CN216943541U

CN216943541U - Double-steering-engine electric coaxial unmanned helicopter control mechanism

Info

Publication number: CN216943541U
Application number: CN202220687707.4U
Authority: CN
Inventors: 王少杰; 郭彬新; 张冰
Original assignee: Henan Youxiang Yifei Technology Co ltd
Current assignee: Henan Youxiang Yifei Technology Co ltd
Priority date: 2022-03-28
Filing date: 2022-03-28
Publication date: 2022-07-12
Anticipated expiration: 2032-03-28

Abstract

The utility model provides a double-steering-engine electric coaxial unmanned helicopter control mechanism, which belongs to the technical field of unmanned helicopters and comprises a main speed reducer, wherein two motors are arranged on one side of the top of the main speed reducer, an inner shaft is fixedly connected to the middle of the main speed reducer, a central shaft is sleeved on the outer side of the inner shaft, an outer shaft is sleeved on the outer side of the central shaft, a lower inclined plate is arranged on the top of the outer shaft, an upper inclined plate is arranged on the top of the central shaft, an upper central block is fixedly connected to the top end of the central shaft, an upper rotor wing is movably connected to the outer side of the upper central block, and a lower central block is fixedly connected to the top end of the outer shaft. The double-steering-engine electric coaxial unmanned helicopter control mechanism can meet pitching, rolling, yawing and lifting motions by arranging the matching between the double steering engine and the double motors, so that the flight control program of the whole helicopter is simple, easy to control and better in stability.

Description

Double-steering-engine electric coaxial unmanned helicopter control mechanism

Technical Field

The utility model belongs to the technical field of unmanned helicopters, and particularly relates to a double-steering-engine electric coaxial unmanned helicopter control mechanism.

Background

The coaxial dual-rotor aircraft does not need a tail rotor to provide balance torque, and the torque reversals of the upper rotor and the lower rotor are balanced. Compared with single-rotor helicopters and multi-rotor aircrafts, the multi-rotor helicopter has smaller volume and smaller containing volume. Compared with a multi-rotor aircraft, the coaxial multi-rotor aircraft also has higher energy utilization rate, so that the coaxial multi-rotor aircraft increasingly occupies an important position in various application fields such as air monitoring and load transportation.

The existing unmanned helicopter control mechanisms are mostly provided with one motor, the rotating speeds of an upper rotor and a lower rotor can be consistent by a single motor, and the torque difference of the upper rotor and the lower rotor can be realized only by increasing the number of steering engines during yawing, so that the height of a main body of a helicopter body and the complexity of design can be increased, and the reliability of the whole helicopter is reduced; the steering engines are more in number, difficult to arrange in a smaller space, and heavy in operating mechanism, so that the steering mechanism is not suitable for light unmanned aerial vehicles; three or more steering engines can lead to the flight control programming more complicated, be difficult to debug, and unknown leak appears easily, and then leads to control procedure disorder accident such as crash.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a double-steering engine electric coaxial unmanned helicopter control mechanism, and aims to solve the problems that the unmanned helicopter control mechanism in the prior art is complex in structure and difficult to control.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides an electronic coaxial unmanned helicopter operating mechanism of double steering wheel, includes main reducer, its characterized in that: the upper and lower inclined plates are respectively and fixedly connected with a first steering engine and a second steering engine on one side of the top of the main reducer, the lower inclined plate comprises a lower fixed plate and a lower movable plate which are connected through a deep groove ball bearing, the lower movable plate and the outer shaft are connected through a radial knuckle bearing, and output shafts of the first steering engine and the second steering engine are respectively provided with a connecting rod, the first steering wheel and the second steering wheel are movably connected with the lower fixed disc through steering wheel connecting rods, hub rocker arms are fixedly connected to the two sides of the upper rotor and the two sides of the lower rotor, a lower hub connecting rod is arranged on the outer side of the lower rotor, the top end of the lower hub connecting rod is connected with the hub rocker arms on the outer side of the lower rotor, the upper tilting disc comprises an upper moving disc and an upper fixed disc, the upper moving disc and the upper fixed disc are connected through a deep groove ball bearing, the upper moving disc is connected with a middle shaft through a radial joint bearing, an upper hub connecting rod is arranged on the outer side of the upper moving disc, the top end of the upper hub connecting rod is connected with the hub rocker arms on the outer side of the upper rotor, middle connecting rods are arranged on the two sides of the lower moving disc, and the top end of each middle connecting rod is movably connected with the upper fixed disc.

Preferably, the steering engine rocker arm on the output shaft of the first steering engine is perpendicular to the steering engine rocker arm on the output shaft of the second steering engine.

Preferably, the upper rotor and the lower rotor each include a hub head, one side of the hub head is connected to a blade clamp, and one side of the blade clamp is connected to a blade.

Preferably, the bottom ends of the lower hub connecting rod and the upper hub connecting rod are provided with rod end joint bearings.

Preferably, the top end of the inner shaft is provided with a hole.

Compared with the prior art, the utility model has the beneficial effects that:

1. the double-steering engine electric coaxial unmanned helicopter control mechanism can meet pitching, rolling, yawing and lifting motions by arranging the matching between the double-steering engine and the double motors, so that the flight control program of the whole helicopter is simple, easy to control and better in stability.

2. This electronic coaxial unmanned helicopter operating mechanism of double steering wheel, overall structure is simple compact, weight is lighter, can realize the miniaturized design of cylinder, the cartridge type appearance can be used for the loading transportation, for example can be used for inside such as rocket projectile to carry out long-range aerial input for the circular shape carrier, the cartridge type also can be conveniently penetrated to ground, can bear or many pieces of formation clusters load the vehicle in by the individual soldier, along with highway maneuver, also can require to change according to the weight of taking off and overall dimension of difference, therefore, the practicality is stronger, and the promotion and use are facilitated.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model and not to limit the utility model. In the drawings:

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a second schematic perspective view of the present invention;

FIG. 3 is a perspective view of a shaft structure according to the present invention;

FIG. 4 is a schematic top view of a shaft structure according to the present invention.

In the figure: 01. an upper rotor; 02. a lower rotor; 1. a main reducer; 2. a motor; 3. a first steering engine; 4. a steering engine connecting rod; 5. a lower fixed disc; 6. a lower moving disk; 7. a lower hub link; 8. a lower center block; 9. a middle shaft; 10. a second steering engine; 11. a hub rocker arm; 12. an upper center block; 13. a hub head; 14. a paddle clamp; 15. a paddle; 16. an upper hub link; 17. an outer shaft; 18. an upper moving disk; 19. an upper fixed disc; 20. a middle connecting rod; 21. an inner shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.

Examples

Referring to fig. 1-4, the present invention provides the following technical solutions: the utility model provides an electronic coaxial unmanned helicopter operating mechanism of double steering wheel, includes main reducer 1, its characterized in that: two motors 2 are arranged on one side of the top of a main reducer 1, an inner shaft 21 is fixedly connected to the middle of the main reducer 1, a middle shaft 9 is sleeved on the outer side of the inner shaft 21, an outer shaft 17 is sleeved on the outer side of the middle shaft 9, a lower inclined plate is arranged on the top of the outer shaft 17, an upper inclined plate is arranged on the top of the middle shaft 9, an upper center block 12 is fixedly connected to the top end of the middle shaft 9, an upper rotor 01 is movably connected to the outer side of the upper center block 12, a lower center block 8 is fixedly connected to the top end of the outer shaft 17, a lower rotor 02 is movably connected to the outer side of the lower center block 8, a first steering engine 3 and a second steering engine 10 are respectively fixedly connected to one side of the top of the main reducer 1, the lower inclined plate comprises a lower fixed plate 5 and a lower movable plate 6, the lower fixed plate 5 and the lower movable plate 6 are connected through a deep groove ball bearing, the lower movable plate 6 and the outer shaft 17 are connected through a radial joint bearing, and output shafts of the first steering engine 3 and the second steering engine 10 are respectively provided with connecting rods 4, the first steering engine 3 and the second steering engine 10 are movably connected with a lower fixed disc 5 through steering engine connecting rods 4, both sides of an upper rotor 01 and a lower rotor 02 are fixedly connected with hub rocker arms 11, the outer side of the lower rotor 6 is provided with a lower hub connecting rod 7, the top end of the lower hub connecting rod 7 is connected with the hub rocker arms 11 on the outer side of the lower rotor 02, the upper inclined disc comprises an upper movable disc 18 and an upper fixed disc 19, the upper movable disc 18 and the upper fixed disc 19 are connected through a deep groove ball bearing, the upper movable disc 18 is connected with a middle shaft 9 through a radial joint bearing, the outer side of the upper movable disc 18 is provided with an upper hub connecting rod 16, the top end of the upper hub connecting rod 16 is connected with the hub rocker arms 11 on the outer side of the upper rotor 01, both sides of the lower movable disc 6 are provided with middle connecting rods 20, and the top end of the middle connecting rods 20 is movably connected with the upper fixed disc 19.

In the embodiment of the utility model, two motors 2 are respectively connected with a central shaft 9 and an outer shaft 17 through two reduction gears in a main reducer 1, the two motors 2 respectively drive an upper rotor 01 and a lower rotor 02 to rotate, the rotation speed of the motors 2 is controlled by a flight control system, pitching, rolling, yawing and lifting motion are realized through periodic variable pitch control, course control and motor rotation speed control, in operation, the two motors 2 respectively drive the central shaft 9 and the outer shaft 17 to rotate through the main reducer 1, so that the central shaft 9 drives the upper rotor 01 to rotate, the outer shaft 17 drives the lower rotor 02 to rotate, a first steering engine 3 drives a lower fixed disc 5 to incline towards one side through a steering engine connecting rod 4, the lower fixed disc 5 drives a lower movable disc 6 to incline, and in the process, the lower movable disc 6 drives hub connecting rods 7 to drive hubs 11 at two sides of the lower rotor 02 to move, so that the lower rotor 02 and the lower center block 8 rotate relatively to change the pitch of the lower rotor 02, the lower rotor 6 moves while driving the middle connecting rod 20, the middle connecting rod 20 drives the upper fixed disk 19 to move so as to drive the upper rotor disk 18 to move the upper hub connecting rod 16, the upper hub connecting rod 16 drives the hub rocker arms 11 at two sides of the upper rotor 01 to move, so that the pitch of the upper rotor 01 changes, and similarly, the second steering engine 10 drives the pitches of the upper rotor 01 and the lower rotor 02 to change, so that the upper rotor 01 and the lower rotor 02 can be adjusted in four directions, namely, pitching, rolling, yawing and lifting movement can be met, wherein the yawing is realized by changing the difference of the rotating speeds of the two motors 2, the lifting movement is realized by changing the rotating speeds of the two motors 2 simultaneously to change the lifting force of the upper rotor and the lower rotor, so as to realize coaxial lifting movement of the helicopter, the rotating speed of the motor 2 is increased simultaneously, the coaxial helicopter performs ascending motion, and conversely, the coaxial helicopter performs descending motion, so that the flight control program of the whole helicopter is simple, easy to control and better in stability due to the structural arrangement.

Specifically, the steering engine rocker arm on the output shaft of the first steering engine 3 is perpendicular to the steering engine rocker arm on the output shaft of the second steering engine 10.

In this embodiment: through setting up first steering wheel 3 and the second steering wheel 10 of vertical distribution, make top rotor 01 and lower rotor 02 can carry out the adjustment in four positions to make it satisfy different windrow gesture adjustment.

Specifically, the upper rotor 01 and the lower rotor 02 each include a hub head 13, a blade clamp 14 is connected to one side of the hub head 13, and a blade 15 is connected to one side of the blade clamp 14.

In this embodiment: by arranging the upper rotor 01 and the lower rotor 02 which are composed of the hub head 13, the blade clamp 14 and the blades 15, the connection strength is ensured, the connection strength is more flexible, the weight of the rotor can be reduced, and the whole weight of the unmanned helicopter is reduced.

Specifically, the bottom ends of the lower hub link 7 and the upper hub link 16 are provided with rod end joint bearings.

In this embodiment: through set up rod end joint bearing at the bottom of lower propeller hub connecting rod 7 and last propeller hub connecting rod 16, increase the flexibility ratio between lower propeller hub connecting rod 7 and the lower motionless dish 5 and between last propeller hub connecting rod 16 and the upper dynamic dish 18, reduce the motion and interfere, be favorable to power transmission.

Specifically, the top end of the inner shaft 21 is provided with a hole.

In this embodiment: by arranging a hole at the top end of the inner shaft 21, a navigation and other equipment platform can be arranged at the top of the inner shaft 21 through the hole, so that the fixed installation of the equipment platform is facilitated.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the utility model. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an electronic coaxial unmanned helicopter operating mechanism of double steering wheel, includes main reducer (1), its characterized in that: the improved wind power generation device is characterized in that two motors (2) are arranged on one side of the top of the main speed reducer (1), an inner shaft (21) is fixedly connected to the middle of the main speed reducer (1), a middle shaft (9) is sleeved on the outer side of the inner shaft (21), an outer shaft (17) is sleeved on the outer side of the middle shaft (9), a lower inclined plate is arranged on the top of the outer shaft (17), an upper inclined plate is arranged on the top of the middle shaft (9), an upper center block (12) is fixedly connected to the top end of the middle shaft (9), an upper rotary wing (01) is movably connected to the outer side of the upper center block (12), a lower center block (8) is fixedly connected to the top end of the outer shaft (17), a lower rotary wing (02) is movably connected to the outer side of the lower center block (8), a first steering gear (3) and a second steering gear (10) are respectively fixedly connected to one side of the top of the main speed reducer (1), the lower inclined plate comprises a lower fixed driving gear plate (5) and a lower driving plate (6), the lower fixed disc (5) is connected with the lower movable disc (6) through a deep groove ball bearing, the lower movable disc (6) is connected with an outer shaft (17) through a radial knuckle bearing, output shafts of a first steering engine (3) and a second steering engine (10) are respectively provided with a steering engine connecting rod (4), the first steering engine (3) and the second steering engine (10) are respectively movably connected with the lower fixed disc (5) through the steering engine connecting rods (4), two sides of an upper rotor (01) and a lower rotor (02) are respectively and fixedly connected with a hub rocker arm (11), the outer side of the lower movable disc (6) is provided with a lower hub connecting rod (7), the top end of the lower hub connecting rod (7) is connected with the hub rocker arm (11) on the outer side of the lower rotor (02), an upper inclined disc comprises an upper movable disc (18) and an upper fixed disc (19), the upper movable disc (18) and the upper fixed disc (19) are connected through the deep groove ball bearing, the upper moving disc (18) is connected with the middle shaft (9) through a centripetal joint bearing, an upper hub connecting rod (16) is arranged on the outer side of the upper moving disc (18), the top end of the upper hub connecting rod (16) is connected with a hub rocker arm (11) on the outer side of the upper rotor wing (01), middle connecting rods (20) are arranged on two sides of the lower moving disc (6), and the top ends of the middle connecting rods (20) are movably connected with the upper fixed moving disc (19).

2. The double-steering engine electric coaxial unmanned helicopter control mechanism of claim 1, characterized in that: the steering engine rocker arm on the output shaft of the first steering engine (3) is perpendicular to the steering engine rocker arm on the output shaft of the second steering engine (10).

3. The double-steering engine electric coaxial unmanned helicopter control mechanism of claim 2, characterized in that: the upper rotor wing (01) and the lower rotor wing (02) both comprise a hub head (13), one side of the hub head (13) is connected with a paddle clamp (14), and one side of the paddle clamp (14) is connected with a blade (15).

4. The double-steering engine electric coaxial unmanned helicopter control mechanism of claim 3, characterized in that: and rod end joint bearings are arranged at the bottom ends of the lower propeller hub connecting rod (7) and the upper propeller hub connecting rod (16).

5. The steering mechanism of the twin-steering engine electric coaxial unmanned helicopter of any one of claims 1 to 4, characterized in that: the top end of the inner shaft (21) is provided with a hole.