drones

Abstract

The present invention discloses an unmanned aerial vehicle (UAV), comprising a fuselage assembly, an arm device, and a power device. The arm devices are two and are located on opposite sides of the fuselage assembly, with the inner and outer ends of each arm device respectively. The inner end of the arm device is mounted on the fuselage assembly, and the arm device is tilted upward from the inner end to the outer end. The angle between each arm device and the horizontal plane is 9-35 degrees, and a power device is installed at the outer end of each arm device. Each power device includes a power unit, which includes a power motor and a propeller. According to the UAV of the embodiment of the present invention, the center of gravity of the UAV is lower than the lift action point, which can improve the flight stability of the UAV. In addition, the UAV has a simple structure, a small size, and a low production cost.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV. Background Technology

[0002] With the development of drone technology, people can use drones to complete many tasks, such as spraying fire extinguishing liquid in forest fires, aerial photography, power line inspection, environmental monitoring, and disaster relief. Most drones in this technology use an even number of rotors (four, six, or eight). This is because the flight control algorithms and motion patterns of even-numbered rotor unmanned flight systems are generally simpler. By adjusting the rotational speed of each rotor, the lift of the unmanned aerial vehicle is changed, thereby controlling the attitude and position of the unmanned flight system. Therefore, drones in this technology are relatively expensive. Dual-rotor drones have developed rapidly due to their relatively small size and lower production costs; however, the flight stability of dual-rotor drones still needs improvement due to their smaller number of rotors. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a drone with dual rotors that improves flight stability.

[0004] According to an embodiment of the present invention, a drone includes: a fuselage assembly; two arm assemblies located on opposite sides of the fuselage assembly, each arm assembly having an inner end and an outer end at its two ends, the inner end of the arm assemblies being mounted on the fuselage assembly, the arm assemblies being inclined upwards from the inner end to the outer end, and each arm assembly having an angle of 9-35 degrees with the horizontal plane; and a power unit, one of which is mounted on the outer end of each arm assembly, each power unit including a power unit comprising a motor and a propeller mounted on the motor.

[0005] According to embodiments of the present invention, the drone, by incorporating two arm units, achieves a simple structure, small size, and low production cost. A power unit provides power, and by altering the operating states of the drive units, it assists the drone in changing its flight state. By setting the angle between the two arm units and the horizontal plane to 9-35 degrees, the drone's center of gravity is kept low relative to the power unit, ensuring the drone's balance, improving flight stability, and minimizing flight energy consumption and impact on flight range.

[0006] In some embodiments, each of the robotic arm devices has an angle of 19 degrees with the horizontal plane.

[0007] In some embodiments, the fuselage assembly has a front-rear direction reference line, and the two arm devices are located on opposite sides of the front-rear direction reference line. The fuselage assembly includes a control device, a storage device, and a power supply device arranged sequentially along the front-rear direction reference line. When the UAV is in a hovering state, the central axes of the two power motors are coplanar with a preset plane, and the intersection of the preset plane and the front-rear direction reference line is located within the storage device.

[0008] In some embodiments, the inner end of the robotic arm is connected to the location of the control device of the body assembly, and the robotic arm extends from the inside out along the direction from the control device to the power supply device, inclined to the front-back direction reference line in a direction away from the body assembly; or, the robotic arm is arranged along a direction perpendicular to the front-back direction reference line.

[0009] In some embodiments, the drone of the present invention further includes: a drive device, the drive device being mounted on the outer end of the arm device, the drive device being connected to the power unit and driving the power unit to rotate around a preset axis on the arm device.

[0010] In some embodiments, the driving device includes: a driving mechanism mounted on the outer end of the arm device; a movable lead screw connected to the driving mechanism, the axis of the movable lead screw coinciding with the preset axis, the driving mechanism driving the movable lead screw to move along the preset axis; a rotating member sleeved on the movable lead screw, the rotating member being threadedly engaged with the movable lead screw, the rotating member being restricted to rotate around the preset axis when the movable lead screw moves, and the power device mounted on the rotating member.

[0011] In some embodiments, the drive mechanism includes: a servo motor having a rotating shaft; a gear set, one gear of which is connected to the shaft, and another gear of which is connected to the lead screw.

[0012] In some embodiments, the drive device includes a limiting component connected to the movable lead screw for limiting the rotation of the movable lead screw relative to the arm device.

[0013] In some embodiments, the outer periphery of the rotating member is formed as a spline, the power device includes a connecting seat, the power unit is connected to the connecting seat, and the connecting seat has a keyway that mates with the spline.

[0014] In some embodiments, the drive mechanism includes: a mounting base, the mounting base including a sleeve portion, a fixed base, and a mounting portion, the sleeve portion being externally connected to the arm device, the drive mechanism being mounted on the fixed base, the mounting portions being two and oppositely disposed on the fixed base, the two mounting portions having coaxially disposed mounting holes, the movable lead screw passing through the two mounting holes; two bearings, the two bearings respectively engaging in the two mounting holes, the rotating member engaging in the two bearings, and the two bearings being engaged on both sides of the rotating member to restrict the axial movement of the rotating member.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] Figure 1 This is a perspective view of a drone according to an embodiment of the present invention;

[0017] Figure 2 yes Figure 1 The image shows a front view of the drone.

[0018] Figure 3 yes Figure 1 The image shows a top view of the drone.

[0019] Figure 4 Yes, yes Figure 1 The right view of the drone shown;

[0020] Figure 5 yes Figure 1 The front view of the first mounting frame, the second mounting frame, and the isolation plate shown in the figure;

[0021] Figure 6 yes Figure 1 Structural diagram of the intermediate storage unit;

[0022] Figure 7 This is a schematic diagram of the arm device in one embodiment;

[0023] Figure 8 yes Figure 7 A perspective view of the first connector shown;

[0024] Figure 9 yes Figure 7 A perspective view of the second connector shown;

[0025] Figure 10 This is a cross-sectional view of the robotic arm assembly, drive unit, and part of the power unit in one embodiment;

[0026] Figure 11 yes Figure 10A partial enlarged view of part K shown;

[0027] Figure 12 This is a perspective view of a movable lead screw according to one embodiment;

[0028] Figure 13 This is a perspective view of the rotating component in one embodiment;

[0029] Figure 14 This is a perspective view of a gear that engages with a movable lead screw according to one embodiment;

[0030] Figure 15 This is a perspective view of a connector according to one embodiment;

[0031] Figure 16 This is a perspective view of the mounting base according to one embodiment;

[0032] Figure 17 This is a simplified structural diagram of a drone according to another embodiment of the present invention;

[0033] Figure 18 This is a diagram showing the relative changes in the center of gravity position of the arm device when it is parallel to the horizontal plane and when it is tilted in an angle, according to an embodiment of the present invention.

[0034] Figure label:

[0035] Drone 100:

[0036] Fuselage assembly 1;

[0037] Storage device 11; power supply device 12; control device 13; landing gear 14; forward and backward reference line L8;

[0038] Total cost 15; Top plate 151; Bottom plate 152;

[0039] First mounting frame 16; fixing plate 161; first connecting plate 162; first mounting space 160;

[0040] Second mounting frame 17; Second connecting plate 171; Third connecting plate 172; Second mounting space 170;

[0041] 18 isolation panels;

[0042] Arm device 2;

[0043] Arm body 210; First arm 211; Second arm 212;

[0044] Inner end 21; outer end 22;

[0045] Pivoting connection mechanism 23;

[0046] First connector 231; first connecting base plate 2311; first sleeve portion 2312; mating groove 2313; first through hole 2314; connecting lug 2315; first connecting portion 2316;

[0047] Second connector 232; second connecting base plate 2321; second sleeve portion 2322; mating protrusion 2323; second through hole 2324; pivot portion 2325; second connecting portion 2326;

[0048] Power unit 3;

[0049] Power unit 31; power motor 311; propeller 312; connecting seat 313; keyway 3131;

[0050] Central axis L9; Preset plane S3;

[0051] Drive unit 4;

[0052] Drive mechanism 41; servo motor 411; shaft 4111; gear set 412; gear 4121; mounting base 413; sleeve part 4131; fixed base 4132; mounting part 4133; mounting hole 41331; bearing 414;

[0053] Moving lead screw 42; Moving lead screw axis L10; Preset axis L;

[0054] Rotating component 43; Spline 431;

[0055] Limiting component 44. Detailed Implementation

[0056] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0057] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. Additionally, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0058] Hereinafter, with reference to the accompanying drawings, a drone 100 according to an embodiment of the present invention will be described.

[0059] like Figure 1-3 As shown, the unmanned aerial vehicle 100 according to an embodiment of the present invention may include: a fuselage assembly 1, an arm assembly 2, and a power unit 3. There are two arm assemblies 2, which are located on opposite sides of the fuselage assembly 1. The two ends of the length of each arm assembly 2 are an inner end 21 and an outer end 22, respectively. The inner end 21 of the arm assembly 2 is mounted on the fuselage assembly 1, and a power unit 3 is mounted on the outer end 22 of each arm assembly 2.

[0060] Each power unit 3 may include a power unit 31, which may include a power motor 311 and a propeller 312 mounted on the power motor 311. Thus, when the power unit 3 is working, the power motor 311 can drive the propeller 312 to rotate, thereby providing power for the flight of the UAV 100.

[0061] It is understandable that, such as Figure 18 As shown, when the propeller 312 rotates, it generates an upward lift force along the central axis L9 of the power motor 311. The resultant force of the lift forces from the two propellers 312 is... Figure 18 The resultant force F is shown. When the power unit 31 rotates relative to the arm device 2, it will change the direction of the resultant force F, thereby adjusting the flight direction or flight speed of the UAV 100.

[0062] Therefore, when the UAV 100 is flying, the power units 31 located at the outer ends 22 of the two arm devices 2 can be driven to rotate at the same or different tilt angles, or the rotation speed of the power units 31 at the outer ends 22 of the arm devices 2 can be adjusted to enable the UAV 100 to perform forward, backward, and turning actions, which is relatively simple to operate.

[0063] Reference Figure 2 and Figure 18 Each arm device 2 has an angle α between itself and the horizontal plane ranging from 9 to 35 degrees. This increases the vertical distance between the UAV's center of gravity G and the point of lift application. Using the point of lift application as a reference, this is equivalent to lowering the position of the center of gravity G. Figure 18In the simplified diagram example, after changing the horizontal setting of the arm device 2 to an upward tilting setting at the outer end, the center of gravity of the entire drone decreases from G1 to G2, and the vertical distance between the center of gravity and the point of application of lift increases from m1 to m2. It is understandable that when the drone 100 encounters unstable airflow, external impacts, or inconsistent lift between the left and right sides, it may cause the entire drone to tilt. Once the drone tilts, it will affect the direction of the resultant force F, causing the drone's flight status to deteriorate rapidly. In some cases, it may even cause the drone to tumble rapidly in the air, easily resulting in damage to the aircraft or injury to personnel. To solve this problem, in this application, the arm device 2 is set to tilt upward from the inner end 21 to the outer end 22, so that the center of gravity of the entire drone can act as a balancer. If the drone suddenly tilts in a certain direction during normal flight, the center of gravity will generate a torque on the entire drone in the opposite direction of the tilt. Furthermore, because the torque arm becomes longer after the center of gravity is lowered, the center of gravity can quickly pull the entire drone back to its original attitude, thereby ensuring stable flight of the drone.

[0064] To put it another way, after the center of gravity of the drone 100 is lowered, according to the pendulum principle, the drone 100 will automatically return to the correct position when it tilts for any reason, thereby improving the balance of the drone 100 and improving the working stability of the drone 100.

[0065] It should be further clarified that the angle between the arm assembly 2 and the horizontal plane in the design of the UAV 100 is based on the UAV 100 being in a hovering state, that is, the angle α between the arm assembly 2 and the horizontal plane in the hovering state is 9-35 degrees. To further clarify, when the angle α between the arm assembly 2 and the horizontal plane is too small, the downward adjustment of the UAV's center of gravity is not significant, the balancer's effect is weak, and the design advantages are not realized. Conversely, when the angle α between the arm assembly 2 and the horizontal plane is too large, it not only leads to an excessively tall overall size but also results in excessive energy consumption due to gravity during normal turning flight, affecting the UAV's flight range. Therefore, after comprehensive consideration, this application adopts an angle α between the arm assembly 2 and the horizontal plane of 9-35 degrees.

[0066] exist Figure 1 and Figure 2 In the model shown, after various simulation model analyses and practical adjustments, the inventors' research and development team found the optimal value for the tilt angle of the arm device 2, namely, an angle α of 19 degrees between the arm device 2 and the horizontal plane. With this angle design, not only is the flight stability of the UAV 100 very strong, but the overall flight energy consumption is also relatively low, making the entire aircraft highly economical and practical. Of course, in other models of this invention, the optimal value of the angle α between the arm device 2 and the horizontal plane may also be other angle values, which are not limited here.

[0067] In some embodiments of the present invention, such as Figure 3As shown, the fuselage assembly 1 has a front-rear reference line L8, and two arm devices 2 are located on opposite sides of the front-rear reference line L8. The fuselage assembly 1 includes a control device 13, a storage device 11, and a power supply device 12 arranged sequentially along the front-rear reference line L8. When the UAV 100 is in a hovering state, the central axes L9 of the two power motors 311 are coplanar with the preset plane S3, and the intersection of the preset plane S3 and the front-rear reference line L8 is located inside the storage device 11.

[0068] In some specific embodiments, the front-back reference line L8 can be regarded as the fuselage symmetry line of the UAV 100. The left and right fuselage of the UAV 100 is symmetrical with respect to the front-back reference line L8. When designing the UAV 100, the front-back reference line L8 is usually coplanar with the center of gravity of the UAV 100.

[0069] Along the extension direction of the front-rear reference line L8, the control device 13 and the power supply device 12 are located on either side of the storage device 11. Along the front-rear extension direction of the reference line L8, the control device 13, storage device 11, and power supply device 12 are arranged sequentially and compactly in a line, effectively saving space and reducing the size of the drone 100. Furthermore, since the weight of the storage device 11 gradually changes during actual operation, such as when the drone 100 is spraying pesticides, placing the storage device 11 between the control device 13 and the power supply device 12 prevents the drone 100's center of gravity from shifting along the extension direction of the reference line L8. This reduces the likelihood of the drone 100 tilting or becoming uncontrollable, ensuring the drone 100 remains in a relatively balanced state and improving its operational stability. Figure 6 As shown, the storage device 11 can be used to store liquids, such as water and pesticides. When the drone 100 is used in agriculture, it can be used to spray pesticides within a certain range. The storage device 11 is used to store pesticides. The control device 13 includes an electronic speed control module, a flight control module, and a data link module, which are used to control the working status of the drone 100, such as controlling the take-off, turning, and spraying of pesticides by the drone 100. The power supply device 12 can provide power to the drone 100.

[0070] In some specific embodiments, the storage device 11 can also be used to store seeds, fertilizers, etc. When the drone 100 is used in agriculture, it can also be used for sowing, fertilizing, etc. within a certain range. The above embodiments are only examples of the applicable scope of the storage device 11 to facilitate understanding of the usage process, and do not specifically limit the practical scope of the storage device 11.

[0071] When the drone 100 is hovering, the drone 100 is stable, and the preset plane S3 is a plane extending in a vertical direction. The central axes L9 of the two power motors 311 are coplanar on the preset plane S3, and the intersection of the preset plane S3 and the front-rear reference line L8 is located inside the storage device 11. The storage device 11 is located between the control device 13 and the power supply device 12. When the UAV 100 is working, it plays a storage function. The storage device 11 is the heaviest part of the UAV 100. Therefore, placing it in the center is beneficial for the UAV 100 to maintain a balanced state. The central axes L9 of the power motors 311 are coplanar on the preset plane S3, and the intersection of the preset plane S3 and the front-rear reference line L8 is located in the storage device 11. The line connecting the centers of gravity of the power motors 311 is basically on the same straight line as the center of gravity of the UAV 100. This further helps to ensure the balance of the UAV 100 and also ensures that the center of gravity of the UAV 100 is not easily shifted along the front-rear reference line L8 due to changes in the weight of the storage device 11. This further ensures the balance of the UAV 100 and improves the flight controllability of the UAV 100.

[0072] In some embodiments of the present invention, such as Figure 2 and Figure 3 As shown, the inner end 21 of the arm device 2 is connected to the control device 13 of the fuselage assembly 1. The arm device 2 extends from the inside out along the direction from the control device 13 to the power supply device 12, tilting towards the front-rear reference line L8 in a direction away from the fuselage assembly 1. This allows the central axes L9 of the two power motors 311 located at the outer end 22 of the arm device 2 to be coplanar with the preset plane S3, and the intersection of the preset plane S3 and the front-rear reference line L8 is located inside the storage device 11, thereby ensuring the balance of the UAV 100 and improving the flight controllability of the UAV 100.

[0073] In a specific embodiment, such as Figure 17 As shown, the arm device 2 can also be set along a direction perpendicular to the front-back reference line L8. The inner end 21 of the arm device 2 is connected to the middle part of the fuselage assembly 1. Unlike the connection between the arm device 2 and the control device 13, the inner end 21 of the arm device 2 is connected to the storage device 11. The arm device 2 is set perpendicular to the front-back reference line L8, and the angle α between the arm device 2 and the horizontal plane is 9-35 degrees. This arrangement also allows the central axes L9 of the two power motors 311 located at the outer end 22 of the arm device 2 to be coplanar with the preset plane S3, and the intersection of the preset plane S3 and the front-back reference line L8 is located inside the storage device 11, thereby ensuring the balance of the UAV 100 and improving the flight controllability of the UAV 100.

[0074] In some embodiments of the present invention, such as Figure 2 and Figure 3 As shown, the two arm units 2 are symmetrically arranged about the longitudinal reference line L8 of the fuselage assembly 1. This improves the balance and flight controllability of the UAV 100.

[0075] Furthermore, in some specific embodiments of the present invention, such as Figure 1 As shown, the drone 100 may further include: landing gear 14, which is fixed below the fuselage assembly 1 to ensure the stability of the drone 100 during takeoff and landing. Figure 1 and Figure 5 As shown, the fuselage assembly 1 may also include a main body 15, a first mounting frame 16, a second mounting frame 17, and an isolation plate 18, combined with... Figure 1 As shown, the overall body 15 may include a top plate 151 and a bottom plate 152 for supporting the control device 13. This makes the structure of the fuselage assembly 1 compact.

[0076] like Figure 5 As shown, the main body 15, the first mounting frame 16, and the second mounting frame 17 are connected in sequence. The storage device 11 and the power supply device 12 are respectively disposed in the first mounting frame 16 and the second mounting frame 17, thereby making the structure of the main body assembly 1 compact. Moreover, the storage device 11 and the power supply device 12 are convenient to disassemble and assemble, for example, it is convenient for the user to remove the storage device 11 for liquid addition and other operations, and it is convenient for the user to remove the power supply device 12 for charging and other operations. In addition, the installation is convenient.

[0077] like Figure 5As shown, the first mounting frame 16 may include a fixing plate 161 fixedly connected to the main body 15 and two first connecting plates 162 connected to both ends of the fixing plate. The two first connecting plates 162 are symmetrically arranged about the front-rear reference line L8. The second mounting frame 17 may include two second connecting plates 171 and two third connecting plates 172. The two second connecting plates 171 are symmetrically arranged about the front-rear reference line L8, and the two third connecting plates 172 are symmetrically arranged about the front-rear reference line L8. One end of each of the two second connecting plates 171 is connected to one of the two first connecting plates 161. The end of the second connecting plate 171 away from the fixed plate 161 is connected to the second connecting plate 171. The two third connecting plates 172 are respectively connected to the other ends of the two second connecting plates 171. The isolation plate 18 is located between the first mounting frame 16 and the second mounting frame 17, and the isolation plate 18 is connected to the side of the two second connecting plates 171 closest to the first connecting plate 161, so that the first mounting frame 16 and the second mounting frame 17 respectively define the first mounting space 160 and the second mounting space 170. The storage device 11 can be installed in the first mounting space 160, and the power supply device 12 can be installed in the second mounting space 170. Thus, the structure of the first mounting frame 16 and the second mounting frame 17 is simple and easy to process, thereby further reducing the production cost of the UAV 100.

[0078] In some embodiments, such as Figure 7 As shown, each arm device 2 has an arm body 210 including a first arm 211 and a second arm 212, which are pivotally connected so that the arm device 2 can be folded when not in use to reduce its storage size.

[0079] Specifically, each arm device 2 also includes a pivot connection mechanism 23, which includes a first connector 231 disposed on the first arm 211 and a second connector 232 disposed on the second arm 212, so that the first arm 211 and the second arm 212 can be snapped together when they are rotatably connected.

[0080] In a specific example, such as Figures 7-9 As shown, the first connector 231 includes a first connecting base plate 2311, a first sleeve portion 2312, and a mating groove 2313. The first sleeve portion 2312 extends along one end face of the first connecting base plate 2311 to form an annular structure. A first mounting groove is formed inside the first sleeve portion 2312, and the end of the first arm 211 away from the body assembly 1 is adapted to be fixed in the first mounting groove. The mating groove 2313 is disposed on the other end face of the first connecting base plate 2311, and the inner wall of the mating groove 2313 is formed into an arc surface. A first through hole 2314 communicating with the first mounting groove is also provided on the inner wall of the mating groove 2313. Furthermore, a connecting lug 2315 and a first connecting portion 2316 extend from the outer side of the first connecting base plate 2311.

[0081] The second connector 232 includes a second connecting base plate 2321, a second sleeve portion 2322, and a mating protrusion 2323. The second sleeve portion 2322 extends along one end face of the second connecting base plate 2321 to form an annular structure. A second mounting groove is formed inside the second sleeve portion 2322, and one end of the second arm 212 near the body assembly 1 is adapted to be fixed in the second mounting groove. The mating protrusion 2323 is disposed on the other end face of the second connecting base plate 2321, and the peripheral wall of the mating protrusion 2323 is formed into an arc surface. A second through hole 2324 coaxially disposed and penetrating the second mounting groove is also provided on the peripheral wall of the mating protrusion 2323. Furthermore, a pivot portion 2325 and a second connecting portion 2326 extend from the outer side of the second connecting base plate 2321.

[0082] During assembly, the end of the first arm 211 furthest from the body assembly 1 is fixed in the first assembly groove, and the end of the second arm 212 closest to the body assembly 1 is fixed in the second assembly groove. Preferably, the ends of the first arm 211 furthest from the body assembly 1 and the second arm 212 closest to the body assembly 1 can be fixed in the first and second assembly grooves by adhesive. Simultaneously, limiting protrusions can be provided on the inner walls of the first and second assembly grooves, and limiting notches can be provided on the ends of the first arm 211 furthest from the body assembly 1 and the second arm 212 closest to the body assembly 1. Therefore, when the ends of the first arm 211 furthest from the body assembly 1 and the second arm 212 closest to the body assembly 1 are fixed in the first and second assembly grooves, mutual rotation between the first arm 211 and the second arm 212 and the first connecting member 231 and the second connecting member 232 can be further prevented. The connecting lug 2315 of the first connecting member 231 is connected to the pivot portion 2325 of the second connecting member 232. This completes the assembly of the arm device 2. The first arm 211 and the second arm 212 are rotatably connected by a pivoting connection mechanism 23. When the second arm 212 is extended, the first connecting part 2146 and the second connecting part 2326 are connected. At this time, the inner wall of the mating groove 2313 and the peripheral wall of the mating protrusion 2323 are mated. The first through hole 2314 on the mating groove 2313 and the second through hole 2324 on the mating protrusion 2323 can be deformed, making the first connecting member 231 and the second connecting member 232 more secure.

[0083] In some embodiments of the present invention, such as Figure 2 and Figure 10As shown, the drone 100 also includes a drive unit 4, which is mounted on the outer end 22 of the arm device 2. The position of the drive unit 4 is unrestricted. The drive unit 4 is connected to the drive unit 31, and drives the power unit 31 to rotate around a preset axis L on the arm device 2, thereby changing the flight direction or flight speed of the drone 100. Thus, when the drone 100 is in flight, by controlling the two drive units 4 to drive the power units 31 located at the outer ends 22 of the two arm devices 2 to rotate at the same or different tilt angles, and by adjusting the rotation speed of the power units 31, the drone 100 can perform forward, backward, and turning actions, etc., making the operation relatively simple.

[0084] In some embodiments of the present invention, such as Figures 11-13 As shown, the drive device 4 includes a drive mechanism 41, a movable lead screw 42, and a rotating component 43. The drive mechanism 41 is installed at the outer end 22 of the arm device 2. The movable lead screw 42 is connected to the drive mechanism 41. The axis L10 of the movable lead screw 42 coincides with the preset axis L. The drive mechanism 41 drives the movable lead screw 42 to move along the preset axis L. The rotating component 43 is sleeved on the movable lead screw 42. The rotating component 43 and the movable lead screw 42 are threaded together. The rotating component 43 is restricted to rotate around the preset axis L when the movable lead screw 42 moves. The power device 3 is installed on the rotating component 43.

[0085] The drive mechanism 41 transmits power to the movable lead screw 42, which in turn transmits force to the rotating component 43 as it moves, causing the rotating component 43 to adjust the angle of the power device 3. This configuration, where the rotating component 43 is sleeved on the movable lead screw 42 with a threaded fit, results in a large contact area and high transmission stability. The rotation of the rotating component 43 is driven by the movement of the movable lead screw 42, providing strong controllability.

[0086] In the above embodiments, such as Figure 11 As shown, the drive mechanism 41 may include a servo motor 411 and a gear set 412. The servo motor 411 has a shaft 4111, one gear 4121 of the gear set 412 is connected to the shaft 4111, and the other gear 4121 of the gear set 412 is connected to the lead screw 42. Using the servo motor 411 not only results in a smaller size but also a longer service life and higher load capacity. The gear set 412, placed between the servo motor 411 and the lead screw 42, not only maintains a tight fit but also allows for adjustment of the transmission ratio, achieving speed reduction and torque increase.

[0087] Specifically, such as Figure 14As shown, the gear 4121 connected to the movable lead screw 42 has an internal threaded hole. The gear 4121 is sleeved on the movable lead screw 42 and threadedly engaged. When the gear 4121 rotates, it drives the movable lead screw 42 to move. This arrangement can reduce the number of parts and make the structure more compact.

[0088] Further, if Figures 12-14 As shown, the movable lead screw 42 is provided with two spaced external threads. One external thread engages with the rotating part 43, and the other external thread engages with the gear 4121. The two external threads are spaced apart to limit the movement of the rotating part 43 and the gear 4121.

[0089] In some embodiments of the present invention, such as Figure 11 As shown, the drive mechanism 41 includes a limiting component 44, which is connected to the movable lead screw 42. The limiting component 44 is used to restrict the rotation of the movable lead screw 42 relative to the arm device 2. Thus, the limiting component 44 ensures that the movable lead screw 42 can only move along the preset axis L, thereby stabilizing the transmission process.

[0090] In some optional embodiments, the limiting component 44 is a guide seat (not shown) connected to the mounting base 413. The guide seat has a guide groove extending along a preset axis L. The moving screw 42 is fitted in the guide groove, and under the constraint of the guide groove, the moving screw 42 can only move in the direction of the preset axis L. When the cross-section of the guide groove is not circular, the guide groove can restrict the rotation of the moving screw 42.

[0091] In other alternative embodiments, such as Figure 11 As shown, the limiting assembly 44 includes a limiting rod, and a fisheye bearing is connected to the mounting base 413. The bottom end of the limiting rod is telescopically fitted onto the inner ring of the fisheye bearing, which restricts the limiting rod to swing only along the plane containing the preset axis L. The end of the moving lead screw 42 is rotatably connected to the upper end of the limiting rod, so that the moving lead screw 42 can only move and cannot rotate.

[0092] In some embodiments of the present invention, such as Figure 11 , Figure 13 and Figure 15 As shown, the outer periphery of the rotating component 43 is formed as a spline 431. The power unit 3 includes a connecting seat 313, and the power unit 31 is connected to the connecting seat 313. The connecting seat 313 has a keyway 3131 that mates with the spline 431. This arrangement allows the spline 431 to withstand a very large torque during rotation, and the root is less prone to breakage, making the entire aircraft safer and more reliable.

[0093] exist Figure 15In the connection, the keyway 3131 on the connecting seat 313, which mates with the spline 431, has a 180-degree center angle, which facilitates the connection between the connecting seat 313 and the spline 431. Of course, the power unit 3 also includes a locking member (not shown in the figure) for locking the power unit 31 onto the drive device 4 to ensure a reliable connection between the power unit 3 and the drive device 4 during rotation.

[0094] In some embodiments of the present invention, such as Figure 11 , Figure 16 As shown, the drive mechanism 41 includes a mounting base 413 and bearings 414. The mounting base 413 includes a sleeve portion 4131, a fixed base 4132, and a mounting portion 4133. The sleeve portion 4131 is externally connected to the arm device 2. The drive mechanism 41 is mounted on the fixed base 4132. There are two mounting portions 4133, which are arranged opposite to each other on the fixed base 4132. The two mounting portions 4133 are provided with coaxial mounting holes 41331. The moving lead screw 42 passes through the two mounting holes 41331. The two bearings 414 are respectively fitted into the two mounting holes 41331. The rotating part 43 is fitted onto the two bearings 414, and the two bearings 414 are locked on both sides of the rotating part 43 to restrict the axial movement of the rotating part 43.

[0095] This type of mounting base 413 allows for connection to the boom assembly 2, and all other components can be compactly mounted on it. Two mounting bases 4133 are used to install bearings 414, which support the rotating component 43. This design ensures that the rotating component 43 is not easily deformed under support, and also reduces rotational friction, resulting in smoother rotation. Furthermore, the two bearings 414 restrict the rotation of the component 43, allowing it to rotate only around a pre-set bearing L, thus improving control precision.

[0096] The following is based on Figure 11The movement process of the drive device 4 in a specific embodiment of the present invention is described. After receiving a command from the controller, the servo motor 411 on the fixed seat 4132 of the mounting base 413 starts to operate. The servo motor 411 drives a gear 4121 connected to the servo motor 411 in the gear set 412 to rotate. The gear set 412 transmits the rotational motion to the moving lead screw 42 arranged above the mounting base 413 through the meshing of the gear 4121. The moving lead screw 42 is restricted by the limiting component 44 and can only move along the preset axis L. The rotating part 43 is threadedly engaged with the moving lead screw 42. Similarly, the rotating part 43 is also restricted by the mounting part 4133 and the bearing 414 on the mounting part 4133 and can only rotate around the preset axis L. The rotating part 43 is provided with a spline 431, which cooperates with the connecting seat 313 of the power device 3. The rotating part 43 rotates along the preset axis L, driving the power device 3 to rotate, that is, driving the propeller 312 of the power device 3 to change the direction of rotation, thereby changing the flight state of the UAV 100.

[0097] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0098] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A drone (100), characterized in that, include: Fuselage assembly (1); The arm device (2) consists of two arms located on opposite sides of the body assembly (1). Each arm device (2) has an inner end (21) and an outer end (22) at its two ends. The inner end (21) of the arm device (2) is mounted on the body assembly (1). The arm device (2) is inclined upward from the inner end (21) to the outer end (22). The angle between each arm device (2) and the horizontal plane is 9-35 degrees. Power unit (3), each of the outer ends (22) of the arm device (2) is equipped with a power unit (3), each of the power units (3) includes a power unit (31), the power unit (31) includes a power motor (311) and a propeller (312) installed on the power motor (311); The machine body assembly (1) has a front-rear direction reference line (L8), and the two machine arm devices (2) are located on opposite sides of the front-rear direction reference line (L8). The machine body assembly (1) includes a control device (13), a storage device (11) and a power supply device (12) arranged sequentially along the front-rear direction reference line (L8). When the drone (100) is hovering, the central axes (L9) of the two power motors (311) are coplanar with the preset plane (S3), and the intersection of the preset plane (S3) and the front-back direction reference line (L8) is located within the storage device (11).

2. The UAV (100) according to claim 1, characterized in that, Each of the said arm devices (2) has an angle of 19 degrees with the horizontal plane.

3. The UAV (100) according to claim 1, characterized in that, The inner end (21) of the arm device (2) is connected to the location of the control device (13) of the fuselage assembly (1). The arm device (2) extends from the inside out along the direction from the control device (13) to the power supply device (12), inclined towards the front-rear reference line (L8) in a direction away from the fuselage assembly (1); or, The arm device (2) is arranged along a direction perpendicular to the front-back direction reference line (L8).

4. The UAV (100) according to any one of claims 1-3, characterized in that, Also includes: A drive device (4) is installed at the outer end of the arm device (2). The drive device (4) is connected to the power unit (31) and drives the power unit (31) to rotate around a preset axis (L) on the arm device (2).

5. The UAV (100) according to claim 4, characterized in that, The driving device (4) includes: A drive mechanism (41) is mounted on the outer end of the arm device (2); A movable lead screw (42) is connected to the driving mechanism (41). The axis (L10) of the movable lead screw (42) coincides with the preset axis (L). The driving mechanism (41) drives the movable lead screw (42) to move along the preset axis (L). A rotating component (43) is fitted onto the movable lead screw (42), and the rotating component (43) and the movable lead screw (42) are threaded together. The rotating component (43) is restricted to rotate around the preset axis (L) when the movable lead screw (42) moves. The power device (3) is mounted on the rotating component (43).

6. The UAV (100) according to claim 5, characterized in that, The drive mechanism (41) includes: A servo motor (411), the servo motor (411) having a shaft (4111); A gear set (412), wherein one gear (4121) in the gear set (412) is connected to the machine shaft (4111), and the other gear (4121) in the gear set (412) is connected to the movable lead screw (42).

7. The UAV (100) according to claim 5, characterized in that, The drive device (4) includes a limiting component (44) connected to the movable lead screw (42) for limiting the rotation of the movable lead screw (42) relative to the arm device (2).

8. The UAV (100) according to claim 5, characterized in that, The outer periphery of the rotating member (43) is formed as a spline (431). The power unit (3) includes a connecting seat (313). The power unit (31) is connected to the connecting seat (313). The connecting seat (313) has a keyway (3131) that mates with the spline (431).

9. The UAV (100) according to claim 5, characterized in that, The drive mechanism (41) includes: Mounting base (413), the mounting base (413) includes a sleeve part (4131), a fixed base (4132) and a mounting part (4133). The sleeve part (4131) is sleeved and connected to the arm device (2). The drive mechanism (41) is mounted on the fixed base (4132). There are two mounting parts (4133) arranged opposite to each other on the fixed base (4132). The two mounting parts (4133) are provided with coaxial mounting holes (41331). The moving screw (42) passes through the two mounting holes (41331). Two bearings (414) are respectively fitted into two mounting holes (41331), and the rotating member (43) is fitted onto the two bearings (414), and the two bearings (414) are locked on both sides of the rotating member (43) to restrict the axial movement of the rotating member (43).

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