阅读说明：本技术 一种多旋翼无人机传动机构 (Many rotor unmanned aerial vehicle drive mechanism ) 是由 曹元宝 刘衍涛 于 2020-11-03 设计创作，主要内容包括：本发明属于多旋翼无人机技术领域,尤其涉及一种多旋翼无人机传动机构。从发动机到旋翼的传动路径包含：发动机输出端减速器、软轴、软轴输出端减速器、刚性轴和旋翼端减速器；其中,发动机输出轴与发动机输出端减速器输入轴相连,发动机输出端减速器输出轴与软轴输入端相连,软轴输出端与软轴输出端减速器输入端相连,软轴输出端减速器输出端与刚性轴输入端相连,刚性轴输出端与旋翼端减速器输入端相连,旋翼端减速器输出端与旋翼相连。发动机通过新型的传统机构直接驱动旋翼,简化传动机构,降低重量,提高效率。(The invention belongs to the technical field of multi-rotor unmanned aerial vehicles, and particularly relates to a transmission mechanism of a multi-rotor unmanned aerial vehicle. The transmission path from the engine to the rotor includes: the speed reducer at the output end of the engine, the flexible shaft, the speed reducer at the output end of the flexible shaft, the rigid shaft and the speed reducer at the rotor wing end; the output end of the engine output end speed reducer is connected with the input end of the engine output end speed reducer, the output end of the engine output end speed reducer is connected with the input end of the flexible shaft, the output end of the flexible shaft output end speed reducer is connected with the input end of the flexible shaft output end speed reducer, the output end of the rigid shaft is connected with the input end of the rotor wing end speed reducer, and the output end of the rotor wing end speed reducer is connected with the rotor wing. The engine passes through neotype traditional mechanism direct drive rotor, simplifies drive mechanism, reduces weight, raises the efficiency.)

1. A multi-rotor drone transmission, characterized by a transmission path from the engine to the rotor comprising: the speed reducer at the output end of the engine, the flexible shaft, the speed reducer at the output end of the flexible shaft, the rigid shaft and the speed reducer at the rotor wing end;

the output end of the engine output end speed reducer is connected with the input end of the engine output end speed reducer, the output end of the engine output end speed reducer is connected with the input end of the flexible shaft, the output end of the flexible shaft output end speed reducer is connected with the input end of the flexible shaft output end speed reducer, the output end of the rigid shaft is connected with the input end of the rotor wing end speed reducer, and the output end of the rotor wing end speed reducer is connected with the rotor wing.

2. The multi-rotor drone transmission of claim 1,

the front output end and the rear output end of the engine are respectively provided with an engine output end speed reducer, and the number of the output shafts of the front engine output end speed reducer and the rear engine output end speed reducer meets the following relation:

4≤N1+N2≤8

|N1-N2|≤1

wherein: n1 is the number of output shafts of the speed reducer at the output end of the front engine, and N2 is the number of output shafts of the speed reducer at the output end of the rear engine.

3. The multi-rotor drone transmission of claim 1,

the included angle between the output shaft and the input shaft of the engine output end speed reducer is 0-45 degrees, the output shafts of the engine output end speed reducer are uniformly distributed along the circumferential direction of the engine output shaft, and the reduction ratio from the input shaft of the engine output end speed reducer to the output shaft of the engine output end speed reducer is 0.2-5.

4. The multi-rotor drone transmission of claim 1,

the flexible shaft is a steel wire winding type power flexible shaft, the diameter of the flexible shaft is smaller than 20mm, and the included angle between the input end of the flexible shaft and the output end of the flexible shaft is smaller than 30 degrees.

5. The multi-rotor drone transmission of claim 4,

the flexible shaft output end speed reducer is integrated with a universal coupling, the reduction ratio from the input end of the flexible shaft output end speed reducer to the output end of the flexible shaft output end speed reducer is 2-6, and an included angle of 0-120 degrees can be provided between the input shaft of the flexible shaft output end speed reducer and the output shaft of the flexible shaft output end speed reducer in any direction.

6. The multi-rotor drone transmission of claim 1,

inside rigid axle passed through the rotor bracing piece, rigid axle's size satisfied:

10mm≤D≤30mm

9mm≤d≤28mm

1.07≤D/d≤1.12

wherein: d is the outer diameter of the rigid shaft, and D is the inner diameter of the rigid shaft.

7. The multi-rotor drone transmission of claim 6,

the rigid shaft is in a carbon fiber or aluminum alloy hollow tube structure.

8. The transmission mechanism of the multi-rotor unmanned aerial vehicle according to claim 1, wherein an included angle between an output shaft and an input shaft of the rotor-end reducer is 90 degrees, and a transmission ratio from the input shaft to the output shaft of the rotor-end reducer is 0.2-1.

Technical Field

The invention belongs to the technical field of multi-rotor unmanned aerial vehicles, and particularly relates to a transmission mechanism of a multi-rotor unmanned aerial vehicle.

Background

Present small-size many rotor unmanned aerial vehicle generally adopts pure electric drive, because of battery energy density is low, along with unmanned aerial vehicle's weight increase, pure electric drive many rotor unmanned aerial vehicle efficiency greatly reduced, the duration is limited, has seriously influenced many rotor unmanned aerial vehicle's application.

Adopt the mixed moving scheme of engine + motor to become large-scale many rotor unmanned aerial vehicle's development direction, but at the many rotor unmanned aerial vehicle of 60-200kg rank, because of weight restriction, lead to the fuel loading volume limited, the advantage of engine is hardly exerted, and has increased equipment such as engine, leads to the fuselage gross weight to increase, and efficiency promotes limitedly for pure electric drive, and accompanies energy conversion loss.

Because of many rotor unmanned aerial vehicle's rotor is more, and inner space is complicated, and most space is occupied by equipment, leads to the transmission shaft can't reach the rotor position in fuselage inside. Through many rotor unmanned aerial vehicle of engine direct drive, but internal many rotor unmanned aerial vehicle field do not have reference experience.

Disclosure of Invention

According to the technical scheme, in order to avoid the situation that the efficiency is low due to the fact that a 60-200 kg-grade multi-rotor unmanned aerial vehicle adopts two transmission modes of pure electric driving and hybrid electric oil-electric driving, the technical scheme of the invention adopts a novel multi-rotor unmanned aerial vehicle transmission mechanism, and an engine directly drives rotors through a novel traditional mechanism, so that the transmission mechanism is simplified, the weight is reduced, and the efficiency is improved.

In order to achieve the purpose, the invention is realized by adopting the following technical scheme.

A multi-rotor drone transmission, the transmission path from the engine to the rotors comprising: the speed reducer at the output end of the engine, the flexible shaft, the speed reducer at the output end of the flexible shaft, the rigid shaft and the speed reducer at the rotor wing end;

the output end of the engine output end speed reducer is connected with the input end of the engine output end speed reducer, the output end of the engine output end speed reducer is connected with the input end of the flexible shaft, the output end of the flexible shaft output end speed reducer is connected with the input end of the flexible shaft output end speed reducer, the output end of the rigid shaft is connected with the input end of the rotor wing end speed reducer, and the output end of the rotor wing end speed reducer is connected with the rotor wing.

The technical scheme of the invention has the characteristics and further improvements that:

(1) the front output end and the rear output end of the engine are respectively provided with an engine output end speed reducer, and the number of the output shafts of the front engine output end speed reducer and the rear engine output end speed reducer meets the following relation:

4≤N1+N2≤8

|N1-N2|≤1

wherein: n1 is the number of output shafts of the speed reducer at the output end of the front engine, and N2 is the number of output shafts of the speed reducer at the output end of the rear engine.

(2) The included angle between the output shaft and the input shaft of the engine output end speed reducer is 0-45 degrees, the output shafts of the engine output end speed reducer are uniformly distributed along the circumferential direction of the engine output shaft, and the reduction ratio from the input shaft of the engine output end speed reducer to the output shaft of the engine output end speed reducer is 0.2-5.

(3) The flexible shaft is a steel wire winding type power flexible shaft, the diameter of the flexible shaft is smaller than 20mm, and the included angle between the input end of the flexible shaft and the output end of the flexible shaft is smaller than 30 degrees.

(4) The flexible shaft output end speed reducer is integrated with a universal coupling, the reduction ratio from the input end of the flexible shaft output end speed reducer to the output end of the flexible shaft output end speed reducer is 2-6, and an included angle of 0-120 degrees can be provided between the input shaft of the flexible shaft output end speed reducer and the output shaft of the flexible shaft output end speed reducer in any direction.

(5) Inside rigid axle passed through the rotor bracing piece, rigid axle's size satisfied:

10mm≤D≤30mm

9mm≤d≤28mm

1.07≤D/d≤1.12

wherein: d is the outer diameter of the rigid shaft, and D is the inner diameter of the rigid shaft.

(6) The rigid shaft is in a carbon fiber or aluminum alloy hollow tube structure.

(7) The included angle between the output shaft and the input shaft of the rotor end speed reducer is 90 degrees, and the transmission ratio from the input shaft to the output shaft of the rotor end speed reducer is 0.2-1.

According to the technical scheme, the two reducers at the output ends of the engines are arranged in the front and the back, so that the angle of each rotor wing transmission link can be effectively reduced; the flexible shaft is flexibly arranged, so that the internal structure and system of the unmanned aerial vehicle can be avoided; the rigid shaft is positioned in the rotor wing stay bar, so that the space can be effectively utilized, higher rotating speed is provided, and the vibration level is reduced; the speed reducer at the output end of the flexible shaft can adjust the included angle of two ends of the flexible shaft, reduce the bending of the flexible shaft, improve the transmission efficiency of the flexible shaft, and adjust the rotating speed ratio between the flexible shaft and the hard shaft according to the rotating speed relation between the rotating speed of the engine and the rotating speed of the rotor wing.

Drawings

Fig. 1 is a schematic structural diagram of a transmission mechanism of a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is an enlarged view of portion B of FIG. 1;

wherein, 1-engine output end reducer, 2-flexible shaft, 3-flexible shaft output end reducer, 4-rigid shaft, and 5-rotor end reducer.

Detailed Description

The technical scheme of the invention is suitable for the multi-rotor unmanned aerial vehicle with the rotors ranging from 4 (inclusive) to 8 (inclusive), an engine capable of outputting forwards and backwards is adopted, an engine output end speed reducer is respectively arranged at the front output end and the rear output end of the engine, and the number of the output shafts of the front speed reducer and the rear speed reducer meets the following relation:

4≤N1+N2≤8

|N1-N2|≤1

wherein: n1 is the number of front output shafts and N2 is the number of rear output shafts.

As shown in fig. 1, each drive link comprises 5 sections: the engine output end speed reducer, the flexible shaft output end speed reducer, the rigid shaft and the rotor wing end speed reducer. The connection mode from the output end of the engine to the rotor wing is as follows: the output shaft of the engine is connected with the input shaft of the speed reducer at the output end of the engine, the output shaft of the speed reducer at the output end of the engine is connected with the input end of the flexible shaft, the output end of the flexible shaft is connected with the input end of the speed reducer at the output end of the flexible shaft, the output end of the speed reducer at the output end of the flexible shaft is connected with the input end of the rigid shaft, the output end of the rigid. Fig. 2 and 3 are enlarged schematic views of A, B in fig. 1.

The included angle between the output shaft and the input shaft of the engine output end speed reducer is 0-45 degrees, the output shafts are uniformly distributed along the circumferential direction of the engine output shaft, and the reduction ratio from the input shaft to the output shaft is 0.2-5.

The flexible shaft is a steel wire winding type power flexible shaft, and the diameter of the flexible shaft is less than 20 mm;

the reducer at the output end of the flexible shaft is integrated with a universal coupling, the reduction ratio from the input end to the output end is 2-6, an included angle of 0-120 degrees can be provided between the input shaft and the output shaft in any direction, and the included angle between the input end and the output end of the flexible shaft is ensured to be less than 30 degrees;

inside the rigid axle passes through the rotor bracing piece, for carbon fiber or aluminum alloy hollow tube structure, the size of rigid axle satisfies:

10mm≤D≤30mm

9mm≤d≤28mm

1.07≤D/d≤1.12

wherein: d-rigid shaft outer diameter and D-rigid shaft inner diameter.

The included angle between the output shaft and the input shaft of the speed reducer at the rotor wing end is 90 degrees, and the transmission ratio from the input shaft to the output shaft is 0.2-1.

The transmission mechanism provided by the technical scheme of the invention comprises 5 parts: the speed reducer at the output end of the engine, the flexible shaft, the speed reducer at the output end of the flexible shaft, the rigid shaft and the speed reducer at the rotor wing end; the sum of the output shafts of the reducers at the output ends of the front engine and the rear engine is less than or equal to 8, and the absolute value of the difference is less than or equal to 1; the rigid shaft is positioned in the rotor wing support rod, and the tangential included angle of two ends of the flexible shaft is less than 30 degrees; the reducer at the output end of the flexible shaft is integrated with a universal coupling, and can provide steering and speed reducing functions.

According to the technical scheme, the two reducers at the output ends of the engines are arranged in the front and the back, so that the angle of each rotor wing transmission link can be effectively reduced; the flexible shaft is flexibly arranged, so that the internal structure and system of the unmanned aerial vehicle can be avoided; the rigid shaft is positioned in the rotor wing stay bar, so that the space can be effectively utilized, higher rotating speed is provided, and the vibration level is reduced; the speed reducer at the output end of the flexible shaft can adjust the included angle of two ends of the flexible shaft, reduce the bending of the flexible shaft, improve the transmission efficiency of the flexible shaft, and adjust the rotating speed ratio between the flexible shaft and the hard shaft according to the rotating speed relation between the rotating speed of the engine and the rotating speed of the rotor wing.