Utility model content
The purpose of this utility model is to provide a kind of rotor control devices, to solve pneumatic effect existing in the prior art
The problem of rate is poor, and structure is complicated.
To achieve the above object, the technical solution adopted in the utility model is a kind of rotor control device, including fixed link;
Power output component, the second motor including first motor and with first motor coaxial arrangement, described first
Motor coaxle and it is rotatably dispose in the fixed link, second motor coaxle is set to the fixed link;
Rotor assemblies, can be described around the first motor, the center axis thereof of second motor and the fixed link
Rotor assemblies include the first propeller and the second propeller for being correspondingly arranged with first propeller;
Power transfer assembly is connected between the power output component and the rotor assemblies;
Wherein, the first motor and second motor can relatively rotate, and the periodic rotary that the two generates is with respect to position
It sets variation and is transferred to the rotor assemblies so that the rotor assemblies generating period pitch changes through the power transfer assembly.
Further, the power transfer assembly includes the first driving member for being set to the first motor, is set to institute
State the second motor the second driving member and be set to first propeller and drive first propeller based on itself
First Passive part of axis rotation, first driving member and second driving member is connect with first Passive part and band
First Passive part is moved to be rotated based on the axis of itself so that the pitch of first propeller changes.
Further, first driving member includes the first transmission gear, and the first motor drives first transmission
For gear around the center axis thereof of the first motor, second driving member includes the second transmission gear, second motor
Drive second transmission gear around the center axis thereof of the first motor, first Passive part includes the first passive tooth
Wheel, first transmission gear and second transmission gear are engaged with first driven gear respectively, first transmission
Relative rotation between gear and second transmission gear is so that the central axis based on itself occurs for first driven gear
Line rotates.
Further, first driving member includes the first transmission gear, and the first motor drives first transmission
For gear around the center axis thereof of the first motor, first Passive part includes the first driven gear, second transmission
Part includes the first drive rod that be connected to first driven gear and the center axis thereof based on second motor,
First drive rod is inserted in the centre bore of first driven gear, first transmission gear and first passive tooth
Wheel engagement, first drive rod drive the first passive tooth crop rotation axially to rotate.
Further, the first motor is set to the top of second motor, and the power output component further includes
Third motor, the third motor be set to the lower section of second motor and with the first motor, second motor
It is coaxially disposed with the fixed link, the third motor is rotatably dispose in the fixed link;
Wherein, second motor and the third motor can relatively rotate, and the periodic rotary that the two generates is with respect to position
It sets variation and is transferred to second propeller so that the second propeller generating period paddle through the power transfer assembly
Away from variation;
Wherein, it is realized by the pitch of the pitch of superposition first propeller and second propeller to aircraft
The control of total pitch.
Further, the power transfer assembly further includes being set on second motor and the second driving member phase
To the third driving member of setting, it is set to the 4th driving member of the third motor and is set to second propeller and band
Move the second Passive part that second propeller is rotated based on the axis of itself, the third driving member and the 4th driving member
It is connect with second Passive part and second Passive part is driven to be rotated based on the axis of itself so that described second
The pitch of propeller changes;
Further, the third driving member includes the second drive rod, and second motor drives second drive rod
Around the center axis thereof of second motor, second Passive part includes the second driven gear, and second drive rod is inserted
Enter the centre bore of second driven gear to drive the second driven gear around the center axis thereof of the second motor, described
Four driving members include the 4th transmission gear, and the 4th transmission gear is engaged with second driven gear, second transmission
Bar and the 4th transmission gear drive the second passive tooth crop rotation axially to rotate.
Further, the first motor, second motor and the third motor are separately provided for detection rotation
The position detecting device of wing module position and position command for being detected according to the position detecting device generate control instruction
Driving motor reaches the control device of required relative position or revolving speed.
Further, the position detecting device includes hall position sensor, photoelectric code disk or passive position detection dress
It sets.
The another object of the utility model is to provide a kind of rotor craft, including above-mentioned rotor control device.
The beneficial effect of rotor control device and rotor craft provided by the utility model is:
Reach adjustment flight by the different rotating speeds between multiple rotor assemblies compared to existing multi-rotor aerocraft
The posture of device, the utility model are the pitch freedom that can reach adjustment aircraft, roll freedom degree using a rotor assemblies
With the control of lifting, the pneumatic efficiency of aircraft under comparable size, the utility model is high, flies in the case where reaching same power
The revolving speed of row device, the utility model is low, and noise is small;In addition, being changed compared to existing single rotor aircraft using pitch
The angle of attack and pitch of entire rotor assemblies, the utility model are passed through using the first motor and the second motor of two coaxial arrangements
First motor and the rotational speed difference of the second motor control rotor to realize periodic rotation relative position variation between the two
Component pitch cyclically-varying.Mechanical structure is simplified, while also eliminating servomechanism installation as steering engine, by completely new
Controlling mechanism realizes the full gesture stability of rotor craft.
Rotor craft with above-mentioned rotor control device has pneumatic efficiency high, realizes the structure letter of full gesture stability
List and maintenance cost is low.
Specific embodiment
In order to which technical problem to be solved in the utility model, technical solution and beneficial effect is more clearly understood, with
Lower combination accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific reality described herein
It applies example to be only used to explain the utility model, is not used to limit the utility model.
It should be noted that be referred to as " being fixed on " or " being set to " another element when element, it can be located immediately at
It is located on another element on another element or indirectly.When an element referred to as " is connected to " another element, it can
To be connected directly or indirectly to another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System is merely for convenience of description the utility model, rather than instruction device or element must have a particular orientation, with specific
Orientation construction and operation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for description purposes only, and should not be understood as indicating relative importance or instruction
The quantity of technical characteristic.The meaning of " plurality " is two or more in the description of the present invention, unless otherwise clear
It is specific to limit.The specific implementation of the utility model is further described in more detail below in conjunction with specific embodiment:
Fig. 1 to Figure 12 shows a kind of rotor control device provided by the embodiment of the utility model.
Such as a kind of rotor control device that Fig. 1 and Fig. 2, the utility model first embodiment are provided, including fixed link 1;
Power output component 2, including first motor 21 and the second motor 22 being coaxially disposed with first motor 21, the first electricity
Machine 21 is coaxial and is rotatably dispose in fixed link 1, and the second motor 22 is coaxially disposed in fixed link 1, and the second motor 22 is set to the
The lower section of one motor 21;
Rotor assemblies 3, can be around first motor 21, the center axis thereof of the second motor 22 and fixed link 1, rotor assemblies 3
Including the first propeller 31 and the second propeller 32 being correspondingly arranged with the first propeller 31;
Power transfer assembly 4, including being set to the first driving member 41 of first motor 21, being set to the of the second motor 22
Two driving members 42 and the first quilt for being set to the first propeller 31 and the first propeller 31 being driven to rotate based on the axis of itself
Moving part 43, the first driving member 41 and the second driving member 42 connect with the first Passive part 43 and the first Passive part 43 are driven to be based on certainly
The axis of body rotates so that the pitch of the first propeller 31 changes;
Wherein, both first motor 21 and the second motor 22 can produce the variation of periodic rotary relative position, drive first
The axial rotation of 43 generating period of Passive part, and then the first propeller 31 is driven to rotate based on own torque, generating period
Pitch variation, to realize the control to aircraft pitching, roll freedom degree and lifting.
Specifically, the periodic rotation relative position variation that first motor 21 and the second motor 22 generate is transmitted through power
Component 4 is transferred to the first propeller 31, is realized by controlling the pitch generating period variation of the first propeller 31 to flight
The control of device pitching and roll freedom degree;
Specifically, changed by the rotation relative position that first motor 21 and the second motor 22 generate to control the first spiral
The pitch of paddle 31 changes to realize to aircraft elevating control.
The working principle of rotor control device provided in this embodiment is as follows:
Power output component 2 includes the first motor 21 and the second motor 22 of two coaxial arrangements, when 21 He of first motor
Second motor 22 at the same speed rotation when, the pitch for the rotor assemblies 3 being connect with power output component 2 by power transfer assembly 4 is not
It changes;When generating rotational speed difference between first motor 21 and the second motor 22, first motor 21 and the second motor 22 occur to turn
When dynamic relative position variation, the pitch of rotor assemblies 3 changes therewith, when rotation relative position variation becomes to be periodic
When change, the variation of the pitch of rotor assemblies 3 generating period therewith, above-mentioned principle is exactly that the present embodiment can replace existing go straight up to
The reason of machine is for adjusting the pitch of the angle of attack and pitch.
Rotor control device in the embodiment can be used on single rotor aircraft, it can also be used to the aircraft of coaxial double-oar
On, when the main rotor for controlling single rotor aircraft, need separately to set an empennage to offset the rotation torque of main rotor, when
When for controlling one of main rotor of coaxial double-oar, then need separately to set the coaxial pair being arranged and direction of rotation is opposite
Rotor offsets the rotation torque of main rotor.
The beneficial effect of rotor control device provided in this embodiment is:
Reach adjustment flight by the different rotating speeds between multiple rotor assemblies compared to existing multi-rotor aerocraft
The posture of device, the utility model are the pitch freedom that can reach adjustment aircraft, roll freedom degree using a rotor assemblies 3
With the control of lifting, the pneumatic efficiency of aircraft under comparable size, the utility model is high, flies in the case where reaching same power
The revolving speed of row device, the utility model is low, and noise is small;In addition, being changed compared to existing single rotor aircraft using pitch
The angle of attack and pitch of entire rotor assemblies 3, the first motor 21 and the second motor 22 that the utility model is coaxially disposed using two,
By first motor 21 and the rotational speed difference of the second motor 22 with realize between the two periodic rotation relative position variation come
3 pitch cyclically-varying of rotor assemblies is controlled, by the relative position of first motor 21 and the second motor 22 to realize rotor group
The pitch of part 3 changes.Mechanical structure is simplified, while also eliminating servomechanism installation as steering engine, passes through completely new control
Mechanism realizes the full gesture stability of rotor craft.
Specifically, the second motor 22 is rotatably dispose in fixed link 1, and the first driving member 41 includes the first transmission gear 411, the
One motor 21 drives the first transmission gear 411 around the center axis thereof of first motor 21, and the second driving member 42 includes the second biography
Moving gear 421, the second motor 22 drive center axis thereof of second transmission gear 421 around first motor 21, the first Passive part
43 include the first driven gear 431, and the first transmission gear 411 and the second transmission gear 421 are nibbled with the first driven gear 431 respectively
It closes, the first driven gear 431 occurs for the relative rotation angle between the first transmission gear 411 and the second transmission gear 421
Central axis based on itself rotates.
Refinement ground, rotor assemblies 3 further include be rotatably dispose in fixed link 1 be located at first motor 21 and the second motor 22 it
Between connector 33, the rotation axis of connector 33 is overlapped with the central axis of fixed link 1, and rotor assemblies 3 further include and connector
33 connections and the rotation frame 34 that can be rotated with opposing connector 33, rotate the rotation axis of frame 34 perpendicular to fixed link 1
Central axis, rotation frame 34 is for being fixedly connected with the first propeller 31 and the second propeller 32.Above structure illustrates to rotate
Frame 34 both vertically the central axis of fixed link 1 can also be made axially to rotate around the center axis thereof of fixed link 1.
Refinement ground, please refer to Fig. 2 and Fig. 3, the first propeller 31 includes the first connector 311 and is fixedly installed on the
The first blade 312 on one connector 311, the rotation axis of the first connector 311 and the rotation axis of the first blade 312 are coaxial, the
One connector 311 is fixed on the first driven gear 431, the rotation axis of the first connector 311 and the first driven gear 431 from
Moving axis of walking around is coaxial.The second leaf that second propeller 32 connector 321 and be fixedly installed on the second connector 321 including second
Piece 322, the rotation axis of the second connector 321 and the rotation rotation axis of the second blade 322 are coaxial, the first connector 311 and second
Connector 321 is connected to rotation frame 34, that is, the first connector 311 and the second connector 321 are coaxial, 311 quilt of the first connector
Occur to rotate based on the rotation axis of itself by rotation the second connector 321 of drive of frame 34 after driving rotation.
Further, power transfer assembly 4 further includes the 5th transmission gear for being set to the lower end surface of first motor 21
401, for being set to the 6th transmission gear 402 of the upper surface of the second motor 22 and being rotatably dispose on the second connector 321
Three driven gears 403, the 5th transmission gear 401 are oppositely arranged with the first transmission gear 411, and the fixation of the first transmission gear 411 is set
It is placed on rotation frame 34, the 6th transmission gear 402 is oppositely arranged with the second transmission gear 421, the 5th transmission gear 401 and the
Six transmission gears 402 are engaged in respectively on the third driven gear 403.5th transmission gear 401 and the 6th transmission gear 402
Drive third driven gear 403 around itself center axis thereof, but third driven gear 403 with 321 turns of the second connector
Dynamic connection, is not fixedly connected, and third driven gear 403 drive the second connector 321 to turn around the central axis of fixed link 1
Dynamic, without driving the second connector 321 around the center axis thereof of its own, i.e. the axial rotation of the second connector 321 relies on
First connector 311 drives, and therefore, when 312 angle of attack of the first blade becomes positive value, the angle of attack of the second blade 322 is negative value.
When the pitch of first blade 312 and the second blade 322 changes, the cooperation of each structure is as follows:
First blade 312, the first connector 311, the rotation for rotating frame 34, the second connector 321 and the second blade 322
Axis is coaxial, and the first transmission gear 411 engages the first driven gear 431 with the second transmission gear 421 respectively, by the first driving cog
The relative rotation differential seat angle of wheel 411 and the second transmission gear 421, so that axial rotation occurs for the first driven gear 431, and then makes
Angle of attack variation occurs with the first blade 312 of the first driven gear 431 fixed setting, and the first driven gear 431 is by rotation
Frame 34 is connected on the second connector 321, and the rotation of the first driven gear 431 drives the second connector 321 passive in third
The centre bore of gear 403 rotates, and then drives the second blade 322 that axial rotate occurs and angle of attack variation occurs.
Such as Fig. 4, the speed curves of first motor 21 and the second motor 22 at work.
It is the working principle of the 3 periodically-varied pitch of rotor assemblies of first embodiment such as Fig. 5 and Fig. 6:
When the aircraft equipped with this rotor driver needs pitch control torque, with the folder of the first blade 312 and X-axis
Angle is phase angle, and the first blade 312 and the second blade 322 in Fig. 5 are located at initial position, i.e. the first blade 312 is attached positioned at 0 degree
Closely, the second blade 322 is located near 180 degree, when first motor 21 and the second motor 22 rotate clockwise simultaneously, drives the first leaf
Piece 312, the second blade 322 rotate clockwise and the pneumatic angle of attack difference of the first blade 312 and the second blade 322 is 0, when the first leaf
When piece 312 is rotated clockwise close to 90 degree, first motor 21 is slowed down and the second motor 22 accelerates, at this time the first blade 312 at
The just pneumatic angle of attack, the second blade 322 generate upward lift at the angrily dynamic angle of attack, the first blade 312, and the second blade 322 generates
Downward negative lift.And then a yawing for making aircraft vert to heading is generated, when the first blade 312 turns over 90
When spending, first motor 21 accelerates the second motor 22 to slow down, and makes the first blade 312, the pneumatic angle of attack of the second blade 322 is returned again
Zero.When the first blade 312 is rotated clockwise close to 270 degree, first motor 21 accelerates, and the second motor 22 slows down, and makes the
One blade 312 is negative the pneumatic angle of attack, and the second blade 322 is positive the pneumatic angle of attack, and the first blade 312 generates negative lift, the second blade
322 generate upward lift.And then aircraft generates a forward deflection torque.When the first blade 312 turns over 270 degree
It waits, first motor 21 is slowed down, and the acceleration of the second motor 22 makes the first blade 312, and the pneumatic angle of attack difference of the second blade 322 is returned again
Zero.And then complete the operating control period an of aircraft.It is above-mentioned to carry out pitching flight adjustment for aircraft, similarly, in phase
Parallactic angle is 0 degree of roll that aircraft can be completed with the pneumatic angle of attack for controlling the first blade 312 and the second blade 322 when 180 degree
Flight adjustment.
Although it is to be noted that in the present embodiment the first blade 312 or the second blade 322 itself generate it is pneumatic
Torque is completely forward, but since high-speed rotating rotor has certain gyroscopic procession effect, is ultimately applied to fly
Deflection torque on row device can pneumatically have certain differential seat angle with actual, which can exist according to different aircraft situations
It is corrected in flight-control computer, for example the control moment actually generated lags 90 degree of aerodynamic moment, i.e., mentions in flying control
Preceding 90 degree of phase angles control posture.
Further, the first transmission gear 411 is set to the eccentric position of the lower end surface of first motor 21, the second driving cog
Wheel 421 is set to the eccentric position of the upper surface of the second motor 22.
Such as Fig. 7 and Fig. 8, a kind of rotor control device that the utility model second embodiment provides, not with first embodiment
It is with place, the lower end of the second motor 22 rotation setting fixed link 1, the first driving member 41 includes the first transmission gear 411,
First motor 21 drives the first transmission gear 411 around the center axis thereof of first motor 21, and the first Passive part 43 includes first
Driven gear 431, the second driving member 42 include being connected to central axis the first driven gear 431 and based on the second motor 22
First drive rod 422 of line rotation, the first drive rod 422 are inserted in the centre bore of the first driven gear 431, the first transmission gear
411 engage with the first driven gear 431, in the case where being rotatablely connected with the first drive rod 422 by 411 band of the first transmission gear
Dynamic first driven gear 431 makees axial rotation.
Specifically, the first transmission gear 411 is set to the eccentric position of the lower end surface of first motor 21, the second transmission gear
421 are set to the side of the second motor 22.It is real by the first drive rod 422 replacement first for being set to the side of the second motor 22
The second transmission gear 421 that example is set to 22 upper surface of the second motor is applied, first motor 21 and the second electricity can be further reduced
The distance between machine 22 further compresses the volume of rotor control device, and the space under saving can further increase motor
Quantity improves the integrated level of rotor control device.
Refinement ground, the first drive rod 422 include transmission bar body 4221, are set to transmission 4221 one end of bar body and solid
Surely it is set to the connection end 4222 of the side of the second motor 22 and is set to the pivoting end of transmission 4221 other end of bar body
4223, the first driven gear 431 is rotationally connected on pivoting end 4223.
Referring to Fig. 9, a kind of rotor control device that the utility model 3rd embodiment provides, with second embodiment
The difference is that power output component 2 further includes third motor 23, third motor 23 is set to the lower section of the second motor 22 simultaneously
And be coaxially disposed with first motor 21, the second motor 22 and fixed link 1, third motor 23 is rotatably dispose in fixed link 1;
Power transfer assembly 4 further includes being set to the third transmission being oppositely arranged on the second motor 22 with the second driving member 42
Part 44, the 4th driving member 45 for being set to third motor 23 and be set to the second propeller 32 and drive 32 base of the second propeller
In the second Passive part 46 that the axis of itself rotates, third driving member 44 and the 4th driving member 45 connect with the second Passive part 46 respectively
It connects and drives the second Passive part 46 to rotate based on the axis of itself so that the pitch of the second propeller 32 changes;
Wherein, the second motor 22 and third motor 23 can relatively rotate, and drive the rotation of the second Passive part 46, and then drive the
Two propellers 32 are rotated based on own torque, to realize the control to aircraft pitching, roll freedom degree and lifting.
Specifically, the periodic rotary relative position that the second motor 22 and third motor 23 generate changes and transmits through power
Component 4 is transferred to the second propeller 32, controls the cyclically-varying of the pitch of the second propeller 32 to realize to aircraft pitching
With the control of roll freedom degree;
Wherein, it is realized by the pitch of the pitch of the first propeller 31 of superposition and the second propeller 32 to the total paddle of aircraft
Away from control.
Further, third driving member 44 include the second drive rod 441, the second motor 22 drive the second drive rod 441 around
The center axis thereof of second motor 22, the second Passive part 46 include the second driven gear 461, and the second drive rod 441 is inserted in
The centre bore of second driven gear 461 is to drive the second driven gear 461 to pass around the center axis thereof of the second motor 22, the 4th
Moving part 45 includes the 4th transmission gear 451, and the 4th transmission gear 451 is engaged with the second driven gear 461, the second drive rod 441
The second driven gear 461 is driven to make axial rotation with the 4th transmission gear 451.
Such as Figure 10, first motor 21, the speed curves of the second motor 22 and third motor 23 at work.
The following are the working principles of the 3 periodically-varied pitch of rotor assemblies of 3rd embodiment:
When the aircraft equipped with this rotor driver needs pitch control torque.With the folder of the first blade 312 and X-axis
Angle is phase angle, when first motor 21, the second motor 22 and third motor 23 rotate clockwise simultaneously, drives the first blade 312,
Second blade 322 rotates clockwise, at this time the first blade 312, and the pneumatic angle of attack difference of the second blade 322 is 0, at this time the second motor
22 have same angular speed with first motor 21 and third motor 23, and opposing stationary.When the first blade 312 rotates clockwise
When close to 90 degree, first motor 21 and third motor 23 second motor 22 that slows down simultaneously accelerate, and the first blade 312 is at healthy tendency at this time
Dynamic the second blade of angle of attack blade 322 generates upward lift at the angrily dynamic angle of attack, the first blade 312, and the second blade of blade 322 produces
Raw downward negative lift.And then a yawing for making aircraft vert to heading is generated, when the first blade 312 turns over
At 90 degree, first motor 21 and third motor 23 accelerate the second motor 22 to slow down, and make the first blade 312, the gas of the second blade 322
Dynamic angle of attack difference is zeroed again.When operating is close to 270 degree clockwise for the first blade 312, first motor 21 and third motor
23 accelerate, and the second motor 22 slows down, and the first blade 312 is made to be negative the pneumatic angle of attack, and the second blade of blade 322 is positive the pneumatic angle of attack,
First blade 312 generates negative lift, and the second blade 322 generates upward lift.And then aircraft generates a forward deflection
Torque.When the first blade 312 turns over 270 degree, first motor 21 and deceleration the second motor 22 acceleration of third motor 23 make
The pneumatic angle of attack difference of first blade 312, the second blade 322 is zeroed again.And then complete an operating control period.
Such as Figure 11 and Figure 12, in above-mentioned control process, the relative angular difference and of first motor 21 and the second motor 22
The relative angular difference of two motors 22 and third motor 23 can independent independent control, that is, adjusts while periodically adjusting the angle of attack
Total pitch.
In three embodiments, first motor 21, the second motor 22 and third motor 23 are separately provided for detection rotation
The position detecting device of 3 position of wing component and position command for being detected according to position detecting device generate control instruction driving
Motor reaches the control device of required relative position or revolving speed.
Further, first motor 21, the second motor 22 and third motor 23 with for adjusting the dynamic of 3 angle of rotor assemblies
Force transfer unit 4 can be rigid connection or flexible connection.
Further, first motor 21, the electric current loop of the second motor 22 and third motor 23, torque ring, speed ring and position
It is controllable to set the equal closed loop of ring.Closed loop is controllably also named closed-loop control, i.e., according to control object output feedback come corrected controlling party
Formula, it is to be corrected when measuring reality and plan is deviated by quota or standard.Closed-loop control, from output
Amount variation takes out control signal as comparative quantity and feeds back to input terminal control input quantity, this general withdrawal amount and input quantity phase
On the contrary, automatically controlling is usually closed-loop control so being negative feedback control.In the present embodiment, electric current loop refers to that electric current is anti-
The method that output electric current is accessed processing links by feedback system by the way of positive feedback or negative-feedback, passes through and improves the steady of electric current
It is qualitative to improve the performance of system.Similarly, torque ring, speed ring and position ring are used to improve the performance of system.
The another object of the utility model is to provide a kind of rotor craft, including above-mentioned rotor control device.
Rotor craft with above-mentioned rotor control device has pneumatic efficiency high, realizes the structure letter of full gesture stability
List and maintenance cost is low.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.