WO2015058364A1 - 旋翼驱动系统 - Google Patents
旋翼驱动系统 Download PDFInfo
- Publication number
- WO2015058364A1 WO2015058364A1 PCT/CN2013/085745 CN2013085745W WO2015058364A1 WO 2015058364 A1 WO2015058364 A1 WO 2015058364A1 CN 2013085745 W CN2013085745 W CN 2013085745W WO 2015058364 A1 WO2015058364 A1 WO 2015058364A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rotor
- upper rotor
- swash plate
- rod
- fixed
- Prior art date
Links
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims 3
- 230000001360 synchronised effect Effects 0.000 claims 2
- 238000000034 method Methods 0.000 abstract description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000012423 maintenance Methods 0.000 abstract description 5
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 20
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 description 1
- ULEBESPCVWBNIF-BYPYZUCNSA-N L-arginine amide Chemical compound NC(=O)[C@@H](N)CCCNC(N)=N ULEBESPCVWBNIF-BYPYZUCNSA-N 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/17—Helicopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/24—Coaxial rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U40/00—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration
- B64U40/10—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration for adjusting control surfaces or rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/20—Transmission of mechanical power to rotors or propellers
Definitions
- the present invention relates to the field of dual-rotor coaxial helicopters, and more particularly to a rotor drive system.
- a so-called twin-rotor coaxial helicopter includes: an upper rotor and a lower rotor having the same structure, a main shaft composed of a reversely rotating inner shaft and an outer shaft, wherein the upper rotor is mounted at one end of the inner shaft, and the lower rotor is mounted At one end of the outer shaft, and between the upper rotor and the lower rotor; wherein the upper rotor rotates with the inner shaft, and the lower rotor rotates with the outer shaft, so that the upper and lower rotors can rotate in opposite directions, and then the upper and lower rotors
- the generated torque is balanced with each other in a flight condition with no heading, no need to install the tail rotor and the tail beam, and the heading manipulation can be realized by generating an unbalanced torque by the difference between the total distance of the upper rotor and the lower rotor.
- the structure of the rotor-driven system of the two-rotor coaxial helicopter to achieve the heading operation is
- an embodiment of the present invention discloses a rotor drive system to simplify the structure of a rotor drive system, thereby solving the problem of low process production efficiency and inconvenient debugging and maintenance.
- the embodiment of the present invention provides a rotor driving system suitable for a dual-rotor coaxial helicopter, the twin-rotor coaxial helicopter comprising: an outer shaft 19; a lower rotor hub 14, fixed at the outer An outer side of one end of the shaft 19; at least two first blade holders coupled to the lower rotor hub 14, each of the first blade holders being rotatable relative to the lower rotor hub 14, and Each of the first blade holders includes a first paddle 20 and a second paddle 22, wherein the first paddle 20 and the second paddle 22 are common Holding the lower rotor blade; the inner shaft 15; the upper rotor hub 16, fixed to the outer side of one end of the inner shaft 15; at least two second blade holders connected to the upper rotor hub 16, Each second blade holder is rotatable relative to the upper rotor hub 16, and each second blade holder includes a third paddle 17 and a fourth paddle 18, the third paddle 17 and the fourth paddle clamp 18 jointly clamp the upper rotor blade; the casing comprises: an upper cover 26,
- each of the first steering gears 8 includes: a housing, one end is located a first screw outer sleeve 65 capable of up-and-down telescopic movement in the housing, and an end of each of the first screw outer sleeve 65 extending from the housing is connected to the lower rotary swash plate 11
- first screw outer cover rod 65 is up-and-down
- the lower-rotor swash plate 11 is
- the first motor 9 is connected to the corresponding first servo 8, and the first screw outer rod 65 of the first servo 8 corresponding to the control is vertically extended and contracted; the first rotation rod 25 is fixed at one end. a position on the cover 26 other than the position where the support tower 10 is located, and the other end has a through hole; a sliding sleeve body 44 is disposed on the lower rotor swash plate 11 and penetrates the through hole of the first rotation preventing lever 25 to ensure that the lower rotor swash plate 11 can be inclined in a specific direction.
- the lower rotor swashplate-moving 24 cannot be rotated; wherein the upper rotor drive system comprises: at least two paddle tilting arms-upper rotors 42, each of which is fixed at one end of the tilting arm-upper rotor 42 Corresponding second mounting surface of the second blade holder; at least two inclined arm rods - upper 41, one end of each inclined arm rod - upper 41 is connected to the corresponding paddle tilting arm - upper rotor 42 The other end; at least two upper rotor redirecting rods - upper 40, one end of each upper rotor redirecting rod - upper 40 is connected to the other end of the corresponding inclined arm tie rod - upper 41; tie rod plug - upper 39, with Each of the upper rotor redirecting rods - the other end of the upper 40 is connected; at least two pull rods 56 are located within the inner shaft 15, one end of each of the pull rods 56 through the pull rod plug - upper 39 and the corresponding upper rotor Directional lever - upper 40 connection; Tie
- each of the second steering gears 58 includes: a housing, one end of which can be extended up and down a second threaded rod outer sleeve 28, one end of each of the second screw outer sleeves 28 extending from the housing is coupled to the upper rotor swash plate 3 to achieve the second screw outer sleeve
- the upper swash plate is tilted in a specific direction to drive the upper swash plate 4 to tilt in a specific direction
- at least three second motors 49 each of the second motors 49 is connected with the corresponding second screw casing rod 28 of the second steering gear 58 to control the second
- the steering gear mounting base 2 has a through hole at the other end; the second sliding sleeve body 30 is disposed on the upper rotor swash plate 3 and penetrates the second rotation preventing lever 29
- the through hole is configured to realize that the upper rotor swash plate 3 can be tilted in a specific direction and cannot rotate with the upper rotor swash plate-movement 4.
- the upper rotor drive system further includes: Inner shaft headstock-upper 37, coupled to each upper rotor redirecting rod-upper 40, to support each upper rotor redirecting rod-up 40 without affecting the rotation of each upper rotor redirecting rod-up 40, and One end is fixed to one end of the inner shaft 15 to which the upper rotor hub 16 is mounted; the inner shaft head frame lower 31 is connected with each upper rotor direction changing rod-lower 45 to support each upper rotor direction changing rod - The lower 45 does not affect the rotation of each upper rotor redirecting lever-lower 45, and one end is fixed to the inner shaft 15, and the other end and the upper rotor swashplate sliding rod 46 are mounted with the upper rotor swash plate - Connect 4 to one end.
- the lower rotor drive system further comprises: at least three first gearbox bodies 5, each of the first gearbox bodies 5 being connected to the corresponding first motor 9, wherein each of the first gearbox bodies 5 Adjusting the rotational speed outputted by the corresponding first motor 9; correspondingly, the upper rotor drive system further comprises: at least three second gearbox bodies 43, each of the second gearbox bodies 43 and the corresponding The two motors 49 are connected, wherein each of the second gearbox bodies 43 adjusts the rotational speed output by the corresponding second motor 49.
- the first transmission case 5 is a gear type transmission case or a chain type transmission case
- the second transmission case 43 is a gear type transmission case or a chain type transmission case.
- each of the lower rotor redirecting assemblies is constituted by a rotation preventing plate 21 and a lower rotor deflection lever-L arm 23, wherein one end of the rotation preventing plate 21 is connected to one end of the lower rotor direction changing lever-L arm 23.
- the other end of the rotation preventing plate 21 is connected to the lower rotor hub 14, and the other end of the lower rotor deflection lever-L arm 23 is connected to the lower rotor swash plate 24.
- the first sliding sleeve body 44 penetrates the through hole of the first rotation preventing lever 25 and does not pass through the through hole; or the first sliding sleeve body 44 penetrates the first hole The through hole of the rotation preventing lever 25, and the through hole Said through hole.
- the second sliding sleeve body 30 penetrates the through hole of the second rotation preventing rod 29 and does not pass through the through hole; or the second sliding sleeve body 30 penetrates the second through hole The through hole of the rotation preventing lever 29 is passed through the through hole.
- At least three first steering gears 8 work in coordination with each other (the first screw outer casing rod 65 is elongated, shortened or not moved), so that the lower rotor swash plate can be tilted in a specific direction, thereby lowering the rotor
- the swash plate-movement 24, the tilt arm pull rod-lower 35 and the paddle tilt arm-lower rotor 13 are all moving, so that the first blade holder can be rotated relative to the lower rotor hub 14;
- at least three The two servos 58 work in coordination with each other (the second screw shaft 28 is elongated, shortened or not moved), so that the upper rotor swashplate can be tilted in a specific direction, so that the upper rotor swashplate-moving 4, the upper rotor
- FIG. 1 is a front view of a rotor drive system according to an embodiment of the present invention
- FIG. 2 is a plan view of a rotor drive system according to an embodiment of the present invention
- Figure 4 is a rear elevational view of a rotor drive system according to an embodiment of the present invention
- Figure 5 is a bottom view of a rotor drive system according to an embodiment of the present invention
- 6 is a right side view of a rotor drive system according to an embodiment of the present invention
- FIG. 7 is a full cross-sectional view of a front view of a rotor drive system according to an embodiment of the present invention.
- FIG. 1 is a front view of a rotor driving system according to an embodiment of the present invention
- FIG. 2 is a top view of a rotor driving system according to an embodiment of the present invention
- FIG. 4 is a rear view of a rotor drive system according to an embodiment of the present invention
- FIG. 5 is a bottom view of a rotor drive system according to an embodiment of the present invention
- FIG. 7 is a full cross-sectional view of a front view of a rotor drive system according to an embodiment of the present invention, the cross section of which is a center line of the inner shaft and perpendicular to the paper surface. Plane, 1 left projection.
- the twin-rotor coaxial helicopter may include: an outer shaft 19; a lower rotor hub 14, fixed to an outer side of one end of the outer shaft 19; at least two first blade clamps Body, connected to the lower rotor hub 14, each first blade The clamping body is rotatable relative to the lower rotor hub 14, and each first blade clamping body includes a first paddle 20 and a second paddle 22, wherein the first paddle 20 and the second paddle The clamp 22 collectively holds the lower rotor blade; the inner shaft 15; the upper rotor hub 16 fixed to the outer side of one end of the inner shaft 15; and at least two second blade holders connected to the upper rotor hub 16 Each second blade holder can be twisted relative to the upper rotor hub 16, and each second blade holder includes a third paddle 17 and a fourth paddle 18, the third paddle 17 The upper paddle blade 18 is clamped together
- each of the first blade holders can be twisted relative to the lower rotor hub 14, and each of the second blade holders can be twisted relative to the upper rotor hub 16.
- the second blade holder is provided with a paddle shaft 55 so as to be twistable relative to the upper rotor hub 16.
- the extended end 6 of the box body 27 is connected to the same pulley 7 so that the same pulley 7 can be unaffected by other components, and thus is powered by the twin-rotor coaxial helicopter.
- the engine of the device rotates smoothly under the action of the engine.
- the gear set built in the box may include: a bevel gear shaft 52, an upper bevel gear 54 and a lower bevel gear 50; wherein the same pulley 7 and the bevel gear shaft 52 are connected, and the bevel gear shaft 52 is respectively
- the upper bevel gear 54 meshes with the lower bevel gear 50, and the upper bevel gear 54 is coupled to the outer shaft 19, and the lower bevel gear 50 is coupled to the inner shaft 15-.
- a gear shaft end cap 53 may be included, which is disposed on the extended end 6 of the casing body 27 for axial positioning of the bevel gear shaft 52. As shown in FIG.
- the rotor driving system applicable to the above-described dual-rotor coaxial helicopter may include: a lower rotor driving system and an upper rotor driving system; wherein the lower rotor driving system may The method includes: at least two paddle tilting arms-lower rotors 13, one end of each of the paddle tilting arms-lower rotors 13 is fixed on a preset mounting surface of the corresponding first blade clamping body; wherein each paddle The slanting arm-lower rotor 13 uniquely corresponds to a first blade holder; at least two slanting arm slings-down 35, one end of each slanting arm stalk-lower 35 is connected to the corresponding paddle slanting arm-lower rotor The other end of the slanting arm slanting arm slanting arm slanting arm slanting arm slanting arm slanting arm slanting arm slanting arm slanting arm slanting arm slanting arm slanting arm s
- each of the first steering gears 8 may include: a casing, a first screw outer casing rod 65 having one end located in the casing and capable of up-and-down telescopic, and each of the first screw outer casing rods 65 One end of the housing is connected to the lower rotor swash plate 11 to achieve the first When the one-pole outer sleeve 65 is extended and contracted up and down, the lower-rotor swash plate 11 is tilted in a specific direction, thereby driving the lower-rotor swash plate-moving 24 to tilt in a specific direction; When the telescopic lengths of the at least three first lead screw outer sleeves 65 are different, the lower rotary swash plate 11 can be inclined in a specific direction;
- the upper rotor swash plate-moving 4 When the inner shaft 15 rotates, the upper rotor swash plate-moving 4 is rotated; wherein the upper rotor swash plate-movement 4 is rotatable relative to the upper rotor swash plate sliding rod 46; the upper rotor swash plate is set to 3, Nested on the upper rotor swashplate-movement 4 and the upper rotor swashplate-moving 4 and the upper rotor swashplate-fixing 3 can rotate independently of each other; wherein the upper rotor swashplate-fixing 3 can be inclined relative to the upper rotor
- the disc slider 46 rotates; at least three second servos 58 are mounted on the upper cover 26, and each of the second servos 58 may include: a housing, a second screw
- the lower rotor redirecting assembly may be composed of two components, for example: the lower rotor redirecting assembly may be composed of the rotation preventing plate 21 and the lower rotor deflection lever-L arm 23 shown in FIGS. 3 and 6.
- the rotation preventing plate 21 is connected to one end of the lower rotor direction changing lever-L arm 23, and the other end of the rotation preventing plate 21 is connected to the lower rotor hub 14, and the lower rotor direction changing lever-L arm 23 The other end is connected to the lower rotor swash plate 24 .
- the lower rotor redirecting assembly can also be composed of one element, wherein one end of the element is connected to the lower rotor hub 14 and the other end is connected to the lower rotor swash plate 24 .
- the lower rotor redirecting assembly may be constructed of at least three components by which the lower rotor hub 14 and the lower rotor swashplate 24 are coupled, which is reasonable.
- first sliding sleeve body 44 and the second sliding sleeve body 30 can be set according to actual conditions.
- the first sliding sleeve body 44 can penetrate the through hole of the first rotation preventing lever 25, but The through hole is not worn out; or the first sliding sleeve 44 can penetrate the through hole of the first rotation preventing lever 25 and pass through the through hole, which is reasonable; and the second sliding sleeve body 30 can penetrate the through hole of the second rotation preventing lever 29, but does not pass through the through hole; or the second sliding sleeve body 30 can penetrate the through hole of the second rotation preventing rod 29 and pass through the through hole Through holes, this is all reasonable.
- connection between the components in the embodiments of the present invention may be a bearing connection or a threaded connection according to actual application requirements, of course, not limited thereto, for example: lower rotor swash plate-fixed 11 and lower rotor swash plate - the connection between the moving 24, the connection between the upper rotor swashplate-fixed 3 and the upper rotor swashplate-movement 4 can be connected by bearings; and the lower rotor redirecting assembly can be connected to the lower rotor swashplate -
- the L-arm end bearing block 12 on the motor 24 is connected to the lower rotor swash plate-moving 24;
- the upper rotor-direction bar-lower 45 can be connected to the tie rod plug-lower 64 through the lower rod joint bearing 32;
- the upper 41 can be connected to the upper end of the inclined arm of the paddle arm tilting arm-upper rotor 42 to achieve the connection with the paddle arm of the paddle arm - the upper rotor 42;
- the rotor driving system provided by the embodiment of the present invention can be connected to the dual-rotor coaxial helicopter through the first connection point 60, the second connection point 61, the third connection point 62, and the fourth connection point 63.
- the first connection point 60 the second connection point 61, the third connection point 62, and the fourth connection point 63.
- the shelf of course, it is not limited to this.
- At least three first steering gears 8 work in coordination with each other (the first screw outer casing rod 65 is elongated, shortened or not moved), so that the lower rotor swash plate can be tilted in a specific direction, thereby lowering the rotor
- the swash plate-movement 24, the tilt arm pull rod-lower 35 and the paddle tilt arm-lower rotor 13 are all moving, so that the first blade holder can be rotated relative to the lower rotor hub 14;
- at least three The two servos 58 work in coordination with each other (the second screw shaft 28 is elongated, shortened or not moved), so that the upper rotor swashplate can be tilted in a specific direction, so that the upper rotor swashplate-moving 4, the upper rotor
- the upper rotor drive system may further include: an inner axle headstock-upper 37 coupled to each upper rotor redirecting lever-upper 40 to support each upper rotor deflector-upper 40 does not affect the rotation of each upper rotor redirecting rod-upper 40, and one end is fixed to one end of the inner rotor shaft 15 to which the upper rotor hub 16 is mounted; the inner shaft head frame-lower 31, with each upper rotor Connecting to the rod-down 45 to support each upper rotor redirecting rod-lower 45 without affecting the rotation of each upper rotor redirecting rod-lower 45, and one end is fixed to the inner shaft 15, the other end is
- the upper rotor swash plate slide bar 46 is mounted with the upper rotor swash plate-movement 4 end connected.
- the lower rotor drive system may further include: At least three first gearbox bodies 5, each of the first gearbox bodies 5 is connected to the corresponding first motor 9, wherein the speed of each of the first gearbox bodies 5 is outputted by the corresponding first motor 9
- the upper rotor drive system may further comprise: at least three second gearbox bodies 43, each of the second gearbox bodies 43 being coupled to the corresponding second motor 49, wherein each second gear shift The casing 43 adjusts the rotational speed output by the corresponding second motor 49.
- the first transmission case 5 is a gear type transmission case or a chain type transmission case
- the second transmission case 43 is a gear type transmission case or a chain type transmission case, of course. Not limited to this.
- the width of the paddle tilting arm-lower rotor 13 fixed to one end of the first blade clamping body may be greater than the width of the other end; the paddle tilting arm-upper rotor 42 is fixed to the second paddle
- the width of one end of the leaf holder may be greater than the width of the other end, wherein the purpose of the inconsistent width is to make the paddle tilt arm-lower wing 13 and the paddle tilt arm-upper rotor 42 respectively reach equal strength, thereby reducing the tilt of the paddle
- the mass of the arm-lower rotor 13 and the paddle tilt arm-upper rotor 42 may be provided.
- the rotor driving method corresponding to the rotor driving system may include: a step a, receiving a flight control command; wherein, when the rotor system needs to be driven, the operator may issue a flight control command through the operation interface, and further The flight control device on the frame of the axle helicopter receives the flight control command and performs subsequent processing in accordance with the received flight control command.
- the flight control instruction may be: a takeoff command, a hovering command, a forward command, a reverse command, a leftward steering command, or a rightward steering command; and the flight control command may be sent through a remote controller. Or, the flight control command can be sent through the ground control station, which is reasonable.
- Step b obtaining a current rotation state of the first motor 9 corresponding to at least three first servos 8 of the lower rotor drive system, and corresponding to at least three second servos 58 of the upper rotor drive system
- the current rotation state of the second motor 49 after receiving the flight control command, the flight control device can obtain the current rotation state of the first motor 9 corresponding to at least three first servos 8 of the lower rotor drive system And obtaining a current rotation state of the second motor 49 corresponding to at least three second servos 58 of the upper rotor drive system, and further performing subsequent processing.
- Each of the first servos 8 uniquely corresponds to a first motor 9, and each of the second servos 58 uniquely corresponds to a second motor 49, and each of the first motors 9 uniquely corresponds to a current rotating state, and each second The motor 49 uniquely corresponds to a current state of rotation.
- the rotational state of the motor can be the angle of rotation of the motor. Step c, determining a first rotation state required by the first motor 9 according to the flight control instruction and the current rotation state of the first motor 9; after obtaining the flight control command and the current rotation state of the first motor 9, The first rotational state required for the first motor 9 is determined, and the first motor 9 is subsequently controlled in accordance with the first rotational state.
- Each of the first motors 9 uniquely corresponds to a first rotation state. Moreover, the first rotational states required for each of the first motors 9 may be the same or different. Step d, determining a second rotation state required by the second motor 49 according to the flight control command and the current rotation state of the second motor 49; after obtaining the flight control command and the current rotation state of the second motor 49, The second rotational state required by the second motor 49 is determined, and the second motor 49 is subsequently controlled in accordance with the second rotational state. Each of the second motors 49 uniquely corresponds to a second rotation state. Also, the second rotation states required for the respective second motors 49 may be the same or different.
- Step e controlling the first motor 9 to rotate in the corresponding first rotation state, so that the first screw casing rod 65 of each first steering gear 8 is elongated and shortened under the rotation of the corresponding first motor 9. Or not moving; wherein, the first lead screw outer rod 65 of each first steering gear 8 is at the corresponding first motor 9
- Rotating down, shortening or not moving can drive the lower rotor swash plate in the lower rotor drive system - tilting 11 in a specific direction, and then driving the lower rotor swashplate-moving 24, at least two inclined arm levers - lower 35
- At least two paddle tilting arms-lower rotors 13 are moved to effect twisting of the first blade holder relative to the lower rotor hub 14.
- Step f controlling the second motor 49 to rotate in the corresponding second rotation state, so that the second lead screw outer rod 28 of each second steering gear 58 is elongated and shortened under the rotation of the corresponding second motor 49.
- each second steering gear 58 is extended, shortened or immobilized under the rotation of the corresponding second motor 49, and can be driven in the upper rotor driving system
- the upper rotor swash plate-fixed 3 is inclined in a specific direction, and then drives the upper rotor swash plate-movement 4, at least two upper-rotor direction-direction lever-L arms 47, at least two upper-rotor changes
- the second blade holder is twisted relative to the upper rotor hub 16.
- the second rotation state of the second motor 58 when the second rotation state of the second motor 58 is the same as its current rotation state, the second screw outer casing rod 28 of the second steering gear 58 will remain unchanged under the rotation of the corresponding second motor 58. That is, it does not elongate or shorten; and when the second rotation state of the second motor 58 is different from its current rotation state, the rotation of the second screw casing rod 28 of the second steering gear 58 at the corresponding second motor 58 The lower will be elongated or shortened.
- the lower rotor hub 14 drives the lower rotor swashplate-moving 24 as the outer shaft 19 rotates;
- the upper rotor hub 16 rotates with the upper rotor swashplate-moving 4 as the inner shaft 15 rotates.
- the lower rotor swash plate 11 is not rotatable with the lower rotor swash plate-moving 24 under the action of the first rotation preventing lever 25 and the first sliding sleeve body 44 in the lower rotor driving system; the upper rotor driving system is The upper rotor swash plate-fixing 3 cannot rotate with the upper rotor swash plate-moving 4 under the action of the second rotation preventing lever 29 and the second sliding sleeve body 30.
- determining the first rotation state required by the first motor 9 according to the flight control instruction and the current rotation state of the first motor 9 may include:
- each of the first blade holders uniquely corresponds to one Current twist angle.
- the twist angle and the first rotation of each of the first blade holders relative to the lower rotor hub 14 can be constructed according to the first
- the correspondence between the rotational states of the motor 9 determines the current torsion angle of each of the first blade holders relative to the lower rotor hub 14.
- the correspondence relationship between the torsion angle of each of the first blade holders with respect to the lower rotor hub 14 and the rotation state of the first motor 9 can be obtained by calculation.
- the current torsion angles of the respective first blade holders relative to the lower rotor hub 14 may be the same or different.
- each first blade holder determines the rotation of each of the first blade holders relative to the lower rotor hub 14 in accordance with the flight control command and the current torsion angle of each of the first blade holders relative to the lower rotor hub 14 a first twist angle; wherein each of the first blade holders uniquely corresponds to a first twist angle.
- determining the second rotation state required by the second motor 49 according to the flight control instruction and the current rotation state of the second motor 49 may include:
- each of the second blade holders uniquely corresponds to one Current twist angle. It can be understood by those skilled in the art that after determining the current rotation state of the second motor 49, the twist angle and the second rotation of each of the second blade holders relative to the upper rotor hub 16 can be constructed according to the pre-configuration. The correspondence between the rotational states of the motor 49 determines the current torsion angle of each of the second blade holders relative to the rotation of the upper rotor hub 16.
- the correspondence relationship between the torsion angle of each of the second blade holders with respect to the upper rotor hub 16 and the rotation state of the second motor 49 can be obtained by calculation.
- the current torsion angles of the respective second blade holders relative to the lower rotor hub 16 may be the same or different.
- each of the second blade holders uniquely corresponds to a second torsion angle.
- the second rotation state required for each of the second motors 49 is determined in accordance with the second torsion angle required for each of the second blade holders to rotate relative to the upper rotor hub 16. After determining the second twist angle required for each second blade holder to rotate relative to the upper rotor hub 16, it may be based on each of the second blade holders previously constructed relative to the upper rotor hub 16
- the second rotational state required for each of the second motors 49 is determined by the correspondence between the rotational torsion angle and the rotational state of the second motor 49.
- the second rotation states required for each of the second motors 49 may be the same or different.
- the expansion and contraction of the screw shaft of the screw connected to the steering gear of the motor can be controlled by controlling the angle of rotation of the motor, so that the screw sleeve and the blade holder are located at the screw sleeve.
- the respective elements are interlocked to drive the blade holder to be twisted relative to the hub, thereby reducing the complexity of the rotor driving process, thereby solving the existing rotor driving method corresponding to the existing rotor driving system.
- the drawbacks of the driver process are complex.
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Abstract
Description
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Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2013403751A AU2013403751B2 (en) | 2013-10-23 | 2013-10-23 | Rotor driving system |
RU2016117177A RU2641396C2 (ru) | 2013-10-23 | 2013-10-23 | Приводная система несущих винтов |
EP13895830.1A EP3061688B1 (en) | 2013-10-23 | 2013-10-23 | Rotor driving system |
US15/031,467 US10081423B2 (en) | 2013-10-23 | 2013-10-23 | Rotor driving system |
PCT/CN2013/085745 WO2015058364A1 (zh) | 2013-10-23 | 2013-10-23 | 旋翼驱动系统 |
BR112016008922-7A BR112016008922B1 (pt) | 2013-10-23 | 2013-10-23 | Sistema de acionamento de rotor |
JP2016549603A JP6099836B2 (ja) | 2013-10-23 | 2013-10-23 | ロータ駆動システム |
AU2016100487A AU2016100487A4 (en) | 2013-10-23 | 2016-04-29 | Rotor driving system |
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PCT/CN2013/085745 WO2015058364A1 (zh) | 2013-10-23 | 2013-10-23 | 旋翼驱动系统 |
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US (1) | US10081423B2 (zh) |
EP (1) | EP3061688B1 (zh) |
JP (1) | JP6099836B2 (zh) |
AU (2) | AU2013403751B2 (zh) |
BR (1) | BR112016008922B1 (zh) |
RU (1) | RU2641396C2 (zh) |
WO (1) | WO2015058364A1 (zh) |
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CN106915457B (zh) * | 2017-02-22 | 2019-05-17 | 北京航空航天大学 | 一种上下旋翼倾斜器平行度可变的共轴式直升机操纵系统 |
CN109533322B (zh) * | 2018-11-15 | 2020-09-25 | 中国直升机设计研究所 | 一种自动倾斜器 |
CN112173099A (zh) * | 2020-11-26 | 2021-01-05 | 尚良仲毅(沈阳)高新科技有限公司 | 一种用于无人机的变距装置、变距控制方法及无人机 |
Citations (4)
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RU2155702C1 (ru) * | 1999-04-15 | 2000-09-10 | Кумертауское авиационное производственное предприятие | Система двух соосных несущих винтов летательного аппарата |
EP1944234A1 (de) * | 2007-01-12 | 2008-07-16 | Rotorfly Ltd. | Rotorsystem |
CN102658865A (zh) * | 2012-05-17 | 2012-09-12 | 李游 | 共轴反转旋翼直升机的共轴传动和控制结构 |
CN103318407A (zh) * | 2013-06-05 | 2013-09-25 | 王开林 | 一种共轴式双旋翼无人直升机操纵系统的分立控制系统 |
Family Cites Families (2)
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ES8102955A1 (es) * | 1980-04-18 | 1981-02-16 | Campos Herruzo Juan | Sistema control de direccion de helicoptero coaxial, paso colectivo a la vez que tambien variable simultaneamente con signo contrario |
RU2485017C2 (ru) * | 2011-08-24 | 2013-06-20 | Сергей Александрович Задорожный | Механизм автомата перекоса вертолета |
-
2013
- 2013-10-23 EP EP13895830.1A patent/EP3061688B1/en active Active
- 2013-10-23 US US15/031,467 patent/US10081423B2/en active Active
- 2013-10-23 WO PCT/CN2013/085745 patent/WO2015058364A1/zh active Application Filing
- 2013-10-23 AU AU2013403751A patent/AU2013403751B2/en active Active
- 2013-10-23 BR BR112016008922-7A patent/BR112016008922B1/pt active IP Right Grant
- 2013-10-23 JP JP2016549603A patent/JP6099836B2/ja active Active
- 2013-10-23 RU RU2016117177A patent/RU2641396C2/ru active
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Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2155702C1 (ru) * | 1999-04-15 | 2000-09-10 | Кумертауское авиационное производственное предприятие | Система двух соосных несущих винтов летательного аппарата |
EP1944234A1 (de) * | 2007-01-12 | 2008-07-16 | Rotorfly Ltd. | Rotorsystem |
CN102658865A (zh) * | 2012-05-17 | 2012-09-12 | 李游 | 共轴反转旋翼直升机的共轴传动和控制结构 |
CN103318407A (zh) * | 2013-06-05 | 2013-09-25 | 王开林 | 一种共轴式双旋翼无人直升机操纵系统的分立控制系统 |
Also Published As
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RU2641396C2 (ru) | 2018-01-17 |
US10081423B2 (en) | 2018-09-25 |
BR112016008922B1 (pt) | 2021-09-14 |
US20160264238A1 (en) | 2016-09-15 |
RU2016117177A (ru) | 2017-11-28 |
JP2016538196A (ja) | 2016-12-08 |
BR112016008922A2 (zh) | 2017-08-01 |
AU2016100487A4 (en) | 2016-06-09 |
EP3061688A1 (en) | 2016-08-31 |
EP3061688B1 (en) | 2018-09-05 |
AU2013403751A1 (en) | 2016-05-19 |
EP3061688A4 (en) | 2017-07-19 |
JP6099836B2 (ja) | 2017-03-22 |
AU2013403751B2 (en) | 2016-12-01 |
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