A coaxial dual-rotor aircraft

Abstract

The application discloses a coaxial dual-rotor aircraft and relates to the technical field of aircrafts. The aircraft comprises a fuselage, a coaxial dual-rotor assembly, a deformable short wing and a vector thrust propeller. The fuselage is provided with a control system and a fuselage sensor, and the fuselage sensor is in communication connection with the control system. The application retains the fuselage configuration of a conventional coaxial rigid dual-rotor helicopter, adopts a hub without upper rotor control, has the advantages of simplified control structure and improved structural performance compared with a conventional hub with upper and lower rotor control, and is additionally provided with the deformable short wing and the vector thrust propeller on the fuselage due to the cancellation of the upper rotor control. The deformable short wing can compensate for the imbalance of the overall rolling moment of the aircraft caused by the upper rotor at high-speed forward flight. The tilting device can drive the thrust propeller to tilt relative to the fuselage towards the fuselage. The yawing moment is generated by changing the thrust direction of the thrust propeller, so that the counter torque of the upper and lower rotors at high-speed flight is balanced, and the controllability of the yawing control is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft technology, in particular to a coaxial dual-rotor aircraft without upper rotor control. BACKGROUND

[0002] (I) Explanation of terms:

[0003] Coaxial dual-rotor aircraft: an aircraft using rigid coaxial dual-rotors;

[0004] Rotor hub: the part connecting the aircraft fuselage and the upper and lower rotors, which can realize the change of the total pitch and cyclic pitch of the aircraft through the automatic tilt and small pull rod in the hub structure.

[0005] Automatic tilt: a component in the hub structure that isolates rotating and non-rotating motion, has a moving ring and a stationary ring, and can be tilted by control to drive the small pull rod to perform pitch control.

[0006] Rotor flutter: self-excited vibration of the rotor in flight due to the interaction of aerodynamic force and structural elasticity. The flutter phenomenon can cause rapid destruction of the rotor structure and seriously affect flight safety. (II) Technical background

[0008] For a coaxial dual-rotor aircraft, both the upper and lower rotors need to be controlled during flight. Due to the structural position, the control rod and control line system of the upper rotor are relatively long, resulting in low stiffness, which not only causes structural strength problems, but also worsens the dynamics of the blades in the torsion direction, making it easy to appear rotor flutter phenomenon. At the same time, the upper and lower rotors are configured with separate controls, which makes the hub structure complex and affects the safety and stability of the hub to some extent. In order to avoid the above problems, some light aircraft with low flight speed, light weight and low requirement for control force size use hubs without upper rotor control. However, for coaxial dual-rotor high-speed aircraft, such as coaxial dual-rotor high-speed helicopters, the fuselage is equipped with thrust blades to ensure high-speed forward flight, and the fuselage is asymmetric in structure. If the above-mentioned hub without upper rotor control is installed and used, the problem of unbalanced counter-torque of the upper and lower rotors is likely to occur at high speed, which leads to uncontrollable heading deflection of the aircraft and reduces the reliability of flight performance.

[0009] In addition, the installation and use of the hub without upper rotor control on the coaxial dual-rotor high-speed aircraft will result in excessive roll moment of the upper rotor at high speed, which will lead to unbalanced fuselage roll moment and cause the aircraft to roll over, resulting in safety accidents. SUMMARY

[0010] The application aims to provide a coaxial dual-rotor aircraft which cancels the upper rotor control, and which is capable of balancing the upper and lower rotor counter torques and the body roll torque in the high-speed flight state, realizing the high-reliability heading control of the aircraft, so as to solve the problems in the prior art.

[0011] To achieve the above object, the application provides the following scheme.

[0012] The application provides a coaxial dual-rotor aircraft, comprising:

[0013] A body, wherein a control system and a body sensor are arranged on the body, the body sensor is in communication connection with the control system, and the body sensor is used for detecting the roll torque of the body;

[0014] A coaxial dual-rotor assembly, comprising an upper rotor, a lower rotor and a rotor hub which cancels the upper rotor control, the upper rotor and the lower rotor are arranged on the rotor hub, the rotor hub is arranged on the top of the body and is connected with the control system, and the control system is capable of driving and controlling the operation of the rotor hub;

[0015] A deformable short wing, wherein the deformable short wing is capable of folding and unfolding deformation, the deformable short wing is symmetrically arranged on both sides of the body abdomen, the deformable short wing is in communication connection with the control system, and the control system is capable of controlling the deformable short wing to fold to reduce the short wing area or to unfold to expand the short wing area according to the detection signal of the body sensor, so as to balance the roll torque of the body in real time;

[0016] A vector thrust propeller, comprising a thrust propeller and a tilting device, wherein the thrust propeller is arranged at the tail end of the body through the tilting device, the thrust propeller and the tilting device are both in communication connection with the control system, the thrust propeller is used for providing the thrust for the body, and the tilting device is capable of driving the thrust propeller to deflect relative to the body, so as to balance the counter torques of the upper rotor and the lower rotor.

[0017] Preferably, the rotor hub comprises:

[0018] A main shaft inner shaft and a main shaft outer shaft, wherein the main shaft inner shaft is arranged inside the main shaft outer shaft, and the top of the main shaft inner shaft is higher than the top of the main shaft outer shaft; the bottoms of the main shaft inner shaft and the main shaft outer shaft both penetrate the top of the body and are connected with the rotor rotation drive of the control system, and the rotor rotation drive is capable of driving the main shaft inner shaft and the main shaft outer shaft to rotate in opposite directions;

[0019] an upper rotor connector fixedly arranged on the top of the inner shaft of the main shaft, and the upper rotor is arranged on the upper rotor connector;

[0020] a lower rotor connector movably arranged on the top of the outer shaft of the main shaft through a ball joint, and the lower rotor is arranged on the lower rotor connector;

[0021] a lower rotor variable-pitch pull rod, the top end of which is hingedly connected to the lower rotor connector;

[0022] a lower rotor automatic tilting device arranged on the top of the fuselage and movably connected to the outer wall of the outer shaft of the main shaft through a ball joint, and the bottom end of the lower rotor variable-pitch pull rod is hingedly connected to the lower rotor automatic tilting device; the lower rotor automatic tilting device is communicatively connected to the control system and can periodically tilt under the control of the control system to drive the lower rotor to perform periodic variable-pitch movement through the up-and-down movement of the lower rotor variable-pitch pull rod.

[0023] Preferably, at least one of the upper rotor connector and the lower rotor connector is a rotor clamp.

[0024] Preferably, any of the deformable short wings comprises:

[0025] a frame assembly comprising a connecting longitudinal beam and two parallel transverse beams, one end of each of the two transverse beams is hingedly connected to the belly of the fuselage, a plurality of connecting longitudinal beams are arranged between the two transverse beams along the length extension direction of the transverse beams, and both ends of any of the connecting longitudinal beams are respectively hingedly connected to the two transverse beams;

[0026] a flexible skin covering the outside of the frame assembly;

[0027] a driving element arranged on the fuselage and connected to the transverse beams, the driving element can drive the frame assembly to reciprocally swing relative to the fuselage to fold the frame assembly towards the fuselage or unfold the frame assembly away from the fuselage, and the driving element is communicatively connected to the control system.

[0028] Preferably, a gap between the transverse beam and the connecting longitudinal beam is filled with a filling material, the flexible skin covers and is connected to the filling material, and the filling material can be deformed.

[0029] Preferably, the deformable short wing further comprises a limiting block connected to the fuselage, the limiting block can abut against the frame assembly, and when the limiting block abuts against the frame assembly, the wing area of the frame assembly is unfolded to the maximum.

[0030] Preferably, the driving element is a hydraulic rod, one end of the hydraulic rod is hingedly connected to the fuselage, and the other end of the hydraulic rod is hingedly connected to the transverse beam.

[0031] Preferably, the tilting device comprises a fixed shell, a movable shell and a tilting drive assembly, the fixed shell is fixed to the tail end of the fuselage, and the movable shell is hinged to the end of the fixed shell away from the fuselage.

[0032] The thrust propeller comprises a thrust propeller blade, a thrust propeller rotating shaft, a thrust propeller drive motor and a bevel gear transmission assembly, the thrust propeller rotating shaft penetrates through the movable shell and is rotationally connected with the movable shell, the thrust propeller blade is located at the end of the movable shell away from the fixed shell and is connected with one end of the thrust propeller rotating shaft, the thrust propeller drive motor is arranged in the fixed shell, the bevel gear transmission assembly comprises a first helical bevel gear, a second helical bevel gear and a third helical bevel gear, the second helical bevel gear is rotationally mounted on the inner wall of the fixed shell, the first helical bevel gear is fixed to the other end of the thrust propeller rotating shaft, and the first helical bevel gear is perpendicular to the second helical bevel gear and is in mesh with the second helical bevel gear; the output shaft of the thrust propeller drive motor is parallel to the thrust propeller rotating shaft, the third helical bevel gear is fixed to the output shaft of the thrust propeller drive motor, and the third helical bevel gear is perpendicular to the second helical bevel gear and is in mesh with the second helical bevel gear; the thrust propeller drive motor can drive the thrust propeller blade to rotate around the axis of the thrust propeller rotating shaft.

[0033] The tilting drive assembly is arranged outside or inside the movable shell and is connected with the thrust propeller rotating shaft, the tilting drive assembly can drive the thrust propeller rotating shaft and the movable shell to synchronously rotate relative to the fixed shell, so as to realize the left-right tilting of the thrust propeller relative to the fuselage and balance the counter torque of the upper rotor and the lower rotor.

[0034] Preferably, the tilting drive assembly comprises:

[0035] A worm gear is rotationally mounted on the inner side wall of the movable shell and is in mesh with the worm wheel.

[0036] A worm is rotationally mounted on the inner side wall of the movable shell and is in mesh with the worm wheel.

[0037] A tilting motor is fixed outside the movable shell and is connected with the worm through a bevel gear assembly, the tilting motor is used to drive the worm wheel to rotate, so as to drive the thrust propeller rotating shaft and the movable shell to synchronously rotate relative to the fixed shell through the support, and make the first helical bevel gear rotate to different meshing positions.

[0038] Preferably, the coaxial dual-rotor aircraft is a coaxial dual-rotor high-speed helicopter.

[0039] The present application has the following technical effects compared with the prior art:

[0040] The coaxial dual-rotor aircraft disclosed in the present application cancels the upper rotor control, has novel and reasonable structure, retains the fuselage configuration of the conventional coaxial rigid dual-rotor helicopter, and thus the fuselage structure is still relatively compact. In addition, the hub with the upper rotor control is cancelled, compared with the conventional hub with the upper and lower rotor control, has the advantages of simplified control structure and improved structural performance, and simultaneously, since the upper rotor control is cancelled, the deformable short wing and the vector thrust propeller are arranged on the fuselage, the deformable short wing can compensate the imbalance of the overall rolling moment of the aircraft caused by the upper rotor in high-speed forward flight, and the tilting device can drive the thrust propeller to tilt relative to the fuselage, so as to balance the counter-torque of the upper and lower rotors in high-speed flight, and further ensure the controllability of the yaw control. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0042] Figure 1 The structural schematic diagram of the coaxial dual-rotor aircraft disclosed in the embodiments of the present application is shown in the figure.

[0043] Figure 2 The structural schematic diagram of the hub in the coaxial dual-rotor aircraft disclosed in the embodiments of the present application is shown in the figure.

[0044] Figure 3 The schematic diagram of the deformable short wing in the coaxial dual-rotor aircraft disclosed in the embodiments of the present application in the folded state is shown in the figure.

[0045] Figure 4 The schematic diagram of the deformable short wing in the coaxial dual-rotor aircraft disclosed in the embodiments of the present application in the unfolded state is shown in the figure.

[0046] Figure 5 The working principle diagram of the thrust propeller and the tilting device disclosed in the embodiments of the present application is shown in the figure.

[0047] In the figure, the reference signs are as follows:

[0048] 100, coaxial dual-rotor aircraft;

[0049] 1, fuselage;

[0050] 2, coaxial twin-rotor assembly; 21, upper rotor; 22, lower rotor; 23, hub; 231, inner main shaft; 232, outer main shaft; 233, upper rotor connecting member; 234, lower rotor connecting member; 235, spherical hinge; 236, lower rotor collective pitch control rod; 237, lower rotor automatic tilt actuator;

[0051] 3, deformable winglet; 31, frame assembly; 311, connecting longitudinal beam; 312, cross beam; 32, driving element; 33, limit block; 34, filling material;

[0052] 4, thrust propeller; 41, thrust propeller blade; 42, thrust propeller rotating shaft; 43, thrust propeller driving motor; 44, first spiral bevel gear; 45, second spiral bevel gear; 46, third spiral bevel gear;

[0053] 5, tilting device; 51, fixed housing; 52, movable housing; 53, worm gear; 54, worm; 55, bracket; 56, tilting motor; 57, pin shaft. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0055] The present application aims to provide a coaxial twin-rotor aircraft with cancelled upper rotor control, which cancels the upper rotor control by configuring a deformable winglet on the aircraft fuselage and a vector thrust propeller on the aircraft tail, and assists the cancellation of the upper rotor control hub, so that the aircraft can still balance the upper and lower rotor counter-torque and fuselage roll torque in the high-speed flight state, realizes the high-reliability heading control of the aircraft, and solves the problems in the prior art.

[0056] To make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0057] As Figure 1As shown, the embodiment provides a coaxial dual-rotor aircraft 100, comprising a fuselage 1, a coaxial dual-rotor assembly 2, deformable short wings 3 and a vector thrust propeller, the fuselage 1 is provided with a control system and a fuselage sensor, the fuselage sensor is in communication connection with the control system, and the fuselage sensor is used to detect the roll moment of the fuselage 1; the coaxial dual-rotor assembly 2 comprises an upper rotor 21, a lower rotor 22 and a hub 23 without upper rotor control, the upper rotor 21 and the lower rotor 22 are arranged on the hub 23, the hub 23 is arranged on the top of the fuselage 1 and is connected with the control system, and the control system can drive and control the operation of the hub 23; the deformable short wings 3 can be folded and unfolded, and the deformable short wings 3 are symmetrically arranged on both sides of the abdomen of the fuselage 1, the deformable short wings 3 are in communication connection with the control system, and the control system can control the deformable short wings 3 to fold to reduce the short wing area or unfold to expand the short wing area according to the detection signal of the fuselage sensor, so as to balance the roll moment of the fuselage 1 in real time; the vector thrust propeller comprises a thrust propeller 4 and a tilting device 5, the thrust propeller 4 is arranged at the tail end of the fuselage 1 through the tilting device 5, and the thrust propeller 4 and the tilting device 5 are in communication connection with the control system, wherein the thrust propeller 4 is used to provide thrust for the fuselage 1, and the tilting device 5 can drive the thrust propeller to deflect relative to the fuselage 1 to balance the counter torque of the upper rotor 21 and the lower rotor 22. It should be noted that the above-mentioned fuselage 1 of the scheme can adopt the configuration of a conventional coaxial rigid dual-rotor helicopter.

[0058] In some embodiments, the hub 23 comprises a main shaft inner shaft 231, a main shaft outer shaft 232, an upper rotor connecting piece 233, a lower rotor connecting piece 234, and a lower rotor automatic tilt device 237. The main shaft inner shaft 231 is arranged inside the main shaft outer shaft 232, and the top of the main shaft inner shaft 231 is higher than the top of the main shaft outer shaft 232. The main shaft inner shaft 231 and the main shaft outer shaft 232 are coaxial and have no structural interference therebetween. The bottom of the main shaft inner shaft 231 and the bottom of the main shaft outer shaft 232 are both arranged through the top of the fuselage 1 and connected with the rotor rotation drive of the control system. The rotor rotation drive can drive the main shaft inner shaft 231 and the main shaft outer shaft 232 to rotate simultaneously and reversely. The upper rotor connecting piece 233 is fixedly arranged at the top of the main shaft inner shaft 231, and the upper rotor 21 is arranged on the upper rotor connecting piece 233. The lower rotor connecting piece 234 is movably arranged on the top of the main shaft outer shaft 232 through a spherical hinge 235, and the lower rotor 22 is arranged on the lower rotor connecting piece 234. The top end of the lower rotor variable-pitch pull rod 236 is hinged to the lower rotor connecting piece 234. The lower rotor automatic tilt device 237 is arranged on the top of the fuselage 1 and movably connected with the outer wall of the main shaft outer shaft 232 through the spherical hinge 235. The bottom end of the lower rotor variable-pitch pull rod 236 is hinged to the lower rotor automatic tilt device 237. The lower rotor automatic tilt device 237 is communicatively connected with the control system. When the aircraft is controlled, the lower rotor automatic tilt device 237 tilts, and the lower rotor connecting piece 234 rotates through the lower rotor variable-pitch pull rod 236 during one rotation, thereby realizing the periodic variable-pitch movement of the lower rotor 22. In the above-mentioned hub 23, the lower rotor automatic tilt device 237 uses an existing automatic tilt device, and the specific structure and working principle are not described here. Based on the design of the above-mentioned hub 23, the upper rotor 21 is only used as a lifting surface.

[0059] In some embodiments, the above-mentioned rotor rotation drive generally comprises an upper rotor drive motor and a lower rotor drive motor. The upper rotor drive motor and the lower rotor drive motor are respectively connected with the bottom of the main shaft inner shaft 231 and the bottom of the main shaft outer shaft 232 through a transmission assembly. The upper rotor drive motor and the lower rotor drive motor are synchronously operated under the control of the control system, drive the main shaft inner shaft 231 and the main shaft outer shaft 232 to rotate synchronously and reversely, and then drive the upper rotor 21 and the lower rotor 22 to rotate, so as to make the aircraft fly. When it is necessary to adjust the direction or the flight attitude, the lower rotor automatic tilt device 237 is controlled by the control system to drive the lower rotor connecting piece 234 to make corresponding attitude adjustment, so as to adjust the flight attitude of the aircraft. The above-mentioned rotor rotation drive uses the rotor rotation drive mechanism of the existing conventional coaxial dual-rotor assembly, and the specific structure is not described here. The difference between the hub 23 of the present scheme and the hub of the existing conventional coaxial dual-rotor assembly is that the present scheme cancels the upper rotor automatic tilt device which can adjust the variable pitch of the upper rotor connecting piece 233, so that the control system of the entire dual-rotor assembly 2 is simplified, and the structural performance of the dual-rotor assembly 2 is improved.

[0060] In some embodiments, at least one of the upper rotor connecting member 233 and the lower rotor connecting member 234 is a rotor clamp. The rotor clamp is a prior art component, and the rotor clamp with a corresponding structure can be used according to the number of upper rotor blades and lower rotor blades.

[0061] In some embodiments, any deformable short wing 3 comprises a frame assembly 31, a flexible skin, and a driving element 32. The frame assembly 31 comprises a connecting beam 311 and two parallel transverse beams 312, one end of each of the two transverse beams 312 is hinged to the belly of the fuselage 1, a plurality of connecting beams 311 are arranged between the two transverse beams 312 in the length direction of the transverse beam 312, and both ends of any connecting beam 311 are hinged to the two transverse beams 312, respectively. The flexible skin covers the outside of the frame assembly 31. The driving element 32 is arranged on the fuselage 1 and connected to the transverse beam 312. The driving element 32 can drive the frame assembly 31 to reciprocate relative to the fuselage 1, so that the frame assembly 31 is folded towards the fuselage 1 or unfolded away from the fuselage 1. The driving element 32 is communicatively connected to the control system.

[0062] In some embodiments, a gap between the transverse beam 312 and the connecting beam 311 is filled with a filling material 3434. The flexible skin covers and is connected to the filling material 34. The filling material 34 can be deformed.

[0063] In some embodiments, the deformable short wing 3 further comprises a limiting block 33 connected to the fuselage 1. The limiting block 33 can abut against the frame assembly 31. When the limiting block 33 abuts against the frame assembly 31, the wing area of the frame assembly 31 is maximized.

[0064] In some embodiments, the driving element 32 is a hydraulic rod. One end of the hydraulic rod is hinged to the fuselage 1, and the other end of the hydraulic rod is hinged to the transverse beam 312.

[0065] In the present embodiment, the deformable short wing 3 described above adopts the "deformable high-speed helicopter short wing" disclosed in the Chinese invention patent application No. 202011138386.4. The specific structure, working principle and technical effects are not repeated here. It is emphasized that in the present embodiment, the control logic (i.e. control principle) of the control system for the deformable short wing 3 is based on the cancellation of the hub 23 of the upper rotor, which is as follows:

[0066] Step one: the fuselage sensor detects the flight speed of the aircraft, the unfolding degree of the deformable short wing 3, the fuselage roll moment, and the flight height of the aircraft;

[0067] Step two: according to the flight speed of the aircraft, the fuselage roll moment, and the flight height of the aircraft, the short wing area required to balance the fuselage roll moment is calculated;

[0068] Step three: according to the required short wing area calculated in step two, determine whether the wing area of the deformable short wing 3 reaches the limit (minimum wing area or maximum wing area), if yes, go to step four, otherwise go to step five;

[0069] Step four: determine whether the cyclic pitch adjustment of the lower rotor reaches the limit, if yes, go to step six, otherwise go to step seven;

[0070] Step five: the control system adjusts the wing area of the deformable short wing 3 to the required short wing area through the driving element 32, and then returns to step one to continue monitoring the aircraft state;

[0071] Step six: appropriately reduce the flight speed and return to step one to continue monitoring the aircraft state;

[0072] Step seven: adjust the cyclic pitch of the lower rotor connecting piece 234 and return to step one to continue monitoring the aircraft state.

[0073] The control system in this embodiment uses the common control system in the field of aircraft, which will not be described here in detail.

[0074] In some embodiments, as Figure 5As shown, the tilting device 5 includes a fixed shell 51, a movable shell 52 and a tilting drive assembly, the fixed shell 51 is fixed to the tail end of the fuselage 1, the movable shell 52 is hinged to the end of the fixed shell 51 away from the fuselage through a pin shaft 57; the thrust propeller 4 includes a thrust propeller blade 41, a thrust propeller shaft 42, a thrust propeller drive motor 43 and a bevel gear transmission assembly, the thrust propeller shaft 42 penetrates the movable shell 52 and is rotationally connected with the movable shell 52, the thrust propeller blade 41 is located at the end of the movable shell 52 away from the fixed shell 51 and is connected with one end of the thrust propeller shaft 42; the thrust propeller drive motor 43 is arranged in the fixed shell 51, the bevel gear transmission assembly includes a first helical bevel gear 44, a second helical bevel gear 45 and a third helical bevel gear 46, the second helical bevel gear 45 is rotationally installed on the inner wall of the fixed shell 51, the first helical bevel gear 44 is fixed with the other end of the thrust propeller shaft 42, the first helical bevel gear 44 is perpendicular to the second helical bevel gear 45 and meshes with each other; the output shaft of the thrust propeller drive motor 43 is parallel to the thrust propeller shaft 42, the third helical bevel gear 46 is fixed on the output shaft of the thrust propeller drive motor 43, the third helical bevel gear 46 is perpendicular to the second helical bevel gear 45 and meshes with each other; the thrust propeller drive motor 43 can drive the third helical bevel gear 46 to rotate, and then transmit power to the first helical bevel gear 44 through the second helical bevel gear 45, so as to drive the thrust propeller blade 41 to rotate through the first helical bevel gear 44, the thrust propeller 4 realizes the thrust function. The above-mentioned tilting drive assembly includes a worm gear 53, a worm shaft 54 and a tilting motor 56, the worm gear 53 is rotationally installed on the inner side wall of the movable shell 52, the worm gear 53 is connected with the thrust propeller shaft 42 through a support 55; the worm shaft 54 is rotationally installed on the inner side wall of the movable shell 52 and meshes with the worm gear 53; the tilting motor 56 is fixed outside the movable shell 52 and is connected with the worm shaft 54 through a bevel gear assembly, the bevel gear assembly generally includes a first bevel gear and a second bevel gear which is perpendicular to the first bevel gear and meshes with the first bevel gear, the worm shaft 54 and the tilting motor 56 are connected with the first bevel gear and the second bevel gear respectively, that is, the transmission of power from the tilting motor 56 to the worm shaft 54 can be realized, the bevel gear assembly is a conventional component, and its specific installation form and functional principle will not be described here. The tilting motor 56 drives the worm gear 53 to rotate through the bevel gear assembly, and then drives the worm gear 53 to rotate, the rotation of the worm gear 53 can drive the thrust propeller shaft 42 and the movable shell 52 to rotate synchronously relative to the fixed shell 51 through the support 55, and the first helical bevel gear 44 is rotated to different meshing positions, in this process, the first helical bevel gear 44 and the second helical bevel gear 45 maintain the meshing relationship and power transmission, so as to realize the tilting adjustment of the thrust propeller 4 in the normal operation process. It should be noted that the pin shaft 57 is perpendicular to the length direction and the height direction of the fuselage 1, and can realize the left and right tilting of the thrust propeller 4 relative to the fuselage 1.

[0075] In some embodiments, the coaxial dual-rotor aircraft 100 adopts a coaxial dual-rotor high-speed helicopter, which is generally a heavy helicopter, and has the characteristics of fast flight speed, large body weight, and high requirement for control reliability. When the aircraft is flying forward, the vector thrust propeller and the hub 23 provide power and control, the deformable short wing 3 assists in control by unfolding and folding, and the tilting device 5 drives the thrust propeller 4 to tilt left and right relative to the body to change the thrust direction of the thrust propeller 4, thereby achieving the purpose of balancing the counter-torque of the upper and lower rotors and the body.

[0076] In summary, the scheme retains the body configuration of the conventional coaxial rigid dual-rotor helicopter, so the body structure is still relatively compact. In addition, the scheme adopts the hub 23 without upper rotor control, which has the advantages of simplified control structure and improved structural performance compared to the conventional hub with upper and lower rotor control. At the same time, due to the cancellation of the upper rotor control, the scheme also configures the deformable short wing 3 and the vector thrust propeller on the body. The deformable short wing 3 can make up for the imbalance of the overall rolling moment of the aircraft caused by the upper rotor at high-speed forward flight, and the tilting device 5 can drive the thrust propeller 4 to tilt relative to the body to the two sides of the body, thereby changing the thrust direction of the thrust propeller 4 to generate a yawing moment, so as to balance the counter-torque of the upper and lower rotors at high-speed flight, and further ensure the controllability of the heading.

[0077] It should be noted that the structures, proportions, sizes, etc. shown in the drawings of the present specification are only used to cooperate with the content disclosed in the specification, so that those skilled in the art can understand and read, and are not used to limit the implementation conditions of the present application, so they do not have technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effect and purpose that can be achieved by the present application, should still fall within the scope covered by the disclosed technical content of the present application. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the specification are only for easy understanding and clarity, and are not used to limit the scope of the present application. The change or adjustment of the relative relationship, without substantially changing the technical content, is also considered as the implementation scope of the present application.

[0078] In the present application, specific examples are used to illustrate the principles and implementation methods of the present application. The above examples are only used to help understand the method and core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation and application scope will also be changed. In summary, the content of the present specification should not be understood as a limitation of the present application.

Claims

1. A coaxial twin-rotor aircraft, characterized in that: It is a coaxial twin-rotor high-speed helicopter, including: a fuselage, wherein a control system and a fuselage sensor are configured on the fuselage, the fuselage sensor being communicatively connected to the control system, and the fuselage sensor being used to detect a rolling moment of the fuselage; The coaxial twin-rotor assembly comprises an upper rotor, a lower rotor and a hub for cancelling the upper rotor control, the upper rotor and the lower rotor being arranged on the hub, the hub being arranged on the top of the fuselage and connected to the control system, the control system being capable of driving and regulating the operation of the hub; the hub comprising an inner main shaft, an outer main shaft, an upper rotor connecting piece, a lower rotor connecting piece, a lower rotor pitch-changing rod and a lower rotor automatic tilt device, the inner main shaft being arranged through the interior of the outer main shaft, and the top of the inner main shaft being higher than the top of the outer main shaft; the bottoms of the inner main shaft and the outer main shaft both pass through the top of the fuselage and are connected to the rotor rotation drive of the control system, the rotor rotation drive being capable of driving the inner main shaft and the outer main shaft The cam is fixedly mounted on the top of the main shaft inner shaft, and the upper rotor is arranged on the upper rotor connecting member; the lower rotor connecting member is movably mounted on the top of the main shaft outer shaft through a ball joint, and the lower rotor is arranged on the lower rotor connecting member; the top end of the lower rotor pitch change pull rod is hinged to the lower rotor connecting member; the lower rotor automatic tilt device is arranged on the top of the fuselage and movably connected to the outer wall of the main shaft outer shaft through a ball joint, and the bottom end of the lower rotor pitch change pull rod is hinged to the lower rotor automatic tilt device; the lower rotor automatic tilt device is communicated with the control system and can be periodically tilted under the control of the control system, so as to drive the lower rotor to perform cyclic pitch change movement by the up and down movement of the lower rotor pitch change pull rod; Deformable short wings, the deformable short wings can be folded and deformed, the deformable short wings are symmetrically arranged on both sides of the belly of the fuselage, the deformable short wings are communicatively connected to the control system, and the control system can control the deformable short wings to fold to reduce the short wing area, or unfold to expand the short wing area according to the detection signal of the fuselage sensor, so as to balance the rolling moment of the fuselage in real time; any one of the deformable short wings includes a frame assembly, a flexible skin and a drive element, the frame assembly includes a connecting longitudinal beam and two parallel cross beams, one of the two cross beams The ends of the two cross beams are hinged to the belly of the fuselage, a plurality of connecting longitudinal beams are arranged at intervals between the two cross beams along the longitudinal extension direction of the cross beams, and the two ends of any connecting longitudinal beam are respectively hinged to the two cross beams; the flexible skin covers the exterior of the frame assembly; the driving element is provided on the fuselage and connected to the cross beams, the driving element can drive the frame assembly to swing back and forth relative to the fuselage so that the frame assembly folds toward the fuselage or unfolds away from the fuselage, and the driving element is in communication with the control system; A vectored thrust propeller includes a thrust propeller and a tilting device. The thrust propeller is arranged at the tail end of the fuselage through the tilting device. Both the thrust propeller and the tilting device are communicatively connected to the control system. The thrust propeller is used to provide thrust for the fuselage, and the tilting device can drive the thrust propeller to deflect relative to the fuselage to balance the counter-torque of the upper rotor and the lower rotor.

2. The coaxial twin-rotor aircraft according to claim 1, characterized in that: At least one of the upper rotor connector and the lower rotor connector is a rotor clamp.

3. The coaxial twin-rotor aircraft according to claim 1, characterized in that: A filling material is provided in the gap between the cross beam and the connecting longitudinal beam, the flexible skin covers the filling material and is connected to the filling material, and the filling material is capable of generating deformation.

4. The coaxial twin-rotor aircraft according to claim 1, characterized in that: The deformable short wing also includes a limit block, which is connected to the fuselage and can abut against the frame assembly. When the limit block abuts against the frame assembly, the wing surface area of ​​the frame assembly is expanded to the maximum.

5. The coaxial twin-rotor aircraft according to claim 1, characterized in that: The driving element is a hydraulic rod, one end of the hydraulic rod is hinged to the fuselage, and the other end of the hydraulic rod is hinged to the crossbeam.

6. The coaxial twin-rotor aircraft according to any one of claims 1 to 5, characterized in that: The tilting device includes a fixed housing, a movable housing, and a tilting drive assembly, wherein the fixed housing is fixed to the tail end of the fuselage, and the movable housing is hinged to an end of the fixed housing away from the fuselage; The thrust propeller includes a thrust propeller blade, a thrust propeller shaft, a thrust propeller drive motor and a bevel gear transmission assembly, wherein the thrust propeller shaft passes through the movable housing and is rotatably connected to the movable housing, the thrust propeller blade is located at an end of the movable housing away from the fixed housing and is connected to one end of the thrust propeller shaft; the thrust propeller drive motor is arranged in the fixed housing, the bevel gear transmission assembly includes a first spiral bevel gear, a second spiral bevel gear and a third spiral bevel gear, the second spiral bevel gear is rotatably mounted on the inner wall of the fixed housing, the first spiral bevel gear is fixed to the other end of the thrust propeller shaft, the first spiral bevel gear and the second spiral bevel gear are perpendicular to and mesh with each other; the output shaft of the thrust propeller drive motor is parallel to the thrust propeller shaft, the third spiral bevel gear is fixed on the output shaft of the thrust propeller drive motor, the third spiral bevel gear and the second spiral bevel gear are perpendicular to and mesh with each other; the thrust propeller drive motor is capable of driving the thrust propeller blade to rotate around the axis of the thrust propeller shaft; The tilt drive assembly is arranged on the outside or inside of the movable shell and is connected to the thrust propeller shaft. The tilt drive assembly can drive the thrust propeller shaft and the movable shell to rotate synchronously relative to the fixed shell to achieve left and right deflection of the thrust propeller relative to the fuselage, thereby balancing the counter-torque of the upper rotor and the lower rotor.

7. The coaxial twin-rotor aircraft according to claim 6, characterized in that: The tilt drive assembly comprises: a worm gear rotatably mounted on the inner side wall of the movable housing, the worm gear being connected to the thrust propeller shaft via a bracket; a worm, rotatably mounted on the inner side wall of the movable housing and meshing with the worm wheel; A tilt motor is fixed to the outside of the movable housing and is connected to the worm through a bevel gear assembly. The tilt motor is used to drive the worm gear to rotate, so as to drive the thrust propeller shaft and the movable housing to rotate synchronously relative to the fixed housing through the bracket, and to rotate the first spiral bevel gear to different meshing positions.

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