Coaxial double-rotor universal aircraft

Abstract

The invention discloses a coaxial dual-rotor universal aircraft which comprises a cabin, a dual-rotor structure, a rotor driving mechanism and a steering supporting mechanism, the dual-rotor structure comprises a working shaft, an upper rotor and a lower rotor, the working shaft is connected with the top wall of the cabin through a rotary supporting unit and comprises an inner shaft and an outer shaft, the lower rotor is arranged at the top of the outer shaft, and the upper rotor is arranged on the outer shaft. The inner shaft upwards extends out of the outer shaft; the upper rotor wing is arranged at the upper part of the inner shaft; the rotor driving mechanism comprises a first motor, a second motor and a transmission structure which are arranged outside the gearbox, the first motor and the second motor are both in transmission connection with the transmission structure, and the lower end of the inner shaft and the lower end of the outer shaft are both in transmission connection with the transmission structure; the steering supporting mechanism is in transmission connection with the gearbox. Double motors are adopted to control the double rotors, the motors achieve rotation of the double rotors through a transmission structure, the steering supporting mechanism is matched with the rotation supporting unit, universal adjustment of the double rotors can be achieved, the dip angles of the rotors are adjusted, and then flexible flight in the XYZ space is achieved.

Description

Technical Field

[0001] The invention relates to the field of aircraft, and in particular to a coaxial dual-rotor universal aircraft. Background Art

[0002] In recent years, coaxial twin-rotor aircraft, as a highly efficient vertical take-off and landing aircraft, has a unique design that has significant advantages over fixed-wing aircraft and multi-rotor aircraft. Coaxial twin-rotor aircraft is designed with the upper rotor and the lower rotor on the same axis, and uses a control mechanism to control the upper rotor and the lower rotor respectively, thereby adjusting the flight attitude and flight direction of the aircraft. However, the control mechanism structure of existing coaxial twin-rotor aircraft often adopts a single motor drive and has a relatively complex structure. For example, CN115123531A discloses a coaxial twin-rotor UAV, which uses a coaxial motor and a multi-link mechanism to realize the control of the upper rotor and the lower rotor. The structure is relatively complex, the failure rate is high, and once the motor fails, the UAV will be damaged. Summary of the invention

[0003] In view of this, the present invention proposes a coaxial dual-rotor universal aircraft, which utilizes dual motors and multiple gears to realize the manipulation of the upper rotor and the lower rotor, thereby reducing the failure rate.

[0004] To achieve the above object, the present invention adopts the following technical solutions: The coaxial twin-rotor gimbal aircraft of the present invention comprises a cabin, a twin-rotor structure, and also comprises a rotor drive mechanism and a steering support mechanism arranged in the cabin, the twin-rotor structure comprises a working shaft, an upper rotor and a lower rotor, the working shaft is connected to the top wall of the cabin through a slewing support unit, the working shaft comprises an inner shaft and an outer shaft sleeved on the inner shaft, the outer shaft and the inner shaft are connected through a bearing; the lower rotor is arranged on the top of the outer shaft, the inner shaft extends upward from the outer shaft, and the upper rotor is arranged on the upper part of the inner shaft; a gear box is arranged in the cabin; The rotor drive mechanism comprises a first motor and a second motor arranged outside the gear box and a transmission structure arranged inside the gear box, the first motor and the second motor are symmetrically arranged, the first motor and the second motor are both transmission-connected to the transmission structure, the lower end of the inner shaft and the lower end of the outer shaft are both transmission-connected to the transmission structure; the steering support mechanism is transmission-connected to the gear box; The cabin body of the cabin is a cylindrical structure, and its cabin bottom is an arc-shaped structure. The cabin body located below the gearbox is a carrying room. The beneficial effects are: the present invention adopts dual motors to control dual rotors, and the motors realize the rotation of dual rotors through the transmission structure. The steering support mechanism cooperates with the slewing support unit to realize the universal adjustment of the dual rotors, adjust the inclination angle of the rotors, and then realize flexible flight in the XYZ space; the cabin body of the present invention is a cylindrical structure, that is, the cabin body adopts a slewing structure, which can effectively reduce wind resistance and facilitate the switching of the direction of the rotors.

[0005] Preferably, the transmission structure comprises an upper output gear, a lower output gear, a first input gear and a second input gear arranged in the gear box, the upper output gear and the lower output gear are coaxial, the lower end of the inner shaft passes through the outer shaft downward and is key-connected to the lower output gear, and the lower end of the outer shaft is key-connected to the upper output gear; the first input gear and the second input gear are symmetrically arranged, the first input gear, the second input gear, the upper output gear and the lower output gear are all bevel gears, the first input gear is meshed with the upper output gear and the lower output gear respectively, and the second input gear is meshed with the upper output gear and the lower output gear respectively; The transmission structure comprises a first input shaft and a second input shaft which are symmetrically and coaxially arranged in the gear box, the first input shaft is transmission-connected to the first motor, and the second input shaft is transmission-connected to the second motor.

[0006] The beneficial effect is that the two input gears and the two output gears of the present invention are all bevel gears, and the vertical transmission of torque can be achieved by meshing the input gears and the output gears, thereby achieving separate operation of the inner shaft and the outer shaft.

[0007] Preferably, a first speed regulating assembly is arranged between the first motor and the first input shaft, and a second speed regulating assembly is arranged between the second motor and the second input shaft. The first speed regulating assembly and the second speed regulating assembly are arranged in the gear box and have the same structure. The first speed regulating assembly includes a pawl shaft, a pawl and a ratchet wheel. One end of the pawl shaft is connected to the motor shaft of the first motor through a coupling, and the other end of the pawl shaft is symmetrically provided with a mounting groove, and a pawl is hinged in each mounting groove through a pin shaft. The inner ring of the ratchet wheel is spaced apart with a locking groove that matches the end of the pawl; and a push spring that makes the locking part stuck in the locking groove is embedded in the pawl shaft corresponding to the locking part of each pawl, and the push spring is radially arranged. The beneficial effect is that the present invention has a speed regulating assembly between the first motor and the first input shaft and between the second motor and the second input shaft. When there is a speed difference between the first motor and the second motor, the speed regulating assembly can be used to adjust the speed so that the speeds of the two motors are consistent, thereby improving stability. In addition, each motor of the present invention is connected to the transmission structure in a transmission manner, so that the normal flight of the aircraft can be guaranteed even if one of the motors fails.

[0008] Preferably, the steering support mechanism is arranged in the cabin, and includes an X-axis screw motor, a Y-axis screw motor and a transmission rod fixed at the bottom of the gear box, and the X-axis screw motor and the Y-axis screw motor are through-type screw motors hinged in the cabin, one end of the X-axis screw of the X-axis screw motor is hinged to the transmission rod, and one end of the Y-axis screw of the Y-axis screw motor is hinged to the transmission rod. The X-axis screw motor and the Y-axis screw motor of the present invention are through-type screw motors, and the screw can move linearly during operation, thereby realizing the adjustment of the gear box in the X and Y directions to meet the flight requirements of the aircraft.

[0009] Preferably, the slewing support unit comprises an outer limit seat fixed on the top wall of the cabin and a spherical slewing block rotatably arranged in the outer limit seat, and the outer shaft passes outward from the center hole of the spherical slewing block. The beneficial effect is that the present invention uses the slewing support unit to provide support for the gear box, and the slewing support unit can also ensure the rotation of the two axes to ensure the flight of the aircraft.

[0010] Compared with the prior art, the present invention adopts dual motors to control dual rotors. The motors realize the rotation of dual rotors through a transmission structure. The steering support mechanism cooperates with the slewing support unit to realize universal adjustment of the dual rotors and adjust the inclination angle of the rotors, thereby realizing flexible flight in the XYZ space. The cabin body of the present invention is a cylindrical structure, that is, the cabin body adopts a slewing structure, which can effectively reduce wind resistance and facilitate switching of the rotors in the opposite direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a structural schematic diagram of the present invention.

[0012] Figure 2 It is a schematic diagram of the first speed regulating component in the present invention.

[0013] Figure 3 It is a schematic end view of the pawl and the ratchet in the present invention.

[0014] Figure 4 It is a cross-sectional schematic diagram of the rotary support unit of the present invention.

[0015] Figure 5 It is a top view of the steering support mechanism of the present invention.

[0016] Figure 6 It is a schematic diagram of the X-axis lead screw motor in the present invention. DETAILED DESCRIPTION

[0017] The following is a detailed description of an embodiment of the present invention in conjunction with the accompanying drawings. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0018] It should be noted that, in the description of the present invention, relational terms such as “first” and “second” are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0019] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected" and "connection" that may appear should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] like Figure 1 As shown, the coaxial twin-rotor gimbal aircraft of the present invention comprises a cabin 1, a twin-rotor structure 2, and also comprises a rotor drive mechanism 3 and a steering support mechanism 4 arranged in the cabin 1. The twin-rotor structure 2 comprises a working shaft, an upper rotor 2.1 and a lower rotor 2.2. The working shaft is connected to the top wall of the cabin 1 through a slewing support unit 2.3. The slewing support unit 2.3 not only has a supporting function, but also can realize that the working shaft is tilted at a certain angle relative to the top wall to meet the flight requirements of different flight angles; the working shaft comprises a coaxially arranged inner shaft 2.4 and an outer shaft 2.5 of a hollow structure, the outer shaft 2.5 is sleeved on the inner shaft 2.4 and the outer shaft 2.5 is connected to the inner shaft 2.4 through a bearing, the length of the outer shaft 2.5 is less than the length of the inner shaft 2.4, the upper and lower ends of the inner shaft 2.4 both pass out of the outer shaft 2.5, the lower rotor 2.2 is arranged at the top of the outer shaft 2.5, and the upper rotor 2.1 is arranged at the upper part of the inner shaft 2.4. Since the outer shaft 2.5 and the inner shaft 2.4 are connected by a bearing, the inner shaft 2.4 and the outer shaft 2.5 can rotate separately, thereby realizing the independent rotation of the upper rotor 2.1 and the lower rotor 2.2, and realizing the independent operation of the upper rotor 2.1 and the lower rotor 2.2; the cabin body 1 is a cylindrical structure, the upper part of the cabin body 1 is provided with a gear box 3.1, the bottom of the cabin body 1 is an arc structure, and the cabin body 1 adopts a rotary structure, which can effectively reduce wind resistance and facilitate the switching of the direction of the rotor. The upper part of the cabin body 1 is provided with a gear box 3.1, and the rotor drive mechanism 3 is arranged on the gear box 3.1 to realize integrated installation. The cabin body 1 located below the gear box 3.1 is a carrying cabin, which can be used for the delivery of fire-fighting equipment, life-saving materials, etc., and has a wide range of applications.

[0021] Combination Figure 1It can be seen that the rotor drive mechanism 3 includes a first motor 3.2, a second motor 3.3 and a transmission structure arranged outside the gear box 3.1, the first motor 3.2 and the second motor 3.3 are symmetrically arranged, the first motor 3.2 and the second motor 3.3 are both transmission-connected to the transmission structure, the lower end of the inner shaft 2.4 and the lower end of the outer shaft 2.5 are both transmission-connected to the transmission structure; the steering support mechanism 4 is transmission-connected to the gear box 3.1. The first motor 3.2 and the second motor 3.3 transmit power to the transmission structure, and the rotation of the upper rotor 2.1 and the lower rotor 2.2 is realized through the transmission structure. The first motor 3.2 and the second motor 3.3 are both motors with adjustable speed. When the torque output by the two motors is large, the upper rotor 2.1 and the lower rotor 2.2 can be rotated quickly, thereby driving the cabin 1 to rise as a whole. When the torque output by the motor is small, the speed of the upper rotor 2.1 and the lower rotor 2.2 is reduced, thereby realizing the descent of the cabin 1, that is, the flight height (i.e., Z direction) of the aircraft is adjusted by changing the output torque of the first motor 3.2 and the second motor 3.3, thereby realizing flexible adjustment of the flight height.

[0022] Combination Figure 1It can be seen that the transmission structure includes an upper output gear 3.4, a lower output gear 3.5, a first input gear 3.6 and a second input gear 3.7 arranged in the gear box 3.1. The first input gear 3.6, the second input gear 3.7, the upper output gear 3.4 and the lower output gear 3.5 are all bevel gears. The upper output gear 3.4 and the lower output gear 3.5 are coaxially arranged. The lower end of the inner shaft 2.4 is key-connected with the lower output gear 3.5, and the lower end of the outer shaft 2.5 is key-connected with the upper output gear 3.4; the first input gear 3.6, the second input gear 3.7, the upper output gear 3.4 and the lower output gear 3.5 are all bevel gears. The gear 3.6 and the second input gear 3.7 are symmetrical and coaxially arranged. The first input gear 3.6 is respectively meshed with the upper output gear 3.4 and the lower output gear 3.5, and the second input gear 3.7 is respectively meshed with the upper output gear 3.4 and the lower output gear 3.5; the transmission structure includes a first input shaft 3.8 and a second input shaft 3.9 symmetrically and coaxially arranged in the gear box 3.1, the first input shaft 3.8 is transmission-connected to the first motor 3.2, and the second input shaft 3.9 is transmission-connected to the second motor 3.3. During operation, the first motor 3.2 transmits the torque to the first input gear 3.6 through the first input shaft 3.8, and the first input gear 3.6 is meshed with the upper output gear 3.4 and the lower output gear 3.5, thereby synchronously transmitting the torque to the inner shaft 2.4 and the outer shaft 2.5; the second motor 3.3 transmits the torque to the second input gear 3.7 through the second input shaft 3.9, and the second input gear 3.7 is meshed with the upper output gear 3.4 and the lower output gear 3.5, thereby respectively transmitting the torque to the inner shaft 2.4 and the outer shaft 2.5; the first motor 3.2 and the second motor 3.3 both transmit power to the inner shaft 2.4 and the outer shaft 2.5, thereby realizing dual-motor output; when any one of the first motor 3.2 and the second motor 3.3 fails, there is still an input gear working, which can synchronously transmit the torque to the inner shaft 2.4 and the outer shaft 2.5, thereby ensuring the normal flight of the aircraft and reducing the failure rate.

[0023] Combination Figure 1 It can be seen that a first speed regulating component is arranged between the first motor 3.2 and the first input shaft 3.8, and a second speed regulating component is arranged between the second motor 3.3 and the second input shaft 3.9. The first speed regulating component and the second speed regulating component are arranged in the gear box 3.1 and have the same structure. When there is a speed difference between the first motor 3.2 and the second motor 3.3, the first speed regulating component and / or the second speed regulating component can be used to adjust the speed so that the first input shaft 3.8 and the second input shaft 3.9 rotate at the same speed, thereby realizing the same speed rotation of the inner shaft 2.4 and the outer shaft 2.5.

[0024] Combination Figure 2-3It can be seen that, taking the first speed regulating assembly on the left side as an example: the first speed regulating assembly includes a pawl shaft 3.10, a pawl 3.11 and a ratchet wheel 3.12 (the ratchet wheel 3.12 is fixedly connected to the first input shaft 3.8, and the two are split structures or integrated structures), the left end of the pawl shaft 3.10 is connected to the motor shaft of the first motor 3.2 through a coupling, and the right end of the pawl shaft 3.10 is symmetrically provided with two mounting grooves, each of which is provided with a pin shaft 3.13. A pawl 3.11 is hingedly connected (a sleeve is mounted on the pin shaft 3.13), and locking grooves 3.14 that cooperate with the end of the pawl 3.11 are spaced apart on the inner ring of the ratchet wheel 3.12 (the locking grooves 3.14 are inclined groove structures that cooperate with the locking part of the pawl 3.11); a push spring 3.15 that makes the locking part stuck in the lock groove 3.14 is embedded in the pawl shaft 3.10 corresponding to the locking part of each pawl 3.11, and the push spring 3.15 is radially arranged. During operation, the locking portion of the pawl 3.11 is always clamped in the locking groove 3.14 of the ratchet 3.12. When there is a speed difference between the torque output by the second motor 3.3 and the torque output by the first motor 3.2, the second motor 3.3 transmits power to the first input shaft 3.8 through the second input shaft 3.9, the upper output gear 3.4, and the lower output gear 3.5. There is a speed difference between the first input shaft 3.8 and the pawl shaft 3.10. The speed difference between the two causes the pawl 3.11 to disengage from the locking groove 3.14, causing the ratchet 3.12 to rotate relative to the pawl shaft 3.10 to a certain extent. In this process, the thrust of the push spring 3.15 pushes the pawl 3.11 into the locking groove 3.14 again, thereby locking the first input shaft 3.8 and the pawl shaft 3.10, realizing the synchronous rotation of the two, and improving stability.

[0025] Combination Figure 1 and Figure 5-6 It can be seen that the steering support mechanism 4 is arranged in the cabin 1 below the gear box 3.1, and includes an X-axis screw motor 4.1, a Y-axis screw motor 4.2 and a transmission rod 4.5 fixed to the bottom of the gear box 3.1. The X-axis screw motor 4.1 and the Y-axis screw motor 4.2 are both through-type screw stepper motors hinged in the cabin 1. An X-link 4.3 is fixedly connected to the motor body of the X-axis screw motor 4.1, and the X-link 4.3 is hinged to the side wall of the cabin 1. The working end of the X-axis screw 4.4 of the X-axis screw motor 4.1 is hinged to the lower part of the transmission rod 4.5; similarly, a Y-link is fixedly connected to the motor body of the Y-axis screw motor 4.2, and the end of the Y-link is hinged to the side wall of the cabin 1, and the working end of the Y-axis screw 4.6 of the Y-axis screw motor 4.2 is hinged to the transmission rod 4.5.

[0026] The present invention uses an X-direction screw motor 4.1 to adjust the X-direction position of the gear box 3.1, and uses a Y-direction screw to adjust the Y-direction position of the gear box 3.1. Since the motor body of each through-type screw stepper motor is hinged to the cabin 1, and each screw is hinged to the transmission rod, the working axis can be tilted at a certain angle during adjustment, thereby adjusting the flight direction and achieving flexible flight of the aircraft. The present invention can achieve X-direction and Y-direction adjustment of the gear box 3.1 by installing two screw motors at the bottom of the gear box 3.1, thereby adjusting the tilt direction of the working axis. The structure is simple and ingenious, occupies little space, and can achieve flexible adjustment of the position of the gear box 3.1.

[0027] Combination Figure 1 and Figure 4 It can be seen that the slewing support unit 2.3 includes an outer limit seat 2.3a fixed on the top wall of the cabin 1 and a spherical slewing block 2.3b rotatably arranged in the outer limit seat 2.3a, and the outer shaft 2.5 passes outward from the center hole of the spherical slewing block 2.3b, and the outer shaft 2.5 and the spherical slewing block 2.3b are fixedly connected (can be an interference fit), ensuring that the working shaft can be tilted at a certain angle relative to the cabin 1 to achieve flexible flight of the aircraft. In addition, the slewing support unit 2.3 can also provide support for the gear box 3.1.

[0028] In the present invention, the rotor drive mechanism 3 of the present invention is driven by dual motors. When one of the motors fails, the other motor can be used to realize the rotation of the upper rotor 2.1 and the lower rotor 2.2, ensuring the normal flight of the aircraft, improving the reliability of the aircraft, and reducing the high-altitude failure rate of the aircraft to a certain extent. In addition, the rotor drive mechanism 3 has a speed regulating component. When the speeds of the two motors deviate, the ratchet 3.11 and the ratchet 3.12 can be used to adjust to ensure the synchronous output of the first input shaft 3.8 and the second input shaft 3.9.

[0029] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions recorded in the aforementioned embodiments without creative work, or replace some of the technical features therein with equivalents. Therefore, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A coaxial twin-rotor universal aircraft, comprising a cabin and a twin-rotor structure, characterized in that: It also includes a rotor drive mechanism and a steering support mechanism arranged in the cabin, the double rotor structure includes a working shaft, an upper rotor and a lower rotor, the working shaft is connected to the top wall of the cabin through a rotary support unit, the working shaft includes an inner shaft and an outer shaft sleeved on the inner shaft, the outer shaft and the inner shaft are connected through a bearing; the lower rotor is arranged on the top of the outer shaft, the inner shaft extends upward from the outer shaft, and the upper rotor is arranged on the upper part of the inner shaft; a gear box is arranged in the cabin; The rotor drive mechanism includes a first motor and a second motor arranged outside the gear box and a transmission structure arranged inside the gear box, the first motor and the second motor are symmetrically arranged, the first motor and the second motor are both transmission-connected to the transmission structure, the lower end of the inner shaft and the lower end of the outer shaft are both transmission-connected to the transmission structure; the steering support mechanism is transmission-connected to the gear box; the cabin body is a cylindrical structure, the cabin bottom is an arc-shaped structure, and the cabin body located below the gear box is a carrying room.

2. The coaxial twin-rotor universal aircraft according to claim 1, characterized in that: The transmission structure comprises an upper output gear, a lower output gear, a first input gear and a second input gear arranged in the gear box, the upper output gear and the lower output gear are coaxial, the lower end of the inner shaft passes through the outer shaft downward and is key-connected to the lower output gear, and the lower end of the outer shaft is key-connected to the upper output gear; The first input gear and the second input gear are symmetrically arranged, the first input gear, the second input gear, the upper output gear and the lower output gear are all bevel gears, the first input gear is respectively meshed with the upper output gear and the lower output gear, and the second input gear is respectively meshed with the upper output gear and the lower output gear; The transmission structure comprises a first input shaft and a second input shaft which are symmetrically and coaxially arranged in the gear box, the first input shaft is transmission-connected to the first motor, and the second input shaft is transmission-connected to the second motor.

3. The coaxial twin-rotor universal aircraft according to claim 2, characterized in that: A first speed regulating assembly is arranged between the first motor and the first input shaft, and a second speed regulating assembly is arranged between the second motor and the second input shaft. The first speed regulating assembly and the second speed regulating assembly are arranged in the gear box and have the same structure. The first speed regulating assembly includes a pawl shaft, a pawl and a ratchet wheel. One end of the pawl shaft is connected to the motor shaft of the first motor through a coupling, and the other end of the pawl shaft is symmetrically provided with mounting grooves, and a pawl is hinged in each mounting groove through a pin shaft. The inner ring of the ratchet wheel is spaced apart with locking grooves that cooperate with the ends of the pawl; a push spring that causes the locking part to be stuck in the locking groove is embedded in the pawl shaft corresponding to the locking part of each pawl, and the push spring is radially arranged.

4. The coaxial twin-rotor universal aircraft according to claim 1, characterized in that: The steering support mechanism is arranged in the cabin, and includes an X-axis screw motor, a Y-axis screw motor and a transmission rod fixed at the bottom of the gear box. The X-axis screw motor and the Y-axis screw motor are both through-type screw motors hinged in the cabin, one end of the X-axis screw of the X-axis screw motor is hinged to the transmission rod, and one end of the Y-axis screw of the Y-axis screw motor is hinged to the transmission rod.

5. The coaxial twin-rotor universal aircraft according to claim 1, characterized in that: The slewing support unit comprises an outer limit seat fixed on the top wall of the cabin body and a spherical slewing block rotatably arranged in the outer limit seat, and the outer shaft passes outward from the center hole of the spherical slewing block.

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