Multi-redundancy tilting rotor head space motion mechanism

Abstract

The invention belongs to the field of tilting mechanism design of tilting rotor aircrafts, and particularly relates to a multi-redundancy tilting rotor head space motion mechanism which comprises a rotor head assembly, a driving rocker arm assembly, a rocker arm assembly, a connecting rod assembly, a crank assembly, a main driving actuator, a fixed support and other components. A support is arranged on the rotor head assembly and used for controlling the moving posture of the rotor head assembly. Spatial motion of the rotor head assembly is achieved through rotation of a four-connecting-rod mechanism composed of the connecting rod assembly, the rocker arm assembly and the like around the fixed support. A piston rod and an outer cylinder structure are arranged at one end of the driving rocker arm assembly and serve as backups of the driving assembly, and when a main driving actuator fails, the actuator can drive the four-connecting-rod mechanism to continue to move, so that tilting movement of the rotor head is achieved.

Description

Technical Field

[0001] The present application belongs to the field of tilt-rotor aircraft tilt mechanism design, and in particular relates to a redundant tilt-rotor head spatial motion mechanism. Background Art

[0002] In recent years, electric vertical take-off and landing aircraft eVTOL has developed rapidly, and tilt-rotor technology is used in its configuration. Tilt-rotors can enable aircraft to have both vertical take-off and landing capabilities and rapid forward flight capabilities. The tilt-rotor control mechanism directly affects the flight safety of the aircraft, so high requirements are placed on its safety and reliability. At present, there is no mature application of tilt-rotor space motion mechanism design in China. Therefore, it is hoped that a space motion mechanism solution can meet the high safety and reliability requirements of electric vertical take-off and landing aircraft eVTOL. Summary of the invention

[0003] In order to solve the above problems, the present application provides a redundant tilt-rotor head spatial motion mechanism, comprising:

[0004] A tilt rotor head assembly having a rotor at the front end and two supports at the rear end;

[0005] The multi-link includes a connecting rod assembly, a driving rocker arm assembly and a rocker arm assembly. The connecting rod assembly has three hinge points, one end of which is hinged to the machine body, and the other two hinge points are respectively hinged to two supports through the rocker arm assembly and the driving rocker arm assembly;

[0006] A driving assembly is connected to the connecting rod assembly, and drives the connecting rod assembly to rotate, so that the tilt rotor head assembly performs a spatial tilting motion between 90° and 0° along the heading of the aircraft.

[0007] Preferably, the tilt rotor head assembly, the connecting rod assembly, the driving rocker arm assembly and the rocker arm assembly form a planar four-bar mechanism.

[0008] Preferably, the driving rocker arm assembly is hinged near the middle hinge point of the connecting rod assembly.

[0009] Preferably, one end of the driving rocker arm assembly is extended to form an extension section, and the driving assembly includes a crank assembly and a main driving actuator. One end of the crank assembly is hinged to the main driving actuator hinged on the machine body, and the other end is hinged to the extension section of the driving rocker arm assembly, and the middle is hinged to the machine body.

[0010] Preferably, the extension section is a telescopic actuator, which is activated when the main drive actuator fails and serves as a connecting rod of fixed length when the main drive actuator is not failed.

[0011] In addition, preferably, when the main drive actuator is not faulty, the telescopic length of the telescopic actuator is adjustable to maximize the force transmission efficiency of the multi-link. The telescopic actuator itself has an adjustable length function, and the length can be fixed after adjustment through measures such as an I-type lead screw and a power-off electromagnetic lock. This can be achieved through electrical signal detection logic.

[0012] When the main drive actuator is not faulty, the fixed end and the actuating end of the telescopic actuator have multiple adjustable holes. The length of the telescopic actuator can be adjusted by inserting the positioning pin into the adjustable holes at different positions on the fixed end and the actuating end. The positioning pin automatically comes out when the main drive actuator fails. The use of the positioning pin can reduce the increase in the system failure rate caused by the series connection of the new actuating device. The addition of the positioning pin prevents the telescopic actuator from failing when it is used as a connecting rod for fixing the length of the rod, thereby causing the mechanism to fail.

[0013] Preferably, the multi-link and drive assembly are provided with a fairing outside, and the fairing is docked with the tilt rotor head assembly.

[0014] Preferably, the four-bar linkage is a parallelogram four-bar linkage.

[0015] Preferably, the connecting rod assembly, the driving rocker arm assembly, the crank assembly and the machine body form a planar four-bar mechanism.

[0016] Preferably, the planar four-bar mechanism composed of the connecting rod assembly, the driving rocker arm assembly, the crank assembly and the fuselage and the planar four-bar mechanism composed of the tilt-rotor head assembly, the connecting rod assembly, the driving rocker arm assembly and the rocker arm assembly are located in the same plane.

[0017] Preferably, the crank assembly, the main drive actuator, and the fixed support constitute a rocking mechanism.

[0018] The advantages of the present application include: the present application adds a telescopic actuator to the multi-link mechanism that drives the tilt rotor head assembly to move, and the telescopic actuator serves as a backup drive on the one hand and as a link length adjuster on the other hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the extreme positions of the redundant tilt-rotor head space motion mechanism according to one embodiment of the present application;

[0020] Figure 2 This is a schematic diagram of a spatial motion parallel four-bar linkage mechanism according to an embodiment of the present application;

[0021] Figure 3 is a schematic diagram of a crank rocker mechanism according to an embodiment of the present application;

[0022] Figure 4 It is a schematic diagram of a swing mechanism according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the technical solution and advantages of the present application clearer, the technical solution of the present application will be further described in detail in detail and in detail with reference to the accompanying drawings. It can be understood that the specific embodiments described here are only partial embodiments of the present application, which are only used to explain the present application, not to limit the present application. It should be noted that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings, and other related parts can refer to the general design. In the absence of conflict, the embodiments in the present application and the technical features in the embodiments can be combined with each other to obtain new embodiments.

[0024] In addition, it should be noted that, unless otherwise clearly specified and limited, the words "installed", "connected", "connected" and similar terms used in the description of this application should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or the internal connection of two components. Technical personnel in the field can understand their specific meanings in this application according to the specific circumstances.

[0025] like Figure 1-Figure 4 As shown, the tilt rotor head assembly 1 performs spatial tilting motion between 90° and 0° along the heading of the aircraft, and two supports 101 and 102 are arranged thereon for connection with the mechanism parts;

[0026] Fixed supports, three in number, as shown by reference numerals 201 to 203, mainly play a supporting role for the movement of the mechanism components, and are connected to the mechanism components via a rotating shaft, serving as fixed hinge point supports of the mechanism;

[0027] The connecting rod assembly 3 has three hinge points, as shown by reference numerals 301 to 303, which are connected to other components. One of the hinge points is installed on a fixed support and rotates around the axis of rotation of the support. The remaining two hinge points are respectively connected to the driving rocker arm assembly 4 and the rocker arm assembly 5.

[0028] The driving rocker arm assembly 4 integrates a rocker arm and a telescopic actuator. Under normal circumstances, the telescopic actuator does not work, and participates in the movement of the entire mechanism as part of the driving rocker arm structure. When the main driving actuator fails, the actuator on the rocker arm works and can continue to drive the entire mechanism to move. It contains three hinge points, as shown by the reference numerals 401 to 403, which are respectively connected to the connecting rod assembly 3, the tilt rotor head assembly 1, and the crank assembly 6.

[0029] The rocker arm assembly 5 has two hinge points, as shown by reference numerals 501 and 502 , which are respectively connected to the tilt rotor head assembly 1 and the connecting rod assembly 3 .

[0030] The crank assembly 6 has three hinge points as shown by the reference numerals 601 to 603, one of which is connected to the fixed support 2 for fixed-axis rotation, and the other two are connected to the driving rocker arm assembly 4 and the main driving actuator 7 respectively.

[0031] The main drive actuator 7 is the driving component of the whole mechanism, which is composed of a piston rod 701 and an outer cylinder 702. One end is connected to the crank assembly 6, and the other end is connected to the fixed support 2. The entire mechanism is driven to move by the extension and retraction of the piston rod in the outer cylinder.

[0032] The motion mechanism of the present application includes two operation modes, a normal operation mode and a fault operation mode. In the normal operation mode, there is no relative movement between the piston rod and the outer cylinder of the driving rocker arm assembly 4, and the driving rocker arm assembly 4 participates in the movement of the entire mechanism as an integral component. When the main driving actuator 7 fails and gets stuck, the piston rod and the outer cylinder of the driving rocker arm assembly 4 start to move relative to each other, driving the entire mechanism to continue to move.

[0033] In addition, preferably, when the main drive actuator is not faulty, the telescopic length of the telescopic actuator is adjustable to maximize the force transmission efficiency of the multi-link. When the main drive actuator is not faulty, the fixed end and the actuating end of the telescopic actuator have a plurality of adjustable holes, and the length of the telescopic actuator is adjustable by inserting a locating pin into the adjustable holes at different positions on the fixed end and the actuating end, and the locating pin automatically disengages when the main drive actuator fails. The use of the locating pin can reduce the increase in the system failure rate caused by the series connection of the new actuating device. The addition of the locating pin prevents the telescopic actuator from failing when it is used as a connecting rod of the fixed rod length, thereby causing the mechanism to fail.

[0034] The tilt rotor head assembly 1, the connecting rod assembly 3, the driving rocker arm assembly 4, and the rocker arm assembly 5 form a parallel four-bar linkage.

[0035] The connecting rod assembly 3, the driving rocker arm assembly 4, the crank assembly 6, and the fixed support 2 form a crank-connecting rod mechanism.

[0036] The crank assembly 6, the main drive actuator 7, and the fixed support 2 form a rocking mechanism.

[0037] One end of the connecting rod assembly 3 is connected to the fixed support 2 and can rotate around the rotation axis of the fixed support 2, so that the parallel four-bar linkage can move in space.

[0038] When the main drive actuator 7 is not faulty, the telescopic length of the telescopic actuator is adjustable to maximize the force transmission efficiency of the multi-link.

[0039] When the main drive actuator 7 is not faulty, the fixed end and the actuating end of the telescopic actuator are provided with a plurality of adjustable holes. The length of the telescopic actuator can be adjusted by inserting a positioning pin into the adjustable holes at different positions on the fixed end and the actuating end. The positioning pin automatically comes out when the main drive actuator 7 fails.

[0040] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A redundant tilt rotor head spatial motion mechanism, characterized in that: include: A tilt rotor head assembly (1) having a rotor at the front end and two supports (101, 102) at the rear end; The multi-link comprises a connecting rod assembly (3), a driving rocker arm assembly (4) and a rocker arm assembly (5); the connecting rod assembly (3) has three hinge points, one end of the hinge point is hinged on the machine body, and the other two hinge points are respectively hinged to two supports (101, 102) through the rocker arm assembly (5) and the driving rocker arm assembly (4); A driving assembly is connected to the connecting rod assembly (3) and drives the connecting rod assembly (3) to rotate, so that the tilt rotor head assembly (1) performs a spatial tilting motion between 90° and 0° along the heading of the aircraft.

2. The redundant tilt rotor head spatial motion mechanism according to claim 1, characterized in that: The tilt rotor head assembly (1), the connecting rod assembly (3), the driving rocker arm assembly (4) and the rocker arm assembly (5) form a planar four-bar mechanism.

3. The redundant tilt rotor head spatial motion mechanism according to claim 1, characterized in that: The driving rocker arm assembly (4) is hinged to a middle hinge point near the connecting rod assembly (3).

4. The redundant tilt rotor head spatial motion mechanism according to claim 3, characterized in that: One end of the driving rocker arm assembly (4) is extended to form an extension section. The driving assembly includes a crank assembly (6) and a main driving actuator (7). One end of the crank assembly (6) is hinged to the main driving actuator (7) hinged on the machine body, and the other end is hinged to the extension section of the driving rocker arm assembly (4). The middle is hinged to the machine body.

5. The redundant tilt rotor head spatial motion mechanism according to claim 4, characterized in that: The extension section is a telescopic actuator, which is activated when the main drive actuator (7) fails, and serves as a connecting rod of fixed length when the main drive actuator (7) is not faulty.

6. The redundant tilt rotor head spatial motion mechanism according to claim 5, characterized in that: A fairing is provided outside the multi-link and drive assembly, and the fairing is docked with the tilt rotor head assembly (1).

7. The redundant tilt rotor head spatial motion mechanism according to claim 2, characterized in that: The four-bar linkage is a parallelogram four-bar linkage.

8. The redundant tilt rotor head spatial motion mechanism according to claim 5, characterized in that: The connecting rod assembly (3), the driving rocker arm assembly (4), the crank assembly (6) and the machine body form a planar four-bar mechanism.

9. The redundant tilt rotor head spatial motion mechanism according to claim 8, characterized in that: The planar four-bar mechanism composed of the connecting rod assembly (3), the driving rocker arm assembly (4), the crank assembly (6) and the fuselage is located in the same plane as the planar four-bar mechanism composed of the tiltrotor head assembly (1), the connecting rod assembly (3), the driving rocker arm assembly (4) and the rocker arm assembly (5).

10. The redundant tilt rotor head spatial motion mechanism according to claim 8, characterized in that: The crank assembly (6), the main drive actuator (7) and the fixed support (2) form a rocking mechanism.

11. The redundant tilt rotor head spatial motion mechanism according to claim 5, characterized in that: When the main driving actuator (7) is not faulty, the telescopic length of the telescopic actuator is adjustable, so as to maximize the force transmission efficiency of the multi-link.

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