WO2017114245A1 - 一种同轴双桨双马达飞行器 - Google Patents

一种同轴双桨双马达飞行器 Download PDF

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Publication number
WO2017114245A1
WO2017114245A1 PCT/CN2016/111146 CN2016111146W WO2017114245A1 WO 2017114245 A1 WO2017114245 A1 WO 2017114245A1 CN 2016111146 W CN2016111146 W CN 2016111146W WO 2017114245 A1 WO2017114245 A1 WO 2017114245A1
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WIPO (PCT)
Prior art keywords
motor
aircraft
propeller
wing
driving device
Prior art date
Application number
PCT/CN2016/111146
Other languages
English (en)
French (fr)
Inventor
蔡忠育
Original Assignee
歌尔科技有限公司
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Filing date
Publication date
Application filed by 歌尔科技有限公司 filed Critical 歌尔科技有限公司
Priority to US16/067,604 priority Critical patent/US10259573B2/en
Priority to KR1020187018053A priority patent/KR101947335B1/ko
Priority to JP2018534717A priority patent/JP6453527B1/ja
Publication of WO2017114245A1 publication Critical patent/WO2017114245A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B64C27/10—Helicopters with two or more rotors arranged coaxially
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/24—Transmitting means
    • B64C13/38—Transmitting means with power amplification
    • B64C13/50—Transmitting means with power amplification using electrical energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C17/00—Aircraft stabilisation not otherwise provided for
    • B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives
    • B64C27/14—Direct drive between power plant and rotor hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/46—Blades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C9/00—Adjustable control surfaces or members, e.g. rudders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
    • B64D27/02—Aircraft characterised by the type or position of power plant
    • B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D31/00—Power plant control; Arrangement thereof
    • B64D31/02—Initiating means
    • B64D31/06—Initiating means actuated automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/24—Coaxial rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Definitions

  • the invention relates to the technical field of aircraft design, in particular to a coaxial double-blade dual-motor aircraft.
  • coaxial twin-propeller aircraft can be divided into two types: single-motor drive and dual-motor drive.
  • the motor of a single-motor aircraft needs to drive two propellers. In the driving process, it is generally necessary to change the motor by means of gears or belts. Drive the direction so that the two propellers rotate in opposite directions at the same speed.
  • the shortcomings of the single motor aircraft are: low load, not suitable for the other camera module, generally built in the aircraft lightweight camera module, because the camera module is directly tied to the aircraft, it is not convenient to replace the camera module.
  • the dual-motor aircraft has stronger bearing capacity than the single-motor aircraft.
  • the motor layout of the dual-motor aircraft includes vertical layout and horizontal layout.
  • the horizontally arranged dual-motor aircraft needs to use the transmission components such as gears or belts to drive the upper and lower propellers.
  • the disadvantage of the dual-motor aircraft is that it needs to use the transmission components such as gears and belts to drive the propeller, and there is a problem that the transmission components are worn and aged.
  • the vertical layout of the dual-motor aircraft needs to be equipped with a wire support frame outside the propeller, and the wire between the motor and the propeller can be realized by the wire support frame.
  • the disadvantage of the vertical layout of the dual-motor aircraft is that the wiring is difficult and additional installation is required.
  • the wire support frame causes the weight of the aircraft to increase.
  • the present invention provides a coaxial twin-blade dual-motor aircraft to solve or partially solve the above problems.
  • the present invention provides a coaxial twin-blade dual-motor aircraft comprising: an upper propeller 1, a lower propeller 2 and an aircraft main body 3; an upper propeller 1 and a lower propeller 2 are disposed at an end of the aircraft main body 3, and the upper propeller 1 is located at a lower propeller Above the aircraft body 3, a first motor 4 and a second motor 5 are disposed inside.
  • the first motor 4 is connected to the lower propeller 2 through a first transmission shaft 42;
  • a second motor 5 is located below the first motor 4 and is connected to the upper propeller 1 via a second transmission shaft 52, which in turn passes through the first motor 4, the first transmission After the shaft 42 and the lower propeller 2 are connected to the upper propeller 1;
  • the second drive shaft 52 and the first drive shaft 42 have the same axis;
  • the upper propeller 1 and the lower propeller 2 are driven by the respective motors, and have the same rotational speed and opposite rotational directions.
  • the first motor 4 is fixed in the aircraft body 3 by the first fixing seat 41, and the second motor 5 passes the The second mount 51 is fixed in the aircraft body 3.
  • the first motor 4 is an outer rotor motor and the second motor 5 is an inner rotor motor.
  • the coaxial scull dual motor aircraft further comprises a wing driving device 6 constituting a part of the aircraft body 3;
  • the middle position of the wing driving device 6 is provided with an annular wing 7 extending from the wing driving device 6, and the annular wing 7 can be horizontally moved by the wing driving device 6;
  • the aircraft maintains the current flight posture when the annular wing 7 extends the same area of the wind resistance in all directions of the outer circumference of the wing driving device 6;
  • the aircraft changes the current flying posture.
  • the wing driving device 6 comprises: a cylindrical magnetic ring 61, an electromagnetic motor 62, an upper cover 63 and a lower cover 64, and the annular wing 7 is integrally formed with the outer wall of the cylindrical magnetic ring 61;
  • the cylindrical magnetic ring 61 is sleeved on the outer circumference of the electromagnetic motor 62, and the heights of the two are the same and have a certain ring pitch;
  • the electromagnetic motor 62 is fixed between the upper cover 63 and the lower cover 64, and a space for extending the annular wing 7 is reserved between the upper cover 63 and the lower cover 64, and a part of the annular wing 7 is formed by the upper cover 63 and the lower cover 64.
  • the gap protrudes outside the aircraft body 3;
  • the magnetic field of the electromagnetic motor 62 is evenly distributed and repels the polarity of the cylindrical magnetic ring 61, and the axis of the cylindrical magnetic ring 61 coincides with the axis of the electromagnetic motor 62;
  • the operating current in a certain direction of the electromagnetic motor 62 is changed to change the magnetic field shape of the electromagnetic motor 62, and the cylindrical magnetic ring 61 is offset by the magnetic field of the electromagnetic motor 62 to drive the annular wing 7 Move in the horizontal direction.
  • the upper cover 63 and the lower cover 64 have the same structure, both of which include: a threaded seat 65 at a central position and a support post 66 located around the threaded seat 65;
  • Both ends of the electromagnetic motor 62 have a threaded head 621 that cooperates with the threaded seat 65.
  • the upper cover 63 and the lower cover 64 are engaged and fixed by the threaded head 621 at both ends of the electromagnetic motor 62 in cooperation with the threaded seat 65.
  • the aircraft body 3 comprises: a nose 31, a fuselage 32 and a tail 33, and the fuselage 32 is located between the nose 31 and the tail 33;
  • the first motor 4 and the second motor 5 are both disposed inside the head 31, and the wing driving device 6 is disposed between the head 31 and the body 32;
  • the first motor 4 is disposed inside the head 31, the second motor 5 is disposed inside the body 32, and the wing driving device 6 is disposed between the body 32 and the tail 33.
  • a main control circuit board 321, a battery 322 and a third fixing base 323 are disposed in the body 32;
  • the main control circuit board 321 and the battery 322 are disposed in the body 32 through the third fixing base 323, the battery 322 is disposed on the upper side of the third fixing base 323, and the main control circuit board 321 is locked on the third fixing base 323.
  • the battery 322 is used to supply power to the main control board 321, the first motor 4, and the second motor 5.
  • a distance measuring sensor 331 and a sensor fixing seat 332 for fixing the distance measuring sensor 331 into the tail 33 are disposed in the tail 33;
  • the distance measuring sensor 321 is connected to the main control circuit board 321 through a flexible circuit board for measuring the real-time flying height of the aircraft, and transmitting the measured flying height information to the main control circuit board 321;
  • the main control circuit board 321 is configured to control the rotational speeds of the first motor 4 and the second motor 5 according to the received flying height information.
  • the coaxial scull dual motor aircraft further includes a balance bar 8 and a support frame 9;
  • the balance bar 8 is located at the front end of the upper propeller 1 for maintaining stability when the aircraft is hovering in the air;
  • the support frame 9 is disposed outside the tail 33 for mounting the carrier 10.
  • the beneficial effects of the embodiments of the present invention are as follows: 1. By vertically distributing the first motor and the second motor in the main body of the aircraft, the first motor directly drives the lower propeller through the transmission shaft thereof, so that the second motor is directly driven through the transmission shaft thereof.
  • the upper propeller eliminates the need to use a transmission member such as a gear or a belt to change the driving direction, thereby simplifying assembly of components, avoiding wear and tear caused by aging of the transmission member, and saving production cost;
  • the vertical distribution feature enables circuit routing inside the main body of the aircraft, eliminating the need to additionally design external support frame routing, further simplifying the assembly of components and reducing the size of the aircraft. 3.
  • the aircraft of the present invention as a whole is only composed of upper and lower propellers and streamlined aircraft bodies.
  • the structure is simple, the aircraft weight can be reduced, and the streamlined aircraft body and the tailless design can reduce the wind resistance, thereby reducing the weight limit of the imaging module mounted thereon.
  • FIG. 1 is a schematic diagram of an aircraft driven upper and lower propeller provided by the present invention
  • FIG. 2 is a perspective view of an aircraft according to an embodiment of the present invention.
  • Figure 3 is an exploded view of the aircraft of Figure 2;
  • Figure 4 is a schematic view of the distance measuring sensor of the aircraft of Figure 2;
  • FIG. 5 is a schematic diagram of the appearance of an aircraft with a wing driving device according to an embodiment of the present invention
  • Figure 6 is an exploded view of the wing drive of the aircraft of Figure 5;
  • Figure 7 is a schematic structural view of the upper cover of the wing driving device of Figure 5;
  • Figure 8 is a cross-sectional view of the wing driving device of Figure 5;
  • Figure 9a is a magnetic field of the electromagnetic motor when the axis of the cylindrical magnetic ring of the wing driving device of Figure 6 is shifted to the left relative to the electromagnetic motor
  • Figure 9b is a schematic view showing the magnetic field of the electromagnetic motor when the axis of the cylindrical magnetic ring of the wing driving device of Figure 6 is shifted to the left relative to the electromagnetic motor;
  • Figure 10a is a schematic view showing the wind resistance area of the annular wing when the cylindrical magnetic ring is coincident with the axis of the electromagnetic motor provided by the embodiment;
  • Figure 10b is a schematic view showing the wind resistance area of the annular wing when the axis of the cylindrical magnetic ring is shifted to the left relative to the electromagnetic motor according to the embodiment;
  • Figure 10c is a schematic view showing the wind resistance area of the annular wing when the axis of the cylindrical magnetic ring is shifted to the right relative to the electromagnetic motor according to the embodiment;
  • the overall design idea of the coaxial double-blade dual-motor aircraft of the present invention is as follows: as shown in FIG. 1, the first motor and the second motor of the aircraft are vertically distributed, so that the first motor is directly connected to the lower propeller through its transmission shaft, so that the first The drive shaft of the two motors passes through the first motor and the outer rotor drive shaft in sequence and is directly connected to the upper propeller; the second motor drives the upper propeller, and the outer rotor drives the upper propeller to make the upper and lower propellers pass the same rotational speed and different steering offset effects. Force to prevent the main body of the aircraft from being rotated.
  • FIG. 2 is a perspective view of the aircraft provided in the embodiment
  • FIG. 3 is an exploded view of the aircraft in FIG. 2.
  • the aircraft includes: an upper propeller 1, a lower propeller 2, and an aircraft main body 3; an upper propeller 1 and a lower propeller 2 are disposed at an end of the aircraft main body 3, and an upper propeller 1 is located at a lower propeller 2
  • the aircraft main body 3 is of a streamline type, and is internally provided with a vertically distributed first motor 4 and a second motor 5, the first motor 4 is fixed in the aircraft main body 3 through the first fixing base 41, and the second motor 5 is passed through the second fixing base. 51 is fixed within the aircraft body 3; preferably the first motor 4 is an outer rotor motor and the second motor 5 is an inner rotor motor.
  • the first motor 4 is connected to the lower propeller 2 through the first drive shaft 42;
  • the second motor 5 is located below the first motor 4, and the second drive shaft 52 of the second motor 5 passes through the first mount 41, the first motor 4, the second drive shaft 42 and the lower propeller 2 in sequence, and is connected thereto.
  • the second transmission shaft 52 and the first transmission shaft 42 have the same axial center, and the upper propeller 1 and the lower propeller 2 are driven by the respective motors, and the rotation speed is the same and the rotation direction is opposite.
  • the aircraft of the embodiment adopts a dual motor double paddle design, and the first motor and the second motor are vertically distributed in the aircraft main body, so that the first motor directly drives the lower propeller through the transmission shaft thereof, and the second motor passes the transmission shaft thereof.
  • the upper and lower propellers are offset by the same rotational speed and different steering rotations to prevent the aircraft body from being rotated.
  • the aircraft of the embodiment does not need to change the driving direction by means of a transmission member such as a gear or a belt, thereby simplifying assembly of components, avoiding wear and tear caused by aging of components, and saving production cost;
  • the vertical distribution of the first motor and the first motor in the aircraft body in the embodiment can realize circuit routing inside the aircraft body without additionally designing an external support frame to further simplify the components and reduce the size of the aircraft.
  • the coaxial double-blade dual-motor aircraft of the present embodiment has stronger bearing capacity than the single-motor aircraft, and compared with the existing dual-motor aircraft, the coaxial double-blade dual-motor aircraft of the present embodiment has a simple structure, can reduce the weight of the aircraft itself, and further reduce the pair.
  • the weight limit of the shooting module is also included; the wind resistance is also reduced by designing a streamlined body to improve the performance of the aircraft.
  • the present invention utilizes the principle that the windfoil changes the wind resistance, and the wing driving device is introduced into the main body of the aircraft.
  • the wind resistance area of the part of the wing protruding from the main body of the aircraft is the same, and the wing is The wind resistance is caused, but because the wind resistance area is small and equal, the aircraft's downward propulsive force is uniform, so that the current flight posture can be maintained; when the wing moves in a certain direction, the relative direction is received in the main body of the aircraft, and the wind resistance area of the aircraft body protruding in the direction is relatively
  • the increase causes the aircraft to push the propulsive force unevenly, thereby changing the angle of the fuselage, thereby being able to change the current flight posture.
  • the aircraft further includes a wing driving device 6 constituting a part of the aircraft body 3;
  • the middle position of the wing driving device 6 is provided with an annular wing 7 extending from the wing driving device 6, and the annular wing 7 can be horizontally moved by the wing driving device 6;
  • the aircraft maintains the current flight posture when the annular wing 7 extends the same area of the wind resistance in all directions of the outer circumference of the wing driving device 6;
  • the aircraft changes the current flying posture.
  • the wing driving device 6 includes a cylindrical magnetic ring 61, an electromagnetic motor 62, an upper cover 63 and a lower cover 64, and the annular wing 7 is integrally formed with the outer wall of the cylindrical magnetic ring 61;
  • the cylindrical magnetic ring 61 is sleeved on the outer circumference of the electromagnetic motor 62, and the heights of the two are the same and have a certain ring pitch;
  • the electromagnetic motor 62 is fixed between the upper cover 63 and the lower cover 64, and a space for extending the annular wing 7 is reserved between the upper cover 63 and the lower cover 64, and a part of the annular wing 7 is formed by the upper cover 63 and the lower cover 64.
  • the gap protrudes outside the aircraft body 3;
  • the magnetic field of the electromagnetic motor 62 is evenly distributed and repels the polarity of the cylindrical magnetic ring 61, and the axis of the cylindrical magnetic ring 61 coincides with the axis of the electromagnetic motor 62; as shown in Fig. 9a
  • the magnetic properties of the outer surface of the electromagnetic motor 62 are the same as those of the inner surface of the cylindrical magnetic ring 61. Since the magnetic field distribution of the cylindrical magnetic ring 61 and the electromagnetic motor 62 is uniform, the cylindrical magnetic ring 61 is subjected to The repulsive forces in all directions are the same such that their axes coincide with the axis of the electromagnetic motor 62. As shown in FIG.
  • the operating current of the electromagnetic motor 62 in a certain direction changes the magnetic field shape of the electromagnetic motor 62, and the cylindrical magnetic ring 61 is offset by the magnetic field of the electromagnetic motor 62, and the circular wing 7 is driven horizontally. mobile.
  • FIG. 9b if the driving of the annular wing 7 is moved to the left, the working current direction on the right side of the electromagnetic motor 62 can be changed, so that the magnetic pole on the right side of the electromagnetic motor 62 is changed, and the axis of the cylindrical magnetic ring 3 is attracted to the left. .
  • the direction of the operating current on the left side of the electromagnetic motor 62 can be changed, so that the magnetic pole on the left side of the electromagnetic motor 62 is changed, and the axis of the cylindrical magnetic ring 3 is attracted to the right.
  • FIG. 10c when the axis of the cylindrical magnetic ring 61 is shifted to the right with respect to the axis of the electromagnetic motor 62, the area of the wind resistance of the annular wing 7 extending to the right side of the aircraft body 3 is relatively increased, and the aircraft is generated to the right. The wind resistance causes the aircraft body to shift to the right.
  • the upper cover 63 and the lower cover 64 have the same structure, as shown in Figure 7, the upper cover 63 and the lower cover 64 both include: a threaded seat 65 in a central position and a support post 66 around the threaded seat 65;
  • both ends of the electromagnetic motor 62 have a threaded head 621 that cooperates with the threaded seat 65.
  • the upper cover 63 and the lower cover 64 are locked and fixed by the threaded head 621 at both ends of the electromagnetic motor 62.
  • the support post 66 of the cover 63 and the lower cover 64 defines the cylindrical magnetic ring 61 in a vertical direction to prevent the cylindrical magnetic ring 61 from moving up and down.
  • the aircraft body 3 includes a nose 31, a fuselage 32, and a tail 33, and the fuselage 32 is located between the nose 31 and the tail 33.
  • the wing driving device of the present invention may be disposed between the nose and the body, or may be disposed between the body and the tail. As shown in FIG. 5, when both the first motor 4 and the second motor 5 are disposed inside the handpiece 31, the wing driving device 6 is preferably disposed between the handpiece 31 and the body 32. Since the second motor can also be arranged in the fuselage, when the first motor 4 is arranged inside the handpiece 31 and the second motor 5 is arranged inside the fuselage 32, the wing drive 6 is preferably arranged in the fuselage 32. Between the tail and the tail 33.
  • a main control circuit board 321, a battery 322 and a third fixing base 323 are disposed in the body 32;
  • the main control circuit board 321 and the battery 322 are disposed in the body 32 through the third fixing base 323, the battery 322 is disposed on the upper side of the third fixing base 323, and the main control circuit board 321 is locked on the lower side of the third fixing base 323. ;
  • the battery 322 is used to supply power to the main control board 321, the first motor 4, and the second motor 5.
  • a distance measuring sensor 331 and a sensor fixing seat 332 for fixing the distance measuring sensor 331 into the tail 33 are disposed in the tail 33;
  • the distance measuring sensor 331 is connected to the main control circuit board 321 through a flexible circuit board for measuring the real-time flying height of the aircraft, and transmitting the measured flying height information to the main control circuit board 321;
  • the main control circuit board 321 is configured to control the rotational speeds of the first motor 4 and the second motor 5 according to the received flying height information.
  • the aircraft of the present embodiment further includes a balance bar 8 and a support frame 9, and the balance bar 8 is located at the front end of the upper propeller 1 for maintaining stability when the aircraft is hovering in the air; the support frame 9 It is disposed at the outer rear end of the tail 33 for mounting the carrier 10, and the carrier 10 can be a device such as a mobile phone or a PAD.
  • the present invention provides a coaxial twin-blade dual-motor aircraft aircraft, which has the following beneficial effects:
  • the first motor directly drives the lower propeller through its transmission shaft, so that the second motor directly drives the upper propeller through its transmission shaft without using gears or belts, etc.
  • the transmission member changes the driving direction, thereby simplifying assembly of components, avoiding wear and tear caused by aging of the transmission parts, and saving production costs;
  • the circuit routing can be realized inside the main body of the aircraft, and no external design of the external support frame is required, thereby further simplifying the assembly of components and reducing the volume of the aircraft;
  • the aircraft of the present invention is generally composed of only the upper and lower propellers and the streamlined aircraft main body, and has a simple structure, which can reduce the weight of the aircraft itself, and the streamlined aircraft main body and the tailless design can reduce the wind resistance, thereby reducing the shooting mode mounted thereon.
  • the weight limit of the group is generally composed of only the upper and lower propellers and the streamlined aircraft main body, and has a simple structure, which can reduce the weight of the aircraft itself, and the streamlined aircraft main body and the tailless design can reduce the wind resistance, thereby reducing the shooting mode mounted thereon.

Abstract

一种同轴双桨双马达飞行器，包括上螺旋桨（1）、下螺旋桨（2）和飞行器主体（3）；飞行器主体（3）内部设置有第一马达（4）和第二马达（5），第一马达（4）通过第一传动轴（42）连接到所述下螺旋桨（2）；第二马达（5）位于第一马达（4）的下方，通过第二传动轴（52）连接到上螺旋桨（2），第二传动轴（52）依次穿过第一马达（4）、第一传动轴（42）和下螺旋桨（2）后，连接到上螺旋桨（1）；第二传动轴（52）和第一传动轴（42）的轴心相同；上螺旋桨（1）和下螺旋桨（2）在各自马达的驱动下，旋转速度相同、旋转方向相反。该同轴双桨双马达飞行器具有结构简单、承载能力强的优点、风阻低的优点。

Description

一种同轴双桨双马达飞行器 技术领域
本发明涉及飞行器设计技术领域，特别涉及一种同轴双桨双马达飞行器。
发明背景
目前，同轴双桨飞行器可分为单马达驱动和双马达驱动两种类型，单马达飞行器的马达需要驱动两个螺旋桨，在驱动过程中，一般需借助齿轮或皮带等传动部件来改变马达的驱动方向，以使两个螺旋桨以相同转速朝相反方向旋转。单马达飞行器的缺点为：载重低，不适合另外搭载拍摄模块，一般在飞行器内建轻量化的拍摄模块，由于拍摄模块直接与飞行器绑定，因而不便于更换拍摄模块。
而双马达飞行器较单马达飞行器的承载能力强，双马达飞行器的马达布局方式包括垂直布局和水平布局两种，其中水平布局的双马达飞行器需要使用齿轮或皮带等传动部件驱动上下螺旋桨，水平布局的双马达飞行器的缺点是：需使用齿轮、皮带等传动部件带动螺旋桨，存在传动部件磨损老化的问题。
而垂直布局的双马达飞行器需要在螺旋桨外架设走线支撑架，借助走线支撑架才能实现马达与螺旋桨间的走线，垂直布局的双马达飞行器的缺点是：走线困难，需额外架设走线支撑架，导致飞行器的重量增加。
发明内容
鉴于上述问题，本发明提供一种同轴双桨双马达飞行器，以解决或部分地解决上述问题。
为达到上述目的，本发明的技术方案是这样实现的：
本发明提供了一种同轴双桨双马达飞行器，包括：上螺旋桨1、下螺旋桨2和飞行器主体3；上螺旋桨1和下螺旋桨2设置在飞行器主体3端部，且上螺旋桨1位于下螺旋桨2上方，飞行器主体3内部设置有第一马达4和第二马达5，
第一马达4通过第一传动轴42连接到所述下螺旋桨2；
第二马达5位于所述第一马达4的下方，通过第二传动轴52连接到所述上螺旋桨1，所述第二传动轴52依次穿过所述第一马达4、所述第一传动轴42和所述下螺旋桨2后，连接到所述上螺旋桨1；
第二传动轴52和第一传动轴42的轴心相同；
上螺旋桨1和下螺旋桨2在各自马达的驱动下，旋转速度相同、旋转方向相反。
优选地，第一马达4通过第一固定座41固定在飞行器主体3内，所述第二马达5通过第 二固定座51固定在飞行器主体3内。
优选地，第一马达4为外转子马达，第二马达5为内转子马达。
优选地，该同轴双桨双马达飞行器还包括构成飞行器主体3一部分的羽翼驱动装置6；
羽翼驱动装置6中部位置设置有伸出羽翼驱动装置6的环形羽翼7，环形羽翼7在羽翼驱动装置6驱动下可做水平方向的移动；
在环形羽翼7伸出羽翼驱动装置6外圆周各个方向的风阻面积相同时，飞行器保持当前飞行姿势；
在环形羽翼7向某一方向移动增大该方向伸出羽翼驱动装置6的风阻面积，而相对方向收入羽翼驱动装置6内减少该相对方向的风阻面积时，飞行器改变当前飞行姿势。
进一步优选地，羽翼驱动装置6包括：柱形磁环61、电磁马达62、上盖63和下盖64，环形羽翼7与柱形磁环61的外壁一体成型；
柱形磁环61环套在电磁马达62外周，二者高度相同且具有一定环间距；
电磁马达62固定在上盖63和下盖64之间，上盖63和下盖64之间预留有使环形羽翼7伸出的空隙，部分环形羽翼7通过上盖63和下盖64构成的空隙伸出到飞行器主体3外部；
在保持当前飞行姿势时，电磁马达62的磁场均匀分布并与柱形磁环61的极性相斥，且柱形磁环61的轴心与电磁马达62的轴心重合；
在改变当前飞行姿势时，改变电磁马达62的某一方向的工作电流使电磁马达62的磁场形态改变，柱形磁环61在电磁马达62磁场的作用下轴心发生偏移，驱动环形羽翼7水平方向移动。
进一步优选地，上盖63和下盖64具有相同的结构，都包括：位于中心位置的螺纹座65和位于螺纹座65周围的支撑柱66；
电磁马达62的两端具有与螺纹座65配合的螺纹头621，上盖63和下盖64通过电磁马达62两端的螺纹头621与螺纹座65配合实现锁附固定。
进一步优选地，飞行器主体3包括：机头31、机身32和机尾33，且机身32位于机头31与机尾33之间；
第一马达4和第二马达5均设置在机头31内部，羽翼驱动装置6设置在机头31和机身32之间；
或者，
第一马达4设置在机头31内部，第二马达5设置在机身32内部，羽翼驱动装置6设置在机身32和机尾33之间。
进一步优选地，机身32内设置有主控电路板321、电池322和第三固定座323；
主控电路板321和电池322通过第三固定座323设置在机身32内，电池322设置在第三固定座323的上侧，所述主控电路板321锁附在第三固定座323的下侧；
主控电路板321，用于控制飞行器的飞行；
电池322，用于为主控电路板321、第一马达4和第二马达5供电。
进一步优选地，机尾33内设置有测距传感器331和用于将测距传感器331固定到机尾33内的传感器固定座332；
测距传感器321通过柔性线路板连接到主控电路板321，用于测量飞行器的实时飞行高度，并将测量的飞行高度信息发送给主控电路板321；
主控电路板321，用于根据接收到的飞行高度信息控制第一马达4和第二马达5的转速。
优选地，该同轴双桨双马达飞行器还包括平衡杆8和支撑架9；
平衡杆8位于上螺旋桨1的前端，用于保持飞行器空中悬停时的稳定度；
支撑架9设置在机尾33的外部，用于搭载载具10。
本发明实施例的有益效果是：1、通过将第一马达和第二马达垂直分布在飞行器主体内，使第一马达通过其传动轴直接驱动下螺旋桨，使第二马达通过其传动轴直接驱动上螺旋桨，无需借助齿轮或皮带等传动件来改变驱动方向，从而能够简化组装零部件、避免传动件老化造成的耗损，节省生产成本；2、基于第一马达和第二马达在飞行器主体中的垂直分布特点，可在飞行器主体内部实现电路走线，无需额外设计外部支撑架走线，进一步简化组装零部件，缩小飞行器体积；3、本发明的飞行器整体上只由上下螺旋桨和流线型的飞行器主体构成，结构简单，能够降低飞行器自身重量，且流线型的飞行器主体、无尾翼设计能够降低风阻，由此降低对其搭载的拍摄模组的重量限制。
附图简要说明
图1为本发明提供的飞行器驱动上下螺旋桨的原理图；
图2为本发明实施例提供的飞行器的透视图；
图3为图2中飞行器的爆炸图；
图4为图2中飞行器的测距传感器示意图；
图5本发明实施例提供的具有羽翼驱动装置的飞行器的外观示意图；
图6为图5中飞行器的羽翼驱动装置爆炸图；
图7为图5中羽翼驱动装置的上盖结构示意图；
图8为图5中羽翼驱动装置剖面示意图；
图9a为图6中羽翼驱动装置的柱形磁环的轴心相对电磁马达向左偏移时，电磁马达磁场 形态示意图；
图9b为图6中羽翼驱动装置的柱形磁环的轴心相对电磁马达向左偏移时，电磁马达磁场形态示意图；
图10a为实施例提供的在柱形磁环与电磁马达轴心重合时，环形羽翼的风阻面积示意图；
图10b为实施例提供的在柱形磁环的轴心相对电磁马达向左偏移时，环形羽翼的风阻面积示意图；
图10c为实施例提供的在柱形磁环的轴心相对电磁马达向右偏移时，环形羽翼的风阻面积示意图；
图中：1、上螺旋桨；2、下螺旋桨；3、飞行器主体；31、机头；32机身；321、主控电路板；322、电池；323、第三固定座；33、机尾；331、测距传感器；332、传感器固定座；4、第一马达；41、第一固定座；42、第一传动轴；5、第二马达；51、第二固定座；52、第二传动轴；6、羽翼驱动装置；61、柱形磁环；62、电磁马达；621、螺纹头；63、上盖；64、下盖；65、螺纹座；66、支撑柱；7、环形羽翼；8、平衡杆；9、支撑架；10、载具。
具体实施方式
使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明实施方式作进一步地详细描述。
本发明的同轴双桨双马达飞行器的整体设计思想为：如图1所示，将飞行器第一马达和第二马达垂直分布，使第一马达通过其传动轴直接连接到下螺旋桨，使第二马达的传动轴依次穿过第一马达、外转子传动轴后直接连接到上螺旋桨；利用第二马达驱动上螺旋桨，外转子驱动上螺旋桨，使上下螺旋桨通过相同的转速、不同的转向抵消作用力，避免飞行器主体被带动旋转。
图2为本实施例提供的飞行器的透视图，图3为图2中飞行器的爆炸图。
如图2和图3共同所示，该飞行器包括：上螺旋桨1、下螺旋桨2和飞行器主体3；上螺旋桨1和下螺旋桨2设置在飞行器主体3的端部，且上螺旋桨1位于下螺旋桨2上方，飞行器主体3为流线型，内部设置有垂直分布的第一马达4和第二马达5，第一马达4通过第一固定座41固定在飞行器主体3内，第二马达5通过第二固定座51固定在飞行器主体3内；优选地第一马达4为外转子马达，第二马达5为内转子马达。
如图3所示，第一马达4通过第一传动轴42连接到下螺旋桨2；
第二马达5位于第一马达4的下方，第二马达5的第二传动轴52依次穿过第一固定座41、第一马达4、第二传动轴42和下螺旋桨2后，连接到上螺旋桨1；
其中，第二传动轴52和第一传动轴42的轴心相同，上螺旋桨1和下螺旋桨2在各自马达的驱动下，旋转速度相同、旋转方向相反。
本实施例的飞行器采用双马达双桨的设计，通过将第一马达和第二马达垂直分布在飞行器主体中，使第一马达通过其传动轴直接驱动下螺旋桨，使第二马达通过其传动轴直接驱动上螺旋桨，通过使上下螺旋桨以相同的转速、不同的转向旋转来抵消作用力，避免飞行器主体被带动旋转。相比于现有的双马达飞行器，本实施例的飞行器无需借助齿轮或皮带等传动件来改变驱动方向，因而能够简化组装零部件、避免部件老化造成的耗损，节省生产成本；而且，基于本实施例中的第一马达和第一马达在飞行器主体中的垂直分布特点，可在飞行器主体内部实现电路走线，无需额外设计外部支撑架走线，进一步简化构成部件，缩小飞行器体积。
本实施例的同轴双桨双马达飞行器较单马达飞行器的承载能力强，且对比现有双马达飞行器，本实施的同轴双桨双马达飞行器结构简单，能够降低飞行器自身重量，进而降低对其搭载的拍摄模组的重量限制；还通过设计流线型的机身降低风阻，提高飞行器的性能。
在本实施例的一个实现方案中，本发明利用羽翼改变风阻的原理，在飞行器主体中导入羽翼驱动装置，正常情况下羽翼伸出飞行器主体的部分各个方向的风阻面积相同，此时羽翼虽会造成风阻，但因风阻面积小且相等，飞行器向下推进力均匀，从而能够维持当前飞行姿势；当羽翼向某一方向运动，相对方向收入飞行器主体内，该方向伸出飞行器主体的风阻面积相对增大，造成飞行器向下推进力不均匀，进而改变机身角度，从而能够改变当前飞行姿势。
如图5至图8所示，该飞行器还包括构成飞行器主体3一部分的羽翼驱动装置6；
羽翼驱动装置6中部位置设置有伸出羽翼驱动装置6的环形羽翼7，环形羽翼7在羽翼驱动装置6驱动下可做水平方向的移动；
在环形羽翼7伸出羽翼驱动装置6外圆周各个方向的风阻面积相同时，飞行器保持当前飞行姿势；
在环形羽翼7向某一方向移动增大该方向伸出羽翼驱动装置6的风阻面积，而相对方向收入羽翼驱动装置6内减少该相对方向的风阻面积时，飞行器改变当前飞行姿势。
如图6所示，羽翼驱动装置6包括：柱形磁环61、电磁马达62、上盖63和下盖64，环形羽翼7与柱形磁环61的外壁一体成型；
柱形磁环61环套在电磁马达62外周，二者高度相同且具有一定环间距；
电磁马达62固定在上盖63和下盖64之间，上盖63和下盖64之间预留有使环形羽翼7伸出的空隙，部分环形羽翼7通过上盖63和下盖64构成的空隙伸出到飞行器主体3外部；
在保持当前飞行姿势时，电磁马达62的磁场均匀分布并与柱形磁环61的极性相斥，且柱形磁环61的轴心与电磁马达62的轴心重合；如图9a所示，电磁马达62处于正常工作时，电磁马达62外表面的磁性与柱形磁环61内表面的磁性相同，由于柱形磁环61和电磁马达62的磁场分布均匀，因而柱形磁环61受到的各个方向的排斥力相同，使得其轴心与电磁马达62的轴心重合。如图10a所示，在柱形磁环61与电磁马达62的轴心重合时，环形羽翼7伸出飞行器主体3的部分各个方向的风阻面积相同，飞行器向下推进力均匀，从而飞行器能够维持当前的飞行姿势。
在改变当前飞行姿势时，电磁马达62某一方向的工作电流使电磁马达62的磁场形态改变，柱形磁环61在电磁马达62磁场的作用下轴心发生偏移，驱动环形羽翼7水平方向移动。如图9b所示，若要驱动环形羽翼7向左移动，可以改变电磁马达62右侧的工作电流方向，使电磁马达62右侧的磁极改变，吸引柱形磁环3的轴心向左移动。如图10b所示，在柱形磁环61的轴心相对电磁马达62的轴心向左偏移时，环形羽翼7伸出飞行器主体3的左侧的风阻面积相对增大，飞行器产生向左的风阻，使飞行器的飞行器主体向左偏移，从而飞行器能够改变当前的飞行姿势。
当该飞行器的飞行器主体需要向右偏移时，可以改变电磁马达62左侧的工作电流方向，使电磁马达62左侧的磁极改变，吸引柱形磁环3的轴心向右移动。如图10c所示，在柱形磁环61的轴心相对电磁马达62的轴心向右偏移时，环形羽翼7伸出飞行器主体3的右侧的风阻面积相对增大，飞行器产生向右的风阻，使飞行器主体向右偏移。
其中，上盖63和下盖64具有相同的结构，如图7所示，上盖63和下盖64都包括：位于中心位置的螺纹座65和位于螺纹座65周围的支撑柱66；
如图6所示，电磁马达62的两端具有与螺纹座65配合的螺纹头621，上盖63和下盖64通过电磁马达62两端的螺纹头621与螺纹座65配合实现锁附固定，上盖63和下盖64的支撑柱66对柱形磁环61进行垂直方向的限定，避免柱形磁环61上下移动。
在本实施例的另一实现方案中，飞行器主体3包括：机头31、机身32、机尾33，且机身32位于机头31与机尾33之间。
本发明的羽翼驱动装置可以设置在机头和机身之间，也可以设置在机身和机尾之间。如图5所示，当第一马达4和第二马达5均设置在机头31内部时，羽翼驱动装置6优选地设置在机头31和机身32之间。由于技术上第二马达也可以设置在机身中，因而当第一马达4设置在机头31内部，第二马达5设置在机身32内部时，羽翼驱动装置6优选地设置在机身32和机尾33之间。
如图2和图3共同所示，机身32内设置有主控电路板321、电池322和第三固定座323；
主控电路板321和电池322通过第三固定座323设置在机身32内，电池322设置在第三固定座323的上侧，主控电路板321锁附在第三固定座323的下侧；
主控电路板321，用于控制飞行器的飞行；
电池322，用于为主控电路板321、第一马达4和第二马达5供电。
如图4所示，机尾33内设置有测距传感器331和用于将测距传感器331固定到机尾33内的传感器固定座332；
测距传感器331通过柔性线路板连接到主控电路板321，用于测量飞行器的实时飞行高度，并将测量的飞行高度信息发送给主控电路板321；
主控电路板321，用于根据接收到的飞行高度信息控制第一马达4和第二马达5的转速。
如图2和图3共同所示，本实施例的飞行器还包括平衡杆8和支撑架9，平衡杆8位于上螺旋桨1的前端，用于保持飞行器空中悬停时的稳定度；支撑架9设置在机尾33的外部后端，用于搭载载具10，载具10可以为手机、PAD等设备。
综上所述，本发明提供了一种同轴双桨双马达飞行器飞行器，该飞行器具有下述有益效果：
1、通过将第一马达和第二马达垂直分布在飞行器主体内，使第一马达通过其传动轴直接驱动下螺旋桨，使第二马达通过其传动轴直接驱动上螺旋桨，无需借助齿轮或皮带等传动件来改变驱动方向，从而能够简化组装零部件、避免传动件老化造成的耗损，节省生产成本；
2、基于第一马达和第二马达在飞行器主体中的垂直分布特点，可在飞行器主体内部实现电路走线，无需额外设计外部支撑架走线，进一步简化组装零部件，缩小飞行器体积；
3、本发明的飞行器整体上只由上下螺旋桨和流线型的飞行器主体构成，结构简单，能够降低飞行器自身重量，且流线型的飞行器主体、无尾翼设计能够降低风阻，由此降低对其搭载的拍摄模组的重量限制。
以上所述仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内所作的任何修改、等同替换、改进等，均包含在本发明的保护范围内。

Claims (10)

  1. 一种同轴双桨双马达飞行器，包括：上螺旋桨(1)、下螺旋桨(2)和飞行器主体(3)；所述上螺旋桨(1)和所述下螺旋桨(2)设置在所述飞行器主体(3)端部，且所述上螺旋桨(1)位于所述下螺旋桨(2)上方，所述飞行器主体(3)内部设置有第一马达(4)和第二马达(5)，其特征在于，
    所述第一马达(4)通过第一传动轴(42)连接到所述下螺旋桨(2)；
    所述第二马达(5)位于所述第一马达(4)的下方，通过第二传动轴(52)连接到所述上螺旋桨(1)，所述第二传动轴(52)依次穿过所述第一马达(4)、所述第一传动轴(42)和所述下螺旋桨(2)后，连接到所述上螺旋桨(1)；
    所述第二传动轴(52)和所述第一传动轴(42)的轴心相同；
    所述上螺旋桨(1)和所述下螺旋桨(2)在各自马达的驱动下，旋转速度相同、旋转方向相反。
  2. 根据权利要求1所述的同轴双桨双马达飞行器，其特征在于，所述第一马达(4)通过第一固定座(41)固定在飞行器主体(3)内，所述第二马达(5)通过第二固定座(51)固定在飞行器主体(3)内。
  3. 根据权利要求1所述的同轴双桨双马达飞行器，其特征在于，所述第一马达(4)为外转子马达，所述第二马达(5)为内转子马达。
  4. 根据权利要求1所述的同轴双桨双马达飞行器，其特征在于，所述同轴双桨双马达飞行器还包括构成所述飞行器主体(3)一部分的羽翼驱动装置(6)；
    所述羽翼驱动装置(6)中部位置设置有伸出所述羽翼驱动装置(6)的环形羽翼(7)，所述环形羽翼(7)在所述羽翼驱动装置(6)驱动下可做水平方向的移动；
    在所述环形羽翼(7)伸出所述羽翼驱动装置(6)外圆周各个方向的风阻面积相同时，所述飞行器保持当前飞行姿势；
    在所述环形羽翼(7)向某一方向移动增大该方向伸出所述羽翼驱动装置(6)的风阻面积，而相对方向收入所述羽翼驱动装置(6)内减少该相对方向的风阻面积时，所述飞行器改变当前飞行姿势。
  5. 根据权利要求4所述的同轴双桨双马达飞行器，其特征在于，所述羽翼驱动装置(6)包括：柱形磁环(61)、电磁马达(62)、上盖(63)和下盖(64)，所述环形羽翼(7)与所述柱形磁环(61)的外壁一体成型；
    所述柱形磁环(61)环套在所述电磁马达(62)外周，二者高度相同且具有一定环间距；
    所述电磁马达(62)固定在上盖(63)和下盖(64)之间，上盖(63)和下盖(64)之间预留有使环形羽翼(7)伸出的空隙，部分环形羽翼(7)通过上盖(63)和下盖(64)构成的空隙伸出到所述飞行器主体(3)外部；
    在保持当前飞行姿势时，所述电磁马达(62)的磁场均匀分布并与所述柱形磁环(61)的极性相斥，且所述柱形磁环(61)的轴心与所述电磁马达(62)的轴心重合；
    在改变当前飞行姿势时，改变所述电磁马达(62)的某一方向的工作电流使电磁马达(62)的磁场形态改变，所述柱形磁环(61)在所述电磁马达(62)磁场的作用下轴心发生偏移，驱动所述环形羽翼(7)水平方向移动。
  6. 根据权利要求5所述的同轴双桨双马达飞行器，其特征在于，所述上盖(63)和所述下盖(64)具有相同的结构，都包括：位于中心位置的螺纹座(65)和位于螺纹座(65)周围的支撑柱(66)；
    所述电磁马达(62)的两端具有与螺纹座(65)配合的螺纹头(621)，所述上盖(63)和所述下盖(64)通过电磁马达(62)两端的螺纹头(621)与螺纹座(65)配合实现锁附固定。
  7. 根据权利要求4所述的同轴双桨双马达飞行器，其特征在于，所述飞行器主体(3)包括：机头(31)、机身(32)和机尾(33)，且所述机身(32)位于所述机头(31)与所述机尾(33)之间；
    所述第一马达(4)和所述第二马达(5)均设置在所述机头(31)内部，所述羽翼驱动装置(6)设置在所述机头(31)和机身(32)之间；
    或者，
    所述第一马达(4)设置在所述机头(31)内部，所述第二马达(5)设置在所述机身(32)内部，所述羽翼驱动装置(6)设置在所述机身(32)和机尾(33)之间。
  8. 根据权利要求7所述的同轴双桨双马达飞行器，其特征在于，所述机身(32)内设置有主控电路板(321)、电池(322)和第三固定座(323)；
    所述主控电路板(321)和所述电池(322)通过第三固定座(323)设置在所述机身(32)内，所述电池(322)设置在所述第三固定座(323)的上侧，所述主控电路板(321)锁附在所述第三固定座(323)的下侧；
    所述主控电路板(321)，用于控制所述飞行器的飞行；
    所述电池(322)，用于为主控电路板(321)、第一马达(4)和第二马达(5)供电。
  9. 根据权利要求8所述的同轴双桨双马达飞行器，其特征在于，所述机尾(33)内设置有测距传感器(331)和用于将测距传感器(331)固定到机尾(33)内的传感器固定座(332)；
    所述测距传感器(331)连接到所述主控电路板(321)，用于测量所述飞行器的实时飞行高度，并将测量的飞行高度信息发送给所述主控电路板(321)；
    所述主控电路板(321)，用于根据接收到的飞行高度信息控制所述第一马达(4)和所述第二马达(5)的转速。
  10. 根据权利要求7所述的同轴双桨双马达飞行器，其特征在于，所述同轴双桨双马达飞行器还包括平衡杆(8)和支撑架(9)；
    所述平衡杆(8)位于所述上螺旋桨(1)的前端，用于保持所述飞行器空中悬停时的稳定度；
    所述支撑架(9)设置在所述机尾(33)的外部，用于搭载载具(10)。
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