A longitudinal combined multi-rotor aircraft for highland environment

Abstract

The embodiment of the application discloses a longitudinal combined multi-rotor aircraft for a plateau environment, relates to the technical field of modular multi-rotor aircrafts, and can recombine the structures of different aircraft models according to the transportation target weight of the aircraft. The aircraft mainly comprises a nose module, a fuselage module group and a rotor unit. A main control panel and aviation batteries for the operation of the main control panel and two side rotor units are arranged in the nose module. The main control panel is connected with the fuselage module group and the rotor unit through aviation plugs, and the aircraft structure is fixed with the fuselage module group and the two side rotor units through a connecting mechanism. Each rotor unit is internally provided with an independent motor and a transmission rod. A sub-control panel and corresponding model airplane batteries are arranged in the fuselage module group, and each fuselage module can be connected with two rotor units on the two sides. The aircraft structure can be conveniently and freely adjusted according to the load requirement.

Description

Technical Field

[0001] This invention relates to the field of modular multirotor aircraft technology, and more particularly to a longitudinally combined multirotor aircraft for use in high-altitude environments. Background Technology

[0002] Currently, most transport vehicles are diesel-powered, and their fuel consumption increases with altitude. For every 1000 meters increase in altitude, the power of internal combustion engines decreases by an average of about 12%, while fuel consumption increases by about 10%. At an altitude of around 4000 meters, the power loss of transport machinery reaches 30%. Compared to internal combustion engines, the impact of altitude on electric motors is only reflected in the heat dissipation of the motor coils, and the impact is relatively small. The original intention of highway construction was to facilitate the lives of people, and people often choose to establish urban clusters in areas with flat terrain. Therefore, traditional transportation networks are basically point-to-point connections around existing areas. However, current transport targets are often new, undeveloped areas with low population density. Taking the transport of border defense supplies as an example, due to the flexibility of troop personnel and the unpredictability of terrain, highway transport will show a slow response in sudden situations with large vertical changes in altitude.

[0003] Currently, the main applications of transport multirotor aircraft are agricultural irrigation drones and IoT logistics drones, indicating a broad range of potential applications. However, current transport multirotor aircraft are often of fixed models with limited lift. If a situation requiring higher lift is encountered, multiple multirotor aircraft are usually used in coordination, or larger drones are used, which undoubtedly increases operating costs and coordination difficulties.

[0004] Therefore, how to achieve modularity and structural adjustability of multi-rotor aircraft while minimizing the increase in structural complexity has become a research topic. Summary of the Invention

[0005] The embodiments of the present invention provide a longitudinally combined multi-rotor aircraft for high-altitude environments, which has a simple and easy-to-use combined structure and can be easily and freely adjusted according to load requirements.

[0006] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0007] The upper part (11) of the head module (1) is connected to the lower part (12) of the head, and the upper part (21) of the body module (2) is connected to the lower part (22). The strength requirements can be met by using carbon fiber composite material. In the actual production process, the upper and lower parts can be connected by countersunk bolts. The left rocker arm (51) and the right rocker arm (52) are installed on both sides of the head module (1) and the body module (2). The left rocker arm (51) and the right rocker arm (52) can be retracted or extended around the left rotating shaft (6) and the right rotating shaft (6) respectively. In the actual production process, thrust ball bearings or other lubrication measures can be added to delay the wear of parts. The connecting mechanism (7) at the front of the body module (2) includes: the first spring (i) to the sixth spring (vi), the button cover (74), the upper cover plate group (75), the lower cover plate group (76), the upper fixing pin group (72), the lower fixing pin group (73), and the press button (71). The first spring (i) and the second spring (ii) are positioned between the button (71) and the upper fixing pin assembly (72) for the return motion of the button (71). The third spring (iii) and the fourth spring (iv) are positioned between the upper fixing pin assembly (72) and the upper cover assembly, and the fifth spring (v) and the sixth spring (vi) are positioned between the lower fixing pin assembly (73) and the lower cover assembly (76), together with the first spring (i) and the second spring (ii) for the return motion of the overall mechanism. The upper cover assembly (75) and the button cover (74) are mounted to the upper part of the machine head (11) and the upper part of the machine body (21) by countersunk screws, and the lower cover assembly (76) is mounted to the lower part of the machine head (12) and the lower part of the machine body (22) by countersunk screws. After the upper part (11) of the machine head and the lower part (12) of the machine head or the upper part (21) of the machine body and the lower part (22) of the machine body are connected, the upper fixing pin group (72) can be connected to the upper end of the corresponding lower fixing pin group (73). After the machine head module (1) and the machine body module (2) are connected, the ear rings located behind the upper part (11) of the machine head and the lower part (12) of the machine head can be inserted into the slots in front of the machine body module (2), and the upper fixing pin group (72) and the lower fixing pin group (73) can be clearance-fitted with the ear rings. The lower part of the main body module (2) is provided with mounting holes for installing loading and unloading hooks, which can also be replaced with other gripping devices if the load-bearing capacity allows.

[0008] The rotor unit (3) is connected to the fuselage module (2) and the nose module (1) via a pin structure, and its internal components are connected to the ESCs located in the fuselage module (2) and the nose module (1). The control line passes through the openings on both sides of the fuselage module (2) and the nose module (1), and reaches the motor (39) interface at the bottom of the rotor units (3) on both sides via the left rocker arm (51) and the right rocker arm (52). The output end of the motor (39) is connected to the transmission rod (37) via a coupling (38), and the transmission rod (37) is connected to the propeller blade (31) via a threaded connection. The blade is a 13×12.5 inch model. The duct (32) is connected to the main frame of the rotor unit (3) via a threaded connection, and a connecting ring (34) is fitted into the middle of the frame. After installing the internal motor mounting plate (310), transmission rod (37), and other parts, the base (35) with rubber pads (36) is installed. The rotor unit (3) module is thus assembled. The aircraft components are highly interchangeable and can be disassembled quickly, allowing for disassembly when the equipment is not in use. The rotor unit (3) (excluding the duct (32)), duct (32), fuselage module (2), and nose module (1) are disassembled and packed into a storage box (8) for transport by vehicle or rail.

[0009] In terms of overall shape, to improve the lift of the aircraft, the nose module (1) adopts a streamlined design, and the upper part (11) of the nose adopts the A18-il airfoil. In a high-altitude, low Reynolds number environment at an altitude of 4km, this shape can provide an additional 1.1N of lift when flying forward at a speed of 3m / s. The lower part (12) of the nose maintains a flat design to facilitate module installation. Secondly, the fuselage module (2) can be replaced with a detachable fuselage module to facilitate the addition of lateral expansion units.

[0010] This invention provides a longitudinally combined multirotor aircraft for high-altitude environments, consisting of three main parts: a nose module, a fuselage module group, and rotor units. The main control panel and aviation batteries powering the main control panel and the two rotor units are housed inside the nose module. The main control panel is connected to the fuselage module group and rotor units via aviation connectors. The fuselage structure is fixed to the fuselage module group and the two rotor units via connecting mechanisms. Each rotor unit has an independent motor and transmission linkages. Additionally, a secondary control panel and corresponding model aircraft batteries are housed inside the fuselage module group. Two rotor units can also be connected to each side of each fuselage module. With minimal load capacity, the entire aircraft can be configured as a quadcopter with one nose module, one fuselage module, and four rotor units. As the load requirement increases, one fuselage module and two rotor units can be added to the rear of the fuselage to create a freely combinable combined multirotor aircraft. This invention features a simple and easy-to-use modular structure, which allows for convenient and free adjustment of the aircraft structure according to load requirements. It is suitable for use in high-altitude environments and is characterized by high efficiency, speed, low operational difficulty, and convenient transportation. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 A schematic diagram of the quadcopter configuration of a novel combined multi-rotor aircraft suitable for high-altitude environments, provided as an embodiment of the present invention.

[0013] Figure 2 A schematic diagram of the six-rotor configuration of a novel combined multi-rotor aircraft suitable for high-altitude environments, provided for an embodiment of the present invention.

[0014] Figure 3 This is a schematic diagram of the structure of the head unit module (1) provided in an embodiment of the present invention;

[0015] Figure 4 This is a schematic diagram of the structure of the fuselage module (2) provided in an embodiment of the present invention;

[0016] Figure 5 This is a cross-sectional schematic diagram of the module internal connection structure provided in an embodiment of the present invention;

[0017] Figure 6 This is a schematic diagram of the rocker arm mechanism within the module provided in an embodiment of the present invention;

[0018] Figure 7This is a schematic diagram of the external structure of the rotor unit (3) provided in an embodiment of the present invention;

[0019] Figure 8 This is a schematic diagram of the internal structure of the rotor unit (3) provided in an embodiment of the present invention;

[0020] Figure 9 A schematic diagram of the model of the motor (39) in the rotor unit (3) provided in the embodiment of the present invention;

[0021] Figure 10 A schematic diagram of the earring structure at the rear of the head unit (1) provided in an embodiment of the present invention;

[0022] Figure 11 A schematic diagram of the loading and unloading hooks (4) for the head module (1) and fuselage module (2) provided in the embodiments of the present invention;

[0023] Figure 12 This is a schematic diagram of the disassembly and packing of an aircraft during transportation, provided as an embodiment of the present invention.

[0024] Figure 13 This is a structural schematic diagram of the detachable fuselage module provided in an embodiment of the present invention.

[0025] In the attached diagram, the numbers represent: 1-nose module, 11-upper part of nose, 12-lower part of nose, 2-fuselage module, 21-upper part of fuselage, 22-lower part of fuselage, 3-rotor unit, 31-propeller blade, 32-duct, 33-unit main frame, 34-connecting ring, 35-base, 36-rubber pad, 37-drive rod, 38-coupling, 39-motor, 310-motor mounting plate, 4-loading hook, 51-left rocker arm, 52-right rocker arm, 6-shaft, 7-connecting mechanism, 71-press button, 72-upper fixing pin group, 73-lower fixing pin group, 74-button cover, 75-upper cover plate group, 76-lower cover plate group, i-first spring, ii-second spring, iii-third spring, iv-fourth spring, v-fifth spring, vi-sixth spring, 8-storage box, 9-detachable fuselage module. Detailed Implementation

[0026] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Embodiments of the present invention will be described in detail below, examples of which are shown 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 are only used to explain the present invention, and should not be construed as limiting the present invention. Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in the specification of the present invention means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or couplings. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0027] Current research has revealed that in high-altitude regions, due to the aerodynamic environment of high altitude and low Reynolds number, as well as the complex ground environment, logistical support at certain locations becomes exceptionally difficult. While transport vehicles and railway tracks can approach the destination, their longitudinal transport capacity is limited, and the transport distance needs to be extended. Meanwhile, although conventional helicopters can take off and land vertically in confined spaces without terrain limitations, their deployment to every transport destination is unlikely. Constrained by flight performance limitations, their transport efficiency is relatively low, easily leading to unnecessary energy consumption and inefficient operating modes.

[0028] To address this issue, this embodiment provides a design concept and makes improvements. Specifically, a modular multi-rotor combined aircraft is used, with different combination methods selected for different load requirements. The aircraft is then transported by vehicle-mounted transport equipment to the vicinity of the destination to perform longitudinal transport tasks in the vertical or oblique upward direction. The aircraft consists of two basic counter-rotating rotor units (3) and a basic fuselage unit, which can be extended by stacking multiples of a quadcopter. As it serves as an auxiliary transport device for road or rail transport, the aircraft can be quickly disassembled and folded for storage in a case (8). Since its operating environment is a high-altitude environment, each unit uses a two-bladed high-altitude propeller, and an external duct (32) is installed to protect the propeller and ensure personal safety while improving pulling efficiency and reducing noise. The design purpose of this embodiment is mainly to address the problem that vehicles or rail transport do not have efficient vertical transport capabilities during transportation.

[0029] Specifically, this embodiment designs a longitudinally combined multi-rotor aircraft for high-altitude environments, such as... Figure 1 , 2 As shown, the components include a nose module (1), at least one fuselage module (2), and rotor units (3) corresponding to the nose module (1) and fuselage module (2), respectively. Each rotor unit (3) is equipped with a motor (39) and a transmission rod that matches the motor (39). The nose module (1) is equipped with a main control panel and a nose battery unit. Two rotor units (3) are symmetrically installed on the outside of the nose module (1). The nose battery unit connects to the main control panel and the two rotor units (3) and supplies them with power. The main control panel and the aviation battery that powers the main control panel and the two rotor units are placed inside the nose module.

[0030] One end of the nose module (1) is connected and fixed to one end of the fuselage module (2) via a connecting mechanism (7), and the other end of the fuselage module (2) is also provided with a connecting mechanism (7); the fuselage module (2) has a secondary control panel and a fuselage battery unit installed inside, and two rotor units (3) are symmetrically installed on the outside of the fuselage module (2). The main control panel is connected to the fuselage module group and the rotor units via an aviation plug, and the fuselage structure is fixed to the fuselage module group and the rotor units on both sides via the connecting mechanism. Each rotor unit has an independent motor and transmission rod built in. In addition, the fuselage module group contains a secondary control panel and a corresponding model aircraft battery, and two rotor units can be connected to each side of each fuselage module.

[0031] Specifically, such as Figure 3As shown, the upper part (11) of the head module (1) is connected to the lower part (12) of the head. A left rocker arm (51) and a right rocker arm (52) are respectively installed on both sides of the head module (1). The left rocker arm (51) and the right rocker arm (52) can be retracted or extended around the pivot (6); for example Figure 6 The left rocker arm (51) and the right rocker arm (52) can rotate around the pivot (6) respectively, so that the fuselage module (2) and the head module (1) can be stored in the idle state.

[0032] An aviation plug is installed on the rear side of the nose module (1) for connection to the fuselage module (2). The nose module (1) contains a model aircraft battery, an electronic speed controller, and a main control panel to power the two rotor units (3) on both sides.

[0033] Furthermore, such as Figure 3-5 As shown, the upper part (21) of the fuselage module (2) is connected to the lower part (22) of the fuselage. The left rocker arm (51) and the right rocker arm (52) are respectively installed on both sides of the fuselage module (2). The left rocker arm (51) and the right rocker arm (52) can be retracted or extended around the pivot (6). An aviation plug is installed on the rear side of the fuselage module (2) to connect the control system to the next fuselage module (2) and redistribute the control system. The front end of the fuselage module (2) is equipped with a connecting mechanism (7). The fuselage module (2) contains a model aircraft battery, an electronic speed controller (ESC), and a secondary control panel for the operation of the two rotor units (3) on both sides. The rotor unit (3) is connected to the fuselage module (2) and the nose module (1) through a pin structure. Its internal connection is to the ESC located in the fuselage module (2) and the nose module (1).

[0034] In the nose module (1) or fuselage module (2): the control line passes through the openings on both sides of the fuselage module (2) or nose module (1), and reaches the main control panel of the nose module (1) or the auxiliary control panel of the fuselage module (2) via the left rocker arm (51) and the right rocker arm (52). The control line is introduced into the control line via the left rocker arm (51) and the right rocker arm (52) through the ESC. The control line is connected to the motor (39) installed on the motor mounting plate (310) in the rotor unit (3) to facilitate the control of the motor (39). The motor (39) transmits torque to the propeller blade (31) through the transmission rod (37), thereby driving the rotor unit (3) to generate lift.

[0035] Specifically, such as Figure 5As shown, the connecting mechanism (7) includes: a first spring (i) to a sixth spring (vi), a button cover (74), an upper cover assembly (75), a lower cover assembly (76), an upper fixing pin assembly (72), a lower fixing pin assembly (73), and a pressing button (71); wherein, the first spring (i) and the second spring (ii) are placed between the pressing button (71) and the upper fixing pin assembly (72) for the return movement of the pressing button (71); the fifth spring (v) and the sixth spring (vi) are placed between the lower fixing pin assembly (73) and the lower cover assembly (76), and together with the first spring (i) and the second spring (ii), are used for the return movement of the pressing button (71);

[0036] The third spring (iii) and the fourth spring (iv) are positioned between the upper fixing pin assembly (72) and the upper cover assembly. The upper cover assembly (75) and the button cover (74) are respectively mounted to the upper part of the machine body (21) using countersunk screws, and the lower cover assembly (76) is mounted to the lower part of the machine body (22) using countersunk screws. In this embodiment, the main internal structures of the machine head module (1) and the machine body module (2) are similar, the difference being that the machine head module (1) has a modified streamlined shape, and the main control panel is installed inside the machine head module (1). The upper cover assembly (75) and the button cover (74) are respectively mounted to the upper part of the machine head (11) using countersunk screws, and the lower cover assembly (76) is mounted to the lower part of the machine head (12) using countersunk screws. After the upper part (11) of the machine head and the lower part (12) of the machine head or the upper part (21) of the machine body and the lower part (22) of the machine body are connected, the upper fixing pin group (72) can perfectly fit its corresponding lower fixing pin group (73).

[0037] Specifically, such as Figure 7-9 As shown, the parts are highly interchangeable. The external structure of the rotor unit (3) includes: propeller blades (31), duct (32), main frame (33), connecting ring (34), base (35), and rubber pad (36); the internal structure of the rotor unit (3) includes: transmission rod (37), coupling (38), motor (39), and motor mounting plate (310); the duct (32) and main frame (33) of the rotor unit (3) are connected by threads, which has the property of quick disassembly. It can be disassembled when the equipment is not in use, and the rotor unit (3) (excluding duct (32)), duct (32), fuselage module (2), and nose module (1) are disassembled and packed into the storage box (8), for example. Figure 12 As shown.

[0038] Specifically, such as Figure 10As shown, after the head module (1) and the body module (2) are connected, the earring structure located at the rear end of the upper part (11) and the lower part (12) of the head is inserted into the slot at the front end of the body module (2), and the upper fixing pin group (72) and the lower fixing pin group (73) of the body module (2) are fitted with the earring structure at the rear end of the head module (1) with clearance.

[0039] Optional, such as Figure 11 As shown, the lower part (22) of the fuselage module (2) and the lower part (12) of the head module (1) both have mounting holes for installing the loading and unloading hooks (4).

[0040] The working principle of the longitudinally combined multi-rotor aircraft designed for high-altitude environments in this embodiment can be understood as follows: First, different module combinations are selected according to different load requirements. Under the premise of ensuring the highest operating efficiency of the aircraft, the control motherboards at the front and rear of the modules are connected by splicing through aviation plugs. Then, the main modules are spliced ​​together by mechanical structures, i.e., connection structures. Similarly, the right rocker arm (52) is deployed to splice the internal wiring with the external main body. Finally, the rotor duct (32) is installed. After trial operation, it can perform transportation tasks. This aircraft adjusts its attitude by the speed difference between propeller speeds. The control panel located inside the main fuselage can adjust the control amount between different rotors according to the number of rotors after splicing. The transportation direction is mainly vertical ascent, supplemented by horizontal forward flight. In addition, facing the harsh environment of the plateau, the machine parts are easily damaged by external environmental interference such as sand and gravel and strong winds. In order to avoid delaying the overall mission progress due to the damage of individual components, the parts of this combined aircraft also have a high degree of interchangeability. Because of its fast loading and unloading features, operators can replace the damaged modules with new modules and put them into the storage box (8) after completing the transportation task, ensuring reliability and convenience in continuous operation.

[0041] Further optional, such as Figure 13 As shown, when there are too many fuselage modules (2) added to the aircraft, a detachable fuselage module (9) is used for assembly; the detachable parts on both sides of the detachable fuselage module (9) are connected to the main body of the fuselage module (2) by a pin structure; the pin structure is replaced with a new connecting piece between the rotor unit and the fuselage module, thereby increasing the space and possibility for lateral modification and reducing the problem of excessive longitudinal bending moment caused by too many fuselage modules.

[0042] In summary, the longitudinally combined multirotor aircraft designed for high-altitude environments in this embodiment mainly consists of three parts: a nose module (1), a fuselage module (2), and rotor units (3). A layout method of assigning two rotors to one module is adopted. The battery and ESC of this module are arranged inside the fuselage, and the motors are respectively arranged directly below the rotors. The control mainboard is located in the nose module, and control signals are transmitted to the next connected module via an aviation connector, and so on. The external fuselage is fixed by a pin structure. The left and right wings of the nose rotate in opposite directions, and have the same rotation speed when hovering. The aircraft consists of at least two modules, i.e., a quadcopter structure. The left and right rocker arms can be folded, and the rotors and ducts are detachable for easy transportation. Its vertical transportation efficiency is superior to traditional transportation, and the aircraft supports rapid disassembly and assembly while ensuring operation in high-altitude, low Reynolds number environments. In addition, its parts are highly interchangeable, which can prevent the entire aircraft from being paralyzed due to damage to a single part, thus preventing mission delays. While ensuring mission completion, the modular design allows the aircraft to choose different combinations based on the different payload targets, avoiding the consumption of useless power and improving transportation efficiency.

[0043] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The above descriptions are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A longitudinal combined multi-copter aircraft for high altitude environment, characterized in that, The components include a nose module (1), at least one body module (2), and a corresponding rotor unit (3) corresponding to the nose module (1) and the body module (2), respectively, and a motor (39) and a transmission rod matched with the motor (39) are installed in each rotor unit (3); The nose module (1) is internally provided with a main control panel and a nose battery unit, and the outer side of the nose module (1) is symmetrically provided with two rotor units (3), and the nose battery unit is connected to the main control panel and the two rotor units (3) and provides power; One end of the nose module (1) is connected and fixed to one end of the body module (2) through a connecting mechanism (7), and the other end of the body module (2) is also provided with a connecting mechanism (7); The body module (2) is internally provided with a sub-control panel and a body battery unit, and the outer side of the body module (2) is symmetrically provided with two rotor units (3); The nose upper part (11) of the nose module (1) is connected to the nose lower part (12), and the left and right sides of the nose module (1) are respectively provided with a left rocker arm (51) and a right rocker arm (52), wherein the left rocker arm (51) and the right rocker arm (52) can be respectively retracted or unfolded around the rotating shaft (6); the rear side of the nose module (1) is provided with an aviation plug for connecting to the body module (2); The body upper part (21) of the body module (2) is connected to the body lower part (22), and the left and right sides of the body module (2) are respectively provided with a left rocker arm (51) and a right rocker arm (52), wherein the left rocker arm (51) and the right rocker arm (52) can be respectively retracted or unfolded around the rotating shaft (6); the rear side of the body module (2) is provided with an aviation plug for connecting to the next body module (2) and redistributing the control system; the front end of the body module (2) is provided with a connecting mechanism (7); wherein the body module (2) is internally provided with a model airplane battery for driving the two rotor units (3) on the left and right sides, an electronic speed controller, and a sub-control panel; the rotor unit (3) is connected to the body module (2) and the nose module (1) through a pin structure, and is internally connected to the electronic speed controller in the body module (2) and the nose module (1); In the nose module (1) or the body module (2): the control line passes through the openings on the left and right sides of the body module (2) or the nose module (1), and reaches the rotor units (3) on the left and right sides through the left rocker arm (51) and the right rocker arm (52); The main control panel of the nose module (1) or the sub-control panel of the body module (2) introduces the control line through the electronic speed controller and the left rocker arm (51) and the right rocker arm (52), and the control line is connected to the motor (39) installed on the motor mounting plate (310) in the rotor unit (3) to control the motor (39), wherein the motor (39) transmits torque to the propeller blades (31) through the transmission rod (37), thereby driving the rotor unit (3) to generate lift.

2. The longitudinal combined multi-copter aircraft for high altitude environment according to claim 1, wherein, The connecting mechanism (7) includes: first to sixth springs (i-vi), a button cover plate (74), an upper cover plate group (75), a lower cover plate group (76), an upper fixed pin group (72), a lower fixed pin group (73), and a pressing button (71). The first spring (i) and the second spring (ii) are arranged between the pressing button (71) and the upper fixed pin group (72) to provide a return movement for the pressing button (71); The fifth spring (v) and the sixth spring (vi) are arranged between the lower fixed pin group (73) and the lower cover plate group (76) to provide a return movement for the pressing button (71) together with the first spring (i) and the second spring (ii); The third spring (iii) and the fourth spring (iv) are arranged between the upper fixed pin group (72) and the upper cover plate group.

3. The longitudinal combined multi-copter aircraft for high altitude environment according to claim 2, wherein, The upper cover plate group (75) and the button cover plate (74) are respectively installed on the upper part of the fuselage (21) by means of countersunk screws, and the lower cover plate group (76) is installed on the lower part of the fuselage (22) by means of countersunk screws; After the upper part of the fuselage (21) and the lower part of the fuselage (22) are connected, the upper fixed pin group (72) is attached to the corresponding lower fixed pin group (73); After the head module (1) and the fuselage module (2) are connected, the ear ring structure at the rear end of the head upper part (11) and the head lower part (12) is inserted into the slot at the front end of the fuselage module (2), and the upper fixed pin group (72) and the lower fixed pin group (73) of the fuselage module (2) are connected to the ear ring structure at the rear end of the head module (1) with a gap.

4. The longitudinally assembled multi-copter aircraft for high altitude environment as claimed in claim 1 wherein, The external structure of the rotor unit (3) includes: propeller blades (31), a duct (32), a unit main skeleton (33), a connecting ring (34), a base (35), and a rubber pad (36); The internal structure of the rotor unit (3) includes: a transmission rod (37), a shaft coupling (38), a motor (39), and a motor mounting plate (310); The duct (32) and the unit main skeleton (33) of the rotor unit (3) are connected by threads.

5. The longitudinally assembled multi-copter aircraft for high altitude environment according to claim 1, wherein, The lower part of the fuselage (22) of the fuselage module (2) and the lower part of the head (12) of the head module (1) are provided with mounting holes for mounting the loading and unloading hook (4).

6. The longitudinally assembled multi-copter aircraft for high altitude environment according to claim 1, wherein, The overall design of the head module (1) is streamlined, wherein the head upper part (11) adopts an A18-il airfoil, and the head lower part (12) is designed as a plane; The fuselage module (2) is provided with a detachable structure in the transverse direction to facilitate the addition of a transversely expanded structure unit.

7. The longitudinally assembled multi-copter aircraft for high altitude environment as claimed in claim 1 or 6 wherein, When the number of fuselage modules (2) added to the aircraft is excessive, a detachable fuselage module (9) is used for assembly; The detachable parts on both sides of the detachable fuselage module (9) are connected to the main body of the fuselage module (2) by means of pin structures; The pin structure is replaced by a new connecting piece between the rotor unit and the fuselage module, thereby increasing the space for transverse modification.

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