Multi-spiral inner-paddle anti-torque unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a multi-spiral inner-propeller anti-torque unmanned aerial vehicle. The machine comprises a machine body, a power assembly and an anti-torque assembly, the anti-torque assembly comprises a machine frame pipe, an inner paddle motor and a spiral inner paddle, the inner paddle motor and the spiral inner paddle are arranged in the machine frame pipe, a valve assembly is arranged on the machine frame pipe, a valve baffle is arranged in the valve assembly, a valve air port is formed in the valve assembly, and a baffle air port is formed in the valve baffle. And the baffle air port is matched with the valve air port. The propellers for balancing the torque are arranged in the fuselage, the situation that the propellers for balancing the torque are all arranged outside a fuselage cabin is effectively avoided, the efficient torque balancing function is achieved in the limited inner space of the fuselage, the probability that the propellers make contact with foreign matter is greatly reduced, and the flight safety is remarkably improved; and compared with a traditional method for steering by changing the rotating speed difference of propellers, the response speed is higher, and the steering angle is more accurate.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to a multi-rotor inner-propeller anti-torque unmanned aerial vehicle. Background Art

[0002] The working principle of existing drones that use four propellers to balance torque is based on the precise control of the speed and rotation direction of each propeller. When the drone needs to maintain a stable hover or level flight, the four propellers operate in combination at the same speed but a specific rotation direction. The two diagonally distributed propellers rotate in a clockwise direction, and the other two diagonally distributed propellers rotate in a counterclockwise direction. In this way, the torque generated by the clockwise rotating propeller and the torque generated by the counterclockwise rotating propeller offset each other, thereby achieving torque balance for the entire drone fuselage and ensuring that it will not spin due to the counter-torque generated by the main rotor. When the drone performs maneuvers such as turning, this balance is broken by changing the speed difference of different propellers, and the additional torque generated is used to achieve the rotation of the fuselage.

[0003] From the safety perspective of traditional multi-rotor drones, the propellers or rotors of traditional drones are placed outside the fuselage cabin. During flight, especially when flying at low altitudes, crossing complex environments, or operating in crowded areas, they are very likely to collide with foreign objects (such as branches, wires, birds, etc.). Once the propeller is damaged by collision, the drone will lose balance or power, resulting in a crash, which will not only cause damage to the drone itself, but may also pose a serious threat to the safety of surrounding personnel and property; in terms of wind resistance, the fixed-pitch propellers of traditional multi-rotor drones are directly exposed to the air and are in direct contact with airflow, gusts, etc. When encountering strong winds or unstable airflow, the impact of airflow on the rotor surface will cause the rotor speed to change, which in turn affects the power output and flight stability of the drone. In order to maintain the flight attitude, drones often need to consume more energy to fight against airflow interference, which not only reduces the endurance of drones, but also limits their operating range and reliability in adverse weather conditions. In terms of flight performance, when the multiple rotor surfaces of traditional multi-rotor drones perform forward, backward, left, and right flight actions, the force transmission is relatively slow due to the large rotor surfaces and dispersed air contact areas. This makes the drone less responsive when performing maneuvering actions such as rapid turning, acceleration or deceleration, and it is difficult to meet the needs of rapid response and precise control in some application scenarios with high requirements for flight performance, such as competitive flying, emergency rescue and other tasks.

[0004] Although the prior art such as CN104002964B discloses a multi-rotor UAV, the fuselage is provided with a plurality of propeller arms symmetrically distributed relative to the symmetry plane in the fuselage, and the outer end of each propeller arm is provided with a blade assembly, all the propeller blades are placed outside the fuselage cabin. When passing through a complex environment or operating in a crowded area, it is very easy to collide with foreign objects in the outside world. Once one of the propellers is damaged by collision, the UAV will lose balance or power, resulting in a crash. Summary of the invention

[0005] The purpose of the present invention is to overcome the above problems and provide a multi-propeller inner propeller anti-torque UAV. To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A multi-propeller inner-rotor anti-torque UAV, comprising a fuselage, a power assembly, and an anti-torque assembly, wherein the power assembly and the anti-torque assembly are arranged on the fuselage, and the power assembly comprises a propeller main propeller;

[0007] The anti-torsion components include at least three, and the anti-torsion components are evenly arranged on the fuselage. The anti-torsion components include a frame tube, an inner propeller motor, and a spiral inner propeller. One end of the frame tube is installed on the fuselage and the other end extends outward. The inner propeller motor and the spiral inner propeller are installed at one end of the frame tube close to the fuselage. A valve assembly is provided on the end of the frame tube away from the fuselage. An air inlet is provided on the fuselage. The end of the frame tube close to the fuselage is connected to the air inlet, and an air outlet is provided on the valve assembly.

[0008] The working principle of this single-screw external propeller multi-axis anti-torque UAV is based on the synergy of the power component generating lift and the anti-torque component balancing torque and achieving flexible control, and the flight attitude and trajectory of the UAV are precisely controlled through the flight control system. During the flight, the external propeller motor drives the external propeller to rotate at high speed. According to the principles of aerodynamics, the external propeller generates upward lift, allowing the UAV to leave the ground and hover in the air or rise and descend vertically. Since the rotation of the external propeller motor will generate reverse torque, if it is not balanced, the UAV will not be able to maintain a stable heading. At this time, the anti-torque component starts to work, and the air outside the fuselage enters the frame tube through the air inlet. The internal propeller motor drives the internal propeller to rotate, accelerates and compresses the incoming air, and then delivers the compressed air to the valve assembly.

[0009] As an improvement, the air outlet includes a power air outlet and a valve air outlet;

[0010] The power outlet is provided with one, and the power outlet is provided at the bottom of the valve assembly, and the power outlet is used to concentrate gas to enhance power;

[0011] There are two groups of valve air outlets, which are respectively arranged at the front and rear sides of the valve assembly, and the connecting line of the two groups of valve air outlets is perpendicular to the frame pipe, and the valve air outlets are used for steering.

[0012] As an improvement, the valve air outlet includes two valve air outlets, and the valve air outlets are symmetrically arranged with respect to the center of the circle.

[0013] As an improvement, two valve motors and two valve baffles are provided in the valve assembly, the valve baffle is arc-shaped, the valve baffle fits the valve air port, the valve motor is connected to the valve baffle, two baffle air ports are provided on the valve baffle, and the baffle air port cooperates with the valve air port.

[0014] As an improvement, a fixed shaft is further provided in the valve assembly, the fixed shaft is fixed on the front and rear center inner walls of the spherical shell, a fixed disk is provided in the middle of the fixed shaft, and the valve motor is fixed on the fixed disk.

[0015] As an improvement, a reduction gear is further provided in the valve assembly, a motor gear is provided on the valve motor, a valve fixed pipe is sleeved on the fixed shaft, the valve baffle and the reduction gear are connected and fixed by the valve fixed pipe, the reduction gear is meshed with the motor gear, and a bearing is provided between the valve fixed pipe and the fixed shaft.

[0016] As an improvement, a protrusion is provided on the inner wall of one end of the frame tube close to the valve assembly, a spring is fixed on the protrusion, and a compressed air port is welded and fixed to the front end of the spring.

[0017] As an improvement, the power assembly also includes a main propeller motor, a grid is provided on the middle top and bottom surfaces of the fuselage, a rotating shaft is provided between the bottom and top grids of the fuselage, the propeller main propeller is arranged on the rotating shaft, the main propeller motor is fixed on the grid, and the main propeller motor is connected to the rotating shaft.

[0018] As an improvement, a top cover with grid air holes is provided on the air inlet, and a landing gear is provided at the bottom of the fuselage.

[0019] As an improvement, the valve assembly is a spherical housing.

[0020] The advantages of the present invention are:

[0021] 1. The propeller of the present invention is arranged inside the fuselage, which effectively avoids the propellers for balancing torque being placed outside the fuselage compartment, and realizes efficient torque balancing function in the limited internal space of the fuselage, greatly reducing the probability of contact with foreign objects such as branches, wires, birds, etc. in the flight path, significantly improving flight safety, and providing solid protection for the operation of UAVs in complex environments.

[0022] 2. The present invention has excellent maneuverability. The steering control method based on the valve assembly has a faster response speed and a more precise steering angle compared to the traditional method of steering by changing the propeller speed difference. Whether it is a quick evasive action in a small space or a flexible steering in a complex flight route, it can demonstrate unparalleled maneuverability advantages, greatly expanding the control performance of the UAV in various scenarios.

[0023] 3. The present invention demonstrates strong fault tolerance and reliability in the face of emergencies where a single anti-torsion component is damaged. Due to the use of a redundant design in which multiple anti-torsion components are evenly distributed around the fuselage, when one of the anti-torsion components fails, the remaining normally working anti-torsion components can quickly and automatically adjust their working status and redistribute torque balance and power output. This redundant design effectively avoids the risk of failure of the entire drone system due to failure of a single component, and significantly improves the reliability and safety of the drone during actual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a structural diagram of a multi-propeller inner-rotor anti-torque UAV in Example 1.

[0025] Figure 2 This is a top view of a multi-propeller inner-rotor anti-torque UAV in Example 1.

[0026] Figure 3 This is a cross-sectional structural diagram of a valve assembly of a multi-propeller inner-propeller anti-torque UAV in Example 1.

[0027] Figure 4 This is a structural diagram of the valve baffle assembly in Example 1.

[0028] Figure 5 This is a top view of a cross-sectional view of a multi-propeller inner-rotor anti-torque UAV in Example 1.

[0029] Figure 6 This is a structural diagram of the compressed air port in Example 1.

[0030] Figure 7 This is a structural diagram of a multi-propeller inner-rotor anti-torque UAV in Example 2.

[0031] The symbols in the figure are:

[0032] 1. Fuselage; 2. Propeller main propeller; 3. Frame tube; 4. Inner propeller motor; 5. Propeller inner propeller; 6. Valve assembly; 7. Air inlet; 8. Power outlet; 9. Valve outlet; 10. Valve air port; 11. Valve motor; 12. Valve baffle; 13. Fixed shaft; 14. Reduction gear; 15. Valve fixed pipe; 16. Protrusion; 17. Spring; 18. Compressed air port; 19. Main propeller motor; 20. Landing gear; 21. Baffle air port; 22. Fixed plate; 23. Motor gear; 24. Grid; 25. Rotating shaft; 26. Bearing. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] In the description of the embodiments of the present invention, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invented product is usually placed when used. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0035] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components must be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0036] In the description of the embodiments of the present invention, "plurality" means at least 2.

[0037] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] The present invention is described in detail and specifically by specific examples below to provide a better understanding of the present invention, but the following examples do not limit the protection scope of the present invention.

[0039] Example 1

[0040] This embodiment discloses a multi-rotor inner-propeller anti-torque UAV.

[0041] like Figures 1 to 6 As shown, this embodiment includes a fuselage 1, a power assembly, and an anti-torque assembly. The power assembly and the anti-torque assembly are arranged on the fuselage 1, and the power assembly includes a propeller main propeller 2;

[0042] The present embodiment includes four anti-torsion components, which are evenly arranged on the fuselage 1. The anti-torsion components include a frame tube 3, an inner propeller motor 4, and a spiral inner propeller 5. The frame tube 3 is a long cylinder, and the frame tube 3 is welded and fixed to the fuselage 1. One end of the frame tube 3 is mounted on the fuselage 1 and the other end extends outward. The inner propeller motor 4 and the spiral inner propeller 5 are mounted on the end of the frame tube 3 close to the fuselage 1, and the end of the inner propeller motor 4 is fixed to the fuselage 1. A valve assembly 6 is provided on the end of the frame tube 3 away from the fuselage 1, and an air inlet 7 is provided on the fuselage 1. The end of the frame tube 3 close to the fuselage 1 is connected to the air inlet 7, and an air outlet is provided on the valve assembly 6. The spiral inner propeller 5 is used to allow air to enter from the air inlet 7 and be discharged from the air outlet to achieve the function of balancing torque.

[0043] The fuselage 1 is made of high-strength, lightweight composite materials, such as carbon fiber reinforced composite materials. A space for installing the power component is reserved in the middle of the top surface of the fuselage 1, and interfaces connected to the anti-torque component are evenly distributed around. The surface of the fuselage 1 is also provided with an air inlet 7, which is arranged on the top surface of the fuselage 1. In this embodiment, the air inlet 7 is square, and the air inlet 7 corresponds to the rack tube 3 one by one. The air inlet 7 is connected to the inside of the rack to ensure that air can be smoothly inhaled to provide sufficient air source for the anti-torque component.

[0044] The air outlet includes a power air outlet 8 and a valve air outlet 9;

[0045] Each valve assembly 6 is provided with a power outlet 8, which is circular and located at the bottom of the valve assembly 6. The power outlet 8 is used to concentrate gas to enhance power. Two groups of valve outlets 9 are provided. The two groups of valve outlets 9 are respectively located at the front and rear sides of the valve assembly 6. The connecting line of the two groups of valve outlets 9 is perpendicular to the frame pipe 3. The valve outlets 9 are used for steering.

[0046] Since the power air outlet 8 is arranged at the bottom of the valve assembly 6, the airflow in the valve assembly 6 is ejected from the power air outlet 8 due to the action of the propeller inner propeller 5, and the airflow is ejected downward to provide an upward lift for the valve assembly 6. The power air outlet 8 serves as supplementary power, and the propeller main propeller 2 valve assembly 6 is a spherical shell.

[0047] The spherical shell is used as the main structure of the valve assembly 6, which has good mechanical properties and spatial adaptability. Its rounded shape can evenly withstand the internal gas pressure and reduce stress concentration points, thereby improving the structural strength and durability of the valve assembly 6. As the main power output.

[0048] The valve air outlet 9 includes two valve air ports 10 , and the valve air ports 10 are symmetrically arranged with respect to the center of the circle.

[0049] The central symmetry of the two valve ports 10 provides a more precise adjustment means for the flight attitude control of the UAV. By controlling the opening and closing degree of the valve ports 10 and the airflow rate, a variety of flight attitude combinations can be achieved.

[0050] Two valve motors 11 and two valve baffles 12 are provided in the valve assembly 6. The valve baffle 12 is arc-shaped and fits the valve air port 10. The valve motor 11 is connected to the valve baffle 12. Two baffle air ports 21 are provided on the valve baffle 12, and the baffle air ports 21 cooperate with the valve air port 10.

[0051] The shape design of the arc-shaped valve baffle 12 fits the valve port 10, and this fitting method can achieve a good sealing effect. When the valve baffle 12 is closed, it can effectively prevent gas from leaking from the valve port 10, ensuring that the system is in a stable non-working state when the drone does not need thrust or torque in this direction.

[0052] The two sets of valve outlets 9 are the key to realizing the steering function of the drone. When the drone needs to turn, by controlling the opening and closing degree and airflow rate of the valve outlets 9 located on different sides, when the valve outlet 10 needs gas to flow out and rotate, the valve motor 11 drives the valve baffle 12 to rotate, aligning the baffle air port 21 with the position of the valve air port 10. At this time, the gas flowing through the valve air port 10 reaches the maximum value. Through the rotation of the valve baffle 12, the alignment degree of the baffle air port 21 and the valve air port 10 is constantly changing, causing the airflow rate of the valve air port 10 to also constantly change. When the baffle air port 21 and the valve air port 10 are completely offset, the valve air port 10 is in a closed state. The valve outlet 9 can change the thrust balance on both sides of the drone. This steering method based on the valve outlet 9 has the advantages of fast response speed and precise and controllable steering angle. Compared with the traditional multi-rotor drone that relies on changing the propeller speed difference to turn, this design can adjust the flight direction of the drone more quickly, and performs better in complex flight environments or when rapid maneuvers are required.

[0053] A fixed shaft 13 is also provided in the valve assembly 6 . The fixed shaft 13 is fixed to the front and rear center inner walls of the spherical housing. A fixed disk 22 is provided in the middle of the fixed shaft 13 . The valve motor 11 is fixed on the fixed disk 22 .

[0054] The fixed shaft 13 is an important supporting component inside the valve assembly 6. It is welded to the front and rear center inner walls of the valve assembly 6, providing a stable installation foundation for the valve motor 11. The fixed plate 22 is welded in the middle of the fixed shaft 13, and the two valve motors 11 are fixed on both sides of the fixed plate 22, so that the motors can maintain precise positions and postures during operation, and will not be displaced or shaken due to external factors such as airflow impact and vibration.

[0055] A reduction gear 14 is also provided in the valve assembly 6, a motor gear 23 is provided on the valve motor 11, a valve fixed pipe 15 is sleeved on the fixed shaft 13, the valve baffle 12 is connected and fixed to the reduction gear 14 through the valve fixed pipe 15, the reduction gear 14 is meshed with the motor gear 23, and a bearing 26 is provided between the valve fixed pipe 15 and the fixed shaft 13.

[0056] The reduction gear 14 can adjust the speed of the valve baffle 12. Due to different flight attitude adjustment and power control requirements, different requirements are placed on the opening and closing speed of the valve port 10. Due to the transmission ratio between the reduction gear 14 and the motor gear 23, the output speed of the valve motor 11 can be reduced. The valve fixed pipe 15 is hollow inside, and the reduction gear 14 and the valve baffle 12 are welded to both ends of the valve fixed pipe 15 respectively. The valve fixed pipe 15 is sleeved on the fixed shaft 13, and the valve baffle 12 is connected and fixed to the reduction gear 14, which plays an important role in connection and force transmission. On the one hand, it transmits the torque output by the reduction gear 14 to the valve baffle 12, so that the valve baffle 12 can rotate around the fixed shaft 13 to achieve control of the valve port 10. The bearing 26 arranged between the valve fixed pipe 15 and the fixed shaft 13 mainly reduces friction resistance and improves the rotation flexibility of the valve baffle 12.

[0057] A protrusion 16 is provided on the inner wall of one end of the frame pipe 3 close to the valve assembly 6 , a spring 17 is fixed on the protrusion 16 , and a compressed air port 18 is welded and fixed to the front end of the spring 17 .

[0058] When air enters the rack pipe 3 from the air inlet 7 and flows to the valve assembly 6, it first passes through the compressed air port 18. The compressed air port 18 has a larger opening at one end and a smaller opening at the other end. The larger opening of the compressed air port 18 is welded and fixed to the spring 17. The special design of the compressed air port 18 enables it to perform preliminary compression on the air, so that the flow rate and pressure of the air begin to increase. As the air continues to flow in, the pressure gradually accumulates, and the spring 17 gradually stretches. The stretching of the spring 17 further compresses the air in front of it, so that the air can reach a higher pressure and density before entering the valve assembly 6.

[0059] The power assembly also includes a main propeller motor 19. A grid 24 is provided on the middle top and bottom surfaces of the fuselage 1. A rotating shaft 25 is provided between the bottom and top grids 24 of the fuselage 1. The propeller 2 is arranged on the rotating shaft 25. The main propeller motor 19 is fixed on the grid 24. The main propeller motor 19 is connected to the rotating shaft 25.

[0060] The power assembly is a key part of the drone to generate lift and realize some flight control functions. It mainly includes a main propeller motor 19 and a propeller 2. The main propeller motor 19 is installed in the middle of the top surface of the fuselage 1. It adopts a high-performance brushless motor with high speed and torque output capacity. The rotating shaft 25 is connected to the output shaft of the main propeller motor 19, and the blades of the propeller 2 are made of high-strength, lightweight materials with good aerodynamic properties, such as carbon fiber composite materials. Since the propeller 2 is arranged in the fuselage 1, the probability of contact with foreign objects such as branches, wires, birds, etc. in the flight path is greatly reduced, which significantly improves the flight safety and provides a solid guarantee for the operation of the drone in complex environments.

[0061] A top cover with grid air holes is provided on the air inlet 7, and a landing gear 20 is provided at the bottom of the fuselage 1. The top cover with grid air holes prevents debris from entering the fuselage 1 from the air inlet 7 and interfering with the operation of the device.

[0062] Example 2

[0063] This embodiment discloses a multi-rotor inner-propeller anti-torque UAV.

[0064] like Figure 7 As shown, this embodiment includes a fuselage 1, a power assembly, and an anti-torque assembly. The power assembly and the anti-torque assembly are arranged on the fuselage 1, and the power assembly includes a propeller main propeller 2;

[0065] The present embodiment includes three anti-torsion components, which are evenly arranged on the fuselage 1, and the angle between adjacent anti-torsion torque components is 120 degrees. The anti-torsion components include a frame tube 3, an inner propeller motor 4, and a spiral inner propeller 5. One end of the frame tube 3 is installed on the fuselage 1 and the other end extends outward. The inner propeller motor 4 and the spiral inner propeller 5 are installed at the end of the frame tube 3 close to the fuselage 1. A valve assembly 6 is provided on the end of the frame tube 3 away from the fuselage 1, and an air inlet 7 is provided on the fuselage 1. The end of the frame tube 3 close to the fuselage 1 is connected to the air inlet 7, and an air outlet is provided on the valve assembly 6.

[0066] This embodiment adopts a redundant design in which three anti-torsion components are evenly distributed around the fuselage 1. Since the inner propeller plays the main role in power output, when one of the anti-torsion components fails, the UAV will not lose power instantly. The remaining normally working anti-torsion components can redistribute the torque balance and power output by changing the alignment degree between the baffle air port 21 and the valve air port 10. This redundant design effectively avoids the risk of failure of the entire UAV system due to failure of a single component, and significantly improves the reliability and safety of the UAV during actual operation.

[0067] The valve assembly 6 is a spherical housing.

[0068] The air outlet includes a power air outlet 8 and a valve air outlet 9;

[0069] A power outlet 8 is provided, and the power outlet 8 is provided at the bottom of the valve assembly 6, and the power outlet 8 is used to concentrate gas to enhance power;

[0070] There are two groups of valve outlets 9, which are respectively arranged at the front and rear sides of the valve assembly 6. The connecting line of the two groups of valve outlets 9 is perpendicular to the frame pipe 3, and the valve outlets 9 are used for steering.

[0071] The valve air outlet 9 includes two valve air ports 10 , and the valve air ports 10 are symmetrically arranged with respect to the center of the circle.

[0072] Two valve motors 11 and two valve baffles 12 are provided in the valve assembly 6. The valve baffle 12 is arc-shaped and fits the valve air port 10. The valve motor 11 is connected to the valve baffle 12. Two baffle air ports 21 are provided on the valve baffle 12, and the baffle air ports 21 cooperate with the valve air port 10.

[0073] A fixed shaft 13 is also provided in the valve assembly 6 . The fixed shaft 13 is fixed to the front and rear center inner walls of the spherical housing. A fixed disk 22 is provided in the middle of the fixed shaft 13 . The valve motor 11 is fixed on the fixed disk 22 .

[0074] A reduction gear 14 is also provided in the valve assembly 6, a motor gear 23 is provided on the valve motor 11, a valve fixed pipe 15 is sleeved on the fixed shaft 13, the valve baffle 12 is connected and fixed to the reduction gear 14 through the valve fixed pipe 15, the reduction gear 14 is meshed with the motor gear 23, and a bearing 26 is provided between the valve fixed pipe 15 and the fixed shaft 13.

[0075] A protrusion 16 is provided on the inner wall of one end of the frame pipe 3 close to the valve assembly 6 , a spring 17 is fixed on the protrusion 16 , and a compressed air port 18 is welded and fixed to the front end of the spring 17 .

[0076] The power assembly also includes a main propeller motor 19. A grid 24 is provided on the middle top and bottom surfaces of the fuselage 1. A rotating shaft 25 is provided between the bottom and top grids 24 of the fuselage 1. The propeller 2 is arranged on the rotating shaft 25. The main propeller motor 19 is fixed on the grid 24. The main propeller motor 19 is connected to the rotating shaft 25.

[0077] A deflector is provided on the power air outlet 8 , a top cover with grid air holes is provided on the air inlet 7 , and a landing gear 20 is provided at the bottom of the fuselage 1 .

[0078] The specific embodiments of the present invention are described in detail above, but they are only examples, and the present invention is not equivalent to the specific embodiments described above. For those skilled in the art, any equivalent modifications and substitutions made to the present invention are also within the scope of the present invention. Therefore, the equalization changes and modifications made without departing from the spirit and scope of the present invention should be included in the scope of the present invention.

Claims

1. A multi-propeller inner propeller anti-torque UAV, comprising a fuselage, a power assembly, and an anti-torque assembly, wherein the power assembly and the anti-torque assembly are arranged on the fuselage, and the power assembly comprises a propeller main propeller; The anti-torsion components include at least three, and the anti-torsion components are evenly arranged on the fuselage. The anti-torsion components include a frame tube, an inner propeller motor, and a spiral inner propeller. One end of the frame tube is installed on the fuselage and the other end extends outward. The inner propeller motor and the spiral inner propeller are installed at one end of the frame tube close to the fuselage. A valve assembly is provided on the end of the frame tube away from the fuselage. An air inlet is provided on the fuselage. The end of the frame tube close to the fuselage is connected to the air inlet, and an air outlet is provided on the valve assembly.

2. The multi-propeller inner-rotor anti-torque UAV according to claim 1, characterized in that: The air outlet includes a power air outlet and a valve air outlet; The power outlet is provided with one, and the power outlet is provided at the bottom of the valve assembly, and the power outlet is used to concentrate gas to enhance power; There are two groups of valve air outlets, which are respectively arranged at the front and rear sides of the valve assembly, and the connecting line of the two groups of valve air outlets is perpendicular to the frame pipe, and the valve air outlets are used for steering.

3. A multi-propeller inner propeller anti-torque UAV according to claim 2, characterized in that: The valve assembly is a spherical housing.

4. The multi-rotor inner propeller anti-torque UAV according to claim 2, characterized in that: The valve air outlet comprises two valve air outlets, and the valve air outlets are symmetrically arranged at the center of the circle.

5. The multi-rotor inner propeller anti-torque UAV according to claim 4, characterized in that: The valve assembly is provided with two valve motors and two valve baffles, the valve baffles are arc-shaped, the valve baffles fit the valve air port, the valve motor is connected to the valve baffle, the valve baffle is provided with two baffle air ports, and the baffle air ports cooperate with the valve air ports.

6. The multi-rotor inner propeller anti-torque UAV according to claim 5, characterized in that: A fixed shaft is also arranged in the valve assembly, and the fixed shaft is fixed on the front and rear center inner walls of the spherical shell. A fixed disk is arranged in the middle of the fixed shaft, and the valve motor is fixed on the fixed disk.

7. The multi-rotor inner propeller anti-torque UAV according to claim 6, characterized in that: A reduction gear is also provided in the valve assembly, a motor gear is provided on the valve motor, a valve fixed pipe is sleeved on the fixed shaft, the valve baffle and the reduction gear are connected and fixed through the valve fixed pipe, the reduction gear is meshed with the motor gear, and a bearing is provided between the valve fixed pipe and the fixed shaft.

8. The multi-rotor inner propeller anti-torque UAV according to claim 7, characterized in that: The frame pipe is provided with a protrusion on the inner wall of one end close to the valve assembly, a spring is fixed on the protrusion, and a compressed air port is welded and fixed at the front end of the spring.

9. A multi-propeller inner-rotor anti-torque UAV according to claim 8, characterized in that: The power assembly also includes a main propeller motor. A grid is provided on the middle top and bottom surfaces of the fuselage. A rotating shaft is provided between the bottom and top grids of the fuselage for rotation. The propeller main propeller is arranged on the rotating shaft. The main propeller motor is fixed on the grid and connected to the rotating shaft.

10. A multi-propeller inner-rotor anti-torque UAV according to claim 9, characterized in that: The power air outlet is provided with a deflector, the air inlet is provided with a top cover with grid air holes, and the bottom of the fuselage is provided with a landing gear.

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