WO2023164862A1

WO2023164862A1 - Dual-propeller universal transmission device

Info

Publication number: WO2023164862A1
Application number: PCT/CN2022/078984
Authority: WO
Inventors: 罗灿
Original assignee: 罗灿
Priority date: 2022-03-03
Filing date: 2022-03-03
Publication date: 2023-09-07

Abstract

A dual-propeller universal transmission device, used for dual-propeller transmission of an aircraft or aerial vehicle, consisting of an input sleeve shaft, input double bevel gears, a revolving sleeve shaft, revolving double bevel gears, an output sleeve shaft, output double bevel gears, a revolving locator, a tilting locator, a revolving control apparatus, and a tilting control apparatus. A front portion is connected to a coaxial contra-rotating power apparatus, and a rear portion is connected to coaxial contra-rotating double propellers. The output sleeve shaft and the coaxial contra-rotating double propellers can tilt and revolve at any angle in a three-dimensional space while transmission.

Description

Double paddle universal drive

technical field

The invention relates to a transmission machine for coaxial reversed double propellers, specifically comprising an input sleeve shaft, an input double bevel gear, a revolution sleeve shaft, a revolution double bevel gear, an output sleeve shaft, an output double bevel gear, a revolution positioning The transmission consists of a device, a tilt positioner, a revolution control device and a tilt control device. The coaxial reverse rotation input from the input quill shaft with a fixed axis is transmitted to the output quill shaft with a freely tilting axis. Coaxial counter-rotating dual propellers, the output sleeve shaft can rotate 360 degrees and tilt freely; it is a dual-propeller universal drive.

Background technique

Traditional coaxial counter-rotating twin propellers have only one pointing in one fixed axis. If the twin propellers of aircraft and aircraft can rotate on any spatial angle axis, the maneuverability will be greatly improved. I have invented the "Coaxial Reversing Circumferential Propeller" from the input sleeve shaft double bevel gear to the output sleeve shaft double bevel gear transmission, see Fig. 4. Using the intermeshed input double bevel gear, output double bevel gear and tilt positioner, the output shaft can be tilted around the axis of the input shaft in a plane perpendicular to the input shaft, so that the dual propellers can be positioned at any angle in a plane space. There are points. The present invention is a further innovation of the "Coaxial Reversing Circumferential Propeller", adding structure, function and performance, the output shaft can revolve and tilt, and the revolution plane is perpendicular to the tilt plane, so that the dual propellers can be rotated at any angle in the three-dimensional space There is a point on the axis. Since the axis of the output shaft is not limited to a plane space, and the direction of the output shaft is no less than that of the universal joint drive, it is called a double-blade universal drive. The aviation industry and the navigation industry need this kind of simple in structure, the output shaft points to the double propeller transmission of freedom, the present invention proposes exactly this double propeller universal transmission.

Contents of the invention

The dual paddle universal transmission of the present invention comprises an input sleeve shaft, an input double bevel gear, a revolution sleeve shaft, a revolution double bevel gear, an output sleeve shaft, an output double bevel gear, a revolution positioner, a tilt positioner, a revolution positioner Control device and tilt control device. The front is connected with the coaxial counter-rotating power unit, and the rear is connected with the co-axial counter-rotating twin propellers.

The front of the input sleeve shaft is connected with a coaxial reverse power device, and the inner shaft of the sleeve shaft and the outer shaft of the sleeve shaft are driven by the power device to rotate respectively. The input double bevel gear includes an input internal bevel gear and an input external bevel gear. The input sleeve shaft is connected with the input double bevel gear, wherein the inner shaft of the input sleeve shaft is connected with the input inner bevel gear, and the outer shaft of the input sleeve shaft is connected with the input outer bevel gear. The input double bevel gears each rotate around the axis of the input sleeve shaft. The sleeve shaft adopts mature technology. The sleeve shaft is composed of an inner shaft and an outer shaft. The outer shaft surrounds the inner shaft. There is a bearing between the inner shaft and the outer shaft. The inner shaft and the outer shaft can rotate relative to each other, but cannot be axially opposed. sports. The fixed bearing of the input quill is connected to the fuselage of the aircraft or craft. Said fixing means that the relative position of the part and the fuselage remains unchanged. The connection is to keep the connected objects at the same speed through a mechanical connection. The bearing adopts mature technology, and the bearing outer sleeve and the bearing inner sleeve can rotate relative to each other, but cannot move axially relative to each other.

A revolving quill shaft is arranged on an axis perpendicular to the input quill shaft. Revolving double bevel gears include revolving internal bevel gears and revolving external bevel gears. The revolving sleeve shaft is connected with the revolving double bevel gear, wherein the inner shaft of the revolving sleeve shaft is connected with the revolving inner bevel gear, and the outer shaft of the revolving sleeve shaft is connected with the revolving outer bevel gear. The revolving double bevel gears respectively rotate around the axis of the revolving sleeve shaft.

The output quill shaft is arranged on the same axis as the input quill shaft. The output double bevel gear includes an output internal bevel gear and an output external bevel gear. The output sleeve shaft is connected with the output double bevel gear, wherein the inner shaft of the output sleeve shaft is connected with the output inner bevel gear, and the outer shaft of the output sleeve shaft is connected with the output outer bevel gear. The output double bevel gears respectively rotate around the axis of the output sleeve shaft. The output sleeve shaft is connected with the coaxial counter-rotating double propellers, wherein the inner shaft of the output sleeve shaft is connected with the inner paddle shaft of the double propellers, and the outer shaft of the output sleeve shaft is connected with the outer paddle shaft of the double propellers. The coaxial counter-rotating twin propellers are a mature technology.

The revolution positioner is composed of an input bearing, a revolution bearing and a revolution support. An input bearing is arranged outside the input sleeve shaft, a first revolution bearing is arranged outside the revolution sleeve shaft, and the input bearing and the first revolution bearing are connected by a revolution bracket. The revolution positioner keeps the input outer bevel gear meshed with the revolving bevel gear, and at the same time keeps the input inner bevel gear meshed with the revolving inner bevel gear. The revolution positioner can rotate around the axis of the input sleeve shaft, this rotation is revolution, and the plane where the revolution is located is the revolution plane. The revolution quill and the revolution double bevel gear can revolve together with the revolution positioner. The described arrangement of the bearing outside the sleeve shaft adopts a mature technology, and the bearing and the sleeve shaft surrounded by it can rotate relative to each other but cannot move relative to each other in the axial direction.

The tilting positioner is composed of the second revolution bearing, the output bearing and the tilting bracket. The second revolution bearing is arranged outside the revolution sleeve shaft, the output bearing is arranged outside the output sleeve shaft, and the second revolution bearing and the output bearing are connected by a tilting bracket. The tilt positioner keeps the revolving bevel gear in mesh with the output bevel gear and simultaneously keeps the revolving bevel gear in mesh with the output bevel gear. The tilting locator can rotate around the axis of the revolution sleeve shaft, this rotation is tilting, and the plane where the tilting is located is the tilting plane. The tilt plane is perpendicular to the revolution plane. The output quill shaft and output double bevel gear can be tilted together with the tilt positioner. The output quill and the output double bevel gear can also revolve together with the revolving quill. Set the number of teeth of the input inner bevel gear equal to the number of teeth of the output inner bevel gear, and set the number of teeth of the input outer bevel gear to equal the number of teeth of the output outer bevel gear; at this time, from the input inner bevel gear to the output inner bevel gear The transmission ratio of is equal to the transmission ratio from the input external bevel gear to the output external bevel gear, both of which are equal to 1. The invention also encompasses other settings of these two transmission ratios, which can be equal to other values; these settings can be derived by those skilled in the art using public knowledge.

The revolution control device is composed of a base, a control power source and an actuator. A revolution control device is arranged between the fixed support and the revolution positioner, the base of the revolution control device is connected to the fixed support, the actuator of the revolution control device is connected to the revolution positioner, and the control power source of the revolution control device drives the actuator to rotate . The revolution control device controls the revolution of the revolution positioner by controlling the power source to drive the actuator to rotate. The fixed support is a mature technology, and the fixed support is connected with the fuselage of the aircraft or aircraft using coaxial counter-rotating double propellers. The control power source of the revolution control device adopts mature technology, such as electric motor or hydraulic motor. The actuator of the revolution control device adopts mature technology, such as worm gear or rack and pinion. The base adopts mature technology.

The tilting control device consists of a base, a control power source and an actuator. A tilting control device is arranged between the revolution positioner and the tilting positioner, the base of the tilting control device is connected with the revolution positioner, the actuator of the tilting control device is connected with the tilting positioner, the control of the tilting control device The power source drives the actuator to rotate. The tilting control device controls the tilting of the tilting positioner by controlling the power source to drive the actuator to rotate. The control power source of the tilt control unit adopts proven technology, such as electric motor or hydraulic motor. The actuators of the tilt control units are based on proven technologies such as worm gears or rack and pinion. The base adopts mature technology.

The tilting control device controls the tilting of the tilting positioner and the output sleeve shaft, and the tilting angle is limited by the range of motion of the output double bevel gear, and is also limited by the range of motion of the coaxial counter-rotating twin propellers; the revolution control device controls the revolution positioner and the revolution The quill shaft revolves, the output quill shaft and the coaxial reverse double top propellers also revolve together with the revolution positioner, and the tilting plane also revolves, the output quill shaft and the coaxial reverse double top propellers can be realized at the same time as the transmission. Tilting and revolving at any angle in the three-dimensional space; the revolving angle is limited by the range of motion of the coaxial counter-rotating twin propellers. The transmission mentioned here is the transmission from the inner shaft of the input sleeve shaft to the rotation of the inner shaft of the double propeller, and the transmission from the outer shaft of the input sleeve shaft to the rotation of the outer shaft of the double propeller.

When the rotational speeds of the inner shaft of the input sleeve shaft and the outer shaft of the input sleeve shaft transmitted by the power device are equal in absolute value and opposite in direction. The revolution will cause a change in the speed of the inner shaft of the revolving quill shaft and the inner shaft of the output quill shaft, and another change in the speed of the outer shaft of the revolving quill shaft and the outer shaft of the output quill shaft. These two changes are opposite, one change speeds up, the other slows down, one slows down, the other speeds up. The revolution stops, and the acceleration or deceleration returns to zero. Tilting will cause one change in shaft speed inside the output quill shaft and another change in speed outside the output quill shaft. These two changes are opposite, one change speeds up, the other slows down, one slows down, the other speeds up. Tilting stops, acceleration or deceleration returns to zero. Due to the high output speed of the coaxial counter-rotating twin propellers, the speed of revolution or tilt is low. Therefore, the speed of change of the twin propellers caused by revolution or tilting is relatively small relative to the speed of the output power of the twin propellers. When the output power of the twin propellers rotates with the same resistance, the reaction torque formed by the inner shaft of the output sleeve shaft to the axis of the revolution sleeve shaft and the reaction torque formed by the outer shaft of the output sleeve shaft to the axis of the revolution sleeve shaft cancel each other out, and the output sleeve The cylinder shaft as a whole does not form a moment with respect to the axis of the revolution sleeve shaft. The tilt control device only needs to overcome the reaction force of the speed change of the twin propellers when tilting. When the output power of the double propellers rotates with equal resistance, the reaction torque formed by the inner shaft of the revolving sleeve shaft to the axis of the input sleeve shaft and the reaction torque formed by the outer shaft of the revolving sleeve shaft to the axis of the input sleeve shaft cancel, and the revolving sleeve The sleeve shaft as a whole does not form a moment with respect to the axis of the input sleeve shaft. The revolution control device only needs to overcome the reaction force of the speed change of the twin propellers during the revolution.

The traditional helicopter coaxial reverse double top propeller is to periodically change the collective pitch of the two sets of top propeller blades through two sets of automatic swash plates, so that the two sets of top propeller blades are periodically tilted and waved, and the two sets of top propellers are periodically waved. The paddle disc is tilted relative to the paddle shaft, and the helicopter relies on this tilt to achieve indirect control of pitch and roll. The indirect control mechanism is complex, slow in response, loud in noise and high in loss. The invention is used for the transmission of the coaxial reverse double top propellers of the helicopter. The double top propellers can be tilted in any direction from the upward position to the front, back, left, and right. The paddle shaft and the paddle disk are directly tilted at the same time, and the helicopter realizes the direct control of the pitch and roll. The direct control mechanism is simple, fast in response, low in noise and low in loss. The axis of the propeller propeller of traditional underwater vehicles is fixed backward, and the steering depends on adjusting the angle of the rudder surface behind the propeller. The steering angle is small and the efficiency is low. The invention is used for the transmission of the double screw propellers of the underwater vehicle, and the double screw propellers can be tilted and propelled in any direction from the backward direction, up, down, left, and right, with large steering angle and high efficiency. Traditional tiltrotors use two single propellers to propel horizontally or hover vertically, and a single propeller can only tilt forward, upward or slightly backward in one longitudinal plane. When the airframe needs to move to the left during hovering, the two propellers point upwards, the left propeller reduces the collective pitch, the right propeller adds the collective pitch, and the airframe rolls to the left before moving left. This flight control method is complicated and inefficient. Risky. The present invention is used for the transmission of the left and right double propellers of the tiltrotor. The left and right double propellers can be tilted in any direction, including a small left and right tilt when the twin propeller axes point to the front position, and a small left and right tilt when the twin propeller axes point to the upward position. tilt. When the aircraft needs to translate left during hovering, the two dual propellers point upwards, and the left dual propellers and the right dual propellers can be slightly tilted to the left at the same time. This flight control method is simple, efficient and less risky. The present invention can also be used in the transmission of helicopter twin tail rotors, the twin tail rotors can tilt to the left to provide thrust to provide clockwise torque to balance the counterclockwise resistance torque of the single top rotor, and can tilt to the rear to provide helicopter high-speed forward thrust, which can Tilting to an upward orientation provides thrust to assist the helicopter in pitching back, and tilting to a downward orientation provides thrust to assist the helicopter to pitch forward. The invention adopts a gear transmission structure with high transmission efficiency and large rated power.

The closest to the present invention is "Coaxial Reversing Circumferential Propeller", which is a transmission mechanism for coaxial reversing twin propellers declared for invention on April 7, 2019, see Figure 4. The power is input from a single input shaft, and is transmitted to the tilting sleeve shaft through the transfer through shaft. The inner shaft drives the tilting inner bevel gear, and the reverse rotation is transmitted to the tilting through the transfer bevel gear, reverse bevel gear and passive bevel gear. The outer shaft of the sleeve shaft drives the tilting outer bevel gear; the tilting inner bevel gear meshes with the output inner bevel gear, and the tilting outer bevel gear meshes with the output outer bevel gear; the tilting bearing, the output bearing and the tilting bracket consist of a tilting The positioner can be tilted by the tilting worm and the tilting worm gear to control the tilting of the output sleeve shaft and the twin propellers. The structural innovation of the propeller is not deep enough, and the function is simple, and the output sleeve shaft can only tilt in a plane perpendicular to the tilting sleeve shaft, and cannot revolve. The universal joint for automobiles with functions similar to those of the present invention can tilt and revolve in any direction while driving, but the tilt angle is less than 47 degrees, and as the tilt angle increases, the transmission efficiency drops rapidly, and the rated The power is small; its structure is completely different from the structure of the present invention. The mechanism of three kinds of bevel gears meshing with the present invention which is a little bit similar in layout is a bevel gear differential for automobiles, and its three kinds of bevel gears are arranged on three fixed axes. But three kinds of bevel gears of the differential are all connected to the fixed single transmission shaft, and are used for the transmission between the fixed transmission shafts in three directions, and the structure and function are very different from the present invention. Before this invention, there was no such transmission.

The single-propeller universal drive shown in Figure 3 is a simplified version of the double-propeller universal drive. Compared with the double paddle universal transmission: the input sleeve shaft is simplified to a single input shaft, the input internal bevel gear and input external bevel gear are simplified to input a single bevel gear, the revolving sleeve shaft is simplified to a single revolving shaft, and the revolving internal bevel gear And the revolution outer bevel gear is simplified as a revolution single bevel gear, the output sleeve shaft is simplified as a single output shaft, the output inner bevel gear and the output outer bevel gear are simplified as an output single bevel gear; the input single bevel gear meshes with the revolution single bevel gear, and the revolution The single bevel gear meshes with the output single bevel gear; similarly, the revolution positioner can be controlled to drive the single revolution shaft to revolve around the axis of the single input shaft, and the tilt positioner can be controlled to drive the single output shaft to tilt around the axis of the single revolution shaft. Since half of the transmission path is simplified and half of the bevel gears and transmission shafts are missing, only half of the functions are retained, and only the revolution and tilt transmission and control of a single propeller are provided. Due to the lack of the reverse torque provided by the other half of the bevel gear and the transmission shaft, the torque it receives during the revolution and tilt process is unbalanced, and the performance is reduced, requiring a large revolution and tilt control torque. Large revolution and tilt control device. This single propeller universal transmission can be used for the transmission and control of single propeller revolution and tilt, which is a simplified version of the present invention and also belongs to the protection scope of the present invention.

The advantages of the double paddle universal transmission of the present invention are: simple structure, high transmission efficiency, large rated power, small control torque required for revolution or tilting, small control device required, and the realization of universal transmission. The angle range is larger than that of the traditional universal joint transmission; at the same time as the universal joint transmission, it provides a mechanism for revolution control, that is, a revolution positioner, and a mechanism for tilt control, that is, a tilt positioner. It can improve the transmission of the aircraft or the dual propellers of the aircraft, and improve the control of the tilt and revolution.

Description of drawings

Fig. 1 is a schematic diagram of the structure of a double-blade multi-directional transmission, which is also a schematic diagram of Embodiment 1 of the present invention. In the figure, 1 is the inner shaft of the input quill shaft, 2 is the outer shaft of the input quill shaft, 3 is the input inner bevel gear, 4 is the input outer bevel gear, 5 is the revolving inner bevel gear, 6 is the revolving outer bevel gear, and 7 is the Output inner bevel gear, 8 is the output outer bevel gear, 9 is the inner shaft of the output sleeve shaft, 10 is the outer shaft of the output sleeve shaft, 11 is the input bearing, 12 is the first revolution bearing, 13 is the revolution support, 14 is the revolution worm gear 15 is a revolving worm, 16 is the second bearing of revolution, 17 is an output bearing, 18 is a tilting support, 19 is a tilting worm wheel, 20 is a tilting worm, 21 is a revolving sleeve shaft inner shaft, and 22 is a fixed bearing.

Fig. 2 is a schematic structural diagram of a dual propeller universal drive used for the left dual propellers of a tiltrotor, which is also a schematic diagram of Embodiment 2 of the present invention. In the figure, 1 is the single input shaft, 2 is the outer shaft of the input sleeve shaft, 3 is the input inner bevel gear, 4 is the input outer bevel gear, 5 is the revolving inner bevel gear, 6 is the revolving outer bevel gear, and 7 is the output inner bevel Gear, 8 is the output outer bevel gear, 9 is the inner shaft of the output sleeve shaft, 10 is the outer shaft of the output sleeve shaft, 11 is the input bearing, 12 is the first revolution bearing, 13 is the revolution support, 14 is the revolution worm gear, and 15 is the Revolving worm, 16 is the second revolution bearing, 17 is the output bearing, 18 is the tilting bracket, 19 is the tilting worm gear, 20 is the tilting worm, 21 is the inner shaft of the revolving sleeve shaft, 22 is the outer transfer bevel gear, 23 Be an outer passive bevel gear, 24 is an inner segmented bevel gear, 25 is an inner passive bevel gear, and 26 is a fixed bearing.

Fig. 3 is a simplified structural diagram of a single propeller universal drive of a double propeller universal drive. In the figure, 1 is single input shaft, 2 is input single bevel gear, 3 is single revolution shaft, 4 is revolution single bevel gear, 5 is single output shaft, 6 is output single bevel gear, 7 is input bearing, 8 is revolution one Bearing, 9 is the revolving bracket, 10 is the revolving worm gear, 11 is the revolving worm, 12 is the second revolving bearing, 13 is the output bearing, 14 is the tilting bracket, 15 is the tilting worm gear, 16 is the tilting worm, 17 is the fixed bearing .

Fig. 4 is a schematic structural diagram of the "Coaxial Reversing Circumferential Propeller" as a reference comparison. In the figure, 1 is a single input shaft, 2 is a fixed bearing, 3 is a transfer through shaft, 4 is a tilting sleeve shaft, 5 is a tilting inner bevel gear, 6 is a tilting outer bevel gear, and 7 is an output inner bevel gear , 8 is the output outer bevel gear, 9 is the tilting bearing, 10 is the output bearing, 11 is the tilting bracket, 12 is the output quill shaft, 13 is the inner shaft of the output quill shaft, 14 is the outer shaft of the output quill shaft, 15 is a transfer bevel gear, 16 is a reverse bevel gear, 17 is a driven bevel gear, 18 is a tilting worm gear, and 19 is a tilting worm.

In each figure, the input is indicated by an input arrow, and the output is indicated by an output arrow. The propeller connected to the output shaft is not shown, the power device connected to the input shaft is not shown, the motor connected to the worm is not shown, and the worm bearing is not shown. out. A component with a ground symbol indicates that the component is fixed. Each component only shows the mutual relationship, and does not reflect the actual size.

Detailed ways

Embodiment 1: Embodiment 1 of the dual propeller universal transmission, which is used for the transmission of the double top propellers of the helicopter. It consists of input quill shaft, input double bevel gear, revolution quill shaft, revolution double bevel gear, output quill shaft, output double bevel gear, revolution positioner, tilt positioner, revolution control device and tilt control device. The front is connected with the coaxial reversing power unit, and the rear is connected with the coaxial reversing double top propellers. See Figure 1.

The input sleeve shaft is vertically arranged in the helicopter fuselage, and its fixed bearing is connected with the fuselage. The front of the input sleeve shaft is connected with a coaxial reverse power device, and the inner shaft of the sleeve shaft and the outer shaft of the sleeve shaft are driven by the power device to rotate respectively. The input double bevel gear includes an input internal bevel gear and an input external bevel gear. The inner shaft of the input sleeve shaft is connected with the input inner bevel gear, and the outer shaft of the input sleeve shaft is connected with the input outer bevel gear. The input double bevel gears each rotate around the axis of the input sleeve shaft.

A revolving quill shaft is arranged on an axis perpendicular to the input quill shaft. Revolving double bevel gears include revolving internal bevel gears and revolving external bevel gears. The inner shaft of the revolution sleeve shaft is connected with the revolution inner bevel gear, and the outer shaft of the revolution sleeve shaft is connected with the revolution outer bevel gear. The revolving double bevel gears respectively rotate around the axis of the revolving sleeve shaft.

The output quill shaft is arranged on the same axis as the input quill shaft. The output double bevel gear includes an output internal bevel gear and an output external bevel gear. The inner shaft of the output sleeve shaft is connected with the output inner bevel gear, and the outer shaft of the output sleeve shaft is connected with the output outer bevel gear. The output double bevel gears respectively rotate around the axis of the output sleeve shaft. The inner shaft of the output sleeve shaft is connected with the inner paddle shaft of the double top propeller, and the outer shaft of the output sleeve shaft is connected with the outer paddle shaft of the double top propeller.

The revolution positioner is composed of an input bearing, a revolution bearing and a revolution support. An input bearing is arranged outside the input sleeve shaft, a first revolution bearing is arranged outside the revolution sleeve shaft, and the input bearing and the first revolution bearing are connected by a revolution bracket. The revolution positioner keeps the input outer bevel gear meshed with the revolving bevel gear, and at the same time keeps the input inner bevel gear meshed with the revolving inner bevel gear. The revolution positioner can rotate around the axis of the input sleeve shaft, this rotation is revolution, and the plane where the revolution is located is the revolution plane. The revolution quill and the revolution double bevel gear can revolve together with the revolution positioner.

The tilting positioner is composed of the second revolution bearing, the output bearing and the tilting bracket. The second revolution bearing is arranged outside the revolution sleeve shaft, the output bearing is arranged outside the output sleeve shaft, and the second revolution bearing and the output bearing are connected by a tilting bracket. The tilt positioner keeps the revolving bevel gear in mesh with the output bevel gear and simultaneously keeps the revolving bevel gear in mesh with the output bevel gear. The tilting locator can rotate around the axis of the revolution sleeve shaft, this rotation is tilting, and the plane where the tilting is located is the tilting plane. The tilt plane is perpendicular to the revolution plane. The output quill shaft and output double bevel gear can be tilted together with the tilt positioner. The output quill and the output double bevel gear can also revolve together with the revolving quill. Set the number of teeth of the input inner bevel gear multiplied by 2 to equal the number of teeth of the output inner bevel gear multiplied by 2, and set the number of teeth of the input outer bevel gear to multiply by 2 to equal the number of teeth of the revolution outer bevel gear equal to the number of teeth of the output outer bevel gear multiplied by 2; At this time, the transmission ratio from the input internal bevel gear to the output internal bevel gear is equal to the transmission ratio from the input external bevel gear to the output external bevel gear, and both transmission ratios are equal to 1.

The revolution control device is composed of a base, a control power source and an actuator. A revolution control device is arranged between the fixed support and the revolution positioner, the base of the revolution control device is connected to the fixed support, the actuator of the revolution control device is connected to the revolution positioner, and the control power source of the revolution control device drives the actuator to rotate . The revolution control device controls the revolution of the revolution positioner by controlling the power source to drive the actuator to rotate. The fixed support is connected with the fuselage. The control power source of the revolution control device adopts an electric motor. The actuator of the revolution control device adopts a worm gear. The base of the motor is connected with the base of the revolution control device, and the motor drives the worm to drive the turbine to rotate and the revolution positioner to rotate.

The tilting control device consists of a base, a control power source and an actuator. A tilting control device is arranged between the revolution positioner and the tilting positioner, the base of the tilting control device is connected with the revolution positioner, the actuator of the tilting control device is connected with the tilting positioner, the control of the tilting control device The power source drives the actuator to rotate. The tilting control device controls the tilting of the tilting positioner by controlling the power source to drive the actuator to rotate. The control power source of the tilting control device adopts an electric motor. The actuator of the tilting control device adopts a worm gear. The base of the motor is connected with the base of the tilt control device, and the motor drives the worm to drive the turbine to rotate, which drives the tilt positioner to rotate.

The tilting control device controls the tilting of the tilting positioner and the output sleeve shaft, and the tilting angle is limited by the movement range of the output double bevel gear, and is also limited by the movement range of the coaxial reverse double top propeller; the revolution control device controls the revolution positioner and The revolution sleeve shaft revolves, the output sleeve shaft and the coaxial reverse double top propellers also revolve together with the revolution sleeve shaft, and the tilting plane also revolves, the output quill shaft and the coaxial reverse double top propellers can be driven at the same time Realize tilting and revolving at any angle in the three-dimensional space; the revolving angle is limited by the range of movement of the coaxial reversed double top propellers.

When the rotational speeds of the inner shaft of the input sleeve shaft and the outer shaft of the input sleeve shaft transmitted by the power device are equal in absolute value and opposite in direction. The revolution will cause a change in the speed of the inner shaft of the revolving quill shaft and the inner shaft of the output quill shaft, and another change in the speed of the outer shaft of the revolving quill shaft and the outer shaft of the output quill shaft. These two changes are opposite, one change speeds up, the other slows down, one slows down, the other speeds up. The revolution stops, and the acceleration or deceleration returns to zero. Tilting will cause one change in shaft speed inside the output quill shaft and another change in speed outside the output quill shaft. These two changes are opposite, one change speeds up, the other slows down, one slows down, the other speeds up. Tilting stops, acceleration or deceleration returns to zero. Due to the high output speed of the coaxial reverse double top propellers, the speed of revolution or tilt is low. Therefore, the speed of change of double top propellers caused by revolution or tilt is relatively small compared to the speed of output power of double top propellers. When the resistances of the output power of the double top propellers are equal to each other, the reaction torque formed by the inner shaft of the output sleeve shaft to the axis of the revolution sleeve shaft and the reaction torque formed by the outer shaft of the output sleeve shaft to the axis of the revolution sleeve shaft are offset, and the output The quill as a whole does not form a moment with respect to the axis of the revolving quill. The tilting control device only needs to overcome the reaction force of the speed change of the double top propellers when tilting. When the respective rotation resistances of the double top propellers are equal, the reaction torque formed by the inner shaft of the revolving sleeve shaft to the axis of the input sleeve shaft and the reaction torque formed by the outer shaft of the revolving sleeve shaft to the axis of the input sleeve shaft are offset, and the revolving sleeve The shaft as a whole forms no moment with respect to the shaft axis of the input sleeve. The revolution control device only needs to overcome the reaction force of the speed change of the double top propellers during the revolution.

The traditional helicopter coaxial reverse double top propeller is to periodically change the collective pitch of the two sets of top propeller blades through two sets of automatic swash plates, so that the two sets of top propeller blades are periodically tilted and waved, and the two sets of top propellers are periodically waved. The paddle disc is tilted relative to the paddle shaft, and the helicopter relies on this tilt to achieve indirect control of pitch and roll. The indirect control mechanism is complicated, with slow response, high noise and high loss. Traditional helicopter yaw control is realized by changing the collective pitch of the double top propellers separately, and the lifting control is realized by synchronously changing the collective pitch of the double top propellers. The transmission of this embodiment is used for the transmission of the coaxial reversed double top propellers of the helicopter. The double top propellers can be tilted in any direction from the upward position to the front, back, left, and right. control. The direct control mechanism is simple, fast in response, low in noise and low in loss. The yaw control of the double-top propeller helicopter in this embodiment is also realized by changing the collective pitch of the double-top propellers respectively, and the lifting control is also realized by synchronously changing the collective pitch of the double-top propellers. The actuator of this embodiment can be additionally equipped with a double crown pitch collective pitch control mechanism with mature technology, and the base of the double crown pitch collective pitch control mechanism can be connected with the tilt positioner of the actuator of this embodiment. The additional setup is a well-established technology. Since the tilt positioner is in tilting and revolving motions, the double top pitch variable collective pitch control mechanism requires an active control power source, which requires an electric motor powered by a cord or a hydraulic motor supplied by a hose. As the transmission of the double top propellers of the helicopter, the double top propellers are directly controlled to control the tilting of the double top propellers. The propeller hub adopts a highly rigid propeller blade, which expands the selection range of the structure and material of the double top propeller.

Embodiment 2: Embodiment 2 of the dual propeller universal transmission, which is used for the transmission of the left dual propellers of the tilt rotor aircraft. It consists of input quill shaft, input double bevel gear, revolution quill shaft, revolution double bevel gear, output quill shaft, output double bevel gear, revolution positioner, tilt positioner, revolution control device and tilt control device. Taking the left twin propellers as an example, the front is connected with the coaxial counter-rotating power unit, and the rear is connected with the left co-axial counter-rotating twin propellers. See Figure 2. Right twin propellers and so on.

A single input shaft is horizontally arranged in the left wing of the tiltrotor fuselage, and an input sleeve shaft is vertically arranged, and its fixed bearing is connected with the fuselage. This embodiment is additionally equipped with a transfer transmission mechanism that forms vertical to coaxial reverse double rotation from horizontal rotation, and the mechanism is composed of the meshing pair of the outer transfer bevel gear and the outer passive bevel gear, and the inner transfer bevel gear and the inner passive bevel gear. Engagement pair composition. The additional setup is a well-established technology. The front of the single input shaft is connected to the single-shaft power unit, through the transmission from the outer transfer bevel gear to the outer passive bevel gear, through the transfer from the inner transfer bevel gear to the inner passive bevel gear, the inner shaft of the input sleeve shaft and the input sleeve The outer shaft of the cylinder shaft forms a double rotation of coaxial reversal. The quill inner shaft and the quill outer shaft rotate respectively. The input double bevel gear includes an input internal bevel gear and an input external bevel gear. The inner shaft of the input sleeve shaft is connected with the input inner bevel gear, and the outer shaft of the input sleeve shaft is connected with the input outer bevel gear. The input double bevel gears each rotate around the axis of the input sleeve shaft.

The output quill shaft is arranged on the same axis as the input quill shaft. The output double bevel gear includes an output internal bevel gear and an output external bevel gear. The inner shaft of the output sleeve shaft is connected with the output inner bevel gear, and the outer shaft of the output sleeve shaft is connected with the output outer bevel gear. The output double bevel gears respectively rotate around the axis of the output sleeve shaft. The inner shaft of the output sleeve shaft is connected with the inner paddle shaft of the double propeller, and the outer shaft of the output sleeve shaft is connected with the outer paddle shaft of the double propeller.

The tilting control device controls the tilting of the tilting positioner and the output sleeve shaft, and the tilting angle is limited by the range of motion of the output double bevel gear, and is also limited by the range of motion of the coaxial counter-rotating twin propellers; the revolution control device controls the revolution positioner and the revolution The quill shaft revolves, the output quill shaft and the coaxial reverse double top propellers also revolve together with the revolving quill shaft, and the tilting plane also revolves, the output quill shaft and the coaxial reverse double top propellers can be realized at the same time as the transmission Tilting and revolving at any angle in the three-dimensional space; the revolving angle is limited by the movement range of the coaxial counter-rotating twin propellers.

When the rotational speeds of the inner shaft of the input sleeve shaft and the outer shaft of the input sleeve shaft transmitted by the power device are equal in absolute value and opposite in direction. The revolution will cause a change in the speed of the inner shaft of the revolving quill shaft and the inner shaft of the output quill shaft, and another change in the speed of the outer shaft of the revolving quill shaft and the outer shaft of the output quill shaft. These two changes are opposite, one change speeds up, the other slows down, one slows down, the other speeds up. The revolution stops, and the acceleration or deceleration returns to zero. Tilting will cause one change in shaft speed inside the output quill shaft and another change in speed outside the output quill shaft. These two changes are opposite, one change speeds up, the other slows down, one slows down, the other speeds up. Tilting stops, acceleration or deceleration returns to zero. Due to the high output speed of the left coaxial counter-rotating twin propellers, the speed of revolution or tilt is low. Therefore, the speed of change of the twin propellers caused by revolution or tilting is relatively small relative to the speed of the output power of the twin propellers. When the output power of the twin propellers rotates with the same resistance, the reaction torque formed by the inner shaft of the output sleeve shaft to the axis of the revolution sleeve shaft and the reaction torque formed by the outer shaft of the output sleeve shaft to the axis of the revolution sleeve shaft cancel each other out, and the output sleeve The cylinder shaft as a whole does not form a moment with respect to the axis of the revolution sleeve shaft. The tilt control device only needs to overcome the reaction force of the speed change of the twin propellers when tilting. When the resistances to the rotation of the two propellers are equal, the reaction torque formed by the inner shaft of the revolving sleeve shaft to the axis of the input sleeve shaft and the reaction torque formed by the outer shaft of the revolving sleeve shaft to the axis of the input sleeve shaft cancel, and the revolving sleeve shaft The whole creates no moment with respect to the shaft axis of the input sleeve. The revolution control device only needs to overcome the reaction force of the speed change of the double propellers during the revolution.

Traditional tiltrotors use two single propellers to propel horizontally or hover vertically, and a single propeller can only tilt forward, upward or slightly backward in one longitudinal plane. When the airframe needs to move to the left during hovering, the two propellers point upwards, the left propeller reduces the collective pitch, the right propeller adds the collective pitch, and the airframe rolls to the left before moving left. This flight control method is complicated and inefficient. Risky. The transmission in this embodiment is used for the transmission of the left double propellers of the tiltrotor, and it can be deduced for the transmission of the right double propellers. The left twin propellers can be tilted on any axis, including a small left-right tilt when the twin-propeller shafts point forward, and a small left-right tilt when the twin-propeller shafts point upward. When the aircraft needs to translate left during hovering, the two dual propellers point upwards, and the left dual propellers and the right dual propellers can be slightly tilted to the left at the same time. This flight control method is simple, efficient and less risky. The left twin propellers need synchronous collective pitch function. The transmission of this embodiment can be additionally equipped with a variable collective pitch control mechanism of mature technology, and the base of the dual propeller variable collective pitch control mechanism can be connected with the tilt positioner of the transmission of this embodiment. Said additional settings are a well-established technology. Since the tilt positioner is in tilting and revolving motions, the variable collective pitch control mechanism requires an active control power source, which requires an electric motor powered by a cord or a hydraulic motor supplied by a hose.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the present invention also has various changes and improvements without departing from the spirit and scope of the present invention, and these changes and improvements all fall into the scope of claims. within the scope of the present invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims

Double paddle universal transmission, composed of input sleeve shaft, input double bevel gear, revolution sleeve shaft, revolution double bevel gear, output quill shaft, output double bevel gear, revolution positioner, tilt positioner, revolution control device It is composed of a tilt control device; the front is connected with a coaxial reverse power unit, and the rear is connected with a coaxial reverse double propeller;

The front of the input sleeve shaft is connected with a coaxial reverse power device, the inner shaft of the sleeve shaft and the outer shaft of the sleeve shaft are driven by the power device to rotate respectively; the input double bevel gear includes the input inner bevel gear and the input outer bevel gear, and the input sleeve shaft The inner shaft is connected to the input inner bevel gear, the outer shaft of the input sleeve shaft is connected to the input outer bevel gear, and the input double bevel gears rotate around the axis of the input sleeve shaft respectively;

A revolving quill shaft is arranged on an axis perpendicular to the input quill shaft; the revolving double bevel gear includes a revolving inner bevel gear and a revolving outer bevel gear, the inner shaft of the revolving quill shaft is connected with the revolving inner bevel gear, and the outer shaft of the revolving quill shaft Connected with the revolving external bevel gear, the revolving double bevel gear rotates around the axis of the revolving sleeve shaft respectively;

The output quill shaft is set on the same axis as the input quill shaft; the output double bevel gear includes an output inner bevel gear and an output outer bevel gear, the inner shaft of the output quill shaft is connected with the output inner bevel gear, and the outer shaft of the output quill shaft is connected with the output inner bevel gear. The output outer bevel gear is connected, the output double bevel gear rotates around the axis of the output sleeve shaft respectively, the inner shaft of the output sleeve shaft is connected with the inner paddle shaft of the double top paddle, and the outer shaft of the output sleeve shaft is connected with the outer paddle shaft of the double top paddle;

The revolution positioner is composed of an input bearing, a revolution first bearing and a revolution support. An input bearing is arranged outside the input sleeve shaft, a revolution first bearing is arranged outside the revolution sleeve shaft, and a revolution support is used to connect the input bearing and the first revolution bearing. The revolution positioner Keep the input outer bevel gear meshed with the revolving bevel gear, and at the same time keep the input inner bevel gear meshed with the revolving inner bevel gear. The revolution positioner can rotate around the axis of the input sleeve shaft. This rotation is revolution, and the plane where the revolution is located is Revolving plane; revolving sleeve shaft and revolving double bevel gear can revolve together with the revolving locator;

The tilt positioner is composed of the second revolution bearing, the output bearing and the tilting bracket. The second revolution bearing is set outside the revolution sleeve shaft, the output bearing is set outside the output sleeve shaft, and the second revolution bearing and the output bearing are connected by the tilt bracket. The tilting locator keeps the revolving outer bevel gear in mesh with the output bevel gear, and at the same time keeps the revolving inner bevel gear in mesh with the output inner bevel gear. The tilting locator can rotate around the shaft axis of the revolving sleeve. This rotation is called tilting. , the tilting plane is the tilting plane, and the tilting plane is perpendicular to the revolution plane; the output quill shaft and the output double bevel gear can be tilted together with the tilt positioner; the output quill shaft and the output double bevel gear can also be tilted together with the The revolving sleeve shafts revolve together; set the number of teeth of the input inner bevel gear equal to the number of teeth of the output inner bevel gear, set the number of teeth of the input outer bevel gear equal to the number of teeth of the output outer bevel gear; at this time, from the input The transmission ratio of the bevel gear to the output internal bevel gear is equal to the transmission ratio from the input external bevel gear to the output external bevel gear, both of which are equal to 1; the double propeller universal transmission also includes other settings of these two transmission ratios , these two transmission ratios can be equal to other values;

The revolution control device is composed of a base, a control power source and an actuator; a revolution control device is set between the fixed support and the revolution positioner, the base of the revolution control device is connected to the fixed support, and the actuator of the revolution control device is connected to the revolution positioner. The positioner is connected, and the control power source of the revolution control device drives the actuator to rotate; the revolution control device controls the revolution of the revolution positioner by controlling the power source to drive the actuator to rotate; the fixed support is connected to the fuselage;

The tilt control device is composed of a base, a control power source and an actuator; a tilt control device is arranged between the revolution positioner and the tilt positioner, the base of the tilt control device is connected with the revolution positioner, and the tilt control device The actuator is connected with the tilting locator, and the control power source of the tilting control device drives the actuator to rotate; the tilting control device controls the tilting of the tilting locator by controlling the power source to drive the actuator to rotate;

The tilting control device controls the tilting of the tilting positioner and the output sleeve shaft, and the tilting angle is limited by the range of motion of the output double bevel gear, and is also limited by the range of motion of the coaxial counter-rotating twin propellers; the revolution control device controls the revolution positioner and the revolution The quill shaft revolves, the output quill shaft and the coaxial reverse double top propellers also revolve together with the revolving quill shaft, and the tilting plane also revolves, the output quill shaft and the coaxial reverse double top propellers can be realized at the same time as the transmission Tilting and revolving at any angle in the three-dimensional space; the revolving angle is limited by the movement range of the coaxial counter-rotating twin propellers.
The double paddle universal transmission according to claim 1, when the rotation speeds transmitted by the power device to the inner shaft of the input sleeve shaft and the outer shaft of the input sleeve shaft are equal in absolute value and opposite in direction, the revolution will cause the revolution of the sleeve shaft A change in the speed of the inner shaft of the inner shaft and the output sleeve shaft will also cause another change in the speed of the outer shaft of the revolution sleeve shaft and the outer shaft of the output sleeve shaft. Deceleration returns to zero; tilting will cause a change in the speed of the inner shaft of the output sleeve shaft, and another change in the speed of the outer shaft of the output sleeve shaft. The deceleration returns to zero; when the resistances of the output power of the twin propellers are equal to each other, the reaction torque formed by the inner shaft of the output sleeve shaft to the axis of the revolving sleeve shaft and the reaction torque formed by the outer shaft of the output sleeve shaft to the axis of the revolving sleeve shaft The moment is offset, and the output sleeve shaft as a whole does not form a moment relative to the axis of the revolution sleeve shaft. The tilt control device only needs to overcome the reaction force of the speed change of the dual propellers during tilting; At this time, the reaction torque formed by the inner shaft of the revolving sleeve shaft to the axis of the input sleeve shaft and the reaction torque formed by the outer shaft of the revolving sleeve shaft to the axis of the input sleeve shaft are offset, and the whole revolving sleeve shaft is not relative to the axis of the input sleeve shaft. To form a torque, the revolution control device only needs to overcome the reaction force of the speed change of the twin propellers during revolution.