WO2021229771A1 - Objet volant et moteur - Google Patents

Objet volant et moteur Download PDF

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Publication number
WO2021229771A1
WO2021229771A1 PCT/JP2020/019348 JP2020019348W WO2021229771A1 WO 2021229771 A1 WO2021229771 A1 WO 2021229771A1 JP 2020019348 W JP2020019348 W JP 2020019348W WO 2021229771 A1 WO2021229771 A1 WO 2021229771A1
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WO
WIPO (PCT)
Prior art keywords
motor
rotor
surface portion
flying object
stator
Prior art date
Application number
PCT/JP2020/019348
Other languages
English (en)
Japanese (ja)
Inventor
千大 和氣
敦教 西東
宏記 加藤
Original Assignee
株式会社ナイルワークス
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 株式会社ナイルワークス filed Critical 株式会社ナイルワークス
Priority to PCT/JP2020/019348 priority Critical patent/WO2021229771A1/fr
Priority to JP2022522452A priority patent/JP7369487B2/ja
Publication of WO2021229771A1 publication Critical patent/WO2021229771A1/fr

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Classifications

    • 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
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • 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
    • B64D33/00—Arrangements in aircraft of power plant parts or auxiliaries not otherwise provided for
    • B64D33/08—Arrangements in aircraft of power plant parts or auxiliaries not otherwise provided for of power plant cooling systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/24—Coaxial rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/20—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K9/00—Arrangements for cooling or ventilating
    • H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine
    • H02K9/04—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium
    • H02K9/06—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium with fans or impellers driven by the machine shaft
    • 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
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/90—Cooling
    • B64U20/94—Cooling of rotors or rotor motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting

Definitions

  • the present invention relates to an air vehicle and a motor.
  • Patent Document 1 aims to provide a highly durable all-weather motor capable of preventing deterioration of motor performance by enhancing heat dissipation and maintaining motor performance by enhancing dustproof and drip-proof performance. ([0005], summary).
  • the rotor 14 has a rotary case body 4 having an intake opening 4e and an exhaust opening 4f, and fins 17.
  • the intake opening 4e covers the outer peripheral side of the stator core 12 and both ends in the axial direction of the bearing housing 11, and intakes air in the axial direction to one end side in the axial direction.
  • the exhaust opening 4f exhausts in the radial direction toward the other end in the axial direction.
  • the fin 17 is provided on the inner surface of the other end in the axial direction of the rotating case body 4.
  • the intake opening 4e and the exhaust opening 4f are each covered with a water-repellent filter material 18 having a predetermined opening diameter.
  • the exhaust opening 4f is provided on the side surface portion of the second case body 4b facing the outer peripheral side tip portion of the blade plate 17c ([0021], FIG. 2). Further, the rotor magnet 4d is arranged to face the tip of the pole tooth 12a of the stator core 12 ([0020], FIG. 2).
  • Patent Document 1 the exhaust opening 4f for exhausting in the radial direction to the other end side in the axial direction is provided on the side surface portion of the second case body 4b facing the outer peripheral side tip portion of the wing plate 17c. ([0021], FIG. 2).
  • Patent Document 1 there is room for improvement in cooling the inside of the motor or discharging foreign matter from the inside of the motor or its surroundings.
  • the present invention has been made in consideration of the above-mentioned problems, and an object of the present invention is to provide an air vehicle and a motor capable of improving cooling of the inside of a motor or emission of foreign matter from the inside of the motor or its surroundings.
  • the flying object according to the present invention is With a propeller, The motor that rotates the propeller and It is provided with a motor control unit that controls the motor.
  • the motor control unit flies the flying object by executing a forward rotation operation for rotating the motor and the propeller in the forward direction.
  • the motor is With the stator, A rotor that rotates outside the stator is provided.
  • the stator comprises a plurality of coils and
  • the rotor is With the rotor shaft With the rotor frame Equipped with multiple permanent magnets,
  • the rotor frame is The top surface connected to the rotor shaft and It is provided with a cylindrical side surface portion connected to the top surface portion.
  • the plurality of permanent magnets are arranged on the side surface portion along the circumferential direction and face the plurality of coils.
  • the side surface portion of the rotor frame is characterized in that a plurality of first through holes for exhaust are formed at positions between the plurality of permanent magnets arranged along the circumferential direction.
  • a plurality of first through holes for exhaust are formed at positions between a plurality of permanent magnets arranged along the circumferential direction and facing the plurality of coils. ing. This makes it possible to generate an air flow from the inside of the motor to the outside of the motor through the first through hole when the rotor rotates. Then, this air flow makes it possible to cool the inside of the motor or discharge foreign matter inside or around the motor.
  • the first through hole may be inclined with respect to the normal line of the side surface portion. Further, the outlet of the first through hole provided on the outer periphery of the side surface portion is arranged behind the inlet of the first through hole provided on the inner circumference of the side surface portion in the forward rotation direction of the motor. May be good. This makes it easier for the airflow inside the motor to be smoothly discharged to the outside of the motor. Therefore, it is possible to promote cooling inside the motor or release of foreign matter inside or around the motor.
  • the side surface of the permanent magnet may be inclined with respect to the normal of the side surface portion so as to be flush with the inner wall of the side surface portion forming the first through hole. good. This makes it easier for the airflow inside the motor to be discharged to the outside of the motor more smoothly. Therefore, it is possible to further promote cooling inside the motor or release of foreign matter inside or around the motor.
  • the first through hole and the second through hole may communicate with each other. This makes it possible to further increase the airflow from the inside of the motor to the outside of the motor.
  • the motor may include a net-like upstream filter arranged on the upstream side of the gap between the coil and the permanent magnet with reference to the air flow during the forward rotation operation. Further, the mesh size of the upstream filter may be smaller than that of the gap, at least in front of the gap. This makes it easier to prevent foreign matter from entering the gap between the coil and the permanent magnet during flight of the flying object.
  • the motor may include a net-like downstream filter arranged corresponding to the first through hole. Further, the mesh size of the downstream filter may be larger than the gap at least at the position of the first through hole. This makes it easier to prevent relatively large foreign matter from entering the gap when the flying object is not flying. In addition, relatively small foreign matter that has entered the gap between the coil and the permanent magnet during flight of the flying object is easily discharged to the outside of the motor through the first through hole.
  • the stator may include a heat sink that releases the heat generated by the stator.
  • the upstream side filter may be located on the upstream side of the heat sink in addition to the upstream side of the gap, based on the air flow during the forward rotation operation. This makes it possible to prevent foreign matter from entering the heat sink.
  • the mesh size of the upstream filter may be larger than the gap. This makes it possible to smooth the airflow around the heat sink, prevent foreign matter from entering the heat sink, and improve the cooling performance of the stator.
  • the upstream filter may be arranged so as to avoid the upstream side of the heat sink. This prevents the airflow that hits the heat sink from being blocked by the upstream filter, and makes it possible to improve the cooling performance.
  • the motor according to the present invention includes a stator and a rotor, and includes a stator and a rotor.
  • the stator comprises a plurality of coils and
  • the rotor is With the rotor shaft With the rotor frame Equipped with multiple permanent magnets,
  • the rotor frame is The top surface connected to the rotor shaft and It is provided with a cylindrical side surface portion connected to the top surface portion.
  • the plurality of permanent magnets are arranged on the side surface portion along the circumferential direction and face the plurality of coils.
  • the side surface portion of the rotor frame is characterized in that a plurality of first through holes are formed at positions between the plurality of permanent magnets arranged along the circumferential direction.
  • FIG. 1 is an overall configuration diagram showing an outline of a farming system 10 including a drone 24 as a flying object according to an embodiment of the present invention.
  • the farming system 10 (hereinafter, also referred to as “system 10”) can diagnose the growth of the crop 802 growing in the field 800 and spray the chemicals on the crop 802.
  • the crop 802 of the present embodiment is rice (paddy rice), but other crops (for example, upland rice, wheat, barley) may be used.
  • the system 10 has a field sensor group 20, a farming server 22, and a user terminal 26 in addition to the drone 24.
  • the field sensor group 20, the drone 24, and the user terminal 26 can communicate wirelessly with each other via the communication network 30 (including the wireless base station 32) and can communicate with the farming server 22.
  • the wireless communication communication that does not go through the wireless base station 32 (for example, LTE (LongTermEvolution), WiFi) can be used.
  • the field sensor group 20 is installed in the field 800 as a paddy field, detects various data in the field 800, and provides the farming server 22 or the like.
  • the field sensor group 20 includes, for example, a water temperature sensor, a temperature sensor, a precipitation sensor, an illuminance meter, an anemometer, a barometer, and a hygrometer.
  • the water temperature sensor detects the water temperature of the field 800, which is a paddy field.
  • the temperature sensor detects the temperature of the field 800.
  • the precipitation sensor detects the amount of precipitation in the field 800.
  • the illuminometer detects the amount of sunshine in the field 800.
  • the anemometer detects the wind speed of the field 800.
  • the barometer detects the barometric pressure in the field 800.
  • the hygrometer detects the humidity of the field 800.
  • the farming server 22 performs a growth diagnosis using a growth diagnosis model, and gives a work instruction to the user based on the diagnosis result.
  • the work instructions include the timing of fertilizer application, the type / amount of fertilizer, the timing of spraying pesticides, the type / amount of pesticides, and the like.
  • the farming server 22 has an input / output unit, a communication unit, a calculation unit, and a storage unit (none of which are shown). Further, the farming server 22 executes growth diagnosis control for performing growth diagnosis using the growth diagnosis model, flight management control for managing flight (flight timing, flight path, etc.) of the drone 24, and the like.
  • FIG. 2 is a configuration diagram simply showing the configuration of the drone 24 according to the present embodiment.
  • FIG. 3 is an external perspective view of the drone 24 according to the present embodiment.
  • FIG. 4 is a bottom view of the drone 24 according to the present embodiment.
  • the drone 24 of the present embodiment functions as a means for acquiring an image of the field 800 (crop 802) and also as a means for spraying a chemical (including liquid fertilizer) on the crop 802.
  • the drone 24 takes off and landing at the departure and arrival point 810 (FIG. 1).
  • the drone 24 includes a drone sensor group 60, a communication unit 62, a flight mechanism 64, a photographing mechanism 66, a spraying mechanism 68, and a drone control unit 70.
  • the drone sensor group 60 includes a quasi-zenith satellite system sensor or a global positioning system sensor (hereinafter referred to as “GPS sensor”), a gyro sensor, a liquid level sensor, a speedometer, an altitude meter, a rotation sensor, and the like (none of which are shown). ).
  • the quasi-zenith satellite system sensor or GPS sensor outputs the current position information of the drone 24.
  • the gyro sensor detects the angular velocity of the drone 24.
  • the liquid amount sensor detects the amount of liquid in the tank 180 (FIG. 4) of the spraying mechanism 68.
  • the speedometer detects the flight speed of the drone 24.
  • the altimeter detects altitude (so-called ground level) as a distance to an object located below the drone 24.
  • the rotation sensor detects the rotation speed of each propeller 130.
  • the communication unit 62 (FIG. 2) is capable of radio wave communication via the communication network 30 (FIG. 1), and includes, for example, a radio wave communication module.
  • the communication unit 62 can communicate with the field sensor group 20, the farming server 22, the user terminal 26, etc. via the communication network 30 (including the wireless base station 32).
  • the flight mechanism 64 is a mechanism for flying the drone 24. As shown in FIGS. 3 and 4, the flight mechanism 64 includes a plurality of propellers 130flu, 130fl, 130flu, 130fl, 130rlu, 130rll, 130rru, 130rrl (hereinafter collectively referred to as “propeller 130”) and a plurality of electric motors.
  • propeller guard 134" 134fl, 134fr, 134rr, 134rr, 134rr
  • the propeller 130 of the present embodiment is a so-called counter-rotating type, in which two propellers 130 (for example, propellers 130flu and 130fl) are arranged coaxially, and the upper and lower propellers 130 are oriented in opposite directions. Rotate. In this embodiment, there are four sets of counter-rotating propellers 130.
  • each propeller 130 is arranged on four sides of the main body 90 by arms 138u, 138l, 140lu, 140ll, 140ru, 140rl extending from the main body 90 of the drone 24. That is, the propellers 130flu and 130fl are arranged in the front left, the propellers 130fr and 130fl are arranged in the front right, the propellers 130rlu and 130rll are arranged in the rear left, and the propellers 130rru and 130rll are arranged in the rear right.
  • rod-shaped legs 142fl, 142fr, 142rr, and 142rr (hereinafter collectively referred to as "feet 142") extend.
  • the motor 132 is a means for rotating the propeller 130, and is provided for each propeller 130.
  • a set of upper and lower propellers 130 eg, propellers 130flu, 130fl
  • their corresponding motors 132 eg, motors 132flu, 132fl
  • a set of upper and lower motors 132 rotate in opposite directions.
  • the pair of the propeller 130 and the motor 132 is also referred to as a propeller unit U. Details of the motor 132 (internal structure, etc.) will be described later with reference to FIGS. 5 to 8.
  • the photographing mechanism 66 (FIG. 2) is a mechanism for photographing an image of the field 800 or the crop 802, and has a camera 160.
  • the camera 160 of the present embodiment is a multispectral camera, and in particular, acquires an image capable of analyzing the growth state of the crop 802.
  • the photographing mechanism 66 may further include an irradiation unit that irradiates the field 800 with a light beam having a specific wavelength, and may be capable of receiving the reflected light from the field 800 with respect to the light beam.
  • the light rays having a specific wavelength may be, for example, red light (wavelength of about 650 nm) and near-infrared light (wavelength of about 774 nm).
  • the camera 160 outputs image data related to peripheral images taken around the drone 24.
  • the camera 160 is a video camera that shoots a moving image.
  • the camera 160 may be capable of capturing both moving images and still images, or only still images.
  • the orientation of the camera 160 (the posture of the camera 160 with respect to the main body 90 of the drone 24) can be adjusted by a camera actuator (not shown).
  • the camera 160 may be fixed in position with respect to the main body 90 of the drone 24.
  • the spraying mechanism 68 (FIG. 2) is a mechanism for spraying a chemical (including liquid fertilizer). As shown in FIG. 4 and the like, the spraying mechanism 68 is collectively referred to as a tank 180, a pump 182, a pipe 184, a flow rate adjusting valve (not shown), and a drug nozzle 186l1, 186l2, 186r1, 186r2 (hereinafter, “nozzle 186”). ).
  • the tank 180 stores the chemicals (sprayed material) to be sprayed.
  • the pump 182 pushes the medicine in the tank 180 into the pipe 184.
  • the pipe 184 connects the tank 180 and each nozzle 186.
  • Each nozzle 186 is a means (discharge port) for spraying the medicine downward.
  • the drone control unit 70 (FIG. 2) controls the entire drone 24, such as flight, photographing, and spraying of a drug. As shown in FIG. 2, the drone control unit 70 includes an input / output unit 190, a calculation unit 192, and a storage unit 194.
  • the input / output unit 190 inputs / outputs signals to / from each unit of the drone 24.
  • the arithmetic unit 192 includes a central processing unit (CPU) and operates by executing a program stored in the storage unit 194. Some of the functions executed by the arithmetic unit 192 can also be realized by using a logic IC (Integrated Circuit).
  • the arithmetic unit 192 may also configure a part of the program with hardware (circuit parts). The same applies to the calculation unit of the farming server 22 described above, the calculation unit of the user terminal 26 described later, and the like.
  • the calculation unit 192 includes a flight control unit 200, an imaging control unit 202, and a spray control unit 204.
  • the flight control unit 200 controls the flight of the drone 24 via the flight mechanism 64 (propeller 130, motor 132, etc.).
  • the flight control unit 200 also functions as a motor control unit that controls the motor 132.
  • the flight control unit 200 flies the drone 24 by executing a forward rotation operation of rotating the propeller 130 and the motor 132 in the forward direction.
  • the shooting control unit 202 controls shooting by the drone 24 via the shooting mechanism 66.
  • the spraying control unit 204 controls the spraying of the drug by the drone 24 via the spraying mechanism 68.
  • the storage unit 194 stores the program and data used by the arithmetic unit 192, and includes a random access memory (hereinafter referred to as "RAM").
  • RAM random access memory
  • a volatile memory such as a register and a non-volatile memory such as a hard disk and a flash memory can be used.
  • the storage unit 194 may have a read-only memory (ROM) in addition to the RAM.
  • ROM read-only memory
  • the user terminal 26 (FIG. 1) operates or controls the drone 24 by the operation of the user 900 (FIG. 1) as an operator in the field 800, and also receives information (for example, position, drug amount, battery) from the drone 24. It is a mobile information terminal that displays the remaining amount, camera image, etc.).
  • the flight state (altitude, attitude, etc.) of the drone 24 is not remotely controlled by the user terminal 26, but is autonomously controlled by the drone 24. Therefore, when a flight command is transmitted from the user 900 to the drone 24 via the user terminal 26, the drone 24 performs autonomous flight.
  • manual operations may be possible during basic operations such as takeoff and return, and in emergencies.
  • the user terminal 26 includes an input / output unit (including a touch panel and the like), a communication unit, a calculation unit, and a storage unit (not shown), and is composed of, for example, a general tablet terminal.
  • the user terminal 26 of the present embodiment receives and displays a work instruction or the like from the farming server 22.
  • another user terminal used by another user other than the operator may be provided.
  • the other user terminal receives and displays flight information of the drone 24 (current flight status, scheduled flight end time, etc.), work instructions for the user 900, growth diagnosis information, etc. from the farming server 22 or the drone 24. It can be a mobile information terminal.
  • the other user terminal may be a terminal used by the user 900 or the like in order to use the growth diagnosis by the farming server 22 in a place other than the field 800 (for example, the company to which the user 900 belongs).
  • FIG. 5 is a vertical cross-sectional view simply showing the internal configurations of the propeller 130 and the motor 132 (propeller unit U) in the present embodiment.
  • FIG. 6 is a horizontal cross-sectional view briefly showing a part of the internal configuration of the motor 132 in the present embodiment.
  • FIG. 7 is a view showing the inside of the side surface portions 422u and 422l of the rotor frames 412u and 412l of the rotor 400u and 400l of the present embodiment in an expanded manner.
  • FIG. 5 is a vertical cross-sectional view simply showing the internal configurations of the propeller 130 and the motor 132 (propeller unit U) in the present embodiment.
  • FIG. 6 is a horizontal cross-sectional view briefly showing a part of the internal configuration of the motor 132 in the present embodiment.
  • FIG. 7 is a view showing the inside of the side surface portions 422u and 422l of the rotor frames 412u and 412l of the rotor 400u and 400l of the present embodiment in
  • the upper propeller 130 and the motor 132 are the propeller 130u and the motor 132u
  • the lower propeller 130 and the motor 132 are the propeller 130l and the motor 132l.
  • FIG. 6 shows the lower motor 132l
  • the upper motor 132u also has a similar configuration.
  • the motor 132 flies the drone 24 by rotating the propeller 130.
  • the motor 132 in this embodiment is a three-phase AC type.
  • the lower motor 132l and the upper motor 132u have different configurations.
  • the basic configuration of the motor 132 for example, the same configuration as in Patent Document 1 can be used.
  • FIG. 8 is a diagram showing a typical air flow when the motors 132u and 132l are rotated in the forward directions D1u and D1l to make the drone 24 fly normally in the present embodiment.
  • the upper motor 132u and the lower motor 132l are rotated in opposite directions (forward directions D1u, D1l).
  • downward airflows of 600u and 600l are generated near the center of the propellers 130u and 130l.
  • a low-pressure region is generated above the propellers 130u and 130l, and a high-pressure region is generated below the propellers 130u and 130l, thereby obtaining lift.
  • the low pressure portion on the root side including the inside of the motors 132u and 132l
  • the tip side of the propellers 130u and 130l is generated.
  • An upward airflow (including airflows 602u and 602l inside the motors 132u and 132l) is generated.
  • the airflows 602u and 602l are taken in from the lower side of the motors 132u and 132l and then move to the upper side.
  • the airflows 602u and 602l go outward in the radial direction, pass through the first through holes 440u and 440l and the second through holes 442u and 442l (downstream side filters 502u and 502l), and are discharged from the motors 132u and 132l.
  • the lower motor 132l has a stator 300l and a rotor 400l arranged outside the stator 300l.
  • the stator 300l has a stator body 310l, a plurality of coils 312l, a bearing 314l, a stator frame 316l, and an upstream filter 500l.
  • the stator body 310l is a cylindrical member and supports a coil 312l, a bearing 314l, and a stator frame 316l.
  • the stator body 310l also functions as a heat sink that releases the heat generated in the coil 312l.
  • the coil 312l is fixed to the stator body 310l along the circumferential direction (FIG. 6). Each coil 312l is connected to a power source (not shown) in the drone body 90 (FIG. 3) via a power cable (not shown). An ESC (Electric Speed Controller) (not shown) is provided on the power cable.
  • the bearing 314l rotatably supports the rotor shaft 410l of the rotor 400l.
  • the stator frame 316l has a hub 320l located at the center, a plurality of spokes 322l extending radially from the hub 320l, and a ring-shaped portion 324l connecting to each spoke 322l on the outside in the radial direction.
  • An opening 326l is formed between the spokes 322l. The opening 326l opens in the axial direction of the motor 132l.
  • the upstream filter 500l is arranged at the opening 326l on the bottom surface side (opposite side of the propeller 130l) of the motor 132l to prevent foreign matter (sand, pebbles, leaves, paddy, etc.) from entering the motor 132l.
  • the upstream filter 500l is arranged below the gap d between the coil 312l of the stator 300l and the permanent magnet 414l of the rotor 400l and below the stator body 310l (upstream side during forward rotation operation).
  • the upstream filter 500l is a mesh (mesh member). More specifically, the upstream filter 500l is a metal mesh manufactured of punching metal, and the mesh shape is a hexagonal shape, but other filters may be used. The mesh size of the upstream filter 500l is smaller than the gap d between the coil 312l and the permanent magnet 414l.
  • the rotor 400l of the lower motor 132l has a rotor shaft 410l, a rotor frame 412l, a plurality of permanent magnets 414l, and a downstream filter 502l.
  • the rotor shaft 410l is rotatably supported by the bearing 314l of the stator 300l and is connected to the propeller shaft 450l of the rotor frame 412l and the propeller 130l.
  • the rotor frame 412l is a cylindrical member with one side open, and has a top surface portion 420l and a side surface portion 422l.
  • the top surface portion 420l is a circular and plate-shaped portion, and is connected to the rotor shaft 410l and the propeller shaft 450l.
  • the side surface portion 422l is a bottomless cylindrical portion and is connected to the top surface portion 420l. As shown in FIGS. 5, 6 and 7, the side surface portion 422l is provided with a plurality of first through holes 440 l and a plurality of second through holes 442 l. The first through hole 440l and the second through hole 442l are used for exhaust. As shown in FIGS. 6 and 7, the first through hole 440 l is formed between the permanent magnets 414 l. In other words, the first through hole 440l overlaps with the permanent magnet 414l in the axial direction (vertical direction of FIGS. 5 and 7) of the lower motor 132l. In the cross section perpendicular to the axial direction of the rotor 400l (FIG. 6), the first through hole 440l is formed in the normal direction of the side surface portion 422l.
  • the second through hole 442l (FIGS. 5 and 7) is formed on the downstream side (upper side in FIGS. 5 and 7) of the permanent magnet 414l in the axial direction of the motor 312l. Similar to the first through hole 440l, in the cross section perpendicular to the axial direction of the rotor 400l, the second through hole 442l is formed in the normal direction of the side surface portion 422l.
  • the permanent magnets 414l are arranged along the inside of the cylindrical side surface portion 422l (in other words, along the circumferential direction) (FIG. 6) and face the coil 312l of the stator 300l (FIGS. 5 and 6). ).
  • the permanent magnet 414l is based on a rectangular parallelepiped shape, but is slightly curved along the inner surface of the side surface portion 422l.
  • An annular back yoke 4c of Patent Document 1 ([0020] of Patent Document 1, FIG. 2) may be provided around the permanent magnet 414l.
  • the downstream filter 502l is arranged at a position corresponding to the first through hole 440l and the second through hole 442l of the rotor frame 412l to prevent foreign matter from entering the motor 132l.
  • the downstream filter 502l is a metal mesh made of punching metal, and the mesh shape is a hexagonal shape, but other filters may be used.
  • the mesh size of the downstream filter 502l is larger than the gap d between the coil 312l and the permanent magnet 414l.
  • the upper motor 132u has a stator 300u and a rotor 400u.
  • the same components as those of the lower motor 132l are designated by the same reference numerals and detailed description thereof will be omitted (however, “l” is added to the components of the lower motor 132l.
  • "u” is added to the components of the upper motor 132u).
  • the stator 300u has a stator body 310u, a plurality of coils 312u, a bearing 314u, and a stator frame 316u.
  • the stator frame 316u is a circular and plate-shaped portion.
  • the upper stator frame 316u is not provided with an opening like the opening 326l of the lower stator frame 316l.
  • the rotor 400u of the upper motor 132u has a rotor shaft 410u, a rotor frame 412u, a plurality of permanent magnets 414u, an upstream side filter 500u, and a downstream side filter 502u.
  • the rotor shaft 410u is rotatably supported by the bearing 314u and is connected to the propeller shaft 450u of the propeller 130u.
  • the rotor frame 412u is a cylindrical member with one side open, and has a top surface portion 420u and a side surface portion 422u.
  • the top surface portion 420u is a circular and plate-shaped portion.
  • the top surface portion 420u includes a hub 430u that connects to the rotor shaft 410u and the propeller shaft 450u, a plurality of spokes 432u that extend radially from the hub 430u, and a ring-shaped portion 434u that connects to each spoke 432u on the outer side in the radial direction.
  • An opening 436u is formed between the spokes 432u.
  • the opening 436u opens in the axial direction of the motor 132u.
  • An upstream filter 500u is provided at the opening 436u.
  • the side surface portion 422u of the rotor frame 412u is a bottomless cylindrical portion. Similar to the lower side surface portion 422l, the upper side surface portion 422u is provided with a plurality of first through holes 440u and a plurality of second through holes 442u (FIGS. 5 and 7).
  • the first through hole 440u is formed between the permanent magnets 414u (FIG. 7). In other words, the first through hole 440u overlaps with the permanent magnet 414u in the axial direction of the motor 312u. Further, the first through hole 440u is formed in the normal direction of the rotor frame 412u.
  • the second through hole 442u (FIGS. 5 and 7) is formed on the downstream side (upper side in FIG. 5) of the permanent magnet 414u in the axial direction of the motor 312u. Like the first through hole 440u, the second through hole 442u is formed in the normal direction of the rotor frame 412u.
  • the permanent magnet 414u is arranged along the inside of the cylindrical side surface portion 422u and faces the coil 312u of the stator 300u.
  • the directions of the airflows 600u and 600l are the same in both the upper propeller unit (propeller 130u and motor 132u) and the lower propeller unit (propeller 130l and motor 132l). Therefore, in the lower motor 132l, the stator 300l is provided with the upstream filter 500l, and the rotor 400l is provided with the downstream filter 502l. On the other hand, in the upper motor 132u, both the upstream side filter 500u and the downstream side filter 502u are provided on the rotor 400u.
  • the upstream filter 500u of the upper motor 132u has a mesh size smaller than the gap d between the coil 312u and the permanent magnet 414u (FIG. 5). Similar to the downstream filter 502l of the lower motor 132l, the downstream filter 502u of the upper motor 132u has a mesh size larger than the gap d.
  • the growth diagnosis control is a control for performing a growth diagnosis using a growth diagnosis model.
  • the growth diagnosis referred to here includes, for example, an estimated value (estimated yield) of the yield for each field 800.
  • work instructions regarding water management, fertilization, chemical spraying, etc. of the field 800 as a paddy field are also given.
  • the work instruction is displayed, for example, on the display unit of the user terminal 26 or the like.
  • the yield of crop 802 (paddy rice), the red light absorption rate, the number of paddy, the effective light receiving area ratio, the amount of accumulated starch in the paddy, and the protein content in the paddy can be calculated.
  • Flight management control is a control that manages the flight of the drone 24.
  • the flight timing, flight path, target speed, target altitude, shooting method of the shooting mechanism 66, spraying method of the spraying mechanism 68, etc. of the drone 24 are set based on the work instructions in the growth diagnosis control. ..
  • flight control In the drone 24 of the present embodiment, flight control, imaging control, and drug spraying control are performed.
  • the flight control is a control for flying the drone 24 in the field 800 for photographing, spraying chemicals, and the like.
  • the flight control unit 200 controls the flight mechanism 64 based on a command from the farming server 22.
  • the shooting control is a control in which an image of the field 800 (or crop 802) is acquired by the camera 160 of the drone 24 and transmitted to the farming server 22.
  • the photographing control unit 202 controls the photographing mechanism 66 based on the command from the farming server 22.
  • the field image transmitted to the farming server 22 is image-processed and used for growth diagnosis.
  • the chemical spraying control is a control for spraying a chemical (including liquid fertilizer) using the drone 24.
  • the spraying control unit 204 controls the spraying mechanism 68 based on a command from the farming server 22.
  • the side surface portions 422u and 422l of the rotor frame 412u and 412l are arranged along the circumferential direction and are located between the plurality of permanent magnets 414u and 414l facing the plurality of coils 312u and 312l.
  • a plurality of first through holes 440u and 440l for exhaust are formed in the above (FIGS. 5 to 7). This makes it possible to generate airflows 602u and 602l from the inside of the motors 132u and 132l to the outside of the motors 132u and 132l through the first through holes 440u and 440l when the rotors 400u and 400l rotate (FIG. 8). Then, the airflow 602u, 602l makes it possible to cool the inside of the motor 132u, 132l or discharge the foreign matter inside or around the motor 132u, 132l.
  • the side surface portions 422u and 422l of the rotor frame 412u and 421l are on the downstream side of the permanent magnets 414u and 414l with respect to the airflows 602u and 602l during the forward rotation operation in the rotation axis direction of the rotors 400u and 400l.
  • a plurality of second through holes 442u and 442l for exhaust are formed in the above (FIGS. 5 and 7). This makes it possible to further increase the airflow 602u and 602l from the inside of the motors 132u and 132l to the outside of the motors 132u and 132l.
  • the motors 132u and 132l are on the upstream side of the mesh arranged on the upstream side of the gap d between the coils 312u and 312l and the permanent magnets 414u and 414l with reference to the airflows 602u and 602l during the forward rotation operation.
  • the filters 500u and 500l are provided (FIGS. 5 and 8). Further, in front of the gap d, the mesh size of the upstream filters 500u and 500l is smaller than the gap d. This makes it easier to prevent foreign matter from entering the gap d during flight of the drone 24 (flying object).
  • the motors 132u and 132l include mesh downstream filters 502u and 502l arranged in the first through holes 440u and 440l (FIGS. 5 and 8). Further, the size of the mesh of the downstream filters 502u and 502l is larger than the gap d at the positions of the first through holes 440u and 440l. This makes it easier to prevent relatively large foreign matter from entering the gap d when the drone 24 (flying object) is not in flight. Further, relatively small foreign matter that has entered the gap d during the flight of the drone 24 can be easily discharged to the outside of the motors 132u and 132l through the first through holes 440u and 440l.
  • the stator 300l of the lower motor 132l includes a stator body 310l (heat sink) that releases heat generated by the stator 300l (FIG. 5).
  • the upstream filter 500l is located not only on the upstream side of the gap d but also on the upstream side of the stator body 310l with reference to the airflows 602u and 602l during the forward rotation operation (FIG. 5). This makes it possible to prevent foreign matter from entering the stator body 310l.
  • the farming system 10 of the above embodiment had components as shown in FIG. However, if attention is paid to the use of the first through holes 440u and 440l, for example, the present invention is not limited to this.
  • the farming system 10 may have only the drone 24 and the user terminal 26. In that case, the flight of the drone 24 may be controlled by the user terminal 26.
  • Drone 24> the drone 24 imaged the crop 802 and sprayed the drug (FIG. 1).
  • the present invention is not limited to this.
  • the drone 24 may be one that performs only one of imaging of crop 802 and spraying of a drug.
  • the drone 24 may be used for other purposes (for example, aerial photography other than growth diagnosis).
  • the propeller units U (propellers 130u, 130l and motor propellers 132u, 132l) are arranged so that the propellers 130u and 130l face each other (FIGS. 3 to 5).
  • the propeller unit U may be arranged so that the bottom surfaces of the motors 132u and 132l (stator frames 316u and 316l) face each other.
  • a method other than the counter-rotating method may be used.
  • the drone 24 may have only the combination of the lower propeller 130l and the motor 132l or only the combination of the upper propeller 130u and the motor 132u.
  • Propeller unit U (propeller 130 and motor 132)>
  • the propeller unit U has the configuration shown in FIG.
  • the present invention is not limited to this.
  • FIG. 9 is a vertical cross-sectional view simply showing the internal configurations of the propellers 130au and 130al and the motors 132au and 132al (propeller unit Ua) of the first modification.
  • FIG. 10 is a view showing the inside of the side surface portions 422au and 422al of the rotor 400au and 400al of the rotor frame 412au and 412al of the first modification in an expanded manner.
  • FIG. 11 is a diagram showing a typical air flow when the drones 24 are normally flown by rotating the motors 132au and 132al in the forward directions D1u and D1l in the first modification.
  • the propellers 130au and 130al of the first modification generate downward airflows 610u and 610l during normal flight (normal rotation) (FIG. 11).
  • the airflows 602u and 602l that move upward in the motors 132u and 132l and then move outward in the radial direction are generated along with the forward rotation of the propellers 130u and 130l (rotation of the forward directions D1u and D1l).
  • FIG. 8 On the other hand, in the first modification, airflows 612u and 612l are generated inside the motors 132au and 132al along with the forward rotation of the propellers 130au and 130al (rotation of the forward directions D1u and D1l) (FIG. 11).
  • the airflows 612u and 612l pass through the upstream filters 500au and 500al arranged above the motors 132au and 132al and move downward. After that, the airflows 612u and 612l are discharged to the outside of the motors 132au and 132al via the first through holes 440u and 440l and the second through holes 442au and 442al.
  • the direction of the airflow inside the motors 132au and 132al is opposite to that of the first embodiment. Therefore, the positions of the upstream filter 500al and the downstream filter 502al in the lower motor 132al of the first modification are opposite to those of the upstream filter 500l and the downstream filter 502l in the lower motor 132l of the above embodiment. Similarly, the positions of the upstream filter 500au and the downstream filter 502al in the upper motor 132au of the first modification are opposite to those of the upstream filter 500u and the downstream filter 502u in the upper motor 132u of the above embodiment.
  • the top surface portion 420al of the rotor frame 412al of the lower motor 132al has a hub 430l connected to the rotor shaft 410l and the propeller shaft 450l, and a plurality of hubs extending radially from the hub 430l.
  • An opening 436l is formed between the spokes 432l.
  • the opening 436l opens in the axial direction of the motor 132al.
  • An upstream filter 500al is provided in the opening 436l.
  • the second through holes 442u and 442l are arranged above the rotor frames 412u and 412l, respectively (FIGS. 5 and 7).
  • the second through holes 442au and 442al are arranged below the rotor frame 412au and 412al, respectively (FIGS. 9 and 10).
  • the stator frame 316al is not provided with an opening like the opening 326l of the above embodiment.
  • the opening portion 420au of the motor frame 412au is not provided with an opening like the opening 436u (FIG. 5) of the above embodiment.
  • the stator frame 316au has a hub 320u located at the center, a plurality of spokes 322u extending radially from the hub 320u, and a ring-shaped portion 324u connected to each spoke 322u on the outer side in the radial direction.
  • An opening 326u is formed between the spokes 322u.
  • the opening 326u opens in the axial direction of the motor 132au.
  • the upstream filter 500au is arranged at the opening 326u.
  • FIG. 12 is a vertical cross-sectional view simply showing the internal configurations of the propellers 130bu and 130bl and the motors 132bu and 132bl (propeller unit Ub) of the second modification.
  • FIG. 13 is a diagram showing the inside of the side surface portions 422bu and 422bl of the rotor frame 412u and 412l of the rotor 400bu and 400bl of the second modification in an expanded manner.
  • the direction of the airflow generated by the propellers 130bu and 130bl of the second modification during normal flight (normal rotation) is the same as that of the above embodiment (FIG. 8).
  • the first through holes 440u and 440l and the second through holes 442u and 442l were separated from each other (FIGS. 5 and 7).
  • the first through holes 440bu and 440bl and the second through holes 442bu and 442bl communicate with each other (FIGS. 12 and 13).
  • the first through holes 440bu and 440bl are formed not only between the permanent magnets 414u and 414l but also on the downstream side of the permanent magnets 414u and 414l.
  • the ends of the first through holes 440bu and 440bl and the ends of the second through holes 442bu and 442bl are continuous (FIG. 13). This makes it possible to further increase the airflow from the inside of the motors 132bu and 132bl to the outside of the motors 132bu and 132bl.
  • the rotor shafts 410u and 421l are provided with fans 460u and 460l.
  • the fans 460u and 460l rotate the motors 132bu and 132bl in the forward direction, the airflow from the lower side to the upper side in the motors 132bu and 132bl (in other words, flows in the direction of the rotor shafts 410u and 410l of the motors 132bu and 132bl). To generate. This makes it possible to promote the airflow inside the motors 132bu and 132bl.
  • the upstream filter 500l of the lower motor 132l covers the stator body 310l (FIG. 5).
  • the upstream filter 500bl of the lower motor 132l is arranged so as to avoid the stator body 310l (heat sink) (FIG. 12).
  • the stator body 310l heat sink
  • the hub 320bl becomes larger, the spokes 322bl becomes shorter, and the opening 326bl becomes smaller.
  • the upstream filter 500 bl has a size that matches the opening 326 bl.
  • FIG. 14 is a view showing the inside of the rotor 400cu, 400cl rotor frame 412cu, 412cl side surface portion 422cu, 422cl of the third modification in an unfolded manner.
  • the end of the first through hole 440bu and 440bl and the end of the second through holes 442bu and 442bl (left end) are continuous in the circumferential direction (left-right direction of FIG. 13).
  • the first through hole 440cu and 440cl are located near the center of the second through holes 442cu and 442cl.
  • the shapes of the downstream filters 502bu and 502bl when viewed outward in the radial direction change with respect to the second modification.
  • Other configurations of the third modification are the same as those of the second modification (FIG. 12).
  • FIG. 15 is a view showing the inside of the side surface portions 422 du and 422 dl of the rotor 400 du and 400 dl rotor frame 412 du and 412 dl of the fourth modification in an expanded manner.
  • first through holes 440u and 440l between the permanent magnets 414u and 414l and second through holes 442u and 442l downstream of the permanent magnets 414u and 414l are provided. The same applies to the first modification (FIG. 9).
  • the third through hole 414u and 414l on the upstream side of the permanent magnets 414u and 414l with reference to the airflow during the forward rotation operation are provided (FIG. 15).
  • the third through holes 444u and 444l are used for exhaust. This makes it possible to further increase the airflow from the inside of the motor 312 to the outside of the motor 312.
  • FIG. 16 is a horizontal cross-sectional view briefly showing a part of the internal configuration of the motor 132el in the fifth modification.
  • the permanent magnets 414l and the first through hole 440l are rectangular.
  • the permanent magnets 414l and the first through hole 440l were arranged in the normal direction of the annular side surface portion 412l of the rotor frame 412l.
  • the permanent magnet 414el and the first through hole 440el of the fifth modification have a parallel quadrilateral shape.
  • the permanent magnet 414el and the first through hole 440el are inclined with respect to the normal direction of the side surface portion 422el.
  • the outlet of the first through hole 440el provided on the outer periphery of the side surface portion 422el is rearward in the forward rotation direction (direction D1l) of the motor 132el from the inlet of the first through hole 440el provided on the inner circumference of the side surface portion 422el. Is located in.
  • the side surface of the permanent magnet 414el is inclined with respect to the normal line of the side surface portion 422el so as to be flush with the inner wall of the side surface portion 422el forming the first through hole 440el.
  • the stator 300el has the same configuration as the stator 300l (FIG. 6) of the above embodiment.
  • the first through holes 440u and 440l of the above embodiment had the same axial lengths of the rotors 400u and 400l as the permanent magnets 414u and 414l (FIGS. 5 and 7). However, if attention is paid to the use of the first through holes 440u and 440l, for example, the present invention is not limited to this. For example, the axial length of the first through holes 440u and 440l may be shorter or longer than that of the permanent magnets 414u and 414l.
  • the circumferential lengths of the rotors 400u and 400l were equivalent to the distance between the permanent magnets 414u and 414l (FIG. 7).
  • the first through holes 440u and 440l closed the entire distance between the permanent magnets 414u and 414l.
  • the present invention is not limited to this.
  • first through holes 440u and 440l and the second through holes 442u and 442l are provided (FIGS. 5 and 7).
  • the second through holes 442u and 442l may be omitted.
  • the rotors 400u and 400l of the above embodiment are arranged outside the stators 300u and 300l (FIG. 5). However, for example, focusing on the use of the first through holes 440u and 440l, the rotors 400u and 400l may be arranged inside the stators 300u and 300l. The same applies to the first to fifth modifications (FIGS. 10 to 16).
  • the upstream filter 500l covers both the gap d between the coil 312l and the permanent magnet 414l and the stator body 310l (FIG. 5). Then, the size of the mesh of the upstream filter 500l was made smaller than the gap d in both the gap d and the lower part of the stator body 310. However, paying attention to the use of the first through holes 440u and 440l, the mesh size of the upstream filter 500l below the stator body 310l may be larger than the gap d. The same applies to the first to fifth modifications (FIGS. 10 to 16).
  • upstream filters 500l and 500u and downstream filters 502l and 502l are provided (FIG. 5).
  • the present invention is not limited to this.
  • one or both of the upstream filters 500l and 500u and the downstream filters 502l and 502l may be omitted.
  • Drone farnesoid object
  • Propeller 132
  • Motor 200 Flight control unit (motor control unit)
  • Flight control unit 300
  • Stator 310
  • Stator body heat sink
  • Coil 400
  • Rotor 410 Rotor shaft 412
  • Rotor frame 414 ... Permanent magnet 420 ... Top surface 422 ... Side surface 440 ... First through hole 442 ... Second through hole 444 ... Third through hole 500 ... Upstream filter 502 ... Downstream filters 602, 612 ... Airflow d ... Gap

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)
  • Motor Or Generator Cooling System (AREA)

Abstract

L'invention concerne un objet volant et un moteur qui permettent d'améliorer le refroidissement à l'intérieur du moteur ou de libérer des corps étrangers de l'intérieur du moteur ou de sa périphérie. Dans les moteurs (132u, 132l) d'un objet volant (10), des parties de surface latérale (422u, 422l) de bâtis de rotor (412u, 412l) présentent, formée à l'intérieur, une pluralité de premiers trous traversants d'échappement (440u, 440l) à des positions entre une pluralité d'aimants permanents (414u, 414l) qui font face à une pluralité de bobines (312u, 312l) et qui sont disposés le long d'une direction circonférentielle.
PCT/JP2020/019348 2020-05-14 2020-05-14 Objet volant et moteur WO2021229771A1 (fr)

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PCT/JP2020/019348 WO2021229771A1 (fr) 2020-05-14 2020-05-14 Objet volant et moteur
JP2022522452A JP7369487B2 (ja) 2020-05-14 2020-05-14 飛行体及びモータ

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023171168A1 (fr) * 2022-03-11 2023-09-14 株式会社デンソー Appareil de suppression de corps étranger magnétique, moteur sans balai et hélice

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006158134A (ja) * 2004-11-30 2006-06-15 Japan Servo Co Ltd アウターロータ型モータ及びこれに用いられるロータ
CN205256667U (zh) * 2015-09-11 2016-05-25 建准电机工业股份有限公司 无人飞行载具的动力机构及其马达
JP2018509332A (ja) * 2015-06-01 2018-04-05 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ モータアセンブリ及び無人航空機
US20190252938A1 (en) * 2016-07-12 2019-08-15 Lg Innotek Co., Ltd. Motor for drone and drone including same
US20200052556A1 (en) * 2017-04-19 2020-02-13 Autel Robotics Co., Ltd. Electric-motor heat dissipation member, electric motor and aircraft

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006158134A (ja) * 2004-11-30 2006-06-15 Japan Servo Co Ltd アウターロータ型モータ及びこれに用いられるロータ
JP2018509332A (ja) * 2015-06-01 2018-04-05 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ モータアセンブリ及び無人航空機
CN205256667U (zh) * 2015-09-11 2016-05-25 建准电机工业股份有限公司 无人飞行载具的动力机构及其马达
US20190252938A1 (en) * 2016-07-12 2019-08-15 Lg Innotek Co., Ltd. Motor for drone and drone including same
US20200052556A1 (en) * 2017-04-19 2020-02-13 Autel Robotics Co., Ltd. Electric-motor heat dissipation member, electric motor and aircraft

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023171168A1 (fr) * 2022-03-11 2023-09-14 株式会社デンソー Appareil de suppression de corps étranger magnétique, moteur sans balai et hélice

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JPWO2021229771A1 (fr) 2021-11-18

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