CN110481769A - Unmanned flight's device based on coaxial double-rotary wing - Google Patents
Unmanned flight's device based on coaxial double-rotary wing Download PDFInfo
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- CN110481769A CN110481769A CN201910814263.9A CN201910814263A CN110481769A CN 110481769 A CN110481769 A CN 110481769A CN 201910814263 A CN201910814263 A CN 201910814263A CN 110481769 A CN110481769 A CN 110481769A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 51
- 230000000712 assembly Effects 0.000 claims abstract description 16
- 238000000429 assembly Methods 0.000 claims abstract description 16
- 238000005192 partition Methods 0.000 claims description 19
- 230000002093 peripheral effect Effects 0.000 claims description 11
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 4
- 239000002356 single layer Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 13
- 230000000694 effects Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 2
- 240000002853 Nelumbo nucifera Species 0.000 description 2
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 229910001172 neodymium magnet Inorganic materials 0.000 description 2
- 229910052761 rare earth metal Inorganic materials 0.000 description 2
- 150000002910 rare earth metals Chemical class 0.000 description 2
- 238000006424 Flood reaction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000930 thermomechanical effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/12—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like sideways
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/46—Blades
- B64C27/473—Constructional features
- B64C27/50—Blades foldable to facilitate stowage of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/68—Transmitting means, e.g. interrelated with initiating means or means acting on blades using electrical energy, e.g. having electrical power amplification
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of unmanned flight's device based on coaxial double-rotary wing, belong to air vehicle technique field, comprising: electric machine assembly, rotor assemblies, displacement component, load warehouse and undercarriage.Wherein, rotor assemblies include the first rotor group, the second rotor group and central fixed shaft, and the first rotor group, center vertical slot and the second rotor group are sequentially passed through by central fixed shaft, electric machine assembly can drive the first rotor group and the second rotor group to be rotated respectively when rotating around central fixed shaft, GPS signal is provided on signal end and receives transmitter；Load warehouse, which is built-in with, flies control module, navigation module and power module etc., undercarriage is fixed with below load warehouse, displacement component is set in the fixing end of central fixed shaft, so that only carrying out rotation relative to another rotor group by one rotor group of a displacement Component driver can be realized the displacement operation of rotor, displacement is simplified by the design of single layer displacement and operates structure, and overall structure simply, is easily maintained and high reliablity.
Description
Technical field
The invention belongs to air vehicle technique field, in particular to a kind of unmanned flight's device based on coaxial double-rotary wing.
Background technique
Unmanned unmanned plane referred to as " unmanned plane ", is grasped using radio robot and the presetting apparatus provided for oneself
Vertical not manned unmanned plane.Without cockpit on machine, but automatic pilot, presetting apparatus, information collecting device are installed etc.
Equipment.On ground, naval vessels or machine tool remote control station personnel are by the equipment such as radar, it is tracked, is positioned, is remotely controlled, telemetering and
Digital Transmission.It can take off as common unmanned plane under wireless remotecontrol or be launched with booster rocket, it can also be by machine tool
Aerial launch is taken to fly.Unmanned plane be usually used in mountain area and across great rivers transmission line of electricity inspection, and ice damage,
Floods, landslide, carry out line walking inspection at earthquake during night.
Existing coaxial unmanned plane uses the double inclinations of six steering engines by the full variable pitch contro l of blade up and down of upper rotor and lower rotor
Disk control, steering engine quantity is more, and steering engine has air crash risk if breaking down.
It can be seen that existing coaxial double-rotary wing unmanned plane is mostly operated using the full displacement of upper and lower rotor, to change unmanned plane
State of flight, and the operation of rotor full displacement leads to above-mentioned unmanned plane structure is complicated up and down, steering engine quantity is in the majority, is not easy to maintain, can
It is low by property.
Summary of the invention
The technical problem to be solved by the present invention is to how provide a kind of novel unmanned flight based on coaxial double-rotary wing
Device so that rotary wing changing can be realized between several rotor groups away from operation only by adusting a rotor group, have structure it is simple,
The characteristics of easy maintenance and high reliablity.
In order to solve the above technical problems, the present invention provides a kind of unmanned flight's device based on coaxial double-rotary wing, described
Device includes: electric machine assembly, and the electric machine assembly is internally provided with a center vertical slot；Rotor assemblies, the rotor assemblies packet
It includes: the first rotor group, the second rotor group and central fixed shaft, and the central fixed shaft has a signal end and a fixing end,
And the first rotor group, the center vertical slot and the second rotor group are sequentially passed through by the fixing end, so that described
First rotor group, the second rotor group and the electric machine assembly are respectively distributed by center axial symmetry of the central fixed shaft,
The first rotor group, the second rotor group are symmetrically fixed at the upper and lower end face of the electric machine assembly, to pass through the motor
Component drives the first rotor group and the second rotor group to be rotated respectively when rotating around the central fixed shaft, described
It is provided with GPS signal on signal end and receives transmitter；Displacement component, the displacement component are set in the institute of the central fixed shaft
It states in fixing end, and is flexibly connected with the second rotor group, and drive the second rotor group by the displacement component
It is rotated relative to the first rotor group, to be carried out to the distance between the second rotor group and the first rotor group
It adjusts；Load warehouse, the load warehouse are fixed in the fixing end of the central fixed shaft, are used for build-in load；It rises
Frame is fallen, the undercarriage is fixed on the load warehouse.
Optionally, the electric machine assembly includes: motor stator；First rotating body, the upper end of first rotating body
Face is fixedly connected with the first rotor group, to drive the first rotor group to carry out by the rotation of first rotating body
Rotation；Second rotating body, the lower end surface of second rotating body are fixedly connected with the second rotor group, by described
The rotation of second rotating body drives the second rotor group to be rotated；Wherein, first rotating body and described second
Rotating body is symmetrically set in the peripheral position of the motor stator, and the centre of first rotating body is provided with
First rotating hole, second rotating body are provided centrally with the second rotating hole, the centre setting of the motor stator
There is threading hole, first rotating hole, second rotating hole are mutually connected with the threading hole, to constitute the center vertical slot.
Optionally, first rotating body includes: first coil iron core, and the first coil iron core is bonded in the electricity
On the peripheral position of machine stator；The first rotor, the first rotor include the first inner circle structure and the first outer circle structure, and described the
One inner circle structure and the first outer circle structure are coaxially distributed, and are fixedly connected by several first linking arms, and described
The upper surface of one inner circle structure is provided with several for installing the first mounting hole of the first rotor group, described in any two
Gap position between first linking arm constitutes a heat release hole；The centre of the first inner circle structure is provided with described
One rotating hole, the motor stator is between the first inner circle structure and the first outer circle structure；First magnet, it is described
First magnet is uniformly pasted on the inner wall of the first outer circle structure；First bearing and first bearing mounting base, described
One bearing mounting base is fixed in the first inner circle structure, and is provided with first boss in the first bearing mounting base, institute
First bearing is stated to be fixed in the first boss.
Optionally, second rotating body includes: the second iron-core coil, and second iron-core coil is bonded in the electricity
On the peripheral position of machine stator；Second rotor, second rotor include the second inner circle structure and the second outer circle structure, and described the
Two inner circle structures and the second outer circle structure are coaxially distributed, and are fixedly connected by several second linking arms, and described
Several are provided in two inner circle structures for installing the second mounting hole of the second rotor group, the second company described in any two
It connects the gap position between arm and constitutes a heat release hole for radiating；The centre of the second inner circle structure is provided with described
Second rotating hole；Second magnet, second magnet are uniformly pasted on the inner wall of the second outer circle structure；Second bearing
With second bearing mounting base, the second bearing mounting base is fixed in the second inner circle structure, and the second bearing is pacified
It is provided with second boss on dress seat, the second bearing is fixed in the second boss.
Optionally, the first rotor group includes: two the first rotors；First attachment base is opened on first attachment base
Equipped with the first threaded hole, first attachment base is set in the central fixed shaft, and first attachment base passes through several
First mounting hole is fixed in the first inner circle structure；First rotor fold mechanism, the first rotor fold mechanism
It is fixedly connected with first attachment base, two first rotors are symmetrically fixed on the two of the first rotor fold mechanism
Side, to carry out longitudinal folding on the laterally folded and longitudinal direction in transverse direction respectively by the first rotor fold mechanism
It is folded；The first rotor fold mechanism includes: two the first paddles folder, each described first paddle folder includes the first parallel arms, the
Two parallel arms, the first pin shaft and the first male arms, first parallel arms offer the first connecting hole, open in second parallel arms
Equipped with the second connecting hole, third connecting hole, first parallel arms and second parallel arms are offered in first male arms
It is fixed in first male arms by respective end, and forms a groove structure with first male arms, so that arbitrarily
One first rotor is arranged in the corresponding groove structure by its end, and is successively worn by first pin shaft
Cross first connecting hole, the end of first rotor and second connecting hole, by any one of first rotor and
Its corresponding first paddle clamp pin axis connection；First propeller hub, first propeller hub include two the first recessed arms and one
First connection ring, two first recessed arms are symmetrically fixed on the two sides of first connection ring, each is described first recessed
Arm is corresponding to be connect with first male arms by the third connecting hole pin shaft, be provided in first connection ring with
Corresponding second threaded hole of first threaded hole, and first connection ring is set on first attachment base, and is led to
It crosses the first screw and sequentially passes through first threaded hole, second threaded hole and connect first connection ring with described first
Seat is threadedly coupled.
Optionally, the second rotor group includes: two the second rotors；Second attachment base is opened on second attachment base
Equipped with the 4th connecting hole, second attachment base is set in the central fixed shaft, and second joint chair passes through several institutes
The second mounting hole is stated to be fixed in the second inner circle structure；Second rotor fold mechanism, the second rotor fold mechanism and
Second attachment base is fixedly connected, and two second rotors are symmetrically fixed on the two of the second rotor fold mechanism
Side, to carry out longitudinal folding on the laterally folded and longitudinal direction in transverse direction respectively by the second rotor fold mechanism
It is folded；The second rotor fold mechanism includes: two the second paddles folder, each described second paddle folder includes third parallel arms, the
Four parallel arms, the second pin shaft and the second male arms, the third parallel arms offer the 5th connecting hole, open in the 4th parallel arms
Equipped with the 6th connecting hole, the 7th connecting hole, the third parallel arms and the 4th parallel arms are offered in second male arms
It is fixed in second male arms by respective end, and forms a groove structure with second male arms, so that arbitrarily
One second rotor is arranged in the corresponding groove structure by its end, and is successively worn by second pin shaft
Cross the 5th connecting hole, the end of second rotor and the 6th connecting hole, by any one of second rotor and
Its corresponding second paddle clamp pin axis connection；Second propeller hub, second propeller hub include two the second recessed arms, one the
Two connection rings, a connecting shaft and two are used to conduct the arm of force of leading of driving force, and two second recessed arms are symmetrically fixed on
The both lateral sides of second connection ring, each described second recessed arm is corresponding to pass through described the with second male arms
Seven connecting hole pin shafts connect, and are provided with the 8th connecting hole corresponding with the 4th connecting hole in second connection ring, and
Second connection ring is set on second attachment base, and the connecting shaft sequentially passes through the 8th connecting hole, described
Four connecting holes connect second connection ring and second attachment base rotation；The arm of force is led described in two is symmetrically fixed on institute
Longitudinal two sides of the second connection ring are stated, and are flexibly connected respectively with the displacement component, to pass through the displacement Component driver two
It is a it is described lead the arm of force and drive described second to be attached around the connecting shaft rotated.
Optionally, the displacement component includes: the first drive rod and the second drive rod, one end of first drive rod with
It leads the arm of force described in one in second propeller hub to be flexibly connected, in one end of second drive rod and second propeller hub
Arm of force flexible connection is led described in another, drive disk, the centre of the drive disk is at hollow structure, so that the drive disk
It is set in the fixing end of the central fixed shaft by the hollow structure, and the other end of first drive rod,
And the other end of second drive rod is flexibly connected with the drive disk respectively；Third drive rod and the 4th drive rod, institute
The one end for stating third drive rod is flexibly connected with the drive disk, and one end of the 4th drive rod and the driving disk activity connect
It connects；First steering engine and the first steering engine arm, first steering engine are fixed on the load warehouse, and by the first steering engine arm and
The other end of the third drive rod is flexibly connected；Second steering engine and the second steering engine arm, second steering engine are fixed on the load
Lotus warehouse, and be flexibly connected by the other end of the second steering engine arm and the 4th drive rod.
Optionally, the drive disk includes: 3rd bearing；Bearing groove, the bearing groove are set in the central fixed shaft
The fixing end on, and the 3rd bearing is mounted on the bearing groove, the other end of first drive rod, Yi Jisuo
The other end for stating the second drive rod is flexibly connected with the bearing groove respectively；Fourth bearing and fourth bearing mounting base, described
Four bearings are mounted on the fourth bearing peace swivel base, and the 3rd bearing and the fourth bearing are interference fitted together；
One end of the third drive rod is flexibly connected with the fourth bearing mounting base, one end of the 4th drive rod and described the
Four bearing mounting bases are flexibly connected.
Optionally, the load warehouse includes: the first cover, and first cover is set in first steering engine and described
The peripheral position of second steering engine, with by first cover by first steering engine and the second steering engine envelope in it
Portion；First warehouse, first warehouse are snapped connection with first cover, and first warehouse and first cover it
Between be provided with first partition, be provided in first warehouse fly control module；Second warehouse, second warehouse and described first
Warehouse snaps connection, and second partition is provided between second warehouse and first warehouse, sets in second warehouse
It is equipped with navigation module；Third warehouse, the third warehouse are snapped connection with second warehouse, and the third warehouse with it is described
It is provided with third partition between second warehouse, is provided with power module in second warehouse；Wherein, the third warehouse and institute
It states undercarriage to be fixedly connected, and the first partition, second partition and the third partition are parallel to each other.
Optionally, the undercarriage includes: frame body, the rounded structure of frame body, and fixes and connect with the third warehouse
It connects；First foot prop, the second foot prop and third foot prop, first foot prop, second foot prop and the third foot prop respectively with
The frame body is flexibly connected, so that first foot prop, second foot prop and the third foot prop can relative to the frame body
Rotation.
The utility model has the advantages that
A kind of unmanned flight's device based on coaxial double-rotary wing provided in an embodiment of the present invention, comprising: electric machine assembly, rotor
Component, displacement component, load warehouse and undercarriage.Wherein, electric machine assembly is internally provided with a center vertical slot；Rotor assemblies packet
The first rotor group, the second rotor group and central fixed shaft are included, and the first rotor is sequentially passed through by the fixing end of central fixed shaft
Group, center vertical slot and the second rotor group, so that the first rotor group, the second rotor group and electric machine assembly are respectively with central fixed shaft
Distribution substantially symmetrical about its central axis, while the first rotor group, the second rotor group are symmetrically fixed at the upper and lower end face of electric machine assembly, with logical
It crosses and the first rotor group and the second rotor group is driven to be rotated when electric machine assembly is rotated around central fixed shaft respectively, set on signal end
It is equipped with GPS signal and receives transmitter for receiving and emitting GPS positioning signal；Load warehouse, which is built-in with, flies control module, navigation mould
Block and power module etc., support of the undercarriage for entire flight instruments is fixed with below load warehouse, and displacement component is arranged
It is flexibly connected in the fixing end of central fixed shaft, and with the second rotor group, and drives the second rotor group by displacement component
It is rotated relative to the first rotor group 21, the distance between the second rotor group and the first rotor group to be adjusted, in this way
So that only carrying out rotation relative to another rotor group by one rotor group of a displacement Component driver can be realized the change of rotor
Away from operation, displacement operation structure is simplified, compared to the operation that traditional each rotor of needs requires progress displacement operation
Mode is more convenient, simple, is made up of with this electric machine assembly, rotor assemblies, displacement component, load warehouse and undercarriage
Unmanned flight's device based on coaxial double-rotary wing, with it is monotropic away from design feature, overall structure is simple, easily maintenance and reliability
It is high.
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 flight's device overall structure diagram one provided in an embodiment of the present invention；
Fig. 2 is unmanned flight's device overall structure diagram two provided in an embodiment of the present invention；
Fig. 3 is unmanned flight's device overall structure diagram three provided in an embodiment of the present invention；
Fig. 4 is electric machine assembly, rotor assemblies and driving assembly in unmanned flight's device entirety provided in an embodiment of the present invention
Connection relationship diagram；
Fig. 5 is the structural schematic diagram one of electric machine assembly in unmanned flight's device provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram two of electric machine assembly in unmanned flight's device provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram one of the first rotor fold mechanism in unmanned flight's device provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram one of the second rotor fold mechanism in unmanned flight's device provided in an embodiment of the present invention；
Fig. 9 is the structural schematic diagram two of the first rotor fold mechanism in unmanned flight's device provided in an embodiment of the present invention；
Figure 10 is the structural schematic diagram two of the second rotor fold mechanism in unmanned flight's device provided in an embodiment of the present invention；
Figure 11 is the structural schematic diagram of drive disk in unmanned flight's device provided in an embodiment of the present invention；
Figure 12 is the structural schematic diagram one of undercarriage in unmanned flight's device provided in an embodiment of the present invention；
Figure 13 is the structural schematic diagram two of undercarriage in unmanned flight's device 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. 1-10, a kind of unmanned flight's device based on coaxial double-rotary wing provided in an embodiment of the present invention, comprising: electricity
Thermomechanical components 1, rotor assemblies 2, displacement component 3, load warehouse 4 and undercarriage 5.Wherein, electric machine assembly 1 is internally provided in one
Heart vertical slot；Rotor assemblies 2 include the first rotor group 21, the second rotor group 22 and central fixed shaft 23, and pass through central fixed shaft
23 fixing end 231 sequentially passes through the first rotor group 21, center vertical slot and the second rotor group 22, so that the first rotor group 21,
Two rotor groups 22 and electric machine assembly 1 are respectively the distribution of center axial symmetry with central fixed shaft 23, while the first rotor group 21, second
Rotor group 22 is symmetrically fixed at the upper and lower end face of electric machine assembly 1, when being rotated by electric machine assembly 1 around central fixed shaft 23
It drives the first rotor group 21 and the second rotor group 22 to be rotated respectively, GPS signal is provided on signal end and receives the use of transmitter 6
In reception and transmitting GPS positioning signal；Load warehouse 4, which is built-in with, flies control module 7, navigation module 8 and power module 9 etc., load
The lower section of warehouse 4 is fixed with support of the undercarriage 5 for entire flight instruments, and displacement component 3 is set in central fixed shaft 23
In fixing end 231, and be flexibly connected with the second rotor group 22, and driven by displacement component 3 second rotor group 22 relative to
First rotor group 21 is rotated, and the distance between the second rotor group 22 and the first rotor group 21 to be adjusted, is made in this way
It obtains and only carries out rotating the displacement that rotor can be realized relative to another rotor group by one rotor group of a displacement Component driver
Operation simplifies displacement operation structure, compared to the operation side that traditional each rotor of needs requires progress displacement operation
Formula is more convenient, simple, passes through electric machine assembly 1, rotor assemblies 2,5 displacement component 3, load warehouse 4 and undercarriage structures with this
At unmanned flight's device based on coaxial double-rotary wing, with it is monotropic away from design feature, overall structure is simple, easily maintenance and can
By property height.
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 to each composition component motor component 1, the rotor group for constituting unmanned flight's device
Part 2, displacement component 3, load warehouse 4 and undercarriage 5 are illustrated one by one.
For electric machine assembly 1；
Please continue to refer to Fig. 1-6, which includes: motor stator 11, the first rotating body 12 and the second rotation sheet
Body 13.
Wherein, the upper surface of the first rotating body 12 (can be understood as the upper of the first rotating body 12 shown in fig. 6
Face) it is fixedly connected with the first rotor group 21, to drive the first rotor group 21 in first party by the rotation of the first rotating body 12
It is rotated upwards.The lower end surface of second rotating body 13 (can be understood as under the second rotating body 13 shown in fig. 6
Face) it is fixedly connected with the second rotor group 22, to drive second rotor by the rotation of second rotating body 13
Group 22 is rotated in a second direction；And the first direction and second direction are two opposite directions, so that theirs is anti-
Torque can offset each other.Further, the first rotating body 12 and the second rotating body 13 are symmetrically set in motor stator
11 peripheral position, and the centre of the first rotating body 12 is provided with the first rotating hole 1221b, the second rotating body 22
It is provided centrally with the second rotating hole 1321b, the centre of motor stator 11 is provided with threading hole 111, the first rotating hole
1221b, the second rotating hole 1321b and threading hole 111 are mutually connected, to constitute for disposing the center of following central fixed shafts 23 perpendicular
Slot.
In embodiments of the present invention, the first rotating body 12 includes: first coil iron core 121, the first rotor 122, first
Magnet 123, first bearing 124 and first bearing mounting base 125.
Wherein, first coil iron core 121 is bonded on the peripheral position of motor stator 11；The first rotor 122 includes first
Inner circle structure 1221 and the first outer circle structure 1222, and the first inner circle structure 1221 and the first coaxially distribution of outer circle structure 1222,
And it is fixedly connected by several first linking arms 1223, and the upper surface of the first inner circle structure 1221 is provided with several and is used for
First mounting hole 1221a of the first rotor group 21 is installed, with this by the first mounting hole 1221a by the first rotor group 21 and the
One rotor 122 is fixedly connected, and drives the first rotor group 21 in first party by the rotation of the first rotor 122 in a first direction
It is rotated upwards.Gap position between the first linking arm of any two 1223 constitutes a heat release hole 1223a, is turned with realizing
The heat sinking function of electric machine assembly 1 during dynamic.The centre of first inner circle structure 1221 is provided with the first rotating hole 1221b,
Motor stator 11 is between the first inner circle structure 1221 and the first outer circle structure 1222.First magnet 123 is uniformly pasted onto
On the inner wall of first outer circle structure 1221；First bearing mounting base 125 is fixed in the first inner circle structure 1221, and first bearing
First boss 1251 is provided in mounting base 125, first bearing 124 is fixed in first boss 1251.
In embodiments of the present invention, the second rotating body 13 includes: the second iron-core coil 131, the second rotor 132, second
Magnet 133, second bearing 134 and second bearing mounting base 135.
Wherein, the second iron-core coil 131 is bonded on the peripheral position of motor stator 11；Second rotor 132 includes second
Inner circle structure 1321 and the second outer circle structure 1322, the second inner circle structure 1321 and the second coaxially distribution of outer circle structure 1322, and
Be fixedly connected by several second linking arms 1323, and be provided in the second inner circle structure 1321 several for install second
Second rotor group 22 is fixedly connected by the second mounting hole of rotor group 22 with this by second mounting hole with the second rotor 132,
And the second rotor group 22 is driven to be rotated in a second direction by the rotation of the second rotor 132 in a second direction.Arbitrarily
Gap position between two the second linking arms 1323 constitutes a heat release hole 1223a for radiating；Second inner circle structure 1321
Centre be provided with the second rotating hole 1321b；Second magnet 133 is uniformly pasted onto the inner wall of the second outer circle structure 1322
On；Second bearing mounting base 135 is fixed in the second inner circle structure 1321, and is provided in the second bearing mounting base 135
Second boss 1351, the second bearing 134 are fixed in the second boss 1351.
In the first rotating body 12 and the second rotating body 13, preferably, above-mentioned first magnet 123 and the second magnet
133 can be rare-earth Nd-Fe-B magnet, and first bearing 124 and second bearing 134 can be deep groove ball bearing.Motor up/down layer
Rotor (the first rotor 122 and the second rotor 132) is equipped with heat release hole 1223a, mounting hole (the first mounting hole 1221a and second
Mounting hole), rare-earth Nd-Fe-B magnet uniformly pastes layer rotor inner wall over/under.Driving motor movement is wound on iron-core coil
Coil, bearing mounting base are equipped with the boss (first boss of fixed deep groove ball bearing (first bearing 124 and second bearing 134)
1251 and second boss 1351), the center vertical slot for cabling is equipped among motor stator, motor stator inner wall is equipped with fixed master
The keyway etc. of axis.That is, in the embodiment of the present invention by 13 motor stator 11, the first rotating body 12 and the second rotating body structures
At electric machine assembly 1 in, be birotor brushless motor, and conventional motors are single-rotor motor, while the embodiment of the present invention
In be mutually connected by the first rotating hole 1221b, the second rotating hole 1321b and threading hole 111, constitute for disposing following centers
The center vertical slot structure of fixing axle 23, so that the electric machine assembly 1 in the embodiment of the present invention is hollow shaft motor component, intermediate portion
Position can be used for threading, so that its inner space is rationally applied, structure is simple, conveniently, and conventional motors are solid main shaft, center
Position is without threading function.And the electric machine assembly 1 in the embodiment of the present invention shares a motor stator by birotor, destructing is tight
It gathers, a motor stator capable of reducing using, more lightweight for traditional coaxial double-rotary wing unmanned plane improve continuation of the journey
Ability.
For rotor assemblies 2；
Please continue to refer to Fig. 1-10, which includes the first rotor group 21, the second rotor group 22 and central fixed shaft
23, and the first rotor group 21, center vertical slot and the second rotor group 22 are sequentially passed through by the fixing end 231 of central fixed shaft 23.
Wherein, the first rotor group 21 specifically includes: two the first rotors 211, the first attachment base 212 and the first rotor fold
Mechanism 213.The first rotor fold mechanism 213 is for connecting two the first rotors 211, for realizing two the first rotors 211
It is laterally folded and longitudinal folding, the first attachment base 212 is used for two the first rotors 211, the first attachment base 212 and the first rotation
Wingfold mechanism 213 is connect with central fixed shaft 23, and central fixed shaft 23 is set in the center vertical slot of electric machine assembly 1, and
First attachment base 212 is fixedly connected with electric machine assembly 1, to drive two the first rotors 211 to be rotated by electric machine assembly 1.
Specifically, offering the first threaded hole 2121 on the first attachment base 212, it is solid that the first attachment base 212 is set in center
On dead axle 23, and it is fixed in the first inner circle structure 1221 of the first rotor 122 by several first mounting holes 1221a.The
One rotor fold mechanism 213 is fixedly connected with the first attachment base 212, and two the first rotors 211 are symmetrically fixed on the first rotor
The two sides of fold mechanism 213, to carry out the laterally folded and longitudinal direction side in transverse direction respectively by the first rotor fold mechanism
Upward is longitudinal folding.
Please continue to refer to Fig. 4, Fig. 7 and Fig. 9, which includes: two the first paddles folder 2131 and the
One propeller hub 2132.Wherein, each first paddle folder 2131 includes the first parallel arms 21311, the second parallel arms 21312, first pin
Axis 21313 and the first male arms 21314, the first parallel arms 21311 offer the first connecting hole 21311a, the second parallel arms 21312
On offer the second connecting hole 21312a, offer third connecting hole 21314a, the first parallel arms in the first male arms 21314
21311 and second parallel arms 21312 be fixed in the first male arms 21314 by respective end, and with 21314 shape of the first male arms
At 2133 structure of a groove, so that any one first rotor 211 is arranged by its end in corresponding 2133 structure of groove
It is interior, and the first connecting hole 21311a, the end of the first rotor 211 and the second connecting hole are sequentially passed through by the first pin shaft 21313
Any one first rotor 211 first paddle corresponding with its is pressed from both sides 2131 pin shafts and connected by 21312a.That is, in the present invention
The left and right sides that can be understood as the first rotor fold mechanism 213 in embodiment is equipped with 2 symmetrical first paddle folders 2131 and is used for
Each first paddle folder 2131 of two symmetrical first rotors 211 in installation left and right, the left and right sides is provided with one by first
2133 structure of groove that parallel arms 21311, the second parallel arms 21312 and the first male arms 21314 are constituted, may be implemented in this way by
The end of first rotor 211 is inserted into 2133 structure of groove, and by the first pin shaft 21313, the first connecting hole 21311a and
Second connecting hole 21312a connects the two.
In addition, the first propeller hub 2131 include 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 the
One male arms 21314 is connected by third connecting hole 21314a pin shaft, is provided with and the first threaded hole in the first connection ring 21322
2121 corresponding second threaded hole 21322a, and the first connection ring 21322 is set on the first attachment base 212, and pass through the
One screw sequentially passes through the first threaded hole 2121, the second threaded hole 21322a for the first connection ring 21322 and the first attachment base 212
It is threadedly coupled.That is, can be understood as the left and right sides of the first propeller hub 2131 in embodiments of the present invention, it is symmetrically arranged with 2
A 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 are connected by corresponding third connecting hole 21314a with corresponding first recessed 21321 pin shaft of arm.
It should be noted that each first paddle folder 2131 by its first male arms 21314 with it is right in the first propeller hub 2131
First recessed 21321 pin shaft of the arm connection answered, so that the first paddle folder 2131 can be around the first recessed arm by pin shaft connection
21321 (namely the first paddle folders 2131) carry out the rotary folding on longitudinal direction, simultaneously as the end of two the first rotors 211
Portion is inserted into 2133 structure of groove, and is connected by the pin shaft of the first pin shaft 21313, so that the first rotor 211 can be relative to
First paddle folder 2131 carries out rotary folding in a lateral direction, is realized with this to the first rotor 211 during flight instruments storage
It is laterally folded and longitudinal folding, reduce the storage volume of flight instruments, reach save occupied space technical effect.
Similar with 21 structure of the first rotor group, the second rotor group 22 in the embodiment of the present invention specifically also includes: two the
Two rotors 221, the second attachment base 222 and the second rotor fold mechanism 223.Wherein, the 4th company is offered on the second attachment base 222
Hole 2221 is connect, which is set in central fixed shaft 23, and the second joint chair 222 passes through several second mounting holes
It is fixed in the second inner circle structure.Meanwhile second rotor fold mechanism 223 be fixedly connected with the second attachment base 222, two second
Rotor 222 is symmetrically fixed on the two sides of the second rotor fold mechanism 223, with by the second rotor fold mechanism 223 respectively into
It is longitudinal folding on laterally folded and longitudinal direction in row transverse direction.
Please continue to refer to Fig. 4, Fig. 8 and Figure 10, the second rotor fold mechanism 223 includes: two the second paddle folders 2231, each
A second paddle folder 2231 includes 22311, the 4th parallel arms 22312 of a third parallel arms, the second pin shaft 22313 and second
Male arms 22314.Wherein, third parallel arms 22311 offer the 5th connecting hole 22311a, offer in the 4th parallel arms 22312
6th connecting hole 22312a offers the 7th connecting hole 22314a, third parallel arms 22311 and the 4th in the second male arms 22314
Parallel arms 22312 are fixed in the second male arms 22314 by respective end, and form a groove with the second male arms 22314
2133 structures so that any one second rotor 221 is arranged in corresponding 2133 structure of groove by its end, and pass through
Second pin shaft 22313 sequentially passes through the 5th connecting hole 22311a, the end of the second rotor 221 and the 6th connecting hole 22312a, will
Any one second rotor 221 second paddle corresponding with its presss from both sides 2231 pin shafts and connects；
That is, the left and right sides that can be understood as the second rotor fold mechanism 223 in embodiments of the present invention is right equipped with 2
The the second paddle folder 2231 claimed is for installing two symmetrical second rotors 221 in left and right, each second paddle folder of the left and right sides
2231 are provided with the groove being made of third parallel arms 22311, the 4th parallel arms 22312 and the second male arms 22314
2133 structures may be implemented to be inserted into the end of the second rotor 221 in 2133 structure of groove in this way.
In addition, the second propeller hub 2232 may include 22321, one second, two the second recessed arms companies in embodiments of the present invention
It meets 22322, connecting shafts 22323 of ring and two and leads the arm of force 22324, two the second recessed arms 22321 for conduct driving force
Symmetrically it is fixed on the both lateral sides of the second connection ring 22322, each second recessed arm 22321 is 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 the second attachment base, connecting shaft sequentially pass through the 8th connecting hole,
4th connecting hole connects the second connection ring and the rotation of the second attachment base；It leads the arm of force for two and is symmetrically fixed on the second connection ring
Longitudinal two sides, and be flexibly connected respectively with displacement component, to drive second to connect by leading the arm of force described in displacement Component driver two
It connects and is rotated around the connecting shaft.
Explanation is also needed, each second paddle folder 2231 passes through its second male arms 22314 and the second propeller hub 2232
In corresponding second recessed 22321 pin shaft of an arm connection so that the second paddle folder 2231 can be recessed around second by pin shaft connection
Arm 22321 (namely the second paddle folder 2231) carries out the rotary folding on longitudinal direction, simultaneously as two the second rotors 221
End is inserted into 2133 structure of groove, and is connected by the pin shaft of the second pin shaft 22313, so that the second rotor 221 can be opposite
Rotary folding is carried out in a lateral direction in the second paddle folder 2231, is realized with this to the second rotor during flight instruments storage
211 it is laterally folded and longitudinal folding, reduce the storage volume of flight instruments, reach save occupied space technical effect.
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 the second rotor group 22 is attached with displacement component 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 displacement component 3, lead the arm of force to realize that displacement component drives two
22324 the second connection rings 22322 of driving are rotated.
For displacement component 3；
Incorporated by reference to Fig. 4 together refering to fig. 11, which is specifically included: the first drive rod 31, the second drive rod 32,
Drive disk 33, third drive rod 34, the 4th drive rod 35, the first steering engine 36, the first steering engine arm 37, the second steering engine 38 and the second rudder
Horn 39.
Specifically, one in one end of first drive rod 31 and the second propeller hub 2232 is led 22324 activity of the arm of force even
It connects, one end of the second drive rod 34 is led the arm of force with another in the second propeller hub 2232 and is flexibly connected, the central part of drive disk 33
Position is at hollow structure, so that drive disk 33 is set in the fixing end 232 of central fixed shaft 23 by hollow structure, and first drives
The other end of the other end of lever 31 and the second drive rod 32 is flexibly connected with drive disk 33 respectively.Third drive rod 34
One end is flexibly connected with drive disk 33, and one end of the 4th drive rod 35 is flexibly connected with drive disk 33.First steering engine 36 is fixed on
Load warehouse 4, and be flexibly connected by the other end of the first steering engine arm 37 and third drive rod 34.Second steering engine 36 is fixed on load
Lotus warehouse 4, and be flexibly connected by the other end of the second steering engine arm 37 and the 4th drive rod 35.
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 drive rod (third drive rod 34 and the 4th drive rod 35) to be moved, so that
Third drive rod 34 and the corresponding driving two of the 4th drive rod 35 in motion process are led the arm of force 22324 and are moved up and down, finally
Realize that leading the arm of force 22324 for two during moving up and down drives drive disk 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 in the fixing end 232 of central fixed shaft 23, and third axis
331 are held to be mounted on the bearing groove 332, the other end of the other end of the first drive rod 31 and the second drive rod 32 respectively with
The bearing groove 332 is flexibly connected.The fourth bearing 333 is mounted on fourth bearing peace swivel base 334, and 3rd bearing 331 and the
Four bearings 333 are interference fitted together；One end of third drive rod 34 is flexibly connected with fourth bearing mounting base 334,4 wheel driven
One end of lever 35 is flexibly connected with fourth bearing mounting base 334.
In embodiments of the present invention, load warehouse 4 includes: the first cover 41, the first warehouse 42, the second warehouse 43 and third
Warehouse 44.
Wherein, which is set in the peripheral position of the first steering engine 36 and the second steering engine 38, to pass through the first cover
Body 41 by the first steering engine 36 and 38 envelope of the second steering engine inside it；The first steering engine 36 and the second rudder can be effectively avoided in this way
Machine 38 is completely exposed in the external world, improves the safety of the first steering engine 36 and the second steering engine 38.Meanwhile first warehouse 42 and the first cover
Body 41 is attached in a snap-in manner, and first partition 45, the first storehouse are provided between the first warehouse 42 and the first cover 41
It is provided in body 42 and flies control module 7.Wherein, the first warehouse 42 is attached in a snap-in manner with the first cover 41 and can be realized
Fast Installation between the two and fast quick-detach, flying control module 7 can be in a manner of bonding or other detachable connections
It is fixed in first partition 45.Likewise, the second warehouse 43 and the first warehouse 42 are also to be attached in a snap-in manner, and the
Setting is also to have a second partition 46 between two warehouses 43 and the first warehouse 42, is provided with navigation module 8 in the second warehouse 43.
Wherein, the second warehouse 43 and the first warehouse 42 be attached in a snap-in manner can be realized Fast Installation between the two and
Fast quick-detach, navigation module 8 can be fixed on the second partition 46 in a manner of bonding or other detachable connections.Equally
, third warehouse 44 is attached in a snap-in manner with the second warehouse 43, and is set between third warehouse 44 and the second warehouse 43
It is equipped with third partition 47, is provided with power module 9 in the second warehouse 43.Wherein, third warehouse 44 and the second warehouse 43 are to buckle
Mode be attached and can be realized Fast Installation between the two and fast quick-detach, power module 9 can with bonding or
The mode of other detachable connections is fixed on third partition 47.And the first partition, second partition and the third every
Plate is parallel to each other.
It is noted that in embodiments of the present invention, since electric machine assembly is using completely new " double rotor single stator " knot
Structure, central fixed shaft 23 use hollow structure, allow for can be used for installing electric wire in the boring of central fixed shaft 23 in this way,
In other words, GPS signal in embodiments of the present invention receives the route of transmitter, the route for flying control module, navigation module
Route and the route of power module etc. all can carry out route intercommunication by the hollow structure of the central fixed shaft 23.
In embodiments of the present invention, it please refers to Fig. 3 and combines Figure 12-13 together, above-mentioned third warehouse 44, which is fixed on, to rise and fall
On frame 5, which is specifically included: frame body 51, the first foot prop 52, the second foot prop 53 and third foot prop 54.Wherein, the frame body
Rounded structure, and be fixedly connected with third warehouse 44.First foot prop 52, the second foot prop 53 and third foot prop 54 respectively with frame body
51 are flexibly connected, so that the first foot prop 52, the second foot prop 53 and third foot prop 54 are rotatable relative to frame body 51, finally realize
Fall the contraction and stretching, extension of frame.
In conclusion unmanned flight's device provided in an embodiment of the present invention based on coaxial double-rotary wing, including electric machine assembly
1, rotor assemblies 2, displacement component 3, load warehouse 4 and undercarriage 5.Wherein, the center that is internally provided with of electric machine assembly 1 is erected
Slot；Rotor assemblies 2 include the first rotor group 21, the second rotor group 22 and central fixed shaft 23, and pass through central fixed shaft 23
Fixing end 231 sequentially passes through the first rotor group 21, center vertical slot and the second rotor group 22, so that the first rotor group 21, second is revolved
Wing group 22 and electric machine assembly 1 are respectively the distribution of center axial symmetry with central fixed shaft 23, while the first rotor group 21, the second rotor
Group 22 is symmetrically fixed at the upper and lower end face of electric machine assembly 1, to distinguish when being rotated by electric machine assembly 1 around central fixed shaft 23
It drives the first rotor group 21 and the second rotor group 22 to be rotated, GPS signal is provided on signal end and receives transmitter 6 for connecing
Receive and emit GPS positioning signal；Load warehouse 4, which is built-in with, flies control module 7, navigation module 8 and power module 9 etc., load warehouse 4
Lower section be fixed with support of the undercarriage 5 for entire flight instruments, displacement component 3 is set in the fixing end of central fixed shaft 23
It on 231, and is flexibly connected with the second rotor group 22, and drives the second rotor group 22 relative to the first rotation by displacement component 3
Wing group 21 is rotated, the distance between the second rotor group 22 and the first rotor group 21 to be adjusted, so that only lead to
One rotor group of a displacement Component driver is crossed to carry out rotating the displacement operation that rotor can be realized, letter relative to another rotor group
Change displacement operation structure, it is more square compared to the mode of operation that traditional each rotor of needs requires progress displacement operation
Just, simply, with this by electric machine assembly 1, rotor assemblies 2, displacement component 3, load warehouse 4 and undercarriage 5 constituted based on
Unmanned flight's device of coaxial double-rotary wing, with it is monotropic away from design feature, overall structure is simple, easily maintenance and high reliablity.
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 (10)
1. a kind of unmanned flight's device based on coaxial double-rotary wing, which is characterized in that described device includes:
Electric machine assembly, the electric machine assembly are internally provided with a center vertical slot；
Rotor assemblies, the rotor assemblies include: the first rotor group, the second rotor group and central fixed shaft, and the center is solid
Dead axle have a signal end and a fixing end, and by the fixing end sequentially pass through the first rotor group, the center erect
Slot and the second rotor group, so that the first rotor group, the second rotor group and the electric machine assembly are respectively with described
Central fixed shaft is the distribution of center axial symmetry, and the first rotor group, the second rotor group are symmetrically fixed on the electric machine assembly
Upper and lower end face at, with driven respectively when being rotated by the electric machine assembly around the central fixed shaft the first rotor group and
The second rotor group is rotated, and GPS signal is provided on the signal end and receives transmitter；
Displacement component, the displacement component are set in the fixing end of the central fixed shaft, and with second rotor
Group is flexibly connected, and drives the second rotor group to be turned relative to the first rotor group by the displacement component
It is dynamic, the distance between the second rotor group and the first rotor group to be adjusted；
Load warehouse, the load warehouse are fixed in the fixing end of the central fixed shaft, are used for build-in load；
Undercarriage, the undercarriage are fixed on the load warehouse.
2. device as described in claim 1, which is characterized in that the electric machine assembly includes:
Motor stator；
First rotating body, the upper surface of first rotating body are fixedly connected with the first rotor group, by described
The rotation of first rotating body drives the first rotor group to be rotated；
Second rotating body, the lower end surface of second rotating body are fixedly connected with the second rotor group, by described
The rotation of second rotating body drives the second rotor group to be rotated；
Wherein, first rotating body and second rotating body are symmetrically set in the outer part of the motor stator
Position, and the centre of first rotating body is provided with the first rotating hole, second rotating body is provided centrally with
Second rotating hole, the centre of the motor stator are provided with threading hole, first rotating hole, second rotating hole and
The threading hole is mutually connected, to constitute the center vertical slot.
3. device as claimed in claim 2, which is characterized in that first rotating body includes:
First coil iron core, the first coil iron core are bonded on the peripheral position of the motor stator；
The first rotor, the first rotor include the first inner circle structure and the first outer circle structure, the first inner circle structure and institute
It states the first outer circle structure to be coaxially distributed, and is fixedly connected by several first linking arms, and the first inner circle structure is upper
End face is provided with several for installing the first mounting hole of the first rotor group, between the first linking arm described in any two
Gap position constitute a heat release hole；The centre of the first inner circle structure is provided with first rotating hole, described
Motor stator is between the first inner circle structure and the first outer circle structure；
First magnet, first magnet are uniformly pasted on the inner wall of the first outer circle structure；
First bearing and first bearing mounting base, the first bearing mounting base is fixed in the first inner circle structure, and institute
It states and is provided with first boss in first bearing mounting base, the first bearing is fixed in the first boss.
4. device as claimed in claim 3, which is characterized in that second rotating body includes:
Second iron-core coil, second iron-core coil are bonded on the peripheral position of the motor stator；
Second rotor, second rotor include the second inner circle structure and the second outer circle structure, the second inner circle structure and institute
It states the second outer circle structure to be coaxially distributed, and is fixedly connected by several second linking arms, and set in the second inner circle structure
It is equipped with several gaps for installing the second mounting hole of the second rotor group, between the second linking arm described in any two
Position constitutes a heat release hole for radiating；The centre of the second inner circle structure is provided with second rotating hole；
Second magnet, second magnet are uniformly pasted on the inner wall of the second outer circle structure；
Second bearing and second bearing mounting base, the second bearing mounting base is fixed in the second inner circle structure, and institute
It states and is provided with second boss in second bearing mounting base, the second bearing is fixed in the second boss.
5. device as claimed in claim 4, which is characterized in that the first rotor group includes:
Two the first rotors；
First attachment base offers the first threaded hole on first attachment base, and first attachment base is set in the center
In fixing axle, first attachment base is fixed in the first inner circle structure by the first mounting hole described in several；
First rotor fold mechanism, the first rotor fold mechanism are fixedly connected with first attachment base, and two described
One rotor is symmetrically fixed on the two sides of the first rotor fold mechanism, with by the first rotor fold mechanism respectively into
It is longitudinal folding on laterally folded and longitudinal direction in row transverse direction；The first rotor fold mechanism includes:
Two the first paddle folders, each described first paddle folder includes that the first parallel arms, the second parallel arms, the first pin shaft and first are convex
Arm, first parallel arms offer the first connecting hole, the second connecting hole are offered in second parallel arms, and described first is convex
Third connecting hole, first parallel arms and second parallel arms are offered on arm is fixed on described by respective end
In one male arms, and a groove structure is formed with first male arms, so that any one of first rotor passes through its end
Setting sequentially passes through first connecting hole, described first in the corresponding groove structure, and through first pin shaft
The end of rotor and second connecting hole, by any one of first rotor the first paddle clamp pin corresponding with its
Axis connection；
First propeller hub, first propeller hub include two the first recessed arms and first connection ring, two first recessed arms pair
The two sides for being fixed on first connection ring claimed, each described first recessed arm is corresponding to be passed through with first male arms
The third connecting hole pin shaft connects, and is provided with the second screw thread corresponding with first threaded hole in first connection ring
Hole, and first connection ring is set on first attachment base, and sequentially passes through first screw thread by the first screw
First connection ring is threadedly coupled by hole, second threaded hole with first attachment base.
6. device as claimed in claim 5, which is characterized in that the second rotor group includes:
Two the second rotors；
Second attachment base offers the 4th connecting hole on second attachment base, and second attachment base is set in the center
In fixing axle, second joint chair is fixed in the second inner circle structure by the second mounting hole described in several；
Second rotor fold mechanism, the second rotor fold mechanism are fixedly connected with second attachment base, and two described
Two rotors are symmetrically fixed on the two sides of the second rotor fold mechanism, with by the second rotor fold mechanism respectively into
It is longitudinal folding on laterally folded and longitudinal direction in row transverse direction；The second rotor fold mechanism includes:
Two the second paddle folders, each described second paddle folder includes that third parallel arms, the 4th parallel arms, the second pin shaft and second are convex
Arm, the third parallel arms offer the 5th connecting hole, the 6th connecting hole are offered in the 4th parallel arms, and described second is convex
The 7th connecting hole, the third parallel arms and the 4th parallel arms are offered on arm is fixed on described by respective end
In two male arms, and a groove structure is formed with second male arms, so that any one of second rotor passes through its end
Setting sequentially passes through the 5th connecting hole, described second in the corresponding groove structure, and through second pin shaft
The end of rotor and the 6th connecting hole, by any one of second rotor the second paddle clamp pin corresponding with its
Axis connection；
Second propeller hub, second propeller hub are used for including two the second recessed arms, second connection ring, a connecting shaft and two
Conduction driving force leads the arm of force, and two second recessed arms are symmetrically fixed on the both lateral sides of second connection ring, each
A second recessed arm is corresponding to be connect with second male arms by the 7th connecting hole pin shaft, second connection
The 8th connecting hole corresponding with the 4th connecting hole is provided on ring, and second connection ring is set in described second and connects
On joint chair, the connecting shaft sequentially passes through the 8th connecting hole, the 4th connecting hole for second connection ring and described
The rotation connection of second attachment base；Longitudinal two sides that the arm of force is symmetrically fixed on second connection ring are led described in two, and respectively
It is flexibly connected with the displacement component, to drive second connection ring by leading the arm of force described in the displacement Component driver two
It is rotated around the connecting shaft.
7. device as claimed in claim 6, which is characterized in that the displacement component includes:
Power is led described in one in first drive rod and the second drive rod, one end of first drive rod and second propeller hub
Arm is flexibly connected, one end of second drive rod with lead the arm of force described in another in second propeller hub and be flexibly connected,
Drive disk, the centre of the drive disk is at hollow structure, so that the drive disk is arranged by the hollow structure
In the fixing end of the central fixed shaft, and the other end of first drive rod and second drive rod
The other end is flexibly connected with the drive disk respectively；
One end of third drive rod and the 4th drive rod, the third drive rod is flexibly connected with the drive disk, and the described 4th
One end of drive rod is flexibly connected with the drive disk；
First steering engine and the first steering engine arm, first steering engine is fixed on the load warehouse, and passes through the first steering engine arm
It is flexibly connected with the other end of the third drive rod；
Second steering engine and the second steering engine arm, second steering engine is fixed on the load warehouse, and passes through the second steering engine arm
It is flexibly connected with the other end of the 4th drive rod.
8. device as claimed in claim 7, which is characterized in that the drive disk includes:
3rd bearing；
Bearing groove, the bearing groove are set in the fixing end of the central fixed shaft, and the 3rd bearing is mounted on
On the bearing groove, the other end of the other end of first drive rod and second drive rod respectively with the bearing
Slot is flexibly connected；
Fourth bearing and fourth bearing mounting base, the fourth bearing are mounted on fourth bearing peace swivel base, and described the
Three bearings and the fourth bearing are interference fitted together；One end of the third drive rod and the fourth bearing mounting base are living
Dynamic connection, one end of the 4th drive rod is flexibly connected with the fourth bearing mounting base.
9. device as claimed in claim 8, which is characterized in that the load warehouse includes:
First cover, first cover is set in the peripheral position of first steering engine and second steering engine, to pass through
The first cover is stated by first steering engine and the second steering engine envelope inside it；
First warehouse, first warehouse are snapped connection with first cover, and first warehouse and first cover
Between be provided with first partition, be provided in first warehouse fly control module；
Second warehouse, second warehouse are snapped connection with first warehouse, and second warehouse and first warehouse
Between be provided with second partition, be provided with navigation module in second warehouse；
Third warehouse, the third warehouse are snapped connection with second warehouse, and the third warehouse and second warehouse
Between be provided with third partition, be provided with power module in second warehouse；
Wherein, the third warehouse is fixedly connected with the undercarriage, and the first partition, second partition and the third every
Plate is parallel to each other.
10. device as claimed in claim 9, which is characterized in that the undercarriage includes:
Frame body, the rounded structure of frame body, and be fixedly connected with the third warehouse；
First foot prop, the second foot prop and third foot prop, first foot prop, second foot prop and the third foot prop respectively with
The frame body is flexibly connected, so that first foot prop, second foot prop and the third foot prop can relative to the frame body
Rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910814263.9A CN110481769B (en) | 2019-08-30 | 2019-08-30 | Unmanned aerial vehicle device based on coaxial double rotors |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910814263.9A CN110481769B (en) | 2019-08-30 | 2019-08-30 | Unmanned aerial vehicle device based on coaxial double rotors |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110481769A true CN110481769A (en) | 2019-11-22 |
| CN110481769B CN110481769B (en) | 2021-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910814263.9A Active CN110481769B (en) | 2019-08-30 | 2019-08-30 | Unmanned aerial vehicle device based on coaxial double rotors |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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