A multi-gap flexible attitude adjustment mechanism for a rotary-wing aircraft and a rotary-wing aircraft

Abstract

The present invention relates to the technical field of aircraft, and discloses a multi-gap flexible attitude adjustment mechanism for a rotary-wing aircraft and a rotary-wing aircraft. The multi-gap flexible attitude adjustment mechanism is installed between the motor mounting platform and the servo mounting platform of the rotary-wing aircraft, and includes a mechanism body. A columnar cavity that penetrates up and down is provided in the Z direction of the mechanism body. A first cut-out and a second cut-out are symmetrically provided in two orthogonal directions of the X direction and the Y direction of the mechanism body respectively. The first cut-out and the second cut-out are arranged in a vertically offset manner to form a multi-layer structural feature; the remaining material of each layer after cutting forms a connecting boss. Compared with the prior art, the present invention overcomes the problems of many components and complex assembly of the traditional attitude adjustment mechanism of the rotary-wing aircraft; it has the technical advantages of low cost and low maintenance cost, providing the possibility for large-scale manufacturing and equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and particularly to a multi-gap flexible attitude adjustment mechanism for a rotorcraft and a rotorcraft. Background Art

[0002] Micro Air Vehicles (MAVs) have the advantages of small size and low cost, and are suitable for distributed strikes and large-scale cluster operations. In the context where the enemy's defense system is constantly upgraded and time-sensitive targets are difficult to track, strike, and locate due to the complex combat environment, it is necessary to conduct coordinated operations with multiple micro air vehicles, distribute combat elements, and form a powerful combat group with low-cost individuals to jointly strike time-sensitive targets on the basis of task information sharing. This requires the aircraft to be able to quickly and flexibly reach the target task point after obtaining the task information. Micro rotorcraft have attracted extensive attention from researchers due to their characteristics such as rapid vertical takeoff and landing, hovering in the air, and rapid maneuverability in areas with complex terrain.

[0003] Analyzed from the principle of adjusting the tilt angle of the Tip Path Plane (TPP), the attitude adjustment mechanisms of micro rotorcraft can be divided into two major categories: indirect type and direct type. Typical indirect attitude adjustment mechanisms mainly include a swashplate and an electric control rotor. Currently, the swashplate is maturely designed and is the main mechanism for rotorcraft to adjust flight attitudes. However, the components of this type of mechanism are complex and the assembly is cumbersome, and it is prone to failure when used in micro rotorcraft; to solve these problems, some researchers have designed a flexible hinge to replace the function of the swashplate. Although the structure is simple, the corresponding control algorithm is complex, and currently, the attitude control parameters of the aircraft can only be determined through experimental means. At the same time, a large number of researchers have carried out research on electric control rotors without a swashplate. In the design process of electric control rotors, the key design parameters have a significant impact on the performance of electric control rotors, and the flap control amount required for the trim of electric control rotors is relatively large, which is not suitable for micro rotorcraft. Opposite to the indirect attitude adjustment mechanism is the direct attitude adjustment mechanism. Most of the direct attitude adjustment mechanisms currently used on rotorcraft achieve the change of the tilt angle of the Tip Path Plane (TPP) through a universal joint, and a complex transmission system is required between the power source and the universal joint to transmit torque, which is difficult to implement on micro rotorcraft with requirements of light weight and small size.

[0004] Therefore, affected by problems such as the composition of typical attitude adjustment mechanisms and the complexity of control algorithms, it is a problem whether the currently common typical attitude adjustment mechanisms can be applied to micro rotorcraft.

[0005] It should be noted that the content recorded in the background art is made by the inventor based on his own technical level, knowledge level and retrieval ability, and is only for reference. Moreover, the content recorded in the background art is not necessarily all prior art, nor does it mean that the content in the background art is accurate and objective; all of these do not affect those skilled in the art to implement the present invention according to the specific embodiments hereinafter. Summary of the Invention

[0006] The purpose of the present invention is to provide a multi-gap flexible attitude adjustment mechanism with parts not easily worn and without complex control algorithms, to solve one or more technical problems existing in the prior art, and at least provide a beneficial choice or create conditions.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions.

[0008] A multi-gap flexible attitude adjustment mechanism for a rotary-wing aircraft, applicable to micro and small rotary-wing aircraft, is installed between the motor mounting platform and the servo mounting platform of the micro and small rotary-wing aircraft, and includes a mechanism body. A columnar cavity penetrating up and down is provided in the Z direction of the mechanism body, and a first cut groove and a second cut groove are symmetrically provided in two orthogonal directions of the X direction and the Y direction of the mechanism body respectively. The first cut groove and the second cut groove are arranged in a vertically offset manner to form a multi-layer structural feature; the remaining material of each layer after cutting forms a connecting boss.

[0009] More preferably, the mechanism body is made of a material that can generate deformation when a force is applied and can automatically reset after the force is removed.

[0010] More preferably, the mechanism body can be made of flexible materials such as rubber, plastic or metal.

[0011] More preferably, the mechanism body is a cylinder, the columnar cavity is a cylindrical cavity and is located at the center of the mechanism body; the first cut groove and the second cut groove are arc-shaped grooves with the same size.

[0012] More preferably, the multi-gap flexible attitude adjustment mechanism has two or more groups of the first cut grooves and two or more groups of the second cut grooves, and the number of groups of the first cut grooves and the second cut grooves is equal.

[0013] More preferably, the total height of the mechanism body is 14 mm, the outer diameter is 28 mm, the diameter of the columnar cavity is 13 mm, the cutting depths of the first cut groove and the second cut groove are both 12 mm, the height of the connecting boss is 2 mm, and the thickness of each layer of the deformation area is 1 mm.

[0014] More preferably, the rotor diameter of the micro and small rotary-wing aircraft does not exceed 100 cm.

[0015] As another aspect of the present invention, there is also provided a rotary-wing aircraft having a multi-gap flexible attitude adjustment mechanism for a rotary-wing aircraft as described above.

[0016] More preferably, the bottom of the mechanism body is connected to the servo mounting platform, the servo is mounted below the servo mounting platform, the top of the mechanism body is connected to the motor mounting platform, the motor is mounted above the motor mounting platform, and the upper end of the motor is connected to the rotor. The rotation speed of the rotor is controlled by controlling the rotation speed of the motor; the servo is connected to the motor mounting platform through an attitude adjustment rope.

[0017] More preferably, there are two pairs of the attitude adjustment ropes, which are respectively arranged corresponding to the X direction and the Y direction. The two paired attitude adjustment ropes are symmetrically arranged on both sides of the mechanism body; a corresponding servo is provided for each pair of attitude adjustment ropes.

[0018] When adjusting the attitude of the rotary-wing aircraft, the servo pulls the attitude adjustment rope to realize the flexible and controllable deformation of the multi-gap flexible attitude adjustment mechanism, and further realizes the controllable tilt of the tip path plane (TPP), thereby playing a role in adjusting and controlling the attitude of the micro rotary-wing aircraft.

[0019] The technical solution provided by the present invention has at least the following technical effects or advantages.

[0020] Compared with the prior art, a multi-gap flexible attitude adjustment mechanism for a rotary-wing aircraft provided by the present invention is composed of a single material, without moving parts, and only needs to be fixed to the mounting platforms of the motor and the servo through bolts, simplifying the problems of many parts and complex assembly of the traditional attitude adjustment mechanism of the rotary-wing aircraft; at the same time, due to the small number of parts of this mechanism and no relative movement, the problems of serious wear of many key parts and high maintenance cost of the traditional attitude adjustment mechanism are solved, realizing the technical advantages of low cost and low maintenance cost of the micro rotary-wing aircraft, and providing the possibility for large-scale manufacturing and equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The figure shows a schematic structural diagram of the multi-gap flexible attitude adjustment mechanism provided by the present invention.

[0022] Figure 2 The figure shows another schematic structural diagram of the multi-gap flexible attitude adjustment mechanism provided by the present invention.

[0023] Figure 3 The figure shows Figure 2 a side view of

[0024] Figure 4 The figure shows a schematic structural diagram of the rotary-wing aircraft provided by the present invention.

[0025] Description of the reference numerals.

[0026] 1: Mechanism body, 2: Servo mounting platform, 3: Servo, 4: Motor mounting platform, 5: Motor, 6: Rotor, 7: Attitude adjustment rope.

[0027] 1-1: columnar cavity, 1-2: first groove, 1-3: second groove, 1-4: connecting boss. DETAILED DESCRIPTION

[0028] The following is a further description of the specific implementation of the present invention in conjunction with the drawings of the specification, so that the technical solution and its beneficial effects of the present invention are clearer and more explicit. The following description of the embodiments with reference to the drawings is exemplary and intended to explain the present invention, but cannot be understood as limiting the present invention.

[0029] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention.

[0030] like Figure 1 As shown, a multi-gap flexible attitude adjustment mechanism for a rotorcraft is installed between a motor mounting platform and a servo mounting platform of the rotorcraft, and comprises a mechanism body 1. A columnar cavity 1-1 penetrating vertically is provided at the center position of the mechanism body 1 in the Z direction, and the structural mass can be reduced by connecting cables required for the motor and the servo. A first groove 1-2 and a second groove 1-3 are symmetrically provided in two orthogonal directions, the X direction and the Y direction, respectively, of the mechanism body 1. The first groove 1-2 and the second groove 1-3 are staggered vertically to form a multi-layer structural feature. The remaining material of each layer after grooving constitutes a connecting boss 1-4. Compared with the grooved area, the connecting boss 1-4 is extremely deformed under the action of load and can be ignored, so it is regarded as a rigid body.

[0031] Among them, the mechanism body 1 is a cylinder, the columnar cavity 1-1 that runs through the upper and lower sides of the mechanism body 1 is a cylindrical cavity, and the first groove 1-2 and the second groove 1-3 are arc grooves of the same size. In this way, it is not only convenient to install the multi-gap flexible posture adjustment mechanism, but also can ensure the uniformity of the force deformation of the mechanism body 1 in the X and Y directions to the maximum extent, thereby facilitating the force design and precision control during posture adjustment. Obviously, those skilled in the art can also set the mechanism body 1 to other shapes such as prisms and elliptical columns according to different actual needs; it is not limited to this embodiment.

[0032] It should be noted that in the present invention, the number and dimensions (geometric parameters) of the first cut groove 1-2 and the second cut groove 1-3 are appropriately adjusted according to the different materials actually used for the mechanism body 1, as long as it can achieve controllable deformation by applying force, and then achieve the purpose of tilting adjustment of the blade tip plane (TPP). In order to achieve a sufficient tilting angle, the number of the first cut groove 1-2 and the second cut groove 1-3 can be increased according to the actually used materials and the expected tilting angle.

[0033] As Figure 2 , Figure 3 shown, a multi-gap flexible attitude adjustment mechanism for a rotary-wing aircraft has two sets of first cut grooves 1-2 and two sets of second cut grooves 1-3, and the mechanism body 1 is made of PA6 material (nylon 6). The total height h of the mechanism body 1 is 14 mm, the outer diameter d2 is 28 mm, the diameter d1 of the cylindrical cavity 1-1 is 13 mm, the cut groove depth d is 12 mm, the height h1 of the connecting boss 1-4 obtained by cutting the groove is 2 mm, and the thickness h2 of each layer of the deformation area is 1 mm. Through actual testing, this multi-gap flexible attitude adjustment mechanism can meet the attitude adjustment application requirements of micro rotary-wing aircraft with a rotor diameter of 30 cm, a weight of 500 grams, and a load weight within 200 grams.

[0034] Obviously, the manufacturing material of the mechanism body 1 is not limited to the above-exemplified PA6 material, and can also be other flexible materials such as existing known or future achievable metals, plastics, rubbers, etc., as long as this material has a certain rigidity, and applying force can cause deformation (such as stretching, bending, torsion) and can automatically reset after the applied force is removed (deformation without losing performance).

[0035] Combined with Figure 4 shown, it is a schematic diagram of a rotary-wing aircraft applying the above multi-gap flexible attitude adjustment mechanism. It can be seen from this figure that during actual application, the bottom of the mechanism body 1 is connected to the servo mounting platform 2 by bolts, the servo 3 is installed below the servo mounting platform 2, the top of the mechanism body 1 is connected to the motor mounting platform 4 by bolts, the motor 5 is installed above the motor mounting platform 4, and the upper end of the motor 5 is connected to the rotor 6. The rotation speed of the rotor 6 is controlled by controlling the rotation speed of the motor 5; the servo mounting platform 2 is connected to the motor mounting platform 4 by the attitude adjustment rope 7.

[0036] In this embodiment, there are two pairs of the attitude adjustment ropes 7, which are respectively arranged corresponding to the X direction and the Y direction, and the two paired attitude adjustment ropes 7 are symmetrically arranged on both sides of the mechanism body 1; a corresponding servo 3 is provided for each pair of attitude adjustment ropes 7. The principle of attitude adjustment for the rotary-wing aircraft is as follows: By pulling the attitude adjustment rope 7 through the servo 3, the flexible controllable deformation of the middle multi-gap flexible dexterous attitude adjustment mechanism is realized, and then the controllable tilt of the blade tip plane (TPP) is realized, so as to play a role in adjusting and controlling the attitude of the micro rotary-wing aircraft.

[0037] Compared with the prior art, a multi-gap flexible attitude adjustment mechanism for a rotorcraft provided by the present invention is composed of a single material as a whole, without moving parts, and only needs to be fixed to the installation platforms of the motor and the servo by bolts, simplifying the problems of numerous parts and complex assembly of the traditional attitude adjustment mechanism of the rotorcraft. At the same time, due to the small number of parts of this mechanism and the absence of relative movement, the problems of severe wear of many key parts of the traditional attitude adjustment mechanism and high maintenance costs are solved, realizing the technical advantages of low cost and low maintenance cost of the micro-rotorcraft, and providing the possibility for large-scale manufacturing and equipment.

[0038] In addition, it should be noted that in the description of the present invention, for orientation terms, if there are terms such as "center", "horizontal", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation and position relationship is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific protection scope of the present invention.

[0039] In addition, if there are terms such as "first" and "second", they are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "at least" is one or more than one, unless otherwise specifically defined.

[0040] In the present invention, unless otherwise clearly specified and defined, if there are terms such as "assembled", "connected", "joined", they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can also be a mechanical connection; it can be directly connected, or connected through an intermediate medium, and can be internally connected and communicated between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0041] In an invention, unless otherwise specified or limited, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but are in contact through additional features therebetween. Moreover, the first feature being "above", "below", and "on top of" the second feature includes the first feature being directly above and diagonally above the second feature, or simply indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "above", "below", and "beneath" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the horizontal height of the first feature is lower than that of the second feature.

[0042] Through the above description of the structure and principle, those skilled in the art should understand that the present invention is not limited to the above specific embodiments. Improvements and substitutions using well-known techniques in the art based on the present invention fall within the protection scope of the present invention. The protection scope of the present invention shall be defined by each claim item and its equivalents. Those parts not described in the specific embodiments are all prior art or common general knowledge.

Claims

1. A multi-gap flexible attitude adjustment mechanism for a rotary-wing aircraft, applicable to micro and small rotary-wing aircraft with a rotor diameter not exceeding 100 cm, installed between the motor mounting platform and the servo mounting platform of the micro and small rotary-wing aircraft, including a mechanism body, characterized in that, A columnar cavity that penetrates up and down is provided in the Z direction of the mechanism body. A first groove and a second groove are symmetrically provided in two orthogonal directions of the X direction and the Y direction of the mechanism body respectively. The first groove and the second groove are arranged in a vertically offset manner to form a multi-layer structural feature; the remaining material of each layer after grooving constitutes a connecting boss; the mechanism body is a cylinder, the columnar cavity is a cylindrical cavity and is located at the center of the mechanism body; the first groove and the second groove are arc-shaped grooves with the same size; the mechanism body is made of a flexible material that can deform under the action of an applied force and can automatically reset after the applied force is removed, and the connecting boss is regarded as a rigid body under the action of a load compared with the grooved area.

2. The multi-gap flexible attitude adjustment mechanism for a rotorcraft according to claim 1, wherein The mechanism body is made of rubber, plastic or metal material.

3. The multi-gap flexible attitude adjustment mechanism for a rotorcraft according to claim 1, characterized in that, The multi-gap flexible attitude adjustment mechanism has more than two groups of the first grooves and more than two groups of the second grooves, and the number of groups of the first grooves and the second grooves is equal.

4. The multi-gap flexible attitude adjustment mechanism for a rotorcraft according to claim 1, characterized in that, The total height of the mechanism body is 14 mm, the outer diameter is 28 mm, the diameter of the columnar cavity is 13 mm, the grooving depths of the first groove and the second groove are both 12 mm, the height of the connecting boss is 2 mm, and the thickness of each layer of the deformation area is 1 mm.

5. A rotorcraft, characterized in that, There is a multi-gap flexible attitude adjustment mechanism for a rotorcraft as described in any one of claims 1-4.

6. A rotorcraft according to claim 5, wherein, The bottom of the mechanism body is connected to the servo mounting platform. The servo is installed below the servo mounting platform. The top of the mechanism body is connected to the motor mounting platform. The motor is installed above the motor mounting platform, and the upper end of the motor is connected to the rotor. The rotation speed of the rotor is controlled by controlling the rotation speed of the motor; the servo is connected to the motor mounting platform through an attitude adjustment rope.

7. A rotorcraft according to claim 6, characterized in that, There are two pairs of the attitude adjustment ropes, which are respectively arranged corresponding to the X direction and the Y direction. The two paired attitude adjustment ropes are symmetrically arranged on both sides of the mechanism body; a corresponding servo is provided for each pair of attitude adjustment ropes; When adjusting the attitude of the rotorcraft, the servo pulls the attitude adjustment rope to realize the flexible and controllable deformation of the multi-gap flexible attitude adjustment mechanism, and further realizes the controllable tilt of the blade tip plane (TPP), so as to play a role in adjusting and controlling the attitude of the micro rotorcraft.

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