CN109533320B

CN109533320B - Helicopter cone type main rotor parallel driving device

Info

Publication number: CN109533320B
Application number: CN201811560569.8A
Authority: CN
Inventors: 路懿; 惠立新; 路扬; 常泽锋
Original assignee: Yanshan University
Current assignee: Yanshan University
Priority date: 2018-12-20
Filing date: 2018-12-20
Publication date: 2020-09-04
Anticipated expiration: 2038-12-20
Also published as: CN109533320A

Abstract

The invention discloses a helicopter cone type main rotor parallel driving device, and belongs to the field of helicopters. The invention comprises a base, a bracket, a spring, 4 linear electric cylinders and a middle cone type main rotor wing driving device. The cone-type main rotor wing driving device comprises a main motor, an auxiliary motor, a main shaft, a sleeve, a circular ring, a ball sleeve, a wing set and a connecting rod set. The invention aims to make the structure simple and compact, the inclination angle between the rotor wing and the ground is variable, the horizontal occupied space of the rotor wing is reduced, the main rotor wing swings flexibly, and the flight is stable, safe and easy to control.

Description

Helicopter cone type main rotor parallel driving device

Technical Field

The invention belongs to the field of helicopters, and relates to a conical main rotor parallel driving device of a helicopter.

Background

The helicopter rotor motion driving device is a key component for the helicopter motion. Typically, the rotor is constructed of a hub and a number of blades. The hub is mounted on the rotor shaft and the blades, which are shaped as elongated wings, are attached to the hub. The blades interact with the surrounding air as they rotate, creating a drag force along the rotor shaft and also a component force perpendicular to the rotor shaft if the direction of the relative airflow or pitch of the individual blades is not symmetric to the rotor shaft. On a helicopter, the rotor shaft direction is nearly vertical, so the rotor firstly has the function of a wing and generates upward lifting force. And secondly, functions similar to an aircraft propulsion device, generating a forward force. It also has a function similar to that of an aircraft control surface, producing a pitch moment or a roll moment that changes the attitude of the body. In order to meet the requirements of the above movements, the helicopter rotor movement driving device has a complicated structure and a large volume, thereby increasing the manufacturing difficulty and the flight resistance of the helicopter. To meet the various force requirements of the above-described motion process, ball bearings supporting the mast of the rotor are subjected to the various loads described above, which can easily lead to premature failure of the ball bearings. These problems are of high concern to helicopter designers. In recent years, patent publication No. CN101961559B discloses a rotor support device for an aeromodelling helicopter, which utilizes a V-shaped bracket to absorb shock waves generated by the helicopter, so as to reduce the vibration of the helicopter body, increase the maneuverability and reduce the damage to the drive shaft transmission system. Patent publication No. CN101204992B discloses a coaxial dual-rotor speed differential device of a helicopter, in order to realize yaw control of a coaxial dual-rotor helicopter. CN101376433B discloses a method and system for operating a helicopter rotor, in which actuators located at each hub arm are used to drive flaps located at the trailing edge of the blades in order to operate the rotor system. Patent publication No. CN103600840B discloses a coaxial helicopter rotor mechanism, which utilizes an upper and a lower series-parallel mechanism to realize the overall symmetry of the helicopter rotor mechanism, so as to improve the stability during high-speed rotation. Patent publication No. CN103407571B discloses a helicopter rotor system capable of active shimmy, which utilizes the mechanism to greatly reduce the forward blade angular velocity and greatly increase the backward blade angular velocity, so as to reduce the fatigue load on the blades during the alternation of forward and backward states, actively adapt to various flight states of the helicopter, and improve the flight speed. Patent publication No. CN102030105B discloses a direct tilt control rotor helicopter, which aims to directly tilt control the rotor of the helicopter, so as to omit the blade cyclic pitch system, the speed reducer and the tail rotor system of the conventional helicopter and simplify the structure of the helicopter. The above ideas have various characteristics. However, the existing rotor motion driving device is still very complex, the rotor is basically parallel to the ground, the occupation is large, and the flying risk in buildings, mountain stream and other places is high. Compared with a thrust bearing and a tapered roller bearing, the ball pair has lower suitable speed and low tension bearing capacity. Therefore, the structure of the rotor motion driving device is simplified, the inclination angles of the rotor and the ground are changed, the occupied space is reduced, and the load of the supporting rotor ball bearing is reduced, so that the structure becomes the target of continuous efforts of experts in the field of helicopter and robot research.

Disclosure of Invention

The invention aims to solve the technical problem of providing a conical main rotor parallel driving device of a helicopter, and aims to ensure that the structure is simple and compact, the inclination angle between a rotor and the ground is variable, the horizontal occupied space of the rotor is reduced, the main rotor sleeved with an eccentric threaded through hole is flexible in rotation and swing, stable and safe in flight and easy to control.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a helicopter conical main rotor parallel driving device is characterized by comprising a base, a bracket, a spring, 4 linear electric cylinders and a middle conical main rotor driving device; the middle cone type main rotor wing driving device comprises a main motor, an auxiliary motor, a main shaft, a sleeve, a circular ring, a ball sleeve, a wing set and a connecting rod set; the machine base is a circular disc body, a concave ball seat through hole is formed in the center of the machine base, and 4 machine base hinged seats are uniformly distributed on the periphery of the edge of the machine base; the support is a revolving body, the support is provided with a support center through hole, and the edge of the support is provided with 4 support hinged seats distributed at the vertexes of a rectangle; the two ends of the main shaft are respectively provided with an inner opening and a boss which are coaxial with the main shaft, the bosses are also provided with boss through holes with the same number as the wings, the boss through holes are tangent to the circumferences of the bosses, and the circumferences of the boss through holes are uniformly distributed around the bosses; the sleeve is provided with a sleeve central through hole, the upper part of the sleeve is provided with a cylinder coaxial with the sleeve central through hole, and the lower part of the sleeve is provided with a sleeve eccentric threaded through hole parallel to the sleeve central through hole; the ball sleeve is provided with a convex spherical surface and a central through hole of the ball sleeve; the wing is a spiral extending body from a thick rectangular end to a thin rectangular end, and wing through holes which are vertical to the wing and are parallel to each other are respectively arranged at the thick rectangular end of the wing and the position close to the thick rectangular end of the wing; two ends of the connecting rod are respectively provided with connecting rod through holes which are parallel to each other; the circumference of the edge of the circular ring is uniformly provided with circular ring through holes with the same number as the wings, and the axle center of the circular ring through holes is tangent to the circumference of the circular ring; the main motor is fixedly connected with the bracket, and a driving shaft of the main motor is connected with one end of the inner opening of the main shaft through a shaft key; the inner open end of the main shaft is rotatably supported and connected with the central through hole of the bracket by a bearing, and the main shaft is connected with the upper cylindrical pair of the sleeve; the auxiliary motor is fixedly connected with the bracket, and a driving screw shaft of the auxiliary motor is connected with the screw pair of the eccentric threaded through hole; the number of the connecting rods of the connecting rod group is the same as that of the wings of the wing group; one end of the linear electric cylinder is connected with the base connecting seat ball pair, and the other end of the linear electric cylinder is connected with the connecting seat universal pair of the bracket;

one end of the spring is abutted against the base, and the other end of the spring is abutted against the bracket; the wing through hole at the thick rectangular end of the wing is rotationally connected with the boss through hole by a pin shaft; the connecting rod through holes at the two ends of the connecting rod are respectively and rotationally connected with the wing through hole and the circular ring through hole near the thick rectangular end of the wing by pin shafts; the central through hole of the circular ring is rotationally connected with the upper end cylinder of the sleeve by a bearing; the upper end cylinder of the sleeve is connected with the cylindrical pair of the central through hole of the ball sleeve; the convex spherical surface of the ball sleeve is connected with the concave ball seat through hole ball pair.

Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: the invention does not bear the lifting force of the rotor wing and the rotary friction torque of the main shaft, and the service life of the support ball pair is long; the inclination angle between the rotor wing and the ground is changed, so that the lifting force and the flying speed of the rotor wing during flying can be changed, and the occupied space for shutdown can be reduced; the horizontal resultant and divided forces generated by the cone-type wing set during flying are beneficial to improving the flying stability and safety; the structure is simple and compact, and the main rotor wing can swing flexibly and is easy to control; the spring can slow down the acting force and impact force of the lifting force of the rotor wing on each driving branch; the auxiliary motor has a spiral pair self-locking function, so that the free change of the cone angle of the wing group along with external load can be prevented.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a front cross-sectional view of the present invention;

1. a support; 2. a machine base; 3. a main motor; 4. a spring; 5. a linear electric cylinder; 6. a main shaft; 7. an auxiliary motor; 8. a ball sleeve; 9. sleeving; 10. a circular ring; 11. an airfoil; 12. a connecting rod.

Detailed Description

The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

As shown in fig. 1, the invention discloses a parallel driving device for a conical main rotor of a helicopter, which is characterized by comprising a machine base 2, a bracket 1,

springs

4, 4 linear electric cylinders 5 and a middle conical main rotor driving device; the middle cone type main rotor wing driving device comprises a main motor 3, an auxiliary motor 7, a main shaft 6, a sleeve 9, a circular ring 10, a ball sleeve 8, a wing group and a connecting rod group; the machine base 2 is a circular disc body, a concave ball seat through hole is formed in the center of the machine base, and 4 machine base hinged seats are uniformly distributed on the periphery of the edge of the machine base; the support 1 is a revolving body and is provided with a support center through hole, and the edge of the support is provided with 4 support hinged seats distributed at the vertexes of a rectangle; the two ends of the main shaft 6 are respectively provided with an inner opening and a boss which are coaxial with the main shaft, the bosses are also provided with boss through holes with the same number as the wings 11, the boss through holes are tangent to the circumferences of the bosses, and the circumferences of the boss through holes are uniformly distributed around the bosses; the sleeve 9 is provided with a sleeve central through hole, the upper part of the sleeve 9 is provided with a cylinder coaxial with the sleeve central through hole, and the lower part of the sleeve 9 is provided with a sleeve eccentric threaded through hole parallel to the sleeve central through hole; the ball sleeve 8 is provided with a convex spherical surface and a central through hole of the ball sleeve; the wings 11 are spiral extending bodies from thick rectangular ends to thin rectangular ends, and wing through holes which are perpendicular to the wings and are parallel to each other are respectively arranged at the thick rectangular ends and the positions close to the thick rectangular ends of the wings 11; two ends of the connecting rod 12 are respectively provided with connecting rod through holes which are parallel to each other; the circumference of the edge of the circular ring 10 is uniformly provided with circular ring through holes with the same number as the wings 11, and the axes of the circular ring through holes are tangent to the circumference of the circular ring 10; the main motor 3 is fixedly connected with the bracket 1, and a driving shaft of the main motor 3 is connected with one end of the inner opening of the main shaft 6 by a shaft key; the inner open end of the main shaft 6 is rotatably supported and connected with the central through hole of the bracket 1 by a bearing, and the main shaft 6 is connected with the upper cylindrical pair of the sleeve 9; the auxiliary motor 7 is fixedly connected with the bracket 1, and a driving screw shaft of the auxiliary motor 7 is connected with a screw pair of the sleeve eccentric threaded through hole; the number of the connecting rods 12 of the connecting rod group is the same as that of the wings 11 of the wing group; one end of the linear electric cylinder 5 is connected with the base connecting seat ball pair, and the other end of the linear electric cylinder is connected with the connecting seat universal pair of the bracket;

one end of the spring 4 is abutted against the base 2, and the other end of the spring is abutted against the bracket 1; the wing through hole at the thick rectangular end of the wing 11 is rotationally connected with the boss through hole by a pin shaft; the connecting rod through holes at the two ends of the connecting rod 12 are respectively and rotatably connected with the wing through hole and the circular ring through hole near the wing thick rectangular end by pin shafts; the central through hole of the circular ring 10 is rotationally connected with the upper end cylinder of the sleeve 9 by a bearing; the upper end cylinder of the sleeve 9 is connected with the cylindrical pair of the central through hole of the ball sleeve 8; the convex spherical surface of the ball sleeve 8 is connected with the concave ball seat through hole ball pair.

Motion process and principle or control process:

the linear electric cylinders simultaneously drive the support to drive the main motor, the auxiliary motor and the main shaft to generate multi-degree-of-freedom stretching and swinging motion relative to the base; the main motor drives the main shaft to rotate to drive the wing set to rotate; the auxiliary motor linearly reciprocates along the main shaft through the spiral auxiliary driving sleeve, and the sleeve drives the wing set to swing relative to the main shaft through the circular ring and the connecting rod set so as to change the inclination angle of the wing set.

Claims

1. A helicopter conical main rotor parallel driving device is characterized by comprising a base, a bracket, a spring, 4 linear electric cylinders and a middle conical main rotor driving device; the middle cone type main rotor wing driving device comprises a main motor, an auxiliary motor, a main shaft, a sleeve, a circular ring, a ball sleeve, a wing set and a connecting rod set; the machine base is a circular disc body, a concave ball seat through hole is formed in the center of the machine base, and 4 machine base hinged seats are uniformly distributed on the periphery of the edge of the machine base; the support is a revolving body, the support is provided with a support center through hole, and the edge of the support is provided with 4 support hinged seats distributed at the vertexes of a rectangle; the two ends of the main shaft are respectively provided with an inner opening and a boss which are coaxial with the main shaft, the bosses are also provided with boss through holes with the same number as the wings, the boss through holes are tangent to the circumferences of the bosses, and the circumferences of the boss through holes are uniformly distributed around the bosses; the sleeve is provided with a sleeve central through hole, the upper part of the sleeve is provided with a cylinder coaxial with the sleeve central through hole, and the lower part of the sleeve is provided with a sleeve eccentric threaded through hole parallel to the sleeve central through hole; the ball sleeve is provided with a convex spherical surface and a central through hole of the ball sleeve; the wing is a spiral extending body from a thick rectangular end to a thin rectangular end, and wing through holes which are vertical to the wing and are parallel to each other are respectively arranged at the thick rectangular end of the wing and the position close to the thick rectangular end of the wing; two ends of a connecting rod of the connecting rod group are respectively provided with a connecting rod through hole which are parallel to each other; the circumference of the edge of the circular ring is uniformly provided with circular ring through holes with the same number as the wings, and the axle center of the circular ring through holes is tangent to the circumference of the circular ring; the main motor is fixedly connected with the bracket, and a driving shaft of the main motor is connected with one end of the inner opening of the main shaft through a shaft key; the inner open end of the main shaft is rotatably supported and connected with the central through hole of the bracket by a bearing, and the main shaft is connected with the upper cylindrical pair of the sleeve; the auxiliary motor is fixedly connected with the bracket, and a driving screw shaft of the auxiliary motor is connected with the screw pair of the eccentric threaded through hole; the number of the connecting rods of the connecting rod group is the same as that of the wings of the wing group; one end of the linear electric cylinder is connected with the base connecting seat ball pair, and the other end of the linear electric cylinder is connected with the connecting seat universal pair of the bracket;