CN105480414B - A kind of coaxial dual-rotor helicopter movement and helicopter - Google Patents
A kind of coaxial dual-rotor helicopter movement and helicopter Download PDFInfo
- Publication number
- CN105480414B CN105480414B CN201510829663.9A CN201510829663A CN105480414B CN 105480414 B CN105480414 B CN 105480414B CN 201510829663 A CN201510829663 A CN 201510829663A CN 105480414 B CN105480414 B CN 105480414B
- Authority
- CN
- China
- Prior art keywords
- rotor
- pitch
- connecting rod
- helicopter
- interior
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Toys (AREA)
Abstract
The invention discloses a kind of coaxial dual-rotor helicopter movement and helicopter, including the upper rotor connected by rotating shaft coaxle and lower rotor, the control servomechanism that rotor is swung up and down, and the control motor that rotor reversely rotates up and down, rotary shaft includes interior, outer shaft, interior axle and outer shaft connect rotor and lower rotor respectively, upper rotor is connected with lower rotor by pitch component, pitch component includes upper pitch and lower pitch, upper pitch includes the inside and outside control panel connected by oscillating bearing with lower pitch, the interior control panel of upper pitch is connected by first connecting rod with upper rotor, and rotated backward with upper rotor, the outer control disk connection servomechanism of lower pitch, linkage from top to bottom is controlled by servomechanism, the interior control panel of lower pitch and the outer control disk of upper pitch are linked by second connecting rod, and rotated forward with outer shaft.The linkage that the present invention realizes upper and lower rotor is adjusted in synchronism, can effectively offset two layers of rotor rotational caused by moment of torsion, make aircraft more stable.
Description
Technical field
The present invention relates to helicopter field, more particularly to a kind of coaxial dual-rotor helicopter movement and helicopter.
Background technology
Coaxial unmanned helicopter is due to No Tail Rotor, by the coaxial synchronized reversion of upper and lower two rotor so that the knot of itself
Structure is compact, start layout symmetry and hovering efficiency is high, is widely applied to every field.And with modern times investigation detection and
The development of the demand such as video monitoring and multimedia shooting, miniature coaxial unmanned machine have captured rapidly one with its unique advantage
The ground of seat.
Although coaxial unmanned helicopter using more and more extensive, still be there are problems that, especially for outstanding
Stop the Steering under state.As generally set balancing pole above upper rotor, when rotor turns to helicopter up and down for regulation,
Balancing pole remains horizontality, due to Action of Gravity Field, it pulls rotor playback up and down to arrive original shape due to Action of Gravity Field
State, complete rotation direction operation, however, completely by balancing pole Action of Gravity Field come maintain the balance of upper and lower rotor be it is very passive,
Stability is very poor, for the place that some space environments are complicated, uses very inconvenient, a slightly slow step may cause thing
Therefore occur, security is very low.
It is existing that there is also only adjust lower rotor upset by pitch to realize the steering operation under floating state, upper rotation
The wing is to maintain horizontality, and stability is also possible that but be adjusted merely by the speed that lower rotor upset turns to whole helicopter
It is very slow, the sensitivity that this results in steering operation is not also high.
Existing depopulated helicopter can not be accomplished preferably to coordinate in stability and sensitivity, and therefore, prior art needs
It is further to improve.
The content of the invention
Problem to be solved by this invention is, there is provided a kind of coaxial dual-rotor helicopter movement and helicopter, solves
Turning efficiency is bad under existing depopulated helicopter floating state, jiggly technical problem of flying, and realizes more smooth flight
Effect, aircraft is set to be manipulated in the case where not reducing stability sensitiveer.
The present invention adopts the following technical scheme that：A kind of coaxial dual-rotor helicopter movement, including connected by rotating shaft coaxle
Upper rotor and lower rotor, control on the servomechanism that swings of rotor and lower rotor and the upper rotor of control and lower rotor reversely revolve
The motor turned, the rotary shaft include inside and outside axle, and interior axle and outer shaft connect rotor and lower rotor respectively, and are driven in motor
Rotor and lower rotor wing rotation, the upper rotor are connected with lower rotor by pitch component in lower drive, the pitch component
Including upper pitch and lower pitch, the upper pitch includes the inside and outside control connected by oscillating bearing with lower pitch
Disk, the interior control panel of upper pitch is connected by first connecting rod with upper rotor, and is rotated backward with upper rotor, outside lower pitch
Control panel connects servomechanism, and linkage from top to bottom, the interior control panel of lower pitch and the outer control disk of upper pitch are controlled by servomechanism
Linked by second connecting rod, and rotated forward with outer shaft, lower rotor is arranged on second connecting rod.
Described coaxial dual-rotor helicopter movement, wherein, it is separately installed with first in the interior axle and outer shaft of the rotary shaft
Gear and second gear, the motor include the first motor and the second motor, are provided with the 3rd gear on the first motor, and second
The 4th gear is provided with motor, the first gear engages with the 3rd gear, to drive interior axle to rotate；Second gear and the 4th
Gear engages, to drive outer shaft to rotate.
Described coaxial dual-rotor helicopter movement, wherein, articulated section is provided with the first connecting rod and second connecting rod,
The two is pivotally connected with upper rotor and lower rotor respectively by articulated section.
Described coaxial dual-rotor helicopter movement, wherein, in the outer control disk of upper pitch and interior control panel and have a down dip
The first bulb is provided with the interior control panel of swash plate, first connecting rod connects the interior control panel of upper pitch by the first bulb,
The second connecting rod connects the interior control panel of lower pitch and the outer control disk of upper pitch by the first bulb respectively.
Described coaxial dual-rotor helicopter movement, wherein, it is symmetrically arranged with two on the outer control disk of rotor on described
Rotary shaft, two rotation shaft supports of clamping are provided with the rotary shaft, two rotary shafts are with being arranged on the outer of rotor
The first bulb in control panel is in 90 degree of angles, and the outer control disk of the upper rotor axle centered on two rotary shafts is overturn.
Described coaxial dual-rotor helicopter movement, wherein, the outer control disk of the lower pitch is provided with two the second balls
Head, and connect servomechanism by two third connecting rods respectively.
Described coaxial dual-rotor helicopter movement, wherein, the third connecting rod is elastic link, is mounted therein with spring.
Described coaxial dual-rotor helicopter movement, wherein, described two second bulbs are set in 90 degree of angles, and wherein one
Gag lever post is provided with the outer control disk of second bulb symmetric position, the gag lever post is connected to a bar vertically set
In shape spacing hole, projection is swung up and down in spacing hole when servomechanism drives the outer control disk upset of lower pitch.
A kind of coaxial dual-rotor helicopter, the helicopter are provided with described movement.
Compared with prior art, coaxial dual-rotor helicopter movement and helicopter of the invention, have the following technical effect that：
1）The synchronous adjustment of two rotors is realized, and linkage can effectively offset two layers of rotor rotational to tilted upward disk simultaneously
Caused moment of torsion, make aircraft more stable；
2）The torque for also increasing helicopter direction to control simultaneously is adjusted in synchronism, helicopter is not being reduced the feelings of stability
Manipulate sensitiveer under condition, turned under floating state more flexible.
Brief description of the drawings
Fig. 1 is the structure chart of coaxial dual-rotor helicopter movement provided by the invention.
Fig. 2 is the structure chart of the preferred embodiment of coaxial dual-rotor helicopter movement provided by the invention.
Fig. 3 is the connection structure diagram of motor and gear in coaxial dual-rotor helicopter movement provided by the invention.
Fig. 4 is the structure chart of pitch component in coaxial dual-rotor helicopter movement provided by the invention.
Embodiment
In order that technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Drawings and Examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
As shown in Figures 1 to 4, coaxial dual-rotor helicopter movement provided by the invention, including connected by rotating shaft coaxle
Rotor 11 and lower rotor 12 are swung on upper rotor 11 and lower rotor 12, control the upper rotor 11 of servomechanism 30 and control and under
The motor that rotor 12 reversely rotates, the rotary shaft include inside and outside axle（14、13）, interior axle 14 and outer shaft 13 connect revolve respectively
The wing 11 and lower rotor 12, and drive rotor 11 and lower rotor 12 to rotate under motor driving, the upper rotor 11 and lower rotor
12 are connected by pitch component, and the pitch component includes upper pitch 100 and lower pitch 200, the upper pitch
100 include the inside and outside control panel that is connected by oscillating bearing with lower pitch 200, and the interior control panel 15 of upper pitch passes through the
One connecting rod 19 and upper rotor 11 connect, and are rotated backward with upper rotor 11, and the outer control disk 18 of lower pitch connects servomechanism 30,
Linkage from top to bottom is controlled by servomechanism 30, the interior control panel 17 of lower pitch and the outer control disk 16 of upper pitch pass through second connecting rod
20 linkages, and rotated forward with outer shaft 13, lower rotor 12 is arranged on second connecting rod 20.Therefore, the present invention is by under regulation
The upper pitch 100 of the component of pitch 200 linkage, it is possible to achieve the synchronous adjustment of upper and lower two rotors.Because two are inclined above and below being
Swash plate links simultaneously, can effectively offset two layers of rotor rotational caused by moment of torsion, make aircraft flight more stable, increase simultaneously
The torque of aircraft direction to control, makes aircraft be manipulated in the case where not reducing stability sensitiveer.
Specifically, the interior axle 14 of rotary shaft and outer shaft 13 are operated alone by two motors respectively, respectively the first motor
31 and second motor 32, drive interior axle 14 to rotate by the first motor 31, drive outer shaft 13 to rotate by the second motor 32, tied in connection
On structure, interior axle 14 and outer shaft 13 are separately installed with first gear 33 and second gear 34, and first gear 33 and second gear 34 are same
Axle is installed, and sets the 3rd gear 35 and the 4th gear 36 on the first motor 31 and the second motor 32 respectively, the first gear
33 engage with the 3rd gear 35, to drive interior axle 14 to rotate, and then drive upper rotor 11 to rotate, the gear of second gear 34 and the 4th
36 engagings, to drive outer shaft 13 to rotate, and then lower rotor 12 is driven to rotate.Control rotor up and down respectively by double motor, can be with
Accomplish the independent regulation manipulation in upper and lower rotor-speed.
In the control of two rotors, the present invention is provided with pivot on two first connecting rods 19 and second connecting rod 20 respectively
Socket part 28, the two is pivotally connected with upper rotor 11 and lower rotor 12 respectively by articulated section 28.So in first connecting rod 19 and
When two connecting rods 20 link, upper and lower rotor is synchronously overturn by pivot, and the manipulation to upper and lower rotor is more convenient and stably.Further
Ground, two rotary shafts 25 are symmetrically arranged with the outer control disk 16 of pitch on described, in the rotary shaft（14,13）On set
The U supports 26 of two rotary shafts 25 of clamping are equipped with, two rotary shafts 25 are with being arranged on the outer control disk 16 of pitch
First bulb is in 90 degree of angles, and the outer control disk 16 of the upper pitch axle centered on two rotary shafts 26 is overturn, further to protect
Demonstrate,prove the stability of manipulation.
Further, upper rotor 11 and lower rotor 12 are provided with installation portion 27, be provided with installation portion 27 two it is parallel
Mounting rod 28, mounting rod 28 sets pivot to connect articulated section 28, and rotating shaft in being also set up on installation portion 27（Do not show in figure
Go out）, the axis of middle rotating shaft vertically rotor sets, and upper and lower rotor overturns along axis.
In the connection of pitch, bulb is set in each connecting node, specifically, in the outer control disk of upper pitch
16 and interior control panel 17 and the interior control panel 17 of lower pitch on be provided with the first bulb 22, first connecting rod 19 passes through
The interior control panel 15 of the upper pitch of one bulb 22 connection, the second connecting rod 20 connect lower pitch by the first bulb 22 respectively
Interior control panel 17 and upper pitch outer control disk 16.The outer control disk 18 of lower pitch is provided with two the second bulbs
23, and connect servomechanism 30 by two third connecting rods 21 respectively.The connecting shaft of two the second bulbs 23 is than connecting the first ball
First 22 length, so that during the outer control disk 18 of pitch, second connecting rod 20 pulls upper pitch under the pulling of third connecting rod 21
Outer control disk 16 and first connecting rod 19 pull the operation of the interior control panel 15 of upper pitch more smooth.Preferably, it is of the invention
Third connecting rod 21 be elastic link, be mounted therein with spring.Third connecting rod 21, which is arranged to elastic link, can make servomechanism 30
Regulation to pitch component is more flexible.
Preferably, described two second bulbs 23 are in the settings of 90 degree angles, and the wherein symmetric position of one second bulb 23
Gag lever post is provided with outer control disk, the gag lever post is connected in a strip spacing hole vertically set, servomechanism
Projection is swung up and down in spacing hole when the outer control disk 18 of the lower pitch of 30 drives is overturn.So it is possible to prevente effectively from the 3rd connects
Bar 21 excessively pulls lower pitch 200 lower rotor 12 is overturn the security for excessively, ensureing manipulation.
Based on above-mentioned movement, present invention also offers a kind of coaxial dual-rotor helicopter, the helicopter is provided with described machine
Core.The coaxial dual-rotor helicopter of the present invention is pulled the outer control disk of lower pitch by servomechanism in control by third connecting rod
Swing, the outer control disk of lower pitch drives the interior control panel of lower pitch to swing by oscillating bearing, the internal control of lower pitch
Disk processed drives the outer control disk of upper pitch to swing by second connecting rod, in the process, rotor upset under driving, and upper inclination
The outer control disk of disk drives the interior control panel of upper pitch to swing by oscillating bearing, and the interior control panel of upper pitch is again by the
One connecting rod drives upper rotor upset, and whole manipulation process is completed with this.Realize the synchronous adjustment of rotor up and down.In manipulation process
In, two servomechanisms can individually control its corresponding third connecting rod connected.
In summary, coaxial dual-rotor helicopter movement and helicopter provided by the invention, by pitch component, are realized
The linkage of upper and lower rotor is adjusted in synchronism, can effectively offset two layers of rotor rotational caused by moment of torsion, make aircraft more stable；Simultaneously
The torque of helicopter direction to control is also increased, helicopter is manipulated in the case where not reducing stability sensitiveer, hover shape
Turned under state more flexible.
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can
To be improved or converted according to the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect scope.
Claims (5)
1. a kind of coaxial dual-rotor helicopter movement, including the upper rotor connected by rotating shaft coaxle and revolved on lower rotor, control
The motor that the servomechanism and the upper rotor of control and lower rotor that the wing and lower rotor are swung reversely rotate, it is characterised in that the rotation
Rotating shaft includes inside and outside axle, and interior axle and outer shaft connect rotor and lower rotor respectively, and drive rotor with under motor driving
Rotor wing rotation, the upper rotor are connected with lower rotor by pitch component, and the pitch component includes upper pitch with
Pitch, the upper pitch and lower pitch include the inside and outside control panel that is connected by oscillating bearing, upper pitch it is interior
Control panel is connected by first connecting rod with upper rotor, and is rotated backward with upper rotor, the outer control disk connection servo of lower pitch
Device, linkage from top to bottom is controlled by servomechanism, the interior control panel of lower pitch and the outer control disk of upper pitch are joined by second connecting rod
It is dynamic, and rotated forward with outer shaft, lower rotor is arranged on second connecting rod；
The first bulb is provided with the outer control disk of upper pitch and interior control panel and the interior control panel of lower pitch,
First connecting rod connects the interior control panel of upper pitch by the first bulb, and the second connecting rod is connected down respectively by the first bulb
The interior control panel of pitch and the outer control disk of upper pitch；
The outer control disk of the lower pitch is provided with two the second bulbs, and connects servo by two third connecting rods respectively
Device；Connection axial length of the connecting shaft of described two second bulbs than connecting the first bulb；The third connecting rod is elastic link, its
Spring is inside installed；
Described two second bulbs are set in 90 degree of angles, and are wherein provided with the outer control disk of one second bulb symmetric position
Gag lever post, the gag lever post are connected in a strip spacing hole vertically set, and servomechanism drives the outer of lower pitch
Projection is swung up and down in spacing hole when control panel is overturn.
2. coaxial dual-rotor helicopter movement according to claim 1, it is characterised in that the interior axle and outer shaft of the rotary shaft
On be separately installed with first gear and second gear, the motor includes the first motor and the second motor, set on the first motor
The 3rd gear is equipped with, the 4th gear is provided with the second motor, the first gear engages with the 3rd gear, to drive interior axle to turn
It is dynamic；Second gear and the engaging of the 4th gear, to drive outer shaft to rotate.
3. coaxial dual-rotor helicopter movement according to claim 1, it is characterised in that the first connecting rod and second connecting rod
On be provided with articulated section, the two is pivotally connected with upper rotor and lower rotor respectively by articulated section.
4. coaxial dual-rotor helicopter movement according to claim 1, it is characterised in that the outer control disk of rotor on described
On be symmetrically arranged with two rotary shafts, be provided with two rotation shaft supports of clamping in the rotary shaft, two rotary shafts with
First bulb is set in 90 degree of angles, outer control disk axle upset centered on two rotary shafts of upper rotor.
5. a kind of coaxial dual-rotor helicopter, it is characterised in that the helicopter installation is just like described in any one of Claims 1-4
Movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510829663.9A CN105480414B (en) | 2015-11-25 | 2015-11-25 | A kind of coaxial dual-rotor helicopter movement and helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510829663.9A CN105480414B (en) | 2015-11-25 | 2015-11-25 | A kind of coaxial dual-rotor helicopter movement and helicopter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105480414A CN105480414A (en) | 2016-04-13 |
| CN105480414B true CN105480414B (en) | 2017-12-19 |
Family
ID=55667769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510829663.9A Active CN105480414B (en) | 2015-11-25 | 2015-11-25 | A kind of coaxial dual-rotor helicopter movement and helicopter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105480414B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3281869B1 (en) * | 2016-08-11 | 2019-04-17 | AIRBUS HELICOPTERS DEUTSCHLAND GmbH | A control system for controlling at least collective pitch of rotor blades of a multi-blade rotor in a rotary-wing aircraft |
| CN106864742A (en) * | 2017-04-01 | 2017-06-20 | 张家港致盈电子技术有限公司 | A kind of coaxial double-oar power duct |
| CN106864734A (en) * | 2017-04-01 | 2017-06-20 | 张家港致盈电子技术有限公司 | A kind of coaxial opposed pair of oar power duct |
| CN107891976A (en) * | 2017-09-22 | 2018-04-10 | 珠海佰家科技有限公司 | A kind of unmanned plane propeller set and its unmanned plane |
| CN109624625B (en) * | 2018-12-19 | 2020-12-04 | 中国人民解放军国防科技大学 | Water-air cross-medium aircraft propulsion system capable of rapidly switching propulsion modes |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT396453B (en) * | 1984-06-04 | 1993-09-27 | Pichler Hubert | Rotary wing aircraft |
| JP3884025B2 (en) * | 2004-03-31 | 2007-02-21 | 長崎県 | Pitch angle variable mechanism of counter-rotating wing and flying device having counter-rotating wing equipped with the mechanism |
| CN102211664B (en) * | 2011-05-11 | 2013-05-01 | 王略 | Cross titling coaxial aircraft |
| CN104691752B (en) * | 2015-03-05 | 2016-04-27 | 葛讯 | A kind of coaxial high speed directly drives helicopter and flight manipulating mode thereof |
| CN205150232U (en) * | 2015-11-25 | 2016-04-13 | 深圳市富微科创电子有限公司 | Coaxial double wings helicopter core and helicopter |
-
2015
- 2015-11-25 CN CN201510829663.9A patent/CN105480414B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105480414A (en) | 2016-04-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105480414B (en) | A kind of coaxial dual-rotor helicopter movement and helicopter | |
| EP2340880B1 (en) | Dual-rotor model helicopter control system | |
| CN106132825B (en) | More rotor flying bodies | |
| CN105235900B (en) | Upper rotor semi differential yawing control system for coaxial unmanned helicopter | |
| CN104527975B (en) | The double remaining pitch sub-control steerable system of a kind of coaxial unmanned helicopter | |
| CN104691752B (en) | A kind of coaxial high speed directly drives helicopter and flight manipulating mode thereof | |
| CN105151290B (en) | A kind of rotor wing unmanned aerial vehicle of high-altitude attitude stabilization four | |
| CN105059536B (en) | Varying pitch rotor driver and multi-rotor aerocraft | |
| CN103241379A (en) | Flapping wing device for achieving active torsion for flapping wings and wing planes of aerofoil | |
| CN101433766A (en) | Counterbalance system of remote-control model helicopter | |
| CN107352024A (en) | The reverse rotor mechanism of coaxial double-oar and its aircraft | |
| CN110143279A (en) | A kind of two sections of flexible variant bionic flapping-wing flying vehicles | |
| CN205150232U (en) | Coaxial double wings helicopter core and helicopter | |
| CN105857598A (en) | Wing-flapping micro aerial vehicle structure | |
| CN100534863C (en) | Four channel row two-bladed helicopter | |
| CN101912688B (en) | Linkage for remote control coaxial twin-screw reversal helicopter model | |
| CN202070153U (en) | Rotor drive device of coaxial dual-propeller model helicopter | |
| CN100591400C (en) | Steering mechanism for model helicopter | |
| CN207274974U (en) | A kind of flight gondola of tilting rotor | |
| CN113306713B (en) | Coaxial dual-rotor unmanned aerial vehicle based on parallelogram control rotor shaft | |
| KR200336766Y1 (en) | Driving mechanism of ornithopter | |
| CN207045675U (en) | Unmanned plane | |
| CN107891976A (en) | A kind of unmanned plane propeller set and its unmanned plane | |
| CN101480531B (en) | Rotor mechanism of single-rotor toy helicopter | |
| CN105691614A (en) | Double-drive type ornithopter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |