Helicopter rotor control device and coaxial propeller hub helicopter

Abstract

According to the control device of the helicopter rotor wing and the coaxial propeller hub helicopter, the steering engine is arranged on the speed reducer, so that the structure is more compact. An upper rotor steering engine transmits operating force to an upper rotor fixed disc through an upper rotor steering engine connecting rod, the upper rotor fixed disc transmits the operating force to an upper rotor movable disc, the upper rotor movable disc rotates around an upper rotor knuckle bearing and transmits the operating force of the upper rotor movable disc to an upper rotor movable disc pull rod, and the upper rotor movable disc pull rod transmits the operating force to a lower turning rod. The lower turning rod drives the middle connecting rod to rotate, and then the middle connecting rod drives the upper rotor wing assembly to move. In order to ensure that the upper rotor wing fixed disc does not rotate along with the upper rotor wing assembly, the upper rotor wing anti-torsion arm is connected with an upper rotor wing anti-torsion blocking piece on the speed reducer, the upper rotor wing anti-torsion blocking piece blocks the upper rotor wing anti-torsion arm from rotating, and therefore rotation of the upper rotor wing fixed disc is blocked, and an operation pull rod does not need to be assembled on an inner shaft in an opening mode.

Description

Technical Field

[0001] The utility model relates to the technical field of aviation, in particular to a control device for a helicopter rotor and a coaxial hub helicopter. Background Art

[0002] Helicopters have the ability to take off and land vertically, as well as hover. They have low requirements for landing and takeoff sites, and can operate from unpaved surfaces or on rooftops of urban buildings. Their flexibility makes them irreplaceable in the aviation industry. Currently, unmanned helicopters in the world primarily fall into two categories: single-rotor with tail rotor and coaxial twin-rotor. Coaxial twin-rotor helicopters, which do not require a tail rotor or tail drive, are more compact than single-rotor helicopters.

[0003] In the existing technology, the twin-rotor pitch control of a coaxial twin-rotor unmanned helicopter is divided into two types: upper and lower rotor linked control and upper and lower rotor independent control. The upper and lower rotor linked control and upper and lower rotor independent control respectively independently control the collective pitch and cyclic pitch of the upper and lower rotor systems. Among them, the independent control of the upper rotor requires an opening on the inner shaft to assemble a control rod to control the rotation of the upper rotor. However, the opening causes the structure of the upper rotor independent control system to be more dispersed, thereby reducing the strength of the inner shaft. Utility Model Content

[0004] The present invention is proposed to solve the above-mentioned technical problems. The embodiments of the present invention provide a helicopter rotor control device and a coaxial hub helicopter, which solves the problem in the prior art that independent control of the upper rotor requires an opening on the inner rotor shaft to assemble a control lever to control the rotation of the upper rotor. However, this opening causes the structure of the upper rotor independent control system to be more dispersed, thereby reducing the strength of the inner rotor shaft.

[0005] According to one aspect of the present invention, a helicopter rotor control device is provided, comprising:

[0006] a connecting rod assembly, the connecting rod assembly including an intermediate connecting rod, a first end of the intermediate connecting rod passing through the upper rotor hub assembly;

[0007] A reducer assembly, the reducer assembly comprising an upper rotor anti-twist stop, an inner shaft, and a servo disc, the second end of the intermediate connecting rod sequentially passing through the first end of the inner shaft and the servo disc, the servo disc being assembled on a reduction gear box, the first end of the inner shaft being fixedly connected to the upper rotor hub assembly, the second end of the inner shaft passing through the servo disc and the reduction gear box, and the bottom of the servo disc being fixedly connected to the upper rotor anti-twist stop;

[0008] The control assembly of the upper rotor comprises an upper rotor lower bracket, a lower change-direction rod, an upper rotor dynamic disc pull rod, an upper rotor joint bearing, an upper rotor servo, an upper rotor dynamic disc, an upper rotor fixed disc, an upper rotor anti-torsion arm and an upper rotor servo connecting rod. The upper rotor lower bracket is threadedly connected to the second end of the inner shaft, the upper rotor servo is fixed to the bottom of the reducer servo disc, one end of the upper rotor servo connecting rod is rotatably connected to the upper rotor servo, the other end of the upper rotor servo connecting rod is rotatably connected to the upper rotor fixed disc, one end of the upper rotor dynamic disc pull rod is rotatably connected to one end of the lower change-direction rod, and the upper rotor The other end of the moving plate pull rod is rotatably connected to the upper rotor moving plate, and the other end of the lower change rod passes through the side of the upper rotor lower bracket and is rotatably connected to the second end of the intermediate connecting rod. The upper rotor moving plate and the upper rotor fixed plate are rotatably connected through the upper rotor cross roller bearing. The upper rotor moving plate rotates around the upper rotor joint bearing, and the upper rotor joint bearing passes through the extension shaft of the upper rotor lower bracket so that the upper rotor joint bearing moves along the extension direction of the upper rotor lower bracket. The upper rotor anti-torsion arm is fixedly connected to the upper rotor fixed plate, and the upper rotor anti-torsion arm is connected to the upper rotor anti-torsion stopper;

[0009] In one embodiment, the connecting rod assembly includes an upper direction-changing rod and an upper rotor upper bracket, the first end of the intermediate connecting rod passes through the upper rotor upper bracket and is rotatably connected to the first end of the upper direction-changing rod, and the upper direction-changing rod is fixed on the upper rotor upper bracket.

[0010] In one embodiment, the connecting rod assembly includes an upper rotor rod, the second end of the upper direction changing rod is rotatably connected to the first end of the upper rotor rod, and the second end of the upper rotor rod is rotatably connected to the upper rotor hub assembly.

[0011] In one embodiment, the upper rotor hub assembly includes an upper rotor blade clamp rocker arm and an upper rotor blade clamp, one end of the upper rotor blade clamp rocker arm is rotatably connected to the second end of the upper rotor pull rod, and the other end of the upper rotor blade clamp rocker arm is fixedly connected to the upper rotor blade clamp.

[0012] In one embodiment, the upper rotor hub assembly includes an upper rotor hub central piece, the support arm of the upper rotor hub central piece is rotatably connected to the upper rotor blade clamp, and the inner shaft is spline-connected to the upper rotor hub central piece.

[0013] In one embodiment, the reducer assembly includes a lower rotor anti-twist stopper, an outer shaft and an outer shaft sleeve, wherein the lower rotor anti-twist stopper is fixed to a servo disc, the servo disc is assembled to a reducer housing, a first end of the outer shaft passes through the outer shaft sleeve and the servo disc respectively and is connected to the reducer housing, the outer shaft sleeve is fixed to the top of the reducer housing, and one end of the outer shaft is spline-connected to the lower rotor hub assembly.

[0014] In one embodiment, the control device of the lower rotor includes a lower rotor fixed plate, a lower rotor moving plate, a lower rotor joint bearing, a lower rotor torque arm, a lower rotor servo, a lower rotor servo connecting rod and a lower rotor anti-torsion arm, wherein the lower rotor servo is arranged on the servo plate, the lower rotor servo is rotatably connected to one end of the lower rotor servo connecting rod, the other end of the lower rotor servo connecting rod is rotatably connected to the lower rotor fixed plate, one end of the lower rotor anti-torsion arm is fixedly connected to the lower rotor fixed plate, and the lower rotor anti-torsion arm The other end is connected to the lower rotor anti-twist stopper, the lower rotor moving disc is connected to the lower rotor fixed disc through the lower rotor joint bearing, the lower rotor moving disc moves around the lower rotor joint bearing, the lower rotor joint bearing is slidably connected to the outer shaft sleeve, so that the lower rotor joint bearing slides along the extension direction of the outer shaft sleeve, the first end of the lower rotor torque arm is rotatably connected to the lower rotor moving disc, and the second end of the lower rotor torque arm is fixedly connected to the lower rotor hub assembly;

[0015] A lower rotor pull rod, one end of which is rotatably connected to the lower rotor hub assembly, and the other end of which is rotatably connected to the lower rotor rotor disk.

[0016] In one embodiment, the lower rotor hub assembly includes a lower rotor hub central piece, the lower rotor hub central piece is splined to the outer shaft, and the second end of the lower rotor torque arm is rotatably connected to the lower rotor hub central piece; the lower rotor hub assembly includes a lower rotor blade clamp, and the lower rotor blade clamp is rotatably connected to the lower rotor hub central piece.

[0017] In one embodiment, the lower rotor hub assembly includes a lower rotor blade clamp rocker arm, one end of the lower rotor blade clamp rocker arm is rotatably connected to the lower rotor pull rod, and the other end of the lower rotor blade clamp rocker arm is fixedly connected to the lower rotor blade clamp.

[0018] According to a second aspect of the present invention, a coaxial hub helicopter is provided, comprising the helicopter rotor control device as described above.

[0019] The camshaft is connected to the gear train by a threaded rod and the camshaft is connected to the gear train by a threaded rod, and the camshaft is connected to the gear train by a threaded rod. The second end of the inner shaft is connected, and the upper rotor servo is fixed to the bottom of the servo disc. One end of the upper rotor servo connecting rod is rotatably connected to the upper rotor servo, and the other end of the upper rotor servo connecting rod is rotatably connected to the upper rotor fixed plate. One end of the upper rotor movable plate pull rod is rotatably connected to one end of the lower direction-changing rod, and the other end of the upper rotor movable plate pull rod is rotatably connected to the upper rotor movable plate. The other end of the lower direction-changing rod passes through the side of the upper rotor lower bracket and is rotatably connected to the second end of the intermediate connecting rod. The upper rotor movable plate rotates around the upper rotor cross roller bearing, and the upper rotor movable plate rotates around the upper rotor joint bearing. The upper rotor joint bearing passes through the extension shaft of the upper rotor lower bracket, and the upper rotor joint bearing passes through the upper rotor lower bracket joint shaft so that the upper rotor joint bearing moves along the extension direction of the upper rotor lower bracket. The upper rotor anti-torsion arm is fixedly connected to the upper rotor fixed plate, and the upper rotor anti-torsion arm is connected to the upper rotor anti-torsion stop. The utility model arranges the servo on the reducer, and the structure is more compact. The upper rotor servo transmits control force to the upper rotor fixed plate via the upper rotor servo linkage. The upper rotor fixed plate then transmits force to the upper rotor disc. The upper rotor disc rotates around the upper rotor joint bearing and transmits its control force to the upper rotor disc pull rod. The upper rotor disc pull rod transmits the control force to the lower direction-changing lever, which in turn rotates the intermediate link, which in turn rotates the upper direction-changing lever. To prevent the upper rotor fixed plate from rotating with the upper rotor disc, the upper rotor anti-twist arm is connected to the upper rotor anti-twist stop on the speed reducer. The upper rotor anti-twist stop blocks the lateral movement of the upper rotor anti-twist arm, thereby preventing the rotation of the upper rotor fixed plate. Therefore, the upper rotor control assembly rotates the upper rotor hub assembly solely through the inner shaft and the intermediate link, eliminating the need for structural modifications such as drilling holes in the inner shaft. This ensures the strength of the inner shaft itself, and the upper rotor intermediate link, through the upper rotor bracket, does not contact the inner shaft, preventing wear and damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other purposes, features, and advantages of the present invention will become more apparent through a more detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the drawings, the same reference numerals generally represent the same components or steps.

[0021] Figure 1 It is a structural schematic diagram of a control assembly of an upper rotor provided by an exemplary embodiment of the present utility model.

[0022] Figure 2 It is a structural schematic diagram of a reducer assembly provided by an exemplary embodiment of the present utility model.

[0023] Figure 3 It is a structural schematic diagram of an upper rotor control device and an upper rotor hub provided by an exemplary embodiment of the present invention.

[0024] Figure 4 It is a structural schematic diagram of a helicopter rotor coaxial hub device and a control device provided by an exemplary embodiment of the present utility model.

[0025] Figure 5 It is a structural schematic diagram of a lower rotor control device provided by an exemplary embodiment of the present invention.

[0026] Figure 6 It is a structural schematic diagram of the assembly of a lower rotor control device, a speed reducer assembly and a lower rotor hub assembly provided by an exemplary embodiment of the present invention.

[0027] Description of the drawings:

[0028] 10. Connecting rod assembly; 11. Intermediate connecting rod; 20. Upper rotor hub assembly; 30. Speed ​​reducer assembly; 31. Upper rotor anti-twist stop; 32. Inner shaft; 33. Servo disc; 40. Upper rotor control assembly; 41. Upper rotor lower bracket; 42. Lower direction change lever; 43. Upper rotor dynamic disc pull rod; 44. Upper rotor joint bearing; 45. Upper rotor servo; 46. Upper rotor dynamic disc; 47. Upper rotor fixed disc; 48. Upper rotor anti-twist arm; 49. Upper rotor servo connecting rod; 12. Upper direction change lever; 13. Upper rotor upper bracket; 14. Upper rotor pull rod; 20. Upper rotor blade Hub assembly; 21. Upper rotor blade clamp rocker arm; 22. Upper rotor blade clamp; 23. Upper rotor hub center piece; 34. Lower rotor anti-twist stop; 35. Outer shaft; 36. Outer shaft sleeve; 50. Lower rotor control device; 51. Lower rotor fixed plate; 52. Lower rotor moving plate; 53. Lower rotor joint bearing; 54. Lower rotor torque arm; 56. Lower rotor servo; 57. Lower rotor servo connecting rod; 58. Lower rotor anti-twist arm; 55. Lower rotor pull rod; 60. Lower rotor hub assembly; 61. Lower rotor hub center piece; 62. Lower rotor blade clamp; 63. Lower rotor blade clamp rocker arm. DETAILED DESCRIPTION

[0029] Below, the exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described here.

[0030] Figure 1 It is a structural schematic diagram of a control assembly of an upper rotor provided by an exemplary embodiment of the present utility model. Figure 2 It is a structural schematic diagram of a reducer assembly provided by an exemplary embodiment of the present utility model. Figure 3 It is a structural schematic diagram of an upper rotor control device and an upper rotor hub provided by an exemplary embodiment of the present invention. Figure 4 It is a structural schematic diagram of a helicopter rotor coaxial hub device and a control device provided by an exemplary embodiment of the present utility model. Figure 5 It is a structural schematic diagram of a lower rotor control device provided by an exemplary embodiment of the present invention. Figure 6 It is a structural schematic diagram of the assembly of a lower rotor control device, a speed reducer assembly and a lower rotor hub assembly provided by an exemplary embodiment of the present invention.

[0031] like Figure 1-4As shown, the control device of the upper rotor includes: a connecting rod assembly 10, a speed reducer assembly 30 and a control assembly 40 for the upper rotor, the connecting rod assembly 10 includes an intermediate connecting rod 11, the first end of the intermediate connecting rod 11 passes through the upper rotor hub assembly 20, the speed reducer assembly 30 includes an upper rotor anti-twist block 31, an inner shaft 32 and a steering gear disc 33, the second end of the intermediate connecting rod 11 passes through the inner shaft 32 and the steering gear disc 33 in sequence, the steering gear disc 33 is assembled on the speed reducer, and the first end of the inner shaft 32 is connected to the upper rotor hub assembly The upper rotor control assembly 40 includes an upper rotor lower bracket 41, a lower change-direction rod 42, an upper rotor dynamic disc pull rod 43, an upper rotor joint bearing 44, an upper rotor servo 45, an upper rotor dynamic disc 46, an upper rotor fixed disc 47, an upper rotor anti-twist arm 48 and an upper rotor servo connecting rod 49, and an upper rotor lower bracket 41. The bracket 41 is threadedly connected to the second end of the inner shaft 32, the upper rotor servo 45 is fixed to the servo disc 33, one end of the upper rotor servo connecting rod 49 is rotatably connected to the upper rotor servo 45, the other end of the upper rotor servo connecting rod 49 is rotatably connected to the upper rotor fixed plate 47, one end of the upper rotor dynamic plate pull rod 43 is rotatably connected to one end of the lower change rod 42, the other end of the upper rotor dynamic plate pull rod 43 is rotatably connected to the upper rotor dynamic plate 46, and the other end of the lower change rod 42 passes through the side of the upper rotor lower bracket 41 and It is rotatably connected to the second end of the intermediate connecting rod 11, and the upper rotor moving plate 46 and the upper rotor fixed plate 47 are rotatably connected through the upper rotor cross roller bearing. The upper rotor moving plate 46 rotates around the upper rotor joint bearing 44, and the upper rotor joint bearing 44 passes through the joint axis of the upper rotor lower bracket 41 so that the upper rotor joint bearing 44 moves along the extension direction of the upper rotor lower bracket 41. The upper rotor anti-torsion arm 48 is fixedly connected to the upper rotor fixed plate 47, and the upper rotor anti-torsion arm 48 is connected to the upper rotor anti-torsion stop 31.

[0032] In an embodiment of the present invention, the upper rotor servo 45 can be arranged at the bottom of the servo disk or at the side of the servo disk. The upper rotor servo 45 can be a rocker servo, one end of the upper rotor servo connecting rod 49 is rotatably connected to the rocker servo, the other end of the upper rotor servo connecting rod 49 is rotatably connected to the upper rotor fixed plate 47, and one end of the upper rotor dynamic plate pull rod 43 is rotatably connected to one end of the lower change rod 42; the upper rotor servo 45 can be a linear servo, the linear servo is rotatably connected to the upper rotor fixed plate 47, and one end of the upper rotor dynamic plate pull rod 43 is rotatably connected to one end of the lower change rod 42.

[0033] Cyclic pitch control: Through different control amounts of the servo, the automatic tilt device tilts accordingly, so that the pitch of the blades changes cyclically once a week, causing the rotor thrust vector to tilt in the corresponding direction, thereby controlling the forward, backward (left, right) and pitch (or roll) movement of the helicopter.

[0034] The collective pitch control system is used to control the rotor's collective pitch, increasing or decreasing the pitch of each blade simultaneously, thereby changing the rotor's thrust. Both the rotor's collective pitch and cyclic pitch control are achieved through the automatic tilt mechanism.

[0035] In the embodiment of the present invention, to achieve cyclic pitch control, the upper rotor servo 45 controls the movement of the upper rotor disc 46, which rotates around the upper rotor joint bearing 44. The upper rotor disc 46 tilts, driving the three intermediate links 11 to move. The control force transmitted to the intermediate links 11 is transmitted to the upper rotor hub assembly 20, thereby rotating the upper rotor blade clamp 22 to different angles.

[0036] When collective pitch control is achieved, since the upper rotor lower bracket 41 passes through the upper rotor joint bearing 44, the upper rotor moving plate 46 and the upper rotor joint bearing 44 move as a whole along the extension direction of the upper rotor lower bracket 41, and the control force transmitted to the intermediate connecting rod 11 is transmitted to the upper rotor hub assembly 20, so that the upper rotor blade clamp 22 rotates the same angle. The setting of the upper rotor lower bracket 41 increases the installation space and installation position of the lower change rod 42, which can be used for the control of multiple blades.

[0037] Specifically, the connection method includes a connecting rod assembly 10, which includes an intermediate connecting rod 11, an upper rotor control assembly 40, including an upper rotor lower bracket 41, a lower direction-changing rod 42, an upper rotor rotor disc pull rod 43, an upper rotor joint bearing 44, an upper rotor servo 45, an upper rotor rotor disc 46, an upper rotor fixed disc 47, an upper rotor anti-twist arm 48, and an upper rotor servo connecting rod 49, and a reducer assembly 30. The reducer assembly 30 includes an upper rotor anti-twist stop 31, an inner shaft 32, and a servo disc 33. The first end of the intermediate connecting rod 11 passes through the upper rotor hub assembly 20. The bottom of the servo disc 33 is fixedly connected to the upper rotor anti-twist stop 31.

[0038] The top of the upper rotor lower bracket 41 is threadedly connected to the inner shaft, the upper rotor servo 45 is fixed on the servo disc 33, one end of the upper rotor servo connecting rod 49 is rotatably connected to the upper rotor servo 45, and the other end of the upper rotor servo connecting rod 49 is rotatably connected to the upper rotor fixed plate 47.

[0039] The upper rotor servo 45 transmits the control force to the upper rotor servo link 49 , the upper rotor servo link 49 transmits the control force to the upper rotor fixed plate 47 , the upper rotor fixed plate 47 transmits the control force to the upper rotor movable plate 46 , and the upper rotor movable plate 46 rotates around the upper rotor joint bearing 44 .

[0040] Furthermore, since the upper rotor anti-twist arm 48 is laterally fixedly connected to the upper rotor fixed plate 47, and the upper rotor anti-twist arm 48 is connected to the upper rotor anti-twist stop 31, when the inner shaft drives the upper rotor moving plate to rotate, the upper rotor anti-twist stop 31 and the upper rotor anti-twist arm 48 hinder the movement of the upper rotor fixed plate 47, so the upper rotor fixed plate 47 does not rotate with the upper rotor hub assembly 20.

[0041] To transmit the control force to the intermediate connecting rod 11, one end of the upper rotor disc pull rod 43 is rotationally connected to one end of the lower direction-changing rod 42, the other end of the upper rotor disc pull rod 43 is rotationally connected to the upper rotor disc 46, and the other end of the lower direction-changing rod 42 passes through the side of the upper rotor lower bracket 41 and is rotationally connected to the second end of the intermediate connecting rod 11. The upper rotor disc 46 transmits the force to the upper rotor disc pull rod 43, which transmits the force to the lower direction-changing rod 42. The lower direction-changing rod 42 transmits the force to the intermediate connecting rod 11, which transmits the force to the upper direction-changing rod 12. The upper direction-changing rod transmits the force to the upper rotor hub assembly 20, thereby rotating the upper rotor blade clamp 22 in the upper rotor hub assembly 20.

[0042] like Figure 1-4 As shown, the connecting rod assembly 10 may include an upper direction-changing rod 12 and an upper rotor upper bracket 13 , the first end of the intermediate connecting rod 11 passes through the upper rotor upper bracket 13 and is rotatably connected to the first end of the upper direction-changing rod 12 , and the upper direction-changing rod 12 is fixed on the upper rotor upper bracket 13 .

[0043] like Figure 1-4 As shown, the connecting rod assembly 10 includes an upper rotor rod 14 , a second end of the upper direction-changing rod 12 is rotatably connected to a first end of the upper rotor rod 14 , and a second end of the upper rotor rod 14 is rotatably connected to an upper rotor hub assembly 20 .

[0044] In an embodiment of the present utility model, by setting an upper direction-changing rod 12 and an upper rotor upper bracket 13, the intermediate connecting rod 11 drives the upper direction-changing rod 12 to rotate around the upper rotor upper bracket 13, the upper direction-changing rod 12 drives the upper rotor pull rod 14 to rotate, and the upper rotor pull rod 14 drives the upper rotor hub assembly 20 to rotate.

[0045] like Figure 1-4 As shown, the upper rotor hub assembly 20 includes an upper rotor blade clamp rocker arm 21 and an upper rotor blade clamp 22. One end of the upper rotor blade clamp rocker arm 21 is rotatably connected to the second end of the upper rotor pull rod 14, and the other end of the upper rotor blade clamp rocker arm 21 is fixedly connected to the upper rotor blade clamp 22.

[0046] In the embodiment of the present utility model, since the control force of the intermediate connecting rod 11 is transmitted to the upper rotor pull rod 14 through the upper change rod 12, the upper rotor pull rod 14 transmits the control force to the upper rotor blade clamp rocker arm 21, and the upper rotor blade clamp rocker arm 21 drives the upper rotor blade clamp 22 to rotate.

[0047] like Figure 1-4 As shown, the upper rotor hub assembly 20 includes an upper rotor hub central piece 23, the support arm of the upper rotor hub central piece 23 is rotatably connected to the upper rotor blade clamp 22, the middle position of the inner shaft 32 is spline-connected to the upper rotor hub central piece 23, and the first end of the inner shaft 32 is fixedly connected to the upper rotor upper bracket 13.

[0048] In the embodiment of the present invention, the rotation of the inner shaft 32 drives the upper rotor hub assembly 20 to rotate through the spline, and the inner shaft is connected to the upper rotor lower bracket through a thread to drive it to rotate.

[0049] like Figure 1-6 As shown, the reducer assembly 30 includes a lower rotor anti-twist stop 34, an outer shaft 35 and an outer shaft sleeve 36. The lower rotor anti-twist stop 34 is fixed on the servo disc 33, and the servo disc 33 is assembled to the reducer housing. The first end of the outer shaft 35 passes through the outer shaft sleeve 36 and the servo disc 33 and is connected to the reducer housing. The outer shaft sleeve 36 is fixed on the top of the reducer housing. The other end of the outer shaft 35 is spline-connected to the lower rotor hub assembly 60.

[0050] In the embodiment of the present invention, the control device 50 of the lower rotor includes a lower rotor fixed plate 51, a lower rotor moving plate 52, a lower rotor joint bearing 53, a lower rotor torque arm 54, a lower rotor servo 56, a lower rotor servo connecting rod 57 and a lower rotor anti-torsion arm 58. The lower rotor servo 56 is arranged on the servo plate, and the lower rotor servo 56 is rotatably connected to one end of the lower rotor servo connecting rod 57. The other end of the lower rotor servo connecting rod 57 is rotatably connected to the lower rotor fixed plate 51. One end of the lower rotor anti-torsion arm 58 is fixedly connected to the lower rotor fixed plate 51. The other end of the lower rotor anti-twist arm 58 is connected to the lower rotor anti-twist stop 34, and the lower rotor moving plate 52 is connected to the lower rotor fixed plate 51 through the lower rotor joint bearing 53. The lower rotor moving plate 52 moves around the lower rotor joint bearing 53, and the lower rotor joint bearing 53 is slidingly connected to the outer shaft sleeve 36 so that the lower rotor joint bearing 53 slides along the extension direction of the outer shaft sleeve 36. The first end of the lower rotor torque arm 54 is rotatably connected to the lower rotor moving plate 52, and the second end of the lower rotor torque arm 54 is fixedly connected to the lower rotor hub assembly 60.

[0051] In an embodiment of the present invention, the lower rotor servo 56 can be arranged on the top of the servo disc or on the side of the servo disc. The lower rotor servo 56 can be a rocker servo, which is rotatably connected to one end of the lower rotor servo connecting rod 57, and the other end of the lower rotor servo connecting rod 57 is rotatably connected to the lower rotor fixed plate 51, so that the rocker servo drives the lower rotor moving plate 52 to rotate around the lower rotor joint bearing 53; the lower rotor servo 56 can also be a linear servo, one end of the linear servo is rotatably connected to the lower rotor fixed plate 51, so that the linear servo drives the lower rotor moving plate 52 to rotate around the lower rotor joint bearing 53.

[0052] In this embodiment of the present invention, during cyclic pitch control, the lower rotor servo 56 drives the lower rotor disc 52 to rotate about the lower rotor spherical bearing 53, which in turn drives the lower rotor hub assembly 60 to rotate. During collective pitch control, the lower rotor disc 52 is simultaneously manipulated by the same amount by adjusting the lower rotor tie rod 55, causing the lower rotor disc 52 and the lower rotor spherical bearing 53 to move as a whole along the extension direction of the outer shaft sleeve 36, thereby driving the lower rotor blade clamp 62 in the lower rotor hub assembly 60 to rotate by the same angle.

[0053] Specifically, the lower rotor control device 50 includes a lower rotor fixed plate 51, a lower rotor moving plate 52, a lower rotor joint bearing 53, a lower rotor torque arm 54, a lower rotor servo 56, a lower rotor servo connecting rod 57, and a lower rotor anti-torsion arm 58. The speed reducer assembly 30 includes a lower rotor anti-torsion stop 34, an outer shaft 35, and an outer shaft sleeve 36.

[0054] To prevent the lower rotor fixed plate 51 from moving, the lower rotor anti-twist arm 58 and the lower rotor anti-twist stop 34 secure the lower rotor fixed plate 51, thereby preventing the lower rotor fixed plate 51 from rotating with the lower rotor hub assembly 60. A lower rotor servo 56 is disposed on top of the servo disc 33. The lower rotor servo 56 is rotatably connected to one end of a lower rotor servo link 57, the other end of which is rotatably connected to the lower rotor fixed plate 51. One end of the lower rotor anti-twist arm 58 is fixedly connected to the lower rotor fixed plate 51, while the other end of the lower rotor anti-twist arm 58 is connected to the lower rotor anti-twist stop 34. The control force of the lower rotor servo 56 is transmitted to the lower rotor servo link 57, which transmits the control force to the lower rotor fixed plate 51. The lower rotor fixed plate 51 then transmits the control force to the lower rotor rotor disc 52. If the lower rotor anti-twist arm 58 and the lower rotor anti-twist stop 34 do not fix the lower rotor fixed plate 51, then the lower rotor fixed plate 51 will rotate with the upper rotor moving plate 52. Therefore, the lower rotor fixed plate 51 is fixed by the lower rotor anti-twist arm 58 and the lower rotor anti-twist stop 34, so that the lower rotor fixed plate 51 does not rotate with the upper rotor moving plate 52.

[0055] In order to rotate the lower rotor disc 52, an inner shaft is provided to drive the lower rotor bracket to rotate through a threaded connection, and the force of the upper rotor lower direction changing rod 42 and the upper rotor disc pull rod 43 is transferred to the lower rotor disc 52, so that the lower rotor disc 52 rotates around the lower rotor joint bearing 53.

[0056] In order to enable the lower rotor disk 52 to move up and down, the lower rotor joint bearing 53 is slidably connected to the outer shaft sleeve 36 so that the lower rotor joint bearing 53 slides along the extension direction of the outer shaft sleeve 36.

[0057] One end of the lower rotor torque arm 54 is rotationally connected to the lower rotor disk 52, and the other end of the lower rotor torque arm 54 is rotationally connected to the lower rotor hub assembly 60, so that when the lower rotor hub assembly 60 rotates, the lower rotor blade clamp 62 driven by the rotor torque arm 54 rotates.

[0058] like Figure 2-5 As shown, the lower rotor hub assembly 60 includes a lower rotor hub central piece 61 , which is spline-connected to the outer shaft 35 , and the second end of the lower rotor torque arm 54 is rotatably connected to the lower rotor hub central piece 61 .

[0059] In the embodiment of the present application, the outer shaft 35 is provided with an outer shaft spline 38 , and the rotation of the outer shaft 35 drives the lower rotor hub to rotate through the outer shaft spline 38 .

[0060] like Figure 5 As shown, lower rotor hub assembly 60 includes lower rotor blade clamp 62, which is rotatably connected to lower rotor hub centerpiece 61. Lower rotor hub assembly 60 includes lower rotor blade clamp rocker arm 63, one end of which is rotatably connected to lower rotor pull rod 55, and the other end of which is fixedly connected to lower rotor blade clamp 62.

[0061] In the embodiment of the present invention, the lower rotor pull rod 55 transmits the control force of the lower rotor moving disc 52 to the lower rotor blade clamp rocker arm 63, and the lower rotor blade clamp rocker arm 63 transmits the control force to the lower rotor blade clamp 62, thereby rotating the lower rotor blade clamp 62.

[0062] The beneficial effects of the utility model include:

[0063] (1) The control devices of the upper and lower rotors are independent, and the control of the upper and lower rotors will not affect each other.

[0064] (2) Multiple upper rotor disc pull rods are evenly installed at different azimuth angles of the upper rotor disc. The upper rotor hub assembly is controlled by the inner shaft and the intermediate connecting rod. There is no need to open the inner shaft to assemble the control rod, thereby realizing the variable pitch control of the multi-blade rotor and having a wide range of applications.

[0065] (3) The arrangement of the upper rotor lower bracket 41 increases the installation space and installation position of the lower direction-changing rod 42, which can be used for the manipulation of multiple blades.

[0066] (4) The installation of the upper rotor control assembly does not interfere with the inner shaft of the reducer assembly, which facilitates the installation of the upper rotor control assembly. The upper rotor control assembly is installed on the inner diameter of the reducer inner shaft, which makes the structure more compact and can effectively reduce the resistance of the rotor system. The servo is arranged on the reduction plate, which makes the structure more compact. The upper rotor control assembly passes through the inner diameter of the inner shaft and is installed above the hub through the upper bracket, driving the movement of the upper rotor hub assembly. There is no need to make structural modifications such as opening holes in the inner shaft, ensuring the strength of the inner shaft body. The upper rotor pull rod does not contact the inner shaft, and will not be worn or damaged.

[0067] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present invention to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A helicopter rotor control device, characterized in that: include: A connecting rod assembly (10), the connecting rod assembly (10) comprising an intermediate connecting rod (11), a first end of the intermediate connecting rod (11) passing through an upper rotor hub assembly (20); A speed reducer assembly (30), the speed reducer assembly (30) comprising an upper rotor anti-twist stopper (31), an inner shaft (32) and a steering gear disc (33), the second end of the intermediate connecting rod (11) sequentially passing through the first end of the inner shaft (32) and the steering gear disc (33), the steering gear disc (33) being assembled on a speed reducer, the first end of the inner shaft (32) being fixedly connected to the upper rotor hub assembly (20), the second end of the inner shaft (32) passing through the steering gear disc (33) and the speed reducer, and the bottom of the steering gear disc (33) being fixedly connected to the upper rotor anti-twist stopper (31); The control assembly (40) of the upper rotor comprises an upper rotor lower bracket (41), a lower direction-changing rod (42), an upper rotor dynamic disc pull rod (43), an upper rotor joint bearing (44), an upper rotor servo (45), an upper rotor dynamic disc (46), an upper rotor fixed disc (47), an upper rotor anti-torsion arm (48) and an upper rotor servo connecting rod (49), wherein the upper rotor lower bracket (41) is threadedly connected to the second end of the inner shaft (32), the upper rotor servo (45) is fixed to the bottom of the servo disc (33), one end of the upper rotor servo connecting rod (49) is rotatably connected to the upper rotor servo (45), the other end of the upper rotor servo connecting rod (49) is rotatably connected to the upper rotor fixed disc (47), and one end of the upper rotor dynamic disc pull rod (43) is rotatably connected to one end of the lower direction-changing rod (42). The other end of the upper rotor dynamic disc pull rod (43) is rotatably connected to the upper rotor dynamic disc (46), the other end of the lower direction-changing rod (42) passes through the side of the upper rotor lower bracket (41) and is rotatably connected to the second end of the intermediate connecting rod (11), the upper rotor dynamic disc (46) and the upper rotor fixed disc (47) are rotatably connected through the upper rotor cross roller bearing, the upper rotor dynamic disc (46) rotates around the upper rotor joint bearing (44), the upper rotor joint bearing (44) passes through the extension axis of the upper rotor lower bracket (41), so that the upper rotor joint bearing (44) moves along the extension direction of the upper rotor lower bracket (41), the upper rotor anti-torsion arm (48) is fixedly connected to the upper rotor fixed disc (47), and the upper rotor anti-torsion arm (48) is connected to the upper rotor anti-torsion stopper (31).

2. The helicopter rotor control device according to claim 1, characterized in that: The connecting rod assembly (10) includes an upper direction-changing rod (12) and an upper rotor upper bracket (13); the first end of the intermediate connecting rod (11) passes through the upper rotor upper bracket (13) and is rotatably connected to the first end of the upper direction-changing rod (12); and the upper direction-changing rod (12) is fixed on the upper rotor upper bracket (13).

3. The helicopter rotor control device according to claim 2, characterized in that: The connecting rod assembly (10) includes an upper rotor pull rod (14), the second end of the upper direction-changing rod (12) is rotatably connected to the first end of the upper rotor pull rod (14), and the second end of the upper rotor pull rod (14) is rotatably connected to the upper rotor hub assembly (20).

4. The helicopter rotor control device according to claim 3, characterized in that: The upper rotor hub assembly (20) includes an upper rotor blade clamp rocker arm (21) and an upper rotor blade clamp (22), one end of the upper rotor blade clamp rocker arm (21) is rotatably connected to the second end of the upper rotor pull rod (14), and the other end of the upper rotor blade clamp rocker arm (21) is fixedly connected to the upper rotor blade clamp (22).

5. The helicopter rotor control device according to claim 4, characterized in that: The upper rotor hub assembly (20) includes an upper rotor hub central piece (23), a support arm of the upper rotor hub central piece (23) is rotatably connected to the upper rotor blade clamp (22), and a first end of the inner shaft (32) is fixedly connected to the upper rotor hub central piece (23).

6. The helicopter rotor control device according to claim 5, characterized in that: The reducer assembly (30) includes a lower rotor anti-twist block (34), an outer shaft (35) and an outer shaft sleeve (36); the lower rotor anti-twist block (34) is fixed on a steering gear disc (33); the steering gear disc (33) is assembled on a reducer housing; a first end of the outer shaft (35) passes through the outer shaft sleeve (36) and the steering gear disc (33) and is connected to the reducer housing; the outer shaft sleeve (36) is fixed on the top of the reducer housing; and one end of the outer shaft (35) is spline-connected to a lower rotor hub assembly (60).

7. The helicopter rotor control device according to claim 6, characterized in that: The control device (50) of the lower rotor comprises a lower rotor fixed plate (51), a lower rotor moving plate (52), a lower rotor joint bearing (53), a lower rotor torque arm (54), a lower rotor servo (56), a lower rotor servo connecting rod (57) and a lower rotor anti-torsion arm (58). The lower rotor servo (56) is arranged on the reducer housing. The lower rotor servo (56) is rotatably connected to one end of the lower rotor servo connecting rod (57). The other end of the lower rotor servo connecting rod (57) is rotatably connected to the lower rotor fixed plate (51). One end of the lower rotor anti-torsion arm (58) is fixedly connected to the lower rotor fixed plate (51). The lower rotor anti-torsion arm (58) is fixedly connected to the lower rotor fixed plate (51). ) is connected to the lower rotor anti-twist block (34), the lower rotor moving disc (52) is connected to the lower rotor fixed disc (51) through the lower rotor joint bearing (53), the lower rotor moving disc (52) moves around the lower rotor joint bearing (53), the lower rotor joint bearing (53) is slidably connected to the outer shaft sleeve (36), so that the lower rotor joint bearing (53) slides along the extension direction of the outer shaft sleeve (36), the first end of the lower rotor torque arm (54) is rotatably connected to the lower rotor moving disc (52), and the second end of the lower rotor torque arm (54) is fixedly connected to the lower rotor hub assembly (60); A lower rotor pull rod (55), one end of which is rotatably connected to the lower rotor hub assembly (60), and the other end of which is rotatably connected to the lower rotor rotor disc (52).

8. The helicopter rotor control device according to claim 7, characterized in that: The lower rotor hub assembly (60) includes a lower rotor hub central piece (61), the lower rotor hub central piece (61) is spline-connected to the outer shaft (35), the second end of the lower rotor torque arm (54) is rotatably connected to the lower rotor hub central piece (61); and a rotor blade clamp (62), the lower rotor blade clamp (62) is rotatably connected to the lower rotor hub central piece (61).

9. The helicopter rotor control device according to claim 8, characterized in that: The lower rotor hub assembly (60) includes a lower rotor blade clamp rocker arm (63), one end of the lower rotor blade clamp rocker arm (63) is rotatably connected to the lower rotor pull rod (55), and the other end of the lower rotor blade clamp rocker arm (63) is fixedly connected to the lower rotor blade clamp (62).

10. A coaxial hub helicopter, characterized in that: A helicopter rotor control device comprising the device according to any one of claims 1 to 9.

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