CN110550201A - Control system and three rotor unmanned aerial vehicle of oil-drive that ball cage universal joint constitutes - Google Patents
Control system and three rotor unmanned aerial vehicle of oil-drive that ball cage universal joint constitutes Download PDFInfo
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- CN110550201A CN110550201A CN201910971074.2A CN201910971074A CN110550201A CN 110550201 A CN110550201 A CN 110550201A CN 201910971074 A CN201910971074 A CN 201910971074A CN 110550201 A CN110550201 A CN 110550201A
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- universal joint
- steering engine
- tail rotor
- ball
- ball cage
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- 230000005540 biological transmission Effects 0.000 claims abstract description 27
- 210000005069 ears Anatomy 0.000 claims description 8
- 208000032369 Primary transmission Diseases 0.000 claims description 2
- 238000010276 construction Methods 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000001816 cooling Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 208000032370 Secondary transmission Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
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- 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
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- 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)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Steering Controls (AREA)
Abstract
The invention provides an operating system consisting of a ball cage universal joint and an oil-driven three-rotor unmanned aerial vehicle, which comprises an operating system, a tail rotor system, a rack system, a power system and a transmission system, wherein the tail rotor system is connected with the rack system through a transmission system; three arm pipes are arranged on the same plane around the frame, one arm pipe is arranged right opposite to the machine head, and the other two arm pipes are symmetrically arranged by taking the longitudinal vertical section of the center of the frame as a reference; the control system is arranged at the tail end of a boom pipe of the rack system through a universal joint driving shaft seat; the tail rotor system is arranged at the tail end of a tail rotor arm pipe of the rack system through a tail rotor shaft seat; the power system and the transmission system are fixed on the rack system; the invention mainly solves the problems of complex structure and high maintenance cost of a control system consisting of the automatic inclinator.
Description
the technical field is as follows: the invention relates to the technical field of aviation, in particular to an operating system consisting of a ball cage universal joint and an oil-driven three-rotor unmanned aerial vehicle.
background art: common rotor unmanned aerial vehicles include single-rotor unmanned aerial vehicles and multi-rotor unmanned aerial vehicles, in a single-rotor unmanned aerial vehicle control system, an automatic inclinator of a key component is composed of an inner ring, an outer ring and a joint bearing, and the structure is complex (as shown in figure 1); especially, by the many rotor unmanned aerial vehicle that a plurality of automatic inclinators constitute, not only the control system structure is complicated, but also the maintenance cost is high.
The invention content is as follows: in order to overcome the defects of the prior art, the invention provides an operating system formed by a ball cage universal joint and an oil-driven three-rotor unmanned aerial vehicle, and the operating system has the advantages of simple structure and low maintenance cost.
The technical scheme adopted by the invention is as follows: the control system and the oil-driven three-rotor unmanned aerial vehicle which are composed of the ball cage universal joint comprise a control system, a tail rotor system, a rack system, a power system and a transmission system; the connection relationship between them is: the control system is arranged at the tail end of a boom pipe of the rack system through a universal joint driving shaft seat, and the tail rotor wing system is arranged at the tail end of a tail rotor wing boom pipe of the rack system through a tail rotor wing shaft seat; the power system and the transmission system are fixed on the frame system.
The manipulation system: the universal joint driving shaft is arranged on a universal joint driving shaft seat through a bearing, and a universal joint belt wheel is arranged on the universal joint driving shaft; a driving shaft mounting hole is formed in each ball cage universal joint star sleeve, one ball cage universal joint star sleeve is fixed to one end of each universal joint driving shaft through the driving shaft mounting hole, or the two ball cage universal joint star sleeves are respectively fixed to two ends of each universal joint driving shaft through the driving shaft mounting holes; the outer circumference of the spherical shell of the ball cage universal joint is provided with an attitude adjusting disc through a bearing, and the attitude adjusting disc can rotate along the axis of the spherical shell of the ball cage universal joint but cannot move in the axis direction of the spherical shell of the ball cage universal joint; the outer circumference of the posture adjusting disk is provided with adjusting disk ears, and the two adjusting disk ears are distributed in a group at 90 degrees; the propeller is fixed on the end surface of the spherical shell of the ball cage universal joint; the universal joint driving shaft transmits the rotating power to the ball cage universal joint star sleeve; a steering engine mounting plate is fixed on one end surface or two end surfaces of the universal joint driving shaft seat, a longitudinal steering engine and a transverse steering engine are fixed on the steering engine mounting plate, a first steering engine rocker arm is installed on the longitudinal steering engine, and a second steering engine rocker arm is installed on the transverse steering engine; a longitudinal steering engine pull rod with one end connected with a first steering engine rocker arm penetrates through a steering engine pull rod limiting hole formed in a limiting plate, the longitudinal steering engine pull rod, a transverse steering engine pull rod and a posture adjusting plate are prevented from rotating along with a spherical cage universal joint shell, the limiting plate is fixed on a steering engine mounting plate through a limiting plate supporting piece, one end of the transverse steering engine pull rod is connected with a second steering engine rocker arm through a first joint bearing, and the other ends of the longitudinal steering engine pull rod and the transverse steering engine pull rod are connected with an adjusting plate ear through a second joint bearing and a third joint bearing respectively; the rotation control of the longitudinal steering engine is transmitted to the spherical shell of the ball cage universal joint through a first steering engine rocker arm, a longitudinal steering engine pull rod, a second joint bearing and an attitude adjusting disc in sequence, so that the included angle between the rotating surface of the propeller and the horizontal plane is changed in the longitudinal direction; the rotation control of the transverse steering engine is transmitted to the spherical shell of the ball cage universal joint sequentially through the second steering engine rocker arm, the first joint bearing, the transverse steering engine pull rod, the third joint bearing and the posture adjusting disc, so that the included angle between the rotating surface of the propeller and the horizontal plane is changed in the transverse direction.
The tail rotor system is: one end of a tail rotor shaft is arranged on a tail rotor shaft seat through a bearing, and a tail rotor belt wheel is coaxially arranged on the tail rotor shaft; the other end of the tail rotor shaft is provided with a rotor head, two ends of the rotor head are provided with two paddle clamp rotating shafts, the two paddle clamps are oppositely arranged on the paddle clamp rotating shafts, and the paddle clamps can rotate along the paddle clamp rotating shafts; the variable-pitch rocker arm is arranged on the paddle clamp, and the tail rotor wing is arranged on the paddle clamp; the variable-pitch slip ring is coaxially arranged on the tail rotor shaft and can slide in the axial direction of the tail rotor shaft; the outer circumference of one end of the variable-pitch slip ring is coaxially provided with a variable-pitch outer ring, the variable-pitch outer ring can rotate along the axis of the variable-pitch slip ring but cannot move in the direction of the axis of the variable-pitch slip ring, and the variable-pitch pull rod is connected with a variable-pitch rocker arm and the variable-pitch outer ring; one end of the variable-pitch rocker is connected with the other end of the variable-pitch slip ring and can swing along a rotating shaft of the variable-pitch rocker, the other end of the variable-pitch rocker is connected with one end of a hinged fulcrum and can swing along a movable end shaft of the hinged fulcrum, the other end of the hinged fulcrum is connected with a hinged fulcrum ear arranged on a tail rotor seat and can swing along a fixed end shaft of the hinged fulcrum, and the hinged fulcrum can also prevent the variable-pitch slip ring and the variable-pitch rocker from rotating along with a rotor head; the tail rotor wing steering engine is arranged on the tail rotor wing shaft seat, a rocker arm of the tail rotor wing steering engine is connected with one end of the tail rotor wing steering engine and one end of a tail rotor wing control pull rod, and the other end of the tail rotor wing control pull rod is connected with a variable pitch rocker; the rotary operation of the tail rotor steering engine sequentially passes through a tail rotor steering engine rocker arm, a tail rotor operation pull rod, a variable-pitch rocker, a variable-pitch slip ring, a variable-pitch outer ring, a variable-pitch pull rod, a variable-pitch rocker arm and a propeller clamp to change the positive pitch and the negative pitch of the tail rotor, so that the thrust force or the pull force of the tail rotor is changed.
The rack system comprises: the central plate fixing piece is connected with the first central plate and the second central plate, and the machine arm pipe clamp and the tail rotor arm pipe clamp are connected with the second central plate and the third central plate; three arm pipes are arranged on the same plane around the rack, one arm pipe is arranged right opposite to the machine head, the other two arm pipes are symmetrically arranged by taking the longitudinal vertical section of the center of the rack as a reference, and one end of each arm pipe is fixed by an arm pipe clamp; the tail rotor wing arm pipe clamp is used for fixing one end of the tail rotor wing arm pipe; a landing gear is arranged below the first central plate and is in a sled shape; the first, second, and third center plates are triangular in shape.
The power system comprises: an engine (comprising an oil supply system, an air intake system, an exhaust system and a cooling system) is arranged in a space formed by the first center plate and the second center plate.
The transmission system includes a three-stage transmission subsystem: the primary transmission subsystem comprises a primary small bevel gear coaxially arranged on a power output shaft of the engine and transmits rotary power to the primary small bevel gear; a primary large bevel gear, a first reversing gear, a first universal joint driving pulley and a tail rotor wing driving pulley are coaxially arranged on the primary wheel shaft; the first-stage small bevel gear is meshed with the first-stage large bevel gear, and transmits rotary power to the first-stage large bevel gear, the first reversing gear, the first universal joint driving pulley and the tail rotor wing driving pulley; the axial line of the power output shaft of the engine and the axial line of the primary wheel shaft form an angle of 90 degrees on the same plane; the second-stage transmission subsystem comprises a first second-stage wheel shaft, a second reversing gear and a second universal joint driving belt wheel which are coaxially arranged on the first second-stage wheel shaft, and a third reversing gear and a third universal joint driving belt wheel which are coaxially arranged on the second-stage wheel shaft; the first reversing gear is meshed with the second reversing gear and the third reversing gear at the same time, and transmits the rotary power to the second reversing gear, the second universal joint driving belt pulley, the third reversing gear and the third universal joint driving belt pulley; the first universal joint driving belt wheel transmits rotary power to the corresponding universal joint belt wheel through a secondary belt to drive the corresponding universal joint driving shaft, and the tail rotor wing driving belt wheel transmits rotary power to the tail rotor wing belt wheel through a tail rotor wing belt to drive a tail rotor wing shaft; and the three-stage transmission subsystem comprises a second universal joint driving belt wheel and a third universal joint driving belt wheel, and the rotating power is transmitted to the corresponding two universal joint belt wheels through two three-stage belts respectively to drive the corresponding universal joint driving shafts respectively, so that the transmission system realizes the transmission of the power.
Compared with the prior art, the invention has the advantages that: the control system has the advantages of simple structure and low maintenance cost.
Description of the drawings:
1. FIG. 1 is a schematic view of a conventional helicopter auto-tilter
2. FIG. 2 and FIG. 3 are structural views of the present invention
3. FIG. 4 is a schematic view of a conventional ball cage gimbal
4. FIG. 5 is a front view of an embodiment of the inventive steering system
5. FIG. 6 is a front view A-A cross-sectional view of a version of the steering system of the present invention
6. FIG. 7 is a partial block diagram of an embodiment of the present invention handling system
7. FIG. 8 is a partial block diagram of a second embodiment of the control system of the present invention
8. Figure 9 is a front view of a tail rotor system of the present invention
9. Figure 10 is a front view, B-B, cross-sectional view of a tail rotor system of the present invention
10. Figure 11 is a front view, C-C, cross-sectional view of a tail rotor system of the present invention
11. FIG. 12 is a rotor head configuration view of a tail rotor system of the present invention
12. fig. 13 and 14 are structural views of tail rotor of the invention
13. FIG. 15 and FIG. 16 are structural diagrams of the rack system of the present invention
14. FIG. 17 is a block diagram of the powertrain and driveline of the present invention
15. FIG. 18 is a partial block diagram of the powertrain and driveline of the present invention
16. FIGS. 19 and 20 are schematic views of the flight principle of the present invention
The reference numbers are as follows:
1-a universal joint drive shaft; 2-universal joint driving shaft seat; 3-a gimbal pulley; 4-a ball cage universal joint spherical shell; 5-attitude adjusting disk; 6-adjusting plate ears; 7-a ball cage universal joint star sleeve; 8-driving shaft mounting holes; 9-driving shaft fixing bolt; 10-a propeller; 11-a steering engine mounting plate; 12-a longitudinal steering engine; 13-a transverse steering engine; 14-a steering engine rocker arm; 15-longitudinal steering engine pull rod; 16-a limiting plate; 17-a steering engine pull rod limiting hole; 18-a transverse steering engine pull rod; 19-limiting plate support; 20-knuckle bearing; 21-tail rotor shaft; 22-tail rotor shaft seat; 23-tail rotor pulley; 24-a rotor head; 25-paddle clamp shaft; 26-paddle clamp; 27-pitch horn; 28-tail rotor; 29-a variable-pitch slip ring; 30-a pitch outer ring; 31-a pitch link; 32-pitch rocker; 33-variable pitch rocker shaft; 34-a hinged fulcrum; 35-hinging the fulcrum movable end shaft; 36-articulating fulcrum ears; 37-hinging the fulcrum fixed end shaft; 38-tail rotor steering engine; 39-tail rotor steering engine rocker arm; 40-tail rotor steering links; 41-a first centre plate; 42-a second center panel; 43-center plate mount; 44-a third center panel; 45-arm pipe clamp; 46-tail rotor arm pipe clamp; 47-arm tube; 48-tail rotor arm tube; 49-undercarriage; 50-an engine; 51-a power take-off shaft; 52-first order small bevel gear; 53-primary wheel axle; 54-primary large bevel gear; 55-a reversing gear; 56-universal joint driving pulley; 57-tail rotor drive pulley; 58-secondary axle; 59-tail rotor belt; 60-a secondary belt; 61-three-stage belt.
The specific implementation mode is as follows: the preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation only and are not intended to limit the invention.
Referring to fig. 1-20, in order to overcome the defects of the prior art, the invention provides an operation system formed by a ball cage universal joint and an oil-driven three-rotor unmanned aerial vehicle, which solves the problems of complex structure and high maintenance cost of an unmanned aerial vehicle operation system formed by an automatic inclinator.
Referring to fig. 5 to 8, the control system formed by the ball cage universal joint and the control system related to the oil-driven triple-rotor unmanned aerial vehicle of the present embodiment are configured as follows (the ball cage universal joint belongs to the common known technology, and the structure and the working principle thereof are not described here again):
the universal joint driving shaft 1 is arranged on the universal joint driving shaft seat 2 through a bearing, and the universal joint belt wheel 3 is arranged on the universal joint driving shaft 1; driving shaft mounting holes 8 are formed in the ball cage universal joint star-shaped sleeves 7, one ball cage universal joint star-shaped sleeve 7 is fixed to one end of the universal joint driving shaft 1 through the driving shaft mounting hole 8 and is fixed through driving shaft fixing bolts 9, or the two ball cage universal joint star-shaped sleeves 7 are fixed to two ends of the universal joint driving shaft 1 through the driving shaft mounting holes 8 and are fixed through the two driving shaft fixing bolts 9; an attitude adjusting disc 5 is mounted on the outer circumference of the ball cage universal joint spherical shell 4 through a bearing, and the attitude adjusting disc 5 can rotate along the axis of the ball cage universal joint spherical shell 4 but cannot move in the axis direction of the ball cage universal joint spherical shell 4; the outer circumference of the posture adjusting disk 5 is provided with adjusting disk ears 6, and the two adjusting disk ears are distributed in a 90-degree mode; the propeller 10 is fixed on the end surface of the spherical shell 4 of the ball cage universal joint; the universal joint driving shaft 1 transmits the rotating power to the ball cage universal joint star sleeve 7; a steering engine mounting plate 11 is fixed on one end face or two end faces of the cardan joint driving shaft seat 2, a longitudinal steering engine 12 and a transverse steering engine 13 are fixed on the steering engine mounting plate 11, a first steering engine rocker arm 14 is installed on the longitudinal steering engine 12, a second steering engine rocker arm 14 is installed on the transverse steering engine 13, a longitudinal steering engine pull rod 15 with one end connected with the first steering engine rocker arm 14 penetrates through a steering engine pull rod limiting hole 17 formed in a limiting plate 16, the longitudinal steering engine pull rod 15, the transverse steering engine pull rod 18 and the posture adjusting plate 5 are prevented from rotating along with the spherical shell 4 of the cage cardan joint, and the limiting plate 16 is fixed on the steering engine mounting plate 11 through a limiting plate supporting piece 19; one end of a transverse steering engine pull rod 18 is connected with a second steering engine rocker arm 14 through a first joint bearing 20, and the other ends of the longitudinal steering engine pull rod 15 and the transverse steering engine pull rod 18 are connected with an adjusting plate ear 6 through a second joint bearing 20 and a third joint bearing 20 respectively; the rotation control of the longitudinal steering engine 12 is transmitted to the spherical shell 4 of the ball cage universal joint through a first steering engine rocker arm 14, a longitudinal steering engine pull rod 15, a second joint bearing 20 and an attitude adjusting disc 5 in sequence, so that the included angle between the rotating surface of the propeller 10 and the horizontal plane is changed in the longitudinal direction; the rotation control of the transverse steering engine 13 is transmitted to the spherical shell 4 of the ball cage universal joint through a second steering engine rocker arm 14, a first joint bearing 20, a transverse steering engine pull rod 18, a third joint bearing 20 and the posture adjusting disc 5 in sequence, so that the included angle between the rotating surface of the propeller 10 and the horizontal plane is changed in the transverse direction.
referring to fig. 9-14, the steering system formed by the ball cage universal joint and the tail rotor system related to the oil-driven triple-rotor unmanned aerial vehicle of the present embodiment are formed as follows:
One end of the tail rotor shaft 21 is arranged on a tail rotor shaft seat 22 through a bearing, and a tail rotor belt wheel 23 is coaxially arranged on the tail rotor shaft 21; a rotor head 24 is installed at the other end of the tail rotor shaft 21, two paddle clamp rotating shafts 25 are arranged at two ends of the rotor head 24, two paddle clamps 26 are oppositely installed on the paddle clamp rotating shafts 25, the paddle clamps 26 can rotate along the paddle clamp rotating shafts 25, variable-pitch rocker arms 27 are arranged on the paddle clamps 26, and a tail rotor 28 is installed on the paddle clamps 26; the variable-pitch slip ring 29 is coaxially arranged on the tail rotor shaft 21 and can slide in the axial direction of the tail rotor shaft 21, the outer circumference of one end of the variable-pitch slip ring 29 is provided with a variable-pitch outer ring 30, the variable-pitch outer ring 30 can rotate along the axial direction of the variable-pitch slip ring 29 but cannot move in the axial direction of the variable-pitch slip ring 29, and a variable-pitch pull rod 31 is connected with the variable-pitch rocker 27 and the variable-pitch outer ring 30; one end of the variable-pitch rocker 32 is connected with the other end of the variable-pitch slip ring 29 and can swing along a variable-pitch rocker rotating shaft 33, the other end of the variable-pitch rocker 32 is connected with one end of a hinge fulcrum 34 and can swing along a hinge fulcrum movable end shaft 35, the other end of the hinge fulcrum 34 is connected with a hinge fulcrum ear 36 arranged on the tail rotor base 22 and can swing along a hinge fulcrum fixed end shaft 37, and the hinge fulcrum 34 can also prevent the variable-pitch slip ring 29 and the variable-pitch rocker 32 from rotating together with the rotor head 24; the tail rotor wing steering engine 38 is fixed on the tail rotor wing shaft seat 22, the rocker arm 39 of the tail rotor wing steering engine is connected with the tail rotor wing steering engine 38 and one end of the tail rotor wing control pull rod 40, and the other end of the tail rotor wing control pull rod 40 is connected with the pitch-variable rocker 32; the rotation operation of the tail rotor steering engine 38 sequentially passes through a tail rotor steering engine rocker arm 39, a tail rotor operation pull rod 40, a variable pitch rocker 32, a variable pitch slip ring 29, a variable pitch outer ring 30, a variable pitch pull rod 31, a variable pitch rocker arm 27 and a paddle clamp 26 to change the positive pitch and the negative pitch of the tail rotor 28, so that the thrust or the pull of the tail rotor 28 is changed.
Referring to fig. 15-16, the steering system formed by the ball cage universal joint and the frame system related to the oil-driven triple-rotor unmanned aerial vehicle of the present embodiment are formed as follows:
A center plate mount 43 connecting the first center plate 41 and the second center plate 42, a horn tube clamp 45 and a tail rotor arm tube clamp 46 connecting the second center plate 42 and the third center plate 44; three arm pipes 47 are arranged on the same plane around the rack, one arm pipe 47 is arranged opposite to the machine head, the other two arm pipes 47 are symmetrically arranged by taking the longitudinal vertical section of the center of the rack as a reference, and one end of each arm pipe 47 is fixed by an arm pipe clamp 45; a tail rotor arm tube clip 46 secures one end of a tail rotor arm tube 48 at the aft of the airframe; a landing gear 49 is arranged below the first central plate 41, and the landing gear 49 is in a sled shape; the first center plate 41, the second center plate 42, and the third center plate 44 are triangular in shape.
Referring to fig. 2-3, the control system formed by the ball cage universal joint and the power system related to the oil-driven triple-rotor unmanned aerial vehicle of the present embodiment are configured as follows:
in a space formed by the first center plate 41 and the second center plate 42, an engine 50 (including an oil supply system, an air intake system, an exhaust system, and a cooling system) is installed.
Referring to fig. 17-18, the steering system formed by the ball cage universal joint and the transmission system related to the oil-driven triple-rotor unmanned aerial vehicle of the present embodiment are formed as follows:
The system comprises a three-stage transmission subsystem, a first-stage transmission subsystem and a second-stage transmission subsystem, wherein a first-stage small bevel gear 52 is coaxially arranged on a power output shaft 51 of an engine 50, and the first-stage small bevel gear 52 transmits rotary power; a primary large bevel gear 54, a first reversing gear 55, a first universal joint driving pulley 56 and a tail rotor driving pulley 57 are coaxially arranged on the primary wheel shaft 53, the primary small bevel gear 52 is meshed with the primary large bevel gear 54, and the rotary power is transmitted to the primary large bevel gear 54, the first reversing gear 55, the first universal joint driving pulley 56 and the tail rotor driving pulley 57; the axis of the power output shaft 51 of the engine 50 and the axis of the primary wheel shaft 53 are 90 degrees on the same plane; the secondary transmission subsystem comprises a first secondary wheel shaft 58, a second reversing gear 55 and a second universal joint driving pulley 56 which are coaxially arranged on the first secondary wheel shaft 58, a third reversing gear 55 and a third universal joint driving pulley 56 which are coaxially arranged on the second secondary wheel shaft 58, wherein the first reversing gear 55 is simultaneously meshed with the second reversing gear 55 and the third reversing gear 55, and transmits the rotary power to the second reversing gear 55, the second universal joint driving pulley 56, the third reversing gear 55 and the third universal joint driving pulley 56; the first universal joint driving pulley 56 transmits the rotary power to the corresponding universal joint pulley 3 through the secondary belt 60 to drive the corresponding universal joint driving shaft 1; tail rotor drive pulley 57 transmits rotary power to tail rotor pulley 23 via tail rotor belt 59 to drive tail rotor shaft 21; and the three-stage transmission subsystem comprises a second universal joint driving belt wheel 56 and a third universal joint driving belt wheel 56, and transmits rotary power to the corresponding two universal joint belt wheels 3 through two three-stage belts 61 respectively to drive the corresponding universal joint driving shafts 1 respectively, so that the transmission system realizes the transmission of the power.
The control principle is as follows:
During flying, the three longitudinal steering engines 12 are controlled by flying control at the same time, and the three transverse steering engines 13 are controlled by flying control at the same time; referring to fig. 2, the steering system is mounted to the end of the boom pipe 47 via a universal joint drive axle seat 2; the tail rotor system is mounted to the end of tail rotor arm tube 48 via tail rotor shaft mount 22; referring to fig. 19-20, the rotation control of the longitudinal steering engine 12 is transmitted to the spherical shell 4 of the ball cage universal joint sequentially through the first steering engine rocker arm 14, the longitudinal steering engine pull rod 15, the second joint bearing 20 and the attitude adjusting disk 5, so that the included angle between the rotating surface of the propeller 10 and the horizontal plane is changed in the longitudinal direction, and longitudinal flight is realized through the force transmission of the universal joint driving shaft seat 2 and the horn tube 47; the rotation control of the transverse steering engine 13 is transmitted to the spherical shell 4 of the ball cage universal joint through a second steering engine rocker arm 14, a first joint bearing 20, a transverse steering engine pull rod 18, a third joint bearing 20 and the attitude adjusting disk 5 in sequence, so that the included angle between the rotating surface of the propeller 10 and the horizontal plane is changed in the transverse direction, and transverse flight is realized through the force transmission of the universal joint driving shaft seat 2 and the arm pipe 47; the rotation operation of the tail rotor steering engine 38 sequentially passes through a tail rotor steering engine rocker arm 39, a tail rotor operation pull rod 40, a variable pitch rocker 32, a variable pitch slip ring 29, a variable pitch outer ring 30, a variable pitch pull rod 31, a variable pitch rocker arm 27 and a paddle clamp 26 to change the positive pitch and the negative pitch of the tail rotor 28, so that the thrust or the pulling force of the tail rotor 28 is changed, the thrust or the pulling force is transmitted through a tail rotor shaft seat 22 and a tail rotor arm pipe 48, the reactive torque from the three propellers 10 is balanced, and the yaw angle is corrected.
The invention has the beneficial effects that: the problem of by the unmanned aerial vehicle operating system that automatic inclinator constitutes, the structure is complicated, the maintenance cost is high is solved.
Claims (10)
1. An operating system that ball cage universal joint constitutes characterized in that: the universal joint driving shaft is arranged on a universal joint driving shaft seat through a bearing, a universal joint belt wheel is arranged on the universal joint driving shaft, a driving shaft mounting hole is arranged on a ball cage universal joint star-shaped sleeve, the ball cage universal joint star-shaped sleeve is fixed at the end part of the universal joint driving shaft through a driving shaft mounting hole, an attitude adjusting disc is arranged on the outer circumference of a ball cage universal joint spherical shell through a bearing, the attitude adjusting disc can rotate along the axis of the ball cage universal joint spherical shell but cannot move in the axis direction of the ball cage universal joint spherical shell, an adjusting disc ear is arranged on the outer circumference of the attitude adjusting disc, a propeller is fixed on the end surface of the ball cage universal joint spherical shell, the universal joint driving shaft transmits the rotating power to the ball cage universal joint star-shaped sleeve, a steering engine mounting plate is fixed on the end surface of the universal joint driving shaft seat, and a longitudinal steering engine and a transverse steering engine, a first steering engine rocker arm is arranged on a longitudinal steering engine, a second steering engine rocker arm is arranged on a transverse steering engine, one end of a longitudinal steering engine pull rod is connected with the first steering engine rocker arm, one end of a transverse steering engine pull rod is connected with the second steering engine rocker arm through a first joint bearing, the other ends of the longitudinal steering engine pull rod and the transverse steering engine pull rod are respectively connected with an adjusting disc ear through a second joint bearing and a third joint bearing, the rotation operation of the longitudinal steering engine is transmitted to a ball cage universal joint spherical shell through the first steering engine rocker arm, the longitudinal steering engine pull rod, the second joint bearing and an attitude adjusting disc in sequence, so that the included angle between the rotating surface of a propeller and the horizontal plane is changed in the longitudinal direction, the rotation operation of the transverse steering engine is transmitted to the ball cage universal joint spherical shell through the second steering engine rocker arm, the first joint bearing, the transverse steering, thereby changing the included angle between the rotating surface of the propeller and the horizontal plane in the transverse direction.
2. A steering system comprising a ball and cage joint according to claim 1, wherein: the structures of the ball cage universal joint star sleeve and the universal joint driving shaft can also be integrated.
3. a steering system comprising a ball and cage joint according to claim 1, wherein: the outer circumference of the posture adjusting disk is provided with adjusting disk ears, and the two adjusting disk ears are distributed at 90 degrees in a group.
4. A steering system comprising a ball and cage joint according to claim 1, wherein: the propeller may also be of a foldable construction.
5. A steering system comprising a ball and cage joint according to claim 1, wherein: the structure of the universal joint driving shaft seat and the steering engine mounting plate can also be integrated.
6. A steering system comprising a ball and cage joint according to claim 1, wherein: the mounting positions of the longitudinal steering engines and the transverse steering engines can be interchanged.
7. A steering system comprising a ball and cage joint according to claim 1, wherein: the longitudinal steering engine pull rod penetrates through a steering engine pull rod limiting hole formed in the limiting plate.
8. A steering system comprising a ball and cage joint as claimed in claim 7, wherein: the limiting plate is fixed on the steering engine mounting plate through a limiting plate supporting piece.
9. an oil-driven triple-rotor drone comprising a maneuvering system constituted by the ball-cage universal joint of claim 1, characterized in that: the tail rotor wing system is arranged at the tail end of a tail rotor wing arm pipe of the rack system through a tail rotor wing shaft seat, and the power system and the transmission system are fixed on the rack system;
The rack system comprises a central plate fixing piece connected with a first central plate and a second central plate, a machine arm pipe clamp and a tail rotor arm pipe clamp connected with the second central plate and a third central plate, wherein three machine arm pipes are arranged on the same plane around the rack, one machine arm pipe is arranged right opposite to a machine head, the other two machine arm pipes are symmetrically arranged by taking the longitudinal vertical section of the center of the rack as a reference, one end of the machine arm pipe is fixed by the machine arm pipe clamp, the tail of the rack is fixed by the tail rotor arm pipe clamp, an undercarriage is arranged below the first central plate, the undercarriage is in a sled shape, and the first central plate, the second central plate and the third central plate are in a triangle shape;
The power system comprises an engine arranged in a space formed by a first center plate and a second center plate;
The transmission system includes a three-stage transmission subsystem: the primary transmission subsystem comprises a primary small bevel gear, a primary large bevel gear, a first reversing gear, a first universal joint driving pulley and a tail rotor wing driving pulley, wherein the primary small bevel gear is arranged on a power output shaft of the engine, and transmits rotary power to the primary small bevel gear; the second-stage transmission subsystem comprises a first second-stage wheel shaft, a second reversing gear and a second universal joint driving pulley, wherein the second-stage wheel shaft is provided with a third reversing gear and a third universal joint driving pulley; and the three-stage transmission subsystem comprises a second universal joint driving belt wheel and a third universal joint driving belt wheel, and the rotating power is transmitted to the corresponding two universal joint belt wheels through two three-stage belts respectively to drive the corresponding universal joint driving shafts respectively, so that the transmission system realizes the transmission of the power.
10. The oil-driven triple-rotor drone according to claim 9, characterized in that: the axial line of the power output shaft of the engine and the axial line of the primary wheel shaft are 90 degrees on the same plane.
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