CN206766341U - Unmanned plane drive shaft, unmanned machine actuating device and unmanned plane - Google Patents
Unmanned plane drive shaft, unmanned machine actuating device and unmanned plane Download PDFInfo
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- CN206766341U CN206766341U CN201720478170.XU CN201720478170U CN206766341U CN 206766341 U CN206766341 U CN 206766341U CN 201720478170 U CN201720478170 U CN 201720478170U CN 206766341 U CN206766341 U CN 206766341U
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Abstract
A kind of unmanned plane drive shaft, unmanned machine actuating device and unmanned plane provided by the utility model, including interior hollow shaft, hollow outer shaft and axis；Interior hollow shaft is arranged on the endoporus of hollow outer shaft, and interior hollow shaft is relatively rotated with hollow outer shaft and set；Axis is arranged on the endoporus of interior hollow shaft, and interior hollow shaft is set relative to central axis.In the above-mentioned technical solutions, relatively rotate and set along axis common both it between hollow outer shaft and interior hollow shaft, then, relatively rotate between interior hollow shaft and axis and along the common axis line both it and set.The driving axle construction of setting is relatively rotated using above-mentioned this three axles, can be using one of axle as support, for setting steering wheel, then activity sets different rotor mechanisms on two other axle, allow each rotor mechanism using single steering wheel to control, it is driven by the way of discrete, thus enormously simplify the drive mechanism of DCB Specimen.
Description
Technical field
Unmanned air vehicle technique field is the utility model is related to, more particularly, to a kind of unmanned plane drive shaft, unmanned plane driving dress
Put and unmanned plane.
Background technology
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.Compared with manned aircraft, it has small volume, low cost, easy to use, low to operational environment requirement, war
The advantages that field survival ability is stronger, enjoys the favor of all armies in the world.In several local wars, UAV is with it
Accurately, a variety of fight capabilities are penetrated and fought under the conditions of informal etc. in efficient and nimble scouting, interference, deception, search, school,
Obvious action is played, and has triggered the research of the relevant issues such as the art of war to emerge in an endless stream, equipment technology.Not only in army
In thing, with the popularization of unmanned plane, civilian unmanned plane is also with swift and violent speed development.
The type of drive of unmanned plane is varied, wherein the coaxial unmanned machine of DCB Specimen be exactly it is relatively common it is a kind of nobody
Machine.But the rotor up and down of the existing coaxial unmanned machine of DCB Specimen is machinery association, can not be individually driven, example
Such as, the manipulation of upper rotor is needed to carry out by intermediate connecting rod, and intermediate connecting rod is supported on the inclinator of lower rotor, and necessary
Rotated with lower rotor, so the DCB Specimen transmission for causing whole close coupled type is extremely complicated.
Utility model content
The purpose of this utility model is to provide a kind of unmanned plane drive shaft, unmanned machine actuating device and unmanned plane, with
Solves the complicated technical problem of the drive mechanism of the coaxial unmanned machine of DCB Specimen present in prior art.
A kind of unmanned plane drive shaft provided by the utility model, including interior hollow shaft, hollow outer shaft and axis；
The interior hollow shaft is arranged on the endoporus of the hollow outer shaft, and the interior hollow shaft is relative with the hollow outer shaft to be turned
It is dynamic to set；The axis is arranged on the endoporus of the interior hollow shaft, and the interior hollow shaft is set relative to the central axis.
Present invention also provides a kind of unmanned machine actuating device, including the first rotor mechanism, the second rotor mechanism and driving
Axle；The drive shaft includes interior hollow shaft, hollow outer shaft and axis；
The interior hollow shaft is arranged on the endoporus of institute's hollow outer shaft, and the interior hollow shaft relatively rotates with the hollow outer shaft
Set；The axis is arranged on the endoporus of the interior hollow shaft, and the axis is relatively rotated with the interior hollow shaft and set；
Wherein, the first rotor of first rotor mechanism is driven by the hollow outer shaft and rotated, second rotor
Second rotor of mechanism is rotated by the interior hollow shaft or the axis drive.
Further, in embodiment of the present utility model, first rotor mechanism includes the first rotor, the first inclination
Device and at least one first steering wheel unit；
The first steering wheel unit includes the first steering wheel, the first steering wheel disk and the first steering wheel connecting rod；
The output end of first steering wheel is connected with the first steering wheel disk；The first steering wheel disk passes through first rudder
Machine connecting rod is connected with the inner ring of first inclinator, and the outer shroud of first inclinator passes through the first propeller hub connecting rod and described the
The propeller hub connection of one rotor.
Further, in embodiment of the present utility model, first rotor is set in the hollow outer shaft；Described
One steering wheel unit is fixed on the decelerator for driving the hollow outer shaft.
Further, in embodiment of the present utility model, second rotor mechanism includes the second rotor, the second inclination
Device and at least one second steering wheel unit；
The second steering wheel unit includes the second steering wheel, the second steering wheel disk and the second steering wheel connecting rod；
The output end of second steering wheel is connected with the second steering wheel disk；The second steering wheel disk passes through second rudder
Machine connecting rod is connected with the inner ring of second inclinator, and the outer shroud of second inclinator passes through the second propeller hub connecting rod and described the
The propeller hub connection of two rotors.
Further, in embodiment of the present utility model, second rotor is set in the interior hollow shaft；Described
Two steering wheel units are fixed on the axis.
Further, in embodiment of the present utility model, second rotor is set in the axis；Second rudder
Machine unit is fixed on the interior hollow shaft.
Further, in embodiment of the present utility model, the first steering wheel unit and the second steering wheel unit edge
The axial overlap of the axis is set.
Further, in embodiment of the present utility model, the first steering wheel unit and the second steering wheel unit edge
The axially staggered setting of the axis.
Present invention also provides a kind of unmanned plane, including the unmanned machine actuating device.
In the above-mentioned technical solutions, it is relative along axis common both it between the hollow outer shaft and the interior hollow shaft
Rotate and set, then, relatively rotate between the interior hollow shaft and the axis and along the common axis line both it and set.Profit
The driving axle construction of setting is relatively rotated with this three axles described above, can be used for using one of axle as support
Steering wheel is set, and then activity sets different rotor mechanisms on two other axle, allows each rotor mechanism using individually
Steering wheel control, and two rotor mechanisms are independent of each other, be driven by the way of discrete, thus greatly simplified
The drive mechanism of DCB Specimen.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation for the unmanned machine actuating device that the utility model one embodiment provides；
Fig. 2 is the structural representation of the unmanned machine actuating device of the utility model another embodiment offer；
Fig. 3 is the second steering wheel unit arrangement schematic diagram that the utility model one embodiment provides；
Fig. 4 is the arrangement schematic diagram for the first steering wheel unit being correspondingly arranged with the second steering wheel unit in Fig. 3；
Fig. 5 is the second steering wheel unit arrangement schematic diagram of the utility model another embodiment offer；
Fig. 6 is the arrangement schematic diagram for the first steering wheel unit being correspondingly arranged with the second steering wheel unit in Fig. 5.
Reference：
Hollow shaft in 1-；2- hollow outer shafts；3- axis；
The rotor mechanisms of 4- first；The rotor mechanisms of 5- second；6- decelerators；
The rotors of 41- first；The inclinators of 42- first；43- the first steering wheel units；44- the first propeller hub connecting rods；
The rotors of 51- second；The inclinators of 52- second；53- the second steering wheel units；54- the second propeller hub connecting rods；
The steering wheels of 431- first；432- the first steering wheel disks；433- the first steering wheel connecting rods；
The steering wheels of 531- second；532- the second steering wheel disks；533- the second steering wheel connecting rods.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is the utility model part of the embodiment, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Fig. 1 is the structural representation for the unmanned machine actuating device that the utility model one embodiment provides；
Fig. 2 is the structural representation of the unmanned machine actuating device of the utility model another embodiment offer.
First, refer to shown in Fig. 1 and Fig. 2, a kind of unmanned plane driving provided by the utility model that the present embodiment provides
Axle, including interior hollow shaft 1, hollow outer shaft 2 and axis 3, hollow shaft, hollow outer shaft 2 and the three of axis 3 are preferably with same axis
To be axially socketed setting, concrete structure includes as follows：
The interior hollow shaft 1 is arranged on the endoporus of the hollow outer shaft 2, and the endoporus is along the hollow outer shaft 2
Axially through hole, after the interior hollow shaft 1 is arranged on the endoporus of the hollow outer shaft 2, one or more bearings can be passed through
Carry out movable supporting, can also by one or more ball assemblies come movable supporting so that the interior hollow shaft 1 can with it is described
The setting that hollow outer shaft 2 relatively rotates.
Similarly, the axis 3 is arranged on the endoporus of the interior hollow shaft 1, and the endoporus is along the interior hollow shaft 1
Axially through hole, after the axis 3 is arranged on the endoporus of the interior hollow shaft 1, one or more bearings can also be passed through
Carry out movable supporting, or by one or more ball assemblies come movable supporting, so that the interior hollow shaft 1 is relative in described
Axle 3, which rotates, to be set.
Based on said structure, and with continued reference to shown in Fig. 1, the axis 3 can be from for driving the He of interior hollow shaft 1
Extended out in the decelerator 6 of hollow outer shaft 2, and fixed setting is kept between decelerator 6.Meanwhile the interior hollow shaft 1 with
The hollow outer shaft 2 drives by decelerator 6.
So the interior hollow shaft 1 and hollow outer shaft 2 of the unmanned plane drive shaft can be respectively arranged with rotor and backspin
The wing, then, it is provided with decelerator 6 and axis 3 for controlling the steering wheel of rotor and the lower rotor on described respectively.
By the setting of said structure, the interior hollow shaft 1 and the can of hollow outer shaft 2 by the driving of decelerator 6 and
Rotate, and drive upper rotor and lower rotor to rotate respectively.
Meanwhile the upper rotor and the lower rotor can be distinguished by being arranged on the steering wheel on axis 3 and decelerator 6
Control, it is possible to the control of upper rotor and lower rotor is separated, individually controlled, and is cooperated, completes nobody
The various state of flights of machine.
For example, can be by controlling the steering wheel of upper rotor and lower rotor respectively to the always single away from carrying out of upper rotor or lower rotor
Solely control, and make rotor and lower rotor always away from being worked in coordination, complete the winged control operation of complete differential course deflection.
In addition, structure as shown in Figure 2, the interior hollow shaft 1 can be from for driving the axis 3 and hollow outer shaft 2
Decelerator 6 in extend out, and between decelerator 6 keep fixed setting.Meanwhile the axis 3 and the hollow outer shaft 2
Driven by decelerator 6.Now, axis 3 is rotary to be connected with decelerator 6.
So the axis 3 and hollow outer shaft 2 of the unmanned plane drive shaft can be respectively arranged with rotor and lower rotor, so
Afterwards, it is provided with decelerator 6 and interior hollow shaft 1 for controlling the steering wheel of rotor and the lower rotor on described respectively.
By the setting of said structure, the axis 3 and the can of hollow outer shaft 2 are rotated by the driving of decelerator 6,
And upper rotor and lower rotor is driven to rotate respectively.
Meanwhile the upper rotor and the lower rotor can by be arranged on the steering wheel on interior hollow shaft 1 and decelerator 6 come
Control respectively, it is possible to the control of upper rotor and lower rotor is separated, individually controlled, and is cooperated, is completed
The various state of flights of unmanned plane.
For example, can be by controlling the steering wheel of upper rotor and lower rotor respectively to the always single away from carrying out of upper rotor or lower rotor
Solely control, and make rotor and lower rotor always away from being worked in coordination, complete the winged control operation of complete differential course deflection.
Preferably, the interior hollow shaft 1 is longer than hollow outer shaft 2, and the axis 3 is longer than interior hollow shaft 1, so that described
Interior hollow shaft 1 is longer than the hollow outer shaft 2 and the part exposed sets rotor, similarly, also to make axis 3 than interior sky
That mandrel 1 the is grown and part exposed sets steering wheel.
But, in addition to above-mentioned preferred scheme, hollow shaft in adjustment 1, hollow outer shaft 2 and axis 3 can also be passed through
Diameter, make to form space between three, and in space fixed support or bindiny mechanism are set carry out rotor or
It is the setting of steering wheel, does not just do excessive repeat herein.
In addition to the unmanned plane drive shaft, present invention also provides a kind of unmanned machine actuating device, in order to preferably
Understand principle and the use of the unmanned plane drive shaft, the unmanned plane drive shaft is now incorporated in the unmanned machine actuating device
In, carry out clearer elaboration.
Specifically, the unmanned machine actuating device includes the first rotor mechanism 4, the second rotor mechanism 5 and drive shaft；Its
In, the drive shaft included in the unmanned machine actuating device is the structure of the unmanned plane drive shaft, is driven with the unmanned plane
Moving axis identical is that the drive shaft includes interior hollow shaft 1, hollow outer shaft 2 and axis 3；With continued reference to shown in Fig. 1, hollow shaft,
Hollow outer shaft 2 and the three of axis 3 are preferably axially to be socketed setting with same axis.
The interior hollow shaft 1 is arranged on the endoporus of the hollow outer shaft 2, and the endoporus is along the hollow outer shaft 2
Axially through hole, after the interior hollow shaft 1 is arranged on the endoporus of the hollow outer shaft 2, one or more bearings can be passed through
Carry out movable supporting, can also by one or more ball assemblies come movable supporting so that the interior hollow shaft 1 can with it is described
The setting that hollow outer shaft 2 relatively rotates.
Similarly, the axis 3 is arranged on the endoporus of the interior hollow shaft 1, and the endoporus is along the interior hollow shaft 1
Axially through hole, after the axis 3 is arranged on the endoporus of the interior hollow shaft 1, one or more bearings can also be passed through
Carry out movable supporting, or by one or more ball assemblies come movable supporting, so that the interior hollow shaft 1 is relative in described
Axle 3, which rotates, to be set.
Wherein, the first rotor 41 of first rotor mechanism 4 is driven by the hollow outer shaft 2 and rotated, and described second
Second rotor 51 of rotor mechanism 5 passes through the interior hollow shaft 1 or the driving rotation of the axis 3.
So the setting of first rotor mechanism 4 and second rotor mechanism 5 includes at least two embodiments.
Embodiment one
The interior hollow shaft 1 and the hollow outer shaft 2 are connected and driven by decelerator 6, make the interior hollow shaft 1 and outer space
Mandrel 2 can be with fixed-axis rotation, and then the axis 3 is fixedly connected with decelerator 6.
Meanwhile the first rotor 41 of first rotor mechanism 4 is driven by the hollow outer shaft 2 and rotated, described second
Second rotor 51 of rotor mechanism 5 passes through the interior driving of hollow shaft 1 rotation.The drive shaft being incorporated in described in the embodiment
In structure, what it was represented is the set-up mode shown in Fig. 1.
In the set-up mode, the first rotor 41 of the first rotor mechanism 4 is arranged on hollow outer shaft 2, second rotation
Second rotor 51 of wing mechanism 5 is arranged in interior hollow shaft 1.Then, for controlling the first steering wheel 431 of first rotor 41
It is arranged on decelerator 6, is fixed with decelerator 6 for support, in addition, the second steering wheel for controlling second rotor 51
531 are arranged on axis 3, are fixed with axis 3 for support.
The steering wheel 531 of first steering wheel 431 and second is respectively provided with the strong point of oneself and individually fixed, and institute is so as to right
First rotor 41 and the second rotor 51 are individually controlled.Meanwhile the interior hollow shaft 1 and hollow outer shaft 2 are in decelerator 6
The lower fixed-axis rotation of driving, can also drive the first rotor 41 or the second rotor 51 to rotate, and make the first rotor 41 and the second rotor
Formed and coordinated between 51.
Embodiment two
The axis 3 and the hollow outer shaft 2 are connected and driven by decelerator 6, make the axis 3 and hollow outer shaft 2 can
With fixed-axis rotation, then the axle of interior hollow shaft 1 is fixedly connected with decelerator 6.
Meanwhile the first rotor 41 of first rotor mechanism 4 is driven by the hollow outer shaft 2 and rotated, described second
Second rotor 51 of rotor mechanism 5 is driven by the axis 3 to be rotated.The structure for the drive shaft being incorporated in described in the embodiment
On, what it was represented is the set-up mode shown in Fig. 2.
In the set-up mode, the first rotor 41 of the first rotor mechanism 4 is arranged on hollow outer shaft 2, second rotation
Second rotor 51 of wing mechanism 5 is arranged on axis 3.Then, the first steering wheel 431 for controlling first rotor 41 is set
On decelerator 6, it is fixed with decelerator 6 for support, in addition, the second steering wheel 531 for controlling second rotor 51
Be arranged in interior hollow shaft 1, within hollow shaft 1 be fixed for support.
The steering wheel 531 of first steering wheel 431 and second is respectively provided with the strong point of oneself and individually fixed, and institute is so as to right
First rotor 41 and the second rotor 51 are individually controlled.Meanwhile the axis 3 and hollow outer shaft 2 are in the driving of decelerator 6
Lower fixed-axis rotation, can also drive the first rotor 41 or the second rotor 51 to rotate, and make the first rotor 41 and the second rotor 51 it
Between formed coordinate.
Meanwhile in this embodiment, can also be by first steering wheel 431 in addition to setting structure as shown in Figure 2
It is arranged in the interior hollow shaft 1, because in this embodiment, the interior hollow shaft 1 is fixed setting, it is possible to makes institute
It is simultaneously to support and be fixedly installed (not shown) with the interior hollow shaft 1 to state the first steering wheel 431 and the second steering wheel 531.
Further, the specific works mistake according to Fig. 1 and Fig. 2 structure to the first rotor mechanism 4 and the second rotor mechanism 5
Journey is described in detail.
Wherein, first rotor mechanism 4 includes the first rotor 41, the first inclinator 42 and at least one first steering wheel list
Member 43；Fig. 1 structure is may be referred to, the first steering wheel unit 43 includes the first steering wheel 431, the first steering wheel disk 432 and first
Steering wheel connecting rod 433.
The output end of first steering wheel 431 is connected with the first steering wheel disk 432, and first steering wheel 431 can drive
The first steering wheel disk 432 is moved to rotate.Then, the first steering wheel disk 432 passes through the first steering wheel connecting rod 433 and described the
The inner ring connection of one inclinator 42.
So after the first steering wheel disk 432 rotates, motive force, profit will be formed to the first steering wheel connecting rod 433
The inner ring of first inclinator 42 is promoted with the first steering wheel connecting rod 433, make in the inner ring of the first inclinator 42 with
The position stress run-off the straight of one steering wheel connecting rod 433 connection.
Connection is relatively rotated between the inner ring and outer shroud of first inclinator 42, for example, can be between inner ring and outer shroud
Set by bearing or ball assembly, make to relatively rotate between the inner ring and outer rings of first inclinator 42.
Finally, the outer shroud of first inclinator 42 is connected by the propeller hub of the first propeller hub connecting rod 44 and first rotor 41
Connect, when the inner ring of first inclinator 42 is by motive force run-off the straight, the outer shroud of the first inclinator 42 also occurs therewith
Tilt, and motive force continued to pass to the first propeller hub connecting rod 44, pass through the oar that the first propeller hub connecting rod 44 promotes the first rotor 41
Hub, for adjust the first rotor 41 always away from.
Wherein, first rotor 41 is set in the hollow outer shaft 2；The first steering wheel unit 43 is fixed on for driving
Move the decelerator 6 of the hollow outer shaft 2.The structure is the setting side of the first rotor 41 in embodiment one or embodiment two
Formula.
During real work, first steering wheel 431 drives the first steering wheel disk 432 to rotate, with described
The rotation of first steering wheel disk 432, the first steering wheel connecting rod 433 can be promoted, and promote the inner ring of the first inclinator 42 to tilt.
In the first rotor mechanism 4 as shown in Figure 1, three the first steering wheel units 43, and circular array have been preferable to provide
Row are arranged in the inner ring of first inclinator 42.
Relatively rotate and set between the inner ring and outer shroud of first inclinator 42, but when a certain position stress in inner ring
After run-off the straight, corresponding position run-off the straight on outer shroud can be also promoted therewith, so, it is possible to pass through the first steering wheel connecting rod
The 433 driving run-off the straights of the first inclinator 42.
In the first rotor mechanism 4 as shown in Figure 1, it is preferred that two propellers are provided with first rotor 41
Leaf, and connected respectively by two the first propeller hubs and drive two propeller hubs of two propeller blades.
According to the tilting action of first inclinator 42, first inclinator 42 can drive two the first propeller hub connecting rods
44 actions, and the first propeller hub being connected is promoted using two the first propeller hub connecting rods 44, control therewith propeller blade always away from.
Further, the first rotor mechanism 4 is referred to continued reference to Fig. 2, the operation principle of second rotor mechanism 5
Operation principle.
Likewise, second rotor mechanism 5 includes the second rotor 51, the second inclinator 52 and at least one second steering wheel
Unit 53；It may be referred to Fig. 1 structure, the second steering wheel unit 53 includes the second steering wheel 531, the second steering wheel disk 532 and the
Two steering wheel connecting rods 533.
The output end of second steering wheel 531 is connected with the second steering wheel disk 532, and second steering wheel 531 can drive
The second steering wheel disk 532 is moved to rotate.Then, the second steering wheel disk 532 passes through the second steering wheel connecting rod 533 and described the
The inner ring connection of two inclinators 52.
So after the second steering wheel disk 532 rotates, motive force, profit will be formed to the second steering wheel connecting rod 533
The inner ring of second inclinator 52 is promoted with the second steering wheel connecting rod 533, make in the inner ring of the second inclinator 52 with
The position stress run-off the straight of two steering wheel connecting rods 533 connection.
Connection is relatively rotated between the inner ring and outer shroud of second inclinator 52, for example, can be between inner ring and outer shroud
Set by bearing or ball assembly, make to relatively rotate between the inner ring and outer rings of second inclinator 52.
Finally, the outer shroud of second inclinator 52 is connected by the propeller hub of the second propeller hub connecting rod 54 and second rotor 51
Connect, when the inner ring of second inclinator 52 is by motive force run-off the straight, the outer shroud of the second inclinator 52 also occurs therewith
Tilt, and motive force continued to pass to the second propeller hub connecting rod 54, pass through the oar that the second propeller hub connecting rod 54 promotes the second rotor 51
Hub, for adjust the second rotor 51 always away from.
During real work, second steering wheel 531 drives the second steering wheel disk 532 to rotate, with described
The rotation of second steering wheel disk 532, the second steering wheel connecting rod 533 can be promoted, and promote the inner ring of the second inclinator 52 to tilt.
In the second rotor mechanism 5 as shown in Figure 1, three the second steering wheel units 53, and circular array have been preferable to provide
Row are arranged in the inner ring of second inclinator 52.
Relatively rotate and set between the inner ring and outer shroud of second inclinator 52, but when a certain position stress in inner ring
After run-off the straight, corresponding position run-off the straight on outer shroud can be also promoted therewith, so, it is possible to pass through the second steering wheel connecting rod
The 533 driving run-off the straights of the second inclinator 52.
In the second rotor mechanism 5 as shown in Figure 1, it is preferred that two propellers are provided with second rotor 51
Leaf, and connected respectively by two the second propeller hubs and drive two propeller hubs of two propeller blades.
According to the tilting action of second inclinator 52, second inclinator 52 can drive two the second propeller hub connecting rods
54 actions, and the second propeller hub being connected is promoted using two the second propeller hub connecting rods 54, control therewith propeller blade always away from.
Wherein, second rotor 51 is set in the interior hollow shaft 1；The second steering wheel unit 53 be fixed on it is described in
Axle 3.The structure is the set-up mode of the second rotor 51 in embodiment one.
In addition, second rotor 51 is set in the axis 3；The second steering wheel unit 53 is fixed on described interior hollow
Axle 1.The structure is the set-up mode of the second rotor 51 in embodiment two.
Fig. 3 is the second steering wheel unit arrangement schematic diagram that the utility model one embodiment provides；
Fig. 4 is the arrangement schematic diagram for the first steering wheel unit being correspondingly arranged with the second steering wheel unit in Fig. 3.
In one embodiment, the first steering wheel unit 43 and axle of the second steering wheel unit 53 along the axis 3
To overlapping.
In this embodiment, from the point of view of the structure in Fig. 3 and Fig. 4 is combined, what is represented in Fig. 3 is the second steering wheel unit 53
Arrangement, what is represented in Fig. 4 is the arrangement knot of the first steering wheel unit 43 corresponding with the second steering wheel unit 53 in Fig. 3
Structure.In figs. 3 and 4, the first steering wheel unit 43 and the second steering wheel unit 53 are both preferably three, still, are actually manufacturing
Three are not limited in journey.
Based on said structure, and with reference to shown in Fig. 1, when unmanned plane needs to advance, i.e., towards shown in Fig. 3 or Fig. 4
When front is navigated by water, the first steering wheel unit 43 positioned at the front shown in Fig. 3 drives and transported under the front direction of first inclinator 42
Move (according to direction as shown in Figure 1), meanwhile, the first steering wheel unit 43 positioned at the left back shown in Fig. 3 and right back is common
First inclinator 42 is driven to move upwards (according to direction as shown in Figure 1).
So whole first inclinator 42 will lean forward, so as to change the installation of the propeller blade of the first rotor mechanism 4
Angle so that the propeller blade of the first rotor mechanism 4 always navigates by water forward away from increase, driving unmanned plane.
At the same time, as shown in figure 4, because the first steering wheel unit 43 in Fig. 3 and Fig. 4 and the second steering wheel unit 53 are weights
Folded setting, so can be with three the first steering wheel units 43 shown in Fig. 3 positioned at three the second steering wheel units 53 shown in Fig. 4
It is synchronized with the movement, i.e. the second steering wheel unit 53 positioned at the front shown in Fig. 4 drives and transported under the front direction of second inclinator 52
Move (according to direction as shown in Figure 1), meanwhile, the second steering wheel unit 53 positioned at the left back shown in Fig. 4 and right back is common
Second inclinator 52 is driven to move upwards (according to direction as shown in Figure 1).
So whole second inclinator 52 will lean forward, so as to change the installation of the propeller blade of the second rotor mechanism 5
Angle so that the propeller blade of the second rotor mechanism 5 always navigates by water forward away from increase, driving unmanned plane.
Similarly, the first inclinator 42 and second can also be driven using the first steering wheel unit 43 and the second steering wheel unit 53
Inclinator 52 is tilted to the left simultaneously, is tilted to the right simultaneously, and tilts backwards simultaneously, is navigated with this to complete the left of unmanned plane
Row, right navigation and rear navigation.
Fig. 5 is the second steering wheel unit arrangement schematic diagram of the utility model another embodiment offer；
Fig. 6 is the arrangement schematic diagram for the first steering wheel unit being correspondingly arranged with the second steering wheel unit in Fig. 5.
In another embodiment, the first steering wheel unit 43 and the second steering wheel unit 53 are along the axis 3
Axially staggered setting.
In this embodiment, from the point of view of the structure in Fig. 5 and Fig. 6 is combined, what is represented in Fig. 5 is the second steering wheel unit 53
Arrangement, what is represented in Fig. 6 is the arrangement knot of the first steering wheel unit 43 corresponding with the second steering wheel unit 53 in Fig. 5
Structure.In fig. 5 and fig., the first steering wheel unit 43 and the second steering wheel unit 53 are both preferably three, still, are actually manufacturing
Three are not limited in journey.
Based on said structure, and with reference to shown in Fig. 1, when unmanned plane needs to advance, i.e., towards shown in Fig. 5 or Fig. 6
When front is navigated by water, the first steering wheel unit 43 positioned at the front shown in Fig. 5 drives and transported under the front direction of first inclinator 42
Move (according to direction as shown in Figure 1), meanwhile, the first steering wheel unit 43 positioned at the left back shown in Fig. 5 and right back is common
First inclinator 42 is driven to move upwards (according to direction as shown in Figure 1).
So whole first inclinator 42 will lean forward, so as to change the installation of the propeller blade of the first rotor mechanism 4
Angle so that the propeller blade of the first rotor mechanism 4 always navigates by water forward away from increase, driving unmanned plane.
At the same time, as shown in fig. 6, because the first steering wheel unit 43 in Fig. 5 and Fig. 6 and the second steering wheel unit 53 are to hand over
What mistake was set, so two the second steering wheel units 53 positioned at the front shown in Fig. 6 can drive second inclinator 52
Front moves downward in (according to direction as shown in Figure 1), meanwhile, the second steering wheel unit 53 positioned at the rear shown in Fig. 6 can be with
Second inclinator 52 is driven to move upwards (according to direction as shown in Figure 1).
So whole second inclinator 52 will lean forward, so as to change the installation of the propeller blade of the second rotor mechanism 5
Angle so that the propeller blade of the second rotor mechanism 5 always navigates by water forward away from increase, driving unmanned plane.
Similarly, the first inclinator 42 and second can also be driven using the first steering wheel unit 43 and the second steering wheel unit 53
Inclinator 52 is tilted to the left simultaneously, is tilted to the right simultaneously, and tilts backwards simultaneously, is navigated with this to complete the left of unmanned plane
Row, right navigation and rear navigation.
In said structure, unmanned plane can also complete the operation of complete differential navigation deflection.
For example, in such as Fig. 3 and Fig. 4, and as Fig. 5 and Fig. 6 collocation setting structure in, three the first steering wheels 431 can be with
The first steering wheel connecting rod 433 is promoted to move upwards simultaneously, to drive first inclinator 42 to rise overally (according to as shown in Figure 1
Direction), make the first rotor 41 always away from increase.Meanwhile three the second steering wheels 531 can promote the second steering wheel connecting rod simultaneously
533 move downward, and to drive the entire lowering of the second inclinator 52 (according to direction as shown in Figure 1), make the second rotor 51
Always away from reduction.So the first rotor 41 and the second rotor 51 always away from difference is formed, make the first rotor 41 and the second rotation
The driving force of the wing 51 also forms difference, so as to complete the operation of complete differential navigation deflection, for driving unmanned plane to go off course.
In another example for example, in such as Fig. 3 and Fig. 4, and as Fig. 5 and Fig. 6 collocation setting structure in, three the first steering wheels
431 can promote the first steering wheel connecting rod 433 to move downward simultaneously, to drive the entire lowering of the first inclinator 42 (according to such as
Direction shown in Fig. 1), make the first rotor 41 always away from reduction.Meanwhile three the second steering wheels 531 can promote the second rudder simultaneously
Machine connecting rod 533 moves upwards, to drive second inclinator 52 to rise overally in (according to direction as shown in Figure 1), makes second
Rotor 51 always away from increase.So the first rotor 41 and the second rotor 51 always away from difference is formed, make the He of the first rotor 41
The driving force of second rotor 51 also forms difference, so as to complete the operation of complete differential navigation deflection, for driving unmanned plane inclined
Boat.
Present invention also provides a kind of unmanned plane, including the unmanned machine actuating device.
Because concrete structure, the principle of work and power and the technique effect of the unmanned machine actuating device are in detailed hereinbefore,
Just repeat no more herein.
So any technology contents for being related to the unmanned machine actuating device, refer to record above.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
1. a kind of unmanned plane drive shaft, it is characterised in that including interior hollow shaft (1), hollow outer shaft (2) and axis (3)；
The interior hollow shaft (1) is arranged on the endoporus of the hollow outer shaft (2), the interior hollow shaft (1) and the hollow outer shaft
(2) relatively rotate and set；The axis (3) is arranged on the endoporus of the interior hollow shaft (1), the interior hollow shaft (1) relative to
The axis (3), which rotates, to be set.
2. a kind of unmanned machine actuating device, it is characterised in that including the first rotor mechanism (4), the second rotor mechanism (5) and driving
Axle；The drive shaft includes interior hollow shaft (1), hollow outer shaft (2) and axis (3)；
The interior hollow shaft (1) is arranged on the endoporus of institute's hollow outer shaft (2), the interior hollow shaft (1) and the hollow outer shaft (2)
Relatively rotate and set；The axis (3) is arranged on the endoporus of the interior hollow shaft (1), the axis (3) and the interior hollow shaft
(1) relatively rotate and set；
Wherein, the first rotor (41) of first rotor mechanism (4) is driven by the hollow outer shaft (2) and rotated, and described the
The second rotor (51) of two rotor mechanisms (5) passes through the interior hollow shaft (1) or the axis (3) driving rotation.
3. unmanned machine actuating device according to claim 2, it is characterised in that first rotor mechanism (4) includes the
One rotor (41), the first inclinator (42) and at least one first steering wheel unit (43)；
The first steering wheel unit (43) includes the first steering wheel (431), the first steering wheel disk (432) and the first steering wheel connecting rod (433)；
The output end of first steering wheel (431) is connected with the first steering wheel disk (432)；The first steering wheel disk (432) is logical
The inner ring that the first steering wheel connecting rod (433) is crossed with first inclinator (42) is connected, outside first inclinator (42)
Ring is connected by the first propeller hub connecting rod (44) with the propeller hub of first rotor (41).
4. unmanned machine actuating device according to claim 3, it is characterised in that first rotor (41) is set in described
Hollow outer shaft (2)；The first steering wheel unit (43) is fixed on the decelerator (6) for driving the hollow outer shaft (2).
5. the unmanned machine actuating device according to claim 3 or 4, it is characterised in that second rotor mechanism (5) includes
Second rotor (51), the second inclinator (52) and at least one second steering wheel unit (53)；
The second steering wheel unit (53) includes the second steering wheel (531), the second steering wheel disk (532) and the second steering wheel connecting rod (533)；
The output end of second steering wheel (531) is connected with the second steering wheel disk (532)；The second steering wheel disk (532) is logical
The inner ring that the second steering wheel connecting rod (533) is crossed with second inclinator (52) is connected, outside second inclinator (52)
Ring is connected by the second propeller hub connecting rod (54) with the propeller hub of second rotor (51).
6. unmanned machine actuating device according to claim 5, it is characterised in that second rotor (51) is set in described
Interior hollow shaft (1)；The second steering wheel unit (53) is fixed on the axis (3).
7. unmanned machine actuating device according to claim 5, it is characterised in that second rotor (51) is set in described
Axis (3)；The second steering wheel unit (53) is fixed on the interior hollow shaft (1).
8. unmanned machine actuating device according to claim 5, it is characterised in that the first steering wheel unit (43) with it is described
Axial overlap of the second steering wheel unit (53) along the axis (3) is set.
9. unmanned machine actuating device according to claim 5, it is characterised in that the first steering wheel unit (53) with it is described
Axially staggered setting of the second steering wheel unit (53) along the axis (3).
10. a kind of unmanned plane, it is characterised in that including the unmanned machine actuating device as any one of claim 2-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720478170.XU CN206766341U (en) | 2017-05-02 | 2017-05-02 | Unmanned plane drive shaft, unmanned machine actuating device and unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720478170.XU CN206766341U (en) | 2017-05-02 | 2017-05-02 | Unmanned plane drive shaft, unmanned machine actuating device and unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206766341U true CN206766341U (en) | 2017-12-19 |
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|---|---|---|---|
| CN201720478170.XU Expired - Fee Related CN206766341U (en) | 2017-05-02 | 2017-05-02 | Unmanned plane drive shaft, unmanned machine actuating device and unmanned plane |
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| Country | Link |
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| CN (1) | CN206766341U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107651183A (en) * | 2017-05-02 | 2018-02-02 | 北京深远世宁科技有限公司 | Unmanned plane drive shaft, unmanned machine actuating device and unmanned plane |
| WO2019137146A1 (en) * | 2018-01-15 | 2019-07-18 | 松芝机器人股份有限公司 | Uniaxial twin-rotor unmanned aerial-vehicle device, system having the device, and remote control method |
-
2017
- 2017-05-02 CN CN201720478170.XU patent/CN206766341U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107651183A (en) * | 2017-05-02 | 2018-02-02 | 北京深远世宁科技有限公司 | Unmanned plane drive shaft, unmanned machine actuating device and unmanned plane |
| CN107651183B (en) * | 2017-05-02 | 2024-06-21 | 北京深远世宁科技有限公司 | Unmanned aerial vehicle drive shaft, unmanned aerial vehicle drive arrangement and unmanned aerial vehicle |
| WO2019137146A1 (en) * | 2018-01-15 | 2019-07-18 | 松芝机器人股份有限公司 | Uniaxial twin-rotor unmanned aerial-vehicle device, system having the device, and remote control method |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20171219 Termination date: 20200502 |