WO2022077290A1

WO2022077290A1 - Multi-rotor unmanned aerial vehicle

Info

Publication number: WO2022077290A1
Application number: PCT/CN2020/120962
Authority: WO
Inventors: 肖翔; 谢亦天
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-10-14
Filing date: 2020-10-14
Publication date: 2022-04-21
Also published as: CN113631479A

Abstract

A multi-rotor unmanned aerial vehicle, comprising a frame (10), rotors (20), and an elastic member (30). Each rotor (20) comprises a motor (21), a propeller (22), and a fixed member (23); the motor (21) is mounted on the frame (10); the fixed member (23) is fixed onto the motor (21), and rotates along with a rotor of the motor (21); the propeller (22) is mounted on the motor (21) by means of the fixed member (23); the motor (21) drives the propeller (22) to rotate. The elastic member (30) is mechanically coupled to a base (221) of the propeller (22) and is used for providing an elastic force to the base (221) of the propeller (22); the base (221) of the propeller (22) is provided with a though hole (223) and a clamping groove (224); the fixed member (23) can pass through the through hole (223), and is engaged with the clamping groove (224) after rotating a preset angle with respect to the base (221) of the propeller (22); and the propeller (22) keeps the clamping groove (224) and the fixed member (23) being in an engaged state under the action of the elastic force of the elastic member (30), so that the motor (21) drives, by means of engagement between the fixed member (23) and the clamping groove (224), the propeller (22) to rotate.

Description

多旋翼无人飞行器multi-rotor unmanned aerial vehicle

技术领域technical field

本发明涉及一种飞行设备，特别涉及一种多旋翼无人飞行器。The invention relates to a kind of flying equipment, in particular to a multi-rotor unmanned aerial vehicle.

背景技术Background technique

目前，多旋翼无人飞行器是近年来兴起的一种无人机技术。多旋翼无人飞行器通过一定的机械连接结构将螺旋桨安装在驱动电机上。连接结构起到固定螺旋桨、传递升力、传递扭矩等作用。At present, the multi-rotor unmanned aerial vehicle is a kind of unmanned aerial vehicle technology that has emerged in recent years. The multi-rotor UAV installs the propeller on the drive motor through a certain mechanical connection structure. The connection structure plays the role of fixing the propeller, transmitting lift, and transmitting torque.

通常，多旋翼无人飞行器的连接结构大多是通过螺旋桨转动，使螺旋桨卡入连接结构的卡槽内，形成卡合连接。在驱动电机的旋转周向上，螺旋桨与驱动电机之间形成限位卡合。但是，当多旋翼无人飞行器在飞行过程中，在无人飞行器的升降过程中，螺旋桨产生沿驱动轴轴向的浮力，相应的，螺旋桨也后受到反方向的作用力。则螺旋桨在该作用力容易沿驱动轴轴向发生位移。因此，在传统的多旋翼无人飞行器中，螺旋桨与驱动轴之间存在脱轴的风险。Usually, the connection structure of the multi-rotor unmanned aerial vehicle is mostly rotated by the propeller, so that the propeller is stuck into the slot of the connection structure to form a snap connection. In the rotational circumferential direction of the drive motor, a limit engagement is formed between the propeller and the drive motor. However, when the multi-rotor UAV is in flight, the propeller generates buoyancy along the axial direction of the drive shaft during the lifting and lowering process of the UAV. Correspondingly, the propeller is also subjected to a force in the opposite direction. Then the propeller is easily displaced along the axial direction of the drive shaft under this force. Therefore, in conventional multi-rotor UAVs, there is a risk of off-axis between the propeller and the drive shaft.

发明内容SUMMARY OF THE INVENTION

本发明提供一种能够保持螺旋桨与驱动轴稳定连接的多旋翼无人飞行器。The present invention provides a multi-rotor unmanned aerial vehicle capable of maintaining a stable connection between a propeller and a drive shaft.

一种多旋翼无人飞行器，包括：A multi-rotor unmanned aerial vehicle, comprising:

机架；frame;

旋翼，包括电机、螺旋桨以及固定件，所述电机安装在所述机架上，所述固定件固定在所述电机上，并且随所述电机的转子一起转动，所述螺旋桨通过所述固定件安装在所述电机上，所述电机带动所述螺旋桨旋转；A rotor includes a motor, a propeller and a fixing piece, the motor is mounted on the frame, the fixing piece is fixed on the motor and rotates with the rotor of the motor, and the propeller passes through the fixing piece is installed on the motor, and the motor drives the propeller to rotate;

弹性件，与所述螺旋桨的桨座机械耦合连接，用于提供一弹力给所述螺旋桨的桨座；an elastic member, mechanically coupled and connected with the propeller seat of the propeller, for providing an elastic force to the propeller seat of the propeller;

其中，所述螺旋桨的桨座设有通孔及卡槽，所述固定件能够从所述通孔穿过，并相对于所述螺旋桨的桨座旋转预设角度后与所述卡槽相卡合，并且所述螺旋桨在所述弹性件的弹力作用下保持所述卡槽与所述固定件处于卡合状态，使所述电机通过所述固定件与所述卡槽卡合固定带动所述螺旋桨旋转。Wherein, the propeller seat of the propeller is provided with a through hole and a clamping slot, and the fixing member can pass through the through hole, and is rotated relative to the propeller seat of the propeller by a preset angle and then engages with the clamping slot. and the propeller keeps the slot and the fixing member in the engaged state under the elastic force of the elastic member, so that the motor is fixed and driven by the fixing member and the slot. The propeller rotates.

在其中一实施方式中，所述固定件设有主体及设于所述主体一侧的卡持部，所述卡槽的形状与所述卡持部的形状相适配。In one embodiment, the fixing member is provided with a main body and a holding portion provided on one side of the main body, and the shape of the holding groove is adapted to the shape of the holding portion.

在其中一实施方式中，所述卡持部为多个。In one of the embodiments, there are a plurality of the holding parts.

在其中一实施方式中，多个所述卡持部关于所述主体对称设置。In one embodiment, a plurality of the holding portions are symmetrically arranged with respect to the main body.

在其中一实施方式中，所述主体为柱状，且所述主体的轴向与所述电机的旋转轴重合。In one embodiment, the main body is cylindrical, and the axial direction of the main body coincides with the rotation axis of the motor.

在其中一实施方式中，所述卡持部与所述主体的轴向相倾斜设置。In one embodiment, the holding portion is disposed inclined to the axial direction of the main body.

在其中一实施方式中，所述卡持部为柱体，所述卡持部的直径小于所述主体的直径。In one embodiment, the holding portion is a cylinder, and the diameter of the holding portion is smaller than the diameter of the main body.

在其中一实施方式中，所述卡持部为由所述主体向外侧伸出的凸臂，所述凸臂与所述主体呈夹角设置。In one embodiment, the holding portion is a protruding arm extending outward from the main body, and the protruding arm and the main body are arranged at an angle.

在其中一实施方式中，所述通孔包括用于穿过所述主体的第一通过部及用于穿过所述卡持部的第二通过部，且所述第一通过部与所述第二通过部相连通。In one embodiment, the through hole includes a first passing portion for passing through the main body and a second passing portion for passing through the holding portion, and the first passing portion is connected to the The second through part is connected.

在其中一实施方式中，所述第一通过部的口径宽度略小于所述主体的直径。In one embodiment, the aperture width of the first passage portion is slightly smaller than the diameter of the main body.

在其中一实施方式中，所述第二通过部的口径宽度小于所述第一通过部的口径宽度。In one embodiment, the aperture width of the second passage portion is smaller than the aperture width of the first passage portion.

在其中一实施方式中，所述卡槽的口径宽度小于所述第一通过部的口径宽度。In one embodiment, the aperture width of the locking groove is smaller than the aperture width of the first passage portion.

在其中一实施方式中，所述固定件为一体结构。In one embodiment, the fixing member is an integral structure.

在其中一实施方式中，所述弹性件套设于所述固定件，所述桨座沿所述电机的旋转轴的轴向移动并使所述弹性件发生弹性形变，所述弹性件限位于所述电机与所述桨座之间，所述弹性件顶持所述桨座以使所述固定件与所述卡槽卡紧。In one embodiment, the elastic member is sleeved on the fixing member, the paddle seat moves along the axial direction of the rotating shaft of the motor and causes the elastic member to elastically deform, and the elastic member is limited to Between the motor and the paddle seat, the elastic member supports the paddle seat to fasten the fixing member and the locking groove.

在其中一实施方式中，所述弹性件的直径小于所述通孔的直径。In one embodiment, the diameter of the elastic member is smaller than the diameter of the through hole.

在其中一实施方式中，所述旋翼包括正转旋翼及反转旋翼；In one embodiment, the rotor includes a forward-rotating rotor and a reverse-rotating rotor;

所述正转旋翼包括第一电机、第一螺旋桨以及第一固定件，所述第一电机安装在所述机架上，所述第一固定件固定在所述第一电机上，并且随所述第一电机的转子一起转动，所述第一螺旋桨通过所述第一固定件安装在所述第一电机上，所述第一电机带动所述第一螺旋桨沿正向旋转；The forward-rotating rotor includes a first motor, a first propeller, and a first fixing member, the first motor is mounted on the frame, the first fixing member is fixed on the first motor, and is installed with any The rotors of the first motor rotate together, the first propeller is mounted on the first motor through the first fixing member, and the first motor drives the first propeller to rotate in the forward direction;

第一弹性件，与所述第一螺旋桨的桨座机械耦合连接，用于提供一弹力给所述第一螺旋桨的桨座；a first elastic member, mechanically coupled and connected to the paddle seat of the first propeller, for providing an elastic force to the paddle seat of the first propeller;

所述反转旋翼包括第二电机、第二螺旋桨以及第二固定件，所述第二电机安装在所述机架上，所述第二固定件固定在所述第二电机上，所述第二螺旋桨通过所述第二固定件安装在所述第二电机上，所述第二电机带动所述第一螺旋桨沿反向旋转；The reversing rotor includes a second motor, a second propeller and a second fixing member, the second motor is mounted on the frame, the second fixing member is fixed on the second motor, the first The second propeller is mounted on the second motor through the second fixing member, and the second motor drives the first propeller to rotate in the opposite direction;

第二弹性件，与所述第二螺旋桨的桨座机械耦合连接，用于提供一弹力给所述第二螺旋桨的桨座；a second elastic member, mechanically coupled and connected to the paddle seat of the second propeller, for providing an elastic force to the paddle seat of the second propeller;

其中，所述第一螺旋桨的桨座设有第一通过部及第一卡槽，所述第一固定件从所述第一通过部穿过，并相对于所述第一螺旋桨的桨座旋转预设角度后与所述第一卡槽相卡合，并且所述第一螺旋桨在所述第一弹性件的弹力作用下保持所述第一卡槽与所述第一固定件处于卡合状态，使所述第一电机通过所述第一固定件与所述第一卡槽卡合固定带动所述第一螺旋桨旋转；Wherein, the propeller seat of the first propeller is provided with a first passage portion and a first slot, and the first fixing member passes through the first passage portion and rotates relative to the propeller seat of the first propeller After the preset angle, it is engaged with the first slot, and the first propeller keeps the first slot and the first fixing member in the engagement state under the elastic force of the first elastic member , so that the first motor is fixed to drive the first propeller to rotate through the first fixing member and the first card slot;

所述第二螺旋桨的桨座设有第二通过部及第二卡槽，所述第二固定件从所述第二通过部穿过，并相对于所述第二螺旋桨的桨座旋转预设角度后与所述第二卡槽相卡合，并且所述第二螺旋桨在所述第二弹性件的弹力作用下保持所述第二卡槽与所述第二固定件处于卡合状态，使所述第二电机通过所述第二固定件与所述第二卡槽卡合固定带动所述第二螺旋桨旋转。The paddle seat of the second propeller is provided with a second passage portion and a second slot, and the second fixing member passes through the second passage portion and is rotated relative to the paddle seat of the second propeller. After the angle, it is engaged with the second slot, and the second propeller keeps the second slot and the second fixing member in the engagement state under the elastic force of the second elastic member, so that the The second motor drives the second propeller to rotate through the second fixing member and the second clamping slot being engaged and fixed.

在其中一实施方式中，所述第一卡槽沿第一方向开设，所述第二卡槽沿第二方向开设，所述第一方向与所述第二方向的方向不同。In one embodiment, the first card slot is opened along a first direction, the second card slot is opened along a second direction, and the first direction is different from the second direction.

在其中一实施方式中，所述第一螺旋桨相对于所述第一固定件沿顺时针旋转锐角角度，所述第一固定件能够与沿所述第一方向的第一卡槽卡合连接。In one embodiment, the first propeller rotates at an acute angle clockwise relative to the first fixing member, and the first fixing member can be snap-connected with the first locking groove along the first direction.

在其中一实施方式中，所述第二螺旋桨相对于所述第二固定件沿逆时针方向旋转锐角角度，所述第二固定件能够与沿所述第二方向的第二卡槽卡合连接。In one of the embodiments, the second propeller rotates at an acute angle counterclockwise relative to the second fixing member, and the second fixing member can be snap-connected with the second slot along the second direction .

在其中一实施方式中，所述电机包括转子、转动端部，所述转子与所述转动端连接，所述转动端部绕所述旋转轴转动，所述固定件固定设于所述转动端部。In one embodiment, the motor includes a rotor and a rotating end, the rotor is connected to the rotating end, the rotating end rotates around the rotating shaft, and the fixing member is fixedly arranged on the rotating end department.

上述多旋翼无人飞行器，通过驱动旋翼驱动无人飞行器飞行。电机驱动螺旋桨转动，螺旋桨的桨座通过固定件与电机的转动端卡合安装。螺旋桨的桨座沿旋转轴的轴向滑动至使固定件从通孔穿过，并与卡槽相卡合，使螺旋桨在所述电机的旋转轴的轴向上被限位，电机通过所述固定件与所述卡槽卡合固定带动所述螺旋桨旋转。The above-mentioned multi-rotor unmanned aerial vehicle drives the unmanned aerial vehicle to fly by driving the rotors. The motor drives the propeller to rotate, and the propeller seat of the propeller is installed by engaging with the rotating end of the motor through the fixing piece. The propeller seat of the propeller slides along the axial direction of the rotating shaft until the fixing piece passes through the through hole and is engaged with the slot, so that the propeller is limited in the axial direction of the rotating shaft of the motor, and the motor passes through the The fixing piece is engaged with the card slot to drive the propeller to rotate.

因此，上述多旋翼无人飞行器的螺旋桨在轴向上被限定，从而避免螺旋桨在转动过程中，沿旋转轴的轴向移动，甚至与旋转轴脱离，发生飞行事故等危险。Therefore, the propeller of the above-mentioned multi-rotor UAV is limited in the axial direction, so as to prevent the propeller from moving along the axial direction of the rotating shaft during the rotation process, or even detaching from the rotating shaft, resulting in flight accidents and other dangers.

并且，螺旋桨的安装方向为沿旋转轴的轴向滑动安装，通过转动桨座使固定件与卡槽卡合固定。即使在无人飞行器的飞行过程中，螺旋桨受到沿旋转轴轴向的作用力，但是在该作用力的作用下，固定件与卡槽之间的卡持力也会随之增大，从而加强螺旋桨与固定件的连接关系。因此，上述多旋翼无人飞行器的安装方式，使螺旋桨的安装操作较为方便，保证螺旋桨的安装合格率。In addition, the installation direction of the propeller is sliding installation along the axial direction of the rotating shaft, and the fixing member is engaged and fixed with the locking groove by rotating the propeller seat. Even during the flight of the UAV, the propeller is subjected to a force along the axial direction of the rotating shaft, but under the action of the force, the holding force between the fixing member and the slot will increase accordingly, thereby strengthening the propeller. The connection relationship with the fixture. Therefore, the above-mentioned installation method of the multi-rotor unmanned aerial vehicle makes the installation operation of the propeller more convenient, and ensures the installation qualification rate of the propeller.

附图说明Description of drawings

图1是本实施方式的多旋翼无人飞行器的立体图；1 is a perspective view of a multi-rotor unmanned aerial vehicle of the present embodiment;

图2是图1所述的旋翼的立体图；Fig. 2 is the perspective view of the rotor described in Fig. 1;

图3是图2所示的旋翼的分解图；Figure 3 is an exploded view of the rotor shown in Figure 2;

图4是图2所示的旋翼的剖视图；Fig. 4 is the sectional view of the rotor shown in Fig. 2;

图5是另一实施方式的旋翼的俯视图；5 is a top view of a rotor of another embodiment;

图6是另一实施方式的旋翼的俯视图。6 is a plan view of a rotor according to another embodiment.

附图标记说明如下：10、机架；11；中心体；12；机翼；20、旋翼；21、电机；211、转动端；22；螺旋桨；221、桨座；222、桨叶；223、通孔；2231、第一通过部；2232、第二通过部；224、卡槽；229、夹缝；23；固定件；231、主体；232、卡持部；30、弹性件；50、正转旋翼；51、第一电机；52、第一螺旋桨；523、第一通孔；524、第一卡槽；53、第一固定件；60、反转旋翼；61、第二电机；62；第二螺旋桨；623；第二通孔；624；第二卡槽；63；第二固定件。Reference numerals are explained as follows: 10, frame; 11; center body; 12; wing; 20, rotor; 21, motor; 211, rotating end; 22; propeller; 221, propeller seat; through hole; 2231, the first passing part; 2232, the second passing part; 224, the slot; 229, the slot; 23; the fixing part; 231, the main body; 232, the holding part; 30, the elastic part; 50, the forward rotation Rotor; 51, first motor; 52, first propeller; 523, first through hole; 524, first card slot; 53, first fixing part; 60, reversing rotor; 61, second motor; 62; Two propellers; 623; a second through hole; 624; a second slot; 63; a second fixing piece.

具体实施方式Detailed ways

体现本发明特征与优点的典型实施方式将在以下的说明中详细叙述。应理解的是本发明能够在不同的实施方式上具有各种的变化，其皆不脱离本发明的范围，且其中的说明及图示在本质上是当作说明之用，而非用以限制本发明。Exemplary embodiments embodying the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention can have various changes in different embodiments without departing from the scope of the present invention, and the descriptions and drawings therein are essentially used for illustration rather than limitation this invention.

请参阅图1，具体在本实施方式中，多旋翼无人飞行器包括机架10、旋翼20及弹性件30。Referring to FIG. 1 , in this embodiment, the multi-rotor UAV includes a frame 10 , a rotor 20 and an elastic member 30 .

机架10可以作为多旋翼无人飞行器的支撑主体。机架10可以包括中心体11及多个机翼12。中心体11可以作为机架10的中心基准。以中心体11为中心，多个机臂分布于中心体11的外周。具体在本实施方式中，多旋翼无人飞行器为四旋翼无人飞行器。The frame 10 can be used as the supporting body of the multi-rotor unmanned aerial vehicle. The frame 10 may include a central body 11 and a plurality of wings 12 . The center body 11 can serve as the center reference of the frame 10 . Centering on the center body 11 , a plurality of arms are distributed on the outer periphery of the center body 11 . Specifically in this embodiment, the multi-rotor unmanned aerial vehicle is a quad-rotor unmanned aerial vehicle.

旋翼20设于机架10上，旋翼20为多旋翼无人飞行器提供飞行动力。其中，旋翼20包括电机21、螺旋桨22以及固定件23。电机安装在机架上。电机21安装在机架10的机翼12的一端上。旋翼的电机21包括定子(图未示)、转子(图未示)及转动端211。定子与转子相对转动。定子或转子与转动端211连接，以带动转动端211转动。转动端211用于驱动螺旋桨22转动。固定件23固定在电机上，并且随所述转动端211一起转动。螺旋桨22通过所述固定件23安装在电机上，电机带动螺旋桨22旋转。固定件23固定设于转动端211的中心位置，固定件23的轴向与螺旋桨22的旋转轴位于同一轴线上。The rotor 20 is arranged on the frame 10, and the rotor 20 provides the flying power for the multi-rotor unmanned aerial vehicle. The rotor 20 includes a motor 21 , a propeller 22 and a fixing member 23 . The motor is mounted on the frame. The motor 21 is mounted on one end of the wing 12 of the frame 10 . The motor 21 of the rotor includes a stator (not shown), a rotor (not shown) and a rotating end 211 . The stator and the rotor rotate relative to each other. The stator or rotor is connected with the rotating end 211 to drive the rotating end 211 to rotate. The rotating end 211 is used to drive the propeller 22 to rotate. The fixing member 23 is fixed on the motor and rotates together with the rotating end 211 . The propeller 22 is mounted on the motor through the fixing member 23, and the motor drives the propeller 22 to rotate. The fixing member 23 is fixed at the center of the rotating end 211 , and the axial direction of the fixing member 23 and the rotating shaft of the propeller 22 are located on the same axis.

螺旋桨22包括桨座221及桨叶222。其中，桨叶222为两个，分别设有桨座221的两端。桨座221开设有用于安装桨叶222的夹缝229。桨叶222收容于该夹缝229内，并通过螺栓(图未示)将桨叶222与桨座221固定，以实现桨叶222的稳固安装。The propeller 22 includes a propeller seat 221 and a propeller blade 222 . Among them, there are two paddles 222, and two ends of the paddle seat 221 are respectively provided. The paddle seat 221 is provided with a slot 229 for installing the paddle 222 . The paddle 222 is accommodated in the slot 229 , and the paddle 222 and the paddle seat 221 are fixed by bolts (not shown), so as to realize the stable installation of the paddle 222 .

请参阅图2，为方便说明，现规定螺旋桨22的旋转轴轴向为Z轴方向，两个桨叶222所在的方向为Y轴方向。即，固定件23的轴向即为Z轴方向。桨座221通过与固定件23于机架实现固定连接。转动端211通过固定件23驱动桨座221转动，从而使桨叶222旋转。因此，固定件23所在轴向与螺旋桨22的旋转轴的轴向重合。为方便说明，现规定固定件23的轴向为Z轴方向，两个桨叶222所在的方向为Y轴方向。即，螺旋桨22的旋转轴轴向即为Z轴方向。Please refer to FIG. 2 , for the convenience of description, the axial direction of the rotation axis of the propeller 22 is the Z-axis direction, and the direction in which the two blades 222 are located is the Y-axis direction. That is, the axial direction of the fixing member 23 is the Z-axis direction. The paddle seat 221 is fixedly connected to the frame through the fixing member 23 . The rotating end 211 drives the paddle seat 221 to rotate through the fixing member 23 , thereby rotating the paddle 222 . Therefore, the axial direction of the fixing member 23 coincides with the axial direction of the rotating shaft of the propeller 22 . For the convenience of description, the axial direction of the fixing member 23 is now defined as the Z-axis direction, and the direction in which the two paddles 222 are located is the Y-axis direction. That is, the axial direction of the rotating shaft of the propeller 22 is the Z-axis direction.

请参阅图3，固定件23设有主体231及设于主体231一侧的卡持部232。固定件23的主体231与卡持部232可以为一体结构。固定件23可以通过浇铸、注塑、车削等形成的一体结构。或者，固定件23也可以为由主体231及卡持部232相互连接形成，卡持部232可以通过焊接、螺接等方式与主体231实现固定连接。Please refer to FIG. 3 , the fixing member 23 has a main body 231 and a holding portion 232 disposed on one side of the main body 231 . The main body 231 of the fixing member 23 and the holding portion 232 may be an integral structure. The fixing member 23 may be an integral structure formed by casting, injection molding, turning or the like. Alternatively, the fixing member 23 may also be formed by connecting the main body 231 and the holding portion 232 to each other, and the holding portion 232 may be fixedly connected to the main body 231 by welding, screwing or the like.

主体231的一端固定设于电机的转动端211。主体231的轴向与转动端211的旋转轴One end of the main body 231 is fixed on the rotating end 211 of the motor. The axial direction of the main body 231 and the rotation axis of the rotating end 211

卡持部232设于主体231的另一端，并且朝向主体231的一侧凸伸设置。具体地，卡持部232为由所述主体231向外侧伸出的凸臂，凸臂与主体231呈夹角设置。卡持部232用于与桨座221相卡持。具体地，主体231为柱体结构，卡持部232也为柱体结构。主体231的轴向与电机的旋转轴重合。即，主体231沿Z轴方向延伸。桨座221的旋转中心与主体231重合，则桨座221的旋转中心即与电机的旋转轴重合，以保证电机能够驱动螺旋桨22的桨座221保持均匀的圆心转动。The holding portion 232 is disposed on the other end of the main body 231 and protrudes toward one side of the main body 231 . Specifically, the holding portion 232 is a protruding arm extending outward from the main body 231 , and the protruding arm and the main body 231 are arranged at an included angle. The holding portion 232 is used for holding the paddle seat 221 . Specifically, the main body 231 is a column structure, and the holding portion 232 is also a column structure. The axial direction of the main body 231 coincides with the rotation axis of the motor. That is, the main body 231 extends in the Z-axis direction. The rotation center of the paddle seat 221 coincides with the main body 231, and the rotation center of the paddle seat 221 is coincident with the rotation axis of the motor, so as to ensure that the motor can drive the paddle seat 221 of the propeller 22 to maintain a uniform center of rotation.

并且，主体231为圆柱形，以便于固定件23相对于桨座221转动。Moreover, the main body 231 is cylindrical, so that the fixing member 23 can rotate relative to the paddle seat 221 .

卡持部232为多个。具体在本实施方式中，卡持部232可以为两个。两个卡持部232相对设于主体231的相对两侧。并且，卡持部232与主体231之间存在夹角。具体在本实施方式中，卡持部232与主体231的轴向垂直设置，则卡持部232与主体231之间的夹角为直角。在其他实施方式中，卡持部232与主体231的轴向相倾斜设置。则持部与主体231之间存在夹角可以为锐角或钝角等。The number of the holding parts 232 is plural. Specifically, in this embodiment, there may be two holding portions 232 . The two holding portions 232 are disposed on opposite sides of the main body 231 . In addition, there is an included angle between the holding portion 232 and the main body 231 . Specifically, in this embodiment, the axial direction of the holding portion 232 and the main body 231 is perpendicular to each other, and the included angle between the holding portion 232 and the main body 231 is a right angle. In other embodiments, the holding portion 232 is disposed inclined to the axial direction of the main body 231 . Then, the included angle between the holding portion and the main body 231 may be an acute angle or an obtuse angle.

多个卡持部232关于主体231对称设置。并且，卡持部232均匀分布在主体231的四周，相邻两卡持部232之间的夹角相等。两个卡持部232对称设于主体231的相对两侧，两个卡持部232位于同一直线上。即，两个卡持部232沿X轴方向延伸。在其他实施方式中，卡持部232还可以为三个、四个等多个的时候，多个卡持部232可以呈三叉或四叉等形状分布。The plurality of holding parts 232 are symmetrically arranged with respect to the main body 231 . Moreover, the holding parts 232 are evenly distributed around the main body 231 , and the included angles between two adjacent holding parts 232 are equal. The two holding portions 232 are symmetrically disposed on opposite sides of the main body 231 , and the two holding portions 232 are located on the same straight line. That is, the two holding portions 232 extend in the X-axis direction. In other embodiments, when there are three or four holding portions 232, the plurality of holding portions 232 may be distributed in the shape of three prongs or four prongs.

螺旋桨22的桨座221设有通孔223及卡槽224。桨座221通过通孔223、卡槽224与固定件23配合连接。通孔223沿Z轴方向开通。固定件23能够从通孔223穿过，并相对于螺旋桨22的桨座221旋转预设角度后与卡槽224相卡合。卡槽224为非贯通槽。则固定件23的卡持部232与卡槽224的底部之间可以存在作用力。该预设角度为通孔223与卡槽224之间的夹角。该预设角度的大小可以为锐角、直角或钝角大小。The propeller seat 221 of the propeller 22 is provided with a through hole 223 and a clamping slot 224 . The paddle seat 221 is connected with the fixing member 23 through the through hole 223 and the clamping slot 224 in a matched manner. The through hole 223 is opened in the Z-axis direction. The fixing member 23 can pass through the through hole 223, and is engaged with the locking groove 224 after being rotated by a predetermined angle relative to the paddle seat 221 of the propeller 22. The card slot 224 is a non-through slot. Then, there may be a force between the holding portion 232 of the fixing member 23 and the bottom of the holding slot 224 . The preset angle is the included angle between the through hole 223 and the card slot 224 . The preset angle can be an acute angle, a right angle or an obtuse angle.

桨座221的通孔223的形状与固定件23的形状相适配。固定件23可以从通孔223处进入桨座221内。转动桨座221或固定件23，使两者发生相对转动。当固定件23相对于桨座221旋转预设角度后，则固定件23的卡持部232运动至卡槽224位置处。具体地，由于固定件23固定设于机架上，则需要转动桨座221实现螺旋桨22与固定件23的卡合连接。The shape of the through hole 223 of the paddle seat 221 is adapted to the shape of the fixing member 23 . The fixing member 23 can enter the paddle seat 221 from the through hole 223 . Rotate the paddle seat 221 or the fixing member 23 to make the two rotate relative to each other. After the fixing member 23 rotates relative to the paddle seat 221 by a predetermined angle, the holding portion 232 of the fixing member 23 moves to the position of the locking groove 224 . Specifically, since the fixing member 23 is fixed on the frame, the propeller base 221 needs to be rotated to realize the engaging connection between the propeller 22 and the fixing member 23 .

卡槽224的形状与所述卡持部232的形状相适配。卡持部232运动至卡槽224处，卡持部232能够与桨座221上的卡槽224卡合。卡槽224相对于两个卡持部232可以为两个。两个卡槽224分别与两个卡持部232卡持固定，保证固定件23的受力平衡。The shape of the card slot 224 is adapted to the shape of the holding portion 232 . The retaining portion 232 moves to the retaining slot 224 , and the retaining portion 232 can be engaged with the retaining slot 224 on the paddle seat 221 . There may be two card slots 224 relative to the two card holding portions 232 . The two clamping slots 224 are respectively clamped and fixed with the two clamping portions 232 to ensure the force balance of the fixing member 23 .

在其他实施方式中，卡槽224的个数可以小于卡持部232的个数。卡槽224至少为一个，保证至少一卡持部232与卡槽224卡持连接。In other embodiments, the number of the card slots 224 may be smaller than the number of the card holding portions 232 . There is at least one card slot 224 , so as to ensure that at least one card holder 232 is connected to the card slot 224 .

具体在本实施方式中，通孔223包括用于穿过主体231的第一通过部2231及用于穿过卡持部232的第二通过部2232，且第一通过部2231与第二通过部2232相连通。第一通过部2231及第二通过部2232的分布结构与主体231及卡持部232的分布结构相同，以适配固定件23穿过。则该预设角度为第二通过部2232与卡槽224之间的夹角。Specifically in this embodiment, the through hole 223 includes a first passing portion 2231 for passing through the main body 231 and a second passing portion 2232 for passing through the holding portion 232 , and the first passing portion 2231 and the second passing portion 2232 is connected. The distribution structure of the first passing portion 2231 and the second passing portion 2232 is the same as the distribution structure of the main body 231 and the holding portion 232 so as to fit the fixing member 23 to pass through. Then, the preset angle is the included angle between the second passing portion 2232 and the card slot 224 .

其中，第一通过部2231用于穿过固定件23的主体231。则第一通过部2231的口径宽度略小于主体231的直径。主体231与桨座221之间保持相对约束，使主体231受到约束力，从而保证主体231能够稳定的收容于第一通过部2231内。The first passing portion 2231 is used to pass through the main body 231 of the fixing member 23 . Then, the aperture width of the first passing portion 2231 is slightly smaller than the diameter of the main body 231 . The main body 231 and the paddle seat 221 are relatively restrained, so that the main body 231 is subject to a restraining force, thereby ensuring that the main body 231 can be stably accommodated in the first passage portion 2231 .

第二通过部2232的口径宽度小于第一通过部2231的口径宽度。当固定件23***通孔223操作的时候，主体231首先对准第一通过部2231，则主体231的直径大小与第一通过部2231的口径大小均较大，方便主体231与第一通过部2231对准操作，并且，主体231限位于第一通过部2231内。The aperture width of the second passage portion 2232 is smaller than the aperture width of the first passage portion 2231 . When the fixing member 23 is inserted into the through hole 223, the main body 231 is first aligned with the first passage portion 2231, and the diameter of the main body 231 and the diameter of the first passage portion 2231 are both larger, which is convenient for the main body 231 and the first passage portion 2231. 2231 is aligned, and the main body 231 is limited within the first passing portion 2231 .

当主体231对准并进入第一通过部2231内的时候，由于第二通过部2232的口径宽度小于第一通过部2231的口径宽度，因此只需稍微转动桨座221，使第二通过部2232对准卡持部232，即可实现固定件23的穿过。如果第二通过部2232的口径宽度大于第一通过部2231的口径宽度，并且由于第一通过部2231与第二通过部2232相互连通，则主体231在穿入第一通过部2231后，在转动桨座221的过程中，主体231还可以进入到第二通过部2232内，并可以在第二通过部2232内移动，不利于第二通过部2232对准卡持部232。When the main body 231 is aligned and enters the first passage portion 2231, since the aperture width of the second passage portion 2232 is smaller than the aperture width of the first passage portion 2231, it is only necessary to slightly rotate the paddle seat 221 to make the second passage portion 2232 The fixing member 23 can be passed through by aligning the holding portion 232 . If the aperture width of the second passage portion 2232 is greater than the aperture width of the first passage portion 2231, and since the first passage portion 2231 and the second passage portion 2232 are communicated with each other, the main body 231 will rotate after penetrating the first passage portion 2231. During the process of the paddle seat 221 , the main body 231 can also enter into the second passing portion 2232 and can move in the second passing portion 2232 , which is not conducive to the alignment of the second passing portion 2232 with the holding portion 232 .

第二通过部2232的口径宽度小于第一通过部2231的口径宽度，则卡持部232的直径小于主体231的直径大小，则保证卡持部232能够顺利通过第二通过部2232。The aperture width of the second passage portion 2232 is smaller than the aperture width of the first passage portion 2231 , and the diameter of the holding portion 232 is smaller than the diameter of the main body 231 to ensure that the holding portion 232 can pass through the second passage portion 2232 smoothly.

当卡持部232通过第二通过部2232后，螺旋桨22的桨座221旋转预设角度，使卡持部232与卡槽224卡持连接。由于卡槽224的口径宽度与卡持部232的直径大小相适配，以使卡持部232稳定收容于卡槽224内。并且卡持部232的直径大小小于第一通过部2231的口径宽度。因此，则卡槽224的口径宽度小于第一通过部2231的口径宽度。After the holding portion 232 passes through the second passing portion 2232 , the propeller seat 221 of the propeller 22 is rotated by a predetermined angle, so that the holding portion 232 is connected with the holding groove 224 by holding. Since the aperture width of the card slot 224 is adapted to the diameter of the holding portion 232 , the holding portion 232 is stably received in the card slot 224 . In addition, the diameter of the holding portion 232 is smaller than the aperture width of the first passing portion 2231 . Therefore, the aperture width of the card slot 224 is smaller than the aperture width of the first passage portion 2231 .

请参阅图3及图4，弹性件30与螺旋桨22的桨座221机械耦合连接。弹性件30用于提供一弹力给螺旋桨22的桨座221。具体在本实施方式中，弹性件30套设于固定件23的主体231上。电机21的转动端211的表面上开设有收容槽219。弹性件30与转动端211接触的一端收容于收容槽219内，从而对弹性件30进行限位，保持弹性件30能够稳定地与转动端211固定连接。Please refer to FIGS. 3 and 4 , the elastic member 30 is mechanically coupled and connected to the paddle seat 221 of the propeller 22 . The elastic member 30 is used to provide an elastic force to the propeller seat 221 of the propeller 22 . Specifically, in this embodiment, the elastic member 30 is sleeved on the main body 231 of the fixing member 23 . A receiving groove 219 is formed on the surface of the rotating end 211 of the motor 21 . The end of the elastic member 30 in contact with the rotating end 211 is accommodated in the receiving groove 219 , so as to limit the position of the elastic member 30 and keep the elastic member 30 stably connected to the rotating end 211 .

当固定件23从桨座221的通孔223处穿过的时候，桨座221压持弹性件30，使弹性件30发生弹性形变，弹性件30从而产生弹性力。When the fixing member 23 passes through the through hole 223 of the paddle seat 221 , the paddle seat 221 presses the elastic member 30 , so that the elastic member 30 is elastically deformed, and the elastic member 30 generates elastic force.

并且，当转动桨座221，使桨座221的卡槽224与固定件23的卡持部232对准卡持的过程中，卡持部232进入卡槽224内，桨座221相对于固定件23之间的位置固定，桨座221挤压弹性件30，使弹性件30压缩，卡持部232与卡槽224的底部之间存在压力作用。In addition, when the paddle seat 221 is rotated to align the card slot 224 of the paddle seat 221 with the holding portion 232 of the fixing member 23, the holding portion 232 enters the locking groove 224, and the paddle seat 221 is opposite to the fixing member. The position between 23 is fixed, the paddle seat 221 presses the elastic member 30 to compress the elastic member 30, and there is a pressure effect between the clamping portion 232 and the bottom of the clamping slot 224.

并且，弹性件30的直径大于通孔223的直径。则桨座221在朝向电机的转动端移动的时候，弹性件30会被压持与桨座221与转动端之间，从而使弹性件30发生弹性形变，避免弹性件30被挤入到通孔223内，使弹性件30发生不规则的形变，甚至使弹性件30受损。Also, the diameter of the elastic member 30 is larger than the diameter of the through hole 223 . Then, when the paddle seat 221 moves toward the rotating end of the motor, the elastic member 30 will be pressed between the paddle seat 221 and the rotating end, so that the elastic member 30 is elastically deformed to prevent the elastic member 30 from being squeezed into the through hole. 223, the elastic member 30 is deformed irregularly, and even the elastic member 30 is damaged.

弹性件30可以为弹簧也可以为扭簧等，只要能够为螺旋桨22的桨座221提供一弹力即可。弹性件30的两端可以分别抵持限位于电机的转动端与螺旋桨22的桨座221之间，弹性件30发生弹性形变，保证固定件23与桨座221的卡槽224保持卡紧。弹性件30可以处于压缩状态，也可以处于拉伸状态。The elastic member 30 may be a spring or a torsion spring, as long as it can provide an elastic force for the paddle seat 221 of the propeller 22 . Both ends of the elastic member 30 can be respectively abutted and limited between the rotating end of the motor and the paddle seat 221 of the propeller 22 , and the elastic member 30 is elastically deformed to ensure that the fixing member 23 and the slot 224 of the paddle seat 221 remain locked. The elastic member 30 can be in a compressed state or in a stretched state.

弹性件30可以增强固定件23与桨座221相互连接的连接强度，从而保证螺旋桨2222能够稳定地设于机架10上。在螺旋桨22在转动过程中，即使桨座221相对于固定件23发生晃动，螺旋桨22也能够保持与固定件23稳定连接，不会导致固定件23的卡持部232与卡槽224脱离，发生螺旋桨22脱轴的风险。The elastic member 30 can enhance the connection strength between the fixing member 23 and the propeller base 221 , thereby ensuring that the propeller 2222 can be stably installed on the frame 10 . During the rotation of the propeller 22, even if the propeller seat 221 shakes relative to the fixing member 23, the propeller 22 can remain stably connected to the fixing member 23, and the clamping portion 232 of the fixing member 23 will not be disengaged from the clamping groove 224, resulting in the occurrence of Risk of propeller 22 off-axis.

并且，上述多旋翼无人飞行器的螺旋桨22在轴向上被限定，当上述多旋翼无人飞行器在飞行过程中，螺旋桨22转动，螺旋桨22受到沿旋转轴轴向的作用力，但是在该作用力的作用下，螺旋桨22的桨座221相对于主体231的轴向存在向外运动或向外运动趋势。则螺旋桨22向外运动或运动趋势，会使固定件23与卡槽224之间的卡持力也会随之增大，固定件23的卡持部232与桨座221的卡槽224之间卡持作用更加加固，是螺旋桨22的固定更加稳固。上述多旋翼无人飞行器在飞行过程中，螺旋桨22不会发生脱轴的风险。因此，上述多旋翼无人飞行器的安装方式，使螺旋桨22的安装操作较为方便，保证螺旋桨22的安装合格率。In addition, the propeller 22 of the above-mentioned multi-rotor unmanned aerial vehicle is limited in the axial direction. When the above-mentioned multi-rotor unmanned aerial vehicle is in flight, the propeller 22 rotates, and the propeller 22 is subjected to a force along the axial direction of the rotating shaft, but in this action Under the action of the force, the propeller seat 221 of the propeller 22 has an outward movement or an outward movement tendency relative to the axial direction of the main body 231 . Then the propeller 22 moves outwards or tends to move, which will increase the holding force between the fixing member 23 and the card slot 224 . The holding effect is more reinforced, and the fixing of the propeller 22 is more stable. During the flight of the above-mentioned multi-rotor unmanned aerial vehicle, the risk of the propeller 22 being off-axis will not occur. Therefore, the above-mentioned installation method of the multi-rotor UAV makes the installation operation of the propeller 22 more convenient, and ensures the installation qualification rate of the propeller 22 .

请参阅图1，具体在本实施方式中，旋翼20包括正转旋翼50与反转旋翼60。正转旋翼50与反转旋翼60交替固定于机臂远离中心体11的一端。正转旋翼50的螺旋桨22为顺时针旋转，反转旋翼60的螺旋桨22为逆时针旋转。正转旋翼50及反转旋翼60可以分别为多旋翼无人飞行器提供飞行动力。正转旋翼50与反转旋翼60的设置个数相同，以保证机架10受力均衡，保持平稳平行。正转旋翼50与反转旋翼60调节螺旋桨22的转速，以使多旋翼无人飞行器上升、下降、前进、后退、左转、右转等操作。其中，正转旋翼与反转旋翼的大部分结构相同。正转旋翼50的电机为正转电机，螺旋桨为正螺旋桨。反转旋翼60的电机为反转电机，螺旋桨为反螺旋桨。Referring to FIG. 1 , in this embodiment, the rotor 20 includes a forward-rotating rotor 50 and a reverse-rotating rotor 60 . The forward-rotating rotor 50 and the reverse-rotating rotor 60 are alternately fixed on one end of the arm away from the center body 11 . The propeller 22 of the forward-rotating rotor 50 rotates clockwise, and the propeller 22 of the counter-rotating rotor 60 rotates counterclockwise. The forward rotor 50 and the reverse rotor 60 can respectively provide flying power for the multi-rotor UAV. The number of the forward-rotating rotors 50 and the reverse-rotating rotors 60 are the same, so as to ensure that the frame 10 bears a balanced force and is kept stable and parallel. The forward-rotating rotor 50 and the reverse-rotating rotor 60 adjust the rotational speed of the propeller 22 to make the multi-rotor unmanned aerial vehicle ascend, descend, advance, retreat, turn left, turn right, and the like. Among them, most of the structures of the forward rotor and the reverse rotor are the same. The motor of the forward-rotating rotor 50 is a forward-rotating motor, and the propeller is a positive propeller. The motor of the reversing rotor 60 is a reversing motor, and the propeller is an anti-propeller.

请同时参阅图5及图6，具体在本实施方式中，正转旋翼50包括第一电机51、第一螺旋桨52以及第一固定件53。第一电机51安装在机架上，第一固定件53固定在第一电机51上，并且随第一电机51的转子一起转动，第一螺旋桨52通过第一固定件53安装在第一电机51上，第一电机51带动第一螺旋桨52沿正向旋转。Please refer to FIG. 5 and FIG. 6 at the same time. Specifically, in this embodiment, the forward-rotating rotor 50 includes a first motor 51 , a first propeller 52 and a first fixing member 53 . The first motor 51 is installed on the frame, the first fixing member 53 is fixed on the first motor 51 and rotates together with the rotor of the first motor 51 , and the first propeller 52 is installed on the first motor 51 through the first fixing member 53 , the first motor 51 drives the first propeller 52 to rotate in the forward direction.

反转旋翼60包括第二电机61、第二螺旋桨62以及第二固定件63。第二电机安装在机架上，第二固定件63固定在第二电机61上，第二螺旋桨62通过第二固定件63安装在第二电机61上，第二电机61带动第二螺旋桨62沿反向旋转。The counter rotor 60 includes a second motor 61 , a second propeller 62 and a second fixing member 63 . The second motor is installed on the frame, the second fixing member 63 is fixed on the second motor 61, the second propeller 62 is installed on the second motor 61 through the second fixing member 63, and the second motor 61 drives the second propeller 62 along the Reverse rotation.

第一弹性件与第一螺旋桨52的桨座机械耦合连接，用于提供一弹力给第一螺旋桨52的桨座。The first elastic member is mechanically coupled and connected to the paddle seat of the first propeller 52 for providing an elastic force to the paddle seat of the first propeller 52 .

第二弹性件与第二螺旋桨62的桨座机械耦合连接，用于提供一弹力给第二螺旋桨62的桨座。The second elastic member is mechanically coupled and connected to the paddle seat of the second propeller 62 for providing an elastic force to the paddle seat of the second propeller 62 .

其中，第一螺旋桨52的桨座设有第一通孔523及第一卡槽524，第一固定件53从第一通孔523穿过，并相对于第一螺旋桨52的桨座旋转预设角度后与第一卡槽相卡合，并且第一螺旋桨在第一弹性件的弹力作用下保持第一卡槽与第一固定件53处于卡合状态，使第一电机51通过第一固定件53与第一卡槽卡合固定带动第一螺旋桨52旋转。The paddle seat of the first propeller 52 is provided with a first through hole 523 and a first slot 524 , and the first fixing member 53 passes through the first through hole 523 and is rotated relative to the paddle seat of the first propeller 52 for a preset rotation. After the angle, it is engaged with the first slot, and the first propeller keeps the first slot and the first fixing member 53 in the engaged state under the elastic force of the first elastic member, so that the first motor 51 passes through the first fixing member. 53 is engaged and fixed with the first slot to drive the first propeller 52 to rotate.

第二螺旋桨62的桨座设有第二通孔623及第二卡槽624，第二固定件63从第二通孔623穿过，并相对于第二螺旋桨62的桨座旋转预设角度后与第二卡槽624相卡合，并且第二螺旋桨62在第二弹性件的弹力作用下保持第二卡槽624与第二固定件63处于卡合状态，使第二电机61通过第二固定件63与第二卡槽624卡合固定带动第二螺旋桨旋转。The propeller seat of the second propeller 62 is provided with a second through hole 623 and a second slot 624 . The second fixing member 63 passes through the second through hole 623 and is rotated relative to the propeller seat of the second propeller 62 by a preset angle. It is engaged with the second slot 624, and the second propeller 62 keeps the second slot 624 and the second fixing member 63 in the engagement state under the elastic force of the second elastic member, so that the second motor 61 can pass through the second fixing member. The element 63 is engaged with the second slot 624 to drive the second propeller to rotate.

其中，其中，第一螺旋桨52的桨叶倾斜方形与第二螺旋桨62的桨叶倾斜方向不同。第一螺旋桨52与第二螺旋桨62的转动方向相反，因此在安装第一螺旋桨52与第二螺旋桨62的时候，需要区分，避免误装。Among them, the blade of the first propeller 52 is inclined in a square shape and the direction of inclination of the blade of the second propeller 62 is different. The rotation directions of the first propeller 52 and the second propeller 62 are opposite. Therefore, when installing the first propeller 52 and the second propeller 62, it is necessary to distinguish them to avoid mis-installation.

并且，第一卡槽524沿第一方向开设，第二卡槽624沿第二方向开设，第一方向与第二方向的方向不同。具体在本实施方式中，第一螺旋桨52的第一卡槽524为沿第一方向开设。第二螺旋桨62的第二卡槽624为沿第二方向开设。并且，第一方向与所述第二方向的方向不同。因此，第一卡槽524与第二卡槽624根据不同的开设方向可以进行区分，从而可以对第一螺旋桨52及第二螺旋桨62，在安装第一螺旋桨52及第二螺旋桨62的时候起到防呆的作用。In addition, the first card slot 524 is opened along the first direction, the second card slot 624 is opened along the second direction, and the first direction is different from the second direction. Specifically, in this embodiment, the first locking groove 524 of the first propeller 52 is opened along the first direction. The second slot 624 of the second propeller 62 is opened along the second direction. Also, the first direction is different from the second direction. Therefore, the first slot 524 and the second slot 624 can be distinguished according to different opening directions, so that the first propeller 52 and the second propeller 62 can be installed when the first propeller 52 and the second propeller 62 are installed. Foolproof effect.

具体在本实施方式中，第一固定件53及第二固定件63固定设于支架上。则转动第一螺旋桨52，使其与第一固定件53卡合。转动第二螺旋桨62，使其与第二固定件63卡合。第一螺旋桨52相对于第一固定件53沿顺时针旋转锐角角度，第一固定件53能够与沿第一方向的第一卡槽524卡合连接。Specifically, in this embodiment, the first fixing member 53 and the second fixing member 63 are fixed on the bracket. Then, the first propeller 52 is rotated to engage with the first fixing member 53 . Rotate the second propeller 62 to engage with the second fixing member 63 . The first propeller 52 is rotated at an acute angle clockwise relative to the first fixing member 53 , and the first fixing member 53 can be engaged with the first locking groove 524 along the first direction.

第二螺旋桨62相对于第二固定件63沿逆时针方向旋转锐角角度，第二固定件63能够与沿第二方向的第二卡槽624卡合连接。The second propeller 62 is rotated by an acute angle counterclockwise relative to the second fixing member 63 , and the second fixing member 63 can be engaged with the second locking groove 624 along the second direction.

第一方向沿顺时针方向倾斜。第一方向为Y轴方向沿顺时针转动锐角角度后的方向。第二方向沿逆时针方向倾斜。第二方向为Y轴方向沿逆时针转动锐角角度后的方向。The first direction is inclined in a clockwise direction. The first direction is the direction in which the Y-axis direction is rotated clockwise by an acute angle. The second direction is inclined in a counterclockwise direction. The second direction is the direction in which the Y-axis direction is rotated counterclockwise by an acute angle.

可以理解，在其他实施方式中，正转旋翼50与反转旋翼60还可以设有其他机械防呆设计，例如，通孔223的形状、或其他标识设计等。It can be understood that, in other embodiments, the forward rotation rotor 50 and the reverse rotation rotor 60 may also be provided with other mechanical foolproof designs, for example, the shape of the through hole 223 or other identification designs.

上述多旋翼无人飞行器，通过驱动旋翼20驱动无人飞行器飞行。螺旋桨的桨座通过固定件23与电机的转动端卡合安装，电机驱动螺旋桨22转动。螺旋桨22的桨座沿旋转轴的轴向滑动至使固定件23从通孔穿过，并与卡槽224相卡合，使螺旋桨在电机的旋转轴的轴向上被限位，电机通过固定件与卡槽224卡合固定带动所述螺旋桨22旋转。The above-mentioned multi-rotor unmanned aerial vehicle drives the unmanned aerial vehicle to fly by driving the rotor 20 . The propeller seat of the propeller is engaged with the rotating end of the motor through the fixing member 23, and the motor drives the propeller 22 to rotate. The propeller seat of the propeller 22 slides along the axial direction of the rotating shaft until the fixing member 23 passes through the through hole and engages with the locking groove 224, so that the propeller is limited in the axial direction of the rotating shaft of the motor, and the motor is fixed by The screw is engaged with the slot 224 and fixed to drive the propeller 22 to rotate.

因此，上述多旋翼无人飞行器的螺旋桨22在轴向上被限定，从而避免螺旋桨22在转动过程中，沿旋转轴的轴向移动，甚至与旋转轴脱离，发生飞行事故等危险。Therefore, the propeller 22 of the above-mentioned multi-rotor UAV is limited in the axial direction, so as to prevent the propeller 22 from moving along the axial direction of the rotating shaft during the rotation process, or even detaching from the rotating shaft, resulting in flight accidents and other dangers.

并且，螺旋桨22的安装方向为沿旋转轴的轴向滑动安装，通过转动桨座使固定件与卡槽224卡合固定。即使在无人飞行器的飞行过程中，螺旋桨22受到沿旋转轴轴向的作用力，但是在该作用力的作用下，固定件23与卡槽224之间的卡持力也会随之增大，从而加强螺旋桨22与固定件23的连接关系。因此，上述多旋翼无人飞行器的安装方式，使螺旋桨22的安装操作较为方便，保证螺旋桨22的安装合格率。In addition, the installation direction of the propeller 22 is sliding installation along the axial direction of the rotating shaft, and the fixing member is engaged and fixed with the locking groove 224 by rotating the propeller seat. Even during the flight of the unmanned aerial vehicle, the propeller 22 is subjected to a force along the axial direction of the rotating shaft, but under the action of the force, the holding force between the fixing member 23 and the locking groove 224 will also increase accordingly. Thereby, the connection relationship between the propeller 22 and the fixing member 23 is strengthened. Therefore, the above-mentioned installation method of the multi-rotor UAV makes the installation operation of the propeller 22 more convenient, and ensures the installation qualification rate of the propeller 22 .

虽然已参照几个典型实施方式描述了本发明，但应当理解，所用的术语是说明和示例性、而非限制性的术语。由于本发明能够以多种形式具体实施而不脱离发明的精神或实质，所以应当理解，上述实施方式不限于任何前述的细节，而应在随附权利要求所限定的精神和范围内广泛地解释，因此落入权利要求或其等效范围内的全部变化和改型都应为随附权利要求所涵盖。While the present invention has been described with reference to several exemplary embodiments, it is to be understood that the terminology used is of description and illustration, and not of limitation. Since the invention can be embodied in many forms without departing from the spirit or spirit of the invention, it is to be understood that the above-described embodiments are not limited to any of the foregoing details, but are to be construed broadly within the spirit and scope defined by the appended claims Therefore, all changes and modifications that come within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

一种多旋翼无人飞行器，其特征在于，包括：A multi-rotor unmanned aerial vehicle, comprising:

机架；frame;

旋翼，包括电机、螺旋桨以及固定件，所述电机安装在所述机架上，所述固定件固定在所述电机上，并且随所述电机的转子一起转动，所述螺旋桨通过所述固定件安装在所述电机上，所述电机带动所述螺旋桨旋转；A rotor includes a motor, a propeller and a fixing piece, the motor is mounted on the frame, the fixing piece is fixed on the motor and rotates with the rotor of the motor, and the propeller passes through the fixing piece is installed on the motor, and the motor drives the propeller to rotate;

弹性件，与所述螺旋桨的桨座机械耦合连接，用于提供一弹力给所述螺旋桨的桨座；an elastic member, mechanically coupled and connected with the propeller seat of the propeller, for providing an elastic force to the propeller seat of the propeller;

其中，所述螺旋桨的桨座设有通孔及卡槽，所述固定件能够从所述通孔穿过，并相对于所述螺旋桨的桨座旋转预设角度后与所述卡槽相卡合，并且所述螺旋桨在所述弹性件的弹力作用下保持所述卡槽与所述固定件处于卡合状态，使所述电机通过所述固定件与所述卡槽卡合固定带动所述螺旋桨旋转。Wherein, the propeller seat of the propeller is provided with a through hole and a clamping slot, and the fixing member can pass through the through hole, and is rotated relative to the propeller seat of the propeller by a preset angle and then engages with the clamping slot. and the propeller keeps the slot and the fixing member in the engaged state under the action of the elastic force of the elastic member, so that the motor is fixed and driven by the fixing member and the slot. The propeller rotates.
根据权利要求1所述的多旋翼无人飞行器，其特征在于，所述固定件设有主体及设于所述主体一侧的卡持部，所述卡槽的形状与所述卡持部的形状相适配。The multi-rotor unmanned aerial vehicle according to claim 1, wherein the fixing member is provided with a main body and a holding portion provided on one side of the main body, and the shape of the holding groove is the same as that of the holding portion. shape to match.
根据权利要求2所述的多旋翼无人飞行器，其特征在于，所述卡持部为多个。The multi-rotor unmanned aerial vehicle according to claim 2, wherein the number of the holding parts is plural.
根据权利要求3所述的多旋翼无人飞行器，其特征在于，多个所述卡持部关于所述主体对称设置。The multi-rotor unmanned aerial vehicle according to claim 3, wherein a plurality of the holding parts are arranged symmetrically with respect to the main body.
根据权利要求2所述的多旋翼无人飞行器，其特征在于，所述主体为柱状，且所述主体的轴向与所述电机的旋转轴重合。The multi-rotor unmanned aerial vehicle according to claim 2, wherein the main body is cylindrical, and the axial direction of the main body coincides with the rotation axis of the motor.
根据权利要求5所述的多旋翼无人飞行器，其特征在于，所述卡持部与所述主体的轴向相倾斜设置。The multi-rotor unmanned aerial vehicle according to claim 5, wherein the holding portion is disposed inclined to the axial direction of the main body.
根据权利要求2所述的多旋翼无人飞行器，其特征在于，所述卡持部为柱体，所述卡持部的直径小于所述主体的直径。The multi-rotor unmanned aerial vehicle according to claim 2, wherein the holding portion is a cylinder, and the diameter of the holding portion is smaller than the diameter of the main body.
根据权利要求2所述的多旋翼无人飞行器，其特征在于，所述卡持部为由所述主体向外侧伸出的凸臂，所述凸臂与所述主体呈夹角设置。The multi-rotor unmanned aerial vehicle according to claim 2, wherein the holding portion is a protruding arm extending outward from the main body, and the protruding arm and the main body are arranged at an angle.
根据权利要求2所述的多旋翼无人飞行器，其特征在于，所述通孔包括用于穿过所述主体的第一通过部及用于穿过所述卡持部的第二通过部，且所述第一通过部与所述第二通过部相连通。The multi-rotor unmanned aerial vehicle according to claim 2, wherein the through hole comprises a first passing part for passing through the main body and a second passing part for passing through the holding part, And the first passing portion is communicated with the second passing portion.
根据权利要求9所述的多旋翼无人飞行器，其特征在于，所述第一通过部的口径宽度略小于所述主体的直径。The multi-rotor unmanned aerial vehicle according to claim 9, wherein the aperture width of the first passage portion is slightly smaller than the diameter of the main body.
根据权利要求9所述的多旋翼无人飞行器，其特征在于，所述第二通过部的口径宽度小于所述第一通过部的口径宽度。The multi-rotor unmanned aerial vehicle according to claim 9, wherein the aperture width of the second passage portion is smaller than the aperture width of the first passage portion.
根据权利要求9所述的多旋翼无人飞行器，其特征在于，所述卡槽的口径宽度小于所述第一通过部的口径宽度。The multi-rotor unmanned aerial vehicle according to claim 9, wherein the aperture width of the clamping slot is smaller than the aperture width of the first passage portion.
根据权利要求2所述的多旋翼无人飞行器，其特征在于，所述固定件为一体结构。The multi-rotor unmanned aerial vehicle according to claim 2, wherein the fixing member is an integral structure.
根据权利要求1所述的多旋翼无人飞行器，其特征在于，所述弹性件套设于所述固定件，所述桨座沿所述电机的旋转轴的轴向移动并使所述弹性件发生弹性形变，所述弹性件限位于所述电机与所述桨座之间，所述弹性件顶持所述桨座以使所述固定件与所述卡槽卡紧。The multi-rotor unmanned aerial vehicle according to claim 1, wherein the elastic member is sleeved on the fixing member, and the paddle seat moves along the axial direction of the rotating shaft of the motor and makes the elastic member When elastic deformation occurs, the elastic member is limited between the motor and the paddle seat, and the elastic member supports the paddle seat to fasten the fixing member and the locking groove.
根据权利要求14所述的多旋翼无人飞行器，其特征在于，所述弹性件的直径小于所述通孔的直径。The multi-rotor unmanned aerial vehicle according to claim 14, wherein the diameter of the elastic member is smaller than the diameter of the through hole.
根据权利要求1所述的多旋翼无人飞行器，其特征在于，所述旋翼包括正转旋翼及反转旋翼；The multi-rotor unmanned aerial vehicle according to claim 1, wherein the rotor comprises a forward-rotating rotor and a reverse-rotating rotor;

所述正转旋翼包括第一电机、第一螺旋桨以及第一固定件，所述第一电机安装在所述机架上，所述第一固定件固定在所述第一电机上，并且随所述第一电机的转子一起转动，所述第一螺旋桨通过所述第一固定件安装在所述第一电机上，所述第一电机带动所述第一螺旋桨沿正向旋转；The forward-rotating rotor includes a first motor, a first propeller, and a first fixing member, the first motor is mounted on the frame, the first fixing member is fixed on the first motor, and is installed with any The rotors of the first motor rotate together, the first propeller is mounted on the first motor through the first fixing member, and the first motor drives the first propeller to rotate in the forward direction;

第一弹性件，与所述第一螺旋桨的桨座机械耦合连接，用于提供一弹力给所述第一螺旋桨的桨座；所述反转旋翼包括第二电机、第二螺旋桨以及第二固定件，所述第二电机安装在所述机架上，所述第二固定件固定在所述第二电机上，所述第二螺旋桨通过所述第二固定件安装在所述第二电机上，所述第二电机带动所述第一螺旋桨沿反向旋转；a first elastic member, mechanically coupled and connected with the propeller seat of the first propeller, for providing an elastic force to the propeller seat of the first propeller; the reversing rotor includes a second motor, a second propeller and a second fixed The second motor is installed on the frame, the second fixing member is fixed on the second motor, and the second propeller is installed on the second motor through the second fixing member , the second motor drives the first propeller to rotate in the opposite direction;

第二弹性件，与所述第二螺旋桨的桨座机械耦合连接，用于提供一弹力给所述第二螺旋桨的桨座；a second elastic member, mechanically coupled and connected to the paddle seat of the second propeller, for providing an elastic force to the paddle seat of the second propeller;

其中，所述第一螺旋桨的桨座设有第一通孔及第一卡槽，所述第一固定件从所述第一通孔穿过，并相对于所述第一螺旋桨的桨座旋转预设角度后与所述第一卡槽相卡合，并且所述第一螺旋桨在所述第一弹性件的弹力作用下保持所述第一卡槽与所述第一固定件处于卡合状态，使所述第一电机通过所述第一固定件与所述第一卡槽卡合固定带动所述第一螺旋桨旋转；Wherein, the propeller seat of the first propeller is provided with a first through hole and a first slot, and the first fixing member passes through the first through hole and rotates relative to the propeller seat of the first propeller After the preset angle is engaged with the first slot, and the first propeller keeps the first slot and the first fixing member in the engagement state under the elastic force of the first elastic member , so that the first motor is fixed to drive the first propeller to rotate through the first fixing member and the first card slot;

所述第二螺旋桨的桨座设有第二通孔及第二卡槽，所述第二固定件从所述第二通孔穿过，并相对于所述第二螺旋桨的桨座旋转预设角度后与所述第二卡槽相卡合，并且所述第二螺旋桨在所述第二弹性件的弹力作用下保持所述第二卡槽与所述第二固定件处于卡合状态，使所述第二电机通过所述第二固定件与所述第二卡槽卡合固定带动所述第二螺旋桨旋转。The paddle seat of the second propeller is provided with a second through hole and a second slot, and the second fixing member passes through the second through hole and is rotated relative to the paddle seat of the second propeller. After the angle, it is engaged with the second slot, and the second propeller keeps the second slot and the second fixing member in the engagement state under the elastic force of the second elastic member, so that the The second motor drives the second propeller to rotate through the second fixing member and the second clamping slot being engaged and fixed.
根据权利要求16所述的多旋翼无人飞行器，其特征在于，所述第一卡槽沿第一方向开设，所述第二卡槽沿第二方向开设，所述第一方向与所述第二方向的方向不同。The multi-rotor unmanned aerial vehicle according to claim 16, wherein the first card slot is opened along a first direction, the second card slot is opened along a second direction, and the first direction and the second card slot are opened along a first direction. The directions of the two directions are different.
根据权利要求17所述的多旋翼无人飞行器，其特征在于，所述第一螺旋桨相对于所述第一固定件沿顺时针旋转锐角角度，所述第一固定件能够与沿所述第一方向的第一卡槽卡合连接。The multi-rotor unmanned aerial vehicle according to claim 17, wherein the first propeller rotates at an acute angle clockwise relative to the first fixing member, and the first fixing member can be connected with the first fixing member along the first The first card slot in the direction is snapped and connected.
根据权利要求17所述的多旋翼无人飞行器，其特征在于，所述第二螺旋桨相对于所述第二固定件沿逆时针方向旋转锐角角度，所述第二固定件能够与沿所述第二方向的第二卡槽卡合连接。The multi-rotor unmanned aerial vehicle according to claim 17, wherein the second propeller rotates at an acute angle counterclockwise relative to the second fixing member, and the second fixing member can be connected with the second fixing member along the first The second card slots in two directions are snap-connected.
根据权利要求1所述的多旋翼无人飞行器，其特征在于，所述电机包括转子、转动端部，所述转子与所述转动端连接，所述转动端部绕所述旋转轴转动，所述固定件固定设于所述转动端部。The multi-rotor unmanned aerial vehicle according to claim 1, wherein the motor comprises a rotor and a rotating end, the rotor is connected with the rotating end, and the rotating end rotates around the rotating shaft, so The fixing piece is fixedly arranged on the rotating end.