Rotor drive apparatus and aircraft

Abstract

The application relates to the technical field of aircrafts, in particular to a rotor driving device and an aircraft. The rotor driving device provided by the application comprises a rotating disc, a first driving motor, at least two second driving motors and an automatic tilting device; the driving part of the first driving motor is in transmission connection with the rotating disc, the rotating disc rotates around its own axis to make the blade clamping piece rotate synchronously with the rotating disc, and then the blade rotates; the first driving motor directly drives the blade to rotate, so that the driving device is smaller in size, lighter in weight, and more suitable for the development requirements of miniaturization and intelligentization of the aircraft. The second driving motor drives the automatic tilting device to move along the axial direction to adjust the total pitch of the propeller. The second driving motor drives the automatic tilting device to periodically horizontally tilt to adjust the periodic variable pitch. The aircraft provided by the embodiment of the application also has the technical effects of the rotor driving device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft technology, in particular to a rotor driving device and an aircraft. BACKGROUND

[0002] An electric aircraft refers to an aircraft driven by an electric motor, and the power source is a battery. The electric aircraft has the advantages of energy saving and environmental protection, high efficiency, low energy consumption, low noise and vibration level, and thus has a good development prospect in the field of aviation.

[0003] The electric aircraft includes a fixed-wing aircraft, a multi-rotor aircraft and an electric helicopter. For the multi-rotor aircraft, the flight attitudes such as yaw, pitch and roll are realized by changing the relative rotation speed between different rotors, and a single rotor does not have a cyclic pitch function. The lift is realized by rotating the rotors driven by the motors on each shaft to generate lift, thereby realizing the rising or falling. Since the total pitch of the rotors of the multi-rotor aircraft is fixed, the height adjustment is realized by adjusting the rotation speed of the rotors. The higher the rotation speed, the higher the flight height, but the higher the rotation speed of the electric motor, the lower the efficiency, thereby resulting in low carrying capacity of the multi-rotor aircraft and unsuitability for high-altitude flight.

[0004] For the electric helicopter, although it has a cyclic pitch and total pitch adjustment function, the cyclic pitch is realized by a plurality of rudders and tilt swash plates, and the rudder structure is relatively complex, and the internal speed reduction system is provided, which has low transmission efficiency and is easy to be damaged, thereby resulting in high failure rate of the rudder and frequent replacement. The total pitch adjustment of the electric helicopter is realized by a hydraulic system, and the hydraulic system occupies a large space and has a large weight, thereby being very unfavorable for the lightweight and small design requirements of the electric unmanned aerial vehicle. SUMMARY

[0005] The present application provides a rotor driving device and an aircraft, which can effectively solve the above or other potential technical problems.

[0006] The first aspect of the application provides a rotor driving device, comprising a rotating disc, a first driving motor, at least two second driving motors and an automatic tilting device; the first driving motor has a receiving cavity; the at least two second driving motors are arranged in sequence along the axial direction of the receiving cavity; the rotating disc is provided with at least two blade holders in the circumferential direction, the driving part of the first driving motor is in transmission connection with the rotating disc, and drives the rotating disc to rotate around its own axis, so that the blade holders rotate synchronously with the rotating disc; the top end of the fixed part of the first driving motor is sleeved with a sleeve, the automatic tilting device is in sliding connection with the sleeve and can move horizontally relative to the sleeve, the at least two second driving motors are connected with the automatic tilting device through a linear transmission device, drive the automatic tilting device to move along the axial direction, so that all the blade holders rotate around their own axes by the same angle; and / or drive the automatic tilting device to move periodically horizontally, so that all the blade holders rotate around their own axes and the rotation angles change periodically.

[0007] The rotor driving device provided by the embodiment of the application comprises a rotating disc, a first driving motor, at least two second driving motors and an automatic tilting device; the driving part of the first driving motor is in transmission connection with the rotating disc, and drives the rotating disc to rotate around its own axis, so that the blade holders rotate synchronously with the rotating disc, and then the blades rotate, the first driving motor directly drives the blades to rotate, so that the driving device is smaller in size and lighter in weight, and is more suitable for the development needs of miniaturization and intelligentization of aircraft. Meanwhile, the at least two second driving motors are connected with the automatic tilting device through a linear transmission device, drive the automatic tilting device to move along the axial direction, so that all the blade holders rotate around their own axes by the same angle, and then the total pitch of the propeller is adjusted. The automatic tilting device can also be driven to move periodically horizontally, so that all the blade holders rotate along their own axes and the rotation angles change periodically, and then the blade angles of the blades change periodically, so that the total pitch and the periodic variable pitch of the propeller are adjusted. The rotor driving device provided by the embodiment of the application can directly drive the blades to rotate, and simultaneously adjust the total pitch and the periodic variable pitch of the propeller, and has the technical effects of simple structure, small occupied space, low failure rate, high transmission efficiency, small size and light weight.

[0008] In an optional embodiment according to the first aspect, the linear transmission device comprises at least two screw transmission assemblies of different sizes, the number of the screw transmission assemblies being the same as the number of the second driving motors; the screw transmission assemblies are sequentially sleeved along the axial direction, each of the second driving motors is in driving connection with the screw transmission assemblies to drive the corresponding screw transmission assemblies to move along the axial direction; the screw transmission assemblies are provided with sliding blocks on the side close to the sleeve, at least two sliding grooves are arranged along the circumferential direction of the sleeve, the sliding grooves extend along the axial direction of the sleeve, and the sliding blocks of each of the screw transmission assemblies are in sliding connection with the sliding grooves; the sliding blocks are in universal connection with the automatic tilting device through transmission shafts.

[0009] In an optional embodiment according to the first aspect, the screw transmission assembly comprises a lead screw pipe and a threaded pipe; the outer wall of the lead screw pipe comprises a threaded part and a sleeve part arranged along the axial direction, the sleeve part is arranged through the inner cavity of the adjacent lead screw pipe, the threaded part of each of the lead screw pipes is in threaded connection with the threaded pipe, each of the threaded pipes is in connection with the driving part of the second driving motor, and the outer periphery of the threaded pipe is in rotational connection with the fixed part of the second driving motor through a bearing; the end of each of the sleeve parts is connected with the sliding block.

[0010] In an optional embodiment according to the first aspect, the automatic tilting device comprises a swash plate, a synchronization device and at least two universal pull rods; the swash plate is in sliding connection with the outer periphery of the sleeve through a spherical pair to enable the swash plate to rotate in a universal manner relative to the spherical pair; the synchronization device is arranged on the outer periphery of the swash plate and is connected with the swash plate and the rotating disc to enable the swash plate to rotate synchronously with the rotating disc; the number of the universal pull rods is the same as the number of the paddle clamping members, one end of each of the universal pull rods is in universal connection with the swash plate, and the other end is in connection with the paddle through a rocker arm.

[0011] In an optional embodiment according to the first aspect, the synchronization device comprises a spherical hinge seat, a guide ball groove is arranged on the spherical hinge seat and extends towards the center of the swash plate; a sliding ball pair is arranged in the guide ball groove and is in rolling connection with the guide ball groove; a guide hole is arranged in the sliding ball pair, a guide rod is arranged in the guide hole and is in sliding connection with the guide hole of the sliding ball pair; one end of the guide rod is perpendicularly connected to the end face of the rotating disc.

[0012] In an optional embodiment according to the first aspect, the first driving motor comprises a first outer rotor and a first stator, the first outer rotor is sleeved outside the first stator, the accommodating cavity is arranged at the center of the first stator and forms a cylindrical cavity; the first outer rotor comprises a first rotor shell and at least two circumferential permanent magnet poles, the at least two circumferential permanent magnet poles are arranged on the inner wall of the first rotor shell and are arranged at equal intervals along the axial direction of the first rotor shell; the number of the first stators is at least two, the at least two first stators are coaxially arranged in series in the first outer rotor and correspond to the positions of the permanent magnet poles respectively; the rotating disc is fixedly connected to the end of the first rotor shell; the outer periphery of the lead screw pipe is sleeved with a shaft connecting sleeve, one end surface of the shaft connecting sleeve is connected with the first stator close to the rotating disc, the other end surface is connected with the sleeve pipe, and the rotating disc is rotatably connected to the outer periphery of the shaft connecting sleeve through a tapered roller bearing.

[0013] In an optional embodiment according to the first aspect, the first driving motor further comprises a first end cover and a cooling fan; the first end cover is arranged on the side of the first stator away from the rotating disc; the cooling fan is rotatably connected to the outer periphery of the first end cover and is connected to the end of the first rotor shell away from the rotating disc.

[0014] In an optional embodiment according to the first aspect, the first stator comprises a stator sleeve and a stator coil, the stator coil is fixedly connected to the outer periphery of the stator sleeve, and the stator sleeves of adjacent two first stators are connected with each other; the shaft connecting sleeve is connected with the stator sleeve of the first stator close to the rotating disc; the at least two second driving motors are arranged through the stator sleeve, and the fixed parts of the second driving motors are fixedly connected with the stator sleeve respectively.

[0015] In an optional embodiment according to the first aspect, the rotor driving device further comprises a self-lubricating cooling device, the self-lubricating cooling device comprising a first mechanical seal, an impeller, a volute, an oil guide disc and a second mechanical seal; the inside of the rotating disc is provided with a stepped hole; the first mechanical seal, the impeller, the tapered roller bearing and the volute are sequentially arranged in a direction away from the inside of the stepped hole, and are all sleeved on the outer periphery of the shaft sleeve, the impeller and the volute are fixedly connected with the rotating disc; the inner wall of the volute is in dynamic sealing connection with the outer periphery of the shaft sleeve through the second mechanical seal, and the outer wall of the volute is in sealing connection with the hole wall of the stepped hole through a sealing ring, so as to form a sealed space between the shaft sleeve, the first mechanical seal, the rotating disc, the volute and the second mechanical seal; the oil guide disc is arranged on the side of the tapered roller bearing close to the volute and is fixedly sleeved on the outer periphery of the shaft sleeve, and the oil guide disc is further provided with an oil guide groove; the shaft sleeve, the stator sleeve of the at least two first stators and the first end cover are all provided with a cooling cavity for filling a cooling lubricating medium; the shaft sleeve is provided with an oil inlet and an oil outlet in communication with the cooling cavity, the oil outlet is arranged close to the impeller, the oil outlet is arranged close to the oil guide disc, and the oil guide groove is in communication.

[0016] The second aspect of the present application also provides a flying vehicle, comprising a flying vehicle body and the rotor driving device described above, the rotor driving device being connected with the flying vehicle body.

[0017] The flying vehicle provided by the embodiments of the present application has the above-mentioned technical effects of directly driving the rotation of the blades, adjusting the total pitch of the propellers and cyclically varying the pitch, and has the technical effects of simple structure, small space occupation, low failure rate and high transmission efficiency.

[0018] The advantages of the additional aspects of the present application will be partially given in the following description, partially will become obvious from the following description, or will be understood by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and other objects, features and advantages of the embodiments of the present application will become more apparent from the following detailed description made with reference to the accompanying drawings. In the drawings, embodiments of the present application are illustrated by way of example and not limitation in which:

[0020] Figure 1 A structural schematic diagram of the rotor driving device provided by the embodiments of the present application in a first perspective view;

[0021] Figure 2 A structural schematic diagram of the rotor driving device provided by the embodiments of the present application in a second perspective view;

[0022] Figure 3 A cross-sectional view of a rotor driving device provided by an embodiment of the present application;

[0023] Figure 4 A cross-sectional view of a first driving motor of a rotor driving device provided by an embodiment of the present application;

[0024] Figure 5 A cross-sectional view of a second driving motor and a screw transmission assembly of a rotor driving device provided by an embodiment of the present application;

[0025] Figure 6 A structural schematic view of an automatic tilting device of a rotor driving device provided by an embodiment of the present application;

[0026] Figure 7 A structural schematic view of a synchronization device of a rotor driving device provided by an embodiment of the present application;

[0027] Figure 8 A structural schematic view of a screw rod of a screw transmission assembly of a rotor driving device provided by an embodiment of the present application;

[0028] Figure 9 A cross-sectional view of a screw transmission assembly of a rotor driving device provided by an embodiment of the present application;

[0029] Figure 10 A partial structural cross-sectional view of a self-cooling lubricating device of a rotor driving device provided by an embodiment of the present application;

[0030] Figure 11 A partial structural schematic view of a self-cooling lubricating device of a rotor driving device provided by an embodiment of the present application;

[0031] Figure 12 A layout schematic view of a cooling cavity of a rotor driving device provided by an embodiment of the present application.

[0032] Explanation of reference numerals:

[0033] 1. first driving motor;

[0034] 110. first outer rotor; 111. first rotor outer shell; 112. permanent magnet pole;

[0035] 120. first stator; 121. stator shaft sleeve; 122. stator coil;

[0036] 130. first end cover; 140. cooling fan; 150. first Hall inductor; 160. comb line plate; 170. air inlet hole;

[0037] 2, Second driving motor; 210, Second stator; 220, Second outer rotor; 230, Second electric governor; 240, Second hall sensor; 250, Second end cover; 260, Magnetic disk;

[0038] 3, Screw transmission assembly; 310, Threaded tube; 320, Slider;

[0039] 330, Screw tube; 331, Socket; 332, Threaded part;

[0040] 4, Automatic tilting device; 410, Transmission shaft; 420, Swash plate; 430, Universal pull rod; 440, Rocking arm; 450, Spherical pair;

[0041] 460, Synchronization device; 461, Guide rod; 462, Sliding spherical pair; 463, Ball hinge seat; 464, Guide ball groove;

[0042] 5, Self-lubricating cooling device; 510, First mechanical seal; 520, Impeller; 530, Volute; 540, Second mechanical seal; 550, Seal ring;

[0043] 560, Oil guide disc; 561, Oil guide groove;

[0044] 570, Cooling cavity; 571, Oil outlet; 572, Oil inlet;

[0045] 6, Rotary disc; 610, Hinge seat; 620, Step hole;

[0046] 7, Shaft sleeve; 8, Tapered roller bearing;

[0047] 9, Sleeve; 910, Slide groove. DETAILED DESCRIPTION

[0048] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0049] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, which are for convenience of description and simplification of the description of the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0050] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0051] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection; it can be direct connection, or indirect connection through intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0052] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" 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 application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of different embodiments or examples without contradiction.

[0053] The electric aircraft refers to an aircraft driven by an electric motor, and the power source is a battery. The electric aircraft has the advantages of energy saving, environmental protection, high efficiency, low energy consumption, low noise and vibration level, and thus has a good development prospect in the field of aviation. The electric aircraft includes a fixed-wing aircraft, a multi-rotor aircraft and an electric helicopter, etc. For the multi-rotor aircraft, the flight attitudes such as yaw, pitch and roll are realized by changing the relative rotating speeds between different rotors, and a single rotor does not have a cyclic pitch function. The lift of the multi-rotor aircraft is realized by rotating the rotors driven by the motors on each shaft to generate lift and thrust, thereby realizing the rising or falling. Since the total pitch of the rotors of the multi-rotor aircraft is fixed, the height adjustment is realized by adjusting the rotating speed of the rotors. The higher the rotating speed, the higher the flight height. However, the higher the rotating speed of the motor, the lower the efficiency, thereby resulting in a low carrying capacity of the multi-rotor aircraft and unsuitability for high-altitude flight. For the electric helicopter, although it has the functions of cyclic pitch and total pitch adjustment, the cyclic pitch is realized by a plurality of rudders and tilt swash plates, and the rudder structure is relatively complex and has a speed reduction system inside, which has a low transmission efficiency and is easy to be damaged, thereby resulting in a high failure rate of the rudder and frequent replacement.

[0054] Therefore, the rotor driving device provided by the embodiments of the present application comprises a rotating disc, a first driving motor, at least two second driving motors and an automatic tilting device. The driving part of the first driving motor is in transmission connection with the rotating disc to drive the rotating disc to rotate around its axis, so that the blade clamping members rotate synchronously with the rotating disc, thereby realizing the rotation of the blades. The first driving motor directly drives the rotation of the blades, so that the driving device has a smaller volume and a lighter weight, and is more suitable for the development requirements of miniaturization and intelligentization of the aircraft. Meanwhile, the at least two second driving motors are connected with the automatic tilting device through a linear transmission device to drive the automatic tilting device to move along the axial direction, so that all the blade clamping members rotate around their axes by the same angle, thereby adjusting the total pitch of the propeller. The automatic tilting device can also be driven to periodically horizontally tilt, so that all the blade clamping members rotate around their axes and the rotating angles periodically change, thereby periodically changing the blade angles of the blades to periodically adjust the cyclic pitch of the propeller. The rotor driving device provided by the embodiments of the present application can directly drive the rotation of the blades, and simultaneously realize the adjustment of the total pitch and the cyclic pitch of the propeller, and has the technical effects of simple structure, small occupied space, low failure rate, high transmission efficiency, small volume and light weight.

[0055] Please refer to Figures 1 to 12The rotor driving device provided by the embodiment of the application comprises a rotating disc 6, a first driving motor 1, at least two second driving motors 2, and an automatic inclinator 4. The first driving motor 1 has a containing cavity. The at least two second driving motors 2 are sequentially arranged along the axial direction of the containing cavity. The rotating disc 6 is provided with at least two blade clamping pieces in the circumferential direction. The driving part of the first driving motor 1 is in transmission connection with the rotating disc 6, and drives the rotating disc 6 to rotate around its own axis, so that the blade clamping pieces rotate synchronously with the rotating disc 6. The top end of the fixed part of the first driving motor 1 is sleeved with a sleeve 9. The automatic inclinator 4 is in sliding connection with the sleeve 9 and can move horizontally relative to the sleeve 9. The at least two second driving motors 2 are connected with the automatic inclinator 4 through a linear transmission device, drive the automatic inclinator 4 to move along the axial direction, so that all the blade clamping pieces rotate around their own axes by the same angle; and / or drive the automatic inclinator 4 to move horizontally periodically, so that all the blade clamping pieces rotate around their own axes and the rotation angles thereof change periodically.

[0056] It should be noted that the rotor driving device provided by the embodiment of the application is an electric driving mechanism, which is used for driving the propeller to rotate.

[0057] In the optional example embodiment, the linear transmission device comprises at least two screw transmission assemblies 3 with different sizes. The number of the screw transmission assemblies 3 is the same as that of the second driving motors 2. The screw transmission assemblies 3 are sequentially sleeved along the axial direction. Each second driving motor 2 is in transmission connection with the screw transmission assembly 3, so as to drive the corresponding screw transmission assembly 3 to move along the axial direction. The screw transmission assembly 3 is provided with a sliding block 320 on the side close to the sleeve 9. At least two sliding grooves 910 are arranged along the circumferential direction of the sleeve 9. The sliding grooves 910 extend along the axial direction of the sleeve 9. The sliding block 320 of each screw transmission assembly 3 is in sliding connection in the sliding groove 910. The sliding block 320 is in universal connection with the automatic inclinator 4 through a transmission shaft 410.

[0058] It should be noted that, specifically, in the present embodiment, the linear transmission device comprises at least two screw transmission assemblies 3 of different sizes, which are sequentially sleeved along the axial direction, and each second driving motor 2 is in driving connection with the screw transmission assembly 3. Each second driving motor 2 can drive the corresponding screw transmission assembly 3 to slide along the axial direction, and all the screw transmission assemblies 3 move the same distance, so as to drive the automatic tilting device 4 to move along the axial direction, so that all the paddle clamping pieces rotate around their own axes by the same angle, thereby adjusting the total pitch of the propeller. If the screw transmission assemblies 3 move different distances, the automatic tilting device 4 can be driven to periodically tilt horizontally, so that the paddle clamping pieces rotate around their own axes and the rotation angles thereof periodically change, thereby periodically changing the paddle angles of the paddles to periodically adjust the variable pitch of the propeller.

[0059] Specifically, the screw transmission assembly 3 is provided with a sliding block 320 on the side close to the sleeve 9, at least two sliding grooves 910 are arranged along the circumferential direction of the sleeve 9, the sliding grooves 910 extend along the axial direction of the sleeve 9, and the sliding block 320 of each screw transmission assembly 3 is in sliding connection in the sliding groove 910. The sliding block 320 is connected to the automatic tilting device 4 through the transmission shaft 410, and the sliding block 320 is arranged at the end of each screw transmission assembly 3. The sliding block 320 can be driven to slide in the sliding groove 910, thereby driving the automatic tilting device 4. If the multiple sliding blocks 320 drive different positions of the automatic tilting device 4 to move the same distance, that is, drive the automatic tilting device 4 to move along the axial direction of the sleeve 9, so that all the paddle clamping pieces rotate around their own axes by the same angle, thereby adjusting the total pitch of the propeller. If the multiple sliding blocks 320 drive different positions of the automatic tilting device 4 to move different distances, the automatic tilting device 4 can be driven to periodically tilt horizontally, so that the paddle clamping pieces rotate around their own axes and the rotation angles thereof periodically change, thereby periodically changing the paddle angles of the paddles to periodically adjust the variable pitch of the propeller.

[0060] Specifically, in the present embodiment, the sliding block 320 is connected to the automatic tilting device 4 through the transmission shaft 410, one end of one transmission shaft 410 is hingedly connected to the sliding block 320, the other end is ball-jointedly connected to the automatic tilting device 4, and the other transmission shafts 410 are ball-jointedly connected to the sliding block 320 and the automatic tilting device 4 at both ends. The connection mode of the transmission shaft 410, the sliding block 320 and the automatic tilting device 4 in the present embodiment can convert the linear movement of the sliding block 320 into the horizontal tilting or axial movement of the automatic tilting device 4, thereby avoiding the automatic tilting device 4 from being stuck and affecting the normal work of the automatic tilting device 4.

[0061] In the alternative exemplary embodiment, the screw transmission assembly 3 comprises screw pipe fittings 330 and threaded pipes 310; the outer wall of the screw pipe fittings 330 comprises a threaded portion 332 and a sleeve portion 331 arranged along the axial direction, the sleeve portion 331 is arranged through the inner cavity of the adjacent screw pipe fittings 330, the threaded portion 332 of each screw pipe fitting 330 is threadedly connected with the threaded pipe 310, each threaded pipe 310 is connected with the driving portion of the second driving motor 2 respectively, and the outer periphery of the threaded pipe 310 is rotatably connected with the fixed portion of the second driving motor 2 through a bearing; the end of each sleeve portion 331 is connected with the sliding block 320 respectively.

[0062] It should be noted that, specifically, in the present embodiment, the screw transmission assembly 3 driven by the second driving motor 2 adopts a screw drive mode, that is, the screw transmission assembly 3 comprises screw pipe fittings 330 and threaded pipes 310; the outer wall of the screw pipe fittings 330 comprises a threaded portion 332 and a sleeve portion 331 arranged along the axial direction, the sleeve portion 331 is arranged through the inner cavity of the adjacent screw pipe fittings 330, the threaded portion 332 of each screw pipe fitting 330 is threadedly connected with the threaded pipe 310, each threaded pipe 310 is connected with the driving portion of the second driving motor 2 respectively, and the outer periphery of the threaded pipe 310 is rotatably connected with the fixed portion of the second driving motor 2 through a bearing, in the driving process, the driving portion of the second driving motor 2 drives, so that the threaded portion 332 of the screw pipe fitting 330 rotates spirally relative to the threaded pipe 310, thereby realizing the sliding of the screw pipe fitting 330 along the axial direction, thereby driving the sliding block 320 at the end of the sleeve portion 331 of the screw pipe fitting 330 to slide, thereby realizing the driving of the automatic tilting device 4.

[0063] It should be further noted that the at least two screw transmission assemblies 3 with different sizes are different in the shaft diameter and the length of the screw pipe fittings 330, and the shaft diameter of the inner screw pipe fitting 330 is smaller than that of the outer screw pipe fitting 330. The screw pipe fittings 330 are connected in layers one by one. Correspondingly, in order to match the threaded portion 332 of the screw pipe fitting 330, the inner diameters of the threaded pipes 310 are also different. The outer diameters of all the threaded pipes 310 are the same, so that the uniformity of the outer structure can be ensured.

[0064] Exemplarily, the sleeve portion 331 is arranged as a polished rod portion.

[0065] The threaded pipe 310 is screwed to the outer periphery of the threaded part 332, and the length of the threaded part 332 is determined according to the specification of the threaded pipe 310, the stroke of the total pitch adjustment and the periodic variable pitch adjustment. The external thread of the threaded part 332 and the internal thread of the threaded pipe 310 are preferably T-shaped threads, which are tightly fitted with a taper surface between the internal and external threads, and have good self-locking performance. When the second driving motor 2 stops working, the threaded pipe 310 and the lead screw pipe fitting 330 can be self-locked, thereby ensuring the adjustment accuracy and precision of the total pitch adjustment and the periodic variable pitch adjustment of the propeller.

[0066] In the alternative exemplary embodiment, the automatic tilting device 4 comprises a swash plate 420, a synchronization device 460 and at least two universal pull rods 430; the swash plate 420 is slidingly connected to the outer periphery of the sleeve 9 through a spherical pair 450, so that the swash plate 420 rotates universally relative to the spherical pair 450; the synchronization device 460 is arranged on the outer periphery of the swash plate 420 and connected with the swash plate 420 and the rotating disc 6, so that the swash plate 420 rotates synchronously with the rotating disc 6; the number of the universal pull rods 430 is the same as the number of the propeller clamps, and one end of each universal pull rod 430 is connected with the swash plate 420 universally, and the other end is connected with the propeller through a rocker arm 440 respectively.

[0067] Specifically, in the present embodiment, during operation, the swash plate 420 rotates synchronously with the rotating disc 6 under the driving of the synchronization device 460, the second driving motor 2 drives the screw transmission assembly 3 to move linearly, the screw transmission assembly 3 pushes the swash plate 420 to move horizontally or axially through the transmission shaft 410, the swash plate 420 transmits its movement posture to the propeller through the universal pull rods 430 and the rocker arms 440, and drives the propeller to adjust the propeller angle, so as to realize the total pitch and periodic variable pitch adjustment of the propeller, and further realize the flight attitude adjustment of the aircraft.

[0068] In the alternative exemplary embodiment, the synchronization device 460 comprises a spherical hinge seat 463, a guide ball groove 464 is arranged on the spherical hinge seat 463, and the guide ball groove 464 extends towards the center of the swash plate 420; a sliding ball pair 462 is further arranged in the guide ball groove 464, and the sliding ball pair 462 is rollingly connected in the guide ball groove 464; a guide hole is arranged in the sliding ball pair 462, a guide rod 461 is arranged in the guide hole, and the guide rod 461 is slidingly connected to the guide hole of the sliding ball pair 462; one end of the guide rod 461 is connected perpendicularly to the end face of the rotating disc 6.

[0069] In the embodiment, to ensure the stability of the swash plate 420, the number of the ball joint seats 463 is multiple, the multiple ball joint seats 463 are arranged in a circular array along the circumference of the swash plate 420, the guide rod 461 is connected to the guide ball groove 464 of one of the ball joint seats 463 through the sliding ball pair 462, and the remaining ball joint seats 463 are used as counterweights to make the center of mass of the swash plate 420 at the geometric center position.

[0070] In the embodiment, the number of the ball joint seats 463 is three, the three ball joint seats 463 are arranged in a circular array along the circumference of the swash plate 420, the guide rod 461 is connected to the guide ball groove 464 of one of the ball joint seats 463 through the sliding ball pair 462, and the remaining two ball joint seats 463 are used as counterweights. It can be understood that the number of the ball joint seats 463 is not limited here, and in other specific embodiments, the number of the ball joint seats 463 can be set to four, five or six, one of which is connected with the guide rod 461, and the others are used as counterweights.

[0071] It should be noted that in the embodiment, the sliding ball pair 462 can slide along the guide rod 461 and roll in the guide ball groove 464. When the paddle rotates, the rotating disc 6 drives the guide rod 461 to rotate synchronously, the sliding ball pair 462 on the guide rod 461 contacts the side surface of the guide ball groove 464, thereby driving the swash plate 420 to rotate synchronously with the rotating disc 6, ensuring the synchronism of the swash plate 420 and the rotating disc 6. The ball surface contact between the sliding ball pair 462 and the guide ball groove 464 has a large stress area, strong torsional resistance and is not easy to damage, effectively ensuring the stability of the structure and prolonging the service life.

[0072] When the paddle is adjusted in total pitch, the swash plate 420 slides axially along the sleeve 9, driving the sliding ball pair 462 to slide along the guide rod 461.

[0073] When the paddle is adjusted in cyclical pitch, the swash plate 420 is horizontally inclined, the sliding ball pair 462 slides along the guide rod 461 and rolls in the guide ball groove 464, thereby giving way to the horizontal inclination of the swash plate 420 to avoid the swash plate 420 from being stuck.

[0074] In the embodiment, one end of each of the universal pull rods 430 is connected to the ball joint seat 463, and a ball groove is arranged on the ball joint seat 463 and is not connected to the guide ball groove 464. The other end of at least two universal pull rods 430 is connected to one end of the rocker arm 440, and the other end of the rocker arm 440 is fixedly connected to the paddle shaft. The swash plate 420 drives the rocker arm 440 to swing through the universal pull rods 430, and the rocker arm 440 drives the paddle shaft to rotate.

[0075] In the embodiment, the swash plate 420 and the spherical hinge connection between the universal pull rod 430 and the spherical hinge seat 463 and the rocker arm 440 can flexibly bear pressure from different planes, and have the advantages of flexible control, high accuracy, large torsion angle, convenient adjustment, safety and reliability, etc.

[0076] Exemplarily, in the embodiment, the number of the second driving motor 2 is three, and the number of the corresponding screw transmission assembly 3, the transmission shaft 410, the spherical hinge seat 463, the universal pull rod 430 and the rocker arm 440 is also three. The angle between the circumferentially arranged spherical hinge seats 463 is 120°. The three second driving motors 2 jointly complete the periodic pitch adjustment and total pitch adjustment of the paddle. The braking force is three times that of the traditional cross plate. Similarly, the paddle also gets three times power. Compared with the traditional cross plate structure, the mechanical structure is simpler, and the burden of each second driving motor 2 is smaller and the control accuracy is higher.

[0077] In the alternative exemplary embodiment, the first driving motor 1 comprises a first outer rotor 110 and a first stator 120. The first outer rotor 110 is sleeved outside the first stator 120. The accommodating cavity is arranged at the center of the first stator 120 and forms a cylindrical cavity. The first outer rotor 110 comprises a first rotor shell 111 and at least two circumferential permanent magnet poles 112. The at least two circumferential permanent magnet poles 112 are arranged on the inner wall of the first rotor shell 111 and are arranged at equal intervals along the axis direction of the first rotor shell 111. The number of the first stator 120 is at least two. The at least two first stators 120 are coaxially arranged in series in the first outer rotor 110 and correspond to the positions of the permanent magnet poles 112 respectively. The turntable 6 is fixedly connected to the end of the first rotor shell 111. The outer periphery of the lead screw pipe 330 is sleeved with a shaft sleeve 7. One end surface of the shaft sleeve 7 is connected with the first stator 120 close to the turntable 6, and the other end surface is connected with the sleeve 9. The turntable 6 is rotationally connected to the outer periphery of the shaft sleeve 7 through a tapered roller bearing 8.

[0078] It should be noted that, specifically, in the embodiment, the first driving motor 1 is thus arranged, which is equivalent to a multi-stage motor. By energizing the corresponding stator coils 122 of the at least two first stators 120, a magnetic field is generated. According to the principle of same polarity repulsion and different polarity attraction, the at least two circumferential permanent magnet poles 112 are relatively rotated under the magnetic force of the stator coils 122 of the corresponding first stator 120, which jointly drives the first rotor shell 111 and the turntable 6 connected with the first rotor shell 111 to rotate synchronously.

[0079] In the alternative exemplary embodiment, the first driving motor 1 is an outer rotor brushless motor. The second driving motor 2 is a variable pitch motor.

[0080] The rotor driving device provided by the embodiment of the present application can simultaneously realize total pitch and cyclic pitch adjustment of the blades through the arrangement of the at least two variable pitch motors and the at least two linear transmission devices, fills the technical blank of the existing electric aircrafts which cannot simultaneously perform total pitch and cyclic pitch adjustment, has high carrying capacity while ensuring the flight height of the aircraft, can be used as a manned machine or a transport machine, and has a good development prospect.

[0081] Further, the first driving motor 1 of the embodiment can be a hollow cup type outer rotor motor, has the accommodating cavity inside, the at least two second driving motors 2 are arranged in the accommodating cavity in the axial direction of the accommodating cavity in sequence, and the at least two second driving motors 2 are coaxially arranged in series. In this way, the at least two second driving motors 2 are arranged in the accommodating cavity inside the first driving motor 1, the internal space of the first driving motor 1 is effectively utilized, the first driving motor 1 and the at least two second driving motors 2 are integrated, and the integrated structure has the advantages of compact structure, small volume, light weight, good heat dissipation effect and high strength, and is suitable for the development requirements of light weight and small size of the aircraft.

[0082] In the alternative exemplary embodiment, the second driving motor 2 can be an outer rotor hollow cup brushless motor, including a second stator 210, a second outer rotor 220, a second end cover 250, a second electronic governor 230, a second Hall sensor 240 and a magnetic disk 260. A plurality of screw transmission assemblies 3 are arranged in the middle hollow part of the second stator 210, the second end cover 250 is arranged at the top of the second outer rotor 220 and connected with the threaded tube 310 of the corresponding screw transmission assembly 3. The second electronic governor 230 is arranged at the bottom of the second stator 210, is sleeved on the outer periphery of the threaded tube 310 of the corresponding screw transmission assembly 3, and is connected with the second stator 210. The second Hall sensor 240 is arranged on the second electronic governor 230, and the magnetic disk 260 is fixedly sleeved on the outer periphery of the threaded tube 310 of the corresponding screw transmission assembly 3 and is arranged in a spaced manner with the second Hall sensor 240.

[0083] In this embodiment, when the second drive motor 2 is operating, the second outer rotor 220 drives the second end cap 250 to rotate synchronously. The second end cap 250 drives the corresponding threaded tube 310 of the screw drive assembly 3 to rotate, which in turn drives the magnetic disk 260 to rotate. The second ESC 230 and the second Hall effect sensor 240 remain stationary. The input line of the second ESC 230 is connected to the battery, and the output line is connected to the power lines of the second drive motor 2, controlling the start and stop, speed, and direction of the second drive motor 2. The second Hall effect sensor 240 indirectly monitors the speed, position, and direction of the second drive motor 2 by detecting the speed and rotational position of the magnetic disk 260 in real time. The detected data can be used to determine the location and cause of any faults in the second drive motor 2.

[0084] For example, at least two articulated seats 610 are provided along the circumferential direction of the turntable 6, and the articulated seats 610 are used to install the blade clamps. The operation of the first drive motor 1 can drive the turntable 6 and the blade clamps installed on the articulated seats 610 to rotate synchronously, thereby driving the blades to rotate. By adjusting the blade rotation speed, the start-stop, hovering and flight altitude adjustment of the aircraft can be achieved.

[0085] It should be noted that the blade holder in this embodiment is directly driven by an outer rotor brushless motor. Compared to conventional motors, outer rotor brushless motors offer improved heat dissipation, greater torque, and higher power density. When the motor output power requirements are the same, outer rotor brushless motors offer smaller size and lighter weight, resulting in less drag and lower power loss during flight, making them more suitable for the development of miniaturized and intelligent aircraft.

[0086] In this embodiment, the automatic tilter 4 is used to be connected to the blade clamp. The automatic tilter 4 itself is suitable for horizontal tilting and is slidably connected to the sleeve 9. The sleeve 9 is fixedly connected to the first stator 120. The first stator 120 is stationary, thereby fixing the sleeve 9.

[0087] When the automatic recliner 4 slides axially along the sleeve 9, it causes the blade holder connected to the automatic recliner 4 to rotate about its own axis, changing the blade angle and the collective pitch of the propeller. This changes the pulling force generated by the propeller rotation, which in turn changes the aircraft's altitude. This embodiment adjusts the aircraft's altitude by adjusting the collective pitch, without adjusting the speed of the first drive motor 1. This effectively avoids the drawbacks of excessively high speeds of the first drive motor 1, which can lead to low power efficiency and poor load-bearing capacity.

[0088] When the automatic tilt device 4 tilts horizontally, it drives the blade clamp connected to the automatic tilt device 4 to perform cyclic pitch adjustment, the blade angles of multiple blades change periodically, and the lateral force, backward force and counter torque of the blades change to achieve the roll, pitch and yaw of the aircraft.

[0089] In the embodiment, the first driving motor 1 drives the first rotor shell 111 to rotate through at least two first stators 120 simultaneously or respectively driving at least two weeks of permanent magnet poles 112. Compared with the setting form of single week permanent magnet poles 112 and single motor stator, the torque of the first driving motor 1 of the embodiment is larger, and when one motor stator or one week of permanent magnet poles 112 fails, the first driving motor 1 can still work normally, and the safety redundancy is higher.

[0090] Exemplarily, the number of the multi-week permanent magnet poles 112 of the embodiment is two weeks, and the number of the corresponding first stators 120 is also two. The first Hall inductor 150 is arranged between the two weeks of permanent magnet poles 112, and is arranged on the outer wall of the first stator 120 and is matched with the position of one of the magnetic steels of one of the permanent magnet poles 112 on the inner wall of the first rotor shell 111. The first Hall inductor 150 detects the rotating speed and position of the first driving motor 1 by monitoring the position of the magnetic steel in real time, and can judge the fault position and fault reason according to the detected real-time information.

[0091] Exemplarily, in the embodiment, the rotating disc 6 is fixedly connected to the end of the first rotor shell 111 and can be used as the top end cover of the first driving motor 1. The rotating disc 6 is rotatably connected to the outer periphery of the shaft sleeve 7 through the tapered roller bearing 8. The shaft sleeve 7 is fixedly sleeved on the outer periphery of the layer sleeve type lead screw pipe 330 of the at least two screw transmission assemblies 3. One side of the shaft sleeve 7 is connected with the sleeve 9, and the other side is connected with the first stator 120 close to the rotating disc 6.

[0092] In the optional exemplary embodiment, the first driving motor 1 further comprises a first end cover 130 and a cooling fan 140. The first end cover 130 is arranged on the side of the first stator 120 away from the rotating disc 6. The cooling fan 140 is rotatably connected to the outer periphery of the first end cover 130 and is connected to the end of the first rotor shell 111 away from the rotating disc 6.

[0093] It should be noted that specifically, in the embodiment, the first end cover 130 is arranged on the side of the first stator 120 away from the rotating disc 6, that is, the bottom end cover of the first driving motor 1. In the running process, the first rotor shell 111 drives the cooling fan 140 to rotate, and the rotation of the cooling fan 140 drives the airflow to flow, so as to cool and heat dissipate the first driving motor 1, so as to prevent the first driving motor 1 from being damaged by high temperature in long-term operation.

[0094] Exemplarily, the cooling fan 140 is rotatably connected to the outer periphery of the first end cover 130 through a bearing. The first end cover 130, the shaft sleeve 7 and the first motor stator 120 are used as the main shaft of the first driving motor 1, and support the first driving motor 1 to increase the stiffness of the first driving motor 1.

[0095] Exemplarily, the first driving motor 1 further comprises a wire combing plate 160 for combing the wire harness inside the first driving motor.

[0096] The first driving motor 1 further comprises at least two first electric controls (not shown in the figure), which are externally arranged. The input line of the first electric control is connected to the battery, and the output line is connected to the electric wire of the first driving motor 1, for controlling the start-stop, rotation speed and rotation direction of the first driving motor 1.

[0097] In the alternative exemplary embodiment, the first stator 120 comprises a stator sleeve 121 and a stator coil 122, the stator coil 122 is fixedly connected to the outer periphery of the stator sleeve 121, and the stator sleeves 121 of two adjacent first stators 120 are connected to each other; the shaft sleeve 7 is connected to the stator sleeve 121 of the first stator 120 close to the side of the rotating disc 6; the at least two second driving motors 2 are arranged through the stator sleeve 121, and the fixed parts of the second driving motors 2 are fixedly connected to the stator sleeve 121 respectively.

[0098] Exemplarily, the stator sleeve 121 is further provided with a wire hole, and the wire holes of the stator sleeves 121 of the at least two first stators 120 are through each other. The electric wires and communication lines of the first driving motor 1 and the second driving motor 2 are arranged in the wire hole, without external wire, which is beautiful and clean in structure, and the wire harness is not easy to be damaged.

[0099] In the alternative exemplary embodiment, the rotor driving device further comprises a self-lubricating cooling device 5, which comprises a first mechanical seal 510, an impeller 520, a volute 530, an oil guide disc 560 and a second mechanical seal 540; the inside of the rotor 6 is provided with a stepped hole 620; the first mechanical seal 510, the impeller 520, the tapered roller bearing 8 and the volute 530 are sequentially arranged in a direction away from the inside of the stepped hole 620 and are all sleeved on the outer periphery of the shaft sleeve 7, the impeller 520 and the volute 530 are fixedly connected with the rotor 6; the inner wall of the volute 530 is in dynamic sealing connection with the outer periphery of the shaft sleeve 7 through the second mechanical seal 540, and the outer wall of the volute 530 is in sealing connection with the hole wall of the stepped hole 620 through a sealing ring 550, so as to form a sealed space between the shaft sleeve 7, the first mechanical seal 510, the rotor 6, the volute 530 and the second mechanical seal 540; the oil guide disc 560 is arranged on the side of the tapered roller bearing 8 close to the volute 530 and is fixedly sleeved on the outer periphery of the shaft sleeve 7, and an oil guide groove 561 is further arranged on the oil guide disc 560; the shaft sleeve 7, the stator sleeve 121 of the at least two first stators 120 and the first end cover 130 are all provided with a cooling cavity 570 for filling cooling lubricating medium; the shaft sleeve 7 is provided with an oil inlet 572 and an oil outlet 571 which are in communication with the cooling cavity 570, the oil outlet 571 is arranged close to the impeller 520, and the oil outlet 571 is arranged close to the oil guide disc 560 and is in communication with the oil guide groove 561.

[0100] It should be noted that, specifically, in the present embodiment, the self-lubricating cooling device is used for lubricating and cooling the tapered roller bearing 8, the first driving motor 1 and the second driving motor 2.

[0101] Exemplarily, the rotor is bowl-shaped, and the stepped hole is arranged at the middle position of the rotor.

[0102] In use, the sealed space and the circulating oil passage are both filled with cooling lubricating medium, and specifically, the cooling lubricating medium can be lubricating oil.

[0103] When the first driving motor 1 works, it drives the rotor 6 to rotate, and the rotor 6 drives the impeller 520 and the volute 530 to rotate, and the cooling lubricating medium is thrown to the edge of the impeller 520 under the action of centrifugal force, so as to form a pressure difference, and the cooling lubricating medium flows through the tapered roller bearing 8 from the edge of the impeller 520 and then flows into the oil inlet 572 of the cooling cavity 570 through the oil guide groove, so as to circulate in the cooling cavity 570 and the sealed space.

[0104] It can be understood that when the cooling lubricating medium flows through the tapered roller bearing 8, the tapered roller bearing 8 can be lubricated by the cooling lubricating medium, and the tapered roller bearing 8, the first driving motor 1, the at least two second driving motors 2, and the screw transmission assembly 3 and other components can also be cooled. The heat generated by the first driving motor 1 and the at least two second driving motors 2 when working is transmitted to the cooling lubricating medium in the form of heat conduction, and the circulating flow of the cooling lubricating medium carries away the heat, avoiding high-temperature damage to the tapered roller bearing 8, the first driving motor 1, the at least two second driving motors 2, and the screw transmission assembly 3 and other components, and affecting the service life of the rotor drive mechanism.

[0105] In the optional example embodiment, the stator sleeve 121, the second stator 210, the rotating disc 6, the first end cover 130, and the second end cover 250 are all provided with weight reduction holes, which are arranged away from the threaded holes and the circulating oil paths. In this way, the overall weight of the rotor drive mechanism is greatly reduced, and energy loss caused by overcoming gravity is effectively avoided.

[0106] In the embodiment, the weight reduction holes can also be used as ventilation holes. The first rotor shell 111 is correspondingly provided with a plurality of air inlet holes 170 in the circumferential direction. The plurality of air inlet holes 170 are located at the position of the first Hall inductor 150 and are arranged at equal intervals along the circumferential direction of the first rotor shell 111. The weight reduction holes are in communication with the ventilation holes of each component to form a circulating air path. In specific use, the first rotor shell 111 rotates, air flows into the inside of the rotor drive mechanism through the air inlet holes 170, and then flows through the weight reduction holes of each component and finally flows out of the weight reduction holes of the first end cover 130 to form a flowing air current. The flowing air current further dissipates heat inside the rotor drive mechanism, avoiding high-temperature damage to the rotor drive mechanism.

[0107] In summary, the rotor drive device provided by the embodiment of the application has the functions of driving the blades to rotate, adjusting the total pitch, and adjusting the cyclic pitch. The rotor drive device can drive the aircraft to adjust the flight attitude such as ascending, descending, hovering, pitching, yawing, and rolling. At the same time, the rotor drive device has no external wiring, has an attractive structure, complete functions, high integration, small size, and light weight, and is suitable for the development of small and light aircraft. The rotor drive device can also be lubricated and cooled by the internally arranged self-lubricating cooling device 5, avoiding high-temperature damage to local components and affecting the service life of the rotor drive device.

[0108] The application also provides an aircraft, which comprises an aircraft body and the rotor drive device described above, and the rotor drive device is connected to the aircraft body.

[0109] It should be noted that the aircraft provided by the application can be an electric aircraft, and further comprises a battery pack and a plurality of the above-mentioned rotor driving devices, wherein a plurality of propellers are arranged on the aircraft, the plurality of rotor driving devices are driven by the battery pack, the power output ends are respectively connected with the blades of the plurality of propellers, and the rotor driving devices can drive the corresponding propeller blades to rotate, cyclic pitch change and collective pitch adjustment, so as to realize the adjustment of the flight attitude of the aircraft, such as take-off and landing, hovering, pitching, rolling and yawing, fill the gap that the existing electric aircraft cannot simultaneously adjust the collective pitch and the cyclic pitch, and have far-reaching significance for the subsequent development of electric aircraft.

[0110] It should be further noted that the structure of the aircraft body of the embodiment is not limited, and can be any one of a helicopter fuselage, a rotorcraft and a vertical take-off and landing fixed-wing aircraft. The electric aircraft of the embodiment can be used as a drone, a manned aircraft or a cargo aircraft, and the embodiment is not limited.

[0111] Meanwhile, since the electric aircraft of the embodiment adopts the above-mentioned rotor driving device, the rotor driving device is small in size and light in weight, greatly reduces the size and overall weight of the electric aircraft, and realizes the miniaturization and light weight of the electric aircraft.

[0112] The aircraft provided by the embodiment of the application comprises the above-mentioned rotor driving device, and thus has the above-mentioned technical effects of directly driving the blades to rotate, simultaneously adjusting the collective pitch and the cyclic pitch of the propeller, simple structure, small occupied space, low failure rate, high transmission efficiency, small size and light weight.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, rather than limit them. Although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features. Such modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the application.

[0114] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again in the application.

Claims

1. A rotor drive device, characterized in that: It includes a turntable, a first drive motor, at least two second drive motors and an automatic tilter; The first driving motor has a receiving cavity; The at least two second drive motors are arranged in sequence along the axial direction of the accommodating cavity; At least two blade clamps are provided in the circumferential direction of the turntable, and the driving part of the first drive motor is in transmission connection with the turntable to drive the turntable to rotate around its own axis so that the blade clamps rotate synchronously with the turntable; at least two hinged seats are provided along the circumferential direction of the turntable, and the hinged seats are used to install the blade clamps. When the first drive motor is working, it drives the turntable and the blade clamps installed on the hinged seats to rotate synchronously, thereby driving the blades to rotate. By adjusting the rotation speed of the blades, the aircraft can achieve start-up, stop, hovering and flight altitude adjustment; A sleeve is provided on the top end of the fixed portion of the first drive motor, and the automatic recliner is slidably connected to the sleeve and can move horizontally tilted relative to the sleeve. The at least two second drive motors are connected to the automatic recliner via a linear transmission device, driving the automatic recliner to move along the axial direction, so that all the blade clamps rotate around their own axes by the same angle; and / or driving the automatic recliner to perform periodic horizontal tilting movement, so that all the blade clamps rotate around their own axes and the rotation angles change periodically.

2. The rotor drive device according to claim 1, characterized in that: The linear transmission device includes at least two screw transmission components of different sizes, and the number of the screw transmission components is the same as the number of the second drive motors; The spiral transmission components are sequentially sleeved along the axial direction, and each of the second drive motors is respectively connected to the spiral transmission component to drive the corresponding spiral transmission component to move along the axial direction; A slider is provided on one side of the spiral transmission assembly close to the sleeve, and at least two slide grooves are provided along the circumferential direction of the sleeve. The slide grooves extend along the axial direction of the sleeve, and each slider of the spiral transmission assembly is slidably connected to the slide groove; The sliding blocks are universally connected to the automatic recliners via transmission shafts.

3. The rotor drive device according to claim 2, characterized in that: The screw transmission assembly includes a screw tube and a threaded tube; the outer wall of the screw tube includes a threaded portion and a sleeve portion arranged along the axial direction, the sleeve portion penetrates the inner cavity of the adjacent screw tube, the threaded portion of each screw tube is threadedly connected to the threaded tube, each threaded tube is respectively connected to the driving part of the second drive motor, and the outer periphery of the threaded tube is rotatably connected to the fixed part of the second drive motor through a bearing; The end portion of each sleeve portion is respectively connected to the slider.

4. The rotor drive device according to claim 1, characterized in that: The automatic tilt mechanism includes a swash plate, a synchronization device and at least two universal rods; The swash plate is slidably connected to the outer periphery of the sleeve via a spherical pair, so that the swash plate can universally rotate relative to the spherical pair; The synchronization device is arranged on the outer periphery of the swash plate and is connected to the swash plate and the turntable so that the swash plate rotates synchronously with the turntable; The number of the universal pull rods is the same as the number of the blade clamps. One end of each universal pull rod is universally connected to the swash plate, and the other end is connected to the blades via rocker arms.

5. The rotor drive device according to claim 4, characterized in that: The synchronization device includes a ball hinge seat, the ball hinge seat is provided with a guide ball groove, and the guide ball groove extends toward the center of the swash plate; A sliding ball pair is provided in the guide ball groove, and the sliding ball pair is rollingly connected in the guide ball groove; A guide hole is provided in the sliding ball pair, a guide rod is provided in the guide hole, and the guide rod is slidably connected to the guide hole of the sliding ball pair; One end portion of the guide rod is vertically connected to the end surface of the turntable.

6. The rotor drive device according to claim 3, characterized in that: The first drive motor includes a first outer rotor and a first stator, the first outer rotor is sleeved on the outside of the first stator, and the accommodating cavity is arranged at the center of the first stator to form a cylindrical cavity; The first outer rotor comprises a first rotor housing and at least two permanent magnet poles, wherein the at least two permanent magnet poles are provided on the inner wall of the first rotor housing and are arranged at equal intervals along the axis of the first rotor housing; The number of the first stators is at least two, and the at least two first stators are coaxially arranged in series in the first outer rotor and respectively correspond to the magnetic pole positions of the permanent magnets; The turntable is fixedly connected to the end of the first rotor housing; The outer periphery of the screw tube is provided with a shaft connection sleeve, one end face of the shaft connection sleeve is connected to the first stator close to the turntable, and the other end face is connected to the sleeve, and the turntable is rotatably connected to the outer periphery of the shaft connection sleeve through a tapered roller bearing.

7. The rotor drive device according to claim 6, characterized in that: The first drive motor further includes a first end cover and a cooling fan; The first end cover is arranged on a side of the first stator away from the turntable; The cooling fan is rotatably connected to the outer periphery of the first end cover and is connected to an end of the first rotor housing away from the rotating disk.

8. The rotor drive device according to claim 6, characterized in that: The first stator includes a stator sleeve and a stator coil, wherein the stator coil is fixedly connected to the outer periphery of the stator sleeve, and the stator sleeves of two adjacent first stators are connected to each other; The shaft coupling sleeve is connected to the stator sleeve of the first stator close to the side of the turntable; The at least two second drive motors are disposed through the stator sleeve, and the fixing parts of the second drive motors are fixedly connected to the stator sleeves respectively.

9. The rotor drive device according to claim 7, characterized in that: Also included is a self-lubricating cooling device, the self-lubricating cooling device including a first mechanical seal, an impeller, a volute, an oil guide plate and a second mechanical seal; The interior of the turntable is provided with a stepped hole; The first mechanical seal, the impeller, the tapered roller bearing and the volute are sequentially arranged in a direction away from the inner side of the stepped hole and are all sleeved on the outer circumference of the shaft sleeve. The impeller and the volute are both fixedly connected to the turntable. The inner wall of the volute is dynamically sealed to the outer periphery of the shaft coupling sleeve via the second mechanical seal, and the outer wall of the volute is sealed to the hole wall of the stepped hole via a sealing ring, so that a sealed space is formed between the shaft coupling sleeve, the first mechanical seal, the rotary disk, the volute, and the second mechanical seal; The oil guide plate is placed on the side of the tapered roller bearing close to the volute and is fixedly sleeved on the outer periphery of the shaft sleeve. The oil guide plate is also provided with an oil guide groove. The shaft coupling sleeve, the stator sleeves of the at least two first stators, and the first end cover are all provided with a cooling cavity for filling with a cooling and lubricating medium; The shaft coupling sleeve is provided with an oil inlet and an oil outlet communicated with the cooling cavity. The oil outlet is arranged close to the impeller, and the oil outlet is arranged close to the oil guide plate and communicated with the oil guide groove.

10. An aircraft, characterized in that: The invention comprises an aircraft body and the rotor driving device according to any one of claims 1 to 9, wherein the rotor driving device is connected to the aircraft body.

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