CN109677625A - Single rotor unmanned plane - Google Patents

Abstract

The invention discloses a kind of single rotor unmanned planes, including unmanned aerial vehicle body and flying power system, the unmanned aerial vehicle body includes main machine body, tail pipe and coda wave case, the main machine body includes power bin and the power storehouse for placing battery, the flying power system includes rotor mechanism and drive system, the drive system includes driving unit and transmission mechanism, and the transmission mechanism includes gear drive, belt gear and jointed gear unit.Unmanned plane of the invention solves the problems, such as the end-play of rotor mechanism and main shaft by angular contact bearing; stable transmission is also ensured when changing transmission direction by belt transmission solution, the control slide block mechanism of empennage is that quick-detachable bulb connects and is connected together, there is between tail pipe and main machine body, power bin and power storehouse tail supporting rod fuselage stiffening plate, head-shield fixed column to be all used to guarantee that part can be effectively protected when dropping for unmanned plane by fixed plate installation, these structures by bulb.

Description

Single rotor unmanned plane

Technical field

The invention belongs to air vehicle technique fields, more particularly to a kind of single rotor unmanned plane.

Background technique

Single rotor unmanned plane, also referred to as helicopter unmanned plane are gone up to the air by main rotor and are flown, and are changed by tail rotor and are deflected Direction has mobility strong, the fast characteristic of flying speed, so racing compared to more rotors or fixed-wing unmanned plane In field, helicopter unmanned plane is always more popular type, and the main rotor body of helicopter unmanned plane be it is entire nobody The power resources of machine, so main rotor body needs splendid stability, to guarantee the stabilized flight of unmanned plane, main rotor rotation When turning, since centrifugal force is larger, so that the deflection of main rotor may be unable to complete successfully, or deflection cannot reach predetermined angle Degree, the main rotor body of existing helicopter unmanned plane, the deflection connection of main paddle folder are all by installed thrust bearing and general Logical roller bearing is completed, and is had thrust bearing to undertake its centrifugal tension, but since the end-play of thrust bearing is larger, is actually made In, the deflection and rotation of main rotor all have certain error with setting value；Empennage mechanism plays when offsetting main rotor rotation Reaction force prevents straight machine rotation, is in addition also used for guaranteeing that straight machine has stable heading, in the prior art, empennage rotation The transmission turned is gear drive, and mechanical precision is more demanding, and failure rate, spoilage are higher；The deflection structure of empennage is By being all that hinged structure is completed, this is also relatively high for required precision, and the transmission smoothness of mechanism is not high, and hinged Structure is radially fixed mode, also can directly be damaged when straight machine is dropped；

The main body mechanism of unmanned plane be related to the flying speed of entire unmanned plane, stabilization and it is resistance to fall performance, reasonably to tie The fuselage that structure constitutes intensity and rigidity meets and weight is not too high, guarantees the stable operation of straight machine, and drop in unmanned plane When, additionally it is possible to the higher part of important and price is effectively protected；In addition, the driving motor of unmanned plane is due to needing Great torque is broken into, so the fixed of driving motor needs very high stability, the output shaft of existing driving motor is related Master gear is all vacant state, i.e., the mounting base that the end that output shaft stretches out is not fixed, when driving motor operates at this time, Output shaft can generate vibration, make its imprecision that engages with driven fluted disc, serious it also occur that the phenomenon that beating tooth.

Summary of the invention

The invention mainly solves the technical problem of providing a kind of single rotor unmanned planes, solve to lead by angular contact bearing The end-play of rotor and the axial displacement problem of main shaft guarantee that crawl will not all occur for the axial direction of main rotor and main shaft, Keep the operating of mechanism more smooth, empennage mechanism is driven by belt, since belt has flexibility, when changing transmission direction, energy Guarantee stable transmission, in addition, the control slide block mechanism of empennage is that quick-detachable bulb connects and is connected together, tail supporting rod There is fuselage stiffening plate between tail pipe and main machine body, power bin and power storehouse by bulb, head-shield fixed column is installed on transition The intact of part can be effectively protected in plate, these structures when unmanned plane is dropped.

In order to solve the above technical problems, a technical solution of use of the invention is as follows:

A kind of single rotor unmanned plane, including unmanned aerial vehicle body and flying power system, the unmanned aerial vehicle body include host Body, tail pipe and coda wave case, one end of the tail pipe is connected to main machine body and the other end is connected to coda wave case, the flying power system System includes rotor mechanism and drive system, and the rotor mechanism is connected to the drive system, is driven by the drive system The rotation and deflection of the rotor mechanism, the rotor mechanism include main rotor body and empennage mechanism, the main rotor body Positioned at the main machine body, the empennage mechanism is located at the coda wave case；

The main machine body includes power bin and the power storehouse for placing battery, and the power bin is located at the power storehouse Top, the power bin and the power storehouse are added between the power bin and the power storehouse equipped with fuselage by Stud connection Strong plate, the both ends of the fuselage stiffening plate are connected to the power bin and the power storehouse, and the fuselage stiffening plate with The power bin and the power storehouse constitute triangular structure, and the side wall of the power bin is equipped with for fixing unmanned nose shell Head-shield fixed column, the head-shield fixed column are fixed on transition plates, and the transition plates is fixed on the side wall of the power bin；

The power storehouse, which is equipped with, can pull out the power panel of the power storehouse, and the power panel and the power storehouse it Between be equipped with Quick-disassembling mechanism；

Tail supporting rod is equipped between the tail pipe and the main machine body, one end bulb of the tail supporting rod is connected to the tail Pipe, and other end bulb is connected to the main machine body, the tail pipe, tail supporting rod and main machine body constitute triangular structure；

The drive system includes driving unit and transmission mechanism, and the driving unit includes driving motor and steering engine, institute It states driving motor and the steering engine is all installed on the power bin, the transmission mechanism includes gear drive, belt transmission Mechanism and jointed gear unit, the gear drive connect the driving motor and main rotor body and drive the main rotation Wing mechanism rotation, the belt gear connect the driving motor and the empennage mechanism and the empennage mechanism are driven to revolve Turn, the jointed gear unit connects the steering engine and the rotor mechanism and controls the rotor mechanism deflection；

The gear drive includes being set to the master gear of the output shaft of the driving motor and set on the driven of main shaft Fluted disc, the master gear and the driven fluted disc engagement, the driving motor are installed on the power bin by first motor seat, And the master gear stretches out the first motor seat, the other end of the master gear is equipped with the second motor cabinet, the first motor It is all held equipped with main pinion between seat and second motor cabinet and the master gear；

The main shaft is set to the power bin, and one end of the main shaft is equipped with the first spindle drum, and from first main shaft The other end of seat towards the main shaft is successively arranged the driven fluted disc, front pulley, the second spindle drum, third spindle drum and institute State main rotor body, second spindle drum and third spindle drum are structure as a whole, first spindle drum, the second spindle drum and Third spindle drum is all fixed on the power bin, first spindle drum, the second spindle drum and third spindle drum and the main shaft Between all be equipped with angular contact bearing, between the driven fluted disc and the main shaft be equipped with unilateral bearing；

The belt gear includes the front pulley and the tail belt pulley in the coda wave case, the preceding skin Belt wheel and the tail belt pulley connect transmission by belt, the belt passes through the tail pipe and both ends be connected to it is described before Belt pulley and the tail belt pulley, and then by the power transmission of driving motor to the coda wave case, the belt be located at it is described before One end of belt pulley is equipped with the pinch roller for being tensioned the belt, and the pinch roller includes fixed pinch roller and floating pressure zone Wheel, the fixed pinch roller are fixed on the side wall of the power bin, and the floating pinch roller, which is fixed on from the side wall, to be extended Elastic slice；

The jointed gear unit includes connecting rod and linkage bulb, the connecting rod include the body of rod and two be respectively arranged on it is described The bulb button at body of rod both ends, one end of the body of rod has right-handed thread, and the other end has left hand thread, two bulbs Deduction of points is not threadedly connected to the both ends of the body of rod, and the jointed gear unit further includes the output shaft for being installed on the steering engine The free end of steering engine arm, the steering engine arm is equipped with the linkage bulb；

The main rotor body includes the main rotor head for being fixedly connected on the main shaft, the main rotor head and the main shaft It is vertically arranged, the main rotor head includes joining in paddle seat, and connection has vertical arm and transverse arm, connection mistake in the paddle seat in the paddle seat The transverse arm and vertical arm are configured to T-shaped structure, and the vertical arm is fixedly connected on the main shaft, and the both ends of the transverse arm are all set There is the main paddle folder for clamping main screw, one end of the main paddle folder is set in the transverse arm, and the position worn is set There are thrust bearing and at least one described angular contact bearing, two main paddle folders all pass through the thrust bearing and the corner connection Contact bearing is rotationally connected with the transverse arm, and the side wall of two main paddle folders is all equipped with paddle clamp arm, and two main paddle folders Paddle clamp arm be relative direction setting, the main paddle folder is fixed in one end of the paddle clamp arm, and the other end is equipped with the linkage ball Head；

The main rotor body further includes cross plate, and the cross plate wears and is fixed on the main shaft and is located at the paddle The lower section that joins in seat, the cross plate include oscillating bearing, disk, cross lower wall, cross plate inner ring and the angular contact on cross Bearing, disk and cross lower wall are all set in the lateral wall of the cross plate inner ring on the cross, and are located at the cross The both ends of disk inner ring, disk is fixedly connected with the cross plate inner ring on the cross, in the cross lower wall and the cross plate Circle is rotatably connected by the angular contact bearing, and the oscillating bearing is set to the inner sidewall of the cross plate inner ring, and is located at One end on the cross where disk, the inner ring of the oscillating bearing are fixed on the main shaft, and the cross plate passes through the pass Bearings can be realized pendulum motion, and the side wall of disk is additionally provided with four linkage bulbs on the cross, wherein two opposite institutes Linkage bulb is stated as overturning bulb, and other two described linkage bulb is phase bulb, the overturning bulb and the paddle press from both sides The linkage bulb of arm one end is connected by the connecting rod, and the outside of the cross lower wall is equipped with along described in uniformly distributed three in its periphery Link bulb, and three linkage bulbs all pass through the connecting rod and are connected to the steering engine arm；

The empennage mechanism includes that empennage, the coda wave case for being driven the empennage rotation and the control empennage are inclined The control sliding block turned；

The empennage includes joining in empennage, being set in the tail horizontal axis joined in the empennage and two tail-rotor folders, described in two Tail-rotor presss from both sides the both ends for being socketed on the tail horizontal axis respectively, and two tail-rotor folders can all be rotated around the axis of its socket end, The angular contact bearing and thrust bearing, two tail-rotor fixtures are all equipped between two tail-rotor folders and the tail horizontal axis There is tail-rotor arm, and the tail-rotor arm of two tail-rotor folders is arranged oppositely, the tail-rotor arm is structure as a whole with tail-rotor folder；

The coda wave case includes cabinet, and the tail belt pulley for belt transmission is equipped in the cabinet, is used for tightening belt Tail pinch roller and auxiliary pinch roller, the auxiliary pinch roller, which pushes down the belt, conforms to the tail belt pulley, the tail Belt pulley is set to tailing axle, and the coda wave case is stretched out in one end of the tailing axle, and the one end stretched out is equipped with the empennage, the tail The wing is vertically arranged with the tailing axle；

The control sliding block includes stirring fork and sliding block group, and the sliding block group is set in the tailing axle, and is located at the tail Between the wing and the coda wave case, the sliding block group can slide axially in the tailing axle, and the sliding block group bulb is connected to two A tail-rotor arm, described one end for stirring fork is rotationally connected with the cabinet, and its other end is connected with the sliding block group, The fork of stirring can drive the sliding block group to slide by the swing for stirring fork.

It further says, the sliding block group includes copper sheathing, flanged bearing, sliding sleeve, butterfly pawl and control arm, and the copper sheathing is worn It is placed on the tailing axle, and the copper sheathing can slide axially along it, the butterfly pawl is fixedly connected with the copper sheathing, the flanged shaft It holds and is installed between the copper sheathing and the sliding sleeve, the sliding sleeve is relatively rotated by the flanged bearing and the copper sheathing to be connected It connects, one end of the claw and the control arm of the butterfly pawl is hinged, the other end of the control arm and the tail-rotor arm bulb Connection；

Further say, the fork of stirring by caudal furca bracket is installed on the cabinet, and it is described stir to pitch rotatably connect It is connected to the caudal furca bracket, the fork of stirring is equipped with toggle arm, and the toggle arm is connected to the steering engine by tail pull rod, described The both ends of tail pull rod are all equipped with the connecting rod, and the plug for stirring fork is connected with the sliding sleeve.

It further says, the lateral wall of the sliding sleeve has linkage slot, and the plug for stirring fork is equipped with linkage screw, institute It states linkage screw and is sticked in the linkage slot.

It further says, the tail supporting rod is two, and the tail pipe is equipped with tail supporting rod fixing seat, the tail supporting rod fixing seat It holds tightly including two cooperations in the semicircular pedestal of the tail pipe, the both ends of two pedestals pass through screw bolt and nut respectively Connection locking, one end of the bolt are additionally provided with bulb, and the two sidewalls of the power storehouse of the fuselage are all equipped with the linkage bulb, The both ends of two tail supporting rods are all equipped with the bulb button, and two tail supporting rods all one end bulbs are connected to the tail supporting rod Fixing seat, the other end respectively bulb be connected to the power storehouse two sidewalls the linkage bulb.

It further says, the quantity of the angular contact bearing at two main paddle folders is all two, and described in two Angular contact bearing is located at the two sides of the fixation position of the paddle clamp arm.

It further says, the power bin includes two epipleurals, and two epipleurals are arranged in parallel and described in constituting Power bin, the first motor seat, the second motor cabinet, the first spindle drum, the second spindle drum and third spindle drum are located at two institutes It states between epipleural, the side wall of two epipleurals is all equipped with the steering engine mounting rack for installing the steering engine, the steering engine Mounting rack is installed on the epipleural by screw, and the screw passes through the epipleural and is fixed on the spindle drum.

It further says, the power storehouse includes two lower side panels, is vertically connected with plate and bottom plate, described two lower side panel phases Pair and be arranged in parallel, about two side plates and described be vertically connected with plate and bottom plate constitutes the power storehouse, two lower side panels Respectively with two epipleurals by the Stud connection, and then it is connected and fixed the power bin and power storehouse, and described dynamic What power storehouse was placed in the power storehouse is vertically connected with plate.

Further say, the main rotor body further includes phase retainer, the phase retainer include phase arm and Transmission arm, the phase arm and the transmission arm are hinged, and the phase arm and the transmission arm can in being rotated in same plane, The free end of the phase arm, which is articulated in the main shaft or the paddle seat, to be joined, and the free end bulb of the transmission arm is connected to described Phase bulb.

It further says, there are two threaded hole, two threaded holes for one end tool of the paddle clamp arm equipped with linkage bulb It arranges by horizontal direction, the linkage bulb can be installed on any threaded hole.

It further says, the transverse arm joined in the paddle seat has the through-hole axially penetrated through along it, is installed with cross in the transverse arm Axis, the main paddle folder are rotationally connected with the horizontal axis.

Beneficial effects of the present invention:

One, main rotor body completes being rotatably connected for main paddle folder by using angular contact bearing, passes through angular contact axis The problem of holding the end-play for being able to solve main rotor, avoids the axial of main rotor from wriggling, and matching thrust bearing is further to protect The stability of main rotor is demonstrate,proved, guarantees the overturning that main rotor can be smooth, angular contact bearing, same main rotor is in addition also used at cross plate Equally, angular contact bearing is while guaranteeing rotary motion, moreover it is possible to axial wriggling is effectively avoided, the precision of transmission is improved, It being capable of more accurately control force with this；

Empennage mechanism is driven empennage rotation by belt, since belt has flexibility, when changing transmission direction, can guarantee Stable transmission, it is low, easy to maintain and the characteristics of cost is relatively low that there are also failure rates；In addition the control sliding block of empennage, including dial Swing arm and tail pull rod, control arm and tail-rotor arm, above-mentioned parts are all quick-detachable bulb connection, stir fork and sliding sleeve is It seperated can be connected together, it, also can be by the dispersion of itself come negative function when straight machine is dropped while guaranteeing steady operation The intact of part is effectively protected in power；The tail pinch roller and auxiliary pinch roller for tightening belt, auxiliary pressure are equipped in coda wave case Belt wheel, which pushes down the belt, conforms to the tail belt pulley, to prevent belt turning, because belt transmission can change angle, water It flates pass to move and be changed to vertically, it is possible that belt turning can occur；

It is connected between tail supporting rod and tail pipe and main machine body for bulb, when normal operation, bulb connection can guarantee tail supporting rod Smooth connection, when getting rid of the installation connection of existing screw, tail supporting rod is constantly in the state of stress deformation, moreover, bulb The detachability of connection, when can guarantee that unmanned plane is dropped, the bulb of connection can free dropping damaged without stress, thus Guarantee its integrality；In addition, there is fuselage stiffening plate between the power bin and power storehouse of main machine body, effective raising main machine body Intensity；Head-shield fixed column for installing unmanned nose shell is indirectly installed on main machine body by transition plates, drops unmanned plane When, the complete of remaining components can be protected with the damage of transition plates；

Two, power storehouse be equipped with can the power panel of movable pull easily battery can be fixed on after power panel extraction Power panel installs pusher telegram in reply source plate, and power panel is fixed by quick-disassembly structure, improves the convenience of battery installation, power Storehouse includes two blocks of epipleurals, and two blocks of epipleurals are connected and fixed structure simply by motor cabinet and spindle drum and can guarantee fuselage Intensity saves unnecessary component, the effective weight for mitigating complete machine；In addition pass through the spiral shell of aluminum between power bin and power storehouse Column is connected and fixed, by the ductility of aluminium, direct damage when effectively can prevent unmanned plane from dropping, and aluminum stud is close It spends low, can also mitigate the weight of complete machine；

Three, one end of the paddle clamp arm of main rotor body is set by horizontal direction there are two threaded hole, to enable the bulb that links Installation site is enough replaced, thus the replacement of position can set the range of the deflection angle of main rotor；In addition, link rod part Part is respectively arranged on the bulb button at body of rod both ends with the body of rod and two, and one end of the body of rod has right-handed thread, and the other end has Have left hand thread, two bulb buttons are threadedly connected to the body of rod, rotate the body of rod can be realized its both ends bulb button it is same Shi Xuanjin or back-out keep the adjusting of length of connecting rod more easy；

Four, main shaft of the invention is set there are three spindle drum, and is connected between spindle drum and main shaft by angular contact bearing, logical The characteristic for crossing angular contact bearing prevents the axial displacement of main shaft, and the fixed main shaft that three spindle drums can be stable, and can be suitable Smooth rotation, in addition the second spindle drum is structure as a whole with third spindle drum, so that the rigidity of spindle drum increases, it is effective to guarantee The stability of spindle drum；

Five, steering engine arm be hollow structure, by hollow structure, when unmanned plane is dropped, hollow steering engine arm due to Its rigidity is lower, can damage first, so as to which steering engine and pull rod and cross plate is effectively protected；The main shaft of this driving unit is also Equipped with unilateral bearing, driven fluted disc drives the main shaft rotation by the unilateral bearing, when driving motor is shut down, by institute The rotation direction that main shaft is stated relative to the driven fluted disc changes, and the main shaft can continue to keep rotation, i.e. failure according to inertia When, main rotor can also continue to provide lift to unmanned plane by inertia, and avoid unmanned plane directly drops damage.

The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention, And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.

Detailed description of the invention

Fig. 1 is the overall structure diagram of unmanned plane of the invention；

Fig. 2 is the structural schematic diagram of the main machine body of unmanned plane of the invention；

Fig. 3 is the decomposition diagram of the main machine body of unmanned plane of the invention；

Fig. 4 is the enlarged drawing in the portion A (head-shield fixed column) of Fig. 3；

Fig. 5 is the enlarged drawing in the portion B (shoe fixing seat) of Fig. 1；

Fig. 6 is the decomposition diagram of Fig. 5 (shoe fixing seat)；

Fig. 7 is the structural schematic diagram of main rotor body and driving unit of the invention；

Fig. 8 is the structural schematic diagram of driving motor of the invention；

Fig. 9 is the decomposition diagram of driving motor of the invention；

Figure 10 is the decomposition diagram of main shaft of the invention；

Figure 11 is the structural schematic diagram of belt gear of the invention；

Figure 12 is the enlarged drawing in the portion C (pinch roller) of Fig. 7；

Figure 13 is the enlarged drawing in the portion D (floating pinch roller) of Fig. 1；

Figure 14 is the enlarged drawing in the portion E (connecting rod) of Fig. 7；

Figure 15 is the schematic diagram of connecting rod of the invention；

Figure 16 is the decomposition diagram of steering engine and steering engine arm of the invention；

Figure 17 is the structural schematic diagram of main rotor body of the invention；

Figure 18 is the structural schematic diagram of main rotor head of the invention；

Figure 19 is the middle schematic diagram of main rotor head；

Figure 20 is the enlarged drawing in the portion F (paddle clamp arm) of Figure 18；

Figure 21 is the schematic diagram of the main paddle folder of main rotor head of the invention；

Figure 22 is the structural schematic diagram of cross plate of the invention；

Figure 23 is the decomposition texture schematic diagram of cross plate of the invention；

Figure 24 is the cross-sectional view of cross plate of the invention；

Figure 25 is the cross-sectional view (another swing angle) of cross plate of the invention；

Figure 26 is the enlarged drawing in the portion G (empennage mechanism) of Figure 11；

Figure 27 is the decomposition diagram of empennage of the invention；

Figure 28 is the structural schematic diagram of coda wave case of the invention；

Figure 29 is the structural schematic diagram of coda wave case and control sliding block of the invention；

Figure 30 is the structural schematic diagram (another visual angle) of coda wave case and control sliding block of the invention；

Figure 31 is the portion the H-H cross-sectional view of Figure 30；

Each section label is as follows in attached drawing:

Main machine body 601, tail pipe 602, coda wave case 702, main rotor body 30, empennage mechanism 70, power bin 6011, power storehouse 6012, stud 603, fuselage stiffening plate 604, power panel 605, Quick-disassembling mechanism 606, positioning seat 6061, spring detent 6062, on Side plate 60111, first motor seat 403, the second motor cabinet 404, the first spindle drum 406, the second spindle drum 4071, third spindle drum 4072, steering engine mounting rack 6015, spindle drum 60113, lower side panel 60121, be vertically connected with plate 60122, bottom plate 60123, stud 603, head-shield fixed column 609, transition plates 6010, tail supporting rod 607, tail supporting rod fixing seat 608, pedestal 6081, bolt 6082, spiral shell Female 6083, bulb 6084, driving unit 40, transmission mechanism 50, driving motor 402, steering engine 409, gear drive 501, skin Tape handler 502, jointed gear unit 503, master gear 4021, main shaft 401, driven fluted disc 4011, main pinion hold 405, dissipate Hot blade 4022, motor stiffening plate 4015, front pulley 4013, angular contact bearing 408, unilateral bearing 4010, coda wave case 702, Tail belt pulley 7022, belt 504, pinch roller 505, fixed pinch roller 5051, floating pinch roller 5052, elastic slice 506, connecting rod 5031, link bulb 5032, the body of rod 50311, bulb button 50312, steering engine arm 4091, main rotor head 302, phase retainer 3029, phase arm 30291, transmission arm 30292, connection 3021, vertical arm 30211, transverse arm 30212, main paddle press from both sides 3022, thrust in paddle seat Bearing 3023, paddle clamp arm 3025, through-hole 302121, horizontal axis 30213, threaded hole 30252, paddle clamp arm fixation position 30251, Disk 3032, cross lower wall 3033, cross plate inner ring 3034, overturning bulb 30321, phase bulb on cross plate 303, cross 30322, empennage 701, coda wave case 702, control sliding block 703, connection 7011, tail horizontal axis 7012, tail-rotor press from both sides 7013, tail-rotor arm in empennage 70131, cabinet 7021, tail pinch roller 7023, auxiliary pinch roller 7024, tailing axle 704, stir fork 7031, sliding block group 7032, copper sheathing 70321, claw 703241, the caudal furca of flanged bearing 70322, sliding sleeve 70323, butterfly pawl 70324, control arm 70325, butterfly pawl Bracket 7033, toggle arm 7034, tail pull rod 5033, the plug 70311 for stirring fork, linkage slot 703231, linkage 70314 and of screw Groove 70211.

Specific embodiment

The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawing, so that advantages and features of the invention energy It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.

Embodiment: a kind of single rotor unmanned plane includes unmanned aerial vehicle body and flying power system, the nothing as shown in Figure 1: Man-machine fuselage includes main machine body 601, tail pipe 602 and coda wave case 702, and one end of the tail pipe is connected to main machine body and the other end connects It is connected to coda wave case, the flying power system includes rotor mechanism and drive system, and the rotor mechanism is connected to the driving System, the rotation and deflection of the rotor mechanism are driven by the drive system, and the rotor mechanism includes main rotor body 30 and empennage mechanism 70, the main rotor body be located at the main machine body, the empennage mechanism is located at the coda wave case；

As shown in Figure 2: the main machine body includes power bin 6011 and the power storehouse 6012 for placing battery, the power In the top of the power storehouse, the power bin is connect with the power storehouse by stud 603 position in storehouse, the power bin with it is described Fuselage stiffening plate 604 is equipped between power storehouse, the both ends of the fuselage stiffening plate are connected to the power bin and the electricity Source storehouse, and the fuselage stiffening plate and the power bin and the power storehouse constitute triangular structure, pass through the stabilization of triangle The stabilization of characteristic enhancing airframe structure；

As shown in Figures 2 and 3: the power storehouse is equipped with the power panel 605 that can pull out the power storehouse, and the electricity Quick-disassembling mechanism 606 is equipped between source plate and the power storehouse, the power panel is fixed by the Quick-disassembling mechanism or unclamped and can It extracts out in the power storehouse, to reach the quick dismounting and change function of battery；

In the present embodiment, the Quick-disassembling mechanism includes being set to the positioning seat 6061 of the power panel and being installed on above and below described The spring detent 6062 of connecting plate, the spring detent are inserted into and extract the positioning seat, under normal conditions, the spring detent It is inserted into the positioning seat, power panel is fixed with the relative position for being vertically connected with plate at this time, when extracting the spring detent, Gu Determine state to unlock, the power panel can be extracted out；

The power bin includes two epipleurals 60111, and two epipleurals are arranged in parallel and constitute the power bin, The spindle drum for installing the motor cabinet of driving motor and for installing main shaft, and two institutes are equipped between two epipleurals It states epipleural to be connected and fixed by the motor cabinet and spindle drum, the motor cabinet includes first motor seat 403 and the second motor Seat 404, the spindle drum include the first spindle drum 406, the second spindle drum 4071 and third spindle drum 4072, two upsides The side wall of plate is all equipped with the steering engine mounting rack 6015 for installing the steering engine, and the steering engine mounting rack is installed on institute by screw Epipleural is stated, the screw passes through the epipleural and is fixed on the spindle drum 60113；

The power storehouse includes two lower side panels 60121, is vertically connected with plate 60122 and bottom plate 60123, described two downsides Plate is opposite and is arranged in parallel, and about two side plates are vertically connected with plate and the bottom plate composition power storehouse with described, under two described Side plate is connect with two epipleurals by the stud 603 respectively, and then is connected and fixed the power bin and power storehouse, and What the power bin was placed in the power storehouse is vertically connected with plate；

In the present embodiment, the stud is aluminum stud.

As shown in Figure 4: the side wall of the power bin is equipped with the head-shield fixed column 609 for fixing unmanned nose shell, described Head-shield fixed column is fixed on transition plates 6010, and the transition plates is fixed on the side wall of the power bin, and the head-shield fixed column is logical It crosses the transition plates and is indirectly fixed on the main machine body, so that accident occurs for the unmanned plane when dropping, can effectively protect The complete of main machine body is protected, the position of damage is allowed to be only positioned at transition plates；

In the present embodiment, the transition plates is carbon fiber transition plates.

Tail supporting rod 607, one end bulb of the tail supporting rod are equipped between the tail pipe and the main machine body as shown in Figure 1: It is connected to the tail pipe, and other end bulb is connected to the main machine body, the tail pipe, tail supporting rod and main machine body constitute triangle Structure increases the stability of tail pipe equally with triangular structure；

As shown in Figure 5 and Figure 6: the tail supporting rod is two, and the tail pipe is equipped with tail supporting rod fixing seat 608, the shoe Bar fixing seat includes that two cooperations are held tightly in the semicircular pedestal 6081 of the tail pipe, and the both ends of two pedestals lead to respectively Bolt 6082 and the connection locking of nut 6083 are crossed, one end of the bolt is additionally provided with bulb 6084, the power storehouse of the fuselage Two sidewalls are all equipped with the linkage bulb, and the both ends of two tail supporting rods are all equipped with the bulb button, two tail supporting rods All one end bulbs are connected to the tail supporting rod fixing seat, the other end respectively bulb be connected to the power storehouse two sidewalls it is described Link bulb, and capable of eliminating the twisting stress after the tail supporting rod installation by bulb connection, (existing tail supporting rod is direct It is screwed connection), increase service life, and when unmanned plane is dropped, the work dropped can be eliminated with the disengaging of bulb Firmly, the complete of components is protected.

The drive system includes driving unit 40 and transmission mechanism 50 as shown in Figure 1:, and the driving unit includes driving Motor 402 and steering engine 409, the transmission mechanism include gear drive 501, belt gear 502 and link transmission machine Structure 503, the gear drive connect the driving motor and main rotor body and the main rotor body are driven to rotate, The belt gear connects the driving motor and the empennage mechanism and the empennage mechanism is driven to rotate, the connecting rod Transmission mechanism connects the steering engine and the rotor mechanism and controls the rotor mechanism deflection；

As shown in Figure 7: the gear drive includes 4021 He of master gear of the output shaft set on the driving motor Set on the driven fluted disc 4011 of main shaft 401, the master gear and the driven fluted disc engagement；

As shown in Figure 8 and Figure 9: the driving motor is installed on fuselage, and the master gear by the first motor seat The first motor seat is stretched out, the other end of the master gear is set in second motor cabinet, the first motor seat and institute It states and all holds 405 equipped with main pinion between the second motor cabinet and the master gear, the master gear drives the driven tooth disk to drive The main shaft rotation, so that main rotor body be driven to rotate；

In the present embodiment, the driving motor is equipped with radiator shutter 4022, and the radiator shutter is located at the driving motor Inside, and be fixed on the rotary shaft of the driving motor；

Motor stiffening plate 4015 is equipped between the first motor seat and second motor cabinet, the motor stiffening plate Both ends are individually fixed in the first motor seat and second motor cabinet.

As shown in Figure 10: one end of the main shaft is located at first spindle drum, and from first spindle drum towards institute The other end for stating main shaft is successively arranged the driven fluted disc, front pulley 4013, second spindle drum, the third spindle drum With the main rotor body, second spindle drum and third spindle drum are structure as a whole, first spindle drum, the second main shaft It is all equipped with angular contact bearing 408 between seat and third spindle drum and the main shaft, is set between the driven fluted disc and the main shaft There is unilateral bearing 4010；

As shown in figure 11: the belt gear includes the front pulley and the tail belt pulley set on coda wave case 702 7022, the front pulley and the tail belt pulley are driven by the connection of belt 504, and then extremely by the power transmission of driving motor The coda wave case；

As shown in Figure 12 and Figure 13: one end that the belt is located at the front pulley is equipped with for being tensioned the belt Pinch roller 505, the pinch roller include that fixed pinch roller 5051 and floating pinch roller 5052, the fixed pinch roller are fixed on nothing Man-machine fuselage, the floating pinch roller are fixed on the elastic slice 506 that the fuselage extends, and the elastic slice can be such that the floating presses Belt wheel can float therewith, so as to formed elasticity push down the belt.

As shown in Figure 14 and Figure 15: the jointed gear unit includes connecting rod 5031 and linkage bulb 5032, the connecting rod The bulb button 50312 at the body of rod both ends is respectively arranged on including the body of rod 50311 and two, one end of the body of rod has dextrorotation spiral shell Line, and the other end has left hand thread, two bulb deduction of points are not threadedly connected to the both ends of the body of rod；

As shown in figure 16: the jointed gear unit further includes the steering engine arm 4091 for being installed on the output shaft of the steering engine, The free end of the steering engine arm is equipped with the linkage bulb, and the steering engine arm is hollow structure；

As shown in Figure 17, Figure 18 and Figure 19: the main rotor body includes the main rotor head for being fixedly connected on the main shaft 302, the main rotor head is vertically arranged with the main shaft；

In the present embodiment, the main rotor body further includes phase retainer 3029, described phase retainer such as Figure 17 institute Show: including phase arm 30291 and transmission arm 30292, the phase arm and the transmission arm are hinged, and the phase arm with it is described Transmission arm can be in rotating in same plane, and the free end of the phase arm, which is articulated in the main shaft or the paddle seat, to be joined, described The free end bulb of transmission arm is connected to the phase bulb, and the phase retainer is able to maintain the main rotor head and described ten Relative positional relationship on word between disk, and main rotor head rotate when can be stable drive cross on disc spins；

The main rotor head includes joining 3021 in paddle seat, and connection has vertical arm 30211 and transverse arm 30212, institute in the paddle seat It states the excessively described transverse arm of connection in paddle seat and vertical arm is configured to T-shaped structure, the vertical arm is fixedly connected on the main shaft, described The both ends of transverse arm are all equipped with the folder of the main paddle for clamping main screw 3022, and one end of the main paddle folder is set in the transverse arm, And the position worn is equipped with thrust bearing 3023 and at least one described angular contact bearing, two main paddle folders all pass through The thrust bearing and angular contact bearing are rotationally connected with the transverse arm, and the side wall of two main paddle folders is all equipped with paddle clamp arm 3025, and the paddle clamp arm of two main paddle folders is relative direction setting, the main paddle folder is fixed in one end of the paddle clamp arm, The other end is equipped with the linkage bulb；

In the present embodiment, the transverse arm that joins in the paddle seat has a through-hole 302121 axially penetrated through along it, in the transverse arm It is installed with horizontal axis 30213, the main paddle folder is rotationally connected with the horizontal axis；

In the present embodiment, the vertical arm joined in the paddle seat has blind hole, and the excessively described blind hole of connection is worn simultaneously in the paddle seat It is fixed on the main shaft；

In the present embodiment, as shown in figure 20: there are two threaded holes for one end tool of the paddle clamp arm equipped with linkage bulb 30252, two threaded holes are arranged by horizontal direction, and the linkage bulb can be installed on any threaded hole, pass through Two threaded holes can set the range of the flip angle of main rotor；

As shown in figure 21: the quantity of the angular contact bearing at two main paddle folders is all two, and described in two Angular contact bearing is located at the two sides of the fixation position 30251 of the paddle clamp arm.

As shown in figure 17: the main rotor body further includes cross plate 303, and the cross plate wears and is fixed on the master Axis and the lower section joined in the paddle seat；

As shown in Figure 22 and Figure 23: the cross plate includes oscillating bearing 3031, disk 3032, cross lower wall on cross 3033, cross plate inner ring 3034 and angular contact bearing, disk and cross lower wall are all set in the cross plate inner ring on the cross Lateral wall, and be located at the both ends of the cross plate inner ring, disk is fixedly connected with the cross plate inner ring on the cross, The cross lower wall is rotatably connected with the cross plate inner ring by angular contact bearing, and the oscillating bearing is set to the cross The inner sidewall of disk inner ring, and it is located at one end on the cross where disk, the inner ring of the oscillating bearing is fixed on the main shaft, The side wall of disk is additionally provided with four linkage bulbs on the cross, wherein two opposite linkage bulbs are overturning bulb 30321, and other two described linkage bulb is phase bulb 30322, the connection of the overturning bulb and paddle clamp arm one end Dynamic bulb is connected by the connecting rod, and the outside of the cross lower wall is equipped with the three linkage bulbs uniformly distributed along its periphery, And three linkage bulbs all pass through the connecting rod and are connected to the steering engine arm, control the cross lower wall by the steering engine Deflection, to drive the deflection of the rotor；

As shown in figures 24 and 25: the cross plate can be realized swing fortune by the oscillating bearing (flake bearing) It is dynamic.

As shown in figure 26: the empennage mechanism includes empennage 701, the coda wave case for being driven the empennage rotation The 702 control sliding blocks 703 deflected with the control empennage；

As shown in figure 27: the empennage includes connection 7011 in empennage, is set in 7012 and of tail horizontal axis joined in the empennage Two tail-rotor folders 7013, two tail-rotor folders are socketed on the both ends of the tail horizontal axis respectively, and two tail-rotor folders all can Enough axis around its socket end rotate, and are all equipped with angular contact bearing and thrust axis between two tail-rotor folders and the tail horizontal axis It holds, two tail-rotor fixtures have tail-rotor arm 70131, and the tail-rotor arm of two tail-rotor folders is arranged oppositely；

In the present embodiment, the tail-rotor arm is structure as a whole with tail-rotor folder；

As shown in figure 28: the coda wave case includes cabinet 7021, and the tail belt for belt transmission is equipped in the cabinet Wheel 7022, the tail pinch roller 7023 for tightening belt and auxiliary pinch roller 7024, the auxiliary pinch roller is by the belt pressure The tail belt pulley is firmly conformed to, the auxiliary pinch roller can prevent belt turning, since belt transmission can change angle, from Horizontal conveyor is changed to be driven vertically, it is possible that belt turning can occur, the tail belt pulley is set to tailing axle 704, the tailing axle One end stretch out the coda wave case, and the one end stretched out is equipped with the empennage, and the empennage is vertically arranged with the tailing axle；

The control sliding block is set in the tailing axle, and position including stirring fork 7031 and sliding block group 7032, the sliding block group Between the empennage and the coda wave case, the sliding block group can slide axially in the tailing axle, the sliding block group bulb Two tail-rotor arms are connected to, the sliding of the sliding block group can drive the tail-rotor arm, so that the tail-rotor folder deflection is driven, Described one end for stirring fork is rotationally connected with the cabinet, and its other end is connected with the sliding block group, and the fork of stirring leads to The swing for stirring fork is crossed, the sliding block group can be driven to slide.

As shown in Figure 29, Figure 30 and Figure 31: the sliding block group includes copper sheathing 70321, flanged bearing 70322, sliding sleeve 70323, butterfly pawl 70324 and control arm 70325, the copper sheathing is set in the tailing axle, and the copper sheathing can be axially sliding along it Dynamic, the butterfly pawl is fixedly connected with the copper sheathing, and the flanged bearing is installed between the copper sheathing and the sliding sleeve, described Sliding sleeve is relatively rotated by the flanged bearing and the copper sheathing and is connected, the claw 703241 and the control arm of the butterfly pawl One end it is hinged, the other end of the control arm is connect with the tail-rotor arm bulb, and the sliding block group is axially sliding along the tailing axle It is dynamic, to drive the tail-rotor folder deflection, and then control the deflection of empennage；

It is described to stir fork the cabinet is installed on by caudal furca bracket 7033, and it is described stir fork be rotationally connected with it is described Caudal furca bracket, the fork of stirring are equipped with toggle arm 7034, and the toggle arm is connected to the steering engine by tail pull rod 5033, described The both ends of tail pull rod are all equipped with the connecting rod, and the plug 70311 for stirring fork is connected with the sliding sleeve, and the tail pull rod is another End is connected to the steering engine, and the steering engine pulls the tail pull rod, and tail pull rod drives the toggle arm, and toggle arm is fixed on and dials Moving fork, stir at this time fork using with the caudal furca bracket as branch spot wobble, so that the plug for stirring fork described in making stirs the sliding sleeve, And then the sliding block group is driven to slide, the sliding of sliding block group drives the deflection of the tail-rotor folder also by control arm；

In the present embodiment, the lateral wall of the sliding sleeve has linkage slot 703231, and the plug for stirring fork is equipped with linkage Screw 70314, the linkage screw are sticked in the linkage slot, and the fork of stirring is by the linkage screw and the linkage The engaging of slot drives the sliding block group sliding, and the engaging is to limit the linkage screw and the movement relation of the linkage slot In the range of the linkage slot；

In the present embodiment, the side wall of the cabinet has groove 70211, and the caudal furca bracket is in the groove and solid Dingan County is loaded on the cabinet, can prevent the caudal furca bracket from rotation occurs by the groove.

In the present embodiment, it is all single-row angular contact bearing and/or double row angular contact that the main pinion, which is held with angular contact bearing, Bearing.

The course of work and working principle of the invention is as follows:

The flight of single rotor unmanned plane has there are two types of power, first is that the lift of main rotor, second is that the anti-Rotation Balance of empennage Power, lift are completed by main rotor body, and for driving motor by gear by power transmission to main shaft, main shaft drives main rotor rotation Turn, and the rotation of main rotor provides the lift of unmanned plane, meanwhile, the cross is driven by steering engine (servo motor) and connecting rod Disk deflection drives the deflection of main rotor, and then changes the lift size of main rotor, and empennage mechanism is similarly driven by belt will The power transmission of driving motor to coda wave case, drive empennage rotates, in addition, steering engine pulls tail pull rod, tail pull rod drives toggle arm, And toggle arm is fixed on and stirs fork, stir at this time fork using with caudal furca bracket as branch spot wobble, so that the plug for stirring fork be made to stir The sliding sleeve, and then the sliding block group sliding is driven, the sliding of sliding block group drives the deflection of the tail-rotor folder also by control arm；

In more detail, main rotor body completes being rotatably connected for main paddle folder by using angular contact bearing, passes through Angular contact bearing is able to solve the problem of end-play of main rotor, and the axial of main rotor is avoided to wriggle, matching thrust bearing, into The stability of the guarantee main rotor of one step, guarantees the overturning that main rotor can be smooth, in addition also uses angular contact bearing at cross plate, The same with main rotor, angular contact bearing is while guaranteeing rotary motion, moreover it is possible to effectively avoid axial wriggling, improve transmission Precision, being capable of more accurately control force with this；

Empennage mechanism is driven empennage rotation by belt, since belt has flexibility, when changing transmission direction, can guarantee Stable transmission, it is low, easy to maintain and the characteristics of cost is relatively low that there are also failure rates；In addition the control sliding block of empennage, including dial Swing arm and tail pull rod, control arm and tail-rotor arm, above-mentioned parts are all quick-detachable bulb connection, stir fork and sliding sleeve is It seperated can be connected together, it, also can be by the dispersion of itself come negative function when straight machine is dropped while guaranteeing steady operation The intact of part is effectively protected in power；The tail pinch roller and auxiliary pinch roller for tightening belt, auxiliary pressure are equipped in coda wave case Belt wheel, which pushes down the belt, conforms to the tail belt pulley, to prevent belt turning, because belt transmission can change angle, water It flates pass to move and be changed to vertically, it is possible that belt turning can occur；

It is connected between tail supporting rod and tail pipe and main machine body for bulb, when normal operation, bulb connection can guarantee tail supporting rod Smooth connection, when getting rid of the installation connection of existing screw, tail supporting rod is constantly in the state of stress deformation, moreover, bulb The detachability of connection, when can guarantee that unmanned plane is dropped, the bulb of connection can free dropping damaged without stress, thus Guarantee its integrality；In addition, there is fuselage stiffening plate between the power bin and power storehouse of main machine body, effective raising main machine body Intensity；Head-shield fixed column for installing unmanned nose shell is indirectly installed on main machine body by transition plates, drops unmanned plane When, the complete of remaining components can be protected with the damage of transition plates；

Power storehouse be equipped with can the power panel of movable pull battery easily can be fixed on electricity after power panel extraction Source plate installs pusher telegram in reply source plate, and power panel is fixed by quick-disassembly structure, improves the convenience of battery installation, power bin Including two blocks of epipleurals, two blocks of epipleurals are connected and fixed structure simply by motor cabinet and spindle drum and can guarantee the strong of fuselage Degree, saves unnecessary component, the effective weight for mitigating complete machine；In addition pass through the stud of aluminum between power bin and power storehouse It is connected and fixed, by the ductility of aluminium, direct damage when effectively can prevent unmanned plane from dropping, and aluminum stud density It is low, it can also mitigate the weight of complete machine；

One end of the paddle clamp arm of main rotor body is set by horizontal direction there are two threaded hole, to enable to link bulb more Installation site is changed, thus the replacement of position can set the range of the deflection angle of main rotor；In addition, linkage component has There is a body of rod and two bulb buttons for being respectively arranged on body of rod both ends, and one end of the body of rod has right-handed thread, and the other end has a left side Screw thread is revolved, two bulb buttons are threadedly connected to the body of rod, and rotating the body of rod can be realized the bulb button at its both ends while revolving Into or screw out, keep the adjusting of length of connecting rod more easy；

Main shaft is set there are three spindle drum, and passes through angular contact axis by angular contact bearing connection between spindle drum and main shaft The characteristic held prevents the axial displacement of main shaft, and the fixed main shaft that three spindle drums can be stable, and can smoothly rotate, separately Outer second spindle drum is structure as a whole with third spindle drum, so that the rigidity of spindle drum increases, it is effective to guarantee the steady of spindle drum It is qualitative；

Steering engine arm is hollow structure, and by hollow structure, when unmanned plane is dropped, hollow steering engine arm is rigid due to it Property is lower, can damage first, so as to which steering engine and pull rod and cross plate is effectively protected；The main shaft of this driving unit is additionally provided with Unilateral bearing, driven fluted disc drives the main shaft rotation by the unilateral bearing, when driving motor is shut down, due to the master Axis changes relative to the rotation direction of the driven fluted disc, main when the main shaft can continue to keep according to inertia rotation, i.e. failure Rotor can also continue to provide lift to unmanned plane by inertia, and avoid unmanned plane directly drops damage.

The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair Equivalent structure transformation made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant technical fields, Similarly it is included within the scope of the present invention.

Claims (10)

1. a kind of single rotor unmanned plane, it is characterised in that: including unmanned aerial vehicle body and flying power system, the unmanned aerial vehicle body Including main machine body (601), tail pipe (602) and coda wave case (702), one end of the tail pipe is connected to main machine body and the other end connects To coda wave case, the flying power system includes rotor mechanism and drive system, and the rotor mechanism is connected to the driving system System, the rotation and deflection of the rotor mechanism is driven by the drive system, the rotor mechanism includes main rotor body (30) and empennage mechanism (70), the main rotor body are located at the main machine body, and the empennage mechanism is located at the coda wave case；

The main machine body includes power bin (6011) and the power storehouse (6012) for placing battery, and the power bin is located at described The top of power storehouse, the power bin and the power storehouse connects by stud (603), the power bin and the power storehouse it Between be equipped with fuselage stiffening plate (604), the both ends of the fuselage stiffening plate are connected to the power bin and the power storehouse, and The fuselage stiffening plate and the power bin and the power storehouse constitute triangular structure, and the side wall of the power bin, which is equipped with, to be used for The head-shield fixed column (609) of fixed unmanned nose shell, the head-shield fixed column are fixed on transition plates (6010), and the transition plates is solid Due to the side wall of the power bin；

The power storehouse is equipped with the power panel (605) that can pull out the power storehouse, and the power panel and the power storehouse Between be equipped with Quick-disassembling mechanism (606)；

Tail supporting rod (607) are equipped between the tail pipe and the main machine body, one end bulb of the tail supporting rod is connected to the tail Pipe, and other end bulb is connected to the main machine body, the tail pipe, tail supporting rod and main machine body constitute triangular structure；

The drive system includes driving unit (40) and transmission mechanism (50), and the driving unit includes driving motor (402) With steering engine (409), the driving motor and the steering engine are all installed on the power bin, and the transmission mechanism includes gear drive Mechanism (501), belt gear (502) and jointed gear unit (503), the gear drive connect the driving electricity Machine and main rotor body simultaneously drive the main rotor body to rotate, and the belt gear connects the driving motor and described Empennage mechanism simultaneously drives the empennage mechanism to rotate, and the jointed gear unit connects the steering engine and the rotor mechanism and controls Make the rotor mechanism deflection；

The gear drive includes the master gear (4021) of the output shaft set on the driving motor and is set to main shaft (401) Driven fluted disc (4011), the master gear and driven fluted disc engagement, the driving motor pass through first motor seat (403) It is installed on the power bin, and the master gear stretches out the first motor seat, the other end of the master gear is equipped with the second electricity Base (404) is all equipped with main pinion and holds (405) between the first motor seat and second motor cabinet and the master gear；

The main shaft is set to the power bin, and one end of the main shaft is equipped with the first spindle drum (406), and from first main shaft The other end of seat towards the main shaft is successively arranged the driven fluted disc, front pulley (4013), the second spindle drum (4071), the Three spindle drums (4072) and the main rotor body, second spindle drum and third spindle drum are structure as a whole, and described first Spindle drum, the second spindle drum and third spindle drum are all fixed on the power bin, first spindle drum, the second spindle drum and Angular contact bearing (408) all are equipped between three spindle drums and the main shaft, are equipped between the driven fluted disc and the main shaft single To bearing (4010)；

The belt gear includes the front pulley and the tail belt pulley (7022) in the coda wave case, before described Belt pulley and the tail belt pulley are by belt (504) connection transmission, and the belt passes through the tail pipe and both ends are separately connected In the front pulley and the tail belt pulley, and then by the power transmission of driving motor to the coda wave case, the belt position It is equipped with the pinch roller (505) for being tensioned the belt in one end of the front pulley, the pinch roller includes fixed pressure zone Wheel (5051) and floating pinch roller (5052), the fixed pinch roller are fixed on the side wall of the power bin, the floating pressure zone Wheel is fixed on the elastic slice (506) extended from the side wall；

The jointed gear unit include connecting rod (5031) and linkage bulb (5032), the connecting rod include the body of rod (50311) and Two are respectively arranged on the bulb button (50312) at the body of rod both ends, and one end of the body of rod has right-handed thread, and the other end has There is left hand thread, two bulb deduction of points are not threadedly connected to the both ends of the body of rod, and the jointed gear unit further includes It is installed on the steering engine arm (4091) of the output shaft of the steering engine, the free end of the steering engine arm is equipped with the linkage bulb；

The main rotor body includes the main rotor head (302) for being fixedly connected on the main shaft, the main rotor head and the master Axis is vertically arranged, and the main rotor head includes connection (3021) in paddle seat, and connection has vertical arm (30211) and transverse arm in the paddle seat (30212), the excessively described transverse arm of connection and vertical arm are configured to T-shaped structure in the paddle seat, and the vertical arm is fixedly connected on institute Main shaft is stated, the both ends of the transverse arm are all equipped with the folder of the main paddle for clamping main screw (3022), and one end of the main paddle folder is worn Be placed on the transverse arm, and the position worn be equipped with thrust bearing (3023) and at least one described angular contact bearing, two The main paddle folder is all rotationally connected with the transverse arm, two main paddles by the thrust bearing and the angular contact bearing The side wall of folder is all equipped with paddle clamp arm (3025), and the paddle clamp arm of two main paddle folders is relative direction setting, the paddle clamp arm One end be fixed on the main paddle folder, the other end is equipped with the linkage bulb；

The main rotor body further includes cross plate (303), and the cross plate wears and is fixed on the main shaft and is located at described The lower section joined in paddle seat, the cross plate include oscillating bearing (3031), disk (3032), cross lower wall (3033), ten on cross Letter disk inner ring (3034) and the angular contact bearing, disk and cross lower wall are all set in the cross plate inner ring on the cross Lateral wall, and the both ends of the cross plate inner ring are located at, disk is fixedly connected with the cross plate inner ring on the cross, institute It states cross lower wall and is rotatably connected with the cross plate inner ring by the angular contact bearing, the oscillating bearing is set to described ten The inner sidewall of letter disk inner ring, and it is located at one end on the cross where disk, the inner ring of the oscillating bearing is fixed on the master Axis, the cross plate can be realized pendulum motion by the oscillating bearing, and the side wall of disk is additionally provided with four connection on the cross Dynamic bulb, wherein two opposite linkage bulbs are overturning bulb (30321), and other two described linkage bulb is phase Position bulb (30322), the overturning bulb are connect with the linkage bulb of paddle clamp arm one end by the connecting rod, the cross The outside of lower wall is equipped with the three linkage bulbs uniformly distributed along its periphery, and three linkage bulbs all pass through the connecting rod It is connected to the steering engine arm；

The empennage mechanism includes empennage (701), the coda wave case and the control empennage for being driven the empennage rotation The control sliding block (703) of deflection；

The empennage includes joining (7011) in empennage, being set in the tail horizontal axis (7012) joined in the empennage and two tail-rotor folders (7013), two tail-rotor folders are socketed on the both ends of the tail horizontal axis respectively, and two tail-rotor folders all can be around its set The axis rotation for connecing end, is all equipped with the angular contact bearing and thrust bearing between two tail-rotor folders and the tail horizontal axis, Two tail-rotor fixtures have tail-rotor arm (70131), and the tail-rotor arm of two tail-rotors folders is arranged oppositely, the tail-rotor arm with The tail-rotor folder is structure as a whole；

The coda wave case includes cabinet (7021), and the tail belt pulley (7022) for belt transmission is equipped in the cabinet, is used for The tail pinch roller (7023) and auxiliary pinch roller (7024) of tightening belt, the auxiliary pinch roller, which pushes down the belt, to be conformed to The tail belt pulley, the tail belt pulley are set to tailing axle (704), and the coda wave case is stretched out in one end of the tailing axle, and stretch out One end is equipped with the empennage, and the empennage is vertically arranged with the tailing axle；

The control sliding block includes stirring fork (7031) and sliding block group (7032), and the sliding block group is set in the tailing axle, and position Between the empennage and the coda wave case, the sliding block group can slide axially in the tailing axle, the sliding block group bulb Two tail-rotor arms are connected to, described one end for stirring fork is rotationally connected with the cabinet, and its other end and the cunning The linking of block group, the fork of stirring can drive the sliding block group to slide by the swing for stirring fork.

2. single rotor unmanned plane according to claim 1, it is characterised in that: the sliding block group includes copper sheathing (70321), convex Edge bearing (70322), sliding sleeve (70323), butterfly pawl (70324) and control arm (70325), the copper sheathing are set in the tail Axis, and the copper sheathing can slide axially along it, the butterfly pawl is fixedly connected with the copper sheathing, and the flanged bearing is installed on institute It states between copper sheathing and the sliding sleeve, the sliding sleeve is relatively rotated by the flanged bearing and the copper sheathing and connected, the butterfly The claw (703241) of pawl and one end of the control arm are hinged, and the other end of the control arm and the tail-rotor arm bulb connect It connects；

It is described to stir fork and be installed on the cabinet by caudal furca bracket (7033), and the fork of stirring is rotationally connected with the tail Bracket is pitched, the fork of stirring is equipped with toggle arm (7034), and the toggle arm is connected to the steering engine, institute by tail pull rod (5033) The both ends for stating tail pull rod are all equipped with the connecting rod, and the plug (70311) for stirring fork is connected with the sliding sleeve.

3. single rotor unmanned plane according to claim 2, it is characterised in that: the lateral wall of the sliding sleeve has linkage slot (703231), the plug for stirring fork is equipped with linkage screw (70314), and the linkage screw is sticked in the linkage slot.

4. single rotor unmanned plane according to claim 1, it is characterised in that: the tail supporting rod is two, and the tail pipe is set Have tail supporting rod fixing seat (608), the tail supporting rod fixing seat includes that two cooperations are held tightly in the semicircular pedestal of the tail pipe (6081), the both ends of two pedestals pass through bolt (6082) respectively and nut (6083) connection is locked, and the one of the bolt End is additionally provided with bulb (6084), and the two sidewalls of the power storehouse of the fuselage are all equipped with the linkage bulb, two tail supporting rods Both ends be all equipped with the bulb button, two tail supporting rods all one end bulbs are connected to the tail supporting rod fixing seat, the other end Bulb is connected to the linkage bulb of the two sidewalls of the power storehouse respectively.

5. single rotor unmanned plane according to claim 1, it is characterised in that: the angular contact at two main paddle folders The quantity of bearing is all two, and two angular contact bearings are located at the fixation position (30251) of the paddle clamp arm Two sides.

6. single rotor unmanned plane according to claim 1, it is characterised in that: the power bin includes two epipleurals (60111), two epipleurals are arranged in parallel and constitute the power bin, the first motor seat, the second motor cabinet, first Spindle drum, the second spindle drum and third spindle drum are located between two epipleurals, and the side wall of two epipleurals is all set There is the steering engine mounting rack (6015) for installing the steering engine, the steering engine mounting rack is installed on the epipleural by screw, The screw passes through the epipleural and is fixed on the spindle drum (60113).

7. single rotor unmanned plane according to claim 6, it is characterised in that: the power storehouse includes two lower side panels (60121), it is vertically connected with plate (60122) and bottom plate (60123), described two lower side panels are opposite and are arranged in parallel, about two Side plate is vertically connected with plate and the bottom plate composition power storehouse with described, and two lower side panels are logical with two epipleurals respectively The stud (603) connection is crossed, and then is connected and fixed the power bin and power storehouse, and the power bin is placed in the power storehouse Be vertically connected with plate.

8. single rotor unmanned plane according to claim 1, it is characterised in that: the main rotor body further includes that phase is kept Frame (3029), the phase retainer include phase arm (30291) and transmission arm (30292), the phase arm and the linkage Arm is hinged, and the phase arm can be in rotating with the transmission arm in same plane, and the free end of the phase arm is articulated with institute It states and joins in main shaft or the paddle seat, the free end bulb of the transmission arm is connected to the phase bulb.

9. single rotor unmanned plane according to claim 1, it is characterised in that: the paddle clamp arm is equipped with one end of linkage bulb There are two threaded hole (30252), two threaded holes to arrange by horizontal direction for tool, and the linkage bulb can be installed on any The threaded hole.

10. single rotor unmanned plane according to claim 1, it is characterised in that: the transverse arm joined in the paddle seat has along it The through-hole (302121) axially penetrated through is installed with horizontal axis (30213) in the transverse arm, and the main paddle folder is rotationally connected with the cross Axis.