Electromagnetic actuation inclinator and aircraft

Abstract

The utility model relates to the technical field of aircrafts, in particular to an electromagnetic actuation inclinator and an aircraft. The electromagnetic actuation inclinator comprises a first driving motor, a second driving motor and a swash plate assembly, the first driving motor and the second driving motor are the same in structure and each comprise an arc-shaped outer rotor and an arc-shaped stator, and the arc-shaped outer rotors are rotatably connected to the periphery of the arc-shaped stators. A first output shaft is arranged on an arc-shaped outer rotor of the first driving motor, a second output shaft is arranged on an arc-shaped outer rotor of the second driving motor, and the first driving motor and the second driving motor are arranged in a crossed mode and connected with the swash plate assembly through the first output shaft and the second output shaft respectively. And the swash plate assembly can be directly driven to perform periodic variable pitch adjustment without a deceleration system, so that the failure rate is low, and the maintenance cost of the aircraft is further reduced. And secondly, a transmission mechanism is not needed for power transmission, so that the overall height of the aircraft is reduced, and the development requirement for miniaturization of the aircraft is met.

Description

Technical Field

[0001] This application relates to the technical field of aircraft, and particularly relates to an electromagnetic actuated swashplate and an aircraft. Background Art

[0002] The adjustment of flight attitudes such as yaw, pitch, and roll of an aircraft is achieved through cyclic pitch change. Especially for an electric aircraft, it is usually achieved by relying on three motors, which respectively drive a swashplate to perform a periodic horizontal tilting motion relative to the horizontal plane through a transmission device.

[0003] Currently, the motor usually selected is a servo motor, and the corresponding transmission device is a link mechanism. However, due to the relatively complex structure of the servo motor, with a reduction system arranged inside, the transmission efficiency of the reduction system is low and it is prone to damage, thus resulting in a high failure rate of the servo motor and frequent replacement, further increasing the maintenance frequency and repair cost of the aircraft.

[0004] Secondly, since the link mechanism needs to occupy a large longitudinal space, the overall height of the aircraft is relatively high, occupying a large space, which is not conducive to the development requirement of miniaturization of the aircraft. Summary of the Utility Model

[0005] This application provides an electromagnetic actuated swashplate and an aircraft, which can effectively solve the above or other potential technical problems.

[0006] To this end, this application provides an electromagnetic actuated swashplate, which directly drives a swashplate assembly to perform cyclic pitch adjustment through a first driving motor and a second driving motor. There is no complex reduction system, it is not easy to be damaged, and the link mechanism for power transmission is omitted, which can greatly reduce the overall height of the aircraft, and thus is conducive to the development requirement of miniaturization of the aircraft.

[0007] This application also provides an aircraft including the above electromagnetic actuated swashplate.

[0008] An electromagnetic actuated swashplate according to an embodiment of the first aspect of this application includes a first driving motor, a second driving motor, and a swashplate assembly;

[0009] The first driving motor and the second driving motor have the same structure, including an arc-shaped outer rotor and an arc-shaped stator, and the arc-shaped outer rotor is rotatably connected to the outer periphery of the arc-shaped stator;

[0010] For the first driving motor, two first output shafts are symmetrically arranged in the diameter direction of its arc-shaped outer rotor, the two first output shafts are coaxially arranged, and extend in a direction away from the center of the first driving motor;

[0011] For the second driving motor, two second output shafts are symmetrically arranged in the diameter direction of its arc-shaped outer rotor, the two second output shafts are coaxially arranged, and extend in a direction away from the center of the second driving motor;

[0012] The first driving motor and the second driving motor are arranged in a cross pattern, and are respectively connected to the swash plate assembly through the first output shaft and the second output shaft. When the first driving motor and the second driving motor work, they can drive the swash plate assembly to tilt relative to the horizontal plane.

[0013] Exemplarily, the arc-shaped outer rotor includes an arc-shaped housing and multiple rows of permanent magnets. The multiple rows of permanent magnets are attached to the inner wall of the arc-shaped housing and are distributed in a circumferential array pattern with respect to the center of the arc-shaped housing;

[0014] The arc-shaped stator includes an arc-shaped stator core and multiple ferromagnetic coils. The multiple ferromagnetic coils are respectively wound around multiple stator teeth of the arc-shaped stator core;

[0015] The radian of the arc-shaped housing is set to be greater than the radian of the arc-shaped stator core, and the number of multiple rows of permanent magnets is set to be more than the number of multiple ferromagnetic coils.

[0016] Furthermore, it further includes two brackets arranged in parallel. The two brackets are on the same straight line as the two first output shafts;

[0017] The arc-shaped stator of the first driving motor is fixedly connected to the two brackets;

[0018] On the opposite sides of the two brackets, second rotating shafts are respectively provided. The arc-shaped outer rotor of the second driving motor is rotatably connected to the outer circumference of the second rotating shaft;

[0019] On the diameter direction of the inner circle of the arc-shaped stator of the second driving motor, two first rotating shafts are symmetrically arranged and extend towards the center direction of the first driving motor;

[0020] The arc-shaped outer rotor of the first driving motor is rotatably connected to the outer circumferences of the two first rotating shafts.

[0021] Furthermore, on both sides of the axis direction of the first driving motor, first support frames are respectively provided. On both sides of the axis direction of the second driving motor, second support frames are respectively provided;

[0022] The two first support frames are respectively fixedly connected to the arc-shaped outer rotor of the first driving motor and are rotatably connected to the first rotating shaft;

[0023] The two second support frames are respectively fixedly connected to the arc-shaped outer rotor of the second driving motor and are rotatably connected to the second rotating shaft.

[0024] Furthermore, it further includes a first absolute encoder and a second absolute encoder;

[0025] The first absolute encoder is fixedly connected to the second rotating shaft, and a first magnetic pole adapted to the first absolute encoder is provided on the first support frame. The first absolute encoder and the first magnetic pole are used to monitor the rotation angle of the first driving motor;

[0026] The second absolute encoder is fixedly connected to the first rotating shaft, and a second magnetic pole adapted to the second absolute encoder is provided on the second support frame. The second absolute encoder and the second magnetic pole are used to monitor the rotation angle of the second driving motor.

[0027] Exemplarily, the swash plate assembly includes a fixed ring and a moving ring;

[0028] The first driving motor and the second driving motor are placed in the central hole of the fixed ring, and are respectively connected to the inner ring of the fixed ring through two first output shafts and two second output shafts. The moving ring is rotatably connected to the outer periphery of the fixed ring through a bearing.

[0029] Further, an annular groove is provided on the inner ring of the moving ring;

[0030] The inner ring of the bearing is tightly and fixedly connected to the fixed ring, and the outer ring of the bearing is connected to the annular groove to axially limit the bearing.

[0031] Exemplarily, the fixed ring includes a first fixed ring and a second fixed ring. The first fixed ring and the second fixed ring are snap-connected into a ring shape and are tightly and fixedly connected to the inner ring of the bearing;

[0032] Four shaft holes are also equidistantly provided in the circumferential direction of the fixed ring, and the end parts of the first output shaft and the second output shaft are respectively tightly and fixedly connected to the four shaft holes;

[0033] Semicircular holes are respectively provided at both ends of the first fixed ring and the second fixed ring. When the first fixed ring and the second fixed ring are snap-connected, the semicircular holes are snap-connected to form two shaft holes;

[0034] The remaining two shaft holes are respectively provided at the middle positions of the first fixed ring and the second fixed ring.

[0035] Further, at least two rocker arms are also provided on the outer periphery of the moving ring. The at least two rocker arms are distributed in a circumferential array, and the rocker arms are connected to the blade clamping member, and the blade clamping member is used to connect the blade;

[0036] At least two rotating shafts are also provided on the outer ring of the moving ring. The extension lines of the at least two rotating shafts are arranged to point to the center of the moving ring and extend away from the center of the moving ring;

[0037] The at least two rocker arms are rotatably connected to the outer periphery of the rotating shaft.

[0038] Exemplarily, any one of the rocker arms includes a connecting arm, and a first connecting end and a second connecting end located at both ends of the connecting arm;

[0039] The first connection end is rotatably connected to the outer periphery of the rotating shaft, and the second connection end is fixedly connected to the blade clamping member;

[0040] The connecting arm is an arc-shaped structure, and the connecting arm is concentrically arranged with the moving ring.

[0041] Exemplarily, the blade clamping member includes a connecting shaft, one end of the connecting shaft is provided with a U-shaped clamping plate, and the other end is provided with a limiting shaft;

[0042] The second connection end of the rocker arm is provided with a limiting hole adapted to the limiting shaft. The limiting shaft is circumferentially and limitably connected in the limiting hole and axially limited by a pin;

[0043] The blade root is clamped between the U-shaped clamping plates and fixedly connected to the U-shaped clamping plates by pins.

[0044] Exemplarily, the limiting shaft is any one of a D-shaped shaft, a square shaft or a spline shaft;

[0045] The limiting hole is any one of a D-shaped hole, a square hole or a spline hole adapted to the limiting shaft.

[0046] Furthermore, it further includes a rotating bracket, and the rotating bracket includes a chassis and at least two support ears;

[0047] At least two support ears are distributed in a circumferential array and are perpendicularly arranged on the chassis;

[0048] Axial shoulder holes are respectively provided on at least two support ears, and the connecting shaft of the blade clamping member is rotatably connected in the axial shoulder holes through bearings.

[0049] An aircraft according to an embodiment of the second aspect of the present application includes the electromagnetic actuator swashplate in the first aspect or its various implementation manners.

[0050] At least one of the above technical solutions has at least the following advantages or beneficial effects:

[0051] For an electromagnetic actuator swashplate according to an embodiment of the present application, by designing the first drive motor and the second drive motor as arc-shaped structures, the first drive motor and the second drive motor are arranged in a cross-cross manner to form a universal drive structure, and then directly drive the swashplate assembly to perform a periodic horizontal tilting motion relative to the horizontal plane to achieve the periodic pitch adjustment of the aircraft.

[0052] In the present application, the first drive motor and the second drive motor directly drive the swashplate assembly to perform periodic pitch adjustment. Compared with the method of using a servo motor to drive the swashplate assembly to perform periodic pitch adjustment through a transmission mechanism, the first drive motor and the second drive motor have no reduction system and are not easily damaged, thereby reducing the maintenance cost of the aircraft.

[0053] Secondly, in the present application, the swash plate assembly is directly driven by the first driving motor and the second driving motor for periodic pitch adjustment, eliminating the need for a transmission mechanism to transmit power. As a result, the overall height of the aircraft is significantly reduced, which is beneficial to the development requirements of aircraft miniaturization.

[0054] The aircraft provided by the embodiment of the present application is provided with the electromagnetic actuator tilter described above. Since the electromagnetic actuator tilter has the above technical effects, the aircraft provided with the electromagnetic actuator tilter should also have corresponding technical effects. Brief Description of the Drawings

[0055] Through the following detailed description with reference to the drawings, the above and other objects, features, and advantages of the embodiments of the present application will become more readily understood. In the drawings, multiple embodiments of the present application will be illustrated by way of example and not limitation, wherein:

[0056] Figure 1 is a schematic structural diagram of the electromagnetic actuator tilter provided by the embodiment of the present application;

[0057] Figure 2 is a schematic installation diagram of the first driving motor and the second driving motor in the electromagnetic actuator tilter provided by the embodiment of the present application;

[0058] Figure 3 is a schematic structural diagram of the second driving motor in the electromagnetic actuator tilter provided by the embodiment of the present application;

[0059] Figure 4 is a schematic structural diagram of the first driving motor in the electromagnetic actuator tilter provided by the embodiment of the present application;

[0060] Figure 5 is a schematic structural diagram of the first support frame and the second support frame in the electromagnetic actuator tilter provided by the embodiment of the present application;

[0061] Figure 6 is a schematic structural diagram of the swash plate assembly, the rotary support, and the blade clamp in the electromagnetic actuator tilter provided by the embodiment of the present application;

[0062] Figure 7 is a schematic structural diagram of the moving ring in the swash plate assembly provided by the embodiment of the present application;

[0063] Figure 8 is a schematic structural diagram of the rocker arm in the swash plate assembly provided by the embodiment of the present application;

[0064] Figure 9 is a schematic structural diagram of the blade clamp in the electromagnetic actuator tilter provided by the embodiment of the present application;

[0065] Figure 10This is a schematic structural diagram of a rotary bracket in an electromagnetic actuator tilter provided by an embodiment of the present application.

[0066] Explanation of reference numerals in the drawings:

[0067] A, the first drive motor; B, the second drive motor;

[0068] 1, arc-shaped outer rotor; 101, arc-shaped outer shell; 102, permanent magnet.

[0069] 2, arc-shaped stator; 201, arc-shaped stator core; 202, ferromagnetic coil.

[0070] 3, the first output shaft; 4, the second output shaft;

[0071] 5, swash plate assembly;

[0072] 510, moving ring; 520, annular groove; 530, rotating shaft;

[0073] 540, stationary ring: 541, the first stationary ring; 542, the second stationary ring; 543, shaft hole;

[0074] 550, rocker arm; 551, connecting arm; 552, the first connection end; 553, the second connection end; 554, limiting hole;

[0075] 6, blade holder; 610, connecting shaft; 620, limiting shaft; 630, U-shaped clamp;

[0076] 7, rotating bracket; 710, chassis; 720, support ear; 730, shoulder hole;

[0077] 8, bracket; 9, the first rotating shaft; 10, the second rotating shaft;

[0078] 11-1, the first support frame; 11-2, the second support frame; 111, rotating support; 112, support rod;

[0079] 12, the first absolute encoder; 13, the first magnetic pole; 14, the second absolute encoder; 15, the second magnetic pole. Detailed implementation manners

[0080] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote 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 should not be construed as a limitation to the present application.

[0081] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0082] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0083] In the present application, unless otherwise clearly defined and limited, terms such as "mounted", "connected", "coupled", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0084] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0085] The adjustment of flight attitudes such as yaw, pitch, and roll of an aircraft is achieved through cyclic pitch. For an electric aircraft, its cyclic pitch adjustment relies on three motors, which respectively drive the swashplate to perform periodic horizontal tilting motion relative to the horizontal plane through a transmission device. Usually, servos are selected as the motors, and the corresponding transmission device is a linkage mechanism. However, due to the relatively complex structure of the servo, with a reduction system internally set, the transmission efficiency of the reduction system is low and it is prone to damage, which in turn leads to a high failure rate of the servo and requires frequent replacement, thus increasing the maintenance frequency and repair cost of the aircraft. Secondly, since the linkage mechanism needs to occupy a large longitudinal space, the overall height of the aircraft is relatively high and it occupies a large space, which is not conducive to the development requirement of miniaturization of the aircraft.

[0086] In order to solve at least one of the technical problems existing in the prior art or related technologies, the present utility model provides an electromagnetic actuator tilter and an aircraft. The following refers to Figures 1 to 10 to describe the electromagnetic actuator tilter and the aircraft according to some embodiments provided by the present utility model.

[0087] See Figure 1 and Figure 2 An electromagnetic actuator tilter according to an embodiment provided by the present utility model is used to drive the blade to perform cyclic pitch adjustment, and includes a first drive motor A, a second drive motor B, and a swashplate assembly 5.

[0088] Among them, the first drive motor A and the second drive motor B have the same structure, and both include an arc-shaped outer rotor 1 and an arc-shaped stator 2. The arc-shaped outer rotor 1 is rotatably connected to the outer periphery of the arc-shaped stator 2.

[0089] For the first drive motor A, two first output shafts 3 are symmetrically arranged in the diameter direction of its arc-shaped outer rotor 1. The two first output shafts 3 are coaxially arranged and extend in a direction away from the center of the first drive motor A; for the second drive motor B, two second output shafts 4 are symmetrically arranged in the diameter direction of its arc-shaped outer rotor 1. The two second output shafts 4 are coaxially arranged and extend in a direction away from the center of the second drive motor B. The first drive motor A and the second drive motor B are arranged in a cross shape. The first drive motor A is connected to the swashplate assembly 5 through two first output shafts 3, and the second drive motor B is connected to the swashplate assembly 5 through two second output shafts 4. The extension lines of the first output shaft 3 and the second output shaft 4 are perpendicular to each other, so that the first drive motor A and the second drive motor B form a universal drive mechanism to drive the swashplate assembly 5 to perform periodic horizontal tilting motion, thereby realizing cyclic pitch adjustment.

[0090] As is well known, the cyclic pitch adjustment of an aircraft is the blade angle adjustment, and the blade angle adjustment is driven by the swashplate assembly 5. The tilting angle of the swashplate assembly 5 determines the change amount of the blade angle.

[0091] During specific use, the flight controller calculates the tilt angle of the swashplate assembly 5 based on the adjustment requirements of the blade angle, then calculates the rotation angles of the first drive motor A and the second drive motor B based on the tilt angle of the swashplate assembly 5, and then controls the first drive motor A and the second drive motor B to start. After driving the swashplate assembly 5 to rotate to the corresponding angle and stop, the swashplate assembly 5 makes a periodic horizontal tilt movement driven by other main drive motors, thereby completing the periodic pitch adjustment.

[0092] It can be seen from this that when the electromagnetic actuating tilter of this embodiment performs periodic pitch adjustment, the swashplate assembly 5 is directly driven by the first drive motor A and the second drive motor B. Compared with the drive method of the cooperation between the servo and the transmission mechanism, the structures of the first drive motor A and the second drive motor B are relatively simple, without a complex reduction system, so they are not easily damaged and do not need to be replaced frequently, thereby reducing the maintenance cost of the aircraft.

[0093] Secondly, in this embodiment, the first drive motor A and the second drive motor B directly drive the swashplate assembly 5 to perform horizontal tilt movement, without the need to be equipped with a transmission mechanism, which greatly simplifies the structure of the aircraft. At the same time, the overall height of the aircraft is reduced, which is beneficial to the development requirements of the miniaturization of the aircraft, and the aircraft without a transmission mechanism occupies a small space, so it is convenient to park.

[0094] It should be noted that in this embodiment, the first drive motor A and the second drive motor B are designed as a cross-shaped structure to form a universal drive mechanism with two degrees of freedom, which can drive the swashplate assembly 5 to rotate around the axes of the first output shaft 3 and the second output shaft 4, so that the swashplate assembly 5 can be tilted relative to the horizontal plane to complete the periodic pitch adjustment of the aircraft.

[0095] Correspondingly, the first drive motor A and the second drive motor B are designed as arc-shaped structures. Firstly, it is convenient for the arrangement of the first drive motor A and the second drive motor B. Exemplarily, the first drive motor A is arranged above, the second drive motor B is arranged below, the arc-shaped opening directions of the first drive motor A and the second drive motor B face each other, and they cross through the arc-shaped openings. The centers of the first drive motor A and the second drive motor B coincide, and the first output shaft 3 and the second output shaft 4 are perpendicular to each other, so that the first drive motor A and the second drive motor B form a universal drive mechanism.

[0096] Secondly, the arc-shaped structure settings of the first drive motor A and the second drive motor B enable the magnetic fields of the first drive motor A and the second drive motor B not to interfere with each other when they work simultaneously, so as to ensure the normal use of the first drive motor A and the second drive motor B.

[0097] It should be noted that in this embodiment, the first driving motor A and the second driving motor B have the same structure, both including an arc-shaped outer rotor 1 and an arc-shaped stator 2. The different names are only for convenience of description and have no other restrictive effects.

[0098] In an exemplary embodiment, as Figure 3 and Figure 4 shown, the arc-shaped outer rotor 1 includes an arc-shaped housing 101 and multiple rows of permanent magnets 102. The multiple rows of permanent magnets 102 are attached to the inner wall of the arc-shaped housing 101 and are arranged in a circumferential array about the center of the arc-shaped housing 101. Two first output shafts 3 and second output shafts 4 are respectively provided on the arc-shaped housing 101 of the first driving motor A and the second driving motor B.

[0099] The arc-shaped stator 2 includes an arc-shaped stator core 201 and multiple ferromagnetic coils 202. The multiple ferromagnetic coils 202 are respectively wound around multiple stator teeth of the arc-shaped stator core 201. There is an accommodation space in the middle of the arc-shaped stator core 201, which is hollow-shaped, aiming to facilitate the cross-shaped arrangement of the first driving motor A and the second driving motor B.

[0100] It should be noted that in this embodiment, the radian of the arc-shaped housing 101 is greater than the radian of the arc-shaped stator core 201, and the number of permanent magnets 102 is more than the number of ferromagnetic coils 202, aiming to reserve a rotation space for the rotation of the arc-shaped outer rotor 1. When the first driving motor A and the second driving motor B work, the arc-shaped stator 2 is fixed and the arc-shaped outer rotor 1 rotates relative to the arc-shaped stator 2. If the radian of the arc-shaped housing 101 and the arc-shaped stator core 201, as well as the number of permanent magnets 102 and ferromagnetic coils 202, are the same, when the arc-shaped outer rotor 1 rotates to the area without permanent magnets 102, no electromagnetic effect will be generated and it cannot continue to rotate, thus causing the first driving motor A and the second driving motor B to fail to work properly.

[0101] Furthermore, the electromagnetic actuator tilter of this embodiment further includes two parallel brackets 8. The two brackets 8 are arranged in the accommodation space of the arc-shaped stator 2 of the first driving motor A and are located on the extension line of the first output shaft 3. The arc-shaped stator 2 of the first driving motor A is fixedly connected to the two brackets 8. Second rotary shafts 10 are respectively provided on the opposite sides of the two brackets 8. The second rotary shafts 10 are coaxially arranged with the first output shaft 3. The arc-shaped outer rotor 1 of the second driving motor B is rotatably connected to the outer periphery of the second rotary shafts 10 through bearings, and the second rotary shafts 10 are used to provide rotary support for the second driving motor B.

[0102] On the inner circle of the arc-shaped stator 2 of the second drive motor B, two first rotating shafts 9 are symmetrically arranged. The two first rotating shafts 9 are coaxially arranged with the second output shaft 4 and extend towards the center of the second drive motor B. The arc-shaped outer rotor 1 of the first drive motor A is rotatably connected to the outer circumference of the first rotating shaft 9 through a bearing. The first rotating shaft 9 is used to provide rotational support for the first drive motor A.

[0103] It can be understood that in this embodiment, by coaxially arranging the first rotating shaft 9 with the second output shaft 4 and the second rotating shaft 10 with the first output shaft 3, the first drive motor A and the second drive motor B are arranged in a cross shape, so that the structural layout of the first drive motor A and the second drive motor B is reasonable, occupies less space, and does not interfere with each other.

[0104] Furthermore, on both sides of the axis direction of the first drive motor A, first support frames 11-1 are respectively arranged. The first support frames 11-1 are fixedly connected to the arc-shaped outer rotor 1 of the first drive motor A. The first drive motor A is rotatably connected to the outer circumference of the first rotating shaft 9 through the first support frames 11-1.

[0105] On both sides of the axis direction of the second drive motor B, second support frames 11-2 are respectively arranged. The second support frames 11-2 are fixedly connected to the arc-shaped outer rotor 1 of the second drive motor B. The second drive motor B is rotatably connected to the outer circumference of the second rotating shaft 10 through the second support frames 11-2.

[0106] In an alternative exemplary embodiment, as Figure 3 、 Figure 4 and Figure 5 shown, the first support frames 11-1 and the second support frames 11-2 have the same structure, including a rotating support 111 and three support rods 112. The rotating support 111 is a ring structure. The ring structure is concentrically arranged with the first drive motor A or the second drive motor B. The three support rods 112 are arranged in a circumferential array on the outer circumference of the rotating support 111, and the ends are fixedly connected to the arc-shaped outer shells 101 of the first drive motor A and the second drive motor B through bolts. The included angle between the three support rods 112 can ensure that when the first drive motor A and the second drive motor B are working, there will be no collision between the first support frames 11-1 and the second support frames 11-2.

[0107] The first support frames 11-1 and the second support frames 11-2 are rotatably connected to the outer circumferences of the first rotating shaft 9 and the second rotating shaft 10 through bearings. The bearings are placed inside the rotating support 111 and sleeved on the outer circumferences of the first rotating shaft 9 and the second rotating shaft 10. Axial shoulders are correspondingly arranged on the first rotating shaft 9 and the second rotating shaft 10. The outer ring of the bearing is tightly fitted with the inner wall of the rotating support 111, and the inner ring abuts against the axial shoulder to axially limit the bearing.

[0108] In this embodiment, on the one hand, the first support frame 11-1 and the second support frame 11-2 serve as the slewing support parts of the first driving motor A and the second driving motor B, with a simple structure and reasonable layout. On the other hand, the first support frame 11-1 and the second support frame 11-2 serve as the reinforcing ribs of the arc-shaped outer rotors 1 of the first driving motor A and the second driving motor B, which can enhance the overall strength of the first driving motor A and the second driving motor B.

[0109] Furthermore, the electromagnetic actuator tilter of this embodiment further includes a first absolute encoder 12 and a second absolute encoder 14. Among them, the first absolute encoder 12 is fixedly connected to the second rotating shaft 10, and a first magnetic pole 13 adapted to the first absolute encoder 12 is provided on the first support frame 11-1. The first absolute encoder 12 and the first magnetic pole 13 are used to monitor the rotation angle of the first driving motor A.

[0110] Similarly, the second absolute encoder 14 is fixedly connected to the first rotating shaft 9, and a second magnetic pole 15 adapted to the second absolute encoder 14 is provided on the second support frame 11-2. The second absolute encoder 14 and the second magnetic pole 15 are used to monitor the rotation angle of the second driving motor B.

[0111] During cyclic pitch adjustment, when the first absolute encoder 12 and the second absolute encoder 14 detect that the first driving motor A and the second driving motor B rotate to the corresponding angles, the first driving motor A and the second driving motor B are controlled to stop rotating to complete the cyclic pitch condition.

[0112] This embodiment realizes intelligent control by setting the first absolute encoder 12, the first magnetic pole 13, the second absolute encoder 14 and the second magnetic pole 15, can accurately control the rotation angles of the first driving motor A and the second driving motor B, and further increases the cyclic pitch adjustment accuracy.

[0113] As Figure 6 and Figure 7 shown, in the embodiment of the present disclosure, the swash plate assembly 5 includes a fixed ring 540 and a moving ring 510. The moving ring 510 is rotatably connected to the outer periphery of the fixed ring 540 through a bearing. The inner ring of the bearing is tightly fitted with the fixed ring 540. A ring-shaped groove 520 is provided in the inner ring of the moving ring 510, and the outer ring of the bearing is axially limited in the ring-shaped groove 520 to axially limit the bearing.

[0114] At least two rocker arms 550 are further provided on the outer periphery of the moving ring 510. The at least two rocker arms 550 are distributed in a circumferential array. A rotating shaft 530 adapted to the rocker arms 550 is further provided on the outer ring of the moving ring 510. The extension line of the rotating shaft 530 points to the center of the moving ring 510 and extends in a direction away from the center of the moving ring 510. The rocker arm 550 is rotatably connected to the outer periphery of the rotating shaft 530, and the end is connected to the blade holder 6. The blade holder 6 is used to connect the blades.

[0115] Both the first driving motor A and the second driving motor B are placed in the central hole of the stationary ring 540. The first driving motor A is connected to the inner ring of the stationary ring 540 through two first output shafts 3, and the second driving motor B is also connected to the inner ring of the stationary ring 540 through two second output shafts 4. The first driving motor A and the second driving motor B can drive the stationary ring 540 to tilt relative to the horizontal plane. The stationary ring 540 then drives the moving ring 510 to tilt synchronously through the bearing. The moving ring 510 drives the rocker arm 550 to rotate around a fixed point, and further drives the blade holder 6 connected to the rocker arm 550 and the blades clamped on the blade holder 6 to rotate around their own axes, so as to realize the adjustment of the blade angle, and thus realize the periodic pitch adjustment of the blades.

[0116] In an exemplary embodiment, to facilitate the disassembly and assembly of the first driving motor A and the second driving motor B, the stationary ring 540 is designed as a split structure, including a first stationary ring 541 and a second stationary ring 540. The first stationary ring 541 and the second stationary ring 540 are respectively semi-circular structures and can be snap-connected into a ring shape. The first stationary ring 541 and the second stationary ring 540 are tightly and fittingly connected to the inner ring of the bearing. Four shaft holes 543 are further spaced circumferentially on the stationary ring 540, and the included angle between adjacent shaft holes 543 is 90°. The ends of the two first output shafts 3 and the second output shafts 4 are respectively connected to the four shaft holes 543.

[0117] Semicircular holes are respectively provided at both ends of the first stationary ring 541 and the second stationary ring 540. When the first stationary ring 541 and the second stationary ring 540 are snap-connected, the semicircular holes of the first stationary ring 541 and the second stationary ring 540 are snap-connected to form two shaft holes 543, and the remaining two shaft holes 543 are respectively provided at the middle positions of the first stationary ring 541 and the second stationary ring 540.

[0118] During specific installation, arrange the first drive motor A and the second drive motor B in a crosswise pattern. Then, respectively fit the first fixed ring 541 and the second fixed ring 540 onto the two second output shafts 4 of the second drive motor B through the shaft holes 543. Next, move the first fixed ring 541 and the second fixed ring 540 towards each other, and fit the formed two shaft holes 543 onto the outer periphery of the first output shaft 3 of the first drive motor A. Finally, install bearings and the moving ring 510 on the outer peripheries of the first fixed ring 541 and the second fixed ring 540. It can be seen that the split structure of the first fixed ring 541 and the second fixed ring 540 and the setting of the semi-circular holes in this embodiment facilitate the assembly of the first drive motor A, the second drive motor B and the swash plate assembly 5. At the same time, when the first drive motor A or the second drive motor B fails, the first drive motor A, the second drive motor B and the swash plate assembly 5 can be directly disassembled without violent demolition, which is convenient for disassembly and assembly.

[0119] In an exemplary embodiment, as Figure 8 shown, the rocker arm 550 includes a connecting arm 551. The connecting arm 551 is of an arc structure and is concentrically arranged with the moving ring 510 and the fixed ring 540. The arc-shaped connecting arm 551 results in a small distance between it and the moving ring 510, with a reasonable layout and small occupied space, which is beneficial to the development requirements of the miniaturization of the aircraft.

[0120] Both ends of the connecting arm 551 are respectively provided with a first connection end 552 and a second connection end 553. Among them, the first connection end 552 is rotatably connected to the outer periphery of the rotating shaft 530, and the second connection end 553 is fixedly connected to the blade clamping member 6.

[0121] During cyclic pitch adjustment, the first drive motor A and the second drive motor B drive the fixed ring 540 and the moving ring 510 to perform a horizontal tilting movement. The moving ring 510 drives the rocker arm 550 to rotate around the rotating shaft 530, and further drives the blade clamping member 6 connected to the second connection end 553 to rotate around its own axis to complete the blade angle adjustment.

[0122] In the embodiment of the present disclosure, as Figure 9 shown, the blade clamping member 6 includes a connecting shaft 610. One end of the connecting shaft 610 is provided with a U-shaped clamping plate 630, and the other end is provided with a limiting shaft 620. The second connection end 553 of the rocker arm 550 is provided with a limiting hole 554 adapted to the limiting shaft 620. The connecting shaft 610 is rotatably connected to the rotating bracket 7. The limiting shaft 620 is circumferentially limitedly connected to the limiting hole 554 of the second connection end 553 and is axially fixed by a pin. The blade is clamped between the U-shaped clamping plates 630 and is fixedly connected to the U-shaped clamping plates 630 by a pin.

[0123] In an optionally exemplary embodiment, the limiting shaft 620 can be any one of a D-shaped shaft, a square shaft, or a spline shaft, and the limiting hole 554 is a D-shaped hole, a square hole, or a spline hole adapted to the limiting shaft 620. When the limiting shaft 620 is inserted into the limiting hole 554, the mating modes of the D-shaped shaft and the D-shaped hole, the square shaft and the square hole, and the spline shaft and the spline hole can circumferentially limit the limiting shaft 620 and prevent the limiting shaft 620 from rotating circumferentially.

[0124] Further, as Figure 6 and Figure 10 shown, the rotating bracket 7 of this embodiment includes a chassis 710 and at least two support ears 720. The at least two support ears 720 are perpendicularly provided on the chassis 710 and are distributed in a circumferential array. A shoulder hole 730 is provided on the support ear 720. The connecting shaft 610 of the blade clamp 6 is rotatably connected to the shoulder hole 730 through a bearing. One end face of the bearing abuts against the second connecting end 553 of the rocker arm 550, and the other end face abuts against the shoulder hole 730 to axially fix the bearing.

[0125] In the embodiment of the present disclosure, the rotating bracket 7 is provided for axially fixing the blade clamp 6 on the one hand and can support the blade clamp 6 and the blade. On the other hand, the rotating bracket 7 is used to be connected to the main drive motor. The main drive motor can drive the blade and the electromagnetic actuation swashplate of this embodiment to rotate synchronously through the rotating bracket 7 to achieve takeoff, hover, ascent, and descent of the aircraft.

[0126] As described above, the specific structure of the electromagnetic actuation swashplate provided by the embodiment of the present application is that the first drive motor A and the second drive motor B are designed as a universal drive mechanism to directly drive the swashplate assembly 5 to drive the blade for periodic pitch adjustment. Compared with the adjustment method in which the servo motor drives the swashplate assembly 5 for periodic pitch through a transmission mechanism, the first drive motor A and the second drive motor B have no reduction system, are simple in structure, not easily damaged, and have a high transmission efficiency. Secondly, the first drive motor A and the second drive motor B do not require a transmission mechanism for power transmission, thereby simplifying the structure of the aircraft and occupying a small space, which is beneficial to the development needs of the miniaturization of the aircraft.

[0127] In another embodiment, the electromagnetic actuation swashplate of the exemplary embodiment can be arranged in an aircraft. Since the aircraft provided by this embodiment has the electromagnetic actuation swashplate provided by any one of the above embodiments, this aircraft has all the beneficial effects of the electromagnetic actuation swashplate provided by any one of the above embodiments, which will not be elaborated here.

[0128] It should be noted that the aircraft provided by the present application can be an electric aircraft, which further includes a battery unit, a main drive motor, and at least two blades, etc. Among them, multiple blades are connected to the blade holder 6 of the electromagnetic actuator tilter. The main drive motor, the first drive motor A and the second drive motor B of the electromagnetic actuator tilter are all connected to the battery unit, and the battery unit is used to supply power to the main drive motor, the first drive motor A and the second drive motor B. The main drive motor is connected to the rotating bracket 7 of the electromagnetic actuator tilter, and can drive the blades to rotate during operation to achieve the takeoff, landing and hovering of the aircraft.

[0129] It should also be noted that the structure of the aircraft body in this embodiment is not limited and can be any one of a helicopter fuselage, a gyrocopter, and a vertical takeoff and landing aircraft. The electric aircraft in this embodiment can be used as a drone, a manned aircraft or a cargo aircraft, and no specific limitation is made in this embodiment.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these 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 present application.

[0131] In addition, it should be noted that in the various specific technical features described in the above specific embodiments, they can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present application does not separately describe various possible combination methods.

Claims

1. An electromagnetic actuated tilter, characterized in that, It includes a first driving motor, a second driving motor and a swash plate assembly; The first driving motor and the second driving motor have the same structure, including an arc-shaped outer rotor and an arc-shaped stator, and the arc-shaped outer rotor is rotatably connected to the outer periphery of the arc-shaped stator; For the first driving motor, two first output shafts are symmetrically arranged in the diameter direction of the arc-shaped outer rotor, and the two first output shafts are coaxially arranged and extend away from the center of the first driving motor; For the second driving motor, two second output shafts are symmetrically arranged in the diameter direction of the arc-shaped outer rotor, and the two second output shafts are coaxially arranged and extend away from the center of the second driving motor; The first driving motor and the second driving motor are arranged in a crosswise manner and are respectively connected to the swash plate assembly through the first output shaft and the second output shaft. When the first driving motor and the second driving motor work, they can drive the swash plate assembly to tilt relative to the horizontal plane.

2. The electromagnetic actuating tilter according to claim 1, wherein The arc-shaped outer rotor includes an arc-shaped outer shell and multiple rows of permanent magnets, and the multiple rows of permanent magnets are attached to the inner wall of the arc-shaped outer shell and are circumferentially arrayed about the center of the arc-shaped outer shell; The arc-shaped stator includes an arc-shaped stator core and multiple ferromagnetic coils, and the multiple ferromagnetic coils are respectively wound around multiple stator teeth of the arc-shaped stator core; The radian of the arc-shaped outer shell is set to be greater than the radian of the arc-shaped stator core, and the number of multiple rows of permanent magnets is set to be more than the number of multiple ferromagnetic coils.

3. The electromagnetic actuator tilter according to claim 1, characterized in that It further includes two brackets arranged in parallel, and the two brackets are on the same straight line as the two first output shafts; The arc-shaped stator of the first driving motor is fixedly connected to the two brackets; Second rotary shafts are respectively arranged on the opposite sides of the two brackets, and the arc-shaped outer rotor of the second driving motor is rotatably connected to the outer periphery of the second rotary shaft; Two first rotary shafts are symmetrically arranged in the diameter direction of the inner circle of the arc-shaped stator of the second driving motor, and the two first rotary shafts extend towards the center of the first driving motor; The arc-shaped outer rotor of the first driving motor is rotatably connected to the outer peripheries of the two first rotary shafts.

4. The electromagnetic actuator tilter according to claim 3, wherein, First support frames are respectively arranged on both sides of the first driving motor in the axial direction, and second support frames are respectively arranged on both sides of the second driving motor in the axial direction; The two first support frames are respectively fixedly connected to the arc-shaped outer rotor of the first driving motor and are rotatably connected to the first rotary shaft; The two second support frames are respectively fixedly connected to the arc-shaped outer rotor of the second driving motor and are rotatably connected to the second rotary shaft.

5. The electromagnetic actuated tilter according to claim 4, characterized in that, It further includes a first absolute encoder and a second absolute encoder; The first absolute encoder is fixedly connected to the second rotary shaft, and a first magnetic pole adapted to the first absolute encoder is arranged on the first support frame. The first absolute encoder and the first magnetic pole are used to monitor the rotation angle of the first driving motor; The second absolute encoder is fixedly connected to the first rotating shaft, and a second magnetic pole adapted to the second absolute encoder is provided on the second support frame. The second absolute encoder and the second magnetic pole are used to monitor the rotation angle of the second drive motor.

6. The electromagnetic actuator tilter according to claim 1, characterized in that, The swash plate assembly includes a fixed ring and a moving ring; The first drive motor and the second drive motor are placed in the central hole of the fixed ring, and are respectively connected to the inner ring of the fixed ring through the two first output shafts and the two second output shafts. The moving ring is rotatably connected to the outer circumference of the fixed ring through a bearing.

7. The electromagnetic actuator tilter according to claim 6, characterized in that, A ring-shaped groove is provided in the inner ring of the moving ring; The inner ring of the bearing is tightly fitted and connected to the fixed ring, and the outer ring of the bearing is connected to the ring-shaped groove to axially limit the bearing.

8. The electromagnetic actuated tilter according to claim 7, characterized in that, The fixed ring includes a semi-circular first fixed ring and a second fixed ring. The first fixed ring and the second fixed ring are snap-connected into a ring shape and are tightly fitted and connected to the inner ring of the bearing; Four shaft holes are also equally spaced in the circumferential direction of the fixed ring. The end portions of the first output shaft and the second output shaft are respectively tightly fitted and connected to the four shaft holes; Semicircular holes are respectively provided at both ends of the first fixed ring and the second fixed ring. When the first fixed ring and the second fixed ring are snap-connected, the semicircular holes are snap-connected to form two of the shaft holes; The remaining two shaft holes are respectively provided at the middle positions of the first fixed ring and the second fixed ring.

9. The electromagnetic actuator tilter according to claim 8, wherein At least two rocker arms are further provided on the outer circumference of the moving ring. At least two rocker arms are distributed in a circular array. The rocker arms are connected to a blade clamping member, and the blade clamping member is used to connect the blades; At least two rotating shafts are further provided on the outer ring of the moving ring. The extension lines of at least two rotating shafts are arranged pointing to the center of the moving ring and extend away from the center of the moving ring; At least two rocker arms are rotatably connected to the outer circumference of the rotating shaft.

10. The electromagnetic actuator tilter according to claim 9, characterized in that, Any one of the rocker arms includes a connecting arm, and a first connecting end and a second connecting end located at both ends of the connecting arm; The first connecting end is rotatably connected to the outer circumference of the rotating shaft, and the second connecting end is fixedly connected to the blade clamping member; The connecting arm is an arc-shaped structure and is concentric with the moving ring.

11. The electromagnetic actuator tilter according to claim 10, characterized in that, The blade clamping member includes a connecting shaft, a U-shaped clamping plate is provided at one end of the connecting shaft, and a limiting shaft is provided at the other end; A limiting hole adapted to the limiting shaft is provided at the second connecting end of the rocker arm. The limiting shaft is circumferentially and limitably connected to the limiting hole and is axially limited by a pin; The root of the blade is clamped between the U-shaped clamping plates and is fixedly connected to the U-shaped clamping plates through pins.

12. The electromagnetic actuator tilter according to claim 11, wherein, The limiting shaft is any one of a D-shaped shaft, a square shaft or a spline shaft; The limiting hole is any one of a D-shaped hole, a square hole or a spline hole adapted to the limiting shaft.

13. The electromagnetic actuator tilter according to claim 11, wherein, It further includes a rotating bracket, and the rotating bracket includes a chassis and at least two support ears; At least two support ears are distributed in a circular array and are vertically arranged on the chassis; Axle shoulder holes are respectively provided on at least two support ears. The connecting shaft of the blade clamping member is rotatably connected to the axle shoulder holes through bearings.

14. An aircraft, characterized in that, Comprising the electromagnetic actuating tilter according to any one of claims 1 to 13.

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