Parallel rudder mechanism of telechiric helicopter and working method thereof

Abstract

The application discloses a kind of electric transmission helicopter parallel rudder mechanism and its working method, torsional spring is sleeved on main shaft, torsional spring both ends are respectively connected with fixed disc one and fixed disc two, first adjusting disc is extended in radial direction to main shaft, anchor gear is connected with bearing on the top of main shaft, second adjusting disc is arranged in the bottom of anchor gear, first adjusting disc and second adjusting disc are located between fixed disc one and fixed disc two;Anchor shaft is connected with anchor gear, electromagnetic clutch inner ring is fixedly connected on anchor shaft, electromagnetic clutch outer ring is connected with parallel rudder motor;Main shaft gear is connected with damping transmission shaft and RVDT transmission shaft, RVDT transmission shaft is fixedly connected with RVDT;Friction device is fixedly connected to the end of main shaft;Damping transmission shaft is fixedly connected with damper rocker arm, damper is fixedly connected with damper shear rocker arm, damper connecting pull rod is hinged between damper rocker arm and damper shear rocker arm.Each component is centrally designed, and the structure layout is compact, and the integration degree is high.

Description

Technical Field

[0001] This invention belongs to the field of aviation technology and relates to a fly-by-wire helicopter parallel servo mechanism and its working method. Background Technology

[0002] Currently, most helicopters, both domestically and internationally, employ mechanical and control-augmented control systems. These systems are complex, heavy, and require significant space. Electrically controlled fly-by-wire systems can effectively reduce weight and size, improving helicopter survivability in combat. However, current fly-by-wire helicopters still have servos, RVDTs, dampers, and friction devices distributed across different locations within the helicopter, requiring electrical connections and still resulting in considerable space requirements and complex wiring. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the existing control system, which has a large space occupation due to the dispersed distribution of various components. This invention provides a fly-by-wire helicopter parallel servo mechanism and its working method, which centrally designs various components, has a compact structure, high integration, light weight, and is convenient for connection with helicopters.

[0004] To achieve the above objectives, the present invention employs the following technical solution:

[0005] A fly-by-wire helicopter parallel servo mechanism, including a housing;

[0006] The housing contains a main shaft, an anchoring shaft, and a damping drive shaft, and the housing also contains a parallel servo motor, RVDT, friction device, and damper.

[0007] A torsion spring is fitted on the main shaft, and fixed disk one and fixed disk two are connected to the two ends of the torsion spring respectively. A first adjusting disk extends radially from the main shaft. An anchoring gear is connected to the top of the main shaft through a bearing. A second adjusting disk is provided at the bottom of the anchoring gear. Both the first adjusting disk and the second adjusting disk are located between fixed disk one and fixed disk two.

[0008] The anchoring shaft is connected to the anchoring gear, and the inner ring of the electromagnetic clutch is fixed on the anchoring shaft. The outer ring of the electromagnetic clutch is connected to the parallel servo motor gear.

[0009] The main shaft gear is connected to the damping drive shaft and the RVDT drive shaft, and the RVDT drive shaft is fixedly connected to the RVDT; a friction device is fixedly connected to the end of the main shaft.

[0010] The damping drive shaft is fixedly connected to the damper rocker arm, the damper is fixedly connected to the damper shear rocker arm by a shear pin, and the damper connecting rod is hinged between the damper rocker arm and the damper shear rocker arm.

[0011] Preferably, a triangular rocker arm is vertically arranged at the bottom end of the spindle. The triangular rocker arm is located outside the housing, and one corner of the triangular rocker arm is fixedly connected to the bottom end of the spindle.

[0012] Preferably, a small gear is fixedly connected to the damping drive shaft, and a large gear is fixedly connected to the main shaft, with the large gear meshing with the small gear.

[0013] Preferably, the anchor shaft is connected to a worm gear via a bearing, and the outer ring of the electromagnetic clutch is fixedly connected to the worm gear; the parallel servo motor is fixedly connected to a worm, and the worm and the worm gear mesh.

[0014] Preferably, one end of the RVDT drive shaft is connected to the RVDT, and the other end is rotatably connected to the housing.

[0015] Preferably, the spindle includes a spindle one and a spindle two. One end of the spindle two is provided with a step and is inserted into the spindle one. The end of the spindle two inserted into the spindle one is fixed by a shear pin.

[0016] Preferably, the housing includes a parallel servo cover and a parallel servo housing, with the parallel servo cover fastened to the parallel servo housing.

[0017] A working method of a fly-by-wire helicopter parallel servo mechanism, with force sensing function: when the pilot pushes the control stick to move, the motion transmission drives the main shaft to rotate, the first adjustment plate on the main shaft pushes the fixed plate one or fixed plate two to rotate, causing the torsion spring to deform, and the second adjustment plate restricts the fixed plate two or fixed plate one to remain fixed, thereby generating a control force sensing.

[0018] Force release function: The inner and outer rings of the electromagnetic clutch disengage, and the anchor shaft rotates freely under the action of the torsion spring force until the torsion spring force is completely released;

[0019] Trim function: When the parallel servo motor rotates, the electromagnetic clutch transmits the motion to the anchor shaft, which drives the anchor gear to rotate around the main shaft, thereby reducing or eliminating the pilot's control force.

[0020] Damping function: When the pilot makes large and rapid maneuvers, the main shaft drives the damping drive shaft to rotate. The damping drive shaft transmits the motion to the damper rocker arm. The damper rocker arm transmits the motion to the damper shear rocker arm through the damper connecting rod. Finally, the motion is transmitted to the damper through the damper shear rocker arm. The damper generates damping force, thereby achieving the function of providing damping for the system.

[0021] Friction function: When the pilot operates the aircraft, the main shaft transmits the motion to the friction device. The friction device generates relative friction under the action of the internal compression spring, thereby providing the function of friction.

[0022] Damper shearing function: When the damper is jammed, the pilot applies strong control, and the control force is transmitted to the main shaft. The main shaft transmits the control force to the damper rocker arm through the damping drive shaft, and finally to the damper shearing rocker arm through the damper pull rod. When the control force is greater than the shearing force of the shear pin in the damper shearing rocker arm, the shear pin breaks, the damper disconnects, and normal control is achieved.

[0023] Preferably, when the parallel servo motor is jammed internally, the pilot makes a strong operation, and the operation force is transmitted to the shear pin at the connection between main shaft one and main shaft two. When the operation force is greater than the shearing force of the shear pin, the shear pin breaks, the connection between main shaft one and main shaft two is broken, and relative rotation occurs, so as to achieve the purpose of normal operation.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] This invention integrates the force sensing, force release, self-locking, parallel servo shearing, neutral position locking, mechanical signal to electrical signal conversion, damping, and friction adjustment functions of fly-by-wire helicopters into a parallel servo. The parallel servo only houses the transmission and load mechanisms, while functional components such as the RVDT, friction device, damper, and parallel servo motor are located outside the parallel servo housing. This reduces the difficulty of installing the control device on the helicopter, reduces the space required for the control device installation, reduces the overall weight of the control device, shortens the installation and maintenance time of the control device, and improves the maintainability of the system. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the external structure of the fly-by-wire helicopter parallel servo mechanism of the present invention;

[0027] Figure 2 This is a first schematic diagram of the internal structure of the fly-by-wire helicopter parallel servo mechanism of the present invention;

[0028] Figure 3 This is a second schematic diagram of the internal structure of the fly-by-wire helicopter parallel servo mechanism of the present invention;

[0029] Figure 4 This is a cross-sectional view of the main shaft of the fly-by-wire helicopter parallel servo mechanism of the present invention.

[0030] The components are: 1-triangular rocker arm, 2-main spindle one, 3-main spindle two, 4-fixed disc one, 5-torsion spring, 6-fixed disc two, 7-anchor gear, 8-parallel servo cover plate, 9-parallel servo housing, 10-neutral pin, 11-friction device, 12-RVDT drive shaft, 13-RVDT, 14-damping drive shaft, 15-damper rocker arm, 16-damper connecting rod, 17-damper shear rocker arm, 18-damper, 19-anchor shaft, 20-electromagnetic clutch, 21-worm gear, 22-parallel servo motor, 23-worm wheel. Detailed Implementation

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0032] It should be noted that the terms “front,” “back,” “left,” “right,” “up,” and “down” used in the following description refer to the directions shown in the attached diagrams, while the terms “inside” and “outside” refer to the directions toward or away from the geometric center of a specific component, respectively.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0034] like Figure 1-4 As shown, the fly-by-wire helicopter parallel servo mechanism of the present invention includes a triangular rocker arm 1, a first main shaft 2, a second main shaft 3, a first fixed plate 4, a torsion spring 5, a second fixed plate 6, an anchoring gear 7, a parallel servo cover plate 8, a parallel servo housing 9, a neutral pin 10, a friction device 11, an RVDT drive shaft 12, an RVDT 13, a damping drive shaft 14, a damper rocker arm 15, a damper connecting rod 16, a damper shear rocker arm 17, a damper 18, an anchoring shaft 19, an electromagnetic clutch 20, a worm gear 21, a parallel servo motor 22, and a worm wheel 23.

[0035] The parallel servo cover 8 and the parallel servo housing 9 are fastened together by 11 sets of screws to form the outer shell of the parallel servo.

[0036] The triangular rocker arm 1 is located outside the housing. The triangular rocker arm 1 is an isosceles triangle, with its middle angle fixed to the bottom of the main shaft. The triangular rocker arm 1 is fixed to the main shaft 2 by bolts and splines. The main shaft 3 is designed with a step at one end to cooperate with the main shaft 2, and can be inserted into the main shaft 2. After the main shaft 3 is inserted into the main shaft 2, it is fixed by a shear pin. The main shaft 2 and the main shaft 3 are combined to form the main shaft. One end of the main shaft is mounted on the parallel servo cover plate 8 by a bearing, and the other end is mounted on the parallel servo housing 9 by a bearing. The torsion spring 5 is fixed at both ends to the fixed plate 4 and the fixed plate 6, respectively. The three components constitute the load mechanism. The load mechanism is mounted on the main shaft by bearings at both ends. The main shaft 3 has a first adjusting plate extending radially. One end of the load mechanism cooperates with the first adjusting plate of the main shaft 3, and the other end cooperates with the second adjusting plate of the anchor gear 7. The anchor gear 7 is mounted on the main shaft 3 by bearings. The second adjusting plate is set at the bottom of the anchor gear 7. The first adjusting plate and the second adjusting plate are both located between the fixed plate 4 and the fixed plate 6.

[0037] The anchoring shaft 19 is mounted on the parallel servo cover plate 8 and the parallel servo housing 9 at both ends via bearings. The anchoring shaft 19 is designed with gears that mesh with the anchoring gear 7. The worm gear 23 is mounted on the anchoring shaft 19 via bearings. The anchoring shaft 19 is also designed with splines for mounting the electromagnetic clutch 20. The inner ring of the electromagnetic clutch 20 is fixed to the anchoring shaft 19 via splines and keyways, and the outer ring of the electromagnetic clutch 20 is fixed to the worm gear 23 via four screws. The worm 21 is mounted on the parallel servo housing 9 via bearings, and the worm 21 meshes with the worm gear 23.

[0038] The parallel servo motor 22 is fixed to the parallel servo housing 9 by four sets of screws, and is connected to the worm gear 21 by the external spline.

[0039] The RVDT drive shaft 12 is mounted on the parallel servo cover plate 8 and the parallel servo housing 9 at both ends via bearings. The RVDT drive shaft 12 is designed with gears that mesh with the gears on the main shaft 2. At the same time, the connection end between the RVDT drive shaft 12 and the RVDT 13 is designed with internal splines, which are used to mate with the external splines of the RVDT 13 itself. The RVDT 13 is mounted on the parallel servo housing 9 by three sets of screws.

[0040] The connection end between the main shaft 2 3 and the friction device 11 is designed with an internal spline, which is used to cooperate with the external spline of the friction device 11 itself. The friction device 11 is mounted on the parallel servo housing 9 by three sets of screws.

[0041] The damping drive shaft 14 is mounted on the parallel servo cover plate 8 and the parallel servo housing 9 at both ends via bearings. A small gear is designed on the damping drive shaft 14, which meshes with a large gear on the main shaft 2. An external spline is designed at the connection end between the damping drive shaft 14 and the damper rocker arm 15, which is used for mounting and mating with the internal spline of the damper rocker arm 15. Simultaneously, the damping drive shaft 14 and the damper rocker arm 15 are fixed together by a set of bolts. The damper rocker arm 15 and the damper connection... The connecting rod 16 is hinged to the connecting rod by a set of bolts. The other end of the connecting rod 16 is hinged to the damper shear rocker arm 17 by a set of bolts. The damper shear rocker arm 17 is designed with an internal spline at the connection with the damper 18. The internal spline meshes with the shaft of the damper 18 and is fastened by a set of bolts. The damper shear rocker arm 17 is provided with a shear pin at the connection with the damper 18. The damper 18 is fixedly installed on the parallel servo housing 9 by four sets of screws.

[0042] Realization of force sensing function: The worm gear 23 and worm 21 assembly has a self-locking function. When the pilot pushes the control stick to move, the motion is transmitted to the triangular rocker arm 1. The triangular rocker arm 1 drives the main shaft to rotate. The adjustment plate on the main shaft 2 3 pushes the fixed plate 1 4 to rotate, which drives the torsion spring 5 to deform, thereby generating a sense of control force.

[0043] Realization of force release function: After the pilot presses the pressure release button, the control command is transmitted to the electromagnetic clutch 20. The inner and outer rings of the electromagnetic clutch 20 disengage, and the anchor shaft 19 is no longer fixed to the worm gear 23 and worm 21 assembly. The anchor shaft 19 rotates freely under the action of the torsion spring 5 until the torsion spring 5 is completely released, thus achieving the function of releasing the pilot's control force.

[0044] The implementation of the trim function: After the pilot presses the Bipu trim switch, the trim command is transmitted to the parallel servo motor 22. The parallel servo motor 22 starts to work, overcomes the self-locking friction of the worm gear, and drives the worm 21 to rotate. The worm 21 transmits the motion to the anchor shaft 19. The anchor shaft 19 drives the anchor gear 7 to rotate around the main shaft 2 3, thereby achieving the function of reducing or eliminating the pilot's control force.

[0045] The damping function is achieved as follows: When the pilot makes large and rapid maneuvers, the motion is transmitted to the triangular rocker arm 1. The triangular rocker arm drives the main shaft to rotate. The gear on the main shaft 2 drives the damping transmission shaft 14 to rotate. The damping transmission shaft 14 transmits the motion to the damper rocker arm 15 through a spline. The damper rocker arm 15 transmits the motion to the damper shear rocker arm 17 through the damper connecting rod 16. Finally, the motion is transmitted to the damper 18 through the damper shear rocker arm 17. The damper 18 generates damping force, thereby achieving the function of providing damping for the system.

[0046] Realization of friction function: When the pilot operates, the motion is transmitted to the triangular rocker arm 1, which drives the main shaft to rotate. The main shaft 3 transmits the motion to the friction device 11 through the spline. The friction device 11 generates relative motion friction under the action of the internal compression spring, thereby achieving the function of providing friction.

[0047] The parallel servo shearing function is achieved as follows: When the parallel servo is jammed, the pilot makes a strong operation. The operation force is transmitted through the triangular rocker arm 1 to the shearing pin at the connection between main shaft 1 2 and main shaft 2 3. When the operation force is greater than the shearing force of the shearing pin, the shearing pin breaks, and main shaft 1 2 and main shaft 2 3 are disconnected and relative rotation occurs, thus achieving the purpose of normal operation.

[0048] The damper 18 shearing function is realized as follows: When the damper 18 is stuck, the pilot makes a strong operation. The operation force is transmitted to the main shaft 2 through the triangular rocker arm 1. The main shaft 2 transmits the operation force to the damper rocker arm 15 through the meshing gear with the damping transmission shaft 14. Finally, the operation force is transmitted to the damper shearing rocker arm 17 through the damper pull rod 16. When the operation force is greater than the shearing force of the damper shearing pin, the shearing pin breaks, the damper 18 is disconnected, and the purpose of normal operation is achieved.

[0049] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0050] It should be understood that the above description is for illustrative purposes and not for limitation. Many embodiments and applications beyond the provided examples will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of this patent should not be determined by reference to the above description, but rather by reference to the foregoing claims and the full scope of their equivalents. For purposes of completeness, all articles and references, including patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the foregoing claims is not intended as a waiver of that subject matter, nor should it be construed as an indication that the applicant has not considered that subject matter as part of the disclosed inventive subject matter.

Claims

1. An electrically transmitted helicopter parallel actuator mechanism, characterized by, The housing comprises a main shaft, an anchor shaft (19) and a damping transmission shaft (14), and is provided with a parallel rudder motor (22), an RVDT (13), a friction device (11) and a damper (18) inside or outside the housing; The main shaft is sleeved with a torsion spring (5), the two ends of the torsion spring (5) are connected with a fixed disc one (4) and a fixed disc two (6) respectively, the main shaft extends radially to have a first adjusting disc, the top end of the main shaft is connected with an anchor gear (7) through a bearing, the bottom of the anchor gear (7) is provided with a second adjusting disc, and the first adjusting disc and the second adjusting disc are located between the fixed disc one (4) and the fixed disc two (6); The anchor shaft (19) is gear-connected with the anchor gear (7), the inner ring of an electromagnetic clutch (20) is fixedly connected on the anchor shaft (19), and the outer ring of the electromagnetic clutch (20) is gear-connected with the parallel rudder motor (22); The main shaft gear is connected with the damping transmission shaft (14) and an RVDT transmission shaft (12), the RVDT transmission shaft (12) is fixedly connected with the RVDT (13), and the end of the main shaft is fixedly connected with the friction device (11); The damping transmission shaft (14) is fixedly connected with a damper rocker arm (15), the damper (18) is fixedly connected with a damper shearing rocker arm (17) through a shearing pin, and the damper rocker arm (15) and the damper shearing rocker arm (17) are hingedly connected with a damper connecting pull rod (16). The bottom end of the main shaft is vertically provided with a triangular rocker arm (1), the triangular rocker arm (1) is located outside the housing, and one of the corners of the triangular rocker arm (1) is fixedly connected with the bottom end of the main shaft.

2. The fly-by-wire helicopter parallel actuator mechanism of claim 1, wherein, The damping transmission shaft (14) is fixedly connected with a pinion, and the main shaft is fixedly connected with a gear wheel, the gear wheel is engaged with the pinion.

3. The fly-by-wire helicopter parallel actuator mechanism of claim 1, wherein, The anchor shaft (19) is connected with a worm wheel (23) through a bearing, the outer ring of the electromagnetic clutch (20) is fixedly connected with the worm wheel (23), the parallel rudder motor (22) is fixedly connected with a worm (21), and the worm (21) is engaged with the worm wheel (23).

4. The fly-by-wire helicopter parallel actuator mechanism of claim 1, wherein, One end of the RVDT transmission shaft (12) is connected with the RVDT (13), and the other end is rotationally connected with the housing.

5. The fly-by-wire helicopter parallel actuator mechanism of claim 1, wherein, The main shaft comprises a main shaft one (2) and a main shaft two (3), the main shaft two (3) is provided with a step at one end matched with the main shaft one (2) and is inserted into the main shaft one (2), and the end of the main shaft two (3) inserted into the main shaft one (2) is fixedly connected through a shearing pin.

6. The fly-by-wire helicopter parallel actuator mechanism of claim 1, wherein, The housing comprises a parallel rudder cover plate (8) and a parallel rudder shell (9), and the parallel rudder cover plate (8) is buckled on the parallel rudder shell (9).

7. The fly-by-wire helicopter parallel actuator mechanism of claim 1, wherein, When the pilot pushes the control stick to move, the motion is transmitted to drive the main shaft to rotate, the first adjusting disc on the main shaft pushes the fixed disc one (4) or the fixed disc two (6) to rotate, the torsion spring (5) is deformed, the second adjusting disc limits the fixed disc two (6) or the fixed disc one (4) to keep fixed, so as to generate a control force sense; 8. A method of operating a parallel control surface mechanism for a fly-by-wire helicopter according to any one of claims 1-7, characterized by, The inner ring and the outer ring of the electromagnetic clutch (20) are separated, the anchor shaft (19) is freely rotated under the action of the torsion spring (5) force until the torsion spring (5) force is completely released; The parallel rudder motor (22) is rotated, the electromagnetic clutch (20) transmits the motion to the anchor shaft (19), the anchor shaft (19) drives the anchor gear (7) to rotate around the main shaft, so as to reduce or eliminate the function of the pilot control force; ​ Damping function: when the pilot manipulates the control stick, the control stick drives the damping transmission shaft (14) to rotate, the damping transmission shaft (14) transmits the movement to the damper rocker arm (15), the damper rocker arm (15) transmits the movement to the damper connecting pull rod (16), and finally the damper shearing rocker arm (17) transmits the movement to the damper (18), the damper (18) generates damping force, thereby achieving the function of providing damping for the system. Friction function: when the pilot manipulates the control stick, the control stick transmits the movement to the friction device (11), the friction device (11) generates relative friction force under the action of the spring inside, thereby achieving the function of providing friction. Damper (18) shearing function: when the damper (18) is blocked, the pilot manipulates the control stick with great force, the control force is transmitted to the control stick, the control stick transmits the control force to the damping transmission shaft (14) through the damping transmission shaft (14), and finally the damping transmission shaft (16) transmits the control force to the damper shearing rocker arm (17), when the control force is greater than the shearing force of the shearing pin in the damper shearing rocker arm (17), the shearing pin is sheared, the damper (18) is disconnected, and the purpose of normal manipulation is achieved.

9. The method of operating the parallel actuator mechanism of a fly-by-wire helicopter according to claim 8, characterized in that, When the parallel steering engine is blocked, the pilot manipulates the control stick with great force, the control force is transmitted to the shearing pin at the connection between the main shaft one (2) and the main shaft two (3), when the control force is greater than the shearing force of the shearing pin, the shearing pin is sheared, the main shaft one (2) and the main shaft two (3) are disconnected, and the relative rotation is achieved, thereby achieving the purpose of normal manipulation.

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