CN214648975U - Propeller and unmanned airship - Google Patents

Abstract

The utility model provides a propeller and an unmanned airship, wherein the propeller comprises an outer layer rotating mechanism, an inner layer rotating mechanism and a power propelling mechanism which are arranged from outside to inside in sequence; the outer layer rotating mechanism rotates around the Z-axis direction; the inner layer rotating mechanism rotates around the Y-axis direction; the inner layer rotating mechanism is rotationally connected with the outer layer rotating mechanism; the power propulsion mechanism is rotationally connected with the inner side rotating mechanism. The utility model provides a propeller is through setting up rotation opposite direction's outer slewing mechanism and inlayer slewing mechanism to combine power advancing mechanism, make the propeller can provide the power of all directions in the orientation space, can provide multi freedom's vector propulsion for unmanned airship, thereby can realize the translation of unmanned airship, help improving unmanned airship's mobility, enlarge unmanned airship's application scene.

Description

Propeller and unmanned airship

Technical Field

The utility model relates to an aircraft technical field particularly, relates to a propeller and unmanned dirigible.

Background

The current unmanned aerial vehicle technology develops rapidly, and unmanned aerial vehicles of various forms have obtained extensive application under different trades, different scenes. However, along with the popularization of unmanned aerial vehicle application, the problem that unmanned aerial vehicle brought also is more obvious, for example, cause the crash accident frequently because of the unmanned aerial vehicle poor reliability, several kilograms to several hundred kilograms of unmanned aerial vehicles fall the safety problem of bringing from several hundred meters high altitude and can't be in a small amount, consequently, unmanned aerial vehicle can't use in personnel's gathering area, and unmanned aerial vehicle's application still receives the restriction.

The unmanned airship is an aircraft which can be emptied for a long time, has a certain loading capacity and is stable in flight; the main lift source of unmanned dirigible is, because the helium density of hull part is far less than the buoyancy that air density and produced, when losing power or system fault, unmanned dirigible still can keep the suspended state, is unlikely to fall to if can use unmanned dirigible to replace unmanned aerial vehicle in personnel's gathering district and accomplish the task, can greatly improve the operation security.

The unmanned airship of tradition generally can be divided into hull, cabin and power device, and wherein the hull is responsible for providing buoyancy, makes unmanned airship reach balanced state under the combined action of gravity and buoyancy, can hover aloft. The hull is also generally provided with a stabilizing surface or a control surface, and the unmanned airship is stabilized and controlled by utilizing the relative motion with air in the motion process of the unmanned airship.

The propeller of traditional unmanned dirigible generally only can be rotatory around the Y axle parallel with hull width direction, and its turned angle scope is generally not more than ± 90 to provide the vector thrust in the XZ plane to unmanned dirigible, the thrust direction is at the Z axle positive direction, the Y axle positive direction, the arbitrary rotation between the Z axle negative direction (X axle direction indicates the length direction of hull in this application, and Z axle direction indicates the direction of height of hull), and the reversal of thrust is realized through the positive negative pitch of adjustment screw. Under the condition that the unmanned airship only has the function of a propeller, the unmanned airship can fly back and forth and up and down, the stabilizing surface and the control surface are matched in the motion process, and the unmanned airship can move forward and turn, and the hybrid flight of two or more than two of the three motions can be realized.

However, because the conventional propeller cannot provide thrust in the X-axis direction, and the unmanned airship cannot realize transverse translation, when the space is small, the unmanned airship is easy to move in corners or places with obstacles, and the unmanned airship is limited in movement due to the fact that the unmanned airship does not have lateral flying capability.

SUMMERY OF THE UTILITY MODEL

The utility model provides a problem be that unmanned airship can't realize horizontal translation.

In order to solve the problems, the utility model provides a propeller, which comprises an outer layer rotating mechanism, an inner layer rotating mechanism and a power propelling mechanism which are arranged in sequence from outside to inside; wherein,

the outer layer rotating mechanism rotates around the Z-axis direction;

the inner layer rotating mechanism rotates around the Y-axis direction;

the inner layer rotating mechanism is rotationally connected with the outer layer rotating mechanism;

the power propulsion mechanism is rotationally connected with the inner layer rotating mechanism.

Optionally, the outer layer rotating mechanism comprises an outer layer rotating mechanism body, an outer layer rotating shaft and a first server; the outer layer rotating shafts are distributed along the Z-axis direction; the first server drives the outer layer rotating mechanism body to rotate around the Z axis direction through the outer layer rotating shaft.

Optionally, the outer layer rotating mechanism body is of an annular structure.

Optionally, the outer layer rotating mechanism body is of a circular ring structure.

Optionally, the inner layer rotating mechanism comprises an inner layer rotating mechanism body, an inner layer rotating shaft and a second server; the inner layer rotating shaft is distributed along the Y-axis direction; the inner layer rotating shaft is connected with the outer layer rotating mechanism body; the second server drives the inner layer rotating mechanism body to rotate around the Y axis direction through the inner layer rotating shaft.

Optionally, the inner rotating mechanism body has a rectangular structure.

Optionally, the rotation center of the inner layer rotating mechanism body coincides with the rotation center of the outer layer rotating mechanism body.

Optionally, the power propulsion mechanism comprises a propeller, and a brushless motor connected to the propeller; the bottom end of the brushless motor is connected with the inner layer rotating mechanism.

Optionally, the center of the propeller coincides with the rotation center of the outer layer rotating mechanism body.

Another object of the utility model is to provide an unmanned dirigible, include as above the propeller.

Compared with the prior art, the utility model provides a propeller has following advantage:

the utility model provides a propeller is through setting up rotation opposite direction's outer slewing mechanism and inlayer slewing mechanism to combine power advancing mechanism, make the propeller can provide the power of all directions in the orientation space, can provide multi freedom's vector propulsion for unmanned airship, thereby can realize the translation of unmanned airship, help improving unmanned airship's mobility, enlarge unmanned airship's application scene.

Drawings

Fig. 1 is a schematic view of a propeller according to the present invention;

fig. 2 is a schematic diagram of the structure of the middle propeller of the present invention.

Description of reference numerals:

1-an outer layer rotating mechanism; 11-outer layer rotating mechanism body; 12-outer layer rotating shaft; 13-a first server; 2-inner layer rotating mechanism; 21-inner layer rotating mechanism body; 22-inner layer rotating shaft; 23-a second server; 3-a power propulsion mechanism; 31-a propeller; 32-brushless motor.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention, and all other embodiments obtained by those skilled in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "circumferential", "radial", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for the purpose of simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first" and "second" are used merely to simplify the description and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present disclosure, unless otherwise expressly stated or limited, a first feature "on" or "under" a first feature may comprise the first feature and a second feature in direct contact, or may comprise the first feature and the second feature not in direct contact but in contact with each other through another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. The first feature being "under," "below," and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or merely indicates that the first feature is at a lower level than the second feature.

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.

In order to solve the problem that the existing unmanned airship cannot realize transverse translation, the utility model provides a propeller, as shown in fig. 1, which comprises an outer layer rotating mechanism 1, an inner layer rotating mechanism 2 and a power propelling mechanism 3 which are arranged in sequence from outside to inside; wherein, the outer layer rotating mechanism 1 rotates around the Z-axis direction; the inner layer rotating mechanism 2 rotates around the Y-axis direction; the inner layer rotating mechanism 2 is rotationally connected with the outer layer rotating mechanism 1; the power propulsion mechanism 3 is rotationally connected with the inner layer rotating mechanism 2.

The specific directions of the X axis, the Y axis and the Z axis are shown in figure 1; the application provides a propeller is arranged in unmanned dirigible time, uses the direction of advance of unmanned dirigible to be X axle positive direction, uses unmanned dirigible right side to be Y axle positive direction, uses perpendicular hull upwards to be Z axle positive direction.

According to the propeller provided by the application, the power is provided for the unmanned airship through the power propulsion mechanism 3, and the flying direction of the unmanned airship is controlled through the outer-layer rotating mechanism 1 and the inner-layer rotating mechanism 2; because the rotation directions of the outer layer rotating mechanism 1 and the inner layer rotating mechanism 2 are perpendicular to each other, the vector thrust in an xz plane can be provided for the unmanned airship and also can be provided for the unmanned airship through the outer layer rotating mechanism 1 and the inner layer rotating mechanism 2, so that the power of the propeller can be oriented to all directions in space, the power of the power pushing mechanism 3 is matched for adjusting, the unmanned airship can realize transverse translation, the application scene of the unmanned airship is further expanded, and the improvement of the maneuverability of the unmanned airship is facilitated.

In the traditional unmanned airship, the pitch-variable structure is realized by driving a propeller rotating at a high speed to rotate around a blade chord line, and a driver with strong power is required to drive, so that the complexity and the instability of the structure of the unmanned airship are increased; the application provides a propeller, owing to can realize the power direction towards each direction in the space, need not rotate around the paddle chord line through the high-speed rotatory screw of drive and realize the displacement, consequently, compare with traditional unmanned dirigible, through the propeller that this application provided, help simplifying unmanned dirigible driving system's displacement structure.

The application provides a propeller sets gradually from outside to inside through with outer slewing mechanism 1, inlayer slewing mechanism 2 and power advancing mechanism 3, still helps simplifying the structure of propeller, improves the compactness of propeller structure, reduces occupation space.

The utility model provides a propeller is through setting up rotation opposite direction's outer slewing mechanism 1 and inlayer slewing mechanism 2 to combine power advancing mechanism 3, make the propeller can provide the power of all directions in the orientation space, can provide multi freedom's vector propulsion for unmanned airship, thereby can realize the translation of unmanned airship, help improving unmanned airship's mobility, enlarge unmanned airship's application scene.

Specifically, the outer layer rotating mechanism 1 in the present application includes an outer layer rotating mechanism body 11, an outer layer rotating shaft 12 and a first server 13; the outer layer rotating shaft 12 is distributed along the Z-axis direction; the first servo 13 drives the outer layer rotating mechanism body 11 to rotate around the Z-axis direction through the outer layer rotating shaft 12.

The outer layer rotating mechanism 1 is arranged on the outermost layer of the propeller, on one hand, the direction of power is adjusted through rotation, and on the other hand, the connection between other components in the propeller and the unmanned airship is realized; when the propeller is assembled to the unmanned airship, it is preferably connected to the unmanned airship through the outer-layer rotating shaft 12.

The outer layer rotating shaft 12 can be an integral rotating shaft structure passing through the center of the outer layer rotating mechanism body 11, and can also be a split structure; the outer-layer rotating shaft 12 is preferably of a two-section split structure, wherein one section of the outer-layer rotating shaft is located above the outer-layer rotating mechanism body 11 and is used for connecting the upper part of the outer-layer rotating mechanism body 11 with the unmanned airship; the other section is positioned below the outer layer rotating mechanism body 11 and used for connecting the lower part of the outer layer rotating mechanism body 11 with the unmanned airship.

The first servo 13 is used for driving the outer layer rotating mechanism body 11 to rotate, and the first servo 13 can be positioned above or below the outer layer rotating mechanism body 11; the first servo 13 preferably comprises a driving motor, a speed reducing mechanism and a potentiometer, and can provide 45kg.cm of rotation torque; in order to realize the rotation of the outer layer rotating mechanism body 11, the outer layer rotating mechanism 1 in the present application further includes a bearing, a bearing seat, and other structures, and this part of structures is not improved in the present application, and related contents can refer to related records in the prior art, and detailed descriptions of related contents are not repeated herein.

In the application, an 8-wire slip ring is preferably arranged in the outer layer rotating mechanism 1, and the 8-wire slip ring can rotate infinitely for 360 degrees along with the outer layer rotating mechanism 1 and is connected with cables corresponding to the inner side and the outer side of the outer layer rotating mechanism 1; the cable passing through the 8-wire slip ring comprises 2 positive and negative electrodes of a 24V power line, 2 control signal lines of the power propulsion mechanism 3 and 2 control signal lines of the inner layer rotating mechanism 2.

The outer layer rotating mechanism body 11 is preferably of an annular structure; the annular structure may be a square, circular, oval, etc. structure, and it is further preferable that the outer layer rotating mechanism body 11 is an annular structure in the present application.

It should be noted that, in order to improve the stability of the rotating process, the outer layer rotating shaft 12 or the extension line of the outer layer rotating shaft 12 is preferably arranged to pass through the center of the outer layer rotating mechanism body 11.

Similar to the outer layer rotating mechanism 1, the inner layer rotating mechanism 2 in the present application includes an inner layer rotating mechanism body 21, an inner layer rotating shaft 22, and a second server 23; the inner layer rotating shaft 22 is distributed along the Y-axis direction; the inner layer rotating shaft 22 is connected with the outer layer rotating mechanism body 11; the second servo 23 drives the inner rotation mechanism body 21 to rotate about the Y-axis direction via the inner rotation shaft 22.

The inner layer rotating mechanism 2 is positioned in the outer layer rotating mechanism 1, and particularly, the inner layer rotating mechanism 2 is positioned in the outer layer rotating mechanism body 11; the inner layer rotating mechanism body 21 is rotationally connected with the outer layer rotating mechanism body 11 through an inner layer rotating shaft 22; the inner layer rotating shaft 22 can be an integral rotating shaft structure or a split structure; this inner layer pivot 22 of this application preferred is two sections split type structures, and one of them section is located the left end of inner layer slewing mechanism body 21, and another section is located the right-hand member of inner layer slewing mechanism body 21.

The second servo 23 is used for driving the inner layer rotating mechanism body 21 to rotate, and the second servo 23 can be positioned on the left side or the right side of the inner layer rotating mechanism body 21; the second servo 23 preferably comprises a driving motor, a speed reducing mechanism and a potentiometer, and can provide 45kg.cm of rotation torque; in order to realize the rotation of the inner rotating mechanism body 21, the inner rotating mechanism 2 in the present application further includes a bearing, a bearing seat, and other structures, and this part of the structures is not modified in the present application, and related contents can refer to related records in the prior art, and detailed descriptions of related contents are not repeated herein.

In the application, a 6-wire slip ring is preferably arranged in the inner layer rotating mechanism 2, and the 6-wire slip ring can rotate infinitely for 360 degrees along with the inner layer rotating mechanism 2 and is connected with cables corresponding to the inner side and the outer side of the inner layer rotating mechanism 2; the cable passing through the 6-wire slip ring comprises 2 positive and negative electrodes of a 24V power line respectively, and the power propulsion mechanism 3 controls 2 signal wires.

The inner layer rotating mechanism body 21 in the application can be a concave structure or an annular structure; referring to fig. 2, the inner layer rotating mechanism body 21 is preferably a rectangular ring structure.

In the present application, it is preferable that the extension line of the inner layer rotation shaft 22 or the extension line of the inner layer rotation shaft 22 passes through the center of the outer layer rotation mechanism body 11, that is, the rotation center of the inner layer rotation mechanism body 21 coincides with the rotation center of the outer layer rotation mechanism body 11.

The power propulsion mechanism 3 in the present application comprises a propeller 31, and a brushless motor 32 connected to the propeller 31; the bottom end of the brushless motor 32 is connected to the inner layer rotation mechanism 2.

The brushless motor 32 can freely change between 0 and rated power under the drive of the driver; the top of the brushless motor 32 is directly and fixedly connected with the propeller 31, and the propeller 31 rotates under the driving of the brushless motor 32 to generate thrust under the action of air.

Further, the center of the screw 31 of this application preferred coincides with the center of rotation of outer slewing mechanism body 11, that is, to this application, the center of screw 31 is located the centre of a circle of outer slewing mechanism body 11 for the center of outer slewing mechanism body 11 of propeller, the center of inlayer slewing mechanism body 21 and the center of screw 31 coincide, thereby guarantee at the rotatory in-process of screw 31, the line of action of thrust always passes through the center of rotatory outer slewing mechanism 11, and then guarantee can not exert extra torque to slewing mechanism.

In the application, a control channel and a power line are reserved in the first server 13, the second server 23 and the driver of the brushless motor 32; the power supply of the first server 13 and the second server 23 is 7.4V dc, and the power supply of the brushless motor 32 is 24V dc. The first servo 13 and the second servo 23 can rotate at a speed of 0.15sec/60 ° according to the corresponding relationship under the action of the control signal, stop and fix at a certain corresponding angle, and are power sources for two-degree-of-freedom rotation of the propeller.

The utility model provides a propeller, under the drive of first server 13 and second server 23, outer slewing mechanism body 11 and inlayer slewing mechanism body 21 all can carry out 360 unlimited rotations around respective pivot, the thrust of the variation in size that collocation brushless motor 32 produced for this propeller can provide along arbitrary direction in the space, the thrust of arbitrary size in motor rated power for unmanned airship, enlarges unmanned airship's range of application.

The utility model provides a propeller, through structural design for the propeller is providing vector thrust and when rotatory, remains thrust action point (the central point of screw 31 promptly) throughout and is in the rotation center, thereby has ensured the fixed of propeller action point, can not cause the line of action of thrust to produce spatial displacement when the propeller changes thrust direction and size, and then has avoided rotary mechanism to produce moment, has improved the stability of propeller work, has optimized the atress condition of unmanned dirigible.

The application provides a propeller, under the combined action of two rotation axiss and server, can provide arbitrary direction, the effort of arbitrary size in motor rated power within range to unmanned dirigible in three-dimensional space, but this effort direct drive unmanned dirigible is to the flight of arbitrary direction, compares with traditional unmanned dirigible for unmanned dirigible has increased the function that the side flies about controlling, has improved the mobility of unmanned dirigible, has enlarged the range of application of unmanned dirigible.

Another object of the present invention is to provide an unmanned airship, which includes the propeller as described above; specifically, the quantity of propeller is two in the unmanned dirigible of this application preferred, and two propellers symmetry respectively set up in the left and right sides of hull.

The utility model provides an unmanned airship, through setting up rotation opposite direction's outer slewing mechanism 1 and inlayer slewing mechanism 2 in the propeller to combine power advancing mechanism 3, make the propeller can provide the power of all directions in the orientation space, can provide multi freedom's vector propulsion for unmanned airship, thereby can realize unmanned airship's translation, help improving unmanned airship's mobility, enlarge unmanned airship's application scene.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and such changes and modifications will fall within the scope of the present invention.

Claims (10)

1. A propeller is characterized by comprising an outer layer rotating mechanism (1), an inner layer rotating mechanism (2) and a power propelling mechanism (3) which are sequentially arranged from outside to inside; wherein,

the outer layer rotating mechanism (1) rotates around the Z-axis direction;

the inner layer rotating mechanism (2) rotates around the Y-axis direction;

the inner layer rotating mechanism (2) is rotationally connected with the outer layer rotating mechanism (1);

the power propulsion mechanism (3) is rotationally connected with the inner layer rotating mechanism (2).

2. The propeller according to claim 1, wherein the outer layer rotating mechanism (1) comprises an outer layer rotating mechanism body (11), an outer layer rotating shaft (12) and a first servo (13); the outer layer rotating shaft (12) is distributed along the Z-axis direction; the first server (13) drives the outer layer rotating mechanism body (11) to rotate around the Z-axis direction through the outer layer rotating shaft (12).

3. A thruster according to claim 2, characterized in that the outer layer turning gear body (11) is of annular configuration.

4. A thruster according to claim 3, characterized in that the outer layer turning gear body (11) is of annular configuration.

5. The propeller according to any one of claims 2 to 4, wherein the inner rotating mechanism (2) comprises an inner rotating mechanism body (21), an inner rotating shaft (22), and a second servo (23); the inner layer rotating shaft (22) is distributed along the Y-axis direction; the inner layer rotating shaft (22) is connected with the outer layer rotating mechanism body (11); the second servo (23) drives the inner layer rotating mechanism body (21) to rotate around the Y-axis direction through the inner layer rotating shaft (22).

6. A thruster according to claim 5, characterized in that the inner layer turning gear body (21) is of rectangular configuration.

7. A propeller according to claim 6, wherein the centre of rotation of the inner layer turning gear body (21) coincides with the centre of rotation of the outer layer turning gear body (11).

8. The thruster according to claim 7, characterized in that the dynamic propulsion means (3) comprise a propeller (31), and a brushless motor (32) connected to the propeller (31); the bottom end of the brushless motor (32) is connected with the inner layer rotating mechanism (2).

9. The thruster according to claim 8, characterized in that the centre of the propeller (31) coincides with the centre of rotation of the outer slewing mechanism body (11).

10. An unmanned airship, comprising a propeller as claimed in any one of claims 1 to 9.

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