A coaxial aircraft

Abstract

The application discloses a coaxial aircraft. The coaxial aircraft comprises a fuselage, a support rod, a propeller mechanism and a rotor mechanism. One end of the support rod is fixedly connected to the fuselage and extends away from the fuselage. The propeller mechanism comprises an arm, a first motor assembly and a propeller assembly, the arm is fixedly connected to the support rod, the first motor assembly is arranged on the arm, and the propeller assembly is arranged on the first motor assembly. The rotor mechanism comprises a second motor assembly and a rotor assembly, the second motor assembly is arranged on the support rod, and the rotor assembly is arranged on the second motor assembly. In the above manner, the flight of the coaxial aircraft in different postures can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of flight equipment, in particular to a coaxial aircraft. BACKGROUND

[0002] The attitude control of the conventional coaxial aircraft is generally controlled by tilting disc. Among them, the servo drives the lower tilting disc, causes the upper tilting disc to tilt together, and then transmits the force to the rotor through the connecting rod connected to the upper tilting disc to make the rotor produce periodic angle of attack change, so as to realize the attitude control such as forward, backward, left and right tilt. The tilting disc structure of this kind of aircraft is complex, has low reliability, high maintenance difficulty, complex control scheme and high cost. SUMMARY

[0003] The technical problem solved by the present application is to provide a coaxial aircraft which can simplify the structure of the aircraft and reduce the maintenance difficulty.

[0004] To solve the above technical problem, one technical scheme adopted by the present application is to provide a coaxial aircraft. The aircraft comprises a fuselage, a support rod, a propeller mechanism and a rotor mechanism. The support rod is fixedly connected to the fuselage and extends away from the fuselage. The propeller mechanism comprises an arm, a first motor assembly and a propeller assembly. The arm is fixedly connected to the support rod. The first motor assembly is arranged on the arm. The propeller assembly is arranged on the first motor assembly and can rotate under the driving of the first motor assembly to provide driving force in any direction in a plane for the aircraft. The rotor mechanism comprises a second motor assembly and a rotor assembly. The second motor assembly is arranged on the support rod. The rotor assembly is arranged on the second motor assembly and can rotate under the driving of the second motor assembly to enable the aircraft to ascend and rotate.

[0005] The present application has the beneficial effect that, unlike the prior art, by directly arranging the first motor assembly on the propeller mechanism and directly arranging the second motor assembly on the rotor mechanism, the mechanical structure of the coaxial aircraft is simplified, maintenance is facilitated, control is easy, and the coaxial aircraft has a wider application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0006] Figure 1 is a three-dimensional structure schematic diagram of the coaxial aircraft embodiment of the present application;

[0007] Figure 2 is Figure 1 is a three-dimensional structure schematic diagram of the propeller mechanism of the coaxial aircraft shown in FIG. 1;

[0008] Figure 3 is Figure 1 is a three-dimensional structure schematic diagram of the rotor mechanism of the coaxial aircraft shown in FIG. 1;

[0009] Figure 4 isFigure 2 A perspective view of the first motor and the propeller of the propeller mechanism shown in FIG. 3A is shown in FIG. 3B.

[0010] Figure 5 is Figure 1 A top view of the coaxial aircraft shown in FIG. 1 is shown in FIG. 2.

[0011] Figure 6 is Figure 3 A perspective view of the second motor and the rotor of the rotor mechanism shown in FIG. 4A is shown in FIG. 4B.

[0012] The accompanying drawings are included to provide a further understanding of the present application, and are incorporated herein and constitute a part of this application. The drawings illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application. In the drawings: 1, fuselage; 2, support rod; 3, propeller mechanism; 4, rotor mechanism; 31, arm; 311, connecting portion; 312, four support arms; 32, first motor assembly; 321, first motor; 3211, first housing; 3212, first rotor; 33, propeller assembly; 331, propeller; 3311, rotating shaft; 3312, blade; 41, second motor assembly; 411, second motor; 4111, second housing; 4112, second rotor; 4113, through hole; 42, rotor assembly; 421, rotor group; 4211, rotor; 4212, fixed portion; 4213, blade. DETAILED DESCRIPTION

[0013] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0014] The following embodiments of the present application describe an exemplary structure of the coaxial aircraft 100.

[0015] Please refer to Figure 1 The coaxial aircraft 100 can include a fuselage 1, a support rod 2, a propeller mechanism 3, and a rotor mechanism 4.

[0016] The fuselage 1 serves as a whole support, a load-carrying device, and the like. The material, size, shape, volume, and the like of the fuselage 1 can be determined according to the task performed by the coaxial aircraft 100. The material of the fuselage 1 can be a composite material such as carbon fiber, glass fiber, aluminum alloy, and the like, which has the advantages of high mechanical strength, corrosion resistance, and the like. The shape of the fuselage 1 can be set to an olive type, a circular shape, and the like, which is a streamlined shape with a curve, so as to better overcome resistance when flying. The volume of the fuselage 1 can be set to 0.5L, 1L, 3L, 5L, and the like, and is not specifically limited. For example, when the coaxial aircraft 100 performs the task of aerial photography, the fuselage 1 does not need to carry an object, and the volume can be set to 0.5L.

[0017] The support rod 2 is fixedly connected to the fuselage 1 and extends away from the fuselage 1. For example, when the fuselage 1 is supported by a horizontal plane, the support rod 2 can extend upward in a vertical direction from the fuselage 1. Specifically, the axis of the support rod 2 can coincide with the center of mass of the fuselage 1 to facilitate mechanical balance. The material of the support rod 2 can be a rigid material such as steel, iron, or aluminum alloy. The shape of the support rod 2 can be an axisymmetric shape such as a cylindrical shape or a square columnar shape, and is not specifically limited. In this embodiment, the shape of the support rod 2 is a cylindrical shape.

[0018] Referring to Figure 2 , the propeller mechanism 3 includes an arm 31, a first motor assembly 32, and a propeller assembly 33. The arm 31 is fixedly connected to the support rod 2, the first motor assembly 32 is arranged on the arm 31, and the propeller assembly 33 is arranged on the first motor assembly 32 and can rotate under the drive of the first motor assembly 32 to provide the coaxial aircraft 100 with driving force in any direction in a plane. Specifically, the resultant force of the action force formed by driving the propeller assembly 33 to rotate by the first motor assembly 32 pushes the coaxial aircraft 100 to fly in the direction of the resultant force.

[0019] Referring to Figure 3 , the rotor mechanism 4 includes a second motor assembly 41 and a rotor assembly 42. The second motor assembly 41 is arranged on the support rod 2, and the rotor assembly 42 is arranged on the second motor assembly 41 and can rotate under the drive of the second motor assembly 41 to enable the coaxial aircraft 100 to ascend and descend and rotate. Specifically, the resultant force of the action force formed by driving the rotor assembly 42 to rotate by the second motor assembly 41 pushes the coaxial aircraft 100 to ascend and descend and rotate.

[0020] Further, when the fuselage 1 is supported by a horizontal plane, the rotation axis of the rotor mechanism 4 can be arranged in a vertical direction, i.e., coincides with the axis of the support rod 2. In this way, it can avoid overcoming greater resistance when rotating around an inclined axis, and make the coaxial aircraft 100 easy to reach mechanical balance when flying.

[0021] Alternatively, as shown in Figure 1 , the rotor mechanism 4 is arranged between the propeller mechanism 3 and the fuselage 1. Alternatively, the fuselage 1 can also be arranged between the rotor mechanism 4 and the propeller mechanism 3. Taking the case that the fuselage 1 is supported by a horizontal plane and the support rod 2 is arranged in a vertical direction as an example, the fuselage 1 can be arranged at the lower end of the support rod 2, the rotor mechanism 4 can be arranged on the support rod 2 adjacent to the fuselage 1, and the propeller mechanism 3 can be arranged at the other end of the support rod 2 away from the fuselage 1. That is, the fuselage 1 and the propeller mechanism 3 are arranged at each end of the support rod 2, and the rotor mechanism 4 is arranged between the fuselage 1 and the propeller mechanism 3. Of course, in some other embodiments, the relative positions of the fuselage 1, the propeller mechanism 3, and the rotor mechanism 4 can be interchanged.

[0022] The exemplary structure, position and connection relationship of the propeller mechanism 3 are described in detail as follows.

[0023] Please refer to Figure 2 The arm includes a connecting portion 311 and at least two support arms 312. The connecting portion 311 is arranged on the support rod 2, and each end of the at least two support arms 312 is fixed to the connecting portion 311. The first motor assembly 32 includes at least two first motors 321, and the at least two first motors 321 are arranged on the at least two support arms 312, respectively. The propeller assembly 33 includes at least two propellers 331, and the at least two propellers 331 are arranged on the at least two first motors 321, respectively, and can rotate under the driving of the at least two first motors 321. The rotation axes of the at least two propellers 331 are perpendicular to the rotation axis of the rotor assembly 42. The at least two support arms 312 are arranged perpendicularly to the support rod 2, and each two adjacent support arms 312 form an included angle greater than 0 degrees and less than or equal to 180 degrees. For example, the number of the support arms 312, the first motors 321 and the propellers 331 is two, three, four, five, etc., and the specific number is not limited. When the number of the support arms 312, the first motors 321 and the propellers 331 is two, the two adjacent support arms 312 form an included angle of 180 degrees. When the number of the support arms 312, the first motors 321 and the propellers 331 is three, the two adjacent support arms 312 form an included angle of 120 degrees. When the number of the support arms 312, the first motors 321 and the propellers 331 is arranged as other numbers, the same principle is applied, and details are not described herein. Of course, when there are at least two support arms 312, the included angles formed by each two adjacent support arms 312 can also be different. For example, when the number of the support arms 312, the first motors 321 and the propellers 331 is three, the two adjacent support arms 312 form an included angle of 90 degrees, and each of the two adjacent support arms 312 forms an included angle of 135 degrees with the remaining one support arm 312.

[0024] The first motor 321 can be any motor device capable of rotating. For example, the first motor 321 can be a brushless motor. The brushless motor is composed of a driver, a permanent magnet rotor, a multi-pole winding stator, a position sensor and other elements. Its principle is to rely on changing the frequency and waveform of the current input to the brushless motor stator coil to form a magnetic field rotating around the geometric axis of the motor, and to drive the permanent magnet steel on the rotor to rotate to make the motor rotate. The driver receives the start, stop and brake signals of the motor to control the start, stop and brake of the motor; receives the position sensor signal and the forward and reverse rotation signal to control the on-off of each power tube of the inverter bridge and generate continuous torque; receives the speed instruction and speed feedback signal to control and adjust the speed; provides protection and display, etc. In the present embodiment, the first motor 321 is a brushless motor. In some other embodiments, the first motor 321 can also be other types of rotating motors.

[0025] Referring to Figure 2 Further, in a preferred embodiment, the number of support arms 312, first motors 321 and propellers 331 is four. The four support arms 312 are arranged perpendicularly to the support rod 2, and each two adjacent support arms 312 form an included angle of 90 degrees.

[0026] The arm 31 comprises a connecting portion 311 and four support arms 312. The connecting portion 311 is arranged on the support rod 2, and one end of each of the four support arms 312 is fixed to the connecting portion 311. The shape of the support arm 312 can be cylindrical, square columnar or the like, which is not limited in particular. In the embodiment, the shape of the support arm 312 is square columnar. The connecting portion 311 and the four support arms 312 can be integrally formed, or can be fixedly connected by welding, riveting, nut connection or the like, which is not limited in particular. The material of the connecting portion 311 and the four support arms 312 can be steel, iron, aluminum alloy or the like, which is not limited in particular. The center of the connecting portion 311 can be formed with a through hole, and the shape of the through hole is adapted to the support rod 2, so that the support rod 2 is fixedly abutted in the through hole. In the embodiment, the shape of the support rod 2 is cylindrical, and the through hole is also cylindrical. Of course, the connecting portion 311 can also not be formed with a through hole, and the support rod 2 can be fixed to one end of the connecting portion 311 by welding or the like.

[0027] The first motor assembly 32 comprises four first motors 321, and the four first motors 321 are arranged on the four support arms 312, respectively. Specifically, the four first motors 321 are arranged on the other end of the four support arms 312 away from the connecting portion 311, respectively.

[0028] The propeller assembly 33 comprises four propellers 331, and the four propellers 331 are arranged on the four first motors 321 and can rotate under the drive of the four first motors 321. The rotation axes of the four propellers 331 are perpendicular to the rotation axis of the rotor mechanism 4. Specifically, the rotation axes of the four propellers 331 are in the horizontal direction. In the embodiment, the rotation axes of the four propellers 331 coincide with the axes of the corresponding four support arms 312, respectively.

[0029] Referring to Figure 2Further, the four support arms 312 are each arranged perpendicularly to the support rod 2, and each two adjacent support arms 312 form a 90-degree included angle. The 90-degree included angle formed by each two adjacent support arms 312 of the four support arms 312 enables the four first motors 321 to be located in four directions of front, back, left and right of the support rod 2 (the front, back, left and right directions can be opposite directions, rather than absolute directions of east, south, west and north in geography), so as to facilitate control of the resultant force formed by the first motors 321, and further accurately control the specific direction of flight of the coaxial aircraft 100. Further, the lengths of the four support arms 312 can be arranged to be the same, so as to facilitate control of the resultant force formed by the first motors 321, and further more accurately control the specific direction of flight of the coaxial aircraft 100.

[0030] Please refer to Figure 4 Further, the first motor 321 comprises a first housing 3211 and a first rotor 3212. The first housing 3211 is connected to the support arm 312. The first housing 3211 can be detachably connected to the support arm 312 by means of nuts, rivets, etc., so as to facilitate replacement, maintenance, cleaning, etc. Of course, in some embodiments, the first housing 3211 can also be connected to the support arm 312 by means of welding, etc., and the specific connection manner is not limited.

[0031] The propeller 331 comprises a rotating shaft 3311 and at least two blades 3312. The rotating shaft 3311 is connected to the first rotor 3212, and the at least two blades 3312 are uniformly and spacedly arranged on the rotating shaft 3311. The rotating shaft 3311 can be connected to the first rotor 3212 by means of welding, etc., so as to maintain a stable structure and prevent falling off during flight. Of course, in some embodiments, the rotating shaft 3311 can also be connected to the first rotor 3212 by means of some detachable manner, so as to facilitate replacement, maintenance, cleaning, etc. The number of the at least two blades 3312 can be multiple, such as three, four, five, etc. When the number of the at least two blades 3312 is two, the included angle between the two blades is 180 degrees, and when the number of the at least two blades 3312 is three, the included angle between the three blades is 120 degrees, and so on. The uniform and spaced arrangement of the at least two blades 3312 on the rotating shaft 3311 enables the rotating shaft 3311 to generate uniform and stable pulling force during rotation, so as to facilitate control of the stability of flight of the coaxial aircraft 100. The material of the blades 3312 can be carbon fiber, glass fiber, etc. The shape of the blades 3312 can be a fan shape, a sickle shape, etc. The at least two blades 3312 form a central symmetry structure with the rotating shaft 3311 as the center.

[0032] The first shell 3211 of the first motor 321 is directly connected to the support arm 312, and the first rotor 3212 is directly connected to the fixed end of the rotating shaft 3311, so that the coaxial aircraft 100 has a simple structure, is convenient to maintain, and can reduce costs.

[0033] Please refer to Figure 5 In this embodiment, the four first motors 321 are respectively named as front motor, rear motor, left motor, and right motor, and the corresponding propellers 331 are respectively named as front propeller, rear propeller, left propeller, and right propeller. The front motor, the rear motor, the left motor, and the right motor are respectively connected to and drive the corresponding front propeller, rear propeller, left propeller, and right propeller, so that the coaxial aircraft 100 can at least realize four flight directions, i.e., forward flight, backward flight, left flight, and right flight.

[0034] The following is an implementation mode of the right flight direction of the coaxial aircraft 100:

[0035] When the right motor is suddenly accelerated (or the left motor is suddenly decelerated), the speeds of the front motor and the rear motor remain unchanged, so that the right motor generates a right pulling force greater than the left motor generates a left pulling force. The resultant force of the four motors in the right direction pushes the coaxial aircraft 100 to fly to the right, and due to the inertial effect, the center of mass of the coaxial aircraft 100 deviates from the axis of the support rod 2, so that the moment generated causes the coaxial aircraft 100 to tilt to the right and down. When the coaxial aircraft 100 reaches the resistance balance, the coaxial aircraft 100 keeps uniform speed to fly to the right.

[0036] The following is an implementation mode of the left flight direction of the coaxial aircraft 100:

[0037] The mechanical principle of the right flight of the coaxial aircraft 100 is the same as that of the left flight. When the left motor is suddenly accelerated (or the right motor is suddenly decelerated), the speeds of the front motor and the rear motor remain unchanged, so that the left motor generates a left pulling force greater than the right motor generates a right pulling force. The resultant force of the four motors in the left direction pushes the coaxial aircraft 100 to fly to the left, and due to the inertial effect, the center of mass of the coaxial aircraft 100 deviates from the axis of the support rod 2, so that the moment generated causes the coaxial aircraft 100 to tilt to the left and down. When the coaxial aircraft 100 reaches the resistance balance, the coaxial aircraft 100 keeps uniform speed to fly to the right.

[0038] The following is an implementation mode of the forward flight direction of the coaxial aircraft 100:

[0039] The same as the mechanics principle of the coaxial aircraft 100 flying left and right, when the front motor is suddenly accelerated (or the rear motor is suddenly decelerated) and the speed of the left motor and the right motor remains unchanged, the front motor generates a forward pulling force greater than the rear motor generates a rear pulling force. The resultant force of the four motors pushing forward makes the coaxial aircraft 100 fly forward, and due to the inertia effect, the center of mass of the coaxial aircraft 100 deviates from the axis of the support rod 2, and the generated torque makes the coaxial aircraft 100 tilt forward and downward. When the coaxial aircraft 100 reaches the resistance balance, the coaxial aircraft 100 keeps flying forward at a constant speed.

[0040] The following is the implementation of the coaxial aircraft 100 flying backward:

[0041] The same as the mechanics principle of the coaxial aircraft 100 flying left, right, and forward, when the rear motor is suddenly accelerated (or the front motor is suddenly decelerated) and the speed of the left motor and the right motor remains unchanged, the rear motor generates a rear pulling force greater than the front motor generates a forward pulling force. The resultant force of the four motors pushing backward makes the coaxial aircraft 100 fly backward, and due to the inertia effect, the center of mass of the coaxial aircraft 100 deviates from the axis of the support rod 2, and the generated torque makes the coaxial aircraft 100 tilt backward and downward. When the coaxial aircraft 100 reaches the resistance balance, the coaxial aircraft 100 keeps flying backward at a constant speed.

[0042] Please continue to refer to Figure 5 Alternatively, the coaxial aircraft 100 can also fly toward the left front (the support arm 312 corresponding to the left motor and the front motor forms an angle of 0 to 90 degrees), the left rear (the support arm 312 corresponding to the left motor and the rear motor forms an angle of 0 to 90 degrees), the right front (the support arm 312 corresponding to the right motor and the front motor forms an angle of 0 to 90 degrees), and the right rear (the support arm 312 corresponding to the right motor and the rear motor forms an angle of 0 to 90 degrees). The mechanics principle is the same as the mechanics principle of the coaxial aircraft 100 flying forward, right, forward, and backward, which is not repeated here. That is, by controlling the four first motors 321, the resultant force of the pulling force formed by the four first motors 321 is left front, left rear, right front, and right rear, respectively, so that the coaxial aircraft 100 flies toward any direction (0 to 360 degrees with the support rod 2 as the axis).

[0043] Further, by controlling the different relative rotating speeds of the four first motors 321, the coaxial aircraft 100 can fly towards any direction at different speeds. Further, by controlling the rotating directions of the four first motors 321 (e.g. the front motor, the rear motor, the left motor, the right motor) to be opposite, the coaxial aircraft 100 can fly towards any direction. In this case, the mechanical principle is consistent with the mechanical principle of the coaxial aircraft 100 flying towards any direction as described above, which will not be described here.

[0044] It is easy to understand that when the number of the support arms 312, the first motors 321 and the propellers 331 can also be set to two, three or more, the resultant force of the different directions of the forces generated by the different rotating speeds of the propellers 331 can realize the forward, backward, leftward, rightward and other flight directions of the coaxial aircraft 100.

[0045] The exemplary structure, position and connection relationship of the rotor mechanism 4 will be described below.

[0046] Please refer to Figure 6 The second motor assembly 41 includes two second motors 411, which are respectively arranged at the support rods 2. The second motors 411 can be any rotatable motor device same as the first motors 321. For example, in the embodiment, the second motors 411 are also brushless motors same as the first motors 321.

[0047] The rotor assembly 42 includes two rotor groups 421, which are respectively arranged at the two second motors 411 and rotate in opposite directions under the driving of the corresponding second motors 411. In other words, the rotating directions of the two second motors 411 are also opposite, that is, the rotating direction of one of the second motors 411 driving one of the rotor groups 421 corresponding thereto is opposite to the rotating direction of the other second motor 411 driving the other rotor group 421 corresponding thereto. For example, in the embodiment, the fuselage 1 is supported by a horizontal plane and the support rods 2 can extend upward from the fuselage 1 in the vertical direction, one of the rotor groups 421 adjacent to the fuselage 1 can rotate clockwise and the other rotor group 421 away from the fuselage 1 can rotate counterclockwise. In other embodiments, one of the rotor groups 421 adjacent to the fuselage 1 can also rotate counterclockwise and the other rotor group 421 away from the fuselage 1 can rotate clockwise.

[0048] Please refer to Figure 6Specifically, the second motor 411 comprises a second housing 4111 and a second rotor 4112, the second housing 4111 and the second rotor 4112 are hollowly arranged and formed with a through hole 4113 in communication with each other, the support rod 2 abuts against the second housing 4111 and the second rotor 4112 via the through hole 4113, and two rotor groups 421 are arranged on the corresponding second rotors 4112 respectively.

[0049] Specifically, the rotor group 421 comprises at least two rotors 4211, and the at least two rotors 4211 are evenly spaced on the corresponding second rotors 4112 respectively. The number of the at least two rotors 4211 can be two, three, four, etc. When the number of the at least two rotors 4211 is two, the included angle between the two rotors is 180 degrees, when the number of the at least two rotors 4211 is three, the included angle between the three rotors is 120 degrees, and so on. The even spacing of the at least two rotors 4211 on the second rotors 4112 makes the second rotors 4112 produce uniform and stable torque and thrust when rotating, so as to facilitate the control of the stability of the coaxial aircraft 100. Specifically, the number of the at least two rotors 4211 included in the two rotor groups 421 is consistent. For example, one rotor group 421 comprises two rotors 4211, and the other rotor group 421 also comprises two rotors 4211. Alternatively, the size and shape of the at least two rotors 4211 in one rotor group 421 can be consistent or centrosymmetric about the support rod 2. The size and shape of the at least two rotors 4211 in the other rotor group 421 can be consistent with or mirror-symmetric to the size and shape of the at least two rotors 4211 in the rotor group 421.

[0050] Further, the rotor 4211 comprises a fixed part 4212 and a blade 4213, the fixed part 4212 is arranged on the second rotor 4112, and the blade 4213 is arranged on the fixed part 4212. The blade 4213 can be connected to the second rotor 4112 by welding or other fixing methods to maintain a stable structure and prevent falling off during flight. Of course, in some embodiments, the blade 4213 can also be connected to the second rotor 4112 by some detachable way to facilitate replacement, maintenance, cleaning, etc., which is not limited in particular.

[0051] The direct fixing connection of the second housing 4111 and the second rotor 4112 of the second motor 411 with the support rod 2 and the direct connection of the second rotor 4112 with the fixed part 4212 of the at least two rotors 4211 avoid setting too many other complex transmission mechanisms, so that the structure of the coaxial aircraft 100 is simpler, easier to maintain and lower in cost.

[0052] Please refer to Figure 3 and Figure 5, two second motors 411 drive the corresponding two rotor groups 421 to rotate in opposite directions around the support rod 2, which can make the coaxial aircraft 100 produce four different flight states: clockwise rotation and ascending, clockwise rotation and descending, counterclockwise rotation and ascending, counterclockwise rotation and descending.

[0053] The following is the implementation of the coaxial aircraft 100 clockwise rotation and ascending:

[0054] Specifically, one of the second motors 411 drives one of the rotor groups 421 connected thereto to rotate in the counterclockwise direction, and the other second motor 411 drives the other rotor group 421 connected thereto to rotate in the clockwise direction. When the second motor 411 driving the rotor group 421 rotating in the counterclockwise direction accelerates (the other second motor 411 keeps the same speed or decelerates), the counter-torque generated by the corresponding rotor group 421 on the coaxial aircraft 100 is greater than the counter-torque generated by the other rotor group 421 rotating in the clockwise direction on the coaxial aircraft 100, and when the resultant force of the two second motors 411 driving the two rotor groups 421 to generate downward thrust (upward counter-thrust) is greater than the gravity of the coaxial aircraft 100, the coaxial aircraft 100 rotates clockwise and ascends.

[0055] The following is the implementation of the coaxial aircraft 100 counterclockwise rotation and ascending:

[0056] The same as the mechanical principle of the coaxial aircraft 100 clockwise rotation and ascending, when the second motor 411 driving the rotor group 421 rotating in the clockwise direction accelerates (the other second motor 411 keeps the same speed or decelerates), the counter-torque generated by the rotor group 421 on the coaxial aircraft 100 is greater than the counter-torque generated by the other rotor group 421 rotating in the counterclockwise direction on the coaxial aircraft 100, and when the resultant force of the two second motors 411 driving the two rotor groups 421 to generate downward thrust is greater than the gravity of the coaxial aircraft 100, the coaxial aircraft 100 rotates counterclockwise and ascends.

[0057] The following is the implementation of the coaxial aircraft 100 clockwise rotation and descending:

[0058] The same as the mechanical principle of the coaxial aircraft 100 clockwise or counterclockwise rotation and ascending, when the second motor 411 driving the rotor group 421 rotating in the counterclockwise direction (generating a first torque) decelerates, and the second motor 411 driving the rotor group 421 rotating in the clockwise direction (generating a second torque) also decelerates, the first torque is greater than the second torque, and the resultant force of the two second motors 411 driving the two rotor groups 421 to generate downward thrust is less than the gravity of the coaxial aircraft 100, the coaxial aircraft 100 rotates clockwise and descends.

[0059] The following is the implementation of the coaxial aircraft 100 counterclockwise rotation and descending:

[0060] With the same principle as the three flight states of the coaxial aircraft 100 as described above, when the second motor 411 driving the rotor group 421 rotating counterclockwise (generating the first torque) decelerates, the second motor 411 driving the rotor group 421 rotating clockwise (generating the second torque) also decelerates, the first torque is less than the second torque, and the resultant force of the two second motors 411 driving the two rotor groups 421 to generate downward thrust is less than the gravity of the coaxial aircraft 100, the coaxial aircraft 100 rotates counterclockwise and descends.

[0061] Further, by controlling the difference in relative rotational speed of the two second motors 411, the coaxial aircraft 100 can be rotated at different speeds, and ascend or descend at different speeds.

[0062] Further, the four first motors 321 and the two second motors 411 can be controlled simultaneously, or at least one of the four first motors 321 and at least one of the two second motors 411 can be controlled selectively, thereby realizing different flight attitude control. For example, when the pulling force of the right motor is greater than that of the left motor, and the pulling forces of the front and rear motors are consistent, the coaxial aircraft 100 flies to the right. After a period of time, when the second motor 411 driving the rotor group 421 rotating counterclockwise (generating the first torque) decelerates, the second motor 411 driving the rotor group 421 rotating clockwise (generating the second torque) also decelerates, the first torque is greater than the second torque, and the resultant force of the two second motors 411 driving the two rotor groups 421 to generate downward thrust is less than the gravity of the coaxial aircraft 100, the coaxial aircraft 100 rotates clockwise and descends to the ground, completing the execution of the task.

[0063] In summary, by directly arranging the first motor assembly 32 on the propeller mechanism 3, the coaxial aircraft 100 can move in any direction. By directly arranging the second motor assembly 41 on the rotor mechanism 4, the coaxial aircraft 100 can rotate in a direction and ascend or descend. In this way, the attitude control of the coaxial aircraft 100 can be realized, and the mechanical structure of the coaxial aircraft 100 is simplified, which is convenient for maintenance and easy to control, making the coaxial aircraft 100 have a wider application prospect.

[0064] The above is only an embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A coaxial aircraft characterized by, The coaxial aircraft comprises: a fuselage; a support rod fixedly connected to the fuselage and extending away from the fuselage, wherein the axis of the support rod coincides with the center of mass of the fuselage; a propeller mechanism comprising an arm, a first motor assembly and a propeller assembly, the arm being fixedly connected to the support rod, the first motor assembly being arranged on the arm, the propeller assembly being arranged on the first motor assembly and being capable of rotating under the drive of the first motor assembly to provide the coaxial aircraft with driving force in any direction in a plane; and a rotor mechanism comprising a second motor assembly and a rotor assembly, the second motor assembly being arranged on the support rod, the rotor assembly being arranged on the second motor assembly and being capable of rotating under the drive of the second motor assembly to enable the coaxial aircraft to ascend, descend and rotate.

2. The coaxial aircraft according to claim 1, wherein the arm comprises a connecting portion arranged on the support rod and at least two support arms, each end of the at least two support arms being fixedly connected to the connecting portion, the first motor assembly comprises at least two first motors, the at least two first motors being arranged on the at least two support arms respectively, and the propeller assembly comprises at least two propellers, the at least two propellers being arranged on the at least two first motors respectively and being capable of rotating under the drive of the at least two first motors.

3. The coaxial aircraft according to claim 2, wherein the at least two support arms are each arranged perpendicularly to the support rod, and each two adjacent support arms form an included angle greater than 0 degrees and less than or equal to 180 degrees.

4. The coaxial aircraft according to claim 2, wherein the number of the support arms, the first motors and the propellers is four, the four support arms are each arranged perpendicularly to the support rod, and each two adjacent support arms form an included angle of 90 degrees.

5. The coaxial aircraft according to claim 2, wherein the first motor comprises a first housing and a first rotor, the first housing is connected to the support arm, the propeller comprises a shaft and at least two blades, the shaft is connected to the first rotor, and the at least two blades are arranged uniformly on the shaft.

6. The coaxial aircraft according to claim 1, wherein the second motor assembly comprises two second motors, the two second motors are arranged on the support rod respectively, the rotor assembly comprises two rotor groups, the two rotor groups are arranged on the two second motors respectively, and the two rotor groups rotate in opposite directions under the drive of the corresponding second motors.

7. The coaxial aircraft according to claim 6, wherein the second motor comprises a second housing and a second rotor, the second housing and the second rotor are hollow and form a through hole in communication with each other, the support rod abuts against the second housing and the second rotor via the through hole, and the two rotor groups are arranged on the corresponding second rotors respectively.

8. The coaxial aircraft according to claim 7, wherein The rotor group comprises at least two rotors, which are evenly spaced on the corresponding second rotor.

9. The coaxial aircraft of claim 8, wherein, The rotor comprises a fixed part and a blade, the fixed part is arranged on the second rotor, and the blade is arranged on the fixed part.

10. The coaxial aircraft of any one of claims 1-9, wherein, The fuselage is arranged between the rotor mechanism and the propeller mechanism; or The rotor mechanism is arranged between the propeller mechanism and the fuselage.

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