Multi-modal unmanned aerial vehicle with adjustable rotor angles

Abstract

The utility model relates to a kind of multi-modal unmanned aerial vehicle of adjustable rotor angle, including unmanned aerial vehicle fuselage, the unmanned aerial vehicle fuselage is rotatable and equipped with several machine arm bodies, the end of each machine arm body is equipped with rotor assembly, the one end of each machine arm body is drivingly connected in the unmanned aerial vehicle fuselage inside corresponding drive assembly, the drive assembly in the unmanned aerial vehicle fuselage is used to drive the machine arm body to rotate, the inside of the unmanned aerial vehicle fuselage is also equipped with several self-locking assembly by sliding mode and lock the drive machine arm body rotation;The utility model can optimize the aerodynamic layout of whole machine rotor in real time, automatically according to flight demand, significantly improve flight stability, task adaptability and operation intelligent level by the collaborative work of drive assembly and self-locking assembly.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a multimodal UAV with adjustable rotor angle. Background Technology

[0002] Multirotor drone technology with adjustable arm angles is attracting widespread attention. Its core value lies in optimizing flight performance and environmental adaptability by changing the attitude of the arms. This structure benefits from adjusting the aerodynamic layout to adapt to different flight mission requirements, such as improving high-speed flight stability or hovering efficiency. It enables drones to flexibly adapt to different variable spaces for flight operations. Adjustable arm technology signifies that multirotor drones are evolving from a single-function flight platform to a more agile and multi-functional operational tool.

[0003] Current arm angle adjustment has many limitations. After the arm is adjusted, there may be gaps when locking it, or it may rely on the user's manual operation, such as tightening bolts, to achieve final fixation. If the operation is not done properly or the arm becomes loose due to vibration during flight, the arm angle may change, affecting flight stability and even causing safety accidents. Summary of the Invention

[0004] This invention addresses the problems existing in the control of the boom angle of unmanned aerial vehicles (UAVs) by proposing a multi-modal UAV with adjustable rotor angle. Through the coordinated work of the drive component and the self-locking component, the aerodynamic layout of the rotor can be optimized in real time and automatically according to flight requirements, significantly improving flight stability, mission adaptability and the level of intelligent operation.

[0005] The objective of this invention is achieved through the following technical solution: a multimodal unmanned aerial vehicle (UAV) with adjustable rotor angle, comprising a UAV fuselage, wherein a plurality of arm bodies are rotatably mounted on the UAV fuselage, each arm body having a rotor assembly at its end, and one end of each arm body being drively connected to a corresponding drive assembly inside the UAV fuselage. The drive assembly inside the UAV fuselage is used to drive the arm body to rotate, and the UAV fuselage also has a plurality of self-locking components that lock the arm body to rotate by sliding.

[0006] Preferably, the drive assembly includes a driven gear, a drive gear, and a first drive motor. Each arm body has a driven gear inside near the drone fuselage. The drone fuselage has several component support plates inside, and each component support plate has a first drive motor inside. The first drive motor has a drive gear on its shaft. The drive gear meshes with the driven gear, and the self-locking assembly can lock the rotation of the driven gear by sliding.

[0007] Preferably, the self-locking assembly includes sliding guide rods, a limiting body, and an elastic element. Several sliding guide rods are provided between the inner wall of the UAV fuselage and the component support plate. The surfaces of adjacent sliding guide rods are slidably connected to the limiting body. The limiting body is provided with inner groove teeth that mesh with the teeth on the driven gear. An elastic element is also provided between the limiting body and the component support plate. When the elastic element is in an unpressed state, it can push the inner groove teeth of the limiting body to engage with the teeth on the driven gear.

[0008] Preferably, the elastic element is a return spring, and the limiting body includes a semi-circular portion and a columnar portion. The columnar portion is disposed on one side of the semi-circular portion and is made of iron. Each element support plate is provided with several locking posts, and the ends of adjacent locking posts are provided with electromagnets. When the electromagnets are energized, they are used to attract the limiting body to slide, thereby releasing the limiting of the driven gear.

[0009] Preferably, the drone body is provided with several wire sleeves, and each of the arm bodies passes through the inside of the wire sleeves to the inside of the drone body; in this arrangement, the wire sleeves play a guiding role, ensuring that the arm body moves accurately and smoothly when rotating; the wire sleeves can also reduce friction and wear between the arm body and the hole wall of the drone body, and extend the life of the components.

[0010] Preferably, the rotor assembly includes a motor support housing, a second drive motor, and a rotor. Each arm body has a motor support housing at its end, a second drive motor is provided inside each motor support housing, and a rotor is provided at the end of the shaft of each second drive motor.

[0011] Preferably, the side wall of the motor support housing is also provided with a plurality of first extension rods, each of the first extension rods is provided with an inclined extension rod at its end, the end of the inclined extension rod is provided with a circular protective sleeve, the diameter of each circular protective sleeve is greater than the length between the plurality of rotors, and the top of the circular protective sleeve is also provided with a plurality of second extension rods extending from the inner wall of the circular protective sleeve toward the axis of the second drive motor.

[0012] In this setup, the circular protective sleeve and the second extension rod form a protective frame for the rotor, providing physical structural protection. The circular protective sleeve and the second extension rod can effectively protect the high-speed rotating rotor from damage when the drone collides with or approaches an obstacle.

[0013] Preferably, at least one-half of the arm body of the drone is located above the remaining arm body (it can be considered that the ratio of the vertical distance H between the upper and lower layers of the arms to the rotor diameter D satisfies: 0.1 < H / D < 0.5). The arm body includes a first arm and a second arm that can be detachably connected; the hierarchical arrangement of the arm body optimizes the aerodynamic layout and reduces the possible interference of the airflow generated by multiple arm bodies and rotors in the same plane, which helps to improve flight stability and efficiency;

[0014] In this setting, the first arm and the second arm are designed to be detachably connected, which enhances the portability and maintainability of the drone, facilitates transportation and storage, and at the same time allows users to quickly replace the arm body of different lengths according to different mission requirements (such as pursuing stability or flexibility), expanding the application scenarios and versatility of the drone.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] 1. When the electromagnet is in the non-powered state, the inner groove teeth of the limit body are directly embedded in the tooth grooves of the driven gear under the thrust of the elastic element. The rigid meshing of tooth to tooth, and the sliding guide rod restricts the axial rotation of the driven gear and the limit body, realizing a mechanical hard connection without any play; ensuring the absolute stability of the driven gear, the driving gear and the entire arm body in the locked state, and greatly improving flight stability and safety;

[0017] 2. When the angle of the arm body needs to be adjusted, the electromagnet is first powered on. The magnetic force generated by the electromagnet instantly adsorbs the iron columnar part, overcoming the elastic force of the elastic element, and making the limit body quickly disengage from the driven gear; the whole process is electrically controlled and has a very fast response speed, which provides convenience for real-time adjustment of the arm angle during flight; at the same time, when the electromagnet is powered off and the magnetic force disappears, the elastic element immediately pushes the limit body back to the set position, and the inner groove teeth are stuck into the driven gear again to complete the locking; the whole locking process does not require manual intervention, and is fast, accurate and reliable;

[0018] 3. Through the coordinated action of the driving component and the self-locking component, the drone can autonomously and dynamically adjust the angles of each arm during flight, thereby changing the thrust direction of the rotor in real time, enabling it to automatically switch to the optimal aerodynamic configuration for different flight stages (such as vertical takeoff and landing, high-speed cruising, hovering observation) and complex mission environments (such as passing through narrow spaces, strong wind disturbances); not only significantly improving flight stability, control efficiency and anti-interference ability, but also realizing the leap from a single flight mode to seamless switching between multiple modes, greatly expanding the application boundary and mission effectiveness of the drone;

[0019] 4. Half of the drone's arms are located above the remaining arms. This asymmetrical layered design breaks away from the conventional approach of having all drone arms evenly distributed on the same plane. It solves the problem of interference between multiple arms. The layered arrangement not only reduces interference between the arms but also optimizes the aerodynamic layout, making the drone more stable in complex environments. Attached Figure Description

[0020] Figure 1 This is a perspective view of the first embodiment of the present utility model;

[0021] Figure 2 This is a perspective view of the first embodiment of the present utility model;

[0022] Figure 3 This is a cross-sectional view of the first embodiment of the present invention;

[0023] Figure 4 The first embodiment of this utility model is in Figure 3 Enlarged view of region A in the image;

[0024] Figure 5 This is a partial cross-sectional view of the self-locking component in the locked state according to the first embodiment of this utility model;

[0025] Figure 6 This is a partial cross-sectional view of the self-locking component in the unlocked state according to the first embodiment of this utility model;

[0026] Figure 7 This is a perspective view of the rotor assembly of this utility model;

[0027] Figure 8 This is a schematic diagram of the arm body of this utility model after the angle has been adjusted;

[0028] Figure 9 This is a perspective view of the second embodiment of the present utility model;

[0029] Figure 10 This is a cross-sectional view of the second embodiment of the present invention.

[0030] The diagram shows the following markings: 1. UAV fuselage; 11. Component support plate; 12. Locking pin; 13. Wire sleeve; 2. Arm body; 21. First arm; 22. Second arm; 3. Rotor assembly; 31. Motor support shell; 311. First extension rod; 312. Tilt extension rod; 313. Circular protective sleeve; 314. Second extension rod; 32. Second drive motor; 33. Rotor; 4. Drive assembly; 41. Driven gear; 42. First drive motor; 43. Drive gear; 5. Self-locking assembly; 51. Sliding guide rod; 52. Limiting body; 520. Inner groove tooth; 521. Semi-ring portion; 522. Columnar portion; 53. Elastic element; 54. Electromagnet. Detailed Implementation

[0031] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings:

[0032] like Figure 1 As shown, the first embodiment of this utility model is a multimodal unmanned aerial vehicle with adjustable rotor angle, including a drone fuselage 1, on which six rotatable arm bodies 2 are provided, and each arm body 2 is provided with a rotor assembly 3 at its end; the drone fuselage 1 is provided with a plurality of wire sleeves 13, and each arm body 2 passes through the interior of the wire sleeve 13 to the interior of the drone fuselage 1.

[0033] With this configuration, the wire sleeve 13 can be made of polyoxymethylene material with self-lubricating properties and rigidity. The wire sleeve 13 is used to protect and guide the rotation path of the arm body 2, avoid excessive friction at the connection between the drone body 1 and the arm body 2, ensure smooth rotation of the arm body 2, and extend the life of the components.

[0034] In the first embodiment, please refer to the reference. Figure 7 The rotor assembly 3 includes a motor support shell 31, a second drive motor 32 and a rotor 33. Each arm body 2 has a motor support shell 31 at its end, a second drive motor 32 inside each motor support shell 31, and a rotor 33 at the end of the shaft of each second drive motor 32.

[0035] During implementation, the shaft of the second drive motor 32 rotates, simultaneously driving the rotor 33 at its end to rotate. The high-speed rotation of the rotor 33 generates lift or thrust, and the lift and thrust generated by several rotors 33 propel the entire UAV into flight. It is important to note that whenever the angle of the arm body 2 is automatically or manually adjusted, the thrust direction of the rotor 33 changes, allowing for multimodal flight depending on the scenario.

[0036] Please continue to refer to this. Figure 3 and Figure 4 To further illustrate how the angle of the robotic arm 2 is automatically driven to change, one end of each robotic arm 2 is connected to a corresponding drive assembly 4 inside the drone fuselage 1. The drive assembly 4 inside the drone fuselage 1 is used to drive the robotic arm 2 to rotate.

[0037] The drive assembly 4 includes a driven gear 41, a drive gear 43, and a first drive motor 42. Each of the arm bodies 2 has a driven gear 41 inside near the drone body 1. The drone body 1 has several component support plates 11 inside. Each component support plate 11 has a first drive motor 42 inside. The first drive motor 42 has a drive gear 43 on its rotating shaft. The drive gear 43 meshes with the driven gear 41.

[0038] During implementation, when the first drive motor 42 operates, it drives the drive gear 43 to rotate, which in turn drives the driven gear 41 to rotate. Since the driven gear 41 is fixedly connected to the arm body 2, the driven gear 41 drives the arm body 2 to rotate around its axis. The gear transmission between the drive gear 43 and the driven gear 41 provides precise angle control, ensuring that the arm body 2 can be smoothly and accurately adjusted to the required position. Furthermore, the gear meshing design offers high transmission efficiency and reliability, reduces energy loss, and allows for rapid adjustment of the arm angle during high-speed flight.

[0039] In the first embodiment, in order to realize the self-locking function after the arm body 2 adjusts its angle, the inside of the UAV body 1 is also provided with a number of self-locking components 5 that lock the rotation of the arm body 2 by sliding. The self-locking components 5 can lock the rotation of the driven gear 41 by sliding.

[0040] Please refer to the reference. Figure 5 and Figure 6 The self-locking assembly 5 includes a sliding guide rod 51, a limiting body 52, and an elastic element 53. Several sliding guide rods 51 are provided between the inner wall of the UAV body 1 and the component support plate 11. The surfaces of adjacent sliding guide rods 51 are slidably connected to the limiting body 52. ​​The limiting body 52 is provided with an inner groove tooth 520 that meshes with the tooth on the driven gear 41. An elastic element 53 is also provided between the limiting body 52 and the component support plate 11.

[0041] With this setup, whenever the elastic element 53 is in an unpressed state (the limiting body 52 is in the set position at this time), the elastic element 53 can push the inner groove tooth 520 of the limiting body 52 to engage with the tooth on the driven gear 41. After engaging, since the limiting body 52 is slidably connected to the sliding guide rod 51, the sliding guide rod 51 can restrict the axial rotation of the limiting body 52. ​​Therefore, the driven gear 41 that meshes with the inner groove tooth 520 of the limiting body 52 cannot rotate. At this time, whether the driven gear 41 is misdriven by the driving gear 43 or the arm body 2 is hit by external wind or other obstacles: the arm body 2 is first limited by the radial movement of the element support plate 11, and then the arm body 2 is limited by the axial rotation of the sliding guide rod 51. When the limiting body 52 is in the set position, the arm body 2 cannot change any direction or angle relative to the UAV body 1, thus achieving fast and reliable locking and unlocking, which facilitates dynamic adjustment of the arm angle during flight.

[0042] Please continue to refer to this. Figure 6 To further illustrate how the limiting body 52 automatically releases the limiting lock on the driven gear 41, the elastic element 53 is a return spring. The limiting body 52 includes a semi-ring portion 521 and a columnar portion 522. The columnar portion 522 is disposed on one side of the semi-ring portion 521 and is made of iron. Each element support plate 11 is provided with several locking pins 12, and an electromagnet 54 is provided at the end of an adjacent locking pin 12.

[0043] During implementation, whenever the arm body 2 needs to adjust its angle, the main control board inside the UAV body 1 energizes the electromagnet 54, causing the electromagnet 54 to attract the limiting body 52 and drive the columnar part 522. At this time, under the magnetic attraction of the electromagnet 54, the columnar part 522 of the limiting body 52 slides away from the driven gear 41 on the sliding guide rod 51. The elastic element 53 is gradually compressed, causing the inner groove teeth 520 on the limiting body 52 to move away from the teeth on the driven gear 41. Then the limiting body 52 releases its restriction on the driven gear 41. Similarly, whenever the electromagnet 54 is not energized, the elastic force generated by the elastic element 53 drives the limiting body 52 to slide on the sliding guide rod 51 until the limiting body 52 slides to the set position and is limited by the inner end face of the wire sleeve 13.

[0044] Please continue to refer to this. Figure 7To further ensure that the rotor 33 is not struck by external obstacles during rotation, the side wall of the motor support housing 31 is also provided with a plurality of first extension rods 311, each of the first extension rods 311 having an inclined extension rod 312 at its end, and the end of the inclined extension rod 312 having a circular protective sleeve 313, the diameter of each circular protective sleeve 313 being greater than the length between the plurality of rotors 33, and the top of the circular protective sleeve 313 being provided with a plurality of second extension rods 314 extending from the inner wall of the circular protective sleeve 313 toward the axis of the second drive motor 32;

[0045] During implementation, since the diameter of each circular protective sleeve 313 is larger than the length between several rotors 33, the circular protective sleeves 313 form a protective ring around the sides of the rotors 33, while the first extension rod 311 and the second extension rod 314 form protective rods in the planar direction to prevent collisions or accidental contact. Simultaneously, the second extension rod 314 not only further reinforces the protective structure but also reduces air turbulence and improves the efficiency of the rotors 33. The design of the protective sleeves and extension rods not only protects the rotors from external damage but also optimizes airflow and reduces noise and energy loss.

[0046] Please continue to refer to the reference. Figure 9 and Figure 10 The second embodiment of this utility model differs from the first embodiment in that at least half of the arm body 2 on the drone fuselage 1 is located above the remaining arm body 2, and the arm body 2 includes a first arm 21 and a second arm 22 that can be detachably connected.

[0047] This layered arrangement reduces interference between the arm bodies 2, optimizes the aerodynamic layout, and makes the UAV more stable in complex environments. Simultaneously, the first arm 21 and the second arm 22 can be detachably connected. This detachable design facilitates transportation, storage, and maintenance, and allows for the replacement of arms of different lengths according to mission requirements, enhancing the UAV's versatility. For example, when long-endurance missions are required, a longer arm body 2 can be used to increase the rotor spacing 33 and improve stability; when agility is needed, a shorter arm body 2 can be used.

[0048] Working principle and usage of this utility model:

[0049] When the angle of the arm body 2 needs to be adjusted, the UAV main control board first energizes the electromagnet 54 of the self-locking assembly 5. The electromagnet 54 generates magnetic force, attracting the columnar portion 522 of the limiting body 52, compressing the elastic element 53, causing the limiting body 52 to slide along the sliding guide rod 51, and its inner groove teeth 520 separate from the driven gear 41, thus releasing the lock. Subsequently, the first drive motor 42 of the drive assembly 4 starts, driving the drive gear 43 to rotate, which in turn drives the driven gear 41 meshing with it to rotate. Since the driven gear 41 is fixedly connected to the arm body 2, it drives the arm body 2 to rotate around its axis to a predetermined angle.

[0050] After the angle adjustment is completed, the main control board cuts off the power to the electromagnet 54. Once the magnetic force disappears, the elastic element 53 pushes the limiting body 52 back into position, causing its inner teeth 520 to firmly engage again in the tooth groove of the driven gear 41. Because the sliding guide rod 51 restricts the rotation of the limiting body 52, the driven gear 41 and the connected arm body 2 are completely locked and cannot rotate, achieving a gapless and stable locking.

[0051] After the angle is locked, the second drive motor 32 of the rotor assembly 3 drives the rotor 33 to rotate at high speed to generate lift or thrust. Since the angle of the arm body 2 has been adjusted, the thrust direction of the rotor 33 also changes, thus enabling the UAV to adapt to different flight modes (such as vertical take-off and landing, high-speed forward flight, hovering, etc.).

[0052] The UAV of this invention may further include a flight control module, which pre-stores multiple flight modes (such as hovering mode, high-speed cruise mode, and confined space traversal mode). The flight control module can automatically output signals to control the electromagnet 54 and the first drive motor 42 based on current mission instructions, GPS information, inertial measurement unit (IMU) data, or visual sensor information, to automatically adjust the angle of the arm body 2, thereby ensuring that the UAV is always in an optimal aerodynamic configuration. Furthermore, the flight control module can be electrically connected to a position sensor on the limiting body 52 to ensure that the rotor 33 is allowed to enter high-power operation only after receiving a lock confirmation signal.

[0053] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A multimodal unmanned aerial vehicle (UAV) with adjustable rotor angle, comprising a UAV fuselage (1), characterized in that, The drone fuselage (1) is equipped with several rotatable arm bodies (2). Each arm body (2) has a rotor assembly (3) at its end. One end of each arm body (2) is connected to a corresponding drive assembly (4) inside the drone fuselage (1). The drive assembly (4) inside the drone fuselage (1) is used to drive the arm body (2) to rotate. The drone fuselage (1) is also equipped with several self-locking assemblies (5) that lock the arm body (2) to rotate by sliding.

2. The multi-modal UAV with adjustable rotor angle according to claim 1, characterized in that, The drive assembly (4) includes a driven gear (41), a drive gear (43), and a first drive motor (42). Each arm body (2) has a driven gear (41) inside near the drone fuselage (1). The drone fuselage (1) has several component support plates (11) inside. Each component support plate (11) has a first drive motor (42) inside. The first drive motor (42) has a drive gear (43) on its shaft. The drive gear (43) meshes with the driven gear (41). The self-locking assembly (5) can lock the rotation of the driven gear (41) by sliding.

3. The multi-modal UAV with adjustable rotor angle according to claim 2, characterized in that, The self-locking assembly (5) includes a sliding guide rod (51), a limiting body (52), and an elastic element (53). Several sliding guide rods (51) are provided between the inner wall of the UAV fuselage (1) and the component support plate (11). The surfaces of adjacent sliding guide rods (51) are slidably connected to the limiting body (52). The limiting body (52) is provided with an inner groove tooth (520) that meshes with the tooth on the driven gear (41). An elastic element (53) is also provided between the limiting body (52) and the component support plate (11). When the elastic element (53) is in an unpressed state, it can push the inner groove tooth (520) of the limiting body (52) to lock onto the tooth on the driven gear (41).

4. The multi-modal UAV with adjustable rotor angle according to claim 3, characterized in that, The elastic element (53) is a return spring. The limiting body (52) includes a semi-ring portion (521) and a columnar portion (522). The columnar portion (522) is located on one side of the semi-ring portion (521) and the columnar portion (522) is made of iron. Each element support plate (11) is provided with several locking pins (12). The ends of adjacent locking pins (12) are provided with electromagnets (54). When the electromagnets (54) are energized, they are used to attract the limiting body (52) to slide, thereby releasing the limiting of the driven gear (41).

5. The multi-modal UAV with adjustable rotor angle according to claim 4, characterized in that, The drone fuselage (1) is provided with several wire sleeves (13), and each of the arm bodies (2) passes through the inside of the wire sleeves (13) to the inside of the drone fuselage (1).

6. The multi-modal unmanned aerial vehicle with adjustable rotor angle according to claim 1, characterized in that, The rotor assembly (3) includes a motor support shell (31), a second drive motor (32) and a rotor (33). Each arm body (2) has a motor support shell (31) at its end. Each motor support shell (31) has a second drive motor (32) inside it. Each second drive motor (32) has a rotor (33) at the end of its shaft.

7. The multimodal unmanned aerial vehicle with adjustable rotor angle according to claim 6, characterized in that, The motor support housing (31) is also provided with a plurality of first extension rods (311) on its side wall. Each first extension rod (311) is provided with an inclined extension rod (312) at its end. The inclined extension rod (312) is provided with a circular protective sleeve (313) at its end. The diameter of each circular protective sleeve (313) is greater than the length between the plurality of rotors (33). The top of the circular protective sleeve (313) is also provided with a plurality of second extension rods (314) extending from the inner wall of the circular protective sleeve (313) toward the axis of the second drive motor (32).

8. The multimodal unmanned aerial vehicle with adjustable rotor angle according to any one of claims 1 to 7, characterized in that, At least half of the arm body (2) on the fuselage (1) of the drone is located above the remaining arm body (2), and the arm body (2) includes a first arm (21) and a second arm (22) that can be detachably connected.

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