Spherical coaxial self-balancing unmanned aerial vehicle and flight method thereof

Abstract

The invention discloses a spherical coaxial self-balancing unmanned aerial vehicle and a flight method thereof. The unmanned aerial vehicle comprises a supporting rack and a flight mechanism. The flight mechanism comprises a flight assembly and a direction adjusting assembly. The flying assembly comprises a mounting rack, a first paddle, a second paddle and a driving motor. And the mounting rack is fixed on the supporting rack. And the first paddle and the second paddle are rotationally connected to the mounting rack. And the first paddle and the second paddle which are opposite in rotating direction are respectively fixed on the first rotating shaft and the second rotating shaft and are driven by the driving motor. The direction adjusting assembly comprises a connecting support, an active air guide plate and a transverse movement adjusting driving piece. The driving air guide plate is rotationally connected to the lower portion of the first paddle and the lower portion of the second paddle and driven by the transverse movement adjusting assembly. According to the unmanned aerial vehicle, by arranging the rotating active steering air guide plate, airflow blown downwards by the first paddle generates a component in the horizontal direction, so that the unmanned aerial vehicle can move horizontally, and control needed by transverse movement of the unmanned aerial vehicle is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles (UAVs), and in particular relates to a spherical coaxial self-balancing UAV and a flying method thereof. Background Art

[0002] A drone is an unmanned aerial vehicle (UAV) controlled by a radio-controlled device or remote control unit to perform missions. In recent years, UAVs have been developed and applied in a variety of fields, including civil, industrial, and military applications. UAVs use antennas to radiate and receive electromagnetic waves, enabling wireless communication with the radio-controlled device or remote control unit. The recent development of UAVs has attracted widespread attention due to their advantages, such as maneuverability, rapid response, unmanned flight, and low operating requirements. They are now being used in a variety of fields, including agriculture and exploration.

[0003] In existing technology, drones are generally categorized as quadcopters and coaxial drones. Quadcopters balance torque by rotating pairs of contra-rotating rotors in different directions, and achieve attitude control by adjusting the speed of paired variable-pitch propellers. This structure results in a large width for quadcopters, making them difficult to maneuver into narrow spaces. Coaxial drones conserve angular momentum by adjusting the speed of two coaxially mounted propellers, one above the other. However, the mechanical structure required for synchronized speed is complex, with numerous small components, making fabrication difficult and expensive. Summary of the Invention

[0004] The present invention aims to provide a spherical coaxial self-balancing UAV and a flying method thereof.

[0005] In a first aspect, the present invention provides a spherical coaxial self-balancing drone, comprising a support frame and a flight mechanism; the flight mechanism comprising a flight assembly and a direction adjustment assembly; the flight assembly comprising a mounting frame, a first rotating shaft, a second rotating shaft, a first propeller blade, a second propeller blade, and a drive motor; the mounting frame being fixed to the support frame; the coaxially arranged first and second propeller shafts being both rotatably connected to the mounting frame; the first propeller blade and the second propeller blade, which rotate in opposite directions, being fixed to the first and second propeller shafts, respectively; and the drive motor being used to drive the first and second propeller shafts to rotate synchronously in opposite directions.

[0006] The direction adjustment assembly includes a rotating shaft, a connecting bracket, an active air deflector, a driven air deflector, a first transmission rod, an adjustment mounting ring, a lateral adjustment drive member and a direction adjustment drive assembly;

[0007] The rotating shaft is rotatably connected to the mounting frame and is driven to rotate by the direction adjustment drive assembly; the adjustment mounting ring is fixed to the rotating shaft through a connecting bracket; a plurality of driven air guide plates are arranged in sequence on the adjustment mounting ring; one side of the active air guide plate and each driven air guide plate is rotatably connected to the adjustment mounting ring; the rotation axis of the active air guide plate and each driven air guide plate is perpendicular to the axis of the first rotating shaft and the second rotating shaft; the other side of the active air guide plate and each driven air guide plate is rotatably connected to different positions of the first transmission rod; the said transverse adjustment drive member is used to drive the active air guide plate to rotate.

[0008] Preferably, the lateral adjustment drive is installed in the middle of the connecting bracket and is connected to the end of the active air guide plate facing the rotating shaft; the direction adjustment assembly also includes a secondary air guide plate and a second transmission rod; two symmetrical mounting grooves are provided on the connecting bracket; the active air guide plate and the secondary air guide plate are respectively installed in the two mounting grooves; the secondary air guide plate is rotatably connected to the adjustment mounting ring; the other side of the secondary air guide plate and each driven air guide plate are rotatably connected to different positions of the second transmission rod.

[0009] Preferably, the active air guide plate is provided with a first transmission groove; the secondary air guide plate is provided with a second transmission groove; each driven guide plate is provided with two third transmission grooves; the two third transmission grooves on the same driven guide plate are aligned with the first transmission groove and the second transmission groove respectively; the first transmission rod passes through the first transmission groove and each third transmission groove; the second transmission rod passes through the second transmission groove and each third transmission groove.

[0010] Preferably, the active air guide plate and the secondary air guide plate are symmetrical about the axis of the rotating shaft.

[0011] Preferably, the steering drive assembly includes a first drive gear, a third gear and a first motor; the first motor is fixed on the mounting frame, and the first drive gear is fixed on the output shaft; the third gear is fixed on the rotating shaft; and the third gear is engaged with the first drive gear.

[0012] Preferably, the flight assembly further comprises a gear assembly; the gear assembly comprises a driving gear, a steering gear, a first gear, a second gear, a first driven gear, a second driven gear, a first transmission shaft and a second transmission shaft; the drive motor is fixed on the mounting frame;

[0013] The driving gear is fixed to the output shaft of the driving motor; the steering gear is rotatably connected to the mounting frame and meshes with the driving gear; the first transmission shaft and the second transmission shaft are both rotatably connected to the mounting frame; the first transmission shaft is driven by the driving motor; the driving gear and the first gear are both fixed to the first transmission shaft; the steering gear and the second gear are both fixed to the second transmission shaft; the driving gear meshes with the steering gear; the first driven gear and the second driven gear are both rotatably connected to the mounting frame and are arranged in sequence at intervals in the height direction of the mounting frame; the first driven gear meshes with the second gear; the second driven gear meshes with the first gear; the bottom end of the first rotating shaft is fixed to the first driven gear; the bottom end of the second rotating shaft is fixed to the second driven gear.

[0014] Preferably, the drone further includes a protective casing. The protective casing comprises two protective shells. Both protective shells are hollow hemispherical. The two protective shells together form a complete sphere and are mounted on the support frame.

[0015] Preferably, the support frame includes a connector, an outer ring bracket, and an inner ring bracket. The inner ring bracket and the outer ring bracket are arranged crosswise. Two connectors are fixed to the outer wall of the inner ring bracket. The two connectors are arranged opposite each other. The other ends of the two connectors are fixed to the outer ring bracket.

[0016] Preferably, the transverse adjustment drive member adopts a steering gear.

[0017] In a second aspect, the present invention provides a method for flying a spherical coaxial self-balancing drone, the specific steps of which are as follows:

[0018] Step 1: The driving motor drives the first blade and the second blade to rotate synchronously in opposite directions; the UAV obtains lift in the vertical direction and flies upward;

[0019] Step 2: When the drone reaches a preset height, the driving motor controls the rotation speed of the first blade and the second blade so that the drone hovers at the specified height; the lateral adjustment driving member drives the active wind deflector to tilt, and the active wind deflector drives the secondary wind deflector and each driven wind deflector to tilt synchronously through the transmission of the first transmission rod and the second transmission rod; when the airflow generated by the rotation of the first blade and the second blade blows on the inclined active wind deflector, the secondary wind deflector and the driven wind deflector, a horizontal thrust component is generated on the active wind deflector, the driven wind deflector and the secondary wind deflector, thereby driving the drone to fly in the horizontal direction;

[0020] Step 3: When the direction of lateral movement needs to be adjusted, the steering drive assembly drives the rotating shaft to rotate; the rotating shaft drives the adjustment installation to rotate around the axis of the rotating shaft, thereby changing the orientation of the wind guide surfaces of the active wind guide plate and the driven wind guide plate on the adjustment installation ring, so that the lateral movement direction of the drone is adjusted to the target direction.

[0021] The present invention has the following beneficial effects:

[0022] 1. The present invention disposes active and passive wind deflectors below the rotating first and second blades. By controlling the vertical inclination angles of the active and passive wind deflectors, the wind generated by the rotation of the first and second blades, when blowing on the secondary and passive wind deflectors, generates a horizontal thrust component, thereby driving the drone to fly horizontally. This eliminates the need to control the rotational speeds of the first and second blades for steering, simplifying control of the drone's horizontal motion.

[0023] 2. The present invention controls the horizontal movement of the drone by controlling the rotation of the active air deflector via a servo, and the rotation of the driven and secondary air deflectors via first and second transmission rods. Simultaneously, by rotating the adjustment mounting ring, the orientation of the air guide surfaces of the active, driven, and secondary air deflectors is controlled, allowing the drone to turn at any angle, reducing the requirement for controlling the relative speed of the first and second propeller blades. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0025] Figure 2 Schematic diagram of the relative positions of the flight component and the direction adjustment component in the present invention.

[0026] Figure 3 Schematic diagram of the relative positions of the gear assembly and the steering drive assembly in the present invention.

[0027] Figure 4 Schematic diagram of the structure of the gear assembly in the present invention ( Figure 3 (enlarged schematic diagram of part A in the middle).

[0028] Figure 5 Schematic diagram of the relative positions of the rotating shaft, the first rotating shaft and the second rotating shaft in the present invention.

[0029] Figure 6 It is a structural schematic diagram of the direction adjustment component in the present invention.

[0030] Figure 7 for Figure 6 Enlarged schematic diagram of part B.

[0031] Figure 1: 1. Support frame; 2. Protective cover; 3. Flight assembly; 3-1. Mounting frame; 3-2. First rotating shaft; 3-3. Second rotating shaft; 3-4. First blade; 3-5. Second blade; 3-6. Driving motor; 3-7. Gear assembly; 3-7-1. Driving gear; 3-7-2. Steering gear; 3-7-3. First gear; 3-7-4. Second gear; 3-7-5. First driven gear; 3-7-6. A transmission shaft; 3-7-8, a second driven gear; 3-7-7, a second transmission shaft; 4, a direction adjustment assembly; 4-1, a rotating shaft; 4-2, a connecting bracket; 4-3, an active air guide plate; 4-4, a driven air guide plate; 4-5, a secondary air guide plate; 4-6, an adjustment mounting ring; 4-7, a transverse adjustment drive member; 4-8, a direction adjustment drive assembly; 4-8-1, a first drive gear; 4-8-2, a third gear; 4-8-3, a first motor. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the accompanying drawings.

[0033] like Figure 1 As shown, a spherical coaxial self-balancing drone includes a support frame 1, a protective shell 2, and a flight mechanism mounted on the support frame 1. The protective shell 2 includes two protective shells. Both protective shells are hollow hemispheres. The two protective shells are combined to form a complete sphere and are mounted on the support frame 1 to protect the drive components and flight mechanism on the support frame 1. The support frame 1 includes a connector, an outer ring bracket and an inner ring bracket. The inner ring bracket and the outer ring bracket are arranged crosswise. Two connectors are fixed to the outer wall of the inner ring bracket. The two connectors are arranged opposite to each other. The other ends of the two connectors are fixed to the outer ring bracket.

[0034] like Figure 2As shown, the flight mechanism includes a driving power supply, a flight assembly 3, and a direction adjustment assembly 4. The driving power supply is fixed to the inner ring bracket (not shown in the figure) and is used to provide electrical energy to the flight assembly 3 and the direction adjustment assembly. The flight assembly 3 includes a mounting frame 3-1, a first rotating shaft 3-2, a second rotating shaft 3-3, a first blade 3-4, a second blade 3-5, a driving motor 3-6, and a gear assembly 3-7. The mounting frame 3-1 is fixed to the inner ring bracket. The first rotating shaft 3-2 and the second rotating shaft 3-3 are both rotatably connected to the mounting frame 3-1. The first rotating shaft 3-2 is provided with a first through hole extending parallel to the axis of the first rotating shaft 3-2. The second rotating shaft 3-3 is installed in the first through hole, and its two ends extend from the two end ports of the first through hole. The first blade 3-4 and the second blade 3-5 are respectively fixed to the first rotating shaft 3-2 and the second rotating shaft 3-3. The driving motor 3-6 is fixed to the mounting frame 3-1. The drive motor 3-6 is driven by the gear assembly 3-7 to drive the first blade 3-4 and the second blade 3-5 to rotate in opposite directions, that is, the first blade 3-4 rotates clockwise and the second blade 3-5 rotates counterclockwise. The first blade 3-4 and the second blade 3-5 rotate in opposite directions to each other, thereby offsetting the torque and generating upward lift.

[0035] like Figure 3 and 4 As shown, the gear assembly 3-7 includes a driving gear 3-7-1, a steering gear 3-7-2, a first gear 3-7-3, a second gear 3-7-4, a first driven gear 3-7-5, a second driven gear 3-7-8, a first transmission shaft 3-7-6 and a second transmission shaft 3-7-7. The driving motor 3-6 is fixed to the mounting frame 3-1. The first transmission shaft 3-7-6 and the second transmission shaft 3-7-7 are both rotatably connected to the mounting frame 3-1; the first transmission shaft 3-7-6 is driven by the driving motor 3-6; the driving gear 3-7-1 and the first gear 3-7-3 are both fixed on the first transmission shaft 3-7-6; the steering gear 3-7-2 and the second gear 3-7-4 are both fixed on the second transmission shaft 3-7-7; the driving gear 3-7-1 is meshed with the steering gear 3-7-2; the first driven gear 3-7-5 and the second driven gear 3-7-8 are both rotatably connected to the mounting frame 3-1, and are arranged in sequence at intervals in the height direction of the mounting frame 3-1; the first driven gear 3-7-5 is meshed with the second gear 3-7-4; the second driven gear 3-7-8 is meshed with the first gear 3-7-3; the bottom end of the first rotating shaft 3-2 is fixed to the first driven gear 3-7-5; the bottom end of the second rotating shaft 3-3 is fixed to the second driven gear 3-7-8.

[0036] like Figure 6As shown, the direction adjustment assembly 4 includes a rotating shaft 4-1, a connecting bracket 4-2, an active air deflector 4-3, a driven air deflector 4-4, a secondary air deflector 4-5, a first transmission rod, a second transmission rod, an adjustment mounting ring 4-6, a transverse adjustment drive member 4-7, and a direction adjustment drive assembly 4-8. The rotating shaft 4-1 is rotatably connected to the mounting frame 3-1 and is driven by the direction adjustment drive assembly 4-8. The connecting bracket 4-2 is fixed to the rotating shaft 4-1. The rotating shaft 4-1 and the connecting bracket 4-2 are respectively provided with a second through hole and a third through hole that are connected in sequence along the axis of the rotating shaft 4-1. The bottom end of the first rotating shaft 3-2 passes through the second through hole and the third through hole in sequence. The adjustment mounting ring 4-6 is fixed to the connecting bracket 4-2. The connecting bracket 4-2 is provided with two symmetrically arranged mounting grooves.

[0037] like Figure 6 As shown, the active air deflector 4-3 and the secondary air deflector 4-5 are respectively installed in two mounting slots, with the bottoms of each extending from the mounting slots. A first connecting shaft and a second connecting shaft are respectively fixed to the top edges of the active air deflector 4-3 and the secondary air deflector 4-5. The first and second connecting shafts are both rotatably connected to the adjustable mounting ring 4-6. Multiple driven air deflectors 4-4 are sequentially spaced apart and arranged on opposite sides of the active air deflector 4-3. A third connecting shaft is fixed to the top edge of each driven air deflector 4-4. The third connecting shaft is rotatably connected to the adjustable mounting ring 4-6.

[0038] The active air guide plate 4-3 and the secondary air guide plate 4-5 are each provided with a first transmission slot and a second transmission slot. Each driven air guide plate is provided with two third transmission slots. The two third transmission slots are aligned with the first and second transmission slots. A first transmission rod passes through the first transmission slot and each third transmission slot and is rotationally connected to the active air guide plate 4-3 and each driven air guide plate. A second transmission rod passes through the second transmission slot and each third transmission slot and is rotationally connected to the secondary air guide plate 4-5 and each driven air guide plate.

[0039] The lateral adjustment drive 4-7 is fixed to the connecting bracket 4-2 and utilizes a servo. The output shaft of the lateral adjustment drive 4-7 is fixed to the first connecting shaft, driving the first connecting shaft to rotate, thereby causing the active air deflector 4-3 to swing vertically. The active air deflector 4-3 is connected to each of the driven air deflectors 4-4 via a first transmission rod, ensuring that when the active air deflector 4-3 swings, the driven air deflectors 4-4 can swing to the same angle. Each driven air deflector 4-4 is connected to the first steering plate via a second transmission rod, allowing the secondary air deflectors 4-5 to tilt synchronously and at the same angle.

[0040] In some embodiments, the active wind deflector and the secondary wind deflector are symmetrical about the axis of rotation 4-1. At the same time, two lateral adjustment drive members 4-7 are provided. Both lateral adjustment drive members are arranged on the connecting bracket and are symmetrical about the axis of rotation. The two lateral adjustment drive members 4-7 are respectively connected to the ends of the active wind deflector 4-3 and the secondary wind deflector 4-5 facing the rotation axis 4-1. By making the active wind deflector and the secondary wind deflector symmetrical about the axis of rotation 4-1, the thrust of the airflow generated by the rotation of the first blade 3-4 and the second blade 3-5 blowing on the inclined active wind deflector and the secondary wind deflector is balanced, thereby preventing the drone from deflecting due to uneven force.

[0041] In the initial state, the wind guide surfaces of the active wind guide plate 4-3, the secondary wind guide plate 4-5 and each driven wind guide plate 4-4 are perpendicular to the horizontal plane, so that the wind force generated by the rotation of the first blade 3-4 and the second blade 3-5 can directly pass through the active wind guide plate 4-3, the secondary wind guide plate 4-5, and the driven wind guide plate 4-4, thereby driving the drone to rise.

[0042] When the lateral adjustment drive 4-7 drives the active wind deflector 4-3 to tilt vertically, the secondary wind deflector 4-5 and each driven wind deflector 4-4 are tilted to the same angle through the transmission of the first and second transmission rods. When the wind force generated by the rotation of the first and second blades 3-4 and 3-5 hits the tilted active wind deflector 4-3, secondary wind deflector 4-5, and driven wind deflector 4-4, it generates a horizontal component, thereby driving the drone to fly horizontally.

[0043] The steering drive assembly 4-8 includes a first drive gear 4-8-1, a third gear 4-8-2 and a first motor 4-8-3. The first motor 4-8-3 is fixed to the mounting frame 3-1, and the first drive gear 4-8-1 is fixed to the output shaft. The third gear 4-8-2 is sleeved on the rotating shaft 4-1 and fixed to the outer wall of the rotating shaft 4-1. The third gear 4-8-2 is engaged with the first drive gear 4-8-1. During operation, the third gear 4-8-2 is driven to rotate by the first motor 4-8-3, thereby driving the rotating shaft 4-1 to rotate. The rotating shaft 4-1 drives the adjustment mounting ring 4-6 to rotate around the axis of the rotating shaft 4-1, thereby changing the orientation of the wind guide surfaces of the active wind guide plate 4-3 and the driven wind guide plate 4-4 on the adjustment mounting ring 4-6, so that the drone can turn at any angle in the horizontal direction.

[0044] The flying method of the spherical coaxial self-balancing UAV comprises the following steps:

[0045] Step 1: Drive motor 3-6, driven by gear assembly 3-7, drives first shaft 3-2 and second shaft 3-3 to rotate in opposite directions. First shaft 3-2 and second shaft 3-3 respectively drive first blade 3-4 and second blade 3-5 to rotate in opposite directions. This generates vertical lift for the drone, allowing it to fly upward.

[0046] Step 2: The UAV reaches the specified height, and the drive motor 3-6 controls the rotation speed of the first blade 3-4 and the second blade 3-5, so that the UAV hovers at the specified height. After the lateral adjustment drive 4-7 drives the active air guide plate 4-3 to tilt in the vertical direction, the secondary air guide plate 4-5 and each driven air guide plate 4-4 can be tilted at the same angle through the transmission of the first transmission rod and the second transmission rod. When the airflow generated by the rotation of the first blade 3-4 and the second blade 3-5 blows on the inclined active air guide plate 4-3, the secondary air guide plate 4-5 and the driven air guide plate 4-4, a horizontal thrust component is generated on the active air guide plate 4-3, the driven air guide plate 4-4 and the secondary air guide plate 4-5, driving the UAV to fly in the horizontal direction.

[0047] Step 3: The first motor 4-8-3 drives the third gear 4-8-2 to rotate, thereby driving the rotating shaft 4-1 to rotate. The rotating shaft 4-1 drives the adjusting mounting ring 4-6 to rotate around the axis of the rotating shaft 4-1, thereby changing the orientation of the active air deflector 4-3 and the driven air deflector 4-4 on the adjusting mounting ring 4-6, so that the lateral direction of the UAV is adjusted to the target direction.

Claims

1. A spherical coaxial self-balancing drone, comprising a support frame (1) and a flight mechanism; characterized in that: The flight mechanism comprises a flight assembly (3) and a direction adjustment assembly (4); the flight assembly (3) comprises a mounting frame (3-1), a first rotating shaft (3-2), a second rotating shaft (3-3), a first propeller blade (3-4), a second propeller blade (3-5) and a drive motor (3-6); the mounting frame (3-1) is fixed on the support frame (1); the coaxially arranged first rotating shaft (3-2) and the second rotating shaft (3-3) are both rotatably connected to the mounting frame (3-1); the first propeller blade (3-4) and the second propeller blade (3-5) of opposite rotation directions are respectively fixed on the first rotating shaft (3-2) and the second rotating shaft (3-3); the drive motor (3-6) is used for driving the first rotating shaft (3-2) and the second rotating shaft (3-3) to rotate synchronously in opposite directions; The direction adjustment assembly (4) comprises a rotating shaft (4-1), a connecting bracket (4-2), an active air deflector (4-3), a driven air deflector (4-4), a first transmission rod, an adjustment mounting ring (4-6), a transverse adjustment drive member (4-7) and a direction adjustment drive assembly (4-8); The rotating shaft (4-1) is rotatably connected to the mounting frame (3-1) and driven to rotate by the direction adjustment drive assembly (4-8); the adjustment mounting ring (4-6) is fixed to the rotating shaft (4-1) through the connecting bracket (4-2); a plurality of driven air guide plates (4-4) are sequentially spaced and arranged on the adjustment mounting ring (4-6); one side of the active air guide plate (4-3) and each driven air guide plate (4-4) is rotatably connected to the adjustment mounting ring (4-6); the rotation axis of the active air guide plate (4-3) and each driven air guide plate (4-4) is perpendicular to the axis of the first rotating shaft (3-2) and the second rotating shaft (3-3); the other side of the active air guide plate (4-3) and each driven air guide plate (4-4) is rotatably connected to different positions of the first transmission rod; the transverse adjustment drive member (4-7) is used to drive the active air guide plate (4-3) to rotate.

2. The spherical coaxial self-balancing drone according to claim 1, characterized in that: The lateral adjustment driving member (4-7) is installed in the middle of the connecting bracket (4-2) and is connected to the end of the active air guide plate (4-3) facing the rotating shaft (4-1); the direction adjustment assembly (4) also includes a secondary air guide plate (4-5) and a second transmission rod; the connecting bracket (4-2) is provided with two symmetrically arranged mounting grooves; the active air guide plate (4-3) and the secondary air guide plate (4-5) are respectively installed in the two mounting grooves; the secondary air guide plate (4-5) is rotatably connected to the adjustment mounting ring (4-6); the other side of the secondary air guide plate (4-5) and each driven air guide plate (4-4) are rotatably connected to different positions of the second transmission rod.

3. The spherical coaxial self-balancing drone according to claim 2, characterized in that: The active air guide plate (4-3) is provided with a first transmission groove; the secondary air guide plate (4-5) is provided with a second transmission groove; each driven guide plate is provided with two third transmission grooves; the two third transmission grooves on the same driven guide plate are respectively aligned with the first transmission groove and the second transmission groove; the first transmission rod passes through the first transmission groove and each third transmission groove; and the second transmission rod passes through the second transmission groove and each third transmission groove.

4. The spherical coaxial self-balancing drone according to claim 2, characterized in that: The active air guide plate (4-3) and the secondary air guide plate (4-5) are symmetrical about the axis of the rotating shaft (4-1).

5. The spherical coaxial self-balancing drone according to claim 1, characterized in that: The steering drive assembly (4-8) includes a first drive gear (4-8-1), a third gear (4-8-2) and a first motor (4-8-3); the first motor (4-8-3) is fixed on the mounting frame (3-1), and the first drive gear (4-8-1) is fixed on the output shaft; the third gear (4-8-2) is fixed on the rotating shaft (4-1); and the third gear (4-8-2) is meshed with the first drive gear (4-8-1).

6. The spherical coaxial self-balancing drone according to claim 5, characterized in that: The flight assembly (3) further includes a gear assembly (3-7); the gear assembly (3-7) includes a driving gear (3-7-1), a steering gear (3-7-2), a first gear (3-7-3), a second gear (3-7-4), a first driven gear (3-7-5), a second driven gear (3-7-8), a first transmission shaft (3-7-6) and a second transmission shaft (3-7-7); the driving motor (3-6) is fixed on the mounting frame (3-1); The first transmission shaft (3-7-6) and the second transmission shaft (3-7-7) are both rotatably connected to the mounting frame (3-1); the first transmission shaft (3-7-6) is driven by the driving motor (3-6); the driving gear (3-7-1) and the first gear (3-7-3) are both fixed on the first transmission shaft (3-7-6); the steering gear (3-7-2) and the second gear (3-7-4) are both fixed on the second transmission shaft (3-7-7); the driving gear (3-7-1) is meshed with the steering gear (3-7-2); the first driven gear (3-7-1) is meshed with the steering gear (3-7-2); the first driven gear (3-7-3) is fixed on the first transmission shaft (3-7-6); the steering gear (3-7-2) and the second gear (3-7-4) are ...3) is fixed on the first transmission shaft (3-7-6); the steering gear (3-7-2) and the second gear (3-7-4) are fixed on the second transmission shaft (3-7-7); the driving gear (3-7-1) is meshed with the steering gear (3-7-2); the first driven gear (3-7-3) is fixed on the first transmission shaft (3-7-6); the first driven gear (3-7-3) is fixed on the first transmission shaft (3-7-6); the first The gear (3-7-5) and the second driven gear (3-7-8) are both rotatably connected to the mounting frame (3-1) and are arranged in sequence and spaced apart in the height direction of the mounting frame (3-1); the first driven gear (3-7-5) is meshed with the second gear (3-7-4); the second driven gear (3-7-8) is meshed with the first gear (3-7-3); the bottom end of the first rotating shaft (3-2) is fixed to the first driven gear (3-7-5); and the bottom end of the second rotating shaft (3-3) is fixed to the second driven gear (3-7-8).

7. The spherical coaxial self-balancing drone according to claim 1, characterized in that: It also includes a protective shell (2); the protective shell (2) includes two protective shells; the two protective shells are both hollow hemispheres; the two protective shells are combined to form a complete sphere, which is sleeved on the supporting frame (1).

8. The spherical coaxial self-balancing drone according to claim 1, characterized in that: The support frame (1) comprises a connecting piece, an outer ring bracket and an inner ring bracket; the inner ring bracket and the outer ring bracket are arranged crosswise; two connecting pieces are fixed on the outer wall of the inner ring bracket; the two connecting pieces are arranged opposite to each other; and the other ends of the two connecting pieces are fixed to the outer ring bracket.

9. The spherical coaxial self-balancing drone according to claim 1, characterized in that: The transverse movement adjustment driving member (4-7) adopts a steering gear.

10. The flying method of a spherical coaxial self-balancing UAV according to claim 1, characterized in that: The specific steps are as follows: Step 1: The driving motor (3-6) drives the first blade (3-4) and the second blade (3-5) to rotate synchronously in opposite directions; the UAV obtains lift in the vertical direction and flies upward; Step 2: When the drone reaches a preset height, the driving motor (3-6) controls the rotation speed of the first blade (3-4) and the second blade (3-5), so that the drone hovers at a specified height; the lateral adjustment driving member (4-7) drives the active wind deflector (4-3) to tilt, and the active wind deflector (4-3) drives the secondary wind deflector (4-5) and each driven wind deflector (4-4) to tilt synchronously through the transmission of the first transmission rod and the second transmission rod; when the airflow generated by the rotation of the first blade (3-4) and the second blade (3-5) blows on the inclined active wind deflector (4-3), the secondary wind deflector (4-5) and the driven wind deflector (4-4), a horizontal thrust component is generated on the active wind deflector (4-3), the driven wind deflector (4-4) and the secondary wind deflector (4-5), so that the drone can fly in a horizontal direction; Step 3: When the direction of lateral movement needs to be adjusted, the steering drive assembly (4-8) drives the rotating shaft (4-1) to rotate; the rotating shaft (4-1) drives the adjustment mounting ring (4-6) to rotate around the axis of the rotating shaft (4-1), thereby changing the direction of the wind guide surface of the active wind guide plate (4-3) and the driven wind guide plate (4-4) on the adjustment mounting ring (4-6), so that the lateral movement direction of the UAV is adjusted to the target direction.

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