An unmanned aerial vehicle

Abstract

The present application relates to the field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle, comprising: a body, provided with a first mounting portion, the first mounting portion comprising a first mounting body and a connecting rod formed on the first mounting body, the connecting rod extending along the pitch axis direction; and a power assembly, comprising a first assembly body and an eccentric wheel mounted on the first assembly body, the eccentric wheel being rotatable between a first rotation position and a second rotation position of the first assembly body around a rotation axis of the first assembly body, the rotation axis being perpendicular to the pitch axis direction; wherein, when the eccentric wheel rotates to the first rotation position, the connecting rod can be inserted into the eccentric wheel along the pitch axis direction; when the eccentric wheel rotates to the second rotation position, and the connecting rod is inserted into the eccentric wheel, the connecting rod cannot be withdrawn from the eccentric wheel along the pitch axis direction, thereby realizing an unmanned aerial vehicle in which a power assembly can be relatively conveniently disassembled and assembled from the body.

Description

[Technical field]

[0001] The present application relates to the field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle. [Background technology]

[0002] In the field of unmanned aerial vehicles, facing different working environments, it is necessary to replace the power components of the drone.

[0003] In current drones, the fuselage and power components are mostly connected by fixed connections or bolts, which makes the power components non-detachable or the disassembly process complicated. [Summary of the invention]

[0004] In order to solve the above technical problems, an embodiment of the present application provides an unmanned aerial vehicle whose power assembly can be easily assembled and disassembled from the body.

[0005] In order to solve the above technical problems, the embodiments of the present application provide the following technical solutions:

[0006] An unmanned aerial vehicle is provided, comprising: a body, provided with a first mounting portion, the first mounting portion comprising a first mounting body and a connecting rod formed on the first mounting body, the connecting rod extending along the pitch axis direction; and a power assembly, comprising a first assembly body and an eccentric wheel mounted on the first assembly body, the eccentric wheel being rotatable around a rotation axis of the first assembly body between a first rotation position and a second rotation position of the first assembly body, the rotation axis being perpendicular to the pitch axis direction; wherein, when the eccentric wheel rotates to the first rotation position, the connecting rod can be inserted into the eccentric wheel along the pitch axis direction; when the eccentric wheel rotates to the second rotation position and the connecting rod is inserted into the eccentric wheel, the connecting rod cannot be withdrawn from the eccentric wheel along the pitch axis direction.

[0007] In some embodiments, the first mounting body includes a first mounting surface, and the connecting rod is formed on the first mounting surface; the first assembly body includes a first assembly surface and a first side surface connected to each other, the first assembly surface is used to fit the first mounting surface, the first assembly surface is formed with a connecting hole, the connecting hole is used for inserting the connecting rod, the first side surface is formed with a rotating hole, the rotating hole has the rotation axis, and is connected to the connecting hole; the eccentric wheel is installed in the rotating hole.

[0008] In some embodiments, the connecting rod includes a rod body and a limiting body; the rod body extends along the pitch axis direction, the limiting body connects the end of the rod body away from the first mounting body, and the cross-sectional size of the rod body is smaller than the cross-sectional size of the limiting body; the eccentric wheel includes a rotating wheel, a cavity is formed in the rotating wheel, the rotating wheel includes a cylindrical surface arranged around the rotation axis, the cylindrical surface is sleeved on the hole wall of the rotating hole, an arc guide groove and an avoidance groove are formed on the cylindrical surface, the arc guide groove is connected to the cavity and rotates around the rotation axis The arc-shaped guide groove is arranged in a line, wherein the arc-shaped guide groove has a first end and a second end, and the avoidance groove is communicated with the accommodating cavity and is connected to the first end; when the eccentric wheel rotates to the first rotation position, the avoidance groove is aligned with the connecting hole, and the limiting body can be accommodated in the accommodating cavity via the connecting hole along the pitch axis direction; when the eccentric wheel rotates to the second rotation position, and the limiting body is accommodated in the accommodating cavity, the second end is aligned with the connecting hole, and the limiting body cannot exit the accommodating cavity via the arc-shaped guide groove along the pitch axis direction.

[0009] In some embodiments, the limiting body is spherical.

[0010] In some embodiments, the first assembly body also includes a second side surface, the second side surface is opposite to the first side surface, and the first assembly surface is connected between the first side surface and the second side surface; the rotation hole extends from the first side surface to the second side surface, and the opening of the rotation hole on the second side surface is closed by a sealing plate, and the sealing plate is detachably connected to the second side surface; the hole wall of the rotation hole is protruded with an annular stop portion at a position close to the first side surface, and the annular stop portion is arranged around the rotation axis.

[0011] In some embodiments, the rotating wheel further includes a first end face and a second end face opposite to each other, the cylindrical surface is connected between the first end face and the second end face, the first end face abuts against the annular stop portion, and the second end face abuts against the sealing plate.

[0012] In some embodiments, the eccentric wheel further includes a boss; the boss is formed at the center of the first end surface and exposed in the rotating hole, and a groove for a screwdriver to twist is formed on a surface of the boss facing away from the first end surface.

[0013] In some embodiments, the annular stop portion is formed with an arc-shaped protrusion in the direction of the first end face; the eccentric wheel also includes an interference portion, and the interference portion is formed on the boss in a direction perpendicular to the rotation axis; the first end face abuts against the annular stop portion through the arc-shaped protrusion; when the eccentric wheel rotates to the first rotation position, the interference portion abuts against one end of the arc-shaped protrusion; when the eccentric wheel rotates to the second rotation position, the interference portion abuts against the other end of the arc-shaped protrusion.

[0014] In some embodiments, a positioning beam is further formed on the first installation surface, and the positioning beam extends along the pitch axis direction; a positioning hole is also formed on the first assembly surface, and the positioning hole is used for inserting the positioning beam.

[0015] In some embodiments, the cross-section of the positioning beam is non-circular.

[0016] In some embodiments, the cross-section of the positioning beam is square.

[0017] In some embodiments, the first mounting surface is provided with a first plug-in terminal; the first assembly surface is provided with a second plug-in terminal, and the second plug-in terminal is used to be plugged with the first plug-in terminal.

[0018] In some embodiments, the power assembly includes a fixed-wing assembly and a rotor assembly; the fixed-wing assembly and the rotor assembly are interchangeably connected to the first mounting portion; when the fixed-wing assembly is connected to the first mounting portion, the fuselage and the fixed-wing assembly together constitute a vertical take-off and landing fixed-wing UAV; when the rotor assembly is connected to the first mounting portion, the fuselage and the rotor assembly together constitute a multi-rotor UAV; any one of the fixed-wing assembly and the rotor assembly includes the first assembly body and the eccentric wheel.

[0019] Compared with the prior art, in the unmanned aerial vehicle of the embodiment of the present application, an eccentric wheel is arranged on the power assembly and a connecting rod is arranged on the body. When the eccentric wheel rotates to the first rotation position, the connecting rod can be inserted into the eccentric wheel along the pitch axis direction. When the eccentric wheel rotates to the second rotation position and the connecting rod is inserted into the eccentric wheel, the connecting rod cannot be withdrawn from the eccentric wheel along the pitch axis direction to lock the connecting rod. After the connecting rod is inserted into the eccentric wheel, the connecting rod can be locked only by rotating the eccentric wheel, thereby realizing an unmanned aerial vehicle whose power assembly can be relatively conveniently disassembled and assembled with the body.

Brief Description of the Drawings

[0020] One or more embodiments are exemplarily described by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and the figures in the drawings do not constitute proportional limitations unless otherwise stated.

[0021] Figure 1 A schematic structural diagram of a multi-rotor unmanned aerial vehicle provided in one embodiment of the present application;

[0022] Figure 2 for Figure 1 The disassembly diagram of the multi-rotor drone shown;

[0023] Figure 3 A schematic structural diagram of a vertical take-off and landing fixed-wing unmanned aerial vehicle provided in one embodiment of the present application;

[0024] Figure 4 for Figure 3 The disassembly diagram of the vertical take-off and landing fixed-wing UAV shown;

[0025] Figure 5 for Figure 1 The multi-rotor drone shown or Figure 3 The structural schematic diagram of the body of the vertical take-off and landing fixed-wing UAV shown;

[0026] Figure 6 for Figure 5 A first partial view of the body shown, which mainly shows one of the first mounting parts of the body;

[0027] Figure 7 for Figure 5 A partial view of the first mounting portion shown, which mainly shows one of the connecting rods of the first mounting portion;

[0028] Figure 8 for Figure 6 A second partial view of the body shown, which mainly shows two first mounting parts of the body;

[0029] Fig. 9 for Figure 5 A third partial view of the body shown, which mainly shows a second mounting portion of the body;

[0030] Fig.10 for Figure 8 A fourth partial view of the body shown, which mainly shows two second mounting portions of the body;

[0031] Fig.11 for Figure 2 A schematic diagram of the structure of the rotor assembly of the multi-rotor UAV shown;

[0032] Fig.12 for Fig.11 A partial view of one of the arm components of the rotor assembly shown, which mainly shows a first assembly portion of the arm component;

[0033] Fig.13 for Fig.12 A cross-sectional view of a first assembly portion of the rotor assembly shown, which mainly shows a rotating hole, an eccentric wheel and a cover of the first assembly portion;

[0034] Fig.14 for Fig.13 The structural schematic diagram of the eccentric wheel shown;

[0035] Fig.15 for Figure 4 The structural schematic diagram of the fixed-wing assembly of the vertical take-off and landing fixed-wing UAV shown, wherein the third rotor motor of the fixed-wing assembly is in a first position;

[0036] Fig.16 for Fig.15 A perspective view of one of the wing components of the fixed-wing assembly shown, wherein the third rotor motor of the wing component is in a second position;

[0037] Fig.17 for Figure 4 The schematic diagram of the structure of the tail assembly of the vertical take-off and landing fixed-wing UAV is shown. [Specific implementation method]

[0038] In order to facilitate the understanding of the present application, the present application is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween. The terms "vertical", "horizontal", "left", "right", "inside", "outside" and similar expressions used in this specification are for illustrative purposes only.

[0039] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0040] See also Figures 1 to 4, which is an unmanned aerial vehicle 100 provided in one embodiment of the present application, comprises a body 10, a power assembly and a tail assembly 40. The power assembly and the tail assembly 40 are both detachably connected to the body 10. The power assembly comprises a rotor assembly 20 and a fixed-wing assembly 30. The rotor assembly 20 and the fixed-wing assembly 30 are replaceably connected to the body 10.

[0041] When the rotor assembly 20 is connected to the body 10, the rotor assembly 20 and the body 10 together form a multi-rotor drone. Figure 1 shown.

[0042] When the fixed-wing assembly 30 and the tail assembly 40 are connected to the body 10, the fixed-wing assembly 30, the tail assembly 40 and the body 10 together constitute a vertical take-off and landing fixed-wing UAV. Figure 3 shown.

[0043] Please also read Figure 5 The body 10 is in the shape of a long strip extending along the rolling axis direction y, and includes a nose 11, a fuselage 12 and a tail 13 arranged in sequence along the rolling axis direction y.

[0044] A circuit module (not shown) is disposed in the body 10. The circuit module includes a circuit board and various electronic components mounted on the circuit board, and is mainly used to control electronic equipment disposed outside the body 10, and the rotor assembly 20 or the fixed-wing assembly 30 connected to the body 10.

[0045] The electronic equipment arranged outside the body 10 includes two first rotor motors 14 and two antennas 15. The two first rotor motors 14 and the two antennas 15 are all arranged on the same side of the body 10 along the heading axis direction z. One of the first rotor motors 14 is arranged on the nose 11 or on the fuselage 12 near the nose 11, and the other rotor motor 14 is arranged on the tail 13 or on the fuselage 12 near the tail 13. The two first rotor motors 14 are used together to provide lift, and the rotating shaft of each first rotor motor 14 is arranged along the heading axis z direction, and is equipped with a first propeller (not shown in the figure).

[0046] It can be understood that the number of first rotor motors is not limited to 2. According to actual conditions, if the load mounted on the fuselage is small or the fuselage is light, the number of first rotor motors can be less. If the load mounted on the fuselage is large or the fuselage is heavy, the number of first rotor motors can be more.

[0047] The two first rotor motors 14 and the two antennas 15 are arranged along the rolling axis direction y, and the antennas 15 and the first rotor motors 14 are arranged alternately. The two antennas 15 are used together for navigation and positioning of the unmanned aerial vehicle. Each antenna 15 can be an RTK (Real-time kinematic) antenna.

[0048] It can be understood that the number of antennas is not limited to 2, and the number of antennas can be less or more according to actual conditions.

[0049] The fuselage 10 is also provided with a drooping tail 16, a landing gear 17, two first mounting portions 18 and two second mounting portions 19. The drooping tail 16 and the landing gear 17 are both arranged on the other side of the fuselage 10 along the heading axis direction z and away from the two first rotor motors 14. The drooping tail 16 is arranged at the tail 13. The support frame 17 is arranged on the fuselage 12, and the support frame 17 includes two branches 170. The two branches 170 are in an "eight"-shaped structure, and are used together with the drooping tail 16 to support the fuselage 10.

[0050] The two first mounting portions 18 are respectively disposed on two sides of the fuselage 12 along the pitch axis direction x thereof.

[0051] The two second mounting portions 19 are respectively disposed on both sides of the tail 13 along the pitch axis direction x thereof.

[0052] Please also read Figure 6 Taking one of the first mounting parts 18 as an example, the first mounting part 18 includes a first mounting body 180, two connecting rods 181, a positioning beam 182 and a first plug-in terminal 183. The first mounting body 180 is arranged on the corresponding side of the fuselage 12 along the pitch axis direction x, and includes a first mounting surface 1800. The first mounting surface 1800 is arranged to face away from the fuselage 12, and the two connecting rods 181, the positioning beam 182 and the first plug-in terminal 183 are all formed on the first mounting surface 1800. Each connecting rod 181 extends along the pitch axis direction x. The positioning beam 182 is a hollow profile extending along the pitch axis direction x and having a square cross-section. According to actual conditions, the cross-sectional shape of the positioning beam can also be designed to be other shapes, such as ellipse, triangle, pentagon, etc., as long as it is non-circular. The first plug-in terminal 183 is electrically connected to the circuit module.

[0053] Please also read Figure 7, taking one of the connecting rods 181 as an example, the connecting rod 181 includes a seat body 1810, a rod body 1811 and a limiting body 1812. The seat body 1810 is formed on the first mounting surface 1800. The rod body 1811 extends along the pitch axis direction x, one end of which is connected to the base 1810, and the other end of which is connected to the limiting body 1812. The cross-sectional size of the rod body 1811 is smaller than the cross-sectional size of the limiting body 1812. In this embodiment, the limiting body 1812 is spherical. According to actual conditions, the limiting body 1812 can be of any shape as long as its cross-sectional size is larger than the cross-sectional size of the rod body 1811.

[0054] In this embodiment, please refer to Figure 8 A crossbeam 184 runs through the first mounting surfaces 1800 of the two first mounting parts 18, and two ends of the crossbeam 184 are respectively formed with positioning beams 182 of the two first mounting parts 18. In some other embodiments, the positioning beam 182 can also be integrally formed with the first mounting body 180.

[0055] Please also read Fig. 9 and Fig.10 Each second mounting portion 19 includes a second mounting surface 190. The second mounting surface 190 is arranged to face away from the tail 13. The two second mounting portions 19 are formed with an axial hole 191 and an arc-shaped guide hole 192. The axial hole 191 and the arc-shaped guide hole 192 both penetrate the second mounting surfaces 190 of the two second mounting portions 19. The axial hole 191 and the arc-shaped guide hole 182 both extend along the pitch axis direction x, and the arc-shaped guide hole 192 is arranged around the axial hole 191.

[0056] Please also read Fig.11 , the rotor assembly 20 includes an arm component 21. The number of the arm components 21 corresponds to the number of the first mounting parts 18, and each arm component 21 is used to be connected to a first mounting part 18 corresponding thereto. Taking one of the arm components 21 as an example, the arm component 21 includes an arm body 22, a second rotor motor 23 and a first assembly part 24. The arm body 22 extends along the pitch axis direction x, one end of the arm body 22 is connected to the second rotor motor 23, and the other end of the arm body 22 is connected to the first assembly part 24. The arm body 22 is hollow and is used for routing the second rotor motor 23 so that the second rotor motor 23 is electrically connected to the first assembly part 24. The rotating shaft of the second rotor motor 23 is arranged along the heading axis direction z, and is equipped with a second propeller (not shown in the figure), and the second rotor motor 23 is used to provide lift.

[0057] Please also read Fig.12The first assembly part 24 is used to be connected to a first mounting part 18 corresponding thereto, and the first assembly part 24 includes an assembly body 240, an eccentric wheel 241 and a second plug-in terminal 242. The assembly body 240 includes a first assembly surface 2400, a first side surface 2401 and a second side surface 2402. The first side surface 2401 and the second side surface 2402 are opposite to each other, and the first assembly surface 2400 is connected between the first side surface 2401 and the second side surface 2402. The first assembly surface 2400 is used to fit the first mounting surface 1800 of the first mounting part 18, and the first assembly surface 2400 is formed with a positioning hole 243 and a connecting hole 244. The positioning hole 243 is adapted to the positioning beam 182 of the first mounting part 18, and is used for the positioning beam 182 to be inserted. The number of connecting holes 244 corresponds to the number of connecting rods 181, and each connecting hole 244 is used for a corresponding connecting rod 181 to be inserted therein. The first side surface 2401 is formed with rotation holes 245, and the number of the rotation holes 245 corresponds to the number of the connection holes 244. The second plug-in terminal 242 is disposed on the first assembly surface 2400. The second plug-in terminal 242 of the arm component 21 is electrically connected to the second rotor motor 23.

[0058] Please also read Fig.13 Taking one of the rotation holes 245 as an example, the rotation hole 245 has a rotation axis o, and the rotation axis o is arranged perpendicular to the pitch axis direction x. The rotation hole 245 is connected to a corresponding connection hole 244. The rotation hole 245 extends from the first side surface 2401 to the second side surface 2402, and the hole wall of the rotation hole 245 is protruded with an annular stopper 2450 at a position close to the first side surface 2401. The annular stopper 2450 is arranged around the rotation axis o, and an arc-shaped protrusion 2451 is protruded toward the direction of the second side surface 2402. The arc-shaped protrusion 2451 is arranged around the rotation axis o. The opening of the rotation hole 245 on the second side surface 2402 is closed by a sealing plate 2452, and the sealing plate 2452 can be fixed to the second side surface 2403 by threaded fasteners.

[0059] Please also read Fig.14, the number of eccentric wheels 241 corresponds to the number of rotating holes 245, and each eccentric wheel 241 is installed in a corresponding rotating hole 245, and is used to lock a corresponding connecting rod 181. Taking one of the eccentric wheels 241 as an example, the eccentric wheel 241 includes a rotating wheel 2410, a boss 2411 and an interference portion 2412. The rotating wheel 2410 is arranged around the rotation axis o, and a cavity 2413 is formed in the rotating wheel 2410 for accommodating the limiting body 1812. The rotating wheel 2410 includes a first end face 2414, a second end face 2415 and a cylindrical surface 2416. The first end face 2414 and the second end face 2415 are opposite to each other, and the cylindrical surface 2416 is connected between the first end face 2414 and the second end face 2415 around the rotation axis o, and an arc guide groove 2417 and an avoidance groove 2418 are formed on the cylindrical surface 2416. The arc guide groove 2417 is connected to the cavity 2413 and is arranged around the rotation axis o. The arc guide groove 2417 has a first end and a second end. The arc guide groove 2417 is used to allow the rod body 1811 to rotate along the arc guide groove 2417 around the rotation axis o, and prevent the limiter 1812 from moving along the pitch axis direction x. The avoidance groove 2418 is connected to the cavity 2413 and the first end of the arc guide groove 2417. The avoidance groove 2418 is used for the limiter 1812 to pass through. The boss 2411 is formed at the center of the first end face 2414. The side of the boss 2411 facing away from the first end face 2414 is formed with a groove 2419 for a screwdriver to twist. The groove 2419 is such as a "one-shaped" groove, a "cross" groove, a plum blossom groove, a hexagonal groove, etc. In the figure, it is a "one-shaped" groove. The boss 2411 has an interference portion 2412 protruding in a direction perpendicular to the rotation axis o.

[0060] The process of installing the eccentric wheel 241 in the rotating hole 245 is as follows:

[0061] After aligning the first end face 2414 of the rotating wheel 2410 with the opening of the rotating hole 245 on the second side surface 2402, the eccentric wheel 241 is inserted into the rotating hole 245. After the eccentric wheel 241 is completely inserted into the rotating hole 245, in the first aspect, the first end face 2414 of the rotating wheel 2410 abuts against the arc-shaped protrusion 2451, and / or the interference portion 2412 abuts against the annular stopper 2450, in the second aspect, the cylindrical surface 2416 is sleeved on the hole wall of the rotating hole 245, in the third aspect, the connecting hole 244 connected to the rotating hole 245 is aligned with the arc-shaped guide groove 2417 or the avoidance groove 2418, and in the fourth aspect, the boss 2411 is exposed at the opening of the rotating hole 245 on the first side surface 2401. Subsequently, the sealing plate 2452 is installed on the second side surface 2402. After the sealing plate 2452 is installed on the second side surface 2402 , the sealing plate 2452 abuts against the second end surface 2415 of the rotating wheel 241 . At this time, the eccentric wheel 241 is completely installed in the rotating hole 245 .

[0062] After the eccentric wheel 241 is completely installed in the rotating hole 245, the eccentric wheel 241 can only rotate around the rotating axis o between the first rotating position and the second rotating position in the rotating hole 245. The following describes the assembly relationship between the eccentric wheel 241 and the rotating hole 245 to explain why the eccentric wheel 241 can only rotate around the rotating axis o between the first rotating position and the second rotating position in the rotating hole 245, as follows:

[0063] Since the first end face 2414 of the runner 2410 abuts against the arc-shaped protrusion 2451, and / or the interference portion 2412 abuts against the annular stop portion 2450, and the second end face 2415 of the runner 2410 abuts against the cover plate 2452, the two degrees of freedom of movement of the eccentric wheel 241 in the direction perpendicular to the rotation axis o and the one degree of freedom of rotation around the rotation axis o are limited, and the cylindrical surface 2416 of the runner 2410 is sleeved on the hole wall of the rotating hole 244, further limiting the two degrees of freedom of movement of the eccentric wheel 241 in the direction perpendicular to the rotation axis o. In addition, during the rotation of the eccentric wheel 241 around the rotation axis o, the arc-shaped protrusion 2451 will block the interference portion 2412 to prevent the eccentric wheel 241 from continuing to rotate. In summary, the eccentric wheel 241 can only rotate between the first rotation position and the second rotation position in the rotating hole 245 around the rotation axis o. When the eccentric wheel 241 rotates to the first rotation position, the interference portion 2412 abuts against one end of the arc-shaped protrusion 2451, and the avoidance groove 2418 is aligned with the connection hole 244. When the eccentric wheel 241 rotates to the second rotation position, the interference portion 2412 abuts against the other end of the arc-shaped protrusion 2451, and the second end of the arc-shaped guide groove 2417 is aligned with the connection hole 244.

[0064] The following describes how the rotor assembly 20 is connected to the fuselage 10:

[0065] The first mounting portion is connected to the first assembly portion. The positioning beam 182 is aligned with and inserted into the positioning hole 243. When the positioning beam 182 is fully inserted into the positioning hole 243, on the one hand, each connecting rod 181 is automatically aligned with and inserted into a corresponding connecting hole 244, and on the other hand, the first plug-in terminal 183 is automatically aligned with and plugged into the second plug-in terminal 242.

[0066] During the process of the connecting rod 181 being inserted into the connecting hole 244, the eccentric wheel 241 rotates to the first rotation position, and the avoidance groove 2418 of the eccentric wheel 241 is aligned with the connecting hole 244. The limiting body 1812 of the connecting rod 181 passes through the connecting hole 244 and the avoidance groove 2418 in sequence. After the connecting rod 181 is completely inserted into the connecting hole 244, the limiting body 1812 of the connecting rod 181 is accommodated in the receiving cavity 2413 of the eccentric wheel 241, and the rod body 1811 of the connecting rod 181 is located in the avoidance groove 2418.

[0067] After the positioning beam 182 is completely inserted into the positioning hole 243, in the first aspect, each connecting rod 181 is also completely inserted into a corresponding connecting hole 244, in the second aspect, the first plug-in terminal 183 is also completely plugged into the second plug-in terminal 242, and in the third aspect, the first mounting surface 1800 is in contact with the first assembly surface 2400. Subsequently, the eccentric wheel 241 is rotated to the second rotation position, and the rod body 1811 is located at the second end of the arc-shaped guide groove 2417 of the eccentric wheel 241. At this time, the rotor assembly 20 is completely connected to the body 10.

[0068] After the rotor assembly 20 is connected to the body 10 , the rotor assembly 20 is fixed to the body 10 . The following describes the assembly relationship between the rotor assembly 20 and the body 10 to explain why the rotor assembly 20 is fixed to the body 10 .

[0069] Since the positioning beam 182 is inserted into the positioning hole 243, the positioning beam 182 is matched with the positioning hole 243, and the cross section of the positioning beam 182 is square, the freedom of the arm component 21 is limited except for the movement along the pitch axis direction x. The arc guide groove 2417 prevents the limiter 1812 from exiting the cavity 2413, and cooperates with the first installation surface 1800 to abut against the first assembly surface 2400, thereby limiting the freedom of the arm component 21 to move along the pitch axis direction x.

[0070] It is understandable that the number of connecting rods 181 is not limited to 2. Depending on actual conditions, for example, if the weight of the fuselage 10 or the load mounted on the fuselage 10 is small, the number of connecting rods 181 can be less, otherwise, the number of connecting rods 181 can be more.

[0071] In some other embodiments, the first assembly portion of the arm component is plugged into a first mounting portion corresponding thereto and fixed by a threaded fastener.

[0072] The specific working process of a multi-rotor drone is as follows:

[0073] The two first rotor motors 14 and the two second rotor motors 23 of the arm parts 21 work together to provide lift for the multi-rotor drone to take off and land vertically. Through the differential control of the four rotor motors, the multi-rotor drone can be provided with pitch control, roll control, heading control and flight in all directions. At the same time, the drooping tail 16 can also ensure the heading stability of the multi-rotor drone.

[0074] In some embodiments, the size of the first propeller installed on the first rotor motor 14 is equal to the size of the second propeller installed on the second rotor motor 23. In practical applications, by designing the first propeller and the second propeller as large-sized propellers, the multi-rotor drone can be guaranteed to take off and land vertically with a large weight.

[0075] See also Fig.15 and Fig.16 , the fixed-wing assembly 30 includes two wing parts 31. Taking one of the wing parts 31 as an example, the wing part 31 includes a wing body 32, a wing end 33, a third rotor motor 34, a tilt motor (not shown) and a second assembly part 35. The wing body 32 extends along the pitch axis direction x, one end of the wing body 32 is connected to the wing end 33, the other end of the wing body 32 is connected to the second assembly part 35, the tilt motor is installed on the wing body 32 and connected to the wing end 33, and the third rotor motor 34 is installed on the wing end 33. The wing end 33 can rotate around the pitch axis direction x relative to the wing body 32, so that the third rotor motor 34 installed on the wing end 33 rotates around the pitch axis direction x between a first tilt position and a second tilt position. The tilt motor is used to drive the wing end 33 to rotate around the pitch axis direction x.

[0076] When the third rotor motor 34 is tilted to the first position, Fig.12 As shown, the wing tip 33 is substantially flush with the wing body 32. When the third rotor motor 34 rotates to the second position, as shown in FIG. Fig.13 As shown, the wing tip 33 is substantially orthogonal to the wing body 32 .

[0077] The rotating shaft of the third rotor motor 34 is arranged perpendicular to the pitch axis direction x, and the rotating shaft of the third rotor motor 34 is installed with a third propeller (not shown). When the third rotor motor 34 rotates to the first tilt position, the rotating shaft of the third rotor motor 34 is basically along the roll axis direction y, used to provide thrust. When the third rotor motor 34 rotates to the second tilt position, the rotating shaft of the third rotor motor 34 is basically along the heading axis direction z, used to provide lift.

[0078] The second assembly portion 35 is used to connect with a corresponding first mounting portion 18. The second assembly portion 35 has a similar structure to the first assembly portion 24. That is, any one of the second assembly portion 35 and the first assembly portion 24 includes a first assembly body 240, an eccentric wheel 241 and a second plug-in terminal 242. Please refer to the structure of the first assembly portion 24 for details. Fig.12 The second plug-in terminal 242 of the wing component 31 is electrically connected to the tilt motor and the third rotor motor 34 respectively.

[0079] The following describes how the fixed-wing assembly 30 is connected to the fuselage 10:

[0080] The first mounting portion is connected to the second assembly portion. Since the structures of the second assembly portion and the first assembly portion are similar, the assembly process of the second assembly portion and the first mounting portion is also similar to the assembly process of the first assembly portion and the first mounting portion, which will not be repeated here.

[0081] Please also read Fig.17The tail assembly 40 includes a tail component 41, a rotating shaft 42 and a transmission shaft 43. The number of the tail components 41 corresponds to the number of the second mounting portion 19, and one of the tail components 40 is taken as an example. The tail component 41 includes a second assembly surface 410. The second assembly surface 410 is substantially perpendicular to the pitch axis direction x, and a first plug hole 44 and a second plug hole 45 are formed on the second assembly surface 410. The first plug hole 44 and the second plug hole 45 are both arranged along the pitch axis direction x, and are used for plugging one end of the rotating shaft 42 and one end of the transmission shaft 43, respectively.

[0082] The process of connecting the tail assembly 40 to the fuselage 10 is as follows:

[0083] Insert the rotating shaft 42 into the shaft hole 191, and both ends thereof are exposed outside the shaft hole 191. In addition, insert the transmission shaft 43 into the arc-shaped guide hole 192, and both ends thereof are exposed outside the arc-shaped guide hole 192. After the rotating shaft 42 and the transmission shaft 43 are installed, the first plug hole 44 of each tail wing component 41 is provided for one end of the rotating shaft 43 corresponding thereto to be inserted therein, and the second plug hole 45 of each tail wing component 41 is provided for one end of the transmission shaft 43 corresponding thereto to be inserted therein. After the first plug hole 44 of each tail wing component 41 is provided for one end of the rotating shaft 42 corresponding thereto to be fully inserted therein, and the second plug hole 45 of each tail wing component 41 is provided for one end of the transmission shaft 43 corresponding thereto to be fully inserted therein, the second assembly surface 410 of each tail wing component 41 is in contact with the second mounting surface 190 of the second mounting portion 19 corresponding thereto. At this point, the tail assembly 40 is completely connected to the fuselage 10.

[0084] After the tail assembly 40 is connected to the fuselage 10, the transmission shaft 43 rotates along the arc guide hole 192 around the pitch axis direction x to drive the two tail components 41 to rotate around the rotation axis 42. In some embodiments, a driving motor (not shown) for driving the transmission shaft 43 to rotate around the pitch axis direction x is provided in the drooping tail 16, and the driving motor is connected to the transmission shaft 43 through a transmission mechanism such as a connecting rod.

[0085] The specific working process of vertical take-off and landing fixed-wing drone is as follows:

[0086] During vertical takeoff and landing, the two first rotor motors 14 provide lift and pitch control, and the third rotor motors 34 of the two wing components 31 rotate to the second tilt position to provide auxiliary lift. The third rotor motors 34 of the two wing components 31 are differentially controlled, and the tilt motors of the two wing components 31 are tilt differentially controlled to provide roll and heading control.

[0087] During endurance flight, the two first rotor motors 14 stop working, lift is provided by the wing bodies 32 of the two wing components 31, pitch control is provided by the two tail wing components 41, and the third rotor motors 34 of the two wing components 31 rotate to the first position and tilt to provide thrust, and roll and heading control are provided through differential control of the third rotor motors 34 of the two wing components 31 and tilt differential control of the tilt motors of the two wing components 31.

[0088] Compared with the prior art, in an unmanned aerial vehicle 100 provided in an embodiment of the present application, an eccentric wheel is arranged on the power assembly and a connecting rod is arranged on the body. When the eccentric wheel rotates to the first rotation position, the connecting rod can be inserted into the eccentric wheel along the pitch axis direction. When the eccentric wheel rotates to the second rotation position and the connecting rod is inserted into the eccentric wheel, the connecting rod cannot be withdrawn from the eccentric wheel along the pitch axis direction to lock the connecting rod. After the connecting rod is inserted into the eccentric wheel, the connecting rod can be locked only by rotating the eccentric wheel, thereby realizing an unmanned aerial vehicle whose power assembly can be relatively conveniently disassembled and assembled with the body.

[0089] In addition, the fixed-wing assembly and the rotor assembly are replaceably connected to the body, the fixed-wing assembly is connected to the body to form a vertical take-off and landing fixed-wing UAV, and the rotor assembly is connected to the body to form a multi-rotor UAV, so as to realize a UAV that can switch between a vertical take-off and landing fixed-wing UAV and a multi-rotor UAV.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An unmanned aerial vehicle, characterized in that: include: A body, provided with a first mounting portion, the first mounting portion comprising a first mounting body and a connecting rod formed on the first mounting body, the connecting rod extending along the pitch axis direction, the first mounting body being arranged on one side of the body along the pitch axis direction X; and a power assembly, comprising a first assembly body and an eccentric wheel mounted on the first assembly body, the eccentric wheel being rotatable around a rotation axis of the first assembly body between a first rotation position and a second rotation position of the first assembly body, the rotation axis being perpendicular to the pitch axis direction; Wherein, when the eccentric wheel rotates to the first rotation position, the connecting rod can be inserted into the eccentric wheel along the pitch axis direction; When the eccentric wheel rotates to the second rotation position and the connecting rod is inserted into the eccentric wheel, the connecting rod cannot exit the eccentric wheel along the pitch axis direction; The first mounting body comprises a first mounting surface, and the connecting rod is formed on the first mounting surface; The first assembly body comprises a first assembly surface and a first side surface connected to each other, the first assembly surface is used to fit the first installation surface, a connecting hole is formed on the first assembly surface, the connecting hole is used for the connecting rod to be inserted, and a rotating hole is formed on the first side surface, the rotating hole has the rotating axis and is connected to the connecting hole; The eccentric wheel is installed in the rotating hole; The connecting rod comprises a rod body and a limiting body; The rod body extends along the pitch axis direction, the limiting body is connected to an end of the rod body away from the first mounting body, and the cross-sectional size of the rod body is smaller than the cross-sectional size of the limiting body; The eccentric wheel includes a rotating wheel, a cavity is formed in the rotating wheel, the rotating wheel includes a cylindrical surface arranged around the rotation axis, the cylindrical surface is sleeved on the hole wall of the rotating hole, an arc guide groove and an avoidance groove are formed on the cylindrical surface, the arc guide groove is connected with the cavity and is arranged around the rotation axis, the arc guide groove has a first end and a second end, and the avoidance groove is connected with the cavity and connected to the first end.

2. The unmanned aerial vehicle according to claim 1, characterized in that: When the eccentric wheel rotates to the first rotation position, the avoidance groove is aligned with the connecting hole, and the limiting body can be received in the receiving cavity via the connecting hole along the pitch axis direction; When the eccentric wheel rotates to the second rotation position and the limiting body is received in the cavity, the second end is aligned with the connecting hole, and the limiting body cannot exit the cavity along the pitch axis direction through the arc guide groove.

3. The unmanned aerial vehicle according to claim 2, characterized in that: The limiting body is spherical.

4. The unmanned aerial vehicle according to claim 3, characterized in that: The first assembly body further includes a second side surface, the second side surface is opposite to the first side surface, and the first assembly surface is connected between the first side surface and the second side surface; The rotating hole extends from the first side surface to the second side surface, and the opening of the rotating hole on the second side surface is closed by a sealing plate, and the sealing plate is detachably connected to the second side surface; An annular stopper protrudes from the hole wall of the rotating hole at a position close to the first side surface, and the annular stopper is arranged around the rotating axis.

5. The unmanned aerial vehicle according to claim 4, characterized in that: The rotating wheel further comprises a first end face and a second end face opposite to each other, the cylindrical surface is connected between the first end face and the second end face, the first end face abuts against the annular stop portion, and the second end face abuts against the sealing plate.

6. The unmanned aerial vehicle according to claim 5, characterized in that: The eccentric wheel also includes a boss; The boss is formed at the center of the first end surface and exposed in the rotating hole. A groove for screwing with a screwdriver is formed on a surface of the boss facing away from the first end surface.

7. The unmanned aerial vehicle according to claim 6, characterized in that: The annular stop portion is formed with an arc-shaped protrusion toward the first end surface; The eccentric wheel further comprises an interference portion, wherein the interference portion is formed on the boss in a direction perpendicular to the rotation axis; The first end surface abuts against the annular stop portion through the arc-shaped protrusion; When the eccentric wheel rotates to the first rotation position, the interference portion abuts against one end of the arc-shaped protrusion; When the eccentric wheel rotates to the second rotation position, the interference portion abuts against the other end of the arc-shaped protrusion.

8. The unmanned aerial vehicle according to any one of claims 2 to 7, characterized in that: A positioning beam is also formed on the first mounting surface, and the positioning beam extends along the pitch axis direction; A positioning hole is also formed on the first assembly surface, and the positioning hole is used for the positioning beam to be inserted.

9. The unmanned aerial vehicle according to claim 8, characterized in that: The cross section of the positioning beam is non-circular.

10. The unmanned aerial vehicle according to claim 9, characterized in that: The cross section of the positioning beam is square.

11. The unmanned aerial vehicle according to any one of claims 2 to 7, characterized in that: The first mounting surface is provided with a first plug-in terminal; The first assembly surface is provided with a second plug-in terminal, and the second plug-in terminal is used for plugging with the first plug-in terminal.

12. The unmanned aerial vehicle according to any one of claims 1 to 7, characterized in that: The power assembly includes a fixed-wing assembly and a rotor assembly; The fixed-wing assembly and the rotor assembly are replaceably connected to the first mounting portion; When the fixed-wing assembly is connected to the first mounting portion, the fuselage and the fixed-wing assembly together constitute a vertical take-off and landing fixed-wing UAV; When the rotor assembly is connected to the first mounting portion, the body and the rotor assembly together constitute a multi-rotor drone; Any one of the fixed-wing assembly and the rotor assembly includes the first assembly body and the eccentric wheel.

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