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CN-122009568-A - Multi-source coupling driven cross-medium unmanned aerial vehicle power device

CN122009568ACN 122009568 ACN122009568 ACN 122009568ACN-122009568-A

Abstract

The invention discloses a multi-source coupling driven cross-medium unmanned aerial vehicle power device, and relates to the technical field of cross-medium aircrafts. The device comprises a base assembly, a plurality of circumferentially distributed driving units, input gears connected with the driving units respectively, and a central output gear which is positioned in the center and is externally meshed with the input gears, wherein the power of the driving units is converged to a central output shaft through a multi-path parallel fixed-shaft transmission structure without an inner gear ring. The invention utilizes the gear reduction torque-increasing principle to ensure that the propeller obtains high torque output at low rotation speed, effectively solves the problem of nonlinear torque surge caused by droplet impact at the near water surface and water outlet stage of a cross-medium aircraft, avoids the water-air mixing flow field and lift force attenuation effect induced by high rotation speed by utilizing the characteristic of low rotation speed, and simultaneously remarkably improves the anti-interference capability and task reliability of a power system under severe sea conditions by utilizing the redundancy design of multiple motors.

Inventors

  • LONG TENG
  • Yang Zhidie
  • ZHANG BAOSHOU
  • SHI RENHE
  • WANG ZIYU
  • ZHANG TAO

Assignees

  • 北京理工大学

Dates

Publication Date
20260512
Application Date
20260320

Claims (10)

  1. 1. A multi-source coupling driven cross-media unmanned aerial vehicle power device, comprising: The base assembly comprises a motor fixing seat (102); the driving assembly comprises a plurality of driving units (101) which are fixed on the motor fixing seat (102) and are circumferentially distributed; The transmission assembly comprises input gears (114) connected to the output shafts of the driving units (101) respectively, and central output gears (115) which are positioned in the center of an area surrounded by the input gears (114) and simultaneously keep external meshing with the plurality of input gears (114), so as to form a multi-path parallel driving structure, wherein the number of teeth of the input gears (114) is smaller than that of the central output gears (115), and a multi-input single-output speed-reduction torque-increase transmission system is formed; the output shaft system assembly comprises a central output shaft (112) coaxially fixed with the central output gear (115), and the central output shaft (112) is used for installing paddles (117).
  2. 2. The multi-source coupling driving cross-medium unmanned aerial vehicle power device according to claim 1, wherein a plurality of driving units (101) are fixed on the rear end face of the motor fixing seat (102), and an output shaft of each driving unit (101) penetrates through the motor fixing seat (102) to be connected with an input gear (114); The rod part of the central output shaft (112) penetrates through the rear end face of the motor fixing seat (102), the blade (117) is connected after penetrating through the central output gear (115), and the limiting part at the tail end of the rod part abuts against the rear end face of the motor fixing seat (102) to axially limit.
  3. 3. The multi-source coupling driven cross-media unmanned aerial vehicle power device of claim 1, wherein the output shaft assembly further comprises a composite support structure comprising radial support bearings and thrust bearings axially spaced along the central output shaft to withstand bi-directional impacts during cross-media.
  4. 4. A multi-source coupling driven cross-media unmanned aerial vehicle power plant according to claim 3, wherein the composite support structure comprises a radial support bearing (111), a thrust bearing (105), a forward thrust bearing (116); A radial support bearing (111) mounted in the motor fixing seat (102) for supporting the central output shaft (112); The thrust bearing (105) is sleeved on the central output shaft (112) and is fixed in the main bearing seat (104), and the main bearing seat (104) is positioned between the central output gear (115) and the motor fixing seat (102) and is arranged on the front end surface of the motor fixing seat (102); a front thrust bearing (116) sleeved on the central output shaft (112) and positioned between the front end surface of the central output gear (115) and the medium-crossing propeller (117); The thrust bearing (105) and the front thrust bearing (116) are respectively used for bearing forward pulling force and reverse impact force in the process of crossing media.
  5. 5. The multi-source coupling driven cross-medium unmanned aerial vehicle power device according to claim 4, wherein the radial support bearing (111) is fixed in a counter bore formed in the rear end face of the motor fixing seat (102).
  6. 6. The multi-source coupling driving cross-medium unmanned aerial vehicle power device according to claim 1, wherein the connecting structure of the input gear (114) and the driving unit (101) comprises a transmission locking ring (107) sleeved on an output shaft of the driving unit (101), a fastening jackscrew (108) screwed into the transmission locking ring (107) in the radial direction and abutted to the output shaft of the driving unit (101), a matching notch is formed in the hub end face of the input gear (114), and the head of the radial fastening screw (108) is accommodated in the matching notch to form a circumferential transmission limiting structure.
  7. 7. The multi-source coupling driving cross-medium unmanned aerial vehicle power device according to claim 1, wherein the central output gear (115) and the central output shaft (112) are connected in a mode that a transverse pin hole is formed in the middle of the central output shaft (112), a positioning clamping groove is formed in a central hole of the central output gear (115), and a positioning pin (113) penetrates through the transverse pin hole and is embedded into the positioning clamping groove, so that torque transmission and axial positioning of the central output gear (115) are achieved.
  8. 8. The multi-source coupling driven cross-medium unmanned aerial vehicle power device according to claim 4, further comprising a front-section protective cover (118) fixedly connected to the base assembly through a fourth fastener (119) to seal a meshing area of the input gear (114) and the central output gear (115), wherein an inner side surface of the front-section protective cover (118) abuts against an upper ring of the front thrust bearing (116) to apply axial pretightening force.
  9. 9. The multi-source coupling driven cross-medium unmanned aerial vehicle power device of claim 1, wherein the device is connected with the cross-medium unmanned aerial vehicle (200) through a plurality of engine body connecting columns (109).
  10. 10. The multi-source coupling drive cross-media unmanned aerial vehicle power device of claim 1, wherein the ratio of the number of teeth of the input gear (114) to the number of teeth of the central output gear (115) is 3:5, and the reduction ratio is 1.67.

Description

Multi-source coupling driven cross-medium unmanned aerial vehicle power device Technical Field The invention belongs to the technical field of cross-medium aircrafts, and particularly relates to a multi-source coupling driving cross-medium unmanned aerial vehicle power device. Background The cross-medium unmanned aerial vehicle has both air flight and underwater diving capability, and has wide application prospect in civil and scientific research fields such as ocean scientific observation, underwater resource exploration, cross-domain communication relay, emergency rescue and the like. However, there is a large difference in physical properties of air and water, the density of water is about 800 times that of air, and the difference in viscosity is remarkable. Abrupt changes in the fluid medium can cause the hydrodynamic load to exhibit non-linear, severe fluctuations when the aircraft performs a cross-medium mission, particularly across the water-air interface. The transient fluid-solid coupling effect has extremely high requirements on the output stability and the impact resistance of a power system. The existing cross-medium unmanned aerial vehicle power system generally adopts a framework of a single-motor direct-drive rotor wing. Although the structure is simple, the structure has obvious technical defects under the near water surface high-load working condition. The related aerodynamic study and experimental data show that the aerodynamic characteristics of the rotor wing when working near the water surface are essentially different from those of the conventional ground effect, and the main manifestations are as follows: On the one hand, in order to obtain a sufficient water outlet tension, the direct drive system often needs to increase the rotation speed by raising the throttle. However, the strong downwash generated by the high-speed rotor can impact the water surface severely, and a large number of water drops are involved to form a high-density water-air mixing flow field. Dense droplets striking the blades at high speed can lead to rotor torque coefficients ) And increases sharply in non-linearity. The traditional direct-drive motor is difficult to provide enough instantaneous torque redundancy due to limited torque density, so that the phenomenon of locked rotor or suddenly reduced rotating speed at the moment of splash is very easy to occur, and the posture is unstable. On the other hand, under the high-rotation-speed strong disturbance flow field, the near water surface effect does not provide the lift increasing effect any more, but can cause the phenomenon of negative ground effect, so that the lift force is reduced, and the stall attack angle of the rotor wing is reduced. In summary, it is difficult to solve the contradiction between the "torque surge due to the medium density difference" and the "lift attenuation due to the high rotational speed aerodynamic disturbance" in the conventional direct driving force system. Therefore, there is a need to develop a novel cross-medium unmanned aerial vehicle power device that can provide high load driving capability while maintaining low rotor speeds and having high torque redundancy. Disclosure of Invention In view of this, the present invention provides a multi-source coupling driving cross-medium unmanned aerial vehicle power device, which can provide a large load driving capability while maintaining a low rotor rotation speed, and has high torque redundancy. A multi-source coupling driven cross-media unmanned aerial vehicle power device comprising: the base assembly comprises a motor fixing seat; the driving assembly comprises a plurality of driving units which are fixed on the motor fixing seat and are circumferentially distributed; the transmission assembly comprises input gears respectively connected to the output shafts of the driving units and central output gears which are positioned in the center of an area surrounded by the input gears and simultaneously keep external meshing with the plurality of input gears, so as to form a multi-path parallel driving structure, wherein the number of teeth of the input gears is smaller than that of the central output gears, and a multi-input single-output speed-reduction torque-increase transmission system is formed; the output shaft system assembly comprises a central output shaft which is coaxially fixed with the central output gear, and the central output shaft is used for installing paddles. Preferably, a plurality of driving units are fixed on the rear end face of the motor fixing seat, and an output shaft of each driving unit penetrates through the motor fixing seat to be connected with the input gear; The central output shaft rod part penetrates through the rear end face of the motor fixing seat and penetrates through the central output gear to be connected with the blade, and the limiting part at the tail end of the shaft part abuts against the rear end face of the motor fixing seat to axial