CN215285253U - Upper and lower rotor independent control device of coaxial double-rotor helicopter - Google Patents
Upper and lower rotor independent control device of coaxial double-rotor helicopter Download PDFInfo
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- CN215285253U CN215285253U CN202121408108.6U CN202121408108U CN215285253U CN 215285253 U CN215285253 U CN 215285253U CN 202121408108 U CN202121408108 U CN 202121408108U CN 215285253 U CN215285253 U CN 215285253U
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Abstract
The utility model discloses an independent operating device for the upper rotor and the lower rotor of a coaxial dual-rotor helicopter, which comprises an upper rotor, a lower rotor, an automatic lower rotor tilter and an automatic upper rotor tilter; the lower rotor wing automatic tilter operates the lower rotor wing in a variable-pitch mode from the outside of the rotor wing shaft, and the upper rotor wing automatic tilter operates the upper rotor wing from the inside of the rotor wing shaft, so that the independent control of the pitches of the upper rotor wing and the lower rotor wing is realized; the operation of the upper rotor and the lower rotor is completely independent, no coupling exists, and the operation of the upper rotor and the lower rotor cannot be influenced mutually. The automatic inclinators of the upper rotor wing and the lower rotor wing incline around the central spherical hinge, and the pull rods are arranged at different azimuth angles of the movable ring, so that variable-pitch operation of two or more blade rotor wings can be realized, and the application range is wide; the control rod system of the upper rotor wing is completely enveloped in the rotor wing shaft and the rotor hub, is not exposed in the flow field of the rotor wing, and can reduce the resistance of the rotor wing; the steering engine and the automatic inclinator support shaft are located on the outer side of the rotor shaft, the requirement on the size of the rotor shaft is low, and the structure is compact.
Description
Technical Field
The utility model belongs to coaxial double rotor helicopter field, concretely relates to upper and lower rotor independent control device of coaxial double rotor helicopter.
Background
The helicopter has vertical take-off and landing and hovering capabilities, has low requirements on take-off and landing sites, can take off and land on non-paved ground or urban high-rise building roofs and other occasions, and has irreplaceable effects in the field of aircrafts due to the flexibility of use. The unmanned helicopters in the world mainly comprise a single-rotor-wing unmanned helicopter with a tail rotor and a coaxial double-rotor-wing unmanned helicopter. The coaxial double-rotor-wing-type helicopter does not need tail rotor and tail transmission, the structural size of the coaxial double-rotor-wing-type helicopter is more compact than that of a single-rotor-wing helicopter with a tail rotor, and double-rotor-wing pitch control of the coaxial double-rotor-wing-type unmanned helicopter is divided into upper and lower rotor wing linkage control and upper and lower rotor wing independent control.
The Russian helicopter such as the card 50 operates the coaxial dual-rotor helicopter in an upper rotor and lower rotor linkage operation mode, the upper rotor automatic tilter is located between the upper rotor and the lower rotor, the lower rotor automatic tilter is located below the lower rotor, and the upper rotor automatic tilter and the lower rotor automatic tilter are connected through a group of pull rods arranged between blades of the lower rotor, so that linkage operation of the two rotors is realized. The degree of freedom of the operating mode of the linkage operation of the upper rotor wing and the lower rotor wing is less, but the structure of the connecting rod is complex, a plurality of rod systems are connected in series to reduce the structural reliability, and the linkage rod systems of the upper rotor wing and the lower rotor wing and the whole set of upper rotor wing operating system are exposed in the flow field of the rotor wing, so that the helicopter generates larger resistance during flying.
The upper rotor wing and the lower rotor wing can be independently operated to independently control the total distance and the periodic variable distance of the upper rotor wing and the lower rotor wing, the upper rotor wing and the lower rotor wing are respectively connected with the upper automatic tilter and the lower automatic tilter through three steering engines, an operating device of the lower rotor wing can adopt an off-axis operating device of a rotor wing of a conventional single-rotor helicopter, and an on-axis operating mode is required to be adopted by an operating device of the upper rotor wing due to space limitation. At present, few helicopters adopting a rotor shaft internal control mode, such as see-saw rotor wings of two blades of CH7 helicopters and the like, are connected with an automatic inclinator positioned at the bottom of a rotor shaft and a reversing mechanism positioned at the top of the rotor shaft through two pull rods arranged in the shaft to drive the two blades to change the pitch. The mechanical principle is limited to a rotor with two blades, and the pull rod extends out of the top of the rotor and then reverses to be exposed outside the rotor, so that the generated resistance is large. The motion steering mechanism is complex, a plurality of pull rods and rod end bearings are needed, the operation error can be accumulated, and the control precision of the helicopter is reduced. In addition, in-axis stick-pulls from the rotor tip, occupying rotor tip space, can affect the placement of rotor tip equipment such as rotor fairings or radar.
Therefore, the design of the coaxial double-rotor upper and lower rotor independent control system with small aerodynamic resistance, simple structure and reliable work, in particular to the upper rotor shaft inner control system which is completely enveloped in the rotor shaft, has important engineering significance for solving the problems in the prior art.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a coaxial bispin wing helicopter upper and lower rotor independent control device.
Realize the utility model discloses the technical solution of purpose does: an independent control device for an upper rotor wing and a lower rotor wing of a coaxial dual-rotor helicopter comprises an upper rotor wing, a lower rotor wing automatic tilter and an upper rotor wing automatic tilter; the lower rotor wing automatic inclinator is used for carrying out variable-pitch operation on the lower rotor wing from the outside of the rotor shaft, and the upper rotor wing automatic inclinator is used for operating the upper rotor wing from the inside of the rotor shaft, so that the independent operation on the pitches of the upper rotor wing and the lower rotor wing is realized.
Further, the lower rotor wing consists of a lower rotor wing blade and a lower rotor wing hub central piece; the lower rotor blade is arranged in the lower rotor hub central part, and the middle of the lower rotor blade is connected with the thrust bearing through a variable-pitch bearing and can rotate relatively to realize variable-pitch motion; the lower rotor wing variable-pitch rocker arm is positioned outside the lower rotor wing hub central part and fixedly connected with the lower rotor wing blade; the lower rotor wing automatic inclinator comprises a lower rotor wing automatic inclinator fixed ring, a lower rotor wing automatic inclinator moving ring and a lower rotor wing automatic inclinator central spherical hinge; one end of the lower rotor wing rudder machine is hinged with the machine body, and the other end of the lower rotor wing rudder machine is hinged with the fixed ring of the lower rotor wing automatic inclinator; the lower rotor wing torsion-proof arm is connected with the machine body and the fixed ring of the lower rotor wing automatic inclinator to ensure that the fixed ring does not rotate along with the rotor wing; the fixed ring of the lower rotor wing automatic inclinator and the movable ring of the lower rotor wing automatic inclinator are connected by a bearing and can rotate mutually; the center of the moving ring of the lower rotor automatic inclinator is hinged with the center spherical hinge of the lower rotor automatic inclinator and rotates around the moving ring, and the center spherical hinge of the lower rotor automatic inclinator can slide up and down on the lower rotor spindle along the guide rail; one end of the lower rotor wing variable-pitch pull rod is hinged with the lower rotor wing variable-pitch rocker arm, and the other end of the lower rotor wing variable-pitch pull rod is hinged with the movable ring of the lower rotor wing automatic inclinator; the movement of the lower rotor wing automatic inclinator drives the lower rotor wing blades to realize total pitch and periodic pitch control through the lower rotor wing pitch-varying pull rod.
Further, the lower rotor wing pitch link is located outside the lower rotor wing hub centerpiece.
Furthermore, the number of the lower rotor rudder machines is three, the three lower rotor rudder machines stretch synchronously to realize the total pitch control of the lower rotor automatic inclinator, and the three lower rotor rudder machines stretch differentially to realize the periodic pitch control of the lower rotor automatic inclinator.
Further, the upper rotor consists of upper rotor blades and an upper rotor hub central piece; the upper rotor blade is arranged in the upper rotor hub central part, and the middle of the upper rotor blade is connected by a variable-pitch bearing and a thrust bearing to realize variable-pitch motion; the upper rotor wing variable-pitch rocker arm is positioned in the upper rotor wing hub central part and fixedly connected with the upper rotor wing blades; the upper rotor wing automatic inclinator comprises an upper rotor wing automatic inclinator moving ring, an upper rotor wing automatic inclinator fixed ring and an upper rotor wing automatic inclinator central spherical hinge; the upper rotor wing variable-pitch pull rod is positioned in the upper rotor wing spindle, passes through an opening reserved in the bottom support shaft, extends to the lower part of the upper rotor wing spindle, and is connected with the movable ring of the upper rotor wing automatic tilter; the upper rotor steering engine is connected with the engine body and the upper rotor automatic inclinator, and the upper rotor automatic inclinator is driven by extension to carry out total distance and periodic distance changing operation.
Furthermore, the upper rotor wing variable-pitch pull rod extends from the inside of the upper rotor wing spindle to the inside of the upper rotor wing hub central piece, the upper end of the upper rotor wing variable-pitch pull rod is hinged with the upper rotor wing variable-pitch rocker arm, and the upper rotor wing variable-pitch pull rod pushes and pulls the upper rotor wing variable-pitch rocker arm up and down to drive the upper rotor wing blades to perform variable-pitch motion in the upper rotor wing hub central piece.
Furthermore, the bottom supporting shaft is used as a support of the central spherical hinge of the upper rotor wing automatic inclinator, the bottom supporting shaft is installed on the outer side of the bottom of the upper rotor wing spindle, the central spherical hinge of the upper rotor wing automatic inclinator slides on the bottom supporting shaft to realize total pitch control, and the movable ring of the upper rotor wing automatic inclinator and the upper rotor wing automatic inclinator rotate around the central spherical hinge of the upper rotor wing automatic inclinator without moving to realize periodic variable pitch control.
Furthermore, when the periodic variable pitch operation is carried out, the upper rotor automatic inclinator rotates around a central spherical hinge of the upper rotor automatic inclinator; when the total distance is controlled, the upper rotor wing automatic inclinator and the central spherical hinge of the upper rotor wing automatic inclinator integrally slide up and down along the bottom support shaft.
Compared with the prior art, the utility model discloses following beneficial effect has: (1) the operation of the upper rotor and the lower rotor is completely independent, no coupling exists, and the operation of the upper rotor and the lower rotor cannot be influenced mutually; (2) the upper and lower rotor wing automatic inclinators deflect around the central spherical hinge and mutually generate angular motion; (3) a plurality of pull rods are arranged at different azimuth angles of the movable ring, for example, the variable-pitch pull rods of two propeller rotors are arranged at 180 degrees, the pull rods of three propeller rotors are arranged at 120 degrees, the pull rods of four propeller rotors are arranged at 90 degrees, and the like, so that variable-pitch operation of two or more propeller rotors can be realized, and the application range is wide; (4) the control rod system of the upper rotor wing is completely enveloped in the rotor wing shaft and the rotor hub, is not exposed in the flow field of the rotor wing, and can reduce the resistance of the rotor wing; (5) the steering engine and the automatic inclinator support shaft are located on the outer side of the rotor shaft, the requirement on the size of the rotor shaft is low, and the structure is compact.
Drawings
Fig. 1 is an overall schematic view of the present invention.
Fig. 2 is a schematic view of the lower rotor control mechanism of the present invention.
Fig. 3 is a schematic view of the upper rotary wing operating mechanism of the present invention.
Fig. 4 is a bottom sectional view of the upper rotary wing operating mechanism of the present invention.
Fig. 5 is a top schematic view of the upper rotary wing operating mechanism of the present invention.
Reference numbers in the figures: 1. upper rotor, 2, lower rotor, 3, lower rotor automatic tilter, 4, upper rotor automatic tilter, 5, lower rotor blade, 6, lower rotor pitch rocker, 7, lower rotor pitch link, 8, lower rotor rudder, 9, lower rotor mast, 10, lower rotor anti-twist arm, 11, lower rotor automatic tilter stationary ring, 12, lower rotor automatic tilter movable ring, 13, lower rotor automatic tilter center ball hinge, 14, lower rotor hub center piece, 15, upper rotor blade, 16, upper rotor hub center piece, 17, upper rotor pitch rocker, 18, upper rotor pitch link, 19, bottom support shaft, 20, upper rotor anti-twist arm, 21, upper rotor automatic tilter movable ring, 22, upper rotor automatic tilter stationary ring, 23, upper rotor automatic tilter center ball hinge, 24, upper rotor steering gear, 25, upper rotor mast.
Detailed Description
The utility model provides an independent control device for upper and lower rotors of a coaxial dual-rotor helicopter with multiple blades, which comprises an upper rotor 1, a lower rotor 2, an automatic inclinator 3 of the lower rotor, an automatic inclinator 4 of the upper rotor, a main shaft 9 of the lower rotor, a main shaft 25 of the upper rotor and a bottom support shaft 19 of the upper rotor;
the lower rotor wing automatic inclinator 3 comprises a lower rotor wing automatic inclinator fixed ring 11, a lower rotor wing automatic inclinator movable ring 12 and a lower rotor wing automatic inclinator central spherical hinge 13; the upper rotor automatic tilter 4 comprises an upper rotor automatic tilter moving ring 21, an upper rotor automatic tilter fixed ring 22 and an upper rotor automatic tilter central spherical hinge 23;
the lower rotor pitch horn 6 and the lower rotor pitch link 7 are located outside the lower rotor hub centerpiece 14, and the upper rotor pitch horn 17 and the upper rotor pitch link 18 are located inside the upper rotor hub centerpiece 16 and the upper rotor spindle.
The lower rotor wing automatic inclinator fixed ring 11 is connected with the lower rotor wing rudder machine 8, the lower rotor wing automatic inclinator central spherical hinge 13 moves up and down along the lower rotor wing spindle 9, the lower rotor wing steering engine 8 drives the lower rotor wing automatic inclinator 3 to move up and down or incline around the central spherical hinge, and total distance and periodic distance changing operation are achieved. The lower rotor wing variable-pitch rocker arm 6 is positioned outside the propeller hub, is connected with a movable ring of the lower rotor wing automatic tilter through a group of short variable-pitch pull rods, and is driven by the variable-pitch pull rods to rotate around a variable-pitch shaft to realize blade variable pitch.
The upper rotor wing bottom supporting shaft 19 is arranged at the bottom of an upper rotor wing spindle 25 and is used as a support for a central spherical hinge 23 of the automatic tilter of the upper rotor wing, and the central spherical hinge 23 slides up and down along a guide rail of the bottom supporting shaft 19 to realize total distance control; the movable ring of the upper rotor wing automatic tilter and the upper rotor wing automatic tilter rotate around the central spherical hinge of the upper rotor wing automatic tilter without moving so as to realize periodic variable-pitch operation. A hole is reserved in the bottom support shaft end cover, and the upper rotor wing long variable-pitch pull rod can freely move up and down through the hole. The upper rotor wing bottom support shaft 19 is located outside the upper rotor wing spindle, space in the upper rotor wing spindle is not occupied, a plurality of long variable-pitch pull rods are arranged inside the upper rotor wing spindle, and the size of the rotor wing shaft is compact.
The upper rotor wing is composed of upper rotor wing blades 15, an upper rotor wing hub central part 16 and the like, the upper rotor wing blades 15 are inserted into the upper rotor wing hub central part 16 and are connected through a group of bearings, the blades and the hub central part can only rotate around the bearings, so that variable-pitch operation is realized, variable-pitch rocker arms are mounted at the roots of the blades, the variable-pitch rocker arms are connected with the upper rotor wing long variable-pitch pull rod, and the upper rotor wing blades are driven to carry out variable pitch through the up-and-down movement of the variable-pitch pull rod.
The mechanism can realize independent operation of the upper rotor and the lower rotor of the coaxial dual-rotor helicopter, the automatic tillers of the upper rotor and the lower rotor are both provided with a central spherical hinge, and the mechanism can be applied to rotors with different blade numbers and has good universality; the steering engine is arranged outside the rotor shaft, the requirement on the size of the rotor shaft is low, and the size is more compact; the control rod system in the rotor shaft of the upper rotor is completely arranged in the rotor shaft, the flow field of the rotor is not influenced, the structure is simple and compact, and the resistance of the rotor system can be effectively reduced.
The following detailed description of embodiments of the present invention is made with reference to the accompanying drawings, in which:
examples
The present invention will be further described with reference to the accompanying drawings 1 to 5.
The utility model discloses overall structure is as shown in figure 1, including last rotor 1, lower rotor 2, lower rotor automatic inclinator 3 and last rotor automatic inclinator 4. The lower rotor wing automatic inclinator 3 carries out variable-pitch operation on the lower rotor wing 2 from the outside of the rotor shaft, and the upper rotor wing automatic inclinator 4 carries out operation on the upper rotor wing 1 from the inside of the rotor shaft, so that independent operation on the pitches of the upper rotor wing and the lower rotor wing is realized.
As shown in fig. 2, the lower rotor 2 is composed of a lower rotor blade 5, a lower rotor hub center 14, and the like. The lower rotor blade 5 is arranged in a lower rotor hub central part 15, the middle of the lower rotor blade is connected with a thrust bearing through a variable-pitch bearing, and the lower rotor blade and the thrust bearing can rotate relatively to realize variable-pitch motion. The lower rotor wing pitch-variable rocker arm 6 is positioned outside the lower rotor wing hub central piece 15 and is fixedly connected with the lower rotor wing blade 5. One end of each of the three lower rotor wing steering engines 8 is hinged to the engine body, one end of each of the three lower rotor wing steering engines is hinged to the fixed ring 11 of the lower rotor wing automatic tilter, the total pitch control of the lower rotor wing automatic tilter 3 is realized by synchronous telescopic of the three lower rotor wing steering engines 8, and the periodic pitch control of the lower rotor wing automatic tilter 3 is realized by differential telescopic of the three lower rotor wing steering engines 8. The lower rotor anti-twist arm 10 connects the body and the lower rotor automatic recliner stationary ring 11 to ensure that the stationary ring does not rotate with the rotor. The fixed ring 11 of the lower rotor wing automatic inclinator and the movable ring 12 of the lower rotor wing automatic inclinator are connected by a bearing and can rotate mutually. The center of the lower rotor wing automatic tilter moving ring 12 is hinged with the center spherical hinge 13 of the lower rotor wing automatic tilter and rotates around the lower rotor wing automatic tilter moving ring, and the center spherical hinge 13 of the lower rotor wing automatic tilter can slide up and down on the lower rotor wing spindle 9 along the guide rail. One end of a lower rotor wing variable-pitch pull rod 7 is hinged with a lower rotor wing variable-pitch rocker arm 6, and the other end of the lower rotor wing variable-pitch pull rod is hinged with a lower rotor wing automatic inclinator moving ring 12. The movement of the lower rotor wing automatic inclinator 3 drives the lower rotor wing blade 5 to realize total pitch and periodic pitch control through the lower rotor wing pitch-variable pull rod 7.
As shown in fig. 3, the upper rotor 1 is composed of upper rotor blades 15, an upper rotor hub center 16, and the like. The upper rotor blades 15 are mounted inside an upper rotor hub centerpiece 16, and are connected by a pitch bearing and a thrust bearing in the middle to achieve pitch motion. An upper rotor pitch horn 17 is located inside the upper rotor hub centerpiece 16, which is secured to the upper rotor blades 15.
As shown in fig. 4, the upper rotor pitch-variable pull rod 18 is located inside the upper rotor spindle 25, extends to the lower part of the upper rotor spindle 25 through an opening reserved in the bottom support shaft 19, and is connected with the upper rotor automatic tilter moving ring 21, the upper rotor automatic tilter moving ring 21 and the upper rotor automatic tilter stationary ring 22 are connected by a bearing, and can rotate around the bearing and cannot translate relatively, the upper rotor anti-twist arm 20 connects the upper rotor automatic tilter stationary ring 22 and the body, and it is ensured that the upper rotor automatic tilter stationary ring 22 does not rotate along with the rotor shaft. Go up rotor steering wheel 24 and connect organism and last rotor automatic inclinator 4, drive rotor automatic inclinator 4 through flexible and carry out collective pitch and periodic displacement control. During cyclic pitch control, the upper rotor automatic tilter 4 rotates around the upper rotor automatic tilter central spherical hinge 23. When the total distance is operated, the upper rotor automatic inclinator 4 and the upper rotor automatic inclinator central spherical hinge 23 integrally slide up and down along the bottom support shaft 19. The design has the rotating arm to drive the rotating ring 21 of the upper rotor wing automatic inclinator to rotate along with the main shaft 25 of the upper rotor wing, thereby ensuring that the upper rotor wing variable-pitch pull rod 18 cannot be twisted in the working process until bearing the axial pulling pressure thereof.
As shown in fig. 5, the upper rotor wing pitch link 18 extends from the inside of the upper rotor wing spindle 25 to the inside of the upper rotor wing hub center piece 16, the upper end of the upper rotor wing pitch link is hinged to the upper rotor wing pitch rocker 17, and the upper rotor wing pitch link 18 pushes and pulls the upper rotor wing pitch rocker 17 up and down to drive the upper rotor wing blades 15 to perform pitch motion inside the upper rotor wing hub center piece 16.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. The utility model provides a coaxial two rotor helicopter upper and lower rotor independent control device which characterized in that: comprises an upper rotor wing (1), a lower rotor wing (2), a lower rotor wing automatic inclinator (3) and an upper rotor wing automatic inclinator (4); the lower rotor wing automatic inclinator (3) is used for operating the lower rotor wing (2) in a variable-pitch mode from the outside of a rotor wing shaft, and the upper rotor wing automatic inclinator (4) is used for operating the upper rotor wing (1) from the inside of the rotor wing shaft, so that the independent operation of the propeller pitches of the upper rotor wing and the lower rotor wing is realized.
2. The independent control device for upper and lower rotors of a coaxial twin-rotor helicopter according to claim 1, wherein: the lower rotor (2) consists of a lower rotor blade (5) and a lower rotor hub central part (14); the lower rotor wing blades (5) are arranged in a lower rotor wing hub central piece (14), the middle of the lower rotor wing blades is connected with a thrust bearing through a variable-pitch bearing, and the lower rotor wing blades can rotate relatively to realize variable-pitch motion; the lower rotor wing variable-pitch rocker arm (6) is positioned outside the lower rotor wing hub central piece (14) and fixedly connected with the lower rotor wing blade (5); the lower rotor wing automatic inclinator (3) comprises a lower rotor wing automatic inclinator fixed ring (11), a lower rotor wing automatic inclinator movable ring (12) and a lower rotor wing automatic inclinator central spherical hinge (13); one end of a lower rotor wing steering engine (8) is hinged with the engine body, and the other end of the lower rotor wing steering engine is hinged with a fixed ring (11) of the lower rotor wing automatic inclinator; the lower rotor wing torsion-proof arm (10) is connected with the machine body and the fixed ring (11) of the lower rotor wing automatic inclinator to ensure that the fixed ring does not rotate along with the rotor wing; the fixed ring (11) of the lower rotor wing automatic inclinator and the movable ring (12) of the lower rotor wing automatic inclinator are connected by a bearing and can rotate mutually; the center of a movable ring (12) of the lower rotor wing automatic inclinator is hinged with a central spherical hinge (13) of the lower rotor wing automatic inclinator and rotates around the movable ring, and the central spherical hinge (13) of the lower rotor wing automatic inclinator can slide up and down on a lower rotor wing spindle (9) along a guide rail; one end of a lower rotor wing variable-pitch pull rod (7) is hinged with a lower rotor wing variable-pitch rocker arm (6), and the other end of the lower rotor wing variable-pitch pull rod is hinged with a lower rotor wing automatic inclinator moving ring (12); the movement of the lower rotor automatic tilter (3) drives the lower rotor blades (5) to realize the total pitch and periodic pitch control through a lower rotor pitch-changing pull rod (7).
3. The independent control device for upper and lower rotors of a coaxial twin-rotor helicopter according to claim 2, wherein: the lower rotor pitch link (7) is located outside the lower rotor hub centerpiece (14).
4. The independent control device for upper and lower rotors of a coaxial twin-rotor helicopter according to claim 2, wherein: the number of the lower rotor wing steering engines (8) is three, the three lower rotor wing steering engines (8) are synchronously telescopic to realize the total pitch control of the lower rotor wing automatic inclinator (3), and the differential telescopic of the three lower rotor wing steering engines (8) realizes the periodic pitch control of the lower rotor wing automatic inclinator (3).
5. The independent control device for upper and lower rotors of a coaxial twin-rotor helicopter according to claim 1, wherein: the upper rotor (1) consists of upper rotor blades (15) and an upper rotor hub central piece (16); the upper rotor wing blades (15) are arranged in an upper rotor wing hub central part (16), and the middle of the upper rotor wing blades is connected with a thrust bearing through a variable-pitch bearing to realize variable-pitch motion; the upper rotor wing variable-pitch rocker arm (17) is positioned inside the upper rotor wing hub central piece (16) and fixedly connected with the upper rotor wing blade (15); the upper rotor wing automatic tilter (4) comprises an upper rotor wing automatic tilter moving ring (21), an upper rotor wing automatic tilter fixed ring (22) and an upper rotor wing automatic tilter central spherical hinge (23); the upper rotor wing variable-pitch pull rod (18) is positioned in the upper rotor wing spindle (25), passes through a reserved opening of the bottom support shaft (19), extends to the lower part of the upper rotor wing spindle (25), is connected with the upper rotor wing automatic tilter movable ring (21), the upper rotor wing automatic tilter movable ring (21) and the upper rotor wing automatic tilter stationary ring (22) are connected through a bearing, can rotate around the bearing and cannot translate relatively, the upper rotor wing torsion-proof arm (20) is connected with the upper rotor wing automatic tilter stationary ring (22) and a machine body, and the upper rotor wing automatic tilter stationary ring (22) is ensured not to rotate along with the rotor wing spindle; go up rotor steering wheel (24) and connect organism and last rotor automatic inclinator (4), carry out collective pitch and periodic displacement control through flexible rotor automatic inclinator (4) of driving.
6. The independent control device for upper and lower rotors of a coaxial twin-rotor helicopter according to claim 5, wherein: go up rotor displacement pull rod (18) and extend to rotor hub centre piece (16) inside from top rotor main shaft (25), the upper end is articulated with top rotor displacement rocking arm (17), and rotor displacement rocking arm (17) is gone up in top rotor displacement pull rod (18) push-and-pull from top to bottom, drives top rotor blade (15) and carries out the displacement motion in last rotor hub centre piece (16).
7. The independent control device for upper and lower rotors of a coaxial twin-rotor helicopter according to claim 5, wherein: the bottom supporting shaft (19) is used for supporting the central spherical hinge (23) of the upper rotor wing automatic inclinator, the bottom supporting shaft (19) is installed on the outer side of the bottom of the upper rotor wing spindle (25), the central spherical hinge (23) of the upper rotor wing automatic inclinator slides on the bottom supporting shaft (19) to achieve total distance operation, and the movable ring (21) of the upper rotor wing automatic inclinator and the fixed ring (22) of the upper rotor wing automatic inclinator rotate around the central spherical hinge (23) of the upper rotor wing automatic inclinator to achieve periodic variable distance operation.
8. The independent control device for upper and lower rotors of a coaxial twin-rotor helicopter according to claim 5, wherein: when the periodic variable pitch operation is carried out, the upper rotor automatic inclinator (4) rotates around a central spherical hinge (23) of the upper rotor automatic inclinator; when the total distance is controlled, the upper rotor wing automatic inclinator (4) and the central spherical hinge (23) of the upper rotor wing automatic inclinator integrally slide up and down along the bottom support shaft (19).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121408108.6U CN215285253U (en) | 2021-06-23 | 2021-06-23 | Upper and lower rotor independent control device of coaxial double-rotor helicopter |
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|---|---|---|---|
| CN202121408108.6U CN215285253U (en) | 2021-06-23 | 2021-06-23 | Upper and lower rotor independent control device of coaxial double-rotor helicopter |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116101524A (en) * | 2023-03-21 | 2023-05-12 | 南京航空航天大学 | Fixed wing rotor wing dual-mode tailstock type vertical take-off and landing unmanned aerial vehicle and working method |
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2021
- 2021-06-23 CN CN202121408108.6U patent/CN215285253U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116101524A (en) * | 2023-03-21 | 2023-05-12 | 南京航空航天大学 | Fixed wing rotor wing dual-mode tailstock type vertical take-off and landing unmanned aerial vehicle and working method |
| CN116101524B (en) * | 2023-03-21 | 2024-01-19 | 南京航空航天大学 | Fixed wing rotor wing dual-mode tailstock type vertical take-off and landing unmanned aerial vehicle and working method |
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| GR01 | Patent grant |