CN114889817A

CN114889817A - Universal joint bearing coaxial unmanned aerial vehicle vector thrust mechanism and working method thereof

Info

Publication number: CN114889817A
Application number: CN202210372712.0A
Authority: CN
Inventors: 昌敏; 郑中原; 徐子逸; 白俊强
Original assignee: Northwestern Polytechnical University
Current assignee: Northwestern Polytechnical University
Priority date: 2022-04-11
Filing date: 2022-04-11
Publication date: 2022-08-12
Anticipated expiration: 2042-04-11
Also published as: CN114889817B

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a universal joint bearing coaxial unmanned aerial vehicle vector thrust mechanism and a working method thereof, comprising a base, the top of the base is fixedly connected with a fixed plate, and the top of the fixed plate is A ball head is fixedly connected to the center of the surface, a ball head seat is slidably connected to the outside of the ball head, a motor mounting plate is fixedly connected to the top surface of the ball head seat, and a degree of freedom is set between the ball head seat and the fixing plate Limiting part, the motor mounting plate is drivingly connected with a pitch drive part and a roll drive part, the connection point of the motor mounting plate and the pitch drive part to the center of the ball socket is connected with the motor mounting plate, the roll drive part The connecting point of the driving part is perpendicular to the line connecting the center of the ball socket. The invention simplifies the vector thrust mechanism of the unmanned aerial vehicle, so that the adjustment of the flying attitude of the unmanned aerial vehicle is quicker and more convenient.

Description

Universal joint bearing coaxial unmanned aerial vehicle vector thrust mechanism and working method thereof

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a universal joint bearing coaxial unmanned aerial vehicle vector thrust mechanism and a working method thereof.

Background

An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer.

From a technical point of view, the definition can be divided into: unmanned fixed wing aircraft, unmanned VTOL aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aircraft, unmanned paravane, etc. Compared with manned aircraft, it has the advantages of small volume, low cost, convenient use, low requirement on the operation environment, strong battlefield viability and the like. Since the unmanned aircraft has important significance for future air battles, the research and development work of the unmanned aircraft is carried out in all major military countries in the world.

Traditional coaxial unmanned aerial vehicle realizes the control to unmanned aerial vehicle gesture and motion through deflecting the rotor shaft more, and chinese patent CN201510182069.5 discloses a two coaxial double rotor unmanned vehicles of big load low structure complexity, and it is complicated that its structure that changes unmanned aerial vehicle flight gesture and use, is unfavorable for unmanned aerial vehicle's flight control.

Disclosure of Invention

The invention aims to provide a universal joint bearing coaxial unmanned aerial vehicle vector thrust mechanism, which simplifies the unmanned aerial vehicle vector thrust mechanism and enables the unmanned aerial vehicle flight attitude to be adjusted more quickly and conveniently.

In order to achieve the purpose, the invention provides the following scheme:

the utility model provides a coaxial unmanned aerial vehicle vector thrust mechanism of universal joint bearing, includes the base, base top fixedly connected with fixed plate, fixed plate top surface center fixedly connected with bulb, bulb outside sliding connection has the bulb seat, bulb seat top surface fixedly connected with motor mounting panel, the bulb seat with be equipped with degree of freedom restriction portion between the fixed plate, the motor mounting panel transmission is connected with every single move drive division and roll drive division, the tie point of motor mounting panel, every single move drive division extremely bulb seat center line with motor mounting panel, roll drive division tie point extremely bulb seat center line is mutually perpendicular.

Preferably, the degree of freedom restriction portion includes fixed connection and is in the stopper, the fixed connection of fixed plate top one side are in the slide bar of bulb seat lateral wall, the spacing groove has been seted up on the stopper, the vertical setting of spacing groove, the slide bar with spacing groove sliding fit, the stopper is located bulb seat one side, every single move drive division or the roll drive position is located bulb seat opposite side, the slide bar axis with the coincidence of bulb centre of sphere.

Preferably, every single move drive division includes first server, the output shaft coupling of first server has the one end of first swing arm, the first swing arm other end articulates through first universal hinge has first connecting rod one end, the first connecting rod other end pass through the second universal hinge with the motor mounting panel lateral wall is connected.

Preferably, the roll driving part comprises a second server, an output shaft of the second server is coupled to one end of a second swing arm, the other end of the second swing arm is hinged to one end of a second connecting rod through a third universal hinge, the other end of the second connecting rod is connected to the side wall of the motor mounting plate through a fourth universal hinge, and a central connecting line of the fourth universal hinge and the ball cup is perpendicular to a central connecting line of the second universal hinge and the ball cup.

Preferably, the first universal hinge, the second universal hinge, the third universal hinge and the fourth universal hinge are spherical hinges.

Preferably, a support frame is fixedly connected between the base and the fixing plate, and the first server and the second server are fixedly connected to the support frame.

A working method of a universal joint bearing coaxial unmanned aerial vehicle vector thrust mechanism is based on the technical scheme, and comprises the following steps:

controlling the pitching driving part to operate, wherein the pitching driving part pushes the motor mounting plate to rotate along the ball head to realize pitching attitude angle adjustment;

and controlling the rolling driving part to operate, wherein the rolling driving part pushes the motor mounting plate to rotate along the ball head to realize rolling attitude angle adjustment.

The invention has the following technical effects:

unmanned aerial vehicle's wing driving motor fixed mounting is at motor mounting panel top, when unmanned aerial vehicle need carry out the every single move gesture and adjust, control every single move drive portion operation, every single move drive portion push motor mounting panel rotates along the bulb and realizes overlooking angle or angle of elevation angle and adjust, when unmanned aerial vehicle need carry out the roll gesture and adjust, control roll drive portion operation, roll drive portion push motor mounting panel rotates along the bulb, realize two directions of roll direction and adjust, through set up degree of freedom restriction portion between bulb seat and fixed plate, can restrict the rotation of bulb seat for the bulb axis, make the motor mounting panel can only follow two directions and rotate.

According to the invention, the motor mounting plate and the fixed plate are connected through the spherical hinge structure, so that the operation precision of the motor mounting plate is improved, and meanwhile, the adjusting structure for adjusting the wing attitude is simplified, so that the flight attitude of the unmanned aerial vehicle is adjusted more conveniently and rapidly.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of another embodiment of the present invention;

FIG. 3 is a schematic structural diagram according to a second embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a rotating assembly of a two-phase camera according to an embodiment of the present invention;

fig. 5 is a schematic cross-sectional structural view of a rotating assembly of a two-phase camera according to an embodiment of the invention.

Wherein, 1, a base; 2. a support frame; 3. a first server; 4. a first swing arm; 5. a first link; 501. a first universal hinge; 502. a second universal hinge; 6. a second server; 7. a second swing arm; 8. a second link; 801. a third universal hinge; 802. a fourth universal hinge; 9. a fixing plate; 10. a motor mounting plate; 11. a ball head; 12. a ball cup seat; 1201. a slide bar; 13. a limiting block; 1301. a limiting groove; 14. an unmanned aerial vehicle body; 1401. a first motor; 1402. an L-shaped bracket; 1403. a vertical drive gear; 1404. a transverse slide rail; 1405. a transverse drive gear; 1406. a third motor; 1407. a second bracket; 15. a camera rotation assembly; 1501. a mounting seat; 1502. rotating the ball; 1503. bidirectional gear rotation; 1504. a drive gear; 1505. a pinion gear; 1506. an internal thread sleeve; 1507. a first gear; 1508. a first lead screw; 1509. a second gear; 1510. a second lead screw; 1511. a third servo motor; 1512. a fourth servo motor; 1513. a first mounting block; 1514. a drive shaft; 1515. a second mounting block; 1516. mounting a plate; 1518. a connecting rod; 16. a camera.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

The first embodiment is as follows:

referring to fig. 1-2, the embodiment provides a coaxial unmanned aerial vehicle vector thrust mechanism of universal joint bearing, including base 1, base 1 top fixedly connected with fixed plate 9, fixed plate 9 top center fixedly connected with bulb 11, the outside sliding connection of bulb 11 has bulb seat 12, bulb seat 12 top fixedly connected with motor mounting panel 10, be equipped with degree of freedom restriction portion between bulb seat 12 and fixed plate 9, motor mounting panel 10 transmission is connected with every single move drive portion and roll drive portion, motor mounting panel 10, the tie point of every single move drive portion to 12 center connecting lines of bulb seat and motor mounting panel 10, the tie point of roll drive portion to 12 center connecting lines of bulb seat are perpendicular.

Unmanned aerial vehicle's wing driving motor fixed mounting is at motor mounting panel 10 top, when unmanned aerial vehicle need carry out the regulation of every single move gesture, control every single move drive section operation, every single move drive section promotes motor mounting panel 10 and rotates along bulb 11 and realizes overlooking angle or the angle of elevation regulation, when unmanned aerial vehicle need carry out the regulation of roll gesture, control roll drive section operation, roll drive section promotes motor mounting panel 10 and rotates along bulb 11, realize two direction regulation of roll direction, through set up degree of freedom restriction portion between bulb seat 12 and fixed plate 9, can restrict the rotation of bulb seat 12 for bulb 11 axis, make motor mounting panel 10 only rotate along two directions.

According to the invention, the motor mounting plate 10 and the fixed plate 9 are connected through the spherical hinge structure, so that the operation precision of the motor mounting plate 10 is improved, the adjusting structure for adjusting the wing attitude is simplified, the motor mounting plate 10 and the fixed plate 9 are connected through the spherical hinge structure, the swing angle of the motor mounting plate 10 can be increased, and the flight attitude of the unmanned aerial vehicle can be adjusted more conveniently and rapidly.

Further optimize the scheme, degree of freedom restriction portion includes stopper 13, the slide bar 1201 of fixed connection at the bulb seat 12 lateral wall of fixed connection in fixed plate 9 top one side, has seted up spacing groove 1301 on the stopper 13, and spacing groove 1301 vertical setting, slide bar 1201 and spacing groove 1301 sliding fit, stopper 13 are located bulb seat 12 one side, and every single move drive division or roll drive division are located bulb seat 12 opposite side, and slide bar 1201 axis and 11 centre of sphere coincidence of bulb.

Through the matching of the sliding rod 1201 and the limiting groove 1301, at this time, the sliding rod 1201 can only slide along the limiting groove 1301 or rotate along the sliding rod 1201, and the ball cup 12 can only realize the movement in two angular directions in the moving process, so that the axial rotation of the ball cup 12 relative to the base 1 is prevented, and the movement of the ball cup 12 with only two degrees of freedom is limited and limited.

According to a further optimized scheme, the pitching driving portion comprises a first server 3, an output shaft of the first server 3 is coupled with one end of a first swing arm 4, the other end of the first swing arm 4 is hinged with one end of a first connecting rod 5 through a first universal hinge 501, and the other end of the first connecting rod 5 is connected with the side wall of the motor mounting plate 10 through a second universal hinge 502.

Through controlling the operation of the first server 3, the first server 3 drives the first swing arm 4 to rotate, the first swing arm 4 pushes the first connecting rod 5 to move, the first connecting rod 5 pushes the motor mounting plate 10 to move along the edge, and the motor mounting plate 10 rotates along one direction of the ball head 11.

According to the further optimized scheme, the roll driving portion comprises a second server 6, an output shaft of the second server 6 is connected with one end of a second swing arm 7 in a shaft mode, the other end of the second swing arm 7 is hinged to one end of a second connecting rod 8 through a third universal hinge 801, the other end of the second connecting rod 8 is connected with the side wall of the motor mounting plate 10 through a fourth universal hinge 802, and the central connecting line of the fourth universal hinge 802 and the center connecting line of the ball head seat 12 are perpendicular to the central connecting line of the second universal hinge 502 and the center connecting line of the ball head seat 12.

By controlling the operation of the second server 6, the second server 6 drives the second swing arm 7 to rotate, the second swing arm 7 pushes the second connecting rod 8 to move, the second connecting rod 8 pushes the other edge of the motor mounting plate 10 to move, and the motor mounting plate 10 rotates along the other direction of the ball head 11.

The first universal hinge 501, the second universal hinge 502, the third universal hinge 801 and the fourth universal hinge 802 are spherical hinges. Adopt the spherical hinge to connect first connecting rod 5, motor mounting panel 10, first swing arm 4, adopt the spherical hinge to connect second connecting rod 8, motor mounting panel 10, second swing arm 7, when motor mounting panel 10 rotated, the motion orbit of motor mounting panel 10 and first connecting

rod

5, 8 junctions of second connecting rod was non-linear motion, through the setting of first universal hinge 501, second universal hinge 502, third universal hinge 801, fourth universal hinge 802, can guarantee the degree of freedom of motor mounting panel 10 motion.

Further optimize the scheme, fixedly connected with support frame 2 between base 1, the fixed plate 9, first server 3, second server 6 fixed connection are on support frame 2.

A working method of a universal joint bearing coaxial unmanned aerial vehicle vector thrust mechanism is based on the scheme, and comprises the following steps:

the operation of a first server 3 is controlled, the first server 3 drives a first swing arm 4 to rotate, the first swing arm 4 pushes a first connecting rod 5 to move, the first connecting rod 5 pushes the edge of a motor mounting plate 10 to move, the motor mounting plate 10 rotates along one direction of a ball head 11, the motor mounting plate 10 drives a wing driving motor at the top to move, and the pitching attitude angle adjustment is realized;

and controlling the second server 6 to operate, driving the second swing arm 7 to rotate by the second server 6, driving the second swing arm 7 to move by the second swing arm 7, driving the other edge of the motor mounting plate 10 to move by the second connecting rod 8, realizing the rotation of the motor mounting plate 10 along the other direction of the ball head 11, driving the wing driving motor at the top to move by the motor mounting plate 10, and realizing the roll attitude angle adjustment.

Example two:

referring to fig. 3-5, the vector thrust mechanism of the unmanned aerial vehicle of the present embodiment differs from the first embodiment only in that the bottom of the base 1 is fixedly connected with the unmanned aerial vehicle body 14, the bottom of the unmanned aerial vehicle body 14 is fixedly connected with the vertical and horizontal moving portion, the bottom of the vertical and horizontal moving portion is fixedly connected with the camera rotating assembly 15, one side of the camera rotating assembly 15 is fixedly connected with the camera 16, the vertical and horizontal moving portion includes a first motor 1401 fixedly connected to the bottom of the unmanned aerial vehicle body 14, an output shaft of the first motor 1401 is fixedly connected with an L-shaped bracket 1402, a vertical side wall of the L-shaped bracket 1402 is slidably connected with a second motor, the second motor is coupled with a vertical driving gear 1403, the vertical driving gear 1403 is engaged with the L-shaped bracket 1402, a lateral sliding rail 1404 is fixedly connected with a lateral sliding rail 1404, a third motor 1406 is slidably connected on the lateral sliding rail 1404, and the third motor 1406 is coupled with a lateral driving gear 1405, the transverse driving gear 1405 is meshed with the transverse sliding rail 1404, the bottom of the third motor 1406 is fixedly connected with a second bracket 1407, and the bottom of the second bracket 1407 is fixedly connected with the camera rotating assembly 15;

camera rotating assembly 15 includes the mount pad 1501 that two symmetries set up, two mount pad 1501 fixed connection, two mount pad 1501 constitute and invert the isosceles right angle structure, spherical groove has been seted up to two mount pad 1501 bottoms, the spherical inslot internal rotation is connected with the ball 1502 that rotates, the ball 1502 surface is equipped with a plurality of two-way commentaries on classics tooth 1503, two-way commentaries on classics tooth 1503 symmetrical meshing has universal drive portion, two universal drive portion mutually perpendicular set up, universal drive portion fixed connection is on the right angle edge of isosceles right angle structure, two universal drive portion top fixedly connected with mounting panel 1516, rotate the ball 1502 outside and camera 16 fixed connection.

By controlling the two universal driving parts to operate respectively, the universal driving parts can drive the bidirectional rotating teeth 1503 to move in two different directions, so that the rotating ball 1502 can rotate in different directions in the spherical groove, and the camera 16 fixed on the outer side of the rotating ball 1502 can move at any angle.

The universal driving part comprises two driving gears 1504 meshed with a bidirectional rotating gear 1503, the two driving gears 1504 are symmetrically arranged, a first mounting block 1513 is fixedly connected to the outer side edge of the mounting base 1501, the first mounting block 1513 is fixedly mounted on a bevel edge of the mounting base 1501, a driving shaft 1514 is rotatably connected in the first mounting block 1513, one end, close to the mounting base 1501, of the driving shaft 1514 is rotatably connected with the driving gears 1504, a pinion 1505 is rotatably connected with the driving shaft 1514, the pinion 1505 is meshed with the driving gears 1504, an internal thread sleeve 1506 is rotatably connected to the outer side of the driving shaft 1514, the internal thread sleeve 1506 is meshed with the pinion 1505, a first direction driving part in which the driving pinion 1505 rotates is rotatably connected to the driving shaft 1514, and a second direction driving part in which the driving shaft 1514 rotates is fixedly connected to the outer side of the driving shaft 1514.

Through controlling the operation of the first direction drive part, the first direction drive part drives the internal thread sleeve 1506 to rotate along the drive shaft 1514, the internal thread sleeve 1506 is internally threaded to drive the pinion 1505 to rotate, the pinion 1505 drives the drive gear 1504 to rotate, the drive gear 1504 drives the rotating ball 1502 to realize the rotation of one direction, through controlling the operation of the second direction drive part, the second direction drive part drives the drive shaft 1514 to rotate, the drive shaft 1514 drives the drive gear 1504 to rotate along the axis of the drive shaft 1514, because the drive gear 1504 is meshed with the bidirectional rotating teeth 1503, the drive gear 1504 drives the rotating ball 1502 to realize the rotation of the other direction at the moment, and the rotation of the rotating ball 1502 in any direction can be realized through arranging two groups of mutually perpendicular universal drive parts to mutually cooperate and operate.

In a further optimized scheme, the first direction driving part comprises a first gear 1507 rotatably connected to the outer side of a driving shaft 1514, one side, close to the driving gear 1504, of the first gear 1507 is fixedly connected with an internal thread sleeve 1506, one side, far away from the driving gear 1504, of the first gear 1507 is provided with a second gear 1509, the second gear 1509 is in key connection with the driving shaft 1514, one end, far away from the driving gear 1504, of the driving shaft 1514 is rotatably connected with a second mounting block 1515, the first gear 1507 is meshed with a first lead screw 1508, the first lead screw 1508 is coupled with an output shaft of a third servo motor 1511, the second gear 1509 is meshed with a second lead screw 1510, after the second lead screw 1510 is coupled with an output shaft of a fourth servo motor 1512, the third servo motor 1511, the fourth servo motor 1512 and the second mounting block 1515 are fixedly connected with a second mounting block 1513 through a connecting rod 1518.

By controlling the third servomotor 1511 and the fourth servomotor 1512 to rotate, the third servomotor 1511 drives the first lead screw 1508 to rotate, the first lead screw 1508 drives the first gear 1507 to rotate, the first gear 1507 drives the internal thread bush 1506 to rotate, the thread inside the internal thread bush 1506 drives the pinion 1505 to rotate, the pinion 1505 drives the drive gear 1504 to rotate, and the drive gear 1504 drives the rotating ball 1502 to rotate in one direction;

the fourth servo motor 1512 drives the second lead screw 1510 to rotate, the second lead screw 1510 drives the second gear 1509 to rotate, the second gear 1509 drives the driving shaft 1514 to rotate, the driving shaft 1514 drives the driving gear 1504 to rotate along the axis of the driving shaft 1514, and at the moment, the driving gear 1504 drives the rotating ball 1502 to rotate in the other direction due to the fact that the driving gear 1504 is meshed with the bidirectional rotating teeth 1503. The center of the rotating ball 1502 coincides with the center of the first motor 1401.

When unmanned aerial vehicle organism 14 appears vibrating at the operation in-process, camera 16 carries out the rotation of adaptation angle according to the vibration condition, first motor 1401 rotates simultaneously, camera 16's turned angle is offset to the turned angle of first motor 1401, the second motor rotates, drive whole camera runner assembly 15 and reciprocate, eliminate the vibration of vertical direction, third motor 1406 rotates, drive whole camera runner assembly 15 horizontal direction and remove, eliminate the vibration of horizontal direction, the structure of this embodiment can make unmanned aerial vehicle 16's in-process picture stable taking.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.

Claims

1. A universal joint bearing coaxial unmanned aerial vehicle vector thrust mechanism is characterized in that: comprising a base (1), the top of the base (1) is fixedly connected with a fixing plate (9), and the fixing plate ( 9) A ball head (11) is fixedly connected to the center of the top surface, a ball head seat (12) is slidably connected to the outside of the ball head (11), and a motor mounting plate (10) is fixedly connected to the top surface of the ball head seat (12). ), between the ball head seat (12) and the fixing plate (9) is provided with a degree of freedom restricting part, the motor mounting plate (10) is drivingly connected with a pitch driving part and a roll driving part, the motor The connection point of the mounting plate (10) and the pitch driving part to the center of the ball joint seat (12) is connected with the connection point of the motor mounting plate (10) and the roll driving part to the center of the ball joint seat (12) The lines are perpendicular.

2 . The universal joint bearing coaxial UAV vector thrust mechanism according to claim 1 , wherein the degree of freedom limiting portion comprises a limiter that is fixedly connected to one side of the top of the fixing plate (9). 3 . A position block (13), a sliding rod (1201) fixedly connected to the side wall of the ball head seat (12), a limit groove (1301) is formed on the limit block (13), and the limit groove (1301) ) is arranged vertically, the sliding rod (1201) is slidably matched with the limiting groove (1301), the limiting block (13) is located on one side of the ball socket (12), and the pitch driving part or The roll driving part is located on the other side of the ball head seat (12), and the axis of the sliding rod (1201) coincides with the ball center of the ball head (11).

3. The universal joint bearing coaxial UAV vector thrust mechanism according to claim 1, wherein the pitch driving part comprises a first servo (3), and the first servo (3) ) output shaft is connected with one end of the first swing arm (4), and the other end of the first swing arm (4) is hinged with one end of the first connecting rod (5) through the first universal hinge (501). The other end of the first connecting rod (5) is connected to the side wall of the motor mounting plate (10) through a second universal hinge (502).

4. The universal joint bearing coaxial unmanned aerial vehicle vector thrust mechanism according to claim 3, wherein the roll drive part comprises a second servo (6), and the second servo ( 6) The output shaft of the shaft is connected with one end of the second swing arm (7), and the other end of the second swing arm (7) is hinged with one end of the second connecting rod (8) through the third universal hinge (801). The other end of the second connecting rod (8) is connected to the side wall of the motor mounting plate (10) through a fourth universal hinge (802), and the fourth universal hinge (802) and the center of the ball seat (12) The connecting line is perpendicular to the center connecting line of the second universal hinge (502) and the ball socket (12).

5 . The universal joint bearing coaxial UAV vector thrust mechanism according to claim 4 , wherein the first universal joint ( 501 ), the second universal joint ( 502 ), the third universal joint ( 502 ), the third universal joint The universal hinge (801) and the fourth universal hinge (802) are spherical hinges.

6. A universal joint bearing coaxial unmanned aerial vehicle vector thrust mechanism according to claim 4, wherein a support frame (2) is fixedly connected between the base (1) and the fixing plate (9). ), the first server (3) and the second server (6) are fixedly connected to the support frame (2).

7. A working method of a universal joint bearing coaxial drone vector thrust mechanism, wherein the working method is based on the universal joint bearing coaxial drone vector thrust of any one of claims 1-6 organization, including the following steps:

Controlling the operation of the pitch drive part, the pitch drive part pushes the motor mounting plate (10) to rotate along the ball head (11) to realize pitch attitude angle adjustment;

The operation of the roll drive part is controlled, and the roll drive part pushes the motor mounting plate (10) to rotate along the ball head (11) to realize the roll attitude angle adjustment.