CN210653637U - Unmanned aerial vehicle rotor system - Google Patents
Unmanned aerial vehicle rotor system Download PDFInfo
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- CN210653637U CN210653637U CN201920225426.5U CN201920225426U CN210653637U CN 210653637 U CN210653637 U CN 210653637U CN 201920225426 U CN201920225426 U CN 201920225426U CN 210653637 U CN210653637 U CN 210653637U
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Abstract
The utility model discloses an unmanned aerial vehicle rotor system, including helicopter rotor controlling device and seesaw formula rotor, helicopter rotor controlling device include swash plate subassembly and total square slide bar subassembly, the swash plate subassembly include with the swash plate, the rotor axle be the tubulose, total square slide bar and long pull rod run through rotor axle and upper end with the oar press from both sides the subassembly and correspond the transmission and connect. 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.
Description
Technical Field
The utility model belongs to the technical field of unmanned aerial vehicle, concretely relates to unmanned aerial vehicle rotor system.
Background
Unmanned aerial vehicle flight control system, including many rotor unmanned aerial vehicle flight control system and the unmanned helicopter flight control system of fixed wing. The method is mainly used in the fields of plant protection, electric power line patrol, geographic survey, logistics transportation and the like. A whole set of control device for unmanned helicopter flight. The system comprises four control systems of total moment, longitudinal direction, transverse direction and heading direction. The total moment control system can change the tension of the rotor wing so as to control the ascending and descending movement of the helicopter. The longitudinal and transverse control systems can change the direction of the rotor wing pulling force in space so as to control the longitudinal and transverse displacement, pitching and rolling movement of the helicopter. The course control system can change the push (pull) force of a tail rotor (single-rotor helicopter) or the reactive torque of two rotors (longitudinal and transverse helicopters) to control the yawing motion. The existing unmanned helicopter has the following three problems,
first, small-size unmanned helicopter receives the restriction of rotor space, and what most adopt is the mode of off-axis manipulation, and this kind of mode can cause the exterior structure complicacy, and system weight is big, power transmission inefficiency grade shortcoming, still causes the useless area of hindering of system big.
Secondly, the tilting tray of the traditional unmanned helicopter with the periodically variable pitch has a complex structure, generally adopts a universal bearing and other accessories, but has the disadvantages of high manufacturing and assembling difficulty, high production cost and inconvenience in disassembly, assembly and maintenance.
Thirdly, the unmanned helicopter is generally driven by a rotary steering engine, and due to the fact that circular motion of the steering engine needs to be changed into required linear motion, various conversion mechanisms need to be designed, and the unmanned helicopter is complex in structure, low in operation efficiency and low in force transmission efficiency.
Fourthly, the rotor only has two blades, a horizontal hinge is shared, a vertical hinge is not used, a variable-pitch hinge is arranged, and a tension torsion bar is adopted for bearing centrifugal force by the common variable-pitch hinge. The function design of the tension and torsion rod of the unmanned aerial vehicle needs a certain space and is not suitable for the characteristics of the medium-sized unmanned aerial vehicle.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art not enough, provide an unmanned aerial vehicle rotor system, can improve unmanned helicopter's self-stability and security.
The utility model discloses a realize through following technical scheme:
an unmanned aerial vehicle rotor system comprises a helicopter rotor control device and a seesaw type rotor,
the helicopter rotor control device comprises a tilting disk assembly and a total moment slide rod assembly,
the tilting tray assembly comprises a tilting tray and a tilting tray rotating shaft sleeved in the tilting tray, the total-moment sliding rod assembly comprises a total-moment sliding rod, a long pull rod, a central joint bearing arranged at the lower end of the total-moment sliding rod 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 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 respectively connected with the propeller hub positioning block through two seesaw positioning pins 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 through bolts, and propeller clamp distance rings are axially positioned on the propeller hub support arms;
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 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 technical scheme, 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.
In the above technical solution, the lower end of the total torque sliding rod is provided with a side plate for shielding the two long pull rods therein, and a guide part for vertically guiding the long pull rods is arranged inside the side plate.
In the technical scheme, a flapping limiting block is fixed between the two hub side plates, and a polyurethane bushing is correspondingly sleeved on the rotor shaft.
In the technical scheme, the upper end of the total moment slide 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.
In the technical scheme, a sealing bearing is arranged between the opening end of the paddle clamp connecting cylinder and the paddle hub support arm.
In the above technical solution, the paddle board clamp includes an inner bolt fixed connection and an outer bolt to adjust an angle of the blades in the tilt array direction, and the hub arm has a pre-taper angle of 1.75 ° to tilt up the two blades by 1.75 °.
In the technical scheme, the upper end and the lower end of the rotor shaft are respectively connected with the fixed linkage rod limiting blocks through bolts, and the propeller hub positioning block and the rotor shaft are in interference assembly.
The utility model discloses an advantage and beneficial effect do:
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. 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. 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.
Drawings
Figure 1 is an isometric schematic view of a helicopter rotor control apparatus according to the present invention.
Fig. 2 is a schematic cross-sectional view of the helicopter rotor control apparatus of the present invention.
Figure 3 is a schematic side view of the helicopter rotor control device of the present invention
Fig. 4 shows a bottom view.
FIG. 5 is a schematic view of another perspective of the helicopter rotor control of the present invention;
fig. 6 is a schematic cross-sectional structure shown in fig. 5.
FIG. 7 is a schematic view of a swashplate configuration;
fig. 8 is a schematic cross-sectional view of fig. 7.
Figure 9 is the utility model discloses see-saw formula unmanned aerial vehicle rotor's structural schematic.
Figure 10 is the utility model discloses see-down schematic diagram of seesaw formula unmanned aerial vehicle rotor.
Figure 11 shows the a-a profile of the see-saw unmanned aerial vehicle rotor of the present invention.
Figure 12 is the utility model discloses a B-B section view of seesaw formula unmanned aerial vehicle rotor.
Figure 13 is the utility model discloses a see-saw unmanned aerial vehicle rotor's side view.
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 relates to an unmanned aerial vehicle rotor system, which comprises a seesaw type unmanned aerial vehicle rotor and a rotor control device, wherein the rotor control device comprises a tilting tray component 300 and a total-moment slide bar component 100,
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. 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.
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.
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.
A tubular rotor shaft 150, a total moment slide bar and a long pull rod penetrate through the rotor shaft and the upper end part is connected with the corresponding transmission of the oar clamp assembly. 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.
Example two
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 III
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 13 is connected with the pitch-variable rocker arm 16 and the rocker arm supporting piece 17 through bolts, then the pitch-variable pull rod 18 is connected with the knuckle bearing through bolts, the operating force transmitted by the pitch-variable pull rod 18 is converted into the axial torque of the paddle clamp, the paddle clamp 13 is driven to move circumferentially, and therefore the pitch angle change of the paddle clamp 13 is achieved, and the pitch-variable movement is achieved.
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 limiting blocks 6 are connected between the hub side plates 3 on the two fixed sides through bolts, and polyurethane bushings 12 are arranged above the rotor shafts 10 below the hub positioning blocks 1 to ensure that the rotor shafts impact the rotor shafts 10 when the flapping quantity of the rotor shafts is too large.
The upper end and the lower end of the rotor shaft 10 are respectively connected and fixed with a linkage rod limiting block 5 through bolts. The function of the linkage rod limiting block 5 is to play a role in guiding and limiting the long pull rod, and the linkage rod limiting block is made of a novel high polymer material. The linkage rod limiting block 5 of the seesaw type rotor hub assembly is made of high polymer guide materials which have high wear-resisting and self-lubricating functions.
The seesaw positioning pin 2 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 2 has axial displacement, 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 pin can be rotatably arranged to realize the waving motion of the seesaw rotor system, and the oil sliding caps 7 are arranged on the hub side plates 3 on the two sides to perform oil injection and sealing. And needle bearings and thrust bearings are adopted on the teeterboard positioning pins 2 at two ends of the hub positioning block 1 and are used for transmitting axial force on the teeterboard positioning pins 2.
The transverse bolt 11 and the paddle clamp nut 15 of the seesaw type rotor wing paddle clamp assembly mainly bear the centrifugal force of a rotor wing system and are key components, 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 15 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 4 is sequentially connected with the needle bearing, the paddle clamp distance ring, the angular contact bearing and the paddle clamp nut 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 on the oar clamp distance ring, if 8 screw holes, correspond to realize its fixed with oar clamp 13 through 8 bolts, preferably, the bolt on still overlap and be equipped with the axle sleeve.
Furthermore, a sealing bearing is arranged between the opening end of the connecting cylinder of the paddle clamp 13 and the paddle hub support arm. The sealing of the rotor blade clamp assembly is realized by the selected unilateral sealing bearing, an oil filling hole is added in the middle of the connecting cylinder body of the blade clamp 13, so that the lubrication and the sealing performance of the blade clamp assembly are ensured, and the lubrication of the blade clamp assembly is realized by the inner space of the connecting cylinder body of the blade clamp 13.
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 13 is connected with the paddle through two bolts at the mounting position of the paddle. Through the axial pretightening force of the bolts, the clamping plate of the paddle clamp 13 is flush with the mounting surface of the paddle, and the attack angle of the paddle is consistent with that of the paddle clamp 13. 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 paddle is fixed on a clamping plate of the paddle clamp 13, the paddle clamp 13 transmits centrifugal force to the two angular contact bearings through the paddle clamp distance ring 14, then transmits the centrifugal force to the transverse bolt, and finally transmits the centrifugal force to the paddle clamp nut 15, so that the centrifugal force is finally transmitted to the paddle clamp nut 15 and borne by threads, and in order to increase safety, a safety pin needs to be arranged at the position of the paddle clamp nut.
The transmission of seesaw rotor system bending moment: the bending moment is directly transmitted to the two angular contact bearings and the needle roller bearing by the paddle clamp 13 and then transmitted to the paddle hub support arm 4.
In conclusion, the seesaw rotor system realizes the flapping movement of the rotor system by the seesaw positioning pin 2 and the bearing in function. The pitch-variable motion of the rotor system is realized through the paddle clamp assembly and the bearing.
The rotor shaft 10 transmits torque from the engine to the rotor system. The rotor wing system rotates clockwise or anticlockwise at a certain rotating speed, and meanwhile, the operating force is that the rotor wing operating system transmits to the variable-pitch pull rod 18, and the variable-pitch pull rod 18 drives the paddle clamp to move. The paddle clamp 13 drives the paddle to move along the axial direction in a hinged mode, the attack angle of the paddle is changed, and therefore the paddle generates 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.
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. An unmanned aerial vehicle rotor system is characterized by comprising a helicopter rotor control device and a seesaw type rotor,
the helicopter rotor control device comprises a tilting disk assembly and a total moment slide rod assembly,
the tilting tray assembly comprises a tilting tray and a tilting tray rotating shaft sleeved in the tilting tray, the total-moment sliding rod assembly comprises a total-moment sliding rod, a long pull rod, a central joint bearing arranged at the lower end of the total-moment sliding rod 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 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 respectively connected with the propeller hub positioning block through two seesaw positioning pins 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 through bolts, and propeller clamp distance rings are axially positioned on the propeller hub support arms;
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. A drone rotor system according to claim 1, wherein: 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.
3. A drone rotor system according to claim 1, wherein: 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.
4. A drone rotor system according to claim 1, wherein: 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.
5. A drone rotor system according to claim 1, wherein: the lower end of the total moment slide bar is provided with a side plate for shielding the two long pull rods, and the inner side of the side plate is provided with a guide part for vertically guiding the long pull rods.
6. A drone rotor system according to claim 1, wherein: a flapping limiting block is fixed between the two propeller hub side plates, and a polyurethane bushing is correspondingly sleeved on the rotor shaft.
7. A drone rotor system according to claim 1, wherein: 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.
8. A drone rotor system according to claim 1, wherein: and a sealing bearing is arranged between the opening end of the paddle clamp connecting cylinder and the paddle hub support arm.
9. A drone rotor system according to claim 2, wherein: the paddle board clamp comprises an inner side bolt fixed connection and an outer side bolt so as to adjust the angle of the blades in the direction of the swing matrix, and the hub support arm has a pre-taper angle of 1.75 degrees so as to upwarp the two blades by 1.75 degrees.
10. A drone rotor system according to claim 1, wherein: the upper end and the lower end of the rotor shaft are respectively connected with a fixed linkage rod limiting block through bolts, and the propeller hub positioning block and the rotor shaft are in interference assembly.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920225426.5U CN210653637U (en) | 2019-02-22 | 2019-02-22 | Unmanned aerial vehicle rotor system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920225426.5U CN210653637U (en) | 2019-02-22 | 2019-02-22 | Unmanned aerial vehicle rotor system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703757A (en) * | 2019-02-22 | 2019-05-03 | 一飞智控(天津)科技有限公司 | Unmanned plane rotor system |
| CN112373721A (en) * | 2020-11-03 | 2021-02-19 | 哈尔滨飞机工业集团有限责任公司 | Method for adjusting reference of main-rotor steering engine of helicopter in ground state |
-
2019
- 2019-02-22 CN CN201920225426.5U patent/CN210653637U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703757A (en) * | 2019-02-22 | 2019-05-03 | 一飞智控(天津)科技有限公司 | Unmanned plane rotor system |
| CN109703757B (en) * | 2019-02-22 | 2024-04-30 | 一飞智控(天津)科技有限公司 | Unmanned aerial vehicle rotor wing system |
| CN112373721A (en) * | 2020-11-03 | 2021-02-19 | 哈尔滨飞机工业集团有限责任公司 | Method for adjusting reference of main-rotor steering engine of helicopter in ground state |
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