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, a left wing and a right wing are unfolded and folded through a first rotating structure, the two empennages are unfolded and folded through a second rotating structure, and mode switching is achieved. And the failure rate is effectively reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field, concretely relates to a variable shape multimode vertical take-off and landing's unmanned plane. BACKGROUND

[0002] With the continuous development of unmanned plane technology, the flight performance and task ability of unmanned plane are more and more concerned, and unmanned plane is widely used in aerial photography, logistics distribution, geological survey, rescue and other fields. The current unmanned plane is generally fixed wing unmanned plane, multirotor unmanned plane, compound wing unmanned plane, wherein fixed wing unmanned plane and rotor unmanned plane can only complete corresponding task according to the design characteristics of itself and cannot realize attitude exchange, although compound wing unmanned plane has the advantages of fixed wing unmanned plane and multirotor unmanned plane in multirotor mode, but due to the huge wind area of wing body, it is significantly affected by external airflow, and the wind resistance is poor, the risk is big, and the efficiency is low, in fixed wing mode, the additional resistance caused by vertical take-off power is big, and the aerodynamic efficiency is low, which affects the endurance. SUMMARY

[0003] The utility model solves the technical problem to provide a variable shape multimode vertical take-off and landing's unmanned plane, the unmanned plane can switch mode between fixed wing unmanned plane and rotor unmanned plane at any time according to the task requirement, the size of storage is small, the aerodynamic efficiency is high, the wind area is small, the wind resistance is good, and the endurance is strong.

[0004] The utility model adopts the technical scheme in the solution to the technical problem: this variable shape multimode vertical take-off and landing's unmanned plane, including unmanned plane body, the unmanned plane body includes body structure, the body structure includes power mechanism, tilting mechanism, flight control mechanism, power battery pack, the rear side of the shell of body structure is provided with wing storage groove, the wing storage groove is provided with left wing and right wing through first rotating structure, and the first rotating structure is used to unfold and fold left wing and right wing;

[0005] The middle lower part of the shell of body structure is inclined and provided with tail wing storage groove on both sides, and two tail wing storage grooves jointly form a inverted V-shaped structure, each tail wing storage groove is provided with tail wing through second rotating structure, and the second rotating structure is used to unfold and fold tail wing;

[0006] The connecting seat is provided with two support plates on left and right sides, and two support plates are movably arranged with connecting ring between them;

[0007] Two first connecting plates are arranged on the connecting ring in front and back symmetry, and the lower end between two first connecting plates is fixedly provided with first arc-shaped toothed plate;

[0008] The lower end of the right support plate is provided with a first driving motor, and a first driving gear is arranged on the output shaft of the first driving motor and meshes with the first arc-shaped gear plate;

[0009] The inside of the connecting ring is provided with a central cross seat for arranging the power mechanism of the coaxial double-paddle unmanned aerial vehicle;

[0010] The front and rear ends of the central cross seat are movably connected to the side walls of the connecting seat respectively, and the left and right ends of the central cross seat are provided with two second connecting plates respectively;

[0011] The lower ends of the two second connecting plates are fixedly provided with a second arc-shaped gear plate;

[0012] The lower end of the first connecting plate on the front side is provided with a second driving motor, and a second driving gear is arranged on the output shaft of the second driving motor and meshes with the second arc-shaped gear plate.

[0013] Further, the upper ends of the two support plates and the side walls of the connecting ring are movably connected through first rotating shafts;

[0014] The outer side of the support plate on the left side is provided with a first position sensor;

[0015] The outer end of the first rotating shaft on the left side extends to the outer side of the support plate on the corresponding side and is provided with a D-shaped key matched with a D-shaped key groove arranged in the first position sensor, and the first position sensor and the first rotating shaft are connected through the D-shaped key groove and the D-shaped key;

[0016] The front and rear ends of the central cross seat and the side walls of the connecting seat are movably connected through second rotating shafts;

[0017] The outer side of the connecting ring is provided with a second position sensor and corresponds to the front end of the central cross seat;

[0018] The outer end of the second rotating shaft on the front side extends to the outer side of the connecting ring and is provided with a D-shaped key matched with a D-shaped key groove arranged in the second position sensor, and the second position sensor and the second rotating shaft are connected through the D-shaped key groove and the D-shaped key.

[0019] Further, the first rotating structure includes a first steering engine, a steering engine connecting rod, a steering engine driving gear, a first driven bevel gear, a second driven bevel gear, a first rotating shaft, and a second rotating shaft;

[0020] The first steering engine is arranged in the shell of the body structure, and the output shaft of the first steering engine penetrates the shell of the body structure and extends to the upper end of the groove bottom of the wing storage groove;

[0021] One end of the rudder connecting rod is in transmission connection with the output shaft of the first rudder, and the rudder drive gear is sleeved on the other end of the rudder connecting rod;

[0022] The front ends of the first rotating shaft and the second rotating shaft are respectively arranged on the groove bottom of the wing receiving groove and located on the left and right sides of the rudder drive gear through bearings, and the length of the first rotating shaft is greater than the length of the second rotating shaft;

[0023] 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 in meshing connection with the rudder drive gear;

[0024] One end of the left wing is arranged on the rear end of the first rotating shaft through detachable structure, and one end of the right wing is arranged on the rear end of the second rotating shaft through detachable structure;

[0025] The first rudder is in electrical connection with the power battery pack, and the first rudder is in signal connection with the flight control mechanism.

[0026] Further, the second rotating structure includes a second rudder, and the second rudder is arranged at the lower end of the inner cavity of the shell of the body structure;

[0027] The output shaft of the second rudder penetrates the groove bottom of the corresponding tail wing receiving groove and is perpendicular to each other, and one end of the tail wing is sleeved on the output shaft of the corresponding second rudder;

[0028] The second rudders are in electrical connection with the power battery pack, and the second rudders are in signal connection with the flight control mechanism.

[0029] Further, the power mechanism includes a forward propeller motor and a reverse propeller motor;

[0030] The reverse propeller motor is arranged below the central cross seat, and the output shaft of the reverse propeller motor extends upward through the central position of the central cross seat;

[0031] The upper end of the output shaft of the reverse propeller motor is provided with a reverse propeller hub, and the two ends of the reverse propeller hub are symmetrically provided with folding reverse propellers;

[0032] The forward propeller motor is arranged above the central cross seat, the output shaft of the forward propeller motor is a hollow shaft, the output shaft of the forward propeller motor is sleeved outside the output shaft of the reverse propeller motor and can freely rotate;

[0033] The output shaft of the forward propeller motor is provided with a forward propeller hub below the reverse propeller hub, and the two ends of the forward propeller hub are symmetrically provided with folding forward propellers.

[0034] Further, the flight control mechanism comprises an electronic speed controller, a flight control computer and an airborne data link, the electronic speed controller is arranged below the tilting mechanism, the forward propeller motor, the reverse propeller motor, the first steering engine, the two second steering engines, the first driving motor and the second driving motor are signal connected with the electronic speed controller respectively, the flight control computer and the airborne data link are arranged at the lower end of the inner cavity of the body structure respectively, and the flight control computer is located above the airborne data link, and the electronic speed controller and the airborne data link are signal connected with the flight control computer respectively.

[0035] The beneficial effects of the utility model are as follows:

[0036] 1. Compared with the multi-rotor unmanned aerial vehicle, the unmanned aerial vehicle provided in the application can be transformed into a fixed-wing mode in the air level flight stage, and different from the compound wing, there is no aerodynamic resistance caused by any redundant external components, so that the unmanned aerial vehicle is high in efficiency, fast in flight speed, long in flight time and long in flight distance.

[0037] 2. Compared with the fixed-wing unmanned aerial vehicle, the unmanned aerial vehicle provided in the application is small in storage size, only the size of the fuselage after folding, can be vertically taken off and landed, can be transformed into a multi-rotor in the air at any time, so that hovering can be realized at any time, and low-speed flight close to the target which cannot be completed by the fixed-wing can be completed.

[0038] 3. Compared with the compound wing unmanned aerial vehicle, the unmanned aerial vehicle provided in the application is small in storage size, clean in appearance and high in aerodynamic efficiency, can be completely switched into a rotor mode, small in windward area and good in wind resistance performance, and can fly close to the target.

[0039] 4. The tilting mechanism of the application uses a driving structure with simpler structure, and through the cooperation of the two driving motors and the two arc-shaped toothed plates, omnibearing angle adjustment can be realized, and the structural complexity and failure rate are effectively reduced. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is the structure schematic view of the wing and tail wing unfolded state of the variable shape multi-modal vertical take-off and landing unmanned aerial vehicle of the utility model;

[0041] Figure 2 is another view of the structure schematic view of the wing and tail wing unfolded state of the variable shape multi-modal vertical take-off and landing unmanned aerial vehicle of the utility model;

[0042] Figure 3 is the structure schematic view of the wing and tail wing folded state of the variable shape multi-modal vertical take-off and landing unmanned aerial vehicle of the utility model;

[0043] Figure 4 is the structure schematic view of the left wing, right wing and first rotating structure combination of the utility model;

[0044] Figure 5 is the state diagram of the left wing and the right wing after being folded according to the utility model;

[0045] Figure 6 is the schematic diagram of the combined structure of the tilting mechanism and the power mechanism according to the utility model;

[0046] Figure 7 is the structural schematic diagram of the tilting mechanism according to the utility model;

[0047] Figure 8 is the schematic diagram of the partial structure of the tilting mechanism according to the utility model;

[0048] Figure 9 is the schematic diagram of another partial structure of the tilting mechanism according to the utility model;

[0049] Figure 10 is the structural schematic diagram of the combined structure of the center cross seat and the power mechanism according to the utility model;

[0050] Marking in the diagram: body structure 1, power mechanism 101, tilting mechanism 102, wing storage groove 2, left wing 3, right wing 4, tail wing storage groove 5, tail wing 6, first rudder 7, rudder drive gear 8, first driven bevel gear 9, second driven bevel gear 10, rudder connecting rod 11;

[0051] Power mechanism 101: counter-propeller motor 10101, counter-propeller hub 10102, folding counter-propeller 10103, direct-propeller motor 10104, direct-propeller hub 10105, folding direct-propeller 10106;

[0052] Tilting mechanism 102: connecting seat 10201, support plate 10202, connecting ring 10203, first connecting plate 10204, first arc-shaped tooth plate 10205, first drive motor 10206, first drive gear 10207, center cross seat 10208, second connecting plate 10209, second arc-shaped tooth plate 10210, second drive motor 10211, second drive gear 10212, first position sensor 10213, second position sensor 10214, first mounting hole 10215, second mounting hole 10216. DETAILED DESCRIPTION

[0053] The specific embodiments of the utility model will be further described below in combination with the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0054] It should be noted that all directional indications, such as "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., are intended to facilitate the description of the present application and are not to be construed as limiting the present application to a particular position, orientation, configuration, or method of use. Therefore, such directional indications are not to be interpreted as limiting the present application to a particular orientation, configuration, or method of use, and thus should not be construed as limiting the present application to a particular orientation, configuration, or method of use. Rather, the directional indications are used to facilitate the description of the present application and are not to be construed as limiting the present application to a particular orientation, configuration, or method of use.

[0055] In the present application, unless otherwise explicitly specified and limited, the terms "connected", "fixed", etc. should be understood in a broad sense, for example, "fixed" can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0056] In addition, if the present application has a description involving "first", "second", etc., the description of "first", "second", etc. is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features with "first", "second" can explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions. For example, "A and / or B" includes A solution, or B solution, or A and B solutions that satisfy at the same time. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection claimed by the present application.

[0057] As Figures 1-10As shown, the variable shape multi-modal vertical take-off and landing unmanned aerial vehicle comprises an unmanned aerial vehicle body, the unmanned aerial vehicle body comprises a body structure 1, the body structure 1 comprises a power mechanism 101, a tilting mechanism 102, a flight control mechanism, 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 concave and provided with a wing storage slot 2, the wing storage slot 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 unfolding and folding the left wing 3 and the right wing 4, it should be noted that the left wing 3 and the right wing 4 are arranged in front of and behind each other, when the left wing 3 and the right wing 4 are folded, the left wing 3 and the right wing 4 are overlapped together from front to back and there is a gap between them;

[0058] The lower middle part of the shell of the body structure 1 is inclined and provided with a tail wing storage slot 5 on the left and right sides, two tail wing storage slots 5 jointly form an inverted V-shaped structure, each tail wing storage slot 5 is provided with a tail wing 6 through a second rotating structure, the second rotating structure is used for unfolding and folding the tail wing 6, and the two tail wings 6 also form a V-shaped structure; during the take-off and landing stage of the unmanned aerial vehicle, 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, the body is vertically upward, and becomes a rotor unmanned aerial vehicle; during the horizontal flight stage of the unmanned aerial vehicle, after vertical climbing to a certain height, the left wing 3 and the right wing 4 are unfolded through the first rotating structure, the two tail wings 6 are unfolded through the second rotating structure, and the attitude is gradually changed through the comprehensive control of the power mechanism 101 and the tilting mechanism 102, so that the body is tilted by 90 degrees and changes into a fixed wing mode, so that long flight time is realized; in addition, during air flight, the mode can be switched between the fixed wing unmanned aerial vehicle and the rotor unmanned aerial vehicle at any time according to the task requirement, so that different task requirements are met;

[0059] The tilting mechanism 102 comprises a connecting seat 10201, the connecting seat 10201 is generally circular in shape, and the connecting seat 10201 is used for connecting with the fuselage;

[0060] Two supporting plates 10202 are symmetrically arranged on the connecting seat 10201, the lower ends of the two supporting plates 10202 are detachably connected with the connecting seat 10201, generally in the form of bolt connection, and a connecting ring 10203 is movably arranged between the two supporting plates 10202;

[0061] Two first connecting plates 10204 are symmetrically arranged on the connecting ring 10203, a first arc-shaped toothed plate 10205 is fixedly arranged between the lower ends of the two first connecting plates 10204, and the two ends of the first arc-shaped toothed plate 10205 are fixedly arranged at the lower ends of the two first connecting plates 10204;

[0062] The lower end of the right support plate 10202 is provided with a first driving motor 10206, the output shaft of the first driving motor 10206 is provided with a first driving gear 10207 and is in mesh with the first arc-shaped toothed plate 10205, the first driving motor 10206 drives the first driving gear 10207 to rotate, thereby driving the connecting ring 10203 to rotate in the front-rear direction, so as to realize the angle adjustment in the front-rear direction;

[0063] The inside of the connecting ring 10203 is provided with a central cross seat 10208, which is used to arrange the power mechanism 101 of the coaxial double-paddle unmanned aerial vehicle;

[0064] The front and rear ends of the central cross seat 10208 are movably connected to the side walls of the connecting seat 10201, and the left and right ends of the central cross seat 10208 are respectively provided with two second connecting plates 10209;

[0065] The lower ends of the two second connecting plates 10209 are fixedly provided with a second arc-shaped toothed plate 10210, and the two ends of the second arc-shaped toothed plate 10210 are fixedly arranged at the lower ends of the two second connecting plates 10209;

[0066] The lower end of the front first connecting plate 10204 is provided with a second driving motor 10211, the output shaft of the second driving motor 10211 is provided with a second driving gear 10212 and is in mesh with the second arc-shaped toothed plate 10210, the second driving motor 10211 drives the second driving gear 10212 to rotate, thereby driving the central cross seat 10208 to rotate in the left-right direction, so as to realize the angle adjustment in the left-right direction.

[0067] As shown in Figure 7 、 Figure 8 In the embodiment, as preferred, the upper ends of the two support plates 10202 and the side walls of the connecting ring 10203 are movably connected through first rotating shafts;

[0068] In order to realize the precise control of the rotation angle of the first driving motor 10206, the outer side of the left support plate 10202 is provided with a first position sensor 10213;

[0069] The outer end of the left first rotating shaft extends to the outer side of the corresponding support plate 10202 and is provided with a D-shaped key matched with a D-shaped key groove arranged in the first position sensor 10213, and the first position sensor 10213 and the first rotating shaft are connected through the D-shaped key groove and the D-shaped key. The first position sensor 10213 detects the rotation angle of the connecting ring 10203 and feeds back to the control system, so as to complete the angle closed-loop control;

[0070] The front and rear ends of the central cross seat 10208 are movably connected to the side wall of the connecting seat 10201 via a second rotating shaft.

[0071] In order to achieve precise control of the rotation angle of the second drive motor 10211, a second position sensor 10214 is provided on the outer side of the connecting ring 10203 and corresponds to the front end of the central cross seat 10208;

[0072] The outer end of the second rotating shaft located on the front side extends to the outside of the connecting ring 10203, and this end is provided with a D-shaped key that matches the D-shaped keyway inside the second position sensor 10214. The second position sensor 10214 and the second rotating shaft are connected by the D-shaped keyway and the D-shaped key. The second position sensor 10214 detects the rotation angle of the central cross seat 10208 and feeds it back to the control system to complete the angle closed-loop control.

[0073] like Figure 4 As shown, in this embodiment, preferably, the first rotating structure includes a first servo motor 7, a servo motor linkage 11, a servo motor drive gear 8, a first driven helical gear 9, a second driven helical gear 10, a first rotating shaft, and a second rotating shaft;

[0074] The first servo motor 7 is installed inside the housing of the fuselage structure 1, and the output shaft of the first servo motor 7 passes through the housing of the fuselage structure 1 and extends to the upper end of the bottom of the wing storage slot 2.

[0075] One end of the servo linkage 11 is connected to the output shaft of the first servo 7, and the servo drive gear 8 is sleeved on the other end of the servo linkage 11. The servo linkage 11 is driven to rotate through the output shaft of the first servo 7, which in turn drives the servo drive gear 8 to rotate.

[0076] The front ends of the first rotating shaft and the front ends of the second rotating shaft are respectively set on the bottom of the wing storage slot 2 and located on the left and right sides of the servo drive gear 8 via bearings. The length of the first rotating shaft is greater than the length of the second rotating shaft, and the difference in length between the two is at least more than twice the thickness of the wing, to ensure that the two wings can be stacked and stored.

[0077] The first driven helical gear 9 is sleeved in the middle of the first rotating shaft, and the second driven helical gear 10 is sleeved in the middle of the second rotating shaft. The first driven helical gear 9 and the second driven helical gear 10 respectively mesh with the servo drive gear 8. The output shaft of the first servo 7 drives the servo linkage 11 to rotate, which in turn drives the servo drive gear 8 to rotate. The servo drive gear 8 drives the first driven helical gear 9 and the second driven helical gear 10 to rotate simultaneously. The rotation directions of the first driven helical gear 9 and the second driven helical gear 10 are exactly opposite, that is, one rotates clockwise and the other rotates counterclockwise at the same time.

[0078] One end of the left wing 3 is arranged at the rear end of the first rotating shaft through detachable structure, and one end of the right wing 4 is arranged at the rear end of the second rotating shaft through detachable structure. The detachable structure generally adopts screw connection mode, and can also adopt other detachable modes, which can realize the fixing and dismounting of the wing and the upper end of the corresponding rotating shaft.

[0079] The first steering engine 7 is electrically connected with the power battery pack, and is signal connected with the flight control mechanism. The output shaft of the first steering engine 7 drives the steering engine connecting rod 11 to rotate. The steering engine connecting rod 11 drives the driving gear to rotate, and the driving gear 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, and further 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, the left wing 3 and the right wing 4 can be overlapped and stored when folded, the storage size is small, the wind resistance is reduced, and so on. When the first driven bevel gear 9 rotates clockwise and the second driven bevel gear 10 rotates counterclockwise, the left wing 3 and the right wing 4 are close to each other to realize storage. 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 are away from each other to realize unfolding. In addition, the steering engine can control the speed, and the position accuracy is very accurate. The steering engine can convert the voltage signal into torque and speed to drive the control object. The rotor speed of the steering engine is controlled by the input signal and can quickly respond. In the automatic control system, the steering engine is used as an execution element, has small electromechanical time constant and high linearity, and can convert the received electric signal into angular displacement or angular velocity output on the shaft of the electric motor to realize precise control of the rotation angle of the left wing 3 and the right wing 4.

[0080] In the present example, as preferred, the second rotating structure includes a second steering engine. It should be noted that the number of second steering engines is two, which correspond to the two tail wings 6 respectively. The two second steering engines are not shown in the figure and are arranged in a left-right symmetrical manner on the two sides of the lower end of the inner cavity of the shell of the machine body structure 1. The output shaft of the second steering engine penetrates the groove bottom of the corresponding tail wing storage slot 5 and is perpendicular to each other, that is, the output shaft of the second steering engine extends through the shell of the machine body structure 1 to above the groove bottom of the corresponding tail wing storage slot 5. One end of the tail wing 6 is sleeved on the output shaft of the corresponding second steering engine, and the output shaft of the second steering engine is in transmission connection with the corresponding tail wing 6, that is, the rotation of the output shaft of the second steering engine can drive the corresponding tail wing 6 to rotate.

[0081] The two second steering engines are electrically connected with the power battery pack, and are signal connected with the flight control mechanism. The corresponding tail wing 6 can be unfolded and folded by driving the output shaft of the second steering engine to rotate counterclockwise or clockwise along the inclined surface of the corresponding tail wing storage slot 5.

[0082] As Figure 6 , Figure 10 shown in the embodiment, as preferred, the power mechanism 101 includes a forward propeller motor 10104 and a reverse propeller motor 10101;

[0083] The reverse propeller motor 10101 is arranged below the central cross seat 10208, and the output shaft of the reverse propeller motor 10101 extends upward through the center of the central cross seat 10208, that is, the center of the central cross seat 10208 is provided with a through hole for the output shaft of the motor to pass through;

[0084] The upper end of the output shaft of the reverse propeller motor 10101 is provided with a reverse propeller hub 10102, and the two ends of the reverse propeller hub 10102 are symmetrically provided with folding reverse propellers 10103. The reverse propeller hub 10102 is driven to rotate by the reverse propeller motor 10101, thereby driving the folding reverse propellers 10103 to rotate and providing power;

[0085] The forward propeller motor 10104 is arranged above the central cross seat 10208, and the output shaft of the forward propeller motor 10104 is a hollow shaft. The output shaft of the forward propeller motor 10104 is sleeved outside the output shaft of the reverse propeller motor 10101 and can freely rotate. By adopting this coaxial mode, the forward propeller motor 10104 and the reverse propeller motor 10101 do not interfere with each other and can freely rotate, thereby reducing the load of the power motor and reducing the weight;

[0086] The output shaft of the forward propeller motor 10104 is provided with a forward propeller hub 10105 below the reverse propeller hub 10102, and the two ends of the forward propeller hub 10105 are symmetrically provided with folding forward propellers 10106. The forward propeller hub is driven to rotate by the forward propeller motor 10104, thereby driving the folding forward propellers 10106 to rotate and providing power;

[0087] The reverse propeller motor 10101 and the forward propeller motor 10104 are prior art, and the reverse propeller motor 10101 includes a reverse propeller motor 10101 stator and a reverse propeller motor 10101 rotor;

[0088] The reverse propeller motor 10101 stator is fixedly arranged below the central cross seat 10208, and the output shaft of the reverse propeller motor 10101 is in transmission connection with the reverse propeller motor 10101 rotor;

[0089] The forward propeller motor 10104 includes a forward propeller motor 10104 stator and a forward propeller motor 10104 rotor;

[0090] The stator of the propeller motor 10104 is fixedly mounted above the central cross seat 10208, and the output shaft of the propeller motor 10104 is connected to the rotor of the propeller motor 10104.

[0091] In this example, preferably, the flight control mechanism includes an electronic speed governor, a flight control computer, and an onboard data link. The electronic speed governor is located below the tilt mechanism 102. The positive propeller motor 10104 and the negative propeller motor 10101 are respectively connected to the electronic speed governor via signals. The flight control computer and the onboard data link are respectively located at the lower end of the inner cavity of the fuselage structure 11, with the flight control computer located above the onboard data link. The electronic speed governor and the onboard data link are respectively connected to the flight control computer via signals. The flight control computer is used to control the flight of the entire aircraft. The onboard data link is used for transmitting and receiving airborne data. The airframe structure 1 can also be equipped with a gyroscope and compass to detect the aircraft's horizontal rotation angle and angular velocity. The electronic speed controller, flight control computer, onboard data link, propeller motor 10104, reverse propeller motor 10101, first drive motor 10206, second drive motor 10211, and other electrical components are electrically connected to the power battery pack. In addition, the power battery pack is detachably installed inside the airframe structure 1 to facilitate the replacement of power battery packs of different capacities and meet the power requirements of different missions.

[0092] In this embodiment, preferably, both the first position sensor 10213 and the second position sensor 10214 are potentiometers.

[0093] In this embodiment, preferably, both the first drive motor 10206 and the second drive motor 10211 are reversible motors, and different angles can be adjusted by rotating the first drive motor 10206 or the second drive motor 10211 in both directions.

[0094] like Figure 3 , Figure 4 As shown, in this embodiment, preferably, the lower end of the support plate 10202 on the right side is provided with a first mounting hole 10215, and the first drive motor 10206 is fixedly installed in the first mounting hole 10215.

[0095] The lower end of the first connecting plate 10204 located on the front side is provided with a second mounting hole 10216, and the second drive motor 10211 is fixedly installed in the second mounting hole 10216.

[0096] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A variable-shape, multi-modal vertical takeoff and landing unmanned aerial vehicle (UAV), comprising a UAV body, the UAV body comprising a fuselage structure (1), the fuselage structure (1) comprising a power mechanism (101), a tilting mechanism (102), a flight control mechanism, and a power battery pack, characterized in that: The rear side of the shell of the fuselage structure (1) is provided with a wing storage slot (2). The wing storage slot (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). The lower middle part of the shell of the body structure (1) is provided with tail wing storage slots (5) on both sides. The two tail wing storage slots (5) together form an inverted V-shaped structure. Each tail wing storage slot (5) is provided with a tail wing (6) through a second rotating structure. The second rotating structure is used for the unfolding and folding of the tail wing (6). The tilting mechanism (102) includes a connecting seat (10201), on which two support plates (10202) are symmetrically arranged, and a connecting ring (10203) is movably arranged between the two support plates (10202). Two first connecting plates (10204) are symmetrically arranged on the connecting ring (10203), and a first arc-shaped toothed plate (10205) is fixedly arranged between the lower ends of the two first connecting plates (10204). A first drive motor (10206) is provided at the lower end of the support plate (10202) on the right side. A first drive gear (10207) is provided on the output shaft of the first drive motor (10206) and meshes with the first arc-shaped toothed plate (10205). The connecting ring (10203) is provided with a central cross seat (10208) inside, which is used to set the power mechanism (101) of the coaxial dual propeller UAV. The front and rear ends of the central cross seat (10208) are movably connected to the side wall of the connecting seat (10201), and two second connecting plates (10209) are respectively provided at the left and right ends of the central cross seat (10208). A second arc-shaped toothed plate (10210) is fixedly provided between the lower ends of the two second connecting plates (10209). A second drive motor (10211) is provided at the lower end of the first connecting plate (10204) located on the front side. A second drive gear (10212) is provided on the output shaft of the second drive motor (10211) and meshes with the second arc-shaped toothed plate (10210).

2. The variable-shape, multi-modal vertical takeoff and landing unmanned aerial vehicle (UAV) according to claim 1, characterized in that: The upper ends of the two support plates (10202) are movably connected to the side wall of the connecting ring (10203) via a first rotating shaft; A first position sensor (10213) is provided on the outer side of the support plate (10202) on the left side. The outer end of the first rotating shaft located on the left extends to the outer side of the support plate (10202) on the corresponding side, and this end is provided with a D-shaped key that matches the D-shaped keyway provided in the first position sensor (10213). The first position sensor (10213) and the first rotating shaft are connected by the D-shaped keyway and the D-shaped key. The front and rear ends of the central cross seat (10208) are movably connected to the side wall of the connecting seat (10201) via a second rotating shaft; A second position sensor (10214) is provided on the outer side of the connecting ring (10203) and corresponds to the front end of the central cross seat (10208); The outer end of the second rotating shaft located on the front side extends to the outside of the connecting ring (10203) and the end is provided with a D-shaped key that matches the D-shaped keyway provided in the second position sensor (10214). The second position sensor (10214) and the second rotating shaft are connected by the D-shaped keyway and the D-shaped key.

3. The variable-shape, multi-modal vertical takeoff and landing unmanned aerial vehicle (UAV) according to claim 1, characterized in that: The first rotating structure includes a first servo motor (7), a servo motor linkage (11), a servo motor drive 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 servo motor (7) is installed inside the housing of the fuselage structure (1). The output shaft of the first servo motor (7) passes through the housing of the fuselage structure (1) and extends to the upper end of the bottom of the wing storage slot (2). One end of the servo linkage (11) is connected to the output shaft of the first servo (7) for transmission, and the servo drive gear (8) is sleeved on the other end of the servo linkage (11); The front ends of the first rotating shaft and the second rotating shaft are respectively set on the bottom of the wing storage slot (2) and located on the left and right sides of the servo drive gear (8) by bearings. 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 in the middle of the first rotating shaft, and the second driven helical gear (10) is sleeved in the middle of the second rotating shaft. The first driven helical gear (9) and the second driven helical gear (10) respectively mesh with the servo drive gear (8). One end of the left wing (3) is detachably mounted at the rear end of the first rotating shaft, and one end of the right wing (4) is detachably mounted at the rear end of the second rotating shaft. The first servo motor (7) is electrically connected to the power battery pack and is signal-connected to the flight control mechanism.

4. The variable-shape, multi-modal vertical takeoff and landing unmanned aerial vehicle (UAV) according to claim 1, characterized in that: The second rotating structure includes a second servo motor, which is disposed at the lower end of the inner cavity of the housing of the body structure (1); The output shaft of the second servo motor passes through the bottom of the corresponding tail fin storage slot (5) and the two are perpendicular to each other. One end of the tail fin (6) is sleeved on the output shaft of the corresponding second servo motor. The second servo motors are all electrically connected to the power battery pack, and the second servo motors are all signal connected to the flight control mechanism.

5. A variable-shape, multi-modal vertical takeoff and landing unmanned aerial vehicle according to any one of claims 1-4, characterized in that: The power mechanism (101) includes a positive propeller motor (10104) and a negative propeller motor (10101). The reverse propeller motor (10101) is located below the central cross seat (10208), and the output shaft of the reverse propeller motor (10101) extends upward through the center of the central cross seat (10208); The upper end of the output shaft of the reverse propeller motor (10101) is provided with a reverse propeller hub (10102), and the two ends of the reverse propeller hub (10102) are symmetrically provided with folding reverse propellers (10103). The positive propeller motor (10104) is located above the central cross seat (10208). The output shaft of the positive propeller motor (10104) is a hollow shaft. The output shaft of the positive propeller motor (10104) is sleeved on the outside of the output shaft of the negative propeller motor (10101) and the two can rotate freely. The positive propeller motor (10104) has a positive propeller hub (10105) on its output shaft and is located below the negative propeller hub (10102). Folded positive propellers (10106) are symmetrically arranged at both ends of the positive propeller hub (10105).

6. A variable-shape, multi-modal vertical takeoff and landing unmanned aerial vehicle (UAV) according to claim 5, characterized in that: The flight control mechanism includes an electronic speed controller, a flight control computer, and an airborne data link. The electronic speed controller is located below the tilt mechanism (102). The positive propeller motor (10104), the negative propeller motor (10101), the first servo (7), the two second servos, the first drive motor (10206), and the second drive motor (10211) are respectively connected to the electronic speed controller. The flight control computer and the airborne data link are respectively located at the lower end of the inner cavity of the fuselage structure (1), with the flight control computer located above the airborne data link. The electronic speed controller and the airborne data link are respectively connected to the flight control computer.

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