A heavy-load unmanned aerial vehicle with a multi-axis module connected to a fuselage universal spherical surface

Abstract

This invention discloses a heavy-duty unmanned aerial vehicle (UAV) with a multi-axis module connected to a spherical fuselage, relating to the field of UAV technology. The module includes a multi-axis module, a fuselage, and landing gear. The multi-axis module comprises a central support, battery, flight control system, and rotor assembly, and is mounted on the spherical structure of the fuselage via the central support. It can rotate and deflect horizontally 360°, with the deflection angle referring to the maximum angle with the horizontal plane. The fuselage includes a mast and the main body, and can be configured with the multi-axis module positioned at the top or center. A tail fin, passenger cabin, and flying wing can be added. The fuselage's center of gravity is lowered, forming a "roly-poly" stable structure. This invention solves the problems of difficult control and poor stability in traditional heavy-duty UAVs, offering high stability, precise control, multiple functions, and low cost, making it suitable for heavy-duty cargo transport, passenger transportation, and high-speed cruising scenarios.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a heavy-duty UAV with a multi-axis module and fuselage connected by a universal spherical surface, which can be widely used in scenarios such as heavy-duty freight, passenger transportation, and high-speed cruising. Background Technology

[0002] With the rapid development of drone technology, its application areas are constantly expanding, and heavy-duty drones have shown great potential in logistics transportation, personnel transport, and special environment operations. However, traditional heavy-duty drones have many shortcomings: the aerodynamic part is rigidly connected to the payload part, making flight attitude control difficult; when deflecting or rotating, the aerodynamic components need to overcome a huge moment of inertia, making precise control difficult and prone to failure; the center of gravity design is unreasonable, resulting in poor flight stability; the function is limited, making it difficult to meet multiple needs such as heavy load, manned transport, and high-speed cruising; and the structure is complex, resulting in high manufacturing and maintenance costs.

[0003] To address the aforementioned issues, this invention proposes a heavy-duty UAV with a multi-axis module connected to a universal spherical surface on the fuselage. Through innovative structural design, it achieves significant improvements in flight stability, control precision, and functional versatility. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a heavy-duty UAV with a multi-axis module connected to the universal spherical surface of the fuselage, which has the advantages of high stability, precise control, diverse functions and reasonable structure.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A heavy-duty unmanned aerial vehicle (UAV) with a multi-axis module connected to a spherical surface of the fuselage includes a multi-axis module, a fuselage, and landing gear. The multi-axis module includes a central support, a battery, a flight controller, a navigation system, and multiple rotor assemblies connected to rotor arms. A spherical structure is provided on the fuselage, and the cavity within the central support is configured as a concave arc surface capable of accommodating a spherical object. The multi-axis module is mounted on the spherical structure of the fuselage via the central support. The multi-axis module can rotate 360° horizontally around the fuselage and can deflect in any other direction. The deflection angle refers to the maximum angle between the multi-axis module and the horizontal plane, and can be designed according to requirements (e.g., not less than 20°, 30°, 45°, etc.). The landing gear is used for takeoff and landing support of the UAV and can adopt different structural forms depending on the embodiment.

[0006] Based on the location of the multi-axis module, this invention has two core solutions: top-mounted multi-axis module and center-mounted multi-axis module.

[0007] (a) Multi-axis module top-mounted type: The fuselage includes a mast and a fuselage body. The spherical structure of the fuselage is located at the top of the mast, and the lower end of the mast is fixed to the fuselage body. The landing gear is located at the bottom of the fuselage body. The advantages of this design are: the rotor assembly is located at a high position, reducing the risk of injury; and the fuselage has a low center of gravity, resulting in more stable flight.

[0008] (ii) Multi-axis module center-mounted type: To make the structure more compact, the spherical structure of the fuselage is directly set on the fuselage body. The multi-axis module is mounted on the fuselage body with the spherical structure through a central bracket. The central bracket and the fuselage body fit together perfectly, and the inner and outer surfaces of the two in contact are set as smooth surfaces to ensure that the multi-axis module can rotate and deflect flexibly around the fuselage body.

[0009] Furthermore, components such as tail fins, passenger cabins, and flying wings can be added to the fuselage according to actual functional requirements to expand the applicable scenarios of the drone: Tail fin: It includes at least one of the tail rotor and vertical tail fin. The vertical tail fin consists of a vertical stabilizer and a rudder. The tail rotor adopts an electric variable pitch structure, which can control the heading of the UAV when hovering, vertically ascending and descending, and cruising. The rudder 241 on the vertical tail fin is controlled by a servo motor and is mainly used to accurately control the heading of the UAV during cruise.

[0010] Passenger cabin: Located inside the fuselage, it is used to carry people. The cabin can accommodate 1-2 passengers, and the passengers' sitting posture is basically unaffected by the changes in the flight attitude of the drone, ensuring a comfortable ride.

[0011] Flying wing: It includes an integrated delta wing and a vertical tail (including a vertical stabilizer). The integrated delta wing is equipped with a left aileron and a right aileron on the left and right sides respectively. When parked on the ground and taking off and landing, the integrated delta wing and the vertical tail can together form a "T" or "+" shaped landing gear, eliminating the need for an additional independent landing gear and simplifying the overall structure.

[0012] In addition, the center of gravity of the fuselage is set lower to further improve the stability of the drone during flight, forming a "roly-poly" stable structure.

[0013] The beneficial effects of this invention are: 1. The weight is mainly concentrated on the fuselage, and the center of gravity of the fuselage is set low, below the geometric center, which significantly improves flight stability, strengthens resistance to external interference, and forms a "tumbler-like" stable structure. 2. The multi-axis module is specifically designed to generate lift and precisely control the pitch, roll, and ascent / descent of the UAV, resulting in more sensitive operational response; 3. The flight controller is set up separately from the fuselage, so the flight controller is not affected by the rotation of the fuselage, resulting in higher control precision; 4. The rudder and tail rotor work together to control yaw, adapting to the heading requirements of different flight states (hovering, takeoff and landing, cruise); 5. It has the advantages of safety, energy saving and strong cruising ability. In the passenger-carrying mode, the passenger seating position is comfortable and the loading space is flexible in the freight mode. 6. The central support and the main body can be manufactured using 3D printing one-time molding process or assembly method, which greatly reduces manufacturing costs and production difficulty. Attached Figure Description

[0014] Figure 1 Schematic diagram of a multi-rotor module top-mounted structure (with tail for manned use, tailless for cargo use); Markings in the diagram: 1 - multi-rotor module, 11 - center support, 12 - rotor assembly, 13 - battery, 14 - flight control, 15 - navigation, 16 - rotor arm, 2 - fuselage, 21 - spherical structure on fuselage, 22 - mast, 23 - landing gear, 24 - vertical tail (including 243 - vertical stabilizer), 241 - rudder, 242 - tail rotor, 26 - passenger cabin, 3 - passenger; tail (including 24 - vertical tail, 241 - rudder, 242 - tail rotor).

[0015] Figure 2 : Schematic diagram of a multi-rotor module with a centrally located structure (for cargo); Markings in the diagram: 1 - multi-rotor module, 11 - central support, 12 - rotor assembly, 13 - battery, 14 - flight control, 15 - navigation, 16 - rotor arm, 2 - fuselage, 21 - spherical structure on the fuselage, 23 - landing gear.

[0016] Figure 3 : Schematic diagram of a multi-rotor module with a centrally located structure (for manned use); Markings in the diagram: 1 - multi-rotor module, 11 - central support, 12 - rotor assembly, 13 - battery, 14 - flight control, 15 - navigation, 16 - rotor arm, 2 - fuselage, 21 - spherical structure on the fuselage, 23 - landing gear, 24 - tail rotor, 26 - passenger cabin, 3 - passenger.

[0017] Figure 4 Schematic diagram of a multi-rotor module (mid-mounted) with flying wing—capable of high-speed cruise; Markings in the diagram: 1-Multi-rotor module, 11-Center support, 12-Rotor assembly, 13-Battery, 14-Flight control, 15-Navigation, 16-Rotor arm, 2-Fuselage, 21-Spherical structure on fuselage, 23-Landing gear (composed of 25-Integrated delta wing and 24-Vertical tail), 24-Vertical tail (including 243-Vertical stabilizer and 241-Rudder), 25-Integrated delta wing, 251-Left aileron, 252-Right aileron. Detailed Implementation

[0018] To make the technical solution of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the embodiments described herein are only for illustration and explanation of the present invention and are not intended to limit the present invention.

[0019] Example 1: Multi-axis modular top-mounted type (with tail wing for passenger use, without tail wing for cargo use): like Figure 1 As shown, the UAV in this embodiment includes a multi-rotor module 1, a fuselage 2, a landing gear 23, and a tail fin. The fuselage 2 includes a mast 22 and a fuselage body, and a passenger cabin 26 is provided inside the fuselage 2.

[0020] The multi-axis module 1 includes a central support 11, a battery 13, a flight controller 14, a navigation system 15, and multiple rotor assemblies 12. Each rotor assembly 12 includes an electronic speed controller, a motor, and rotors, and is connected to a rotor arm 16. The spherical structure 21 of the fuselage 2 is located at the top of the mast 22, and the lower end of the mast 22 is fixed to the fuselage body. The multi-axis module 1 is mounted on the spherical structure 21 via the central support 11. The spherical structure 21 and the central support 11 cooperate to achieve omnidirectional deflection, with a maximum deflection angle of not less than 20°, which meets the basic stability requirements of manned scenarios and can rotate 360° in the horizontal plane.

[0021] The landing gear 23 is a sled-type structure, used for take-off and landing on flat terrain such as land; the tail includes a vertical tail 24 (including a vertical stabilizer 243), a rudder 241 and a tail rotor 242. The tail rotor 242 adopts an electric variable pitch structure and is installed at the tail of the fuselage 2. The rudder 241 is set on the vertical tail 24, and the two work together to control the heading.

[0022] When used for carrying passengers, the passenger cabin 26 inside the fuselage 2 can accommodate 1-2 passengers 3. The passengers 3 are seated comfortably and are not affected too much by changes in the flight attitude of the drone. When used for carrying cargo, the tail fin is removed and a cargo compartment is set inside the fuselage 2 for loading cargo, with a strong load capacity.

[0023] During flight, the multi-rotor module 1 is positioned above the fuselage 2, generating lift through the rotor assembly 12 to propel the UAV into flight. The flight controller 14 controls the rotor speed of the multi-rotor module 1, enabling the UAV to perform pitch, roll, and ascent / descend maneuvers. The rudder 241 and tail rotor 242 work together to control the yaw direction. Due to the low center of gravity of the fuselage 2, the UAV exhibits "tumbler-like" stability during flight, allowing it to quickly regain a stable attitude even under external disturbances.

[0024] Example 2: Multi-axis module, mid-mounted (for cargo): like Figure 2 As shown, the drone in this embodiment includes a multi-axis module 1, a fuselage 2, and a landing gear 23.

[0025] The central support 11 of the multi-axis module 1 is a hollow structure with a spherical arc surface on the inner surface; a spherical structure 21 is set on the fuselage 2 body, and the outer surface of the fuselage 2 is a spherical shape that matches the central support 11. The multi-axis module 1 is fitted in the middle of the fuselage 2 and can rotate 360° around the fuselage 2 in the horizontal direction, and can deflect in any other direction with a deflection angle of up to 45°, which meets the needs of flexible attitude adjustment in freight scenarios.

[0026] The battery 13 is distributed within the rotor arm 16 to optimize the center of gravity distribution; the flight control 14 and navigation 15 are installed in the middle area of ​​the multi-rotor module 1 for easy signal transmission and control; the landing gear 23 is a simple support structure fixed to the bottom of the fuselage 2; the fuselage 2 is a cargo hold that can carry a large amount of cargo.

[0027] This embodiment eliminates the need for a tail fin. The flight controller 14 adjusts the rotational speed differences of the different rotor components 12 of the multi-axis module 1 to generate directional control force, achieving directional stability in cargo-carrying scenarios. During flight, the rotor components 12 of the multi-axis module 1 generate lift, and the flight controller 14 controls the deflection and rotation of the multi-axis module 1, enabling various flight attitude adjustments for the UAV. The spherical connection between the multi-axis module 1 and the fuselage 2 ensures that the UAV maintains good maneuverability and stability while carrying cargo, adapting to the needs of complex cargo transport missions.

[0028] Example 3: Multi-axis module centrally located (for manned use): like Figure 3 As shown, the drone in this embodiment includes a multi-axis module 1, a fuselage 2, a landing gear 23, and a passenger cabin 26.

[0029] The central support 11 of the multi-axis module 1 is similar to the outer sleeve of a ball joint bearing, with a spherical inner surface. It is installed and fitted with the spherical structure 21 on the fuselage 2. The maximum deflection angle is designed to be 30°, balancing passenger comfort and maneuverability. The passenger cabin 26 is located inside the fuselage 2 and is equipped with comfortable seats for passengers 3. The landing gear 23 is mounted on the rotor arm. The landing gear 23 is an elastic structure with good cushioning performance, protecting the safety of passengers 3 and the UAV. The tail rotor 242 is installed inside the rear of the fuselage 2 and adopts an electric variable pitch structure to control the heading of the fuselage 2 to adapt to the heading of the multi-axis module 1.

[0030] The multi-axis module 1 is centrally located around the fuselage 2, and multiple rotor components 12 are evenly distributed on the rotor arms 16 to generate stable lift. The flight control 14 and navigation 15 precisely control the movement of the multi-axis module 1, making the UAV stable and comfortable when flying with people.

[0031] This embodiment is suitable for short-distance passenger transport, such as urban commuting and tourist transportation in scenic areas, and has the advantages of safety, convenience and comfort.

[0032] Example 4: Multi-axis module with flying wing (mid-mounted) – capable of high-speed cruising: like Figure 4 As shown, the UAV in this embodiment includes a multi-axis module 1, a fuselage 2, and a flying wing, wherein the flying wing includes an integrated delta wing 25 and a vertical tail fin 24 (including a vertical stabilizer 243).

[0033] The central support 11 of the multi-axis module 1 is mounted on the spherical structure 21 on the fuselage 2. The multi-axis module 1 also integrates an integrated delta wing 25 and a vertical tail 24. The integrated delta wing 25 is fixed to the outside of the rotor arm 16 of the multi-axis module 1 through a connector. The vertical tail 24 is rigidly connected to the rear end of the central support 11. The left aileron 251 and the right aileron 252 are respectively provided on the left and right sides of the integrated delta wing 25. The vertical tail 24 includes a vertical stabilizer 243 and a rudder 241. The outer surface of the fuselage 2 is spherical and the center of gravity is arranged at a lower position. When parked on the ground and taking off and landing, the integrated delta wing 25 and the vertical tail 24 of the flying wing together form a "T" or "+" shaped landing gear 23, without the need for an additional independent landing gear 23.

[0034] In this design, the multi-axis module 1 can rotate 360° around the fuselage 2 in any direction. When the multi-axis module 1 rotates, the flying wing rotates synchronously with the central support 11, ensuring that the flying wing can still provide stable aerodynamics after deflection. During vertical takeoff, the axis of the multi-axis module 1 is in a vertical state, and the lift is generated by the rotor assembly 12. After takeoff, the multi-axis module 1 deflects forward 90°. At this time, the multi-axis module 1 becomes the forward power of the flying wing. The lift is generated by the integrated delta wing 25. The left aileron 251 and the right aileron 252 control the pitch and roll flight attitude, which can achieve high-speed cruise.

[0035] In high-speed cruise mode, the UAV has excellent aerodynamic performance, fast cruise speed and long range, making it suitable for long-distance cargo transportation or personnel transport; when vertical landing or hovering is required, the multi-axis module 1 deflects back to the vertical direction, and the rotor assembly 12 generates lift, making it highly adaptable to missions.

Claims

1. A heavy load unmanned aerial vehicle with a multi-axle module connected to a fuselage universal spherical surface, characterized in that, It includes a multi-axis module (1), a fuselage (2) and a landing gear (23); the multi-axis module (1) includes a central support (11), a battery (13), a flight controller (14), a navigation system (15) and multiple rotor components (12) connected to the rotor arms (16); the fuselage (2) is provided with a spherical structure (21), the cavity inside the central support (11) is a concave arc surface that matches the spherical structure (21), the multi-axis module (1) is mounted on the spherical structure (21) through the central support (11), and can rotate horizontally 360° around the fuselage (2) and deflect in other directions.

2. The heavy-lift drone of claim 1, wherein, Based on the position of the multi-axis module (1), it is divided into top-mounted or mid-mounted: the multi-axis module (1) located at the top of the UAV is a top-mounted structure; the multi-axis module (1) located in the middle of the UAV is a mid-mounted structure.

3. The heavy-lift drone of claim 2, wherein, In the top-mounted type, the fuselage (2) includes a mast (22) and a fuselage body. The spherical structure (21) is located at the top of the mast (22), the lower end of the mast (22) is fixed to the fuselage body, and the landing gear (23) is located at the bottom of the fuselage body.

4. The heavy-lift drone of claim 2, wherein, In the centrally located type, the spherical structure (21) is directly installed on the fuselage body (2), and the central support (11) is fitted with the fuselage body. The inner and outer surfaces of the two in contact are smooth surfaces.

5. The heavy-load UAV according to claim 1, characterized in that, It also includes a tail fin, which includes at least one of a tail rotor (242) and a vertical tail fin (24); the vertical tail fin (24) includes a vertical stabilizer (243) and a rudder (241), the tail rotor (242) is an electric variable pitch structure, and the rudder (241) is controlled by a servo motor.

6. The heavy-lift drone of claim 1, wherein, The fuselage (2) has a passenger cabin (26) inside, which can accommodate 1-2 passengers (3).

7. The heavy-lift drone of claim 4, wherein, It also includes a flying wing, which includes an integrated delta wing (25) and a vertical tail (24); the integrated delta wing (25) has a left aileron (251) and a right aileron (252) on both sides, and the vertical tail (24) includes a vertical stabilizer (243) and a rudder (241).

8. The heavy-lift drone of claim 7, wherein, When the aircraft is parked on the ground, the integrated delta wing (25) and the vertical tail (24) together form a "T" or "+" shaped landing gear (23).

9. The heavy-load UAV according to claim 8, characterized in that, The multi-axis module (1) can rotate 360° around the fuselage (4) in any direction. When it takes off vertically and deflects forward 90°, the multi-axis module (1) becomes the forward propulsion of the flying wing. The lift is generated by the integrated delta wing (81), and the aileron (82) is used to control the pitch and roll flight attitude.

10. The heavy-load UAV according to claim 4, characterized in that, The fuselage (2) has its center of gravity set slightly lower, forming a "tumbler-like" stable structure.

11. The heavy-lift drone of claim 1, wherein, The maximum deflection angle of the multi-axis module (1) is not less than 20°.

12. The heavy payload drone according to any one of claims 1-11, wherein, It is manufactured using 3D printing one-time molding process or assembly method.

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