WO2018098993A1

WO2018098993A1 - Dual-axis vector servo steering device for propeller and vertical take-off and landing of unmanned aerial vehicle with fixed wings

Info

Publication number: WO2018098993A1
Application number: PCT/CN2017/082980
Authority: WO
Inventors: 蔡英杰
Original assignee: 深圳市优鹰科技有限公司
Priority date: 2016-11-30
Filing date: 2017-05-04
Publication date: 2018-06-07
Also published as: CN106428527A; CN106428527B

Abstract

Disclosed are a dual-axis vector servo steering device for a propeller and a vertical take-off and landing of an unmanned aerial vehicle with fixed wings. The dual-axis vector servo steering device comprises a fixed steering engine fixedly arranged at a tail end of an unmanned aerial vehicle, a rotary steering engine connected to the fixed steering engine via shafts, a propeller engine connected to the rotary steering engine via shafts and a propeller sleeved on an output shaft of the propeller engine. The fixed steering engine drives the rotary steering engine to rotate upwards and downwards, the rotary steering engine drives the propeller engine to rotate leftwards and rightwards, and the propeller engine drives the propeller to rotate. By means of the driving and structure relationships between the fixed steering engine, the rotary steering engine, the propeller engine and the propeller, the dual-axis universal driving effect can be realized, and finally, the rotation state of the propeller can be performed in multiple directions and planes, which provides conditions for high-altitude hovering, horizontally pushing, turning by various angles of the vehicle and the like, thereby effectively broadening the turning range of the unmanned aerial vehicle and providing a strong guarantee for changing flight postures of the unmanned aerial vehicle.

Description

Propeller biaxial vector servo redirection device and vertical takeoff and landing fixed wing drone

Technical field

The invention relates to the technical field of drones, in particular to a propeller biaxial vector servo redirection device and a vertical take-off and landing fixed-wing UAV formed by the reversing device.

Background technique

The UAV is a non-manned aerial vehicle that is controlled by radio remote control equipment and its own program control device. It is widely used because of its flexibility, quick response, unmanned flight and low operational requirements. Aerial photography, agricultural plant protection, disaster relief, geological mapping, news reports, power inspections, film and television shooting, military reconnaissance and many other fields.

At present, the thrust reversal technology plays a vital role in the flight attitude adjustment and flight height adjustment of the drone. The thrust reversal technology in the traditional sense generally refers to the technology that the engine thrust is controlled by the deflection of the nozzle or the tail jet to replace the control surface of the original aircraft or enhance the maneuvering function of the aircraft, and to control the flight of the aircraft in real time. It can effectively improve the maneuverability of the aircraft, thus reducing the aerodynamic rudder surface of the aircraft and enhancing the overall flight performance of the aircraft; however, given the structural and functional nature of the drone itself, the existing drones mainly rely on the propeller Control to achieve the thrust function of the thrust, that is, by controlling the engine to cause the thrust to generate longitudinal or lateral deflection, thereby generating additional thrust components and additional thrust moments for the drone to achieve thrust deflection of the aircraft, thereby enabling the aircraft to Gain additional control capabilities to achieve flight attitude and flight altitude adjustment control. However, due to the existing propeller thrust direction changing mechanism, there are still some deficiencies in the design of the structure, which leads to many problems such as poor flexibility of the propeller direction, small range of direction change, and poor stability of the direction change process. Some propeller changing mechanisms also have defects such as relatively complicated structure, unreasonable arrangement of structural components, difficulty in implementation, and the like.

Furthermore, the existing UAVs are generally divided into fixed-wing UAVs and Rotary Wing UAVs; among them, the rotary-wing UAV mainly relies on the engine to make the rotary wing rotate around its own axis, and the rotary wing rotates. The relative motion with the air obtains lift, but since the rotary wing provides mainly lift, the rotary wing drone obtains a smaller horizontal thrust parallel to the fuselage axis, so the horizontal flight speed is slower. The fixed-wing drone is mainly driven by the engine. The engine drive generates horizontal thrust parallel to the axis of the fuselage, so that the drone can fly at high speed in the air, but because the engine can not produce lift perpendicular to the axis of the fuselage, it is fixed. The winged drone can only obtain the lift by the relative movement between the fixed wing and the air to overcome the gravity of the fixed-wing UAV. The magnitude of the lift and the relative motion speed between the fixed wing and the air are positively correlated. The larger the fixed-wing drone is, the greater the lift is; thus, the fixed-wing drone mainly has the following two disadvantages: First, a longer runway is required for take-off to obtain sufficient fixed-wing drones. The horizontal speed is such that the fixed-wing drone gains sufficient lift to take off; 2. The fixed-wing drone needs to maintain sufficient flight speed after take-off to obtain sufficient lift to overcome its own gravity. Based on this, current drones either have a slower horizontal flight or rely on long runways and need to maintain sufficient flight speed after takeoff.

Summary of the invention

In view of the deficiencies of the prior art described above, it is an object of the present invention to provide a propeller biaxial vector servo redirecting device; another object of the present invention is to provide a vertical takeoff and landing fixed wing formed based on the redirecting device Drone.

In order to achieve the above object, the first technical solution adopted by the present invention is:

A propeller biaxial vector servo redirection device comprising a fixed steering gear fixedly mounted on a tail end of a drone, a rotary steering gear coupled to a fixed steering gear, and a propeller engine coupled to a rotating steering gear And a propeller mounted on the output shaft of the propeller engine; the fixed steering gear drives the rotary steering gear to rotate up and down in a YZ axis plane relative to the fixed steering gear, the rotary steering gear driving the propeller engine relative to the rotating steering gear The left and right rotational motions are performed in the plane of the upper XY axis, and the propeller engine drives the propeller to perform a rotational motion with the central axis of the propeller engine as a central axis.

Preferably, the fixed steering gear includes a first steering base fixedly mounted on the tail end of the drone and a first vector motor fixedly mounted on the first steering base, the first An output shaft of a vector motor is arranged along the X-axis direction, and a center line of the output shaft of the first vector motor is located in a central region of the first servo base;

Two first spiral arms are disposed on the bottom surface of the rotating steering gear and symmetrically disposed along the X-axis direction, and the ends of the two first rotating arms are respectively axially connected to the lower region of the first steering base and are respectively located a first active swing arm is sleeved on the output shaft of the first vector motor, and a first connecting swing arm is connected to the central region of the rotary steering gear. The head end of an active swing arm is axially coupled to the end of the first articulating arm;

The first vector motor drives the rotary steering gear through the first active swing arm and the first articulating swing arm with the connecting line between the ends of the two first rotating arms as the rotation axis in the YZ axis plane relative to the first steering gear The base is rotated from top to bottom or from bottom to top.

Preferably, the cross-sectional shape of the first servo base in the X-axis direction is a "U" shape, and the first vector motor is fixedly mounted on the bottom plate of the first steering base, and the two A swing arm is located between the two opposite side plates of the first servo base and each of the first swing arms is connected to a side plate of the corresponding first servo base via a pivot axis.

Preferably, a plurality of anti-slip racks are circumferentially and evenly disposed on the inner wall of the sleeve hole of the first active swing arm.

Preferably, the head end of the first active swing arm is formed with two oppositely distributed first shaft plates, and the end of the first connecting swing arm is clamped between the two first shaft plates and passes through a connecting shaft Connected to the first shaft plate.

Preferably, the rotary steering gear comprises a second steering gear base and a second vector motor fixedly mounted on a bottom surface of the second steering gear base, the two first first arm being provided by the second steering base The left and right sides of the bottom surface of the seat are extended toward the direction of the first servo base, the output shaft of the second vector motor is arranged along the Y-axis direction, and the lower region of the second servo base is along the X a limit strip opening is defined in the axial direction, and an output shaft of the second vector motor is located in a central portion of the limit strip opening;

Two second spiral arms are symmetrically disposed on the bottom surface of the propeller engine and on the upper and lower sides of the limiting bar mouth, and the top surface of the second steering gear base corresponds to each second spiral arm The position of each of the second vector arms is coupled with a second active swing arm, and the eccentric region of the propeller engine is coupled with a second Connecting the swing arm, the head end of the second active swing arm is axially connected to the end of the second connecting swing arm;

The second vector motor drives the propeller engine through the second active swing arm and the second articulated swing arm with the connecting line between the ends of the two second spiral arms as the rotation axis in the XY plane relative to the second steering base Make a left-to-right or right-to-left rotary motion.

Preferably, a plurality of anti-slip racks are circumferentially and evenly disposed on the inner wall of the sleeve hole of the second active swing arm.

Preferably, the head end of the second active swing arm is formed with two oppositely distributed second shaft plates, and the end of the second connecting swing arm is clamped between the two second shaft plates and passes through a connecting shaft Connected to the second shaft plate.

Preferably, the propeller engine includes an engine body and an engine base fixedly mounted on a bottom surface of the engine body, and the two second arms are formed on a bottom surface of the engine base, and the engine base Also provided on the bottom surface are two second shaft plates for clamping the head end of the second connecting swing arm and axially connecting with the head end of the second connecting swing arm, and the two second shaft plates are The two second arms are distributed in a triangle shape centering on the central axis of the engine body, and the propeller is fitted on the output shaft of the engine body.

The second technical solution adopted by the present invention is:

A vertical take-off and landing fixed-wing UAV comprising a fuselage and two wings fixed to the fuselage and symmetrically distributed with respect to a length direction of the fuselage, each of the wings being vertically mounted a power propeller, the tail end of the fuselage is provided with a propeller biaxial vector servo redirecting device;

The vertical power propeller includes a suspension beam fixed to a front end side of the wing along a Z-axis direction, a fixing seat installed at a front end of the suspension beam, a lifting motor seated on the fixing seat along the Y-axis direction, and A lifting propeller that rotates in the X-Z axis plane on the output shaft of the hoist motor and with the central axis of the hoisting motor as the rotating shaft.

By adopting the above scheme, the present invention utilizes the driving and structural relationship between the fixed steering gear, the steering servo, the propeller engine and the propeller, and can realize the driving effect of the two-axis universal direction, so as to finally enable the rotation state of the propeller to be multiple The direction and the in-plane are carried out to provide conditions for the aircraft to hover, horizontally push, and turn at various angles, effectively expanding the range of the UAV's direction of change, and providing a change in the flight attitude of the UAV. Strong guarantee; its structure is simple and compact, control precision and stability are high, flexibility is strong, and it has strong practical application value and market promotion value. At the same time, the fixed-wing UAV formed by the direction changing device can not only realize the functions of vertical take-off and landing, air hovering, flight attitude adjustment, etc., but also can effectively save the conversion by changing the direction changing device and the vertical power propeller. The energy loss of the man-machine provides favorable conditions for extending the life of the drone and reducing its mission load.

DRAWINGS

1 is a schematic structural view of a redirecting device according to an embodiment of the present invention in an installed state;

2 is a schematic structural view showing the structure of a redirecting device according to an embodiment of the present invention;

3 is a schematic exploded view of a redirecting device according to an embodiment of the present invention (1);

4 is a schematic exploded view of a redirecting device according to an embodiment of the present invention (2);

Figure 5 is a schematic exploded view of the structure of the redirecting device according to the embodiment of the present invention (3);

Figure 6 is a schematic exploded view of the structure of the redirecting device according to the embodiment of the present invention (4);

Figure 7 is a perspective view showing the structure of a fixed-wing UAV according to an embodiment of the present invention;

Figure 8 is a plan view showing the structure of a fixed-wing UAV according to an embodiment of the present invention.

detailed description

The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

As shown in FIG. 1 to FIG. 6 , the propeller biaxial vector servo redirection device provided by the embodiment includes a fixed installation on the tail end of the UAV (such as the end surface of the UAV). a fixed steering gear a, a rotating steering gear b connected to the fixed steering gear a, a propeller engine c coupled to the rotating steering gear b, and a propeller d mounted on the output shaft of the propeller engine c; The machine a drives the steering servo b to rotate up and down in the YZ axis plane with respect to the fixed steering gear a, and the steering servo b drives the propeller engine c to rotate left and right in the upper XY plane relative to the rotating steering gear b ( It can be understood that the XY axis plane mentioned here is an opposite plane, that is, when there is no relative rotation between the turning servo b and the fixed steering gear a, the turning of the steering gear b drives the propeller engine c. It is in a standard XY axis plane, and when the relative rotation between the turning servo b and the fixed steering gear a, then the XY axis is a relative plane), the propeller engine c drives the propeller d to the propeller engine c The central axis rotates for the center axis motion.

In this way, the fixed steering gear a acts on the rotational driving of the steering servo b, the rotary steering gear b drives the propeller engine c to perform synchronous rotation, and the rotary steering gear b directly drives the propeller engine c to form a two-axis universal joint. The driving effect, that is, the rotation state of the propeller d can be finally made in a plurality of directions and planes; for example, after the device of the embodiment is mounted on a fixed-wing UAV, by using other forms of propellers and passing The steering control of the propeller d realizes the high-altitude hovering, horizontal pushing, and steering of various angles of the aircraft, which effectively expands the range of the UAV's redirecting direction and provides a powerful guarantee for the change of the flying attitude of the UAV. .

In order to enhance the driving effect of the fixed steering gear a on the rotating steering gear b, the fixed steering gear a of the present embodiment includes a first steering gear base 10 fixedly mounted on the tail end of the drone and fixedly mounted on a first vector motor 11 on the first steering base 10; wherein the output shaft of the first vector motor 11 is disposed on the first steering base 10 in the X-axis direction, and the first vector motor 11 The center line of the output shaft is located in the central region of the first steering base 10; at the same time, two first spiral arms 20 are disposed symmetrically on the bottom surface of the rotating steering gear b and along the X-axis direction, and the two first rotations The ends of the arms 20 are all connected to the first rudder The lower portion of the base 10 of the machine base 10 is located on the left and right sides of the first vector motor 11, respectively, and the first active swing arm 12 is sleeved on the output shaft of the first vector motor 11 in the middle region of the steering servo b. The shaft is connected with a first connecting swing arm 21, and the head end of the first active swing arm 12 is axially connected with the end of the first connecting swing arm 21; thus, the power provided by the first vector motor 11 can be used to pass the first active swing The arm 12 and the first engaging swing arm 21 to drive the turning servo b can be made with respect to the first steering base 10 in the YZ axis plane with the connecting line between the ends of the two first rotating arms 20 as the rotation axis. The top-down or bottom-up rotational motion (ie, equivalent to enabling the turning servo b to be fixed with the lower edge of the fixed servo a as the axis and opening or closing at a certain angle). With the above structure and by controlling the specific size of the relevant components, the rotary steering gear b can be rotated within 90 degrees with respect to the fixed steering gear a, such as when the central axis of the steering gear b is rotated and the fixed steering gear a When the axes are coincident (ie, when the two are relatively closed), the propeller d can be rotated left and right at any angle in the plane of the XY axis; when the central axis of the steering servo b is perpendicular to the central axis of the fixed steering gear a (ie, two When the rotor is relatively open to the maximum angle, the propeller d can be rotated at any angle in the XZ axis plane; at the same time, the vector motor is used to provide power, and the precision, stability and flexibility of the steering servo b can also be exercised. Sex provides the basis for system control.

In order to maximize the structure of the entire fixed steering gear a and reasonably structurally match the relevant components, the first steering base 10 of the present embodiment adopts a structure in which the cross-sectional shape in the X-axis direction is "U"-shaped. The first vector motor 11 is fixedly mounted on the bottom plate of the first steering base 10, and the two first spiral arms 20 are located between the two opposite side plates of the first steering base 10 and each first The arms 20 are each connected to the side plates of the corresponding first servo base 10 via a pivot axis. In this way, the U-shaped structure of the first steering base 10 can be used to provide the first vector motor 11 with sufficient installation space, so that the rotary steering gear b can be aligned with the fixed rudder with the first rotating arm 20 as the axis. Machine a performs a smooth rotation.

In order to avoid the problem that the first vector motor 11 slips when the rotation of the steering servo b is driven, and the precision of the operation of the entire device is ensured, a plurality of strips are circumferentially and evenly disposed on the inner wall of the sleeve hole of the first active swing arm 12. A non-slip rack (not shown) is used to enhance the friction between the first active swing arm 12 and the output shaft of the first vector motor 11 by using a non-slip rack.

In order to avoid unnecessary swing of the first active swing arm 12 during the passage of the first connecting swing arm 21, two oppositely distributed first axial plates e are formed at the head end of the first active swing arm 12, first The end of the engaging swing arm 21 is clamped between the two first shaft plates e and connected to the first shaft plate e through a connecting shaft.

In order to maximize the structure of the entire device, the rotary steering gear b of the present embodiment includes a second steering gear base 22 and a second vector motor 23 fixedly mounted on the bottom surface of the second steering gear base 22, two The first spiral arms 20 are formed by extending the left and right sides of the bottom surface of the second steering base 22 toward the first steering base 10, and the output shaft of the second vector motor 23 is at the second steering base. 22 is arranged along the Y-axis direction, and a limit bar opening f is opened in the lower region of the second steering base 23 and along the X-axis direction, and the output shaft of the second vector motor 23 is located in the central portion of the limit bar opening f Two second spiral arms 30 are symmetrically disposed on the bottom surface of the propeller engine c and on the upper and lower sides of the limit bar opening f, on the top surface of the second steering base 22 and each second The corresponding positions of the arms 30 are formed with a support arm 24 axially coupled to the corresponding second arm 30. The output shaft of the second vector motor 23 is sleeved with a second active swing arm 25, and the eccentricity of the propeller engine c The regional shaft is connected with a second connecting swing arm 31, and the head end of the second active swing arm 25 is opposite to the end of the second connecting swing arm 31. Thereby, the propeller engine c can be driven by the second active swing arm 25 and the second articulating arm 31 by the power provided by the second vector motor 23, and the connecting line between the ends of the two second spiral arms 30 is The rotation axis makes a left-to-right or right-to-left rotation motion with respect to the second steering base 22 in the XY plane (ie, the equivalent of the propeller engine c can rotate the steering gear c in the Y-axis direction of the central axis For the shaft and at a certain angle for left-hand rotation or right-hand rotation movement); when there is no relative movement between the fixed steering gear a and the rotary steering gear b, the left-right direction change effect of the entire device can be realized, and the fixed steering gear is fixed a When the relative movement of the turning servo b occurs, the superposition effect of the turning direction effect can also be realized, thereby providing conditions for the multi-direction changing direction of the device, thereby advantageously ensuring the functions of lifting, hovering and changing of the drone. .

Based on the same principle as described above, a plurality of anti-slip racks (not shown) are circumferentially and evenly disposed on the inner wall of the sleeve hole of the second active swing arm 25 of the present embodiment. At the same time, in the second active swing arm 25 The head end is formed with two oppositely distributed second shaft plates g. The ends of the second engaging swing arms 31 are clamped between the two second shaft plates g and connected to the second shaft plate g through a connecting shaft.

In addition, the propeller engine c of the present embodiment includes an engine body 32 and an engine base 33 fixedly mounted on the bottom surface of the engine body 32. The two second arm arms 30 are formed on the bottom surface of the engine base 33, and The bottom surface of the engine base 33 is also symmetrically disposed with two second shaft plates h for clamping the head end of the second connecting swing arm 31 and axially connecting with the head end of the second connecting swing arm 31, two The second axle plate h and the two second swing arms 30 are triangularly distributed around the central axis of the engine body 32, and the propeller d is fitted to the output shaft of the engine body 32.

Based on the structure of the above-mentioned redirecting device, the embodiment of the present invention further provides a vertical take-off and landing fixed-wing unmanned aerial vehicle, as shown in FIG. 7 and FIG. 8 and simultaneously combined with FIG. 1 to FIG. 6, which includes a fuselage k and Two wings m fixed on the fuselage k and symmetrically distributed with respect to the longitudinal direction of the fuselage k (ie, the Z-axis direction), and each of the wings m is provided with a vertical power propeller, in the fuselage The tail end of k is provided with a propeller biaxial vector servo redirection device as described above; wherein the vertical power propeller includes a suspension beam 40 fixed to the front end side of the wing m in the Z-axis direction, and is installed at the front end of the suspension beam 40 The fixing base 41 and the lifting motor 42 seated on the fixing base 41 in the Y-axis direction (the output shaft thereof may be arranged upward in the Y-axis direction, or may be arranged downward in the Y-axis direction) And a lifting propeller 43 mounted on the output shaft of the hoisting motor 42 and rotating in the XZ-axis plane with the central axis of the hoisting motor 42 as a rotating shaft. Therefore, the vertical power (ie, the Y-axis direction) provided by the vertical power propeller can be used to realize the take-off and landing of the drone, and it is not necessary to set a special runway for the fixed-wing drone so that it can be in any environmental place. Both can take off and land, in the process can turn off the redirecting device; when the aircraft is flying in the air, using the air buoyancy and the multi-directional thrust generated by the redirecting device, the aircraft can maintain sufficient horizontal flight power, and Realizing the steering of the aircraft and changing the attitude of the aircraft, etc., the vertical power propeller can be turned off during this process; while the drone is hovering in the air, the vertical power propeller can be activated and the redirecting device can be turned off. Based on this, not only the functions of vertical takeoff and landing, air hovering and flight attitude adjustment of the fixed-wing UAV can be realized; The power propeller and the direction changing device change the opening and closing control, which effectively saves the energy loss of the drone, helps to extend the life time of the drone, and reduces the mission load of the drone.

The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related The technical field is equally included in the scope of patent protection of the present invention.

Claims

A propeller biaxial vector servo redirection device, characterized in that it comprises a fixed steering gear fixedly mounted on the tail end of the drone, a rotating steering gear connected to the fixed steering gear, and a shaft connected to the rotating rudder An onboard propeller engine and a propeller mounted on an output shaft of the propeller engine; the fixed steering gear drives the rotary steering gear to rotate up and down in a YZ axis plane relative to the fixed steering gear, the rotary steering gear driving the propeller engine relative to The rotary steering gear performs a left-right rotational motion in a plane of the upper XY axis, and the propeller engine drives the propeller to perform a rotational motion with the central axis of the propeller engine as a central axis.
A propeller biaxial vector servo redirection device according to claim 1, wherein said fixed steering gear comprises a first steering base fixedly mounted on a tail end of the drone and fixedly a first vector motor mounted on the base of the first steering gear, the output shaft of the first vector motor is arranged along the X-axis direction, and the center line of the output shaft of the first vector motor is located at the base of the first steering gear Within the central region;

Two first spiral arms are disposed on the bottom surface of the rotating steering gear and symmetrically disposed along the X-axis direction, and the ends of the two first rotating arms are respectively axially connected to the lower region of the first steering base and are respectively located a first active swing arm is sleeved on the output shaft of the first vector motor, and a first connecting swing arm is connected to the central region of the rotary steering gear. The head end of an active swing arm is axially coupled to the end of the first articulating arm;

The first vector motor drives the rotary steering gear through the first active swing arm and the first articulating swing arm with the connecting line between the ends of the two first rotating arms as the rotation axis in the YZ axis plane relative to the first steering gear The base is rotated from top to bottom or from bottom to top.
A propeller biaxial vector servo redirection device according to claim 2, wherein said first steering base has a U-shaped cross-sectional shape along the X-axis direction, and said first vector motor is fixed. Mounted on the bottom plate of the first steering gear base, two of the first spiral arms are located between two opposite side plates of the first steering gear base and each of the first spiral arms passes through a pivot The rotating shaft is connected to the side plate of the corresponding first steering base.
A propeller biaxial vector servo redirection device according to claim 3, wherein a plurality of anti-slip racks are circumferentially and evenly disposed on the inner wall of the sleeve hole of the first active swing arm.
A propeller biaxial vector servo redirection device according to claim 2, wherein the first active swing arm has two oppositely disposed first shaft plates, and the first connecting pendulum The end of the arm is clamped between the two first shaft plates and connected to the first shaft plate via a connecting shaft.
A propeller biaxial vector servo redirection device according to claim 2, wherein said rotary steering gear comprises a second steering gear base and a fixedly mounted on a bottom surface of the second steering gear base a second vector motor, two of the first spiral arms are formed by extending from the left and right sides of the bottom surface of the second steering base toward the first steering base, and the output shaft edge of the second vector motor Arranging in the Y-axis direction, a lower limit region of the second servo base and a limit strip opening is formed along the X-axis direction, and an output shaft of the second vector motor is located in a central region of the limit strip opening;

Two second spiral arms are symmetrically disposed on the bottom surface of the propeller engine and on the upper and lower sides of the limiting bar mouth, and the top surface of the second steering gear base corresponds to each second spiral arm The position of each of the second vector arms is coupled with a second active swing arm, and the eccentric region of the propeller engine is coupled with a second Connecting the swing arm, the head end of the second active swing arm is axially connected to the end of the second connecting swing arm;

The second vector motor drives the propeller engine through the second active swing arm and the second articulated swing arm with the connecting line between the ends of the two second spiral arms as the rotation axis in the XY plane relative to the second steering base Make a left-to-right or right-to-left rotary motion.
A propeller biaxial vector servo redirection device according to claim 6, wherein a plurality of anti-slip racks are circumferentially and evenly disposed on the inner wall of the sleeve hole of the second active swing arm.
A propeller biaxial vector servo redirection device according to claim 6, wherein the head end of the second active swing arm is formed with two oppositely distributed second shaft plates, and the second articulating pendulum The end of the arm is clamped between the two second shaft plates and connected to the second shaft plate via a connecting shaft.
A propeller biaxial vector servo redirection device according to claim 6, wherein said propeller engine comprises an engine body and is fixedly mounted on a bottom surface of the engine body. An engine base, two of the second spiral arms are formed on a bottom surface of the engine base, and the bottom surface of the engine base is symmetrically disposed with two head ends for clamping the second connecting swing arm And a second shaft plate axially connected to the head end of the second connecting swing arm, wherein the two second shaft plates and the two second spiral arms are distributed in a triangle shape centering on a central axis of the engine body, the propeller suit On the output shaft of the engine body.
A vertical take-off and landing fixed-wing UAV comprising a fuselage and two wings fixed to the fuselage and symmetrically distributed with respect to a longitudinal direction of the fuselage, wherein each of the wings is a vertical power propeller is provided, the tail end of the fuselage is provided with a propeller biaxial vector servo redirection device according to any one of claims 1-9;

The vertical power propeller includes a suspension beam fixed to a front end side of the wing in a Z-axis direction, a fixing seat installed at a front end of the suspension beam, a lifting motor seated on the fixing seat along the Y-axis direction, and a lifting motor mounted on the lifting motor. A lifting propeller that rotates in the XZ-axis plane on the output shaft and with the central axis of the hoisting motor as the rotating shaft.