CN107117300B - Unmanned vehicle based on coaxial more rotor pose adjustments - Google Patents

Abstract

Unmanned vehicle based on coaxial more rotor pose adjustments, it is related to a kind of aircraft, it is poor to solve existing single-blade vehicle reliability, power loss is big, and Multi-axis aircraft weight is big, and load capacity is poor, and coaxial dual-rotor helicopter weight is big, the problem of mobility difference, based on the unmanned vehicle of co-axial rotor pose adjustment, it includes machine core, rack and beat adjustment mechanism；Machine core includes dual output driving mechanism, frame and coaxial more rotor mechanisms；Dual output driving mechanism is installed on frame, two output ends of dual output driving mechanism are connected with coaxial more rotor mechanisms, the propeller of reverse rotation is provided on coaxial more rotor mechanisms, the bottom of frame is connected with beat control stick, and beat adjustment mechanism is mounted on the rack and can the swing of beat control stick.The present invention can be used for taking photo by plane, spray agricultural and unmanned probing.

Description

Unmanned vehicle based on coaxial more rotor pose adjustments

Technical field

The present invention relates to a kind of aircraft.More particularly to a kind of unmanned vehicle based on coaxial more rotor pose adjustments.

Background technique

The characteristics of aircraft is played an important role in field of aerospace, and unmanned vehicle is due to its own is applied to The multiple fields such as detect, investigate, taking photo by plane, it is maximum that western Bell Co., Austria succeeded in developing S-100 unmanned helicopter in 2003 Take-off weight is 200kg, and mission payload 50kg, cruise duration, 4h, can be used for round-the-clock monitoring in 24 hours, area and activity peace Guarantor, border patrols, maritime affairs security and precise measurement and drawing；In July, 2011, the U8 of industry helicopter institute, Air China independent development without People's helicopter is satisfactorily completed plateau Flight Test in July, 11 for the first time, the U8 of industry helicopter institute, Air China independent development nobody go straight up to Machine satisfactorily completes plateau Flight Test for the first time, and 230 kilograms of U8 unmanned helicopter maximum take-off weight, is surveyed by 40 kilograms of mission payload 100 km of distance is controlled, can be needed to load distinct device according to different task 4 hours cruise duration, is suitble to make in highlands Industry.And in terms of coaxial aircraft, intelligence Science and Technology Ltd., Beijing Air China has successfully developed the TD220 unmanned helicopter of sizing It is applied in multiple fields, has started the beginning that unmanned helicopter is applied in geologic prospect field；In national grid Zhejiang Province Utilities Electric Co. takes the lead in being applied to " ultra-high-tension power transmission line fining inspection ", as marine payload platform, accelerates unmanned helicopter Ocean right-safeguarding application study.

Co-axial helicopter has reasonable power consumption (without the tail-rotor power consumption for balancing reaction torque), excellent The features such as maneuverability, lesser overall dimension.

Some coaxial double-rotor helicopters change the blade angle of rotor up and down by paddle disk to realize the behaviour in helicopter course It is vertical and stable.There are some disadvantages for such variable pitch coaxial double-rotary wing structure, due to steerable system part and upper and lower rotor The quantity and volume of these non-streamline shape components of hub are greater than single-rotor helicopter and exposure in the gas flow, thus close coupled type is gone straight up to The useless resistance area of machine is greater than single-rotor helicopter.It, will since co-axial helicopter has special steerable system component The level that useless resistance area is reduced to single-rotor helicopter is highly difficult.And since low two rotor of rigidity easily collides, two rotors must be protected Certain spacing is held, fuselage longitudinal direction volume is increased.Excessively complicated operating mechanism substantially increases the event of aviation mechanism simultaneously Barrier rate also increases the difficulty and cost of manufacture.

Aircraft also is designed using coaxial rigid rotor, horizontal in tail portion installation propelling screws control helicopter Flight.But this rigid rotor add control Design of Propeller be generally used on relatively large helicopter, fuselage size is big, resistance Power is big, and power performance is poor, and this structure is then seldom used on small aircraft, because small aircraft weight is smaller, surely Qualitative difference interferes with each other the torque meeting generated with propelling screws using the air-flow for promoting paddle and main rotor to generate when such design Stability of aircraft is influenced, Aircraft structural design and maneuverability are unfavorable for.

In small aircraft field, Multi-axis aircraft is rising, and more well-known is the product of great Jiang company, also The brands such as Parrot, AEE.Multi-axis aircraft is suitable for the aircraft that weight is relatively lighter, size is less big, same by multiple propellers When lift is provided, mechanical structure is simple, controls aircraft flight posture by adjusting the revolving speed of each propeller, may be implemented more The complicated flare maneuver of kind.But the electric mechanical, electrical tune of this Multi-axis aircraft is more with propeller quantity, fuselage weight is big, and band carries energy Power is poor with cruising ability, higher cost, and control difficulty is high.

The design having at present is the air-flow generation lateral thrust for guiding rotor to generate by wing plate and torque to control course, Such as coaxial double-oar spherical aircraft.The advantages of this aircraft is that structure is simple, the disadvantage is that wind loading rating is poor, when there is beam wind Wing plate can generate cross force instead influences stability of aircraft, and has enough distances between this structural requirement wing plate and propeller Rotor axis direction is adjusted to generate torque, and requires there cannot be barrier between propeller and wing plate, this just determines this knot Structure cannot achieve the compact of Flight Vehicle Structure.

Other existing designs are to adjust body nodal point relative to the position of rotor axis by adjusting mechanism to change The attitude angle of rotor, to realize the Heading control of aircraft.The aircraft of this principle has had the material object designed can be with With reference to, with the position of change battery come the position of centre of gravity of change of flight device, thus change the attitude angle of rotor paddle shaft, control flight The course of device.This design manipulates the angle of two plectrum controls connecting rods using two steering engines for being fixed on fuselage to control battery Position, using more complex link mechanism, steering engine is mounted on the movement of controls connecting rod on movable connecting rod to control battery Position, for this structure still than more conservative, center of gravity phase can be made by relying solely on the movement of battery to change body nodal point position Smaller for the variation range of rotor axial location, the attitude angle of rotor axis can only change in smaller range, to aircraft The adjusting range of state of flight is not big enough, and fuselage weight adjustment flight attitude can not be made full use of also to will be unable to play aircraft Stability potential, and because axis attitude angle bug flying speed it is slow.Moreover, the naked leakage of this battery setting outside Meter not can be well protected battery.

The phenomenon that in order to realize the compact of coaxial aircraft structure and reduce aircraft power waste, there are some flights Device is only designed using coaxial double-rotary wing in terms of power, adjusts body nodal point relative to rotor axis by fuselage adjustment mechanism Position changes the attitude angle of rotor, to realize the Heading control of aircraft, there are also some aircraft to pass through below fuselage Air-flow that wing plate guidance rotor generates and generate the motive forces of different directions.

Summary of the invention

The present invention is that the existing single-blade vehicle reliability of solution is poor, and power loss is big, and Multi-axis aircraft weight is big, and band carries energy Power is poor and coaxial dual-rotor helicopter weight is big, the problem of mobility difference, and then provides a kind of based on coaxial more rotor appearances The unmanned vehicle of state adjustment.

The technical solution adopted by the present invention to solve the above problem is as follows:

Based on the unmanned vehicle of co-axial rotor pose adjustment, it includes machine core, rack and beat adjustment mechanism；

Machine core includes dual output driving mechanism, frame and coaxial more rotor mechanisms；

Dual output driving mechanism is installed, two output ends of dual output driving mechanism are connected with coaxial more rotors on frame Mechanism is provided with the propeller of reverse rotation on coaxial more rotor mechanisms, and the bottom of frame is connected with beat control stick, beat tune Complete machine structure is mounted on the rack and can control the swing of beat control stick.

The beneficial effects of the present invention are: complete machine of the present invention uses coaxial more rotor designs, adjustment rotor relative rotation speed can be with The autobiography of different reaction torque control fuselages is generated to fuselage, the axis direction of propeller can be generated relative to fuselage ring bows The elevation angle makes body nodal point movement, gravity generate adjustment torque change propeller axis direction relative to machine core and then adjust aircraft The direction of motion.Control moment is generated using whole gravity that this design can use fuselage ring, with already present merely with electricity The aircraft of pond gravity is compared, and can produce bigger control moment, and when above-mentioned already present aircraft adjustment flight attitude Fuselage rotates together relative to propeller axis, and this design propeller axis in space angle change when fuselage relative to spiral shell Revolve paddle shaft line angle change and propeller axis angle change is contrary in space can be with partial offset, reduction fuselage exists Angle change in space, it is possible to provide more stable platform.

The present invention is few light-weight relative to the propeller that multi-rotor aerocraft provides power, can the heavier load of band, also Longer cruise duration can be provided；Relative to the coaxial dual-rotor helicopter by auxiliary blade control, this aircraft is by weight Power adjusts flight attitude, and the energy consumption for not assisting blade additional will not be because of the interference in air flow flight of auxiliary blade；Relative to same The coaxial dual-rotor helicopter that sample leans on gravity to adjust, this aircraft can call the weight of entire fuselage ring to control appearance State, unlike battery weight is only leaned in some designs before.

The present invention is few light-weight relative to the propeller that multi-rotor aerocraft provides power, can the heavier load of band, also Longer cruise duration can be provided；Relative to the coaxial dual-rotor helicopter by auxiliary blade control, this aircraft is by weight Power adjusts flight attitude, and the energy consumption for not assisting blade additional will not be because of the interference in air flow flight of auxiliary blade；Relative to same The coaxial dual-rotor helicopter that sample leans on gravity to adjust, this aircraft can call the weight of entire fuselage ring to control appearance State, unlike battery weight is only leaned in some designs before.Aircraft of the present invention is designed using coaxial double-rotary wing to fly compared to single-blade Row device, coaxial double-oar, which can reduce propeller size, makes aircraft be easier to fly over narrow space, reaction torque of double paddles to fuselage It can mutually balance each other, it is not necessary to using the tail-rotor easily encountering foreign object and damaging, increases vehicle reliability and reduce fuselage size simultaneously, Reduce tail-rotor bring power loss.Because single-blade aircraft must balance the reaction torque that rotor generates with tail-rotor, and tail-rotor needs There are enough distances with fuselage to provide the arm of force for generating torque, increases the dimensional weight of fuselage, and the more rotors of coaxial aircraft Direction of rotation is not necessarily to tail-rotor on the contrary, reaction torque mutually balances to stablize.

Tune mechanical, electrical compared to electricity used in Multi-axis aircraft is few with propeller quantity, it is possible to reduce fuselage weight increases Load capacity and cruising ability, save the cost reduce control difficulty.According to brushless motor test data, in identical power consumption function Under rate, bigger propeller can produce more lift, can significantly improve dynamical system efficiency, and coaxial more rotors are compared It is more suitable for also being conducive to improve aircraft cruising ability using major diameter propeller in Multi-axis aircraft.

The present invention, which designs, calls the attitude angle of the adjustment of weight rotor axis of rack and plectrum that can overcome above by tune Complete machine structure adjusts body nodal point and changes the attitude angle of rotor relative to the position of rotor axis, to realize flying for Heading control The shortcomings that row device structural conservation is brought.The present invention can be used for taking photo by plane, spray agricultural and unmanned probing etc..

Detailed description of the invention

Fig. 1 is overall structure main view of the invention, and Fig. 2 is the side view of Fig. 1, and Fig. 3 is the main view of machine core, and Fig. 4 is The side view of Fig. 3, Fig. 5 are the three-dimensional structure diagram that the present invention removes two side plates, and Fig. 6 is the overall structure for removing undercarriage cross bar Schematic diagram, Fig. 7 are the structural schematic diagram of No. two helical axis, universal bearing and the connection of universal bearing seat, and Fig. 8 is the bottom view of Fig. 6, Fig. 9 is the overall structure figure of rack.

Specific embodiment

Further illustrate the present invention below with reference to the accompanying drawings and specific embodiments.

Illustrate that, based on the unmanned vehicle of coaxial more rotor pose adjustments, it includes machine core A, rack B referring to Fig. 1-Fig. 5 With beat adjustment mechanism C；Machine core A includes dual output driving mechanism 1, frame 2 and coaxial more rotor mechanisms 3；

Dual output driving mechanism 1 is installed, two output ends of dual output driving mechanism 1 are connected with coaxial more on frame 2 Rotor mechanism 3, the propeller 4 of reverse rotation is provided on coaxial more rotor mechanisms 3, and the bottom of frame 2 is connected with beat manipulation Bar 5, beat adjustment mechanism C are mounted on rack B and can control the swing of beat control stick 5.

Complete machine uses coaxial more rotor designs, and adjustment rotor relative rotation speed can generate different reaction torque control to fuselage The autobiography of fuselage, the axis direction of propeller can generate pitch angle relative to fuselage ring makes body nodal point movement, gravity phase Adjustment torque is generated for machine core and changes propeller axis direction and then the adjustment aircraft direction of motion.It can benefit using this design Generate control moment with whole gravity of fuselage ring, with it is already present merely with the aircraft of battery gravity compared with, can produce Bigger control moment, and fuselage rotates together relative to propeller axis when above-mentioned aircraft adjustment flight attitude, and this Design propeller axis in space angle change when fuselage exist relative to the angle change and propeller axis of propeller axis Angle change is contrary in space to reduce the angle change of fuselage in space, it is possible to provide more stable with partial offset Platform.

Illustrate referring to fig. 2 to Fig. 4, in order to improve the reliability and stability of coaxial more rotor mechanisms 3, dual output driving mechanism 1 Including No.1 motor 1-1, No.1 motor gear axis 1-2, No.1 gear shaft 1-3, No. two motor 1-5, No. two motor gear axis 1-6 With No. two gear shaft 1-7；The output shaft of No.1 motor 1-1 is connect with No.1 motor gear axis 1-2, No.1 motor gear axis 1-2 Gear be meshed with the gear of No.1 gear shaft 1-3, the output shaft of No. two motor 1-5 is connect with No. two motor gear axis 1-6, The gear of No. two motor gear axis 1-6 is meshed with the gear of No. two gear shaft 1-7, No.1 gear shaft 1-3 and No. two gear shafts 1-7 is all connected with coaxial more rotor mechanisms 3.Such design can be controlled separately coaxial more rotor mechanisms 3 using bi-motor design On 4 forward and reverse of propeller rotation.No.1 motor 1-1 and No. two motor 1-5 can be used DC brushless motor, direct current without The power of brush motor is transmitted to the rotation that propeller is driven on propeller shaft by gear drive.

Illustrate referring to Fig. 1 to Fig. 7, in order to preferably guarantee that the frame 2 of machine core can be swung altogether the back and forth or left and right rack B relatively The more rotor mechanisms 3 of axis include No.1 helical axis 3-1, No. two helical axis 3-2, universal bearing 3-3 and universal bearing seat 3-4；No.1 Gear shaft 1-3 is connect with one end of No.1 helical axis 3-1, and the other end of No.1 helical axis 3-1 is connected with propeller 4, No. two teeth Wheel shaft 1-7 is connect with one end of No. two helical axis 3-2, and the other end of No. two helical axis 3-2 is connected with propeller 4, No.1 spiral Axis 3-1 and No. two helical axis 3-2 is coaxial package structure；No.1 helical axis 3-1 is sleeved on No. two helical axis 3-2 and the two phase To rotation, No. two helical axis 3-2 rotational installations on the frame 2, are equipped with universal bearing 3-3, universal bearing 3-3 peace on frame 2 On the universal bearing seat 3-4 being connect with rack B.Connect machine core and fuselage ring using universal bearing, make machine core relative to The adjustable angle of rack carrys out the flight of change of flight device to change the direction of machine core propeller lift using the gravity of fuselage Direction.Preferably, two propellers of one propeller of each installation or each installation on No.1 helical axis 3-1 and No. two helical axis 3-2, By controlling the rotation of No.1 motor 1-1 and No. two motor 1-5, propeller and No. two helical axis on No.1 helical axis 3-1 are realized Propeller antiport on 3-2.

Illustrate referring to Fig. 5, Fig. 6 and Fig. 8, in order to further mitigate the weight of complete machine, the swing of stability contorting machine core, rack Two sets of beat adjustment mechanism C are relatively set on B, beat adjustment mechanism C includes steering engine C1, plectrum C2 and disk arm C3；Steering engine C1 is mounted on rack B, and the output shaft of steering engine C1 is equipped with disk arm C3, and plectrum C2 is equipped on disk arm C3, plectrum C2's End offers through-hole C21, and two through-hole C21 perforation arrangements, the end of beat control stick 5 is inserted into two through-hole C21.Often There are two disk arm C3, two disk arm C3 to be controlled by steering engine C1 by a beat adjustment mechanism C,

Each plectrum C2 only plays branch to plectrum C2 relative to a fixation in two disk arm C3, another disk arm C3 Support effect, can relatively rotate.Universal bearing 3-3 drives two plectrum C2 to control respectively with the controllable steering engine C1 of two rotational angles Machine core processed controls angle of the machine core A relative to rack B, to control relative to the corner on two rotational freedoms of rack B Aircraft flight posture.Each steering engine C1 is fixedly connected by disk arm C3 with a plectrum C2, while being another plectrum C2 Rotation provide rotation support.Machine core is connected by the bearing block and plectrum of the universal bearing and installation bearing that can slide on control stick Connect the control operating station, it can be achieved that machine core.

Steering engine C1, which is arranged symmetrically, can make fuselage weight symmetrical, be conducive to airframe structure and design and optimize, two plectrums The orbit angle angle of C2 is 45 degree, the fuselage weight distribution that this design is better achieved under the premise of guaranteeing that control requires Symmetrical and aerodynamic configuration it is symmetrical, be conducive to control.It can guarantee that machine core A angle can be adjusted in both directions.Plectrum C2 The part of useful effect uses spherical design, and the spherical surface centre of sphere of two plectrum C2 effect partials is overlapped, two such plectrum C2 It can guarantee not collide when relative rotation, when two plectrum C2 are rotated, the acting surface of plectrum C2 can generate folder relative to control stick Angle needs to be connected with the transition sleeve with universal bearing 5-2, and the end of beat control stick 5 has transition sleeve, transition sleeve Cylinder is installed in through-hole C21.

Illustrate referring to Fig. 5, relies only on universal bearing machine core relative to fuselage ring meeting rotation (rotation), bar is used to avoid This rotation, such machine core can only just be swung, and be happened in order to avoid such, and coaxial more rotor mechanisms 3 further include axis pressure Cover 3-5, gag lever post 3-6 and two bar 3-7；Axis gland 3-5 is installed on the frame 2, and limit is also installed in the side of axis gland 3-5 Spaced two bar 3-7 arranged side by side are installed, gag lever post 3-6 is arranged in two bars on bar 3-6, universal bearing seat 3-4 Between 3-7.No. two helical axis 3-2 are pierced by axis gland 3-5, and No. two helical axis 3-2 energy relative axle gland 3-5 rotations, so set It sets, bar can transmit torque between machine core and fuselage ring, prevent fuselage ring from generating autobiography relative to machine core.

Illustrate referring to Fig. 3, in order to mitigate the weight of machine core, frame 2 includes upper boxboard 2-1, middle boxboard 2-2, lower boxboard 2-3 With four column 2-4；Four column 2-4 are square arrangement, and upper end, middle part and the lower end correspondence of four column 2-4 is equipped with Boxboard 2-1, middle boxboard 2-2 and lower boxboard 2-3, No.1 motor 1-1 and No. two motor 1-5 are mounted on lower boxboard 2-3, No. two spiral shells Spin axis 3-2 is pierced by boxboard 2-1, and No.1 gear shaft 1-3 is mounted on middle boxboard 2-2 by bearing, and No. two gear shaft 1-7 pass through Bearing is mounted on boxboard 2-1.Preferably, four column 2-4 are nylon column.

Illustrate referring to Fig. 7, in order to mitigate the weight of machine core, rack B includes frame body B1 and multiple supporting linkage B2, universal Multiple supporting linkage B2 are circumferentially installed, supporting linkage B2 is connect with frame body B1 on bearing block 3-4.

Illustrate referring to Fig. 5, frame body B1 is square frame structure, and square frame structure includes four vertical strut rod B11, four A undercarriage cross bar B 12 and four side plate B13；Four vertical strut rod B11 connect into a munnion, four undercarriage cross bars B12 connects into a horizontal frame, and munnion is mounted on horizontal frame, is connected with one between the vertical strut rod B11 of each adjacent two on munnion One steering engine C1, multiple supporting linkage B2 are respectively installed to connect with munnion respectively on a side plate B13, two opposite side plate B13 It connects.

Illustrate referring to Fig. 1 and Fig. 2, in order to guarantee aircraft electric power normal supply, based on coaxial more rotor pose adjustments Unmanned vehicle further includes battery D, and battery D is mounted on rack B.Battery D be used for No.1 motor 1-1, No. two motor 1-5, Steering engine C1 power supply.Battery D power supply is used, and battery D is rechargeable battery.

The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any to be familiar with this profession Technical staff, without departing from the scope of the present invention, when the structure and technology contents that can use the disclosure above are done A little change or it is modified to the equivalence enforcement case of equivalent variations out, but it is all without departing from technical solution of the present invention Hold, any simple modification, equivalent change and modification done according to the technical essence of the invention to the above case study on implementation still belong to Technical solution of the present invention range.

Claims (9)

1. the unmanned vehicle based on coaxial more rotor pose adjustments, it is characterised in that: it include machine core (A), rack (B) and partially It puts adjustment mechanism (C)；

Machine core (A) includes dual output driving mechanism (1), frame (2) and coaxial more rotor mechanisms (3)；

It is equipped on frame (2) dual output driving mechanism (1), two output ends of dual output driving mechanism (1) are connected with coaxial More rotor mechanisms (3) are provided with the propeller (4) of reverse rotation, the bottom connection of frame (2) on coaxial more rotor mechanisms (3) Have beat control stick (5), beat adjustment mechanism (C) is mounted on rack (B) and can control beat control stick (5) swing；

Two sets of beat adjustment mechanisms (C) are relatively set on the rack (B), beat adjustment mechanism (C) includes steering engine (C1), dials Piece (C2) and disk arm (C3)；Steering engine (C1) is mounted on rack (B), and the output shaft of steering engine (C1) is equipped with disk arm (C3), It is equipped on disk arm (C3) plectrum (C2), the end of plectrum (C2) offers through-hole (C21), and two through-holes (C21) penetrate through cloth It sets, the end of beat control stick (5) is inserted into two through-holes (C21).

2. the unmanned vehicle according to claim 1 based on coaxial more rotor pose adjustments, it is characterised in that: the lose-lose Driving mechanism (1) includes No.1 motor (1-1), No.1 motor gear axis (1-2), No.1 gear shaft (1-3), No. two motors out (1-5), No. two motor gear axis (1-6) and No. two gear shafts (1-7)；

The output shaft of No.1 motor (1-1) is connect with No.1 motor gear axis (1-2), the gear of No.1 motor gear axis (1-2) It being meshed with the gear of No.1 gear shaft (1-3), the output shaft of No. two motors (1-5) is connect with No. two motor gear axis (1-6), The gear of No. two motor gear axis (1-6) is meshed with the gear of No. two gear shafts (1-7), No.1 gear shaft (1-3) and No. two Gear shaft (1-7) is all connected with coaxial more rotor mechanisms (3).

3. the unmanned vehicle according to claim 2 based on coaxial more rotor pose adjustments, it is characterised in that: described coaxial More rotor mechanisms (3) include No.1 helical axis (3-1), No. two helical axis (3-2), universal bearing (3-3) and universal bearing seat (3- 4)；

No.1 gear shaft (1-3) is connect with one end of No.1 helical axis (3-1), and the other end of No.1 helical axis (3-1) is connected with Propeller (4), No. two gear shafts (1-7) connect with one end of No. two helical axis (3-2), the other end of No. two helical axis (3-2) It is connected with propeller (4), No.1 helical axis (3-1) and No. two helical axis (3-2) are coaxial package structure；No.1 helical axis (3- 1) it is sleeved on No. two helical axis (3-2) and the two relatively rotates, No. two helical axis (3-2) are rotatably installed on frame (2), frame It is equipped on frame (2) universal bearing (3-3), universal bearing (3-3) is mounted on the universal bearing seat (3-4) connecting with rack (B) On.

4. the unmanned vehicle according to claim 3 based on coaxial more rotor pose adjustments, it is characterised in that: described coaxial More rotor mechanisms (3) further include axis gland (3-5), gag lever post (3-6) and two bars (3-7)；Axis gland (3-5) is mounted on frame On frame (2), the side of axis gland (3-5) is also installed gag lever post (3-6), and interval side by side is equipped on universal bearing seat (3-4) and is set Two bars (3-7) set, gag lever post (3-6) are arranged between two bars (3-7).

5. the unmanned vehicle according to claim 4 based on coaxial more rotor pose adjustments, it is characterised in that: the frame It (2) include upper boxboard (2-1), middle boxboard (2-2), lower boxboard (2-3) and four columns (2-4)；Four columns (2-4) are square Arrangement, upper end, middle part and the lower end correspondence of four columns (2-4) are equipped with boxboard (2-1), middle boxboard (2-2) and lower boxboard (2-3), No.1 motor (1-1) and No. two motors (1-5) are mounted on lower boxboard (2-3), and No. two helical axis (3-2) are pierced by top box Plate (2-1), No.1 gear shaft (1-3) are mounted on middle boxboard (2-2) by bearing, and No. two gear shafts (1-7) are pacified by bearing On upper boxboard (2-1).

6. the unmanned vehicle according to claim 5 based on coaxial more rotor pose adjustments, it is characterised in that: described four Column (2-4) is nylon column.

7. the unmanned vehicle based on coaxial more rotor pose adjustments according to claim 3,4,5 or 6, it is characterised in that: The rack (B) includes frame body (B1) and multiple supporting linkages (B2), is circumferentially equipped on universal bearing seat (3-4) multiple Supporting linkage (B2), supporting linkage (B2) are connect with frame body (B1).

8. the unmanned vehicle according to claim 7 based on coaxial more rotor pose adjustments, it is characterised in that: the frame body (B1) be square frame structure, square frame structure include four vertical strut rods (B11), four undercarriage cross bars (B12) and Four side plates (B13)；Four vertical strut rods (B11) connect into a munnion, and four undercarriage cross bars (B12) connect into one Horizontal frame, munnion are mounted on horizontal frame, are connected with a side plate (B13) on munnion between the vertical strut rod of each adjacent two (B11), One steering engine (C1) is respectively installed, multiple supporting linkages (B2) connect with munnion respectively on two opposite side plates (B13).

9. the unmanned vehicle based on coaxial more rotor pose adjustments according to claim 3,4,5,6 or 8, feature exist In: the unmanned vehicle based on coaxial more rotor pose adjustments further includes battery (D), and battery (D) is mounted on rack (B) On.