CN203318678U - Discrete control system of coaxial type double-rotor unmanned helicopter control system - Google Patents
Discrete control system of coaxial type double-rotor unmanned helicopter control system Download PDFInfo
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- CN203318678U CN203318678U CN2013203187650U CN201320318765U CN203318678U CN 203318678 U CN203318678 U CN 203318678U CN 2013203187650 U CN2013203187650 U CN 2013203187650U CN 201320318765 U CN201320318765 U CN 201320318765U CN 203318678 U CN203318678 U CN 203318678U
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Abstract
The utility model discloses a discrete control system of a coaxial type double-rotor unmanned helicopter control system. The discrete control system mainly comprises a rotor system, a control system and a transmission system, which are cooperatively assembled in series from top to bottom, wherein the control system communicates with a flight control center. By virtue of the discrete control system of the coaxial type double-rotor unmanned helicopter control system, the defects of complicated structure, large difficulty in free operation, low control efficiency, large resistance and the like in the prior art can be overcome, so that the advantages of simple structure, low difficulty in free operation, high control efficiency and small resistance are realized.
Description
Technical field
The utility model relates to the aviation aircraft technical field, particularly, relates to a kind of discrete control system of coaxial rotor depopulated helicopter maneuvering system.
Background technology
At present, there are Russia, the U.S., Italy and Chinese in the country that has in the world the coaxial double-rotary wing depopulated helicopter, has chaufeur on people's helicopter by joystick and pedal, mechanically to complete the manipulation to helicopter.With people's helicopter is arranged, compare, depopulated helicopter is used steering wheel to replace chaufeur to be handled, and the instruction that steering wheel receives is from the flight control system be arranged on helicopter.
Referring to Fig. 1, the maneuvering system of traditional upper and lower rotor of coaxial double-rotor helicopter, comprise the first bearing 1, be arranged on the pulley-type rotating disk on the first bearing 1, be provided with symmetrically a pair of pitch-change-link (as pitch-change-link 2) between the first bearing 1 and pulley-type rotating disk, be provided with symmetrically a pair of transition rocking arm (as transition rocking arm 3) at the two ends of the first bearing 1, below the first bearing 1, coordinate auto-bank unit 4 and the second bearing 6 are installed successively.Coordinate lower auto-bank unit 7 is installed below the second bearing 6, coordinate successively below lower auto-bank unit 7 and strut 5, course operation slip ring 9, course are installed apart from bar 8, always apart from sleeve 13 and outer shaft 14, a side at strut 5 is equipped with vertical steering wheel 10, apart from the end of bar 8, course steering wheel 12 is installed in course, always apart from a side of sleeve 13, coordinating successively and always be equipped with apart from machine 11 with always apart from steering wheel 16, at interior axle 14 inner shafts to being set with interior axle 15.
Referring to Fig. 2, the maneuvering system of traditional upper and lower rotor of coaxial double-rotor helicopter, adopt the mode of mechanical linkage to complete, the device (as the device 1 that tilts in Fig. 2) that tilts is connected with the device that has a down dip (as the device 3 that has a down dip in Fig. 2) by connecting rod (as the connecting rod of inclinator up and down 2 in Fig. 2), chaufeur or the steering wheel device that can direct operatedly only have a down dip.
Traditional coaxial double-rotor helicopter maneuvering system has following shortcoming:
(1) complex structure, need to just can carry out by intermediate connecting rod the manipulation of upper rotor, and intermediate connecting rod is supported on the device that has a down dip, and must rotate with lower rotor, and this makes the design complexity of the device that has a down dip.
(2), due to machinery association, upper and lower rotor control is coupled, and has limited freely handling of upper rotor.
(3) due to the complexity of machinery association, the general employing half of directional control is differential, only lower rotor is changed to total distance while being course control, make upper and lower rotor moment of torsion overbalance, thereby make helicopter change course, because lower rotor is total apart from changing the pneumatic variation caused, then by upper and lower rotor is carried out always compensating apart from handling simultaneously.For complete differential course is controlled, half differential course control efficiency is lower.
(4) maneuvering system exposes fully, is difficult to carry out rectification, and the resistance caused when the large Speed Flight of helicopter is larger.
In realizing process of the present utility model, the defect such as the contriver finds in prior art at least to have complex structure, the free operant difficulty is large, control efficiency is low and resistance is large.
The utility model content
The purpose of this utility model is, for the problems referred to above, proposes a kind of discrete control system of coaxial rotor depopulated helicopter maneuvering system, with the advantage that implementation structure is simple, the free operant difficulty is little, control efficiency is high and resistance is little.
For achieving the above object, the technical solution adopted in the utility model is: a kind of discrete control system of coaxial rotor depopulated helicopter maneuvering system, mainly comprise the rotor system, maneuvering system and the driving system that from up to down coordinate successively assembling, maneuvering system and flight control center's communication connection.
Further, described rotor system, comprise rotor shaft, is arranged on the upper rotor blade of described rotor shaft top, and the lower rotor blade that is arranged on described rotor shaft below; Described lower rotor blade cooperation is arranged on maneuvering system.
Further, described maneuvering system, comprise the lower rotor control mechanism and the upper rotor control mechanism that from up to down are connected in turn between rotor system and maneuvering system; Described lower rotor control mechanism is connected with lower rotor blade, and upper rotor control mechanism is connected with upper rotor blade.
Further, described lower rotor control mechanism, comprise the connecting rod connected with the outer rotor shaft that is connected lower rotor blade in described rotor shaft, be connected to the have a down dip interior ring of swash plate and the lower rotor blade distance-variable rocker arm at described connecting rod two ends, with the swash plate outer shroud that has a down dip that ring in the described swash plate that has a down dip is connected by bearing, the lower rotor be connected with the described swash plate outer shroud that has a down dip is controlled steering wheel; The described swash plate outer shroud that has a down dip is for rotating ring not, not along with outer rotor shaft is rotated; The interior ring of the swash plate that has a down dip is along with outer rotor shaft is rotated.
Further, described lower rotor is controlled steering wheel, comprises drop-gear box, and is distributed on drop-gear box lower rotor the first control steering wheel, lower rotor the second control steering wheel and lower rotor the 3rd control steering wheel on every side according to 120 °; Described lower rotor first is controlled the end that steering wheel, lower rotor the second control steering wheel and lower rotor the 3rd are controlled steering wheel, is connected on described drop-gear box.
Further, described upper rotor control mechanism, comprise the connecting rod connected with the interior rotor shaft that is connected rotor blade in described rotor shaft, be connected to the interior ring of updip swash plate and the upper rotor blade distance-variable rocker arm at described connecting rod two ends, with the updip swash plate outer shroud that ring in described updip swash plate is connected by bearing, the upper rotor be connected with described updip swash plate outer shroud is controlled steering wheel; Described updip swash plate outer shroud is rotating ring not, not along with interior rotor shaft is rotated; In the updip swash plate, ring is along with outer rotor shaft is rotated.
Further, upper rotor control mechanism, also comprise for supporting the lower support seat of described upper rotor blade distance-variable rocker arm.
Further, described upper rotor is controlled steering wheel, comprises drop-gear box, and is distributed on drop-gear box upper rotor the first control steering wheel, upper rotor the second control steering wheel and upper rotor the 3rd control steering wheel on every side according to 120 °; Described upper rotor first is controlled the end that steering wheel, upper rotor the second control steering wheel and upper rotor the 3rd are controlled steering wheel, is connected on described drop-gear box.
Further, described driving system, comprise the pull bar be connected with described upper rotor blade distance-variable rocker arm, the rocking arm be connected with described pull bar, and the long draw that upper end is connected with described rocking arm, lower end is connected with described updip swash plate outer shroud.
Further, described driving system, also comprise for supporting the upper support seat of described rocking arm.
The discrete control system of the coaxial rotor depopulated helicopter maneuvering system of each embodiment of the utility model, mainly comprise owing to comprising rotor system, maneuvering system and the driving system that from up to down coordinates successively assembling, maneuvering system and flight control center's communication connection; Can simplify the maneuvering system of coaxial dual-rotor helicopter, make it possible to upper and lower rotor is independently controlled, solve the shortcoming of traditional coaxial double-rotor helicopter maneuvering system; Thereby can overcome complex structure in prior art, the free operant difficulty is large, control efficiency is low and resistance is large defect, with the advantage that implementation structure is simple, the free operant difficulty is little, control efficiency is high and resistance is little.
Other features and advantages of the utility model will be set forth in the following description, and, partly from specification sheets, become apparent, or understand by implementing the utility model.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
The accompanying drawing explanation
Accompanying drawing is used to provide further understanding of the present utility model, and forms the part of specification sheets, with embodiment mono-of the present utility model, is used from explanation the utility model, does not form restriction of the present utility model.In the accompanying drawings:
The structural representation that Fig. 1 is traditional coaxial unmanned helicopter maneuvering system;
Fig. 2 is upper and lower rotor mechanical linkage structure schematic diagram;
The unitized construction schematic diagram that Fig. 3 is co-axial helicopter rotor system, maneuvering system, driving system;
The structural representation that Fig. 4 is the co-axial helicopter maneuvering system;
The structural representation that Fig. 5 is the lower support seat;
The structural representation that Fig. 6 is the lower support seat;
The birds-eye view that Fig. 7 is steering wheel mounting structure on drop-gear box.
By reference to the accompanying drawings 1, in the utility model embodiment, Reference numeral is as follows:
1-the first bearing (pulley-type rotating disk); The 2-pitch-change-link; 3-transition rocking arm; The upper auto-bank unit of 4-; The 5-strut; 6-the second bearing; Auto-bank unit under 7-; The 8-course is apart from bar; 9-course operation slip ring; The vertical steering wheel of 10-; 11-is always apart from machine; 12-course steering wheel; 13-is always apart from sleeve; The 14-outer shaft; Axle in 15-; 16-is always apart from steering wheel.
By reference to the accompanying drawings 2, in the utility model embodiment, Reference numeral is as follows:
The 1-device that tilts; The upper and lower inclinator connecting rod of 2-; The 3-device that has a down dip.
By reference to the accompanying drawings 3, in the utility model embodiment, Reference numeral is as follows:
Under 1-, rotor is controlled steering wheel; First control steering wheel of rotor under 1_1-; Under 1_2-, second of rotor controlled steering wheel; Under 1_3-, the 3rd of rotor controlled steering wheel; The 2-swash plate outer shroud that has a down dip; 3-has a down dip, and swash plate is interior to be encircled; The 4-connecting rod; Rotor blade distance-variable rocker arm under 5-; The outer rotor shaft of 6-; The upper rotor of 7-is controlled steering wheel; First controls steering wheel the upper rotor of 7_1-; Second of the upper rotor of 7_2-controlled steering wheel; 8-updip swash plate outer shroud; Ring in 9-updip swash plate; The 10-connecting rod; The upper rotor blade distance-variable rocker arm of 11-; 12-lower support seat; Rotor blade under 19-; The upper rotor blade of 20-.
By reference to the accompanying drawings 4, in the utility model embodiment, Reference numeral is as follows:
The 10-connecting rod; The 11-rocking arm; Rotor shaft in 12-; The 13-long draw; The 14-rocking arm; The 15-upper support seat; The 16-pull bar; The upper rotor blade distance-variable rocker arm of 17-.
By reference to the accompanying drawings 5, in the utility model embodiment, Reference numeral is as follows:
The 10-connecting rod; The 11-rocking arm; Rotor shaft in 12-; The 13-long draw.
By reference to the accompanying drawings 6, in the utility model embodiment, Reference numeral is as follows:
The 14-rocking arm; The 15-upper support seat; The 16-pull bar.
By reference to the accompanying drawings 7, in the utility model embodiment, Reference numeral is as follows:
The 1-steering wheel; The 7-steering wheel; The 3rd of the upper rotor of 7_3-controlled steering wheel; The 18-drop-gear box.
The specific embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described, should be appreciated that preferred embodiment described herein is only for description and interpretation the utility model, and be not used in restriction the utility model.
In order to overcome the deficiencies in the prior art, according to the utility model embodiment, as shown in Fig. 3-Fig. 7, a kind of discrete control system of coaxial rotor depopulated helicopter maneuvering system is provided, simplified the maneuvering system of coaxial dual-rotor helicopter, make it possible to upper and lower rotor is independently controlled, thereby solved the shortcoming of traditional coaxial double-rotor helicopter maneuvering system.
Referring to Fig. 3-Fig. 7, the discrete control system of the coaxial rotor depopulated helicopter maneuvering system of the present embodiment, main composition is as follows:
Lower rotor is controlled steering wheel 1 and is connected the swash plate outer shroud 2 that has a down dip, the interior ring 3 of the swash plate that has a down dip is connected with blade distance-variable rocker arm 5 by connecting rod 4, have a down dip swash plate outer shroud 2 not along with outer rotor shaft 6 is rotated, the interior ring 3 of the swash plate that has a down dip is along with outer rotor shaft 6 is rotated, and the motionless ring of the swash plate that has a down dip (swash plate outer shroud 2 has a down dip) is connected by bearing with ring 3 in the swash plate that has a down dip.
Upper rotor is controlled steering wheel 7 and is connected with updip swash plate outer shroud 8, in the updip swash plate, ring 9 is connected with rocking arm 11 by connecting rod 10, updip swash plate outer shroud 8 is along with interior rotor shaft 12 is rotated, in the updip swash plate, ring 9 is along with interior rotor shaft 12 is rotated, the motionless ring 8 of updip swash plate is connected by bearing with ring 9 in the updip swash plate; rocking arm 11 is supported on lower support seat 12; with long draw 13, be connected; long draw 13 upper ends are connected with rocking arm 14; rocking arm 14 is supported on upper support seat 15; rocking arm 14 is connected with pull bar 16, and pull bar 16 is connected with upper rotor distance-variable rocker arm 17.
Referring to Fig. 7, lower rotor is controlled steering wheel 1 and upper rotor and is controlled steering wheel 7 and all have 3, is distributed on around drop-gear box 18 according to 120 °, and an end is connected on drop-gear box 18.
Several typical cases of the discrete control system of above-described embodiment coaxial rotor depopulated helicopter maneuvering system control case, specific as follows:
(1) total control apart from increasing
Lower rotor is controlled steering wheel 1 and upper rotor and is controlled steering wheel 7 and receive (for example climbing) after the signal of the total distance of increase that flight control system is sent:
Lower rotor is controlled steering wheel 1 and is shortened, the drive swash plate outer shroud 2 that has a down dip moves downward, thereby driving ring 3 in the swash plate that has a down dip moves downward, the interior ring 3 of the swash plate that has a down dip drives pull bars 4 and moves downward, thereby the end that drives blade distance-variable rocker arm 5 moves downward, make how much angles of attack of lower rotor blade 19 increase, thereby the aerodynamic force that makes lower rotor blade 19 produce increase.
Upper rotor is controlled steering wheel 7 and is shortened, drive updip swash plate outer shroud 8 upward movements, thereby drive ring 9 upward movements in the updip swash plate, in the updip swash plate, ring 9 drives pull bar 10 upward movements, pull bar 10 drives rocking arm 11 and rotates around lower support seat 12, thereby driving long draw 13 moves downward, long draw 13 drives rocking arm 14 and rotates around upper support seat 15, thereby drive pull bar 16 upward movements, pull bar 16 drives the end upward movement of distance-variable rocker arm 17, thereby make how much angles of attack of rotor blade 20 increase, thereby make the aerodynamic force that blade produces increase.
So just by lower rotor control steering wheel 1 and upper rotor, control steering wheel 7 and make how much angles of attack of lower rotor blade 19 and upper rotor blade 20 increase simultaneously simultaneously, completed total control apart from increasing.
(2) total control apart from reducing
For example, after lower rotor control steering wheel 1 and upper rotor control steering wheel 7 are received the signal (descending) of the total distance of minimizing that flight control system is sent:
Lower rotor is controlled steering wheel 1 elongation, drive swash plate outer shroud 2 upward movements that have a down dip, thereby ring 3 upward movements in the lower moving tilting frame of band, the interior ring 3 of the swash plate that has a down dip drives pull bar 4 upward movements, thereby drive the end upward movement of distance-variable rocker arm 5, make how much angles of attack of lower rotor blade 19 reduce, thereby the aerodynamic force that makes lower rotor blade 19 produce reduce.
Upper rotor is controlled steering wheel 7 elongations, driving updip swash plate outer shroud 8 moves downward, thereby driving ring 9 in the updip swash plate moves downward, in the updip swash plate, ring 9 drive pull bars 10 move downward, pull bar 10 drives rocking arm 11 and rotates around lower support seat 12, thereby drive long draw 13 upward movements, long draw 13 drives rocking arm 14 and rotates around upper support seat 15, thereby driving pull bar 16 moves downward, the end that pull bar 16 drives upper rotor blade distance-variable rocker arm 17 moves downward, thereby make how much angles of attack of rotor blade 20 reduce, thereby the aerodynamic force that makes rotor blade 20 produce reduces.
So just by lower rotor control steering wheel 1 and upper rotor, control steering wheel 7 and make how much angles of attack of lower rotor blade 19 and upper rotor blade 20 increase simultaneously simultaneously, completed the control that total distance reduces.
(3) laterally rolling is controlled
Take rolling left as example:
After lower rotor control steering wheel 1 and upper rotor control steering wheel 7 are received the signal of the rolling left that flight control system is sent:
The 3rd of lower rotor controlled steering wheel 1_3 elongation, first controls steering wheel 1_1 and second control steering wheel 1_2 of lower rotor shortening lower rotor, thereby drive swash plate outer shroud 2 direction tilt (in the present embodiment about direction gage definite opinion Fig. 7) all around to the left that has a down dip, thereby drive ring 3 direction inclination to the left in the swash plate that has a down dip, the interior ring 3 of the swash plate that has a down dip drives pull bars 4 motions, thereby make aerodynamic force when rotor blade rotates through front area reduce, aerodynamic force increases when the Background Region, because the effect of waving of blade makes lower rotor oar dish tilt to the left.
First controls steering wheel 7_1 and second control steering wheel 7_2 of upper rotor elongation upper rotor, the 3rd of upper rotor controlled steering wheel 7_3 and shortened, thereby drive updip swash plate outer shroud 8 direction inclination to the left, thereby drive ring 9 direction inclination to the left in the updip swash plate, in the updip swash plate, ring 9 drives pull bar 10 motions, pull bar 10 drives rocking arm 11 motions, rocking arm 11 drives long draw 13 motions, long draw 13 drives rocking arm 14 motions again, rocking arm 14 drives pull bar 16 motions, thereby make aerodynamic force when upper rotor blade rotates through front area reduce, during through Background Region, aerodynamic force increases, because the effect of waving of blade makes lower rotor oar dish tilt to the left.
Upper and lower rotor tilts simultaneously to the left, has just produced a side force, makes helicopter rolling left, thereby completed rolling left, controls.
The control of rolling to the right is similar with the control of rolling left, and just the control signal of steering wheel is contrary.
(4) vertically rolling is controlled
Take rolling forward as example:
After lower rotor control steering wheel 1 and upper rotor control steering wheel 7 are received the signal of the rolling forward that flight control system is sent:
Second of lower rotor controlled steering wheel 1_2 elongation, and first controls steering wheel 1_1 shortening lower rotor, and the 3rd of lower rotor controlled steering wheel 1_3 and kept motionless.Thereby driving the swash plate outer shroud 2 that has a down dip turns forward, thereby driving ring 3 in the swash plate that has a down dip turns forward, the interior ring 3 of the swash plate that has a down dip drives pull bars 4 motions, thereby make aerodynamic force when rotor blade rotates through right side area reduce, aerodynamic force increases when the left field, because the effect of waving of blade makes lower rotor oar dish turn forward.
Second of upper rotor controlled steering wheel 7_1 elongation, and second of upper rotor controlled steering wheel 7_2 and shortened, and the 3rd of upper rotor controlled steering wheel 7_3 and kept motionless.Thereby driving updip swash plate outer shroud 8 turns forward, thereby driving ring 9 in the updip swash plate turns forward, in the updip swash plate, ring 9 drives pull bar 10 motions, pull bar 10 drives rocking arms 11 motions, and rocking arm 11 drives long draws 13 motions, and long draw 13 drives rocking arm 14 motions again; rocking arm 14 drives pull bars 16 motions; thus make aerodynamic force when upper rotor blade rotates through right side area reduce, and aerodynamic force increase during through left field, because the effect of waving of blade makes lower rotor oar dish turn forward.
Upper and lower rotor turns forward simultaneously, has just produced a forward force, makes helicopter rolling forward, thereby completed rolling forward, controls.
The control of rolling is similar with the control of rolling forward backward, and just the control signal of steering wheel is contrary.
(5) course is controlled
In the present embodiment, driftage is controlled and is always realized apart from differential change by upper and lower rotor.In the present embodiment, because upper and lower rotor can carry out sub-control independently, can adopt the full differentiating control scheme that efficiency is higher to be controlled course.Take to left drift is example:
Lower rotor control that steering wheel 1 and upper rotor control that steering wheel 7 receives that flight control system sends after the signal of left drift:
Lower rotor is controlled steering wheel 1 and is extended simultaneously, and lower rotor is total apart from reducing, and the aerodynamic torque that acts on lower rotor reduces.Upper rotor is controlled steering wheel 7 and is shortened, and upper rotor is total apart from increasing, and the aerodynamic torque that acts on rotor increases.To the right, left, because moment to the right reduces, moment left increases the aerodynamic torque that upper rotor is subject to the aerodynamic torque be subject to due to lower rotor, and helicopter turns left, thereby has completed the control to left drift.
The control of driftage to the right is the same with the control method to left drift, is that upper and lower rotor steering wheel control signal is contrary.
The discrete control system of the coaxial rotor depopulated helicopter maneuvering system of above-described embodiment, use three steering wheels to control verting of lower rotor tilting frame outer shroud, driving ring in lower rotor tilting frame verts, interior ring is controlled the angle of attack of blade by connecting rod, realizes total distance of lower rotor, horizontal and vertical control; Use in addition three steering wheels to control verting of upper rotor tilting frame outer shroud, encircle and vert in the rotor tilting frame in drive, interior ring drives the long draw up-and-down movement by connecting rod, long draw is through interior axle, band is automatically connected in the rocking arm motion of long draw upper end, and rocking arm drives connected link work again, because connecting rod is connected with the distance-variable rocker arm of upper rotor blade, thereby realized the control to the upper rotor blade angle of attack, realized total distance of upper rotor, horizontal and vertical control.
The discrete control system of the coaxial rotor depopulated helicopter maneuvering system of each embodiment of the utility model, simplified the maneuvering system of coaxial dual-rotor helicopter, there is no machinery association between the maneuvering system of upper and lower rotor, can independently control upper and lower rotor, upper and lower rotor is used respectively three steering wheels to be controlled; Lower rotor is controlled steering wheel by elongating or shortening, make lower rotor tilting frame outer shroud up-and-down movement or inclination, drive ring up-and-down movement or inclination in lower rotor tilting frame, interior ring is controlled the angle of attack of blade by connecting rod, realizes total distance of lower rotor, horizontal and vertical control; Upper rotor is controlled steering wheel by elongating or shortening, make rotor tilting frame outer shroud up-and-down movement or inclination, ring up-and-down movement or inclination in the rotor tilting frame in drive, interior ring drives the long draw up-and-down movement that is positioned at upper rotor shaft by connecting rod, band is automatically connected in the rocking arm motion of long draw upper end; rocking arm drives connected link work again; because connecting rod is connected with the distance-variable rocker arm of upper rotor blade; thus realized the control to the upper rotor blade angle of attack, realize total distance of upper rotor, horizontal and vertical control.The discrete control system of this coaxial rotor depopulated helicopter maneuvering system simple in structure, control efficiency is high, is highly suitable for the control of coaxial double-rotary wing depopulated helicopter.
In sum, the discrete control system of the coaxial rotor depopulated helicopter maneuvering system of each embodiment of the utility model, adopt discrete control method, what make co-axial helicopter does not have mechanical connection up and down between tilting frame, upper and lower tilting frame is used respectively steering wheel to be controlled, and its major advantage is:
(1) there is no the mechanical couplings relation between the two, simple in structure;
(2) due to the control signal of steering wheel from flight control system, therefore, according to the difference of signal, can be handled respectively upper and lower rotor, therefore be called discrete control method; Owing to there is no mechanical couplings, the degree of freedom of control is very large;
(3), owing in the utility model, upper and lower rotor being carried out to independently discrete control, course control to adopt the higher full differentiating control of efficiency, upper and lower rotor always apart from inverse change, thereby produce difference in torque, make the helicopter course change; With respect to conventional helicopters half differential course, control, full differentiating control efficiency is high, and the helicopter lift variation is little, is conducive to steady control;
(4) due to maneuvering system simplification mechanically, make helicopter resistance when front flying less, reduced the consumption of power of driving engine under same forward flight speed, under same engine power, can increase forward flight speed.
Finally it should be noted that: the foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, although with reference to previous embodiment, the utility model is had been described in detail, for a person skilled in the art, its technical scheme that still can put down in writing aforementioned each embodiment is modified, or part technical characterictic wherein is equal to replacement.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (10)
1. the discrete control system of a coaxial rotor depopulated helicopter maneuvering system, is characterized in that, mainly comprises the rotor system, maneuvering system and the driving system that from up to down coordinate successively assembling, described maneuvering system and flight control center's communication connection.
2. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 1, it is characterized in that, described rotor system, comprise rotor shaft, be arranged on the upper rotor blade of described rotor shaft top, and the lower rotor blade that is arranged on described rotor shaft below; Described lower rotor blade cooperation is arranged on maneuvering system.
3. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 2, it is characterized in that, described maneuvering system, comprise the lower rotor control mechanism and the upper rotor control mechanism that from up to down are connected in turn between rotor system and maneuvering system; Described lower rotor control mechanism is connected with lower rotor blade, and upper rotor control mechanism is connected with upper rotor blade.
4. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 3, it is characterized in that, described lower rotor control mechanism, comprise the connecting rod connected with the outer rotor shaft that is connected lower rotor blade in described rotor shaft, be connected to the have a down dip interior ring of swash plate and the lower rotor blade distance-variable rocker arm at described connecting rod two ends, with the swash plate outer shroud that has a down dip that ring in the described swash plate that has a down dip is connected by bearing, the lower rotor be connected with the described swash plate outer shroud that has a down dip is controlled steering wheel; The described swash plate outer shroud that has a down dip is for rotating ring not, not along with outer rotor shaft is rotated; The interior ring of the swash plate that has a down dip is along with outer rotor shaft is rotated.
5. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 4, it is characterized in that, described lower rotor is controlled steering wheel, comprise drop-gear box, and be distributed on drop-gear box lower rotor the first control steering wheel, lower rotor the second control steering wheel and lower rotor the 3rd control steering wheel on every side according to 120 °; Described lower rotor first is controlled the end that steering wheel, lower rotor the second control steering wheel and lower rotor the 3rd are controlled steering wheel, is connected on described drop-gear box.
6. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 3, it is characterized in that, described upper rotor control mechanism, comprise the connecting rod connected with the interior rotor shaft that is connected rotor blade in described rotor shaft, be connected to the interior ring of updip swash plate and the upper rotor blade distance-variable rocker arm at described connecting rod two ends, with the updip swash plate outer shroud that ring in described updip swash plate is connected by bearing, the upper rotor be connected with described updip swash plate outer shroud is controlled steering wheel; Described updip swash plate outer shroud is rotating ring not, not along with interior rotor shaft is rotated; In the updip swash plate, ring is along with outer rotor shaft is rotated.
7. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 6, is characterized in that, upper rotor control mechanism also comprises for supporting the lower support seat of described upper rotor blade distance-variable rocker arm.
8. according to the discrete control system of the described coaxial rotor depopulated helicopter of claim 6 or 7 maneuvering system, it is characterized in that, described upper rotor is controlled steering wheel, comprise drop-gear box, and be distributed on drop-gear box upper rotor the first control steering wheel, upper rotor the second control steering wheel and upper rotor the 3rd control steering wheel on every side according to 120 °; Described upper rotor first is controlled the end that steering wheel, upper rotor the second control steering wheel and upper rotor the 3rd are controlled steering wheel, is connected on described drop-gear box.
9. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 8, it is characterized in that, described driving system, comprise the pull bar be connected with described upper rotor blade distance-variable rocker arm, the rocking arm be connected with described pull bar, and the long draw that upper end is connected with described rocking arm, lower end is connected with described updip swash plate outer shroud.
10. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 9, is characterized in that, described driving system also comprises for supporting the upper support seat of described rocking arm.
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| CN2013203187650U CN203318678U (en) | 2013-06-05 | 2013-06-05 | Discrete control system of coaxial type double-rotor unmanned helicopter control system |
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| CN2013203187650U CN203318678U (en) | 2013-06-05 | 2013-06-05 | Discrete control system of coaxial type double-rotor unmanned helicopter control system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103318407A (en) * | 2013-06-05 | 2013-09-25 | 王开林 | Standalone control system of coaxial double-rotor unmanned helicopter control system |
| CN105270619A (en) * | 2015-10-27 | 2016-01-27 | 中航维拓（北京）科技有限责任公司 | Oil-drive variable-pitch quad-rotor unmanned aerial vehicle |
| CN105564643A (en) * | 2014-10-30 | 2016-05-11 | 空客直升机 | Mechanical device for combining at least a first and a second command order, and aircraft equipment with such a device |
| CN105752323A (en) * | 2016-04-07 | 2016-07-13 | 湖北易瓦特科技股份有限公司 | Landing anti-abrasion type unmanned aerial vehicle |
| CN106915457A (en) * | 2017-02-22 | 2017-07-04 | 北京航空航天大学 | A kind of variable co-axial helicopter steerable system of upper and lower rotor inclinator depth of parallelism |
| CN108557070A (en) * | 2018-04-12 | 2018-09-21 | 北京理工大学 | A kind of small-sized coaxial dual-rotor helicopter |
| CN109502051A (en) * | 2018-12-12 | 2019-03-22 | 山东智翼航空科技有限公司 | Unmanned plane rotor entirety static balance and unidirectional Test System of Dynamic Balance |
| CN109606670A (en) * | 2018-12-05 | 2019-04-12 | 彩虹无人机科技有限公司 | A kind of unmanned autogyro rotor operating mechanism |
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2013
- 2013-06-05 CN CN2013203187650U patent/CN203318678U/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103318407A (en) * | 2013-06-05 | 2013-09-25 | 王开林 | Standalone control system of coaxial double-rotor unmanned helicopter control system |
| CN105564643A (en) * | 2014-10-30 | 2016-05-11 | 空客直升机 | Mechanical device for combining at least a first and a second command order, and aircraft equipment with such a device |
| CN105270619A (en) * | 2015-10-27 | 2016-01-27 | 中航维拓（北京）科技有限责任公司 | Oil-drive variable-pitch quad-rotor unmanned aerial vehicle |
| CN105752323A (en) * | 2016-04-07 | 2016-07-13 | 湖北易瓦特科技股份有限公司 | Landing anti-abrasion type unmanned aerial vehicle |
| CN106915457A (en) * | 2017-02-22 | 2017-07-04 | 北京航空航天大学 | A kind of variable co-axial helicopter steerable system of upper and lower rotor inclinator depth of parallelism |
| CN106915457B (en) * | 2017-02-22 | 2019-05-17 | 北京航空航天大学 | A kind of variable co-axial helicopter steerable system of the rotor inclinator depth of parallelism up and down |
| CN108557070A (en) * | 2018-04-12 | 2018-09-21 | 北京理工大学 | A kind of small-sized coaxial dual-rotor helicopter |
| CN108557070B (en) * | 2018-04-12 | 2019-05-03 | 北京理工大学 | A kind of small-sized coaxial dual-rotor helicopter |
| CN109606670A (en) * | 2018-12-05 | 2019-04-12 | 彩虹无人机科技有限公司 | A kind of unmanned autogyro rotor operating mechanism |
| CN109502051A (en) * | 2018-12-12 | 2019-03-22 | 山东智翼航空科技有限公司 | Unmanned plane rotor entirety static balance and unidirectional Test System of Dynamic Balance |
| CN109502051B (en) * | 2018-12-12 | 2024-04-02 | 山东智翼航空科技有限公司 | Unmanned aerial vehicle rotor overall static balance and unidirectional dynamic balance test system |
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