阅读说明：本技术 一种多旋翼无人机适时调速内齿行星轮系机构 (Multi-rotor unmanned aerial vehicle timely speed regulation internal tooth planetary gear train mechanism ) 是由 不公告发明人 于 2019-04-25 设计创作，主要内容包括：一种多旋翼无人机适时调速内齿行星轮系机构,属于无人机技术领域。本发明的一种多旋翼无人机适时调速内齿行星轮系机构,其组成包括旋翼、行星轮系、发动机、调速电机及蜗杆；所述的调速电机的输出轴与蜗杆的一端传动连接,所述的蜗杆与行星轮系的内齿圈啮合；所述的发动机的输出轴与行星轮传动机构的中心轮单向或固定连接,所述的旋翼与行星轮系的系杆中部单向或固定连接。本发明解决了油动多旋翼无人机存在各个发动机转速难于保持一致的问题。(A multi-rotor unmanned aerial vehicle internal tooth planetary gear train mechanism with timely speed regulation belongs to the technical field of unmanned aerial vehicles. The invention discloses a multi-rotor unmanned aerial vehicle timely speed regulation internal tooth planetary gear train mechanism, which comprises a rotor, a planetary gear train, an engine, a speed regulation motor and a worm; an output shaft of the speed regulating motor is in transmission connection with one end of a worm, and the worm is meshed with an inner gear ring of the planetary gear train; the output shaft of the engine is unidirectionally or fixedly connected with a central wheel of the planetary gear transmission mechanism, and the rotor wing is unidirectionally or fixedly connected with the middle part of the tie rod of the planetary gear train. The invention solves the problem that the rotation speeds of all engines of the oil-driven multi-rotor unmanned aerial vehicle are difficult to keep consistent.)

1. A multi-rotor unmanned aerial vehicle internal tooth planetary gear train mechanism with timely speed regulation comprises a rotor (1), a planetary gear train (2), an engine (3), a speed regulation motor (4) and a worm (5); the planetary gear train (2) comprises a central gear (26), an inner gear ring (27), a tie rod (28) and 1 or more planetary gears (29).

2. The method of claim 1, wherein: an output shaft of the speed regulating motor (4) is in transmission connection with one end of a worm (5), and the worm (5) is meshed with an inner gear ring (27) of the planetary gear train (2); the output shaft of the engine (3) is in transmission connection with a central wheel (26) of the planetary gear train (2), and the rotor (1) is in unidirectional or fixed connection with the middle part of a tie rod (28) of the planetary gear train (2).

3. The method of claim 1, wherein: the planetary gear train (22) comprises a central gear (26), an inner gear ring (27), a tie rod (28) and 1 or more planetary gears (29); the central wheel (26) and the planet wheels (29) are arranged in the inner gear ring (27), the central wheel (26) is meshed with the planet wheels (29), the planet wheels (29) are meshed with the inner gear ring (27), and two ends of a wheel shaft of the central wheel (26) and the two ends of a wheel shaft of the planet wheels (29) are respectively connected with the tie rod (28) in a rotating mode through bearings.

4. The method of claim 1, wherein: the inner gear ring (27) is fixed with a worm wheel, the inner gear ring and the worm wheel can be split, namely the inner gear ring and the worm wheel are two parts and are fixedly connected together in the form of bolts, rivets, welding, jackscrews, keys, or designed specific structures and the like, and at the moment, gear teeth and worm wheel teeth can not be on the same plane; the gear ring can also be integrated, namely the inner side of the gear ring is provided with gear teeth, the outer side of the gear ring is provided with worm gear teeth, and the gear teeth and the worm gear teeth can not be on the same plane.

Technical Field

The invention relates to a gear train mechanism of an unmanned aerial vehicle transmission system, in particular to a multi-rotor unmanned aerial vehicle speed-regulating internal tooth planetary gear train mechanism in due time, and belongs to the technical field of unmanned aerial vehicles.

Background

Oil moves many rotor unmanned aerial vehicle because of having better anti-wind ability, carrying characteristics such as big, duration strong, also is common plant protection unmanned aerial vehicle kind on the market. At present, the effective load of the existing oil-driven multi-rotor unmanned aerial vehicle on the market generally varies from 30L to 80L, and the working efficiency of the oil-driven multi-rotor unmanned aerial vehicle with the load of 60kg is about 3000 mu/day to 5000 mu/day.

The oil-driven multi-rotor unmanned aerial vehicle can be divided into an oil-driven variable pitch and an oil-driven direct drive according to a control mode. The oil-driven variable pitch has the disadvantages of complex structure, difficult operation and control, high maintenance difficulty, high requirement on operators and obvious defects; and the common oil moves speed governing unmanned aerial vehicle is oil and moves many rotors and directly drive the type. A plurality of engines are adopted to provide power, each engine drives a rotor, the pitch is fixed, the rotating speed of the rotor is changed by adjusting the rotating speed of the engine, and then the lift force is changed. However, this method has disadvantages of a large number of engines, difficulty in control, a large amount of maintenance work, and low engine operating efficiency.

Disclosure of Invention

Aiming at the defects of the existing multi-rotor oil-driven unmanned aerial vehicle, the invention aims to provide a multi-rotor unmanned aerial vehicle speed-regulating internal tooth planetary gear train mechanism in good time, solves the problems that the existing multi-rotor oil-driven unmanned aerial vehicle is difficult to control and the rotor rotation speeds are difficult to ensure consistency, and greatly improves the working efficiency of an engine. The gear train structure has the advantages of simple structure, accurate control, high reliability and stability and the like.

In order to solve the problems, the technical scheme of the invention is to provide a timely speed regulation internal tooth planetary gear train mechanism of a multi-rotor unmanned aerial vehicle, which mainly comprises a rotor 1, a planetary gear train 2, an engine 3, a speed regulation motor 4 and a worm and gear pair 5 and is characterized in that.

The planetary gear train 2 comprises a central gear 26, an inner gear ring 27, a tie rod 28 and two or more planetary gears 29 which are symmetrical about the central gear 26; the sun wheel 26 is in external engagement with two or more planet wheels 29; the planet wheel 29 is internally meshed with the inner gear ring 27; the central wheel 26 and the two or more planet wheels 29 are rotatably connected to the tie rod 28 at their respective wheel axle ends by bearings.

The inner gear ring (27) is fixed with a worm wheel, the inner gear ring and the worm wheel can be split, namely the inner gear ring and the worm wheel are two parts and are fixedly connected together in the form of bolts, rivets, welding, jackscrews, keys, or designed specific structures and the like, and at the moment, gear teeth and worm wheel teeth can not be on the same plane; the gear ring can also be integrated, namely the inner side of the gear ring is provided with gear teeth, the outer side of the gear ring is provided with worm gear teeth, and at the moment, the gear teeth and the worm gear teeth are not on the same plane and are relatively static in the planetary gear train 2.

The output shaft of the engine 3 is connected with the central gear 26 in the planetary gear train 2 in a one-way or fixed way.

The rotor 1 is connected with the middle part of the tie bar 28 in the planetary gear train 2 in a one-way or fixed way.

And an output shaft of the speed regulating motor 4 is in transmission connection with one end of a worm of the worm-gear pair 5.

The worm of the worm-and-gear pair 5 is meshed with the gear teeth fixed on the inner gear ring 27 in the planetary gear train 2.

Compared with the prior art, the invention has the beneficial effects that: according to the invention, the multi-rotor unmanned aerial vehicle timely speed regulation internal tooth planetary gear train mechanism transmits power to each rotor through the planetary gear train mechanism, so that the flight requirement is met. And the rotation speed of each rotor wing is kept consistent when the unmanned aerial vehicle takes off, lands and hovers. Meanwhile, under the condition that the rotating speed of an engine and the pitch of a rotor wing are not changed, the unmanned aerial vehicle can move in pitching, rolling, yawing and other degrees of freedom.

The rotating speed of the rotor wing is equal to the combined speed of the rotating speed of the planetary gear train powered by the engine and the rotating speed of the inner gear ring driven by the worm, so that different rotating speeds of different rotor wings are accurately realized. The unmanned aerial vehicle system has the advantages of improving the controllability, maintainability and reliability of the unmanned aerial vehicle system, and solving the problem that the rotating speeds of the rotors of the existing oil-driven multi-rotor unmanned aerial vehicle system are difficult to keep consistent.

Drawings

Fig. 1 is a front view schematically showing the overall structure of the present invention.

Fig. 2 is a top view of fig. 1, with the rotor not shown.

The names and reference numerals of the components in the above figures are summarized as follows.

The system comprises a rotor 1, a planetary gear train 2, an engine 3, a speed regulating motor 4, a worm and gear pair 5, a central gear 26, an inner gear ring 27, a tie rod 28 and a planetary gear 29.

Detailed Description

The technical solution of the present invention is further described below with reference to the accompanying drawings, but not limited thereto, and any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention shall be covered by the protection scope of the present invention.