CN206031773U - Helicopter and rotor device thereof - Google Patents

Abstract

The utility model discloses a rotor device of helicopter, including the main shaft, be equipped with on the main shaft paddle oar press from both sides, go up tilting plate, down the paddle oar press from both sides and tilting plate down, go up the paddle oar and press from both sides with paddle oar clamp can be rotatory around main shaft axis respectively down, go up tilting plate and tilting plate down all overlap locate the main shaft on, go up tilting plate and press from both sides with last paddle oar and be connected, lower tilting plate is connected with last tilting plate, lower paddle oar clamp respectively. Use the utility model discloses a rotor device, tilting plate drives when the axis of main shaft moves and goes up tilting plate and move along the axis of main shaft instantly, and then goes up tilting plate drives and go up paddle oar clamp and rotate along self axis, and drive down the paddle oar with tilting plate at present and press from both sides and rotate around self axis, the angle of attack of paddle about changing, the realization is the simultaneous control of paddle from top to bottom. Remarkable, the utility model discloses a rotor device passes through mechanical action and realizes the simultaneous control to upper and lower paddle, and adaptive is strong, easy to operate, react sensitive. The utility model also discloses a helicopter.

Description

Helicopter and its rotor driver

Technical field

The utility model is related to helicopter equipment technical field, more particularly, it relates to a kind of rotor driver of helicopter, Further relate to a kind of helicopter.

Background technology

Current coaxal helicopter mostly using half differential or automatically controlled complete differential coaxal helicopter, has significantly manipulation Shortcoming.

Half differential lifting airscrew axis system, only one group blade have control system, can enter line tilt, lift control System, another group of blade only retain lift control function, in axis system bank control, only possess the oar disk of control system The attitude of aircraft can be controlled, and rotation needs upper and lower oar disk to coordinate to change lift size, so as to adjust the torque of respective blade, So that there is whole system rotation to manipulate.This structure due to have a blade have steerable system, manipulate get up comparison it is heavy, Mini Tele-Copter structure is more common in, wind resistance is also general.

The complete differential coaxal helicopter having, is to control upper and lower blade respectively with two sets of control panels, realizes which while increase and decrease Angle, it is also possible to which equivalent one increases one and subtracts angle and cycle manipulation, and such full Differential Control increased current consuming apparatus, reduce effect Rate, and less stable.

In sum, how to efficiently solve that helicopter rotor system stability is poor, energy consumption is big, operating efficiency is low asks Topic, is current those skilled in the art's urgent problem.

Utility model content

In view of this, first purpose of the present utility model is to provide a kind of rotor driver of helicopter, straight to solve Rise that machine rotor system stability is poor, energy consumption greatly, inefficiency the problems such as.Second purpose of the present utility model is to provide one kind Including the helicopter of above-mentioned rotor driver.

In order to reach above-mentioned first purpose, the utility model provides following technical scheme：

A kind of rotor driver of helicopter, including main shaft, on the main shaft is from top to bottom disposed with blade oar folder, Upper pitch, lower blade oar folder and lower pitch, the upper blade oar folder and the lower blade oar folder can be rotating around the masters The axis rotation of axle, the upper pitch and the lower pitch are sheathed on the main shaft, and the upper pitch and institute Stating lower pitch can respectively along the axis slip of the main shaft, and the upper pitch is connected with the upper blade oar folder, so that The upper pitch along the axis of the main shaft move when, the upper blade oar folder can around own axis, it is described under Pitch is connected with the upper pitch so that the lower pitch along the main shaft axis move when, the upper inclination Disk can be moved along the axis of the main shaft, and the lower pitch is connected with the lower blade oar folder, so that the lower inclination , along during the axis movement of the main shaft, the lower blade oar folder can be around own axis for disk.

Preferably, the first transmission device is hinged with pitch on described, first transmission device can be relative Rotate in the perpendicular of the upper pitch, first transmission device away from the upper pitch one end with it is described on Blade oar folder is hinged, and first transmission device can be being rotated in the perpendicular of blade oar folder relative on described.

Preferably, first transmission device includes：

The swing arm pull bar that one end is hinged with the upper pitch, the other end of the swing arm pull bar are put with upper oar displacement One end of arm is hinged, and the swing arm pull bar can be slided up and down in the vertical plane relative to pitch on described, the pendulum Arm pull bar can drive upper oar displacement swing arm to swing up and down in the vertical plane relative to pitch on described；

The other end of the upper oar displacement swing arm is hinged with interior shelf, is hinged with first in the upper oar displacement swing arm Driving member, first driving member are connected with the upper blade oar folder, and upper oar displacement swing arm can drive described first to pass Moving part in the vertical rotation in surface relative to pitch on described, first driving member can drive the upper blade oar folder around Own axes rotate.

Preferably, the second transmission device is hinged with the lower pitch, second transmission device can be relative to institute Lower pitch is stated in vertical rotation in surface, one end and the lower blade oar of second transmission device away from the lower pitch Folder is hinged, and second transmission device can be clipped in vertical rotation in surface relative to the lower blade oar.

Preferably, second transmission device includes：

The differential arm that one end is hinged with the main shaft, the differential arm can be relative to institutes away from one end of the main shaft Swing up and down in the vertical plane for stating lower pitch, the differential arm away from the main shaft one end successively respectively with the lower blade Oar is pressed from both sides and the lower pitch is hinged, and the differential arm is hinged with lower blade oar folder second driving members of Jing, and described second passes Moving part can drive the lower blade oar to press from both sides around own axis, and the differential arm is pushed away with the differential swing arms of the lower pitch Jing Torque arm is hinged.

Preferably, the differential arm is hinged with connection transiting rod away from one end of the main shaft, the connection transiting rod with The short pull bar of pitch is hinged between the upper pitch, and the connection transiting rod is relative to the vertical of the lower pitch Slide and drive the upper pitch to move along the axis of the main shaft in face, the differential swing arm push-pull arm was connected with described Cross bar warp beam and hold and be hinged.

Preferably, the long pull bar of pitch, the upper inclination is hinged between the lower pitch and the upper pitch It is provided with the 3rd driving member between the long pull bar of disk and the upper pitch, the long pull bar of the upper pitch is relative under described The vertical rotation in surface and the drive upper pitch of pitch is moved along the axis of the main shaft.

Preferably, steering spindle sliding sleeve is provided with the main shaft, and the steering spindle sliding sleeve can be on the main shaft Axis along the main shaft slides, and the differential arm is hinged with the steering spindle sliding sleeve, and the lower pitch is sheathed on described turning To on axle sliding sleeve and can slide up and down, be provided with driving on the steering spindle sliding sleeve steering spindle sliding sleeve along the master The power set that axle is slided up and down.

Preferably, it is provided with pitching pull bar and rolling for adjusting helicopter flight parameter to push away on the lower pitch Pull bar.

The utility model provide rotor driver include main shaft, be from top to bottom disposed with main shaft blade oar folder, Upper pitch, lower blade oar folder and lower pitch, upper blade oar folder and lower blade oar folder can be rotating around the axis of the main shaft Rotation, upper pitch and lower pitch are sheathed on main shaft, and upper pitch can respectively along the axis of main shaft with lower pitch Slide, upper pitch is connected with upper blade oar folder, so that upper pitch is along during the axis movement of main shaft, upper blade oar folder can Around own axis, lower pitch is connected respectively with upper pitch, lower blade oar folder, so that axle of the lower pitch along main shaft When line is moved, upper pitch can be moved along the axis of main shaft, and lower blade oar folder can be around own axis.

During the rotor driver provided using the utility model, by arrange lower pitch drive respectively lower blade oar folder and on Pitch, instantly pitch along main shaft axis move when, in drives pitch along main shaft axis movement, upper pitch with it is upper The folder connection of blade oar, and then upper pitch drives upper blade oar to press from both sides along own axis, while lower pitch drives lower oar Rotation of the leaf oar folder around blade oar folder and lower blade oar folder own axis, realizations on, so change above blade oar press from both sides and under The anglec of rotation of blade oar folder, controls while realizing that upper and lower blade oar is pressed from both sides.It is clear that the rotor dress that the utility model is provided Put and realize that adaptivity is strong, easily operated to controlling while upper and lower blade, be quick on the draw by mechanical action.

In order to reach above-mentioned second purpose, the utility model additionally provides a kind of helicopter, and the helicopter includes above-mentioned Any one rotor driver.As the rotor driver of above-mentioned helicopter has above-mentioned technique effect, with the straight of the rotor driver The machine of liter should also have corresponding technique effect.

Description of the drawings

In order to be illustrated more clearly that the utility model embodiment or technical scheme of the prior art, below will be to embodiment Or accompanying drawing to be used is briefly described needed for description of the prior art, it should be apparent that, drawings in the following description are only It is some embodiments of the present utility model, for those of ordinary skill in the art, in the premise for not paying creative work Under, can be with according to these other accompanying drawings of accompanying drawings acquisition.

The structural representation of the rotor driver that Fig. 1 is provided for the utility model embodiment；

Side structure schematic views of the Fig. 2 for Fig. 1.

Mark in accompanying drawing as follows：

1 main shaft；2 phase place seats；3 rolling pull bars；4 pitching pull bars；5 times pitch determines ring；6 times pitch rotating rings；7 is poor Movable pendulum arm push-pull arm；8 steering spindle sliding sleeves；9 connection transiting rods；10 differential arms；The short pull bar of pitch on 11；12 times oar disk displacements Pull bar；13 displacement transiting rods；14 times blade oar folders；Pitch outer shroud on 16；Pitch inner ring on 17；18 swing arm pull bars； Oar displacement swing arm on 19；20 interior shelfs；Blade displacement pull bar on 21；Oar propeller hub on 22；Oar flapping axis on 23；Oar on 24 Leaf displacement transiting rod；Blade oar folder on 25；Pitch pull bar on 26；Phase place scotch on 27；28 times oar propeller hubs；29 times oar is waved Dance axle；The long pull bar of pitch on 30；31 rotation stop rings；32 chutes；33 bearings；34 rotation stop connecting rods；35 turn to pull bar.

Specific embodiment

The utility model embodiment discloses a kind of rotor driver of helicopter, numerous to solve helicopter rotor system operation Trivial, energy consumption is big, inefficiency the problems such as.

Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only the utility model a part of embodiment, rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made The every other embodiment for being obtained, belongs to the scope of the utility model protection.

Refer to Fig. 1-Fig. 2, the structural representation of the rotor driver that Fig. 1 is provided for the utility model embodiment；Fig. 2 is figure 1 side structure schematic view.

In a kind of specific embodiment, the rotor driver of helicopter includes main shaft 1, in main shaft 1 from top to bottom successively Blade oar folder 25, upper pitch, lower blade oar folder 14 and lower pitch is provided with, upper blade oar folder 25 can be around main shaft 1 Axis rotates, and lower blade oar folder 14 also can be rotated around the axis of main shaft 1, the two can under the drive of main shaft 1 around main shaft 1 axle Line is rotated, and direction of rotation is conversely, an i.e. always clockwise direction, a counter clockwise direction.General, upper blade oar Folder 25, lower blade oar folder 14 is preferably to be fixedly connected with the connected mode of main shaft 1, and the mode of being fixedly connected is particularly preferred as removable That what is unloaded is fixedly connected, such as threaded connection etc., certainly, in other embodiments, or the mode such as welding.Upper pitch is with Pitch is sheathed on main shaft 1, and the axis that upper pitch and lower pitch can be respectively along main shafts 1 slides, specifically, on Pitch and lower pitch can be connected with main shaft 1 by bearing, and the axis along main shaft 1 is slided up and down, and bearing is preferably ball axle Hold, certainly, suitable bearing type can also be selected in other embodiments, as long as identical technique effect can be reached i.e. Can, concrete implementation form is not limited.

Upper pitch is connected with upper blade oar folder 25, and specific connected mode can pass through connecting rod or other devices connect Connect, so that upper pitch is along during the axis movement of main shaft 1, that is, the dead in line of the axis and main shaft 1 of going up pitch being capable of edge What the axis of main shaft 1 was carried out slides up and down, and upper pitch can drive blade oar folder 25 around own axis.

Lower pitch is connected with upper pitch, and specific connected mode can be by connecting rod or other dresses as described above Connection is put, along during the axis movement of main shaft 1, upper pitch can be moved lower pitch along the axis of main shaft 1, i.e. the axle of pitch What is carried out during the dead in line of line and main shaft 1 slides up and down.

The position of the oar folder mounting ear of upper blade oar folder 25 and lower blade oar folder 14 is always contrary, as shown in figure 1, to scheme Shown in main shaft 1 axis on the basis of, oar press from both sides mounting ear one on a left side, one on the right side.Specific position and installation relation please With reference to prior art, will not be described here.

In a kind of specific embodiment, the connected mode tool respectively with upper blade oar folder 25, lower blade oar folder 14 of main shaft 1 Body is：On main shaft, 1 is provided with the cross-brace axle typically with 1 perpendicular placement of main shaft, is connected by bearing on cross-brace axle There is upper oar propeller hub 22, oar flapping axis 23 connect on Jing between upper oar propeller hub 22 and upper blade oar folder 25 so that upper blade oar folder 25 exists While rotation around 1 axis of main shaft, upper blade oar folder 25 can be swung up and down relative to upper oar propeller hub 22.In other embodiment In, it is also possible to main shaft 1 and upper blade oar folder 25 are attached by other devices or type of attachment, so that upper blade oar folder 25 can main shaft 1 drive under around main shaft 1 axis rotate, will not be described here.

Accordingly, lower oar propeller hub 28 is connected with main shaft 1 also by cross-brace axle, is connected specifically by bearing, lower oar Propeller hub 28 presss from both sides oar flapping axis 29 under 14 Jing with lower blade oar and is connected.So that lower blade oar folder 14 is same what is rotated around 1 axis of main shaft When, lower blade oar folder 14 can be swung up and down relative to lower oar propeller hub 28, can also be other forms in other embodiments Connected mode, as long as identical technique effect can be realized, is not construed as limiting to concrete implementation form.In other embodiment In, it is also possible to select other devices to be attached main shaft 1 with lower blade oar folder 14, in protection domain of the present utility model It is interior.

Using the rotor driver that the utility model is provided, 14 and upper pitch are pressed from both sides with lower blade oar respectively by lower pitch Connection, upper pitch are connected with upper blade oar folder 25 so that lower pitch can be driven simultaneously along during the axis movement of main shaft 1 Upper blade oar folder 25 and lower blade oar folder 14 are rotated around the axis of itself, blade oar folder 25, lower blade oar folder 14 in realization While rotate, and then realize full Differential Control, by mechanical action, the device realizes that upper blade oar folder 25, lower blade oar presss from both sides 14 While control, adaptivity is strong, manual dexterity.

Specifically, upper pitch and upper blade oar folder 25 be connected, so that upper pitch is along during the axis movement of main shaft 1, Upper blade oar folder 25 can be around own axis.Specially：The first transmission device, the first transmission dress is hinged with upper pitch Put and can rotate in perpendicular relative to upper pitch, one end and upper blade oar of first transmission device away from upper pitch Folder 25 is hinged, and the first transmission device can be being rotated in the perpendicular of blade oar folder 25 relative on.Preferably, upper pitch It is hinged with the first transmission device, the first transmission device can be in the vertical rotation with surface of the pitch relative on, i.e., can be The axis in the vertical direction of the drive lower edge main shaft 1 of upper pitch is subjected to displacement, the direction of motion of the first transmission device with it is upper The perpendicular relation of axis of blade oar folder 25, and the movement that in the vertical direction occurs is converted to into upper blade oar folder 25 around itself The rotation of axis, the axis for completing pitch along main shaft 1 are moved to power biography of the upper blade oar folder 25 around own axis It is defeated.

Further, the first transmission device includes：The swing arm pull bar 18 that one end is hinged with upper pitch, swing arm pull bar 18 other end is hinged with one end of upper oar displacement swing arm 19, and swing arm pull bar 18 can be in the vertical plane of the pitch relative on Inside slide up and down, swing arm pull bar 18 can drive oar displacement swing arm 19 in the vertical plane of the pitch relative on the bottom It is dynamic；The other end of upper oar displacement swing arm 19 is hinged with interior shelf 20, is hinged with the first driving member in upper oar displacement swing arm 19, First driving member is connected with upper blade oar folder 25, and upper oar displacement swing arm 19 can drive the first driving member inclining relative on The vertical rotation in surface of disk, the first driving member can drive blade oar folder 25 to rotate around own axes.Upper oar displacement swing arm 19 One end be articulated with the interior shelf 20 of balance winglet, typically rotary shaft can be set on bracing frame 20 internally, in rotation Bearing is set on axle and realizes being hinged for the two.In other embodiments, it is also possible to be fixed on other positions or by other shapes The articulated manner of formula is fixed, and is only more preferred embodiment herein.

The other end of upper oar displacement swing arm 19 is movable end, when upper oar displacement swing arm 19 is rotated around interior shelf 20, The movable end of upper oar displacement swing arm 19 is swung up and down in the vertical plane for go up relatively pitch, and then drives first for being attached thereto Vertical rotation in surface of the driving member in the pitch relative on, specifically, the first driving member includes blade displacement pull bar 21 With upper blade displacement transiting rod 24, upper blade displacement pull bar 21 is hinged with the movable end of upper oar displacement swing arm 19, and upper blade becomes 25 be hinged away from transiting rod 24 and upper blade oar folder, upper blade displacement pull bar 21 in the vertical plane for go up relatively pitch on the bottom It is dynamic, upper blade displacement transiting rod 24 and upper 21 perpendicular placement of blade displacement pull bar, typically by oscillating bearing connection, i.e., with The axis direction of upper blade oar folder 25 is parallel, when upper pitch is moved along the axis of main shaft 1, drives swing arm pull bar 18 perpendicular Slide up and down in facing directly, and then drive upper oar displacement swing arm 19 to swing up and down around interior shelf 20, blade displacement is pushed away in drive Pull bar 21 is moved up and down in vertical plane, and in drive, blade displacement transiting rod 24 is moved up and down in vertical plane, and then on driving Blade oar folder 25 rotates a certain angle around own axes.

The length of swing arm pull bar 18, swing arm pull bar 18 are with upper blade displacement pull bar 21 in upper oar displacement swing arm 19 Installation site, upper oar displacement swing arm 19 length can by precalculate proportionate relationship acquisition, according to different Production requirements select Selecting different parameters carries out calculating acquisition, in protection domain of the present utility model.

Further, the second transmission device is hinged with lower pitch, the second transmission device can be relative to lower inclination Disk is hinged with lower blade oar folder 14 away from one end of lower pitch in vertical rotation in surface, the second transmission device, the second transmission dress Putting can be relative to lower blade oar folder 14 in vertical rotation in surface.

Lower pitch and the second transmission device are hinged, and the second transmission device is vertical relative to lower pitch place plane Rotation with surface, second transmission device one end are hinged with lower pitch, and the other end is hinged with lower blade oar folder 14, in lower pitch When moving along the axis of main shaft 1, the second transmission device is driven in vertical rotation in surface, specially in the axis direction along main shaft 1 Upper slip, in the vertical plane relative to the second actuator movement direction, lower blade oar presss from both sides 14 to the axis of lower blade oar folder 14 Rotate in the drive lower edge own axes of the second transmission device, complete the Angulation changes of lower blade oar folder 14.

Specifically, the second transmission device includes：

The differential arm 10 that one end is hinged with main shaft 1, differential arm 10 can be relative to lower pitch away from one end of main shaft 1 Vertical plane in swing up and down, differential arm 10 away from main shaft 1 one end successively respectively with lower blade oar folder 14 and lower pitch hinge Connect, differential arm 10 presss from both sides 14 the second driving members of Jing with lower blade oar and is hinged, the second driving member can drive lower blade oar folder 14 around certainly Body axis is rotated, and the differential swing arm push-pull arm of differential arm 10 and lower pitch Jing 7 is hinged.

One end of differential arm 10 is hinged with main shaft 1, can be realized by arranging bearing on main shaft 1 so that differential arm 10 One end is fixed, and the other end can be swung up and down in the vertical plane relative to lower pitch, and the movable end of differential arm 10 is successively with Blade oar folder 14 and lower pitch are hinged, and specifically, lower blade oar folder 14 may be provided at other positions at the two ends except differential arm 10 Put, the centre position being preferably provided on 10 length direction of differential arm, its specific set location can be carried out by precalculating Design, to meet different power needs.

Differential arm 10 presss from both sides 14 the second driving members of Jing with lower blade oar and is hinged, and the second driving member is specially and is hinged with differential arm 10 Lower oar disk displacement pull bar 12, with the 14 displacement transiting rods 13 that be connecteds of lower blade oar folder, lower oar disk displacement pull bar 12 and change Connection is held away from 13 warp beam of transiting rod, it is generally preferable to for oscillating bearing, lower oar disk displacement pull bar 12 is disposed relative to lower inclination In the vertical plane of disk place plane, displacement transiting rod 13 is arranged in the plane parallel with lower pitch place plane, lower oar Disk displacement pull bar 12 differential arm 10 drive lower edge relative to the vertical plane of lower pitch place plane in slide up and down, Drive displacement transiting rod 13 to slide up and down in perpendicular, and then drive lower blade oar folder 14 to rotate around own axes.

Specifically, differential arm 10 is hinged with connection transiting rod 9, connection transiting rod 9 and upper pitch away from one end of main shaft 1 Between be hinged with the short pull bar 11 of pitch, on connection transiting rod 9 slides in the vertical plane relative to lower pitch and drives Pitch is moved along the axis of main shaft 1, and differential swing arm push-pull arm 7 is hinged with transiting rod 9 is connected.Differential swing arm push-pull arm 7 passes through Bearing is arranged on connection transiting rod 9 and is hinged with differential arm 10, upper pitch and lower pitch by differential swing arm push-pull arm 7, Connection transiting rod 9 and the short pull bar of the upper pitch being arranged on connection transiting rod 9 11 connect, in lower pitch along main shaft 1 Axis move when, differential swing arm push-pull arm 7 is moved up and down in the face mutually vertical with lower pitch, drive connection transiting rod 9 And then drive the upper short pull bar 11 of pitch to move along the axis of main shaft 1, and then upper pitch is driven to move along the axis of main shaft 1 It is dynamic, realize that lower pitch is moved with while upper pitch.

Further, it is hinged with the long pull bar 30 of pitch between lower pitch and upper pitch, the long push-and-pull of upper pitch It is provided with the 3rd driving member between bar 30 and upper pitch, the long pull bar 30 of upper pitch is in the vertical plane relative to lower pitch Rotate and drive upper pitch to move along the axis of main shaft 1.In order to lower pitch preferably drives upper pitch to move simultaneously, on The long pull bar of pitch 30 is hinged with lower pitch and upper pitch respectively, and the long pull bar of upper pitch 30 is along relative to lower inclination Slide in the vertical plane of disk, and then drive upper pitch to move along the axis of main shaft 1 by the 3rd driving member, specifically, the 3rd The upper pitch that driving member is included the upper phase place scotch 27 being hinged with the long pull bar of upper pitch 30 and is hinged with upper pitch Pull bar 26, upper pitch pull bar 26 are fixedly connected with upper phase place scotch 27.

On the basis of the various embodiments described above, steering spindle sliding sleeve 8 on main shaft 1, is provided with, and steering spindle sliding sleeve 8 can led Axis on axle 1 along main shaft 1 slides, and differential arm 10 is hinged with steering spindle sliding sleeve 8, and lower pitch is sheathed on steering spindle sliding sleeve 8 And can slide up and down, it is provided with driving steering spindle sliding sleeve 8 to fill along the power that main shaft 1 is slided up and down on steering spindle sliding sleeve 8 Put.Differential arm 10 is hinged with main shaft 1 and is specially hinged with steering spindle sliding sleeve 8, and lower pitch is set on steering spindle sliding sleeve 8, and one As by bearing connect so that lower pitch can be slided up and down on steering spindle sliding sleeve 8.

Be provided with power set on steering spindle sliding sleeve 8, power set be specially hold with 8 warp beam of steering spindle sliding sleeve be connected only Change 31, rotation stop ring 31 and steering spindle sliding sleeve 8 can distinguish each spinning, and rotation stop ring 31 can drive steering spindle sliding sleeve about 8 Slide, in order to preferably enter action edge transmission, on rotation stop ring 31, be provided with rotation stop connecting rod 34, rotation stop connecting rod 34 is pushed away with steering 35 warp beam of pull bar holds connection, and also including chute 32, rotation stop connecting rod 34 is slided on chute 32 by bearing 33, turns to pull bar 35 one end is connected to the outer end of rotation stop connecting rod 34, and centre position and the 33 inner ring staff cultivation of bearing of rotation stop connecting rod 34 connect Connect, the outer ring position of bearing 33 is positioned in chute 32, is fixedly connected with chute 32, and chute 32 is fixedly connected with phase place seat 2, phase Position seat 2 is fixed on reduction box and does not do any motion, and the other end of rotation stop connecting rod 34 is fixedly connected on rotation stop ring 31, turns to Axle sliding sleeve 8 is rotated relative to rotation stop ring 31.

The other end of steering spindle sliding sleeve 8 is connected with one end of differential arm 10 by bearing so that differential arm 10 relative to turn Can not rotate to axle sliding sleeve 8, can only warp beam hold and swing up and down along steering spindle sliding sleeve.It is dynamic for power source when pull bar 35 is turned to When making so that rotation stop ring 31 is slided up and down in vertical direction along chute 32 together with steering spindle sliding sleeve 8, so as to drive The inner action of differential arm 10, the now outer end of differential arm 10 no action in vertical direction, the inner of differential arm 10 is up and down Action drives the up and down action of lower oar disk displacement pull bar 12, acts on lower blade oar folder 14 eventually through displacement transiting rod 13, So as to change the angle of lower oar disk blade.Individually the angle of lower oar disk blade can be adjusted by said apparatus, can basis Flight need it is complete differential or half differential changed, meeting can independently to upper blade and lower oar under different flight progress The needs that the angle of attack of leaf is adjusted.

Further, it is provided with pitching pull bar 4 and rolling for adjusting helicopter flight parameter to push away on lower pitch Pull bar 3.Pitching pull bar 4 and/or rolling pull bar 3 are driven by the push rod of helicopter, side-play amount is transferred to into lower pitch On, and then the flight parameter of regulation helicopter, in other embodiments, it is also possible to be attached with other power set, to reach To the change of the helicopter angle of attack or other flight parameters.

Further, rolling pull bar 3 is determined to be oppositely arranged on ring 5 in lower pitch.In one embodiment, lower inclination Disk is determined to be provided with the rolling pull bar 3 of a pair of opposing and a pitching pull bar 4 on ring 5, with convenient to going straight up to The flight parameter of machine is adjusted, in other embodiments, it is also possible to arrange rolling pull bar 3 and the pitching push-and-pull of other quantity Bar 4, as long as reaching identical technique effect, is not construed as limiting to concrete implementation form.

Specifically, upper pitch includes upper pitch inner ring 17 nested with same bearing respectively and upper pitch outer shroud 16；Upper pitch outer shroud 16 is nested together by bearing with upper pitch inner ring 17 and is integrally formed, and upper pitch inner ring 17 is led to Cross bearing to be installed on main shaft 1, each autorotation that outer shroud and inner ring can be independent of each other, while outer shroud and inner ring are used as an entirety Can move in the vertical direction of main shaft 1, and can all swing up and down in vertical direction under sliding or non-sliding state, specifically, Upper pitch outer shroud 16 can be connected by deep groove ball bearing with upper pitch inner ring 17, and upper pitch inner ring 17 can be led to main shaft 1 Ball bearing connection is crossed, in other embodiments, it is also possible to select the bearing of other forms, as long as identical technology effect can be reached Fruit, is not construed as limiting to specific embodiment.

Lower pitch includes that lower pitch nested with same bearing respectively determines ring 5 and lower pitch rotating ring 6, lower pitch Rotating ring 6 is held with 1 warp beam of main shaft and is connected, and specifically, lower pitch is determined ring 5 and can be connected by deep groove ball bearing with lower pitch rotating ring 6 Connect, lower pitch rotating ring 6 can be connected by ball bearing with main shaft 1.Lower pitch determines to be provided with the lower pitch of drive on ring 5 along main The power set of the movement of axle 1, in order to preferably be connected with power set, typically can determine to arrange connecting rod dress on ring 5 in lower pitch Put and be connected with power set, by deep groove ball bearing by lower pitch determine ring 5 carry out with lower pitch rotating ring 6 it is nested so that two Person is become an entirety and is slided up and down by power set on main shaft 1, and lower pitch rotating ring 6 and 1 Jing ball axles of main shaft Connection is held, determining ring can not rotate, rotating ring can be around ring rotation be determined, while determine ring and rotating ring can be in main shaft 1 as an entirety Vertical direction is slided up and down, and can all be swung up and down so that whole pitch inclines in vertical direction under sliding or non-sliding state Tiltedly.

More specifically, mounting ear, swing arm pull bar can be provided with upper pitch inner ring 17 and upper pitch outer shroud 16 18 can be oppositely arranged on the mounting ear of upper pitch inner ring 17, and the short pull bar 11 of upper pitch, upper pitch pull bar 26 can It is connected with upper pitch outer shroud 16 respectively, the two can be oppositely arranged on the mounting ear of pitch outer shroud 16.

Accordingly, determine on ring 5 and lower pitch rotating ring 6, to be also provided with mounting ear in lower pitch, lower pitch is determined ring 5 and can be divided It is not connected with pitching pull bar 4 and rolling pull bar 3, realizes the power transmission of lower pitch.It is the long pull bar 30 of upper pitch, poor Movable pendulum arm push-pull arm 7 can be oppositely arranged on lower pitch rotating ring 6.

In addition, lower oar disk is mainly by a lower oar propeller hub 28 and two lower blade oar folders 14 and 29 groups of two lower oar flapping axis Into upper oar disk is mainly made up of a upper oar propeller hub 22 and two upper blade oar folders 25 and two upper oar flapping axis 23, and this reality It is to carry the rotor components such as upper and lower oar disk with the main shaft 1 mentioned in new, is the powered rotation of upper and lower oar disk, and Make part of the upper and lower oar disk blade on same rotation axis.Its concrete structure has various, can be by attachment means connection, It is coaxially disposed up and down and is respectively used to install two axles of oar disk and lower oar disk, and two axles setting up and down being capable of opposite direction Rotation；Can also be coaxially disposed, two hollow shafts that are nested successively and being capable of opposite direction rotation, mentioned in the utility model The structure of main shaft 1 be not limited to this, its concrete structure refer to prior art, and here is omitted, no matter using any Structure, will ensure which can make upper and lower oar disk blade rotation direction conversely, and in same axis.

In a kind of specific embodiment, when complete differential coaxial control is realized, two rolling pull bars 3 and can be passed through Root pitching pull bar 4 is moved up and down, and drive determines ring 5 by lower pitch and lower pitch rotating ring 6 constitutes overall lower pitch one Rise and move up and down, its action acts on the outer of differential arm 10 by the differential swing arm push-pull arm 7 being connected on lower pitch rotating ring 6 End, now the inner of differential arm 10 is failure to actuate, and the up and down action of outer end drives the up and down action of lower oar disk displacement pull bar 12, most Lower oar disk blade is acted on by displacement transiting rod 13 eventually, so as to change the angle of lower oar disk blade.

Meanwhile, the action of the lower pitch rotating ring 6 of lower pitch is by the long pull bar 30 of upper pitch, upper phase place scotch 27th, the short pull bar of the transmission group of upper pitch pull bar 26 and differential swing arm push-pull arm 7, connection transiting rod 9, upper pitch 11 Transmission group, in the upper pitch outer shroud 16 of upper pitch, outer shroud drives updip swash plate inner ring 17 and passes through for totally two groups of gearings Swing arm pull bar 18 acts on the moved end of oar displacement swing arm 19, and the action of 19 moved end of upper oar displacement swing arm is by upper blade displacement Pull bar 21 and upper blade displacement transiting rod 24 are ultimately applied to blade oar folder 25, so as to change the angle of upper oar disk blade. There is certain proportionate relationship between when 19 two swing arms of differential arm 10 and the swing arm of upper oar displacement act on its corresponding pull bar, So that up and down blade always away from knots modification it is identical, i.e. the knots modification of the angle of attack of blade is identical.While realizing upper and lower oar disk blade Control, and controlled quentity controlled variable is identical.

When the angle of attack to lower blade is individually controlled, pull bar 35 is turned to for during power source action so that rotation stop ring 31 are slided up and down in vertical direction along chute 32 together with steering spindle sliding sleeve 8, so as to drive the inner of differential arm 10 Action, the now outer end of differential arm 10 no action in vertical direction, the up and down action of the inner of differential arm 10 drive lower oar The up and down action of disk displacement pull bar 12, acts on lower blade oar folder 14 eventually through displacement transiting rod 13, so as to change lower oar The angle of disk blade.

The rotor driver that the utility model is provided is controlled while realizing the angle of upper and lower blade by Mechanical course, differential There is certain proportionate relationship between when 19 two swing arms of arm 10 and the swing arm of upper oar displacement act on its corresponding pull bar so that on Lower blade always away from knots modification it is identical, and good in safety stability is strong, it is easy to operates and is quick on the draw, and is capable of achieving upper and lower oar disk Blade mechanical synchronization is controlled, as increased and decreased blade angle simultaneously, while periodic Control blade angle or increases an angle for subtracting equivalent Degree control, so that realize the slewing maneuver of lifting manipulation, all around bank control and left and right around axle of the system；Manipulated variable Input is pure helicopter mode, is therefore tailored to most steerable system or personnel manipulate, wide accommodation.

Based on the rotor driver provided in above-described embodiment, the utility model additionally provides a kind of helicopter, the helicopter Including any one rotor driver in above-described embodiment, the rotor driver in above-described embodiment, institute is employed due to the helicopter Above-described embodiment refer to the beneficial effect of the helicopter.

In this specification, each embodiment is described by the way of progressive, and what each embodiment was stressed is and other The difference of embodiment, between each embodiment identical similar portion mutually referring to.

The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use that this practicality is new Type.Various modifications to these embodiments will be apparent for those skilled in the art, determined herein The General Principle of justice can be realized in the case of without departing from spirit or scope of the present utility model in other embodiments.Cause This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein The most wide scope consistent with features of novelty.

Claims (10)

1. a kind of rotor driver of helicopter, it is characterised in that including main shaft (1), from top to bottom set successively in the main shaft (1) Blade oar folder (25), upper pitch, lower blade oar folder (14) and lower pitch is equipped with, the upper blade oar folder is (25) and described Lower blade oar folder (14) can be rotated rotating around the axis of the main shaft (1), and the upper pitch and the lower pitch cover On the main shaft (1), and the upper pitch is slided with the axis that the lower pitch can be respectively along the main shaft (1) Dynamic, the upper pitch is connected with upper blade oar folder (25), so that axis of the upper pitch along the main shaft (1) When mobile, upper blade oar folder (25) can be around own axis, and the lower pitch is connected with the upper pitch, with So that the lower pitch is along during the axis movement of the main shaft (1), the upper pitch can be along the axis of the main shaft (1) Mobile, the lower pitch is connected with lower blade oar folder (14), so that axle of the lower pitch along the main shaft (1) When line is moved, lower blade oar folder (14) can be around own axis.

2. rotor driver according to claim 1, it is characterised in that be hinged with the first transmission dress on pitch on described Put, first transmission device can be rotated in the perpendicular relative to pitch on described, first transmission device It is hinged away from one end and upper blade oar folder (25) of the upper pitch, first transmission device can be relative to institute State in the perpendicular of blade oar folder (25) and rotate.

3. rotor driver according to claim 2, it is characterised in that first transmission device includes：

The swing arm pull bar (18) that one end is hinged with the upper pitch, the other end and the upper oar of swing arm pull bar (18) become One end away from swing arm (19) is hinged, and swing arm pull bar (18) can be in the vertical plane relative to pitch on described up and down Slide, swing arm pull bar (18) can drive upper the swing arm of oar displacement (19) relative on described pitch it is vertical Swing up and down in face；

The other end of upper swing arm of oar displacement (19) is hinged with interior shelf (20), is cut with scissors on upper the swing arm of oar displacement (19) The first driving member is connected to, first driving member is connected with upper blade oar folder (25), upper the swing arm of oar displacement (19) energy Enough drive first driving member in the vertical rotation in surface relative to pitch on described, first driving member can drive Upper blade oar folder (25) is rotated around own axes.

4. rotor driver according to claim 3, it is characterised in that be hinged with the second transmission dress on the lower pitch Put, second transmission device can relative to the lower pitch in vertical rotation in surface, second transmission device away from One end of the lower pitch is hinged with lower blade oar folder (14), and second transmission device can be relative to the lower oar Leaf oar presss from both sides (14) in vertical rotation in surface.

5. rotor driver according to claim 4, it is characterised in that second transmission device includes：

The differential arm (10) that one end is hinged with the main shaft (1), differential arm (10) can away from one end of the main shaft (1) Swing up and down in the vertical plane relative to the lower pitch, differential arm (10) away from the main shaft (1) one end according to Secondary to be hinged with lower blade oar folder (14) and the lower pitch respectively, differential arm (10) are pressed from both sides with the lower blade oar (14) the second driving members of Jing are hinged, and second driving member can drive lower blade oar folder (14) around own axis, Differential arm (10) are hinged with lower pitch Jing differential swing arm push-pull arm (7).

6. rotor driver according to claim 5, it is characterised in that differential arm (10) are away from the main shaft (1) One end is hinged with connection transiting rod (9), is hinged with the short push-and-pull of upper pitch between connection transiting rod (9) and the upper pitch Bar (11), connection transiting rod (9) slide in the vertical plane relative to the lower pitch and drive pitch on described Axis along the main shaft (1) is moved, and differential swing arm push-pull arm (7) are held with connection transiting rod (9) warp beam and are hinged.

7. rotor driver according to claim 6, it is characterised in that be hinged between the lower pitch and the upper pitch There is the long pull bar of upper pitch (30), between upper pitch long pull bar (30) and the upper pitch, be provided with the 3rd transmission Part, upper pitch long pull bar (30) are in the vertical rotation in surface relative to the lower pitch and drive inclination on described Disk is moved along the axis of the main shaft (1).

8. the rotor driver according to any one of claim 5-7, it is characterised in that be provided with the main shaft (1) and turn To axle sliding sleeve (8), and the axis that the steering spindle sliding sleeve (8) can be along the main shaft (1) on the main shaft (1) slides, institute State differential arm (10) to be hinged with steering spindle sliding sleeve (8), the lower pitch is sheathed on steering spindle sliding sleeve (8) and energy Enough slide up and down, be provided with driving on steering spindle sliding sleeve (8) steering spindle sliding sleeve (8) along the main shaft (1) The power set of lower slider.

9. rotor driver according to claim 8, it is characterised in that be provided with the lower pitch and go straight up to for adjusting The pitching pull bar (4) and rolling pull bar (3) of machine flight parameter.

10. a kind of helicopter, it is characterised in that include the rotor driver as described in any one of claim 1-9.