CN213735536U - Unmanned plane - Google Patents

Abstract

The utility model discloses an unmanned aerial vehicle relates to unmanned air vehicle technical field, and this unmanned aerial vehicle includes: the outer wall of the machine arm is provided with a machine arm limiting groove; a rotor module formed with a module limiting groove; and the limiting part comprises a horn limiting part and a module limiting part, wherein the horn limiting part is detachably embedded into the horn limiting groove, and the module limiting part is detachably embedded into the module limiting groove so as to jointly limit the relative position of the rotor module and the horn. Unmanned aerial vehicle can be including replacing the multiple locating part of installation, and in the locating part of difference, the relative position of the spacing portion of horn and the spacing portion of module is mutually different, unmanned aerial vehicle sets up to can be through replacing the different locating parts of installation in order to adjust the rotor module with the relative position of horn. The utility model discloses an unmanned aerial vehicle's mounting structure is simple, connects firmly reliably.

Description

Unmanned plane

Technical Field

The utility model relates to an unmanned air vehicle technique field specifically, relates to an unmanned aerial vehicle.

Background

In recent years, with the development of multi-rotor aircrafts, due to the advantages of flexibility, quick response, unmanned flight, low operation requirement and the like, the multi-rotor aircrafts have been rapidly applied and developed in various fields, particularly in the agricultural field, and the multi-rotor aircrafts are one of important marks of agricultural aviation appliances. A multi-rotor aircraft generally includes a fuselage, a horn connected to the fuselage, a power system disposed on the horn for driving the unmanned aerial vehicle to fly, and a control system for controlling the flight of the multi-rotor unmanned aerial vehicle. The relative position of horn and driving system need be injectd in the equipment of many rotor crafts, should install and remove complex operation at present, and work efficiency is not high. In view of this, the prior art remains to be improved.

Disclosure of Invention

The utility model aims at providing a novel unmanned aerial vehicle, this unmanned aerial vehicle's mounting structure is simple, connects firmly reliably.

In order to achieve the above object, the utility model provides an unmanned aerial vehicle, this unmanned aerial vehicle includes:

the outer wall of the machine arm is provided with a machine arm limiting groove;

a rotor module formed with a module limiting groove; and

the locating part, including the spacing portion of horn and the spacing portion of module, wherein, the spacing detachably embedding of horn the horn spacing groove, the spacing detachably embedding of module the module spacing groove to inject jointly the rotor module with the relative position of horn.

Optionally, the drone may include a plurality of the limit parts that can be installed in a replaceable manner, and in different ones of the limit parts, the relative positions of the horn limit part and the module limit part are different from each other, and the drone is configured to be able to adjust the relative positions of the rotor module and the horn by installing different ones of the limit parts in a replaceable manner.

In some embodiments, the drone may be configured so that the relative circumferential position of the rotor modules in the circumferential direction of the horn can be adjusted by replacing different ones of the stops.

Further, the horn may have a cylindrical horn outer peripheral wall, the horn stopper groove is formed as a kidney-shaped stopper groove extending circumferentially on the horn outer peripheral wall, the module stopper portion is arch-bridge-shaped and includes a flat outer wall surface and an arc inner wall surface, and the horn stopper portion projects inward from the arc inner wall surface;

the arc-shaped inner wall surface comprises a first edge arc surface, a transition connection arc surface and a second edge arc surface which are sequentially connected in the circumferential direction of the horn, and the first edge arc surface and the second edge arc surface are respectively attached to the circumferential wall parts of the peripheral wall of the horn on two sides of the circumferential direction of the horn limiting groove.

Furthermore, the outer contours of a plurality of module limiting parts in the plurality of limiting parts which can be installed in a replaceable manner and the module limiting grooves in a matched manner can be the same.

Optionally, the arc length relationship of the first side arc surface and the second side arc surface may be set to be equal or unequal.

Optionally, the retainer may further include a retainer securing structure that forms a detachable connection with the rotor module.

Optionally, the module slot central axis of the module restraint slot and the rotor module central axis of rotation may coincide or be parallel.

Optionally, the central axis of the horn slot of the horn limiting slot may be arranged perpendicular to the horizontal plane.

Alternatively, on the same horn, the positional relationship between the horn groove central axis of the horn stopper groove and the module groove central axis of the module stopper groove may alternatively be set to be intersecting, mutually overlapping, mutually parallel, or mutually coplanar straight lines.

In some embodiments, the rotor module can include a rotor drive mechanism and a transition coupling assembly fixedly coupled between the rotor drive mechanism and the horn, the module stop slot being formed on the transition coupling assembly.

Optionally, the transition connection assembly may include a connection sleeve sleeved outside the horn, through-opening grooves extending to one shaft end along an axial direction are formed at both radial ends of a sleeve circumferential wall of the connection sleeve, and circumferential fastening portions for fastening and sleeving the circumferential fastening portions on the outer circumferential wall of the horn are symmetrically provided along both sides of the through-opening grooves.

The utility model discloses an unmanned aerial vehicle includes the locating part, the locating part includes spacing portion of horn and the spacing portion of module, the outer wall of horn forms the horn spacing groove, the rotor module is formed with the module spacing groove, horn spacing portion detachably imbeds the horn spacing groove and module spacing portion detachably imbeds the module spacing groove, the relative position between the horn spacing portion of locating part and the module spacing portion can decide the relative position of horn and rotor module after the installation, when the user needs to set the position between the rotation central axis of rotor module and the horizontal plane to certain particular position, can realize through installing corresponding stopper, so, can make unmanned aerial vehicle's mounting structure more simple and reasonable, it is also more convenient to dismantle, user experience is good; and the relative position of horn and rotor module is injectd through the mounting means of locating part embedding mounting groove, and structural strength is good, connects firm reliable.

Other features and advantages of the present invention will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 and 2 show a top view and a front view, respectively, of an unmanned aerial vehicle according to a specific embodiment of the present invention;

fig. 3 is an exploded view of the installation of the horn and rotor modules of the drone of fig. 1;

FIGS. 4 and 5 are respectively enlarged partial views of FIG. 3;

FIG. 6 is a schematic structural diagram of the limiting element in FIG. 3;

fig. 7, 8, 9 and 10 are schematic structural diagrams of four different limiting members of an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 11 is a schematic view of the coupling sleeve of FIG. 3;

FIG. 12 is a schematic structural view of the upper fixing frame in FIG. 3;

figures 13 and 14 are cross-sectional views of the rotor module of figures 13 and 14, respectively, taken at position a-a of figure 1 after installation of a different stop, wherein the central axis of rotation of the rotor module differs from the central axis of the horn slot;

FIG. 15 is a schematic view of the stopper of FIG. 14; and

fig. 16 is an enlarged schematic structural diagram of the limiting member in fig. 5.

Description of the reference numerals

1 horn 11 horn spacing groove

111 horn slot central axis 2 rotor module

21 module limiting groove 211 module groove central axis

212 positioning the central axis of rotation of the mounting portion 22

23 rotor drive mechanism 24 transition coupling assembly

241 connecting sleeve 2411 through open slot

2412 tightening part 2413 sleeve stopping part in circumferential direction

242 upper fixing frame 243 lower fixing frame

25 rotor 3 limit piece

31 arm limiting part 32 module limiting part

321 flat outer wall 322 arc inner wall

3221A first side arc surface 3222 a second side arc surface

3223 transition connection cambered surface 4 fuselage

5 stop piece

Detailed Description

The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the present invention.

The following describes with reference to the drawings that the unmanned aerial vehicle according to the utility model discloses an unmanned aerial vehicle, this unmanned aerial vehicle's mounting structure is simple, connects firmly reliably.

The relative position of current unmanned aerial vehicle's horn and rotor module is fixed, if the angle of the rotatory central axis and the horizontal plane of rotor module need be adjusted, then need adjust the relative position between unmanned aerial vehicle's fuselage and the horn, but the joint strength between fuselage and the horn requires highly, connection structure is also comparatively complicated usually, install and remove complex operation, not only reduce and install and remove efficiency, also not friendly to the not good user of manual operation ability, be unfavorable for installing and removing the regulation fast to unmanned aerial vehicle, lead to work efficiency lower. In view of this, the utility model discloses a discovery after the utility model people continuously think, can set up the relative position of fuselage and horn that connection structure is complicated to the relative position through adjusting between horn and the rotor module adjusts the rotation central axis of rotor module and the angle of horizontal plane. Further, the utility model discloses the people has thought how to simplify the erection joint structure between horn and the rotor module to find that the erection joint form through the locating part can carry out great simplification to the relative position between horn and the rotor module, can realize simple and easy convenient installation operation from this, can not only improve unmanned aerial vehicle's the efficiency of installing and removing greatly, also need not to have too high requirement to user's manual operation ability, work efficiency can effectively improve, user experience is good, the following will explain in detail.

Referring to fig. 1 to 16, the utility model discloses an unmanned aerial vehicle includes locating part 3, locating part 3 includes the spacing portion 31 of horn and the spacing portion 32 of module, the outer wall of horn 1 is formed with horn spacing groove 11, rotor module 2 is formed with module spacing groove 21, the spacing portion 31 detachably of horn imbeds horn spacing groove 11 and the spacing portion 32 detachably of module imbeds module spacing groove 21, so, the relative position between the spacing portion 31 of horn of locating part 3 and the spacing portion 32 of module can decide the relative position of horn 1 and rotor module 2 after the installation. When the user need set for the position between the rotatory central axis 22 of rotor module 2 and the horizontal plane for a certain specific position, the corresponding stopper 3 of accessible installation realizes, by can be so that unmanned aerial vehicle's mounting structure is simpler, it is also more convenient to dismantle, and user experience is good. And, the relative position of horn 1 and rotor module 2 is injectd through the mounting means of locating part 3 embedding mounting groove, and structural strength is good, connects firmly reliably. It should be noted that, the shapes of the horn limiting portion 31 and the module limiting portion 32 of the limiting member 3 and the corresponding horn limiting groove 11 and the module limiting groove 21 may be various, and the relative positions of the horn limiting portion 31 and the module limiting portion 32 may be various, which is not limited to this embodiment.

In one embodiment shown in fig. 3 to 10, the horn 1 is cylindrical and has a cylindrical horn outer peripheral wall, and the horn engaging groove 11 is an arc-shaped engaging groove formed in the horn outer peripheral wall and extending in the circumferential direction of the horn outer peripheral wall, and as shown in fig. 4, the horn engaging groove 11 is a kidney-shaped groove extending along the circumferential arc of the horn. As shown in fig. 6 to 10, the module limiting portion 32 is shaped like an arch bridge and includes a flat outer wall surface 321 and an arc-shaped inner wall surface 322, where a position relatively close to the central axis of the horn 1 is defined as "inner" and a position relatively far from the central axis of the horn 1 is defined as "outer", and the horn limiting portion 31 protrudes inward from the arc-shaped inner wall surface 322, that is, the horn limiting portion 31 protrudes from the arc-shaped inner wall surface 322 toward the side far from the flat outer wall surface 321, in other words, the horn limiting portion 31 protrudes from the arc-shaped inner wall surface 322 toward the central axis of the horn 1.

The arc inner wall surface 322 includes a first side arc surface 3221, a transition connection arc surface 3223, and a second side arc surface 3222 connected in sequence along the circumferential direction of the horn 1. As shown in fig. 7 and 13 and fig. 10 and 14, the module stopper 32 defined by the flat outer wall surface 321 and the side wall surrounding the flat outer wall surface 321 is fittingly fitted in the module stopper groove 21. The axial thickness of the horn limiting portion 31 is less than the axial thickness t1 of the module limiting portion 32 at the connecting portion of the module limiting portion 32 and the horn limiting portion 31, the arc inner wall surface 322 is connected with the horn limiting portion 31 and is formed with a first side arc surface 3221, a transition connection arc surface 3223 and a second side arc surface 3222 around the horn limiting portion 31, and the transition connection arc surface 3223 is connected between the first side arc surface 3221 and the second side arc surface 3222. The first side arc surface 3221 and the second side arc surface 3222 are respectively attached to the peripheral wall of the horn on both sides of the circumference of the horn spacing groove 11, and the transitional connection arc surface 3223 is attached to the peripheral wall of the horn on both sides of the axial direction of the horn spacing groove 11. Of course, the present invention is not limited to this, when the axial thickness of the arm-limiting portion 31 is greater than or equal to the axial thickness t1 of the module-limiting portion at the connecting portion between the module-limiting portion 32 and the arm-limiting portion 31, the arc inner wall surface 322 meets the arm-limiting portion 31 and is formed with only the first side arc surface 3221 and the second side arc surface 3222 around the arm-limiting portion 31. Note that, as shown in fig. 16, a module stopper axial thickness t1 of the module stopper 32 is a thickness of the horn stopper 31 in the axial direction of the horn 1, and a horn stopper axial thickness of the horn stopper 31 is a thickness of the horn stopper 31 in the axial direction of the horn 1 (not shown).

Optionally, in order to be able to adjust the angle between the central axis of rotation 22 of the rotor module 2 and the horizontal plane so that the drone can adapt to a variety of different flight parameters, the drone comprises a variety of limit pieces 3 that are replaceably mounted, in different limit pieces 3 the relative positions of the horn limit part 31 and the module limit part 32 being different from each other, so that the drone can be arranged to be able to adjust the relative positions of the rotor module 2 and the horn 1 by replaceably mounting different limit pieces 3. In order to ensure that various limiting parts 3 can be replaced, installed and used and ensure that the structures of other components are not required to be changed, the various limiting parts 3 can be installed in a matched manner, in the various limiting parts 3 which are installed in a replaceable manner, the outer contours of the plurality of module limiting parts 32 which are installed in a matched manner with the module limiting grooves 21 are the same, the outer contours of the plurality of horn limiting parts 31 which are installed in a matched manner with the horn limiting grooves 11 are the same, it is to be noted that the outer contours of the plurality of module limiting parts 32 which are installed in a matched manner with the module limiting grooves 21 are the same, that is, the plurality of module limiting parts 32 which are installed in a matched manner with the module limiting grooves 21 are inserted, and the outer contours of the plurality of horn limiting parts 31 which are installed in a matched manner with the horn limiting grooves 11 are the same, that the plurality of horn limiting parts 31 which are installed in a matched manner with the horn limiting grooves 11 are inserted in a matched manner. As shown in fig. 7 to 10, four different limiting members 3 are mounted in a replaceable manner, and the outer profiles of the four module limiting portions 32 of the four limiting members 3 mounted in a replaceable manner and the module limiting groove 21 are the same, that is, the flat outer wall surface 321 of the four module limiting portions 32 and the side wall surrounding the flat outer wall surface 321 are the same and can be embedded in the module limiting groove 21 in a matching manner; and the side walls of the four horn limiting parts 31 of the four limiting parts 3 which can be installed in a replaceable way are the same as the parts which are embedded and matched with the horn limiting grooves 11. So, the user can be according to the use needs, directly select corresponding locating part 3 in multiple locating part 3 install can, locating part 3 low in production cost, the commonality is good, can be so that the change operation is more convenient.

Specifically, the unmanned aerial vehicle is set up to be able to install different locating parts 3 through the replacement in order to adjust rotor module 2 at the circumferential relative position of horn 1's circumference. Since the outer contours of the module position-limiting portions 32 of the different replaceable position-limiting members 3 and the module position-limiting grooves 21 are the same (that is, the module position-limiting portions 32 of the different position-limiting members 3 are inserted into the module position-limiting grooves 21 in a shape-matching manner), the relative positions of the horn position-limiting portions 31 and the module position-limiting portions 32, for example, the same or multiple different arc length size relationships, can be changed by setting the arc length size relationships between the first side arc surfaces 3221 and the second side arc surfaces 3222 of the position-limiting members 3, and then the circumferential relative positions of the rotor module 2 and the horn 1 on the peripheral wall of the horn can be adjusted.

For example, in an embodiment of the present invention, the arm slot central axis 111 is perpendicular to the horizontal plane, and as shown in the cross-sectional views of fig. 13 and 14, the included angle between the left and right side walls of the arm limiting slot 11 is 12 °, and the included angle between the left and right side walls of the arm limiting portion 31 mounted in fig. 7 to 10 in matching with the arm limiting slot 11 is also 12 °. In four different limiting members 3 shown in fig. 7 to 10, which are mounted alternatively, the arc lengths of the first side arc surface 3221 and the second side arc surface 3222 of the limiting member 3 in fig. 7 are equal, fig. 13 is a cross-sectional view of the limiting member 3 in fig. 7 mounted on the unmanned aerial vehicle, the included angles between the side walls at the left end and the right end of the horn limiting portion 31 and the central axis 211 of the module slot are both 6 °, and at this time, the included angle between the central axis 22 of rotation of the rotor module 2 and the vertical line perpendicular to the horizontal plane is 0 °; the arc lengths of the first side arc surface 3221 and the second side arc surface 3222 of the limiting member 3 in fig. 10 are not equal, fig. 14 is a cross-sectional view of the limiting member 3 in fig. 10 installed on the unmanned aerial vehicle, the included angles between the left and right side walls of the horn limiting portion 31 and the module groove central axis 211 are 0 ° and 12 °, and at this time, the included angle between the rotation central axis 22 of the rotor module 2 and the vertical line perpendicular to the horizontal plane is 6 °. Likewise, the central axis of rotation 22 of the rotor module 2 of the drone, to which the stop elements 3 of fig. 8 and 9 are respectively mounted, and the vertical line perpendicular to the horizontal plane have an angle of 3 ° and 5 °, respectively.

It can be understood by those skilled in the art that fig. 7 to 10 are only one specific embodiment of the locating element 3 of the unmanned aerial vehicle of the present invention, the shapes of the arm limiting portion 31 and the module limiting portion 32 of the locating element 3 and the corresponding arm limiting groove 11 and the module limiting groove 21 may be various, and the setting forms of the relative positions of the arm limiting portion 31 and the module limiting portion 32 may also be various, for example, the arm limiting portion 31 may be an approximate cylinder, and the arm limiting groove 11 is an approximate cylindrical groove, and the present invention is not limited thereto. Furthermore, the limiting member 3 in fig. 7 to 10 can adjust the circumferential relative position of the rotor module 2 in the circumferential direction of the horn 1, but the present invention is not limited thereto, and the limiting member 3 can also adjust the relative position of the rotor module 2 in any direction of the horn 1, for example, when the end of the extending end of the horn 1 is spherical, the rotor module 2 is installed on the end of the spherical shape of the horn 1 through the limiting member 3, and at this time, the unmanned aerial vehicle can be set to adjust the relative position of the rotor module 2 in any direction of the horn 1 by changing the relative positions of the horn limiting portion 31 and the module limiting portion 32.

Alternatively, in order to facilitate a user to adjust the position of the rotor module 2 more intuitively, the module slot central axis 211 of the module limiting slot 21 and the rotation central axis 22 of the rotor module 2 may be disposed in a coincident or parallel relationship, and further, the horn slot central axis 111 of the horn limiting slot 11 may also be disposed perpendicular to the horizontal plane. As shown in fig. 13 and 14, the module groove central axis 211 of the module stopper groove 21 is parallel to the rotation central axis 22 of the rotor module 2, and the arm groove central axis 111 of the arm stopper groove 11 is arranged perpendicular to the horizontal plane. Of course, module groove central axis 211 of module spacing groove 21 also can not coincide or be parallel with rotor module 2's rotation central axis 22, and horn groove central axis 111 of horn spacing groove 11 also can set up perpendicular to the horizontal plane, the utility model discloses be not limited to this, can set up according to practical application and production needs.

Optionally, on same horn 1, the utility model discloses an unmanned aerial vehicle can come to set up the horn groove central axis 111 of horn spacing groove 11 and the module groove central axis 211's of module spacing groove 21 positional relationship according to practical application and production needs, but horn groove central axis 111 of horn spacing groove 11 and the module groove central axis 211's of module spacing groove 21 positional relationship set up as crossing alternatively, coincide each other, be parallel to each other or each other be the different face straight line.

Further, in order to facilitate attachment of rotor module 2 to horn 1, rotor module 2 may include a rotor drive mechanism 23 and a transition coupling assembly 24, transition coupling assembly 24 being fixedly coupled between rotor drive mechanism 23 and horn 1, and module limiting slot 21 being formed in transition coupling assembly 24.

Further, as shown in fig. 5 and 11, the transition connection assembly 24 may include a connection sleeve 241 sleeved outside the horn 1, wherein both ends in the radial direction of the sleeve peripheral wall of the connection sleeve 241 are respectively formed with a through opening groove 2411 extending to one shaft end in the axial direction, and the groove edges on both sides of the through opening groove 2411 are symmetrically provided with circumferential fastening portions 2412 for fastening and sleeving on the outer peripheral wall of the horn. So, the adapter sleeve 241 cover is established on the horn periphery wall, and accessible circumference fastening portion 2412 and link up open slot 2411 are adjusted the connection fastening degree between adapter sleeve 241 and the horn 1, can make the connection between adapter sleeve 241 and the horn 1 fasten more reliably. In addition, in order to facilitate the determination of whether the connecting sleeve 241 is mounted in place, a stopping portion 2413 for stopping the protruding end of the horn 1 is formed by extending the barrel of the other shaft end of the connecting sleeve 241 inward in the radial direction.

Optionally, the limiting member 3 may further include a limiting member fixing structure detachably connected to the rotor module 2. In the embodiment of the present invention, as shown in fig. 5 and 11, the outer peripheral wall of the connecting sleeve 241 radially extends outward to form the positioning installation portion 212, the module limiting groove 21 is a through groove formed on the positioning installation portion 212, the module limiting groove 21 is aligned with the horn limiting groove 11, and the limiting member 3 is sequentially inserted into the module limiting groove 21 and the horn limiting groove 11. Optionally, in order to prevent the limiting member 3 from being disengaged from the module limiting groove 21 after being embedded in the module limiting groove 21, the limiting member 3 needs to be further fixed. As shown in fig. 15, the rotor module 2 may further include a stopper 5 fixedly mounted on the positioning and mounting portion 212 and abutting against the flat outer wall 321 of the module limiting portion 32, and the stopper 5 may be fixedly mounted on a mounting hole of the positioning and mounting portion 212 by a fastener. Wherein, for make unmanned aerial vehicle's mounting structure further simplify, reduce the production quantity of part, reduction in production cost, stop member 5 can with locating part 3 integrated into one piece, locating part 3 still can include promptly and form the locating part fixed knot who can dismantle the connection with location installation department 212 and construct. For example, the flat outer wall 321 of the limiting member 3 may be formed with an edge lug, and the lug is formed with a mounting hole, so that the limiting member 3 can be fixedly mounted by a fastener and the lug and the mounting hole on the positioning and mounting portion 212.

Wherein, the utility model discloses an unmanned vehicles still includes fuselage 4, and horn 1 is a plurality of and stretches out along fuselage 4's circumference interval, and rotor module 2 installs on horn 1's the end that stretches out, and rotor actuating mechanism 23 still includes and mutually supports and centre gripping the mount 242 and the mount 243 down on the periphery wall of adapter sleeve 241, and rotor actuating mechanism 23 fixed mounting is on mount 242. The body 4 may be provided with electrical mounting portions for mounting and carrying electronic components such as sensors, circuit boards, processors, communication modules, and batteries.

The drone shown in fig. 1 to 4 is a quad-rotor drone, so the number of rotor modules 2 is four, four rotor modules 2 are distributed in a rectangular area around the fuselage 4 by the support of the horn 1, and each rotor module 2 is located on one vertex of the rectangle. Of course, the number of rotor modules 2 may be varied as desired according to different requirements, for example, the number of rotor modules 2 may be two, three, six, eight, sixteen, etc., even the number of rotor modules 2 may be only one, and accordingly, the number of arms 4 may also be set as appropriate according to the number of rotor modules 2. The horn 1 is configured to support the rotor modules 2 and to distribute the rotor modules 2 in a predetermined pattern about the fuselage 4, and the horn 1 is distributed about the fuselage 4 and is fixedly attached to the fuselage 4. Rotor module 2 includes rotor drive mechanism 23 and rotor 25, and rotor drive mechanism 23 is fixed to the end of horn 1 remote from fuselage 4 by transition joint assembly 24.

As shown in fig. 1, in order to increase the flight performance and the steering flexibility of the unmanned aerial vehicle, the limiting member 3 may adjust an included angle between a central rotation axis 22 of the rotor driving mechanism 23 and a horizontal plane. When the rotation central axis 22 of the rotor driving mechanism 23 needs to be perpendicular to the horizontal plane, the limiting block 3 in fig. 7 can be installed and used; when it is necessary to make the central rotation axis 22 of the rotor driving mechanism 23 form an angle of 87 ° with the horizontal plane, the limiting member 3 in fig. 8 may be used. For another example, in a quad-rotor unmanned aerial vehicle, the central axis of rotation 22 of the rotor driving mechanism 23 needs to deflect outward by 2 ° away from the central axis of the unmanned aerial vehicle, that is, an angle of 88 ° with the horizontal plane, and the corresponding limit block 3 may be installed to make the central axis of rotation 22 of the rotor driving mechanism 23 form an angle of 88 ° with the horizontal plane.

The utility model discloses an unmanned aerial vehicle can be arranged in the agro-farming industry to carry out the operation activities such as pesticide spraying or moisture sprinkling irrigation to crops. Of course, this unmanned aerial vehicle also can be arranged in spraying, the photography of taking photo by plane, the electric power of forest fire extinguishing liquid and patrol other fields such as environmental monitoring, forest fire prevention and disaster condition inspection.

In summary, the utility model provides an unmanned aerial vehicle, which has simple installation structure and stable and reliable connection; the universality is good, the assembly and disassembly are convenient, the work efficiency is favorably improved, and the user experience is good.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

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

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims (12)

1. A drone, characterized in that it comprises:

the outer wall of the machine arm (1) is provided with a machine arm limiting groove (11);

a rotor module (2) formed with a module limiting groove (21); and

locating part (3), including the spacing portion of horn (31) and the spacing portion of module (32), wherein, the spacing portion of horn (31) detachably imbeds horn spacing groove (11), the spacing portion of module (32) detachably imbeds module spacing groove (21) to inject the relative position of rotor module (2) with horn (1) jointly.

2. A drone according to claim 1, characterised in that it comprises a plurality of said limit pieces (3) mounted in a replaceable manner, the relative positions of the horn limit portion (31) and the module limit portion (32) being different from each other in the different limit pieces (3), the drone being arranged so as to be able to adjust the relative positions of the rotor module (2) and the horn (1) by mounting the different limit pieces (3) in a replaceable manner.

3. A drone according to claim 2, characterised in that it is provided that the relative circumferential position of the rotor modules (2) in the circumferential direction of the horn (1) can be adjusted by mounting different stops (3) by replacement.

4. An unmanned aerial vehicle according to claim 3, wherein the horn (1) has a cylindrical horn outer peripheral wall, the horn limiting groove (11) is formed as a kidney-circular limiting groove extending circumferentially on the horn outer peripheral wall, the module limiting portion (32) is arch-bridge-shaped and includes a flat outer wall surface (321) and an arc-shaped inner wall surface (322), and the horn limiting portion (31) projects inwardly from the arc-shaped inner wall surface (322);

the arc-shaped inner wall surface (322) comprises a first side arc surface (3221), a transition connection arc surface (3223) and a second side arc surface (3222) which are sequentially connected in the circumferential direction of the horn (1), and the first side arc surface (3221) and the second side arc surface (3222) are respectively attached to the circumferential wall parts of the peripheral wall of the horn on two sides of the circumferential direction of the horn limiting groove (11).

5. A drone according to claim 4, characterised in that the module retainer parts (32) of the replaceably mounted retainers (3) are of the same outer contour as the module retainer grooves (21) in which they are fitted.

6. The drone of claim 5, wherein the arc length relationship of the first side arc surface (3221) and the second side arc surface (3222) are set equal or unequal.

7. An unmanned aerial vehicle according to claim 1, wherein the stop (3) further comprises a stop fixing structure forming a detachable connection with the rotor module (2).

8. The drone of claim 1, wherein the module slot central axis (211) of the module restraint slot (21) coincides with or is parallel to the rotational central axis (22) of the rotor module (2).

9. Unmanned aerial vehicle according to claim 1, characterized in that the horn slot central axis (111) of the horn limiting slot (11) is arranged perpendicular to the horizontal plane.

10. An unmanned aerial vehicle according to claim 1, wherein on the same horn (1), the positional relationship of the horn slot central axis (111) of the horn slot (11) and the module slot central axis (211) of the module slot (21) is alternatively arranged to be intersecting, mutually coincident, mutually parallel or mutually out-of-plane straight lines.

11. A drone according to any one of claims 1 to 10, wherein the rotor module (2) comprises a rotor drive mechanism (23) and a transition connection assembly (24), the transition connection assembly (24) being fixedly connected between the rotor drive mechanism (23) and the horn (1), the module restraint slot (21) being formed in the transition connection assembly (24).

12. The unmanned aerial vehicle of claim 11, wherein the transition connection assembly (24) comprises a connection sleeve (241) sleeved outside the horn (1), through-opening grooves (2411) axially extending to one shaft end are formed at two radial ends of a sleeve peripheral wall of the connection sleeve (241), and circumferential fastening portions (2412) for fastening and sleeving on the peripheral wall of the horn (1) are symmetrically arranged along grooves at two sides of the through-opening grooves (2411).

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