Omni-directional propulsion vehicle with first rotating shaft

Abstract

The present invention relates to a propulsion vehicle (D1, D2) comprising a power source (SE), a chassis (C), a first shaft (A1) mounted on the chassis so as to be rotatable about a first axis (AX1) and supporting a propulsion unit (P), and a first device (E1) for rotating the first shaft, characterized in that the chassis comprises a first member (OGR1) for guiding the first shaft when rotating, the first shaft comprises a first complementary member (OC1) which mechanically cooperates with the first guide member, and the first guide member and the first complementary member are electrically conductive and electrically connected to each other, the first guide member being electrically connected to the power source and the first complementary member being electrically connected to the propulsion unit.

Description

[Technical field]

[0001] The present invention relates to the field of propulsion vehicles, in particular to the field of remotely piloted aircraft or UAVs, and more particularly to a propulsion vehicle incorporating a solution for the electrical connection between a stator and a rotor.

[0002] Remotely piloted aerial vehicles, also known as UAVs (unmanned aerial vehicles) or drones, comprise, in a known manner, several propulsion units, for example equipped with propellers or blades, mounted on a chassis. To control the direction of the drone, each propulsion unit may be equipped with an electric variable speed drive that can be remotely controlled, for example from a controller operated by a user. The direction of the drone can thus be controlled by increasing the rotational speed of the propellers of some propulsion units and / or decreasing the rotational speed of the propellers of other propulsion units.

[0003] This type of technology allows to control the direction of the drone, but does not provide sufficient drone steering, especially over a wide range of speeds and / or movements. To overcome this drawback, it is also known to arrange each propulsion unit on a shaft that is pivotally mounted on a chassis, the shaft being driven by a motor. The user can then remotely control the motor of the shaft in order to correct the orientation of the propulsion unit and thereby control the direction of the drone.

[0004] Such drones are described, for example, in U.S. Patent Application Publication No. 2018354607.

[0005] In this type of architecture, the drone's battery is also located on the drone's chassis, which raises the problem of how to electrically connect the battery to the drone's propulsion unit: specifically, the shaft must be able to rotate relative to the chassis while at the same time allowing the power provided by the battery to be transferred uninterruptedly to the propulsion unit mounted on this shaft.

[0006] One solution to address this need is to use so-called rotating collectors, e.g. slip rings. This type of collector comprises a ring mounted on a rotor that is contacted by brushes or carbon brushes, allowing power to be transferred from the battery to the shaft even when the shaft is rotating.

[0007] While rotating collectors certainly address the aforementioned needs, the power required to operate a drone requires a very large number of brushes, and these brushes are of considerable size, which means that the collector occupies a significant amount of space. This space requirement presents many challenges, especially with regard to cost, weight, and the interference that the collector may cause to the airflow generated by the propulsion unit. This last point is particularly important given the potential proximity of the collector to the propulsion unit. Thus, this type of collector is inadequate.

[0008] These drawbacks are also found in other fields of technology, for example underwater drones (also known as AUVs or autonomous underwater vehicles), and more broadly in any vehicle equipped with a rotary propulsion unit that needs to be supplied with electricity.

[0009] There is therefore a need for a propulsion vehicle in which the, or each, propulsion unit is arranged on a shaft rotatably mounted on a chassis, and which incorporates a space-saving solution for transmitting power supplied to the propulsion units by a power source mounted on the chassis.

[0010] The present invention is raised in this context and aims to fulfil this need.

[0011] To these ends, one subject of the invention is a propulsion vehicle, comprising: A power source; b. a chassis supporting the power supply; c. a first shaft mounted on the chassis so as to be rotatable about a first axis of rotation, the first shaft supporting a propulsion unit of the propulsion device; d. A first drive device for rotating the first shaft about the first axis of rotation.

[0012] The present invention is notable in that the chassis comprises a first member for guiding the first shaft during rotation about a first axis of rotation, the first shaft comprises a first complementary member arranged to mechanically cooperate with the first guide member to remove at least one degree of freedom from the first shaft, and the first guide member and the first complementary member are electrically conductive and electrically connected to each other, the first guide member being electrically connected to a power source and the first complementary member being electrically connected to a propulsion unit.

[0013] It is therefore understood that the invention makes use of elements already present in the architecture of the propulsion vehicle, namely, members for guiding the first shaft as it rotates on the chassis, by giving it a second function of transmitting power. In particular, the rotating guide members present in the propulsion vehicle as well as the complementary members can be made of a conductive material, for example copper. These guide members can be direct contact guide members, guide members using friction rings or surface coatings, or guide members using rolling elements such as roller bearings, other types of bearings, or pads. Moreover, these rotating guide members necessarily come into contact with complementary members along the rotation of the first shaft so that they can perform their guiding function. By electrically connecting the guide member to the power source of the propulsion vehicle and the member complementary to this guide member to the propulsion unit of the propulsion vehicle, power can therefore be transferred from the chassis to the propulsion unit through the contact between this guide member and the complementary member without it taking up additional space, even if the orientation of the propulsion unit changes as a result of the rotation of the shaft.

[0014] In the present invention, the chassis can directly or indirectly support the power source, and the first shaft can directly or indirectly support the propulsion unit. The term "indirectly support" can indicate, for example, that one or more elements can be mechanically positioned between the power source or the propulsion unit and the chassis or the first shaft, respectively. For example, the power source can be a battery housed in a receptacle in the chassis provided for this purpose.

[0015] In the present invention, the first guide member can be electrically connected, directly or indirectly, to a power source, and the first complementary member can be electrically connected, directly or indirectly, to a propulsion unit. The term "indirectly electrically connected" can indicate, for example, that one or more elements can be electrically positioned between the power source or the propulsion unit and the first guide member or the first complementary member, respectively. For example, a cable can be connected to a battery of the propulsion vehicle and soldered to the first guide member.

[0016] In the present invention, the first guide member cooperates with the first complementary member to remove at least one degree of freedom from the first shaft, i.e. to oppose a movement of the first shaft in a given direction or to oppose a rotation of the first shaft about a given axis which is necessarily different from the first axis of rotation. The first guide member and the first complementary member can cooperate to oppose a movement of the first shaft parallel to the first axis of rotation and / or perpendicular to the first axis of rotation. It is possible to envisage that the first guide member cooperates with the first complementary member to remove multiple degrees of freedom from the first shaft. Alternatively or additionally, it is possible to envisage that the chassis comprises a plurality of first rotating guide members, each cooperating with a first complementary member provided on the first shaft to remove a degree of freedom from the first shaft, it being understood that all of these first guide members and first complementary members may be structurally different from each other and / or may remove different degrees of freedom with respect to each other and / or are involved in the function of transmitting power from the chassis to the first shaft. In particular, it is possible to envisage that a single pair of first guide members and first complementary members is electrically conductive and / or is electrically connected to a power source and a propulsion unit.

[0017] In the present invention, the chassis can take the form of a plate in which a space, for example a substantially circular space, is created in which the first shaft can rotate about a first axis of rotation. The chassis can be a stack of layers, for example including two central layers, produced for example by 3D printing a polymer, in particular a polylactic acid (PLA) or polyurethane foam layer, covered by upper and lower layers of another material, for example carbon or aluminum. If applicable, one or more electric cables connected to a power source can be housed in a cavity provided between the central layers or in an insert provided in the central layer for routing the cables. If desired, the chassis can comprise a plurality of spaces, in particular four spaces, and a plurality, in particular four, of first shafts, each supporting a propulsion unit, each driven by a first drive system, each rotatably mounted on the chassis in one of these spaces.

[0018] In a first embodiment of the invention, the first drive comprises a motor provided with a rotating shaft rotating about a first axis of rotation, the first shaft comprising a transmission member mechanically connected to the rotating shaft of the motor such that the rotation of the shaft of the motor is transmitted to the first shaft, the first complementary member comprises a first bearing mounted on the transmission member and the first rotary guide member comprises a second bearing mounted concentrically around the first bearing. This configuration significantly reduces the size and weight of the components involved in the transmission of power to the propulsion unit.

[0019] Advantageously, the first shaft can be supported at two distinct points on the chassis, which points define the first axis of rotation, and the first drive can be housed in the chassis at one of the points at which the first shaft is supported on the chassis.

[0020] For example, the first drive system can comprise a transmission cylinder with a polygonal, in particular hexagonal, cross section, the transmission cylinder being fitted into an opening of a transmission member of a first shaft driven by the motor and having a cross section complementary to that of the transmission cylinder, the connection between the transmission cylinder and the opening of the transmission member forming one of the points at which the first shaft is supported on the chassis. These features provide a robust connection between the first drive system and the first shaft, so that it does not weaken the first shaft over time, even if it is made by 3D printing a polymer. Alternatively, the transmission cylinder can be of circular cross section and truncated to form a flat surface. If applicable, the motor can comprise a rotating shaft that rotates about a first axis of rotation and that is inserted into the transmission cylinder, a set screw being screwed into a tapped hole in the transmission cylinder, provided in line with the cavity of the transmission cylinder in which the rotating shaft of the motor is inserted, to fix the transmission cylinder to the rotating shaft of the motor. Alternatively, it is possible to envisage a transmission member of the first shaft comprising a portion of a polygonal cross section that is inserted into an opening of complementary cross section made in the transmission cylinder.

[0021] Advantageously, the first bearing may be a ring or sleeve made of an electrically conductive material, in particular copper, for example sintered copper impregnated and / or coated with a lubricant such as an electrically conductive grease, whose longitudinal axis is substantially identical to the first rotation axis and which is mounted in a fixed manner on a transmission member of the first shaft fitted in this first bearing. If applicable, at least one cable electrically connected to the propulsion unit may be soldered to the first bearing. Alternatively, the cable may be inserted into a lug mounted on and electrically connected to the first bearing.

[0022] Preferably, the second bearing may be a ring or sleeve made of a conductive material, in particular copper, for example sintered copper impregnated and / or coated with a lubricant such as conductive grease, its longitudinal axis being substantially identical to the first rotation axis, freely or fixedly mounted on the chassis, and its diameter being substantially larger than that of the first bearing. If applicable, at least one cable electrically connected to the power supply may be soldered to the second bearing. Alternatively, the cable may be inserted into a lug attached to and electrically connected to the second bearing.

[0023] Advantageously, the inner surface of the second bearing and the outer surface of the first bearing are smooth and in direct contact with each other. Alternatively, a coating, in particular a conductive grease or oil coating that coats or impregnates one or both of the bearings, can be positioned between the inner surface of the second bearing and the outer surface of the first bearing.

[0024] In one example of the first embodiment, the first shaft comprises a frame with two diametrically opposed pivots, each pivotally mounted in a recess in the chassis, the recesses facing each other. If applicable, the transmission member is disposed on one of the pivots to extend into one of the recesses, the rotating shaft of the motor extends into the recess, and the first bearing is disposed in the recess, the profile of the recess substantially corresponding to the profile of the second bearing. In this example, one of the pivots forms the transmission member of the first shaft, and the connection between each pivot of the first shaft and the recess in the chassis forms one of the points at which the first shaft is supported on the chassis. As a non-limiting example, the frame may be substantially circular, oval, elliptical, conical, or oblong.

[0025] In one example, the pivot forming the transmission member of the first shaft can be formed by two half shells joined together, one of the half shells being connected to the remainder of the first shaft, each half shell being provided with a groove facing each other and forming an opening in the transmission member into which the transmission cylinder is inserted when the half shells are joined together.

[0026] Advantageously, the second bearing comprises a peripheral stop, in particular extending around the entire circumference of the second bearing and preferably formed by an edge of the second bearing, and the recess comprises a peripheral groove in which the peripheral stop of the second bearing is received, this peripheral stop and this peripheral groove making it possible to block translation of the first shaft in a direction perpendicular to and along the first axis of rotation.

[0027] Preferably, the first bearing comprises a peripheral stop, in particular extending around the entire periphery of the first bearing and preferably formed on the edge of the first bearing. If applicable, the peripheral stop of the first bearing may face the peripheral rim of the recess and / or be clamped between the peripheral stop of the second bearing and a rim of the first shaft provided in line with the transmission member of the first shaft. These features make it possible to reinforce the blocking of the translation of the first shaft in a direction perpendicular to the first axis of rotation and along the first axis of rotation. Alternatively, the peripheral stop of the second bearing may be positioned opposite the second bearing and the peripheral stop to abut against the wall of the first shaft opposite the wall of the recess, so as to abut against the wall of the recess and the peripheral stop of the first bearing. In other words, the bearings are clamped between the opposing walls of the recess and the first shaft via their stops.

[0028] In a second embodiment of the invention, the first shaft comprises a ring unit that is rotationally symmetric about a first axis of rotation, the first complementary member comprises a band mounted on the ring unit, and the first rotating guide member comprises a pad that supports the band flat.

[0029] In one embodiment of the invention, the ring unit comprises a number of teeth arranged around at least a part of its circumference, in particular around the entire circumference, and the first drive system comprises a pinion, or a gear, or a toothed wheel, driven by a motor and meshing with the teeth of the ring unit. In other words, the rotation of the shaft of the first motor, on which the pinion is mounted, is transmitted to the ring unit through the rotation of the pinion. In another embodiment of the invention, the first drive system comprises a belt, driven by a motor and tensioned around the circumference of the ring unit. In other words, the rotation of the shaft of the first motor, on which a pulley, on which the belt is tensioned, is transmitted to the ring unit through the rotation of this pulley.

[0030] Where applicable, the elements of the first drive system that mesh with the teeth and the teeth can be electrically conductive and electrically connected to one another, the elements being electrically connected to a power source and the teeth being electrically connected to the propulsion unit. Alternatively, at least the belt, the pulleys and a portion of the ring unit to which the belt is tensioned can be electrically conductive, the pulleys and a portion of the ring unit being electrically connected to one another through the belt, the pulleys being electrically connected to a power source and the portion of the ring unit being electrically connected to the propulsion unit.

[0031] Advantageously, the band is a section of a ring or a complete ring made of conductive material, in particular of aluminium, which is fixed, for example by screwing, to the upper or lower surface of the ring unit of the first shaft. If applicable, it is possible to envisage a first complementary member with a number of bands distributed around the circumference of the ring unit of the first shaft. If desired, the band can be coated with a coating, in particular with a film of conductive grease or oil, which coats or impregnates one or both of the strips and / or pads and is positioned between the strips and the pads. Preferably, at least one cable electrically connected to the propulsion unit can be soldered to the band. Alternatively, the cable can be inserted into a lug attached to and electrically connected to the band.

[0032] Advantageously, the pads are made of a conductive material, in particular copper. The first guide member may comprise a plurality of radially and / or longitudinally offset pads for supporting the band flat. Preferably, at least one cable electrically connected to a power source may be soldered to the pads. Alternatively, the cable may be inserted into a lug attached to and electrically connected to the pad.

[0033] If desired, the first guide member can also comprise a roller or roller bearing, in particular radially offset to the back surface of the pad or longitudinally offset from the pad, in contact with the ring unit of the first shaft or with the band. For example, the roller can be mounted on the chassis to rotate about an axis substantially parallel to the first axis of rotation and can be in contact with a rib provided on the ring unit. Alternatively, the roller bearing can be rotatably mounted on the chassis to rotate about an axis substantially perpendicular to the first axis of rotation, in particular passing through the center of the ring unit of the first shaft, and can be in contact with the upper or lower surface of the band.

[0034] Advantageously, the chassis, in particular the first guide member, comprises a module for pressing the pad against the band. The pressing module is arranged to exert a force on the pad in the direction of the band. According to one example, the pad can comprise a rod with a plate formed at its end, and the pressing module can comprise a guide part into which the rod of the pad fits.

[0035] Advantageously, the ring unit comprises at least one rib around at least a portion, in particular the entire circumference, of its circumference, the rib forming the male element as well as the first complementary member, the first rotating guide member being rotatably mounted on the chassis for rotation about an axis substantially parallel to the first axis and comprising a portion provided with a groove forming the female element. Where applicable, the rib may have a profile that is substantially complementary to the profile of the groove. For example, the rib and the groove may each have a trapezoidal profile, the inclined surface of the rib abutting the inclined surface of the groove of said portion. Alternatively, the ring unit comprises at least one groove around at least a portion, in particular the entire circumference, the groove forming the female element as well as the first complementary member, the first rotating guide member being rotatably mounted on the chassis for rotation about an axis substantially parallel to the first axis and comprising a portion provided with a rib forming the male element.

[0036] According to one example, the rib can be a central rib positioned at a central portion of the outer surface of the ring unit. If applicable, the ring unit can comprise a first plurality of teeth positioned above the central rib and a second plurality of teeth positioned below the central rib. In another embodiment, the rib can be an off-axis rib positioned at an upper edge or a lower edge of the outer surface of the ring unit. If applicable, the ring unit can comprise two off-axis ribs positioned at the upper and lower edges of the outer surface of the ring unit, respectively, the ring unit comprising a plurality of teeth positioned between the two ribs, each rib fitting into a dedicated groove of the first rotary guide member.

[0037] Advantageously, the part may comprise two rollers, in particular tapered rollers, arranged one above the other and arranged to define a space between the rollers forming a groove. Alternatively, the part may comprise a bearing such as a grooved pulley.

[0038] In one alternative or additional embodiment of the invention, the ring unit comprises at least one rib around at least a portion, in particular the entire circumference, of its circumference, the rib forming a male element as well as a first complementary member, and the first rotating guide member comprises a friction pad fixedly mounted to the chassis and provided with a groove forming a female element.

[0039] Advantageously, regardless of which embodiment of the first rotating guide member is envisaged, it can be envisaged that the rotating guide member is attached to the chassis by screwing into an oblong hole, in this way the position of the first guide member can be adjusted.

[0040] It is possible to envisage a chassis comprising a number of first rotating guide members, each cooperating with a complementary first member provided on a first shaft, where for example one first guide member comprises a number of pads for supporting flat the band attached to the ring unit and two tapered rollers arranged one above the other and between which the peripheral rib of the ring unit is housed, and where each of two other first guide members comprises only two tapered rollers arranged one above the other and between which the peripheral rib of the ring unit is housed. If applicable, it is possible for only a part and / or only one or a part of one of these first guide member-first complementary member pairs to be electrically conductive and / or to be electrically connected to the power supply and the propulsion unit.

[0041] Advantageously, the propulsion vehicle comprises a second member for guiding the first shaft in rotation about the first axis of rotation, the first shaft comprising a second complementary member arranged in mechanical cooperation with the second guide member to remove at least one degree of freedom from the first shaft, the second guide member and the second complementary member being electrically conductive and electrically connected to each other, the second guide member being electrically connected to the power source and the second complementary member being electrically connected to the propulsion unit. According to this feature, it is possible to transmit an electric current delivered by the power source, in particular an alternating or direct current, to the propulsion unit, the first guide member-first complementary member pair forming, for example, a phase terminal or a positive terminal and the second guide member-second complementary member pair forming, for example, a neutral or negative terminal.

[0042] In one of the above-mentioned embodiments, it is possible, for example, to envisage that the second complementary member comprises a first bearing mounted on the other of the pivots of the frame of the first shaft opposite the pivot forming the transmission member, and that the second rotating guide member comprises a second bearing mounted concentrically around this first bearing.

[0043] In other above-mentioned embodiments, it is possible to envisage, for example, that the second complementary member comprises a band attached to the ring unit on a surface opposite to the surface on which the first complementary member is attached, and that the second rotary guide member comprises pads that flatly support the band of the second complementary member. If applicable, the pads of the first and second rotary guide members can face each other. Preferably, the bands can be assembled by the same screw on both sides of the ring unit, which screw is fitted with an insulating member around its periphery. This insulating member prevents the current from passing directly from one band to the other. Alternatively, it is possible that the second complementary member comprises a band attached to the ring unit on the same surface that supports the first complementary member, such that the second complementary member is arranged concentrically with respect to the first complementary member, i.e. radially offset inwards or outwards with respect to the first complementary member. Where applicable, the second rotating guide member may include a pad for supporting flat the band of the second complementary member.

[0044] In one embodiment of the invention, the propulsion vehicle comprises a central control unit for the propulsion vehicle, capable of data exchange with the propulsion unit. Where applicable, the propulsion vehicle may comprise a number of fixed legs extending from the chassis to a common base, and a number of movable legs extending from a movable base mounted on the common base to rotate about a first axis of rotation to a first shaft, the rotating collector being arranged in the common base and in the movable base, at least one cable extending from the central control unit to the rotating collector through one of the fixed legs, and another cable extending from the rotating collector to the propulsion unit through one of the movable legs. This embodiment is particularly advantageous in the case where the first shaft is a ring unit, since this set of legs makes it possible to ensure that the first shaft is held in place in the chassis, and thus the first shaft is provided in the chassis and suspended in a space in which the first shaft can rotate. This tubular support structure may thus be used to route cables therethrough for data exchange between the central control unit and the propulsion unit. The common base and the mobile base form a common cavity in which a rotating collector is arranged. This type of rotating collector, which makes it possible to electrically connect the fixed part of the common base to the rotating part of the mobile base, is known per se and will not be described in more detail.

[0045] Preferably, the central control unit of the propulsion vehicle is capable of exchanging data with one or more sensors of the propulsion unit, such as an inertial measurement unit, and / or with variable speed drives of one or more motors of the propulsion unit.

[0046] Advantageously, the fixed legs are attached to the chassis and distributed around the entire periphery of the chassis volume about which the first shaft can rotate about the first axis of rotation.Once again, advantageously, the movable legs are attached to a ring unit of the first shaft and distributed around the entire periphery of this ring unit.Preferably, the fixed legs and the movable legs are arranged such that the common base and the movable base overhang the ring unit and are positioned on the first axis of rotation.

[0047] In another embodiment, the chassis is provided with a rotating collector in a recess of the chassis housing the other of the pivots of the frame of the first shaft opposite the pivot forming the transmission member, in particular in a first bearing mounted on this other pivot, and at least one cable can extend through the chassis from the central control unit to the rotating collector, and another cable can extend from the rotating collector, through the first bearing and inside a duct provided in this other pivot, and through the first shaft to the propulsion unit.

[0048] In yet another embodiment, one face of the ring unit, in particular the face opposite to the face on which the first complementary member is mounted, may comprise one or more electrical tracks, e.g. circular tracks, cooperating mechanically and electrically with one or more connectors, e.g. brushes, provided on the chassis in series with this ring unit. Where applicable, at least one cable runs from the central control unit to the one or more connectors and another cable runs from a track provided on the surface of the ring unit to the propulsion unit.

[0049] In yet another embodiment, one of the chassis and the first shaft may include an optical transmitter and / or receiver, and the other of the chassis and the first shaft may include an optical receiver and / or transmitter that cooperates with the optical transmitter or receiver, respectively. Where applicable, at least one cable extends from the central control unit to the transmitter and / or receiver of the chassis, and another cable extends from the transmitter and / or receiver of the first shaft to the propulsion unit.

[0050] In one embodiment of the present invention, the propulsion vehicle comprises: a. a second shaft mounted on the first shaft for rotation about a second axis of rotation, the second shaft supporting a propulsion unit of a propelled vehicle; b. a second drive device for rotating the second shaft about a second axis of rotation.

[0051] Where applicable, the first shaft comprises a first member for guiding the second shaft in rotation about the second axis of rotation, and the second shaft comprises a first complementary member arranged to mechanically cooperate with the first guide member of the first shaft to remove at least one degree of freedom from the second shaft, the first guide member and the first complementary member being electrically conductive and electrically connected to each other, the first guide member of the first shaft being electrically connected to the first complementary member of the first shaft, and the first complementary member of the second shaft being electrically connected to the propulsion unit. Thereby, it is possible to obtain an omnidirectional propulsion vehicle, in which the rotation of the first and second shafts allows the propulsion vehicle to be oriented in all directions, while remaining compact. Preferably, the second drive is electrically connected to the first complementary member of the first shaft.

[0052] Preferably, the second shaft is mounted on the first shaft such that the second axis of rotation is substantially orthogonal to the first axis of rotation. For example, the second shaft may be supported at two distinct points on the first shaft, which points define the second axis of rotation, and the second drive may be received on the first shaft at one of the points at which the second shaft is supported on the first shaft.

[0053] Advantageously, the second drive comprises a motor provided with a rotating shaft rotating about a second axis of rotation, the second shaft comprising a transmission member mechanically connected to the rotating shaft of the motor, whereby the rotation of the shaft of the motor is transmitted to the second shaft, a first complementary member of the second shaft comprising a first bearing mounted on the transmission member of the second shaft, and a first guide member of the first shaft comprising a second bearing mounted concentrically around the first bearing. The features relating to the various embodiments for the first shaft and for the first and second bearings for guiding the first shaft in rotation and transmitting power from the power source can be used alone or in combination for the second shaft.

[0054] Advantageously, the propulsion vehicle comprises a central control unit for the propulsion vehicle capable of data exchange with the propulsion unit, the second shaft comprises two diametrically opposed pivots each pivotally mounted in a recess of the first shaft, the recesses facing each other, a transmission member of the second shaft is arranged on one of the pivots of the second shaft so as to extend into one of the recesses, the rotating shaft of the motor extends into this recess, a rotating collector is arranged in the other of the recesses of the first shaft, at least one cable extends from the central control unit to the rotating collector through the first shaft and another cable extends from the rotating collector to the propulsion unit through the second shaft. Preferably, the rotating collector can be connected to the central control unit of the propulsion vehicle, for example via a rotating collector provided on the common base and on the mobile base or via a rotating collector provided in a recess of the chassis.

[0055] According to one example, the ring unit of the first shaft comprises two tabs oriented radially towards the inside of the ring unit, the tabs being diametrically opposed and each tab housing one of the points at which the second shaft is supported on the first shaft. Preferably, the second drive system can be mounted on one of the tabs. If applicable, the rotating collector can be mounted on the other of the tabs. Advantageously, two protective half shells can be adapted to be attached on either side of each tab to define the recess of the first shaft.

[0056] Advantageously, the second shaft comprises a central portion supporting the propulsion unit and two rods extending from the central portion along the second axis of rotation on either side to a point at which the second shaft is supported on the first shaft.

[0057] Preferably, the propulsion unit comprises a propeller driven by a motor rotating about a third axis of rotation perpendicular to the second axis of rotation.

[0058] If desired, the second shaft can support two propulsion units mounted on either side of the second shaft, each fitted with a propeller, the propellers of the propulsion units being counter-rotating. The use of counter-rotating propellers makes it possible to eliminate the gyroscopic effect from the propulsion vehicle.

[0059] In one embodiment of the invention, the propulsion vehicle is an omnidirectional aerial drone.

[0060] The propulsion unit may be a blade or propeller-based propulsion unit, a reaction turbine, or more generally any type of propulsion unit that can be oriented by pivoting and requires a power supply source, in particular provided with a rotor and a stator. [Brief description of the drawings]

[0061] The invention will now be described by way of examples, which are merely illustrative and do not in any way limit the scope of the invention, and on the basis of the accompanying drawings, in which: [Figure 1] 1 shows a schematic and partial perspective view of an omnidirectional drone according to a first embodiment of the present invention; [Diagram 2] [Figure 1] shows a schematic and partial top view of the omnidirectional drone. [Diagram 3] FIG. 2 shows a schematic and partial perspective view of a portion of the omnidirectional drone of FIG. [Figure 4] FIG. 2 shows a schematic and partial perspective view of a pair of rotating guide members and complementary members of the omnidirectional drone of FIG. [Diagram 5] FIG. 4 shows another schematic and partial perspective view of a portion of the omnidirectional drone of FIG. [Figure 6A] FIG. 2 shows a schematic and partial cross-sectional view of one connection between two shafts of the omnidirectional drone of FIG. [Figure 6B] FIG. 2 shows a schematic and partial exploded view of another connection between two shafts of the omnidirectional drone of FIG. [Figure 7] 2 shows a schematic and partial perspective view of an omnidirectional drone according to a second embodiment of the present invention; [Figure 8] FIG. 2 shows a schematic and partial perspective view of a portion of the omnidirectional drone of FIG. [Figure 9A] FIG. 8 shows a schematic and partial cross-sectional view of the connection between the chassis and the shaft of the omnidirectional drone of FIG. [Figure 9B] FIG. 9B shows a schematic and partial front view of the connection of FIG. 9A.

[0062] In the following description, unless otherwise specified, identical elements appearing in different figures depending on their structure or function retain the same reference numbers.

[0063] [Figure 1] shows a propulsive vehicle in the form of an omnidirectional drone D according to a first embodiment of the invention.

[0064] The drone D comprises a chassis C in which four chambers are arranged, each of which supports a first shaft A1 with a ring unit K mounted for rotation about the first axis AX1, rotationally symmetric about a first axis of rotation AX1. Each ring unit K supports a second shaft A2 mounted for rotation about a second axis AX2 perpendicular to the first axis AX1, mounted with a propeller P, in particular with counter-rotating propellers. The center of the chassis C supports a central control unit UCC, in particular able to control the rotation speed of the propulsion unit P, and a battery SE, in particular arranged to power the propulsion system of the drone C. The chassis C also comprises a first drive system E1 for each first shaft A1 mounted on the chassis C.

[0065] [Figure 2] shows a top view of the omnidirectional drone D. [Figure 3] shows a perspective view of the first shaft A1-second shaft A2-propeller P assembly of the omnidirectional drone of [Figure 1]. [Figure 4] shows a perspective view of one of the pair of rotating guide members and complementary members of the assembly of [Figure 3]. [Figure 5] shows another perspective view of the first shaft A1-second shaft A2-propeller P assembly of [Figure 3]. [Figure 6A] shows a cross-sectional view of one connection between the first shaft A1 and the second shaft A2 of the assembly of [Figure 3]. [Figure 6B] shows an exploded view of another connection between the first shaft A1 and the second shaft A2 of the assembly of [Figure 3]. In the following, only one of these assemblies will be described, but it will be understood that the four assemblies visible in [Figure 1] and [Figure 2] are identical.

[0066] The drone D comprises a number of fixed legs PPF extending from the chassis C to a common base supported by the chassis C to which the fixed legs are attached, and a number of mobile legs PPM extending from a mobile base rotatably mounted on the common base to rotate about a first axis of rotation AX1. The mobile legs PPM are attached to the first shaft A1 and distributed around its entire circumference. The first shaft A1 is thus suspended in a dedicated space while remaining rotatable about the first axis of rotation AX1.

[0067] As shown in FIG. 3, the ring unit K has a first plurality of teeth RD1 arranged on an upper rim of the ring unit K around its entire circumference, and a second plurality of teeth RD2 arranged on a lower rim of the ring unit K around its entire circumference.

[0068] The first drive system E1 comprises a motor driving a pinion PGN, as seen in FIG. 4. This pinion PGN comprises two toothed regions parallel to each other and arranged around the entire portion of the upper rim of the pinion PGN and around the entire portion of the lower rim of the pinion PGN. Each of these two toothed regions is arranged so that the rotation of the pinion PGN by the motor is transmitted to the ring unit K and thus to the shaft A1 by meshing with a number of upper and lower teeth RD1 and RD2 of the ring unit K. The shaft A1 therefore pivots around a rotation axis AX1 which is identical to the rotation axis of the ring unit K.

[0069] The ring unit K comprises a central rib N arranged around the entire central part of its circumference between a first plurality of teeth RD1 and a second plurality of teeth RD2. The chassis C comprises two first members OGR1_1 for guiding the first shaft A1 in rotation about the first axis of rotation AX1. Each of these members OGR1_1 takes the form of a grooved bearing, the profile of which is complementary to the geometric shape of the rib N. The rib N is received in a groove of each bearing OGR1_1 and thus forms a first complementary member OC1_1 which mechanically cooperates with the first guide member OGR1_1. In the example described, the rib N and the groove of each bearing OGR1_1 have a trapezoidal profile, the inclined surface of the rib N abutting the inclined surface of this groove.

[0070] As shown in FIG. 3, the ring unit K of the first shaft A1 is surrounded by two parallel rings B1 and B2, which fit on the upper and lower faces of the ring unit K. These rings B1 and B2 are rotationally symmetric about the axis AX1 and are securely mounted on the ring unit K by attachment means MF at various points on the first shaft A1. In the example described, the attachment means take the form of screws that are screwed through each of the bands B1 and B2 and through the ring unit K.

[0071] As shown in FIG. 4, the chassis C comprises another first member OGR1_2 for guiding the first shaft A1 during rotation about the first axis of rotation AX1. This member comprises a number of friction pads 3PF1, in the form of three successive pads, which bear flat against the upper ring B1 and thus form another first complementary member OC1_2 cooperating with the other first rotation guide member OGR1_2.

[0072] Each friction pad 3PF1 comprises a rod and a plate provided at the end of a shaft to support flat the upper ring B1. The rod is mounted in a guide cylinder and a compression spring RC is arranged around the rod, one of which rests against the upper wall of the guide cylinder and the other against the plate of the pad. Each pad 3PF1 therefore exerts a force perpendicular to the surface of ring B1 towards ring B2.

[0073] Symmetrically, the chassis C comprises a second rotary guide member OGR2 including a number of friction pads 3PF2 arranged opposite the pads 3PF1, which pads 3PF2 bear flat against the lower ring B2 and thus cooperate with the second rotary guide member OGR2 to form a second complementary member OGR2.

[0074] In this way, the first shaft A1 is guided simultaneously during rotation by the first guide members OGR1_1 and OGR1_2 and by the second guide member OGR2.

[0075] One will notice the presence of a third grooved bearing OGR1_3 provided on the rear surface of the friction pads 3PF1 and 3PF2 and cooperating with a rib N of the ring unit K.

[0076] As shown in Figure 3, the rings B1 and B2 are made of a conductive material, in this case aluminum, and likewise the friction pads 3PF1 and 3PF2 are made of a conductive material, in this case copper.

[0077] Each ring B1 and B2 is therefore connected to the battery SE of the drone D through electrical contact with the friction pads 3PF1 and 3PF2. Each pad 3PF1 and 3PF2 is electrically connected to the battery SE by a cable, in particular soldered to the rod of this pad, which cable is for example routed through a cavity of the chassis C and / or between the two inner layers of this chassis C. As will be explained later below, each ring B1 and B2 is electrically connected to the propulsion unit P. The mechanical cooperation of the rings B1 and B2 with the friction pads 3PF1 and 3PF2 therefore allows the transmission of the power generated by the battery SE to the propulsion unit P. One of the bands B1 can also act as a positive terminal or a phase terminal, depending on whether the power source SE delivers a direct or alternating current, and therefore the other band B2 can act as a negative or neutral terminal.

[0078] As shown in [Figure 5] and [Figure 6B], the ring unit K of the first shaft A1 comprises two tabs L1 and L2 oriented radially towards the inside of the ring unit K, which tabs are diametrically opposed. Each tab L1 and L2 thus defines a recess for receiving one of the ends EXT1 and EXT2 of the second shaft A2, which end is thus pivotally connected to said recess. The tabs L1 and L2 thus define a second axis of rotation AX2. In the example described, each tab comprises an upper half shell and a lower half shell (seen in [Figure 6A]), which together define a cavity for receiving one end of the shaft A2.

[0079] As shown in [Fig. 6A], at the tab L1 and at the first end EXT1 of the second shaft A2, the first shaft A1 supports a second drive system E2 capable of pivoting the second shaft A2 about a second axis of rotation AX2. The second drive system E2 comprises a transmission cylinder CT with a polygonal, in this case hexagonal, cross section, driven by the motor and inserted into an opening OR provided in the first end EXT1 of the second shaft A2, the cross section of which is complementary to that of the transmission cylinder CT. It will be noted that this first end EXT1 thus forms a member for transmitting the rotation of the motor of the second drive system E2 to the second shaft A2.

[0080] As shown in Figures 6A and 6B, the second shaft A2 is provided at each of its ends EXT1 and EXT2 with a first bearing PL1, in this case a sleeve bearing, in which this end is fixedly fitted. For each tab L1 and L2, the first shaft A2 is provided with a second bearing PL2, also in the form of a sleeve bearing, freely located in the recess defined by this tab. The second bearing PL2 is arranged concentrically around the first bearing PL1, the inner surface of the second bearing PL2 and the outer surface of the first bearing PL1 being smooth and in direct contact with each other. Thus, the second bearing PL2 of the tab L1 forms a first rotational guide member DOGR_1 of the second shaft A2 and therefore the first bearing PL1 of the end EXT1 forms a first complementary member DOC_1 which mechanically cooperates with the first member DOGR_1, while the second bearing PL2 of the tab L2 forms a second rotational guide member DOGR_2 of the second shaft A2 and therefore the first bearing PL1 of the end EXT2 forms a second complementary member DOC_2 which mechanically cooperates with the second member DOGR_2.

[0081] Each first bearing PL1 and each second bearing PL2 is made of an electrically conductive material, in particular sintered copper impregnated or coated with an electrically conductive grease. For each end EXT1 and EXT2, one cable (not shown) electrically connected to the propulsion unit P is soldered to the first bearing PL1, while the other cable electrically connected to the upper ring B1 or the lower ring B2 is soldered to the second bearing PL2. Thus, the power delivered by the battery SE can be transmitted to the propulsion unit P via the pads 3PF1 and 3PG2, the rings B1 and B2, the first bearing PL1 and the second bearing PL2.

[0082] Each second bearing PL2 comprises a peripheral stop BT2 formed on its edge, and the recess of each tab L1 and L2 comprises a peripheral groove GP, visible in Figs. 6A and 6B, in which the peripheral stop BT2 of the second bearing PL2 is received. The first bearing PL1 comprises a peripheral stop BT1 formed on its edge, which stop BT2 is clamped between the wall of the second shaft A2 and the edge of the second bearing PL2.

[0083] The second shaft A2 comprises a central part PCE, seen in FIG. 5, which supports the propulsion unit (P) as well as two rods extending on either side from the central part PCE along the second axis of rotation A2 to form ends EXT1 and EXT2.

[0084] Finally, one rotating collector (not shown) is arranged on the common base and on the movable base connecting the fixed leg PPF to the movable leg PPM, while another rotating collector COL is arranged in a recess in the tab L2 of the first shaft A1 which accommodates the second end EXT2 of the second shaft.

[0085] At least one cable (not shown) connects the central control unit UCC to this rotating collector through one of the fixed legs PPF, while another cable runs from this rotating collector to the other rotating collector COL through one of the movable legs PPM and inside the first shaft A1, for example inside a cavity of the ring unit K. Finally, a cable connects this rotating collector COL to the propulsion unit P through a cavity provided in the second shaft A2.

[0086] [Figure 7] shows an omnidirectional drone D2 according to a first embodiment of the present invention.

[0087] The drone D2 comprises a chassis C2 in which four chambers are arranged, each supporting a first shaft A21 rotatably mounted on the chassis C2 for rotation about a first axis of rotation AX1. Each first shaft A21 supports a second shaft A22 mounted for rotation about a second axis AX2 perpendicular to the first axis AX1, on which a propeller P is mounted, in particular comprising a contra-rotating propeller. The center of the chassis C2 supports a central control unit UCC, in particular capable of controlling the rotation speed of the propulsion unit P, and a battery SE, in particular arranged to power the propulsion system of the drone D2. The drone D2 also comprises a first drive system E21 for rotating each first shaft A21 about the first axis AX1 and a second drive system E22 for rotating each second shaft A22 about the second axis AX2.

[0088] [Fig. 8] shows a perspective view of the first shaft A21-second shaft A22-propeller assembly P of the omnidirectional drone of [Fig. 7], [Fig. 9A] shows a cross-sectional view of the connection between the chassis C2 and the first shaft A22 of the assembly of [Fig. 8], and [Fig. 9B] shows a front view of this connection. In the following, only one of these assemblies will be described, but it will be understood that the four assemblies shown in [Fig. 7] are identical.

[0089] As shown in Fig. 8, the first shaft A21 comprises an oblong frame K2 including two diametrically opposed pivots K21 and K22, each pivotally mounted in a recess C21 and C22 of the chassis C2, facing each other, which thus define a first axis of rotation AX1.

[0090] As shown in [Figures 9A] and [Figures 9B], the first drive device E21 is housed in one of these recesses C21 of the chassis C2. The first drive device E21 comprises a motor E21_1, which rotates about a first axis of rotation AX1 and has a shaft on which a transmission cylinder E21_2 is mounted. The transmission cylinder E21_1 has a hexagonal cross section and fits into an opening of the transmission member A21_1 of the first shaft A21, formed by two half shells A21_2 and A21_3 (dashed lines in [Figure 9B]) provided at one end of the first shaft A21 and which together form a pivot K21. The half shells A21_2 are connected to the remainder of the first shaft A21, each half shell comprising a groove which faces each other when the half shells are joined together and which form an opening of the transmission member A21_1 into which the transmission cylinder E21_2 is inserted.

[0091] As shown in FIG. 9A, the transmission cylinder E21_2 is provided with a tapped hole to accommodate a set screw which secures the transmission cylinder E21_2 to the rotating shaft of the motor E21_1, thereby transmitting rotation from the shaft of the motor E21_2 to the first shaft A21 via the transmission member A21_1.

[0092] It will be noted that a portion of the transmission member A21_1 extends into the recess C21.

[0093] The chassis C2 has a first guide member OGR11_1 for guiding the first shaft A21 during rotation about the first axis of rotation AX1, and the first shaft A21 has a first complementary member OC11_1 arranged to mechanically cooperate with the first guide member OGR11_1 to remove at least one degree of freedom from the first shaft A21.

[0094] In the described example, the first complementary member OC11_1 is a first bearing mounted on a portion of the transmission member A21_1 extending into the recess C21, while the first rotating guide member OGR11_1 is a second bearing mounted concentrically around the first bearing OC11_1.

[0095] The first bearing OC11_1 is a sleeve bearing, the longitudinal axis of which is substantially the same as the first rotation axis AX1, and is fixedly mounted on the transmission member A21_1 of the first shaft A21 fitted to the first bearing OC11_1. The second bearing OGR11_1 is a sleeve bearing, the longitudinal axis of which is substantially the same as the first rotation axis AX1, and is freely mounted in the recess C21. The inner surface of the second bearing OGR11_1 and the outer surface of the first bearing OC11_1 are smooth and are in direct contact with each other.

[0096] The second bearing OGR11_1 comprises a peripheral stopper BT11, which extends around its entire periphery of one of its edges. The recess C21 comprises a peripheral groove GP1 in which the peripheral stopper BT11 of the second bearing OGR11_1 is received. The first bearing OC11_1 comprises a peripheral stopper BT12, which extends around its entire periphery of one of its edges. The peripheral stopper BT12 of the first bearing OC11_1 is clamped between the peripheral stopper BT11 of the second bearing OGR11_1 and the rim of the transmission member A21_1 of the first shaft A21.

[0097] The first bearing OC11_1 and the second bearing OGR11_1 are made of an electrically conductive material, in this case copper.

[0098] The second bearing OGR11_1 is electrically connected to the battery SE by a cable, in particular soldered to this bearing, which cable runs inside the structure of the chassis C2. As will be explained later below, the first bearing OC11_1 is electrically connected to the propulsion unit P.

[0099] As shown in [Fig. 8], it will be noted that the chassis comprises, in the recess C22, a second guide member OGR21_1, taking the form of a bearing identical to the second bearing OGR11_1, for guiding the first shaft A21 in its rotation about the first axis of rotation AX1, and that the first shaft A21 comprises, at the pivot K22, a second complementary member OC21_1, taking the form of a bearing identical to the first bearing OC11_1, and arranged to cooperate mechanically with the second guide member OGR21_1. These bearings OGR21_1 and OC21_1 are also made of copper, so that one of the pivots K21 and K22 can act as a positive or phase terminal, and the other of the pivots K21 and K22 can act as a negative or neutral terminal, depending on whether the power source SE delivers a direct or alternating current.

[0100] Finally, it will be noted that the chassis C2 comprises a rotating collector COL1 in a recess C22 connected to at least one cable extending from the central control unit UCC, and another cable connected to the propulsion unit P, via the bearing OC21_1 and the inside of a duct provided in the first shaft A21.

[0101] The structure of the second shaft A22 and the structure of its connection to the first shaft A21 are substantially identical to those of the first embodiment described in [Figures 6A] and [Figure 6B] and therefore will not be described again.

[0102] It will be appreciated that although the invention has been described in the context of an omnidirectional aerial drone, the invention may extend to other types of drones, such as underwater drones or AUVs, or to other types of propelled vehicles, which may or may not be remotely controllable, such as cars, motorcycles, trucks, bicycles, trains, planes, helicopters, ships, etc.

[0103] The above description clearly explains how the present invention achieves its set objective, namely by proposing to utilize the rotating guide member of the rotating shaft of the propulsion vehicle by giving it a second power transmission function, thereby incorporating a space-saving solution for transmitting the power provided by a power source mounted on the chassis to the propulsion unit of the propulsion vehicle, in particular of an omnidirectional drone.

[0104] In any case, the invention is not limited to the embodiments specifically described in this document, but in particular extends to any equivalent means and to any technically valid combination of these means. In particular, it is possible to envisage other construction materials, in particular electrically conductive materials, and magnetic guide elements, in particular electromagnets. Similarly, any number of propulsion units can be rotatably mounted on the second shaft to modify the total thrust of the drone and therefore the maximum speed achievable by said drone.

Claims

1. A propulsion vehicle (D1, D2), a. A power source (SE); b. A chassis (C) for supporting the power supply; c. A first shaft (A1) mounted to rotate about a first axis of rotation (AX1) on the chassis, which supports a propulsion unit (P) of the propulsion vehicle; d. a first drive (E1) for rotating the first shaft about the first axis of rotation; A propulsion vehicle (D1, D2), characterized in that the chassis comprises a first member (OGR1) for guiding the first shaft during rotation about the first axis of rotation, and the first shaft comprises a first complementary member (OC1) arranged to mechanically cooperate with the first guide member to remove at least one degree of freedom from the first shaft, the first guide member and the first complementary member are conductive and electrically connected to each other, the first guide member is electrically connected to the power source, and the first complementary member is electrically connected to the propulsion unit.

2. 2. A propulsion vehicle (D1, D2) according to claim 1, wherein the first drive device (E1) comprises a motor provided with a rotating shaft rotating about the first axis of rotation (AX1), the first shaft (A1) comprises a transmission member mechanically connected to the rotating shaft of the motor such that the rotation of the shaft of the motor is transmitted to the first shaft, the first complementary member (OC1) comprises a first bearing (PL1) mounted on the transmission member, and the first rotation guide member (OGR1) comprises a second bearing mounted concentrically around the first bearing.

3. 3. A propulsion vehicle (D1, D2) according to claim 2, wherein the first shaft (A1) comprises a frame with two diametrically opposed pivots, each pivotally mounted in a recess of the chassis (C), the recesses facing each other, the transmission member being arranged on one of the pivots so as to extend into one of the recesses, the rotating shaft of the motor extending into this recess, the first bearing (PL1) being arranged in this recess, the profile of the recess substantially corresponding to the profile of the second bearing (PL2).

4. 2. The propulsion vehicle (D1, D2) according to claim 1, wherein the first shaft (A1) comprises a ring unit which is rotationally symmetrical about the first axis of rotation (AX1), the first complementary member (OC1) comprises a band mounted on the ring unit, and the first rotating guide member (OGR1) comprises a pad which supports the band (B1) flat.

5. 5. Propulsion vehicle (D1, D2) according to claim 4, characterized in that said chassis (C) comprises a module (3PF1) for pressing said pads against said bands (B1).

6. The propulsion vehicle (D1, D2) according to any one of claims 1 to 5, characterized in that the propulsion vehicle comprises a second member (OGR2) for guiding the first shaft during rotation about the first axis of rotation (AX1), and the first shaft (A1) comprises a second complementary member (OC2) arranged in mechanical cooperation with the second guide member (OGR1) to remove at least one degree of freedom from the first shaft, the second guide member and the second complementary member being electrically conductive and electrically connected to each other, the second guide member being electrically connected to the power source (SE), and the second complementary member being electrically connected to the propulsion unit (P).

7. 7. The propulsion vehicle (D1, D2) according to claim 1, further comprising a central control unit (CCU) for the propulsion vehicle capable of exchanging data with the propulsion unit (P), the propulsion vehicle comprising a number of fixed legs (PPF) extending from the chassis (C) to a common base, and a number of movable legs (PPM) extending from a movable base mounted on the common base to the first shaft (A1) so as to rotate about the first axis of rotation, a rotating collector (COL) being arranged in the common base and in the movable base, at least one cable extending from the central control unit to the rotating collector through one of the fixed legs, and another cable extending from the rotating collector to the propulsion unit through one of the movable legs.

8. The propulsion vehicle, a. a second shaft (A2) mounted on the first shaft (A1) for rotation about a second axis of rotation (AX2), the second shaft supporting the propulsion unit (P) of the propulsion vehicle; b. A second drive (E2) for rotating the second shaft about the second axis of rotation; 8. A propulsion vehicle (D1, D2) according to any one of claims 1 to 7, characterized in that the first shaft comprises a first member (OGR1) for guiding the second shaft in rotation about the second axis of rotation, and that the second shaft comprises a first complementary member (OC1) arranged in mechanical cooperation with the first guide member of the first shaft in order to remove at least one degree of freedom from the second shaft, the first guide member and the first complementary member being electrically conductive and electrically connected to each other, the first guide member of the first shaft being electrically connected to the first complementary member of the first shaft, and the first complementary member of the second shaft being electrically connected to the propulsion unit.

9. 9. The propulsion vehicle (D1, D2) according to claim 8, wherein the second drive (E2) comprises a motor provided with a rotating shaft rotating about the second axis of rotation, the second shaft (A2) comprising a transmission member mechanically connected to the rotating shaft of the motor such that the rotation of the shaft of the motor is transmitted to the second shaft, the first complementary member (OC1) of the second shaft comprises a first bearing (PL1) mounted on the transmission member of the second shaft, and the first guide member (OGR1) of the first shaft (A1) comprises a second bearing (PL2) mounted concentrically around the first bearing.

10. 10. The propulsion vehicle (D1, D2) according to claim 9, comprising a central control unit (CCU) for the propulsion vehicle capable of exchanging data with the propulsion unit (P), the second shaft (A2) comprising two diametrically opposed pivots, each pivotally mounted in a recess of the first shaft (A1), the recesses facing each other, the transmission member of the second shaft being arranged on one of the pivots of the second shaft so as to extend into one of the recesses, the rotating shaft of the motor extending into this recess, a rotating collector (COL) being arranged in the other of the recesses of the first shaft, at least one cable extending from the central control unit to the rotating collector through the first shaft and another cable extending from the rotating collector through the second shaft to the propulsion unit.

11. A propulsion vehicle (D1, D2) according to any one of claims 1 to 10, characterized in that the propulsion vehicle is an omnidirectional aerial drone.

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