A vector-powered coaxial twin-propeller drone

Abstract

The technical problem to be solved by the present invention is to provide a vector-powered coaxial twin-propeller UAV with a compact overall layout, small overall size, simpler and more reliable structure, and lighter structural weight. The UAV is controlled by vector power, and the tilt mechanism has a simple and reliable structure, eliminating the complex pitch-changing mechanism, making the overall layout more compact, and can achieve a miniaturized size that other UAVs cannot achieve under the same load and flight time conditions, meeting certain application needs under conditions with extremely stringent requirements on the external dimensions, and compared with conventional coaxial twin-propeller UAVs, the structure is simpler, the reliability is higher, the weight is lighter, and the flight performance is improved under the same conditions. Furthermore, the power compartment, energy compartment, and payload compartment of the vector-powered coaxial twin-propeller UAV of the present invention are all connected by a detachable structure. This segmented modular design is flexible in configuration and increases the range of mission adaptability. It is suitable for promotion and application in the field of UAV technology.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a vector-powered coaxial twin-propeller unmanned aerial vehicle. Background Art

[0002] Drones can be divided into two categories based on their flight principles: fixed-wing drones and rotary-wing drones. Fixed-wing drones have fixed wings, and the pressure difference between the upper and lower surfaces of the wings generated by high-speed airflow offsets gravity during flight. Rotary-wing drones do not have fixed wings, and maintain flight through the lift generated by the high-speed rotation of vertically mounted propellers.

[0003] Under current technical conditions, rotor drones can be divided into multi-rotor drones and unmanned helicopters. Multi-rotor drones usually have more than four rotors, which jointly generate lift and offset each other's anti-torque. By adjusting the power ratio between different rotors, the flight attitude and flight direction can be adjusted.

[0004] Unmanned helicopters usually include two layout forms, conventional helicopters and coaxial twin-rotor helicopters. Conventional helicopters have only one main rotor, which uses a complex pitch-changing mechanism to adjust the propeller pitch and the rotor disc plane to change the flight attitude and flight direction, and is equipped with a tail rotor to balance the anti-torque torque generated by the high-speed rotation of the main rotor. Coaxial twin-rotor helicopters have two main rotors that share a common shaft, and the two main rotors rotate in opposite directions to offset each other's anti-torque torque. However, a complex pitch-changing mechanism is still required to adjust the propeller pitch and the rotor disc plane to adjust the flight attitude and flight direction.

[0005] Fixed-wing UAVs are limited by the wing area requirements and usually have large geometric dimensions. When the size is reduced to a certain extent, the basic aerodynamic characteristics will change fundamentally due to various reasons such as low Reynolds number, so it is usually difficult to achieve miniaturization. Multi-rotor UAVs require multiple rotors to cooperate, and the distance between each rotor (wheelbase) cannot be too small, while helicopters need to rely on complex variable pitch mechanisms to achieve variable pitch control. It is also difficult to reduce the structural weight and external dimensions and achieve miniaturization while maintaining a certain load and endurance. This limits the promotion and application of conventional UAVs under certain conditions with extremely strict requirements on external dimensions. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a vector-powered coaxial twin-propeller UAV with a compact overall layout, a small overall size, a simpler and more reliable structure, and a lighter structural weight.

[0007] The technical solution adopted by the present invention to solve the technical problem is as follows: the vector power coaxial twin-propeller UAV comprises a power cabin, an energy cabin and a payload cabin arranged in sequence from top to bottom, the upper end of the energy cabin is fixed to the lower end of the power cabin through a detachable structure, the upper end of the payload cabin is fixed to the lower end of the energy cabin through a detachable structure, and the power cabin comprises a power mechanism and a tilt mechanism;

[0008] The power mechanism comprises an inner shaft, a reverse propeller hub, a forward propeller hub, a forward propeller motor, and a reverse propeller motor. The reverse propeller hub is fixedly sleeved at the upper end of the inner shaft, and two folding reverse propellers are symmetrically arranged on the reverse propeller hub. The reverse propeller motor is fixedly sleeved at the lower end of the inner shaft and the reverse propeller motor is used to drive the inner shaft to rotate. An outer shaft and a motor stator are sequentially sleeved on the inner shaft from top to bottom. The outer shaft and the motor stator are both located between the reverse propeller hub and the reverse propeller motor. The forward propeller motor is fixedly sleeved at the lower end of the outer shaft and the forward propeller motor is used to drive the outer shaft to rotate. The outer shaft rotates relative to the inner shaft. A forward propeller hub is fixedly sleeved at the upper end of the outer shaft, and two folding forward propellers are symmetrically arranged on the forward propeller hub. The motor stator is located between the forward propeller motor and the reverse propeller motor.

[0009] The tilt mechanism includes a cross-disk bracket, a mounting bracket, a ball head housing, a pull rod, and a columnar housing. The cross-disk bracket is arranged below the inner shaft. Each free end of the cross-disk bracket is fixedly connected to a connecting rod. The upper end of the connecting rod is fixedly arranged on the outer surface of the motor stator. The ball head housing is fixed to the lower surface of the cross-disk bracket and the opening of the ball head housing faces downward. The mounting bracket is located directly below the cross-disk bracket. The lower end of the pull rod is fixed to the upper surface of the mounting bracket. The upper end of the pull rod is fixedly installed with a ball head that matches the inner cavity of the ball head housing. The ball head is located at the ball head. The outer surface of the ball head shell is fixedly provided with a first limit rod, a second limit rod, a first slide rod, and a second slide rod, the first slide rod and the first limit rod are symmetrically arranged, the second slide rod and the second limit rod are symmetrically arranged, the first limit rod, the second limit rod, the first slide rod, and the second slide rod form a cross structure, the lower surface of the mounting bracket is fixedly provided with a first drive motor and a second drive motor, and also includes a first screw rod, a second screw rod, a first sliding sleeve, a second sliding sleeve, a first threaded sleeve, and a second threaded sleeve, the first threaded sleeve is sleeved on the upper end of the first screw rod and the second The inner thread of a threaded sleeve matches the outer thread of the first screw rod, one end of the first sleeve is fixed to the outer wall of the first threaded sleeve by a hinge structure, the other end of the first sleeve is sleeved on the end of the first slide rod and the first slide rod slides freely along the first sleeve, the lower end of the first screw rod is connected to the first drive motor by a gear transmission structure and the first drive motor drives the first screw rod to rotate by the gear transmission structure, the second threaded sleeve is sleeved on the upper end of the second screw rod and the inner thread of the second threaded sleeve matches the outer thread of the second screw rod, one end of the second sleeve is hinged The gear mechanism is fixed on the outer wall of the second threaded sleeve, the other end of the second sleeve is sleeved on the end of the second slide rod and the second slide rod slides freely along the second sleeve, the lower end of the second screw rod is connected to the second drive motor through a gear transmission structure and the second drive motor drives the second screw rod to rotate through the gear transmission structure; four slide grooves extending in the vertical direction are arranged on the inner side wall of the columnar shell, the end of the first limit rod, the end of the second limit rod, the first threaded sleeve and the second threaded sleeve are respectively located in the four slide grooves and slide freely along the slide grooves, and avionics equipment is arranged in the columnar shell.

[0010] Furthermore, a hemispherical fairing is provided on the counter-propeller hub, and the large-diameter end of the hemispherical fairing faces downward and is fixed on the counter-propeller hub.

[0011] Furthermore, a cylindrical fairing is provided on the positive propeller hub, the outer diameter of the cylindrical fairing is the same as the outer diameter of the large diameter end of the hemispherical fairing, and the cylindrical fairing is located below the hemispherical fairing and fixed on the positive propeller hub.

[0012] Furthermore, a first spherical slider is disposed at the end of the first limiting rod, and a second spherical slider is disposed at the end of the second limiting rod. The outer diameters of the first spherical slider and the second spherical slider both match the width of the slide groove.

[0013] Furthermore, the forward propeller motor and the reverse propeller motor are both 2342S024CR23 DC micro motors.

[0014] Furthermore, the gear transmission structure is a worm gear structure.

[0015] Furthermore, the detachable structure is a screw connection structure.

[0016] The beneficial effects of the present invention are as follows: the vector-powered coaxial twin-propeller UAV is controlled by vector power, and the tilting mechanism has a simple and reliable structure, eliminating the complex pitch-changing mechanism, making the overall layout more compact, and can achieve a miniaturized size that other UAVs cannot achieve under the same load and flight time conditions. The outer diameter size of the vector-powered coaxial twin-propeller UAV described in the present invention is only limited by the outer diameter size of the forward propeller motor and the reverse propeller motor. The minimum outer diameter size of the UAV can be 20 mm, which meets the application needs under certain conditions with extremely strict requirements on the external dimensions. Moreover, compared with conventional coaxial twin-propeller UAVs, the structure is simpler, the reliability is higher, the weight is lighter, and the flight performance is improved under the same conditions. Furthermore, the power cabin, the energy cabin, and the payload cabin of the vector-powered coaxial twin-propeller UAV described in the present invention are all connected by a detachable structure. This segmented modular design is flexible in configuration and increases the mission adaptability range. Moreover, the power battery and payload configuration of the UAV can be replaced as a whole according to the mission requirements. The integrated module design reduces the installation steps and deployment time during the installation and debugging process, improves reliability, and reduces the failure rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of the vector-powered coaxial twin-propeller UAV of the present invention in working state;

[0018] Figure 2 1 is a schematic diagram of the overall structure of the vector-powered coaxial twin-propeller UAV of the present invention in a stopped state;

[0019] Figure 3 Schematic diagram of the tilting mechanism structure of the vector-powered coaxial twin-propeller UAV of the present invention;

[0020] Figure 4 It is a schematic diagram of the internal structure of the tilting mechanism of the vector-powered coaxial twin-propeller UAV of the present invention;

[0021] Description of the symbols in the figure: power compartment 1, tilt mechanism 11, cross plate bracket 1101, mounting bracket 1102, ball head housing 1103, connecting rod 1104, first limiting rod 1105, second limiting rod 1106, first drive motor 1107, second drive motor 1108, first screw rod 1109, second screw rod 1110, first sliding sleeve 1111, second sliding sleeve 1112, first threaded sleeve 1113, second threaded sleeve 1114, slide groove 1115, first spherical slider 1116, second spherical slider 1117, cylindrical shell 1118, power mechanism 12, reverse propeller hub 1201, forward propeller hub 1202, forward propeller motor 1203, reverse propeller motor 1204, folding reverse propeller 1205, outer shaft 1206, motor stator 1207, folding forward propeller 1208, hemispherical fairing 1209, cylindrical fairing 1210, energy cabin 2, payload cabin 3. DETAILED DESCRIPTION

[0022] The technical solution of the present invention is described in detail below in conjunction with the accompanying drawings.

[0023] like Figure 1-4As shown, the vector power coaxial twin-propeller UAV comprises a power cabin 1, an energy cabin 2, and a payload cabin 3 which are arranged in sequence from top to bottom. The upper end of the energy cabin 2 is fixed to the lower end of the power cabin 1 through a detachable structure, and the upper end of the payload cabin 3 is fixed to the lower end of the energy cabin 2 through a detachable structure. The power cabin 1 comprises a power mechanism 12 and a tilt mechanism 11. The power mechanism 12 comprises an inner shaft, a reverse propeller hub 1201, a forward propeller hub 1202, a forward propeller motor 1203, and a reverse propeller motor 1204. The reverse propeller hub 1201 is fixedly sleeved on the inner shaft. The upper end of the reverse propeller hub 1201, two folding reverse propellers 1205 are symmetrically arranged on the reverse propeller hub 1201, the reverse propeller motor 1204 is fixedly sleeved on the lower end of the inner shaft and the reverse propeller motor 1204 is used to drive the inner shaft to rotate, the inner shaft is sequentially sleeved with an outer shaft 1206 and a motor stator 1207 from top to bottom, the outer shaft 1206 and the motor stator 1207 are both located between the reverse propeller hub 1201 and the reverse propeller motor 1204, the forward propeller motor 1203 is fixedly sleeved on the lower end of the outer shaft 1206 and the forward propeller motor 1203 is used to drive the outer shaft 1206 to rotate, The outer shaft 1206 rotates relative to the inner shaft, the upper end of the outer shaft 1206 is fixedly sleeved with a positive propeller hub 1202, and two folded positive propellers 1208 are symmetrically arranged on the positive propeller hub 1202, and the motor stator 1207 is located between the positive propeller motor 1203 and the reverse propeller motor 1204; the tilt mechanism 11 includes a cross-plate bracket 1101, a mounting bracket 1102, a ball head housing 1103, a pull rod, and a columnar housing 1118, the cross-plate bracket 1101 is arranged below the inner shaft, and each self- A connecting rod 1104 is fixedly connected to both ends, the upper end of the connecting rod 1104 is fixedly arranged on the outer surface of the motor stator 1207, the ball head housing 1103 is fixed to the lower surface of the cross disk bracket 1101 and the opening of the ball head housing 1103 faces downward, the mounting bracket 1102 is located directly below the cross disk bracket 1101, the lower end of the pull rod is fixed to the upper surface of the mounting bracket 1102, and the upper end of the pull rod is fixedly installed with a ball head matching the inner cavity of the ball head housing 1103, and the ball head is located in the ball head housing 1103;The outer surface of the ball head housing 1103 is fixedly provided with a first limiting rod 1105, a second limiting rod 1106, a first sliding rod, and a second sliding rod. The first sliding rod is symmetrically arranged with the first limiting rod 1105, and the second sliding rod is symmetrically arranged with the second limiting rod 1106. The first limiting rod 1105, the second limiting rod 1106, the first sliding rod, and the second sliding rod form a cross-shaped structure. The lower surface of the mounting bracket 1102 is fixedly provided with a first driving motor 1107 and a second driving motor 1108, and also includes a first screw rod 1109, a second screw rod 1110 , a first sleeve 1111, a second sleeve 1112, a first threaded sleeve 1113, and a second threaded sleeve 1114, wherein the first threaded sleeve 1113 is sleeved on the upper end of the first screw rod 1109 and the internal thread of the first threaded sleeve 1113 matches the external thread of the first screw rod 1109, one end of the first sleeve 1111 is fixed to the outer wall of the first threaded sleeve 1113 through a hinge structure, the other end of the first sleeve 1111 is sleeved on the end of the first slide rod and the first slide rod slides freely along the first sleeve 1111, and the lower end of the first screw rod 1109 The first drive motor 1107 is connected to the first drive motor 1107 through a gear transmission structure, and the first drive motor 1107 drives the first screw rod 1109 to rotate through the gear transmission structure. The second threaded sleeve 1114 is sleeved on the upper end of the second screw rod 1110, and the internal thread of the second threaded sleeve 1114 matches the external thread of the second screw rod 1110. One end of the second sleeve 1112 is fixed to the outer wall of the second threaded sleeve 1114 through a hinge structure, and the other end of the second sleeve 1112 is sleeved on the end of the second slide rod, and the second slide rod slides freely along the second sleeve 1112. The lower end of the second screw rod 1110 is connected to the second drive motor 1108 through a gear transmission structure, and the second drive motor 1108 drives the second screw rod 1110 to rotate through the gear transmission structure; the inner wall of the columnar shell 1118 is provided with four slide grooves 1115 extending in the vertical direction, the end of the first limit rod 1105, the end of the second limit rod 1106, the first threaded sleeve 1113, and the second threaded sleeve 1114 are respectively located in the four slide grooves 1115 and slide freely along the slide grooves 1115, and the columnar shell 1118 is provided with avionics equipment. The working process of the vector power coaxial twin-propeller UAV is as follows: in the parking state, the two propellers are in a folded state, such as; Figure 2 As shown in the figure, the drone is slender and cylindrical in shape, taking up very little space and being easy to store. After the motor is started, the propeller starts to rotate, using centrifugal force to automatically separate and unfold the blades. Figure 1As shown, after takeoff, the positive propeller motor 1203 drives the positive propeller to rotate clockwise or counterclockwise through the outer shaft 1206, and the reverse propeller motor 1204 drives the reverse propeller to rotate counterclockwise or clockwise through the inner shaft; when the two motors rotate at the same speed, the reverse torques of the two propellers cancel each other out, and the UAV can hover stably; the flight control computer can control the two motors to rotate at different speeds respectively, and keep the total pulling force of the two motors unchanged. At this time, in addition to stable hovering, the UAV can also use the reverse torque to achieve steering control; the heading control of the UAV is achieved by the overall tilting of the power mechanism 12, as shown in FIG. Figure 3 , Figure 4 As shown, the first drive motor 1107 or the second drive motor 1108 drives the first screw rod 1109 or the second screw rod 1110 to rotate through the gear transmission structure, thereby driving the first threaded sleeve 1113 or the second threaded sleeve 1114 to move up and down. The up and down movement of the first threaded sleeve 1113 or the second threaded sleeve 1114 will push and pull the first sliding sleeve 1111 or the second sliding sleeve 1112, thereby causing the first sliding rod or the second sliding rod to drive the ball head housing 1103 to rotate along the center of the ball head. At the same time, the first limiting rod 1105 and the second limiting rod 1106 fixedly connected to the surface of the steering ball head housing 1103 can limit the lateral rotation of the ball head housing 1103, thereby changing the connection angle between the power cabin 1 and the energy cabin 2, thereby changing the direction of the pulling line, realizing vector power, and making the UAV fly in a specific direction with a set attitude. The vector power coaxial twin-propeller UAV is controlled by vector power, and the tilt mechanism 11 has a simple and reliable structure, eliminating the complex pitch change mechanism, making the overall layout The structure is more compact and can achieve a miniaturized size that other UAVs cannot achieve under the same load and flight time conditions. The outer diameter size of the vector-powered coaxial twin-propeller UAV described in the present invention is only limited by the outer diameter size of the forward propeller motor 1203 and the reverse propeller motor 1204. The minimum outer diameter size of the UAV can be 20 mm, which meets the application needs under certain conditions with extremely strict requirements on the external dimensions. Moreover, compared with conventional coaxial twin-propeller UAVs, the structure is simpler, the reliability is higher, the weight is lighter, and the flight performance is improved under the same conditions. Furthermore, the power cabin 1, the energy cabin 2, and the payload cabin 3 of the vector-powered coaxial twin-propeller UAV described in the present invention are all connected by a detachable structure. This segmented modular design is flexible in configuration and increases the mission adaptability range. Moreover, the power battery and payload configuration of the UAV can be replaced as a whole according to the mission requirements. The integrated module design reduces the installation steps and deployment time during the installation and debugging process, improves reliability, and reduces the failure rate.

[0024] In order to reduce the air resistance of the UAV during flight, a hemispherical fairing 1209 is provided on the reverse propeller hub 1201, and the large diameter end of the hemispherical fairing 1209 is downward and fixed on the reverse propeller hub 1201. A cylindrical fairing 1210 is provided on the forward propeller hub 1202, and the outer diameter of the cylindrical fairing 1210 is the same as the outer diameter of the large diameter end of the hemispherical fairing 1209. The cylindrical fairing 1210 is located below the hemispherical fairing 1209 and is fixed on the forward propeller hub 1202.

[0025] In order to make the first limit rod 1105 and the second limit rod 1106 slide more smoothly along the slide groove 1115, a first spherical slider 1116 is provided at the end of the first limit rod 1105, and a second spherical slider 1117 is provided at the end of the second limit rod 1106. The outer diameter of the first spherical slider 1116 and the outer diameter of the second spherical slider 1117 both match the width of the slide groove 1115.

[0026] Furthermore, the models of the forward propeller motor 1203 and the reverse propeller motor 1204 are both 2342S024CR23 DC micro motors. The outer diameter of the DC micro motors of the above models is 23 mm, which can make the outer diameter of the drone reach 23 mm.

[0027] In addition, in order to make the transmission smoother and to reduce speed at the same time, the gear transmission structure is a worm gear structure.

[0028] Finally, in order to facilitate the rapid installation and disassembly between the power compartment 1, the energy compartment 2, and the payload compartment 3, the detachable structure is preferably a screw connection structure.

Claims

1. A vector-powered coaxial twin-propeller drone, comprising a power cabin (1), an energy cabin (2), and a payload cabin (3) arranged in order from top to bottom, Features: The upper end of the energy cabin (2) is fixed to the lower end of the power cabin (1) via a detachable structure, and the upper end of the load cabin (3) is fixed to the lower end of the energy cabin (2) via a detachable structure; the power cabin (1) comprises a tilting mechanism (11) and a power mechanism (12); The power mechanism (12) comprises a rotating shaft, a reverse propeller hub (1201), a forward propeller hub (1202), a forward propeller motor (1203), and a reverse propeller motor (1204); the reverse propeller hub (1201) is fixedly sleeved on the upper end of the rotating shaft; two folding reverse propellers (1205) are symmetrically arranged on the reverse propeller hub (1201); the reverse propeller motor (1204) is fixedly sleeved on the lower end of the rotating shaft and the reverse propeller motor (1204) is used to drive the rotating shaft to rotate; the rotating shaft is sequentially sleeved with a shaft sleeve (1206) and a motor stator (1207) from top to bottom; the shaft sleeve (1206) and the motor stator (1207) are (1207) are both located between the reverse propeller hub (1201) and the reverse propeller motor (1204), the forward propeller motor (1203) is fixedly sleeved at the lower end of the shaft sleeve (1206) and the forward propeller motor (1203) is used to drive the shaft sleeve (1206) to rotate, the shaft sleeve (1206) and the rotating shaft rotate relatively, the upper end of the shaft sleeve (1206) is fixedly sleeved with a forward propeller hub (1202), and two folded forward propellers (1208) are symmetrically arranged on the forward propeller hub (1202), and the motor stator (1207) is located between the forward propeller motor (1203) and the reverse propeller motor (1204); The tilt mechanism (11) comprises a cross-plate bracket (1101), a mounting bracket (1102), a ball head housing (1103), a pull rod, and a columnar housing (1118); the cross-plate bracket (1101) is arranged below the rotating shaft; each free end of the cross-plate bracket (1101) is fixedly connected to a connecting rod (1104); the upper end of the connecting rod (1104) is fixedly arranged on the outer surface of the motor stator (1207); the ball head housing (1103) is fixed to the lower surface of the cross-plate bracket (1101) and the opening of the ball head housing (1103) faces downward; the mounting bracket (1102) is located directly below the cross-plate bracket (1101); the lower end of the pull rod is fixed to the upper surface of the mounting bracket (1102); the upper end of the pull rod is fixedly mounted with a ball head matching the inner cavity of the ball head housing (1103); and the ball head is located in the ball head housing (1103);The outer surface of the ball head housing (1103) is fixedly provided with a first limiting rod (1105), a second limiting rod (1106), a first sliding rod, and a second sliding rod. The first sliding rod is symmetrically arranged with the first limiting rod (1105), and the second sliding rod is symmetrically arranged with the second limiting rod (1106). The first limiting rod (1105), the second limiting rod (1106), the first sliding rod, and the second sliding rod form a cross-shaped structure. The lower surface of the mounting bracket (1102) is fixedly provided with a first driving motor (1107) and a second driving motor (1108), and also includes a first screw rod (1109), a second screw rod (1110), A first sliding sleeve (1111), a second sliding sleeve (1112), a first threaded sleeve (1113), and a second threaded sleeve (1114), wherein the first threaded sleeve (1113) is sleeved on the upper end of the first screw rod (1109) and the internal thread of the first threaded sleeve (1113) matches the external thread of the first screw rod (1109), one end of the first sliding sleeve (1111) is fixed to the outer wall of the first threaded sleeve (1113) through a hinge structure, the other end of the first sliding sleeve (1111) is sleeved on the end of the first sliding rod and the first sliding rod slides freely along the first sliding sleeve (1111), and the lower end of the first screw rod (1109) is fixed to the outer wall of the first threaded sleeve (1113) through a hinge structure. The first end of the second screw rod (1110) is connected to the first drive motor (1107) through a gear transmission structure, and the first drive motor (1107) drives the first screw rod (1109) to rotate through the gear transmission structure. The second threaded sleeve (1114) is sleeved on the upper end of the second screw rod (1110), and the internal thread of the second threaded sleeve (1114) matches the external thread of the second screw rod (1110). One end of the second sleeve (1112) is fixed to the outer wall of the second threaded sleeve (1114) through a hinge structure. The other end of the second sleeve (1112) is sleeved on the end of the second slide rod, and the second slide rod slides freely along the second sleeve (1112). The lower end of the second screw rod (1110) is connected to the second drive motor (1108) through a gear transmission structure, and the second drive motor (1108) drives the second screw rod (1110) to rotate through the gear transmission structure; the inner side wall of the columnar housing (1118) is provided with four slide grooves (1115) extending in the vertical direction, the end of the first limit rod (1105), the end of the second limit rod (1106), the first threaded sleeve (1113), and the second threaded sleeve (1114) are respectively located in the four slide grooves (1115) and slide freely along the slide grooves (1115), and the columnar housing (1118) is provided with avionics equipment. ; 2. The vector powered coaxial twin-propeller drone according to claim 1, Features: A hemispherical fairing (1209) is provided on the counter-propeller hub (1201), and the large-diameter end of the hemispherical fairing (1209) faces downward and is fixed on the counter-propeller hub (1201).

3. According to claim 2, the vector powered coaxial twin-propeller drone, Features: A cylindrical fairing (1210) is provided on the positive propeller hub (1202), the outer diameter of the cylindrical fairing (1210) is the same as the outer diameter of the large diameter end of the hemispherical fairing (1209), and the cylindrical fairing (1210) is located below the hemispherical fairing (1209) and is fixed on the positive propeller hub (1202).

4. According to claim 3, the vector-powered coaxial twin-propeller drone, Features: A first spherical slider (1116) is disposed at the end of the first limiting rod (1105), and a second spherical slider (1117) is disposed at the end of the second limiting rod (1106). The outer diameters of the first spherical slider (1116) and the second spherical slider (1117) both match the width of the slide groove (1115).

5. The vector-powered coaxial twin-propeller drone according to claim 4, Features: The forward propeller motor (1203) and the reverse propeller motor (1204) are both direct current micro motors.

6. The coaxial dual-rotor unmanned aerial vehicle with vector power according to claim 5, characterized in that: the gear transmission structure is a worm and worm gear structure.

7. The coaxial dual-rotor unmanned aerial vehicle with vector power according to claim 6, characterized in that: the detachable structure is a screw connection structure.

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