Helicopter two-degree-of-freedom rotor parallel driving and operating machine

Abstract

The invention relates to a two-degree-of-freedom rotor parallel driving and operating machine for a helicopter. The two-degree-of-freedom rotor parallel driving and operating machine comprises a base, a console, a rotor group, a parallel mechanism and an operating mechanism, the machine base comprises a bottom plate and a large cylinder arranged at the right end of the bottom plate. The console is correspondingly arranged at the left end of the bottom plate, the axial lead of the console and the axial lead of the large cylinder are perpendicular to the bottom plate, and the two axial leads form a central plane; the rotor wing group is arranged above the parallel mechanism, and the rotor wing group is vertically and rotatably connected with the parallel mechanism; the parallel mechanism is arranged above the large cylinder, and the large cylinder is a fixed seat of the parallel mechanism; the control mechanism is arranged below the bottom plate and connected with the control table, the bottom plate and the parallel mechanism. The unmanned aerial vehicle is easy to control, simple and compact in structure, good in safety and capable of effectively improving the flight speed, the bearing capacity and the flight stability.

Description

Technical Field

[0001] The invention relates to the technical field of helicopters, and in particular to a helicopter two-degree-of-freedom rotor parallel drive and manipulator. Background Art

[0002] The complete set of control devices for traditional helicopter flight includes four control systems: total torque, longitudinal, lateral and heading. The joystick is located in front of the pilot's seat and is connected to the rotor's tilter through a joystick system. Through the four control systems, the rotor is driven to tilt relative to the rotor main shaft to change the flight direction. The joystick rotor operating system is the most distinctive and most critical iconic component of the helicopter. The flight control device of the traditional single-rotor helicopter is relatively complex and has poor safety. Simplifying and lightweighting the structure of the helicopter's flight control device and improving its maneuverability, reliability and safety are the directions that experts and scholars in the world's helicopter field are constantly working on.

[0003] In recent years, the technologies in the rotor operating system include: Patent No. CN102030105B discloses a direct tilt-controlled rotor helicopter, which eliminates the blade cyclic pitch system, reducer and tail rotor system of traditional helicopters and simplifies the helicopter structure; Patent No. CN110294103B discloses a dual-vector nozzle hand-operated device, which has the advantages of compact structure and easy operation; Patent No. CN101376433B discloses a helicopter rotor control method and system, which independently controls the pitch of each blade; Patent No. CN104401482B discloses a fully differential coaxial helicopter control machine Structure; Patent with publication number CN102501968B discloses a ducted coaxial helicopter control mechanism; Patent with publication number CN106915457B discloses a coaxial helicopter control system with variable parallelism of upper and lower rotor tilters, which realizes the change of lateral non-parallelism of upper and lower rotor tilters, improves the lateral upper and lower rotor disc tilting close to or even beating phenomenon; Patent with publication number CN108750084B discloses a coaxial helicopter control system, which uses a pitch-controlled control system and a servo winglet installed on the lower rotor to improve the stability of the helicopter, and solves the problem that the servo winglet cannot be installed on the rotor of the conventional pitch-controlled control system.

[0004] Although the above-mentioned existing technologies have their own characteristics, the existing helicopter rotor heading control mechanism is complex, with too many components and a long transmission chain. Many components that rotate with the rotor main shaft are exposed outside the cabin, with a large drag area, easy to vibrate and corrode; the fuselage swings synchronously with the rotor main shaft, the flight flexibility is poor, and people are prone to dizziness. Therefore, in order to overcome the above-mentioned defects, simplifying the rotor structure, improving the flight speed, load-bearing capacity and stability are the frontiers and hot spots of the world's helicopter research. Summary of the invention

[0005] In view of the above problems, the object of the present invention is to provide a two-degree-of-freedom rotor parallel drive and control mechanism for a helicopter, which not only has simple operation, simple and compact structure, and good safety, but also can effectively improve the flight speed, load capacity and flight stability.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A two-degree-of-freedom rotor parallel drive and control mechanism for a helicopter proposed by the present invention includes a machine base, a control console, a rotor group, a parallel mechanism and a control mechanism; the machine base includes a bottom plate and a large cylinder arranged at the right end of the bottom plate; the control console is correspondingly arranged at the left end of the bottom plate, and the axis line of the control console and the axis line of the large cylinder are perpendicular to the bottom plate, and the two axis lines form a central plane; the rotor group is arranged above the parallel mechanism, and the rotor group is vertically rotatably connected to the parallel mechanism; the parallel mechanism is arranged above the large cylinder, and the large cylinder is the fixed seat of the parallel mechanism; the control mechanism is arranged below the bottom plate, and the control mechanism is respectively connected to the control console, the bottom plate and the parallel mechanism.

[0008] Further, a right vertical plate perpendicular to the central plane is arranged on the upper right side of the large cylinder, and a radial through hole coinciding with the central plane is opened in the upper part of the right vertical plate; a large cavity and a small cavity are coaxially arranged in the large cylinder from top to bottom and are connected, and axial through holes are opened on the upper and lower end faces of the large cylinder; a left axial large through hole, a left cavity and a left through hole coinciding with the central plane are successively opened on the left side of the large cylinder from top to bottom; a right axial large through hole, a right cavity and a right through hole are successively opened on the right front part of the large cylinder from top to bottom; four axially small through holes and coaxial small cavities are circumferentially arranged on the large cylinder from top to bottom, a radial large through hole coinciding with the central plane is opened on the upper right side of the large cylinder, and radial small through holes orthogonal to the left axial large through hole and the right axial large through hole are respectively opened on the left and right sides of the middle part; through holes perpendicular to the central plane are respectively opened on the left and right convex platforms of the left and right through holes at the lower end of the large cylinder.

[0009] Further, the parallel mechanism includes a moving platform, two columns, a straight rod, a universal coupling, two ball rods, a beam, a connecting rod, bevel gears, a conical gear, an engine, a spring, and four elastic rod groups;

[0010] The moving platform is a disc body, and a central through hole perpendicular to the disc is arranged at its center, and three hinge seats evenly distributed along the outer circumference and four connecting seats evenly distributed along the inner circumference are arranged on its lower end face.

[0011] The two columns have the same structure and are coaxially and fixedly connected in sequence from top to bottom by a cylinder I, a circular convex platform, and a cylinder II. Hinge supports are provided at the top end of the cylinder I and the bottom end of the cylinder II, and an axially symmetric inclined plane is provided in the middle of the cylinder I; the columns are respectively arranged inside the left axial large through-hole and the right axial large through-hole of the large cylinder; the cylinder I of the column is slidably connected to the corresponding axial large through-hole, the circular convex platform is slidably connected to the corresponding cavity, and the cylinder II is slidably connected to the corresponding through-hole; the spring is arranged between the circular convex platform of the cylinder and the bottom surface of the corresponding cavity;

[0012] Hinge seats are respectively provided at the front and rear ends of the beam, and through-holes parallel to each other are provided in the middle and the front end thereof; through-holes parallel to each other are provided at the upper and lower ends of the connecting rod;

[0013] The straight rod is circumferentially and rotatably connected to a hinge seat corresponding to the lower end surface of the moving platform; the upper ends of the two ball rods are respectively ball-joint connected to the other two hinge seats corresponding to the lower end of the moving platform; the lower end of the straight rod is ball-joint connected to the hinge support at the upper end of the left column; the lower ends of the two ball rods are respectively ball-joint connected to the hinge seats at both ends of the beam; the through-hole in the middle of the beam is rotatably connected to the through-hole in the upper part of the right vertical plate by a pin shaft, the through-hole at the front end of the beam is rotatably connected to the through-hole at the upper end of the connecting rod by a pin shaft, and the through-hole at the lower end of the connecting rod is rotatably connected to the hinge support at the upper end of the right column;

[0014] The engine is vertically and fixedly connected to the outer wall of the large cylinder; the shaft of the bevel gear is rotatably connected to the upper radial large through-hole of the large cylinder; the shaft of the bevel gear is rotatably connected to the central through-hole of the top surface of the large cylinder; the bevel gear and the bevel gear are meshed inside the large cavity of the large cylinder; the rotor group is rotatably connected to the central through-hole of the moving platform by a rotating pair; the shaft of the engine is coaxially and fixedly connected to the shaft of the bevel gear; the input sleeve of the universal coupling is fixedly connected to the bevel gear shaft by a key, and the output sleeve is slidably key-connected to the lower end of the rotor group;

[0015] The elastic rod group includes steel ropes, pull rods, and pull rod springs. The pull rod is coaxially and fixedly connected in sequence from top to bottom by a cylinder and a circular convex platform, and a hinge seat is provided at the top end of the cylinder; the pull rods of the four elastic rod groups are respectively arranged in four axially small through-holes and small cavities circumferentially distributed on the large cylinder, and the circular convex platform at the bottom of the pull rod is slidably connected to the corresponding small cavity, the cylinder of the pull rod is slidably connected to the inner circular platform hole at the top of the small cavity, and its top end passes upward through the corresponding axially small through-hole; the two ends of the steel rope are respectively connected to the connecting seat on the lower end surface of the moving platform and the hinge seat at the upper end of the corresponding pull rod; the pull rod springs are respectively sleeved on the lower part of the pull rod cylinder, and their two ends respectively abut against the inner circular platform at the top of the corresponding small cavity and the circular convex platform of the pull rod.

[0016] Furthermore, the four axially small cavities circumferentially distributed on the large cylinder are filled with damping grease.

[0017] Further, a flexible cover is provided between the outer circumference of the moving table and the outer wall of the upper circumference of the large cylinder of the machine base.

[0018] Further, the control console includes a small cylinder, a handle shaft and a handle sleeve; the lower end of the small cylinder is vertically and fixedly connected to the left end of the bottom plate, the small cylinder is provided with an axial through hole, and a circumferential through hole perpendicular to the central plane is opened in the middle of the right side; the handle sleeve includes a handle, a shaft sleeve, a swing arm and a terminal hinge support connected in sequence from top to bottom; the handle shaft includes a handle, a core shaft, a swing arm and a terminal hinge support connected in sequence from top to bottom; the shaft sleeve of the handle sleeve is rotationally connected in the axial through hole of the small cylinder; the core shaft of the handle shaft is rotationally connected in the shaft sleeve of the handle sleeve.

[0019] Further, the operating mechanism includes two wedge hole shafts, a spring, a slider, two push rods, two levers, two long rods, a pedal, two tow ropes, a handle shaft, a handle sleeve, three guide wheels and a guide wheel seat;

[0020] The two push rods have the same structure, and through holes parallel to each other are provided at both ends of the push rod; the two long rods have the same structure, and spherical hinges with through holes are provided at both ends of the long rod; the two levers are both triangular structures, and through holes parallel to each other are provided at the three vertices; the two push rods are respectively arranged under the two side columns, and one through hole at one end of the push rod is hinged to the lower hinge support of the corresponding column; the two levers are respectively arranged under the large cylinder and the bottom plate, one through hole of the lever under the bottom plate is rotationally connected to the through hole at the other end of the left push rod, the second through hole is rotationally connected to the through hole of the corresponding boss on the bottom surface of the bottom plate with a pin shaft, the third through hole is ball-jointed to one end of a long rod, and the other end of the long rod is ball-jointed to the terminal hinge support of the swing arm of the handle sleeve; one through hole of the lever under the large cylinder is rotationally connected to the through hole at the other end of the right push rod, the second through hole is rotationally connected to the through hole of the corresponding boss on the bottom surface of the large cylinder with a pin shaft, the third through hole is ball-jointed to one end of the other long rod, and the other end of the long rod is ball-jointed to the terminal hinge support of the swing arm of the handle shaft.

[0021] The wedge hole shaft is successively arranged along its axial direction as a frustum, a cylinder III, a symmetric wedge hole of an orthogonal cylinder, a cylinder IV, and a hinge hole; two wedge hole shafts are respectively and slidably connected to the small radial through holes on both sides of the middle part of the large cylinder; the frustum of the wedge hole shaft extends out of the outer wall of the large cylinder; two upright columns respectively pass through the inclined holes of the two wedge hole shafts and are in sliding contact with the symmetric inclined surfaces of the wedge hole shafts through the symmetric inclined surfaces in the middle of the upright columns. A spring is sleeved between the frustum of the wedge hole shaft and the outer wall of the large cylinder; the three guide wheels have the same structure and are all provided with a central through hole and a rim groove; the guide wheel seat is a frustum cylinder body, on which there are a central axial through hole, two through holes cutting the circumference, and two central slots perpendicular to the through holes cutting the circumference. The guide wheel seat is coaxially and fixedly connected to the lower end surface of the large hole cavity at the axis of the large cylinder; two of the guide wheels are respectively arranged in the two slots of the guide wheel seat, and the central through holes of the two guide wheels are respectively and rotatably connected to the two through holes cutting the circumference of the guide wheel seat through a pin shaft; the slider is located in the small hole cavity at the axis of the large cylinder, and a spring is arranged between the lower end surface of the slider and the lower end surface of the small hole cavity at the axis of the large cylinder; both sides of the wedge hole shaft and the slider are connected by a pull rope; one end of the pull rope is connected to the hinge hole of the wedge hole shaft on one side, the other end bypasses the guide wheel and is connected downward to the upper end of the slider, and then bypasses another guide wheel upward and is connected to the hinge hole of the other wedge hole shaft; the central through hole of the third guide wheel is rotatably connected to the middle part on one side of the lower end surface of the large cylinder through a pin shaft; the upper end of the pedal is rotatably connected to the through hole cutting the circumference in the middle of the small cylinder through a pin shaft, and the lower end is connected to one end of another pull rope. The other end of this pull rope bypasses the lower guide wheel and passes upward through the spring and is connected to the lower end of the slider.

[0022] Further, the rotor group is composed of a rotating shaft and blades uniformly distributed on the outer side of the upper part of the rotating shaft; the middle part of the rotating shaft of the rotor group is rotatably connected to the central through hole of the moving platform through a rotating pair, and the lower end is slidably key-connected to the output sleeve of the universal coupling.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The driver's operation is simple. Only by manually changing the swing angle of the handle of the handle sleeve and the handle shaft relative to the small cylinder of the machine base with both hands, the swing angle of the moving platform relative to the fuselage can be flexibly changed, driving the two-dimensional swing of the rotor group relative to the fuselage, and achieving the effect of flexibly changing the flight heading of the helicopter;

[0025] 2. The engine is vertically and fixedly installed on the machine base, and the drive system has a simple and compact structure, small vibration, and light weight. The main rotor swings flexibly relative to the machine base and the fuselage with the moving platform, is easy to change the flight direction, and has good safety;

[0026] 3. The main rotor has a simple structure, is safe and reliable. By using the pedal, the link group, the pull rope and the spring, the symmetric inclined surfaces between the two wedge hole shafts and the upright columns can be wedge-compressed and separated, ensuring the safe self-locking and unlocking of the operation;

[0027] 4. Multiple elastic tie-rod groups connect the moving platform and the machine base, bear the helicopter load and ensure safe flight. The damping grease in the hole cavity for installing the tie-rods helps to reduce the vibration of the moving platform and the rotor group. The spring sleeved on the lower part of the column helps to reduce the thrust on the long rod and prevent the long rod from being bent. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is the schematic diagram of the main view sectional structure of the present invention;

[0029] Figure 2 is the schematic diagram of the top view sectional structure of the present invention;

[0030] Figure 3 is the schematic diagram of the side view structure of the upper part of the present invention.

[0031] Among them, reference numerals: 1 - machine base; 1-1 - large cylinder; 1-2 - small cylinder; 1-3 - bottom plate; 2 - column; 3 - straight rod; 4 - universal coupling; 5 - moving platform; 6 - rotor group; 7 - ball rod; 8 - beam; 9 - connecting rod; 10 - bevel gear; 11 - cone gear; 12 - engine; 13 - wedge hole shaft; 14 - guide wheel seat; 15 - slider; 16 - spring; 17 - push rod; 18 - lever; 19 - long rod; 20 - pedal; 21 - tow rope; 22 - handle shaft; 23 - handle sleeve; 24 - spring; 25 - guide wheel; 26 - elastic rod group; 26-1 - steel wire rope; 26-2 - tie-rod; 26-3 - tie-rod spring; 27 - flexible cover; 28 - driver. DETAILED DESCRIPTION OF THE INVENTION

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] It should be noted that in the description of the present invention, the orientation or positional relationship indicated by terms such as "upper", "lower", "top", "bottom", "one side", "the other side", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating that the device or element must have a specific orientation, be constructed and operated in a specific orientation.

[0034] See attached Figures 1-3, a two-degree-of-freedom rotor parallel drive and control mechanism for a helicopter proposed by the present invention, includes a base 1, a control console, a rotor group 6, a parallel mechanism, and a control mechanism; the base 1 includes a bottom plate 1-3 and a large cylinder 1-1 fixedly connected to the right end of the bottom plate 1-3; the control console is correspondingly fixed to the left end of the bottom plate 1-3, and the axis line of the control console and the axis line of the large cylinder 1-1 are perpendicular to the bottom plate 1-3, and the two axis lines form a central plane; the rotor group 6 is arranged above the parallel mechanism, and the rotor group is vertically rotatably connected to the moving platform of the parallel mechanism; the parallel mechanism is arranged inside and above the large cylinder 1-1, and the large cylinder 1-1 is the fixed base of the parallel mechanism; the control mechanism is arranged below the bottom plate 1-3, and the control mechanism is respectively connected to the control console, the bottom plate 1-3, the large cylinder 1-1, and the parallel mechanism; the lower end surface of the moving platform 5 is correspondingly connected to the top of the parallel mechanism.

[0035] In this embodiment, a right vertical plate perpendicular to the central plane is provided on the upper right side of the large cylinder 1-1, and a radial through hole coinciding with the central plane is opened in the upper part of the right vertical plate; a large hole cavity and a small hole cavity are coaxially arranged in the large cylinder 1-1 from top to bottom and are connected, and axial through holes are opened on the upper and lower end surfaces of the large cylinder 1-1; a left axial large through hole, a left hole cavity, and a left through hole coinciding with the central plane are successively opened on the left side of the large cylinder 1-1 from top to bottom; a right axial large through hole, a right hole cavity, and a right through hole are successively opened on the right front part of the large cylinder 1-1 from top to bottom; four axially small through holes and a coaxial small hole cavity are opened in the large cylinder 1-1 from top to bottom; a radial large through hole coinciding with the central plane is opened on the upper right side of the large cylinder 1-1, and radial small through holes orthogonal to the left axial large through hole and the right axial large through hole are respectively opened on the left and right sides in the middle; through holes perpendicular to the central plane are respectively opened on the left and right convex platforms of the left and right through holes at the lower end of the large cylinder.

[0036] In this embodiment, a flexible cover 27 is provided between the outer circumference of the moving platform 5 and the outer wall of the upper end circumference of the large cylinder 1-1 of the base.

[0037] The parallel mechanism includes two columns 2, a straight rod 3, a universal coupling 4, a moving platform 5, two ball rods 7, a beam 8, a connecting rod 9, bevel gears 10, spur gears 11, an engine 12, a spring 24, and four elastic rod groups 26.

[0038] The moving platform 5 is a disc body, and a central through hole perpendicular to the disc is provided in its center, and three hinge seats evenly distributed along the outer circumference and four connecting seats evenly distributed along the inner circumference are provided on its lower end surface.

[0039] The two columns 2 have the same structure and are coaxially and fixedly connected in sequence from top to bottom by a cylinder I, a circular boss, and a cylinder II. Hinge supports are provided at the top end of the cylinder I and the bottom end of the cylinder II, and an axially symmetric inclined plane is provided in the middle of the cylinder I. The two columns 2 are respectively arranged inside the left axial large through-hole and the right axial large through-hole of the large cylinder 1-1. The cylinder I of the column 2 is slidably connected to the corresponding axial large through-hole, the circular boss is slidably connected to the corresponding cavity, and the cylinder II is slidably connected to the corresponding through-hole. The spring 24 is arranged between the circular boss of the column and the bottom surface of the corresponding cavity.

[0040] Hinge seats are respectively provided at the front and rear ends of the beam 8, and through-holes parallel to each other are provided in the middle and the front end thereof. Through-holes parallel to each other are provided at the upper and lower ends of the connecting rod 9.

[0041] The straight rod 3 is circumferentially and rotatably connected to a hinge seat on the lower end surface of the moving platform 5 in a tangential manner. The upper ends of the two ball rods 7 are respectively ball-jointly connected to the other two hinge seats on the lower end of the moving platform 5. The lower end of the straight rod 3 is ball-jointly connected to the hinge support at the upper end of the left column 2. The lower ends of the two ball rods 7 are respectively ball-jointly connected to the hinge seats at the two ends of the beam 8. The through-hole in the middle of the beam 8 is rotatably connected to the through-hole in the upper part of the right vertical plate by a pin shaft, the through-hole at the front end of the beam 8 is rotatably connected to the through-hole at the upper end of the connecting rod 9 by a pin shaft, and the through-hole at the lower end of the connecting rod 9 is rotatably connected to the hinge support at the upper end of the right column 2.

[0042] The engine 12 is vertically and fixedly connected to the outer wall of the large cylinder. The shaft of the bevel gear 11 is rotatably connected to the upper radial large through-hole of the large cylinder. The shaft of the bevel gear 10 is rotatably connected to the central through-hole on the top surface of the large cylinder. The bevel gear 11 and the bevel gear 10 are meshed inside the large cavity of the large cylinder. The rotor group 6 is rotationally connected to the central through-hole of the moving platform 5 by a rotating pair. The shaft of the engine 12 is coaxially and fixedly connected to the shaft of the bevel gear 11. The input sleeve of the universal coupling 4 is fixedly connected to the shaft of the bevel gear 10 by a key, and the output sleeve is slidably key-connected to the lower end of the rotor group 6.

[0043] Among them, the rotor group 6 is composed of a rotating shaft and blades uniformly distributed on the outer side of the upper part of the rotating shaft. The middle part of the rotating shaft of the rotor group 6 is rotationally connected to the central through-hole of the moving platform 5 by a rotating pair, and the lower end is slidably key-connected to the output sleeve of the universal coupling 4.

[0044] The elastic rod group 26 includes steel ropes 26-1, pull rods 26-2 and pull rod springs 26-3. The pull rod 26-2 is coaxially and fixedly connected by a cylinder and a circular boss from top to bottom, and a hinge seat is arranged at the top of the cylinder. The pull rods 26-2 of the four elastic rod groups 26 are respectively arranged in four axially small through holes and small cavities evenly distributed on the circumference of the large cylinder in a one-to-one correspondence. The circular boss at the bottom of the pull rod 26-2 is slidably connected to the corresponding cavity, the cylinder of the pull rod 26-2 is slidably connected to the inner circular table hole at the top of the small cavity, and the top of the pull rod 26-2 passes upward through the corresponding axially small through hole. The two ends of the steel rope 26-1 are respectively connected to the connecting seat on the lower end face of the moving platform 5 and the hinge seat on the upper end of the corresponding pull rod 26-2. The pull rod springs 26-3 are respectively sleeved on the lower part of the cylinder of the pull rod 26-2, and their two ends respectively abut against the inner circular table at the top of the corresponding cavity and the circular boss of the pull rod 26-2.

[0045] The four axially small cavities evenly distributed on the circumference of the large cylinder 1-1 are filled with damping grease, which can reduce the vibration of the moving platform 5 and the rotor group 6.

[0046] The control console includes a small cylinder 1-2, a handle shaft 22 and a handle sleeve 23. The lower end of the small cylinder 1-2 is vertically and fixedly connected to the left end of the bottom plate 1-3. The small cylinder 1-2 is provided with an axial through hole, and a circumferential through hole perpendicular to its central plane is opened in the middle of the right side of the small cylinder 1-2. The central plane of the small cylinder 1-2 coincides with the central plane of the large cylinder 1-1, and the coincident plane is M. The handle sleeve 23 includes a handle, a shaft sleeve, a swing arm and a terminal hinge support connected in sequence from top to bottom. The handle shaft 22 includes a handle, a core shaft, a swing arm and a terminal hinge support connected in sequence from top to bottom. The shaft sleeve of the handle sleeve 23 is rotatably connected in the axial through hole of the small cylinder 1-2. The core shaft of the handle shaft 22 is rotatably connected in the shaft sleeve of the handle sleeve 23.

[0047] The operating mechanism includes two wedge hole shafts 13, a spring 24, a slider 15, two push rods 17, two levers 18, two long rods 19, a pedal 20, two tow ropes 21, a handle shaft 22, a handle sleeve 23, three guide wheels 25 and a guide wheel seat 14.

[0048] The two push rods 17 have the same structure, and through holes parallel to each other are provided at both ends of the push rod 17; the two long rods 19 have the same structure, and ball hinges with through holes are provided at both ends of the long rod 19; the two levers 18 are both triangular structures, and through holes parallel to each other are provided at the three vertices thereof; the two push rods 17 are respectively arranged below the two side columns 2, and one through hole at one end of the push rod 17 is hinged to the lower hinge support of the corresponding column 2; the two levers 18 are respectively arranged below the large cylinder 1-1 and the bottom plate 1-3. One through hole of the lever 18 located below the bottom plate 1-3 is rotationally connected to the through hole at the other end of the left push rod 17 by a rotating pair, the second through hole is rotationally connected to the through hole of the corresponding boss on the bottom surface of the bottom plate 1-3 by a pin shaft through a rotating pair, and the third through hole is connected to one end of a long rod 19 by a ball hinge pair. The other end of the long rod 19 is correspondingly connected to the hinge support at the end of the swing arm of the handle sleeve 23 by a ball hinge pair; one through hole of the lever 18 located below the large cylinder 1-1 is rotationally connected to the through hole at the other end of the right push rod 17 by a rotating pair, the second through hole is rotationally connected to the through hole of the corresponding boss on the bottom surface of the large cylinder 1-1 by a pin shaft through a rotating pair, and the third through hole is connected to one end of the other long rod 19 by a ball hinge pair. The other end of the long rod 19 is correspondingly connected to the hinge support at the end of the swing arm of the handle shaft 22 by a ball hinge pair.

[0049] The wedge hole shaft 13 is successively arranged as a frustum, a cylinder III, a symmetric wedge hole of an orthogonal cylinder, a cylinder IV, and a hinge hole along its axial direction; the two wedge hole shafts 13 are respectively in sliding connection with the small radial through holes on both sides of the middle part of the large cylinder 1-1; the frustum of the wedge hole shaft extends out of the outer wall of the large cylinder 1-1; the two side columns 2 respectively pass through the inclined holes of the two wedge hole shafts 13, and symmetric inclined surfaces are correspondingly arranged in the middle of the column 2 and are in sliding contact with the symmetric inclined surfaces of the wedge hole shaft 13 through the symmetric inclined surfaces. A spring 24 is sleeved between the frustum of the wedge hole shaft 13 and the outer wall of the large cylinder 1-1; the three guide wheels 25 have the same structure and are all provided with a central through hole and a rim groove; the guide wheel seat 14 is a frustum cylinder body, and is provided with a central axial through hole, two through holes cutting the circumference, and two central grooves perpendicular to the through holes cutting the circumference. The guide wheel seat 14 is coaxially fixedly connected to the lower end surface of the large hole cavity of the axis of the large cylinder 1-1; two of the guide wheels 25 are respectively arranged in the two grooves of the guide wheel seat 14, and the central through holes of the two guide wheels 25 are correspondingly rotationally connected to the two through holes cutting the circumference of the guide wheel seat 14 through a pin shaft; the slider 15 is located in the small hole cavity of the axis of the large cylinder 1-1, and a spring 24 is arranged between the lower end surface of the slider 15 and the lower end surface of the small hole cavity of the axis of the large cylinder; both sides of the wedge hole shaft 13 are connected to the slider 15 through a pull rope 21; one end of the pull rope 21 is connected to the hinge hole of one side of the wedge hole shaft 13, the other end bypasses the guide wheel 25 and is connected downward to the upper end of the slider 15, and then bypasses another guide wheel 25 upward and is connected to the hinge hole of the other wedge hole shaft 13; the central through hole of the third guide wheel 25 is rotationally connected to one side of the middle part of the lower end surface of the large cylinder 1-1 through a pin shaft; the pedal 20 is vertically fixedly connected by a foot pedal and a support plate. Through holes are respectively arranged at the upper and lower ends of the support plate. The upper through hole is rotationally connected to the through hole cutting the circumference of the middle part of the small cylinder 1-2 through a pin shaft, and the lower through hole is connected to one end of another pull rope 21. The other end of the pull rope 21 bypasses the lower guide wheel 25 and passes upward through the spring 24 and is connected to the lower end of the slider 15.

[0050] The working principle of the present invention is as follows:

[0051] The engine 12 drives the bevel gear 11 to rotate. The bevel gear 11 in the large hole cavity of the large cylinder 1-1 meshes with the bevel gear 10 for transmission, driving the bevel gear 10 to rotate relative to the machine base 1. The bevel gear 10 drives the rotor group 6 to rotate relative to the moving platform 5 through the universal coupling 4. The rotating rotor generates lift, and drives the helicopter to take off through the rotor group 6, the moving platform 5, and multiple elastic rod groups 26. The multiple elastic rod groups 26 connect the moving platform 5 and the machine base 1, bear the load of the helicopter and ensure safe flight. The corresponding cavities of the tie rods 26-2 are filled with damping grease, which can reduce the vibration of the moving platform 5 and the rotor group 6.

[0052] The driver 28 operates the handle of the handle sleeve 23 and the handle shaft 22, driving the handle sleeve 23 and the handle shaft 22 to rotate relative to the axis of the small cylinder 1-2. The lower swing arm of the handle sleeve 23 drives the left column 2 to axially move in the large cylinder 1-1 through a set of link rods (long rod 19, lever 18 and push rod 17) system. Its upper end drives the straight rod 3 to move, controlling the helicopter to fly forward and backward; the lower swing arm of the handle shaft 22 drives the right column 2 to axially move in the large cylinder 1-1 through another set of link rods (long rod 19, lever 18 and push rod 17) system. Its upper end drives the beam 8 to swing relative to the large cylinder 1-1 through the link rod 9 to drive the two ball rods 7 to move; the other end of the straight rod 3 and the other ends of the two ball rods 7 are respectively connected to three hinge seats on the outer circumference of the moving platform 5, controlling the helicopter to fly to both sides; at the same time, operating the handle sleeve 23 and the handle shaft 22 can drive the moving platform 5 and the rotor group 6 to swing two-dimensionally relative to the machine base 1.

[0053] When the driver 28 steps on the pedal 20, it drives the support plate of the pedal to rotate around its support through hole. The through hole of the lower swing arm of the support plate pulls the lower draw rope 21 to bypass the lower guide wheel 25 to pull the slider 15 to move downward in the central small hole cavity of the large cylinder 1-1 to compress the spring 24. At the same time, it pulls the two wedge hole shafts 13 to move towards the axis of the large cylinder 1-1 through the draw rope 21 bypassing the guide wheel 25, forcing the symmetric inclined surfaces of the two wedge hole shafts 13 to disengage from the contact with the symmetric inclined surfaces in the middle of the two columns 2, releasing the braking of the two columns 2. When the foot leaves the pedal 20, the compressed spring 24 under the slider 15 forces the slider 15 to move upward to relax the draw rope 21. The compressed springs 24 sleeved on the two wedge hole shafts 13 drive the wedge hole shafts 13 to move radially outward, forcing the symmetric inclined surfaces of the two wedge hole shafts 13 to wedge-tightly contact with the symmetric inclined surfaces in the middle of the two columns 2, generating a wedging force on the columns 2 to prevent the sliding of the columns 2; at the same time, the lower draw rope 21 pulls the support plate of the pedal 20 to reverse, and the pedal 20 can be reset.

[0054] Matters not detailed in the present invention are well-known technologies.

[0055] The embodiments described above are only used to describe the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A helicopter two-degree-of-freedom rotor parallel drive and manipulator, characterized in that: The helicopter two-degree-of-freedom rotor parallel drive and control machine includes a base, a control console, a rotor group, a parallel mechanism and a control mechanism; the base includes a base plate and a large cylinder arranged at the right end of the base plate; the control console is correspondingly arranged at the left end of the base plate, and the axis line of the control console and the axis line of the large cylinder are perpendicular to the base plate, and the two axis lines constitute a center plane; the rotor group is arranged above the parallel mechanism, and the rotor group is vertically rotationally connected to the parallel mechanism; the parallel mechanism is arranged above the large cylinder, and the large cylinder is a fixed seat of the parallel mechanism; the control mechanism is arranged below the base plate, and the control mechanism is respectively connected to the control console, the base plate and the parallel mechanism.

2. A helicopter two-degree-of-freedom rotor parallel drive and manipulator according to claim 1, characterized in that: A right vertical plate perpendicular to the center plane is arranged on the right side of the upper end of the large cylinder, and a radial through hole coinciding with the center plane is opened on the upper part of the right vertical plate; a large hole cavity and a small hole cavity which are connected are coaxially arranged from top to bottom inside the large cylinder, and an axial through hole is opened on the upper and lower end faces of the large cylinder; a left axial large through hole, a left hole cavity and a left through hole coinciding with the center plane are opened on the left side of the large cylinder from top to bottom; a right axial large through hole, a right hole cavity and a right through hole are opened on the right front part of the large cylinder from top to bottom; four circumferentially evenly distributed axial small through holes and coaxial small hole cavities are opened on the large cylinder from top to bottom, a radial large through hole coinciding with the center plane is opened on the right side of the upper part of the large cylinder, and radial small through holes orthogonal to the left axial large through hole and the right axial large through hole are opened on the left and right sides of the middle part respectively; through holes perpendicular to the center plane are opened on the left side bosses of the left and right through holes at the lower end of the large cylinder respectively.

3. A helicopter two-degree-of-freedom rotor parallel drive and manipulator according to claim 2, characterized in that: The parallel mechanism includes a moving table, two columns, a straight rod, a universal coupling, two ball rods, a beam, a connecting rod, a bevel gear, a bevel gear, an engine, a spring, and four elastic rod groups; The movable platform is a disc body, and a central through hole vertical to the disc is arranged at the center thereof, and three hinge seats evenly distributed along the outer circumference and four connecting seats evenly distributed along the inner circumference are arranged on the lower end surface thereof. The two columns have the same structure, and are coaxially connected by a cylinder I, a circular boss and a cylinder II from top to bottom, and the top of the cylinder I and the bottom of the cylinder II are both provided with hinge supports, and the middle of the cylinder I is provided with an axially symmetrical inclined surface; the columns are respectively arranged inside the left axial large through hole and the right axial large through hole of the large cylinder; the cylinder I of the column is slidably connected with the corresponding axial large through hole, the circular boss is slidably connected with the corresponding cavity, and the cylinder II is slidably connected with the corresponding through hole; the spring is arranged between the cylindrical circular boss and the bottom surface of the corresponding cavity; The front and rear ends of the beam are respectively provided with hinge seats, and the middle and front ends thereof are provided with through holes parallel to each other; the upper and lower ends of the connecting rod are provided with through holes parallel to each other; The straight rod corresponds to a hinge seat on the lower end surface of the movable platform and is rotatably connected in a circular manner; the upper ends of the two ball rods correspond to the other two hinge seats on the lower end of the movable platform and are spherically connected; the lower end of the straight rod is spherically connected to the hinge support seat at the upper end of the left column; the lower ends of the two ball rods correspond to the hinge seats at both ends of the beam and are spherically connected; the middle through hole of the beam and the through hole on the upper part of the right vertical plate are rotatably connected through a pin shaft, the front end through hole of the beam and the upper end through hole of the connecting rod are rotatably connected through a pin shaft, and the lower end through hole of the connecting rod is rotatably connected to the hinge support seat at the upper end of the right column; The engine is vertically fixedly connected to the outer wall of the large cylinder; the shaft of the bevel gear is rotationally connected to the large radial through hole on the upper part of the large cylinder; the shaft of the bevel gear is rotationally connected to the axial through hole on the top surface of the large cylinder; the bevel gear and the bevel gear are meshed inside the large hole cavity of the large cylinder; the rotor assembly is rotationally connected to the central through hole of the moving platform; the shaft of the engine is coaxially fixedly connected to the shaft of the bevel gear; the input sleeve of the universal coupling is fixedly connected to the bevel gear shaft key, and the output sleeve is connected to the lower end sliding key of the rotor assembly; The elastic rod group includes a steel rope, a pull rod and a pull rod spring. The pull rod is coaxially fixedly connected by a cylinder and a circular boss from top to bottom, and a hinge seat is arranged at the top of the cylinder; the pull rods of the four elastic rod groups are respectively arranged in four circumferentially evenly distributed axial small through holes and small hole cavities of the large cylinder, and the circular boss at the bottom of the pull rod is slidably connected with the corresponding small hole cavity, the cylinder of the pull rod is slidably connected with the top inner cone hole of the small hole cavity, and its top passes through the corresponding axial small through hole upward; the two ends of the steel rope correspond to the connecting seat connected to the lower end face of the moving table and the hinge seat at the upper end of the corresponding pull rod; the pull rod springs are respectively sleeved on the lower part of the pull rod cylinder, and the two ends thereof are respectively against the top inner cone of the corresponding small hole cavity and the circular boss of the pull rod.

4. A helicopter two-degree-of-freedom rotor parallel drive and manipulator according to claim 3, characterized in that: The four axial small hole cavities evenly distributed on the circumference of the large cylinder are filled with damping grease.

5. A helicopter two-degree-of-freedom rotor parallel drive and manipulator according to claim 1, characterized in that: A flexible cover is arranged between the outer circumference of the movable table and the outer circumference wall of the upper end of the large cylinder of the machine base.

6. A helicopter two-degree-of-freedom rotor parallel drive and manipulator according to claim 3, characterized in that: The console includes a small cylinder, a handle shaft and a handle sleeve; the lower end of the small cylinder is vertically fixed to the left end of the base plate, the small cylinder is provided with an axial through hole, and a circumferential through hole perpendicular to the center plane is opened in the middle of the right side; the handle sleeve includes a handle, a sleeve, a swing arm and an end hinge support connected in sequence from top to bottom; the handle shaft includes a handle, a spindle, a swing arm and an end hinge support connected in sequence from top to bottom; the sleeve rotation pair of the handle sleeve is connected in the axial through hole of the small cylinder; the spindle rotation pair of the handle shaft is connected in the sleeve of the handle sleeve.

7. A helicopter two-degree-of-freedom rotor parallel drive and manipulator according to claim 6, characterized in that: The operating mechanism includes two wedge hole shafts, a spring, a slider, two push rods, two levers, two long rods, a pedal, two traction ropes, a handle shaft, a handle sleeve, three guide wheels and a guide wheel seat; The two push rods have the same structure, and through holes are parallel to each other at both ends of the push rods; the two long rods have the same structure, and ball joints with through holes are set at both ends of the long rods; the two levers are triangular structures, and through holes are parallel to each other at their three vertices; the two push rods are respectively arranged under the columns on both sides, and the through holes at one end of the push rods are hinged to the hinge support at the lower end of the corresponding column; the two levers are respectively arranged under the large cylinder and the bottom plate, and one through hole of the lever under the bottom plate is connected to the through hole of the other end of the left push rod with a rotating pair, and the second through hole is connected to the The through hole of the corresponding boss on the bottom surface of the bottom plate is connected with a pin shaft rotation pair, the third through hole is connected with a ball joint ball pair at one end of a long rod, and the ball joint at the other end of the long rod is connected with a ball joint corresponding to the hinge support ball pair at the end of the handle sleeve swing arm; a through hole of the lever located below the large cylinder is connected with a through hole rotation pair at the other end of the right push rod, the second through hole is connected with a through hole of the corresponding boss on the bottom surface of the large cylinder by a pin shaft rotation pair, the third through hole is connected with a ball joint ball pair at one end of another long rod, and the ball joint at the other end of the long rod is connected with a ball joint corresponding to the hinge support ball pair at the end of the handle shaft swing arm; The wedge hole shaft is arranged in sequence along its axial direction as a cone, a cylinder III, a symmetrical wedge hole of an orthogonal cylinder, a cylinder IV and a hinge hole; the two wedge hole shafts are respectively corresponding to the small radial through holes on both sides of the middle of the large cylinder for sliding connection; the cone of the wedge hole shaft extends out of the outer wall of the large cylinder; the two columns respectively pass through the inclined holes of the two wedge hole shafts, and slide in contact with the symmetrical inclined surfaces of the wedge hole shaft through the symmetrical inclined surfaces in the middle of the columns, and a spring is sleeved between the cone of the wedge hole shaft and the outer wall of the large cylinder; the three guide wheels have the same structure, and are all provided with a central through hole and a wheel rim groove; the guide wheel seat is a cone cylinder, on which a central axial through hole, two circumferential through holes and two central slots perpendicular to the circumferential through holes are provided, and the guide wheel seat is coaxially fixedly connected to the lower end face of the axial large hole cavity of the large cylinder; the two guide wheels are respectively arranged on the guide wheel seat The two guide wheels are rotatably connected to the two circumferential through holes of the guide wheel seat through the two slots; the slider is located in the small hole cavity on the axis of the large cylinder, and a spring is arranged between the lower end surface of the slider and the lower end surface of the small hole cavity on the axis of the large cylinder; the wedge hole shafts on both sides are connected to the slider through a pull rope; one end of the pull rope is connected to the hinge hole of the wedge hole shaft on one side, and the other end bypasses the guide wheel and downwards is connected to the upper end of the slider, and then bypasses another guide wheel and is connected to the hinge hole of the other wedge hole shaft upward; the center through hole of the third guide wheel is rotatably connected to one side of the middle part of the lower end surface of the large cylinder through a pin; the upper end of the pedal is rotatably connected to the circumferential through hole in the middle of the small cylinder through a pin, and the lower end is connected to one end of another pull rope, and the other end of the pull rope bypasses the lower end guide wheel and passes through the spring upwards to be connected to the lower end of the slider.

8. A helicopter two-degree-of-freedom rotor parallel drive and manipulator according to claim 3, characterized in that: The rotor assembly is composed of a rotating shaft and blades evenly distributed on the outer side of the upper part of the rotating shaft; the middle part of the rotating shaft of the rotor assembly is connected to the central through hole rotating pair of the moving platform, and the lower end is connected to the output sleeve sliding key of the universal joint.

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