JP2017213961A - Helicopter mounted with counter rotating rotor system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a helicopter mounted with a counter rotating rotor system that reduces a thrust loss as much as possible and is strong and simplified.SOLUTION: A helicopter mounted with a coaxial counter rotating rotor system comprises an upper main rotor 5 and a lower main rotor 6 and is mounted with two swash plates 7, 8. Control rods 3 according to the number of rotor blades of the main rotors are passed through the inside of an inner mast 2. The control rods are connected to the swash plate 8, and the control rods are connected to mixing levers 4 arranged at a rotor head of the upper main rotor and, by preforming cyclic collective pitch control to change a pitch angle of the upper main rotor 5, accurately control a cyclic collective pitch control system of an upper main rotor head part with a simple structure as compared with a mechanism that mechanically connects upper and lower swash plates.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a helicopter equipped with a counter-rotating rotor system.

  A counter-rotating rotor system-mounted helicopter is normally connected from a lower swash plate provided outside the rotating shaft to an upper swash plate by a plurality of linkage rods (see Patent Document 1 below).

  Further, a helicopter equipped with a counter-rotating rotor system is mechanically complicated and difficult to manufacture as compared with a normal single rotor type. Further, a more serious problem is the aerodynamic structure of the double rotor (see Patent Document 1 below).

JP-A-2005-289128

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  In the helicopter, it is necessary to eliminate the torque using the tail rotor at the rear of the aircraft in order to eliminate the torque caused by the rotating rotor. In addition, the helicopter takes a forward leaning posture and moves the main rotor thrust toward the rear. I need to do it. However, if the forward leaning posture is taken too much in order to increase the speed, the buoyancy is lost this time (see Non-Patent Document 1 above).

  In addition, as described above, a helicopter equipped with a counter-rotating rotor system usually has two swash plates, and is connected from the lower swash plate to the upper swash plate by a plurality of linkage rods.

  However, due to such mechanical synchronization, there is a problem that the mechanism is complicated and manufacturing is difficult as compared with a single rotor.

  In addition, the airflow between the upper and lower rotors interferes with each other, disturbing the airflow and causing a loss of thrust.

  If the counter-rotating rotor is close, the airflow generated from the two rotors will flow smoothly. However, if the position of the rotor is separated, the airflow generated in the upper rotor collides with the lower rotor, resulting in disturbance of the airflow, resulting in a loss of thrust. In the case of helicopters, unlike the counter-rotating propellers used in reciprocating aircraft, it is necessary to adjust the advancing direction of the fuselage by complicatedly tilting the rotor back and forth and left and right, so the two rotors are too close And the two rotors may come into contact. To prevent this, it is necessary to separate the two rotors, but this time, the upper rotor blows down and interferes with the lower rotor, resulting in loss of thrust. In some cases, a thrust of nearly 30% to 40% may be lost (see Non-Patent Document 1 above).

  In view of the above situation, an object of the present invention is to accurately control a counter-rotating rotor system-mounted helicopter with a simple structure.

  In addition, we will provide a helicopter equipped with a counter-rotating rotor system that eliminates thrust loss as much as possible, and is strong and beautiful.

In order to achieve the above object, the present invention provides
[1] Two main masts composed of an outer mast 1 and an inner mast 2 are reversely rotated, and upper and lower main rotors 5 and 6 are respectively attached to the rotation shafts, and the pitch angles of the rotor blades of the respective main rotors In a coaxial counter-rotating unmanned helicopter that changes by tilting an independent swash plate, a control rod 3 corresponding to the number of rotor blades of the main rotor is passed through the inner mast 2, and the control is performed. The lower end of the rod 3 is connected to a swash plate 8, and the control rod 3 is connected to a mixing lever 4 disposed on the rotor head of the upper main rotor to perform cyclic collective pitch control, and the pitch of the main rotor 5 Change the corner Compared to a mechanism that mechanically connects the upper and lower swash plates 7 and 8 with a control rod, the cyclic collective pitch control system of the upper main rotor head is accurately controlled with a simple structure. To do.

  [2] In the coaxial counter-rotating unmanned helicopter described in [1] above, the independent swash plates 7 and 8 can be electrically synchronized or intentionally asynchronous by the respective servo motors. The swash plate, which is always optimized according to the flight state, can be individually controlled with respect to the rotor head of the main rotor, and control in the yaw axis direction is also performed.

  [3] In the helicopter equipped with the coaxial counter rotating rotor system according to [2] above, compared to a mechanism in which the upper and lower swash plates 7 and 8 are mechanically connected by a control rod by the independent swash plates 7 and 8; Since many parts are omitted and the space 9 is released, the distance between the rotor heads of the upper and lower main rotors can be freely arranged.

  [4] A helicopter equipped with a coaxial counter-rotating rotor system, comprising an upper main rotor and a lower main rotor, mounted with two swash plates, and the axial distance between the upper and lower main rotors By setting the interval at which the upper and lower main rotors do not interfere with each other and rotating the upper and lower main rotors to the opposite sides, the torque generated by the rotation of the main rotor is eliminated and the control rod It is characterized by having a linkage system of an upper rotor head that penetrates through the mast of a heavy reversing rotor and is controlled by a swash plate located in the center of the aircraft.

  [5] In the coaxial counter rotating rotor system-mounted helicopter according to [4] above, the two swash plates are electrically synchronized using a plurality of servos, receive a signal from a control device, and perform cyclic, collective And a swash plate control system for controlling the yaw axis direction.

  [6] In the helicopter equipped with the coaxial counter-rotating rotor system described in [4] above, a pusher type propeller is provided at the rear of the fuselage to reduce the tilt of the fuselage during forward and reverse movements. Thus, it is possible to move horizontally, and further includes a pusher system that functions as auxiliary power for forward speed even during long-distance movement.

  According to the present invention, the cyclic collective pitch control system of the rotor head portion of the upper main rotor can be accurately controlled with a simple structure.

  In addition, it is possible to provide a helicopter equipped with a coaxial counter-rotating rotor system that is strong and simplified while eliminating loss of thrust as much as possible.

It is a perspective view which shows the principal part of the helicopter mounted with the coaxial counter-rotating rotor system of the present invention. 1 is an overall perspective view of a helicopter equipped with a coaxial counter-rotating rotor system according to the present invention. It is a drawing substitute photograph which shows arrangement | positioning of the swash plate of the rotor blade for lower stages and the upper stage of the helicopter mounted with the coaxial inversion type rotor system of this invention. It is a drawing substitute photograph which shows the variable pitch attachment part of the rotor blade for upper stages and lower stages of the helicopter mounted with the coaxial counter-rotating rotor system of the present invention. It is a drawing substitute photograph which shows the swash plate of the rotor blade for upper stages attached inside the fuselage | body of the fuselage | body of the helicopter mounted with the coaxial counter-rotating rotor system of this invention. It is a block diagram of the electric control system of the helicopter mounted with the coaxial counter-rotating rotor system of the present invention.

The helicopter equipped with the coaxial counter-rotating rotor system of the present invention is
[A] Two main masts composed of an outer mast 1 and an inner mast 2 are reversely rotated, and upper and lower main rotors 5 and 6 are respectively attached to the rotation shafts, and the pitch angles of the rotor blades of the respective main rotors In a coaxial counter-rotating unmanned helicopter that changes by tilting an independent swash plate, a control rod 3 corresponding to the number of rotor blades of the main rotor is passed through the inner mast 2, and the control is performed. The lower end of the rod 3 is connected to a swash plate 8, and the control rod 3 is connected to a mixing lever 4 disposed on the rotor head of the upper main rotor to perform cyclic collective pitch control, and the pitch of the main rotor 5 Change the corner It, as compared to a mechanism for mechanically coupling the upper and lower swashplate 7,8 with control rod, to precisely control the cyclic collective pitch control system of the upper main rotor head with a simple structure.

  [B] A helicopter equipped with a coaxial counter-rotating rotor system includes an upper main rotor and a lower main rotor, and is equipped with two swash plates. The axial distance between the upper and lower main rotors is set between the upper and lower main rotors. Set the interval so that the lower main rotor does not interfere with each other, and rotate the upper and lower main rotors to the opposite side to eliminate the torque generated by the rotation of the main rotor and reverse the control rod. The upper rotor head linkage system is controlled by a swash plate located in the center of the aircraft.

  Hereinafter, embodiments of the present invention will be described in detail.

  FIG. 1 is a perspective view showing a main part of a helicopter mounted with a coaxial counter-rotating rotor system according to the present invention, FIG. 2 is an overall perspective view of the helicopter mounted with a coaxial counter-rotating rotor system according to the present invention, and FIG. Drawing substitute photograph showing arrangement of swash plate of rotor blade for upper stage, FIG. 4 is a photograph substituted for drawing showing variable pitch mounting portion of rotor blade for upper stage, and FIG. 5 is the body of helicopter equipped with coaxial contra-rotating rotor system of the present invention It is a drawing substitute photograph which shows the swash plate of the upper stage rotor blade attached to the inside of the fuselage.

  In FIG. 1, 1 is an outer mast, 2 is an inner mast, 3 is a control rod, 4 is a mixing lever, 5 is an upper main rotor, 6 is a lower main rotor, 7 is a lower main rotor swash plate, and 8 is An upper main rotor swash plate 9 is a space.

  Here, the lower main rotor 6 is attached to the outer mast 1, and the upper main rotor 5 is attached to the upper part of the inner mast 2. The main mast composed of the outer mast 1 and the inner mast 2 can be rotated in the opposite directions, whereby the upper main rotor 5 and the lower main rotor 6 can be rotated in the opposite directions. The pitch angle of the rotor blades of the main rotors 5 and 6 can be changed by tilting the independent swash plates 7 and 8.

  More specifically, a control rod 3 corresponding to the number of rotor blades of the main rotor is passed through the inner mast 2, and the lower end portion of the control rod 3 is connected to the swash plate 8. The upper portion of the control rod 3 is connected to a mixing lever 4 disposed on the rotor head of the upper main rotor 5, and the pitch angle of the upper main rotor 5 is controlled by performing cyclic pitch control and collective pitch control. Can be changed. As a result, the cyclic collective pitch control system of the rotor head portion of the upper main rotor 5 can be accurately controlled with a simple structure as compared with the conventional mechanism in which the upper and lower swash plates are mechanically connected by the control rod. .

  As described above, the coaxial counter-rotating rotor system-mounted helicopter has a rotor on the top and bottom, and each of them rotates in the opposite direction. For example, if the top and bottom rotor rotation speed (torque) is the same, Although no change occurs in the yaw axis direction, changes in the yaw axis direction can also be controlled by changing the load with the upper and lower rotors.

  2 to 5, 11 is a helicopter body mounted with a coaxial counter rotating rotor system, 12 is a support leg of the helicopter mounted with a coaxial counter rotating rotor system, and 13 is a helicopter mounted with a coaxial counter rotating rotor system. Tail, 14 is a pusher type propeller, 15 is a rotor blade for the upper main rotor, 16 is a rotor blade for the lower main rotor, 17 is a mast having a control rod penetrated, and 18 is a variable of the rotor blade for the upper main rotor. A pitch mounting portion 19 is a variable pitch mounting portion of the lower main rotor blade.

  Further, 21 is a swash plate for the main rotor at the lower stage of the helicopter mounted with the coaxial counter rotating rotor system, 22 is a swash plate for the main rotor at the upper stage of the helicopter mounted with the counter rotating rotor system, and 23 is connected to the internal swash plate. The rod, S, is a space between the upper main rotor rotor blade 15 and the lower main rotor rotor blade 16. Here, the size of the upper rotor blade 15 is about 700 mm to 800 mm and its weight is 200 g to 300 g, the size of the lower rotor blade 16 is about 700 mm to 800 mm and the weight is 200 g to 300 g, and the upper rotor blade 15 and the lower stage The distance from the rotor blade 16 for use is preferably 100 mm to 200 mm.

  Further, the upper main rotor swash plate 8 is mounted inside the fuselage 11A of the fuselage 11 of the helicopter equipped with a coaxial counter-rotating rotor system.

  FIG. 6 is a block diagram of an electrical control system for a helicopter equipped with a counter-rotating rotor system according to the present invention.

  In this figure, 31 is a transmitter, 32 is a receiver, 33 is a flight controller, 34 is 3 servos for controlling the swash plate for the upper main rotor, 35 is 3 servos for controlling the swash plate for the lower main rotor, 36 is a swash plate for the upper main rotor, and 37 is a swash plate for the lower main rotor.

  The upper main rotor blade is controlled using three servos in the aileron direction, elevator direction, pitch direction, and yaw axis direction. In addition, the control of the rotor blade for the lower main rotor uses three servos to control the aileron direction, elevator direction, pitch direction, and yaw axis direction. The mixing amount of each servo is set so that the aircraft flies smoothly.

  That is, as shown in FIG. 6, the signal from the transmitter 31 enters the flight controller 33 via the receiver 32 and reaches the three servos 34 for controlling the swash plate for the upper main rotor. The rotor blade is changed by being transmitted to the upper rotor blade connected to the rotor swash plate 36, and the aircraft moves up and down, left and right, and front and rear. Similarly, it reaches 3 servos 35 for controlling the swash plate for the lower main rotor, whereby the rotor blade changes to the lower main rotor swash plate 37 connected to the lower main rotor swash plate 37, and the rotor blades change up and down, The aircraft moves from side to side and back and forth. Note that the amount of change in the upper and lower servos is controlled by a control algorithm that smoothes the change in the airframe.

More specifically,
(1) Conventionally, a helicopter equipped with a counter-rotating rotor system is usually connected by a plurality of linkage rods from a swash plate of a lower rotor blade to a swash of an upper rotor blade. The helicopter equipped with a rotor type rotor system has its linkage rod (control rod) penetrated through the mast 20 of the coaxial counter-rotating rotor and is located in the center of the fuselage 11 of the helicopter equipped with the coaxial counter-rotating rotor system. The helicopter equipped with the counter-rotating rotor system was controlled by the swash plate 22 of the upper rotor blade 15.

  (2) Further, in the helicopter equipped with the coaxial counter-rotating rotor system of the present invention, a plurality of servos are used in two swashplates that are usually mechanically synchronized, and are electrically synchronized, thereby providing one control device. It is configured to receive a signal from and control the cyclic, collective, and yaw axes.

  (3) Further, a pusher type propeller is provided at the rear of the airframe on which the coaxial counter-rotating rotor system of the present invention is mounted, and the inclination of the airframe during forward and backward movement can be reduced. As a result, horizontal movement is possible, and it is also effective as auxiliary power for forward speed during long distance movement.

  In addition, this invention is not limited to the said Example, Based on the meaning of this invention, a various deformation | transformation is possible and these are not excluded from the scope of the present invention.

  The helicopter equipped with the coaxial counter-rotating rotor system according to the present invention accurately controls the cyclic collective pitch control system of the rotor head of the upper main rotor with a simple structure, and eliminates loss of thrust as much as possible. It can be used as a simplified helicopter with counter-rotating rotor system.

DESCRIPTION OF SYMBOLS 1 Outer mast 2 Inner mast 3, 23 Control rod 4 Mixing lever 5 Upper main rotor 6 Lower main rotor 7, 37 Lower main rotor swash plate 8, 36 Upper main rotor swash plate 9 Space 11 Coaxial double Helicopter fuselage with reversing rotor system 11A Helicopter fuselage fuselage with coaxial counter rotating rotor system 12 Helicopter support legs with coaxial counter rotating rotor system 13 Helicopter tail with coaxial counter rotating rotor system 14 Pusher type Propeller 15 Upper main rotor rotor blade 16 Lower main rotor rotor blade 17 Mast penetrated by control rod 18 Upper main rotor rotor Variable pitch mounting portion 19 of the rotor blade of the lower main rotor 31 Transmitter 32 Receiver 33 Flight controller 34 Three servos for controlling the swash plate for the upper main rotor 35 Swash for the lower main rotor 3 servos for plate control

Claims (6)

  Two main masts consisting of an outer mast and an inner mast are rotated in reverse, and the upper and lower main rotors are attached to the rotation shafts, respectively, and the swash plate is tilted independently of the pitch angle of the rotor blades of each main rotor. A coaxial contra-rotating unmanned helicopter that changes and makes a flight by passing a control rod corresponding to the number of rotor blades of the main rotor into the inner mast, and the lower end of the control rod is attached to a swash plate Connected, the control rod is connected to the mixing lever arranged on the rotor head of the upper main rotor, performs cyclic collective pitch control, and changes the pitch angle of the main rotor, so that the upper and lower swash Compared to a mechanism for mechanically coupling rate control rod, the upper main rotor head portion of the cyclic coaxial counter-rotating unmanned helicopter, characterized in that the collective pitch control system to accurately control a simple structure.   2. The coaxial counter-rotating unmanned helicopter according to claim 1, wherein the independent swash plates can be electrically synchronized or intentionally asynchronous by respective servo motors, and are connected to the rotor heads of the upper and lower main rotors. On the other hand, the coaxial counter-rotating unmanned helicopter is characterized in that the control of the swash plate, which is always optimized according to the flight condition, is possible individually and also in the yaw axis direction.   3. The coaxial counter-rotating unmanned helicopter according to claim 2, wherein the independent swash plate eliminates many parts and frees space compared to a mechanism for mechanically connecting the upper and lower swash plates with a control rod. Therefore, the coaxial counter-rotating unmanned helicopter is characterized in that the space between the rotor heads of the upper and lower main rotors can be freely arranged.   An upper main rotor and a lower main rotor are provided, two swash plates are mounted, and an axial interval between the upper and lower main rotors is set to an interval at which interference between the upper and lower main rotors does not occur. By rotating the upper and lower main rotors in opposite directions, torque generated from the rotation of the main rotor is eliminated, and the control rod is passed through the mast of the counter-rotating rotor so that Coaxial counter-rotating unmanned helicopter with a linkage system of the upper rotor head controlled by a swash plate located in the center.   5. The helicopter with coaxial counter-rotating rotor system according to claim 4, wherein the two swash plates are electrically synchronized using a plurality of servos, receive signals from a control device, and perform cyclic, collective, and yaw axis directions. A helicopter equipped with a counter-rotating rotor system, characterized in that it has a swash plate control system for controlling the swash plate.   In the helicopter equipped with a coaxial counter-rotating rotor system according to claim 4, a pusher type propeller is provided at the rear of the fuselage to reduce the tilt of the fuselage during forward and reverse movements. A helicopter equipped with a counter-rotating rotor system, which is capable of moving, and further comprises a pusher system that functions as auxiliary power for forward speed during long distance movement.

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