Ducted unmanned aerial vehicle structure

Abstract

The invention discloses a ducted unmanned aerial vehicle structure. The device comprises a machine body supporting beam, fixed ducted fans and movable ducted fans are arranged on the left side and the right side of the machine body supporting beam, the fixed ducted fans are arranged on the front side and the rear side of the movable ducted fans, a fixed frame and a telescopic frame are arranged on the machine body supporting beam, and the fixed ducted fans and the machine body supporting beam are fixed. The movable ducted fan and the machine body supporting beam are movably connected left and right, the fixed ducted fan and the movable ducted fan each comprise a ducted body, a motor base is arranged on the inner side of each ducted body, the motor bases and the ducted bodies are fixed through a plurality of guide vanes, motors are fixed to the motor bases, water cooling cavities are formed in the motor bases, and the water cooling cavities are formed in the outer sides of the motors. A cooling water channel is arranged on the inner side of the guide vane. The folding unmanned aerial vehicle has the beneficial effects that the folded unmanned aerial vehicle is of an H-shaped structure, and the trafficability of road transportation or road driving can be met; and the extended unmanned aerial vehicle is of a *-shaped structure, so that the yaw control capability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a ducted UAV structure. Background Art

[0002] Unmanned aerial vehicle, abbreviated as "UAV" in English, is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device, or operated completely or intermittently autonomously by an on-board computer.

[0003] Compared with rotor-type UAVs, ducted UAVs have many advantages, such as small size, regular external shape, easy to carry, store and transport, and suitable for cluster operations, because the lift fan is embedded inside the fuselage.

[0004] Existing six-axis ducted UAVs generally use an "H"-shaped ducted fan configuration in two rows in a row during flight. Under this scheme, all the ducted fans on the six axes participate in heading control. At this time, the control amount of the two middle units needs to be twice that of the four propulsion units on the edge. This means that if the six-axis equivalent is selected, the yaw control of the H is limited by the larger control amount difference of the two middle units. The four edge units cannot fully participate in yaw control, which weakens the yaw control. Therefore, in order to restore the yaw control capability, the maximum thrust of the propulsion unit must be designed to be larger, which is extremely difficult for large-load UAVs. In addition, the existing ducted fans lack a guide structure, have low aerodynamic efficiency, and have large kinetic energy losses. In addition, the water cooling system on the ducted fan has a complex structure, which increases the system load of the UAV.

[0005] In summary, there is a need for a ducted UAV structure that can improve yaw control capability, enhance aerodynamic efficiency, and reduce system weight. Summary of the invention

[0006] The present invention aims to overcome the shortcomings of the prior art UAVs such as poor yaw control capability, low aerodynamic efficiency and heavy system load, and provides a ducted UAV structure that can improve yaw control capability, enhance aerodynamic efficiency and reduce system load.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions: A ducted UAV structure comprises a body support beam, wherein a fixed ducted fan and a movable ducted fan are arranged on both sides of the left and right sides of the body support beam, wherein the fixed ducted fan is arranged on the front and rear sides of the movable ducted fan, wherein the fixed ducted fan and the movable ducted fan are arranged in the same horizontal plane, wherein a bracket is arranged on the body support beam, wherein the bracket comprises a fixed bracket and a telescopic bracket, wherein the fixed ducted fan is mounted on the body support beam through the fixed bracket and is fixedly connected thereto, wherein the movable ducted fan is mounted on the body support beam through the telescopic bracket and is movably connected thereto left and right, wherein the fixed ducted fan and the movable ducted fan both comprise a duct body, wherein the bracket is fixedly connected to the outer side wall of the duct body, wherein a motor seat is arranged on the inner side of the duct body, wherein the motor seat and the duct body are fixedly connected through a plurality of guide vanes, wherein a motor is fixed on the motor seat, wherein a fan body is arranged on the motor, wherein a water cooling cavity is arranged inside the motor seat, wherein the water cooling cavity is arranged outside the motor, wherein a cooling water channel communicating with the water cooling cavity is arranged on the inner side of the guide vane.

[0008] The UAV structure of the present invention adopts a deformable design concept. When driving on the ground or being packed for storage and transportation, the telescopic frame folds inward to form two teams of longitudinal ducted fan configurations. The folded UAV configuration is an "H" configuration, which reduces the width of the UAV and enables the UAV to meet the passability of road transportation or road driving; when flying in the air, the telescopic frame extends outward to form a centrally symmetrical hexagonal ducted fan configuration. The extended UAV configuration is a "M" configuration, which keeps the control weights of each ducted fan consistent and greatly improves the yaw control capability. The motor seat and the duct body are connected by guide vanes. The design of the guide vanes, on the one hand, plays a role in structural support for the ducted fan and improves the structural stability. On the other hand, it plays a role in guiding the flow, improves the aerodynamic efficiency of the ducted fan, and reduces unnecessary kinetic energy loss. The drone is also provided with a water cooling circulation system for cooling the motor. The present application adopts a design in which the water cooling system and the guide vanes are integrated with each other. A cooling water channel is opened on the inner side of the guide vane to connect the water cooling cavity inside the motor base with the external cooling water circuit, thereby forming a circulating flow of cooling water to cool the motor. Such a design can not only reduce the weight of the guide vane, but also simplify the water circuit design of the water cooling system, shorten the length of the water pipe, and greatly reduce the system weight of the drone.

[0009] Preferably, the motor seat is located at the center of the duct body, and the guide vanes are evenly distributed on the outside of the motor seat in a ring shape with the motor seat as the center, and the number of the guide vanes is not less than ten. The overall rigidity of the duct fan is further improved by the position design and quantity design of the guide vanes, and the coaxiality and blade tip clearance between the duct body and the fan body are ensured.

[0010] Preferably, the motor seat is provided with a motor slot, the motor slot and the guide vane are located in the same horizontal plane, the water cooling chamber is located outside the motor slot, and the motor is installed in the motor slot. By installing the motor in the motor slot in the same plane as the guide vane, the gap between the fan body and the guide vane is ensured to be as small as possible, thereby improving the aerodynamic efficiency, and at the same time reducing the axial length of the duct body as a whole, reducing the weight of the duct body, and embedding the motor in the motor slot on the motor seat can also further improve the overall support strength of the motor seat.

[0011] Preferably, the motor of the fixed ducted fan is located on the geometric center line of the fixed frame, and the motor of the movable ducted fan is located on the geometric center line of the telescopic frame. The vibration generated by the motor of the fixed ducted fan and the motor of the movable ducted fan during operation can be evenly transmitted to the body support beam through the fixed frame and the telescopic frame, making the vibration propagation path more balanced, reducing the local stress concentration and vibration amplification effect caused by the concentrated transmission of vibration, achieving the effect of shock absorption, and effectively reducing the impact of the vibration generated by the operation of the motor on the overall UAV.

[0012] Preferably, the fixing frame includes a front fixing plate and a rear fixing plate fixed on the body support beam, the front fixing plate and the rear fixing plate are symmetrical to each other, the upper and lower ends of the front fixing plate and the upper and lower ends of the rear fixing plate are fixed with fixing plate ears, and the fixed duct fan is fixed with a duct body ear one matching the fixing plate ear, the duct body ear one is installed on the fixing plate ear and the two are fixedly connected. The duct body ear one and the fixing plate ear are fixedly connected by an axle pin, and the connection method is simple and convenient, which is convenient for system installation and maintenance. The fixed ducted fan is supported and fixed by the symmetry between the front fixing plate and the rear fixing plate and the symmetry between the fixing plate ears at the upper and lower ends, thereby further improving the stability of the mechanism.

[0013] Preferably, the telescopic frame includes a frame, and base plates are provided on the left and right sides of the frame, one of the base plates is fixed on the body support beam, and base plate connectors are fixed on the front and rear sides of the other base plate, and the movable ducted fan is fixed with two duct body connectors matching the base plate connector, and the two duct body connectors are installed on the base plate connector and the two are fixedly connected, and a plurality of upper transmission rods and a plurality of lower transmission rods are provided on a side of the base plate facing the frame, and the upper transmission rods and the lower transmission rods are symmetrical to each other, and one end of the upper transmission rod and one end of the lower transmission rod are hinged to the base plate, and the other end of the upper transmission rod and the lower transmission rod are hinged to each other. The other end of the transmission rod is respectively provided with an upper transmission rod through hole and a lower transmission rod through hole, the upper side of the frame is located in the upper transmission rod through hole and the two are rotatably connected, the lower side of the frame is located in the lower transmission rod through hole and the two are rotatably connected, and a rotating seat is also provided on the side of the substrate facing the frame, the rotating seat is located between the upper transmission rod and the lower transmission rod, an electric push rod base is installed on the rotating seat, one end of the electric push rod base is hinged to the rotating seat, and a push rod body is provided at the other end of the electric push rod base, a push rod through hole is provided at the end of the push rod body, and the lower side of the frame is located in the push rod through hole and is rotatably connected thereto. When the electric push rod bases on the two substrates simultaneously control the push rod body to retract, the upper transmission rod and the lower transmission rod on the two substrates will also rotate synchronously. At this time, the substrate fixed on the active ducted fan will be driven by the upper transmission rod and the lower transmission rod to move closer to the substrate fixed on the body support beam, thereby driving the entire telescopic frame to fold inward, so that the UAV forms an "H" configuration; when the electric push rod bases on the two substrates simultaneously control the push rod body to extend, the upper transmission rod and the lower transmission rod on the two substrates will also rotate synchronously. At this time, the substrate fixed on the active ducted fan will be driven by the upper transmission rod and the lower transmission rod to move away from the substrate fixed on the body support beam, thereby driving the entire telescopic frame to extend outward, so that the UAV forms a "M" configuration, which has a simple structure and is easy to control, which greatly improves the controllability of the UAV and reduces the peak performance requirements of the power system. The active ducted fan is supported and fixed by a plurality of upper transmission rods and a plurality of lower transmission rods in a mutually symmetrical form, further improving the stability of the mechanism.

[0014] Preferably, a landing gear is provided on the fuselage support beam, the landing gear is fixed on the bottom surface of the fuselage support beam and is located at the front and rear sides of the fuselage support beam, landing wheels are installed at both ends of the landing gear, and the two landing gears are fixedly connected by a connecting beam. The UAV is supported by the symmetry of the landing gears at the front and rear sides and the symmetry of the landing wheels at both ends of the landing gear, which can effectively improve the stability of the UAV's posture during automatic landing, while reducing the landing gear's ground bounce amplitude and improving the accuracy of the automatic landing point. The two landing gears are connected and fixed by a connecting beam, which further improves the structural strength and structural stability of the UAV.

[0015] Preferably, the middle position of the landing gear is fixedly connected to the fuselage support beam, and both sides of the landing gear are inclined in a direction away from the fuselage support beam. A wheel axle is fixed to the end of the landing gear, and a wheel hub bearing is installed on the wheel axle. The landing wheel is installed on the outside of the wheel hub bearing. A friction plate is also fixed on the wheel axle, and the friction plate is placed on the side of the landing wheel and the two are in contact. The tilted design on both sides of the landing gear greatly improves the stability and strength of the landing gear, so that the stress on the landing gear when the UAV lands can be dispersed to a wider area, reducing local stress concentration. The design of the friction plate can automatically decelerate the UAV sliding on the ground.

[0016] Preferably, a flight control module mounting platform is fixed on the fuselage support beam, a flight control module is fixed on the flight control module mounting platform, the flight control module mounting platform includes an upper fixing plate and a lower fixing plate, the lower fixing plate is fixed on the top surface of the fuselage support beam, the upper fixing plate is placed above the lower fixing plate and a lower shock absorber seat is fixed between the two, an upper shock absorber seat is fixed on the top surface of the upper fixing plate, and the flight control module is fixed on the upper shock absorber seat. The flight control module is installed on the upper shock absorber seat of the flight control module mounting platform, and the connection method is simple and convenient, which is convenient for system installation and maintenance. The vibration on the fuselage support beam is transmitted to the flight control module through the lower fixing plate, the lower shock absorber seat, the upper fixing plate and the upper shock absorber seat in sequence. Through the design of the lower shock absorber seat and the upper shock absorber seat, the impact of vibration on the flight control module can be reduced during flight, thereby protecting the flight control module and improving the stability and accuracy of flight.

[0017] Preferably, the flight control module is located at the center of the upper fixed plate, and the upper shock-absorbing seat is symmetrically distributed at the four corners of the bottom surface of the flight control module. The upper shock-absorbing seat includes a support rod 1, and a cylindrical base 1 is fixed to the upper and lower ends of the support rod 1, the cylindrical base 1 at the lower end of the support rod is fixed to the top surface of the upper fixed plate, and the cylindrical base 1 at the upper end of the support rod is fixed to the bottom surface of the flight control module, and the lower shock-absorbing seat is symmetrically distributed at the four corners of the bottom surface of the upper fixed plate, and the lower shock-absorbing seat includes a support rod 2, and a cylindrical base 2 is fixed to the upper and lower ends of the support rod 2, the cylindrical base 2 at the lower end of the support rod 2 is fixed to the top surface of the lower fixed plate, and the cylindrical base 2 at the upper end of the support rod 2 is fixed to the bottom surface of the upper fixed plate. The flight control module is supported by the symmetry of the upper and lower shock absorbers, which can effectively improve the stability of the flight control module during automatic landing, and reduce the bounce amplitude of the flight control module when touching the ground, which plays a role in protecting the flight control module and improving the flight stability and accuracy of the drone. The upper and lower shock absorbers are made of elastic materials such as rubber and tetrafluoroethylene. The height of the support rod and the size of the cylindrical base of the upper shock absorber and the height of the support rod and the size of the cylindrical base of the lower shock absorber are calculated according to the natural frequency formula: Calculated, where π is the circumference of a circle, k is the stiffness, and m is the mass. By adjusting the height of the upper shock absorber and the size of the cylindrical base and the height of the lower shock absorber, the mass m of the natural frequency of the shock absorber can be adjusted. By selecting different materials, such as rubber and tetrafluoroethylene, the stiffness k of the shock absorber can be changed. Through the calculation of the designer, the upper and lower shock absorbers can be used to filter out vibrations of different frequencies, ensuring that the flight control system is not affected by the vibration of the drone and ensuring the accuracy of the signal of the flight control system.

[0018] The beneficial effects of the present invention are as follows: the unmanned aerial vehicle has an "H" configuration after being folded, so that the width of the unmanned aerial vehicle is reduced, so that the unmanned aerial vehicle can meet the passability of road transportation or road driving; the unmanned aerial vehicle has an "M" configuration after being extended, so that the control weights of each ducted fan remain consistent, greatly improving the yaw control ability; improving structural stability; improving the aerodynamic efficiency of the ducted fan and reducing unnecessary kinetic energy loss; reducing the weight of the guide vanes and simplifying the water channel design of the water cooling system, shortening the length of the water pipe, and greatly reducing the system weight of the unmanned aerial vehicle; improving the overall stiffness of the ducted fan and ensuring the coaxiality between the duct body and the fan body and tip clearance; reduces local stress concentration and vibration amplification effect caused by concentrated vibration transmission, achieving a shock absorption effect; improves the controllability of the UAV and reduces the peak performance requirements of the power system; improves the stability of the UAV's attitude during automatic landing, while reducing the bounce amplitude of the landing gear touching the ground and improving the accuracy of the automatic landing point; improves the stability and strength of the landing gear, so that the stress on the landing gear during the landing of the UAV can be dispersed to a wider area, reducing local stress concentration; can reduce the impact of vibration on the flight control module during flight, thereby protecting the flight control module and improving the stability and accuracy of flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional diagram of the present invention when the telescopic frame is in a folded state; Figure 2 is a top view of the present invention when the telescopic frame is in a folded state; Figure 3 is a stereoscopic diagram of the present invention when the telescopic frame is in an extended state; Figure 4 is a top view of the present invention when the telescopic frame is in an extended state; Figure 5 is a bottom view of the present invention when the telescopic frame is in an extended state; Figure 6 It is a three-dimensional picture of the landing gear; Figure 7 yes Figure 5 The enlarged view of point A in the middle; Figure 8 yes Figure 3 The enlarged view of point B in the middle; Fig. 9 yes Figure 3 Enlarged view of point C in the middle; Fig.10 yes Figure 3 The enlarged view of point D in the middle; Fig.11 It is a three-dimensional picture of the upper shock mount; Fig.12 It is a three-dimensional diagram of the lower shock mount.

[0020] In the figure: 1. body support beam, 2. fixed ducted fan, 3. movable ducted fan, 4. fixed frame, 5. telescopic frame, 6. ducted body, 7. motor seat, 8. guide vane, 9. motor, 10. fan body, 11. water cooling chamber, 12. cooling water channel, 13. motor slot, 14. front fixing plate, 15. rear fixing plate, 16. fixing plate ear, 17. ducted body ear 1, 18. frame, 19. base plate, 20. base plate connecting plate, 21. ducted body ear 2, 22. upper transmission rod, 23. lower transmission rod, 24. rotating seat, 25. electric push rod base, 26. push rod body, 27. landing gear, 28. landing wheel, 29. connecting beam, 30. wheel axle, 31. wheel hub bearing, 32. Friction plate, 33. Upper fixing plate, 34. Lower fixing plate, 35. Flight control module, 36. Support rod 1, 37. Cylindrical base 1, 38. Support rod 2, 39. Cylindrical base 2. DETAILED DESCRIPTION

[0021] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0022] like Figure 1 and Figure 3 In the described embodiment, a ducted UAV structure includes a body support beam 1, a fixed ducted fan 2 and a movable ducted fan 3 are provided on the left and right sides of the body support beam 1, the fixed ducted fan 2 is placed on the front and rear sides of the movable ducted fan 3, the fixed ducted fan 2 and the movable ducted fan 3 are located in the same horizontal plane, a bracket is provided on the body support beam 1, the bracket includes a fixed frame 4 and a telescopic frame 5, the fixed ducted fan 2 is installed on the body support beam 1 through the fixed frame 4 and is fixedly connected to the body support beam 1, the movable ducted fan 3 is installed on the body support beam 1 through the telescopic frame 5 and is movably connected to the left and right sides of the body support beam, the fixed ducted fan 2 and the movable ducted fan 3 both include a duct body 6, and the bracket is fixedly connected to the outer side wall of the duct body 6, such as Figure 5 and Figure 7As shown, a motor base 7 is provided inside the duct body 6, and the motor base 7 and the duct body 6 are fixedly connected by a plurality of guide vanes 8. A motor 9 is fixed on the motor base 7, and a fan body 10 is installed on the motor 9. A water cooling chamber 11 is provided inside the motor base 7, and the water cooling chamber 11 is placed outside the motor 9. A cooling water channel 12 connected to the water cooling chamber 11 is provided inside the guide vane 8. The duct fan selects 4 guide vanes for cooling A connecting arm is provided between two adjacent duct bodies 6 , and an arm ear is provided on the outer side wall of the duct body 6 , and the end of the connecting arm is mounted on the arm ear.

[0023] The motor base 7 is located at the center of the duct body 6 , and the guide vanes 8 are evenly distributed on the outside of the motor base 7 in a ring shape with the motor base 7 as the center. The number of the guide vanes 8 is eleven.

[0024] The motor seat 7 is provided with a motor slot 13 . The motor slot 13 and the guide vane 8 are located in the same horizontal plane. The water cooling cavity 11 is located outside the motor slot 13 . The motor 9 is installed in the motor slot 13 .

[0025] The motor 9 of the fixed ducted fan 2 is located on the geometric center line of the fixed frame 4 , and the motor 9 of the movable ducted fan 3 is located on the geometric center line of the telescopic frame 5 .

[0026] like Figure 3 and Figure 8 As shown, the fixing frame 4 includes a front fixing plate 14 and a rear fixing plate 15 fixed on the body support beam 1, the front fixing plate 14 and the rear fixing plate 15 are symmetrical to each other, and fixing plate ears 16 are fixed to the upper and lower ends of the front fixing plate 14 and the upper and lower ends of the rear fixing plate 15, and a duct body ear 17 matching the fixing plate ear 16 is fixed to the fixed duct fan 2, and the duct body ear 17 is installed on the fixing plate ear 16 and the two are fixedly connected.

[0027] like Figure 3 and Fig. 9As shown, the telescopic frame 5 includes a frame 18, and base plates 19 are provided on the left and right sides of the frame 18, one of the base plates 19 is fixed on the body support beam 1, and base plate connectors 20 are fixed on the front and rear sides of the other base plate 19, and a duct body connector 21 matching the base plate connector 20 is fixed on the movable duct fan 3, and the duct body connector 21 is installed on the base plate connector 20 and the two are fixedly connected, and a plurality of upper transmission rods 22 and a plurality of lower transmission rods 23 are provided on the side of the base plate 19 facing the frame 18, and the upper transmission rods 22 and the lower transmission rods 23 are symmetrical to each other, and one end of the upper transmission rod 22 and one end of the lower transmission rod 23 are both hinged to the base plate 19, and the other end of the upper transmission rod 22 The other end of the lower transmission rod 23 is respectively provided with an upper transmission rod through hole and a lower transmission rod through hole, the upper side of the frame 18 is located in the upper transmission rod through hole and the two are rotatably connected, the lower side of the frame 18 is located in the lower transmission rod through hole and the two are rotatably connected, and a rotating seat 24 is also provided on the side of the base plate 19 facing the frame 18, the rotating seat 24 is located between the upper transmission rod 22 and the lower transmission rod 23, an electric push rod base 25 is installed on the rotating seat 24, one end of the electric push rod base 25 is hinged to the rotating seat 24, and a push rod body 26 is provided at the other end of the electric push rod base 25, and a push rod through hole is provided at the end of the push rod body 26, and the lower side of the frame 18 is located in the push rod through hole and is rotatably connected thereto.

[0028] like Figure 5 and Figure 6 As shown, a landing gear 27 is provided on the fuselage support beam 1. The landing gear 27 is fixed on the bottom surface of the fuselage support beam 1 and is located on the front and rear sides of the fuselage support beam 1. Landing wheels 28 are installed at both ends of the landing gear 27. The two landing gears 27 are fixedly connected by a connecting beam 29.

[0029] The middle position of the landing gear 27 is fixedly connected to the fuselage support beam 1, and both sides of the landing gear 27 are inclined in the direction away from the fuselage support beam 1. The ends of the landing gear 27 are fixed with a wheel axle 30, and a wheel hub bearing 31 is installed on the wheel axle 30. The landing wheel 28 is installed on the outside of the wheel hub bearing 31. The wheel axle 30 is also fixed with a friction plate 32, and the friction plate 32 is placed on the side of the landing wheel 28 and the two are in contact.

[0030] like Figure 3 , Fig.10 , Fig.11 and Fig.12 As shown, a flight control module mounting platform is fixed on the fuselage support beam 1, and a flight control module 35 is fixed on the flight control module mounting platform. The flight control module mounting platform includes an upper fixing plate 33 and a lower fixing plate 34. The lower fixing plate 34 is fixed on the top surface of the fuselage support beam 1, the upper fixing plate 33 is placed above the lower fixing plate 34 and a lower shock absorber seat is fixed therebetween, an upper shock absorber seat is fixed on the top surface of the upper fixing plate 33, and the flight control module 35 is fixed on the upper shock absorber seat.

[0031] The flight control module 35 is located at the center of the upper fixed plate 33, and the upper shock-absorbing seats are symmetrically distributed at the four corners of the bottom surface of the flight control module 35. The upper shock-absorbing seats include a support rod 36, and the upper and lower ends of the support rod 36 are fixed with a cylindrical base 37. The cylindrical base 37 at the lower end of the support rod 36 is fixed on the top surface of the upper fixed plate 33, and the cylindrical base 37 at the upper end of the support rod 36 is fixed on the bottom surface of the flight control module 35. The lower shock-absorbing seats are symmetrically distributed at the four corners of the bottom surface of the upper fixed plate 33. The lower shock-absorbing seats include a support rod 38, and the upper and lower ends of the support rod 38 are fixed with a cylindrical base 39. The cylindrical base 39 at the lower end of the support rod 38 is fixed on the top surface of the lower fixed plate 34, and the cylindrical base 39 at the upper end of the support rod 38 is fixed on the bottom surface of the upper fixed plate 33.

[0032] The fuselage support beam 1 and the landing gear 27 are made of carbon fiber to reduce the weight of the fuselage structure and bear a certain weight load. The connecting structures in the fuselage are all made of aviation aluminum, and the material of the telescopic frame 5 is aviation aluminum 7075.

[0033] The installation structure of the avionics system in the present invention adopts a waterproof design and a standard aviation plug design to improve the reliability and safety of the system.

[0034] The blades of the fixed ducted fan 2 and the movable ducted fan 3 are modularly designed, and the number of blades can be adjusted according to the prototype parameters. At the same time, the weight of the system can be further reduced by controlling the number of installed blades. The blades of the duct body 6 and the fan body 10 in the present invention are both made of carbon fiber composite materials.

[0035] The battery module of the present invention is located inside the body support beam 1 and is used to mount the battery pack required by the drone.

[0036] The structure of the drone of the present invention adopts a deformable design concept. When driving on the ground or being packed for storage and transportation, the electric push rod bases 25 on the two base plates 19 simultaneously control the push rod bodies 26 to retract, and the upper transmission rods 22 and the lower transmission rods 23 on the two base plates 19 also rotate synchronously. At this time, the base plate 19 fixed on the movable ducted fan 3 will be driven by the upper transmission rods 22 and the lower transmission rods 23 to move closer to the base plate 19 fixed on the body support beam 1, thereby driving the entire telescopic frame 5 to fold inward to form a two-row longitudinal ducted fan configuration. The folded drone has an "H" configuration (such as Figure 2As shown), the width of the UAV is reduced, so that the UAV can meet the passability of road transportation or road driving; when flying in the air, the electric push rod base 25 on the two substrates 19 simultaneously controls the push rod body 26 to extend, and the upper transmission rod 22 and the lower transmission rod 23 on the two substrates 19 will also rotate synchronously. At this time, the substrate 19 fixed on the active ducted fan 3 will be driven by the upper transmission rod 22 and the lower transmission rod 23 away from the substrate 19 fixed on the body support beam 1, thereby driving the entire telescopic frame 5 to extend outward, forming a centrally symmetrical hexagonal ducted fan configuration. The unmanned aircraft after extension is in a "M" configuration (as shown Figure 4 As shown in the figure, the control weights of each ducted fan remain consistent, thus improving the yaw control capability.

[0037] The drone is also provided with a water cooling circulation system for cooling the motor. The present application adopts a design in which the water cooling system and the guide vane 8 are integrated with each other. A cooling water channel 12 is opened on the inner side of the guide vane 8 to connect the water cooling cavity 11 inside the motor base 7 with the external cooling water circuit, thereby forming a circulating flow of cooling water to cool the motor 9. Such a design can not only reduce the weight of the guide vane 8, but also simplify the water circuit design of the water cooling system, shorten the length of the water pipe, and greatly reduce the system weight of the drone.

Claims

1. A ducted UAV structure, characterized in that: The invention comprises a machine body support beam (1), wherein a fixed ducted fan (2) and a movable ducted fan (3) are arranged on the left and right sides of the machine body support beam (1), wherein the fixed ducted fan (2) is arranged on the front and rear sides of the movable ducted fan (3), wherein the fixed ducted fan (2) and the movable ducted fan (3) are located in the same horizontal plane, and wherein a bracket is arranged on the machine body support beam (1), wherein the bracket comprises a fixed bracket (4) and a telescopic bracket (5), wherein the fixed ducted fan (2) is mounted on the machine body support beam (1) through the fixed bracket (4) and is fixedly connected thereto, and wherein the movable ducted fan (3) is mounted on the machine body support beam (1) through the telescopic bracket (5) and is connected thereto on the left and right sides thereof. The fixed ducted fan (2) and the movable ducted fan (3) are both provided with a duct body (6), the bracket and the outer wall of the duct body (6) are fixedly connected, a motor seat (7) is provided on the inner side of the duct body (6), the motor seat (7) and the duct body (6) are fixedly connected via a plurality of guide vanes (8), a motor (9) is fixed on the motor seat (7), a fan body (10) is mounted on the motor (9), a water cooling chamber (11) is provided inside the motor seat (7), the water cooling chamber (11) is arranged on the outer side of the motor (9), and a cooling water channel (12) connected to the water cooling chamber (11) is provided on the inner side of the guide vane (8).

2. A ducted UAV structure according to claim 1, characterized in that: The motor seat (7) is located at the center of the duct body (6), and the guide vanes (8) are evenly distributed on the outside of the motor seat (7) in a ring shape with the motor seat (7) as the center, and the number of the guide vanes (8) is not less than ten.

3. A ducted UAV structure according to claim 1, characterized in that: The motor seat (7) is provided with a motor slot (13), the motor slot (13) and the guide vane (8) are located in the same horizontal plane, the water cooling cavity (11) is located outside the motor slot (13), and the motor (9) is installed in the motor slot (13).

4. A ducted UAV structure according to any one of claims 1 to 3, characterized in that: The motor (9) of the fixed ducted fan (2) is located on the geometric center line of the fixed frame (4), and the motor (9) of the movable ducted fan (3) is located on the geometric center line of the telescopic frame (5).

5. A ducted UAV structure according to claim 4, characterized in that: The fixing frame (4) comprises a front fixing plate (14) and a rear fixing plate (15) fixed on the machine body support beam (1); the front fixing plate (14) and the rear fixing plate (15) are symmetrical to each other; the upper and lower ends of the front fixing plate (14) and the upper and lower ends of the rear fixing plate (15) are both fixed with fixing plate ears (16); the fixed ducted fan (2) is fixed with a duct body ear (17) matching the fixing plate ear (16); the duct body ear (17) is mounted on the fixing plate ear (16) and the two are fixedly connected.

6. A ducted UAV structure according to claim 4, characterized in that: The telescopic frame (5) comprises a frame (18), and base plates (19) are provided on both left and right sides of the frame (18), wherein one base plate (19) is fixed on the machine body support beam (1), and base plate connectors (20) are fixed on both front and rear sides of the other base plate (19), and a duct body connector second (21) matching the base plate connector (20) is fixed on the movable duct fan (3), and the duct body connector second (21) is installed on the base plate connector (20) and the two are fixedly connected, and a plurality of upper transmission rods (22) and a plurality of lower transmission rods (23) are provided on a surface of the base plate (19) facing the frame (18), and the upper transmission rods (22) and the lower transmission rods (23) are symmetrical to each other, and one end of the upper transmission rod (22) and one end of the lower transmission rod (23) are both hinged to the base plate (19), and the upper transmission rod (22) is connected to the base plate (19). ) and the other end of the lower transmission rod (23) are respectively provided with an upper transmission rod through hole and a lower transmission rod through hole, the upper side of the frame (18) is located in the upper transmission rod through hole and the two are rotatably connected, the lower side of the frame (18) is located in the lower transmission rod through hole and the two are rotatably connected, and the substrate (19) is also provided with a rotating seat (24) on a surface facing the frame (18), the rotating seat (24) is located between the upper transmission rod (22) and the lower transmission rod (23), an electric push rod base (25) is installed on the rotating seat (24), one end of the electric push rod base (25) is hinged to the rotating seat (24), and the other end of the electric push rod base (25) is provided with a push rod body (26), the end of the push rod body (26) is provided with a push rod through hole, and the lower side of the frame (18) is located in the push rod through hole and is rotatably connected thereto.

7. A ducted UAV structure according to any one of claims 1 to 3, characterized in that: A landing gear (27) is provided on the fuselage support beam (1); the landing gear (27) is fixed on the bottom surface of the fuselage support beam (1) and is located at the front and rear sides of the fuselage support beam (1); landing wheels (28) are installed at both ends of the landing gear (27); and the two landing gears (27) are fixedly connected via a connecting beam (29).

8. A ducted UAV structure according to claim 7, characterized in that: The middle position of the landing gear (27) is fixedly connected to the fuselage support beam (1), and both sides of the landing gear (27) are inclined in a direction away from the fuselage support beam (1). An axle (30) is fixed to the end of the landing gear (27), and a hub bearing (31) is installed on the axle (30). The landing wheel (28) is installed on the outside of the hub bearing (31). A friction plate (32) is also fixed on the axle (30), and the friction plate (32) is placed on the side of the landing wheel (28) and the two are in contact.

9. A ducted UAV structure according to any one of claims 1 to 3, characterized in that: A flight control module mounting platform is fixed on the fuselage support beam (1), a flight control module (35) is fixed on the flight control module mounting platform, the flight control module mounting platform comprises an upper fixing plate (33) and a lower fixing plate (34), the lower fixing plate (34) is fixed on the top surface of the fuselage support beam (1), the upper fixing plate (33) is placed above the lower fixing plate (34) and a lower shock absorbing seat is fixed between the upper fixing plate (33), an upper shock absorbing seat is fixed on the top surface of the upper fixing plate (33), and the flight control module (35) is fixed on the upper shock absorbing seat.

10. A ducted UAV structure according to claim 9, characterized in that: The flight control module (35) is located at the center of the upper fixing plate (33), and the upper shock absorbing seat is symmetrically distributed at the four corners of the bottom surface of the flight control module (35). The upper shock absorbing seat includes a support rod (36), and a cylindrical base (37) is fixed to the upper and lower ends of the support rod (36). The cylindrical base (37) at the lower end of the support rod (36) is fixed to the top surface of the upper fixing plate (33), and the cylindrical base (37) at the upper end of the support rod (36) is fixed to the top surface of the upper fixing plate (33). On the bottom surface of the flight control module (35), the lower shock absorbing seat is symmetrically distributed at the four corners of the bottom surface of the upper fixed plate (33), and the lower shock absorbing seat includes a second support rod (38), and a second cylindrical base (39) is fixed to the upper and lower ends of the second support rod (38), the second cylindrical base (39) at the lower end of the second support rod (38) is fixed to the top surface of the lower fixed plate (34), and the second cylindrical base (39) at the upper end of the second support rod (38) is fixed to the bottom surface of the upper fixed plate (33).

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