CN107472516B - Helicopter collective pitch control device, helicopter and application - Google Patents
Helicopter collective pitch control device, helicopter and application Download PDFInfo
- Publication number
- CN107472516B CN107472516B CN201710630833.XA CN201710630833A CN107472516B CN 107472516 B CN107472516 B CN 107472516B CN 201710630833 A CN201710630833 A CN 201710630833A CN 107472516 B CN107472516 B CN 107472516B
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- Prior art keywords
- helicopter
- collective pitch
- slider
- pitch control
- control apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
- B64C27/605—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical including swash plate, spider or cam mechanisms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a helicopter collective pitch control device which comprises a base fixedly arranged at the lower end of a supporting pipe and positioned under an inclined disc, linear driving parts symmetrically arranged at two sides of the supporting pipe and hinged with the base at the lower end, and sliding blocks which can be arranged in the supporting pipe in a vertical sliding manner and are in transmission connection with the linear driving parts at two ends, wherein the sliding blocks are fixedly connected with the inclined disc. The helicopter collective pitch control device is arranged right below the tilting disk, and can control the collective pitch of the helicopter. The unmanned aerial vehicle control system is strong in adaptability, simple and stable in structure, convenient to install, easy to copy and adapt, reasonable in layout, capable of adapting to the installation environment with large vibration on a helicopter, capable of effectively improving unmanned aerial vehicle control precision and guaranteeing unmanned aerial vehicle operation and use safety.
Description
Technical Field
The invention relates to the technical field of helicopters, in particular to a helicopter collective pitch control device and a helicopter.
Background
Along with the development of scientific technology, unmanned aerial vehicles are increasingly popularized in the fields of agricultural plant protection, electric power wiring, forest fire prevention and the like. Wherein, many rotor unmanned aerial vehicle has taken great proportion in the unmanned aerial vehicle field with its stable operability, but many rotor unmanned aerial vehicle is electric generally, and the little duration of load is short is difficult to satisfy the demand of market development. The market demand for high load and long endurance multi-rotor unmanned aerial vehicle is increasing day by day. The dynamics characteristics of the large-load long-endurance multi-rotor unmanned aerial vehicle are the same as those of the small multi-rotor unmanned aerial vehicle, and only the motor is required to be replaced by the engine to provide power.
One common replacement means is to use an oil engine as one of the multiple rotors, and in so doing, the cyclic pitch change characteristics of the helicopter are not required, and only the collective pitch change of the helicopter needs to be controlled. The unmanned helicopter with the motor for providing power in the market can change the torque periodically in the vast majority, is wasteful in terms of resources, has more control on the cost structure cost of the steering engine, and cannot be well adapted to the oil-driven helicopter.
Disclosure of Invention
The invention aims at overcoming the technical defects in the prior art and provides a helicopter collective pitch control device.
The invention aims at overcoming the technical defects in the prior art and provides a helicopter capable of being simply controlled at low cost.
The technical scheme adopted for realizing the purpose of the invention is as follows:
the utility model provides a helicopter collective pitch controlling means, includes the fixed base that sets up in the stay tube lower extreme and lie in under the tilting disk, set up symmetrically in stay tube both sides and lower extreme with the articulated linear drive portion of base, but set up with sliding from top to bottom in the stay tube and both ends with linear drive part transmission connection's slider, slider and tilting disk fixed connection.
The linear driving part is a linear steering engine.
The sliding block is in clearance fit with the supporting tube so as to translate up and down in the supporting tube.
The linear driving device is characterized by further comprising a linkage plate, wherein the center of the linkage plate is hinged with the sliding block and can deflect up and down, and two ends of the linkage plate are hinged with the upper end of the linear driving part.
The bottom or the upper part of the sliding block is provided with a groove which is embedded with the linkage plate, and the linkage plate deflects in a preset angle in the groove.
The range of the action stroke of the linear driving part corresponding to the attack angle of the propeller is 0-9 degrees.
The top of the sliding block is provided with three supporting rods, the lower ends of the supporting rods are fixedly connected with the sliding block, and the upper ends of the supporting rods are hinged with the tilting disk.
The helicopter is a multi-rotor helicopter, and each or at least part of rotors is correspondingly provided with an oil-driven helicopter and the helicopter collective pitch control device.
The helicopter collective pitch control device is applied to an electric engine which is changed into an oil engine.
Compared with the prior art, the invention has the beneficial effects that:
the helicopter collective pitch control device is arranged right below the tilting disk, and can control the collective pitch of the helicopter. The unmanned aerial vehicle control system is strong in adaptability, simple and stable in structure, convenient to install, easy to copy and adapt, reasonable in layout, capable of adapting to the installation environment with large vibration on a helicopter, capable of effectively improving unmanned aerial vehicle control precision and guaranteeing unmanned aerial vehicle operation and use safety.
Drawings
Figure 1 is a schematic diagram of the collective pitch control device of the helicopter of the invention,
fig. 2 is a schematic side view of the collective pitch control device of the helicopter of the invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and the specific examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in the figure, the helicopter collective pitch control device comprises a base 1 fixedly arranged at the lower end of a supporting pipe 6, for example, the base is sleeved below the supporting pipe of the helicopter, and is fixedly connected with the supporting pipe in a riveting mode, two linear driving parts are symmetrically arranged at two sides of the base, the lower end of the linear driving part is hinged with the base, the two linear driving parts are synchronously controlled to realize push-pull action, and a sliding block which can be arranged in the supporting pipe in a vertical sliding mode and is in transmission connection with the linear driving parts at two ends of the sliding block is fixedly connected with an inclined disc. The support tube is usually a part of the helicopter body, is sleeved outside the swashplate and extends axially along the swashplate to protect the swashplate and the torque converter tie rod, and is required to be mounted on the helicopter without the main support tube. The range of the action stroke of the linear driving part corresponding to the attack angle of the propeller is 0-9 degrees.
The two linear driving components are adopted, so that the device is more reliable than one device, more saving than more than two devices, symmetrically distributed and reasonable in layout. The linear driving part is selected, for example, the linear steering engine is more compact than the rocker arm steering engine in layout, saves more space and is easier to control.
The linear driving part is positioned outside the support tube, and the linear steering engine can be assembled in the support tube by changing the shape of the support tube. The linear steering engine is a mature product existing in the market, and can output linear motion, so that control is more accurate. The linear steering engine is utilized to control the total distance change of the helicopter, the control is simple and stable, and the stroke amount is large.
The helicopter collective pitch control device is arranged right below the tilting disk, and can control the collective pitch of the helicopter. The unmanned aerial vehicle control system is strong in adaptability, simple and stable in structure, convenient to install, easy to copy and adapt, reasonable in layout, capable of adapting to the installation environment with large vibration on a helicopter, capable of effectively improving unmanned aerial vehicle control precision and guaranteeing unmanned aerial vehicle operation and use safety.
The sliding block is in clearance fit with the supporting tube so as to translate up and down in the supporting tube, and the sliding block can ensure smoother relative movement by smearing lubricating grease. Because the slider and the main support pipe are matched to slide and cannot overturn, the tilting disk keeps horizontal and slides up and down along with the slider, so that the increase and the decrease of the total distance of the helicopter are realized.
As the preferred embodiment, the center of the bottom of the sliding block is hinged with a strip-shaped linkage plate, two ends of the linkage plate penetrate out of the supporting tube and are hinged with the upper end of the linear driving component, preferably, the bottom of the sliding block is provided with a groove in which the linkage plate is embedded, the linkage plate deflects in a preset angle in the groove, and the two linear steering engines transmit power to the sliding block through the teeterboard type linkage plate, so that the adverse effect caused by incomplete synchronous travel of the steering engines at two sides can be effectively eliminated. Meanwhile, in order to reduce the weight of the linkage plate, the linkage plate is provided with a weight reducing hole, and two ends of the linkage plate are respectively provided with a U-shaped fork opening so as to realize hinged connection.
The top of the sliding block is provided with three supporting rods, the lower ends of the supporting rods are fixedly connected with the sliding block, and the upper ends of the supporting rods are hinged with a fixed point of the tilting disk, so that the posture of the tilting disk is kept consistent with that of the sliding block. The downward and upward movement of the tilting disk is realized by pulling and pushing three connecting rods connected with the tilting disk, so that the control of the total distance of the helicopter is realized. The three support rods are usually inherent to the helicopter body, can originally control the pitch variation of the helicopter, realize the lifting, pitching and rolling operations of the helicopter, and play a role in independently controlling the lifting and the falling of the helicopter after being fixed on the sliding blocks, so that the control is simplified.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (7)
1. The utility model provides a helicopter collective pitch controlling means, its characterized in that, including fixed setting in the stay tube lower extreme and be located the base under the swashplate, set up symmetrically in stay tube both sides and lower extreme with the articulated linear drive portion of base, but the setting is in with sliding from top to bottom the stay tube in and both ends with the slider that linear drive portion transmission is connected, slider and swashplate fixed connection still include the linkage board, the linkage board center with slider articulated and can deflect from top to bottom, the both ends of linkage board with linear drive portion upper end articulated, linear drive portion be the straight line steering wheel.
2. The helicopter collective control apparatus of claim 1 wherein said slider is in clearance fit with said support tube for translation up and down within said support tube.
3. The helicopter collective pitch control apparatus of claim 2, wherein said slider bottom or upper portion is formed with a recess into which said link plate is fitted, said link plate being deflected within a predetermined angle within said recess.
4. The helicopter collective pitch control apparatus of claim 1, wherein said linear driving portion has an operating stroke corresponding to a variation range of a propeller attack angle of 0 ° -9 °.
5. The helicopter collective pitch control apparatus of claim 1, wherein three support rods are provided at the top of the slider, the lower ends of the support rods are fixedly connected with the slider, and the upper ends of the support rods are hinged with the tilting disk.
6. A helicopter, characterized in that it is a multi-rotor helicopter, each or at least some of the rotors being provided with a corresponding hydrodynamic engine and a helicopter collective pitch control device according to any of claims 1-5.
7. Use of a helicopter collective control apparatus as claimed in any of claims 1-5 after a modification of an electric engine to an oil engine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710630833.XA CN107472516B (en) | 2017-07-28 | 2017-07-28 | Helicopter collective pitch control device, helicopter and application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710630833.XA CN107472516B (en) | 2017-07-28 | 2017-07-28 | Helicopter collective pitch control device, helicopter and application |
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| Publication Number | Publication Date |
|---|---|
| CN107472516A CN107472516A (en) | 2017-12-15 |
| CN107472516B true CN107472516B (en) | 2023-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710630833.XA Active CN107472516B (en) | 2017-07-28 | 2017-07-28 | Helicopter collective pitch control device, helicopter and application |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533318B (en) * | 2018-09-28 | 2024-08-02 | 北京因时机器人科技有限公司 | Tilting disk driving mechanism and model helicopter |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB652817A (en) * | 1948-09-14 | 1951-05-02 | Pennine Aircraft Ltd | Improvements in means for controlling the pitch of rotor blades of helicopters |
| RU2155702C1 (en) * | 1999-04-15 | 2000-09-10 | Кумертауское авиационное производственное предприятие | System of two coaxial main rotors of flying vehicle |
| CN201253488Y (en) * | 2008-08-21 | 2009-06-10 | 罗之洪 | Airplane model direction control system |
| CN101612481A (en) * | 2008-11-26 | 2009-12-30 | 罗之洪 | Slide type airplane model steering engine |
| CN202994453U (en) * | 2012-12-25 | 2013-06-12 | 中国直升机设计研究所 | An operation matching mechanism of a rotor testing platform |
| CN103318407A (en) * | 2013-06-05 | 2013-09-25 | 王开林 | Standalone control system of coaxial double-rotor unmanned helicopter control system |
| CN205087145U (en) * | 2015-11-04 | 2016-03-16 | 中航维拓（北京）科技有限责任公司 | Half differential course control's of upper rotor unmanned helicopter control system of close coupled type |
| CN207450237U (en) * | 2017-07-28 | 2018-06-05 | 一飞智控(天津)科技有限公司 | The total distance control apparatus of helicopter and helicopter |
-
2017
- 2017-07-28 CN CN201710630833.XA patent/CN107472516B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB652817A (en) * | 1948-09-14 | 1951-05-02 | Pennine Aircraft Ltd | Improvements in means for controlling the pitch of rotor blades of helicopters |
| RU2155702C1 (en) * | 1999-04-15 | 2000-09-10 | Кумертауское авиационное производственное предприятие | System of two coaxial main rotors of flying vehicle |
| CN201253488Y (en) * | 2008-08-21 | 2009-06-10 | 罗之洪 | Airplane model direction control system |
| CN101612481A (en) * | 2008-11-26 | 2009-12-30 | 罗之洪 | Slide type airplane model steering engine |
| CN202994453U (en) * | 2012-12-25 | 2013-06-12 | 中国直升机设计研究所 | An operation matching mechanism of a rotor testing platform |
| CN103318407A (en) * | 2013-06-05 | 2013-09-25 | 王开林 | Standalone control system of coaxial double-rotor unmanned helicopter control system |
| CN205087145U (en) * | 2015-11-04 | 2016-03-16 | 中航维拓（北京）科技有限责任公司 | Half differential course control's of upper rotor unmanned helicopter control system of close coupled type |
| CN207450237U (en) * | 2017-07-28 | 2018-06-05 | 一飞智控(天津)科技有限公司 | The total distance control apparatus of helicopter and helicopter |
Non-Patent Citations (1)
| Title |
|---|
| 袁夏明 ; 朱纪洪 ; 陈志刚 ; 鲁兴举 ; .一种共轴式直升机操纵机构的运动学建模与分析.航空学报.2012,(第05期),15-27. * |
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| CN107472516A (en) | 2017-12-15 |
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