CN109533320A - A kind of helicopter bevel-type main rotor parallel drive unit - Google Patents
A kind of helicopter bevel-type main rotor parallel drive unit Download PDFInfo
- Publication number
- CN109533320A CN109533320A CN201811560569.8A CN201811560569A CN109533320A CN 109533320 A CN109533320 A CN 109533320A CN 201811560569 A CN201811560569 A CN 201811560569A CN 109533320 A CN109533320 A CN 109533320A
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- wing
- boss
- bracket
- main
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- 238000009827 uniform distribution Methods 0.000 claims description 9
- 239000003381 stabilizer Substances 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000009826 distribution Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002028 premature Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/001—Vibration damping devices
-
- 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
- B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transmission Devices (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of helicopter bevel-type main rotor parallel drive units, belong to helicopter field.The present invention includes base, bracket, spring, 4 Linear-electric-cylinders, intermediate bevel-type main rotor drive device.The bevel-type main rotor drive device includes main and auxiliary motor, main shaft, set, annulus, ball cover, wing group and connection rod set.It is contemplated that simple and compact for structure, rotor and ground elevation are variable, reduce the horizontal footprint of rotor, main rotor swing flexibly, flight stability, safety, it is easy to control.
Description
Technical field
The invention belongs to helicopter fields, are related to a kind of helicopter bevel-type main rotor parallel drive unit.
Background technique
Lifting airscrew kinematic driving unit is the critical component of helicopter movement.Usual rotor is by propeller hub and several pieces blades
It constitutes.Propeller hub is mounted in rotor shaft, and the blade shaped like slender wing is then connected on propeller hub.Blade rotate when with surrounding air phase
Interaction generates the pulling force along rotor shaft, if the pitch of the direction of relative wind or each blade is asymmetric with rotor shaft, also
Generate the component perpendicular to rotor shaft.On helicopter, rotor axis direction is bordering on vertically, therefore rotor has the function of wing first
Can, generate upward lifting force.Secondly also there is the function similar to aircraft propulsion, generate forward power.It also has
Similar to the function of aircraft control surface, the pitching moment or rolling moment for changing body posture are generated.In order to meet above-mentioned movement
Requirement, the structure of lifting airscrew kinematic driving unit is sufficiently complex so far, and volume is larger, therefore increases manufacture difficulty and straight
Rise machine flight resistance.In order to meet the requirement of the various power of above-mentioned motion process, the ball bearing of mast is supported to bear above-mentioned each
Kind load, is easy to cause ball bearing premature breakdown to fail.These problems cause the highest attention of helicopter design person.In recent years
Come, the patent of Publication No. CN101961559B discloses a kind of rotor wing supporting device of model helicopter, is absorbed using V-type bracket
The shock wave that helicopter generates is reduced while increasing mobility and is driven to drive shaft to reduce trembling for helicopter body
The destruction of system.The patent of Publication No. CN101204992B discloses a kind of helicopter co-axis double rotational speed difference device,
To realize coaxial double-rotor helicopter yaw control.The patent of Publication No. CN101376433B discloses a kind of helicopter rotation
Wing method of operating and system are located at the wing flap of blade rear, using the actuator driving for being located at each propeller hub support arm to realize pair
The manipulation of rotor system.The patent of Publication No. CN103600840B discloses a kind of Coaxial helicopter rotor mechanism, in utilization
Xia Liangzu mixed connection mechanism realizes lifting airscrew mechanism global symmetry, and stability is high when to improve high speed rotation.Publication number
For CN103407571B patent disclose it is a kind of can actively shimmy helicopter rotor system, make advancing blade using the mechanism
Angular speed is greatly reduced, retreating blade angular speed is significantly increased, and is subject in row state alternation after moving ahead to reducing blade
Fatigue load actively adapts to a variety of different state of flights of helicopter, and it is very fast to improve flight.Publication No. CN102030105B's
Patent discloses a kind of direct inclination control rotor helicopter, to direct bank control lifting airscrew, saves conventional helicopter
Blade cyclic pitch system, retarder and the tail-rotor system of machine simplify helicopter structure.Above-mentioned thought is with their own characteristics.But it is existing
Rotor kinematic driving unit is still sufficiently complex, and rotor is substantially parallel with ground, and occupy-place is big, flies and endangers on housing-group, mountain stream and other places
Dangerous height.The suitable speed of ball pair is lower compared with thrust bearing and tapered roller bearing, and it is low that ball pair carries pulling force ability.So
Simplify the structure of rotor kinematic driving unit, change rotor and ground elevation, reduce footprint, reduces support rotor ball bearing
Load becomes the target of helicopter and robot research field brainstrust unremitting effort.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of helicopter bevel-type main rotor parallel drive units, it is intended to make
Simple and compact for structure, rotor and ground elevation are variable, reduce the horizontal footprint of rotor, cover eccentric tapped through hole main rotor swing
Flexibly, flight stability, safety, it is easy to control.
In order to solve the above technical problems, the technical solution used in the present invention is: a kind of helicopter bevel-type main rotor is in parallel
Driving device, which is characterized in that including base, bracket, spring, 4 Linear-electric-cylinders, and intermediate bevel-type main rotor drive dress
It sets；The intermediate bevel-type main rotor drive device includes main and auxiliary motor, main shaft, set, annulus, ball cover, wing group and connecting rod
Group；The base is disc, and the center is equipped with recessed ball seat through-hole, 4 base hinged seats of edge circumference uniform distribution；The branch
Frame is revolving body, sets carriage center through-hole, and the bracket hinged seat that 4 rectangle vertex are distributed is arranged in edge；The main shaft two
End is respectively equipped with the open interior and boss coaxial with main shaft, and boss is equipped with boss through-hole identical with wing quantity, boss again
Through-hole and boss circumference are tangent, and circumference uniform distribution is around boss；Described to be arranged with set central through hole, the top of set is equipped with and set
The lower part of the coaxial cylinder of central through hole, set is equipped with the set bias tapped through hole parallel with set central through hole；The ball cover is equipped with
Convex spherical and ball cover central through hole；The wing is to stretch body from thick rectangular end to the spiral at thin rectangular shape end, in wing thickness rectangle
End and the wing through-hole for being respectively equipped with vertical stabilizer close to position near the end and being parallel to each other；The connecting rod two end is set respectively
There is the connecting rod through-hole being parallel to each other；Annular edge circumference uniform distribution annulus through-hole identical with wing quantity, annulus through-hole axis
The heart is tangent with annular ring peripheral；The main motor and the base are connected, and open in the drive shaft of the main motor and the main shaft
Hole one end is connected with axle key；The open interior end of the main shaft couples with carriage center through-hole bearing rotational support, the main shaft
It is connect with the Upper cylindrical duplicate invoice of the set；The auxiliary motor and the bracket are connected, the driving lead screw shaft and set of the auxiliary motor
Eccentric tapped through hole screw pair connection；The connecting rod number of the connection rod set is identical as the wing number of the wing group；The straight-line electric
One end of dynamic cylinder connects with the base connection seat ball duplicate invoice, the other end with and the connection seat universal pair of the bracket couple；
The spring one end is against on the base, and the other end supports on the bracket；The machine of the wing thickness rectangular end
Wing through-hole couples with boss through-hole pin shaft rotation；The connecting rod through-hole of the connecting rod two end is attached with wing thickness rectangular end respectively
Close wing through-hole, annulus through-hole are rotated with pin shaft to be coupled；The upper end cylinder axis of the central through hole of the annulus and the set
Forward dynamic connection；The upper end cylinder of the set couples with the ball cover central through hole cylindrical pair；The convex spherical of the ball cover and institute
Recessed ball seat through-hole ball duplicate invoice is stated to connect.
The beneficial effects of adopting the technical scheme are that the present invention is not subject to rotor lifting force and main shaft gyration
Moment of friction supports the long service life of ball pair；Change rotor and ground elevation, rotor lifting force when not only can change flight
And flying speed, the footprint of shutdown can also be reduced；Help to mention by the horizontal component that closes that bevel-type wing group generates when flight
High flight stability and safety；Structure is simple, compact, and main rotor rotation is flexible, easy to control；Spring can slow down rotor lifting force
To each driving branch's active force and impact force；Auxiliary motor screw pair self-locking function, can prevent wing group from freely changing with external applied load
Cone angle.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is front sectional view of the present invention；
1, bracket；2, base；3, main motor；4, Linear-electric-cylinder；5, spring；6, main shaft；7, auxiliary motor；8, ball cover；9,
Set；10, annulus；11, wing；12, connecting rod.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiment is 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.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, but the present invention can be with
Implemented using other than the one described here other way, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by the specific embodiments disclosed below.
As shown in Figure 1, the invention discloses a kind of helicopter bevel-type main rotor parallel drive units, which is characterized in that packet
Include base 2, bracket 1,5,4 Linear-electric-cylinders 4 of spring, and intermediate bevel-type main rotor drive device；The intermediate bevel-type master
Rotor drive device includes main motor 3, auxiliary motor 7, main shaft 6, set 9, annulus 10, ball cover 8 and wing group and connection rod set；
The base 2 is disc, and the center is equipped with recessed ball seat through-hole, 4 base hinged seats of edge circumference uniform distribution；The bracket
1 is revolving body, sets carriage center through-hole, and the bracket hinged seat that 4 rectangle vertex are distributed is arranged in edge；6 liang of the main shaft
End is respectively equipped with the open interior and boss coaxial with main shaft, and boss is equipped with boss through-hole identical with 11 quantity of wing again, convex
Platform through-hole and boss circumference are tangent, and circumference uniform distribution is around boss；The set 9 is equipped with set central through hole, covers 9 top and is equipped with
The coaxial cylinder with set central through hole, the lower part for covering 9 are equipped with the set bias tapped through hole parallel with set central through hole；The ball cover
8 are equipped with convex spherical and ball cover central through hole；The wing 11 is to stretch body from thick rectangular end to the spiral at thin rectangular shape end, in wing
11 thick rectangular ends and the wing through-hole for being respectively equipped with vertical stabilizer close to position near the end and being parallel to each other；The connecting rod 12
Both ends are respectively equipped with the connecting rod through-hole being parallel to each other；The 10 edge circumference uniform distribution of annulus annulus identical with 11 quantity of wing is logical
Hole, annulus through-hole axle center and 10 circumference of annulus are tangent；The main motor 3 is connected with the base 2, the driving of the main motor 3
Axis is connect with open interior one end of the main shaft 6 with axle key；The open interior end of the main shaft 6 and 1 central through hole bearing of bracket
Rotational support connection, the Upper cylindrical duplicate invoice of the main shaft 6 and the set 9 connect；The auxiliary motor 7 is connected with the bracket 1, institute
The driving lead screw shaft for stating auxiliary motor 7 couples with eccentric tapped through hole screw pair is covered；The number of connecting rod 12 and the machine of the connection rod set
The number of wing 11 of wing group is identical；One end of the Linear-electric-cylinder 4 connects with the base connection seat ball duplicate invoice, the other end and and institute
State the connection seat universal pair connection of bracket；
Described 5 one end of spring is against on the base 2, and the other end is against on the bracket 1；The thick rectangular end of the wing 11
The rotation of wing through-hole and the boss through-hole pin shaft couple；The connecting rod through-hole at 12 both ends of connecting rod respectively with wing thickness square
Wing through-hole, annulus through-hole near shape end are rotated with pin shaft to be coupled；The upper end of the central through hole of the annulus 10 and the set 9
Cylinder is rotated with bearing to be coupled；The upper end cylinder of the set 9 couples with the 8 central through hole cylindrical pair of ball cover；The ball cover 8
Convex spherical connects with the recessed ball seat through-hole ball duplicate invoice.
Motion process and principle or control process:
Driving arm drives main and auxiliary motor and main shaft to stretch pendulum with respect to base generation multiple degrees of freedom to multiple Linear-electric-cylinders simultaneously
Movement；The rotation of main motor driving spindle drives the revolution of wing group；Auxiliary motor is transported by screw pair actuating sleeve along main shaft reciprocating linear
Dynamic, set drives wing group with respect to spindle swing by annulus and connection rod set, changes wing group inclination angle.
Claims (1)
1. a kind of helicopter bevel-type main rotor parallel drive unit, which is characterized in that including base, bracket, spring, 4 straight lines
Electric cylinder, and intermediate bevel-type main rotor drive device；The intermediate bevel-type main rotor drive device includes main and auxiliary motor, main
Axis, set, annulus, ball cover, wing group and connection rod set；The base is disc, and the center is equipped with recessed ball seat through-hole,
4 base hinged seats of edge circumference uniform distribution；The bracket is revolving body, sets carriage center through-hole, and 4 rectangles are arranged in edge
The bracket hinged seat of vertex distribution；The main shaft both ends are respectively equipped with the open interior and boss coaxial with main shaft, and boss is set again
There is boss through-hole identical with wing quantity, boss through-hole and boss circumference are tangent, and circumference uniform distribution is around boss；The set
Equipped with set central through hole, the top of set is equipped with the cylinder coaxial with set central through hole, and the lower part of set is equipped with flat with set central through hole
Capable set bias tapped through hole；The ball cover is equipped with convex spherical and ball cover central through hole；The wing is from thick rectangular end to thin
The spiral of rectangular end stretches body, in wing thickness rectangular end and is respectively equipped with vertical stabilizer close to position near the end and mutually puts down
Capable wing through-hole；The connecting rod two end is respectively equipped with the connecting rod through-hole being parallel to each other；The annular edge circumference uniform distribution and machine
The identical annulus through-hole of wing quantity, annulus through-hole axle center and annular ring peripheral are tangent；The main motor and the base are connected, described
The drive shaft of main motor is connect with open interior one end of the main shaft with axle key；The open interior end of the main shaft and carriage center are logical
Hole is coupled with bearing rotational support, and the Upper cylindrical duplicate invoice of the main shaft and the set connects；The auxiliary motor and the bracket are solid
Even, the driving lead screw shaft of the auxiliary motor couples with eccentric tapped through hole screw pair is covered；The connecting rod number of the connection rod set with it is described
The wing number of wing group is identical；One end of the Linear-electric-cylinder connects with the base connection seat ball duplicate invoice, the other end and and institute
State the connection seat universal pair connection of bracket；
The spring one end is against on the base, and the other end supports on the bracket；The wing of the wing thickness rectangular end is logical
Hole couples with boss through-hole pin shaft rotation；The connecting rod through-hole of the connecting rod two end is respectively and near wing thickness rectangular end
Wing through-hole, annulus through-hole are rotated with pin shaft to be coupled；The upper end cylinder of the central through hole of the annulus and the set is turned with bearing
Dynamic connection；The upper end cylinder of the set couples with the ball cover central through hole cylindrical pair；The convex spherical of the ball cover with it is described recessed
Ball seat through-hole ball duplicate invoice connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811560569.8A CN109533320B (en) | 2018-12-20 | 2018-12-20 | Helicopter cone type main rotor parallel driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811560569.8A CN109533320B (en) | 2018-12-20 | 2018-12-20 | Helicopter cone type main rotor parallel driving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109533320A true CN109533320A (en) | 2019-03-29 |
| CN109533320B CN109533320B (en) | 2020-09-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811560569.8A Active CN109533320B (en) | 2018-12-20 | 2018-12-20 | Helicopter cone type main rotor parallel driving device |
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| Country | Link |
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| CN (1) | CN109533320B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110641658A (en) * | 2019-09-17 | 2020-01-03 | 燕山大学 | Deep sea sampling series-parallel robot |
| CN111516863A (en) * | 2020-04-29 | 2020-08-11 | 燕山大学 | Crossing forward and reverse rotor wing parallel driving device of helicopter |
| CN111516865A (en) * | 2020-04-29 | 2020-08-11 | 燕山大学 | Four-rotor-wing eagle parallel robot |
| CN113086181A (en) * | 2021-04-11 | 2021-07-09 | 燕山大学 | One-rotation three-movement parallel driving device for helicopter umbrella stand rotor wing |
| CN113086171A (en) * | 2021-04-11 | 2021-07-09 | 燕山大学 | Coaxial double-cone rotor parallel manual device of helicopter |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1909501A1 (en) * | 1969-02-26 | 1970-08-27 | Dornier Gmbh | Rotor head for helicopter |
| CN106005389A (en) * | 2016-05-27 | 2016-10-12 | 燕山大学 | Helicopter rotor wing compound motion parallel driving device |
| CN106114844A (en) * | 2016-07-25 | 2016-11-16 | 燕山大学 | Helicopter swing wing 4PSS+SP type many driving means in parallel |
| CN106516105A (en) * | 2016-11-08 | 2017-03-22 | 瀚伦贝尔通用航空器有限公司 | Aircraft propeller surface regulating mechanism |
| CN107511843A (en) * | 2017-09-08 | 2017-12-26 | 燕山大学 | Multioperation mobile phone structure in parallel |
| CN108341054A (en) * | 2018-04-27 | 2018-07-31 | 安徽工程大学 | A kind of unmanned plane rotor cutting angle regulating mechanism |
-
2018
- 2018-12-20 CN CN201811560569.8A patent/CN109533320B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1909501A1 (en) * | 1969-02-26 | 1970-08-27 | Dornier Gmbh | Rotor head for helicopter |
| CN106005389A (en) * | 2016-05-27 | 2016-10-12 | 燕山大学 | Helicopter rotor wing compound motion parallel driving device |
| CN106114844A (en) * | 2016-07-25 | 2016-11-16 | 燕山大学 | Helicopter swing wing 4PSS+SP type many driving means in parallel |
| CN106516105A (en) * | 2016-11-08 | 2017-03-22 | 瀚伦贝尔通用航空器有限公司 | Aircraft propeller surface regulating mechanism |
| CN107511843A (en) * | 2017-09-08 | 2017-12-26 | 燕山大学 | Multioperation mobile phone structure in parallel |
| CN108341054A (en) * | 2018-04-27 | 2018-07-31 | 安徽工程大学 | A kind of unmanned plane rotor cutting angle regulating mechanism |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110641658A (en) * | 2019-09-17 | 2020-01-03 | 燕山大学 | Deep sea sampling series-parallel robot |
| CN111516863A (en) * | 2020-04-29 | 2020-08-11 | 燕山大学 | Crossing forward and reverse rotor wing parallel driving device of helicopter |
| CN111516865A (en) * | 2020-04-29 | 2020-08-11 | 燕山大学 | Four-rotor-wing eagle parallel robot |
| CN111516865B (en) * | 2020-04-29 | 2022-07-19 | 燕山大学 | Four-rotor-wing eagle parallel robot |
| CN113086181A (en) * | 2021-04-11 | 2021-07-09 | 燕山大学 | One-rotation three-movement parallel driving device for helicopter umbrella stand rotor wing |
| CN113086171A (en) * | 2021-04-11 | 2021-07-09 | 燕山大学 | Coaxial double-cone rotor parallel manual device of helicopter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109533320B (en) | 2020-09-04 |
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