An unmanned helicopter vibration isolation device and unmanned helicopter

Abstract

The application discloses an unmanned helicopter vibration isolation device, which comprises a support rod, a reducer hinge, a frame hinge and an elastic element. The elastic element is arranged between a machine body and a main reducer. One support rod, one reducer hinge and one frame hinge form one vibration isolation group. The unmanned helicopter vibration isolation device comprises four vibration isolation groups. Two parallel vibration isolation groups form one pair. Two pairs of mirror images are distributed on two sides of the machine body. The support rod connects the main reducer and the machine body. Straight lines formed by two ends of the mirror image distributed support rod intersect at one intersection point. Two intersection points formed by the four vibration isolation groups form an axis. The main reducer can swing around the axis. The axial stiffness of the support rod is very high. Therefore, the linear displacement between the main reducer and the machine body is very small. The swing frequency is low. The vibration level of the unmanned helicopter is reduced. The elastic element is arranged between the main reducer and the machine body. The elastic element can isolate the vibration load generated by the main reducer and the machine body. The stability of the unmanned helicopter is improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned helicopter technology, and in particular to an unmanned helicopter vibration isolation device and an unmanned helicopter. Background Technology

[0002] In this era of rapid development of unmanned helicopters, their low-altitude, low-speed performance and vertical takeoff and landing (VTOL) hovering capabilities, unmatched by fixed-wing aircraft, play an irreplaceable role in many fields. However, due to their numerous rotating parts and complex structure, they are constantly subjected to alternating loads from rotating components such as the rotor, tail rotor, engine, and transmission, which cause vibrations in the helicopter's airframe. The vibration level of unmanned helicopters directly affects their safety performance, service life, and the working environment of onboard equipment, and can also cause fatigue damage and destruction to the helicopter's structure. As the demand for unmanned helicopters becomes increasingly widespread, the performance requirements for all aspects of unmanned helicopters are becoming increasingly stringent.

[0003] Therefore, how to reduce the vibration level of unmanned helicopters is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the first objective of the present invention is to provide a vibration isolation device for unmanned helicopters to reduce the vibration level of unmanned helicopters and improve their stability.

[0005] The second objective of this invention is to provide an unmanned helicopter.

[0006] To achieve the first objective mentioned above, the present invention provides the following technical solution:

[0007] A vibration isolation device for unmanned helicopters, used to reduce the vibration level of the main gearbox and fuselage of an unmanned helicopter, includes a strut, a gearbox hinge, a frame hinge, and an elastic element, wherein:

[0008] One end of the strut is hinged to the reducer, and the other end of the strut is hinged to the frame.

[0009] The reducer hinge is used to connect the main reducer;

[0010] The frame hinges are used to connect the machine body;

[0011] The elastic element is arranged between the machine body and the main reducer;

[0012] A strut, a reducer hinge, and a frame hinge constitute a vibration isolation group. The vibration isolation device for unmanned helicopters includes four vibration isolation groups, with two parallel vibration isolation groups forming a pair, and distributed in two pairs mirror images on both sides of the fuselage.

[0013] Preferably, the above-mentioned vibration isolation device for unmanned helicopters further includes a boss and a connector. The boss is arranged on the main reducer, and a first mounting through hole is arranged on the boss. A threaded hole adapted to the first mounting through hole is arranged on the fuselage. The connector passes through the first mounting through hole and the threaded hole to fix the main reducer to the fuselage.

[0014] Preferably, in the above-mentioned vibration isolation device for unmanned helicopters, the elastic element is a rubber pad, which is arranged between the fuselage and the main reducer. The connecting member passes through the first mounting through hole, the rubber pad and the threaded hole to fix the main reducer to the fuselage.

[0015] Preferably, in the above-mentioned vibration isolation device for unmanned helicopters, a second mounting through hole and a first connecting block are arranged on the reducer hinge. The second mounting through hole is used to fix the reducer hinge to the main reducer, and the first connecting block is used to fix the reducer hinge to the support rod.

[0016] Preferably, in the above-mentioned vibration isolation device for unmanned helicopters, a mounting plate adapted to the main reducer is arranged on the side of the reducer hinge near the main reducer.

[0017] Preferably, in the above-mentioned vibration isolation device for unmanned helicopters, a third mounting through hole and a second connecting block are arranged on the frame hinge. The third mounting through hole is used to fix the frame hinge to the body, and the second connecting block is used to fix the frame hinge to the support rod.

[0018] Preferably, in the above-mentioned vibration isolation device for unmanned helicopters, the two ends of the strut are respectively provided with a first fixing hole and a second fixing hole, the first fixing hole is adapted to the first connecting block, and the second fixing hole is adapted to the second connecting block.

[0019] Preferably, in the above-mentioned vibration isolation device for unmanned helicopters, the struts are arc-shaped, and the straight lines connecting the two ends of the two struts of the two mirror-distributed vibration isolation groups intersect at a single intersection point. The two intersection points formed by the four vibration isolation groups form an axis, which is located above the center of mass of the main reducer. Preferably, in the above-mentioned vibration isolation device for unmanned helicopters, the reducer hinge is connected to the main reducer by bolts and nuts, the frame hinge is connected to the fuselage by bolts and nuts, the first fixing hole is connected to the first connecting block by bolts and nuts, and the second fixing hole is connected to the second connecting block by bolts and nuts.

[0020] To achieve the second objective mentioned above, the present invention provides the following technical solution:

[0021] An unmanned helicopter includes a main reducer, a fuselage, and an unmanned helicopter vibration isolation device of any one of the above.

[0022] The vibration isolation device for unmanned helicopters provided by this invention uses two parallel vibration isolation groups as a pair, distributed in two mirror images on both sides of the helicopter body. The struts in the vibration isolation groups connect the main reducer to the helicopter body. The straight lines connecting the two ends of the two struts of the two mirror images of the vibration isolation groups intersect at a point. The two intersection points formed by the four vibration isolation groups form an axis located above the center of mass of the main reducer. The main reducer can swing around this axis because the axial stiffness of the struts is very high. Therefore, the linear displacement between the main reducer and the helicopter body is very small, and the frequency of the swing generated by the main reducer and the helicopter body is low, reducing the vibration level of the unmanned helicopter. At the same time, elastic elements are arranged between the main reducer and the helicopter body to isolate the vibration load generated by the main reducer and the helicopter body, further improving the stability of the unmanned helicopter. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of the vibration isolation device for unmanned helicopters disclosed in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the vibration isolation group of the vibration isolation device for unmanned helicopters disclosed in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the strut structure disclosed in an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of the reducer hinge disclosed in an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the frame hinge structure disclosed in an embodiment of the present invention;

[0029] Figure 6 This is a partial front view of the vibration isolation device for unmanned helicopters disclosed in an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of the overall structure of the vibration isolation device for unmanned helicopters disclosed in an embodiment of the present invention;

[0031] Figure 8 This is a front view of the vibration isolation device for unmanned helicopters disclosed in an embodiment of the present invention;

[0032] Figure 9This is a schematic diagram of the structure of the vibration isolation device for unmanned helicopters disclosed in an embodiment of the present invention.

[0033] The components include: main reducer 100, boss 101, first mounting through hole 102, body 200, support rod 300, reducer hinge 301, second mounting through hole 3011, first connecting block 3012, frame hinge 302, third mounting through hole 3021, second connecting block 3022, first fixing hole 303, second fixing hole 304, and reinforcing rib 305. Detailed Implementation

[0034] The following will refer to the appendices in the embodiments of the present invention. Figures 1-9 The technical solutions in the embodiments of the present invention are clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without novelty are within the scope of protection of the present invention.

[0035] In the description of this invention, it should be understood that the terms "upper," "lower," "top surface," "bottom surface," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the indicated position or element must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Figures 1-9As shown, the vibration isolation device for unmanned helicopters disclosed in this invention includes a strut 300, a reducer hinge 301, a frame hinge 302, and an elastic element. One end of the strut 300 is connected to the reducer hinge 301, and the other end of the strut 300 is connected to the frame hinge 302. The reducer hinge 301 is used to connect the main reducer 100, and the frame hinge 302 is used to connect the fuselage 200. The elastic element is arranged between the fuselage 200 and the main reducer 100. One strut 300, one reducer hinge 301, and one frame hinge 302 form a vibration isolation group. The vibration isolation device for unmanned helicopters includes four vibration isolation groups, with two parallel vibration isolation groups forming a pair, and are distributed in two pairs mirror images on both sides of the fuselage 200. In use, the struts 300 in the vibration isolation group connect the main reducer 100 to the body 200. The straight lines connecting the two ends of the two struts 300 of the two mirror-distributed vibration isolation groups intersect at a single intersection point. The two intersection points formed by the four vibration isolation groups form an axis, which is located above the center of mass of the main reducer 100. Specifically, this invention adopts an upper-focusing unidirectional vibration isolation. Upper-focusing means that the straight lines connecting the two ends of the two struts 300 intersect at a single intersection point, which is a virtual focus. Unidirectional vibration isolation means that the two virtual focuses of the four struts 300 intersect on a straight line, which is the aforementioned axis. The main reducer 100 can swing around this axis, and the elastic element at the bottom of the main reducer 100 can isolate the vibration load in one direction. Because the strut 300 has high axial stiffness, the linear displacement between the main reducer 100 and the fuselage 200 is very small, resulting in a low frequency of oscillation between the main reducer 100 and the fuselage 200, thus reducing the vibration level of the unmanned helicopter. Simultaneously, elastic elements are arranged between the main reducer 100 and the fuselage 200 to isolate the vibration loads generated between them, further improving the stability of the unmanned helicopter.

[0036] It should be noted that in practical applications, a rotor is arranged above the main reducer 100. During flight, the rotor is the primary source of vibration for the unmanned helicopter. The rotor is subjected to alternating aerodynamic loads containing harmonic components that are integer multiples of the rotor speed, generating alternating forces and torques at the rotor root. The root forces and torques of each blade combine at the rotor hub to form a rotor hub vibration excitation force and torque with a frequency of kNΩ for the non-rotating system. These three forces and three torques are the main excitation forces causing the airframe vibration. Here, Ω and N are the rotor speed and the number of blades, respectively, and k is an integer. These excitation forces are transmitted to the fuselage 200 through the connection structure between the main reducer 100 and the fuselage 200, causing a vibration response of the fuselage 200 with a frequency of kNΩ. Therefore, the vibration of the fuselage 200 is mainly based on the first-order passing frequency of the rotor (K times the rotor speed frequency, where K is the number of blades). The installation structure of the main reducer 100 is the necessary path for the vibration load generated by the rotor to be transmitted to the fuselage 200. Therefore, it is very important to reduce the transmission value of the vibration load generated by the rotor to the fuselage 200. The vibration isolation device for unmanned helicopters disclosed in this invention serves as a means of controlling vibration levels from the transmission path. It connects the main reducer 100 to the fuselage 200 using four vibration isolation groups and rigid struts 300. The four struts 300 converge at two intersection points, forming an axis around which the main reducer 100 can oscillate. Because the struts 300 have high axial stiffness, the linear displacement between the main reducer 100 and the fuselage 200 is reduced, thereby lowering the oscillation frequency between the main reducer 100 and the fuselage 200 and reducing the transmission rate of rotor vibration to the fuselage 200. This effectively reduces the vibration level of the helicopter and improves its stability.

[0037] To optimize the above technical solution, a boss 101 and a connector are also included. The boss 101 is arranged on the main reducer 100, and a first mounting through hole 102 is arranged on the boss 101. The body 200 is provided with a threaded hole adapted to the first mounting through hole 102. The connector passes through the first mounting through hole 102 and the threaded hole to fix the main reducer 100 to the body 200. Specifically, to ensure the stability of the fixed connection, there are four bosses 101, evenly distributed on the bottom of the main reducer 100. Each boss 101 has two first mounting through holes 102. Correspondingly, the body 200 has threaded holes corresponding to the number of first mounting through holes 102. In use, the connector passes through the first mounting through hole 102 and the threaded hole to connect and fix the main reducer 100 to the body 200. The aforementioned connector includes, but is not limited to, connecting bolts and other connecting components. Furthermore, the boss 101 is vertically arranged at the bottom of the main reducer 100, and reinforcing fixing plates are fixed on both sides of the boss 101, making the connection between the boss 101 and the main reducer 100 more stable. By arranging the boss 101, the first mounting through hole 102, the threaded hole, and the connector, the main reducer 100 can be initially fixed to the machine body 200, improving the stability of the connection between the main reducer 100 and the machine body 200.

[0038] like Figure 9As shown, to optimize the above technical solution, the strut 300 is arc-shaped. The straight lines connecting the two ends of the two struts 300 of the two mirror-distributed vibration isolation groups intersect at a single intersection point. The two intersection points formed by the four vibration isolation groups form an axis located above the center of mass of the main reducer 100. Furthermore, the two ends of the strut 300 are the connection points between the strut 300 and the reducer hinge 301 and the strut 300 and the frame hinge 302. The straight lines connecting these two connection points intersect at a single intersection point. Because the unmanned helicopter has four mirror-distributed vibration isolation groups, two intersection points will be formed. These two intersection points will form an axis, around which the main reducer 100 can swing. The elastic element between the main reducer 100 and the fuselage 200 can isolate the vibration load generated by the main reducer 100 and the fuselage 200, further improving the stability of the unmanned helicopter. Specifically, since the strut 300 is used in conjunction with the main reducer 100, setting the strut 300 to an arc shape can avoid spatial interference between the strut 300 and the main reducer 100, improving the rationality of the unmanned helicopter's structural layout. Further, the aforementioned elastic element is a rubber pad, which is arranged between the fuselage 200 and the main reducer 100. The connector passes through the first mounting through hole 102, the rubber pad, and the threaded hole to fix the main reducer 100 to the fuselage 200. Specifically, the rubber pad is arranged between the fuselage 200 and the main reducer 100 to achieve vibration reduction; the reduced vibration is the vibration load transmitted from the rotor to the fuselage 200. In use, the connector passes sequentially through the boss 101, the rubber pad, and the fuselage 200 to fix the main reducer 100 to the fuselage 200. The four struts 300 included in the vibration isolation device for unmanned helicopters form a straight line by the intersection of the two centers of the circle. The main reducer 100 can swing around this straight line and generate a vibration load along the direction of this straight line. By arranging rubber pads, this vibration load can be isolated, thereby reducing the vibration level of the unmanned helicopter and improving its stability.

[0039] It is understood that elastic components include, but are not limited to, rubber pads, springs and other elastic components that can isolate vibration loads. Other elastic components that can isolate the vibration loads generated by the main reducer 100 from being transmitted to the machine body 200 are also within the scope of protection of this invention.

[0040] To optimize the above technical solution, the reducer hinge 301 is provided with a second mounting through hole 3011 and a first connecting block 3012. The second mounting through hole 3011 is used to fix the reducer hinge 301 to the main reducer 100, and the first connecting block 3012 is used to fix the reducer hinge 301 to the support rod 300. Specifically, there are two second mounting through holes 3011, and the main reducer 100 is provided with a first machining hole corresponding to the second mounting through holes 3011. The first connecting block 3012 includes two symmetrically arranged protrusions, and the protrusions are provided with second machining holes. Further, the first end of the support rod 300 is provided with a first fixing hole 303, which is adapted to the first connecting block 3012. In use, the bolt passes through the second mounting through hole 3011 and the first machining hole, and cooperates with the nut to fix the reducer hinge 301 to the main reducer 100. The bolt passes through the first fixing hole 303 and the second machining hole, and cooperates with the nut to fix the reducer hinge 301 to the support rod 300.

[0041] Furthermore, a locking platform adapted to the main reducer 100 is arranged on the side of the reducer hinge 301 near the main reducer 100. Specifically, the locking platform engages with one corner of the main reducer 100, forming a locking connection. In use, the first part of the locking platform engages with one corner of the main reducer 100, and the second mounting through hole 3011 is arranged in the second part of the locking platform, and the main reducer 100 is connected to the reducer hinge 301 by bolts and nuts. By arranging the locking platform, the connection between the main reducer 100 and the reducer hinge 301 can be made more stable, reducing the vibration between the vibration isolation assembly and the main reducer 100, thereby reducing the vibration level of the unmanned helicopter and improving the stability of the unmanned helicopter.

[0042] To optimize the above technical solution, the frame hinge 302 is provided with a third mounting through hole 3021 and a second connecting block 3022. The third mounting through hole 3021 is used to fix the frame hinge 302 to the body 200, and the second connecting block 3022 is used to fix the frame hinge 302 to the support rod 300. Specifically, there are four third mounting through holes 3021, and the body 200 is provided with third machining holes corresponding to the third mounting through holes 3021. The second connecting block 3022 includes two symmetrically arranged protrusions, and a fourth machining hole is arranged on the protrusions. Further, a second fixing hole 304 is arranged at the second end of the support rod 300, and the second fixing hole 304 is adapted to the second connecting block 3022. In use, the bolts pass through the third mounting through hole 3021 and the third machining hole, and cooperate with the nut to fix the machine body 200 and the frame hinge 302 together. The bolts pass through the second fixing hole 304 and the fourth machining hole, and cooperate with the nut to fix the frame hinge 302 and the support rod 300 together.

[0043] Furthermore, in practical applications, the frame hinge 302 needs to be fixed to two vertically distributed rods on the body 200. Therefore, the frame hinge 302 is L-shaped, with its two ends connected to the two vertically distributed rods on the body 200 to form a stable fixed structure. Therefore, the number of third mounting through holes 3021 is four, and they are arranged in pairs of two, respectively, at both ends of the frame hinge 302.

[0044] Furthermore, the strut 300 is equipped with reinforcing ribs 305 to increase the strength and rigidity of the strut 300, while also saving production materials, reducing the overall weight of the unmanned helicopter, and lowering manufacturing costs.

[0045] The unmanned helicopter disclosed in this invention includes a main reducer 100, a fuselage 200, and an unmanned helicopter vibration isolation device of any one of the above. Since the aforementioned unmanned helicopter vibration isolation device has the above-mentioned effects, the unmanned helicopter including this vibration isolation device has corresponding effects, which will not be elaborated further here.

[0046] The advantages of this invention are:

[0047] (1) Reduced the vibration level of the unmanned helicopter;

[0048] (2) Improved the stability of unmanned helicopters;

[0049] (3) The structure is stable and the practicality is strong.

[0050] It should be noted that the invention provided can be used in the field of unmanned helicopter technology or other fields. Other fields refer to any field other than the field of unmanned helicopter technology. The above are merely examples and do not limit the application areas of the unmanned helicopter vibration isolation device provided by this invention.

[0051] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0052] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0053] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0054] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A vibration isolation device for unmanned helicopters, characterized in that, This includes struts, reducer hinges, frame hinges, and elastic components, among which: One end of the support rod is hinged to the reducer, and the other end of the support rod is hinged to the frame. The reducer hinge is used to connect the main reducer; The frame hinge is used to connect the machine body; The elastic element is arranged between the machine body and the main reducer; A strut, a reducer hinge, and a frame hinge together form a vibration isolation group. The vibration isolation device for the unmanned helicopter includes four vibration isolation groups, with two parallel vibration isolation groups forming a pair, and the groups are distributed in two pairs mirror images on both sides of the fuselage. The strut is arc-shaped. The straight lines connecting the two ends of the two struts of the two vibration isolation groups that are mirror-distributed intersect at an intersection point. The two intersection points formed by the four vibration isolation groups form an axis, which is located above the center of mass of the main reducer. The two ends of the strut are the connection points between the strut and the reducer hinge and the connection points between the strut and the frame hinge. It also includes a boss, which is arranged on the main reducer, and a first mounting through hole is arranged on the boss.

2. The vibration isolation device for unmanned helicopters as described in claim 1, characterized in that, It also includes a connector, wherein the body has a threaded hole adapted to the first mounting through hole, and the connector passes through the first mounting through hole and the threaded hole to fix the main reducer to the body.

3. The vibration isolation device for unmanned helicopters as described in claim 2, characterized in that, The elastic element is a rubber pad, which is arranged between the machine body and the main reducer. The connector passes through the first mounting through hole, the rubber pad and the threaded hole to fix the main reducer to the machine body.

4. The vibration isolation device for unmanned helicopters as described in claim 3, characterized in that, The reducer hinge is provided with a second mounting through hole and a first connecting block. The second mounting through hole is used to fix the reducer hinge to the main reducer, and the first connecting block is used to fix the reducer hinge to the support rod.

5. The vibration isolation device for unmanned helicopters as described in claim 4, characterized in that, The reducer hinge has a mounting plate adapted to the main reducer on the side near the main reducer.

6. The vibration isolation device for unmanned helicopters as described in claim 4, characterized in that, The frame hinge is provided with a third mounting through hole and a second connecting block. The third mounting through hole is used to fix the frame hinge to the machine body, and the second connecting block is used to fix the frame hinge to the support rod.

7. The vibration isolation device for unmanned helicopters as described in claim 6, characterized in that, The two ends of the support rod are respectively provided with a first fixing hole and a second fixing hole. The first fixing hole is adapted to the first connecting block, and the second fixing hole is adapted to the second connecting block.

8. The vibration isolation device for unmanned helicopters as described in claim 7, characterized in that, The reducer hinge is connected to the main reducer by bolts and nuts, the frame hinge is connected to the machine body by bolts and nuts, the first fixing hole is connected to the first connecting block by bolts and nuts, and the second fixing hole is connected to the second connecting block by bolts and nuts.

9. An unmanned helicopter, characterized in that, It includes a main reducer, a fuselage, and a vibration isolation device for unmanned helicopters as described in any one of claims 1-8.

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