set to multiple, and the multiple protrusion structures 4022 and the multiple groove structures 4021 can be arranged at intervals along the circumference of the second anti-rotation part 304, and there can be a groove structure 4021 between every two adjacent protrusion structures 4022. The protrusion structure 4022 of the first anti-rotation part 402 may correspond to the groove structure 4021 of the second anti-rotation part 304 along the second direction, and the groove structure 4021 of the first anti-rotation part 402 may correspond to the protrusion structure 4022 of the second anti-rotation part 304 along the second direction.

[0066] In some embodiments of the present invention, Figure 2 and Figure 3 As shown, the locking mechanism 40 may further include: a driving assembly 50, which may be connected to the locking rod 401, and the driving assembly 50 is adapted to drive the locking rod 401 to move along the second direction. The driving assembly 50 may drive the locking rod 401 to move toward the first mounting seat 20 along the second direction, and the driving assembly 50 may also drive the locking rod 401 to move away from the first mounting seat 20 along the second direction.

[0067] The driving component 50 drives the locking rod 401 to move along the second direction close to the first mounting seat 20, so that the locking rod 401 can be inserted into the positioning port 201 to lock the first mounting seat 20. The driving component 50 drives the locking rod 401 to move along the second direction close to the first mounting seat 20, so that the first anti-rotation part 402 can be driven to move along the second direction close to the second anti-rotation part 304, so that the first anti-rotation part 402 and the second anti-rotation part 304 can be combined to lock the second mounting seat 30.

[0068] The driving component 50 drives the locking rod 401 to move away from the first mounting seat 20 along the second direction, so that the locking rod 401 can be pulled out of the positioning port 201 to unlock the first mounting seat 20. The driving component 50 drives the locking rod 401 to move away from the first mounting seat 20 along the second direction, so that the first anti-rotation part 402 can be driven to move away from the second anti-rotation part 304 along the second direction, so that the first anti-rotation part 402 and the second anti-rotation part 304 can be separated to unlock the second mounting seat 30. By connecting the driving component 50 to the locking rod 401, the locking rod 401 can be driven to move by the driving component 50, so that the first mounting seat 20 can be reliably locked or unlocked. Moreover, when the locking rod 401 is provided with a first anti-rotation portion 402, the locking rod 401 is driven to move by the driving component 50, which can drive the first anti-rotation portion 402 to move to achieve locking or unlocking of the second mounting seat 30. Thus, by one driving component 50, it is possible to lock or unlock the first mounting seat 20 and lock or unlock the second mounting seat 30, which is beneficial to saving the number of driving components 50 and simplifying the structure of the flying device 100.

[0069] In some embodiments of the present invention, Figure 3 As shown, the driving assembly 50 may include: a driving motor 501, a first transmission part 502 and a second transmission part 504, wherein the first transmission part 502 may be transmission-connected between the driving motor 501 and the second transmission part 504, and one of the driving motor 501 and the second transmission part 504 may be connected to the locking rod 401.

[0070] As some optional embodiments of the present application, Figure 3 As shown, the driving motor 501 can be connected to the locking rod 401. In this embodiment, the second transmission part 504 can be fixed relative to the frame mechanism 60. When the driving motor 501 is working, since the second transmission part 504 is fixed relative to the frame mechanism 60, the driving motor 501 can move along the second direction to drive the locking rod 401 to move along the second direction to lock or unlock the first mounting seat 20.

[0071] As some optional embodiments of the present application, the second transmission part 504 can be connected to the locking rod 401. In this embodiment, the driving motor 501 can be fixed relative to the frame mechanism 60. When the driving motor 501 is working, since the driving motor 501 is fixed relative to the frame mechanism 60, the second transmission part 504 can move along the second direction to drive the locking rod 401 to move along the second direction to lock or unlock the first mounting seat 20.

[0072] Such a configuration can drive the locking rod 401 to move along the second direction by driving the motor 501, and can enable the driving component 50 and the locking rod 401 to have a variety of connection forms, so that the connection form between the locking rod 401 and the driving component 50 can be selected according to actual needs, which is beneficial to reducing the manufacturing difficulty and assembly difficulty of the flying device 100.

[0073] In some embodiments of the present invention, Figure 3 As shown, the first transmission part 502 can be configured as a gear 5021 , and the second transmission part 504 can be configured as a rack 5041 .

[0074] Wherein, the gear 5021 can be connected with the driving shaft of the driving motor 501 in a transmission manner, and the gear 5021 can be meshed with the rack 5041, and the rack 5041 can be extended along the second direction. In the embodiment in which the driving motor 501 is connected with the locking rod 401, since the rack 5041 is fixed relative to the frame mechanism 60, the driving motor 501 can drive the gear 5021 to rotate when working, so that the driving motor 501 moves along the second direction, so as to drive the locking rod 401 to move along the second direction. In the embodiment in which the rack 5041 is connected with the locking rod 401, since the driving motor 501 is fixed relative to the frame mechanism 60, the driving motor 501 can drive the gear 5021 to rotate when working, so that the rack 5041 moves along the second direction, so as to drive the locking rod 401 to move along the second direction.

[0075] The gear 5021 and the rack 5041 are reliable in operation and simple to manufacture. By constructing the first transmission part 502 as the gear 5021 and the second transmission part 504 as the rack 5041, it is helpful to reduce the manufacturing cost of the drive assembly 50, thereby helping to reduce the manufacturing cost of the flying device 100.

[0076] As some optional embodiments of the present application, the first transmission part 502 may be configured as a turbine, and the second transmission part 504 may be configured as a worm gear.

[0077] As some optional embodiments of the present application, Figure 1 and Figure 2As shown, the number of the locking mechanisms 40 can be set to multiple. For example, the number of the locking mechanisms 40 can be set to two, and the two locking mechanisms 40 can be symmetrically arranged on both sides of the first mounting seat 20. Specifically, the two locking mechanisms 40 can be symmetrically arranged on both sides of the first mounting seat 20 along the radial direction of the first mounting seat 20, that is, the angle between the two locking mechanisms 40 is one hundred and eighty degrees. The second mounting seat 30 is provided with the same number of assembly holes 303 as the locking rods 401 of the locking mechanism 40, and each locking rod 401 is assembled in the corresponding assembly hole 303. The outer side of each locking rod 401 is sleeved with a first anti-rotation portion 402, and the outer peripheral wall of the second mounting seat 30 corresponding to each locking rod 401 has a second anti-rotation portion 304. The number of drive assemblies 50 is the same as the number of locking mechanisms 40, and multiple drive assemblies 50 and multiple locking mechanisms 40 are arranged in a one-to-one correspondence.

[0078] Such an arrangement can lock the first mounting seat 20 by means of multiple locking mechanisms 40, and can also lock the second mounting seat 30 by means of multiple locking mechanisms 40, thereby improving the locking effect, reducing the probability that the first mounting seat 20 can still rotate around the first axis after locking the first mounting seat 20, and reducing the probability that the second mounting seat 30 can still rotate around the second axis after locking the second mounting seat 30. Moreover, when one of the locking mechanisms 40 or one of the driving components 50 fails, the other locking mechanisms 40 and the other driving components 50 can still work normally to achieve the functions of locking the first mounting seat 20 and locking the second mounting seat 30, which is beneficial to improving the reliability of the use of the flying device 100.

[0079] In some embodiments of the present invention, Figure 1 As shown, the frame mechanism 60 may have a connection structure 602 , and the connection structure 602 is suitable for connecting with the frame mechanism 60 of an adjacent flying device 100 .

[0080] Each flying device 100 has a frame mechanism 60, and the frame mechanism 60 of each flying device 100 may have a connection structure 602. Each frame mechanism 60 may be connected to the frame mechanism 60 of an adjacent flying device 100 through the connection structure 602. Specifically, each flying device 100 may be connected to the connection structure 602 of the frame mechanism 60 of other flying devices 100 through the connection structure 602 of its frame mechanism 60. Thus, multiple flying devices 100 may be connected to each other through the frame mechanism 60 to form a flying device 100 cluster, and multiple flying devices 100 may autonomously complete tasks such as building a flying structure, changing configuration, and decomposing configuration, thereby realizing self-reconfiguration of multiple flying devices 100.

[0081] In some embodiments of the present invention, Figure 1As shown, the frame mechanism 60 may include: multiple connecting members 601 and multiple connecting structures 602. The multiple connecting members 601 can be assembled with the multiple connecting structures 602 to form a frame structure. The drone 10, the first mounting seat 20 and the second mounting seat 30 can all be installed in the frame structure.

[0082] The connecting member 601 may be configured as a connecting rod, and the connecting rod may be a carbon fiber tube to reduce the weight of the frame mechanism 60 .

[0083] As some optional embodiments of the present application, the frame mechanism 60 can be constructed as a cubic structure, that is, multiple connecting members 601 can be assembled with multiple connecting structures 602 to form a cubic frame. The eight corners of the cubic frame can be provided with a connecting structure 602, and each of the eight connecting structures 602 is connected to six connecting structures 602 by a connecting rod (excluding another connecting structure 602 at the diagonal position), or it can be understood that the connecting members 601 are only arranged at the six surfaces of the cubic structure, and the connecting members 601 are not arranged inside the frame mechanism 60 to avoid interference between the connecting members 601 and the drone 10. Each connecting structure 602 can be connected to the other six connecting structures 602 respectively through six connecting members 601. The drone 10, the first mounting seat 20 and the second mounting seat 30 can all be installed in the frame structure, and the drone 10 can be set at the center position in the frame structure.

[0084] Such an arrangement can form a frame structure by assembling a plurality of connectors 601 and a plurality of connection structures 602. The frame structure can not only realize connection with other flying devices 100, but also provide protection for the UAV 10, the first mounting seat 20 and the second mounting seat 30 arranged therein.

[0085] Furthermore, by constructing the frame mechanism 60 into a cubic structure, each frame mechanism 60 can have six docking surfaces, which is conducive to building a cluster of three-dimensional flying devices 100.

[0086] As some optional embodiments of the present application, Figure 1 As shown, the frame mechanism 60 can be constructed as a cubic structure, and the frame mechanism 60 can also include a mounting block 603. Each surface of the cubic structure can be provided with a mounting block 603. The connecting member 601 can be provided through the mounting block 603, or the mounting block 603 can connect two separate connecting members 601 together. By providing the mounting block 603, the structural strength of the frame mechanism 60 can be improved.

[0087] As some optional embodiments of the present application, Figure 1As shown, the drive assembly 50 can be installed on the mounting block 603 , and such a configuration can reduce the difficulty of assembling the flying device 100 .

[0088] In some embodiments of the present invention, Figure 1 As shown, the connection structure 602 may include: a connection block 6021 and an electromagnetic attraction component 6023 , wherein the connection block 6021 may be formed with a plurality of connection columns 6022 , and each connection column 6022 may be provided with an electromagnetic attraction component 6023 .

[0089] As some optional embodiments of the present application, each connecting column 6022 on the connecting block 6021 can be extended in a direction away from the frame mechanism 60 .

[0090] As some optional embodiments of the present application, three connecting columns 6022 can be formed on the connecting block 6021, and the three connecting columns 6022 can be extended in a direction away from the frame mechanism 60, and the three connecting columns 6022 can be arranged perpendicular to each other. An electromagnetic attraction component 6023 can be provided on each connecting column 6022, and the electromagnetic attraction component 6023 can be constructed to have an attraction force after being energized. When multiple flying devices 100 need to be connected, by energizing the electromagnetic attraction component 6023 of each flying device 100, the electromagnetic attraction components 6023 of different flying devices 100 can be attracted to each other to connect the multiple flying devices 100.

[0091] It should be explained that the electromagnetic attraction component 6023 can have three modes: positive magnetism, negative magnetism and non-magnetism. The electromagnetic attraction component 6023 with positive magnetism after power on can be attracted together with the electromagnetic attraction component 6023 with negative magnetism after power on, and the electromagnetic attraction component 6023 is non-magnetic after power off to separate the multiple flying devices 100. This setting can control the electromagnetic attraction component 6023 to separate or connect the multiple flying devices 100, so as to reliably realize the self-reconfiguration of the multiple flying devices 100.

[0092] As some optional embodiments of the present application, the connection block 6021 can be formed by 3D printing.

[0093] As some optional embodiments of the present application, the wires connected to the electromagnetic attraction component 6023 can be set in the connecting component 601.

[0094] As some optional embodiments of the present application, Figure 1As shown, the frame mechanism 60 may further include a control board 70, which may be mounted on a mounting block 603 at the bottom of the frame mechanism 60, and the control board 70 may receive control instructions in a wired or wireless manner and control all electromagnetic suction members 6023. As some optional embodiments of the present application, the control board 70 may be powered by a lithium-ion battery, and the lithium-ion battery may be disposed together with the control board 70.

[0095] As some optional embodiments of the present application, the drive motor 501 can be configured as a servo motor, for example, the drive motor 501 can be configured as an LFD-01M servo motor. The motor driving the propeller 101 can be configured as a brushless motor, for example, the motor driving the propeller 101 can be configured as an HSKRC-1507 brushless motor, and the speed of the motor driving the propeller 101 can be controlled by an electronic speed controller. The drive motor 501 and the motor driving the propeller 101 can both be powered by one or more batteries. When multiple motors share one battery, the power can also be distributed through a power distribution board.

[0096] As some optional embodiments of the present application, the control board 70 can receive control instructions and control the drive motor 501 and the motor that drives the propeller 101 in a wired or wireless manner.

[0097] In some embodiments of the present invention, Figure 1 As shown, the connecting column 6022 of at least one connecting structure 602 may have a mounting hole 60221, and the corresponding electromagnetic attraction component 6023 may be assembled in the mounting hole 60221, and a guide portion 60222 may be formed at the end of the mounting hole 60221 away from the connecting block 6021, and an electromagnetic attraction component 6023 may be provided at the end of the connecting column 6022 of at least one connecting structure 602 away from the connecting block 6021.

[0098] The mounting hole 60221 may be configured as a blind hole, and an electromagnetic attraction member 6023 may be disposed in the mounting hole 60221. It is understood that, in two flying devices 100, the connection column 6022 of one flying device 100 without the mounting hole 60221 may be assembled correspondingly with the mounting hole 60221 of the connection column 6022 of the other flying device 100. In short, the connection column 6022 of one flying device 100 may be inserted into the mounting hole 60221 of the connection column 6022 of the other flying device 100. Such a configuration may increase the robustness of the connection between the two flying devices 100, may increase the firmness of the connection between the two flying devices 100, to reduce the probability that the two connected flying devices 100 are separated by a tangential force, and may make the connection position of the two flying devices 100 accurate, and may make the two flying devices 100 aligned.

[0099] As some optional embodiments of the present application, Figure 1 As shown, the connection block 6021 is formed with a plurality of connection posts 6022, and none of the plurality of connection posts 6022 on the same connection block 6021 has a mounting hole 60221, or all of the plurality of connection posts 6022 on the same connection block 6021 have a mounting hole 60221. Such a configuration can reduce the difficulty of connecting two flying devices 100.

[0100] The end of the mounting hole 60221 away from the connection block 6021 may be formed with a guide portion 60222, for example, from the open end of the mounting hole 60221 to the other end opposite to the mounting hole 60221, the inner wall of the mounting hole 60221 gradually approaches the center line of the mounting hole 60221 to form the guide portion 60222. This arrangement can reduce the difficulty of connecting the two flying devices 100, and can make the connection position of the two flying devices 100 accurate.

[0101] An electromagnetic attraction component 6023 is provided at the end of the connection column 6022 of at least one connection structure 602 away from the connection block 6021. This arrangement can make the arrangement position of the electromagnetic attraction component 6023 reasonable, which is conducive to reducing the difficulty of connecting two flying devices 100.

[0102] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0103] In the description of the present invention, "first feature" or "second feature" may include one or more of the features.

[0104] In the description of the present invention, "plurality" means two or more.

[0105] In the description of the present invention, a first feature being “on” or “under” a second feature may include that the first and second features are directly in contact with each other, or may include that the first and second features are not in direct contact with each other but are in contact with each other via another feature therebetween.

[0106] In the description of the present invention, “on”, “over” and “above” a first feature from a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0107] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0108] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A flying device, characterized in that: include: Drones; a first mounting seat and a second mounting seat, the drone and the first mounting seat are fixed, the first mounting seat is mounted on the second mounting seat and is suitable for rotating around a first axis extending along a first direction, and the second mounting seat is suitable for rotating around a second axis extending along a second direction, and the first direction is perpendicular to the second direction; A locking mechanism and a frame mechanism, wherein the locking mechanism is connected between the second mounting seat and the frame mechanism, the locking mechanism is suitable for unlocking or locking the second mounting seat so that the second mounting seat can be rotated or fixed, and the locking mechanism is also suitable for unlocking or locking the first mounting seat so that the first mounting seat can be rotated or fixed.

2. The flying device according to claim 1, characterized in that: The frame mechanism is suitable for connecting with the frame mechanism of the adjacent flying device.

3. The flying device according to claim 1, characterized in that: The second mounting seat forms a mounting groove, and the first mounting seat is rotatably mounted in the mounting groove.

4. The flying device according to claim 3, characterized in that: The assembly groove is configured as an arc-shaped groove, and the first mounting seat is configured as a circular ring.

5. The flying device according to claim 4, characterized in that: The first mounting seat is mounted on the outside of the drone.

6. The flying device according to any one of claims 1 to 5, characterized in that: The locking mechanism comprises a locking rod, the first mounting seat has a positioning opening, and the locking rod is suitable for moving along the second direction so that the locking rod is inserted into or pulled out of the positioning opening to unlock or lock the first mounting seat.

7. The flying device according to claim 6, characterized in that: There are multiple positioning openings, and the multiple positioning openings are arranged along the rotation direction of the first mounting seat.

8. The flying device according to claim 6, characterized in that: The second mounting seat is arranged around the first mounting seat and has an assembly hole corresponding to the positioning opening, and the locking rod is assembled in the assembly hole.

9. The flying device according to claim 6, characterized in that: The locking rod is provided with a first anti-rotation portion, and the outer peripheral wall of the second mounting seat corresponding to the locking rod has a second anti-rotation portion, and the locking rod is suitable for moving along the second direction to separate or engage the first anti-rotation portion and the second anti-rotation portion to unlock or lock the second mounting seat.

10. The flying device according to claim 9, characterized in that: The second anti-rotation portion is sleeved on the outer side of the locking rod.

11. The flying device according to claim 10, characterized in that: The first anti-rotation part is located on a side of the second anti-rotation part away from the second mounting seat, and one of a groove structure and a protrusion structure is formed at the end of the first anti-rotation part opposite to the second anti-rotation part, and the other of the groove structure and the protrusion structure is formed at the end of the second anti-rotation part opposite to the first anti-rotation part, and the protrusion structure is suitable for inserting or pulling out of the groove structure.

12. The flying device according to claim 6, characterized in that: The locking mechanism further includes: a driving assembly, the driving assembly is connected to the locking rod, and the driving assembly is suitable for driving the locking rod to move along the second direction.

13. The flying device according to claim 12, characterized in that: The driving assembly comprises: a driving motor, a first transmission part and a second transmission part, wherein the first transmission part is drivingly connected between the driving motor and the second transmission part, and one of the driving motor and the second transmission part is connected to the locking rod.

14. The flying device according to claim 13, characterized in that: The first transmission part is a gear, and the second transmission part is a rack.

15. The flying device according to any one of claims 1 to 5, characterized in that: The frame mechanism has a connection structure, and the connection structure is suitable for connecting with the frame mechanism of the adjacent flying device.

16. The flying device according to claim 15, characterized in that: The frame mechanism includes: a plurality of connecting members and a plurality of connecting structures, the plurality of connecting members and the plurality of connecting structures are assembled together to form a frame structure, and the drone, the first mounting seat and the second mounting seat are all installed in the frame structure.

17. The flying device according to claim 16, characterized in that: The connection structure comprises: a connection block and an electromagnetic attraction component. The connection block is formed with a plurality of connection columns, and each of the connection columns is provided with the electromagnetic attraction component.

18. The flying device according to claim 17, characterized in that: The connecting column of at least one of the connecting structures has a mounting hole, the corresponding electromagnetic attraction member is assembled in the mounting hole, and a guide portion is formed at the end of the mounting hole away from the connecting block; The electromagnetic attraction component is provided at an end of the connecting column of at least one of the connecting structures away from the connecting block.

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