Unmanned aerial vehicle variable transmission system and control system

Abstract

The invention relates to the field of unmanned aerial vehicle transmission, in particular to an unmanned aerial vehicle variable speed transmission system and a control system. The first driving shafts are vertically arranged on the two sides of the machine shell, and multiple sets of first transmission bevel gears are vertically distributed on the first driving shafts; a driving piece for driving the first driving shaft to rotate is arranged in the machine shell; the first transmission shaft and the second transmission shaft are arranged corresponding to one group of rotor wings, one end is provided with a transmission bevel gear II and meshed with the transmission bevel gear I, and one end is in transmission connection with the rotor wings; the two first transmission shafts are arranged in parallel; the two second transmission shafts are arranged in parallel; the included angle between one second transmission shaft and the first transmission shaft connected with the rotor wings on the same side of the machine shell is not smaller than 60 degrees; the speed changing assembly is arranged at the top end of the first driving shaft, rotates synchronously with the first driving shaft and is connected with the first transmission shaft and the second transmission shaft. The method has the effects of reducing the failure rate of a transmission system of the unmanned aerial vehicle and prolonging the service life of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present application relates to the field of UAV transmission, and in particular to a UAV variable speed transmission system and control system. Background Art

[0002] A drone is a flying device that can be controlled without the need for direct human pilots. It is usually operated by ground control personnel through radio remote control or autonomous flight control systems. It is now widely used in military, commercial, rescue and other fields, and plays a vital role in modern society.

[0003] Common multi-rotor drones include multiple sets of symmetrically distributed rotors with opposite rotation directions. The rotating blades stir the airflow to generate lift to overcome gravity and lift the aircraft. When the flight direction changes, the rotors opposite to the flight direction speed up or slow down, and the airflow changes to tilt toward or away from the flight direction to achieve pitch, roll, yaw, turn and other movements. This makes the transmission system of the drone more complicated and the design cost higher. Although it can achieve more complex movements and improve flexibility, it also increases the failure rate of the transmission system. With respect to the above-mentioned related technologies, the inventors believe that the flexible control of the UAV mainly depends on the change of the rotor speed. Therefore, simplifying the structure of the transmission system on the basis of achieving adjustable rotor speed can reduce the failure rate of the transmission system. Summary of the invention

[0004] In order to reduce the failure rate of the UAV transmission system and increase the service life of the UAV, the present invention provides a UAV variable speed transmission system and a control system.

[0005] On the one hand, the present invention provides a UAV speed transmission system adopting the following technical solution: A variable speed transmission system for a drone is arranged inside a housing of the drone, and is characterized in that: the transmission is connected to two sets of symmetrically distributed rotors, and comprises: A first driving shaft is vertically arranged on both sides of the housing, and a plurality of transmission bevel gears are vertically distributed on the first driving shaft; a driving member for driving the first driving shaft to rotate is arranged in the housing; The first transmission shaft is provided with two corresponding to a group of rotors, one end of which is formed with a transmission bevel gear 2, meshed with the transmission bevel gear 1, and one end of which is transmission-connected to the rotor; the two first transmission shafts are arranged in parallel; Two second transmission shafts are provided corresponding to another group of rotors, one end of which is formed with a transmission bevel gear 2, meshed with the transmission bevel gear 1, and one end is transmission-connected to the rotor; the two second transmission shafts are arranged in parallel; the angle between one of the second transmission shafts and the first transmission shaft connected to the rotor on the same side of the housing is not less than 60°; The speed change assembly is arranged at the top end of the first driving shaft, rotates synchronously with the first driving shaft, and connects the first transmission shaft and the second transmission shaft.

[0006] By adopting the above technical solution, on the basis of the structure that the first transmission shaft and the second transmission shaft are symmetrically distributed on both sides of the casing, a first transmission shaft and a second transmission shaft on the same side of the casing are a group, so that a first drive shaft drives two groups of symmetrically distributed drive shafts on both sides of the inside of the casing respectively, and the drive shaft serves as a driving source. The bevel gears of the drive shaft and the transmission shaft are meshed to convert the rotation in the vertical plane into the rotation in the horizontal plane, and the rotational force is transmitted to the rotor at the end. This technical solution is the basic architecture and design concept of the transmission system; Since the complex flight actions and states of the UAV are realized by adjusting the rotor speed with symmetrical distribution, the adjustment of the rotor speed needs to be symmetrical in both the prior art and the present solution, that is, the transmission speeds of the two first transmission shafts or the two second transmission shafts are adjusted at the same time, so that the rotor speeds corresponding to the two first transmission shafts are different from the rotor speeds corresponding to the two second transmission shafts; The speed adjustment of the two first transmission shafts or the two second transmission shafts is achieved through a speed change component, which is used to adjust the transmission speed of the first transmission shaft and the second transmission shaft. Furthermore, the transmission speed of the two transmission shafts can be divided into multiple adjustment gears, and each gear enables the rotor to be equipped with a corresponding level of speed, thereby improving the complex action operability of the UAV.

[0007] Optionally, the speed change assembly includes: A second driving shaft is vertically arranged, coaxially arranged with the first driving shaft, with its bottom end plugged into the top end of the first driving shaft, and a driving member is arranged inside the housing corresponding to the second driving shaft; The speed change gear set is formed with the second drive shaft body, and the top end of the first drive shaft is provided with a cylindrical groove for accommodating the speed change gear set; the speed change gear set is transmission-connected to the first transmission shaft and the second transmission shaft.

[0008] By adopting the above technical solution, the second drive shaft is used to carry and drive the speed change gear set. Different from the bevel gear meshing transmission between the first drive shaft and the first transmission shaft and the second transmission shaft, the second drive shaft meshes gears with different numbers of teeth and different diameters with the first transmission shaft and the second transmission shaft through the speed change gear set on the shaft body, so that the first transmission shaft and the second transmission shaft are used for transmission speeds of different levels; In the initial state of the drone, the first bevel gear of the first drive shaft meshes with the second bevel gears of the first transmission shaft and the second transmission shaft. In this meshing state, the drone can perform initial lifting and lowering movements, which is the basic transmission mode and the basis for the movement of the drone. When the speeds of the first transmission shaft and the second transmission shaft change, the second drive shaft drives the speed change gear set to mesh with the first transmission shaft and the second transmission shaft, so that different gears of the speed change gear set can achieve different levels of transmission speeds, so as to control the rotor to rotate at different speeds. By flexibly adjusting different gears of the speed change gear set to mesh with the first transmission shaft and the second transmission shaft, the rotor is put into different levels of rotation states and flexibly switched between various rotation speeds.

[0009] Optionally, the first drive shaft and the second drive shaft are coaxial and arranged at different speeds.

[0010] By adopting the above technical solution, the first drive shaft and the second drive shaft are coaxially arranged to integrate the drive-related shaft bodies on a vertical line. One of the advantages is that the installation space inside the housing can be reasonably utilized. Generally speaking, the driving member of the first drive shaft is usually a motor. Therefore, if other microelectronic devices are arranged, electromagnetic interference is easily generated to the motor during operation. Therefore, the motors of the same model and the same operating frequency are arranged without serious electromagnetic interference, and the space above the first drive shaft can also be reasonably utilized. Secondly, the coaxial setting can facilitate the installation of the subsequent changing direction components. Under the coaxial setting, the speed gear set on the second drive shaft and the first bevel gear on the first drive shaft can be simultaneously connected to the first transmission shaft and the second transmission shaft on the same side of the casing, thereby achieving a symmetrical structural distribution and evenly transmitting the output speed and rotational torque to the first transmission shaft and the second transmission shaft.

[0011] Optionally, the speed change assembly further includes: A spur gear is horizontally arranged and axially parallel to the first transmission shaft and above the second transmission shaft, the spur gear is meshed with the speed change gear set, and a speed change bevel gear 1 is horizontally arranged below the wheel surface of the spur gear; The second speed bevel gear is formed on the first transmission shaft and the second transmission shaft, and meshes with the first speed bevel gear. The first speed bevel gear and the second speed bevel gear maintain a meshing state.

[0012] By adopting the above technical solution, spur gears are selected to form the main structure of the speed change gear set, or in other words, the speed change gear set is composed of a plurality of spur gears with different diameters, and the output speed of the second drive shaft is transmitted to the first transmission shaft and the second transmission shaft at a preset transmission ratio through the spur gears; The transmission mode of the spur gear and the first transmission shaft and the second transmission shaft is bevel gear meshing, and the horizontal rotation of the gear wheel surface is adjusted to rotation in the vertical plane. The spur gear and the first transmission shaft or the second transmission shaft should maintain the state to reduce the structural movement during speed change.

[0013] Optionally, the speed bevel gear 1 and the speed bevel gear 2 are meshed, and the inclination direction of the tooth surface of the speed bevel gear 2 is opposite to the inclination direction of the tooth surface of the transmission bevel gear 2; Telescopic components are arranged on the shaft bodies of the first transmission shaft and the second transmission shaft.

[0014] By adopting the above technical solution, the tooth surfaces of the speed bevel gear 2 and the transmission bevel gear 2 are inclined in opposite directions, the speed bevel gear 1 is arranged on the part of the speed bevel gear 2 opposite to the transmission bevel gear 2, and the meshing structure of the transmission bevel gear 1 and the transmission bevel gear 2 is arranged on the side of the speed bevel gear 2 opposite to the speed bevel gear 1. Through a simple sliding structure, it is possible to flexibly switch between the meshing state of the transmission bevel gear 1 and the transmission bevel gear 2 and the meshing state of the speed spur gear set and the spur gear, thereby realizing flexible speed change of the UAV rotor. In order to support the above-mentioned sliding switching from a structural perspective, the shaft bodies of the first transmission shaft and the second transmission shaft are telescopically arranged in a sleeve rod shape.

[0015] Optionally, the shaft body of each of the first transmission shafts and each of the second transmission shafts is composed of two shaft body parts plugged in toward each other, and a clamping assembly is provided at the plug-in end to enable both ends of the shaft body of each of the first transmission shaft and the second transmission shaft to rotate synchronously.

[0016] By adopting the above technical solution, it is achieved that the two components of the first drive shaft and the second drive shaft can rotate synchronously under the retractable structure of the first drive shaft and the second drive shaft. The clamping assembly adopts the plug-in method of pins and slots, so that the pins and slots are set to preset lengths. While sliding, the two parts of the first drive shaft and the second drive shaft are driven to rotate synchronously through structural clamping.

[0017] On the other hand, the control system of a UAV variable speed transmission system provided by the present invention adopts the following technical solution: A control system for a variable speed transmission system of an unmanned aerial vehicle, characterized in that it comprises an air volume measurement module, a calculation and processing module, a specific control module, and a display module; The wind volume measurement module is arranged on the surface of the casing and integrates the collection function of wind direction and wind force values; the wind volume measurement module is connected to the calculation and processing module and uploads the collected values ​​to the calculation and processing module; The calculation processing module has pre-stored therein an instruction generation file and an execution calculation file. The calculation processing module keeps running, receives the measurement data of the air volume measurement module in real time, runs the execution calculation file, and sends the calculation result to the display module; the calculation processing module runs the instruction generation file according to the calculation result, generates relevant instructions and sends them to the specific control module; The specific control module is connected to the calculation and processing module, receives instructions from the calculation and processing module, and controls the first drive shaft and the second drive shaft to rotate and the first transmission shaft and the second transmission shaft to extend and retract.

[0018] By adopting the above technical solution, the calculation and processing module is the central processing module of the control system, which retrieves the measurement data of the wind volume measurement module, calculates the value by running the instruction file based on the collected data, and judges the impact of the current wind force and wind speed on the flight of the UAV casing through the value; combined with the current flight state of the UAV, the calculation and processing module generates corresponding instructions according to the calculation results of the wind volume environment, and sends them to the specific control module to keep the UAV in the current wind state; Specifically, the specific control module controls the rotation speed of the rotor so that the driving airflow of the UAV offsets the driving force in the blowing direction of the airflow, thereby maintaining the UAV in a stable state. An autonomous and self-controllable feedback loop is formed through the wind volume measurement module, the calculation and processing module, and the specific control module; the UAV operator obtains the current flight status of the UAV through the display module.

[0019] Optionally, the input control module is connected to the specific control module to provide a priority instruction input and execution channel, and the specific control module preferentially executes input instructions of the input control module.

[0020] By adopting the above technical solution, the input control module is mainly used for the operator to input the flight instructions of the UAV, so that the UAV can fly in an orderly manner according to the operation of the operator; the operator uses the input of the input control module as the reference state of the UAV flight, and the specific control module maintains the flight state of the UAV in the input state of the operator by controlling the rotor speed; The command priority of the input control module is higher than the priority of the feedback control command. The computing and processing module of the UAV adjusts the rotor speed to balance the flight state of the UAV. At the same time, if there is a command input to the input control module, the UAV will give priority to executing the input command of the input control module.

[0021] In summary, the present application includes at least one of the following beneficial technical effects: 1. Through the meshing of the multiple transmission bevel gears 1 on the first drive shaft and the transmission bevel gears 2 on the first transmission shaft and the second transmission shaft, efficient transmission of the two symmetrically distributed rotors is achieved, thereby improving the flight stability and maneuverability of the UAV; 2. The setting of the speed change assembly, especially the cooperation between the second drive shaft and the speed change gear set, enables the first transmission shaft and the second transmission shaft to achieve transmission with different speed ratios, thus enhancing the adaptability and flexibility of the UAV under different flight conditions; 3. The wind volume measurement module can accurately collect wind direction and wind force values ​​in real time. By cooperating with the computing and processing module, the UAV can quickly respond to changes in the external environment, improving the adaptability and stability of the UAV under complex meteorological conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the transmission system in Example 1 of the present application.

[0023] Figure 2 It is a structural schematic diagram used to highlight the first driving shaft in the first embodiment of the present application.

[0024] Figure 3 It is the control system operation logic block diagram in Example 2 of the present application.

[0025] Explanation of the reference numerals in the accompanying drawings: 2. Transmission system; 21. First transmission shaft; 211. Snap-in block; 212. Snap-in groove; 22. Second transmission shaft; 23. First drive shaft; 231. Transmission bevel gear one; 232. Transmission bevel gear two; 233. Driving motor; 24. Second drive shaft; 241. Speed-changing gear set; 242. Spur gear; 243. Speed-changing bevel gear one; 244. Speed-changing bevel gear two; 245. Electric push rod; 3. Computation and processing module; 4. Input control module; 5. Display module; 6. Specific control module; 7. Air volume measurement module. DETAILED DESCRIPTION

[0026] The following is combined with Figure 1-3 This application is described in further detail.

[0027] Embodiment 1: Embodiment 1 of the present application discloses a variable speed transmission system for a drone. Figure 2A variable speed transmission system for an unmanned aerial vehicle comprises two first drive shafts 23, two first transmission shafts 21 and two second transmission shafts 22. The two first transmission shafts 21 and the two second transmission shafts 22 are arranged inside the rod-shaped connecting part of the shell. One end of the two first transmission shafts 21 corresponds to each other and is transmission-connected to the two first rotors. The same end of the two second transmission shafts 22 corresponds to each other and is transmission-connected to the two second rotors. Among them, a first transmission shaft 21 and a second transmission shaft 22 at the same end of the shell are away from the one-to-one corresponding first rotor and one end of the second rotor are transmission-connected to the first drive shaft 23. Therefore, a first drive shaft 23, a first transmission shaft 21 and a second transmission shaft 22 at both ends of the shell are symmetrically distributed and have the same structure. A first drive shaft 23 drives the first transmission shaft 21 and the second transmission shaft 22 to which it is transmission-connected, and together constitute the variable speed transmission system 2 of the unmanned aerial vehicle.

[0028] Reference Figure 2 The first drive shaft 23 is arranged vertically, and a drive motor 233 is arranged inside the casing corresponding to the first drive shaft 23, which is used to drive the first drive shaft 23 to rotate; a transmission bevel gear 231 is horizontally formed or fixed at the top and bottom ends of the first drive shaft 23, and the two transmission bevel gears 231 at both ends of the first drive shaft 23 are respectively used to transmit and connect the first transmission shaft 21 and the second transmission shaft 22 corresponding to the first drive shaft 23; accordingly, a transmission bevel gear 232 adapted to the transmission bevel gear 231 is vertically formed at one end of the first transmission shaft 21 and the second transmission shaft 22 close to the first drive shaft 23, and the transmission bevel gear 231 and the transmission bevel gear 232 are meshed to transfer the rotational momentum of the first drive shaft 23 to the first transmission shaft 21 and the second transmission shaft 22, thereby realizing primary transmission.

[0029] Reference Figure 2 A second drive shaft 24 is arranged above the first drive shaft 23, and a driving motor 233 is arranged above the second drive shaft 24 to drive the second drive shaft 24 to rotate. The second drive shaft 24 is vertical and coaxial with the first drive shaft 23, but the shaft diameter of the shaft end face of the second drive shaft 24 is smaller than the shaft diameter of the shaft end face of the first drive shaft 23. There is no structural connection between the second drive shaft 24 and the first drive shaft 23, and they rotate asynchronously and at different speeds. A plurality of speed-changing spur gears with different diameters and numbers of teeth but the same pitch are horizontally formed at the bottom end of the shaft body of the second drive shaft 24. The wheel surfaces of the plurality of speed-changing spur gears are horizontal and are distributed vertically and equidistantly along the shaft body of the second drive shaft 24 to form a speed-changing gear set 241. The plurality of speed-changing spur gears in the speed-changing gear set 241 are proportionally reduced in diameter along the vertical downward direction, and a multi-stage speed ratio is achieved under the gear meshing structure.

[0030] Reference Figure 2A speed bevel gear 244 is formed on one end of the shaft body of the first transmission shaft 21 and the second transmission shaft 22 near the transmission bevel gear 232. The bevel tooth slope of the speed bevel gear 244 is opposite to the transmission bevel gear 232 and faces one end of the rotor. A speed bevel gear 1 243 is meshed on the gear teeth of the speed bevel gear. The wheel surface of the speed bevel gear 1 243 is horizontally arranged above the first transmission shaft 21 and the second transmission shaft 22; a spur gear 242 is arranged above the speed bevel gear 1 243. The wheel surface of the spur gear 242 is horizontal, and the wheel center is fixedly connected to the speed bevel gear 1 243 and rotates synchronously with the speed bevel gear 1 243. The spur gear 242 has the same tooth pitch as the multiple speed spur gears inside the speed gear set 241. By meshing different speed spur gears, the transmission system 2 is equipped with different transmission ratios.

[0031] Reference Figure 2 In this embodiment, the shaft body portion of each first transmission shaft 21 and the second transmission shaft 22 is composed of a sleeve rod, that is, the shaft body portion of the first transmission shaft 21 and the second transmission shaft 22 is composed of two shaft bodies with different end face diameters plugged in at opposite ends to achieve the length change of the first transmission shaft 21 and the second transmission shaft 22. Among them, a plurality of clamping blocks 211 are circumferentially formed on the surface of the plug-in end of the shaft body with a smaller diameter, and a clamping groove 212 adapted to the plurality of clamping blocks 211 is opened on the surface of the plug-in end of the shaft body with a larger diameter. The length of the clamping block 211 is greater than the spacing between the speed change bevel gear 243 and the transmission bevel gear 231. When the first transmission shaft 21 and the second transmission shaft 22 are extended or retracted, the clamping block 211 does not separate from the clamping groove 212, and the restraining force of the clamping groove 212 is always maintained. In this embodiment, an electric push rod 245 is arranged inside a thicker rod body in the sleeve rod structure of the first transmission shaft 21 and the second transmission shaft 22, which is connected to a thinner rod body in the plug-in structure to provide a telescopic driving force for the first transmission shaft 21 and the second transmission shaft 22.

[0032] Thus, by extending and retracting the first transmission shaft 21 and the second transmission shaft 22, the transmission system 2 is switched from the meshing state of the transmission bevel gear 1 231 and the transmission bevel gear 2 232 to the meshing state of the speed change spur gear set 241 and the spur gear 242, thereby achieving speed change. In this embodiment, the speed change bevel gear 1 243 and the speed change bevel gear 2 244 remain in meshing state to simplify the structural changes when the meshing state is switched.

[0033] Reference Figure 2It should be noted that the meshing state of the spur gear 242 and the speed gear set 241 and the meshing state of the transmission bevel gear 1 231 and the transmission bevel gear 2 232 are opposite. Therefore, when the transmission bevel gear 1 231 and the transmission bevel gear 2 232 are meshed, the edge of the wheel body of the spur gear 242 is inserted into the speed gear set 241, and the multiple speed spur gears in the speed gear set 241 are highly staggered. Therefore, the second drive shaft 24 needs to move vertically during the meshing process between the spur gear 242 and the multiple speed spur gears in the speed gear set 241. Therefore, a straight drive member is vertically arranged above the drive motor 233 of the second drive shaft 24, and a driving cylinder or electric push rod 245 can be selected. The piston rod end of the straight drive member is connected to the drive motor 233 to push the drive motor 233, the second drive shaft 24, and the speed gear set 241 to move downward as a whole; to avoid structural interference, a cylindrical groove is provided at the top of the first drive shaft 23 to adapt to the smallest gear in the speed gear set 241, so that when the second drive shaft 24 moves downward, the downward movement margin of the speed gear set 241 is increased; in actual application, the cylindrical groove is a non-essential structure, and whether it is opened should be determined according to the height of the casing.

[0034] The implementation principle of a speed-changing transmission system for a drone in the first embodiment of the present application is as follows: in the starting state of the drone, the first bevel gear of the first drive shaft 23 meshes with the second bevel gears of the first transmission shaft 21 and the second transmission shaft 22. In this meshing state, the drone can perform initial lifting and lowering movements, which is a basic transmission mode and the basis for the movement of the drone; when the speed of the first transmission shaft 21 and the second transmission shaft 22 changes, the main body parts of the first transmission shaft 21 and the second transmission shaft 22 are extended and retracted, and the second drive shaft 24 drives the speed-changing gear set 241 to mesh with the first transmission shaft 21 and the second transmission shaft 22, so that different gears of the speed-changing gear set 241 can achieve different levels of transmission speeds to control the rotor to rotate at different speeds.

[0035] Embodiment 2: The second embodiment of the present application discloses a control system for a variable speed transmission system of a drone, which is applied to the control of the transmission system 2 in the second embodiment. Figure 3 A control system for a variable speed transmission system of a UAV includes an air volume measurement module 7, a calculation and processing module 3, a specific control module 6, a display module 5, and an input control module 4.

[0036] Reference Figure 3The wind volume measurement module 7 is arranged on the surface of the casing, and is integrated with the collection function of wind direction and wind force values, specifically including wind speed sensors and wind direction sensors arranged on multiple sides of the casing; the wind volume measurement module 7 is connected to the calculation processing module 3, and the detection value is sent to the calculation processing module 3 in real time. The calculation processing module 3 has pre-stored instruction generation files and execution calculation files, which receive the measurement data of the wind volume measurement module 7 in real time and run the execution calculation file, and send the calculation result to the display module 5, and the display module 5 displays the operation result of the calculation processing module 3. The calculation processing module 3 runs the instruction generation file according to the calculation result. When the wind force value monitored in real time by the wind volume measurement module 7 increases to a preset value, it means that the current wind force can affect the stable flight of the drone, then the calculation processing module 3 runs the instruction file to control the wind direction sensor to start running and detect the real-time wind direction; the display module 5 displays the real-time wind force and wind direction.

[0037] Reference Figure 3 , the specific control module 6 is connected to the calculation processing module 3, the calculation processing module 3 runs the instruction generation file, and sends the relevant instructions to the specific control module 6. The specific control module 6 mainly includes the electric control circuit of the drive motor 233 of the first drive shaft 23, the electric control circuit of the drive motor 233 of the second drive shaft 24, the electric control circuit of the electric push rod 245 of the first transmission shaft 21 and the second transmission shaft 22, and the electric control circuit of the liquid crystal display of the display module, which receives the control instructions of the calculation processing module 3 and specifically executes them. The above-mentioned calculation processing module 3 generates instructions when the real-time wind force affects the stable flight of the drone, and the specific control module 6 sends control instructions to adjust the airflow driving force of the drone by changing the transmission speed of the first drive shaft 23, the second drive shaft 24, the first transmission shaft 21, and the second transmission shaft 22 to compensate for the wind force.

[0038] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A variable speed transmission system for a drone, arranged inside a housing of the drone, characterized in that: The transmission is connected to two sets of symmetrically distributed rotors, which include: A first drive shaft (23) is vertically arranged on both sides of the housing, and a plurality of groups of transmission bevel gears (231) are vertically distributed on the first drive shaft (23); a driving member for driving the first drive shaft (23) to rotate is arranged in the housing; Two first transmission shafts (21) are provided corresponding to a group of rotors, one end of which is formed with a second transmission bevel gear (232) meshing with the first transmission bevel gear (231), and one end of which is transmission-connected to the rotor; the two first transmission shafts (21) are arranged in parallel; Two second transmission shafts (22) are provided corresponding to another group of rotors, one end of which is formed with a second transmission bevel gear (232) meshing with the first transmission bevel gear (231), and the other end is transmission-connected to the rotor; the two second transmission shafts (22) are arranged in parallel; the angle between one of the second transmission shafts (22) and the first transmission shaft (21) connected to the rotor on the same side of the housing is not less than 60°; The speed change assembly is arranged at the top end of the first drive shaft (23), rotates synchronously with the first drive shaft (23), and is connected to the first transmission shaft (21) and the second transmission shaft (22).

2. The variable speed transmission system of a drone according to claim 1, characterized in that: The speed change assembly comprises: A second drive shaft (24) is vertically arranged and coaxially arranged with the first drive shaft (23), with its bottom end plugged into the top end of the first drive shaft (23), and a drive member is arranged inside the housing corresponding to the second drive shaft (24); The speed change gear set (241) is formed with a shaft body of the second drive shaft (24); the top end of the first drive shaft (23) is provided with a cylindrical groove for accommodating the speed change gear set (241); the speed change gear set (241) is transmission-connected to the first transmission shaft (21) and the second transmission shaft (22).

3. The variable speed transmission system of a drone according to claim 2, characterized in that: The first drive shaft (23) and the second drive shaft (24) are coaxial and arranged at different speeds.

4. The variable speed transmission system of a drone according to claim 2, characterized in that: The speed change assembly also includes: A spur gear (242) is horizontally arranged and axially parallel to the first transmission shaft (21) and the second transmission shaft (22); the spur gear (242) is meshed with the speed change gear set (241); and a speed change bevel gear 1 (243) is horizontally arranged below the wheel surface of the spur gear (242); The second speed bevel gear (244) is formed on the first transmission shaft (21) and the second transmission shaft (22), and meshes with the first speed bevel gear (243). The first speed bevel gear (243) and the second speed bevel gear (244) maintain a meshing state.

5. The variable speed transmission system for an unmanned aerial vehicle according to claim 4, characterized in that: The speed bevel gear 1 (243) and the speed bevel gear 2 (244) are meshed, and the inclination direction of the tooth surface of the speed bevel gear 2 (244) is opposite to the inclination direction of the tooth surface of the transmission bevel gear 2 (232); Telescopic components are arranged on the shaft bodies of the first transmission shaft (21) and the second transmission shaft (22).

6. The variable speed transmission system for an unmanned aerial vehicle according to claim 5, characterized in that: The shaft body of each first transmission shaft (21) and each second transmission shaft (22) is composed of two shaft body parts plugged in toward each other, and a clamping assembly is provided at the plugging end, so that the two ends of the shaft body of each first transmission shaft (21) and the second transmission shaft (22) rotate synchronously.

7. A control system applied to a variable speed transmission system of an unmanned aerial vehicle as claimed in claim 6, characterized in that: It comprises an air volume measurement module (7), a calculation processing module (3), a specific control module (6), and a display module (5); The wind volume measurement module (7) is arranged on the surface of the casing and is integrated with the function of collecting wind direction and wind force values; the wind volume measurement module (7) is connected to the calculation and processing module (3) and uploads the collected values ​​to the calculation and processing module (3); The calculation processing module (3) has pre-stored therein an instruction generation file and an execution calculation file. The calculation processing module (3) maintains an operating state, receives the measurement data of the air volume measurement module (7) in real time, runs the execution calculation file, and sends the calculation result to the display module (5); the calculation processing module (3) runs the instruction generation file according to the calculation result, generates relevant instructions, and sends them to the specific control module (6); The specific control module (6) is connected to the calculation and processing module (3), receives instructions from the calculation and processing module (3), and controls the rotation of the first drive shaft (23) and the second drive shaft (24), and the extension and retraction of the first transmission shaft (21) and the second transmission shaft (22).

8. The control system of a variable speed transmission system of an unmanned aerial vehicle according to claim 7, characterized in that: The input control module (4) is connected to the specific control module (6) to provide a priority instruction input and execution channel, and the specific control module (6) preferentially executes the input instructions of the input control module (4).

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