WO2010118643A1 - Inclining controller of double-rotor helicopter - Google Patents

Inclining controller of double-rotor helicopter Download PDF

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Publication number
WO2010118643A1
WO2010118643A1 PCT/CN2010/000535 CN2010000535W WO2010118643A1 WO 2010118643 A1 WO2010118643 A1 WO 2010118643A1 CN 2010000535 W CN2010000535 W CN 2010000535W WO 2010118643 A1 WO2010118643 A1 WO 2010118643A1
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WO
WIPO (PCT)
Prior art keywords
rotor
seat
roller
gear
spherical
Prior art date
Application number
PCT/CN2010/000535
Other languages
French (fr)
Chinese (zh)
Inventor
李林
彭凯
陈古力
彭纪钢
Original Assignee
Li Lin
Peng Kai
Chen Guli
Peng Jigang
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to CN200920125353U priority Critical patent/CN201376668Y/en
Priority to CN200920125353.9 priority
Application filed by Li Lin, Peng Kai, Chen Guli, Peng Jigang filed Critical Li Lin
Publication of WO2010118643A1 publication Critical patent/WO2010118643A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/04Helicopters
    • B64C27/08Helicopters with two or more rotors
    • B64C27/10Helicopters with two or more rotors arranged coaxially
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/52Tilting of rotor bodily relative to fuselage
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/54Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
    • B64C27/58Transmitting means
    • B64C27/59Transmitting means mechanical
    • B64C27/605Transmitting means mechanical including swash plate, spider or cam mechanisms

Abstract

Inclining controller of double-rotor helicopter is composed of a tubular main shaft (1) on the helicopter body, upper and lower rotor seats(3, 18) on the main shaft, rotors, three sets of driving parts connected with rolling wheel, rolling wheel brackets (7, 12), and other units which are connected with each other. The flyer operates the control rod (12) for inclined plane by the rotor plate of the control rod to enable the upper and lower rotor to lean to any direction on a plane and support the upper and lower rotor to keep balance. The lower rotor rotates forward, and the inner tapered gear wheel is driving the rolling wheel which is driving the tapered gear of upper rotor. By the connection between the inner outer tapered gears and the rolling wheels, the upper rotor can rotate backward. The rolling wheel brackets and the upper and lower rotor seats can be mounted on the spherical seats by enabling the upper and lower rotors to rotate oppositely, thus the upper and lower rotors can incline in any directions at the same time in a plane. The operation flexibility can be improved, and the device can be operated safely, while simplifying its structure and maintenance operation.

Description

双层旋翼直升飞机倾斜控制器  Double-rotor helicopter tilt controller

技术领域 本发明涉及一种双层旋翼直升飞机的部件, 是双层旋翼直升机旋翼盘倾斜 和传递动力的控制器。 背景技术 几十年来, 直升机在技术上经历了几项重大的突破性进展, 从技术特征来 看, 大体上可以分为四代: 20世纪 30年代末直升机问世至 60年代初期, 是第 一代直升机发展阶段。 主要技术特征是: 安装活塞式发动机; 金属 /木质混合式 旋翼浆叶; 机体为由钢管焊接成的桁架式或铝合金半硬壳式结构; 装有简易的 仪表和电子设备。 最大平飞速度约 200km/h, 全机振动水平(约 0.22g)、 噪声水 平 (约 l lOdB ) 均较高。 典型的机型如米一 4、 bell47等直升机。 2、 第二代直升 机主要技术特征是: 安装了第一代涡轮轴式发动机; 全金属浆叶与金属铰接式 浆毂构成的旋翼; 机体主要仍为铝合金半硬壳式结构; 开始采用最初的集成微 电子设备, 最大平飞速度约达 250km/h。 振动水平 (约 0.15g)、 噪声水平 (约 100dB ) 有所降低。 典型的机型有米一 8、 "超黄蜂"等直升机。 3、 第三代直升 机主要技术特征是: 安装第二代涡轴发动机; 全复合材料浆叶及带有弹性元件 的浆毂构成的旋翼; 机体结构部分使用复合材料; 采用大规模集成电路的电子 设备和较先进的飞行控制系统。 最大飞行速度约达 300km/h。 振动水平 (约 0.10g)、 噪声水平 (约 90dB) 又进一步得到控制。 典型的机型有 "海豚"、 "山 猫"、 "黑鹰"、 "阿帕奇"等直升机。 4、 第四代直升机主要技术特征包括: 安装 第三代涡轴发动机; 装有进一步优化设计的翼型、 浆尖和先进的复合材料旋翼 浆叶, 无轴承或弹性铰式等新型浆毂; 机体结构大部分或全部使用复合材料; 操纵系统改为电传操纵; 机载电子设备采用数据总线、 综合显示和任务管理; 先进的飞行控制、通信导航等系统。最大平飞速度已约达 315km/h。振动水平(约 0.05g)、 噪声水平 (约 80dB ) 已得到良好控制。 典型的机型有 "科曼奇"、 NH -90等直升机。 BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component of a two-layer rotor helicopter that is a controller for tilting and transmitting power of a two-rotor helicopter rotor disk. BACKGROUND OF THE INVENTION For several decades, helicopters have undergone several major breakthroughs in technology. From the technical characteristics, they can be roughly divided into four generations: In the late 1930s, when the helicopter came out to the early 1960s, it was the first generation. Helicopter development stage. The main technical features are: installation of piston engine; metal / wood hybrid rotor blade; body is welded by steel pipe truss or aluminum alloy semi-monocoque structure; equipped with simple instruments and electronic equipment. The maximum leveling speed is about 200km/h, the whole machine vibration level (about 0.22g), and the noise level (about l lOdB) are high. Typical models are helicopters such as Mi-4 and Bell47. 2. The main technical features of the second-generation helicopter are: the first-generation turboshaft engine is installed; the rotor is composed of all-metal blade and metal articulated hub; the body is still mainly aluminum alloy semi-crust structure; The integrated microelectronics device has a maximum flat flying speed of approximately 250km/h. The vibration level (about 0.15g) and the noise level (about 100dB) are reduced. Typical models include Mi-8, "Super Hornets" and other helicopters. 3. The main technical features of the third-generation helicopter are: the installation of the second-generation turboshaft engine; the rotor of the composite blade and the hub with elastic elements; the composite part of the body; the electronics using large-scale integrated circuits Equipment and more advanced flight control systems. The maximum flight speed is about 300km/h. The vibration level (about 0.10 g) and the noise level (about 90 dB) are further controlled. Typical models include helicopters such as Dolphin, Bobcat, Black Hawk and Apache. 4. The main technical features of the fourth-generation helicopter include: installation of the third-generation turboshaft engine; airfoil, tip and advanced composite rotor with further optimized design New type of pulp hub, no bearing or elastic hinge; most or all of the body structure uses composite materials; the control system is changed to teletype operation; the onboard electronic equipment uses data bus, integrated display and task management; advanced flight control , communication and navigation systems. The maximum leveling speed has reached approximately 315km/h. The vibration level (about 0.05g) and the noise level (about 80dB) are well controlled. Typical models include "Comanche" and NH-90 helicopters.

进入二十一世纪,滚轮式旋翼喷气式直升机,组合了以上直升机的先进技术, 其重要技术特征是: 旋翼设计成油箱, 翼尖设计成喷气式发动机, 从而减少了 机械设备的重量, 提高了发动机的利用率和使用寿命, 上下两层旋翼座和滚轮 座都设计成球形结构, 一般称为球形座, 通过对滚轮的控制, 可调整上下层旋 翼的倾斜面, 从而达到控制飞行方向, 旋翼喷气直升机结构简单, 操纵方便, 旋翼使用铝合金材料, 经久耐用, 操作系统可人工操作, 也可电传操作, 旋翼 喷气直升机还可设计成多层旋翼, 成为超级直升飞机, 其起飞重量可达 100T以 上。  In the 21st century, the roller-type rotary-wing helicopter combines the advanced technology of the above helicopters. Its important technical features are: The rotor is designed as a fuel tank, and the wing tip is designed as a jet engine, thereby reducing the weight of the mechanical equipment and improving the weight. The utilization and service life of the engine, the upper and lower two-rotor seat and the roller seat are designed as a spherical structure, generally called a spherical seat. By controlling the roller, the inclined surface of the upper and lower rotors can be adjusted to control the flight direction, and the rotor The jet helicopter is simple in structure and easy to operate. The rotor is made of aluminum alloy. It is durable. The operating system can be operated manually or teletype. The rotor jet helicopter can also be designed as a multi-layer rotor to become a super helicopter. Its take-off weight can be Up to 100T.

目前, 双层旋翼直升飞行器, 旋翼是同轴正反向旋转, 飞行方向是用滑动式 拉杆调节旋翼的桨距, 使旋翼盘升力不平衡, 从而使旋翼盘产生倾斜, 飞机就 向前飞行。 这种方式的飞行器控制器结构复杂, 制造困难。 发明内容 本发明的目的是提供一种双层旋翼直升飞机的旋翼倾斜控制器, 倾斜控制 器带动并控制上下层旋翼反向旋转, 旋翼倾斜控制器调节旋翼倾斜的角度, 调 节上下层旋翼面的倾斜角度, 旋翼倾斜器使上下层旋翼面的倾斜角度相互平行, 飞行器朝旋翼倾斜方向飞行。  At present, the double-rotor helicopter is a coaxial forward and reverse rotation. The flight direction is to adjust the pitch of the rotor with a sliding tie rod, so that the rotor disc is unbalanced, so that the rotor disc is tilted, and the aircraft flies forward. . The aircraft controller of this type has a complicated structure and is difficult to manufacture. SUMMARY OF THE INVENTION It is an object of the present invention to provide a rotor tilt controller for a two-layer rotor helicopter. The tilt controller drives and controls the reverse rotation of the upper and lower rotors, and the rotor tilt controller adjusts the angle of the rotor tilt to adjust the upper and lower rotor surfaces. The inclination angle of the rotor tilter makes the inclination angles of the upper and lower rotor surfaces parallel to each other, and the aircraft flies in the oblique direction of the rotor.

本发明的目的是这样实现的, 飞行器机身上设置一根空心较粗管状主轴, 主轴的下部设置下旋翼座, 下 旋翼座安装在带有连结齿轮的下球形座上, 下球形座安装在主轴下部的轴承上, 下球形座球面上设置有滑槽, 下旋翼座上设置有滑块, 滑块能在球面上作上下 活动, 并把下球形座的旋转力传给下旋翼座, 下旋翼座是一内圆锥形齿轮, 旋 翼就安装在齿轮下背面; 主轴的上部设置上旋翼座, 上旋翼座是一外圆锥形齿 轮, 齿轮安装在上球形座上, 上球形座安装在主轴上部的轴承上; 齿轮的上背 面安装旋翼, 在上下旋翼座的中间安装有三套滚轮, 滚轮轴的两头设置有圆锥 形齿轮, 滚轮由上下两个三角支架支撑, 支架都安装在球形座上, 上支架使滚 轮的上圆锥形齿轮与上旋翼座外圆锥形齿轮连结, 下支架使滚轮的下圆锥形齿 轮与下旋翼座的内圆锥形齿轮连结, 滚轮架与控制杆支架连结, 控制杆支架穿 到主轴内, 与倾斜面控制杆连结, 由于上下旋翼座和上下三角形支架都是安装 在球形座上, 飞行员通过倾斜面控制杆的操作, 能使上下旋翼在平面内可向任 一方向同时倾斜, 为了旋翼盘的平稳工作, 设计了控制杆转盘, 使倾斜面控制 杆的工作状态保持稳定。 滚轮的上下三个支点, 支撑着上下旋翼面保持平衡, 下旋翼作正方向旋转, 同时内圆锥形齿轮带动滚轮转动, 滚轮带动上旋翼圆锥 形齿轮转动。 通过内外圆锥形齿轮与滚轮的连结方式, 使上旋翼反方向转动。 本发明的有益效果, 根据上述方案, 可使上下旋翼旋转方向相反, 滚轮支架 与上下旋翼座都安装在球形座上, 就能使上下旋翼在平面内同时向任一方向倾 斜。 经过操纵控制部分的试验, 比较现有的直升飞机控制系统, 有操作灵活, 飞行安全, 结构简单的特点, 设备维修、 保养方便。 附图说明 The object of the present invention is achieved in this way, A hollower tubular main shaft is arranged on the fuselage body, a lower rotor seat is arranged on the lower part of the main shaft, a lower rotor seat is mounted on the lower spherical seat with the connecting gear, and the lower spherical seat is mounted on the lower bearing of the main shaft, and the lower spherical seat A sliding groove is arranged on the spherical surface, and a slider is arranged on the lower rotor seat. The sliding block can move up and down on the spherical surface, and transmits the rotating force of the lower spherical seat to the lower rotary wing seat, and the lower rotary wing seat is an inner conical gear. The rotor is mounted on the lower back of the gear; the upper part of the main shaft is provided with an upper rotor seat, the upper rotor seat is an outer conical gear, the gear is mounted on the upper spherical seat, and the upper spherical seat is mounted on the upper bearing of the main shaft; Rotor, three sets of rollers are installed in the middle of the upper and lower rotor seats. The two ends of the roller shaft are provided with conical gears. The rollers are supported by two upper and lower triangular brackets. The brackets are mounted on the spherical seats, and the upper brackets make the upper conical gears of the rollers The upper conical gear is connected to the outer conical gear, and the lower bracket connects the lower conical gear of the roller with the inner conical gear of the lower rotor seat, and the roller frame and the control The rod bracket is connected, the control rod bracket is inserted into the main shaft, and is connected with the inclined surface control rod. Since the upper and lower rotor seats and the upper and lower triangular brackets are mounted on the spherical seat, the pilot can operate the inclined surface control rod to make the upper and lower rotors in the plane. The inside can be tilted in either direction at the same time. For the smooth operation of the rotor disc, the control lever turntable is designed to keep the working state of the inclined surface control rod stable. The upper and lower fulcrums of the roller support the upper and lower rotor surfaces to maintain balance, and the lower rotor rotates in the positive direction. At the same time, the inner conical gear drives the roller to rotate, and the roller drives the upper rotor conical gear to rotate. The upper rotor is rotated in the opposite direction by the connection of the inner and outer conical gears to the roller. According to the above aspect, the upper and lower rotors can be rotated in opposite directions, and the roller bracket and the upper and lower rotor seats are mounted on the spherical seat, so that the upper and lower rotors can be inclined in either direction in the plane at the same time. After the operation control part test, compared with the existing helicopter control system, it has the characteristics of flexible operation, safe flight and simple structure, and the equipment is easy to repair and maintain. DRAWINGS

图 1是本发明的结构示意图;  Figure 1 is a schematic view of the structure of the present invention;

图 2是下旋翼座内圆锥齿轮与滚轮的平面构造图;  Figure 2 is a plan view showing the configuration of the bevel gear and the roller in the lower rotor seat;

图 3是上旋翼座外圆锥齿轮与滚轮的平面构造图; 图 4是滚轮结构示意图; Figure 3 is a plan view showing the outer conical gear and the roller of the upper rotor seat; Figure 4 is a schematic view of the structure of the roller;

图 5是控制杆支架结构图;  Figure 5 is a structural view of the lever bracket;

图 6是下球型座结构图;  Figure 6 is a structural view of the lower ball seat;

图 7是主轴结构示意图;  Figure 7 is a schematic view of the structure of the spindle;

图 8是倾斜面控制杆转盘俯视图;  Figure 8 is a plan view of the inclined surface control lever turntable;

图 9是倾斜面控制杆转盘剖视示意图;  Figure 9 is a schematic cross-sectional view of the inclined surface control lever turntable;

图 10是滚轮圆锥齿轮构造示意图;  Figure 10 is a schematic view showing the construction of a roller bevel gear;

图 11是带万向节式的圆锥齿轮构造示意图;  Figure 11 is a schematic view showing the construction of a bevel gear with a universal joint type;

图 12是下层齿轮润滑箱示意图;  Figure 12 is a schematic view of the lower gear lubrication box;

图 13是下层齿轮润滑箱剖视示意图;  Figure 13 is a schematic cross-sectional view of the lower gear lubrication box;

图 14是上层齿轮润滑箱示意图;  Figure 14 is a schematic view of the upper gear lubrication box;

图 15是上层齿轮润滑箱剖视示意图。  Figure 15 is a schematic cross-sectional view of the upper gear lubrication box.

在图 1-15中 1.主轴, 2.旋翼, 3.上旋翼座, 4.滚轮圆锥齿轮, 5.上球型座, 6.主轴承, 7.上滚轮架, 8.滚轮架球形座, 9.万向连轴器, 10.滚轮轴, 11.滚 轮轴承, 12.下滚轮架, 13.定位支架, 14.连接螺丝, 15.控制杆支架, 16.倾斜 面控制杆, 17.窗口, 18.下旋翼座, 19.滑块, 20.下球型座, 21.连接齿轮, 22. 连杆, 23.活动螺母, 24.控制杆转盘, 25.活动螺杆, 26.小圆锥齿轮, 27.转盘 传动齿轮, 28.转盘齿轮, 29.下层齿轮润滑油箱, 30.下层齿轮润滑油箱盖, 31. 橡胶密封圈, 32.上层齿轮润滑油箱, 33.上层齿轮润滑油箱盖。 具体实  In Figure 1-15, 1. spindle, 2. rotor, 3. upper rotor seat, 4. roller cone gear, 5. upper ball seat, 6. main bearing, 7. upper roller frame, 8. roller frame ball seat 9. Universal coupling, 10. Roller shaft, 11. Roller bearing, 12. Lower roller frame, 13. Positioning bracket, 14. Connecting screw, 15. Joystick bracket, 16. Inclined surface control lever, 17. Window, 18. lower rotor seat, 19. slider, 20. lower ball seat, 21. connecting gear, 22. connecting rod, 23. movable nut, 24. lever rotating, 25. movable screw, 26. small cone Gears, 27. Turntable transmission gears, 28. Turntable gears, 29. Lower gear oil tanks, 30. Lower gear oil tank covers, 31. Rubber seals, 32. Upper gear oil tanks, 33. Upper gear oil tank covers. Concrete

下面结合附图和实施例对本发明进一步说明。  The invention will now be further described with reference to the drawings and embodiments.

实施例 1  Example 1

在证图 1-15中, 主轴 1是一粗长空心管状主轴, 下部扩大呈喇叭状, 与机 舱顶连结, 主轴 1的下部安装有轴承, 轴承上安装下旋翼座 18和外接齿轮 21, 下旋翼座 20安装在下球形座 20上, 下球形座 20的球面上设有一条滑槽, 下旋 翼座 18上设有一滑块螺丝 19, 当连结齿轮 21转动时, 下球形座 20的球面上的 滑槽夹住滑块 19, 从而带动下旋翼座 18转动, 下旋翼座 18是一内圆锥形齿轮, 与下旋翼座 18内圆锥形齿轮连结的是滚轮圆锥齿轮 4, 滚轮圆锥齿轮有 3组, 在一平面圆内间隔 120度, 使一平面圆内的 3点, 决定一平面的位置, 滚轮圆 锥齿轮 4由下滚轮架 12固定, 下滚轮架 12安装在滚轮架球形座 8上, 控制杆 支架 15的下面设有倾斜面控制杆 16,倾斜面控制杆 16与控制杆支架 15紧配合, 控制杆支架 15伸出主轴 1与下滚轮架 12连结。 主轴的上部安装有上球形座 5, 上旋翼座 3是一外圆锥形齿轮, 安装在上球形座 5上, 滚轮圆锥齿轮 4与上球 形座 5的外圆锥形齿啮合, 上滚轮架 7安装在滚轮架球形座 8上, 从主轴 1伸 出上下两根定位支架 13, 夹住上下滚轮架 7, 12的一根支, 下旋翼 2与上旋翼 2各自安装在上下旋翼座的齿轮面背后,万向连轴器 9起连接滚轮支架与滚轮轴 承 11的作用。控制杆转盘 24上设有活动螺杆 25, 活动螺杆 25上的一端有一小 圆锥齿轮, 活动螺母 23套在活动螺杆 25上, 活动螺母 23的上端设有球形连杆 22 , 与倾斜面控制杆 16滑配合, 小圆锥齿轮 26安装在控制杆转盘 24的底部, 与活动螺杆 25上的圆锥齿轮啮合, 转盘传动齿轮 27带动转盘齿轮 28转动, 在 下旋翼座 18和下滚轮圆锥齿轮 4的啮合处, 设有下层齿轮润滑油箱 29, 设有下 层齿轮润滑油箱盖 30, 在上旋翼座 3和上滚轮圆锥齿轮 4的啮合处, 设有上层 齿轮润滑油箱 32, 设有上层齿轮润滑油箱盖 33, 橡胶密封圈 31安装在油箱盖 上。 In Figure 1-15, the main shaft 1 is a thick and long hollow tubular main shaft, the lower part is flared and connected to the top of the nacelle. The lower part of the main shaft 1 is equipped with bearings, and the lower rotor seat 18 and the external gear 21 are mounted on the bearing. The rotor seat 20 is mounted on the lower spherical seat 20, and a sliding groove is provided on the spherical surface of the lower spherical seat 20, and the lower rotation is performed. A wing screw 19 is disposed on the wing base 18. When the connecting gear 21 rotates, the sliding groove on the spherical surface of the lower spherical seat 20 clamps the slider 19, thereby driving the lower rotor seat 18 to rotate, and the lower rotor seat 18 is an inner cone. The gear is coupled to the conical gear in the lower rotor seat 18 by a roller bevel gear 4, and the roller bevel gear has three groups, which are spaced 120 degrees in a plane circle, so that 3 points in a plane circle determine the position of a plane. The roller bevel gear 4 is fixed by the lower roller frame 12, the lower roller frame 12 is mounted on the roller frame ball seat 8, and the inclined surface control rod 16 is disposed under the control rod bracket 15, and the inclined surface control rod 16 and the control rod bracket 15 are tightly closed. In cooperation, the lever bracket 15 extends out of the main shaft 1 and is coupled to the lower roller frame 12. The upper part of the main shaft is mounted with an upper spherical seat 5, and the upper rotary wing seat 3 is an outer conical gear mounted on the upper spherical seat 5, and the roller bevel gear 4 meshes with the outer conical tooth of the upper spherical seat 5, and the upper roller frame 7 is mounted. On the roller frame ball socket 8, two upper and lower positioning brackets 13 are extended from the main shaft 1, and one branch of the upper and lower roller frames 7, 12 is clamped, and the lower rotor 2 and the upper rotor 2 are respectively mounted behind the gear surface of the upper and lower rotor seats. The universal joint 9 functions to connect the roller bracket and the roller bearing 11. The control rod turntable 24 is provided with a movable screw 25, one end of the movable screw 25 has a small bevel gear, the movable nut 23 is sleeved on the movable screw 25, the upper end of the movable nut 23 is provided with a spherical connecting rod 22, and the inclined surface control rod 16 With the slip fit, the small bevel gear 26 is mounted on the bottom of the control lever turntable 24 to mesh with the bevel gear on the movable screw 25, and the turntable drive gear 27 drives the turntable gear 28 to rotate, at the meshing portion of the lower rotor seat 18 and the lower roller bevel gear 4, The lower gear oil tank 29 is provided with a lower gear oil tank cover 30. At the meshing portion of the upper rotor seat 3 and the upper roller bevel gear 4, an upper gear oil tank 32 is provided, and an upper gear oil tank cover 33 is provided, rubber The seal ring 31 is mounted on the fuel tank cap.

实施例 2  Example 2

在实际实施中, 主轴 1 是一较粗的管状主轴, 不旋转, 当发动机齿轮带动 连接齿轮 21转动, 下球形座 20开始转动, 下球形座 20上的滑槽夹住下旋翼座 18上的滑块 19, 带动下旋翼座 18和滑块 19转动, 下旋翼座 18上安装的旋翼 也转动, 下旋翼座 18的内圆锥齿轮带动 3套下滚轮圆锥齿轮 4转动, 上滚轮圆 锥齿轮 4转动时与上旋翼座 3的外圆锥齿轮啮合, 上旋翼座 3带动上球型座 5 转动, 并带动旋翼转动, 由于滚轮圆锥齿轮 4下头是与下旋翼座 18的内圆锥齿 啮合, 上头是与上旋翼座 3 的外圆锥齿轮啮合, 上下旋翼座反向旋转, 上下旋 翼反向旋转, 可使机身在空中不产生自转。 飞行方向是这样控制的。 主轴 1 内 有倾斜面控制杆 16, 倾斜面控制杆 16与控制杆支架 15是钢性连结, 由于上下 旋翼座 3, 18和上下滚轮支架都是安装在球形座上, 3套滚轮按照 120度位置支 撑着上下旋翼座。 使倾斜面控制杆 16向一方向倾斜, 滚轮上下圆锥齿轮产生一 个倾斜面, 上下旋翼座和旋翼在滚轮的支撑下, 也产生两个互相平行的倾斜面, 倾斜的方向就是飞行的方向, 为了旋翼盘稳定的工作, 设计了控制杆转盘 24, 在控制杆转盘 24上设有一活动螺杆 25,小圆锥齿轮 26安装在控制杆转盘 24的 底部, 与活动螺杆 25上的圆锥齿轮啮合, 小圆锥齿轮 26转动时带动活动螺杆 25上的圆锥齿轮, 使活动螺杆 25转动, 活动螺母 23套在活动螺杆 25上, 活动 螺杆 25的转动可带动活动螺母 23前后移动, 活动螺母 23的上端设有球形连杆 22 , 与倾斜面控制杆 16滑配合, 以上是倾斜面控制杆 16的直线运动, 转盘传 动齿轮 27带动转盘齿轮 28转动, 可使控制杆转盘 24转动, 并带动倾斜面控制 杆 16作圆弧运动, 控制杆转盘 24安装在主轴 1内,倾斜面控制杆 16与连杆 22 是滑配合, 下球形座 20上的滑槽位置与主轴 1同向, 定位支架 13位置与主轴 1 同向, 与主轴垂直的叉子夹住滚轮支架, 保证了滚轮支架的任意倾斜, 而不会 随旋翼座转动, 从而保证了上下滚轮架 Ί和 12垂直于主轴 1, 保证了滚轮圆锥 齿轮与上下旋翼座的内外圆锥齿轮的啮合。 In actual implementation, the main shaft 1 is a thicker tubular main shaft, and does not rotate. When the engine gear drives the connecting gear 21 to rotate, the lower spherical seat 20 starts to rotate, and the sliding groove on the lower spherical seat 20 clamps on the lower rotor seat 18. The slider 19 drives the lower rotor seat 18 and the slider 19 to rotate, and the rotor mounted on the lower rotor seat 18 also rotates. The inner bevel gear of the lower rotor seat 18 drives three sets of lower roller bevel gears 4 to rotate, and the upper roller bevel gear 4 rotates. When meshing with the outer bevel gear of the upper rotor seat 3, the upper rotor seat 3 drives the upper ball seat 5 to rotate, and drives the rotor to rotate, because the lower end of the roller bevel gear 4 is the inner conical tooth of the lower rotor seat 18 Engagement, the upper head is meshed with the outer bevel gear of the upper rotor seat 3, the upper and lower rotor seats rotate in opposite directions, and the upper and lower rotors rotate in opposite directions, so that the fuselage does not rotate in the air. The direction of flight is controlled in this way. The main shaft 1 has an inclined surface control rod 16, and the inclined surface control rod 16 and the control rod bracket 15 are rigidly connected. Since the upper and lower rotor seats 3, 18 and the upper and lower roller brackets are mounted on the spherical seat, the three sets of rollers are arranged at 120 degrees. The position supports the upper and lower rotor seats. The inclined surface control lever 16 is tilted in one direction, and the upper and lower bevel gears of the roller generate an inclined surface. The upper and lower rotor seats and the rotor are supported by the roller, and two mutually inclined inclined surfaces are also generated, and the direction of the tilt is the direction of flight. For the stable operation of the rotor disk, the control lever turntable 24 is designed, and a movable screw 25 is arranged on the control lever turntable 24, and the small bevel gear 26 is mounted on the bottom of the control lever turntable 24 to mesh with the bevel gear on the movable screw 25, the small cone When the gear 26 rotates, the bevel gear on the movable screw 25 is driven to rotate the movable screw 25, and the movable nut 23 is sleeved on the movable screw 25. The rotation of the movable screw 25 can move the movable nut 23 back and forth, and the upper end of the movable nut 23 is provided with a spherical shape. The connecting rod 22 is slidably engaged with the inclined surface control rod 16, and the above is the linear motion of the inclined surface control rod 16, and the rotary drive gear 27 drives the rotary table gear 28 to rotate, so that the control rod turntable 24 can be rotated, and the inclined surface control rod 16 is driven In the circular motion, the control lever turntable 24 is mounted in the main shaft 1, and the inclined surface control rod 16 is slidably engaged with the connecting rod 22, and the lower spherical seat 20 The position of the upper chute is in the same direction as the main shaft 1. The position of the positioning bracket 13 is in the same direction as the main shaft 1. The fork perpendicular to the main shaft clamps the roller bracket, which ensures the inclination of the roller bracket without rotating with the rotor seat, thereby ensuring the rotation. The upper and lower roller frames Ί and 12 are perpendicular to the main shaft 1, which ensures the meshing of the roller bevel gears with the inner and outer bevel gears of the upper and lower rotor seats.

在实际实施中, 由于上下旋翼座是绕球心运动, 滚轮的圆锥齿轮是垂直于 主轴运动, 随着滚轮架倾斜角度的变化, 滚轮圆锥齿轮与上下旋翼座的内外圆 锥齿轮的啮合就会出现缝隙, 影响齿轮的转动, 说明书附图 10〜1 1是滚轮圆锥 齿轮构造图, 图中提出了两个解决方案, 一是图 10按照旋翼座和滚轮支架的倾 斜角度, 以此角度把滚轮圆锥齿轮的齿加工成圆弧, 减少滚轮圆锥齿轮与上下 旋翼座的内外圆锥齿轮的啮合缝隙。 二是图 11在滚轮圆锥齿轮的轴上, 设计成 球型, 球上设有垂直于轴的滑槽, 上面的滚轮轴是一球型套, 球型套上固定一 滑块, 滑块在球的滑槽里上下滑动, 带动滚轮圆锥齿轮转动, 滚轮圆锥齿轮的 齿面与上下旋翼座的内外圆锥齿轮的齿面不会出现缝隙。 In actual implementation, since the upper and lower rotor seats move around the center of the ball, the bevel gear of the roller moves perpendicular to the main axis. As the inclination angle of the roller frame changes, the meshing of the bevel gear of the roller and the inner and outer bevel gears of the upper and lower rotor seats will appear. The gap affects the rotation of the gear. Figure 10~1 of the specification is the construction diagram of the roller bevel gear. Two solutions are proposed in the figure. One is the angle of the roller according to the angle of inclination of the rotor seat and the roller bracket. The teeth of the gear are machined into a circular arc to reduce the meshing gap between the bevel gear of the roller and the inner and outer bevel gears of the upper and lower rotor seats. Secondly, Figure 11 is designed as a ball on the shaft of the roller bevel gear. The ball is provided with a sliding slot perpendicular to the shaft. The upper roller shaft is a spherical sleeve, and the spherical sleeve is fixed with a slider. Sliding up and down in the chute of the ball, driving the bevel gear of the roller to rotate, the bevel gear of the roller There is no gap between the tooth surface and the tooth surface of the inner and outer bevel gears of the upper and lower rotor seats.

在实际实施中, 控制杆支架 15要加工成两块, 参照说明书附图图 5, 这样 才能穿进主轴 1内, 再把倾斜面控制杆 16旋进控制杆支架 15的罗紋里。 倾斜 面控制杆 16加工时要予留安装夹具位置。  In actual implementation, the lever bracket 15 is to be machined into two pieces, as shown in Fig. 5 of the specification, so as to be inserted into the spindle 1, and the inclined surface control lever 16 is screwed into the rib of the lever bracket 15. Tilting surface control lever 16 The position of the mounting fixture should be left during machining.

在实际实施中, 图 12〜13是下层齿轮润滑箱示意图, 利用下旋翼座的内圆 锥齿轮的外圆, 适当加高, 就是油箱的外壁, 在下旋翼座的内圆锥齿轮的内圆, 迈过滚轮圆锥齿轮处, 安装一圈薄铁皮或塑料, 就组成了下层齿轮润滑油箱, 依照齿轮润滑箱的尺寸, 加工一环形箱盖, 箱盖安装在下滚轮支架的下面, 下 层齿轮润滑油箱转动, 润滑油就会溅到齿轮上,  In actual implementation, Figures 12 to 13 are schematic diagrams of the lower gear lubrication box. The outer circumference of the inner bevel gear of the lower rotor seat is appropriately raised, that is, the outer wall of the oil tank, and the inner circle of the inner bevel gear of the lower rotor seat passes. At the roller bevel gear, a thin iron or plastic is installed to form the lower gear oil tank. According to the size of the gear lubrication box, an annular box cover is processed. The cover is installed under the lower roller bracket, and the lower gear oil tank rotates and lubricates. The oil will splash on the gears,

图 14〜15是上层齿轮润滑油箱示意图, 加工一环状槽形箱, 安装在上滚轮 支架的上面,, 就组成了上层齿轮润滑油箱, 上层齿轮润滑油箱不转动, 利用上 旋翼座的外圆锥齿轮的外圆, 适当加宽, 就是油箱的外壁, 在上旋翼座的外圆 锥齿轮的内圆处, 安装一圈薄铁皮或塑料, 就组成了上层齿轮润滑油箱, 为了 防止油溅出来, 油箱与油箱盖的结合处要用橡胶密封圈 31。  Figure 14~15 is a schematic diagram of the upper gear oil tank. The annular groove box is machined and mounted on the upper roller bracket to form the upper gear oil tank. The upper gear oil tank does not rotate. The outer cone of the upper rotor seat is used. The outer circumference of the gear, properly widened, is the outer wall of the fuel tank. At the inner circle of the outer bevel gear of the upper rotor seat, a thin iron or plastic is installed to form the upper gear oil tank. In order to prevent the oil from splashing out, the fuel tank A rubber seal 31 is used at the junction with the fuel tank cap.

Claims

权利要求 Rights request
1 、 双层旋翼直升飞机倾斜控制器, 其特征是飞行器机身上设置一根管 状主轴, 主轴的下部设置下旋翼座, 下旋翼座安装在带有连结齿轮的下球形座 上, 下球形座安装在主轴下部的轴承上, 下球形座球面上设置有滑槽, 下旋翼 座上设置有滑块, 滑块能在球面上作上下活动, 并把下球形座的旋转力传给下 旋翼座, 下旋翼座是一内圆锥形齿轮, 旋翼就安装在齿轮下背面; 主轴的上部 设置上旋翼座, 上旋翼座是一外圆锥形齿轮, 齿轮安装在上球形座上, 上球形 座安装在主轴上部的轴承上, 齿轮的上背面安装旋翼, 在上下旋翼座的中间安 装有三套滚轮, 滚轮轴的两头设置有圆锥形齿轮, 滚轮由上下两个三角支架支 撑, 支架都安装在球形座上, 上支架使滚轮的上圆锥形齿轮与上旋翼座外圆锥 形齿轮连结, 下支架使滚轮的下圆锥形齿轮与下旋翼座的内圆锥形齿轮连结, 滚轮架与控制杆支架连结, 控制杆支架穿到主轴内, 与倾斜面控制杆连结, 由 于上下旋翼座和上下三角形支架都是安装在球形座上, 飞行员通过倾斜面控制 杆的操作, 能使上下旋翼在平面内可向任一方向同时倾斜, 其中控制杆转盘, 使倾斜面控制杆的工作状态保持稳定, 滚轮的上下三个支点, 支撑着上下旋翼 面保持平衡, 下旋翼作正方向旋转, 同时内圆锥形齿轮带动滚轮转动, 滚轮带 动上旋翼圆锥形齿轮转动; 通过内外圆锥形齿轮与滚轮的连结方式, 使上旋翼 反方向转动。  1. Double-layer rotor helicopter tilt controller, which is characterized in that a tubular main shaft is arranged on the aircraft fuselage, a lower rotor seat is arranged on the lower part of the main shaft, and a lower rotor seat is mounted on the lower spherical seat with the connecting gear, The spherical seat is mounted on the bearing on the lower part of the main shaft, the sliding groove is arranged on the spherical surface of the lower spherical seat, and the slider is arranged on the lower rotary wing seat, the slider can move up and down on the spherical surface, and transmits the rotating force of the lower spherical seat to the lower Rotor seat, the lower rotor seat is an inner conical gear, the rotor is mounted on the lower back of the gear; the upper part of the main shaft is provided with an upper rotor seat, the upper rotor seat is an outer conical gear, and the gear is mounted on the upper spherical seat, the upper spherical seat Mounted on the upper part of the main shaft, the rotor is mounted on the upper back of the gear. Three sets of rollers are installed in the middle of the upper and lower rotor seats. The two ends of the roller shaft are provided with conical gears. The rollers are supported by two upper and lower triangular brackets. The brackets are mounted on the spherical shape. On the seat, the upper bracket connects the upper conical gear of the roller with the outer conical gear of the upper rotor seat, and the lower bracket makes the lower conical gear of the roller The inner conical gear of the rotor seat is coupled, the roller frame is coupled with the control rod bracket, the control rod bracket is inserted into the main shaft, and is connected with the inclined surface control rod. Since the upper and lower rotor seats and the upper and lower triangular brackets are mounted on the spherical seat, the pilot passes The operation of the inclined surface control lever enables the upper and lower rotors to tilt simultaneously in either direction in the plane. The control lever dial keeps the working state of the inclined surface control rod stable, and the upper and lower fulcrums of the roller support the upper and lower rotor surfaces. Balanced, the lower rotor rotates in the positive direction, while the inner conical gear drives the roller to rotate, and the roller drives the upper conical gear to rotate; the inner and outer conical gears are coupled with the roller to rotate the upper rotor in the opposite direction.
PCT/CN2010/000535 2009-04-17 2010-04-19 Inclining controller of double-rotor helicopter WO2010118643A1 (en)

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WO2004085249A1 (en) * 2003-03-24 2004-10-07 S.A.R.L. Doppia Helicopteres Minicopteres Flying control device for a rotorcraft
CN1519169A (en) * 2003-07-04 2004-08-11 凯 彭 Roller type vertical lift flyer with bilaminar aerovanes
US20070105475A1 (en) * 2005-11-10 2007-05-10 Takeo Gotou Radio control helicopter toy
CN1931667A (en) * 2006-02-21 2007-03-21 彭凯 Rotary wing jetocopter
CN201376668Y (en) * 2009-04-17 2010-01-06 李林 Double-rotary-wing helicopter banking controller

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CN108454847A (en) * 2018-03-21 2018-08-28 华南农业大学 A kind of rotor attitude regulating mechanism and the multi-rotor unmanned aerial vehicle including the device
WO2020212836A1 (en) * 2019-04-18 2020-10-22 Nexter Systems Rotating blade aerodyne propulsion device with vertical take-off and landing, and aerodyne comprising at least one such propulsion device
FR3095189A1 (en) * 2019-04-18 2020-10-23 Nexter Systems PROPULSION DEVICE FOR AERODYNE WITH ROTATING BLADE AND VERTICAL TAKEOFF AND LANDING, AND AERODYNE INCLUDING AT LEAST ONE SUCH PROPULSION DEVICE

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