Flight module and aircraft having the same

Abstract

The present invention discloses a flight module and an aircraft having the flight module. The flight module comprises: a main shaft; a first rotor rotatably arranged on the main shaft; a second rotor rotatably arranged on the main shaft, and the second rotor and the first rotor are arranged at an axial interval along the main shaft; a swash plate mechanism arranged between the first rotor and the second rotor, the swash plate mechanism comprising a main transmission member, a joint bearing, a first slave transmission member and a second slave transmission member, the main transmission member is provided with a mounting hole, the joint bearing is arranged in the mounting hole, the main shaft passes through the mounting hole and is penetrated by the joint bearing, the first slave transmission member is rotatably sleeved outside the main transmission member, the first slave transmission member is connected to the first rotor, the second slave transmission member is rotatably sleeved outside the main transmission member and is located on a side of the first slave transmission member close to the second rotor, and the second slave transmission member is connected to the second rotor; and a driving mechanism is arranged on the main shaft and drivingly connected to the main transmission member.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and in particular to a flight module and an aircraft having the flight module. Background Art

[0002] Among unmanned helicopters, the twin-rotor coaxial layout of the twin-rotor unmanned helicopter has many advantages over the single-rotor or tail-rotor layout of the unmanned helicopter, for example, its compact size, symmetrical aerodynamic characteristics, good maneuverability, easy operation, etc.

[0003] In a twin-rotor unmanned helicopter, its forward, backward, sideways flight and other actions are all achieved by controlling the tilting plate. The common twin-rotor unmanned helicopters on the market currently control the upper and lower rotors respectively through the upper and lower tilting plates, which are respectively connected to the upper and lower rotors through connecting rods, and the upper and lower tilting plates are linked by connecting rods. If there are too many connecting rods, it is easy to introduce gaps and installation errors, resulting in poor control accuracy of the unmanned helicopter. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a flight module that can solve the problem of poor control accuracy of helicopters in traditional solutions.

[0005] The present invention also provides an aircraft having the above-mentioned flight module.

[0006] According to a flight module of an embodiment of the first aspect of the present invention, the flight module includes: a main shaft; a first rotor rotatably arranged on the main shaft; a second rotor rotatably arranged on the main shaft, and the second rotor and the first rotor are arranged at an axial interval along the main shaft; a swash plate mechanism arranged between the first rotor and the second rotor, the swash plate mechanism including a main transmission member, a spherical bearing, a first slave transmission member and a second slave transmission member, the main transmission member is provided with a mounting hole, the spherical bearing is arranged in the mounting hole, the main shaft passes through the mounting hole and is penetrated by the spherical bearing, the first slave transmission member is rotatably sleeved outside the main transmission member and can rotate around the axis of the mounting hole. Rotation, the first slave transmission member is connected to the first rotor, the second slave transmission member can be rotatably mounted outside the main transmission member and is located on the side of the first slave transmission member close to the second rotor, the second slave transmission member can rotate around the axis of the mounting hole, and the second slave transmission member is connected to the second rotor; a driving mechanism is arranged on the main shaft and is drivingly connected to the main transmission member, the driving mechanism is used to drive the main transmission member to tilt relative to the main shaft, so that the first slave transmission member and the second slave transmission member tilt together with the main transmission member, and the first slave transmission member and the second slave transmission member can change the angle of attack of the first rotor and the second rotor respectively when tilting.

[0007] The flight module according to the embodiment of the present invention has at least the following technical effects:

[0008] In the above-mentioned flight module, when the main transmission member is controlled by the driving mechanism to tilt, the main transmission member can drive the first slave transmission member and the second slave transmission member to tilt together with the main transmission member, and the first slave transmission member and the second slave transmission member can change the angle of attack of the first rotor and the second rotor respectively when tilting. In this way, the flight direction of the aircraft can be changed.

[0009] In addition, in the above-mentioned swash plate mechanism, the first slave transmission member for controlling the angle of attack of the first rotor and the second slave transmission member for controlling the angle of attack of the second rotor are integrated together through the main transmission member and the joint bearing, which greatly simplifies the structure. Compared with the traditional solution, the swash plate for controlling the first rotor and the swash plate for controlling the second rotor are separately arranged, and the two swash plates are connected together through a connecting rod mechanism, which reduces the precision requirements of the installation, simplifies the debugging process, and improves the control precision (in the traditional solution, the two swash plates are connected by a connecting rod mechanism, and the connecting rod mechanism is not conducive to the control of precision). In addition, since in the present application, the first slave transmission member for controlling the angle of attack of the first rotor and the second slave transmission member for controlling the angle of attack of the second rotor are integrated together through the main transmission member and the joint bearing, the structure of the aircraft can be made more compact, thereby reducing the distance from the first rotor and / or the second rotor to the center of mass of the aircraft, thereby reducing the aerodynamic interference torque of the first rotor and / or the second rotor, and improving the flight stability of the aircraft.

[0010] According to some embodiments of the present invention, the main transmission member includes a mounting portion provided with the mounting hole and a plurality of first connecting portions arranged around the mounting portion, the plurality of first connecting portions are arranged at circumferential intervals along the mounting hole, and the driving mechanism is drivingly connected to the plurality of first connecting portions.

[0011] According to some embodiments of the present invention, the flight module further includes a plurality of first connecting rods, the driving mechanism includes a plurality of driving members arranged at circumferential intervals along the main axis, and each of the driving members is connected to each of the first connecting parts via a first connecting rod.

[0012] According to some embodiments of the present invention, the flight module further comprises a mounting tube, wherein the mounting tube is fixedly mounted outside the main shaft, and the plurality of driving members are all fixed on the mounting tube.

[0013] According to some embodiments of the present invention, the first driven transmission member includes a first assembly ring and a plurality of second connection portions spaced apart along the circumference of the first assembly ring, the first assembly ring is rotatably sleeved outside the mounting portion, the first assembly ring is coaxially arranged with the mounting hole, and the second connection portions are connected to the first rotor;

[0014] A first installation gap is formed between the inner wall of the first assembly ring and the outer wall of the mounting portion. The tilting plate mechanism also includes a first bearing, which is arranged in the first installation gap, and the inner and outer sides of the first bearing are respectively against the outer wall of the mounting portion and the inner wall of the first assembly ring.

[0015] According to some embodiments of the present invention, the flight module further includes a plurality of second connecting rods, one ends of the plurality of second connecting rods are connected to the plurality of second connecting parts one by one, and the other ends of the plurality of second connecting rods are connected to the first rotor.

[0016] According to some embodiments of the present invention, the second driven transmission member includes a second assembly ring and a plurality of third connection parts arranged along the circumference of the second assembly ring, the second assembly ring is rotatably sleeved outside the mounting part, and the second assembly ring is coaxially arranged with the mounting hole, and the third connection parts are connected to the second rotor;

[0017] A second installation gap is formed between the inner wall of the second assembly ring and the outer wall of the mounting portion. The tilting plate mechanism also includes a second bearing, which is arranged in the second installation gap, and the inner and outer sides of the second bearing are respectively against the outer wall of the mounting portion and the inner wall of the second assembly ring.

[0018] According to some embodiments of the present invention, the flight module further includes a plurality of third connecting rods, one ends of the plurality of third connecting rods are connected one-to-one with the plurality of third connecting parts, and the other ends of the plurality of third connecting rods are connected with the second rotor.

[0019] According to some embodiments of the present invention, the tilting plate mechanism further includes a retaining ring, which is fixedly disposed at one end of the mounting hole, an inner wall of the mounting hole forms a limiting step, and the spherical bearing is clamped between the limiting step and the retaining ring.

[0020] An aircraft according to a second aspect of an embodiment of the present invention comprises the flight module as described above.

[0021] The aircraft according to the embodiment of the present invention has at least the following technical effects:

[0022] In the above-mentioned aircraft, when the main transmission member is controlled by the driving mechanism to tilt, the main transmission member can drive the first slave transmission member and the second slave transmission member to tilt together with the main transmission member, and the first slave transmission member and the second slave transmission member can change the angle of attack of the first rotor and the second rotor respectively when tilting. In this way, the flight direction of the aircraft can be changed.

[0023] In addition, in the above-mentioned swash plate mechanism, the first slave transmission member for controlling the angle of attack of the first rotor and the second slave transmission member for controlling the angle of attack of the second rotor are integrated together through the main transmission member and the joint bearing, which greatly simplifies the structure. Compared with the traditional solution, the swash plate for controlling the first rotor and the swash plate for controlling the second rotor are separately arranged, and the two swash plates are connected together through a connecting rod mechanism, which reduces the precision requirements of the installation, simplifies the debugging process, and improves the control precision (in the traditional solution, the two swash plates are connected by a connecting rod mechanism, and the connecting rod mechanism is not conducive to the control of precision). In addition, since in the present application, the first slave transmission member for controlling the angle of attack of the first rotor and the second slave transmission member for controlling the angle of attack of the second rotor are integrated together through the main transmission member and the joint bearing, the structure of the aircraft can be made more compact, thereby reducing the distance from the first rotor and / or the second rotor to the center of mass of the aircraft, thereby reducing the aerodynamic interference torque of the first rotor and / or the second rotor, and improving the flight stability of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0025] Figure 1 FIG. 1 is a schematic diagram of the partial structure of a twin-rotor aircraft according to an embodiment of the present invention. Figure 1 ;

[0026] Figure 2 FIG. 1 is a schematic diagram of the partial structure of a twin-rotor aircraft according to an embodiment of the present invention. Figure 2 ;

[0027] Figure 3 is a schematic cross-sectional structural diagram of a swash plate mechanism according to an embodiment of the present invention;

[0028] Figure 4 It is a schematic diagram of the exploded structure of the tilting plate mechanism according to an embodiment of the present invention.

[0029] Reference numerals:

[0030] 100, tilting plate mechanism; 110, main transmission member; 111, mounting portion; 112, first connecting portion; 113, mounting hole; 120, first slave transmission member; 121, first assembly ring; 122, second connecting portion; 130, second slave transmission member; 131, second assembly ring; 132, third connecting portion; 140, spherical bearing; 150, first bearing; 160, second bearing; 170, top ring; 180, retaining ring; 200, main shaft; 300, first rotor; 310, second connecting rod; 400, second rotor; 410, third connecting rod; 500, driving mechanism; 501, driving member; 510, first connecting rod; 600, mounting cylinder. DETAILED DESCRIPTION

[0031] 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 only used to explain the present invention, and cannot be understood as limiting the present invention.

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] like Figure 1 As shown, one embodiment involves a flight module, which includes a main shaft 200, a first rotor 300 rotatably disposed on the main shaft 200, a second rotor 400 rotatably disposed on the main shaft 200 and spaced apart from the first rotor 300 along the axial direction of the main shaft 200, a swash plate mechanism 100 disposed on the main shaft 200 and located between the first rotor 300 and the second rotor 400, and a driving mechanism 500 for driving the swash plate mechanism 100 to move.

[0035] like Figure 2 , Figure 3 As shown, the swash plate mechanism 100 includes a main transmission member 110 , a spherical bearing 140 , a first slave transmission member 120 and a second slave transmission member 130 .

[0036] like Figure 3 , Figure 4 As shown, the main transmission member 110 is provided with a mounting hole 113 .

[0037] Specifically, a mounting hole 113 is provided at the center of the main transmission member 110 , and the mounting hole 113 is a through hole.

[0038] The spherical bearing 140 is disposed in the mounting hole 113 . The spherical bearing 140 is used for the main shaft 200 to pass through. When the main shaft 200 passes through the spherical bearing 140 , it also passes through the mounting hole 113 .

[0039] More specifically, the swash plate mechanism 100 further includes a retaining ring 180, which is fixed to the main transmission member 110 and is located at the end of the mounting hole 113. The inner wall of the mounting hole 113 forms a limiting step. The spherical bearing 140 is disposed in the mounting hole 113 and is clamped by the limiting step and the retaining ring 180. The main shaft 200 is penetrated by the spherical bearing 140 and passes through the mounting hole 113. In this way, the main transmission member 110 is connected to the main shaft 200 through the spherical bearing 140, and the main transmission member 110 can be tilted relative to the main shaft 200.

[0040] like Figure 2 As shown, more specifically, the main transmission member 110 is connected to the driving mechanism 500 via a first connecting rod 510. The driving mechanism 500 is fixedly disposed on the main shaft 200, and is used to drive the main transmission member 110 to tilt relative to the main shaft 200 via the first connecting rod 510.

[0041] like Figure 3 As shown, the first slave transmission member 120 is rotatably mounted outside the main transmission member 110 and can rotate around the axis of the mounting hole 113. Figure 2 , the first slave transmission member 120 is connected to the first rotor 300 .

[0042] Combination Figure 1 and Figure 2 Specifically, the first slave transmission member 120 is connected to the first rotor 300 through the second connecting rod 310. During the flight of the aircraft, the first rotor 300 rotates around the main shaft 200, and the first rotor 300 can drive the first slave transmission member 120 to rotate relative to the main transmission member 110 through the second connecting rod 310. When the driving mechanism 500 drives the main transmission member 110 to tilt relative to the main shaft 200, the main transmission member 110 can drive the first slave transmission member 120 to tilt, and then the angle of attack of the first rotor 300 is changed through the second connecting rod 310.

[0043] like Figure 3 As shown, the second slave transmission member 130 is rotatably mounted outside the main transmission member 110 and is arranged along the axial direction of the mounting hole 113 with the first slave transmission member 120. The second slave transmission member 130 can rotate around the axis of the mounting hole 113. Figure 2 The second slave transmission member 130 is used to connect with the second rotor 400 .

[0044] Combination Figure 2 and Figure 3 Specifically, the second slave transmission member 130 is located on a side of the first slave transmission member 120 close to the second rotor 400, and the second slave transmission member 130 is connected to the second rotor 400 through the third connecting rod 410. During the flight of the aircraft, the second rotor 400 rotates around the main shaft 200, and the second rotor 400 can drive the second slave transmission member 130 to rotate relative to the main transmission member 110 through the third connecting rod 410. When the driving mechanism 500 drives the main transmission member 110 to tilt relative to the main shaft 200, the main transmission member 110 can drive the second slave transmission member 130 to tilt, and then the angle of attack of the second rotor 400 is changed through the third connecting rod 410.

[0045] In the above-mentioned flight module, when the main transmission member 110 is tilted under the control of the driving mechanism 500, the main transmission member 110 can drive the first slave transmission member 120 and the second slave transmission member 130 to tilt together with the main transmission member 110. When the first slave transmission member 120 and the second slave transmission member 130 are tilted, they can respectively change the angle of attack of the first rotor 300 and the second rotor 400. In this way, the flight direction of the aircraft can be changed.

[0046] Combination Figure 2 and Figure 3 In addition, in the above-mentioned swash plate mechanism 100, the first slave transmission member 120 for controlling the angle of attack of the first rotor 300 and the second slave transmission member 130 for controlling the angle of attack of the second rotor 400 are integrated together through the main transmission member 110 and the spherical bearing 140, which greatly simplifies the structure. Compared with the traditional solution, the swash plate for controlling the first rotor 300 and the swash plate for controlling the second rotor 400 are separately arranged, and the two swash plates are connected together by a connecting rod mechanism, which reduces the precision requirements of the installation, simplifies the debugging process, and improves the control precision (in the traditional solution, the two swash plates are connected by a connecting rod mechanism, which is not conducive to the control of precision). Furthermore, in the present application, the first slave transmission component 120 for controlling the angle of attack of the first rotor 300 and the second slave transmission component 130 for controlling the angle of attack of the second rotor 400 are integrated together through the main transmission component 110 and the joint bearing 140, so that the structure of the aircraft can be made more compact, thereby reducing the distance from the first rotor 300 and / or the second rotor 400 to the center of mass of the aircraft, thereby reducing the aerodynamic interference torque of the first rotor 300 and / or the second rotor 400, and improving the flight stability of the aircraft.

[0047] like Figure 2 , Figure 3As shown, in one embodiment, the main transmission member 110 includes a mounting portion 111 having a mounting hole 113 and a plurality of first connection portions 112 arranged around the mounting portion 111, and the plurality of first connection portions 112 are arranged at intervals along the circumference of the mounting hole 113; wherein each first connection portion 112 is used to be connected to a driving mechanism 500 capable of driving the main transmission member 110 to tilt, and the driving mechanism 500 is used to drive the plurality of first connection portions 112 to operate, thereby changing the tilt angle of the entire main transmission member 110.

[0048] like Figure 3 , Figure 4 As shown, specifically, the mounting portion 111 is columnar, the mounting hole 113 is opened on the mounting portion 111, and the axis of the mounting hole 113 is colinear with the axis of the mounting portion 111, and the plurality of first connecting portions 112 are all arranged on the outer wall of the mounting portion 111, and the plurality of first connecting portions 112 are arranged at intervals along the circumference of the mounting hole 113. Figure 3 The driving mechanism 500 includes a plurality of driving members 501 arranged at intervals along the circumference of the main shaft 200 , one driving member 501 corresponds to one first connecting portion 112 , and the plurality of driving members 501 cooperate to control the tilt angle of the main transmission member 110 .

[0049] Combination Figure 2 and Figure 3 More specifically, the driving member 501 is a servo, each driving member 501 is connected to each first connecting portion 112 via a first connecting rod 510 , and multiple driving members 501 cooperatively control the tilt angle of the main transmission member 110 via multiple first connecting rods 510 .

[0050] Combination Figure 2 and Figure 4 Specifically, in this embodiment, there are three driving members 501, which are evenly and spaced apart along the circumference of the main shaft 200, and the angle between each two adjacent driving members 501 is 120°. There are also three first connecting parts 112, which are evenly and spaced apart along the circumference of the mounting hole 113, and the angle between each two adjacent first connecting parts 112 is 120°. In this way, the tilt angle of the main transmission member 110 can be more accurately controlled by the three driving members 501.

[0051] Furthermore, the flight module also includes a mounting tube 600 , which is fixedly mounted outside the main shaft 200 , and the plurality of driving components 501 are all fixed on the mounting tube 600 .

[0052] like Figure 3 , Figure 4As shown, in one embodiment, the first slave transmission member 120 includes a first assembly ring 121 and a plurality of second connection portions 122 arranged along the circumference of the first assembly ring 121. The first assembly ring 121 is rotatably sleeved outside the mounting portion 111, and the first assembly ring 121 is coaxially arranged with the mounting hole 113. Figure 2 The second connecting part 122 is connected to the first rotor 300 . When the main transmission member 110 tilts relative to the main shaft 200 , the main transmission member 110 drives the first slave transmission member 120 to tilt, so that the angle of attack of the first rotor 300 changes under the drive of the second connecting part 122 .

[0053] like Figure 2 and Figure 4 As shown, specifically, there are two second connecting parts 122, and the two second connecting parts 122 are fixedly connected to the outer wall of the first assembly ring 121, and the angle between the two first connecting parts 112 is 180°, and each second connecting part 122 is connected to the first rotor 300 through a second connecting rod 310. When the first slave transmission member 120 is tilted under the drive of the main transmission member 110, the first slave transmission member 120 can drive the first rotor 300 to tilt through the second connecting rod 310, so that the angle of attack of the first rotor 300 is changed.

[0054] Furthermore, a first installation gap is formed between the inner wall of the first assembly ring 121 and the outer wall of the mounting portion 111; the swash plate mechanism 100 further includes a first bearing 150, which is disposed in the first installation gap. The first bearing 150 can ensure that the first slave transmission member 120 rotates stably relative to the main transmission member 110, so that when the first rotor 300 rotates, the first rotor 300 can smoothly drive the first slave transmission member 120 to rotate, preventing the first slave transmission member 120 from affecting flight due to the large friction between the first slave transmission member 120 and the main transmission member 110.

[0055] Specifically in this embodiment, the first bearing 150 is a deep groove ball bearing.

[0056] Furthermore, the inner and outer sides of the first bearing 150 respectively abut against the outer wall of the mounting portion 111 and the inner wall of the first assembly ring 121, so that the first slave transmission member 120 can be connected to the main transmission member 110 under the action of the first bearing 150, and when the main transmission member 110 is tilted, it can drive the first slave transmission member 120 to tilt accordingly.

[0057] like Figure 3 , Figure 4As shown, further, the second slave transmission member 130 includes a second assembly ring 131 and a plurality of third connection portions 132 arranged along the circumference of the second assembly ring 131. The second assembly ring 131 is rotatably sleeved outside the mounting portion 111, and the second assembly ring 131 is coaxially arranged with the mounting hole 113. Figure 2 The third connection part 132 is connected to the second rotor 400 . When the main transmission member 110 tilts relative to the main shaft 200 , the main transmission member 110 drives the second slave transmission member 130 to tilt, so that the angle of attack of the second rotor 400 changes under the drive of the third connection part 132 .

[0058] like Figure 2 , Figure 4 As shown, specifically, there are four third connecting parts 132, and the four third connecting parts 132 are all fixedly connected to the outer wall of the second assembly ring 131, and the angle between each two adjacent third connecting parts 132 is 90°, and each third connecting part 132 is connected to the second rotor 400 through a third connecting rod 410. When the second slave transmission member 130 is driven by the main transmission member 110 to tilt, the second slave transmission member 130 can drive the second rotor 400 to tilt through the third connecting rod 410, so that the angle of attack of the second rotor 400 is changed.

[0059] Furthermore, a second installation gap is formed between the inner wall of the second assembly ring 131 and the outer wall of the mounting portion 111; the swash plate mechanism 100 further includes a second bearing 160, which is disposed in the second installation gap. The second bearing 160 can ensure that the second slave transmission member 130 rotates stably relative to the main transmission member 110, so that when the second rotor 400 rotates, the second rotor 400 can smoothly drive the second slave transmission member 130 to rotate, thereby preventing the second slave transmission member 130 from affecting the flight due to the large friction between the second slave transmission member 130 and the main transmission member 110.

[0060] Specifically in this embodiment, the second bearing 160 is a deep groove ball bearing.

[0061] Furthermore, the inner and outer sides of the second bearing 160 respectively abut against the outer wall of the mounting portion 111 and the inner wall of the second assembly ring 131, so that the second slave transmission member 130 can be connected to the main transmission member 110 under the action of the second bearing 160, and when the main transmission member 110 is tilted, it can drive the second slave transmission member 130 to tilt accordingly.

[0062] Furthermore, the tilting plate mechanism 100 also includes a top ring 170, which is fixedly mounted outside the mounting portion 111, and the two ends of the top ring 170 are respectively against the first bearing 150 and the second bearing 160. The top ring 170 is used to achieve the positioning of the first bearing 150 and the second bearing 160, and to separate the first bearing 150 from the second bearing 160.

[0063] like Figure 3 As shown, the second bearing 160 and the first bearing 150 are arranged at intervals along the axial direction of the mounting hole 113, the inner and outer sides of the first bearing 150 respectively abut against the outer side wall of the mounting portion 111 and the inner wall of the first assembly ring 121, and the inner and outer sides of the second bearing 160 also respectively abut against the outer side wall of the mounting portion 111 and the inner wall of the second assembly ring 131, one end of the second bearing 160 away from the first bearing 150 abuts against the flange of the outer wall of the mounting portion 111, and the other end abuts against the top ring 170, and the end of the first bearing 150 close to the second bearing 160 abuts against the end of the top ring 170 away from the first bearing 150. In this way, the first slave transmission member 120 and the second slave transmission member 130 can be limited with the main transmission member 110 under the action of the first bearing 150 and the second bearing 160, respectively, so that when the main transmission member 110 is tilted, the first slave transmission member 120 and the second slave transmission member 130 can be tilted accordingly.

[0064] An embodiment also relates to an aircraft, comprising the flight module described above.

[0065] Wherein, the aircraft may be an unmanned helicopter.

[0066] like Figure 1 and Figure 2 As shown, in the above-mentioned aircraft, when the main transmission member 110 is controlled by the driving mechanism 500 to tilt, the main transmission member 110 can drive the first slave transmission member 120 and the second slave transmission member 130 to tilt together with the main transmission member 110, and the first slave transmission member 120 and the second slave transmission member 130 can respectively change the angle of attack of the first rotor 300 and the second rotor 400 when tilting. In this way, the flight direction of the aircraft can be changed.

[0067] Combination Figure 2 and Figure 3In addition, the above-mentioned aircraft utilizes the above-mentioned swash plate mechanism 100. In the above-mentioned swash plate mechanism 100, the first slave transmission member 120 for controlling the angle of attack of the first rotor 300 and the second slave transmission member 130 for controlling the angle of attack of the second rotor 400 are integrated together through the main transmission member 110 and the joint bearing 140, which greatly simplifies the structure. Compared with the traditional solution, the swash plate for controlling the first rotor 300 and the swash plate for controlling the second rotor 400 are separately arranged, and the two swash plates are connected together by a connecting rod mechanism, which reduces the precision requirements of the installation, simplifies the debugging process, and improves the control precision (the two swash plates in the traditional solution are connected by a connecting rod mechanism, and the connecting rod mechanism is not conducive to the control of precision). Furthermore, in the present application, the first slave transmission component 120 for controlling the angle of attack of the first rotor 300 and the second slave transmission component 130 for controlling the angle of attack of the second rotor 400 are integrated together through the main transmission component 110 and the joint bearing 140, so that the structure of the aircraft can be made more compact, thereby reducing the distance from the first rotor 300 and / or the second rotor 400 to the center of mass of the aircraft, thereby reducing the aerodynamic interference torque of the first rotor 300 and / or the second rotor 400, and improving the flight stability of the aircraft.

[0068] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0069] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A flight module, characterized in that: The flight module comprises: Spindle; A first rotor rotatably disposed on the main shaft; A second rotor is rotatably disposed on the main shaft, and the second rotor is spaced apart from the first rotor along the axial direction of the main shaft; a swash plate mechanism, disposed between the first rotor and the second rotor, the swash plate mechanism comprising a main transmission member, a spherical bearing, a first slave transmission member and a second slave transmission member, the main transmission member being provided with a mounting hole, the spherical bearing being disposed in the mounting hole, the main shaft passing through the mounting hole and being penetrated by the spherical bearing, the first slave transmission member being rotatably sleeved outside the main transmission member and being rotatable around the axis of the mounting hole, the first slave transmission member being connected to the first rotor, the second slave transmission member being rotatably sleeved outside the main transmission member and being located on a side of the first slave transmission member close to the second rotor, the second slave transmission member being rotatable around the axis of the mounting hole, and the second slave transmission member being connected to the second rotor; and a driving mechanism, disposed on the main shaft and drivingly connected to the main transmission member, the driving mechanism being used to drive the main transmission member to tilt relative to the main shaft, so that the first slave transmission member and the second slave transmission member tilt together with the main transmission member, and the first slave transmission member and the second slave transmission member can respectively change the angle of attack of the first rotor and the second rotor when tilting; Wherein, the main transmission member includes a mounting portion provided with the mounting hole and a plurality of first connecting portions arranged around the mounting portion, the plurality of first connecting portions are arranged at intervals along the circumference of the mounting hole, and the driving mechanism is drivingly connected to the plurality of first connecting portions; the first slave transmission member includes a first assembly ring and a plurality of second connecting portions arranged at intervals along the circumference of the first assembly ring, the first assembly ring is rotatably sleeved outside the mounting portion, and the first assembly ring is coaxially arranged with the mounting hole, and the second connecting portion is connected to the first rotor; a first mounting gap is formed between the inner wall of the first assembly ring and the outer wall of the mounting portion, and the swash plate mechanism also includes a first bearing, the first bearing is arranged in the first mounting gap, and the inner and outer sides of the first bearing are respectively abutted against the outer wall of the mounting portion and the inner wall of the first assembly ring; Wherein, the tilting plate mechanism also includes a retaining ring, which is fixedly arranged at one end of the mounting hole, and the inner wall of the mounting hole forms a limiting step, and the spherical bearing is clamped between the limiting step and the retaining ring.

2. The flight module according to claim 1, characterized in that: The flight module further includes a plurality of first connecting rods, and the driving mechanism includes a plurality of driving members arranged at intervals along the circumference of the main axis, and each of the driving members is connected to each of the first connecting parts via a first connecting rod.

3. The flight module according to claim 2, characterized in that: It also includes a mounting tube, which is fixedly sleeved outside the main shaft, and the plurality of driving members are all fixed on the mounting tube.

4. The flight module according to claim 1, characterized in that: It also includes a plurality of second connecting rods, one ends of which are connected to the plurality of second connecting parts one by one, and the other ends of which are connected to the first rotor.

5. The flying module according to claim 1, characterized in that: The second driven transmission member includes a second assembly ring and a plurality of third connection parts arranged along the circumference of the second assembly ring, the second assembly ring is rotatably sleeved outside the mounting part, and the second assembly ring is coaxially arranged with the mounting hole, and the third connection parts are connected to the second rotor; A second installation gap is formed between the inner wall of the second assembly ring and the outer wall of the mounting portion. The tilting plate mechanism also includes a second bearing, which is arranged in the second installation gap, and the inner and outer sides of the second bearing are respectively against the outer wall of the mounting portion and the inner wall of the second assembly ring.

6. The flying module according to claim 5, characterized in that: It also includes a plurality of third connecting rods, one ends of which are connected to the plurality of third connecting parts one by one, and the other ends of which are connected to the second rotor.

7. An aircraft, characterized in that: The aircraft comprises a flight module as described in any one of claims 1 to 6 above.

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