CN109533320B - A helicopter cone-type main rotor parallel drive device - Google Patents

Abstract

The invention discloses a parallel drive device of a helicopter cone-type main rotor, which belongs to the field of helicopters. The invention includes a machine base, a bracket, a spring, four linear electric cylinders, and a middle cone-type main rotor drive device. The cone-type main rotor drive device includes main and auxiliary motors, a main shaft, a sleeve, a ring, a ball sleeve, a wing group, and a connecting rod group. The invention aims to make the structure simple and compact, the inclination angle between the rotor and the ground is variable, the horizontal space occupied by the rotor is reduced, the main rotor swing is flexible, the flight is stable, safe and easy to control.

Description

A helicopter cone-type main rotor parallel drive device

technical field

The invention belongs to the field of helicopters, and relates to a parallel drive device of a helicopter cone-type main rotor.

Background technique

Helicopter rotor motion drive is the key component of helicopter motion. Usually the rotor consists of a hub and several blades. The hub is mounted on the rotor shaft, and the blades, which are shaped like slender wings, are attached to the hub. When the blade rotates, it interacts with the surrounding air to generate a pulling force along the rotor axis. If the direction of the relative airflow or the pitch of each blade is asymmetrical to the rotor axis, a component force perpendicular to the rotor axis is also generated. On a helicopter, the direction of the rotor axis is nearly vertical, so the rotor first has the function of a wing to generate upward lift. Second, it also has a function similar to the propulsion unit of an aircraft, generating a forward force. It also has a function similar to an aircraft control surface, producing pitch or roll moments that change the attitude of the body. In order to meet the above-mentioned motion requirements, the structure of the helicopter rotor motion drive device has been very complicated so far, and the volume is large, thus increasing the manufacturing difficulty and the flight resistance of the helicopter. In order to meet the requirements of various forces in the above-mentioned movement process, the ball bearing supporting the main shaft of the rotor is subjected to the above-mentioned various loads, which may easily lead to premature failure of the ball bearing. These problems have caused great concern among helicopter designers. In recent years, the patent publication number CN101961559B discloses a model aircraft helicopter rotor support device, which uses a V-shaped bracket to absorb shock waves generated by the helicopter, in order to reduce the tremor of the helicopter body, increase mobility and reduce damage to the drive shaft transmission system. . Patent Publication No. CN101204992B discloses a helicopter coaxial dual rotor rotational speed differential device, in order to realize the yaw control of the coaxial dual rotor helicopter. Patent Publication No. CN101376433B discloses a helicopter rotor control method and system, which utilizes actuators located on each propeller hub support arm to drive the flaps located on the trailing edge of the blade, so as to realize the control of the rotor system. Patent Publication No. CN103600840B discloses a coaxial helicopter rotor mechanism, which utilizes the upper and lower two groups of mixed-connection mechanisms to realize the overall symmetry of the helicopter rotor mechanism, in order to improve the high stability during high-speed rotation. Patent Publication No. CN103407571B discloses a helicopter rotor system that can actively oscillate. Using this mechanism, the angular velocity of the forward blade is greatly reduced and the angular velocity of the rear blade is greatly increased, so as to reduce the crossover of the blade in the forward and backward state. The fatigue load received during the change, actively adapts to various different flight states of the helicopter, and improves the flight speed. Patent Publication No. CN102030105B discloses a direct tilt-control rotor helicopter, in order to directly tilt and control the helicopter rotor, omitting the blade periodic pitch system, reducer and tail rotor system of traditional helicopters, and simplifying the structure of the helicopter. Each of the above ideas has its own characteristics. However, the existing rotor motion driving device is still very complicated, the rotor is basically parallel to the ground, occupies a large space, and is highly dangerous to fly in buildings, mountain streams and other places. Compared with thrust bearings and tapered roller bearings, the ball pair is suitable for lower speeds and has a lower load-carrying capacity. Therefore, simplifying the structure of the rotor motion drive device, changing the inclination of the rotor and the ground, reducing the space occupied, and reducing the load on the ball bearing supporting the rotor have become the unremitting goals of experts in the field of helicopter and robot research.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a parallel drive device for the conical main rotor of a helicopter, which aims to make the structure simple and compact, the inclination angle between the rotor and the ground is variable, the horizontal space occupied by the rotor is reduced, and the main rotor swings with eccentric threaded through holes. Flexible, stable flight, safe and easy to control.

In order to solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a parallel drive device of a helicopter cone-type main rotor, which is characterized in that it includes a machine base, a bracket, a spring, four linear electric cylinders, and an intermediate cone-type main rotor. drive device; the intermediate cone-type main rotor drive device includes main and auxiliary motors, a main shaft, a sleeve, a ring, a ball sleeve, a wing group, and a connecting rod group; the machine base is a disc body, and its center is set There is a concave ball seat through hole, and its edge circumference is evenly distributed with 4 frame hinge seats; the support is a revolving body, which is provided with a center through hole of the support, and its edge is provided with 4 support hinge seats distributed with rectangular vertices; The ends are respectively provided with inner openings and bosses coaxial with the main shaft, and the bosses are provided with the same number of boss through holes as the wings. The boss through holes are tangent to the circumference of the boss, and the circumference is evenly distributed on the boss around the table; the sleeve is provided with a center through hole of the sleeve, the upper part of the sleeve is provided with a cylinder coaxial with the center through hole of the sleeve, and the lower part of the sleeve is provided with an eccentric threaded through hole of the sleeve parallel to the center through hole of the sleeve; the ball sleeve There is a convex spherical surface and a central through hole of the ball sleeve; the wing is a helical extension from the thick rectangular end to the thin rectangular end, and vertical wings are respectively arranged at the thick rectangular end of the wing and the position near the end and are parallel to each other. Wing through holes; the two ends of the connecting rod are respectively provided with connecting rod through holes that are parallel to each other; the circumference of the ring edge is evenly distributed with the same number of annular through holes as the wings, the axis of the annular through hole and the ring The circumference is tangent; the main motor is fixedly connected with the bracket, the drive shaft of the main motor is connected with the inner opening end of the main shaft by a shaft key; the inner opening end of the main shaft and the center through hole of the bracket are connected by a shaft key; The bearing is connected for rotation and support, the main shaft is connected with the upper cylindrical pair of the sleeve; the auxiliary motor is fixedly connected with the bracket, and the driving screw shaft of the auxiliary motor is connected with the eccentric threaded through hole screw pair of the sleeve; the The number of connecting rods of the connecting rod group is the same as the number of wings of the wing group; one end of the linear electric cylinder is connected with the ball pair of the base connecting seat, and the other end is connected with the universal pair of the connecting seat of the bracket. join;

One end of the spring is abutted on the base, and the other end is abutted on the bracket; the wing through hole of the thick rectangular end of the wing and the boss through hole are rotatably connected with a pin shaft; The connecting rod through hole at the end is respectively connected with the wing through hole and the ring through hole near the thick rectangular end of the wing with a pin shaft; the central through hole of the ring and the upper cylinder of the sleeve are rotatably connected with a bearing; The upper cylinder of the sleeve is connected with the cylinder pair of the central through hole of the ball sleeve; the convex spherical surface of the ball sleeve is connected with the through hole ball pair of the concave ball seat.

The beneficial effects produced by adopting the above technical solutions are: the present invention does not bear the lifting force of the rotor and the rotational friction torque of the main shaft, and the service life of the supporting ball pair is long; It can also reduce the space occupied by the shutdown; the horizontal resultant force generated by the conical wing group during flight helps to improve flight stability and safety; the structure is simple and compact, the main rotor swing is flexible and easy to control; the spring can Slow down the force and impact force of the rotor lift force on each drive branch; the self-locking function of the auxiliary motor screw pair can prevent the wing group from freely changing the cone angle with the external load.

Description of drawings

The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Fig. 1 is the front sectional view of the present invention;

1, bracket; 2, machine base; 3, main motor; 4, spring; 5, linear electric cylinder; 6, main shaft; 7, auxiliary motor; 8, ball sleeve; 9, sleeve; 10, ring; 11, machine wing; 12. connecting rod.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Many specific details are set forth in the following description to facilitate a full understanding of the present invention, but the present invention can also be implemented in other ways different from those described herein, and those skilled in the art can do so without departing from the connotation of the present invention. Similar promotion, therefore, the present invention is not limited by the specific embodiments disclosed below.

As shown in FIG. 1 , the present invention discloses a parallel drive device of a helicopter cone-type main rotor, which is characterized in that it includes a machine base 2, a bracket 1, a spring 4, four linear electric cylinders 5, and an intermediate cone-type main rotor drive The intermediate cone-type main rotor drive device includes a main motor 3, an auxiliary motor 7, a main shaft 6, a sleeve 9, a ring 10, a ball sleeve 8, a wing group, and a connecting rod group; the machine base 2 is a circular The disk body is provided with a concave ball seat through hole in the center, and four hinged seats are evenly distributed around its edge; the bracket 1 is a revolving body, which is provided with a central through hole of the bracket, and its edge is provided with four rectangular vertices distributed. The bracket hinge seat; the two ends of the main shaft 6 are respectively provided with inner openings and bosses that are coaxial with the main shaft, and the bosses are also provided with the same number of boss through holes as the wings 11. The boss through holes and the bosses The circumference is tangent, and the circumference is evenly distributed around the boss; the sleeve 9 is provided with a center through hole of the sleeve, the upper part of the sleeve 9 is provided with a cylinder coaxial with the center through hole of the sleeve, and the lower part of the sleeve 9 is provided with a through hole with the center of the sleeve. An eccentric threaded through hole with parallel holes; the ball sleeve 8 is provided with a convex spherical surface and a central through hole of the ball sleeve; the wing 11 is a spiral extension from the thick rectangular end to the thin rectangular end, and the thick rectangular end of the wing 11 and the positions near the end are respectively provided with vertical wings and mutually parallel wing through holes; the two ends of the connecting rod 12 are respectively provided with mutually parallel connecting rod through holes; the periphery of the ring 10 is evenly distributed with the machine There are annular through holes with the same number of wings 11, and the axis of the annular through hole is tangent to the circumference of the annular ring 10; the main motor 3 is fixedly connected to the bracket 1, and the drive shaft of the main motor 3 is connected to the main shaft 6 One end of the inner opening of the main shaft 6 is connected with a shaft key; the inner opening end of the main shaft 6 is connected with the central through hole of the bracket 1 by bearing rotation support, and the main shaft 6 is connected with the upper cylindrical pair of the sleeve 9; the auxiliary motor 7 is fixedly connected with the bracket 1, and the driving screw shaft of the auxiliary motor 7 is connected with the eccentric threaded through-hole screw pair of the sleeve; The same; one end of the linear electric cylinder 5 is connected with the ball pair of the base connecting seat, and the other end is connected with the universal pair of the connecting seat of the bracket;

One end of the spring 4 is abutted on the base 2, and the other end is abutted on the bracket 1; the wing through hole of the thick rectangular end of the wing 11 and the boss through hole are rotatably connected with a pin shaft; The connecting rod through holes at both ends of the connecting rod 12 are respectively connected with the wing through holes near the thick rectangular end of the wing and the annular through hole with pin shafts; the central through hole of the annular ring 10 is connected with the upper end of the sleeve 9 The cylinder is rotatably connected with a bearing; the upper cylinder of the sleeve 9 is connected with the cylinder pair of the central through hole of the ball sleeve 8; the convex spherical surface of the ball sleeve 8 is connected with the through hole ball pair of the concave ball seat.

Movement process and principle or control process:

Multiple linear electric cylinders simultaneously drive the bracket to drive the main and auxiliary motors and the main shaft to produce multi-degree-of-freedom extension and swing motion relative to the base; the main motor drives the main shaft to rotate and drives the wing group to rotate; the auxiliary motor reciprocates linearly along the main shaft through the screw pair drive sleeve , the sleeve drives the wing group to swing relative to the main shaft through the ring and the connecting rod group, and changes the inclination angle of the wing group.

Claims (1)

1. A helicopter conical main rotor parallel driving device is characterized by comprising a base, a bracket, a spring, 4 linear electric cylinders and a middle conical main rotor driving device; the middle cone type main rotor wing driving device comprises a main motor, an auxiliary motor, a main shaft, a sleeve, a circular ring, a ball sleeve, a wing set and a connecting rod set; the machine base is a circular disc body, a concave ball seat through hole is formed in the center of the machine base, and 4 machine base hinged seats are uniformly distributed on the periphery of the edge of the machine base; the support is a revolving body, the support is provided with a support center through hole, and the edge of the support is provided with 4 support hinged seats distributed at the vertexes of a rectangle; the two ends of the main shaft are respectively provided with an inner opening and a boss which are coaxial with the main shaft, the bosses are also provided with boss through holes with the same number as the wings, the boss through holes are tangent to the circumferences of the bosses, and the circumferences of the boss through holes are uniformly distributed around the bosses; the sleeve is provided with a sleeve central through hole, the upper part of the sleeve is provided with a cylinder coaxial with the sleeve central through hole, and the lower part of the sleeve is provided with a sleeve eccentric threaded through hole parallel to the sleeve central through hole; the ball sleeve is provided with a convex spherical surface and a central through hole of the ball sleeve; the wing is a spiral extending body from a thick rectangular end to a thin rectangular end, and wing through holes which are vertical to the wing and are parallel to each other are respectively arranged at the thick rectangular end of the wing and the position close to the thick rectangular end of the wing; two ends of a connecting rod of the connecting rod group are respectively provided with a connecting rod through hole which are parallel to each other; the circumference of the edge of the circular ring is uniformly provided with circular ring through holes with the same number as the wings, and the axle center of the circular ring through holes is tangent to the circumference of the circular ring; the main motor is fixedly connected with the bracket, and a driving shaft of the main motor is connected with one end of the inner opening of the main shaft through a shaft key; the inner open end of the main shaft is rotatably supported and connected with the central through hole of the bracket by a bearing, and the main shaft is connected with the upper cylindrical pair of the sleeve; the auxiliary motor is fixedly connected with the bracket, and a driving screw shaft of the auxiliary motor is connected with the screw pair of the eccentric threaded through hole; the number of the connecting rods of the connecting rod group is the same as that of the wings of the wing group; one end of the linear electric cylinder is connected with the base connecting seat ball pair, and the other end of the linear electric cylinder is connected with the connecting seat universal pair of the bracket;

one end of the spring is abutted against the base, and the other end of the spring is abutted against the bracket; the wing through hole at the thick rectangular end of the wing is rotationally connected with the boss through hole by a pin shaft; the connecting rod through holes at the two ends of the connecting rod are respectively and rotationally connected with the wing through hole and the circular ring through hole near the thick rectangular end of the wing by pin shafts; the central through hole of the circular ring is rotationally connected with the upper end cylinder of the sleeve by a bearing; the upper end cylinder of the sleeve is connected with the cylindrical pair of the central through hole of the ball sleeve; the convex spherical surface of the ball sleeve is connected with the concave ball seat through hole ball pair.

Images