WO2020029470A1 - 无人机 - Google Patents

无人机 Download PDF

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Publication number
WO2020029470A1
WO2020029470A1 PCT/CN2018/116714 CN2018116714W WO2020029470A1 WO 2020029470 A1 WO2020029470 A1 WO 2020029470A1 CN 2018116714 W CN2018116714 W CN 2018116714W WO 2020029470 A1 WO2020029470 A1 WO 2020029470A1
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WO
WIPO (PCT)
Prior art keywords
upper cover
drone
plastic
stator
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/116714
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English (en)
French (fr)
Inventor
罗东东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
Original Assignee
Autel Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2020029470A1 publication Critical patent/WO2020029470A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/291—Detachable rotors or rotor supports
    • B64U30/292—Rotors or rotor supports specially adapted for quick release
    • 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
    • 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
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/40—Weight reduction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/60—Efficient propulsion technologies, e.g. for aircraft

Definitions

  • the embodiments of the present application relate to the technical field of unmanned aerial vehicles, and in particular to unmanned aerial vehicles with lighter-weight motors.
  • Unmanned aerial vehicle is an unmanned aircraft that controls flight attitude through radio remote control equipment and built-in programs. Because of its advantages such as maneuverability, fast response, unmanned operation, and low operating requirements, Has been widely used in aerial photography, plant protection, power inspection, disaster relief and many other fields.
  • the embodiment of the present application provides a drone, which has a lighter weight motor, which can correspondingly reduce the weight of the drone, and is conducive to promoting the development of consumer drones.
  • a technical solution adopted in the present application is to provide a drone, which includes:
  • a motor includes a stator assembly and a rotor assembly rotatable with respect to the stator assembly, wherein the rotor assembly includes a rotating shaft, a casing sleeved on the rotating shaft and rotatable with the rotating shaft, and a device.
  • the stator assembly includes a stator base sleeved on the rotating shaft, an iron core sleeved on the stator base, and a coil wound on the iron core
  • the stator base is disposed at the other end of the machine arm;
  • At least a part of the housing and / or the material of the stator base is plastic.
  • the machine arm is a plastic machine arm
  • the stator base is integrally injection-molded with the plastic machine arm.
  • the housing includes an upper cover, which is disposed at an end of the housing away from the stator base; the material of the upper cover is plastic.
  • the drone further includes:
  • a mounting member fixedly mounted on a surface of the upper cover facing the propeller;
  • the propeller is detachably connected to the mounting member.
  • the upper cover is provided with a mounting hole for mounting the mounting member, and a metal insert is inlaid around the mounting hole.
  • the outer surface of the metal insert includes a plurality of teeth.
  • the teeth are triangular cylindrical.
  • a plurality of limit blocks are disposed on a surface of the upper cover facing the plurality of permanent magnets, and each of the limit blocks is sandwiched between two of the permanent magnets.
  • the housing further includes a main body portion fixedly connected to the upper cover;
  • a flange is provided on a surface of the upper cover facing the main body portion, and a receiving groove is provided at an end of the main body portion facing the upper cover, and the flange extends into the receiving groove.
  • connection between the rotating shaft and the upper cover is a rough surface.
  • the beneficial effects of the embodiments of the present application are: at least a part of the housing and / or the stator base of the motor of the drone provided by the embodiments of the present application are made of plastic, on the one hand, the weight of the motor can be reduced In order to reduce the weight of the drone, on the other hand, it can replace the machining with mold molding, improve the consistency of the produced motors, reduce the production cost of the motors, and help promote the development of consumer drones.
  • FIG. 1 is a schematic diagram of a three-dimensional structure of a drone provided by one embodiment of the present application.
  • FIG. 2 is a perspective structural diagram of the motor shown in FIG. 1;
  • FIG. 2 is a perspective structural diagram of the motor shown in FIG. 1;
  • FIG. 3 is an exploded perspective view of the motor shown in FIG. 2;
  • FIG. 4 is an exploded view of an upper cover of the motor shown in FIG. 3;
  • FIG. 5 is a schematic perspective view of the metal insert of the upper cover shown in FIG. 4.
  • An embodiment of the present application provides a drone, at least a part of a housing of a motor and / or a stator base is made of plastic, which can reduce the weight of the motor, thereby reducing the weight of the drone. At least a part and / or the stator base is made of plastic material, which can be formed by injection molding, which can improve the consistency of product production, reduce processing time, and reduce production costs.
  • the drone may be any type of drone, which may include, but is not limited to, a single-rotor drone, a multi-rotor drone, a tilt-rotor drone, and the like.
  • FIG. 1 is a schematic diagram of the three-dimensional structure of a drone provided by one embodiment of the present application.
  • the drone 100 includes a fuselage 10, four arms 20 extending from the fuselage 10, A motor 30 provided on each arm 20 and a propeller 40 mounted on the motor 30. That is, the drone 100 of the present application is a quadrotor drone, and the number of motors 30 is four. In other possible embodiments, the drone 100 may be any other suitable type of rotor drone, such as a dual-rotor drone, a six-rotor drone, or the like. Where the motors 30 are applied to other types of unmanned aerial vehicles, the number of the motors 30 may be changed according to actual needs, which is not limited in the embodiment of the present application.
  • the drone 100 may further include a pan / tilt (not shown), which is installed at the bottom of the fuselage 10, and the pan / tilt 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.
  • a pan / tilt (not shown), which is installed at the bottom of the fuselage 10, and the pan / tilt 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 20 is fixedly connected to the body 10.
  • the arm 20 is integrally formed with the body 10.
  • the arm 20 may also be connected to the fuselage 10 in a manner of being unfolded or folded relative to the fuselage 10.
  • the arm 20 may be connected to the body 10 through a rotating shaft mechanism, so that the arm 20 can be unfolded or folded relative to the body 10.
  • the propeller 40 is mounted on the motor 30 and is capable of rotating under the driving of the motor 30, thereby driving the drone 100 to fly and adjusting the flight attitude.
  • the motor 30 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 drone 100 of the present application further includes an electronic governor (not shown) disposed in a cavity formed by the fuselage 10 or the arm 20, and the electronic governor is used to generate an electronic governor according to a throttle controller or a throttle generator.
  • the throttle signal generates a motor control signal for controlling the motor speed to obtain the flight speed or flight attitude required by the drone.
  • the throttle controller or the throttle generator may be a flight control module of the drone.
  • the flight control module senses the environment around the drone through various sensors and controls the flight of the drone.
  • 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 drone's flight control module sends a throttle signal to the ESC, and the ESC receives the throttle signal, generates and sends it to the motor for The motor performs motor control signals such as starting and controlling the rotation speed of the motor.
  • the fuselage 10 generally includes a control circuit assembly composed of electronic components such as an MCU.
  • the control circuit assembly may include multiple control modules, such as a flight control module for controlling the flying attitude of the drone 100, A Beidou module for navigating the UAV 100, a data processing module for processing environmental information acquired by relevant airborne equipment (such as a camera device), and the like.
  • the arm 20 extends from the fuselage 10 and is used to support a power assembly composed of the motor 30 and the propeller 40.
  • the robot arm 20 may be a plastic robot arm.
  • the motor 30 includes a stator assembly 31 and a rotor assembly 32 sleeved on the stator assembly 31 and rotatable relative to the stator assembly 31.
  • the stator assembly 31 includes a stator base 310, an iron core 312, and a coil 314.
  • the stator base 310 is sleeved on the rotating shaft 326 (FIG. 3) of the rotor assembly 32, and the stator base 310 is used for fixed connection with the machine arm 20; the iron core 312 is sleeved on the stator base 310;
  • the coil 314 is wound around the iron core 312 and is used to form windings of each phase of the motor 30.
  • the stator base 310 is made of plastic.
  • the stator base 310 may be fixedly mounted on the other end of the arm 20 (that is, the arm 20 is far away from the fuselage) by any method (such as screw connection, rivet connection, snap connection, glue connection, etc.) 10 end).
  • the stator base 310 made of plastic may also be integrally injection-molded with the plastic machine arm 20, so that, on the one hand, Lighten the weight of the motor 30 and the arm 20, thereby reducing the weight of the drone 100.
  • the production process of the motor of the drone 100 can be simplified, the product consistency of the motor can be improved, and the production cost can be reduced.
  • the stator base 310 made of plastic is substantially T-shaped, and includes a base 3100 and a cylinder 3102 disposed in a middle portion of the base 3100.
  • the base 3100 and the cylinder 3102 can be integrally injection-molded.
  • the base 3100 is provided as an open structure.
  • a plurality of hollow structures such as heat dissipation holes and heat sinks for heat dissipation may be provided thereon.
  • the cylindrical body 3102 is substantially a hollow cylindrical structure, and a bearing cavity 3104 is provided therein.
  • a bearing 3106 is housed in the bearing cavity 3104, and the bearing 3106 is used to cooperate with the rotor assembly 32 to drive the rotor assembly 32 to rotate relative to the stator assembly 31.
  • the stator base 310 made of plastic may be injection-molded, and the injection-molding material thereof may specifically be PA6 plus 30% -40% glass fiber or PA6 plus 12% -20% carbon fiber. After the stator base 310 is injection-molded, the strength and toughness of the stator base 310 can be improved by boiling for 15 minutes or more.
  • the iron core 312 includes a main body and an insulating layer covering a surface of the main body.
  • the main body is sleeved outside the cylinder 3102, and the insulation layer is used to isolate the main body and the coil 314 to prevent a short circuit of the motor 30.
  • the body includes a plurality of teeth for winding the coil 314, and the teeth may be parallel teeth or trapezoidal teeth, which is not specifically limited in the embodiment of the present application.
  • the body can be formed by stacking materials that are easily magnetized (such as steel, nickel, iron, etc.), and the insulating layer can be formed of any material with insulating properties, such as plastic, digital powder, 3M860E Powder and so on.
  • the body may be made of silicon steel sheets or silicon steel sheets stacked, and the insulation layer may be formed of 3M860E powder coated on the surface of the body.
  • the coil 314 includes at least one layer.
  • the coil 314 may be wound around the core 312 by a single or multiple enameled copper wires. Teeth.
  • the number of turns of the coil 314 may include, but is not limited to, 10 turns, 20 turns, 30 turns, and the like.
  • the rotor assembly 32 includes: a rotating shaft 326, a housing 320 sleeved on the rotating shaft 326 and rotatable with the rotating shaft 326, and a plurality of housings 320 disposed on an inner side wall of the housing 320.
  • the casing 320 is disposed on the outer periphery of the iron core 312 and can rotate around the iron core 312. In the embodiment of the present application, at least a part of the casing 320 is made of plastic.
  • At least a part of the housing 320 of the motor 30 and the material of the stator base 310 may be plastic; in other embodiments, only at least a part of the housing 320 may be made of plastic, Or only the material of the stator base 310 is plastic.
  • the housing 320 includes an upper cover 3201, and the upper cover 3201 is disposed at an end of the housing 320 away from the stator base 310.
  • the material of the upper cover 3201 is plastic.
  • One end of the rotation shaft 326 is fixed to the upper cover 3201 made of plastic, and the other end is installed in the cylinder 3102 of the stator base 310 made of plastic through the bearing 3106. Driven by the bearing 3106, the rotating shaft 326 can rotate relative to the stator base 310 made of plastic.
  • the housing 320 further includes a main body portion 3202, and the main body portion 3202 is fixedly connected to the upper cover 3201.
  • the main body portion 3202 has a cylindrical structure and can be made of high-efficiency magnetic conductive materials such as 10 # steel and 20 # steel.
  • the plurality of permanent magnets 324 are evenly distributed on a surface of the main body portion 3202 facing the iron core 312 along a circumferential direction, and a gap is left between the plurality of permanent magnets 324 and the iron core 312.
  • the main body The distance between the bottom of the portion 3202 (ie, the end of the housing 320 near the stator base 310) and the machine arm 20 is between 0.4 mm and 1 mm.
  • the upper cover 3201 made of plastic may be injection molded, and the injection molding material may also be PA6 plus 30% -40% glass fiber or PA6 plus 12% -20% carbon fiber. After the upper cover 3201 is injection-molded, the strength and toughness of the upper cover 3201 can be improved by boiling for 15 minutes or more.
  • the upper cover 3201 made of plastic in order to improve the heat dissipation performance of the motor 30, is also an open structure, and three heat dissipation holes are provided thereon.
  • the upper cover 3201 made of plastic has a plurality of limiting blocks 3220 extending on a surface facing the plurality of permanent magnets 324, and each of the limiting blocks 3220 is sandwiched between two of the permanent magnets 324. Therefore, through the cooperation between the limiting block 3220 and the permanent magnet 324, the stability of the connection between the upper cover 3201 made of plastic and the main body of the housing 320 can be improved.
  • the assembly difficulty is reduced, and at the same time, the upper cover made of plastic is further prevented.
  • the cover 3201 rotates with respect to the main body portion 3202.
  • the upper cover 3201 made of plastic is further provided with a flange toward the surface of the main body portion 3202.
  • the main body portion 3202 faces the upper cover 3201 made of plastic.
  • One end is provided with a receiving groove corresponding to the flange, and the flange extends into the receiving groove.
  • a shaft hole 3222 is provided in a middle portion of the upper cover 3201 for receiving the rotating shaft 326.
  • the drone in order to enable rapid assembly and disassembly of the propeller, the drone may further include a detachable connection with the propeller 40.
  • Mount The mounting member needs to be fixed on a surface of the upper cover 3201 facing the propeller 40. Therefore, in this embodiment, in order to make the motor 30 also be adapted to the quick-release propeller, the upper cover 3201 is further provided with a mounting hole 3224 for mounting the mounting member.
  • the mounting hole 3224 is easily deformed after being subjected to multiple stresses. Therefore, in this embodiment, a metal insert 3226 is also embedded around the mounting hole 3224.
  • the metal insert 3226 may be embedded in the outer periphery of the mounting hole 3224 by a process such as hot melt or injection molding.
  • the metal insert 3226 includes an inner surface facing the mounting hole 3226 and an outer surface facing away from the mounting hole 3226.
  • the inner surface may be a smooth surface, and a plurality of teeth are provided on the outer surface, and each of the teeth is in a triangular column shape, so that the metal insert 3226 can be firmly embedded in the plastic material.
  • the force of the mounting holes 3224 is better dispersed, and the deformation is reduced.
  • the teeth may also have a trapezoidal shape, an arc shape, an S shape, or the like, which is not specifically limited in this embodiment of the present application.
  • the shape of the permanent magnet 324 may be any shape such as an arc shape, a rectangle, and the like. According to the performance requirements of the motor 30, the number can be set to any number of pieces, such as 10 pieces, 14 pieces, 16 pieces, 18 pieces, and the like.
  • the material of the permanent magnet 324 may be magnetic materials such as ferrite, neodymium iron boron, samarium cobalt permanent magnet material (SmCo). In this embodiment, in order to improve the heat dissipation efficiency of the motor 30, the material of the permanent magnet 324 may be neodymium iron boron.
  • the magnetic field of the rotor component provided by the plurality of permanent magnets 324 is only one of the implementation manners.
  • the plurality of permanent magnets 324 can also be injection molded into a ring structure, which is not specifically limited in the embodiment of the present application.
  • One end of the rotating shaft 326 protrudes from the shaft hole 3222 and is fastened to the upper cover 3201 made of plastic, and the other end extends into the bearing 3106 in the stator base 310 made of plastic. It can rotate with the stator assembly 31.
  • the rotating shaft 326 is a rough surface or a flat position at the fastening connection with the upper cover 3201 made of plastic, and the rough surface may be knurled, and its length is less than or equal to that of the The thickness of the upper cover 3201 made of plastic prevents the rough surface or flat position from affecting the installation of the propeller 40 or interfering with the stator assembly 31.
  • the rotating shaft 326 may be integrally injection-molded with the upper cover 3201 made of plastic.
  • a plurality of protrusions or grooves may be provided at a connection portion between the rotating shaft 326 and the upper cover 3201 made of plastic, so that when the upper cover 3201 made of plastic is injection-molded,
  • the upper cover 3201 made of plastic may correspondingly form a plurality of grooves or protrusions, so that the connection between the rotating shaft 326 and the upper cover 3201 made of plastic may be improved through cooperation between the protrusions and the grooves. Stability.
  • the propeller 40 may be any type of propeller, for example, it may include, but is not limited to, a fixed type propeller, a quick release type propeller, a foldable type propeller, and the like.
  • the propeller 40 is fixed on the rotating shaft 326.
  • the drone 100 further includes a mounting member fixedly installed on the surface of the upper cover 3201 made of plastic.
  • the propeller 40 is also detachably connected to the mounting member.
  • the fuselage 10, the arm 20, and the stator base 310 made of plastic may be first formed by integral injection molding, and the rotating shaft 326 may be formed by injection molding.
  • the upper cover 3201 made of plastic is described; then the iron core 312 is sleeved on the stator base 310 made of plastic, and the coil 314 is wound around the iron core 312 to complete the stator.
  • the plurality of permanent magnets 324 are assembled into the inner surface of the main body portion 3202 of the housing 320, and the upper cover 3201 made of plastic is fastened to the main body portion 3202 To complete the assembly of the rotor assembly 32; then, the rotating shaft 326 in the rotor assembly 32 is extended into the stator base 310 made of plastic to complete the assembly of the motor 30; finally, The propeller 40 is mounted to an end of the rotating shaft 326 protruding from the upper cover 3201 made of plastic.
  • the housing and / or the stator base of the motor of the drone provided in the embodiments of the present application are made of plastic, on the one hand, the weight of the motor can be reduced, and On the other hand, the weight of the human machine can replace the machining with mold molding, improve the product consistency of the generated motor, and reduce the production cost of the motor, which is conducive to promoting the development of consumer drones.

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

Abstract

一种无人机(100)，其包括：机身(10)；一端与机身(10)固定连接的机臂(20)；电机(30)，其包括定子组件(31)和可相对于定子组件(31)旋转的转子组件(32)，转子组件(32)包括转动轴(326)、套设于转动轴(326)上且可随转动轴(326)旋转的外壳(320)以及设置在外壳(320)内侧壁的多个永磁体(324)；定子组件(31)包括套设于转动轴(326)的定子座(310)、套设于定子座(310)上的铁芯(312)和绕制在铁芯(312)上的线圈(314)，定子座(310)安装于机臂(20)的另一端；以及安装于电机(30)的螺旋桨(40)。该无人机(100)的电机(30)的外壳(320)的至少一部分和/或定子座(310)由塑料制成，能够减轻电机(30)的重量，从而减轻无人机(100)的重量，同时，能够以模具成型替代机加工，提高所生产的电机的产品一致性，降低电机(30)的生产成本。

Description

无人机
本申请要求于2018年08月08日提交中国专利局、申请号为2018212704540、申请名称为“一种无人机”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机技术领域，特别是涉及具有较轻重量的电机的无人机。
背景技术
无人机(Unmanned Aerial Vehicle，UAV)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机，由于其具有机动灵活、反应快速、无人驾驶、操作要求低等优点，现已广泛应用于航拍、植保、电力巡检、救灾等众多领域。
随着无人机技术的快速发展，越来越多无人机进入消费市场，然而，在实现本申请的过程中，发明人发现：市面上的无人机所采用的电机均由铝合金材料加工而成，其重量较大，且加工耗时较长，从而使得无人机的电机的成本较高、制作的一致性较差，不利于消费无人机的发展。
发明内容
有鉴于此，本申请实施例提供了一种无人机，其具有较轻重量的电机，能够相应减轻无人机的重量，有利于推进消费无人机的发展。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种无人机，其包括：
机身；
机臂，其一端与所述机身固定连接；
电机，其包括定子组件和套可相对于所述定子组件旋转的转子组件，其中，所述转子组件包括转动轴、套设于所述转动轴上且可随所述转动轴旋转的外壳以及设置在所述外壳内侧壁的多个永磁体；所述定子组件包括套设于所述转动轴的定子座、套设于所述定子座上的铁芯和绕制在所述铁芯上的线圈，所述定子座设置于所述机臂的另一端；以及，
螺旋桨，其安装于所述电机；
其中，所述外壳的至少一部分和/或所述定子座的材质为塑料。
在一些实施例中，所述机臂为塑料机臂，所述定子座与所述塑料机臂一体注塑成型。
在一些实施例中，所述外壳包括上盖，其设置于所述外壳远离所述定子座的一端；所述上盖的材质为塑料。
在一些实施例中，所述无人机还包括：
安装件，其固定安装于所述上盖朝向所述螺旋桨的表面；
所述螺旋桨与所述安装件可拆卸连接。
在一些实施例中，所述上盖设置有用于安装所述安装件的安装孔，所述安装孔周围镶嵌有金属镶件。
在一些实施例中，所述金属镶件的外表面包括多个齿。
在一些实施例中，所述齿呈三角柱状。
在一些实施例中，所述上盖朝向所述多个永磁体的表面设置有多个限位块，每一个所述限位块夹设于其中两个所述永磁体之间。
在一些实施例中，所述外壳还包括与所述上盖固定连接的主体部；
所述上盖朝向所述主体部的表面设置有凸缘，所述主体部朝向所述上盖的一端设置有收容槽，所述凸缘伸入所述收容槽。
在一些实施例中，所述转动轴与所述上盖的连接处为粗糙表面。
区别于现有技术的情况，本申请实施例的有益效果是：本申请实施例提供的无人机的电机的外壳的至少一部分和/或定子座由塑料制成，一方面能够减轻电机的重量，从而减轻无人机的重量，另一方面能够以模具成型替代机加工，提高所生产的电机的产品一致性，降低电机的生产成本，从而有利于推动消费无人机的发展。
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是本申请其中一个实施例提供的一种无人机的立体结构示意图；
图2是图1所示的电机的立体结构示意图；
图3是图2所示的电机的立体分解图；
图4是图3所示的电机的上盖的分解图；
图5是图4所示的上盖的金属镶件的立体结构示意图。
具体实施方式
为了便于理解本申请，下面结合附图和具体实施例，对本申请进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“左”、“右”、“水平的”、“垂直的”以及类似的表述只是为了说明的目的。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本申请。
此外，下面所描述的本申请各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
本申请实施例提供了一种无人机，其电机的外壳的至少一部分和/或定子座采用塑料制成，能够减轻电机的重量，从而减轻无人机的重量，同时，由于电机的外壳的至少一部分和/或定子座为塑料材质，能够通过模具注塑形成，能够提升产品制作的一致性，减少加工时间，降低生产成本。
该无人机可以为任意类型的无人机，其可以包括但不限于：单旋翼无人机、多旋翼无人机、倾转旋翼无人机等等。
具体地，下面结合说明书附图对本申请实施例提供的无人机进行详细说明。
图1是本申请其中一个实施例提供的一种无人机的立体结构示意图，请参阅图1，该无人机100包括：机身10、四个自机身10延伸的机臂20、装设在每个机臂20上的电机30以及安装于所述电机30的螺旋桨40。即，本申请的无人机100为四旋翼无人机，电机30的数量为四个。在其他可能的实施例中，无人机100可以是其他任何合适类型的旋翼无人机，例如双旋翼无人机、六旋翼无人机等。在电机30应用于其他类型无人机的场合，电机30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，无人机100还可以包括云台(图未示)，该云台安装于机身10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20与机身10固定连接，优选地，机臂20与机身10一体成型。在其他可能的实施例中，机臂20还可以可相对于机身10展开或折叠的方式与机身10相连。例如，机臂20可以通过一转轴机构与机身10相连，以实现机臂20可相对于机身10展开或折叠。
所述螺旋桨40安装于所述电机30，并且能够在所述电机30的驱动下旋 转，从而带动所述无人机100飞行以及进行飞行姿态的调整。电机30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。
本申请的无人机100还包括设置在机身10或机臂20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机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机的飞行控制模块。飞行控制模块通过各种传感器感知无人机周围的环境，并控制无人机的飞行。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机的飞行姿态等的指令时，无人机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。
所述机身10内通常包括由MCU等电子元器件组成的控制电路组件，该控制电路组件可包括多个控制模块，比如，用于控制所述无人机100的飞行姿态的飞行控制模块、用于导航所述无人机100的北斗模块、以及用于处理相关机载设备(如，摄像装置)所获取的环境信息的数据处理模块等等。
所述机臂20自所述机身10延伸，用于支撑由所述电机30和所述螺旋桨40组成的动力组件。其中，在一些实施例中，为了减轻所述无人机100的重量，以及便于生产所述无人机100，所述机臂20具体可以为一塑料机臂。
如图2所示，所述电机30包括定子组件31和套设于所述定子组件31并可相对于所述定子组件31旋转的转子组件32。
特别地，在本申请实施例中，如图3所示，所述定子组件31包括定子座310、铁芯312以及线圈314。所述定子座310套设于转子组件32的转动轴326(图3)，所述定子座310用于与所述机臂20固定连接；所述铁芯312套 设于所述定子座310；所述线圈314绕设于所述铁芯312，用于形成所述电机30的各相绕组。在本申请实施例中，所述定子座310由塑料制成。
所述定子座310可以通过任意方式(比如：螺纹连接、铆钉连接、卡扣连接、胶合连接等)固定安装于所述机臂20的另一端(即，所述机臂20远离所述机身10的一端)。特别地，在一些实施例中，若所述机臂20具体为一塑料机臂，所述由塑料制成的定子座310还可以与所述塑料机臂20一体注塑成型，从而，一方面能够减轻电机30和机臂20的重量，从而减轻所述无人机100的重量，另一方面还可以精简所述无人机100的电机的生产工艺，提升电机的产品一致性，降低生产成本。
具体地，所述由塑料制成的定子座310大致呈T型，其包括基座3100以及设置于所述基座3100的中部的筒体3102。所述基座3100和所述筒体3102可一体注塑成型。其中，为了增强所述电机30的散热性能，所述基座3100设置为开放式结构，比如，其上可以设置有多个用于散热的散热孔、散热槽等镂空结构。所述筒体3102大致呈中空的筒状结构，其内设置有轴承腔3104。所述轴承腔3104内收容有轴承3106，所述轴承3106用于与所述转子组件32配合，带动所述转子组件32相对所述定子组件31转动。在实际应用中，所述由塑料制成的定子座310可通过注塑成型，其注塑材料具体可以为PA6加30％-40％玻纤或者PA6加12％-20％碳纤。在定子座310注塑成型后，可通过水煮15分钟以上等方式，提高定子座310的强度及韧性。
所述铁芯312包括本体和包覆所述本体的表面的绝缘层。所述本体套设于所述筒体3102之外，所述绝缘层用于隔绝所述本体和所述线圈314，以防止所述电机30出现短路现象。所述本体包括用于绕设所述线圈314的多个齿部，所述齿部可以为平行齿，也可以为梯形齿，本申请实施例对此不作具体限定。在实际应用中，所述本体可由容易被磁化的材料(如：钢、镍、铁等)堆叠而成，所述绝缘层可以由任意具有绝缘特性的材料形成，如：塑胶、数码粉、3M860E粉等。其中，为了降低所述无人机100的重量，所述本体可由矽钢片或者硅钢片堆叠而成，所述绝缘层可由涂覆在所述本体的表面上的 3M860E粉形成。
所述线圈314至少含有一层，为了提高所述电机30的效率以及降低所述电机30的发热量，所述线圈314可以由单根或者多根漆包铜线绕设所述铁芯312的齿部而形成。根据所述电机30的性能要求，所述线圈314的匝数可以包括但不限于10匝、20匝、30匝等等。
请继续参阅图3，所述转子组件32包括：转动轴326、套设于所述转动轴326上且可随所述转动轴326旋转的外壳320以及设置在所述外壳320内侧壁的多个永磁体324。所述外壳320罩设于所述铁芯312的外周并可绕所述铁芯312转动。在本申请实施例中，所述外壳320的至少一部分由塑料制成。应理解的是，在一些实施例中，电机30的外壳320的至少一部分和定子座310的材质可以均为塑料；在另一些实施例中，可以是仅仅外壳320的至少一部分的材质为塑料，或者仅仅定子座310的材质为塑料。
其中，所述外壳320包括上盖3201，所述上盖3201设置于所述外壳320远离所述定子座310的一端。在一些实施例中，所述上盖3201的材质为塑料。所述转动轴326的一端固定安装于所述由塑料制成的上盖3201，另一端通过所述轴承3106安装在所述由塑料制成的定子座310的筒体3102内，并且，在所述轴承3106的带动下，所述转动轴326可以相对所述由塑料制成的定子座310转动。
所述外壳320还包括主体部3202，所述主体部3202与所述上盖3201固定连接。所述主体部3202呈筒状结构，可由10#钢、20#钢等高效导磁材料制成。所述多个永磁体324沿着周向均布于所述主体部3202朝向所述铁芯312的表面，并且与所述铁芯312之间留有间隙。在实际应用中，当将电机30安装于无人机100的机臂20上时，为了防止出现电机干涉现象，预防电机卡死而导致电机死机，降低无人机100的安全性，所述主体部3202的底部(即，所述外壳320靠近所述定子座310的一端)与机臂20的距离在0.4mm到1mm之间。
所述由塑料制成的上盖3201可通过注塑成型，其注塑材料也可以为PA6 加30％-40％玻纤或者PA6加12％-20％碳纤。在上盖3201注塑成型后，可通过水煮15分钟以上等方式，提高上盖3201的强度及韧性。在本实施例中，如图4所示，为了提升所述电机30的散热性能，所述由塑料制成的上盖3201也为开放式结构，其上设置有三个散热孔。所述由塑料制成的上盖3201在朝向所述多个永磁体324的表面延伸有多个限位块3220，每一个所述限位块3220夹设于其中两个所述永磁体324之间，从而，通过所述限位块3220与所述永磁体324之间的配合，可以提升所述由塑料制成的上盖3201与所述外壳320的主体的连接的稳固性。
进一步地，在一些实施例中，为了方便定位所述由塑料制成的上盖3201与所述主体部3202之间的配合位置，降低装配难度，同时，进一步防止所述由塑料制成的上盖3201相对所述主体部3202转动，所述由塑料制成的上盖3201朝向所述主体部3202表面还设置有凸缘，所述主体部3202朝向所述由塑料制成的上盖3201的一端对应所述凸缘设置有收容槽，所述凸缘伸入所述收容槽。
此外，所述上盖3201的中部还设置有轴孔3222，用于收容所述转动轴326。
再者，在又一些实施例中，比如，在快拆螺旋桨型无人机中，为了能够实现螺旋桨的快速装配和拆卸，所述无人机还可以包括能够与所述螺旋桨40可拆卸连接的安装件。所述安装件需固定安装在所述上盖3201朝向所述螺旋桨40的表面。因此，在本实施例中，为了使得所述电机30同样适应于快拆型螺旋桨，所述上盖3201还设置有用于安装所述安装件的安装孔3224。又，由于所述上盖3201为塑料材质，所述安装孔3224多次受力后比较容易变形，因此，在本实施例中，所述安装孔3224的周围还镶嵌有金属镶件3226，用以减少所述安装孔3224的形变，进而提升所述安装件与所述由塑料制成的上盖3201之间的连接的稳固性。在实际应用中，所述金属镶件3226可通过热熔、注塑等工艺镶嵌在所述安装孔3224的外周。
特别地，在本实施例中，如图5所示，所述金属镶件3226包括朝向所述 安装孔3226的内表面和背离所述安装孔3226的外表面。所述内表面可以为光滑的表面，所述外表面上设置有多个齿，每一所述齿呈三角柱状，从而使得所述金属镶件3226能够牢牢地嵌入在所述由塑料制成的上盖3201中，同时，更好地分散所述安装孔3224的受力，减少形变。当然，可以理解的是，在其他的一些实施例中，所述齿也可以是梯形、弧形、S形等形状，本申请实施例对此不作具体限定。
请复参阅图3，所述永磁体324的形状可以是弧形、长方形等任意形状。根据所述电机30的性能需求，其数量可以设置成任意片，如：10片、14片、16片、18片等。所述永磁体324的材料可以为铁氧体、钕铁硼、钐钴永磁材料(SmCo)等磁性材料。在本实施例中，为了提高所述电机30的散热效率，所述永磁体324的材料可以选用钕铁硼。其中，应当理解的是，在本实施例中，由所述多个永磁体324提供所述转子组件的磁场仅为其中一种实施方式，在其他的一些实施例中，所述多个永磁体324也可以注塑成一环形的结构，本申请实施例对此不作具体限定。
所述转动轴326的一端从所述轴孔3222伸出，并与所述由塑料制成的上盖3201紧固连接，另一端伸入所述由塑料制成的定子座310中的轴承3106，与所述定子组件31可转动配合。
其中，为了增加所述转动轴326与所述由塑料制成的上盖3201连接的紧固性，避免所述转动轴326与所述由塑料制成的上盖3201相对转动，增强所述电机30的机械强度，所述转动轴326在与所述由塑料制成的上盖3201的紧固连接处为粗糙表面或扁位，该粗糙表面可以是滚花，其长度小于或等于所述由塑料制成的上盖3201的厚度，以避免该粗糙表面或者扁位影响所述螺旋桨40的安装或者与所述定子组件31干涉。
或者，在另一些实施例中，所述转动轴326也可以与所述由塑料制成的上盖3201一体注塑成型。所述转动轴326与所述由塑料制成的上盖3201的连接处可设置有多个凸起或者凹槽，从而，在注塑形成所述由塑料制成的上盖3201时，所述由塑料制成的上盖3201可对应形成多个凹槽或者凸起，从 而，通过凸起与凹槽之间的配合能够提升所述转动轴326与所述由塑料制成的上盖3201的连接的稳固性。
所述螺旋桨40可以为任意类型的螺旋桨，比如，其可以包括但不限于：固定型螺旋桨、快拆型螺旋桨、可折叠型螺旋桨等等。所述螺旋桨40固定安装在所述转动轴326上。或者，在另一些实施例中，若所述螺旋桨40为快拆型螺旋桨，所述无人机100还包括固定安装在所述由塑料制成的上盖3201的表面的安装件，则，所述螺旋桨40还与所述安装件可拆卸连接。
在其中一个应用实例中，可以首先通过一体注塑的方式形成所述机身10、所述机臂20以及所述由塑料制成的定子座310，以及，在所述转动轴326上注塑形成所述由塑料制成的上盖3201；然后将所述铁芯312套设于所述由塑料制成的定子座310，将所述线圈314绕设于所述铁芯312，以完成所述定子组件31的装配，同时，将所述多个永磁体324装配入所述外壳320的主体部3202的内表面，将所述由塑料制成的上盖3201与所述主体部3202紧固连接，以完成所述转子组件32的装配；接着，将所述转子组件32中的所述转动轴326伸入所述由塑料制成的定子座310中以完成所述电机30的装配；最后，将所述螺旋桨40安装至所述转动轴326伸出所述由塑料制成的上盖3201的一端。
总的来说，区别于现有技术的情况，本申请实施例提供的无人机的电机的外壳的至少一部分和/或定子座由塑料制成，一方面能够减轻电机的重量，从而减轻无人机的重量另一方面能够以模具成型替代机加工，提高所生成的电机的产品一致性，降低电机的生产成本，从而有利于推动消费无人机的发展。
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 (10)

  1. 一种无人机，其特征在于，包括：
    机身；
    机臂，其一端与所述机身固定连接；
    电机，其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，所述转子组件包括转动轴、套设于所述转动轴上且可随所述转动轴旋转的外壳以及设置在所述外壳内侧壁的多个永磁体；所述定子组件包括套设于所述转动轴的定子座、套设于所述定子座上的铁芯和绕制在所述铁芯上的线圈，所述定子座设置于所述机臂的另一端；以及，
    螺旋桨，其安装于所述电机；
    其中，所述外壳的至少一部分和/或所述定子座的材质为塑料。
  2. 根据权利要求1所述的无人机，其特征在于，所述机臂为塑料机臂，所述定子座与所述塑料机臂一体注塑成型。
  3. 根据权利要求1或2所述的无人机，其特征在于，所述外壳包括上盖，其设置于所述外壳远离所述定子座的一端；所述上盖的材质为塑料。
  4. 根据权利要求3所述的无人机，其特征在于，所述无人机还包括：
    安装件，其固定安装于所述上盖朝向所述螺旋桨的表面；
    所述螺旋桨与所述安装件可拆卸连接。
  5. 根据权利要求4所述的无人机，其特征在于，所述上盖设置有用于安装所述安装件的安装孔，所述安装孔周围镶嵌有金属镶件。
  6. 根据权利要求5所述的无人机，其特征在于，所述金属镶件的外表面 包括多个齿。
  7. 根据权利要求6所述的无人机，其特征在于，所述齿呈三角柱状。
  8. 根据权利要求3-7任一项所述的无人机，其特征在于，所述上盖朝向所述多个永磁体的表面设置有多个限位块，每一个所述限位块夹设于其中两个所述永磁体之间。
  9. 根据权利要求8所述的无人机，其特征在于，所述外壳还包括与所述上盖固定连接的主体部；
    所述上盖朝向所述主体部的表面设置有凸缘，所述主体部朝向所述上盖的一端设置有收容槽，所述凸缘伸入所述收容槽。
  10. 根据权利要求3-9任一项所述的无人机，其特征在于，所述转动轴与所述上盖的连接处为粗糙表面。
PCT/CN2018/116714 2018-08-08 2018-11-21 无人机 Ceased WO2020029470A1 (zh)

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