A torque variable system and unmanned multi-rotor aircraft

Abstract

The present invention belongs to the technical field of unmanned multi-rotor aircraft, and discloses a torque conversion system and an unmanned multi-rotor aircraft. Among them, the torque conversion system includes a torque conversion seat, multiple steering gears, multiple static connecting rods and multiple dynamic connecting rods. The torque conversion seat is movably sleeved on the outside of the main shaft connected to the rotor head, and the torque conversion seat includes a dynamic ring that rotates with the main shaft and a static ring that does not rotate with the main shaft. Multiple steering gears are installed on the outside of the main shaft through a steering gear frame and do not rotate with the main shaft. Multiple static connecting rods cooperate with the steering gears, respectively connecting the steering gear discs and static rings of the steering gears, and the steering gears can drive the torque conversion seat to move along the axial direction of the main shaft through the static connecting rods. Multiple dynamic connecting rods cooperate with the propeller clamps of the rotor head one by one, and respectively connect the dynamic rings and the propeller clamps. Among them, the unmanned multi-rotor aircraft includes the above-mentioned torque conversion system. In the present invention, the arrangement that multiple steering gears drive the propeller clamps to rotate relative to the propeller hub through the same torque conversion seat ensures the stability and reliability of the angle adjustment of the rotor head of the unmanned multi-rotor aircraft.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned multi-rotor aircraft, and in particular to a variable torque system and an unmanned multi-rotor aircraft. Background Art

[0002] A servo is a position (angle) servo drive used in control systems where the angle can be continuously changed and maintained.

[0003] In existing drones, the flight angle is generally adjusted by driving the swash plate with a servo. As an important actuator in a drone, once the servo is damaged, it will affect the normal use of the drone.

[0004] Existing drones usually use direct drive to push the swash plate, that is, the servo drives the servo plate to directly push the swash plate through the connecting rod and the joint bearing. Due to the working principle and force characteristics of the servo, the servo is very easy to be damaged during operation. In the actual flight of the drone, once the servo as an actuator fails, the rotor head of the drone will be uncontrollable, causing unpredictable consequences to the drone and even causing a crash. Summary of the invention

[0005] The purpose of the present invention is to provide a torque conversion system that can ensure the stability and reliability of the angle adjustment of the UAV rotor head and effectively reduce the probability of flight accidents.

[0006] Another object of the present invention is to provide an unmanned multi-rotor aircraft, the angle of the rotor head of which can be stably and reliably adjusted, effectively reducing the probability of flight accidents.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] A torque conversion system, comprising:

[0009] A torque converter seat, which is movably sleeved on the outer side of a main shaft connected to a rotor head, and includes a moving ring that rotates with the main shaft and a stationary ring that does not rotate with the main shaft;

[0010] A plurality of steering gears are mounted on the outside of the main shaft via a steering gear frame and do not rotate with the main shaft;

[0011] A plurality of static connecting rods cooperate with the steering gear and are respectively connected to the steering gear disc and the static ring of the steering gear, and the steering gear can drive the torque converter seat to move along the axial direction of the main shaft through the static connecting rods;

[0012] A plurality of moving links cooperate with the blade clamps of the rotor head one by one, respectively connecting the moving ring and the blade clamps, and the torque converter seat sliding along the axial direction of the main shaft can drive the blade clamps to rotate relative to the blade hub of the rotor head through the moving links.

[0013] Preferably, the torque converter seat further comprises a sleeve; the sleeve is movably mounted on the outer side of the main shaft; the dynamic ring is fixedly mounted on the outer side of the sleeve, and the static ring is mounted on the outer side of the sleeve via a rolling bearing.

[0014] Preferably, the static ring is evenly provided with a plurality of static arms in the circumferential direction, the static arms are arranged in one-to-one correspondence with the servos, and the static connecting rods are respectively connected to the static arms and the servo discs; the dynamic ring is evenly provided with a plurality of movable arms in the circumferential direction, the movable arms are arranged in one-to-one correspondence with the propeller clamps, and the movable connecting rods are respectively connected to the movable arms and the propeller clamps.

[0015] Preferably, a limit rod is further provided on the static ring, and a limit seat is provided on the servo frame; a guide hole extending along the axial direction of the main shaft is provided on the limit seat, and the limit rod penetrates into the guide hole.

[0016] Preferably, three servos are provided, and the three servos are evenly distributed along the circumference of the main shaft.

[0017] Preferably, one end of the static link is connected to the steering gear disc via a spherical bearing, and the other end is connected to the static ring via a spherical bearing.

[0018] Preferably, it further comprises a plurality of rocker levers corresponding one to one with the propeller clamps, wherein the rocker levers are connected to the propeller clamps; one end of the dynamic link is connected to the dynamic ring via a spherical bearing, and the other end is connected to the rocker lever via a spherical bearing.

[0019] The present invention also provides an unmanned multi-rotor aircraft, comprising the above-mentioned torque variable system.

[0020] Preferably, two rotor heads are arranged on the main shaft at intervals; two torque converter seats are arranged, located between the two rotor heads, and drive the two rotor heads respectively; the servo is arranged between the two torque converter seats, and the servo disk of the same servo is connected to the two torque converter seats respectively through the two static connecting rods.

[0021] Preferably, a reducer is further included, wherein the reducer is located between the two torque converter seats, and an output portion of the reducer is arranged on the outside of the main shaft for driving the main shaft to rotate.

[0022] The beneficial effects of the present invention are as follows: a plurality of servos drive the propeller clamps to rotate relative to the propeller hub through the same torque converter seat, thereby jointly sharing the radial force required for the rotor head torque change, effectively extending the service life of the servos; and, due to the synergistic effect of the plurality of servos, when one servo fails, the remaining servos can still drive the torque converter seat to achieve torque change, thereby ensuring the stability and reliability of the rotor head angle adjustment of the unmanned multi-rotor aircraft and effectively reducing the probability of flight accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a front view of the torque conversion system according to an embodiment of the present invention cooperating with the main shaft and the rotor head;

[0024] Figure 2 is a side view of the torque conversion system according to an embodiment of the present invention in cooperation with the main shaft and the rotor head;

[0025] Figure 3 It is a schematic structural diagram of a position of the torque conversion system according to an embodiment of the present invention in cooperation with the main shaft and the rotor head;

[0026] Figure 4 It is a structural schematic diagram of another direction of the torque conversion system according to an embodiment of the present invention cooperating with the main shaft and the rotor head;

[0027] Figure 5 It is a cross-sectional view of the torque converter seat described in the embodiment of the present invention.

[0028] In the figure:

[0029] 1. Torque converter seat; 11. Stationary ring; 111. Stationary arm; 112. Limit rod; 113. Anti-dropping piece; 12. Moving ring; 121. Moving arm; 13. Sliding sleeve; 14. Rolling bearing;

[0030] 2. Servo; 21. Servo disc;

[0031] 3. Steering gear frame; 31. Limit seat; 311. Guide hole;

[0032] 4. Static connecting rod;

[0033] 5. Moving connecting rod;

[0034] 6. Spherical bearings;

[0035] 7. Rocker arm;

[0036] 100, main shaft; 200, rotor head; 201, propeller clamp; 202, propeller hub; 300, reducer. DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0038] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0039] like Figure 1-Figure 5As shown, the present invention provides a torque conversion system, including a torque converter seat 1, a plurality of servos 2, a plurality of static connecting rods 4 and a plurality of dynamic connecting rods 5. The torque converter seat 1 is movably sleeved on the outside of a main shaft 100 connected to a rotor head 200, and the torque converter seat 1 includes a dynamic ring 12 that rotates with the main shaft 100 and a static ring 11 that does not rotate with the main shaft 100. The plurality of servos 2 are installed on the outside of the main shaft 100 through a servo frame 3 and do not rotate with the main shaft 100. The plurality of static connecting rods 4 cooperate with the servos 2, and are respectively connected to the servo disc 21 and the static ring 11 of the servos 2. The servos 2 can drive the torque converter seat 1 to move along the axial direction of the main shaft 100 through the static connecting rods 4. Multiple moving links 5 cooperate with the propeller clamps 201 of the rotor head 200 one by one, respectively connecting the moving ring 12 and the propeller clamps 201. The torque converter seat 1 that slides axially along the main shaft 100 can drive the propeller clamps 201 to rotate relative to the hub 202 of the rotor head 200 through the moving links 5.

[0040] In the present invention, multiple servos 2 drive the propeller clamp 201 to rotate relative to the propeller hub 202 through the same torque converter seat 1, and jointly share the radial force required for the torque change of the rotor head 200, thereby effectively extending the service life of the servos 2. In addition, due to the synergistic effect of the multiple servos 2, when one servo 2 fails, the remaining servos 2 can still drive the torque converter seat 1 to achieve torque change, thereby ensuring the stability and reliability of the angle adjustment of the rotor head 200 of the unmanned multi-rotor aircraft, and effectively reducing the probability of flight accidents.

[0041] The torque converter seat 1 specifically includes a sleeve 13. The sleeve 13 is movably sleeved on the outside of the main shaft 100, the dynamic ring 12 is fixedly sleeved on the outside of the sleeve 13, and the static ring 11 is sleeved on the outside of the sleeve 13 through a rolling bearing 14. In this embodiment, the rolling bearing 14 is a deep groove ball bearing. The arrangement of the sleeve 13 enables the torque converter seat 1 to move axially along the main shaft 100 while ensuring that the static ring 11 does not rotate with the main shaft 100, and the rotor head 200 drives the dynamic ring 12 to rotate with the main shaft 100 through the dynamic connecting rod 5.

[0042] Specifically, the static ring 11 is evenly provided with a plurality of static arms 111 in the circumferential direction, the static arms 111 are arranged in one-to-one correspondence with the servo 2, the static connecting rods 4 are respectively connected with the static arms 111 and the servo disc 21, and the dynamic ring 12 is evenly provided with a plurality of movable arms 121 in the circumferential direction, the movable arms 121 are arranged in one-to-one correspondence with the propeller clamps 201, and the dynamic connecting rods 5 are respectively connected with the movable arms 121 and the propeller clamps 201. The arrangement of the static arms 111 and the movable arms 121 facilitates the installation of the static connecting rods 4 and the dynamic connecting rods 5, and makes the connection between the torque converter seat 1 and the servo 2 and the propeller clamps 201 more reliable.

[0043] A limit rod 112 is also provided on the stationary ring 11, and a limit seat 31 is provided on the servo frame 3. Specifically, a guide hole 311 extending axially along the main shaft 100 is provided on the limit seat 31. The limit rod 112 penetrates the guide hole 311 and can be guided by the guide hole 311 to move axially along the main shaft 100. Specifically, an anti-slip component 113 is also provided at the end of the limit rod 112 to prevent the limit rod 112 from slipping out of the guide hole 311 of the limit seat 31. The matching arrangement of the above-mentioned limit rod 112 and the limit seat 31 enables the stationary ring 11 to rotate without following the main shaft 100, and the arrangement of the guide hole 311 on the limit seat 31 avoids interference with the axial movement of the torque converter seat 1.

[0044] Specifically, three steering gears 2 are provided, and the three steering gears 2 are evenly distributed along the circumference of the main shaft 100. The three steering gears 2 cooperate with each other to drive the torque converter 1 safely and reliably.

[0045] One end of the static connecting rod 4 is connected to the steering gear disc 21 through the joint bearing 6, and the other end is connected to the static ring 11 through the joint bearing 6. The arrangement of the joint bearing 6 makes the steering gear 2 drive the torque converter 1 more stably.

[0046] The torque conversion system of this embodiment also includes a plurality of rocker levers 7 corresponding to the propeller clamps 201. The rocker levers 7 are connected to the propeller clamps 201. One end of the moving link 5 is connected to the moving ring 12 through the joint bearing 6, and the other end is connected to the rocker lever 7 through the joint bearing 6. Finally, the angle of the propeller clamp 201 is adjusted by the rocker lever 7. The rocker lever 7 specifically includes a seat body fixed to the propeller clamp 201 and an adjustment rod arranged on the seat body and parallel to the propeller clamped by the propeller clamp 201. The moving link 5 is connected to the adjustment rod through the joint bearing 6. The above-mentioned rocker lever 7 is arranged in cooperation with the joint bearing 6, so that the torque converter seat 1 drives the propeller clamp 201 more stably.

[0047] The present invention also provides an unmanned multi-rotor aircraft, comprising the above-mentioned torque variable system.

[0048] In the unmanned multi-rotor aircraft of the present invention, multiple servos 2 drive the propeller clamp 201 to rotate relative to the propeller hub 202 through the same torque converter seat 1, and jointly share the radial force required for torque change, thereby effectively extending the service life of the servos 2. In addition, due to the synergistic effect of the multiple servos 2, when one servo 2 fails, the remaining servos 2 can still drive the torque converter seat 1 to achieve torque change, thereby ensuring the stability and reliability of the angle adjustment of the rotor head 200 of the unmanned multi-rotor aircraft, and effectively reducing the probability of flight accidents.

[0049] The main shaft 100 of the unmanned multi-rotor aircraft provided by the present invention is provided with two rotor heads 200 at intervals, which is specifically a single-axis dual-propeller multi-rotor head 200 drone. Two torque converter seats 1 are correspondingly provided, located between the two rotor heads 200, and drive the two rotor heads 200 respectively. The servo 2 is arranged between the two torque converter seats 1, and the servo disc 21 of the same servo 2 is respectively connected to the two torque converter seats 1 through two static connecting rods 4. Specifically, the rotating shaft of the servo disc 21 is located between the two static connecting rods 4. The above arrangement enables the servo 2 to drive the two rotor heads 200 at both ends of the main shaft 100 at the same time.

[0050] The unmanned multi-rotor aircraft provided by the present invention further includes a reducer 300 , which is located between the two torque converter seats 1 , and an output portion of the reducer 300 is disposed outside the main shaft 100 for driving the main shaft 100 to rotate.

[0051] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A torque conversion system, characterized in that: include: A torque converter seat (1) is movably sleeved on the outer side of a main shaft (100) connected to a rotor head (200), the torque converter seat (1) comprising a stationary ring (11) that does not rotate with the main shaft (100), a moving ring (12) that rotates with the main shaft (100), and a sliding sleeve (13), the sliding sleeve (13) being movably sleeved on the outer side of the main shaft (100); the moving ring (12) being fixedly sleeved on the outer side of the sliding sleeve (13), and the stationary ring (11) being sleeved on the outer side of the sliding sleeve (13) via a rolling bearing (14); A plurality of steering gears (2) are mounted on the outside of the main shaft (100) via a steering gear frame (3) and do not rotate along with the main shaft (100); A plurality of static connecting rods (4) cooperate with the steering gear (2) and are respectively connected to the steering gear disc (21) and the static ring (11) of the steering gear (2); the steering gear (2) can drive the torque converter seat (1) to move axially along the main shaft (100) through the static connecting rods (4); A plurality of movable connecting rods (5) are matched one by one with the blade clamps (201) of the rotor head (200), respectively connecting the movable ring (12) and the blade clamps (201), and the torque converter seat (1) that slides axially along the main shaft (100) can drive the blade clamps (201) to rotate relative to the blade hub (202) of the rotor head (200) through the movable connecting rods (5); The plurality of steering gears (2) work in coordination, and when one of the steering gears (2) fails, the remaining steering gears (2) can still drive the torque converter seat (1) to achieve torque conversion.

2. The torque converter system according to claim 1, characterized in that: The static ring (11) is evenly distributed in the circumferential direction with a plurality of static arms (111), the static arms (111) being arranged in one-to-one correspondence with the servos (2), and the static connecting rods (4) respectively connecting the static arms (111) and the servo discs (21); The movable ring (12) is evenly provided with a plurality of movable arms (121) on a circumferential surface, the movable arms (121) and the propeller clamps (201) are arranged in a one-to-one correspondence, and the movable connecting rods (5) are respectively connected to the movable arms (121) and the propeller clamps (201).

3. The torque converter system according to claim 1, characterized in that: A limit rod (112) is provided on the static ring (11), and a limit seat (31) is provided on the steering gear frame (3); The limiting seat (31) is provided with a guide hole (311) extending axially along the main shaft (100), and the limiting rod (112) penetrates into the guide hole (311).

4. The torque converter system according to claim 1, characterized in that: Three steering gears (2) are provided, and the three steering gears (2) are evenly distributed along the circumference of the main shaft (100).

5. The torque converter system according to claim 1, characterized in that: One end of the static connecting rod (4) is connected to the steering gear disc (21) via a joint bearing (6), and the other end is connected to the static ring (11) via a joint bearing (6).

6. The torque converter system according to claim 1, characterized in that: It also comprises a plurality of rocker arms (7) corresponding one-to-one to the propeller clamps (201), the rocker arms (7) being connected to the propeller clamps (201); One end of the moving connecting rod (5) is connected to the moving ring (12) via a joint bearing (6), and the other end is connected to the rocker arm (7) via a joint bearing (6).

7. An unmanned multi-rotor aircraft, characterized in that: It comprises the torque conversion system as described in any one of claims 1-6.

8. The unmanned multi-rotor aircraft according to claim 7, characterized in that: Two rotor heads (200) are arranged on the main shaft (100) at intervals; Two torque converter seats (1) are provided, located between the two rotor heads (200), and driving the two rotor heads (200) respectively; The steering gear (2) is arranged between the two torque converter seats (1), and the steering gear disc (21) of the same steering gear (2) is respectively connected to the two torque converter seats (1) via the two static connecting rods (4).

9. The unmanned multi-rotor aircraft according to claim 8, characterized in that: It also comprises a reducer (300), wherein the reducer (300) is located between the two torque converter seats (1), and an output portion of the reducer (300) is arranged outside the main shaft (100) and is used to drive the main shaft (100) to rotate.

Images