Drones

Abstract

The present disclosure relates to a drone, comprising: a fuselage; a plurality of rotor assemblies, each of which can be mounted on the fuselage in a lateral and longitudinal tilting manner; and a first mounting seat, fixedly mounted on the fuselage, for mounting a shooting device. In this way, the shooting device is mounted on the fuselage of the drone through the first mounting seat, and when the shooting device needs to adjust its direction, the tilting direction of part or all of the rotor assemblies can be adjusted to adjust the posture of the drone fuselage, so that the shooting device can finally maintain the same posture as the fuselage, thereby adjusting the shooting direction and shooting position of the shooting device and realizing the de-panning of the drone.

Description

Technical Field

[0001] The present disclosure relates to the technical field of drone mounting accessories, and in particular, to a drone. Background Art

[0002] With the rapid development of drone technology, users have higher and higher requirements for drones. In order to meet the multi-functional needs of drones, drones are usually equipped with mounting devices on the fuselage during manufacturing to mount corresponding functional components. For example, the shooting and aiming devices mounted on the fuselage of the drone need to adjust their direction when performing tasks in order to quickly and accurately aim at the target. In related technologies, a gimbal is usually installed on the fuselage of the drone, and the direction of the shooting device is adjusted by adjusting the angle of the gimbal. However, for some models of drones, the installation of a gimbal will increase the overall weight of the drone, thereby affecting the performance of the drone, causing the size of the drone to increase exponentially, greatly reducing its portability, and at the same time, its endurance will deteriorate. Summary of the invention

[0003] The purpose of the embodiments of the present disclosure is to provide a drone that can reduce the load of the drone while adjusting the shooting direction of a shooting device, thereby eliminating the gimbal of the drone.

[0004] In order to achieve the above-mentioned purpose, an embodiment of the present disclosure provides a drone, including: a fuselage; a rotor assembly, wherein the number of the rotor assemblies is multiple and can be installed on the fuselage in a laterally and / or longitudinally tiltable manner; and a first mounting seat, fixedly mounted on the fuselage, for installing a shooting device.

[0005] Optionally, the drone further comprises a tripod rotatably connected to the fuselage, wherein the tripod is used to be unfolded to support the drone when the drone is landing, and to be folded when the drone is flying.

[0006] Optionally, a first motor mount is rotatably connected to the fuselage, a first motor is fixed in the first motor mount, and a rotation output shaft of the first motor is formed with an external thread; the tripod has a first connecting part that cooperates with the external thread; the rotation output shaft drives the first connecting part to approach or move away from the first motor to drive the tripod to unfold or fold.

[0007] Optionally, the stand is constructed as a frame having a cavity, and the first motor seat is accommodated in the cavity.

[0008] Optionally, the UAV further includes a support arm that penetrates the fuselage transversely and can rotate longitudinally, and the rotor assembly is fixed at both ends of the support arm.

[0009] Optionally, the rotor assembly includes blades and a second motor that drives the blades to rotate; a tilt servo is fixed to the end of the support arm, and an output end of the tilt servo is connected to a second motor mount for mounting the second motor; the tilt servo drives the second motor mount to rotate so that the rotor assembly tilts laterally.

[0010] Optionally, the UAV further includes a driving device for controlling the shooting of the shooting device, and the driving device is connected to the flight control system of the UAV.

[0011] Optionally, the shooting device is a firearm, and the first mounting seat is configured to accommodate a buttstock of the firearm.

[0012] Optionally, the firearm has a trigger and a guard ring surrounding the trigger; a drive assembly for driving the trigger is mounted on the first mounting seat, the drive assembly includes a pressure rod capable of extending laterally into the guard ring and a third motor for driving the pressure rod to approach or move away from the trigger.

[0013] Optionally, a sliding groove for the buckling rod to slide is provided on the first mounting seat, and the output end of the third motor is rotatably connected to a connecting rod assembly to form a crank slider structure with the buckling rod.

[0014] Optionally, the shooting device is a rocket launcher, and the first mounting seat is configured as a mounting bracket capable of connecting to the barrel of the rocket launcher.

[0015] According to a second aspect of the present disclosure, there is provided an unmanned aerial vehicle, comprising: a fuselage; a plurality of rotor assemblies, each of which can be mounted on the fuselage for transverse and longitudinal tilting; and a shooting device, fixedly mounted on the fuselage.

[0016] Through the above technical solution, the shooting device is installed on the fuselage of the UAV through the first mounting seat. When the shooting device needs to adjust its direction, the tilt direction of part or all of the rotor assembly can be adjusted to adjust the posture of the UAV fuselage, so that the shooting device can finally maintain the same posture as the fuselage, thereby realizing the adjustment of the shooting direction and shooting position of the shooting device and realizing the de-gimbaling of the UAV.

[0017] Other features and advantages of the embodiments of the present disclosure will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation on the embodiments of the present disclosure. In the accompanying drawings:

[0019] Figure 1is a schematic structural diagram of a drone provided by an exemplary embodiment of the present disclosure;

[0020] Figure 2 yes Figure 1 A bottom view of the drone is shown;

[0021] Figure 3 yes Figure 1 The schematic diagram of the installation structure of the tripod in the UAV shown;

[0022] Figure 4 This is a schematic diagram of the installation of the tripod from another angle;

[0023] Figure 5 It is a schematic diagram of the structure of the tripod mounting base;

[0024] Figure 6 yes Figure 1 The schematic diagram of the structure of the rotor assembly in the UAV shown;

[0025] Figure 7 yes Figure 1 The schematic diagram of the installation structure of the shooting device in the UAV is shown;

[0026] Figure 8 yes Figure 1 A schematic diagram of the installation structure of the shooting device in the drone shown in another angle;

[0027] Fig. 9 is a schematic structural diagram of a drone provided by another exemplary embodiment of the present disclosure;

[0028] Fig.10 yes Fig. 9 A bottom view of the drone is shown;

[0029] Fig.11 is a schematic structural diagram of a rocket launcher provided by an exemplary embodiment of the present disclosure;

[0030] Fig.12 yes Fig.11 Another angle view of the rocket launcher is shown;

[0031] Fig.13 yes Fig.11 A cross-sectional view of a rocket launcher is shown;

[0032] Fig.14 yes Fig.11 A front view of the rocket launcher is shown;

[0033] Fig.15 yes Fig.11 A rear view of the rocket launcher is shown;

[0034] Fig.16 yes Fig.13Schematic diagram of the structure of the middle limit servo;

[0035] Fig.17 is a schematic structural diagram of a drone provided by another exemplary embodiment of the present disclosure;

[0036] Fig.18 yes Fig.17 A partial schematic diagram of part A;

[0037] Fig.19 yes Fig.17 A schematic diagram of an image pickup device in a drone and a connecting frame for mounting the image pickup device is shown;

[0038] Fig. 20 is a schematic structural diagram of a drone provided in another exemplary embodiment of the present disclosure.

[0039] Description of Reference Numerals

[0040] 100-fuselage; 101-fuselage; 102-fairing; 103-slideway; 104-slide rail; 105-elastic member; 110-first motor seat; 120-rotation output shaft; 130-tripod mounting seat; 131-first ear seat; 132-second ear seat; 133-first rotating shaft; 134-second rotating shaft; 200-rotor assembly; 210-blade; 220-second motor; 230-second motor seat; 240-servo mounting seat; 250-third rotating shaft; 300-first mounting seat; 301-vertical plate; 302-horizontal plate; 303-fastener; 3 11-pressing rod; 312-third motor; 313-connecting rod assembly; 320-slideway; 400-shooting device; 411-trigger; 412-guard; 421-barrel; 422-projectile body; 423-tail cover; 424-guide block; 425-wiring groove; 500-tripod; 510-first connecting part; 600-support arm; 710-image pickup device; 711-camera; 712-connecting frame; 713-flange; 720-laser aiming device; 810-first limit member; 811-limit servo; 812-blocking rod; 820-second limit member. DETAILED DESCRIPTION

[0041] The specific implementation of the embodiment of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present disclosure, and is not used to limit the embodiment of the present disclosure.

[0042] In the present disclosure, unless otherwise stated, directional words such as "up", "down", "top", and "bottom" refer to the up and down of the drone in level flight; "inside" and "outside" refer to the inside and outside of the contours of the corresponding components; "longitudinal" refers to the front and back direction of the drone's flight; "lateral" refers to the left and right direction of the drone's flight, that is, the direction perpendicular to the "longitudinal" in the horizontal plane. In addition, the terms "first", "second", etc. used in the embodiments of the present disclosure are to distinguish one element from another and do not have order or importance. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0043] Reference Figure 1 and Fig. 9 , the embodiment of the present disclosure provides a drone, including a fuselage 100, a rotor assembly 200 and a first mounting seat 300. The number of the rotor assembly 200 can be multiple, and can be installed on the fuselage 100 in a lateral and / or longitudinal tilting manner, so as to adjust the flight attitude of the drone by adjusting the lateral or longitudinal tilting of the rotor assembly 200. Among them, the rotor assembly 200 refers to the propeller blades and the parts used to install the blades and drive the blades to adjust the attitude, and the parts can include, for example, the second motor, the second motor seat, etc. described below; the first mounting seat 300 is fixedly installed on the fuselage 100, and is used to install the shooting device 400. For example, the first mounting seat 300 can be fixedly installed at the bottom of the fuselage 100, and the shooting device 400 is mounted below the fuselage 100; the shooting device 400 can be any device capable of launching weapons, such as a gun, a rocket launcher, or a crossbow, or a device capable of emitting infrared light, etc.

[0044] In this way, the shooting device 400 is installed on the fuselage 100 of the UAV through the first mounting seat 300. When the shooting device 400 needs to adjust its direction, the tilt direction of part or all of the rotor assembly 200 can be adjusted to adjust the flight attitude of the fuselage 100, so that the shooting device 400 can finally maintain the same attitude as the fuselage 100, thereby realizing the adjustment of the shooting direction and shooting position of the shooting device 400 and realizing the de-gimbaling of the UAV.

[0045] In some embodiments, the rotor assembly 200 can tilt longitudinally, through which the fuselage 100 of the drone does not tilt when moving forward or backward, and the posture is stable, which can improve the stability of the shooting device 400; in other embodiments, the rotor assembly 200 can tilt laterally, through which the fuselage 100 of the drone does not tilt when rolling, and the posture is stable, which can improve the stability of the shooting device 400; in other embodiments, the rotor assembly 200 can tilt both longitudinally and laterally, so that the fuselage 100 of the drone does not tilt when moving in all directions, and the posture is stable, which can improve the stability of the shooting device 400, and the posture of the drone can be flexibly adjusted, and it can perform forward, backward, pitch, roll and other actions. In the following description of the embodiments of the present disclosure, only the last embodiment is taken as an example for explanation, and the other two situations are similar and will not be described in detail. The following will be combined with Figure 1 and Figure 6 Take some application environments of quad-rotor drones as examples for illustration.

[0046] First, it should be understood that in order to improve shooting accuracy, the shooting device 400 may have a sighting component for aiming at the target object, and the sighting component can obtain information about objects in a predetermined sensing area around the drone to ensure that the target is not lost during the reconnaissance and shooting process. In the disclosed embodiment, the sighting component may be a camera mounted on the fuselage 100, or may be a sight of the shooting device 400 itself, etc., which is not specifically limited here. Of course, in some embodiments where the shooting accuracy requirement is not high, the sighting component may not be provided.

[0047] When the target object is located directly in front of the shooting device 400, the shooting device 400 can directly shoot. When the target object is beyond the range of the shooting device 400, the four rotor assemblies 200 tilt forward at the same time, and the blades 210 of each rotor assembly 200 can generate a vertical upward component force to keep the drone at a predetermined height, and can also generate a forward driving force to make the drone move forward. In this process, the fuselage 100 of the drone may not tilt, that is, it always remains in a horizontal state to ensure stable flight. When the target object enters the range of the shooting device 400, the shooting device 400 can shoot. In addition, during the forward flight of the drone, since the fuselage 100 always remains horizontal, that is, the shooting device 400 does not tilt, the shooting device 400 can continue to shoot at the target object.

[0048] When the target object is located above and obliquely in front of the shooting device 400, in one embodiment, the rotation speed of the blades 210 can be increased synchronously to increase the lift until the target object is located directly in front of the shooting device 400, and the shooting device 400 shoots, that is, the above-mentioned shooting process. In another embodiment, only the rotation speed of the two front blades 210 can be increased to make the front end of the fuselage 100 rise, and the shooting device 400 can shoot toward the oblique front and upward direction.

[0049] When the target object is located in front of the left side of the shooting device 400, in one embodiment, the four rotor assemblies 200 can tilt to the left at the same time, and the blades 210 of each rotor assembly 200 can generate a vertical upward component force to keep the drone at a predetermined height, and can also generate a left driving force to make the drone move to the left until the target object is located directly in front of the shooting device 400, and the shooting device 400 shoots. In this process, the fuselage 100 of the drone can not tilt, that is, it always remains in a horizontal state to ensure stable flight. In addition, when the drone is flying to the left, since the fuselage 100 remains horizontal, that is, the shooting device 400 does not tilt, the shooting device 400 can continue to shoot at the target object. In another embodiment, only the two front rotor assemblies 200 can be tilted to the left, and the rotation speed of the blades 210 can be adjusted to ensure that the vertical forces of the four blades 210 are the same. At the same time, since the two front blades 210 generate a leftward driving force, the front end of the fuselage 100 moves to the left, and the shooting device 400 can now shoot toward the left front.

[0050] The shooting device 400 shooting at target objects at other positions is similar to the above-mentioned situations, and this disclosure will not elaborate on them one by one. It should also be noted that the above-mentioned "directly in front" is only a theoretical situation of shooting. For the convenience of description, the air resistance of the projectile fired by the shooting device 400 and the parabolic trajectory under the action of gravity are not considered.

[0051] In the disclosed embodiment, the tilting of the fuselage 100 itself can satisfy the direction adjustment of the shooting device 400 at any angle, without the need for an additional gimbal, thereby reducing the load of the drone, optimizing the drone platform structure, and effectively extending the drone's endurance. In addition, in addition to being non-detachably mounted on the fuselage 100, the first mounting seat 300 in the disclosed embodiment can also be detachably connected to the fuselage 100 to facilitate the disassembly and replacement of the shooting device 400, thereby improving the versatility of the drone. The first mounting seat 300 can have a structural form adapted to the specific structure of the shooting device 400, and the disclosed embodiment does not limit this.

[0052] The present disclosure does not limit the specific form of the above-mentioned aiming component, for example, it can be a common device with a camera function, or it can be an ultrasonic, infrared or other form of sensor. Fig.17 and Fig.18 , the aiming component may include an image pickup device 510, and the image pickup device 510 includes one or more lenses. In the embodiment of the present disclosure, the image pickup device 510 may be a forward-looking binocular component, which is connected to the flight control system of the UAV, and transmits the collected image to the flight control system, or further transmits it to the observation screen or control screen of the ground station, so that the staff can monitor the target object in real time. Here, the forward-looking binocular component refers to an image pickup device that applies the principle of binocular visual imaging, which uses an imaging device to obtain two images of the object to be measured from different positions, and obtains the three-dimensional geometric information of the object by calculating the position deviation between the corresponding points of the image, and has the advantages of high measurement efficiency and high accuracy.

[0053] Specifically, the forward-looking binocular assembly includes two cameras installed at the front end of the fuselage. Figures 17 to 19 According to some embodiments, the fuselage 100 may include a body 101 and a fairing 102 covered on the body 101, and the front end of the fairing 102 is streamlined to reduce wind resistance. The two cameras 711 are installed at the front end of the body 101, and the front end of the fairing 102 is provided with holes corresponding to the cameras 711 so that the cameras 711 can pick up images. In order to prevent the fairing 102 from affecting the viewing area of ​​the camera 711, the front end of the camera 711 can protrude forward from the fairing 102.

[0054] Furthermore, the two cameras 711 can be arranged symmetrically with respect to the longitudinal center line of the fuselage 100, so that the operating ranges of the two cameras 711 are symmetrical, which can improve the image pickup accuracy. The number of the above-mentioned through holes can be two, which are respectively opened at the positions of the fairing 102 corresponding to the cameras 711; in another embodiment, the through hole can also be a long strip hole extending laterally, and the two cameras 711 both pick up the image in front through the long strip hole.

[0055] Reference Fig.19 According to some embodiments, a connecting frame 712 may be installed at the front end of the body 100, and the connecting frame 712 may be installed at the front end of the body 101. The front end surface of the connecting frame 712 is straight, and a flange 713 that can be installed on the connecting frame 712 is formed at the rear end of the camera 711, that is, the camera 711 is connected to the body 100 through the flange 713 and the connecting frame 712. The flange 713 is fitted and connected to the connecting frame 712, and the two are in surface contact, so as to improve the stability of the camera 711.

[0056] Further, refer to Figures 17 to 19The aiming component may also include a laser aiming device 520 to further improve the aiming accuracy so as to accurately strike the target object.

[0057] Similar to the image pickup device 710, the laser sighting device 720 is also connected to the flight control system of the drone so that the drone can accurately locate the target object. According to some embodiments, the laser sighting device 720 can be rotatably mounted on the fuselage 100 or the first mounting seat 300. In this way, when the posture of the fuselage 100 does not change, the target object is first accurately located by rotating the laser sighting device 720 itself. If the target object deviates from the current range of the shooting device 400, the flight control system can control the fuselage 100 to adjust its posture; if the target object is within the current range of the shooting device 400, the shooting device 400 can complete the shooting without adjusting the posture of the fuselage 100.

[0058] The laser aiming device 720 can be mounted on the fuselage 100 or the first mounting seat 300 through any appropriate structure such as a rotating shaft or a ball head. For example, a three-axis bracket can be provided on the fuselage 100, and the laser aiming device 720 is fixed on the three-axis bracket. Through the multi-degree-of-freedom rotation of the three-axis bracket, the laser aiming device 720 can emit lasers in multiple directions, thereby increasing its operating range.

[0059] In some cases, for example, when the shooting device 400 is a gun, the shooting device 400 will generate a certain recoil when it is fired, and the recoil will affect the stability of the drone. To solve this problem, a buffer component can be provided on the shooting device 400. For example, a shock absorbing element can be provided between the shooting device 400 and the fuselage 100, or a shock absorbing element can be provided between the first mounting seat 300 and the fuselage 100, which is not limited in the embodiments of the present disclosure. Fig. 20 According to some embodiments, the fuselage 100 may be provided with a slideway 103 extending forward and backward, and the slideway 103 is slidably mounted with a slide rail 104, and the rear end of the slide rail 104 is connected to the fuselage 100 through an elastic member 105. The first mounting seat 300 is mounted on the slide rail 104, and the two are rigidly connected, so that the connection performance is reliable and the shooting accuracy is ensured. In this way, when the shooting device 400 is triggered to shoot, the recoil caused by the shooting is transmitted to the elastic member 105 through the first mounting seat 300 and the slide rail 104, and the elastic member 105 absorbs the recoil and transmits it to the fuselage 100, so that the recoil is buffered, and at the same time, the elastic member 105 can also play a role in reducing vibration and ensuring the stability of the fuselage 100. This structure can prevent the shooting device 400 from affecting the control of the drone after being triggered, ensure the quality and safety reliability of the drone, and meet the use requirements of the drone when the shooting device 400 is mounted.

[0060] In the embodiment of the present disclosure, the slideway 103 and the slide rail 104 can adopt any sliding matching form, as long as the cross-sectional shapes of the two match. Fig. 20 As shown, the slideway 103 can be constructed as a hollow column, and the slide rail 104 is accommodated in the slideway 103. The hollow columnar slideway 103 can limit the displacement of the slide rail 104 in directions other than the front-back direction, thereby ensuring the direction of the shooting device 400 when shooting, so that the recoil force is better transmitted to the elastic member 105 and absorbed, thereby achieving the best buffering and vibration absorption effect. In other embodiments, the slideway 103 can also be constructed as any other shape that can circumferentially surround the slide rail 104, so as to limit the slide rail 104 in the circumferential direction of the slide rail 104, so that the slide rail 104 always moves forward and backward along the slideway 103, ensuring the stability of the operation of the slide rail 104, and thus better controlling the drone.

[0061] Furthermore, if Fig. 20 As shown, the slideway 103 may include two sub-slideways spaced apart from each other, the slide rail 104 runs through the two sub-slideways, and the first mounting seat 300 may be installed in the middle position between the two sub-slideways, so that the first mounting seat 300 can be supported by the two sub-slideways at both ends of the slide rail 104 at the same time, thereby ensuring the stability of the shooting device 400 after installation. In other embodiments, the slideway 103 may also be a continuous slideway, and the first mounting seat 300 may be installed on the slide rail 104 at the rear end of the slideway 103.

[0062] According to some embodiments, the slide rail 104 may be hinged to the elastic member 105, and the elastic member 105 may be hinged to the body 100. In this way, the hinged structure is adopted, so that when the shooting device 400 shoots at any angle, for example, when the shooting device 400 is affected by air resistance and the shooting angle is offset, the hinged elastic member 105 will adaptively offset to a corresponding angle to play a role in absorbing and buffering the recoil of the shooting.

[0063] According to some embodiments, the elastic member 105 may be a compression spring. The compression spring is connected to the slide rail 104 and the fuselage 100, which can not only provide a certain rigid support to the slide rail 104 after the shooting device 400 shoots, but also absorb the recoil caused by shooting, play a role in buffering and vibration absorption, and improve the stability of the entire drone, so that the drone is easier to control. The compression spring can be hinged to the slide rail 104 and the fuselage 100 as described above to more comprehensively absorb the recoil caused by the shooting device 400. In some embodiments, the elastic member 105 can also be an air spring, etc., which is hinged between the slide rail 104 and the fuselage 100.

[0064] In some embodiments, in order to facilitate the mounting and use of the shooting device 400 on the drone, the slide 103 and the slide rail 104 can be respectively arranged at the bottom of the fuselage 100, and the first mounting seat 300 is installed below the slide rail 104. The first mounting seat 300 can be fixedly installed on the slide rail 104, or it can be detachably connected to the slide rail 104 to facilitate disassembly and replacement, thereby improving the versatility of the drone.

[0065] In order to facilitate the replacement and maintenance of various parts, the slideway 103 and the elastic member 105 can be detachably connected to the fuselage 100, so that the drone can be used as a common drone when the slideway 103 and the elastic member 105 are not connected, or the slideway 103 and the elastic member 105 can be connected when necessary and used as a combat drone after the first mounting seat 300 and the shooting device 400 are installed. In other embodiments, the slideway 103 and the elastic member 105 can also be fixedly connected to the fuselage 100, such as welded to the fuselage 100, to ensure that the various parts of the entire drone are installed more firmly.

[0066] Reference Figure 2 and Fig.10 The drone provided by the embodiment of the present disclosure may also include a tripod 500 rotatably connected to the fuselage 100, so that it can be unfolded to support the drone when the drone is landing, and folded when the drone is flying. That is, when the drone is landing, the tripod 500 rotates to a position in contact with the landing platform to support the drone, and when the drone is flying, the tripod 500 rotates to a position close to the fuselage 100 to avoid collision with obstacles during the flight of the drone. The tripod 500 can be set at the bottom of the fuselage 100, and can be a plurality of tripods symmetrically arranged on both sides of the longitudinal center line of the fuselage 100 to provide a stable and balanced support force for the drone.

[0067] Furthermore, if Figure 3 As shown, the tripod 500 can be rotatably connected to the fuselage 100 through a tripod mounting base 130 disposed at the bottom of the fuselage 100. Figure 3 and Figure 5According to some embodiments, the tripod mounting seat 130 may be respectively formed with a pair of first ear seats 131 for mounting the tripod 500 and a pair of second ear seats 132 for mounting the first motor seat 110, the two first ear seats 131 and the two second ear seats 132 are arranged opposite to each other, one end of the tripod 500 is rotatably mounted on the fuselage 100 through a first rotating shaft 133 passing through the two first ear seats 131, and one end of the first motor seat 110 is rotatably mounted on the fuselage 100 through a second rotating shaft 134 passing through the two second ear seats 132, and the first rotating shaft 133 and the second rotating shaft 134 are arranged parallel to each other. A first motor (not shown in the figure) is fixed in the first motor seat 110, and the rotation output shaft 120 of the first motor is formed with an external thread, and the tripod 500 has a first connecting portion 510 matched with the external thread, and when the first motor is working, the rotating output shaft 120 drives the first connecting portion 510 to approach or move away from the first motor, so as to drive the tripod 500 to unfold or retract.

[0068] Furthermore, refer to Figure 4 The tripod 500 can be constructed as a frame with a cavity, and the first connecting portion 510 can be constructed as a rod and fixedly installed between the opposite side walls of the frame. The first motor seat 110 is accommodated in the cavity, and the rotation output shaft 120 of the first motor extends from the wall plate of the first motor seat 110 and radially penetrates the first connecting portion 510. The penetrated portion of the first connecting portion 510 is formed with an internal thread to cooperate with the external thread of the rotation output shaft 120. Taking the case of the tripod 500 being unfolded, the first motor is started, the rotary output shaft 120 rotates around its own axis, the tripod 500 rotates around the first rotating shaft 133 away from the fuselage 100 through the thread force of the first connecting portion 510, the first connecting portion 510 drives the rotary output shaft 120 so that the first motor seat 110 rotates around the second rotating shaft 134 away from the fuselage 100 at the same time, during the rotation process, the first connecting portion 510 and the rotary output shaft 120 are threadedly matched, the first connecting portion 510 moves along the axial direction of the rotary output shaft 120 and gradually moves away from the first motor. When the tripod 500 is folded, the first motor is started, the rotary output shaft 120 rotates in the opposite direction, so that the tripod 500 rotates around the first rotating shaft 133 and the first motor seat 110 rotates around the second rotating shaft 134 simultaneously close to the fuselage 100, during this process, the first connecting portion 510 gradually approaches the first motor.

[0069] The present disclosure does not specifically limit the tilting mode of the rotor assembly 200, and the following is an exemplary description of the embodiments shown in the drawings. Figure 1 and Fig. 9The drone may also include a support arm 600 that runs through the fuselage 100 horizontally and can rotate longitudinally, and the rotor assembly 200 is fixed at both ends of the support arm 600. That is, the rotor assembly 200 can be installed on the fuselage 100 through the support arm 600, and realize its longitudinal tilting through the longitudinal rotation of the support arm 600. Among them, the rotation of the support arm 600 can be controlled by any form of driving mechanism located inside the fuselage 100, for example, a gear can be sleeved on the outer side of the support arm 600, and the gear and the support arm 600 are matched through a keyway, and the rotation of the support arm 600 can be controlled by driving the gear to rotate by a driving motor.

[0070] Further, refer to Figure 6 The rotor assembly 200 may include a blade 210 and a second motor 220 driving the blade 210 to rotate; a tilting servo (not shown in the figure) is fixed to the end of the support arm 600, and the output end of the tilting servo is connected to a second motor seat 230 for mounting the second motor 220; the tilting servo drives the second motor seat 230 to rotate so that the rotor assembly 200 tilts laterally. The tilting servo may be fixedly connected to the support arm 600 through a servo mounting seat 240. The servo mounting seat 240 may include a sleeve section and a mounting section, the sleeve section is sleeved on the outer peripheral wall of the end of the support arm 600, and the mounting section is used to accommodate the tilting servo. The second motor base 230 includes a top plate and side plates located at both ends of the top plate. The second motor 220 is installed above the top plate, and the mounting section is located between the two side plates. A mounting hole is opened on the side plate for the third rotating shaft 250 to pass through. The output end of the tilt servo is axially connected to the third rotating shaft 250 to drive the second motor base 230 to rotate synchronously through the third rotating shaft 250 to realize lateral tilting of the rotor assembly 200.

[0071] In addition, in the disclosed embodiment, the drone may further include a driving device for controlling the shooting device 400 to shoot, and the driving device may be connected to the flight control system of the drone. In this way, the staff at the ground station may send a signal to the flight control system of the drone through a remote control device such as a remote controller, and the flight control system prompts the driving device to control the shooting device 400 to shoot. Or in another embodiment, after the above-mentioned aiming component locks the target object, it transmits the signal to the flight control system, and the flight control system may directly start the driving device to improve the response speed of the system.

[0072] According to one embodiment, referring to Figure 1 and Figure 2 The shooting device 400 may be a gun, and the first mounting seat 300 may be configured as a gun stock capable of accommodating the gun. The gun may be disposed at the bottom of the fuselage 100, and the gun stock may include a second connecting portion connected to the bottom of the fuselage 100 and a supporting portion for carrying the gun.

[0073] Further, refer to Figure 7The gun has a trigger 411 and a guard ring 412 arranged around the trigger 411; a driving assembly for driving the trigger 411 is installed on the first mounting seat 300, and the driving assembly may include a pressing rod 311 that can be laterally extended into the guard ring 412 and a third motor 312 that drives the pressing rod 311 to approach or move away from the trigger 411. The third motor 312 is the driving device for controlling the shooting device 400 to shoot. In this way, when shooting, by controlling the third motor 312 to work, the pressing rod 311 can move toward the trigger 411, exert a certain pressure on the trigger 411, and then press the trigger 411 to shoot the bullet from the gun.

[0074] Furthermore, refer to Figure 8 , a slide groove 320 for sliding the pressing rod 311 may be provided on the first mounting seat 300, and the output end of the third motor 312 may be rotatably connected to a connecting rod assembly 313 to form a crank slider structure with the pressing rod 311. The connecting rod assembly 313 may include an active rod connected to the output end of the third motor 312, and a connecting rod connecting the active rod and the pressing rod 311, and the pressing rod 311 is formed as a slider in the crank slider structure. In the illustrated embodiment, the third motor 312 may be arranged at the rear of the gun, and the pressing rod 311 extends into the guard ring 412 from the front of the trigger 411, and the extension direction of the slide groove 320 is substantially parallel to the pressing direction of the trigger 411. When the third motor 312 is working, its output end drives the active rod to rotate a certain angle, and the active rod drives the pressing rod 311 to swing along the slide groove 320 through the connecting rod, thereby realizing the pressing or releasing of the trigger 411.

[0075] According to another embodiment, referring to Fig. 9 and Fig.10 The shooting device 400 may also be a rocket launcher, and the first mounting seat 300 may be correspondingly constructed as a mounting bracket capable of connecting to the barrel of the rocket launcher. Fig. 9 and Fig.10 In the embodiment shown, the mounting bracket may be plate-shaped; according to another embodiment, as Fig.11 and Fig.12 As shown, the mounting bracket can be fixed above the barrel 421, and its upper end can be fixed to the bottom of the fuselage 100, so as to mount the rocket launcher on the bottom of the fuselage 100 of the UAV. The mounting bracket can be adaptively designed according to the model of the UAV, and the specific structure of the embodiment of the present disclosure is not limited. For example, refer to Fig.14 and Fig.15The mounting bracket may include a vertical plate 301 fixed on the top of the barrel 421, a horizontal plate 302 vertically connected to the vertical plate 301, and a mounting hole for a fastener 303 to pass through may be provided on the horizontal plate 302, so that the mounting bracket and the fuselage 100 can be detachably connected through the fastener 303. The mounting bracket can also be detachably connected to the barrel 421, so that the mounting bracket (i.e., the first mounting seat 300) can be detachably connected to the fuselage 100 and the shooting device 400, respectively, to facilitate the maintenance and replacement of parts. Among them, in order to increase the connection strength between the mounting bracket 800 and the fuselage, the mounting holes can be multiple and spaced on the horizontal plate 302, and in order to stably fix the rocket launcher on the fuselage 100, the mounting bracket can also be multiple and spaced along the front and rear directions. Further, an ignition motor is also provided in the barrel, and the ignition motor is the driving device for controlling the shooting of the shooting device 400.

[0076] The rocket launcher provided in the embodiment of the present disclosure includes the barrel 421 mentioned above and a projectile 422 accommodated in the barrel 421 , and the projectile 422 can be carried and protected by the barrel 421 .

[0077] According to some embodiments, the rocket launcher further includes a first stopper 810 and a second stopper 820, wherein the first stopper 810 can be accommodated in the barrel 421 to limit the front position of the projectile 422, and the second stopper 820 can also be accommodated in the barrel 421 to limit the rear position of the projectile 422. In this way, the first stopper 810 and the second stopper 820 lock the projectile 422 in the barrel 421 by limiting the front and rear positions of the projectile 422 respectively, thereby preventing the projectile 422 from escaping from the barrel 421 during the drone's flight with the projectile.

[0078] Further, refer to Fig.11 and Fig.13 The projectile 422 may have a streamlined head, which may face the front of the UAV, so that the projectile 422 head can be used for rectification before the rocket is launched, thereby reducing the gas resistance of the UAV during flight. Fig.13 and Fig.16According to some embodiments, the first position limiting member 810 may include a position limiting servo 811 installed on the barrel 421, and a swingable blocking rod 812 connected to the output shaft of the position limiting servo 811. In this way, by controlling the rotation direction and rotation angle of the position limiting servo 811, the blocking rod 812 can be pressed against the front of the projectile 422 to lock the projectile 422 before the projectile 422 is launched, and can be swung to the radially outer side of the projectile 422 to release the projectile 422 when the projectile 422 is launched. Among them, when the projectile 422 is launched, the position limiting servo 811 can be executed simultaneously with the ignition device of the rocket launcher to accurately strike the target. In the embodiment of the present disclosure, the first position limiting member 810 can be a plurality of circumferentially spaced members to securely confine the projectile 422 in the barrel 421. For example, referring to Fig.14 , the first stopper 810 can be two and symmetrically arranged up and down, so that the projectile 422 can be locked in the barrel 421 in a balanced manner. Fig.14 and Fig.16 As shown, the output shaft of the limit servo 811 can be arranged in the front-to-back direction, one end of the stopper 812 is sleeved on the output shaft of the limit servo 811, and the other end is used to rotate to the head surface of the elastic body 422 to clamp the elastic body 422. The portion of the stopper 812 in contact with the elastic body 422 can have the same profile as the surface of the elastic body 422, so as to increase the clamping force with the elastic body 422 while avoiding scratches on the head of the elastic body 422.

[0079] According to some embodiments, reference Fig.12 The rocket launcher may also include a tail cover 423, which can further limit the rear position of the projectile 422 and prevent foreign objects from entering the barrel 421 of the drone on the ground or during flight. The tail cover 423 can be installed in a split manner at the tail of the barrel 421 and can be separated from the barrel 421 when the projectile 422 is fired, so that an air flow field is formed at the front and rear ends of the barrel 421 after the projectile 422 is fired, reducing the resistance of the drone as a whole after the projectile 422 is fired, and improving the flight performance of the drone. Among them, the tail cover 423 can be separated from the barrel 421 by relying on the airflow impact force at the rear end of the projectile 422 when it is fired, or it can be broken and separated from the barrel 421 by other methods, and the embodiments of the present disclosure are not limited to this.

[0080] According to one embodiment, the tail cover 423 can be bonded to the tail of the barrel 421 by a room temperature curing adhesive, for example, it can be bonded and fixed to the tail of the barrel 421 by a room temperature curing resin adhesive. The room temperature curing adhesive can be cured at room temperature to achieve its bonding function, and can be quickly melted after encountering high temperature. In the embodiment of the present disclosure, since a large amount of heat is generated when the rocket is fired, the heat helps to melt the room temperature curing adhesive, thereby achieving the separation of the tail cover 423 from the barrel 421.

[0081] Further, refer to Fig.15 The tail cover 423 may also include multiple pieces that are spliced ​​together and bonded to each other through a room temperature curing adhesive, so that the tail cover 423 can be quickly broken when the projectile 422 is launched, reducing the difficulty of detaching the tail cover 423.

[0082] According to some embodiments, in order to reduce the load of the drone and achieve lightweight requirements, the tail cover 423 may be a carbon fiber sheet, for example, may be made of a carbon fiber sandwich sheet.

[0083] In addition, if Fig.13 As shown, in the embodiment of the present disclosure, the second stopper 820 can be a stopper plate that is fitted at the tail of the projectile 422. The stopper plate can be arranged close to the tail cover 423, so as to prevent the projectile 422 from moving in the barrel 421 or colliding with the tail cover 423 when the attitude of the drone is adjusted instantly. The stopper plate can be constructed in an annular shape, so that the high-temperature airflow at the tail of the projectile 422 can pass through the annular stopper plate and reach the tail cover 423, thereby breaking the tail cover 423 or causing the tail cover 423 to fall off. Among them, the inner diameter of the annular stopper plate can be smaller than the outer diameter of the projectile 422, so as to limit the projectile 422 in the barrel 421.

[0084] According to the specific implementation scheme provided by the present disclosure, Fig.13 , the inner wall of the barrel 421 may be provided with a plurality of guide blocks 424 at intervals along the circumferential direction, and the guide blocks 424 may extend along the axial direction and be fitted between the inner wall of the barrel 421 and the projectile 422. Among them, the front end of the guide block 424 may be provided close to the front end of the barrel 421 to guide the projectile 422 during the process of the projectile 422 being launched from the inside of the barrel 421, to prevent the projectile 422 from deviating from the preset path, and to achieve accurate strikes on the target. Further, the guide block 424 may have a surface that matches the outer contour shape of the projectile 422 to stably accommodate the projectile 422. For example, in the illustrated embodiment, the projectile 422 is configured as a cylinder, and the surface of the guide block 424 that contacts the projectile 422 may be arc-shaped.

[0085] Further, refer to Fig.13 , the front end of the inner side of the barrel 421 may also be provided with an annular wiring groove 425 coaxial with the barrel 421. There is a gap between the barrel 421 and the projectile 422, and the wiring groove 425 is formed in the gap. The wiring groove 425 can be fixedly connected to the front end of the guide block 424, and the limit steering gear 811 can be installed in the wiring groove 425. The wiring groove 425 can be used for signal lines, control lines, etc. to pass through, so as to realize the connection between the rocket launcher and the UAV flight control system, and the UAV flight control system controls the launch of the rocket launcher and the operation of the limit steering gear 811.

[0086] The disclosed embodiment also provides another structural form of a drone, including a fuselage 100, a rotor assembly 200 and a shooting device 400. The number of the rotor assembly 200 can be multiple, and can be installed on the fuselage 100 in a lateral and / or longitudinal tilting manner, so as to adjust the lateral or longitudinal tilting of the rotor assembly 200 to achieve the adjustment of the flight attitude of the drone. The shooting device 400 is fixedly mounted on the fuselage 100, and the shooting device 400 can be any device capable of launching weapons such as the above-mentioned guns, rocket launchers, or crossbows, or can also be a device capable of emitting infrared light, etc. In the case where the shooting device 400 is a weapon, long-range combat can be achieved to reduce casualties, and the weapon can cooperate with the above-mentioned aiming components or other detection-type mounting equipment on the drone (such as infrared sensors, etc.) to achieve the "integrated detection and attack" function of the drone. The drone provided in this embodiment has similar beneficial effects as the above-mentioned drone with the first mounting seat 300, which will not be repeated here. In addition, the tripod 500, rotor assembly 200 and other structures of the drone in this embodiment can also be similar to those of the above-mentioned drone with the first mounting seat 300, which will not be repeated here.

[0087] The preferred implementation modes of the embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the embodiments of the present disclosure are not limited to the specific details in the above implementation modes. Within the technical concept of the embodiments of the present disclosure, various simple modifications can be made to the technical scheme of the embodiments of the present disclosure, and these simple modifications all belong to the protection scope of the embodiments of the present disclosure.

[0088] It should also be noted that the various specific technical features described in the above specific implementation methods can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the embodiments of the present disclosure will not further describe various possible combinations.

[0089] In addition, the various implementations of the embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present disclosure, they should also be regarded as the contents disclosed by the embodiments of the present disclosure.

Claims

1. A drone, characterized in that: include: Body (100); a rotor assembly (200), the rotor assembly (200) being provided in a plurality and being mounted on the fuselage (100) in a manner that allows for transverse and / or longitudinal tilting; and a first mounting seat (300), fixedly mounted on the fuselage (100) and used for mounting a shooting device (400); a tripod (500) rotatably connected to the fuselage (100), the tripod (500) being used to unfold when the drone is landing to support the drone, and to fold up when the drone is flying; The fuselage (100) is rotatably connected to a first motor seat (110), a first motor is fixed in the first motor seat (110), and a rotation output shaft (120) of the first motor is formed with an external thread; the tripod (500) has a first connecting portion (510) matched with the external thread; the rotation output shaft (120) drives the first connecting portion (510) to approach or move away from the first motor, so as to drive the tripod (500) to unfold or fold.

2. The drone according to claim 1, characterized in that: The stand (500) is constructed as a frame having a cavity, and the first motor seat (110) is accommodated in the cavity.

3. The drone according to claim 1, characterized in that: The drone also includes a support arm (600) that penetrates the fuselage (100) transversely and is capable of longitudinal rotation, and the rotor assembly (200) is fixed at both ends of the support arm (600).

4. The drone according to claim 3, characterized in that: The rotor assembly (200) comprises a blade (210) and a second motor (220) for driving the blade (210) to rotate; a tilting servo is fixed to the end of the support arm (600); an output end of the tilting servo is connected to a second motor seat (230) for mounting the second motor (220); the tilting servo drives the second motor seat (230) to rotate so that the rotor assembly (200) tilts laterally.

5. The drone according to claim 1, characterized in that: The unmanned aerial vehicle also includes a driving device for controlling the shooting of the shooting device (400), and the driving device is connected to the flight control system of the unmanned aerial vehicle.

6. The drone according to any one of claims 1 to 5, characterized in that: The shooting device (400) is a gun, and the first mounting seat (300) is configured to accommodate a buttstock of the gun.

7. The drone according to claim 6, characterized in that: The firearm has a trigger (411) and a guard ring (412) surrounding the trigger (411); a driving assembly for driving the trigger (411) is mounted on the first mounting seat (300), and the driving assembly includes a pressing rod (311) capable of extending laterally into the guard ring (412) and a third motor (312) for driving the pressing rod (311) to approach or move away from the trigger (411).

8. The drone according to claim 7, characterized in that: The first mounting seat (300) is provided with a sliding groove (320) for the buckling rod (311) to slide, and the output end of the third motor (312) is rotatably connected to a connecting rod assembly (313) to form a crank slider structure with the buckling rod (311).

9. The drone according to any one of claims 1 to 5, characterized in that: The shooting device (400) is a rocket launcher, and the first mounting seat (300) is configured as a mounting bracket capable of being connected to the rocket launcher.

Images