CN107651184B - Non-variable-pitch helicopter - Google Patents

Non-variable-pitch helicopter Download PDF

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Publication number
CN107651184B
CN107651184B CN201710807958.5A CN201710807958A CN107651184B CN 107651184 B CN107651184 B CN 107651184B CN 201710807958 A CN201710807958 A CN 201710807958A CN 107651184 B CN107651184 B CN 107651184B
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China
Prior art keywords
wing
tail
helicopter
tail wing
power system
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CN201710807958.5A
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Chinese (zh)
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CN107651184A (en
Inventor
张东升
李朋翔
刘新正
田爱芬
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Xian Jiaotong University
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Xian Jiaotong University
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Priority to CN201710807958.5A priority Critical patent/CN107651184B/en
Publication of CN107651184A publication Critical patent/CN107651184A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/026—Aircraft characterised by the type or position of power plants comprising different types of power plants, e.g. combination of a piston engine and a gas-turbine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/11—Propulsion using internal combustion piston engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
    • B64C2027/8209—Electrically driven tail rotors

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Toys (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)

Abstract

A non-variable-pitch helicopter comprises a main wing, a power system, a power supply device, a tail wing, a motor, a driving mechanism and a frame; the tail wing motor is arranged on the driving mechanism, and the tail wing motor drives the tail wing to rotate after being electrified; the driving mechanism can rotate around the longitudinal axis of the helicopter, and the driving mechanism drives the empennage motor and the empennage to rotate around the longitudinal axis of the helicopter while rotating. The structure adopted by the invention completely eliminates a complex inclinator and a variable pitch mechanism. The main wing is connected with a power system after the automatic inclinator is removed, and the structure of the main wing is greatly simplified because the main wing is not provided with the inclinator; the flight direction of the helicopter is adjusted through the rotating angle of the empennage around the longitudinal axis of the helicopter and the rotating speed of the empennage, the reliability is high, and mechanical faults are not easy to occur.

Description

Non-variable-pitch helicopter
Technical Field
The invention relates to a structure of a helicopter, in particular to a non-variable-pitch helicopter.
Background
The helicopter has the outstanding characteristics of capability of vertically taking off, landing and hovering in a small-area field, and the characteristics enable the helicopter to have wide application and development prospect.
The main rotor of a conventional helicopter is driven by an engine and the tail is driven by a mechanical long shaft that has a motion associated with the main rotor. The automatic tilter and the pitch-variable mechanism are arranged on the main rotor wing, the flight direction of the helicopter is controlled by controlling the periodic distance of the main rotor wing of the helicopter through the automatic tilter, the lift force is changed by changing the pitch, and the pitch-variable structure and the control mode of the helicopter are very complicated and have very high requirements on the reliability of materials.
The empennage is the biggest challenge of the flight safety of the helicopter, the main rotor loses power, and the helicopter can also spin and land; however, once the tail wing loses power, the helicopter turns and loses control. The tail wing of the helicopter is driven by a transmission rod which is in motion connection with the main rotor, a long transmission shaft needs to be arranged in a tail boom of the helicopter in order to transmit power to the tail wing, and a variable-pitch mechanism is needed for the tail wing, so that the weight and the mechanical complexity of the helicopter are increased.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a non-variable-pitch helicopter.
In order to achieve the purpose, the invention adopts the following technical scheme:
a non-variable pitch helicopter comprises a main wing, a power system, a tail wing driving motor, a tail wing assembly rotation driving mechanism and a rack; the tail wing assembly rotation driving mechanism is arranged at the tail part of the rack, the power system is arranged on the rack, the power system is connected with the main wing and drives the main wing to rotate, the power system is connected with the tail wing driving motor, and the tail wing driving motor drives the tail wing to rotate at a high speed; the tail wing driving motor and the tail wing are installed on the tail wing assembly rotating driving mechanism, and the tail wing assembly rotating driving mechanism can drive the tail wing driving motor and the tail wing to rotate around the longitudinal axis of the helicopter.
The power system comprises an engine and a generator, the output end of the generator is connected with a tail wing driving motor through a cable, and one end of the engine is connected with the main wing through a transmission mechanism.
The power system comprises a motor and a power battery, wherein the power battery is connected with the tail wing driving motor through a cable, and one end of the motor is connected with the main wing through a transmission mechanism.
A further development of the invention is that the cable is arranged in a rack.
The invention is further improved in that a base is arranged on the tail wing assembly rotation driving structure, and a tail wing driving motor is arranged on the base.
The invention has the further improvement that the lift force is changed by changing the rotating speed of the main wing, the reactive torque of the main wing is balanced and the direction of the helicopter head is adjusted by the rotating speed of the tail wing; the rotating driving mechanism of the tail assembly controls the body to generate a forward tilting or backward tilting angle so as to realize forward moving or backward moving.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the power system is connected with the main wing and drives the main wing to rotate, and the tail wing driving motor drives the tail wing to rotate after being electrified; the tail assembly rotation driving mechanism can drive the tail driving motor and the tail to rotate around the longitudinal axis of the helicopter. The helicopter of the invention adopts a structure which completely eliminates a complex inclinator and a variable pitch mechanism. The main wing is connected with a power system after the automatic inclinator is removed, and the main wing has a greatly simplified structure and is equivalent to a rigid wing because of the absence of the inclinator. The tail wing of the existing helicopter is driven by a long shaft through an engine, the tail wing of the helicopter is driven by a tail wing electric driver, a transmission long shaft is removed, and the motor is adopted to drive the tail wing of the helicopter, so that the mechanical complexity of the tail wing part is simplified, and the reliability of the tail wing is improved; the tail wing and the tail wing driving motor form a whole, namely a tail wing assembly; the angle of rotation of the tail assembly about the longitudinal axis can be accurately controlled without mechanically linking the tail to the main wing. The electric energy required by the empennage driving motor and the assembly driving comes from a helicopter power system. The lift force is changed by changing the rotating speed of the main wing, and the reaction torque of the main wing and the direction of a helicopter head are balanced by the rotating speed of the tail wing; the rotating driving mechanism of the tail assembly controls the body to generate a forward tilting or backward tilting angle so as to realize forward moving or backward moving. The front and back movement of the helicopter is realized by controlling the angle of a tail wing assembly to generate vertical component force to enable the helicopter to perform pitching movement, and the front and back component force of a main wing drives the helicopter to perform front and back movement; the yaw angle of the helicopter is controlled by adjusting the speed of rotation of the tail and the angle of the assembly. The combined action of the up-and-down movement, the front-and-back movement and the yaw angle enables the helicopter to have space movement capability. The invention adjusts the flight direction of the helicopter by the rotating angle of the empennage around the longitudinal axis of the helicopter and the rotating speed of the empennage, has high reliability and is not easy to have mechanical failure.
Furthermore, the power system comprises a motor and a power battery, the power battery is connected with the tail wing driving motor through a cable arranged in the rack, and one end of the motor is connected with the main wing through a transmission mechanism. The electric motor and the power battery form a helicopter power supply system, can be used for driving a tail wing motor, can also be used for supplying power for an engine ignition system and airborne equipment, and can also be used for restarting the engine when the engine is stopped in the air, so that the safety of the system is improved.
Drawings
FIG. 1 is a rear view of a helicopter in forward flight;
FIG. 2 is a side view of the helicopter in forward flight;
FIG. 3 is a rear view of the helicopter in backward flight;
FIG. 4 is a side view of the helicopter in backward flight;
FIG. 5 is a diagram of attitude adjustment of a helicopter in the presence of a lateral wind;
fig. 6 is an overall structural view of the helicopter.
FIG. 7 is a schematic diagram of a powertrain including an engine and a generator.
In the figure, 1 is a main wing, 2 is a transmission mechanism, 3 is a power system, 5 is a tail wing, 6 is a tail wing driving motor, 7 is a tail wing assembly rotation driving mechanism, and 8 is a rack.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1 to 7, the present invention includes a main wing 1, a transmission mechanism 2, a power system 3, a tail wing 5, a tail wing driving motor 6, a tail wing assembly rotation driving mechanism 7, and a frame 8. Wherein, the tail assembly rotary driving mechanism 7 is arranged at the tail part of the frame 8, the power system 3 is arranged on the frame 8, the power system 3 is connected with the main wing 1 through the transmission mechanism 2, and the power system 3 can drive the main wing 1 to rotate through the transmission mechanism 2,
referring to fig. 7, the power system 3 of the present invention has two structures, one of which is that the power system includes an engine 3-1 and a generator 3-2, the output end of the generator 3-2 is connected with a tail wing driving motor 6 through a cable arranged in a frame 8, and one end of the engine 3-1 is connected with a main wing 1 through a transmission mechanism 2. The engine 3-1 drives the main wing 1 to rotate and simultaneously drives the generator 3-2 to generate electricity.
The other structure is that the power system 3 comprises a motor and a power battery, the power battery is connected with the tail wing driving motor 6 through a cable arranged in the frame 8, and one end of the motor is connected with the main wing 1 through the transmission mechanism 2. The main wing 1 is driven by the motor to rotate, and the power battery provides electric energy for the motor and the tail wing driving motor 6.
The power system 3 is connected with a tail wing driving motor 6; the tail assembly rotation driving structure 7 is provided with a base, and the tail driving motor 6 is arranged on the base. The tail wing driving motor 6 drives the tail wing 5 to rotate at a high speed after being electrified; the empennage driving motor 6 and the empennage 5 are arranged on the empennage assembly rotary driving mechanism 7, and the empennage assembly rotary driving mechanism 7 can drive the empennage driving motor 6 and the empennage 5 to rotate around the longitudinal axis of the helicopter.
The difference between the helicopter of the invention and the helicopter in the prior art is that: the main wing 1 cancels a complex automatic inclinator of a traditional helicopter, the tail wing 5 cancels a variable pitch mechanism and a transmission long shaft, and is directly driven or driven in a speed reduction mode by the tail wing driving motor 6, but in order to control the posture of the helicopter, a tail wing assembly (the tail wing assembly comprises the tail wing 5 and the tail wing driving motor 6) can rotate around the longitudinal axis of the helicopter, so that a tail wing assembly rotating driving mechanism 7 which can correspondingly rotate around the axis of the helicopter is added, and the tail wing assembly rotating driving mechanism is arranged at the tail part of a rack 8 and can drive the tail wing 5 and the tail wing driving motor 6 to rotate around the.
The frame 8 is the supporting part of the helicopter and is not limited to the long rod construction shown in fig. 1, but may take different forms.
The helicopter lift force is changed by changing the rotating speed of the main wing 1, and the flight direction of the helicopter is changed by controlling the tail wing 5, so that the forward or backward movement of the helicopter body is realized by generating a forward or backward inclination angle. The rotation of the empennage is used for controlling the advancing direction and adjusting the heading.
When the helicopter flies forwards or backwards, namely the helicopter is in a hovering state, the plane of the tail rotor is a vertical plane, and the tail rotor is used for balancing the reaction torque of the rotation of the main rotor.
The attitude of the empennage when the helicopter flies forwards is shown in figure 1, and the empennage rotates clockwise around the axis of the helicopter from the vertical state in the hovering state when viewed from the back to the front by alpha1Angle, so that thrust F of the flight11Can be decomposed into horizontal forces F11xAnd a force F in the vertical direction11y，F11xCan be used to counteract the main wing reaction torque, and F11yThe helicopter can be inclined forward at a forward inclination angle, as shown in figure 2, the helicopter inclines forward at a forward inclination angle beta1Angle, so that the force F generated by the main rotor12Can be decomposed into horizontal forces F12xAnd a force F in the vertical direction12y，F12yFor providing lift to move the helicopter up and down, and F12xUsed for providing power for advancing the helicopter.
The attitude of the empennage when the helicopter flies backwards is shown in figure 3. from the back to the front, the empennage rotates anticlockwise around the axis of the helicopter from the vertical state when hovering by alpha2Angle, so that thrust F of the flight21Can be decomposed into horizontal forces F21xAnd a force F in the vertical direction21y，F21xCan be used to counteract spindle reaction torque, and F21yCan make the helicopter have a backward bending angle, as shown in figure 4, the backward bending angle of the helicopter is beta2So that the force F generated by the main rotor22Can be decomposed into horizontal forces F22xAnd a force F in the vertical direction22y，F22yFor providing lift to move the helicopter up and down, and F22xUsed for providing power for the backward flight of the helicopter.
When the helicopter needs to move up and down, the rotating speed of the main wing is increased or reduced, and the lift force of the main wing is changed, so that the helicopter can move up and down; but the reaction torque will also vary and can be balanced by adjusting the tail rotor speed. When the course needs to be adjusted, taking the figure 1 and the figure 2 as an example, keeping F11yUnchanged, decreasing or increasing F11xUnder the condition of keeping the pitch angle unchanged, generating yaw motion so as to adjust the course; the specific control is realized by adjusting the rotating speed of the tail wing and the inclination angle of the assembly. Taking yaw right as an example, yaw right needs to be increased by F11xWhile maintaining F11yConstant so that, on the one hand, the speed of rotation is increased and, on the other hand, the angle of inclination α of the tail assembly is reduced1。
When external interference exists, such as the side wind, the direction and the pitch angle of the helicopter body can be changed to balance the acting force of the side wind on the helicopter body. As shown in fig. 5, in consideration of an extreme case where wind is perpendicular to the forward direction of the helicopter, the unmanned aerial vehicle is rotated by an angle towards the wind direction, so that the acting force of the wind on the helicopter can be offset while the power required by the forward movement of the aircraft is ensured.
The main rotor wing of the helicopter provided by the invention cancels a pitch-changing mechanism and a tilting device of a traditional unmanned aerial vehicle, and the main wing is directly connected with a power system through a transmission device. The tail wing has no pitch-changing mechanism and long transmission shaft. The tail wing pitch-changing mechanism and the tilting device of the helicopter are eliminated, so that the structure of the helicopter is greatly simplified; the motor is adopted to drive the tail wing of the helicopter, so that the mechanical complexity of the tail wing part is simplified, and the reliability of the tail wing is improved; the lift control is completely realized by adjusting the rotating speed of the main wing, the attitude control is realized by the rotating speed of the tail wing and the rotating angle of the tail wing assembly around the longitudinal axis, namely the flight direction of the helicopter is adjusted by the rotating angle of the tail wing around the longitudinal axis of the helicopter and the rotating speed of the tail wing, and the attitude control is realized without an inclinator and a variable pitch mechanism, so that the reliability is high, and the mechanical fault is not easy to occur.

Claims (5)

1. A non-variable-pitch helicopter is characterized by comprising a main wing (1), a power system (3), a tail wing (5), a tail wing driving motor (6), a tail wing assembly rotation driving mechanism (7) and a rack (8); the tail wing assembly rotation driving mechanism (7) is arranged at the tail of the rack (8), the power system (3) is installed on the rack (8), the power system (3) is connected with the main wing (1) and drives the main wing (1) to rotate, the power system (3) is connected with the tail wing driving motor (6), and the tail wing driving motor (6) drives the tail wing (5) to rotate at a high speed; the tail wing driving motor (6) and the tail wing (5) are arranged on a tail wing assembly rotating driving mechanism (7), and the tail wing assembly rotating driving mechanism (7) can drive the tail wing driving motor (6) and the tail wing (5) to rotate around the longitudinal axis of the helicopter;
the lift force is changed by changing the rotating speed of the main wing (1), and the reaction torque of the main wing and the direction of a helicopter head are balanced by the rotating speed of the tail wing (5); the rotating driving mechanism (7) of the empennage assembly controls the fuselage to generate a forward or backward tilting angle to realize forward or backward movement;
under the hovering state, the plane of the tail rotor is a vertical plane, and the tail rotor is used for balancing the reaction torque of the rotation of the main rotor.
2. A pitch-variable helicopter according to claim 1, characterized in that the power system (3) comprises an engine (3-1) and a generator (3-2), the output of the generator (3-2) is connected to the tail wing drive motor (6) via a cable, and one end of the engine (3-1) is connected to the main wing (1) via the transmission mechanism (2).
3. A pitch-variable helicopter according to claim 1, characterized in that the power system (3) comprises an electric motor and a power battery, the power battery is connected with the tail wing driving motor (6) through a cable, and one end of the electric motor is connected with the main wing (1) through the transmission mechanism (2).
4. A pitch-variable helicopter according to claim 2 or 3, characterized in that the cables are arranged in the frame (8).
5. A pitch-variable helicopter according to claim 1, characterized in that the tail assembly rotation driving mechanism (7) is provided with a base on which the tail driving motor (6) is provided.
CN201710807958.5A 2017-09-08 2017-09-08 Non-variable-pitch helicopter Active CN107651184B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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CN107651184B true CN107651184B (en) 2020-11-10

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108502156A (en) * 2018-05-29 2018-09-07 珠海霄鹰科技发展有限公司 Asymmetric double-shaft helicopter and its flying method
CN109987221B (en) * 2019-03-19 2022-04-15 黄迅 Unmanned aerial vehicle
CN112379466B (en) * 2020-10-12 2021-06-22 南京信息工程大学 Self-positioning recoverable sonde

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101181425B1 (en) * 2010-04-30 2012-09-19 경북대학교 산학협력단 An unmanned helicopter for spraying chemical
FR2962713A1 (en) * 2010-07-13 2012-01-20 Eurocopter France METHOD AND AIRCRAFT PROVIDED WITH A BACK-UP ROTOR
FR3014838B1 (en) * 2013-12-17 2015-12-25 Eurocopter France GIRAVION EQUIPPED WITH A REVERSE ROTOR ANTI COUPLE PARTICIPATING SELECTIVELY TO THE SUSTENTATION AND PROPULSION IN TRANSLATION OF THE GIRAVION
CN103921936A (en) * 2014-02-12 2014-07-16 无锡汉和航空技术有限公司 Oil and power mixed small unmanned helicopter and its power principle
CN105691610B (en) * 2016-03-01 2018-01-16 清华大学 For helicopter hybrid power system and there is its helicopter
CN205524951U (en) * 2016-03-27 2016-08-31 郑州大学 Novel unmanned helicopter aircraft of multi -functional hybrid of intelligence
CN205602124U (en) * 2016-05-05 2016-09-28 武汉捷特航空科技有限公司 Fin and helicopter of helicopter
CN106143897B (en) * 2016-07-26 2018-03-13 芜湖万户航空航天科技有限公司 Can be verted tail-rotor

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