CN113942644B - In-shaft control type rotor wing control system - Google Patents
In-shaft control type rotor wing control system Download PDFInfo
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- CN113942644B CN113942644B CN202111176968.6A CN202111176968A CN113942644B CN 113942644 B CN113942644 B CN 113942644B CN 202111176968 A CN202111176968 A CN 202111176968A CN 113942644 B CN113942644 B CN 113942644B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
Abstract
The invention belongs to the technical field of helicopter rotor wing system structures, and discloses an in-shaft control type rotor wing control system, which comprises: a movable ring fixed ring assembly, an anti-torsion rod assembly the device comprises a belt rotating piece, a cross hinge assembly and a pull rod assembly; the belt rotating piece is funnel-shaped, the upper end of the belt rotating piece is hollow funnel, and the lower end of the belt rotating piece is a solid shaft; the upper end of the belt rotating piece is connected with the rotor shaft through a bolt; the lower end of the belt rotating piece is connected with the movable ring stationary ring assembly through the cross hinge assembly; one end of the torsion bar prevention component is connected with the main fixed end and the other end of the torsion bar prevention component is connected with one support arm of an fixed ring in the fixed ring assembly; one end of the pull rod assembly is connected with the movable ring in the movable ring fixed ring assembly, the other end of the pull rod assembly is connected with the hub rocker arm, and the pull rod assembly is arranged in the rotor shaft; the other three support arms of the stationary ring in the stationary ring assembly are connected with three boosters. The method has the advantages of good operation stability, high reliability and excellent performance.
Description
Technical Field
The invention belongs to the technical field of helicopter rotor wing system structures, and particularly relates to an in-shaft control type rotor wing control system.
Background
The rotor wing control mechanism is an important component of a helicopter rotor wing system, and realizes the collective pitch and periodic pitch-changing motion of a rotor wing through the rotor wing control mechanism, and finally realizes the attitude adjustment of the helicopter.
The typical structure of rotor manipulation is mainly a ring type spherical hinge structure, and mainly comprises a movable ring fixed ring assembly, a torque arm assembly, a variable-pitch pull rod assembly and the like. The movable ring and fixed ring assembly can slide up and down along a guide cylinder fixed at the upper end of the main reducer to realize the total distance control of the rotor; the periodic pitch-changing operation of the rotor wing is realized through tilting around the spherical hinge assembly; one end of the torque arm assembly is connected with the rotor shaft, the other end of the torque arm assembly is connected with the movable ring assembly, and when the rotor shaft rotates, the movable ring assembly is driven to synchronously rotate with the main shaft through the torque arm assembly; one end of the torsion preventing arm component is connected to the main speed reducer shell, and the other end of the torsion preventing arm component is connected with the fixed ring component to prevent the fixed ring component from being rotated by the fixed ring component; the three fork lugs of the fixed ring assembly are respectively connected with the steering engine.
The rotor wing of the ring-type spherical hinge structure is operated and arranged outside the rotor wing shaft, so that the size and weight of parts are increased, the resistance generated in the flight process of the helicopter is increased, and the overall arrangement of the helicopter is not facilitated.
Disclosure of Invention
The invention provides an in-shaft control type rotor wing control system, wherein a movable ring fixed ring assembly is arranged below a main reducer, and control instructions are transmitted to a rotor hub through a pull rod assembly arranged in a rotor shaft, so that the design requirement of reducing aerodynamic resistance is realized; meanwhile, the movable ring and the fixed ring assembly adopt a cross hinge structure to replace a spherical hinge structure, the structure is complex, the size of parts is reduced, the rotor wing operation space arrangement is facilitated, and the rotor wing operation stability is good, the reliability is high, and the performance is excellent.
An in-shaft steering rotor steering system, comprising: a movable ring fixed ring assembly, an anti-torsion rod assembly the device comprises a belt rotating piece, a cross hinge assembly and a pull rod assembly;
the belt rotating piece is funnel-shaped, the upper end of the belt rotating piece is hollow, and the lower end of the belt rotating piece is a solid shaft; the upper end of the belt rotating piece is connected with the rotor shaft through a bolt;
the lower end of the belt rotating piece is connected with the movable ring fixing assembly through the cross hinge assembly;
one end of the anti-torsion rod assembly is connected with the main fixed end, and the other end of the anti-torsion rod assembly is connected with one support arm of an fixed ring in the fixed ring assembly;
one end of the pull rod assembly is connected with the movable ring in the movable ring fixed ring assembly, the other end of the pull rod assembly is connected with the hub rocker arm, and the pull rod assembly is arranged in the rotor shaft;
the other three support arms of the fixed ring in the fixed ring assembly are connected with three boosters.
Further, the cross hinge assembly includes: the first rotating shaft assembly 12, the two second rotating shaft assemblies 21, the sliding cylinder and the transition piece;
a rectangular chute is axially arranged on the solid shaft at the lower end of the belt rotating piece; the sliding groove radially penetrates through the solid shaft;
the sliding cylinder is sleeved on a solid shaft at the lower end of the belt rotating piece, and the transition piece is sleeved outside the sliding cylinder; the sliding cylinder and the transition piece are respectively provided with a group of through holes at the same circumferential position in the axial vertical direction;
the first rotating shaft component penetrates through the sliding cylinder, the through hole on the transition piece and the sliding groove on the solid shaft; the first rotating shaft assembly drives the sliding cylinder and the transition piece to slide along a sliding groove on a solid shaft at the lower end of the belt rotating piece;
the two second rotating shaft assemblies are symmetrically arranged on two sides of the transition piece, the two second rotating shaft assemblies are coaxial, the axes of the two second rotating shaft assemblies pass through the intersection point of the axis of the first rotating shaft assembly and the axis of the solid shaft and are perpendicular to the plane where the axis of the first rotating shaft assembly and the axis of the solid shaft are located;
one end of the second rotating shaft assembly is connected with the transition piece, and the other end of the second rotating shaft assembly is connected with a moving ring in the moving ring fixed ring assembly.
Further, the first shaft assembly includes: a first bolt 16, two first bushings 17, two first bearings 15, and a first straight bushing 18;
the first bolt penetrates through the sliding barrel, the transition piece and the sliding groove on the solid shaft at the lower end of the belt rotating piece, and the first straight bushing is sleeved on the first bolt and penetrates through the sliding groove on the solid shaft at the lower end of the belt rotating piece and the circumferential through hole of the sliding barrel;
the two first bearings are sleeved between the first bolt and the transition piece and are respectively positioned at two sides of the first straight bushing;
the two first bushings are sleeved on the first bolts and are respectively positioned outside the two first bearings;
the first bolt segment end is screwed down by a nut.
Further, the second shaft assembly includes: a second bolt 22, a second bushing 23, a second bearing 24, a second straight bushing 25;
one side of the second bolt and the nut is buried inside the transition piece; the screw rod section penetrates through the moving ring and the transition piece in the moving ring fixed ring assembly; the second straight bushing is sleeved between the screw section and the movable ring and is positioned outside the second bearing; the end part of the second bolt and screw rod section is locked by a nut;
the second bearing is sleeved between the second bolt and the transition piece;
the second bushing is sleeved on the second bolt and is positioned between the nut and the second bearing.
Further, the inclined plane section of the hollow funnel at the upper end of the belt rotating piece is provided with four openings, and the lower ends of the four groups of pull rod assemblies respectively penetrate through the four openings to be connected with the movable ring in the movable ring stationary ring assembly.
Further, the sliding cylinder is hollow and cylindrical, and an annular groove is formed in the middle of the inner side wall of the sliding cylinder; and a group of through holes are symmetrically arranged in the annular groove along the radial direction of 180 degrees so as to allow the first rotating shaft assembly to pass through.
Further, the system also includes a sliding bushing; the sliding bush is hollow and cylindrical, and the inner diameter of the sliding bush is matched with the outer diameter of the solid shaft with the rotating piece; the outer diameter of the sliding bush is matched with the inner diameter of the annular groove of the sliding cylinder; the height of the sliding bush is equal to the height of the annular groove;
the sliding bush is arranged in the sliding cylinder annular groove, and through holes with the same diameter are formed in the same positions of the circumferential positions of the sliding bush and the sliding cylinder annular groove.
Further, an opening is formed in the side wall of the sliding bush, and the opening penetrates through the upper end face to the lower end face of the sliding bush; and the opening is remote from the through hole in the side wall of the sliding bush.
Further, the moving ring stationary ring assembly includes: a moving ring, a stationary ring and a large bearing;
four support arms are arranged on the outer side of the upper end of the movable ring, two fork lugs are arranged on the support arms and are penetrated by through holes, and the fork lug holes are used for connecting a pull rod assembly; and a group of through holes are symmetrically arranged at the radial 180-degree position of the same plane of the upper end outer side of the movable ring and the axis of the fork lug hole, and the through holes are positioned on the symmetrical planes of two adjacent support arms and are used for connecting two second rotating shaft assemblies.
The beneficial effects are that:
the rotor wing control structure for in-shaft control is arranged in a rotor wing shaft for control, so that the design requirement of reducing pneumatic resistance is met; meanwhile, the cross hinge structure is adopted to replace the spherical hinge structure, so that the size of parts is reduced, the rotor wing operation space arrangement is facilitated, and the rotor wing operation device is good in operation stability, high in reliability and excellent in performance.
Drawings
FIG. 1 is a schematic diagram of a rotor handling system installation;
figure 2 is a top view of a rotor handling system;
FIG. 3 is a cross-sectional view A-A of a rotor steering top view;
FIG. 4 is a cross-sectional view B-B of a rotor steering top view;
FIG. 5 is a partial enlarged region of area C of FIG. 3;
FIG. 6 is an enlarged partial view of region D of FIG. 4;
the rotor shaft comprises a rotor shaft body 1, a belt rotating piece 2, a pull rod assembly 3, a torsion bar assembly 4, a main reducing fixed end 5, a movable ring fixed ring assembly 6, a cross hinge assembly 7, a bolt 8, a movable ring assembly 9, a large bearing 10, a movable ring assembly 11, a first rotating shaft assembly 12, a sliding bush 13, a sliding cylinder 14, a first bearing 15, a first bolt 16, a first bush 17, a first straight bush 18, a transition piece 19, a nut 20, a second rotating shaft assembly 21, a second bolt 22, a second bush 23, a second bearing 24, a second straight bush 25 and a nut 26.
Detailed Description
The invention relates to an in-shaft rotor control structure, which mainly comprises a movable ring fixed ring assembly 6, an anti-torsion bar assembly 4, a belt rotating piece 2, a cross hinge assembly 7 and a pull rod assembly 3, as shown in figure 1. The rotary piece 2 is funnel-shaped, the upper end of the rotary piece is hollow funnel, the tail end of the rotary piece is provided with an annular step, and the lower end of the rotary piece is a solid shaft; the rotor shaft 1 is inserted into a hollow funnel at the upper end of the rotary piece 2 and is connected with the rotor shaft 1 by 4 bolts 8 which are circumferentially arranged, and an annular step is arranged at the tail end of the inner side of the funnel for limiting the rotor shaft 1; the lower end of the belt rotating piece 2 is connected with a movable ring stationary ring assembly 6 through a cross hinge assembly 7; the 3 support arms of the stationary ring in the stationary ring assembly 6 are connected to the booster by bolts, and the other 1 support arm of the stationary ring is connected with the anti-torsion arm lever assembly 4 for preventing the stationary ring from being rotated. The other end of the anti-twist arm lever assembly 4 is connected to the main fixing end 5 by a bolt. The lower end of the pull rod assembly 3 penetrates through an opening formed in the inclined plane section of the hollow funnel of the rotary piece 2 and is connected with a movable ring in the movable ring-fixed ring assembly 6, the other end of the pull rod assembly 3 is connected with a hub rocker arm, and the pull rod assembly 3 is located inside the rotor shaft 1.
As shown in fig. 3 and 4, the cross hinge assembly 7 mainly comprises two second shaft assemblies 21, one first shaft assembly 12, a slide cylinder 14, a transition piece 19, and the like. As shown in fig. 3, the spindle assembly 12 is composed of a first bolt 16, two first bushings 17, two first bearings 15 on a transition piece 19, a first straight bushing 18; the first bolt 16 is sequentially pressed with the first bushing 17, the inner ring of the first bearing 15, the first straight bushing 18, the inner ring of the first bearing 15 and the first bushing 17, and is screwed by the nut 20; the first straight bushing 18 is hollow and cylindrical, and the outer cylinder is symmetrically flattened from the upper end surface to the lower end surface, and the flattened surface is matched with the inner plane of the chute of the belt rotating piece 2 and can slide up and down in the chute; two pairs of first bearings 15 are mounted to the transition piece 19 in an outer race so that the transition piece 19 can tilt about the first rotation axis 12. The rotating shaft assembly 12 is mainly connected with the belt rotating piece 2, the sliding cylinder 14 and the transition piece 19; when the collective motion is performed, the slide cylinder 14 and the transition piece 19 can slide up and down together along the lower solid shaft portion of the belt rotating piece 2 in the axial direction under the connection of the first rotating shaft assembly 12. The sliding bush 13 is mounted in an annular groove on the inner side of the slide cylinder 14, the circumferential through holes are aligned with the circumference Xiang Tongkong of the slide cylinder 14 and connected by the first rotating shaft assembly 12, and the sliding bush 13 plays a role of wear resistance and support. As shown in fig. 4, the second shaft assembly 21 is composed of a second bolt 22, a second bushing 23, a second bearing 24 mounted on the transition piece 19, and a second straight bushing 25; wherein the second bolt 22 is sequentially pressed with the second bushing 23, the inner ring of the second bearing 24 and the second straight bushing 25, and is screwed by a nut 26; the second straight bushing 25 is inserted into the circumferential hole of the moving ring from the outside of the moving ring assembly 6. The second bearing 24 is mounted to the transition piece 19 so that the transition piece 19 can tilt about the rotation shaft 21. The axes of the two second rotating shaft assemblies 21 and the first rotating shaft assembly 12 are mutually perpendicular and in a plane, and the axes of the second rotating shaft assemblies 21 and the first rotating shaft assembly 12 are intersected, so that the transverse periodic variable-pitch motion and the longitudinal periodic variable-pitch motion are realized, and the independence of the two is ensured.
As shown in fig. 3, the movable ring assembly 6 is composed of a movable ring assembly 11, an immovable ring assembly 9, and a pair of large bearings 10, wherein the movable ring assembly 11 rotates, the immovable ring assembly 9 does not rotate, and the large bearings 10 serve to isolate the rotational movement of the movable ring assembly 11 from the non-rotational movement of the immovable ring assembly 9. Four support arms are arranged on the outer side of the upper end of the movable ring 11, two fork lugs are arranged on the support arms and radially penetrate through holes, and the fork lug holes are used for connecting the pull rod assembly 3; a group of through holes are symmetrically arranged on the outer side of the upper end of the movable ring 11 and in the same plane with the axis of the fork lug hole in a radial direction by 180 degrees, and the through holes are positioned on the symmetrical planes of two adjacent support arms and are used for connecting two second rotating shaft assemblies 21.
When the rotor wing is operated for collective moment, the movable ring assembly 6 moves up and down along the solid shaft at the lower end of the belt rotating piece 2, the transition piece 19 is driven to move up and down under the connection action of the two second rotating shaft assemblies 21, and the transition piece 19 drives the sliding cylinder 14 to move up and down along the solid shaft at the lower end of the belt rotating piece 2 under the action of the first rotating shaft assembly 12.
When the rotor wing is operated to perform periodical pitch control, the movable ring assembly 6 can independently tilt around the second rotating shaft 21, the transition piece 19 does not tilt, and simultaneously, the movable ring assembly and the transition piece 19 can keep the same posture and tilt around the first rotating shaft assembly 12; it may also happen that the moving ring stationary ring assembly 6 and the transition piece 19 are tilted around the first rotation axis 12 in different postures, i.e. the transition piece 19 is kept stationary, the moving ring stationary ring assembly 6 is tilted around the second rotation axis assembly 21, and then the moving ring stationary ring assembly 6 and the transition piece 19 are tilted around the first rotation axis assembly 12 together.
When the rotor shaft 1 rotates, the belt rotating part 2 and the rotor shaft 1 synchronously rotate under the connection action of the bolts 8, the sliding cylinder 14 and the transition part 19 are rotated under the connection action of the first rotating shaft assembly 12, and the moving ring assembly is rotated under the connection action of the second rotating shaft assembly 21.
The foregoing is merely a detailed description of the invention, which is not a matter of routine skill in the art. However, the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily contemplated by those skilled in the art within the scope of the present invention should be included in the scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. An in-shaft steering rotor steering system, characterized by: the system comprises: a movable ring fixed ring assembly, an anti-torsion rod assembly the device comprises a belt rotating piece, a cross hinge assembly and a pull rod assembly;
the belt rotating piece is funnel-shaped, the upper end of the belt rotating piece is hollow, and the lower end of the belt rotating piece is a solid shaft; the upper end of the belt rotating piece is connected with the rotor shaft through a bolt;
the lower end of the belt rotating piece is connected with the movable ring fixing assembly through the cross hinge assembly;
one end of the anti-torsion rod assembly is connected with the main fixed end, and the other end of the anti-torsion rod assembly is connected with one support arm of an fixed ring in the fixed ring assembly;
one end of the pull rod assembly is connected with the movable ring in the movable ring fixed ring assembly, the other end of the pull rod assembly is connected with the hub rocker arm, and the pull rod assembly is arranged in the rotor shaft;
the other three support arms of the fixed ring in the fixed ring assembly are connected with three boosters;
the cross hinge assembly includes: the device comprises a first rotating shaft assembly (12), two second rotating shaft assemblies (21), a sliding cylinder and a transition piece;
a rectangular chute is axially arranged on the solid shaft at the lower end of the belt rotating piece; the sliding groove radially penetrates through the solid shaft;
the sliding cylinder is sleeved on a solid shaft at the lower end of the belt rotating piece, and the transition piece is sleeved outside the sliding cylinder; the sliding cylinder and the transition piece are respectively provided with a group of through holes at the same circumferential position in the axial vertical direction;
the first rotating shaft component penetrates through the sliding cylinder, the through hole on the transition piece and the sliding groove on the solid shaft; the first rotating shaft assembly drives the sliding cylinder and the transition piece to slide along a sliding groove on a solid shaft at the lower end of the belt rotating piece;
the two second rotating shaft assemblies are symmetrically arranged on two sides of the transition piece, the two second rotating shaft assemblies are coaxial, the axes of the two second rotating shaft assemblies pass through the intersection point of the axis of the first rotating shaft assembly and the axis of the solid shaft and are perpendicular to the plane where the axis of the first rotating shaft assembly and the axis of the solid shaft are located;
one end of the second rotating shaft assembly is connected with the transition piece, and the other end of the second rotating shaft assembly is connected with a moving ring in the moving ring fixed ring assembly;
the first shaft assembly includes: a first bolt (16), two first bushings (17), two first bearings (15), and a first straight bushing (18);
the first bolt penetrates through the sliding barrel, the transition piece and the sliding groove on the solid shaft at the lower end of the belt rotating piece, and the first straight bushing is sleeved on the first bolt and penetrates through the sliding groove on the solid shaft at the lower end of the belt rotating piece and the circumferential through hole of the sliding barrel;
the two first bearings are sleeved between the first bolt and the transition piece and are respectively positioned at two sides of the first straight bushing;
the two first bushings are sleeved on the first bolts and are respectively positioned outside the two first bearings;
the end part of the first bolt section is screwed up by a nut;
the second rotating shaft assembly includes: a second bolt (22), a second bushing (23), a second bearing (24), a second straight bushing (25);
one side of the second bolt and the nut is buried inside the transition piece; the screw rod section penetrates through the moving ring and the transition piece in the moving ring fixed ring assembly; the second straight bushing is sleeved between the screw section and the movable ring and is positioned outside the second bearing; the end part of the second bolt and screw rod section is locked by a nut;
the second bearing is sleeved between the second bolt and the transition piece;
the second bushing is sleeved on the second bolt and is positioned between the nut and the second bearing.
2. An in-shaft steering rotor steering system according to claim 1, wherein: the inclined surface section of the hollow funnel at the upper end of the belt rotating piece is provided with four openings, and the lower ends of the four groups of pull rod assemblies respectively penetrate through the four openings to be connected with the movable ring in the movable ring stationary ring assembly.
3. An in-shaft steering rotor steering system according to claim 2, wherein: the sliding cylinder is hollow and cylindrical, and an annular groove is formed in the middle of the inner side wall of the sliding cylinder; and a group of through holes are symmetrically arranged in the annular groove along the radial direction of 180 degrees so as to allow the first rotating shaft assembly to pass through.
4. An in-shaft steering rotor steering system according to claim 3, wherein: the system further comprises a sliding bushing; the sliding bush is hollow and cylindrical, and the inner diameter of the sliding bush is matched with the outer diameter of the solid shaft with the rotating piece; the outer diameter of the sliding bush is matched with the inner diameter of the annular groove of the sliding cylinder; the height of the sliding bush is equal to the height of the annular groove;
the sliding bush is arranged in the sliding cylinder annular groove, and through holes with the same diameter are formed in the same positions of the circumferential positions of the sliding bush and the sliding cylinder annular groove.
5. An in-shaft steering rotor steering system according to claim 4, wherein: the side wall of the sliding bush is provided with an opening, and the opening penetrates from the upper end face to the lower end face of the sliding bush; and the opening is remote from the through hole in the side wall of the sliding bush.
6. An in-shaft steering rotor steering system according to claim 5, wherein: the moving ring stationary ring assembly includes: a moving ring, a stationary ring and a large bearing;
four support arms are arranged on the outer side of the upper end of the movable ring, two fork lugs are arranged on the support arms and are penetrated by through holes, and the fork lug holes are used for connecting the pull rod assembly; and a group of through holes are symmetrically arranged at the radial 180-degree position of the same plane of the upper end outer side of the movable ring and the axis of the fork lug hole, and the through holes are positioned on the symmetrical planes of two adjacent support arms and are used for connecting two second rotating shaft assemblies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111176968.6A CN113942644B (en) | 2021-10-09 | 2021-10-09 | In-shaft control type rotor wing control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111176968.6A CN113942644B (en) | 2021-10-09 | 2021-10-09 | In-shaft control type rotor wing control system |
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| Publication Number | Publication Date |
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| CN113942644A CN113942644A (en) | 2022-01-18 |
| CN113942644B true CN113942644B (en) | 2023-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111176968.6A Active CN113942644B (en) | 2021-10-09 | 2021-10-09 | In-shaft control type rotor wing control system |
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| FR2613319A1 (en) * | 1987-03-30 | 1988-10-07 | Aerospatiale | COMBINED BEARING DEVICE FOR ROTOR OF GIRAVION, AND ROTOR EQUIPPED WITH SUCH A BEARING DEVICE |
| US5110260A (en) * | 1990-12-17 | 1992-05-05 | United Technologies Corporation | Articulated helicopter rotor within an improved blade-to-hub connection |
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| CN106428542A (en) * | 2016-08-16 | 2017-02-22 | 葛讯 | Manipulation mechanism of coaxial helicopter |
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| CN106477040A (en) * | 2016-11-30 | 2017-03-08 | 中国直升机设计研究所 | Rotor driver is manipulated in a kind of axle |
| CN106741920A (en) * | 2015-11-24 | 2017-05-31 | 中国直升机设计研究所 | A kind of auto-bank unit manipulated in axle |
| DE212018000018U1 (en) * | 2018-08-07 | 2018-09-21 | Suzhou Lingsu Electronic Technology Co., Ltd. | Main rotor mechanism of a drone with a single rotor |
| CN109110115A (en) * | 2018-09-03 | 2019-01-01 | 苏州领速电子科技有限公司 | The main rotor system of single rotor unmanned plane |
| CN109533321A (en) * | 2018-11-15 | 2019-03-29 | 中国直升机设计研究所 | A kind of cross hinge formula auto-bank unit |
| CN110539881A (en) * | 2019-09-04 | 2019-12-06 | 北京航空航天大学 | Unmanned autorotation gyroplane control system |
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2021
- 2021-10-09 CN CN202111176968.6A patent/CN113942644B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2613319A1 (en) * | 1987-03-30 | 1988-10-07 | Aerospatiale | COMBINED BEARING DEVICE FOR ROTOR OF GIRAVION, AND ROTOR EQUIPPED WITH SUCH A BEARING DEVICE |
| US5110260A (en) * | 1990-12-17 | 1992-05-05 | United Technologies Corporation | Articulated helicopter rotor within an improved blade-to-hub connection |
| CN101973399A (en) * | 2010-09-30 | 2011-02-16 | 南京航空航天大学 | Constant-speed universal hinged propeller hub for tilt-rotor aircraft |
| CN102211663A (en) * | 2011-05-11 | 2011-10-12 | 王略 | Gear tilting type coaxial machine |
| CN102211664A (en) * | 2011-05-11 | 2011-10-12 | 王略 | Cross titling coaxial aircraft |
| CN202201168U (en) * | 2011-05-11 | 2012-04-25 | 王略 | Tilt type coaxial machine of gear |
| CN106467165A (en) * | 2015-08-19 | 2017-03-01 | 清远市清新区立丰航空植保科技有限公司 | A kind of agricultural depopulated helicopter main rotor system device |
| CN106741920A (en) * | 2015-11-24 | 2017-05-31 | 中国直升机设计研究所 | A kind of auto-bank unit manipulated in axle |
| CN106428542A (en) * | 2016-08-16 | 2017-02-22 | 葛讯 | Manipulation mechanism of coaxial helicopter |
| CN106477040A (en) * | 2016-11-30 | 2017-03-08 | 中国直升机设计研究所 | Rotor driver is manipulated in a kind of axle |
| DE212018000018U1 (en) * | 2018-08-07 | 2018-09-21 | Suzhou Lingsu Electronic Technology Co., Ltd. | Main rotor mechanism of a drone with a single rotor |
| CN109110115A (en) * | 2018-09-03 | 2019-01-01 | 苏州领速电子科技有限公司 | The main rotor system of single rotor unmanned plane |
| CN109533321A (en) * | 2018-11-15 | 2019-03-29 | 中国直升机设计研究所 | A kind of cross hinge formula auto-bank unit |
| CN110539881A (en) * | 2019-09-04 | 2019-12-06 | 北京航空航天大学 | Unmanned autorotation gyroplane control system |
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| Publication number | Publication date |
|---|---|
| CN113942644A (en) | 2022-01-18 |
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