Unmanned aerial vehicle and unmanned aerial vehicle frame

Abstract

The invention provides an unmanned aerial vehicle and an unmanned aerial vehicle frame, one end of a vehicle arm of the unmanned aerial vehicle frame is provided with an upper mounting base and a lower mounting base which are oppositely arranged, the two mounting bases are each internally provided with a motor, the axial direction of the two motors is inclined to the thickness direction of the unmanned aerial vehicle frame, and the axial direction of the two motors is perpendicular to the thickness direction of the unmanned aerial vehicle frame. The ends, away from the arms, of the two mounting seats are close to the same ends of the arms. The driving force which is generated by a motor mounted in the lower mounting seat (or a motor mounted on the upper mounting seat) and is used for driving the unmanned aerial vehicle to perform yawing rotation and the driving force which is generated by offset mounting of the motors and is used for performing yawing rotation on the unmanned aerial vehicle are the same in direction, and the two driving forces can drive the unmanned aerial vehicle to deflect in the same direction; the driving force of yawing rotation of the unmanned aerial vehicle is larger, the yawing rotation efficiency of the unmanned aerial vehicle is higher, and the power consumption in the yawing rotation process is lower.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical structures, and in particular, to a drone and a drone frame. Background Art

[0002] In order to adjust the flight path or avoid obstacles, drones usually need to yaw in the forward direction during flight. The size of the driving force of the yaw rotation often determines the efficiency of the drone's yaw. For drones with heavy loads, such as agricultural drones, whether they can perform timely yaw rotation will greatly affect the quality of the drone's operation and, to a certain extent, the safety of the drone's operation.

[0003] How to improve the efficiency of the UAV's yaw rotation is a question worth considering. Summary of the invention

[0004] The present application provides a drone, which has a large driving force for yaw rotation and a high efficiency in yaw rotation.

[0005] In a first aspect, a drone is provided, comprising: a first motor, a second motor, a first propeller, a second propeller, a fuselage and an arm, wherein one end of the arm is fixedly connected to the fuselage, and the other end of the arm is fixedly connected to the first mounting seat and the second mounting seat; the first mounting seat is fixedly connected to the first motor, and the first motor is fixedly connected to the first propeller; the second mounting seat is fixedly connected to the second motor, and the second motor is fixedly connected to the second propeller; the axial direction of the first motor is inclined to a reference direction, and the axial direction of the second motor is inclined to the reference direction, and the reference direction is the thickness direction of the fuselage; wherein the end of the first mounting seat away from the arm is away from the fuselage, and the end of the second mounting seat away from the arm is away from the fuselage; or, the end of the first mounting seat away from the arm is close to the fuselage, and the end of the second mounting seat away from the arm is close to the fuselage.

[0006] In a possible implementation, the axial direction of the mounting seat may be coaxial with the axial direction of the motor in the mounting seat.

[0007] In the technical solution, one of the first mounting seat and the second mounting seat is located above the arm, and the other is located below the arm. Since the axial direction of the first motor and the axial direction of the second motor are inclined to the same side of the fuselage, the driving force of the yaw rotation of the fuselage generated by the rotation of the motor and the driving force of the yaw rotation of the fuselage generated by the offset installation of the motor are in the same direction, the driving force of the yaw rotation of the drone is greater, and the efficiency of the yaw rotation of the drone is higher.

[0008] In combination with the first aspect, in some implementations of the first aspect, the angle between the axial direction of the first motor and the reference direction is α, and α satisfies: 1°≤α≤8°; the angle between the axial direction of the second motor and the reference direction is β, and β satisfies: 1°≤β≤8°.

[0009] In combination with the first aspect, in some implementations of the first aspect, 2°≤α≤5°, 2°≤β≤5°.

[0010] The axial deflection angle of the motor provided in the technical solution can be widely applied to drones of different specifications and models, and at this deflection angle, the probability of collision between the propellers respectively connected to the two motors is small, and the reliability of the operation of the drone is high.

[0011] In combination with the first aspect, in some implementations of the first aspect, α=β.

[0012] When the axial inclination angle of the first motor is approximately the same as the axial inclination angle of the second motor, the propeller connected to the first motor and the propeller connected to the second motor are approximately symmetrically arranged about the aircraft arm, and the distance between the two propellers is easy to control, which is beneficial to reducing the probability of the two propellers colliding with each other during use.

[0013] In combination with the first aspect, in certain implementations of the first aspect, the bottom of the first mounting seat is fixedly connected to the bottom of the second mounting seat, and the first mounting seat and the second mounting seat are integrally formed.

[0014] The first mounting seat and the second mounting seat are integrally formed, which is beneficial to improving the processing efficiency of the drone frame. The bottom of the first mounting seat and the bottom of the second mounting seat are fixedly connected to achieve relative fixation of the two motors, which is beneficial to controlling the distance between the first propeller and the second propeller, and reducing the probability of the propellers colliding with each other.

[0015] In combination with the first aspect, in certain implementations of the first aspect, the first mounting seat and the second mounting seat are both barrel-shaped, the first motor is mounted inside the first mounting seat, and the second motor is mounted inside the second mounting seat.

[0016] In this technical solution, the first mounting seat and the second mounting seat are arranged in a barrel shape, which is beneficial to the installation and disassembly of the motor on the one hand, and is also beneficial to reducing the adverse effects of water vapor, dust, etc. in the environment on the normal operation of the motor on the other hand.

[0017] In combination with the first aspect, in certain implementations of the first aspect, the inner wall of the first mounting seat includes a first groove and a second groove, the outer shell of the first motor includes a first protrusion and a second protrusion, the first protrusion is accommodated in the first groove, and the second protrusion is accommodated in the second groove.

[0018] In the technical solution, a matching connection structure is provided on the inner wall of the mounting seat and the surface of the outer shell of the motor, which is conducive to more firmly mounting the motor in the mounting seat.

[0019] In combination with the first aspect, in certain implementations of the first aspect, the drone also includes a battery, the first groove also includes a first conductive structure, the first conductive structure is electrically connected to the positive pole of the battery, the second groove also includes a second conductive structure, the second conductive structure is electrically connected to the negative pole of the battery; the first protrusion also includes a third conductive structure, the third conductive structure is electrically connected to the positive pole of the first motor, the second protrusion also includes a fourth conductive structure, the fourth conductive structure is electrically connected to the negative pole of the first motor; when the first protrusion is accommodated in the first groove, the first conductive structure is conductive to the third conductive structure, and when the second protrusion is accommodated in the second groove, the second conductive structure is conductive to the fourth conductive structure.

[0020] In combination with the first aspect, in some implementations of the first aspect, the first conductive structure and the second conductive structure are both conductive coatings, and the first protrusion and the second protrusion are both conductive spring pins.

[0021] In this technical solution, a conductive line connected to the power supply circuit and a conductive line connected to the motor are respectively arranged on the connection structure of the mounting seat and the motor housing. When the motor is installed in the mounting seat, the motor can be electrically connected to the power supply circuit. This technical solution is conducive to simplifying the installation process of the drone, improving the installation efficiency of the drone, and improving the utilization efficiency of the internal space of the mounting seat. In addition, the use of spring pins as a connection structure is also conducive to separating the motor from the mounting seat.

[0022] In combination with the first aspect, in certain implementations of the first aspect, the first mounting seat further includes a first cover body, an end surface of the first cover body includes a through hole, and a rotating shaft of the first motor passes through the through hole.

[0023] In the present technical solution, the mounting seat is also provided with a cover body, which can cover one end of the mounting seat where the opening is set, which is beneficial to achieve sealing of the motor in the mounting seat and to reduce the adverse effects of water vapor, dust, etc. in the environment on the motor.

[0024] In a second aspect, a UAV frame is provided, comprising: a plurality of arms, a first mounting seat and a second mounting seat connected to a first end of the arm, the first mounting seat and the second mounting seat are both barrel-shaped, the axial direction of the first mounting seat is inclined to a reference direction, the axial direction of the second mounting seat is inclined to the reference direction, and the reference direction is the thickness direction of the UAV frame; an end of the first mounting seat away from the arm is away from the second end of the arm, and an end of the second mounting seat away from the arm is away from the second end of the arm; or, an end of the first mounting seat away from the arm is close to the second end of the arm, and an end of the second mounting seat away from the arm is close to the second end of the arm.

[0025] In the technical solution, one of the first mounting seat and the second mounting seat is located above the arm, and the other is located below the arm. When the motor is installed in the mounting seat, the axial direction of the motor can be coaxial with the axial direction of the mounting seat. Since the axial direction of the first mounting seat and the axial direction of the second mounting seat are inclined to the same side, the driving force of the yaw rotation of the fuselage of the drone generated by the rotation of the two motors installed in the mounting seat and the driving force of the yaw rotation of the fuselage generated by the offset installation of the motors are in the same direction, and the driving force of the yaw rotation of the drone using the drone frame is greater, and the efficiency of the drone in yaw rotation is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a stereoscopic view of a drone provided in an embodiment of the present application.

[0027] Figure 2 This is a top view of a drone provided in an embodiment of the present application.

[0028] Figure 3 It is a side view of a drone provided in an embodiment of the present application.

[0029] Figure 4 It is a schematic diagram of the structure of a frame of a drone provided in an embodiment of the present application.

[0030] Figure 5 It is a schematic diagram of the structure of another frame of a UAV provided in an embodiment of the present application.

[0031] Figure 6 It is a structural schematic diagram of a mounting base provided in an embodiment of the present application.

[0032] Figure 7 yes Figure 6 Schematic diagram of section CC of the mount.

[0033] Figure 8 It is a structural schematic diagram of a cover body of a mounting base provided in an embodiment of the present application.

[0034] Fig. 9 It is a structural schematic diagram of a motor provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] The embodiments of the present application are described in detail below, and examples of the embodiments of the present application are shown in the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions, and different fill patterns are used to represent different elements or different parts of the same element. The material of the element and other contents can refer to the contents of the text part of the specification. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limitations on the present application.

[0036] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons having ordinary skills in the technical field to which this application belongs. In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to this application.

[0037] References to "one embodiment" or "some embodiments" etc. described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear at different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0038] In order to make the technical problems solved by the present application, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0039] like Figure 1 The figure shows a schematic diagram of a drone 10 provided in an embodiment of the present application. The drone 10 may include a frame 20, a fuselage 30, a motor 40, a propeller 50 and a landing gear 60.

[0040] The frame 20 may be fixedly connected to the fuselage 30 and the landing gear 60. The fuselage 30 may be located approximately in the middle region of the frame 20. The landing gear 60 and the fuselage 30 may be located on two opposite sides of the frame 20, for example, Figure 1 The fuselage 30 can be fixedly connected to the upper part of the frame 20, and the landing gear 60 can be fixedly connected to the lower part of the frame 20.

[0041] The frame 20 may include a plurality of arms 22, and the plurality of arms 22 may be roughly evenly distributed on the periphery of the frame 20. For example, the plurality of arms 22 may be located in the same plane, and the angles between two adjacent arms 22 may be roughly equal. For another example, the plurality of arms 22 may be located in the same plane, and the plurality of arms may be axially symmetrically distributed in the plane. The arms 22 may be fixedly connected to the middle area of ​​the frame 20. Alternatively, the arms 22 may be fixedly connected to the fuselage 30 located in the middle area of ​​the frame 20.

[0042] For example, reference Figure 1 The number of arms 22 may be four, two of the four arms 22 may be located on the left side of the fuselage 30, and the other two arms 22 may be located on the right side of the fuselage 30, and the two arms 22 on the left side may be roughly symmetrically distributed with the two arms 22 on the right side about the fuselage 30.

[0043] One end of the arm 22 away from the fuselage 30 can be fixedly connected to the motor 40. One possible situation is that one arm 22 can be fixedly connected to one motor 40. In this case, the motor 40 can be located at the upper part of the frame 20, or in other words, one end of the motor 40 used to connect the propeller 50 can be located at the upper part of the frame 20. One possible situation is that one arm 22 can be fixedly connected to two motors 40 (for example, motor 40a and motor 40b). Motor 40a can be located at the upper part of the frame 20, and motor 40b can be located at the lower part of the frame 20. In other words, one end of the motor 40a used to connect to the propeller 50 can be located at the upper part of the frame 20, and one end of the motor 40b used to connect to the propeller 50 can be located at the lower part of the frame 20.

[0044] In some examples, the drone 10 may also include a circuit board assembly and a battery. The circuit board assembly may include a variety of electronic components, such as an inertial measurement unit, a radar, a positioning module, or a thermal imager. The circuit board assembly may be electrically connected to the battery, and the battery may be used to power the electronic components on the circuit board assembly. Both the circuit board assembly and the battery may be located inside the fuselage 30. In some examples, the battery may also be electrically connected to the motor 40 of the drone 10 and used to power the motor 40.

[0045] In some examples, the drone 10 may also include an operating component, which may be set according to the application scenario of the drone 10. For example, for an agricultural drone, the operating component may include a medicine box and a pumping pipe, wherein the medicine box may be used to store chemical agents that the agricultural drone needs to spray; the pumping pipe may be connected to the medicine box and used to transport and spray the agents in the medicine box. For another example, for an aerial photography drone, the operating component may include a camera, which may be used to realize the shooting or monitoring function of the drone. One possible scenario is that the operating component may be located below the fuselage 30 and in the middle area of ​​the frame 20.

[0046] Figure 1 The drone 10 includes four arms 22 as an example for illustration. The drone 10 may also include more or fewer arms 22. For example, the drone 10 may include five arms 22 or three arms 22. This application does not impose any limitation on this.

[0047] Figure 2 A schematic diagram of a method for yaw rotation of a drone 10 is provided as an example. As an example, the drone 10 in the figure may include a propeller 50a, a propeller 50b, a propeller 50c, and a propeller 50d. Among them, the propeller 50a and the propeller 50d are located on the left side of the drone 10, the propeller 50b and the propeller 50c are located on the right side of the drone 10, the propeller 50a and the propeller 50b are located in front of the fuselage 30 of the drone 10, and the propeller 50d and the propeller 50c are located behind the fuselage 30 of the drone 10. These four propellers are all located above the fuselage 30 of the drone 10.

[0048] In some scenarios, the drone 10 follows Figure 2 In this case, the propellers 50a and 50c can rotate clockwise, and the propellers 50b and 50d can rotate counterclockwise. In this way, the moment M1 of the propellers 50a and 50c rotating clockwise on the fuselage 30 is approximately counterclockwise, and the moment M2 of the propellers 50b and 50c rotating counterclockwise on the fuselage 30 is approximately clockwise. When the moment M1 and the moment M2 are equal in magnitude, the drone 10 can fly in a straight line along the direction D1 without deflection.

[0049] In some scenarios, drones can Figure 2 A feasible way is to adjust the relative magnitudes of the torque M1 and the torque M2 to achieve the above-mentioned deflection to the left or right of the direction D1.

[0050] For example, by reducing the rotation speed of the propeller 50a and / or the propeller 50c, the magnitude of the torque M1 acting on the fuselage 30 can be reduced. In this way, the magnitude of the torque M1 can be smaller than the magnitude of the torque M2. When the torque M1 and the torque M2 act on the fuselage 30 together, the composite torque M3 applied to the drone 10 can be in a clockwise direction, and the drone 10 can yaw to the right of the direction D1.

[0051] For another example, by changing the direction of propeller 50a and / or propeller 50c, propeller 50a and / or propeller 50c can also rotate counterclockwise. In this case, the torque M1 acting on the fuselage 30 can be in the clockwise direction. When the torque M1 and the torque M2 act on the fuselage 30 together, the composite torque M3 received by the drone 10 can be in the clockwise direction, and the drone 10 can yaw to the right of the direction D1.

[0052] For heavier drones (e.g., agricultural drones), the moment of inertia that needs to be overcome during yaw rotation is large. In this case, the yaw torque generated by the motor rotation is limited. Figure 2 The described yaw rotation method is less efficient in driving the UAV to yaw, and the UAV often cannot yaw in time.

[0053] In some examples, the drone 10 may include an upper propeller and a lower propeller, wherein the upper propeller is located approximately above the fuselage 30 and the lower propeller is located approximately below the fuselage 30. The number of the upper propellers may be multiple (e.g., 4) and the number of the lower propellers may also be multiple (e.g., 4).

[0054] Continue to refer Figure 2 , take the case where the upper propellers include propellers 50a, 50b, 50c and 50d, and the lower propellers include propellers 50e, 50f, 50g and 50h as an example. Among the upper propellers, propellers 50a and 50d can be located on the left side of the fuselage 30, and propellers 50b and 50c can be located on the right side of the fuselage 30. Among the lower propellers, propellers 50e and 50h can be located on the left side of the fuselage 30, and propellers 50f and 50g can be located on the right side of the fuselage 30. Propeller 50a and propeller 50e are located on the same arm 22 and are arranged opposite to each other; propeller 50b and propeller 50f are located on the same arm 22 and are arranged opposite to each other; propeller 50c and propeller 50g are located on the same arm 22 and are arranged opposite to each other; propeller 50d and propeller 50h are located on the same arm 22 and are arranged opposite to each other.

[0055] Generally, in order to eliminate the torque on the fuselage 30 caused by the rotation of different propellers, the rotation directions of the two propellers located on the same arm 22 can be controlled to be opposite. For example, the propeller 50a can be controlled to rotate clockwise and the propeller 50e can be controlled to rotate counterclockwise, so that the torque on the fuselage 30 caused by the rotation of the propeller 50a and the propeller 50e can offset each other. For another example, the propeller 50b can be controlled to rotate counterclockwise and the propeller 50f can be controlled to rotate clockwise, so that the torque on the fuselage 30 caused by the rotation of the propeller 50b and the propeller 50f can offset each other.

[0056] Figure 3 Can be regarded as Figure 2 The side view of the drone 10, the axial direction of the motor of the drone 10 ( Figure 3 The axial direction OO) and the thickness direction of the drone 10 ( Figure 3 The UAV 10 is tilted in the direction D2), and the driving force for the yaw rotation is relatively large, which can be suitable for the scene of rotational inertia.

[0057] For example, the motor 40a of the drone 10 can be connected to the propeller 50a and used to drive the propeller 50a; the motor 40e of the drone 10 can be connected to the propeller 50e and used to drive the propeller 50e. In one possible case, the axial direction of the motor 40a can be inclined with respect to the direction D2, and the axial direction of the motor 40e can also be inclined with respect to the direction D2. In a possible implementation, the motor 40a and the motor 40e can be coaxially arranged. For example, the axial directions of the two motors can be Figure 3 Axial OO in.

[0058] Similarly, the motor 40b of the drone 10 can be connected to the propeller 50b and used to drive the propeller 50b; the motor 40f of the drone 10 can be connected to the propeller 50f and used to drive the propeller 50f. In one possible case, the axial direction of the motor 40b can be inclined with respect to the direction D2, and the axial direction of the motor 40f can also be inclined with respect to the direction D2. In one possible implementation, the motor 40b and the motor 40f can be coaxially arranged.

[0059] During the propeller's rotation, the airflow speeds above and below the propeller are different, and the air pressures above and below the propeller are different. While the propeller generates thrust on the air below, it also receives a reaction force from the air below along the motor axis. Figure 3 For example, during the rotation of the propeller 50a, the propeller 50a will be subjected to a reaction force Fa, and the direction of the reaction force Fa is roughly from the bottom to the top along the axial direction OO of the drone 10. The reaction force Fa can be decomposed into a component force Fa1 along the direction D2 and a component force Fa2 perpendicular to the direction D2, wherein the component force Fa2 can be used to drive the drone 10 to perform yaw rotation.

[0060] Similarly, the reaction force Fb corresponding to the propeller 50b, the reaction force Fe corresponding to the propeller 50e, and the reaction force Ff corresponding to the propeller 50f, the components of these reaction forces in the direction perpendicular to the direction D2 can all be used to drive the drone 10 to perform yaw rotation.

[0061] Consider the relationship between the moment Mu1 on the fuselage 30 generated by the rotation of the upper propeller of the drone 10 and the moment Md1 on the fuselage 30 caused by the reaction force on the upper propeller. Taking the propeller 50a as an example, when the propeller 50a rotates clockwise, the moment Mu1 is in the counterclockwise direction, and the moment Md1 is also in the counterclockwise direction. In other words, the moment Mu1 and the moment Md1 have the same direction, and the two are in a superimposed relationship.

[0062] Consider the relationship between the moment Mu2 generated by the rotation of the lower propeller of the drone 10 acting on the fuselage 30 and the moment Md2 caused by the reaction force on the lower propeller acting on the fuselage 30. Taking propeller 50e as an example, when propeller 50a rotates clockwise, propeller 50e rotates counterclockwise, the aforementioned moment Mu2 is in the clockwise direction, and the moment Md2 is in the counterclockwise direction. In other words, the directions of moment Mu2 and moment Md2 are opposite, and the two are in a relationship of canceling each other out.

[0063] In order to improve the yaw driving force or yaw driving torque of the drone 10 in a yaw rotation scenario, the present application provides a drone frame 200, which is provided with propellers above and below the frame 200, and the yaw driving force of the lower propeller acting on the fuselage is greater.

[0064] refer to Figure 4 The frame 200 may include an arm 210, one end of which is connected to a mounting seat 100a and a mounting seat 100b, the mounting seat 100a and the mounting seat 100b are arranged opposite to each other and are both used to install the motor.

[0065] In some examples, the mounting seat 100a is substantially barrel-shaped, the axial direction of the mounting seat 100a is OA, and the axial direction OA forms an angle α with the thickness direction of the frame 200 (direction D2 in the figure), 1°≤α≤8°. For example, α can be 2°, 3°, or 5°, etc.

[0066] In some examples, the mounting seat 100b is substantially barrel-shaped, the axial direction of the mounting seat 100b is OB, and an angle β is formed between the axial direction OB and the thickness direction of the frame 200 (direction D2 in the figure), 1°≤β≤8°. For example, β can be 2°, 3°, or 5°, etc.

[0067] In a possible implementation, α=β.

[0068] When the axial inclination angle of the mounting seat 100a is approximately the same as the axial inclination angle of the mounting seat 100b, the propeller corresponding to the mounting seat 100a and the propeller corresponding to the mounting seat 100b are approximately symmetrically arranged about the arm 210, and the distance between the two propellers is easy to control, which is beneficial to reduce the probability of the two propellers colliding with each other during use.

[0069] The mounting seat is configured to be barrel-shaped, and when the motor is mounted in the mounting seat, the rotating shaft of the motor can be coaxial with the axial direction of the mounting seat. The axial tilt angle of the mounting seat can also be understood as the axial tilt angle of the motor mounted in the mounting seat.

[0070] It should be noted that the axial direction of the motor is roughly perpendicular to the plane where the propeller is located. The inclination angle between the axial direction of the motor and direction D2 can also be understood as the inclination angle between the plane where the propeller is located and the reference plane. The reference plane here can be a plane perpendicular to direction D2.

[0071] In some examples, the axial direction OB is not located on the same straight line as the axial direction OA. In other words, the mounting seat 100a and the mounting seat 100b are not coaxial.

[0072] One possible situation is that the mounting base 100a and the mounting base 100b are both inclined toward the same side of the direction D2.

[0073] For example, refer to Figure 4 , the mounting seat 100a and the mounting seat 100b are both inclined to the left of the direction D2. In other words, the mounting seat 100a and the mounting seat 100b are both inclined in the direction in which the arm 210 is away from the fuselage.

[0074] For example, refer to Figure 5 , the mounting seat 100a and the mounting seat 100b are both inclined to the right side of the direction D2. In other words, the mounting seat 100a and the mounting seat 100b are both inclined in the direction in which the machine arm 210 approaches the machine body.

[0075] In other words, the mounting base 100a may include an end 111 close to the arm 210 and an end 112 far from the arm 210, the mounting base 100b may include an end 113 close to the arm 210 and an end 114 far from the arm 210, the arm 210 may include an end 211, and the mounting base 100a and the mounting base 100b are both arranged close to the end 211 of the arm 210. The distances from the end 111 of the mounting base 100a and the end 113 of the mounting base 100b to the arm 210 may be substantially equal.

[0076] Or, in other words, Figure 4 Taking the dotted line RR in FIG. 1 as a reference, the axial direction OA of the mounting seat 100 a and the axial direction OB of the mounting seat 100 b are both located on the same side of the dotted line RR.

[0077] In some examples, one end of the mounting base 100a close to the mounting base 100b is connected to the machine arm 210, and one end of the mounting base 100a away from the mounting base 100b is provided with an opening, and the motor can be installed in the mounting base 100a through the opening. Similarly, one end of the mounting base 100b close to the mounting base 100a is connected to the machine arm 210, and one end of the mounting base 100b away from the mounting base 100a is provided with an opening, and the motor can be installed in the mounting base 100b through the opening.

[0078] Exemplarily, one end of the mounting base 100a close to the mounting base 100b and one end of the mounting base 100b close to the mounting base 100a can be connected to each other. As a possible implementation, the mounting base 100a and the mounting base 100b can be integrally formed. As a possible implementation, the mounting base 100a, the mounting base 100b and the machine arm 210 can be integrally formed.

[0079] Use includes Figure 5 or Figure 6 In the drone frame of the mounting base shown, the driving force for driving the drone yaw rotation generated by the rotation of the motor in the mounting base 100a and the driving force for driving the drone yaw rotation generated by the motor offset installation are in the same direction, and the driving force for driving the drone yaw rotation generated by the rotation of the motor in the mounting base 100b and the driving force for driving the drone yaw rotation generated by the motor offset installation are also in the same direction. The driving force during the yaw rotation of the drone is greater and the efficiency of the yaw rotation is higher.

[0080] Figure 6 A schematic structural diagram of a mounting base 100 is provided as an example. The mounting base 100 may be the mounting base 100a or the mounting base 100b mentioned above. Figure 7 Shown is a schematic diagram of a cross section CC of the mounting base 100 .

[0081] In some examples, the mounting base 100 may be an inclined barrel-shaped structure, the top of the mounting base 100 is away from the machine arm 210, and a receiving cavity 101 is provided inside the mounting base 100, and the receiving cavity 101 may be used to receive a motor for driving a propeller. In one feasible manner, the receiving cavity 101 may be a substantially cylindrical space, and the cylindrical space may match the shape of the motor, or in other words, the size and shape of the receiving cavity 101 may match the size and shape of the motor, respectively, so that the motor may be received in the receiving cavity 101.

[0082] In some examples, the interior of the mounting base 100 may include a mounting surface 102, and the plane where the mounting surface 102 is located may be substantially perpendicular to the axial direction OA of the mounting base 100. The mounting surface 102 is flat to facilitate the fixed connection between the motor and the mounting surface 102.

[0083] In some examples, the inner wall of the mounting base 100 may include a connection structure that can cooperate with a connection structure on the motor housing to enable the motor to be stably mounted in the mounting base 100. Figure 7 The aforementioned connection structure may be a groove 103 , and the motor housing may be provided with a protrusion. When the protrusion of the motor housing is accommodated in the groove 103 , the motor may be fixedly connected to the mounting seat 100 .

[0084] One possible situation is that the number of the connection structures located on the inner wall of the mounting base 100 can be multiple, so that when the motor is installed on the mounting base 100, the multiple connection structures can respectively cooperate with the connection structures on the surface of the motor, so that the connection between the motor and the mounting base 100 is more firmly established. In addition, the provision of multiple connection structures can also play a role in assisting installation positioning to a certain extent, which is conducive to improving the installation efficiency of the motor.

[0085] As a possible implementation, the multiple connection structures on the inner wall of the mounting base 100 may be located substantially on the same plane, and the multiple connection structures may be evenly distributed around the axial direction of the inner wall of the mounting base 100. For example, when the number of the connection structures is 2, the two connection structures may be centrally symmetrically distributed around the axial direction OA.

[0086] In some examples, the bottom 104 of the mounting base 100 may include a connection surface 105, and the connection surface 105 may face the machine arm 210, or the connection surface 105 may be away from the opening of the mounting base 100. The connection surface 105 may be used to realize the mutual connection between the mounting base 100 and the machine arm 210, or the connection surface 105 may be used to realize the mutual connection between one mounting base 100 and another mounting base 100, for example, the connection surface 105 may be used for the mutual connection between the mounting base 100a and the mounting base 100b mentioned above.

[0087] For example, the connection surface 105 may be inclined with respect to the axial direction OA of the mounting seat 100. The connection surface 105 may be a plane or a smooth curved surface, which is not limited in the present application.

[0088] refer to Figure 6 and Figure 8 The end of the mounting base 100 close to the opening may further include a connecting surface 106. The mounting base 100 may further include Figure 8 In this case, the cover 120 shown in the above Figure 6 or Figure 7 The components of the mounting base 100 shown can be referred to as the main body of the mounting base 100 , and the connecting surface 106 can be used to connect the main body of the mounting base 100 and the cover 120 .

[0089] In some examples, the plane where the connecting surface 106 is located may be substantially perpendicular to the axial direction OA of the mounting base 100 . In this case, the axial direction of the cover body 120 may be coaxial with the axial direction of the mounting base 100 .

[0090] refer to Figure 8 In some examples, the middle area of ​​one end surface of the cover body 120 may include a through hole 121. When the motor is installed in the aforementioned accommodating cavity 101, the end of the rotating shaft of the motor's rotor may extend from the through hole 121, and the extended portion may be used to connect to the propeller.

[0091] In some examples, an annular connecting surface 122 may be provided at one end of the cover body 120 away from the through hole 121, and the shape of the connecting surface 122 may correspond to the shape of the connecting surface 106 on the main body of the mounting seat 100. The connecting surface 122 cooperates with the connecting surface 106 to achieve relative fixation of the cover body 120 and the main body of the mounting seat 100.

[0092] As an example but not a limitation, the connection surface 122 and the connection surface 106 can be relatively fixed by one or more of welding, bonding, threaded connection or snap connection, etc., and the present application does not impose any limitation on this.

[0093] Fig. 9 The figure shows a schematic diagram of the structure of a motor 300 provided in an embodiment of the present application, and the motor 300 may include a rotor 310, a stator (not shown in the figure), and a housing 320. The stator may be located at the periphery of the rotor, and both the stator and the rotor may be located inside the housing, and the power supply circuit may be electrically connected to the rotor to supply power to the motor 300 and drive the rotor 310 to rotate.

[0094] In some examples, the side wall of the housing 320 may include a connection structure 301, which may cooperate with the connection structure 103 inside the aforementioned mounting base 100 and is used to achieve relative fixation between the motor 300 and the mounting base 100. Figure 7 and Fig. 9 The connection structure 103 may be a groove, and the connection structure 301 may be a protrusion. When the motor 300 is installed on the mounting base 100, the protrusion-shaped connection structure 301 may be stuck in the groove-shaped connection structure 103, so that the motor 300 may be stably installed inside the mounting base 100.

[0095] In order to facilitate the removal of the motor 300 from the inside of the mounting seat 100, a feasible way is that the connection structure 301 on the housing 320 can be a spring pin-like structure, which can be shortened under the action of pressure. In the process of removing the motor 300 from the mounting seat 100, the motor 300 can be pulled along the axial direction of the mounting seat 100. In this process, the connection structure 301 can be shortened and popped out from the groove-shaped connection structure 103, so that the motor 300 can be separated from the mounting seat 100.

[0096] In order to simplify the connection line between the motor 300 and the power supply circuit, a feasible way is that the number of the connection structures 301 on the housing 320 of the motor 300 is at least two, for example, the connection structure 301 may include a connection structure 301a and a connection structure 301b, and the connection structure 301a and the connection structure 301b may both be composed of conductive materials. The positive pole and the negative pole of the rotor 310 of the motor 300 may be electrically connected to the connection structures 301a and 301b on the housing 320, respectively. The number of the connection structures 103 inside the mounting seat 100 may be at least two, and the insides of the two connection structures 103 may be provided with conductive structures, one of the connection structures 103 is electrically connected to the positive pole of the power supply circuit, and the other connection structure 103 is electrically connected to the negative pole of the power supply circuit.

[0097] For example, reference Figure 7 A conductive sheet (or conductive coating) 107 electrically connected to the power supply circuit may be provided at the bottom of the connection structure 103 . When the connection structure 301 of the motor 300 is in contact with the conductive sheet 107 , the motor 300 may be electrically connected to the power supply circuit through the conductive sheet 107 .

[0098] On the basis of the above structure, when the motor 300 is installed in the mounting base 100, the connecting structure 301a and the connecting structure 301b of the motor 300 can be respectively accommodated in the two connecting structures 103 of the mounting base 100, so that the connecting structure 301a and the connecting structure 301b can be respectively electrically connected to the positive and negative poles of the external circuit, and accordingly, the motor 300 can be connected to the power supply circuit, and the power supply circuit can supply power to the motor 300.

[0099] In a possible implementation, the mounting base 100 may also be in a frame-like shape or the like, and the present application does not limit this.

[0100] Based on a similar principle, an embodiment of the present application further provides a drone, which may include the frame 200 mentioned above, and may also include a fuselage, a motor 300, and a propeller, etc. The frame 200 may include one or more arms, one end of which may be connected to the fuselage, and the other end of which may be connected to the two mounting seats 100 mentioned above. A motor 300 may be installed in each mounting seat 100, and the rotating shaft of the motor 300 may be connected to the propeller.

[0101] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A drone, characterized in that: include: a first motor, a second motor, a first propeller, a second propeller, a fuselage and an arm, One end of the arm is fixedly connected to the fuselage, and the other end of the arm is fixedly connected to the first mounting seat and the second mounting seat; The first mounting seat is fixedly connected to the first motor, and the first motor is fixedly connected to the first propeller; The second mounting seat is fixedly connected to the second motor, and the second motor is fixedly connected to the second propeller; The axial direction of the first motor is inclined with respect to a reference direction, and the axial direction of the second motor is inclined with respect to the reference direction, and the reference direction is a thickness direction of the fuselage; Wherein, one end of the first mounting seat away from the arm is away from the fuselage, and one end of the second mounting seat away from the arm is away from the fuselage; or, One end of the first mounting base away from the arm is close to the fuselage, and one end of the second mounting base away from the arm is close to the fuselage.

2. The drone according to claim 1, characterized in that: The angle between the axial direction of the first motor and the reference direction is α, and α satisfies: 1°≤α≤8°; the angle between the axial direction of the second motor and the reference direction is β, and β satisfies: 1°≤β≤8°.

3. The drone according to claim 2, characterized in that: 2°≤α≤5°，2°≤β≤5°。 4. The drone according to claim 2 or 3, characterized in that: α＝β。 5. The drone according to any one of claims 1 to 3, characterized in that: The bottom of the first mounting seat is fixedly connected to the bottom of the second mounting seat, and the first mounting seat and the second mounting seat are integrally formed.

6. The drone according to any one of claims 1 to 3, characterized in that: The first mounting seat and the second mounting seat are both barrel-shaped, the first motor is mounted inside the first mounting seat, and the second motor is mounted inside the second mounting seat.

7. The drone according to claim 6, characterized in that: The inner wall of the first mounting seat includes a first groove and a second groove, the housing of the first motor includes a first protrusion and a second protrusion, the first protrusion is accommodated in the first groove, and the second protrusion is accommodated in the second groove.

8. The drone according to claim 7, characterized in that: The drone also includes a battery, The first groove further includes a first conductive structure, the first conductive structure is electrically connected to the positive electrode of the battery, and the second groove further includes a second conductive structure, the second conductive structure is electrically connected to the negative electrode of the battery; The first protrusion further includes a third conductive structure, the third conductive structure is electrically connected to the positive pole of the first motor, and the second protrusion further includes a fourth conductive structure, the fourth conductive structure is electrically connected to the negative pole of the first motor; When the first protrusion is accommodated in the first groove, the first conductive structure is electrically connected to the third conductive structure, and when the second protrusion is accommodated in the second groove, the second conductive structure is electrically connected to the fourth conductive structure.

9. The drone of claim 8, characterized in that The first conductive structure and the second conductive structure are both conductive coatings, and the first protrusion and the second protrusion are both conductive spring pins.

10. The drone according to any one of claims 1 to 3 or claims 7 to 9, characterized in that: The first mounting seat further comprises a first cover body, an end surface of the first cover body comprises a through hole, and a rotating shaft of the first motor passes through the through hole.

11. A drone frame, characterized in that: include: A plurality of machine arms, wherein the first end of each machine arm is connected to a first mounting seat and a second mounting seat, and the first mounting seat and the second mounting seat are both barrel-shaped. The axial direction of the first mounting seat is inclined with respect to a reference direction, and the axial direction of the second mounting seat is inclined with respect to the reference direction, and the reference direction is the thickness direction of the UAV frame; The end of the first mounting base away from the arm is away from the second end of the arm, and the end of the second mounting base away from the arm is away from the second end of the arm; or, One end of the first mounting base away from the arm is close to the second end of the arm, and one end of the second mounting base away from the arm is close to the second end of the arm.

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