Propeller hub, rotor wing and unmanned aerial vehicle

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a propeller hub, a rotor wing and an unmanned aerial vehicle. The propeller hub comprises a body, the body is provided with a swinging shaft and can swing around the swinging shaft, the propeller hub further comprises a mounting base and a damping part, the body is mounted on the mounting base and is arranged in the swinging direction of the body, and the damping part is clamped between the mounting base and the body and used for damping swinging movement of the body. The propeller hub provided by the embodiment of the utility model can be used for damping through swinging of the swinging shaft, and meanwhile, the damping piece arranged along the swinging direction of the body can be used for buffering the vibration of the body, inhibiting violent oscillation and improving the stability of the propeller hub, so that the flight stability is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field especially, it relates to a hub, rotor and unmanned plane. BACKGROUND

[0002] The existing unmanned plane (including small aerial camera, large manned, heavy multi-rotor unmanned plane) uses propeller as the main power, in order to facilitate transportation, mostly adopts the separated folding propeller, and the connection of propeller and power motor mostly uses aluminum alloy parts to be fixed hard, is called as " propeller clamp " or " hub ".

[0003] Please refer to Figure 1 , it is a kind of three-dimensional assembly schematic diagram of the rotor of prior art unmanned plane.Rotor 90 includes first blade 91, second blade 92, propeller clamp 93 and motor 94.The propeller clamp 93 is fixed to the motor 94, the first blade 91 and the second blade 92 are fixed to the propeller clamp 93, and the rotor 90 rotates clockwise.

[0004] When unmanned plane is flying, if it is windless static hovering condition, such as Figure 2A , the force L1 on the first blade 91 and the force L2 on the second blade 92 are close to balance, L1=L2.But the first blade 91 and the second blade 92 are disturbed by the airflow direction from all directions in the direction of advance, and there will be different degrees of wind-twisting problem, and the reason is that the blade rotates clockwise or counterclockwise, and in the movement of unmanned plane, the first blade 91 and the second blade 92 will inevitably appear " one side wind, one side wind " condition. Such as Figure 2B , the first blade 91 is windward, and the force L3 thereon is small, and the second blade 92 is windward, and the force L4 thereon is large, which will lead to lift difference in operation, and the blade will vibrate violently, resulting in poor flight stability. INVENTION CONTENTS

[0005] The utility model discloses in order to solve the technical problem that the blade of above-mentioned unmanned plane vibrates violently and leads to poor flight stability, provides a kind of hub, rotor and unmanned plane of shock absorption, improve flight stability.

[0006] The utility model provides a kind of hub in the first aspect, including body, the body has swing shaft, can swing around swing shaft, the hub further includes installation base and damping member, the body is installed in the installation base, along the swing direction of the body, the damping member is clamped between the installation base and the body, for damping the swing movement of the body.

[0007] The utility model discloses an embodiment of the second aspect provides a rotor, including hub, paddle and motor, the hub includes the body, the body has the swing axle, can swing around swing axle, the hub still includes the mounting base and the damping part, the body is installed in mounting base, along the swing direction of body, the damping part is clamped between mounting base and the body, is used for damping swing movement of the body, the paddle is installed in the body, the motor drives the hub and the paddle rotation.

[0008] An embodiment of the third aspect of the utility model provides a unmanned plane, including fuselage, arm and rotor, the rotor includes hub, paddle and motor, the hub includes the body, the body has the swing axle, can swing around swing axle, the hub still includes the mounting base and the damping part, the body is installed in mounting base, along the swing direction of body, the damping part is clamped between mounting base and the body, is used for damping swing movement of the body, the paddle is installed in the body, the motor drives the hub and the paddle rotation.

[0009] Compared with the prior art, the body of the hub provided by the utility model embodiment is provided with a swing axle, the body can be damped by swinging around the swing axle, at the same time, the damping part arranged along the swing direction of the body can buffer the vibration of the body, inhibit violent oscillation, improve the stability of the hub, and further improve the flight stability.

[0010] The damping part is distributed on both sides of the swing axle, and in a static stable state, the hub is in a horizontal posture. When the hub swings due to external force and the stress is greater than the deformation threshold of the damping part, the damping part plays a function of absorbing vibration. When the attitude of the unmanned plane recovers or moves in the opposite direction, based on the fixed shaft property generated by the gyro effect of the rotor, the damping part actively applies a reset driving force to promote the hub and the rotating shaft of the motor to quickly coincide as a coaxial state. This structure enables the rotating surface of the rotor to accelerate to recover the horizontal posture under high-speed emergency stop working conditions of the unmanned plane, effectively eliminating the swinging action caused by the deflection of the lift axis. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical scheme in the utility model embodiment, the drawings needed to be used in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor, wherein:

[0012] Figure 1 It is a three-dimensional assembly schematic view of the rotor of the unmanned plane of the prior art.

[0013] Figure 2A For Figure 1 The force schematic diagram of I-I section and II-II section of the unmanned plane when it is in static hovering without wind is shown in the figure;

[0014] Figure 2B For Figure 1 The force schematic diagram of I-I section and II-II section of the unmanned plane when it is in flight is shown in the figure;

[0015] Figure 3 It is a structure schematic diagram of an unmanned plane provided by the embodiment of the utility model;

[0016] Figure 4A , 4B It is respectively shown that the rotating direction schematic diagram of the first rotor and the second rotor; Figure 3

[0017] Figure 5A For Figure 3 The force schematic diagram of A-A section and B-B section of the unmanned plane when it is in static hovering without wind is shown in the figure;

[0018] Figure 5B For Figure 3 The force schematic diagram of C-C section and D-D section of the unmanned plane when it is in dynamic flight is shown in the figure;

[0019] Figure 6A , 6B , 6C, 6D respectively for Figure 4A The swinging example structure schematic diagram of the body is shown in the figure;

[0020] Figure 7 It is a three-dimensional assembly structure schematic diagram of a hub provided by the embodiment of the utility model;

[0021] Figure 8 For Figure 7 The three-dimensional exploded schematic diagram of the hub is shown in the figure;

[0022] Figure 9A , 9B It is respectively shown that the swinging direction schematic diagram of the hub rotating in the clockwise direction and the counterclockwise direction;

[0023] Figure 10 It is a three-dimensional assembly structure schematic diagram of a hub provided by the embodiment of the utility model;

[0024] Figure 11 For Figure 10 The three-dimensional exploded schematic diagram of the hub is shown in the figure;

[0025] Figure 12A , 12B It is respectively shown that the swinging direction schematic diagram of another hub rotating in the clockwise direction and the counterclockwise direction;

[0026] ​Figure 13 A three-dimensional assembly structure diagram of a propeller hub provided for an embodiment of this utility model;

[0027] Figure 14 for Figure 13 An exploded three-dimensional diagram of the propeller hub shown.

[0028] Figure 15A , 15B These are schematic diagrams showing the oscillation directions of another type of propeller hub, rotating clockwise and counterclockwise, respectively.

[0029] Figure 16 A three-dimensional assembly structure diagram of a propeller hub provided for an embodiment of this utility model;

[0030] Figure 17 for Figure 16 An exploded three-dimensional diagram of the propeller hub shown.

[0031] Figure 18A A three-dimensional assembly structure diagram of a propeller hub provided for an embodiment of this utility model;

[0032] Figure 18B for Figure 18A The diagram shows a three-dimensional exploded view of the propeller hub. Detailed Implementation

[0033] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0034] In this invention, "at least one" means one or more, and "more than one" means two or more. The terms "first" and "second" are used only to describe the purpose and to distinguish objects, such as substances, from one another, and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. For example, without departing from the scope of the embodiments of this invention, the first XX can also be referred to as the second XX, and similarly, the second XX can also be referred to as the first XX.

[0035] Please see Figure 3 This is a structural schematic diagram of a drone provided in an embodiment of the present invention. The present invention provides a drone 100, which includes a fuselage 10, arms 20, and rotors 30. The arms 20 are fixed to the fuselage 10, and the rotors 30 are mounted on the arms 20, rotating to generate lift and enabling the drone 100 to fly.

[0036] The number of rotors 30 is even, divided into a first rotor 30a and a second rotor 30b. The number of the first rotor 30a and the second rotor 30b is equal. The first rotor 30a rotates in a clockwise direction, and the second rotor 30b rotates in a counterclockwise direction.

[0037] It is understood that the rotor 30 can be driven by a power drive device, such as an electric motor. The first rotor 30a rotates clockwise and can be driven to rotate clockwise by a clockwise rotating motor. The second rotor 30b rotates counterclockwise and can be driven to rotate counterclockwise by a counterclockwise rotating motor.

[0038] It is also understood that the number of the first rotors 30a can be one or more, the number of the first rotors 30a and the number of the second rotors 30b are equal, and the number of the second rotors 30b corresponds to one or more. For example, when the number of the first rotors 30a is one, two, three, or four, the UAV 100 corresponds to a two-rotor UAV, a four-rotor UAV, a six-rotor UAV, or an eight-rotor UAV.

[0039] It can also be understood that the drone 100 is an aircraft whose rotor thrust shaft is perpendicular or nearly perpendicular to the ground, and which uses thrust to offset the weight of the aircraft itself to levitate and rise into the air. Specifically, it can be an unmanned vehicle or a manned aircraft.

[0040] Please see Figure 4A and 4B , respectively Figure 3 The diagram shows a rotor rotating in both clockwise and counterclockwise directions. The rotor 30 includes a hub 31, blades 33, and a motor 35. The motor 35 drives the hub 31 and blades 33 to rotate. The hub 31 includes a body 311, which has a oscillation axis S and can oscillate around the oscillation axis S.

[0041] The propeller hub 31 also includes a mounting base and a damping element. The main body 311 is fixed to the motor 35 via the mounting base. Along the oscillation direction of the main body 311, the damping element is sandwiched between the mounting base and the main body 311 to dampen the oscillation motion of the main body 311. Specifically, the damping element can be in contact with the main body 311, the damping element can be in contact with the mounting base, or the damping element can be in contact with both the main body 311 and the mounting base simultaneously.

[0042] It should be noted that by setting the swing axis S, the body 311 can swing through the swing axis S to reduce vibration. At the same time, the damping element set along the swing direction of the body 311 can buffer the vibration of the body 311, suppress violent oscillation, improve the stability of the rotor hub 31, and thus improve flight stability.

[0043] The main body 311 includes at least two mounting positions 3110, which are respectively located on both sides of the oscillating shaft S for mounting the blades 33. With the rotation center O of the main body 311 as the center, the rotation angle R from the mounting position 3110 to the oscillating shaft S along the rotation direction of the main body 311 is [value missing]. The rotation angle R can be set according to actual needs, for example, 90°. Preferably, 30° ≤ R ≤ 60°.

[0044] like Figure 4A As shown, the rotor 30 rotates clockwise. In the clockwise direction, the rotation angle R from the mounting position 3110 to the oscillation axis S satisfies 30°≤R≤60°. The body 311 can oscillate up and down in opposite directions along both sides of the oscillation axis S, that is, when one side oscillates towards the paper, the other side oscillates away from the paper.

[0045] like Figure 4B As shown, the rotor 30 rotates counterclockwise. In the counterclockwise direction, the rotation angle R from the mounting position 3110 to the oscillation axis S satisfies 30°≤R≤60°. The body 311 can oscillate up and down in opposite directions along both sides of the oscillation axis S, that is, when one side oscillates towards the paper, the other side oscillates away from the paper.

[0046] Therefore, when the UAV 100 is flying, when the propeller 33 installed at the mounting position 3110 generates a lift difference due to the windward and tailwind, the propeller hub 31 swings around the swing axis S. When the windward propeller is lifted by the lift, the pitch decreases, and the other propeller increases the pitch. In this way, the impulse generated by the lift difference is consumed by the swing, thereby achieving shock absorption and offsetting the change in aircraft attitude caused by excessive windward lift.

[0047] It is understandable that if the rotation angle R = 90°, the rotor hub 31 can also achieve shock absorption through oscillation, but it cannot eliminate lift error because the lift difference also involves the gyroscopic effect. When the lift on the rotor blade 33 facing the wind increases, the gyroscopic effect of the rotating object causes a 90° delay in the lift response. However, in this invention, the rotation angle R satisfies 30° ≤ R ≤ 60°. When the rotor hub 31 oscillates, the blade surface of the rotor blade 33 will tilt, autonomously changing the pitch of the rotor blade 33. Its basic operating principle is: the rotor blades 33 on both sides of the oscillation axis S "increase the angle of attack on one side and decrease the angle of attack on the other," the lift compensates for each other, thus approaching the average lift, reducing the vibration caused by lift error, and further improving flight stability. Figure 5A and 5B As shown, in the hovering state, the propeller lift of the hub 31 is LA = LB. In dynamic flight, the hub 31 is actively adjusted to achieve propeller lift LC = LD. Figure 5B shows the dynamic flight state in which the hub 31 achieves force balance when lift complementarity is achieved through pitch adjustment.

[0048] Preferably, the rotation angle R from the mounting position 3110 to the oscillating shaft S is approximately 45°.

[0049] It is also understood that the main body 311 can be oscillating by setting a rotation structure. The specific structure is not limited here, as long as the oscillation of the main body 311 can be achieved.

[0050] In some embodiments, the propeller hub further includes a mounting base, and the body and the mounting base are hinged together with the oscillation axis as the axis of rotation.

[0051] as follows Figures 6A-6D Several example structures for implementing oscillation are shown.

[0052] like Figure 6A In the process, the body 311 is provided with a first through hole 3112 along the direction of the swing axis S, and cooperates with the mounting base having a second through hole to form a rotating structure. The first through hole 3112 and the second through hole are coaxial through holes with holes opened along the direction of the swing axis S, for the pin to pass through, so that the body 311 can swing around the swing axis S.

[0053] like Figure 6B In the embodiment, the main body 311 is provided with a shaft 3113 along the direction of the swing axis S, which cooperates with the mounting base having a second through hole to form a rotating structure. The shaft 3113 and the second through hole are provided along the direction of the swing axis S. The shaft 3113 is inserted into the second through hole so that the main body 311 can swing around the swing axis S.

[0054] like Figure 6C and6D In the middle, the body 311 has a through first through hole 3114 and a third through hole, which cooperate with the mounting base having a second through hole to form a rotating structure. The mounting base is inserted into the third through hole. The first through hole 3112 and the second through hole are coaxial through holes with holes opened along the direction of the swing axis S, for the pin to pass through, so that the body 311 can swing around the swing axis S.

[0055] It is also understood that, as mentioned above, the rotor 30 of the UAV 100 is divided into a first rotor 30a and a second rotor 30b. The first rotor 30a rotates clockwise, and the oscillation axis S of the body 311 of the first rotor 30a is a clockwise oscillation axis. The second rotor 30b rotates counterclockwise, and the oscillation axis S of the body 311 of the second rotor 30b is a counterclockwise oscillation axis. The body 311 can switch between the clockwise and counterclockwise oscillation axes by flipping up and down, realizing the interconnection of parts between the counterclockwise rotating second rotor 30b and the clockwise rotating first rotor 30a.

[0056] It is understood that in the above 6A-6D, the main body 311 directly forms a rotating structure with the mounting base to achieve swinging. In some other embodiments, a central seat fixed to the main body 311 can also be provided, and the central seat and the mounting base form a rotating structure.

[0057] It is also understood that when a central seat is fixed to the body 311, and the central seat and the mounting base form a rotating structure, the preset angle G of rotation of the central seat can switch between clockwise and counterclockwise oscillation axes. The preset angle G is the initial mounting angle between the clockwise and counterclockwise oscillation axes. Figure 4A and 4B The included angle G = 180° - 2R between the two oscillating axes shown can also enable communication between the parts of the counterclockwise rotating second rotor 30b and the clockwise rotating first rotor 30a.

[0058] Since the rotor hub 31 is rotatable, the clockwise oscillation axis and the counterclockwise oscillation axis also rotate with the rotor hub 31. The initial installation angle is defined as the angle between the clockwise oscillation axis and the counterclockwise oscillation axis when the first line and the second line are parallel. The first line is the line connecting the installation position of the first rotor 30a and the rotation center O, and the second line is the line connecting the corresponding installation position of the second rotor 30b and the rotation center O.

[0059] It is understood that those skilled in the art can set damping components of corresponding shapes and sizes according to different sizes and structures of propeller hubs. The damping components can be rubber, grease damping controllers, hydraulic dampers, etc. There is no specific limitation here. As long as they have a buffering effect, the angle of attack changes more gently during the swinging process of the body 311, and the sudden airflow causes the swinging chaos.

[0060] In some embodiments, the damping element is made of an elastic material that responds nonlinearly to applied pressure.

[0061] To enable those skilled in the art to clearly understand the details of the above embodiments of this utility model, the above technical solutions are illustrated by the following multiple embodiments.

[0062] Examples 1-3 mainly describe the implementation of a rotating structure consisting of a central seat fixed to the main body and a mounting base.

[0063] Example 1

[0064] Please see Figure 7 and Figure 8 ,in, Figure 7 This is a three-dimensional assembly structure diagram of a propeller hub provided in an embodiment of the present invention. Figure 8 for Figure 7 The diagram shows an exploded perspective view of the propeller hub. The propeller hub 41a includes a body 411, a center seat 413, a mounting base 415, and a pin 417. The center seat 413 is fixed to the body 411, and the center seat 413 is hinged to the mounting base 415 via the pin 417. The mounting base 415 is fixed to the motor 35.

[0065] The main body 411 includes two oppositely arranged mounting positions 4110 for mounting the blade 33. The rotation angle R from the mounting position 4110 to the oscillation shaft S of the main body 411 satisfies 30°≤R≤60°. The center seat 413 has a first through hole 4131, and the mounting base 415 has a second through hole 4151. The first through hole 4131 and the second through hole 4151 are coaxial through holes opened along the direction of the oscillation shaft S, through which the pin 417 passes. Preferably, the rotation angle R is 45°.

[0066] The body 411 includes an upper rotor hub 4111 and a lower rotor hub 4113 spaced apart. The ends of the upper rotor hub 4111 and the lower rotor hub 4113 cooperate to form the mounting position 4110 for clamping and mounting the rotor blade 33. The center seat 413 is fixed between the upper rotor hub 4111 and the lower rotor hub 4113 and is located in the middle of the upper rotor hub 4111 and the lower rotor hub 4113.

[0067] The center seat 413 extends in a direction perpendicular to the swing axis S, and there are two of them. They are arranged in a direction along the swing axis S. There are two first through holes 4131, and the two center seats 413 are coaxially arranged in a direction along the swing axis S.

[0068] The mounting base 415 includes a first end 4153, a column 4155, and a second end 4157 sequentially connected. A second through hole 4151 is provided at the first end 4153, which passes through the lower propeller hub 4113 and is located between the two center seats 413, so that the two first through holes 4131 and the second through hole 4151 are coaxial along the direction of the oscillation axis S, allowing the pin 417 to pass through. The second end 4157 is fixed to the motor 35. When the motor 35 drives the mounting base 415 to rotate, it sequentially drives the center seat 413, the body 411, and the propeller blade 33 to rotate.

[0069] The propeller hub 41a further includes a damping element 418, which is sleeved on the column 4155. The inner ring of the damping element 418 contacts the column 4155 of the mounting base 415, and the outer ring contacts the lower propeller hub 4113. When the lower propeller hub 4113 floats and oscillates around the oscillation axis S, it makes soft contact with the mounting base 415 through the damping element 418. Those skilled in the art can set specific fixing methods for the damping element 418 as needed, such as adhesive bonding, snap-fit ​​fixing, tight-fitting reception fixing, etc., and no specific limitation is made here.

[0070] It is also understood that, as mentioned above, the rotor 30 of the UAV 100 is divided into a first rotor 30a and a second rotor 30b, which rotate in different directions. In this embodiment, the rotor hub 41a rotates clockwise. By changing the mounting directions of the center seat 413, the mounting base 415, and the pin 417, a rotor hub 41b that rotates counterclockwise can be obtained. The rotor hubs 41a and 41b oscillate around their respective oscillation axes S, such as... Figure 9A , 9B As shown, this enables interoperability between parts.

[0071] Example 2

[0072] Please see Figure 10 and Figure 11 ,in, Figure 10 This is a three-dimensional assembly structure diagram of another propeller hub provided in an embodiment of the present utility model. Figure 11 for Figure 10The diagram shows an exploded perspective view of the propeller hub. The propeller hub 51a includes a body 511, a center seat 513, a mounting base 515, and a pin 517. The center seat 513 is fixed to the body 511, and the center seat 513 is hinged to the mounting base 515 via the pin 517. The mounting base 515 is fixed to the motor 35.

[0073] The main body 511 includes two oppositely arranged mounting positions 5110 for mounting the blade 33. The rotation angle R from the mounting position 5110 to the oscillation shaft S of the main body 511 satisfies 30°≤R≤60°. The center seat 513 has a first through hole 5131, and the mounting base 515 has a second through hole 5151. The first through hole 5131 and the second through hole 5151 are coaxial through holes opened along the direction of the oscillation shaft S, through which the pin 517 passes. Preferably, the rotation angle R is 45°.

[0074] The body 511 includes an upper rotor hub 5111 and a lower rotor hub 5113 spaced apart. The ends of the upper rotor hub 5111 and the lower rotor hub 5113 cooperate to form the mounting position 5110 for clamping and mounting the rotor blade 33. The center seat 513 is fixed between the upper rotor hub 5111 and the lower rotor hub 5113 and is located in the middle of the upper rotor hub 5111 and the lower rotor hub 5113.

[0075] The center seat 513 extends in a direction perpendicular to the swing axis S, and there are two of them. They are arranged in a direction along the swing axis S. There are two first through holes 5131, and the two center seats 513 are coaxially arranged in a direction along the swing axis S.

[0076] The mounting base 515 includes a first column 5153, a through portion 5154, a second column 5155, and a fixed end 5156 connected in sequence. The first column 5153 passes through the third through hole 51131 of the lower propeller hub 5113 and is inserted into the fourth through hole 51111 of the upper propeller hub 5111. The through portion 5154 is located between the two center seats 513. The second through hole 5151 is located in the through portion 5154. The second column 5155 is inserted into the third through hole 51131 of the lower propeller hub 5113. The fixed end 5156 is fixed to the motor 35.

[0077] The propeller hub 51a further includes damping components, including a first damping component 5181 and a second damping component 5183. The first damping component 5181 is fitted onto the first column 5153, and the second damping component 5183 is fitted onto the second column 5155. The inner ring of the first damping component 5181 contacts the first column 5153 of the mounting base 515, and the outer ring contacts the upper propeller hub 5111. The inner ring of the second damping component 5183 contacts the second column 5155 of the mounting base 515, and the outer ring contacts the lower propeller hub 5113. When the upper propeller hub 5111 floats and oscillates around the oscillation axis S, it makes soft contact with the mounting base 515 through the first damping component 5181. When the lower propeller hub 5113 floats and oscillates around the oscillation axis S, it makes soft contact with the mounting base 515 through the second damping component 5183. Preferably, the first column 5153 and the second column 5155 are provided with grooves to limit and accommodate the first damping member 5181 and the second damping member 5183.

[0078] It is also understood that in this embodiment, by rotating the propeller hub 51a clockwise and changing the mounting directions of the center seat 513, the mounting base 515, and the pin 517, a propeller hub 51b rotating counterclockwise can be obtained. The propeller hubs 51a and 51b oscillate around their respective oscillation axes S, as shown below. Figure 12A , 12B As shown, this enables interoperability between parts.

[0079] Example 3

[0080] Please see Figure 13 and 14 ,in, Figure 13 This is a schematic diagram of a three-dimensional assembly structure of a propeller hub provided in another embodiment of the present utility model. Figure 14 for Figure 13 The diagram shows an exploded perspective view of the propeller hub. The propeller hub 61a includes a body 611, a center seat 613, a mounting base 615, and a pin 617. The center seat 613 is fixed to the body 611, and the center seat 613 is hinged to the mounting base 615 via the pin 617. The mounting base 615 is fixed to the motor 35.

[0081] The main body 611 includes two oppositely arranged mounting positions 6110 for mounting the blade 33. The rotation angle R from the mounting position 6110 to the oscillation shaft S of the main body 611 satisfies 30°≤R≤60°. The center seat 613 has a first through hole 6131, and the mounting base 615 has a second through hole 6151. The first through hole 6131 and the second through hole 6151 are coaxial through holes opened along the direction of the oscillation shaft S, through which the pin 617 passes. Preferably, the rotation angle R is 45°.

[0082] The body 611 includes an upper rotor hub 6111 and a lower rotor hub 6113 spaced apart. The ends of the upper rotor hub 6111 and the lower rotor hub 6113 cooperate to form the mounting position 6110 for clamping and mounting the rotor blade 33. The center seat 613 extends along the direction of the oscillation axis S, is fixed between the upper rotor hub 6111 and the lower rotor hub 6113, and is located in the middle of the upper rotor hub 6111 and the lower rotor hub 6113.

[0083] The mounting base 615 includes a first side plate 6153, a base plate 6155, and a second side plate 6157 connected in sequence. There are two second through holes 6151, which are respectively disposed on the first side plate 6153 and the second side plate 6157. The center seat 613 is clamped between the first side plate 6153 and the second side plate 6157 so that the first through hole 6131 and the two second through holes 6151 are coaxial along the direction of the swing axis S, allowing the pin 617 to pass through. The base plate 6155 is fixed to the motor 35.

[0084] The propeller hub 61a further includes a damping element 618, which is disposed on the base plate 6155 along the swing direction of the lower propeller hub 6113. The damping element 618 is conical, with one end fixed to the base plate 6155 and the other end abutting against the body 611. When the lower propeller hub 6113 floats and swings around the swing axis S, it makes soft contact with the mounting base 615 through the damping element 618. In some embodiments, the damping element is snapped and fixed to the mounting base, such as... Figure 17 As shown.

[0085] In some embodiments, the damping element is spherical.

[0086] It is also understood that in this embodiment, the propeller hub 61a rotates clockwise, and by flipping the propeller hub 61a, a propeller hub 61b rotates counterclockwise. The propeller hubs 61a and 61b oscillate around their respective oscillation axes S, as shown below. Figure 15A , 15B As shown, this enables interoperability between parts.

[0087] Example 4 mainly describes an implementation method in which the main body and the mounting base form a rotating structure.

[0088] Example 4

[0089] Please see Figure 16 and 17 ,in, Figure 16 This is a three-dimensional assembly structure diagram of a propeller hub provided in an embodiment of the present invention. Figure 17 for Figure 13The diagram shows an exploded perspective view of the propeller hub. The propeller hub 71a includes a body 711, a mounting base 715, and a pin 717. The body 711 is hinged to the mounting base 715 via the pin 717, and the mounting base 715 is fixed to the motor 35.

[0090] The body 711 includes two oppositely arranged mounting positions 7110 for mounting the blade 33. The rotation angle R from the mounting position 7110 to the oscillation shaft S of the body 711 satisfies 30°≤R≤60°. The body 711 has a first through hole 7112, and the mounting base 715 has a second through hole 7151. The first through hole 7112 and the second through hole 7151 are coaxial through holes opened along the direction of the oscillation shaft S, through which the pin 717 passes. Preferably, the rotation angle R is 45°.

[0091] The structure of the mounting base 715 is basically the same as that of the mounting base 615 in Embodiment 3, and will not be described again here.

[0092] The propeller hub 71a further includes a damping element 718, which is conical in shape. One end of the damping element 718 is fixed to the base plate of the mounting base 715, and the other end abuts against the body 711. In this embodiment, the damping element 718 is engaged and fixed to the mounting base 715, such as... Figure 17 As shown, the damping member 718 is provided with a locking groove 7181 facing the mounting base 715. The mounting base 715 is provided with a through hole 7158 and a buckle 7159 on the inner wall of the through hole 7158 corresponding to the damping member 718. The locking groove 7181 and the buckle 7159 cooperate to fix the damping member 718.

[0093] In some embodiments, the damping element is spherical.

[0094] It is understood that, similarly, in this embodiment, the rotor hub 71a rotates clockwise, the body 711 flips up and down, and the pin 717 passes through the second through hole 7151 and the first through hole 7112, thereby obtaining the body of the rotor hub that rotates counterclockwise.

[0095] In some embodiments, such as Figure 18A and 18B As shown, the body 811 has a hollow structure, and the hub 81a also includes a stacked bearing 816 and a washer 819, with the bearing 816 and the washer 819 sleeved on the outside of the end of the pin 817.

[0096] Compared with the prior art, the UAV 100 provided in this embodiment of the utility model has the following technical effects:

[0097] 1. Active pitch angle of attack correction: The rotor hub is equipped with a oscillation shaft S, and the rotation angle R from the mounting position to the oscillation shaft satisfies 30°≤R≤60°. This allows the rotor hub to float and oscillate around the oscillation shaft S, enabling the pitch complementarity of the blades on both sides of the rotor hub. This allows the rotor to autonomously adapt to the lift balance error generated by the rotor, achieving lift complementarity and improving flight stability.

[0098] 2. Floating oscillating structure: The rotor hub is provided with an oscillating shaft S, and the rotation angle R from the mounting position to the oscillating shaft satisfies 30°≤R≤60°. The rotor hub 31 oscillates around the oscillating shaft S, which can consume the impulse generated by the lift difference through oscillation, reduce vibration transmission, mitigate and disperse the stress generated during rotor operation, and improve service life.

[0099] 3. Reduce the amplitude of rotor oscillation. Since the blades at both ends actively adjust the pitch during oscillation, the actual oscillation range does not need to be too large to achieve this characteristic. Reducing the oscillation amplitude can prevent the blades from hitting the arms, fuselage and other structures during oscillation.

[0100] 4. Interoperable clockwise and counterclockwise rotating parts: The parts used in the clockwise and counterclockwise rotating propeller hubs are interchangeable, increasing batch production capacity, reducing costs, and minimizing inventory backlog. For users, the interchangeable parts also make repair and maintenance more convenient.

[0101] 5. Improved Flight Control Computer Performance: In existing drones, the lift difference caused by wind resistance and the gyroscopic effect generated by rotor rotation are converted into "excess lift," causing the drone to pitch up. In existing technologies, this excess lift is corrected by the flight control computer sending commands to the motor speed controller. This process involves hundreds of command corrections per second, which places a heavy burden on the flight controller's computation. The repeated acceleration and deceleration of the motor speed controller is also a significant drain on resources. The drone 100 provided in this embodiment uses active pitch angle of attack correction, which changes the airflow stability at a physical level, greatly reducing the computational burden on the flight controller.

[0102] 6. Damped Oscillation Structure: Along the oscillation direction of the main body, the damping element is provided between the mounting base and the main body. During the oscillation process, the damping element buffers the constantly changing blade pitch. That is, through the buffering of the damping element, the angle of attack changes more gently, so as to reduce the situation where the oscillation process is too violent, causing the rotor rotation surface to become chaotic, which in turn leads to over-correction of the active pitch angle of attack.

[0103] 7. Noise reduction: By using active pitch correction, the problem of airflow turbulence is balanced and improved. During the process of balancing lift, the blade angle of attack has the characteristics of a small frontal surface and a large rearward surface, which reduces the generation of useless air turbulence and keeps the effective lift of the blades at both ends at a balance point, which can also reduce the generation of noise.

[0104] 8. Energy saving and high efficiency: The drone 100 provided in this embodiment of the utility model has reduced useless consumption and vibration is only 20% of the traditional setting, which improves the overall efficiency and extends the service life of the mechanical structure.

[0105] The above description is only a part of the embodiments of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the contents of the utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A propeller hub, comprising a body, characterized in that, The body has a swing shaft and can swing around the swing shaft; the propeller hub also includes: Mounting base, the main body is mounted on the mounting base; A damping element is provided, which is sandwiched between the mounting base and the body along the swing direction of the body, and is used to dampen the swing motion of the body.

2. The propeller hub according to claim 1, characterized in that, The damping element is disposed in contact with the body.

3. The propeller hub according to claim 1, characterized in that, The damping element is positioned in contact with the mounting base.

4. The propeller hub according to claim 1, characterized in that, The main body and one end of the mounting base are hinged together with the oscillating shaft as the rotation axis. The damping element is sleeved on the mounting base, or... The propeller hub also includes a center seat, which is fixed to the body. The center seat and one end of the mounting base are connected by a hinge with the oscillation shaft as the rotation axis. The damping element is sleeved on the mounting base.

5. The propeller hub according to claim 1, characterized in that, The mounting base includes a first side plate, a base plate, and a second side plate connected in sequence. The first side plate and the second side plate are hinged to the body with the swing axis as the rotation axis. The damping element is provided on the base plate.

6. The propeller hub according to claim 5, characterized in that, The damping component is provided with a locking groove facing the mounting base. The mounting base is provided with a through hole and a buckle on the inner wall of the through hole corresponding to the damping component. The locking groove and the buckle cooperate to fix the damping component.

7. The propeller hub according to claim 1, characterized in that, The damping element is made of an elastic material that responds nonlinearly to the applied pressure.

8. The propeller hub according to claim 1, characterized in that, The damping component is a rubber damping component, a grease damping controller, or a hydraulic damper.

9. A rotor, comprising a hub, blades, and a motor, characterized in that, The propeller hub is as described in any one of claims 1-8, the propeller blades are mounted on the body, and the motor drives the propeller hub and the propeller blades to rotate.

10. A drone, comprising a fuselage, arms, and rotors, characterized in that, The rotor is the rotor as described in claim 9.

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