An unmanned aerial vehicle

Abstract

The application relates to the field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle, which comprises a machine body, a fixed-wing component and a rotor component which are alternatively connected to the machine body; wherein the fixed-wing component is connected to the machine body to form a vertical take-off and landing fixed-wing unmanned aerial vehicle, and the rotor component is connected to the machine body to form a multi-rotor unmanned aerial vehicle, so as to realize an unmanned aerial vehicle which can be switched between a vertical take-off and landing fixed-wing unmanned aerial vehicle and a multi-rotor unmanned aerial vehicle.

Description

[Technical Field]

[0001] This application relates to the field of unmanned aerial vehicles, and more particularly to an unmanned aerial vehicle. [Background Technology]

[0002] Vertical takeoff and landing (VTOL) fixed-wing UAVs utilize VTOL systems and propulsion systems to achieve vertical takeoff and landing and fixed-wing endurance flight, enabling them to take off and land on any terrain and perform long-endurance missions through rapid fixed-wing flight. However, fixed-wing UAVs are large in size and have weak wind resistance.

[0003] Multi-rotor drones achieve vertical takeoff and landing through a rotor system and can fly in various directions by changing the difference in rotor speed. They have strong wind resistance, but their endurance is short and their speed is relatively slow.

[0004] Users need to select the appropriate model according to their needs. [Summary of the Invention]

[0005] To address the aforementioned technical problems, this application provides an unmanned aerial vehicle that can switch between vertical take-off and landing fixed-wing UAVs and multi-rotor UAVs.

[0006] To address the aforementioned technical problems, the embodiments of this application provide the following technical solutions:

[0007] An unmanned aerial vehicle is provided, comprising: a body; a fixed-wing assembly and a rotor assembly, which are alternatively connected to the body; wherein the fixed-wing assembly connected to the body constitutes a vertical take-off and landing fixed-wing unmanned aerial vehicle, and the rotor assembly connected to the body constitutes a multi-rotor unmanned aerial vehicle.

[0008] In some embodiments, the body extends along the roll axis and includes a head, a fuselage, and a tail arranged sequentially along the roll axis.

[0009] In some embodiments, a first rotor motor is provided on one side of the fuselage along its yaw axis; the shaft of the first rotor motor extends along the yaw axis.

[0010] In some embodiments, two first rotor motors are provided on one side of the fuselage along its heading axis; one is located on the nose or near the nose of the fuselage, and the other is located on the tail or near the tail of the fuselage.

[0011] In some embodiments, the fuselage is provided with two antennas along its yaw axis on one side where the first rotor motor is located; both antennas and the two first rotor motors are arranged along the roll axis, and the antennas and the first rotor motors are alternately arranged.

[0012] In some embodiments, the fuselage is provided with a drooping tail on the side opposite to the first rotor motor along its yaw axis; the drooping tail is provided at the tail of the fuselage.

[0013] In some embodiments, the fuselage is further provided with a support frame on the other side of its yaw axis and opposite to the first rotor end unit; the support frame includes two branches, which together with the drooping tail are used to support the fuselage.

[0014] In some embodiments, the fuselage is provided with two first mounting portions, which are respectively disposed on both sides of the fuselage along its pitch axis; the rotor assembly includes two arm components, each arm component including a first mounting portion for connecting to a corresponding second mounting portion; the fixed wing assembly includes two side wing components, each side wing component including a second mounting portion for connecting to a corresponding first mounting portion.

[0015] In some embodiments, each of the arm components further includes an arm body and a second rotor motor; one end of the arm body is connected to the first assembly part, and the other end of the arm body is connected to the second rotor motor.

[0016] In some embodiments, the main body of the arm extends along the pitch axis.

[0017] In some embodiments, the shaft of the second rotor motor extends along the heading axis.

[0018] In some embodiments, the shaft of the second rotor motor is equipped with a second propeller; the shaft of the first rotor motor is equipped with a first propeller; and the size of the second propeller is equal to the size of the first propeller.

[0019] In some embodiments, each of the side wing components further includes a side wing body, a wingtip, and a third rotor motor; one end of the side wing body is connected to the second assembly, the other end of the side wing body is connected to the wingtip, and the third rotor motor is mounted on the wingtip; the wingtip is rotatable relative to the side wing body about a pitch axis.

[0020] In some embodiments, the shaft of the third rotor motor is perpendicular to the pitch axis.

[0021] In some embodiments, the wing body extends along the pitch axis.

[0022] In some embodiments, the shaft of the third rotor motor is equipped with a third propeller; the shaft of the first rotor motor is equipped with a first propeller; and the size of the third propeller is smaller than the size of the first propeller.

[0023] In some embodiments, each of the first mounting portions includes a first mounting surface and a connecting rod formed on the first mounting surface, the first mounting surface facing away from the fuselage, and the connecting rod extending along the pitch axis direction; any one of each of the first mounting portions and each of the second mounting portions includes a first mounting surface, a first side surface, and an eccentric wheel, the first mounting surface being used to fit against the first mounting surface, a connecting hole being formed on the first mounting surface for inserting the connecting rod, the first side surface being adjacent to the first mounting surface, a rotating hole being formed on the first side surface, the rotating hole having a rotation axis perpendicular to the pitch axis direction, the eccentric wheel being mounted in the rotating hole and rotatable about the rotation axis within the rotating hole, the eccentric wheel being used to lock the connecting rod to restrict the connecting rod from moving away from the eccentric wheel along the pitch axis direction.

[0024] In some embodiments, each of the first mounting portions further includes a positioning beam formed on the first mounting surface and extending along the pitch axis direction, the positioning beam having a non-circular cross-section; a positioning hole is also formed on the first mounting surface, the positioning hole being adapted to the positioning beam for insertion of the positioning beam.

[0025] In some embodiments, each of the first mounting portions further includes a first plug-in terminal disposed on the first mounting surface; any one of the first assembly portion and each of the second assembly portions further includes a second plug-in terminal for plugging into the first plug-in terminal.

[0026] In some embodiments, the first mounting portion is inserted into the first assembly portion and / or the second assembly portion and secured by threaded fasteners.

[0027] In some embodiments, the unmanned aerial vehicle further includes a tail assembly detachably connected to the fuselage; the vertical tail and the fixed wing assembly are both connected to the fuselage to form the vertical take-off and landing fixed-wing unmanned aerial vehicle.

[0028] In some embodiments, when the tail fin assembly is connected to the fuselage, the tail fin assembly can rotate relative to the fuselage about the pitch axis.

[0029] In some embodiments, the fuselage is provided with two second mounting portions; the two second mounting portions are respectively disposed on both sides of the fuselage along its pitch axis direction, each second mounting portion includes a second mounting surface, the two second mounting portions together form a shaft hole and an arc-shaped guide hole, the shaft hole and the arc-shaped guide hole both penetrate the second mounting surfaces of the two second mounting portions, the shaft hole is disposed along the pitch axis direction, and the arc-shaped guide hole is disposed around the shaft hole; the tail fin assembly includes a rotating shaft, a drive shaft and two tail fin components; the rotating shaft is used to insert into the shaft hole, and both ends are exposed outside the shaft hole, the drive shaft is used to insert into the arc-shaped guide hole, and both ends are exposed outside the arc-shaped guide hole, each tail fin component includes a second mounting surface for contacting a second mounting surface of a corresponding second mounting portion, the second mounting surface is formed with a first insertion hole and a second insertion hole, the first insertion hole is used for inserting one end of a corresponding rotating shaft, and the second insertion hole is used for inserting one end of a corresponding drive shaft.

[0030] Compared with the prior art, in the unmanned aerial vehicle of this application embodiment, a fixed-wing assembly and a rotor assembly are interchangeably connected to the body. The fixed-wing assembly connected to the body constitutes a vertical take-off and landing fixed-wing UAV, and the rotor assembly connected to the body constitutes a multi-rotor UAV, so as to realize a UAV that can switch between vertical take-off and landing fixed-wing UAV and multi-rotor UAV. [Attached Image Description]

[0031] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0032] Figure 1 This is a structural schematic diagram of a multi-rotor unmanned aerial vehicle configuration provided in one embodiment of this application;

[0033] Figure 2 for Figure 1 The diagram shown illustrates the disassembly of a multi-rotor drone.

[0034] Figure 3 This application provides a structural schematic diagram of a vertical takeoff and landing fixed-wing unmanned aerial vehicle (UAV) configuration according to one embodiment of the present application.

[0035] Figure 4 for Figure 3 The diagram shown is a disassembly diagram of a vertical takeoff and landing fixed-wing UAV.

[0036] Figure 5 for Figure 1The multi-rotor drone shown Figure 3 The diagram shows the structural structure of a vertical takeoff and landing fixed-wing UAV.

[0037] Figure 6 for Figure 5 The first partial view of the machine body shown primarily illustrates one of the first mounting sections of the machine body;

[0038] Figure 7 for Figure 5 The partial view shown here of the first mounting part mainly shows one of the connecting rods of the first mounting part;

[0039] Figure 8 for Figure 6 The second partial view of the machine body shown primarily illustrates the two first mounting sections of the machine body;

[0040] Figure 9 for Figure 5 The third partial view of the machine body shown primarily illustrates a second mounting section of the machine body;

[0041] Figure 10 for Figure 8 The fourth partial view of the machine body shown primarily illustrates the two second mounting sections of the machine body.

[0042] Figure 11 for Figure 2 The diagram shows the structure of the rotor assembly of a multi-rotor UAV.

[0043] Figure 12 for Figure 11 A partial view of one of the arm components of the rotor assembly shown, which mainly shows the first assembly of the arm component;

[0044] Figure 13 for Figure 12 The cross-sectional view of the first assembly of the rotor assembly shown mainly illustrates the rotating hole, eccentric wheel and cover of the first assembly.

[0045] Figure 14 for Figure 13 The diagram shows the structure of the eccentric wheel.

[0046] Figure 15 for Figure 4 The diagram shows the structure of the fixed-wing assembly of a vertical take-off and landing fixed-wing UAV, where the third rotor motor of the fixed-wing assembly is in the first position;

[0047] Figure 16 for Figure 15 A perspective view of one of the side wings of the fixed-wing assembly shown, wherein the third rotor motor of the side wing is in the second position;

[0048] Figure 17 for Figure 4 The diagram shows the structure of the tail assembly of a vertical takeoff and landing fixed-wing UAV.

Detailed Implementation Methods

[0049] To facilitate understanding of this application, a more detailed description is provided below with reference to 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 one or more intermediate elements may exist between them. When an element is described as "connected to" another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and similar expressions used in this specification are for illustrative purposes only.

[0050] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0051] Please see Figures 1 to 4 An unmanned aerial vehicle 100, provided in one embodiment of this application, includes a body 10, a rotor assembly 20, a fixed-wing assembly 30, and a tail assembly 40. The rotor assembly 20 and the fixed-wing assembly 30 are interchangeably connected to the body 10, and the tail assembly 40 is detachably connected to the body 10.

[0052] When the rotor assembly 20 is connected to the fuselage 10, the rotor assembly 20 and the fuselage 10 together constitute a multi-rotor drone, such as... Figure 1 As shown.

[0053] When both the fixed-wing assembly 30 and the tail assembly 40 are connected to the fuselage 10, the fixed-wing assembly 30, the tail assembly 40, and the fuselage 10 together constitute a vertical takeoff and landing fixed-wing UAV. The vertical takeoff and landing fixed-wing UAV is like... Figure 3 As shown.

[0054] Please refer to the following: Figure 5 The fuselage 10 is generally elongated in the direction of the roll axis y, including the nose 11, fuselage 12 and tail 13 arranged sequentially along the direction of the roll axis y.

[0055] The fuselage 10 is equipped with a circuit module (not shown in the figure). The circuit module includes a circuit board and various electronic components mounted on the circuit board, which are mainly used to control the electronic equipment set on the outside of the fuselage 10, as well as the rotor assembly 20 or fixed wing assembly 30 connected to the fuselage 10.

[0056] The electronic equipment located outside the fuselage 10 includes two first rotor motors 14 and two antennas 15. All two first rotor motors 14 and two antennas 15 are located on the same side of the fuselage 10 along its yaw axis z. One first rotor motor 14 is located on the nose 11 or near the nose 11 on the fuselage 12, and the other rotor motor 14 is located on the tail 13 or near the tail 13 on the fuselage 12. The two first rotor motors 14 work together to provide lift. The shaft of each first rotor motor 14 is arranged along the yaw axis z and is equipped with a first propeller (not shown).

[0057] It is understandable that the number of first rotor motors is not limited to 2. Depending on the actual situation, if the load on the aircraft is small or the aircraft is light, the number of first rotor motors can be less; if the load on the aircraft is large or the aircraft is heavy, the number of first rotor motors can be more.

[0058] The two first rotor motors 14 and the two antennas 15 are all arranged along the roll axis direction y, and the antennas 15 are alternately arranged with the first rotor motors 14. 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.

[0059] It is understandable that the number of antennas is not limited to 2; depending on the actual situation, the number of antennas can be fewer or more.

[0060] The fuselage 10 is also equipped with a vertical stabilizer 16, landing gear 17, two first mounting sections 18, and two second mounting sections 19. The vertical stabilizer 16 and landing gear 17 are both located on the side of the fuselage 10 along its yaw axis z, opposite to the two first rotor motors 14. The vertical stabilizer 16 is located at the tail section 13. A support frame 17 is located on the fuselage 12 and includes two supports 170. The two supports 170 have a figure-eight shape and, together with the vertical stabilizer 16, support the fuselage 10.

[0061] Two first mounting parts 18 are respectively located on both sides of the fuselage 12 along its pitch axis direction x.

[0062] Two second mounting parts 19 are respectively located on both sides of the tail 13 along its pitch axis direction x.

[0063] Please refer to the following: Figure 6Taking 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 disposed on a corresponding side of the fuselage 12 along its pitch axis direction x, and includes a first mounting surface 1800. The first mounting surface 1800 is disposed 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 with a square cross-section that extends along the pitch axis direction x. Depending on the actual situation, the cross-sectional shape of the positioning beam can also be designed as other shapes, such as ellipse, triangle, pentagon, etc., as long as it is not circular. The first plug-in terminal 183 is electrically connected to the circuit module.

[0064] Please refer to the following: Figure 7 Taking one of the connecting rods 181 as an example, the connecting rod 181 includes a base 1810, a rod 1811, and a limiting body 1812. The base 1810 is formed on the first mounting surface 1800. The rod 1811 extends along the pitch axis x, with one end connected to the base 1810 and the other end connected to the limiting body 1812. The cross-sectional dimension of the rod 1811 is smaller than the cross-sectional dimension of the limiting body 1812. In this embodiment, the limiting body 1812 is spherical. Depending on the actual situation, the limiting body 1812 can be of any shape, as long as its cross-sectional dimension is larger than that of the rod 1811.

[0065] In this embodiment, please refer to the following: Figure 8 A crossbeam 184 passes through the first mounting surfaces 1800 of the two first mounting portions 18, and positioning beams 182 of the two first mounting portions 18 are respectively formed at both ends of the crossbeam 184. In some other embodiments, the positioning beams 182 may also be integrally formed with the first mounting body 180.

[0066] Please refer to the following: Figure 9 and Figure 10 Each second mounting portion 19 includes a second mounting surface 190. The second mounting surface 190 is disposed opposite to the tail section 13. The two second mounting portions 19 are jointly formed with a shaft hole 191 and an arc-shaped guide hole 192. Both the shaft hole 191 and the arc-shaped guide hole 192 penetrate the second mounting surfaces 190 of the two second mounting portions 19. Both the shaft hole 191 and the arc-shaped guide hole 192 extend along the pitch axis direction x, and the arc-shaped guide hole 192 is disposed around the shaft hole 191.

[0067] Please refer to the following: Figure 11The rotor assembly 20 includes arm components 21. The number of arm components 21 corresponds to the number of first mounting portions 18, with each arm component 21 connected to a corresponding first mounting portion 18. Taking one arm component 21 as an example, the arm component 21 includes an arm body 22, a second rotor motor 23, and a first mounting portion 24. The arm body 22 extends along the pitch axis direction x, with one end connected to the second rotor motor 23 and the other end connected to the first mounting portion 24. The arm body 22 is hollow, allowing wiring for the second rotor motor 23 to electrically connect to the first mounting portion 24. The shaft of the second rotor motor 23 is positioned along the yaw axis direction z and is equipped with a second propeller (not shown). The second rotor motor 23 provides lift.

[0068] Please refer to the following: Figure 12 The first assembly part 24 is used to connect with a corresponding first mounting part 18. 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 mounting surface 2400, a first side surface 2401, and a second side surface 2402. The first side surface 2401 and the second side surface 2402 face away from each other, and the first mounting surface 2400 connects between the first side surface 2401 and the second side surface 2402. The first mounting surface 2400 is used to fit against the first mounting surface 1800 of the first mounting part 18. The first mounting surface 2400 is formed with positioning holes 243 and connecting holes 244. The positioning holes 243 are adapted to the positioning beams 182 of the first mounting part 18 for insertion. The number of connecting holes 244 corresponds to the number of connecting rods 181, and each connecting hole 244 is used for insertion of a corresponding connecting rod 181. A rotating hole 245 is formed on the first side surface 2401, and the number of rotating holes 245 corresponds to the number of connecting holes 244. A second plug-in terminal 242 is disposed on the first mounting surface 2400. The second plug-in terminal 242 of the arm component 21 is electrically connected to the second rotor motor 23.

[0069] Please refer to the following: Figure 13Taking one of the rotating holes 245 as an example, the rotating hole 245 has a rotation axis o, which is perpendicular to the pitch axis direction x. The rotating hole 245 connects to a corresponding connecting hole 244. The rotating hole 245 extends from the first side surface 2401 to the second side surface 2402. The groove wall of the rotating hole 245 has an annular stop portion 2450 protruding near the first side surface 2401. The annular stop portion 2450 is arranged around the rotation axis o and has an arc-shaped protrusion 2451 protruding towards the second side surface 2402. The arc-shaped protrusion 2451 is arranged around the rotation axis o. The opening of the rotating hole 245 on the second side surface 2402 is closed by a sealing plate 2452, which can be fixed to the second side surface 2403 by threaded fasteners.

[0070] Please refer to the following: Figure 14 The number of eccentric wheels 241 corresponds to the number of rotating holes 245. Each eccentric wheel 241 is installed in a corresponding rotating hole 245 to lock a corresponding connecting rod 181. Taking one eccentric wheel 241 as an example, the eccentric wheel 241 includes a rotating wheel 2410, a boss 2411, and an interference part 2412. The rotating wheel 2410 is arranged around the rotation axis o, and a cavity 2413 is formed inside the rotating wheel 2410 to accommodate 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 arranged around the rotation axis o and connected between the first end face 2414 and the second end face 2415. An arc-shaped guide groove 2417 and a clearance groove 2418 are formed on the cylindrical surface 2416. An arc-shaped guide groove 2417 is connected to the cavity 2413 and is positioned around the rotation axis o. The arc-shaped guide groove 2417 has a first end and a second end. The arc-shaped guide groove 2417 allows the rod body 1811 to rotate around the rotation axis o along the arc-shaped guide groove 2417 and hinders the movement of the limiting body 1812 along the pitch axis x. A clearance groove 2418 connects to the cavity 2413 and to the first end of the arc-shaped guide groove 2417. The clearance groove 2418 allows the limiting body 1812 to pass through. A boss 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 has a groove 2419 for screwdriver to be turned. The groove 2419 can be a slotted groove, a cross groove, a Torx groove, or an internal hexagonal groove, etc. In the figure, it is a slotted groove. The boss 2411 has an interference portion 2412 protruding in a direction perpendicular to the rotation axis o.

[0071] The process of installing the eccentric wheel 241 into the rotating hole 245 is as follows:

[0072] 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. Once the eccentric wheel 241 is fully 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 stop portion 2450; in the second aspect, the cylindrical surface 2416 is fitted onto the wall of the rotating hole 245; in the third aspect, the connecting hole 244 communicating with the rotating hole 245 is aligned with the arc-shaped guide groove 2417 or the clearance groove 2418; and in the fourth aspect, the boss 2411 is exposed in 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 face 2415 of the rotating wheel 241. At this time, the eccentric wheel 241 is installed in the rotating hole 245.

[0073] After the eccentric wheel 241 is installed in the rotating hole 245, the eccentric wheel 241 can only rotate around the rotation axis o between the first and second rotation positions within the rotating hole 245. The following explanation of the assembly relationship between the eccentric wheel 241 and the rotating hole 245 explains why the eccentric wheel 241 can only rotate around the rotation axis o between the first and second rotation positions within the rotating hole 245:

[0074] Because 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 stop portion 2450, and the second end face 2415 of the rotating wheel 2410 abuts against the cover plate 2452, the two degrees of freedom of movement of the eccentric wheel 241 along the direction perpendicular to the rotation axis o and the one degree of rotational freedom of rotation about the rotation axis o are restricted. Furthermore, the two degrees of freedom of movement of the eccentric wheel 241 along the direction perpendicular to the rotation axis o are further restricted by the cylindrical surface 2416 of the rotating wheel 2410 fitting onto the wall of the rotating hole 244. In addition, during the rotation of the eccentric wheel 241 about the rotation axis o, the arc-shaped protrusion 2451 blocks the interference portion 2412, preventing the eccentric wheel 241 from continuing to rotate. In summary, the eccentric wheel 241 can only rotate about the rotation axis o between a first rotational position and a second rotational position within the rotating hole 245. When the eccentric wheel 241 rotates to the first rotation position, the interference part 2412 abuts against one end of the arc-shaped protrusion 2451, and the clearance groove 2418 is aligned with the connecting hole 244. When the eccentric wheel 241 rotates to the second rotation position, the interference part 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 connecting hole 244.

[0075] The following explains how the rotor assembly 20 is connected to the fuselage 10:

[0076] The first mounting section is connected to the first assembly section. The positioning beam 182 is aligned and inserted into the positioning hole 243. During the process of the positioning beam 182 being fully inserted into the positioning hole 243, on the one hand, each connecting rod 181 is automatically aligned and inserted into a corresponding connecting hole 244, and on the other hand, the first plug-in terminal 183 is automatically aligned and plugged into the second plug-in terminal 242.

[0077] During the insertion of the connecting rod 181 into the connecting hole 244, the eccentric wheel 241 rotates to the first rotational position, and the clearance groove 2418 of the eccentric wheel 241 aligns with the connecting hole 244. The limiting body 1812 of the connecting rod 181 passes through the connecting hole 244 and the clearance groove 2418 in sequence. After the connecting rod 181 is fully inserted into the connecting hole 244, the limiting body 1812 of the connecting rod 181 is received in the cavity 2413 of the eccentric wheel 241, and the rod body 1811 of the connecting rod 181 is located in the clearance groove 2418.

[0078] After the positioning beam 182 is fully inserted into the positioning hole 243, firstly, each connecting rod 181 is also fully inserted into its corresponding connecting hole 244; secondly, the first insertion terminal 183 is also fully inserted into the second insertion terminal 242; and thirdly, the first mounting surface 1800 contacts the first assembly surface 2400. Then, the eccentric wheel 241 is rotated to the second rotation position, with the rod 1811 located at the second end of the arc-shaped guide groove 2417 of the eccentric wheel 241. At this point, the rotor assembly 20 is connected to the fuselage 10.

[0079] After the rotor assembly 20 is connected to the fuselage 10, the rotor assembly 20 and the fuselage 10 are fixed together. The following explanation of the assembly relationship between the rotor assembly 20 and the fuselage 10 will illustrate why the rotor assembly 20 and the fuselage 10 are fixed together.

[0080] Because the positioning beam 182 is inserted into the positioning hole 243, and the positioning beam 182 is compatible with the positioning hole 243, and the cross-section of the positioning beam 182 is square, the arm component 21 is restricted in all degrees of freedom except for movement along the pitch axis (x). Meanwhile, the arc-shaped guide groove 2417 prevents the limiting body 1812 from exiting the cavity 2413, and, in conjunction with the first mounting surface 1800 abutting against the first assembly surface 2400, restricts the arm component 21's degree of freedom of movement along the pitch axis (x).

[0081] It is understood that the number of connecting rods 181 is not limited to 2. Depending on the actual situation, such as the weight of the fuselage 10 or the load mounted on the fuselage 10 being less, the number of connecting rods 181 can be less, and vice versa.

[0082] In some other embodiments, the first assembly portion of the arm component is inserted into a corresponding first mounting portion and secured by threaded fasteners.

[0083] The specific working process of a multi-rotor drone is as follows:

[0084] The two first rotor motors 14 and the two second rotor motors 23 of the two arm components 21, a total of four rotor motors, work together to provide lift for the multi-rotor UAV's vertical takeoff and landing. Differential control of the four rotor motors provides pitch control, roll control, directional control, and flight control in all directions for the multi-rotor UAV. Meanwhile, the downward-facing tail 16 also ensures directional stability for the multi-rotor UAV.

[0085] In some embodiments, the size of the first propeller mounted on the first rotor motor 14 is equal to the size of the second propeller mounted on the second rotor motor 23. In practical applications, by designing the first and second propellers as large-sized propellers, it is possible to ensure the heavy vertical take-off and landing of multi-rotor UAVs.

[0086] Please see Figure 15 and Figure 16 The fixed-wing assembly 30 includes two side wing components 31. Taking one side wing component 31 as an example, the side wing component 31 includes a side wing body 32, a wingtip 33, a third rotor motor 34, a tilt motor (not shown), and a second mounting part 35. The side wing body 32 extends along the pitch axis x, one end of the side wing body 32 is connected to the wingtip 33, and the other end of the side wing body 32 is connected to the second mounting part 35. The tilt motor is mounted on the side wing body 32 and connected to the wingtip 33, and the third rotor motor 34 is mounted on the wingtip 33. The wingtip 33 can rotate relative to the side wing body 32 about the pitch axis x, so that the third rotor motor 34 mounted on the wingtip 33 rotates between a first tilt position and a second tilt position about the pitch axis x. The tilt motor is used to drive the wingtip 33 to rotate about the pitch axis x.

[0087] When the third rotor motor 34 tilts to the first position, as Figure 12 As shown, the wingtip 33 is basically flush with the main body of the side wing 32. When the third rotor motor 34 rotates to the second position, as... Figure 13 As shown, the wingtip 33 is basically orthogonal to the main body of the side wing 32.

[0088] The shaft of the third rotor motor 34 is perpendicular to the pitch axis (x), and a third propeller (not shown) is mounted on the shaft. When the third rotor motor 34 rotates to the first tilt position, its shaft is substantially along the roll axis (y) to provide thrust. When the third rotor motor 34 rotates to the second tilt position, its shaft is substantially along the yaw axis (z) to provide lift.

[0089] The second assembly part 35 is connected to a corresponding first mounting part 18. The structure of the second assembly part 35 is similar to that of the first assembly part 24. That is, either the second assembly part 35 or the first assembly part 24 includes a first assembly body 240, an eccentric wheel 241, and a second plug-in terminal 242. For the structure of the first assembly part 24, please refer to [link to relevant documentation]. Figure 12 This will not be elaborated further here. The second plug-in terminal 242 of the side wing component 31 is electrically connected to the tilt motor and the third rotor motor 34, respectively.

[0090] The following explains how the fixed-wing assembly 30 is connected to the fuselage 10:

[0091] The first mounting part is connected to the second assembly part. Since the structure of the second assembly part is similar to that of the first assembly part, the assembly process of the second assembly part and the first mounting part is also similar to that of the first assembly part and the first mounting part, which will not be described in detail here.

[0092] Please refer to the following: Figure 17 The tail fin assembly 40 includes a tail fin component 41, a rotating shaft 42, and a drive shaft 43. The number of tail fin components 41 corresponds to the number of second mounting portions 19. Taking one tail fin component 40 as an example, the tail fin component 41 includes a second mounting surface 410. The second mounting surface 410 is substantially perpendicular to the pitch axis direction x, and a first insertion hole 44 and a second insertion hole 45 are formed on the second mounting surface 410. Both the first insertion hole 44 and the second insertion hole 45 are arranged along the pitch axis direction x, and are respectively used for inserting one end of the rotating shaft 42 and one end of the drive shaft 43.

[0093] The process of connecting the tail assembly 40 to the fuselage 10 is as follows:

[0094] The rotating shaft 42 is inserted into the shaft hole 191, with both ends exposed outside the shaft hole 191. Similarly, the drive shaft 43 is inserted into the arc-shaped guide hole 192, with both ends exposed outside the arc-shaped guide hole 192. After the rotating shaft 42 and drive shaft 43 are installed, one end of the corresponding rotating shaft 43 is inserted into the first insertion hole 44 of each tail fin component 41, and one end of the corresponding drive shaft 43 is inserted into the second insertion hole 45 of each tail fin component 41. Once one end of the corresponding rotating shaft 42 is fully inserted into the first insertion hole 44 of each tail fin component 41, and one end of the corresponding drive shaft 43 is fully inserted into the second insertion hole 45 of each tail fin component 41, the second mounting surface 410 of each tail fin component 41 contacts the second mounting surface 190 of its corresponding second mounting portion 19. At this point, the tail fin assembly 40 is successfully connected to the fuselage 10.

[0095] After the tail fin assembly 40 is connected to the fuselage 10, it rotates along the arc-shaped guide hole 192 about the pitch axis x via the drive shaft 43, thereby driving the two tail fin components 41 to rotate about the pivot shaft 42. In some embodiments, the drooping tail 16 is provided with a drive motor (not shown) for driving the drive shaft 43 to rotate about the pitch axis x, and the drive motor is connected to the drive shaft 43 through a transmission mechanism such as a connecting rod.

[0096] The specific working process of a vertical takeoff and landing fixed-wing UAV is as follows:

[0097] During vertical takeoff and landing, the two first rotor motors 14 provide lift and pitch control, the third rotor motors 34 of the two side wing components 31 rotate to the second tilt position to provide auxiliary lift, and roll and yaw control are provided by differential control of the third rotor motors 34 of the two side wing components 31 and tilt differential control of the tilt motors of the two side wing components 31.

[0098] During sustained flight, the two first rotor motors 14 cease operation, lift is provided by the side wing bodies 32 of the two side wing components 31, pitch control is provided by the two tail wing components 41, the third rotor motors 34 of the two side wing components 31 rotate to the first tilt position to provide thrust, and roll and yaw control are provided by differential control of the third rotor motors 34 of the two side wing components 31 and tilt differential control of the tilt motors of the two side wing components 31.

[0099] Compared with the prior art, the unmanned aerial vehicle 100 provided in this application embodiment is alternatively connected to the body 10 through a fixed-wing assembly 30 and a rotor assembly 20. The fixed-wing assembly 30 is connected to the body 10 to form a vertical take-off and landing fixed-wing UAV, and the rotor assembly 20 is connected to the body 10 to form a multi-rotor UAV, so as to realize a UAV that can switch between vertical take-off and landing fixed-wing UAV and multi-rotor UAV.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An unmanned aerial vehicle, characterized in that, include: Organism; The fixed-wing assembly and rotor assembly are interchangeably connected to the body, and the unmanned aerial vehicle also includes a tail assembly that is detachably connected to the body; The fixed-wing assembly is connected to the fuselage to form a vertical take-off and landing fixed-wing UAV, and the rotor assembly is connected to the fuselage to form a multi-rotor UAV. The body is provided with two first mounting parts, which are respectively located on both sides of the body along its pitch axis. The rotor assembly includes two arm components, each arm component including a first mounting part, the first mounting part being used to connect to a corresponding first mounting part; The fixed wing assembly includes two side wing components, each side wing component including a second mounting part, the second mounting part being used to connect to a corresponding first mounting part; The body is provided with two second mounting parts; Two second mounting portions are respectively disposed on both sides of the body along its pitch axis direction. Each second mounting portion includes a second mounting surface. The two second mounting portions are jointly formed with a shaft hole and an arc-shaped guide hole. The shaft hole and the arc-shaped guide hole both penetrate the second mounting surfaces of the two second mounting portions. The shaft hole is disposed along the pitch axis direction, and the arc-shaped guide hole is disposed around the shaft hole. The tail fin assembly includes a rotating shaft, a drive shaft, and two tail fin components; The rotating shaft is inserted into the shaft hole, and both ends are exposed outside the shaft hole. The drive shaft is inserted into the arc-shaped guide hole, and both ends are exposed outside the arc-shaped guide hole. Each tail fin component includes a second mounting surface for contacting a second mounting surface of a corresponding second mounting part. The second mounting surface is formed with a first insertion hole and a second insertion hole. The first insertion hole is for inserting one end of a corresponding rotating shaft, and the second insertion hole is for inserting one end of a corresponding drive shaft. After the tail fin assembly is connected to the fuselage, it rotates along the arc-shaped guide hole about the pitch axis via the drive shaft to drive the two tail fin components to rotate about the rotating shaft. The two tail fin components are located on the left and right sides of the fuselage, respectively.

2. The unmanned aerial vehicle according to claim 1, characterized in that, The fuselage extends along the roll axis and includes a head, fuselage, and tail arranged sequentially along the roll axis.

3. The unmanned aerial vehicle according to claim 2, characterized in that, The first rotor motor is provided on one side of the fuselage along its yaw axis. The shaft of the first rotor motor extends along the heading axis.

4. The unmanned aerial vehicle according to claim 3, characterized in that, Two of the first rotor motors are provided on one side of the fuselage along its yaw axis; One of them is located on the head of the machine or on the fuselage near the head of the machine, and the other is located on the tail of the machine or on the fuselage near the tail of the machine.

5. The unmanned aerial vehicle according to claim 4, characterized in that, The fuselage is also provided with two antennas on the side where the first rotor motor is located along its yaw axis. The two antennas and the two first rotor motors are arranged along the roll axis, and the antennas and the first rotor motors are alternately arranged.

6. The unmanned aerial vehicle according to any one of claims 3 to 5, characterized in that, The fuselage is provided with a downward-pointing tail along its yaw axis and on the other side opposite to the first rotor motor. The drooping tail is located at the tail of the aircraft.

7. The unmanned aerial vehicle according to claim 6, characterized in that, The fuselage is also provided with a support frame on the other side of its yaw axis and opposite to the first rotor motor. The support frame includes two supports, which, together with the drooping tail, are used to support the body.

8. The unmanned aerial vehicle according to claim 3, characterized in that, Each of the arm components also includes an arm body and a second rotor motor; One end of the main body of the arm is connected to the first assembly part, and the other end of the main body of the arm is connected to the second rotor motor.

9. The unmanned aerial vehicle according to claim 8, characterized in that, The main body of the arm extends along the pitch axis.

10. The unmanned aerial vehicle according to claim 8 or 9, characterized in that, The shaft of the second rotor motor extends along the heading axis.

11. The unmanned aerial vehicle according to claim 8 or 9, characterized in that, The second rotor motor has a second propeller mounted on its shaft; The first rotor motor has a first propeller mounted on its shaft; The size of the second propeller is equal to the size of the first propeller.

12. The unmanned aerial vehicle according to claim 3, characterized in that, Each of the said wing components also includes a wing body, a wingtip, and a third rotor motor; One end of the side wing body is connected to the second assembly part, the other end of the side wing body is connected to the wing tip, and the third rotor motor is mounted on the wing tip; The wingtip is capable of rotating relative to the main body of the wing about the pitch axis.

13. The unmanned aerial vehicle according to claim 12, characterized in that, The shaft of the third rotor motor is perpendicular to the pitch axis.

14. The unmanned aerial vehicle according to claim 12 or 13, characterized in that, The main body of the wing extends along the pitch axis.

15. The unmanned aerial vehicle according to claim 12 or 13, characterized in that, The shaft of the third rotor motor is equipped with a third propeller; The first rotor motor has a first propeller mounted on its shaft; The third propeller is smaller than the first propeller.

16. The unmanned aerial vehicle according to claim 8 or 9, characterized in that, The first mounting part is inserted into the first assembly part and / or the second assembly part and is fixed by threaded fasteners.

Images