CN110435878B - Single-layer variable-pitch coaxial structure for unmanned aerial vehicle - Google Patents
Single-layer variable-pitch coaxial structure for unmanned aerial vehicle Download PDFInfo
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- CN110435878B CN110435878B CN201910813825.8A CN201910813825A CN110435878B CN 110435878 B CN110435878 B CN 110435878B CN 201910813825 A CN201910813825 A CN 201910813825A CN 110435878 B CN110435878 B CN 110435878B
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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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Abstract
The invention discloses a single-layer variable-pitch coaxial structure for an unmanned aerial vehicle, which belongs to the technical field of unmanned aerial vehicles and comprises the following components: power unit, coaxial mechanism and actuating mechanism. Wherein, coaxial mechanism includes rotatory external member, rotatory external member and hollow shaft down, and pass rotatory external member on in proper order through the hollow shaft, hollow groove and rotatory external member down, power unit can drive respectively when the hollow shaft is rotatory external member and rotatory external member down, the actuating mechanism cover is established on the bottom of hollow shaft, make only rotate the external member and rotate the displacement operation that can realize the rotor relatively another rotatory external member through a actuating mechanism drive, the displacement operating structure has been simplified through the design of individual layer displacement, overall structure is simple, easy maintenance and reliability are high.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a single-layer variable-pitch coaxial structure for an unmanned aerial vehicle.
Background
A drone is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device. The machine has no cockpit, but is provided with an automatic pilot, a program control device and other equipment. Personnel on the ground, a naval vessel or a mother aircraft remote control station track, position, remotely control, telemeter and digitally transmit the unmanned aerial vehicle through equipment such as a radar. The unmanned aerial vehicle can take off like a common airplane or launch by a boosting rocket under the radio remote control, and can also be thrown into the air by the mother aircraft for flying. During recovery, the unmanned aerial vehicle can automatically land in the same way as a common aircraft in the landing process, and can also be recovered by a parachute or a barrier net through remote control.
The existing coaxial structures applied to the unmanned aerial vehicle are all double-layer variable-pitch coaxial structures, namely, the upper and lower blades of the upper rotor and the lower rotor of the unmanned aerial vehicle are controlled in a full variable pitch mode, the double-layer variable-pitch coaxial structures generally use six-steering-engine double-inclined-disc control, the number of steering engines is large, and the steering engines have crash risks if the steering engines break down.
Therefore, the existing double-layer variable-pitch coaxial structure leads the unmanned aerial vehicle to be complex in structure, the number of steering engines is large, maintenance is not easy, and reliability is low.
Disclosure of Invention
The invention aims to solve the technical problem of how to provide a novel single-layer variable-pitch coaxial structure for an unmanned aerial vehicle, so that the variable-pitch operation of a rotor wing among a plurality of rotating kits can be realized only by adjusting one driving mechanism, and the novel single-layer variable-pitch coaxial structure has the characteristics of simple structure, easiness in maintenance and high reliability.
In order to solve the technical problem, the invention provides a single-layer variable-pitch coaxial structure for an unmanned aerial vehicle, which comprises: the device comprises a power mechanism, a coaxial mechanism and a driving mechanism; wherein, the power mechanism is internally provided with a hollow groove; the coaxial mechanism includes: the hollow shaft is provided with a top end and a bottom end, and sequentially penetrates through the upper rotating sleeve, the hollow groove and the lower rotating sleeve through the bottom end, so that the upper rotating sleeve, the lower rotating sleeve and the power mechanism are respectively symmetrically distributed by taking the hollow shaft as a central axis, and the upper rotating sleeve and the lower rotating sleeve are symmetrically fixed on the upper end surface and the lower end surface of the power mechanism; the driving mechanism is sleeved on the bottom end of the hollow shaft and is movably connected with the lower rotating sleeve; the power mechanism and the driving mechanism are respectively provided with an external power module so as to respectively drive the upper rotating external member and the lower rotating external member to rotate when the power mechanism rotates around the hollow shaft; the driving mechanism drives the lower rotating sleeve to rotate relative to the upper rotating sleeve.
Optionally, the power mechanism includes: the motor shaft, the upper layer rotating body and the lower layer rotating body; the upper end face of the upper-layer rotating body is fixedly connected with the upper rotating sleeve so as to drive the upper rotating sleeve to rotate through the rotation of the upper-layer rotating body, and the lower end face of the lower-layer rotating body is fixedly connected with the lower rotating sleeve so as to drive the lower rotating sleeve to rotate through the rotation of the lower-layer rotating body; the upper rotator and the lower rotator are symmetrically sleeved at the peripheral part of the motor shaft, a first rotating hole is formed in the central part of the upper rotator, a second rotating hole is formed in the center of the lower rotator, a threading hole is formed in the central part of the motor shaft, and the first rotating hole, the second rotating hole and the threading hole are connected to form the hollow groove.
Optionally, the upper layer rotating body includes: the upper-layer rotor is arranged on the upper layer of the rotor; wherein, the upper iron core is adhered to the periphery of the motor shaft; the upper rotor comprises an upper inner ring circle and an upper outer ring circle, the upper inner ring circle and the upper outer ring circle are coaxially distributed and fixedly connected through a plurality of first connecting arms, a plurality of first mounting holes for mounting the upper rotating sleeve are formed in the upper end surface of the upper inner ring circle, and a heat dissipation hole is formed in a gap between any two first connecting arms; the first rotating hole is formed in the center of the upper inner ring, and the motor shaft is located between the upper inner ring and the upper outer ring; the upper layer magnets are uniformly adhered to the inner wall of the outer ring circle of the upper layer; the upper bearing mounting base is fixed on the upper inner ring circle, an upper mounting table is arranged on the upper bearing mounting base, and the upper bearing is fixed on the upper mounting table.
Optionally, the lower layer rotator includes: the lower-layer iron core, the lower-layer rotor, the lower-layer magnet, the lower-layer bearing and the lower-layer bearing mounting seat are arranged on the lower-layer iron core; the lower layer iron core is bonded on the peripheral part of the motor shaft; the lower-layer rotor comprises a lower-layer inner ring circle and a lower-layer outer ring circle, the lower-layer inner ring circle and the lower-layer outer ring circle are coaxially distributed and fixedly connected through a plurality of second connecting arms, a plurality of second mounting holes used for mounting the lower rotating sleeve are formed in the lower-layer inner ring circle, and a heat dissipation hole is formed in a gap between any two second connecting arms and used for dissipating heat; the central part of the lower layer inner ring is provided with the second rotating hole; the lower layer of magnets are uniformly adhered to the inner wall of the lower layer of outer ring circle; the lower bearing mounting base is fixed on the lower inner ring circle, a lower mounting platform is arranged on the lower bearing mounting base, and the lower bearing is fixed on the lower mounting platform.
Optionally, the upper rotating kit comprises: the two upper paddles, the upper rotary seat and the upper paddle wing containing mechanism; the upper rotary seat is provided with a first threaded hole, the upper rotary seat is sleeved on the hollow shaft, and the upper rotary seat is fixed on an upper inner ring circle through a plurality of first mounting holes; the upper wing receiving mechanism is fixedly connected with the upper rotary base, and the two upper wings are symmetrically fixed on two sides of the upper wing receiving mechanism so as to be transversely folded in the transverse direction and longitudinally folded in the longitudinal direction respectively through the upper wing receiving mechanism; wherein, go up oar wing receiving mechanism includes: the two upper paddle clamps comprise first parallel arms, second parallel arms, upper pin shafts and first convex arms, the first parallel arms are provided with first connecting holes, the second parallel arms are provided with second connecting holes, the first convex arms are provided with third connecting holes, the first parallel arms and the second parallel arms are fixed on the first convex arms through respective end parts and form a groove structure with the first convex arms, so that any one upper paddle wing is arranged in the corresponding groove structure through the end part of the upper paddle wing, and sequentially penetrates through the first connecting holes, the end parts of the upper paddle wings and the second connecting holes through the upper pin shafts to connect any one upper paddle wing with the corresponding upper paddle clamp pin shaft; go up the propeller hub and include two first concave arms and a first connecting ring, two first concave arm symmetry is fixed the both sides of first connecting ring, each first concave arm correspond with one first convex arm passes through third connecting hole round pin hub connection, be provided with on the first connecting ring with the corresponding second screw hole of first screw hole, just first connecting ring cover is established go up the swivel mount, and pass in proper order through first screw hole the second screw hole will first connecting ring with go up swivel mount threaded connection.
Optionally, the lower rotating kit comprises: two lower paddles, a lower swivel base and a lower paddle wing receiving mechanism; the lower swivel base is provided with a fourth connecting hole, the lower swivel base is sleeved on the hollow shaft, and the second connecting base is fixed on the lower-layer inner ring circle through a plurality of second mounting holes; the lower wing receiving mechanism is fixedly connected with the lower rotary seat, and the two lower wings are symmetrically fixed on two sides of the lower wing receiving mechanism so as to be transversely folded in the transverse direction and longitudinally folded in the longitudinal direction respectively through the lower wing receiving mechanism; wherein, lower oar wing receiving mechanism includes: two lower paddle clamps and a lower paddle hub; each lower paddle clamp comprises a third parallel arm, a fourth parallel arm, a lower pin shaft and a second convex arm, the third parallel arm is provided with a fifth connecting hole, the fourth parallel arm is provided with a sixth connecting hole, the second convex arm is provided with a seventh connecting hole, the third parallel arm and the fourth parallel arm are fixed on the second convex arm through respective end parts and form a groove structure with the second convex arm, so that any one lower paddle wing is arranged in the corresponding groove structure through the end part of the lower paddle wing, and the lower pin shaft sequentially penetrates through the fifth connecting hole, the end part of the lower paddle wing and the sixth connecting hole to connect any one lower paddle wing with the corresponding lower paddle clamp pin shaft; the lower propeller hub comprises two second concave arms, a second connecting ring, a connecting shaft and two force guide arms for conducting driving force, the two second concave arms are symmetrically fixed on two transverse sides of the second connecting ring, each second concave arm is connected with one second convex arm through a seventh connecting hole pin shaft, an eighth connecting hole corresponding to the fourth connecting hole is formed in the second connecting ring, the second connecting ring is sleeved on the lower swivel base, and the connecting shaft sequentially penetrates through the eighth connecting hole and the fourth connecting hole to rotatably connect the second connecting ring and the lower swivel base; the two guide force arms are symmetrically fixed on two longitudinal sides of the second connecting ring and are respectively movably connected with the driving mechanism, so that the driving mechanism drives the two guide force arms to drive the second connecting ring to rotate around the connecting shaft.
Optionally, the drive mechanism comprises: the steering mechanism comprises a first linkage arm, a second linkage arm, an inclined disc, a third linkage arm, a fourth linkage arm, a first steering engine, a second steering engine, a first steering engine arm and a second steering engine arm; one end of the first linkage arm is movably connected with one guide arm in the lower hub, and one end of the second linkage arm is movably connected with the other guide arm in the lower hub; the center of the tilting tray is of a hollow structure, so that the tilting tray is sleeved on the bottom end of the hollow shaft through the hollow structure, and the other end of the first linkage arm and the other end of the second linkage arm are movably connected with the tilting tray respectively; one end of the third linkage arm is movably connected with the inclined disc, and one end of the fourth linkage arm is movably connected with the inclined disc; the first steering engine is fixed on the load bin body and is movably connected with the other end of the third linkage arm through the first steering engine arm; the second steering engine is fixed on the load cabin body and is movably connected with the other end of the fourth linkage arm through the second steering engine arm.
Has the advantages that:
the embodiment of the invention provides a single-layer variable-pitch coaxial structure for an unmanned aerial vehicle, which comprises: a power mechanism, a coaxial mechanism and a driving mechanism. Wherein, the inside of the power mechanism is provided with a hollow groove; the coaxial mechanism comprises an upper rotating sleeve part, a lower rotating sleeve part and a hollow shaft, the upper rotating sleeve part, the lower rotating sleeve part and the power mechanism respectively symmetrically distribute by taking the hollow shaft as a central shaft through the bottom end of the hollow shaft, the upper rotating sleeve part and the lower rotating sleeve part are symmetrically fixed at the upper end surface and the lower end surface of the power mechanism, so that the upper rotating sleeve part and the lower rotating sleeve part are respectively driven to rotate by the power mechanism when rotating around the hollow shaft, the driving mechanism is sleeved on the bottom end of the hollow shaft and movably connected with the lower rotating sleeve part, the lower rotating sleeve part is driven to rotate relative to the upper rotating sleeve part by the driving mechanism so as to adjust the distance between the lower rotating sleeve part and the upper rotating sleeve part, and the variable-pitch operation of the rotor wing can be realized only by driving one rotating sleeve part to rotate relative to the other rotating sleeve part by one driving mechanism, the variable-pitch operation structure is simplified, and compared with the traditional operation mode that each rotor wing needs to be subjected to variable-pitch operation, the variable-pitch operation structure is more convenient and simpler.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic view of an overall structure of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic connection diagram of a power mechanism, a coaxial mechanism and a driving assembly in the whole unmanned aerial vehicle according to the embodiment of the invention;
fig. 3 is a first schematic structural diagram of a power mechanism in the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a power mechanism in the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 5 is a first schematic structural diagram of an upper wing stowing mechanism in the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 6 is a first schematic structural diagram of a lower wing stowing mechanism in the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 7 is a second schematic structural diagram of an upper airfoil stowing mechanism in the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 8 is a second schematic structural diagram of a lower wing stowing mechanism in the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 9 is a schematic structural diagram of a swashplate in an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention belong to the protection scope of the present invention; the "and/or" keyword referred to in this embodiment represents sum or two cases, in other words, a and/or B mentioned in the embodiment of the present invention represents two cases of a and B, A or B, and describes three states where a and B exist, such as a and/or B, which represents: only A does not include B; only B does not include A; including A and B.
Also, in embodiments of the invention where an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the present invention.
Referring to fig. 1 to 9, an embodiment of the present invention provides a single-layer pitch-variable coaxial structure for an unmanned aerial vehicle, including: a power mechanism, a coaxial mechanism and a driving mechanism. Wherein, the inside of the power mechanism is provided with a hollow groove; the coaxial mechanism comprises an upper rotating sleeve part, a lower rotating sleeve part and a hollow shaft, the upper rotating sleeve part, the lower rotating sleeve part and the power mechanism respectively symmetrically distribute by taking the hollow shaft as a central shaft through the bottom end of the hollow shaft, the upper rotating sleeve part and the lower rotating sleeve part are symmetrically fixed at the upper end surface and the lower end surface of the power mechanism, so that the upper rotating sleeve part and the lower rotating sleeve part are respectively driven to rotate by the power mechanism when rotating around the hollow shaft, the driving mechanism is sleeved on the bottom end of the hollow shaft and movably connected with the lower rotating sleeve part, the lower rotating sleeve part is driven to rotate relative to the upper rotating sleeve part by the driving mechanism so as to adjust the distance between the lower rotating sleeve part and the upper rotating sleeve part, and the variable-pitch operation of the rotor wing can be realized only by driving one rotating sleeve part to rotate relative to the other rotating sleeve part by one driving mechanism, the variable-pitch operation structure is simplified, and compared with the traditional operation mode that each rotor wing needs to be subjected to variable-pitch operation, the variable-pitch operation structure is more convenient and simpler.
In order to further explain the present invention and to explain the technical problems to be solved and the technical effects to be achieved by the present invention in detail, the following description of the embodiment of the present invention describes the power mechanism 1, the coaxial mechanism 2, and the driving mechanism 3 one by one.
For the power mechanism 1;
this power unit 1 includes: motor shaft 11, upper rotating body 12 and lower rotating body 13.
Wherein, the upper end surface of the upper rotating body 12 (which can be understood as the upper surface of the upper rotating body 12 shown in fig. 6) is fixedly connected with the upper rotating sleeve 21, so that the upper rotating sleeve 21 is driven to rotate in the first direction by the rotation of the upper rotating body 12. The lower end surface of the lower rotating body 13 (which can be understood as the lower surface of the lower rotating body 13 shown in fig. 6) is fixedly connected to the lower rotating sleeve 22, so that the lower rotating sleeve 22 is driven to rotate in the second direction by the rotation of the lower rotating body 13; and the first and second directions are opposite directions so that their reaction torques can cancel each other out. Further, the upper rotating body 12 and the lower rotating body 13 are symmetrically sleeved on the periphery of the motor shaft 11, a first rotating hole 1221b is formed in the center of the upper rotating body 12, a second rotating hole 1321b is formed in the center of the lower rotating body 22, a threading hole 111 is formed in the center of the motor shaft 11, and the first rotating hole 1221b, the second rotating hole 1321b and the threading hole 111 are connected to form a hollow groove for accommodating the following hollow shaft 23.
In the embodiment of the present invention, the upper layer rotator 12 includes: an upper iron core 121, an upper rotor 122, an upper magnet 123, an upper bearing 124, and an upper bearing mount 125.
Wherein, the upper layer iron core 121 is adhered to the peripheral part of the motor shaft 11; the upper rotor 122 includes upper inner ring circle 1221 and upper outer ring circle 1222, and upper inner ring circle 1221 and upper outer ring circle 1222 coaxial distribution, and through a plurality of first connecting arm 1223 fixed connection, and the up end of upper inner ring circle 1221 is provided with a plurality of and is used for installing the first mounting hole 1221a of rotatory external member 21, with this rotatory external member 21 and upper rotor 122 fixed connection will be gone up through this first mounting hole 1221a, and rotate the external member 21 and rotate in the first direction through the rotatory drive of upper rotor 122 in the first direction. A heat dissipation hole 1223a is formed in a gap between any two first connecting arms 1223, so as to achieve the heat dissipation function of the power mechanism 1 during the rotation process. The center of the upper inner ring 1221 is provided with a first rotary hole 1221b, and the motor shaft 11 is located between the upper inner ring 1221 and the upper outer ring 1222. The upper layer magnets 123 are uniformly adhered to the inner wall of the upper layer outer ring 1221; the upper bearing mount 125 is fixed to the upper inner ring 1221, the upper mount 1251 is provided on the upper bearing mount 125, and the upper bearing 124 is fixed to the upper mount 1251.
In the embodiment of the present invention, the lower rotary body 13 includes: a lower core 131, a lower rotor 132, a lower magnet 133, a lower bearing 134, and a lower bearing mount 135.
Wherein, the lower layer iron core 131 is adhered on the periphery of the motor shaft 11; the lower-layer rotor 132 comprises a lower-layer inner ring 1321 and a lower-layer outer ring 1322, the lower-layer inner ring 1321 and the lower-layer outer ring 1322 are coaxially distributed and fixedly connected through a plurality of second connecting arms 1323, and the lower-layer inner ring 1321 is provided with a plurality of second mounting holes for mounting the lower rotating sleeve 22, so that the lower rotating sleeve 22 and the lower-layer rotor 132 are fixedly connected through the second mounting holes, and the lower rotating sleeve 22 is driven to rotate in the second direction through the rotation of the lower-layer rotor 132 in the second direction. A heat dissipation hole 1223a is formed in a gap between any two second connecting arms 1323 for heat dissipation; a second rotary hole 1321b is formed in the center of the lower inner ring 1321; the lower layer magnet 133 is uniformly adhered to the inner wall of the lower layer outer ring circle 1322; the lower bearing mounting seat 135 is fixed on the lower inner ring 1321, a lower mounting table 1351 is arranged on the lower bearing mounting seat 135, and the lower bearing 134 is fixed on the lower mounting table 1351.
In the upper rotating body 12 and the lower rotating body 13, the upper magnet 123 and the lower magnet 133 may be a rare-earth neodymium-iron-boron magnet, and the upper bearing 124 and the lower bearing 134 may be deep groove ball bearings. The upper/lower layer rotor (upper rotor 122 and lower rotor 132) of the motor is provided with heat dissipation holes 1223a and mounting holes (first mounting hole 1221a and second mounting hole), and the rare earth neodymium iron boron magnet is uniformly adhered to the inner wall of the upper/lower layer rotor. The iron core is wound with a coil for driving a motor to move, the bearing mounting seat is provided with bosses (an upper mounting table 1251 and a lower mounting table 1351) for fixing deep groove ball bearings (an upper bearing 124 and a lower bearing 134), the middle of the motor shaft is provided with a hollow groove for wiring, and the inner wall of the motor shaft is provided with a key groove for fixing a main shaft and the like. That is, in the power mechanism 1 formed by the motor shaft 11, the upper rotating body 12 and the lower rotating body 13 according to the embodiment of the present invention, it is a dual-rotor brushless motor, and the conventional motor is a single-rotor motor, and the first rotating hole 1221b, the second rotating hole 1321b and the threading hole 111 in the embodiment of the present invention are connected to form a hollow slot structure for installing the following hollow shaft 23, so that the power mechanism 1 according to the embodiment of the present invention is a hollow shaft power mechanism, and the middle part thereof can be used for threading, so that the internal space thereof is reasonably applied, the structure is simple and convenient, and the conventional motor is a solid spindle, and the central part thereof has no threading function. In addition, the power mechanism 1 in the embodiment of the invention shares one motor shaft through the double rotors, is compact in deconstruction, can reduce the use of one motor shaft compared with the traditional coaxial double-rotor unmanned aerial vehicle, is more portable, and improves the cruising ability.
For the coaxial mechanism 2;
the coaxial mechanism 2 comprises an upper rotating sleeve 21, a lower rotating sleeve 22 and a hollow shaft 23, and the upper rotating sleeve 21, the hollow groove and the lower rotating sleeve 22 sequentially penetrate through the bottom end 231 of the hollow shaft 23.
Wherein, go up rotatory external member 21 specifically includes: two upper paddles 211, an upper rotor mount 212, and an upper paddle receptacle mechanism 213. The upper wing receiving mechanism 213 is used for connecting the two upper wings 211 and is used for realizing transverse folding and longitudinal folding of the two upper wings 211, the upper rotary base 212 is used for connecting the two upper wings 211, the upper rotary base 212 and the upper wing receiving mechanism 213 with the hollow shaft 23, the hollow shaft 23 is sleeved in the hollow groove of the power mechanism 1, and the upper rotary base 212 is fixedly connected with the power mechanism 1 so as to drive the two upper wings 211 to rotate through the power mechanism 1.
Specifically, the upper swivel base 212 is provided with a first threaded hole 2121, and the upper swivel base 212 is sleeved on the hollow shaft 23 and fixed on the upper inner ring 1221 of the upper rotor 122 through a plurality of first mounting holes 1221 a. Upper wing receiving mechanism 213 and upper swivel mount 212 are fixedly connected, and two upper wings 211 are symmetrically fixed on both sides of upper wing receiving mechanism 213 to perform lateral folding in the lateral direction and longitudinal folding in the longitudinal direction, respectively, by the upper wing receiving mechanism.
With continued reference to fig. 4, 7, and 9, the upper wing stowing mechanism 213 includes: two upper paddle clamps 2131 and an upper hub 2132. Each of the upper paddle clamps 2131 includes a first parallel arm 21311, a second parallel arm 21312, an upper pin 21313, and a first protruding arm 21314, the first parallel arm 21311 is provided with a first connecting hole 21311a, the second parallel arm 21312 is provided with a second connecting hole 21312a, the first protruding arm 21314 is provided with a third connecting hole 21314a, the first parallel arm 21311 and the second parallel arm 21312 are fixed on the first protruding arm 21314 by respective end portions, and form a groove 2133 structure with the first protruding arm 21314, so that any one of the upper paddles 211 is disposed in the corresponding groove 2133 structure by the end portion thereof, and passes through the first connecting hole 21311a, the end portion of the upper paddle 211, and the second connecting hole 21312a in sequence by the upper pin 21313, so as to connect any one of the upper paddles 211 with a corresponding one of the upper paddle clamps 2131. That is, in the embodiment of the present invention, it can be understood that 2 symmetrical upper paddle clips 2131 are disposed on the left and right sides of the upper paddle housing mechanism 213 for mounting the left and right symmetrical upper paddles 211, and each of the left and right upper paddle clips 2131 is provided with a recess 2133 structure formed by a first parallel arm 21311, a second parallel arm 21312 and a first protruding arm 21314, so that the end of the upper paddle 211 can be inserted into the recess 2133 structure and connected to the upper pin 21313, the first connecting hole 21311a and the second connecting hole 21312 a.
In addition, the upper hub 2131 includes two first concave arms 21321 and a first connecting ring 21322, the two first concave arms 21321 are symmetrically fixed on two sides of the first connecting ring 21322, each first concave arm 21321 is connected with one first convex arm 21314 through a third connecting hole 21314a by a pin, the first connecting ring 21322 is provided with a second threaded hole 21322a corresponding to the first threaded hole 2121, and the first connecting ring 21322 is sleeved on the upper rotating base 212, and the first connecting ring 21322 is connected with the upper rotating base 212 by a first screw passing through the first threaded hole 2121 and the second threaded hole 21322a in sequence. That is, in the embodiment of the present invention, it can be understood that 2 first concave arms 21321 are symmetrically disposed on the left and right sides of the upper hub 2131, and the 2 first concave arms 21321 correspond to the 2 first convex arms 21314, and each first convex arm 21314 is connected to a corresponding one of the first concave arms 21321 through a corresponding third connecting hole 21314 a.
It should be noted that each upper paddle clip 2131 is connected with a corresponding first concave arm 21321 of the upper paddle hub 2131 through a first convex arm 21314 by a pin, so that the upper paddle clip 2131 can be folded around the first concave arm 21321 (i.e., the upper paddle clip 2131) by the pin in a rotating manner in the longitudinal direction, and meanwhile, since the end portions of the two upper paddles 211 are inserted into the structure of the concave groove 2133 and are also connected through a pin of the upper pin 21313, the upper paddles 211 can be folded in a rotating manner in the transverse direction with respect to the upper paddle clip 2131, thereby achieving the transverse folding and the longitudinal folding of the upper paddles 211 in the process of storing the flying device, reducing the storage volume of the flying device, and achieving the technical effect of saving the occupied space.
Similar to the structure of the upper rotating sleeve 21, the lower rotating sleeve 22 in the embodiment of the present invention specifically includes: two lower paddles 221, a lower swivel mount 222, and a lower paddle receptacle mechanism 223. The lower swivel base 222 is provided with a fourth connecting hole 2221, the lower swivel base 222 is sleeved on the hollow shaft 23, and the second swivel base 222 is fixed on the lower inner ring through a plurality of second mounting holes. Meanwhile, a lower wing housing mechanism 223 and a lower swivel base 222 are fixedly connected, and two lower wings 222 are symmetrically fixed on both sides of the lower wing housing mechanism 223 to perform transverse folding in the transverse direction and longitudinal folding in the longitudinal direction by the lower wing housing mechanism 223, respectively.
Lower wing stowing mechanism 223 includes: two lower paddle clamps 2231, each lower paddle clamp 2231 includes a third parallel arm 22311, a fourth parallel arm 22312, a lower pin shaft 22313, and a second convex arm 22314. The third parallel arm 22311 is provided with a fifth connecting hole 22311a, the fourth parallel arm 22312 is provided with a sixth connecting hole 22312a, the second convex arm 22314 is provided with a seventh connecting hole 22314a, the third parallel arm 22311 and the fourth parallel arm 22312 are fixed on the second convex arm 22314 through respective ends, and form a groove 2133 structure with the second convex arm 22314, so that any one lower paddle 221 is arranged in the corresponding groove 2133 structure through the end thereof, and the lower pin 22313 sequentially passes through the fifth connecting hole 22311a, the end of the lower paddle 221 and the sixth connecting hole 22312a, so as to pin-connect any one lower paddle 221 with the corresponding lower paddle holder 2231;
that is, it can be understood that in the embodiment of the present invention, the left and right sides of the lower wing stowing mechanism 223 are provided with 2 symmetrical lower wing clips 2231 for mounting the left and right two symmetrical lower wings 221, and each of the left and right lower wing clips 2231 is provided with a groove 2133 structure formed by a third parallel arm 22311, a fourth parallel arm 22312 and a second convex arm 22314, so that the end of the lower wing 221 can be inserted into the groove 2133 structure.
In addition, in the embodiment of the present invention, the lower hub 2232 may include two second concave arms 22321, one second connecting ring 22322, one connecting shaft 22323 and two guide arms 22324 for conducting the driving force, the two second concave arms 22321 are symmetrically fixed on two lateral sides of the second connecting ring 22322, each second concave arm 22321 is connected to one second convex arm 22314 through a seventh connecting hole 22314 by a pin, the second connecting ring 22322 is provided with an eighth connecting hole 22322 corresponding to the fourth connecting hole 2221, and the second connecting ring is sleeved on the lower rotary base, and the connecting shaft passes through the eighth connecting hole and the fourth connecting hole in sequence to rotatably connect the second connecting ring and the lower rotary base; the two guide force arms are symmetrically fixed on the two longitudinal sides of the second connecting ring and are respectively movably connected with the driving mechanism, so that the driving mechanism drives the two guide force arms to drive the second connecting ring to rotate around the connecting shaft.
It should also be noted that each lower paddle holder 2231 is pivotally connected to a corresponding second concave arm 22321 of the lower hub 2232 by a second convex arm 22314, so that the lower paddle holder 2231 can be folded around the second concave arm 22321 (i.e., the lower paddle holder 2231) by rotating in the longitudinal direction by the pivotal connection, and meanwhile, since the ends of the two lower paddles 221 are inserted into the groove 2133 structure and are also pivotally connected by the pin of the lower pin 22313, the lower paddles 221 can be folded in a transverse direction with respect to the lower paddle holder 2231, so as to achieve the transverse folding and the longitudinal folding of the lower paddles 211 during the storing of the flying apparatus, reduce the storing volume of the flying apparatus, and achieve the technical effect of saving the occupied space.
It should be noted that, in the embodiment of the present invention, in order to implement single-rotor driving variable-pitch, the present invention innovatively connects only the lower rotating sleeve 22 to the driving mechanism 3, that is, two guide arms 22324 are symmetrically arranged on two longitudinal sides of the second connecting ring 22322, and are respectively movably connected to the driving mechanism 3, so that the driving mechanism drives the two guide arms 22324 to drive the second connecting ring 22322 to rotate.
For the drive mechanism 3;
the drive mechanism 3 specifically includes: a first linkage arm 31, a second linkage arm 32, a tilting disk 33, a third linkage arm 34, a fourth linkage arm 35, a first steering engine 36, a first rudder arm 37, a second steering engine 38 and a second rudder arm 39.
Specifically, one end of the first linkage arm 31 is movably connected to one of the guide arms 22324 of the lower hub 2232, one end of the second linkage arm 34 is movably connected to the other guide arm of the lower hub 2232, a hollow structure is formed in a center of the tilting disk 33, so that the tilting disk 33 is sleeved on the bottom end 232 of the hollow shaft 23 through the hollow structure, and the other end of the first linkage arm 31 and the other end of the second linkage arm 32 are respectively movably connected to the tilting disk 33. One end of the third linkage arm 34 is movably connected with the tilting disk 33, and one end of the fourth linkage arm 35 is movably connected with the tilting disk 33. The first steering engine 36 is fixed on the load cabin 4 and is movably connected with the other end of the third linkage arm 34 through a first steering engine arm 37. The second steering engine 36 is fixed on the load cabin 4 and is movably connected with the other end of the fourth linkage arm 35 through a second steering engine arm 37.
In the driving process, after the first steering engine 36 and the second steering engine 38 are powered on, the corresponding linkage arms (the third linkage arm 34 and the fourth linkage arm 35) are driven by the respective steering engine arms (the first steering engine arm 37 and the second steering engine 36) to move, so that the third linkage arm 34 and the fourth linkage arm 35 in the moving process correspondingly drive the two guide force arms 22324 to move up and down, and finally the two guide force arms 22324 in the up-and-down moving process drive the tilting coiling connecting shaft 22323 to rotate.
In one embodiment, the tilting disk 33 may include: a third bearing 331, a bearing groove 332, a fourth bearing 333, and a fourth bearing mount 334. The bearing groove 332 is sleeved on the bottom end 232 of the hollow shaft 23, the third bearing 331 is installed on the bearing groove 332, and the other end of the first linkage arm 31 and the other end of the second linkage arm 32 are movably connected with the bearing groove 332 respectively. The fourth bearing 333 is mounted on the fourth bearing mounting seat 334, and the third bearing 331 and the fourth bearing 333 are in interference fit together; one end of the third linkage arm 34 is movably connected to the fourth bearing mounting seat 334, and one end of the fourth linkage arm 35 is movably connected to the fourth bearing mounting seat 334.
It should be noted that, in the embodiment of the present invention, since the power mechanism adopts a brand-new "dual-rotor single-stator" structure, and the hollow shaft 23 adopts a hollow structure, the hollow inside of the hollow shaft 23 can be used for installing electric wires, in other words, the circuit of the GPS signal receiving/transmitting device, the circuit of the flight control module, the circuit of the navigation module, the circuit of the power module, and the like in the embodiment of the present invention can be communicated with each other through the hollow structure of the hollow shaft 23.
In summary, the single-layer variable pitch coaxial structure for the unmanned aerial vehicle provided by the embodiment of the present invention includes: a power mechanism, a coaxial mechanism and a driving mechanism. Wherein, the inside of the power mechanism is provided with a hollow groove; the coaxial mechanism comprises an upper rotating sleeve part, a lower rotating sleeve part and a hollow shaft, the upper rotating sleeve part, the lower rotating sleeve part and the power mechanism respectively symmetrically distribute by taking the hollow shaft as a central shaft through the bottom end of the hollow shaft, the upper rotating sleeve part and the lower rotating sleeve part are symmetrically fixed at the upper end surface and the lower end surface of the power mechanism, so that the upper rotating sleeve part and the lower rotating sleeve part are respectively driven to rotate by the power mechanism when rotating around the hollow shaft, the driving mechanism is sleeved on the bottom end of the hollow shaft and movably connected with the lower rotating sleeve part, the lower rotating sleeve part is driven to rotate relative to the upper rotating sleeve part by the driving mechanism so as to adjust the distance between the lower rotating sleeve part and the upper rotating sleeve part, and the variable-pitch operation of the rotor wing can be realized only by driving one rotating sleeve part to rotate relative to the other rotating sleeve part by one driving mechanism, the variable-pitch operation structure is simplified, and compared with the traditional operation mode that each rotor wing needs to be subjected to variable-pitch operation, the variable-pitch operation structure is more convenient and simpler.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (3)
1. A single layer pitch coaxial structure for a drone, characterized in that it comprises:
the device comprises a power mechanism, a coaxial mechanism and a driving mechanism;
wherein, the power mechanism is internally provided with a hollow groove; the coaxial mechanism includes: the hollow shaft is provided with a top end and a bottom end, and sequentially penetrates through the upper rotating sleeve, the hollow groove and the lower rotating sleeve through the bottom end, so that the upper rotating sleeve, the lower rotating sleeve and the power mechanism are respectively symmetrically distributed by taking the hollow shaft as a central axis, and the upper rotating sleeve and the lower rotating sleeve are symmetrically fixed on the upper end surface and the lower end surface of the power mechanism; the driving mechanism is sleeved on the bottom end of the hollow shaft and is movably connected with the lower rotating sleeve; the power mechanism and the driving mechanism are respectively externally connected with a power module so as to respectively drive the upper rotating external member and the lower rotating external member to rotate when the power mechanism rotates around the hollow shaft; the driving mechanism drives the lower rotating sleeve to rotate relative to the upper rotating sleeve;
the power mechanism comprises:
the motor shaft, the upper layer rotating body and the lower layer rotating body;
the upper end face of the upper-layer rotating body is fixedly connected with the upper rotating sleeve so as to drive the upper rotating sleeve to rotate through the rotation of the upper-layer rotating body, and the lower end face of the lower-layer rotating body is fixedly connected with the lower rotating sleeve so as to drive the lower rotating sleeve to rotate through the rotation of the lower-layer rotating body; the upper rotating body and the lower rotating body are symmetrically sleeved on the periphery of the motor shaft, a first rotating hole is formed in the center of the upper rotating body, a second rotating hole is formed in the center of the lower rotating body, a threading hole is formed in the center of the motor shaft, and the first rotating hole, the second rotating hole and the threading hole are connected to form the hollow groove;
the upper layer rotating body includes:
the upper-layer rotor is arranged on the upper layer of the rotor;
wherein, the upper iron core is adhered to the periphery of the motor shaft; the upper rotor comprises an upper inner ring circle and an upper outer ring circle, the upper inner ring circle and the upper outer ring circle are coaxially distributed and fixedly connected through a plurality of first connecting arms, a plurality of first mounting holes for mounting the upper rotating sleeve are formed in the upper end face of the upper inner ring circle, and a heat dissipation hole is formed in a gap between any two first connecting arms; the first rotating hole is formed in the center of the upper inner ring, and the motor shaft is located between the upper inner ring and the upper outer ring; the upper layer magnets are uniformly adhered to the inner wall of the upper layer outer ring circle; the upper bearing mounting seat is fixed on the upper inner ring circle, an upper mounting table is arranged on the upper bearing mounting seat, and the upper bearing is fixed on the upper mounting table;
the lower rotary body includes:
the lower-layer iron core, the lower-layer rotor, the lower-layer magnet, the lower-layer bearing and the lower-layer bearing mounting seat are arranged on the lower-layer iron core; the lower layer iron core is bonded on the peripheral part of the motor shaft; the lower-layer rotor comprises a lower-layer inner ring circle and a lower-layer outer ring circle, the lower-layer inner ring circle and the lower-layer outer ring circle are coaxially distributed and fixedly connected through a plurality of second connecting arms, a plurality of second mounting holes used for mounting the lower rotating sleeve are formed in the lower-layer inner ring circle, and a heat dissipation hole is formed in a gap between any two second connecting arms and used for dissipating heat; the central part of the lower layer inner ring is provided with the second rotating hole; the lower layer of magnets are uniformly adhered to the inner wall of the lower layer of outer ring circle; the lower-layer bearing mounting seat is fixed on the lower-layer inner ring circle, a lower-layer mounting table is arranged on the lower-layer bearing mounting seat, and the lower-layer bearing is fixed on the lower-layer mounting table;
the upper rotating kit includes:
the two upper paddles, the upper rotary seat and the upper paddle wing containing mechanism;
the upper rotary seat is provided with a first threaded hole, the upper rotary seat is sleeved on the hollow shaft, and the upper rotary seat is fixed on an upper inner ring circle through a plurality of first mounting holes; the upper wing receiving mechanism is fixedly connected with the upper rotary base, and the two upper wings are symmetrically fixed on two sides of the upper wing receiving mechanism so as to be transversely folded in the transverse direction and longitudinally folded in the longitudinal direction respectively through the upper wing receiving mechanism;
wherein, go up oar wing receiving mechanism includes: the two upper paddle clamps comprise first parallel arms, second parallel arms, upper pin shafts and first convex arms, the first parallel arms are provided with first connecting holes, the second parallel arms are provided with second connecting holes, the first convex arms are provided with third connecting holes, the first parallel arms and the second parallel arms are fixed on the first convex arms through respective end parts and form a groove structure with the first convex arms, so that any one upper paddle wing is arranged in the corresponding groove structure through the end part of the upper paddle wing, and sequentially penetrates through the first connecting holes, the end parts of the upper paddle wings and the second connecting holes through the upper pin shafts to connect any one upper paddle wing with the corresponding upper paddle clamp pin shaft; go up the propeller hub and include two first concave arms and a first connecting ring, two first concave arm symmetry is fixed the both sides of first connecting ring, each first concave arm correspond with one first convex arm passes through third connecting hole round pin hub connection, be provided with on the first connecting ring with the corresponding second screw hole of first screw hole, just first connecting ring cover is established go up the swivel mount, and pass in proper order through first screw hole the second screw hole will first connecting ring with go up swivel mount threaded connection.
2. A single layer pitch coaxial structure for a drone according to claim 1, wherein said lower rotating hub comprises:
two lower paddles, a lower swivel base and a lower paddle wing receiving mechanism;
the lower swivel base is provided with a fourth connecting hole, the lower swivel base is sleeved on the hollow shaft, and the second connecting seat is fixed on the lower-layer inner ring circle through a plurality of second mounting holes;
the lower wing receiving mechanism is fixedly connected with the lower rotary seat, and the two lower wings are symmetrically fixed on two sides of the lower wing receiving mechanism so as to be transversely folded in the transverse direction and longitudinally folded in the longitudinal direction respectively through the lower wing receiving mechanism;
wherein, lower oar wing receiving mechanism includes: two lower paddle clamps and a lower paddle hub; each lower paddle clamp comprises a third parallel arm, a fourth parallel arm, a lower pin shaft and a second convex arm, the third parallel arm is provided with a fifth connecting hole, the fourth parallel arm is provided with a sixth connecting hole, the second convex arm is provided with a seventh connecting hole, the third parallel arm and the fourth parallel arm are fixed on the second convex arm through respective end parts and form a groove structure with the second convex arm, so that any one lower paddle wing is arranged in the corresponding groove structure through the end part of the lower paddle wing, and the lower pin shaft sequentially penetrates through the fifth connecting hole, the end part of the lower paddle wing and the sixth connecting hole to connect any one lower paddle wing with the corresponding lower paddle clamp pin shaft; the lower propeller hub comprises two second concave arms, a second connecting ring, a connecting shaft and two force guide arms for conducting driving force, the two second concave arms are symmetrically fixed on two transverse sides of the second connecting ring, each second concave arm is connected with one second convex arm through a seventh connecting hole pin shaft, an eighth connecting hole corresponding to the fourth connecting hole is formed in the second connecting ring, the second connecting ring is sleeved on the lower swivel base, and the connecting shaft sequentially penetrates through the eighth connecting hole and the fourth connecting hole to rotatably connect the second connecting ring and the lower swivel base; the two guide force arms are symmetrically fixed on two longitudinal sides of the second connecting ring and are respectively movably connected with the driving mechanism, so that the driving mechanism drives the two guide force arms to drive the second connecting ring to rotate around the connecting shaft.
3. A single layer pitch coaxial architecture for a drone according to claim 2, wherein said drive mechanism comprises:
the steering mechanism comprises a first linkage arm, a second linkage arm, an inclined disc, a third linkage arm, a fourth linkage arm, a first steering engine, a second steering engine, a first steering engine arm and a second steering engine arm;
one end of the first linkage arm is movably connected with one guide arm in the lower hub, and one end of the second linkage arm is movably connected with the other guide arm in the lower hub; the center of the tilting tray is of a hollow structure, so that the tilting tray is sleeved on the bottom end of the hollow shaft through the hollow structure, and the other end of the first linkage arm and the other end of the second linkage arm are movably connected with the tilting tray respectively; one end of the third linkage arm is movably connected with the inclined disc, and one end of the fourth linkage arm is movably connected with the inclined disc; the first steering engine is fixed on the load bin body and is movably connected with the other end of the third linkage arm through the first steering engine arm; the second steering engine is fixed on the load cabin body and is movably connected with the other end of the fourth linkage arm through the second steering engine arm.
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| CN113232850B (en) * | 2021-05-11 | 2022-06-03 | 重庆大学 | Main transmission system of coaxial double-rotor helicopter |
| CN114082121B (en) * | 2021-11-21 | 2022-07-29 | 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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| US8167233B2 (en) * | 2007-12-21 | 2012-05-01 | Avx Aircraft Company | Coaxial rotor aircraft |
| US10703475B2 (en) * | 2016-04-25 | 2020-07-07 | Uvionix Aerospace Corporation | Unmanned aerial vehicle |
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| CN106347649A (en) * | 2016-09-28 | 2017-01-25 | 深圳电航空技术有限公司 | Paddle connector, coaxial dual-paddle structure and UAV (Unmanned Aerial Vehicle) |
| CN108275264A (en) * | 2018-03-05 | 2018-07-13 | 南京韬讯航空科技有限公司 | A kind of foldable coaxial dual-rotor helicopter and its control method |
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