WO2022077290A1 - Engin volant sans pilote embarqué à rotors multiples - Google Patents

Engin volant sans pilote embarqué à rotors multiples Download PDF

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Publication number
WO2022077290A1
WO2022077290A1 PCT/CN2020/120962 CN2020120962W WO2022077290A1 WO 2022077290 A1 WO2022077290 A1 WO 2022077290A1 CN 2020120962 W CN2020120962 W CN 2020120962W WO 2022077290 A1 WO2022077290 A1 WO 2022077290A1
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WO
WIPO (PCT)
Prior art keywords
propeller
motor
fixing member
rotor
aerial vehicle
Prior art date
Application number
PCT/CN2020/120962
Other languages
English (en)
Chinese (zh)
Inventor
肖翔
谢亦天
Original Assignee
深圳市大疆创新科技有限公司
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 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080024214.6A priority Critical patent/CN113631479A/zh
Priority to PCT/CN2020/120962 priority patent/WO2022077290A1/fr
Publication of WO2022077290A1 publication Critical patent/WO2022077290A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives
    • B64C27/14—Direct drive between power plant and rotor hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • 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
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Definitions

  • the invention relates to a kind of flying equipment, in particular to a multi-rotor unmanned aerial vehicle.
  • the multi-rotor unmanned aerial vehicle is a kind of unmanned aerial vehicle technology that has emerged in recent years.
  • the multi-rotor UAV installs the propeller on the drive motor through a certain mechanical connection structure.
  • the connection structure plays the role of fixing the propeller, transmitting lift, and transmitting torque.
  • connection structure of the multi-rotor unmanned aerial vehicle is mostly rotated by the propeller, so that the propeller is stuck into the slot of the connection structure to form a snap connection.
  • a limit engagement is formed between the propeller and the drive motor.
  • the propeller when the multi-rotor UAV is in flight, the propeller generates buoyancy along the axial direction of the drive shaft during the lifting and lowering process of the UAV.
  • the propeller is also subjected to a force in the opposite direction. Then the propeller is easily displaced along the axial direction of the drive shaft under this force. Therefore, in conventional multi-rotor UAVs, there is a risk of off-axis between the propeller and the drive shaft.
  • the present invention provides a multi-rotor unmanned aerial vehicle capable of maintaining a stable connection between a propeller and a drive shaft.
  • a multi-rotor unmanned aerial vehicle comprising:
  • a rotor includes a motor, a propeller and a fixing piece, the motor is mounted on the frame, the fixing piece is fixed on the motor and rotates with the rotor of the motor, and the propeller passes through the fixing piece is installed on the motor, and the motor drives the propeller to rotate;
  • an elastic member mechanically coupled and connected with the propeller seat of the propeller, for providing an elastic force to the propeller seat of the propeller;
  • the propeller seat of the propeller is provided with a through hole and a clamping slot, and the fixing member can pass through the through hole, and is rotated relative to the propeller seat of the propeller by a preset angle and then engages with the clamping slot. and the propeller keeps the slot and the fixing member in the engaged state under the elastic force of the elastic member, so that the motor is fixed and driven by the fixing member and the slot. The propeller rotates.
  • the fixing member is provided with a main body and a holding portion provided on one side of the main body, and the shape of the holding groove is adapted to the shape of the holding portion.
  • a plurality of the holding portions are symmetrically arranged with respect to the main body.
  • the main body is cylindrical, and the axial direction of the main body coincides with the rotation axis of the motor.
  • the holding portion is disposed inclined to the axial direction of the main body.
  • the holding portion is a cylinder, and the diameter of the holding portion is smaller than the diameter of the main body.
  • the holding portion is a protruding arm extending outward from the main body, and the protruding arm and the main body are arranged at an angle.
  • the through hole includes a first passing portion for passing through the main body and a second passing portion for passing through the holding portion, and the first passing portion is connected to the The second through part is connected.
  • the aperture width of the first passage portion is slightly smaller than the diameter of the main body.
  • the aperture width of the second passage portion is smaller than the aperture width of the first passage portion.
  • the aperture width of the locking groove is smaller than the aperture width of the first passage portion.
  • the fixing member is an integral structure.
  • the elastic member is sleeved on the fixing member, the paddle seat moves along the axial direction of the rotating shaft of the motor and causes the elastic member to elastically deform, and the elastic member is limited to Between the motor and the paddle seat, the elastic member supports the paddle seat to fasten the fixing member and the locking groove.
  • the diameter of the elastic member is smaller than the diameter of the through hole.
  • the rotor includes a forward-rotating rotor and a reverse-rotating rotor;
  • the forward-rotating rotor includes a first motor, a first propeller, and a first fixing member, the first motor is mounted on the frame, the first fixing member is fixed on the first motor, and is installed with any The rotors of the first motor rotate together, the first propeller is mounted on the first motor through the first fixing member, and the first motor drives the first propeller to rotate in the forward direction;
  • a first elastic member mechanically coupled and connected to the paddle seat of the first propeller, for providing an elastic force to the paddle seat of the first propeller
  • the reversing rotor includes a second motor, a second propeller and a second fixing member, the second motor is mounted on the frame, the second fixing member is fixed on the second motor, the first The second propeller is mounted on the second motor through the second fixing member, and the second motor drives the first propeller to rotate in the opposite direction;
  • a second elastic member mechanically coupled and connected to the paddle seat of the second propeller, for providing an elastic force to the paddle seat of the second propeller
  • the propeller seat of the first propeller is provided with a first passage portion and a first slot
  • the first fixing member passes through the first passage portion and rotates relative to the propeller seat of the first propeller After the preset angle, it is engaged with the first slot, and the first propeller keeps the first slot and the first fixing member in the engagement state under the elastic force of the first elastic member , so that the first motor is fixed to drive the first propeller to rotate through the first fixing member and the first card slot;
  • the paddle seat of the second propeller is provided with a second passage portion and a second slot, and the second fixing member passes through the second passage portion and is rotated relative to the paddle seat of the second propeller. After the angle, it is engaged with the second slot, and the second propeller keeps the second slot and the second fixing member in the engagement state under the elastic force of the second elastic member, so that the The second motor drives the second propeller to rotate through the second fixing member and the second clamping slot being engaged and fixed.
  • the first card slot is opened along a first direction
  • the second card slot is opened along a second direction
  • the first direction is different from the second direction
  • the first propeller rotates at an acute angle clockwise relative to the first fixing member, and the first fixing member can be snap-connected with the first locking groove along the first direction.
  • the second propeller rotates at an acute angle counterclockwise relative to the second fixing member, and the second fixing member can be snap-connected with the second slot along the second direction .
  • the motor includes a rotor and a rotating end, the rotor is connected to the rotating end, the rotating end rotates around the rotating shaft, and the fixing member is fixedly arranged on the rotating end department.
  • the above-mentioned multi-rotor unmanned aerial vehicle drives the unmanned aerial vehicle to fly by driving the rotors.
  • the motor drives the propeller to rotate, and the propeller seat of the propeller is installed by engaging with the rotating end of the motor through the fixing piece.
  • the propeller seat of the propeller slides along the axial direction of the rotating shaft until the fixing piece passes through the through hole and is engaged with the slot, so that the propeller is limited in the axial direction of the rotating shaft of the motor, and the motor passes through the
  • the fixing piece is engaged with the card slot to drive the propeller to rotate.
  • the propeller of the above-mentioned multi-rotor UAV is limited in the axial direction, so as to prevent the propeller from moving along the axial direction of the rotating shaft during the rotation process, or even detaching from the rotating shaft, resulting in flight accidents and other dangers.
  • the installation direction of the propeller is sliding installation along the axial direction of the rotating shaft, and the fixing member is engaged and fixed with the locking groove by rotating the propeller seat. Even during the flight of the UAV, the propeller is subjected to a force along the axial direction of the rotating shaft, but under the action of the force, the holding force between the fixing member and the slot will increase accordingly, thereby strengthening the propeller.
  • the connection relationship with the fixture Therefore, the above-mentioned installation method of the multi-rotor unmanned aerial vehicle makes the installation operation of the propeller more convenient, and ensures the installation qualification rate of the propeller.
  • FIG. 1 is a perspective view of a multi-rotor unmanned aerial vehicle of the present embodiment
  • Fig. 2 is the perspective view of the rotor described in Fig. 1;
  • Figure 3 is an exploded view of the rotor shown in Figure 2;
  • Fig. 4 is the sectional view of the rotor shown in Fig. 2;
  • FIG. 5 is a top view of a rotor of another embodiment
  • FIG. 6 is a plan view of a rotor according to another embodiment.
  • the multi-rotor UAV includes a frame 10 , a rotor 20 and an elastic member 30 .
  • the frame 10 can be used as the supporting body of the multi-rotor unmanned aerial vehicle.
  • the frame 10 may include a central body 11 and a plurality of wings 12 .
  • the center body 11 can serve as the center reference of the frame 10 . Centering on the center body 11 , a plurality of arms are distributed on the outer periphery of the center body 11 .
  • the multi-rotor unmanned aerial vehicle is a quad-rotor unmanned aerial vehicle.
  • the rotor 20 is arranged on the frame 10, and the rotor 20 provides the flying power for the multi-rotor unmanned aerial vehicle.
  • the rotor 20 includes a motor 21 , a propeller 22 and a fixing member 23 .
  • the motor is mounted on the frame.
  • the motor 21 is mounted on one end of the wing 12 of the frame 10 .
  • the motor 21 of the rotor includes a stator (not shown), a rotor (not shown) and a rotating end 211 .
  • the stator and the rotor rotate relative to each other.
  • the stator or rotor is connected with the rotating end 211 to drive the rotating end 211 to rotate.
  • the rotating end 211 is used to drive the propeller 22 to rotate.
  • the fixing member 23 is fixed on the motor and rotates together with the rotating end 211 .
  • the propeller 22 is mounted on the motor through the fixing member 23, and the motor drives the propeller 22 to rotate.
  • the fixing member 23 is fixed at the center of the rotating end 211 , and the axial direction of the fixing member 23 and the rotating shaft of the propeller 22 are located on the same axis.
  • the propeller 22 includes a propeller seat 221 and a propeller blade 222 .
  • the paddle seat 221 is provided with a slot 229 for installing the paddle 222 .
  • the paddle 222 is accommodated in the slot 229 , and the paddle 222 and the paddle seat 221 are fixed by bolts (not shown), so as to realize the stable installation of the paddle 222 .
  • the axial direction of the rotation axis of the propeller 22 is the Z-axis direction
  • the direction in which the two blades 222 are located is the Y-axis direction
  • the axial direction of the fixing member 23 is the Z-axis direction.
  • the paddle seat 221 is fixedly connected to the frame through the fixing member 23 .
  • the rotating end 211 drives the paddle seat 221 to rotate through the fixing member 23 , thereby rotating the paddle 222 . Therefore, the axial direction of the fixing member 23 coincides with the axial direction of the rotating shaft of the propeller 22 .
  • the axial direction of the fixing member 23 is now defined as the Z-axis direction, and the direction in which the two paddles 222 are located is the Y-axis direction. That is, the axial direction of the rotating shaft of the propeller 22 is the Z-axis direction.
  • the fixing member 23 has a main body 231 and a holding portion 232 disposed on one side of the main body 231 .
  • the main body 231 of the fixing member 23 and the holding portion 232 may be an integral structure.
  • the fixing member 23 may be an integral structure formed by casting, injection molding, turning or the like.
  • the fixing member 23 may also be formed by connecting the main body 231 and the holding portion 232 to each other, and the holding portion 232 may be fixedly connected to the main body 231 by welding, screwing or the like.
  • One end of the main body 231 is fixed on the rotating end 211 of the motor.
  • the axial direction of the main body 231 and the rotation axis of the rotating end 211 is fixed on the rotating end 211 of the motor.
  • the holding portion 232 is disposed on the other end of the main body 231 and protrudes toward one side of the main body 231 .
  • the holding portion 232 is a protruding arm extending outward from the main body 231 , and the protruding arm and the main body 231 are arranged at an included angle.
  • the holding portion 232 is used for holding the paddle seat 221 .
  • the main body 231 is a column structure, and the holding portion 232 is also a column structure.
  • the axial direction of the main body 231 coincides with the rotation axis of the motor. That is, the main body 231 extends in the Z-axis direction.
  • the rotation center of the paddle seat 221 coincides with the main body 231, and the rotation center of the paddle seat 221 is coincident with the rotation axis of the motor, so as to ensure that the motor can drive the paddle seat 221 of the propeller 22 to maintain a uniform center of rotation.
  • the main body 231 is cylindrical, so that the fixing member 23 can rotate relative to the paddle seat 221 .
  • the number of the holding parts 232 is plural. Specifically, in this embodiment, there may be two holding portions 232 .
  • the two holding portions 232 are disposed on opposite sides of the main body 231 .
  • the axial direction of the holding portion 232 and the main body 231 is perpendicular to each other, and the included angle between the holding portion 232 and the main body 231 is a right angle.
  • the holding portion 232 is disposed inclined to the axial direction of the main body 231 .
  • the included angle between the holding portion and the main body 231 may be an acute angle or an obtuse angle.
  • the plurality of holding parts 232 are symmetrically arranged with respect to the main body 231 . Moreover, the holding parts 232 are evenly distributed around the main body 231 , and the included angles between two adjacent holding parts 232 are equal.
  • the two holding portions 232 are symmetrically disposed on opposite sides of the main body 231 , and the two holding portions 232 are located on the same straight line. That is, the two holding portions 232 extend in the X-axis direction. In other embodiments, when there are three or four holding portions 232, the plurality of holding portions 232 may be distributed in the shape of three prongs or four prongs.
  • the propeller seat 221 of the propeller 22 is provided with a through hole 223 and a clamping slot 224 .
  • the paddle seat 221 is connected with the fixing member 23 through the through hole 223 and the clamping slot 224 in a matched manner.
  • the through hole 223 is opened in the Z-axis direction.
  • the fixing member 23 can pass through the through hole 223, and is engaged with the locking groove 224 after being rotated by a predetermined angle relative to the paddle seat 221 of the propeller 22.
  • the card slot 224 is a non-through slot. Then, there may be a force between the holding portion 232 of the fixing member 23 and the bottom of the holding slot 224 .
  • the preset angle is the included angle between the through hole 223 and the card slot 224 .
  • the preset angle can be an acute angle, a right angle or an obtuse angle.
  • the shape of the through hole 223 of the paddle seat 221 is adapted to the shape of the fixing member 23 .
  • the fixing member 23 can enter the paddle seat 221 from the through hole 223 . Rotate the paddle seat 221 or the fixing member 23 to make the two rotate relative to each other. After the fixing member 23 rotates relative to the paddle seat 221 by a predetermined angle, the holding portion 232 of the fixing member 23 moves to the position of the locking groove 224 . Specifically, since the fixing member 23 is fixed on the frame, the propeller base 221 needs to be rotated to realize the engaging connection between the propeller 22 and the fixing member 23 .
  • the shape of the card slot 224 is adapted to the shape of the holding portion 232 .
  • the retaining portion 232 moves to the retaining slot 224 , and the retaining portion 232 can be engaged with the retaining slot 224 on the paddle seat 221 .
  • the two clamping slots 224 are respectively clamped and fixed with the two clamping portions 232 to ensure the force balance of the fixing member 23 .
  • the number of the card slots 224 may be smaller than the number of the card holding portions 232 . There is at least one card slot 224 , so as to ensure that at least one card holder 232 is connected to the card slot 224 .
  • the through hole 223 includes a first passing portion 2231 for passing through the main body 231 and a second passing portion 2232 for passing through the holding portion 232 , and the first passing portion 2231 and the second passing portion 2232 is connected.
  • the distribution structure of the first passing portion 2231 and the second passing portion 2232 is the same as the distribution structure of the main body 231 and the holding portion 232 so as to fit the fixing member 23 to pass through.
  • the preset angle is the included angle between the second passing portion 2232 and the card slot 224 .
  • the first passing portion 2231 is used to pass through the main body 231 of the fixing member 23 . Then, the aperture width of the first passing portion 2231 is slightly smaller than the diameter of the main body 231 .
  • the main body 231 and the paddle seat 221 are relatively restrained, so that the main body 231 is subject to a restraining force, thereby ensuring that the main body 231 can be stably accommodated in the first passage portion 2231 .
  • the aperture width of the second passage portion 2232 is smaller than the aperture width of the first passage portion 2231 .
  • the main body 231 When the main body 231 is aligned and enters the first passage portion 2231, since the aperture width of the second passage portion 2232 is smaller than the aperture width of the first passage portion 2231, it is only necessary to slightly rotate the paddle seat 221 to make the second passage portion 2232
  • the fixing member 23 can be passed through by aligning the holding portion 232 . If the aperture width of the second passage portion 2232 is greater than the aperture width of the first passage portion 2231, and since the first passage portion 2231 and the second passage portion 2232 are communicated with each other, the main body 231 will rotate after penetrating the first passage portion 2231.
  • the main body 231 can also enter into the second passing portion 2232 and can move in the second passing portion 2232 , which is not conducive to the alignment of the second passing portion 2232 with the holding portion 232 .
  • the aperture width of the second passage portion 2232 is smaller than the aperture width of the first passage portion 2231 , and the diameter of the holding portion 232 is smaller than the diameter of the main body 231 to ensure that the holding portion 232 can pass through the second passage portion 2232 smoothly.
  • the propeller seat 221 of the propeller 22 is rotated by a predetermined angle, so that the holding portion 232 is connected with the holding groove 224 by holding. Since the aperture width of the card slot 224 is adapted to the diameter of the holding portion 232 , the holding portion 232 is stably received in the card slot 224 . In addition, the diameter of the holding portion 232 is smaller than the aperture width of the first passing portion 2231 . Therefore, the aperture width of the card slot 224 is smaller than the aperture width of the first passage portion 2231 .
  • the elastic member 30 is mechanically coupled and connected to the paddle seat 221 of the propeller 22 .
  • the elastic member 30 is used to provide an elastic force to the propeller seat 221 of the propeller 22 .
  • the elastic member 30 is sleeved on the main body 231 of the fixing member 23 .
  • a receiving groove 219 is formed on the surface of the rotating end 211 of the motor 21 . The end of the elastic member 30 in contact with the rotating end 211 is accommodated in the receiving groove 219 , so as to limit the position of the elastic member 30 and keep the elastic member 30 stably connected to the rotating end 211 .
  • the paddle seat 221 presses the elastic member 30 , so that the elastic member 30 is elastically deformed, and the elastic member 30 generates elastic force.
  • the paddle seat 221 when the paddle seat 221 is rotated to align the card slot 224 of the paddle seat 221 with the holding portion 232 of the fixing member 23, the holding portion 232 enters the locking groove 224, and the paddle seat 221 is opposite to the fixing member.
  • the position between 23 is fixed, the paddle seat 221 presses the elastic member 30 to compress the elastic member 30, and there is a pressure effect between the clamping portion 232 and the bottom of the clamping slot 224.
  • the diameter of the elastic member 30 is larger than the diameter of the through hole 223 . Then, when the paddle seat 221 moves toward the rotating end of the motor, the elastic member 30 will be pressed between the paddle seat 221 and the rotating end, so that the elastic member 30 is elastically deformed to prevent the elastic member 30 from being squeezed into the through hole. 223, the elastic member 30 is deformed irregularly, and even the elastic member 30 is damaged.
  • the elastic member 30 may be a spring or a torsion spring, as long as it can provide an elastic force for the paddle seat 221 of the propeller 22 . Both ends of the elastic member 30 can be respectively abutted and limited between the rotating end of the motor and the paddle seat 221 of the propeller 22 , and the elastic member 30 is elastically deformed to ensure that the fixing member 23 and the slot 224 of the paddle seat 221 remain locked.
  • the elastic member 30 can be in a compressed state or in a stretched state.
  • the elastic member 30 can enhance the connection strength between the fixing member 23 and the propeller base 221 , thereby ensuring that the propeller 2222 can be stably installed on the frame 10 .
  • the propeller 22 can remain stably connected to the fixing member 23, and the clamping portion 232 of the fixing member 23 will not be disengaged from the clamping groove 224, resulting in the occurrence of Risk of propeller 22 off-axis.
  • the propeller 22 of the above-mentioned multi-rotor unmanned aerial vehicle is limited in the axial direction.
  • the propeller 22 rotates, and the propeller 22 is subjected to a force along the axial direction of the rotating shaft, but in this action Under the action of the force, the propeller seat 221 of the propeller 22 has an outward movement or an outward movement tendency relative to the axial direction of the main body 231 . Then the propeller 22 moves outwards or tends to move, which will increase the holding force between the fixing member 23 and the card slot 224 .
  • the holding effect is more reinforced, and the fixing of the propeller 22 is more stable.
  • the above-mentioned installation method of the multi-rotor UAV makes the installation operation of the propeller 22 more convenient, and ensures the installation qualification rate of the propeller 22 .
  • the rotor 20 includes a forward-rotating rotor 50 and a reverse-rotating rotor 60 .
  • the forward-rotating rotor 50 and the reverse-rotating rotor 60 are alternately fixed on one end of the arm away from the center body 11 .
  • the propeller 22 of the forward-rotating rotor 50 rotates clockwise, and the propeller 22 of the counter-rotating rotor 60 rotates counterclockwise.
  • the forward rotor 50 and the reverse rotor 60 can respectively provide flying power for the multi-rotor UAV.
  • the number of the forward-rotating rotors 50 and the reverse-rotating rotors 60 are the same, so as to ensure that the frame 10 bears a balanced force and is kept stable and parallel.
  • the forward-rotating rotor 50 and the reverse-rotating rotor 60 adjust the rotational speed of the propeller 22 to make the multi-rotor unmanned aerial vehicle ascend, descend, advance, retreat, turn left, turn right, and the like. Among them, most of the structures of the forward rotor and the reverse rotor are the same.
  • the motor of the forward-rotating rotor 50 is a forward-rotating motor
  • the propeller is a positive propeller.
  • the motor of the reversing rotor 60 is a reversing motor, and the propeller is an anti-propeller.
  • the forward-rotating rotor 50 includes a first motor 51 , a first propeller 52 and a first fixing member 53 .
  • the first motor 51 is installed on the frame, the first fixing member 53 is fixed on the first motor 51 and rotates together with the rotor of the first motor 51 , and the first propeller 52 is installed on the first motor 51 through the first fixing member 53 , the first motor 51 drives the first propeller 52 to rotate in the forward direction.
  • the counter rotor 60 includes a second motor 61 , a second propeller 62 and a second fixing member 63 .
  • the second motor is installed on the frame, the second fixing member 63 is fixed on the second motor 61, the second propeller 62 is installed on the second motor 61 through the second fixing member 63, and the second motor 61 drives the second propeller 62 along the Reverse rotation.
  • the first elastic member is mechanically coupled and connected to the paddle seat of the first propeller 52 for providing an elastic force to the paddle seat of the first propeller 52 .
  • the second elastic member is mechanically coupled and connected to the paddle seat of the second propeller 62 for providing an elastic force to the paddle seat of the second propeller 62 .
  • the paddle seat of the first propeller 52 is provided with a first through hole 523 and a first slot 524 , and the first fixing member 53 passes through the first through hole 523 and is rotated relative to the paddle seat of the first propeller 52 for a preset rotation. After the angle, it is engaged with the first slot, and the first propeller keeps the first slot and the first fixing member 53 in the engaged state under the elastic force of the first elastic member, so that the first motor 51 passes through the first fixing member. 53 is engaged and fixed with the first slot to drive the first propeller 52 to rotate.
  • the propeller seat of the second propeller 62 is provided with a second through hole 623 and a second slot 624 .
  • the second fixing member 63 passes through the second through hole 623 and is rotated relative to the propeller seat of the second propeller 62 by a preset angle. It is engaged with the second slot 624, and the second propeller 62 keeps the second slot 624 and the second fixing member 63 in the engagement state under the elastic force of the second elastic member, so that the second motor 61 can pass through the second fixing member.
  • the element 63 is engaged with the second slot 624 to drive the second propeller to rotate.
  • the blade of the first propeller 52 is inclined in a square shape and the direction of inclination of the blade of the second propeller 62 is different.
  • the rotation directions of the first propeller 52 and the second propeller 62 are opposite. Therefore, when installing the first propeller 52 and the second propeller 62, it is necessary to distinguish them to avoid mis-installation.
  • first card slot 524 is opened along the first direction
  • second card slot 624 is opened along the second direction
  • first direction is different from the second direction.
  • first locking groove 524 of the first propeller 52 is opened along the first direction.
  • the second slot 624 of the second propeller 62 is opened along the second direction.
  • the first direction is different from the second direction. Therefore, the first slot 524 and the second slot 624 can be distinguished according to different opening directions, so that the first propeller 52 and the second propeller 62 can be installed when the first propeller 52 and the second propeller 62 are installed. Foolproof effect.
  • the first fixing member 53 and the second fixing member 63 are fixed on the bracket. Then, the first propeller 52 is rotated to engage with the first fixing member 53 . Rotate the second propeller 62 to engage with the second fixing member 63 . The first propeller 52 is rotated at an acute angle clockwise relative to the first fixing member 53 , and the first fixing member 53 can be engaged with the first locking groove 524 along the first direction.
  • the second propeller 62 is rotated by an acute angle counterclockwise relative to the second fixing member 63 , and the second fixing member 63 can be engaged with the second locking groove 624 along the second direction.
  • the first direction is inclined in a clockwise direction.
  • the first direction is the direction in which the Y-axis direction is rotated clockwise by an acute angle.
  • the second direction is inclined in a counterclockwise direction.
  • the second direction is the direction in which the Y-axis direction is rotated counterclockwise by an acute angle.
  • the forward rotation rotor 50 and the reverse rotation rotor 60 may also be provided with other mechanical foolproof designs, for example, the shape of the through hole 223 or other identification designs.
  • the above-mentioned multi-rotor unmanned aerial vehicle drives the unmanned aerial vehicle to fly by driving the rotor 20 .
  • the propeller seat of the propeller is engaged with the rotating end of the motor through the fixing member 23, and the motor drives the propeller 22 to rotate.
  • the propeller seat of the propeller 22 slides along the axial direction of the rotating shaft until the fixing member 23 passes through the through hole and engages with the locking groove 224, so that the propeller is limited in the axial direction of the rotating shaft of the motor, and the motor is fixed by The screw is engaged with the slot 224 and fixed to drive the propeller 22 to rotate.
  • the propeller 22 of the above-mentioned multi-rotor UAV is limited in the axial direction, so as to prevent the propeller 22 from moving along the axial direction of the rotating shaft during the rotation process, or even detaching from the rotating shaft, resulting in flight accidents and other dangers.
  • the installation direction of the propeller 22 is sliding installation along the axial direction of the rotating shaft, and the fixing member is engaged and fixed with the locking groove 224 by rotating the propeller seat.
  • the propeller 22 is subjected to a force along the axial direction of the rotating shaft, but under the action of the force, the holding force between the fixing member 23 and the locking groove 224 will also increase accordingly.
  • the connection relationship between the propeller 22 and the fixing member 23 is strengthened. Therefore, the above-mentioned installation method of the multi-rotor UAV makes the installation operation of the propeller 22 more convenient, and ensures the installation qualification rate of the propeller 22 .

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Toys (AREA)

Abstract

La présente invention concerne un engin volant sans pilote embarqué à rotors multiples, comprenant un cadre (10), des rotors (20) et un élément élastique (30). Chaque rotor (20) comprend un moteur (21), un rouet (22) et un élément fixe (23) ; le moteur (21) est monté sur le cadre (10) ; l'élément fixe (23) est fixé sur le moteur (21), et tourne conjointement avec un rotor du moteur (21) ; le rouet (22) est monté sur le moteur (21) au moyen de l'élément fixe (23) ; le moteur (21) entraîne le rouet (22) en rotation. L'élément élastique (30) est accouplé mécaniquement à une base (221) du rouet (22) et est utilisé pour fournir une force élastique à la base (221) du rouet (22) ; un trou traversant (223) et une rainure de serrage (224) sont ménagés dans la base (221) du rouet (22) ; l'élément fixe (23) peut passer à travers le trou traversant (223), et est en prise avec la rainure de serrage (224) après la rotation d'un angle prédéfini par rapport à la base (221) du rouet (22) ; et le rouet (22) maintient la rainure de serrage (224) et l'élément fixe (23) dans un état en prise sous l'action de la force élastique de l'élément élastique (30), de sorte que le moteur (21) entraîne le rouet (22) en rotation, au moyen d'une prise entre l'élément fixe (23) et la rainure de serrage (224).
PCT/CN2020/120962 2020-10-14 2020-10-14 Engin volant sans pilote embarqué à rotors multiples WO2022077290A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202080024214.6A CN113631479A (zh) 2020-10-14 2020-10-14 多旋翼无人飞行器
PCT/CN2020/120962 WO2022077290A1 (fr) 2020-10-14 2020-10-14 Engin volant sans pilote embarqué à rotors multiples

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/120962 WO2022077290A1 (fr) 2020-10-14 2020-10-14 Engin volant sans pilote embarqué à rotors multiples

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WO2022077290A1 true WO2022077290A1 (fr) 2022-04-21

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114476037B (zh) * 2021-12-30 2023-07-18 邓宏彬 一种四轴八桨挂载飞行器

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104583073A (zh) * 2013-05-31 2015-04-29 深圳市大疆创新科技有限公司 自紧固旋翼
CN205661649U (zh) * 2016-06-05 2016-10-26 吴敏 螺旋桨快速连接结构
CN106347653A (zh) * 2016-11-18 2017-01-25 深圳市道通智能航空技术有限公司 动力装置、螺旋桨及飞行器
CN206202677U (zh) * 2016-11-18 2017-05-31 深圳市道通智能航空技术有限公司 动力装置、螺旋桨及飞行器
US20170305542A1 (en) * 2016-04-24 2017-10-26 Hangzhou Zero Zero Technology Co., Ltd. Aerial system propulsion assembly and method of use

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104583073A (zh) * 2013-05-31 2015-04-29 深圳市大疆创新科技有限公司 自紧固旋翼
US20170305542A1 (en) * 2016-04-24 2017-10-26 Hangzhou Zero Zero Technology Co., Ltd. Aerial system propulsion assembly and method of use
CN205661649U (zh) * 2016-06-05 2016-10-26 吴敏 螺旋桨快速连接结构
CN106347653A (zh) * 2016-11-18 2017-01-25 深圳市道通智能航空技术有限公司 动力装置、螺旋桨及飞行器
CN206202677U (zh) * 2016-11-18 2017-05-31 深圳市道通智能航空技术有限公司 动力装置、螺旋桨及飞行器

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