A small multi-rotor unmanned aerial vehicle cluster capable of in-flight reconfiguration

Abstract

The application discloses a small multi-rotor unmanned aerial vehicle cluster capable of being recombined in an air variable configuration, relates to the technical field of aerial vehicles, and has the following states: a split working state, in which two groups of flight units are not in contact, and the included angle between each connecting element and the upper end face of the corresponding central disc body is obtuse; a split preparation state, in which the two groups of flight units are not in contact, the included angle between the connecting element and the upper end face of the central disc body in one group of flight units is a right angle, and the included angle between the connecting element and the upper end face of the corresponding central disc body in the other group of flight units is obtuse; and a split working state, in which the two groups of flight units are arranged in an up-down mode and are connected and locked by two groups of locking elements, the included angle between the connecting element and the upper end face of the corresponding central disc body in the flight unit located at the upper position is obtuse, and the included angle between the connecting element and the upper end face of the central disc body in the flight unit located at the lower position is a right angle. The application has the advantages of small control difficulty, high fault tolerance, small volume, and high aerodynamic efficiency.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, specifically to a cluster of small multi-rotor unmanned aerial vehicles that can be reconfigured and rearranged in mid-air. Background Technology

[0002] Currently, concepts for recombining or separating in the air include mother-daughter aircraft and combined aircraft that can be connected in a horizontal plane.

[0003] One frequently mentioned concept is the space carrier, which is similar to a mother-daughter aircraft carrier. It uses a massive mothership / mother aircraft as a support platform to function as a transit station, supporting various aircraft for takeoff, landing, or flight. The primary role of the mothership / mother aircraft is to carry and transit aircraft. Due to their enormous size, they often struggle to achieve advantages such as noise reduction, low aerodynamic interference, and small obstacle clearance. Furthermore, their speed is far slower than the aircraft they can carry. Therefore, motherships / mother aircraft are often deployed in swarms with various auxiliary aircraft.

[0004] Combined aircraft that connect in a horizontal plane can only be combined in a very limited way, such as sequentially connecting in a row or column. Such connection methods lead to a significant increase in the size of the combined aircraft, an increase in frontal area, a sharp decrease in aerodynamic force or efficiency, or poor stability.

[0005] Small multi-rotor unmanned aerial vehicles (UAVs) have been a favored configuration for small aircraft since their inception due to their unique advantages. Multi-rotors can balance the torque generated by rotation and control their rotational speed to achieve attitude control, thus avoiding complex rotor pitch control systems. This advantage gives small aircraft more agile flight performance and better maneuverability. However, these advantages also come with some disadvantages. Small multi-rotor UAVs suffer from poor endurance, low flight speed, small payload, severe aerodynamic interference, and poor stability. These problems restrict and affect the development of small multi-rotor UAVs.

[0006] For multi-rotor aircraft that can be assembled or disassembled, the combined size increases dramatically with the number of horizontally assembled aircraft. They lose the advantages of smaller aircraft, such as high maneuverability and ease of control, and their weight and aerodynamic drag increase significantly. While horizontal assembly can improve the aircraft's payload and speed to some extent, this performance improvement comes at the cost of substantial aerodynamic efficiency. Furthermore, horizontal assembly requires precise spatial control, which is extremely difficult and has a very low margin for error, making it highly susceptible to collisions.

[0007] Therefore, this invention proposes a small multi-rotor unmanned aerial vehicle cluster that can be reconfigured and rearranged in mid-air. Summary of the Invention

[0008] The purpose of this invention is to provide a small multi-rotor unmanned aerial vehicle cluster that can be reconfigured in mid-air to solve the problems existing in the prior art. It is easy to combine and operate separately, has a high fault tolerance rate, is small in size, and can achieve higher aerodynamic efficiency.

[0009] To achieve the above objectives, the present invention provides the following solution:

[0010] This invention provides a small multi-rotor unmanned aerial vehicle (UAV) cluster capable of aerial reconfiguration and reconfiguration, comprising two sets of flight units. Each set of flight units includes a central disk, multiple sets of tilt servos, multiple connecting elements, multiple working rotors, and multiple rotor motors. The tilt servos are circumferentially mounted around the central disk. Each set of tilt servos is connected to a connecting element. A rotor motor is connected to the end of each connecting element furthest from the tilt servo. Each rotor motor is connected to a working rotor and drives the working rotor to rotate, generating lift. The tilt servos can drive the connecting elements to rotate and adjust the angle between the connecting elements and the central disk. The central disk is equipped with locking elements. In the split-unit operating state... In the combined preparatory state, the two sets of flight units do not contact each other, and the angle between each connecting element and the upper surface of the corresponding central disk is an obtuse angle. In one set of flight units, the angle between the connecting element and the upper surface of the central disk is a right angle, and in the other set of flight units, the angle between the connecting element and the upper surface of the corresponding central disk is an obtuse angle. In the combined working state, the two sets of flight units are arranged vertically and the two sets of locking elements are connected and locked. In the upper flight unit, the angle between the connecting element and the upper surface of the corresponding central disk is an obtuse angle, and in the lower flight unit, the angle between the connecting element and the upper surface of the central disk is a right angle.

[0011] Preferably, the outer circumference of the central disk is integrally formed with multiple servo support disks, and a set of tilt servos is installed on the upper end face of each servo support disk. Each set of tilt servos consists of two servos, and each tilt servo is installed on the servo support disk by a fixing block. The two tilt servos on the same servo support disk are symmetrically arranged on both sides of the connecting element.

[0012] Preferably, in each of the flight units, the number of the servo support plate, the connecting element, the working rotor, and the rotor motor are all four.

[0013] Preferably, the connecting element includes two mechanical torsion arms, one mechanical link, and two connecting panels. The two mechanical torsion arms are located on both sides of one end of the mechanical link, and one end of each mechanical torsion arm is rotatably connected to the two tilt servos. The other end of each mechanical torsion arm is connected to one end of the mechanical link. The other end of the mechanical link is connected to the two connecting panels, and the two connecting panels are symmetrically installed on both sides of the mechanical link. Each connecting panel is connected to the housing of the rotor motor.

[0014] Preferably, the mechanical torsion arm and the tilt servo are connected by a rotating shaft, the cross-section of which is a large-diameter circle.

[0015] Preferably, both the mechanical torsion arm and the connecting wall plate are provided with spline grooves, the mechanical torsion arm and the mechanical connecting rod are connected by a torsion arm spline shaft, and the mechanical connecting rod and the connecting wall plate are connected by a rotor spline shaft.

[0016] Preferably, the connecting wall panel is riveted to the outer casing of the rotor motor.

[0017] Preferably, the central disk has multiple mounting holes in its center. The locking element includes a locking frame and multiple sets of locking blocks. Each set of locking blocks is installed in its respective mounting hole, and a locking groove is formed between the locking block and the inner wall of the mounting hole. A servo actuator shaft is installed in the center of each set of locking blocks. The locking frame is installed at the lower end of the central disk. When the two sets of flight units approach each other, the locking frame in the upper flight unit can extend into the locking groove in the lower flight unit. At this time, the servo actuator shaft in the lower flight unit drives the locking block in the lower flight unit to rotate 90° under the drive of the locking servo, and the locking block in the lower flight unit engages and locks the locking frame in the upper flight unit.

[0018] Preferably, in the separate working state, in both sets of flight units, the angle between each connecting element and the upper surface of the corresponding central disk is 135°; in the combined pre-operation state, in one set of flight units, the angle between the connecting element and the upper surface of the central disk is 90°, and in the other set of flight units, the angle between the connecting element and the upper surface of the corresponding central disk is 135°; in the combined working state, in the upper flight unit, the angle between the connecting element and the upper surface of the corresponding central disk is 135°, and in the lower flight unit, the angle between the connecting element and the upper surface of the central disk is 90°.

[0019] The present invention achieves the following technical effects compared to the prior art:

[0020] This invention provides a small, reconfigurable multi-rotor unmanned aerial vehicle (UAV) cluster. Tilting servos drive connecting elements to rotate and adjust the angle between the connecting elements and the central disk. This adjustment allows the separate units to be in different attitudes to meet various usage needs, mitigating aerodynamic interference caused by combination or separation. Even after combination, the original multi-rotor control method can still be used. The central disk is equipped with locking elements to facilitate connection between the two flight units when they are combined. In the separate operating state, the two flight units do not contact each other, and the angle between each connecting element and the upper surface of the corresponding central disk is obtuse. The separate operating state reduces severe aerodynamic interference caused by combination, resulting in higher flight maneuverability and performance. Furthermore, after separation, each unit can function as an independent working unit with a smaller size, higher flexibility and maneuverability, enabling flight in confined spaces or complex environments. With its strong multi-tasking capabilities, it has the potential to become a temporary signal transmission base station. Furthermore, when separated, it can be controlled in a cluster, achieving low-noise flight through sound pressure cancellation. In the pre-combination state, the two flight units do not contact each other. In one flight unit, the angle between the connecting element and the upper surface of the central disk is a right angle, while in the other flight unit, the angle between the connecting element and the corresponding upper surface of the central disk is an obtuse angle. In the combined working state, the overall load capacity is improved, and the flight speed is increased. The two flight units are arranged vertically and locked together by two sets of locking elements. The vertical combination avoids the problems of increased volume and aerodynamic drag caused by horizontal combination. In the upper flight unit, the angle between the connecting element and the corresponding upper surface of the central disk is an obtuse angle, while in the lower flight unit, the angle between the connecting element and the upper surface of the central disk is a right angle, thus ensuring that the working rotors in the two flight units do not interfere with each other after combination. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the 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.

[0022] Figure 1 This is a schematic diagram of the 40° flight unit of the present invention in the split working state;

[0023] Figure 2 yes Figure 1 The main view;

[0024] Figure 3 yes Figure 1 Top view;

[0025] Figure 4 yes Figure 1 A bottom view;

[0026] Figure 5 yes Figure 1 Schematic diagram of the tilt servo mechanism;

[0027] Figure 6 yes Figure 5 The main view;

[0028] Figure 7 This is a schematic diagram of the 90° flight unit of the present invention in the split working state;

[0029] Figure 8 yes Figure 7 The main view;

[0030] Figure 9 yes Figure 7 Top view;

[0031] Figure 10 yes Figure 7 Schematic diagram of the tilt servo mechanism;

[0032] Figure 11 yes Figure 8 The main view;

[0033] Figure 12 This is a schematic diagram of the structure of the present invention in its combined working state;

[0034] Figure 13 yes Figure 12 The main view;

[0035] Figure 14 yes Figure 12 Top view;

[0036] In the diagram: 1-Central disc, 2-Servo support disc, 3-Fixing block, 4-Tilting servo, 5-Mechanical torsion arm, 6-Mechanical linkage, 7-Torsion arm spline shaft, 8-Rotor spline shaft, 9-Connecting panel, 10-Rotor motor, 11-Working rotor, 12-Locking frame, 13-Locking groove, 14-Locking block, 15-Actuation shaft, 16-Rotating shaft. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] The purpose of this invention is to provide a small multi-rotor unmanned aerial vehicle cluster that can be reconfigured in mid-air to solve the technical problems of large size, high aerodynamic drag, and high difficulty in operation of existing combined aircraft.

[0039] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] like Figures 1-14As shown, this embodiment provides a small multi-rotor unmanned aerial vehicle (UAV) cluster capable of aerial reconfiguration and regrouping. It includes two flight units, each comprising a central disk 1, multiple tilt servos 4, multiple connecting elements, multiple working rotors 11, and multiple rotor motors 10. The tilt servos 4 are circumferentially mounted around the central disk 1. Each tilt servo 4 is connected to a connecting element. A rotor motor 10 is connected to the end of each connecting element furthest from the tilt servo 4. Each rotor motor 10 is connected to a working rotor 11 and drives the working rotor 11 to rotate and generate lift. The tilt servos 4 can drive the connected elements... The components rotate, adjusting the angle between the connecting element and the central disk 1. This adjustment allows the split units to be in different attitudes to meet various usage needs, mitigating aerodynamic interference caused by assembly or separation. Even after assembly, they can still be operated using the original multi-rotor control method. The central disk 1 is equipped with locking elements to facilitate connection between the two flight units when they are used together. In the split-operation state, the two flight units do not contact each other, and the angle between each connecting element and the corresponding upper surface of the central disk 1 is obtuse. The split-operation state reduces... The combined flight unit exhibits minimal aerodynamic interference, superior flight maneuverability and performance, and can function as an independent working unit after separation. It boasts a smaller size, greater flexibility and maneuverability, enabling flight in confined spaces or complex environments. It possesses strong multi-tasking capabilities and has the potential to serve as a temporary signal transmission base station. Furthermore, it can be controlled in formation after separation, achieving low-noise flight through sound pressure cancellation. In the combined preparation state, the two flight units do not contact each other. In one flight unit, the angle between the connecting element and the upper surface of the central disk 1 is a right angle; in the other flight unit, the angle between the connecting element and the corresponding central disk 1 is... The angle between the upper surfaces of the disk 1 is an obtuse angle. When the disk is in the combined working state, the overall load capacity can be improved and the flight speed can be increased. The two sets of flight units are arranged vertically and the two sets of locking elements are connected and locked. The vertical combination can avoid the problems of increased volume and increased aerodynamic drag caused by horizontal combination. In the upper flight unit, the angle between the connecting element and the upper surface of the corresponding central disk 1 is an obtuse angle. In the lower flight unit, the angle between the connecting element and the upper surface of the central disk 1 is a right angle. This ensures that the working rotors 11 in the two sets of flight units do not interfere with each other after combination.

[0041] Specifically, the outer circumference of the central disc 1 is integrally formed with multiple servo support discs 2. Each servo support disc 2 has a set of tilt servos 4 installed on its upper surface. Each set of tilt servos 4 consists of two servos, and each tilt servo 4 is mounted on the servo support disc 2 by a fixing block 3. The two tilt servos 4 on the same servo support disc 2 are symmetrically arranged on both sides of the connecting element, thereby fixing the tilt servos 4 and facilitating the adjustment of the angle of the connecting element by tilting the servos 4.

[0042] In each flight unit, there are four servo support disks 2, connecting elements, working rotors 11 and rotor motors 10. Those skilled in the art can adapt the number of these components according to actual needs.

[0043] The connecting elements include two mechanical torsion arms 5, one mechanical link 6, and two connecting wall plates 9. The two mechanical torsion arms 5 are located on both sides of one end of the mechanical link 6, and one end of each mechanical torsion arm 5 is rotatably connected to two tilt servos 4. The other end of each mechanical torsion arm 5 is connected to one end of the mechanical link 6. The other end of the mechanical link 6 is connected to the two connecting wall plates 9, and the two connecting wall plates 9 are symmetrically installed on both sides of the mechanical link 6. Each connecting wall plate 9 is connected to the housing of the rotor motor 10.

[0044] The mechanical torsion arm 5 and the tilt servo 4 are connected by a rotating shaft 16. The rotating shaft 16 is irregular in shape and has a large circular cross-section. It can drive the rotating shaft 16 to rotate through the tilt servo 4, and make the mechanical torsion arm 5 rotate to be perpendicular to the axis of the central disk 1, or make the mechanical torsion arm 5 rotate to form an obtuse angle with the upper end face of the central disk 1.

[0045] Both the mechanical torsion arm 5 and the connecting wall plate 9 are provided with spline grooves. The mechanical torsion arm 5 and the mechanical connecting rod 6 are connected by the torsion arm spline shaft 7, and the mechanical connecting rod 6 and the connecting wall plate 9 are connected by the rotor spline shaft 8, so as to ensure that there is no relative rotation between the mechanical torsion arm 5 and the mechanical connecting rod 6, and between the mechanical connecting rod 6 and the connecting wall plate 9, so that they can tilt synchronously under the drive of the tilt servo motor 4.

[0046] The connecting wall panel 9 is riveted and fixed to the outer shell of the rotor motor 10.

[0047] The central disc 1 has multiple mounting holes in its center. The locking element includes a locking frame 12 and multiple sets of locking blocks 14. Each set of locking blocks 14 is installed in its respective mounting hole, and a locking groove 13 is formed between the locking block 14 and the inner wall of the mounting hole. A servo actuation shaft 15 is installed in the center of each set of locking blocks 14. The locking frame 12 is installed at the lower end of the central disc 1. When the two sets of flight units approach each other, the locking frame 12 in the upper flight unit can extend into the locking groove 13 in the lower flight unit. At this time, the servo actuation shaft 15 in the lower flight unit drives the locking block 14 in the lower flight unit to rotate 90° under the drive of the locking servo, and the locking block 14 in the lower flight unit engages and locks the locking frame 12 in the upper flight unit.

[0048] In the split-function working state, such as Figures 1-6As shown, in both sets of flight units, the angle between each connecting element and the upper surface of the corresponding central disk 1 is 135°, that is, the acute angle between the connecting element and the plane where the corresponding central disk 1 is located is 45°. At this time, both flight units are in the 45° position, which is the standard working state of a normal single flight unit.

[0049] In the combined preparation state, such as Figures 7-11 As shown, in one set of flight units, the tilt servo 4 receives a signal and rotates the shaft 16 to the 90-degree position, that is, the angle between the connecting element and the upper end face of the central disk 1 is 90°, and this flight unit is in the 90° position. In another set of flight units, the angle between the connecting element and the upper end face of the corresponding central disk 1 is 135°, and this flight unit is in the 45° position.

[0050] When in combined working state, such as Figures 12-14 As shown, the 45° flight unit flies above the 90° flight unit, reduces the speed of the working rotor 11 of the 45° flight unit, and lowers the locking frame 12 of the 45° flight unit into the locking groove 13 of the 90° flight unit. Then, the locking servo of the 90° flight unit receives a signal, causing the actuation shaft 15 of the 90° flight unit to rotate, driving the locking block 14 of the 90° flight unit to rotate 90 degrees, fixing the locking frame 12 of the 45° flight unit in the locking groove 13 of the 90° flight unit, thus completing the combination.

[0051] When the assembly is complete and separation is required, the locking servo of the 90° position flight unit receives a signal, causing the actuation shaft 15 of the 90° position flight unit to rotate. This drives the locking block 14 of the 90° position flight unit to rotate 90 degrees, thus removing the locking frame 12 of the 45° position flight unit from the locking block 14 of the 90° position flight unit. This increases the rotation speed of the working rotor 11 of the 45° position flight unit and causes the 45° position flight unit to disengage from the 90° position flight unit. Subsequently, the tilt servo 4 of the 90° position flight unit receives a signal and rotates 45°, causing the working rotor 11 of the 90° position flight unit and other related components to rotate 45° together with the rotation of the tilt servo 4 of the 90° position flight unit, returning to the standard working state of a normal single flight unit, thus completing the separation.

[0052] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A cluster of small multi-rotor unmanned aerial vehicles capable of aerial configuration reconfiguration, characterized in that: The system comprises two flight units, each including a central disk, multiple tilt servos, multiple connecting elements, multiple working rotors, and multiple rotor motors. The tilt servos are circumferentially mounted around the central disk. Each tilt servo is connected to a connecting element, and a rotor motor is connected to the end of each connecting element furthest from the tilt servo. Each rotor motor is connected to a working rotor to drive its rotation and generate lift. The tilt servos can drive the connecting elements to rotate and adjust the angle between the connecting elements and the central disk. The central disk is equipped with locking elements. In the separate operating state, the two flight units do not contact each other. The angle between the connecting element and the upper surface of the corresponding central disk is an obtuse angle; in the combined preparatory state, the two sets of flight units are not in contact, and in one set of flight units, the angle between the connecting element and the upper surface of the central disk is a right angle, while in the other set of flight units, the angle between the connecting element and the upper surface of the corresponding central disk is an obtuse angle; in the combined working state, the two sets of flight units are arranged vertically and the two sets of locking elements are connected and locked, and in the upper flight unit, the angle between the connecting element and the upper surface of the corresponding central disk is an obtuse angle, while in the lower flight unit, the angle between the connecting element and the upper surface of the central disk is a right angle; The central disc has multiple mounting holes in its center. The locking element includes a locking frame and multiple sets of locking blocks. Each set of locking blocks is installed in its respective mounting hole, and a locking groove is formed between the locking block and the inner wall of the mounting hole. A servo actuator shaft is installed in the center of each set of locking blocks. The locking frame is installed at the lower end of the central disc. When the two sets of flight units approach each other, the locking frame in the upper flight unit can extend into the locking groove in the lower flight unit. At this time, the servo actuator shaft in the lower flight unit drives the locking block in the lower flight unit to rotate 90° under the drive of the locking servo, and the locking block in the lower flight unit engages and locks the locking frame in the upper flight unit.

2. The small multi-rotor unmanned aerial vehicle cluster capable of aerial configuration reconfiguration according to claim 1, characterized in that: The outer circumference of the central disc is integrally formed with multiple servo support discs. Each servo support disc has a set of tilt servos installed on its upper surface. Each set of tilt servos consists of two servos, and each tilt servo is mounted on the servo support disc by a fixing block. The two tilt servos on the same servo support disc are symmetrically arranged on both sides of the connecting element.

3. The small multi-rotor unmanned aerial vehicle cluster capable of aerial configuration reconfiguration according to claim 2, characterized in that: In each of the flight units, there are four servo support plates, four connecting elements, four working rotors, and four rotor motors.

4. The small multi-rotor unmanned aerial vehicle cluster capable of aerial configuration reconfiguration according to claim 2, characterized in that: The connecting element includes two mechanical torsion arms, one mechanical link, and two connecting panels. The two mechanical torsion arms are located on both sides of one end of the mechanical link, and one end of each mechanical torsion arm is rotatably connected to the two tilt servos. The other end of each mechanical torsion arm is connected to one end of the mechanical link. The other end of the mechanical link is connected to the two connecting panels, and the two connecting panels are symmetrically installed on both sides of the mechanical link. Each connecting panel is connected to the housing of the rotor motor.

5. The small multi-rotor unmanned aerial vehicle cluster capable of aerial configuration reconfiguration according to claim 4, characterized in that: The mechanical torsion arm is connected to the tilt servo via a rotating shaft, the cross-section of which is a large-diameter circle.

6. The small multi-rotor unmanned aerial vehicle cluster capable of aerial configuration reconfiguration according to claim 4, characterized in that: Both the mechanical torsion arm and the connecting wall plate are provided with spline grooves. The mechanical torsion arm and the mechanical connecting rod are connected by a torsion arm spline shaft, and the mechanical connecting rod and the connecting wall plate are connected by a rotor spline shaft.

7. The small multi-rotor unmanned aerial vehicle cluster capable of aerial configuration reconfiguration according to claim 4, characterized in that: The connecting wall panel is riveted and fixed to the outer shell of the rotor motor.

8. The small multi-rotor unmanned aerial vehicle cluster capable of aerial configuration reconfiguration according to claim 1, characterized in that: In the separate working state, the angle between each connecting element and the upper surface of the corresponding central disk in both sets of flight units is 135°. In the combined pre-operation state, the angle between the connecting element and the upper surface of the central disk in one set of flight units is 90°, and the angle between the connecting element and the upper surface of the corresponding central disk in the other set of flight units is 135°. In the combined working state, the angle between the connecting element and the upper surface of the corresponding central disk in the upper flight unit is 135°, and the angle between the connecting element and the upper surface of the central disk in the lower flight unit is 90°.

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