Drones

Abstract

The unmanned aerial vehicle comprises a middle frame and a plurality of modules, the plurality of modules comprise a head module, an arm module, a parachute module, a mounting module and a battery compartment module, the plurality of modules are independently and detachably connected to the middle frame, so that each module can be flexibly assembled and replaced, thereby facilitating independent repair and replacement of each module of the unmanned aerial vehicle or enabling independent technical iteration of each module.

Description

Technical Field

[0001] This disclosure relates to the field of unmanned aerial vehicle technology, and more specifically, to a drone. Background Technology

[0002] In related technologies, the connections between the various components of a drone are complex, and the assembly is not flexible enough when a certain component undergoes technological iteration or needs to be disassembled and maintained. Utility Model Content

[0003] The purpose of this disclosure is to provide a drone with a modular design and flexible assembly to at least partially solve the aforementioned technical problems.

[0004] To achieve the above objectives, this disclosure provides a drone, comprising:

[0005] Mid-frame; and

[0006] Multiple modules, including a nose module, arm module, parachute module, mounting module, and battery compartment module, are independently and detachably connected to the mid-frame.

[0007] Optionally, the nose module includes an avionics module and a sensing module, which are arranged in an L-shape. Both the sensing module and the parachute module are located above the avionics module, and the parachute module is located behind the sensing module along the longitudinal direction of the UAV.

[0008] Along the front-rear direction, the mounting module is located behind the parachute module and the avionics module and in front of the battery compartment module.

[0009] Optionally, the avionics module is located on the lower side of the mid-frame, and the sensing module and the parachute module protrude upward from the mid-frame along the height direction.

[0010] Optionally, the sensing module protrudes upward from the outside of the middle frame, and / or,

[0011] The parachute module protrudes upward from the inside of the middle frame.

[0012] Optionally, the middle frame includes a front crossbeam and a rear crossbeam arranged at intervals in the front-rear direction, and two side beams connecting the front crossbeam and the rear crossbeam;

[0013] The avionics module is connected to the front crossbeam via a first connecting frame, the first connecting frame comprising multiple connecting beams extending from the front crossbeam in different directions, each connecting beam being connected to the avionics module; and / or,

[0014] The parachute module is connected to the two side beams via a second connecting frame. The second connecting frame includes two frames, each connected to a corresponding side beam. Each frame has a first connecting part and a supporting part arranged in an L-shape. The first connecting part is connected to the corresponding side beam, and the supporting part is used to support the parachute module.

[0015] Optionally, the nose module further includes a first housing that at least partially shields the avionics module and the sensing module; and / or,

[0016] The drone includes a second shell, which includes a shell body and a cover plate. The shell body covers the parachute module, the mounting module and the battery compartment module from top to bottom, and an opening is formed on the shell body located in the parachute module. The cover plate can be detachably covered by the opening.

[0017] Optionally, the drone includes a second housing that covers at least a portion of the battery compartment module from top to bottom, and an air duct is provided between the second housing and the battery compartment module, with the heat dissipation surface of at least one battery in the battery compartment module exposed to the air duct.

[0018] Optionally, the drone further includes a tail fin, which includes a wing plate and a second connecting portion. The wing plate is located above the second housing and is connected to the battery compartment module via the second connecting portion.

[0019] Optionally, the arm module includes an arm and a rotor assembly disposed on the arm, with the first end of the arm rotatably connected to the mid-frame so that the arm module has an extended position and a retracted position.

[0020] Optionally, the middle frame includes a machine arm connecting portion, the machine arm connecting portion includes a first connecting structure, and the first end of the machine arm is provided with a first connecting and mating structure.

[0021] In the unfolded position, the first connecting structure is connected to the first connecting mating structure to fix the position of the arm relative to the middle frame;

[0022] In the retracted position, the first connecting structure is connected to the first connecting mating structure via an additional connector to fix the position of the arm relative to the middle frame.

[0023] Optionally, the arm connecting part includes two spaced-apart first sidewalls and a first rotating shaft passing through the two first sidewalls. The first end of the arm is rotatably sleeved on the first rotating shaft, and the first end is located between the two first sidewalls. A friction element is also provided between the first end and the first sidewalls.

[0024] The above technical solution allows the drone to include a mid-frame and multiple modules, including a nose module, arm module, parachute module, mounting module, and battery compartment module. Each module is independently and detachably connected to the mid-frame, enabling flexible assembly and replacement of each module. This facilitates independent repair and replacement of each module or independent technical iteration of each module.

[0025] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0026] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0027] Figure 1 This is a schematic diagram of the overall structure of the UAV provided in an exemplary embodiment of this disclosure;

[0028] Figure 2 This is a schematic diagram of a drone structure provided in an exemplary embodiment of this disclosure, wherein the rotor assembly is not shown;

[0029] Figure 3 This is a partial structural diagram of the UAV provided in an exemplary embodiment of this disclosure;

[0030] Figure 4 This is provided in the exemplary embodiments of this disclosure. Figure 3 A partial view of position A in the middle;

[0031] Figure 5 This is a structural schematic diagram of the middle frame and each connecting bracket provided in an exemplary embodiment of this disclosure;

[0032] Figure 6 The exemplary embodiments provided in this disclosure are different from those provided in this disclosure. Figure 5 A schematic diagram of the frame and the structure of each connecting bracket;

[0033] Figure 7 This is a schematic diagram of the structure of the parachute module and the second connecting frame provided in an exemplary embodiment of this disclosure;

[0034] Figure 8 This is a structural schematic diagram of the mid-frame, boom module, and landing gear provided in an exemplary embodiment of this disclosure;

[0035] Figure 9 This is provided in the exemplary embodiments of this disclosure. Figure 8 A partial schematic diagram of position B in the middle;

[0036] Figure 10 This is a structural schematic diagram of the mid-frame and part of the landing gear provided in an exemplary embodiment of this disclosure;

[0037] Figure 11 This is a schematic diagram of the structure at position C provided in an exemplary embodiment of this disclosure;

[0038] Figure 12 This is a schematic diagram of the structure of the robotic arm provided in an exemplary embodiment of this disclosure;

[0039] Figure 13 This is provided in the exemplary embodiments of this disclosure. Figure 12 A schematic diagram of the structure at position D in the middle;

[0040] Figure 14 This is a partial schematic diagram of the unmanned aerial vehicle provided in the exemplary embodiments of this disclosure. Figure 1 ;

[0041] Figure 15 This is a partial schematic diagram of the unmanned aerial vehicle provided in the exemplary embodiments of this disclosure. Figure 2 ;

[0042] Figure 16 This is a partial schematic diagram of the unmanned aerial vehicle provided in the exemplary embodiments of this disclosure. Figure 3 ;

[0043] Figure 17 This is provided in the exemplary embodiments of this disclosure. Figure 16 Schematic diagram of the structure at position F in the middle;

[0044] Figure 18 This is a partial schematic diagram of the drone provided in the exemplary embodiments of this disclosure. Figure 4 ;

[0045] Figure 19 This is a schematic diagram of the overall structure of the first battery compartment provided in an exemplary embodiment of this disclosure. Figure 1 ;

[0046] Figure 20 This is a schematic diagram of the overall structure of the first battery compartment provided in an exemplary embodiment of this disclosure. Figure 2 Among them, the battery was removed;

[0047] Figure 21 This is a schematic diagram of the overall structure of the first battery compartment provided in an exemplary embodiment of this disclosure. Figure 3 Among them, the mounting plate was removed;

[0048] Figure 22 This is a schematic diagram of the overall structure of the first battery compartment provided in an exemplary embodiment of this disclosure. Figure 4 ;

[0049] Figure 23 This is a schematic diagram of the overall structure of the second battery compartment provided in an exemplary embodiment of this disclosure;

[0050] Figure 24 This is a schematic diagram of the overall structure of the battery provided in an exemplary embodiment of this disclosure. Figure 1 ;

[0051] Figure 25 This is a schematic diagram of the overall structure of the battery provided in an exemplary embodiment of this disclosure. Figure 2 ;

[0052] Figure 26 This is a schematic diagram of the internal structure of the handle provided in an exemplary embodiment of this disclosure;

[0053] Figure 27 This is a structural schematic diagram of the midframe and landing gear provided in an exemplary embodiment of this disclosure;

[0054] Figure 28 This is an exploded view of the landing gear of a drone provided in an exemplary embodiment of this disclosure;

[0055] Figure 29 This is an exploded view of the support portion in the landing gear provided in an exemplary embodiment of this disclosure;

[0056] Figure 30 This is an exploded view of the support portion of the landing gear provided in an exemplary embodiment of this disclosure from another angle;

[0057] Figure 31 This is a schematic diagram of the structure of the friction pad in the landing gear of the UAV provided in an exemplary embodiment of this disclosure;

[0058] Figure 32 This is a schematic diagram of the landing gear being pushed into place according to an exemplary embodiment of this disclosure.

[0059] Explanation of reference numerals in the attached figures

[0060] 10-Middle frame; 11-Front crossbeam; 12-Rear crossbeam; 13-Side beam; 14-Arm connection; 14a-First connecting structure; 141-First sidewall; 15-First pivot; 20-Nose module; 21-First housing; 22-Sensing module; 23-Avionics module; 30-Arm module; 31-Rotor assembly; 32-Arm; 321-First end; 322-First connecting and mating structure; 323-Friction component;

[0061] 40-Landing gear; 41-Support rod; 42-Support structure; 421-Support part; 4211-Push front; 42111-First push front; 42112-Second push front; 4212-Push-up part; 4213-First positioning groove; 4214-Second positioning groove; 4215-First drain hole; 4216-First connecting hole; 4217-Second connecting hole; 422-Connecting rod; 423-Connecting piece; 43-Friction pad; 431-Notch; 432-Second drain hole; 433-Drain groove;

[0062] 50 - Mounting Module;

[0063] 60-Battery compartment module; 620-Battery; 6200-Heat dissipation surface; 6201-Snap-fit ​​part; 62010-Snap hook; 62011-Base; 62012-Second drive part; 62013-Abutting part; 62014-Second elastic reset part; 62015-Second positioning part; 62016-First positioning part; 6202-Unlocking part; 62020-First drive part; 6203-Handle; 6204-Electrical connection port; 6205-Guiding mating structure; 621-First battery compartment body; 6210-First receiving compartment; 62101-End 62100 - Intermediate storage compartment; 6211 - First heat dissipation vent; 6212 - Assembly port; 6213 - Snap-on interface; 6214 - Mounting cavity; 6215 - First side wall; 6216 - Guide structure; 6217 - Mounting plate; 6218 - Base plate; 6219 - Back plate; 62190 - Mounting groove; 62191 - Groove; 6220 - Divider plate; 62200 - First side plate; 62201 - Second side plate; 6222 - Second battery compartment; 6221 - Second storage compartment; 62211 - Second heat dissipation vent; 63 - Detection element;

[0064] 70-Tail fin; 71-Wing plate; 72-Second connecting part; 80-Second shell; 81-Shell body; 811-Upper cover; 8111-Air guide plate; 82-Cover plate; 90-Parachute module; 100-LiDAR; 200-Camera module; 301-First connecting frame; 3011-Connecting beam; 302-Second connecting frame; 302a-Frame body; 3021-First connecting part; 3022-Bearing part; 30221-Body structure; 30222-Bearing structure; 303-Third connecting frame; 3031-Third sub-connecting frame; 304-Fourth connecting frame; 305-Fifth connecting frame; 306-Sixth connecting frame; 400-Air duct; 401-Outlet; 402-Inlet. Detailed Implementation

[0065] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0066] In this disclosure, an XYZ coordinate system is established for the UAV, where the X-axis represents the forward / backward direction of the UAV, with the X-arrow pointing in the direction of the rear and the opposite direction being the front; the Y-axis represents the left / right direction of the UAV; and the Z-axis represents the altitude direction of the UAV, with the Z-arrow pointing upward and the opposite direction being downward. It should be understood that the aforementioned altitude, forward / backward, and left / right directions refer to the altitude, forward / backward, and left / right directions of the UAV during normal operation. Unless otherwise stated, directional terms such as "inner" and "outer" refer to the inner or outer contour relative to the component or structure itself. Furthermore, it should be noted that terms such as "first" and "second" are used to distinguish one element from another and do not indicate sequence or importance. Additionally, in the description with reference to the accompanying drawings, the same reference numerals in different drawings denote the same element.

[0067] like Figures 1 to 32 As shown, this disclosure provides a drone, including a mid-frame 10 and multiple modules, including a nose module 20, an arm module 30, a parachute module 90, a mounting module 50, and a battery compartment module 60. The multiple modules are independently and detachably connected to the mid-frame 10, so that each module can be flexibly assembled and replaced, so that each module of the drone can be repaired and replaced independently or can be independently iterated.

[0068] In the above implementation, when the drone malfunctions and needs repair, it is only necessary to disassemble the faulty module for repair, which is quite convenient. Of course, when a module malfunctions, it can also be replaced with a new, working module, and then the disassembled module can be repaired without delaying the use of the drone.

[0069] Furthermore, when a certain module of the drone undergoes a technological update, the drone's technology can be iterated by replacing that module, without having to update the entire drone. This makes the replacement and iteration of drone modules more flexible.

[0070] In some implementations, such as Figure 1 and Figure 2 As shown, the nose module 20 includes an avionics module 23 and a sensing module 22. The avionics module 23 and the sensing module 22 are arranged in an L-shape. The sensing module 22 and the parachute module 90 are both located above the avionics module 23. The parachute module 90 is located behind the sensing module 22 along the front-rear direction of the UAV. This arrangement makes the arrangement between the nose module 20 and the parachute module 90 more compact, reduces the overall size of the UAV, and makes the UAV more maneuverable.

[0071] In the above embodiments, the perception module 22 may include an upward-looking millimeter-wave radar, a forward-looking millimeter-wave radar, and a forward-looking binocular camera. The upward-looking and forward-looking millimeter-wave radars can monitor obstacles in the flight environment, enabling the UAV to fly safely in complex environments. The forward-looking binocular camera can accurately perceive the three-dimensional spatial position of the surrounding environment, improving the UAV's obstacle avoidance capabilities, positioning accuracy, and obstacle recognition efficiency. Furthermore, the avionics module 23 is a core component of the UAV, integrating the flight control system, sensors, navigation equipment, and communication equipment, providing the UAV with the necessary flight control and mission execution capabilities.

[0072] In some implementations, such as Figure 1 and Figure 2 As shown, the avionics module 23 is located on the lower side of the middle frame 10, and the sensing module 22 and the parachute module 90 protrude upward from the middle frame 10 along the height direction, so that the sensing module 22 and the parachute module 90 are at least partially sunk into the middle frame 10, so as to avoid the drone's own height being too high and causing the center of gravity to shift upward, thereby avoiding the drone's flight altitude being too high and affecting the stability of the drone's flight.

[0073] Furthermore, the sensing module 22 can protrude upwards from the outside of the middle frame 10. This arrangement saves space inside the middle frame 10, making it easier to arrange other modules of the drone. The parachute module 90 can also protrude upwards from the inside of the middle frame 10, allowing it to be positioned closer to the center of the drone to maintain overall balance and avoid affecting landing accuracy.

[0074] In some implementations, such as Figure 1 and Figure 2 As shown, along the front-rear direction of the UAV, the mounting module 50 is located behind the parachute module 90 and the avionics module 23 and in front of the electromagnetic cargo module. The mounting module 50 can be used to lift cargo.

[0075] In the above-described embodiment, the mounting module 50 is located behind the avionics module 23 and the parachute module 90, and in front of the battery compartment module 60. In the front-rear direction, this makes the mounting module 50 closer to the center of the UAV, which can better balance the overall weight distribution of the UAV and reduce the problem of flight attitude imbalance caused by load offset.

[0076] It should be noted that in some possible implementations, the mounting module 50 may include a motor, a spool, a rope wound on the spool, and a suspension assembly connected to the rope. The suspension assembly may include structures such as grippers or hooks, which can be used to lift goods.

[0077] In some implementations, such as Figure 5 and Figure 6 As shown, the middle frame 10 includes a front crossbeam 11 and a rear crossbeam 12 arranged at intervals along the front-rear direction, and two side beams 13 connecting the front crossbeam 11 and the rear crossbeam 12. The avionics module 23 is connected to the front crossbeam 11 through a first connecting frame 301. The first connecting frame 301 includes a plurality of connecting beams 3011 extending from the front crossbeam 11 in different directions, and each connecting beam 3011 is connected to the avionics module 23.

[0078] Among them, such as Figures 1 to 6 As shown, the avionics module 23 is connected to the front crossbeam 11 via two first connecting frames 301. The first connecting frames 301 are spaced apart in the left-right direction and are respectively connected to both sides of the avionics module 23. The first connecting frame 301 may include two connecting beams 3011. One of the two connecting beams 3011 extends from the front crossbeam 11 in a forward and downward direction to connect the avionics module 23, and the other of the two connecting beams 3011 extends in a forward and backward direction to connect the avionics module 23.

[0079] In the above embodiments, the connection form between the connecting beam 3011 and the front crossbeam 11, and the connection form between the connecting beam 3011 and the avionics module 23, can be set according to actual needs. For example, for easy disassembly, the connecting beam 3011 and the front crossbeam 11 can be detachably connected by bolts, and the connecting beam 3011 and the avionics module 23 can also be detachably connected by bolts.

[0080] In some implementations, such as Figure 2 , Figure 5 as well as Figure 6 As shown, the parachute module 90 is connected to the two side beams 13 via the second connecting frame 302. The second connecting frame 302 includes two frames 302a, each connected to the corresponding side beam 13. Each frame 302a has a first connecting part 3021 and a supporting part 3022 arranged in an L-shape. The first connecting part 3021 is connected to the corresponding side beam 13, and the supporting part 3022 is used to support the parachute module 90. This arrangement allows the parachute module 90 to be connected to the middle frame 10 via the second connecting frame 302.

[0081] In the above embodiment, the frame 302a is arranged in an L-shape. The first connecting part 3021 is bolted to the top wall of the side beam 13. The supporting part 3022 includes a supporting structure 30222 for supporting the parachute module 90 and a body structure 30221 connected to the first connecting part 3021 and the supporting structure 30222 respectively. The body structure 30221 extends downward along the inner side wall of the side beam 13, so that the supporting structure 30222 is located below the top wall of the side beam 13 in the vertical direction of the UAV, and also allows the parachute module 90 connected to the supporting structure 30222 to sink at least partially to the side beam 13. The connecting part of the frame 302a can be bolted to the side beam 13, and the supporting structure 30222 can be bolted to the parachute module 90, which will not be described in detail here.

[0082] In some implementations, such as Figure 1 , Figure 2 as well as Figure 6 As shown, the mounting module 50 is connected to the two side beams 13 via a third connecting frame 303. The third connecting frame 303 includes two third sub-connecting frames 3031, each connected to a corresponding side beam 13. One end of the third sub-connecting frame 3031 is connected to the corresponding side beam 13, and the other end of the third sub-connecting frame 3031 extends downward at an angle to connect to the mounting module 50, so that the mounting module 50 is located between the two side beams 13 in the left-right direction. The mounting module 50 is closer to the middle position of the drone, which is beneficial to the overall weight balance of the drone.

[0083] In some implementations, such as Figure 2 , Figure 5 as well as Figure 6 As shown, the drone also includes a fourth connecting frame 304, which can be placed horizontally across the middle frame 10. Both ends of the fourth connecting frame 304 are connected to the side beams 13. The fourth connecting frame 304 can be positioned above the mounting module 50 in the vertical direction. Sensors such as the camera module 200 and the lidar 100 can be mounted on the fourth connecting frame 304. This arrangement fully utilizes the unused area of ​​the middle frame 10, making the overall structure of the drone more compact.

[0084] In some implementations, such as Figure 1 As shown, in addition to the aforementioned avionics module 23 and sensing module 22, the nose module 20 also includes a first housing 21. The first housing 21 at least partially shields the avionics module 23 and sensing module 22, thus protecting them. For example, it can waterproof the avionics module 23 and sensing module 22, preventing rainwater from entering their interiors and affecting their normal operation.

[0085] In some implementations, such as Figure 1 , Figure 2 as well as Figure 14 As shown, the drone includes a second shell 80, which includes a shell body 81 and a cover plate 82. The shell body 81 covers the parachute module 90, the mounting module 50 and the battery compartment module 60 from top to bottom, and an opening is formed on the shell body 81 located in the parachute module 90. The cover plate 82 can be detachably covered by the opening (not shown).

[0086] In the above-described embodiment, the second housing 80 can protect the parachute module 90, the mounting module 50, and the battery compartment module 60. For example, the second housing 80 can waterproof the parachute module 90, the mounting module 50, and the battery compartment module 60. Furthermore, considering that drones mostly operate in the field during missions, and rainfall is the most common occurrence in the field, the housing covering the parachute module 90, the mounting module 50, and the battery compartment module 60 from top to bottom provides better waterproofing and facilitates the assembly of the housing body 81. An opening is formed on the housing body 81 located in the parachute module 90, and a cover plate 82 can be detachably placed over the opening to protect the parachute module 90 without hindering the deployment and opening of the parachute body within the parachute module 90.

[0087] It should be noted that the cover plate 82 and the shell body 81 can be separated by a snap-fit ​​connection. The parachute module 90 includes a parachute box, a parachute body disposed in the parachute box, and an ejection mechanism disposed in the parachute box. The ejection mechanism can be an inflatable airbag. The parachute body is connected to the parachute box by parachute lines. When the parachute needs to be used, the ejection mechanism can eject the parachute body from the parachute box and pop open the cover plate 82, so that the cover plate 82 is separated from the shell body 81, the parachute body detaches from the parachute box and opens. Under the action of the parachute, the drone can slowly descend from high altitude, avoiding the safety risks and damage to the drone caused by direct fall after a malfunction.

[0088] In some implementations, such as Figures 14 to 19 As shown, the drone includes a second shell 80 that covers at least a portion of the battery compartment module 60 from top to bottom. An air duct 400 is provided between the second shell 80 and the battery compartment module 60, and the heat dissipation surface 6200 of at least one battery 620 in the battery compartment module 60 is exposed to the air duct 400.

[0089] In the above embodiment, the heat dissipation surface 6200 of at least one battery 620 in the battery compartment module 60 is exposed to the air duct 400. During the flight of the UAV, the external airflow passes through the air duct 400 and can directly contact the heat dissipation surface 6200 of the battery to achieve continuous and efficient heat dissipation.

[0090] In some implementations, such as Figures 14 to 19 As shown, the battery compartment module 60 includes a first battery compartment body 621 adjacent to the second housing 80. The first battery compartment body 621 has at least one first receiving compartment 6210 and a first heat dissipation vent 6211 communicating with the first receiving compartment 6210. The first receiving compartment 6210 is used to accommodate at least one battery 620. The heat dissipation surface 6200 of the battery 620 is arranged opposite to the first heat dissipation vent 6211, and the heat dissipation surface 6200 of at least one battery 620 is exposed to the air duct 400 through the corresponding first heat dissipation vent 6211. Through the relative arrangement of the heat dissipation surface 6200 and the first heat dissipation vent 6211, during the flight of the UAV, the external airflow enters the first heat dissipation vent 6211 through the air duct 400 and directly contacts the heat dissipation surface 6200 of the battery 620 to achieve efficient and continuous heat dissipation, further enhancing the overall stability and reliability.

[0091] In some implementations, such as Figure 19 and Figure 20 As shown, the first battery compartment includes multiple first receiving compartments 6210 arranged sequentially along the left-right direction of the drone. Each first receiving compartment 6210 includes two end receiving compartments 62101 located at both ends and at least one intermediate receiving compartment 62100 located between the two end receiving compartments 62101. The two first heat dissipation vents 6211 of the two end receiving compartments 62101 are arranged opposite each other in the left-right direction, so that these two first heat dissipation vents 6211 are exposed outside the drone. The first heat dissipation vent 6211 of the intermediate receiving compartment 62100 faces the air duct 400. Through the above structural design, the opening orientation of the first heat dissipation vents 6211 of different receiving compartments is reasonably adjusted according to their positions, making it easier for the end receiving compartments 62101 to directly contact the external airflow, and for the intermediate receiving compartments 62100 to fully contact the airflow flowing within the air duct 400. This achieves targeted thermal management, improves the overall heat dissipation efficiency of the multiple battery 620 layout, and provides greater flexibility in use.

[0092] like Figure 20 As shown, the first battery compartment 621 may include a bottom plate 6218, a back plate 6219 and two partition plates 6220 connected to each other. The two partition plates 6220 are spaced apart on the bottom plate 6218 along a first direction, so that the bottom plate 6218, the back plate 6219 and the two partition plates 6220 together form three first receiving compartments 6210 arranged sequentially along the left and right direction of the UAV. The three first receiving compartments 6210 are respectively constructed as the two end receiving compartments 62101 and the middle receiving compartment 62100.

[0093] Furthermore, the backplate 6219 may be provided with a power supply interface for mates with the electrical connection port 6204 of the battery 620. The side of the backplate 6219 facing away from the partition plate 6220 and the base plate 6218 may also be provided with a mounting slot 62190 for mounting a circuit board. The circuit board is electrically connected to the power supply interface, so that when the battery 620 is inserted into the first receiving compartment 6210 and the electrical connection port 6204 is connected to the power supply interface, the battery 620 can provide power to the drone. Figure 20 The image shows slot 62191 for mounting the power supply interface.

[0094] The number of partition plates 6220 can be adjusted according to actual needs. For example, there may be only one partition plate 6220, so that the bottom plate 6218, the back plate 6219 and the partition plate 6220 together form two first receiving compartments 6210. Alternatively, there may be three or four partition plates 6220. This disclosure does not impose a specific limitation on this.

[0095] Among them, such as Figures 19 to 22 As shown, the partition plate 6220 may include a first side plate 62200 and a second side plate 62201 connected to each other. The first side plate 62200 and the second side plate 62201 may be constructed in an L-shape, or the first side plate 62200 and the second side plate 62201 may be arranged perpendicular to each other, such that the first side plate 62200 forms the first side wall 6215 of the first receiving compartment 6210 (described below), the second side plate 62201 forms the first top wall of the first receiving compartment 6210, and the first heat dissipation vent 6211 is formed on the side opposite to the first side wall 6215.

[0096] In some implementations, for example, such as Figures 15 to 19 As shown, the second housing 80 may include a top cover 811, which is located above the first battery compartment 621 along the height direction of the drone, forming an air duct 400 between the top cover 811 and the first battery compartment 621. In this way, the heat dissipation vents of the two end housings 62101 can face the left and right sides of the drone respectively, utilizing the air passing through the sides during drone flight for rapid heat dissipation. This also simplifies the drone's structure, reduces its weight, and improves its endurance.

[0097] The upper cover 811 forms an inlet 402 and / or an outlet 401 that communicates with the air duct 400. Alternatively, the upper cover 811 and the first battery compartment 621 form an inlet 402 and / or an outlet 401 that communicates with the air duct 400. Through the structured design of the upper cover 811 and the first battery compartment, the air duct 400 formed between the upper cover 811 and the first battery compartment 620 is utilized. By setting the inlet 402 and outlet 401 that communicate with the air duct 400, external airflow can be effectively guided into and out of the air duct 400 to ensure that the airflow flows effectively within the air duct 400. This achieves efficient and continuous heat dissipation of the battery 620 during the UAV modeling process, thereby further improving the stability and reliability of UAV operation.

[0098] The upper cover 811 can be constructed as an arc or curved surface in the left and right direction. After the upper cover 811 is connected to the first battery compartment, the gap between the first battery compartment and the upper cover 811 can form the air duct 400. Through the above structural design, the volume of the air duct 400 can be increased, the air intake of the air duct 400 can be increased, and the heat dissipation effect can be enhanced.

[0099] like Figure 15 As shown, the heat dissipation surface 6200 of the battery 620 located in the intermediate receiving compartment 62100 is disposed within the air duct 400, and the first heat dissipation port 6211 of the intermediate receiving compartment 62100 is connected to the air duct 400 to ensure that the airflow entering the air duct 400 can continuously contact the heat dissipation surface 6200. The upper cover 811 can form an assembly port 6212 for inserting and removing the battery 620 together with the intermediate receiving compartment 62100. After the battery 620 is inserted into the assembly port 6212, the gap formed between it and the top wall of the upper cover 811 can be constructed as the aforementioned outlet 401. In this way, the integration level of the UAV can be further improved, the assembly of unnecessary parts can be reduced, the overall weight can be reduced, and the reliability of use can be improved.

[0100] As described above, in some possible implementations, the top cover 811 can serve as a first top wall surface of the second side plate 62201 of the partition plate 6220, forming the first receiving compartment 6210. In this way, the top cover 811 and the first side plate 62200 can be fixed by means of bolt connection or snap-fit ​​connection.

[0101] Or, such as Figure 15 , Figures 19 to 21As shown, the upper cover 811 can also be connected to the second side plate 62201. For example, the side of the second side plate 62201 facing away from the first side plate 62200 can have multiple first mounting structures, and the side of the upper cover 811 facing the second side plate 62201 can have multiple mating structures. The upper cover 811 and the second side plate 62201 are fixed by a one-to-one connection between the first mounting structures and the mating structures. The first mounting structure can be constructed as a through hole, and the mating structure can be constructed as a threaded hole, so that the first mounting structure and the mating structure can be fixedly connected by bolts. Alternatively, the first mounting structure can be constructed as a snap-fit, and the mating structure can be constructed as a slot, and the two are fixed by snap-fit. This disclosure does not make specific limitations in this regard.

[0102] In some implementations, for example, such as Figures 14 to 18 As shown, an air guide plate 8111 can be provided on the upper cover 811. The air guide plate 8111 and the upper cover 811 form an inlet 402 communicating with the air duct 400, with the inlet 402 facing the front of the drone; and / or, an outlet 401 communicating with the air duct 400 is formed between the upper cover 811 and the first battery compartment 621, with the outlet 401 facing the rear of the drone. By providing the air guide plate 8111, airflow can be further guided into the air duct 400, increasing the intake volume and airflow speed within the air duct 400, reducing intake resistance, and reducing the drone's flight energy consumption. At the same time, the outlet 401 is arranged facing the rear of the drone, which can utilize the negative pressure suction effect formed at the rear of the drone during flight to accelerate the exhaust speed of the airflow within the air duct 400, further improving the heat dissipation efficiency of the battery 620, thereby enhancing the stability and reliability of the drone's flight.

[0103] The air guide plate 8111 may include multiple air guide holes (or ventilation holes), which may form the aforementioned inlet 402 or be connected to the aforementioned inlet 402. The air guide holes may be arranged in an array along the left and right direction of the UAV to divide the external airflow into multiple uniform flow streams, so as to effectively guide and smoothly enter the interior of the air duct 400, improve the airflow introduction efficiency, reduce flow noise and turbulence loss, and prevent foreign objects from entering the air duct 400.

[0104] Furthermore, the air deflector 8111 can be designed with a reasonable tilt angle according to the airflow path during the drone's flight, in order to reduce airflow resistance and turbulence generation. For example, the air guide holes of the air deflector 8111 can be tilted relative to the drone's forward and backward direction to guide the airflow smoothly into the air duct 400.

[0105] In some implementations, such as Figures 14 to 15 as well as Figures 18 to 23As shown, the battery compartment module 60 also includes a second battery compartment body 622, wherein, along the height direction of the drone, the second battery compartment body 622 is located below the first battery compartment body 621, the first battery compartment body 621 is connected to the middle frame 10 from top to bottom, and the second battery compartment body 622 is connected to the middle frame 10 from bottom to top.

[0106] In the above-described embodiment, the arrangement of the second battery compartment 622 effectively increases the capacity of the drone's battery 620, significantly improving its battery life. Furthermore, the second battery compartment 622 is located below the first battery compartment 621, which is connected to the middle frame 10 from top to bottom, while the second battery compartment 622 is connected to the middle frame 10 from bottom to top. This arrangement allows for a more rational placement of the first and second battery compartments 621 and 622, and ensures that their installation and removal do not interfere with each other.

[0107] In some embodiments, the second battery compartment 622 includes a second receiving compartment 6221 for accommodating at least one battery 620 and a second heat dissipation vent 62211 communicating with the second receiving compartment 6221, the second heat dissipation vent 62211 being exposed outside the drone.

[0108] In the above-described embodiment, the second heat dissipation vent 62211 is directly exposed to the outside of the fuselage. During flight, the oncoming airflow can directly enter the second heat dissipation vent 62211 and independently and effectively dissipate heat from the battery 620 inside the second battery compartment 622. This avoids the heat accumulation between the battery 620 and the first battery compartment 620, and prevents the air duct 400 from overheating and affecting the heat dissipation effect of the battery 620 inside the first battery compartment 621, thereby further improving the safety and reliability of the UAV flight.

[0109] In some embodiments, the second battery compartment 622 can have a substantially similar structure to the first battery compartment 621. The difference lies in the number of partition plates 6220, which can be selected according to actual needs. For example, the second battery compartment can also include a bottom plate 6218, a back plate 6219, and partition plates 6220 connected together. The number of partition plates 6220 can be adaptively adjusted according to actual needs, as exemplarily shown below. Figure 23 As shown, the number of partition plates 6220 in the second battery compartment can be one, so that the bottom plate 6218, the back plate 6219, and the partition plate 6220 together form two second receiving compartments 6221. The second heat dissipation vents 62211 of the two second receiving compartments 6221 are designed opposite each other along the left-right direction of the drone to utilize the airflow on both sides during drone flight for heat dissipation. Alternatively, the number of partition plates 6220 can also be two, and the two partition plates 6220 can be spaced apart on the bottom plate 6218 along the left-right direction of the drone. This disclosure does not specifically limit this.

[0110] In some implementations, such as Figure 2 , Figure 5 as well as Figure 6 As shown, a fifth connecting bracket 305 is also provided on the middle frame 10. The two ends of the fifth connecting bracket 305 are respectively connected to the two side beams 13 of the middle frame 10, and can be connected to the first battery compartment 621 and the second battery compartment 622. The first battery compartment 621 and the second battery compartment 622 can be connected to the middle frame 10 and the fifth connecting bracket 305 in any suitable manner. For example, the bottom plate 6218 of the first battery compartment 621 and the partition plate 6220 of the second battery compartment 622, facing the middle frame 10, can both be provided with a second mounting structure for connecting to the middle frame 10 and the fifth connecting bracket 305. The middle frame 10 and the fifth connecting bracket 305 can be provided with mounting mating structures that cooperate with the second mounting structure. One of the second mounting structure and the mounting mating structure can be constructed as a snap-fit, and the other as a slot; or, one of the second mounting structure and the mounting mating mechanism can be constructed as a through hole, and the other as a threaded hole, and the two are fixed by bolt connection. This disclosure is not limited to this.

[0111] Furthermore, to further enhance the stability of the connection of the second battery compartment 622, exemplarily as follows: Figure 6 and Figure 18 As shown, the drone may also include a sixth connecting frame 306 for connecting the second battery compartment 622 and the mid-frame 10 respectively. The sixth connecting frame 306 may be configured as a Z-shaped connecting plate to limit the upper position of the battery 620 located within the second battery compartment 622. This disclosure does not specifically limit this aspect.

[0112] In some implementations, for example, such as Figure 15 as well as Figures 20 to 23 As shown, along the front-to-back direction of the drone, the mounting ports 6212 for inserting or removing the battery 620 in the first and second storage compartments 6210 and 6221 can both face the rear of the drone. Through the optimized design of the arrangement of the first and second storage compartments 6210 and 6221, users can easily and quickly insert or remove the battery 620 from the rear of the drone, and conveniently observe the battery 620's usage status, allowing for timely adjustment or replacement, effectively improving the convenience and reliability of drone use.

[0113] In some embodiments, the opening direction of the assembly port 6212 of the first receiving compartment 6210 and the second receiving compartment 6221 can be adaptively adjusted according to actual needs. For example, the assembly port 6212 of the first receiving compartment 6210 and the second receiving compartment 6221 can be located on the side opposite to the UAV in the left-right direction. This disclosure does not specifically limit this.

[0114] Among them, such as Figure 20 and Figure 23 The assembly port 6212 can be arranged opposite to the power supply interface so that after the battery 620 is inserted into the receiving compartment, the electrical connection port 6204 of the battery 620 can be smoothly connected to the power supply interface, thereby improving the accuracy and stability of the fit.

[0115] In some implementations, for example, such as Figures 19 to 23 As shown, the battery compartment module 60 may include a battery compartment body, which may include a receiving compartment for accommodating a battery 620. A card interface 6213 is provided on the inner wall of the receiving compartment. An installation cavity 6214 communicating with the card interface 6213 may be provided inside the battery compartment. A detection element 63, arranged opposite to the card interface 6213, may be provided inside the installation cavity 6214. A card engaging portion 6201 is provided on the battery 620, which engages with the card interface 6213. The card engaging portion 6201 and the detection element 63 are configured such that the detection element 63 is triggered when the card engaging portion 6201 engages with the card interface 6213. Through the cooperation of the card engaging portion 6201 of the battery 620 and the detection element 63 in the installation cavity 6214, the system can accurately detect whether the battery 620 is properly installed and in a locked state, thereby providing a reliable battery 620 installation status feedback signal. This effectively avoids flight safety hazards that may be caused by improper battery installation, significantly improving the safety and reliability of the UAV during use.

[0116] The battery compartment can be the first battery compartment 621 and / or the second battery compartment 622 described above, and the receiving compartment can be the first receiving compartment 6210 and / or the second receiving compartment 6221 described above. This disclosure is not limited thereto.

[0117] The detection element 63 can be constructed in any suitable manner. For example, the detection element 63 can be constructed as a position detection element 63 triggered when the latching part 6201 is latched into the card interface 6213. For example, the position detection element 63 can be a Hall sensor, and a magnetic element can be provided on the latching part 6201. When the latching part 6201 is latched into the card interface 6213, the magnetic element approaches the Hall sensor, triggering the Hall sensor to generate an electrical signal, thereby accurately detecting whether the battery 620 is installed in place and in a locked state. In addition, the position detection element 63 can also be a micro switch, proximity switch, touch switch, magnetic induction switch, photoelectric sensor, or other detection elements 63 suitable for UAV applications. This disclosure does not specifically limit it in this regard.

[0118] In some implementation methods, such as Figures 19 to 26As shown, the battery compartment may have an assembly port 6212 communicating with the receiving compartment. The assembly port 6212 is used for inserting or removing the battery 620 from the receiving compartment. The battery 620 has a handle 6203 located outside the receiving compartment. The handle 6203 may be provided with an unlocking part 6202, which is connected to the latching part 6201 to control the unlocking of the latching part 6201 from the latching interface 6213. When a user holds the handle 6203 to insert or remove the battery 620, or when a robotic arm holds the handle 6203 to insert or remove the battery 620, the latching part 6201 can be unlocked from the latching interface 6213 by operating the unlocking part 6202, thereby facilitating reliable insertion and removal of the battery 620 and improving the efficiency of battery insertion and removal by the user or robotic arm.

[0119] For example, Figures 24 to 26 As shown, the unlocking part 6202 and the locking part 6201 can be partially located inside the handle 6203. The handle 6203 can have a first positioning part 62016 and a second positioning part 62015 inside. The locking part 6201 is movably connected to the first positioning part 62016. The unlocking part 6202 can include a first driving part 62020, a second driving part 62012 that drives and cooperates with the first driving part 62020, and a seat 62011. The seat 62011 is connected to the first driving part 62020 by a spring, so that the first driving part 62020, which moves towards the seat 62011 under force, can automatically reset after the external force disappears. The locking part 6201... 01 may include a hook 62010 that cooperates with the card interface 6213 and an abutment 62013 that contacts the second drive unit 62012. The second positioning unit 62015 is provided with a second elastic reset member 62014 connected to the abutment 62013, so that after the second drive unit 62012 is subjected to force and pushes the abutment 62013 to drive the hook 62010 to move away from the card interface 6213, after the external force disappears, the second elastic reset member 62014 can push the abutment 62013 to reset, thereby driving the hook 62010 to move towards the card interface 6213, so as to realize the automatic locking of the card interface 6213.

[0120] The first driving part 62020 and the second driving part 62012 can be configured as mutually cooperating sliders. The first driving part 62020 is provided with a first inclined surface, and the second driving part 62012 is provided with a second inclined surface. The first and second inclined surfaces slide in cooperation. When the first driving part 62020 is pressed, the cooperation of the first and second inclined surfaces can push the second driving part 62012 to move, thereby pushing the locking part 6201 to rotate around the first positioning part 62016, so that the locking part disengages from the locking part. The second elastic reset member 62014 can be configured as a spring (tension spring) or a torsion spring, etc., and the first positioning part 62016 and the second positioning part 62015 can both be configured as support rods 41. This disclosure is not limited thereto. The locking part may include a slot or hole for the locking part 6201 or the hook 62010 to be inserted, etc., and this disclosure does not specifically limit it in this regard.

[0121] Optionally, a guide structure 6216 may be provided inside the housing compartment, and a guide mating structure 6205 that cooperates with the guide structure 6216 may be provided on the outer wall of the battery 620. The guide structure 6216 may be configured as a guide block extending towards the back plate 6219, and the guide mating structure 6205 may be configured as a guide groove that slides with the guide block. In this way, when the battery 620 enters the housing compartment, the guide structure 6216 can correspond to the guide mating structure 6205 and guide the battery 620 to move, so that the electrical connection port 6204 of the battery 620 can connect to the power supply interface, preventing the battery 620 from shifting during movement, thereby improving the reliability and convenience of use.

[0122] Of course, there can be multiple guide structures 6216 and guide mating structures 6205, for example, two or three. Multiple guide structures 6216 can be arranged on different walls within the receiving compartment, and multiple guide mating structures 6205 can be arranged on the outer wall surface of the battery 620 corresponding to the inner wall surface of the receiving compartment. This disclosure is not limited thereto, and those skilled in the art can make adaptive adjustments according to actual needs.

[0123] In some implementations, for example, such as Figures 19 to 23As shown, the battery compartment may have a heat dissipation vent (e.g., a first heat dissipation vent 6211 and / or a second heat dissipation vent 62211) communicating with the receiving compartment. The heat dissipation surface 6200 is arranged opposite to the heat dissipation vent. The receiving compartment may have a first side wall surface 6215 opposite to the heat dissipation vent. The card interface 6213 is located on the first side wall surface 6215. The first side wall surface 6215 and the inner wall surface of the adjacent receiving compartment form a mounting cavity 6214. Alternatively, the first side wall surface 6215 and the outer wall surface of the battery compartment form a mounting cavity 6214. By setting the heat dissipation surface 6200 and the heat dissipation vent relative to each other, the battery 620 achieves direct and efficient contact with the external airflow, significantly improving the heat dissipation performance of the battery 620. At the same time, by setting the card interface 6213 on the first side wall 6215 of the housing compartment and forming an installation cavity 6214 between the first side wall 6215 and the inner wall of the adjacent housing compartment or the outer wall of the battery compartment, the battery 620 installation structure and heat dissipation structure are integrated, effectively avoiding the installation structure from blocking the heat dissipation surface 6200 of the battery 620 and ensuring unobstructed heat dissipation path.

[0124] The mounting cavity 6214 can be constructed in any suitable manner, for example, the mounting cavity 6214 can be constructed as a groove or a chamber. This disclosure is not limited thereto.

[0125] For example, Figure 20 and Figure 22 As shown, the receiving chamber may further include a mounting plate 6217 for sealing the mounting cavity 6214. The mounting plate 6217 can be detachably connected to the mounting cavity 6214 by means of bolts or snap-fit ​​connections to protect the detection element 63 and facilitate user maintenance and replacement. This disclosure is not limited thereto. In addition, a card interface 6213 may be provided on the mounting plate 6217.

[0126] In some implementations, such as Figure 1 and Figure 2 The drone shown also includes a tail fin 70, which includes a wingplate 71 and a second connecting portion 72. The wingplate 71 is located above the second housing 80 and is connected to the battery compartment module 60 via the second connecting portion 72. Figure 2 As shown, the wingplate 71 of the tail fin 70 is connected to the second connecting portion 72, and the end of the second connecting portion 72 away from the wingplate 71 is connected to the battery compartment module 60. Figure 2 As shown, the second connecting part 72 can be bolted to the first battery compartment body 621 of the battery compartment module 60, and the second housing 80 can be located between the second connecting part 72 and the first battery compartment body 621.

[0127] In the above embodiments, during drone flight, the tail fin 70 generates vertically upward lift, which reduces the power consumed by the drone to overcome gravity. Furthermore, the addition of the tail fin 70 weakens flow separation at the tail of the multi-rotor drone, thereby reducing drag caused by flow separation. Therefore, the drag-reducing effect of the tail fin 70 further reduces the power consumed by the multi-rotor drone to overcome drag. In summary, the overall power of the multi-rotor drone is reduced, thus increasing its range. Flow separation refers to the phenomenon where, when fluid flows along the surface of an object, at a certain point the fluid no longer adheres tightly to the surface but separates, forming vortices or backflow zones. For drones, flow separation generates flight drag. It should be understood that in some embodiments, the tail fin 70 can also be removed from the drone.

[0128] In some implementations, such as Figure 8 As shown, the arm module 30 includes an arm 32 and a rotor assembly 31 disposed on the arm 32. The first end 321 of the arm 32 is rotatably connected to the middle frame 10, so that the arm module 30 has an extended position (e.g., Figure 8 The arm module 30 is shown in both its extended and retracted positions. When the arm module 30 is in the extended position, it can control the rotor assembly 31 for normal takeoff and operation; when the arm module 30 is in the retracted position, the drone occupies less space, making it easier to transport.

[0129] like Figure 6 as well as Figures 10 to 13 As shown, the middle frame 10 includes an arm connecting part 14, which includes a first connecting structure 14a. The first end 321 of the arm 32 is provided with a first connecting engagement structure 322. When the arm module 30 is in the extended position, the first connecting structure 14a is connected to the first connecting engagement structure 322 to fix the position of the arm 32 relative to the middle frame 10, thus preventing the arm module 30 from rotating relative to the middle frame 10 during flight and affecting flight stability. When the arm module 30 is in the retracted position, the first connecting structure 14a is connected to the first connecting engagement structure 322 through an additional connector to fix the position of the arm 32 relative to the middle frame 10. This arrangement can prevent the arm module 30 from rotating relative to the middle frame 10 due to shaking during transportation, thereby preventing the arm module 30 from being bumped or knocked during transportation.

[0130] In the above embodiments, the additional connector can be constructed in an L-shape. The additional connector may include a first plate and a second plate that are connected to each other. When the arm module 30 is in the retracted position, the first plate can be connected to the first connecting structure 14a, and the second plate can be connected to the first connecting mating structure 322, so that the first connecting structure 14a is connected to the first connecting mating structure 322 through the additional connector.

[0131] The first connecting structure 14a and the first connecting mating structure 322 can be constructed in any suitable form, for example, such as Figures 10 to 13 As shown, the first connecting structure 14a can be constructed as a first screw hole, and the second connecting structure can be constructed as a second screw hole. When the arm module 30 is in the extended position, the two can be fixed by bolts to fix the position of the arm 32 relative to the middle frame 10. When the arm module 30 is in the retracted position, the first connecting plate of the auxiliary connector is provided with a third screw hole, and the second connecting plate is provided with a fourth screw hole. The first screw hole and the third screw hole can be connected by bolts to fix the auxiliary connector and the arm 32. The second screw hole and the fourth screw hole can be connected by bolts to fix the auxiliary connector and the middle frame 10.

[0132] In other embodiments not shown, the first connecting structure 14a and the first connecting mating structure 322 can also be constructed in other forms. For example, the first connecting structure 14a can be constructed as a first threaded post connected to the arm 32, the first connecting mating structure 322 can be constructed as a threaded hole that threadedly mates with the first threaded post, the first connecting plate of the additional connector can be provided with a threaded hole that mates with the first threaded post, and the second connecting plate of the additional connector can be provided with a second threaded post. When the arm module 30 is in the extended position, the first threaded post is inserted into the first connecting mating structure 322, which is constructed as a threaded hole, to fix the relative position of the arm 32 and the middle frame 10. When the arm module 30 is in the retracted position, the first connecting structure 14a, which is constructed as a first threaded post, can be inserted into the threaded hole of the first plate, and the second threaded post provided on the second plate can be inserted into the first connecting mating structure 322, which is constructed as a threaded hole, to fix the position of the arm 32 relative to the middle frame 10 through the additional connector.

[0133] In some embodiments, the arm connection portion 14 includes two spaced-apart first sidewalls 141 and a first pivot 15 passing through the two first sidewalls 141. The first end 321 of the arm 32 is rotatably sleeved on the first pivot 15, and the first end 321 is located between the two first sidewalls 141. A friction element 323 is also provided between the first end 321 and the first sidewall 141. The first end 321 can be fixedly connected to the friction element 323. With this arrangement, when the arm 32 pivots around the first pivot 15, the friction element 323 of the first end 321 of the arm 32 can rub against the first sidewall 141, which can reduce the wear of the arm 32 and avoid the arm 32 from being frequently replaced due to wear.

[0134] In the above embodiment, a limiting groove can be provided at the first end 321 of the arm 32, and the friction member 323 is disposed in the limiting groove. The friction member 323 can be bonded to the first end 321 of the arm 32. Of course, other connection methods can also be used between the friction member 323 and the arm 32. For example, the friction member 323 can be connected to the arm 32 by bolts.

[0135] In addition, friction element 323 can be made of commonly used wear-resistant materials.

[0136] In some implementations, such as Figure 1 As shown, the drone includes four arm modules 30. The first end 321 of the arm 32 of each arm module 30 is rotatably connected to the middle frame 10. The connection method between each arm 32 and the middle frame 10 is the same, and will not be described in detail here.

[0137] In related technologies, when a drone is parked on a landing platform, it is inevitable that it will deviate from its intended position. A push-to-correct device can be used to correct the drone and make it park in a predetermined position. When the drone is moved to the predetermined position by the push-to-correct device, the pushing component of the push-to-correct device will contact the drone's landing gear 40 during the movement, and then push the landing gear 40 to move. In related technologies, the drone's landing gear 40 is often tilted along the drone's height direction. This will cause the landing gear 40 to be mismatched with the push-to-correct device. When the landing gear 40 is pushed by the push-to-correct device, the drone may tilt, or the push-to-correct device and the landing gear 40 may jam, affecting the normal push-to-correct process.

[0138] In some implementations, such as Figure 1 , Figure 2 ,as well as Figures 27 to 32As shown, the drone also includes a landing gear 40 connected to the mid-frame 10. The landing gear 40 includes a support rod 41 and a support structure 42. The top end of the support rod 41 is connected to the mid-frame 10, and the support rod 41 is inclined in the height direction of the drone. The support structure 42 is connected to the bottom end of the support rod 41. The support structure 42 has a push-up front 4211 parallel to the height direction. This arrangement facilitates the cooperation between the landing gear 40 and the push-up device when the drone is parked on the landing platform, allowing the push-up device to smoothly push the drone to move and avoiding the problem of the drone tilting or getting stuck due to the tilt of the landing gear 40.

[0139] In the above embodiments, the connection between the landing gear 40 and the middle frame 10 can be a fixed connection or a detachable connection, and there is no limitation here.

[0140] In some embodiments, the number of push-front faces 4211 can be multiple, depending on the number of push-front components in the push-front device that cooperate with the landing gear 40 of the UAV. For example, the push-front device can be provided with two push-front components in different directions that cooperate with the corresponding push-front faces 4211. In this case, the support structure 42 can have two push-front faces 4211 in different directions to cooperate with the corresponding push-front components to complete the push-front alignment of the UAV.

[0141] In some implementations, such as Figures 27 to 32 As shown, the support structure 42 includes a support portion 421, which is connected to the bottom end of the support rod 41, so that the support structure 42 can be fixedly connected to the support rod 41 through the support portion 421. The connection between the support portion 421 and the support rod 41 can be achieved by threading, direct bonding, welding, or other connection methods known to those skilled in the art. At least two pushing faces 4211 are provided on the support portion 421, and the two pushing faces 4211 have different orientations, so that when the UAV is being pushed and aligned, the pushing faces 4211 with different orientations can cooperate with different pushing components in the pushing and alignment device to facilitate the alignment of the UAV. Of course, in other embodiments, the support structure 42 can also be of other structures, as long as it can complete the connection with the support rod 41 and the arrangement of the pushing faces 4211. The specific design can be determined according to the actual situation, and this disclosure does not limit it.

[0142] In some embodiments, at least two push surfaces 4211 on the support 421 include a first push surface 42111 perpendicular to the left-right direction of the drone and a second push surface 42112 perpendicular to the front-back direction of the drone.

[0143] Furthermore, the corrective device can employ any suitable mechanism based on relevant technologies, for example, such as... Figure 32As shown, the push-align device includes a first push-align member and a second push-align member disposed on the landing platform. The first push-align member extends along a second direction and is movable along a first direction to push the UAV to a predetermined position in the first direction. The first push-align member can be used to push the first push surface 42111 of the landing gear 40, so that the landing gear 40 can move smoothly along the left and right directions of the UAV. The second push-align member extends along the left and right directions of the UAV and is movable along the front and rear directions of the UAV to push the UAV to a predetermined position in the front and rear directions of the UAV. The second push member is used to push the second push surface 42112 of the landing gear 40, so that the landing gear 40 can move smoothly along the front and rear directions of the UAV. The first push-align member and / or the second push-align member can be arranged in pairs to push the landing gear 40 on opposite sides of the landing gear 40. Alternatively, only one of the first push-align member and / or the second push-align member can be provided to simplify the structure. This disclosure does not specifically limit this. Furthermore, the first and / or second pushers can be driven by any suitable drive structure from the relevant technologies, which is conventional technology and will not be described in detail here. In addition, after the UAV is pushed to the preset position by the first and / or second pushers, it can perform operations such as cargo lifting or unloading, battery swapping or charging, etc., which are not specifically limited in this respect.

[0144] In some implementations, in one embodiment of this disclosure, see [link to relevant documentation]. Figures 27 to 31 The push face 4211 can be directly formed from a portion of the outer wall of the support portion 421, and can be directly formed during the manufacturing of the support portion 421, which facilitates the forming of the push face 4211. Alternatively, a push-aligning portion 4212 can be connected to the support portion 421, and the push-aligning portion 4212 can have the push face 4211 formed on it, so that the user can select different push-aligning portions 4212 for adaptation according to the type of push-aligning device selected in the actual situation. Of course, in other embodiments, the different push faces 4211 on the support portion 421 can be arranged in different ways. For example, one push face 4211 can be formed from a portion of the outer wall surface of the support portion 421, and the other push face 4211 can be formed from a push face 4211 connected to the support portion 421. This disclosure does not limit this.

[0145] In some implementations, see Figure 28 and Figure 29A first positioning groove 4213 is provided on the support part 421, and the push-aligning part 4212 is directly inserted into the first positioning groove 4213 to complete the connection between the push-aligning part 4212 and the first positioning groove 4213. In some other embodiments, the first positioning groove 4213 and the push-aligning part 4212 can also be detachably connected together, so that the support part 421 can select different push-aligning parts 4212 for installation according to the actual situation. The detachable connection method can be that the first positioning groove 4213 and the push-aligning part 4212 are provided with first connecting holes 4216, and then the first positioning groove 4213 and the push-aligning part 4212 are connected by a connector 423. The first connecting hole 4216 can be a threaded hole, and the connector 423 can be a bolt. When connecting the first positioning groove 4213 and the push-aligning part 4212, the threaded holes on both can be aligned and connected by bolts.

[0146] In some implementations, see Figure 27 and Figure 28 The support structure 42 also includes a connecting rod 422. At least two support portions 421 are connected by the connecting rod 422. By setting the connecting rod 422, the stability of the landing gear 40 can be enhanced, providing stable support for the UAV. For example, the connecting rod 422 can be a straight rod, with both ends of the connecting rod 422 connected to the corresponding support portion 421. The support portion 421 can be approximately L-shaped, with one end used to connect to the connecting rod 422 and the other end used to connect to the support rod 41. The connection between the support portion 421 and the connecting rod 422 and the support rod 41 can be achieved by threaded connection, direct bonding or welding, or other connection methods known to those skilled in the art, so that the support rod 41, the support portion 421, and the connecting rod 422 can be connected into a whole.

[0147] In some embodiments, the support rods 41 can be arranged in pairs and multiple pairs can be provided, for example, refer to Figure 27 As shown, the landing gear 40 includes two pairs of support rods 41, that is, four support rods 41. Each pair of support rods 41 is connected by a corresponding support structure 42 to improve the stability of the support for the UAV.

[0148] In one embodiment of this disclosure, a friction pad 43 is detachably connected to the bottom of the support structure 42, which can reduce the friction between the support structure 42 and the take-off and landing platform, facilitating the alignment of the UAV by the alignment device. Furthermore, the friction pad 43 can be easily replaced when it is severely worn.

[0149] like Figures 27 to 28 ,as well as Figures 30 to 31As shown, the friction pad 43 is detachably disposed at the bottom of the support portion 421. By providing the friction pad 43, the friction between the support portion 421 and the landing platform can be reduced, facilitating the righting device to perform the righting of the UAV and avoiding the problem of excessive friction between the support portion 421 and the landing platform causing difficulty in movement. In some embodiments, the friction pad 43 can be selected as a pad with a low coefficient of friction. The specific range of the coefficient of friction can be determined according to the usage requirements. In addition, the friction pad 43 can include at least one of polytetrafluoroethylene pads, graphite-based pads, and engineering plastic pads to effectively reduce the friction between the support portion 421 and the landing platform, facilitating the righting of the UAV by the righting device. The engineering plastics can include at least one of, for example, polyetheretherketone, polyimide, nylon, ultra-high molecular weight polyethylene, and polyoxymethylene.

[0150] In some embodiments of this disclosure, such as Figure 30 and Figure 31 A second positioning groove 4214 is provided on the support part 421, and the friction pad 43 can be directly inserted into the second positioning groove 4214 to facilitate the installation and positioning of the friction pad 43. Figure 30 As shown, a second connecting hole 4217 is provided on the second positioning groove 4214 and the friction pad 43. Then, the second positioning groove 4214 and the friction pad 43 are connected by a connector 423. The second connecting hole 4217 can be a threaded hole, and the connector 423 can be a bolt. When connecting the second positioning groove 4214 and the friction pad 43, the threaded holes on both can be aligned and connected by bolts. With this setting, the friction pad 43 and the support part 421 can be detachably connected.

[0151] In one embodiment of this disclosure, see Figure 30 and Figure 31 As shown, a notch 431 is provided on the side edge adjacent to the side wall of the friction pad 43 and the second positioning groove 4214. By providing the notch 431, a disassembly tool can be inserted into the notch 431 when disassembling the friction pad 43, making it easier to remove the friction pad 43 from the second positioning groove 4214 and preventing the friction pad 43 from getting stuck in the second positioning groove 4214, thus improving disassembly efficiency. In this embodiment, there can be two notches 431, symmetrically distributed on both sides of the friction pad 43, allowing workers to manually disassemble it by using their fingers or any suitable tool in conjunction with the two notches 431. Of course, in other embodiments, the number and position of the notches 431 can also be different, as long as it facilitates the disassembly of the friction pad 43. The specific method can be determined according to the actual situation, and this disclosure does not impose any restrictions on this.

[0152] In one embodiment of this disclosure, such as Figures 28 to 31 As shown, the support rod 41 is a hollow rod body, and the support part 421 has an inner cavity communicating with the interior of the hollow rod body. The support part 421 has a first drainage hole 4215 communicating with the inner cavity. By setting the first drainage hole 4215, water accumulated in the support rod 41 can be drained, preventing water from corroding the support rod 41 or increasing the weight of the support rod 41, affecting its service life and the takeoff of the drone. In some other embodiments, a second drainage hole 432 or drainage groove 433 communicating with the first drainage hole 4215 can be provided on the friction pad 43. The second drainage hole 432 or drainage groove 433 directly communicating with the first drainage hole 4215 can assist the support part 421 in draining water accumulated in the support rod 41, improving the drainage efficiency of water, preventing further accumulation of water, or slow drainage affecting the flight of the drone. Of course, in other embodiments, a second drainage hole 432 and a drainage groove 433 can be provided on the friction pad 43 simultaneously, so as to discharge the water accumulated in the support rod 41 more efficiently. The specific arrangement can be determined according to the actual situation, and this disclosure does not limit it. The drainage groove 433 can be directly connected to the outside or connected to the above-mentioned notch 431. Its purpose is to facilitate drainage, and this disclosure does not limit it.

[0153] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0154] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0155] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A drone, characterized in that, include: Mid-frame; as well as Multiple modules, including a nose module, arm module, parachute module, mounting module, and battery compartment module, are independently and detachably connected to the mid-frame.

2. The UAV according to claim 1, characterized in that, The nose module includes an avionics module and a sensing module, which are arranged in an L-shape. The sensing module and the parachute module are both located above the avionics module, and the parachute module is located behind the sensing module along the longitudinal direction of the UAV. Along the front-rear direction, the mounting module is located behind the parachute module and the avionics module and in front of the battery compartment module.

3. The UAV according to claim 2, characterized in that, The avionics module is located on the lower side of the mid-frame, and the sensing module and the parachute module protrude upward from the mid-frame along the height direction.

4. The UAV according to claim 3, characterized in that, The sensing module protrudes upward from the outside of the middle frame, and / or, The parachute module protrudes upward from the inside of the middle frame.

5. The UAV according to claim 3, characterized in that, The middle frame includes a front crossbeam and a rear crossbeam arranged at intervals along the front-rear direction, as well as two side beams connecting the front crossbeam and the rear crossbeam. The avionics module is connected to the front crossbeam via a first connecting frame, the first connecting frame comprising multiple connecting beams extending from the front crossbeam in different directions, each connecting beam being connected to the avionics module; and / or, The parachute module is connected to the two side beams via a second connecting frame. The second connecting frame includes two frames, each connected to a corresponding side beam. Each frame has a first connecting part and a supporting part arranged in an L-shape. The first connecting part is connected to the corresponding side beam, and the supporting part is used to support the parachute module.

6. The UAV according to claim 2, characterized in that, The nose module further includes a first housing that at least partially shields the avionics module and the sensing module; and / or, The drone includes a second shell, which includes a shell body and a cover plate. The shell body covers the parachute module, the mounting module and the battery compartment module from top to bottom, and an opening is formed on the shell body located in the parachute module. The cover plate can be detachably covered by the opening.

7. The UAV according to claim 2, characterized in that, The drone includes a second shell that covers at least a portion of the battery compartment module from top to bottom. An air duct is provided between the second shell and the battery compartment module, and the heat dissipation surface of at least one battery in the battery compartment module is exposed to the air duct.

8. The UAV according to claim 7, characterized in that, The drone also includes a tail fin, which includes a wing plate and a second connecting portion. The wing plate is located above the second housing and is connected to the battery compartment module via the second connecting portion.

9. The UAV according to claim 1, characterized in that, The arm module includes an arm and a rotor assembly disposed on the arm. The first end of the arm is rotatably connected to the middle frame so that the arm module has an extended position and a retracted position. The middle frame includes a machine arm connecting portion, the machine arm connecting portion includes a first connecting structure, and the first end of the machine arm is provided with a first connecting and mating structure. In the unfolded position, the first connecting structure is connected to the first connecting mating structure to fix the position of the arm relative to the middle frame; In the retracted position, the first connecting structure is connected to the first connecting mating structure via an additional connector to fix the position of the arm relative to the middle frame.

10. The UAV according to claim 9, characterized in that, The arm connection includes two spaced-apart first sidewalls and a first rotating shaft passing through the two first sidewalls. The first end of the arm is rotatably sleeved on the first rotating shaft, and the first end is located between the two first sidewalls. A friction element is also provided between the first end and the first sidewalls.

Images