WO2019104646A1 - Motor structure and power assembly applied to unmanned aerial vehicle, and unmanned aerial vehicle - Google Patents

Motor structure and power assembly applied to unmanned aerial vehicle, and unmanned aerial vehicle Download PDF

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Publication number
WO2019104646A1
WO2019104646A1 PCT/CN2017/113966 CN2017113966W WO2019104646A1 WO 2019104646 A1 WO2019104646 A1 WO 2019104646A1 CN 2017113966 W CN2017113966 W CN 2017113966W WO 2019104646 A1 WO2019104646 A1 WO 2019104646A1
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WO
WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
motor
buckle
bearing
Prior art date
Application number
PCT/CN2017/113966
Other languages
French (fr)
Chinese (zh)
Inventor
李忠洪
陶志杰
颜学力
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780015478.3A priority Critical patent/CN108834430B/en
Priority to PCT/CN2017/113966 priority patent/WO2019104646A1/en
Publication of WO2019104646A1 publication Critical patent/WO2019104646A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
    • H02K5/167—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using sliding-contact or spherical cap bearings
    • H02K5/1672—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using sliding-contact or spherical cap bearings radially supporting the rotary shaft at both ends of the rotor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/40—Arrangements for mounting power plants in aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms

Definitions

  • the technical solution disclosed in the present application relates to the field of unmanned aerial vehicles, and particularly relates to a motor structure, a power component and an unmanned aerial vehicle applied to an unmanned aerial vehicle.
  • unmanned aerial vehicles can provide lift flight through motor-driven rotors.
  • the technical solution disclosed in the present application can at least solve the following technical problem: the motor applied to the unmanned aerial vehicle can only bear the radial load, or the axial rotation of the rotating shaft of the motor is obvious.
  • One or more embodiments of the present application disclose a motor structure applied to an unmanned aerial vehicle including a stator, a rotor, and a bearing system movably coupled to the stator and the rotor, and a snap structure that receives an axial load of the motor,
  • the snap structure is fixed to a base of the stator and holds a rotating shaft of the rotor;
  • the bearing system includes at least one sliding bearing for receiving an axial load of the motor.
  • One or more embodiments of the present application disclose a power assembly for an unmanned aerial vehicle, including an electronic governor and a plurality of rotors, and an application for controlling and driving a plurality of the rotors to be rotated by the electronic governor
  • An electric motor structure for an unmanned aerial vehicle includes a stator, a rotor, and a bearing system movably connecting the stator and the rotor, and further comprising a buckle structure that receives an axial load of the motor,
  • the snap structure is fixed to a base of the stator and holds a rotating shaft of the rotor;
  • the bearing system includes at least one sliding bearing for receiving an axial load of the motor.
  • an unmanned aerial vehicle including a fuselage, an arm coupled to the fuselage, and a power assembly mounted on the arm, the power assembly including an electronic governor and a rotor and a motor structure for the unmanned aerial vehicle that is controlled by the electronic governor and that drives a plurality of the rotors to rotate, the motor structure applied to the unmanned aerial vehicle including a stator, a rotor, and an activity a bearing system connecting the stator and the rotor, further comprising a snap structure that receives an axial load of the motor, the snap structure being fixed to a base of the stator and holding a rotating shaft of the rotor;
  • the bearing system includes at least one plain bearing for withstanding the axial load of the motor.
  • the motor structure applied to an unmanned aerial vehicle includes a stator, a rotor, and a bearing system movably connecting the stator and the rotor, and further includes a snap structure that receives an axial load of the motor, the snap structure and the stator
  • the base is fixed and holds a rotating shaft of the rotor;
  • the bearing system includes at least one sliding bearing for supporting an axial load of the motor.
  • the buckle structure can axially limit the rotating shaft and bear the axial load of the motor to prevent the rotating shaft from tilting in the axial direction.
  • the sliding bearing of the bearing system is subjected to most of the axial load of the motor, and on the one hand, it is advantageous to achieve the axial balance of the motor, and on the other hand, it is advantageous to prevent the rotating shaft from being axially moved.
  • FIG. 1 is an exploded view of a structure of a motor applied to an unmanned aerial vehicle in an embodiment of the present application
  • FIG. 2 is a schematic view of the buckle structure assembled with the base and the rotating shaft in an embodiment of the present application
  • FIG. 3 is a cross-sectional view showing the structure of a motor applied to an unmanned aerial vehicle in an embodiment of the present application
  • FIG. 4 is a schematic cross-sectional view of a buckle in an embodiment of the present application.
  • Figure 5 is an enlarged view of the area I of Figure 3;
  • FIG. 6 is a schematic structural view of a rotating shaft according to an embodiment of the present application.
  • Figure 7 is a schematic cross-sectional view of a base in an embodiment of the present application.
  • Figure 8 is a partial cross-sectional view showing the structure of a motor applied to an unmanned aerial vehicle in another embodiment of the present application.
  • stator 1 Rotor 2 Bearing system 3 Buckle structure 4, 5 Base 11 Iron core 12
  • FIG. 1 an exploded view of a structure of a motor applied to an unmanned aerial vehicle in an embodiment of the present application.
  • the motor structure applied to the unmanned aerial vehicle includes a stator 1, a rotor 2, and a bearing system 3 movably connecting the stator 1 and the rotor 2.
  • the motor structure applied to the unmanned aerial vehicle further includes a buckle structure 4 that receives an axial load of the motor, and the buckle structure 4 is fixed and clamped to the base 11 of the stator 1.
  • the bearing system 3 includes at least one plain bearing 32 for withstanding the axial load of the motor.
  • the buckle structure 4 can axially limit the rotating shaft 21 and bear the axial load of the motor to prevent the rotating shaft 21 from tilting in the axial direction.
  • the sliding bearing 32 of the bearing system 3 is subjected to most of the axial load of the motor, on the one hand, it is advantageous to achieve the axial force equalization of the motor, and on the other hand, it is also advantageous to prevent the shaft 21 from being axially tilted.
  • the base 11 is jacketed with the core 12 of the stator 1.
  • the end cover 22 of the rotor 2 is connected to a rotating shaft 21 and a yoke 23, and a magnet 24 is disposed in the yoke 23.
  • the sliding bearing 32 may be an oil bearing, a self-lubricating bearing, a liquid lubricating bearing, or the like that mainly bears an axial load.
  • FIG. 2 is a schematic diagram of the buckle structure 4 assembled with the base 11 and the rotating shaft 21 according to an embodiment of the present application
  • FIG. 3 is a motor applied to the unmanned aerial vehicle according to an embodiment of the present application
  • FIG. 4 is a cross-sectional view of the buckle 41 in an embodiment of the present application
  • FIG. 5 is an enlarged view of the area I of FIG. 3
  • FIG. 6 is a schematic structural view of the rotating shaft 21 according to an embodiment of the present application
  • 7 is a schematic cross-sectional view of the base 11 in an embodiment of the present application.
  • the buckle structure 4 includes a first buckle 41 and a second buckle 42. As illustrated in FIG.
  • the first buckle 41 includes a fixing portion 411 and a holding portion 412 .
  • the fixing portion 411 is fixed in the receiving groove 112 of the base 11 , and a part of the locking portion 412 is inserted into the rotating shaft 21 . Inside the card slot 211.
  • a connecting portion 221 of the end cover 22 of the rotor 2 for connecting the rotating shaft 21 abuts an end surface of the bearing of the bearing system 3 close to the end cover 22, the snap structure 4 and the connecting portion 221
  • the axial gap of the rotating shaft 21 is commonly defined. Since the snap structure 4 and the connecting portion 221 together define the axial clearance of the rotating shaft 21, the axial movement of the rotating shaft 21 will be further slowed down.
  • the sliding bearing 32 is disposed in an end of the accommodating cavity 111 of the base 11 away from the end cover 22 of the rotor 2, and an end of the rotating shaft 21 extends beyond an end surface of the sliding bearing 32.
  • the bearing system 3 further includes at least one slewing bearing 31 for accommodating the radial load of the motor, the slewing bearing 31 being mounted in the accommodating cavity 111 near one end of the end cap 22.
  • the end cover 22 is for connecting the connecting portion 221 of the rotating shaft 21 to the end surface of the slewing bearing 31.
  • the buckle structure 4 has a stepped shape, and the fixing portion 411 and the holding portion 412 are respectively fan-shaped.
  • the inner ring 412 a of the latching portion 412 is spaced from the surface of the card slot 211 , and the outer end surface 412 b of the latching portion 412 away from the base 11 abuts against the surface of the card slot 211 .
  • the inner end surface 412c of the latching portion 412 has a certain axial gap with the surface of the card slot 211, and the inner ring 412a of the latching portion 412 and the card slot 211 The surface is separated by the axial gap, which is advantageous for reducing the friction between the holding portion 412 and the card slot 211 and preventing the buckle structure 4 from excessively holding the rotating shaft 21 .
  • the outer end surface 412 b of the latching portion 412 abuts the surface of the card slot 211 such that the latching portion 412 can define an axial gap of the rotating shaft 21 .
  • the second buckle 42 has the same configuration as the first buckle 41.
  • the snap structure 4 is made of a friction-reducing material and is subjected to radial and axial deformation.
  • the buckle structure 5 of the motor structure applied to the unmanned aerial vehicle has an annular shape as a whole.
  • the buckle structure 5 includes a first buckle 51 and a second buckle 52.
  • the first buckle 51 and the second buckle 52 are spliced to form the buckle structure 5.
  • the first buckle 51 has a fan-shaped shape as a whole.
  • the fixing portion 511 and the holding portion 512 of the first buckle 51 are formed on the same plane.
  • the second buckle 52 is also fan-shaped as a whole, and the fixing portion and the holding portion of the second buckle 52 are also formed in the same plane.
  • the snap-fit structure can have other shapes, and thus the remaining changes to the shape of the snap-fit structure according to prior art and/or common general knowledge in the art should fall within the scope of protection of the present application. within.
  • An embodiment of the present application discloses a power assembly applied to an unmanned aerial vehicle, including an electronic governor and a plurality of rotors, and any one of the above-mentioned ones controlled by the electronic governor and driving a plurality of the rotors to rotate Motor structure applied to unmanned aerial vehicles.
  • An embodiment of the present application discloses an unmanned aerial vehicle comprising a fuselage, an arm connected to the fuselage, and a power component mounted on the arm, the power component including any one of the above for the unmanned aerial vehicle Motor structure.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Motor Or Generator Frames (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Sliding-Contact Bearings (AREA)

Abstract

A motor structure and a power assembly applied to an unmanned aerial vehicle, and an unmanned aerial vehicle, relating to the technical field of unmanned aerial vehicles. The motor structure applied to an unmanned aerial vehicle comprises a stator (1), a rotor (2), and a bearing system (3) flexibly connected to the stator (1) and the rotor (2). The motor structure further comprises a snap-fit structure (4, 5) that bears an axial load of a motor. The snap-fit structure (4, 5) is fixed to a base (11) of the stator (1) and holds a rotating shaft (21) of the rotor (2). The bearing system (3) comprises at least one sliding bearing (32) configured to bear the axial load of the motor. The motor structure facilitates achieving axial stress balance of the motor and avoiding axial displacement of the rotating shaft (21).

Description

应用于无人飞行器的电机结构、动力组件及无人飞行器Motor structure, power components and unmanned aerial vehicles for unmanned aerial vehicles 【技术领域】[Technical Field]
本申请公开的技术方案涉及无人飞行器技术领域，尤其涉及应用于无人飞行器的电机结构、动力组件及无人飞行器。The technical solution disclosed in the present application relates to the field of unmanned aerial vehicles, and particularly relates to a motor structure, a power component and an unmanned aerial vehicle applied to an unmanned aerial vehicle.
【背景技术】【Background technique】
目前无人飞行器可以通过电机驱动旋翼提供升力飞行。At present, unmanned aerial vehicles can provide lift flight through motor-driven rotors.
发明人在研究本申请的过程中发现，现有技术中应用于无人飞行器的电机要么只能承受径向的载荷，要么电机的转轴在轴向的窜动明显。In the course of studying the present application, the inventors have found that the motors applied to the UAV in the prior art can only bear radial loads or the axial rotation of the motor shaft is obvious.
【发明内容】[Summary of the Invention]
本申请公开的技术方案至少能够解决以下技术问题：应用于无人飞行器的电机要么只能承受径向的载荷，要么电机的转轴在轴向的窜动明显。The technical solution disclosed in the present application can at least solve the following technical problem: the motor applied to the unmanned aerial vehicle can only bear the radial load, or the axial rotation of the rotating shaft of the motor is obvious.
本申请的一个或者多个实施例公开一种应用于无人飞行器的电机结构，包括定子、转子以及活动连接所述定子和转子的轴承***，还包括承受电机的轴向载荷的卡扣结构，所述卡扣结构与所述定子的底座固定并卡持所述转子的转轴；所述轴承***包括至少一个用于承受电机的轴向载荷的滑动轴承。One or more embodiments of the present application disclose a motor structure applied to an unmanned aerial vehicle including a stator, a rotor, and a bearing system movably coupled to the stator and the rotor, and a snap structure that receives an axial load of the motor, The snap structure is fixed to a base of the stator and holds a rotating shaft of the rotor; the bearing system includes at least one sliding bearing for receiving an axial load of the motor.
本申请的一个或者多个实施例公开一种应用于无人飞行器的动力组件，包括电子调速器和多个旋翼以及由所述电子调速器控制并驱动多个所述旋翼转动的应用于无人飞行器的电机结构，所述应用于无人飞行器的电机结构包括定子、转子以及活动连接所述定子和转子的轴承***，其特征在于，还包括承受电机的轴向载荷的卡扣结构，所述卡扣结构与所述定子的底座固定并卡持所述转子的转轴；所述轴承***包括至少一个用于承受电机的轴向载荷的滑动轴承。One or more embodiments of the present application disclose a power assembly for an unmanned aerial vehicle, including an electronic governor and a plurality of rotors, and an application for controlling and driving a plurality of the rotors to be rotated by the electronic governor An electric motor structure for an unmanned aerial vehicle, the motor structure applied to the unmanned aerial vehicle includes a stator, a rotor, and a bearing system movably connecting the stator and the rotor, and further comprising a buckle structure that receives an axial load of the motor, The snap structure is fixed to a base of the stator and holds a rotating shaft of the rotor; the bearing system includes at least one sliding bearing for receiving an axial load of the motor.
本申请的一个或者多个实施例公开一种无人飞行器，包括机身、连接于所述机身上的机臂以及机臂上装设的动力组件，所述动力组件包括电子调速器和多个旋翼以及由所述电子调速器控制并驱动多个所述旋翼转动的应用于无人飞行器的电机结构，所述应用于无人飞行器的电机结构包括定子、转子以及活动 连接所述定子和转子的轴承***，其特征在于，还包括承受电机的轴向载荷的卡扣结构，所述卡扣结构与所述定子的底座固定并卡持所述转子的转轴；所述轴承***包括至少一个用于承受电机的轴向载荷的滑动轴承。One or more embodiments of the present application disclose an unmanned aerial vehicle including a fuselage, an arm coupled to the fuselage, and a power assembly mounted on the arm, the power assembly including an electronic governor and a rotor and a motor structure for the unmanned aerial vehicle that is controlled by the electronic governor and that drives a plurality of the rotors to rotate, the motor structure applied to the unmanned aerial vehicle including a stator, a rotor, and an activity a bearing system connecting the stator and the rotor, further comprising a snap structure that receives an axial load of the motor, the snap structure being fixed to a base of the stator and holding a rotating shaft of the rotor; The bearing system includes at least one plain bearing for withstanding the axial load of the motor.
与现有技术相比，本申请公开的技术方案主要有以下有益效果：Compared with the prior art, the technical solution disclosed in the present application mainly has the following beneficial effects:
所述应用于无人飞行器的电机结构，包括定子、转子以及活动连接所述定子和转子的轴承***，还包括承受电机的轴向载荷的卡扣结构，所述卡扣结构与所述定子的底座固定并卡持所述转子的转轴；所述轴承***包括至少一个用于承受电机的轴向载荷的滑动轴承。所述卡扣结构可以对所述转轴进行轴向的限位并承受电机的轴向的载荷，防止所述转轴在轴向窜动。所述轴承***的滑动轴承承受电机的大部分的轴向载荷，一方面有利于实现电机在轴向的受力均衡，另一方面也有利于防止所述转轴在轴向窜动。The motor structure applied to an unmanned aerial vehicle includes a stator, a rotor, and a bearing system movably connecting the stator and the rotor, and further includes a snap structure that receives an axial load of the motor, the snap structure and the stator The base is fixed and holds a rotating shaft of the rotor; the bearing system includes at least one sliding bearing for supporting an axial load of the motor. The buckle structure can axially limit the rotating shaft and bear the axial load of the motor to prevent the rotating shaft from tilting in the axial direction. The sliding bearing of the bearing system is subjected to most of the axial load of the motor, and on the one hand, it is advantageous to achieve the axial balance of the motor, and on the other hand, it is advantageous to prevent the rotating shaft from being axially moved.
【附图说明】[Description of the Drawings]
图1为本申请的一实施例中应用于无人飞行器的电机结构的***图；1 is an exploded view of a structure of a motor applied to an unmanned aerial vehicle in an embodiment of the present application;
图2为本申请的一实施例中卡扣结构与底座以及转轴组装后的示意图；2 is a schematic view of the buckle structure assembled with the base and the rotating shaft in an embodiment of the present application;
图3为本申请的一实施例中应用于无人飞行器的电机结构的剖面图；3 is a cross-sectional view showing the structure of a motor applied to an unmanned aerial vehicle in an embodiment of the present application;
图4为本申请的一实施例中卡扣的截面示意图；4 is a schematic cross-sectional view of a buckle in an embodiment of the present application;
图5为图3区域Ⅰ的放大图；Figure 5 is an enlarged view of the area I of Figure 3;
图6为本申请的一实施例中转轴的构造示意图；6 is a schematic structural view of a rotating shaft according to an embodiment of the present application;
图7为本申请的一实施例中底座的截面示意图；Figure 7 is a schematic cross-sectional view of a base in an embodiment of the present application;
图8为本申请的另一实施例中应用于无人飞行器的电机结构的局部剖面图。Figure 8 is a partial cross-sectional view showing the structure of a motor applied to an unmanned aerial vehicle in another embodiment of the present application.
主要附图标记说明：The main reference signs indicate:
定子 stator 11
转子 Rotor 22
轴承*** Bearing system 33
卡扣结构 Buckle structure 4、54, 5
底座 Base 1111
铁芯 Iron core 1212
转轴Rotating shaft 21twenty one
端盖End cap 22twenty two
磁轭Yoke 23twenty three
磁铁magnet 24twenty four
回转轴承Slewing bearing 3131
滑动轴承Sliding bearing 3232
第一卡扣 First buckle 41、5141, 51
第二卡扣 Second buckle 42、5242,52
容置腔 Cavity chamber 111111
容置槽Locating slot 112112
卡槽 Card slot 211211
连接部 Connection 221221
固定部Fixed part 411、511411, 511
卡持部 Holder 412、512412, 512
内圈 Inner ring 412a412a
外端面 Outer end face 412b412b
内端面 Inner end face 412c412c
【具体实施方式】【Detailed ways】
为了便于理解本申请，下面将参照相关附图对本申请进行更全面的描述。附图中给出了本申请的较佳实施例。但是，本申请可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本申请的公开内容的理解更加透彻全面。In order to facilitate the understanding of the present application, the present application will be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the present application are shown in the drawings. However, the application can be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the understanding of the disclosure of the present application will be more thorough.
除非另有定义，本文所使用的所有的技术和科学术语与本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。具体实施方式中涉及到的应用于无人飞行器的电机结构、无人飞行器只是较佳的实施例，并非本申请所有可能的实施例。 All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art of the invention, unless otherwise defined. The terminology used herein is for the purpose of describing particular embodiments, and is not intended to be limiting. The motor structure and the unmanned aerial vehicle applied to the UAV involved in the detailed description are only preferred embodiments, and are not all possible embodiments of the present application.
参考图1，为本申请的一实施例中应用于无人飞行器的电机结构的***图。所述应用于无人飞行器的电机结构，包括定子1、转子2以及活动连接所述定子1和转子2的轴承***3。如图1中所示意的，所述应用于无人飞行器的电机结构还包括承受电机的轴向载荷的卡扣结构4，所述卡扣结构4与所述定子1的底座11固定并卡持所述转子2的转轴21。所述轴承***3包括至少一个用于承受电机的轴向载荷的滑动轴承32。Referring to FIG. 1, an exploded view of a structure of a motor applied to an unmanned aerial vehicle in an embodiment of the present application. The motor structure applied to the unmanned aerial vehicle includes a stator 1, a rotor 2, and a bearing system 3 movably connecting the stator 1 and the rotor 2. As illustrated in FIG. 1, the motor structure applied to the unmanned aerial vehicle further includes a buckle structure 4 that receives an axial load of the motor, and the buckle structure 4 is fixed and clamped to the base 11 of the stator 1. The rotating shaft 21 of the rotor 2. The bearing system 3 includes at least one plain bearing 32 for withstanding the axial load of the motor.
所述卡扣结构4可以对所述转轴21进行轴向的限位并承受电机的轴向的载荷，防止所述转轴21在轴向窜动。所述轴承***3的滑动轴承32承受电机的大部分的轴向载荷，一方面有利于实现电机在轴向的受力均衡，另一方面也有利于防止所述转轴21在轴向窜动。The buckle structure 4 can axially limit the rotating shaft 21 and bear the axial load of the motor to prevent the rotating shaft 21 from tilting in the axial direction. The sliding bearing 32 of the bearing system 3 is subjected to most of the axial load of the motor, on the one hand, it is advantageous to achieve the axial force equalization of the motor, and on the other hand, it is also advantageous to prevent the shaft 21 from being axially tilted.
如图1中所示意的，所述底座11外套设有所述定子1的铁芯12。所述转子2的端盖22连接转轴21和磁轭23，所述磁轭23内设置有磁铁24。在本申请的一实施例中，所述滑动轴承32可以是含油轴承、自润滑轴承、液体润滑轴承等主要承受轴向载荷的轴承。As illustrated in FIG. 1, the base 11 is jacketed with the core 12 of the stator 1. The end cover 22 of the rotor 2 is connected to a rotating shaft 21 and a yoke 23, and a magnet 24 is disposed in the yoke 23. In an embodiment of the present application, the sliding bearing 32 may be an oil bearing, a self-lubricating bearing, a liquid lubricating bearing, or the like that mainly bears an axial load.
参考图1至图7，其中图2为本申请的一实施例中卡扣结构4与底座11以及转轴21组装后的示意图，图3为本申请的一实施例中应用于无人飞行器的电机结构的剖面图，图4为本申请的一实施例中卡扣41的截面示意图，图5为图3区域Ⅰ的放大图，图6为本申请的一实施例中转轴21的构造示意图，图7为本申请的一实施例中底座11的截面示意图。所述卡扣结构4包括第一卡扣41和第二卡扣42。如图2中所示意的，所述第一卡扣41和第二卡扣42拼接形成所述卡扣结构4。所述第一卡扣41包括固定部411和卡持部412，所述固定部411固定于所述底座11的容置槽112内，所述卡持部412的一部分装入所述转轴21的卡槽211内。Referring to FIG. 1 to FIG. 7 , FIG. 2 is a schematic diagram of the buckle structure 4 assembled with the base 11 and the rotating shaft 21 according to an embodiment of the present application, and FIG. 3 is a motor applied to the unmanned aerial vehicle according to an embodiment of the present application. FIG. 4 is a cross-sectional view of the buckle 41 in an embodiment of the present application, FIG. 5 is an enlarged view of the area I of FIG. 3, and FIG. 6 is a schematic structural view of the rotating shaft 21 according to an embodiment of the present application. 7 is a schematic cross-sectional view of the base 11 in an embodiment of the present application. The buckle structure 4 includes a first buckle 41 and a second buckle 42. As illustrated in FIG. 2 , the first buckle 41 and the second buckle 42 are spliced to form the buckle structure 4 . The first buckle 41 includes a fixing portion 411 and a holding portion 412 . The fixing portion 411 is fixed in the receiving groove 112 of the base 11 , and a part of the locking portion 412 is inserted into the rotating shaft 21 . Inside the card slot 211.
所述转子2的端盖22上用于连接所述转轴21的连接部221抵持所述轴承***3靠近所述端盖22的轴承的端面，所述卡扣结构4和所述连接部221共同限定所述转轴21的轴向间隙。由于所述卡扣结构4和所述连接部221共同限定了所述转轴21的轴向间隙，因此将进一步减缓所述转轴21在轴向的窜动。A connecting portion 221 of the end cover 22 of the rotor 2 for connecting the rotating shaft 21 abuts an end surface of the bearing of the bearing system 3 close to the end cover 22, the snap structure 4 and the connecting portion 221 The axial gap of the rotating shaft 21 is commonly defined. Since the snap structure 4 and the connecting portion 221 together define the axial clearance of the rotating shaft 21, the axial movement of the rotating shaft 21 will be further slowed down.
所述滑动轴承32设置在所述底座11的容置腔111内远离所述转子2的端盖22的一端，并且所述转轴21的端部超出所述滑动轴承32的端面。 The sliding bearing 32 is disposed in an end of the accommodating cavity 111 of the base 11 away from the end cover 22 of the rotor 2, and an end of the rotating shaft 21 extends beyond an end surface of the sliding bearing 32.
所述轴承***3还包括至少一个用于承受电机的径向载荷的回转轴承31，所述回转轴承31装设在所述容置腔111内靠近所述端盖22的一端。所述端盖22用于连接所述转轴21的连接部221抵持所述回转轴承31的端面。The bearing system 3 further includes at least one slewing bearing 31 for accommodating the radial load of the motor, the slewing bearing 31 being mounted in the accommodating cavity 111 near one end of the end cap 22. The end cover 22 is for connecting the connecting portion 221 of the rotating shaft 21 to the end surface of the slewing bearing 31.
如图2至图4中所示意的，所述卡扣结构4的截面呈阶梯状，所述固定部411和所述卡持部412分别呈扇环状。所述卡持部412的内圈412a与所述卡槽211的表面相间隔，所述卡持部412的远离所述底座11的外端面412b抵持所述卡槽211的表面。如图5中所示意的，所述卡持部412的内端面412c与所述卡槽211的表面留有一定的轴向间隙，所述卡持部412的内圈412a与所述卡槽211的表面通过所述轴向间隙隔开，有利于减少所述卡持部412与所述卡槽211之间的摩擦力，防止所述卡扣结构4过度卡持所述转轴21。所述卡持部412的外端面412b抵持所述卡槽211的表面，使得所述卡持部412可以限定所述转轴21的轴向间隙。优选的，所述第二卡扣42与所述第一卡扣41的构造相同。As shown in FIG. 2 to FIG. 4, the buckle structure 4 has a stepped shape, and the fixing portion 411 and the holding portion 412 are respectively fan-shaped. The inner ring 412 a of the latching portion 412 is spaced from the surface of the card slot 211 , and the outer end surface 412 b of the latching portion 412 away from the base 11 abuts against the surface of the card slot 211 . As shown in FIG. 5, the inner end surface 412c of the latching portion 412 has a certain axial gap with the surface of the card slot 211, and the inner ring 412a of the latching portion 412 and the card slot 211 The surface is separated by the axial gap, which is advantageous for reducing the friction between the holding portion 412 and the card slot 211 and preventing the buckle structure 4 from excessively holding the rotating shaft 21 . The outer end surface 412 b of the latching portion 412 abuts the surface of the card slot 211 such that the latching portion 412 can define an axial gap of the rotating shaft 21 . Preferably, the second buckle 42 has the same configuration as the first buckle 41.
优选的，所述卡扣结构4由减摩耐磨的材料制成，并承受径向和轴向的形变。Preferably, the snap structure 4 is made of a friction-reducing material and is subjected to radial and axial deformation.
参考图8，为本申请的另一实施例中应用于无人飞行器的电机结构的局部剖面图。所述应用于无人飞行器的电机结构的卡扣结构5整体呈圆环状。所述卡扣结构5包括第一卡扣51和第二卡扣52，所述第一卡扣51和第二卡扣52拼接形成所述卡扣结构5。所述第一卡扣51整体呈扇环状。所述第一卡扣51的固定部511和卡持部512形成在同一平面。优选的，所述第二卡扣52整体也呈扇环状，所述第二卡扣52的固定部和卡持部也形成在同一平面。本领域的技术人员应当理解，卡扣结构还可以其他的形状，因此根据本领域的现有技术和/或公知常识对所述卡扣结构的形状作出的其余改变都应当属于本申请的保护范围之内。Referring to FIG. 8, a partial cross-sectional view of a structure of a motor applied to an unmanned aerial vehicle in another embodiment of the present application. The buckle structure 5 of the motor structure applied to the unmanned aerial vehicle has an annular shape as a whole. The buckle structure 5 includes a first buckle 51 and a second buckle 52. The first buckle 51 and the second buckle 52 are spliced to form the buckle structure 5. The first buckle 51 has a fan-shaped shape as a whole. The fixing portion 511 and the holding portion 512 of the first buckle 51 are formed on the same plane. Preferably, the second buckle 52 is also fan-shaped as a whole, and the fixing portion and the holding portion of the second buckle 52 are also formed in the same plane. Those skilled in the art will appreciate that the snap-fit structure can have other shapes, and thus the remaining changes to the shape of the snap-fit structure according to prior art and/or common general knowledge in the art should fall within the scope of protection of the present application. within.
本申请的一实施例公开一种应用于无人飞行器的动力组件，包括电子调速器和多个旋翼以及由所述电子调速器控制并驱动多个所述旋翼转动的如上述任意一种应用于无人飞行器的电机结构。An embodiment of the present application discloses a power assembly applied to an unmanned aerial vehicle, including an electronic governor and a plurality of rotors, and any one of the above-mentioned ones controlled by the electronic governor and driving a plurality of the rotors to rotate Motor structure applied to unmanned aerial vehicles.
本申请的一实施例公开一种无人飞行器，包括机身、连接于所述机身上的机臂以及机臂上装设的动力组件，所述动力组件包括上述任意一种应用于无人飞行器的电机结构。 An embodiment of the present application discloses an unmanned aerial vehicle comprising a fuselage, an arm connected to the fuselage, and a power component mounted on the arm, the power component including any one of the above for the unmanned aerial vehicle Motor structure.
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制。尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。 Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions described in the foregoing embodiments may be modified or equivalently substituted for some of the technical features. The modifications and substitutions of the present invention do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (30)

  1. 一种应用于无人飞行器的电机结构，包括定子、转子以及活动连接所述定子和转子的轴承***，其特征在于，还包括承受电机的轴向载荷的卡扣结构，所述卡扣结构与所述定子的底座固定并卡持所述转子的转轴；所述轴承***包括至少一个用于承受电机的轴向载荷的滑动轴承。A motor structure applied to an unmanned aerial vehicle includes a stator, a rotor, and a bearing system movably connecting the stator and the rotor, and further comprising a buckle structure that receives an axial load of the motor, the buckle structure and The base of the stator fixes and holds a rotating shaft of the rotor; the bearing system includes at least one sliding bearing for receiving an axial load of the motor.
  2. 根据权利要求1所述应用于无人飞行器的电机结构，其特征在于，所述卡扣结构包括固定部和卡持部，所述固定部固定于所述底座的容置槽内，所述卡持部的一部分装入所述转轴的卡槽内。The motor structure for an unmanned aerial vehicle according to claim 1, wherein the buckle structure comprises a fixing portion and a holding portion, and the fixing portion is fixed in the receiving groove of the base, the card A part of the holding portion is fitted into the card slot of the rotating shaft.
  3. 根据权利要求2所述应用于无人飞行器的电机结构，其特征在于，所述卡持部的内圈与所述卡槽的表面相间隔，所述卡持部的远离所述底座的外端面抵持所述卡槽的表面。The motor structure for an unmanned aerial vehicle according to claim 2, wherein an inner ring of the holding portion is spaced apart from a surface of the card slot, and an outer end surface of the latch portion away from the base Resist the surface of the card slot.
  4. 根据权利要求2所述应用于无人飞行器的电机结构，其特征在于，所述卡扣结构的截面呈阶梯状，所述固定部和所述卡持部分别呈扇环状。The motor structure for an unmanned aerial vehicle according to claim 2, wherein the buckle structure has a stepped shape, and the fixing portion and the holding portion are respectively fan-shaped.
  5. 根据权利要求2所述应用于无人飞行器的电机结构，其特征在于，所述卡扣结构整体呈圆环状，所述固定部和卡持部形成在同一平面。The motor structure for an unmanned aerial vehicle according to claim 2, wherein the buckle structure has an annular shape as a whole, and the fixing portion and the holding portion are formed in the same plane.
  6. 根据权利要求1所述应用于无人飞行器的电机结构，其特征在于，所述转子的端盖上用于连接所述转轴的连接部抵持所述轴承***靠近所述端盖的轴承的端面，所述卡扣结构和所述连接部共同限定所述转轴的轴向间隙。The motor structure for an unmanned aerial vehicle according to claim 1, wherein a connecting portion of the end cover of the rotor for connecting the rotating shaft abuts an end surface of the bearing of the bearing system close to the end cover The buckle structure and the connecting portion collectively define an axial gap of the rotating shaft.
  7. 根据权利要求1所述应用于无人飞行器的电机结构，其特征在于，所述滑动轴承设置在所述底座的容置腔内远离所述转子的端盖的一端，并且所述转轴的端部超出所述滑动轴承的端面。The motor structure for an unmanned aerial vehicle according to claim 1, wherein the sliding bearing is disposed in an accommodating cavity of the base away from an end of the end cover of the rotor, and an end of the rotating shaft Exceeding the end face of the sliding bearing.
  8. 根据权利要求7所述应用于无人飞行器的电机结构，其特征在于，所述轴承***还包括至少一个用于承受电机的径向载荷的回转轴承，所述回转轴承装设在所述容置腔内靠近所述端盖的一端。A motor structure for an unmanned aerial vehicle according to claim 7, wherein said bearing system further comprises at least one slewing bearing for receiving a radial load of the motor, said slewing bearing being mounted in said accommodating The cavity is near one end of the end cap.
  9. 根据权利要求1所述应用于无人飞行器的电机结构，其特征在于，所述卡扣结构由减摩耐磨的材料制成，并承受径向和轴向的形变。The motor structure for an unmanned aerial vehicle according to claim 1, wherein the snap structure is made of a friction-reducing material and is subjected to radial and axial deformation.
  10. 根据权利要求1所述应用于无人飞行器的电机结构，其特征在于，所述 卡扣结构包括第一卡扣和第二卡扣，所述第一卡扣和第二卡扣拼接形成所述卡扣结构。A motor structure for an unmanned aerial vehicle according to claim 1, wherein said The buckle structure includes a first buckle and a second buckle, and the first buckle and the second buckle are spliced to form the buckle structure.
  11. 一种应用于无人飞行器的动力组件，包括电子调速器和多个旋翼以及由所述电子调速器控制并驱动多个所述旋翼转动的应用于无人飞行器的电机结构，所述应用于无人飞行器的电机结构包括定子、转子以及活动连接所述定子和转子的轴承***，其特征在于，还包括承受电机的轴向载荷的卡扣结构，所述卡扣结构与所述定子的底座固定并卡持所述转子的转轴；所述轴承***包括至少一个用于承受电机的轴向载荷的滑动轴承。A power assembly for an unmanned aerial vehicle, comprising an electronic governor and a plurality of rotors, and a motor structure for the unmanned aerial vehicle that is controlled by the electronic governor and that drives a plurality of the rotors to rotate, the application The motor structure of the unmanned aerial vehicle includes a stator, a rotor, and a bearing system movably connecting the stator and the rotor, and further comprising a snap structure that receives an axial load of the motor, the snap structure and the stator The base is fixed and holds a rotating shaft of the rotor; the bearing system includes at least one sliding bearing for supporting an axial load of the motor.
  12. 根据权利要求11所述应用于无人飞行器的动力组件，其特征在于，所述卡扣结构包括固定部和卡持部，所述固定部固定于所述底座的容置槽内，所述卡持部的一部分装入所述转轴的卡槽内。The power module for an unmanned aerial vehicle according to claim 11, wherein the buckle structure comprises a fixing portion and a holding portion, and the fixing portion is fixed in the receiving groove of the base, the card A part of the holding portion is fitted into the card slot of the rotating shaft.
  13. 根据权利要求12所述应用于无人飞行器的动力组件，其特征在于，所述卡持部的内圈与所述卡槽的表面相间隔，所述卡持部的远离所述底座的外端面抵持所述卡槽的表面。The power module for an unmanned aerial vehicle according to claim 12, wherein an inner ring of the holding portion is spaced apart from a surface of the card slot, and an outer end surface of the latch portion away from the base Resist the surface of the card slot.
  14. 根据权利要求12所述应用于无人飞行器的动力组件，其特征在于，所述卡扣结构的截面呈阶梯状，所述固定部和所述卡持部分别呈扇环状。The power module for an unmanned aerial vehicle according to claim 12, wherein the buckle structure has a stepped shape, and the fixing portion and the holding portion are respectively fan-shaped.
  15. 根据权利要求12所述应用于无人飞行器的动力组件，其特征在于，所述卡扣结构整体呈圆环状，所述固定部和卡持部形成在同一平面。The power module for an unmanned aerial vehicle according to claim 12, wherein the buckle structure has an annular shape as a whole, and the fixing portion and the holding portion are formed in the same plane.
  16. 根据权利要求11所述应用于无人飞行器的动力组件，其特征在于，所述转子的端盖上用于连接所述转轴的连接部抵持所述轴承***靠近所述端盖的轴承的端面，所述卡扣结构和所述连接部共同限定所述转轴的轴向间隙。A power assembly for an unmanned aerial vehicle according to claim 11, wherein a connecting portion of said end cover of said rotor for connecting said rotating shaft abuts an end surface of said bearing system adjacent said bearing of said end cover The buckle structure and the connecting portion collectively define an axial gap of the rotating shaft.
  17. 根据权利要求11所述应用于无人飞行器的动力组件，其特征在于，所述滑动轴承设置在所述底座的容置腔内远离所述转子的端盖的一端，并且所述转轴的端部超出所述滑动轴承的端面。A power assembly for an unmanned aerial vehicle according to claim 11, wherein said sliding bearing is disposed in an accommodating cavity of said base away from an end of said end cap of said rotor, and an end of said rotating shaft Exceeding the end face of the sliding bearing.
  18. 根据权利要求17所述应用于无人飞行器的动力组件，其特征在于，所述轴承***还包括至少一个用于承受电机的径向载荷的回转轴承，所述回转轴承装设在所述容置腔内靠近所述端盖的一端。A power assembly for an unmanned aerial vehicle according to claim 17, wherein said bearing system further comprises at least one slewing bearing for receiving a radial load of the motor, said slewing bearing being mounted in said accommodating The cavity is near one end of the end cap.
  19. 根据权利要求11所述应用于无人飞行器的动力组件，其特征在于，所述卡扣结构由减摩耐磨的材料制成，并承受径向和轴向的形变。 A power assembly for an unmanned aerial vehicle according to claim 11, wherein said snap structure is made of a friction-reducing material and is subjected to radial and axial deformation.
  20. 根据权利要求11所述应用于无人飞行器的动力组件，其特征在于，所述卡扣结构包括第一卡扣和第二卡扣，所述第一卡扣和第二卡扣拼接形成所述卡扣结构。The power module for an unmanned aerial vehicle according to claim 11, wherein the buckle structure comprises a first buckle and a second buckle, and the first buckle and the second buckle are spliced to form the Buckle structure.
  21. 一种无人飞行器，包括机身、连接于所述机身上的机臂以及机臂上装设的动力组件，所述动力组件包括电子调速器和多个旋翼以及由所述电子调速器控制并驱动多个所述旋翼转动的应用于无人飞行器的电机结构，所述应用于无人飞行器的电机结构包括定子、转子以及活动连接所述定子和转子的轴承***，其特征在于，还包括承受电机的轴向载荷的卡扣结构，所述卡扣结构与所述定子的底座固定并卡持所述转子的转轴；所述轴承***包括至少一个用于承受电机的轴向载荷的滑动轴承。An unmanned aerial vehicle includes a fuselage, an arm coupled to the fuselage, and a power assembly mounted on the arm, the power assembly including an electronic governor and a plurality of rotors and the electronic governor Controlling and driving a plurality of said rotor-rotating motor structures for an unmanned aerial vehicle, the motor structure applied to the unmanned aerial vehicle comprising a stator, a rotor, and a bearing system movably connecting the stator and the rotor, characterized in that a snap structure including an axial load bearing the motor, the snap structure being fixed to a base of the stator and holding a rotating shaft of the rotor; the bearing system including at least one sliding for receiving an axial load of the motor Bearing.
  22. 根据权利要求21所述的无人飞行器，其特征在于，所述卡扣结构包括固定部和卡持部，所述固定部固定于所述底座的容置槽内，所述卡持部的一部分装入所述转轴的卡槽内。The UAV according to claim 21, wherein the buckle structure comprises a fixing portion and a holding portion, the fixing portion is fixed in the receiving groove of the base, and a part of the holding portion is Loading into the card slot of the rotating shaft.
  23. 根据权利要求22所述的无人飞行器，其特征在于，所述卡持部的内圈与所述卡槽的表面相间隔，所述卡持部的远离所述底座的外端面抵持所述卡槽的表面。The UAV according to claim 22, wherein an inner ring of the retaining portion is spaced from a surface of the card slot, and an outer end surface of the latch portion remote from the base abuts The surface of the card slot.
  24. 根据权利要求22所述的无人飞行器，其特征在于，所述卡扣结构的截面呈阶梯状，所述固定部和所述卡持部分别呈扇环状。The UAV according to claim 22, wherein the buckle structure has a stepped cross section, and the fixing portion and the holding portion are respectively fan-shaped.
  25. 根据权利要求22所述的无人飞行器，其特征在于，所述卡扣结构整体呈圆环状，所述固定部和卡持部形成在同一平面。The unmanned aerial vehicle according to claim 22, wherein the snap structure has an annular shape as a whole, and the fixing portion and the catching portion are formed on the same plane.
  26. 根据权利要求21所述的无人飞行器，其特征在于，所述转子的端盖上用于连接所述转轴的连接部抵持所述轴承***靠近所述端盖的轴承的端面，所述卡扣结构和所述连接部共同限定所述转轴的轴向间隙。The UAV according to claim 21, wherein a connecting portion of the end cover of the rotor for connecting the rotating shaft abuts an end surface of the bearing of the bearing system close to the end cover, the card The buckle structure and the connecting portion collectively define an axial gap of the rotating shaft.
  27. 根据权利要求21所述的无人飞行器，其特征在于，所述滑动轴承设置在所述底座的容置腔内远离所述转子的端盖的一端，并且所述转轴的端部超出所述滑动轴承的端面。The UAV according to claim 21, wherein said sliding bearing is disposed in an accommodating cavity of said base away from an end of said end cap of said rotor, and an end of said rotating shaft extends beyond said sliding The end face of the bearing.
  28. 根据权利要求27所述的无人飞行器，其特征在于，所述轴承***还包括至少一个用于承受电机的径向载荷的回转轴承，所述回转轴承装设在所述容置腔内靠近所述端盖的一端。 The UAV according to claim 27, wherein said bearing system further comprises at least one slewing bearing for receiving a radial load of the motor, said slewing bearing being mounted in said accommodating chamber in proximity to said One end of the end cap.
  29. 根据权利要求21所述的无人飞行器，其特征在于，所述卡扣结构由减摩耐磨的材料制成，并承受径向和轴向的形变。The UAV according to claim 21, wherein said snap structure is made of a friction-reducing material and is subjected to radial and axial deformation.
  30. 根据权利要求21所述的无人飞行器，其特征在于，所述卡扣结构包括第一卡扣和第二卡扣，所述第一卡扣和第二卡扣拼接形成所述卡扣结构。 The unmanned aerial vehicle according to claim 21, wherein the buckle structure comprises a first buckle and a second buckle, and the first buckle and the second buckle are spliced to form the buckle structure.
PCT/CN2017/113966 2017-11-30 2017-11-30 Motor structure and power assembly applied to unmanned aerial vehicle, and unmanned aerial vehicle WO2019104646A1 (en)

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