A UAV aircraft support structure

Abstract

The present invention discloses a novel UAV aircraft support structure, including a UAV fuselage, four rotor mechanisms, a rotor support structure, and a cable support frame assembly, wherein the cable support frame assembly includes a first support frame, a second support frame, and a third support frame; the rotor mechanism includes a wing shell, a motor installed inside the shell, and a propeller connected to its output shaft; and further includes a control module, which is connected to a first drive unit and a second drive unit for driving and controlling the two to work. The present invention realizes bidirectional adjustment of the rotor mechanism angle through the cooperation of the first rotating section and the second rotating section in the rotor support structure, which is conducive to improving the controllability of the UAV.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to a novel unmanned aerial vehicle support structure. Background Art

[0002] The drone industry is developing rapidly. Domestic civilian drones represented by DJI have been very popular in the market in recent years. Drones can complete many special tasks with their unique characteristics. At present, whether it is the high-intensity operations in firefighting or the higher requirements of drone enthusiasts for aerial actions, the requirements for drones themselves are becoming stronger. Most of the drone brackets on the market are fixed straight rod / curved rod structures, which cannot meet the needs of completing some difficult actions. Summary of the invention

[0003] The object of the present invention is to provide a novel UAV aircraft support structure, wherein the rotor support structure comprises a first rotating section and a second rotating section that can rotate, so as to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a novel UAV aircraft support structure, comprising a UAV fuselage body and a plurality of rotor mechanisms, the rotor mechanisms comprising a wing shell, a motor arranged inside the shell and a propeller connected to the output shaft thereof, a plurality of rotor support structures are arranged on the outside of the UAV fuselage body, the rotor support structure comprising a first rotating section and a second rotating section, the first rotating section comprising a first driving part, a first rotating arm and a rotating shaft 1, the second rotating section comprising a second driving part, a second rotating arm and a rotating shaft 2, one end of the first rotating arm is connected to one end of the rotating shaft 1, the end of the first rotating arm away from the rotating shaft 1 is connected to the second driving part, the first driving part is used to drive the first rotating arm to rotate circumferentially along the rotating shaft, the second driving part is used to drive the second rotating arm to rotate circumferentially along the rotating shaft 2, the rotating shaft 1 and the rotating shaft 2 are arranged perpendicular to each other; one end of the second rotating arm is connected to one end of the rotating shaft 2, the end of the second rotating arm away from the rotating shaft 2 is connected to the wing shell;

[0005] A wire outlet groove is provided on one side of the UAV fuselage body close to the corresponding rotor support structure;

[0006] A cable arrangement support frame assembly is disposed outside the first rotating section and the second rotating section, and the cable arrangement support frame assembly includes a first support frame, a second support frame and a third support frame;

[0007] It also includes a control module, which is connected to the first driving part and the second driving part to drive and control the operation of both.

[0008] The first driving part includes a first housing, a first driving assembly, a first locking assembly and a first angle assembly. The first driving assembly, the first locking assembly and the first angle assembly are all arranged inside the first housing. The first driving assembly is used to drive the rotating shaft 1 to rotate. The first locking assembly is used to lock the rotating shaft 1 to fix its angle. The first angle assembly is used to detect the rotation angle of the rotating shaft 1.

[0009] The first support frame is arranged on the outside of the first shell, one side of the first shell is provided with a wire entry slot 1, and the second support frame is arranged on the outside of the first rotating arm.

[0010] The first driving assembly includes a driving motor 1, a driving gear 1 and a driven gear 1 cooperating with the driving gear 1, one side of the driving motor 1 is connected to the first housing, the driving gear 1 is connected to the output shaft of the driving motor 1, a set of the driven gear is arranged on the outside of the rotating shaft 1, the driving gear 1 and the driven gear 1 are meshed, the driving motor 1 is connected to the control module, and one side of the rotating shaft 1 passes through the first housing and is connected to the first rotating arm.

[0011] The first locking component comprises a ratchet, a pawl cooperating with the ratchet and an unlocking structure. A pawl shaft is arranged inside the first shell, the pawl is sleeved on the outside of the pawl shaft, the ratchet is sleeved on the outside of the rotating shaft, and the ratchet is located on one side of the driven gear. The unlocking structure comprises a shell, an electromagnet, an iron column, a connecting piece and a spring. The connecting piece is arranged on the upper part of the pawl, one end of the connecting piece is hinged to the iron column, one end of the shell is connected to the inner wall of the first shell, the electromagnet is located inside the shell, one end of the electromagnet is connected to the inner wall of the first shell, the spring is sleeved on the outside of the iron column and the electromagnet, the two ends of the spring are respectively connected to the iron column and the inner wall of the first shell, and the electromagnet is connected to the control module.

[0012] The first angle component includes a hollow shaft angle sensor and a mounting bracket. One end of the rotating shaft is connected to a brake shaft. The hollow shaft angle sensor is set on the brake shaft. The mounting bracket is set on the pawl shaft. The end of the mounting bracket away from the pawl shaft is in contact with the two side surfaces of the hollow shaft angle sensor. The hollow shaft angle sensor is connected to a control module.

[0013] The first driving component also includes an electromagnetic power-off brake, which is connected to the control module. One end of the brake shaft passes through the first shell and is connected to the input end of the electromagnetic power-off brake. The electromagnetic power-off brake is embedded inside the drone fuselage body.

[0014] The second driving part includes a second housing, a second driving assembly and a second angle assembly, the second driving assembly and the second angle assembly are both arranged inside the second housing, the second driving assembly is used to drive the second rotating shaft to rotate, and the second angle assembly is used to detect the rotation angle of the second rotating shaft;

[0015] The third support frame is arranged on the outside of the second shell, and a second angle component is opened on one side of the second shell.

[0016] The second driving assembly includes a second driving motor, a second driving gear and a second driven gear matched with the second driving gear. One side of the second driving motor is connected to the second housing, the second driving gear is connected to the output shaft of the second driving motor, the second driven gear is sleeved on the outside of the second rotating shaft, the second driving gear is meshed with the second driven gear, the second driving motor is connected to the control module, and one end of the second rotating shaft passes through the second housing and is connected to the second rotating arm.

[0017] The second angle assembly includes a second hollow shaft angle sensor and a second mounting frame, one end of the second rotating shaft is connected to a second brake shaft, the second hollow shaft angle sensor is sleeved on the second brake shaft, the second mounting frame is sleeved on the pawl shaft, the second hollow shaft angle sensor is arranged in the second mounting frame, and the second hollow shaft angle sensor is connected to the control module;

[0018] The second driving component further comprises a second electromagnetic power-off brake, which is connected to the control module. Two ends of the second brake shaft penetrate through the second housing and are connected to the input end of the second electromagnetic power-off brake.

[0019] The control module includes a main control module and an auxiliary control module. The main control module is arranged inside the fuselage body of the UAV, and the auxiliary control module is arranged inside the wing shell. The main control module and the auxiliary control module are connected to the first drive unit and the second drive unit through an FPC line row. The main control module includes a main processing chip, a main storage chip, a communication module and a main interface module. The auxiliary control module includes an auxiliary processing chip, an auxiliary storage module and an auxiliary interface module. The main storage chip and the main interface module are respectively connected to the main processing chip, the communication module is connected to the main interface module, the auxiliary storage chip and the auxiliary interface module are respectively connected to the auxiliary processing chip, the auxiliary interface module and the main interface module are connected through an FPC line row, the main processing chip is connected to an external UAV controller through the communication module, and the motor is connected to the auxiliary interface module.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. In the present invention, after the main control module controls the start of the driving motor 2, the driving motor 2 drives the driving gear 2 to rotate, the driving gear 2 drives the transmission gear 2 meshing with it to rotate, the transmission gear 2 drives the rotating shaft 2 to rotate, the rotation of the rotating shaft 2 drives the second rotating arm to rotate, and the second rotating arm drives the rotating wing mechanism at its end to rotate along the circumferential direction of the rotating shaft 2, thereby adjusting the pitch angle of the rotating wing mechanism.

[0022] 2. In the present invention, the driving motor is started by controlling the main control module, and the electromagnet is energized at the same time. The driving motor drives the driving gear to rotate, and the driving gear drives the driven gear to rotate. The driven gear rotates and then drives the rotating shaft to rotate. The rotating shaft drives the first rotating arm to rotate, thereby adjusting the flipping angle of the first rotating arm.

[0023] 3. In the present invention, since the electromagnet is energized, the electromagnet attracts the iron column, the iron column drives the connecting piece to move, and the connecting piece drives the pawl to rotate, so that the pawl is separated from the ratchet, and the ratchet can rotate freely. It can be seen that when the electromagnet is not energized, the rotating shaft is locked by the cooperation of the ratchet and the pawl, that is, the first rotating arm is locked, which can be used to lock the angle of the first rotating arm when the power is off.

[0024] 4. In the present invention, when the rotating shaft 1 and the rotating shaft 2 rotate, the brake shaft 1 and the brake shaft 2 connected thereto are driven to rotate, and the rotation angles of the rotating shaft 1 and the rotating shaft 2 are detected by the hollow shaft angle sensor 1 and the hollow shaft angle sensor 2 mounted on the brake shaft 1 and the brake shaft 2, and the angle information is transmitted to the main control module. The main processor processes the angle information, and when the set angle is reached, the drive motor 1 and the drive motor 2 are controlled to stop rotating, and the angles of the first rotating section and the second rotating section are fixed; the brake shaft 1 and the brake shaft 2 are locked respectively by the electromagnetic power-off brake and the electromagnetic power-off brake 2, so that the first rotating section and the second rotating section can be kept from rotating when the power is off. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the top view structure of the present invention;

[0027] Figure 3 It is a bottom view structural schematic diagram of the present invention;

[0028] Figure 4 This is an exploded view of the rotor support structure of the present invention;

[0029] Figure 5 It is a cross-sectional view of the structure of the first driving part of the present invention;

[0030] Figure 6 For the present invention Figure 5 A top view of

[0031] Figure 7 For the present invention Figure 5 Side view of

[0032] Figure 8 For the present invention Figure 4 A schematic diagram of the structure enlargement in the middle;

[0033] Fig. 9 This is a module connection diagram of the present invention.

[0034] In the figure: UAV fuselage body 1, rotor mechanism 2, rotor support structure 11, first rotating section 110, second rotating section 111, first driving part 1101, first rotating arm 1102, rotating shaft 1103, second driving part 1111, second rotating arm 1112, rotating shaft 2 1113, wire trough 3, wire arrangement support frame assembly 4, first support frame 401, second support frame 402, third support frame 403, control module 5, first shell 11011, first driving assembly 11012, first locking assembly 11013, first angle assembly 11014, wire inlet trough 16, driving motor 1 10121, driving gear 1 10122, driven gear 1 10123, ratchet 10131, pawl 10132, unlocking structure 10133, shell 1331, electromagnet 1332, iron column 1333, connecting piece 1334, spring 1335, hollow shaft angle sensor 1 10141, mounting bracket 10142, electromagnetic power-off brake 7, second shell 11110, second driving assembly 11111, second angle assembly 11112, second angle assembly 8, hollow shaft angle sensor 2 11121, mounting bracket 2 11122, main control module 51, auxiliary control module 52. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] See also Figure 1-9 The present invention provides a technical solution: a new type of UAV aircraft support structure, including a UAV fuselage body 1, four rotor mechanisms 2 and a cable support frame assembly 4, the cable support frame assembly 4 includes a first support frame 401, a second support frame 402 and a third support frame 403; the rotor mechanism 2 includes a wing shell 1331, a motor installed inside the shell and a propeller connected to its output shaft; in addition, it also includes a control module 5, the control module 5 is connected to the first drive unit 1101 and the second drive unit 1111, and is used to drive and control the operation of both.

[0039] Four rotor support structures 11 are installed on the outside of the UAV fuselage body 1 , and each rotor support structure 11 includes a first rotating section 110 and a second rotating section 111 .

[0040] The first driving part 1101, the first rotating arm 1102 and the rotating shaft 1103 constitute the first rotating section 110, one end of the first rotating arm 1102 is connected to one end of the rotating shaft 1103, and one end of the first rotating arm 1102 away from the rotating shaft 1103 is connected to the second driving part 1111, and the first driving part 1101 is used to drive the first rotating arm 1102 to rotate circumferentially along the rotating shaft 1103;

[0041] The second driving part 1111, the second rotating arm 1112 and the second rotating shaft 1113 constitute the second rotating section 111, the second driving part 1111 is used to drive the second rotating arm 1112 to rotate along the circumferential direction of the second rotating shaft 1113, the first rotating shaft 1103 and the second rotating shaft 1113 are installed perpendicular to each other; one end of the second rotating arm 1112 is connected to one end of the second rotating shaft 1113, and the end of the second rotating arm 1112 away from the second rotating shaft 1113 is connected to the wing shell 1331; a wire outlet groove 3 is provided on one side of the drone fuselage body 1 close to the corresponding rotor bracket structure 11;

[0042] The cable support frame assembly 4 is installed outside the first rotating section 110 and the second rotating section 111 .

[0043] The first driving part 1101 in the rotor support structure 11 includes a first housing 11011, a first driving assembly 11012, a first locking assembly 11013 and a first angle assembly 11014. The first driving assembly 11012, the first locking assembly 11013 and the first angle assembly 11014 are all installed inside the first housing 11011. The first driving assembly is used to drive the rotating shaft 1103 to rotate. The first locking assembly 11013 is used to lock the rotating shaft 1103 to fix its angle. The first angle assembly 11014 is used to detect the rotation angle of the rotating shaft 1103.

[0044] The first support frame 401 is installed on the outside of the first shell 11011 , and a wire entry slot 6 is opened on one side of the first shell 11011 . The second support frame 402 is installed on the outside of the first rotating arm 1102 .

[0045] The first driving assembly 11012 includes a driving motor 10121, a driving gear 10122 and a driven gear 10123 cooperating with the driving gear 10122. One side of the driving motor 10121 is connected to the first housing 11011, the driving gear 10122 is connected to the output shaft of the driving motor 10121, the driven gear 10123 is sleeved on the outside of the rotating shaft 1103, the driving gear 10122 and the driven gear 10123 are meshed, the driving motor 10121 is connected to the control module 5, and one side of the rotating shaft 1103 passes through the first housing 11011 and is connected to the first rotating arm 1102.

[0046] The first locking assembly 11013 comprises a ratchet 10131, a pawl 10132 matched with the ratchet 10131 and an unlocking structure 10133. A pawl shaft is installed inside the first housing 11011. The pawl 10132 is sleeved on the outside of the pawl shaft. The ratchet 10131 is sleeved on the outside of the rotating shaft 1103. The ratchet 10131 is located on one side of the driven gear. The unlocking structure 10133 comprises a housing 1331, an electromagnet 1332, an iron column 1333, a connecting piece 1334 and a spring 1335. The connecting piece 133 4 is installed on the upper part of the pawl 10132, one end of the connecting piece 1334 is hinged with the iron column 1333, one end of the shell 1331 is connected to the inner wall of the first shell 11011, the electromagnet 1332 is located inside the shell 1331, one end of the electromagnet 1332 is connected to the inner wall of the first shell 11011, the spring 1335 is sleeved on the outer side of the iron column 1333 and the electromagnet 1332, two ends of the spring 1335 are respectively connected to the iron column 1333 and the inner wall of the first shell 11011, and the electromagnet 1332 is connected to the control module 5.

[0047] The first angle component 11014 includes a hollow shaft angle sensor 10141 and a mounting bracket 10142. One end of the rotating shaft 1103 is connected to a brake shaft 11031. The hollow shaft angle sensor 10141 is sleeved on the brake shaft 11031. The mounting bracket 10142 is sleeved on the pawl shaft. One end of the mounting bracket 10142 away from the pawl shaft abuts against the two side surfaces of the hollow shaft angle sensor 10141. The hollow shaft angle sensor 10141 is connected to the control module 5.

[0048] The first driving component 11012 also includes an electromagnetic de-energizing brake 7, which is connected to the control module 5. One end of the brake shaft 11031 passes through the first shell 11011 and is connected to the input end of the electromagnetic de-energizing brake 7. The electromagnetic de-energizing brake 7 is embedded inside the drone fuselage body 1.

[0049] The second driving part 1111 in the rotor support structure 11 includes a second shell 11110, a second driving component 11111 and a second angle component 11112. The second driving component 11111 and the second angle component 11112 are both installed inside the second shell 11110. The second driving component is used to drive the rotating shaft 1113 to rotate, and the second angle component 11112 is used to detect the rotation angle of the rotating shaft 1113; the third support frame 403 is installed on the outside of the second shell 11110, and a second angle component 8 is opened on one side of the second shell 11110.

[0050] The second driving assembly 11111 includes a driving motor 2, a driving gear 2 and a driven gear 2 cooperating with the driving gear 2. One side of the driving motor 2 is connected to the second housing 11110, the driving gear 2 is connected to the output shaft of the driving motor 2, the driven gear 2 is sleeved on the outside of the rotating shaft 2 1113, the driving gear 2 and the driven gear 2 are meshed, the driving motor 2 is connected to the control module 5, and one end of the rotating shaft 2 1113 passes through the second housing 11110 and is connected to the second rotating arm 1112.

[0051] The second angle assembly 11112 includes a second hollow shaft angle sensor 11121 and a second mounting frame 11122. One end of the second rotating shaft 1113 is connected to the second brake shaft 11123. The second hollow shaft angle sensor 11121 is sleeved on the second brake shaft 11123. The second mounting frame 11122 is sleeved on the pawl shaft. The second hollow shaft angle sensor 11121 is installed in the second mounting frame 11122. The second hollow shaft angle sensor 11121 is connected to the control module 5.

[0052] The second driving component 11111 also includes a second electromagnetic power-off brake, which is connected to the control module 5. Two ends of the second brake shaft 11123 pass through the second housing 11110 and are connected to the input end of the second electromagnetic power-off brake.

[0053] The control module 5 includes a main control module 51 and an auxiliary control module 52. The main control module is installed inside the UAV fuselage body 1, and the auxiliary control module 52 is installed inside the wing shell 1331. The main control module 51 and the auxiliary control module 52 are connected to the first drive unit 1101 and the second drive unit 1111 through FPC lines. The main control module 51 includes a main processing chip, a main storage chip, a communication module and a main interface module. The auxiliary control module 52 includes an auxiliary processing chip, an auxiliary storage module and an auxiliary interface module. The main storage chip and the main interface module are respectively connected to the main processing chip, the communication module is connected to the main interface module, the auxiliary storage chip and the auxiliary interface module are respectively connected to the auxiliary processing chip, the auxiliary interface module and the main interface module are connected through FPC lines, the main processing chip is connected to the external UAV controller through the communication module, and the motor is connected to the auxiliary interface module.

[0054] Working principle: The wiring of the present invention is through FPC wiring, and the main control module 51, the auxiliary control module 52, the first driving part 1101, the second driving part 1111 and the motor are connected through the FPC wiring.

[0055] The first support frame 401, the second support frame 402 and the third support frame 403 play the role of connecting and guiding the cable. In the specific installation process, the FPC cable and the surfaces of the first support frame 401 and the third support frame 403 are fixed by double-sided adhesive tape, and the FPC cable passes through the gap between the second support frame 402 and the first rotating arm 1102 bracket, so that the FPC cable does not contact the rotating part of the UAV rotor bracket structure 11, which can prevent the FPC cable from being torn and twisted, thereby increasing the service life;

[0056] Among them, the wire inlet groove 6 and the second angle component 8 are used for the FPC wire row to enter the first shell 11011 and the second shell 11110 and connect with the corresponding first drive component 11012, the first angle group and the second drive component 11111, and the second angle component 11112, and the wire outlet groove 3 is used for the FPC wire row to enter the interior of the drone fuselage body 1 and connect with the main control module 51.

[0057] The main control module 51 controls the start of the driving motor 10121, and at the same time, the electromagnet 1332 is energized, and the driving motor 10121 drives the driving gear 10122 to rotate, and the driving gear 10122 drives the driven gear 10123 to rotate, and the driven gear 10123 rotates, and the rotating shaft 1103 is driven to rotate, and the rotation of the rotating shaft 1103 drives the first rotating arm 1102 to rotate, and the rotation of the first rotating arm 1102 drives the second rotating section 111 at its end to rotate along the circumferential direction of the rotating shaft 1103. When the rotating shaft 1103 rotates, the ratchet 10131 coaxially mounted therewith is driven to rotate, and since the electromagnet 1332 is energized, the electromagnet 1332 attracts the iron column 1333, and the iron column 1333 drives the connecting piece 1334 to move, and the connecting piece 1334 drives the pawl 10132 to rotate, so that the pawl 10132 is separated from the ratchet 10131, and the ratchet 10131 can rotate freely. It can be seen that when the electromagnet 1332 is not energized, the rotating shaft 1103 is locked by the cooperation of the ratchet 10131 and the pawl 10132, that is, the first rotating arm 1102 is locked, which can be used to lock the angle of the first rotating arm 1102 when the power is off.

[0058] Similarly, after the main control module 51 controls the start of the driving motor 2, the driving motor 2 drives the driving gear 2 to rotate, the driving gear 2 drives the transmission gear 2 meshing therewith to rotate, the transmission gear 2 drives the rotating shaft 2 1113 to rotate, the rotating shaft 1113 rotates and drives the second rotating arm 1112 to rotate, and the second rotating arm 1112 drives the rotating wing mechanism at its end to rotate along the circumferential direction of the rotating shaft 2 1113, thereby adjusting the pitch angle of the rotating wing mechanism;

[0059] When the rotating shaft 1103 and the rotating shaft 2 1113 rotate, the brake shaft 1 1031 and the brake shaft 2 11123 connected thereto are driven to rotate, and the rotation angles of the rotating shaft 1103 and the rotating shaft 2 1113 are detected by the hollow shaft angle sensor 1 10141 and the hollow shaft angle sensor 2 11121 mounted on the brake shaft 1 11031 and the brake shaft 2 11123, and the angle information is transmitted to the main control module 51. The main processor processes the angle information, and when the set angle is reached, the drive motor 1 10121 and the drive motor 2 are controlled to stop rotating, and the angles of the first rotating section 110 and the second rotating section 111 are fixed; the brake shaft 1 11031 and the brake shaft 2 11123 are locked by the electromagnetic power-off brake 7 and the electromagnetic power-off brake 2 respectively, so that the first rotating section and the second rotating section can be kept from rotating when the power is off.

[0060] By controlling the electromagnetic power-off brake 7 to brake, the brake shaft 11031 is stopped, and the flip angle of the first rotating arm 1102 can be locked in cooperation with the driving motor 10121.

[0061] Since the driving motor 10121 is far away from the propeller, the torque borne by the driving motor 10121 is the largest, so an electromagnetic power-off brake 7 is installed to reduce the burden of the driving motor 10121;

[0062] Driving motor 1 10121 and driving motor 2 can adopt stepping motors to make angle control more precise. The flip and pitch angles of the rotor mechanism 2 can be adjusted through the cooperation of the first rotating section 110 and the second rotating section 111, which can enhance the maneuverability of the UAV and enable it to complete some difficult movements.

[0063] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0064] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A UAV aircraft support structure, comprising a UAV fuselage body (1) and a plurality of rotor mechanisms (2), wherein the rotor mechanisms (2) comprise a wing shell, a motor arranged inside the shell and a propeller connected to the output shaft thereof, characterized in that: A plurality of rotor support structures (11) are arranged on the outside of the drone fuselage body (1); The rotor support structure (11) comprises a first rotating section (110) and a second rotating section (111); the first rotating section (110) comprises a first driving part (1101), a first rotating arm (1102) and a first rotating shaft (1103); the second rotating section (111) comprises a second driving part (1111), a second rotating arm (1112) and a second rotating shaft (1113); one end of the first rotating arm (1102) is connected to one end of the first rotating shaft (1103); an end of the first rotating arm (1102) away from the first rotating shaft (1103) is connected to the second driving part (1111); A driving unit (1101) is used to drive the first rotating arm (1102) to rotate along the circumferential direction of the first rotating axis (1103); the second driving unit (1111) is used to drive the second rotating arm (1112) to rotate along the circumferential direction of the second rotating axis (1113); the first rotating axis (1103) and the second rotating axis (1113) are arranged perpendicular to each other; one end of the second rotating arm (1112) is connected to one end of the second rotating axis (1113); one end of the second rotating arm (1112) away from the second rotating axis (1113) is connected to the wing shell; the first rotating axis (1103) and the first rotating arm (1102) are arranged in parallel; The first rotating section (110) and the second rotating section (111) cooperate to adjust the flip and pitch angles of the rotor mechanism (2), thereby enhancing the maneuverability of the drone; A cable arrangement support frame assembly (4) is arranged outside the first rotating section (110) and the second rotating section (111), and the cable arrangement support frame assembly (4) comprises a first support frame (401), a second support frame (402) and a third support frame (403); The first support frame (401) is arranged on the outside of the first housing (11011), a wire inlet groove 1 (6) is provided on one side of the first housing (11011), and the second support frame (402) is arranged on the outside of the first rotating arm (1102); A wire outlet groove (3) is provided on one side of the drone fuselage body (1) close to the corresponding rotor support structure (11); It also comprises a control module (5), wherein the control module (5) is connected to the first drive unit (1101) and the second drive unit (1111) and is used to drive and control the operation of both.

2. The UAV aircraft support structure according to claim 1, characterized in that: The first driving unit (1101) comprises a first housing (11011), a first driving assembly (11012), a first locking assembly (11013) and a first angle assembly (11014); the first driving assembly (11012), the first locking assembly (11013) and the first angle assembly (11014) are all arranged inside the first housing (11011); the first driving assembly is used to drive the rotating shaft (1103) to rotate; the first locking assembly (11013) is used to lock the rotating shaft (1103) to fix its angle; the first angle assembly (11014) is used to detect the rotation angle of the rotating shaft (1103); the first driving assembly (11012) comprises a driving assembly (11013) and a first locking assembly (11014) for detecting the rotation angle of the rotating shaft (1103); A motor (10121), a driving gear (10122) and a driven gear (10123) matched with the driving gear (10122); one side of the driving motor (10121) is connected to the first housing (11011); the driving gear (10122) is connected to the output shaft of the driving motor (10121); the driven gear (10123) is sleeved on the outside of the rotating shaft (1103); the driving gear (10122) and the driven gear (10123) are meshed; the driving motor (10121) is connected to the control module (5); and one side of the rotating shaft (1103) passes through the first housing (11011) and is connected to the first rotating arm (1102).

3. The UAV aircraft support structure according to claim 2, characterized in that: The first locking assembly (11013) comprises a ratchet (10131), a pawl (10132) matched with the ratchet (10131), and an unlocking structure (10133); a pawl shaft is arranged inside the first housing (11011); the pawl (10132) is sleeved on the outside of the pawl shaft; the ratchet (10131) is sleeved on the outside of the rotating shaft (1103); the ratchet (10131) is located on one side of the driven gear; and the unlocking structure (101 33) comprises a shell (1331), an electromagnet (1332), an iron column (1333), a connecting piece (1334) and a spring (1335), wherein the connecting piece (1334) is arranged on the upper part of the pawl (10132), one end of the connecting piece (1334) is hinged to the iron column (1333), one end of the shell (1331) is connected to the inner wall of the first shell (11011), the electromagnet (1332) is located inside the shell (1331), and the electromagnet (1332) is located inside the shell (1331). One end of the iron (1332) is connected to the inner wall of the first housing (11011), the spring (1335) is sleeved on the outside of the iron column (1333) and the electromagnet (1332), the two ends of the spring (1335) are respectively connected to the iron column (1333) and the inner wall of the first housing (11011), the electromagnet (1332) is connected to the control module (5), and the first angle component (11014) includes a hollow shaft angle sensor 1 (10141) and a mounting frame ( 10142), one end of the rotating shaft (1103) is connected to a brake shaft (11031), the hollow shaft angle sensor (10141) is sleeved on the brake shaft (11031), the mounting frame (10142) is sleeved on the pawl shaft, the end of the mounting frame (10142) away from the pawl shaft is in contact with the two side surfaces of the hollow shaft angle sensor (10141), and the hollow shaft angle sensor (10141) is connected to the control module (5).

4. The UAV aircraft support structure according to claim 3, characterized in that: The first drive component (11012) further comprises an electromagnetic power-off brake (7), the electromagnetic power-off brake (7) being connected to the control module (5), one end of the brake shaft (11031) passing through the first housing (11011) and being connected to the input end of the electromagnetic power-off brake (7), and the electromagnetic power-off brake (7) being embedded inside the drone fuselage body (1).

5. The UAV aircraft support structure according to claim 4, characterized in that: The second driving portion (1111) comprises a second housing (11110), a second driving assembly (11111) and a second angle assembly (11112); the second driving assembly (11111) and the second angle assembly (11112) are both arranged inside the second housing (11110); the second driving assembly is used to drive the second rotating shaft (1113) to rotate; and the second angle assembly (11112) is used to detect the rotation angle of the second rotating shaft (1113); The third support frame (403) is arranged on the outside of the second shell (11110), and a second angle component is provided on one side of the second shell (11110).

6. The UAV aircraft support structure according to claim 5, characterized in that: The second driving assembly (11111) comprises a second driving motor, a second driving gear and a second driven gear matched with the second driving gear. One side of the second driving motor is connected to the second housing (11110). The second driving gear is connected to the output shaft of the second driving motor. The second driven gear is sleeved on the outside of the second rotating shaft (1113). The second driving gear is meshed with the second driven gear. The second driving motor is connected to the control module (5). One end of the second rotating shaft (1113) passes through the second housing (11110) and is connected to the second rotating arm (1112).

7. The UAV aircraft support structure according to claim 6, characterized in that: The second angle component (11112) comprises a second hollow shaft angle sensor (11121) and a second mounting frame (11122); one end of the second rotating shaft (1113) is connected to a second brake shaft (11123); the second hollow shaft angle sensor (11121) is sleeved on the second brake shaft (11123); the second mounting frame (11122) is sleeved on the pawl shaft; the second hollow shaft angle sensor (11121) is arranged in the second mounting frame (11122); and the second hollow shaft angle sensor (11121) is connected to the control module (5); The second drive component (11111) further comprises a second electromagnetic power-off brake, the second electromagnetic power-off brake is connected to the control module (5), and the two ends of the second brake shaft (11123) pass through the second housing (11110) and are connected to the input end of the second electromagnetic power-off brake.

8. The UAV aircraft support structure according to claim 1, characterized in that: The control module (5) comprises a main control module (51) and an auxiliary control module (52); the main control module is arranged inside a drone fuselage body (1); the auxiliary control module (52) is arranged inside a wing shell; the main control module (51) and the auxiliary control module (52) are connected to a first drive unit (1101) and a second drive unit (1111) via an FPC cable row; the main control module (51) comprises a main processing chip, a main storage chip, a communication module and a main interface module; the auxiliary control module (52) comprises an auxiliary processing chip, an auxiliary storage module and an auxiliary interface module; the main storage chip and the main interface module are respectively connected to the main processing chip; the communication module is connected to the main interface module; the auxiliary storage module and the auxiliary interface module are respectively connected to the auxiliary processing chip; the auxiliary interface module and the main interface module are connected via an FPC cable row; the main processing chip is connected to an external drone controller via the communication module; and the motor is connected to the auxiliary interface module.

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