A multi-redundant tilt-rotor head spatial motion mechanism

Abstract

The application belongs to the field of tilt mechanism design of tilt rotor aircraft, and particularly relates to a multi-redundancy tilt rotor head spatial 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 the like. A support is arranged on the rotor head assembly for controlling the motion posture thereof. The spatial motion of the rotor head assembly is realized through rotation of a four-link 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 as a backup of the driving assembly, and when the main driving actuator fails, the actuator can drive the four-link mechanism to continue to move, so as to realize the tilting motion of the rotor head.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of tilting mechanism design of tilt-rotor aircraft, and particularly relates to a multi-redundancy tilt-rotor head spatial motion mechanism. BACKGROUND

[0002] In recent years, the electric vertical take-off and landing aircraft eVTOL has developed rapidly, and the tilt-rotor technology is used in its configuration. The tilt-rotor can make the aircraft have both vertical take-off and landing capability and fast forward flight capability, and the tilt control mechanism directly affects the flight safety of the aircraft, so high requirements are put forward for the safety and reliability thereof. At present, there is no mature application of tilt-rotor spatial motion mechanism design in China. Therefore, it is hoped to design a spatial motion mechanism scheme capable of meeting the high safety requirement and reliability requirement of the electric vertical take-off and landing aircraft eVTOL. SUMMARY

[0003] In order to solve the above problems, the application provides a multi-redundancy tilt-rotor head spatial motion mechanism, which comprises:

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

[0005] A multi-link comprises a link assembly, a driving rocker arm assembly and a rocker arm assembly, the link assembly has three hinge points, one end hinge point is hinged to the aircraft body, and the other two hinge points are hinged to the two supports through the rocker arm assembly and the driving rocker arm assembly;

[0006] A driving assembly is connected with the link assembly and drives the link assembly to rotate, so that the tilt-rotor head assembly makes spatial tilting motion between 90° and 0° along the flight direction of the aircraft.

[0007] Preferably, the tilt-rotor head assembly, the link 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 to the hinge point close to the middle of the link assembly.

[0009] Preferably, the driving rocker arm assembly extends to form an extension section, the driving assembly comprises a crank assembly and a main driving actuator, one end of the crank assembly is hinged to the main driving actuator hinged to the aircraft body, the other end is hinged to the extension section of the driving rocker arm assembly, and the middle is hinged to the aircraft body.

[0010] Preferably, the extension section is a telescopic actuator, which is used when the main driving actuator fails, and serves as a fixed-length link when the main driving actuator does not fail.

[0011] In addition, preferably, the telescopic actuator is adjustable in length when the main drive actuator is not malfunctioning, for maximizing the force transmission efficiency of the multi-link mechanism. The telescopic actuator itself has the adjustable length function, which can be realized by a work-type screw, a de-energized electromagnetic lock, etc. The fixed length after adjustment can be realized by electrical signal detection logic.

[0012] When the main drive actuator is not malfunctioning, the telescopic actuator has a plurality of adjustable holes on the fixed end and the actuating end, and the length of the telescopic actuator is adjustable 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 malfunctions. The use of the positioning pin can reduce the increase in system failure rate caused by the addition of a new actuating device. The addition of the positioning pin makes the telescopic actuator not malfunction when it is used as a fixed rod in the multi-link mechanism, thereby causing the mechanism to fail.

[0013] Preferably, the multi-link mechanism is provided with a fairing outside the drive assembly, which is in butt joint with the tilt-rotor head assembly.

[0014] Preferably, the four-link mechanism is a parallelogram four-link mechanism.

[0015] Preferably, the link assembly, the drive rocker assembly, the crank assembly, and the body constitute a planar four-bar mechanism.

[0016] Preferably, the planar four-bar mechanism composed of the link assembly, the drive rocker assembly, the crank assembly, and the body is in the same plane as the planar four-bar mechanism composed of the tilt-rotor head assembly, the link assembly, the drive rocker assembly, and the rocker assembly.

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

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

[0019] Figure 1 is a schematic diagram of the limit position of the multi-link mechanism for spatial movement of the tilt-rotor head according to an embodiment of the present application;

[0020] Figure 2 is a schematic diagram of the parallel four-link mechanism for spatial movement according to an embodiment of the present application;

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

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

[0023] In order to make the technical solutions of the present application and the advantages thereof clearer, the technical solutions of the present application will be further described in detail below with reference to the drawings. It should be understood that the specific embodiments described herein are only some of the embodiments of the present application, and are only used to explain the present application, but not to limit the present application. It should be noted that, for the purpose of description, only parts related to the present application are shown in the drawings, and other related parts can be referred to the general design. In the case of no conflict, the embodiments in the present application and the technical features in the embodiments can be combined to obtain new embodiments.

[0024] In addition, it should be further noted that, unless otherwise explicitly specified and limited, the terms such as "mounting", "connecting", "connecting" and the like used in the description of the present application should be understood in a broad sense, for example, the connection can be fixed connection, or detachable connection, or integral connection; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, or the internal connection of two elements, and those skilled in the art can understand the specific meaning of the present application according to the specific circumstances.

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

[0026] The fixed support is three in number, as shown by reference numerals 201-203, which mainly supports the movement of the mechanism parts, and is connected with the mechanism parts through the shaft as the fixed hinge point support of the mechanism;

[0027] The link assembly 3 has three hinge points thereon, as shown by reference numerals 301-303, which are connected with other components, one of which is mounted on the fixed support and rotates around the shaft of the support as a fixed shaft, and the other two are respectively connected with the driving rocker assembly 4 and the rocker assembly 5.

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

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

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

[0031] The main driving actuator 7 is a driving component of the entire mechanism, which is composed of a piston rod 701 and an outer cylinder 702. One end of the main driving actuator 7 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 movement mechanism of the present application includes two operating modes, a normal operating mode and a fault operating mode. In the normal operating mode, there is no relative movement between the piston rod and the outer cylinder of the driving rocker assembly 4, and the driving rocker assembly 4 participates in the movement of the entire mechanism as a whole. When the main driving actuator 7 fails to be stuck, the piston rod and the outer cylinder of the driving rocker assembly 4 start to move relatively, and the entire mechanism continues to move.

[0033] In addition, it is preferred that the telescopic actuator has an adjustable telescopic length when the main driving actuator is not faulty, for maximizing the force transmission efficiency of the multi-link mechanism. When the main driving actuator is not faulty, the telescopic actuator has a plurality of adjustable holes on the fixed end and the actuating end. By inserting a positioning pin into different adjustable holes on the fixed end and the actuating end, the length of the telescopic actuator can be adjusted. The positioning pin is automatically removed when the main driving actuator fails. The use of the positioning pin can reduce the increase in system failure rate caused by the addition of a new actuating device. The addition of the positioning pin enables the telescopic actuator to function as a fixed-length link without causing the mechanism to fail.

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

[0035] The link assembly 3, the driving rocker assembly 4, the crank assembly 6, and the fixed support 2 form a crank linkage mechanism.

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

[0037] One end of the link 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 mechanism can move in space.

[0038] The telescopic actuator has an adjustable telescopic length when the main driving actuator is not faulty, for maximizing the force transmission efficiency of the multi-link mechanism.

[0039] The fixed end and the operating end of the telescopic actuator have a plurality of adjustable holes, and a positioning pin is inserted into the adjustable holes at different positions of the fixed end and the operating end to adjust the length of the telescopic actuator, and the positioning pin is automatically released when the main driving actuator 7 fails.

[0040] The above merely provides a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A multiple-redundancy tilt-rotor head space-motion mechanism characterized by, The utility model relates to a tilt-rotor aircraft, comprising: a tilt-rotor head assembly (1) having a rotor at the front end and two supports (101, 102) at the rear end; a multi-link mechanism comprising a link assembly (3), a driving rocker assembly (4) and a rocker assembly (5), the link assembly (3) having three hinge points, one hinge point being hinged to the body, the other two hinge points being hinged to the two supports (101, 102) through the rocker assembly (5) and the driving rocker assembly (4) respectively; a driving assembly connected to the link assembly (3) to drive the link assembly (3) to rotate and make the tilt-rotor head assembly (1) perform a spatial tilt motion between 90° and 0° along the flight direction of the aircraft; the tilt-rotor head assembly (1), the link assembly (3), the driving rocker assembly (4) and the rocker assembly (5) form a planar four-bar mechanism; the driving rocker assembly (4) is hinged to the middle hinge point of the link assembly (3); the driving rocker assembly (4) has an extension at one end, the driving assembly comprises 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 to the body, the other end is hinged to the extension of the driving rocker assembly (4), and the middle is hinged to the body; the extension is a telescopic actuator, which is used when the main driving actuator (7) fails, and serves as a fixed-length link when the main driving actuator (7) does not fail.

2. The over-actuated tilt-rotor head space-motion mechanism of claim 1 wherein, the multi-link mechanism and the driving assembly are externally provided with a fairing, which is in butt joint with the tilt-rotor head assembly (1).

3. The over-actuated tilt-rotor head space-motion mechanism of Claim 1 wherein, the planar four-bar mechanism is a parallelogram four-link mechanism.

4. The over-actuated tilt-rotor head space-motion mechanism of Claim 1 wherein, the link assembly (3), the driving rocker assembly (4), the crank assembly (6) and the body form a planar four-bar mechanism.

5. The over-actuated tilt-rotor head space-motion mechanism of claim 4 wherein, the planar four-bar mechanism formed by the link assembly (3), the driving rocker assembly (4), the crank assembly (6) and the body is in the same plane as the planar four-bar mechanism formed by the tilt-rotor head assembly (1), the link assembly (3), the driving rocker assembly (4) and the rocker assembly (5).

6. The over-actuated tilt-rotor head space-motion mechanism of Claim 4 wherein, the crank assembly (6), the main driving actuator (7) and the fixed support (2) form a swing mechanism.

7. The over-actuated tilt-rotor head space-motion mechanism of Claim 1 wherein, when the main driving actuator (7) does not fail, the telescopic length of the telescopic actuator can be adjusted to make the force transmission efficiency of the multi-link mechanism highest.

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