WO2021217832A1 - 一种混合动力驱动装置以及无人机 - Google Patents

一种混合动力驱动装置以及无人机 Download PDF

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Publication number
WO2021217832A1
WO2021217832A1 PCT/CN2020/097376 CN2020097376W WO2021217832A1 WO 2021217832 A1 WO2021217832 A1 WO 2021217832A1 CN 2020097376 W CN2020097376 W CN 2020097376W WO 2021217832 A1 WO2021217832 A1 WO 2021217832A1
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Prior art keywords
drive device
electric drive
transmission mechanism
hybrid
drive unit
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PCT/CN2020/097376
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English (en)
French (fr)
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崔凌
邓爽
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深圳市三庆新能源科技有限公司
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Publication of WO2021217832A1 publication Critical patent/WO2021217832A1/zh

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    • 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
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • 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
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/026—Aircraft characterised by the type or position of power plants comprising different types of power plants, e.g. combination of a piston engine and a gas-turbine
    • 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
    • B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
    • B64D35/04—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions characterised by the transmission driving a plurality of propellers or rotors

Definitions

  • This application relates to the field of drone driving technology, and in particular to a hybrid drive device and a drone.
  • UAVs on the market mainly use lithium polymer batteries as their main power, and their endurance is generally about 30 minutes.
  • multi-rotor UAVs are the best consumer and commercial models among UAVs, mainly electric.
  • lithium batteries have shortcomings such as low energy density and short service life, resulting in short flight time and small range of UAVs, which severely restricts the development of multi-rotor UAVs in various fields.
  • the UAV power system determines the endurance state of the endurance. According to the different power sources, it can be divided into oil-powered UAVs, electric UAVs, solid oxide fuel UAVs, solar UAVs, and hybrid UAVs.
  • the hybrid power system of the multi-rotor UAV consists of two power systems, electric drive and conventional engine, to achieve a combination of good take-off, climb performance, quietness, and ultra-long endurance.
  • the internal combustion engine drives the generator to charge the battery, and the battery starts the electric engine.
  • the embodiments of the present application propose a hybrid drive device and an unmanned aerial vehicle, aiming to solve the problems of large weight, volume, high cost, and low energy conversion efficiency of the hybrid power system in the prior art.
  • an embodiment of the present application proposes a hybrid drive device, the hybrid drive device is applied to an unmanned aerial vehicle, the unmanned aerial vehicle includes a plurality of rotors; the hybrid drive device It includes an engine, a power distribution module, a plurality of main electric drive units, and an auxiliary electric drive unit; the plurality of main electric drive units are respectively connected to a plurality of rotors of the drone; the power distribution module includes a plurality of sequentially connected The transmission mechanism; the transmission mechanism includes a planet carrier, a planetary gear, a sun gear and a transmission wheel; the transmission wheel is a ring structure, the inner side of the transmission wheel is provided with an inner ring gear, and the outer side of the transmission wheel is provided Outer ring gear; the outer ring gear of the transmission wheel is connected with the rotor of the drone; the planet is mounted on one side of the transmission wheel, and the sun gear is arranged at the center of the transmission wheel; The planetary gears are arranged on the
  • the main electric drive unit includes a main motor and a first reduction gear set, and the main motor is connected to the output shaft of the rotor through the first reduction gear set.
  • the auxiliary electric drive unit includes an auxiliary motor and a second reduction gear set, and the auxiliary motor is connected to the sun gear of the last transmission mechanism through the second reduction gear set.
  • a further technical solution is that the outer ring gear of the transmission wheel is connected to the output shaft of the rotor through a third reduction gear set.
  • a further technical solution is that the engine is connected to the planet carrier of the first transmission mechanism through a central shaft.
  • the hybrid drive device further includes a controller, and the main electric drive unit and the auxiliary electric drive unit are both connected to the controller and controlled by the controller.
  • the transmission mechanism includes a plurality of planet wheels, and the plurality of planet wheels are evenly arranged in the gap between the sun gear and the transmission wheel.
  • the hybrid drive device further includes a battery, and the battery is respectively connected to the main electric drive unit and the auxiliary electric drive unit.
  • a further technical solution is that the storage battery is a lithium battery.
  • an embodiment of the present application provides an unmanned aerial vehicle including the hybrid drive device described in the first aspect.
  • the engine can directly drive the rotor of the drone to rotate through the power distribution module.
  • the engine generates electricity and then is driven by electricity, which has higher energy conversion efficiency.
  • the whole machine can be lighter in weight and smaller in size, suitable for small drones, and at the same time saving costs.
  • FIG. 1 is a schematic structural diagram of a power distribution module of a hybrid drive device according to an embodiment of the application
  • Fig. 2 is a schematic structural diagram of a main electric drive unit of a hybrid drive device provided by an embodiment of the application.
  • Power distribution module 100 main electric drive unit 200, transmission mechanism 10, planetary gear 11, sun gear 12, transmission wheel 13, inner gear 131, outer gear 132, main motor 21, first reduction gear set 22, first Three reduction gear set 20 and output shaft 30.
  • an embodiment of the present application proposes a hybrid drive device.
  • the hybrid drive device is applied to an unmanned aerial vehicle, and the unmanned aerial vehicle includes a plurality of rotors.
  • the hybrid drive device includes an engine, a power distribution module 100, a plurality of main electric drive units 200, and an auxiliary electric drive unit.
  • the multiple main electric drive units 200 are respectively connected with multiple rotors of the drone, and are used to drive the rotors of the drone to rotate.
  • the power distribution module 100 includes a plurality of transmission mechanisms 10 connected in sequence; the transmission mechanism 10 includes a planet carrier, a planetary wheel 11, a sun gear 12 and a transmission wheel 13.
  • the transmission wheel 13 has an annular structure, an inner gear ring 131 is provided on the inner side of the transmission wheel 13, and an outer gear ring 132 is provided on the outer side of the transmission wheel 13.
  • the outer ring gear 132 of the transmission wheel 13 is connected with the rotor of the drone, and is used to drive the rotor of the drone to rotate.
  • the planet carrier is arranged on one side of the transmission wheel 13, the sun gear is arranged in the center of the transmission wheel, and the planet gear 11 is arranged on the planet carrier and is respectively connected to the sun gear 12 and the transmission wheel.
  • the inner ring gear 131 of the transmission wheel 13 meshes.
  • the planet carrier of the first transmission mechanism 10 is connected to the engine; starting from the first transmission mechanism 10, the sun gear 12 of the previous transmission mechanism 10 is connected to the rear The planet carrier of a transmission mechanism 10 is connected; the sun gear 12 of the last transmission mechanism 10 is connected with the auxiliary electric drive unit.
  • the engine drives the planet carrier of the first transmission mechanism 10 to rotate, and the sun gear 12 and planet carrier of the two front and rear transmission mechanisms 10 can be linked to drive each transmission mechanism 10 to operate sequentially to output power to each rotor.
  • the engine needs to be started by the auxiliary electric drive unit.
  • the specific process is as follows: the auxiliary electric drive unit is turned on and the four-stage sun gear 12 is driven at low speed; the planet carrier of each transmission mechanism 10 and The sun gear 12 is driven to run in turn, and finally drives the engine to run to start the engine. Once the engine is started successfully, the engine speed is quickly raised to the idle state, and the auxiliary electric drive unit immediately stops the electric drive.
  • the engine can directly drive the rotor of the unmanned aerial vehicle to rotate through the power distribution module 100.
  • the engine generates electricity and then is driven by electricity, which has a higher energy conversion efficiency. Since the power generation system is omitted, the whole machine can be lighter in weight and smaller in size, suitable for small drones, and at the same time saving costs.
  • the main electric drive unit 200 includes a main motor 21 and a first reduction gear set 22, and the main motor 21 passes through the first reduction gear
  • the group 22 is connected to the output shaft 30 of the rotor.
  • the first reduction gear set 22 plays a role of speed matching.
  • the auxiliary electric drive unit includes an auxiliary motor and a second reduction gear set, and the auxiliary motor is connected to the sun gear 12 of the last transmission mechanism 10 through the second reduction gear set.
  • the second reduction gear set plays a role in speed matching.
  • the outer ring gear 132 of the transmission wheel 13 is connected to the output shaft 30 of the rotor through a third reduction gear set 20.
  • the third reduction gear set 20 plays a role of speed matching.
  • the engine is connected to the planet carrier of the first transmission mechanism 10 through a central shaft.
  • the hybrid drive device further includes a controller, and the main electric drive unit 200 and the auxiliary electric drive unit are both connected to and controlled by the controller.
  • the transmission mechanism 10 includes a plurality of planetary gears 11, and the plurality of planetary gears 11 are evenly arranged in the gap between the sun gear 12 and the transmission gear 13.
  • the hybrid drive device further includes a battery, which is respectively connected to the main electric drive unit 200 and the auxiliary electric drive unit.
  • the storage battery is a lithium battery.
  • the auxiliary electric drive unit turns on and drives the last sun gear to run at low speed; the main electric drive unit controls the transmission wheel to be in a static state, and the planet carrier and sun gear of each transmission mechanism are driven to run in turn, and finally drives the engine to run to start the engine. Once the engine is started successfully, the engine speed is quickly raised to the idle state, and the auxiliary electric drive unit immediately stops the electric drive.
  • the engine electronic control instruction controls the engine to run at the optimal operating speed of 50%-75% load, and it is transmitted to each rotor through the above-mentioned power distribution module.
  • the controller receives the flight control module information command and will automatically adjust each rotor The speed and torque of the output shaft, the execution of the flight attitude and mode. It can realize aerial flight actions such as take-off, landing, hovering in the air, turning, forwarding, reversing, acceleration and deceleration of the drone.
  • Hybrid operation and energy recovery Because the engine is controlled to run at the optimal speed load, the engine speed fluctuation is small. When the drone is in a stable state, the kinetic energy allocated to each rotor will be excessive, and it will be switched by the auxiliary electric drive unit. In the power generation mode, it is converted into electric energy and stored in the battery, which is supplied to the main electric drive unit to drive the rotor.
  • the main electric drive unit increases the electric driving force to supplement the insufficient kinetic energy.
  • the main electric drive unit When the main electric drive unit is not involved in driving the rotor or the rotation speed of each main motor is consistent and driving, the engine power is evenly distributed to each output shaft and drives each rotor to the same rotation speed, and the auxiliary electric drive unit participates in adjusting the rotation speed of the last sun wheel.
  • the wheel synchronization makes the rotation speed of each rotor change (up or down) at the same time.
  • the controller controls the main electric drive unit to participate in the drive.
  • the main electric drive units at all levels can independently control the change of the corresponding rotor speed.
  • Each rotor can independently implement speed adjustment, which will change the flight mode and flight attitude (such as steering, Go ahead and so on).
  • An embodiment of the present application also proposes an unmanned aerial vehicle, which includes the hybrid drive device proposed in the above embodiments.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

本申请公开了一种混合动力驱动装置以及无人机。混合动力驱动装置包括发动机、动力分配模组、多个主电驱动单元以及辅助电驱动单元；多个主电驱动单元分别与无人机的多个旋翼连接；动力分配模组包括多个依次连接的传动机构。传动机构包括行星架、行星轮、太阳轮以及传动轮。第一个传动机构的行星架与发动机连接；从第一个传动机构开始，前一个传动机构的太阳轮与后一个传动机构的行星架连接；最后一个传动机构的太阳轮与辅助电驱动单元连接。发动机可通过动力分配模组直接驱动无人机的旋翼旋转，相比于发动机先发电再由电驱动的方式，具有更高的能量转换效率。由于省去了发电系统，可使得整机的质量更轻，体积更小，同时也节约了成本。

Description

一种混合动力驱动装置以及无人机
本申请是以申请号为202010352268.7、申请日为2020年4月28日的中国专利申请为基础，并主张其优先权，该申请的全部内容在此作为整体引入本申请中。
技术领域
本申请涉及无人机驱动技术领域，尤其涉及一种混合动力驱动装置以及无人机。
背景技术
续航问题是无人机最重要一个致命的短板，大大限制了行业的发展。解决无人机电池续航能力迫在眉睫。市面上的无人机主要采用锂聚合物电池作为主要动力，续航能力一般在30分钟左右。尤其是多旋翼无人机是无人机当中的消费级和商用最佳机型，主要以电动为主。然而，锂电池存在能量密度低和使用寿命短等缺点，导致无人机飞行时间短、航程小，严重制约了多旋翼无人机在各领域的发展。
无人机动力系统决定了续航持久状态，根据动力来源的不同可分为油动无人机、电动无人机、固态氧化物燃料无人机、太阳能无人机、混合动力无人机。
用燃油发动机为动力可以实现长续航，很适合固定翼无人机，却不适合主流的多旋翼无人机；目前最有效的方法是采用油电混合动力系统给多旋翼无人机带来长续航效果。但体积大而重，安全性偏差问题凸显，影响其中小型无人机的推广实用。
多旋翼无人机混合动力系统由电驱动和常规发动机两种动力系统构成，以实现良好的起飞、爬升性能和静音、超长航时的结合。由内燃机发动机带动发电机为电池充电、电池再发动电力引擎。
现在成熟的油电混合动力系统都是单台燃油发动机发电，给电池充电再驱动电动机带动旋翼，通常可以满足2-4小时续航能力。因有独立发电机充电，转换效率降低，也增加了整机重量和体积，减低了载荷和续航能力，同时也增加了成本。虽然续航能力看好，但也是直接电机动力驱动旋翼，如果电机输出功率没 有提升，效率载荷能力就较差；限制了其在小、中型多旋翼机上应用。总之，1)混动动力系统重量体积过大影响载荷能力，无法在小中型多旋翼机上应用2)增加了发电机系统，同时加高了整机成本，3)发动机动力非直接驱动，转换效率偏低。
申请内容
本申请实施例提出一种混合动力驱动装置以及无人机，旨在解决现有技术中混动动力系统重量体积大、成本高以及能量转换效率低下的问题。
为了解决上述问题，第一方面，本申请实施例提出一种混合动力驱动装置，所述混合动力驱动装置应用于无人机中，所述无人机包括多个旋翼；所述混合动力驱动装置包括发动机、动力分配模组、多个主电驱动单元以及辅助电驱动单元；多个主电驱动单元分别与所述无人机的多个旋翼连接；所述动力分配模组包括多个依次连接的传动机构；所述传动机构包括行星架、行星轮、太阳轮以及传动轮；所述传动轮为环状结构，所述传动轮的内侧设有内齿圈，所述传动轮的外侧设有外齿圈；所述传动轮的外齿圈与所述无人机的旋翼连接；所述行星架设于所述传动轮的一侧，所述太阳轮设于所述传动轮的中心；所述行星轮设于所述行星架上，且分别与所述太阳轮以及所述传动轮的内齿圈啮合；其中，第一个传动机构的行星架与发动机连接；从第一个传动机构开始，前一个传动机构的太阳轮与后一个传动机构的行星架连接；最后一个传动机构的太阳轮与所述辅助电驱动单元连接。
其进一步的技术方案为，所述主电驱动单元包括主电机以及第一减速齿轮组，所述主电机通过所述第一减速齿轮组与所述旋翼的输出轴连接。
其进一步的技术方案为，所述辅助电驱动单元包括辅助电机以及第二减速齿轮组，所述辅助电机通过所述第二减速齿轮组与所述最后一个传动机构的太阳轮连接。
其进一步的技术方案为，所述传动轮的外齿圈通过第三减速齿轮组与所述旋翼的输出轴连接。
其进一步的技术方案为，所述发动机通过中轴与所述第一个传动机构的行星架连接。
其进一步的技术方案为，所述混合动力驱动装置还包括控制器，所述主电驱动单元以及所述辅助电驱动单元均与所述控制器连接且受控于所述控制器。
其进一步的技术方案为，所述传动机构包括多个行星轮，多个所述行星轮均匀设于所述太阳轮与所述传动轮的间隙内。
其进一步的技术方案为，所述混合动力驱动装置还包括蓄电池，所述蓄电池分别与所述主电驱动单元以及所述辅助电驱动单元连接。
其进一步的技术方案为，所述蓄电池为锂电池。
第二方面，本申请实施例提出一种无人机，所述无人机包括第一方面所述的混合动力驱动装置。
与现有技术相比，本申请实施例所能达到的技术效果包括：
通过应用本申请实施例的技术方案，发动机可通过动力分配模组直接驱动无人机的旋翼旋转，相比于现有技术中发动机先发电再由电驱动的方式，具有更高的能量转换效率。由于省去了发电系统，可使得整机的质量更轻，体积更小，适用于小型的无人机，同时也节约了成本。
附图说明
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的一种混合动力驱动装置的动力分配模组的结构示意图；
图2为本申请实施例提供的一种混合动力驱动装置的主电驱动单元的结构示意图。
附图标记
动力分配模组100、主电驱动单元200、传动机构10、行星轮11、太阳轮12、传动轮13、内齿圈131、外齿圈132、主电机21、第一减速齿轮组22、第三减速齿轮组20以及输出轴30。
具体实施方式
下面将结合本申请实施例中的附图，对实施例中的技术方案进行清楚、完整地描述，附图中类似的组件标号代表类似的组件。显然，以下将描述的实施例仅仅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作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。
应当理解，当在本说明书和所附权利要求书中使用时，术语“包括”和“包含”指示所描述特征、整体、步骤、操作、元素和/或组件的存在，但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。
还应当理解，在此本申请实施例说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请实施例。如在本申请实施例说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。
参见图1-图2，本申请实施例提出一种混合动力驱动装置，所述混合动力驱动装置应用于无人机中，所述无人机包括多个旋翼。所述混合动力驱动装置包括发动机、动力分配模组100、多个主电驱动单元200以及辅助电驱动单元。
多个主电驱动单元200分别与所述无人机的多个旋翼连接，用于驱动无人机的旋翼转动。
动力分配模组100包括多个依次连接的传动机构10；所述传动机构10包括行星架、行星轮11、太阳轮12以及传动轮13。所述传动轮13为环状结构，所述传动轮13的内侧设有内齿圈131，所述传动轮13的外侧设有外齿圈132。所述传动轮13的外齿圈132与所述无人机的旋翼连接，用于驱动所述无人机的旋翼转动。
所述行星架设于所述传动轮13的一侧，所述太阳轮设于所述传动轮的中心，所述行星轮11设于所述行星架上，且分别与所述太阳轮12以及所述传动轮13的内齿圈131啮合。
本申请实施例中，在多个依次连接的传动机构10中，第一个传动机构10的行星架与发动机连接；从第一个传动机构10开始，前一个传动机构10的太阳轮12与后一个传动机构10的行星架连接；最后一个传动机构10的太阳轮12与所述辅助电驱动单元连接。
基于以上结构设计，发动机带动第一个传动机构10的行星架转动，通过前后两个传动机构10的太阳轮12与行星架能够联动带动各传动机构10依次运转而输出动力到各旋翼。
需要说明的是，在本申请实施例中，发动机是需由辅助电驱动单元启动的，具体过程如下：辅助电驱动单元开启并低速驱动四级太阳轮12运转；各传动机构10的行星架以及太阳轮12依次被带动运转，并最终带动发动机运转以启动发动机。一旦发动机启动成功，发动机转速迅速提升到怠速状态，同时辅助电驱动单元马上停止电驱动。
本申请实施例的技术方案，发动机可通过动力分配模组100直接驱动无人机的旋翼旋转，相比于现有技术中发动机先发电再由电驱动的方式，具有更高的能量转换效率。由于省去了发电系统，可使得整机的质量更轻，体积更小，适用于小型的无人机，同时也节约了成本。
参见图1-图2，在某些实施例，例如本实施例中，所述主电驱动单元200包括主电机21以及第一减速齿轮组22，所述主电机21通过所述第一减速齿轮组22与所述旋翼的输出轴30连接。第一减速齿轮组22起到速度匹配的作用。
进一步地，所述辅助电驱动单元包括辅助电机以及第二减速齿轮组，所述辅助电机通过所述第二减速齿轮组与所述最后一个传动机构10的太阳轮12连接。第二减速齿轮组起到速度匹配的作用。
进一步地，所述传动轮13的外齿圈132通过第三减速齿轮组20与所述旋翼的输出轴30连接。第三减速齿轮组20起到速度匹配的作用。
进一步地，所述发动机通过中轴与所述第一个传动机构10的行星架连接。
进一步地，所述混合动力驱动装置还包括控制器，所述主电驱动单元200以及所述辅助电驱动单元均与所述控制器连接且受控于所述控制器。
进一步地，所述传动机构10包括多个行星轮11，多个所述行星轮11均匀设于所述太阳轮12与所述传动轮13的间隙内。
进一步地，所述混合动力驱动装置还包括蓄电池，所述蓄电池分别与所述主电驱动单元200以及所述辅助电驱动单元连接。
进一步地，所述蓄电池为锂电池。
工作原理说明：
(1)发动机启动
辅助电驱动单元开启并低速驱动最后一个太阳轮运转；主电驱动单元控制传动轮处于静止状态，各传动机构的行星架以及太阳轮依次被带动运转，并最终带动发动机运转以启动发动机。一旦发动机启动成功，发动机转速迅速提升到怠速状态，同时辅助电驱动单元马上停止电驱动。
(2)旋翼运转与控制
发动机怠速稳定后，发动机电控指示控制发动机运行在最佳50％-75％负载的运行转速，通过上述动力分配模组传动到各旋翼，控制器接收飞控模块信息指令，将自动调整各旋翼的输出轴转速和力矩，执行飞行姿态和模式。可实现无人机起飞、降落、空中悬停、转向、前行、倒车、加减速等空中飞行动作。
(3)混动运行与能量回收：因发动机控制在最佳转速负载下运行，发动机转速波动小，在无人机平稳状态下，分配到各旋翼的动能会过剩，则由辅助电驱动单元切换成发电模式，转成电能储存到蓄电池，供给主电驱动单元补充驱动旋翼。
如果发动机动力分配到各旋翼的动能不足，主电驱动单元增大电驱动力，以补充不足的动能。
工作模式说明
(1)起飞与降落模式
当主电驱动单元不参与驱动旋翼或各主电机转速一致保持驱动时，发动机动力均匀分配到各输出轴并带动各旋翼使其相同转速，辅助电驱动单元参与调整最后一个太阳轮转速，各级太阳轮同步使各旋翼转速同时发生变化(上升或下降)。
(2)模式/姿态调整
根据飞控系统指令，由控制器控制主电驱动单元参与驱动，各级主电驱动单元可独立控制相应旋翼转速变化，各旋翼可以独立实施转速调整，将变换飞行模式和飞行姿态(如转向、前行等)。
本申请实施例还提出一种无人机，所述无人机包括以上实施例提出的混合动力 驱动装置。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详细描述的部分，可以参见其他实施例的相关描述。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样，尚且本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。
以上所述，为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。
发明概述
技术问题
问题的解决方案
发明的有益效果

Claims (10)

  1. 一种混合动力驱动装置，其特征在于，所述混合动力驱动装置应用于无人机中，所述无人机包括多个旋翼；所述混合动力驱动装置包括发动机、动力分配模组、多个主电驱动单元以及辅助电驱动单元；多个主电驱动单元分别与所述无人机的多个旋翼连接；所述动力分配模组包括多个依次连接的传动机构；所述传动机构包括行星架、行星轮、太阳轮以及传动轮；所述传动轮为环状结构，所述传动轮的内侧设有内齿圈，所述传动轮的外侧设有外齿圈；所述传动轮的外齿圈与所述无人机的旋翼连接；所述行星架设于所述传动轮的一侧，所述太阳轮设于所述传动轮的中心；所述行星轮设于所述行星架上，且分别与所述太阳轮以及所述传动轮的内齿圈啮合；其中，第一个传动机构的行星架与发动机连接；从第一个传动机构开始，前一个传动机构的太阳轮与后一个传动机构的行星架连接；最后一个传动机构的太阳轮与所述辅助电驱动单元连接。
  2. 根据权利要求1所述的混合动力驱动装置，其特征在于，所述主电驱动单元包括主电机以及第一减速齿轮组，所述主电机通过所述第一减速齿轮组与所述旋翼的输出轴连接。
  3. 根据权利要求1所述的混合动力驱动装置，其特征在于，所述辅助电驱动单元包括辅助电机以及第二减速齿轮组，所述辅助电机通过所述第二减速齿轮组与所述最后一个传动机构的太阳轮连接。
  4. 根据权利要求1所述的混合动力驱动装置，其特征在于，所述传动轮的外齿圈通过第三减速齿轮组与所述旋翼的输出轴连接。
  5. 根据权利要求1所述的混合动力驱动装置，其特征在于，所述发动机通过中轴与所述第一个传动机构的行星架连接。
  6. 根据权利要求1所述的混合动力驱动装置，其特征在于，所述混合动力驱动装置还包括控制器，所述主电驱动单元以及所述辅助电驱动单元均与所述控制器连接且受控于所述控制器。
  7. 根据权利要求1所述的混合动力驱动装置，其特征在于，所述传动机构包括多个行星轮，多个所述行星轮均匀设于所述太阳轮与所述传动轮的间隙内。
  8. 根据权利要求1所述的混合动力驱动装置，其特征在于，所述混合动力驱动装置还包括蓄电池，所述蓄电池分别与所述主电驱动单元以及所述辅助电驱动单元连接。
  9. 根据权利要求8所述的混合动力驱动装置，其特征在于，所述蓄电池为锂电池。
  10. 一种无人机，其特征在于，包括如权利要求1-9任一项所述的混合动力驱动装置。
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