CN204223182U - Civilian depopulated helicopter rotor controls tilting frame actuating device - Google Patents
Civilian depopulated helicopter rotor controls tilting frame actuating device Download PDFInfo
- Publication number
- CN204223182U CN204223182U CN201420675232.2U CN201420675232U CN204223182U CN 204223182 U CN204223182 U CN 204223182U CN 201420675232 U CN201420675232 U CN 201420675232U CN 204223182 U CN204223182 U CN 204223182U
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- tilting frame
- hinged
- civilian
- gear box
- speed gear
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Abstract
The utility model discloses a kind of civilian depopulated helicopter rotor and control tilting frame actuating device, comprise change speed gear box, on change speed gear box, by center axle bed, center shaft is installed, center shaft lower end is inserted in change speed gear box, be provided with tilting frame by universal bearing on center shaft, motor fixing seat is fixed on above change speed gear box; Three described servomotors are triangularly arranged and are fixed in motor fixing seat; Three actuating arms to be hinged on respectively in motor fixing seat and to be positioned at each servomotor side, and one end of each actuating arm is in transmission connection by piston crank mechanism with corresponding servo motor output shaft; Three Universal linking lever lower end uniform outer rims being hinged on described tilting frame in, upper end hinged with the other end of each actuating arm respectively.Beneficial effect is: simple and compact for structure, and transmission controls flexibly, and the multiple angles conversion that can realize rotor controls, adjustment, easy for installation; Parts are few, and integrated level is high, and cost is low, are particluarly suitable for civilian depopulated helicopter is installed and used.
Description
Technical field
The utility model belongs to a kind of lifting airscrew control setup, and particularly the civilian depopulated helicopter rotor of one controls tilting frame actuating device.
Background technology
Flight attitude and the elevating control such as pitching of heligyro when flying realize by changing the angle of attack of rotor when different angles.Existing lifting airscrew control setup comprises rotor, mast bar, total pitch sliding sleeve, toggle, tilting frame, pull bar and change speed gear box, mast bar lower end to be inserted in change speed gear box and is connected with the gear cluster in change speed gear box, mast bar upper end is fixed with the propeller hub for installing rotor, total pitch sliding sleeve is enclosed within mast bar, tilting frame is enclosed within outside total pitch sliding sleeve and is connected with total pitch sliding sleeve by multiple connecting rod, tilting frame is between rotor and change speed gear box, tilting frame upper end is connected with the toggle that each rotor is arranged respectively by connecting rod, tilting frame lower end connects the steering unit for controlling tilting frame by control link.This rotor control setup and steering unit thereof are due to complex structure, and volume is comparatively large, and cost is high, is therefore used for military helicopter, and civil helicopter is not yet applied.
Summary of the invention
The purpose of this utility model solves the above-mentioned problems in the prior art, and provide a kind of civilian depopulated helicopter rotor to control tilting frame actuating device, this driving device structure is simply compact, and transmission controls flexibly, adjustment, easy for installation.
The civilian depopulated helicopter rotor of one involved by the utility model controls tilting frame actuating device, comprise change speed gear box, on change speed gear box, by center axle bed, rotatable center shaft is installed, center shaft lower end is inserted in change speed gear box, be positioned on center shaft above the axle bed of center and be provided with tilting frame by universal bearing, its special character is:
Motor fixing seat, it is fixed on above change speed gear box, for installing servomotor;
Three described servomotors, are triangularly arranged and are fixed in motor fixing seat, move for driving tilting frame;
Three actuating arms, being hinged on respectively in motor fixing seat and being positioned at each servomotor side, one end of each actuating arm is in transmission connection by piston crank mechanism with corresponding servo motor output shaft; Tilting frame motion is driven for transferring power;
Three Universal linking levers, lower end is hinged with the other end of each actuating arm respectively, the uniform outer rim being hinged on described tilting frame in upper end.
As preferred further, described piston crank mechanism comprises the rotating disc be arranged on each servo motor output shaft, and symmetry is hinged with two drive link on the rotating pan, and the other end of two drive link is hinged with the two ends up and down of corresponding actuating arm respectively; For driving actuating arm reciprocally swinging and can reliable transmission being guaranteed.
As preferred further, described actuating arm is T-shaped and has three coupling ends, and its two symmetrical coupling ends are for connecting two drive link, and a remaining coupling end is for connecting described Universal linking lever.
As preferred further, described Universal linking lever comprises the screw rod and adapter sleeve that are threaded connection, jam nut is provided with between screw rod and adapter sleeve, the outer end of screw rod and adapter sleeve has oscillating bearing respectively, and described Universal linking lever two ends are hinged respectively by running through the bolt of oscillating bearing and actuating arm and tilting frame.
As preferred further, in motor fixing seat, the corresponding servomotor side being positioned at centre is provided with the limit base of one, limit base is provided with vertical spacing slideway, be provided with the position-limited lever with its hinge bolt one in the Universal linking lever upper end corresponding with described limit base, position-limited lever outer end is inserted in described spacing slideway.
As further preferably, described actuating arm is provided with three screws for hinged Universal linking lever side by side, to regulate the motion amplitude of Universal linking lever, thus regulates the motion amplitude of tilting frame.
The beneficial effects of the utility model are: because the anglec of rotation of servomotor can control arbitrarily, actuating arm reciprocally swinging is controlled respectively by three servomotors, and drive Universal linking lever to pump, thus promotion tilting frame produces arbitrary inclination on center shaft, tilting frame is connected with depopulated helicopter rotor by connecting rod, therefore rotor any rotation in the horizontal direction be can realize, aircraft lifting and landing and flight angle controlled; Simple and compact for structure, transmission controls flexibly, and the multiple angles conversion that can realize rotor controls, adjustment, easy for installation; Parts are few, and integrated level is high, and cost is low, are particluarly suitable for civilian depopulated helicopter is installed and used.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is perspective view of the present utility model.
In figure: Universal linking lever 1, tilting frame 2, universal bearing 3, center shaft 4, position-limited lever 5, limit base 6, spacing slideway 601, drive link 7, rotating disc 8, actuating arm 9, screw 901, bolt 10, bolt 11, bolt 12, servomotor 13, motor fixing seat 14, bolt 15, center axle bed 16, bolt 17, oscillating bearing 18, change speed gear box 19.
Detailed description of the invention
As depicted in figs. 1 and 2, the civilian depopulated helicopter rotor of one involved by the utility model controls tilting frame actuating device, comprise the change speed gear box 19 of depopulated helicopter, on change speed gear box 19, by center axle bed 16, rotatable center shaft 4 is installed, center shaft 4 lower end to be inserted in change speed gear box 19 and is connected with the transmission device in change speed gear box 19, center shaft 4 is positioned at above center shaft seat 16 and is provided with tilting frame 2 by a universal bearing 3.
A motor fixing seat 14 is fixed with by screw on change speed gear box 19, motor fixing seat 14 is provided with three motors notch is installed and three servomotors 13 are installed, each servomotor 13 is fixed on respectively by bolt 12 both sides that notch installed by motor, three servomotors 13 are triangularly arranged and are fixed in motor fixing seat 14, move for driving tilting frame 2.Motor fixing seat 14 is positioned at the inner side of each servomotor 13 respectively by the hinged actuating arm 9 of bolt 10, one end of each actuating arm 9 is in transmission connection by piston crank mechanism with corresponding servomotor 13 output shaft, drives tilting frame 2 to move for transferring power.Described piston crank mechanism comprises the rotating disc 8 be arranged on each servomotor 13 output shaft, rotating disc 8 is hinged with two drive link 7 respectively by bolt 11 symmetry, the other end of two drive link 7 is hinged by bolt 15 with the two ends up and down of corresponding actuating arm 9 respectively, for driving actuating arm 9 reciprocally swinging and can guaranteeing reliable transmission.
Described actuating arm 9 is T-shaped and has three coupling ends, and its two symmetrical coupling ends connect two described drive link 7 respectively, and a remaining coupling end is for connecting Universal linking lever 1.Described Universal linking lever 1 is three, the lower end of each Universal linking lever 1 respectively with the other end of each actuating arm 9 and a remaining coupling end hinged, the uniform outer rim being hinged on described tilting frame 2 of upper end edge tilting frame 2 circumferencial direction of each Universal linking lever 1.Described Universal linking lever 1 comprises the screw rod and adapter sleeve that are threaded connection, jam nut is provided with between screw rod and adapter sleeve, the outer end of screw rod and adapter sleeve has oscillating bearing 18 respectively, described Universal linking lever 1 two ends respectively by the bolt 17 running through oscillating bearing 18 and actuating arm 9 and tilting frame 2 hinged.
As preferably, in motor fixing seat 14, corresponding servomotor 13 side being positioned at centre is provided with the limit base 6 of one, limit base 6 is provided with vertical spacing slideway 601, be provided with the position-limited lever 5 with its hinge bolt 17 one in Universal linking lever 1 upper end corresponding with described limit base 6, position-limited lever 5 outer end is inserted in described spacing slideway 601.
As preferably, described actuating arm 9 is provided with three screws 901 for hinged Universal linking lever 1 side by side, to regulate the motion amplitude of Universal linking lever 1, thus regulates the motion amplitude of tilting frame 2.
During flight, after servomotor 13 receives control signal, drive rotating disc 8 forward and retrograde rotation, thus driving actuating arm 9 along the hinged axial forward of bolt 10, retrograde rotation by drive link 7, the other end of actuating arm 9 drives tilting frame 2 up-and-down movement on center shaft 4 by Universal linking lever 1.Because servomotor 13 is along the circumferential direction uniformly distributed, the anglec of rotation of rotating disc 8 can adjust arbitrarily and set, therefore can realize tilting frame 2 and produce any angle of inclination by universal bearing 3 on center shaft 4, because tilting frame 2 is connected with unmanned plane rotor by connecting rod, rotor any rotation in the horizontal direction can be realized, control aircraft lifting and landing and flight angle.
Although embodiment of the present utility model is open as above, but it is not restricted to listed in specification sheets and embodiment utilization, it can be applied to various applicable field of the present utility model completely, for those skilled in the art, can easily realize other amendment, therefore do not deviating under the universal that claim and equivalency range limit, the utility model is not limited to specific details and illustrates here and the legend described.
Claims (6)
1. a civilian depopulated helicopter rotor controls tilting frame actuating device, comprise change speed gear box, on change speed gear box, by center axle bed, rotatable center shaft is installed, center shaft lower end is inserted in change speed gear box, be positioned on center shaft above the axle bed of center, by universal bearing, tilting frame be installed, it is characterized in that:
Motor fixing seat, it is fixed on above change speed gear box, for installing servomotor;
Three described servomotors, are triangularly arranged and are fixed in motor fixing seat, move for driving tilting frame;
Three actuating arms, being hinged on respectively in motor fixing seat and being positioned at each servomotor side, one end of each actuating arm is in transmission connection by piston crank mechanism with corresponding servo motor output shaft; Tilting frame motion is driven for transferring power;
Three Universal linking levers, lower end is hinged with the other end of each actuating arm respectively, the uniform outer rim being hinged on described tilting frame in upper end.
2. civilian depopulated helicopter rotor according to claim 1 controls tilting frame actuating device, it is characterized in that: described piston crank mechanism comprises the rotating disc be arranged on each servo motor output shaft, symmetry is hinged with two drive link on the rotating pan, and the other end of two drive link is hinged with the two ends up and down of corresponding actuating arm respectively.
3. civilian depopulated helicopter rotor according to claim 2 controls tilting frame actuating device, it is characterized in that: described actuating arm is T-shaped and has three coupling ends, its two symmetrical coupling ends are for connecting two drive link, and a remaining coupling end is for connecting described Universal linking lever.
4. civilian depopulated helicopter rotor according to claim 1 controls tilting frame actuating device, it is characterized in that: described Universal linking lever comprises the screw rod and adapter sleeve that are threaded connection, jam nut is provided with between screw rod and adapter sleeve, the outer end of screw rod and adapter sleeve has oscillating bearing respectively, and described Universal linking lever two ends are hinged respectively by running through the bolt of oscillating bearing and actuating arm and tilting frame.
5. the civilian depopulated helicopter rotor according to claim 1 or 4 controls tilting frame actuating device, it is characterized in that: in motor fixing seat, the corresponding servomotor side being positioned at centre is provided with the limit base of one, limit base is provided with vertical spacing slideway, be provided with the position-limited lever with its hinge bolt one in the Universal linking lever upper end corresponding with described limit base, position-limited lever outer end is inserted in described spacing slideway.
6. the civilian depopulated helicopter rotor according to claim 1 or 4 controls tilting frame actuating device, it is characterized in that: on described actuating arm, be provided with three screws for hinged Universal linking lever side by side, to regulate the motion amplitude of Universal linking lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420675232.2U CN204223182U (en) | 2014-11-12 | 2014-11-12 | Civilian depopulated helicopter rotor controls tilting frame actuating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420675232.2U CN204223182U (en) | 2014-11-12 | 2014-11-12 | Civilian depopulated helicopter rotor controls tilting frame actuating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204223182U true CN204223182U (en) | 2015-03-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420675232.2U Expired - Fee Related CN204223182U (en) | 2014-11-12 | 2014-11-12 | Civilian depopulated helicopter rotor controls tilting frame actuating device |
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| CN (1) | CN204223182U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105235900A (en) * | 2015-11-04 | 2016-01-13 | 中航维拓（北京）科技有限责任公司 | Upper rotor semi differential yawing control system for coaxial unmanned helicopter |
| CN106218864A (en) * | 2016-09-18 | 2016-12-14 | 深圳市睿文航空科技有限公司 | A kind of device handling large-scale depopulated helicopter pitch |
| CN107364588A (en) * | 2017-07-17 | 2017-11-21 | 飞瑞航空科技（江苏）有限公司 | A kind of depopulated helicopter auto-bank unit leveling tool |
| CN108216618A (en) * | 2017-12-25 | 2018-06-29 | 上海歌尔泰克机器人有限公司 | A kind of motor verts lockable mechanism and unmanned plane |
| CN108349588A (en) * | 2015-08-25 | 2018-07-31 | 脉冲航空有限责任公司 | Linkage servo flight control system for unmanned vehicle |
| CN108891589A (en) * | 2018-08-13 | 2018-11-27 | 吴立群 | A kind of power and vector control mechanism of coaxial double-oar aircraft |
| CN109263868A (en) * | 2018-09-28 | 2019-01-25 | 上海歌尔泰克机器人有限公司 | A kind of unmanned plane rotor structure and unmanned plane during flying device |
| CN109677603A (en) * | 2019-02-22 | 2019-04-26 | 一飞智控(天津)科技有限公司 | Helicopter rotor operation device and rotor driver |
| CN115158648A (en) * | 2022-07-19 | 2022-10-11 | 哈尔滨工业大学 | Coaxial double-rotor unmanned aerial vehicle |
-
2014
- 2014-11-12 CN CN201420675232.2U patent/CN204223182U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11649046B2 (en) | 2015-08-25 | 2023-05-16 | Aerovironment, Inc. | Ganged servo flight control system for an unmanned aerial vehicle |
| CN108349588A (en) * | 2015-08-25 | 2018-07-31 | 脉冲航空有限责任公司 | Linkage servo flight control system for unmanned vehicle |
| CN108349588B (en) * | 2015-08-25 | 2021-12-03 | 威罗门飞行公司 | Linkage servo flight control system for unmanned aerial vehicle |
| CN105235900A (en) * | 2015-11-04 | 2016-01-13 | 中航维拓（北京）科技有限责任公司 | Upper rotor semi differential yawing control system for coaxial unmanned helicopter |
| CN105235900B (en) * | 2015-11-04 | 2017-04-19 | 中航维拓（北京）科技有限责任公司 | Upper rotor semi differential yawing control system for coaxial unmanned helicopter |
| CN106218864A (en) * | 2016-09-18 | 2016-12-14 | 深圳市睿文航空科技有限公司 | A kind of device handling large-scale depopulated helicopter pitch |
| CN107364588A (en) * | 2017-07-17 | 2017-11-21 | 飞瑞航空科技（江苏）有限公司 | A kind of depopulated helicopter auto-bank unit leveling tool |
| CN108216618B (en) * | 2017-12-25 | 2019-11-15 | 上海歌尔泰克机器人有限公司 | A kind of motor verts lockable mechanism and unmanned plane |
| CN108216618A (en) * | 2017-12-25 | 2018-06-29 | 上海歌尔泰克机器人有限公司 | A kind of motor verts lockable mechanism and unmanned plane |
| CN108891589A (en) * | 2018-08-13 | 2018-11-27 | 吴立群 | A kind of power and vector control mechanism of coaxial double-oar aircraft |
| CN109263868A (en) * | 2018-09-28 | 2019-01-25 | 上海歌尔泰克机器人有限公司 | A kind of unmanned plane rotor structure and unmanned plane during flying device |
| CN109677603A (en) * | 2019-02-22 | 2019-04-26 | 一飞智控(天津)科技有限公司 | Helicopter rotor operation device and rotor driver |
| CN109677603B (en) * | 2019-02-22 | 2024-02-27 | 一飞智控(天津)科技有限公司 | Helicopter rotor wing control device and rotor wing device |
| CN115158648A (en) * | 2022-07-19 | 2022-10-11 | 哈尔滨工业大学 | Coaxial double-rotor unmanned aerial vehicle |
| CN115158648B (en) * | 2022-07-19 | 2023-04-18 | 哈尔滨工业大学 | Coaxial double-rotor unmanned aerial vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150325 Termination date: 20161112 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |