CN219821753U - Coaxial three-rotor aircraft lifting system - Google Patents

Abstract

The lift system of the coaxial three-rotor aircraft comprises a T-shaped main transmission mechanism (1), wherein a main rotor device and a main rotor tilting mechanism (51) for controlling the main rotor device to tilt at an angle are arranged at the left and right transverse power output ends of the T-shaped main transmission mechanism (1), and a tail wing device and a tail wing tilting mechanism (99) for controlling the tail wing device to tilt at an angle are respectively arranged at the longitudinal power output ends of the T-shaped main transmission mechanism (1); the utility model has the advantages that: the wind power distribution device has the technical characteristics of reasonable pneumatic layout, advanced structure and four sides of power distribution, and can well reduce wind field disturbance caused by the rotor wings and has low interference. The tilting and rotor posture control pitch-changing modes of the front rotor and the rear rotor are unique, the degree of freedom of the variable lift force vector is large, the response is sensitive, the independent posture control of a single rotor can be realized, and the environmental kinetic energy compensation capability is strong.

Description

Coaxial three-rotor aircraft lifting system

Technical Field

The utility model relates to the technical field of rotor craft, in particular to a coaxial three-rotor craft lifting system.

Background

Currently, the main representatives of rotor type aircrafts are fixed pitch electric multi-rotor unmanned aerial vehicles and helicopters of backpack rotor topology. The rotor helicopter is the most widely used, and generally, one or two rotor blade systems are driven to rotate by fuel power, the rotor systems of the rotor helicopter are composed of blades and a rotor hub, the rotor hub is vertically hinged to a driving shaft, a swing hinge and a torque hinge are arranged on the rotor hub, the blades are arranged on the rotor hub in a hinged mode, and the torque of the blades is controlled by matching a hydraulic pull rod with a posture tilting disc on a slip ring. The rotor blade torque conversion system has the advantages of complex structural design, large volume of torque conversion mechanism parts, high energy consumption, limited torque conversion angle, low aerodynamic efficiency, poor environment adaptability and low safety stability, greatly limits the flying speed, can not develop in the directions of microminiaturization, unmanned aerial vehicle, multiple rotors and high navigational speed, and most safety accidents are caused by the failure of the hub system.

Disclosure of Invention

The present utility model aims to address the above-mentioned shortcomings and to provide a coaxial three-rotor aircraft lift system.

The utility model comprises a T-shaped main transmission mechanism, wherein a main rotor wing device and a main rotor wing tilting mechanism for controlling the main rotor wing device to tilt at an angle are arranged at the left and right transverse power output ends of the T-shaped main transmission mechanism, and a tail wing device and a tail wing tilting mechanism for controlling the tail wing device to tilt at an angle are respectively arranged at the longitudinal power output ends of the T-shaped main transmission mechanism;

the main rotor wing device comprises an upper rotor wing mechanism, a lower rotor wing mechanism, a multi-degree-of-freedom balancing mechanism and a secondary gear box, wherein the secondary gear box is of a three-way tubular structure, and the upper rotor wing mechanism and the lower rotor wing mechanism are respectively and vertically arranged on two power output ends of the secondary gear box in opposite directions and are connected with a transverse power output end of a T-shaped main transmission mechanism through the secondary gear box;

the multi-degree-of-freedom balancing mechanism is arranged on the secondary gear box and controls rotor hubs of the upper rotor mechanism and the lower rotor mechanism to incline in a synchronous posture;

the tail wing device comprises a tail wing driving gear box, a tail wing transmission box, a tail rotor wing and a tail rotor wing control mechanism,

the tail driving gear box is arranged on the longitudinal power output end of the T-shaped main transmission mechanism,

the tail wing transmission case is rotatably arranged on one side of the tail wing driving gear case through the connecting support, the power input end of the tail wing transmission case and the power output end of the tail wing driving gear case are in transmission through the synchronous belt, the tail rotor wing is arranged on the power output shaft of the tail wing transmission case, and the tail rotor wing control mechanism is arranged on the tail wing driving gear case and controls the tail wing transmission case to tilt at an angle.

The T-shaped main transmission mechanism comprises a primary gear box, two transverse power output ends of the primary gear box are respectively provided with a main rotor transmission arm connected with a power input end of the secondary gear box, and a main rotor transmission shaft is sleeved in the main rotor transmission arm through a bearing;

the longitudinal power output end of the primary gear box is provided with a tail rotor transmission arm connected with the power input end of the tail wing driving gear box, a tail rotor transmission shaft is sleeved in the tail rotor transmission arm through a bearing, and the main rotor transmission arm is fixedly connected with the tail rotor transmission arm through a frame;

the power output end of the main rotor wing transmission arm is movably connected with the power input end of the secondary gear box, and the main rotor wing tilting mechanism is arranged on the power output end of the main rotor wing transmission arm and controls the corresponding main rotor wing device to tilt at an angle;

the tail wing tilting mechanism is arranged on the power output end of the tail rotor transmission arm and controls the tail wing device to tilt in angle.

The upper rotor wing mechanism and the lower rotor wing mechanism comprise a flexible transmission assembly, a sleeve and a rotor wing hub, the flexible transmission assembly comprises a middle connecting member, two ends of the middle connecting member are respectively hinged with a non-planar cross connecting shaft member and a transmission shaft connecting member in sequence, one transmission shaft connecting member is fixedly connected with a driving shaft which is in transmission with a main rotor wing transmission shaft, the other transmission shaft connecting member is fixedly connected with a driven shaft, the driven shaft is fixedly connected with the rotor wing hub, the sleeve is arranged at the power output end of the secondary gear box, the driving shaft is sleeved in the sleeve in a sleeved mode, and an annular boss and a planar bearing which are matched with the sleeve are respectively arranged on the driving shaft;

the main rotor transmission shaft and the driving shaft are transmitted in the secondary gear box through a bevel gear.

The multi-degree-of-freedom balance mechanism comprises a posture support disc, a posture control disc and a group of connecting rod control components,

the attitude supporting disc is fixedly arranged on the sleeve, the attitude control disc bearing is cooperatively arranged on the driven shaft and is positioned at the bottom of the rotor hub,

the connecting rod control assembly comprises a hydraulic oil cylinder, a first lever structural member, a first pull rod and a second pull rod which are hinged in sequence,

the hydraulic cylinder and the first lever structural member are respectively and movably hinged on the shell of the secondary gear box, a group of arched structural members are arranged on the gesture control disc, one end of the second pull rod is hinged on the arched structural members,

the gesture support disc is provided with a group of pull rod limiting holes for limiting the first pull rod;

the power output end of the main rotor transmission arm is provided with a fastening disc, and a pair of fastening pull rods respectively connected with the two gesture support discs are arranged on the fastening disc.

A special-shaped spring is arranged between the gesture supporting disc and the gesture control disc, the special-shaped spring is sleeved on the flexible transmission assembly, and the special-shaped spring is of an olive-shaped structure with thick middle and thin two ends.

The main rotor wing tilting mechanism and the tail wing tilting mechanism comprise tilting motors, a reduction gear set, a turbine and a worm,

the power output ends of the main rotor wing transmission arm and the tail rotor wing transmission arm are fixedly connected with annular connecting bosses, and tilting brackets are arranged on the annular connecting bosses,

the tilting motor, the reduction gear set and the worm are respectively arranged on the tilting bracket,

the turbine of the main rotor tilting mechanism is fixedly connected to the power input end of the secondary gear box,

the turbine of the tail tilting mechanism is fixedly connected to the power input end of the tail driving gear box,

the tilting motor drives the turbine to rotate through the reduction gear set and the worm in sequence;

an electromagnetic push rod is arranged on the annular connecting boss, and a group of tilting angle limiting holes matched with the electromagnetic push rod are arranged on the turbine.

The tail rotor wing control mechanism comprises a tail rotor wing tilting hydraulic cylinder and a second lever structural member, wherein a cylinder body of the tail rotor wing tilting hydraulic cylinder is hinged to a box body of the tail wing driving gear box, a fulcrum of the second lever structural member is movably hinged to a box body of the tail wing driving gear box, a piston rod of the tail rotor wing tilting hydraulic cylinder is movably hinged to one end of acting force of the second lever structural member, one stressed end of the second lever structural member is movably hinged to a box body of the tail wing driving gear box, and the tail rotor wing tilting hydraulic cylinder drives the tail wing driving gear box to tilt through the second lever structural member.

The utility model has the advantages that: the wind power distribution device has the technical characteristics of reasonable pneumatic layout, advanced structure and four sides of power distribution, and can well reduce wind field disturbance caused by the rotor wings and has low interference. The tilting and rotor posture control pitch-changing modes of the front rotor and the rear rotor are unique, the degree of freedom of the variable lift force vector is large, the response is sensitive, the independent posture control of a single rotor can be realized, and the environmental kinetic energy compensation capability is strong. The lift system is in supergroup, especially flies forward, can control the direction of thrust of all rotors to be consistent, has aerodynamic efficiency obviously superior to that of the existing rotorcraft, can adapt to operation under the working condition of complex environment, and has the characteristics of safety, stability and high efficiency.

Drawings

Fig. 1 is a schematic diagram of the structure of the present utility model.

Fig. 2 is a schematic structural view of a T-shaped main transmission mechanism.

Figure 3 is a schematic view of the main rotor assembly.

Fig. 4 is a schematic view of the upper rotor mechanism.

Fig. 5 is a schematic view of the lower rotor mechanism.

Fig. 6 is a schematic view of the flexible drive assembly in an exploded configuration.

Figure 7 is a schematic structural view of a main rotor tilting mechanism.

Fig. 8 is a schematic view of the tail unit structure.

Fig. 9 is a schematic structural view of the tail tilting mechanism.

Figure 10 is a schematic view of a tail rotor down-structure.

Description of the embodiments

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the embodiments of the present utility model, it should be noted that, if the terms "upper," "lower," "inner," "outer," and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like in the description of the present utility model, if any, are used for distinguishing between the descriptions and not necessarily for indicating or implying a relative importance.

In the description of the embodiments of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

As shown in the drawing, the utility model comprises a T-shaped main transmission mechanism 1, wherein a main rotor wing device and a main rotor wing tilting mechanism 51 for controlling the main rotor wing device to tilt at an angle are arranged at the left and right transverse power output ends of the T-shaped main transmission mechanism 1, and a tail wing device and a tail wing tilting mechanism 99 for controlling the tail wing device to tilt at an angle are respectively arranged at the longitudinal power output ends of the T-shaped main transmission mechanism 1;

the main rotor device comprises an upper rotor mechanism 2, a lower rotor mechanism 3, a multi-degree-of-freedom balancing mechanism 4 and a secondary gear box 7, wherein the secondary gear box 7 is of a three-way tubular structure, and the upper rotor mechanism 2 and the lower rotor mechanism 3 are respectively and vertically arranged on two power output ends of the secondary gear box 7 in opposite directions and are connected with a transverse power output end of the T-shaped main transmission mechanism 1 through the secondary gear box 7;

the multi-degree-of-freedom balancing mechanism 4 is arranged on the secondary gear box 7 and controls the rotor hubs 8 of the upper rotor mechanism 2 and the lower rotor mechanism 3 to incline in a synchronous posture;

the tail unit includes a tail drive gearbox 80, a tail gearbox 81, a tail rotor 82 and a tail rotor control mechanism 83,

the tail driving gear box 80 is installed on the longitudinal power output end of the T-shaped main transmission mechanism 1,

the fin drive box 81 is rotatably installed on one side of the fin drive gear box 80 through a connecting bracket 85, the power input end of the fin drive box 81 and the power output end of the fin drive gear box 80 are driven through a synchronous belt 86, the tail rotor 82 is installed on the power output shaft of the fin drive box 81, and the tail rotor control mechanism 83 is installed on the fin drive gear box 80 and controls the fin drive box 81 to tilt angularly.

The T-shaped main transmission mechanism 1 is used as a transmission and supporting framework, and drives the upper rotor wing mechanism 2, the lower rotor wing mechanism 3 and the tail rotor wing 82 of the tail wing device to rotate at the same time when in operation,

the rotation directions of the upper rotor mechanism 2 and the lower rotor mechanism 3 are opposite, and the installation directions of the windward angles of the blades of the upper rotor mechanism 2 and the lower rotor mechanism 3 are also opposite, so that the thrust in the same direction can be generated when the upper rotor mechanism 2 and the lower rotor mechanism 3 synchronously rotate.

The tail rotor 82 is used for generating forward thrust, the tail rotor control mechanism 83 is used for controlling the inclination angle of the tail wing transmission case 81 to change, and at the moment, the tail rotor 82 is synchronously inclined, so that the thrust direction of the tail part of the aircraft can be changed, and the tail rotor 82 is mainly controlled to generate forward or upward thrust.

The tail tilting mechanism 99 is used for the circumferential tilting of the whole tail device, when the tail rotor 82 is located below to generate upward thrust, the tail tilting mechanism 99 is started at this time, the circumferential tilting of the whole tail device occurs, and at this time, the tail rotor 82 can generate thrust to one side for the whole aircraft to rapidly turn.

The number of main rotor tilting mechanisms 51 is the same as that of the main rotor devices, and the main rotor tilting mechanisms 51 are matched with the main rotor devices, and each main rotor tilting mechanism 51 controls a corresponding main rotor device to tilt at an integral angle and is used for controlling the lifting and the advancing of the aircraft.

The multi-degree-of-freedom balancing mechanism 4 can control rotor wing pitch variation of the upper rotor wing mechanism 2 and the lower rotor wing mechanism 3, and provides a larger degree of freedom for flight attitude adjustment.

The T-shaped main transmission mechanism 1 comprises a primary gear box 55, wherein two transverse power output ends of the primary gear box 55 are respectively provided with a main rotor transmission arm 56 connected with a power input end of a secondary gear box 7, and a main rotor transmission shaft 57 is sleeved in the main rotor transmission arm 56 through a bearing;

a tail rotor transmission arm 88 connected with the power input end of the tail wing driving gearbox 80 is arranged on the longitudinal power output end of the primary gearbox 55, a tail rotor transmission shaft 89 is sleeved in the tail rotor transmission arm 88 through a bearing sleeve, and the main rotor transmission arm 56 is fixedly connected with the tail rotor transmission arm 88 through a rack 90;

the power output end of the main rotor wing transmission arm 56 is movably connected with the power input end of the secondary gear box 7, and the main rotor wing tilting mechanism 51 is arranged on the power output end of the main rotor wing transmission arm 56 and controls the corresponding main rotor wing device to tilt at an angle;

the tail rotor drive arm 88 is movably coupled to the tail drive gearbox 80 at a power output end thereof, and a tail tilting mechanism 99 is mounted to the tail rotor drive arm 88 at the power output end thereof and controls the tail unit for angular tilting.

The power input end of the primary gear box 55 is provided with a power input shaft connected with a power source, the two main rotor transmission shafts 57 and the tail rotor transmission shaft 89 are respectively driven with the power input shaft in the primary gear box 55 through bevel gears, and the power output end of the main rotor transmission shaft 57 is driven with the two power input ends of the upper rotor mechanism 2 and the lower rotor mechanism 3 in the secondary gear box 7 through bevel gears.

The upper rotor mechanism 2 and the lower rotor mechanism 3 both comprise a flexible transmission assembly 5, a sleeve 19 and a rotor hub 8, the flexible transmission assembly 5 comprises an intermediate connecting member 28, two ends of the intermediate connecting member 28 are respectively hinged with a non-planar cross connecting shaft member 18 and a transmission shaft connecting member 17 in sequence, one transmission shaft connecting member 17 is fixedly connected with a driving shaft 16 which is in transmission with a main rotor transmission shaft 57, the other transmission shaft connecting member 17 is fixedly connected with a driven shaft 14, the driven shaft 14 is fixedly connected with the rotor hub 8, the sleeve 19 is arranged on the power output end of the secondary gear box 7, the driving shaft 16 is sleeved in the sleeve 19, and an annular boss 27 and a planar bearing 29 which are matched with the sleeve 19 are respectively arranged on the driving shaft 16;

the main rotor transmission shaft 57 and the driving shaft 16 are transmitted in the secondary gear box 7 through bevel gears.

The middle connecting member 28 is a special-shaped piece with two circular tube-shaped ends which are mutually 90 DEG vertical plane semicircular openings, and the upper end and the lower end are crossed and provided with connecting holes; the non-planar cross connecting shaft member 18 consists of two round steel shafts and a rectangular steel body, wherein the two round steel shafts are distributed in a vertically staggered manner, and the center part of each round steel shaft and the corresponding rectangular steel body are provided with through pin holes, so that the round steel shafts can be conveniently limited after being installed;

the round steel shafts at one end of the two non-planar cross-shaped shaft members 18 are respectively mounted in the connecting holes at the upper and lower ends of the intermediate connecting member 28 through needle bearings,

the round steel shafts at the other ends of the two non-planar cross-shaped connecting shaft members 18 are respectively reinstalled into the connecting holes of the two transmission shaft connecting members 17 through needle bearings,

the two transmission shaft connecting members 17 are fixedly connected with the corresponding driving shaft 16 and driven shaft 14 respectively, the structure can further increase the tilting angle, the control is more flexible, and the front, rear, left, right and other omnidirectional tilting can be carried out.

When the sleeve 19 is installed, one end of the sleeve 19 extends into the secondary gear box 7 and is fixedly connected with the flange of the secondary gear box 7, the driving shaft 16 is coaxially installed in the sleeve 19 through bearing fit, a circle of limiting boss matched with the plane bearing 29 is arranged in the sleeve 19, namely the plane bearing 29 is positioned between the limiting boss and the annular boss 27 and used for limiting the axial position of the driving shaft 16, and the axial lifting force of the driving shaft 16 is not influenced when the driving shaft 16 rotates.

The flexible transmission assembly 5 is a coupling capable of deflecting at multiple angles and is used for transmitting kinetic energy output by the transmission shaft 13, and the flexible transmission assembly can perform tilting at multiple angles while rotating.

The multiple degree of freedom balancing mechanism 4 includes a posture support disc 20, a posture control disc 22 and a set of linkage control assemblies,

the attitude support disc 20 is fixedly mounted on the sleeve 19, the attitude control disc 22 is bearing-fitted on the driven shaft 14, and is located at the bottom of the rotor hub 8,

the connecting rod control assembly comprises a hydraulic oil cylinder 25, a first lever structural member 24, a first pull rod 21 and a second pull rod 23 which are hinged in sequence,

the hydraulic cylinder 25 and the first lever structural member 24 are respectively articulated on the shell of the secondary gear box 7, a group of arched structural members 30 are arranged on the gesture control disc 22, one end of the second pull rod 23 is articulated on the arched structural members 30,

the gesture support disc 20 is provided with a group of pull rod limiting holes for limiting the first pull rod 21;

the power take-off end of the main rotor transmission arm 56 is provided with a tightening disk 40, and a pair of tightening levers 41 respectively connected to the two attitude support disks 20 are provided on the tightening disk 40.

A special-shaped spring 6 is arranged between the gesture supporting disc 20 and the gesture controlling disc 22, the special-shaped spring 6 is sleeved on the flexible transmission assembly 5, and the special-shaped spring 6 is of an olive-shaped structure with thick middle and thin two ends. The potential energy generated when the rotor hub 8 rotates can be well damped, and meanwhile, the flexible transmission assembly 5 can be kept stable when being tilted at an angle.

The gesture support disc 20 is a fixed part, is fixedly connected with the sleeve 19 and is used for limiting and guiding the sliding of the first pull rod 21 and simultaneously providing mounting support for the special-shaped spring 6.

The attitude control disc 22 is a movable part and is sleeved on the driven shaft 14 through a bearing, the driven shaft 14 is fixedly connected with the rotor hub 8, the attitude control disc 22 is always kept parallel to the rotor hub 8, and when the rotor hub 8 rotates, the attitude control disc 22 is kept motionless, and when the attitude control disc 22 tilts, the rotor hub 8 tilts with steps.

Therefore, when the tilting angle of the rotor hub 8 needs to be adjusted, the hydraulic cylinder 25 is started, the first pull rod 21 is pried by the first lever structural member 24 to push the second pull rod 23, then the second pull rod 23 jacks up one side of the attitude control disc 22 to enable the second pull rod to tilt, and at the moment, the rotor hub 8 tilts synchronously, namely, the change of the thrust direction of the rotor hub 8 is controlled, and the aim of precise control of the omni-directional lift force vector of the rotor is achieved.

The arch-shaped structural member 30 is unfolded outwards, the second pull rod 23 is movably connected with the arch-shaped structural member 30, and when the flexible transmission assembly 5 tilts, the special-shaped spring 6 follows deformation and cannot interfere with the second pull rod 23.

The main rotor tilting mechanism 51 and the tail tilting mechanism 99 each include a tilting motor 70, a reduction gear set 71, a worm gear 72 and a worm 73,

the power output ends of the main rotor transmission arm 56 and the tail rotor transmission arm 88 are fixedly connected with an annular connecting boss 75, and a tilting bracket 78 is arranged on the annular connecting boss 75,

the tilting motor 70, the reduction gear set 71 and the worm 73 are respectively mounted on the tilting bracket 78,

the turbine 72 of the main rotor tilting mechanism 51 is fixedly connected to the power input end of the secondary gear box 7,

the turbine 72 of the tail tilting mechanism 99 is fixedly connected to the power input end of the tail driving gear box 80,

the tilting motor 70 drives the turbine 72 to rotate through the reduction gear set 71 and the worm 73 in sequence;

the annular connecting boss 75 is provided with an electromagnetic push rod 77, and the turbine 72 is provided with a group of tilting angle limiting holes matched with the electromagnetic push rod 77.

The power input end of the secondary gear box 7 and the pipe orifice of the power input end of the tail driving gear box 80 are provided with a convex boss which protrudes outwards,

the main rotor wing transmission arm 56 is movably connected with the fastening disc 40 and the secondary gear box 7 through bearing fit, the annular connecting boss 75 on the main rotor wing transmission arm 56 is positioned between the fastening disc 40 and the boss of the secondary gear box 7,

the power take off end of tail rotor drive arm 88 is provided with a fixed disk, annular connecting boss 75 on tail rotor drive arm 88 is located between the fixed disk and boss of tail drive gearbox 80,

the two sides of the annular connecting boss 75 and the corresponding fastening disc 40, fixing disc and boss are provided with annular grooves which are matched, a group of steel balls are arranged in the annular grooves for reducing friction, the annular connecting boss 75 is a fixing piece,

the entire main rotor device tilts about the main rotor actuator arm 56 to control the direction of flight.

The annular connecting boss 75 is provided with an electromagnetic push rod 77, and the turbine 72 is provided with a group of tilting angle limiting holes matched with the electromagnetic push rod 77. After the whole main rotor device or the tail wing device tilts, one end of the electromagnetic push rod 77 extends out to be inserted into a tilting angle limiting hole on the turbine 72, so that the tilting angle can be kept fixed.

The tail rotor control mechanism 83 comprises a tail rotor tilting hydraulic cylinder 95 and a second lever structural member 96, a cylinder body of the tail rotor tilting hydraulic cylinder 95 is hinged to a box body of the tail wing driving gear box 80, a fulcrum of the second lever structural member 96 is movably hinged to a box body of the tail wing driving gear box 81, a piston rod of the tail rotor tilting hydraulic cylinder 95 is movably hinged to one end of acting force of the second lever structural member 96, one stressed end of the second lever structural member 96 is movably hinged to the box body of the tail wing driving gear box 81, and the tail rotor tilting hydraulic cylinder 95 drives the tail wing driving gear box 81 to tilt through the second lever structural member 96.

When the tail rotor 82 faces downwards, upward thrust can be generated, at the moment, the rotor hubs 8 combined with the two main rotor devices can simultaneously generate a lifting force, the aircraft can be controlled to stably lift up and down, and when the tail rotor 82 faces backwards, forward thrust can be generated, and the aircraft can be controlled to rapidly advance.

One end of the connecting bracket 85 is fixedly connected with the box body of the tail driving gearbox 80, the other end of the connecting bracket 85 is movably connected with the tail transmission box 81 in a matched mode through a pin shaft and a shaft sleeve, and the other end of the connecting bracket 85, the fulcrum of the second lever structural member 96 and the power input shaft of the tail transmission box 81 are coaxially installed.

When the tail rotor tilting hydraulic cylinder 95 is started, the piston rod extends outwards to pry one end of the second lever structural member 96, the other end of the second lever structural member 96 drives the tail wing transmission case 81 to tilt, the tail rotor 82 tilts along with the tail wing transmission case 81 at the same time, and the tilting angle of the scheme is 90 degrees, so that the direction of the tail rotor 82 is changed.

Claims (7)

1. The lift system of the coaxial three-rotor aircraft is characterized by comprising a T-shaped main transmission mechanism (1), wherein a main rotor device and a main rotor tilting mechanism (51) for controlling the main rotor device to tilt at an angle are arranged at the left and right transverse power output ends of the T-shaped main transmission mechanism (1), and a tail wing device and a tail wing tilting mechanism (99) for controlling the tail wing device to tilt at an angle are respectively arranged at the longitudinal power output ends of the T-shaped main transmission mechanism (1);

the main rotor device comprises an upper rotor mechanism (2), a lower rotor mechanism (3), a multi-degree-of-freedom balancing mechanism (4) and a secondary gear box (7), wherein the secondary gear box (7) is of a three-way tubular structure, and the upper rotor mechanism (2) and the lower rotor mechanism (3) are respectively and reversely vertically arranged on two power output ends of the secondary gear box (7) and are connected with a transverse power output end of the T-shaped main transmission mechanism (1) through the secondary gear box (7);

the multi-degree-of-freedom balancing mechanism (4) is arranged on the secondary gear box (7) and controls the rotor hubs (8) of the upper rotor mechanism (2) and the lower rotor mechanism (3) to incline in a synchronous posture;

the tail wing device comprises a tail wing driving gear box (80), a tail wing transmission box (81), a tail rotor wing (82) and a tail rotor wing control mechanism (83),

the tail driving gear box (80) is arranged on the longitudinal power output end of the T-shaped main transmission mechanism (1),

the tail wing transmission case (81) is rotatably arranged on one side of the tail wing driving gear case (80) through the connecting support (85), the power input end of the tail wing transmission case (81) and the power output end of the tail wing driving gear case (80) are in transmission through the synchronous belt (86), the tail rotor (82) is arranged on the power output shaft of the tail wing transmission case (81), the tail rotor control mechanism (83) is arranged on the tail wing driving gear case (80), and the tail wing transmission case (81) is controlled to tilt at an angle.

2. The lift system of the coaxial three-rotor aircraft according to claim 1, wherein the T-shaped main transmission mechanism (1) comprises a primary gear box (55), two transverse power output ends of the primary gear box (55) are respectively provided with a main rotor transmission arm (56) connected with a power input end of a secondary gear box (7), and the main rotor transmission arm (56) is internally sleeved with a main rotor transmission shaft (57) through a bearing;

a tail rotor transmission arm (88) connected with the power input end of the tail wing driving gear box (80) is arranged at the longitudinal power output end of the primary gear box (55), a tail rotor transmission shaft (89) is sleeved in the tail rotor transmission arm (88) through a bearing, and the main rotor transmission arm (56) is fixedly connected with the tail rotor transmission arm (88) through a rack (90);

the power output end of the main rotor wing transmission arm (56) is movably connected with the power input end of the secondary gear box (7), and the main rotor wing tilting mechanism (51) is arranged on the power output end of the main rotor wing transmission arm (56) and controls the corresponding main rotor wing device to tilt at an angle;

the power output end of the tail rotor transmission arm (88) is movably connected with the power input end of the tail wing driving gear box (80), and the tail wing tilting mechanism (99) is arranged on the power output end of the tail rotor transmission arm (88) and controls the tail wing device to tilt at an angle.

3. The lift system of the coaxial three-rotor aircraft according to claim 2, characterized in that the upper rotor mechanism (2) and the lower rotor mechanism (3) comprise a flexible transmission assembly (5), a sleeve (19) and a rotor hub (8), the flexible transmission assembly (5) comprises an intermediate connecting member (28), two ends of the intermediate connecting member (28) are respectively hinged with a non-planar cross connecting member (18) and a transmission shaft connecting member (17) in sequence, one transmission shaft connecting member (17) is fixedly connected with a driving shaft (16) which is in transmission with a main rotor transmission shaft (57), the other transmission shaft connecting member (17) is fixedly connected with a driven shaft (14), the driven shaft (14) is fixedly connected with the rotor hub (8), the sleeve (19) is arranged on the power output end of the secondary gear box (7), the driving shaft (16) is sleeved in the sleeve (19), and annular bosses (27) and plane bearings (29) which are matched with the sleeve (19) are respectively arranged on the driving shaft (16);

the main rotor transmission shaft (57) and the driving shaft (16) are transmitted in the secondary gear box (7) through bevel gears.

4. A coaxial three rotor aircraft lift system according to claim 3, characterized in that the multiple degree of freedom balancing mechanism (4) comprises a attitude support disc (20), an attitude control disc (22) and a set of linkage control assemblies,

the attitude support disc (20) is fixedly arranged on the sleeve (19), the attitude control disc (22) is arranged on the driven shaft (14) in a bearing fit way and is positioned at the bottom of the rotor hub (8),

the connecting rod control assembly comprises a hydraulic oil cylinder (25), a first lever structural member (24), a first pull rod (21) and a second pull rod (23) which are hinged in sequence,

the hydraulic cylinder (25) and the first lever structural member (24) are respectively and movably hinged on the shell of the secondary gear box (7), a group of arch structural members (30) are arranged on the gesture control disc (22), one end of the second pull rod (23) is hinged on the arch structural members (30),

a group of pull rod limiting holes for limiting the first pull rod (21) are formed in the gesture supporting disc (20);

the power output end of the main rotor transmission arm (56) is provided with a fastening disc (40), and the fastening disc (40) is provided with a pair of fastening pull rods (41) which are respectively connected with the two gesture support discs (20).

5. The lift system of the coaxial three-rotor aircraft according to claim 4, wherein a special-shaped spring (6) is arranged between the gesture supporting disc (20) and the gesture control disc (22), the special-shaped spring (6) is sleeved on the flexible transmission assembly (5), and the special-shaped spring (6) is of an olive-shaped structure with thick middle and thin two ends.

6. A coaxial three rotor aircraft lift system according to claim 2, characterized in that the main rotor tilting mechanism (51) and the tail tilting mechanism (99) each comprise a tilting motor (70), a reduction gear set (71), a turbine (72) and a worm (73),

the power output ends of the main rotor wing transmission arm (56) and the tail rotor wing transmission arm (88) are fixedly connected with an annular connection boss (75), a tilting bracket (78) is arranged on the annular connection boss (75),

the tilting motor (70), the reduction gear set (71) and the worm (73) are respectively arranged on the tilting bracket (78),

the turbine (72) of the main rotor tilting mechanism (51) is fixedly connected to the power input end of the secondary gear box (7),

the turbine (72) of the tail tilting mechanism (99) is fixedly connected to the power input end of the tail driving gear box (80),

the tilting motor (70) drives the turbine (72) to rotate through the reduction gear set (71) and the worm (73) in sequence;

an electromagnetic push rod (77) is arranged on the annular connecting boss (75), and a group of tilting angle limiting holes matched with the electromagnetic push rod (77) are arranged on the turbine (72).

7. The lift system of the coaxial three-rotor aircraft according to claim 1, wherein the tail rotor control mechanism (83) comprises a tail rotor tilting hydraulic cylinder (95) and a second lever structure (96), a cylinder body of the tail rotor tilting hydraulic cylinder (95) is hinged on a box body of a tail wing driving gearbox (80), a fulcrum of the second lever structure (96) is movably hinged on a box body of the tail wing driving gearbox (81), a piston rod of the tail rotor tilting hydraulic cylinder (95) is movably hinged with one acting force end of the second lever structure (96), a stressed end of the second lever structure (96) is movably hinged on the box body of the tail wing driving gearbox (81), and the tail rotor tilting hydraulic cylinder (95) drives the tail wing driving gearbox (81) to tilt through the second lever structure (96).