WO2020015257A1 - 一种动力装置和无人飞行器 - Google Patents

一种动力装置和无人飞行器 Download PDF

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Publication number
WO2020015257A1
WO2020015257A1 PCT/CN2018/114691 CN2018114691W WO2020015257A1 WO 2020015257 A1 WO2020015257 A1 WO 2020015257A1 CN 2018114691 W CN2018114691 W CN 2018114691W WO 2020015257 A1 WO2020015257 A1 WO 2020015257A1
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WO
WIPO (PCT)
Prior art keywords
motor
motor shaft
propeller
power plant
side wall
Prior art date
Application number
PCT/CN2018/114691
Other languages
English (en)
French (fr)
Inventor
罗东东
张海浪
孙维
Original Assignee
深圳市道通智能航空技术有限公司
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Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2020015257A1 publication Critical patent/WO2020015257A1/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
    • B64C27/12—Rotor drives
    • B64C27/14—Direct drive between power plant and rotor hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/40—Arrangements for mounting power plants in aircraft

Definitions

  • the embodiments of the present application relate to the technical field of unmanned aerial vehicles, and in particular, to a power device and an unmanned aerial vehicle using the power device.
  • Unmanned aerial vehicle is a kind of unmanned aerial vehicle that controls flight attitude through radio remote control equipment and built-in programs. It has been widely used in military and civilian fields. Unmanned aerial vehicles generally have a propeller mounted on a motor to form a power unit. The rotation of the motor rotor drives the rotation of the propeller, and the rotation of the propeller provides the ascending or advancing power for the unmanned aerial vehicle.
  • the inventor found that the current power unit of the unmanned aerial vehicle has poor waterproof performance. When working in rainy days, rainwater easily enters the inside of the motor and affects the performance of the motor.
  • the purpose of the embodiments of the present application is to provide a power device and an unmanned aerial vehicle with good waterproof performance.
  • a technical solution adopted in the present application is: a power device including a motor and a propeller mounted on the motor, the propeller includes a hub, and at least two propellers connected to the hub leaf;
  • the motor includes a stator assembly and a rotor assembly rotatable with respect to the stator assembly, wherein the rotor assembly includes a motor shaft, a casing sleeved on the motor shaft and rotatable with the motor shaft, and A magnet on the inner side wall of the housing;
  • the stator assembly includes a stator base sleeved on the motor shaft, an iron core sleeved on the stator base, and a coil wound on the iron core, and the iron core and the coil are housed in The casing is disposed at a distance from the magnet;
  • the housing includes an opening, and the hub covers the opening.
  • a projection of the opening on a plane perpendicular to the motor shaft is located within a projection of the hub on a plane perpendicular to the motor shaft.
  • the propeller is further provided with a paddle cap that is covered on the hub and connected to the upper end of the hub, and the upper end of the motor shaft is inserted and fixed to the hub. And a cavity formed with the paddle cap.
  • a maximum outer diameter of the hub is larger than a diameter of the opening portion.
  • the paddle cap and the hub are detachably connected or formed into a single body.
  • the housing is disposed on the stator base and shields the iron core and the coil, and a projection of the stator base on a plane perpendicular to the motor shaft is located on the housing in a vertical direction. Within the projection on the plane of the motor shaft.
  • the housing includes a motor head cover having a cylindrical portion connected to the cylindrical portion, and the cylindrical portion and the motor head cover are fixedly connected to form a cover provided on the stator assembly.
  • the opening is provided on the motor head cover.
  • a maximum outer diameter of the housing is greater than a maximum outer diameter of the stator base.
  • the housing has a first inner diameter and a second inner diameter larger than the first inner diameter, and the second inner diameter is larger than a maximum outer diameter of the stator base.
  • the inner side wall of the housing includes a first inner side wall having a first inner diameter, a step wall bent and extending from the first inner side wall in a direction away from the motor shaft, and from the step wall A second inner side wall that is bent and extends and has the second inner diameter;
  • the stator base includes an outer side wall, the outer side wall has a maximum outer diameter of the stator base, and the outer side wall is at least partially received in the second inner side wall.
  • a gap is provided between the step wall and an upper end surface of the outer sidewall facing the step wall.
  • the motor further includes a radiating fan blade housed in the housing, and the radiating fan blade is sleeved on the motor shaft and located above the iron core and the coil.
  • the housing is provided with at least one through-water tank extending in an axial direction of the motor shaft.
  • a water hole is provided on the motor shaft.
  • the motor is detachably connected to the propeller
  • the power unit further includes a mounting bracket
  • the mounting bracket is fixed on the motor head cover
  • at least two cards are provided on the propeller hub.
  • Buckle the mounting bracket is provided with at least two locking grooves that cooperate with the buckle, and through the cooperation of the at least two locking buckles and the at least two locking grooves, the propeller is rotated and locked to the Motor.
  • a waterproof material is disposed between the mounting bracket and the motor head cover.
  • an unmanned aerial vehicle the unmanned aerial vehicle includes a fuselage, an arm connected to the fuselage, and an arm provided on the arm. Power unit.
  • the beneficial effect of the embodiments of the present application is that, unlike the case of the prior art, the magnets in the rotor assembly and the iron cores and coils in the stator assembly are housed in a casing, and the propeller hub covers the casing.
  • the opening can prevent rain or dust from entering the motor, and has good waterproof and dustproof performance.
  • FIG. 1 is a schematic perspective structural diagram of an embodiment of an unmanned aerial vehicle of the present application
  • FIG. 2 is a schematic perspective structural view of an embodiment of a power unit in an unmanned aerial vehicle
  • FIG. 3 is an exploded view of a propeller in an embodiment of a power plant according to the present application.
  • FIG. 4 is a structural exploded view of an embodiment of a power plant of the present application.
  • FIG. 5 is a schematic perspective structural view of a mounting bracket in an embodiment of a power device of the present application.
  • FIG. 6 is a schematic perspective structural diagram of a propeller in an embodiment of the power plant of the present application.
  • FIG. 7 is a schematic perspective structural diagram of a button in an embodiment of a power device of the present application.
  • FIG. 8 is a schematic perspective structural diagram of a motor head cover in an embodiment of the motor of the present application.
  • FIG. 9 is an exploded view of the structure of the motor in one embodiment of the power plant of the present application.
  • FIG. 10 is an exploded view of a stator assembly in an embodiment of a power plant according to the present application.
  • FIG. 11 is a longitudinal sectional view of a motor in an embodiment of a power plant of the present application.
  • FIG. 12 is a cross-sectional view of a motor in an embodiment of a power plant of the present application.
  • FIG. 13 is a schematic diagram of a three-dimensional structure of a cylinder and a magnet in an embodiment of a power device of the present application;
  • FIG. 14 is a longitudinal sectional view of a motor in an embodiment of the power plant of the present application.
  • the power device provided in the embodiment of the present application is a power device with waterproof and dustproof functions, and is suitable for various movable objects driven by a motor, including but not limited to unmanned aerial vehicles (UAVs), ships ,robot.
  • UAVs unmanned aerial vehicles
  • an unmanned aerial vehicle is taken as an example for description. Applying the power device provided in the embodiment of the present application to an unmanned aerial vehicle can make the unmanned aerial vehicle have a certain waterproof and dustproof effect.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle provided by one embodiment of the present application.
  • the structure of the UAV 1000 includes a fuselage 200, four arms 300 extending from the fuselage 200, and a power unit 100 installed on each of the arms 300, respectively.
  • the unmanned aerial vehicle 1000 in the present application is a quadrotor unmanned aerial vehicle, and the number of the power units 100 is four.
  • the unmanned aerial vehicle 1000 may be any other suitable type of rotary wing unmanned aerial vehicle, such as a double-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, and the like.
  • the power unit 100 is applied to other types of unmanned aerial vehicles, the number of the power units 100 may be changed according to actual needs, which is not limited in the embodiment of the present application.
  • the unmanned aerial vehicle 1000 may further include a gimbal (not shown), which is installed at the bottom of the fuselage 200.
  • the gimbal is used to carry a high-definition digital camera or other camera device to eliminate high-definition digital Disturbances on the camera or other camera devices ensure the clarity and stability of the video captured by the camera or other camera devices.
  • the arm 300 is fixedly connected to the body 200.
  • the arm 300 is integrally formed with the body 200.
  • the arm 300 may also be connected to the body 200 in a manner of being unfolded or folded relative to the body 200.
  • the arm 300 may be connected to the body 200 through a rotating shaft mechanism, so that the arm 300 may be unfolded or folded relative to the body 200.
  • the power unit 100 includes a motor 20 and a propeller 10 driven by the motor 20.
  • the propeller 10 is mounted on an output shaft of the motor 20.
  • the propeller 10 is driven by the motor 20 to generate an unmanned aerial vehicle. 1000 flying lifts or thrusts.
  • the motor 20 may be any suitable type of motor, such as a brushed motor, a brushless motor, a DC motor, a stepper motor, an AC induction motor, and the like.
  • the power unit 100 of the present application further includes an electronic governor (not shown) disposed in a cavity formed by the fuselage 200 or the arm 300, and the electronic governor is used to generate an electronic governor according to an accelerator controller or an accelerator generator.
  • the throttle signal generates a motor control signal for controlling the rotation speed of the motor to obtain a flying speed or a flying attitude required by the unmanned aerial vehicle.
  • the throttle controller or the throttle generator may be a flight control module of an unmanned aerial vehicle.
  • the flight control module senses the environment around the UAV through various sensors and controls the flight of the UAV.
  • the flight control module may be a processing module (Application Unit), an Application Specific Integrated Circuit (ASIC), or a Field Programmable Gate Array (FPGA).
  • the UAV's flight control module sends a throttle signal to the electric control board.
  • the electric control board receives the throttle signal, generates and sends the signal to the motor for The motor performs motor control signals such as starting and controlling the rotation speed of the motor.
  • the power unit 100 includes a motor 20 and a propeller 10 mounted on the motor 20.
  • the propeller 10 includes a propeller hub 11 and at least two propeller blades 12 fixed on the propeller hub 11 (two propeller blades are taken as an example in the figure).
  • the propeller hub 11 is an integrated structure, which is composed of a cap body located on the upper part and a side wall provided below the cap body for connecting the blades 12.
  • the propeller 10 further includes a propeller cap 13, which is disposed on the propeller hub 11.
  • the spinner dome 13 and the hub 11 may be an integrated structure or a split structure, and the spinner dome 13 is covered on the hub 11 by a snap connection (see FIG. 3).
  • the propeller hub 11 and the propeller blade 12 may be integrated structures, obtained by integral injection molding, or may be a separate structure, which is integrated by installation. When the separate mounting combined structure is adopted, the propeller blade 12 may be folded and gathered.
  • the motor 20 includes a stator assembly 22 and a rotor assembly 21 rotatable relative to the stator assembly 22.
  • the rotor assembly 21 includes a motor shaft 212, a casing 211 sleeved on the motor shaft 212, and a plurality of magnets 213 connected to the casing 211.
  • the casing 211 is sleeved on the motor shaft 212 and can rotate with the motor shaft 212.
  • the casing 211 further includes a cylindrical portion 2112 and a head cover 2111 connected to the cylindrical portion 2112.
  • the plurality of magnets 213 are disposed on a surface of the cylindrical portion 2112 facing the stator assembly 22 with a gap between the stator assembly 22 and the stator assembly 22.
  • the magnets 213 are disposed on the cylindrical portion 2112.
  • the plurality of magnets 213 can be adhered to the inner side wall of the cylindrical portion 2112 with one surface side thereof by glue.
  • a plurality of bayonets may be provided on the head cover 2111.
  • each magnet 213 is caught in the bayonet, and one side of the surface of the magnet 213 is fixed to the inner side wall of the cylindrical portion 2112 by glue. on.
  • the head cover 2111 can support the cylindrical portion 2112, so that the motor shaft 212 always coincides with the central axis of the cylindrical portion 2112, and avoids that the motor shaft 212 deviates from the central axis position of the cylindrical portion 2112 under the magnetic force of the magnet 213.
  • the cylindrical portion 2112 When the magnet 213 rotates due to the magnetic force, the cylindrical portion 2112 will be driven to rotate, thereby driving the motor head cover 2111 and the motor shaft 212 to rotate, thereby driving the propeller 10 to rotate.
  • the cylindrical portion 2112 and the illustrated head cover 2111 are separated structures shown in FIG. 11, and the cylindrical portion 2112 may be connected to the head cover 2111 by means of a snap connection, or fixed by adhesive, It is connected to the head cover 2111 by welding or other methods. In other possible embodiments, the cylindrical portion 2112 and the head cover 2111 may be integrally formed.
  • the head cover 2111 includes a head cover main body portion 2113 and an opening portion 2114.
  • the head cover 2111 is used to connect with the propeller 10.
  • the motor 20 and the propeller 10 may be fixedly connected or detachably connected. Due to the establishment of the opening portion 2114, the motor 20 and the propeller 10 can be quickly disassembled and assembled by means of snap-fitting and snap-fitting.
  • the maximum outer diameter of the propeller hub 11 of the propeller 10 is larger than the diameter of the opening 2114.
  • the projection of the opening portion 2114 on a plane perpendicular to the motor shaft 212 is located on the propeller hub 11 perpendicular to the motor shaft 212 In the projection on the plane, the opening 2114 is covered by the hub 11. This can prevent rainwater or dust from entering through the opening 2114 and ensure the waterproof and dustproof performance of the motor 20.
  • the upper end of the motor shaft 212 is fixed to the motor head cover 2111.
  • the center of the motor head cover 2111 is provided with a through hole 2119, and the motor shaft 212 is directly clamped in the through hole 2119. It is firm. In other embodiments, glue can be used to reinforce the joint between the motor shaft 212 and the through hole 2119.
  • the upper end of the motor shaft 212 is inserted through the through hole 2119 of the motor head cover 2111 and fixed in a cavity composed of the hub 11 and the prop 13.
  • an inner hole 112 is also provided on the hub 11, and the upper end of the motor shaft 212 is snapped into the inner hole 112 of the hub 11.
  • the power unit 100 further includes a mounting frame 30.
  • the mounting bracket 30 is provided with at least two clamping slots 31 (refer to FIG. 5), and the mounting bracket 30 is fixed on the motor head cover 2111.
  • the side of the hub 11 facing the motor 20 is provided with at least two buckles 111 (refer to FIGS. 4 and 6) that cooperate with the buckle grooves 31.
  • the motor can be realized by snapping the buckle 111 into the buckle groove 31.
  • the power unit 100 may not include the mounting bracket 30, and the card slot is directly disposed on the motor head cover 2111.
  • an elastic object 50 that resists the propeller 10 may also be provided.
  • align the buckle 111 with the buckle hole 32 (refer to FIG. 5)
  • press the propeller 10 to extend the buckle 111 into the buckle hole 32 and then rotate the propeller 10 to lock the buckle 111 into the groove 31.
  • disassembling first press the propeller 10, and then rotate the propeller 10 to disengage the latch 111 from the slot 31.
  • the elastic object 50 can make the propeller 10 move more easily in the vertical direction relative to the mounting frame 30, that is, it is easier to perform the operation of pressing the propeller 10, and thus it is easier to disassemble the motor 20 and the propeller 10.
  • the elastic body 50 is, for example, a spring or a rubber member.
  • the mounting bracket 30 may be fixed on the motor head cover 2111 by glue.
  • the mounting bracket 30 can be locked and fixed on the motor head cover 2111 by a button 40.
  • the button 40 can limit the movement of the mounting bracket 30 relative to the motor head cover 2111 in the horizontal direction, and the compression of the propeller 10 can limit the movement of the mounting bracket 30 in the vertical direction.
  • the button 40 may adopt a structure shown in FIG. 7, for example, including a button base 41 and a boss 42.
  • the motor head cover 2111 is provided with a groove 2118 (see FIG. 8) that matches the shape of the button base 41.
  • the button base 41 is located in the groove 2118, so that the button 40 cannot be horizontally caught in the groove 2118.
  • the upper is moved relative to the motor head cover 2111.
  • the mounting bracket 30 is provided with a first groove 33 and a second groove 34 adapted to the shape of the button 40.
  • the button base 41 is caught in the first groove 33, and the boss 42 passes through the first
  • the groove 33 is caught in the second groove 34. Since the button 40 is caught in the first groove 33 and the second groove 34 of the mounting bracket 30, the mounting bracket 30 cannot move in a horizontal direction relative to the motor head cover 2111.
  • the first groove The step formed by 33 and the second groove 34 can block the button base 41 from moving upward.
  • a waterproof material body may be disposed between the mounting bracket 30 and the motor head cover 2111 to prevent rainwater from leaking into the motor 20 through the mounting bracket 30.
  • the waterproof material body is, for example, a sealant, a seal ring, a waterproof film, and the like.
  • the stator assembly 22 includes a stator base 221 sleeved on the motor shaft 212, an iron core 222 sleeved on the stator base 221, and a coil 2221 wound on the iron core 222.
  • the iron core 222 and The coil 2221 is housed in the casing 211 and is disposed at a distance from the magnet 213.
  • the iron core 222, the coil 2221, and the magnet 213 are oppositely disposed with a certain gap left between them. When the magnetic force is applied, the rotor assembly 21 can rotate relative to the stator assembly 22.
  • the iron core 222 includes a plurality of teeth, each tooth is in a ladder shape, and is gradually increased from the inner diameter to the outer diameter direction of the iron core 222 to facilitate winding the coil 2221.
  • the iron core 222 may be formed by stacking a plurality of silicon (silicon) steel sheets.
  • the outer surface of the iron core 222 may further be provided with an insulating portion, and the insulating portion has a configuration corresponding to the iron core 222.
  • the insulating portion is a plastic sleeve that is sleeved on the outside of the iron core 222 and has an insulation function.
  • the insulating portion may also be an insulating coating applied on the surface of the iron core 222.
  • the stator base 221 further includes a base 2211 and a bearing sleeve 2212 extending upward from the center of the base 2211.
  • An iron core 222 is provided on the base 2211 through the bearing sleeve 2212, and a motor shaft 212 is provided in the bearing sleeve 2212.
  • At least one bearing 223 is fixedly provided in the bearing sleeve 2212. In this embodiment, two bearings 223 are provided in the bearing sleeve 2212, which are fixed to the upper and lower portions of the bearing sleeve 2212, respectively.
  • the connection between the motor 20 and the unmanned aerial vehicle 1000 can be achieved by fixing the stator base 221 on the arm 300 of the unmanned aerial vehicle 1000.
  • the stator base 221 has no hollow structures such as heat dissipation holes and heat sinks for heat dissipation, which further enhances the waterproof and dustproof performance of the motor 20.
  • the stator base 221 may also be provided with a hollow hole for heat dissipation.
  • a sealant or a seal ring may be provided at the joint of the stator base 221 and the arm 300.
  • the housing 211 of the rotor assembly 21 is covered on the stator base 221 by its cylindrical portion 2112 and shields the iron core 222 and the coil 2221, and the projection of the stator base 221 on a plane perpendicular to the motor shaft 212 is located on the housing 211 perpendicular to the motor shaft 212 in the projection on the plane.
  • the maximum outer diameter of the stator base 221 is smaller than the maximum outer diameter of the housing 211, and the stator base 221 is completely located in the area enclosed by the housing 211 without any part protruding out of the housing 211 outside.
  • the base 2211 of the stator base 221 includes a bottom wall 2214 and an outer side wall 2213 extending from an outer edge of the bottom wall 2214.
  • the outer side wall 2213 has the maximum outer diameter of the stator base 221.
  • the stator base 221 may be all located in the cylindrical portion 2112, that is, the outer side wall 2213 of the stator base 221 may be completely covered by the cylindrical portion 2112.
  • the inner diameter of the cylindrical portion 2112 of the rotor assembly 21 is set to be larger than that of the outer side wall 2213 of the stator base 221 of the stator assembly 22
  • the outer diameter is such that there is a gap between the rotor assembly 21 and the stator assembly 22 so as not to contact each other.
  • only the portion of the tubular portion 2112 near the outer side wall 2213 may be set to have a gap with the outer side wall 2213 and not contact each other.
  • a portion of the tubular portion 2112 near the outer side wall 2213, that is, a lower end of the tubular portion 2112 is disposed vertically above the outer side wall 2213 of the base 2211.
  • a gap h is left between the end surfaces, and a gap d is left between the horizontal direction and the surface of the outer side wall 2213 of the base 2211, so that the cylindrical portion 2112 is guaranteed without the size of the cylindrical portion 2112 being too large.
  • d can take a value of 0.1mm or more
  • h can take a value of 0.2mm or more.
  • the cylindrical portion 2112 has a first inner diameter at an end remote from the stator base 221, a second inner diameter larger than the first inner diameter at an end close to the stator base 221, and the second inner diameter is larger than the stator base
  • the maximum outer diameter of 221, that is, the second inner diameter is larger than the diameter of the outer side wall 2213 of the stator base 221.
  • the difference between the second inner diameter of the cylindrical portion 2112 and the diameter of the outer side wall 2213 is the size of the gap d.
  • the inner side wall of the tubular portion 2112 includes a first inner side wall 2115 having the first inner diameter, and a step wall 2116 bent and extended from the first inner side wall 2115 in a direction away from the motor shaft 212.
  • An outer side wall 2213 of the stator base 221 is at least partially received in the second inner side wall 2117 shown.
  • the above-mentioned gap h is provided between the step wall 2116 and an upper end surface of the outer side wall 2213 facing the step wall 2116. Therefore, it is ensured that there is a gap between the cylindrical portion 2112 and the stator base 221, and they are not in contact with each other.
  • the housing 211 may also be processed with at least one water tank 2110 extending axially along the motor shaft 212, so that the rainwater entering the motor 20 can flow out through the water tank 2110.
  • the motor shaft 212 may also be provided with a water hole (not shown in the figure), for example, it is provided at the center position of the motor shaft 212 to further provide a channel for rainwater to flow out and increase waterproof performance.
  • a heat dissipation fan blade may also be provided in the motor 20.
  • the cooling fan blades can be accommodated in the housing 211, for example, disposed in a space above the iron core 222 and the coil 2221.
  • the cooling fan blade is fixed on the casing 211.
  • the cooling fan blade can rotate with the casing 211 to dissipate heat for the motor 20.
  • the cooling fan blades can be sleeved on the motor shaft 212. When the motor shaft 212 rotates, the cooling fan blades can rotate with the motor shaft 212.
  • an extension base 2215 extending downward can be provided below the base 2211, and a cooling fan blade can be located in an internal space of the extension base 2215, and the motor 20 is fixed to the extension base 2215 by On the arm of the UAV 1000.
  • the lower end of the motor shaft 212 protrudes from the bearing sleeve 2212, and the cooling fan blade is fixed at the lower end of the motor shaft 212.
  • the cooling fan blade can rotate with the motor shaft 212 to dissipate heat to the motor 20.
  • the magnets in the rotor assembly and the iron core and coils in the stator assembly are housed in a casing, and the propeller hub covers the opening of the casing, which can prevent rain or dust from entering the interior of the motor, and is waterproof and dustproof. Good performance. Further, applying the power device provided in the embodiment of the present application to an unmanned aerial vehicle can improve the waterproof and dustproof performance of the unmanned aerial vehicle.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Motor Or Generator Frames (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

一种动力装置(100)和无人飞行器(1000)，所述动力装置(100)包括电机(20)和安装于所述电机(20)上的螺旋桨(10)，所述螺旋桨(10)包括桨毂(11)、与所述桨毂(11)相连的至少两个桨叶(12)；所述电机(20)包括定子组件(22)和可相对于所述定子组件(22)旋转的转子组件(21)，其中，所述转子组件(21)包括电机轴(212)、套设于所述电机轴(212)上且可随所述电机轴(212)旋转的外壳(211)、以及设置在所述外壳(211)内侧壁的磁体(213)；所述定子组件(22)包括套设于所述电机轴(212)上的定子座(221)、套设于所述定子座(221)上的铁芯(222)和绕制在所述铁芯(222)上的线圈(2221)，所述铁芯(222)和所述线圈(2221)收容于所述外壳(211)且与所述磁体(213)相对间隔设置；其中，所述外壳(211)包括开口部(2114)，所述桨毂(11)覆盖所述开口部(2114)；从而可以避免雨水或灰尘进入电机内部，防水、防尘性能好。

Description

一种动力装置和无人飞行器
本申请要求于2018年7月19日提交中国专利局、申请号为2018107978780、申请名称为“一种动力装置和无人飞行器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及无人飞行器技术领域，特别是涉及一种动力装置和应用该动力装置的无人飞行器。
背景技术
无人飞行器是一种通过无线电遥控设备和内置的程序来控制飞行姿态的不载人飞行器，现已广泛应用在军事及民用领域。无人飞行器一般将螺旋桨搭载在电机上组成动力装置，通过电机转子的转动带动螺旋桨的转动，通过螺旋桨的旋转为无人飞行器提供上升或者前进的动力。
在实现本申请的过程中，发明人发现：目前无人飞行器的动力装置，防水性能较差，在雨天工作时，雨水容易进入电机内部影响电机的性能。
发明内容
本申请实施例的目的是提供一种防水性能好的动力装置和无人飞行器。
为解决上述技术问题，本申请采用的一个技术方案是：一种动力装置，包括电机和安装于所述电机上的螺旋桨，所述螺旋桨包括桨毂、与所述桨毂相连的至少两个桨叶；
所述电机包括定子组件和可相对于所述定子组件旋转的转子组件，其中，所述转子组件包括电机轴、套设于所述电机轴上且可随所述电机轴旋转的外壳、以及设置在所述外壳内侧壁的磁体；
所述定子组件包括套设于所述电机轴上的定子座、套设于所述定子座上 的铁芯和绕制在所述铁芯上的线圈，所述铁芯和所述线圈收容于所述外壳且与所述磁体相对间隔设置；
其中，所述外壳包括开口部，所述桨毂覆盖所述开口部。
在一些实施例中，所述开口部在垂直于所述电机轴的平面上的投影位于所述桨毂在垂直于所述电机轴的平面上的投影内。
在一些实施例中，所述螺旋桨上还设置有盖设于所述桨毂上并与所述桨毂的上端部相连的桨帽，所述电机轴的上端插设并固定在所述桨毂与所述桨帽组成的空腔内。
在一些实施例中，所述桨毂的最大外径大于所述开口部的直径。
在一些实施例中，所述桨帽和所述桨毂可拆卸连接或成型为一体。
在一些实施例中，所述外壳罩设于所述定子座并遮蔽所述铁芯和所述线圈，且所述定子座在垂直于所述电机轴的平面上的投影位于所述外壳在垂直于所述电机轴的平面上的投影内。
在一些实施例中，所述外壳包括筒状部与所述筒状部相连的电机头盖，所述筒状部与所述电机头盖固定连接组成一罩设于所述定子组件上的罩体，所述开口部设置于所述电机头盖上。
在一些实施例中，所述外壳的最大外径大于所述定子座的最大外径。
在一些实施例中，所述外壳具有第一内径和大于所述第一内径的第二内径，所述第二内径大于所述定子座的最大外径。
在一些实施例中，所述外壳的内侧壁包括具有第一内径的第一内侧壁、自所述第一内侧壁向远离所述电机轴的方向弯折延伸的台阶壁以及自所述台阶壁弯折延伸且具有所述第二内径的第二内侧壁；
所述定子座包括一外侧壁，所述外侧壁具有所述定子座的最大外径，所述外侧壁至少有部分收容于所述第二内侧壁内。
在一些实施例中，所述台阶壁与所述外侧壁的朝向所述台阶壁的上端面之间设有间隙。
在一些实施例中，所述电机还包括收容于所述外壳的散热扇叶，所述散热扇叶套设于所述电机轴，且位于所述铁芯和所述线圈上方。
在一些实施例中，所述外壳上设置有至少一个沿所述电机轴的轴向方向延伸的过水槽。
在一些实施例中，所述电机轴上设置有过水孔。
在一些实施例中，所述电机与所述螺旋桨可拆卸连接，所述动力装置还包括安装架，所述安装架固定于所述电机头盖上，所述桨毂上设置有至少两个卡扣，所述安装架上设置有至少两个与所述卡扣配合的卡槽，通过所述至少两个卡扣和所述至少两个卡槽的配合，所述螺旋桨旋转卡接至所述电机。
在一些实施例中，所述安装架与所述电机头盖之间设置有防水材料。
为解决上述技术问题，本申请采用的另一个技术方案是：一种无人飞行器，所述无人飞行器包括机身、与所述机身相连的机臂以及设置在所述机臂上、上述的动力装置。
本申请实施例的有益效果是：区别于现有技术的情况，本申请实施例转子组件中的磁铁以及定子组件中的铁芯和线圈均收容于外壳内，且螺旋桨的桨毂覆盖所述外壳的开口部，可以避免雨水或灰尘进入电机内部，防水、防尘性能好。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本申请无人飞行器的一个实施例的立体结构示意图；
图2是无人飞行器中动力装置的一个实施例的的立体结构示意图；
图3是本申请动力装置的一个实施例中螺旋桨的结构分解图；
图4是本申请动力装置的一个实施例的结构分解图；
图5是本申请动力装置的一个实施例中安装架的立体结构示意图；
图6是本申请动力装置的一个实施例中螺旋桨的立体结构示意图；
图7是本申请动力装置的一个实施例中按钮的立体结构示意图；
图8是本申请电机的一个实施例中电机头盖的立体结构示意图；
图9是本申请动力装置的一个实施例中电机的结构分解图；
图10是本申请动力装置的一个实施例中定子组件的结构分解图；
图11是本申请动力装置的一个实施例中电机的纵向剖视图；
图12是本申请动力装置的一个实施例中电机的横向剖视图；
图13是本申请动力装置的一个实施例中筒体和磁体的立体结构示意图；
图14是本申请动力装置的一个实施例中电机的纵向剖视图。
具体实施方式
为了便于理解本申请，下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
此外，下面所描述的本申请不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
本申请实施例提供的动力装置是一种具有防水、防尘功能的动力装置，适用于各种由电机驱动的可移动物体上，包括但不限于无人飞行器(unmanned aerial vehicle，UAV)，轮船，机器人。在本申请实施例中，以无人飞行器为例进行说明。把本申请实施例提供的动力装置应用于无人飞行器，能够使无人飞行器具有一定的防水、防尘效果。
请参照图1，为本申请其中一个实施例提供的一种无人飞行器的结构示意 图。该无人飞行器1000的结构包括机身200、四个自机身200延伸的机臂300以及分别装设在每个机臂300上的动力装置100。即，本申请的无人飞行器1000为四旋翼无人飞行器，动力装置100的数量为四个。在其他可能的实施例中，无人飞行器1000可以是其他任何合适类型的旋翼无人飞行器，例如双旋翼无人飞行器、六旋翼无人飞行器等。在动力装置100应用于其他类型无人飞行器的场合，动力装置100的数量可以根据实际需要改变，本申请实施例对此不作限定。
在其他可能的实施例中，无人飞行器1000还可以包括云台(图未示)，该云台安装于机身200的底部，云台用于搭载高清数码相机或其他摄像装置以消除高清数码相机或其他摄像装置受到的扰动，保证相机或其他摄像装置拍摄的视频的清晰稳定。
在本申请的一实施例中，机臂300与机身200固定连接，优选地，机臂300与机身200一体成型。在其他可能的实施例中，机臂300还可以可相对于机身200展开或折叠的方式与机身200相连。例如，机臂300可以通过一转轴机构与机身200相连，以实现机臂300可相对于机身200展开或折叠。
在本申请一实施例中，动力装置100包括电机20和由电机20驱动的螺旋桨10，螺旋桨10装设于电机20的输出轴上，螺旋桨10在电机20的驱动下旋转以产生使无人飞行器1000飞行的升力或推力。电机20可以是任何合适类型的电机，例如有刷电机、无刷电机、直流电机、步进电机、交流感应电机等。本申请的动力装置100还包括设置在机身200或机臂300所形成的空腔内的电子调速器(未图示)，该电子调速器用于根据油门控制器或油门发生器产生的油门信号生成用于控制电机转速的电机控制信号以获取无人飞行器需要的飞行速度或飞行姿态。
在一种实现方式中，油门控制器或油门发生器可以是无人飞行器的飞行控制模块。飞行控制模块通过各种传感器感知无人飞行器周围的环境，并控制无人飞行器的飞行。飞行控制模块可以是处理模块(processing unit)，专用集成电路(Application Specific Integrated Circuit，ASIC)或者现场可编程门阵列(Field Programmable Gate Array，FPGA)。
当用户通过遥控器输入控制无人飞行器的飞行姿态等的指令时，无人飞行器的飞控模块向电调板发送一油门信号，电调板接收该油门信号，生成并 向电机发送用于对电机进行启动、和控制电机运行的转速等的电机控制信号。
请参照图2和图3，动力装置100包括电机20和安装于电机20上的螺旋桨10。螺旋桨10包括桨毂11、固定于桨毂11上的至少两个桨叶12(图中以两个桨叶为例说明)。其中，在一些实施例中，桨毂11为一体结构，其由位于上部的帽体和设置于帽体下方用于连接桨叶12的侧壁构成。在另一些实施例中，螺旋桨10还包括桨帽13，桨帽13盖设于桨毂11上。其中，桨帽13与桨毂11可以为一体结构，也可以为分体结构，桨帽13通过卡接的方式盖设在桨毂11上(请参照图3)。桨毂11和桨叶12可以为一体结构，通过一体注塑成型获得，也可以是分离式结构，通过安装组合为一体，在采用分离式安装组合结构时，桨叶12可以实现折叠收拢。
请一并参照图4、图8-图13，电机20包括定子组件22和可相对于所述定子组件22旋转的转子组件21。在本申请一实施例中，所述转子组件21包括电机轴212、套设于所述电机轴212的外壳211和与所述外壳211相连的多个磁体213。所述外壳211套设于电机轴212上且可随电机轴212旋转。在本申请的一实施例中，所述外壳211进一步包括筒状部2112和与筒状部2112相连的头盖2111。所述多个磁体213设置在所述筒状部2112朝向所述定子组件22的表面并与定子组件22之间设有间隙，在本申请实施例中，所述磁体213设置在筒状部2112的内侧壁上，并沿筒状部2112的周向均匀间隔分布。在一些实施例中，多个磁体213可以通过胶水将其表面一侧粘贴在筒状部2112的内侧壁上。在其他可能的实施例中，也可以在头盖2111上设置多个卡口，每个磁体213的一端卡在所述卡口内，磁体213表面一侧通过胶水固定在筒状部2112的内侧壁上。头盖2111可以对筒状部2112起支撑作用，使电机轴212始终与筒状部2112的中心轴线重合，避免在磁体213的磁力作用下，电机轴212偏离筒状部2112的中心轴线位置。
当磁体213由于磁力的作用转动时，将带动筒状部2112转动，进而带动电机头盖2111和电机轴212转动，从而带动螺旋桨10旋转。在本实施例中，所述筒状部2112和所示头盖2111为图11所示的分体结构，筒状部2112可以通过卡接的方式与头盖2111连接，或通过粘胶固定、焊接固定等方式与头盖2111相连接。在其他可能的实施例中，筒状部2112和头盖2111也可以一 体成型。
请参照图8，头盖2111包括头盖主体部2113和开口部2114，头盖2111用于与螺旋桨10进行连接。其中，电机20与螺旋桨10可以固定连接，也可以可拆卸连接。由于开口部2114的设立，电机20和螺旋桨10可以通过卡扣、卡槽配合的方式实现快速拆装。螺旋桨10的桨毂11的最大外径大于开口部2114的直径，当电机20与螺旋桨10连接后，开口部2114在垂直于电机轴212的平面上的投影位于桨毂11在垂直于电机轴212的平面上的投影内，即开口部2114被桨毂11覆盖。这样可以避免雨水或灰尘从开口部2114进入，保证电机20的防水、防尘性能。
电机轴212的上端固定于电机头盖2111上，在其中一些实施例中，请参照图8，电机头盖2111的中心设置通孔2119，电机轴212直接卡在通孔2119内，为了使连接牢固，在其他实施例中，还可以在电机轴212和通孔2119相接处加胶水加固。电机20与螺旋桨10连接后，电机轴212的上端穿过电机头盖2111的通孔2119插设并固定在桨毂11与桨帽13组成的空腔内。在其中一些实施例中，为了使电机20与螺旋桨10连接更牢固，请参照图6，桨毂11上还设置内孔112，电机轴212的上端卡入桨毂11的内孔112内。
请参照图4，为了实现螺旋桨10和电机20的快速拆装，在一些实施例中，动力装置100还包括安装架30。安装架30上设置有至少两个卡槽31(请参照图5)，安装架30固定于电机头盖2111上。桨毂11面向电机20的一侧设置有至少两个与所述卡槽31配合工作的卡扣111(请参照图4和图6)，通过将卡扣111卡入卡槽31内可以实现电机20和螺旋桨10的可拆卸连接。在其他实施例中，动力装置100也可以不包括安装架30，而直接将卡槽设置在电机头盖2111上。
在包括安装架30的实施例中，为了更容易的实现电机20和螺旋桨10的拆装，请参照图4，还可以设置抵持螺旋桨10的弹性物50。安装时，将卡扣111对准卡孔32(请参照图5)，通过按压螺旋桨10将卡扣111伸入卡孔32内，然后旋转螺旋桨10，将卡扣111卡入卡槽31内。拆卸时，先按压螺旋桨10，再旋转螺旋桨10，使卡扣111脱离卡槽31。弹性物50的设置可以使螺旋桨10更容易在竖直方向上相对于安装架30运动，即更容易执行按压螺旋桨10的操作，从而更容易的实现电机20和螺旋桨10的拆装。其中，弹性物 50例如弹簧或者橡胶件等。
具体的，在一些实施例中，安装架30可以通过胶水粘接固定在电机头盖2111上。在其他实施例中，请参照图4，可以通过按钮40将安装架30锁紧固定在电机头盖2111上。具体的，按钮40可以限制水平方向上安装架30相对于电机头盖2111的移动，螺旋桨10的压合作用可以限制安装架30在竖直方向上的运动。其中，按钮40可以采用例如图7所示的结构，包括按钮底座41和凸台42。在电机头盖2111上设置与按钮底座41形状相适配的凹槽2118(请参照图8)，按钮底座41位于凹槽2118内，以使按钮40被卡在凹槽2118内无法在水平方向上相对于电机头盖2111移动。请参照图5，安装架30上设置有与按钮40形状相适配的第一凹槽33和第二凹槽34，按钮底座41卡在第一凹槽33内，凸台42穿过第一凹槽33卡在第二凹槽34内。由于按钮40卡在安装架30的第一凹槽33和第二凹槽34内，安装架30无法在水平方向上相对于电机头盖2111运动，配合螺旋桨10的压合作用，第一凹槽33和第二凹槽34形成的台阶可以阻挡按钮底座41向上运动。
为了增强电机的防水性能，在一些实施例中，安装架30与电机头盖2111之间可以设置防水材料体，以防止雨水通过安装架30漏入电机20内。其中，防水材料体例如密封胶、密封圈、防水膜等。
在本申请一些实施例中，定子组件22包括套设于电机轴212的定子座221、套设于定子座221上的铁芯222和绕制在铁芯222上的线圈2221，铁芯222和线圈2221收容于外壳211内且与磁体213相对间隔设置。铁芯222、线圈2221与磁体213相对设置且两者留有一定的间隙，当受到磁力作用时，转子组件21可以相对于定子组件22转动。在本申请一些实施例中，铁芯222包括多个齿，每个齿呈梯形状，由铁芯222内直径往外直径方向逐渐增大，以便于缠绕线圈2221。铁芯222可以由多片硅(矽)钢片堆叠形成。铁芯222的外表面上套还可以设置绝缘部，该部绝缘部具有与铁芯222相对应的构型。在本实施例中，如图9所示，该绝缘部为套设在铁芯222的外部起绝缘作用的塑胶套。在其他一些实施例中，绝缘部也可以是涂覆在铁芯222的表面的一层绝缘性涂层。
定子座221进一步包括底座2211和自底座2211中心向上延伸设置的轴承套2212，铁芯222穿过轴承套2212设置于底座2211上，电机轴212设置 于轴承套2212内。在轴承套2212内固定设置至少一个轴承223，在本实施例中，轴承套2212内设置有两个轴承223，分别固定于轴承套2212内的上部和下部。
在动力装置100应用于无人飞行器1000的场合，可以通过将定子座221固定在无人飞行器1000的机臂300上实现电机20与无人飞行器1000的连接。在本申请一些实施例中，定子座221上没有用于散热的散热孔、散热槽等镂空结构，进一步加强了电机20的防水、防尘性能。在另一些实施例中，定子座221也可以设置用于散热的镂空孔，为了增强防水性能，可以在定子座221与机臂300接合处设置密封胶或者密封圈。
转子组件21的外壳211通过其筒状部2112罩设于定子座221并遮蔽铁芯222和线圈2221，并且定子座221在垂直于电机轴212的平面上的投影位于外壳211在垂直于电机轴212的平面上的投影内。例如，在一些实施例中，在水平方向上，定子座221的最大外径小于外壳211的最大外径，定子座221完全位于外壳211罩设的区域内，而没有任何一个部分伸出到外壳211外。在本申请一些实施例中，定子座221的底座2211包括底壁2214和从底壁2214的外沿延伸的外侧壁2213，外侧壁2213具有定子座221的所述最大外径。如图11所示，定子座221仅有其中一部分位于筒状部2112内，被筒状部2112遮挡。在其他一些实施例中，定子座221可以全部位于筒状部2112内，即，定子座221的外侧壁2213可以全部被筒状部2112遮挡。当雨水从上而下落下时，可以沿着外壳211的外侧壁落下，而不会顺着外壳211流至定子座221，进而流入电机20的内部，这样的设计增强了电机20的防水效果。
同时，为了使转子组件21能相对定子组件22旋转，而不会受到定子组件22的阻挡，转子组件21的筒状部2112的内径被设置成大于定子组件22的定子座221的外侧壁2213的外径，以使转子组件21与定子组件22之间具有间隙，彼此不接触。在另一些实施例中，为了避免筒状部2112的尺寸过大，也可以仅将筒状部2112靠近外侧壁2213的部分设置成与外侧壁2213具有间隙，彼此不接触。在本申请一些实施例中，如图11所示，筒状部2112靠近外侧壁2213的部分，即，筒状部2112的下端被设置成在竖直方向上与底座2211的外侧壁2213的上端面之间留有间隙h，在水平方向上与底座2211的外侧壁2213的表面之间留有间隙d，从而在筒状部2112的尺寸不会过大的前 提下，保证了筒状部2112与定子座221之间具有间隙，彼此不接触。在实际应用中，d可以取值0.1mm或0.1mm以上，h可以取值0.2mm或0.2mm以上。
在一些实施例中，筒状部2112在远离定子座221的一端具有第一内径，在靠近定子座221的一端具有大于所述第一内径的第二内径，且第二内径大于所述定子座221的最大外径，即，第二内径大于所述定子座221的外侧壁2213的直径。其中，筒状部2112的第二内径与所述外侧壁2213的直径的差值大小为上述的间隙d的大小。具体地，在一些实施例中，筒状部2112的内侧壁包括具有所述第一内径的第一内侧壁2115、自第一内侧壁2115向远离电机轴212的方向弯折延伸的台阶壁2116以及自台阶壁2116弯折延伸且具有所述第二内径的第二内侧壁2117。所述定子座221的外侧壁2213至少有部分收容于所示第二内侧壁2117内。所述台阶壁2116与所述外侧壁2213的朝向台阶壁2116的上端面之间设有上述的间隙h。从而，保证了筒状部2112与定子座221之间具有间隙，彼此不接触。
为了进一步加强电机20的防水性能，请参照图14，外壳211上还可以加工有至少一个沿电机轴212轴向延伸的过水槽2110，以使进入电机20的雨水可以通过过水槽2110流出。电机轴212上也可以设置过水孔(图中未示出)，例如设置在电机轴212的中心位置，以进一步提供雨水流出的通道，增加防水性能。
在电机20的某些实施例中，为了提高散热性能，还可以在电机20内设置散热扇叶。在其中一个实施例中，所述散热扇叶可以收容于外壳211内，例如，设置于铁芯222、线圈2221上方的空间内。散热扇叶固定于外壳211上，当外壳211旋转时，散热扇叶可以随着外壳211旋转以为电机20散热。在一些实施例中，散热扇叶可以套设于电机轴212上，当电机轴212旋转时，散热扇叶可以随着电机轴212旋转。
在另一些实施例中，请参照图14，可以在底座2211下方设置向下延伸的延伸底座2215，散热扇叶可以位于该延伸底座2215的内部空间内，通过该延伸底座2215将电机20固定于无人飞行器1000的机臂上。电机轴212的下端伸出轴承套2212，散热扇叶固定在电机轴212的下端，当电机轴212旋转时，散热扇叶可以随着电机轴212旋转以为电机20散热。
本申请实施例转子组件中的磁铁以及定子组件中的铁芯和线圈均收容于 外壳内，且螺旋桨的桨毂覆盖所述外壳的开口部，可以避免雨水或灰尘进入电机内部，防水、防尘性能好。进一步地，将本申请实施例提供的动力装置应用到无人飞行器上，能够提高无人飞行器的防水、防尘性能。
需要说明的是，本申请的说明书及其附图中给出了本申请的较佳的实施例，但是，本申请可以通过许多不同的形式来实现，并不限于本说明书所描述的实施例，这些实施例不作为对本申请内容的额外限制，提供这些实施例的目的是使对本申请的公开内容的理解更加透彻全面。并且，上述各技术特征继续相互组合，形成未在上面列举的各种实施例，均视为本申请说明书记载的范围；进一步地，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，而所有这些改进和变换都应属于本申请所附权利要求的保护范围。

Claims (17)

  1. 一种动力装置(100)，包括电机(20)和安装于所述电机(20)上的螺旋桨(10)，其特征在于：
    所述螺旋桨(10)包括桨毂(11)、与所述桨毂(11)相连的至少两个桨叶(12)；
    所述电机(20)包括定子组件(22)和可相对于所述定子组件(22)旋转的转子组件(21)，其中，所述转子组件(21)包括电机轴(212)、套设于所述电机轴(212)上且可随所述电机轴(212)旋转的外壳(211)、以及设置在所述外壳(211)内侧壁的磁体(213)；
    所述定子组件(22)包括套设于所述电机轴(212)上的定子座(221)、套设于所述定子座(221)上的铁芯(222)和绕制在所述铁芯(222)上的线圈(2221)，所述铁芯(222)和所述线圈(2221)收容于所述外壳(211)且与所述磁体(213)相对间隔设置；
    其中，所述外壳(211)包括开口部(2114)，所述桨毂(11)覆盖所述开口部(2114)。
  2. 根据权利要求1所述的动力装置(100)，其特征在于，所述开口部(2114)在垂直于所述电机轴(212)的平面上的投影位于所述桨毂(11)在垂直于所述电机轴(212)的平面上的投影内。
  3. 根据权利要求1或2所述的动力装置(100)，其特征在于，所述螺旋桨(10)上还设置有盖设于所述桨毂(11)上并与所述桨毂(11)的上端部相连的桨帽(13)，所述电机轴(212)的上端插设并固定在所述桨毂(11)与所述桨帽(13)组成的空腔内。
  4. 根据权利要求1至3任一项所述的动力装置(100)，其特征在于，所述桨毂(11)的最大外径大于所述开口部(2114)的直径。
  5. 根据权利要求3或4所述的动力装置(100)，其特征在于，所述桨 帽(13)和所述桨毂(11)可拆卸连接或成型为一体。
  6. 根据权利要求1至5任一项所述的动力装置(100)，其特征在于，所述外壳(211)罩设于所述定子座(221)并遮蔽所述铁芯(222)和所述线圈(2221)，且所述定子座(221)在垂直于所述电机轴(212)的平面上的投影位于所述外壳(211)在垂直于所述电机轴(212)的平面上的投影内。
  7. 根据权利要求1至6任一项所述的动力装置(100)，其特征在于，所述外壳(211)包括筒状部(2112)与所述筒状部(2112)相连的电机头盖(2111)，所述筒状部(2112)与所述电机头盖(2111)固定连接组成一罩设于所述定子组件(22)上的罩体，所述开口部(2114)设置于所述电机头盖(2111)上。
  8. 根据权利要求1至7任一项所述的动力装置(100)，其特征在于，所述外壳(211)的最大外径大于所述定子座(221)的最大外径。
  9. 根据权利要求1至8任一项所述的动力装置(100)，其特征在于，所述外壳(211)具有第一内径和大于所述第一内径的第二内径，所述第二内径大于所述定子座(221)的最大外径。
  10. 根据权利要求9所述的动力装置(100)，其特征在于，所述外壳(211)的内侧壁包括具有第一内径的第一内侧壁(2115)、自所述第一内侧壁(2115)向远离所述电机轴(212)的方向弯折延伸的台阶壁(2116)以及自所述台阶壁(2116)弯折延伸且具有所述第二内径的第二内侧壁(2117)；
    所述定子座(221)包括一外侧壁(2213)，所述外侧壁(2213)具有所述定子座(221)的最大外径，所述外侧壁(2213)至少有部分收容于所述第二内侧壁(2117)内。
  11. 根据权利要求10所述的动力装置(100)，其特征在于，所述台阶壁(2116)与所述外侧壁(2213)的朝向所述台阶壁(2116)的上端面之间 设有间隙。
  12. 根据权利要求1至11任一项所述的动力装置(100)，其特征在于，所述电机(20)还包括收容于所述外壳(211)的散热扇叶，所述散热扇叶套设于所述电机轴(212)，且位于所述铁芯(222)和所述线圈(2221)上方。
  13. 根据权利要求1-12任一项所述的动力装置(100)，其特征在于，所述外壳(211)上设置有至少一个沿所述电机轴(212)的轴向方向延伸的过水槽(2110)。
  14. 根据权利要求1-13任一项所述的动力装置(100)，其特征在于，所述电机轴(212)上设置有过水孔。
  15. 根据权利要求7所述的动力装置(100)，其特征在于，所述电机(20)与所述螺旋桨(10)可拆卸连接，所述动力装置(100)还包括安装架(30)，所述安装架(30)固定于所述电机头盖(2111)上，所述桨毂(11)上设置有至少两个卡扣(111)，所述安装架(30)上设置有至少两个与所述卡扣配合的卡槽(31)，通过所述至少两个卡扣(111)和所述至少两个卡槽(31)的配合，所述螺旋桨(10)旋转卡接至所述电机(20)。
  16. 根据权利要求15所述的动力装置(100)，其特征在于，所述安装架(30)与所述电机头盖(2111)之间设置有防水材料。
  17. 一种无人飞行器(1000)，其特征在于，所述无人飞行器(1000)包括机身(200)、与所述机身(200)相连的机臂(300)以及设置在所述机臂(300)上、如权利要求1至16中任一项所述的动力装置(100)。
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