CN112340022A

CN112340022A - Double rotor unmanned plane

Info

Publication number: CN112340022A
Application number: CN202010955593.2A
Authority: CN
Inventors: 谭亚辉; 肖锭锋
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

Abstract

The invention discloses a dual-rotor unmanned aerial vehicle, which comprises: the device comprises a machine body assembly, wherein a material storage device is arranged on the machine body assembly; the two horn devices are 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, and the inner ends of the horn devices are arranged on the machine body assembly; the power device is arranged at the outer end of each machine arm device and comprises a power unit, and each power unit comprises a power motor and a propeller connected with the power motor; the rotating axes of the two propellers are coplanar with the axes of the two horn devices, and the intersection point of the axes of the two horn devices is positioned in the material storage device; and the spraying device is arranged at the outer end of the arm device and is connected with the material storage device. This two rotor unmanned aerial vehicle is favorable to keeping the flight equilibrium, promotes work efficiency.

Description

Double rotor unmanned plane

Technical Field

The invention relates to the technical field of plant protection unmanned aerial vehicles, in particular to a double-rotor unmanned aerial vehicle.

Background

In the related art, the plant protection unmanned aerial vehicle basically adopts a form of an even number of four, six or eight rotors, because the flight control algorithm and the motion form of the unmanned flight system of the even number of 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 plant protection unmanned aerial vehicle are controlled. But because the form that adopts many rotors, unmanned aerial vehicle's size is big relatively, and the structure is compact enough to many rotor unmanned aerial vehicle manufacturing cost is higher.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide the dual-rotor unmanned aerial vehicle, and the dual-rotor unmanned aerial vehicle disclosed by the embodiment of the invention can realize quick control through two horn devices, is smaller in overall size and reduces the manufacturing cost of the dual-rotor unmanned aerial vehicle.

According to the embodiment of the invention, the dual-rotor unmanned aerial vehicle comprises: the device comprises a machine body assembly, wherein a material storage device is arranged on the machine body 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, and the inner ends of the horn devices are arranged on the machine body assembly; the outer end of each horn device is provided with one power device, each power device comprises a power unit, and each power unit comprises a power motor and a propeller connected with the power motor; when the double-rotor unmanned aerial vehicle is in a hovering state, the rotation axes of the two propellers are coplanar with the axes of the two horn devices, and the intersection point of the axes of the two horn devices is located in the storage device; and the spraying device is arranged at the outer end of the horn device and is connected with the storage device.

According to the dual-rotor unmanned aerial vehicle disclosed by the embodiment of the invention, the two horn devices are arranged, so that the balance of the dual-rotor unmanned aerial vehicle in use can be ensured, the manufacturing cost is reduced while the dual-rotor unmanned aerial vehicle is convenient to operate and control, the two horn devices are matched with the spraying device, the spraying range of the dual-rotor unmanned aerial vehicle is effectively improved, the storage device is connected with the spraying device, liquid to be sprayed can be stored in the storage device, meanwhile, the spraying device can be used for automatically spraying the liquid in the storage device, and the working efficiency is improved.

In addition, the twin-rotor unmanned aerial vehicle according to the invention can also have the following additional technical features:

in some embodiments of the invention, when the dual-rotor unmanned aerial vehicle is in a hovering state, the axes of the two arm devices are both parallel to a horizontal plane, or the axes of the arm devices are respectively arranged obliquely upward in directions away from each other.

In some embodiments of the invention, each of the horn devices is angled 9-35 degrees from horizontal.

In some embodiments of the invention, the fuselage assembly includes a first mounting frame for mounting the magazine, and the inner end of the horn device is vertically attached to a side wall of the first mounting frame.

In some embodiments of the invention, the dual rotor drone further comprises: and the driving device is connected with the power unit and drives the power unit to rotate around the preset axis of the horn device.

In some embodiments of the invention, the drive means 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 of the invention, the drive mechanism comprises: a steering engine having a crankshaft; 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 of the invention, the drive means 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 of the present invention, 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 fitted to the spline.

In some embodiments of the invention, 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

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

figure 1 is a perspective view of a dual rotor drone according to one embodiment of the present invention;

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

fig. 3 is a top view of the dual rotor drone shown in fig. 1;

fig. 4 is a right side view of the twin rotor 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 diagrammatic view of a twin rotor 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:

a dual rotor drone 100;

a fuselage assembly 1;

a storage device 11; a power supply device 12; a movement device 13; a landing gear 14; 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 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; a rotation member 43; a spline 431; a stop assembly 44;

a spraying device 5.

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 accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, are used in an orientation or positional relationship indicated in the drawings for convenience in describing the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

A dual rotor drone 100 according to an embodiment of the invention is described below with reference to fig. 1-18.

A dual rotor drone 100 as shown in figures 1-4 comprises: the device comprises a machine body assembly 1, a machine arm device 2, a power device 3 and a spraying device 5. The fuselage assembly 1 is provided with a material storage device 11. The fuselage assembly 1 may provide a mounting base for the installation of other devices.

As shown in fig. 1-4, two horn devices 2 are respectively located at two opposite sides of the fuselage assembly 1, the two ends of the length of each horn device 2 are respectively an inner end 21 and an outer end 22, and the inner end 21 of each horn device 2 is mounted on the fuselage assembly 1. The two horn devices 2 are located on opposite sides of the fuselage assembly 1.

In some embodiments of the present invention, as shown in fig. 3, the fuselage assembly 1 has a front-back reference line L8, and the two horn devices 2 are located on opposite sides of the front-back reference line L8, that is, the two horn devices 2 are correspondingly located, so that the twin-rotor drone 100 can be kept stable, and the horn devices 2 have an inner end 21 and an outer end 22, where the inner end 21 is an end of the horn device 2 close to the fuselage assembly 1, and the outer end 22 is an end of the horn device 2 away from the fuselage assembly 1. The inner end 21 may be connected to the body assembly 1, thereby allowing the body assembly 1 to provide a stable support force for the horn device 2.

In addition, through the setting of two horn devices 2, both can guarantee the balance of two rotor unmanned aerial vehicle 100 when using, be convenient for control, reduced manufacturing cost simultaneously.

Further, as shown in fig. 1-4, a power device 3 is respectively mounted at the outer end 22 of each arm device 2, each power device 3 comprises a power unit 31, and each power unit 31 comprises a power motor 311 and a propeller 312 connected with the power motor 311. Can drive screw 312 through power motor 311 among power device 3 and rotate to for two rotor unmanned aerial vehicle 100 provides power, make two rotor unmanned aerial vehicle 100 can fly.

As shown in fig. 1, when the twin-rotor drone 100 is in a hovering state, the rotation axes of the two propellers 312 are coplanar with the axes of the two horn devices 2, as shown in fig. 3, and the intersection point of the axes of the two horn devices 2 is located inside the magazine 11, as shown for example in the plane S3 in fig. 3.

In the dual-rotor unmanned aerial vehicle 100 according to the embodiment of the invention, the spraying device 5 is further arranged, the spraying device 5 is mounted at the outer end 22 of the boom device 2, and the spraying device 5 is connected with the storage device 11, so that the liquid to be sprayed can be stored in the storage device 11 by connecting the storage device 11 with the spraying device 5, and meanwhile, the liquid in the storage device 11 can be automatically sprayed by the spraying device 5, thereby improving the working efficiency.

According to the dual-rotor unmanned aerial vehicle 100 provided by the embodiment of the invention, the two horn devices 2 are arranged, so that the balance of the dual-rotor unmanned aerial vehicle 100 in use can be ensured, the manufacturing cost is reduced while the dual-rotor unmanned aerial vehicle is convenient to operate and control, the spraying range of the dual-rotor unmanned aerial vehicle 100 is effectively improved by matching the two horn devices 2 with the spraying device 5, the storage device 11 is connected with the spraying device 5, liquid to be sprayed can be stored in the storage device 11, meanwhile, the liquid in the storage device 11 can be automatically sprayed through the spraying device 5, and the working efficiency is improved.

In some embodiments, as shown in fig. 7, each of the horn devices 2 includes a horn body 210, each of the horn bodies 210 includes a first arm 211 and a second arm 212, and the first arm 211 and the second arm 212 may be pivotally connected, so that the horn device 2 may 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 disposed on the first arm 211 and a second connection member 232 disposed on the second arm 212, so that the first arm 211 and the second arm 212 can be connected by a snap-fit connection when being rotatably connected.

In an embodiment of the present invention, as shown in fig. 7 to 9, the first connector 231 includes a first connector base plate 2311, a first sleeving part 2312 and a matching groove 2313, and the first sleeving part 2312 is a tubular structure, that is, the first sleeving part 2312 has a first assembling groove inside, which can make the first sleeving part 2312 sleeve with an end of the first arm 211 away from the body assembly 1. As shown in fig. 8, a 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 opened in the middle of the fitting groove 2313.

Further, a connection lug 2315 and a first connection portion 2316 extend from the outer side of the first connection substrate 2311. The second connecting member 232 includes a second connecting base plate 2321, a second sleeving part 2322 and a matching protrusion 2323, the second sleeving part 2322 may also be a tubular structure, that is, a space is provided inside, that is, a space, that is, a second assembling groove, which enables the second sleeving part 2322 and one end of the second arm 212 close to the body assembly 1 to be sleeved is provided inside the second sleeving part 2322. 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.

Therefore, one end of the first arm 211, which is far away from the body assembly 1, is sleeved in the first assembling groove, and one end of the second arm 212, which is close to the body assembly 1, is fixed in the second assembling groove. Alternatively, the end of the first arm 211 remote from the body assembly 1 may be fixed in the first mounting groove by gluing, and correspondingly, the end of the second arm 212 adjacent to the body assembly 1 may be fixed in the second mounting groove by gluing.

In an embodiment of the present invention, a limiting protrusion may be disposed on an inner wall of the first and second assembling grooves, and a limiting notch may be disposed at an end of the first arm 211 away from the body assembly 1 and an end of the second arm 212 close to the body assembly 1, so that when 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 are fixed in the first and second assembling grooves, mutual rotation of the first and

second arms

211 and 212 and the first and second connecting

members

231 and 232 may be further prevented. 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 2316 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 can be deformed, so that the first connection member 231 and the second connection member 232 are more fastened.

In some embodiments of the present invention, as shown in fig. 3, the fuselage assembly 1 includes a magazine 11, a power supply device 12, and a movement device 13, in the extending direction of the front-rear direction reference line L8, the movement device 13 and the power supply device 12 are respectively located on both sides of the magazine 11, the central axes L9 of the two power motors 311 are coplanar with the plane S3, and the intersection point of the plane S3 and the front-rear direction reference line L8 is located in the magazine 11.

In some embodiments of the present invention, as shown in fig. 4, the lower portion of the fuselage assembly 1 of the twin-rotor drone 100 is provided with an undercarriage 14, and the undercarriage 14 can provide a certain supporting function for the twin-rotor drone 100, so that the twin-rotor drone 100 can land stably and safely when landing.

In one embodiment of the present invention, when the twin-rotor drone 100 is in a hovering state, the axes of both the arm devices 2 are parallel to the horizontal plane, or the axes of the arm devices 2 are respectively disposed obliquely upward in directions away from each other. The axis of horn device 2 is along its length direction's line promptly, and the axis through two horn devices 2 is parallel with the horizontal plane, can be convenient for enlarge dual rotor unmanned aerial vehicle 100's the scope of spraying. Two horn device 2's axis tilt up can make the focus position of complete machine turn down, can play the effect of balancer, makes two rotor unmanned aerial vehicle 100 more stable when hovering, even meet stronger air current interference, the complete machine also can be because focus turns down the back power couple arm and becomes long, therefore the complete machine focus can be dragged whole back original gesture rapidly to guarantee that two rotor unmanned aerial vehicle 100's position appearance remains stable.

Trade a mode and understand, two rotor unmanned aerial vehicle 100's focus is transferred the back down, according to the pendulum principle, two rotor unmanned aerial vehicle 100 can return when inclining because of the accident by oneself to can improve two rotor unmanned aerial vehicle 100's equilibrium, improve two rotor unmanned aerial vehicle 100's job stabilization nature.

Further, the included angle between each horn device 2 and the horizontal plane is 9-35 degrees. From this, the included angle between each horn device 2 and the horizontal plane can be adjusted conveniently, so that the dual-rotor unmanned aerial vehicle 100 can be kept stable when hovering in the air, and the pose can be adjusted conveniently.

It should be added that, when designing the angle between the arm device 2 and the horizontal plane, the twin-rotor drone 100 is based on the hovering state of the twin-rotor drone 100, that is, the angle between the arm device 2 and the horizontal plane in the hovering state is 9 to 35 degrees, for example, the angle α shown in fig. 2. It is further supplemented to explain that when the included angle α between the boom device 2 and the horizontal plane is too small, the downward adjustment of the center of gravity of the whole dual-rotor unmanned aerial vehicle 100 is not obvious, the balancer function of the center of gravity 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 large, the whole aircraft is too large in size, and when the twin-rotor unmanned aerial vehicle 100 normally turns to flight, the energy consumption is too large due to the influence of gravity, and the flight mileage of the twin-rotor unmanned aerial vehicle 100 is influenced. 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.

As shown in fig. 3 and 5, the fuselage assembly 1 includes a first mounting frame 16 for mounting the magazine 11, and the inner end 21 of the horn device 2 is vertically attached to a side wall of the first mounting frame 16. Locate storage device 11 in first installing frame 16, can carry out certain protection to storage device 11, can effectively reduce dual rotor unmanned aerial vehicle 100's volume simultaneously, make dual rotor unmanned aerial vehicle 100's overall arrangement compacter reasonable. On fuselage assembly 1 was located perpendicularly to two horn devices 2 of two rotor unmanned aerial vehicle 100, can effectively promote two rotor unmanned aerial vehicle 100's the scope of spraying.

In some embodiments of the present invention, the fuselage assembly 1 may further include an assembly body 15, a first mounting frame 16, a second mounting frame 17, and a partition 18, as shown in fig. 1, and the assembly body 15 may include a top plate 151 and a bottom plate 152, which may be used to carry the movement device 13. Thereby, the structure of the body assembly 1 is made compact.

As shown in fig. 5, the first mounting frame 16 may include a fixing plate 161 fixedly connected to the assembly body 15 and two first connecting plates 162 connected to two ends of the fixing plate 161, and the two first connecting plates 162 are symmetrically disposed. The second mounting frame 17 may include two second connecting plates 171 and two third connecting plates 172, the two second connecting plates 171 may be symmetrically disposed, the two third connecting plates 172 may also be symmetrically disposed, and one ends of the two second connecting plates 171 are respectively connected to one ends of the two first connecting plates 162 far away from the fixing plate 161, the two third connecting plates 172 are respectively connected to the other ends of the two second connecting plates 171, the isolation plate 18 is located between the first mounting frame 16 and the second mounting frame 17, and the isolation plate 18 is connected to one side of the two second connecting plates 171 near the first connecting plate 162. The first and second mounting frames 16 and 17 may further define a first mounting space 160 and a second mounting space 170, respectively.

From this, can install storage device 11 inside first installation space 160, make first installation space 160 play certain guard action to storage device 11, power supply unit 12 can install in second installation space 170, makes second installation space 170 can play certain guard action to power supply unit 12, prevents to expose for a long time of power supply unit 12.

As shown in fig. 2-4, twin rotor drone 100 further comprises: and the driving device 4, the driving device 4 and the power unit 31 are connected, and the power unit 31 is driven to rotate around the preset axis of the machine arm device 2. Wherein predetermine the axis and can be for line L9 in fig. 4, pass through drive arrangement 4 promptly, can provide drive power for power pack 31, make power pack 31 can do the rotation for horn device 2, and then drive screw 312 and rotate, make screw 312 rotate the back can provide power for dual rotor unmanned aerial vehicle 100, make dual rotor unmanned aerial vehicle 100 can fly or dual rotor unmanned aerial vehicle 100 changes flight status in the flight.

That is to say, after drive arrangement 4 rotates, can provide the turning force to power pack 31 connected with it, make power pack 31's screw 312 can rotate, thereby can provide stable driving force to two rotor unmanned aerial vehicle 100, the power of line L9 direction as shown in fig. 4 promptly, thereby can make two rotor unmanned aerial vehicle 100 have the ability of flying, in addition, can also be through adjusting drive arrangement 4's slew velocity on two horn devices 2, and then make the speed change of the screw 312 on two power packs 31, thereby adjust two rotor unmanned aerial vehicle 100's motion state.

Further, as shown in fig. 1 to 4, the driving device 4 may be mounted at the outer end 22 of the horn device 2, and the driving power unit 31 may rotate around a predetermined axis with respect to the horn device 2. Wherein the predetermined axis may be a line L9 in fig. 4, i.e. the propeller 312 of the power unit 31 may be rotated with respect to the horn device 2.

Therefore, when dual rotor unmanned aerial vehicle 100 flies, can drive power unit 31 that is located two horn device 2 outer ends 22 respectively through control drive arrangement 4 and rotate the same or different inclination, or adjust the rotational speed of power unit 31 of horn device 2 outer end 22 to realize that unmanned aerial vehicle accomplishes actions such as advancing, reversing, turning, operate comparatively simply.

Referring to fig. 2 and 18, each horn device 2 has an angle α with the horizontal plane, where G is the center of gravity of the twin rotor drone 100. From this, can make dual rotor unmanned aerial vehicle 100 more stable when the flight.

From this, when two rotor unmanned aerial vehicle 100 met that the air current is unstable or external shock or control the lift inconsistent, all probably lead to complete machine position appearance slope etc. and two rotor unmanned aerial vehicle 100 in case take place the slope will influence the direction of the axis of rotation of the power unit 31 on two horn devices 2, and then make two rotor unmanned aerial vehicle 100's flight state can not remain stable, take place to overturn easily and cause even that the aircraft is damaged people etc..

Therefore, in the dual-rotor unmanned aerial vehicle 100 according to the embodiment of the present invention, the arm device 2 is disposed to be inclined upward from the inner end 21 to the outer end 22, so that the center of gravity of the entire dual-rotor unmanned aerial vehicle can function as a balancer, if the dual-rotor unmanned aerial vehicle 100 is inclined suddenly in a certain direction during normal driving, the center of gravity of the entire dual-rotor unmanned aerial vehicle can generate a couple opposite to the inclined direction, and the couple arm is lengthened after the center of gravity is lowered, so that the center of gravity of the entire dual-rotor unmanned aerial vehicle can be quickly pulled back to the original attitude, thereby ensuring the smooth flight of the dual-rotor unmanned aerial vehicle 100.

Further, the driving device 4 includes: a driving mechanism 41, a moving screw 42, and a rotating member 43. The drive mechanism 41 is mounted to the outer end 22 of the horn device 2. The moving screw rod 42 is connected with the driving mechanism 41, the axis of the moving screw rod 42 coincides with the preset axis, wherein the axis of the moving screw rod 42 can be L10 shown in FIG. 12, the driving mechanism 41 drives the moving screw rod 42 to move along the preset axis, 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 when the moving screw rod 42 moves, and the power device 3 is installed on the rotating piece 43.

That is to say, the driving mechanism 41 transmits power to the movable lead screw 42, the movable lead screw 42 transmits acting force to the rotating piece 43 when moving, so that the rotating piece 43 drives the power device 3 to move, thereby realizing angle adjustment, therefore, the rotating piece 43 is sleeved on the movable lead screw 42, the rotating piece 43 is in threaded fit with the movable lead screw 42, and the movable lead screw 42 is in fit with the rotating piece 43, so that the transmission stability is high, and the rotating piece 43 is driven to rotate by the movement of the movable lead screw 42, therefore, the controllability is strong, and the operation is convenient.

As shown in fig. 11 and 12, the drive mechanism 41 includes: a steering gear 411 and a gear set 412, wherein the steering gear 411 is provided with a crankshaft 4111, one gear 4121 in the gear set 412 is connected with the crankshaft 4111, and the other gear 4121 in the gear set 412 is connected with the movable screw rod 42. Through the operation of steering wheel 411, drive the gear train 412 operation that sets up between steering wheel 411 and the removal lead screw 42 to the motion of drive removal lead screw 42. In addition, the speed reduction and torque increase effects can be realized by adjusting the transmission ratio among the gear sets 412.

Specifically, as shown in fig. 14, the gear 4121 connected to the moving screw 42 has an internal threaded hole, and the gear 4121 is sleeved on the moving screw 42, so that the internal threaded hole is in threaded engagement with the moving screw 42, and the gear 4121 drives the moving screw 42 to move when rotating. Thereby making the arrangement of the structure more compact.

Further, as shown in fig. 12, two segments of spaced external threads are provided on the movable screw rod 42, one of the external threads is matched with the rotating member 43 shown in fig. 13, the other segment of external threads on the movable screw rod 42 is matched with the gear 4121 shown in fig. 14, and the two segments of external threads are spaced apart, so that the limiting of the rotating member 43 and the gear 4121 can be effectively realized.

As shown in fig. 11, the driving mechanism 41 includes a limiting assembly 44 connected to the moving screw 42 for limiting the rotation of the moving screw 42 relative to the horn device 2. That is, the limiting component 44 can be connected to one end of the moving screw rod 42, so as to limit the rotation of the moving screw rod 42 inside the arm device 2, and therefore, the limiting component 44 enables the moving screw rod 42 to move only along the direction of the preset axis L as shown in fig. 10, so that the transmission process is stable.

As shown in fig. 13 and 15, the outer circumference of the rotation member 43 is formed as a spline 431, and the power unit 3 includes a connection base to which the power unit 31 is connected, the connection base having a key groove that is fitted with the spline 431. From this, when rotating piece 43 memorability and rotating, can realize the transmission through the keyway cooperation of spline 431 with the connecting seat, make rotate piece 43 with power transmission to the connecting seat on, and then realize the rotation of connecting seat. The fitting of the rotating piece 43 with the connecting seat can be more stable by the way of the spline 431 and the key groove.

As shown in fig. 11 and 16, the drive mechanism 41 includes: a mounting 413 and two bearings 414. As shown in fig. 16, the mounting seat 413 is shown, wherein the mounting seat 413 includes a sleeve portion 4131, a fixed seat 4132 and two mounting portions 4133, the sleeve portion 4131 is sleeved on the arm device 2, the driving mechanism 41 is mounted on the fixed seat 4132, the two mounting portions 4133 are oppositely disposed on the fixed seat 4132, the two mounting portions 4133 are provided with mounting holes 41331 coaxially disposed, and the movable screw 42 is inserted into the two mounting holes 41331. The two bearings 414 are respectively fitted in the two mounting holes 41331, the rotating member 43 is fitted on the two bearings 414, and the two bearings 414 are caught at both sides of the rotating member 43 to restrict the axial movement of the rotating member 43.

Specifically, the fitting between the horn device 2 and the mounting seat 413 is facilitated by the fitting of the fitting portion 4131 of the mounting seat 413 to the end portion of the horn device 2. Meanwhile, the driving mechanism 41 is mounted on the fixed seat 4132, so that the whole structure can be more compact. By providing the bearings 414 in the mounting holes 41331 of the two mounting portions 4133, the rotor 43 can be fixed by the bearings 414 and the rotor 43 can be rotated stably. And the bearing 414 is used to stabilize the rotation member 43, the resistance is small, and the rotation of the rotation member 43 is facilitated.

According to fig. 10 and fig. 11, the movement process of the driving device 4 in a certain embodiment of the invention is described, when the movement state of the twin-rotor unmanned aerial vehicle 100 needs to be changed, the steering gear 411 on the fixed seat 4132 of the mounting seat 413 starts to operate, the operation of the steering gear 411 drives the gear set 412 to rotate, that is, one gear 4121 connected with the steering gear 411 in the gear set 412 rotates, and the gear 4121 in the gear set 412 is engaged and matched through the gear 4121, so that after the gear 4121 connected with the steering gear 411 rotates, the rotation is transmitted to the other gears 4121 in the gear set 412, and further the rotation force is transmitted to the movable screw rod 42 arranged on the mounting seat 413.

As shown in fig. 10 and 11, the moving screw 42 is limited by the limiting component 44, and the moving screw 42 can move along the direction of the preset axis L. Further, since both ends of the rotor 43 are fixed by the bearings 414 provided in the mounting holes 41331 of the mounting base 413, the rotor 43 can only rotate. So that when the turning piece 43 is screw-engaged with the moving lead screw 42, the moving lead screw drives the turning piece 43 to rotate. The outside of rotating piece 43 is equipped with spline 431, and spline 431 cooperatees with power device 3's connecting seat to can drive power device 3 rotatory when rotating piece 43 rotates, that is to say can drive power device 3's screw 312 and change the pivoted direction, thereby can change unmanned aerial vehicle's flight condition.

In the description herein, references to the description of the terms "some embodiments," "optionally," "further," 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 do not necessarily 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.

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 dual rotor drone (100), characterized in that it comprises:

the device comprises a machine body assembly (1), wherein a material storage device (11) is arranged on the machine body assembly (1);

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), and the inner ends (21) of the horn devices (2) are arranged on the machine body assembly (1);

the outer end (22) of each horn device (2) is provided with one power device (3), each power device (3) comprises a power unit (31), and each power unit (31) comprises a power motor (311) and a propeller (312) connected with the power motor (311); when the dual-rotor unmanned aerial vehicle (100) is in a hovering state, the rotation axes of the two propellers (312) are coplanar with the axes of the two horn devices (2), and the intersection point of the axes of the two horn devices (2) is positioned in the stocker (11);

sprinkler (5), sprinkler (5) are installed horn device (2) outer end (22), sprinkler (5) with storage device (11) link to each other.

2. Twin-rotor drone (100) according to claim 1, characterised in that the axes of both of the horn devices (2) are parallel to the horizontal plane when the twin-rotor drone (100) is in the hovering condition, or the axes of the horn devices (2) are respectively set inclined upwards in a direction away from each other.

3. Twin rotor drone (100) according to claim 2, characterised in that each of said horn devices (2) has an angle of 9-35 degrees with the horizontal plane.

4. Twin-rotor unmanned aerial vehicle (100) according to claim 1, characterised in that the fuselage assembly (1) comprises a first mounting frame (16) for mounting the magazine (11), the inner end (21) of the horn device (2) being connected perpendicularly to a side wall of the first mounting frame (16).

5. The twin rotor drone (100) of claim 1, further comprising: the driving device (4) is connected with the power unit (31) and drives the power unit (31) to rotate around a preset axis of the horn device (2).

6. Twin-rotor drone (100) according to claim 5, characterised in that 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 of the movable screw rod (42) is overlapped with the preset axis, and the driving mechanism (41) drives the movable screw rod (42) to move along the preset axis;

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 restricted to rotate piece (43) when removing lead screw (42) and remove piece (43) and wind preset axis rotates, power device (3) are installed rotate piece (43) is last.

7. The twin rotor drone (100) according to 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. Twin-rotor drone (100) according to claim 6, characterised in that 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 twin rotor drone (100) according to claim 6, characterised in that the outer periphery of the rotating member (43) is formed as a spline (431), the power device (3) comprises a connection seat (313), the power unit (31) being connected to the connection seat (313), the connection seat (31) having a keyway (3131) cooperating with the spline (431).

10. The twin rotor drone (100) according to 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).