Coaxial double-rotor cross-medium power system capable of self-adaptively tilting and control method of coaxial double-rotor cross-medium power system

Abstract

The invention provides a self-adaptive tilting coaxial double-rotor cross-medium power system and a control method thereof.The system comprises a coaxial propeller power mechanism, a self-adaptive tilting propeller mechanism, electronic equipment and the like, and the self-adaptive tilting propeller mechanism is connected to the coaxial propeller power mechanism through screws; electronic equipment and the like are connected with the coaxial propeller power mechanism through common copper wires. Compared with a traditional cross-medium power system, the cross-medium power system has the advantages that the underwater efficiency of the propeller is improved, the influence of different working media of the cross-medium power system on the efficiency of the propeller is fundamentally reduced, the endurance time is prolonged, control is easier and more convenient, the endurance performance is higher, the size is smaller, the weight is lighter, and the reliability is higher; and the power system is more reasonable in power distribution during operation. The power system can be applied to machines such as a cross-medium unmanned aerial vehicle, an underwater vehicle and a coaxial unmanned aerial vehicle to provide power, and has important significance and value in the future.

Description

Technical Field

[0001] The present invention relates to the technical fields of underwater propulsion and aviation technology, and specifically relates to a coaxial dual-rotor trans-medium power system with adaptive tilting that can be used underwater and in the air, and a control method thereof. Background Art

[0002] In recent years, with the continuous development of unmanned aerial vehicle (UAV) technology, scholars at home and abroad have become enthusiastic about the research of trans-medium UAVs. Since trans-medium aircraft have both the ability to fly in the air and the ability to navigate underwater, they have good maneuverability and concealment. Therefore, trans-medium aircraft have a wider range of activities and can obtain more information about the enemy and ourselves in the air and underwater. However, the power systems of trans-medium UAVs have the disadvantages of high energy consumption and large weight, and can no longer meet the needs of people to perform trans-medium operations in complex environments. Therefore, it is necessary to develop a new type of trans-medium UAV power system. The trans-medium UAV power system can be divided into two categories according to the power supply method, one is a composite trans-medium power system, and the other is a combined trans-medium power system.

[0003] The composite trans-medium power system is characterized in that it is composed of an air power system and an underwater power system. When the UAV flies in the air, the air power system provides the force required for flight, and when the UAV sails underwater, the underwater power system provides the force required for navigation. For example, the trans-medium UAV named Loon Copter developed by the University of Auckland uses different power systems in the air medium and the underwater medium. The depth control system consists of a water depth sensor and a variable flow buoyancy device. During the process of emerging from the water, by adjusting the depth control system, the aircraft first floats on the water surface, and then the air power system is turned on to make the UAV take off. When entering the water, it first lands on the water surface, turns off the air power system, turns on the underwater power system, and the UAV sinks, and then adjusts the UAV attitude to 90 degrees. By analyzing and summarizing the existing composite trans-medium power systems, although they can ensure relatively high propeller efficiency in the air and water, they have the disadvantages of large weight, large volume, and poor passability.

[0004] The characteristics of the combined cross-media power system are that it provides both lift for aerial flight and thrust for underwater navigation to the cross-media UAV. For example, a frigatebird-inspired cross-media UAV designed and developed by the Massachusetts Institute of Technology Lincoln Laboratory uses the same set of power systems in the air and in water. When flying in the air, the wings are in a deployed state; when diving into the water, the elastic carbon fiber strips fold the wings within 0.25 s, and the aircraft smoothly enters the water. The folding wing design of the frigatebird-inspired UAV adjusts the center of gravity of the aircraft and improves the stability of the aircraft during underwater navigation. At the same time, folding the wings can avoid damage to the aircraft caused by the impact force when diving into the water. The front end of the aircraft is equipped with a fairing to reduce the impact force when entering the water and protect the electronic equipment and wings. In addition, there is the Naviator designed and developed by Rutgers University, which uses four coaxial dual rotors to provide lift and thrust. During the process of the aircraft approaching the water surface, both the upper and lower motors work; when the upper propeller crosses the water surface, the upper propeller stops rotating and the lower propeller continues to work; after the upper propeller passes through the water surface and the lower propeller is still in the water, both the upper and lower propellers work simultaneously; when the lower propeller crosses the water surface, the lower propeller stops rotating and the upper propeller works; when it completely passes through the water surface, that is, when entering the flight state in the air, the upper and lower rotors resume working simultaneously. By analyzing and summarizing the existing combined cross-media power systems, although they are small in size, light in weight, and simple in structure, they have the disadvantages of low propeller efficiency and poor endurance.

[0005] The characteristics of the coaxial dual-rotor power system are that it consists of a pair of upper and lower propellers that rotate in opposite directions around the same theoretical axis, and can achieve torque self-balancing. Compared with the traditional single-propeller propulsion system, the coaxial dual-propellers utilize the vortical energy generated by the front propeller that has not been effectively utilized on the rear propeller and convert it into effective driving force, and its energy-saving effect can reach 10 - 20%. Moreover, the fluid coupling effect between the coaxial upper and lower propellers also enhances the hovering efficiency of the coaxial UAV, and there is no power loss of the tail rotor for balancing the counter-torque, which improves the energy conversion efficiency of the UAV. Due to the characteristics of energy conservation and high efficiency, the coaxial dual-propellers have also attracted wide attention in the ship field, and some engineering experts have introduced this configuration of coaxial dual-propellers into ship propeller propulsion technology, making it one of the main propulsion devices of the vehicle.

[0006] Generally speaking, the defects of the existing cross-media power systems are as follows: 1. The existing design schemes are large in size, heavy in weight, complex in structure, and poor in passability; 2. When the existing design schemes are navigating underwater, the power efficiency is low, the energy consumption is large, and the endurance is poor; 3. The structural design of the existing coaxial power systems is complex, and the safety and reliability are low; 4. The existing design schemes have a large number of actuators, the mechanical structure is complex, the weight is large, and the flexibility and reliability are low. Summary of the Invention

[0007] In order to solve the problems of the prior art, the present invention provides a coaxial dual-rotor cross-media power system with adaptive tilting and its control method, which has simpler control, higher endurance performance, smaller volume, lighter weight and higher reliability, and can be applied to machines such as cross-media UAVs, underwater vehicles, coaxial UAVs, etc. to provide power, and has important significance and value in the future.

[0008] The present invention provides a coaxial dual-rotor cross-media power system with adaptive tilting, including a coaxial propeller power mechanism, an adaptive tilting propeller mechanism and an electronic device, and the electronic device is installed on the coaxial propeller power mechanism.

[0009] The coaxial propeller power mechanism includes a reverse motor stator, a reverse motor rotor, a forward motor stator, a forward motor rotor, a motor bracket, a forward motor output shaft, a set screw, a bearing, and a thrust ring; the forward motor stator is connected to the motor bracket by interference fit, and the forward motor stator is connected below the motor bracket; the reverse motor stator is connected to the motor bracket by interference fit, and the reverse motor stator is connected above the motor bracket; the bearing is connected to the reverse motor rotor by transition fit, and the forward motor output shaft passes through the thrust ring, the bearing, the reverse motor rotor, the reverse motor stator, and the forward motor stator in sequence and is fixed to the forward motor rotor by a set screw, and the rotation of the forward motor rotor drives the rotation of the forward motor output shaft; the thrust ring is fixed to the forward motor output shaft by a set screw, and the bottom of the thrust ring contacts the top of the bearing to prevent the bearing from axially moving along the forward motor output shaft; the motor bracket is connected with a stud for connecting with a cross-media UAV.

[0010] The adaptive tilt propeller mechanism includes a reverse motor rotor connecting piece, a reverse propeller tilting piece, a forward motor output shaft connecting piece, a forward propeller tilting piece, a reverse propeller, a forward propeller, a torsion spring, and a propeller clamp; the reverse motor rotor connecting piece is fixedly connected to the reverse propeller tilting piece, and the reverse propeller is fixedly connected to the reverse propeller tilting piece; the reverse motor rotor connecting piece and the reverse propeller tilting piece are provided with torsion spring holes, and the torsion spring respectively passes through the torsion spring holes of the reverse motor rotor connecting piece and the reverse propeller tilting piece and is fixed, and the torsion spring controls the tilting angle of the reverse propeller tilting piece so as to change the tilting angle of the reverse propeller; the reverse motor rotor connecting piece is fixedly connected to the reverse motor rotor, and the reverse motor rotor rotates to drive the reverse propeller to rotate; the forward motor output shaft connecting piece is fixedly connected to the forward propeller tilting piece, and the forward propeller is fixedly connected to the forward propeller tilting piece; the forward motor output shaft connecting piece and the forward propeller tilting piece are provided with torsion spring holes, and the torsion spring respectively passes through the torsion spring holes of the forward motor output shaft connecting piece and the forward propeller tilting piece and is fixed, and the torsion spring controls the tilting angle of the forward propeller tilting piece so as to change the tilting angle of the forward propeller; the forward motor output shaft connecting piece and the forward motor output shaft are fixed by a propeller clamp, and the rotation of the forward motor output shaft drives the forward propeller to rotate.

[0011] The stud is connected to the motor bracket by screws, and the screws respectively pass through the screw holes of the stud and the motor bracket and are fixed.

[0012] The reverse motor rotor connecting piece and the reverse propeller tilting piece are connected by a perforated cylindrical pin and a U-shaped pin. The reverse motor rotor connecting piece and the reverse propeller tilting piece are provided with cylindrical pin holes. After the perforated cylindrical pin passes through the cylindrical pin holes of the reverse motor rotor connecting piece and the reverse propeller tilting piece, the U-shaped pin passes through the hole of the perforated cylindrical pin to fix the perforated cylindrical pin, the reverse motor rotor connecting piece, and the reverse propeller tilting piece; the forward motor output shaft connecting piece and the forward propeller tilting piece are connected by a perforated cylindrical pin and a U-shaped pin. The forward motor output shaft connecting piece and the forward propeller tilting piece are provided with cylindrical pin holes. After the perforated cylindrical pin passes through the cylindrical pin holes of the forward motor output shaft connecting piece and the forward propeller tilting piece, the U-shaped pin passes through the hole of the perforated cylindrical pin to fix the perforated cylindrical pin, the forward motor output shaft connecting piece, and the forward propeller tilting piece.

[0013] The reverse propeller is connected to the reverse propeller tilting piece by screws, and the screws respectively pass through the screw holes of the reverse propeller and the reverse propeller tilting piece and are fixed.

[0014] The reverse motor rotor connector is connected to the reverse motor rotor by screws. Screw fixing holes are provided on the reverse motor rotor connector and the reverse motor rotor. The screws pass through the screw holes of the reverse motor rotor connector and the reverse motor rotor for fixation.

[0015] The forward propeller is connected to the forward propeller tilting member by screws. Screw fixing holes are provided on the forward propeller and the forward propeller tilting member. The screws respectively pass through the screw holes of the forward propeller and the forward propeller tilting member for fixation.

[0016] The electronic device includes a flight controller, an electronic speed controller, a battery, a receiver, and a power module. The flight controller is used for receiving signals and controlling the output of motor signals. The electronic speed controller is used for supplying power to the brushless motor and adjusting the speed. The battery is used for supplying power to the power system. The receiver is used for receiving signals from the remote controller. The power module is used for measuring the voltage of the battery and supplying power to the flight controller and the electronic speed controller.

[0017] The present invention also provides a control method for a coaxial dual-rotor trans-medium power system capable of adaptive tilting, including two states: use in the air and use underwater. When used underwater, there are a total of three actuators, including a forward propeller motor, a reverse propeller motor, and a torsion spring. The two propeller motors provide thrust and torque underwater. The torsion spring tilts the propeller to reduce the resistance of the propeller underwater, improve the efficiency of the propeller, and adaptively tilt the propeller. When used in the air, there are a total of two actuators, including a forward propeller motor and a reverse propeller motor. The two propeller motors provide lift, torque, and anti-torque in the air.

[0018] When the power system is used in the air, the motor is in a high-speed mode under the control of the flight controller. At this time, the centrifugal force of the propeller is much greater than the torsion force of the torsion spring, and the tilting angle of the propeller approaches 0°. The provision of lift means that by synchronously increasing or decreasing the power of the coaxial propeller motors, driving the propellers to rotate, different magnitudes of lift can be provided. The provision of torque and anti-torque means that by differentially increasing or decreasing the power of the forward motor and the reverse motor in the coaxial propeller power system, positive or reverse torque can be generated while the provided lift remains unchanged.

[0019] When the power system is used in water, the motor operates in a low-speed mode under the control of the flight controller. The tilting propeller means that the centrifugal force of the propeller is much smaller than the torsion force of the torsion spring, and the tilting angle of the propeller is the torsion angle of the torsion spring. The adaptive tilting propeller means that when the coaxial propeller motor increases power, the propeller will reduce the tilting angle under the action of centrifugal force and thrust. As the propeller thrust increases, the torsional resistance will increase, and then the motor speed will decrease, the thrust will decrease, and the tilting angle of the propeller will increase again. Repeating this process, finally, when the propeller tilts at a certain angle, the three forces of centrifugal force, thrust, and torsion spring torsion force will be balanced, achieving an adaptive effect. The provision of underwater thrust means that by synchronously increasing or decreasing the power of the coaxial propeller motor, the propeller is driven to rotate to provide different magnitudes of thrust. The provision of underwater torque means that the forward motor and the reverse motor in the coaxial propeller power system differentially increase or decrease power, and positive or reverse torque can be generated under the condition that the provided thrust remains unchanged.

[0020] The beneficial effects of the present invention are as follows: 1. The tilting propeller of the trans-medium power system can reduce the resistance of the propeller underwater when it is underwater, improve the efficiency of the propeller, and fundamentally reduce the influence of different working media of the trans-medium power system on the propeller efficiency.

[0021] 2. The trans-medium power system can adaptively change the tilting angle of the tilting propeller according to the required thrust and propeller efficiency, making the control simpler, more flexible, and with stronger endurance performance.

[0022] 3. The spacing between the two pairs of propellers in the coaxial system is optimized, reducing the aerodynamic interference of the upper propeller on the lower propeller, further improving the propulsion efficiency of the propeller, and extending the endurance time.

[0023] 4. The design scheme of the coaxial power system is optimized, eliminating the complex gear mechanism and the holes for wire routing, making the volume smaller, the weight lighter, the structure simpler, and the reliability higher.

[0024] 5. The motor speed control code of the power system under different working media is designed, making the power distribution of the power system more reasonable when used across media.

[0025] 6. The power system can be applied to machines such as trans-medium drones, underwater vehicles, and coaxial drones to provide power, which has important significance and value in the future. Description of the Drawings

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1 is a perspective view of the coaxial dual-rotor power system with adaptive tilting of the present invention; Figure 2 is a front view of the coaxial dual-rotor power system with adaptive tilting of the present invention; Figure 3 is a top view of the coaxial dual-rotor power system with adaptive tilting of the present invention; Figure 4 is a structural diagram of the coaxial propeller power mechanism of the coaxial dual-rotor power system with adaptive tilting of the present invention; Figure 5 is a structural diagram of the adaptive tilting propeller mechanism of the coaxial dual-rotor power system with adaptive tilting of the present invention; Figure 6 is a schematic diagram of the electronic equipment of the coaxial dual-rotor power system with adaptive tilting of the present invention; Figure 7 is a schematic diagram of the cross-media air-water dual-use of the coaxial dual-rotor power system with adaptive tilting of the present invention.

[0028] In the drawings: 1. Coaxial propeller power mechanism; 2. Adaptive tilting propeller mechanism; 3. Electronic equipment; 101. Output shaft of the forward motor; 102. Bearing; 103. Set screw; 104. Motor bracket; 105. Stator of the forward motor; 106. Rotor of the forward motor; 107. Stud; 108. Stator of the reverse motor; 109. First screw; 110. Rotor of the reverse motor; 111. Thrust ring; 201. Second screw; 202. Pipe clamp; 203. Reverse propeller tilting member; 204. Reverse propeller; 205. Third screw; 206. Holed cylindrical pin; 207. Connecting member of the reverse motor rotor; 208. Torsion spring; 209. U-shaped pin; 210. Forward propeller; 211. Forward propeller tilting member; 212. Connecting member of the output shaft of the forward motor; 301. Flight controller; 302. Battery; 303. Power module; 304. Receiver; 305. Electronic speed controller. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] The present invention provides a coaxial dual-rotor cross-medium power system with adaptive tilt, as Figures 1-5 shown, which includes a coaxial propeller power mechanism 1, an adaptive tilt propeller mechanism 2, an electronic device 3, and other parts.

[0031] The coaxial propeller power mechanism 1 includes a reverse motor stator 108, a reverse motor rotor 110, a forward motor stator 105, a forward motor rotor 106, a motor bracket 104, a forward motor output shaft 101, a set screw 103, a bearing 102, a thrust ring 111, a stud M3 107, a first screw M3 109, etc. The forward motor stator 105 is connected to the motor bracket 104 by interference fit, and the forward motor stator 105 is connected below the motor bracket 104. The reverse motor stator 108 is connected to the motor bracket 104 by interference fit, and the reverse motor stator 108 is connected above the motor bracket 104. The bearing 102 is connected to the reverse motor rotor 110 by transitional fit. The forward motor output shaft 101 passes through the reverse motor stator 108, the reverse motor rotor 110, and the forward motor stator 105, and is fixed to the forward motor rotor 106 by the set screw 103, playing the role of driving the forward motor output shaft 101 to rotate when the forward motor rotor 110 rotates. The thrust ring 111 is fixed to the forward motor output shaft 101 by the set screw 103, and the bottom of the thrust ring 111 contacts the top of the bearing 102, playing the role of preventing the bearing 102 from axially moving along the forward motor output shaft 101. The stud M3 107 is connected to the motor bracket 104 by the first screw M3 109, and the first screw M3 109 passes through the screw holes of the stud M3 107 and the motor bracket 104 respectively for fixation. The role of the stud M3 107 is to facilitate subsequent connection with the cross-medium unmanned aerial vehicle.

[0032] The adaptive tilt propeller mechanism 2 includes a reverse motor rotor connector 207, a reverse propeller tilting member 203, a forward motor output shaft connector 212, a forward propeller tilting member 211, a reverse propeller 204, a forward propeller 210, a torsion spring 208, a propeller clamp 202, a second screw M4 201, a third screw M2 205, a perforated cylindrical pin 206, a U-shaped pin 209, etc. The reverse motor rotor connector 207 and the reverse propeller tilting member 203 are connected by the perforated cylindrical pin 206 and the U-shaped pin 209. After the perforated cylindrical pin 206 passes through the cylindrical pin holes of the reverse motor rotor connector 207 and the reverse propeller tilting member 203, the U-shaped pin 209 passes through the hole of the perforated cylindrical pin 206 to fix the perforated cylindrical pin 206, the reverse motor rotor connector 207, and the reverse propeller tilting member 203. The reverse propeller 204 and the reverse propeller tilting member 203 are connected by the second screw M4 201, and the second screw M4 201 passes through the screw holes of the reverse propeller 204 and the reverse propeller tilting member 203 respectively for fixation. The torsion spring 208 passes through the torsion spring holes of the reverse motor rotor connector 207 and the reverse propeller tilting member 203 respectively for fixation, and the torsion spring 208 functions to control the tilting angle of the reverse propeller tilting member 203 so as to change the tilting angle of the reverse propeller 204. The reverse motor rotor connector 207 is connected to the reverse motor rotor by the third screw M2 205, and the third screw M2 205 passes through the screw holes of the reverse motor rotor connector 207 and the reverse motor rotor for fixation, and the reverse motor rotor rotates to drive the reverse propeller 204 to rotate. The forward motor output shaft connector 212 and the forward propeller tilting member 211 are connected by the perforated cylindrical pin 206 and the U-shaped pin 209. After the perforated cylindrical pin 206 passes through the cylindrical pin holes of the forward motor output shaft connector 212 and the forward propeller tilting member 211, the U-shaped pin 209 passes through the hole of the perforated cylindrical pin to fix the perforated cylindrical pin 206, the forward motor output shaft connector 212, and the forward propeller tilting member 211. The forward propeller 210 and the forward propeller tilting member 211 are connected by the second screw M4 201, and the second screw M4 201 passes through the screw holes of the forward propeller 210 and the forward propeller tilting member 211 respectively for fixation. The torsion spring 208 passes through the torsion spring holes of the forward motor output shaft connector 212 and the forward propeller tilting member 211 respectively for fixation, and the torsion spring 208 functions to control the tilting angle of the forward propeller tilting member 211 so as to change the tilting angle of the forward propeller 210. The forward motor output shaft connector 212 is fixed to the forward motor output shaft by the propeller clamp 202, and the forward motor output shaft rotates to drive the forward propeller 210 to rotate.

[0033] As shown in the figure, the electronic device 3 includes a flight controller 301, an electronic speed controller 305, a battery 302, a receiver 304, a power module 303, etc. The flight controller 301 is used for receiving signals and controlling the output of motor signals. The electronic speed controller 305 is used for supplying power to the brushless motor and adjusting the speed. The battery 302 is used for supplying power to the power system. The receiver 304 is used for receiving signals from the remote controller. The power module 303 is used for measuring the voltage of the battery 302 and supplying power to the flight controller 301 and the electronic speed controller 305. Figure 6

[0034] The present invention also provides a control method for a coaxial dual-rotor cross-media power system with adaptive tilting. The schematic diagram of cross-media air-water dual-use is as shown in Figure 7 the figure. The main feature of the power system of the present invention is that it can be used simultaneously in water and air, and has the ability to adaptively tilt the propeller. Specifically, when used in the air, it can provide lift, anti-torque and torque. When used underwater, it can provide thrust, torque and anti-torque, and can adaptively tilt the propeller. When used underwater, there are a total of three actuators, including a forward-rotating propeller motor, a reverse-rotating propeller motor, and a torsion spring. The main functions of the two propeller motors are to provide underwater thrust and torque. The main function of the torsion spring is to tilt the propeller to reduce the resistance of the propeller underwater, improve the efficiency of the propeller and adaptively tilt the propeller. When used in the air, there are a total of two actuators, including a forward-rotating propeller motor and a reverse-rotating propeller motor. The main functions of the two propeller motors are to provide lift, torque and anti-torque in the air.

[0035] When the power system is used in the air, the motor is in a high-speed mode under the control of the flight controller. At this time, the centrifugal force of the propeller is much greater than the torsion force of the torsion spring, and the tilt angle of the propeller approaches 0°. The so-called "providing lift" means that by synchronously increasing or decreasing the power of the coaxial propeller motor, driving the propeller to rotate, different sizes of lift can be provided. The so-called "providing torque and anti-torque" means that by differentially increasing or decreasing the power of the forward motor and the reverse motor in the coaxial propeller power system, positive or negative torque can be generated under the condition that the provided lift remains unchanged.

[0036] ​When the power system is used in water, the motor operates in a low-speed mode under the control of the flight controller. The tilting propeller means that the centrifugal force of the propeller is much smaller than the torsion of the torsion spring, and the tilting angle of the propeller is the torsion angle of the torsion spring. The adaptive tilting propeller means that when the coaxial propeller motor increases power, the propeller will reduce the tilting angle under the action of centrifugal force and thrust. As the propeller thrust increases, the torsional resistance will also increase, and then the motor speed will decrease, the thrust will decrease, and the tilting angle of the propeller will increase again. Repeating this process, finally, when the propeller tilts at a certain angle, the three forces of centrifugal force, thrust, and torsion spring torsion will be balanced, achieving an adaptive effect. The provision of underwater thrust means that by synchronously increasing or decreasing the power of the coaxial propeller motor to drive the propeller to rotate, different magnitudes of thrust can be provided. The provision of underwater torque means that the differential increase or decrease of power between the forward motor and the reverse motor in the coaxial propeller power system can generate a forward torque or a reverse torque under the condition that the provided thrust remains unchanged.

[0037] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the device embodiments, the above description is only the preferred embodiment of the present invention. Since it is basically similar to the method embodiments, it is described relatively simply. For the relevant parts, reference can be made to the partial description of the method embodiments. As described above, only the specific embodiments of the present invention are provided, but the protection scope of the present invention is not limited thereto. For any person skilled in the art of this technology, within the technical scope disclosed by the present invention, for those of ordinary skill in the art of this technology, any changes or substitutions that can be easily thought of should be covered within the protection scope of the present invention without departing from the principle of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A coaxial twin-rotor trans-medium power system capable of adaptive tilting, characterized in that: It includes a coaxial propeller power mechanism, an adaptive tilt propeller mechanism and electronic equipment, wherein the electronic equipment is installed on the coaxial propeller power mechanism; The coaxial propeller power mechanism includes a reversing motor stator, a reversing motor rotor, a forward motor stator, a forward motor rotor, a motor bracket, a forward motor output shaft, a top screw, a bearing, and a thrust ring; the forward motor stator and the motor bracket are connected by an interference fit, and the forward motor stator is connected below the motor bracket; the reversing motor stator and the motor bracket are connected by an interference fit, and the reversing motor stator is connected above the motor bracket; the bearing is connected to the reversing motor rotor by a transition fit, and the forward motor output shaft passes through the thrust ring, the bearing, the reversing motor rotor, the reversing motor stator, and the forward motor stator in sequence, and is fixed to the forward motor rotor by a top screw, and the rotation of the forward motor rotor drives the forward motor output shaft to rotate; the thrust ring is fixed to the forward motor output shaft by a top screw, and the bottom of the thrust ring contacts the top of the bearing to prevent the bearing from moving axially along the forward motor output shaft; the motor bracket is connected with a stud for connecting to a cross-medium drone; The adaptive tilt propeller mechanism comprises a reversing motor rotor connecting piece, a reversing propeller tilting piece, a forward motor output shaft connecting piece, a forward propeller tilting piece, a reversing propeller, a forward propeller, a torsion spring, and a propeller clamp; the reversing motor rotor connecting piece is fixedly connected to the reversing propeller tilting piece, and the reversing propeller is fixedly connected to the reversing propeller tilting piece; torsion spring holes are provided on the reversing motor rotor connecting piece and the reversing propeller tilting piece, and the torsion springs are respectively fixed through the torsion spring holes of the reversing motor rotor connecting piece and the reversing propeller tilting piece, and the torsion spring controls the inclination angle of the reversing propeller tilting piece to change the inclination angle of the reversing propeller; the reversing motor rotor connecting piece is fixedly connected to the reversing propeller tilting piece, and the reversing propeller is fixedly connected to the reversing propeller tilting piece; The part is fixedly connected to the reversing motor rotor, and the reversing motor rotor rotates to drive the reversing propeller to rotate; the forward motor output shaft connecting part is fixedly connected to the forward propeller tilting part, and the forward propeller is fixedly connected to the forward propeller tilting part; torsion spring holes are opened on the forward motor output shaft connecting part and the forward propeller tilting part, and the torsion springs are respectively fixed through the torsion spring holes of the forward motor output shaft connecting part and the forward propeller tilting part, and the torsion spring controls the inclination angle of the forward propeller tilting part to change the inclination angle of the forward propeller; the forward motor output shaft connecting part and the forward motor output shaft are fixed by a propeller clamp, and the rotation of the forward motor output shaft drives the forward propeller to rotate.

2. The coaxial twin-rotor trans-medium power system capable of adaptive tilting according to claim 1, characterized in that: The stud and the motor bracket are connected by screws, and the screws are respectively passed through the screw holes of the stud and the motor bracket for fixing.

3. The coaxial twin-rotor trans-medium power system capable of adaptive tilting according to claim 1 is characterized in that: The reversing motor rotor connecting piece and the reversing propeller tilting piece are connected through a cylindrical pin with a hole and a U-shaped pin, and the reversing motor rotor connecting piece and the reversing propeller tilting piece are provided with cylindrical pin holes. After the cylindrical pin with a hole passes through the cylindrical pin holes of the reversing motor rotor connecting piece and the reversing propeller tilting piece, the U-shaped pin passes through the hole of the cylindrical pin with a hole to fix the cylindrical pin with a hole, the reversing motor rotor connecting piece, and the reversing propeller tilting piece; the forward motor output shaft connecting piece and the forward propeller tilting piece are connected through a cylindrical pin with a hole and a U-shaped pin, and the forward motor output shaft connecting piece and the forward propeller tilting piece are provided with cylindrical pin holes. After the cylindrical pin with a hole passes through the cylindrical pin holes of the forward motor output shaft connecting piece and the forward propeller tilting piece, the U-shaped pin passes through the hole of the cylindrical pin with a hole to fix the cylindrical pin with a hole, the forward motor output shaft connecting piece, and the forward propeller tilting piece.

4. The coaxial twin-rotor trans-medium power system capable of adaptive tilting according to claim 1 is characterized in that: The counter-rotating propeller and the counter-rotating propeller tilting member are connected by screws, and the screws are respectively passed through the screw holes of the counter-rotating propeller and the counter-rotating propeller tilting member for fixing.

5. The coaxial twin-rotor trans-medium power system capable of adaptive tilting according to claim 1, characterized in that: The reversing motor rotor connecting piece is connected to the reversing motor rotor through screws. Screw fixing holes are provided on the reversing motor rotor connecting piece and the reversing motor rotor. The screws are fixed through the screw holes of the reversing motor rotor connecting piece and the reversing motor rotor.

6. The coaxial twin-rotor trans-medium power system capable of adaptive tilting according to claim 1, characterized in that: The forward-rotating propeller and the forward-rotating propeller tilting member are connected by screws. Screw fixing holes are provided on the forward-rotating propeller and the forward-rotating propeller tilting member. The screws are respectively passed through the screw holes of the forward-rotating propeller and the forward-rotating propeller tilting member for fixing.

7. The coaxial twin-rotor trans-medium power system capable of adaptive tilting according to claim 1 is characterized in that: The electronic device includes a flight control, an electronic speed regulator, a battery, a receiver, and a power module; the flight control is used to receive signals and control output motor signals; the electronic speed regulator is used to power the brushless motor and adjust the speed; the battery is used to power the power system; the receiver is used to receive signals from a remote control; and the power module is used to measure the battery voltage and power the flight control and the electronic speed regulator.

8. A control method for a coaxial twin-rotor trans-medium power system capable of adaptive tilting, using the coaxial twin-rotor trans-medium power system capable of adaptive tilting as claimed in any one of claims 1 to 7, characterized in that: Including two states: aerial use and underwater use; When used underwater, there are three actuators, including a forward propeller motor, a reverse propeller motor, and a torsion spring. The two propeller motors provide underwater thrust and torque. The torsion spring tilts the propeller to reduce the propeller's resistance underwater, improve the propeller's efficiency, and adaptively tilt the propeller. When used in the air, there are two actuators, including a forward propeller motor and a reverse propeller motor. The two propeller motors provide lift as well as torque and counter-torque in the air.

9. The control method of the coaxial twin-rotor trans-medium power system capable of adaptive tilting according to claim 8, characterized in that: When the power system is used in the air, the motor is in high-speed mode under the control of the flight control. At this time, the centrifugal force of the propeller is much greater than the torque of the torsion spring, and the inclination angle of the propeller is close to 0°. Providing lift refers to synchronously increasing or decreasing power through the coaxial propeller motor to drive the propeller to rotate, which can provide lift of different sizes; providing torque and reverse torque refers to increasing or decreasing power through the differential speed of the forward motor and the reverse motor in the coaxial propeller power system, generating forward torque or reverse torque while the lift provided remains unchanged.

10. The control method of the coaxial twin-rotor trans-medium power system capable of adaptive tilting according to claim 8 or 9, characterized in that: When the power system is used in water, the motor is in low speed mode under the control of the flight control system. The tilt propeller means that the centrifugal force of the propeller is much smaller than the torsion of the torsion spring, and the propeller tilt angle is the torsion angle of the torsion spring. The adaptive tilt propeller means that when the coaxial propeller motor increases power, the propeller will reduce the tilt angle under the action of centrifugal force and thrust, and the propeller thrust will increase while the torsional resistance will increase, and then the motor speed will decrease, the thrust will decrease, and the propeller tilt angle will increase again. This process will be repeated, and finally when the propeller tilts to a certain angle, the three forces of centrifugal force, thrust, and torsion spring torsion will be balanced to achieve an adaptive effect; providing underwater thrust means increasing or decreasing power synchronously by the coaxial propeller motor to drive the propeller to rotate and provide thrust of different sizes; providing underwater torque means that the forward motor and the reverse motor in the coaxial propeller power system increase or decrease power at a differential speed, which can generate forward torque or reverse torque when the provided thrust remains unchanged.

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