CN117799881A - A spherical coaxial drone - Google Patents

Abstract

The present invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a spherical coaxial unmanned aerial vehicle, comprising: a ball cage body, forward-rotating propellers and reverse-rotating propellers symmetrically distributed on both sides of the central axis inside the ball cage body and coaxial, a forward-rotating unit fixedly connected to the top of the ball cage body for driving the forward-rotating propellers to rotate, a reverse-rotating unit fixedly connected to the bottom of the ball cage body and for driving the reverse-rotating propellers to rotate, a signal unit fixedly connected to the top surface of the ball cage body and for receiving external signals, and a steering unit fixedly arranged on the reverse unit and for controlling the deflection of the ball cage body. Under the premise of ensuring the effective installation of the antenna, the manufacturing difficulty and cost of the coaxial unmanned aerial vehicle motor are reduced; by providing the ball cage body, it is convenient to serve as a protective cover, which can play a protective role in preventing collision when the unmanned aerial vehicle flies in a narrow space, thereby improving the reliability, maneuverability and stability of the coaxial unmanned aerial vehicle.

Description

A spherical coaxial drone

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a spherical coaxial unmanned aerial vehicle.

Background technique

A coaxial UAV is a UAV with a dual-rotor structure. Its structure includes a fuselage, power system, controller, propeller, etc. Its working principle is to generate lift through the rotation of the dual-rotor to achieve vertical take-off and landing. Movements such as flight and steering; coaxial drones use two propellers with opposite rotation directions to offset the anti-torque of the propellers. Compared with traditional helicopters, the tail rotor to balance the anti-torque is omitted, reducing the loss of useless power, so The flight efficiency is higher than that of traditional helicopters. The coaxial UAV's twin propellers are configured up and down. Under a certain lift, the required rotor diameter is smaller than that of a helicopter's single rotor. Compared with multi-rotor UAVs, since coaxial UAVs have no The human-machine does not have a lateral arm, and its outline is smaller than that of a multi-rotor drone, so coaxial drones are more suitable for flying in narrow spaces, such as indoors and tunnels.

There are generally three flight control methods for coaxial drones. The first is to change the angle of attack of the rotor blades at different positions through a periodic pitch system, thereby changing the aerodynamic center generated by the rotor and achieving the balance and balance of the coaxial drone. Change of flight direction; however, this method of rotor change mechanism is complex, requires higher mechanical design and processing requirements when used in small UAVs, and is inconvenient for maintenance; the second method is to use thrust vectoring to rotate a pair of forward and reverse directions. The motor is installed on the universal joint, and the axial pointing direction of the motor is controlled by two servos to achieve the balance of the coaxial drone and the change of the flight direction; however, due to the gyro effect, it requires more time when the axial direction of the motor needs to be changed. A large driving force requires a large steering gear, and it is also difficult to be sensitive and fast. Therefore, the UAV with this solution has poor balance stability and wind resistance. The third method is to change the center of mass. The principle is to change the attitude of the drone in the air by changing the center of gravity of the coaxial drone body, thereby achieving body balance and changing the flight direction; however, the disadvantage of this solution is that the body mechanism is complex and needs to be installed in multiple directions. The horizontal guide rail cannot make the body compact and the response speed is also very slow.

Since the forward and reverse motors of the above-mentioned first and second UAVs are installed together, the output shaft of one motor must pass through the output shaft of the other motor, so the motors need to be specially customized; in addition, unmanned aerial vehicles The best installation position of the drone's satellite antenna is directly above the aircraft body; however, in the above scheme, the top of the coaxial drone body is occupied by the rotor head. If it is installed on the side of the aircraft body, it will affect the reception of the antenna. performance; if the two motor shafts are made hollow, and then the wires are passed through the motor shafts to install the antenna on the top of the rotor head, it will further increase the difficulty of making the motor and increase the cost of the motor.

Contents of the invention

The purpose of the present invention is to provide a spherical coaxial UAV, which reduces the difficulty and cost of making a motor while ensuring the effective installation of the antenna, solves the problem of inconvenient installation position of the coaxial UAV antenna, and solves the anti-collision problem of the UAV when flying in a narrow space.

The invention is implemented in this way. A spherical coaxial unmanned aerial vehicle includes: a spherical cage body, coaxial forward-rotating propellers and counter-rotating propellers symmetrically distributed on both sides of the central axis inside the spherical cage body, and fixedly connected to The top of the ball cage body is a forward rotation unit used to drive the forward rotation propeller, a reverse rotation unit fixedly connected to the bottom of the ball cage body and used to drive the reverse rotation propeller, and a reverse rotation unit fixedly connected to the top of the ball cage body. a signal unit for receiving external signals, a steering unit fixed on the reversing unit and used to control the deflection of the ball cage body, and a signal unit connected to the forward rotation unit, the reversing unit and the steering unit. control unit.

A spherical coaxial UAV of the present invention adopts split forward and reverse rotation units by arranging coaxial forward-rotating propellers and counter-rotating propellers that are symmetrically distributed on both sides of the central axis of the spherical cage body. To complete the coaxial drive, there is no need to customize the forward and reverse motors installed together. At the same time, the signal unit used to receive external signals does not need to pass through the motor shaft and can be directly installed on the top of the ball cage body. Under the premise of ensuring the effective installation of the antenna , reducing the difficulty and cost of manufacturing coaxial drone motors; by setting up the ball cage body to serve as a protective cover, it can protect the drone from collisions when flying in a narrow space, and can also be used in extremely narrow environments , moves by rolling on the ground to adapt to different working environments; the steering unit provided on the reversing unit facilitates control of the deflection of the ball cage body, thus improving the reliability, maneuverability and performance of the coaxial drone. stability.

Preferably, the forward rotation unit includes: a forward rotation motor with an output end connected to the forward rotation propeller, and a first electric regulator electrically connected to the forward rotation motor and used to control the speed of the forward rotation motor, the The first ESC is signal-connected to the control unit.

Preferably, the control unit is configured as an airborne computer fixed on the side of the first ESC away from the forward-rotating motor, and there is also an airborne computer between the signal unit and the airborne computer for controlling the flight attitude of the UAV. flight control.

Preferably, an image acquisition module is provided next to the onboard computer, and the signal unit is configured as an antenna or laser radar.

Preferably, the reversing unit includes: a reversing motor with an output end connected to the reversing propeller, and a second electric regulator electrically connected to the reversing motor and used to control the speed of the reversing motor, The second ESC is signal-connected to the control unit.

Preferably, the bottom of the second ESC is provided with a battery compartment fixedly connected to the inner bottom surface of the ball cage body, and the battery compartment is provided with a battery compartment door. The battery compartment is fixedly wound around the ball cage body. The power line is electrically connected to the signal unit.

Preferably, the steering unit includes: four steering gears fixed on the outer side of the reversing motor at equal intervals along the circumferential direction, four steering surfaces respectively connected to the output ends of the four steering gears, and all steering surfaces are are located below the counter-rotating propeller.

Preferably, the ball cage body includes an upper hemispherical frame and a lower hemispherical frame that are symmetrically arranged, and a fastening unit connected to one end of the upper hemispherical frame and the lower hemispherical frame and used to fix the two. The lower hemispherical frame The inner edge of one end connected to the upper hemispherical frame is respectively provided with a wire socket and a plug.

Preferably, the upper hemispherical frame includes: a plurality of warp frames extending in the warp direction and a plurality of weft frames that are vertically connected to each of the warp frames and extend in the weft direction. The starting end of each of the warp frames is Converge at one point to form the vertex of the upper hemispheric frame, and the end of each meridional frame extends to the latitudinal frame at the equatorial position. The lower hemispheric frame has the same structure as the upper hemispheric frame.

Preferably, the fastening unit includes: a fixing member fixed on the largest latitudinal frame of the lower hemispherical frame or the upper hemispherical frame, and an outer end of the fixing member that is rotationally connected and can be fastened to the upper hemispherical frame or the upper hemispherical frame. The fastener on the largest weft line of the lower hemispherical frame.

Compared with the prior art, the beneficial effects of the present invention are: by arranging forward-rotating propellers and counter-rotating propellers that are symmetrically distributed on both sides of the central axis of the ball cage body and coaxial, thereby adopting split forward-rotating units and counter-rotating units. Coaxial drive can be completed without customizing the forward and reverse motors installed together. At the same time, the signal unit used to receive external signals does not need to pass through the motor shaft and can be directly installed on the top of the ball cage body, ensuring the effective installation of the antenna. Under the premise, the manufacturing difficulty and cost of coaxial drone motors are reduced; by setting up the ball cage body to serve as a protective cover, it can protect the drone from collisions when flying in a narrow space, and can also be used in extremely narrow spaces. environment, it moves by rolling on the ground to adapt to different working environments; the steering unit provided on the inversion unit facilitates control of the deflection of the ball cage body, thus improving the reliability and control of the coaxial drone. sex and stability.

Description of drawings

Figure 1 is a schematic three-dimensional structural diagram of a spherical coaxial drone provided by the present invention when the upper hemispheric frame and the lower hemispheric frame are not connected;

Figure 2 is a side cross-sectional view of a spherical coaxial drone provided by the present invention;

Figure 3 is a partial view of a spherical coaxial drone provided by the present invention when the fastening part and the upper hemispherical frame are not fastened;

FIG4 is a partial view of a buckle connection between a buckle member and an upper hemispherical frame of a spherical coaxial UAV provided by the present invention;

Figure 5 is a schematic diagram of the rudder control direction of a spherical coaxial drone provided by the present invention when moving in the first direction;

Figure 6 is a schematic diagram of the rudder control direction of a spherical coaxial drone provided by the present invention when moving in the second direction;

Figure 7 is a schematic diagram of the control direction of the rudder surface when the spherical coaxial UAV changes direction according to the present invention;

Figure 8 is a schematic diagram of a spherical coaxial UAV in rolling mode provided by the present invention.

In the attached picture: 1 forward-rotating propeller, 2 cage body, 21 upper hemispheric frame, 211 warp frame, 212 weft frame, 22 lower hemispheric frame, 23 fastening unit, 231 fixing parts, 232 fastening parts, 3 counter-rotating propeller , 4 forward rotation unit, 41 forward rotation motor, 42 first ESC, 5 reverse rotation unit, 51 reverse rotation motor, 52 second ESC, 6 steering unit, 61 steering gear, 62 steering surface, 7 signal unit, 8 Control unit, 9 flight control, 10 image acquisition module, 11 battery compartment, 12 battery compartment door, 13 power cord, 14 wire socket, 15 plug.

Detailed ways

In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the specific technical scheme of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

In the embodiments of this application, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the embodiments of this application, unless otherwise specified, "plurality" means two or more.

In addition, in the embodiments of the present application, directional terms such as "up", "down", "left" and "right" are defined relative to the orientation of the components in the drawings. It should be understood that these directional terms are relative concepts. They are used for relative description and clarification, and they may change accordingly according to the changes in the orientation of the components in the drawings.

In the embodiments of this application, unless otherwise clearly stated and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral body; it can be a direct connection. , can also be connected indirectly through intermediaries.

In the embodiments of this application, the terms "comprising", "comprises" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that includes a list of elements not only includes those elements, but also Includes other elements not expressly listed or elements inherent to the process, method, article or apparatus. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article or apparatus that includes that element.

In the embodiments of this application, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "such as" in the embodiments of the present application is not to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the words "exemplary" or "such as" is intended to present the concept in a concrete manner.

Example 1

As shown in Figures 1 to 4, it is a structural diagram of a spherical coaxial drone provided by the present invention, including: a cage body 2, a forward-rotating propeller 1 and a reverse-rotating propeller 3 symmetrically distributed on both sides of the central axis inside the cage body 2 and coaxial, a forward-rotating unit 4 fixedly connected to the top of the cage body 2 for driving the forward-rotating propeller 1 to rotate, a reverse-rotating unit 5 fixedly connected to the bottom of the cage body 2 and used to drive the reverse-rotating propeller 3 to rotate, a signal unit 7 fixedly connected to the top surface of the cage body 2 and used to receive external signals, a steering unit 6 fixedly arranged on the reverse unit 5 and used to control the deflection of the cage body 2, and a control unit 8 connected to the forward-rotating unit 4, the reverse unit 5 and the steering unit 6 by signal.

In practical application of this embodiment, by arranging forward-rotating propellers 1 and counter-rotating propellers 3 that are symmetrically distributed on both sides of the central axis of the cage body 2 and coaxially, a split forward-rotating unit 4 and a counter-rotating unit 5 are used, that is, Coaxial drive can be completed, without the need to customize the forward and reverse motors installed together. At the same time, the signal unit 7 for receiving external signals does not need to pass through the motor shaft and can be directly installed on the top of the ball cage body 2 to ensure the effectiveness of the antenna. Under the premise of installation, the manufacturing difficulty and cost of the coaxial UAV motor are reduced; by setting the ball cage body 2 to serve as a protective cover, it can play a protective role in preventing collisions when the UAV is flying in a narrow space, and can also be used when the UAV is flying in a narrow space. In extremely narrow environments, the movement is carried out by rolling on the ground to adapt to different working environments; the steering unit 6 provided on the reversing unit 5 facilitates control of the deflection of the cage body 2, thus improving the efficiency of the coaxial UAV. reliability, maneuverability and stability.

In one case of this embodiment, the forward rotation unit 4 includes: a forward rotation motor 41 with an output end connected to the forward rotation propeller 1, and a forward rotation motor 41 electrically connected to the forward rotation motor 41 and used to control forward rotation. The first electric regulator 42 adjusts the rotation speed of the motor 41 , and the first electric regulator 42 is connected with the control unit 8 via signals.

It can be known that the forward-rotating propeller 1 is driven to rotate by the forward-rotating motor 41 disposed on the upper part of the ball cage body 2 , and the first electric regulator 42 electrically connected thereto can rotate according to the signal from the control unit 8 The rotation speed of the forward rotation motor 41 is controlled.

Furthermore, the control unit 8 is configured as an onboard computer fixedly mounted on a side of the first electric regulator 42 away from the forward motor 41, and a flight control 9 for controlling the flight attitude of the UAV is also provided between the signal unit 7 and the onboard computer.

Furthermore, an image acquisition module 10 is provided next to the onboard computer, and the signal unit 7 is configured as an antenna or laser radar.

It can be known that by setting up the image acquisition module 10, it is convenient to collect image information in real time during the flight of the UAV; the antenna located on the top surface of the cage body 2 is convenient for receiving signals in real time, and the airborne computer is used to facilitate the detection of laser radar and The information of the image acquisition module 10 is processed to realize obstacle avoidance, path planning and navigation during the flight of the UAV; the flight control 9 is used to control the flight attitude of the coaxial UAV to ensure the smooth flight of the UAV.

For example, an antenna can be installed at the top of the ball cage body 2 to receive signals in real time. Of course, it can also be installed at the top of the ball cage body 2 in different application scenarios, such as indoors, tunnels and other areas without satellite positioning signals. Lidar to ensure UAV signal transmission.

In another case of this embodiment, the reversing unit 5 includes: a reversing motor 51 whose output end is connected to the reversing propeller 3 , and a reversing motor 51 that is electrically connected to the reversing motor 51 and used to control the reversing motor 51 . A second electric regulator 52 is used to rotate the motor 51 . The second electrical regulator 52 is connected with the control unit 8 via a signal.

It can be understood that the counter-rotating motor 51 is used to drive the counter-rotating propeller 3 to reverse rotation, and under the control of the second electric regulator 52 , the rotation speed of the counter-rotating motor 51 is controlled.

When this embodiment is actually used, the installation direction of the forward-rotating motor 41 is downward, driving the forward-rotating propeller 1 to rotate, and the counter-rotating motor 51 drives the counter-rotating propeller 316 to generate downward thrust. The torques cancel each other out to keep the ball cage body 2 from spinning.

Exemplarily, the image acquisition module 10 can be configured as a depth camera, and of course it can also be other image acquisition devices. This embodiment is not specifically limited here; the above-mentioned first ESC 42 and the second ESC 52 The input wire is connected to the battery; the output wire is connected to the corresponding motor, thereby adjusting the speed of the corresponding motor.

It should be noted that in this embodiment, since the forward rotation motor 41 and the reverse rotation motor 51 are arranged in a split manner, they are more convenient to replace. Common motors can be used to drive the coaxial drone, which facilitates replacement and modification, and thus It reduces the difficulty and cost of making coaxial drones and has strong practicability.

In one case of this embodiment, the bottom of the second ESC 52 is provided with a battery compartment 11 fixedly connected to the inner bottom surface of the ball cage body 2, and the battery compartment 11 is provided with a battery compartment door 12, so The battery compartment 11 is electrically connected to the signal unit 7 through a power cord 13 fixedly wound around the ball cage body 2 .

It can be understood that by arranging the battery at the bottom of the body, it is convenient to improve the stability of the drone. At the same time, the battery door 12 is located at the bottom to facilitate battery replacement. The power cord 13 and the power cord 13 wound around the inner wall of the ball cage body 2 The signal line is convenient for ensuring the connection between the power line 13 and the signal line in the upper and lower parts of the ball cage body 2.

Example 2

As shown in Figure 2, based on Embodiment 1, the steering unit 6 includes: four steering gears 61 fixed on the outer side of the reversing motor 51 at equal intervals in the circumferential direction, and are respectively connected to the four steering gears 61. There are four steering surfaces 62 at the output end of the steering gear 61 , and all the steering surfaces 62 are located below the counter-rotating propeller 3 .

In actual application, by arranging four servos 61 and four corresponding control surfaces 62 around the reversing motor 51, the servos 61 can be used to control the angles of different control surfaces 62, thereby controlling the machine body to adjust different motion postures.

In one case of this embodiment, by controlling the angles of two opposite rudder surfaces 62 , the cage body 2 can be controlled to move forward and backward or left and right; by simultaneously controlling the angles of four rudder surfaces 62 , all changes can be made. The angle of the rudder surface 62 can change the rotation direction of the ball cage body 2 and facilitate the control of the spin of the ball cage body 2 .

Specifically, the four steering gears 61 and the four steering surfaces 62 are all the same. Two of the steering gears 61 located on both sides of the counter-rotating motor 51 and arranged oppositely are positioned relative to the axis of the counter-rotating propeller 3. Symmetrical, thereby ensuring the smooth steering or rotation of the ball cage body 2.

In actual application of this embodiment, the above coaxial drone includes the following motion modes:

Mode 1, when the body needs to rise: the forward-rotating motor 41 and the reverse-rotating motor 51 increase the rotation speed synchronously, the combined lift generated by the forward-rotating propeller 1 and the counter-rotating propeller 3 increases, and the anti-torque forces between them cancel each other out.

Mode 2, when the aircraft body needs to descend: the forward motor 41 and the reverse motor 51 reduce their rotation speed synchronously, the combined lift generated by the forward propeller 1 and the reverse propeller 3 decreases, and the counter-torque forces therebetween cancel each other out.

Mode 3, when the aircraft needs to change its course:

The first way: the ball cage body 2 turns through the reverse torque generated by the difference in rotational speed of the forward and reverse propellers. If the aircraft body wants to turn clockwise, the flight control 9 controls the forward motor 41 to decelerate and the reverse motor 51 to accelerate synchronously. The combined lift generated by the two motor propellers remains unchanged, and the drone maintains the same height. The reverse motor 51 The anti-torque force is greater than the anti-torque force of the forward motor 41, so the body will spin clockwise; similarly, if the body wants to turn counterclockwise, the flight control 9 controls the reverse motor 51 to decelerate and the forward motor 41 to accelerate simultaneously. The total lift generated by the motor propeller remains unchanged, and the counter-torque force of the forward-rotating motor 41 is greater than the counter-torque force of the counter-rotating motor 51, so the body will spin counterclockwise.

The second method: as shown in Figure 7, control the forward and reverse motor speed to remain unchanged, the total lift remains unchanged, so that the height of the drone remains unchanged, and the four rudder surfaces 62 are controlled counterclockwise through the four servos 61 Deflect at an angle of 0-45°, thereby generating a clockwise rotational moment on the body, causing the body to spin clockwise; similarly, if the four servos 61 control the rudder surface 62 to deflect clockwise, the body will spin counterclockwise.

Mode 4, as shown in Figure 5, when the body needs to move forward and backward:

When moving forward, the rotation speed of the forward and reverse motors remains unchanged, the total lift remains unchanged, and the height of the UAV remains unchanged. The two servos 61 in the y-axis direction control the rudder surface 62 to deflect backward, causing impact on the aircraft body. The forward force causes the drone to translate forward;

When translating backward, the rotation speed of the forward and reverse motors remains unchanged, the total lift remains unchanged, and the height of the UAV remains unchanged. The two servos 61 in the y-axis direction control the rudder surface 62 to deflect forward, causing impact on the aircraft body. With a backward force, the drone translates backward.

Mode five, as shown in Figure 6, when the body needs to move left and right:

Similar to the above-mentioned mode four, the two servos 61 in the x-axis direction control the deflection of the two rudder surfaces 62 to generate a left or right force on the body, thereby realizing the left or right translation of the drone.

Mode six, as shown in Figure 8, when the body needs to roll on the ground:

In extremely narrow environments such as pipeline tunnels, the coaxial drone in this embodiment can roll directly on the ground. At this time, the body is tilted 90° and lies horizontally on the ground. The rolling axis is the central axis where the upper and lower bodies are located inside. The force of the ball rolling comes from the force of changing the direction of the drone in mode three during flight control; it can be achieved by changing the reverse torque of the forward and reverse motors, or by changing the deflection airflow generated by the four rudder surfaces 62 in the above mode three. The generated reaction force is realized; in the rolling mode, the rolling direction is controlled by two forward and reverse motors generating thrust to the left and right sides.

Example 3

As shown in Figures 1 to 4, on the basis of Embodiment 1 and 2, the ball cage body 2 includes an upper hemispherical frame 21 and a lower hemispherical frame 22 arranged symmetrically, and is connected to the upper hemispherical frame 21 and the lower hemispherical frame 22. The hemispherical frame 22 is connected at one end and has a fastening unit 23 for fixing the two. The inner edges of the lower hemispherical frame 22 and the upper hemispherical frame 21 are respectively provided with wire sockets 14 and plugs 15 at the inner edges of the connected ends.

Specifically, by dividing the ball cage body 2 into two halves, and the upper hemispheric frame 21 and the lower hemispheric frame 22 are connected to each other, the replacement and maintenance of the internal equipment is facilitated, and the volume is also reduced for portability; Wire sockets 14 and plugs 15 are respectively installed on the edges of the upper hemispherical frame 21 and the lower hemispherical frame 22. When the two are closed together, the connection of the power lines 13 and signal lines of the upper and lower parts can be ensured.

Further, the upper hemispherical frame 21 includes: a plurality of warp frames 211 extending along the warp direction and a plurality of weft frames 212 vertically connected to each of the warp frames 211 and extending along the weft direction. Each of the warp frames 211 extends along the weft direction. The starting ends of the meridian frames 211 converge at one point to form the vertex of the upper hemispheric frame 21 . The ends of each of the meridian frames 211 extend to the latitude frame 212 located at the equatorial position. The lower hemispheric frame 22 and the upper hemispheric frame 21 The structure is the same.

It should be noted that by arranging the spherical cage body 2 to form an upper hemispheric frame 21 and a lower hemispheric frame 22 that are spliced to each other, it can be conveniently used as a protective cover and play a protective role in preventing collisions when the UAV is flying in a narrow space. It can be moved by rolling on the ground in extremely narrow environments to adapt to different working environments. Since the shape of the cage body 2 is spherical, it has good fall resistance and is not easily stuck by obstacles in complex environments, so it is more suitable for flying and exploring in narrow indoor spaces.

Furthermore, the fastening unit 23 includes: a fixing member 231 fixed on the lower hemispherical frame 22 or the largest latitudinal frame 212 of the upper hemispherical frame 21, and a fixing member 231 that is rotatably connected to the outer end of the fixing member 231 and is rotatable. The fastening member 232 is fastened to the maximum latitudinal frame 212 of the upper hemisphere or the lower hemisphere.

It can be understood that the use of the fixing part 231 and the fastening part 232 facilitates the fastening and fastening of the lower hemispheric frame 22 and the upper hemispheric frame 21, and also facilitates the rapid disassembly and assembly of the two, making it easy to disassemble and repair the internal equipment. and replacement, making it more convenient and reliable to use.

In actual operation of this embodiment, the warp frame 211 and the weft frame 212 are both set as carbon fiber rods, and both can be made using 3D printing technology, or completed by injection molding and other process means. way to overlap, and fix the connection points of all carbon fiber rods with glue. After the glue dries, a strong spherical cage is formed. Finally, it is divided into two halves by cutting, and a battery compartment door 12 is set at the bottom, so that The above-mentioned ball cage body 2 is realized.

Exemplarily, the fixing member 231 may be a fixing block or a fixing plate, and the buckle 232 may be a buckle for buckling onto the outer edge of the upper hemisphere frame 21. Of course, the buckle unit 23 may also be other structures, as long as it can achieve quick fixation of the upper hemisphere frame 21 and the lower hemisphere frame 22. This embodiment is not specifically limited here.

The above embodiment of the present invention provides a spherical coaxial UAV, which is provided with a forward propeller 1 and a reverse propeller 3 symmetrically distributed on both sides of the central axis of the ball cage body 2 and coaxial, so that the coaxial drive can be completed by using a split forward unit 4 and a reverse unit 5, without the need to customize the forward and reverse motors installed together, and the signal unit 7 for receiving external signals does not need to pass through the motor shaft, but can be directly installed on the top of the ball cage body 2. Under the premise of ensuring the effective installation of the antenna, the manufacturing difficulty and cost of the coaxial UAV motor are reduced; by providing the ball cage body 2, it is convenient to serve as a protective cover, which can play a protective role in preventing collision when the UAV flies in a narrow space, and can also be moved by rolling on the ground in an extremely narrow environment to adapt to different working environments; the steering unit 6 arranged on the reverse unit 5 is convenient for controlling the deflection of the ball cage body 2, thereby improving the reliability, maneuverability and stability of the coaxial UAV.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (10)

1. A spherical coaxial drone, comprising: the novel ball cage comprises a ball cage body (2), forward rotating propellers (1) and reverse rotating propellers (3) which are symmetrically distributed on two sides of an inner central axis of the ball cage body (2) and are coaxial, a forward rotating unit (4) which is fixedly connected to the top of the ball cage body (2) and used for driving the forward rotating propellers (1) to rotate, a reverse rotating unit (5) which is fixedly connected to the bottom of the ball cage body (2) and used for driving the reverse rotating propellers (3) to rotate, a signal unit (7) which is fixedly connected to the inner top surface of the ball cage body (2) and used for receiving external signals, a steering unit (6) which is fixedly arranged on the reverse rotating unit (5) and used for controlling the ball cage body (2) to deflect, and a control unit (8) which is in signal connection with the forward rotating unit (4), the reverse rotating unit (5) and the steering unit (6).

2. A spherical coaxial unmanned aerial vehicle according to claim 1, wherein the forward rotation unit (4) comprises: the output end is connected with a forward motor (41) connected with the forward propeller (1), and a first electric regulator (42) electrically connected with the forward motor (41) and used for controlling the rotating speed of the forward motor (41), and the first electric regulator (42) is in signal connection with the control unit (8).

3. A spherical coaxial unmanned aerial vehicle according to claim 2, wherein the control unit (8) is arranged as an on-board computer fixed on the side of the first electric motor (42) away from the forward motor (41), and a flight control (9) for controlling the flight attitude of the unmanned aerial vehicle is further arranged between the signal unit (7) and the on-board computer.

4. A spherical coaxial unmanned aerial vehicle according to claim 3, wherein the onboard computer is flanked by an image acquisition module (10), and the signal unit (7) is arranged as an antenna or as a lidar.

5. A spherical coaxial drone according to claim 1, characterized in that said reversing unit (5) comprises: the output end of the reversing motor (51) is connected with the reversing propeller (3), and the second electric regulator (52) is electrically connected with the reversing motor (51) and used for controlling the rotating speed of the reversing motor (51), and the second electric regulator (52) is in signal connection with the control unit (8).

6. The spherical coaxial unmanned aerial vehicle according to claim 5, wherein a battery compartment (11) fixedly connected to the inner bottom surface of the ball cage body (2) is arranged at the bottom of the second electric regulator (52), and the battery compartment (11) is provided with a battery compartment door (12), and the battery compartment (11) is electrically connected with the signal unit (7) through a power line (13) fixedly wound on the ball cage body (2).

7. A spherical coaxial unmanned aerial vehicle according to claim 5, wherein the steering unit (6) comprises: four steering engines (61) fixedly arranged on the outer side face of the reversing motor (51) at equal intervals along the circumferential direction, four control surfaces (62) respectively connected to the output ends of the four steering engines (61), and all the control surfaces (62) are located below the reversing propeller (3).

8. A spherical coaxial unmanned aerial vehicle according to any of claims 1 to 7, wherein the ball cage body (2) comprises an upper hemispherical frame (21) and a lower hemispherical frame (22) which are symmetrically arranged, and a fastening unit (23) which is connected with one end of the upper hemispherical frame (21) and one end of the lower hemispherical frame (22) which are connected with each other and is used for fixing the upper hemispherical frame (21) and the lower hemispherical frame (22), and a wire socket (14) and a plug (15) are respectively arranged at the inner edges of one end of the lower hemispherical frame (22) and one end of the upper hemispherical frame (21) which are connected with each other.

9. A spherical coaxial drone according to claim 8, wherein said upper hemisphere frame (21) comprises: the warp frames (211) extending along the warp direction and the weft frames (212) perpendicularly connected with each warp frame (211) and extending along the weft direction are arranged, the starting ends of the warp frames (211) converge at one point to form the vertex of the upper hemispherical frame (21), the tail ends of the warp frames (211) extend to the weft frames (212) located at the equatorial position, and the lower hemispherical frame (22) and the upper hemispherical frame (21) are identical in structure.

10. A spherical coaxial unmanned aerial vehicle according to claim 8, wherein the fastening unit (23) comprises: the fixing piece (231) is fixedly arranged on the maximum weft frame (212) of the lower hemispherical frame (22) or the upper hemispherical frame (21), and the fastening piece (232) is rotatably connected to the outer end of the fixing piece (231) and can be fastened on the maximum weft frame (212) of the upper hemispherical frame (21) or the lower hemispherical frame (22).