CN110435878A - Single layer displacement coaxial construction for unmanned plane - Google Patents
Single layer displacement coaxial construction for unmanned plane Download PDFInfo
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- CN110435878A CN110435878A CN201910813825.8A CN201910813825A CN110435878A CN 110435878 A CN110435878 A CN 110435878A CN 201910813825 A CN201910813825 A CN 201910813825A CN 110435878 A CN110435878 A CN 110435878A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/30—Blade pitch-changing mechanisms
- B64C11/44—Blade pitch-changing mechanisms electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/46—Arrangements of, or constructional features peculiar to, multiple propellers
- B64C11/48—Units of two or more coaxial propellers
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a kind of single layer displacement coaxial construction for unmanned plane, belong to air vehicle technique field, comprising: power mechanism, coaxial mechanism and driving mechanism.Wherein, coaxial mechanism includes upper rotation external member, lower rotary sleeve part and hollow shaft, and upper rotation external member is sequentially passed through by hollow shaft, groove and lower rotary sleeve part, power mechanism can drive upper rotation external member and lower rotary sleeve part to be rotated respectively when rotating around hollow shaft, driving mechanism is set on the bottom end of hollow shaft, so that only driving a rotation external member to carry out rotation relative to another rotation external member by a driving mechanism can be realized the displacement operation of rotor, displacement, which is simplified, by the design of single layer displacement operates structure, overall structure is simple, easily maintenance and high reliablity.
Description
Technical field
The invention belongs to air vehicle technique field, in particular to a kind of single layer displacement coaxial construction for unmanned plane.
Background technique
Unmanned plane is the not manned aircraft using radio robot and the presetting apparatus provided for oneself manipulation.Nothing on machine
Cockpit, but the equipment such as automatic pilot, presetting apparatus are installed.On ground, naval vessels or machine tool remote control station personnel pass through
The equipment such as radar track unmanned plane, are positioned, are remotely controlled, telemetering and Digital Transmission.Unmanned plane can be in picture under wireless remotecontrol
Conventional airplane equally takes off or is launched with booster rocket, can also take aerial launch to by machine tool and fly.When recycling, unmanned plane
The mode automatic Landing as conventional airplane landing mission can be used, can also be recycled by remote control parachute or block.
The existing coaxial construction applied to unmanned plane is the double-deck displacement coaxial construction, that is to say, that is to pass through unmanned plane
Upper rotor and lower rotor the full variable pitch contro l of blade up and down, and the coaxial construction of the double-deck displacement is usually using the double inclinations of six steering engines
Disk control, steering engine quantity is more, and steering engine has air crash risk if breaking down.
It can be seen that existing bilayer displacement coaxial construction leads to unmanned plane, structure is complicated, and steering engine quantity is in the majority, is not easy to protect
It supports, reliability is low.
Summary of the invention
It is coaxial the technical problem to be solved by the present invention is to how provide a kind of novel single layer displacement for unmanned plane
Structure, so that rotary wing changing between several rotation external members, which can be realized, only by adusting a driving mechanism has structure away from operation
Simply, easily maintenance and the characteristics of high reliablity.
In order to solve the above technical problems, the present invention provides a kind of single layer displacement coaxial construction for unmanned plane, it is described
Structure includes: power mechanism, coaxial mechanism and driving mechanism；Wherein, the power mechanism is internally provided with groove；It is described
Coaxial mechanism includes: upper rotation external member, lower rotary sleeve part and hollow shaft, and the hollow shaft has a top and a bottom end, and
The upper rotation external member, the groove and the lower rotary sleeve part are sequentially passed through by the bottom end, so that the upper rotation
External member, the lower rotary sleeve part and the power mechanism are respectively distributed by center axial symmetry of the hollow shaft, the upper rotation
External member, lower rotary sleeve part are symmetrically fixed at the upper and lower end face of the power mechanism；The driving mechanism is set in the sky
On the bottom end of mandrel, and it is flexibly connected with the lower rotary sleeve part；The power mechanism and the driving mechanism are outer respectively
Boundary's power module, with driven respectively when being rotated by the power mechanism around the hollow shaft the upper rotation external member and it is described under
Rotation external member is rotated；The driving mechanism drives the lower rotary sleeve part to be rotated relative to the upper rotation external member.
Optionally, the power mechanism includes: motor shaft, upper layer rotary body and lower layer's rotary body；Wherein, the upper layer rotation
The upper surface of swivel is fixedly connected with the upper rotation external member, to drive the upper rotation by the rotation of the upper layer rotary body
External member is rotated, and the lower end surface of lower layer's rotary body is fixedly connected with the lower rotary sleeve part, to be revolved by the lower layer
The rotation of swivel drives the lower rotary sleeve part to be rotated；The upper layer rotary body and lower layer's rotary body are symmetrically arranged
The centre at the peripheral position of the motor shaft, and the upper layer rotary body is provided with the first rotating hole, lower layer's rotation
Swivel is provided centrally with the second rotating hole, and the centre of the motor shaft is provided with threading hole, first rotating hole, institute
It states the second rotating hole to be mutually connected with the threading hole, to constitute the groove.
Optionally, the upper layer rotary body includes: upper layer iron core, upper layer rotor, upper layer magnet, upper layer bearing and upper layer axis
Hold mounting base；Wherein, the upper layer iron core is bonded on the peripheral position of the motor shaft；The upper layer rotor includes in upper layer
Ring is round and upper layer outer ring garden, and the upper layer inner ring is round and upper layer outer ring garden is coaxially distributed, and first is connected by several
Arm is fixedly connected, and the upper surface of upper layer inner ring circle is provided with several for installing the first peace of the upper rotation external member
Hole is filled, the gap position between the first linking arm described in any two constitutes a heat release hole；The center of the upper layer inner ring circle
Position is provided with first rotating hole, and the motor shaft is located between the upper layer inner ring circle and upper layer outer ring garden；Institute
Upper layer magnet is stated uniformly to be pasted on the inner wall in upper layer outer ring garden；The upper layer bearing mounting base is fixed on the upper layer
On inner ring circle, and upper layer erecting bed is provided on the upper layer bearing mounting base, the upper layer bearing is fixed on the upper layer peace
It fills on platform.
Optionally, lower layer's rotary body includes: lower layer's iron core, lower layer's rotor, underlying magnets, lower layer's bearing and lower layer's axis
Hold mounting base；Wherein, lower layer's iron core is bonded on the peripheral position of the motor shaft；Lower layer's rotor includes in lower layer
Ring is round and lower layer's outer ring garden, and lower layer's inner ring is round and lower layer's outer ring garden is coaxially distributed, and second is connected by several
Arm is fixedly connected, and several the second mounting holes for being used to install the lower rotary sleeve part are provided on lower layer's inner ring circle,
Gap position between second linking arm described in any two constitutes a heat release hole for radiating；In lower layer's inner ring circle
Center portion position is provided with second rotating hole；The underlying magnets are uniformly pasted on the inner wall in lower layer's outer ring garden；Under
Layer bearing and lower layer's bearing mounting base, lower layer's bearing mounting base is fixed on lower layer's inner ring circle, and lower layer's axis
It holds and is provided with lower layer's erecting bed in mounting base, lower layer's bearing is fixed on lower layer's erecting bed.
Optionally, the upper rotation external member includes: two upper paddles, upper rotating seat and upper paddle accommodating mechanism；Wherein, institute
It states and offers the first threaded hole on rotating seat, the upper rotating seat cover is located in the hollow shaft, and the upper rotating seat passes through
Several described first mounting holes are fixed on the upper layer inner ring circle；The upper paddle accommodating mechanism and the upper rotating seat are solid
Fixed connection, two upper paddles are symmetrically fixed on the two sides of the upper paddle accommodating mechanism, to be received by the upper paddle
Receive mechanism carry out respectively it is longitudinal folding on laterally folded and longitudinal direction in transverse direction；Wherein, the upper paddle storage
Mechanism includes: two upper paddle folders and upper propeller hub, each described upper paddle folder includes the first parallel arms, the second parallel arms, upper pin
With the first male arms, first parallel arms offer the first connecting hole, the second connecting hole, institute are offered in second parallel arms
It states and offers third connecting hole in the first male arms, first parallel arms and second parallel arms are fixed by respective end
A groove structure is formed in first male arms, and with first male arms, so that any one of upper paddle passes through
Its end is arranged in the corresponding groove structure, and sequentially passes through first connecting hole, described by the upper pin
The end of upper paddle and second connecting hole, by any one of upper paddle upper paddle clamp pin axis corresponding with its
Connection；The upper propeller hub includes two the first recessed arms and first connection ring, and two first recessed arms are symmetrically fixed on
The two sides of first connection ring, each described first recessed arm is corresponding to be connected with first male arms by the third
Hole pin axis connection is connect, the second threaded hole corresponding with first threaded hole is provided in first connection ring, and described
First connection ring is set on the upper rotating seat, and sequentially passes through first threaded hole, described second by the first screw
First connection ring is threadedly coupled by threaded hole with the upper rotating seat.
Optionally, the lower rotary sleeve part includes: two lower paddles, lower rotating seat and lower paddle accommodating mechanism；Wherein, institute
It states and offers the 4th connecting hole on lower rotating seat, the lower rotating seat is set in the hollow shaft, and second joint chair passes through
Several described second mounting holes are fixed on lower layer's inner ring circle；The lower paddle accommodating mechanism and the lower rotating seat are solid
Fixed connection, two lower paddles are symmetrically fixed on the two sides of the lower paddle accommodating mechanism, to be received by the lower paddle
Receive mechanism carry out respectively it is longitudinal folding on laterally folded and longitudinal direction in transverse direction；Wherein, the lower paddle storage
Mechanism includes: two lower paddle folders and lower propeller hub；Each described lower paddle folder includes third parallel arms, the 4th parallel arms, lower bearing pin
With the second male arms, the third parallel arms offer the 5th connecting hole, offer the 6th connecting hole, institute in the 4th parallel arms
It states and offers the 7th connecting hole in the second male arms, the third parallel arms and the 4th parallel arms are fixed by respective end
A groove structure is formed in second male arms, and with second male arms, so that any one of lower paddle passes through
Its end is arranged in the corresponding groove structure, and sequentially passes through the 5th connecting hole, described by the lower bearing pin
The end of lower paddle and the 6th connecting hole, by any one of lower paddle lower paddle clamp pin axis corresponding with its
Connection；The lower propeller hub is including two the second recessed arms, second connection ring, a connecting shaft and two for conducting driving force
Lead the arm of force, two second recessed arms are symmetrically fixed on the both lateral sides of second connection ring, each described second
Recessed arm is corresponding to be connect with second male arms by the 7th connecting hole pin shaft, is provided in second connection ring
The 8th connecting hole corresponding with the 4th connecting hole, and second connection ring is set on the lower rotating seat, it is described
Connecting shaft sequentially passes through the 8th connecting hole, the 4th connecting hole rotates second connection ring and the lower rotating seat
Connection；Longitudinal two sides that the arm of force is symmetrically fixed on second connection ring are led described in two, and respectively with the driving mechanism
Be flexibly connected, with by the driving mechanism drive two described in lead the arm of force drive described second be attached around the connecting shaft into
Row rotation.
Optionally, the driving mechanism includes: the first transmission arm, the second transmission arm, pitch, third transmission arm, the 4th
Transmission arm, the first steering engine, the second steering engine, the first steering engine arm and the second steering engine arm；Wherein, one end of first transmission arm and institute
Arm of force flexible connection is led described in stating one in lower propeller hub, another in one end of second transmission arm and the lower propeller hub
It is described to lead arm of force flexible connection；The centre of the pitch at hollow structure so that the pitch pass through it is described hollow
Structure is set on the bottom end of the hollow shaft, and the other end of first transmission arm and second transmission arm
The other end be flexibly connected respectively with the pitch；One end of the third transmission arm is flexibly connected with the pitch, institute
The one end for stating tetrad swing arm is flexibly connected with the pitch；First steering engine is fixed on the load warehouse, and passes through
The other end of the first steering engine arm and the third transmission arm is flexibly connected；Second steering engine is fixed on the load storehouse
Body, and be flexibly connected by the other end of the second steering engine arm and the tetrad swing arm.
The utility model has the advantages that
A kind of single layer displacement coaxial construction for unmanned plane provided in an embodiment of the present invention, comprising: power mechanism, coaxial
Mechanism and driving mechanism.Wherein, power mechanism is internally provided with a groove；Coaxial mechanism includes upper rotation external member, backspin
Pivoted housing part and hollow shaft, and upper rotation external member, groove and lower rotary sleeve part are sequentially passed through by the bottom end of hollow shaft, so that on
It rotates external member, lower rotary sleeve part and power mechanism to be respectively distributed by center axial symmetry of hollow shaft, while upper rotation external member, backspin
Pivoted housing part is symmetrically fixed at the upper and lower end face of power mechanism, is driven respectively when being rotated by power mechanism around hollow shaft
Rotation external member and lower rotary sleeve part are rotated, and driving mechanism is set on the bottom end of hollow shaft, and movable with lower rotary sleeve part
Connection, and drives lower rotary sleeve part to be rotated relative to upper rotation external member by driving mechanism, with to lower rotary sleeve part with
The distance between upper rotation external member is adjusted, so that only drives a rotation external member relatively another by a driving mechanism
One rotation external member, which carries out rotation, can be realized the displacement operation of rotor, displacement operation structure be simplified, compared to traditional need
The mode of operation for wanting each rotor to require to carry out displacement operation is more convenient, simple.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is unmanned plane overall structure diagram provided in an embodiment of the present invention；
Fig. 2 is the connection of power mechanism, coaxial mechanism and driving assembly in unmanned plane entirety provided in an embodiment of the present invention
Relation schematic diagram；
Fig. 3 is the structural schematic diagram one of power mechanism in unmanned plane provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram two of power mechanism in unmanned plane provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram one of upper paddle accommodating mechanism in unmanned plane provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram one of lower paddle accommodating mechanism in unmanned plane provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram two of upper paddle accommodating mechanism in unmanned plane provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram two of lower paddle accommodating mechanism in unmanned plane provided in an embodiment of the present invention；
Fig. 9 is the structural schematic diagram of pitch in unmanned plane provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art's every other embodiment obtained belong to what the present invention protected
Range；Wherein "and/or" keyword involved in this implementation, indicate and or two kinds of situations, in other words, the present invention implement
A and/or B mentioned by example, illustrate two kinds of A and B, A or B situations, describe three kinds of states present in A and B, such as A and/or
B, indicate: only including A does not include B；Only including B does not include A；Including A and B.
Meanwhile in the embodiment of the present invention, when component is referred to as " being fixed on " another component, it can be directly at another
On component or there may also be components placed in the middle.When a component is considered as " connection " another component, it be can be directly
It is connected to another component or may be simultaneously present component placed in the middle.When a component is considered as " being set to " another group
Part, it, which can be, is set up directly on another component or may be simultaneously present component placed in the middle.Made in the embodiment of the present invention
Term "vertical", "horizontal", "left" and "right" and similar statement are merely for purposes of illustration, and are not intended to
The limitation present invention.
Referring to Fig. 1-9, a kind of single layer displacement coaxial construction for unmanned plane provided in an embodiment of the present invention, comprising: dynamic
Force mechanisms, coaxial mechanism and driving mechanism.Wherein, power mechanism is internally provided with a groove；Coaxial mechanism includes upper rotation
Pivoted housing part, lower rotary sleeve part and hollow shaft, and upper rotation external member, groove and lower rotation are sequentially passed through by the bottom end of hollow shaft
External member, so that upper rotation external member, lower rotary sleeve part and power mechanism are respectively distributed by center axial symmetry of hollow shaft, while upper rotation
Pivoted housing part, lower rotary sleeve part are symmetrically fixed at the upper and lower end face of power mechanism, to be rotated by power mechanism around hollow shaft
When drive respectively and rotate external member and lower rotary sleeve part and rotated, driving mechanism is set on the bottom end of hollow shaft, and under
It rotates external member to be flexibly connected, and drives lower rotary sleeve part to be rotated relative to upper rotation external member by driving mechanism, with right
The distance between lower rotary sleeve part and upper rotation external member are adjusted, so that only drive a rotation by a driving mechanism
Pivoted housing part, which carries out rotation relative to another rotation external member, can be realized the displacement operation of rotor, simplify displacement operation structure, phase
Mode of operation than requiring to carry out displacement operation in traditional each rotor of needs is more convenient, simple.
In order to further elaborate the present invention, it technical problem to be solved and to be reached so that the present invention will be described in detail
The technical effect arrived, in the following, the embodiment of the present invention is illustrated power mechanism 1, coaxial mechanism 2, driving mechanism 3 one by one.
For power mechanism 1；
The power mechanism 1 includes: motor shaft 11, upper layer rotary body 12 and lower layer's rotary body 13.
Wherein, the upper surface (can be understood as the upper surface of upper layer rotary body 12 shown in fig. 6) of upper layer rotary body 12 and
Upper rotation external member 21 is fixedly connected, to drive rotation external member 21 to carry out in a first direction by the rotation of upper layer rotary body 12
Rotation.The lower end surface (can be understood as below lower layer's rotary body 13 shown in fig. 6) of lower layer's rotary body 13 and the backspin
Pivoted housing part 22 is fixedly connected, to drive the lower rotary sleeve part 22 in a second direction by the rotation of lower layer's rotary body 13
It is rotated；And the first direction and second direction are two opposite directions, their reaction torque is offset each other.
Further, upper layer rotary body 12 and lower layer's rotary body 13 are symmetrically set in the peripheral position of motor shaft 11, and upper layer rotates
The centre of body 12 is provided with the first rotating hole 1221b, and lower layer's rotary body 22 is provided centrally with the second rotating hole 1321b,
The centre of motor shaft 11 is provided with threading hole 111, the first rotating hole 1221b, the second rotating hole 1321b and threading hole 111
Mutually it is connected, to constitute the groove for disposing following hollow shafts 23.
In embodiments of the present invention, upper layer rotary body 12 includes: upper layer iron core 121, upper layer rotor 122, upper layer magnet
123, upper layer bearing 124 and upper layer bearing mounting base 125.
Wherein, upper layer iron core 121 is bonded on the peripheral position of motor shaft 11；Upper layer rotor 122 includes upper layer inner ring circle
1221 and upper layer outer ring garden 1222, and upper layer inner ring circle 1221 and upper layer outer ring garden 1222 are coaxially distributed, and by several the
One linking arm 1223 is fixedly connected, and the upper surface of upper layer inner ring circle 1221 is provided with several for installing rotation external member 21
The first mounting hole 1221a, with this by the first mounting hole 1221a by the fixed company of upper rotation external member 21 and upper layer rotor 122
It connects, and drives rotation external member 21 to be rotated in a first direction by the rotation of upper layer rotor 122 in a first direction.Appoint
Gap position between two the first linking arms 1223 of meaning constitutes a heat release hole 1223a, to realize engine in rotation process
The heat sinking function of structure 1.The centre of upper layer inner ring circle 1221 is provided with the first rotating hole 1221b, and motor shaft 11 is located at upper layer
Between inner ring circle 1221 and upper layer outer ring garden 1222.Upper layer magnet 123 is uniformly pasted on the inner wall in upper layer outer ring garden 1221；
Upper layer bearing mounting base 125 is fixed on upper layer inner ring circle 1221, and upper layer erecting bed is provided on upper layer bearing mounting base 125
1251, upper layer bearing 124 is fixed on upper layer erecting bed 1251.
In embodiments of the present invention, lower layer's rotary body 13 includes: lower layer's iron core 131, lower layer's rotor 132, underlying magnets
133, lower layer's bearing 134 and lower layer's bearing mounting base 135.
Wherein, lower layer's iron core 131 is bonded on the peripheral position of motor shaft 11；Lower layer's rotor 132 includes lower layer's inner ring circle
1321 and lower layer's outer ring garden 1322, lower layer's inner ring circle 1321 and lower layer's outer ring garden 1322 are coaxially distributed, and by several second
Linking arm 1323 is fixedly connected, and several are provided on lower layer's inner ring circle 1321 for installing the second peace of lower rotary sleeve part 22
Hole is filled, is fixedly connected with lower rotary sleeve part 22 with lower layer rotor 132 by second mounting hole with this, and passes through lower layer's rotor
132 rotation in a second direction drives lower rotary sleeve part 22 to be rotated in a second direction.The second linking arm of any two
Gap position between 1323 constitutes a heat release hole 1223a for radiating；The centre of lower layer's inner ring circle 1321 is provided with
Second rotating hole 1321b；Underlying magnets 133 are uniformly pasted on the inner wall in lower layer's outer ring garden 1322；Lower layer's bearing mounting base
135 are fixed on lower layer's inner ring circle 1321, and are provided with lower layer's erecting bed 1351 on lower layer's bearing mounting base 135, described
Lower layer's bearing 134 is fixed on lower layer's erecting bed 1351.
In upper layer rotary body 12 and lower layer's rotary body 13, preferably, above-mentioned upper layer magnet 123 and underlying magnets 133
It can be rare-earth Nd-Fe-B magnet, upper layer bearing 124 and lower layer's bearing 134 can be deep groove ball bearing.Motor up/down layer rotor
(upper layer rotor 122 and lower layer's rotor 132) is equipped with heat release hole 1223a, the mounting hole (installation of the first mounting hole 1221a and second
Hole), rare-earth Nd-Fe-B magnet uniformly pastes layer rotor inner wall over/under.The coil of driving motor movement, bearing are wound on iron core
Mounting base is equipped with boss (upper layer erecting bed 1251 and the lower layer of fixed deep groove ball bearing (upper layer bearing 124 and lower layer's bearing 134)
Erecting bed 1351), motor shaft centre is equipped with the groove for cabling, and motor shaft inner wall is equipped with the keyway etc. of fixed main shaft.
That is, in the power mechanism 1 that the embodiment of the present invention is made of motor shaft 11, upper layer rotary body 12 and lower layer's rotary body 13,
For birotor brushless motor, and conventional motors are single-rotor motor, at the same in the embodiment of the present invention by the first rotating hole
1221b, the second rotating hole 1321b and threading hole 111 are mutually connected, and constitute the groove knot for disposing following hollow shafts 23
Structure, so that the power mechanism 1 in the embodiment of the present invention is hollow shaft power mechanism, in-between position can be used for threading, so that its
Inner space is rationally applied, and structure is simple, conveniently, and conventional motors are solid main shaft, and centre is without threading function.And this
Power mechanism 1 in inventive embodiments shares a motor shaft by birotor, and destructing is compact, compared to traditional coaxial double-rotary
A motor shaft capable of reducing using, more lightweight for wing unmanned plane improve cruising ability.
For coaxial mechanism 2；
The coaxial mechanism 2 includes upper rotation external member 21, lower rotary sleeve part 22 and hollow shaft 23, and passes through the bottom of hollow shaft 23
End 231 sequentially passes through rotation external member 21, groove and lower rotary sleeve part 22.
Wherein, upper rotation external member 21 specifically includes: two upper paddles 211, upper rotating seat 212 and upper paddle accommodating mechanism
213.Paddle accommodating mechanism 213 goes up the laterally folded of paddle 211 for connecting paddles 211 on two for realizing two on this
With it is longitudinal folding, upper rotating seat 212 is used for two upper paddles 211, upper rotating seat 212 and upper paddle accommodating mechanism 213 and empty
Mandrel 23 connects, and hollow shaft 23 is set in the groove of power mechanism 1, and upper rotating seat 212 and the fixed company of power mechanism 1
It connects, to drive two upper paddles 211 to be rotated by power mechanism 1.
Specifically, offering the first threaded hole 2121 on upper rotating seat 212, upper rotating seat 212 is set in hollow shaft 23,
And it is fixed on the upper layer inner ring circle 1221 of upper layer rotor 122 by several first mounting holes 1221a.Upper paddle accommodating mechanism
213 are fixedly connected with upper rotating seat 212, and two upper paddles 211 are symmetrically fixed on the two sides of paddle accommodating mechanism 213, with
It is carried out respectively by upper paddle accommodating mechanism longitudinal folding on the laterally folded and longitudinal direction in transverse direction.
Please continue to refer to Fig. 4, Fig. 7 and Fig. 9, paddle accommodating mechanism 213 includes: two upper paddle folders 2131 and upper propeller hub on this
2132.Wherein, paddle folder 2131 includes the first parallel arms 21311, the second parallel arms 21312, upper pin 21313 and the on each
One male arms 21314, the first parallel arms 21311 offer the first connecting hole 21311a, offer second in the second parallel arms 21312
Connecting hole 21312a offers third connecting hole 21314a in the first male arms 21314, and the first parallel arms 21311 are parallel with second
Arm 21312 is fixed in the first male arms 21314 by respective end, and forms 2133 knot of a groove with the first male arms 21314
Structure so that paddle 211 is arranged in corresponding 2133 structure of groove by its end on any one, and passes through upper pin
21313 sequentially pass through the first connecting hole 21311a, the end of upper paddle 211 and the second connecting hole 21312a, will be on any one
The upper paddle corresponding with its of paddle 211 presss from both sides 2131 pin shafts and connects.That is, can be understood as paddle in embodiments of the present invention
The left and right sides of accommodating mechanism 213 is equipped with 2, and symmetrically above paddle folder 2131 is used to install the symmetrical upper paddle 211 in left and right two,
Paddle folder 2131 is provided with one by the first parallel arms 21311, the second parallel arms 21312 and first in each of the left and right sides
2133 structure of groove that male arms 21314 is constituted may be implemented for the end of upper paddle 211 to be inserted into 2133 structure of groove in this way
In, and connected the two by upper pin 21313, the first connecting hole 21311a and the second connecting hole 21312a.
In addition, upper propeller hub 2131 includes two the first recessed arms 21321 and first connection ring 21322, two first recessed
Arm 21321 is symmetrically fixed on the two sides of the first connection ring 21322, each first recessed arm 21321 it is corresponding with one first
Male arms 21314 is connected by third connecting hole 21314a pin shaft, is provided with and the first threaded hole 2121 in the first connection ring 21322
Corresponding second threaded hole 21322a, and the first connection ring 21322 is set on rotating seat 212, and passes through the first screw
The first threaded hole 2121, the second threaded hole 21322a is sequentially passed through to connect the first connection ring 21322 with upper 212 screw thread of rotating seat
It connects.That is, can be understood as the left and right sides of propeller hub 2131 in embodiments of the present invention, be symmetrically arranged with 2 it is first recessed
Arm 21321, and this 2 first recessed arm 21321 and 2 the first male arms 21314 are corresponding, each first male arms 21314 passes through
Corresponding third connecting hole 21314a is connected with corresponding first recessed 21321 pin shaft of arm.
It should be noted that paddle folder 2131 is corresponding with upper propeller hub 2131 by its first male arms 21314 on each
One the first recessed 21321 pin shaft of arm connection so that upper paddle folder 2131 by pin shaft connection can around the first recessed arm 21321 (
2131) i.e. upper paddle folder carries out the rotary folding on longitudinal direction, simultaneously as groove is inserted into the end of two upper paddles 211
In 2133 structures, and by the pin shaft connection of upper pin 21313, so that upper paddle 211 can press from both sides 2131 in cross relative to upper paddle
Rotary folding is carried out on direction, and the laterally folded and longitudinal folding to paddle 211 upper during flight instruments storage is realized with this
It is folded, reduce the storage volume of flight instruments, reaches the technical effect for saving occupied space.
Similar with upper rotation 21 structures of external member, the lower rotary sleeve part 22 in the embodiment of the present invention also includes: specifically under two
Paddle 221, lower rotating seat 222 and lower paddle accommodating mechanism 223.Wherein, the 4th connecting hole is offered on lower rotating seat 222
2221, which is set in hollow shaft 23, and the second joint chair 222 is fixed on lower layer by several second mounting holes
On inner ring circle.Meanwhile lower paddle accommodating mechanism 223 is fixedly connected with lower rotating seat 222, two lower paddles 222 are symmetrically fixed
It is laterally folded in transverse direction to be carried out respectively by lower paddle accommodating mechanism 223 in the two sides of lower paddle accommodating mechanism 223
With it is longitudinal folding on longitudinal direction.
Lower paddle accommodating mechanism 223 includes: two lower paddle folders 2231, each lower paddle folder 2231 includes that a third is parallel
22311, the 4th parallel arms 22312 of arm, lower bearing pin 22313 and the second male arms 22314.Wherein, third parallel arms 22311 are opened
Equipped with the 5th connecting hole 22311a, the 6th connecting hole 22312a is offered in the 4th parallel arms 22312, in the second male arms 22314
It offers the 7th connecting hole 22314a, third parallel arms 22311 and the 4th parallel arms 22312 and is fixed on by respective end
In two male arms 22314, and 2133 structure of a groove is formed with the second male arms 22314, so that any one lower paddle 221 passes through
Its end be arranged in corresponding 2133 structure of groove, and by lower bearing pin 22313 sequentially pass through the 5th connecting hole 22311a, under
The end of paddle 221 and the 6th connecting hole 22312a, by lower 2231 pin of paddle folder corresponding with its of paddle 221 under any one
Axis connection；
That is, the left and right sides that can be understood as lower paddle accommodating mechanism 223 in embodiments of the present invention is equipped with 2 symmetrically
Lower paddle folder 2231 be respectively provided with for installing the symmetrically lower paddles 221 of left and right two, the lower paddle folder 2231 of each of the left and right sides
There is 2133 structure of groove being made of third parallel arms 22311, the 4th parallel arms 22312 and the second male arms 22314, this
Sample may be implemented to be inserted into the end of lower paddle 221 in 2133 structure of groove.
In addition, descending propeller hub 2232 in embodiments of the present invention may include 22321, one second, two the second recessed arms connections
22322, connecting shafts 22323 of ring and two lead the arm of force 22324 for conduct driving force, and two the second recessed arms 22321 are right
The both lateral sides for being fixed on the second connection ring 22322 claimed, each second recessed arm 22321 are corresponding with second male arms
22314 are connected by 22314 pin shaft of the 7th connecting hole, are provided in the second connection ring 22322 opposite with the 4th connecting hole 2221
The 8th connecting hole 22322 answered, and the second connection ring is set on lower rotating seat, connecting shaft sequentially passes through the 8th connecting hole,
Four connecting holes connect the second connection ring and the rotation of lower rotating seat；Two are led the longitudinal direction that the arm of force is symmetrically fixed on the second connection ring
Two sides, and be flexibly connected respectively with driving mechanism, to drive the second connection ring by leading the arm of force described in driving mechanism driving two
It is rotated around the connecting shaft.
Also need explanation, each lower paddle folder 2231 by its second male arms 22314 with it is right in lower propeller hub 2232
Second recessed 22321 pin shaft of the arm connection answered, so that lower paddle folder 2231 can be around the second recessed arm 22321 by pin shaft connection
(namely lower paddle folder 2231) carries out the rotary folding on longitudinal direction, simultaneously as groove is inserted into the end of two lower paddles 221
In 2133 structures, and by the pin shaft connection of lower bearing pin 22313, so that lower paddle 221 can press from both sides 2231 in cross relative to lower paddle
Rotary folding is carried out on direction, and the laterally folded and longitudinal folding to paddle 211 lower during flight instruments storage is realized with this
It is folded, reduce the storage volume of flight instruments, reaches the technical effect for saving occupied space.
It is noted that in embodiments of the present invention, in order to realize that single rotor drives displacement, the present invention is innovative
Only lower rotary sleeve part 22 is attached with driving mechanism 3, namely set the longitudinal direction of the second connection ring 22322 is monosymmetric
It sets two and leads the arm of force 22324, and be respectively flexibly connected it with driving mechanism 3, lead the arm of force to realize that driving mechanism drives two
22324 the second connection rings 22322 of driving are rotated.
For driving mechanism 3；
The driving mechanism 3 specifically includes: the first transmission arm 31, the second transmission arm 32, pitch 33, third transmission arm 34,
Tetrad swing arm 35, the first steering engine 36, the first steering engine arm 37, the second steering engine 38 and the second steering engine arm 39.
It is flexibly connected specifically, the arm of force 22324 is led with one in lower propeller hub 2232 in one end of first transmission arm 31,
One end of second transmission arm 34 is led the arm of force with another in lower propeller hub 2232 and is flexibly connected, and the centre of pitch 33 is at sky
Core structure, so that pitch 33 is set on the bottom end 232 of hollow shaft 23 by hollow structure, and the first transmission arm 31 is another
The other end of end and the second transmission arm 32 is flexibly connected with pitch 33 respectively.One end of third transmission arm 34 and pitch
33 are flexibly connected, and one end of tetrad swing arm 35 is flexibly connected with pitch 33.First steering engine 36 is fixed on load warehouse 4, and
It is flexibly connected by the other end of the first steering engine arm 37 and third transmission arm 34.Second steering engine 36 is fixed on load warehouse 4, and leads to
The other end for crossing the second steering engine arm 37 and tetrad swing arm 35 is flexibly connected.
During driving, after the first steering engine 36 and the energization of the second steering engine 38, pass through respective steering engine arm (the first rudder respectively
Horn 37 and the second steering engine 36) drive corresponding transmission arm (third transmission arm 34 and tetrad swing arm 35) to be moved, so that
The corresponding driving two of third transmission arm 34 and tetrad swing arm 35 in motion process is led the arm of force 22324 and is moved up and down, finally
Realize that leading the arm of force 22324 for two during moving up and down drives pitch to be rotated around connecting shaft 22323.
In one embodiment, which may include: 3rd bearing 331, bearing groove 332, fourth bearing 333
With fourth bearing mounting base 334.Wherein, which is set on the bottom end 232 of hollow shaft 23, and 3rd bearing 331 is pacified
On the bearing groove 332, the other end of the other end of the first transmission arm 31 and the second transmission arm 32 respectively with the bearing groove
332 are flexibly connected.The fourth bearing 333 is mounted on fourth bearing peace swivel base 334, and 3rd bearing 331 and fourth bearing 333
Interference fit is together；One end of third transmission arm 34 is flexibly connected with fourth bearing mounting base 334, and the one of tetrad swing arm 35
End is flexibly connected with fourth bearing mounting base 334.
It is noted that in embodiments of the present invention, since power mechanism is using completely new " double rotor single stator " knot
Structure, hollow shaft 23 use hollow structure, allow for can be used for installing electric wire in the boring of hollow shaft 23 in this way, in other words
Say, GPS signal in embodiments of the present invention receive the route of transmitter, the route for flying control module, navigation module route and
The route etc. of power module all can carry out route intercommunication by the hollow structure of the hollow shaft 23.
In conclusion a kind of single layer displacement coaxial construction for unmanned plane provided in an embodiment of the present invention, comprising: power
Mechanism, coaxial mechanism and driving mechanism.Wherein, power mechanism is internally provided with a groove；Coaxial mechanism includes upper rotation
External member, lower rotary sleeve part and hollow shaft, and upper rotation external member, groove and lower rotary sleeve are sequentially passed through by the bottom end of hollow shaft
Part, so that upper rotation external member, lower rotary sleeve part and power mechanism are respectively distributed by center axial symmetry of hollow shaft, while upper rotation
External member, lower rotary sleeve part are symmetrically fixed at the upper and lower end face of power mechanism, when being rotated by power mechanism around hollow shaft
External member is rotated on driving respectively and lower rotary sleeve part is rotated, and driving mechanism is set on the bottom end of hollow shaft, and and backspin
Pivoted housing part is flexibly connected, and drives lower rotary sleeve part to be rotated relative to upper rotation external member by driving mechanism, under
Rotation the distance between external member and upper rotation external member are adjusted, so that only drive a rotation by a driving mechanism
External member, which carries out rotation relative to another rotation external member, can be realized the displacement operation of rotor, simplifies displacement operation structure, compares
It is more convenient, simple in the mode of operation that traditional each rotor of needs requires to carry out displacement operation.
It should be noted last that the above specific embodiment is only used to illustrate the technical scheme of the present invention and not to limit it,
Although being described the invention in detail referring to example, those skilled in the art should understand that, it can be to the present invention
Technical solution be modified or replaced equivalently, without departing from the spirit and scope of the technical solution of the present invention, should all cover
In the scope of the claims of the present invention.
Claims (7)
1. a kind of single layer displacement coaxial construction for unmanned plane, which is characterized in that the structure includes:
Power mechanism, coaxial mechanism and driving mechanism；
Wherein, the power mechanism is internally provided with groove；The coaxial mechanism includes: upper rotation external member, lower rotary sleeve
Part and hollow shaft, and the hollow shaft has a top and a bottom end, and sequentially passes through the upper rotary sleeve by the bottom end
Part, the groove and the lower rotary sleeve part, so that the upper rotation external member, the lower rotary sleeve part and the power mechanism
It is respectively distributed by center axial symmetry of the hollow shaft, the upper rotation external member, lower rotary sleeve part are symmetrically fixed on described dynamic
At the upper and lower end face of force mechanisms；The driving mechanism is set on the bottom end of the hollow shaft, and with the lower rotary sleeve
Part is flexibly connected；The power mechanism and the extraneous power module of driving mechanism difference, to pass through the power mechanism around institute
The upper rotation external member and the lower rotary sleeve part is driven to be rotated respectively when stating hollow shaft rotation；The driving mechanism driving
The lower rotary sleeve part is rotated relative to the upper rotation external member.
2. structure as described in claim 1, which is characterized in that the power mechanism includes:
Motor shaft, upper layer rotary body and lower layer's rotary body；
Wherein, the upper surface of the upper layer rotary body is fixedly connected with the upper rotation external member, to pass through the upper layer rotary body
Rotation drive the upper rotation external member to be rotated, the lower end surface of lower layer's rotary body and the fixed company of the lower rotary sleeve part
It connects, to drive the lower rotary sleeve part to be rotated by the rotation of lower layer's rotary body；The upper layer rotary body and described
Lower layer's rotary body is symmetrically set in the peripheral position of the motor shaft, and the centre of the upper layer rotary body is provided with
One rotating hole, lower layer's rotary body are provided centrally with the second rotating hole, and the centre of the motor shaft is provided with threading
Hole, first rotating hole, second rotating hole are mutually connected with the threading hole, to constitute the groove.
3. structure as claimed in claim 2, which is characterized in that the upper layer rotary body includes:
Upper layer iron core, upper layer rotor, upper layer magnet, upper layer bearing and upper layer bearing mounting base；
Wherein, the upper layer iron core is bonded on the peripheral position of the motor shaft；The upper layer rotor includes upper layer inner ring circle
With upper layer outer ring garden, the upper layer inner ring is round and upper layer outer ring garden is coaxially distributed, and solid by several first linking arms
Fixed connection, and the upper surface of upper layer inner ring circle is provided with several for installing the first installation of the upper rotation external member
Hole, the gap position between the first linking arm described in any two constitute a heat release hole；The central part of the upper layer inner ring circle
Position is provided with first rotating hole, and the motor shaft is located between the upper layer inner ring circle and upper layer outer ring garden；It is described
Upper layer magnet is uniformly pasted on the inner wall in upper layer outer ring garden；The upper layer bearing mounting base is fixed in the upper layer
On ring circle, and upper layer erecting bed is provided on the upper layer bearing mounting base, the upper layer bearing is fixed on the upper layer installation
On platform.
4. device as claimed in claim 3, which is characterized in that lower layer's rotary body includes:
Lower layer's iron core, lower layer's rotor, underlying magnets, lower layer's bearing and lower layer's bearing mounting base；
Wherein, lower layer's iron core is bonded on the peripheral position of the motor shaft；Lower layer's rotor includes lower layer's inner ring circle
With lower layer's outer ring garden, lower layer's inner ring is round and lower layer's outer ring garden is coaxially distributed, and solid by several second linking arms
Fixed connection, and several are provided with for installing the second mounting hole of the lower rotary sleeve part, arbitrarily on lower layer's inner ring circle
Gap position between two second linking arms constitutes a heat release hole for radiating；The central part of lower layer's inner ring circle
Position is provided with second rotating hole；The underlying magnets are uniformly pasted on the inner wall in lower layer's outer ring garden；Lower layer's axis
Hold with lower layer's bearing mounting base, lower layer's bearing mounting base is fixed on lower layer's inner ring circle, and lower layer's bearing is pacified
It is provided with lower layer's erecting bed on dress seat, lower layer's bearing is fixed on lower layer's erecting bed.
5. device as claimed in claim 4, which is characterized in that the upper rotation external member includes:
Two upper paddles, upper rotating seat and upper paddle accommodating mechanism；
Wherein, the first threaded hole is offered on the upper rotating seat, the upper rotating seat cover is located in the hollow shaft, it is described on
Rotating seat is fixed on the upper layer inner ring circle by the first mounting hole described in several；The upper paddle accommodating mechanism and described
Upper rotating seat is fixedly connected, and two upper paddles are symmetrically fixed on the two sides of the upper paddle accommodating mechanism, to pass through
State paddle accommodating mechanism carry out respectively it is longitudinal folding on laterally folded and longitudinal direction in transverse direction；
Wherein, the upper paddle accommodating mechanism includes: two upper paddle folders and upper propeller hub, each described upper paddle folder includes first flat
Row arm, the second parallel arms, upper pin and the first male arms, first parallel arms offer the first connecting hole, and described second is parallel
The second connecting hole is offered on arm, and third connecting hole, first parallel arms and described second are offered in first male arms
Parallel arms are fixed in first male arms by respective end, and form a groove structure with first male arms, so that
It obtains any one of upper paddle to be arranged in the corresponding groove structure by its end, and successively by the upper pin
Across first connecting hole, the end of the upper paddle and second connecting hole, by any one of upper paddle and its
A corresponding upper paddle clamp pin axis connection；The upper propeller hub include two the first recessed arms and first connection ring, two
The first recessed arm is symmetrically fixed on the two sides of first connection ring, each described first recessed arm is corresponding with an institute
It states the first male arms to connect by the third connecting hole pin shaft, be provided in first connection ring and the first threaded hole phase
Corresponding second threaded hole, and first connection ring is set on the upper rotating seat, and is sequentially passed through by the first screw
First connection ring is threadedly coupled by first threaded hole, second threaded hole with the upper rotating seat.
6. device as claimed in claim 5, which is characterized in that the lower rotary sleeve part includes:
Two lower paddles, lower rotating seat and lower paddle accommodating mechanism；
Wherein, the 4th connecting hole is offered on the lower rotating seat, the lower rotating seat is set in the hollow shaft, and described
Two joint chairs are fixed on lower layer's inner ring circle by the second mounting hole described in several；The lower paddle accommodating mechanism and described
Lower rotating seat is fixedly connected, and two lower paddles are symmetrically fixed on the two sides of the lower paddle accommodating mechanism, to pass through
State lower paddle accommodating mechanism carry out respectively it is longitudinal folding on laterally folded and longitudinal direction in transverse direction；
Wherein, the lower paddle accommodating mechanism includes: two lower paddle folders and lower propeller hub；Each described lower paddle folder is flat including third
Row arm, the 4th parallel arms, lower bearing pin and the second male arms, the third parallel arms offer the 5th connecting hole, and the described 4th is parallel
The 6th connecting hole is offered on arm, and the 7th connecting hole, the third parallel arms and the described 4th are offered in second male arms
Parallel arms are fixed in second male arms by respective end, and form a groove structure with second male arms, so that
It obtains any one of lower paddle to be arranged in the corresponding groove structure by its end, and successively by the lower bearing pin
Across the 5th connecting hole, the end of the lower paddle and the 6th connecting hole, by any one of lower paddle and its
A corresponding lower paddle clamp pin axis connection；The lower propeller hub includes two the second recessed arms, second connection ring, a company
Spindle and two are symmetrically fixed on second connection ring for conducting the arm of force of leading of driving force, two second recessed arms
Both lateral sides, each described second recessed arm is corresponding to be connected with second male arms by the 7th connecting hole pin shaft
It connects, the 8th connecting hole corresponding with the 4th connecting hole, and second connection ring is provided in second connection ring
It is set on the lower rotating seat, the connecting shaft sequentially passes through the 8th connecting hole, the 4th connecting hole for described
Two connection rings and the lower rotating seat rotation connection；The longitudinal direction that the arm of force is symmetrically fixed on second connection ring is led described in two
Two sides, and be flexibly connected respectively with the driving mechanism, to drive institute by leading the arm of force described in driving mechanism driving two
It states second and is attached around the connecting shaft and rotated.
7. device as claimed in claim 6, which is characterized in that the driving mechanism includes:
First transmission arm, the second transmission arm, pitch, third transmission arm, tetrad swing arm, the first steering engine, the second steering engine, first
Steering engine arm and the second steering engine arm；
Wherein, one end of first transmission arm with lead the arm of force described in one in the lower propeller hub and be flexibly connected, described second
One end of transmission arm with lead the arm of force described in another in the lower propeller hub and be flexibly connected；The centre of the pitch is at sky
Core structure, so that the pitch is set on the bottom end of the hollow shaft by the hollow structure, and described first
The other end of the other end of transmission arm and second transmission arm is flexibly connected with the pitch respectively；The third connection
One end of swing arm is flexibly connected with the pitch, and one end of the tetrad swing arm is flexibly connected with the pitch；It is described
First steering engine is fixed on the load warehouse, and is connected by the other end activity of the first steering engine arm and the third transmission arm
It connects；Second steering engine is fixed on the load warehouse, and passes through the another of the second steering engine arm and the tetrad swing arm
End is flexibly connected.
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| CN201910813825.8A CN110435878B (en) | 2019-08-30 | 2019-08-30 | Single-layer variable-pitch coaxial structure for unmanned aerial vehicle |
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| CN114082121A (en) * | 2021-11-21 | 2022-02-25 | 特斯联科技集团有限公司 | A unmanned aerial vehicle that puts out a fire for forest grassland |
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| CN110435878B (en) | 2021-03-16 |
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