Helicopter rotor mechanism and aircraft

Abstract

The invention belongs to the technical field of aircraft design, and particularly relates to a helicopter rotor mechanism and an aircraft. The mechanism comprises a coaxial double-rotor assembly which comprises an upper rotor unit and a lower rotor unit; the coaxial double-rotor variable-pitch assembly is connected with the coaxial double-rotor assembly and used for adjusting the propeller pitch of the coaxial double-rotor assembly; the cycloidal propeller assembly is vertically mounted between the upper rotor wing unit and the lower rotor wing unit; and the cycloid propeller variable pitch assembly is connected with the cycloid propeller assembly and used for adjusting the propeller pitch of the cycloid propeller assembly, so that the stress of the helicopter in the horizontal direction is adjusted, the posture of the helicopter is adjusted, and control over the position in the air is achieved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of aircraft design, and particularly relates to a swarm unmanned aerial vehicle launching device and method based on an unmanned helicopter platform. BACKGROUND

[0002] The attitude control mode of the existing coaxial helicopter is mostly achieved by using an automatic tilting mechanism. The joint bearing structure of the automatic tilting mechanism is complex, and has high manufacturing process requirements. The automatic tilting mechanism needs to have good self-lubricating function, and has large structure wear and short service life, and has high replacement cost. When the coaxial helicopter performs heading differential control, the pitch of the upper and lower rotors is different, which easily causes the upper and lower rotors to contact and hit, and causes flight accidents. However, this mechanism is still widely used. There is no coaxial helicopter that realizes attitude control without using an automatic tilting mechanism. SUMMARY

[0003] The application aims to provide a helicopter rotor mechanism and aircraft as an alternative to the automatic tilting mechanism. The mechanism can be used in the attitude control of coaxial helicopters and single-rotor helicopters with tail rotors, and is superior to the automatic tilting mechanism in structure and safety.

[0004] TECHNICAL SOLUTION A helicopter rotor mechanism, the mechanism comprising: a coaxial double-rotor assembly comprising upper and lower rotor units; a coaxial double-rotor pitch adjusting assembly connected with the coaxial double-rotor assembly and used for adjusting the pitch of the coaxial double-rotor assembly; a cycloidal rotor assembly vertically installed between the upper and lower rotor units, and a cycloidal rotor pitch adjusting assembly connected with the cycloidal rotor assembly and used for adjusting the pitch of the cycloidal rotor assembly. Thus, the force received by the helicopter in the horizontal direction is adjusted, and the attitude of the helicopter is adjusted, thereby realizing the control of the aerial position.

[0005] Further, the upper rotor unit comprises an upper main shaft, an upper main hub and upper main blades; the lower rotor unit comprises a lower main shaft, a lower main hub and lower main blades; the lower main hub is fixedly connected with the lower main shaft, and the lower main blades are installed on the lower main hub; the upper and lower main shafts are respectively driven by rotor shafts and rotate in opposite directions.

[0006] Further, an upper fixed ring is further connected to the lower surface of the upper main hub of the upper rotor unit; a lower fixed ring is further connected to the upper surface of the lower main hub of the lower rotor unit; and the cycloidal rotor assembly is installed between the upper and lower fixed rings.

[0007] Further, the upper and lower fixed rings are connected to the outer sides of the upper and lower main blades of the upper and lower rotor units; and the cycloidal rotor assembly is installed between the upper and lower fixed rings.

[0008] Furthermore, the cycloidal propeller assembly includes at least N cycloidal propeller blades; N≥4; the rear ends of the N cycloidal propellers are respectively hinged between the upper and lower fixed rings via a cycloidal propeller connecting shaft.

[0009] Furthermore, the cycloidal propeller pitch-changing assembly includes: a cycloidal propeller pitch-changing assembly fixing ring fixedly mounted on the fuselage; four sliding guide rails evenly distributed along a 90° direction on the upper surface of the cycloidal propeller pitch-changing assembly fixing ring; a sliding guide rod slidably connected to each of the four sliding guide rails; the outer side of the stationary ring being fixedly connected to the four sliding guide rods; wherein two mutually perpendicular sliding guide rods are respectively connected to a telescopic servo motor to drive the sliding guide rods to move; the moving ring is connected to the stationary ring through a ring bearing; N cycloidal propeller pitch-changing tie rods are distributed on the outer side of the moving ring and are respectively hinged to the front section of N cycloidal propellers.

[0010] Furthermore, the cycloidal propeller rotates in the same direction as the lower main shaft.

[0011] Furthermore, the cycloidal propeller pitch-changing assembly also includes: a moving ring cover plate fixed to the moving ring by bolts, used to fix the cycloidal propeller fixing rod.

[0012] Furthermore, when the helicopter needs to fly to the right, the telescopic servo motor controls the sliding guide rod to retract to the left, causing the stationary ring of the cycloidal propeller to move to the left. This drives the cycloidal propeller pitch control linkage to rotate the cycloidal propeller around the cycloidal propeller pitch anchor point clockwise, thereby reducing the pitch of the cycloidal propeller on the left side of the aircraft and increasing the pitch of the cycloidal propeller on the right side. This causes the cycloidal propeller to be subjected to an overall force to the right, thus driving the helicopter to move to the right. The process of flying to the left is the reverse of the above process.

[0013] An aircraft comprising the aforementioned helicopter rotor mechanism.

[0014] Beneficial effects 1. The control principle of a cycloidal rotor from a rolling wing aircraft has been improved for use in coaxial helicopters and single-rotor helicopters with a tail rotor configuration. It is used for attitude control.

[0015] 2. The use of cycloidal propellers replaces the function of the helicopter's automatic swashplate, providing a new helicopter attitude control solution.

[0016] 3. This mechanism allows the helicopter to maintain a horizontal attitude while in motion, making the entire process smoother.

[0017] 4. When applied to coaxial helicopters, it can avoid the use of complex structures under automatic swashplate control, and avoid the risk of the upper and lower rotors hitting each other when the coaxial helicopter uses an automatic swashplate to control the heading.

[0018] 5. This mechanism can reduce the load and flapping of the main rotor blades while the helicopter is in motion, making the entire process smoother.

[0019] 6. When applied to single-rotor helicopters with a tail rotor configuration, a twin-main-rotor structure is adopted, with the upper and lower main rotor blades coaxial and rotating together. This reduces the main rotor diameter while providing the same lift, thus lowering the space requirements for the landing site. Attached Figure Description

[0020] Figure 1 This is a 3D view of the rotor mechanism in a coaxial helicopter application; Figure 2 A three-dimensional schematic diagram of the rotor's rotation direction; Figure 3 3D view of the section of the helicopter rotor shaft removed from the coaxial axis; Figure 4 3D diagram of the cycloidal propeller pitch control mechanism; Figure 5 3D diagram of the cycloidal propeller pitch control mechanism components; Figure 6 Bottom view of the cycloidal propeller pitch control process; Figure 7 3D view of a single-rotor helicopter with a tail rotor in use; Figure 8 3D view of the rotor mechanism; Figure 9 3D view of the lifting rotor mechanism; Figure 10 Three-dimensional view of the lift rotor pitch change process; Figure 11 3D view of the attitude control mechanism; Figure 12 3D diagram of the cycloidal propeller pitch control mechanism components; Figure 13 A schematic diagram of the cycloidal propeller pitch control process when the aircraft moves to the right. Detailed Implementation

[0021] Example 1 Figure 1 This is a 3D view of the rotor mechanism in a coaxial helicopter application. 1. Upper Main Rotor Hub: Used on coaxial helicopters to provide upper rotor mounting and drive. Its rotation direction is opposite to that of the 4 lower main rotor hubs and 8 cycloidal rotors.

[0022] 2. Upper main rotor blade: Used on coaxial helicopters, mounted on the upper main rotor hub to provide lift.

[0023] 3. Lower main rotor blades: Used on coaxial helicopters, mounted on the lower main rotor hub to provide lift.

[0024] 4. Lower Main Rotor Hub: Used on coaxial helicopters to provide mounting and drive for the lower rotor. Its direction of rotation is opposite to that of the upper main rotor hub (1). It also mounts the cycloidal propeller for power and simplifies the drive structure.

[0025] Figure 2 3D schematic diagram of rotor rotation direction 5. Upper fixing ring: Used to fix the upper end of the cycloidal propeller so that it will not come apart due to centrifugal force when rotating at high speed.

[0026] 6. Cycloidal propeller pitch control anchor point: Used to connect the 13 cycloidal propeller pitch control linkage and the cycloidal propeller to control the cycloidal propeller pitch and achieve aircraft attitude control.

[0027] 7. Cycloidal propeller pitch control ring: Used to fix 12 sliding guide rails for precise control of the cycloidal propeller pitch.

[0028] 8. Cycloidal Propeller: The cycloidal propeller is used to control the horizontal forces acting on the aircraft, thus achieving attitude control. Its rotation direction is the same as that of the lower main shaft (9).

[0029] 9. Lower Main Shaft: The lower main shaft rotates in the same direction as the cycloidal propeller and is hollow, used to pass through the upper rotor main shaft.

[0030] 10 Upper main shaft: It rotates in the opposite direction to 8 cycloidal propeller and 9 lower main shaft, passing through the lower rotor main shaft.

[0031] Figure 3 3D diagram of the removed coaxial helicopter rotor shaft section The coaxial helicopter rotor shaft section was removed to more clearly demonstrate the layout between the coaxial rotor system and the cycloidal propeller attitude control mechanism.

[0032] Figure 4 3D diagram of cycloidal propeller pitch control mechanism 11 Sliding Guide Rod: The sliding guide rod is a component of the 14 telescopic servo motor. It reciprocates under the control of the 14 telescopic servo motor to control the movement of the 16 cycloidal propeller control variable pitch moving ring.

[0033] 12 Sliding guide rail: Used to fix 11 sliding guide rod and 14 telescopic servo motor. The 7 cycloidal propeller pitch control assembly fixing ring is installed below the guide rail. It can rotate around the Z-axis of the mounting point, allowing it to control the pitch. The rotation direction follows the movement of the 7 lower fixed rings during manufacturing.

[0034] 13 Cycloidal propeller pitch control linkage: Installed on the 16 cycloidal propeller control pitch changing moving ring. As the moving ring moves, it drives the cycloidal propeller pitch changing anchor point 6, causing the cycloidal propeller pitch to change.

[0035] 14 Telescopic servo motor: Installed on 12 sliding rail, it controls the extension and retraction of 11 sliding guide rod, and rotates as 12 sliding rail rotates.

[0036] Figure 5 3D model of cycloidal propeller pitch control mechanism components 15. Moving ring cover plate: Secure it to the moving ring with bolts to prevent the 13 cycloidal propeller pitch control linkage from... While detaching, the strength of the dynamic ring is increased.

[0037] 16. Cycloidal propeller control variable pitch moving ring: Connected to 17. Cycloidal propeller control variable pitch stationary ring via a ring bearing. It moves with the rotation of the cycloidal propeller, following the movement of 17. This achieves pitch control during the cycloidal propeller's rotation.

[0038] 17. Cycloidal propeller control pitch stationary ring: Connected to 16. Cycloidal propeller control pitch moving ring via a ring bearing. It moves with 11. Sliding guide rod, but does not rotate with the cycloidal propeller.

[0039] Figure 6 Bottom view of cycloidal propeller pitch control process When the aircraft needs to lateralize to the right, according to the flight command icon 14, the telescopic servo motor retracts to the left, causing the stationary ring of propeller 19 (cycloidal propeller 19) to move to the left. This, in turn, drives the pitch control linkage of propeller 13 (cycloidal propeller 13), causing the pitch of propeller 20 (cycloidal propeller 20) to change accordingly. The pitch on the right increases, while the pitch on the left decreases, resulting in an overall force on the propellers to the right. This propels the aircraft to the right.

[0040] Figure 7 3D view of single-rotor helicopter with tail rotor This mechanism can also be used to control the flight attitude of a single-rotor helicopter with a tail rotor.

[0041] The two upper main rotor blades and the three lower main rotor blades, driven by the one upper main rotor hub and the four lower main rotor hubs respectively, perform coaxial counter-rotation motion to provide lift for the helicopter.

[0042] When the aircraft needs to lateralize to the right, according to the flight command icon 14, the telescopic servo motor retracts to the left, causing the stationary ring of propeller 19 (cycloidal propeller 19) to move to the left. This, in turn, drives the pitch control linkage of propeller 13 (cycloidal propeller 13), causing the pitch of propeller 20 (cycloidal propeller 20) to change accordingly. The pitch on the right increases, while the pitch on the left decreases, resulting in an overall force on the propellers to the right. This propels the aircraft to the right.

[0043] Example 2 Figure 8 3D view of coaxial helicopter application 1. Upper Main Rotor Hub: Provides mounting and drive for the upper rotor. Its rotation direction is the same as that of 1. Lower Main Rotor Hub and 13. Cycloidal Rotor.

[0044] 2. Upper main blade: Installed on the upper main blade hub to provide lift.

[0045] 3. Lower main blades: Installed on the lower main blade hub to provide lift.

[0046] 4. Lower Main Rotor Hub: Provides mounting and drive for the lower rotor. Its rotation direction is the same as that of the upper main rotor hub (1) and the cycloidal rotor (13).

[0047] Figure 9 3D view of lifting rotor system 5. Upper and lower fixing rings: Used to fix the upper and lower ends of the cycloidal propeller, preventing deformation due to centrifugal force during high-speed rotation. Also used to fix the wingtips of the upper and lower main rotor blades, reducing load deformation and flapping fatigue on the main rotor blades.

[0048] 6. Lift propeller pitch control anchor point: used to connect the 7-lift propeller pitch control linkage and the upper and lower lift propeller blades to control the lift propeller pitch and achieve aircraft altitude control.

[0049] 7-liter propeller pitch control link: Connects to the 6-liter propeller pitch control anchor point and the 8-liter propeller pitch control lever.

[0050] 8-liter propeller pitch control lever: Passes through the middle of the 9-liter propeller drive shaft and connects to the 7-liter propeller pitch control linkage. By moving the lift propeller pitch control lever up and down, the propeller pitch is changed, thus achieving aircraft altitude control.

[0051] 9-liter propeller drive shaft: connected to the upper main propeller hub 1 and the lower main propeller hub 4 to drive the upper and lower main propeller blades, as well as drive the upper and lower fixed rings 5 ​​and the 13 cycloidal propeller mounted on the upper and lower fixed rings 5 ​​to rotate.

[0052] Figure 10 3D view of the lift rotor pitch change process When the pitch control lever moves downward, it will cause the 7-liter propeller pitch linkage to move downward, because 7 The lift propeller pitch control link is connected to the upper main blade (2) and the lower main blade (3) via the 6 lift propeller pitch control anchor points, so the pitch of the upper and lower lift propellers increases simultaneously. (See figure.)

[0053] Figure 11 3D view of attitude control mechanism 10 Cycloidal Propeller Pitch Anchor Point: Used to connect the pitch control rods of 13 and 12 cycloidal propellers to control the cycloidal propellers. Changes in propeller pitch.

[0054] 11 Cycloidal propeller fixing point: Fix 13 cycloidal propeller to the upper and lower fixing rings 5, so that it rotates with the propeller.

[0055] 12 Cycloidal propeller pitch control linkage: connects the 10 cycloidal propeller pitch control anchor point and the 15 cycloidal propeller pitch control rotating ring.

[0056] 13. Cycloidal propeller: Fixed to the upper and lower fixing rings 5 ​​via fixing point 11, the cycloidal propeller rotates with the main rotor. Controlling its pitch changes allows for aircraft attitude control.

[0057] Figure 12 3D model of cycloidal propeller pitch control mechanism components 14. Moving ring cover plate: Secure it to the moving ring with bolts to prevent 13. Cycloidal propeller pitch control linkage While detaching, the strength of the dynamic ring is increased.

[0058] 15. Cycloidal propeller pitch control moving ring: Connected to 16. Cycloidal propeller pitch control stationary ring via a ring bearing. It moves with the rotation of the cycloidal propeller and follows the movement of 16. Cycloidal propeller pitch control stationary ring, thus achieving pitch control during the rotation of the cycloidal propeller.

[0059] 16. Cycloidal propeller pitch-changing stationary ring: Connected to 15. Cycloidal propeller pitch-changing moving ring via a ring bearing. It moves with 18. Sliding guide rod, but 18. Sliding guide rod does not rotate with the cycloidal propeller.

[0060] 17 Pitch control servo: mounted on 19 sliding rail, it controls the extension and retraction of 18 sliding guide rod, and rotates as 19 sliding rail rotates.

[0061] 18. Sliding Guide Rod: The sliding guide rod is a component of the 17-pitch control servo. The reciprocating extension and retraction control is used to control the movement of the 16-cycloidal propeller pitch-changing stationary ring.

[0062] 19 Sliding rail: Used to fix 18 sliding guide rod and 17 pitch control servo. The rail is mounted on the fuselage below. The fixed ring can rotate around the Z-axis of the mounting point, so that it rotates in the same direction as the 16 cycloidal propeller pitch-changing stationary ring during pitch control.

[0063] Figure 13 Schematic diagram of cycloidal propeller pitch control process when the aircraft moves to the right The 17 pitch control servo retracts the 18 sliding guide rod to the left, causing the 16 cycloidal propeller pitch control stationary ring and the 15 cycloidal propeller pitch control moving ring to move to the left. This moves the 12 cycloidal propeller pitch control linkage to the left, which, through the 10 cycloidal propeller pitch control anchor point, causes the 13 cycloidal propeller to rotate counterclockwise around the 11 cycloidal propeller fixed point. This changes the pitch of the 13 cycloidal propeller, increasing the pitch on its right side and decreasing the pitch on its left, resulting in an overall force on the cycloidal propeller to the right. This, in turn, moves the aircraft to the right.

[0064] The two upper main rotor blades and the three lower main rotor blades, driven by the one upper main rotor hub and the four lower main rotor hubs respectively, perform coaxial counter-rotation motion to provide lift for the helicopter.

[0065] When the aircraft needs to lateralize to the right, according to the flight command icon 17, the pitch control servo controls the sliding guide rod 18 to retract to the left. This causes the cycloidal propeller pitch control stationary ring 16 and the cycloidal propeller pitch control moving ring 15 to move to the left, which in turn moves the cycloidal propeller pitch control linkage 12 to the left. Through the cycloidal propeller pitch control anchor point 10, this causes the cycloidal propeller 13 to rotate counterclockwise around the fixed point of the cycloidal propeller 11, thereby changing the pitch of the cycloidal propeller 13, increasing the pitch on its right side and decreasing the pitch on its left side, resulting in an overall force on the cycloidal propeller to the right. This causes the aircraft to move to the right.

Claims

1. A helicopter rotor mechanism, characterized in that: The institutions include: The coaxial dual-rotor assembly includes two rotor units, one upper and one lower. A coaxial dual-rotor pitch control assembly is connected to the coaxial dual-rotor assembly and is used to adjust the pitch of the coaxial dual-rotor assembly. The cycloidal propeller assembly is vertically mounted between the upper and lower rotor units; The cycloidal propeller pitch control assembly is connected to the cycloidal propeller assembly and is used to adjust the pitch of the cycloidal propeller assembly, thereby adjusting the force on the helicopter in the horizontal direction, and thus adjusting the helicopter's attitude to achieve aerial position control.

2. The mechanism according to claim 1, characterized in that: The upper rotor unit includes the upper main shaft, the upper main hub, and the upper main blades; The upper main rotor hub is fixedly connected to the upper main shaft, and the upper main rotor blades are mounted on the upper main rotor hub. The lower rotor unit includes a lower main shaft, a lower main rotor hub, and lower main rotor blades; The lower main rotor hub is fixedly connected to the lower main shaft, and the lower main rotor blades are mounted on the lower main rotor hub. The upper and lower main shafts are driven by rotor shafts and rotate in opposite directions.

3. The mechanism according to claim 2, characterized in that: An upper fixing ring is also connected to the lower surface of the upper main rotor hub of the upper rotor unit; a lower fixing ring is also connected to the upper surface of the lower main rotor hub of the lower rotor unit. The cycloidal propeller assembly is installed between the upper and lower fixing rings.

4. The mechanism according to claim 2, characterized in that: Upper and lower fixing rings are also connected to the outer sides of the upper and lower main blades of the upper and lower rotor units; The cycloidal propeller assembly is installed between the upper and lower fixing rings.

5. The mechanism according to claim 3 or 4, characterized in that: The cycloidal propeller assembly includes at least N cycloidal propeller blades; N≥4; the rear ends of the N cycloidal propellers are respectively hinged between the upper and lower fixed rings via a cycloidal propeller connecting shaft.

6. The mechanism according to claim 5, characterized in that: The cycloidal propeller pitch control assembly includes: a cycloidal propeller pitch control assembly fixing ring fixedly mounted on the fuselage; four sliding guide rails evenly distributed along a 90° direction on the upper surface of the cycloidal propeller pitch control assembly fixing ring; a sliding guide rod slidably connected to each of the four sliding guide rails; the outer side of the stationary ring is fixedly connected to the four sliding guide rods; two mutually perpendicular sliding guide rods are each connected to a telescopic servo motor to drive the sliding guide rods to move; the moving ring is connected to the stationary ring through a ring bearing; N cycloidal propeller pitch control rods are distributed on the outer side of the moving ring and are respectively hinged to the front section of N cycloidal propellers.

7. The mechanism according to claim 5, characterized in that: The cycloidal propeller rotates in the same direction as the lower main shaft.

8. The mechanism according to claim 6, characterized in that: The cycloidal propeller pitch control assembly also includes: a moving ring cover plate fixed to the moving ring by bolts, used to fix the cycloidal propeller fixing rod.

9. The mechanism according to claim 6, characterized in that: The control method of the cycloidal propeller pitch control assembly is as follows: When the helicopter needs to fly to the right, the telescopic servo motor controls the sliding guide rod to retract to the left, causing the stationary ring of the cycloidal propeller to move to the left, which drives the cycloidal propeller pitch control linkage to rotate the cycloidal propeller around the cycloidal propeller pitch control anchor point clockwise, thereby making the pitch of the cycloidal propeller on the left side of the aircraft smaller and the pitch of the cycloidal propeller on the right side larger, so that the cycloidal propeller is subjected to an overall force to the right, driving the helicopter to move to the right; The process of flying to the left is the reverse of the above process.

10. An aircraft, characterized in that: The aircraft includes the helicopter rotor mechanism as described in any one of claims 1-9.

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