CN212401580U - Magnetic auxiliary energy supply device for small multi-rotor unmanned aerial vehicle - Google Patents

Abstract

The utility model belongs to the technical field of small-size many rotor unmanned aerial vehicle equipment, specifically disclose a magnetic force auxiliary energy supply device for small-size many rotor unmanned aerial vehicle, include: an inner ring magnet (13) is arranged on the central shaft (12); the magnetism isolating cylinder (14) and the driving cylinder (15) are rotationally arranged on the central shaft (12), and the magnetism isolating cylinder (14) is provided with a magnetism adjusting block (19); the driving cylinder (15) is positioned between the inner cylinder and the outer cylinder of the magnetism isolating cylinder (14); a bar magnet (16) is arranged on the driving cylinder (15); the shell (18) is positioned outside the outer magnetism isolating cylinder (25), and an outer ring magnet (17) is arranged on the inner side of the shell (18); the starting and generating integrated motor (2) is connected with the driving cylinder (15) through a first transmission mechanism; the torque motor (1) is in driving connection with the magnetism isolating cylinder (14) through a first transmission mechanism. The utility model can make full use of the magnetic force of the magnet, generate larger torque and reduce the weight of the device; compact structure and high space utilization rate.

Description

Magnetic auxiliary energy supply device for small multi-rotor unmanned aerial vehicle

Technical Field

The utility model relates to a small-size many rotor unmanned aerial vehicle equipment technical field specifically is a magnetic force auxiliary energy supply device for small-size many rotor unmanned aerial vehicle.

Background

The small-sized multi-rotor unmanned aerial vehicle is an unmanned aerial vehicle with the mass of an aerial vehicle less than or equal to 15kg and more than or equal to 4kg, the maximum takeoff mass less than or equal to 25kg and more than or equal to 7kg, is driven by electric power, and has the advantages of vertical take-off and landing, hovering in the air, low power coupling degree, high response speed and the like. The method can be used in the fields of aerial photography, aviation forest protection, fire scene investigation and the like. The endurance of the small-sized multi-rotor unmanned aerial vehicle on sale is basically twenty minutes, and the unmanned aerial vehicle is far from enough for the abundant functions. For example, in northeast forest areas, the traffic is inconvenient, the patrol radius is 100-. The main factors influencing endurance are flight weight and battery parameters, carry more batteries, utilize wind-solar power generation or adopt oil-electricity hybrid power system to increase the electric energy supply, but utilize wind-solar power generation to be influenced by the environment greatly, and the electricity generation is unstable, carry more batteries and adopt oil-electricity hybrid power system to obviously increase the electric energy supply, but also can obviously increase flight weight, simultaneously in oil-electricity hybrid power system, engine work can produce very big vibration, and unmanned aerial vehicle's stable work relies on various precision sensors, wherein the inertia measurement unit very important to attitude control is very sensitive to the vibration, therefore, the method of improving unmanned aerial vehicle endurance all has obvious not enough above. In most work, small-size many rotor unmanned aerial vehicle does not need to reach several hours's duration, and the above-mentioned method of increasing duration all has the defect of waiting to overcome moreover, consequently, only need promote on its current duration's basis can.

To sum up, small-size many rotor unmanned aerial vehicle has following requirement to the continuation of the journey mode: 1. the cruising ability of the unmanned aerial vehicle can be effectively improved; 2. the flying weight cannot be increased significantly; 3. the vibration generated in the working process cannot influence the stable operation of the unmanned aerial vehicle; 4. the influence of environmental conditions is small; 5. the power generation is stable; 6. and energy is saved. And reasonable in design's supplementary energy supply device of magnetic force, through the electricity generation of magnetic drive generator promptly, and then for unmanned aerial vehicle energy supply, can satisfy above requirement.

Because unmanned aerial vehicle duration is not enough to and in most work, small-size many rotor unmanned aerial vehicle does not need the duration of several hours, and through carrying more batteries, utilize wind optical power generation or adopt the oil-electricity hybrid power system to improve the defect that the duration all waits to overcome.

Document CN 206542319U proposes a magnetic power-assisted generator, in which two magnets are coaxially matched, the outer magnet is fixed, and the magnets in the inner ring are rotated by utilizing the principle that the opposite poles of the magnets attract each other, so as to drive the generator shaft to rotate. This design has the following disadvantages:

1. the inner side of the stator is fully distributed with magnets, the magnets on the outer surface of the rotor are distributed in a dotted manner, and the magnets are mutually attracted only through the through holes of the magnetic separation sheets, so that the magnetic force of the outer ring of the magnet is greatly wasted, the attraction force generated by the inner and outer ring of the magnet is small, and the generator with large torque is difficult to drive;

2. the motor is driven by torque generated only through the attraction of the positive pole and the negative pole, and because the attraction of the magnet in unit volume is limited, if the motor only depends on the attraction of the positive pole and the negative pole, a large magnet is needed, so that the self weight of the unmanned aerial vehicle is greatly increased, and the load bearing capacity of the unmanned aerial vehicle is weakened;

3. the structural design is not compact, and the space utilization rate is not high;

4. only mechanical devices are designed, and corresponding control modes are not provided.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a magnetic force auxiliary energy supply device for a small multi-rotor unmanned aerial vehicle, which can make full use of the magnetic force of a magnet, generate a larger torque and reduce the weight of the device; compact structure and improved space utilization rate.

In order to achieve the above object, the utility model provides a following technical scheme: a magnetic auxiliary energy supply device for a small multi-rotor unmanned aerial vehicle is characterized by comprising a torque motor, an initiation integrated motor, a central shaft, a magnetism isolating cylinder, a driving cylinder and a shell;

an inner ring magnet is arranged on the central shaft;

the magnetism isolating cylinder is rotationally arranged on the central shaft, is of a circular ring structure and comprises an end face disc, an inner magnetism isolating cylinder and an outer magnetism isolating cylinder, wherein the inner magnetism isolating cylinder and the outer magnetism isolating cylinder are arranged on the end face disc; the inner magnetism isolating cylinder and the outer magnetism isolating cylinder are provided with magnetism adjusting blocks;

the driving cylinder is rotationally arranged on the central shaft and is positioned between the inner magnetism isolating cylinder and the outer magnetism isolating cylinder; the driving cylinder is provided with a bar magnet;

the shell is positioned outside the outer magnetic isolation cylinder, and an outer ring magnet is arranged on the inner side of the shell;

the shell, the magnetism isolating cylinder, the driving cylinder and the central shaft are coaxially arranged;

the starting and launching integrated motor is connected with the driving cylinder through a first transmission mechanism;

the torque motor is in driving connection with the magnetism isolating cylinder through a second transmission mechanism.

Preferably, axial grooves are circumferentially distributed on the driving cylinder, bar magnets are arranged in the axial grooves and radially arranged, and the end parts of two magnetic poles of each bar magnet are in a sawtooth shape.

Preferably, axial grooves are circumferentially distributed on the inner magnetism isolating cylinder and the outer magnetism isolating cylinder, and magnetic adjusting blocks are arranged in the axial grooves and are of T-shaped structures and comprise arc-shaped parts and radial parts;

the arc parts are attached to the corresponding inner magnetism isolating cylinders or outer magnetism isolating cylinders, and the arc parts of all the magnetism adjusting blocks cover the circumferential surfaces of the inner magnetism isolating cylinders or the outer magnetism isolating cylinders;

the radial part is arranged in the axial groove, the radial part is in interference fit with the axial groove of the magnetism isolating cylinder, the end part of the radial part is in a sawtooth shape, and air gaps are reserved between the arc part and the inner ring magnet and between the arc part and the outer ring magnet;

the inner ring magnet, the outer ring magnet and the bar magnet are permanent magnets, and the magnetic adjusting block is soft magnetic ferrite.

Preferably, the central shaft is a step shaft, and the middle part of the step shaft is provided with an inner ring magnet.

Preferably, a driving cylinder flange is arranged at the end part of the driving cylinder, and the driving cylinder flange is rotatably arranged at the end part of the central shaft through a bearing I;

the first transmission mechanism comprises a first belt pulley, a second belt pulley and a first belt, the first belt pulley is arranged on a flange of the driving cylinder, the second belt pulley is arranged on a motor shaft of the starting integrated motor, and the first belt pulley and the second belt pulley are sleeved with the belts; the diameters of the outer rings of the first belt pulley and the second belt pulley are the same.

Preferably, the end face disc is rotatably arranged at the end part of the central shaft through a bearing seat and a bearing III;

the second transmission mechanism comprises a third belt pulley, a fourth belt pulley and a second belt, the third belt pulley is arranged on a bearing seat of an end face disc of the magnetism isolating cylinder, the fourth belt pulley is arranged on a motor shaft of the torque motor, and the second belt pulley is sleeved on the third belt pulley and the fourth belt pulley;

the diameter of the outer ring of the third belt pulley is three times that of the outer ring of the fourth belt pulley.

Preferably, center pin, torque motor, the integrative motor of initiation all link firmly on unmanned aerial vehicle load platform, center pin, torque motor shaft, the integrative motor shaft parallel arrangement of initiation.

Preferably, the number of the axial grooves on the outer magnetism isolating cylinder, the inner magnetism isolating cylinder and the driving cylinder is the same, and the included angle between the center lines of two adjacent axial grooves on the outer magnetism isolating cylinder, the inner magnetism isolating cylinder and the driving cylinder is 20 degrees;

along the clockwise direction, the axial slot of the outer magnetism isolating cylinder is positioned in front of the axial slot of the corresponding inner magnetism isolating cylinder;

the axial slot of the driving cylinder is positioned between the corresponding axial slot of the outer magnetism isolating cylinder and the axial slot of the inner magnetism isolating cylinder.

Preferably, the magnetic poles of the corresponding ends of the inner ring magnet and the bar magnet are the same, so that a repulsive force is generated; the magnetic poles of the outer ring magnet and the corresponding ends of the bar magnets are opposite, and attraction is generated.

Preferably, the magnetic auxiliary energy supply device further comprises a control system, wherein the control system comprises a power supply, a controller, a hall element, an amplifying circuit, a filter circuit, an interface circuit, a digital-to-analog conversion circuit, a first driving circuit, a second driving circuit, a first rotating speed sensor, a second rotating speed sensor, a serial communication circuit and an upper computer;

the Hall element is arranged on two magnetic poles of the bar magnet, the first sensor is used for detecting the rotating speed of the small-torque motor, and the second sensor is used for detecting the rotating speed of the starting integrated motor;

the Hall element is communicated with the controller through the amplifying circuit, the filter circuit, the interface circuit and the digital-to-analog conversion circuit;

the controller is connected with the low-torque motor through a first driving circuit;

the controller is connected with the starting integrated motor through a second driving circuit;

the controller is communicated with the upper computer through a serial port communication circuit;

the power supply is used for supplying power to the controller, the Hall element, the first drive circuit and the second drive circuit;

the amplifying circuit is respectively connected with the first rotating speed sensor and the second rotating speed sensor.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses reduced the magnetism of interior outer lane magnet and revealed, increased the torque that the driving cylinder transmitted for the integrative motor that initiates: arrange bar magnet in the straight flute of driving barrel along circumference, make interior outer lane magnet can use more magnetic force on the driving barrel, install T shape magnetic tuning piece in the straight flute of interior outer magnetism isolating barrel, the magnetic force of interior outer lane magnet can be concentrated to T shape magnetic tuning piece to use bar magnet's magnetic pole, reduced the magnetism of interior outer lane magnet and revealed, increased output torque.

2. The utility model discloses make full use of suction and repulsion between magnet, not increase the dead weight when increasing the torque: the two magnetic poles of the bar magnet and the radial part of the T-shaped magnet adjusting block are designed into a sawtooth shape, the acting force between the magnets along the circumferential direction of the driving cylinder can be increased due to the sawtooth shape, the two magnetic poles of the bar magnet are respectively attracted and repelled under the action of the inner and outer ring magnets, larger torque is provided for the driving cylinder, and therefore a generator with larger torque can be driven without increasing the magnets.

3. The utility model discloses the compact structure of device, space utilization is high.

4. The utility model provides a control mode of magnetic force auxiliary energy supply device.

Drawings

Fig. 1 is the utility model discloses an axonometric view that is used for small-size many rotor unmanned aerial vehicle's supplementary energy supply device of magnetic force.

Fig. 2 is the utility model discloses an axonometric view (remove outer magnetism-isolating cylinder, drive cylinder, belt pulley and belt one) that is used for small-size many rotor unmanned aerial vehicle's supplementary energy supply device of magnetic force.

Fig. 3 is the utility model discloses a left side view that is used for small-size many rotor unmanned aerial vehicle's supplementary energy supply device of magnetic force.

Figure 4 is the utility model discloses a half section view that is used for small-size many rotor unmanned aerial vehicle's supplementary energy supply device of magnetic force.

Fig. 5 is an axonometric view of the assembled magnetism isolating cylinder and bearing seat of the utility model.

Fig. 6 is an axonometric view of the center pin of the present invention.

Fig. 7 is an axonometric view of the T-shaped magnetic tuning block of the present invention.

Fig. 8 is a schematic diagram of the relative positions of the T-shaped magnetic tuning block and the bar magnet of the present invention.

Fig. 9 is a block diagram of the control system of the present invention.

Reference numbers in the figures:

1. the small-torque motor, 2, the starting and starting integrated motor, 3, a first belt pulley, 4, a second belt pulley, 5, a third belt pulley, 6, a fourth belt pulley, 7, a first bearing, 8, a second bearing, 9, a third bearing, 10, a first belt, 11, a second belt, 12, a central shaft, 13, an inner ring magnet, 14, a magnetism isolating cylinder, 15, a driving cylinder, 16, a bar magnet, 17, an outer ring magnet, 18, a shell, 19, a T-shaped magnetism adjusting block, 20, a bearing seat, 21, a thick shaft section of the central shaft, 22, a thin shaft section of the central shaft, 23, a straight groove, 24, an inner magnetism isolating cylinder, 25, an outer magnetism isolating cylinder, 26, an end face disc, 27, a small-end radial part of the T-shaped magnetism adjusting block, and 28, a large-end arc part of the T-shaped magnetism adjusting.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings and examples, which are only used for explaining the present invention and do not limit the scope of the present invention.

As shown in fig. 1-9, a magnetic auxiliary energy supply device for a small multi-rotor unmanned aerial vehicle comprises a mechanical part and a control system.

The mechanical part comprises a small-torque motor 1, a starting integrated motor 2, a first belt pulley 3, a second belt pulley 4, a third belt pulley 5, a fourth belt pulley 6, a first bearing 7, a second bearing 8, a third bearing 9, a first belt 10, a second belt 11, a central shaft 12, an inner ring magnet 13, a magnetism isolating cylinder 14, a driving cylinder 15, a bar magnet 16, an outer ring magnet 17, a shell 18, a T-shaped magnetism adjusting block 19 and a bearing seat 20.

The center pin 12 is the step axle, and middle shaft section is thicker than other shaft sections, and the thin shaft section 22 of both sides all is the right angle shape, links firmly with the bolt for unmanned aerial vehicle cargo platform through the boss of thin shaft section 22 tip. The central shaft 12 plays a supporting role for the whole device, and the inner ring magnet 13 is in coaxial interference fit with the thick shaft section 21 of the central shaft 12.

The driving cylinder 15 is coaxially matched with the central shaft 12, and is in interference fit with the outer ring of the first bearing 7 through the flange on one side of the driving cylinder, six straight grooves 23 are formed in the driving cylinder 15 along the circumferential direction of the driving cylinder, the straight grooves 23 are used for mounting the bar magnets 16, and the inner ring of the first bearing 7 is in interference fit with the thin shaft section 22 of the central shaft.

The hole of belt pulley 3 and 15 flange interference fit of drive cylinder, the integrative motor of initiation 2 links firmly with unmanned aerial vehicle load platform through the bolt, the hole of belt pulley two 4 and the motor shaft interference fit of integrative motor of initiation 2, belt pulley two 4 and belt pulley 3 pass through belt 10 transmission power.

The magnetism isolating cylinder 14 comprises an end surface plate 26, an inner magnetism isolating cylinder 24 and an outer magnetism isolating cylinder 25, the inner magnetism isolating cylinder 24 is matched with the outer magnetism isolating cylinder 25 in a coaxial line, six straight grooves 23 are arranged along the respective circumferential direction, the straight grooves 23 are used for mounting the T-shaped magnetic adjusting block 19, one side end surfaces of the inner magnetic isolation cylinder 24 and the outer magnetic isolation cylinder 25 are fixed on an end surface disc 26, a through hole is arranged in the center of the end surface disc 26, the through hole is in coaxial line clearance fit with the central shaft 12, the other side end surface is not connected, and the inner magnetism-isolating cylinder 24 is designed with a flange on the side end face, the flange is in interference fit with the outer ring of the second bearing 8, the inner ring of the second bearing 8 is in interference fit with the thin shaft section 22 of the central shaft, the bearing seat 20 is coaxially and fixedly connected with the end face disc 26 through a bolt hole on the flange, the inner hole of the bearing seat 20 is in interference fit with the outer ring of the third bearing 9, the outer ring of the bearing seat 20 is in interference fit with the inner hole of the third belt pulley 5, and the inner ring of the third bearing 9 is in interference fit with the thin.

Small torque motor 1 links firmly through bolt and unmanned aerial vehicle load platform, and the hole of belt pulley four 6 and small torque motor 1's motor shaft interference fit, belt pulley four 6 and belt pulley three 5 pass through two 11 transmission power on the belt.

The bar magnet 16 is inserted into the straight groove 23 of the driving cylinder 15, the middle part of the magnet is in interference fit with the straight groove 23, the small end radial part 27 of the T-shaped magnet adjusting block is inserted into the straight groove 23 of the magnet isolating cylinder 14 and is in interference fit with the straight groove 23, one side of the large end arc part 28 of the T-shaped magnet adjusting block is tightly attached to the surface of the magnet isolating cylinder 14, an air gap is reserved between the other side of the large end arc part and the inner ring magnet 13 and the outer ring magnet 17, the inner ring magnet 13 and the outer ring magnet 17 are prevented from obstructing the rotation of the driving cylinder 15, the air gap is small as much as possible, magnetic leakage can be increased due to the overlarge air gap, the T-shaped magnet adjusting block 19 can concentrate the magnetic force of the inner ring magnet 17 and the outer ring magnet 17 and acts on the magnetic.

The control system comprises a power supply, an STM32F103C8T6 controller, a Hall element, an amplifying circuit, a filter circuit, an interface circuit, a digital-to-analog conversion circuit, a first driving circuit, a second driving circuit, a first rotating speed sensor, a second rotating speed sensor, a serial port communication circuit and an upper computer. Hall elements are arranged on two magnetic poles of the bar magnet 16, a first sensor is used for detecting the rotating speed of the small-torque motor 1, and a second sensor is used for detecting the rotating speed of the starting integrated motor 2. A Hall element (manufactured by Shenzhen Weissen electronics Limited, model number WSH130), an amplifier circuit (using a CS3808 chip manufactured by Shenzhen Bohaiwei electronics Limited), a filter circuit (using a MAX275 chip manufactured by Shenzhen Shenwei Laplace electronics Limited), an interface circuit (using a MAX481 chip manufactured by Shenzhen Shenwei Laplace electronics Limited), a digital-to-analog converter circuit (using a CS4334-KSZ chip manufactured by Shenzhen Shenwei Laplace electronics Limited), a driver circuit I (using a L7010R chip manufactured by Shenzhen Shenche Qiage electronics Limited), a driver circuit II (using a L70 7010R chip manufactured by Shenzhen Weiwei Laplace electronics Limited), a tachometer sensor I (manufactured by Guangdong Roche electronics Limited, model number TSS-Q05N), a tachometer sensor II (manufactured by Guangdong Roche Rome technologies Limited, the model is TSS-Q05N), a serial communication circuit (adopting a CH9141 chip produced by Nanjing Qinceng Hengmicroelectronic Co., Ltd.) and an upper computer (produced by Germany Siemens Co., Ltd., the model is 6AV7240-7DM37-3KA0) are all the prior art.

The Hall element is communicated with the controller through the amplifying circuit, the filter circuit, the interface circuit and the digital-to-analog conversion circuit; the controller is connected with the low-torque motor through a first driving circuit; the controller is connected with the starting integrated motor through a second driving circuit; the controller is communicated with the upper computer through a serial port communication circuit; the power supply is used for supplying power to the controller, the Hall element, the first drive circuit and the second drive circuit; the amplifying circuit is respectively connected with the first rotating speed sensor and the second rotating speed sensor.

The two magnetic poles of the bar magnet 16 and the small end radial part 27 of the T-shaped magnet adjusting block are designed to be in a sawtooth shape, and the sawtooth shape design can increase acting force between the magnets along the circumferential direction of the driving cylinder 15 and increase torque output by the driving cylinder 15.

The diameters of the outer rings of the first belt pulley 3 and the second belt pulley 4 are the same, the diameter of the outer ring of the third belt pulley 5 is three times that of the outer ring of the fourth belt pulley 6, the transmission ratio of the third belt pulley 5 to the fourth belt pulley 6 is three, a motor with small torque can be selected to drive the fourth belt pulley 6, and cost is reduced.

The inner ring magnet 13, the outer ring magnet 17 and the bar magnet 16 are permanent magnets, and the T-shaped magnetic adjusting block 19 is made of soft magnetic ferrite. The inner ring magnet and the bar magnet generate repulsion force, and the outer ring magnet and the bar magnet generate attraction force.

The end disc 26 is provided with through holes for the bolt connection of the bearing seat 20 and the end disc 26.

Six pairs of straight grooves 23 are correspondingly formed in the outer magnetism isolating cylinder 25 and the inner magnetism isolating cylinder 24, six T-shaped magnetism adjusting blocks 19 are respectively installed in the straight grooves 23 of the inner magnetism isolating cylinder 24 and the outer magnetism isolating cylinder 25, and the large-end arc-shaped part 28 of each T-shaped magnetism adjusting block covers the whole surfaces of the inner magnetism isolating cylinder 24 and the outer magnetism isolating cylinder 25, so that the magnetic leakage of the inner magnet 13 and the outer magnet 17 can be reduced.

The two ends of the straight groove 23 of the inner magnetism isolating cylinder 24 and the outer magnetism isolating cylinder 25 are arc-shaped, so that the stress is reduced.

The arrangement that the included angle of the two straight grooves 23 in each pair of straight grooves 23 is 20 degrees, the straight groove 23 of the outer magnetism isolating cylinder 25 is forward relative to the straight groove 23 of the inner magnetism isolating cylinder 24 along the clockwise direction, and the bar magnet 16 is positioned between the two straight grooves 23 in each pair enables the bar magnet 16 to simultaneously receive the suction force from the front and the thrust force from the back, and the force receiving direction is close to the circumferential direction of the driving cylinder 15, so that the driving cylinder 15 can generate larger driving torque.

The work and the control mode of the magnetic auxiliary energy supply device are as follows:

1. the bar magnet 16 is brought to an initial position where the magnetic force is maximized: when the electric quantity of the storage battery is less than 95 percent, the magnetic auxiliary energy supply device starts to work, the power supply supplies power to the Hall element, the Hall element detects the magnetic force applied to the bar-shaped magnet 16 at the moment, and is transmitted to the controller through the amplifying circuit, the filter circuit, the interface circuit and the digital-to-analog conversion circuit, the detected magnetic force is compared with the preset maximum magnetic force, if the magnetic force is the maximum value, the controller drives the small-torque motor 1 to start working through the driving circuit, if the magnetic force at the moment is not the maximum value, the controller drives the starting and generating integrated motor 2 through the second driving circuit, the starting and generating integrated motor drives the driving cylinder 15 to rotate at a slow speed, thereby driving the hall element to rotate at a slow speed, when the hall element detects that the magnetic force applied to the bar magnet 16 is maximum, the controller controls the starter motor 2 to stop rotating, thereby obtaining an initial position at which the magnetic force applied to the bar magnet 16 is maximized.

2. Controlling the magnetic auxiliary energy supply device to generate electricity: the controller drives the small-torque motor 1 to rotate, the small-torque motor 1 drives the belt pulley four 6 to rotate, the belt pulley four 6 transmits power to the belt pulley three 5 through the belt II 11, the power is transmitted to the magnetism isolating cylinder 14 through the bearing seat 20 and the end face disc 26, the position of the magnetism adjusting block 19 is changed due to the rotation of the magnetism isolating cylinder 14, the driving cylinder 15 rotates along with the magnetism isolating cylinder 14 due to the fact that attraction force and repulsion force are applied to the bar-shaped magnet 16 by the inner ring magnet 13 and the outer ring magnet 17, then the belt pulley I3 is driven to rotate, the belt pulley I3 and the belt pulley II 4 transmit torque through the belt I10, and finally the belt pulley II 4 transmits the torque to the motor shaft of the starting and generating integrated motor 2 to generate electricity. When the controller drives the small-torque motor 1 to rotate, the rotating speed of the small-torque motor 1 is controlled to gradually increase, and then the controller is kept to work at the highest measured rotating speed.

3. Detect the energy supply limit of the supplementary energy supply device of magnetic force: under the drive of the controller, the rotating speed of the small-torque motor 1 is gradually increased, the rotating speed transmitted to the motor shaft of the starting integrated motor 2 is also gradually increased, the real-time rotating speeds of the small-torque motor 1 and the starting integrated motor 2 are transmitted to the controller by the first rotating speed sensor and the second rotating speed sensor, when the rotating speed of the starting integrated motor 2 is increased to a value and then is not increased, even when the rotating speed has a descending trend, the rotating speed of the small-torque motor 1 at the moment is recorded, the rotating speed is the maximum rotating speed of the small-torque motor 1, and meanwhile, the energy supply limit of the magnetic auxiliary energy supply device is also determined. The rotating speed information can be transmitted to the upper computer through the serial port communication circuit, and an operator can manually intervene on the rotating speed through the upper computer and the serial port communication circuit.

The above description is only for the preferred embodiment of the present invention, and for those skilled in the art, there may be variations in the detailed description and the application scope according to the idea of the present invention, and the content of the description should not be construed as a limitation to the present invention.

Claims (10)

1. A magnetic auxiliary energy supply device for a small multi-rotor unmanned aerial vehicle is characterized by comprising a torque motor (1), an initiation integrated motor (2), a central shaft (12), a magnetism isolating cylinder (14), a driving cylinder (15) and a shell (18);

an inner ring magnet (13) is arranged on the central shaft (12);

the magnetism isolating cylinder (14) is rotationally arranged on the central shaft (12), the magnetism isolating cylinder (14) is of a circular ring structure and comprises an end face disc (26), an inner magnetism isolating cylinder (24) and an outer magnetism isolating cylinder (25), the inner magnetism isolating cylinder (24) is arranged on the end face disc (26), and the inner magnetism isolating cylinder (24) is located outside the inner ring magnet (13); the inner magnetism isolating cylinder (24) and the outer magnetism isolating cylinder (25) are provided with magnetism adjusting blocks (19);

the driving cylinder (15) is rotationally arranged on the central shaft (12), and the driving cylinder (15) is positioned between the inner magnetism isolating cylinder (24) and the outer magnetism isolating cylinder (25); a bar magnet (16) is arranged on the driving cylinder (15);

the shell (18) is positioned outside the outer magnetism isolating cylinder (25), and an outer ring magnet (17) is arranged on the inner side of the shell (18);

the shell (18), the magnetism isolating cylinder (14), the driving cylinder (15) and the central shaft (12) are coaxially arranged;

the starting and generating integrated motor (2) is connected with the driving cylinder (15) through a first transmission mechanism;

the torque motor (1) is in driving connection with the magnetism isolating cylinder (14) through a second transmission mechanism.

2. The magnetic auxiliary energy supply device for the small multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein the driving cylinder (15) is circumferentially distributed with axial slots, bar magnets (16) are arranged in the axial slots, the bar magnets (16) are radially arranged, and the ends of two magnetic poles of the bar magnets (16) are in a sawtooth shape.

3. The magnetic auxiliary energy supply device for the small multi-rotor unmanned aerial vehicle as claimed in claim 2, wherein axial grooves (23) are circumferentially distributed on the inner magnetism isolating cylinder (24) and the outer magnetism isolating cylinder (25), a magnetic adjusting block (19) is arranged in each axial groove, and the magnetic adjusting block (19) is of a T-shaped structure and comprises an arc-shaped part (28) and a radial part (27);

the arc-shaped parts (28) are attached to the corresponding inner magnetism isolating cylinders (24) or outer magnetism isolating cylinders (25), and the arc-shaped parts (28) of all the magnetism regulating blocks (19) cover the circumferential surfaces of the inner magnetism isolating cylinders (24) or the outer magnetism isolating cylinders (25);

the radial part (27) is arranged in the axial groove and is in interference fit with the axial groove of the magnetism isolating cylinder, the end part of the radial part (27) is in a sawtooth shape, and air gaps are reserved among the arc part (28), the inner ring magnet (13), the arc part (28) and the outer ring magnet (17);

the inner ring magnet (13), the outer ring magnet (17) and the bar magnet are permanent magnets, and the magnetic adjusting block (19) is soft magnetic ferrite.

4. The magnetic auxiliary energy supply device for the small multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein the central shaft (12) is a step shaft, and an inner ring magnet (13) is arranged in the middle of the step shaft.

5. The magnetic auxiliary energy supply device for the small multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein the end of the driving cylinder (15) is provided with a driving cylinder flange, and the driving cylinder flange is rotatably arranged at the end of the central shaft (12) through a bearing I (7);

the first transmission mechanism comprises a first belt pulley (3), a second belt pulley (4) and a first belt (10), the first belt pulley (3) is arranged on a flange of the driving cylinder, the second belt pulley (4) is arranged on a motor shaft of the starting integrated motor (2), and the first belt (10) is sleeved on the first belt pulley (3) and the second belt pulley (4); the diameters of the outer rings of the first belt pulley (3) and the second belt pulley (4) are the same.

6. The magnetic auxiliary energy supply device for the small multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein the end face disc (26) is rotatably arranged at the end part of the central shaft (12) through a bearing seat (20) and a bearing III (9);

the second transmission mechanism comprises a third belt pulley (5), a fourth belt pulley (6) and a second belt pulley (11), the third belt pulley (5) is arranged on a bearing seat (20) of an end face disc (26) of the magnetism isolating cylinder (14), the fourth belt pulley (6) is arranged on a motor shaft of the torque motor (1), and the second belt pulley (11) is sleeved on the third belt pulley (5) and the fourth belt pulley (6);

the diameter of the outer ring of the third belt pulley (5) is three times that of the outer ring of the fourth belt pulley (6).

7. The magnetic auxiliary energy supply device for the small multi-rotor unmanned aerial vehicle according to claim 1, wherein the central shaft (12), the torque motor (1) and the starting and starting integrated motor (2) are all fixedly connected to the unmanned aerial vehicle load platform, and the central shaft (12), the torque motor (1) motor shaft and the starting integrated motor (2) motor shaft are arranged in parallel.

8. The magnetic auxiliary energy supply device for the small multi-rotor unmanned aerial vehicle as claimed in claim 3, wherein the number of the axial slots on the outer magnetism isolating cylinder (25), the inner magnetism isolating cylinder (24) and the driving cylinder (15) is the same, and the included angle between the center lines of two adjacent axial slots on the outer magnetism isolating cylinder (25), the inner magnetism isolating cylinder (24) and the driving cylinder (15) is 20 degrees;

in the clockwise direction, the axial groove of the outer magnetism isolating cylinder (25) is positioned in front of the axial groove of the corresponding inner magnetism isolating cylinder (24);

the axial groove of the driving cylinder (15) is positioned between the corresponding axial groove of the outer magnetism isolating cylinder (25) and the axial groove of the inner magnetism isolating cylinder (24).

9. The magnetic auxiliary energy supply device for the small multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein the inner ring magnet (13) has the same magnetic pole as the corresponding end of the bar magnet (16), so as to generate a repulsive force; the outer ring magnet (17) and the corresponding end of the bar magnet (16) have opposite magnetic poles to generate attraction.

10. The magnetic auxiliary energy supply device for the small multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein the magnetic auxiliary energy supply device further comprises a control system, the control system comprises a power supply, a controller, a hall element, an amplifying circuit, a filter circuit, an interface circuit, a digital-to-analog conversion circuit, a first driving circuit, a second driving circuit, a first rotating speed sensor, a second rotating speed sensor, a serial communication circuit and an upper computer;

the Hall element is arranged on two magnetic poles of the bar magnet, the first sensor is used for detecting the rotating speed of the small-torque motor, and the second sensor is used for detecting the rotating speed of the starting integrated motor;

the Hall element is communicated with the controller through the amplifying circuit, the filter circuit, the interface circuit and the digital-to-analog conversion circuit;

the controller is connected with the low-torque motor through a first driving circuit;

the controller is connected with the starting integrated motor through a second driving circuit;

the controller is communicated with the upper computer through a serial port communication circuit;

the power supply is used for supplying power to the controller, the Hall element, the first drive circuit and the second drive circuit;

the amplifying circuit is respectively connected with the first rotating speed sensor and the second rotating speed sensor.

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