Omnidirectional propulsion type aircraft with first rotating shaft

Abstract

The invention relates to a propulsion aircraft (D1; the invention relates to an aircraft (1, 2, 3, 4, 5, 6, 7, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, the first rotary guide and the first complementary member are electrically conductive and electrically connected to each other, the first rotary guide being electrically connected to the power source and the first complementary member being electrically connected to the pusher.

Description

[0001] The present invention relates to the field of propulsive aircraft, in particular to a remote controlled aircraft or drone. More particularly, the present invention relates to a propulsive aircraft comprising an electrical connection solution between a stator and a rotor.

[0002] A remotely controlled aerial vehicle, also known as an "unmanned aerial vehicle" (UAV, from the English "Unmanned Aerial Vehicle") or drone, consists in a known manner of a plurality of propellers, for example provided with propellers or blades, mounted on a chassis. In order to control the direction of the drone, each propeller can be equipped with an electric speed controller, which can be remotely controlled by a joystick or the like operated by a user. Thus, the direction of the drone can be controlled by increasing the rotation speed of the propellers of some propellers and / or reducing the rotation speed of the propellers of other propellers.

[0003] While this technique does allow for control of the direction of the drone, it does not provide satisfactory maneuverability of the drone, particularly over a wide range of speeds and / or movements. To overcome this shortcoming, it is also known to mount each pusher vehicle on an axis that can be rotated on the chassis, the axis being driven by a motor. This allows the user to remotely control the axis motor to change the direction of the pusher vehicle, thereby controlling the direction of the drone.

[0004] For example, such a drone is described in document US2018354607.

[0005] In this configuration, the drone's battery is also located on the drone chassis. This creates the problem of electrical connection between the battery and the drone's propellers. The shaft must be allowed to rotate relative to the chassis while power from the battery is continuously transmitted to the propellers mounted on the shaft.

[0006] One solution to this need is to use a so-called rotating commutator, such as one with a rotating ring. This commutator consists of a ring mounted on a rotor with brushes or carbon brushes mounted on it, which transfer power from the battery to the shaft even as the shaft rotates.

[0007] While a rotating commutator does meet the above requirements, the power required to operate the drone requires a particularly large number of brushes, and the large size of these brushes means that the commutator needs to occupy a considerable amount of space. This size poses a number of problems, especially in terms of cost, weight and the interference that the commutator may cause with the airflow generated by the propulsion vehicle. The last point is particularly important considering the close distance between the collector and the propulsion vehicle. Therefore, this type of manifold is not satisfactory.

[0008] These shortcomings also apply to other areas of technology, such as underwater drones (also known as AUVs or autonomous underwater vehicles) and, more generally, to any vehicle that has a rotary propulsion system and must be powered by electricity.

[0009] There is therefore a need for a propulsor vehicle in which the or each propulsor vehicle is arranged on an axle rotatably mounted on a chassis and a space saving solution is used to transmit power provided by a power supply mounted on the chassis to the propulsor vehicle.

[0010] The present invention is produced under such circumstances and is intended to meet this demand.

[0011] To this end, the object of the present invention is a propulsive aircraft comprising

[0012] a. Power supply (SE),

[0013] b. a chassis (C), said chassis supporting a source of electrical power,

[0014] c. a first shaft (A1) supporting a propeller (P) of the propulsion vehicle and being rotatably mounted on the chassis about a first axis of rotation (AX1), and

[0015] d. a first drive device (E1), which rotates the first shaft around a first rotation axis,

[0016] It is characterized in that the chassis includes a first rotating guide (OGR1) for rotating the first shaft around a first rotation axis; the first shaft includes a first complementary part (OC1), and the first rotating guide is configured to mechanically cooperate with the first rotating guide to eliminate at least one degree of freedom of the first shaft; the first rotating guide and the first complementary part are conductive and electrically connected to each other, the first rotating guide is electrically connected to a power source and the first complementary part is electrically connected to a propeller.

[0017] It can thus be understood that the invention proposes to take advantage of an element already present in the structure of a propulsion aircraft, namely the means for guiding the rotation of a first shaft on the chassis, giving it a second function of transmitting power. It turns out that the rotating guides and the complementary parts in a propulsion aircraft can be made of an electrically conductive material, such as bronze. These guiding means can be of the direct contact type, through an intermediate friction ring or surface coating, or of the rolling type, in particular using bearings or runners. These rotating guides must also be in contact with the complementary parts during the rotation of the first shaft in order to perform their guiding function. By electrically connecting the guides to the power source of the propulsion aircraft and the complementary parts of said guides to the propellers of the propulsion aircraft, power can be transmitted from the chassis to the propellers through the contact between the guides and the complementary parts, without creating additional space, even if the direction of the propellers is changed due to the rotation of the shaft.

[0018] In the present invention, the chassis may directly or indirectly support the power source, and the first shaft may directly or indirectly support the propulsion vehicle. For example, the term "indirectly supporting" may mean that one or more elements may be mechanically interposed between the power source or the propulsion vehicle and the chassis or the first shaft. For example, the power source may be a battery mounted in a socket provided for this purpose on the chassis.

[0019] In the present invention, the first rotating guide member can be directly or indirectly electrically connected to the power source, and the first complementary member can be directly or indirectly electrically connected to the propulsion vehicle. For example, the term "indirectly electrically connected" can mean that one or more elements can be electrically connected between the power source or the propulsion vehicle and the first rotating guide member or the first complementary member. For example, a cable can be connected to a battery of the propulsion vehicle and welded to the first rotating guide member.

[0020] In the present invention, the first rotary guide cooperates with the first complementary member to eliminate at least one degree of freedom of the first axis, that is, to prevent the first axis from being displaced in a given direction or from rotating about a given axis, which is necessarily different from the first axis of rotation. The first rotary guide and the first complementary member can cooperate with each other to prevent the first axis from moving in a direction parallel to the first axis of rotation and / or perpendicular to the first axis of rotation. It is conceivable that the first rotary guide cooperates with the first complementary member to eliminate multiple degrees of freedom of the first axis. It is conceivable that the chassis includes multiple first rotary guides, each of which cooperates with the first complementary member provided on the first axis to eliminate the degrees of freedom of the first axis. Of course, these first rotary guides and first complementary members can be different in structure from each other and / or can eliminate different degrees of freedom from each other and / or participate in the function of transmitting power from the chassis to the first axis. In particular, it is conceivable that a single pair of first rotary guides and first complementary members have electrical conductivity and / or are electrically connected to a power source and a propulsion aircraft.

[0021] In the present invention, the frame may be in the form of a plate having a space, for example substantially circular, in which the first axis can rotate about the first axis of rotation. For example, the chassis may be formed by stacking multiple layers, including two central layers 3D printed from a polymer, in particular a polylactic acid (PLA) or polyurethane foam layer, with the upper and lower layers covered by another material, such as carbon or aluminum. If necessary, one or more cables connected to a power source may be installed in a housing between the central layers, or in an insert in the central layer for the cable to pass through. If necessary, the chassis may include a plurality of spaces, in particular four spaces, a plurality, in particular four first axes, each of which is rotatably mounted in a space in one of these spaces on the chassis, each of which may support a propellant and be driven by a first drive system.

[0022] In a first embodiment of the invention, the first drive means comprises an electric motor provided with a shaft rotating about a first rotation axis; the first shaft comprises a transmission member mechanically connected to the rotation axis of the electric motor so as to transmit the rotation of the motor shaft to the first shaft; the first complementary member comprises a first bearing mounted on the transmission member, and the first rotation guide comprises a second bearing mounted concentrically around the first bearing. This structure significantly reduces the size and weight of the mechanism for transmitting electric power to the propulsion aircraft.

[0023] Advantageously, the first shaft may be supported on the chassis at two different points, said points defining the first axis of rotation, and the first drive means may be mounted on the chassis at a midpoint of the first shaft supported thereon.

[0024] For example, the first drive system may include a transmission cylinder with a polygonal cross section, in particular a hexagonal cross section, driven by a motor, meshing with a hole of a transmission member of the first shaft, and having a cross section complementary to the cross section of the transmission cylinder, the junction between the transmission cylinder and the hole of the transmission member constituting one of the support points of the first shaft on the chassis. These characteristics make the connection between the first transmission system and the first shaft strong and durable, even if it is a connection made by 3D printing polymer, it will not weaken the strength of the first shaft over time. In addition, the cross section of the transmission cylinder can be circular, which is cut to form a plane. Where appropriate, the motor may include a shaft that rotates around the first rotation axis and is inserted into the transmission cylinder, and the pressure screw is screwed into a screw hole on the transmission cylinder, which is consistent with the reserved hole in the transmission cylinder where the motor rotation axis is inserted, so as to fix the transmission cylinder to the rotation axis of the motor. Alternatively, the transmission member of the first shaft includes a portion with a polygonal cross section, which coincides with the complementary cross section hole in the transmission cylinder.

[0025] Advantageously, the first bearing can be a ring or sleeve made of an electrically conductive material, in particular bronze, such as sintered bronze, impregnated and / or coated with a lubricant such as an electrically conductive grease, with its longitudinal axis substantially coinciding with the first axis of rotation, and mounted in a fixed manner on a transmission member of the first shaft, the transmission member being mounted in the first bearing. If necessary, at least one cable electrically connected to the propulsion vehicle can be welded to the first bearing. Alternatively, the cable can also be inserted into a lug mounted on the first bearing and electrically connected to the first bearing.

[0026] The second bearing is preferably a ring or sleeve made of an electrically conductive material (in particular bronze, such as sintered bronze), impregnated and / or coated with a lubricant such as conductive grease, having a longitudinal axis substantially coexisting with the first axis of rotation, freely or fixedly mounted on the chassis, and having a diameter substantially exceeding the diameter of the first bearing. If necessary, at least one cable electrically connected to a power supply may be welded to the second bearing. Alternatively, the cable may be inserted into a lug mounted on the second bearing and electrically connected thereto.

[0027] The inner surface of the second bearing and the outer surface of the first bearing are preferably smooth and can be in direct contact. Alternatively, a coating can be added between the inner surface of the second bearing and the outer surface of the first bearing, in particular, a conductive oil or grease film can be coated or impregnated on and / or the other bearing.

[0028] In an embodiment of the first mode, the first shaft comprises a frame, the frame being composed of two diametrically opposed pins, each pin being rotatably mounted in a groove of the frame, the grooves being opposite to each other. Where appropriate, a transmission member is arranged on the pin therein to extend into the groove, the rotating shaft of the motor extends into the groove, the first bearing is arranged in the groove, and the profile of the groove substantially corresponds to the profile of the second bearing. In this example, the pins constitute the transmission member of the first shaft, and the connection between each pin of the first shaft and the groove of the chassis constitutes a support point of the first shaft on the chassis. By way of non-limiting example, the shape of the frame may be circular, elliptical, oval, conical or oblong.

[0029] In an example, the pin forming the transmission member of the first shaft can be composed of two half-shells assembled together, wherein the half-shell is connected to the rest of the first shaft, and each half-shell includes a groove, which faces each other when the half-shells are assembled together to form an orifice of the transmission member, and the transmission cylinder is inserted into it.

[0030] Advantageously, the second bearing comprises a peripheral stop, in particular extending around the entire periphery of the second bearing, preferably formed at the edge of the second bearing, and the recess comprises a peripheral recess, in which the peripheral stop of the second bearing is seated. The peripheral stop and the peripheral recess can lock the first shaft against translation along the first rotation axis in a direction perpendicular to the first rotation axis.

[0031] The first bearing preferably comprises a peripheral stop, in particular extending around the entire circumference of the first bearing, preferably formed at the edge of the first bearing. Where appropriate, the peripheral stop of the first bearing can face the peripheral edge of the groove and / or be clamped between the peripheral stop of the second bearing and the edge of the first shaft, in line with the transmission of the first shaft. These features enhance the translational locking of the first shaft in a direction perpendicular to the first rotation axis and in a direction along the first rotation axis. Alternatively, the peripheral stop of the second bearing can be in contact with the groove wall, while the peripheral stop of the first bearing can be opposite to the peripheral stop of the second bearing and in contact with the first shaft wall opposite to the groove wall. In other words, the bearing is clamped by its stop between the groove and the opposite wall of the first shaft.

[0032] In a second embodiment of the invention, the first shaft comprises a ring circumferentially symmetrical about the first axis of rotation, the first complementary element comprises a belt mounted on the ring, and the first means for guiding the rotation comprises a shoe lying flush with the belt.

[0033] In an embodiment of the invention, the toothed crown comprises a plurality of teeth arranged at least over a portion of its circumference, in particular over the entire circumference, and the first drive system comprises a pinion, a gear or a toothed wheel driven by a motor and meshing with the teeth of the toothed crown. In other words, the rotation of the first motor shaft, on which the pinion is mounted, is transmitted to the toothed crown via the rotation of the pinion. In another embodiment of the invention, the first drive system comprises a belt driven by a motor, the belt being tensioned around the circumference of the toothed crown. In other words, the rotation of the first motor shaft is transmitted to the toothed crown via the rotation of the pulley, on which the motor shaft is mounted, on which the belt is tensioned.

[0034] Optionally, the element of the first drive system meshed on the plurality of teeth and the plurality of teeth may be conductive and electrically connected to each other, the element is electrically connected to the power source, and the plurality of teeth are electrically connected to the propulsion aircraft. Alternatively, at least the portion of the belt, the pulley, and the ring where the belt is stretched may be conductive, the pulley and the ring are electrically connected to each other via the belt, the pulley is electrically connected to the power source, and the ring is electrically connected to the propulsion aircraft.

[0035] Advantageously, the band is part of or the entire ring of an electrically conductive material, in particular aluminium, which is fixed to the upper or lower surface of the crown of the first shaft by means of screws or the like. Where appropriate, it is conceivable that the first complementary element consists of a plurality of rings, distributed over the circumference of the first crown. If necessary, the band may be provided with a coating, in particular a film of an electrically conductive oil or grease, applied or impregnated between the band and the shoe and / or on the other band and / or the shoe. Preferably, at least one cable electrically connected to the propellant is welded to the band. Alternatively, the cable may be inserted into a lug mounted on the belt and electrically connected to the belt.

[0036] Advantageously, the guide shoe is made of an electrically conductive material, in particular bronze. The first rotary guide may consist of a plurality of shoe pieces which are radially and / or longitudinally offset and pressed flat against the strip. Preferably, at least one cable connected to a power source is welded to the horseshoe. Alternatively, the cable may be inserted into a projection mounted on the horseshoe and electrically connected to the horseshoe.

[0037] If desired, the first rotary guide may also include rollers or bearings, in particular radially offset to the rear of the shoe or longitudinally offset to the rear of the shoe, and in contact with the crown or belt of the first shaft. For example, the rollers may be mounted on the chassis so as to rotate around an axis substantially parallel to the first rotary axis and in contact with the ribs on the ring gear. Alternatively, the rollers may be mounted on the chassis so as to rotate around an axis substantially perpendicular to the first rotary axis, in particular passing through the center of the crown of the first shaft, and in contact with the upper or lower surface of the belt.

[0038] Advantageously, the chassis, in particular the first rotary guide, comprises a module for pressing the shoe against the belt. The clamping module serves to exert a force on the shoe in the direction of the belt. According to an example, the shoe may comprise a rod, the end of which forms a plate, and the clamping module may comprise a guide, with which the rod of the shoe engages.

[0039] Advantageously, the ring comprises, at least over a portion of its circumference, in particular over its entirety, at least one rib forming a male part and a first complementary part, and the first rotary guide comprises a mechanism mounted on a frame, the mechanism being rotatable about an axis substantially parallel to the first axis and having a groove forming a female part. Where appropriate, the rib may have a profile substantially complementary to that of the groove. For example, the rib and the groove may each have a trapezoidal profile, the inclined surface of the rib abutting against the inclined surface of the groove of the mechanism. Alternatively, the ring comprises, at least over a portion of its circumference, in particular over its entirety, at least a groove forming a female part and a first complementary part, wherein the first rotary guide comprises a mechanism mounted on a frame so as to rotate about an axis substantially parallel to the first axis and having a rib forming a male part.

[0040] According to an example, the rib may be a central rib, located in the middle of the outer surface of the crown. Alternatively, the crown may include a first plurality of teeth disposed above the central rib and a second plurality of teeth disposed below the central rib. In another embodiment, the rib may be an offset rib, located at the top or bottom edge of the outer surface of the crown. Where appropriate, the ring may include two offset ribs, located at the upper and lower edges of the outer surface of the ring, the ring including a plurality of teeth disposed between the two ribs, each rib being engaged in a dedicated groove of the first rotation guide.

[0041] Advantageously, the means may comprise two rollers, in particular tapered rollers, arranged one above the other to define a space between the rollers forming the groove. Alternatively, the means may comprise a grooved pulley bearing.

[0042] In another embodiment or cumulative embodiment of the invention, the ring comprises, at least over a portion of its circumference, in particular over its entirety, at least one rib forming a male part and a first complementary part, wherein the first rotary guide comprises a friction part fixedly mounted on the chassis and having a groove forming a female part.

[0043] Advantageously, no matter how the first rotary guide member is structured, it can be fixed to the chassis by screwing the rotary guide member into the rectangular hole. In this way, the position of the first rotary guide member can be adjusted.

[0044] It is conceivable that the chassis comprises a plurality of first rotary guides, each of which cooperates with a complementary first element on the first shaft, for example, a first rotary guide comprising a plurality of flow channels, lying on a belt mounted on a ring gear, and two superimposed conical rollers, between which the peripheral rib of the ring gear is mounted, and two further first rotary guides, each of which comprises only two superimposed conical rollers, between which the peripheral rib of the ring gear is mounted. Where appropriate, provision can be made for only and / or only, or even only some of these first rotary guides - first complementary element pairs to be electrically conductive and / or to be electrically connected to the power source and the propeller.

[0045] Advantageously, the propulsion vehicle comprises a second mechanism for guiding the first shaft in rotation about said first axis of rotation, the first shaft comprising a second complementary element arranged to mechanically cooperate with the second guide element so as to eliminate at least one degree of freedom of the first shaft, the second guide element and the second complementary element being electrically conductive and electrically connected to each other, the second guide element being electrically connected to the electric power source and the second complementary element being electrically connected to the propulsion vehicle. According to this characteristic, it is possible to transmit electric current, in particular alternating current or direct current, generated from the electric power source to the propulsion vehicle, the first rotating guide element-first complementary element pair forming, for example, a phase terminal or a positive terminal, and the second guide element-second complementary element pair forming, for example, a neutral terminal or a negative terminal.

[0046] For example, in one of the above embodiments, the second complementary part comprises a first bearing mounted on another pin of the first shaft frame, opposite to the pin forming the transmission member, and the second rotary guide comprises a second bearing mounted concentrically around the first bearing.

[0047] In another embodiment of the above, it can be provided, for example, that the second complementary part comprises a strip mounted on the ring gear, mounted on a face opposite to the mounting face of the first complementary part, and that the second rotary guide comprises a shoe-shaped bearing flush with the strip of the second complementary part. Where appropriate, the pads of the first and second rotary guides can face each other. Preferably, the strip is mounted on both sides of the crown by means of the same screw, the periphery of which is provided with an insulating member. The insulating means prevents the current from flowing directly from one strip to the other. Alternatively, the second complementary part comprises a strip mounted on the crown, supporting the first complementary part on the same face, the second complementary part being arranged concentrically with the first complementary part, for example, radially offset inwards or outwards relative to the first complementary part. Where appropriate, the second rotary guide may comprise a bearing seat flush with the strip of the second complementary part.

[0048] In an embodiment of the invention, a propulsion aircraft comprises a central control unit for the propulsion aircraft, the unit being capable of exchanging data with the propulsion aircraft. Optionally, the propulsion aircraft may comprise a plurality of fixed legs extending from the chassis to a common base plate, and may further comprise a plurality of movable legs extending from the movable base plate to a first axis, the movable base plate being rotatably mounted on the common base plate around a first rotation axis, a rotating manifold being arranged on the common base plate and the movable base plate, at least one cable extending from the central control device to the rotating manifold via the fixed legs, and another cable extending from the rotating manifold to the propulsion aircraft via the movable legs. This structural method is particularly advantageous when the first axis is a ring gear, because the set of legs can fix the first axis to the chassis, so that the first axis is suspended in the space provided by the chassis, and the first axis can rotate therein. This tubular support structure can also be used to lay cables for data exchange between the central control device and the propulsion aircraft. The common base and the movable base form a common hollow portion, in which the rotating manifold is mounted. Since such a rotary commutator can realize the electrical connection between the fixed mechanism of the common base and the rotary mechanism of the mobile base, which is known per se, it will not be described in detail.

[0049] The central control unit of the propulsor aircraft is preferably able to exchange data with one or more sensors of the propulsor (eg inertial units) and / or with the variable speed drive of one or more electric motors of the propulsor.

[0050] Advantageously, the fixed legs are fixed to the chassis and are distributed over the entire periphery of the chassis space, wherein the first shaft can rotate about the first rotation axis. More advantageously, the mobile legs are fixed to the rim of the first shaft and are distributed over the entire circumference of said rim. The fixed legs and the mobile legs are preferably arranged so that the common leg and the mobile leg are suspended in the coronal plane and are located on the first rotation axis.

[0051] In another embodiment, the chassis includes a rotating collector, which is located in a groove of the chassis and receives another pin of the first axis frame, opposite to the pin forming the transmission member, in particular in a first bearing mounted on the other pin, at least one cable extends from the central control unit to the rotating collector through the chassis, and another cable extends from the rotating collector to the propulsion aircraft through the first bearing and the conduit formed on the other pin and circulates in the first axis.

[0052] In another embodiment, the face of the ring gear, in particular the face opposite to the face on which the first complementary element is mounted, comprises one or more electrical tracks, for example annular tracks, which mechanically and electrically cooperate with one or more connectors (for example brushes) provided on the chassis, in line with said ring gear. Where appropriate, at least one cable extends from the central control unit to the above connector and another cable extends from the track on the surface of the ring gear to the propulsion vehicle.

[0053] In another embodiment, the chassis and the first axis include an optical transmitter and / or receiver, and the chassis and the first axis also include an optical receiver and / or transmitter, which cooperate with the optical transmitter and / or receiver respectively. Where appropriate, at least one cable extends from the central control unit to the above-mentioned transmitter and / or receiver of the chassis, and another cable extends from the above-mentioned transmitter and / or receiver of the first axis to the propulsion aircraft.

[0054] In an embodiment of the present invention, the propulsion aircraft comprises

[0055] a. a second shaft rotatably mounted on the first shaft about a second axis of rotation, the second shaft supporting the propulsion vehicle of the propulsion vehicle;

[0056] b. Second means for driving a second shaft to rotate about said second axis of rotation.

[0057] Where appropriate, the first shaft comprises a first mechanism for guiding the second shaft to rotate about said second axis of rotation, the second shaft comprises a first complementary part, said mechanism being arranged to mechanically cooperate with a first rotation guide of the first shaft to eliminate at least a degree of freedom of the second shaft, the first rotation guide and the first complementary part being electrically conductive and electrically connected to each other, the first rotation guide of the first shaft being electrically connected to the first complementary part of the first shaft, and the first complementary part of the second shaft being electrically connected to the propeller. In this way, an omnidirectional propulsion vehicle can be obtained, the rotation of the first shaft and the second shaft allowing the propulsion vehicle to be oriented in all directions while maintaining a limited footprint. The second drive means are preferably electrically connected to the first mechanism and complementary to the first shaft.

[0058] The second shaft is preferably mounted on the first shaft so that the second axis of rotation is substantially orthogonal to the first axis of rotation. For example, the second shaft may be supported at two different points on the first shaft, the two points defining the second axis of rotation, and the second drive device may be mounted on the first shaft so that the second shaft is supported at one of the points on the first shaft.

[0059] Advantageously, the second drive means comprises a motor equipped with a shaft rotating about a second rotation axis; the second shaft comprises a transmission member mechanically connected to the motor rotation shaft so as to transmit the rotation of the motor shaft to the second shaft; the first complementary member of the second shaft comprises a first bearing mounted on the transmission member of the second shaft, and the first rotation guide of the first shaft comprises a second bearing mounted concentrically around the first bearing. The features of the various embodiments relating to the first shaft and the first and second bearings ensuring the rotational guidance of the first shaft and the transmission of power from the power source can be repeated for the second shaft alone or in combination.

[0060] Advantageously, the propulsion vehicle comprises a propulsion vehicle central control unit capable of exchanging data with the propulsion vehicle, the second shaft comprising two diametrically opposed pins, each pin being mounted in a groove of the first shaft, the grooves being opposite to each other, the transmission element of the second shaft being arranged on the pin of the second shaft so as to extend into the groove, the rotary shaft of the motor extending into the groove, the rotary manifold being arranged in another groove of the first shaft, at least one cable extending from the central control unit to the rotary manifold passing through the first shaft, another cable extending from the rotary manifold to the propulsion vehicle passing through the second shaft. Preferably, the rotary collector is connectable to the central control unit of the propulsion vehicle, for example by means of a rotary collector arranged in the common base and the mobile base or in a groove of the chassis.

[0061] According to an example, the crown of the first shaft comprises two tongues radially facing the inside of the crown, the tongues being opposite at right angles, each tongue receiving a support point of the second shaft on the first shaft. The second drive system is preferably mounted on one of the tongues. If necessary, the rotating collector can be mounted on the other tongue. Preferably, two protective half-shells are fixed on both sides of each tongue to define the groove on the first shaft.

[0062] Advantageously, the second shaft comprises a central part supporting the propulsive vehicle and two rods extending from the central part to a supporting point of the second shaft on the first shaft on both sides of the second rotation axis.

[0063] The pusher vehicle preferably comprises a propeller driven by an electric motor and rotatable about a third axis of rotation perpendicular to the second axis of rotation.

[0064] If desired, the second shaft can support two pusher vehicles mounted on either side of the second shaft, each pusher vehicle being equipped with a propeller, the propellers of the pusher vehicles rotating in opposite directions. The use of counter-rotating pusher vehicles can eliminate the gyroscopic effect of the pusher vehicles.

[0065] In an embodiment of the present invention, the propulsive aircraft is an omnidirectional aerial drone.

[0066] A propeller may be a blade or propeller thruster, a jet turbine, or more generally any type of propeller whose direction can be controlled by rotation and which requires an electrical supply, particularly one having a rotor and a stator.

[0067] The invention will now be described by way of example with the aid of the accompanying drawings, in which the figures show:

[0068] [ Figure 1 ] shows a perspective view of a heating device according to a second embodiment of the present invention.

[0069] [ Figure 2 ] schematically represents a local Figure 1 ]’s top view of the omnidirectional drone;

[0070] [ Figure 3 ] schematically shows a partial view of [ Figure 1 ]’s partial perspective view of the omnidirectional drone;

[0071] [ Figure 4 ] schematically shows a portion of [ Figure 1 ] a perspective view of the assembly of a rotary guidance assembly and complementary assemblies of an omnidirectional UAV;

[0072] [ Figure 5 ] schematically shows [ Figure 3 ] another perspective view of the omnidirectional drone portion;

[0073] [ Fig. 6A ]yes[ Figure 1 ] is a schematic cross-sectional view of a connection portion between two axes of an omnidirectional unmanned aerial vehicle;

[0074] [ Figure 6B ] part schematically shows [ Figure 1] A cross-sectional view of another connecting piece between two axes of the omnidirectional drone;

[0075] [ Figure 7 ] shows a perspective view of a heating device according to a second embodiment of the present invention.

[0076] [ Figure 8 ] schematically shows [ Figure 1 ] a partial perspective view of an omnidirectional unmanned aerial vehicle;

[0077] [ Fig.9A ] schematically represents [ Figure 7 ] a cross-sectional view of the connection between the chassis and the axis of the omnidirectional drone; and

[0078] [ Fig. 9B ]yes Fig.9A Partial front view of the connecting device,

[0079] In the following description, structurally or functionally identical elements appearing in different figures retain the same reference unless otherwise specified.

[0080] [ Figure 1 ] shows a propulsive aircraft in the form of an omnidirectional UAV D according to a first embodiment of the present invention.

[0081] The unmanned aerial vehicle D comprises a chassis C provided with four spaces, each of which supports a first axis A1, which comprises a ring gear K, which is mounted in a manner to rotate about a first axis of rotation AX1, so as to rotate about said first axis AX1. Each ring gear K supports a second axis A2, which is mounted in a manner to rotate about a second axis AX2, orthogonal to the first axis AX1, on which a propulsion vehicle P is mounted, in particular a twin propeller rotating in opposite directions. The center of the chassis C supports a central control unit UCC, which is mainly used to control the rotation speed of the propulsion vehicle P, and also supports an accumulator SE, which is mainly used to power the propulsion system of the unmanned aerial vehicle C. The chassis C also comprises a first drive system E1 for each first axis A1 mounted on the chassis C.

[0082] [ Figure 2 ] is a top view of the omnidirectional drone D. [ Figure 3 ]for[ Figure 1 ]A perspective view of the first axis-second axis-thruster assembly A1-A2-P of the omnidirectional UAV shown in FIG. Figure 4 ]for[ Figure 3 ] is a perspective view of the rotary guide member-complementary member assembly of the assembly shown. [ Figure 5 ]for[ Figure 3 ] Another perspective view of the first shaft-second shaft-propeller assembly A1-A2-P shown. [ Fig. 6A ]for[ Figure 3] is a cross-sectional view of the connection between the first axis A1 and the second axis A2 of the component shown. Figure 6B ]for[ Figure 3 ] Another exploded view of the connection between the first axis A1 and the second axis A2 of the assembly shown. In the following, only one of the above-mentioned assemblies is described, but it can be understood that [ Figure 1 ]and[ Figure 2 ]The four components shown are identical.

[0083] The unmanned aerial vehicle D comprises a plurality of fixed legs PPF and a plurality of mobile legs PPM, wherein the fixed legs PPF extend from the chassis C to a common base supported by the chassis C, and the mobile legs PPM are fixed to the base, and the mobile legs PPM extend from a mobile base mounted on the common base, and the mobile base can rotate around a first rotation axis AX1. The mobile legs PPM are fixed to the first axis A1 and are distributed over its entire circumference. In this way, the first axis A1 is suspended in the space reserved for it, while still being able to rotate around the first rotation axis AX1.

[0084] like[ Figure 3 ] As shown in FIG. 1 , the ring gear K has a plurality of first teeth RD1 arranged on the upper edge of the ring gear K on its entire circumference, and a plurality of second teeth RD2 arranged on the lower edge of the ring gear K on its entire circumference.

[0085] The first drive system E1 includes a motor driving a PGN pinion, such as [ Figure 4 ], the PGN pinion includes two mutually parallel tooth areas, which are respectively located in the entire part of the upper edge of the circumference of the PGN pinion and the entire part of the lower edge of the circumference. These two tooth areas are respectively meshed with a plurality of upper and lower teeth RD1 and RD2 of the ring gear K, thereby transmitting the rotation of the pinion PGN generated by the motor to the ring gear K, and then to the shaft A1. It should be noted that the shaft A1 rotates around the rotation axis AX1, which is the same as the rotation axis of the ring gear K.

[0086] The ring gear K comprises a central rib N around the middle of its entire circumference, arranged between the first and second plurality of teeth RD1 and RD2. The chassis C comprises two first members OGR1_1 for guiding the first shaft A1 in rotation about the first axis of rotation AX1. These members OGR1_1 are in the form of grooved bearings, the profile of which is complementary to the geometry of the rib N. The rib N is located in the groove of each bearing OGR1_1, thereby forming a first complementary member OC1_1 that mechanically cooperates with the first rotation guide OGR1_1. In the example described, the rib N and the groove of each bearing OGR1_1 are trapezoidal, the inclined surface of the rib N counteracting the inclined surface of the groove.

[0087] like[ Figure 3], the crown K of the first axis A1 is framed by two parallel rings B1 and B2, which are respectively attached to the upper and lower surfaces of the crown K. These rings B1 and B2 are rotationally symmetrical about the axis AX1 and are firmly mounted on the ring K by means of fixing means MF at different positions on the first axis A1. In the example described, the fixing means take the form of screws passing through the bands B1 and B2 and the crown K, respectively.

[0088] like[ Figure 4 ], the chassis C comprises another first mechanism OGR1_2 for guiding the first axis A1 to rotate about the first rotation axis AX1. The mechanism comprises a plurality of friction pads 3PF1, in the form of three consecutive pads. These friction pads 3PF1 lie flat against the upper ring B1, thereby forming another first complementary piece OC1_2, cooperating with the other first rotation guide OGR1_2.

[0089] Each friction plate 3PF1 comprises a rod and a plate at the end of the rod, intended to lie flat against the upper ring B1. The rod is mounted in a guide cylinder, around which a compression spring RC is mounted, abutting on the one hand against the upper wall of the guide cylinder and on the other hand against the backing plate. Each shoe 3PF1 is therefore stressed in a direction perpendicular to the surface of the ring B1 facing the ring B2.

[0090] Symmetrically, the chassis C comprises a second rotary guide OGR2, said mechanism consisting of a plurality of friction plates 3PF2, arranged opposite to the friction plates 3PF1. These friction plates 3PF2 are flush with the lower ring B2, thus forming a second complementary part OGR2 cooperating with the second rotary guide OGR2.

[0091] In this way, the first axis A1 is guided to rotate by the first rotation guides OGR1_1 and OGR1_2 and the second guide OGR2 at the same time.

[0092] Please note that there is a third groove bearing OGR1_3 behind the friction plates 3PF1 and 3PF2, which cooperates with the rib N of the crown K.

[0093] like[ Figure 3 ], the rings B1 and B2 are made of a conductive material, here aluminum. Similarly, the friction plates 3PF1 and 3PF2 are also made of a conductive material, in this case bronze.

[0094] Thus, each ring B1 and B2 is connected to the battery SE of the unmanned aerial vehicle D by means of electrical contact with the friction plates 3PF1 and 3PF2. Each friction plate 3PF1 and 3PF2 is electrically connected to the battery SE by means of a cable, in particular welded to the rod of the friction plate, which cable passes through a groove in the chassis C and / or between two inner layers of the chassis C. As will be described later, each ring B1 and B2 is electrically connected to the propulsion vehicle P. The mechanical cooperation of the rings B1 and B2 with the friction plates 3PF1 and 3PF2 allows the electrical energy generated by the battery SE to be transmitted to the propulsion vehicle P.

[0095] like[ Figure 5 ]and[ Figure 6B ], the ring K of the first axis A1 has two tongues L1 and L2, which are radially oriented to the inside of the ring K and the tongues are opposite to each other at right angles. Therefore, each tongue L1 and L2 defines a groove for receiving the end EXT1 and EXT2 of the second axis A2 so that the end is pin-connected to the groove. The tongues L1 and L2 thus determine the second rotation axis AX2. In the example described, each tongue comprises an upper half shell and a lower half shell ([ Fig. 6A ]), the two half shells together define a housing for receiving one end of the shaft A2.

[0096] like[ Fig. 6A ], at the tongue L1 and the first end EXT1 of the second axis A2, the first axis A1 supports a second drive system E2, said system being able to rotate the second axis A2 around a second rotation axis AX2. The second drive system E2 comprises a transmission cylinder CT of polygonal cross section (here hexagonal), driven by a motor, engaged in an orifice OR on the first end EXT1 of the second axis A2, whose cross section is complementary to that of the transmission cylinder CT. Note that the first end EXT1 thus forms a mechanism for transmitting the motor rotation of the second drive system E2 to the second axis A2.

[0097] like[ Fig. 6A ]and[ Figure 6B], each end EXT1 and EXT2 of the second shaft A2 comprises a first bearing PL1, in this case a sleeve, in which said end is fixedly mounted. For each tongue L1 and L2, the first shaft A2 comprises a second bearing PL2, also in the form of a sleeve, which can be freely mounted in the groove defined by said tongue. The second bearing PL2 is arranged concentrically around the first bearing PL1, the inner surface of the second bearing PL2 and the outer surface of the first bearing PL1 being smooth and in direct contact with each other. The second bearing PL2 of the tongue L1 thus forms a first rotation guide DOGR_1 of the second shaft A2, the first bearing PL1 at the end of EXT1 thus forms a first complementary part DOC_1 that mechanically cooperates with the first mechanism DOGR_1, while the second bearing PL2 of the tongue L2 forms a second rotation guide DOGR_2 of the second shaft A2, the first bearing PL1 at the end of EXT2 thus forms a second complementary part DOC_2 that mechanically cooperates with the second mechanism DOGR_2.

[0098] Each first bearing PL1 and each second bearing PL2 is made of conductive material, in particular sintered bronze, and is impregnated or coated with conductive grease. At both ends of EXT1 and EXT2, a cable (not shown) connected to the propulsion vehicle P is welded to the first bearing PL1, and a cable (not shown) connected to the upper ring B1 and another cable (not shown) connected to the lower ring B2 are welded to the second bearing PL2. In this way, the power provided by the battery SE can be transmitted to the propulsion vehicle P through the gaskets 3PF1 and 3PG2, the rings B1 and B2, the first bearing PL1 and the second bearing PL2.

[0099] Each second bearing PL2 includes a peripheral stopper BT2 formed at the edge of the second bearing PL2, and each groove of the tongues L1 and L2 includes a peripheral groove GP, at [ Fig. 6A ]and[ Figure 6B ], the peripheral stopper BT2 of the second bearing PL2 is located in the groove. The first bearing PL1 includes a peripheral stopper BT1 formed at the edge of the first bearing PL1, and the stopper BT2 is sandwiched between the wall of the second axis A2 and the edge of the second bearing PL2.

[0100] The second axis A2 includes the central portion PCE ( Figure 5 ), for supporting the propulsive vehicle (P), and two rods extending from the central part PCE along the second rotation axis A2 to both sides, forming two ends EXT1 and EXT2.

[0101] Finally, a rotating collector (not shown) is mounted on the common base and the mobile base, connecting the fixed leg PPF and the mobile leg PPM, while another rotating collector COL is mounted in the groove of the tongue L2 of the first shaft A1, receiving the second end EXT2 of the second shaft.

[0102] At least one cable (not shown) connects the central control unit UCC to the rotating collector via the fixed foot PPF, while another cable extends from the rotating collector to the other rotating collector COL via the mobile foot PPM and the first axis A1, for example, through a pre-prepared hole in the crown K. Finally, a cable connects the rotating collector COL to the propulsion vehicle P via a pre-prepared hole in the second axis A2.

[0103] exist[ Figure 7 ] shows a heating device 100 according to another embodiment of the present invention.

[0104] The unmanned aerial vehicle D2 comprises a chassis C2 on which four spaces are arranged, each of which supports a first axis A21 mounted on the chassis C2 so that it can rotate around a first rotation axis AX1. Each first axis A21 supports a second axis A22, which is mounted on the second axis AX2, orthogonal to the first axis AX1, and on which a propeller P, in particular a double counter-rotating propeller, is mounted. In the center of the chassis C2, a central control unit UCC is supported, which is particularly capable of controlling the rotation speed of the propulsion aircraft P, and an electric battery SE, which is particularly used to power the propulsion system of the unmanned aerial vehicle D2. The unmanned aerial vehicle D2 also includes a first drive system E21 and a second drive system E22, the former being used to drive each first axis A21 to rotate around the first axis AX1, and the latter being used to drive each second axis A22 to rotate around the second axis AX2.

[0105] [ Figure 8 ]express[ Figure 7 ]'s perspective view of the first axis-second axis-propeller A21-A22-P assembly of the omnidirectional drone, [ Fig.9A ] indicates chassis C2 and [ Figure 8 ] a cross-sectional view of the connection between the first axis A22 of the assembly, [ Fig. 9B ] represents the front view of the connection. In the following, only the components thereof will be described, of course, [ Figure 7 ] are identical.

[0106] like[ Figure 8 ], the first axis A21 comprises a rectangular frame K2, which is composed of two cross-sectionally opposite pins K21 and K22, each of which is rotatably mounted in grooves C21 and C22 of the frame C2, which grooves are opposite to each other. These grooves C21 and C22 thus define a first rotation axis AX1.

[0107] like[ Fig.9A ]and[ Fig. 9B], the first drive device E21 is installed in the groove C21 in the frame C2. The first drive device E21 includes a motor E21_1, which is equipped with a shaft that can rotate around the first rotation axis AX1, and a transmission cylinder E21_2 is installed on the shaft. The cross section of the transmission cylinder E21_1 is hexagonal and meshes with the orifice of the transmission member A21_1 of the first shaft A21. One end of the first shaft A21 is composed of two half shells A21_2 and A21_3 ([ Fig. 9B ]) together form the pin K21. The half shell A21_2 is connected to the rest of the first shaft A21, and each half shell has a groove. When the half shells are assembled together, the grooves face each other to form the orifice of the transmission member A21_1, and the transmission cylinder E21_2 is inserted into it.

[0108] like[ Fig.9A ] As shown in FIG. 1 , a threaded hole is provided on the transmission cylinder E21_2 to receive a clamping screw for fixing the transmission cylinder E21_2 to the rotating shaft of the motor E21_1, thereby transmitting the rotation of the motor shaft E21_2 to the first shaft A21 through the transmission member A21_1.

[0109] Please note that a portion of the transmission member A21_1 extends into the groove C21.

[0110] The frame C2 comprises a first mechanism OGR11_1 for guiding the first shaft A21 in rotation about said first rotation axis AX1, the first shaft A21 comprising a first complementary part OC11_1 arranged to cooperate mechanically with the first rotation guide OGR11_1 so as to eliminate at least a degree of freedom of the first shaft A21.

[0111] In the example described, the first complementary piece OC11_1 is a first bearing mounted on the portion of the transmission piece A21_1 that extends into the groove C21, and the first rotary guide OGR11_1 is a second bearing mounted concentrically around the first bearing OC11_1.

[0112] The first bearing OC11_1 is a sleeve, whose longitudinal axis is substantially the same as the first rotation axis AX1, fixedly mounted on the transmission member A21_1 of the first axis A21, and the first axis A21 is mounted in the first bearing OC11_1. The second bearing OGR11_1 is a sleeve, whose longitudinal axis is substantially the same as the first rotation axis AX1, and can be freely mounted in the groove C21. The inner surface of the second bearing OGR11_1 and the outer surface of the first bearing OC11_1 are smooth and in direct contact with each other.

[0113] The edge of the second bearing OGR11_1 has a peripheral stopper BT11 extending around its entire circumference. The groove C21 has a peripheral groove GP1 in which the peripheral stopper BT11 of the second bearing OGR11_1 is located. The peripheral stopper BT12 of the first bearing OC11_1 extends around the entire circumference at its edge. The peripheral stopper BT12 of the first bearing OC11_1 is sandwiched between the peripheral stopper BT11 of the second bearing OGR11_1 and the edge of the transmission member A21_1 of the first shaft A21.

[0114] The first and second bearings OC11_1 and OGR11_1 are both made of an electrically conductive material, in this case bronze.

[0115] The second bearing OGR11_1 is electrically connected to the battery SE via a cable, in particular welded to said bearing, said cable passing inside the chassis structure C2. The third bearing OC11_1 is electrically connected to the propulsion vehicle P, as will be described later.

[0116] like[ Figure 8 ], it should be noted that the chassis comprises, in the groove C22, a second means OGR21_1 for guiding the first shaft A21 in rotation about the first rotation axis AX1, said means being formed in the form of a bearing identical to the second bearing OGR11_1, and the first shaft A21 comprises, at the pin K22, a second complementary part OC21_1, said means being formed in the form of a bearing identical to the first bearing OC11_1, arranged to mechanically cooperate with the second guide OGR21_1. These bearings OGR21_1 and OC21_1 are also made of bronze, so that one of the pins K21 and K22 can be used as the positive pole or phase pole, and the other of the pins K21 and K22 can be used as the negative pole or neutral point, depending on whether the power source SE delivers direct current or alternating current.

[0117] Finally, it should be pointed out that the chassis C2 comprises a rotating collector C0L1 located in a groove C22, to which is connected at least one cable extending from the central control unit UCC and another cable connected to the propulsive aircraft P through the bearing OC21_1 and the duct formed in the first axis A21.

[0118] The structure of the second axis A22 and its connection structure with the first axis A21 are substantially the same as those of the first embodiment, as shown in [ Fig. 6A ]and[ Figure 6B ] has been described above, so I will not repeat it here.

[0119] It should be noted that the present invention is described in the context of an omnidirectional aerial drone, but may also be extended to other types of drones, such as underwater drones or autonomous submersibles, or other types of propelled aircraft, which may or may not be remotely controlled, such as cars, motorcycles, trucks, bicycles, trains, airplanes, helicopters or ships, and may or may not be autonomous, semi-autonomous or manually controlled.

[0120] The above description clearly illustrates how the invention achieves its set objective, namely, a space-saving solution for transmitting electrical power from an energy supply mounted on a chassis to the propellers of a propulsion aircraft, in particular an omnidirectional unmanned aerial vehicle, by proposing to utilize the rotating guide of the rotation axis of the aircraft so that it has a secondary function of transmitting electrical power.

[0121] In any case, the invention is not limited to the embodiments specifically described in this document, but is particularly applicable to any equivalent means and any technically feasible combination of these means. In particular, the invention can also be applied to other structural materials, especially materials that can conduct electric current, and magnetic conductive means, especially electromagnets. Likewise, any number of propulsive vehicles can be rotatably mounted on the second shaft in order to adjust the total thrust of the unmanned aerial vehicle and thus the maximum speed that can be achieved by said unmanned aerial vehicle.

Claims

1. A propulsive aircraft (D1; D2), comprising: a. Power supply (SE), b. a chassis (C), said chassis supporting a source of electrical power, c. a first shaft (A1) supporting a propeller (P) of the propulsion vehicle and being rotatably mounted on the chassis about a first axis of rotation (AX1), and d. a first drive device (E1), which rotates the first shaft around a first rotation axis, It is characterized in that the chassis includes a first rotating guide (OGR1) for rotating the first shaft around a first rotation axis; the first shaft includes a first complementary part (OC1), and the first rotating guide is configured to mechanically cooperate with the first rotating guide to eliminate at least one degree of freedom of the first shaft; the first rotating guide and the first complementary part are conductive and electrically connected to each other, the first rotating guide is electrically connected to a power source and the first complementary part is electrically connected to a propeller.

2. A propulsive aircraft (D1; D2) according to the preceding claim, wherein: The first drive device (E1) comprises a motor provided with a shaft rotating around a first axis of rotation (AX1); wherein the first shaft (A1) comprises a transmission member mechanically connected to the rotating shaft of the motor so as to transmit the rotation of the motor shaft to the first shaft; wherein the first complementary member (OC1) comprises a first bearing (PL1) mounted on the transmission member; wherein the first rotation guide member (OGR1) comprises a second bearing mounted concentrically around the first bearing.

3. A propulsive aircraft (D1; D2) according to the preceding claim, wherein: The first axis (A1) includes a frame, which is composed of two completely opposite pins and each pin is rotatably mounted in grooves of the chassis (C), and the grooves are opposite to each other; wherein the transmission member is arranged on one of the pins to extend into one of the grooves, and the rotating shaft of the motor extends into the groove; wherein the first bearing (PL1) is arranged in the groove, and the profile of the groove basically corresponds to the profile of the second bearing (PL2).

4. A propulsive aircraft (D1; D2) according to claim 1, wherein the first axis (A1) comprises a circular crown of a rotational shape around a first rotation axis (AX1), wherein the first complementary part (OC1) comprises a strip mounted on the circular crown, and wherein the first rotation guide (OGR1) comprises a planar support pad arranged on the strip (B1).

5. A propulsive aircraft (D1; D2) according to the preceding claim, characterised in that The chassis (C) comprises a pressing module (3PF1) for pressing the pad onto the strip (B1).

6. A propulsive aircraft (D1; D2) according to any one of the preceding claims, characterised in that It includes a second mechanism (OGR2) for guiding the first shaft to rotate around the first rotation axis (AX1), and the first shaft (A1) includes a second complementary part (OC2) configured to mechanically cooperate with the second guide part (OGR1) so as to eliminate at least one degree of freedom of the first shaft, the second guide part and the second complementary part are conductive and electrically connected to each other, the second guide part is electrically connected to the power source (SE), and the second complementary part is electrically connected to the propeller (P).

7. A propulsive aircraft (D1; D2) according to any one of the preceding claims, comprising a propulsive aircraft central control unit (CCU) capable of exchanging data with the propulsor (P), wherein the propulsive aircraft comprises a plurality of fixed legs (PPF) extending from a chassis (C) to a common base and a plurality of movable legs (PPM) extending from a movable base, wherein, A rotating manifold (COL) is disposed in the common base and the movable base, at least one cable extends from the central control unit through the fixed legs to the rotating manifold, and another cable extends from the rotating manifold through the movable legs to the propulsive vehicle.

8. A propulsive aircraft (D1; D2) according to any one of the preceding claims, characterised in that include a. a second shaft (A2) rotatably mounted on the first shaft (A1) about a second rotation axis (AX2), the second shaft supporting a propeller (P) of the pusher vehicle; b. a second device (E2) for rotating a second axis around said second axis of rotation, It is characterized in that the first axis includes a first mechanism (OGR1) for guiding the second axis to rotate around the second rotation axis, and the second axis includes a first complementary member (OC1) that mechanically cooperates with the first mechanism and is used to guide the first axis to eliminate at least one degree of freedom of the second axis, wherein the first rotation guide member and the first complementary member are conductive and electrically connected to each other, the first rotation guide member of the first axis is electrically connected to the first complementary member of the first axis, and the first complementary member of the second axis is electrically connected to the propulsion aircraft.

9. A propulsive aircraft (D1; D2) according to the preceding claim, wherein the second drive means (E2) comprises an electric motor provided with a shaft rotatable about a second axis of rotation; wherein The second shaft (A2) includes a transmission member, which is mechanically connected to the rotatable shaft of the motor so as to transmit the rotation of the motor shaft to the second shaft; wherein, The first complementary element (OC1) of the second shaft comprises a first bearing (PL1) mounted on the transmission element of the second shaft, and the first rotary guide (OGR1) of the first shaft (A1) comprises a second bearing (PL2) mounted concentrically around the first bearing.

10. A propulsive aircraft (D1; D2) according to the preceding claim, comprising a propulsive aircraft central control unit (CCU) capable of exchanging data with the propulsor (P), wherein the second axis (A2) comprises two diametrically opposed pins, each of which is pivotally mounted in a groove of the first axis (A1), the grooves being opposite to each other, wherein, The transmission member of the second shaft is arranged on the pin shaft of the second shaft to extend into the groove, and the rotating shaft of the motor extends into the groove, wherein the rotary commutator (COL) is arranged in another groove of the first shaft, wherein at least one cable extends from the central control unit to the rotary manifold through the first shaft, and another cable extends from the rotary manifold to the engine through the second shaft.

11. A propulsive aircraft (D1; D2) according to any one of the preceding claims, characterised in that It is an omnidirectional aerial drone.

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