CN211442758U - Folding rotor wing of coaxial unmanned helicopter - Google Patents
Folding rotor wing of coaxial unmanned helicopter Download PDFInfo
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- CN211442758U CN211442758U CN201922210954.6U CN201922210954U CN211442758U CN 211442758 U CN211442758 U CN 211442758U CN 201922210954 U CN201922210954 U CN 201922210954U CN 211442758 U CN211442758 U CN 211442758U
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Abstract
The application provides a folding rotor of coaxial unmanned helicopter includes: the variable pitch propeller hub, the folding propeller clamp assembly, the blades, the torsion spring and the centrifugal swing limiter are rotatably connected to the end part of the variable pitch propeller hub through the flapping bolt and the flapping bearing; the paddle is connected to the end part of the folding paddle clamp component; the torsional spring is sleeved on the flapping bolt, an upper torsional arm of the torsional spring extends into the through hole of the variable pitch propeller hub, and a lower torsional arm of the torsional spring is abutted against the bottom of the folding propeller clamp assembly; the centrifugal swing limiter is movably connected to the variable-pitch propeller hub through a rotating shaft, and after the folding propeller clamp assembly is unfolded, the centrifugal swing limiter is clamped at the end of the folding propeller clamp assembly. The rotor wing of the utility model has the advantages of the oar phenomenon can not appear beating, and the stability of operation is high, and the security is high, simple to operate.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, especially, relate to a folding rotor of coaxial unmanned helicopter.
Background
At present, along with the continuous development of science and technology, unmanned aerial vehicles are widely applied, and the unmanned aerial vehicles are unmanned planes which are operated by utilizing radio remote control equipment and self-contained program control devices. Unmanned aerial vehicle passes through the high-speed rotation of rotor and provides lift for unmanned aerial vehicle, and current similar collapsible paddle unmanned aerial vehicle rotor adopts to wave the hinge and realizes that the rotor blade is folding, and the paddle perpendicular to rotor plane waves from top to bottom. The above rotor, although able to satisfy the basic functions, has the following disadvantages:
1) during the unfolding process, the paddle swings uncontrollably and is easy to beat due to the uneven rotating speed;
2) the unfolding of the existing unfolding mechanism is mainly thrown away by centrifugal force, and the unfolding method is only suitable for the rotor wings with smaller diameters and has low success probability for the rotor wings with larger diameters;
3) because there is not the restriction design in the current beta structure, the helicopter meets strong wind and has the risk of beating in flight.
SUMMERY OF THE UTILITY MODEL
An object of this application is to provide a folding rotor of coaxial unmanned helicopter, this rotor can not appear beating the oar phenomenon, and the stability of operation is high, and the security is high, simple to operate.
To achieve the above object, the present application provides a folding rotor of a coaxial unmanned helicopter, comprising: the centrifugal swing limiting device comprises a hub, a variable-pitch hub, a folding paddle clamp assembly, blades, a torsion spring and a centrifugal swing limiter, wherein the folding paddle clamp assembly is rotatably connected to the end part of the variable-pitch hub through a swing bolt and a swing bearing; the paddle is connected to the end of the folding paddle clip assembly; the swinging bolt is sleeved with the torsion spring, an upper torsion arm of the torsion spring extends into the through hole of the variable pitch propeller hub, and a lower torsion arm of the torsion spring abuts against the bottom of the folding propeller clamp assembly; the centrifugal swing limiter is movably connected to the variable-pitch propeller hub through a rotating shaft, and when the folding propeller clamp assembly is unfolded, the folding propeller clamp assembly is clamped at the tail of the folding propeller clamp assembly.
The centrifugal pendulum limiter as described above, wherein the centrifugal pendulum limiter is symmetrically connected to both sides of the pitch changing hub.
As above, wherein the folding blade clamp assembly has a limiting mechanism at one end and a connecting portion for connecting the blade at the other end, when the folding blade clamp assembly is in the unfolded state; the centrifugal swing limiter is connected with the limiting mechanism in a clamping mode, and when the folding paddle clamp assembly is in a folding state, the centrifugal swing limiter is separated from the limiting mechanism.
The limiting mechanism comprises an upper limiting lug and a lower limiting lug which are arranged at intervals, and a limiting groove is formed between the upper limiting lug and the lower limiting lug; the centrifugal swing limiter comprises a reverse stopping claw, when the folding paddle clamp assembly is in an unfolding state, the reverse stopping claw is clamped in the limiting groove, the upper limiting lug is located above the centrifugal swing limiter, and the lower limiting lugs are respectively located at the bottom of the reverse stopping claw.
As above, one surface of the lower limiting lug, which is close to the limiting groove, is a plane, and the other surface is an arc transition surface; when the check claw is clamped in the limiting groove, one surface of the check claw, which is contacted with the lower limiting lug, is a plane.
As above, one end of the centrifugal swing limiter near the upper limiting projection is an arc portion, and the other end is an extension rod.
When the folding paddle clamp assembly is in an unfolded state, the lower limiting protruding block is clamped in a groove between the extending rod and the reverse stop claw.
The pitch drive system of claim wherein said hub is rotatably connected to said hub centerpiece.
A folding rotor wing of a coaxial unmanned helicopter further comprises a variable pitch rocker arm connected with a variable pitch hub through a variable pitch hub assembly.
As above, wherein, wave bolt fixed connection in the one end that the pitch-changing propeller hub kept away from the propeller hub, the both ends of folding oar clamp subassembly overlap respectively and are established wave the both ends of bolt to through wave the bearing with wave the bolt rotation and be connected.
The beneficial effect that this application realized is as follows:
(1) this application has adopted the restriction angle of torsional spring and the folding oar of centrifugal pendulum stopper dual fail-safe restriction clamp subassembly, also can be for the angle that the displacement oar hub upwards or can squint downwards, and under the motor speed of connecting when the oar hub is inhomogeneous or the helicopter meets the circumstances such as strong wind in the flight, this application can prevent that upper and lower paddle upwards or the angle of squinting downwards is too big, causes the phenomenon of beating the oar, improves unmanned helicopter flight's stability and security.
(2) The utility model provides a limit angle can change according to actual conditions, effectively prevents rotor and the phenomenon that paddle was beaten about expanding and flight in-process, improves the stability of unmanned helicopter flight.
(3) This application torsional spring not only is favorable to the expansion of minor diameter rotor for the paddle is originally expanded and is provided power, also is favorable to the expansion of major diameter rotor.
(4) This application does not need too much increase weight, easy maintenance, easily processing under the requirement and the function that satisfy basic design.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is the utility model relates to a three-dimensional structure schematic diagram of the folding rotor of coaxial unmanned helicopter.
Fig. 2 is the utility model discloses a section view under coaxial unmanned helicopter folding rotor expandes the state.
Figure 3 is the utility model relates to a cross-sectional view under coaxial unmanned helicopter folding rotor fold condition.
Figure 4 is the utility model relates to a local schematic diagram under coaxial unmanned helicopter folding rotor fold condition.
Figure 5 is the utility model relates to a position schematic diagram between the folding rotor fold condition's of coaxial unmanned helicopter centrifugation pendulum limiter and folding oar clamp assembly.
Fig. 6 is the position schematic diagram between the centrifugal pendulum limiter and the folding paddle clamp assembly of the coaxial unmanned helicopter in the folded rotor wing unfolding state.
Fig. 7 is the state diagram of the folding oar clamp assembly in the lower limit position under the folding rotor wing of coaxial unmanned helicopter expandes the state of the utility model.
Fig. 8 is a schematic diagram of the state of the folding blade clamp assembly in the upper limit position in the unfolded state of the folding rotor of the coaxial unmanned helicopter.
Reference numerals: 1-hub centerpiece; 2-pitch change hub; 3-folding paddle clip assembly; 4-torsion spring; 5-a centrifugal swing limiter; 6-waving the bolt; 7-flapping a bearing; 8-pitch change rocker arm; 9-pitch hub assembly; 21-a through hole; 22-open slots; 31-a limiting mechanism; 32-a connecting portion; 33-a blade mounting groove; 34-connecting the side plates; 41-upper torsion arm; 42-lower torque arm; 51-check pawl; 52-extension bar; 53-arc portion; 311-upper stop lug; 312-lower restraint tab; 313-a limit groove.
Detailed Description
The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1, a folding rotor of a coaxial unmanned helicopter comprises: the variable-pitch propeller hub assembly comprises a hub central part 1, a variable-pitch propeller hub 2, a folding propeller clamp assembly 3, blades (not shown in the figure), a torsion spring 4 and a centrifugal swing limiter 5, wherein the variable-pitch propeller hub 2 is symmetrically arranged at two ends of the hub central part 1; the folding paddle clamp assembly 3 is rotatably connected to the end of the pitch-variable hub 2 through a flapping bolt 6 and a flapping bearing 7; the paddle is connected to the end part of the folding paddle clamp component 3; and the paddle is arranged in parallel with the folding paddle clamp component 3; when the folding paddle clamp assembly 3 is parallel to the direction of the variable-pitch propeller hub 2, the folding paddle clamp assembly 3 is in an unfolded state, and the blades are in an unfolded state; when the folding paddle clamp assembly 3 is perpendicular to the direction of the variable pitch propeller hub 2, the folding paddle clamp assembly 3 is in a folded state, and the blades are in a folded state; the torsion spring 4 is sleeved on the flapping bolt 6, an upper torsion arm 41 of the torsion spring 4 extends into the through hole 21 of the pitch-variable propeller hub 2, and a lower torsion arm 42 of the torsion spring 4 abuts against the bottom of the folding propeller clamp assembly 3; centrifugal pendulum stopper 5 passes through pivot swing joint on displacement oar hub 2, and after folding oar pressed from both sides subassembly 3 expansion, its joint is at the afterbody of folding oar pressed from both sides subassembly 3. The centrifugal swing limiter 5 is symmetrically connected to two sides of the pitch-variable hub 2, namely the centrifugal swing limiter 5 is symmetrically connected to the front side and the rear side of the pitch-variable hub 2.
As shown in fig. 1, the hub center part 1 has a central hole in the middle, a rotating shaft of the unmanned helicopter penetrates into the central hole, the hub center part 1 is fixedly connected with the rotating shaft, and when the rotating shaft rotates, the hub center part 1 rotates along with the rotating shaft. Hub center piece 1 is used for driving pitch-variable hub 2, folding blade clamp assembly 3 and blade to rotate, and pitch-variable hub 2 is used for connecting folding blade clamp assembly 3 and hub center piece 1 together. The torsion spring 4 and the centrifugal swing limiter 5 are used for limiting the position of the folding paddle clip assembly 3 and limiting the angle at which the folding paddle clip assembly 3 can deflect upwards or downwards when in the unfolded state.
As shown in fig. 1, one end of the folding paddle holder assembly 3 is provided with a limiting mechanism 31, the limiting mechanism 31 is used for cooperating with the centrifugal limiter 5 to limit the angle at which the folding paddle holder assembly 3 can deflect upwards or downwards after being unfolded, and the other end of the folding paddle holder assembly 3 is provided with a connecting part 32 for connecting a blade, when the folding paddle holder assembly 3 is in an unfolded state; the centrifugal swing limiter 5 is clamped in the limiting mechanism 31, and the upward and downward offset angles of the folding blade clamp assembly 3 relative to the variable pitch propeller hub 2 are limited; when the folding paddle clip assembly 3 is in the folded state, the centrifugal swing limiter 5 is separated from the limiting mechanism 31.
As shown in fig. 1, the folding paddle clip assembly 3 has a blade mounting groove 33 at the connecting portion 32, and the blade mounting groove 33 is used for mounting a blade.
As shown in fig. 2, the torsion spring 4 is sleeved on the waving bolt 6, when the folding paddle clip assembly 3 is in an unfolded state, the upper torsion arm 41 and the lower torsion arm 42 are parallel and in an inclined state, the upper torsion arm 41 extends upwards along the waving bolt 6 in an inclined manner and is limited in the through hole 21, and the through hole 21 is used for limiting the position of the upper torsion arm 41, cannot move left and right, and can only move upwards or downwards in the hole in an inclined manner; the lower torque arm 42 extends obliquely downward along the swing bolt 6 and abuts against the bottom of the folding blade holder assembly 3, providing a certain supporting force for the folding blade holder assembly 3.
As shown in fig. 3, folding paddle clip assembly 3 is in a folded state, and upper torsion arm 41 is retracted a length along through hole 21 relative to folding paddle clip assembly 3 in an unfolded state. The lower torque arm 42 extends obliquely downward along the swing bolt 6 and abuts against the bottom of the folding blade holder assembly 3, providing a certain supporting force for the folding blade holder assembly 3.
As shown in fig. 4, the pitch-variable hub 2 has an open slot 22, the flapping bolt 6 passes through the side wall of the open slot 22, the torsion spring 4 is sleeved on the flapping bolt 6 and is located inside the open slot 22, a through hole 21 is formed in the top wall of the open slot 22, a through groove is formed in the lower wall of the open slot 22, an upper torsion arm 41 of the torsion spring 4 extends into the through hole 21, and a lower torsion arm 42 passes through the through groove and extends to the bottom of the folding blade clamp assembly 3. Folding oar presss from both sides subassembly 3 has and connects curb plate 34, connects the both sides that curb plate 34 symmetry set up at folding oar presss from both sides subassembly 3, sets up the hole that can wear into to wave bolt 6 on connecting curb plate 34, connects curb plate 34 cover and establishes on wave bolt 6, waves and wave bearing 7 cover and establish on wave bolt 6 to fix in the hole of connecting curb plate 34, the 2 tip of displacement propeller hub stretch into between the connection curb plate 34 of folding oar clamp subassembly 3 both sides.
As shown in fig. 5, the limiting mechanism 31 includes an upper limiting projection 311 and a lower limiting projection 312 which are arranged at intervals, and a limiting groove 313 is formed between the upper limiting projection 311 and the lower limiting projection 312; the centrifugal swing limiter 5 comprises a counter-stop pawl 51. The anti-stop claw 51 is limited in the limiting groove 313 and is used for limiting the downward offset angle of the folding paddle clamp assembly 3.
When the rotor is in the folded state, the centrifugal swing limiter 5 and the folding paddle clip assembly 3 are in the positions as shown in fig. 5, the centrifugal swing limiter 5 is separated from the folding paddle clip assembly 3, and the centrifugal swing limiter 5 does not limit the folding paddle clip assembly 3.
As shown in fig. 6, when the rotor is in the unfolded state, the folding paddle clip assembly 3 is in the horizontal state, and when the folding paddle clip assembly 3 is in the unfolded state, the anti-stop claw 51 is clamped in the limiting groove 313, the upper limit protrusion 311 is located above the centrifugal swing limiter 5, and the lower limit protrusions 312 are respectively located at the bottom of the anti-stop claw 51. The upper limiting bump 311 is limited above the centrifugal swing limiter 5 and used for limiting the upward offset angle of the folding paddle clamp assembly 3; the lower limit movement projection 312 is limited below the non-return claw 51 and is used for limiting the downward offset angle of the folding paddle holder assembly 3.
As shown in fig. 6, one surface of the lower limit protrusion 312 close to the limit groove 313 is a plane, and the other surface is an arc transition surface; when the check claw 51 is clamped in the limiting groove 313, the surface of the check claw 51 contacting with the lower limit bump 312 is a plane. The surfaces of the reverse stopping claw 51 opposite to the lower limiting lug 312 are both planes, and the reverse stopping claw and the lower limiting lug are not easy to slip after being clamped, so that the limiting effect is good. When the folding paddle clip assembly 3 is converted from the folded state to the unfolded state, the surface of the lower limiting lug 312 close to the centrifugal swing limiter 5 is an arc transition surface, so that the folding paddle clip assembly 3 can be smoothly unfolded, and the lower limiting lug 312 is prevented from colliding with the centrifugal swing limiter 5.
As shown in fig. 6, one end of the centrifugal swing limiter 5 near the upper limit projection 311 is an arc portion 53, and the other end is an extension bar 52. The protruding rod 52 facilitates the swinging of the centrifugal swing limiter 5 under the influence of centrifugal force.
When the rotor starts to rotate, the centrifugal swing limiter 5 has the tendency of swinging to the right under the action of centrifugal force, the folding paddle clamp assembly 3 gradually expands, and the check claw 51 of the centrifugal swing limiter 5 extends into the limit groove 313 of the folding paddle clamp assembly 3.
As shown in fig. 7, if a special condition occurs and the blade swings downward, the non-return claw 51 is caught at the top of the lower limit movement projection 312, the extension bar 52 is caught at the bottom of the lower limit movement projection 312, and the swing angle of the blade is limited. According to an embodiment of the utility model, the angle that the paddle waved down is restricted in 5 degrees angles.
As shown in fig. 8, if a special condition occurs, the blade swings upward, the upper limit protrusion 311 collides with the centrifugal swing limiter 5, the centrifugal swing limiter 5 limits the upper limit protrusion 311, the upper limit protrusion 311 abuts against the arc portion 53 of the centrifugal swing limiter 5, the folding paddle clip assembly 3 cannot shift upward, and the blade cannot swing upward. According to an embodiment of the present invention, the angle of the blade upwards deviation is limited within an 8 degree angle.
As shown in fig. 6, when the folding paddle clip assembly 3 is in the unfolded state, the lower limit movement projection 312 is snapped into the groove between the protruding rod 52 and the non-return pawl 51.
According to a specific embodiment of the utility model, the variable pitch propeller hub 2 rotates with propeller hub centre piece 1 and is connected, and variable pitch propeller hub 2 drives folding oar clamp assembly 3 and the paddle certain angle that deflects.
According to a specific embodiment of the present invention, the rotor further comprises a pitch horn 8, the pitch horn 8 being connected to the pitch hub 2 through a pitch hub assembly 9, the pitch hub assembly 9 being adapted to connect the pitch horn 8 to the pitch hub 2, the pitch horn 8 being adapted to drive the pitch hub assembly 9 and the pitch hub 2 in rotation relative to the hub center piece 1.
According to the utility model discloses a concrete embodiment, wave bolt 6 fixed connection and keep away from the one end of propeller hub central part 1 at displacement propeller hub 2, the both ends of folding oar clamp assembly 3 are established respectively at the both ends of waving bolt 6 to rotate with waving bolt 6 through waving bearing 7 and being connected.
The beneficial effect that this application realized is as follows:
(1) this application has adopted the restriction angle of torsional spring and the folding oar of centrifugal pendulum stopper dual fail-safe restriction clamp subassembly, also can be for the angle that the displacement oar hub upwards or can squint downwards, when the motor rotational speed that the oar hub central part is connected is inhomogeneous or the helicopter meets under the circumstances such as strong wind in the flight, the paddle is too big upwards or squints the angle downwards about can preventing in this application, causes the phenomenon of beating the oar, improves unmanned helicopter flight's stability and security.
(2) The utility model provides a limit angle can change according to actual conditions, effectively prevents rotor and the phenomenon that paddle was beaten about expanding and flight in-process, improves the stability of unmanned helicopter flight.
(3) This application torsional spring not only is favorable to the expansion of minor diameter rotor for the paddle is originally expanded and is provided power, also is favorable to the expansion of major diameter rotor.
(4) This application does not need too much increase weight, easy maintenance, easily processing under the requirement and the function that satisfy basic design.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention, and should not be considered as limiting the scope of the present invention. All the equivalent changes and improvements made according to the application scope of the present invention should fall within the patent coverage of the present invention.
Claims (10)
1. A folding rotor of a coaxial unmanned helicopter, comprising: a variable pitch propeller hub, a folding propeller clamp component, a blade, a torsion spring and a centrifugal swing limiter,
the folding paddle clamp assembly is rotatably connected to the end of the pitch-variable hub through a flapping bolt and a flapping bearing;
the paddle is connected to the end of the folding paddle clip assembly;
the swinging bolt is sleeved with the torsion spring, an upper torsion arm of the torsion spring extends into the through hole of the variable pitch propeller hub, and a lower torsion arm of the torsion spring abuts against the bottom of the folding propeller clamp assembly;
the centrifugal swing limiter is movably connected to the variable-pitch propeller hub through a rotating shaft, and when the folding propeller clamp assembly is unfolded, the folding propeller clamp assembly is clamped at the tail of the folding propeller clamp assembly.
2. The folding rotor of coaxial unmanned helicopter of claim 1, wherein said centrifugal pendulum limiter is symmetrically attached on both sides of said pitch hub.
3. The folding rotor of a coaxial unmanned helicopter of claim 2 wherein said folding blade clamp assembly has a stop mechanism at one end and a connection portion at the other end for attachment of a blade when said folding blade clamp assembly is in an extended position; the centrifugal swing limiter is connected with the limiting mechanism in a clamping mode, and when the folding paddle clamp assembly is in a folding state, the centrifugal swing limiter is separated from the limiting mechanism.
4. The folding rotor of coaxial unmanned helicopter of claim 3, wherein said stop mechanism comprises an upper stop lug and a lower stop lug spaced apart to form a stop slot therebetween; the centrifugal swing limiter comprises a reverse stopping claw, when the folding paddle clamp assembly is in an unfolding state, the reverse stopping claw is clamped in the limiting groove, the upper limiting lug is located above the centrifugal swing limiter, and the lower limiting lugs are respectively located at the bottom of the reverse stopping claw.
5. The folding rotor wing of coaxial unmanned helicopter according to claim 4, wherein one side of the lower limiting lug near the limiting groove is a plane, and the other side is a circular arc transition surface; when the check claw is clamped in the limiting groove, one surface of the check claw, which is contacted with the lower limiting lug, is a plane.
6. The folding rotor of coaxial unmanned helicopter of claim 5, wherein one end of said centrifugal pendulum stop adjacent to said upper stop lug is a radius and the other end is an extension bar.
7. The folding rotor of a coaxial unmanned helicopter of claim 6, wherein said lower detent tab snaps into a recess between said extension bar and said anti-backup pawl when said folding paddle clip assembly is in an extended state.
8. The folding rotor of a coaxial drone helicopter of claim 1, characterized by said pitch hub being rotationally connected to a hub centerpiece.
9. The folding rotor of coaxial unmanned helicopter of claim 8 further comprising a pitch horn connected to the pitch hub.
10. The folding rotor of coaxial unmanned helicopter of claim 1, wherein said flapping bolt is fixedly attached to the end of said pitch varying hub distal from said hub, and said folding blade clamp assembly is sleeved at each end of said flapping bolt and rotatably attached to said flapping bolt by a flapping bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922210954.6U CN211442758U (en) | 2019-12-11 | 2019-12-11 | Folding rotor wing of coaxial unmanned helicopter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922210954.6U CN211442758U (en) | 2019-12-11 | 2019-12-11 | Folding rotor wing of coaxial unmanned helicopter |
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| CN211442758U true CN211442758U (en) | 2020-09-08 |
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| CN201922210954.6U Active CN211442758U (en) | 2019-12-11 | 2019-12-11 | Folding rotor wing of coaxial unmanned helicopter |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112173080A (en) * | 2020-09-25 | 2021-01-05 | 中国直升机设计研究所 | Variable-pitch rotor wing structure and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112173080A (en) * | 2020-09-25 | 2021-01-05 | 中国直升机设计研究所 | Variable-pitch rotor wing structure and control method thereof |
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