A flying drone

Abstract

The application discloses a kind of flying unmanned aerial vehicle, including flight platform, hoist subassembly, flight platform includes frame, outer joint, locking piece, hoist subassembly is fixedly installed in the lower of frame, frame includes multiple inner joints, each inner joint connects one outer joint, inner joint includes first joint, outer joint includes second joint, first joint is rotatably connected with second joint, outer joint includes first state, second state, locking piece fixes first joint and second joint in first state, inner joint and outer joint keep vertical extension, in second state, the end of outer joint away from inner joint can be rotated towards close to frame horizontal direction, the two outer joints of adjacent group of unmanned aerial vehicle of the present application can be folded by rotating mutually, support is carried out by mutually clamped connecting plate, can reduce the volume of unmanned aerial vehicle and protect outer joint.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle, more particularly, to a flying unmanned aerial vehicle. BACKGROUND

[0002] In the prior art, some flying unmanned aerial vehicles include multiple extended flight arms, motors and blades for driving the unmanned aerial vehicle to fly are installed on the flight arms, the flight arms all extend outwardly away from the center of the unmanned aerial vehicle, in order to increase the load capacity of the unmanned aerial vehicle, the extension length of the flight arms is longer when the volume of the unmanned aerial vehicle is increased, which leads to that the unmanned aerial vehicle with large volume is very inconvenient during transportation, if the extended flight arms are damaged, the unmanned aerial vehicle cannot fly normally, therefore, a technical solution is needed to solve the above problems. SUMMARY

[0003] The present application aims to overcome the shortcomings of the prior art, to fold the outer joints of the unmanned aerial vehicle during transportation to reduce the transportation volume of the unmanned aerial vehicle, and to provide a flying unmanned aerial vehicle.

[0004] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0005] The present application discloses a flying unmanned aerial vehicle, which comprises a flight platform and a hoisting assembly, the flight platform comprises a frame, an outer joint and a locking piece, the hoisting assembly is fixedly installed below the frame, the frame comprises multiple inner joints, each inner joint is connected with one outer joint, the inner joint comprises a first joint, the outer joint comprises a second joint, the first joint is rotationally connected with the second joint, the outer joint comprises a first state and a second state, in the first state, the locking piece fixes the first joint and the second joint, the inner joint and the outer joint remain vertically extended, in the second state, the end of the outer joint away from the inner joint can rotate towards the horizontal direction close to the frame.

[0006] Further, the outer joint comprises a connecting arm and a connecting plate, one end of the connecting arm is installed with the second joint, the other end of the connecting arm is installed with the connecting plate, the connecting plate is provided with a socket, the socket opens towards the horizontal direction, two adjacent outer joints form a group, the two outer joints of each group rotate towards each other, the second joint is provided with a clamping ring, the clamping ring of one outer joint in a group is inserted into the socket of the other outer joint.

[0007] Further, the first joint comprises a hinged seat, the hinged seat is provided with a first opening, the first opening is located on one side of the hinged seat in the horizontal direction, the second joint comprises a connecting end, part of the connecting end is located in the hinged seat, the hinged seat is hinged with the connecting end, the connecting end can rotate towards the horizontal direction.

[0008] Further, the first joint comprises a limiting seat in a semi-ring structure, and the second joint comprises a limiting surface in a circular arc shape, and the limiting surface abuts against the inner wall of the limiting seat in the first state.

[0009] Further, the locking member is mounted on the first joint, and the locking member comprises a fixed semi-ring and a movable semi-ring, one end of the movable semi-ring is rotationally connected with one end of the fixed semi-ring, a clamping space is formed between the fixed semi-ring and the movable semi-ring, and the other end of the movable semi-ring is detachably connected with the fixed semi-ring to tighten the clamping space.

[0010] Further, the locking member comprises a lock and a connecting rod, one end of the connecting rod is rotationally connected with the movable semi-ring, the other end of the connecting rod is rotationally connected with the lock, the fixed semi-ring is provided with a locking end, the locking end comprises a slot and a first abutting surface, the connecting rod can be placed in the slot, one end of the lock connected with the connecting rod is an abutting end, the abutting end comprises a second abutting surface, the second abutting surface is a circular arc surface, the second abutting surface abuts against the first abutting surface, and rotation of the lock makes one end of the lock away from the abutting end gradually close to the movable semi-ring, and the connecting end of the connecting rod gradually closes to the locking end.

[0011] Further, the outer joint comprises a connecting arm, a first mounting seat and two motors, the first mounting seat is fixedly mounted on the end of the connecting arm, the two motors are respectively mounted on the upper end and the lower end of the first mounting seat, the motor comprises a stator and a rotor, the stator is fixedly mounted on the first mounting seat, the rotor is rotationally connected with the stator, the rotor comprises two mounting columns, the two mounting columns are symmetrically arranged, the mounting column is located at one end of the rotor away from the first mounting seat, one paddle is mounted on each mounting column, and the rotation directions of the paddles driven by the two motors are opposite.

[0012] Further, a plurality of lock assemblies are mounted on the side surface of the rack, the hoisting assembly comprises a support, a plurality of connecting frames corresponding to the lock assemblies are mounted on the upper end of the support, the lock assembly comprises a fixed plate, a fastener and a connecting block, the fixed plate is fixedly mounted on the rack, one end of the connecting block is rotationally connected with the fixed plate, the other end of the connecting block is rotationally connected with the fastener, the lower end of the fastener is provided with a hanging rod, the connecting frame comprises a hook, the upper end of the fastener is provided with a snap fastener, and the upper end of the fixed plate is provided with a first buckle part buckled with the snap fastener.

[0013] Further, the buckle is rotatably installed on the fastener, the buckle comprises a second fastener part, the hook comprises a hook slot, when the second fastener part is buckled with the first fastener part, the hanging rod can abut against the hook slot, the first fastener part is separated from the second fastener part, the hanging rod can be separated from the hook slot, and the machine frame and the support can be separated.

[0014] Further, the support and the swing-eliminating assembly are arranged, the swing-eliminating assembly comprises a first connecting rod, a second connecting rod, a swing-eliminating mechanism and a sensing assembly, the first connecting rod is fixedly connected to the support, the second connecting rod is fixedly connected to the first connecting rod, the swing-eliminating mechanism comprises a fixing seat, a first connecting seat, a second connecting seat and a shaft rod, the fixing seat is fixedly installed on the second connecting rod, the first connecting seat is fixedly installed on the fixing seat, the second connecting seat is rotatably connected to the first connecting seat, and the shaft rod is installed on the second connecting seat, the sensing assembly comprises a swing rod and a hanging ring, the swing rod is arranged at an upper end of the sensing assembly, the hanging ring is arranged at a lower end of the sensing assembly, the swing rod is rotatably connected to the shaft rod, and an offset sensor is arranged in the sensing assembly.

[0015] The beneficial effects of the present application are as follows:

[0016] 1、The machine frame of the flight platform of the unmanned aerial vehicle comprises a plurality of inner joints, the inner joints are rotatably connected to outer joints, the inner joints and the outer joints can be coaxially extended and fixed through openable or closable locking members, two outer joints of an adjacent group can be rotatably folded, and the folded outer joints can be supported through the clamped connecting plates, so that the size of the unmanned aerial vehicle can be reduced for convenient transportation and protection of the outer joints.

[0017] 2、Two motors are arranged on one outer joint, the two motors are arranged in an up-down arrangement, and the blades of the up-down arranged motors rotate in opposite directions, so that the wind power generated by the unmanned aerial vehicle can be increased, the power of the unmanned aerial vehicle can be increased without increasing the wing rod, the installation space of other modules of the unmanned aerial vehicle can be ensured, and the structural layout is more reasonable.

[0018] 3、The plurality of locking buckle assemblies on the machine frame are detachably connected to the connecting frames on the support through the locking buckle structure, so that the flight platform and the hoisting assembly can be quickly separated and combined, and the disassembly and assembly are very convenient.

[0019] 4、The swing-eliminating assembly is arranged in the hoisting assembly of the unmanned aerial vehicle, has a universal swing function, the sensing assembly can swing with the suspended object, the swing offset of the sensing assembly is sensed through the offset sensor in the sensing assembly, the unmanned aerial vehicle moves in the swing direction to eliminate the inertia of the goods. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1A schematic diagram of the present embodiment.

[0021] Figure 2 A schematic diagram of the flight platform of the present embodiment.

[0022] Figure 3 A schematic diagram of Figure 2 An enlarged view of A in the middle.

[0023] Figure 4 A schematic diagram of the outer joint of the flight platform of the present embodiment when retracted.

[0024] Figure 5 A schematic diagram of the first joint of the present embodiment.

[0025] Figure 6 A schematic diagram of the second joint of the present embodiment.

[0026] Figure 7 A schematic diagram of the locking member of the present embodiment.

[0027] Figure 8 A schematic diagram of the locking member of the present embodiment in an open state.

[0028] Figure 9 A schematic diagram of the motor of the present embodiment.

[0029] Figure 10 A side view of the outer joint of the present embodiment.

[0030] Figure 11 A top view of the outer joint of the present embodiment.

[0031] Figure 12 A schematic diagram of the hoisting assembly of the present embodiment.

[0032] Figure 13 A connecting sectional view of the locking catch assembly and the connecting frame of the present embodiment.

[0033] Figure 14 A perspective view of the locking catch assembly of the present embodiment.

[0034] Figure 15 A sectional view of the locking catch assembly of the present embodiment.

[0035] Figure 16 A schematic diagram of the sway elimination assembly of the present embodiment.

[0036] Figure 17 A sectional view of the sway elimination mechanism of the present embodiment.

[0037] Label: 1, flight platform; 11, rack; 111, inner joint; 112, first joint; 1121, hinged seat; 1122, first opening; 113, limiting seat; 1131, second opening; 12, outer joint; 121, connecting arm; 122, second joint; 1221, connecting end; 1222, limiting surface; 1223, clamping ring; 123, connecting plate; 1231, socket; 124, first mounting seat; 1241, seat body; 1242, mounting block; 125, motor; 1251, stator; 12511, first shell; 12512, first vent hole; 1252, rotor; 12521, second shell; 12522, mounting column; 12523, second vent hole; 1253, pressing plate; 12531, stop block; 1254, gasket; 126, paddle; 127, controller; 1271, third shell; 12711, heat dissipation plate; 12712, heat dissipation channel; 128, second mounting seat; 13, locking piece; 131, fixed half ring; 1311, locking end; 13111, slot; 13112, first pressing surface; 132, movable half ring; 1321, bayonet; 133, lock catch; 1331, pressing end; 13311, second pressing surface; 1332, clasp; 134, connecting rod; 135, hoop space; 14, lock catch assembly; 141, fixed plate; 1411, first buckle; 1412, mounting plate; 1413, first pivot; 1414, first limiting block; 1415, support block; 142, buckle; 1421, plate; 1422, side plate; 1423, second pivot; 143, connecting block; 1431, second limiting block; 1432, third limiting block; 144, snap; 1441, second buckle; 145, hanging rod; 2, hoisting assembly; 21, support; 211, main pipe rack; 212, connecting strip; 213, connecting pipe rack; 22, connecting rack; 221, hook; 2211, hook slot; 222, positioning seat; 2221, positioning surface; 23, sway elimination assembly; 231, first connecting rod; 2311, first rod body; 2312, connecting piece; 232, second connecting rod; 2321, second rod body; 2322, third rod body; 233, sway elimination mechanism; 2331, fixed frame; 2332, first connecting seat; 23321, first bearing; 2333, second connecting seat; 23331, inclined surface; 2334, shaft; 23341, second bearing; 2335, third connecting rod; 2336, wire management buckle; 234, sensing assembly; 2341, swing rod; 2342, hanging ring. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0039] As shown in Figures 1-17 , the embodiment discloses a flying unmanned aerial vehicle, comprising a flying platform 1, a hoisting assembly 2, the flying platform 1 comprising a rack 11, an outer joint 12, a locking piece 13, the hoisting assembly 2 being fixedly installed below the rack 11, comprising four outer joints 12, the four outer joints 12 being distributed in an X shape, the whole unmanned aerial vehicle being in an X eight structure, the rotating directions of the blades 126 of the two oppositely arranged outer joints 12 being the same, the rotating directions of the blades 126 of the two adjacent outer joints 12 being opposite, the power of the unmanned aerial vehicle being increased without increasing the wing rod and the installation space of other modules of the unmanned aerial vehicle being ensured, the structural layout being more reasonable, the hoisting assembly 2 providing more stable take-off and landing support for the flying platform 1, and the sensing assembly 234 being located below the center of gravity of the whole unmanned aerial vehicle, so that the suspension of the object is more stable.

[0040] As shown in Figures 1-8 , the flying platform 1 comprises a rack 11, an outer joint 12 and a locking piece 13, the rack 11 being made of aluminum alloy, the rack 11 being a rectangular frame, the rack 11 comprising a plurality of inner joints 111, the inner joints 111 being four in number and located at the four corners of the rack 11, the inner joint 111 comprising a pipe and a first connector 112, the first connector 112 being located at the end of the pipe, the first connector 112 comprising a hinged seat 1121 and a limiting seat 113, the hinged seat 1121 being provided with a first opening 1122, the first opening 1122 being located at one side of the hinged seat 1121 in the horizontal direction, the hinged seat 1121 being hollow inside, the top surface and the bottom surface of the inside of the hinged seat 1121 being flat, the limiting seat 113 being located at one end of the hinged seat 1121 away from the rack 11, the limiting seat 113 being provided with a second opening 1131, the second opening 1131 being in communication with the first opening 1122, the second opening 1131 and the first opening 1122 facing the same direction, and the second opening 1131 and the first opening 1122 being provided for the rotation of the second connector 122 of the outer joint 12.

[0041] As shown in Figure 2 , Figure 3 , Figure 5 , Figure 6As shown, each inner joint 111 is connected with an outer joint 12, the outer joint 12 comprises a second joint 122, the first joint 112 is rotationally connected with the second joint 122, the second joint 122 comprises a connecting end 1221, part of the connecting end 1221 is located in the hinged seat 1121, the upper end surface and the lower end surface of the connecting end 1221 are flat surfaces, the upper end surface and the lower end surface of the connecting end 1221 can respectively abut against the inner top surface and the bottom surface of the hinged seat 1121, the hinged seat 1121 is hinged with the connecting end 1221, so that the connecting end 1221 can rotate away from the second opening 1131 and the first opening 1122 towards the horizontal direction.

[0042] The outer joint 12 comprises a first state and a second state, the limiting seat 113 has a semi-ring structure, the second joint 122 comprises a limiting surface 1222, the limiting surface 1222 is a circular arc, in the first state, the limiting surface 1222 abuts against the inner wall of the limiting seat 113, the limiting seat 113 can limit the rotation of the outer joint 12, so that the outer joint 12 extends in the same direction as the inner joint 111 in the first state, and the outer joint 12 is more stable in the first state.

[0043] As shown in Figure 2 , Figure 4 , the outer joint 12 comprises a connecting arm 121 and a connecting plate 123, one end of the connecting arm 121 is installed with the second joint 122, the other end of the connecting arm 121 is installed with the connecting plate 123, the connecting plate 123 is provided with a socket 1231, the socket 1231 opens towards the horizontal direction, two adjacent outer joints 12 form a group, the two outer joints 12 of each group rotate towards each other, the two outer joints 12 are bent towards the middle direction, the two outer joints 12 can be folded together, the second joint 122 is provided with a clamping ring 1223, since the connecting arm 121 is a hollow tube made of carbon fiber material, the clamping ring 1223 can be wrapped outside the connecting arm 121, instead of clamping the connecting arm 121 and the connecting plate 123, to prevent the connecting arm 121 from deforming and wearing, the clamping ring 1223 of one outer joint 12 in a group is inserted into the socket 1231 of the other outer joint 12, the socket 1231 of the connecting plate 123 has elastic deformation ability, the socket 1231 can elastically deform to clamp the clamping ring 1223, the two outer joints 12 can support each other, can be fixed after being bent, to prevent the two outer joints 12 from moving, so that the volume of the entire flight platform 1 can be reduced, facilitating transportation while protecting the motor 125 and the paddle 126 on the outer joint 12.

[0044] More preferably, the lengths of the two inner joints 111 of each group are different, the lengths of the two outer joints 12 of each group are different, but the overall lengths of the outer joint 12 and the inner joint 111 of each group are the same, so that the two outer joints 12 of each group can be folded together with one inner and one outer, and the inner and outer support each other through the connecting plate 123.

[0045] like Figure 7 , Figure 8 As shown, in the first state, the locking member 13 fixes the first connector 112 and the second connector 122, and the inner joint 111 and the outer joint 12 remain vertically extended. In the second state, the end of the outer joint 12 away from the inner joint 111 can rotate in a horizontal direction close to the frame 11. The locking member 13 is similar to a clamp structure, which can fix the inner joint 111 and the outer joint 12 in the first state to prevent the outer joint 12 from rotating.

[0046] like Figure 7 , Figure 8 As shown, the locking member 13 is installed on the first connector 112. The locking member 13 includes a fixed half ring 131 and a movable half ring 132. The fixed half ring 131 is fixedly installed on the first connector 112 and is locked to the outer circumference of the limiting seat 113 by bolts. The fixed half ring 131 and the movable half ring 132 are respectively two half rings of the clamping structure. A clamping space 135 is formed between the fixed half ring 131 and the movable half ring 132. One end of the movable half ring 132 is rotatably connected to one end of the fixed half ring 131. The movable half ring 132 can close the second opening 1131 to fix the second connector 122 in the first connector 112, so that the inner joint 111 and the outer joint 12 extend in the same direction.

[0047] like Figure 7 , Figure 8 As shown, the locking component 13 includes a latch 133 and a connecting rod 134. One end of the connecting rod 134 is rotatably connected to the movable half-ring 132, and the other end of the connecting rod 134 is rotatably connected to the latch 133. The fixed half-ring 131 is provided with a locking end 1311, which includes a slot 13111 and a first pressing surface 13112. When the movable half-ring 132 rotates toward the fixed half-ring 131, the connecting rod 134 can be placed in the slot 13111. The end of the latch 133 connected to the connecting rod 134 is the pressing end 1331, which includes a second pressing surface 13311. The second pressing surface 13311 is an arc surface, and the second pressing surface 13311 abuts against the first pressing surface 13112. The fixed half-ring 131 has a metal part inside, and the first pressing surface 13112 is part of the metal part, which increases the wear resistance of the fixed half-ring 131. The radius distance between the hinge point of the pressing end 1331 and the connecting rod 134 and the curved surface of the second pressing surface 13311 is different. The lock 133 rotates so that the end of the lock 133 away from the pressing end 1331 gradually approaches the movable half-ring 132. The lock 133 rotates so that the hinge point of the pressing end 1331 and the connecting rod 134 moves away from the first pressing surface 13112. The connection end 1221 of the connecting rod 134 and the movable half-ring 132 gradually approaches the locking end 1311. The connecting rod 134 pulls the movable half-ring 132 closer to the fixed half-ring 131, which can tighten the clamp space 135.

[0048] As Figure 7 , Figure 8 shown, the other end of the movable half ring 132 is detachably connected with the fixed half ring 131, the end of the lock catch 133 away from the abutting end 1331 is provided with a buckle 1332, the buckle 1332 can be supported by the internally installed torsional spring, the outer side wall of the movable half ring 132 is provided with a buckle hole 1321 corresponding to the buckle 1332, the lock catch 133 is fixed after being rotated to tighten the hoop space 135, preventing the lock catch 133 from loosening.

[0049] As Figure 2 , Figures 9-11 shown, the outer joint 12 includes a connecting arm 121, a first mounting seat 124, two motors 125, a second mounting seat 128, and two controllers 127, the first mounting seat 124 is fixedly installed at the end of the connecting arm 121, the second mounting seat 128 is fixedly installed on the connecting arm 121, the second mounting seat 128 is located on one side of the first mounting seat 124, the second mounting seat 128 is located on the inner side of the first mounting seat 124, the first mounting seat 124 is used for installing the two motors 125, the second mounting seat 128 is used for installing the two controllers 127, each controller 127 is connected with one motor 125, the two motors 125 are respectively installed on the upper end and the lower end of the first mounting seat 124, each motor 125 is installed with two paddles 126, the motor 125 can drive the paddle 126 to rotate, the rotation directions of the paddles 126 driven by the upper and lower motors 125 are opposite, for example, the upward force generated by one motor 125 is a, the forces generated by the two motors 125 are about 2a, the airflow generated by the rotation of the paddle 126 located above can produce a traction effect on the paddle 126 below, which can slightly reduce the energy required for the rotation of the paddle 126 below.

[0050] As Figure 9 , Figure 10 shown, the motor 125 includes a stator 1251 and a rotor 1252, the rotor 1252 is rotationally connected with the stator 1251, the stator 1251 is fixedly installed on the first mounting seat 124, the first mounting seat 124 includes a seat body 1241 and two mounting blocks 1242, the seat body 1241 is fixed to the connecting arm 121, the two mounting blocks 1242 are installed on the upper and lower end faces of the seat body 1241, the mounting block 1242 is fixedly connected with the stator 1251, the end face where the mounting block 1242 and the stator 1251 are connected is obliquely arranged, the oblique end face of the mounting block 1242 can make the motor 125 in an inclined state, which can cope with the yaw state of the unmanned aerial vehicle during flight.

[0051] The embodiment further comprises a pressing plate 1253, the rotor 1252 comprises a second housing 12521, the rotor 1252 comprises two mounting columns 12522, the two mounting columns 12522 are symmetrically arranged, the mounting column 12522 is located at one end of the rotor 1252 away from the first mounting seat 124, one paddle 126 is installed on each mounting column 12522, the mounting column 12522 is located on the upper end surface of the second housing 12521, the pressing plate 1253 is fixedly installed on the upper end of the mounting column 12522, the paddle 126 can be straightened by centrifugal force when the motor 125 rotates, and the paddle 126 can be rotated to be stored when not in use, preventing collision and damage. The lower end surface of the pressing plate 1253 is provided with two stop blocks 12531, which can limit the rotation of the paddle 126 and prevent the two paddles 126 from colliding with each other.

[0052] More preferably, the embodiment comprises a gasket 1254, the pressing plate 1253 connects the two mounting columns 12522, and the gasket 1254 is installed on the mounting column 12522. Two gaskets 1254 are installed on each mounting column 12522, one gasket 1254 is located between the second housing 12521 and the paddle 126, and the other gasket 1254 is located between the paddle 126 and the pressing plate 1253. The gasket 1254 is made of plastic material, and the gasket 1254 can provide damping effect for the rotation of the paddle 126, preventing the paddle 126 from deviating when the motor 125 is decelerated or accelerated.

[0053] As shown in Figure 11 Two controllers 127 are installed on the second mounting seat 128, and the two controllers 127 are symmetrically installed on the two sides of the second mounting seat 128. The controller 127 comprises a third housing 1271, the third housing 1271 is provided with a plurality of heat dissipation plates 12711, and the heat dissipation channel 12712 is formed between the adjacent two heat dissipation plates 12711. The heat dissipation channel 12712 communicates the upper end surface and the lower end surface of the third housing 1271. The two controllers 127 are located below the paddle 126 at the upper end, and the rotation of the paddle 126 can blow air to the controller 127 below, achieving the effect of heat dissipation. The vertically arranged heat dissipation channel 12712 can correspond to the air blown by the paddle 126, and the airflow can pass between the two heat dissipation plates 12711, so that the heat dissipation effect of the controller 127 is better.

[0054] As shown in Figure 9As shown, the stator 1251 includes a first shell 12511, the first shell 12511 is provided with a plurality of first ventilation holes 12512, the first ventilation holes 12512 are annularly distributed on the side wall of the first shell 12511, the first ventilation holes 12512 are communicated with the inside of the motor 125, the first ventilation holes 12512 are obliquely arranged in a rectangular shape, the end of the first ventilation holes 12512 close to the first mounting seat 124 is inclined toward the rotating direction of the paddle 126, the side wall of the second shell 12521 is provided with a plurality of second ventilation holes 12523, the second ventilation holes 12523 are communicated with the inside of the motor 125, the second ventilation holes 12523 are annularly distributed, the first ventilation holes 12512 and the second ventilation holes 12523 distributed in an up-down manner can make the airflow pass through the inside of the motor 125, better heat dissipation for the coil in the motor 125, better performance and longer service life of the motor 125.

[0055] As shown in the Figure 12 , the hoisting assembly includes a support 21 and a swing elimination assembly 23, the support 21 includes a main pipe support 211, a connecting strip 212 and a connecting pipe support 213, the main pipe support 211 is provided with two, the main pipe support 211 is bent from a circular pipe, the main pipe support 211 as a whole is trapezoidal, has a structure of narrow at the top and wide at the bottom, the distance between the lower ends of the two main pipe supports 211 is greater than the distance between the upper ends of the two main pipe supports 211, so that the support 21 as a whole is trapezoidal, has better stability in support, the upper end of the main pipe support 211 is fixedly installed with the connecting strip 212, the pipe bodies of the main pipe supports 211 are located at the upper end of the main pipe support 211 at both ends, the connecting strip 212 covers and fixes the pipe bodies of the main pipe supports 211 inside, so that the support 21 is more beautiful and the structure is more firm.

[0056] As shown in the Figure 12 , Figure 16 , Figure 17 , the swing elimination assembly 23 includes a first connecting rod 231, a second connecting rod 232, a swing elimination mechanism 233 and a sensing assembly 234, the first connecting rod 231 is fixedly connected to the support 21, the first connecting rod 231 is provided with two, one first connecting rod 231 is fixedly connected with one connecting strip 212, the first connecting rod 231 includes a first rod body 2311 and a connecting piece 2312, the first rod body 2311 passes through the connecting piece 2312, the connecting piece 2312 is fixedly connected with the connecting strip 212, the first rod body 2311 is consistent with the extension direction of the connecting strip 212, the connecting piece 2312 is sleeved on the first rod body 2311 and is fixed by riveting, the structure is more stable and firm.

[0057] The second connecting rod 232 is fixedly connected to the first connecting rod 231, two second connecting rods 232 are arranged, the second connecting rod 232 comprises a second rod body 2321 and two third rod bodies 2322, the two third rod bodies 2322 are respectively connected to the two first rod bodies 2311, the first rod body 2311 penetrates through the upper end of the third rod body 2322, the second rod body 2321 is insertedly connected to the lower end of the two third rod bodies 2322, the first connecting rod 231 and the second connecting rod 232 are connected in a sleeving and riveting manner, the third rod body 2322 is arranged perpendicularly between the first rod body 2311, the first rod body 2311 and the third rod body 2322 are arranged perpendicularly in the horizontal direction, the sway eliminating mechanism 233 is arranged between the two second connecting rods 232, so that the connection among the first connecting rod 231, the second connecting rod 232 and the sway eliminating mechanism 233 is more stable.

[0058] As shown in Figure 17 The sway eliminating mechanism 233 comprises a fixing frame 2331, a first connecting seat 2332, a second connecting seat 2333, a shaft 2334, a third connecting rod 2335 and a wire arranging buckle 2336, the fixing frame 2331 is fixedly connected to the two second rod bodies 2321 and is fixedly installed on the upper end face of the two second rod bodies 2321, the first connecting seat 2332 is fixedly installed on the fixing frame 2331, the second connecting seat 2333 is rotatably connected to the first connecting seat 2332, the first connecting seat 2332 is installed on the lower end face of the fixing frame 2331 and opens downward, the opposite two side walls of the first connecting seat 2332 are respectively installed with first bearings 23321, the third connecting rod 2335 connects the second connecting seat 2333 and the first bearings 23321, the second connecting seat 2333 can rotate around the third connecting rod 2335 as the center shaft, the wire arranging buckle 2336 is fixedly installed on the upper end face of the fixing frame 2331 and can arrange the power supply wire and the connecting wire.

[0059] The shaft 2334 is installed on the second connecting seat 2333, the sensing assembly 234 includes a swing rod 2341 and a hanging ring 2342, the swing rod 2341 is located at the upper end of the sensing assembly 234, the swing rod 2341 is at least partially located in the second connecting seat 2333, the swing rod 2341 is rotationally connected with the shaft 2334, the upper end of the swing rod 2341 is connected with the shaft 2334 through a second bearing 23341, so that the swing rod 2341 can rotate with the shaft 2334 as the central axis, the third connecting rod 2335 is perpendicular to the shaft 2334 in the horizontal direction, so that the sensing assembly 234 can swing in any direction relative to the first connecting seat 2332, the hanging ring 2342 is located at the lower end of the sensing assembly 234, the sensing assembly 234 is provided with a weight sensor and an offset sensor, the weight sensor can sense the weight of the object hung on the hanging ring 2342, the offset sensor can sense the angle of the sensing assembly 234 swinging due to the object hung thereon, and then transmit a signal to the flight platform 1, so as to control the unmanned aerial vehicle to move in the swinging direction of the object, thereby eliminating the inertia of the hung object and making the unmanned aerial vehicle more stable when hovering.

[0060] More preferably, the second connecting seat 2333 is provided with a plurality of inclined surfaces 23331, the inclined surfaces 23331 are located at the lower edge of the inner side wall of the second connecting seat 2333, and the inclined surfaces 23331 can prevent the swing rod 2341 from colliding with the lower edge of the second connecting seat 2333 when swinging greatly.

[0061] As shown in Figure 1 , Figures 12-15 , the rack 11 is a rectangular frame including two long sides and two short sides, a plurality of lock catch assemblies 14 are mounted on the sides of the rack 11, the number of the lock catch assemblies 14 is four, and two are distributed on each long side of the rack 11, the hoisting assembly 2 includes a support 21 which is a circular pipe bent, and a plurality of connecting frames 22 corresponding to the lock catch assemblies 14 are mounted on the upper end of the support 21.

[0062] As shown in Figures 13-15 , the lock catch assembly 14 includes a fixed plate 141, a fastener 142, and a connecting block 143, the fixed plate 141 is fixedly installed on the rack 11 through bolts, one end of the connecting block 143 is rotationally connected with the fixed plate 141, the fixed plate 141 includes two mounting plates 1412 and a first rotating shaft 1413, the mounting plates 1412 extend towards the fastener 142, the first rotating shaft 1413 is installed on the two mounting plates 1412, the connecting block 143 is rotationally connected with the first rotating shaft 1413, the fastener 142 includes a plate 1421, two side plates 1422, and a second rotating shaft 1423, the side plates 1422 extend towards the fixed plate 141, the second rotating shaft 1423 is installed on the two side plates 1422, the other end of the connecting block 143 is rotationally connected with the fastener 142, and the connecting block 143 is rotationally connected with the second rotating shaft 1423, so that the fastener 142 can move up and down while approaching the fixed plate 141.

[0063] The lower end of the fastener 142 is provided with a hanging rod 145, the hanging rod 145 is installed between the two side plates 1422, the connecting frame 22 includes a hook 221, the hook 221 is located on the outer side of the connecting frame 22, the hook 221 includes a hook groove 2211, the opening of the hook groove 2211 faces obliquely downward, when the fastener 142 moves up and down to approach the fixed plate 141, the hanging rod 145 enters the hook groove 2211 from the opening of the hook groove 2211, when the fastener 142 reaches the highest position and abuts against the fixed plate 141, the hanging rod 145 abuts against the hook groove 2211.

[0064] The upper end of the fastener 142 is provided with a snap buckle 144, the snap buckle 144 is rotatably installed on the fastener 142, the snap buckle 144 is installed between the two side plates 1422, the upper end of the fixed plate 141 is provided with a first buckling part 1411 which buckles with the snap buckle 144, the snap buckle 144 is supported by a torsional spring, the snap buckle 144 includes a second buckling part 1441, when the fastener 142 reaches the highest position and abuts against the fixed plate 141, the second buckling part 1441 of the snap buckle 144 buckles with the first buckling part 1411, thereby buckling and fixing the fastener 142 and the fixed plate 141, the hanging rod 145 keeps abutting against the hook groove 2211, thereby fixing the rack 11 and the support 21, the vertical downward pulling force of the hoisting assembly 2 on the flight platform 1 is locked by the horizontal snap buckle 144, and the structure is firm.

[0065] As shown in Figure 13 , Figure 15 , the lock buckle assembly 14 includes a first state and a second state, in the first state, the second buckling part 1441 buckles with the first buckling part 1411, the hanging rod 145 abuts against the hook groove 2211, and the rack 11 is fixedly connected with the support 21, in the second state, the first buckling part 1411 is separated from the second buckling part 1441, the hanging rod 145 can be separated from the hook groove 2211, and the rack 11 can be separated from the support 21, only the snap buckle 144 needs to be pressed from the first state to the second state, so that the first buckling part 1411 is separated from the second buckling part 1441 by overcoming the force of the torsional spring, the fastener 142 and the fixed plate 141 are unlocked, the hanging rod 145 is separated from the hook groove 2211, and the flight platform 1 and the hoisting assembly 2 can be separated, and the disassembly and assembly are very fast and convenient.

[0066] As shown in Figure 15As shown, preferably, the fixing plate 141 is provided with a first limiting block 1414, the first limiting block 1414 is located on the side of the fixing plate 141 facing the buckle 142, the first limiting block 1414 extends towards the buckle 142, the connecting block 143 is provided with a third limiting block 1432, the third limiting block 1432 is located on the end of the connecting block 143 close to the fixing plate 141, the first limiting block 1414 is located above the third limiting block 1432 in the rotating direction, the first limiting block 1414 and the third limiting block 1432 can limit the rotating angle of the connecting block 143 in the second state, preventing the buckle 142 from being too loose.

[0067] Similarly, the connecting block 143 includes a second limiting block 1431, the second limiting block 1431 is located on the end of the connecting block 143 close to the buckle 142, the second limiting block 1431 can abut against the inner wall of the buckle 142, the rotating angle of the buckle 142 is too large, limiting the activity angle of the buckle 142, preventing the buckle 142 and the fixing plate 141 from being too loose.

[0068] As shown, Figure 15 The fixing plate 141 includes two supporting blocks 1415, the two supporting blocks 1415 are located on the side of the fixing plate 141 facing the buckle 142, one supporting block 1415 abuts against one side plate 1422 in the first state, since there is a gap between the side plate 1422 and the fixing plate 141 after the buckle 142 is buckled with the fixing plate 141, the two sides of the buckle 142 are not supported, the supporting block 1415 can support the side plate 1422 to make the buckle 142 more stable.

[0069] As shown, Figure 13 The connecting frame 22 includes a positioning seat 222, the positioning seat 222 is provided with a positioning surface 2221, the positioning surface 2221 is a circular arc surface, the positioning surface 2221 abuts against the outer wall of the support 21, the support 21 is a circular tubular structure, the upper end of the support 21 is also provided with a connecting shell, the positioning seat 222 and the connecting shell clasp and fix the support 21, the positioning seat 222 can better connect with the support 21.

[0070] The above only describes the preferred embodiments of the present application, the protection scope of the present application is not limited to the above-mentioned embodiments, any technical solutions belonging to the idea of the present application shall be within the protection scope of the present application. It should be noted that for ordinary skilled in the art, some improvements and decorations without departing from the principle of the present application, these improvements and decorations shall be considered as the protection scope of the present application.

Claims

1. A flying drone, characterized in that, The utility model provides flight platform (1), hoist subassembly (2), the flight platform includes frame (11), outer joint (12), locking piece (13), hoist subassembly (2) fixed mounting is below frame (11), frame (11) includes a plurality of inner joints (111), every inner joint (111) connects one outer joint (12), the inner joint (111) includes first joint (112), the outer joint (12) includes second joint (122), first joint (112) with second joint (122) rotation connection, the outer joint (12) includes first state, second state, first state locking piece (13) with first joint (112) and second joint (122) are fixed, and the inner joint (111) and the outer joint (12) keep vertical extension, second state the outer joint (12) far from the inner joint (111) one end can be rotated towards close to frame (11) horizontal direction; Locking piece (13) is installed to first joint (112), locking piece (13) includes fixed half ring (131) and movable half ring (132), fixed half ring (131) fixed mounting is to first joint (112), one end of movable half ring (132) with one end of fixed half ring (131) rotation connection, fixed half ring (131) and movable half ring (132) between form the hoop space (135), the other end of movable half ring (132) with fixed half ring (131) detachable connection can tighten hoop space (135); Locking piece (13) includes lock catch (133), connecting rod (134), one end of connecting rod (134) with movable half ring (132) rotation connection, the other end of connecting rod (134) with lock catch (133) rotation connection, fixed half ring (131) is equipped with locking end (1311), locking end (1311) includes insertion slot (13111) and first pressure surface (13112), connecting rod (134) can be placed in insertion slot (13111), the one end of lock catch (133) connected with connecting rod (134) is pressure end (1331), pressure end (1331) includes second pressure surface (13311), second pressure surface (13311) is circular arc surface, second pressure surface (13311) leans against first pressure surface (13112), lock catch (133) rotation makes the one end of lock catch (133) far from pressure end (1331) gradually close to movable half ring (132), the connecting end (1221) of connecting rod (134) and movable half ring (132) gradually close to locking end (1311); The outer joint (12) comprises a connecting arm (121), a first mounting base (124), and two motors (125), the first mounting base (124) is fixedly installed at the end of the connecting arm (121), the two motors (125) are installed at the upper end and the lower end of the first mounting base (124) respectively, the motor (125) comprises a stator (1251) and a rotor (1252), the stator (1251) is fixedly installed on the first mounting base (124), the rotor (1252) is rotatably connected with the stator (1251), the rotor (1252) comprises two mounting columns (12522), the two mounting columns (12522) are symmetrically arranged, the mounting column (12522) is located at one end of the rotor (1252) away from the first mounting base (124), one paddle (126) is installed on each mounting column (12522), and the rotating directions of the paddles (126) driven by the two motors (125) are opposite.

2. The flying drone of claim 1, wherein, The outer joint (12) comprises a connecting arm (121) and a connecting plate (123), one end of the connecting arm (121) is provided with the second joint (122), the other end of the connecting arm (121) is provided with the connecting plate (123), the connecting plate (123) is provided with a socket (1231), the socket (1231) is opened towards the horizontal direction, two adjacent outer joints (12) form a group, the two outer joints (12) in each group are rotatable towards each other, the second joint (122) is provided with a clamping ring (1223), the clamping ring (1223) of one outer joint (12) in a group is inserted into the socket (1231) of the other outer joint (12).

3. The flying drone of claim 1, wherein, The first joint (112) comprises a hinged seat (1121), the hinged seat (1121) is provided with a first opening (1122), the first opening (1122) is located on one side of the hinged seat (1121) in the horizontal direction, the second joint (122) comprises a connecting end (1221), part of the connecting end (1221) is located in the hinged seat (1121), the hinged seat (1121) and the connecting end (1221) are hinged, and the connecting end (1221) can rotate towards the horizontal direction.

4. The flying drone of claim 1, wherein, The first joint (112) comprises a limiting seat (113), the limiting seat (113) is in a semi-ring structure, the second joint (122) comprises a limiting surface (1222), the limiting surface (1222) is in a circular arc shape, and in the first state, the limiting surface (1222) abuts against the inner wall of the limiting seat (113).

5. The flying drone of claim 1, wherein, The side of the rack (11) is provided with a plurality of lock buckle assemblies (14), the lifting assembly (2) comprises a support (21), the upper end of the support (21) is provided with a plurality of connecting frames (22) corresponding to the lock buckle assemblies (14), the lock buckle assembly (14) comprises a fixed plate (141), a fastener (142) and a connecting block (143), the fixed plate (141) is fixedly installed on the rack (11), one end of the connecting block (143) is rotatably connected with the fixed plate (141), the other end of the connecting block (143) is rotatably connected with the fastener (142), the lower end of the fastener (142) is provided with a hanging rod (145), the connecting frame (22) comprises a hook (221), the upper end of the fastener (142) is provided with a snap (144), the upper end of the fixed plate (141) is provided with a first buckling part (1411) buckling with the snap (144).

6. The flying drone of claim 5, wherein, The snap (144) is rotatably installed on the fastener (142), the snap (144) comprises a second buckling part (1441), the hook (221) comprises a hook groove (2211), when the second buckling part (1441) buckles with the first buckling part (1411), the hanging rod (145) can abut against the hook groove (2211), when the first buckling part (1411) is separated from the second buckling part (1441), the hanging rod (145) can be separated from the hook groove (2211), the rack (11) and the support (21) can be separated.

7. The flying drone of claim 1, wherein, The support (21) and the swing damping assembly (23) are provided, the swing damping assembly (23) comprises a first connecting rod (231), a second connecting rod (232), a swing damping mechanism (233) and a sensing assembly (234), the first connecting rod (231) is fixedly connected with the support (21), the second connecting rod (232) is fixedly connected with the first connecting rod (231), the swing damping mechanism (233) comprises a fixed frame (2331), a first connecting seat (2332), a second connecting seat (2333) and a shaft rod (2334), the fixed frame (2331) is fixedly installed on the second connecting rod (232), the first connecting seat (2332) is fixedly installed on the fixed frame (2331), the second connecting seat (2333) is rotatably connected with the first connecting seat (2332), the shaft rod (2334) is installed on the second connecting seat (2333), the sensing assembly (234) comprises a swing rod (2341) and a hanging ring (2342), the swing rod (2341) is located at the upper end of the sensing assembly (234), the hanging ring (2342) is located at the lower end of the sensing assembly (234), the swing rod (2341) is rotatably connected with the shaft rod (2334), and an offset sensor is arranged in the sensing assembly (234).

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