Coaxial helicopter control system with single automatic inclinator

Abstract

The utility model discloses a coaxial helicopter control system of a single automatic inclinator, which comprises a fixed shaft, two rotor wing assemblies and a rotor wing pitch control system, and the rotor wing pitch control system comprises a single automatic inclinator, a steering engine control mechanism and two rotor wing pitch control mechanisms. The single automatic inclinator is coaxially connected to the fixing shaft in a sliding mode, the steering engine control mechanism comprises a plurality of steering engines used for being in linkage with the single automatic inclinator, and the single automatic inclinator is used for being in linkage with the two rotor wing propeller pitch control mechanisms when being in linkage with the steering engines; wherein one rotor propeller pitch control mechanism is used for controlling one rotor assembly to change the pitch, and the other rotor propeller pitch control mechanism is used for controlling the other rotor assembly to change the pitch. According to the utility model, the control of lifting, pitching, rolling and heading of the helicopter is realized by adopting a combined mode of the rotor pitch control system of the single automatic inclinator and the rotating speed differential motion of the upper and lower rotor motors, so that the number and the weight of parts are reduced, and the use maintainability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of aircraft, in particular to a coaxial helicopter control system with a single automatic tilt device. Background Art

[0002] Coaxial helicopters are a unique type of helicopter aerodynamic layout, with the characteristics of compact size, good aerodynamic efficiency and excellent performance, suitable for military and civil applications in special environments and scenarios. The upper and lower rotors of conventional coaxial helicopters are coaxial and inverted at the same speed. Its control system generally uses two automatic tilt gears and four to six servos to control the pitch change of the upper and lower rotors respectively, and controls the change of the torque of the upper and lower rotors through semi-differential or full differential collective pitch to achieve helicopter stability and control.

[0003] The driving principle of the upper and lower rotors of a conventional coaxial helicopter is: the engine or electric motor works at a constant speed, and drives the coaxial inner and outer rotor shafts to rotate through a transmission system with a fixed transmission ratio. The inner and outer rotor shafts are respectively fixed to the upper and lower rotor hubs, driving the upper and lower rotors to rotate at a constant speed. That is, the transmission system of a conventional coaxial helicopter needs to achieve equal speed reversal of the inner and outer shafts, and the mechanical structure is complex and heavy.

[0004] The control principle of the control system of a conventional coaxial helicopter is as follows: the control servo controls the sliding and tilting of the upper and lower automatic tilters on the inner and outer rotor shafts simultaneously or separately through the control rod. The upper and lower automatic tilters are respectively connected to the upper and lower rotor blade pitch rocker arms to control the upper and lower rotor blades' collective pitch and cyclic pitch to achieve the stability and control of the helicopter's lifting, pitching and rolling. By controlling the servo to drive the corresponding connecting rod structure, the collective pitch of one of the rotors (semi-differential mode) or the collective pitch of the upper and lower rotors (full differential mode) can be controlled separately, so that the upper and lower rotors produce torque balance or difference, and the helicopter's heading stability and control can be achieved.

[0005] To this end, the control system needs to use at least four to six servos; due to the large number of components in the control system, the conventional collective differential heading control mechanism needs to be mixed with the upper and lower automatic tilt gears and their connecting rod mechanisms, resulting in a complex mechanical structure and heavy weight.

[0006] Therefore, there is an urgent need to provide a coaxial helicopter control system with a single automatic tilt device to overcome the above-mentioned defects. Utility Model Content

[0007] In order to overcome at least one of the defects of the above-mentioned prior art, the purpose of the utility model is to provide a coaxial helicopter control system with a single automatic tilt device, which can control the pitch change of the upper and lower rotors through a single automatic tilt device and three to four servos, and all the structures involved in the control are outside the fixed axis, which greatly reduces the number and weight of parts, improves the use and maintainability as well as the reliability and stability of the control system; at the same time, the input amount of the upper and lower rotor pitch change can be kept consistent, reducing the possibility of flapping and beating caused by inconsistent pitch change of the upper and lower rotors.

[0008] The technical solution adopted by the utility model to solve the problem is:

[0009] A coaxial helicopter control system with a single automatic tilt device, comprising:

[0010] A shaft assembly including a fixed shaft;

[0011] a first rotor assembly, wherein the first rotor assembly is coaxially disposed with the fixed shaft and rotatably connected to the fixed shaft;

[0012] a second rotor assembly, the second rotor assembly being coaxially disposed with the fixed shaft and rotatably connected to the fixed shaft;

[0013] A rotor pitch control system includes a single automatic tilt device, a steering gear control mechanism, a first rotor pitch control mechanism and a second rotor pitch control mechanism, wherein the single automatic tilt device is arranged between the first rotor assembly and the second rotor assembly and is coaxially slidably connected to the fixed shaft; the steering gear control mechanism includes a plurality of steering gears, and the plurality of steering gears are used to link the single automatic tilt device; the single automatic tilt device is used to link the first rotor pitch control mechanism and the second rotor pitch control mechanism when linked with the plurality of steering gears; the first rotor pitch control mechanism is used to control the pitch change of the first rotor assembly, and the second rotor pitch control mechanism is used to control the pitch change of the second rotor assembly.

[0014] Furthermore, it includes a heading control system, which includes a first motor and a second motor, the first motor is used to drive the first rotor assembly to rotate, and the second motor is used to drive the second rotor assembly to rotate; the first motor and the second motor are used to make the first rotor assembly and the second rotor assembly have the same rotation speed or different rotation speeds.

[0015] Further, the single automatic tilt device comprises a first moving ring, a second moving ring, a static outer ring and a static inner ring, the first moving ring and the second moving ring are both coaxially rotatably connected to the static outer ring; the first moving ring is connected to the first rotor assembly through the first rotor pitch control mechanism; the second moving ring is connected to the second rotor assembly through the second rotor pitch control mechanism;

[0016] The static inner ring is coaxially arranged with the static outer ring and fixedly connected to the inner side of the static outer ring. A joint bearing is arranged on the inner side of the static inner ring. The single automatic tilt device is slidably connected to the fixed shaft via the joint bearing.

[0017] Furthermore, a first rod end bearing is provided between the static outer ring and the static inner ring, and the single automatic tilt device includes a torque arm support, a static ring torque upper arm and a static ring torque lower arm, the torque arm support is fixedly connected to the fixed shaft, one end of the static ring torque upper arm is rotatably connected to the torque arm support, and the other end of the static ring torque upper arm is connected to the static ring torque lower arm; the other end of the static ring torque lower arm is connected to the first rod end bearing.

[0018] Furthermore, the servo control mechanism includes a servo rocker arm and a control rod, one end of the servo rocker arm is connected to the power output shaft of the servo, the other end of the servo rocker arm is connected to one end of the control rod, and the other end of the control rod is connected to the first rod end bearing.

[0019] Furthermore, the servo control mechanism includes three servos and two servo brackets, the two servo brackets are fixedly connected to the fixed shaft, and both ends of the three servos are respectively connected to the two servo brackets; the three servos are arranged on the fixed shaft at equal intervals along the circumferential direction.

[0020] Further, the first rotor assembly includes a first hub connected to the fixed shaft and a first blade connected to the first hub; the first rotor pitch control mechanism includes a first rotor pitch change rocker arm, a first rotor pitch change rod, a first rotor drive rocker arm and a first rotor drive rod, one end of the first rotor pitch change rocker arm is connected to the first blade, and the other end of the first rotor pitch change rocker arm is rotatably connected to one end of the first rotor pitch change rod; the other end of the first rotor pitch change rod is rotatably connected to one end of the first rotor drive rocker arm, the middle part of the first rotor drive rocker arm is rotatably connected to the first hub, and the other end of the first rotor drive rocker arm is rotatably connected to the first rotor transmission rod; the other end of the first rotor transmission rod is connected to the first moving ring through a second rod end bearing.

[0021] Further, the second rotor assembly includes a second hub connected to the fixed shaft and a second blade connected to the second hub; the second rotor pitch control mechanism includes a second rotor pitch change rocker arm, a second rotor pitch change rod, a second rotor drive rocker arm and a second rotor drive rod, one end of the second rotor pitch change rocker arm is connected to the second blade, and the other end of the second rotor pitch change rocker arm is rotatably connected to one end of the second rotor pitch change rod; the other end of the second rotor pitch change rod is rotatably connected to one end of the second rotor drive rocker arm, the middle part of the second rotor drive rocker arm is rotatably connected to the second hub, and the other end of the second rotor drive rocker arm is rotatably connected to the second rotor transmission rod; the other end of the second rotor transmission rod is connected to the second moving ring through a second rod end bearing.

[0022] Furthermore, the shaft assembly includes a shaft flange and a shaft base, and the shaft flange and the shaft base are both coaxially fixedly connected to the fixed shaft; the stator of the first motor is coaxially fixedly connected to the shaft flange, and the rotor of the first motor is coaxially fixedly connected to the first rotor assembly; the stator of the second motor is coaxially fixedly connected to the shaft base, and the rotor of the second motor is coaxially fixedly connected to the second rotor assembly.

[0023] Furthermore, the steering gear control mechanism includes four steering gears, and the four steering gears are arranged on the fixed shaft at equal intervals along the circumferential direction.

[0024] In summary, the coaxial helicopter control system with a single automatic tilt device provided by the utility model has the following technical effects:

[0025] 1) The coaxial helicopter control system of the utility model adopts a single automatic tilt device and three to four steering gears to control the pitch change of the first rotor assembly and the second rotor assembly, thereby realizing the helicopter lifting, pitching, rolling and heading control; and the structures involved in the transmission control are all outside the fixed axis, which reduces the number of parts and steering gears and the overall weight, while improving the reliability and stability of the control system, and solving the shortcomings of the conventional total pitch differential heading control coaxial helicopter control system such as complex structure, heavy weight and high cost.

[0026] 2) The coaxial helicopter control system of the utility model adopts two motors to drive the upper and lower rotors to rotate respectively, and realizes heading control by controlling the speed difference of the upper and lower rotors, which simplifies the structure of the heading control system and improves the reliability and stability of the helicopter control system;

[0027] 3) In the coaxial helicopter control system of the utility model, the single automatic tilt device can slide up and down as a whole, thereby increasing the axial movement range of the local first moving ring and the second moving ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of a coaxial helicopter control system with a single automatic tilt device according to an embodiment of the utility model;

[0029] Figure 2 It is a schematic diagram of the assembly of a single automatic tilt device and a first rotor pitch control mechanism according to an embodiment of the utility model;

[0030] Figure 3 It is a cross-sectional view of the single automatic tilt device and the first rotor pitch control mechanism when assembled according to the embodiment of the utility model;

[0031] Figure 4 It is a schematic diagram of the assembly of a single automatic tilt device and a second rotor pitch control mechanism according to an embodiment of the utility model;

[0032] Figure 5 It is a cross-sectional view of the assembly of the single automatic tilt device and the second rotor pitch control mechanism of the embodiment of the utility model;

[0033] Figure 6 A top view of the steering gear control mechanism of an embodiment of the utility model;

[0034] Figure 7 for Figure 1 A partial enlarged view of the middle A;

[0035] Figure 8 A partial cross-sectional view of the first rotor assembly and the first motor when assembled according to an embodiment of the utility model;

[0036] Fig. 9 It is a partial cross-sectional view of the second rotor assembly and the second motor when assembled according to an embodiment of the utility model.

[0037] The meanings of the reference numerals are as follows:

[0038] 1. Fixed shaft; 2. First propeller hub; 3. First propeller blade; 4. Second propeller hub; 5. Second propeller blade; 6. First motor; 7. Second motor; 8. First moving ring; 9. Second moving ring; 10. Static outer ring; 11. Static inner ring; 12. Spherical bearing; 13. First rod end bearing; 14. Torque arm support; 15. Static ring torque upper arm; 16. Static ring torque lower arm; 17. Servo rocker arm; 18. Control rod; 19. Servo Bracket; 20, first rotor pitch rocker arm; 21, first rotor pitch rod; 22, first rotor drive rocker arm; 23, first rotor drive rod; 24, second rotor pitch rocker arm; 25, second rotor pitch rod; 26, second rotor drive rocker arm; 27, second rotor drive rod; 28, shaft flange; 29, shaft base; 30, rear servo; 31, left servo; 32, right servo; 33, second rod end bearing. DETAILED DESCRIPTION

[0039] For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0040] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0042] See also Figure 1 The utility model discloses a coaxial helicopter control system with a single automatic tilt device, which includes a shaft assembly, a first rotor assembly, a second rotor assembly and a rotor pitch control system; specifically, the shaft assembly includes a fixed shaft 1, and the first rotor assembly and the second rotor assembly are both coaxially arranged with the fixed shaft 1 and rotatably connected to the fixed shaft 1.

[0043] The rotor pitch control system includes a single automatic tilt device, a steering gear control mechanism, a first rotor pitch control mechanism and a second rotor pitch control mechanism. The single automatic tilt device is arranged between the first rotor assembly and the second rotor assembly and is coaxially slidably connected to the fixed shaft 1. Figure 6 The steering gear control mechanism includes a plurality of steering gears, and the plurality of steering gears are used to link a single automatic tilting device; refer to Figure 2 and Figure 4 The single automatic tilt device is used to link the first rotor pitch control mechanism and the second rotor pitch control mechanism when linked with multiple servos; wherein the first rotor pitch control mechanism is used to control the pitch change of the first rotor assembly, and the second rotor pitch control mechanism is used to control the pitch change of the second rotor assembly.

[0044] On the basis of this structure, when using the coaxial helicopter control system with a single automatic tilt device of the utility model, since multiple servos can be linked to the single automatic tilt device through a linkage, the servo control mechanism can control the coordinated movement of multiple servos to link the single automatic tilt device to complete the total pitch and cyclic pitch drive.

[0045] Specifically, when multiple servos move in the same direction at the same time, the servo control mechanism can drive the single automatic tilt device to slide up or down on the fixed shaft 1 through a linkage. During the up and down sliding process of the single automatic tilt device, the first rotor pitch control mechanism and the second rotor pitch control mechanism respectively control the pitch change of the first rotor assembly and the second rotor assembly, so that the collective pitch of the first rotor assembly and the second rotor assembly increases or decreases at the same time, thereby realizing the collective pitch control of the coaxial helicopter, so that the helicopter can achieve lifting and lowering movement.

[0046] When multiple servos in the servo control mechanism are differentially controlled through the front and rear servos or the left and right servos, the servo control mechanism drives the single automatic tilt device to tilt forward and backward or left and right through the linkage. During the movement, the single automatic tilt device controls the cyclic pitch change of the first rotor assembly and the second rotor assembly respectively through the first rotor pitch control mechanism and the second rotor pitch control mechanism, thereby realizing the cyclic pitch change control of the coaxial helicopter, so that the helicopter can achieve longitudinal or lateral movement.

[0047] It should be noted that conventional coaxial helicopter control systems generally use two automatic tilt gears and four to six servos to control the pitch change of the upper and lower rotors respectively; while the first rotor pitch control mechanism and the second rotor pitch control mechanism of the utility model share a single automatic tilt gear, that is, the coaxial helicopter control system of the utility model uses a single automatic tilt gear and three to four servos to control the pitch change of the first rotor assembly and the second rotor assembly, thereby realizing the helicopter lifting, pitching, rolling, and heading control, thereby reducing the number of servos, the number of connecting rod mechanisms between the servos and the automatic tilt gears, and the number and overall weight of other components, and improving the reliability and stability of the control system, thereby solving the shortcomings of the conventional collective pitch differential heading control coaxial helicopter control system such as complex structure, heavy weight, and high cost.

[0048] Furthermore, the coaxial helicopter control system with a single automatic tilt device also includes a heading control system. Specifically, the heading control system includes a first motor 6 and a second motor 7, and the first motor 6 is used to drive the first rotor assembly to rotate, and the second motor 7 is used to drive the second rotor assembly to rotate. The first motor 6 and the second motor 7 are used to make the first rotor assembly and the second rotor assembly have the same rotation speed or different rotation speeds.

[0049] Based on this structure, the speed signals of the first motor 6 and the second motor 7 are controlled by the flight control system. The first rotor assembly and the second rotor assembly have opposite directions, and the torques generated by the two rotors are balanced in the flight state with unchanged heading. When the heading needs to be changed, the flight control system can control the first motor 6 and the second motor 7 to respectively drive the first rotor assembly and the second rotor assembly to rotate at a constant speed or a variable speed, resulting in a differential change in the torque of the upper and lower rotors, thereby driving the yaw motion of the coaxial helicopter.

[0050] It should be noted that conventional coaxial helicopters use one motor to simultaneously drive the coaxial inner and outer rotor shafts to rotate, so that the upper and lower rotors rotate at a constant speed, and achieve heading control by manipulating the collective pitch differential. Some structures involved in the manipulation are set inside the rotor shaft, which makes the mechanical structure complex and heavy.

[0051] The utility model adopts two motors to drive the upper and lower rotors to rotate respectively, and realizes heading control by controlling the speed difference of the upper and lower rotors, which simplifies the structure of the heading control system and improves the reliability and stability of the helicopter control system.

[0052] In addition, when controlling the speed differential of the upper and lower rotors for heading maneuver, the change in helicopter lift can be obtained through theoretical calculations or experimental tests. Based on this, the flight control compensation control collective pitch can be used during heading maneuver, that is, the rotor pitch control system can be controlled to control the pitch change of the first rotor assembly and the second rotor assembly to achieve a smaller lift change.

[0053] Further, see Figure 3 The single automatic tilt device includes a first moving ring 8, a second moving ring 9, a static outer ring 10 and a static inner ring 11, wherein the first moving ring 8 and the second moving ring 9 are both coaxially rotatably connected to the static outer ring 10; and the first moving ring 8 is connected to the first rotor assembly through a first rotor pitch control mechanism; the second moving ring 9 is connected to the second rotor assembly through a second rotor pitch control mechanism.

[0054] In addition, the static inner ring 11 is coaxially arranged with the static outer ring 10, and the static inner ring 11 is fixedly connected to the inner side of the static outer ring 10; wherein, a joint bearing 12 is provided on the inner side of the static inner ring 11, and the single automatic tilt device is slidably connected to the fixed shaft 1 through the joint bearing 12.

[0055] On the basis of this structure, when multiple servos in the servo control mechanism move in the same direction at the same time, the servo control mechanism drives the single automatic tilting device to slide up or down on the fixed shaft 1, and the single automatic tilting device is slidably connected to the fixed shaft 1 through the joint bearing 12. When multiple servos in the servo control mechanism are coordinated and differentially controlled by the front and rear servos or the left and right servos, the servo control mechanism drives the static inner ring 11 to rotate relative to the joint bearing 12, so that the single automatic tilting device can tilt forward and backward or tilt left and right.

[0056] The inner circumferences of the first moving ring 8 and the second moving ring 9 are both provided with bearings, and the first moving ring 8 and the second moving ring 9 are rotatably connected to the static outer ring 10 through the bearings. When the first rotor assembly and the second rotor assembly are rotating, the first rotor assembly and the second rotor assembly can drive the first moving ring 8 and the second moving ring 9 to rotate relative to the static outer ring 10 through the first rotor pitch control mechanism and the second rotor pitch control mechanism.

[0057] It should be noted that the single automatic inclinometer is slidably connected to the fixed shaft 1 through a joint bearing 12, so that the single automatic inclinometer can control the collective pitch of the first rotor assembly and the second rotor assembly respectively through the first rotor pitch control mechanism and the second rotor pitch control mechanism during the up and down sliding process, thereby achieving a simultaneous increase or decrease in the collective pitch of the upper and lower rotors.

[0058] In addition, the stationary inner ring 11 and the stationary outer ring 10 can be integrally formed, or the stationary inner ring 11 and the stationary outer ring 10 can be fixedly connected by fasteners such as bolts.

[0059] Further, see Figure 7 The single automatic tilt device includes a torque arm support 14, a static ring torque upper arm 15 and a static ring torque lower arm 16, wherein the torque arm support 14 is fixedly connected to the fixed shaft 1, one end of the static ring torque upper arm 15 is rotatably connected to the torque arm support 14, and the other end of the static ring torque upper arm 15 is connected to the static ring torque lower arm 16; refer to Figure 3 A first rod end bearing 13 is provided between the static outer ring 10 and the static inner ring 11 , and the first rod end bearing 13 is connected to the other end of the static ring torque lower arm 16 .

[0060] On the basis of this structure, both ends of the static ring torque upper arm 15 can be respectively connected to the torque arm support 14 and the static ring torque lower arm 16 through bearings to realize rotation. When the steering gear control mechanism drives the single automatic tilt mechanism to move, the single automatic tilt mechanism drives the static ring torque lower arm 16 to rotate relative to the static ring torque upper arm 15 through the first rod end bearing 13, and the static ring torque lower arm 16 can drive the static ring torque upper arm 15 to rotate relative to the torque arm support 14, so that the static ring torque upper arm 15 and the static ring torque lower arm 16 swing up and down following the single automatic tilt mechanism.

[0061] In this way, the single automatic recliner can be connected to the torque arm support 14 through the static ring torque upper arm 15 and the static ring torque lower arm 16, and can slide up and down or tilt and swing within the swing range of the static ring torque upper arm 15 and the static ring torque lower arm 16. In addition, the torque arm support 14 can limit the circumferential movement of the static inner ring 11 and the static outer ring 10 of the single automatic recliner through the static ring torque upper arm 15 and the static ring torque lower arm 16, so that the first movable ring 8 and the second movable ring 9 can rotate relative to the static outer ring 10, ensuring the connection of the single automatic recliner and the stability of the transmission.

[0062] Furthermore, the servo control mechanism includes a servo rocker arm 17 and an operating rod 18. Specifically, one end of the servo rocker arm 17 is connected to the power output shaft of the servo, the other end of the servo rocker arm 17 is connected to one end of the operating rod 18, and the other end of the operating rod 18 is connected to the first rod end bearing 13.

[0063] On the basis of this structure, when multiple servos of the servo control mechanism move in the same direction at the same time, the multiple servos drive the servo rocker arm 17 to rotate up and down, thereby driving the control link to drive the single automatic tilt device to move up and down. Then, during the up and down movement of the single automatic tilt device, the first rotor pitch control mechanism and the second rotor pitch control mechanism respectively control the collective pitch of the first rotor assembly and the second rotor assembly to increase or decrease at the same time, thereby realizing the collective pitch control of the coaxial helicopter.

[0064] When the left servo 31 and the right servo 32 move in the same direction and the rear servo 30 moves in the opposite direction, the multiple servos coordinate to drive the servo rocker arm 17 and the control link to link the single automatic tilt mechanism to tilt forward and backward. While the single automatic tilt mechanism moves, the first rotor assembly and the second rotor assembly are controlled by the first rotor pitch control mechanism and the second rotor pitch control mechanism to produce longitudinal cyclic pitch change, thereby realizing the longitudinal movement of the coaxial helicopter.

[0065] When the left servo 31 and the right servo 32 move in opposite directions and the rear servo 30 remains stationary, the left servo 31 and the right servo 32 drive their respectively connected servo rocker arms 17 and control links to control the left and right tilting movements of the single automatic tilt mechanism. While the single automatic tilt mechanism is moving, the first rotor assembly and the second rotor assembly are controlled by the first rotor pitch control mechanism and the second rotor pitch control mechanism to produce lateral cyclic pitch changes, thereby realizing the lateral movement of the coaxial helicopter.

[0066] In this way, the servo control mechanism drives the servo rocker arm 17 and the control link to move in the same direction or in the opposite direction through the coordinated operation of multiple servos, so as to link the single automatic tilt device to achieve movement in different directions, thereby realizing the horizontal movement control of the coaxial helicopter.

[0067] Further, the steering gear control mechanism includes three steering gears and two steering gear brackets 19. Specifically, the two steering gear brackets 19 are fixedly connected to the fixed shaft 1, and both ends of the three steering gears are respectively connected to the two steering gear brackets 19. The three steering gears are arranged on the fixed shaft 1 at equal intervals along the circumferential direction.

[0068] On the basis of this structure, during assembly, two servo gear brackets 19 can be arranged at intervals along the axial direction of the fixed shaft 1, and the servo gear brackets 19 can be fixedly connected to the fixed shaft 1 by fasteners; then the three servos are arranged at equal intervals along the circumference of the fixed shaft 1, and the upper and lower ends of the servos are respectively fixed to the two servo gear brackets 19 by fasteners to complete the installation of the servos.

[0069] Among them, the three servos are the left servo 31, the right servo 32 and the rear servo 30. When the three servos move in the same direction at the same time, they can drive the single automatic tilt device to move upward or downward; when the left servo 31 and the right servo 32 move in the same direction and the rear servo 30 moves in the opposite direction, they can drive the single automatic tilt device to tilt forward and backward; when the left servo 31 and the right servo 32 move in the opposite direction and the rear servo 30 is stationary, they can drive the single automatic tilt device to tilt left and right.

[0070] In this way, the single automatic tilt device has three degrees of freedom under the drive of three steering gears, and can simultaneously control the collective pitch and cyclic pitch of the upper and lower rotors to achieve the control of the helicopter's lifting, pitching and rolling. That is, the coaxial helicopter control system of the single automatic tilt device of the utility model can achieve vertical, longitudinal and lateral control of the helicopter through the coordinated movement of a single automatic tilt device and three steering gears.

[0071] Furthermore, the first rotor assembly includes a first propeller hub 2 connected to the fixed shaft 1 and a first propeller blade 3 connected to the first propeller hub 2; see Figure 2 The first rotor pitch control mechanism includes a first rotor pitch rocker arm 20, a first rotor pitch rod 21, a first rotor transmission rocker arm 22 and a first rotor transmission rod 23. Specifically, one end of the first rotor pitch rocker arm 20 is connected to the first blade 3, and the other end of the first rotor pitch rocker arm 20 is rotationally connected to one end of the first rotor pitch rod 21; and the other end of the first rotor pitch rod 21 is rotationally connected to one end of the first rotor transmission rocker arm 22. At the same time, the middle part of the first rotor transmission rocker arm 22 is rotatably connected to the first hub 2, and the other end of the first rotor transmission rocker arm 22 is rotationally connected to the first rotor transmission rod 23; wherein, the other end of the first rotor transmission rod 23 is connected to the first moving ring 8 through a second rod end bearing 33.

[0072] On the basis of this structure, when the rotor pitch control system performs pitch control, it first drives the single automatic tilt device to move through the servo control mechanism, and during the movement of the single automatic tilt device, the first moving ring 8 pulls the first rotor transmission rod 23 through the second rod end bearing 33, and the first rotor transmission rod 23 pulls one end of the first rotor transmission rocker arm 22, so that the first rotor transmission rocker arm 22 rotates with the middle part as the fulcrum, driving the other end of the first rotor transmission rocker arm 22 to move, and then driving the first rotor pitch change rod 21 and the first rotor pitch change rocker arm 20 to move, and the first rotor pitch change rocker arm 20 adjusts the pitch of the first blade 3 during the movement.

[0073] Among them, the first rotor pitch control mechanism includes two groups of first rotor pitch change rocker arms 20, a first rotor pitch change rod 21, a first rotor transmission rocker arm 22 and a first rotor transmission rod 23, and these two groups of transmission components are symmetrically connected to both sides of the first moving ring 8, and are respectively connected to the two first blades 3 of the first rotor assembly to adjust the pitch of the two first blades 3.

[0074] It should be noted that the first rotor pitch control mechanism also includes a connecting support, which is connected to the first hub 2, and the middle parts of the first rotor drive rocker arms 22 in the two sets of transmission components are rotatably connected to the connecting support through bearings. In this way, the first rotor drive rocker arms 22 can rotate on the connecting support to transmit the movement of both ends thereof; at the same time, the connecting support can rotate under the drive of the first hub 2, and drive the first moving ring 8 to rotate through the transmission assembly.

[0075] Furthermore, the second rotor assembly includes a second propeller hub 4 connected to the fixed shaft 1 and a second propeller blade 5 connected to the second propeller hub 4; see Figure 4 The second rotor pitch control mechanism includes a second rotor pitch change rocker arm 24, a second rotor pitch change rod 25, a second rotor drive rocker arm 26 and a second rotor drive rod 27. Specifically, one end of the second rotor pitch change rocker arm 24 is connected to the second blade 5, and the other end of the second rotor pitch change rocker arm 24 is rotatably connected to one end of the second rotor pitch change rod 25; and the other end of the second rotor pitch change rod 25 is rotatably connected to one end of the second rotor drive rocker arm 26. At the same time, the middle part of the second rotor drive rocker arm 26 is rotatably connected to the second hub 4, and the other end of the second rotor drive rocker arm 26 is rotatably connected to the second rotor drive rod 27; wherein, refer to Figure 5 The other end of the second rotor transmission rod 27 is connected to the second moving ring 9 through a second rod end bearing 33 .

[0076] Correspondingly, when the rotor pitch control system is performing pitch control, the single automatic tilt device can be driven to move through the servo control mechanism first, and during the movement of the single automatic tilt device, the second moving ring 9 pulls the second rotor transmission rod 27 through the second rod end bearing 33, and the second rotor transmission rod 27 pulls one end of the second rotor transmission rocker arm 26, so that the second rotor transmission rocker arm 26 rotates with the middle part as the fulcrum, driving the other end of the second rotor transmission rocker arm 26 to move, and then driving the second rotor pitch change rod 25 and the second rotor pitch change rocker arm 24 to move, and the second rotor pitch change rocker arm 24 adjusts the pitch of the second blade 5 during the movement.

[0077] Among them, the second rotor pitch control mechanism includes two sets of second rotor pitch change rocker arms 24, a second rotor pitch change rod 25, a second rotor transmission rocker arm 26 and a second rotor transmission rod 27, and these two sets of transmission components are symmetrically connected to the two sides of the second moving ring 9, and are respectively connected to the two second blades 5 of the second rotor assembly to adjust the pitch of the two second blades 5.

[0078] In addition, the second rotor pitch control mechanism also includes a connecting support, which is rotatably connected to the second hub 4 through a bearing, and the middle parts of the second rotor drive rocker arms 26 in the two sets of transmission components are rotatably connected to the connecting support through bearings. In this way, the second rotor drive rocker arms 26 can rotate on the connecting support to transmit the movement of its two ends; at the same time, the connecting support can rotate under the drive of the second hub 4, and drive the second moving ring 9 to rotate through the transmission assembly.

[0079] It should be noted that the first rotor pitch control mechanism and the second rotor pitch control mechanism adopt the same transmission assembly, and the transmission assembly is provided with a transmission rocker arm rotatably connected to the connecting support, so that when the single automatic tilt device synchronously drives the first rotor pitch control mechanism and the second rotor pitch control mechanism to move, the input amount of the pitch change of the first rotor assembly and the second rotor assembly is the same, thereby reducing the possibility of flapping of the upper and lower rotor assemblies due to inconsistent pitch change.

[0080] In addition, the two rotor pitch control mechanisms are both arranged outside the fixed shaft 1, which greatly reduces the number of parts, reduces processing costs and assembly difficulty, and improves usability and maintainability.

[0081] Further, see Figure 8 and Fig. 9 The shaft assembly includes a shaft flange 28 and a shaft base 29, and the shaft flange 28 and the shaft base 29 are coaxially fixedly connected to the fixed shaft 1. The stator of the first motor 6 is coaxially fixedly connected to the shaft flange 28, and the rotor of the first motor 6 is coaxially fixedly connected to the first rotor assembly. In addition, the stator of the second motor 7 is coaxially fixedly connected to the shaft base 29, and the rotor of the second motor 7 is coaxially fixedly connected to the second rotor assembly.

[0082] Based on this structure, when in use, the first motor 6 drives the first rotor assembly to rotate, and the second motor 7 drives the second rotor assembly to rotate. The first motor 6 and the second motor 7 are controlled separately by the flight control system, and can drive the first rotor assembly and the second rotor assembly to rotate at a constant speed or at a variable speed.

[0083] The present application achieves a balance and differential of the upper and lower rotor torques by controlling the rotational speeds of the first rotor assembly and the second rotor assembly at a constant speed and a variable speed, thereby completing the heading control of the helicopter.

[0084] Furthermore, the steering gear control mechanism includes four steering gears, and the four steering gears are arranged on the fixed shaft 1 at equal intervals along the circumferential direction.

[0085] Specifically, there are two distribution modes of the four servos. One is conventional distribution, that is, the four servos are respectively a left servo 31, a right servo 32, a front servo and a rear servo 30, wherein the rear servo is located directly behind the heading of the helicopter, and adjacent servos are spaced 90° apart. The other is X-shaped distribution, wherein the four servos are respectively named a left front servo 31, a right front servo 32, a left rear servo and a right rear servo 30, wherein the right rear servo 30 is located 45° to the right rear of the heading of the helicopter, and adjacent servos are spaced 90° apart.

[0086] Among them, in the conventional distribution, the left servo 31 and the right servo 32 are stationary, and the front servo and the rear servo 30 move in opposite directions; or in the X-shaped distribution, the left front servo 31 and the right front servo 32 move in the same direction, and the left rear servo and the right rear servo 30 move in the same direction and in the opposite direction to the two front servos; in these two cases, multiple servos can coordinately drive the servo rocker arm 17 and the control link to link the single automatic tilt device to tilt forward and backward. While the single automatic tilt device moves, the first rotor pitch control mechanism and the second rotor pitch control mechanism control the first rotor assembly and the second rotor assembly to produce longitudinal cyclic pitch change, thereby realizing the longitudinal movement of the coaxial helicopter.

[0087] In normal distribution, when the left servo 31 and the right servo 32 move in opposite directions, the front servo and the rear servo 30 are stationary; or in X-shaped distribution, the left front servo 31 and the left rear servo move in the same direction, and the right front servo 32 and the right rear servo 30 move in the same direction and in the opposite direction to the two servos on the left; in these two cases, the multiple servos can control the left and right tilting movement of the single automatic tilt device by driving the respective connected servo rocker arms 17 and the control connecting rods, and the single automatic tilt device controls the first rotor assembly and the second rotor assembly to produce lateral cyclic pitch change through the first rotor pitch control mechanism and the second rotor pitch control mechanism while moving, thereby realizing the lateral movement of the coaxial helicopter.

[0088] In this way, the single automatic tilt mechanism can simultaneously control the collective pitch and cyclic pitch of the upper and lower rotors driven by four servos, thereby realizing the lifting, pitching and rolling control of the helicopter; the four servos can improve the stability and reliability of the servo control system when driving the single automatic tilt mechanism to move.

[0089] The technical means disclosed in the solution of the utility model are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical solutions composed of any combination of the above technical features. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the utility model, and these improvements and modifications are also regarded as the protection scope of the utility model.

Claims

1. A coaxial helicopter control system with a single automatic tilt device, characterized in that: include, A shaft assembly including a fixed shaft; a first rotor assembly, wherein the first rotor assembly is coaxially disposed with the fixed shaft and rotatably connected to the fixed shaft; a second rotor assembly, the second rotor assembly being coaxially disposed with the fixed shaft and rotatably connected to the fixed shaft; A rotor pitch control system includes a single automatic tilt device, a steering gear control mechanism, a first rotor pitch control mechanism and a second rotor pitch control mechanism, wherein the single automatic tilt device is arranged between the first rotor assembly and the second rotor assembly and is coaxially slidably connected to the fixed shaft; the steering gear control mechanism includes a plurality of steering gears, and the plurality of steering gears are used to link the single automatic tilt device; the single automatic tilt device is used to link the first rotor pitch control mechanism and the second rotor pitch control mechanism when linked with the plurality of steering gears; the first rotor pitch control mechanism is used to control the pitch change of the first rotor assembly, and the second rotor pitch control mechanism is used to control the pitch change of the second rotor assembly.

2. The coaxial helicopter control system with a single automatic tilt device according to claim 1, characterized in that: It includes a heading control system, which includes a first motor and a second motor. The first motor is used to drive the first rotor assembly to rotate, and the second motor is used to drive the second rotor assembly to rotate; the first motor and the second motor are used to make the first rotor assembly and the second rotor assembly have the same rotation speed or different rotation speeds.

3. The coaxial helicopter control system with a single automatic tilt device according to claim 1, characterized in that: The single automatic tilt device comprises a first moving ring, a second moving ring, a static outer ring and a static inner ring, wherein the first moving ring and the second moving ring are both coaxially rotatably connected to the static outer ring; the first moving ring is connected to the first rotor assembly through the first rotor pitch control mechanism; The second dynamic ring is connected to the second rotor assembly through the second rotor pitch control mechanism; The static inner ring is coaxially arranged with the static outer ring and fixedly connected to the inner side of the static outer ring. A joint bearing is arranged on the inner side of the static inner ring. The single automatic tilt device is slidably connected to the fixed shaft via the joint bearing.

4. The coaxial helicopter control system with a single automatic tilt device according to claim 3, characterized in that: A first rod end bearing is provided between the static outer ring and the static inner ring, and the single automatic tilt device includes a torque arm support, a static ring torque upper arm and a static ring torque lower arm, the torque arm support is fixedly connected to the fixed shaft, one end of the static ring torque upper arm is rotatably connected to the torque arm support, and the other end of the static ring torque upper arm is connected to the static ring torque lower arm; the other end of the static ring torque lower arm is connected to the first rod end bearing.

5. The coaxial helicopter control system with a single automatic tilt device according to claim 4, characterized in that: The steering gear control mechanism includes a steering gear rocker arm and a control rod, one end of the steering gear rocker arm is connected to the power output shaft of the steering gear, the other end of the steering gear rocker arm is connected to one end of the control rod, and the other end of the control rod is connected to the first rod end bearing.

6. The coaxial helicopter control system with a single automatic tilt device according to claim 1 or 5, characterized in that: The steering gear control mechanism comprises three steering gears and two steering gear brackets, wherein the two steering gear brackets are fixedly connected to the fixed shaft, and both ends of the three steering gears are respectively connected to the two steering gear brackets; the three steering gears are arranged on the fixed shaft at equal intervals along the circumferential direction.

7. The coaxial helicopter control system with a single automatic tilt device according to claim 3, characterized in that: The first rotor assembly includes a first hub connected to the fixed shaft and a first blade connected to the first hub; the first rotor pitch control mechanism includes a first rotor pitch change rocker arm, a first rotor pitch change rod, a first rotor drive rocker arm and a first rotor drive rod, one end of the first rotor pitch change rocker arm is connected to the first blade, and the other end of the first rotor pitch change rocker arm is rotatably connected to one end of the first rotor pitch change rod; the other end of the first rotor pitch change rod is rotatably connected to one end of the first rotor drive rocker arm, the middle part of the first rotor drive rocker arm is rotatably connected to the first hub, and the other end of the first rotor drive rocker arm is rotatably connected to the first rotor drive rod; the other end of the first rotor drive rod is connected to the first moving ring through a second rod end bearing.

8. The coaxial helicopter control system with a single automatic tilt device according to claim 3 or 7, characterized in that: The second rotor assembly includes a second hub connected to the fixed shaft and a second blade connected to the second hub; the second rotor pitch control mechanism includes a second rotor pitch change rocker arm, a second rotor pitch change rod, a second rotor drive rocker arm and a second rotor drive rod, one end of the second rotor pitch change rocker arm is connected to the second blade, and the other end of the second rotor pitch change rocker arm is rotatably connected to one end of the second rotor pitch change rod; the other end of the second rotor pitch change rod is rotatably connected to one end of the second rotor drive rocker arm, the middle part of the second rotor drive rocker arm is rotatably connected to the second hub, and the other end of the second rotor drive rocker arm is rotatably connected to the second rotor drive rod; the other end of the second rotor drive rod is connected to the second moving ring through a second rod end bearing.

9. The coaxial helicopter control system with a single automatic tilt device according to claim 2, characterized in that: The shaft assembly includes a shaft flange and a shaft base, and the shaft flange and the shaft base are both coaxially fixedly connected to the fixed shaft; the stator of the first motor is coaxially fixedly connected to the shaft flange, and the rotor of the first motor is coaxially fixedly connected to the first rotor assembly; the stator of the second motor is coaxially fixedly connected to the shaft base, and the rotor of the second motor is coaxially fixedly connected to the second rotor assembly.

10. The coaxial helicopter control system with a single automatic tilt device according to claim 1, characterized in that: The steering gear control mechanism comprises four steering gears, and the four steering gears are arranged on the fixed shaft at equal intervals along the circumferential direction.

Images