CN218463883U - Multi-rotor-wing type unmanned aerial vehicle transmission mechanism - Google Patents

Abstract

This application discloses a multi-rotor UAV transmission mechanism. The engine is connected to the input gear through a one-way clutch. The input gear meshes with four diverter gears. The diverter gears are respectively connected to the power transmission shaft through a diaphragm coupling. The power transmission shaft is connected to the branch reduction mechanism through a diaphragm coupling. The branch reduction mechanism includes a bevel gear reducer and a planetary gear reducer. The power transmission shaft is connected to the bevel gear reducer, and the bevel gear reducer is connected to the planetary gear reducer. The planetary gear reducer is connected to the rotor. This transmission mechanism can realize high-power transmission and high reliability, and realize maneuvering flight by changing the collective pitch of each branch rotor; compared with the motor direct-drive multi-rotor aircraft, it has higher efficiency and less control difficulty, and can It realizes flight with a larger load and meets the application of more scenarios; compared with a single-rotor helicopter with a tail reduction of the same magnitude, it has a smaller size and storage space and is suitable for use as a carrier-based aircraft.

Description

A multi-rotor UAV transmission mechanism

technical field

The utility model belongs to the technical field of transmission system structure design, in particular to a multi-rotor type unmanned aerial vehicle transmission mechanism.

Background technique

Due to its simple structure, flexible operation, and good maneuverability, multi-rotor aircraft are widely used in reconnaissance, patrol, information collection, command and dispatch, efficient search and rescue, and emergency rescue and disaster relief. However, most of the existing multi-rotors are motor direct-drive rotors, and the attitude of the aircraft is controlled by changing the motor speed. Due to the low energy density of the battery, the efficiency of the pure electric multi-rotor UAV is low, the airborne weight is small, and the cruising range is short. , greatly restricting the application and development of multi-rotors in more directions.

At present, most domestic multi-rotors have a take-off weight of about 5kg to 200kg, and the larger take-off weight is basically blank in China. It is unrealistic to use pure electric drive for multi-rotors above 200kg, because each motor requires a larger volume and Weight, so if a 100kw engine is used, the maximum take-off weight can eventually be 530kg. In addition to the weight of its own equipment, 100kg of fuel can be added. The battery life is 5-6h, and the practical ceiling is 3000 meters. The application scenarios that can be satisfied with such performance will greatly increase. , such as material transportation throwing, power line inspection, geographic surveying and mapping, inspection and strike integration, etc. Moreover, the multi-rotor is easy to operate, and it takes up less space than a single-rotor helicopter with a tail rotor of the same magnitude. It is suitable for carrier-based aircraft and meets the requirements of naval equipment.

Therefore, the utility model designs a multi-rotor transmission system. The transmission system uses the power input of an engine to divide the power of the engine into four branches, and transmits the power to each branch rotor through the power transmission shaft and the diaphragm coupling. , through one-stage bevel gear reversing deceleration and one-stage planetary gear deceleration, and finally output to the rotor end. This transmission system can keep the speed of the four rotors at the same speed, and realize maneuvering flight by changing the collective pitch of different rotors. This transmission has high efficiency High, high transmission power, large reduction ratio, etc., because the engine as a power input source can make the aircraft have a large load capacity and long endurance, which makes up for the disadvantages and shortcomings of the electric multi-rotor.

Utility model content

The purpose of the utility model is to provide a transmission mechanism of a multi-rotor UAV to solve the problems of low efficiency, small airborne weight and short cruising range of the pure electric multi-rotor UAV proposed in the background technology. The transmission mechanism can transmit the advantages of high power, large reduction ratio and high transmission efficiency. The rotation speed of each rotor is the same, the two branch rotors rotate forward, and the two branch rotors reverse. This method can be used to offset the reaction torque, and realize the maneuvering flight of the aircraft by changing the collective pitch of each rotor.

In order to achieve the purpose of the utility model, the utility model discloses a multi-rotor UAV transmission mechanism, including an engine, a one-way clutch, an input gear, a shunt gear, a diaphragm coupling, a power transmission shaft and a branch reduction mechanism; The engine is connected with the input gear through a one-way clutch, which is used to prevent the rotor from backing up the engine; the input gear meshes with the four splitter gears, the splitter gears are in a state of uniform distribution, the angle between the shafts is 90°, and the four splitter gears are two The included angle between the two is 90°; the splitter gear is connected to the power transmission shaft through a diaphragm coupling respectively to realize branch power transmission, and the diaphragm coupling is used to compensate the axial and angular deviation; the power transmission shaft passes through the diaphragm The coupling is connected to the branch reduction mechanism, the branch reduction mechanism includes a bevel gear reducer and a planetary gear reducer, the power transmission shaft is connected to the bevel gear reducer, the bevel gear reducer is connected to the planetary gear reducer, and the planetary gear reducer is connected to the rotor;

The power and speed of the engine are transmitted to the input gear through the one-way clutch, and the input gear meshes with the four shunt gears at the same time to realize the reversing and shunting of power and speed; the four shunt gears are connected to one end of the power transmission shaft through a diaphragm coupling, Realize the long-distance transmission of power and speed; the other end of the power transmission shaft is connected to the bevel gear reducer of each branch through the diaphragm coupling, and the bevel gear reducer realizes power commutation and deceleration again; the bevel gear reducer and the planetary gear reduce The power and speed are connected through the planetary gear reducer to achieve a large reduction ratio while increasing the torque of the planetary carrier. Finally, the planetary carrier transmits the engine speed and torque to the rotor blades through the propeller hub, and controls the drone by changing the collective pitch of each blade. aircraft flight attitude.

Further, the bevel gear reducer includes a branch input gear and a reversing reduction gear. Both the branch input gear and the reversing reduction gear are bevel gears. The intersection angle of the installation shaft is 90°. The reversing reduction gear is connected to the planetary gear reducer. The planetary gear The reducer is connected to the rotor.

Further, the planetary gear reducer includes a fixed ring gear, four planetary gears, a sun gear and a planetary carrier; the fixed ring gear, four planetary gears, a sun gear and a planetary carrier are coaxially arranged; the four planetary gears and the sun gear are arranged on Inside the fixed ring gear, and the sun gear is in the middle, the four planetary gears are evenly distributed around the sun gear; the angle between two planetary gears is 90°, and the four planetary gears are respectively connected with the planet carrier, and the four planetary gears connect the sun gear The power is split and then combined and output through the planetary carrier.

Further, the one-way clutch adopts a sprag clutch.

Further, the input gear and the four diverter gears are all bevel gears, and the material is 18Cr2Ni4WA, and the input gear and the diverter gears adopt speed-up transmission, and the speed-up ratio is 2-3.

Further, the compensation capability of the diaphragm coupling is 0-3mm for axial offset compensation and 0-3° for angular offset compensation.

Further, the material of the power transmission shaft is aviation second-series aluminum or aviation seven-series aluminum, the outer diameter of the shaft is 35mm-45mm, and the wall thickness is 1mm-1.5mm.

Further, the branch input gear and the reversing reduction gear are both made of 18Cr2Ni4WA, and the heat treatment is carburizing and quenching.

Furthermore, the fixed ring gear, planetary gear and sun gear are all made of 32Cr3Mo1V, the heat treatment is treated with surface nitriding, and the material of the planet carrier is made of TC4 titanium alloy; the four planetary gears are installed in a uniform state to achieve power load transfer .

Further, the reversing reduction gears of the two branches on the same diagonal are installed in the same direction, and the reversing reduction gears on different diagonals are installed in opposite directions, so as to achieve the opposite rotation speed of the rotor, balance the reaction torque, and keep the aircraft stable.

Compared with the prior art, the remarkable progress of the utility model lies in: 1) the transmission mechanism can realize high power transmission, high reliability, and realize maneuvering flight by changing the collective pitch of each branch rotor, compared with the motor direct drive For multi-rotor aircraft, the transmission mechanism has higher efficiency and less control difficulty; 2) Since the transmission mechanism is driven by the engine, when a 100kW engine is used as the power input, the maximum take-off weight of the whole machine can reach 530kg-550kg, which can It carries 100kg of fuel, so it can fly with a larger load, and the cruising range can reach 5h~6h, which makes up for the lack of electric multi-rotors and can be used in more scenarios; 3) Compared with the same amount of multi-rotor models The single-rotor helicopter with tail reduction has a smaller size and storage space, and is suitable for use as a carrier-based aircraft to meet the needs of naval equipment. The aircraft in this take-off weight range fills the gap at home and abroad.

In order to more clearly illustrate the functional characteristics and structural parameters of the present utility model, further description will be given below in conjunction with the accompanying drawings and specific embodiments.

Description of drawings

The drawings described here are used to provide a further understanding of the utility model and constitute a part of the application. The schematic embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute improper limitations to the utility model. In the attached picture:

Fig. 1 is an overall schematic diagram of a multi-rotor UAV transmission mechanism;

Fig. 2 is a schematic diagram of a power split transmission mechanism;

Fig. 3 is a schematic diagram of branch reduction mechanism 1;

Fig. 4 is a schematic diagram of branch reduction mechanism 2;

Fig. 5 is a schematic structural diagram of a planetary gear reducer;

Fig. 6 is a schematic diagram of the structure of the planet carrier;

Reference numerals in the figure are: 1, engine, 2, one-way clutch, 3, input gear, 4, shunt gear, 5, diaphragm coupling, 6, power transmission shaft, 7, branch input gear, 8, changer To reduction gear, 9, fixed ring gear, 10, planetary gear, 11, sun gear, 12, planet carrier.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Example: Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present utility model.

As shown in Figure 1, a multi-rotor UAV transmission mechanism includes an engine 1, a one-way clutch 2, an input gear 3, a shunt gear 4, a diaphragm coupling 5, a power transmission shaft 6, a branch input gear 7, Reversing reduction gear 8, fixed ring gear 9, planetary gear 10, sun gear 11, planet carrier 12. The engine 1 is connected with the input gear 3 through the one-way clutch 2. The purpose is to prevent the rotor from backtracking the engine 1. The input gear 3 meshes with the four splitter gears 4. This mechanism can divide the power into four branches. The splitter gear 4 The diaphragm coupling 5 is connected to the power transmission shaft 6. The function of the diaphragm coupling 5 is to compensate the deviation and displacement in the axial and circumferential directions. The power transmission shaft 6 is connected to the branch input through the diaphragm coupling 5. The gears 7 are connected to realize branch power input. Branch input gear 7 and reversing reduction gear 8 realize one-stage reduction and power reversing. The reversing reduction gear 8 is connected with the planetary gear reducer to realize two-stage reduction. The planetary gear reducer includes a fixed ring gear 9, a planetary gear 10, a sun gear 11, and a planetary carrier 12, and the planetary carrier 12 transmits power and speed On the respective rotors, there are two reversing reduction gears 8 which are opposite to the other two installation directions, and finally determine that the steering of the rotors is different. At this time, the reaction torque can be offset to keep the stability of the aircraft.

As shown in Figure 2, the input gear 3 meshes with the four shunt gears 4, the shunt gears 4 are in a state of uniform distribution, the angle between the shafts is 90°, and the angle between the four shunt gears 4 is 90°. The gear 3 and the four shunt gears 4 are all bevel gears, the material is 18Cr2Ni4WA, which is high-quality low-carbon steel, and the surface hardness of the gears is improved by carburizing and quenching, so as to realize power shunting and reversing, the transmission load is large, and the transmission efficiency reaches 97. More than %, speed-up transmission is adopted here, and the speed-up ratio is 2-3. The advantage of this structure is that the structure is uniform and symmetrical, which will make the aircraft have better aerodynamic characteristics.

As shown in Figure 3 and Figure 4, two of the four branch reduction mechanisms are the same, and the reduction mechanism includes a first-stage bevel gear reducer for deceleration and reversing and a second-stage planetary gear reducer, bevel gear reducer There are branch input gear 7 and reversing reduction gear 8, both of which are bevel gears, the angle of intersection of the installation shaft is 90°, the gear material is 18Cr2Ni4WA, and the heat treatment is carburizing and quenching. The planetary reduction mechanism includes a fixed ring gear 9 , four planetary gears 10 , a sun gear 11 and a planet carrier 12 . Sun gear 11, planetary gear 10, and fixed ring gear 9 are all made of 32Cr3Mo1V, and the heat treatment is surface nitriding treatment; the material of planet carrier 12 is TC4, which not only has high strength but also light weight, and greatly improves the power-to-weight ratio of the aircraft. The four planetary gears 10 are installed in an evenly distributed state, so as to realize the even load transmission of power. The reduction mechanism can realize a relatively large reduction ratio, and the reduction ratio is 8-10. Wherein the reversing reduction gear 8 of two branches on the same diagonal is installed in the same direction, and the reversing reduction gear 8 is installed in the opposite direction on different diagonals. This purpose is to achieve the opposite of the rotor speed, balance the reaction torque, and keep the aircraft stable. . The transmission mechanism can keep the rotation speed of the four rotors consistent, realize maneuvering flight by changing the collective pitch of each branch rotor, and reduce the difficulty of aircraft flight control.

As shown in Figure 5 and Figure 6, the fixed ring gear 9, four planetary gears 10, sun gear 11 and planet carrier 12 are coaxially arranged; the four planetary gears 10 and the sun gear 11 are arranged inside the fixed ring gear 9, and the sun The wheel 11 is in the middle, and the four planetary wheels 10 are in a uniform state around the sun wheel 11; the angle between two planetary wheels 10 is 90°, and the four planetary wheels 10 are respectively connected with the planet carrier 12, and the four planetary wheels 10 connect the sun wheel The power of 11 is split and then the power is concatenated and output through the planetary carrier 12 .

Specifically, in this embodiment, the one-way clutch 2 is a sprag clutch. The compensation capability of the diaphragm coupling 5 is 0-3mm for axial offset compensation and 0-3° for angular offset compensation.

Specifically, in this embodiment, the material of the power transmission shaft 6 is aviation series two aluminum or aviation seven series aluminum, the outer diameter of the shaft is 35mm-45mm, and the wall thickness is 1mm-1.5mm. The transmission efficiency of the power transmission shaft 6 can reach more than 95%. The end of the power transmission shaft 6 is connected to the branch reduction gear 7, and the 8 phases of the reversing reduction gear are connected to the planetary gear reducer to achieve a large reduction ratio and increase the output torque of the planet carrier 12, and finally The engine power is transmitted to the rotor, and the transmission power of the entire transmission system reaches more than 90%.

The working principle and process of this device are as follows: the power and speed of the engine 1 are transmitted to the input gear 3 through the one-way clutch 2, and the input gear 3 meshes with the four shunt gears 4 at the same time to realize the reversing and shunting of power and speed; the four shunt gears 4 Connect with one end of the power transmission shaft 6 through the diaphragm coupling 5 to realize long-distance transmission of power and speed; the other end of the power transmission shaft 6 is connected with the bevel gear reducers of each branch through the diaphragm coupling 5, and the bevel The reducer realizes power commutation and deceleration again; the bevel gear reducer is connected with the planetary gear reducer, and the power and speed are realized through the planetary gear reducer to achieve a large reduction ratio while increasing the torque of the planetary carrier 12, and finally the planetary carrier 12 drives the engine through the propeller hub. 1 The speed and torque are transmitted to the rotor blades, and the flight attitude of the drone is controlled by changing the collective pitch of each blade.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or apparatus.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes and modifications can be made to these embodiments without departing from the principle and spirit of the present invention , replacements and modifications, the scope of the present utility model is defined by the appended claims and their equivalents.

Claims (10)

1. A multi-rotor unmanned aerial vehicle transmission mechanism is characterized by comprising an engine (1), a one-way clutch (2), an input gear (3), a shunt gear (4), a diaphragm coupling (5), a power transmission shaft (6) and a branch speed reduction mechanism; the engine (1) is connected with the input gear (3) through a one-way clutch (2), and the one-way clutch (2) is used for preventing the rotor wing from reversely carrying the engine (1); the input gear (3) is meshed with the four shunt gears (4), the shunt gears (4) are in a uniformly distributed state, the included angle of the shafts is 90 degrees, and the included angle between every two of the four shunt gears (4) is 90 degrees; the shunt gear (4) is connected with the power transmission shaft (6) through the diaphragm coupling (5) respectively to realize branch power transmission, and the diaphragm coupling (5) is used for compensating axial and angle deviations; the power transmission shaft (6) is connected with a branch speed reducing mechanism through a diaphragm coupling (5), the branch speed reducing mechanism comprises a bevel gear speed reducer and a planetary gear speed reducer, the power transmission shaft (6) is connected with the bevel gear speed reducer, the bevel gear speed reducer is connected with the planetary gear speed reducer, and the planetary gear speed reducer is connected with the rotor.

2. The transmission mechanism of multi-rotor unmanned aerial vehicle according to claim 1, wherein the bevel gear reducer comprises a branch input gear (7) and a reversing reduction gear (8), the branch input gear (7) and the reversing reduction gear (8) are both bevel gears, the intersection angle of the installation shafts is 90 °, the reversing reduction gear (8) is connected to a planetary gear reducer, and the planetary gear reducer is connected to the rotor.

3. A multi-rotor unmanned aerial vehicle transmission according to claim 1, wherein the planetary gear reducer comprises a fixed ring gear (9), four planet gears (10), a sun gear (11) and a planet carrier (12); the fixed gear ring (9), the four planet wheels (10), the sun wheel (11) and the planet carrier (12) are coaxially arranged; the four planet wheels (10) and the sun wheel (11) are arranged inside the fixed gear ring (9), the sun wheel (11) is arranged in the middle, and the four planet wheels (10) are uniformly distributed around the sun wheel (11); the included angle of each two planet gears (10) is 90 degrees, the four planet gears (10) are respectively connected with the planet carrier (12), and the four planet gears (10) are used for dividing the power of the sun gear (11) and then converging the power through the planet carrier (12) for output.

4. The transmission mechanism of multi-rotor unmanned aerial vehicle according to claim 1, wherein the one-way clutch (2) is a wedge clutch.

5. The transmission mechanism of multi-rotor unmanned aerial vehicle according to claim 1, wherein the input gear (3) and the four splitter gears (4) are bevel gears and made of 18Cr2Ni4WA, and the input gear (3) and the splitter gears (4) are in step-up transmission with a step-up ratio of 2-3.

6. The transmission mechanism of multi-rotor unmanned aerial vehicle according to claim 1, wherein the compensation capability of the diaphragm coupling (5) is axial offset compensation of 0-3 mm and angular offset compensation of 0-3 °.

7. The transmission mechanism of multi-rotor unmanned aerial vehicle according to claim 1, wherein the power transmission shaft (6) is made of aviation secondary aluminum or aviation seven-series aluminum, the outer diameter of the shaft is 35 mm-45 mm, and the wall thickness is 1 mm-1.5 mm.

8. A multi-rotor unmanned aerial vehicle drive mechanism as claimed in claim 2, wherein the branch input gear (7) and the reversing reduction gear (8) are made of 18Cr2Ni4WA, and the heat treatment is carburizing and quenching.

9. The transmission mechanism of multi-rotor unmanned aerial vehicle according to claim 3, wherein the fixed gear ring (9), the planetary gear (10) and the sun gear (11) are made of 32Cr3Mo1V, the heat treatment is surface nitriding, and the planet carrier (12) is made of TC4.

10. The transmission mechanism of multi-rotor unmanned aerial vehicle according to claim 2, wherein the direction of installation of the reversing reduction gears (8) of the two branches on the same diagonal is the same, and the direction of installation of the reversing reduction gears (8) on different diagonals is opposite.

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