CN115806071B - Vector propulsion device and aircraft - Google Patents
Vector propulsion device and aircraft Download PDFInfo
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- CN115806071B CN115806071B CN202111065015.2A CN202111065015A CN115806071B CN 115806071 B CN115806071 B CN 115806071B CN 202111065015 A CN202111065015 A CN 202111065015A CN 115806071 B CN115806071 B CN 115806071B
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Abstract
The invention provides a vector propulsion device and an aircraft, relates to the technical field of aircraft driving structures, and is designed for solving the technical problem that in the prior art, the aircraft is easy to incline so as to crash. The vector propulsion device provided by the invention comprises a tilting motor, a transmission part, a rotor motor, a propeller and a horn. The tilting motor is arranged on the horn, the output end of the tilting motor is in transmission connection with the transmission piece, the rotor motor is arranged on the transmission piece, and the output end of the rotor motor is in transmission connection with the propeller; the tilting motor can drive the transmission member to rotate on a first rotation plane, and the rotor motor can drive the propeller to rotate on a second rotation plane, wherein the first rotation plane is perpendicular to the second rotation plane. The invention also provides an aircraft, which comprises an aircraft body and a plurality of vector propulsion devices; the vector propulsion devices are arranged on the machine body at intervals along the circumferential direction of the machine body, and one end of the machine arm, which is away from the tilting motor, is connected with the machine body.
Description
Technical Field
The invention relates to the technical field of aircraft driving structures, in particular to a vector propulsion device and an aircraft.
Background
With the development of society and the continuous progress of science and technology, the types of aircrafts have included not only aircrafts, spacecrafts, rockets, and missiles. In order to meet various detection and entertainment requirements, miniature unmanned aerial vehicles have also been rapidly developed. The miniature unmanned aerial vehicle is made by aeromodel lovers successfully at first, and a plurality of automation manufacturers find that the miniature unmanned aerial vehicle can be used for various purposes and is actively developed. The aircraft uses the rotor wing as a flight engine to fly in the air, has small size, light weight and portability, can carry a certain task load, and has autonomous navigation flight capability. The micro unmanned aerial vehicle can complete specific flight tasks in complex and dangerous environments. Also, micro unmanned aerial vehicles may be used for entertainment.
With the rapid development of the logistics industry, the miniature unmanned aerial vehicle is often used for carrying out air transportation on goods, and in the prior art, the miniature unmanned aerial vehicle easily tilts excessively, so that the aerial vehicle crashes.
Disclosure of Invention
The invention aims to provide a vector propulsion device and an aircraft, which are used for solving the technical problem that in the prior art, the aircraft is easy to incline and the aircraft is crashed.
The vector propulsion device provided by the invention comprises a tilting motor, a transmission part, a rotor motor, a propeller and a horn.
The tilting motor is arranged on the horn, the output end of the tilting motor is in transmission connection with the transmission piece, the rotor motor is arranged on the transmission piece, and the output end of the rotor motor is in transmission connection with the propeller.
The tilting motor can drive the transmission piece to rotate on a first rotation plane, the rotor motor can drive the propeller to rotate on a second rotation plane, and the first rotation plane is perpendicular to the second rotation plane.
In the structure using the vector propulsion device, for example, when the aircraft needs to move in the direction perpendicular to the second rotation plane, the rotor motor is started to drive the propeller to rotate in the second rotation plane, so that the aircraft obtains power in the direction perpendicular to the second rotation plane, and the aircraft can move in the direction perpendicular to the second rotation plane.
When the aircraft needs to turn to, the tilting motor starts, the tilting motor drives the transmission piece to rotate in the first rotation plane, the transmission piece drives the rotor motor and the propeller to rotate in the first rotation plane, at the moment, the thrust direction generated by the rotation of the propeller changes, and the thrust direction generated by the rotation of the propeller changes to the direction to be turned, so that the forward angle of the aircraft changes, the aircraft is driven to turn, compared with the prior art, the aircraft is driven to turn, in the structure, the tilting motor is only required to drive the rotor motor and the propeller to rotate, the thrust direction is changed, the turning can be realized, the aircraft is not required to be inclined in the process, and the technical problem of aircraft crash caused by the tilting of the aircraft is avoided.
In one or more embodiments, the vector propulsion device further includes a horn locking seat and a tilting motor mount fixedly connected to the horn locking seat, the horn locking seat is locked to the horn, and the tilting motor is mounted to the tilting motor mount.
In one or more embodiments, the vector propulsion device further comprises a threaded post, and the horn locking seat is fixedly connected with the tilting motor mounting seat through the threaded post.
In one or more embodiments, the tilting motor mount includes a first housing and a carrier arm connected to the first housing, the carrier arm having a hollow cavity, the first housing having a through hole in communication with the hollow cavity.
The tilting motor is fixedly connected to the first seat body, the output end of the tilting motor penetrates into the hollow cavity through the through hole, and one end of the transmission piece penetrates into the hollow cavity and is in transmission connection with the output end of the tilting motor.
In one or more embodiments, the vector propulsion device further includes a motor rotation angle limiting member, the motor rotation angle limiting member has a fixing portion and a blocking portion, the fixing portion is used for fixedly connecting the first base body with the tilting motor, the blocking portion is arranged in the through hole in a penetrating mode, a stopping member is installed at an output end of the tilting motor, and the stopping member can rotate along with the output end of the tilting motor and is in butt joint with the blocking portion.
In one or more embodiments, the vector propulsion device further comprises a rotor motor mount, the transmission comprises a first transmission portion and a second transmission portion connected to the first transmission portion;
the first transmission part is rotatably arranged in the hollow cavity in a penetrating mode and is in transmission connection with the output end of the tilting motor, and the rotor motor is fixedly connected with the second transmission part through the rotor motor mounting seat.
In one or more embodiments, the vector propulsion device further comprises a load bearing, the load bearing is sleeved on the outer side of the load arm, and the rotor motor mounting seat is sleeved on the outer side of the load arm.
In one or more embodiments, a groove is formed at the end of the bearing arm, and a shaft clip is arranged in the groove and used for blocking the bearing from falling out of the bearing arm.
In one or more embodiments, the first transmission part has a connection part through which a bolt can be screwed with an output end of the tilting motor.
The invention also provides an aircraft, which comprises an aircraft body and a plurality of vector propulsion devices; the vector propulsion devices are arranged on the machine body at intervals along the circumferential direction of the machine body, and one end, deviating from the tilting motor, of the machine arm is connected with the machine body.
The aircraft in the above structure includes the vector propulsion device, so the advantages of the aircraft include the advantages of the vector propulsion device, and will not be described again. Simultaneously, a plurality of vector advancing device set up in the organism along the circumference interval of organism, be convenient for adjust the inclination of organism, when the aircraft appears inclining, promote the rotational speed of the vector advancing device's of lower one end for the thrust of this end promotes, makes this end rise, or reduces the rotational speed of the vector advancing device's of higher one end, makes the thrust of this side reduce, makes this end decline, thereby realizes the aircraft leveling, makes the inclination adjustment process more stable, further avoids the aircraft to cross the tilting, and leads to the technical problem of aircraft crash.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a vector propulsion device according to an embodiment of the present invention;
fig. 2 is a schematic cross-sectional structure of a vector propulsion device according to an embodiment of the present invention;
FIG. 3 is a schematic view of the portion A in FIG. 2;
fig. 4 is an exploded view of a vector propulsion device according to an embodiment of the present invention;
fig. 5 is a schematic structural view of an aircraft according to an embodiment of the present invention.
Icon: a 100-tilting motor; 110-a first motor; 120-a first decelerator; 121-a process hole; 122-a threaded hole; 200-rotor motor; 300-transmission part; 310-a first transmission part; 311-cavity; 312-connecting part; 313-connecting holes; 320-a second transmission; 400-propeller; 500-arm; 610-a horn locking seat; 611-locking cavity; 612-locking arms; 613-locking part; 614-a second base; 620-tilting motor mount; 621-a first housing; 622-carrying arm; 623-a hollow cavity; 630-threaded post; 640-motor rotation angle limiting piece; 641-fixing part; 642-a stop; 700-rotor motor mount; 710—a load bearing; 800-organism; 810-carrying a weight box; 900-stationary rotor propulsion device.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that in the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Unless specifically stated and limited otherwise, the terms "coupled" and "mounted" are to be construed broadly, and may be, for example, fixedly coupled, detachably coupled, or integrally coupled; can be directly connected or connected through an intermediate medium; it may be a mechanical connection that is made, or may be an electrical connection. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The invention will now be described in further detail with reference to specific examples thereof in connection with the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a vector propulsion device including a tilting motor 100, a driving member 300, a rotor motor 200, a propeller 400, and a horn 500.
Tilting motor 100 is mounted on horn 500, the output of tilting motor 100 is in transmission connection with driving medium 300, rotor motor 200 is mounted on driving medium 300, and the output of rotor motor 200 is in transmission connection with propeller 400.
Tilting motor 100 is capable of driving transmission 300 to rotate in a first plane of rotation, and rotorcraft 200 is capable of driving propeller 400 to rotate in a second plane of rotation, the first plane of rotation being perpendicular to the second plane of rotation.
With the above-described structure, when the aircraft needs to move in the direction perpendicular to the second rotation plane, the rotor motor 200 is started to drive the propeller 400 to rotate in the second rotation plane, so that the aircraft obtains power in the direction perpendicular to the second rotation plane, thereby enabling the aircraft to move in the direction perpendicular to the second rotation plane.
When the aircraft needs to turn, the tilting motor 100 is started, the tilting motor 100 drives the transmission piece 300 to rotate in the first rotation plane, the transmission piece 300 drives the rotor motor 200 and the propeller 400 to rotate in the first rotation plane, at this time, the thrust direction generated by the rotation of the propeller 400 is changed, and the thrust direction generated by the rotation of the propeller 400 is changed to be towards the direction to be turned, so that the forward angle of the aircraft is changed, and the aircraft is driven to turn.
As shown in fig. 2, in an embodiment of the present invention, the vector propulsion device further includes a horn locking seat 610 and a tilting motor mounting seat 620 fixedly connected to the horn locking seat 610, the horn locking seat 610 is locked to the horn 500, and the tilting motor 100 is mounted on the tilting motor mounting seat 620.
As shown in fig. 4, in an embodiment of the present invention, the arm locking seat 610 has two separate locking portions 613, the arm locking seat 610 further has a locking cavity 611, the locking cavity 611 is used to be sleeved at one end of the arm 500, and the locking cavity 611 can lock the arm 500 or release the arm 500 along with the approaching or separating of the locking portions 613. The bolts are passed through the two locking portions 613, and the two locking portions 613 are brought into close proximity by tightening the bolts and the locking cavities 611 are tightened to the arm 500.
As shown in fig. 1, in an embodiment of the present invention, the tilting motor mount 620 is mounted at an end of the arm locking seat 610 facing away from the arm 500, and the tilting motor 100 is mounted on the tilting motor mount 620, so that the tilting motor 100 is fixedly connected with the arm 500, thereby ensuring that the tilting motor 100 can stably operate.
As shown in fig. 1, in an embodiment of the present invention, the vector propulsion device further includes a threaded post 630, and the arm locking seat 610 is fixedly connected to the tilting motor mount 620 through the threaded post 630.
As shown in fig. 4, in an embodiment of the present invention, one end of the arm locking seat 610 facing away from the arm 500 is provided with a second seat body 614, the second seat body 614 is provided with a threaded hole 122, the tilting motor mounting seat 620 is provided with a first seat body 621, the first seat body 621 is also provided with a threaded hole 122, one end of the threaded post 630 is in threaded fit with the threaded hole 122 on the second seat body 614, and the other end is in threaded connection with the threaded hole 122 of the first seat body 621, so that the arm locking seat 610 is fixedly connected with the tilting motor mounting seat 620 through the threaded post 630.
As shown in fig. 4, in an embodiment of the present invention, the vector propulsion device includes a plurality of screw posts 630, each screw post 630 is screwed with the horn locking seat 610 and the tilting motor mount 620, and the plurality of screw posts 630 are spaced apart along the circumferential direction of the horn 500.
As shown in fig. 4, in an embodiment of the present invention, the arm locking seat 610 further includes a locking arm 612, the locking cavity 611 is disposed in the locking arm 612, two locking portions 613 are connected to the locking arm 612, the second seat 614 is connected to an end of the locking arm 612 facing away from the arm 500, the second seat 614 has an opening communicating with the locking cavity 611, and the fixed end of the tilting motor 100 penetrates into the locking cavity 611 through the opening and is tightened by the locking arm 612.
As shown in fig. 3 to 4, in an embodiment of the present invention, the tilting motor 100 includes a first motor 110 and a first reducer 120, a housing of the first reducer 120 is fixedly connected with a housing of the first motor 110, an output end of the first motor 110 is in driving connection with an input end of the first reducer 120, and an output end of the first reducer 120 is in driving connection with a driving member 300. The housing of the first motor 110 penetrates into the locking cavity 611 and is locked by the locking arm 612. The housing of the first reducer 120 is fixedly connected to the tilt motor mount 620.
As shown in fig. 3-4, in an embodiment of the present invention, an input end of the first speed reducer 120 is in transmission connection with an output end of the first motor 110, and the first speed reducer 120 can reduce the output rotation speed of the first motor 110 and increase the output torque of the first motor 110, so as to meet the requirement of driving the transmission member 300 to rotate.
In one embodiment of the present invention, as shown in fig. 3-4, a servo motor is used as the first motor 110. The servo motor has the characteristics of quick response and accurate control, so that the rotating angles of the rotor motor 200 and the propeller 400 are more accurate, and the adjustment of the aircraft is more accurate.
As shown in fig. 3 to 4, in an embodiment of the present invention, the tilting motor mount 620 includes a first housing 621 and a carrying arm 622 connected to the first housing 621, the carrying arm 622 having a hollow cavity 623, the first housing 621 having a through hole communicating with the hollow cavity 623.
The tilting motor 100 is fixedly connected to the first seat 621, the output end of the tilting motor 100 penetrates into the hollow cavity 623 through a through hole, and one end of the transmission member 300 penetrates into the hollow cavity 623 and is in transmission connection with the output end of the tilting motor 100.
As shown in fig. 3 to 4, in an embodiment of the present invention, the housing of the first reducer 120 is fixed to the first base 621, and the output end of the first reducer 120 penetrates into the hollow cavity 623 through the through hole, and one end of the transmission member 300 penetrates into the hollow cavity 623 and is in transmission connection with the output end of the first reducer 120.
As shown in fig. 3 to 4, in an embodiment of the present invention, the vector propulsion device further includes a motor rotation angle limiting member 640, the motor rotation angle limiting member 640 has a fixing portion 641 and a blocking portion 642, the fixing portion 641 is used for fixedly connecting the first seat 621 and the tilting motor 100, the blocking portion 642 is disposed through the through hole, the output end of the tilting motor 100 is provided with a stop member, and the stop member can rotate along with the output end of the tilting motor 100 and is abutted against the blocking portion 642.
As shown in fig. 3 to 4, in an embodiment of the present invention, the blocking portion 642 is inserted into the hollow cavity 623 through a through hole, and the fixing portion 641 is fixedly connected between the housing of the first reduction gear 120 and the first housing 621, preferably, the housing of the first reduction gear 120, the fixing portion 641 and the first housing 621 are fixedly connected by bolts. This structure restricts the movement of the fixing portion 641 with respect to the first reduction gear 120 and the tilting motor mount 620. The output end of the first speed reducer 120 is provided with a process hole 121, the process hole 121 is arranged along the radial direction of the output end of the first speed reducer 120, the stop piece is arranged in the process hole 121 in a penetrating manner, the output end of the first speed reducer 120 drives the stop piece to rotate, when the stop piece rotates to be abutted with the blocking part 642, the first speed reducer 120 stops driving the transmission piece 300 to rotate, so that the limitation of the rotation angle of the tilting motor 100 is realized, and the rotation angle of the rotor motor 200 and the propeller 400 on the first rotation plane cannot be controlled when the electrical system fails.
As shown in fig. 3-4, in one embodiment of the present invention, the vector propulsion device further includes a rotor motor mount 700, and the transmission 300 includes a first transmission portion 310 and a second transmission portion 320 connected to the first transmission portion 310.
The first transmission part 310 rotatably penetrates through the hollow cavity 623 and is in transmission connection with the output end of the tilting motor 100, and the rotor motor 200 is fixedly connected with the second transmission part 320 through the rotor motor mounting seat 700.
As shown in fig. 3-4, in an embodiment of the present invention, the first transmission part 310 is disposed through the hollow cavity 623 of the carrier arm 622 and is in transmission connection with the output end of the tilting motor 100, the second transmission part 320 is disposed at the end of the carrier arm 622 and is connected with the first transmission part 310, and the first transmission part 310 is fixedly connected with the rotor motor mount 700 through bolts. The output end of the tilting motor 100 can drive the first transmission part 310 to rotate, and the first transmission part 310 drives the second transmission part 320 to rotate, so that the second transmission part 320 drives the rotor motor mounting seat 700 to rotate in the first rotation plane, and further the tilting motor 100 drives the rotor motor 200 and the propeller 400 to rotate in the first rotation plane.
As shown in fig. 3-4, in an embodiment of the present invention, the vector propulsion device further includes a bearing 710, where the bearing 710 is sleeved outside the bearing arm 622, and the rotor motor mount 700 is sleeved outside the bearing arm 622.
As shown in fig. 2-4, in an embodiment of the present invention, the outer side of the bearing arm 622 has a step structure, the bearing 710 is sleeved on the outer side of the bearing arm 622, and the sidewall of the bearing 710 can abut against the step surface of the step structure. The end of the bearing arm 622 is provided with a groove, and a shaft clip is arranged in the groove and used for blocking the bearing 710 from falling out of the bearing arm 622. The above-mentioned step structure and the structure of the groove and the shaft clip limit the movement of the bearing 710 in the axial direction, and at the same time, when the rotor motor 200 drives the propeller 400 to rotate at a high speed, the above-mentioned structure can enable the impact on the axial direction of the arm 500 generated by the high-speed rotation to act on the tilting motor mounting seat 620 and the arm locking seat 610, so as to prevent the output end of the tilting motor 100 from being affected by the axial impact and even damaged.
As shown in fig. 3 to 4, in one embodiment of the present invention, the vector propulsion device includes two bearing units 710, the two bearing units 710 are disposed at intervals along the axial direction of the bearing units, and the two bearing units 710 are used for bearing the rotor motor mount 700, so that the weight of the rotor motor mount 700, the rotor motor 200 and the propeller 400 is prevented from being applied to the output shaft of the tilting motor 100, thereby ensuring the stable operation of the tilting motor 100.
As shown in fig. 1,2 and 4, in one embodiment of the present invention, the vector propulsion device includes two rotor motor mounts 700, two rotor motors 200, and two propellers 400. The two rotor motor mounting seats 700 are symmetrically distributed by taking the axis of the bearing arm 622 as a symmetrical central line, the two rotor motor mounting seats 700 are all mounted on the second transmission part 320, and the two rotor motor mounting seats 700 are all sleeved on the bearing 710. Two rotor motors 200 are provided in one-to-one correspondence with two rotor motor mounts 700. The two propellers 400 are respectively in driving connection with the two rotor motors 200. Preferably, the two propellers 400 are rotated in opposite directions, which not only balances the yaw moment of unidirectional rotation. The first layer of propellers 400 is also able to pre-compress the air so that the second layer of propellers 400 has a greater amount of intake air, thereby boosting the thrust provided by the propellers 400.
As shown in fig. 3 to 4, in an embodiment of the present invention, the first transmission part 310 has a connection part 312, and a bolt can be screwed to the output end of the tilting motor 100 through the connection part 312.
As shown in fig. 3 to 4, in an embodiment of the present invention, the first transmission part 310 has a cavity 311, the second transmission part 320 has an opening communicating with the cavity 311, the first transmission part 310 has a connection part 312, the connection part 312 has a connection hole 313, the output end of the tilting motor 100 is disposed in the cavity 311 in a penetrating manner, the end of the output end of the tilting motor 100 abuts against the connection part 312, the end of the output end of the tilting motor 100 has a threaded hole 122, the threaded hole 122 is disposed corresponding to the connection hole 313, a bolt is inserted into the cavity 311 through the opening of the second transmission part 320, and the bolt is screwed into the threaded hole 122 through the connection hole 313. The output end of the tilting motor 100 is in driving connection with the driving member 300 by the above-described structure.
As shown in fig. 5, in one embodiment of the present invention, an aircraft is provided, which includes a machine body 800 and a plurality of vector propulsion devices described above; the plurality of vector propulsion devices are arranged on the machine body 800 at intervals along the circumferential direction of the machine body 800, and one end of the arm 500, which is away from the tilting motor 100, is connected with the machine body 800.
As shown in fig. 5, in an embodiment of the present invention, a plurality of vector propulsion devices are disposed on a machine body 800 at intervals along a circumferential direction of the machine body 800, so as to facilitate adjustment of different inclination angles of the machine body 800, when an aircraft inclines, a rotation speed of a propeller 400 of a vector propulsion device at a lower end is increased, so that thrust at the end is increased, or a rotation speed of a propeller 400 of a vector propulsion device at a higher end is decreased, so that thrust at the side is decreased, so that the end is decreased, thereby realizing leveling of the aircraft, enabling an inclination angle adjustment process to be more stable, and further avoiding a technical problem of crash of the aircraft caused by over-inclination of the aircraft.
As shown in fig. 5, in an embodiment of the present invention, the body 800 is further provided with fixed rotor propulsion devices 900 at uniform intervals in the circumferential direction, and the fixed rotor propulsion devices 900 only provide the thrust lifted by the body 800, so as to provide compensation of the lifting thrust during the turning or leveling process of the aircraft.
As shown in fig. 5, in an embodiment of the present invention, a load box 810 is further installed at the bottom of the machine body 800, for carrying and transporting goods.
In an embodiment of the present invention, the flying device further includes a controller and a gyroscope electrically connected to the controller, the gyroscope is disposed on the body 800 and is used for detecting a horizontal state of the body 800, when the body 800 has a certain inclination angle, the gyroscope sends a signal to the controller, and the controller can control the rotor motor 200 of the vector propulsion device at a corresponding position to adjust the rotation speed of the propeller 400, so as to adjust the horizontal state of the body 800. The controller is also capable of controlling the start and stop of the tilt motor 100 to control the direction of travel of the aircraft, as well as the adjustment of the aircraft's orientation. It should be noted that the working principle of the cooperation of the controller, the gyroscope, the rotor motor 200, and the tilting motor 100 may refer to the prior art.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the technical solutions according to the embodiments of the present invention.
Claims (8)
1. A vector propulsion device, which is characterized by comprising a tilting motor (100), a transmission piece (300), a rotor motor (200), a propeller (400) and a horn (500);
the tilting motor (100) is mounted on the horn (500), the output end of the tilting motor (100) is in transmission connection with the transmission piece (300), the rotor motor (200) is mounted on the transmission piece (300), and the output end of the rotor motor (200) is in transmission connection with the propeller (400);
The tilting motor (100) can drive the transmission member (300) to rotate on a first rotation plane, the rotor motor (200) can drive the propeller (400) to rotate on a second rotation plane, and the first rotation plane is perpendicular to the second rotation plane;
The vector propulsion device further comprises a horn locking seat (610) and a tilting motor mounting seat (620) fixedly connected to the horn locking seat (610), the horn locking seat (610) is locked to the horn (500), and the tilting motor (100) is mounted on the tilting motor mounting seat (620);
The tilting motor mounting seat (620) comprises a first seat body (621) and a bearing arm (622) connected to the first seat body (621), wherein the bearing arm (622) is provided with a hollow cavity (623), and the first seat body (621) is provided with a through hole communicated with the hollow cavity (623);
The tilting motor (100) is fixedly connected to the first base body (621), the output end of the tilting motor (100) penetrates into the hollow cavity (623) through the through hole, and one end of the transmission piece (300) penetrates into the hollow cavity (623) and is in transmission connection with the output end of the tilting motor (100).
2. The vector propulsion device of claim 1, further comprising a threaded post (630), wherein the horn locking mount (610) is fixedly connected to the tilt motor mount (620) through the threaded post (630).
3. The vector propulsion device according to claim 1, further comprising a motor rotation angle limiter (640), wherein the motor rotation angle limiter (640) is provided with a fixing portion (641) and a blocking portion (642), the fixing portion (641) is used for fixedly connecting the first base body (621) and the tilting motor (100), the blocking portion (642) is arranged in the through hole in a penetrating mode, a stop piece is mounted at an output end of the tilting motor (100), and the stop piece can rotate along with the output end of the tilting motor (100) and is abutted to the blocking portion (642).
4. The vector propulsion device of claim 1, further comprising a rotor motor mount (700), the transmission (300) comprising a first transmission portion (310) and a second transmission portion (320) connected to the first transmission portion (310);
the first transmission part (310) rotatably penetrates through the hollow cavity (623) and is in transmission connection with the output end of the tilting motor (100), and the rotor motor (200) is fixedly connected with the second transmission part (320) through the rotor motor mounting seat (700).
5. The vector propulsion device of claim 4, further comprising a load bearing (710), wherein the load bearing (710) is sleeved outside the load arm (622), and wherein the rotor motor mount (700) is sleeved outside the load arm (622).
6. The vector propulsion device of claim 5, wherein a groove is provided at a distal end of the carrier arm (622), and a shaft catch is provided in the groove, the shaft catch being configured to block the carrier bearing (710) from coming off the carrier arm (622).
7. The vector propulsion device according to claim 4, characterized in that the first transmission part (310) has a connection part (312), through which connection part (312) a bolt can be screwed with the output end of the tilting motor (100).
8. An aircraft characterized by comprising a body (800) and a plurality of vector propulsion devices according to any one of claims 1-7; the vector propulsion devices are arranged on the machine body (800) at intervals along the circumferential direction of the machine body (800), and one end, deviating from the tilting motor (100), of the arm (500) is connected with the machine body (800).
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| CN202111065015.2A CN115806071B (en) | 2021-09-11 | 2021-09-11 | Vector propulsion device and aircraft |
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| CN202111065015.2A CN115806071B (en) | 2021-09-11 | 2021-09-11 | Vector propulsion device and aircraft |
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| CN115806071B true CN115806071B (en) | 2024-08-20 |
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| CN116374230B (en) * | 2023-06-06 | 2023-08-25 | 四川高速公路建设开发集团有限公司 | High-speed pavement detection system and method based on unmanned aerial vehicle |
| CN117416504B (en) * | 2023-12-19 | 2024-03-12 | 浙江大学 | Double self-locking rotor tilting mechanism with high torque density |
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