WO2011007850A1 - Tête de rotor - Google Patents

Tête de rotor Download PDF

Info

Publication number
WO2011007850A1
WO2011007850A1 PCT/JP2010/062026 JP2010062026W WO2011007850A1 WO 2011007850 A1 WO2011007850 A1 WO 2011007850A1 JP 2010062026 W JP2010062026 W JP 2010062026W WO 2011007850 A1 WO2011007850 A1 WO 2011007850A1
Authority
WO
WIPO (PCT)
Prior art keywords
yoke
control
rotor
axis
hiller
Prior art date
Application number
PCT/JP2010/062026
Other languages
English (en)
Japanese (ja)
Inventor
浩 青木
Original Assignee
豊和鋳機株式会社
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
Application filed by 豊和鋳機株式会社 filed Critical 豊和鋳機株式会社
Priority to JP2011522860A priority Critical patent/JPWO2011007850A1/ja
Publication of WO2011007850A1 publication Critical patent/WO2011007850A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
    • B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
    • B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
    • B64C27/605—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical including swash plate, spider or cam mechanisms
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H27/00—Toy aircraft; Other flying toys
    • A63H27/12—Helicopters ; Flying tops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/37—Rotors having articulated joints
    • B64C27/41—Rotors having articulated joints with flapping hinge or universal joint, common to the blades
    • B64C27/43—Rotors having articulated joints with flapping hinge or universal joint, common to the blades see-saw type, i.e. two-bladed rotor

Definitions

  • the 4-blade rotor head of the helicopter has a gimbal structure using two sets of seesaws.
  • the structure of the four-blade rotor head employed in radio-controlled or self-propelled helicopters is generally as follows.
  • One is a system that is often found in actual machines, which is a fixed type, and does not have a joint capable of flapping motion between the main rotating shaft and the rotor grip.
  • Currently, most of the four-blade heads of radio-controlled helicopters use this method.
  • it is a flapping type with independent joints, and it is often used for large models in actual machines.
  • Hiller control is impossible because each moves independently. None of these methods has a problem in the hovering state, but a head-up phenomenon called “flare” occurs as the flight speed increases.
  • the present invention has a joint capable of seesaw between the main rotating shaft and the yoke plate so that bending stress applied to the rotor blade can be absorbed.
  • the present invention is a four-blade gimbal rotor head having a gimbal structure in which two sets of seesaw joints are independently provided on the rotor blade mounting portion.
  • the gimbal in order to absorb the relative angle between the main rotating shaft and the rotor rotating shaft generated by the cyclic control, the gimbal is configured using two independent seesaw mechanisms.
  • the Bell Hiller mixing system was realized by reflecting each seesaw motion in elevation change. Specifically, a yoke for performing seesaw motion by connecting two rotor blades facing each other was provided, and attached to the center hub by bearing support. At this time, in order to enable the seesaw movement of the X-axis and Y-axis yokes mounted orthogonally on the same plane without interfering with each other, the Y-axis side yoke is a bridge structure, and the yoke block is interposed between them. Attached to the center hub.
  • a pea block is a part that is attached to a center hub by bearing support, and is a part that supports a yoke in a pair of left and right sides and has a structure like a bridge pier that works to avoid interference with seesaw motion.
  • Elbow links for Hiller mixing were provided at both ends of the yoke, which served as junction points for taking out the seesaw motion as Hiller control.
  • the elbow link is a connector shaped like a human arm.
  • the part that hits the shoulder and the part that hits the elbow can each move in an arc, and the part that hits the fist is a clevis of the ball link. It is a mechanism that can transmit only the force in any direction to the force from the dimensional direction.
  • the elbow link has a joint that resembles an elbow, and it absorbs the complex angle deviations caused by the seesaw movement of the yoke, the feathering movement of the pitch arm and the arc movement of the mixing arm, etc. Only seesaw motion is transmitted to the mixing arm for Hiller control.
  • the elbow link is an indispensable mechanism and an important mechanism for constructing a four-blade gimbal head bell Hiller mixing system.
  • the yoke of the four-blade rotor head is made into a gimbal structure using two pairs of seesaws that do not interfere with each other, so that the rotor rotation surface can be inclined with the rotor head instead of the rotor blade. It became so. Also, by using the gimbal mechanism, Hiller control, which was impossible with the conventional 4-blade rotor head, was made possible.
  • a rotor head having such a performance is used in an industrial helicopter, a helicopter having higher stability during hovering and controllability during high-speed flight than a conventional two-rotor head can be realized. Furthermore, by using four rotor blades, you can earn a larger takeoff weight without replacing the engine.
  • FIG. 1 is a side view of a general helicopter.
  • FIG. 2 is a plan view showing a method of implementing the rotor head.
  • FIG. 3 is a Y-axis side view showing the bridge structure of the Y-axis yoke.
  • FIG. 4 is a plan view showing a bell Hiller mixing mechanism.
  • FIG. 5 is a perspective view showing a method of attaching the Y-axis yoke.
  • FIG. 6 is a perspective view showing the state of the elbow link and the X-axis side mixing arm attached to the Y-axis yoke.
  • FIG. 7 is a detailed view of the elbow link.
  • FIG. 8 shows the linkage between the swash plate and the mixing arm.
  • FIG. 8 shows the linkage between the swash plate and the mixing arm.
  • FIG. 9 is a simplified diagram showing the state of hovering in the head.
  • FIG. 10 is a simplified diagram showing a state of cyclic control by operation of the control device.
  • FIG. 11 is a simplified diagram showing the state of Hiller mixing by the seesaw motion of the yoke.
  • Two sets of yokes supported by bearings are attached to the hub of the main rotating shaft so that they are orthogonal to each other so that the seesaw can be moved around the support point.
  • the two seesaws have independent support points, and one of the yokes has a bridge structure so that the seesaw motion does not interfere.
  • the seesaw motion is transmitted to the mixing arm by an elbow link attached to the yoke and plays a role in elevation control.
  • the input to the bell point of the mixing arm and the action to the Hiller point by the seesaw motion act on the pitch arm, which is pinned to any position on the mixing arm.
  • the elevation angle of the rotor blades attached to the rotor grip can be controlled by acting on the pitch arm.
  • FIG. 1 is a simplified view of a general single-rotor helicopter viewed from the side.
  • the rotor head is a portion 111 at the top of the fuselage, and the rotor blade 12 rotates while rotating. It is a mechanism that controls the elevation angle of the aircraft and controls flight, and plays the most important role for helicopters.
  • 12 is an X-axis rotor blade
  • 22 is a Y-axis rotor blade.
  • An independent seesaw mechanism that does not interfere with each other is realized by disposing the Y-axis yoke plate 2 laterally with respect to the X-axis yoke plate 1 disposed vertically.
  • the seesaw shaft of each yoke is indicated by 3.
  • the Y-axis yoke was attached to the center hub 4 via a pea block.
  • the X-axis seesaw motion is transmitted to the mixing arm 6 via the elbow link 5 attached to the elbow link base 50 by bearing support, and the force mixed with the control to the bell point 8 is pitch pitch. It acts on the arm 7 to control the elevation angle of the rotor blade 22 attached to the rotor grip 21. This control works in the same way on all four elbow links.
  • FIG. 3 shows the bridge structure and the state of the peeler block so that the seesaw motion can be performed without interference between the two sets of yokes.
  • Reference numeral 1 denotes a cross section of the X-axis yoke, which shows a state in which it is arranged vertically.
  • the Y-axis yoke 2 attached horizontally so as to straddle 1 was attached to the center hub 4 with a pea block 9.
  • 3 indicates a bearing support point of the Y axis and the Y axis, and 31 indicates a damper.
  • a feathering block 20 is attached to the Y-axis yoke 2 and connects the rotor grip 21.
  • FIG. 4 shows the operation of the bell Hiller control and the state of the elbow link 5, the mixing arm 6, and the pitch arm 7 as constituent elements.
  • the seesaw motion of the Y-axis yoke 2 is transmitted to the mixing arm 6 by the elbow link 5 and acts on the elevation angle control of the intersecting X-axis side rotor grip 11.
  • FIG. 5 is a perspective view three-dimensionally showing a method of attaching the Y-axis yoke.
  • a Y-axis side yoke plate 2 is attached so that a seesaw motion can be performed by a pea block 9 attached with the center hub 4 interposed therebetween.
  • FIG. 6 is a perspective view showing the state of the elbow link 5 and the mixing arm 6.
  • the seesaw motion of the Y-axis side yoke 2 is transmitted by the elbow link 5 to the Hiller point 80 of the mixing arm.
  • Control from the swash plate is transmitted to the other end 8 of the mixing arm.
  • the movements of Hiller point 80 and bell point 8 are mixed by the mixing arm 6 and its action acts on the pitch arm 7 through the mounting shaft 71.
  • FIG. 7 is a detailed view of the elbow link.
  • the elbow link is extracted from an elbow link base 50 attached to the feathering block portion 20 of the Y-axis yoke. Relatively, the seesaw movement of the yoke acts on the mixing arm 6 to give the role of a Hiller control bar.
  • a bearing is used for the support portion 51 to the elbow link base 50 to cope with the circular motion of the upper arm portion 52 around the support portion 51.
  • the tip 55 of the forearm 54 is a clevis and is connected to a pivot ball 80 provided at one end of the mixing arm. Since the seesaw axes are orthogonal to each other between the X-axis yoke and the Y-axis yoke, the relative angle between the X-axis and the Y-axis becomes unsteady depending on the magnitude of each seesaw motion. Therefore, the elbow link is an indispensable element in the system.
  • 8 is an operation conceptual diagram simply showing the linkage state from the steering device to the mixing arm as viewed from the direction of the Y-axis as a cross section.
  • 8-1 indicates a neutral state in which neither bell control nor Hiller control is performed.
  • FIG. 8-2 it is assumed that there is a command to advance the helicopter from the control circuit.
  • the servo motor 86 that has received a command from the control circuit rotates the horn 85 attached to the output shaft by an arbitrary angle.
  • the movement is transmitted through the link rod 84 to the lower plate 42 of the swash plate.
  • the lower plate 42 is attached to the airframe side so as not to rotate, but it tilts and moves up and down according to the control by the linkage.
  • the action on the lower plate acts on the upper plate 41 that rotates in synchronization with the rotor head while maintaining parallelism, and acts on the bell point 8 of the mixing arm 6 by the link rod 81.
  • the action acts on the action point 71 of the pitch arm 7 attached to the mixing arm so as to be rotatable at an arbitrary position, thereby controlling the elevation angle of the rotor blade 12 attached to the rotor grip 11.
  • a Hiller point 80 connected to an elbow link attached to the relative yoke is provided, and the seesaw motion of the yoke 2 acts on the elevation angle control.
  • FIG.8-3 Since the mixing arm 6 is attached to the control point 71 of the pitch arm 7 in a rotatable state, the mixing arm 6 is fully floating, and moves at a complicated angle between the Y-axis yoke and the X-axis yoke.
  • the elbow link plays a role in transmitting the yoke seesaw motion to Hiller Point 80 while absorbing the change. Since the elbow link is located on the plane of the mixing arm 6 and the X-axis side yoke, it is not shown in this figure.
  • FIG. 9 is an operation conceptual diagram of the head. Here, the rotor rotation direction of the helicopter will be described as being counterclockwise.
  • the front of the helicopter is 0 degrees
  • the starboard side is 90 degrees
  • the rear is 180 degrees
  • the port side is 270 degrees.
  • the control to the mixing arm 6 in all phases is the same, and the relative angle of the yoke 1 with respect to the main mast 45 is also the same.
  • the swash plate 42 is tilted in the phase 0 degree direction by the control device.
  • the phase 0 ° to 180 ° is the X axis
  • 90 ° to 270 ° is the Y axis.
  • the control rod 81 connected to the swash plate 42 acts on the mixing arm 6 attached to the pitch arm 7 with a phase of 270 degrees and pulls it downward.
  • one end of the mixing arm 6 at a phase of 90 degrees is Push up.
  • the rotor blade 22 having a phase of 270 degrees is negative and the rotor blade 22 having a phase of 90 degrees has a positive elevation angle change and a lift imbalance occurs.
  • the rotor rotation surface is changed to 90 by the gyro precession. Since the action is delayed, the rotating surface is inclined in the direction of phase 0 degree. This movement acts continuously while the X axis and Y axis are interchanged to perform cyclic control.
  • the rotor blades 12 at a phase of 0 ° and 180 ° inclined due to the lift imbalance cause the yoke 1 as the connecting portion to incline and act on the elbow link 5 attached to one end of the yoke. Since the elbow link 5 performs a seesaw motion together with the yoke 1, it acts on the mixing arm 6 connected to one end of the elbow link 5 to affect the elevation angle change of the rotor blade 22 at 90 degrees and 270 degrees. When a series of movements starts, the rotor blades at 90 and 270 degrees phase are controlled by elevation from the swash plate and the elbow link at 0 and 180 degrees.
  • the four-blade rotor head used in a conventional remote-operated unmanned helicopter has a problem that flare phenomenon occurs during high-speed movement, resulting in control failure.
  • the 4-blade gimbal rotor head solved the problem by absorbing the tilt of the rotating surface by cyclic control by the seesaw mechanism of the head.
  • a head that has both the mobility of the Bell Hiller type two-rotor head, which has been proven in remote-controlled unmanned helicopters, and the stability of the four-rotor head.
  • there is a method to increase the effective area by lengthening the rotor blades, but increasing the size of the fuselage causes complicated transportation means and increases maintenance costs. It is also disadvantageous in terms of safety.
  • the maximum take-off weight can be increased even in the same rotational area, so that heavier equipment can be loaded.
  • remotely operated unmanned helicopters are expected to be used not only in agriculture but also in various fields such as aerial surveys, geological surveys, and lifesaving.
  • a four-blade rotor head that can be carried is advantageous, and the present invention is expected to be effectively used in such a field.
  • a self-sustained helicopter is manufactured using this system, further downsizing is possible, and high mobility UAV (Unmanned Air Vehicle) can be realized.
  • UAV Unmanned Air Vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Toys (AREA)

Abstract

L’invention concerne une tête de rotor combinant deux bâtis indépendants de manière à permettre un mouvement de va-et-vient, formant une structure de cardan et résolvant ainsi le phénomène d'« évasement » pendant un vol à haute vitesse avec des têtes à quatre pales traditionnelles. Afin d'empêcher que les deux bâtis n'interfèrent l'un avec l'autre, un bâti utilise une structure réticulée, et un mouvement de va-et-vient est transmis à un bras de mélange, permettant ainsi d'obtenir une tête à quatre pales au moyen d’un système mélangé par un mixage Bell-Hiller. Un anneau de coude est utilisé comme système de transmission des mouvements de va-et-vient au bras de mélange.
PCT/JP2010/062026 2009-07-14 2010-07-09 Tête de rotor WO2011007850A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2011522860A JPWO2011007850A1 (ja) 2009-07-14 2010-07-09 ローター・ヘッド

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2009-182856 2009-07-14
JP2009182856 2009-07-14

Publications (1)

Publication Number Publication Date
WO2011007850A1 true WO2011007850A1 (fr) 2011-01-20

Family

ID=43449460

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2010/062026 WO2011007850A1 (fr) 2009-07-14 2010-07-09 Tête de rotor

Country Status (2)

Country Link
JP (1) JPWO2011007850A1 (fr)
WO (1) WO2011007850A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3345830A1 (fr) * 2017-01-09 2018-07-11 Bell Helicopter Textron Inc. Système de moyeu de rotor basculant

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007081337A2 (fr) * 2006-01-13 2007-07-19 Bell Helicopter Textron Inc. Moyeu de rotor basculant monté sur un cardan rigide dans son plan
WO2008045011A2 (fr) * 2006-05-19 2008-04-17 Bell Helicopter Textron Inc. Système d'entraînement homocinétique pour moyeux de rotor montés sur cardan

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2434079A1 (fr) * 1978-08-23 1980-03-21 Aerospatiale Dispositif pour limiter les battements des pales d'un rotor principal de giravion
JPH063798U (ja) * 1992-06-23 1994-01-18 株式会社ケイアンドエス 安定棒任意角度設定可能ヘリコプター操縦機構
JP3064523U (ja) * 1998-10-05 2000-01-21 定美 原 ヒラーコントロール、ベルコントロール付属の多枚ローターヘッド

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007081337A2 (fr) * 2006-01-13 2007-07-19 Bell Helicopter Textron Inc. Moyeu de rotor basculant monté sur un cardan rigide dans son plan
WO2008045011A2 (fr) * 2006-05-19 2008-04-17 Bell Helicopter Textron Inc. Système d'entraînement homocinétique pour moyeux de rotor montés sur cardan

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3345830A1 (fr) * 2017-01-09 2018-07-11 Bell Helicopter Textron Inc. Système de moyeu de rotor basculant
US20180194462A1 (en) * 2017-01-09 2018-07-12 Bell Helicopter Textron Inc. Teetering Rotor Hub System
US10501175B2 (en) 2017-01-09 2019-12-10 Bell Helicopter Textron Inc. Teetering rotor hub system

Also Published As

Publication number Publication date
JPWO2011007850A1 (ja) 2012-12-27

Similar Documents

Publication Publication Date Title
JP7080500B2 (ja) 垂直離着陸機体
KR101731010B1 (ko) 양력과 병진운동 추진력을 제공하는 회전날개 항공기용 안티토크 테일 로터
JP4249801B2 (ja) 遠隔操縦ヘリコプタのロータヘッド及び遠隔操縦ヘリコプタ
US9199729B1 (en) Coaxial counter-rotating unmanned helicopter
JP5260779B1 (ja) 同軸反転式無人ヘリコプタ
EP2604513B1 (fr) Système de contrôle cyclique de pale avec levier de rétroaction
CN104908976A (zh) 一种简易共轴双旋翼直升机试验台旋翼机构
WO2009062407A1 (fr) Modele reduit d'helicoptere a rotor unique presentant une stabilite amelioree
WO2013098736A2 (fr) Hélicoptère à quatre rotors
EP2733072B1 (fr) Système de contrôle de pas de pale avec plateau cyclique de rétroaction
CN102806993A (zh) 多旋翼飞行器
US11822348B2 (en) Flight vehicle and method of controlling flight vehicle
US10696389B2 (en) Swash plate system for helicopter rotor
CN108313268A (zh) 一种轻型飞机副翼操纵系统
CN113955102A (zh) 一种陆空双域变构涵道无人机
KR101416742B1 (ko) 틸트 로터형 비행체
WO2011007850A1 (fr) Tête de rotor
KR101985688B1 (ko) 개인비행장치
KR101985687B1 (ko) 개인비행장치
KR100672978B1 (ko) 무인 동축반전 수직 이착륙 비행체의 로터헤드
CN101869769B (zh) 单旋翼模型直升机的机械操纵系统
US20150321756A1 (en) Rotor Head of Remote Control Helicopter and Remote Control Helicopter
JP5319832B1 (ja) 遠隔操縦ヘリコプタのロータヘッド及び遠隔操縦ヘリコプタ
JP3321586B2 (ja) 産業用無人ヘリコプタの操舵装置
CN114394228A (zh) 一种飞行器以及飞行器的控制方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 10799908

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2011522860

Country of ref document: JP

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 10799908

Country of ref document: EP

Kind code of ref document: A1