A rudderless variable-pitch rotor system module and helicopter

Abstract

The present invention discloses a servo-free variable pitch rotor system module, comprising a central shaft, a power module, an angle measurement unit, an electronic speed regulator, a hub, a flapping connector, a lead-lag variable pitch blade clamp, and a blade. The present invention adopts a servo-free periodic pitch variation scheme, and controls the periodic torque variation of the power module through an electronic speed regulator. The dynamic torque output can cause the rotor to cause a lagging or leading movement. The structure of the present invention can change the pitch while the blade is leading or lagging. The variable pitch effect of a traditional swash plate is obtained by responding to pulse torque through a passively coupled horizontal hinge; in order to achieve the purpose of pitch variation, the variable pitch rotor system in the prior art is usually provided with a complex control linkage mechanism, which is difficult to manufacture, has high cost, and has a short life. The present invention greatly simplifies the structure, abandons the traditional complex control mechanism, reduces the weight of the rotor system, and reduces the material cost and manufacturing difficulty.

Description

Technical Field

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

[0002] Existing helicopter rotor systems usually include a rotor power system and a variable pitch control system. The rotor power system includes a power module, a connecting shaft, a rotor mechanism, etc. The distance between the rotor mechanism and the power module in the existing solution is usually far, and they need to be connected by a slender connecting shaft, which will cause instability, vibration, friction and other problems during the periodic rotation. The variable pitch control system includes complex control mechanisms such as variable pitch mechanisms and synchronization mechanisms. 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 be very complex 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 provide a servo-less variable-pitch rotor system module and a helicopter.

[0004] To achieve the above object, the method adopted by the present invention is: to provide a servo-less variable pitch rotor system module, including a central shaft, a power module, an angle measurement unit, an electronic speed regulator, a hub, a flapping connection, a lead-lag variable pitch propeller clamp, a blade,

[0005] One end of the lead-lag variable pitch propeller clamp is fixedly connected to one end of the blade, the other end of the lead-lag variable pitch propeller clamp is hinged to the flapping connection piece, and one end of the flapping connection piece is hinged to the hub; the hub is fixedly connected to the power output shaft of the power module; two of the above-mentioned blades, two lead-lag variable pitch propeller clamps, and two flapping connections are evenly distributed around the central axis in the servoless variable pitch rotor system module; the angle measuring unit is coaxially installed with the power module for measuring the rotation position angle of the power module; the electronic speed regulator can control the power module to output torques of different sizes at various positions during rotation; the angle measuring unit detects and obtains the angle information of the rotation position of the power module, and after obtaining the angle information, the electronic speed regulator controls the power module to output periodically changing torques at various angles;

[0006] When the output torque is reduced, the blade moves ahead; when the output torque is increased, the blade moves behind;

[0007] The power module outputs a periodically changing torque to drive the blades; the blades passively perform periodic lead-lag motions; the lead-lag variable pitch blade clamp performs lead-lag motions around its connecting hinge relative to the swinging connection and simultaneously performs pitch motions around the pitch axis of the blades; two symmetrically distributed lead-lag variable pitch blade clamps, one group of which reduces the pitch when leading and increases the pitch when lagging, and the other group of which increases the pitch when leading and reduces the pitch when lagging;

[0008] The electronic speed regulator can provide a sinusoidal component signal to modulate the torque of the power module, the maximum torque output is the peak point of the waveform, and the minimum torque output is the valley point of the waveform; one cycle of the output signal is 360 degrees, and the angle difference between the peak value and the valley value is 180 degrees;

[0009] By changing the amplitude and phase offset angle of the above-mentioned sinusoidal component, the periodic pitch control can be approximately simulated, that is: the electronic speed regulator controls the peak and valley outputs of the periodic torque of the power module at different angles to control the periodic pitch change of the rotor system to perform pitch and roll movements; one rotation of the blade is a change cycle of the torque output, and the position of the 0-degree point of the rotor system is set; it is only necessary to control the starting position of the phase angle of the sinusoidal output signal and the size of the peak and valley values ​​to control the periodic pitch change of the rotor system, thereby performing roll and pitch movements, and adjusting the torque size of the movement;

[0010] As a preferred embodiment of the present invention, one end of the lead-lag variable pitch propeller clamp is ball-jointed to the swing connection piece; the middle part of the lead-lag variable pitch propeller clamp is an arc-shaped slider structure; one end face of the swing connection piece is an arc-shaped slide groove structure, and the slider is floatingly constrained by the slide groove; the blade performs a lead-lag motion, driving the lead-lag variable pitch propeller clamp to slide back and forth on the swing connection piece; when the lead-lag variable pitch propeller clamp slides back and forth, the arc-shaped groove changes the pitch of the blade.

[0011] As a preferred embodiment of the present invention, the power module is any one of a direct drive or a reduction drive, an electric or an oil-driven, a dual-power or a single-power power module.

[0012] 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 system configuration is the servoless variable-pitch rotor system module described above.

[0013] As a preferred embodiment of the present invention, the power module is any one of a direct drive or a reduction drive, an electric or an oil-driven, a dual-power or a single-power power module.

[0014] To achieve the above-mentioned purpose, another method adopted by the present invention is: to provide a coaxial double-layer variable pitch helicopter, wherein the coaxial double-layer variable pitch helicopter is equipped with two sets of servoless variable pitch rotor system modules as described above; the two sets of servoless variable pitch rotor system modules are assembled in a coaxial manner.

[0015] As a preferred embodiment of the present invention, the coaxial double-deck variable pitch helicopter has a coaxial assembly mode of any one of the following three combinations of four forms:

[0016] 1. Both power modules are external;

[0017] 2. Both power modules are centrally located;

[0018] 3. One set of power modules is placed in the middle, and the other set of power modules is placed on the top;

[0019] 4. One set of power modules is placed in the middle, and the other set of power modules is placed at the bottom.

[0020] As a preferred embodiment of the present invention, a coaxial double-deck variable pitch helicopter, the power module is any one of a direct drive or reduction drive, electric or oil drive, dual power or single power power module.

[0021] As a preferred embodiment of the present invention, in the coaxial double-deck variable pitch helicopter, in a set of coaxial models, the central axis is two independent axes, or an integrated axis.

[0022] 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 2 sets of rotor modules; the 2 sets of rotor modules are assembled in a coaxial manner; one set is configured as the servoless variable pitch rotor system module mentioned above, and the other set of rotor system is a fixed-axis non-variable pitch rotor system; the fixed-axis non-variable pitch rotor system includes a central axis, a power module, a hub assembly integral part, a propeller clamp, and a blade; wherein the central axis is fixedly connected to the power module base; the torque output end of the power module is connected to the propeller clamp assembly integral part, one end of the propeller clamp is hinged to one end of the propeller clamp assembly integral part, and the other end is hinged to the rotor root.

[0023] As a preferred embodiment of the present invention, a coaxial single-layer variable pitch helicopter, wherein the coaxial assembly mode is any one of the following four combinations of 8 forms:

[0024] 1. Both power modules are external, and the fixed-axis variable-pitch rotor module is upper;

[0025] 2. Both power modules are external, and the fixed-axis variable-pitch rotor module is placed below;

[0026] 3. Both power modules are centrally located, and the fixed-axis variable-pitch rotor module is located on top;

[0027] 4. Both power modules are placed in the middle, and the fixed-axis variable-pitch rotor module is placed at the bottom;

[0028] 5. The power module of the fixed-axis non-variable-pitch rotor system is centrally located, while the power module of the fixed-axis variable-pitch rotor module is upper-located;

[0029] 6. The power module of the fixed-axis non-variable-pitch rotor system is placed in the middle, and the power module of the fixed-axis variable-pitch rotor module is placed at the bottom;

[0030] 7. The power module of the fixed-axis variable-pitch rotor module is centrally located, while the power module of the fixed-axis non-variable-pitch rotor system is upper-located;

[0031] 8. The power module of the fixed-axis variable-pitch rotor module is centrally located, while the power module of the fixed-axis non-variable-pitch rotor system is downwardly located.

[0032] As a preferred embodiment of the present invention, a coaxial single-layer variable pitch helicopter, the power module can be any one of a direct drive or reduction drive, electric or oil-driven, dual-power or single-power power module.

[0033] As a preferred embodiment of the present invention, a coaxial single-layer variable pitch helicopter is characterized in that, in a set of coaxial models, the central axis is two independent axes, or an integrated axis.

[0034] Beneficial effects:

[0035] This solution adopts a servo-free cyclic pitch change solution, with differential adjustment to control heading, acceleration and deceleration to adjust lift; torque indirectly controls cyclic pitch change. The present invention greatly simplifies the helicopter control mechanism and synchronization structure. 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 shaft and the complex pitch change mechanism. 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

[0036] Figure 1 This is a schematic diagram of the module structure of the servo-less variable-pitch rotor system;

[0037] Figure 2 This is a schematic diagram of the pitch change structure of the blade leading and lagging conversion;

[0038] Figure 3 It is a schematic diagram of the pitch change when the blade moves ahead;

[0039] Figure 4 It is a schematic diagram of the pitch change when the blade lags in motion;

[0040] Figure 5 It is a structural schematic diagram of a fixed-axis non-variable-pitch rotor system;

[0041] Figure 6 It is a schematic diagram of the first combined configuration structure of a coaxial single-deck variable pitch helicopter;

[0042] Figure 7 It is a schematic diagram of the second combined configuration structure of a coaxial single-deck variable pitch helicopter;

[0043] Figure 8 It is a schematic diagram of the third combination configuration of a coaxial single-deck variable pitch helicopter;

[0044] Fig. 9 It is a schematic diagram of the first combined configuration structure of a coaxial double-deck variable pitch helicopter;

[0045] Fig.10 It is a schematic diagram of the second combination configuration of a coaxial double-deck variable pitch helicopter;

[0046] Fig.11 It is a schematic diagram of the third combination configuration of a coaxial double-deck variable pitch helicopter;

[0047] Fig.12 This is a schematic diagram of the fourth combined configuration structure of a coaxial double-decker variable pitch helicopter.

[0048] Figure 1 , Figure 5 As shown in the figure, 1. center shaft, 2. power module, 3. angle measurement unit, 4. electronic speed governor, 5. hub, 6. flapping connection, 7. lead-lag pitch propeller clamp, 8. blade, 9. hub assembly integral part, 10. propeller clamp. DETAILED DESCRIPTION

[0049] 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.

[0050] Embodiment 1:

[0051] like Figure 1The figure shows a servo-less variable pitch rotor system module disclosed in the present embodiment, wherein one end of the lead-lag variable pitch blade clamp 7 is fixedly connected to one end of the blade 8, the other end of the lead-lag variable pitch blade clamp 7 is hinged to the flapping connection piece 6, and one end of the flapping connection piece 6 is hinged to the hub 5; the hub 5 is fixedly connected to the power output shaft of the power module 2; in the rotor system, two blades 8, two lead-lag variable pitch blade clamps 7, and two flapping connections 6 are evenly distributed around the rotation axis of the power module 2; the angle measuring unit 3 is coaxially installed with the power module 2 for measuring the rotation position angle of the power module 2; the electronic speed regulator 4 can control the power module 2 at various positions during rotation to change the output torque; the angle measuring unit 3 detects and obtains the angle information of the rotation position of the power module 2, and after obtaining the angle information, the electronic speed regulator 4 controls the power module 2 to output a periodically changing torque at various angles;

[0052] When the output torque is reduced, the blade 8 moves ahead; when the output torque is increased, the blade 8 moves behind;

[0053] The power module 2 outputs a periodically changing torque to drive the blade 8; the blade 8 passively performs periodic leading or lagging motion; when the blade 8 performs leading motion, one of the two leading and lagging variable pitch blade clamps 7 is a connecting hinge for increasing the pitch of the blade 8, and the other connecting hinge of the leading and lagging variable pitch blade clamp 7 is a connecting hinge for reducing the pitch of the blade 8; on the contrary, when the blade 8 performs lagging motion, one of the connecting hinges of the leading and lagging variable pitch blade clamps 7 in the two sets of rotor structures is a connecting hinge for reducing the pitch of the blade 8, and the other connecting hinge of the leading and lagging variable pitch blade clamp 7 is a connecting hinge for increasing the pitch of the blade 8;

[0054] The electronic speed regulator 4 provides a sinusoidal component for the torque output signal of the power module 2. The maximum value of the torque component output is the peak value of the waveform, and the minimum value of the torque component output is the valley value of the waveform. One cycle of the output signal is 360 degrees, and the angle difference between the peak value and the valley value is 180 degrees.

[0055] The electronic speed regulator 4 controls the peak and valley values ​​of the periodic torque change of the power module 2 to be output at different angles to control the periodic pitch change of the rotor system to perform pitch and roll motion; one rotation of the blade 8 is a change cycle of the torque output, and the position of the 0 degree point of the rotor system is set; it is only necessary to control the phase angle starting position and the peak and valley values ​​of the sinusoidal wave output signal to roll and pitch the periodic pitch change of the rotor system, and control the magnitude of their torque;

[0056] like Figure 2 As shown, one end of the lead-lag variable pitch blade clamp 7 is connected to the swing connection member 6 by a ball joint; the middle part of the lead-lag variable pitch blade clamp 7 is an arc-shaped slider structure; one end surface of the swing connection member 6 is an arc-shaped slide groove structure, the slider is floatingly constrained by the slide groove, and the slider can slide back and forth in the slide groove;

[0057] like Figure 3 The blade 8 makes an advance movement, driving the lead-lag variable pitch blade clamp 7 to slide in advance on the swing connection member 6; when the lead-lag variable pitch blade clamp 7 makes an advance movement, its arc-shaped slider slides forward on the arc-shaped groove with an opening upward of the swing connection member 6, thereby increasing the pitch of the blade 8; and when the lead-lag variable pitch blade clamp 7 in the other direction makes an advance movement, its arc-shaped slider slides forward on the arc-shaped groove with an opening downward of the swing connection member 6, thereby reducing the pitch of the blade 8;

[0058] like Figure 4 The blade 8 performs a lagging motion, driving the leading-lagging variable pitch blade clamp 7 to perform a lagging sliding motion on the swinging connection piece 6; when the leading-lagging variable pitch blade clamp 7 performs a lagging motion, its arc-shaped slider slides backward on the arc-shaped groove with an opening upward of the swinging connection piece 6, thereby reducing the pitch of the blade 8; and when the leading-lagging variable pitch blade clamp 7 in the other direction performs a lagging motion, its arc-shaped slider slides backward on the arc-shaped groove with an opening downward of the swinging connection piece 6, thereby increasing the pitch of the blade 8.

[0059] Embodiment 2:

[0060] This embodiment discloses a coaxial double-layer variable pitch helicopter, such as Figures 6 to 8 The coaxial double-layer variable pitch helicopter is equipped with two sets of servo-free variable pitch rotor system modules as in Example 1; the two sets of servo-free variable pitch rotor system modules are coaxially assembled.

[0061] The present embodiment discloses a coaxial double-deck variable pitch helicopter, wherein the coaxial assembly method is any one of the following four methods:

[0062] 1. If Figure 6 As shown, both power modules 2 are external;

[0063] 2. If Figure 7 As shown, both power modules 2 are centrally located;

[0064] 3-4, such as Figure 8 As shown, one set of power modules 2 is placed in the middle, and another set of power modules 2 is placed at the top or bottom.

[0065] The coaxial double-deck variable pitch helicopter disclosed in this embodiment, wherein the power module 2 can be any one of a direct drive or reduction actuator, an electric or oil-driven actuator, a dual motor or a single motor.

[0066] Embodiment 3:

[0067] This embodiment discloses a coaxial single-layer variable pitch helicopter, such as Figures 9 to 12The coaxial single-layer variable pitch helicopter includes two sets of rotor systems; the two sets of rotor systems are coaxially assembled; one set is configured as the servo-free variable pitch rotor system module of embodiment 1, and the other set of rotor system is a fixed-axis non-variable pitch rotor system; Figure 5 The fixed-axis non-variable-pitch rotor system comprises a central axis 1, a power module 2, a propeller hub assembly integrated part 9, a propeller clamp 10, and a propeller blade 8. The central axis 1 is fixedly connected to the power module 2; the torque output shaft of the power module 2 is fixedly connected to the propeller hub assembly integrated part 9; one end of the propeller clamp 10 is hinged to one end of the propeller hub assembly integrated part 9, and the other end is hinged to the root of the propeller blade 8.

[0068] This embodiment discloses a coaxial single-layer variable pitch helicopter, wherein the coaxial assembly method is any one of the following eight methods:

[0069] 1-2, such as Fig. 9 As shown, the power modules 2 of both sets are externally mounted, and the rotor systems are mounted on top or on the bottom;

[0070] 3-4, such as Fig.10 As shown, the power modules 2 of both sets are centrally placed, and the rotor systems are placed either above or below;

[0071] 5-6. Fig.11 As shown, the power module 2 of the fixed-axis non-variable-pitch rotor system is centrally located, and the power module 2 of the servo-free variable-pitch rotor system module is upper or lower located;

[0072] 7-8, such as Fig.12 As shown, the power module 2 of the servo-less variable-pitch rotor system module is centrally located, and the power module 2 of the fixed-axis non-variable-pitch rotor system is upper or lower located.

[0073] In the coaxial single-layer variable pitch helicopter disclosed in this embodiment, the power module 2 can be any one of a direct drive or reduction actuator, an electric or oil-driven actuator, a dual motor or a single motor.

[0074] Embodiment 4:

[0075] This embodiment discloses a single-rotor helicopter, which includes a rotor module, a fuselage, and a tail rotor; the rotor module is fixedly connected to the fuselage; the tail rotor is fixedly connected to the fuselage; the rotor module is configured as the servo-less variable-pitch rotor system module in Embodiment 1.

[0076] 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 rudderless variable pitch rotor system module, characterized in that: It includes a central axis, a power module, an angle measuring unit, an electronic speed regulator, a propeller hub, a flapping connection, a lead-lag variable pitch propeller clamp and a blade; the blade, the lead-lag variable pitch propeller clamp and the flapping connection are each provided with two, which are evenly distributed around the central axis; one end of the lead-lag variable pitch propeller clamp is fixedly connected to one end of the blade, the other end of the lead-lag variable pitch propeller clamp is hinged to the flapping connection, and one end of the flapping connection is hinged to the propeller hub; the propeller hub is fixedly connected to the power output shaft of the power module; the lead-lag variable pitch propeller clamp is relative to the flapping connection, and is hinged around its connection The chain performs lead-lag motion while performing pitch motion around the pitch axis of the blade; two groups of symmetrically distributed lead-lag variable pitch blade clamps, one group reduces the pitch when leading and increases the pitch when lagging, and the other group increases the pitch when leading and reduces the pitch when lagging; the angle measurement unit is coaxially installed with the power module; the electronic speed regulator circuit harness is connected to the power module; the angle measurement unit detects the angle information of the rotation position of the power module; the electronic speed regulator controls the output change of the torque of the power module at the corresponding angle through the angle information, and adjusts the hub Acceleration or deceleration; when the hub decelerates, the blades make an advance motion; when the hub decelerates, the blades make a lag motion; when the power module accelerates forward, the pitch of one blade increases, and at the corresponding position of 180 degrees, the pitch of the other blade decreases; the electronic speed regulator adds a pulse signal of a sinusoidal component to modulate the torque applied to the motor during the rotation of the motor, and the lead-lag variable pitch blade clamp continuously makes a lead-lag periodic swing in each circle; the periodic pitch control is approximately simulated by changing the amplitude and phase offset angle of the above-mentioned sinusoidal component; one end of the lead-lag variable pitch blade clamp is connected to the The swinging connection is ball-jointed; the middle part of the lead-lag variable pitch propeller clamp is an arc-shaped slider structure; one end face of the swinging connection is an arc-shaped slide groove structure; the arc-shaped slider of the lead-lag variable pitch propeller clamp is slidably constrained by the arc-shaped slide groove of the swinging connection; the blades make lead-lag movements, driving the lead-lag variable pitch propeller clamp to slide along the arc-shaped slide groove on the swinging connection; when the lead-lag variable pitch propeller clamp slides along the arc-shaped slide groove, the arc-shaped slide groove changes the pitch of the blades; the power module is any one of direct drive or reduction drive, electric or oil-driven, dual-power or single-power power modules.

2. A single-propeller 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 the servo-less variable-pitch rotor system module as claimed in claim 1.

3. A single-propeller helicopter according to claim 2, characterized in that: The power module is any one of a direct drive or a reduction drive, an electric or an oil drive, a dual power or a single power module.

4. A coaxial double-deck variable pitch helicopter, characterized in that: The coaxial double-layer variable pitch helicopter is equipped with two sets of servo-free variable pitch rotor system modules as claimed in claim 1; the two sets of servo-free variable pitch rotor system modules are assembled in a coaxial manner.

5. A coaxial double-deck variable pitch helicopter according to claim 4, characterized in that: The coaxial assembly method is any one of the following three combinations and a total of 4 forms:

1. Both power modules are external; 2. Both power modules are centrally located; 3. One set of power modules is placed in the middle, and the other set of power modules is placed on the top; 4. One set of power modules is placed in the middle, and the other set of power modules is placed at the bottom; The power module is any one of direct drive or reduction drive, electric or oil drive, dual power or single power module; in a set of coaxial models, the central axis is two independent axes, or an integrated axis.

6. A coaxial single-deck variable pitch helicopter, characterized in that: The coaxial single-layer variable pitch helicopter comprises two sets of rotor modules; the two sets of rotor modules are assembled in a coaxial manner; one set is configured as the servo-free variable pitch rotor system module as claimed in claim 1, and the other set of rotor system is a fixed-axis non-variable pitch rotor system; the fixed-axis non-variable pitch rotor system comprises a central axis, a power module, a propeller hub assembly integral part, a propeller clamp, and a blade; wherein the central axis is fixedly connected to the power module base; the torque output end of the power module is connected to the propeller clamp assembly integral part, one end of the propeller clamp is hinged to one end of the propeller clamp assembly integral part, and the other end is hinged to the rotor root.

7. The coaxial single-deck variable pitch helicopter according to claim 6, further characterized in that: The coaxial assembly method is any one of the following four combinations of 8 forms:

1. Both power modules are external, and the fixed-axis variable-pitch rotor module is on top; 2. Both power modules are external, and the fixed-axis variable-pitch rotor module is placed below; 3. Both power modules are placed in the middle, and the fixed-axis variable-pitch rotor module is placed on the top; 4. Both power modules are placed in the middle, and the fixed-axis variable-pitch rotor module is placed at the bottom; 5. The power module of the fixed-axis non-variable-pitch rotor system is centrally located, while the power module of the fixed-axis variable-pitch rotor module is upper-located; 6. The power module of the fixed-axis non-variable-pitch rotor system is placed in the middle, and the power module of the fixed-axis variable-pitch rotor module is placed at the bottom; 7. The power module of the fixed-axis variable-pitch rotor module is centrally located, while the power module of the fixed-axis non-variable-pitch rotor system is upper-located; 8. The power module of the fixed-axis variable-pitch rotor module is centrally located, while the power module of the fixed-axis non-variable-pitch rotor system is downwardly located.

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

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

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