CN210634749U - Double rotor unmanned plane - Google Patents

Abstract

The utility model discloses a double-rotor unmanned aerial vehicle, which comprises a body, a power system and a rotor system, wherein the power system comprises two power output mechanisms fixed on the body, a synchronizing shaft in transmission connection with the power output mechanisms and a helicopter speed reducer; the helicopter speed reducer comprises a main box body, a rotor shaft, a bevel gear and a bevel gear shaft, wherein the rotor shaft can relatively rotate and vertically penetrate through the main box body; the utility model discloses realize the doubling of two engines by a doubling reduction gears, improve the total output of system, two engines can simultaneous working, also can the autonomous working. The utility model discloses a steering wheel drive assembly, bevel disk subassembly and collective pitch slide bar subassembly adopt the modularized design, have reduced the complexity of structure, make rotor system design, debugging and maintain the operation simplifications such as.

Description

Double rotor unmanned plane

Technical Field

The utility model belongs to the technical field of unmanned aerial vehicle, concretely relates to two rotor unmanned aerial vehicle.

Background

At present, many rotor unmanned aerial vehicle on the market is mainly the fixed pitch electric drive, because the energy density of battery is less than the fuel far away, receives the restriction of battery, and many rotor of fixed pitch motor drive mainly used is taken a photograph by plane, and the time of endurance is short, and the light in weight of ability load can not satisfy the demand of other types of civilian unmanned aerial vehicle, for example: high-altitude fire fighting, pesticide spraying, heavy object conveying in narrow space and the like.

Along with the technological development progress, the feather oil moves four rotor unmanned aerial vehicle has appeared, has broken through the restriction of load and duration, but the feather oil that is used commonly at present moves four rotor unmanned aerial vehicle and is belt pulley transmission, and the single engine setting, this kind of transmission type, inefficiency, flight stability are poor, and for the single engine setting, in case the engine breaks down, the rotor can't rotate, will cause the flight accident.

To this current situation, need provide a new two oil and move unmanned aerial vehicle, make rotor unmanned aerial vehicle operation more steady, efficiency is higher, and if an engine breaks down, the continuation of the journey of short time is carried out to the conditional, guarantees that unmanned aerial vehicle steadily descends.

Chinese patent CN107010229A discloses an unmanned aerial vehicle is moved to two engines, including the frame, along a plurality of rotors of circumference evenly distributed, two be used for driving a plurality ofly the edge of a wing pivoted engine simultaneously, be used for with two distribute to a plurality of behind the power coupling of engine output the transmission system of rotor has solved many rotor unmanned aerial vehicle load and continuation of the journey to some extent, inefficiency and flight stability subalternation problem.

However, when the two engines are in parallel operation, the two engines are coupled by means of the parallel operation gear, and due to the fact that the two engines are not started synchronously and the rotating speeds are inconsistent, serious impact is caused to a transmission system, and actual output power is reduced. And the rotor shaft also has the defects of concentrated stress, easy deformation and the like, and has the problems of complicated structure of the tilting disk, inconvenient disassembly and maintenance and the like.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art not enough, provide a two rotor unmanned aerial vehicle.

The utility model discloses a realize through following technical scheme:

a dual-rotor unmanned aerial vehicle comprises a fuselage, a power system and a rotor system, wherein the power system comprises two power output mechanisms fixed on the fuselage, a synchronizing shaft in transmission connection with the power output mechanisms and a helicopter speed reduction device;

the helicopter speed reducer comprises a main box body, a rotor shaft, a bevel gear and a bevel gear shaft, wherein the rotor shaft can relatively rotate and vertically penetrate through the main box body;

the rotor wing system comprises a helicopter rotor wing control device and a seesaw type rotor wing, the helicopter rotor wing control device comprises a tilting tray component and a total moment slide bar component, the tilting tray component comprises a tilting tray and a tilting tray rotating shaft sleeved in the tilting tray, the total moment slide bar component comprises a total moment slide bar, a long pull rod, a central joint bearing arranged at the lower end of the total moment slide bar and a side joint bearing correspondingly arranged at the lower end of the long pull rod, and the ball heads of the central joint bearing and the side joint bearing are fixedly connected with the tilting tray rotating shaft through a transverse connecting rod; the seesaw type rotor wing comprises a hub component and two rotationally symmetrical paddle clamp components;

the rotor shaft be the tubulose, total square slide bar and long pull rod run through rotor shaft and upper end with the oar press from both sides the subassembly and correspond the transmission and be connected.

In the technical scheme, the hub assembly is designed symmetrically and comprises a hub positioning block connected with the rotor shaft through a positioning pin shaft extending transversely, two hub side plates respectively connected with the hub positioning block through two seesaw positioning pins extending longitudinally, the inner ends of the hub side plates correspond to hub support arms fixedly connected with the hub side plates through bolts, and a hub distance ring is axially positioned on each hub support arm.

In the technical scheme, the main box body comprises a main frame and a lower box plate fixedly arranged at the bottom of the main frame, the rotor shaft is provided with a lower flange which is used for limiting the bevel gear, the upper part of a central hole of the bevel gear is in interference fit with the rotor shaft, the middle part of the central hole of the bevel gear is in spline fit with the rotor shaft, the lower part of the central hole of the bevel gear is in transition fit with the rotor shaft, and the synchronizing shaft is formed by connecting a plurality of sections of shafts through a diaphragm coupling.

In the technical scheme, the synchronizing shaft is provided with a driving wheel through an overrunning clutch, and the power output mechanism is in belt transmission connection with the driving wheel.

In the technical scheme, the system further comprises a parallel operation speed reducing mechanism, wherein the two power output mechanisms are symmetrically arranged on two sides of the parallel operation speed reducing mechanism;

the parallel operation speed reducing mechanism comprises a bottom box body, a rod-shaped or cylindrical middle transmission part rotatably arranged on the bottom box body, a bottom bevel gear fixedly connected with the middle transmission part, and two bevel gear shafts symmetrically arranged, wherein the bevel gear ends of the bevel gear shafts are in meshing transmission with the bottom bevel gear, and the shaft ends of the bevel gear shafts extend out of the bottom box body and are in transmission connection with a power output shaft of the power output mechanism through an overrunning clutch.

In the technical scheme, the paddle clamp assembly comprises a paddle clamp and a torque conversion arm, the paddle clamp comprises a connecting cylinder body and a paddle plate clamp, the connecting cylinder body is rotatably matched and connected with the paddle hub supporting arm, the paddle plate clamp is integrally formed or fixedly connected with the connecting cylinder body, the torque conversion arm is fixedly connected with the connecting cylinder body, and the connecting cylinder body and the paddle clamp distance ring are fixedly connected through bolts to achieve axial fixation.

In the technical scheme, the tilting disk support arms are respectively arranged in the rolling direction and the pitching direction of the tilting disk and are hinged with the other end of the L-shaped control arm; the steering engine driving assembly comprises three linear steering engines with tail ends rotatably connected with the engine body, and three L-shaped control arms which are arranged corresponding to the linear steering engines, one ends of the L-shaped control arms are hinged with the output ends of the linear steering engines, and the middle parts of the L-shaped control arms are rotatably connected with the engine body.

In the above technical solution, the power output mechanism includes a case, and an output shaft penetrating through and rotatably engaged with the case, and the intermediate transmission part extends into the case and is in transmission connection with the output shaft.

In the above technical scheme, still establish including the cover the rotor shaft outside and bottom with main frame fixed connection's a support section of thick bamboo, a support section of thick bamboo top with the rotor shaft pass through bearing rotatable coupling.

In the technical scheme, the fuselage comprises an integral fuselage frame, a stay bar and an undercarriage, wherein the integral fuselage frame is composed of pipe fittings;

the machine body frame comprises a top frame, speed reducer mounting frames correspondingly arranged at two ends of the top frame, a bottom frame vertically spaced from the top frame, end inclined supports correspondingly connecting the end parts of the bottom frame and the speed reducer mounting frames, and side supports correspondingly connecting and supporting the frame sides of the top frame and the wide sides of the bottom frame; the machine body frame is internally communicated with high-pressure gas in a penetrating way and is also provided with an air pressure sensor for sensing the pressure of the high-pressure gas;

the support rods are distributed on two sides of the machine body frame, and the upper end and the lower end of each support rod are fixedly connected with the bottom frame edge and the top frame edge respectively.

The utility model discloses an advantage and beneficial effect do:

1. the utility model discloses realize the doubling of two engines by a doubling reduction gears, improve the total output of system, two engines can simultaneous working, also can the autonomous working. The utility model discloses a steering wheel drive assembly, bevel disk subassembly and collective pitch slide bar subassembly adopt the modularized design, have reduced the complexity of structure, make rotor system design, debugging and maintain the operation simplifications such as. The total distance slide bar component is simple in structural form, the layout of the total distance slide bar component is symmetrical, and the total distance slide bar component forms a parallelogram motion mechanism, so that the transmission efficiency of the operating force is improved. The steering engine realizes stable and efficient output of the steering force.

2. The utility model discloses a rotor shaft comprises spline connection part, face of cylinder interference fit part and face of cylinder transition fit part triplex with bevel gear's transmission, effectively improves its atress and distributes, under the condition that uses the same bevel gear and rotor shaft, can make moment of torsion and moment of flexure bear by the connection structure of difference, and the atress that reduces the rotor shaft is concentrated to improve bevel gear's rigidity, make bevel gear's flank of tooth contact better. The transmission function of motion and power is realized, and the rotor shaft can incline in different directions due to different shaft intersection angles.

3. Three straight line steering gears of steering gear drive assembly of rotor operating system use side by side, improve space utilization, simplify the structure and constitute. The structure and design of the L-shaped control arm enable the output torque of the linear steering engine to be transmitted in a plane, and the three tilting disk support arms and the joint bearing are used for realizing the periodic tilting motion of the tilting disk, so that the cost for production and manufacturing is reduced, and the L-shaped control arm is practical and reliable. The rotor wing oar presss from both sides the propeller hub curb plate of the propeller hub subassembly of subassembly and both sides and passes through four bolted connection, and the mechanism is simple, and it is convenient to maintain, makes things convenient for dismouting transportation and failure diagnosis.

4. The propeller hub assembly and the propeller clamp assembly are symmetrically arranged, the structure is simple, the propeller hub assembly and the propeller clamp assembly are practical and reliable, the cost is reduced, the gravity center of the propeller hub and the rotor shaft are controlled to coincide, the connection mode of the rotor propeller clamp assembly is adopted, the propeller clamp assembly is assembled by adopting a temperature difference process, and the vibration level of the seesaw type rotor system is reduced. The modularized design is adopted, the complexity of the structure is reduced, the operation such as the design, debugging and maintenance of the rotor system is simplified, and the hub assembly can rotate along with the rotor shaft and realize the flapping motion of the hub assembly.

5. The whole body of the frame of the machine body adopts a truss structure, and the local part of the frame adopts a triangular structure, so that the frame is firm and reliable. The strength and the rigidity of the whole body are improved through the reinforcement of the inclined supporting pipe and the channel steel. Not only the weight is reduced, but also the cost is saved. The inside of the frame of the machine body is communicated, two air nozzles are arranged below two ends of the frame, and an inflating nozzle and an air pressure sensor are respectively arranged on the two air nozzles. Dry gas (such as helium, nitrogen and the like) is filled into the machine body from the charging nozzle to three atmospheric pressures, whether the atmospheric pressure is reduced is monitored in real time through the air pressure sensor at the other end so as to judge whether faults such as welding seam cracking exist in the machine body frame, and the service life of the machine body is effectively monitored.

Drawings

Fig. 1 the utility model discloses schematic view is looked to bispin wing unmanned aerial vehicle driving system's structure.

Fig. 2 is a schematic diagram of the cross-sectional structure of the dual-rotor unmanned aerial vehicle power system of the present invention.

Fig. 3 is a schematic diagram of the dual-rotor unmanned aerial vehicle power system according to the present invention.

Fig. 4 is a schematic view of the helicopter speed reducer of the present invention.

Fig. 5 is a schematic top view of the helicopter speed reducer of the present invention.

Fig. 6 is a schematic bottom view.

Fig. 7 shows a force analysis diagram of the helicopter speed reducer of the present invention.

Fig. 8 is a schematic view of the connection mode of the rotor shaft inclined arrangement of the helicopter speed reducer of the present invention.

Figure 9 is an isometric schematic view of a helicopter rotor control of the present invention.

Fig. 10 is a schematic cross-sectional view of a helicopter rotor control apparatus according to the present invention.

Figure 11 is a schematic side view of the helicopter rotor control device of the present invention

Fig. 12 shows a bottom view.

Figure 13 is a schematic view of another perspective of the helicopter rotor control of the present invention;

fig. 14 is a schematic cross-sectional structure shown in fig. 13.

FIG. 15 is a schematic view of a swashplate configuration;

fig. 16 is a schematic cross-sectional view of fig. 15.

Figure 17 is the utility model discloses see-saw formula unmanned aerial vehicle rotor's structural schematic.

Figure 18 is the utility model discloses see-down schematic diagram of seesaw formula unmanned aerial vehicle rotor.

Figure 19 shows the a-a cross-section of the seesaw-type unmanned aerial vehicle rotor of the present invention.

Figure 20 is the utility model discloses a B-B section view of seesaw formula unmanned aerial vehicle rotor.

Figure 21 is the utility model discloses a seesaw formula unmanned aerial vehicle rotor's side view.

Figure 22 is the utility model discloses the structure schematic diagram of two rotor unmanned aerial vehicle fuselages.

Figure 23 is another perspective structural schematic view of the dual rotor drone fuselage of the present invention.

For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.

Detailed Description

In order to make the technical field person understand the solution of the present invention better, the technical solution of the present invention is further described below with reference to the specific embodiments.

Example one

The utility model discloses a twin rotor unmanned aerial vehicle, which is characterized in that the twin rotor unmanned aerial vehicle comprises a body, a power system and a rotor system, wherein the power system comprises two power output mechanisms 1 fixed on the body, a synchronizing shaft which transversely penetrates through the head and the tail of the twin rotor unmanned aerial vehicle and is in transmission connection with the power output mechanisms, and a helicopter speed reducer; the power output mechanism is a rotary power output mechanism, such as a piston engine, a turboshaft engine, a motor and the like.

The helicopter speed reducer comprises a main box body 81, a rotor shaft 82 which can relatively rotate and vertically penetrate through the main box body 81, a bevel gear 83 fixedly sleeved on the rotor shaft, and a bevel gear shaft 84 matched with the bevel gear; the power end of the bevel gear shaft is fixedly connected with the synchronizing shaft correspondingly, and the synchronizing shaft is formed by connecting a plurality of sections of shafts through a diaphragm coupling. The transmission shaft 6 is connected by a plurality of sections of shafts through the diaphragm coupling, if the transmission shaft is a three-section shaft, the diaphragm coupling is arranged between each section of shaft, and the installation difficulty is reduced.

The rotor wing system comprises a seesaw type unmanned aerial vehicle rotor wing and a rotor wing control device, the rotor wing control device comprises a tilting disk assembly 300 and a total moment slide rod assembly 100, and the seesaw type rotor wing comprises a hub assembly and two rotationally symmetrical paddle clamp assemblies;

the tilting tray component comprises a tilting tray 310 and a tilting tray rotating shaft 311 which is rotatably sleeved in the tilting tray, tilting tray support arms 312 and 313 are respectively arranged in the rolling direction and the pitching direction of the tilting tray, the total moment slide rod component comprises a central joint bearing 111 arranged at the lower end of a total moment slide rod 110 and a side joint bearing 121 correspondingly arranged at the lower end of a long pull rod 120, the ball heads of the central joint bearing 111 and the side joint bearing 121 are fixedly connected with the tilting tray rotating shaft through a transverse connecting rod 314, and the transverse connecting rod is arranged in parallel with the tilting tray support arms in the pitching direction. The rotor shaft be the tubulose, total square slide bar and long pull rod run through rotor shaft and upper end with the oar press from both sides the subassembly and correspond the transmission and be connected. The rotor shaft be the tubulose, total square slide bar and long pull rod run through rotor shaft and upper end with the oar press from both sides the subassembly and correspond the transmission and be connected.

I.e. the cyclic pitch angle of the swashplate 310 is achieved with the maximum angle that can be achieved with the ball of the spherical joint bearing, e.g. maximum 12 °; the tilting disk rotating shaft is provided with three joint bearings which are linearly arranged, the middle joint bearing is fixedly connected with the total-moment sliding rod, the side joint bearings on the two sides are fixedly connected with the long pull rod, and the butterfly-shaped element 130 is provided with two joint bearings which are fixedly connected with the upper end of the long pull rod.

The utility model discloses realize the doubling of two engines by a doubling reduction gears, improve the total output of system, two engines can simultaneous working, also can the autonomous working. The utility model discloses a steering wheel drive assembly, bevel disk subassembly and collective pitch slide bar subassembly adopt the modularized design, have reduced the complexity of structure, make rotor system design, debugging and maintain the operation simplifications such as. The total distance slide bar component is simple in structural form, the layout of the total distance slide bar component is symmetrical, and the total distance slide bar component forms a parallelogram motion mechanism, so that the transmission efficiency of the operating force is improved. The steering engine realizes stable and efficient output of the steering force.

Specifically, the lower end of the total torque rod is provided with a side plate 111 for shielding the two long pull rods, and a guide part 112 for vertically guiding the long pull rods is arranged on the inner side of the side plate. The disc type variable-pitch device is characterized in that a rolling bearing is connected above a collective pitch sliding rod through a bolt, two discs 130 are assembled on the rolling bearing after being fixedly connected at intervals, two joint bearings are correspondingly fixed on two sides of each disc through bolts, then the discs above the collective pitch sliding rod and an inclined disc rotating shaft below the collective pitch sliding rod are connected through long pull rods (the long pull rods penetrate through upper and lower linkage rod limiting blocks), and finally, variable-pitch pull rods with the joint bearings at two ends are connected above the discs through bolts.

Swashplate 310 is a fixed ring and swashplate axis of rotation 311 is an infinite ring that rotates with the rotor system. The upper end of the rotating shaft of the tilting disk is provided with a U-shaped connecting lug, the ball head of the central joint bearing is positioned in the connecting lug, and the side joint bearings are positioned on two sides of the connecting lug. And the periodic motion is realized by utilizing three joint bearings at the lower end of the collective pitch slide. The arrangement of the total distance slide rod components adopts central symmetry arrangement to form a seesaw type mechanism, so that the periodic motion of the control system is realized. The three joint bearings and the rotating shaft of the tilting disk form a hinge structure, so that the periodic motion of the tilting disk is realized. Two opposite dish structures at the upper end of the collective pitch sliding rod assembly transmit variable operating force to the variable pitch pull rod, so that the variable pitch movement of the rotor system is realized.

The cavity type tilting disk is internally provided with a tilting disk rotating shaft, namely, the tilting disk rotating shaft penetrates out of a central hole of the tilting disk and is positioned at the rear end of the tilting disk, and then the two rolling bearings are pressed by bolts to ensure axial pre-tightening. Meanwhile, the inner ring of the roller bearing is in interference fit with the rotating shaft of the tilting disk, and the outer ring of the roller bearing is in interference fit with the tilting disk, so that the rotation of the rotating shaft of the tilting disk and the rotation of the tilting disk are effectively isolated. Three tilting disk support arms are respectively arranged in the rolling direction and the pitching direction of the tilting disk. The three tilting disk support arms are respectively connected with joint bearings of the steering engine driving assembly to realize the transmission of the operating force.

A see-saw drone rotor includes a hub assembly 400 and two rotationally symmetric paddle-clip assemblies 500; the propeller hub assembly is symmetrically designed and comprises a propeller hub positioning block connected with a rotor shaft through a positioning pin shaft extending transversely, two propeller hub side plates 3 respectively connected with the propeller hub positioning block through two semi-axis type seesaw positioning pins 2 extending longitudinally, the inner ends of the two propeller hub side plates correspond to propeller hub support arms fixedly connected with the propeller hub side plates 3 through bolts, and propeller clamp distance rings are axially positioned on the propeller hub support arms; the rear part of the propeller hub support arm is provided with a connecting plate, two ends of the connecting plate are correspondingly fixedly connected with a propeller hub side plate through bolts, and the front part of the connecting plate is a columnar body so as to be convenient for assembling a subsequent propeller clamp. The transverse direction and the longitudinal direction are described as a description of perpendicular arrangement of the two, and are not limited specifically. Namely, the positioning pin shaft and the positioning pin are vertically arranged. The propeller hub support arm is connected with the propeller hub side plates on the two sides through bolts, the mechanism is simple, the maintenance is convenient, and the disassembly, assembly, transportation and fault diagnosis are convenient. The propeller hub assembly and the propeller clamp assembly are symmetrically arranged, the structure is simple, the propeller hub assembly and the propeller clamp assembly are practical and reliable, the cost is reduced, the gravity center of the propeller hub and the rotor shaft are controlled to coincide, the connection mode of the rotor propeller clamp assembly is adopted, the propeller clamp assembly is assembled by adopting a temperature difference process, and the vibration level of the seesaw type rotor system is reduced. The modularized design is adopted, the complexity of the structure is reduced, the operation such as the design, debugging and maintenance of the rotor system is simplified, and the hub assembly can rotate along with the rotor shaft and realize the flapping motion of the hub assembly.

Wherein, the straight line steering wheel 210 of the steering wheel drive assembly of the rotor wing control system directly uses the lithium battery as power, becomes suitable voltage, electric current through power drive under the effect of the servo controller, and the driving motor rotates, needs to export after gear reduction. The servo controller is an electronic device, receives the elongation measured by the feedback element at the power output end, compares the elongation with a servo command signal sent by the flight control system, and forms a control electric signal of the power driving part through the processing of a flight control algorithm. The power output end drives the linear steering engine to generate servo motion.

Total distance slide bar and long pull rod all be located the rotor epaxial, rotor epaxial end be provided with the locating pin axle that transversely link up, total distance slide bar on be formed with the axial slot hole that matches of locating pin axle. Wherein, rotor shaft 150 is upper and lower both ends respectively through bolted connection fixed gangbar stopper, total square slide bar and long pull rod run through the setting of gangbar stopper. The limiting pin is arranged at the center of the rotor shaft through the total distance slide rod and only slides in a certain range in the up-down direction. The sliding range of the limiting pin is 10mm larger than the required stroke range of the rotor system, and the total distance slide rod limiting pin plays a role in protecting the total distance slide rod. Prevent the damage of the whole set of control mechanism caused by misoperation.

Meanwhile, the machine body and the inclined plate are provided with anti-rotation plates which are made of steel or metal non-metal materials such as aluminum, titanium, plastic and the like. The anti-rotation plate is provided with a slot for preventing the tilting disk from rotating. Adopt bolted connection, can change conveniently. A nylon U-shaped strip is glued in the guide groove of the anti-rotating plate through epoxy resin glue so as to reduce the friction force when the tilting disk slides up and down.

The rotor wing control system improves the transmission efficiency of the control force, improves the mechanical performance and the control stability of the rotor wing control system, has simple assembly process, is convenient for maintenance and low in system installation cost, and is suitable for light and medium unmanned helicopters.

The rotor and the control system adopt a linkage control mode; if pitch links 120 are shortened, the pitch angle positive travel is increased and the negative travel is decreased; if the pitch links are lengthened, the pitch angle will be increased by the positive stroke and decreased by the negative stroke. If the distance between the two joint bearings of the tilting disk is shortened, the positive stroke of the pitch angle is increased, and the negative stroke is reduced; if the distance between the two knuckle bearings of the tilting disk is increased, the positive pitch angle stroke is reduced and the negative pitch angle stroke is increased. If the pitch angle positive stroke is increased and the negative stroke is decreased when the distance between the mounting interfaces of the steering engine is lengthened, the pitch angle positive stroke is decreased and the negative stroke is increased when the distance between the mounting interfaces of the steering engine is shortened. If the up-down sliding stroke of the total pitch sliding rod is increased, the range of the pitch angle is increased; if the up-down sliding stroke of the total pitch sliding rod is reduced, the pitch angle range is reduced. The pitch angle of the cyclic pitch is close to an equal value or an equal value change with the change of the inclination angle, i.e. the pitch angle of the cyclic pitch is increased or decreased by 0.375 degrees every 1 degree increase of the tilting disk. Within a certain angular range of the tilting disk, the two pitch angles of the cyclic pitch of a pair of rotors are symmetrical about the total pitch line. The larger the inclination angle of the tilting disk is, the more the two pitch angles lean outwards, and half of the sum of the two pitch angles is the total distance.

As a specific implementation mode, the fixed end of the linear steering engine is connected with the machine body through a joint bearing, and the output end of the linear steering engine is connected with the L-shaped control arm through the joint bearing. The steering engine driving assembly comprises three linear steering engines 210 of which the tail ends are rotatably connected with the engine body, and three L-shaped control arms 211 which are arranged corresponding to the linear steering engines, of which one ends are hinged with the output ends of the linear steering engines and the middle parts are rotatably connected with the engine body; the tilting disk support arm is hinged with the other end of the L-shaped control arm through a transmission rod 212.

When the linear steering gear fixed end is installed, the linear steering gear fixed end is firstly connected with the steering gear installation piece through a bolt, then the steering gear installation piece is connected with the joint bearing through a thread, and finally the joint bearing is fixed on the installation position of the machine body through a bolt. When the output end of the linear steering engine is installed, the joint bearing is connected with the output end of the linear steering engine through threads. And finally, fixing the L-shaped control arm on the corresponding position of the machine body mounting part by utilizing two rolling bearings and a machine body support gasket through bolts. And the other end of the L-shaped control arm is connected with a joint bearing by a bolt.

The L-shaped control arm and the joint bearing are fixed in a bilateral mode to improve the control stability of the L-shaped control arm.

The steering engine driving assembly functionally forms a crank rocker mechanism, and the L-shaped control arm converts the linear motion of the linear steering engine into the circular motion of the L-shaped control arm in the control range, so that the L-shaped control arm is a key mechanism for realizing the output of control force. The three linear steering engines are arranged, and the force transmission center of the L-shaped control piece and the force output by the linear steering engines are in the same plane. The output efficiency of the control force is ensured, so that the L-shaped control arm does not bear extra bending moment.

The rotor shaft transmits the torque transmitted by the engine to the rotor system. The rotor wing system rotates clockwise or anticlockwise at a certain rotating speed, and meanwhile, the control force is that the rotor wing control system transmits to the total-moment slide rod and the long pull rod, and the variable-pitch pull rod drives the paddle clamp to move. The paddle belt drives the paddle to move along the axial angle, so that the attack angle of the paddle is changed, and the paddle generates the aerodynamic lift force which is changed periodically.

For the rotor operation of the present invention, there are two main functions. The first is total distance change, and the specific realization form is that the output control force and the stroke quantity of the three linear steering engines are equal, and the control force and the stroke quantity are increased and decreased simultaneously.

The transmission form of the operating force is that the linear steering engine outputs the operating force and transmits the operating force to the L-shaped operating part, the L-shaped operating part transmits the force transmitted by the linear steering engine to the tilting disk support arm, the tilting disk support arm drives the tilting disk rotating shaft to move up and down, and the tilting disk rotating shaft transmits the force to the total-distance slide rod assembly. The disc above the collective pitch slide bar moves up and down, finally the disc transmits the operating force to the variable pitch pull rod, and the variable pitch pull rod, namely the long pull rod, is connected with the rotor system paddle clamp, so that the change of the paddle attack angle in a certain range is realized.

The second type is periodic variable pitch change, and the operating force and the stroke quantity output by the three linear steering engines are different, so that the inclined disc rotates around the joint bearing at the center position at the lower end of the total pitch sliding rod assembly. The transmission paths of the total operating force are consistent. The difference lies in that the movement mode of the long pull rods on the two sides of the total distance slide rod is changed, the long pull rod on one side moves upwards, and the long pull rod on one side moves downwards. Because the total-distance slide rod component is a seesaw type mechanism, the long pull rods at the two ends of the total-distance slide rod can periodically rotate with the dish-shaped piece along the positioning hole above the total-distance slide rod. Meanwhile, the variable-pitch pull rod is periodically driven, so that the attack angle of the rotor system blade is periodically changed.

The utility model discloses a steering wheel drive assembly, bevel disk subassembly and collective pitch slide bar subassembly adopt the modularized design, have reduced the complexity of structure, make rotor system design, debugging and maintain the operation simplifications such as. Three straight line steering gears of steering gear drive assembly of rotor operating system use side by side, improve space utilization, simplify the structure and constitute. The structure and design of the L-shaped control arm enable the output torque of the linear steering engine to be transmitted in a plane, and the three tilting disk support arms and the joint bearing are used for realizing the periodic tilting motion of the tilting disk, so that the cost for production and manufacturing is reduced, and the L-shaped control arm is practical and reliable. The total distance slide bar component is simple in structural form, the layout of the total distance slide bar component is symmetrical, and the total distance slide bar component forms a parallelogram motion mechanism, so that the transmission efficiency of the operating force is improved. The steering engine realizes stable and efficient output of the steering force.

Example two

The oar clamp assembly comprises an oar clamp and a variable moment arm, the oar clamp comprises a connecting cylinder body and an oar plate clamp, the connecting cylinder body is rotatably matched and connected with the oar hub supporting arm, the oar plate clamp is integrally formed or fixedly connected with the connecting cylinder body, the variable moment arm is fixedly connected with the connecting cylinder body, the connecting cylinder body and the oar clamp distance ring are fixedly connected through bolts to achieve axial fixation, the oar clamp distance ring is rotatably arranged on the oar hub supporting arm through a bearing, and torque conversion adjustment can be achieved by adjusting the oar clamp distance ring. The upper end of the total-moment sliding rod is connected with a butterfly-shaped piece through a joint bearing, and two sides of the butterfly-shaped piece are connected with the upper end of the long pull rod through the joint bearing.

Specifically, the paddle clamp 913 is connected with the pitch change rocker 916 and the rocker support 917 via bolts, and then the pitch change pull rod 918 is connected with a joint bearing via bolts, so that the operating force transmitted by the pitch change pull rod 918 is converted into the axial torque of the paddle clamp, the paddle clamp 913 is driven to move circumferentially, and the pitch angle of the paddle clamp 913 is changed, so that the pitch change motion is realized.

A flapping limiting block 6 is fixed between the two hub side plates, and a polyurethane bushing is correspondingly sleeved on the rotor shaft. Two pairs of flapping stop blocks 96 are connected and fixed between hub side plates 93 at two sides through bolts, and a polyurethane bushing 912 is arranged above the rotor shaft 910 below the hub positioning block 91, so as to ensure that the rotor shaft impacts the rotor shaft 910 when the flapping amount of the rotor shaft is too large.

The upper and lower ends of the rotor shaft 10 are respectively connected with a fixed linkage rod limiting block 95 through bolts. The function of the linkage rod limiting block 95 is to guide and limit the long pull rod, and the linkage rod limiting block is made of a novel polymer material. Seesaw formula rotor hub subassembly's trace stopper 95, adopt polymer direction material, the material has higher wear-resisting and self-lubricating function.

The seesaw positioning pin 92 is sequentially provided with a sleeve and a shaft sleeve, and two ends of the seesaw positioning pin are provided with a bearing, a locking fastener and an oil cap. The seesaw positioning pin 92 is axially displaced, and a needle bearing, a thrust bearing, a gasket and a nut are sequentially arranged on the seesaw positioning pin from inside to outside. The outermost nuts are used for adjusting the center distance of the hub assembly. At the end of which a safety pin is to be struck.

The seesaw positioning pins can be rotatably arranged to realize the flapping motion of the seesaw rotor system, and the hub side plates 93 on the two sides are provided with oil sliding caps 97 for oil injection and sealing. And needle bearings and thrust bearings are adopted on the seesaw positioning pins 92 at the two ends of the hub positioning block 91 and are used for transmitting axial force on the seesaw positioning pins 92.

The transverse bolt 911 and the paddle clamp nut 915 of the seesaw type rotor wing paddle clamp assembly are key components mainly bearing the centrifugal force of a rotor wing system, and the adopted threads are MJ thread standards, so that the service life of the paddle clamp is prolonged, and the safety factor of the paddle clamp is improved. The transverse bolt and the paddle clamp nut 915 are both made of novel high-strength aviation alloy materials. The strength and the fatigue resistance coefficient of the material both accord with the technical conditions of military standard materials.

The hub support arm 94 is connected with a needle bearing, a paddle clamp distance ring, an angular contact bearing and a paddle clamp nut in sequence through a transverse bolt. The bearing that utilizes both sides promptly with the relative propeller hub support arm of oar clamp distance ring rotatable fixed, it is provided with a plurality of screw holes to encircle the equipartition simultaneously at the oar clamp distance ring, if 8 screw holes, correspond to realize its fixed with the oar clamp 913 through 8 bolts, preferably, the bolt on still overlap and be equipped with the axle sleeve.

Further, a sealing bearing is provided between the open end of the connecting cylinder of the paddle clamp 913 and the hub arm. Sealing of the rotor blade clamp assembly is achieved by the selected unilateral sealing bearing, an oil hole is added in the middle of the connecting cylinder of the blade clamp 913, lubrication and sealing of the blade clamp assembly are guaranteed, and lubrication of the blade clamp assembly is achieved by the inner space of the connecting cylinder of the blade clamp 913.

And the paddle board clamp comprises an inner side bolt fixed connection and an outer side bolt belonging to an adjustable connection, and the design of the paddle blade interface is convenient for mounting and controlling the oscillating force of the paddle blade. The paddle clamp 913 is connected with the paddle mounting position through two bolts. Through the axial pretightening force of the bolts, the clamping plates of the paddle clamps 913 are flush with the mounting surface of the paddle, and the attack angle of the paddle is consistent with that of the paddle clamps 913. And the excitation force of the rotor wing caused by the shimmy surface can be reduced through adjustable connection, and the vibration level of the seesaw type rotor wing is reduced.

Meanwhile, the hub arms have a pre-taper angle of 1.75 ° to tip up the two blades by 1.75 °.

The rotor system is a seesaw type and only comprises two blades which are structurally connected into a whole and share a horizontal hinge without a vertical hinge. In order to eliminate root bending moment caused by constant pneumatic load, namely pulling force, the axial hinge transverse bolt is an important stressed part, the material is made of novel alloy materials, the axial hinge is designed into a traditional form, centrifugal force is borne by the thrust roller bearing, and the bending moment is borne by the two angular contact bearings. The balance of the bending moment of the centrifugal force and the pulling force at the root is realized, and the blade is unloaded at the flapping surface. The Coriolis force of first harmonic wave is caused on the rotating surface, so that the seesaw positioning pin 2 is arranged at the same height as the center of gravity of the blade, and the Coriolis force is eliminated.

The periodic variable pitch and the total moment of the seesaw type rotor head are realized by axial hinges. The transmission of the centrifugal force of the seesaw rotor system is as follows: the blade is fixed on the clamping plate of the blade clamp 913, the blade clamp 913 transmits centrifugal force to the two angular contact bearings through the blade clamp distance ring 914, then transmits the centrifugal force to the transverse bolt, and finally transmits the centrifugal force to the blade clamp nut 915, so that the centrifugal force is finally transmitted to the blade clamp nut 915 and borne by threads, and in order to increase safety, a safety pin needs to be arranged at the blade clamp nut.

The transmission of seesaw rotor system bending moment: the bending moment is transmitted directly from the blade clamp 913 to the two angular contact bearings and the needle bearing and then to the hub arms 94.

In summary, the teeter rotor system functionally relies on the teeter positioning pin 92 and the bearings to achieve the flapping motion of the rotor system. The pitch-variable motion of the rotor system is realized through the paddle clamp assembly and the bearing.

The rotor shaft 910 transmits torque from the engine to the rotor system. The rotor system rotates clockwise or counterclockwise at a certain rotation speed, and meanwhile, the operating force is transmitted to the pitch-variable pull rod 918 by the rotor operating system, and the pitch-variable pull rod 918 drives the paddle clamp to move. The blade clamp 913 drives the blades to hinge axially, so that the attack angle of the blades is changed, and the blades generate the aerodynamic lift force which changes periodically.

The seesaw type rotor wing system has the following advantages:

1. the manufacturing precision and the rotor aerodynamic characteristic are improved, and the flying quality of the platform is improved.

2. The assembly process is optimized, the mechanical performance and the operation stability of the rotor wing system are improved, the system cost is low, and the helicopter is suitable for medium-sized and light unmanned helicopters.

3. The seesaw type rotor wing system seesaw type rotor wing is convenient to maintain and install, vibration level of the rotor wing seesaw type rotor wing is improved, and resistance area is small.

EXAMPLE III

The main box body comprises a main frame and a lower box plate fixedly arranged at the bottom of the main frame, the rotor shaft is provided with a lower flange 821 for limiting the bevel gear, the upper part of a central hole of the bevel gear is in interference fit with the cylindrical surface of the rotor shaft, the middle part of the central hole of the bevel gear is in spline fit with the rotor shaft, and the lower part of the central hole of the bevel gear is in transition fit with the rotor shaft. The input shaft (i.e., the bevel gear shaft) and the external connection of the reducer may be by way of, but not limited to, a keyed or splined connection. A pair of bevel gears are used for transmitting motion and power, the tooth system of the bevel gears can be Greenson system tapered teeth or Clinberg system high teeth, and the rotation direction of the bevel gears can be left-handed or right-handed according to the rotation direction of an input shaft.

Wherein, lower flange upper portion be formed with last spacing mechanism complex upper flange 822, last spacing mechanism include with main frame fixed connection's upper pressure board 812 to and set up the bearing between upper pressure board and upper flange. A bearing 813 is arranged below a bevel gear between the lower box plate 811 and the rotor shaft, and an oil seal 814 is arranged below the bearing between the lower box plate and the rotor shaft. The lower box plate is of a downward convex structure so as to be convenient for assembling the bearing and the oil seal, and the positioning effect on the rotor shaft is improved on the premise of not increasing the volume of the main box body. The main box body forms an oil tank so as to ensure transmission heat dissipation, and a plurality of heat dissipation convex ribs are arranged on the outer wall of the main box body so as to improve the heat dissipation effect. The main frame is provided with an oil level mirror 816, the upper part of the main frame is provided with an oil filling plug 817, the lower box plate is provided with an oil discharging plug 815, and the oil level mirror can be used for observing whether the adding amount of lubricating oil is enough or not. When the oil inlet plug is opened, the speed reducer can be subjected to oiling operation, and when the oil drain plug is opened, the speed reducer can be subjected to oil drain operation.

Specifically, as shown, when the bevel gear shaft 84 and bevel gear 83 are engaged, the bevel gear forces can be reduced to three forces at the midpoint of the tooth width, one horizontal leftward force F1, one vertical downward force F2, and one outward force Ft perpendicular to the page. The bending moment generated by F1 is borne by the cylindrical interference fit part II, the bending moment generated by F2 is borne by the cylindrical transition fit part III, and the torque generated by Ft is borne by the spline I. Therefore, the stress of the shaft connecting part of the rotor wing is dispersed, the support rigidity of the bevel gear is better, and the bevel gear is not easy to deform.

The utility model discloses a rotor shaft comprises spline connection part, face of cylinder interference fit part and face of cylinder transition fit part triplex with bevel gear's transmission, effectively improves its atress and distributes, under the condition that uses the same bevel gear and rotor shaft, can make moment of torsion and moment of flexure bear by the connection structure of difference, and the atress that reduces the rotor shaft is concentrated to improve bevel gear's rigidity, make bevel gear's flank of tooth contact better. The transmission function of movement and power is realized, and the axial inclination of the rotor wing in different directions can be realized by different intersection angles of axes, such as 90-degree included angle of axes, forward inclination or backward inclination with a certain angle, such as 3-10-degree inclined arrangement.

The wind power generator also comprises a supporting cylinder 820 which is sleeved outside the rotor shaft and is fixedly connected with the main frame at the bottom end, and the top of the supporting cylinder is rotatably connected with the rotor shaft through a bearing 821. The reducer has a support cylinder which can support the rotor shaft (i.e., the output shaft), thereby improving the rigidity of the rotor shaft.

Simultaneously, a support section of thick bamboo upper end with the rotor shaft between be provided with sealing strip 822, utilize the sealing strip can effectively prevent that the dust from getting into, the setting of a support section of thick bamboo moreover, the market has actually increased the heat radiating area of main tank body, is favorable to improving holistic radiating effect.

Further, the utility model also comprises a small box 840 fixedly connected with the side part of the main frame, and the input shaft (the bevel gear shaft 84) is rotatably matched with the small box. The shaft lever of the bevel gear shaft is positioned relative to the small box body through a front bearing 841 and a rear bearing 841, and an oil seal 842 is arranged between the small box body and the shaft lever of the bevel gear shaft. The bearing is a tapered roller bearing and has the advantage of high bearing capacity. The oil seal is a double oil seal. The input shaft and the output shaft of the speed reducer are sealed by double oil seals, and the speed reducer has the advantage of good sealing performance. And an independent small box body structure is adopted, so that the disassembly is convenient, and the assembly is good.

The utility model discloses a but helicopter reduction gear wide application in single rotor takes helicopter and the model such as tandem bispin helicopter of tail-rotor.

Example four

Specifically, in order to realize parallel operation driving, a driving wheel is arranged on the synchronizing shaft through an overrunning clutch, and the power output mechanism is in belt transmission connection with the driving wheel. Two power output mechanisms such as engines are arranged on the fixed support in series, each engine is provided with a belt pulley assembly, the engine drives a small belt pulley to rotate through a clutch, then the rotating speed is transmitted to a large belt pulley through a belt, and finally power is transmitted to an output shaft. The synchronizing shaft is mechanically connected with the output shafts of the two belt pulley assemblies through the diaphragm coupling, and the mechanical parallel operation of the output power of the two engines is realized.

An overrunning clutch is arranged between the large belt pulley and the output shaft, namely the synchronizing shaft, so that the rotating speed of the large belt pulley is inconsistent with that of the output shaft, and the use requirement of the two engines for parallel operation through a mechanical structure is met. When the rotating speed of the large belt wheel is lower than that of the output shaft, the large belt wheel and the output shaft can be separated, and the large belt wheel can not drive the output shaft to rotate; when the rotating speed of the large belt wheel is not lower than that of the output shaft, the large belt wheel can drive the output shaft to rotate. Therefore, when the rotating speeds of the two engines are consistent, the synchronous shaft outputs the sum of the power of the two engines at the same time, and when the rotating speeds of the two engines are not consistent, the synchronous shaft is powered by the engine with high rotating speed.

As an implementation mode, the system also comprises a parallel operation speed reducing mechanism, wherein the two power output mechanisms are symmetrically arranged at two sides of the parallel operation speed reducing mechanism, and the power output shafts are coaxially arranged but have opposite rotating directions; the parallel operation speed reducing mechanism comprises a bottom box body 4, a rod-shaped or cylindrical middle transmission part 41 which is rotatably arranged on the bottom box body, a bottom bevel gear 42 which is fixedly connected with the middle transmission part, and two bevel gear shafts 43 which are symmetrically arranged, wherein the bevel gear ends of the bevel gear shafts are in meshing transmission with the bottom bevel gear, and the shaft ends of the bevel gear shafts extend out of the bottom box body and are in transmission connection with a power output shaft of the power output mechanism 1 through an overrunning clutch 3. The input shaft (i.e., the bevel gear shaft) of the parallel reduction mechanism and the external connection mode include, but are not limited to, a key connection or a spline connection. A pair of bevel gears are used for transmitting motion and power, the tooth system of the bevel gears can be Greenson system tapered teeth or Clinberg system high teeth, and the rotation direction of the bevel gears can be left-handed or right-handed according to the rotation direction of an input shaft. The helicopter speed reducer comprises a main box body 1, a rotor shaft 2 which can relatively rotate and vertically penetrate through the main box body 1, a bevel gear 3 fixedly sleeved on the rotor shaft, and a bevel gear shaft 4 matched with the bevel gear;

meanwhile, an elastic coupling 2 is correspondingly arranged between the power output shaft and the overrunning clutch so as to reduce power transmission vibration and compensate installation errors in different directions. The overrunning clutch can adapt to the asynchronism of the two power output mechanisms, or can be automatically disconnected with the transmission system after one of the two engines stops working due to faults, so that the transmission system can still work normally, and the safety factor of the transmission system is improved.

The utility model discloses a characteristics are with one set of parallel operation reduction gear and output reduction gear realize the parallel operation of two engines, then carry preceding, back rotor respectively to power, or main rotor and tail-rotor. The two engines can work simultaneously or independently. When two engines work simultaneously, if one engine fails, the engine can be disconnected with the transmission system, and the other engine continues to drive the transmission system to work. Because the probability of two engines simultaneously failing is far less than that of one engine, the reliability of the system is greatly improved.

The two power output mechanisms are symmetrically arranged, so that the overall load is reduced, the operation stability is improved, a two-stage speed reduction structure is adopted, the speed reduction is reasonably configured, the assembly and the maintenance are convenient, the application range is wide, and the two-stage speed reduction mechanism can be widely applied to the fields of helicopters and industries and comprises but not limited to a tandem type double-rotor or single-rotor helicopter with a tail rotor.

Specifically, the middle transmission part 41 is provided with an upper limit ring 44 above the bottom gear shaft, an upper limit bearing positioned by the upper cover plate of the bottom case body is supported against the upper limit ring, and a lower limit bearing 45 is arranged between the bottom end of the middle transmission part and the lower bottom plate of the bottom case body. The design mode of upper and lower clamping and positioning is adopted, the middle transmission part is positioned stably and reliably, and smooth transmission is ensured.

The bottom box body is of a downward convex structure so as to be convenient for assembling the bearing and the oil seal, and the positioning effect on the middle transmission part is increased on the premise of not increasing the volume of the bottom box body. The bottom box body forms an oil tank so as to ensure transmission heat dissipation, and a plurality of heat dissipation convex edges are arranged on the outer wall of the bottom box body so as to improve the heat dissipation effect. The bottom box body is provided with an oil level mirror, the upper part of the bottom box body is provided with an oil filling plug, the bottom of the bottom box body is provided with an oil discharging plug, and the oil level mirror can be used for observing whether the adding amount of lubricating oil is enough or not. When the oil inlet plug is opened, the speed reducer can be subjected to oiling operation, and when the oil drain plug is opened, the speed reducer can be subjected to oil drain operation.

The bottom box body further comprises a supporting cylinder 46 fixedly connected with the upper cover plate, the middle transmission part penetrates out of the supporting cylinder, and a bearing is arranged at the top of the middle transmission part. The supporting cylinder upper end with middle transmission portion between be provided with the sealing strip, utilize the sealing strip can effectively prevent the dust entering, the setting of supporting cylinder has increased the heat radiating area of end box in fact moreover, is favorable to improving holistic radiating effect.

Preferably, the middle transmission part is provided with a lower limiting ring for limiting the bevel gear, the upper part of a central hole of the bevel gear is in interference fit with the middle transmission part, the middle part of the central hole of the bevel gear is in spline fit with the middle transmission part, and the lower part of the central hole of the bevel gear is in transition fit with the middle transmission part.

The output speed reducing mechanism comprises a box body 50 and an output shaft 5 which penetrates through the box body and is in rotatable fit with the box body, the middle transmission part extends into the box body and is in transmission connection with the output shaft 5, two ends of the output shaft are in transmission connection with transmission shafts respectively, and the transmission connection can be formed by a bevel gear transmission mechanism, a cylindrical gear transmission mechanism, a planetary gear train transmission mechanism or a combination of the above mechanisms. When the bevel gear transmission is adopted, an output bevel gear 51 is fixedly arranged on the output shaft, a bevel gear 52 in transmission connection with the output bevel gear is arranged at the end part of the middle transmission, namely, the reversing speed reduction function is realized, and the speed reduction is realized in the same direction by adopting other mechanisms.

The utility model discloses a but helicopter reduction gear wide application in single rotor takes helicopter and the model such as tandem bispin helicopter of tail-rotor.

EXAMPLE five

The fuselage comprises an integral fuselage frame, a stay bar and an undercarriage, wherein the integral fuselage frame is formed by pipe fittings;

the machine body frame comprises a top frame, speed reducer mounting frames correspondingly arranged at two ends of the top frame, a bottom frame vertically spaced from the top frame, end inclined supports correspondingly connecting the end parts of the bottom frame and the speed reducer mounting frames, and side supports correspondingly connecting and supporting the frame sides of the top frame and the wide sides of the bottom frame; the machine body frame is internally communicated with high-pressure gas in a penetrating way and is also provided with an air pressure sensor for sensing the pressure of the high-pressure gas;

the support rods are distributed on two sides of the machine body frame, and the upper end and the lower end of each support rod are fixedly connected with the bottom frame edge and the top frame edge respectively.

Wherein, the frame 11 is a whole and is formed by welding steel pipes or metal pipes such as titanium pipes and aluminum pipes. The stay bar 12 is formed by processing a steel pipe, or a metal pipe such as a titanium pipe or an aluminum pipe. The landing gear fixing piece 13 is made of steel or metal non-metal materials such as titanium, aluminum, glass fiber and the like.

The whole body of the frame of the machine body adopts a truss structure, and the local part of the frame adopts a triangular structure, so that the frame is firm and reliable. The strength and the rigidity of the whole body are improved through the reinforcement of the inclined supporting pipe and the channel steel. Not only the weight is reduced, but also the cost is saved. The inside of the frame of the machine body is communicated, two air nozzles are arranged below two ends of the frame, and an inflating nozzle and an air pressure sensor are respectively arranged on the two air nozzles. Dry gas (such as helium, nitrogen and the like) is filled into the machine body from the charging nozzle to three atmospheric pressures, whether the atmospheric pressure is reduced is monitored in real time through the air pressure sensor at the other end so as to judge whether faults such as welding seam cracking exist in the machine body frame, and the service life of the machine body is effectively monitored.

The speed reducer mounting frame is of a cuboid frame structure, a side plate is welded in the speed reducer mounting frame, and at least two groups of mounting holes are formed in the side plate. The side plate 16 is a gear box adapter, and is made of aluminum or metal materials such as steel and titanium. A plurality of side plates form a gear box assembly cavity, the gear box assembly cavity is communicated from top to bottom, heat dissipation holes are left in the left and right sides, and the gear box assembly cavity is reserved from front to back so as to be convenient for assembling other parts.

The reduction gear installing frame 111 at the front end and the rear end of the machine body is integrated with the machine body frame, two side plates welded on the two sides of the reduction gear installing frame can be different installing holes, and installation of different reduction gears is achieved. And the installation of different gear boxes is realized through installing different gear box adapter pieces in the inside reduction gear installing frame.

A small frame 112 welded below the speed reducer mounting frame is used for mounting the steering engine support arms, and different holes are formed in two side plates of the small frame and can be used for mounting different steering engine support arms. The structure is firm and reliable, the position layout is ingenious, and the space and the weight are saved.

The bottom of the small frame is provided with an anti-rotation plate 17 which is a steel part or a metal non-metal material such as aluminum, titanium, plastic and the like. The anti-rotation plate is provided with a slot for preventing the tilting disk from rotating. Adopt bolted connection, can change conveniently. A nylon U-shaped strip is glued in the guide groove of the anti-rotating plate through epoxy resin glue so as to reduce the friction force when the tilting disk slides up and down.

The underframe both ends below of fuselage frame respectively has three installation ear to be used for installing the steering wheel, and the installation ear adopts two structures to make steering wheel mounting bolt stress state ideal, and simultaneously, two kinds of mounting holes in installation ear area can be fit for the use of different steering wheel installation schemes.

On the basis of the embodiment, the platform also comprises a middle platform plate and two side platform plates, wherein the middle platform plate is fixed in the middle of the bottom frame and supported by bottom channel steel, and the side platform plates are positioned at two ends of the bottom frame. The middle platen 14 is made of an aluminum plate or a metal or nonmetal material such as steel, carbon fiber, glass fiber, or plastic, and the side platens 15 are made of an aluminum plate or a metal or nonmetal material such as steel, carbon fiber, glass fiber, or plastic.

The channel-section steel 113 of below has the mounting hole in the middle of the fuselage frame, because of bearing capacity is relatively high, and middle big mesa passes through the bolt fastening on the channel-section steel of fuselage frame, and the middle be convenient for arrange oil feeding system and avionics system on it of fuselage. The small table boards at the two ends of the machine body are fixed on the frame of the machine body through bolts and used for arranging a controller and a control switch related to an engine, and meanwhile, a balancing weight can be additionally arranged below the side table board to realize the initial balancing of the whole machine.

Preferably, the top frame on be provided with the lug, the vaulting pole be six, the vaulting pole top is located the lug below and with top frame limit bolted connection, vaulting pole bottom symmetric dispersion and with the frame limit bolted connection of underframe.

The inclined supporting pipe in the middle of the machine body is fixed on the machine body frame through bolts and nuts, so that the machine body frame is convenient to disassemble, and the detachable structure enables the assembly and disassembly of all systems in the machine body to be simple and easy. Two lifting lugs 114 are welded above the middle of the machine body frame and used as hanging points for balancing the gravity center. And the support rods are concentrated and the lifting lugs are arranged, so that the integral stress during lifting is improved, and unnecessary damage is avoided.

As one specific embodiment, the landing gear is an integral landing gear, and the fixing part of the landing gear comprises an upper clamping piece welded with a bottom frame of the body and a lower clamping piece in bolted connection with the upper clamping piece.

The detachable structure facilitates replacement of the undercarriage. Meanwhile, a rubber sleeve is clamped between the inside of the landing gear fixing piece and the landing gear, so that a slight damping effect is realized.

The landing gear is formed by bending two ends of a rectangular frame downwards, and the middle of the rectangular frame is fixedly connected with the bottom frame.

Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.

The invention has been described above by way of example, and it should be noted that any simple variants, modifications or other equivalent substitutions by a person skilled in the art without spending creative effort may fall within the scope of protection of the present invention without departing from the core of the present invention.

Claims (10)

1. A dual-rotor unmanned aerial vehicle is characterized by comprising a vehicle body, a power system and a rotor system, wherein the power system comprises two power output mechanisms fixed on the vehicle body, a synchronizing shaft in transmission connection with the power output mechanisms and a helicopter speed reduction device;

the helicopter speed reducer comprises a main box body, a rotor shaft, a bevel gear and a bevel gear shaft, wherein the rotor shaft can relatively rotate and vertically penetrate through the main box body;

the rotor wing system comprises a helicopter rotor wing control device and a seesaw type rotor wing, the helicopter rotor wing control device comprises a tilting tray component and a total moment slide bar component, the tilting tray component comprises a tilting tray and a tilting tray rotating shaft sleeved in the tilting tray, the total moment slide bar component comprises a total moment slide bar, a long pull rod, a central joint bearing arranged at the lower end of the total moment slide bar and a side joint bearing correspondingly arranged at the lower end of the long pull rod, and the ball heads of the central joint bearing and the side joint bearing are fixedly connected with the tilting tray rotating shaft through a transverse connecting rod; the seesaw type rotor wing comprises a hub component and two rotationally symmetrical paddle clamp components;

the rotor shaft be the tubulose, total square slide bar and long pull rod run through rotor shaft and upper end with the oar press from both sides the subassembly and correspond the transmission and be connected.

2. The twin rotor unmanned aerial vehicle of claim 1, wherein the hub assembly is of a symmetrical design and includes a hub positioning block connected to the rotor shaft by a laterally extending positioning pin, two hub side plates connected to the hub positioning block by two longitudinally extending teeter-totter positioning pins, respectively, and an inner end corresponding to a hub arm fixedly connected to the hub side plates by bolts, wherein a blade-holder spacer ring is axially positioned on the hub arm.

3. A twin rotor unmanned aerial vehicle as defined in claim 1, wherein the main casing comprises a main frame and a lower casing fixedly disposed at the bottom of the main frame, the rotor shaft is provided with a lower flange for limiting the bevel gear, the upper portion of the central hole of the bevel gear is in interference fit with the rotor shaft, the middle portion of the central hole is in spline fit with the rotor shaft, the lower portion of the central hole is in transition fit with the rotor shaft, and the synchronizing shaft is formed by connecting multiple sections of shafts through a diaphragm coupling.

4. A twin rotor unmanned aerial vehicle as defined in claim 1 wherein the synchronizing shaft is provided with a drive pulley via an overrunning clutch, the power take-off mechanism being in belt drive connection with the drive pulley.

5. A twin rotor unmanned aerial vehicle as defined in claim 1, further comprising a parallel operation deceleration mechanism, wherein the two power take-off mechanisms are symmetrically disposed on both sides of the parallel operation deceleration mechanism;

the parallel operation speed reducing mechanism comprises a bottom box body, a rod-shaped or cylindrical middle transmission part rotatably arranged on the bottom box body, a bottom bevel gear fixedly connected with the middle transmission part, and two bevel gear shafts symmetrically arranged, wherein the bevel gear ends of the bevel gear shafts are in meshing transmission with the bottom bevel gear, and the shaft ends of the bevel gear shafts extend out of the bottom box body and are in transmission connection with a power output shaft of the power output mechanism through an overrunning clutch.

6. A twin rotor drone according to claim 2, characterised in that: the oar clamp assembly comprises an oar clamp and a variable moment arm, the oar clamp comprises a connecting cylinder body which is rotatably matched and connected with the oar hub supporting arm, and an oar plate clamp which is integrally formed or fixedly connected with the connecting cylinder body, the variable moment arm is fixedly connected with the connecting cylinder body, and the connecting cylinder body and the oar clamp distance ring are fixedly connected through bolts to realize axial fixation.

7. A twin rotor drone according to claim 1, characterised in that: the steering engine driving component comprises three linear steering engines of which the tail ends are rotatably connected with the engine body, and three L-shaped control arms which are arranged corresponding to the linear steering engines, one ends of which are hinged with the output ends of the linear steering engines, and the middle parts of which are rotatably connected with the engine body; the tilting tray is provided with a tilting tray support arm in the rolling direction and the pitching direction respectively, and the tilting tray support arm is hinged with the other end of the L-shaped control arm.

8. A twin rotor drone according to claim 5, characterised in that: the power output mechanism comprises a box body and an output shaft which penetrates through the box body and is rotatably matched with the box body, and the intermediate transmission part extends into the box body and is in transmission connection with the output shaft.

9. A twin rotor drone according to claim 3, characterised in that: still establish including the cover the rotor shaft outside and bottom with main frame fixed connection's a support section of thick bamboo, a support section of thick bamboo top with the rotor shaft pass through bearing swivelling joint.

10. A twin rotor drone according to claim 1, characterised in that: the fuselage comprises an integral fuselage frame consisting of pipe fittings, a stay bar and an undercarriage;

the machine body frame comprises a top frame, speed reducer mounting frames correspondingly arranged at two ends of the top frame, a bottom frame vertically spaced from the top frame, end inclined supports correspondingly connecting the end parts of the bottom frame and the speed reducer mounting frames, and side supports correspondingly connecting and supporting the frame sides of the top frame and the wide sides of the bottom frame; the machine body frame is internally communicated with high-pressure gas in a penetrating way and is also provided with an air pressure sensor for sensing the pressure of the high-pressure gas;

the support rods are distributed on two sides of the machine body frame, and the upper end and the lower end of each support rod are fixedly connected with the bottom frame edge and the top frame edge respectively.

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