A quad-rotor control coaxial rotor system

Abstract

The application provides a four-rudder control coaxial rotor system, which comprises a rotor shaft, an upper rotor and a lower rotor installed on the rotor shaft, a gear box arranged on the rotor shaft, the gear box being located below the lower rotor, a first control mechanism for controlling the movement of the upper rotor to make the aircraft produce pitching movement and a second control mechanism for controlling the movement of the lower rotor to make the aircraft produce aileron movement, the first control mechanism being located between the gear box and the aircraft, the second control mechanism being located between the gear box and the lower rotor, and the first control mechanism comprising an upper tilt disc, a first rudder set and an upper variable-pitch pull rod. The application has the functions of using two sets of rudders to make the aircraft achieve elevator, forward flight and left-right steering, the rotor control functions are distinct and do not interfere with each other, the rotor control efficiency is improved, the structural complexity is reduced, the overall reliability of the device is improved, and the device is easy to maintain.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coaxial dual-rotor aircraft, in particular to a four-rudder control coaxial rotor system. BACKGROUND

[0002] The coaxial dual-rotor aircraft balances the counter torques generated by the up and down rotors, so that it does not need to provide a balance torque by a tail rotor. Compared with single-rotor helicopters and multi-rotor helicopters, the coaxial dual-rotor aircraft has a smaller volume. For multi-rotor aircraft, the coaxial dual-rotor aircraft also has a higher energy utilization rate, so it is increasingly important in many application fields such as aerial photography, aerial surveillance, and heavy load transportation.

[0003] Although the coaxial dual-rotor aircraft has many advantages, the disclosed coaxial aircraft uses a simple single-layer cyclic pitch mechanism, which results in insufficient flight control and poor wind resistance. Or the other disclosed common three-rudder coaxial aircraft has a pitch control mechanism in which two sets of three-rudders are installed on the rotor shaft at intervals, each rudder is connected to an upper tilt disc / lower tilt disc through a pitch rod, and the upper tilt disc / lower tilt disc is connected to an upper rotor / lower rotor through a corresponding transmission rod, so as to realize transmission, that is, two sets of three-rudders are used to control the upper and lower tilt discs, so as to control the upper and lower rotors. However, the three-rudder tilt disc control has the functions of blade pitch and roll control, the two sets of structures will cause functional repetition, the structure is relatively complex, the reliability is poor, and it is not easy to maintain and maintain. SUMMARY

[0004] In view of the problems in the prior art, the four-rudder control coaxial rotor system is provided, which solves the problems in the prior art that two sets of three-rudders are used to control the upper and lower tilt discs, so as to control the upper and lower rotors. However, the three-rudder tilt disc control has the functions of blade pitch and roll control, the two sets of structures will cause functional repetition, the structure is relatively complex, the reliability is poor, and it is not easy to maintain and maintain.

[0005] According to an embodiment of the present application, a four-rudder control coaxial rotor system includes a rotor shaft, an upper rotor and a lower rotor installed on the rotor shaft, a gear box provided on the rotor shaft, the gear box being located below the lower rotor, a first control mechanism for controlling the movement of the upper rotor to generate the pitch movement of the aircraft and a second control mechanism for controlling the movement of the lower rotor to generate the roll movement of the aircraft, the first control mechanism being located between the gear box and the aircraft, and the second control mechanism being located between the gear box and the lower rotor.

[0006] The first steering mechanism comprises an upper tilting disc, a first steering gear assembly and an upper variable-pitch pull rod, the upper variable-pitch pull rod is arranged through the rotor shaft, the top end of the upper variable-pitch pull rod is connected with the upper rotor, the bottom end of the upper variable-pitch pull rod is connected with the upper tilting disc, the first steering gear assembly comprises two upper linear steering gears, the two upper linear steering gears are symmetrically arranged above the upper tilting disc, one end of the upper linear steering gear is installed on the lower end surface of the gear box, the telescopic end of the upper linear steering gear is connected with the upper tilting disc, so that the upper tilting disc can be tilted, flipped or lifted along the plane Y1 composed of the vertical center lines of the two upper linear steering gears, a first limiting assembly and an upper tilting disc limiting plate are arranged between the upper tilting disc and the gear box for limiting the movement range of the upper tilting disc.

[0007] The second steering mechanism comprises a lower tilting disc and a second steering gear assembly, the lower tilting disc is installed on the rotor shaft, the second steering gear assembly comprises two lower linear steering gears, the two lower linear steering gears are symmetrically arranged below the lower tilting disc, one end of the lower linear steering gear is installed on the upper end surface of the gear box, the telescopic end of the lower linear steering gear is connected with the lower tilting disc, so that the lower tilting disc can be tilted, flipped or lifted along the plane Y2 composed of the vertical center lines of the two lower linear steering gears, the plane Y1 and the plane Y2 are perpendicular to each other, the lower tilting disc is connected with the lower rotor through a lower transmission rod, a second limiting assembly and a lower tilting disc limiting plate are arranged between the lower tilting disc and the gear box for limiting the movement range of the lower tilting disc.

[0008] Further, a connecting rod is arranged radially in the upper tilting disc, the two ends of the connecting rod are respectively connected with the inner wall of the upper tilting disc, the axis of the connecting rod is perpendicular to the plane Y1, the upper variable-pitch pull rod comprises two upper variable-pitch pull rods, the two upper variable-pitch pull rods are symmetrically arranged, and the bottom ends of the two upper variable-pitch pull rods are respectively hinged with the connecting rod.

[0009] Further, one end of the upper tilting disc limiting plate is fixedly installed on the lower end surface of the gear box, the other end of the upper tilting disc limiting plate is vertically downward to form a suspended end, the suspended end of the upper tilting disc limiting plate is provided with a limiting groove for the upper tilting disc limiting rod, one end of the lower tilting disc limiting plate is fixedly installed on the upper end surface of the gear box, the other end of the lower tilting disc limiting plate is vertically upward to form a suspended end, the suspended end of the lower tilting disc limiting plate is provided with a limiting groove for the lower tilting disc limiting rod.

[0010] Further, an upper limiting arm fixing frame is arranged between the gear box and the upper tilting disc, the upper limiting arm fixing frame is installed on the rotor shaft, the upper limiting arm fixing frame, the upper tilting disc and the two upper linear steering gears jointly form an installation space for installing the first limiting assembly, the first limiting assembly comprises two upper torsion arm limiting assemblies which are symmetrically arranged, the top end and the bottom end of the upper torsion arm limiting assembly are respectively installed and connected on the upper limiting arm fixing frame and the upper tilting disc.

[0011] Further, the upper torsion arm limiting group comprises an upper limiting torsion arm A and an upper limiting torsion arm B, both of which are H-shaped, and the upper limiting torsion arm A is located above the upper limiting torsion arm B, the bottom ends of the two vertical sections of the upper limiting torsion arm A are hingedly connected to the top ends of the two vertical sections of the upper limiting torsion arm B, and the top ends of the two vertical sections of the upper limiting torsion arm A are hingedly connected to the upper limiting arm fixing frame, and the bottom ends of the two vertical sections of the upper limiting torsion arm B are hingedly connected to the upper inclined disc.

[0012] Further, the upper linear actuator telescopic end is hingedly connected to the upper inclined disc, the hinged axis between the upper limiting torsion arm A and the upper limiting torsion arm B is parallel to the hinged axis between the upper linear actuator and the upper inclined disc, and both are perpendicular to the plane Y1.

[0013] Further, a lower limiting arm fixing frame is arranged between the gear box and the lower inclined disc, the lower limiting arm fixing frame is mounted on the rotor shaft, and the lower limiting arm fixing frame, the lower inclined disc and the two lower linear actuators jointly form a mounting space for mounting a second limiting assembly, the second limiting assembly comprises two symmetrical lower torsion arm limiting groups, and the top ends and bottom ends of the lower torsion arm limiting groups are respectively mounted and connected to the lower inclined disc and the lower limiting arm fixing frame.

[0014] Further, the lower torsion arm limiting group comprises a lower limiting torsion arm A and a lower limiting torsion arm B, both of which are H-shaped, and the lower limiting torsion arm A is located above the lower limiting torsion arm B, the bottom ends of the two vertical sections of the lower limiting torsion arm A are hingedly connected to the top ends of the two vertical sections of the lower limiting torsion arm B, and the top ends of the two vertical sections of the lower limiting torsion arm A are hingedly connected to the lower inclined disc, and the bottom ends of the two vertical sections of the lower limiting torsion arm B are hingedly connected to the lower limiting arm fixing frame.

[0015] Further, the lower linear actuator telescopic end is hingedly connected to the lower inclined disc, the hinged axis between the lower limiting torsion arm A and the lower limiting torsion arm B is parallel to the hinged axis between the lower linear actuator and the lower inclined disc, and both are perpendicular to the plane Y2.

[0016] The technical principle of the present application is as follows: the upper tilting disc is installed at the lower end of the gear box and connected with two upper linear servo motors, the tilting movement of the upper tilting disc on the plane Y1 is controlled through the two upper linear servo motors, thereby the movement of the upper rotor is controlled through the upper variable-pitch pull rod to make the aircraft generate the pitching movement; the lower tilting disc is installed at the upper end of the gear box and connected with two lower linear servo motors, the tilting movement of the lower tilting disc on the plane Y2 is controlled through the two lower linear servo motors, thereby the movement of the lower rotor is controlled to make the aircraft generate the aileron movement, wherein the plane Y1 and the plane Y2 are both vertical planes and perpendicular to each other. The upper and lower two sets of tilting discs can be lifted along the vertical direction under the control of the linear servo motors to jointly complete the total pitch change of the aircraft, so that the helicopter can perform the straight-up and straight-down movement; the lower tilting disc keeps the horizontal stable state, and the upper tilting disc tilts forward or backward on the plane Y1, so that the aircraft can perform the forward flight or backward flight movement; the upper tilting disc keeps the horizontal stable state, and the lower tilting disc tilts left or right on the plane Y2, so that the aircraft can perform the left translation or right translation movement; the upper tilting disc keeps the forward tilting state on the plane Y1, and the lower tilting disc tilts left or right on the plane Y2, so that the aircraft performs the rolling movement. In order to prevent the tilting disc from moving beyond the movement range, the tilting disc limiting plate and the limiting assembly are used for limiting.

[0017] Compared with the prior art, the present application has the following beneficial effects: the variable-pitch control mechanism is changed to use two sets of two servo motors to control the upper and lower two tilting discs, thereby controlling the upper and lower two rotors. One set of servo motor controls the pitching control of the aircraft, and the other set of servo motor controls the rolling control of the aircraft, the cooperation of the two sets of servo motors makes the aircraft achieve the functions of the elevator, the forward flight and the left and right turning, the rotor control functions are clear and do not interfere with each other, the rotor control efficiency is improved, the structural complexity is reduced, the overall reliability of the device is improved, and the device is easy to maintain. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the present application.

[0019] Figure 2 It is a perspective view of the present application.

[0020] Figure 3 It is a partial exploded view of Figure 2 .

[0021] Figure 4 It is a sectional view of Figure 1 A-A.

[0022] Figure 5 It is a sectional view of Figure 4 B-B.

[0023] Figure 6 It is a partial enlarged view of 4.

[0024] In the above attached figures: 110, upper linear servo; 120, lower swashplate; 130, upper swashplate; 140, lower drive rod; 150, upper pitch control rod; 160, rotor shaft; 170, upper drive rod; 180, lower linear servo; 190, connecting rod; 210, upper swashplate limit plate; 220, gearbox; 230, lower limit torque arm A; 240, lower limit torque arm B; 250, upper limit torque arm A; 260, upper limit torque arm B; 270, lower limit arm mounting bracket; 280, upper limit arm mounting bracket; 290, lower swashplate limit plate; 310, upper rotor; 320, lower rotor. Detailed Implementation

[0025] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] like Figures 1-5 As shown in the figure, this embodiment of the invention proposes a four-servo coaxial rotor system, including a rotor shaft 160, an upper rotor 310 and a lower rotor 320 mounted on the rotor shaft 160. A gearbox 220 is provided on the rotor shaft 160, and the gearbox 220 is located below the lower rotor 320. The rotor shaft 160 is also provided with a first control mechanism for controlling the movement of the upper rotor 310 to produce pitch motion of the aircraft and a second control mechanism for controlling the movement of the lower rotor 320 to produce roll motion of the aircraft. The first control mechanism is located between the gearbox 220 and the aircraft, and the second control mechanism is located between the gearbox 220 and the lower rotor 320.

[0027] The first control mechanism includes an upper swashplate 130, a first servo assembly, and an upper pitch control rod 150. The upper pitch control rod 150 is disposed within the rotor shaft 160. The top end of the upper pitch control rod 150 is connected to the hub of the two blades of the upper rotor 310 via two upper transmission rods 170, and the bottom end of the upper pitch control rod 150 is connected to the upper swashplate 130. The first servo assembly includes two upper linear servos 110, which are symmetrically distributed on the upper swashplate 130. On both sides above the disk 130, the upper linear servo motor 110 is invertedly installed on the lower end face of the gearbox 220. The telescopic end of the upper linear servo motor 110 is connected to the upper tilt disk 130, so that the upper tilt disk 130 can tilt, flip or rise and fall along the plane Y1 formed by the vertical center lines of the two upper linear servo motors 110. The upper tilt disk 130 and the gearbox 220 are respectively provided with a first limiting component and an upper tilt disk limiting plate 210 to limit the upper tilt disk 130 from exceeding the range of motion.

[0028] The second operating mechanism comprises a lower tilting disc 120 mounted on the rotor shaft 160 and a second rudder assembly comprising two lower linear rudders 180 symmetrically arranged on both sides below the lower tilting disc 120, the bottom end of the lower linear rudder 180 is mounted on the upper end surface of the gear box 220, and the telescopic end of the lower linear rudder 180 is connected with the lower tilting disc 120, so that the lower tilting disc 120 can be tilted and turned or lifted along the plane Y2 composed of the vertical center lines of the two lower linear rudders 180, the plane Y1 and the plane Y2 are perpendicular to each other, the lower tilting disc 120 is drivingly connected with the lower rotor 320 through the lower transmission rod 140, and the second limiting assembly for limiting the movement range of the lower tilting disc 120 and the lower tilting disc limiting plate 290 are arranged between the lower tilting disc 120 and the gear box 220 respectively.

[0029] In the embodiment of the application, the gear box 220 is a transmission device for the rotation of the rotor shaft 160, the connection mode of the upper transmission rod 170 with the upper rotor 310 and the connection mode of the lower transmission rod 140 with the lower rotor 320 are both the prior art, and thus will not be described here again, the pitch control operating mechanism is changed to use two sets of two rudders to control the upper and lower tilting discs respectively, so as to control the upper and lower rotors, one set of the rudders controls the pitch of the aircraft, and the other set of the rudders controls the roll of the aircraft, the two sets of rudders are cooperatively controlled to realize the functions of the elevator, the forward flight and the left and right steering, the rotor control functions are clear and do not interfere with each other, the control efficiency of the rotors is improved, the complexity of the structure is reduced, the overall reliability of the device is improved, and the device is easy to maintain.

[0030] As shown in Figure 4 and Figure 6 , the connecting rod 190 is arranged in the radial direction in the upper tilting disc 130, the two ends of the connecting rod 190 are respectively connected with the inner wall of the upper tilting disc 130, the axis of the connecting rod 190 is perpendicular to the plane Y1, the two upper pitch control rods 150 are symmetrically arranged, and the bottom ends of the two upper pitch control rods 150 are respectively hinged with the connecting rod 190, so that when the telescopic ends of the two upper linear rudders 110 are driven to tilt the upper tilting disc 130, the upper tilting disc 130 drives the connecting rod 190 to move, the connecting rod 190 drives the upper pitch control rod 150 to move, and the upper pitch control rod 150 drives the upper transmission rod 170 to move, thereby driving the upper rotor 310 to move.

[0031] As shown in Figure 2 and Figure 3As shown in the drawings, one end of the upper inclined disc limiting plate 210 is fixedly installed on the lower end surface of the gear box 220, and the other end of the upper inclined disc limiting plate 210 is vertically downward to form a suspended end, and the suspended end of the upper inclined disc limiting plate 210 is provided with a limiting groove for the limiting rod of the upper inclined disc 130 to pass through; one end of the lower inclined disc limiting plate 290 is fixedly installed on the upper end surface of the gear box 220, and the other end of the lower inclined disc limiting plate 290 is vertically upward to form a suspended end, and the suspended end of the lower inclined disc limiting plate 290 is provided with a limiting groove for the limiting rod of the lower inclined disc 120 to pass through. In the embodiment of the application, the upper inclined disc limiting plate 210 and the lower inclined disc limiting plate 290 are both provided with a lightening groove to make the equipment lightweight, and the limiting groove extends in the vertical direction, and when the two upper linear servos 110 or the two lower linear servos 180 simultaneously stretch or shrink by the same length, the limiting groove can limit the maximum lifting distance of the two sets of upper and lower inclined discs in the vertical direction, and at the same time, the upper inclined disc limiting plate 210 and the lower inclined disc limiting plate 290 can limit the rotary motion of the two sets of upper and lower inclined discs around the rotor shaft 160, so that the two sets of upper and lower inclined discs do not exceed the motion range.

[0032] As shown in the drawings, Figure 2 and Figure 3 the upper limiting arm fixing frame 280 is installed on the shaft cylinder of the rotor shaft 160, and the upper limiting arm fixing frame 280, the upper inclined disc 130 and the two upper linear servos 110 jointly form a mounting space for mounting a first limiting assembly, the first limiting assembly comprises two symmetrical upper torsion arm limiting groups, and the top end and the bottom end of the upper torsion arm limiting group are respectively installed and connected to the upper limiting arm fixing frame 280 and the upper inclined disc 130.

[0033] As shown in the drawings, Figure 2 and Figure 3 the upper torsion arm limiting group comprises an upper limiting torsion arm A 250 and an upper limiting torsion arm B 260, the upper limiting torsion arm A 250 and the upper limiting torsion arm B 260 are both H-shaped, and the upper limiting torsion arm A 250 is located above the upper limiting torsion arm B 260, the bottom end of the two vertical sections of the upper limiting torsion arm A 250 is hinged to the top end of the two vertical sections of the upper limiting torsion arm B 260, and the top end of the two vertical sections of the upper limiting torsion arm A 250 is hinged to the upper limiting arm fixing frame 280, and the bottom end of the two vertical sections of the upper limiting torsion arm B 260 is hinged to the upper inclined disc 130.

[0034] As shown in the drawings, Figures 1-3 the upper linear servo 110 is hinged to the upper inclined disc 130, the hinge axis between the upper limiting torsion arm A 250 and the upper limiting torsion arm B 260 is parallel to the hinge axis between the upper linear servo 110 and the upper inclined disc 130, and both are perpendicular to the plane Y1.

[0035] In the above embodiment, when the rudder produces different angles of inclination, the paddle also causes different angles of inclination, so the paddle gives the rudder a reaction force, and the upper limit position torsion arm A 250 and the upper limit position torsion arm B 260 can further limit the upper inclined disc 130, that is, limit the maximum inclination angle of the upper inclined disc 130 in the Y1 plane, and the two upper straight rudders 110 are connected to the hinge nodes of the upper inclined disc 130, that is, the m point and the n point of the upper limit position torsion arm A 250 and the upper limit position torsion arm B 260 can limit the rotation movement of the upper inclined disc 130 with the straight line where the m point and the n point are located as the axis, and due to installation requirements, the horizontal section width of the upper limit position torsion arm A 250 is greater than that of the upper limit position torsion arm B 260, and the upper limit position torsion arm A 250 is provided with a weight-reducing groove on the horizontal section, and the weight-reducing groove faces downward, so that rainwater is not accumulated in the weight-reducing groove, and similarly, the lower straight rudder 180, the lower limit position torsion arm A 230, the lower limit position torsion arm B 240 and the lower limit position arm fixing frame 270 above the gear box 220 have the same installation connection mode as the lower straight rudder 180, the lower limit position torsion arm A 230, the lower limit position torsion arm B 240 and the lower limit position arm fixing frame 270 below the gear box 220, and the corresponding elements between them are symmetric about the center of the gear box 220, and the lower limit position torsion arm A 230 and the lower limit position torsion arm B 240 limit the lower inclined disc 120 in the same way as the upper limit position torsion arm A 250 and the upper limit position torsion arm B 260 limit the upper inclined disc 130.

[0036] The principle of the present application is that the upper inclined disc 130 is installed at the lower end of the gear box 220 and connected to the two upper straight rudders 110, the upper inclined disc 130 is controlled to incline in the plane Y1 through the two upper straight rudders 110, so that the upper rotor 310 is controlled to move through the upper variable-pitch pull rod 150, so that the aircraft can produce pitching movement, the lower inclined disc 120 is installed at the upper end of the gear box 220 and connected to the two lower straight rudders 180, the lower inclined disc 120 is controlled to incline in the plane Y2 through the two lower straight rudders 180, so that the lower rotor 320 is controlled to move, so that the aircraft produces aileron movement, wherein the plane Y1 and the plane Y2 are both vertical planes and perpendicular to each other. The two sets of inclined discs can ascend and descend along the vertical direction under the control of the straight rudders, and together complete the total distance change of the aircraft, so that the helicopter can move straight up and straight down; the lower inclined disc 120 remains in a horizontal stable state, and the upper inclined disc 130 is in a forward or backward inclined state in the plane Y1, so that the aircraft can move forward or backward; the upper inclined disc 130 remains in a horizontal stable state, and the lower inclined disc 120 is in a left or right inclined state in the plane Y2, so that the aircraft can move left or right; the upper inclined disc 130 remains in a forward inclined state, and the lower inclined disc 120 is left or right inclined, so that the aircraft performs a rolling movement. In order to prevent the inclined disc from moving beyond the inclination movement range, an inclined disc limiting plate is used for limiting.

[0037] The present application changes the pitch control mechanism to use two sets of two steering machines to control the upper and lower sets of tilt plates, thereby controlling the upper and lower sets of rotors. One set controls the pitch of the aircraft, and the other set controls the roll of the aircraft. The two sets of steering machines work together to achieve the functions of elevators, forward flight, and left and right steering. The rotor control functions are clear and do not interfere with each other, improving the efficiency of rotor control, reducing the complexity of the structure, improving the overall reliability of the device, and being easy to maintain.

[0038] Finally, it should be pointed out that the above examples are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the present application, and they should be covered in the scope of the claims of the present application.

Claims

1. A quadrocopter controlled coaxial rotor system, characterized by: The helicopter includes a rotor shaft (160), an upper rotor (310) and a lower rotor (320) mounted on the rotor shaft (160), a gear box (220) arranged on the rotor shaft (160), the gear box (220) being located below the lower rotor (320), a first control mechanism for controlling the movement of the upper rotor (310) to make the helicopter produce pitching movement and a second control mechanism for controlling the movement of the lower rotor (320) to make the helicopter produce rolling movement, the first control mechanism being located between the gear box (220) and the helicopter, and the second control mechanism being located between the gear box (220) and the lower rotor (320); The first control mechanism includes an upper tilt plate (130), a first steering engine assembly and an upper collective rod (150), the upper collective rod (150) being arranged in the rotor shaft (160), the top end of the upper collective rod (150) being in transmission connection with the upper rotor (310), and the bottom end of the upper collective rod (150) being connected with the upper tilt plate (130), the first steering engine assembly including two upper linear steering engines (110), the two upper linear steering engines (110) being symmetrically distributed above the upper tilt plate (130), one end of the upper linear steering engine (110) being mounted on the lower end surface of the gear box (220), and the telescopic end of the upper linear steering engine (110) being connected with the upper tilt plate (130), so that the upper tilt plate (130) can be tilted, overturned or lifted along the plane Y1 composed of the vertical center lines of the two upper linear steering engines (110), and a first limiting assembly and an upper tilt plate limiting plate (210) are arranged between the upper tilt plate (130) and the gear box (220) to limit the movement range of the upper tilt plate (130); The second control mechanism includes a lower tilt plate (120) and a second steering engine assembly, the lower tilt plate (120) being mounted on the rotor shaft (160), the second steering engine assembly including two lower linear steering engines (180), the two lower linear steering engines (180) being symmetrically distributed below the lower tilt plate (120), one end of the lower linear steering engine (180) being mounted on the upper end surface of the gear box (220), and the telescopic end of the lower linear steering engine (180) being connected with the lower tilt plate (120), so that the lower tilt plate (120) can be tilted, overturned or lifted along the plane Y2 composed of the vertical center lines of the two lower linear steering engines (180), the plane Y1 being perpendicular to the plane Y2, the lower tilt plate (120) being in transmission connection with the lower rotor (320) through a lower transmission rod (140), and a second limiting assembly and a lower tilt plate limiting plate (290) being arranged between the lower tilt plate (120) and the gear box (220) to limit the movement range of the lower tilt plate (120). A connecting rod (190) is arranged radially in the upper inclined disc (130), two ends of the connecting rod (190) are connected with inner walls of the upper inclined disc (130) respectively, and an axis of the connecting rod (190) is perpendicular to the plane Y1, the upper variable-pitch pull rod (150) is two, the two upper variable-pitch pull rods (150) are symmetrically arranged, and bottom ends of the two upper variable-pitch pull rods (150) are hingedly connected with the connecting rod (190) respectively. One end of the upper inclined disc limiting plate (210) is fixedly installed on a lower end surface of the gear box (220), the other end of the upper inclined disc limiting plate (210) is vertically downward to form a suspended end, and the suspended end of the upper inclined disc limiting plate (210) is provided with a limiting groove for the limiting rod of the upper inclined disc (130) to pass through; one end of the lower inclined disc limiting plate (290) is fixedly installed on an upper end surface of the gear box (220), the other end of the lower inclined disc limiting plate (290) is vertically upward to form a suspended end, and the suspended end of the lower inclined disc limiting plate (290) is provided with a limiting groove for the limiting rod of the lower inclined disc (120) to pass through.

2. A quad-rudder controlled coaxial rotor system as in claim 1, wherein: An upper limiting arm fixing frame (280) is arranged between the gear box (220) and the upper inclined disc (130), the upper limiting arm fixing frame (280) is installed on the rotor shaft (160), the upper limiting arm fixing frame (280), the upper inclined disc (130) and the two upper linear servo motors (110) jointly form an installation space for installing a first limiting assembly, the first limiting assembly comprises two symmetrically arranged upper torsion arm limiting groups, top ends and bottom ends of the upper torsion arm limiting groups are respectively installed and connected on the upper limiting arm fixing frame (280) and the upper inclined disc (130).

3. A quad-rudder controlled coaxial rotor system as in claim 2, wherein: The upper torsion arm limiting group comprises an upper limiting torsion arm A (250) and an upper limiting torsion arm B (260), the upper limiting torsion arm A (250) and the upper limiting torsion arm B (260) are both H-shaped, the upper limiting torsion arm A (250) is located above the upper limiting torsion arm B (260), bottom ends of two vertical sections of the upper limiting torsion arm A (250) are hingedly connected with top ends of two vertical sections of the upper limiting torsion arm B (260), top ends of the two vertical sections of the upper limiting torsion arm A (250) are hingedly connected to the upper limiting arm fixing frame (280), and bottom ends of the two vertical sections of the upper limiting torsion arm B (260) are hingedly connected to the upper inclined disc (130).

4. A quad-rudder controlled coaxial rotor system as in claim 3, wherein: The upper linear servo motor (110) is hingedly connected with the upper inclined disc (130) at a telescopic end, a hinging axis between the upper limiting torsion arm A (250) and the upper limiting torsion arm B (260) is parallel to a hinging axis between the upper linear servo motor (110) and the upper inclined disc (130), and both the hinging axes are perpendicular to the plane Y1.

5. A quad-rudder controlled coaxial rotor system as in claim 1, wherein: The gearbox (220) is provided with a lower limiting arm fixing frame (270) between the lower tilt plate (120), the lower limiting arm fixing frame (270) is installed on the rotor shaft (160), the lower limiting arm fixing frame (270), the lower tilt plate (120) and the two lower linear servo mechanisms (180) jointly form a mounting space for mounting a second limiting assembly, the second limiting assembly comprises two symmetrically arranged lower torsion arm limiting groups, the top end and the bottom end of the lower torsion arm limiting group are respectively installed and connected on the lower tilt plate (120) and the lower limiting arm fixing frame (270).

6. A quad-rudder controlled coaxial rotor system as in claim 5, wherein: The lower torsion arm limiting group comprises a lower limiting torsion arm A (230) and a lower limiting torsion arm B (240), the lower limiting torsion arm A (230) and the lower limiting torsion arm B (240) are both H-shaped, the lower limiting torsion arm A (230) is located above the lower limiting torsion arm B (240), the bottom end of the two vertical sections of the lower limiting torsion arm A (230) is respectively hinged with the top end of the two vertical sections of the lower limiting torsion arm B (240), and the top end of the two vertical sections of the lower limiting torsion arm A (230) is hinged on the lower tilt plate (120), the bottom end of the two vertical sections of the lower limiting torsion arm B (240) is hinged on the lower limiting arm fixing frame (280).

7. A quad-rudder controlled coaxial rotor system as in claim 6, wherein: The telescopic end of the lower linear servo mechanism (180) is hinged with the lower tilt plate (120), the hinged axis between the lower limiting torsion arm A (230) and the lower limiting torsion arm B (240) is parallel to the hinged axis between the lower linear servo mechanism (180) and the lower tilt plate (120), and both are perpendicular to the plane Y2.

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