Variable-shape multi-mode vertical take-off and landing unmanned aerial vehicle

Abstract

The technical problem to be solved by the utility model is to provide the shape-variable multi-mode vertical take-off and landing unmanned aerial vehicle, the unmanned aerial vehicle can switch modes between a fixed-wing unmanned aerial vehicle and a rotor unmanned aerial vehicle at any time according to task requirements, and the unmanned aerial vehicle is small in storage size, high in aerodynamic efficiency, small in windward area, good in wind resistance and strong in cruising ability. The unmanned aerial vehicle comprises an unmanned aerial vehicle body, the unmanned aerial vehicle body comprises a vehicle body structure, the vehicle body structure comprises a power mechanism, a tilting mechanism, a flight control mechanism and a power battery pack, a wing storage groove is formed in the rear side of a shell of the vehicle body structure, and a left wing and a right wing are arranged in the wing storage groove; empennage storage grooves are obliquely formed in the left side and the right side of the lower middle portion of a shell of the aircraft body structure, each empennage storage groove is provided with an empennage, the left wing and the right wing are unfolded and folded through the first rotating structure, and the two empennages are unfolded and folded through the second rotating structure to achieve mode switching.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, in particular to a variable-shape multi-mode vertical take-off and landing unmanned aerial vehicle. Background Art

[0002] With the continuous development of drone technology, the flight performance and mission capabilities of drones have received more and more attention, and drones have also been widely used in aerial photography, logistics distribution, geological surveys, rescue and other fields. The current drones are generally fixed-wing drones, multi-rotor drones, and compound-wing drones. Among them, fixed-wing drones and rotary-wing drones can only complete corresponding tasks according to their own design characteristics and cannot achieve attitude exchange. Although compound-wing drones have the advantages of both fixed-wing drones and multi-rotor drones in multi-rotor mode, due to the huge windward area of ​​the wing fuselage, they are significantly affected by external airflow, have poor wind resistance, high risks, and low efficiency. In fixed-wing mode, the additional resistance caused by the vertical take-off power is large, the aerodynamic efficiency is low, and the flight time is affected. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a variable-shape multi-mode vertical take-off and landing UAV, which can switch modes between fixed-wing UAV and rotary-wing UAV at any time according to mission requirements, has a small storage size, high aerodynamic efficiency, small windward area, good wind resistance and strong endurance.

[0004] The utility model solves the technical problem by adopting the following technical solution: the variable-shape multi-mode vertical take-off and landing UAV comprises a UAV body, the UAV body comprises a body structure, the body structure comprises a power mechanism, a tilt mechanism, a flight control mechanism, and a power battery pack, a wing storage slot is arranged at the rear side of a shell of the body structure, the wing storage slot is provided with a left wing and a right wing through a first rotating structure, and the first rotating structure is used for unfolding and folding the left wing and the right wing;

[0005] Tail wing storage grooves are obliquely arranged on both sides of the middle and lower part of the shell of the body structure, and the two tail wing storage grooves together form an inverted V-shaped structure. Each tail wing storage groove is provided with a tail wing through a second rotating structure, and the second rotating structure is used for unfolding and folding the tail wing.

[0006] Furthermore, the first rotating structure includes a first steering gear, a steering gear connecting rod, a driving gear, a first driven helical gear, a second driven helical gear, a first rotating shaft, and a second rotating shaft;

[0007] The first steering gear is arranged in a housing of the body structure, and an output shaft of the first steering gear penetrates the housing of the body structure and extends to the upper end of the bottom of the wing storage slot;

[0008] One end of the steering gear connecting rod is drivingly connected to the output shaft of the first steering gear, and the driving gear is sleeved on the other end of the steering gear connecting rod;

[0009] The front ends of the first rotating shaft and the second rotating shaft are respectively arranged on the bottom of the wing storage groove through bearings and are located on the left and right sides of the driving gear, and the length of the first rotating shaft is greater than that of the second rotating shaft;

[0010] The first driven helical gear is sleeved on the middle part of the first rotating shaft, the second driven helical gear is sleeved on the middle part of the second rotating shaft, and the first driven helical gear and the second driven helical gear are respectively meshed with the driving gear;

[0011] One end of the left wing is arranged at the rear end of the first rotating shaft through a detachable structure, and one end of the right wing is arranged at the rear end of the second rotating shaft through a detachable structure;

[0012] The first steering gear is electrically connected to the power battery pack, and the first steering gear is signal-connected to the flight control mechanism.

[0013] Furthermore, the second rotating structure includes a second steering gear, and the second steering gear is arranged at the lower end of the inner cavity of the shell of the body structure;

[0014] The output shaft of the second steering gear passes through the bottom of the corresponding tail wing receiving groove and the two are perpendicular to each other, and one end of the tail wing is sleeved on the output shaft of the corresponding second steering gear;

[0015] The second steering gears are all electrically connected to the power battery pack, and the second steering gears are all signal-connected to the flight control mechanism.

[0016] Furthermore, the power mechanism includes a third rotating shaft, a forward propeller hub, a reverse propeller hub, a forward propeller motor, and a reverse propeller motor;

[0017] The positive propeller hub is sleeved on the upper end of the third rotating shaft, two folding positive propellers are symmetrically arranged on the positive propeller hub, and the positive propeller motor is sleeved on the lower end of the third rotating shaft to drive the third rotating shaft to rotate;

[0018] A shaft sleeve is sleeved on the third rotating shaft and is located above the forward propeller motor. The shaft sleeve and the third rotating shaft can rotate freely relative to each other. The reverse propeller hub is sleeved on the upper end of the shaft sleeve. The reverse propeller motor is sleeved on the shaft sleeve for driving the shaft sleeve to rotate and is located below the reverse propeller hub. Two folding reverse propellers are symmetrically arranged on the reverse propeller hub. A motor stator is arranged between the forward propeller motor and the reverse propeller motor. The upper end of the forward propeller motor and the lower end of the reverse propeller motor are both located in the motor stator and there is a gap between the two.

[0019] Furthermore, the tilting mechanism includes a tilting body, a supporting column, a mounting seat, and a power base;

[0020] The power base is arranged below the propeller motor with a gap therebetween, a plurality of support rods are evenly arranged at the edge of the power base, and the upper end of each support rod is connected to the outer side wall of the motor stator through a first connecting block;

[0021] The mounting seat is arranged at the upper end of the shell of the machine body structure, the supporting column is arranged at the center position of the upper surface of the mounting seat, and the inclined body is arranged directly below the power base;

[0022] The inclined body comprises a first cylinder, the upper end surface of the first cylinder is provided with a circular groove, the bottom of the circular groove is provided with a first hemispherical groove, and the lower end surface of the first cylinder is provided with a through hole which is in communication with the first hemispherical groove;

[0023] A second cylinder is arranged in the circular groove, the upper end of the second cylinder is arranged on the lower surface of the power base, and the lower end surface of the second cylinder is arranged with a second hemispherical groove having the same size as the first hemispherical groove;

[0024] The first hemispherical groove is provided with an adjusting ball head adapted thereto, and the upper and lower halves of the adjusting ball head are respectively located in the first hemispherical groove and the second hemispherical groove, and the adjusting ball head is connected to the upper end of the supporting column through a connecting rod, and the connecting rod is located in the through hole.

[0025] Three second connection blocks are evenly distributed on the outer wall of the first cylinder along its circumferential direction, a limiting plate is provided at the edge of the mounting seat and corresponds to one of the second connection blocks, a limiting groove is provided on the limiting plate along its vertical direction, a limiting rod is provided in the limiting groove, one end of the limiting rod away from the limiting groove is connected to the corresponding second connection block, and the other two second connection blocks are provided with a pull rod through a ball head connection structure, a plurality of through holes are provided on the mounting seat and two of the through holes correspond to the two pull rods respectively, and the lower end of each pull rod extends to the bottom of the mounting seat after passing through the corresponding through hole;

[0026] A mounting plate is provided on the lower surface of the mounting seat, and two servo actuators are respectively provided on both sides of the mounting plate and correspond to two pull rods respectively. A driving arm is provided on the output shaft of each servo actuator, and the end of the driving arm away from the servo actuator is connected to the lower end of the corresponding first pull rod through a ball head connection structure.

[0027] Furthermore, the flight control mechanism includes an electronic speed governor, a flight control computer, and an airborne data link. The electronic speed governor is arranged below the tilt mechanism, the forward propeller motor, the reverse propeller motor, and the two servo actuators are respectively connected to the electronic speed governor signal, the flight control computer and the airborne data link are respectively arranged at the lower end of the inner cavity of the fuselage structure and the flight control computer is located above the airborne data link, and the electronic speed governor and the airborne data link are respectively connected to the flight control computer signal.

[0028] Furthermore, a refueling hole for adding lubricating oil is provided at the center of the upper surface of the power base, and the refueling hole completely penetrates the power base and is interconnected with the second hemispherical groove.

[0029] The beneficial effects of the utility model are as follows:

[0030] 1. Compared with multi-rotor drones, the drone provided by the present application can be transformed into a fixed-wing mode during the level flight stage in the air, and unlike a composite wing, there is no aerodynamic resistance caused by any unnecessary external components, making the drone highly efficient, with a fast flight speed and a long flight time and range.

[0031] 2. Compared with fixed-wing drones, the drone provided in this application has a small storage size, and is only the size of the fuselage when folded. It can take off and land vertically, and can be transformed into a multi-rotor at any time in the air, so that it can hover at any time and complete low-speed flight close to the target that fixed-wing drones cannot accomplish.

[0032] 3. Compared with the composite wing UAV, the UAV provided in this application has a small storage size, a clean appearance, high aerodynamic efficiency, can be completely switched to the rotor mode, has a small windward area, good wind resistance, and can fly close to the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of the wings and tail of the variable-shape multi-mode vertical take-off and landing UAV described in the utility model in the unfolded state;

[0034] Figure 2 It is a structural schematic diagram of another perspective of the wings and tail of the variable-shape multi-mode vertical take-off and landing UAV described in the utility model in the unfolded state;

[0035] Figure 3 It is a structural schematic diagram of the variable-shape multi-mode vertical take-off and landing UAV described in the utility model in a folded state of the wings and tail;

[0036] Figure 4 It is a structural schematic diagram of the left wing, the right wing, and the first rotating structure combination described in the utility model;

[0037] Figure 5It is a schematic diagram of the state after the left wing and the right wing of the utility model are folded;

[0038] Figure 6 It is a structural schematic diagram of the power mechanism and tilting mechanism combination described in the utility model;

[0039] Figure 7 This is a schematic structural view of the tilting mechanism of the utility model;

[0040] Figure 8 It is a structural schematic diagram of the tilting mechanism of the utility model from another perspective;

[0041] Fig. 9 It is a partial exploded view of the tilting mechanism described in the utility model;

[0042] Fig.10 It is a schematic diagram of the combined structure of the power base, the support rod and the second cylinder described in the utility model;

[0043] Fig.11 It is another partial exploded view of the tilting mechanism described in the utility model;

[0044] Fig.12 It is a schematic diagram of the combined structure of the power base and the support rods described in the utility model;

[0045] Description of the marks in the figure: body structure 1, power mechanism 102, third rotating shaft 1021, positive propeller hub 1022, reverse propeller hub 1023, positive propeller motor 1024, reverse propeller motor 1025, folding positive propeller 1026, folding reverse propeller 1027, motor stator 1028, tilting mechanism 103, tilting body 1031, supporting column 1032, mounting seat 1033, power base 1034, supporting rod 1035, first connecting block 1036, first cylinder 1037, circular groove 1038, first hemispherical groove 1039, through hole 10310, second Cylinder 10311, second hemispherical groove 10312, adjusting ball head 10313, connecting rod 10314, limiting plate 10315, limiting groove 10316, limiting rod 10317, pulling rod 10318, through hole 10319, mounting plate 10320, servo steering gear 10321, driving arm 10322, second connecting block 10323, wing storage groove 2, left wing 3, right wing 4, tail storage groove 5, tail 6, first steering gear 7, driving gear 8, first driven bevel gear 9, second driven bevel gear 10, oil filling hole 11, steering gear connecting rod 12. DETAILED DESCRIPTION

[0046] The specific implementation of the utility model is further described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0047] It should be noted that the directions or positional relationships indicated by all directional indication terms such as "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" in the embodiments of the present application are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention. They are only used to explain the relative positional relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0048] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0049] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0050] like Figure 1-12As shown, the variable-shape multi-modal vertical take-off and landing UAV includes a UAV body, the UAV body includes a body structure 1, the body structure 1 includes a power mechanism 102, a tilt mechanism 103, a flight control mechanism, and a power battery pack, the power battery pack provides power for the whole machine, the shell of the body structure 1 is generally a cylindrical shell, the rear side of the shell of the body structure 1 is concavely provided with a wing storage groove 2, the wing storage groove 2 is provided with a left wing 3 and a right wing 4 through a first rotating structure, the first rotating structure is used for the unfolding and folding of the left wing 3 and the right wing 4, it should be noted that the left wing 3 and the right wing 4 are staggered front and back, when the left wing 3 and the right wing 4 are folded, the left wing 3 and the right wing 4 overlap front and back and there is a gap between them;

[0051] The left and right sides of the lower middle part of the shell of the body structure 1 are obliquely provided with tail storage grooves 5, and the two tail storage grooves 5 together form an inverted V-shaped structure. Each tail storage groove 5 is provided with a tail 6 through a second rotating structure, and the second rotating structure is used for unfolding and folding the tail 6. The two tail wings 6 are also in a V-shaped structure. During the take-off and landing stage of the UAV, the left wing 3 and the right wing 4 are folded through the first rotating structure, and the two tail wings 6 are folded through the second rotating structure at the same time, and the body is vertically upward to become a rotary wing UAV; during the level flight stage, after the UAV vertically climbs to a certain height, the left wing 3 and the right wing 4 are unfolded through the first rotating structure, and the two tail wings 6 are unfolded through the second rotating structure, and the posture is gradually changed through the comprehensive control of the power mechanism 102 and the tilting mechanism 103, so that the body is tilted 90 degrees and transformed into a fixed-wing mode, thereby achieving a long flight time; in addition, when flying in the air, the mode can be switched between the fixed-wing UAV and the rotary-wing UAV at any time according to the mission requirements to meet different mission requirements.

[0052] like Figure 4 As shown, in this embodiment, as a preference, the first rotating structure includes a first steering gear 7, a steering gear connecting rod 12, a driving gear 8, a first driven helical gear 9, a second driven helical gear 10, a first rotating shaft, and a second rotating shaft;

[0053] The first steering gear 7 is arranged in the housing of the body structure 1, and the output shaft of the first steering gear 7 passes through the housing of the body structure 1 and extends to the upper end of the bottom of the wing storage slot 2;

[0054] One end of the steering gear connecting rod 12 is connected to the output shaft of the first steering gear 7, and the driving gear 8 is sleeved on the other end of the steering gear connecting rod 12. The output shaft of the first steering gear 7 drives the steering gear connecting rod 12 to rotate, thereby driving the driving gear 8 to rotate.

[0055] The front end of the first rotating shaft and the front end of the second rotating shaft are respectively arranged on the bottom of the wing storage groove 2 through bearings and are located on the left and right sides of the driving gear 8. The length of the first rotating shaft is greater than that of the second rotating shaft, and the difference between the lengths of the first rotating shaft and the second rotating shaft is at least greater than twice the thickness of the wing, so as to ensure that the two wings can be stored overlappingly.

[0056] The first driven helical gear 9 is sleeved on the middle part of the first rotating shaft, and the second driven helical gear 10 is sleeved on the middle part of the second rotating shaft. The first driven helical gear 9 and the second driven helical gear 10 are respectively meshed with the driving gear 8, and the output shaft of the first steering gear 7 drives the steering gear connecting rod 12 to rotate, thereby driving the driving gear 8 to rotate. The driving gear 8 drives the first driven helical gear 9 and the second driven helical gear 10 to rotate at the same time. The rotation directions of the first driven helical gear 9 and the second driven helical gear 10 are just opposite, that is, one rotates clockwise while the other rotates counterclockwise.

[0057] One end of the left wing 3 is arranged at the rear end of the first rotating shaft through a detachable structure, and one end of the right wing 4 is arranged at the rear end of the second rotating shaft through a detachable structure. The detachable structure generally adopts a screw connection method, and other detachable methods can also be adopted to achieve the fixing and disassembly of the wing and the corresponding upper end of the rotating shaft;

[0058] The first steering gear 7 is electrically connected to the power battery pack, and the first steering gear 7 is signal-connected to the flight control mechanism. The output shaft steering gear connecting rod 12 of the first steering gear 7 rotates, and the steering gear connecting rod 12 drives the driving gear 8 to rotate. The driving gear 8 simultaneously drives the first driven bevel gear 9 and the second driven bevel gear 10 to rotate, thereby driving the first rotating shaft and the second rotating shaft to rotate, thereby driving the left wing 3 and the right wing 4 to rotate, so as to realize the unfolding and folding of the left wing 3 and the right wing 4. Since the length of the first rotating shaft is greater than the length of the second rotating shaft and the length difference between the two is greater than the thickness of the wing, it can be ensured that the left wing 3 and the right wing 4 can be overlapped and stored when folded, thereby reducing the storage size and reducing the wind resistance. When the first driven bevel gear 9 is clockwise rotated, the left wing 3 and the right wing 4 can be unfolded and folded. When the first driven bevel gear 9 rotates counterclockwise and the second driven bevel gear 10 rotates clockwise, the left wing 3 and the right wing 4 move away from each other to be unfolded; in addition, the servo can control the speed with very accurate position accuracy, and can convert the voltage signal into torque and speed to drive the control object. The rotor speed of the servo is controlled by the input signal and can respond quickly. In the automatic control system, it is used as an actuator and has the characteristics of small electromechanical time constant and high linearity. It can convert the received electrical signal into angular displacement or angular velocity output on the motor shaft to achieve precise control of the rotation angle of the left wing 3 and the right wing 4.

[0059] like Figure 1 , Figure 3As shown, in this example, as a preference, the second rotating structure includes a second steering gear. It should be noted that the number of the second steering gears is 2, corresponding to the two tail wings 6 respectively. The second steering gear is not shown in the figure. The two second steering gears are respectively arranged on both sides of the lower end of the inner cavity of the shell of the body structure 1 in a bilaterally symmetrical manner; the output shaft of the second steering gear passes through the bottom of the corresponding tail wing receiving groove 5 and the two are perpendicular to each other, that is, the output shaft of the second steering gear passes through the shell of the body structure 1 to extend above the bottom of the corresponding tail wing receiving groove 5, one end of the tail wing 6 is sleeved on the output shaft of the corresponding second steering gear, and the output shaft of the second steering gear is transmission-connected to the corresponding tail wing 6, that is, the rotation of the output shaft of the second steering gear can drive the corresponding tail wing 6 to rotate;

[0060] The two second servos are both electrically connected to the power battery pack, and the two second servos are both signal-connected to the flight control mechanism. The corresponding tail wing 6 can be rotated counterclockwise or clockwise along the inclined surface of the corresponding tail wing storage slot 5 by the output shaft of the second servo to achieve the unfolding and folding of the tail wing 6.

[0061] like Figure 6 As shown, in this example, as a preference, the power mechanism 102 includes a third rotating shaft 1021, a forward propeller hub 1022, a reverse propeller hub 1023, a forward propeller motor 1024, and a reverse propeller motor 1025;

[0062] The positive propeller hub 1022 is sleeved on the upper end of the third rotating shaft 1021, and two folding positive propellers 1026 are symmetrically arranged on the positive propeller hub 1022. The positive propeller motor 1024 is sleeved on the lower end of the third rotating shaft 1021 to drive the third rotating shaft 1021 to rotate;

[0063] The third rotating shaft 1021 is sleeved with a shaft sleeve and is located above the forward propeller motor 1024, and the shaft sleeve and the third rotating shaft 1021 can rotate freely relative to each other. The reverse propeller hub 1023 is sleeved on the upper end of the shaft sleeve, and the reverse propeller motor 1025 is sleeved on the shaft sleeve for driving the shaft sleeve to rotate and is located below the reverse propeller hub 1023. Two folding reverse propellers 1027 are symmetrically arranged on the reverse propeller hub 1023, and a motor stator 1028 is arranged between the forward propeller motor 1024 and the reverse propeller motor 1025. The upper end of the forward propeller motor 1024 and the lower end of the reverse propeller motor 1025 are both located in the motor stator 1028 and there is a gap between the two. The forward propeller motor 1024 and the reverse propeller motor 1025 can back up each other. During the fixed-wing flight stage, even if one motor is damaged, the other motor can be used for flight, and the fixed-wing taxiing landing method can be used to achieve safe recovery.

[0064] like Figure 7-11As shown, in this example, as a preference, the tilting mechanism 103 includes a tilting body 1031, a supporting column 1032, a mounting seat 1033, and a power base 1034;

[0065] The power base 1034 is arranged below the propeller motor 1024 with a gap therebetween, a plurality of support rods 1035 are evenly arranged at the edge of the power base 1034, the number of the plurality of support rods 1035 is generally 4, and the upper end of each support rod 1035 is connected to the outer side wall of the motor stator 1028 through a first connecting block 1036;

[0066] The mounting seat 1033 is disposed at the upper end of the shell of the machine body structure 1, the supporting column 1032 is disposed at the center position of the upper surface of the mounting seat 1033, and the inclined body 1031 is disposed directly below the power base 1034;

[0067] The inclined body 1031 includes a first cylindrical body 1037, the upper end surface of the first cylindrical body 1037 is provided with a circular groove 1038, the bottom of the circular groove 1038 is provided with a first hemispherical groove 1039, and the center position of the lower end surface of the first cylindrical body 1037 is provided with a through hole 10310 which is connected with the first hemispherical groove 1039;

[0068] A second cylinder 10311 is disposed in the circular groove 1038. The upper end of the second cylinder 10311 is disposed on the lower surface of the power base 1034. The upper end of the second cylinder 10311 is truncated cone-shaped with the large diameter end located at the top. A second hemispherical groove 10312 is disposed on the lower end surface of the second cylinder 10311 and is the same size as the first hemispherical groove 1039. The second hemispherical groove 10312 and the first hemispherical groove 1039 are disposed opposite to each other in the upper and lower directions.

[0069] The first hemispherical groove 1039 is provided with an adjusting ball head 10313 adapted thereto, and the upper and lower halves of the adjusting ball head 10313 are respectively located in the first hemispherical groove 1039 and the first hemispherical groove 1039, the adjusting ball head 10313 is connected to the upper end of the supporting column 1032 through a connecting rod 10314, and the connecting rod 10314 is located in the through hole 10310, and the diameter of the connecting rod 10314 is smaller than the diameter of the through hole 10310.

[0070] Three second connection blocks 10323 are evenly distributed on the outer wall of the first cylinder 1037 along its circumferential direction. A limiting plate 10315 is provided at the edge of the mounting seat 1033 and corresponds to one of the second connection blocks 10323. The limiting plate 10315 is provided with a limiting groove 10316 along its vertical direction. A limiting rod 10317 is provided in the limiting groove 10316. One end of the limiting rod 10317 away from the limiting groove 10316 is connected to the corresponding second connection block 103 23 is connected, and the other two second connection blocks 10323 are both provided with a pull rod 10318 through a ball head connection structure. The mounting seat 1033 is provided with a plurality of through holes 10319, and the number of the plurality of through holes 10319 is generally 4, wherein two through holes 10319 correspond to the two pull rods 10318 respectively, and the lower end of each pull rod 10318 passes through the corresponding through hole 10319 and then extends to the bottom of the mounting seat 1033, and the remaining two through holes 10319 are used for internal circuits to pass through;

[0071] A mounting plate 10320 is provided on the lower surface of the mounting seat 1033, and servo actuators 10321 are respectively provided on both sides of the mounting plate 10320. The two servo actuators 10321 correspond to the two pull rods 10318 respectively. A driving arm 10322 is provided on the output shaft of each servo actuator 10321. The end of the driving arm 10322 away from the servo actuator 10321 is connected to the lower end of the corresponding first pull rod 10318 through a ball head connection structure. The rotation of the output shaft of the servo actuator 10321 drives the corresponding driving arm 10322 to rotate, thereby driving the corresponding pull rod 10318 It moves up and down, thereby driving the tilting body 1031 to tilt and realize the adjustment of the tilting angle. That is, one servo actuator 10321 rotates to drive the corresponding driving arm 10322 to rotate, and then drives the corresponding pull rod 10318 to move up and down, so as to realize the adjustment of the tilting angle in the front and rear directions. Another servo actuator 10321 rotates to drive the corresponding driving arm 10322 to rotate, and then drives the corresponding pull rod 10318 to move up and down, so as to realize the adjustment of the tilting angle in the left and right directions. Due to the coordinated use of the limit rod 10317 and the limit slot 10316, the tilting body 1031 will not rotate in the horizontal plane.

[0072] In this example, as a preference, the flight control mechanism includes an electronic speed governor, a flight control computer, and an airborne data link. The electronic speed governor is arranged below the tilt mechanism 103. The forward propeller motor 1024, the reverse propeller motor 1025, and the two servo steering engines 10321 are respectively connected to the electronic speed governor signal. The flight control computer and the airborne data link are respectively arranged at the lower end of the inner cavity of the body structure 1 and the flight control computer is located above the airborne data link. The electronic speed governor and the airborne data link are respectively connected to the flight control computer signal. The flight control computer is used to control the whole machine. The onboard data link is used for receiving and sending onboard data, and the fuselage structure 1 may also be equipped with a gyroscope and a compass for detecting the horizontal rotation angle and angular velocity of the aircraft; the electronic speed governor, the flight control computer, the onboard data link, the forward propeller motor 1024, the reverse propeller motor 1025, the two servo steering gears 10312, the servo motors, the steering gears and other electrical components are electrically connected to the power battery pack respectively; in addition, the power battery pack is detachably arranged in the fuselage structure 1, which is convenient for the subsequent replacement of power battery packs of different capacities to meet the power requirements of different tasks.

[0073] like Fig.12 As shown, in this example, in order to reduce the damage caused by the rigid friction between the adjusting ball head and the inner surfaces of the two hemispherical grooves, a refueling hole 11 for adding lubricating oil is provided at the central position of the upper surface of the power base 1034. The refueling hole 11 is generally conical in shape, and the structure with a larger top and a smaller bottom is convenient for adding lubricating oil. The refueling hole 11 completely penetrates the power base and is interconnected with the second hemispherical groove 10312, that is, the refueling hole 11 completely penetrates the power base and the upper half of the second cylinder 10311. Lubricating oil can be added to the surface of the adjusting ball head 10313 and the inner surface of the second hemispherical groove 10312 through the refueling hole 11, and at the same time, it will flow along the surface of the adjusting ball head 10313 to the inner surface of the first hemispherical groove 1039. The lubricating oil makes the adjusting ball head 10313 and the inner surfaces of the two hemispherical grooves relatively lubricated to facilitate the relative rotation of the two, and at the same time, the damage caused by the rigid friction between the adjusting ball head 10313 and the inner surfaces of the two hemispherical grooves can be reduced.

[0074] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A variable-shape multi-mode vertical take-off and landing UAV, comprising a UAV body, wherein the UAV body comprises a body structure (1), wherein the body structure (1) comprises a power mechanism (102), a tilt mechanism (103), a flight control mechanism, and a power battery pack, wherein: A wing storage slot (2) is provided on the rear side of the shell of the body structure (1), and the wing storage slot (2) is provided with a left wing (3) and a right wing (4) via a first rotating structure, and the first rotating structure is used for unfolding and folding the left wing (3) and the right wing (4); Tail wing storage grooves (5) are obliquely arranged on both left and right sides of the lower middle part of the shell of the body structure (1); the two tail wing storage grooves (5) together form an inverted V-shaped structure; each tail wing storage groove (5) is provided with a tail wing (6) via a second rotating structure; the second rotating structure is used for unfolding and folding the tail wing (6).

2. The variable-shape multi-mode vertical take-off and landing UAV according to claim 1, characterized in that: The first rotating structure comprises a first steering gear (7), a steering gear connecting rod (12), a driving gear (8), a first driven helical gear (9), a second driven helical gear (10), a first rotating shaft, and a second rotating shaft; The first steering gear (7) is arranged in a shell of the body structure (1), and an output shaft of the first steering gear (7) passes through the shell of the body structure (1) and extends to the upper end of the bottom of the wing storage slot (2); One end of the steering gear connecting rod (12) is drivingly connected to the output shaft of the first steering gear (7), and the driving gear (8) is sleeved on the other end of the steering gear connecting rod (12); The front ends of the first rotating shaft and the second rotating shaft are respectively arranged on the bottom of the wing storage groove (2) through bearings and are located on the left and right sides of the driving gear (8), and the length of the first rotating shaft is greater than the length of the second rotating shaft; The first driven helical gear (9) is sleeved on the middle part of the first rotating shaft, and the second driven helical gear (10) is sleeved on the middle part of the second rotating shaft. The first driven helical gear (9) and the second driven helical gear (10) are respectively meshed with the driving gear (8); One end of the left wing (3) is arranged at the rear end of the first rotating shaft through a detachable structure, and one end of the right wing (4) is arranged at the rear end of the second rotating shaft through a detachable structure; The first steering engine (7) is electrically connected to a power battery pack, and the first steering engine (7) is signal-connected to a flight control mechanism.

3. The variable-shape multi-mode vertical take-off and landing UAV according to claim 1, characterized in that: The second rotating structure comprises a second steering gear, and the second steering gear is arranged at the lower end of the inner cavity of the shell of the body structure (1); The output shaft of the second steering gear passes through the bottom of the corresponding tail wing receiving groove (5) and the two are perpendicular to each other, and one end of the tail wing (6) is sleeved on the output shaft of the corresponding second steering gear; The second steering gears are all electrically connected to the power battery pack, and the second steering gears are all signal-connected to the flight control mechanism.

4. A variable-shape multi-mode vertical take-off and landing UAV according to any one of claims 1 to 3, characterized in that: The power mechanism (102) comprises a third rotating shaft (1021), a forward propeller hub (1022), a reverse propeller hub (1023), a forward propeller motor (1024), and a reverse propeller motor (1025); The positive propeller hub (1022) is sleeved on the upper end of the third rotating shaft (1021), two folding positive propellers (1026) are symmetrically arranged on the positive propeller hub (1022), and the positive propeller motor (1024) is sleeved on the lower end of the third rotating shaft (1021) for driving the third rotating shaft (1021) to rotate; A shaft sleeve is sleeved on the third rotating shaft (1021) and is located above the forward propeller motor (1024); the shaft sleeve and the third rotating shaft (1021) are relatively free to rotate; the reverse propeller hub (1023) is sleeved on the upper end of the shaft sleeve; the reverse propeller motor (1025) is sleeved on the shaft sleeve for driving the shaft sleeve to rotate and is located below the reverse propeller hub (1023); two folding reverse propellers (1027) are symmetrically arranged on the reverse propeller hub (1023); a motor stator (1028) is arranged between the forward propeller motor (1024) and the reverse propeller motor (1025); the upper end of the forward propeller motor (1024) and the lower end of the reverse propeller motor (1025) are both located in the motor stator (1028) and there is a gap between the two.

5. The variable-shape multi-mode vertical take-off and landing UAV according to claim 4, characterized in that: The tilting mechanism (103) comprises a tilting body (1031), a supporting column (1032), a mounting seat (1033), and a power base (1034); The power base (1034) is arranged below the propeller motor with a gap therebetween, a plurality of support rods (1035) are evenly distributed at the edge of the power base (1034), and the upper end of each support rod (1035) is connected to the outer side wall of the motor stator (1028) via a first connecting block (1036); The mounting seat (1033) is arranged at the upper end of the shell of the machine body structure, the supporting column (1032) is arranged at the center position of the upper surface of the mounting seat (1033), and the inclined body (1031) is arranged directly below the power base (1034); The inclined body (1031) comprises a first cylindrical body (1037), the upper end surface of the first cylindrical body (1037) is provided with a circular groove (1038), the bottom of the circular groove (1038) is provided with a first hemispherical groove (1039), and the lower end surface of the first cylindrical body (1037) is provided with a through hole (10310) which is in communication with the first hemispherical groove (1039); A second cylinder (10311) is arranged in the circular groove (1038); the upper end of the second cylinder (10311) is arranged on the lower surface of the power base (1034); and the lower surface of the second cylinder (10311) is provided with a second hemispherical groove (10312) having the same size as the first hemispherical groove (1039); The first hemispherical groove (1039) is provided with an adjusting ball head (10313) adapted thereto, and the upper and lower halves of the adjusting ball head (10313) are respectively located in the first hemispherical groove (1039) and the first hemispherical groove (1039), and the adjusting ball head (10313) is connected to the upper end of the supporting column (1032) via a connecting rod (10314), and the connecting rod (10314) is located in the through hole (10310). Three second connection blocks (10323) are evenly distributed on the outer wall of the first cylinder (1037) along its circumferential direction, a limiting plate (10315) is arranged at the edge of the mounting seat (1033) and corresponds to one of the second connection blocks (10323), a limiting groove (10316) is arranged on the limiting plate (10315) along its vertical direction, a limiting rod (10317) is arranged in the limiting groove (10316), and the limiting rod (10317) is away from the limiting groove. One end of the (10316) is connected to the corresponding second connection block (10323), and the other two second connection blocks (10323) are each provided with a pull rod (10318) through a ball head connection structure, and the mounting seat (1033) is provided with a plurality of through holes (10319), and two of the through holes (10319) correspond to the two pull rods (10318) respectively, and the lower end of each pull rod (10318) passes through the corresponding through hole (10319) and extends to the bottom of the mounting seat (1033); A mounting plate (10320) is provided on the lower surface of the mounting seat (1033), servo actuators (10321) are provided on both sides of the mounting plate (10320) and correspond to two pull rods (10318) respectively, and a driving arm (10322) is provided on the output shaft of each servo actuator (10321), and the end of the driving arm (10322) away from the servo actuator (10321) is connected to the lower end of the corresponding first pull rod (10318) through a ball head connection structure.

6. The variable-shape multi-mode vertical take-off and landing UAV according to claim 5, characterized in that: The flight control mechanism comprises an electronic speed governor, a flight control computer, and an airborne data link. The electronic speed governor is arranged below the tilt mechanism (103). The forward propeller motor (1024), the reverse propeller motor (1025), the first servo (7), the two second servo, and the two servo servos (10321) are respectively connected to the electronic speed governor signal. The flight control computer and the airborne data link are respectively arranged at the lower end of the inner cavity of the body structure (1), and the flight control computer is located above the airborne data link. The electronic speed governor and the airborne data link are respectively connected to the flight control computer signal.

7. The variable-shape multi-mode vertical take-off and landing UAV according to claim 6, characterized in that: A refueling hole (11) for adding lubricating oil is provided at the center of the upper surface of the power base (1034); the refueling hole (11) completely penetrates the power base (1034) and is interconnected with the second hemispherical groove (10312).

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