A three-rudder fixed-axis variable-pitch rotor module and a helicopter

Abstract

The present invention discloses a three-servo fixed-axis variable-pitch rotor module, including a central axis, a rotary actuator, a servo mounting seat, a propeller hub, a propeller clamp, a servo, a servo rocker arm, a connecting rod, a tilting plate, a rotating tilting plate, a variable-pitch connecting rod, a propeller clamp connecting rod, a tilting plate extension rod, and a tilting plate limiter. This solution adopts a fixed-axis solution, which reduces the volume of the entire rotor system and avoids the stability, vibration, friction and other problems caused by the movement of the slender rotating shaft. The connecting rod structure and the synchronization structure of the variable-pitch control system are effectively simplified, while fully retaining the various variable-pitch characteristics of the helicopter rotor system. In addition, the present solution has a simple and compact structure and can be combined and designed as a standardized module to obtain a variety of different helicopter configurations. The present invention also discloses a variety of different types of helicopter configurations that adopt the three-servo fixed-axis variable-pitch rotor module.

Description

Technical Field

[0001] The invention relates to the field of helicopters, and in particular to a three-servo fixed-axis variable-pitch rotor module and a helicopter. Background Art

[0002] Existing helicopter rotor systems usually include a rotor power system and a variable pitch control system. Among them, the rotor power system includes a rotary actuator, a connecting shaft, a rotor mechanism, etc. The distance between the rotor mechanism and the rotary actuator in the existing solution is usually far, and they need to be connected by a slender connecting shaft, which will cause stability, vibration, friction and other problems during the periodic rotation. The variable pitch control system includes complex control mechanisms such as a variable pitch mechanism and a synchronization mechanism. Complex control mechanisms will not only increase the processing and manufacturing costs, but also bring inconvenience to the assembly of the entire system. Therefore, the rotor power system and variable pitch control mechanism in the existing helicopter rotor system will not only have very large complexity in the design, manufacturing and assembly process, but also have great reliability and safety risks during actual flight. Summary of the invention

[0003] The purpose of the present invention is to overcome the above problems and to provide a three-servo fixed-axis variable-pitch rotor module and a helicopter.

[0004] To achieve the above-mentioned purpose, the method adopted by the present invention is: a three-servo fixed-axis variable-pitch rotor module, including a central axis, a rotary actuator, a server mounting seat, a propeller hub, a propeller clamp, a servo, a servo rocker arm, a connecting rod, a tilting plate, a rotating tilting plate, a variable pitch connecting rod, a propeller clamp connecting rod, a tilting plate extension rod, and a tilting plate limiter. One end of the central axis is fixedly connected to the stator of the rotary actuator or through a connecting piece, and the other end is fixedly connected to the server mounting seat, forming the basic skeleton of the system and the rotating axis around which the rotor rotates; the hub is fixedly connected to the rotor of the rotary actuator or through a gear, and the propeller clamp is hinged to the hub; three servers are provided, which are respectively fixed to the server mounting seat; one end of the server rocker arm is fixedly connected to the server output shaft, and the other end is hinged to one end of the connecting rod; the other end of the connecting rod is hinged to the tilting plate; the tilting plate is connected to the rotating tilting plate through a bearing, the tilting plate is fixedly connected to the inner ring of the bearing, and the rotating tilting plate is fixedly connected to the outer ring of the bearing; the inner ring of the tilting plate is slidably connected to the central axis through a ball joint; one end of the variable pitch connecting rod is hinged to the outer ring of the rotating tilting plate, and the other end is hinged to one end of the propeller clamp connecting rod; the other end of the propeller clamp connecting rod is fixedly connected to the propeller clamp.

[0005] As a preferred embodiment of the present invention, a tilting plate limiter is provided on the server mounting seat, and a slide groove is provided on the tilting plate limiter; a tilting plate extension rod is provided at a place where the tilting plate is hinged with the three connecting rods, and one end of the tilting plate extension rod extends into the slide groove and can move up and down along the slide groove.

[0006] As a preferred embodiment of the present invention, the three servers are fixedly mounted on a server mounting base around a central axis, forming an angle of 120 degrees between each other.

[0007] As a preferred embodiment of the present invention, the servo can be a servo in the form of torsion output, or a servo in the form of thrust and tension output.

[0008] To achieve the above object, another method adopted by the present invention is to provide a single-rotor helicopter. The helicopter includes a rotor system, a fuselage, and a tail rotor; the rotor system is fixedly connected to the fuselage; the tail rotor is fixedly connected to the fuselage; and the rotor system is configured as the three-servo fixed-axis variable-pitch rotor module described above.

[0009] To achieve the above-mentioned purpose, another method adopted by the present invention is: to provide a coaxial single-layer variable pitch helicopter. The coaxial single-layer variable pitch helicopter includes two sets of rotor systems; the two sets of rotor systems are connected in a coaxial manner; one set is configured as a three-servo fixed-axis variable pitch rotor module as described above, and the other set of rotor systems is a fixed-axis non-variable pitch rotor system; the fixed-axis non-variable pitch rotor system includes a central axis, a rotary actuator, and a hub-propeller clamp integrated part, wherein the central axis is fixedly connected to the rotary actuator stator or fixedly connected through a connecting part; the rotary actuator rotor is fixedly connected to the hub-propeller clamp integrated part or connected through a gear transmission.

[0010] As a preferred embodiment of the present invention, the coaxial single-layer variable pitch helicopter is connected in a coaxial manner in any one of the following eight ways: 1. Two rotary actuators are centrally placed, and the three-servo fixed-axis variable pitch rotor module is placed at the bottom; 2. Two rotary actuators are centrally placed, and the three-servo fixed-axis variable pitch rotor module is placed at the top; 3. Two rotary actuators are placed at the upper and lower ends, and the three-servo fixed-axis variable pitch rotor module is placed at the bottom; 4. Two rotary actuators are placed at the upper and lower ends, and the three-servo fixed-axis variable pitch rotor module is placed at the top; 5. The three-servo fixed-axis variable pitch rotor module is placed at the top and the rotary actuators of the three-servo fixed-axis variable pitch rotor module are placed at the top, the fixed-axis non-variable pitch rotor system is placed at the bottom and the fixed-axis non-variable pitch rotor The rotary actuator of the wing system is placed on top; 6. The three-servo fixed-axis variable-pitch rotor module is placed on the bottom and the rotary actuator of the three-servo fixed-axis variable-pitch rotor module is placed on the bottom, and the fixed-axis non-variable-pitch rotor system is placed on top and the rotary actuator of the fixed-axis non-variable-pitch rotor system is placed on the bottom; 7. The three-servo fixed-axis variable-pitch rotor module is placed on top and the rotary actuator of the three-servo fixed-axis variable-pitch rotor module is placed on the bottom, and the fixed-axis non-variable-pitch rotor system is placed on the bottom and the rotary actuator of the fixed-axis non-variable-pitch rotor system is placed on the bottom; 8. The three-servo fixed-axis variable-pitch rotor module is placed on the bottom and the rotary actuator of the three-servo fixed-axis variable-pitch rotor module is placed on top, and the fixed-axis non-variable-pitch rotor system is placed on the top and the rotary actuator of the fixed-axis non-variable-pitch rotor system is placed on the top.

[0011] To achieve the above object, another method adopted by the present invention is to provide a coaxial double-layer variable pitch helicopter. The coaxial double-layer variable pitch helicopter is equipped with two sets of three-servo fixed-axis variable pitch rotor modules as described above; the two sets of three-servo fixed-axis variable pitch rotor modules are coaxially connected.

[0012] As a preferred embodiment of the present invention, the coaxial double-decker variable pitch helicopter is coaxially connected in any one of the following four ways: 1. Two rotary actuators are centrally arranged; 2. Two rotary actuators are arranged at the upper and lower ends; 3. The rotary actuators of the upper three servos fixed-axis variable pitch rotor modules are arranged at the lower part, and the rotary actuators of the lower three servos fixed-axis variable pitch rotor modules are arranged at the lower part; 4. The rotary actuators of the upper three servos fixed-axis variable pitch rotor modules are arranged at the upper part, and the rotary actuators of the lower three servos fixed-axis variable pitch rotor modules are arranged at the upper part.

[0013] As a preferred embodiment of the present invention, the rotary actuator in the three-servo fixed-axis variable-pitch rotor module, single-rotor helicopter, coaxial single-layer variable-pitch helicopter or coaxial double-layer variable-pitch helicopter mentioned above can be any one of a direct-drive or reduction actuator, an electric or oil-driven actuator, a dual-power or single-power actuator.

[0014] As a preferred embodiment of the present invention, in the coaxial single-layer variable pitch helicopter and the coaxial double-layer variable pitch helicopter mentioned above, in a set of coaxial models, the central axis can be two independent axes or an integrated axis.

[0015] Beneficial effects:

[0016] Compared with the existing solutions, the technical solution of the present invention adopts a control mechanism with a simpler structure, combines the variable pitch mechanism and the synchronization mechanism in the variable pitch control system into one, and greatly simplifies the structure of the variable pitch control system. At the same time, the fixed axis solution is adopted to reduce the volume of the entire rotor system and avoid the stability, vibration, friction and other problems caused by the movement of the slender rotating axis. The technical solution of the present invention has a simple and compact structure and can be combined and designed as a standardized module to obtain a variety of different helicopter configurations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a rear side view schematic diagram of the three-servo fixed-axis variable-pitch rotor module structure;

[0018] Figure 2 It is a front side schematic diagram of the structure of a three-servo fixed-axis variable-pitch rotor module;

[0019] Figure 3 It is a schematic diagram of the first configuration structure of a coaxial single-deck variable pitch helicopter;

[0020] Figure 4 It is a schematic diagram of the second configuration structure of a coaxial single-deck variable pitch helicopter;

[0021] Figure 5 It is a schematic diagram of the third configuration structure of a coaxial single-deck variable pitch helicopter;

[0022] Figure 6 It is a schematic diagram of the fourth configuration structure of a coaxial single-deck variable pitch helicopter;

[0023] Figure 7 It is a schematic diagram of the fifth configuration structure of a coaxial single-deck variable pitch helicopter;

[0024] Figure 8 It is a schematic diagram of the sixth configuration structure of a coaxial single-deck variable pitch helicopter;

[0025] Fig. 9 It is a schematic diagram of the seventh configuration structure of a coaxial single-deck variable pitch helicopter;

[0026] Fig.10 It is a schematic diagram of the eighth configuration structure of a coaxial single-deck variable pitch helicopter; Fig.11 It is a schematic diagram of the first configuration of a coaxial double-deck variable pitch helicopter;

[0027] Fig.12 It is a schematic diagram of the second configuration structure of a coaxial double-deck variable pitch helicopter;

[0028] Fig.13 It is a schematic diagram of the third configuration structure of a coaxial double-deck variable pitch helicopter;

[0029] Fig.14 It is a schematic diagram of the fourth configuration structure of a coaxial double-deck variable pitch helicopter;

[0030] Figures 1 to 3 As shown in, 1. center axis, 2. rotary actuator, 3. servo mounting seat, 4. propeller hub, 5. propeller clamp, 6. servo, 7. servo rocker arm, 8. connecting rod, 9. tilting plate, 10. rotating tilting plate, 11. pitch change connecting rod, 12. propeller clamp connecting rod, 13. tilting plate extension rod, 14. tilting plate limiter, 15. propeller hub and propeller clamp integrated part. DETAILED DESCRIPTION

[0031] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. The embodiments are implemented based on the technical solution of the present invention. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0032] Embodiment 1:

[0033] like Figure 1 and Figure 2The present invention shows a three-servo fixed-axis variable-pitch rotor module disclosed in the present embodiment, comprising a central axis 1, a rotary actuator 2, a server mounting seat 3, a propeller hub 4, a propeller clamp 5, a server 6, a server rocker arm 7, a connecting rod 8, a tilting disc 9, a rotary tilting disc 10, a variable pitch connecting rod 11, a propeller clamp connecting rod 12, a tilting disc extension rod 13, and a tilting disc stopper 14. The module is characterized in that one end of the central axis 1 is fixedly connected to the stator of the rotary actuator 2 or is fixedly connected through a connecting piece, and the other end is fixedly connected to the server mounting seat 3 to form a basic framework of the system and a rotating axis around which the rotor rotates; the propeller hub 4 is fixedly connected to the rotor of the rotary actuator 2 or is connected through a gear, and the propeller clamp 5 is provided with two, They are respectively hinged to the two ends of the propeller hub 4; three servers 6 are provided, which are respectively fixedly connected to the server mounting seat 3; one end of the server rocker arm 7 is fixedly connected to the output shaft of the server 6, and the other end is hinged to one end of the connecting rod 8; the other end of the connecting rod 8 is hinged to the tilting disc 9; the tilting disc 9 is connected to the rotating tilting disc 10 through a bearing, the tilting disc 9 is fixedly connected to the inner ring of the bearing, and the rotating tilting disc 10 is fixedly connected to the outer ring of the bearing; the inner ring of the tilting disc 9 is slidably connected to the central axis 1 through a ball joint; one end of the variable pitch connecting rod 11 is hinged to the outer ring of the rotating tilting disc 10, and the other end is hinged to one end of the blade clamp connecting rod 12; the other end of the blade clamp connecting rod 12 is fixedly connected to the blade clamp 5;

[0034] like Figure 1 As shown, the server mounting seat 3 is provided with a tilting plate limiter 14, and the tilting plate limiter 14 is provided with a slide groove; a tilting plate extension rod 13 is provided at a place where the tilting plate 9 is hinged with the three connecting rods 8, and one end of the tilting plate extension rod 13 extends into the slide groove and can move up and down along the slide groove.

[0035] like Figure 1 As shown, the three servers 6 are fixedly mounted on the server mounting base 3 around the central axis 1 at an angle of 120 degrees between each other.

[0036] like Figure 1 As shown, the servo 6 can be a servo with a torsion output, or a servo with a thrust and pull output.

[0037] Embodiment 2:

[0038] This embodiment discloses a single-rotor helicopter. The helicopter comprises a rotor system, a fuselage, and a tail rotor; the rotor system is fixedly connected to the fuselage; the tail rotor is fixedly connected to the fuselage; and the rotor system is configured as the above-mentioned three-servo fixed-axis variable-pitch rotor module.

[0039] Embodiment 3:

[0040] This embodiment discloses a coaxial single-layer variable pitch helicopter, such as Figures 3 to 10The figures show one of their configurations. The coaxial single-layer variable pitch helicopter comprises two sets of rotor systems; the two sets of rotor systems are connected in a coaxial manner; one of them is configured as a three-servo fixed-axis variable pitch rotor module as described above, and the other set of rotor systems is a fixed-axis non-variable pitch rotor system; the fixed-axis non-variable pitch rotor system comprises a central axis 1, a rotary actuator 2, and a hub-propeller clamp integrated part 15, wherein the central axis 1 is fixedly connected to the stator of the rotary actuator 2 or fixedly connected through a connector; the rotor of the rotary actuator 2 is fixedly connected to the hub-propeller clamp integrated part 15 or connected through a gear transmission.

[0041] The present embodiment discloses a coaxial single-layer variable pitch helicopter, which is connected in a coaxial manner in any one of the following eight ways: 1. Figure 3 As shown, two rotary actuators 2 are placed in the middle, and the three-servo fixed-axis variable-pitch rotor module is placed at the bottom; 2. Figure 4 As shown, two rotary actuators 2 are placed in the middle, and three servo fixed-axis variable-pitch rotor modules are placed on the top; 3. Figure 5 As shown, two rotary actuators 2 are placed at the upper and lower ends, and the three-servo fixed-axis variable-pitch rotor module is placed at the bottom; 4. Figure 6 As shown, two rotary actuators 2 are placed at the upper and lower ends, and a three-servo fixed-axis variable-pitch rotor module is placed on the upper side; 5. Figure 7 As shown, the three-servo fixed-axis variable-pitch rotor module is placed on top and the rotary actuator 2 of the three-servo fixed-axis variable-pitch rotor module is placed on top, the fixed-axis non-variable-pitch rotor system is placed on the bottom and the rotary actuator 2 of the fixed-axis non-variable-pitch rotor system is placed on top; 6. Figure 8 As shown, the three-servo fixed-axis variable-pitch rotor module is placed at the bottom and the rotary actuator 2 of the three-servo fixed-axis variable-pitch rotor module is placed at the bottom, the fixed-axis non-variable-pitch rotor system is placed at the top and the rotary actuator 2 of the fixed-axis non-variable-pitch rotor system is placed at the bottom; 7. Fig. 9 As shown, the three-servo fixed-axis variable-pitch rotor module is placed on top and the rotary actuator 2 of the three-servo fixed-axis variable-pitch rotor module is placed below, the fixed-axis non-variable-pitch rotor system is placed below and the rotary actuator 2 of the fixed-axis non-variable-pitch rotor system is placed below; 8. Fig.10 As shown, the three-servo fixed-axis variable-pitch rotor module is placed at the bottom and the rotary actuator 2 of the three-servo fixed-axis variable-pitch rotor module is placed at the top, the fixed-axis non-variable-pitch rotor system is placed at the top and the rotary actuator 2 of the fixed-axis non-variable-pitch rotor system is placed at the top.

[0042] Embodiment 4:

[0043] This embodiment discloses a coaxial double-layer variable pitch helicopter, such as Figures 11 to 14 The coaxial double-layer variable pitch helicopter is equipped with two sets of three-servo fixed-axis variable pitch rotor modules as described above; the two sets of three-servo fixed-axis variable pitch rotor modules are connected in a coaxial manner.

[0044] The present embodiment discloses a coaxial double-layer variable pitch helicopter, which is connected in a coaxial manner in any one of the following four ways: 1. Fig.11 As shown, two rotary actuators 2 are centrally placed; 2. Fig.12 As shown, two rotary actuators 2 are disposed at the upper and lower ends; 3. Fig.13 As shown, the upper three steering gear fixed-axis variable-pitch rotor module rotary actuator 2 is placed below, and the lower three steering gear fixed-axis variable-pitch rotor module rotary actuator 2 is placed below; 4. Fig.14 As shown, the upper three steering gear fixed-axis variable-pitch rotor module rotary actuator 2 is placed on top, and the lower three steering gear fixed-axis variable-pitch rotor module rotary actuator 2 is placed on top.

[0045] In the three-servo fixed-axis variable-pitch rotor module, single-rotor helicopter, coaxial single-layer variable-pitch helicopter or coaxial double-layer variable-pitch helicopter disclosed in Examples 1-4 of the present invention, the rotary actuator 2 can be any one of a direct-drive or reduction actuator, an electric or oil-driven actuator, a dual-power or single-power actuator.

[0046] In the coaxial single-layer variable pitch helicopter and the coaxial double-layer variable pitch helicopter disclosed in Examples 3-4 of the present invention, in a set of coaxial models, the central axis 1 can be two independent axes or an integrated axis.

[0047] The technical means disclosed in the scheme of the present invention are not limited to the technical means disclosed in the above technical means, but also include technical schemes composed of any combination of the above technical features. The above is a specific implementation of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims

1. A three-servo fixed-axis variable-pitch rotor module, comprising a central shaft, a rotary actuator, a server mounting seat, a propeller hub, a propeller clamp, and a server, characterized in that: It also includes a server rocker arm, a connecting rod, a tilting plate, a rotating tilting plate, a pitch-changing connecting rod, a propeller clamp connecting rod, a tilting plate extension rod, and a tilting plate limiter; one end of the central axis is fixedly connected to the stator of the rotary actuator or through a connecting piece, and the other end is fixedly connected to the server mounting seat, forming the basic skeleton of the system and the rotating axis around which the rotor rotates; the propeller hub is fixedly connected to the rotor of the rotary actuator or through a gear, and the propeller clamp is hinged to the propeller hub; three servers are provided, which are respectively fixedly connected to the server mounting seat; one end of the servo rocker arm is fixedly connected to the servo output shaft, and the other end is hinged to one end of the connecting rod; the other end of the connecting rod is hinged to the tilting plate; the tilting plate is connected to the rotating tilting plate The disc is connected by a bearing, the tilting disc is fixedly connected to the inner ring of the bearing, and the rotating tilting disc is fixedly connected to the outer ring of the bearing; the inner ring of the tilting disc is slidably connected to the central axis through a ball joint; one end of the variable pitch connecting rod is hinged to the outer ring of the rotating tilting disc, and the other end is hinged to one end of the propeller clamp connecting rod; the other end of the propeller clamp connecting rod is fixedly connected to the propeller clamp; a tilting disc limiter is provided on the server mounting seat, and a slide groove is provided on the tilting disc limiter; a tilting disc extension rod is provided at a place where the tilting disc is hinged with the three connecting rods, and one end of the tilting disc extension rod extends into the slide groove and can move up and down along the slide groove; the three servers are fixedly installed on the server mounting seat at a 120-degree angle between each other around the central axis.

2. A three-servo fixed-axis variable-pitch rotor module according to claim 1, characterized in that: The servo is a servo in a torsion output form, or a servo in a thrust and pull output form.

3. The three-servo fixed-axis variable-pitch rotor module according to claim 1, characterized in that: The rotary actuator is any one of a direct drive or reduction actuator, an electric or oil-driven actuator, a dual-power actuator or a single-power actuator.

4. A single-rotor helicopter, characterized in that: The helicopter comprises a rotor system, a fuselage, and a tail rotor; the rotor system is fixedly connected to the fuselage; the tail rotor is fixedly connected to the fuselage; and the rotor system is configured as a three-servo fixed-axis variable-pitch rotor module as described in claim 1.

5. A single-rotor helicopter according to claim 4, characterized in that: The rotary actuator is any one of a direct drive or reduction actuator, an electric or oil-driven actuator, a dual-power actuator or a single-power actuator.

6. A coaxial single-deck variable pitch helicopter, characterized in that: The coaxial single-layer variable pitch helicopter includes two sets of rotor systems; the two sets of rotor systems are connected in a coaxial manner; one set is configured as the three-servo fixed-axis variable pitch rotor module as described in claim 1, and the other set of rotor systems is a fixed-axis non-variable pitch rotor system; the fixed-axis non-variable pitch rotor system includes a central axis, a rotary actuator, and a hub-propeller clamp integrated part, wherein the central axis is fixedly connected to the rotary actuator stator or fixedly connected through a connecting part; the rotary actuator rotor is fixedly connected to the hub-propeller clamp integrated part or connected through a gear transmission.

7. A coaxial single-deck variable pitch helicopter according to claim 6, characterized in that: The rotary actuator is any one of a direct drive or reduction actuator, an electric or oil-driven actuator, a dual-power actuator or a single-power actuator.

8. The coaxial single-deck variable pitch helicopter according to claim 6, further characterized in that: The coaxial connection mode is any one of the following 8 types:

1. Two rotary actuators are placed in the middle, and the three-servo fixed-axis variable-pitch rotor module is placed at the bottom; 2. Two rotary actuators are placed in the middle, and the three-servo fixed-axis variable-pitch rotor module is placed at the top; 3. Two rotary actuators are placed at the upper and lower ends, and the three-servo fixed-axis variable-pitch rotor module is placed at the bottom; 4. Two rotary actuators are placed at the upper and lower ends, and the three-servo fixed-axis variable-pitch rotor module is placed at the top; 5. The three-servo fixed-axis variable-pitch rotor module is placed at the top and the rotary actuator of the three-servo fixed-axis variable-pitch rotor module is placed at the top, the fixed-axis non-variable-pitch rotor system is placed at the bottom, and the rotary actuator of the fixed-axis non-variable-pitch rotor system is placed at the top; 6. , the three-servo fixed-axis variable-pitch rotor module is placed downward and the rotary actuator of the three-servo fixed-axis variable-pitch rotor module is placed downward, the fixed-axis non-variable-pitch rotor system is placed upward and the rotary actuator of the fixed-axis non-variable-pitch rotor system is placed downward; 7. The three-servo fixed-axis variable-pitch rotor module is placed upward and the rotary actuator of the three-servo fixed-axis variable-pitch rotor module is placed downward, the fixed-axis non-variable-pitch rotor system is placed downward and the rotary actuator of the fixed-axis non-variable-pitch rotor system is placed downward; 8. The three-servo fixed-axis variable-pitch rotor module is placed downward and the rotary actuator of the three-servo fixed-axis variable-pitch rotor module is placed upward, the fixed-axis non-variable-pitch rotor system is placed upward and the rotary actuator of the fixed-axis non-variable-pitch rotor system is placed upward.

9. The coaxial single-deck variable pitch helicopter according to claim 6 or 7, characterized in that: In a coaxial machine, the central axis is two independent axes, or an integrated axis.

10. A coaxial double-deck variable pitch helicopter, characterized in that: The coaxial double-layer variable pitch helicopter is equipped with two sets of three-servo fixed-axis variable pitch rotor modules as claimed in claim 1; the two sets of three-servo fixed-axis variable pitch rotor modules are connected in a coaxial manner.

11. A coaxial double-deck variable pitch helicopter according to claim 10, characterized in that: The coaxial connection method is any one of the following four:

1. The two rotary actuators are placed in the middle; 2. The two rotary actuators are placed at the upper and lower ends; 3. The rotary actuators of the upper three servos' fixed-axis variable-pitch rotor modules are placed at the bottom, and the rotary actuators of the lower three servos' fixed-axis variable-pitch rotor modules are placed at the bottom; 4. The rotary actuators of the upper three servos' fixed-axis variable-pitch rotor modules are placed at the top, and the rotary actuators of the lower three servos' fixed-axis variable-pitch rotor modules are placed at the top.

12. The coaxial double-deck variable pitch helicopter according to claim 10 or 11, characterized in that: In a coaxial machine, the central axis is two independent axes, or an integrated axis.

13. A coaxial double-deck variable pitch helicopter according to claim 12, characterized in that: The rotary actuator is any one of a direct drive or reduction actuator, an electric or oil-driven actuator, a dual-power actuator or a single-power actuator.

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