Annular coaxial transmission multi-rotor aircraft

Abstract

An annular coaxial transmission multi-rotor aircraft comprises a frame-shaped main transmission mechanism (1), rotor devices and four rotor tilting mechanisms (51) for controlling the corresponding rotor devices to axially tilt are arranged at the four power output ends of the frame-shaped main transmission mechanism (1) respectively, and the rotation directions of every two adjacent rotor devices are opposite. The utility model has the advantages that: firstly, the main transmission mechanism is frame-shaped, so that goods can be carried more conveniently, the size of the goods is less limited, and the application range is wide; secondly, the transmission shaft and the propeller hub mechanism are in hard transmission through the ball cage joint mechanism, operation vibration can be reduced, the propeller hub mechanism conducts omnidirectional lift force vector control under clamping of the posture control mechanism, the environment kinetic energy compensation effect can be achieved, the lateral wind shear influence is small, and the environment adaptability is higher; under the control of the tilting mechanism, large-angle moment change can be achieved, high-speed flight can be achieved, and therefore the high-speed, safe and stable effects are achieved.

Description

Technical Field

[0001] This utility model relates to the field of rotorcraft technology, specifically to a ring coaxial transmission multirotor aircraft. Background Technology

[0002] Currently, coaxial multi-rotor aircraft fly by driving multiple rotors to rotate synchronously through one or more power sources. The power layout of existing multi-rotor aircraft is mostly cross-shaped or I-shaped, and cargo can only be carried by suspension or back towing. It is greatly affected by factors such as spatial position, volume, and cargo shape. During flight operations, when the high-speed rotating rotors are used for attitude control and in conjunction with rotor tilting, they are prone to vibration and loss of control under the influence of environmental wind fields or lateral wind shear, resulting in insufficient safety and stability of the aircraft operation. Utility Model Content

[0003] The purpose of this invention is to address the above-mentioned shortcomings by providing a ring-shaped coaxial transmission multi-rotor aircraft.

[0004] This utility model includes a frame-shaped main transmission mechanism. The four power output ends of the frame-shaped main transmission mechanism are respectively equipped with rotor devices and four rotor tilting mechanisms that control the axial tilting of the corresponding rotor devices. The rotation directions of two adjacent rotor devices are opposite.

[0005] The rotor assembly includes an upper rotor mechanism, a lower rotor mechanism, a multi-degree-of-freedom balancing mechanism, and a three-stage gearbox. The three-stage gearbox is a T-shaped three-way tubular structure. The power input end of the three-stage gearbox is installed on the power output end of the frame-shaped main drive mechanism. The upper rotor mechanism and the lower rotor mechanism are respectively installed vertically in opposite directions on the two power output ends of the three-stage gearbox and are synchronously driven with the frame-shaped main drive mechanism. The multi-degree-of-freedom balancing mechanism is installed on the three-stage gearbox and controls the rotor hubs of the upper rotor mechanism and the lower rotor mechanism to tilt synchronously. The rotor tilting mechanism is installed at the junction of the frame-shaped main drive mechanism and the three-stage gearbox and controls the corresponding rotor device to tilt at an angle.

[0006] The frame-shaped main transmission mechanism is assembled from four primary transmission arms sequentially connected to a secondary gearbox. A secondary transmission arm is located between the secondary and tertiary gearboxes. A primary transmission shaft is mounted within the primary transmission arm via bearings, and a secondary transmission shaft is mounted within the secondary transmission arm via bearings. The primary and secondary transmission shafts are connected by bevel gears within the secondary gearbox. The secondary transmission shaft is connected to the tertiary gearbox, driving the upper and lower rotor mechanisms to rotate synchronously. The power output end of the secondary transmission arm is movably connected to the power input end of the tertiary gearbox. A rotor tilting mechanism is installed at the movable connection between the secondary transmission arm and the tertiary gearbox, controlling the corresponding rotor device to tilt at an angle.

[0007] Both the upper rotor mechanism and the lower rotor mechanism include a ball cage joint mechanism, a ball cage joint mechanism support, and a rotor hub. The rotor hub is mounted on the ball cage joint mechanism support via the ball cage joint mechanism. The ball cage joint mechanism support is mounted on the power output end of the three-stage gearbox. The power output end of the three-stage gearbox is equipped with a drive shaft that drives the rotor hub to rotate via the secondary drive shaft.

[0008] The multi-degree-of-freedom balancing mechanism includes an attitude support disk, an attitude control disk, and a set of linkage control components. The attitude support disk is fixedly mounted on the three-stage gearbox. The attitude control disk is bearing-mounted on the connecting rotating shaft of the rotor hub and located at the bottom of the rotor hub. The linkage control components include a hydraulic cylinder, a lever structure, a first tie rod, and a second tie rod that are hinged sequentially. The hydraulic cylinder and the lever structure are movably hinged to the outer shell of the three-stage gearbox. The attitude control disk is provided with a set of bow-shaped structures, and one end of the second tie rod is hinged to the bow-shaped structures. The attitude support disk is provided with a set of tie rod limiting holes for limiting the first tie rod. The power output end of the second-stage transmission arm is provided with a fastening disk, and a pair of fastening tie rods connected to the two attitude support disks are provided on the fastening disk.

[0009] The rotor tilting mechanism includes a tilting motor, a reduction gear set, a turbine, and a worm. The power output end of the secondary transmission arm is fixedly connected to an annular connecting boss, and a tilting bracket is provided on the annular connecting boss. The tilting motor, the reduction gear set, and the worm are respectively mounted on the tilting bracket. The turbine is fixedly connected to the power input end of the tertiary gearbox. The tilting motor drives the worm to rotate through the reduction gear set. The worm and the turbine cooperate to drive the rotor device to tilt at an angle. An electromagnetic push rod is provided on the annular connecting boss, and a set of tilting angle limiting holes that cooperate with the electromagnetic push rod are provided on the turbine.

[0010] The advantages of this utility model are: First, the main transmission mechanism is frame-shaped, which makes it more convenient to carry cargo, has less restriction on cargo volume, and has a wide range of applications; Second, the transmission shaft and the propeller hub mechanism are rigidly transmitted through the ball cage joint mechanism, which can reduce running vibration. Under the control of the attitude control mechanism, the propeller hub mechanism performs omnidirectional lift vector control, which can achieve the effect of environmental kinetic energy compensation, with less lateral wind shear and stronger environmental adaptability; Under the control of the tilting mechanism, not only can the torque be changed at a large angle, but high-speed flight can also be achieved, thereby achieving high speed, safety and stability. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of this utility model.

[0012] Figure 2 This is a schematic diagram of the frame-shaped main drive mechanism.

[0013] Figure 3 This is a schematic diagram of the connections between the various transmission components of the aircraft.

[0014] Figure 4 This is a schematic diagram of the rotor device structure.

[0015] Figure 5 This is a schematic diagram of the internal structure of the rotor device.

[0016] Figure 6 This is a schematic diagram showing the connection between the rotor tilting mechanism and the three-stage gearbox.

[0017] Figure 7 This is an exploded structural diagram of the ball cage joint mechanism. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0020] In the description of the embodiments of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use, they are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, if terms such as "first" or "second" appear in the description of this invention, they are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0022] As shown in the attached figure, the present invention includes a frame-shaped main transmission mechanism 1. The four power output ends of the frame-shaped main transmission mechanism 1 are respectively provided with rotor devices and four rotor tilting mechanisms 51 that control the axial tilting of the corresponding rotor devices. The rotation directions of two adjacent rotor devices are opposite.

[0023] The rotor assembly includes an upper rotor mechanism 2, a lower rotor mechanism 3, a multi-degree-of-freedom balancing mechanism 4, and a three-stage gearbox 7. The three-stage gearbox 7 is a T-shaped three-way tubular structure. The power input end of the three-stage gearbox 7 is installed on the power output end of the frame-shaped main transmission mechanism 1. The upper rotor mechanism 2 and the lower rotor mechanism 3 are respectively installed vertically in opposite directions on the two power output ends of the three-stage gearbox 7 and are synchronously driven with the frame-shaped main transmission mechanism 1. The multi-degree-of-freedom balancing mechanism 4 is installed on the three-stage gearbox 7 and controls the rotor hubs 8 of the upper rotor mechanism 2 and the lower rotor mechanism 3 to tilt synchronously. The rotor tilting mechanism 51 is installed at the connection between the frame-shaped main transmission mechanism 1 and the three-stage gearbox 7 and controls the corresponding rotor assembly to tilt at an angle.

[0024] The frame-shaped main transmission mechanism 1 serves as the transmission and load-bearing support frame. During operation, it drives the upper rotor mechanism 2 and lower rotor mechanism 3 of the four rotor devices to rotate synchronously. The rotation directions of two adjacent rotor devices are opposite to prevent the entire aircraft from rotating in place during takeoff and landing. The rotation directions of the upper rotor mechanism 2 and lower rotor mechanism 3 of a single rotor device are also opposite. At the same time, the windward angle of the blades of the upper rotor mechanism 2 and lower rotor mechanism 3 are also opposite, so that they can generate thrust in the same direction when rotating synchronously.

[0025] The number of rotor tilting mechanisms 51 is the same as the number of rotor devices, and they are used in conjunction with each rotor tilting mechanism 51 to control the overall angle tilt of a corresponding rotor device, which is used to control the flight direction.

[0026] The multi-degree-of-freedom balancing mechanism 4 can control the rotor pitch of the upper rotor mechanism 2 and the lower rotor mechanism 3, providing greater freedom for flight attitude adjustment.

[0027] The frame-shaped main transmission mechanism 1 is assembled from four primary transmission arms 56 sequentially via secondary gearboxes 58. In practical use, power sources can be installed on two spaced-apart secondary gearboxes 58 of the frame-shaped main transmission mechanism 1, i.e., two power sources are diagonally arranged on the frame-shaped main transmission mechanism 1 to control the synchronous rotation of the four rotor devices. A secondary transmission arm 59 is provided between the secondary gearboxes 58 and the tertiary gearbox 7. A primary transmission shaft 57 is mounted in the primary transmission arm 56 via bearings, and a secondary transmission shaft 60 is mounted in the secondary transmission arm 59 via bearings. The primary transmission shaft 57 and the secondary transmission shaft 60 are transmitted through bevel gears within the secondary gearbox 58. The secondary transmission shaft 60 is transmitted to the tertiary gearbox 7, driving the upper rotor mechanism 2 and the lower rotor mechanism 3 to rotate synchronously. The power output end of the secondary transmission arm 59 is movably connected to the power input end of the tertiary gearbox 7. The rotor tilting mechanism 51 is installed at the movable connection between the power output end of the secondary transmission arm 59 and the tertiary gearbox 7, and controls the corresponding rotor device to tilt at an angle.

[0028] The secondary gearbox 58 has a three-way tubular structure. One end serves as the power output end to control the rotation of the rotor hub 8, while the other two ends are driven by the primary drive shaft 57. That is, the four primary drive shafts 57 achieve synchronous transmission while driving the four secondary drive shafts 60 to rotate synchronously. The power output end of the secondary drive shaft 60 is then connected to the two power input ends of the upper rotor mechanism 2 and the lower rotor mechanism 3 through bevel gears within the tertiary gearbox 7.

[0029] Both the upper rotor mechanism 2 and the lower rotor mechanism 3 include a ball cage joint mechanism 5, a ball cage joint mechanism bracket 19, and a rotor hub 8. The rotor hub 8 is mounted on the ball cage joint mechanism bracket 19 via the ball cage joint mechanism 5. The ball cage joint mechanism bracket 19 is mounted on the power output end of the three-stage gearbox 7. The power output end of the three-stage gearbox 7 is provided with a drive shaft 16 that drives the rotor hub 8 to rotate via the secondary drive shaft 60.

[0030] The secondary drive shaft 60 and the drive shaft 16 are connected by bevel gears within the tertiary gearbox 7.

[0031] One end of the ball cage joint mechanism bracket 19 is connected and fixed to the power output flange of the three-stage gearbox 7. The ball cage joint mechanism 5 is installed inside the ball cage joint mechanism bracket 19. The ball cage joint mechanism 5 is a coupling that can deflect at multiple angles and is used to transmit the kinetic energy output by the drive shaft 16. It can tilt at multiple angles while rotating.

[0032] The multi-degree-of-freedom balancing mechanism 4 includes an attitude support disk 20, an attitude control disk 22, and a set of linkage control components. The attitude support disk 20 is fixedly mounted on the three-stage gearbox 7. The attitude control disk 22 is bearing-mounted on the connecting rotating shaft 14 of the rotor hub 8 and is located at the bottom of the rotor hub 8. The linkage control components include a hydraulic cylinder 25, a lever structure 24, a first tie rod 21, and a second tie rod 22, which are sequentially hinged together. 3. The hydraulic cylinder 25 and the lever structure 24 are respectively hinged to the outer shell of the three-stage gearbox 7. The attitude control disc 22 is provided with a set of bow-shaped structure 30. One end of the second pull rod 23 is hinged to the bow-shaped structure 30. The attitude support disc 20 is provided with a set of pull rod limiting holes for limiting the first pull rod 21. The power output end of the secondary transmission arm 59 is provided with a fastening disc 40, and a pair of fastening pull rods 41 are respectively connected to the two attitude support discs 20 on the fastening disc 40.

[0033] Specifically, the power output end of the three-stage gearbox 7 is provided with a rotor drive arm 95, the drive shaft 16 is installed in the rotor drive arm 95 through bearing cooperation, the ball cage joint mechanism bracket 19 is installed at the other end of the rotor drive arm, and the upper and lower bearings of the ball cage joint mechanism 5 are installed in the cage joint mechanism bracket 19.

[0034] The ball cage joint mechanism 5 includes a ball cage shell 98, a ball bearing support 97, and a ball bearing core structure 96. The ball bearing support 97 is located between the ball bearing core structure 96 and the ball cage shell 98. A set of steel balls are evenly distributed on the ball bearing support 97. The input end of the ball bearing core structure 96 is spherical and has a set of ball bearing grooves. The output end is a round shaft connected to the connecting shaft 14 of the rotor hub 8. The bottom of the ball cage shell 98 is fixedly connected to the output end screw of the drive shaft 16. The drive shaft 16 drives the ball cage joint mechanism 5 to rotate within the ball cage joint mechanism support 19, thereby driving the rotor hub 8 to rotate.

[0035] The posture support disc 20 is a fixed component, which is fixedly connected to the three-stage gearbox 7 and is used to guide the sliding limit of the first pull rod 21.

[0036] The attitude control disk 22 is a movable part, which is mounted on the connecting rotating shaft 14 through a bearing. The connecting rotating shaft 14 is fixedly connected to the rotor hub 8. The attitude control disk 22 always remains parallel to the rotor hub 8. When the rotor hub 8 rotates, the attitude control disk 22 remains stationary. When the attitude control disk 22 tilts, the rotor hub 8 will tilt synchronously.

[0037] Therefore, when it is necessary to adjust the tilt angle of the rotor hub 8, the hydraulic cylinder 25 is activated, and the lever structure 24 pries the first tie rod 21 to push the second tie rod 23. Then the second tie rod 23 lifts one side of the attitude control disk 22 to make it tilt. At this time, the rotor hub 8 tilts synchronously, which achieves the purpose of controlling the change of the thrust direction of the rotor hub 8 and realizing the precise control of the rotor's omnidirectional lift vector.

[0038] The bow-shaped structural member 30 extends outward, and the second tie rod 23 is movably connected to the bow-shaped structural member 30. When the ball cage joint mechanism 5 tilts, it will not interfere with the second tie rod 23.

[0039] The rotor tilting mechanism 51 includes a tilting motor 70, a reduction gear set 71, a turbine 72, and a worm 73. The power output end of the secondary transmission arm 59 is fixedly connected to an annular connecting boss 75, and a tilting bracket 78 is provided on the annular connecting boss 75. The tilting motor 70, the reduction gear set 71, and the worm 73 are respectively mounted on the tilting bracket 78. The turbine 72 is fixedly connected to the power input end of the tertiary gearbox 7. The tilting motor 70 drives the worm 73 to rotate through the reduction gear set 71. The worm 73 and the turbine 72 cooperate to drive the rotor device to tilt at an angle. An electromagnetic push rod 77 is provided on the annular connecting boss 75, and a set of tilting angle limiting holes that cooperate with the electromagnetic push rod 77 are provided on the turbine 72.

[0040] In this case, the secondary drive arm 59, the fastening disc 40, and the tertiary gearbox 7 are all movably connected by bearings. The annular connecting boss 75 is located between the fastening disc 40 and the tertiary gearbox 7, and annular grooves are provided on both sides of the annular connecting boss 75. A set of steel balls is provided in the annular grooves to reduce friction. The annular connecting boss 75 is a fixed part. The entire rotor device tilts around the secondary drive arm 59 as the axis to achieve the purpose of controlling the flight direction.

[0041] After the entire rotor assembly tilts, one end of the electromagnetic push rod 77 extends and is inserted into the tilt angle limiting hole on the turbine 72, which can keep the tilt angle fixed.

Claims

1. A ring-shaped coaxial drive multi-rotor aircraft, characterized in that The application relates to a frame-shaped main transmission mechanism (1), four rotor devices are arranged on the four power output ends of the frame-shaped main transmission mechanism (1), and four rotor tilting mechanisms (51) for controlling the axial tilting of the corresponding rotor devices are arranged.

2. A toroidal coaxial drive multi-copter aircraft as claimed in claim 1, wherein The rotor device comprises an upper rotor mechanism (2), a lower rotor mechanism (3), a multi-degree-of-freedom balancing mechanism (4) and a three-stage gear box (7), the three-stage gear box (7) is a T-shaped three-way tubular structure, the power input end of the three-stage gear box (7) is arranged on the power output end of the frame-shaped main transmission mechanism (1), the upper rotor mechanism (2) and the lower rotor mechanism (3) are vertically arranged on the two power output ends of the three-stage gear box (7) in opposite directions and are synchronously driven by the frame-shaped main transmission mechanism (1), the multi-degree-of-freedom balancing mechanism (4) is arranged on the three-stage gear box (7) and controls the synchronous attitude tilting of the rotor hubs (8) of the upper rotor mechanism (2) and the lower rotor mechanism (3), and the rotor tilting mechanism (51) is arranged at the joint of the frame-shaped main transmission mechanism (1) and the three-stage gear box (7) and controls the angular tilting of the corresponding rotor device.

3. A toroidal coaxial drive multi-copter aircraft as claimed in claim 2, wherein The frame-shaped main transmission mechanism (1) is composed of four primary transmission arms (56) which are sequentially combined and assembled through secondary gear boxes (58), the secondary gear boxes (58) and the three-stage gear box (7) are provided with secondary transmission arms (59), the primary transmission arms (56) are provided with primary transmission shafts (57) which are sleeved with bearings, the secondary transmission arms (59) are provided with secondary transmission shafts (60) which are sleeved with bearings, the primary transmission shafts (57) and the secondary transmission shafts (60) are in transmission through bevel gears in the secondary gear boxes (58), the secondary transmission shafts (60) are in transmission with the three-stage gear box (7) and drive the synchronous rotation of the upper rotor mechanism (2) and the lower rotor mechanism (3), the power output ends of the secondary transmission arms (59) are movably connected with the power input ends of the three-stage gear box (7), and the rotor tilting mechanism (51) is arranged at the movable connection position of the secondary transmission arms (59) and the three-stage gear box (7) and controls the angular tilting of the corresponding rotor device.

4. A toroidal coaxial drive multi-copter aircraft as claimed in claim 3, wherein The upper rotor mechanism (2) and the lower rotor mechanism (3) each comprise a ball cage joint mechanism (5), a ball cage joint mechanism support (19) and a rotor hub (8), the rotor hub (8) is arranged on the ball cage joint mechanism support (19) through the ball cage joint mechanism (5), the ball cage joint mechanism support (19) is arranged on the power output end of the three-stage gear box (7), and the power output end of the three-stage gear box (7) is provided with a driving shaft (16) which is in transmission with the secondary transmission shaft (60) and drives the rotation of the rotor hub (8).

5. A toroidal coaxial drive multi-copter according to claim 4, wherein The multi-degree-of-freedom balancing mechanism (4) comprises a posture support disc (20), a posture control disc (22) and a plurality of linkage control assemblies, the posture support disc (20) is fixedly installed on the three-stage gearbox (7), the posture control disc (22) is bearingly installed on the connecting rotating shaft (14) of the rotor hub (8) and is located at the bottom of the rotor hub (8), the linkage control assembly comprises a hydraulic oil cylinder (25), a lever structure (24), a first pull rod (21) and a second pull rod (23) which are sequentially hingedly connected, the hydraulic oil cylinder (25) and the lever structure (24) are movably hingedly connected to the shell of the three-stage gearbox (7), the posture control disc (22) is provided with a plurality of arcuate structures (30), one end of the second pull rod (23) is hingedly connected to the arcuate structure (30), the posture support disc (20) is provided with a plurality of pull rod limiting holes for limiting the first pull rod (21); the power output end of the secondary transmission arm (59) is provided with a fastening disc (40), and a pair of fastening pull rods (41) connected with the two posture support discs (20) are arranged on the fastening disc (40).

6. A toroidal coaxial drive multi-copter aircraft as claimed in claim 3, wherein The rotor tilting mechanism (51) comprises a tilting motor (70), a speed reduction gear set (71), a turbine (72) and a worm (73), the power output end of the secondary transmission arm (59) is fixedly connected with an annular connecting boss (75), and a tilting bracket (78) is arranged on the annular connecting boss (75), the tilting motor (70), the speed reduction gear set (71) and the worm (73) are respectively installed on the tilting bracket (78), the turbine (72) is fixedly connected to the power input end of the three-stage gearbox (7), the tilting motor (70) drives the worm (73) to rotate through the speed reduction gear set (71), and the worm (73) drives the rotor device to be angularly tilted in cooperation with the turbine (72); the annular connecting boss (75) is provided with an electromagnetic push rod (77), and the turbine (72) is provided with a plurality of tilting angle limiting holes matched with the electromagnetic push rod (77).

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