CN217198639U - Two-shaft unmanned aerial vehicle - Google Patents

Abstract

The utility model provides a diaxon unmanned vehicles. Two-axis unmanned vehicles includes: an aircraft body; the two arms are respectively arranged on two opposite sides of the aircraft body, and one end of each arm is connected with the aircraft body; the power assembly is respectively arranged at the other ends of the two arms and comprises a propeller and a first driving structure in driving connection with the propeller, and the first driving structure can be arranged in a swinging manner relative to the aircraft body; a reaction wheel assembly disposed on the aircraft body or horn, the reaction wheel assembly including a reaction wheel rotatably disposed relative to the aircraft body to provide a rotational inertia, the reaction wheel rotating in a direction opposite the direction of oscillation of the first drive structure. The technical scheme of the utility model in, the reaction wheel can compensate the inertia swing of aircraft body, makes the aircraft fly steadily.

Description

Two-shaft unmanned aerial vehicle

Technical Field

The utility model relates to an aircraft technical field particularly, relates to a diaxon unmanned vehicles.

Background

Aircraft include dual rotor aircraft (also known as twin-axis aircraft) and multi-rotor aircraft. Wherein, many rotor crafts, like: four rotor crafts include four screws, and four screws are the cross and alternately, the symmetric distribution is around the organism with four directions of controlling, in order to make the aircraft can face and predetermine the pitch direction flight, four rotor crafts are keeping under the unchangeable condition of two rotor propeller rotational speeds about, reduce the rotational speed of preceding rotor propeller, and the corresponding rotational speed that increases rotor propeller behind, make two rotors in front and back have the tension difference, thereby arouse the front and back slope of fuselage, make rotor tension produce with roll control horizontal component of horizontal direction quadrature, make the organism move forward. The front rotor propeller and the back rotor propeller can compensate the inertial swing of the aircraft body, so that the four-rotor aircraft can fly stably.

However, in order to enable the two-axis unmanned aerial vehicle to fly in the preset pitch direction, the driving structure for driving the propeller to rotate needs to swing in the preset pitch direction relative to the fuselage, so as to drive the two-axis unmanned aerial vehicle to fly in the preset pitch direction. Because the propeller and the driving structure thereof swing relative to the fuselage in the preset pitching direction, the fuselage is easy to generate forward and backward inertia swing, and the flying of the aircraft is unstable.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides a diaxon unmanned vehicles, reaction wheel can compensate the inertia swing of aircraft body, makes the aircraft stable flight.

In order to achieve the above object, according to an aspect of the present invention, there is provided a two-axis unmanned aerial vehicle, including: an aircraft body; the two arms are respectively arranged on two opposite sides of the aircraft body, and one end of each arm is connected with the aircraft body; the two power assemblies are respectively arranged at the other ends of the two arms, each power assembly comprises a propeller and a first driving structure in driving connection with the propeller, and the first driving structure can be arranged in a swinging mode relative to the aircraft body; a reaction wheel assembly disposed on the aircraft body or horn, the reaction wheel assembly including a reaction wheel rotatably disposed relative to the aircraft body to provide a rotational inertia, the reaction wheel rotating in a direction opposite to the direction of oscillation of the first drive structure.

Further, the reaction wheel rotates around the first rotating shaft, the central axis of the first rotating shaft is A1, the first driving structure swings around the second rotating shaft, and the central axis of the second rotating shaft is A2, wherein the central axis A1 of the first rotating shaft is parallel to or forms an included angle with the central axis A2 of the second rotating shaft.

Further, the central axis a1 of the first rotating shaft and the central axis a2 of the second rotating shaft are arranged at an included angle, which is greater than 0 ° and less than or equal to 30 °.

Further, the reaction wheel assembly comprises one or at least two reaction wheels, and when the reaction wheel assembly comprises at least two reaction wheels, the at least two reaction wheels are spaced apart on the aircraft body; or at least two reaction wheels are arranged on the horn at intervals; alternatively, one part of the at least two reaction wheels is arranged on the aircraft body and the other part of the at least two reaction wheels is arranged on the horn.

Further, the reaction wheel assembly includes at least two reaction wheels; the angle between the central axis a1 of the first shaft of each reaction wheel and the central axis a2 of the second shaft of the first drive arrangement is the same.

Further, the reaction wheel assembly also includes a reaction wheel mount disposed on the aircraft body or horn, the reaction wheel being disposed on the reaction wheel mount, and the reaction wheel being rotatably disposed relative to the reaction wheel mount.

Further, the reaction wheel assembly further comprises a second driving structure, the second driving structure is arranged on the reaction wheel mounting seat, and an output shaft of the second driving structure is in driving connection with the reaction wheel.

Further, the aircraft body comprises a fuselage and a foot stool connected with the fuselage, the horn is arranged on the fuselage, and the fuselage and/or the foot stool are/is provided with a reaction wheel mounting seat.

Further, the reaction wheel mounting seat comprises a first mounting portion and a second mounting portion which are connected, the first mounting portion is connected with or matched with the foot rest, and the reaction wheel is mounted on the second mounting portion.

Further, the two-axis unmanned aerial vehicle further comprises a third driving structure arranged on the arm, and the third driving structure is used for driving the first driving structure to swing relative to the vehicle body.

Use the technical scheme of the utility model, first drive structure is for the aircraft body along predetermineeing the pitch direction swing, drives the screw along predetermineeing the pitch direction swing, because the screw rotates and realizes the aircraft flight function, consequently, when the screw is along predetermineeing the pitch direction swing, can make the aircraft towards predetermineeing the pitch direction flight. First drive structure is for the aircraft body along predetermineeing the pitch direction swing, lead to the easy fore-and-aft inertial swing that takes place of aircraft body, among the technical scheme of this application, the unmanned vehicles of diaxon still includes the reaction wheel subassembly, the reaction wheel rotates, can provide inertia, because the rotation direction of reaction wheel is opposite with the swing direction of first drive structure, consequently, the reaction wheel can provide the effort that is opposite with the swing direction of first drive structure for the aircraft body, this effort can compensate the inertial swing of aircraft body to the effort of the fore-and-aft inertial swing of balanced aircraft body makes the aircraft stable flight.

Drawings

The accompanying drawings, which form a part of the present application, 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 invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic structural view of an embodiment of a two-axis unmanned aerial vehicle according to the present invention;

FIG. 2 shows an enlarged view of the two-axis UAV of FIG. 1 at B; and

fig. 3 shows an enlarged view of the two-axis unmanned aerial vehicle of fig. 1 at C.

Wherein the figures include the following reference numerals:

10. an aircraft body; 11. a foot rest; 12. a body; 13. a boom; 20. a propeller; 30. a first drive structure; 40. a reaction wheel assembly; 41. a reaction wheel; 42. a reaction wheel mounting seat; 43. a first mounting portion; 44. a second mounting portion; 50. a third drive structure; 60. flight control system.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

In the present application, where the contrary is not intended, the use of directional words such as "upper, lower, top and bottom" is generally with respect to the orientation shown in the drawings, or with respect to the component itself in the vertical, perpendicular or gravitational direction; likewise, for ease of understanding and description, "inner and outer" refer to the inner and outer relative to the profile of the components themselves, but the above directional words are not intended to limit the invention.

Inertia swing around taking place easily to the fuselage of aircraft leads to the unstable problem of aircraft flight, the utility model discloses a diaxon unmanned vehicles is provided to the embodiment of the utility model.

As shown in fig. 1, in the embodiment of the present invention, the two-axis unmanned aerial vehicle includes an aircraft body 10, two arms 13, two propellers 20, two first driving structures 30, and a reaction wheel assembly 40, where the two arms 13 are respectively disposed on two opposite sides of the aircraft body 10, and one end of each arm 13 is connected to the aircraft body 10; two power assemblies respectively arranged at the other ends of the two arms 13, wherein each power assembly comprises a propeller 20 and a first driving structure 30 in driving connection with the propeller 20, and the first driving structure 30 is arranged in a swinging way relative to the aircraft body 10; a reaction wheel assembly 40 is arranged on the aircraft body 10 or the horn 13, the reaction wheel assembly 40 comprising a reaction wheel 41, the reaction wheel 41 being rotatably arranged with respect to the aircraft body 10 to provide a moment of inertia, the reaction wheel 41 being rotatable in a direction opposite to the direction of oscillation of the first drive structure 30.

In the arrangement described above, the aircraft body 10 has a mounting and supporting role for the horn 13, the propeller 20, the first drive structure 30 and the reaction wheel assembly 40. The propeller 20 rotates to drive the aircraft body 10, the horn 13, the first drive structure 30 and the reaction wheel assembly 40 to move together, thereby achieving the flight function of the aircraft. The first drive structure 30 drives rotation of the propeller 20 to provide power for rotation of the propeller 20. The propeller 20 is arranged on the first driving structure 30, the first driving structure 30 swings relative to the aircraft body 10 along the preset pitch direction, and drives the propeller 20 to swing along the preset pitch direction, and the propeller 20 rotates to realize the flight function of the aircraft, so that the aircraft can fly towards the preset pitch direction when the propeller 20 swings along the preset pitch direction. In the present application, the two-axis unmanned aerial vehicle further includes a reaction wheel assembly 40, the reaction wheel 41 rotates to provide rotational inertia, and since the rotation direction of the reaction wheel 41 is opposite to the swinging direction of the first driving structure 30, the reaction wheel 41 can provide a force opposite to the swinging direction of the first driving structure 30 to the aircraft body 10, and the force can compensate the inertial swinging of the aircraft body 10, so as to balance the force of the fore-and-aft inertial swinging of the aircraft body 10, and make the aircraft fly stably.

The embodiment of the utility model provides an in, diaxon unmanned vehicles includes reaction wheel subassembly 40, and when flight around the aircraft takes place, reaction wheel subassembly 40 can provide compensation torque to the disturbance of aircraft body 10 to realize the stable flight of aircraft.

The embodiment of the utility model provides an in, through addding reaction wheel subassembly 40, can improve the stability of diaxon aircraft organism around the axle direction.

Through the technical scheme of this application, can increase the stability of aircraft, promote user experience.

Preferably, the first drive structure 30 is an electric motor.

As shown in fig. 1 to fig. 3, in the embodiment of the present invention, the reaction wheel 41 rotates around the first rotating shaft, the central axis of the first rotating shaft is a1, the first driving structure 30 swings around the second rotating shaft, and the central axis of the second rotating shaft is a2, wherein the central axis a1 of the first rotating shaft is parallel to or forms an included angle with the central axis a2 of the second rotating shaft.

The central axis a1 of the first rotating shaft is parallel to or forms an included angle with the central axis a2 of the second rotating shaft, and both can provide an acting force opposite to the swinging direction of the first driving structure 30 for the aircraft body 10 through the rotation of the reaction wheel 41, and can compensate the inertial swinging of the aircraft body 10 through the rotational inertia provided by the reaction wheel 41, so as to balance the acting force of the front and back inertial swinging of the aircraft body 10, and make the aircraft fly stably.

As shown in fig. 1 to fig. 3, in the embodiment of the present invention, the central axis a1 of the first rotating shaft and the central axis a2 of the second rotating shaft form an included angle, and the included angle is greater than 0 ° and less than or equal to 30 °.

When the angle is greater than 30 °, the forces provided by the rotation of the reaction wheel 41 are difficult to balance with the forces of the forward-backward inertial oscillation of the aircraft body 10, i.e. the moment of inertia provided by the reaction wheel 41 is not sufficient to fully compensate for the inertial oscillation of the aircraft body 10, and the flight of the aircraft remains unstable.

In an embodiment of the present invention, the included angle is greater than 0 ° and less than or equal to 30 °. In this case, the rotation of the reaction wheel 41 can provide the aircraft body 10 with a sufficient force opposite to the direction of oscillation of the first drive structure 30, so that the inertial oscillation of the aircraft body 10 can be compensated, and the forces on the aircraft body 10 can be balanced, thereby stabilizing the flight of the aircraft.

It should be noted that when the central axis a1 of the first rotating shaft is parallel to the central axis a2 of the second rotating shaft, the angle between the central axis a1 of the first rotating shaft and the central axis a2 of the second rotating shaft is equal to 0 °.

In the present embodiment, the form of the reaction wheel 41 of the reaction wheel assembly 40 is not particularly limited, for example: the reaction wheel may be an idling motor, the rotor weight or speed of which may be determined according to the desired moment of inertia of the aircraft fuselage. Such as: the reaction wheel can be an idle-load motor with a heavier rotor, and the heavier the rotor is, the larger the reaction inertia can be provided, and the more stable the machine body is; alternatively, the reaction wheel may be a motor with a higher rotation speed, and the higher the rotation speed of the motor, the larger the reaction inertia can be provided, and the more stable the body is.

As shown in FIG. 1, in an embodiment of the present invention, the reaction wheel assembly 40 includes at least two reaction wheels 41, and the at least two reaction wheels 41 are spaced apart on the aircraft body 10.

In the above arrangement, at least two reaction wheels 41 are used to provide the aircraft body 10 with a moment of inertia to balance the forces of the fore-aft inertial oscillation of the aircraft body 10 for stable flight of the aircraft. By providing at least two reaction wheels 41, the work load of a single reaction wheel 41 can be reduced, and by spacing at least two reaction wheels 41 on the aircraft body 10, the acting force provided by at least two reaction wheels 41 for the aircraft body 10 can be distributed more uniformly, so that the balancing effect of the aircraft is better, and the flight of the aircraft is more stable.

As shown in fig. 1, in the embodiment of the present invention, the number of the reaction wheels 41 is two.

Of course, in alternative embodiments of the present application, it is also possible to have the reaction wheel assembly 40 include one reaction wheel 41; alternatively, at least two reaction wheels 41 are provided on the horn 13 at intervals; alternatively, one part of the at least two reaction wheels 41 is arranged on the aircraft body 10 and another part of the at least two reaction wheels 41 is arranged on the horn 13.

As shown in fig. 1, in the embodiment of the present invention, the included angle between the central axis a1 of the first rotating shaft of each reaction wheel 41 and the central axis a2 of the second rotating shaft of the first driving structure 30 is the same.

Through the arrangement, the rotation directions of the reaction wheels 41 are the same, the directions of the acting forces provided by the reaction wheels 41 to the aircraft body 10 are consistent, the compensation effect on the inertial swing of the aircraft body 10 is good, and the purpose of enabling the aircraft to stably fly can be achieved.

Of course, in alternative embodiments of the present application, it is also possible to make the angle between the central axis a1 of the first rotating shaft of the at least one reaction wheel 41 and the central axis a2 of the second rotating shaft of the first drive structure 30 different according to actual needs, each reaction wheel 41 being able to generate a component force in the opposite direction to the inertial oscillation direction of the aircraft body 10, which component force is used to compensate the inertial oscillation of the aircraft body 10, so as to stabilize the flight of the aircraft.

As shown in fig. 1, in an embodiment of the present invention, the reaction wheel assembly 40 further includes a reaction wheel mounting seat 42, the reaction wheel mounting seat 42 is disposed on the aircraft body 10, the reaction wheel 41 is disposed on the reaction wheel mounting seat 42, and the reaction wheel 41 is rotatably disposed relative to the reaction wheel mounting seat 42.

In the arrangement described above, the reaction wheel mount 42 is mounted on the aircraft body 10, the reaction wheel mount 42 being used to mount and support the reaction wheel 41. The reaction wheel 41 is rotatable relative to the reaction wheel mount 42 such that the reaction wheel 41 is rotatable relative to the aircraft body 10, the reaction wheel 41 being capable of providing a moment of inertia to the aircraft body 10 to compensate for inertial oscillations of the aircraft body 10 to stabilize the aircraft in flight.

Of course, in alternative embodiments of the present application, the reaction wheel mounting block 42 may also be mounted on the horn 13 to mount the reaction wheel 41 on the horn 13, as desired.

In an embodiment of the present invention, the reaction wheel assembly 40 further includes a second driving structure, the second driving structure is disposed on the reaction wheel mounting seat 42, and the output shaft of the second driving structure is drivingly connected to the reaction wheel 41.

In the above arrangement, the reaction wheel mounting block 42 provides mounting and support for the second drive structure. The second drive structure is used to drive the reaction wheel 41 to provide power for rotation of the reaction wheel 41.

Preferably, the second drive structure is a motor.

Of course, in alternative embodiments of the present application, the second drive structure may also be arranged on the aircraft body 10, depending on the actual requirements.

As shown in fig. 1, in the embodiment of the present invention, the aircraft body 10 includes a fuselage 12 and a foot rest 11 connected to the fuselage 12, the horn 13 is disposed on the fuselage 12, the reaction wheel mounting seat 42 is disposed on the fuselage 12 and/or the foot rest 11 and includes a first mounting portion 43 and a second mounting portion 44 connected to each other, the first mounting portion 43 is connected to or engaged with the foot rest 11, and the reaction wheel 41 is mounted on the second mounting portion 44.

In the above arrangement, the reaction wheel 41 is mounted on the second mounting portion 44, the second mounting portion 44 is connected to the first mounting portion 43, and the first mounting portion 43 is connected to the foot rest 11, thereby achieving the purpose of mounting the reaction wheel 41 to the aircraft body 10 via the reaction wheel mounting block 42.

Of course, in alternative embodiments of the present application, the reaction wheel mounting seat 42 may be provided on the body 12, or the reaction wheel mounting seat 42 may be provided on both the body 12 and the foot rest 11, depending on the actual requirements.

As shown in fig. 1, in the embodiment of the present invention, the first mounting portion 43 has a mounting cavity; the first mounting portion 43 is engaged with the outer periphery of the foot rest 11. The first mounting portion 43 is connected to the foot rest 11 in a snap-fit manner. The connection mode is simple, and the operation is convenient.

Of course, in the alternative embodiment of the present application, the inner wall surface of the mounting cavity of the first mounting portion 43 may be in interference fit with the outer wall surface of the foot rest 11 according to actual needs, so as to connect the first mounting portion 43 and the foot rest 11 together.

As shown in fig. 1, in the embodiment of the present invention, the second mounting portion 44 is a plate structure. The reaction wheel 41 is mounted on the second mounting portion 44, and the reaction wheel 41 is rotatably arranged relative to the second mounting portion 44.

As shown in fig. 1, in the embodiment of the present invention, the foot rest 11 is located below the body 12, the arm 13 is located on one side of the body 12, the first driving structure 30 is installed on the arm 13, and the propeller 20 is installed on the first driving structure 30.

As shown in fig. 1, in the embodiment of the present invention, the reaction wheel 41 is fixed on the reaction wheel mounting seat 42, the reaction wheel mounting seat 42 is fixed on the foot rest 11, after the reaction wheel 41 is mounted, the central axis a1 of the first rotating shaft of the reaction wheel 41 is parallel to the central axis a2 of the second rotating shaft of the first driving structure 30, and when the aircraft flies forward and backward, the reaction wheel 41 can provide compensation torque to the disturbance of the fuselage 12, so as to realize stable flight of the aircraft.

As shown in fig. 1 and 3, in the embodiment of the present invention, the two-axis unmanned aerial vehicle further includes a third driving structure 50 disposed on the horn 13, and the third driving structure 50 is configured to drive the first driving structure 30 to swing with respect to the aircraft body 10.

In the above arrangement, the horn 13 has a mounting and supporting function for the third drive structure 50. The third driving structure 50 is used for driving the first driving structure 30 to swing relative to the aircraft body 10, so that the aircraft flies in the preset pitch direction.

Preferably, the third drive structure 50 is a steering engine.

Specifically, as shown in fig. 1 to 3, in an embodiment of the present invention, the two-axis unmanned aerial vehicle includes an aircraft body 10, a horn 13, a flight control system 60, a first driving structure 30, a propeller 20 in driving connection with the first driving structure 30, a third driving structure 50, and a reaction wheel assembly 40, wherein the aircraft body 10 includes a fuselage 12 and a foot rest 11 connected with the fuselage 12, and the horn 13 is connected with the fuselage 12. The flight control system 60 is installed on the fuselage 12, the first driving structure 30, the second driving structure and the third driving structure 50 are all connected with the flight control system 60, and the flight control system 60 is used for controlling the opening and closing of the first driving structure 30, the second driving structure and the third driving structure 50. The propeller 20, the first drive arrangement 30 and the third drive arrangement 50 are all arranged on the horn 13. The first drive structure 30 drives the propeller 20 in rotation. The third driving structure 50 drives the first driving structure 30 to swing. At least a portion of the third drive structure 50 is rotatably disposed relative to the horn 13.

It should be noted that, in the embodiment of the present invention, the aircraft body 10, the horn 13, the flight control system 60, the first driving structure 30, the propeller 20, and the third driving structure 50 may all adopt the conventional technologies in the art, and the description thereof is omitted here.

From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: the aircraft body has mounting and supporting functions for the propeller, the first drive structure and the reaction wheel assembly. The screw rotates, drives the aircraft body and sets up first drive structure and the reaction wheel subassembly on the aircraft body and remove together, realizes aircraft flight function. The first driving structure drives the propeller to rotate and provides power for the rotation of the propeller. The screw sets up on first drive structure, and first drive structure is for the swing of aircraft body along predetermineeing the pitch direction, drives the screw and follows predetermineeing the pitch direction swing, because the screw rotates and realizes the aircraft flight function, consequently, when the screw swings along predetermineeing the pitch direction, can make the aircraft towards predetermineeing the pitch direction flight. First drive structure is for the aircraft body along predetermineeing the pitch direction swing, lead to the easy fore-and-aft inertial swing that takes place of aircraft body, among the technical scheme of this application, the unmanned vehicles of diaxon still includes the reaction wheel subassembly, the reaction wheel rotates, can provide inertia, because the rotation direction of reaction wheel is opposite with the swing direction of first drive structure, consequently, the reaction wheel can provide the effort that is opposite with the swing direction of first drive structure for the aircraft body, this effort can compensate the inertial swing of aircraft body to the effort of the fore-and-aft inertial swing of balanced aircraft body makes the aircraft stable flight.

It is obvious that the above described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A two-axis unmanned aerial vehicle, comprising:

an aircraft body (10);

the two arms (13) are respectively arranged on two opposite sides of the aircraft body (10), and one end of each arm (13) is connected with the aircraft body (10);

the two power assemblies are respectively arranged at the other ends of the two machine arms (13), each power assembly comprises a propeller (20) and a first driving structure (30) in driving connection with the propeller (20), and the first driving structure (30) is arranged in a swinging mode relative to the aircraft body (10);

-a reaction wheel assembly (40) arranged on the aircraft body (10) or the horn (13), the reaction wheel assembly (40) comprising a reaction wheel (41), the reaction wheel (41) being rotatably arranged with respect to the aircraft body (10) to provide a moment of inertia, the reaction wheel (41) being rotated in a direction opposite to the direction of oscillation of the first drive structure (30).

2. Two-axle unmanned aerial vehicle according to claim 1, wherein the reaction wheel (41) rotates about a first axle having a central axis a1, the first drive structure (30) oscillates about a second axle having a central axis a2, and wherein the central axis a1 of the first axle is parallel to or at an angle to the central axis a2 of the second axle.

3. Two-axis unmanned aerial vehicle of claim 2, wherein the central axis a1 of the first shaft is disposed at an angle with the central axis a2 of the second shaft, the angle being greater than 0 ° and less than or equal to 30 °.

4. Two-axis unmanned aerial vehicle of any one of claims 1 to 3, wherein the reaction wheel assembly (40) comprises one or at least two of the reaction wheels (41), and when the reaction wheel assembly (40) comprises at least two of the reaction wheels (41),

at least two reaction wheels (41) are arranged spaced apart on the aircraft body (10); alternatively, the first and second electrodes may be,

at least two reaction wheels (41) are arranged on the machine arm (13) at intervals; alternatively, the first and second electrodes may be,

one part of at least two reaction wheels (41) is arranged on the aircraft body (10) and the other part of at least two reaction wheels (41) is arranged on the horn (13).

5. Two-axis unmanned aerial vehicle of claim 4, wherein the reaction wheel assembly (40) comprises at least two of the reaction wheels (41); the angle between the central axis A1 of the first shaft of each reaction wheel (41) and the central axis A2 of the second shaft of the first drive arrangement (30) is the same.

6. Two-axis unmanned aerial vehicle of any one of claims 1 to 3, wherein the reaction wheel assembly (40) further comprises a reaction wheel mount (42), the reaction wheel mount (42) being provided on the vehicle body (10) or the horn (13), the reaction wheel (41) being provided on the reaction wheel mount (42), and the reaction wheel (41) being rotatably provided with respect to the reaction wheel mount (42).

7. Two-axis unmanned aerial vehicle of claim 6, wherein the reaction wheel assembly (40) further comprises a second drive structure disposed on the reaction wheel mount (42) and having an output shaft drivingly connected to the reaction wheel (41).

8. Two-axis unmanned aerial vehicle according to claim 6, characterized in that the vehicle body (10) comprises a fuselage (12) and a foot rest (11) connected to the fuselage (12), the horn (13) being arranged on the fuselage (12), the reaction wheel mount (42) being arranged on the fuselage (12) and/or on the foot rest (11).

9. Two-axis unmanned aerial vehicle of claim 8, wherein the reaction wheel mount (42) comprises a first mount (43) and a second mount (44) connected, the first mount (43) being connected or mated with the foot rest (11), the reaction wheel (41) being mounted on the second mount (44).

10. Two-axis unmanned aerial vehicle of any one of claims 1 to 3, further comprising a third drive structure (50) disposed on the horn (13), the third drive structure (50) for driving the first drive structure (30) to oscillate relative to the vehicle body (10).

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