A tube-launched coaxial twin-rotor UAV

Abstract

The present invention relates to the technical field of unmanned aerial vehicles, and discloses a tube-launched coaxial twin-rotor unmanned aerial vehicle, comprising: a launching unit and a flight unit, wherein the launching unit comprises a launching angle adjustment mechanism, a launching force adjustment mechanism, a guiding anti-deviation mechanism and a locking mechanism, wherein the launching force adjustment mechanism is movably mounted on the surface of the launching angle adjustment mechanism, the guiding anti-deviation mechanism is fixedly mounted inside the launching force adjustment mechanism, and the locking mechanism is mounted inside the guiding anti-deviation mechanism, and the flight unit comprises an anti-deviation protection mechanism and a rotor transmission mechanism, wherein the rotor transmission mechanism is mounted inside the anti-deviation protection mechanism. The tube-launched coaxial twin-rotor unmanned aerial vehicle ensures that the mechanical thrust generated by the launching force adjustment mechanism pushes the flight unit to eject when in use, and ensures stable storage and transportation compared to traditional launches using media such as compressed gas or gunpowder, and reduces launch characteristics such as fire, shock waves and noise during launch.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a tube-launched coaxial twin-rotor unmanned aerial vehicle. Background Art

[0002] A coaxial twin-rotor UAV has two rotors, one rotating forward and one counter-rotating around the same theoretical axis. Due to their opposite directions, the torques generated by the two rotors balance each other when the heading remains unchanged. Heading control can be achieved by generating an unbalanced torque through the so-called total torque differential of the upper and lower rotors. During flight, the coaxial twin rotors serve as both lift surfaces and longitudinal, lateral and heading control surfaces.

[0003] Traditional drones often require a flat area to take off, and the takeoff preparation time is long. They are difficult to stably mount and fix on a mobile platform for rapid deployment and launch. Some deployable drones are mostly launched using compressed gas, gunpowder and other media, which are not easy to stably store and transport. They also have launch characteristics such as flames, shock waves and noise during launch. In addition, it is difficult to fix the drone when storing it before launch, and it is easy to fall off. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a tube-launched coaxial twin-rotor UAV, which solves the problems mentioned in the above background.

[0005] The present invention provides the following technical solution: a tube-launched coaxial twin-rotor UAV, comprising: a launching unit and a flying unit, the launching unit comprising a launching angle adjustment mechanism, a launching force adjustment mechanism, a guiding anti-deviation mechanism and a locking mechanism, the launching force adjustment mechanism being movably mounted on the surface of the launching angle adjustment mechanism, the guiding anti-deviation mechanism being fixedly mounted inside the launching force adjustment mechanism, the locking mechanism being mounted inside the guiding anti-deviation mechanism, the flying unit comprising an anti-deviation protection mechanism and a rotor transmission mechanism, the rotor transmission mechanism being mounted inside the anti-deviation protection mechanism.

[0006] Preferably, the launch angle adjustment mechanism includes a mounting plate seat, an angle adjustment motor, an angle adjustment shaft and a connecting ring. The angle adjustment motor is fixedly mounted on the surface of the mounting plate seat, the angle adjustment shaft is fixedly connected to the output end of the angle adjustment motor through a coupling, and the angle adjustment shaft is rotatably connected to the mounting plate seat through a bearing, and the connecting ring is fixedly sleeved on the surface of the angle adjustment shaft.

[0007] Preferably, the launching force adjustment mechanism includes a launching tube, an electric telescopic cylinder and a launching spring, the launching tube is fixedly connected to the inner wall of the connecting ring, the electric telescopic cylinder is fixedly installed on the inner wall of the bottom end of the launching tube, and a sliding plate is fixedly installed on the top of the electric telescopic cylinder, and the launching spring is movably arranged inside the launching tube.

[0008] Preferably, the guide anti-deviation mechanism includes a gear guide frame, an isolation cover, a lock alignment guide groove, a lower through hole, a lock hook plate, a yielding and disengaging groove and an anti-scratch inclined surface. The gear guide frame is fixedly connected to the inside of the launching tube, the isolation cover is fixedly connected to the bottom end of the gear guide frame, the lock alignment guide groove is penetrated through the surface of the gear guide frame, the lower through hole is penetrated through the bottom end of the gear guide frame, the lock hook plate is fixedly connected to the inner wall of the gear guide frame, the yielding and disengaging groove is penetrated through the surface of the lock hook plate, and the anti-scratch inclined surface is arranged on the inner wall of the top of the yielding and disengaging groove.

[0009] Preferably, the locking mechanism includes a locking seat, an extended slider, a locking ring and an electromagnetic lock, the locking seat is slidably connected to the inner wall of the gear guide frame, the extended slider is integrally arranged on the surface of the locking seat, and the surface of the extended slider is slidably connected to the inner wall of the locking alignment guide groove, the launching spring is movably sleeved on the surface of the gear guide frame, and the launching spring is located between the extended slider and the sliding plate, the locking ring is integrally arranged in the middle of the bottom of the locking seat, and the electromagnetic lock is fixedly mounted on the lower surface of the gear guide frame.

[0010] Preferably, the locking mechanism also includes a lifting seat, a connecting block, an anti-disengagement hook, an extrusion block and a disengagement spring, the lifting seat is fixedly connected to the top of the locking seat, the connecting block is fixedly connected to the inner wall of the lifting seat, and the number of connecting blocks is four, the anti-disengagement hook is rotatably connected to the inner wall of the connecting block, the extrusion block is integrally arranged on the outer side of the anti-disengagement hook, and the surface of the extrusion block is slidingly connected to the surface of the lock hook plate, and the surface of the extrusion block is movably connected to the inner wall of the disengagement groove, the disengagement spring is fixedly connected to the inner wall of the lifting seat, and the surface of the disengagement spring is slidingly connected to the surface of the anti-disengagement hook.

[0011] Preferably, the anti-deflection protection mechanism includes a casing, a motor frame, a battery, a rotor storage slot, a mission load, a locking ring and a locking slot, the battery is fixedly mounted inside the casing through the motor frame, the rotor storage slot is opened on the surface of the casing, and the surface of the casing is slidingly connected to the inner wall of the gear guide frame, the mission load is fixedly mounted on the bottom of the casing, the locking ring is fixedly sleeved on the surface of the bottom end of the mission load, the locking slot is opened on the surface of the locking ring, and the locking ring is hung with the anti-detachment hook through the locking slot.

[0012] Preferably, the rotor transmission mechanism comprises a rotor motor, a rotor inner shaft, a support plate, a rotor outer shaft, a ball joint, an inner shaft conical spur wheel, an outer shaft bevel gear, a transmission bevel gear and a rotating shaft, the rotor motor is fixedly installed inside the motor frame, the rotor inner shaft is fixedly connected to the output end of the rotor motor through a coupling, the support plate is fixedly connected to the top of the casing, the rotor outer shaft is rotatably connected to the surface of the rotor inner shaft through a bearing, and the surface of the rotor outer shaft is rotatably connected to the inner wall of the support plate through a bearing, the ball joint is integrally arranged on the surface of the rotor outer shaft, and the number of ball joints is four, the inner shaft conical spur wheel is fixedly sleeved on the surface of the rotor inner shaft, the outer shaft bevel gear is fixedly sleeved on the surface of the rotor outer shaft, the transmission bevel gear is rotatably connected to the inner wall of the casing through a rotating shaft, and the inner shaft conical spur wheel is transmission connected to the outer shaft bevel gear through the transmission bevel gear, and the top of the rotor inner shaft is fixedly connected with a cover plate.

[0013] Preferably, the rotor transmission mechanism also includes a push plate, a first swash plate, a second swash plate, a third swash plate, an electric push rod, a rotor frame, a rotor adjustment head, a first connecting rod and a second connecting rod, the push plate, the first swash plate, the second swash plate and the third swash plate are respectively movably sleeved on the surfaces of four ball joints, and the surface of the push plate is slidingly connected to the surface of the first swash plate, and the surface of the second swash plate is slidingly connected to the surface of the third swash plate, the electric push rod is movably installed between the push plate and the support plate through a universal coupling, the number of the rotor frames is two, and the two rotor frames are respectively fixedly sleeved on the surface of the rotor inner shaft and the surface of the rotor outer shaft, the rotor adjustment heads are respectively rotatably connected to the two ends of the two rotor adjustment heads through bearings, the first connecting rod is rotatably connected between the first swash plate, the second swash plate and the lower rotor adjustment head, and the second connecting rod is rotatably connected between the third swash plate and the upper rotor adjustment head.

[0014] Preferably, the rotor transmission mechanism also includes a rotor folding seat, a rotor head, a rotor blade, a slot, an unfolding spring, a first storage slide cavity, a second storage slide cavity, a positioning lock tongue, a dust shield slide plate and a positioning spring, the rotor folding seat is fixedly connected to one end of the rotor adjustment head, the rotor head is rotatably connected to the inner wall of the rotor folding seat, the rotor blade is integrally arranged at one end of the rotor head, the slot is opened on the surface of the rotor head, the unfolding spring is fixedly connected to the surface of the rotor folding seat, and the surface of the unfolding spring is slidably connected to the surface of the rotor head, the first storage slide cavity and the second storage slide cavity are both opened inside the rotor folding seat, and the first storage slide cavity is communicated with the second storage slide cavity, the positioning lock tongue is slidably connected to the inside of the first storage slide cavity, the dust shield slide plate is slidably connected to the inside of the second storage slide cavity, and the dust shield slide plate is fixedly connected to the upper surface of the positioning lock tongue, and the positioning spring is movably installed between the positioning lock tongue and the first storage slide cavity.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] This tube-launched coaxial twin-rotor UAV, through the set launch angle adjustment mechanism, launch force adjustment mechanism, guide anti-deviation mechanism, locking mechanism, anti-deviation protection mechanism and rotor transmission mechanism, ensures that the mechanical thrust generated by the launch force adjustment mechanism pushes the flying part to be ejected when in use. Compared with traditional launch media such as compressed gas or gunpowder, it ensures stable storage and transportation, and reduces launch characteristics such as fire, shock wave and noise during launch.

[0017] The tube-launched coaxial twin-rotor UAV, through the provision of a launching tube, an electric telescopic cylinder and a launching spring, can adjust the degree of compression of the launching spring by pushing the sliding plate through the electric telescopic cylinder before launching, thereby changing the elastic force of the launching spring, thereby adjusting the launching height and the pressing force during the installation of the flight unit according to demand and load.

[0018] The barrel-launched coaxial twin-rotor UAV can lock the lock ring with the electromagnetic lock to maintain the stored force when in use, and fix the flight unit with the anti-detachment hook, so that the UAV placed as the flight unit will not easily fall off during transportation, and the anti-detachment hook can be pushed to open and unlock by squeezing the disengagement spring during launch, thereby ensuring stable launch of the flight unit.

[0019] The barrel-launched coaxial twin-rotor UAV, through the arranged casing, motor frame, battery, rotor storage slot, mission load, locking ring and locking slot, can cooperate with the gear guide frame when the flight unit is installed to ensure that the folded rotor blades are stored in the rotor storage slot, avoid the rotor blades from being stuck in the locking alignment guide slot, and ensure that the rotor blades can slide out smoothly.

[0020] The barrel-launched coaxial twin-rotor UAV can fold the rotor head and rotor blades when the flight unit is stored to avoid taking up space through the provision of a rotor folding holder, a rotor head, rotor blades, a slot, an unfolding spring, a first storage slide cavity, a second storage slide cavity, a positioning lock tongue, a dust-proof slide plate and a positioning spring. After launch, the rotor head and rotor blades are pushed to unfold and lock immediately through the elastic force of the unfolding spring, thereby ensuring that the flight unit can fly in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the branch structure without internal explosion of the present invention;

[0023] Figure 3 This is a schematic diagram of the connection structure between the inner rotor shaft and the outer rotor shaft of the present invention;

[0024] Figure 4It is a schematic diagram of the structure of the rotor transmission mechanism of the present invention;

[0025] Figure 5 This is a schematic diagram of the internal explosion structure of the rotor folding base of the present invention;

[0026] Figure 6 It is a cross-sectional view of the rotor folding seat of the present invention;

[0027] Figure 7 It is a side sectional view of the transmitting part of the present invention;

[0028] Figure 8 It is a structural schematic diagram of the location of the emission force adjustment mechanism of the present invention;

[0029] Fig. 9 It is a schematic diagram of the structure of the electromagnetic lock of the present invention;

[0030] Fig.10 It is a schematic diagram of the structure of the gear guide frame of the present invention;

[0031] Fig.11 It is a structural schematic diagram of the lock hook plate of the present invention;

[0032] Fig.12 It is a schematic diagram of the locking mechanism structure of the present invention;

[0033] Fig.13 This is a schematic diagram of the internal explosion structure of the locking mechanism of the present invention;

[0034] Fig.14 It is a structural schematic diagram of the connection block position of the present invention.

[0035] In the figure: 101, mounting plate seat; 102, angle adjustment motor; 103, angle adjustment shaft; 104, connecting collar; 201, launching tube; 202, electric telescopic cylinder; 203, launching spring; 301, gear guide frame; 302, isolation cover; 303, locking position alignment guide groove; 304, lower through hole; 305, locking hook plate; 306, yielding hook groove; 307, anti-scratch inclined surface; 401, locking seat; 402, extension slider; 403, locking ring; 404, electromagnetic lock; 405, lifting seat; 406, connecting block; 407, anti-hook; 408, extrusion block; 409, hook-off spring; 501, casing; 502, motor frame; 503, battery; 504, rotor storage slot; 505, mission load; 506, locking collar; 5 07, locking slot; 601, rotor motor; 602, rotor inner shaft; 603, support plate; 604, rotor outer shaft; 605, ball joint; 606, inner shaft cone spur wheel; 607, outer shaft bevel gear; 608, transmission bevel gear; 609, rotating shaft; 610, push plate; 611, first slant plate; 612, second slant plate; 613, third slant plate; 614, electric push rod; 615, rotor frame; 616, rotor adjustment head; 617, first connecting rod; 618, second connecting rod; 619, rotor folding seat; 620, rotor head; 621, rotor blades; 622, slot; 623, unfolding spring; 624, first storage slide cavity; 625, second storage slide cavity; 626, positioning lock tongue; 627, dust shield slide plate; 628, positioning spring. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] See also Figure 1-14A tube-launched coaxial twin-rotor UAV comprises: a launching unit and a flying unit, wherein the launching unit comprises a launching angle adjustment mechanism, a launching force adjustment mechanism, a guiding anti-deviation mechanism and a locking mechanism, wherein the launching force adjustment mechanism is movably mounted on the surface of the launching angle adjustment mechanism, the guiding anti-deviation mechanism is fixedly mounted inside the launching force adjustment mechanism, and the locking mechanism is mounted inside the guiding anti-deviation mechanism, and the flying unit comprises an anti-deviation protection mechanism and a rotor transmission mechanism, wherein the rotor transmission mechanism is mounted inside the anti-deviation protection mechanism, and the launching angle adjustment mechanism, the launching force adjustment mechanism, the guiding anti-deviation mechanism, the locking mechanism, the anti-deviation protection mechanism and the rotor transmission mechanism are arranged to ensure that the mechanical thrust generated by the launching force adjustment mechanism pushes the flying unit to be ejected when in use, and compared with the traditional launching of media such as compressed gas or gunpowder, the stable storage and transportation are ensured, and the launching characteristics such as the fire, shock wave and noise during launching are reduced.

[0038] Among them; the launch angle adjustment mechanism includes a mounting plate seat 101, an angle adjustment motor 102, an angle adjustment shaft 103 and a connecting ring 104, the angle adjustment motor 102 is fixedly mounted on the surface of the mounting plate seat 101, the angle adjustment shaft 103 is fixedly connected to the output end of the angle adjustment motor 102 through a coupling, and the angle adjustment shaft 103 is rotatably connected to the mounting plate seat 101 through a bearing, and the connecting ring 104 is fixedly sleeved on the surface of the angle adjustment shaft 103, so as to adjust the angle parameters of the launch tube 201 through the angle adjustment motor 102.

[0039] Among them; the launching force adjustment mechanism includes a launching tube 201, an electric telescopic cylinder 202 and a launching spring 203, the launching tube 201 is fixedly connected to the inner wall of the connecting ring 104, the electric telescopic cylinder 202 is fixedly installed on the inner wall of the bottom end of the launching tube 201, and a sliding plate is fixedly installed on the top of the electric telescopic cylinder 202, and the launching spring 203 is movably arranged inside the launching tube 201. Through the setting of the launching tube 201, the electric telescopic cylinder 202 and the launching spring 203, the sliding plate can be pushed by the electric telescopic cylinder 202 before launching to adjust the compression degree of the launching spring 203, thereby changing the elastic force of the launching spring 203, so as to adjust the launching height and the pressing force during the installation of the flight part according to the demand and load.

[0040] Among them, the guide anti-deviation mechanism includes a gear guide frame 301, an isolation cover 302, a locking alignment guide groove 303, a lower through hole 304, a locking hook plate 305, a yielding and disengaging groove 306 and an anti-scratch inclined surface 307. The gear guide frame 301 is fixedly connected to the inside of the launching tube 201, the isolation cover 302 is fixedly connected to the bottom end of the gear guide frame 301, the locking alignment guide groove 303 penetrates the surface of the gear guide frame 301, the lower through hole 304 penetrates the bottom end of the gear guide frame 301, the locking hook plate 305 is fixedly connected to the inner wall of the gear guide frame 301, the yielding and disengaging groove 306 penetrates the surface of the locking hook plate 305, and the anti-scratch inclined surface 307 is arranged on the inner wall at the top of the yielding and disengaging groove 306, and the transition between the locking hook plate 305 and the yielding and disengaging groove 306 can realize the self-locking and unlocking of the anti-disengaging hook 407.

[0041] Among them; the locking mechanism includes a locking seat 401, an extension slider 402, a locking ring 403 and an electromagnetic lock 404, the locking seat 401 is slidably connected to the inner wall of the gear guide frame 301, the extension slider 402 is integrally arranged on the surface of the locking seat 401, and the surface of the extension slider 402 is slidably connected to the inner wall of the locking alignment guide groove 303, the launching spring 203 is movably sleeved on the surface of the gear guide frame 301, and the launching spring 203 is located between the extension slider 402 and the sliding disk, the locking ring 403 is integrally arranged in the middle of the bottom of the locking seat 401, and the electromagnetic lock 404 is fixedly installed on the lower surface of the gear guide frame 301.

[0042] Among them, the locking mechanism also includes a lifting seat 405, a connecting block 406, an anti-off hook 407, an extrusion block 408 and a hook-off spring 409, the lifting seat 405 is fixedly connected to the top of the locking seat 401, the connecting block 406 is fixedly connected to the inner wall of the lifting seat 405, and the number of the connecting blocks 406 is four, the anti-off hook 407 is rotatably connected to the inner wall of the connecting block 406, the extrusion block 408 is integrally arranged on the outer side of the anti-off hook 407, and the surface of the extrusion block 408 is slidably connected to the surface of the lock hook plate 305, and the surface of the extrusion block 408 is movably connected to the inner wall of the yielding hook groove 306, and the hook-off spring 409 is fixedly connected to The inner wall of the lifting seat 405, and the surface of the disengagement spring 409 are slidably connected with the surface of the anti-disengagement hook 407. Through the arranged locking seat 401, extension slider 402, locking ring 403, electromagnetic lock 404, lifting seat 405, connecting block 406, anti-disengagement hook 407, extrusion block 408 and disengagement spring 409, the electromagnetic lock 404 can be used to lock the locking ring 403 to maintain the stored force when in use, and the anti-disengagement hook 407 can be used to fix the flying unit, so that the drone placed as the flying unit will not easily fall off during transportation, and the anti-disengagement hook 407 can be pushed to open and unlock through the extrusion of the disengagement spring 409 during launch, thereby ensuring the stable launch of the flying unit.

[0043] The anti-deflection protection mechanism includes a housing 501, a motor frame 502, a battery 503, a rotor storage slot 504, a mission load 505, a locking ring 506 and a locking slot 507. The battery 503 is fixedly installed inside the housing 501 through the motor frame 502. The rotor storage slot 504 is opened on the surface of the housing 501, and the surface of the housing 501 is slidably connected to the inner wall of the gear guide frame 301. The mission load 505 is fixedly installed at the bottom of the housing 501, and the locking ring 506 is fixedly sleeved on the surface of the bottom end of the mission load 505. The locking ring 506 is fixedly sleeved on the surface of the bottom end of the mission load 505. The groove 507 is opened on the surface of the locking ring 506, and the locking ring 506 is connected to the anti-detachment hook 407 through the locking groove 507. Through the arranged casing 501, motor frame 502, battery 503, rotor storage groove 504, mission load 505, locking ring 506 and locking groove 507, it can cooperate with the gear guide frame 301 when the flight unit is installed to ensure that the folded rotor blade 621 is stored in the rotor storage groove 504, avoid the rotor blade 621 from being stuck in the locking alignment guide groove 303, and ensure that the rotor blade 621 can slide out smoothly.

[0044] Wherein; the rotor transmission mechanism includes a rotor motor 601, a rotor inner shaft 602, a support plate 603, a rotor outer shaft 604, a ball joint 605, an inner shaft cone spur wheel 606, an outer shaft bevel gear 607, a transmission bevel gear 608 and a rotating shaft 609, the rotor motor 601 is fixedly installed inside the motor frame 502, the rotor inner shaft 602 is fixedly connected to the output end of the rotor motor 601 through a coupling, the support plate 603 is fixedly connected to the top of the casing 501, the rotor outer shaft 604 is rotatably connected to the surface of the rotor inner shaft 602 through a bearing, and the surface of the rotor outer shaft 604 is rotatably connected to the inner wall of the support plate 603 through a bearing, and the ball joint 605 is integrally arranged on the rotor The surface of the wing outer shaft 604, and the number of ball joints 605 is four, the inner shaft cone spur wheel 606 is fixedly sleeved on the surface of the rotor inner shaft 602, the outer shaft bevel gear 607 is fixedly sleeved on the surface of the rotor outer shaft 604, the transmission bevel gear 608 is rotatably connected to the inner wall of the casing 501 through the rotating shaft 609, and the inner shaft cone spur wheel 606 is transmission-connected to the outer shaft bevel gear 607 through the transmission bevel gear 608, and the top of the rotor inner shaft 602 is fixedly connected with a cover plate, through the transmission of the rotor inner shaft 602, the rotor outer shaft 604, the inner shaft cone spur wheel 606, the outer shaft bevel gear 607 and the transmission bevel gear 608, the coaxial reversal of the two-layer rotor can be achieved to ensure torque balance.

[0045] The rotor transmission mechanism also includes a push plate 610, a first slant plate 611, a second slant plate 612, a third slant plate 613, an electric push rod 614, a rotor frame 615, a rotor adjustment head 616, a first connecting rod 617 and a second connecting rod 618. The push plate 610, the first slant plate 611, the second slant plate 612 and the third slant plate 613 are respectively movably sleeved on the surfaces of the four ball joints 605, and the surface of the push plate 610 is slidably connected to the surface of the first slant plate 611, and the surface of the second slant plate 612 is slidably connected to the surface of the third slant plate 613. The electric push rod 614 is movably installed between the push plate 610 and the support plate 603 through a universal coupling. There are two frames 615, and the two rotor frames 615 are fixedly sleeved on the surface of the rotor inner shaft 602 and the surface of the rotor outer shaft 604 respectively, the rotor adjustment heads 616 are rotatably connected to the two ends of the two rotor adjustment heads 616 through bearings respectively, the first connecting rod 617 is rotatably connected between the first swash plate 611, the second swash plate 612 and the lower rotor adjustment head 616, the second connecting rod 618 is rotatably connected between the third swash plate 613 and the upper rotor adjustment head 616, and the angle of the rotor blade 621 can be indirectly adjusted by the deflection of the push plate 610, the first swash plate 611, the second swash plate 612 and the third swash plate 613, thereby realizing heading control.

[0046] Among them, the rotor transmission mechanism also includes a rotor folding seat 619, a rotor head 620, a rotor blade 621, a slot 622, an unfolding spring 623, a first storage slide cavity 624, a second storage slide cavity 625, a positioning lock tongue 626, a dust shield slide plate 627 and a positioning spring 628. The rotor folding seat 619 is fixedly connected to one end of the rotor adjustment head 616, and the rotor head 620 is rotatably connected to the inner wall of the rotor folding seat 619. The rotor blade 621 is integrally arranged at one end of the rotor head 620. The slot 622 is opened on the surface of the rotor head 620. The unfolding spring 623 is fixedly connected to the surface of the rotor folding seat 619, and the surface of the unfolding spring 623 is slidably connected to the surface of the rotor head 620. The first storage slide cavity 624 and the second storage slide cavity 625 are both opened in the rotor folding seat 619, and the first storage slide cavity 624 and the second storage slide cavity 625 are connected, the positioning lock tongue 626 is slidably connected to the inside of the first storage slide cavity 624, the dust shield slide plate 627 is slidably connected to the inside of the second storage slide cavity 625, and the dust shield slide plate 627 is fixedly connected to the upper surface of the positioning lock tongue 626, and the positioning spring 628 is movably installed between the positioning lock tongue 626 and the first storage slide cavity 624. Through the set rotor folding seat 619, rotor head 620, rotor blades 621, slot 622, unfolding spring 623, first storage slide cavity 624, second storage slide cavity 625, positioning lock tongue 626, dust shield slide plate 627 and positioning spring 628, the rotor head 620 and rotor blades 621 can be folded when the flight unit is stored to avoid occupying space. After launch, the elastic force of the unfolding spring 623 pushes the rotor head 620 and the rotor blades 621 to be immediately unfolded and locked, thereby ensuring that the flight unit can fly in time.

[0047] Working principle:

[0048] When storing, push the dust shield slide plate 627 to retract the positioning lock tongue 626, then rotate the rotor head 620 to fold the rotor head 620 and the rotor blades 621, and at the same time ensure that the folded rotor blades 621 are located inside the rotor storage slot 504, then start the electric telescopic cylinder 202, the electric telescopic cylinder 202 contracts to drive the sliding plate to slide down, the launching spring 203 is stretched to the longest and the elastic force is the lowest, then the flying part is slid into the gear guide 301, and the depression between the locking hook plate 305 is aligned with the protrusion on the surface of the casing 501. At this time, the folded rotor blades 621 are also inserted into the gap between the rotor storage slot 504 and the locking hook plate 305, and then the casing is pressed down. 501, at this time, the locking ring 506 is in contact with the lifting seat 405, and the anti-drop hook 407 is in an open state. As the housing 501 slides down, the extrusion block 408 slides through the clearance dropout slot 306 and drops out of the clearance dropout slot 306. At this time, the extrusion block 408 is pressed inwardly and closely adheres to the inner wall of the lock hook plate 305. The opened anti-dropout hook 407 closes inwardly and hooks into the locking slot 507. Then, as the lifting seat 405 slides to the end of the position, the lock ring 403 passes through the lower through hole 304, and then the electromagnetic lock 404 is started. The electromagnetic lock 404 extends the lock tongue to lock the lock ring 403, and at the same time the launch spring 203 contracts. At this time, the flight unit is stored and ready to be launched at any time;

[0049] During launch, the electric telescopic cylinder 202 is started, and the electric telescopic cylinder 202 extends to push the sliding plate upward, and the telescopic length of the electric telescopic cylinder 202 is adjusted according to demand, so as to control the contraction degree of the launching spring 203, and control the launching force of the launching spring 203, so as to adjust the launching length of the launching part, and then the angle adjustment motor 102 is started, and the angle adjustment motor 102 drives the angle adjustment shaft 103, and the angle adjustment shaft 103 drives the connecting ring 104 to rotate, so as to adjust the elevation angle of the launching tube 201. When the launch elevation angle parameters and the launch force parameters are adjusted, the electromagnetic lock 404 is started, and the lock tongue of the electromagnetic lock 404 is contracted, and the lock position of the lock ring 403 is released. The launching spring 203 extends to push the extension slider 402 upward, so that the locking seat 401 and the lifting seat 405 drive the flight part to push outward instantly. After reaching one side of the yielding and disengaging slot 306, the limit on the side of the squeezing block 408 is released, the disengaging spring 409 squeezes the anti-disengagement hook 407, the anti-disengagement hook 407 is pressed and opened, and the squeezing block 408 slides into the yielding and disengaging slot 306. At the same time, the anti-disengagement hook 407 releases the hooking of the locking collar 506 until the extending slider 402 slides to the end of the locking alignment guide slot 303, the locking seat 401 and the lifting seat 405 stop, and the flight unit continues to move and pops out due to its own inertia. After popping out, the limit of the rotor blade 621 is released, and the unfolding spring 623 pushes the rotor head 620 to rotate ninety degrees, and the rotor blade 621 is unfolded. At the same time, the positioning lock tongue 626 is snapped into the slot 622 to lock the unfolded rotor head 620, and then the rotor motor 601 is started to make the rotor blade 621 rotate, and the flight unit starts to fly by itself, thereby achieving launch.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A barrel-launched coaxial twin-rotor UAV, characterized in that: include: A launching unit and a flying unit, wherein the launching unit comprises a launching angle adjustment mechanism, a launching force adjustment mechanism, a guiding anti-deviation mechanism and a locking mechanism, wherein the launching force adjustment mechanism is movably mounted on the surface of the launching angle adjustment mechanism, the guiding anti-deviation mechanism is fixedly mounted inside the launching force adjustment mechanism, and the locking mechanism is mounted inside the guiding anti-deviation mechanism, and the flying unit comprises an anti-deviation protection mechanism and a rotor transmission mechanism, and the rotor transmission mechanism is mounted inside the anti-deviation protection mechanism; The emission angle adjustment mechanism comprises a mounting plate seat (101), an angle adjustment motor (102), an angle adjustment shaft (103) and a connecting collar (104); the angle adjustment motor (102) is fixedly mounted on the surface of the mounting plate seat (101); the angle adjustment shaft (103) is fixedly connected to the output end of the angle adjustment motor (102) via a coupling; the angle adjustment shaft (103) is rotatably connected to the mounting plate seat (101) via a bearing; and the connecting collar (104) is fixedly sleeved on the surface of the angle adjustment shaft (103); The launching force adjustment mechanism comprises a launching tube (201), an electric telescopic cylinder (202) and a launching spring (203); the launching tube (201) is fixedly connected to the inner wall of the connecting ring (104); the electric telescopic cylinder (202) is fixedly mounted on the inner wall of the bottom end of the launching tube (201); a sliding plate is fixedly mounted on the top end of the electric telescopic cylinder (202); and the launching spring (203) is movably arranged inside the launching tube (201); The guide anti-deviation mechanism comprises a gear guide frame (301), an isolation cover (302), a locking alignment guide groove (303), a lower through hole (304), a locking hook plate (305), a yielding and disengaging groove (306) and an anti-scratch inclined surface (307). The gear guide frame (301) is fixedly connected to the inside of the launch tube (201), the isolation cover (302) is fixedly connected to the bottom end of the gear guide frame (301), the locking alignment guide groove (303) is penetrated and opened on the surface of the gear guide frame (301), the lower through hole (304) is penetrated and opened on the bottom end of the gear guide frame (301), the locking hook plate (305) is fixedly connected to the inner wall of the gear guide frame (301), the yielding and disengaging groove (306) is penetrated and opened on the surface of the locking hook plate (305), and the anti-scratch inclined surface (307) is arranged on the inner wall at the top end of the yielding and disengaging groove (306).

2. The barrel-launched coaxial twin-rotor UAV according to claim 1, characterized in that: The locking mechanism comprises a locking seat (401), an extension slider (402), a locking ring (403) and an electromagnetic lock (404); the locking seat (401) is slidably connected to the inner wall of the gear guide frame (301); the extension slider (402) is integrally arranged on the surface of the locking seat (401), and the surface of the extension slider (402) is slidably connected to the inner wall of the locking alignment guide groove (303); the launching spring (203) is movably sleeved on the surface of the gear guide frame (301), and the launching spring (203) is located between the extension slider (402) and the sliding plate; the locking ring (403) is integrally arranged in the middle of the bottom of the locking seat (401), and the electromagnetic lock (404) is fixedly mounted on the lower surface of the gear guide frame (301).

3. The barrel-launched coaxial twin-rotor UAV according to claim 2, characterized in that: The locking mechanism further comprises a lifting seat (405), a connecting block (406), an anti-drop hook (407), an extruding block (408) and a drop hook spring (409); the lifting seat (405) is fixedly connected to the top of the locking seat (401); the connecting block (406) is fixedly connected to the inner wall of the lifting seat (405); the number of the connecting blocks (406) is four; the anti-drop hook (407) is rotatably connected to the inner wall of the connecting block (406); the extruding block (408) is integrally arranged on the outer side of the anti-drop hook (407); the surface of the extruding block (408) is slidably connected to the surface of the locking hook plate (305); the surface of the extruding block (408) is movably connected to the inner wall of the yield drop hook groove (306); the drop hook spring (409) is fixedly connected to the inner wall of the lifting seat (405); the surface of the drop hook spring (409) is slidably connected to the surface of the anti-drop hook (407).

4. The barrel-launched coaxial twin-rotor UAV according to claim 1, characterized in that: The anti-deflection protection mechanism comprises a casing (501), a motor frame (502), a battery (503), a rotor storage slot (504), a mission load (505), a locking collar (506) and a locking groove (507); the battery (503) is fixedly mounted inside the casing (501) via the motor frame (502); the rotor storage slot (504) is provided on a surface of the casing (501), and the surface of the casing (501) is slidably connected to an inner wall of a gear guide frame (301); the mission load (505) is fixedly mounted on the bottom of the casing (501); the locking collar (506) is fixedly sleeved on a surface at a bottom end of the mission load (505); the locking groove (507) is provided on a surface of the locking collar (506), and the locking collar (506) is hung with an anti-drop hook (407) via the locking groove (507).

5. The barrel-launched coaxial twin-rotor UAV according to claim 4, characterized in that: The rotor transmission mechanism comprises a rotor motor (601), a rotor inner shaft (602), a support plate (603), a rotor outer shaft (604), a ball joint (605), an inner shaft bevel spur wheel (606), an outer shaft bevel gear (607), a transmission bevel gear (608) and a rotating shaft (609); the rotor motor (601) is fixedly mounted inside a motor frame (502); the rotor inner shaft (602) is fixedly connected to an output end of the rotor motor (601) via a coupling; the support plate (603) is fixedly connected to the top of the housing (501); the rotor outer shaft (604) is rotatably connected to the surface of the rotor inner shaft (602) via a bearing; and the rotor outer shaft (604) is rotatably connected to the surface of the rotor inner shaft (602) via a bearing. The surface of the rotor inner shaft (604) is rotatably connected to the inner wall of the support plate (603) through a bearing, the ball joint (605) is integrally arranged on the surface of the rotor outer shaft (604), and the number of the ball joints (605) is four, the inner shaft cone spur wheel (606) is fixedly sleeved on the surface of the rotor inner shaft (602), the outer shaft bevel gear (607) is fixedly sleeved on the surface of the rotor outer shaft (604), the transmission bevel gear (608) is rotatably connected to the inner wall of the casing (501) through a rotating shaft (609), and the inner shaft cone spur wheel (606) is transmission-connected to the outer shaft bevel gear (607) through the transmission bevel gear (608), and a cover plate is fixedly connected to the top end of the rotor inner shaft (602).

6. The barrel-launched coaxial twin-rotor UAV according to claim 5, characterized in that: The rotor transmission mechanism further comprises a push plate (610), a first swash plate (611), a second swash plate (612), a third swash plate (613), an electric push rod (614), a rotor frame (615), a rotor adjustment head (616), a first connecting rod (617) and a second connecting rod (618); the push plate (610), the first swash plate (611), the second swash plate (612) and the third swash plate (613) are respectively movably sleeved on the surfaces of the four ball joints (605); the surface of the push plate (610) is slidably connected to the surface of the first swash plate (611); the surface of the second swash plate (612) is slidably connected to the surface of the third swash plate (613); the electric push rod (614) 14) is movably installed between the push plate (610) and the support plate (603) through a universal coupling, the number of the rotor frames (615) is two, and the two rotor frames (615) are respectively fixedly sleeved on the surface of the rotor inner shaft (602) and the surface of the rotor outer shaft (604), the rotor adjustment head (616) is rotatably connected to the two ends of the two rotor adjustment heads (616) through bearings, the first connecting rod (617) is rotatably connected between the first swash plate (611), the second swash plate (612) and the lower rotor adjustment head (616), and the second connecting rod (618) is rotatably connected between the third swash plate (613) and the upper rotor adjustment head (616).

7. The barrel-launched coaxial twin-rotor UAV according to claim 6, characterized in that: The rotor transmission mechanism further comprises a rotor folding seat (619), a rotor head (620), a rotor blade (621), a slot (622), an unfolding spring (623), a first storage slide cavity (624), a second storage slide cavity (625), a positioning lock tongue (626), a dust blocking slide plate (627) and a positioning spring (628); the rotor folding seat (619) is fixedly connected to one end of the rotor adjustment head (616); the rotor head (620) is rotatably connected to the inner wall of the rotor folding seat (619); the rotor blade (621) is integrally arranged at one end of the rotor head (620); the slot (622) is provided on the surface of the rotor head (620); the unfolding spring (623) is fixedly connected to the rotor The surface of the folding seat (619) and the surface of the unfolding spring (623) are slidably connected to the surface of the rotor head (620); the first storage slide cavity (624) and the second storage slide cavity (625) are both opened inside the rotor folding seat (619), and the first storage slide cavity (624) is connected to the second storage slide cavity (625); the positioning lock tongue (626) is slidably connected inside the first storage slide cavity (624); the dust shield slide (627) is slidably connected inside the second storage slide cavity (625), and the dust shield slide (627) is fixedly connected to the upper surface of the positioning lock tongue (626); and the positioning spring (628) is movably installed between the positioning lock tongue (626) and the first storage slide cavity (624).

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