Omnidirectional propulsion type aircraft with minimum boundary dimension

Abstract

A propulsion aircraft comprising: a chassis; a first shaft including a crown gear rotatably mounted on the chassis about a first axis and rotatably about a first rotational axis; a first drive system connected to the first shaft and capable of driving the first shaft in rotation about a first axis, the first drive system comprising a second shaft rotatably mounted on the first shaft about a second axis of rotation orthogonal to the first axis of rotation, a second shaft supported by two different points on the first shaft, the two points defining a second axis of rotation, the second shaft supporting at least one propeller of the aircraft; and the second driving system is connected with the second shaft and can drive the second shaft to rotate around the second rotation axis.

Description

[0001] The present invention relates to the field of propulsive aircraft, and in particular to a remote-controlled aircraft or drone. More specifically, the present invention relates to a drone capable of controlling the thrust direction generated by a propeller in any spatial direction while minimizing the size of the drone (in particular the directional control system).

[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 equipped 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 user-operated joystick or the like. Thus, the direction of the drone can be controlled by increasing the rotation speed of some propellers and / or reducing the rotation speed of other propellers.

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

[0004] For example, document US2018354607 describes such a drone. The document discloses an omnidirectional drone comprising a propeller mounted on a system of two rotationally symmetrical axes, which are concentric with each other and rotatably mounted on a chassis. The drone is characterized in that the rotation axis of the first axis is orthogonal to the rotation axis of the second axis. Therefore, after a propulsion direction command is given, the axes rotate around their respective rotation axes so that the direction of the propeller is determined according to the direction command.

[0005] In this configuration, the shafts on the chassis must rotate in a way to satisfy the thruster directional commands, so when the thrusters rotate in a specific direction, the overall size of the drone increases. This raises the question of how to reduce the size of an unmanned aerial vehicle without limiting its maneuverability in all directions in space.

[0006] These shortcomings also apply to the field of underwater drones, also known as AUVs (autonomous underwater vehicles), and more generally to any aircraft equipped with rotary thrusters and requiring electrical power for propulsion.

[0007] Therefore, we need an azimuth thruster that is easy to operate and occupies less space than known azimuth thrusters.

[0008] The present invention is designed to meet this demand.

[0009] To this end, the object of the present invention is to provide a propulsion aircraft comprising

[0010] a. Chassis (C),

[0011] b. a first shaft, comprising a crown rotating about a first axis of rotation, mounted on the chassis, rotating about said first axis of rotation;

[0012] c. a first drive system connected to the first shaft and capable of driving the first shaft to rotate around a first rotation axis;

[0013] d. It is characterized by including:

[0014] e. a second shaft, the second shaft being rotatably mounted on the first shaft about a second axis of rotation orthogonal to the first axis of rotation, the second shaft being supported by two different points on the first shaft, the two points defining the second axis of rotation, the second shaft supporting at least one propeller of the propulsion aircraft, and

[0015] f. A second drive system connected to the second shaft and capable of driving the second shaft to rotate around a second rotation axis.

[0016] It can be understood that the present invention proposes the use of a system of axes that are mechanically coordinated with each other so that the propeller of a push-type aircraft can be oriented in any spatial direction. In addition, the structural design of the axis system minimizes the overall size of the propeller during the propeller orientation operation by limiting the movement of the two axes to the same plane. When the first axis rotates, the second axis remains in the rotation plane of the first axis. In addition, when the second axis rotates around the second axis, the thrust of the propeller can be directed in any direction through its center and orthogonal to the second axis. Therefore, by combining the rotation of the two axes, the propeller can be oriented to any desired spatial direction without significantly increasing the size of the propeller.

[0017] In the present invention, the chassis may be plate-shaped, with a space, such as substantially circular, in which the first shaft can rotate around the first rotation axis. For example, the chassis may be formed by stacking multiple layers, including, for example, two central layers made of a polymer (especially composed of polylactic acid (PLA)) 3D printing or a lower layer of another material (such as carbon or aluminum).

[0018] Advantageously, the pusher aircraft may include a power source capable of providing energy consumption for the propellers of the pusher aircraft. For example, the power source may be a battery mounted in a socket provided for this purpose on the chassis. If necessary, one or more cables may be mounted in the housing between the central layers or in a plugboard in the central layer for the passage of cables.

[0019] If desired, the chassis may comprise a plurality of spaces, in particular four spaces, and a plurality, in particular four, of first shafts, each supporting a propeller, each driven by a first drive system, each rotatably mounted in one of the spaces on the chassis. Advantageously, each first shaft arranged in a space of the plurality of spaces may comprise a rotatably mounted second shaft, each of which supports a propeller and is driven by a second drive system.

[0020] The second drive means is preferably mounted on the first shaft at a point where the second shaft is supported on the first shaft.

[0021] In an embodiment of the invention, the crown gear comprises a plurality of teeth arranged at least on a portion of its circumference, in particular on the entire circumference, and the first drive system comprises a pinion, a gear or a toothed wheel driven by the motor and meshing with the teeth of the crown gear. According to this feature, the rotation of the motor shaft will be transmitted to the crown gear through the pinion or the gear or the toothed wheel and the plurality of teeth, thereby simultaneously determining the direction of the second shaft, the second shaft and the thrust direction of the propeller.

[0022] In an alternative or cumulative embodiment, the first drive system comprises a belt driven by the motor and tensioned on the circumference of the crown gear. According to this feature, the rotation of the motor shaft (on which the pulley is mounted and on which the belt is tensioned) is transmitted to the crown gear via the belt, thereby orienting the thrust direction of the second shaft, the second shaft and the propeller simultaneously.

[0023] Optionally, the element of the first drive system meshing on the plurality of teeth and the plurality of teeth may be electrically conductive and electrically connected to each other, the element being electrically connected to the power source, and the plurality of teeth being electrically connected to the propeller. Alternatively, at least the belt, the pulley, and the crown gear portion of the tensioning belt may be electrically conductive, the pulley and the portion of the crown gear being electrically connected to each other via the belt, the pulley being electrically connected to the power source, and the portion of the crown gear being electrically connected to the propeller.

[0024] Advantageously, the propeller comprises a first element for guiding the first shaft in rotation about a first axis, the element for guiding the rotation being arranged to cooperate mechanically with the first shaft so as to eliminate at least one degree of freedom of said first shaft. On the one hand, this feature prevents any misalignment of the first shaft, in particular due to mechanical stresses to which the propeller structure is subjected during a flight stroke; on the other hand, the rotary guide element makes it possible to reduce the overall dimensions of the propeller by limiting the movements of the propulsion system.

[0025] The first shaft preferably includes a first complementary member, which mechanically cooperates with the first rotational guide to eliminate at least a degree of freedom of the first shaft. In other words, these components prevent the first shaft from moving in a given direction and / or rotating around a given axis, which is necessarily different from the first rotational axis. The first rotational guide and the first complementary member can cooperate with each other to jointly resist the movement of the first shaft in a direction parallel to the first rotational axis and / or perpendicular to the first rotational axis. It is conceivable that the first rotational guide cooperates with the first complementary member to eliminate multiple degrees of freedom of the first shaft. It is conceivable that the chassis includes multiple first rotational guides, each of which cooperates with a first complementary member provided on the first shaft to eliminate the degree of freedom of the first shaft. It is understood that these first 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 shaft.

[0026] Advantageously, the first rotating guide and the first complementary element are electrically conductive and are electrically connected to each other, the first rotating guide being electrically connected to the power source and the first complementary element being electrically connected to the propeller. It can thus be understood that the invention proposes to take advantage of an element already present in the structure of a propulsive aircraft, namely the element for guiding the rotation of the first shaft on the chassis, giving it a second function of transmitting power. It turns out that the rotating guides and the complementary elements in a propulsive aircraft can be made of an electrically conductive material, in particular bronze. These guides can be of direct contact, through an intermediate friction ring or surface coating, or of rolling type, in particular using bearings or runners. These rotating guides must also be in contact with the complementary element along the first shaft in order to perform their guiding function. By electrically connecting the rotating guide to the power source of the propulsive aircraft and the complementary element of said rotating guide to the propeller of the propulsive aircraft, power can be transmitted from the chassis to the propeller through the contact between the rotating guide and the complementary element, without creating additional space, even if the direction of the propeller is changed due to the rotation of the shaft.

[0027] 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 connected to the propeller. For example, the term "indirect electrical connection" can mean that one or more elements can be electrically connected between the power source (respectively the propeller) and the first rotating guide member (respectively the first complementary rotating guide member). For example, a cable can be connected to a battery that propels the aircraft and welded to the first rotating guide member.

[0028] Advantageously, the chassis comprises a first rotary guide for rotating the first shaft around a first axis of rotation; the first shaft comprises a first complementary part, the first rotary guide being arranged to mechanically cooperate with the first rotary guide to eliminate at least a degree of freedom of the first shaft; the first rotary guide and the first complementary part are electrically conductive and connected to each other, the first rotary guide being electrically connected to the power source and the first complementary part being electrically connected to the propeller. According to this feature, it is possible to transmit an electric current, in particular an alternating current or a direct current, generated by the power source to the propeller, the first rotary guide-first complementary part pair forming, for example, a phase terminal or a positive pole and the second rotary guide-second complementary part pair forming, for example, a neutral terminal or a negative pole.

[0029] Advantageously, for example, the second complementary element comprises a strip mounted on the crown, mounted on a face opposite to the face on which the first complementary element is mounted, and the second rotation guide comprises a support pad flush with said strip of the second complementary element. Where appropriate, the pads of the first and second rotation guides may face each other. Preferably, the strips are 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 member prevents a current from flowing directly from one band to the other. Alternatively, the second complementary element may also comprise a strip mounted on the crown, on the same face as the first complementary element, the second complementary element being arranged concentrically with the first complementary element, for example radially offset inwards or outwards relative to the first complementary element. Where appropriate, the second rotation guide may comprise a support pad flush with said strip of the second complementary element.

[0030] According to a cumulative or alternative embodiment of the present invention, one of the crown and the rotary guide comprises an external threaded element, while the other of the crown and the rotary guide comprises an internal threaded element. According to this feature, the crown and the rotary guide can be paired to ensure that the crown is guided during rotation. It is understood that if the crown gear has an external threaded element, it will be installed in the internal threaded element of the rotary guide. Conversely, if the crown gear is composed of an internal threaded element, the internal threaded element will be connected to the external threaded element of the rotary guide.

[0031] According to a cumulative example of the invention, the male part is a reinforcing rib formed at least on a part of the circumference of the crown, and the rotation guide comprises a piece mounted on the crown, the piece being rotatable about an axis substantially parallel to the first axis and having a groove forming the female part. According to this feature, the reinforcing rib is housed in the groove, the groove being shaped so that the reinforcing rib is fixed in place when the crown is rotated about the first axis.

[0032] Advantageously, the profile of the reinforcing rib can be substantially complementary to the profile of the groove in the member. For example, the reinforcing rib and the groove can each have a trapezoidal profile, the inclined surface of the reinforcing rib counteracting the inclined surface of the groove in the member. According to this feature, the trapezoidal profile can reduce the friction between the reinforcing rib and the rotary guide member, thereby contributing to energy saving and reducing stress on the material, extending the service life of the propulsion aircraft. Alternatively, the ring comprises at least a groove forming an internal thread element and a first complementary member, the first rotary guide member comprising a member mounted on the chassis, the member being rotatable about an axis substantially parallel to the first axis and provided with a reinforcing rib forming an external thread element.

[0033] According to an example, the reinforcing rib may be a central reinforcing rib, located in the middle of the outer surface of the crown. Alternatively, the crown gear may include a first plurality of teeth arranged above the central reinforcing rib and a second plurality of teeth arranged below the central reinforcing rib. In another embodiment, the reinforcing rib may be an offset reinforcing rib, located at the upper edge or the lower edge of the outer surface of the crown. If necessary, the ring may include two eccentric ribs, located at the upper edge and the lower edge of the outer surface of the ring, respectively, and the ring includes a plurality of teeth arranged between the two ribs, each rib being engaged in a dedicated groove of the first rotation guide.

[0034] Advantageously, the rotary guide may comprise two rollers, in particular tapered rollers, superimposed on each other to form a space between the rollers forming the groove. Alternatively, the rotary guide may comprise a grooved pulley bearing.

[0035] In another embodiment or cumulative embodiment of the invention, the ring comprises at least one reinforcing rib on at least a part of its circumference, in particular the entirety, which reinforcing rib constitutes an external threaded element, and the rotary guide comprises a friction pad fixedly mounted on the chassis and having a groove constituting an internal threaded element.

[0036] In an embodiment of the invention, the rotary guide comprises a bearing lying flat on the lower and / or upper surface of the crown. According to this feature, the flat bearing element can fix and guide the crown wheel in the rotary movement.

[0037] Advantageously, the first complementary piece comprises a strip mounted on the crown and the first rotary guide comprises a shoe-shaped bearing lying on said strip.

[0038] In an embodiment of the invention, the strap is a ring or part of a complete ring made of conductive material, in particular aluminium, which is fixed to the upper or lower surface of the first crown by means of screws or the like. Where appropriate, it is conceivable that the first complementary piece consists of a plurality of rings distributed over the circumference of the first crown. If necessary, the strap may be coated with a coating, in particular a film of conductive oil or grease, which is coated or impregnated on one and / or the other of the strap and / or the horse shoe and is placed between the strap and the horse shoe; the coating may be integrated with the horse shoe, in particular when the horse shoe is manufactured. Preferably, at least one cable connected to a power supply is welded to the shoe. Alternatively, the above-mentioned cable may be inserted into a lug mounted on the strap and electrically connected to the strap.

[0039] Advantageously, the shoe is made of an electrically conductive material, in particular bronze. The first rotary guide may comprise a plurality of radially and / or longitudinally offset shoe plates, pressed flat against the strip. Preferably, at least one cable connected to a power source is welded to the shoe.

[0040] Advantageously, the first rotary guide may also comprise rollers or bearings, in particular radially offset behind the shoe or longitudinally offset behind the shoe and in contact with the crown or belt of the first shaft. For example, the rollers may be mounted on the frame so as to rotate about an axis substantially parallel to the first rotary axis and in contact with the reinforcing ribs on the crown gear. Alternatively, the rollers may be mounted on the frame so as to rotate about 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.

[0041] If necessary, the frame, in particular the first rotating guide, also includes a module for pressing the shoe against the belt. The function of the clamping module is to apply a force to the shoe in the direction of the belt. According to an example, the shoe may include a rod, the end of which forms a plate, and the clamping module may include a guide, with the rod of the shoe meshing with the guide, and a compression spring arranged around the rod, on the one hand, against the edge of the guide and on the other hand against the plate of the shoe. Alternatively, the electroplating module may include a housing open in the direction of the web, in which the shoe is mounted, and a compression spring integral with at least the shoe and the bottom of the housing.

[0042] Advantageously, the rotary guide is fixed to the frame by being screwed into the oblong hole. This feature enables the position of the rotary guide to be adjusted within a continuous range of positions.

[0043] It is conceivable that the chassis comprises a plurality of first rotary guides, each cooperating with a complementary first element on the first shaft, for example, a first rotary guide comprising a plurality of runners lying on a belt mounted on the crown wheel, and two superimposed conical rollers between which the peripheral reinforcing rib of the crown wheel is mounted; two further first guides each comprising only two superimposed conical rollers between which the peripheral reinforcing rib of the crown wheel is mounted; two further first guides each comprising only two superimposed conical rollers between which the peripheral reinforcing rib of the crown wheel is mounted. Where appropriate, provision may be made for only and / or only, or even only some of these pairs of first rotary guides and first complementary elements to be electrically conductive and / or electrically connected to the electric power source and the propeller.

[0044] In one embodiment of the present invention, the pusher aircraft comprises a plurality of fixed legs extending from the chassis to a common base plate, the plurality of fixed legs being fixed to the common base plate; and a plurality of movable legs extending from the movable base plate to the crown gear, the movable base plate being rotatably mounted on the common base plate around a first rotation axis, the plurality of movable legs being fixed to the movable base plate. This feature allows the first shaft to remain suspended and the thrust of the propeller to be transmitted to the entire propeller during travel.

[0045] Advantageously, the thrusters comprise a central control unit for the thrusters, capable of exchanging data with the thrusters. If necessary, the rotating collectors are mounted on a common base and a mobile base, at least one cable extending from the central control unit via fixed feet to the rotating collectors and another cable extending from the rotating collector via mobile feet to the thrusters. This construction method is particularly advantageous when the first shaft is a crown gear, since the set of feet makes it possible to fix the first shaft to the chassis so that the first shaft is suspended in a space in the chassis in which it can rotate. This tubular support structure can also be used to lay cables for data exchange between the central control unit and the thrusters. The common base and the mobile base form a common hollow part in which the rotating manifold is mounted. Since such a rotary commutator allows an electrical connection between a fixed part on the common base and a rotating part on the mobile base, which is known per se, it will not be described in more detail.

[0046] The central control unit of the thruster is preferably able to exchange data with one or more sensors of the thruster, such as an inertial unit, and / or with a variable speed drive of one or more electric motors of the thruster.

[0047] 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 axis of rotation. More advantageously, the mobile legs are fixed to the crown of the first shaft and are distributed over the entire circumference of the crown. Preferably, the fixed legs and the mobile legs are arranged in such a way that the common legs and the mobile legs are suspended from the crown and are located on the first axis of rotation.

[0048] Advantageously, the first drive device comprises a motor provided with a shaft rotating about a first axis of rotation; wherein the first shaft 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 comprises a first bearing mounted on the transmission member; wherein the first rotary guide member comprises a second bearing mounted concentrically about the first axis.

[0049] Advantageously, the first bearing and the second bearing are electrically conductive and are electrically connected to each other. This arrangement significantly reduces the size and weight of the thruster power transmission.

[0050] Advantageously, the first bearing can be a ring or sleeve made of an electrically conductive material, in particular bronze, such as sintered bronze, impregnated with a lubricant such as an electrically conductive or non-conductive grease, having a longitudinal axis substantially identical to the second axis of rotation and fixedly mounted on a transmission member of the second axis, the transmission member being mounted in the first bearing. If necessary, at least one cable directly or indirectly electrically connected to the propeller 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.

[0051] The second bearing is preferably a ring or sleeve made of an electrically conductive material, in particular bronze, having a longitudinal axis substantially co-ordinated with the second axis of rotation, which can be freely or fixedly mounted on the first axis and has a diameter substantially exceeding the diameter of the first bearing. If necessary, at least one cable connected to a power supply can be welded to the second bearing. Alternatively, the cable can be inserted into a lug mounted on the first bearing and electrically connected to the first bearing.

[0052] The inner surface of the second bearing and the outer surface of the first bearing are preferably smooth and can be in direct contact. In addition, 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 on the other bearing.

[0053] Advantageously, the propulsion aircraft comprises a propulsion aircraft central control unit capable of exchanging data with the engine, the second axis comprises two diametrically opposed pivots, each pivot being pivotally mounted in a recess of the first axis, the recesses being opposite to one another, the transmission element of the second axis being arranged on the pivot of the second axis so as to extend into the recess, the rotary shaft of the motor extending into the recess, the rotary collector being arranged in another recess of the first axis, at least one cable extending from the central control unit to the rotary collector passing through the first axis, another cable extending from the rotary collector to the propeller passing through the second axis. Preferably, the rotary collector can be connected to the central control unit of the propeller, for example by means of a rotary collector arranged on the common base plate and the mobile base plate.

[0054] In one embodiment of the invention, the crown wheel comprises two tongues, radially facing the inside of the crown wheel and diametrically opposed, each receiving one of the support points of the second shaft on the first shaft. Advantageously, the structure of each tongue defines a groove suitable for receiving a mechanical structure. In particular, the mechanical structure can be fixed to the groove defined by the tongue by screws, glue or any other fixing means. The second drive system is preferably mounted on one of the lugs. If necessary, the rotating collector can be mounted on the other lug. Preferably, two protective half-shells are fixed on both sides of each tongue to define the above-mentioned reinforcement ribs of the first shaft.

[0055] In one embodiment of the invention, the second drive system comprises a transmission cylinder with a polygonal cross section, the transmission cylinder is driven by the motor and meshes with the hole of the second shaft, the cross section of the hole is complementary to the cross section of the transmission cylinder, and the junction between the transmission cylinder and the hole of the second shaft forms one of the support points of the second shaft on the first shaft. According to this feature, the axial rotation of the engine is transmitted to the second shaft, and the polygonal cross section of the cylinder improves the transmission efficiency of the engine torque by increasing the contact surface between the transmission cylinder and the junction.

[0056] In another alternative or cumulative embodiment of the invention, the second transmission system comprises a motor-driven transmission belt extending to a pulley mounted on the second shaft. According to this feature, the rotation of the motor shaft (the pulley on which the belt is tensioned is mounted) is transmitted to the second shaft, so that the direction of the propeller and the thrust direction of the propeller can be determined simultaneously.

[0057] Advantageously, the second shaft comprises two diametrically opposed pivots, each pivot being rotatably mounted in a recess of the first shaft, the recesses being opposite one another. If necessary, the second bearing comprises a peripheral stop, in particular extending mainly around the periphery of the second bearing, preferably formed at the edge of the second bearing, and the reinforcement comprises a peripheral recess in which the peripheral stop of the second bearing is located. The peripheral stop and the peripheral recess make it possible to lock the second shaft against translation in a direction perpendicular to the second axis of rotation and in any direction coplanar with the second axis of rotation.

[0058] The first bearing preferably comprises a peripheral stop, in particular extending around the entire circumference of the first axis bearing, preferably formed at the edge of the first bearing. If necessary, the peripheral stop of the first bearing can be directed towards the peripheral edge of the reinforcement and / or clamped between the peripheral stop of the second bearing and the edge of the second shaft, in line with the transmission element of the second shaft. These features make it possible to strengthen the translational locking of the second shaft in a direction perpendicular to the second axis of rotation and in any direction coplanar with the second axis of rotation. In addition, the peripheral stop of the second bearing can be in contact with the wall of the reinforcement device, while the peripheral stop of the first bearing can be opposite to the peripheral stop of the second bearing and against the wall of the second shaft opposite to the wall of the reinforcement device. In other words, the bearing is clamped by its stop between the opposite walls of the reinforcement device and the second shaft.

[0059] In one embodiment of the present invention, the motor includes a rotating shaft inserted into the transmission cylinder; the transmission cylinder and the rotating shaft of the motor are connected as one by screwing a set screw into a tap nut of the transmission cylinder. According to this feature, the rotation of the motor shaft can be properly transmitted to the transmission cylinder, and the tightening screw ensures the friction between the cylinder and the motor shaft.

[0060] Alternatively, the cross section of the transmission cylinder may be circular and cut into a flat surface. Where appropriate, the motor may include a shaft that rotates about a first rotation axis, the shaft being inserted into the transmission cylinder, the pressure screw being screwed into a threaded hole in the transmission cylinder, the threaded hole being consistent with a reserved hole in the transmission cylinder for inserting the motor's rotating shaft, so as to fix the transmission cylinder to the motor's rotating shaft. Alternatively, the transmission member includes a portion of polygonal cross section that matches a complementary cross section hole on the transmission cylinder.

[0061] In one embodiment of the present invention, the second shaft comprises a central component supporting the propeller and two rods extending from both sides of the central component to a supporting point of the second shaft on the first shaft along the second rotation axis. According to this feature, the propeller is connected to the chassis of the propulsion aircraft and can then transmit thrust to move the propulsion aircraft.

[0062] The propeller preferably comprises a propeller driven by a motor, rotating about a third rotation axis perpendicular to the second rotation axis. According to this feature, the thrust of the propeller can be directed to any spatial direction through the center of the propeller.

[0063] Advantageously, the second shaft supports two propellers, mounted on either side of the second shaft, each of which is provided with a propeller, the propellers of the propellers rotating in opposite directions. This feature allows greater thrust to be obtained while eliminating the overturning moment causing the gyroscopic effect.

[0064] In an embodiment of the present invention, the propulsive aircraft is an omnidirectional aerial drone.

[0065] 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.

[0066] Other advantages and features of the invention will be described with the aid of the accompanying drawings, each of which represents ..., each of which represents ..., each of which represents ...:

[0067] [ Figure 1 ] schematically shows a partial perspective view of an omnidirectional drone according to an embodiment of the present invention;

[0068] [ Figure 2 ] schematically shows a partial view of [ Figure 1 ] is a top view of the omnidirectional drone shown in ;

[0069] [ Figure 3 ] schematically shows [ Figure 1 ] Partial perspective view of the omnidirectional drone;

[0070] [ Figure 4 ] schematically shows [ Figure 1 ] a perspective view of the assembly of a rotary guidance assembly and complementary assemblies of an omnidirectional UAV;

[0071] [ Figure 5 ] schematically shows [ Figure 3 ] another perspective view of the omnidirectional drone portion;

[0072] [ Fig. 6A ] part schematically shows [ Figure 1 ] a cross-sectional view of the connection between two axes of the omnidirectional unmanned aerial vehicle; and

[0073] [ Figure 6B ] part schematically shows [ Figure 1 ]Cross-sectional view of another connecting part between the two axes of the omnidirectional drone.

[0074] In the following description, structurally or functionally identical elements appearing in different figures retain the same reference unless otherwise specified.

[0075] [ Figure 1 ] shows a propulsor in the form of an omnidirectional drone D, comprising a chassis C on which four spaces are arranged, each of which supports a first axis A1, the first axis A1 comprising a crown gear K, which rotates around a first axis of rotation AX1 and can be mounted to rotate around said first axis AX1. Each crown gear K supports a second axis A2, which is mounted to rotate around the second axis AX2, orthogonal to the first axis AX1, and on which a propeller P, in particular a counter-rotating twin propeller, is mounted. The center of the chassis C supports a central control unit UCC, which is mainly used to control the rotation speed of the propeller P, and also supports a battery SE, which is mainly used to power the propulsion system of the unmanned aerial vehicle C. The chassis C also includes a first drive system E1 for each first axis A1 mounted on the chassis C.

[0076] [ 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.

[0077] The unmanned aerial vehicle D comprises a plurality of fixed legs PPF and a plurality of mobile legs PPM, the fixed legs PPF extending from the chassis C to a common base supported by the chassis C, the mobile legs PPM being fixed to the base, the mobile legs PPM extending from a mobile base mounted on the common base, the mobile base being rotatable around a first rotation axis AX1. The mobile legs PPM are fixed to the first axis A1 and are distributed over the entire circumference of the first axis A1. This means that the first axis A1 is suspended in the space reserved for it while still being rotatable around the first rotation axis AX1.

[0078] like[ Figure 3 ] As shown in FIG. 1 , the crown gear K has a plurality of first teeth RD1 arranged on the upper edge of the crown gear K on its entire circumference, and a plurality of second teeth RD2 arranged on the lower edge of the crown gear K on its entire circumference.

[0079] The first drive system E1 includes a motor driving a PGN pinion, such as [ Figure 4 ], the PGN pinion comprises two mutually parallel tooth zones, located respectively on the entire part of the upper circumference edge and the entire part of the lower circumference edge of the PGN pinion. These two tooth zones mesh with a plurality of upper and lower teeth RD1 and RD2 of the crown gear K, respectively, so as to transmit the rotation of the pinion PGN generated by the motor to the crown gear K and further 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 crown gear K.

[0080] The crown wheel 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 guides OGR1_1, each of which is a grooved bearing, the profile of which is complementary to the geometry of the reinforcing rib N. The reinforcing rib N is located in the groove of each bearing OGR1_1, thus forming a first complementary piece OC1_1 that mechanically cooperates with the first guide OGR1_1. In the example described, the rib N and the groove of each bearing OGR1_1 are both trapezoidal, the inclined surface of the rib N counteracting the inclined surface of the groove.

[0081] like[ Figure 3 ], the crown K of the first axis A1 is surrounded by two parallel rings B1 and B2, which are respectively connected to the upper and lower surfaces of the crown K. These rings B1 and B2 are rotationally symmetrical around the axis AX1 and are firmly mounted on the ring K by fixing means MF at different positions on the first axis A1. In the example described, the fixing means take the form of screws that pass through the bands B1 and B2 and the crown K respectively.

[0082] like[ Figure 4 ], the chassis C comprises another first rotary guide OGR1_2, which is composed of a plurality of friction pads 3PF1, in the form of three continuous pads. These friction pads 3PF1 lie flat against the upper ring B1, thus forming another first complementary part OC1_2 cooperating with the other first rotary guide OGR1_2.

[0083] 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.

[0084] Symmetrically, the chassis C comprises a second rotary guide OGR2, said element 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 element OGR2 cooperating with the second rotary guide OGR2.

[0085] In this way, the first axis A1 is guided by the first guide members OGR1_1 and OGR1_2 and the second guide member OGR2 during the rotation.

[0086] 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.

[0087] like[ Figure 3 ], the strips B1 and B2 are made of a conductive material, in this case aluminum. Similarly, the friction plates 3PF1 and 3PF2 are also made of a conductive material, in this case bronze.

[0088] Each belt B1 and B2 is therefore connected to the battery SE of the unmanned aerial vehicle D by means of an 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, said cable passing through a groove of the chassis C and / or between two inner layers of the chassis C. As will be described later, each belt B1 and B2 is electrically connected to the propeller P. One of the belts B1 can be the positive pole or phase pole, while the other B2 can be the negative pole or neutral, depending on whether the power source SE provides direct current or alternating current.

[0089] 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 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 pivotally 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.

[0090] like[ Fig. 6A], at the tongue L1 and the first end EXT1 of the second shaft A2, the first shaft A1 supports a second drive system E2, said system being able to rotate the second shaft A2 around a second axis of rotation AX2. The second drive system E2 comprises a transmission cylinder CT of polygonal cross section (here hexagonal), driven by an electric motor, engaged in an orifice OR on the first end EXT1 of the second shaft A2, whose cross section is complementary to that of the transmission cylinder CT. Note that the first end EXT1 thus forms a piece for transmitting the motor rotation of the second drive system E2 to the second shaft A2.

[0091] 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 axis 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 part DOGR_1, and the second bearing PL2 of the tongue L2 thus 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 part DOGR_2.

[0092] Each first bearing PL1 and each second bearing PL2 are made of a conductive material, in particular bronze. At both ends of EXT1 and EXT2, a cable (not shown) connected to the propeller P is welded to the first bearing PL1, and another cable connected to the upper ring B1 and the lower ring B2 is welded to the second bearing PL2. In this way, the power provided by the battery SE can be transmitted to the propeller P through the gaskets 3PF1 and 3PG2, the rings B1 and B2, the first bearing PL1 and the second bearing PL2.

[0093] Each second bearing PL2 has a peripheral stopper BT2 formed at the edge of the second bearing PL2, and each reinforcement of the tongues L1 and L2 has 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.

[0094] The second axis A2 includes a central part PCE ([ Figure 5 ]), used to support the propeller (P), and two rods extending from the central component PCE to both sides along the second rotation axis A2, forming two ends EXT1 and EXT2.

[0095] 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.

[0096] 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 propeller P via a pre-prepared hole in the second axis A2.

[0097] 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 propulsion vehicles, which may or may not be remotely controlled, such as cars, motorcycles, trucks, bicycles, trains, airplanes, helicopters or ships, and which may or may not be autonomous, semi-autonomous or manual.

[0098] The foregoing description clearly explains how the present invention achieves its set objectives, namely, by proposing an axis system mounted and rotatable on the chassis of a propulsion aircraft, so that the movement of the first axis is limited by a rotating guide member, while the second axis supporting the propeller is mounted and rotatable on the first axis and is driven by the first and second drive systems respectively, thereby reducing the volume of the propulsion system of the omnidirectional propulsion aircraft.

[0099] In any case, the invention is not limited to the embodiments specifically described herein, and is particularly applicable to any equivalent means and any technically effective combination of these means. In particular, the invention may also employ other structural materials, in particular materials capable of conducting electric current, and magnetic conductive parts, in particular electromagnets. Likewise, any number of thrusters may be rotatably mounted on the second shaft in order to adjust the total thrust of the thrusters and thereby adjust the maximum speed that the thrusters can reach.

Claims

1. A propulsive aircraft (D), comprising: a. Chassis (C), b. a first shaft (A1) comprising a crown wheel (K) rotatably mounted on a chassis (C) about a first axis (AX1), c. A first drive system (E1), which is connected to the first shaft (A1) and is capable of driving the first shaft to rotate around a first rotation axis (AX1), characterized in that: d. a second shaft (A2) rotatably mounted on the first shaft (A1) about a second axis of rotation orthogonal to the first axis of rotation, the second shaft (A2) being supported by two different points (X1), (X2) on the first shaft (A1), the two points defining the second axis of rotation, the second shaft supporting at least one propeller (P) of the propulsion vehicle (D), and e. A second drive system (E2), which is connected to the second shaft (A2) and can drive the second shaft to rotate around the second rotation axis.

2. A propulsive aircraft according to the preceding claim, characterised in that The crown gear (K) comprises a plurality of teeth (RD1) arranged on at least part of its circumference, and the first drive system (E1) comprises a pinion gear (PGN) driven by a motor and meshing with the plurality of teeth (RD1) of the crown gear (K).

3. A propulsive aircraft according to any one of the preceding claims, characterised in that The first drive system (E1) comprises a belt driven by a motor and tensioned on the circumference of the crown gear (K).

4. A propulsive aircraft according to any one of the preceding claims, characterised in that The propulsive aircraft comprises a first shaft (A1) rotating guide (OGR) about a first axis (AX1), the rotating guide (OGR) being arranged to mechanically cooperate with the first shaft to eliminate at least one degree of freedom of the first shaft (A1).

5. The propulsion aircraft according to claim 4, characterized in that: One of the crown gear (K) and the rotation guide (OGR) comprises an externally threaded element (M), and the other of the crown gear (K) and the guide (OGR) comprises an internally threaded element.

6. The propulsion aircraft according to claim 5, characterized in that: The crown gear (K) comprises at least one reinforcing rib (N) on at least part of its circumference, the reinforcing rib forming an external threaded element; the rotary guide (OGR) comprises a component rotatably mounted around an axis substantially parallel to the first rotation axis (AX1), the component being provided with a groove (G) forming an internal threaded element.

7. A propulsive aircraft according to any one of claims 4 to 6, characterized in that: The rotary guide (OGR) comprises a flat support element arranged on the lower surface or the upper surface of the crown wheel (K).

8. A propulsive aircraft according to any one of claims 4 to 7, characterized in that: The rotating guide (OGR) is fixed to the chassis (C) by screws screwed into the rectangular holes.

9. A propulsive aircraft according to any one of the preceding claims, characterised in that The pusher aircraft comprises a plurality of fixed legs (PPF) extending from a chassis (C) towards a common base plate (EC) to which the plurality of fixed legs are fixed; and a plurality of movable feet (PPM) extending from a movable base plate (EM) towards the crown wheel (K), the movable base plate being rotatably mounted on a common base plate (EC) about a first axis of rotation (AX1), the plurality of movable feet being fixed to the movable base plate.

10. A propulsive aircraft according to any one of the preceding claims, wherein: The crown wheel (K) comprises two tongues (L), (L1), (L2), the two tongues (L) being radially oriented towards the inside of the crown wheel and diametrically opposed, each tongue (L) receiving one of the support points of the second axis (A2) on the first axis (A1).

11. A propulsive aircraft according to any one of the preceding claims, characterised in that The second drive system (E2) comprises a transmission cylinder (CT) with a polygonal cross-section, which is driven by a motor (MT) and meshes with a hole (O) in the second shaft (A2), the cross-section of the hole being complementary to the cross-section of the transmission cylinder, and the junction between the transmission cylinder and the hole in the second shaft (A2) forms one of the supporting points of the second shaft on the first shaft (A1).

12. A propulsive aircraft according to the preceding claim, characterised in that The motor comprises a rotating shaft (AR) inserted into a transmission cylinder (CT); by screwing a set screw (VP) into a tapping nut of the transmission cylinder (CT), the transmission cylinder (CT) and the rotating shaft of the motor are connected as one.

13. A propulsion aircraft according to any one of the preceding claims, wherein the second axis (A2) comprises a central component (PC) supporting the propeller (P) and two rods (T1), (T2), wherein the two rods extend from both sides of the central component (PC) along the second rotation axis (AX2) to the support point of the second axis (A2) on the first axis (A1).

14. A propulsive aircraft according to any one of the preceding claims, characterised in that The second shaft (A2) supports two propellers (P) installed on both sides of the second shaft (A2), each propeller (P) is equipped with a propeller, and the propellers of the propellers rotate in opposite directions.

15. A propulsive aircraft (D) according to any one of the preceding claims, characterised in that The propulsive aircraft is an omnidirectional drone.

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