CN112340002A

CN112340002A - Unmanned plane

Info

Publication number: CN112340002A
Application number: CN202010955607.0A
Authority: CN
Inventors: 何建兵; 李志勇; 吴旭民
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2020-09-11
Filing date: 2020-09-11
Publication date: 2021-02-09
Also published as: WO2022052644A1

Abstract

The invention discloses an unmanned aerial vehicle which comprises a body assembly, a horn device and a power device. The two horn devices are respectively positioned on two opposite sides of the machine body assembly, the two ends of the length of each horn device are respectively an inner end and an outer end, the inner ends of the horn devices are installed on the machine body assembly, the horn devices are arranged in an upward inclined mode from the inner ends to the outer ends, the included angle between each horn device and the horizontal plane is 9-35 degrees, and the outer ends of the horn devices are respectively provided with a power device. Each power device comprises a power unit which comprises a power motor and a propeller. According to the unmanned aerial vehicle disclosed by the embodiment of the invention, the gravity center of the unmanned aerial vehicle is lower than the action point of the lifting force, the flight stability of the unmanned aerial vehicle can be improved, and the unmanned aerial vehicle is simple in structure, small in size and lower in production cost.

Description

Unmanned plane

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle.

Background

Along with the development of unmanned aerial vehicle technique, people can utilize unmanned aerial vehicle to accomplish a lot of work, for example: the fire extinguishing liquid spraying, aerial photography, electric power inspection, environment monitoring, disaster patrol and other works in forest fires. The unmanned aerial vehicle in the related art mostly adopts the form of four, six or eight even rotors, because the flight control algorithm and the motion form of the unmanned aerial vehicle system with even rotors are generally simpler, and the change of the lift force of the unmanned aerial vehicle is realized by adjusting the rotating speed of each rotor, so that the attitude and the position of the unmanned aerial vehicle system are controlled. Therefore, the cost of the unmanned aerial vehicle is high in the related art. Twin rotor unmanned aerial vehicle is because the size is less relatively, and manufacturing cost is lower and is developed rapidly, however twin rotor unmanned aerial vehicle among the relevant art is because rotor quantity is few, and its flight stability still remains to be improved.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an unmanned aerial vehicle which is provided with double rotors and can improve flight stability.

According to the embodiment of the invention, the unmanned aerial vehicle comprises: a fuselage assembly; the two horn devices are respectively positioned on two opposite sides of the machine body assembly, the two ends of the length of each horn device are respectively an inner end and an outer end, the inner ends of the horn devices are installed on the machine body assembly, the horn devices are arranged in an upward inclined mode from the inner ends to the outer ends, and an included angle between each horn device and the horizontal plane is 9-35 degrees; the power device is installed respectively in every horn device the outer end power device, every power device all includes power unit, power unit include power motor and install in power motor's screw.

According to the unmanned aerial vehicle provided by the embodiment of the invention, the two horn devices are arranged, so that the unmanned aerial vehicle with the double rotor wings is simple in structure, small in size and low in production cost. The power device provides power, and the change of flight state is accomplished to supplementary unmanned aerial vehicle through the operating condition who changes drive unit respectively. The included angle between the two arm devices and the horizontal plane is 9-35 degrees, so that the gravity center of the unmanned aerial vehicle is low relative to a power device, the balance of the unmanned aerial vehicle is guaranteed, the flight stability of the unmanned aerial vehicle is improved, the flight consumption is small, and the influence on the flight range is small.

In some embodiments, each of the horn devices is angled at 19 degrees from horizontal.

In some embodiments, the fuselage assembly has fore-and-aft direction reference line, two the horn device is located the relative both sides of fore-and-aft direction reference line, the fuselage assembly includes the edge controlling means, storage device and the power supply unit that the fore-and-aft direction reference line set gradually, unmanned aerial vehicle is when hovering, two the central axis coplane of driving motor is in presetting the plane, preset the plane with the nodical position of fore-and-aft direction reference line is located in the storage device.

In some embodiments, the inner end of the horn device is connected to a portion of the body assembly where the control device is located, and the horn device extends from inside to outside in a direction from the control device to the power supply device, obliquely to the front-rear direction reference line in a direction away from the body assembly, or the horn device is disposed in a direction perpendicular to the front-rear direction reference line.

In some embodiments, the drone of embodiments of the present invention further comprises: the driving device is arranged at the outer end of the horn device, connected with the power unit and used for driving the power unit to rotate around a preset axis on the horn device.

In some embodiments, the driving device comprises: a drive mechanism mounted to the outer end of the horn device; the movable screw rod is connected with the driving mechanism, the axis of the movable screw rod is overlapped with the preset axis, and the driving mechanism drives the movable screw rod to move along the preset axis; the rotating piece is sleeved on the movable screw rod, the rotating piece is in threaded fit with the movable screw rod, the rotating piece is limited to rotate around the preset axis when the movable screw rod moves, and the power device is installed on the rotating piece.

In some embodiments, the drive mechanism comprises: the steering engine is provided with a rotating shaft; a gear set, one gear of the gear set connected to the crankshaft and another gear of the gear set connected to the moving screw.

In some embodiments, the driving device comprises: and the limiting assembly is connected with the movable screw rod and is used for limiting the movable screw rod to rotate relative to the machine arm device.

In some embodiments, the outer circumference of the rotation member is formed as a spline, and the power unit includes a connection seat, the power unit being connected to the connection seat, the connection seat having a key groove engaged with the spline.

In some embodiments, the drive mechanism comprises: the mounting seat comprises a sleeve joint part, a fixed seat and mounting parts, the sleeve joint part is sleeved on the horn device, the driving mechanism is mounted on the fixed seat, the two mounting parts are oppositely arranged on the fixed seat, the two mounting parts are provided with mounting holes which are coaxially arranged, and the movable screw rod is arranged in the two mounting holes in a penetrating manner; the two bearings are respectively matched in the two mounting holes, the rotating piece is matched on the two bearings, and the two bearings are clamped on the two sides of the rotating piece to limit the axial movement of the rotating piece.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

Fig. 1 is a perspective view of a drone according to one embodiment of the present invention;

fig. 2 is a front view of the drone shown in fig. 1;

figure 3 is a top view of the drone shown in figure 1;

fig. 4 is a right side view of the drone of fig. 1;

FIG. 5 is a front view of the first mounting frame, the second mounting frame and the isolation plate shown in FIG. 1;

fig. 6 is a structural view of the stocker of fig. 1;

FIG. 7 is a schematic view of the structure of the horn device in one embodiment;

FIG. 8 is a perspective view of the first connector shown in FIG. 7;

FIG. 9 is a perspective view of the second connector shown in FIG. 7;

FIG. 10 is a cross-sectional view of an embodiment of a horn assembly, a drive assembly, and a portion of a power assembly;

fig. 11 is a partially enlarged view of a portion K shown in fig. 10;

FIG. 12 is a perspective view of a moving screw of one embodiment;

FIG. 13 is a perspective view of a rotating member of one embodiment;

FIG. 14 is a perspective view of a gear engaged with a moving screw of one embodiment;

FIG. 15 is a perspective view of a connection receptacle of one embodiment;

FIG. 16 is a perspective view of a mount of an embodiment;

figure 17 is a schematic view of the structure of a drone according to another embodiment of the invention;

FIG. 18 is a graph illustrating the relative change in the position of the center of gravity of an embodiment of the present invention when the horn assembly is parallel and angled with respect to the horizontal.

Reference numerals:

unmanned aerial vehicle 100:

a fuselage assembly 1;

a storage device 11; a power supply device 12; a control device 13; a landing gear 14; a front-rear direction reference line L8;

an assembly body 15; a top plate 151; a base plate 152;

a first mounting frame 16; a fixed plate 161; a first connecting plate 162; the first installation space 160;

a second mounting frame 17; the second connecting plate 171; a third connecting plate 172; a second installation space 170;

a separator plate 18;

a horn device 2;

a horn body 210; a first arm 211; a second arm 212;

an inner end 21; an outer end 22;

the pivotal connection mechanism 23;

a first connecting member 231; a first connection substrate 2311; a first nesting portion 2312; a fitting groove 2313; a first through hole 2314; a connecting lug 2315; a first connection portion 2316;

a second connecting member 232; a second connection substrate 2321; a second nesting portion 2322; a mating projection 2323; a second perforation 2324; a pivot 2325; a second connection portion 2326;

a power plant 3;

a power unit 31; a power motor 311; a propeller 312; a connecting seat 313; a key groove 3131;

the central axis L9; a preset plane S3;

a drive device 4;

a drive mechanism 41; a steering engine 411; a crankshaft 4111; a gear set 412; a gear 4121; a mount 413; a socket portion 4131; a fixed seat 4132; a mounting portion 4133; a mounting hole 41331; a bearing 414;

the moving screw rod 42; moving the stem axis L10; presetting an axis L;

a rotation member 43; a spline 431;

a stop assembly 44.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize the applicability of other processes and/or the use of other materials.

Next, with reference to the drawings, a drone 100 according to an embodiment of the present invention is described.

As shown in fig. 1 to 3, the drone 100 according to an embodiment of the present invention may include: the aircraft comprises a fuselage assembly 1, a horn device 2 and a power device 3. The two horn devices 2 are respectively positioned at two opposite sides of the machine body assembly 1, the two ends of the length of each horn device 2 are respectively an inner end 21 and an outer end 22, the inner end 21 of each horn device 2 is arranged on the machine body assembly 1, and the outer end 22 of each horn device 2 is respectively provided with one power device 3.

Each power device 3 may include a power unit 31, and the power unit 31 may include a power motor 311 and a propeller 312 installed on the power motor 311, so that when the power device 3 operates, the power motor 311 can drive the propeller 312 to rotate, thereby providing power for the flight of the unmanned aerial vehicle 100.

It will be appreciated that, as shown in fig. 18, the propellers 312 rotate to generate lift forces upward along the central axis L9 of the power motor 311, and the resultant of the lift forces of the two propellers 312 is the resultant force F shown in fig. 18. When the power unit 31 rotates relative to the arm device 2, the direction of the resultant force F changes, so that the flight direction or the flight speed of the drone 100 can be adjusted.

Therefore, when the unmanned aerial vehicle 100 flies, the power units 31 located at the outer ends 22 of the two arm devices 2 can be driven to rotate at the same or different inclination angles respectively, or the rotating speed of the power units 31 at the outer ends 22 of the arm devices 2 can be adjusted, so that the unmanned aerial vehicle 100 can complete forward movement, backward movement, turning and other actions, and the operation is simple.

Referring to fig. 2 and 18, the included angle α between each horn device 2 and the horizontal plane is 9 to 35 degrees, so that the vertical distance between the gravity center G of the drone 100 and the lift force action point is increased, and the lift force action point is taken as a reference, which is equivalent to the position of the gravity center G being adjusted downward. In the simplified diagram example of fig. 18, after the horn device 2 is changed from the horizontal arrangement mode to the mode of inclining the outer end upwards, the gravity center of the whole machine is lowered from G1 to G2, and the vertical distance between the gravity center and the lift action point is increased from m1 to m 2. It can be understood that when the unmanned aerial vehicle 100 encounters unstable airflow or external impact or inconsistent left and right lift forces, the whole pose may be inclined, and once the unmanned aerial vehicle is inclined, the direction of resultant force F is affected, so that the flight state of the unmanned aerial vehicle is rapidly deteriorated, and some unmanned aerial vehicles can even rapidly turn over and fight in the air, thereby easily causing damage to the aircraft and people. For solving this problem, set the horn device 2 to by inner 21 to outer end 22 tilt up setting in this application, make the focus of complete machine can play the effect of balancer, make unmanned aerial vehicle how to incline to certain direction suddenly when normally traveling, the focus can all produce the couple opposite with this slope direction to complete machine, and because the focus is down regulated the back couple arm and is lengthened, consequently the complete machine focus can be dragged whole back original gesture rapidly, thereby guarantee unmanned aerial vehicle's smooth flight.

Trade a mode and understand, after unmanned aerial vehicle 100's focus was transferred and is hanged down, according to the pendulum principle, unmanned aerial vehicle 100 can return to the straight voluntarily when inclining because of the accident to can improve unmanned aerial vehicle 100's equilibrium, improve unmanned aerial vehicle 100's job stabilization nature.

It should be added here that when the unmanned aerial vehicle 100 is designed to form an included angle between the boom device 2 and the horizontal plane, the included angle α between the boom device 2 and the horizontal plane in the suspensive state is 9 to 35 degrees based on the hovering state of the unmanned aerial vehicle 100. It is further supplemented to explain that when the included angle alpha between the arm device 2 and the horizontal plane is too small, the downward adjustment of the gravity center of the whole unmanned aerial vehicle is not obvious, the action of the balancer of the gravity center is weak, and the design advantages are not reflected. When the included angle alpha between the jib device 2 and the horizontal plane is too big, not only can lead to whole quick-witted size too high, but also can lead to energy consumption too big when unmanned aerial vehicle normally turns to the flight, receives the influence of gravity, influences unmanned aerial vehicle's flight mileage. Therefore, after comprehensive consideration, the included angle alpha between the take-out horn device 2 and the horizontal plane is 9-35 degrees in the application.

In the model shown in fig. 1 and fig. 2, after various simulation model analyses and practical adjustments, the inventor research and development team finds the optimal value of the tilt angle setting of the horn device 2, that is, the included angle α between the horn device 2 and the horizontal plane is 19 degrees. Under this angle design, not only the flight stationarity of unmanned aerial vehicle 100 is very strong, and the flight energy consumption of complete machine is also less moreover, and complete machine economic practicality is very strong. Of course, in other models of the present invention, the optimal value of the angle α between the arm unit 2 and the horizontal plane may be other angle values, and is not limited herein.

In some embodiments of the present invention, as shown in fig. 3, the airframe assembly 1 has a front-back reference line L8, the two arm devices 2 are located at two opposite sides of the front-back reference line L8, the airframe assembly 1 includes a control device 13, a stocker 11 and a power supply device 12 which are sequentially arranged along the front-back reference line L8, when the unmanned aerial vehicle 100 is in a hovering state, central axes L9 of the two power motors 311 are coplanar with the preset plane S3, and an intersection point of the preset plane S3 and the front-back reference line L8 is located in the stocker 11.

In some embodiments, the fore-aft reference line L8 may be considered to be a line of symmetry of the body of the drone 100, the left-right body of the drone 100 is symmetric with respect to the fore-aft reference frame L8, and the fore-aft reference line L8 is generally coplanar with the center of gravity of the drone 100 when the drone 100 is designed.

In the extending direction of the front and back direction reference line L8, the control device 13 and the power supply device 12 are respectively located on two sides of the storage device 11, and in the front and back extending direction of the front and back direction reference line L8, the control device 13, the storage device 11 and the power supply device 12 are sequentially arranged, and are compactly arranged on the same line, so that the space is effectively saved, and the volume of the unmanned aerial vehicle 100 is reduced. Moreover, because at unmanned aerial vehicle 100 in the actual work process, for example, when utilizing unmanned aerial vehicle 100 to spray operations such as pesticide, the weight of storage device 11 is the gradual change, consequently with storage device 11 setting when between controlling means 13 and power supply unit 12, unmanned aerial vehicle 100's focus is difficult for following fore-and-aft direction reference line L8's extension direction skew, be difficult for letting unmanned aerial vehicle 100 to appear out of control states such as slope promptly, thereby make unmanned aerial vehicle 100 be in comparatively balanced state all the time, guarantee unmanned aerial vehicle 100's equilibrium, unmanned aerial vehicle 100's job stabilization nature has been improved. As shown in fig. 6, storage device 11 can be used for storing liquid, for example, water, pesticide etc., when unmanned aerial vehicle 100 is used for aspects such as agriculture, can utilize unmanned aerial vehicle 100 to carry out spraying pesticide in the scope, storage device 11 is used for saving pesticide, controlling means 13 includes electric tuning module, flight control and data chain module etc. it is used for controlling unmanned aerial vehicle 100's operating condition, for example, control unmanned aerial vehicle 100's takeoff, turn to and control unmanned aerial vehicle 100 operation such as spraying pesticide, power supply unit 12 can provide the electric energy for unmanned aerial vehicle 100.

In some embodiments, the storage device 11 may also be used to store seeds, fertilizers, etc. when the drone 100 is used in agriculture, etc., the drone 100 may also be utilized for in-range seeding, fertilizing, etc. The above embodiments are merely examples of the applicable range of the storing device 11, which is convenient for understanding the using process, and the practical range of the storing device 11 is not specifically limited.

When the drone 100 is in the hovering state, the state of the drone 100 is stable, and the preset plane S3 is a plane extending in the vertical direction. The central axes L9 of the two power motors 311 are coplanar with the preset plane S3, the intersection point of the preset plane S3 and the front-back direction reference line L8 is positioned in the material storing device 11, the material storing device 11 is positioned between the control device 13 and the power supply device 12, when the unmanned aerial vehicle 100 works, the material storing device 11 has a storage function, the material storing device 11 is the heaviest part of the whole unmanned aerial vehicle 100, so that the material storing device is arranged at the center, the unmanned aerial vehicle 100 can keep a balance state, the central axes L9 of the power motors 311 are coplanar with the preset plane S3, the intersection point of the preset plane S3 and the front-back direction reference line L8 is positioned in the material storing device 11, the gravity center connecting line of the power motors 311 is basically on the same straight line with the gravity center of the whole unmanned aerial vehicle 100, the balance of the unmanned aerial vehicle 100 can be further ensured, and the gravity center of the whole unmanned aerial vehicle 100 is not easy to shift along, further guarantee unmanned aerial vehicle 100's equilibrium, improve unmanned aerial vehicle 100's flight controllability.

In some embodiments of the present invention, as shown in fig. 2 and 3, the inner end 21 of the arm device 2 is connected to the location of the control device 13 of the airframe assembly 1, the arm device 2 extends from inside to outside along the direction from the control device 13 to the power supply device 12, and inclines to the front-back reference line L8 towards the direction away from the airframe assembly 1, thereby enabling the central axes L9 of the two power motors 311 located at the outer end 22 of the arm device 2 to be coplanar with the preset plane S3, and the intersection point of the preset plane S3 and the front-back reference line L8 is located in the stocker 11, so as to ensure the balance of the unmanned aerial vehicle 100 and improve the flight controllability of the unmanned aerial vehicle 100.

In a specific embodiment, as shown in fig. 17, the arm device 2 may also be disposed along a direction perpendicular to the front-rear direction reference line L8, the inner end 21 of the arm device 2 is connected to the middle portion of the fuselage assembly 1, which is different from the connection of the arm device 2 to the control device 13, the inner end 21 of the arm device 2 is connected to the location of the stocker 11, the arm device 2 is disposed perpendicular to the front-rear direction reference line L8, and the angle α between the arm device 2 and the horizontal plane is 9-35 degrees, which also enables the central axes L9 of the two power motors 311 located at the outer end 22 of the arm device 2 to be coplanar with the preset plane S3, and the intersection point of the preset plane S3 and the front-rear direction reference line L8 to be located in the stocker 11, so as to ensure the balance of the unmanned aerial vehicle 100 and improve the flight controllability of the unmanned aerial vehicle 100.

In some embodiments of the present invention, as shown in fig. 2 and 3, two horn devices 2 are disposed axisymmetrically with respect to a front-rear direction reference line L8 of the body assembly 1. From this, can improve unmanned aerial vehicle 100's equilibrium and flight controllability.

Furthermore, in some embodiments of the invention, as shown in fig. 1, the drone 100 may further include: and the landing gear 14, wherein the landing gear 14 is fixed below the airframe assembly 1 so as to ensure the stability of the unmanned aerial vehicle 100 in takeoff and landing. As shown in fig. 1 and 5, the body assembly 1 may further include an assembly body 15, a first mounting frame 16, a second mounting frame 17, and a partition plate 18, and as shown in connection with fig. 1, the assembly body 15 may include a top plate 151 and a bottom plate 152 for carrying the control device 13. Thereby, the structure of the body assembly 1 is made compact.

As shown in fig. 5, the assembly body 15, the first mounting frame 16 and the second mounting frame 17 are sequentially connected, wherein the storage device 11 and the power supply device 12 are respectively arranged in the first mounting frame 16 and the second mounting frame 17, so that the structure of the machine body assembly 1 is compact, and the storage device 11 and the power supply device 12 are respectively arranged in the first mounting frame 16 and the second mounting frame 17, for example, the user can take down the storage device 11 for operations such as charging, and the user can take down the power supply device 12 for operations such as charging, and the installation is convenient.

As shown in fig. 5, the first mounting frame 16 may include a fixing plate 161 fixedly coupled to the assembly body 15 and two first coupling plates 162 coupled to both ends of the fixing plate, the two first coupling plates 162 are symmetrically disposed about a front-rear direction reference line L8, the second mounting frame 17 may include two second coupling plates 171 and two third coupling plates 172, the two second coupling plates 171 are symmetrically disposed about a front-rear direction reference line L8, the two third coupling plates 172 are symmetrically disposed about a front-rear direction reference line L8, one ends of the two second coupling plates 171 are respectively coupled to ends of the two first coupling plates 162 far from the fixing plate 161, the two third coupling plates 172 are respectively coupled to the other ends of the two second coupling plates 171, the partition plate 18 is located between the first mounting frame 16 and the second mounting frame 17, and the partition plate 18 is coupled to a side of the two second coupling plates 171 near the first coupling plates 161, so that the first mounting frame 16 and the second mounting frame 17 define a first mounting space 160 and a second mounting space 170, respectively, the magazine 11 may be mounted to the first mounting space 160, and the power supply device 12 may be mounted to the second mounting space 170. From this, first installing frame 16 and second installing frame 17's simple structure, the processing of being convenient for to unmanned aerial vehicle 100's manufacturing cost can further be reduced.

In some embodiments, as shown in fig. 7, the horn body 210 of each horn device 2 includes a first arm 211 and a second arm 212 that are pivotably connected so that the horn device 2 can be folded in the non-use state to reduce the storage size.

Specifically, each of the arm units 2 further includes a pivotal connection mechanism 23, and the pivotal connection mechanism 23 includes a first connection member 231 provided on the first arm 211 and a second connection member 232 provided on the second arm 212, so that the first arm 211 and the second arm 212 can be connected by snap-fit connection when being rotatably connected.

In a specific example, as shown in fig. 7 to 9, the first connector 231 includes a first connection substrate 2311, a first sleeving part 2312 and a matching groove 2313, the first sleeving part 2312 extends along one end face of the first connection substrate 2311 to form a circular ring structure, a first assembling groove is formed in the first sleeving part 2312, and one end of the first arm 211, which is far away from the body assembly 1, is suitable for being fixed in the first assembling groove. The fitting groove 2313 is provided on the other end surface of the first connection substrate 2311, an inner wall of the fitting groove 2313 is formed into an arc surface, and a first through hole 2314 penetrating through the first fitting groove is further formed in the inner wall of the fitting groove 2313. Further, a connection lug 2315 and a first connection portion 2316 extend from the outside of the first connection substrate 2311.

The second connecting member 232 includes a second connecting substrate 2321, a second nesting portion 2322 and a mating protrusion 2323, the second nesting portion 2322 extends along an end surface of the second connecting substrate 2321 to form an annular structure, a second assembling groove is formed in the second nesting portion 2322, and an end of the second arm 212 close to the body assembly 1 is adapted to be fixed in the second assembling groove. The engaging protrusion 2323 is disposed on the other end surface of the second connection substrate 2321, a circumferential wall of the engaging protrusion 2323 is formed as an arc surface, and a second through hole 2324 coaxially disposed with and penetrating the second assembling groove is further formed in the circumferential wall of the engaging protrusion 2323. Further, a pivot 2325 and a second connection 2326 extend from the outside of the second connection substrate 2321.

During assembly, the end of the first arm 211 away from the body assembly 1 is fixed in the first assembly groove, and the end of the second arm 212 close to the body assembly 1 is fixed in the second assembly groove. Preferably, the end of the first arm 211 away from the body assembly 1 and the end of the second arm 212 close to the body assembly 1 may be fixed in the first and second fitting grooves by gluing. Meanwhile, limiting bulges can be arranged on the inner walls of the first assembling groove and the second assembling groove, and limiting notches are arranged at one end, far away from the machine body assembly 1, of the first arm 211 and at one end, close to the machine body assembly 1, of the second arm 212, so that when one end, far away from the machine body assembly 1, of the first arm 211 and one end, close to the machine body assembly 1, of the second arm 212 are fixed in the first assembling groove and the second assembling groove, mutual rotation of the first arm 211 and the second arm 212 and the first connecting piece 231 and the second connecting piece 232 can be further avoided. The connecting lug 2315 of the first connecting member 231 is connected with the pivoting part 2325 of the second connecting member 232. Thereby completing the assembly of the horn device 2. The first arm 211 and the second arm 212 are rotatably connected by the pivot connection mechanism 23, and when the second arm 212 is unfolded, the first connection portion 2146 and the second connection portion 2326 are connected, at this time, the inner wall of the fitting groove 2313 and the peripheral wall of the fitting protrusion 2323 are fitted, and the first through hole 2314 of the fitting groove 2313 and the second through hole 2324 of the fitting protrusion 2323 may be deformed, so that the first connection member 231 and the second connection member 232 are more fastened.

In some embodiments of the invention, as shown in fig. 2 and 10, the drone 100 further comprises: the driving device 4, the driving device 4 is installed on the outer end 22 of the machine arm device 2, and the installation position of the driving device 4 is not limited. The driving device 4 is connected to the driving unit 31, and the driving power unit 31 rotates around the preset axis L on the arm device 2, so that the flying direction or flying speed of the unmanned aerial vehicle 100 can be changed. From this, when unmanned aerial vehicle 100 flies, can rotate the same or different inclination through controlling two drive arrangement 4 drives power pack 31 that is located two horn device 2 outer ends 22 respectively to and adjust power pack 31's rotational speed, accomplish actions such as advancing, reversing, turn in order to realize unmanned aerial vehicle 100, the operation is comparatively simple.

In some embodiments of the invention, as shown in fig. 11-13, the drive device 4 comprises: a driving mechanism 41, a moving screw 42, and a rotating member 43. The driving mechanism 41 is installed at the outer end 22 of the horn device 2, the moving screw rod 42 is connected with the driving mechanism 41, the axis L10 of the moving screw rod 42 coincides with the preset axis L, the driving mechanism 41 drives the moving screw rod 42 to move along the preset axis L, the rotating piece 43 is sleeved on the moving screw rod 42, the rotating piece 43 is in threaded fit with the moving screw rod 42, the rotating piece 43 is limited to rotate around the preset axis L when the moving screw rod 42 moves, and the power device 3 is installed on the rotating piece 43.

The driving mechanism 41 transmits power to the movable screw rod 42, and the movable screw rod 42 transmits acting force to the rotating piece 43 when moving, so that the rotating piece 43 drives the power device 3 to adjust the angle. Set up like this, rotate piece 43 overcoat on removing lead screw 42, rotate the screw-thread fit between piece 43 and the removal lead screw 42, area of contact is big between the two, and transmission stability is high, and the removal through removing lead screw 42 drives the rotation of rotating piece 43, and the controllability is strong.

In the above embodiment, as shown in fig. 11, the driving mechanism 41 may include: steering gear 411 and gear set 412. The steering gear 411 has a crankshaft 4111, one gear 4121 of the gear set 412 is connected to the crankshaft 4111, and the other gear 4121 of the gear set 412 is connected to the moving screw 42. By using the steering engine 411, the size is small, the service life is long, and the load capacity is high. Set up gear train 412 between steering wheel 411 and removal lead screw 42, can not only keep the compactness of cooperation, can adjust the drive ratio through gear train 412 moreover, realize the effect of speed reduction increase torsion.

Specifically, as shown in fig. 14, the gear 4121 connected to the moving screw 42 has an internally threaded hole, and the gear 4121 is externally fitted over the moving screw 42 and threadedly engaged to move the moving screw 42 when the gear 4121 rotates. The arrangement can reduce the number of parts and make the structure more compact.

Further, as shown in fig. 12-14, two segments of spaced external threads are provided on the moving screw rod 42, one of the external threads is engaged with the rotating member 43, the other external thread is engaged with the gear 4121, and the two segments of external threads are spaced apart to limit the rotating member 43 and the gear 4121.

In some embodiments of the present invention, as shown in fig. 11, the driving mechanism 41 includes a limiting component 44, the limiting component 44 is connected to the moving screw 42, and the limiting component 44 is used for limiting the rotation of the moving screw 42 relative to the horn device 2. Therefore, the limiting assembly 44 enables the movable screw rod 42 to move only along the direction of the preset axis L, and the transmission process is stable.

In some alternative embodiments, the limiting assembly 44 is a guide seat (not shown) connected to the mounting seat 413, the guide seat is provided with a guide groove extending along the preset axis L, the moving screw rod 42 is fitted in the guide groove, and the moving screw rod 42 can only move along the direction of the preset axis L under the constraint of the guide groove. When the guide groove has a non-circular cross section, the guide groove can restrict the rotation of the moving screw 42.

In other alternative embodiments, as shown in fig. 11, the limiting assembly 44 includes a limiting rod, the mounting seat 413 is connected with a fisheye bearing, the bottom end of the limiting rod is telescopically fitted on the inner ring of the fisheye bearing, and the fisheye bearing limits the limiting rod to swing only along the plane where the preset axis L is located. The end of the movable screw rod 42 is rotatably connected to the upper end of the limiting rod, so that the movable screw rod 42 can only move but cannot rotate.

In some embodiments of the present invention, as shown in fig. 11, 13 and 15, the outer circumference of the rotation member 43 is formed as a spline 431, the power unit 3 includes a connection seat 313, the power unit 31 is connected to the connection seat 313, and the connection seat 313 has a key groove 3131 fitted with the spline 431. When the spline 431 is arranged to rotate, the rotation bearing torque of the spline 431 is very large, the root part is not easy to break, and the airplane of the whole airplane can be safer and more reliable.

In fig. 15, key slot 3131 in connecting section 313 fitted with spline 431 has a central angle of 180 degrees, so that connecting section 313 is fitted with spline 431. Of course, the power unit 3 also comprises a locking element (not shown) for locking the power unit 31 to the drive unit 4, in order to ensure a secure connection of the power unit 3 to the drive unit 4 during rotation.

In some embodiments of the present invention, as shown in fig. 11 and 16, the driving mechanism 41 includes: mount 413, and bearing 414. The mounting seat 413 comprises two sleeve joint parts 4131, a fixed seat 4132 and two mounting parts 4133, the sleeve joint part 4131 is sleeved and connected on the arm device 2, the driving mechanism 41 is mounted on the fixed seat 4132, the two mounting parts 4133 are oppositely arranged on the fixed seat 4132, the two mounting parts 4133 are provided with mounting holes 41331 which are coaxially arranged, the movable screw rod 42 penetrates through the two mounting holes 41331, the two bearings 414 are respectively matched in the two mounting holes 41331, the rotating part 43 is matched on the two bearings 414, and the two bearings 414 are clamped at two sides of the rotating part 43 to limit the axial movement of the rotating part 43.

In the mount 413 having such a structure, the mount 413 can be connected to the arm device 2, and other components can be compactly mounted on the mount 413. The two mounting seats 4133 are arranged to mount the bearing 414, and the bearing 414 is used for supporting the rotating part 43, so that the rotating part 43 is not easy to deform under the supporting condition, and the rotating friction force of the rotating part 43 is small, and the rotating part can rotate more smoothly. Moreover, the two bearings 414 can limit the rotating element 43, so that the rotating element 43 can only rotate around the preset bearing L, thereby improving the control precision.

The following describes the movement process of the driving device 4 according to an embodiment of the present invention with reference to fig. 11, after being commanded by the controller, the steering engine 411 on the fixed seat 4132 of the mounting seat 413 starts to operate, the steering engine 411 drives one gear 4121 connected to the steering engine 411 in the gear set 412 to rotate, the gear set 412 is engaged with the gear 4121 to transmit the rotation motion to the movable screw rod 42 disposed above the mounting seat 413, the movable screw rod 42 is limited by the limiting component 44 and can only move along the direction of the preset axis L, and the rotating component 43 and the movable screw rod 42 are in threaded fit, and similarly. The rotation piece 43 is also limited by the mounting portion 4133 and the bearing 414 on the mounting portion 4133, and can only rotate around the preset axis L, the rotation piece 43 is provided with the spline 431, and is matched with the connecting seat 313 of the power device 3, and the rotation piece 43 rotates along the preset axis L, so as to drive the power device 3 to rotate, that is, the propeller 312 driving the power device 3 changes the rotating direction, thereby changing the flight state of the unmanned aerial vehicle 100.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A drone (100), characterized in that it comprises:

a fuselage assembly (1);

the device comprises machine arm devices (2), wherein the two machine arm devices (2) are respectively positioned at two opposite sides of the machine body assembly (1), the two ends of the length of each machine arm device (2) are respectively an inner end (21) and an outer end (22), the inner ends (21) of the machine arm devices (2) are installed on the machine body assembly (1), the machine arm devices (2) are arranged in an upward inclined mode from the inner ends (21) to the outer ends (22), and an included angle between each machine arm device (2) and the horizontal plane is 9-35 degrees;

the power device (3), every horn device (2) the outer end (22) install one respectively power device (3), every power device (3) all include power unit (31), power unit (31) include power motor (311) and install in screw (312) of power motor (311).

2. The drone (100) of claim 1, wherein each horn device (2) is angled 19 degrees from the horizontal.

3. The drone (100) according to claim 1, wherein the fuselage assembly (1) has a front-rear reference line (L8), the two horn devices (2) being located on opposite sides of the front-rear reference line (L8), the fuselage assembly (1) comprising, in succession along the front-rear reference line (L8), a control device (13), a magazine device (11) and a power supply device (12);

when the unmanned aerial vehicle (100) is in a hovering state, the central axis (L9) of the power motor (311) is coplanar with a preset plane (S3), and the intersection point of the preset plane (S3) and the front-back direction reference line (L8) is located in the storage device (11).

4. The drone (100) according to claim 3, characterised in that the inner end (21) of the horn device (2) is associated with a location of the control device (13) of the fuselage assembly (1), the horn device (2) extending from the inside outwards in a direction from the control device (13) to the power supply device (12) obliquely to the front-rear direction reference line (L8) away from the fuselage assembly (1); or,

the horn device (2) is disposed in a direction perpendicular to the front-rear direction reference line (L8).

5. The drone (100) of any one of claims 1-4, further comprising: the driving device (4) is installed at the outer end of the horn device (2), the driving device (4) is connected with the power unit (31), and the power unit (31) is driven to rotate around a preset axis (L) on the horn device (2).

6. The drone (100) according to claim 5, wherein the drive means (4) comprise:

a drive mechanism (41), said drive mechanism (41) being mounted to said outer end of said horn device (2);

the movable screw rod (42), the movable screw rod (42) is connected with the driving mechanism (41), the axis (L10) of the movable screw rod (42) is overlapped with the preset axis (L), and the driving mechanism (41) drives the movable screw rod (42) to move along the preset axis (L);

rotate piece (43), it is in to rotate piece (43) overcoat on removal lead screw (42), rotate piece (43) with screw-thread fit between removal lead screw (42), it is in to rotate piece (43) is restricted to when removing lead screw (42) and removing rotation piece (43) wind preset axis (L) rotates, power device (3) are installed rotate piece (43) is last.

7. The drone (100) of claim 6, wherein the drive mechanism (41) comprises:

a steering engine (411), the steering engine (411) having a crankshaft (4111);

a gear set (412), one gear (4121) of the gear set (412) being connected to the crankshaft (4111), another gear (4121) of the gear set (412) being connected to the moving screw (42).

8. The drone (100) according to claim 6, wherein the drive means (4) comprise: and the limiting assembly (44) is connected with the movable screw rod (42) and is used for limiting the movable screw rod (42) to rotate relative to the machine arm device (2).

9. The drone (100) of claim 6, wherein the rotor (43) has an outer circumference formed as a spline (431), the power device (3) includes a connection seat (313), the power unit (31) is connected to the connection seat (313), and the connection seat (31) has a keyway (3131) that mates with the spline (431).

10. The drone (100) of claim 6, wherein the drive mechanism (41) comprises:

the mounting seat (413) comprises a sleeve joint part (4131), a fixed seat (4132) and mounting parts (4133), the sleeve joint part (4131) is sleeved on the horn device (2), the driving mechanism (41) is mounted on the fixed seat (4132), the two mounting parts (4133) are oppositely arranged on the fixed seat (4132), the two mounting parts (4133) are provided with mounting holes (41331) which are coaxially arranged, and the movable screw rod (42) penetrates through the two mounting holes (41331);

two bearings (414), the two bearings (414) are respectively matched in the two mounting holes (41331), the rotating member (43) is matched on the two bearings (414), and the two bearings (414) are clamped on two sides of the rotating member (43) to limit the axial movement of the rotating member (43).