CN109131861A - A kind of coaxal helicopter steerable system of the upper rotor with servo winglet - Google Patents
A kind of coaxal helicopter steerable system of the upper rotor with servo winglet Download PDFInfo
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- CN109131861A CN109131861A CN201810718961.4A CN201810718961A CN109131861A CN 109131861 A CN109131861 A CN 109131861A CN 201810718961 A CN201810718961 A CN 201810718961A CN 109131861 A CN109131861 A CN 109131861A
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- winglet
- servo
- rocker arm
- course
- rotor
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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
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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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
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- 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
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Abstract
A kind of coaxal helicopter steerable system the invention discloses upper rotor with servo winglet, including upper rotor control system and lower rotor control system, the coaxal helicopter steerable system uses the manipulation form of upper and lower rotor linkage, and the upper rotor inclinator in upper rotor control system is connected with the lower rotor inclinator in lower rotor control system by four root long connecting rods；The coaxal helicopter steerable system controlled simultaneously by four Servo-controllers rotor up and down always away from and feathering, wherein upper rotor control system adds servo winglet；The directional control of the coaxal helicopter steerable system uses half differential maneuverability pattern.The present invention uses the manipulation form of upper and lower rotor linkage, required Servo-controller number is less, install servo winglet additional on upper rotor control system, there is higher stability compared to the servo winglet of lower rotor control system, the mechanical structure of servo winglet is simpler, more convenient manipulation manual operating helicopter.
Description
Technical field
The present invention relates to aerospace designs manufacturing technology field, more particularly to a kind of upper rotor is with servo winglet
Coaxal helicopter steerable system.
Background technique
Co-axial helicopter does not have tail-rotor and its transmission system in normal arrangement, needed for power with respect to single rotor band
Power needed for tail-rotor helicopter will lack；Meanwhile co-axial helicopter has overall compact structure, relative to single rotor magnetic tape trailer
Paddle helicopter size will reduce 35%-40%, and then possess lesser the moment of inertia, to increase the controllability of co-axial helicopter
And mobility, therefore the unmanned helicopter of many country's developments all uses the distribution form of coaxial double-rotary wing.
In recent years, small-sized depopulated helicopter, with small in size, light weight manipulates the features such as flexible, be increasingly becoming research and
The emphasis of development.Small-sized depopulated helicopter cost is cheaper, not only has extensive purposes in every field, but also can make
For develop unmanned helicopter flight control system good platform, be light-duty, medium-sized unmanned helicopter development save it is a large amount of when
Between and funds.More representational type has Austrian Camcopter and its modified S-100, Japanese R-50 and its changes
Type Rmax, Chinese " day hawk -3 " etc..Also due to the characteristics of coaxial double-rotary wing, also there are many uses in small-sized depopulated helicopter
Certain small-sized depopulated helicopter of the form of coaxial double-rotary wing, " M-22 " and first-fly in 05 year that Beijing Institute of Aeronautics was developed in 2000 is exactly
Using this form.
Co-axial helicopter steerable system is broadly divided into two kinds of forms, and one kind is upper and lower rotor united control, i.e., by flat
Row quadrangle links together upper and lower two inclinators, makes two inclinators while carrying out always away from movement and feathering, boat
It is realized to movement by always half differential form away from movement of the secondary rotor of only control one.Another manipulation form is pitch sub-control behaviour
It is vertical, feature be two inclinators independently control two secondary rotors always away from feathering, course movement is by increasing by one
Secondary rotor always away from reduce simultaneously another secondary rotor always away from full differential fashion realize.
Small-sized depopulated helicopter is since body inertia and the damping of rotor angular speed are smaller, and rotor revolving speed is high, and body itself is no
Stablize and cycle of oscillation is short, such as increases stability withouyt corresponding mechanical tranquilizer, helicopter would become hard in control and grasp
It is vertical, it therefore, how to existing small-sized depopulated helicopter, is especially mounted with that the helicopter of teetering rotor improves, leads to
The corresponding machinery stability augmentation system that installs additional is crossed to become to improve the stability of helicopter for those skilled in the art's urgent need to resolve
The problem of.
Summary of the invention
In view of this, the coaxal helicopter steerable system the present invention provides a kind of upper rotor with servo winglet.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of coaxal helicopter steerable system of the upper rotor with servo winglet, including upper rotor control system and lower rotor behaviour
Vertical system, the coaxal helicopter steerable system use the manipulation form of upper and lower rotor linkage, the upper rotation in upper rotor control system
Wing inclinator is connected with the lower rotor inclinator in lower rotor control system by four root long connecting rods；Coaxal helicopter manipulation system
System controlled simultaneously by four Servo-controllers rotor up and down always away from and feathering, wherein upper rotor control system is added and is watched
Winglet is taken, manipulates the feathering of upper rotor by changing the flapping action of servo winglet；The coaxal helicopter steerable system
Directional control use half differential maneuverability pattern, individually control by a Servo-controller time rotor always away from realizing.
Through the above technical solutions, the invention has the benefit that the manipulation form to be linked using upper and lower rotor, required
Servo-controller number is less, installs servo winglet additional on upper rotor control system, and the servo compared to lower rotor control system is small
The wing has higher stability, and the mechanical structure of servo winglet is simpler, more convenient manipulation manual operating helicopter.
Based on the above technical solution, the present invention can also make following improvement:
Further, lower rotor control system includes Servo-controller, steering engine connecting rod, lower rotor inclinator, the inclination of lower rotor
Device and course rocker-arm link, course rocker arm, displacement connecting rod, distance-variable rocker arm, the directional control system on bearing block；Servorudder
Machine is equipped with rocker arm, and steering engine connecting rod is that both ends are equipped with the rod-like structure of rod end bearing, and one end is connected by a hinge servorudder
The rocker arm of machine, the other end are connected by a hinge lower rotor inclinator, and Servo-controller controls lower rotor inclinator by steering engine connecting rod
Up and down motion and inclination；The rod end bearing and boat that lower rotor inclinator passes through lower rotor inclinator and course rocker-arm link both ends
It is connected to one end of rocker arm by hinge, the other end of course rocker arm and is assemblied on the coaxal helicopter steerable system outer shaft
Bearing block is connected by flange bearing, and the middle part of course rocker arm is passed through by the rod end bearing of displacement connecting rod two end with distance-variable rocker arm
Hinge is connected.When no directional control, one end that course rocker arm is connected with bearing block is fixed, and the movement of lower rotor inclinator drives
Course rocker motion, course rocker arm drive distance-variable rocker arm to move by pitch-change-link, thus control lower rotor always away from the period
Displacement.
Further, directional control system includes course steering engine, course connecting rod, course lever, course strut, course steering engine
It is connected with course lever one end by hinge by the rod end bearing of course connecting rod two end, it is total that this is fixed in the middle part of the lever of course
On the fuselage of axis helicopter control system, the course lever other end connects bearing block by course strut, and course strut passes through spiral shell
Nail is connected with bearing block.Course steering engine makes bearing block or more by controlling the movement of course connecting rod, course lever and course strut
Movement, bearing block are connected with course rocker arm, therefore can be in the case where upper and lower rotor inclinator is motionless, by controlling lower rotor
Always away from change torque realize course operation.
Further, upper rotor control system includes that upper rotor inclinator, upper rotor inclinator and servo winglet rocker arm connect
Bar, scissors-type rocker arm, scissors-type rocker arm sliding sleeve, torsion pass pull rod, servo winglet, servo winglet rocker arm, scissors-type rocker arm and winglet strut connect
Bar；Upper rotor inclinator is connected by a hinge lower rotor inclinator by four root long connecting rods, is being carried out always away from grasping with feathering
Upper rotor inclinator and lower rotor inclinator can carry out identical movement simultaneously when vertical；Upper rotor inclinator outer ring stretches out four ears
Piece, two of them are passed through by upper rotor inclinator and the rod end bearing at servo winglet rocker-arm link both ends with servo winglet rocker arm
Hinge is connected, and another two is connected with one end of scissors-type rocker arm by hinge by torsion pass pull rod；It is total that scissors-type rocker arm sliding sleeve is through this
In the inner shaft of axis helicopter control system, realization is slided up and down, and is connected with scissors-type rocker arm sliding sleeve by bearing in the middle part of scissors-type rocker arm,
The scissors-type rocker arm other end is connected with the rod end bearing of winglet strut connecting rod two end with servo winglet by hinge by scissors-type rocker arm.
Further, servo winglet includes small wing blade, blade connecting rod, stablizes rod shell, winglet strut and winglet displacement
Connecting rod；The rod end bearing and winglet strut outer end that the scissors-type rocker arm other end passes through two scissors-type rocker arms and winglet strut connecting rod two end
Two sides are connected by hinge, and by fixed in the middle part of screw and blade connecting rod in the middle part of winglet strut, blade connecting rod passes through hollow steady
Fixed pole shell, by bearing stable connection rod shell, blade connecting rod outer end is fixedly connected with small wing blade, and the inclination of winglet strut can make
Blade connecting rod and small wing blade rotate about the axis thereof, and thus control servo winglet displacement and generate flapping action, servo winglet rocker arm
It is connected to the outer surface of stable rod shell by bearing, can be rotated around the point and is controlled from there through coupled distance-variable rocker arm
Upper rotor always away from feathering.
Further, four root long connecting rods are connected to form parallelogram.Because of lower rotor inclinator and upper rotor inclinator
Parallelogram is constituted, therefore the up and down motion of lower rotor inclinator and inclination will drive rotor inclinator and carry out on identical
Lower movement and inclination.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the axonometric drawing of steerable system of the present invention；
Fig. 2 is the front view of steerable system of the present invention；
Fig. 3 is the side view of steerable system of the present invention；
Symbol description is as follows in figure:
1, Servo-controller；2, steering engine connecting rod；3, lower rotor inclinator；4, lower rotor inclinator and course rocker-arm link；5,
Course rocker arm；6, displacement connecting rod；7, course steering engine；8, course connecting rod；9, course lever；10, course strut；11, long connecting rod；
12, upper rotor inclinator；13, upper rotor inclinator and servo winglet rocker-arm link；14, servo winglet rocker arm；15, winglet displacement
Connecting rod；16, torsion pass pull rod；17, scissors-type rocker arm；18, scissors-type rocker arm sliding sleeve；19, scissors-type rocker arm and winglet strut connecting rod；20, small
Wing strut；21, stablize rod shell；22, blade connecting rod；23, small wing blade.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment
As shown in Figure 1-3, coaxal helicopter steerable system of a kind of upper rotor with servo winglet provided by the invention, mainly
Including the upper rotor control system with servo winglet and lower rotor system.Specifically, the coaxal helicopter steerable system is using upper
The manipulation form of lower rotor linkage, the backspin in upper rotor inclinator 12 and lower rotor control system in upper rotor control system
Wing inclinator 3 is connected by a hinge by four root long connecting rods 11；The coaxal helicopter steerable system is same by four Servo-controllers 1
When control rotor up and down always away from and feathering, wherein upper rotor control system adds servo winglet, passes through and changes servo
The flapping action of winglet manipulates the feathering of upper rotor；The directional control of the coaxal helicopter steerable system is differential using half
Maneuverability pattern, individually controlled by a Servo-controller 1 lower rotor always away from realizing.
As shown in Fig. 2, lower rotor control system includes Servo-controller 1, steering engine connecting rod 2, lower rotor inclinator 3, lower rotor
Inclinator and course rocker-arm link 4, course Rocker arm 5, displacement connecting rod 6, course steering engine 7, course connecting rod 8, course lever 9, course
Strut 10, distance-variable rocker arm, bearing block.
Servo-controller 1 is equipped with rocker arm, and steering engine connecting rod 2 is the rod-like structure that both ends are equipped with rod end bearing, one side pole
End bearing is connected by a hinge Servo-controller 1, and the other end is connected by a hinge lower rotor inclinator 3, and Servo-controller 1 is four,
It is in 90 ° uniformly distributed that four Servo-controllers 1, which are located above transmission system, above and below the lower rotor inclinator 3 of the control of steering engine connecting rod 2
Movement and inclination；Lower rotor inclinator 3 is shaken by lower rotor inclinator and the rod end bearing at 4 both ends of course rocker-arm link with course
One end of arm 5 is connected by hinge, the other end of course Rocker arm 5 and the axis being assemblied on the coaxal helicopter steerable system outer shaft
It holds seat to be connected by flange bearing, the middle part of course Rocker arm 5 is passed through by the rod end bearing at 6 both ends of displacement connecting rod with distance-variable rocker arm
Hinge is connected.When no directional control, one end that course Rocker arm 5 is connected with bearing block is fixed, the movement band of lower rotor inclinator 3
Dynamic course Rocker arm 5 movement, course Rocker arm 5 drive distance-variable rocker arm movement by pitch-change-link 6, thus control lower rotor always away from
Feathering.
Course steering engine 7 is connected with 9 one end of course lever by hinge by the rod end bearing at 8 both ends of course connecting rod, course
The middle part of lever 9 is fixed on the fuselage of the coaxal helicopter steerable system, and lever 9 other end in course is connected by course strut 10
Joint bearing seat, course strut 10 are connected by screw and bearing block.Course steering engine 7 passes through control course connecting rod 8, course lever 9
Movement with course strut 10 slides up and down bearing block, and bearing block is connected with course Rocker arm 5, therefore can incline in upper and lower rotor
In the case that oblique device is motionless, course operation is always realized away from change torque by the lower rotor of control.
As shown in Fig. 2, upper rotor control system includes upper rotor inclinator 12, upper rotor inclinator and servo winglet rocker arm
Connecting rod 13, scissors-type rocker arm 17, scissors-type rocker arm sliding sleeve 18, torsion pass pull rod 16, servo winglet, servo winglet rocker arm 14, scissors-type rocker arm
With winglet strut connecting rod 19, small wing blade 23, blade connecting rod 22, stable rod shell 21, winglet strut 20 and winglet displacement connecting rod
15。
The lower rotor inclinator 3 in upper rotor inclinator 12 and lower rotor control system in upper rotor control system passes through
Four root long connecting rods 11 are connected by a hinge, and four root long connecting rods 11 are connected to form parallelogram, descend the upper of rotor inclinator 3 in this way
Lower movement will drive rotor inclinator 12 with inclination and carry out identical up and down motion and inclination, that is, carry out always away from becoming with the period
Upper rotor inclinator 12 can carry out identical movement with lower rotor inclinator 3 simultaneously when away from manipulation.
Upper 12 outer ring of rotor inclinator stretches out four auricles, and two of them pass through upper rotor inclinator and servo winglet rocker arm
The rod end bearing at 13 both ends of connecting rod is connected with servo winglet rocker arm 14 by hinge, and another two is shaken by torsion pass pull rod 16 with scissors-type
One end of arm 17 is connected by hinge；Scissors-type rocker arm sliding sleeve 18 is through in the inner shaft of the coaxal helicopter steerable system, in realization
Lower slider, 17 middle part of scissors-type rocker arm are connected with scissors-type rocker arm sliding sleeve 18 by bearing, and 17 other end of scissors-type rocker arm is cut by two
Type rocker arm is connected with the rod end bearing at 19 both ends of winglet strut connecting rod with 20 outer end two sides of winglet strut by hinge, winglet strut
20 middle parts are by fixed in the middle part of screw and blade connecting rod 22, and 22 outer end of blade connecting rod connects small wing blade 23, and winglet strut 20 inclines
Blade connecting rod 22 and small wing blade 23 can tiltedly rotated about the axis thereof, thus controls servo winglet displacement and generates flapping action, leaf
Piece connecting rod passes through hollow stabilization rod shell, and by bearing stable connection rod shell, servo winglet rocker arm is connected to by bearing
Stablize the outer surface of rod shell, can be rotated around the point and from there through coupled distance-variable rocker arm control upper rotor always away from
Feathering.
Specific work process of the invention are as follows:
When Servo-controller 1 controls the up and down motion and inclination of lower rotor inclinator 3 by steering engine connecting rod 2, lower rotor inclines
Oblique device 3 drives the up and down motion of lower rotor inclinator and course rocker-arm link 4, at this point, course steering engine 7 is motionless, therefore bearing block
It is fixed, and one end that course Rocker arm 5 is connect with bearing block is fixed, course Rocker arm 5 is rotated around the point, and displacement connecting rod 6 is driven to control
The movement of distance-variable rocker arm, thus control lower rotor always away from feathering.
Because lower rotor inclinator 3 and upper rotor inclinator 12 constitute parallelogram, lower rotor inclinator 3 it is upper
Lower movement will drive rotor inclinator 12 with inclination and carry out identical up and down motion and inclination.
When upper rotor inclinator 12 slides up and down, two torsion pass pull rods 16 are moved upwardly or downwardly simultaneously, make two to cut
Type rocker arm 17 is by equidirectional power, because the other end of two scissors-type rocker arms 17 is all connected with winglet strut 20, winglet strut
20 both ends are by equidirectional power keeping parallelism, therefore servo winglet holding level does not move, scissors-type rocker arm 17 and winglet
The connected one end of strut 20 is fixed, and scissors-type rocker arm 17 is rotated around this one end, and scissors-type rocker arm sliding sleeve 18 slides up and down.At the same time,
The upper up and down motion of rotor inclinator 12 makes rotor inclinator and servo winglet rocker-arm link 13 move up and down, because of servo winglet
It keeps horizontal, and servo winglet rocker arm 14 and stablizes 21 connecting pin of rod shell and fix, servo winglet rocker arm 14 is around end rotation, band
Dynamic displacement connecting rod 15 moves up and down with distance-variable rocker arm, achieve the purpose that control upper rotor always away from.
When the inclination of upper rotor inclinator 12, two torsion pass pull rods 16 move in the opposite direction, because two scissors-type are shaken
Arm 17 and 18 central symmetry of scissors-type rocker arm sliding sleeve are installed, therefore connect solid point in the middle part of scissors-type rocker arm sliding sleeve 18 and scissors-type rocker arm 17
Fixed, scissors-type rocker arm 17 is rotated around the point, moves two scissors-type rocker arms to different directions from winglet strut connecting rod 19, winglet support
Bar 20 is tilted around servo winglet center line to side, makes blade connecting rod 22 and winglet by the fixed point of middle part and blade connecting rod 22
Blade 23 is rotated around center, so that servo winglet displacement is generated flapping action, the flapping action of servo winglet is but also stabiliser bar shell
Body 21 tilts, and servo winglet two sides servo winglet rocker arm 14 moves in the opposite direction with the fixed point for stablizing rod shell 21, band
Dynamic displacement connecting rod 15 moves in the opposite direction with distance-variable rocker arm, achievees the purpose that control lower feather.
When course steering engine 7 drives course connecting rod 8 to move up and down, the course lever 9 being attached thereto drives course strut 10
It moves up and down, course strut 10 drives bearing block to slide up and down, and course Rocker arm 5 and lower rotor inclinator and course rocker arm connect at this time
The connected one end of bar 4 is fixed, therefore course Rocker arm 5 rotates around the point and displacement connecting rod 6 is driven to move up and down, to control lower rotor
Always away from variation.The lower rotor that course steering engine 7 changes in the motionless situation of tilted upward device always away from, and upper rotor always away from not having
It changes, resulting torque imbalance has manipulated the course movement of helicopter.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (6)
1. a kind of coaxal helicopter steerable system of upper rotor with servo winglet, including upper rotor control system and lower rotor control
System, it is characterised in that: the coaxal helicopter steerable system uses the manipulation form of upper and lower rotor linkage, upper rotor control system
In upper rotor inclinator connected with the lower rotor inclinator in lower rotor control system by four root long connecting rods；This is coaxial to go straight up to
Machine steerable system controlled simultaneously by four Servo-controllers rotor up and down always away from and feathering, wherein upper rotor control system
Servo winglet is added, manipulates the feathering of upper rotor by changing the flapping action of servo winglet；The coaxal helicopter
The directional control of steerable system uses half differential maneuverability pattern, individually control by a Servo-controller lower rotor always away from Lai reality
It is existing.
2. coaxal helicopter steerable system of a kind of upper rotor with servo winglet according to claim 1, it is characterised in that:
Lower rotor control system include Servo-controller, steering engine connecting rod, lower rotor inclinator, lower rotor inclinator and course rocker-arm link,
Course rocker arm, displacement connecting rod, distance-variable rocker arm, the directional control system on bearing block；Servo-controller is equipped with rocker arm, steering engine
Connecting rod is that both ends are equipped with the rod-like structure of rod end bearing, and one end is connected by a hinge the rocker arm of Servo-controller, and the other end is logical
It crosses hinge and connects lower rotor inclinator；The rod end axis that lower rotor inclinator passes through lower rotor inclinator and course rocker-arm link both ends
It holds and is connected with one end of course rocker arm by hinge, the other end of course rocker arm and is assemblied in outside the coaxal helicopter steerable system
Bearing block on axis is connected by flange bearing, and the middle part of course rocker arm is shaken by the rod end bearing of displacement connecting rod two end with displacement
Arm is connected by hinge, and when no directional control, one end that course rocker arm is connected with bearing block is fixed, the fortune of lower rotor inclinator
Dynamic to drive course rocker motion, course rocker arm drives distance-variable rocker arm movement by pitch-change-link, thus under control rotor always away from
With feathering.
3. coaxal helicopter steerable system of a kind of upper rotor with servo winglet according to claim 2, it is characterised in that:
Directional control system includes course steering engine, course connecting rod, course lever, course strut, and course steering engine passes through course connecting rod two end
Rod end bearing be connected with course lever one end by hinge, the coaxal helicopter steerable system is fixed in the middle part of the lever of course
Fuselage on, the course lever other end connects bearing block by course strut, and course strut is connected by screw and bearing block.
4. coaxal helicopter steerable system of a kind of upper rotor with servo winglet according to claim 1, it is characterised in that:
Upper rotor control system includes that upper rotor inclinator, upper rotor inclinator and servo winglet rocker-arm link, scissors-type rocker arm, scissors-type are shaken
Arm sliding sleeve, torsion pass pull rod, servo winglet, servo winglet rocker arm, scissors-type rocker arm and winglet strut connecting rod；Upper rotor inclinator passes through
Four root long connecting rods are connected by a hinge lower rotor inclinator；Upper rotor inclinator outer ring stretches out four auricles, and two of them pass through
Upper rotor inclinator is connected with the rod end bearing at servo winglet rocker-arm link both ends with servo winglet rocker arm by hinge, another two
It is connected with one end of scissors-type rocker arm by hinge by torsion pass pull rod；Scissors-type rocker arm sliding sleeve is through the coaxal helicopter steerable system
Inner shaft on, realization slides up and down, and is connected with scissors-type rocker arm sliding sleeve by bearing in the middle part of scissors-type rocker arm, and the scissors-type rocker arm other end leads to
Scissors-type rocker arm is crossed to be connected with the rod end bearing of winglet strut connecting rod two end with servo winglet by hinge.
5. coaxal helicopter steerable system of a kind of upper rotor with servo winglet according to claim 4, it is characterised in that:
Servo winglet includes small wing blade, blade connecting rod, stablizes rod shell, winglet strut and winglet displacement connecting rod；Scissors-type rocker arm is another
End is connected with the rod end bearing of winglet strut connecting rod two end with winglet strut outer end two sides by hinge by two scissors-type rocker arms,
By fixed in the middle part of screw and blade connecting rod in the middle part of winglet strut, blade connecting rod passes through hollow stabilization rod shell, passes through bearing
Stable connection rod shell, blade connecting rod outer end are fixedly connected with small wing blade, and the inclination of winglet strut can make blade connecting rod and small winged petiole
Piece rotates about the axis thereof, and thus controls servo winglet displacement and generates flapping action, servo winglet rocker arm is connected to surely by bearing
The outer surface of fixed pole shell, can be rotated around the point and from there through coupled distance-variable rocker arm control upper rotor always away from week
Phase displacement.
6. coaxal helicopter steerable system of a kind of upper rotor with servo winglet according to claim 1, it is characterised in that:
Four root long connecting rods are connected to form parallelogram.
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| CN201810718961.4A CN109131861A (en) | 2018-07-03 | 2018-07-03 | A kind of coaxal helicopter steerable system of the upper rotor with servo winglet |
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| CN201810718961.4A CN109131861A (en) | 2018-07-03 | 2018-07-03 | A kind of coaxal helicopter steerable system of the upper rotor with servo winglet |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109969388A (en) * | 2019-04-19 | 2019-07-05 | 北京海空行科技有限公司 | A kind of steerable system for coaxial unmanned helicopter |
| CN110979660A (en) * | 2019-12-26 | 2020-04-10 | 湖南韬讯航空科技有限公司 | Three-steering-engine direct-drive coaxial rotor system and control strategy |
| CN110979651A (en) * | 2019-12-24 | 2020-04-10 | 苏州韬讯航空科技有限公司 | Coaxial helicopter and control method |
| CN113428353A (en) * | 2021-08-04 | 2021-09-24 | 南京航空航天大学 | Helicopter power system rotor wing rotating speed optimization control method and device |
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| CN109969388A (en) * | 2019-04-19 | 2019-07-05 | 北京海空行科技有限公司 | A kind of steerable system for coaxial unmanned helicopter |
| CN109969388B (en) * | 2019-04-19 | 2024-05-28 | 北京海空行科技有限公司 | Control system for coaxial unmanned helicopter |
| CN110979651A (en) * | 2019-12-24 | 2020-04-10 | 苏州韬讯航空科技有限公司 | Coaxial helicopter and control method |
| WO2021129180A1 (en) * | 2019-12-24 | 2021-07-01 | 苏州韬讯航空科技有限公司 | Coaxial helicopter and control method |
| US20210323661A1 (en) * | 2019-12-24 | 2021-10-21 | Suzhou Taoxun Aviation Technology Co., Ltd. | Coaxial helicopter and control method thereof |
| US11597507B2 (en) | 2019-12-24 | 2023-03-07 | Suzhou Taoxun Aviation Technology Co., Ltd. | Coaxial helicopter and control method thereof |
| CN110979660A (en) * | 2019-12-26 | 2020-04-10 | 湖南韬讯航空科技有限公司 | Three-steering-engine direct-drive coaxial rotor system and control strategy |
| CN110979660B (en) * | 2019-12-26 | 2024-05-10 | 湖南韬讯航空科技有限公司 | Three steering engine direct-drive coaxial rotor system and control strategy |
| CN113428353A (en) * | 2021-08-04 | 2021-09-24 | 南京航空航天大学 | Helicopter power system rotor wing rotating speed optimization control method and device |
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Application publication date: 20190104 |