Vector control coaxial tilting rotorcraft

Abstract

The utility model relates to a vector control coaxial tilting rotorcraft, which comprises a frame, the frame is connected with a mounting table through a universal joint, the mounting table is provided with a rotor shaft, the rotor shaft is connected with a first driving mechanism, the rotor shaft is provided with an upper rotor and a lower rotor, and the upper rotor and the lower rotor are connected with the mounting table through a universal joint. A steering engine assembly capable of controlling the mounting table to swing relative to the rack is arranged on the rack, the lower rotor wing comprises a plurality of lower rotor wing blades rotationally connected with a rotor wing shaft, a sliding sleeve is connected to the rotor wing shaft in a sliding mode, and a second driving mechanism capable of driving the sliding sleeve to move so as to adjust the inclination angle of the lower rotor wing blades is arranged on the mounting table. The tilting rotorcraft has the characteristics that the rack is connected with the mounting table through the universal joint, and the steering engine assembly capable of controlling the mounting table to swing relative to the rack is arranged, so that the steering engine assembly can control the rotor to tilt so as to control the flight direction of the tilting rotorcraft; and a complex mechanical transmission system required by periodic torque conversion required by a traditional coaxial helicopter is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of aircraft, concretely relates to a vector control coaxial tilt rotor aircraft. BACKGROUND

[0002] As a kind of aircraft, coaxial helicopter is designed to offset the effect of counter torque by adopting two groups of diameters same rotor counter-rotating along the same axis and equal speed, and is suitable for operation demand in a variety of complex environments. When changing flight direction, traditional coaxial helicopter usually relies on rotor periodic moment mechanism, and the angle of each rotor blade is adjusted to generate tilt force, so that the required direction is realized.

[0003] However, in order to realize periodic moment, the mechanical transmission system of traditional coaxial helicopter contains a large number of movable parts, which increases the number of fault points, and the blade angle needs to be adjusted frequently every revolution to meet the demand of periodic moment, so that the helicopter energy consumption is high, and the overall efficiency of the aircraft is reduced. SUMMARY

[0004] The utility model aims at providing a kind of vector control coaxial tilt rotor aircraft, to solve the above problems.

[0005] In order to solve the above technical problems, the utility model provides the following technical scheme: a kind of vector control coaxial tilt rotor aircraft, including rack, the rack is connected with mounting table by universal joint, the mounting table is equipped with rotor shaft, the rotor shaft is connected with the first drive mechanism that can drive rotor shaft rotation, and the rotor shaft is equipped with the upper rotor that can rotate with rotor shaft, and lower rotor, the rack is equipped with rudder assembly that can control mounting table swing relative to rack, the lower rotor includes a plurality of lower rotor blades rotationally connected with rotor shaft, the rotor shaft is slidably connected with sliding sleeve that can drive lower rotor blade rotation, the mounting table is equipped with the second drive mechanism that can drive sliding sleeve to move to adjust the inclination angle of lower rotor blade.

[0006] As a further optimization scheme of the utility model, the sliding sleeve is equipped with corresponding connecting rod with the number of lower rotor blades, each lower rotor blade is equipped with connecting part connected with corresponding connecting rod on the side of end portion close to rotor shaft.

[0007] As a further optimization scheme of the utility model, the mounting table is hingedly connected with supporting plate, the second drive mechanism includes first steering gear, the first steering gear is connected with first rocker arm assembly, one end of the supporting plate is connected with first rocker arm assembly, and the other end of the supporting plate is connected with sliding sleeve.

[0008] As a further optimization scheme of the utility model, the first limiting groove is opened along the length direction of the supporting plate, the limiting piece is arranged on the mounting table, and one end of the limiting piece extends into the first limiting groove.

[0009] As a further optimization scheme of the utility model, the steering engine assembly comprises a second steering engine capable of driving the mounting table to swing along the X axis, and a third steering engine capable of driving the mounting table to swing along the Y axis, a second rocker arm assembly is arranged between the second steering engine and the mounting table, and a third rocker arm assembly is arranged between the third steering engine and the mounting table.

[0010] As a further optimization scheme of the utility model, the rack is provided with a limiting plate, the limiting plate is provided with a second limiting groove in the vertical direction, and the mounting table is provided with a limiting rod extending into the second limiting groove.

[0011] As a further optimization scheme of the utility model, the rack comprises a connecting rod, the second steering engine and the third steering engine are arranged on the connecting rod, and the upper portion of the connecting rod is connected with the mounting table through a universal joint.

[0012] As a further optimization scheme of the utility model, the rotor shaft comprises a rotor inner shaft and a rotor outer shaft sleeved outside the rotor inner shaft, the upper rotor is arranged on the rotor inner shaft, the lower rotor is arranged on the rotor outer shaft, the lower portion of the rotor inner shaft is connected with a first tooth disc, the lower portion of the rotor outer shaft is connected with a second tooth disc, and the first driving mechanism comprises a driving motor capable of driving the first tooth disc and the second tooth disc to rotate, so that the upper rotor and the lower rotor can rotate in opposite directions and at equal speeds.

[0013] As a further optimization scheme of the utility model, the mounting table comprises a first mounting plate, a second mounting plate and a third mounting plate arranged in sequence from top to bottom, the first driving mechanism is arranged between the second mounting plate and the third mounting plate, and the second driving mechanism is arranged between the first mounting plate and the second mounting plate.

[0014] Compared with the prior art, the utility model has the following advantages:

[0015] 1. By connecting the rack and the mounting table through the universal joint, the mounting table is allowed to swing in multiple directions relative to the rack, and at the same time, the steering engine assembly capable of controlling the mounting table to swing relative to the rack is controlled, so that the steering engine assembly can control the rotor tilt to realize the flight direction control of the tilt rotor aircraft, the complex mechanical transmission system required by the traditional coaxial helicopter for periodic moment change is reduced, and 20% of energy consumption is saved.

[0016] 2. By using a sliding sleeve that can drive the lower rotor blade to rotate, and a second drive mechanism that drives the sliding sleeve to move and thus adjusts the tilt angle of the lower rotor blade, when the tilt rotor needs to turn in place, the tilt angle of the lower rotor blade can be changed by the second drive mechanism and the sliding sleeve, thereby causing the rotor to rotate around its vertical axis. The structure is simple.

[0017] 3. Compared with traditional coaxial helicopters, this tiltrotor aircraft reduces the total torque control servo motor, making the structure simpler, more reliable, and less expensive. Attached Figure Description

[0018] Figure 1 This is a three-dimensional illustration of the present invention. Figure One ;

[0019] Figure 2 This is an exploded view of the present invention;

[0020] Figure 3 This is a three-dimensional illustration of the present invention. Figure Two ;

[0021] Figure 4 for Figure 3 A magnified view of a section at point A in the middle;

[0022] Figure 5 This is a schematic diagram of the structure of an embodiment of the present utility model. Figure One ;

[0023] Figure 6 This is a schematic diagram of the structure of an embodiment of the present utility model. Figure Two . Detailed Implementation

[0024] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0025] like Figures 1 to 6 As shown, this utility model discloses a vector-controlled coaxial tiltrotor aircraft, including a frame 1. The frame 1 is connected to a mounting platform 3 via a universal joint 2. A rotor shaft 4 is mounted on the mounting platform 3. The rotor shaft 4 is connected to a first drive mechanism 5 that can drive the rotor shaft 4 to rotate. The rotor shaft 4 is equipped with an upper rotor 61 that can rotate with the rotor shaft 4 and a lower rotor 62. The frame 1 is equipped with a servo assembly 7 that can control the mounting platform 3 to swing relative to the frame 1. The lower rotor 62 includes several lower rotor blades 621 that are rotatably connected to the rotor shaft 4. A sliding sleeve 8 that can drive the lower rotor blades 621 to rotate is slidably connected to the rotor shaft 4. The mounting platform 3 is equipped with a second drive mechanism 9 that can drive the sliding sleeve 8 to move, thereby adjusting the tilt angle of the lower rotor blades 621.

[0026] The vector control coaxial tilt rotor aircraft can be configured as manned aircraft or unmanned aircraft, and is adapted to fuel drive or electric drive. The gimbal 2 connects the frame 1 and the mounting table 3, the mounting table 3 carries the rotor shaft 4 and the upper rotor 61 and the lower rotor 62 arranged on the rotor shaft 4, so that the rudder assembly 7 can control the mounting table 3 to swing relative to the frame 1, thereby indirectly controlling the tilting of the upper rotor 61 and the lower rotor 62, so as to realize the traveling of the rotor aircraft to the tilting direction. The sliding sleeve 8 can slide along the rotor shaft 4, and the second driving mechanism 9 can drive the sliding sleeve 8 to move along the rotor shaft 4, thereby driving the lower rotor blade 621 to rotate and adjusting the inclination angle thereof.

[0027] By connecting the frame 1 and the mounting table 3 through the gimbal 2, the mounting table 3 is allowed to swing in multiple directions relative to the frame 1, and at the same time, the rudder assembly 7 capable of controlling the mounting table 3 to swing relative to the frame 1, so that the rudder assembly 7 can control the tilting of the rotor arranged on the mounting table 3 to realize the flight direction control of the tilt rotor aircraft, which reduces the complex mechanical transmission system of the traditional coaxial helicopter which needs to change the moment periodically, and saves 20% of the energy consumption; through the sliding sleeve 8 capable of driving the lower rotor blade 621 to rotate, and the second driving mechanism 9 driving the sliding sleeve 8 to move and thereby adjusting the inclination angle of the lower rotor blade 621, when the tilt rotor aircraft needs to turn around, the second driving mechanism 9 and the sliding sleeve 8 can change the moment of the lower rotor blade 621, thereby promoting the tilt rotor aircraft to rotate around its vertical axis, and the structure is simple.

[0028] The sliding sleeve 8 is provided with a plurality of connecting rods 81 corresponding to the number of lower rotor blades 621, and each lower rotor blade 621 is provided with a connecting portion 622 connected with the corresponding connecting rod 81 at the side close to the end of the rotor shaft 4.

[0029] When the sliding sleeve 8 moves along the rotor shaft 4, the connecting rod 81 pushes or pulls the connecting portion 622, and the connecting portion 622 can convert the linear force of the connecting rod 81 into the rotary moment of the lower rotor blade 621, and through the cooperation of the connecting rod 81 and the connecting portion 622, the linear motion of the sliding sleeve 8 is converted into the rotary motion of the lower rotor blade 621, and the structure is simple. The number of connecting rods 81 corresponds to the number of lower rotor blades 621, and each lower rotor blade 621 is provided with a connecting portion 622, so that the angles of all lower rotor blades 621 can be adjusted simultaneously through the single linear motion of the sliding sleeve 8, and the consistency and coordination of the angles of the blades are ensured.

[0030] In an embodiment, the number of lower rotor blades 621 is two, and the connecting rod 81 can drive two lower rotor blades 621 with equal diameters to rotate in opposite directions and at equal speeds, thereby realizing the control of the rotor aircraft to rotate clockwise or counterclockwise around its vertical axis.

[0031] The mounting table 3 is hingedly connected with a support plate 31, and the second driving mechanism 9 comprises a first steering engine 91 connected with a first rocker arm assembly 92, one end of the support plate 31 is connected with the first rocker arm assembly 92, and the other end of the support plate 31 is connected with the sliding sleeve 8.

[0032] The support plate 31 is hingedly connected with the mounting table 3, one end of the support plate 31 is connected with the first rocker arm assembly 92, and the other end of the support plate 31 is connected with the sliding sleeve 8. When the first steering engine 91 drives the first rocker arm assembly 92, the first rocker arm assembly 92 drives one end of the support plate 31 to move, and the other end of the support plate 31 moves to push or pull the sliding sleeve 8 to slide along the rotor shaft 4, thereby changing the angle of the lower rotor blade 621. Through the cooperation of the first steering engine 91 and the support plate 31, the system can realize fine angle adjustment of the lower rotor blade 621, and improve the attitude control precision of the aircraft.

[0033] The support plate 31 is provided with a first limiting groove 311 along the length direction of the support plate 31, and the mounting table 3 is provided with a limiting piece 32, one end of the limiting piece 32 extends into the first limiting groove 311. When the support plate 31 swings, the limiting piece 32 slides in the first limiting groove 311, preventing the support plate 31 from exceeding the predetermined movement range, reducing the control error caused by the deviation of the support plate 31, and improving the stability and reliability of the system.

[0034] The steering engine assembly 7 comprises a second steering engine 71 capable of driving the mounting table 3 to swing along the X axis, and a third steering engine 72 capable of driving the mounting table 3 to swing along the Y axis, the second steering engine 71 is provided with a second rocker arm assembly 73 between the second steering engine 71 and the mounting table 3, and the third steering engine 72 is provided with a third rocker arm assembly 74 between the third steering engine 72 and the mounting table 3. Through the cooperation of the second steering engine 71 and the third steering engine 72, the mounting table 3 can swing independently or in combination in the X axis and Y axis two orthogonal directions, thereby realizing multi-directional attitude adjustment.

[0035] As shown in FIGS. 1, 2 and 3, the rotor shaft 4 is coaxial with the O point, and the rotor is in a hovering state when the rotor shaft 4 rotates at a high speed to drive the rotor to rotate and make the frame 1 off the ground. Figure 5 , Figure 6 As shown in FIGS. 1, 2 and 3, the rotor shaft 4 is coaxial with the O point, and the rotor is in a hovering state when the rotor shaft 4 rotates at a high speed to drive the rotor to rotate and make the frame 1 off the ground.

[0036] The rack 1 is provided with a limiting plate 11, which is provided with a second limiting groove 111 in the vertical direction, and the mounting table 3 is provided with a limiting rod 33 extending into the second limiting groove 111. The limiting plate 11 is fixed on the rack 1 and is provided with the second limiting groove 111 in the vertical direction, thereby guiding and limiting the movement range of the mounting table 3.

[0037] The rack 1 comprises a connecting rod 34, the second steering engine 71 and the third steering engine 72 are arranged on the connecting rod 34, and the upper part of the connecting rod 34 is connected with the mounting table 3 through the universal joint 2. By arranging the second steering engine 71 and the third steering engine 72 on the connecting rod 34, and connecting the upper part of the connecting rod 34 with the mounting table 3 through the universal joint 2, the volume and complexity of the system are reduced.

[0038] The rotor shaft 4 comprises a rotor inner shaft 41 and a rotor outer shaft 42 sleeved outside the rotor inner shaft 41, the upper rotor 61 is arranged on the rotor inner shaft 41, the lower rotor 62 is arranged on the rotor outer shaft 42, the first gear disc 43 is connected to the lower part of the rotor inner shaft 41, the second gear disc 44 is connected to the lower part of the rotor outer shaft 42, and the first driving mechanism 5 comprises a driving motor 51 capable of driving the first gear disc 43 and the second gear disc 44 to rotate, so that the upper rotor 61 and the lower rotor 62 can rotate in opposite directions and at equal speeds.

[0039] The rotor inner shaft 41 and the rotor outer shaft 42 provide support and rotation power for the upper and lower rotors, the first gear disc 43 and the second gear disc 44 can transmit the power of the driving motor 51 to the rotor inner shaft 41 and the rotor outer shaft 42, thereby ensuring that the upper rotor 61 and the lower rotor 62 with equal diameters rotate in opposite directions and at equal speeds, eliminating the effect of counter torque, saving the tail rotor compared with the traditional single propeller helicopter, and enabling the tilt rotor aircraft to be more flexible in attitude adjustment, simplifying the design, and improving the efficiency by about 12% compared with the traditional single propeller helicopter.

[0040] In an embodiment, the output end of the driving motor 51 is provided with a gear part (not shown in the figure) connected with the first gear disc 43 and the second gear disc 44, so as to realize the reverse rotation and equal speed of the upper and lower rotors, and through a single driving source, the complex power distribution and direction control are realized, the mechanical structure is simplified, and the reliability of the system is improved.

[0041] The mounting table 3 comprises a first mounting plate 35, a second mounting plate 36 and a third mounting plate 37 arranged in sequence from top to bottom, the first driving mechanism 5 is arranged between the second mounting plate 36 and the third mounting plate 37, and the second driving mechanism 9 is arranged between the first mounting plate 35 and the second mounting plate 36. Through the design of layered mounting plates, the various driving mechanisms are reasonably distributed on different levels, thereby reducing the volume and complexity of the system.

Claims

1. A vector control coaxial tiltrotor aircraft, characterized by, The utility model provides a kind of unmanned aerial vehicle, including rack (1), the mounting table (3) is connected by gimbals (2), the mounting table (3) is equipped with rotor shaft (4), the rotor shaft (4) is connected with the first drive mechanism (5) that can drive rotor shaft (4) rotation, and the rotor shaft (4) is equipped with the upper rotor (61) that can follow rotor shaft (4) rotation, and lower rotor (62), the mounting table (3) is equipped with rudder mechanism assembly (7) that can control mounting table (3) swing relative to rack (1), the lower rotor (62) includes a plurality of lower rotor blades (621) rotationally connected with rotor shaft (4), the rotor shaft (4) is slidably connected with the sliding sleeve (8) that can drive lower rotor blades (621) rotation, the mounting table (3) is equipped with the second drive mechanism (9) that can drive sliding sleeve (8) move to adjust the inclination angle of lower rotor blades (621).

2. A vector control coaxial tilt rotor craft according to claim 1, wherein, The sliding sleeve (8) is equipped with corresponding connecting rod (81) with the number of lower rotor blades (621), each lower rotor blades (621) is equipped with connecting part (622) connected with corresponding connecting rod (81) on the side of end portion close to rotor shaft (4).

3. A vector control coaxial tilt rotor craft according to claim 1, wherein, The mounting table (3) is hingedly connected with the supporting plate (31), and the second drive mechanism (9) includes a first steering engine (91), the first steering engine (91) is connected with a first rocker arm assembly (92), one end of the supporting plate (31) is connected with the first rocker arm assembly (92), and the other end of the supporting plate (31) is connected with the sliding sleeve (8).

4. A vector control coaxial tilt rotor craft according to claim 3, wherein, The supporting plate (31) is provided with a first limiting groove (311) along the length direction of the supporting plate (31), and the mounting table (3) is provided with a limiting piece (32), one end of the limiting piece (32) extends into the first limiting groove (311).

5. A vector control coaxial tilt rotor craft according to claim 1, wherein, The rudder mechanism assembly (7) includes a second steering engine (71) capable of driving the mounting table (3) to swing along the X-axis, and a third steering engine (72) capable of driving the mounting table (3) to swing along the Y-axis, a second rocker arm assembly (73) is arranged between the second steering engine (71) and the mounting table (3), and a third rocker arm assembly (74) is arranged between the third steering engine (72) and the mounting table (3).

6. A vector control coaxial tilt rotor craft according to claim 5, wherein, The rack (1) is provided with a limiting plate (11), and the limiting plate (11) is provided with a second limiting groove (111) in the vertical direction, and the mounting table (3) is provided with a limiting rod (33) extending into the second limiting groove (111).

7. A vector control coaxial tilt rotor craft according to claim 5, wherein, The rack (1) includes a connecting rod (34), and the second steering engine (71) and the third steering engine (72) are arranged on the connecting rod (34), and the upper portion of the connecting rod (34) is connected with the mounting table (3) through the gimbals (2).

8. A vector control coaxial tilt rotor craft according to claim 1, wherein, The rotor shaft (4) comprises a rotor inner shaft (41) and a rotor outer shaft (42) sleeved outside the rotor inner shaft (41), the upper rotor (61) is arranged on the rotor inner shaft (41), the lower rotor (62) is arranged on the rotor outer shaft (42), the lower part of the rotor inner shaft (41) is connected with a first gear plate (43), the lower part of the rotor outer shaft (42) is connected with a second gear plate (44), and the first driving mechanism (5) comprises a driving motor (51) capable of driving the first gear plate (43) and the second gear plate (44) to rotate, so that the upper rotor (61) and the lower rotor (62) can rotate in opposite directions and at equal speeds.

9. A vector control coaxial tilt rotor craft according to claim 1, wherein, The mounting table (3) comprises a first mounting plate (35), a second mounting plate (36) and a third mounting plate (37) arranged in sequence from top to bottom, the first driving mechanism (5) is arranged between the second mounting plate (36) and the third mounting plate (37), and the second driving mechanism (9) is arranged between the first mounting plate (35) and the second mounting plate (36).

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