CN207931992U - A kind of multi-rotor unmanned aerial vehicle - Google Patents

Abstract

The utility model belongs to air vehicle technique field, discloses a kind of multi-rotor unmanned aerial vehicle, including fuselage, multiple horns for being circumferentially uniformly arranged along fuselage and the rotor system for being set to horn end.Wherein, be provided in fuselage dynamical system, deceleration system, exchange system and with horn multiple fixation kits correspondingly.Horn is removably attached to fuselage by fixation kit, the circumferential direction of exchange system has been uniformly arranged multiple line shafts, multiple rotor systems connect one to one with multiple line shafts respectively, dynamical system drives exchange system action, exchange system to drive multiple rotor systems to act simultaneously by line shaft by deceleration system.The multi-rotor unmanned aerial vehicle of the utility model, the setting with the matched clamp device of jacket and inner sleeve so that horn can be dismounted quickly and easily in fuselage, while not influencing multi-rotor unmanned aerial vehicle normal flight so that horn easily can be safeguarded and be transported.

Description

A kind of multi-rotor unmanned aerial vehicle

Technical field

The utility model is related to air vehicle technique field more particularly to a kind of multi-rotor unmanned aerial vehicles.

Background technology

With the development of unmanned air vehicle technique, take photo by plane, detect, stability maintenance, investigation, rescue, plant protection etc. embody Indispensable role, either civilian or military domain all occupy extremely important status.In recent years, more rotors without There is various styles, the multi-rotor unmanned aerial vehicle of function in the man-machine Developing mainstream for being increasingly becoming unmanned plane field, market.

Important component of the horn as multi-rotor unmanned aerial vehicle, one end connect fuselage, and one end connects rotor, if it is not It can effectively fix, rotor wing unmanned aerial vehicle will be unable to normal flight.In addition, existing multi-rotor unmanned aerial vehicle horn mounting structure is complicated And extending space is larger, the detachable maintaining and whole transport for being not easy to horn carry.

Utility model content

The purpose of this utility model is to provide a kind of multi-rotor unmanned aerial vehicle, horn can simply and easily be dismounted in machine Body.

For this purpose, the utility model uses following technical scheme：

A kind of multi-rotor unmanned aerial vehicle, including fuselage, multiple horns for being circumferentially uniformly arranged along the fuselage and be set to The rotor system of the horn end；

Dynamical system, deceleration system, exchange system and more correspondingly with the horn are provided in the fuselage A fixation kit, the horn are removably attached to the fuselage, the circumferential direction of the exchange system by the fixation kit Multiple line shafts are uniformly arranged, multiple rotor systems connect one to one with multiple line shafts respectively, described dynamic Force system drives the exchange system to act by the deceleration system, and the exchange system is driven simultaneously by the line shaft Multiple rotor system actions；

The fixation kit includes fixed frame, inner sleeve, housing and clamp device, and the fixed frame is installed on the fuselage Interior, the inner sleeve is sheathed on one end of the horn, and the housing is sheathed on the outside of the inner sleeve and is loaded in the fixation Frame, the clamp device are arranged between the housing and the inner sleeve, the housing are compressed towards the fixed frame, by institute Inner sleeve is stated to compress towards the horn.

Preferably, the clamp device includes compressing ring and retaining ring；The described ring one end that compresses is movable end, the other end To compress end, the end that compresses is circumferentially provided with multiple coneheads, and the cone compressed described on the outside of ring is provided on the conehead Outside and towards the cone inner face compressed on the inside of ring, the end that compresses is arranged between the housing and the inner sleeve, described Cone outside compresses the housing, and the cone inner face compresses the inner sleeve；One end of the retaining ring is provided with the biography towards inside Dynamic protrusion, the movable end for compressing ring are provided with towards outside transmission groove, and it is recessed that the transmission protrusion is installed in the transmission In slot, the retaining ring is bolted in the outside of the housing.

Preferably, the dynamical system includes two engines, the deceleration system is correspondingly provided with two；Two The engine is centrosymmetric setting relative to the exchange system, and two deceleration systems are relative to the exchange system Be centrosymmetric setting；Two engines are connected by two deceleration systems and drive two power shaft rotations respectively It is dynamic.

Preferably, being additionally provided with cooling system in the fuselage, the cooling system is corresponded with the engine Setting；The cooling system includes thermal insulation board and axial flow blower；The thermal insulation board be located at the side of the engine and with it is described Engine interval is arranged, and the air outlet of the combustion chamber of engine described in face, the axial flow blower are offered on the thermal insulation board It is installed on the side that the thermal insulation board deviates from the engine, cooling wind is blowed to the engine by the air outlet.

Preferably, the deceleration system includes frame body, driving wheel, driven wheel and transmission belt；The erection of frames is in institute It states in fuselage, the driving wheel and driven wheel difference rotating turret are set on the frame body, and the diameter of the driving wheel is less than The diameter of the driven wheel, the transmission belt are set around on the outside of the driving wheel and the driven wheel；The driving wheel is sheathed on The output shaft of the engine is driven by the output shaft and is rotated, and the driving wheel is driven described driven by the transmission belt Wheel rotation, the driven wheel are sheathed on the line shaft, and the line shaft is driven to rotate.

Preferably, the fuselage top side is provided with fuel tank, the fuselage bottom side is provided with undercarriage.

Preferably, the rotor system includes commutator, two main shafts, two rotors；Two main shafts are symmetrically set It is placed in the both sides of the commutator and axis overlaps, two rotors are respectively arranged at the end of two main shafts；Institute It includes reversing box, input bevel gear and two output bevel gear wheels to state commutator；The reversing box fixed setting, two outputs Bevel gear is rotatably dispose in the reversing box and erection symmetrical above and below, and the input bevel gear rotation is described defeated set on two Go out between bevel gear, is engaged with two output bevel gear wheels；The input bevel gear and the power axis connection, described in two Output bevel gear wheel is connect with two main shafts respectively.

Preferably, the rotor system further includes bending moment component；The bending moment component includes two bending moment seats, multiple rudders Machine, multiple quiet connecting rods and multiple dynamic connecting rods；Two bending moment seats are movably set in respectively on the outside of two main shafts, the change Square seat includes with the rotating ring of the main axis and not with the stationary ring of the main axis；Multiple steering engines are located at two bending moments Between seat, the outside of a main shaft is installed on by steering engine frame, not with the main axis；The rudder of the same steering engine Machine disk is separately connected the stationary ring of two bending moment seats, multiple dynamic connecting rods and the rotation by two quiet connecting rods The paddle folder of the wing coordinates one by one, is separately connected the rotating ring and paddle folder.

Preferably, the exchange system includes synchronous babinet, two master bevel gears and multiple synchronous bevel gears；Two institutes State that master bevel gear is rotatably dispose in the synchronous babinet and erection symmetrical above and below, multiple synchronous bevel gears rotations are set to It between two master bevel gears, corresponds and connect with the line shaft, multiple synchronous bevel gears do not engage mutually, often A synchronous bevel gear engages with two master bevel gears；In two circumferentially-adjacent commutators, described in one of them The input bevel gear of commutator is engaged in the output bevel gear wheel close to one end of the fuselage, another described commutator The input bevel gear be engaged in the described one end of output bevel gear wheel far from the fuselage.

Preferably, the exchange system includes asynchronous babinet and multiple asynchronous bevel gears；The rotor system is provided with Even number and at least provided with four；The asynchronous bevel gear rotating turret is set in the asynchronous babinet, with the line shaft one One corresponds to and connects, and multiple asynchronous bevel gears are uniformly arranged in the asynchronous babinet inner circumferential and engage two-by-two successively.

The beneficial effects of the utility model：With the setting of the matched clamp device of jacket and inner sleeve so that horn can It quickly and easily dismounts in fuselage, while not influencing multi-rotor unmanned aerial vehicle normal flight so that horn can be tieed up easily Shield and transport.

Description of the drawings

Fig. 1 is the structural schematic diagram of the multi-rotor unmanned aerial vehicle described in the utility model embodiment；

Fig. 2 is the structural schematic diagram of the fuselage interior described in the utility model embodiment；

Fig. 3 is the fixation kit and the matched structural schematic diagram of horn described in the utility model embodiment；

Fig. 4 is the fixed frame and the matched structural schematic diagram of housing described in the utility model embodiment；

Fig. 5 is the inner sleeve and the matched structural schematic diagram of clamp device described in the utility model embodiment；

Fig. 6 is the inner sleeve and the matched structural schematic diagram of horn described in the utility model embodiment；

Fig. 7 is the partial structural diagram for compressing ring described in the utility model embodiment；

Fig. 8 is the fixation kit and the matched sectional view of horn described in the utility model embodiment；

Fig. 9 is enlarged diagram at the A of Fig. 8；

Figure 10 is the dynamical system and the matched structural schematic diagram of deceleration system described in the utility model embodiment；

Figure 11 is the vertical view of Figure 10；

Cooling system described in Figure 12 the utility model embodiments and the matched structural schematic diagram of engine；

Cooling system described in Figure 13 the utility model embodiments is by the shaft-driven structural schematic diagram of power；

The front view of rotor system described in Figure 14 the utility model embodiments；

The right view of rotor system described in Figure 15 the utility model embodiments；

The sectional view of bending moment seat described in Figure 16 the utility model embodiments；

A kind of sectional view of exchange system described in Figure 17 the utility model embodiments；

Figure 18 is master bevel gear and the matched structural schematic diagram of synchronous bevel gear in Figure 17；

The structural schematic diagram under a kind of state of commutator described in Figure 19 the utility model embodiments；

The structural schematic diagram under another state of commutator described in Figure 20 the utility model embodiments；

The sectional view of another exchange system described in Figure 21 the utility model embodiments.

In figure：

1, fuselage；11, fuel tank；12, undercarriage；

2, horn；21, retarder；

3, rotor system；31, commutator；311, reversing box；312, bevel gear is inputted；313, output bevel gear wheel；32, main Axis；33, rotor；331, propeller hub；332, paddle presss from both sides；333, blade；34, bending moment component；341, bending moment seat；3411, rotating ring；3412、 Stationary ring；3413, sliding sleeve；342, steering engine；3421, steering engine disk；343, quiet connecting rod；344, connecting rod is moved；345, steering engine frame；

4, dynamical system；41, engine；

5, deceleration system；51, frame body；52, driving wheel；53, driven wheel；54, transmission belt；55, pinch roller；

6, exchange system；61, synchronous babinet；62, master bevel gear；63, synchronous bevel gear；64, asynchronous babinet；65, asynchronous Bevel gear；

7, fixation kit；71, fixed frame；72, inner sleeve；73, housing；74, clamp device；741, ring is compressed；7411, it bores Head；7412, transmission groove；742, retaining ring；7421, transmission protrusion；743, positioning pin；

8, line shaft；

9, cooling system；91, thermal insulation board；92, axial flow blower.

Specific implementation mode

The embodiments of the present invention are described below in detail, the example of embodiment is shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, it is intended to for explaining the utility model, and should not be understood as the limit to the utility model System.

Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.

As shown in Fig. 1-Figure 21, the utility model provides a kind of multi-rotor unmanned aerial vehicle, including fuselage 1, circumferential along fuselage 1 Multiple horns 2 (in figure setting there are four) for being uniformly arranged and the rotor system 3 for being set to 2 end of horn.Wherein, fuselage 1 Inside be provided with dynamical system 4, deceleration system 5, exchange system 6 and with the one-to-one multiple fixation kits of horn 27.Horn 2 It is removably attached to fuselage 1 by fixation kit 7, the circumferential direction of exchange system 6 has been uniformly arranged multiple line shafts 8, Duo Gexuan Wing system 3 connects one to one with multiple line shafts 8 respectively, and dynamical system 4 drives exchange system 6 to act by deceleration system 5, Exchange system 6 drives multiple rotor systems 3 to act simultaneously by line shaft 8.Fixation kit 7 includes fixed frame 71, inner sleeve 72, outer Set 73 and clamp device 74.Wherein, fixed frame 71 is installed in fuselage 1, and inner sleeve 72 is sheathed on one end of horn 2,73 sets of housing It set on the outside of inner sleeve 72 and is loaded in fixed frame 71, clamp device 74 is arranged between housing 73 and inner sleeve 72, by housing 73 It is compressed towards fixed frame 71, inner sleeve 72 is compressed towards horn 2.Line shaft 8 is concatenated by multiple shafts by shaft coupling, and one End is connect with exchange system 6, and the other end is connect after passing through horn 2 with rotor system 3.

The multi-rotor unmanned aerial vehicle of the utility model, the setting with 72 matched clamp device 74 of housing 73 and inner sleeve, makes Obtaining horn 2 can quickly and easily dismount in fuselage 1, while not influencing multi-rotor unmanned aerial vehicle normal flight so that horn 2 Easily it can safeguard and transport.

Clamp device 74, which specifically includes, compresses ring 741 and retaining ring 742.Wherein, it is movable end to compress 741 one end of ring, separately One end is to compress end, compresses end and is circumferentially provided with multiple coneheads 7411, and direction is provided on conehead 7411 and compresses 741 outside of ring Cone outside and direction compress the cone inner face of 741 inside of ring, compress end and are arranged between housing 73 and inner sleeve 72, and cone outside compresses outer Set 73, cone inner face compress inner sleeve 72.Wherein, one end of retaining ring 742 is provided with the transmission protrusion 7421 towards inside, compresses ring 741 movable end is provided with towards outside transmission groove 7412, and transmission protrusion 7421 is installed in transmission groove 7412, retaining ring 742 are bolted in the outside of housing 73.The above-mentioned setting for compressing ring 741, passes through the conical surface of conehead 7411 so that compressing end can be square Just it is quickly plugged between housing 73 and inner sleeve 72, and during inserting, by conehead 7411 to housing 73 and inner sleeve 72 gradually push against, the setting of above-mentioned retaining ring 742 so that retaining ring 742 is when being spirally connected, by being driven protrusion 7421 and being driven recessed The cooperation of slot 7412, drive compress ring 741 and are moved towards between housing 73 and inner sleeve 72, gradually compress housing 73 and inner sleeve 72, At the same time, also it is avoided that compress ring 741 deviates between housing 73 and inner sleeve 72.

Housing 73 and inner sleeve 72 are one end open, and one end is closed.The inner peripheral surface of 73 closed end of housing is provided with direction and closes Close the conical surface of receipts in end, the peripheral surface of 72 closed end of inner sleeve is provided with towards the conical surface received in closed end.73 closed end of housing The conical surface of 72 closed end of the conical surface and inner sleeve abuts.The setting that two conical surfaces of above-mentioned closed end abut, plays inner sleeve 72 To the effect of radial positioning.

The inner peripheral surface of 73 open end of housing is provided with towards the conical surface received in closed end, and the peripheral surface of 72 open end of inner sleeve is set It is equipped with towards the conical surface received in open end.Clamp device 74 is arranged between 72 open end of housing 73 and inner sleeve, is compressed respectively outer Cover the conical surface of 72 open end of the conical surface and inner sleeve of 73 open ends.Above-mentioned setting so that inner sleeve 72 can pass through the cone of its closed end The conical surface of face and open end is safely and reliably set up in housing 73.

Clamp device 74 further includes positioning pin 743, and pin hole is respectively arranged on the end face of 72 closed end of housing 73 and inner sleeve, Positioning pin 743 is arranged in housing 73 and the pin hole of inner sleeve 72.The setting of above-mentioned positioning pin 743, it is circumferential fixed to be played to inner sleeve 72 The effect of position.

Mounting hole is offered on 72 side wall of inner sleeve, and the rivet of connection inner sleeve 72 and horn 2 is provided in the mounting hole.

Fixed frame 71 includes two pack supports, includes the upper frame and lower frame being connected by fastener per pack support.Restocking It is both provided with semi-circumference stationary plane on body and lower frame, circumference stationary plane is constituted by upper frame and lower frame per pack support；Two Pack support is arranged in the outer weekly interval of housing 73, is respectively fixedly connected in the housing 73.71 specific structure of above-mentioned fixed frame is set It sets, it is simple in structure, relative to the convenient for disassembly and assembly of fuselage 1 and housing 73.

There are two fasteners, two fasteners to extend through upper frame and lower frame for setting on per pack support, solid from circumference Determine the connected upper frame in both sides and lower frame in face.Above-mentioned setting so that the closure of circumference stationary plane is more secured, so that right The fixation of housing 73 is relatively reliable.

Circumferentially the radial direction of stationary plane is provided with location hole on upper frame.The setting of above-mentioned location hole, for ensureing housing The accuracy and reliability of relative position between 73 and fixed frame 71 so that fixation of the housing 73 on fixed frame 71 is more accurate Really, to ensure that the reliable of multiple 2 relative positions of horn of multi-rotor unmanned aerial vehicle.

Dynamical system 4 specifically includes two engines 41, and deceleration system 5 is correspondingly provided with two.Two engines 41 It is centrosymmetric setting relative to exchange system 6, two deceleration systems 5 are centrosymmetric setting relative to exchange system 6.Two Engine 41 is connected by two deceleration systems 5 and two line shafts 8 is driven to rotate respectively.Two engines 41 are turbine wheel shaft Engine 41, two engines 41 are fixed on by gondola inside fuselage 1 respectively, and puff prot jet direction is on the contrary, towards machine The outside of body 1.The setting of two engines 41 can increase loading capacity and cruise duration, and go out in a single engine 41 When existing failure, the security performance of unmanned plane can be effectively improved by another 41 safe falling of engine.

Cooling system 9 is additionally provided in fuselage 1, which is arranged in a one-to-one correspondence with engine 41.Cooling system 9 Specifically include thermal insulation board 91 and axial flow blower 92, wherein thermal insulation board 91 is located at the side of engine 41 and is spaced with engine 41 It is arranged, the air outlet (not shown) of the combustion chamber of face engine 41 is offered on thermal insulation board 91, axial flow blower 92 is installed Deviate from the side of engine 41 in thermal insulation board 91, cooling wind is blowed to the engine 41 by air outlet.

Thermal insulation board 91 specifically includes arc air dam and the installation that is connected with air dam along 41 outer case bending of engine Portion, air outlet are opened on air dam, and mounting hole is offered on mounting portion, and thermal insulation board 91 is installed on machine for passing through fastener In body 1.Axial flow blower 92 is specifically driven by the motor being additionally arranged or is directly driven by line shaft 8, and Figure 13 show axis stream wind The structural schematic diagram that machine 92 is driven by line shaft 8.

When engine 41 works, axial flow blower 92 works at the same time, by the air outlet of thermal insulation board 91 to engine 41 High-speed air is discharged in the shell of combustion chamber, takes away engine 41 and works generated heat, and because the interval of thermal insulation board 91 is made With so that heat is distributed to 1 outside of fuselage, and the area of air outlet is more than the area of 41 puff prot of engine, works as axial flow blower When 92 work discharge high-speed air, since air stream movable property gives birth to pressure difference, drive surrounding air to stream at the air outlet of thermal insulation board 91 It is dynamic, the flow of air is further increased, heat dissipation effect is increased.

Deceleration system 5 includes frame body 51, driving wheel 52, driven wheel 53 and transmission belt 54.Wherein, frame body 51 is installed on fuselage In 1, driving wheel 52 and driven wheel 53 are set to by bearing rotating turret on frame body 51 respectively, and the diameter of driving wheel 52 is less than driven wheel 53 diameter so that deceleration system 5 has the effect of slowing down, and transmission belt 54 is set around 53 outside of driving wheel 52 and driven wheel.It is main Driving wheel 52 is sheathed on the output shaft of engine 41, is driven and is rotated by output shaft, and driving wheel 52 drives driven wheel by transmission belt 54 53 rotations, driven wheel 53 are sheathed on line shaft 8, and line shaft 8 is driven to rotate.

Specifically, also rotation is provided with pinch roller 55 on frame body 51, which pushes against transmission belt 54 from outside, so that Transmission belt 54 is tensioned, so that the transmission of the power of driving wheel 52 and driven wheel 53 is more reliable and more stable.More specifically, actively Wheel 52 is sheathed on by one-way clutch on the output shaft of engine 41.

In the present embodiment, fuselage 1 is formed by connecting by spaced two carbon fiber boards by connector, dynamical system 4, deceleration system 5, exchange system 6, fixation kit 7 and cooling system 9 are installed between two carbon fiber boards, multiple horns 2 from Protruding in dispersion shape between two carbon fiber boards, in addition, 1 top side of fuselage is provided with fuel tank 11, bottom side is provided with undercarriage 12。

Rotor system 3 specifically includes 31, two, commutator, 32, two, main shaft rotor 33.Wherein, two main shafts 32 are symmetrically set It is placed in the both sides of commutator 31 and axis overlaps, two rotors 33 are respectively arranged at the end of two main shafts 32, including fixation In main shaft 32 propeller hub 331, be rotationally connected with propeller hub 331 paddle folder 332 and by paddle press from both sides 332 clamping blades 333.Wherein, Commutator 31 includes reversing box 311, input bevel gear 312 and two output bevel gear wheels 313.Reversing box 311 is fixedly installed, two Output bevel gear wheel 313 is rotatably dispose in reversing box 311 and erection symmetrical above and below, and the input rotation of bevel gear 312 is set to two Between output bevel gear wheel 313, engaged with two output bevel gear wheels 313.2 one end of horn is fixed on fuselage 1 by fixation kit 7, The other end is connected to the commutator 31 of rotor system 3 by retarder 21, from the interior line shaft 8 stretched out of fuselage 1 and commutator 31 Input bevel gear 312 be connected to the input terminal and output end of retarder 21, two output bevel gear wheels 313 respectively with two Main shaft 32 connects.The setting of above-mentioned commutator 31 ensures that the direction of rotation of two rotors 33 up and down of rotor system 3 is opposite.

Specifically, rotor system 3 further includes bending moment component 34, which includes two bending moment seats 341, multiple rudders Machine 342, multiple quiet connecting rods 343 and multiple dynamic connecting rods 344.Wherein, two bending moment seats 341 are movably set in two main shafts 32 respectively Outside, the stationary ring 3412 that bending moment seat 341 includes the rotating ring 3411 rotated with main shaft 32 and do not rotated with main shaft 32.Multiple steering engines 342 are located between two bending moment seats 341, and the outside of a main shaft 32 is installed on by steering engine frame 345, are not rotated with main shaft 32. The steering engine disk 3421 of the same steering engine 342 is separately connected the stationary ring 3412 of two bending moment seats 341, rudder by two quiet connecting rods 343 Machine 342 can drive bending moment seat 341 along the axial movement of main shaft 32 by quiet connecting rod 343.Multiple dynamic connecting rods 344 and rotor 33 Paddle folder 332 coordinates one by one, is separately connected rotating ring 3411 and paddle folder 332, bending moment seat 341 can pass through in axial sliding along main shaft 32 Dynamic connecting rod 344 drives paddle folder 332 to be rotated relative to propeller hub 331.

Multiple steering engines 342 are divided by driving the setting that paddle folder 332 is rotated relative to propeller hub 331 commonly through bending moment seat 341 The radial load needed for 33 bending moment of rotor has been carried on a shoulder pole, the service life of steering engine 342, also, the collaboration of multiple steering engines 342 are effectively extended Effect, when a steering engine 342 breaks down, remaining steering engine 342 can still drive bending moment seat 341 to realize bending moment, ensure that To the stability and reliability of 33 angular adjustment of rotor, the Probability of aircraft accident is effectively reduced.

Bending moment seat 341 further includes sliding sleeve 3413, which is movably set in the outside of main shaft 32, and rotating ring 3411 is fixed It is sheathed on 3413 outside of sliding sleeve, stationary ring 3412 is sheathed on 3413 outside of sliding sleeve by rolling bearing.Stationary ring 3412 is circumferential to be laid Multiple quiet arms are equipped with, quiet arm is arranged in a one-to-one correspondence with steering engine 342, and quiet connecting rod 343 is separately connected quiet arm and steering engine disk 3421.Rotating ring 3411 circumferential faces are provided with multiple swing arms, and swing arm is arranged in a one-to-one correspondence with paddle folder 332, dynamic connecting rod 344 be separately connected swing arm with The paddle folder 332.It is additionally provided with gag lever post on stationary ring 3412, limit base is provided on steering engine frame 345, edge is provided on limit base The axially extending pilot hole of main shaft 32, gag lever post penetrate in the pilot hole.

In the present embodiment, there are three steering engine 342, three steering engines 342 are circumferential along main shaft 32 for setting in each rotor system 3 It is uniformly arranged.343 one end of quiet connecting rod is connected to steering engine disk 3421 by oscillating bearing, and the other end is by oscillating bearing in described quiet Ring 3412.It is provided with rocking lever on paddle folder 332,344 one end of connecting rod is moved and rotating ring 3411 is connected by oscillating bearing, the other end passes through Oscillating bearing connecting rocker arm bar.

The structure of exchange system 6 can there are many, in the present embodiment, propose two kinds of exchange systems 6.

One of which exchange system 6 is as shown in Figure 17 and Figure 18, including synchronous 61, two master bevel gears 62 of babinet and multiple Synchronous bevel gear 63 (in figure there are four settings).Wherein, two master bevel gears 62 be rotatably dispose in synchronous babinet 61 and on Lower symmetrically to set up, multiple rotations of synchronous bevel gears 63 are set between two master bevel gears 62, are corresponded and are connected with line shaft 8 It connects, multiple synchronous bevel gears 63 do not engage mutually, and each synchronous bevel gear 63 engages with two master bevel gears 62.Above-mentioned setting makes It obtains from each rotor system 3 to from exchange system 6, the direction of rotation of multiple synchronous bevel gears 63 is identical.Therefore, in order to ensure The direction of rotation of rotor system 3 on two circumferentially-adjacent horns 2 on the contrary, in two circumferentially-adjacent commutators 31, In the input bevel gear 312 of a commutator 31 be engaged in the one end (as shown in figure 19) of output bevel gear wheel 313 close to fuselage 1, The input bevel gear 312 of another commutator 31 is engaged in the one end (as shown in figure 20) of output bevel gear wheel 313 far from fuselage 1.

Another exchange system 6 is as shown in figure 21, including 64 body of asynchronous babinet and multiple asynchronous bevel gears 65 (are arranged in figure There are four), in such exchange system 6, rotor system 3 is provided with even number and at least provided with four.Asynchronous bevel gear 65 It is set in 64 body of asynchronous babinet by bearing rotating turret, corresponds and connect with line shaft 8, multiple asynchronous bevel gears 65 are different It is circumferentially uniformly arranged in step 64 body of babinet and engages two-by-two successively.Above-mentioned setting makes from each rotor system 3 to exchange system 6 Observation, the direction of rotation of two neighboring asynchronous bevel gear 65 are opposite.Therefore, at this time in multiple commutators 31, bevel gear 312 is inputted 313 the same side of output bevel gear wheel can be engaged in.

Obviously, above-described embodiment of the utility model is used for the purpose of clearly illustrating the utility model example, and It is not the restriction to the embodiment of the utility model.For those of ordinary skill in the art, in above description On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments It is exhaustive.All any modification, equivalent and improvement made within the spirit and principle of the present invention etc., should be included in Within the protection domain of the utility model claims.

Claims (10)

1. a kind of multi-rotor unmanned aerial vehicle, which is characterized in that be circumferentially uniformly arranged including fuselage (1), along the fuselage (1) multiple Horn (2) and the rotor system (3) for being set to the horn (2) end；

Be provided in the fuselage (1) dynamical system (4), deceleration system (5), exchange system (6) and with the horn (2) one One corresponding multiple fixation kits (7), the horn (2) are removably attached to the fuselage by the fixation kit (7) (1), the circumferential direction of the exchange system (6) has been uniformly arranged multiple line shafts (8), multiple rotor systems (3) respectively with it is more A line shaft (8) connects one to one, and the dynamical system (4) drives the commutation system by the deceleration system (5) System (6) action, the exchange system (6) is by the line shaft (8) while multiple rotor systems (3) being driven to act；

The fixation kit (7) includes fixed frame (71), inner sleeve (72), housing (73) and clamp device (74), the fixed frame (71) it is installed in the fuselage (1), the inner sleeve (72) is sheathed on one end of the horn (2), and the housing (73) is arranged It in the outside of the inner sleeve (72) and is loaded in the fixed frame (71), the clamp device (74) is arranged in the housing (73) Between the inner sleeve (72), the housing (73) is compressed towards the fixed frame (71), by the inner sleeve (72) towards institute Horn (2) is stated to compress.

2. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the clamp device (74) includes compressing ring (741) and retaining ring (742)；

Described ring (741) one end that compresses is movable end, and the other end is to compress end, and the end that compresses is circumferentially provided with multiple coneheads (7411), it is provided on the conehead (7411) outside the cone compressed described on the outside of ring (741) and compresses ring towards described (741) the cone inner face on the inside of, the end that compresses are arranged between the housing (73) and the inner sleeve (72), are supported outside the cone The housing (73), the cone inner face is pressed to compress the inner sleeve (72)；

One end of the retaining ring (742) is provided with the protrusion of the transmission towards inside (7421), the activity for compressing ring (741) End is provided with towards outside transmission groove (7412), and the transmission raised (7421) is installed in the transmission groove (7412), The retaining ring (742) is bolted in the outside of the housing (73).

3. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the dynamical system (4) is started including two Machine (41), the deceleration system (5) are correspondingly provided with two；

Two engines (41) are centrosymmetric setting relative to the exchange system (6), two deceleration systems (5) It is centrosymmetric setting relative to the exchange system (6)；

Two engines (41) are connected by two deceleration systems (5) and two line shafts (8) are driven to rotate respectively.

4. multi-rotor unmanned aerial vehicle according to claim 3, which is characterized in that be additionally provided with heat dissipation system in the fuselage (1) It unites (9), the cooling system (9) is arranged in a one-to-one correspondence with the engine (41)；

The cooling system (9) includes thermal insulation board (91) and axial flow blower (92)；

The thermal insulation board (91), which is located at the side of the engine (41) and is spaced with the engine (41), to be arranged, described heat-insulated Offer the air outlet of the combustion chamber of engine described in face (41) on plate (91), the axial flow blower (92) be installed on it is described every Hot plate (91) deviates from the side of the engine (41), and cooling wind is blowed to the engine (41) by the air outlet.

5. multi-rotor unmanned aerial vehicle according to claim 3, which is characterized in that the deceleration system (5) include frame body (51), Driving wheel (52), driven wheel (53) and transmission belt (54)；

The frame body (51) is installed in the fuselage (1), the driving wheel (52) and the driven wheel (53) difference rotating turret On the frame body (51), the diameter of the driving wheel (52) is less than the diameter of the driven wheel (53), the transmission belt (54) it is set around on the outside of the driving wheel (52) and the driven wheel (53)；

The driving wheel (52) is sheathed on the output shaft of the engine (41), is driven and is rotated by the output shaft, the active Take turns (52) drives the driven wheel (53) to rotate by the transmission belt (54), and the driven wheel (53) is sheathed on the line shaft (8) on, the line shaft (8) is driven to rotate.

6. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that fuselage (1) top side is provided with fuel tank (11), fuselage (1) bottom side is provided with undercarriage (12).

7. according to any multi-rotor unmanned aerial vehicles of claim 1-6, which is characterized in that the rotor system (3) includes changing To device (31), two main shafts (32), two rotors (33)；

Two main shafts (32) are symmetrically disposed on the both sides of the commutator (31) and axis overlaps, two rotors (33) it is respectively arranged at the end of two main shafts (32)；

The commutator (31) includes reversing box (311), input bevel gear (312) and two output bevel gear wheels (313)；

Reversing box (311) fixed setting, two output bevel gear wheels (313) are rotatably dispose in the reversing box (311) Erection interior and symmetrical above and below, input bevel gear (312) rotation are set between two output bevel gear wheels (313), with Two output bevel gear wheel (313) engagements；

The input bevel gear (312) connect with the line shaft (8), two output bevel gear wheels (313) respectively with two Main shaft (32) connection.

8. multi-rotor unmanned aerial vehicle according to claim 7, which is characterized in that the rotor system (3) further includes bending moment group Part (34)；

The bending moment component (34) include two bending moment seats (341), multiple steering engines (342), multiple quiet connecting rods (343) and it is multiple move Connecting rod (344)；

Two bending moment seats (341) are movably set in respectively on the outside of two main shafts (32), and the bending moment seat (341) includes With the rotating ring (3411) of the main shaft (32) rotation and with the stationary ring (3412) of the main shaft (32) rotation；

Multiple steering engines (342) are located between two bending moment seats (341), and a master is installed on by steering engine frame (345) The outside of axis (32) is not rotated with the main shaft (32)；

The steering engine disk (3421) of the same steering engine (342) is separately connected by two quiet connecting rods (343) described in two The stationary ring (3412) of bending moment seat (341), multiple dynamic connecting rods (344) and the paddle of the rotor (33) press from both sides (332) one by one Cooperation is separately connected the rotating ring (3411) and paddle folder (332).

9. multi-rotor unmanned aerial vehicle according to claim 7, which is characterized in that the exchange system (6) includes synchronous babinet (61), two master bevel gears (62) and multiple synchronous bevel gears (63)；

Two master bevel gears (62) are rotatably dispose in the synchronous babinet (61) and erection symmetrical above and below, multiple described Synchronous bevel gear (63), which rotates, to be set between two master bevel gears (62), is corresponded and is connect with the line shaft (8), Multiple synchronous bevel gears (63) are not engaged mutually, each synchronous bevel gear (63) with two master bevel gears (62) Engagement；

In two circumferentially-adjacent commutators (31), the input bevel gear (312) of one of them commutator (31) is nibbled Together in the output bevel gear wheel (313) close to one end of the fuselage (1), the input cone of another commutator (31) Gear (312) is engaged in the one end of the output bevel gear wheel (313) far from the fuselage (1).

10. multi-rotor unmanned aerial vehicle according to claim 7, which is characterized in that the exchange system (6) includes asynchronous babinet (64) and multiple asynchronous bevel gears (65)；

The rotor system (3) is provided with even number and at least provided with four；

Asynchronous bevel gear (65) rotating turret is set in the asynchronous babinet (64), is corresponded simultaneously with the line shaft (8) Connection, multiple asynchronous bevel gears (65) are uniformly arranged in asynchronous babinet (64) inner circumferential and engage two-by-two successively.