Unmanned aerial vehicle

Abstract

The invention relates to the field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle, comprising: a body provided with a first mounting portion, the first mounting portion comprising a first mounting main body and a connecting rod formed on the first mounting main body, the connecting rod extending along a pitch axis direction; the power assembly comprises a first assembling main body and an eccentric wheel installed on the first assembling main body, the eccentric wheel can rotate between a first rotating position and a second rotating position of the first assembling main body around the rotating axis of the first assembling main body, and the rotating axis is perpendicular to the pitch axis direction; when the eccentric wheel rotates to the first rotating position, the connecting rod can be inserted into the eccentric wheel in the pitch axis direction. When the eccentric wheel rotates to the second rotating position and the connecting rod is inserted into the eccentric wheel, the connecting rod cannot retreat from the eccentric wheel in the pitch axis direction, and the unmanned aerial vehicle with the power assembly capable of being conveniently disassembled from the vehicle body is achieved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicles, and particularly to an unmanned aerial vehicle.

Background Art

[0002] In the field of unmanned aerial vehicles, in the face of different working environments, it is necessary to replace the power components of the unmanned aerial vehicle.

[0003] In current unmanned aerial vehicles, the body and the power components are mostly fixedly connected or bolted, resulting in the power components being non-removable or the disassembly process being cumbersome.

Summary of the Invention

[0004] To solve the above technical problems, an embodiment of this application provides an unmanned aerial vehicle in which the power components can be disassembled and assembled with the body more conveniently.

[0005] To solve the above technical problems, the embodiments of this application provide the following technical solutions:

[0006] Provide an unmanned aerial vehicle, including: a body provided with a first installation part, the first installation part includes a first installation main body and a connecting rod formed on the first installation main body, the connecting rod extends along the pitch axis direction; and a power component, including a first assembly main body and an eccentric wheel installed on the first assembly main body, the eccentric wheel can rotate between a first rotation position and a second rotation position of the first assembly main body around the rotation axis of the first assembly main body, the rotation axis is perpendicular to the pitch axis direction; wherein, when the eccentric wheel rotates to the first rotation position, the connecting rod can be inserted into the eccentric wheel along the pitch axis direction; when the eccentric wheel rotates to the second rotation position and the connecting rod is inserted into the eccentric wheel, the connecting rod cannot withdraw from the eccentric wheel along the pitch axis direction.

[0007] In some embodiments, the first installation main body includes a first installation surface, and the connecting rod is formed on the first installation surface; the first assembly main body includes a connected first assembly surface and a first side surface, the first assembly surface is used to fit the first installation surface, a connection hole is formed on the first assembly surface for the connecting rod to be inserted, a rotation hole is formed on the first side surface, the rotation hole has the rotation axis and is communicated with the connection hole; the eccentric wheel is installed in the rotation hole.

[0008] In some embodiments, the connecting rod includes a rod body and a limiting body; the rod body extends along the pitching axis direction, the limiting body is connected to one end of the rod body away from the first mounting body, and the cross-sectional dimension of the rod body is smaller than that of the limiting body; the eccentric wheel includes a runner, a cavity is formed inside the runner, the runner includes a cylindrical surface arranged around the rotation axis, the cylindrical surface is sleeved on the hole wall of the rotation hole, an arc-shaped guide groove and an avoidance groove are formed on the cylindrical surface, the arc-shaped guide groove is communicated with the cavity and is arranged around the rotation axis, the arc-shaped guide groove has a first end and a second end, the avoidance groove is communicated with the cavity and communicates with the first end; when the eccentric wheel rotates to the first rotation position, the avoidance groove is aligned with the connection hole, and the limiting body can be received in the cavity along the pitching axis direction through the connection hole; when the eccentric wheel rotates to the second rotation position and the limiting body is received in the cavity, the second end is aligned with the connection hole, and the limiting body cannot exit the receiving cavity along the pitching axis direction through the arc-shaped guide groove.

[0009] In some embodiments, the limiting body is spherical.

[0010] In some embodiments, the first assembly body further includes a second side surface, the second side surface is opposite to the first side surface, and the first assembly surface is connected between the first side surface and the second side surface; the rotation hole extends from the first side surface to the second side surface, an opening of the rotation hole on the second side surface is closed by a sealing plate, and the sealing plate is detachably connected to the second side surface; a ring-shaped stop portion protrudes at a position of the hole wall of the rotation hole close to the first side surface, and the ring-shaped stop portion is arranged around the rotation axis.

[0011] In some embodiments, the runner further includes opposite first end face and second end face, the cylindrical surface is connected between the first end face and the second end face, the first end face abuts against the ring-shaped stop portion, and the second end face abuts against the sealing plate.

[0012] In some embodiments, the eccentric wheel further includes a boss; the boss is formed at the center of the first end face and is exposed in the rotation hole, and a groove for screwdriver to turn is formed on a surface of the boss facing away from the first end face.

[0013] In some embodiments, an arc-shaped protrusion is formed on the annular stop portion toward the direction of the first end face; the eccentric wheel further includes an interference portion, and the interference portion is formed on the boss along the direction perpendicular to the rotation axis; the first end face abuts against the annular stop portion through the arc-shaped protrusion; when the eccentric wheel rotates to the first rotation position, the interference portion abuts against one end of the arc-shaped protrusion; when the eccentric wheel rotates to the second rotation position, the interference portion abuts against the other end of the arc-shaped protrusion.

[0014] In some embodiments, a positioning beam is further formed on the first mounting surface, and the positioning beam extends along the pitch axis direction; a positioning hole is further formed on the first assembly surface, and the positioning hole is used for inserting the positioning beam.

[0015] In some embodiments, the cross section of the positioning beam is non-circular.

[0016] In some embodiments, the cross section of the positioning beam is square.

[0017] In some embodiments, a first plug terminal is arranged on the first mounting surface; a second plug terminal is arranged on the first assembly surface, and the second plug terminal is used for plugging with the first plug terminal.

[0018] In some embodiments, the power assembly includes a fixed-wing assembly and a rotor assembly; the fixed-wing assembly and the rotor assembly are replaceably connected to the first mounting portion; when the fixed-wing assembly is connected to the first mounting portion, the fuselage and the fixed-wing assembly together form a vertical takeoff and landing fixed-wing unmanned aerial vehicle; when the rotor assembly is connected to the first mounting portion, the fuselage and the rotor assembly together form a multi-rotor unmanned aerial vehicle; any one of the fixed-wing assembly and the rotor assembly includes the first assembly main body and the eccentric wheel.

[0019] Compared with the prior art, in the unmanned aerial vehicle of the embodiment of the present application, by configuring an eccentric wheel on the power assembly and a connecting rod on the fuselage, when the eccentric wheel rotates to the first rotation position, the connecting rod can be inserted into the eccentric wheel along the pitch axis direction, and when the eccentric wheel rotates to the second rotation position and the connecting rod is inserted into the eccentric wheel, the connecting rod cannot exit the eccentric wheel along the pitch axis direction to lock the connecting rod, and after the connecting rod is inserted into the eccentric wheel, the connecting rod can be locked only by rotating the eccentric wheel, realizing an unmanned aerial vehicle in which the power assembly can be disassembled and assembled with the fuselage more conveniently.

Description of the Drawings

[0020] One or more embodiments are exemplarily illustrated by corresponding drawings. These exemplary illustrations do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, unless otherwise stated. The drawings in the figures do not constitute a scale limitation.

[0021] Figure 1 Schematic diagram of the structure of a multi-rotor unmanned aircraft configuration of an unmanned aerial vehicle provided in one embodiment of the present application;

[0022] Figure 2 is Figure 1 Schematic diagram of the disassembly of the multi-rotor unmanned aircraft shown;

[0023] Figure 3 Schematic diagram of the structure of a vertical take-off and landing fixed-wing unmanned aircraft configuration of an unmanned aerial vehicle provided in one embodiment of the present application;

[0024] Figure 4 is Figure 3 Schematic diagram of the disassembly of the vertical take-off and landing fixed-wing unmanned aircraft shown;

[0025] Figure 5 is Figure 1 Schematic diagram of the fuselage of the multi-rotor unmanned aircraft shown or Figure 3 Schematic diagram of the fuselage of the vertical take-off and landing fixed-wing unmanned aircraft shown;

[0026] Figure 6 is Figure 5 The first partial view of the fuselage shown, which mainly shows one of the first mounting parts of the fuselage;

[0027] Figure 7 is Figure 5 The partial view of the first mounting part shown, which mainly shows one of the connecting rods of the first mounting part;

[0028] Figure 8 is Figure 6 The second partial view of the fuselage shown, which mainly shows two first mounting parts of the fuselage;

[0029] Figure 9 is Figure 5 The third partial view of the fuselage shown, which mainly shows one of the second mounting parts of the fuselage;

[0030] Figure 10 is Figure 8 The fourth partial view of the fuselage shown, which mainly shows two second mounting parts of the fuselage;

[0031] Figure 11 is Figure 2 Schematic diagram of the structure of the rotor assembly of the multi-rotor unmanned aircraft shown;

[0032] Figure 12 As Figure 11 a partial view of one of the arm components of the rotor assembly shown, which mainly shows the first assembly part of the arm component;

[0033] Figure 13 As Figure 12 a cross-sectional view of the first assembly part of the rotor assembly shown, which mainly shows the rotating hole, the eccentric wheel and the cover of the first assembly part;

[0034] Figure 14 As Figure 13 a schematic structural view of the eccentric wheel shown;

[0035] Figure 15 As Figure 4 a schematic structural view of the fixed-wing component of the vertical takeoff and landing fixed-wing UAV shown, wherein the third rotor motor of the fixed-wing component is in the first position;

[0036] Figure 16 As Figure 15 a perspective view of one of the wing components of the fixed-wing component shown, wherein the third rotor motor of the wing component is in the second position;

[0037] Figure 17 As Figure 4 a schematic structural view of the tail wing component of the vertical takeoff and landing fixed-wing UAV shown.

Detailed implementation manners

[0038] For the convenience of understanding this application, the following will describe this application in more detail in conjunction with the accompanying drawings and specific implementation manners. It should be noted that when an element is expressed as "fixed to" another element, it can be directly on the other element, or there can be one or more intermediate elements therebetween. When an element is expressed as "connected to" another element, it can be directly connected to the other element, or there can be one or more intermediate elements therebetween. The terms "vertical", "horizontal", "left", "right", "inside", "outside" and similar expressions used in this specification are only for the purpose of illustration.

[0039] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific implementation manners, and are not used to limit this application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0040] Please refer to Figures 1 to 4, A drone 100 provided by one embodiment of the present application includes a fuselage 10, a power assembly, and a tail assembly 40. The power assembly and the tail assembly 40 are both detachably connected to the fuselage 10. The power assembly includes a rotor assembly 20 and a fixed-wing assembly 30. The rotor assembly 20 and the fixed-wing assembly 30 are replaceably connected to the fuselage 10.

[0041] When the rotor assembly 20 is connected to the fuselage 10, the rotor assembly 20 and the fuselage 10 together form a multi-rotor drone, such as Figure 1 shown.

[0042] When both the fixed-wing assembly 30 and the tail assembly 40 are connected to the fuselage 10, the fixed-wing assembly 30, the tail assembly 40, and the fuselage 10 together form a vertical takeoff and landing fixed-wing drone, such as Figure 3 shown.

[0043] Please refer to Figure 5 together. The fuselage 10 is integrally in a long strip shape extending along the roll axis direction y, and includes a nose 11, a fuselage 12, and a tail 13 arranged in sequence along the roll axis direction y.

[0044] A circuit module (not shown in the figure) is arranged inside the fuselage 10. The circuit module includes a circuit board and a variety of electronic components mounted on the circuit board, and is mainly used to control the electronic devices arranged outside the fuselage 10, as well as the rotor assembly 20 or the fixed-wing assembly 30 connected to the fuselage 10.

[0045] The electronic devices arranged outside the fuselage 10 include two first rotor motors 14 and two antennas 15. The two first rotor motors 14 and the two antennas 15 are both arranged on the same side of the fuselage 10 along its heading axis direction z. One of the first rotor motors 14 is arranged on the nose 11 or at a position on the fuselage 12 close to the nose 11, and the other rotor motor 14 is arranged on the tail 13 or at a position on the fuselage 12 close to the tail 13. The two first rotor motors 14 are jointly used to provide lift, and the rotating shaft of each first rotor motor 14 is arranged along the heading axis z direction, and a first propeller (not shown in the figure) is installed.

[0046] It can be understood that the number of the first rotor motors is not limited to 2. According to the actual situation, if the load carried by the fuselage is less, or the fuselage is lighter, the number of the first rotor motors can be less; if the load carried by the fuselage is more, or the fuselage is heavier, the number of the first rotor motors can be more.

[0047] The two first rotor motors 14 and the two antennas 15 are all arranged along the roll axis direction y, and the antennas 15 and the first rotor motors 14 are alternately arranged. The two antennas 15 are jointly used for navigation and positioning of the unmanned aerial vehicle. Each antenna 15 can be an RTK (Real-time kinematic) antenna.

[0048] It can be understood that the number of antennas is not limited to 2. According to the actual situation, the number of antennas can be less or more.

[0049] Outside the fuselage 10, a drooping tail 16, a landing gear 17, two first mounting parts 18 and two second mounting parts 19 are further provided. The drooping tail 16 and the landing gear 17 are both arranged on the other side of the fuselage 10 along its heading axis direction z and away from the two first rotor motors 14. The drooping tail 16 is arranged at the tail 13 of the aircraft. The landing gear 17 is arranged on the fuselage 12, and the landing gear 17 includes two branches 170. The two branches 170 are in a "V" shape structure and are jointly used with the drooping tail 16 to support the fuselage 10.

[0050] The two first mounting parts 18 are respectively arranged on both sides of the fuselage 12 along its pitch axis direction x.

[0051] The two second mounting parts 19 are respectively arranged on both sides of the tail 13 along its pitch axis direction x.

[0052] Please refer to Figure 6 , taking one of the first mounting parts 18 as an example, the first mounting part 18 includes a first mounting body 180, two connecting rods 181, a positioning beam 182 and a first plug-in terminal 183. The first mounting body 180 is arranged on the corresponding side of the fuselage 12 along its pitch axis direction x and includes a first mounting surface 1800. The first mounting surface 1800 faces away from the fuselage 12, and the two connecting rods 181, the positioning beam 182 and the first plug-in terminal 183 are all formed on the first mounting surface 1800. Each connecting rod 181 extends along the pitch axis direction x. The positioning beam 182 is a profile extending along the pitch axis direction x, hollow and with a square cross-section. According to the actual situation, the cross-sectional shape of the positioning beam can also be designed into other shapes, such as oval, triangular, pentagonal, etc., as long as it is non-circular. The first plug-in terminal 183 is electrically connected to the circuit module.

[0053] Please refer to Figure 7 It should be noted that there is an error in the description of the shape of the landing gear branches in the original text. It is described as an "eight" shape, which should be a "V" shape for normal landing gear structure. The translation has been corrected accordingly., taking one of the connecting rods 181 as an example, the connecting rod 181 includes a base body 1810, a rod body 1811, and a limiting body 1812. The base body 1810 is formed on the first mounting surface 1800. The rod body 1811 extends along the pitch axis direction x, one end of which is connected to the base 1810, and the other end is connected to the limiting body 1812. The cross-sectional dimension of the rod body 1811 is smaller than that of the limiting body 1812. In this embodiment, the limiting body 1812 is spherical. According to the actual situation, the limiting body 1812 can be of any shape as long as its cross-sectional dimension is larger than that of the rod body 1811.

[0054] In this embodiment, please refer to Figure 8 together. A cross beam 184 penetrates through the first mounting surfaces 1800 of the two first mounting portions 18, and positioning beams 182 of the two first mounting portions 18 are respectively formed at both ends of the cross beam 184. In some other embodiments, the positioning beam 182 can also be integrally formed with the first mounting body 180.

[0055] Please refer to Figure 9 and Figure 10 together. Each second mounting portion 19 includes a second mounting surface 190. The second mounting surface 190 faces away from the tail 13. An axial hole 191 and an arc-shaped guide hole 192 are commonly formed in the two second mounting portions 19. Both the axial hole 191 and the arc-shaped guide hole 192 penetrate through the second mounting surfaces 190 of the two second mounting portions 19. Both the axial hole 191 and the arc-shaped guide hole 182 extend along the pitch axis direction x, and the arc-shaped guide hole 192 is arranged around the axial hole 191.

[0056] Please refer to Figure 11 together. The rotor assembly 20 includes arm members 21. The number of the arm members 21 corresponds to the number of the first mounting portions 18, and each arm member 21 is used to be connected to a corresponding first mounting portion 18. Taking one of the arm members 21 as an example, the arm member 21 includes an arm main body 22, a second rotor motor 23, and a first assembly portion 24. The arm main body 22 extends along the pitch axis direction x, one end of the arm main body 22 is connected to the second rotor motor 23, and the other end is connected to the first assembly portion 24. The arm main body 22 is hollow and is used for routing wires for the second rotor motor 23 to electrically connect the second rotor motor 23 and the first assembly portion 24. The rotating shaft of the second rotor motor 23 is arranged along the yaw axis direction z, and a second propeller (not shown in the figure) is installed, and the second rotor motor 23 is used to provide lift.

[0057] Please refer to Figure 12, the first assembly part 24 is used to be connected to a corresponding first installation part 18. The first assembly part 24 includes an assembly body 240, an eccentric wheel 241, and a second insertion terminal 242. The assembly body 240 includes a first assembly surface 2400, a first side surface 2401, and a second side surface 2402. The first side surface 2401 and the second side surface 2402 face away from each other, and the first assembly surface 2400 is connected between the first side surface 2401 and the second side surface 2402. The first assembly surface 2400 is used to fit the first installation surface 1800 of the first installation part 18. The first assembly surface 2400 is formed with a positioning hole 243 and a connection hole 244. The positioning hole 243 is adapted to the positioning beam 182 of the first installation part 18 for the positioning beam 182 to be inserted. The number of connection holes 244 corresponds to the number of connecting rods 181, and each connection hole 244 is used for a corresponding connecting rod 181 to be inserted. A rotation hole 245 is formed on the first side surface 2401, and the number of rotation holes 245 corresponds to the number of connection holes 244. The second insertion terminal 242 is disposed on the first assembly surface 2400. The second insertion terminal 242 of the arm member 21 is electrically connected to the second rotor motor 23.

[0058] Please refer to Figure 13 , taking one of the rotation holes 245 as an example, the rotation hole 245 has a rotation axis o, the rotation axis o is arranged perpendicular to the pitch axis direction x, and the rotation hole 245 communicates with a corresponding connection hole 244. The rotation hole 245 extends from the first side surface 2401 to the second side surface 2402. The hole wall of the rotation hole 245 is protruded with an annular stop portion 2450 near the first side surface 2401. The annular stop portion 2450 is arranged around the rotation axis o and protruded with an arc-shaped convex block 2451 in the direction of the second side surface 2402. The arc-shaped convex block 2451 is arranged around the rotation axis o. The opening of the rotation hole 245 on the second side surface 2402 is closed by a sealing plate 2452, and the sealing plate 2452 can be fixed to the second side surface 2403 by a threaded fastener.

[0059] Please refer to Figure 14, the number of eccentric wheels 241 corresponds to the number of rotation holes 245. Each eccentric wheel 241 is installed in a corresponding rotation hole 245 for locking a corresponding connecting rod 181. Taking one of the eccentric wheels 241 as an example, the eccentric wheel 241 includes a runner 2410, a boss 2411 and an interference portion 2412. The runner 2410 is arranged around the rotation axis o. A cavity 2413 is formed in the runner 2410 for receiving the limiting body 1812. The runner 2410 includes a first end face 2414, a second end face 2415 and a cylindrical surface 2416. The first end face 2414 and the second end face 2415 face away from each other. The cylindrical surface 2416 is arranged around the rotation axis o and is connected between the first end face 2414 and the second end face 2415. An arc-shaped guide groove 2417 and an avoidance groove 2418 are formed on the cylindrical surface 2416. The arc-shaped guide groove 2417 is communicated with the cavity 2413 and is arranged around the rotation axis o. The arc-shaped guide groove 2417 has a first end and a second end. The arc-shaped guide groove 2417 is used for allowing the rod body 1811 to rotate around the rotation axis o along the arc-shaped guide groove 2417 and preventing the limiting body 1812 from moving along the pitching axis direction x. The avoidance groove 2418 is communicated with the cavity 2413 and is communicated with the first end of the arc-shaped guide groove 2417. The avoidance groove 2418 is used for allowing the limiting body 1812 to pass through. The boss 2411 is formed at the center of the first end face 2414. A groove 2419 that can be screwed by a screwdriver is formed on the side of the boss 2411 facing away from the first end face 2414. The groove 2419 is such as a flat groove, a cross groove, a plum blossom groove, an internal hexagonal groove, etc. In the figure, it is a flat groove. The boss 2411 protrudes in a direction perpendicular to the rotation axis o with an interference portion 2412.

[0060] The process of installing the eccentric wheel 241 in the rotation hole 245 is as follows:

[0061] After aligning the first end face 2414 of the runner 2410 with the opening of the rotation hole 245 formed on the second side surface 2402, insert the eccentric wheel 241 into the rotation hole 245. After the eccentric wheel 241 is completely inserted into the rotation hole 245, on the one hand, the first end face 2414 of the runner 2410 abuts against the arc-shaped protrusion 2451, and / or the interference portion 2412 abuts against the annular stop portion 2450. On the second hand, the cylindrical surface 2416 is sleeved on the hole wall of the rotation hole 245. On the third hand, the connection hole 244 communicated with the rotation hole 245 is aligned with the arc-shaped guide groove 2417 or the avoidance groove 2418. On the fourth hand, the boss 2411 is exposed from the opening of the rotation hole 245 formed on the first side surface 2401. Subsequently, install the sealing plate 2452 on the second side surface 2402. After the sealing plate 2452 is installed on the second side surface 2402, the sealing plate 2452 abuts against the second end face 2415 of the runner 2410. At this time, the installation of the eccentric wheel 241 in the rotation hole 245 is completed.

[0062] After the eccentric wheel 241 is installed in the rotation hole 245, the eccentric wheel 241 can only rotate between a first rotation position and a second rotation position in the rotation hole 245 around the rotation axis o. The following explains the assembly relationship between the eccentric wheel 241 and the rotation hole 245 to explain why the eccentric wheel 241 can only rotate between the first rotation position and the second rotation position in the rotation hole 245 around the rotation axis o, as follows:

[0063] Since the first end face 2414 of the runner 2410 abuts against the arc-shaped convex block 2451, and / or the interference part 2412 abuts against the annular stop part 2450, and the second end face 2415 of the runner 2410 abuts against the cover plate 2452, two translational degrees of freedom of the eccentric wheel 241 moving in the direction perpendicular to the rotation axis o and one rotational degree of freedom of rotating around the rotation axis o are restricted. Then, by sleeving the cylindrical surface 2416 of the runner 2410 on the hole wall of the rotation hole 244, the two translational degrees of freedom of the eccentric wheel 241 moving in the direction perpendicular to the rotation axis o are further restricted. In addition, during the rotation of the eccentric wheel 241 around the rotation axis o, the arc-shaped convex block 2451 will block the interference part 2412 to prevent the eccentric wheel 241 from continuing to rotate. In summary, the eccentric wheel 241 can only rotate between the first rotation position and the second rotation position in the rotation hole 245 around the rotation axis o. When the eccentric wheel 241 rotates to the first rotation position, the interference part 2412 abuts against one end of the arc-shaped convex block 2451, and the avoidance groove 2418 is aligned with the connection hole 244. When the eccentric wheel 241 rotates to the second rotation position, the interference part 2412 abuts against the other end of the arc-shaped convex block 2451, and the second end of the arc-shaped guide groove 2417 is aligned with the connection hole 244.

[0064] The following explains how the rotor assembly 20 is connected to the fuselage 10:

[0065] The first installation part is connected to the first assembly part. The positioning beam 182 is aligned with and inserted into the positioning hole 243. During the process of the positioning beam 182 being completely inserted into the positioning hole 243, on the one hand, each connecting rod 181 automatically aligns with and is inserted into a corresponding connection hole 244, and on the other hand, the first plug-in terminal 183 automatically aligns with and is plugged into the second plug-in terminal 242.

[0066] During the process of the connecting rod 181 being inserted into the connection hole 244, the eccentric wheel 241 rotates to the first rotation position, and the avoidance groove 2418 of the eccentric wheel 241 is aligned with the connection hole 244. The limiting body 1812 of the connecting rod 181 sequentially passes through the connection hole 244 and the avoidance groove 2418. After the connecting rod 181 is completely inserted into the connection hole 244, the limiting body 1812 of the connecting rod 181 is received in the cavity 2413 of the eccentric wheel 241, and the rod body 1811 of the connecting rod 181 is located in the avoidance groove 2418.

[0067] After the positioning beam 182 is fully inserted into the positioning hole 243, in the first aspect, each connecting rod 181 is also fully inserted into a corresponding connecting hole 244. In the second aspect, the first plug-in terminal 183 is also fully plugged into the second plug-in terminal 242. In the third aspect, the first mounting surface 1800 is in contact with the first assembly surface 2400. Subsequently, the eccentric wheel 241 is rotated to the second rotation position, and the rod body 1811 is located at the second end of the arc-shaped guide groove 2417 of the eccentric wheel 241. At this time, the rotor assembly 20 is completed to be connected to the fuselage 10.

[0068] After the rotor assembly 20 is completed to be connected to the fuselage 10, the rotor assembly 20 is fixed to the fuselage 10. The following explains the assembly relationship between the rotor assembly 20 and the fuselage 10 to illustrate why the rotor assembly 20 is fixed to the fuselage 10.

[0069] Since the positioning beam 182 is inserted into the positioning hole 243, the positioning beam 182 is adapted to the positioning hole 243, and the cross-section of the positioning beam 182 is square, so the degrees of freedom of the arm member 21 other than moving along the pitch axis direction x are restricted. And the arc-shaped guide groove 2417 prevents the limiting body 1812 from exiting the cavity 2413. Cooperating with the first mounting surface 1800 abutting against the first assembly surface 2400 restricts the degree of freedom of the arm member 21 moving along the pitch axis direction x.

[0070] It can be understood that the number of the connecting rods 181 is not limited to 2. According to the actual situation, for example, if the weight of the fuselage 10 or the load carried by the fuselage 10 is less, the number of the connecting rods 181 can be less. On the contrary, the number of the connecting rods 181 can be more.

[0071] In some other embodiments, the first assembly portion of the arm member is plugged into a corresponding first mounting portion and fixed by a threaded fastener.

[0072] The specific working process of the multi-rotor UAV is as follows:

[0073] Two first rotor motors 14 and two second rotor motors 23 of the arm members 21, a total of four rotor motors work together to provide the lift for the vertical takeoff and landing of the multi-rotor UAV. Through the differential control of the four rotor motors, the pitch control, roll control, yaw control and flight in all directions of the multi-rotor UAV are provided. At the same time, the drooping tail 16 can also ensure the yaw stability of the multi-rotor UAV.

[0074] In some embodiments, the size of the first propeller installed on the first rotor motor 14 is equal to the size of the second propeller installed on the second rotor motor 23. In practical applications, by designing the first propeller and the second propeller as large-sized propellers, the vertical takeoff and landing of the multi-rotor UAV with a large weight can be ensured.

[0075] Please refer toFigure 15 and Figure 16 The fixed-wing assembly 30 includes two wing components 31. Taking one of the wing components 31 as an example, the wing component 31 includes a wing body 32, a wing tip 33, a third rotor motor 34, a tilting motor (not shown in the figure), and a second assembly part 35. The wing body 32 extends along the pitch axis direction x. One end of the wing body 32 is connected to the wing tip 33, and the other end of the wing body 32 is connected to the second assembly part 35. The tilting motor is installed on the wing body 32 and is connected to the wing tip 33. The third rotor motor 34 is installed on the wing tip 33. The wing tip 33 can rotate relative to the wing body 32 around the pitch axis direction x, so that the third rotor motor 34 installed on the wing tip 33 rotates around the pitch axis direction x between a first tilting position and a second tilting position. The tilting motor is used to drive the wing tip 33 to rotate around the pitch axis direction x.

[0076] When the third rotor motor 34 tilts to the first position, as Figure 12 shown, the wing tip 33 is substantially flush with the wing body 32. When the third rotor motor 34 rotates to the second position, as Figure 13 shown, the wing tip 33 is substantially orthogonal to the wing body 32.

[0077] The rotating shaft of the third rotor motor 34 is arranged perpendicular to the pitch axis direction x, and a third propeller (not shown in the figure) is installed on the rotating shaft of the third rotor motor 34. When the third rotor motor 34 rotates to the first tilting position, the rotating shaft of the third rotor motor 34 is substantially along the roll axis direction y, for providing thrust. When the third rotor motor 34 rotates to the second tilting position, the rotating shaft of the third rotor motor 34 is substantially along the heading axis direction z, for providing lift.

[0078] The second assembly part 35 is used to be connected to a corresponding first installation part 18. The structure of the second assembly part 35 is similar to that of the first assembly part 24, that is, any one of the second assembly part 35 and the first assembly part 24 includes a first assembly main body 240, an eccentric wheel 241, and a second plug-in terminal 242. For the structure of the first assembly part 24, please refer back to Figure 12 , which will not be elaborated here. The second plug-in terminals 242 of the wing component 31 are electrically connected to the tilting motor and the third rotor motor 34 respectively.

[0079] The following describes how the fixed-wing assembly 30 is connected to the airframe 10:

[0080] The first installation part is connected to the second assembly part. Since the structure of the second assembly part is similar to that of the first assembly part, the assembly process of the second assembly part and the first installation part is also similar to the assembly process of the first assembly part and the first installation part, which will not be elaborated here.

[0081] Please refer to Figure 17, the tail assembly 40 includes tail components 41, a rotating shaft 42, and a drive shaft 43. The number of tail components 41 corresponds to the number of the second mounting portions 19. Taking one of the tail components 40 as an example, the tail component 41 includes a second fitting surface 410. The second fitting surface 410 is disposed substantially perpendicular to the pitch axis direction x. A first insertion hole 44 and a second insertion hole 45 are formed on the second fitting surface 410. The first insertion hole 44 and the second insertion hole 45 are both disposed along the pitch axis direction x, and are respectively used for inserting one end of the rotating shaft 42 and one end of the drive shaft 43.

[0082] The process of connecting the tail assembly 40 to the airframe 10 is as follows:

[0083] Insert the rotating shaft 42 into the shaft hole 191, and both ends thereof are exposed outside the shaft hole 191. In addition, insert the drive shaft 43 into the arc-shaped guide hole 192, and both ends thereof are exposed outside the arc-shaped guide hole 192. After the rotating shaft 42 and the drive shaft 43 are installed, insert one end of a corresponding rotating shaft 43 into the first insertion hole 44 of each tail component 41. In addition, insert one end of a corresponding drive shaft 43 into the second insertion hole 45 of each tail component 41. After one end of a corresponding rotating shaft 42 is completely inserted into the first insertion hole 44 of each tail component 41, and one end of a corresponding drive shaft 43 is completely inserted into the second insertion hole 45 of each tail component 41, the second fitting surface 410 of each tail component 41 contacts the second mounting surface 190 of a corresponding second mounting portion 19. At this time, the tail assembly 40 is completed to be connected to the airframe 10.

[0084] After the tail assembly 40 is connected to the airframe 10, the drive shaft 43 rotates along the arc-shaped guide hole 192 around the pitch axis direction x to drive the two tail components 41 to rotate around the rotating shaft 42. In some embodiments, a drive motor (not shown in the figure) for driving the drive shaft 43 to rotate around the pitch axis direction x is disposed inside the drooping tail 16, and the drive motor is connected to the drive shaft 43 through a transmission mechanism such as a connecting rod.

[0085] The specific working process of the vertical takeoff and landing fixed-wing UAV is as follows:

[0086] During vertical takeoff and landing, the two first rotor motors 14 provide lift and pitch control. The third rotor motors 34 of the two wing components 31 rotate to the second tilting position to provide auxiliary lift. Through the differential control of the third rotor motors 34 of the two wing components 31 and the differential control of the tilting of the tilting motors of the two wing components 31, roll and yaw control are provided.

[0087] During endurance flight, the two first rotor motors 14 stop working. The lift is provided by the wing bodies 32 of the two wing components 31, and the pitch control is provided by the two tail wing components 41. The third rotor motors 34 of the two wing components 31 rotate to the first position for tilting to provide thrust. Differential control of the third rotor motors 34 of the two wing components 31 and differential tilting control of the tilting motors of the two wing components 31 are used to provide roll and heading control.

[0088] Compared with the prior art, in an unmanned aerial vehicle 100 provided by an embodiment of the present application, an eccentric wheel is configured on a power assembly, and a connecting rod is configured on the airframe. When the eccentric wheel rotates to the first rotation position, the connecting rod can be inserted into the eccentric wheel along the pitch axis direction. When the eccentric wheel rotates to the second rotation position and the connecting rod is inserted into the eccentric wheel, the connecting rod cannot exit the eccentric wheel along the pitch axis direction to lock the connecting rod. And after the connecting rod is inserted into the eccentric wheel, the connecting rod can be locked only by rotating the eccentric wheel, realizing an unmanned aerial vehicle in which the power assembly can be disassembled and assembled with the airframe more conveniently.

[0089] In addition, the fixed-wing assembly and the rotor assembly are alternatively connected to the airframe. The fixed-wing assembly is connected to the airframe to form a vertical takeoff and landing fixed-wing unmanned aerial vehicle, and the rotor assembly is connected to the airframe to form a multi-rotor unmanned aerial vehicle, so as to realize an unmanned aerial vehicle that can switch between a vertical takeoff and landing fixed-wing unmanned aerial vehicle and a multi-rotor unmanned aerial vehicle.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above. For the sake of brevity, they are not provided in detail; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An unmanned aerial vehicle, characterized in that, Comprising: A body provided with a first mounting portion. The first mounting portion includes a first mounting body and a connecting rod formed on the first mounting body. The connecting rod extends along the pitch axis direction, and the first mounting body is disposed on one side of the fuselage along the pitch axis direction X; and a power assembly including a first assembling body and an eccentric wheel mounted on the first assembling body. The connecting rod has a rod body and a limiting body, and the cross-sectional dimension of the rod body is smaller than that of the limiting body. The eccentric wheel includes an avoidance groove and a first guide groove. The eccentric wheel rotates around the rotation axis of the assembling body between a first rotation position and a second rotation position on the first assembling body. When the eccentric wheel rotates to the first rotation position, the connecting rod passes through the avoidance groove along the pitch axis direction; when the eccentric wheel rotates to the second rotation position, the first guide groove cooperates with the rod body to limit the connecting rod from withdrawing from the eccentric wheel along the pitch axis direction.

2. The unmanned aerial vehicle according to claim 1, wherein The first mounting body includes a first mounting surface, and the connecting rod is formed on the first mounting surface; The first assembling body includes a connected first assembling surface and a first side surface. The first assembling surface is used to fit the first mounting surface. The first assembling surface is formed with a connection hole for inserting the connecting rod. The first side surface is formed with a rotation hole having the rotation axis and communicating with the connection hole; The eccentric wheel is mounted in the rotation hole.

3. The unmanned aerial vehicle according to claim 2, wherein The eccentric wheel includes a runner. A cavity is formed in the runner. The runner includes a cylindrical surface arranged around the rotation axis. The cylindrical surface is sleeved on the hole wall of the rotation hole. The avoidance groove and the first guide groove are formed on the cylindrical surface. The first guide groove is an arc-shaped guide groove, which is communicated with the cavity and arranged around the rotation axis. The arc-shaped guide groove has a first end and a second end. The avoidance groove is communicated with the cavity and communicates with the first end. When the eccentric wheel rotates to the first rotation position, the avoidance groove aligns with the connection hole, and the limiting body can be received in the cavity along the pitch axis direction via the connection hole; When the eccentric wheel rotates to the second rotation position and the limiting body is received in the cavity, the second end aligns with the connection hole, and the limiting body cannot withdraw from the receiving cavity along the pitch axis direction via the arc-shaped guide groove.

4. The unmanned aerial vehicle according to claim 1, characterized in that, The limiting body is spherical.

5. The unmanned aerial vehicle according to claim 3, characterized in that, The first assembling body further includes a second side surface opposite to the first side surface. The first assembling surface is connected between the first side surface and the second side surface; The rotation hole extends from the first side surface to the second side surface. The opening of the rotation hole on the second side surface is closed by a sealing plate, and the sealing plate is detachably connected to the second side surface; A circular stop portion protrudes from the hole wall of the rotation hole near the first side surface, and the circular stop portion is arranged around the rotation axis.

6. The unmanned aerial vehicle according to claim 5, characterized in that, The runner further includes a first end face and a second end face facing away from each other. The cylindrical surface is connected between the first end face and the second end face. The first end face abuts against the annular stop portion, and the second end face abuts against the sealing plate.

7. The unmanned aerial vehicle according to claim 5, characterized in that, The annular stop portion is formed with an arc-shaped bump in the direction towards the first end face; The eccentric wheel further includes an interference portion, and the interference portion is formed on the boss along a direction perpendicular to the rotation axis; The first end face abuts against the annular stop portion through the arc-shaped bump; When the eccentric wheel rotates to the first rotation position, the interference portion abuts against one end of the arc-shaped bump; When the eccentric wheel rotates to the second rotation position, the interference portion abuts against the other end of the arc-shaped bump.

8. The unmanned aerial vehicle according to any one of claims 1 to 7, characterized in that, The unmanned aerial vehicle further includes a tail wing component, a rotating shaft and a transmission shaft. The airframe further includes a second mounting portion, and the second mounting portion has a shaft hole and an arc-shaped guide hole. The rotating shaft is inserted into the shaft hole, and the rotating shaft is exposed from the shaft hole. The transmission shaft is inserted into the arc-shaped guide hole, and the transmission shaft is exposed outside the arc-shaped guide hole. The tail wing component is connected to the airframe through the transmission shaft and the rotating shaft.

9. The unmanned aerial vehicle according to claim 8, characterized in that, The transmission shaft rotates along the arc-shaped guide hole in the pitch axis direction to drive the tail wing object to rotate around the locking rotating shaft.

10. The unmanned aerial vehicle according to claim 9, characterized in that, The tail wing component has a drive motor for driving the transmission shaft to rotate in the pitch axis direction.

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