CN104369862B - A kind of pilotless helicopter - Google Patents
A kind of pilotless helicopter Download PDFInfo
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- CN104369862B CN104369862B CN201410582141.9A CN201410582141A CN104369862B CN 104369862 B CN104369862 B CN 104369862B CN 201410582141 A CN201410582141 A CN 201410582141A CN 104369862 B CN104369862 B CN 104369862B
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Abstract
The invention discloses a kind of pilotless helicopter, comprise main rotor system, tilt table device, driving system, starter gear, driving engine, fuselage ring, tail rotor device, take-off and landing device and at least one auxiliary lifting-anti-twisted power-refrigerating function device; Auxiliary lifting-anti-twisted power-refrigerating function device, comprises duct and lift fan, and lift fan ring is drawn together in described duct, and with pilotless helicopter working direction for axis, duct is arranged symmetrically with about axis; Duct is fixed on above driving engine, duct envisaged underneath wind guide channel, guides the distinguished and admirable cylinder blowing to driving engine; Tilt table device is 4 passage Hybrid mode tilt table devices.The present invention utilizes the power of cooled engine, and for pilotless helicopter provides the extra lift of part and anti-twisted power, make the capacity weight of pilotless helicopter larger, efficiency is higher.Adopt 4 passage Hybrid mode tilt table devices, the arrangement of its 4 steering wheels makes it to backup each other, and improves stability.
Description
Technical field
The present invention relates to a kind of pilotless helicopter.
Background technology
Because SUAV (small unmanned aerial vehicle) has low, the easy maintenance of cost, the flexible advantage such as good, supervision and rescue, border patrol and control, exploration, the circuit on power system of disaster to patrol and examine etc. much in field unmanned plane all play the important and pivotal role.In recent years, especially as recent development and the cutting edge technology of modern agriculture plant protection technology, unmanned plane low latitude pesticide application technology development prospect is wide.Pilotless helicopter is a complication system that technical requirements is high, reliability requirement is high, operating difficulty is large.Utilize pilotless helicopter to carry out taking photo by plane, survey and draw, investigate, the operation such as plant protection dispenser time, operation effectiveness affects obviously by various factors, proposes very high requirement to job platform.The size of pilotless helicopter lift and mode are the keys affecting aircraft serviceability.At present, the type of cooling of pilotless helicopter power system has air-cooled and liquid cooling two kinds.High-power forced air-cooled depopulated helicopter power system is needed usually to the cooling fan of design specialized, and traditional cooling fan volume is large, throughput is few, loss power is large.Meanwhile, middle-size and small-size depopulated helicopter proposes higher requirement to the efficiency of power system, and the anharmonic ratio that rises of the efficiency and helicopter that fully improve power system becomes the important channel of improving pilotless helicopter performance.
Existing power system force-air cooling device many employings common blade or centrifuge blade, the function of engine cooling cooling can be embodied as, but the type cooling mechanism unrealized effective utilization to loss power, fail to provide the function such as aircraft lift, anti-twisted power this Partial Power in realization while providing air-cooled cooling for driving engine.
The anti-twisted power of existing single rotor pilotless helicopter, normally provides anti-twisted power by designing a tail rotor device.This type of tail rotor device can realize producing (relative flight device longitudinal axis) moment of torsion identical with main rotor hand of rotation, thus overcomes the moment of torsion that main rotor resistance (relative flight device longitudinal axis) produces.This kind of Plant arrangement is outside main rotor, and mechanism is complicated, size is comparatively large, and consumed power is large, power utilization is not high.
At present, the control form of pilotless helicopter capstan pitch system has single channel independent manipulation and multi-channel mixing manipulation two kinds of forms.Single channel independent manipulation form tilting frame not only complicated in mechanical structure, movement range is little, and the load driving the steering wheel of rudder face work to bear is large, needs the long-time large load operation of steering wheel, higher to steering wheel performance requriements.The pilotless helicopter capstan pitch system that multi-channel mixing is handled effectively can reduce the working load of single steering wheel.But the pilotless helicopter capstan pitch system principal mode of existing multi-channel Hybrid mode is still confined to the tilting frame of two passages or triple channel Hybrid mode helicopter, rolling, pitching and pitch control one-dimensional degree mode of operation can be realized.The feature of the helicopter tilting frame system of this type is that all steering wheels participating in the inclination of driving tilting frame or up-and-down movement must simultaneously by certain ratio co-ordination.This type tilting frame system, owing to requiring that the steering wheel of participation action must complete the flight control that deflection could realize aircraft by precise coordination in real time, if the steering wheel of wherein arbitrary participation action lost efficacy or controlled accurate, may cause the out of control of aircraft.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of pilotless helicopter, the power being utilized as engine cooling cooling provides pilotless helicopter lift and anti-twisted power, power utilization is high, simultaneously tilting frame system adopts four-way Hybrid mode, can the steering wheel of arbitrary participation action wherein lost efficacy or control not accurately time keep the smooth running of pilotless helicopter.
The technical solution used in the present invention is:
A kind of pilotless helicopter, comprises main rotor system, tilt table device, drop-gear box, starter gear, driving engine, fuselage ring, tail rotor device, tail rotor and take-off and landing device; Described main rotor system is arranged on the top of described tilt table device, and tilt table device is fixed on the top of described drop-gear box; Described starter gear is arranged on the front portion of described fuselage ring, the top of driving engine; Described driving engine is arranged on the front portion of fuselage ring by hang, and described alighting gear is arranged on the below of fuselage ring, and the rear portion of described fuselage ring is provided with tail pipe, and tail pipe rear end and described tail rotor device are fixed; Described tail rotor is arranged on the tail-rotor folder two ends of tail rotor device;
Described main rotor system, tilt table device, starter gear, driving engine, tail rotor device, take-off and landing device and at least one auxiliary lifting-anti-twisted power-refrigerating function device is all installed fixing by the equipment mounting bracket on fuselage ring; Drop-gear box is directly installed on the fuselage side plate of fuselage ring
Described starter gear is used for start the engine;
Described driving engine rotates for driving auxiliary lifting-anti-twisted power-refrigerating function device, and is rotated by transmission system drives main rotor and tail rotor;
Described tilt table device is connected with main rotor system, for controlling total distance and the feathering of main rotor; Total distance is handled and tilt table device is risen overally or declines and increase the total distance of rotor blade, and rotor thrust is increased or reduces, for controlling the dipping and heaving of helicopter, cyclic pitch control is for changing rolling and the pitch attitude of helicopter;
Also comprise at least one auxiliary lifting-anti-twisted power-refrigerating function device, described auxiliary lifting-anti-twisted power-refrigerating function device 6, comprise duct 49 and lift fan 53, described lift fan 53 is arranged in described duct, duct 49 is fixed on above driving engine 7 by mounting bracket, lift fan 53 is by engine drive, and the hand of rotation of lift fan is contrary with the hand of rotation of main rotor; Wind guide channel is provided with, for the cylinder guiding air-flow to blow to driving engine below duct 49.
Further, described auxiliary lifting-anti-twisted power-refrigerating function device is 1; With pilotless helicopter working direction for axis, duct is arranged symmetrically with about axis, and described lift fan is by driving engine Direct driver.
Further, described auxiliary lifting-anti-twisted power-refrigerating function device is 2, and with pilotless helicopter working direction for axis, 2 ducts are symmetrically arranged in the both sides of axis, and described lift fan is driven by drive disk assembly by driving engine.
Further, described drive disk assembly is any one in drive belt, gear and axle.
Further, described tilt table device is 4 passage Hybrid mode tilt table devices, and it comprises two pitch-change-links, 30, four action pull bars 31, tilting frame 3, two groups guiding scissors-type arm, 4 steering wheels, a controller and spline guide rails 34; Described tilting frame comprises rotation cup 25 and fixing cup 26; Rotate cup to be connected by bearing with fixing cup;
Described two pitch-change-links 30 are that axis of symmetry is arranged symmetrically with main shaft, the distance-variable rocker arm 14 that the upper end of two pitch-change-links 30 presss from both sides with two main oars of main rotor system is respectively connected, and the lower end of two pitch-change-links 30 is connected by oscillating bearing with rotation cup 25 respectively; Pitch-change-link is for regulating the deflection angle of main rotor blade;
The upper end of described four action pull bars 31 is connected with fixing cup 26 respectively by oscillating bearing, and the lower end of four action pull bars 31 is connected with the action rocking arm of 4 steering wheels respectively; Four action pull bars tilt for driving tilting frame, and tilting frame promotes the deflection of main rotor blade by pitch-change-link, thus realizes displacement, pitching and tumbling action; Often group guiding scissors-type arm comprises a dicyclo scissors-type arm 32 and a monocycle scissors-type arm 33, two groups of guiding scissors-type arms are that axis of symmetry symmetry is installed with main shaft, dicyclo scissors-type arm is flexibly connected with joining in the rotor head of main rotor system, monocycle scissors-type arm is connected with rotation cup by oscillating bearing, and dicyclo scissors-type arm and monocycle scissors-type arm are flexibly connected; The plane orthogonal that the plane of two groups of scissors-type arm formation and two pitch-change-links are formed; Guiding scissors-type arm does not relatively rotate for the rotation cup and main shaft ensureing tilting frame;
4 steering wheels are all connected with controller;
The spindle axis of 4 relative main rotors of steering wheel is a bit centrosymmetric distribution;
With pilotless helicopter working direction for axis, the line of the first steering wheel and the 4th steering wheel installation site and axis are positive miter angle, and the line of the second steering wheel and the 3rd steering wheel installation site and axis are in negative miter angle; Or the line of the first steering wheel and the 4th steering wheel installation site and axis are 0 degree of angle, line and the axis of the second steering wheel and the 3rd steering wheel installation site are an angle of 90 degrees;
Described spline guide rail parallel is fixedly mounted on steering wheel mounting bracket in main shaft, and fixing cup rear is provided with a spline pin, and spline pin inserts in the cotter way on spline guide rail, and spline guide rail and spline pin are for suppressing fixing cup body rotation.
Further, the activity point of view between described dicyclo scissors-type arm 32 and monocycle scissors-type arm 33 is 35-145 degree.
Further, described fuselage ring comprises fuselage side plate 37, equipment mounting bracket, fuselage pillar 40 and tail pipe 11; Described fuselage side plate 37 is two panels, and structure identical, be parallel to each other, equipment mounting bracket is fixed in the middle of two panels fuselage side plate; Many fuselage pillars 40 are provided with perpendicular to fuselage side plate, for supporting the intensity of fuselage side plate and reinforcement fuselage ring between two blocks of fuselage side plates 37; Described equipment mounting bracket comprises auxiliary lifting-anti-twisted power-refrigerating function device support stand 38, driving engine adapter plate 39, starter erection support, steering wheel mounting bracket 29 and tail pipe mounting bracket; Described tail pipe is installed on tail pipe mounting bracket; The described front lower end of fuselage side plate is provided with driving engine installation gap, and the erection support on driving engine embeds in this breach, and fixes with driving engine adapter plate 39.
Further, described fuselage side plate 37 is provided with drop-gear box mounting hole.
Further, described main rotor system comprises main rotor and main rotor head, and described main rotor head comprises connection 17 in rotor head, the main oar folder 15 of 18, two, main shaft, distance-variable rocker arm 14, flapping hinge pillar 23, backup bearing 20 and transverse axis 22; Join the hollow unit that 17 are a T-type structure in described rotor head, its lower end is fixed with main shaft 18, and the middle part of its upper end is provided with flapping hinge pillar 23 by backup bearing 20; Described transverse axis 22 be arranged in rotor head join 17 upper ends cavity in and the through hole passed perpendicularly through in the middle of flapping hinge pillar, transverse axis 22 two ends respectively connect a main oar folder 15; Described main rotor is movably arranged on main oar folder 15 by lead lag hinge; The side of described main oar folder 15 is provided with described distance-variable rocker arm 14; Described transverse axis 22 two ends are also provided with waves cushion blocking 21, described in wave cushion blocking 21 in main oar folder 15 and rotor head between connection 17.
Further, described drop-gear box comprises drop-gear box upper cover 46, drop-gear box lower cover 45, driving gear and driven gear 48, driving gear and driven gear 48 are covered by the casing that is made up of drop-gear box upper cover 46 and drop-gear box lower cover 45, driving gear and driven gear engaged transmission, the gear wheel shaft 47 of driving gear is through drop-gear box lower cover 45, driven gear 48 and main shaft are in transmission connection by key, thrust bearing is installed on above driven gear, be used for bearing axial force specially, main shaft rotates for driving main rotor through thrust bearing and drop-gear box upper cover 46.
Driven gear is provided with oil resevoir and lightening hole.
Driven gear is provided with 6 lightening holes, and lightening hole is uniformly distributed along the circumference of main shaft.
Described flapping hinge pillar 23 is hollow shaft type supporting construction.
Described lead lag hinge comprises shimmy copper sheathing 19 and axle, and axle passes perpendicularly through the mounting hole on main oar folder, be installed on main oar folder, and axle is through one end of main rotor by the copper sheathing that deploys.
4 passages mix handles tilting frame principle of work: A, main rotor are total apart from controlling: when moving up or down the while of controlling described 4 steering wheels by controller, the action pull bar of 4 steering wheels moves to equidirectional simultaneously, drive tilting frame level to rise or decline, tilting frame promotes main rotor blades by pitch-change-link and deflects to equidirectional, thus realizes displacement operation.The 4 passage Hybrid mode tilting frame systemic circulation displacement operations that B, 45 degree of angles are installed: controlled by controller, when the first and second servo driving action pull bars (or upwards) motion downwards of 4 steering wheels, third and fourth servo driving action pull bar is (or downward) motion upwards, make tilting frame forward (or backward) tilt, thus realize the pitch control of pilotless helicopter; When being controlled upwards second in (or downwards) motion, steering wheel and the 4th servo driving action pull bar (or the upwards) motion downwards of first in 4 steering wheels and the 3rd servo driving action pull bar by controller, make tilting frame left (or to the right) tilt, thus realize the roll guidance of pilotless helicopter.The 4 passage Hybrid mode tilting frame systemic circulation pitch controls that C, 0 degree of angle are installed: controlled by controller, second, third steering wheel holding position is motionless, action pull bar corresponding to the first servo driving be (or upwards) motion downwards, action pull bar corresponding to the 4th servo driving upwards (or downwards) motion time, tilting frame forward (or backward) tilts, thus realizes the pitch control of pilotless helicopter; When the first, the 4th steering wheel holding position is motionless, action pull bar corresponding to the second servo driving be (or upwards) motion downwards, action pull bar corresponding to the 3rd servo driving upwards (or downwards) motion time, tilting frame left (or to the right) tilts, thus realizes the roll guidance of pilotless helicopter.
Beneficial effect:
1) auxiliary lifting-anti-twisted power-refrigerating function device of the present invention's employing, the cooling fan of relatively traditional air-cooled engine, throughput is larger, ensure that the effect of driving engine.Under the prerequisite of not extra consumption of engine power, for pilotless helicopter provides the extra lift of part, make the capacity weight of pilotless helicopter larger; Simultaneously for pilotless helicopter provides the extra anti-twisted power of part, the size of tail rotor is reduced, and work efficiency is higher.
2) tilt table device is handled in the 4 passage mixing that the present invention adopts, this device handles by the steering wheel of 4 coordinations the displacement and circulation displacement load that tilting frame bears simultaneously, operating torque is made all to assign in 4 steering wheels, reduce the load that single execution steering wheel bears, also improve the precision that tilting frame is handled simultaneously; 4 steering wheels in this device backup each other, and after any one performs steering wheel inefficacy, tilting frame still can complete described control action, improves reliability and the safety factor of pilotless helicopter.
Accompanying drawing explanation
Fig. 1 pilotless helicopter structural representation of the present invention
The structural representation of main rotor system in Fig. 2 example of the present invention
Main rotor system inner structure schematic diagram in Fig. 3 example of the present invention
Pilotless helicopter 4 passage Hybrid mode tilt table device structural representation in Fig. 4 example of the present invention
The starter gear structural representation of pilotless helicopter in Fig. 5 example of the present invention
The fuselage ring structural representation of pilotless helicopter in Fig. 6 example of the present invention
The lateral plate structure schematic diagram of fuselage ring in Fig. 7 example of the present invention
Depopulated helicopter drive system structure schematic diagram in Fig. 8 example of the present invention
Drop-gear box inner structure schematic diagram in Fig. 9 example of the present invention
Auxiliary lifting in Figure 10 example of the present invention-anti-twisted power-refrigerating function apparatus structure schematic diagram
Single auxiliary lifting in Figure 11 example of the present invention-anti-twisted power-refrigerating function apparatus structure schematic diagram
Pilotless helicopter take-off and landing device structural representation in Figure 12 example of the present invention
Pilotless helicopter tail rotor apparatus structure schematic diagram in Figure 13 example of the present invention
In figure:
1, main rotor head 12, tail rotor device 24, end face thrust bearing
2, main rotor 13, fuselage ring 25, rotation cup
3, tilt table device 14, distance-variable rocker arm 26, fixing cup
4, drop-gear box 15, main oar folder the 27, first steering wheel
5, starter gear 16, main rotor pad 28, second steering wheel
6, connection 29, steering wheel mounting bracket 18, main shaft 30, pitch-change-link in auxiliary lifting-anti-twisted power-refrigerating function device 17, rotor head
7, driving engine 19, shimmy copper sheathing 31, action pull bar
8, freeing pipe 20, backup bearing 32, dicyclo scissors-type arm
9, alighting gear 21, wave cushion blocking 33, monocycle scissors-type arm
10, tail rotor 22, transverse axis 34, spline guide rail
11, tail pipe 23, flapping hinge pillar 35, the 3rd steering wheel
36, the 4th steering wheel 48, driven gear 61, displacement sliding sleeve
37, fuselage side plate 49, duct 62, copper bush
38, auxiliary lifting-anti-twisted power-refrigerating function device mounting bracket 50, high speed flat belt driving wheel 63, opening spline arm
64, tail vane dish rocking arm
51, flat rubber belting tension wheel 65, tailing axle
39, join in driving engine adapter plate 52, flat rubber belting flower wheel 66, tail
40, fuselage pillar 53, lift fan 67, starter receiver dish
41, power-transfer clutch 54, alighting gear fixed block 68, starter motor
42, level synchronization wheel 55, arch bend pipe 69, starter motor drop-gear box
43, Timing Belt 56, bow-shaped support
44, secondary synchronization wheel 57, lock tail actuator 70, starter motor mounting bracket
45, drop-gear box lower cover 58, tail-rotor folder
46, drop-gear box upper cover 59, tail pitch-change-link 71, surmount gear
47, gear wheel shaft 60, shaft coupling arm
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment 1:
As Fig. 1, shown a kind ofly adopt auxiliary lifting-anti-twisted power-refrigerating function device cooled engine and adopt the pilotless helicopter structural representation of 4 passage Hybrid mode tilting framees, it is characterized in that: comprise main rotor head 1, main rotor 2, tilt table device 3, drop-gear box 4, starter gear 5, at least one auxiliary lifting-anti-twisted power-refrigerating function device 6, driving engine 7, freeing pipe 8, alighting gear 9, tail rotor 10, tail pipe 11, tail rotor device 12 and fuselage ring 13.Described main rotor head 1 is arranged on the top of described drop-gear box 4; Described main rotor 2 is arranged on the two ends of main rotor head; Described 4 channel slopes disk control units 3 are arranged on the below of main rotor head, are fixed on the top of drop-gear box; Described starter gear 5 is arranged on the front portion of described fuselage ring 13, the top of driving engine 7; Described driving engine 7 is arranged on the front portion of fuselage ring by hang, described alighting gear 9 is arranged on the below of fuselage ring, described tail pipe 11 is arranged on the rear portion of fuselage ring, and its rear end and described tail rotor device 12 are fixed, and described tail rotor is arranged on the tail-rotor folder two ends of tail rotor device.
As Fig. 2 and Fig. 3, the structural representation of pilotless helicopter main rotor system in the present invention, described main rotor head comprises connection 17, main shaft 18, shimmy copper sheathing 19, backup bearing 20 in distance-variable rocker arm 14, main oar folder 15, main rotor pad 16, rotor head, waves cushion blocking 21, transverse axis 22, flapping hinge pillar 23 and end face thrust bearing 24.Described distance-variable rocker arm 14 is arranged on the side end face of described main oar folder 15, and for making displacement forced stroke scope symmetrical up and down, the mounting plane of distance-variable rocker arm is vertical with the end face of described main rotor pad 16, and the quantity of described main oar folder 15 is 2; Joining 17 in described rotor head is arranged on described main shaft 18, and in rotor head, connection is the hollow unit of a T-type structure, and its lower end is used for fixed main shaft, is provided with some bearings and axle sleeve in upper end, for fixing described transverse axis 22 and waving cushion blocking 21; The two ends that main oar folder 15 is arranged on transverse axis are connected with joining in rotor head; Described flapping hinge pillar 23 is hinge type supporting constructions, be arranged on connection in rotor head middle, for carrying the vertical moment of capstan, when main rotor is waved up and down, flapping hinge pillar is transferred to the power of vertical direction in rotor head on connection with the backup bearing 20 at two ends.
As Figures 1 and 4, described tilt table device 3, comprises pitch-change-link 30, action pull bar 31, tilting frame, dicyclo scissors-type arm 32, monocycle scissors-type arm 33, spline guide rail 34,4 steering wheels and a controller.Wherein, tilting frame comprises rotation cup 25 and fixing cup 26, and described pitch-change-link and tilting frame are rotated cup and be connected by oscillating bearing.
4 steering wheels that tilting frame is handled in described 4 passage mixing become to be evenly distributed relative to the alignment of shafts of main rotor.The action rocking arm of steering wheel is connected with action pull bar lower end, and action pull bar is fixed cup by oscillating bearing and tilting frame and is connected, and becomes cross layout.
4 described steering wheels, above the Gearbox being fixed on driving system by steering wheel adapter plate.
Described guiding scissors-type arm has two groups, often group comprises a dicyclo scissors-type arm 32, monocycle scissors-type arm 33 and oscillating bearing, described two groups of scissors-type arm relative main are arranged symmetrically with, dicyclo scissors-type arm is connected with joining in rotor head, monocycle scissors-type arm rotates cup by oscillating bearing and tilting frame and is connected, two groups of scissors-type arm symmetries are installed, the plane orthogonal that the plane of formation and two pitch-change-links are formed.
Described spline guide rail 34 is parallel to main shaft and is fixedly mounted on steering wheel mounting bracket 29, and fixing cup rear is provided with a spline pin, and spline pin inserts in the cotter way on spline guide rail, and spline guide rail and spline pin are for suppressing fixing cup body rotation.
As shown in Figure 5, the starter gear structural representation of pilotless helicopter in the present invention, described starter gear 5 comprises starter motor 68, overriding clutch, starter motor drop-gear box 69, surmounts gear 71, starter receiver dish 67 and starter erection support 70; Described starter motor 68 connects and starts reducing gearbox 69, starts in reducing gearbox and is provided with overriding clutch, described in surmount gear and be connected to and start outside reducing gearbox.
Starter gear principle of work: surmount gear during starter motor work and promoted to throw away forward by spiral lamination and to engage with the starter receiver dish be fixed on driving engine 7 output shaft thus to drive turn of engine, when starter motor stops operating, surmount under the spring of gear in reducing gearbox front end promotes and automatically disengage Contact Tooth wheel disc.
As shown in Fig. 1,6 and 7, the structural representation of pilotless helicopter fuselage ring in the present invention.Fuselage ring 13 comprises two for supporting with the starter erection support 70 of the fuselage side plate 37 of installing component, the auxiliary lifting-anti-twisted power-refrigerating function device mounting bracket 38 being arranged on fuselage side plate front, installation actuator, for installing driving engine adapter plate 39 and the fuselage pillar of stationary engine.Described fuselage side plate is as Fig. 7, and fuselage side plate tiled configuration is identical, has lightening hole, and front lower ending opening is driving engine installation gap, can be realized the fast assembling-disassembling of driving engine by this opening.The quantity of described fuselage pillar 40 is 3.
As Fig. 1,8 and 9, the drive system structure schematic diagram of pilotless helicopter in the present invention.Described driving system comprise the power-transfer clutch 41 be arranged on engine output shaft, power-transfer clutch front end level synchronization wheel 42, Timing Belt 43, secondary synchronization wheel 44, be arranged on drop-gear box above fuselage ring, wherein drop-gear box comprises the driven gear 48 in drop-gear box upper cover 46, drop-gear box lower cover 45, the gear wheel shaft 47 connecting secondary synchronization wheel in drop-gear box and drop-gear box, and driven gear is connected with main shaft by key.Oil resevoir and lightening hole is provided with in drop-gear box.
Single auxiliary lifting in Figure 11 the present invention-anti-twisted power-refrigerating function apparatus structure schematic diagram.
Described auxiliary lifting-anti-twisted power-refrigerating function device comprises duct 49, lift fan 53 and drive disk assembly, and described lift fan is arranged in described duct, its rotation of engine drive.
The quantity of described auxiliary lifting-anti-twisted power-refrigerating function device is 1.
When the quantity of described auxiliary lifting-anti-twisted power-refrigerating function device is 1, described duct is positioned at above driving engine, with pilotless helicopter working direction for axis, duct is arranged symmetrically with about axis, described lift fan is arranged in duct, and by driving engine Direct driver, hand of rotation is contrary with main rotor hand of rotation, duct envisaged underneath wind guide channel, guides the distinguished and admirable cylinder blowing to driving engine.Duct is arranged symmetrically with about axis, makes pilotless helicopter at roll unloads direction stress balance, arranges the center of gravity of pilotless helicopter when ensure that the stability of pilotless helicopter roll unloads and convenient design.
In order to ensure the balance of pilotless helicopter pitching and roll guidance moment, the ventilation inlet of described duct is arranged with the direction of air outlet is vertical with fuselage.
The air-flow that the air outlet of duct is carried, the cylinder of flow direction engine.
The principle of work of described auxiliary lifting-anti-twisted power-refrigerating function device: main rotor described in engine drive and empennage rotate, pilotless helicopter is made to obtain most lift and anti-twisted power, the lift fan of engine drive auxiliary lifting-anti-twisted power-refrigerating function device rotates simultaneously, make blade to the air-flow acting in duct, air-flow is made to obtain momentum, lift fan obtains a certain amount of pulling force simultaneously, and this pulling force is perpendicular to fuselage (i.e. lift); While lift fan obtains lift, resistance opposite to the direction of rotation can be produced, finally be converted to the moment of torsion contrary with its hand of rotation, because main rotor is contrary with the hand of rotation of lift fan, the moment of torsion that lift fan produces just can offset the moment of torsion (namely producing anti-twisted power) that a part is produced by main rotor.Meanwhile, the air-flow in duct, through the guiding of duct, vertically blows to the cylinder of driving engine, driving engine is realized to the effect of force-air cooling.
As pilotless helicopter take-off and landing device structural representation in Figure 12 the present invention, described take-off and landing device comprises arch bend pipe 55, bow-shaped support 56 and alighting gear fixed block 54.Arch bend pipe 55 is connected to the lower end of bow-shaped support 56 by bracket institution, and bow-shaped support 56 is installed to the lower end of fuselage side plate by L-type alighting gear fixed block 54.The quantity of described arch bend pipe is 2, and the quantity of described arcuate support is 2, and the quantity of described L-type alighting gear fixed block is 4.
As pilotless helicopter tail rotor apparatus structure schematic diagram in Figure 13 the present invention.Described tail rotor device to driving engine, provides power by driving engine by the toothed belt transmission in tail pipe.Described tail rotor device comprises connection 66 in lock tail actuator 57, tail-rotor folder 58, tail pitch-change-link 59, shaft coupling arm 60, displacement sliding sleeve 61, copper bush 62, opening spline arm 63, tailing axle 65 and tail.It is 2 that described tail-rotor presss from both sides 58 quantity, and be arranged in described tail the two ends joining 66, in tail, connection is arranged on tailing axle.Lock tail actuator promotes displacement sliding sleeve 61 by the opening spline arm 63 be arranged on outside it that the angle of control bit steering wheel rocking arm 64 is practiced and drives shaft coupling arm 60 to move forward and backward, then changes the tilt angle of tail-rotor folder by tail pitch-change-link, thus controls the pitch of tail rotor.
Embodiment 2:
Embodiment 2 is substantially identical with embodiment 1 structure, difference is: described auxiliary lifting-anti-twisted power-refrigerating function device is 2,2 ducts are symmetrically arranged in the both sides of pilotless helicopter axis, ensure the stability of pilotless helicopter roll unloads and be easy to arrange the center of gravity of pilotless helicopter, driving engine drives it to rotate by drive disk assembly, keeps the hand of rotation of all described lift fans contrary with main rotor hand of rotation.Driving engine drives lift fan to rotate by drive disk assembly.Drive disk assembly can be any one in drive belt, gear and axle.Auxiliary lifting-anti-twisted power-refrigerating function apparatus structure as shown in Figure 10.
Embodiment 3:
Embodiment 3 is substantially identical with the first two example structure, and difference is: the spindle axis of 4 relative main rotors of steering wheel of described 4 passage mixing manipulation tilting framees is a bit centrosymmetric distribution;
With pilotless helicopter working direction for axis, line and the axis of the first steering wheel and the 4th steering wheel installation site are miter angle, and the line of the second steering wheel and the 3rd steering wheel installation site and axis are that [first, second steering wheel is near head for miter angle; Three, the 4th steering wheel is near tail]; Or with pilotless helicopter working direction for axis, the line of the first steering wheel and the 4th steering wheel installation site and axis are 0 degree of angle, and the line of the second steering wheel and the 3rd steering wheel installation site and axis are that [the first steering wheel is near head for an angle of 90 degrees; 4th steering wheel is near tail; Second steering wheel is on the left of axis, and the 3rd steering wheel is on the right side of axis].
Described spline guide rail is fixedly mounted on the mounting bracket of steering wheel, being fixed on fixing cup simultaneously, fixing cup body rotation for suppressing tilting frame by a spline pin.
Described dicyclo scissors-type arm and monocycle scissors-type arm are flexibly connected, and activity point of view is 35-145 degree.
4 passages mix handles tilting frame principle of work: A, main rotor are total apart from controlling: when moving up or down the while of controlling described 4 steering wheels by controller, the action pull bar of 4 steering wheels moves to equidirectional simultaneously, drive tilting frame level to rise or decline, tilting frame promotes main rotor blades by pitch-change-link and deflects to equidirectional, thus realizes displacement operation.The 4 passage Hybrid mode tilting frame systemic circulation displacement operations that B, 45 degree of angles are installed: controlled by controller, when the first and second servo driving action pull bars (or upwards) motion downwards of 4 steering wheels, third and fourth servo driving action pull bar is (or downward) motion upwards, make tilting frame forward (or backward) tilt, thus realize the pitch control of pilotless helicopter; When being controlled upwards second in (or downwards) motion, steering wheel and the 4th servo driving action pull bar (or the upwards) motion downwards of first in 4 steering wheels and the 3rd servo driving action pull bar by controller, make tilting frame left (or to the right) tilt, thus realize the roll guidance of pilotless helicopter.The 4 passage Hybrid mode tilting frame systemic circulation pitch controls that C, 0 degree of angle are installed: controlled by controller, second, third steering wheel holding position is motionless, action pull bar corresponding to the first servo driving be (or upwards) motion downwards, action pull bar corresponding to the 4th servo driving upwards (or downwards) motion time, tilting frame forward (or backward) tilts, thus realizes the pitch control of pilotless helicopter; When the first, the 4th steering wheel holding position is motionless, action pull bar corresponding to the second servo driving be (or upwards) motion downwards, action pull bar corresponding to the 3rd servo driving upwards (or downwards) motion time, tilting frame left (or to the right) tilts, thus realizes the roll guidance of pilotless helicopter.
Claims (10)
1. a pilotless helicopter, comprises main rotor system, tilt table device, drop-gear box, starter gear, driving engine, fuselage ring, tail rotor device, tail rotor and take-off and landing device; Described main rotor system is arranged on the top of described tilt table device, and tilt table device is fixed on the top of described drop-gear box; Described starter gear is arranged on the front portion of described fuselage ring, the top of driving engine; Described driving engine is arranged on the front portion of fuselage ring by hang, and described take-off and landing device is arranged on the below of fuselage ring, and the rear portion of described fuselage ring is provided with tail pipe, and tail pipe rear end and described tail rotor device are fixed; Described tail rotor is arranged on the tail-rotor folder two ends of tail rotor device;
Described main rotor system, tilt table device, starter gear, driving engine, tail rotor device, take-off and landing device and at least one auxiliary lifting-anti-twisted power-refrigerating function device is all installed fixing by the equipment mounting bracket on fuselage ring; Drop-gear box is directly installed on the fuselage side plate of fuselage ring
Described starter gear is used for start the engine;
Described driving engine rotates for driving auxiliary lifting-anti-twisted power-refrigerating function device, and is rotated by transmission system drives main rotor and tail rotor;
Described tilt table device is connected with main rotor system, for controlling total distance and the feathering of main rotor; Total distance is handled and tilt table device is risen overally or declines and increase the total distance of rotor blade, and rotor thrust is increased or reduces, for controlling the dipping and heaving of helicopter, cyclic pitch control is for changing rolling and the pitch attitude of helicopter;
It is characterized in that: also comprise at least one auxiliary lifting-anti-twisted power-refrigerating function device, described auxiliary lifting-anti-twisted power-refrigerating function device (6), comprise duct (49) and lift fan (53), described lift fan (53) is arranged in described duct, duct (49) is fixed on driving engine (7) top by mounting bracket, lift fan (53) is by engine drive, and the hand of rotation of lift fan is contrary with the hand of rotation of main rotor; Duct (49) below is provided with wind guide channel, for the cylinder guiding air-flow to blow to driving engine.
2. pilotless helicopter according to claim 1, is characterized in that, described auxiliary lifting-anti-twisted power-refrigerating function device is 1; With pilotless helicopter working direction for axis, duct is arranged symmetrically with about axis, and described lift fan is by driving engine Direct driver.
3. pilotless helicopter according to claim 1, it is characterized in that, described auxiliary lifting-anti-twisted power-refrigerating function device is 2, with pilotless helicopter working direction for axis, 2 ducts are symmetrically arranged in the both sides of axis, and described lift fan is driven by drive disk assembly by driving engine.
4. pilotless helicopter according to claim 3, is characterized in that, described drive disk assembly is any one in drive belt, gear and axle.
5. pilotless helicopter according to claim 1, it is characterized in that, described tilt table device is 4 passage Hybrid mode tilt table devices, and it comprises two pitch-change-links (30), four action pull bars (31), tilting frame (3), two groups of guiding scissors-type arms, 4 steering wheels, a controller and spline guide rails (34); Described tilting frame comprises rotation cup (25) and fixing cup (26); Rotate cup to be connected by bearing with fixing cup;
Described two pitch-change-links (30) are that axis of symmetry is arranged symmetrically with main shaft, the distance-variable rocker arm (14) that the upper end of two pitch-change-links (30) presss from both sides with two main oars of main rotor system is respectively connected, and the lower end of two pitch-change-links (30) is connected by oscillating bearing with rotation cup (25) respectively; Pitch-change-link is for regulating the deflection angle of main rotor blade;
The upper end of described four action pull bars (31) is connected with fixing cup (26) respectively by oscillating bearing, and the lower end of four action pull bars (31) is connected with the action rocking arm of 4 steering wheels respectively; Four action pull bars tilt for driving tilting frame, and tilting frame promotes the deflection of main rotor blade by pitch-change-link, thus realizes displacement, pitching and tumbling action; Often group guiding scissors-type arm comprises a dicyclo scissors-type arm (32) and a monocycle scissors-type arm (33), two groups of guiding scissors-type arms are that axis of symmetry symmetry is installed with main shaft, dicyclo scissors-type arm is flexibly connected with joining in the rotor head of main rotor system, monocycle scissors-type arm is connected with rotation cup by oscillating bearing, and dicyclo scissors-type arm and monocycle scissors-type arm are flexibly connected; The plane orthogonal that the plane of two groups of scissors-type arm formation and two pitch-change-links are formed; Guiding scissors-type arm does not relatively rotate for the rotation cup and main shaft ensureing tilting frame;
4 steering wheels are all connected with controller;
The spindle axis of 4 relative main rotors of steering wheel is a bit centrosymmetric distribution;
With pilotless helicopter working direction for axis, the line of the first steering wheel and the 4th steering wheel installation site and axis are positive miter angle, and the line of the second steering wheel and the 3rd steering wheel installation site and axis are in negative miter angle; Or the line of the first steering wheel and the 4th steering wheel installation site and axis are 0 degree of angle, line and the axis of the second steering wheel and the 3rd steering wheel installation site are an angle of 90 degrees;
Described spline guide rail parallel is fixedly mounted on steering wheel mounting bracket in main shaft, and fixing cup rear is provided with a spline pin, and spline pin inserts in the cotter way on spline guide rail, and spline guide rail and spline pin are for suppressing fixing cup body rotation.
6. pilotless helicopter according to claim 5, is characterized in that, the activity point of view between described dicyclo scissors-type arm (32) and monocycle scissors-type arm (33) is 35-145 degree.
7. the pilotless helicopter according to any one of claim 1 ~ 6, is characterized in that, described fuselage ring comprises fuselage side plate (37), equipment mounting bracket, fuselage pillar (40) and tail pipe (11); Described fuselage side plate (37) is two panels, and structure identical, be parallel to each other, equipment mounting bracket is fixed in the middle of two panels fuselage side plate; Many fuselage pillars (40) are provided with perpendicular to fuselage side plate, for supporting the intensity of fuselage side plate and reinforcement fuselage ring between two pieces of fuselage side plates (37); Described equipment mounting bracket comprises auxiliary lifting-anti-twisted power-refrigerating function device support stand (38), driving engine adapter plate (39), starter erection support, steering wheel mounting bracket (29) and tail pipe mounting bracket; Described tail pipe is installed on tail pipe mounting bracket; The described front lower end of fuselage side plate is provided with driving engine installation gap, and the erection support on driving engine embeds in this breach, and fixes with driving engine adapter plate (39).
8. pilotless helicopter according to claim 7, is characterized in that, described fuselage side plate (37) is provided with drop-gear box mounting hole.
9. pilotless helicopter according to claim 1, it is characterized in that, described main rotor system comprises main rotor and main rotor head, and described main rotor head comprises in rotor head and joins (17), main shaft (18), two main oar folder (15), distance-variable rocker arm (14), flapping hinge pillar (23), backup bearing (20) and transverse axis (22); Join the hollow unit that (17) are T-type structures in described rotor head, its lower end is fixed with main shaft (18), and the middle part of its upper end is provided with flapping hinge pillar (23) by backup bearing (20); Described transverse axis (22) be arranged on join (17) upper end in rotor head cavity in and the through hole passed perpendicularly through in the middle of flapping hinge pillar, transverse axis (22) two ends respectively connect main oar folder (15); Described main rotor is movably arranged on main oar folder (15) by lead lag hinge; The side of described main oar folder (15) is provided with described distance-variable rocker arm (14); Described transverse axis (22) two ends are also provided with waves cushion blocking (21), described in wave cushion blocking (21) and be arranged in main oar folder (15) and rotor head joins between (17).
10. pilotless helicopter according to claim 1, it is characterized in that, described drop-gear box comprises drop-gear box upper cover (46), drop-gear box lower cover (45), driving gear and driven gear (48), driving gear and driven gear (48) are covered by the casing that is made up of drop-gear box upper cover (46) and drop-gear box lower cover (45), driving gear and driven gear engaged transmission, the gear wheel shaft (47) of driving gear is through drop-gear box lower cover (45), driven gear (48) and main shaft are in transmission connection by key, thrust bearing is installed on above driven gear, be used for bearing axial force specially, main shaft rotates for driving main rotor through thrust bearing and drop-gear box upper cover (46).
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| CN201410582141.9A CN104369862B (en) | 2014-10-27 | 2014-10-27 | A kind of pilotless helicopter |
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| CN201410582141.9A CN104369862B (en) | 2014-10-27 | 2014-10-27 | A kind of pilotless helicopter |
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| CN104369862B true CN104369862B (en) | 2016-03-30 |
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