Split type intelligent variable-pitch pull rod for adjusting rotor vibration

Abstract

The present application belongs to the technical field of helicopters, and particularly relates to a split type intelligent variable-pitch pull rod for adjusting rotor vibration, comprising a pitch controller, a controller connecting piece, and a plurality of pitch variable-pitch pull rods; the number of the pitch variable-pitch pull rods is the same as the number of the blades; the lower end surface of the controller connecting piece is installed on a rotor hub, and the upper end surface of the controller connecting piece is installed with the pitch controller; each pitch variable-pitch pull rod is installed between an automatic tilting device dynamic ring yoke and a blade variable-pitch rocker arm; the pitch controller is connected with the plurality of pitch variable-pitch pull rods through a cable; one end of the cable is connected with the pitch controller through a plug, and the other end is connected with the pitch variable-pitch pull rod; and the middle cable is installed and fixed on the rotor hub and a blade root support arm, thereby solving the problems of complex structure, large size, poor maintainability, and low structural reliability of the existing intelligent variable-pitch pull rod.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of helicopter rotor, and particularly relates to a split type intelligent variable-pitch pull rod for adjusting rotor vibration. BACKGROUND

[0002] The helicopter blade operates in an unsteady and highly unstable aerodynamic environment, which produces relatively large vibration, causing the helicopter to vibrate violently and affecting the safety and reliability of the helicopter.

[0003] In recent years, with the development of helicopter technology, reducing the vibration level of the helicopter has become one of the main research directions. Among them, the rotor is the main vibration source of the helicopter, and reducing the excitation force of the rotor is the ideal goal of vibration reduction research. Since the active vibration reduction technology has the advantages of light structure mass, wide vibration reduction frequency range, etc., it has great development demand in the field of helicopter rotor vibration reduction. At present, the independent blade control technology (IBC) as one of the active control technologies for helicopter rotor vibration, mainly realizes the control of the pitch angle of each piece of blade through the intelligent variable-pitch pull rod, so as to realize the vibration reduction, noise reduction and performance improvement of the rotor system. In addition, the intelligent variable-pitch pull rod can adjust the rotor cone and balance in real time, which is more efficient, has lower maintenance cost and better economy compared with the traditional rotor ground driving dynamic balance adjustment method. Therefore, the intelligent variable-pitch pull rod has great application prospect.

[0004] The intelligent variable-pitch pull rod is a connecting piece of the automatic tilting device dynamic ring and the blade, has a control transmission function, and transmits the control displacement of the automatic tilting device to the pitch of the blade to achieve the purpose of periodic pitch of the blade. The conventional intelligent variable-pitch pull rod places the pitch control module and the pitch actuating mechanical module together, which not only causes the intelligent variable-pitch pull rod to have complex structure, large size, heavy weight, poor maintainability and harsh load, but also has high requirements for the installation space size of the intelligent variable-pitch pull rod. SUMMARY

[0005] The present application solves the problems of the existing intelligent variable-pitch pull rod, such as complex structure, large size, poor maintainability and low structural reliability, and provides a split type intelligent variable-pitch pull rod for adjusting rotor vibration.

[0006] The present application provides a split type intelligent variable-pitch pull rod for adjusting rotor vibration, which comprises a pitch controller, a controller connecting piece, and a plurality of pitch variable-pitch pull rods; the number of the pitch variable-pitch pull rods is the same as the number of the blades.

[0007] The lower end surface of the controller connecting piece is installed on the rotor hub, the upper end surface of the controller connecting piece is installed with the pitch controller, and each pitch variable-pitch pull rod is installed between the automatic tilting device dynamic ring yoke and the blade variable-pitch rocker arm.

[0008] The pitch controller is connected with several pitch variable-pitch pull rods through cables, one end of the cable is connected with the pitch controller, the other end is connected with the pitch variable-pitch pull rod, and the middle part of the cable is fixed on the rotor hub and the blade root support arm;

[0009] The pitch variable-pitch pull rod comprises at least a pull rod shell, a mechanical limiting device, a locking nut, a manual adjustment threaded rod, a lead screw, a planetary screw nut, a gear assembly, a bearing assembly, a motor, a motor sensor and a pull rod sensor.

[0010] The cylindrical outer ring of the mechanical limiting device is installed on the pull rod shell, and the planetary screw nut is installed in the middle of the inner ring.

[0011] The manual adjustment threaded rod is connected with the pitch variable-pitch pull rod output rod through threads and is fixed by the locking nut.

[0012] The motor is installed inside the pull rod shell, the bottom of the motor is installed at the lower end of the pull rod shell, and the output end of the motor is connected with the gear assembly.

[0013] The lead screw is connected with the gear assembly, and the planetary screw nut is connected with the pitch variable-pitch pull rod output rod.

[0014] The bearing assembly comprises a roller bearing and a linear bearing, the roller bearing is used to install the gear in the gear assembly, and the linear bearing is fixed on the pull rod shell and used to constrain the linear motion of the variable-pitch rod output rod.

[0015] The pull rod sensor is used to measure the output length and length change rate of the pitch variable-pitch pull rod, and the measurement results are transmitted to the pitch controller through the cable.

[0016] The motor sensor is used to collect the rotation direction and current value of the motor, and the collection results are transmitted to the pitch controller through the cable.

[0017] Further, the lower end of the pitch variable-pitch pull rod is connected with the automatic tilting device ring fork through a joint bearing, and the upper end of the pitch variable-pitch pull rod is connected with the pitch variable-pitch rocker arm through a joint bearing.

[0018] Further, a floating plug is arranged at the bottom of the pitch controller, which is used for electrical connection between the pitch controller and the current collector, so as to realize the connection between the pitch controller and the flight control computer; a plurality of sockets are arranged at the top of the pitch controller, which are used for electrical connection between the pitch controller and the pitch variable-pitch pull rods of the rotor support arms.

[0019] Further, a power board, a control board and a connecting board are installed inside the pitch controller; the power board, the control board and the connecting board are connected with each other through a plurality of double-row connectors.

[0020] The power board is used to perform EMI (electromagnetic interference) surge filtering on the airborne power supply and to realize voltage conversion to provide power to the pitch controller, pitch control rod, motor sensor, and rod sensor.

[0021] The control board is used to comprehensively process the flight control computer commands, the output signals of the motor sensors, and the output signals of the stick sensors, and drive the motor to complete the length adjustment of the pitch control stick;

[0022] The control board in the pitch controller simultaneously controls multiple pitch control rods.

[0023] Furthermore, the controller connector and the rotor hub have a preset height difference, which provides installation space for the floating socket, which is connected to the floating plug at the bottom of the pitch controller.

[0024] Furthermore, the controller connector has a positioning groove inside to ensure the uniqueness of the installation position of the pitch controller and the rotor hub.

[0025] Furthermore, a counterweight can be added to the corresponding support arm of the controller connector to adjust the dynamic balance of the pitch controller.

[0026] Furthermore, the pitch controller is cylindrical in shape with a radius smaller than that of the propeller hub.

[0027] This invention provides a split-type intelligent pitch control rod for adjusting rotor vibration. It separates the pitch control module and pitch actuation mechanism module of existing intelligent pitch control rods, consisting of a separate pitch controller and a pitch control rod. The pitch controller is installed at the center of the rotor hub, integrating the communication module, power module, and control circuit of the original intelligent pitch control rods for each rotor arm. The pitch control rod, which is the actuator for changing the blade pitch and belongs to the pitch actuation mechanism module, remains installed in the original rod position. This split-type intelligent pitch control rod uses less space, has a more compact structure, lower cost, and better maintainability. Furthermore, this distributed intelligent pitch control rod has the advantages of high actuation force, fast actuation displacement change rate, and high actuation displacement accuracy. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the connection between the pitch controller and the controller connector provided in an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the external structure of the pitch controller provided in an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the internal structure of the pitch controller provided in an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the internal structure of the pitch-variable tie rod provided in an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the external structure of the pitch-variable tie rod provided in an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the gear assembly structure provided in an embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of a planetary lead screw structure provided in an embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram of the overall installation of the split-type intelligent variable pitch tie rod provided in an embodiment of the present invention;

[0036] Among them, 1-pitch controller, 2-controller connector, 3-pitch controller socket, 4-pitch controller plug, 5A-connecting board, 5B-control board, 5C-power board, 6-support column, 7-inter-board connector, 8-lower end shank bearing, 9-upper end shank bearing, 10-gear mounting bracket, 11-motor, 12-motor sensor, 13-gear assembly, 14-roller bearing, 15-lead screw, 16-mechanical limit device, 17-planetary lead screw nut, 18-pull rod sensor, 19-linear bearing, 20-locking nut, 21-manual adjustment threaded rod, 22-pull rod housing, 23-rotor hub, 24-pitch variable pull rod, 25-automatic swashplate, 26-blade. Detailed Implementation

[0037] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.

[0038] This invention provides a split-type intelligent variable-pitch tie rod for adjusting rotor vibration, such as... Figures 1-8 As shown, it includes: pitch controller 1, controller connector 2, pitch control rod 24, and cables; wherein:

[0039] The lower end face of the controller connector 2 is mounted on the rotor hub 23, and the upper end face of the controller connector 2 is mounted on the pitch controller 1. The pitch control rod 24 is mounted between the moving ring fork of the automatic swashplate 25 and the pitch control rocker arm. One end of the cable is connected to the pitch controller and the other end is connected to the pitch control rod. The middle cable is installed and fixed on the rotor hub 23 and the rotor root support arm.

[0040] like Figures 4-7As shown, the pitch variable pull rod 24 mainly includes a pull rod shell 22, a mechanical limiting device 16, a locking nut 20, a lower end bearing 8, an upper end bearing 9, a manual adjustment threaded rod 21, a screw rod 15, a planetary screw nut 17, a gear mounting support 10, a gear assembly 13, a roller bearing 14, a linear bearing 19, a motor 11 and a motor sensor 12, and a pull rod sensor 18;

[0041] The lower end of the pitch variable pull rod 24 is connected to the movable ring fork lug of the automatic tilting device 25 through a joint bearing, and the upper end of the pitch variable pull rod 24 is connected to the pitch variable rocker arm of the blade 26 through a joint bearing;

[0042] The mechanical limiting device 16 has an outer shape of two hollow cylinders, the outer cylinder is mounted on the pull rod shell 22, the inner cylinder is mounted with the planetary screw nut 17 in the middle, and the outer cylinder of the planetary screw nut 17 is larger than the radius of the inner cylinder of the mechanical limiting device 16, so that the planetary screw nut 17 can be limited;

[0043] The manual adjustment threaded rod 21 is connected to the pitch variable pull rod output rod through threads, and is fixed by the locking nut 20. When the motor 11, the pitch controller or communication etc. appear abnormal, the pitch variable pull rod can maintain the function of the conventional pull rod, only play a structure connection function, can be adjusted by the manual adjustment threaded rod 21 to adjust the length of the variable pull rod;

[0044] The motor 11 is installed inside the pull rod shell 22, the bottom of the motor 11 is installed at the lower end of the pull rod shell 22, and the output end of the motor 11 is connected with the gear assembly 13;

[0045] The screw rod 15 of the planetary screw assembly is connected with the gear assembly 13, the planetary screw nut 17 is connected with the pitch variable pull rod output rod, and the mechanical limiting device 16 is installed on the outer side of the planetary screw nut 17, and the planetary screw assembly converts the rotation of the gear assembly 13 into linear motion;

[0046] The gear assembly 13 mainly realizes the change of the motor speed, and is connected with the planetary screw assembly;

[0047] The bearing assembly mainly includes a roller bearing 14 and a linear bearing 19, the roller bearing 14 is mainly used for gear mounting to fix the gear, and the linear bearing 19 mainly restricts the linear motion of the variable pull rod output rod, and the linear bearing 19 is fixed on the shell;

[0048] The sensor assembly mainly includes a pull rod sensor 18 and a motor sensor 12. The pull rod sensor 18 mainly measures the length of the pitch variable pull rod, the length change rate and other information, and transmits the information to the pitch controller 1 through a cable. The motor sensor 12 mainly collects the rotation direction and current value of the motor, and transmits the information to the pitch controller 1 through a cable.

[0049] As shown in Figure 1 The controller connector 2 has a certain height difference with the rotor hub 23, which can provide a certain installation space for the floating socket connected with the pitch controller plug 4.

[0050] The controller connector 2 is internally provided with a positioning groove for ensuring the uniqueness of the installation position of the pitch controller 1 and the rotor hub 23.

[0051] The counterweight piece can be added to the corresponding supporting arm of the controller connector 2, so as to realize the adjustment of the dynamic balance of the pitch controller 1.

[0052] As shown in Figure 3 The pitch controller 1 is internally provided with a power board 5C, a control board 5B and a connecting board 5A. The power board 5C, the control board 5B and the connecting board 5A are connected with each other through a plurality of double-row connectors, so as to ensure the stability of the structure of the pitch controller 1.

[0053] As shown in Figure 2 The pitch controller 1 has a cylindrical appearance with a small radius, which is smaller than the radius of the hub. Generally, the radius of the pitch controller 1 is set to be 1 / 3 to 1 / 2 of the radius of the hub. In this way, the mass of the pitch controller 1 is distributed symmetrically along the rotation direction, and the overall mass is small, so that the static unbalance of the pitch controller 1 is small, and the centrifugal force load in the rotating field is small.

[0054] The power board can perform EMI (electromagnetic interference) surge filtering on the onboard power supply, and realize voltage conversion to supply power to the pitch controller 1, the pitch variable pull rod 24 and the corresponding sensors (two).

[0055] The control board in the pitch controller 1 can control multiple pitch variable pull rods at the same time.

[0056] The pitch controller 1 has two self-monitoring functions, one is power-on self-test, when the pitch controller 1 is powered on, the pitch controller and the motor are tested, and the test information is transmitted to the flight control computer; the other is in-flight self-test, mainly through the model monitoring of the flight control computer control instruction and the position feedback of the pitch variable-pitch pull rod 24 (that is, the output signal of the pull rod sensor), mainly including the pull rod length change value, the pull rod length change rate, the motor output angle value, the motor current, etc.

[0057] The pitch controller 1 bottom has a pitch controller plug 4 (that is, a floating plug), which is used for electrical connection of the pitch controller 1 and the current collector ring, and realizes connection of the pitch controller 1 and the flight control computer; the pitch controller 1 top has a plurality of pitch controller sockets 3, which are used for electrical connection of the pitch controller 1 and the pitch variable-pitch pull rod of each arm of the rotor.

[0058] Specifically,

[0059] The application provides a split type intelligent variable-pitch pull rod for adjusting rotor vibration, mainly including a pitch controller, a controller connecting piece, a pitch variable-pitch pull rod and a cable.

[0060] The pitch controller lower end surface plug is connected with the current collector ring, realizing electrical connection of the pitch controller and the airborne power supply and the flight control computer; when the pitch controller receives the corresponding control instruction of the flight control computer, the control board in the pitch controller starts to calculate and gives the corresponding change amount control instruction of the pitch variable-pitch pull rod; the motor starts to rotate after receiving the corresponding motion instruction, realizes speed reduction through the gear assembly, and transmits the corresponding rotation to the lead screw end of the planetary lead screw; the planetary lead screw assembly converts the rotation signal into the linear motion of the planetary lead screw nut, and then the nut pushes the corresponding pitch variable-pitch pull rod output end to elongate or shorten;

[0061] When the pitch variable-pitch pull rod length changes, the pull rod sensor and the motor sensor transmit the corresponding displacement amount information to the control board of the pitch controller through the cable; at this time, the whole pitch controller forms a closed loop, and when the pitch variable-pitch pull rod reaches the corresponding position, the pitch controller stops supplying power to the motor in the pitch variable-pitch pull rod, so that the pitch variable-pitch pull rod length does not change;

[0062] When the planetary lead screw elongates or shortens greatly, the planetary lead screw nut will collide with the mechanical limiting device, at this time, the pull rod displacement does not change, and the current of the motor is also large; therefore, the corresponding pull rod sensor signal and motor sensor signal are transmitted to the control board, and after the control board is calculated, the pitch variable-pitch pull rod length change is stopped;

[0063] When the manual adjustment screw rod is length-adjusted, the top end locking nut should be opened, the length of the pitch variable distance pull rod can be changed by rotating the rod body clockwise or counterclockwise, when the manual adjustment is completed, the locking nut should be locked and the split pin is punched.

[0064] The conventional intelligent variable distance pull rod places the pitch control module and the pitch actuating mechanical module together, which not only causes the intelligent variable distance pull rod to have complex structure, large volume, large weight, poor maintainability and be subjected to severe load, but also causes the split type intelligent variable distance pull rod to have simple structure, small volume, good maintainability and low requirement on the size of the installation space; the split type intelligent variable distance pull rod provided by the application separates the pitch control module and the pitch actuating mechanical module, wherein the pitch actuating mechanical module transmits the mechanical control of the automatic tilting device on one hand and executes the control instruction of the pitch controller to realize the adjustment of the pitch on the other hand; the pitch control module realizes the length change of the pitch actuating mechanical module, the configuration division of the split type intelligent variable distance pull rod is more explicit, the pitch variable distance pull rod structure is convenient to string and maintain; the split type intelligent variable distance pull rod has automatic adjustment mode and manual adjustment mode, when the motor, the controller and the communication appear abnormal, the length of the pitch variable distance pull rod does not change, and the conventional pull rod function is maintained, only the structure connection function is played, the safety of the intelligent variable distance pull rod is higher; the pitch controller has self-monitoring function, monitors the control instruction of the flight control computer and the feedback result of the pitch variable distance pull rod position, and ensures that the whole system is more stable; the electronic components of the pitch controller of the intelligent variable distance pull rod are few in type, low in power consumption, high in reliability and strong in anti-interference ability; the pitch variable distance pull rod structure in the intelligent variable distance pull rod is simple in design, safe and reliable in use, convenient to use and convenient to maintain; the intelligent variable distance pull rod has mechanical limiting device, which ensures that the length change of the pull rod does not exceed the limit value, and further ensures the flight safety; the pull rod sensor and the motor sensor in the intelligent variable distance pull rod system can measure the state of the pull rod in time and feed back to the pitch controller, forming closed loop control.

Claims

1. A split type intelligent variable pitch pull rod for adjusting rotor vibration, characterized in that, The split type intelligent variable pitch pull rod comprises a pitch controller, a controller connecting piece, and a plurality of pitch variable pitch pull rods; the number of the pitch variable pitch pull rods is the same as the number of the blades; The lower end surface of the controller connecting piece is mounted on the rotor hub, and the upper end surface of the controller connecting piece is mounted with the pitch controller; each pitch variable pitch pull rod is mounted between the automatic tilt movable ring yoke and the blade variable pitch rocker arm; The pitch controller is in the form of a cylinder, and the radius of the cylinder is smaller than the radius of the hub; the pitch controller is connected with the plurality of pitch variable pitch pull rods through a cable; one end of the cable is connected with the pitch controller through a plug, and the other end is connected with the pitch variable pitch pull rod; the middle part of the cable is fixedly mounted on the rotor hub and the blade root support arm; The pitch variable pitch pull rod comprises at least a pull rod shell, a mechanical limiting device, a locking nut, a manual adjustment threaded rod, a lead screw, a planetary screw nut, a gear assembly, a bearing assembly, a motor, a motor sensor, and a pull rod sensor; The cylindrical outer ring of the mechanical limiting device is mounted on the pull rod shell, and the inner ring is mounted with the planetary screw nut in the middle; The manual adjustment threaded rod is connected with the pitch variable pitch pull rod output rod through threads, and is fixed by the locking nut; The motor is mounted in the pull rod shell; the bottom of the motor is mounted on the lower end of the pull rod shell; and the output end of the motor is connected with the gear assembly; The lead screw is connected with the gear assembly, and the planetary screw nut is connected with the pitch variable pitch pull rod output rod; The bearing assembly comprises a roller bearing and a linear bearing; the roller bearing is used for mounting the gear in the gear assembly; and the linear bearing is fixedly mounted on the pull rod shell, and is used for restricting the linear motion of the variable pitch pull rod output rod; The pull rod sensor is used for measuring the output length and the length change rate of the pitch variable pitch pull rod, and transmitting the measurement results to the pitch controller through the cable; The motor sensor is used for collecting the rotation direction and the current value of the motor, and transmitting the collection results to the pitch controller through the cable; The controller connecting piece has a preset height difference with the rotor hub, the height difference provides a mounting space for a floating socket, and the floating socket is connected with a floating plug at the bottom of the pitch controller; The controller connecting piece is internally provided with a positioning groove, which is used for ensuring the uniqueness of the mounting position of the pitch controller and the rotor hub.

2. The split type intelligent variable-pitch pull rod for adjusting the vibration of a rotor according to claim 1, characterized in that, The lower end of the pitch variable pitch pull rod is connected with the automatic tilt movable ring yoke through a joint bearing, and the upper end of the pitch variable pitch pull rod is connected with the blade variable pitch rocker arm through a joint bearing.

3. The split type intelligent variable pitch pull rod for adjusting the vibration of a rotor according to claim 2, characterized in that, A floating plug is arranged at the bottom of the pitch controller, which is used for electrical connection between the pitch controller and the current collector ring, and realizes the connection between the pitch controller and the flight control computer; a plurality of sockets are arranged at the top of the pitch controller, which are used for electrical connection between the pitch controller and the pitch variable pitch pull rods of the rotor arms.

4. The split type intelligent variable pitch pull rod for adjusting the vibration of a rotor according to claim 2, characterized in that, A power board, a control board, and a connecting board are mounted in the pitch controller; the power board, the control board, and the connecting board are connected with each other through a plurality of double-row connectors; The power board is used for anti-surge filtering of the onboard power supply, and realizes voltage conversion, so as to supply power to the pitch controller, the pitch variable pitch pull rod, the motor sensor, and the pull rod sensor; The control board is used for comprehensively processing the output signals of the flight control computer instructions, motor sensors and pull rod sensors, and driving the motor to complete the length adjustment of the pitch variable pull rod. The control board in the pitch controller controls multiple pitch variable pull rods at the same time.

5. The split type intelligent variable pitch pull rod for adjusting the vibration of a rotor according to claim 1, characterized in that, The counterweight piece is added on the corresponding supporting arm of the controller connector, so as to realize the adjustment of the dynamic balance of the pitch controller.

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