A coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism

Abstract

The present invention discloses a coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism, comprising a base assembly and a dual-rotor mechanism, wherein the dual-rotor mechanism is arranged at the top of the base assembly, and the dual-rotor mechanism is transmission-connected with the base assembly; the base assembly comprises a base gear cage, wherein a shaft opening is arranged in the middle of the base gear cage, and a first bevel gear and a second bevel gear arranged in parallel are arranged in the middle of the base gear cage. The dual-rotor mechanism of the present invention is installed on the same axis, and the rotating surfaces of the dual-rotor mechanism are parallel. The rotating surfaces can be tilted and adjusted within a certain range through the wing surface tilt connection assembly. The rotor transmission mechanism can realize the left and right steering of the fuselage by making the upper and lower rotor torques unbalanced, and can drive the linkage positive and negative changes of the rotor total pitch through the rotation and up and down movement of the lifting plate assembly, and can adjust the linkage of each rotor blade through the angle of attack adjustment ring, so that the aircraft can be accurately and conveniently controlled during flight.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft transmission systems, and in particular to a coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism. Background Art

[0002] Helicopters have the advantages of maneuverability, easy take-off and landing, ability to hover in the air, and controllable flight speed. They are widely used in military, agricultural, and civilian fields. Currently, ultra-low-altitude small single-rotor helicopters with tail rotors use small twin-cylinder opposed air-cooled engines as power. Their variable speed transmission system transmits power to the gearbox through a belt drive (first-stage speed change). The gearbox is equipped with second-stage and third-stage speed change mechanisms. The main rotor and tail rotor obtain power from the second-stage and third-stage speed changes respectively.

[0003] Moreover, existing helicopters generally use a single wing to achieve rotation, and the connection between the main rotor and the rotating shaft is generally a fixed connection. In severe weather such as strong winds, the fuselage will be in a state of strong shaking, affecting the normal use of the helicopter. In addition, if a malfunction occurs in the flight of the helicopter, the main rotor will directly lose power transmission, and the lift of the remaining ailerons alone cannot maintain the safe landing of the helicopter, so the helicopter will fall directly, and when it falls to the ground it will be directly damaged and cannot be used again, which brings great economic losses to the users. Summary of the invention

[0004] The purpose of the present invention is to provide a coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism. Since the dual-rotor mechanisms are installed on the same axis, the rotating surfaces of the dual-rotor mechanisms are parallel, and the rotating surfaces can be tilted and adjusted within a certain range through the wing surface tilt connection assembly. The tilt direction points to the flight direction, and the tilt angle controls the flight speed, which has the advantages of accurate and convenient control of the aircraft during flight; a parachute can be installed on the top of the dual-rotor mechanism, and the parachute cooperates with the negative pitch system of the rotor to solve the problem that when a helicopter fails during flight and the main rotor loses power transmission, the lift of the remaining ailerons alone cannot maintain the safe landing of the helicopter in the air, so the helicopter will fall directly, and when it falls to the ground, it will be directly damaged and cannot be used again.

[0005] A coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism according to an embodiment of the present invention comprises a base assembly and a dual-rotor mechanism, wherein the dual-rotor mechanism is arranged at the top of the base assembly, and the dual-rotor mechanism is transmission-connected to the base assembly; the base assembly comprises a bottom plate having a "well" structure, a base gear cage having an annular structure for enhancing the stress strength of the bracket is arranged at the top of the base plate, a shaft opening is arranged in the middle of the base gear cage, inner and outer bearings of the base bottom are arranged at the bottom end of the shaft opening, and the upper transmission connection of the inner and outer bearings of the base bottom is arranged. There are a first bevel gear and a second bevel gear arranged in parallel, one side of the first bevel gear and the second bevel gear are connected to the same power input shaft, the end of the power input shaft is provided with a gear meshing with the first bevel gear and the second bevel gear, the upper end of the second bevel gear is transmission-connected with a clutch brake, the edge of the clutch brake has only an action gear meshing therewith, and the action gear is transmission-connected with an external action motor; the dual-rotor mechanism includes an upper rotor and a lower rotor, the upper rotor and the lower rotor both include a rotor connecting arm, and the rotor The wing connecting arm includes a plurality of magnetic sheet groups evenly arranged in a ring shape, the magnetic sheet groups are installed and embedded in the bracket, the top of the bracket is provided with a wing connecting frame, and the four side edges of the wing connecting frame are installed with rotor folding mechanisms; the lower part of the lower rotor is provided with a wing surface tilting connection assembly, and the wing surface tilting connection assembly includes a fixing ring, and mounting seats are provided on both sides of the fixing ring, and the bottom ends of the mounting seats are fixed on the base gear cage, and a ball-type rotating ring is movably connected in the fixing ring, and a rotating inner ring is movably connected on the inner wall of the ball-type rotating ring. A plurality of T-shaped connecting rods are fixed on the upper wall of the inner ring, and a plurality of second connecting parts are fixed to the bottom end of the ball-type rotating ring; a coaxial forward and reverse transmission mechanism is arranged in the middle part of the lower rotor, and the coaxial forward and reverse transmission mechanism comprises an outer rotating cylinder, the bottom end of the outer rotating cylinder is coaxially connected with the clutch brake, and a fixed cylinder lower end group is arranged inside the outer rotating cylinder, the fixed cylinder lower end group is connected to the fixed cylinder upper end through a fixed cylinder universal joint, and the fixed cylinder upper end passes through the lower rotor, the lifting plate, the planetary wheel assembly, and the upper rotor in sequence, and the top end is connected with a fixed cylinder top cover.

[0006] Furthermore, the upper and lower ends of the lifting plate include elliptical cross rings, and the outer sides of the upper and lower elliptical cross rings are sleeved with angle of attack adjustment rings. The four sides of the angle of attack adjustment rings are provided with first connecting parts, and the spaces between the two sides of the upper elliptical cross ring and the angle of attack adjustment rings are provided with motor push-pull rod devices passing through the lifting plate. The motor push-pull rod devices are used to linkage adjust the total rotor pitch and the respective angle of attack of each different rotor; the inner wall of the lifting plate is provided with a spiral thread, and the elliptical cross ring plays a universal adjustment role.

[0007] Furthermore, the motor push-pull rod device is composed of a stepper motor, a transmission rod and a driven wheel screw. The upper end of the driven wheel screw is a volute gear and the lower end is a screw. The volute gear is connected to the stepper motor through the transmission rod. The screw passes through the lifting plate and is respectively connected to the upper and lower elliptical cross ring spiral wires and the upper and lower angle of attack adjustment ring spiral wires.

[0008] Furthermore, the angle of attack adjustment ring is a ball bearing structure, the inner ring is provided with a connecting device which is screwed to the driven wheel screw, and the outer ring is provided with a connecting device which is hinged to the adjustment arm of the rotor folding mechanism; the angle of attack adjustment ring acts as a sliding connection.

[0009] Further, the planetary wheel assembly includes a first tubular shape, the outer wall of the first tubular shape is provided with a spiral thread, the spiral thread is meshed and connected with the spiral thread provided on the inner wall of the lifting plate, and a second tubular shape is provided inside the first tubular shape, the inner wall of the second tubular shape is provided with spline teeth for meshing and connecting with the wheel disc brake, the second tubular shape is respectively provided with a third bevel gear and a fourth bevel gear on the upper and lower sides, the third bevel gear is fixedly connected to the lower rotor, the fourth bevel gear is fixedly connected to the upper rotor, and the outer wall of the second tubular shape is a spherical surface.

[0010] Furthermore, a thin sheet-shaped disc is provided between the first tube and the second tube, and circular holes arranged in a circle are provided on the disc. Fan-shaped holes are provided on the inner sides of the two sides of the disc to accommodate two longitudinal planetary gears. The upper and lower sides of the two longitudinal planetary gears are respectively meshed and connected with the third bevel gear and the fourth bevel gear. Short shafts for fixing the two longitudinal planetary gears are provided in the center of the fan-shaped holes on both sides of the second tube, and capacitor batteries and coils are nested in the placement holes. Two lifting stepper motors are provided between the capacitor batteries, and the two lifting stepper motors are arranged in a centrally symmetrical manner about the center of the second tube.

[0011] Furthermore, four sides of the lower part of the lower end group of the fixed cylinder are provided with fixing frames fixed to the machine base assembly, and four sets of transmission gears are provided at the connection between the fixing frame and the lower end group of the fixed cylinder.

[0012] Furthermore, the inner sides of the four groups of transmission gears are meshed with the lower end of the inner rotating shaft, and the outer sides of the four groups of transmission gears are transmission connected to the inner wall of the first bevel gear. The lower end of the inner rotating shaft is arranged inside the lower end group of the fixed cylinder, and the top end is transmission connected to the inner rotating shaft cylinder arranged inside the upper end of the fixed cylinder.

[0013] Furthermore, a triangular fixed end head is provided at the top of the fixed cylinder top cover, and the lower corners of the fixed end head are rotatably connected to the shaft top planetary gear, and a ring gear is provided on the outside of the shaft top planetary gear. One side of multiple shaft top planetary gears is meshed with the inner wall of the ring gear, and the other side of multiple shaft top planetary gears is transmission-connected to the top of the inner rotating shaft cylinder.

[0014] Furthermore, the rotor folding mechanism includes a wing connector, which passes through a wing connecting beam, and a wing connecting nut is connected to the wing connector on one side of the wing connecting beam, an adjusting arm is provided at the end of the wing connector on one side of the wing connecting nut, and the adjusting arm is hinged to the first connecting piece on the lifting plate, connecting beam buckle plates are provided at both ends of the wing connecting beam, and the wing connecting beam and one side of the connecting beam buckle plate are connected to the end of the wing connecting frame.

[0015] Furthermore, a wing folding axis is arranged on the outer side of the wing connector, a pressure bearing is fixed between the wing connecting beam and the wing connecting nut, and the wing connector rotates by relying on the pressure bearing.

[0016] In addition, the coaxial dual-rotation proposed in the present invention refers to a rotor with forward and reverse steering and the same rotation axis; multi-wing refers to that the number of rotor blades at each steering is more than two, and the rotation of each steering is on the same plane; digitization refers to that the rotor mechanism can be digitally controlled, and a set of numbers is input into the rotor mechanism, and the rotor mechanism enters the state required by the set of numbers and operates in this state, and the data of the current state of the rotor mechanism is read for analysis; a foldable rotor refers to that the rotor is unfolded in the rotating working state and is folded in the stopped state. The purpose of folding is to be able to pass through and be accommodated in a smaller space.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The dual-rotor mechanism is installed on the same axis, and the rotating surfaces of the dual-rotor mechanism are parallel. The rotating surfaces can be tilted and adjusted within a certain range through the wing surface tilt connection assembly. The tilt direction is arbitrary and points to the direction of flight. The tilt angle controls the flight speed, so that the aircraft can be controlled accurately and conveniently during flight.

[0019] 2. The pitch of the dual rotor mechanism is adjustable, with positive and negative pitches. The positive pitch is used for normal flight, and the negative pitch is used for dangerous handling in the event of a fault, that is, to keep the rotor rotating and the direction unchanged in the event of power loss, and to enable normal use. In addition, it also makes the aircraft produce the greatest resistance during the descent process, reduces the descent speed, and cooperates with the use of a parachute to achieve a safe landing;

[0020] 3. When flying at high speed, the lift of the rotor on the windward side and the downwind side is inconsistent, so the angle of attack needs to be adjusted. The angle of attack on the windward side is small, and the angle of attack on the downwind side is large, so that the lift generated by the rotor on both sides of the flight direction is equal to protect the rotor from damage. The greater the flight speed, the greater the difference in the angle of attack.

[0021] 4. The speed ratio of the dual-rotor mechanism can be adjusted. The speed ratio is defined as a positive value when the dual rotors are turning in the same direction, and a negative value when they are turning in opposite directions. The speed ratio can be digitally processed near negative 1, and the result after processing can be obtained that the aircraft rotates clockwise and counterclockwise. Finally, when the dual-rotor mechanism stops rotating, it can be retracted and folded through the rotor folding mechanism, thereby saving occupied space. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 This is a structural schematic diagram of a coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism proposed by the present invention;

[0024] Figure 2 This is a schematic diagram of the exploded structure of a coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism proposed by the present invention;

[0025] Figure 3 An exploded structural diagram of a base assembly in a coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism proposed by the present invention;

[0026] Figure 4 It is a partial structural exploded schematic diagram of a dual-rotor mechanism in a coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism proposed by the present invention;

[0027] Figure 5 A schematic diagram of the structure of a rotor connecting arm in a dual-rotor mechanism in a coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism proposed by the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of the lifting plate in the double-rotor mechanism of a coaxial double-rotor multi-wing digital foldable rotor transmission mechanism proposed by the present invention;

[0029] Figure 7 It is a schematic structural diagram of the inner wing surface tilting connection assembly of a double-rotor mechanism in a coaxial double-rotor multi-wing digital foldable rotor transmission mechanism proposed by the present invention;

[0030] Figure 8 A schematic diagram of the structure of a rotor folding mechanism in a coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism proposed by the present invention;

[0031] Fig. 9 A connection diagram of a coaxial forward and reverse transmission mechanism in a coaxial dual-rotating multi-wing digital foldable rotor transmission mechanism proposed by the present invention;

[0032] Fig.10 This is a schematic structural diagram of a fixed cylinder lower end group in a coaxial dual-rotating multi-wing digital foldable rotor transmission mechanism proposed by the present invention;

[0033] Fig.11 This is a schematic structural diagram of the lower end of the inner rotating shaft in a coaxial dual-rotating multi-wing digital foldable rotor transmission mechanism proposed by the present invention.

[0034] In the figure: 1-machine base assembly, 11-machine base gear cage, 12-power input shaft, 13-inner and outer bearings at the bottom of the machine base, 14-first bevel gear, 15-action gear, 16-second bevel gear, 17-clutch brake;

[0035] Double rotor mechanism, 21-upper rotor, 22-lower rotor;

[0036] Coaxial forward and reverse transmission mechanism, 31-inner rotating shaft cylinder, 32-fixed cylinder universal joint, 33-outer rotating cylinder, 34-fixed cylinder top cover, 35-ring gear, 36-fixed end head, 37-axle top planetary gear;

[0037] Rotor connecting arm, 41- bracket, 42- magnetic plate group, 43- wing connecting frame;

[0038] Planetary wheel assembly, 51-first tube, 52-second tube, 53-fourth cone gear, 54-wheel brake, 55-longitudinal planetary wheel, 56-lifting stepper motor, 57-capacitor battery, 58-third cone gear;

[0039] Lifting plate, 61-elliptical cross ring, 62-angle of attack adjustment ring, 63-first connecting piece, 64-driven wheel lead screw, 65-transmission rod, 66-stepping motor;

[0040] Wing surface tilt connection assembly, 71-fixed ring, 72-rotating inner ring, 73-ball type rotating ring, 74-mounting seat, 75-connecting rod, 76-second connecting piece;

[0041] Rotor folding mechanism, 81-wing connector, 82-wing connecting nut, 83-adjusting arm, 84-pressure bearing, 85-wing connecting beam, 86-connecting beam buckle plate, 87-wing folding axis;

[0042] The lower end group of the fixed cylinder;

[0043] The lower end of the internal rotation axis;

[0044] 100-Fix the upper end of the cylinder. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the invention more clearly understood, the invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not used to limit the invention.

[0046] The implementation of the invention is described in detail below in conjunction with specific embodiments.

[0047] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of the invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0048] Reference Figure 1-11 As shown, it is a preferred embodiment provided by the invention, and "multi-wing" means that the number of rotor blades of the same turning direction is more than two. In this embodiment, four rotor blades are used as an example for explanation.

[0049] A coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism comprises a base assembly 1 and a dual-rotor mechanism 2, wherein the dual-rotor mechanism 2 is arranged at the top of the base assembly 1, and the dual-rotor mechanism 2 is transmission-connected to the base assembly 1;

[0050] In this embodiment, the transmission connection can be one of the gears, shafts, chains or belts commonly used in the prior art, which can all be referred to as transmission connections. The transmission connection method in this embodiment is mainly for the purpose of easy installation.

[0051] The base assembly 1 includes a bottom plate with a "well" structure, a base gear cage 11 with a ring structure for enhancing the stress strength of the bracket is arranged at the top of the bottom plate, a shaft opening is arranged in the middle of the base gear cage 11, and the bottom end of the shaft opening is provided with the base bottom inner and outer bearings 13, the upper part of the base bottom inner and outer bearings 13 are connected to the first bevel gear 14 and the second bevel gear 16 arranged in parallel, one side of the first bevel gear 14 and the second bevel gear 16 are connected to the same power input shaft 12, the end of the power input shaft 12 is provided with a gear meshing with the first bevel gear 14 and the second bevel gear 16, the upper end of the second bevel gear 16 is connected to the clutch brake 17, the edge of the clutch brake 17 has only the action gear 15 meshing therewith, and the action gear 15 is connected to the external action motor in a transmission manner;

[0052] Specifically, a cage-shaped space is formed between the base gear cage 11 and the bottom plate, which is called a gear cage, and is used to accommodate and protect gears, specifically protecting the base double cone gears and the clutch brake;

[0053] The double rotor mechanism 2 includes an upper rotor 21 and a lower rotor 22, each of which includes a rotor connecting arm 4, and the rotor connecting arm 4 includes a plurality of magnetic sheet groups 42 evenly arranged in a ring shape, and the magnetic sheet group 42 is installed and embedded in a bracket 41, and a wing connecting frame 43 is provided at the top of the bracket 41, and the four side edges of the wing connecting frame 43 are all installed with a rotor folding mechanism 8, and the magnetic sheet group 42 is the main component of the generator or motor formed by connecting subsequent components;

[0054] Specifically, a logical structure of a forward and a reverse rotor and their operation rules are set, the lower rotor 22 is set as a forward rotor, and the upper rotor 21 is set as a reverse rotor. The upper rotor 21 rotates first to lift the upper wing first, and then the lower rotor 22 is rotated to lift the lower wing later. After the upper rotor 21 and the lower rotor 22 are lifted normally, the rotation speeds of the upper and lower rotors must be kept consistent, and the rotation speed ratio can be digitally adjusted within a small range near negative 1; there are also digital adjustments to the positive and negative pitches of the rotors, the inclination angles of the rotor surfaces, and the angles of attack of the wings on both sides of the flight direction;

[0055] The twin rotor mechanism 2 is installed on the same axis, and the rotating surfaces of the twin rotor mechanism 2 are parallel. The rotating surfaces can be tilted within a certain range through the wing surface tilt connection assembly 7 to achieve tilt adjustment. The tilt direction is any direction, and the tilt direction points to the direction of flight. The tilt angle controls the flight speed.

[0056] The lower part of the lower rotor 22 is provided with an airfoil tilting connection assembly 7. The function of the airfoil tilting connection assembly 7 is to allow the aircraft to fly in the indicated direction. The tilting direction of the rotating surface is the flight direction. The tilt angle of the rotating surface can control the flight speed. The airfoil tilting connection assembly 7 includes a fixing ring 71. Both sides of the fixing ring 71 are provided with mounting seats 74. The bottom ends of the mounting seats 74 are fixed to the base gear cage 11. A ball-type rotating ring 73 is movably connected in the fixing ring 71. A rotating inner ring 72 is movably connected on the inner wall of the ball-type rotating ring 73. A plurality of T-shaped connecting rods 75 are fixed on the upper wall of the rotating inner ring 72, and a plurality of second connecting members 76 are fixed to the bottom end of the ball-type rotating ring 73.

[0057] Specifically, the second connecting member 76 is connected to the stepper motor, and the connecting rod 75 is connected to the rotor connecting arm 4. The wing surface can be tilted and adjusted by the push-pull action of the stepper motor and the connecting rod 75. The center point of the ball-type rotating ring 73 needs to coincide with the nodal point of the coaxial forward and reverse transmission mechanism 3.

[0058] In this embodiment, the ball-type rotating ring 73 is similar to a ball-type bearing, and its main purpose is to use the bearing to achieve the connection function.

[0059] The pitch of the dual rotor mechanism 2 is adjustable, and there are positive and negative pitches. The positive pitch is used for normal flight, and the negative pitch is used for dangerous handling in a fault state, that is, in the case of power loss, the rotor is kept rotating and the direction remains unchanged, and it can still be used normally. In addition, it also makes the aircraft produce the maximum resistance during the descent process and reduces the descent speed;

[0060] A coaxial forward and reverse transmission mechanism 3 is provided in the middle of the lower rotor 22, and the coaxial forward and reverse transmission mechanism 3 includes an outer rotating cylinder 33, the bottom end of the outer rotating cylinder 33 is coaxially connected to the clutch brake 17, and a fixed cylinder lower end group 9 is provided inside the outer rotating cylinder 33, and the fixed cylinder lower end group 9 is connected to the fixed cylinder upper end 100 through the fixed cylinder universal joint 32, and the fixed cylinder upper end 100 passes through the lower rotor 22, the lifting plate 6, the planetary wheel assembly 5, and the upper rotor 21 in sequence, and the top end is connected to the fixed cylinder top cover 34;

[0061] Specifically, the coaxial forward and reverse transmission mechanism 3 is composed of: the inner rotating shaft cylinder 31 is used to connect with the upper rotor 21 to transmit power to the upper rotor 21, the upper end is connected to the upper rotor connecting arm through the planetary gear system, the inner rotating shaft cylinder 31 is connected to the lower end 10 of the inner rotating shaft through a universal joint, and the lower end 10 of the inner rotating shaft is connected to the inner wall of the first bevel gear 14 of the base assembly 1 through the planetary gear system of the fixed cylinder lower end group 9; the middle set is called the fixed shaft cylinder, which is composed of the fixed cylinder top cover 34, the fixed cylinder upper end 100, the fixed cylinder universal joint 32 and the fixed cylinder lower end group 9. The fixed shaft cylinder cannot rotate, and the fixed cylinder upper end 100 can be arbitrarily The fixed cylinder is inclined in the direction of rotation to fix and control the axial direction. The lower end group 9 of the fixed cylinder is connected to the base gear cage 11 through a fixed frame. The upper end of the fixed cylinder top cover 34 is connected to the parachute system through the end head. Because the parachute system cannot rotate, this set of fixed shaft cylinders is configured as a fixed installation form. A groove is provided on the fixed shaft cylinder body for controlling the passage of the line. The outer set is called the outer rotating cylinder 33, and its function is to transmit power to the lower rotor 22. The lower end of the outer rotating cylinder 33 is connected to the second bevel gear 16 of the base assembly 1 through an annular clutch brake 17, and the upper end of the outer rotating cylinder 33 is connected to the connecting arm of the lower rotor 22.

[0062] The lifting plate 6 includes an elliptical cross ring 61, and the outer side of the elliptical cross ring 61 is sleeved with an angle of attack adjustment ring 62 on the upper and lower sides. The four sides of the angle of attack adjustment ring 62 are provided with a first connecting member 63. The space between the upper elliptical cross ring 61 and the angle of attack adjustment ring 62 is provided with two sets of motor push-pull rod devices passing through the lifting plate. The motor push-pull rod device is used to link and adjust the total pitch of the rotor and the respective angle of attack of each different rotor. The inner wall of the lifting plate 6 is provided with a spiral thread;

[0063] Because the lift of the rotor on the windward side and the downwind side is inconsistent during high-speed flight, the angle of attack needs to be adjusted. The angle of attack on the windward side is small, and the angle of attack on the downwind side is large, so that the lift generated by the rotor on both sides of the flight direction is equal, protecting the rotor from damage. The greater the flight speed, the greater the difference in the angle of attack.

[0064] The motor push-pull rod device is composed of a stepper motor 66, a transmission rod 65 and a driven wheel lead screw 64. The upper end of the driven wheel lead screw 64 is a worm gear and the lower end is a lead screw. The transmission is realized through the cooperation of the worm gear and the worm gear to change the angle of attack of the windward side and the downwind side.

[0065] In this embodiment, the entire lifting plate 6 is driven by the lifting stepper motor 56 to rotate up and down, which will drive the positive and negative changes of the total pitch, and the operation of the push-pull rod device of the same support and reverse support motor will drive the change of the angle of attack of each rotor;

[0066] In this embodiment, the motor push-pull rod device is divided into a co-support motor pull rod and a counter-support motor pull rod. The difference between the co-support motor pull rod and the counter-support motor pull rod lies in the rotation direction of the driven wheel screw 64. If the rotation directions are the same, it constitutes a co-support function, and if the rotation directions are opposite, it constitutes a counter-support function.

[0067] The planetary wheel disc assembly includes a first tubular shape 51, the outer wall of the first tubular shape 51 is provided with a spiral thread, the spiral thread is meshed and connected with the spiral thread provided on the inner wall of the lifting plate 6, and a second tubular shape 52 is provided inside the first tubular shape 51, the inner wall of the second tubular shape 52 is provided with spline teeth for meshing and connecting with the wheel disc brake 54, and the upper and lower sides of the second tubular shape 52 are respectively provided with a third bevel gear 58 and a fourth bevel gear 53, the third bevel gear 58 is fixedly connected to the lower rotor 22, the fourth bevel gear 53 is fixedly connected to the upper rotor 21, and the outer wall of the second tubular shape 52 is a spherical surface;

[0068] Specifically, the third bevel gear 58 and the fourth bevel gear 53 are not connected to the wheel brake 54 or the second tube 52 , but are only fixedly connected to the rotor connecting arms 4 of the upper rotor 21 and the lower rotor 22 .

[0069] A thin disc is provided between the first tubular shape 51 and the second tubular shape 52, and circular holes arranged in a circumferential manner are provided on the disc. Fan-shaped holes are provided on the inner sides of the two sides of the disc to accommodate two longitudinal planetary gears 55. The upper and lower sides of the two longitudinal planetary gears 55 are respectively meshed with the third bevel gear 58 and the fourth bevel gear 53. A short shaft for fixing the two longitudinal planetary gears 55 is provided in the center of the fan-shaped holes on both sides of the second tubular shape 52. Capacitor batteries 57 and coils are nested in the circular holes. Two lifting stepping motors 56 are provided between the capacitor batteries 57, and the two lifting stepping motors 56 are arranged in a centrally symmetrical manner about the center of the second tubular shape 52.

[0070] In this embodiment, two relatively large circular holes are symmetrically opened on the disc at a position perpendicular to the axis direction of the longitudinal planetary gear, for installing two lifting stepping motors 56 to pass through the disc, and 8 circular holes are evenly arranged on the rest of the disc for the supercapacitor battery 57 to pass through the disc. The remaining 6 spaces on both sides of the disc are used to install two groups of coil groups, each with 6 coils, and the coils and the capacitor battery 57 are placed at intervals. The same bevel gears (the third bevel gear 58 and the fourth bevel gear 53 in this embodiment) are installed at the upper and lower ends of the two longitudinal planetary gears 55, respectively, so that the two bevel gears are coaxial with the planetary wheel disc, and the bevel gears are fully meshed with the longitudinal planetary gears. Magnetic sheet groups 42 are installed at the upper and lower ends of the two bevel gears, respectively, and a small air gap is maintained between the magnetic sheet group 42 and the coil group to form a motor. This motor can be used as a generator or as a motor.

[0071] The four sides of the lower part of the fixed cylinder lower end group 9 are all provided with a fixing frame fixed to the machine base assembly 1, and four sets of transmission gears are provided at the connection between the fixing frame and the fixed cylinder lower end group 9;

[0072] The inner sides of the four groups of transmission gears are all meshed with the lower end 10 of the inner rotating shaft, and the outer sides of the four groups of transmission gears are all transmission connected to the inner wall of the first bevel gear 14. The lower end 10 of the inner rotating shaft is arranged inside the lower end group 9 of the fixed cylinder, and the lower end 10 of the inner rotating shaft is transmission connected to the inner rotating shaft cylinder 31 arranged inside the upper end 100 of the fixed cylinder.

[0073] A ring gear 35 is provided on the outer side of the top end of the fixed cylinder top cover 34. The ring gear 35 is fixedly installed on the top end of the upper rotor 21 and is provided with a triangular fixed end head 36 on the upper part. The lower edges and corners of the fixed end head 36 are rotatably connected with shaft top planetary gears 37. One side of the multiple shaft top planetary gears 37 is meshed with the inner wall of the ring gear 35, and the other side of the multiple shaft top planetary gears 37 is transmission-connected to the transmission wheel arranged at the top end of the inner rotating shaft cylinder 31.

[0074] The rotor folding mechanism 8 includes a wing connector 81, which passes through a wing connector beam 85, and a wing connector nut 82 is connected to the wing connector 81 on one side of the wing connector beam 85, and an adjustment arm 83 is provided at the end of the wing connector 81 on one side of the wing connector nut 82, and the adjustment arm 83 is hinged to the first connector 63 on the lifting plate 6, and connecting beam buckle plates 86 are provided at both ends of the wing connector beam 85, and the wing connector beam 85 and the connecting beam buckle plates 86 are buckled and connected to the end of the wing connecting frame 43;

[0075] A wing folding shaft 87 is arranged on the outer side of the wing connector 81, and a pressure bearing 84 is fixed between the wing connector beam 85 and the wing connector nut 82, and the wing connector 81 rotates by relying on the pressure bearing 84;

[0076] In this embodiment, two folding wings with different folding modes can be used, namely, a rotating folding wing and a lifting folding wing;

[0077] For the retractable folding wing, the wing blade is made into a foldable wing with soft joints at multiple sections. The folding wing can be folded in a ring shape, and the rotor is unfolded by the centrifugal force during rotation. When the rotation stops, it automatically retracts and folds under the action of the rebound force of the folding wing;

[0078] For the lifting and placing folding wing, the folding method is lifting and lowering. It unfolds according to the centrifugal force and lift generated during rotation, and folds up according to gravity. When the rotor is folded down to the lowest point, an electromagnetic force tightens it inward and clamps it. The electromagnetic force is cancelled and the rotor is in a clamped state. When the rotor is ready to unfold, an electromagnetic force pushes it outward and the rotor begins to rotate. When the combined force of centrifugal force and lift lifts it to a certain height, the electromagnetic force is cancelled. In the process of unfolding and folding the rotor, because it rotates forward and backward, there is an overlapping area of ​​rotation. In this overlapping area, the forward and reverse rotating rotors will be damaged. In order not to damage the rotor, the unfolding and folding of the rotor needs to be allocated in time. When unfolding, unfold the upper rotor first, and when folding, fold the lower rotor first. This is the only way to ensure the safety of the rotor.

[0079] In addition, the coaxial double-rotation proposed in the present invention means that the rotor is provided with forward and reverse steering and has the same rotation axis; multi-wing means that the number of rotor blades in each steering direction is more than two, and the rotation of each steering direction is in the same plane; digitalization means that the rotor mechanism can be digitally controlled, and a set of numbers is input into the rotor mechanism, and the rotor mechanism enters the state required by the set of numbers and operates in this state, and the data of the current state of the rotor mechanism is read for analysis; foldable rotor means that the rotor is unfolded in the rotating working state and is folded in the stopped state, and the purpose of folding is to pass through and be accommodated in a smaller space;

[0080] The speed ratio of the twin-rotor mechanism can be adjusted. The speed ratio is defined as a positive value when the twin rotors are turning in the same direction, and a negative value when they are turning in opposite directions. Digital control can be implemented near a speed ratio of negative 1. The result of the control is that the aircraft can be rotated clockwise and counterclockwise in the horizontal direction to the required angle.

[0081] The installation order of each mechanism assembly of this embodiment is as follows: the base assembly 1, the coaxial forward and reverse transmission mechanism 3, the wing surface tilt connection assembly 7, the lower rotor connecting arm assembly of the double rotor mechanism 2, the planetary wheel assembly 5, the lifting plate 6, the upper rotor connecting arm assembly of the double rotor mechanism 2, and the parachute system are installed in this order;

[0082] The function of this mechanism is to allow the fuselage to rotate left and right to the required angle in normal flight and hovering states. The components included in this mechanism include a planetary wheel assembly, an upper and lower rotor connecting arm assembly, a control circuit and an angle sensor; the angle sensor, the coil group and the supercapacitor battery 57 group are connected to the control circuit, and the magnetic sheet group 42 and the coil group on the upper and lower end surfaces of the third bevel gear 58 and the fourth bevel gear 53 constitute a motor, which can be used as a generator or as an electric motor; the control circuit can control the purpose of the motor. When used as a generator, the coil group extracts energy from the rotating rotor and converts it into electrical energy and stores it in the supercapacitor battery 57 group. The proportion of energy extracted from the upper and lower rotors can be controlled by the control circuit. Adjustment; when used as an electric motor, the electric energy in the supercapacitor battery 57 group can be injected into the rotating rotor, and the ratio of the energy injected into the upper and lower rotors can also be adjusted and controlled by the control circuit; the motor can also be divided into an upper and lower part, one part is used as a generator and the other part is used as a motor, the motor and the generator can be used independently or in conjunction, and the energy can be relayed between the upper and lower rotors without passing through the intermediate link of the supercapacitor battery 57 group; in this way, by adjusting the use of the upper and lower parts of the motor, the speed of the upper and lower rotors can be adjusted to match the control of the wheel brake, so that the torque of the upper and lower rotors is unbalanced, and the purpose of adjusting the direction angle of the fuselage can be easily achieved.

[0083] The control circuit is controlled by wireless data transmission for input and output control. The control circuit is designed in the form of a main board, with two sets of control circuits, and the two sets of circuits are backed up for each other; the main board will charge and discharge according to the amount of electricity in the supercapacitor battery 57 group, and the steering can be adjusted even if there is no electricity in the capacitor battery 57 group;

[0084] The motherboard is driven by data. To improve reliability, the battery pack is composed of supercapacitors, which can be deeply charged and discharged an unlimited number of times without performance degradation.

[0085] How to unfold the upper rotor first: The timing distribution is that the electromagnetic force pushes the upper rotor open, the power is transmitted to the inner rotating shaft cylinder 31, the clutch brake 17 is in a braking state, the outer rotating cylinder 33 is in a locked state, the outer rotating cylinder 33 does not rotate so the lower rotor 22 does not rotate, the power is transmitted from the inner rotating shaft cylinder 31 to the upper rotor 21, the upper rotor 21 rotates and drives the planetary wheel to rotate. At this time, the wheel brake is in a released state, and the rotation speed of the planetary wheel is equal to half of the rotation speed of the upper rotor 21. A small amount of power will be transmitted to the lower rotor 22 through the longitudinal planetary gear. Since the outer rotating cylinder 33 is in a locked state, the lower rotor 22 will not rotate, and the upper rotor 21 accelerates The centrifugal force and the lift of the wing shape increase to lift the upper rotor 21. When the upper rotor 21 is lifted to a safe height, the electromagnetic force pushes the lower rotor away, and the upper rotor 21 is accelerated to a level state. The clutch brake slowly releases the braking state, and the disc brake slowly performs point braking. Through the power of the longitudinal planetary gear, the lower rotor 22 begins to slowly accelerate and rotate. The disc brake accelerates to perform point braking and long point braking, so that the speed of the lower rotor 22 increases to lift the lower rotor 22, and the speed of the lower rotor 22 is close to the speed of the upper rotor 21. At this time, the clutch brake is closed and the disc brake is locked synchronously, and the speeds of the upper and lower rotors are consistent, thereby achieving safe deployment of the upper and lower rotors.

[0086] How to fold up the lower rotor first: The timing distribution is that the upper and lower rotors are lifted and rotated horizontally, the clutch brake is disconnected and enters the disconnected state from the connected state, the wheel brake is released and enters the rotating state from the braking state, and the lower rotor is in an inertial rotation state. At this time, the motor can extract energy from the lower rotor and convert it into electrical energy for storage, or the clutch brake can enter the braking process to brake and decelerate the lower rotor to a stop. The clutch brake starts to perform point braking until constant braking, so that the lower rotor decelerates to a stop, and the lower rotor is tightened under the action of electromagnetic force to complete the folding action of the lower rotor; then the input shaft speed is slowly reduced to stop the upper rotor, and the upper rotor is tightened under the action of electromagnetic force to complete the folding action of the upper rotor.

[0087] In this embodiment, the entire operation process can be controlled by a computer, and with the addition of a PLC, etc., automated operation control can be achieved. In each operation link, sensors can be set up to provide signal feedback to achieve sequential execution of steps. These are all common knowledge of current automated control and will not be described in detail in this embodiment.

[0088] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

[0089] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism, characterized in that: It comprises a machine base assembly (1) and a dual-rotor mechanism (2), wherein the dual-rotor mechanism (2) is arranged at the top of the machine base assembly (1), and the dual-rotor mechanism (2) is transmission-connected to the machine base assembly (1); The base assembly (1) comprises a bottom plate with a "well" structure, the top of the bottom plate is provided with a ring-shaped base gear cage (11) for enhancing the stress strength of the bracket, the middle of the base gear cage (11) is provided with an axis opening, the bottom end of the axis opening is provided with base bottom inner and outer bearings (13), the upper part of the base bottom inner and outer bearings (13) are connected to a first bevel gear (14) and a second bevel gear (16) arranged in parallel, one side of the first bevel gear (14) and the second bevel gear (16) are connected to the same power input shaft (12), the end of the power input shaft (12) is provided with a gear meshing with the first bevel gear (14) and the second bevel gear (16), the upper end of the second bevel gear (16) is connected to a clutch brake (17), the edge of the clutch brake (17) has only an action gear (15) meshing therewith, and the action gear (15) is connected to an external action motor; The dual rotor mechanism (2) comprises an upper rotor (21) and a lower rotor (22), each of the upper rotor (21) and the lower rotor (22) comprising a rotor connecting arm (4), the rotor connecting arm (4) comprising a plurality of magnetic sheet groups (42) evenly arranged in a ring shape, the magnetic sheet groups (42) being installed and embedded in a bracket (41), a wing connecting frame (43) being provided at the top end of the bracket (41), and a rotor folding mechanism (8) being installed on the four side edges of the wing connecting frame (43); The lower part of the lower rotor (22) is provided with an airfoil tilting connection assembly (7), the airfoil tilting connection assembly (7) comprising a fixing ring (71), mounting seats (74) are provided on both sides of the fixing ring (71), the bottom ends of the mounting seats (74) are fixed to the base gear cage (11), a ball-type rotating ring (73) is movably connected inside the fixing ring (71), a rotating inner ring (72) is movably connected on the inner wall of the ball-type rotating ring (73), a plurality of T-shaped connecting rods (75) are fixed on the upper wall of the rotating inner ring (72), and a plurality of second connecting members (76) are fixed to the bottom end of the ball-type rotating ring (73); A coaxial forward and reverse transmission mechanism (3) is arranged in the middle of the lower rotor (22), and the coaxial forward and reverse transmission mechanism (3) comprises an outer rotating cylinder (33), the bottom end of the outer rotating cylinder (33) is coaxially connected to the clutch brake (17), and a fixed cylinder lower end group (9) is arranged inside the outer rotating cylinder (33), and the fixed cylinder lower end group (9) is connected to the fixed cylinder upper end (100) through a fixed cylinder universal joint (32), and the fixed cylinder upper end (100) passes through the lower rotor (22), the lifting plate (6), the planetary wheel assembly (5), and the upper rotor (21) in sequence, and the top end is connected to the fixed cylinder top cover (34).

2. The coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism according to claim 1, characterized in that: The upper and lower ends of the lifting plate (6) both include elliptical cross rings (61), and the outer sides of the upper and lower elliptical cross rings (61) are sleeved with angle of attack adjustment rings (62). The four sides of the angle of attack adjustment ring (62) are provided with first connecting members (63). The space between the upper elliptical cross ring (61) and the angle of attack adjustment ring (62) is provided with a motor push-pull rod device, and the motor push-pull rod device is used to link and adjust the total pitch of the rotor and the respective angle of attack of each different rotor. The inner wall of the lifting plate (6) is provided with a spiral thread.

3. The coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism according to claim 2, characterized in that: The motor push-pull rod device is composed of a stepping motor (66), a transmission rod (65) and a driven wheel lead screw (64); the upper end of the driven wheel lead screw (64) is a worm gear and the lower end is a lead screw.

4. The coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism according to claim 3, characterized in that: The planetary wheel disc assembly (5) comprises a first tubular shape (51), the outer wall of the first tubular shape (51) is provided with a spiral thread, the spiral thread is meshed with the spiral thread provided on the inner wall of the lifting plate (6), and a second tubular shape (52) is provided inside the first tubular shape (51), the inner wall of the second tubular shape (52) is provided with spline teeth for meshing with the wheel disc brake (54), the upper and lower sides of the second tubular shape (52) are respectively provided with a third bevel gear (58) and a fourth bevel gear (53), the third bevel gear (58) is fixedly connected to the lower rotor (22), and the fourth bevel gear (53) is fixedly connected to the upper rotor (21), and the outer wall of the second tubular shape (52) is a spherical surface.

5. The coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism according to claim 4, characterized in that: A thin disc is provided between the first tubular shape (51) and the second tubular shape (52), the disc being provided with placement circular holes arranged in a circumference, and fan-shaped holes are provided on the inner sides of both sides of the disc for accommodating two longitudinal planetary gears (55), the upper and lower sides of the two longitudinal planetary gears (55) being meshed and connected with the third bevel gear (58) and the fourth bevel gear (53) respectively, and a short shaft for fixing and mounting the two longitudinal planetary gears (55) is provided in the center of the fan-shaped holes on both sides of the second tubular shape (52), and capacitor batteries (57) and coils are nested in the placement circular holes, and two lifting stepping motors (56) are provided between the capacitor batteries (57), and the two lifting stepping motors (56) are arranged in a centrally symmetrical manner about the center of the second tubular shape (52).

6. A coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism according to any one of claims 2 to 5, characterized in that: The four sides of the lower part of the fixed cylinder lower end group (9) are provided with fixed frames fixed to the machine base assembly (1), and four sets of transmission gears are provided at the connection between the fixed frame and the fixed cylinder lower end group (9).

7. The coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism according to claim 6, characterized in that: The inner sides of the four groups of transmission gears are all meshed with the lower end (10) of the inner rotating shaft, and the outer sides of the four groups of transmission gears are all transmission-connected to the inner wall of the first bevel gear (14). The lower end (10) of the inner rotating shaft is arranged inside the lower end group (9) of the fixed cylinder, and the top end is transmission-connected to the inner rotating shaft cylinder (31) arranged inside the upper end (100) of the fixed cylinder.

8. The coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism according to claim 7, characterized in that: A ring gear (35) is arranged on the outer side of the top end of the fixed cylinder top cover (34); the ring gear (35) is fixedly connected to the top end of the upper rotor (21) and is provided with a fixed end head (36) on the top; the lower corners of the fixed end head (36) are rotatably connected to shaft top planetary gears (37); one side of the plurality of shaft top planetary gears (37) is meshed with the inner wall of the ring gear (35), and the other side of the plurality of shaft top planetary gears (37) is drivingly connected to a transmission wheel arranged at the top end of the inner rotating shaft cylinder (31).

9. A coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism according to any one of claims 2 to 5, characterized in that: The rotor folding mechanism (8) comprises a wing connector (81), the wing connector (81) passes through a wing connector beam (85), and a wing connector nut (82) is connected to the wing connector (81) on one side of the wing connector beam (85), an adjustment arm (83) is provided at the end of the wing connector (81) on one side of the wing connector nut (82), the adjustment arm (83) is hinged to a first connector (63) on the lifting plate (6), both ends of the wing connector beam (85) are provided with a connector gusset (86), and one side of the wing connector beam (85) and the connector gusset (86) are both connected to the end of the wing connector frame (43).

10. The coaxial dual-rotor multi-wing digital foldable rotor transmission mechanism according to claim 9, characterized in that: A wing folding shaft (87) is arranged on the outside of the wing connecting head (81), a pressure bearing (84) is fixed between the wing connecting beam (85) and the wing connecting nut (82), and the wing connecting head (81) rotates by relying on the pressure bearing (84).

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