CN114013642A - Vertical take-off and landing fixed wing unmanned aerial vehicle - Google Patents

Abstract

The invention provides a vertical take-off and landing fixed wing unmanned aerial vehicle, which comprises wings, a vehicle body and four power modules; the wing comprises a main wing and a side wing, the side wing is fixed on the side wing connecting end of the main wing, the body is arranged in the middle of the main wing, the four power modules are symmetrically distributed on the main wing by taking the body as the center, and the body is connected with a goods shelf. Carry on four unmanned aerial vehicle power module on the unmanned aerial vehicle wing, each power module structure is the same, can exchange the position to use mutually, is provided with goods shelves on the wing, can bear the weight of the goods, also can carry other equipment. Unmanned aerial vehicle's foot rest is fixed on the wing based on rapid disassembly structure, conveniently changes the part. Unmanned aerial vehicle can adapt to the task requirement in multiple field, can guarantee unmanned aerial vehicle's continuation of the journey, the sexual valence relative altitude according to the quantity of task demand change power module.

Description

Vertical take-off and landing fixed wing unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a vertical take-off and landing fixed wing unmanned aerial vehicle.

Background

The unmanned aerial vehicle is an unmanned aerial vehicle operated by utilizing a radio remote control device and a self-contained program control device, is suitable for being used in complex and dangerous places, and is widely applied to the fields of aerial photography, agriculture, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief and the like.

At present unmanned aerial vehicle is provided with stationary vane, rotor, motor and other equipment in order to adapt to various operation requirements, and the composite design is generally adopted to the structure, carries on equipment on the fuselage, and unmanned aerial vehicle's structure is complicated, and when part and equipment are impaired, the change of being not convenient for. Under task and the load requirement of difference, need prepare many different unmanned aerial vehicles, it is with high costs, carry inconveniently.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a vertical take-off and landing fixed wing unmanned aerial vehicle, which comprises wings, wherein side wings on the wings are butted and fixed on a main wing based on pipes so as to be convenient for disassembly and assembly, a plurality of unmanned aerial vehicle power modules are carried on the wings, each power module is provided with an independent power system, the structures are the same, the power systems can be used by mutually exchanging positions, the structure of a machine body is reduced, the structure is simple, parts are convenient to replace, a throwing mechanism is arranged on the wings, goods can be borne, and other equipment can also be hung. Unmanned aerial vehicle's foot rest is fixed on the wing based on rapid disassembly structure, conveniently changes the part. Unmanned aerial vehicle can adapt to the task requirement in multiple field, can change the quantity of power module according to the task demand, guarantees unmanned aerial vehicle's continuation of the journey, the sexual valence relative altitude.

The invention provides a vertical take-off and landing fixed wing unmanned aerial vehicle, which comprises a vehicle body, wings and four power modules, wherein the wings are arranged on the vehicle body;

the wing comprises a main wing and side wings, the body is arranged in the middle of the main wing, and the four power modules are symmetrically distributed on the main wing by taking the body as the center;

any one of the four power modules is provided with a cruise system, a vertical take-off and landing system, a connecting pipe, a power system and a system control box, wherein the power system is arranged in the system control box;

the cruise system comprises a front pull paddle and an empennage, the vertical take-off and landing system comprises four rotors, a system installation part is arranged in the middle of the connecting pipe, and the system control box is installed on the system installation part;

four rotors use system control case is central symmetrical arrangement is in on the connecting pipe, connecting pipe one end is connected with the front oar that draws, the other end of connecting pipe is connected with the fin based on first rapid disassembly structure.

The unmanned aerial vehicle empennage comprises a fixed part, a rotating part, a vertical fin and a horizontal fin, wherein the vertical fin is fixed on the fixed part;

the rotating part is a concave component, a concave groove formed by the depression of the rotating part accommodates the fixing part, and the rotating part is fixed on the fixing part;

the middle of the horizontal tail is sunken to form a bayonet position, and the horizontal tail is clamped on the rotating part based on the bayonet position.

The connection pipe includes: first sub-connecting pipe and second sub-connecting pipe, first sub-connecting pipe one end is the wing link, the first sub-connecting pipe other end is the electrical property link, preceding oar or fin of pulling is being connected to the wing link, the electrical property link with the second sub-connecting pipe cup joints fixedly based on second quick detach structure.

The power module also comprises a module main body, wherein the module main body comprises a framework, and the framework is provided with a connecting mechanism and a hook groove;

the system control box is arranged in the framework, and the connecting pipe extends into the framework and is connected with the system control box in a matching mode.

The module connecting box comprises a first side plate, a second side plate and a clamping rod, wherein the first side plate and the second side plate are connected with the framework in a matched mode through the connecting mechanism, and the clamping rod is connected with the hook groove in a matched mode.

The wing comprises a main wing and a side wing, and the main wing connecting end of the side wing extends outwards to form a first connecting rod and a second connecting rod;

the main wing is characterized in that a first connecting hole and a second connecting hole are formed in the side wing connecting end of the main wing, the first connecting rod extends into the main wing through the first connecting hole, and the second connecting rod extends into the main wing through the second connecting hole.

The first connecting rod is sleeved with a first shaft sleeve and a second shaft sleeve, and the second connecting rod is sleeved with a third shaft sleeve and a fourth shaft sleeve;

the first shaft sleeve, the second shaft sleeve, the third shaft sleeve and the fourth shaft sleeve are back to one side of the side wing and surround the shaft center of the shaft sleeve to form a circle of inclined plane structure.

The machine body is arranged in the middle of the main wing, and a plurality of foot stand connecting boxes are symmetrically arranged on the main wing by taking the machine body as the center;

the foot rest connecting box is connected with an unmanned aerial vehicle foot rest based on a quick-release structure.

The bottom of the machine body is connected with a goods shelf;

one end of the bottom of the machine body is provided with a hanging point mechanism, the hanging point mechanism is provided with a hanging point part, and the other end of the machine body is provided with a hook rod;

the goods shelf comprises a fixed hanging rod and a clamping and connecting rod, wherein a clamping and connecting hook is arranged on the clamping and connecting rod and is connected with a hook of the hanging point part in a matching manner;

the fixed hanging rod is sleeved with a fixed hook, and the fixed hook is connected with the hanging hook rod in a matching way.

The hanging point mechanism also comprises an actuating release mechanism, and the hanging point part is fixed on one end of the actuating release mechanism;

the actuating release mechanism is provided with a shifting sheet formed by a convex rib structure at a position close to the middle part, the machine body is provided with a motor, an output shaft of the motor is connected with an eccentric wheel, and the near shaft end of the eccentric wheel is close to the actuating release mechanism.

The invention provides a vertical take-off and landing fixed wing unmanned aerial vehicle, wherein a side wing, a landing gear and a throwing mechanism of the unmanned aerial vehicle are convenient to disassemble and assemble, and parts of the unmanned aerial vehicle are convenient to replace and carry. Unmanned aerial vehicle carries on general goods shelves and a plurality of power module, power module quantity can be according to the task demand adjustment, unmanned aerial vehicle can adapt to the task requirement in many fields, the sexual valence relative altitude.

Drawings

FIG. 1 is a schematic structural diagram of a vertical take-off and landing fixed wing drone in an embodiment of the invention;

FIG. 2 is a schematic structural diagram of a wing of an unmanned aerial vehicle according to an embodiment of the invention;

FIG. 3 is a schematic view of the internal structure of the main wing of the UAV of the embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a first locking mechanism in an embodiment of the invention;

FIG. 5 is a schematic view of a first wing link end of the first wing of the present invention;

FIG. 6 is a schematic structural diagram of a first power module in an embodiment of the invention;

FIG. 7 is a schematic view of a second sub-connecting pipe according to an embodiment of the present invention;

FIG. 8 is an exploded view of a tail structure according to an embodiment of the invention;

FIG. 9 is a schematic structural diagram of a module body of a first power module according to an embodiment of the present invention;

FIG. 10 is an exploded view of the coupling mechanism coupling structure in an embodiment of the present invention;

FIG. 11 is a schematic view of a first modular junction box according to an embodiment of the present invention;

FIG. 12 is a schematic structural view of a first leg joint box according to an embodiment of the present invention;

FIG. 13 is a schematic structural diagram of a first quick release structure according to an embodiment of the present invention;

FIG. 14 is a schematic structural diagram of a first stand according to an embodiment of the present invention;

fig. 15 is a schematic structural view of a throwing mechanism of an unmanned aerial vehicle in the embodiment of the present invention;

FIG. 16 is a bottom view of the housing according to the embodiment of the present invention;

FIG. 17 is a schematic view of a shelf according to an embodiment of the present invention;

FIG. 18 is a schematic structural diagram of a hitch point mechanism in an embodiment of the present invention;

fig. 19 is a schematic view of an internal structure of the first hanging point in the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 shows a schematic structural diagram of a modular vertical take-off and landing fixed-wing unmanned aerial vehicle in an embodiment of the invention, the unmanned aerial vehicle comprises a wing 1, a throwing mechanism and a plurality of power modules, the throwing mechanism comprises a body 7, the body 7 is arranged at a position, close to the middle, of the wing 1, the plurality of power modules comprise a first power module 2, a second power module 3, a third power module 4 and a fourth power module 5, and the first power module 2, the second power module 3, the third power module 4 and the fourth power module 5 are installed on the wing 1.

Specifically, first power module 2, second power module 3, third power module 4 and fourth power module 5 with the middle part position of wing 1 is central symmetrical arrangement and is in on the wing 1, first power module 2, second power module 3, third power module 4 and fourth power module 5 do unmanned aerial vehicle provides flight power, guarantees unmanned aerial vehicle normal operating.

Optionally, according to the carrying requirement of the unmanned aerial vehicle, the number of the power modules carried by the unmanned aerial vehicle may be 2, or 4, or 6, and so on.

Specifically, unmanned aerial vehicle still includes control module, control module includes major control system and a plurality of sub-control system, a plurality of sub-control system includes first sub-control system, second sub-control system, third sub-control system and fourth sub-control system, major control system sets up on the wing 1, first sub-control system sets up on first power module 2, second sub-control system sets up on second power module 3, third sub-control system sets up on third power module 4, fourth sub-control system sets up on fourth power module 5. The main control system is responsible for controlling the operations of taking off and landing, sailing, hovering, returning and the like of the unmanned aerial vehicle. And the plurality of sub-control systems are responsible for controlling the operation of the plurality of power modules.

Furthermore, when the main control system breaks down, any one of the plurality of sub-control systems can replace the main control system to control the unmanned aerial vehicle to complete the operation.

Fig. 2 shows a schematic structural diagram of a wing of an unmanned aerial vehicle according to an embodiment of the present invention, where the wing 1 includes a main wing 11, a first side wing 12, and a second side wing 13, one end of the main wing 11 is connected to the first side wing 12, the other end of the main wing 11 is connected to the second side wing 13, a first connecting rod 121 and a second connecting rod 122 extend outward from a main wing connecting end of the first side wing 12, a third connecting rod 131 and a fourth connecting rod 132 extend outward from a main wing connecting end of the second side wing 13, the first side wing 12 is fixed to the main wing 11 based on the first connecting rod 121 and the second connecting rod 122, and the second side wing 13 is fixed to the main wing 11 based on the third connecting rod 131 and the fourth connecting rod 132.

Specifically, fig. 3 shows a schematic view of an internal structure of a main wing of an unmanned aerial vehicle according to an embodiment of the present invention, where the main wing 11 includes a main beam 111, a secondary beam 112, and a plurality of connection boxes, the main beam 111 and the secondary beam 112 are arranged in parallel, the main beam 111 and the secondary beam 112 are connected based on the plurality of scaffold connection boxes, the main beam 111 and the secondary beam 112 are in a through-pipe structure, a pipe orifice at one end of the main beam 111 forms the first connection hole 1101 for connection, and a pipe orifice at one end of the secondary beam 112 forms the second connection hole 1102 for connection, that is, the first connection rod 121 extends into the main beam 111 through the first connection hole 1101, and the second connection rod 122 extends into the secondary beam 112 through the second connection hole 1102. The main beam 111 and the secondary beam 112 provide support for the main wing 11 for connecting the first wing 12 and the second wing 13.

Specifically, fig. 4 is a schematic structural diagram of a first locking mechanism in an embodiment of the present invention, the housing 110 is provided with the first locking mechanism 1103 on a first side connection end of the main wing 11, the first locking mechanism 1103 is fixed on the housing 110, the first locking mechanism 1103 may be a trapezoidal structure, an inclined surface of the first locking mechanism 11031 faces upward, an inclined surface of the first locking mechanism 1103 extends upward to form the first button 11031, and a top surface of the first button 11031 is inclined downward from an end close to the main wing 11, so as to facilitate mating connection.

Alternatively, the first clamping mechanism 1103 may have a rectangular structure, a cylindrical structure, or the like.

Specifically, a third spring 11032 is arranged inside the first locking mechanism 1103, the third spring 11032 is connected with the first button 11031, the first button 11031 can extend and contract up and down based on the third spring 11032, when the third spring 11032 contracts, the first button 11031 contracts inside the first locking mechanism 1103, and when the third spring 1103 is in a relaxed state, the first button 11031 extends out of the first locking mechanism 1103.

Specifically, fig. 5 shows a schematic structural diagram of a main wing connection end of a first side wing in an embodiment of the present invention, a first connection rod 121 and a second connection rod 122 extend out from the main wing connection end of the first side wing 12, the first connection rod 121 is provided with a first bushing 123 and a second bushing 124, the first bushing 123 is sleeved on one end of the first connection rod 121 far away from the first side wing 12, and the second bushing 124 is sleeved on one end of the first connection rod 121 near the first side wing 12.

Specifically, the outer diameter of the first connecting rod 121 is D1, the outer diameters of the first bushing 123 and the second bushing 124 are D2, the bore diameter of the first connecting hole 1101 is D, and the constraint relationship among D1, D2 and D is as follows: d1< D2< D. Further, the difference between the outer diameter of the first connection rod 121 and the aperture of the first connection hole 1101 is relatively large, so that the first connection rod 121 and the first connection hole 1101 can be conveniently matched, and the stability of the connection structure can be ensured through the first shaft sleeve 123 and the second shaft sleeve 124.

Specifically, one end of the first shaft sleeve 123, which faces away from the first side wing 12, is provided with a circle of inclined surface structure, one end of the second shaft sleeve 124, which faces away from the first side wing 12, is provided with a circle of inclined surface structure, and the inclined surface structure enables the first shaft sleeve 123 and the second shaft sleeve 124 to extend into the first connection hole 1101 from different angles, so that the axis of the first connection rod 121 does not need to be aligned with the axis of the first connection hole 1101, which is convenient for connection operation.

Specifically, a third shaft sleeve 125 and a fourth shaft sleeve 126 are arranged on the second connecting rod 122, the third shaft sleeve 125 is sleeved on the second connecting rod 122 far away from one end of the first side wing 12, and the fourth shaft sleeve 126 is sleeved on the second connecting rod 122 near one end of the first side wing 12.

Specifically, the outer diameter of the second connecting rod 122 is d1, the outer diameters of the third shaft sleeve 125 and the fourth shaft sleeve 126 are d2, the bore diameter of the second connecting hole 1102 is d, and the constraint relationship among d1, d2 and d is as follows: d1< d2< d. Further, the difference between the outer diameter of the second connecting rod 122 and the aperture of the second connecting hole 1102 is large, so that the second connecting rod 122 is matched with the second connecting hole 1102, and the stability of the connecting structure is ensured by the third shaft sleeve 125 and the fourth shaft sleeve 126.

Specifically, third axle sleeve 125 dorsad the one end of first flank 12 is provided with round inclined plane structure, fourth axle sleeve 126 dorsad the one end of first flank 12 is provided with round inclined plane structure, the inclined plane structure makes third axle sleeve 125 with fourth axle sleeve 126 can stretch into from the angle of difference in the second connecting hole 1102, need not with the axle center of second connecting rod 122 is aimed at the axle center of second connecting hole 1102, can be fast to inserting the completion the second connecting rod 122 with the cooperation of second connecting hole 1102 is connected.

Specifically, the first wing 12 is recessed to form a first locking groove 127 on the connection surface of the main wing connection end, a first slot 128 is disposed on the outer surface of the first wing 12, and the first slot 128 is connected with the first locking groove 127. When the first side wing 12 is connected to the main wing 11, the first locking mechanism 1103 can be locked by fitting in the first locking groove 127.

Further, when the first wing 12 is installed, the first locking mechanism 1103 passes through the notch of the first locking groove 127, the top surface of the first button 11031 is pressed in the pushing process, the first button 11031 contracts towards the first locking mechanism 1103, the third spring 11032 contracts, and when the first locking mechanism 1103 is matched with the first locking groove 127 in place, the first button 11031 extends out of the first slot 128 under the action of the third spring 11032, so that the first wing 12 and the main wing 11 are clamped and connected.

Further, when the first wing 12 is to be detached, the first button 11031 is pushed into the first locking mechanism 1103, and then the first link 121 and the second link 122 are pulled out from the main wing 11, thereby completing the detachment of the first wing 12.

Specifically, the second side wing 13 has the same structural features and functional functions as the first side wing 12, and reference may be specifically made to the structure and function of the first side wing 12, which is not described in detail herein.

Specifically, the plurality of connection boxes include a first module connection box 115, an engine body connection box 116, a second module connection box 117, a third module connection box 118, and a fourth module connection box 119, the engine body connection box 116 may be disposed at a middle position of the main wing 11, the first module connection box 115 and the second module connection box 117 are disposed on the main wing 11 with the engine body connection box 116 as a center, and the third module connection box 118 and the fourth module connection box 119 are disposed on the main wing 11 with the engine body connection box 116 as a center.

Specifically, the body connecting box 116 is used for connecting the unmanned aerial vehicle body 7, the first module connecting box 115 the second module connecting box 117 the third module connecting box 118 and the fourth module connecting box 119 are used for connecting the unmanned aerial vehicle power module.

Further, the number of the module connecting boxes can be 2, 4, 6 and the like according to the specification of the unmanned aerial vehicle. Fig. 6 shows a schematic structural diagram of a first power module in an embodiment of the present invention, where the first power module 2 includes a system control box 21, a connecting pipe, a first rotor 2a, a second rotor 2b, a third rotor 2c, a fourth rotor 2d, a forward propeller 26, and a tail wing 27, the system control box 21 is fixed to a system mounting portion of the connecting pipe, and the first rotor 2a, the second rotor 2b, the third rotor 2c, and the fourth rotor 2d are fixed to corresponding rotor mounting portions of the connecting pipe.

Specifically, this connecting pipe includes: the first sub-connection pipe 22, the second sub-connection pipe 23, the third sub-connection pipe 24 and the fourth sub-connection pipe 25, the first sub-connection pipe 22 and the third sub-connection pipe 24 are provided with an electrical connection end and a wing connection end, the second sub-connection pipe 23 and the fourth sub-connection pipe 25 are provided with a system connection portion, and here, the second sub-connection pipe 23 and the fourth sub-connection pipe 25 may be integrally formed sub-connection pipes or may be two segmented sub-connection pipes.

Specifically, the wing connecting end of the first sub-connecting pipe 22 is provided with a forward-pulling paddle mounting portion for mounting the forward-pulling paddle 26. A first connection hole is formed in the front pulling paddle 26, and the first sub-connection pipe 22 is connected with the front pulling paddle 26 in a matching manner through the first connection hole.

Specifically, the wing connection end of the third sub-connection pipe 24 is provided with a tail wing installation part for installing the tail wing 27, the tail wing 27 is provided with a second connection hole, and the third sub-connection pipe 24 is connected with the tail wing 27 in a matching manner through the second connection hole.

Specifically, the electrical connection end of the first sub-connection tube 22 is sleeved in the second sub-connection tube 23, and is fixed by a quick release structure after being matched in place, so that the relative position between the first sub-connection tube 22 and the second sub-connection tube 23 is not changed.

Alternatively, the first sub-connection pipe 22, the second sub-connection pipe 23, the third sub-connection pipe 24, and the fourth sub-connection pipe 25 may be carbon fiber pipes or metal pipes.

Specifically, a battery pack is arranged in the system control box 21, and a power supply wire of the battery pack extends into the second sub-connecting pipe 23 from the system control box 21 and is connected into a connecting male end of the second sub-connecting pipe 23; the power supply wire of the battery pack extends from the system control box 21 into the fourth sub-connection pipe 25 and is connected to the connection male of the fourth sub-connection pipe 25.

Specifically, the electrical connection end of the first sub-connection pipe 22 extends into the second sub-connection pipe 23, the female connection end in the electrical connection end of the first sub-connection pipe 22 corresponds to the male connection end in the second sub-connection pipe, and the system control box 21 can provide a working power supply for the front pulling paddle 26. The electric connection end of the third sub-connection pipe 24 extends into the fourth sub-connection pipe 25, the female connection end in the electric connection end of the third sub-connection pipe 24 is electrically connected with the male connection end in the fourth sub-connection pipe 25 correspondingly, and the system control box 21 can provide the tail wing 27 with a working power supply.

Fig. 7 is a schematic structural view illustrating a second sub connection pipe in an embodiment of the present invention, wherein a first rotor installation portion 233 and a second rotor installation portion 234 are provided on the second sub connection pipe 23, the first rotor 2a is installed on the first rotor installation portion 233, and the second rotor 2b is installed on the second rotor installation portion 234.

Further, as shown in the figure, first rotor installation position 233 is provided with first connecting wire hole 2331, second rotor installation position 234 is provided with second connecting wire hole 2341, the motor of first rotor 231 passes through first connecting wire hole 2331 with power cord connection in the second sub-connecting pipe 23, the driving motor of second rotor 2b passes through second connecting wire hole 2341 with power cord connection in the fourth sub-connecting pipe 25, through connecting wire hole connecting power cord, the battery pack in system control box 21 gives first rotor 2a with second rotor 2b provides working power.

Specifically, the fourth sub-connection pipe 25 has the same structural features and functional functions as the second sub-connection pipe 23, and specific reference is made to the structural features and functional functions of the second sub-connection pipe 23, which are not repeated herein.

Specifically, fig. 8 shows an explosion schematic diagram of the tail structure in the embodiment of the present invention, where the unmanned aerial vehicle tail includes a fixed part 271, a rotating part 272, a vertical tail 273 and a horizontal tail 274.

Specifically, the vertical fin 273 is fixed on the fixing part 271, the vertical fin 273 can keep the unmanned aerial vehicle flight balance, and the stability of unmanned aerial vehicle flight is ensured.

Specifically, the rotating portion 272 is a concave member, the rotating portion 272 is connected to the fixing portion 271, and the fixing portion 271 is accommodated in a concave groove of the concave member of the rotating portion 272.

Specifically, the middle of the horizontal tail 274 is recessed to form a bayonet position, and the horizontal tail 274 is fixed on the rotating portion 272 based on the bayonet position in a clamping manner.

Specifically, the plane of the airfoil of the vertical tail 273 and the plane of the airfoil of the horizontal tail 274 may be perpendicular to each other.

The fixed part 271 is internally provided with a rotary steering engine, the rotary part 272 is connected with the fixed part 271 based on the rotary steering engine, and the rotary part 272 can rotate based on the rotary steering engine.

Furthermore, the rotary steering engine is arranged in the fixing part 271 and can be accommodated in the tail wing 27, so that the exposed air resistance of the steering engine is reduced, and the appearance effect of the unmanned aerial vehicle is improved.

Specifically, the first power module 2 further includes a module main body, fig. 9 shows a schematic structural diagram of the module main body of the power module in the embodiment of the present invention, the module main body includes a framework 28, the framework 28 is provided with a connection mechanism 20, a first hook groove 288 and a second hook groove 289, the first hook groove 288 and the second hook groove 289 are used for being positioned in cooperation with the first connection box 115, and the connection mechanism 20 is fixed on the framework 28.

The connecting mechanism 20 is provided with a first movable pin 204 and a second movable pin 205, the first movable pin 204 and the second movable pin 205 can be completely retracted in the framework 28, and the first movable pin 204 and the second movable pin 205 can also be extended from the framework 28.

Further, be provided with pull rod 203 on coupling mechanism 20, still be provided with pull rod hole 287 on one side of skeleton 28, pull rod 203 one end of coupling mechanism 20 is passed through pull rod hole 287 stretches out outside skeleton 28, pull rod 203 stretches out be provided with pull ring 2031 on the outer one end of skeleton 28, pull rod 203 sets up part in the skeleton 28 passes through rack 2032 on the pull rod 203, with first gear train 201 and the second gear train 202 in the coupling mechanism 20 are connected, the other end of pull rod 203 with the opposite side of skeleton 28 does not meet, namely through the pulling pull ring 2031, pull rod 203 can move in the skeleton 28.

Specifically, fig. 10 shows an explosion schematic diagram of a connection structure in an embodiment of the present invention, a first gear set 201 and a second gear set 202 are disposed in the connection mechanism 20, the first gear set 201 is connected to the first movable pin 204, the second gear set 202 is connected to the second movable pin 205, and the first movable pin 204 and the second movable pin 205 are controlled to perform telescopic movement through transmission of the gear sets.

The first gear set 201 includes a first sector gear 2011, a second sector gear 2012, a third sector gear 2013 and a first rotation axis 2014, the first sector gear 2011, the second sector gear 2012 and the third sector gear 2013 are arranged on the first rotation axis 2014, the first sector gear 2011 is disposed at one end of the first rotation axis 2014, the second sector gear 2012 is disposed at the other end of the first rotation axis 2014, and the third sector gear 2013 is disposed at a middle position of the first rotation axis 2014.

Further, the opening directions of the first sector gear 2011 and the second sector gear 2012 are set in the same direction, and the opening direction of the third sector gear 2013 is set in the opposite direction to the opening directions of the first sector gear 2011 and the second sector gear 2012.

Specifically, a rack 2032 is arranged on the pull rod 203, the rack 2032 of the pull rod 203 is meshed with the third sector gear 2013, and the pull rod 203 can drive the first gear set 201 to rotate based on the meshing of the rack 2032 and the third sector gear 2013.

Further, in the first gear set 201, the opening directions of the first sector gear 2011 and the second sector gear 2012 are opposite to the opening direction of the third sector gear 2013, and when the pull rod 203 drives the third sector gear 2013 to rotate, the first sector gear 2011 and the second sector gear 2012 can rotate along with the third sector gear 2013 in opposite directions based on the first rotation axis 2014.

Specifically, the second gear set 202 includes a fourth sector gear 2021, a fifth sector gear 2022, and a second rotating shaft 2023; the fourth sector gear 2021 is disposed at one end of the second rotating shaft 2023, the fifth sector gear 2022 is disposed at the other end of the second rotating shaft 2023, the first sector gear 2011 and the fourth sector gear 2021 are engaged with each other, the second sector gear 2012 and the fifth sector gear 2022 are engaged with each other, and the first gear set 201 and the second gear set 202 can be driven based on the engagement of the first sector gear 2011 and the fourth sector gear 2021 and the engagement of the second sector gear 2012 and the fifth sector gear 2022.

Further, when the first gear set 201 rotates based on the pull rod 203, the second gear set 202 can rotate in the opposite direction based on the first gear set 201.

Specifically, be provided with first logical groove 20111 on first sector gear 2011, be provided with second through groove 20121 on second sector gear 2012, first sector gear 2011 with be provided with first transfer pole 2015 between second sector gear 2012, first transfer pole 2015 based on first through groove 20111 with second through groove 20121 is fixed on the first gear train 201, first activity round pin 204 based on first transfer pole 2015 is fixed on the first gear train 201.

Further, first transfer line 2015 can be based on the rotation of first gear train 201 is in first logical groove 20111 with remove in the second logical groove 20121, first activity round pin 204 can be based on first transfer line 2015 is the linear telescopic motion.

Specifically, the fourth sector gear 2021 is provided with a third through groove 20211, the fifth sector gear 2022 is provided with a fourth through groove 20221, a second transmission rod 2024 is disposed between the fourth sector gear 2021 and the fifth sector gear 2022, the second transmission rod 2024 is fixed to the second gear set 202 by the third through groove 20211 and the fifth through groove 20221, and the second movable pin 205 is fixed to the second gear set 202 by the second transmission rod 2024.

Further, the second transmission rod 2024 can move in the third through groove 20211 and the fifth through groove 20221 based on the rotation of the second gear set 202, and the second movable pin 205 can linearly move in a telescopic manner based on the second transmission rod 2024.

Specifically, a spring 206 is arranged between the first movable pin 204 and the second movable pin 205, when the pull rod 203 is pulled by the pull ring 2031, the first movable pin 204 and the second movable pin 205 are driven to do linear contraction movement through the transmission among the rack 2032, the first gear set 201 and the second gear set 202, and contract into the framework 28, at this time, the spring 206 is compressed, when the pull ring 2031 is released, the spring 206 starts to reset, and based on the elastic reset of the spring 206, the first movable pin 204 and the second movable pin 205 start to extend and reset.

Specifically, fig. 11 shows a schematic structural diagram of a first module connection box in an embodiment of the present invention, a first side plate 291, a second side plate 292, a first spanning plate 293, a second spanning plate 294, and a locking rod 295 are disposed on the first module connection box 115, the first side plate 291 is provided with a first connection hole 2911, the second side plate 292 is provided with a second connection hole 2921, the first side plate 291 is connected to the framework 28 based on the engagement between the first connection hole 2911 and the first movable pin 204, and the second side plate 292 is connected to the framework 28 based on the engagement between the second connection hole 292 and the second movable pin 205.

The first spanning plate 293 and the second spanning plate 294 extend into the framework 28 to limit the movement of the module body, so as to facilitate the matching connection. The position-retaining rod 295 is engaged with the hook groove 288 to achieve the engagement and positioning between the module body and the first module connecting box 115.

Specifically, when the first power module is installed, the first hook groove 288 and the second hook groove 289 are engaged with the locking rod 295 of the first module connection box 115, the locking rod 295 is pushed into place in the first hook groove 288 and the second hook groove 289, the first power module is lifted up toward the wing 1 with the locking rod 295 as an axis, the first spanning plate 293 and the second spanning plate 294 are extended into the framework 28 to be limited, the pull rod 203 is pulled to retract the first movable pin 204 and the second movable pin 205 into the framework 28, and when the first movable pin 204 reaches a position engaged with the first connection hole 2911 on the first side plate 291 and the second movable pin 205 reaches a position engaged with the second connection hole 2921, the pull rod 203 is released to extend the first movable pin 204 and the second movable pin 205, and is cooperatively connected with the first module connection box 115.

Through the matching connection of the connecting mechanism 20 and the first module connecting box 115, the first power module 2 is matched and connected with the first module connecting box 115, and the first power module 2 can be fixedly carried on the wing 1.

Specifically, first subsystem sets up in system control case 21, be used for control the operation of first power module 2, first power module 2 passes through first rotor 2a, second rotor 2b, third rotor 2c, fourth rotor 2d realize unmanned aerial vehicle's VTOL and hover operation, first power module 2 passes through preceding oar 26 with fin 27 realizes unmanned aerial vehicle's operation of cruising, preceding oar 26 of pulling give unmanned aerial vehicle provides preceding pulling force, the group battery in the system control case 21 gives first power module 2 provides working power supply.

Specifically, any one of the plurality of power modules has the same structural features and functional effects as those of the first power module 2, and specifically, reference may be made to the structural features and functional effects of the first power module 2, and any one of the plurality of module connecting boxes has the same structural features and functional effects as those of the first module connecting box, and specifically, reference may be made to the structural features and functional effects of the first module connecting box, which is not repeated here.

Further, any power module in a plurality of power module has the same structural design and functional role, can exchange the position between the power module and use each other, it is convenient unmanned aerial vehicle's equipment with power module's change.

Optionally, according to the task condition of the unmanned aerial vehicle, when the time for the unmanned aerial vehicle to execute the task is short and the load demand is not high, the use of the power module of the unmanned aerial vehicle can be reduced, so that the energy consumption of the unmanned aerial vehicle is reduced, and the endurance of the unmanned aerial vehicle is improved.

Specifically, the main wing 11 further includes a first foot rest connecting box 113 and a second foot rest connecting box 114, the first foot rest connecting box 113 and the second foot rest connecting box 114 are symmetrically distributed on the main wing 11 with the body connecting box 116 as a center, the first foot rest connecting box 113 is connected with the first foot rest 61, and the second foot rest connecting box 114 is connected with the second foot rest 62.

Specifically, fig. 12 shows a schematic structural diagram of a first scaffold connection box in an embodiment of the present invention, where one side of the first scaffold connection box 113 is provided with a first reinforced side plate 1131, the other side of the first scaffold connection box 113 is provided with a second reinforced side plate 1132, one end of the first reinforced side plate 1131 is provided with a first connection through hole 11311, the other end of the first reinforced side plate 1131 is provided with a third connection through hole 11312, one end of the second reinforced side plate 1132 is provided with a second connection through hole 11321, and the other end of the second reinforced side plate 1132 is provided with a fourth connection through hole 11322; the first connecting through hole 11311 and the second connecting through hole 11321 are correspondingly arranged, and the main beam 111 is connected with the first leg connecting box 113 through the first connecting through hole 11311 and the second connecting through hole 11321; third connect the through hole 11312 and the fourth connect the through hole 11322 and be corresponding the setting, the auxiliary girder 112 passes through third connect the through hole 11312 with the fourth connect the through hole 11322 with first foot rest connection box 113 is connected, connects through first foot rest connection box 113 the girder 111 with the auxiliary girder 114, guarantees the structural stability of main wing 11.

Specifically, first foot rest connection box 113 is being close to the one end of girder 111 is provided with first box body 1133, be provided with first through-hole 11331 on the first box body 1133, first foot rest connection box 113 is being provided with second through-hole 1134 in the one end that is close to the auxiliary girder, main wing 11 passes through first through-hole 11331 with second through-hole 1134 with first quick detach structural connection, through first foot rest connection box 113 is fixed first foot rest 61 improves main wing 11 with first foot rest 61 connection's rigidity guarantees structural stability.

Specifically, fig. 13 shows a schematic structural diagram of a first quick release structure in an embodiment of the invention, fig. 14 shows a schematic structural diagram of a first foot rest in an embodiment of the invention, the first leg 61 includes a first support bar 611 and a second support bar 612, the first support bar 611 is fixed at a position of the second support bar 612 near the middle, a T-shaped structure may be formed between the first support bar 611 and the second support bar 612, a first triangular fixing plate 613 is disposed at one side of a joint between the first support bar 611 and the second support bar 612, and a second triangular fixing plate 614 is disposed at the other side of the joint, and further, the T-shaped structure may simplify the structure of the first foot frame 61, the occupied space is small when the box is packed, and the triangular fixing plate is arranged at the joint of the first support rod 611 and the second support rod 612, so that the structural connection stability of the first support rod 611 and the second support rod 612 can be improved.

Specifically, the first quick release structure includes a first fixing structure 14 and a first supporting structure 63, the first fixing structure 14 is fixed on the main wing 11, the first supporting structure 63 is fixed on the first foot rest 61, the first foot rest 61 is from one end of the fixing structure 14 extends into the main wing 11, and the first supporting structure 63 is matched with the first fixing structure 14.

Specifically, first bearing structure 63 includes first supporting arm 631, first supporting arm 631 is certainly first bearing structure 63 inclines outwards towards first foot rest 61 upper end direction stretches out, the one end that first supporting arm 631 stretches out makes progress the arch and forms first fixed pin 6311, first fixed pin 6311 with second through-hole 1134 cooperation on the first foot rest junction box 113 is connected, first supporting arm 631 with first foot rest junction box 113 and first foot rest 61 form the triangle-shaped structure, improve first foot rest 61 with the connection structure stability of main wing 11.

Specifically, first supporting structure 63 upper end is provided with first torsion spring structure 632, the lower extreme of first supporting structure 63 is provided with first stop gear 633, first torsion spring structure 632 sets up the upper end of first supporting structure 63, be provided with first crotch 65 on the first supporting structure 63, first crotch 65 middle part is provided with first connecting portion 651, first connecting portion 651 with first torsion spring structure 632 cooperation is connected, first crotch 65 can be based on first torsion spring 632 with first connecting portion 651 swings the activity.

Specifically, the upper end of the first hook 65 is bent in a direction away from the main wing 11 to form a first bent portion 652, the lower end of the first hook 65 is bent toward the opposite direction of the first bent portion 652 to form a second bent portion 653, the first limiting mechanism 633 is of an annular structure, the second bending part 653 passes through the first limiting mechanism 633, that is, the first limiting mechanism 633 is sleeved on the first hook 65, and the first limiting mechanism 633 limits the position of the first hook 65, so as to prevent the second bending part 653 from being lifted up to cause interference or damage during transportation and assembly and disassembly, by pressing the second bend 653, the first bend 652 can be lifted based on the first torsion spring structure 632, releasing the second bend 653, the first bent portion 652 is resettable by the first torsion spring structure 632.

Specifically, first fixed knot constructs 14 is circular siphunculus, the one end of first fixed knot constructs 14 is passed through first through-hole 11331 stretches into in the first foot rest joint box 113 is inside through the bolt fastening, the other end of first fixed knot constructs 14 is provided with first couple platform 141, be provided with first protruding muscle 1411 on the peripheral surface of first couple platform 141, first protruding muscle 1411 with first bending portion 652 cooperation is connected, first fixed part 14 with first supporting structure 63 is based on first protruding muscle 1411 with the cooperation of first bending portion 652 is fixed.

Specifically, first bearing structure 63 includes first supporting arm 631, first supporting arm 631 is certainly first bearing structure 63 inclines outwards towards first foot rest 61 upper end direction stretches out, the one end that first supporting arm 631 stretches out makes progress the arch and forms first fixed pin 6311, first fixed pin 6311 with second through-hole 1134 cooperation on the first foot rest junction box 113 is connected, first supporting arm 631 with first foot rest junction box 113 and first foot rest 61 form the triangle-shaped structure, improve first foot rest 61 with the connection structure stability of main wing 11.

Specifically, after the first support bar 611 of the first leg frame 61 is aligned, the first leg frame is pushed into the first fixing structure 14, the first bending portion 652 of the first hook 65 is lifted upward based on the pushing force of the first support bar 611 and the resistance of the first rib 1411, and after the first leg frame 61 is pushed into position, the first bending portion 652 reaches above the first rib 1411, and is clamped on the first rib 1411 by the first torsion spring structure 632.

Specifically, when first supporting structure 63 with first fixed knot constructs 14 and coordinates after in place, first foot rest 61 is based on first supporting structure 63 with first fixed knot constructs 14 and fixes on the main wing 11, first fixed pin 6311 on the first support arm 631 with second through-hole 1134 is connected, forms the triangle-shaped structure, improves landing gear structure's stability and rigidity make landing gear can bear the impact force when unmanned aerial vehicle lands.

Specifically, the second foot rest 62 has the same structural and functional functions as the first foot rest 61, and the second foot rest connecting box 114 has the same structural and functional functions as the first foot rest connecting box 113, which are not described in detail herein.

Specifically, first foot rest 61 with second foot rest 62 is connected through fixed knot structure and bearing structure's cooperation, fixes on the main wing 11, connection structure is simple, and connection stability is good, the dismouting and the change of the unmanned aerial vehicle undercarriage of being convenient for. Through first foot rest connection box 113 with the cooperation of first support arm 631 the second foot rest connection box 114 with the cooperation of second support arm 641 is guaranteed the structural stability of unmanned aerial vehicle undercarriage ensures to bear impact force when unmanned aerial vehicle lands.

Fig. 15 shows a schematic structural diagram of a throwing mechanism of an unmanned aerial vehicle in an embodiment of the present invention, the throwing mechanism includes a machine body 7 and a goods shelf 8, the goods shelf 8 is connected and fixed to the bottom of the machine body 7, the machine body 7 is sleeved on the main beam 111 and the auxiliary beam 112 based on the machine body connection box 116, one end of the bottom of the machine body 7 is provided with a hanging point mechanism 72, the other end is provided with a hook rod 71, the goods shelf 8 includes a clamping rod 82, a fixed hanging rod 81, a first bearing rod 83 and a second bearing rod 84, the clamping rod 82 is connected with the hanging point mechanism 72, and the fixed hanging rod 81 is connected with the hook rod 71 in a matching manner.

Specifically, one end of the first bearing rod 83 is connected to one end of the clamping rod 82, one end of the second bearing rod 84 is connected to the other end of the clamping rod 82, the other end of the first bearing rod 83 is connected to one end of the fixed hanging rod 82, and the other end of the second bearing rod 84 is connected to the other end of the fixed hanging rod 82.

Specifically, the first bearing rod 83 and the second bearing rod 84 are used for connecting a cargo compartment, loading materials into the cargo compartment, and then fixing the cargo compartment on the first bearing rod 83 and the second bearing rod 84 through a connecting rope, thereby fixing the cargo compartment on the shelf 8.

Optionally, the cargo compartment may be fixed to the shelf 8 by using a high-strength fiber rope, or may be fixed to the shelf 8 by using a high-strength connecting belt.

Specifically, fig. 16 shows a schematic bottom structure of the machine body in the embodiment of the present invention, one end of the machine body 7 is provided with a hook rod 71, the other end of the machine body is provided with a hanging point mechanism 72, one end of the hanging point mechanism 72 is provided with a first hanging point 721, the other end of the hanging point mechanism is provided with a second hanging point 722, the shelf 8 and the machine body 7 are connected by matching the hook rod 71 and the fixed hook rod 81, and the shelf 8 and the machine body 7 are fixed by matching and clamping based on the clamping rod 82 and the hanging point mechanism 72.

Specifically, the body 7 has a protruding ring structure near the hanging point mechanism 72 to form a positioning slot 73, and the positioning slot 73 is used for the clamping rod 82 to be positioned in cooperation with the hanging point mechanism 72.

Specifically, fig. 17 shows a structural schematic diagram of a shelf in an embodiment of the present invention, where the shelf 8 includes a fixed hanging rod 81 and a clamping rod 82, the clamping rod 82 includes a first sub-card connecting rod 821 and a second sub-card connecting rod 822, a positioning mechanism 823 is provided on the clamping rod 82, the positioning mechanism 823 is fixed to the first sub-card connecting rod 821 and the second sub-card connecting rod 822 in a sleeved manner, a positioning pin 8231 is formed by protruding the positioning mechanism 823, the positioning pin 8231 is connected to the positioning slot 73 in a matched manner, and the clamping rod 82 and the hanging point mechanism 72 can be aligned and matched quickly by the connection and matching of the positioning pin 8231 and the positioning slot 73.

Specifically, the one end of joint pole 82 is provided with first joint hook 824, the one end of first joint hook 824 is fixed on the joint pole 82, other end bending type becomes first crotch portion 8241, the other end of joint pole 82 is provided with second joint hook 825, the one end of second joint hook 825 is fixed on the joint pole 82, other end bending type becomes third crotch portion 8251, the one end of hanging some mechanism 72 is provided with first hanging point 721, the other end of hanging some mechanism 72 is provided with the second and hangs some 722, first joint hook 824 stretches into joint is fixed in the first hanging point 721, second joint hook 825 stretches into the second is hung some 722 interior joint and is fixed.

Specifically, the fixed hanging rod 81 comprises a fixed hook 811, a first sub-fixed hanging rod 812 and a second sub-fixed hanging rod 813, and the fixed hook 811 is fixedly sleeved on the first sub-fixed hanging rod 812 and the second sub-fixed hanging rod 813. The fixed hook 811 is bent to form a U-shaped hook groove 8111, and the hook rod 71 is clamped in the U-shaped hook groove 8111. Further, the goods shelf 8 is connected to the machine body 7, and the U-shaped hook slot 8111 can limit the movement of the hook rod 71, so that the structure is stable; when the clamping rod 82 of the shelf 8 is separated from the hanging point mechanism 72, the hook rod 71 can be separated from the U-shaped hook groove 8111 under the action of gravity.

Fig. 18 shows a schematic structural diagram of a point hanging mechanism in an embodiment of the present invention, specifically, the point hanging mechanism 72 includes an actuating release mechanism 723, the actuating release mechanism 723 includes a main connecting rod 7232, a first sub-connecting rod 7233 and a second sub-connecting rod 7234, the main connecting rod 7232 extends out of a third sub-connecting rod 7235 at a position of the paddle 7231, one end of the first sub-connecting rod 7233 is fixedly connected to one end of the main connecting rod 7232, and the other end of the first sub-connecting rod 7233 is connected to one end of the third sub-connecting rod 7235; one end of the second sub-connecting rod 7234 is fixedly connected to the other end of the main connecting rod 7232, and the other end of the second sub-connecting rod 7234 is fixedly connected to the end of the third sub-connecting rod 7235 extending out. The main connecting rod 7232, the first sub-connecting rod 7233, the second sub-connecting rod 7234 and the third sub-connecting rod 7235 form a triangular stable structure, which improves the structural stability and rigidity of the actuating and releasing mechanism 723.

Specifically, one end of the activation release mechanism 723 is connected to the first hanging point 721, and the other end of the activation release mechanism 723 is connected to the second hanging point 722. The main connecting rod 7232 is provided with a plectrum 7231 formed by a convex rib structure near the middle position, and the plectrum 7231 is used for controlling the actuating release mechanism 723 to complete the actuating release operation.

Specifically, the machine body 7 is provided with a motor 74, the machine body 7 is provided with a motor groove 75 at a side of the hanging point mechanism 72, the motor 74 is arranged in the motor groove 75, an output shaft of the motor 74 is connected with an eccentric wheel 741, a proximal end of the eccentric wheel 741 is close to the plectrum 7231, and the eccentric wheel 741 can push the activation and release mechanism 723 under the action of the motor 74.

Specifically, fig. 19 shows a schematic diagram of an internal structure of a first hanging point in an embodiment of the present invention, a first hanging groove 726 and the first hanging hook 724 are arranged inside the first hanging point 721, the first hanging groove 726 is used for accommodating the first hanging hook 724 and the first clamping hook 824, the first hanging groove 726 is provided with a second curved groove portion 7263, a first curved groove portion 7261 is arranged below the second curved groove portion 7263, the second curved groove portion 7263 accommodates a first curved hook portion 8241 of the first clamping hook 824, the first curved groove portion 7261 accommodates a first curved portion 7242 of the first hanging hook 724, and the first curved portion 7242 can move in the first curved groove portion 7261.

Specifically, a first through groove 7262 is disposed on a side of the first curved groove 7261 at the curved portion, a spring 727 is disposed on the first through groove 7262, one end of the spring 727 is fixed at the bottom of the first through groove 7262, the other end of the spring 727 extends out of the first through groove 7262 and is connected to a second protruding pin 7243 of the first hook 724, and the second protruding pin 7243 can limit the position of the spring 727, so as to prevent the spring 727 from falling off and affecting the operation of the actuation release mechanism.

First string of some 721 is inside to be provided with first couple 724, first couple 724 one end bending type becomes second crotch portion 7241, the other end of first couple 724 to the crooked first flexion 7242 of the direction that second crotch portion 7241 buckled, second crotch portion 7241 is the protruding first protruding round pin 7244 of direction of buckling dorsad formation, first flexion 7242 is dorsad the protruding second protruding round pin 7243 of formation of crooked direction. First crotch portion 8241 of first joint hook 824 with the cooperation of the second crotch portion 7241 of first couple 724 is connected, through the cooperation of first crotch portion 8241 and second crotch portion 7241, will first joint hook 824 and first couple 724 joint accomplish joint pole 82 and hang being connected of some mechanism 72.

Specifically, a first protruding pin 7244 of the first hook 724 is fixed to one end of the main connecting rod 7232, and the actuating and releasing mechanism 723 can drive the first hook 724 to move through the main connecting rod 7232, so that the first hook 724 and the first clamping hook 824 are disengaged to complete the releasing action.

Further, when the paddle 7231 is forced to drive the actuating release mechanism 723, and the first hook 724 moves based on the actuating release mechanism 723, the spring 727 is squeezed by the first curved portion 7242 to begin to contract, when the actuating release mechanism 723 completes a releasing action, and without an external force, the spring 727 begins to return, and the first curved portion 7242 can move toward the first curved groove portion 7261 based on the action of the spring 727, so as to drive the first hook 724 to return.

Specifically, when the motor 74 starts to operate, and the eccentric wheel 741 rotates based on the motor 74, a distal end of the eccentric wheel 741 starts to be close to the paddle 7231 and is connected to the paddle 7231, the paddle 7231 is shifted during rotation, the actuating release mechanism 723 drives the first hook 724 and the first snap hook 824 to disengage based on a thrust of the eccentric wheel 741, and drives the second hook 725 and the second snap rod 825 to disengage, when an end of the eccentric wheel 741 farthest from the rotation axis is connected to the paddle 7231, the eccentric wheel 741 is separated from the paddle 7231, and the actuating release mechanism 723 starts to reset under an action of the internal spring 727.

Further, in the case that the motor 74 is not used, the releasing operation may be implemented by manually dialing the dial 741.

Specifically, the second hanging point 722 has the same structure and function as the first hanging point 721, and specifically, reference may be made to the structure relationship and function of the first hanging point 721, which is not described in detail herein.

Specifically, when carrying goods and materials, load the goods and materials on the goods storehouse, then will through high strength fiber rope the goods storehouse with goods shelves 8 fixed connection will the fixed peg 81 of goods shelves 8 passes through fixed couple 811 with couple pole 71 on the organism 7 is connected, will locating pin 823 on the joint pole 82 aims at constant head tank 73 on the organism 7, the past organism 7 promotes the goods storehouse, will first joint hook 824 on the joint pole 82 stretches into in the first hanging point 721, second joint hook 825 stretches into in the second hanging point 722, first joint hook 824 with first couple 724 cooperation is connected, second joint hook 825 with second couple 725 cooperation is connected, sends clear and fragile sound when the joint targets in place, accomplishes the carrying-on of goods and materials.

Further, unmanned aerial vehicle goods shelves 8 can carry on the goods storehouse of model size difference, also can carry on the article that the shape is complicated, promptly unmanned aerial vehicle can adapt to the transportation requirement of multiple goods and materials.

Specifically, when unmanned aerial vehicle transported goods and materials arrived the release region, unmanned aerial vehicle hovered in the release region overhead, started motor 74, through eccentric 741 promotes plectrum 7231, thereby drive activate release mechanism 723, first joint hook 824 with first couple 724 breaks away from the cooperation, second joint hook 825 with second couple 725 breaks away from the cooperation, joint pole 82 is in break away from on the organism 7, fixed couple 811 under the action of gravity of goods storehouse and goods and materials with couple pole 71 breaks away from the cooperation, goods shelves 8 and goods storehouse can drop from unmanned aerial vehicle, put in appointed region.

Further, actuating release mechanism 723 resets under the effect of spring 727, makes things convenient for next material to load and transport, unmanned aerial vehicle has reduced when returning a voyage goods shelves 8 with the resistance in goods storehouse, and the load is lighter, has reduced unmanned aerial vehicle's energy consumption, guarantees unmanned aerial vehicle's continuation of the journey.

Specifically, goods shelves 8 are general goods shelves, according to the task demand of difference can carry on goods storehouse, camera equipment, agricultural equipment etc. on goods shelves 8, promptly unmanned aerial vehicle can satisfy the task demand in fields such as material transportation, unmanned aerial vehicle shooting and agricultural production.

The embodiment of the invention provides a vertical take-off and landing fixed wing unmanned aerial vehicle, which comprises wings, wherein side wings on the wings are fixed on a main wing in a butt joint mode based on pipes, the wings are convenient to disassemble and assemble, a plurality of power modules of the unmanned aerial vehicle are carried on the wings, the power modules have the same structure and can be used by changing positions, and a throwing mechanism is arranged on the wings, so that goods can be borne, and other equipment can also be hung on the wings. Unmanned aerial vehicle's foot rest is fixed on the wing based on rapid disassembly structure, conveniently changes the part. Unmanned aerial vehicle can adapt to the task requirement in multiple field, can change the quantity of power module according to the task demand, guarantees unmanned aerial vehicle's continuation of the journey, the sexual valence relative altitude.

The above embodiments of the present invention are described in detail, and the principle and the implementation of the present invention are described herein by using specific embodiments, and the description of the above embodiments is only used to help understanding the method of the present invention and the core idea thereof; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (10)

1. A vertical take-off and landing fixed wing unmanned aerial vehicle is characterized by comprising a vehicle body, wings and four power modules;

the wing comprises a main wing and side wings, the body is arranged in the middle of the main wing, and the four power modules are symmetrically distributed on the main wing by taking the body as the center;

any one of the four power modules is provided with a cruise system, a vertical take-off and landing system, a connecting pipe, a power system and a system control box, wherein the power system is arranged in the system control box;

the cruise system comprises a front pull paddle and an empennage, the vertical take-off and landing system comprises four rotors, a system installation part is arranged in the middle of the connecting pipe, and the system control box is installed on the system installation part;

four rotors use system control case is central symmetrical arrangement is in on the connecting pipe, connecting pipe one end is connected with the front oar that draws, the other end of connecting pipe is connected with the fin based on first rapid disassembly structure.

2. The vtol fixed wing drone of claim 1, wherein the drone tail includes a fixed portion, a rotating portion, a vertical tail and a horizontal tail, the vertical tail being fixed to the fixed portion;

the rotating part is a concave component, a concave groove formed by the depression of the rotating part accommodates the fixing part, and the rotating part is fixed on the fixing part;

the middle of the horizontal tail is sunken to form a bayonet position, and the horizontal tail is clamped on the rotating part based on the bayonet position.

3. The VTOL fixed wing drone of claim 1, wherein the connection tube comprises: first sub-connecting pipe and second sub-connecting pipe, first sub-connecting pipe one end is the wing link, the first sub-connecting pipe other end is the electrical property link, preceding oar or fin of pulling is being connected to the wing link, the electrical property link with the second sub-connecting pipe cup joints fixedly based on second quick detach structure.

4. The vtol fixed wing drone of claim 1, wherein the power module further comprises a module body, the module body including a skeleton, the skeleton having a connection mechanism and a hook slot disposed thereon;

the system control box is arranged in the framework, and the connecting pipe extends into the framework and is connected with the system control box in a matching mode.

5. The VTOL fixed wing UAV of claim 4, wherein the module junction box comprises a first side plate, a second side plate, and a capture bar, the first and second side plates cooperatively connected with the frame based on the connection mechanism, the capture bar cooperatively connected with the hook slot.

6. The vtol fixed wing drone of claim 1, wherein the wing includes a main wing and a side wing, the main wing attachment end of the side wing extending outward beyond the first and second attachment rods;

the main wing is characterized in that a first connecting hole and a second connecting hole are formed in the side wing connecting end of the main wing, the first connecting rod extends into the main wing through the first connecting hole, and the second connecting rod extends into the main wing through the second connecting hole.

7. The VTOL fixed wing UAV of claim 6, wherein the first link rod is sleeved with a first bushing and a second bushing, and the second link rod is sleeved with a third bushing and a fourth bushing;

the first shaft sleeve, the second shaft sleeve, the third shaft sleeve and the fourth shaft sleeve are back to one side of the side wing and surround the shaft center of the shaft sleeve to form a circle of inclined plane structure.

8. The VTOL fixed-wing UAV of claim 6, wherein the body is arranged at the middle position of the main wing, and a plurality of foot connecting boxes are symmetrically arranged on the main wing by taking the body as the center;

the foot rest connecting box is connected with an unmanned aerial vehicle foot rest based on a quick-release structure.

9. The VTOL fixed wing drone of claim 1, wherein a shelf is attached to the bottom of the airframe;

one end of the bottom of the machine body is provided with a hanging point mechanism, the hanging point mechanism is provided with a hanging point part, and the other end of the machine body is provided with a hook rod;

the goods shelf comprises a fixed hanging rod and a clamping and connecting rod, wherein a clamping and connecting hook is arranged on the clamping and connecting rod and is connected with a hook of the hanging point part in a matching manner;

the fixed hanging rod is sleeved with a fixed hook, and the fixed hook is connected with the hanging hook rod in a matching way.

10. The vtol fixed wing drone of claim 9, wherein the hang point mechanism further includes an actuation release mechanism, the hang point portion being fixed on one end of the actuation release mechanism;

the actuating release mechanism is provided with a shifting sheet formed by a convex rib structure at a position close to the middle part, the machine body is provided with a motor, an output shaft of the motor is connected with an eccentric wheel, and the near shaft end of the eccentric wheel is close to the actuating release mechanism.

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