CN104369859B - The tilt table device of a kind of pilotless helicopter and control method thereof - Google Patents
The tilt table device of a kind of pilotless helicopter and control method thereof Download PDFInfo
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- CN104369859B CN104369859B CN201410582121.1A CN201410582121A CN104369859B CN 104369859 B CN104369859 B CN 104369859B CN 201410582121 A CN201410582121 A CN 201410582121A CN 104369859 B CN104369859 B CN 104369859B
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Abstract
The invention discloses tilt table device and the control method thereof of a kind of pilotless helicopter, device include two pitch-change-links, two action pull bars, pitch, two groups guide scissors-type arms, 4 steering wheels, a mixture control and spline guide rail；4 steering wheels are relative to the distribution that is a little centrosymmetric on the spindle axis of main rotor；With pilotless helicopter direction of advance as axis, the line of the first steering wheel and the line of the 4th steering wheel installation site, the second steering wheel and the 3rd steering wheel installation site is all 45 degree of angles with axis；Or the line of the first steering wheel and the 4th steering wheel installation site and axis are 0 degree of angle, the line of the second steering wheel and the 3rd steering wheel installation site and axis are an angle of 90 degrees.The location arrangements of 4 steering wheels of the present invention makes it backup each other, and after any one performs steering wheel inefficacy, pitch has remained to described control action, improves reliability and the safety coefficient of pilotless helicopter.
Description
Technical field
The invention belongs to pilotless helicopter field, be specifically related to a kind of pilotless helicopter tilt table device and
Its control method.
Background technology
At present, the control form of pilotless helicopter capstan pitch system has single channel independent manipulation and multichannel mixing
Handle two kinds of forms.Single channel independent manipulation form pitch not only complicated in mechanical structure, movement range are little, and drive rudder face work
The load that the steering wheel made bears is big, needs the biggest load operation of steering wheel, higher to steering wheel performance requirement.Multichannel mixing is handled
Pilotless helicopter capstan pitch system can effectively reduce the service load of single steering wheel.But existing multichannel mixes
The pilotless helicopter capstan pitch system principal mode controlled still is limited to two passages or triple channel mixing controls helicopter
Pitch, rolling, pitching and pitch control one-dimensional degree mode of operation can be realized.The spy of the helicopter pitch system of this type
Point is that all steering wheels participating in driving pitch to tilt or moving up and down must be simultaneously by certain ratio co-ordination.This type is inclined
Swash plate system is owing to requiring that the steering wheel of participation action must complete deflection and could realize pilotless helicopter by precise coordination in real time
Flight control, if the steering wheel of any of which participation action lost efficacy or controlled accurate, be likely to result in pilotless helicopter
Out of control.
Summary of the invention
Present invention solves the technical problem that tilt table device and the control method thereof being to provide a kind of pilotless helicopter,
The location arrangements of its 4 steering wheels makes it backup each other, and after any one performs steering wheel inefficacy, pitch has remained to described
Control action, improves reliability and the safety coefficient of pilotless helicopter.
The technical scheme that the present invention provides is:
The tilt table device of a kind of pilotless helicopter, including 30, four action pull bars 31 of two pitch-change-links, tilts
Dish, two groups of guiding scissors-type arms, 4 steering wheels, a controller and spline guide rail 34；Described pitch includes rotating cup 25 with solid
Determine cup 26；Rotate cup and fixing cup is connected by bearing；
Said two pitch-change-link is arranged symmetrically with main shaft for axis of symmetry, the upper end of two pitch-change-links 30 respectively with two
Distance-variable rocker arm 14 on main oar folder connects, and oscillating bearing phase is passed through with rotation cup 25 respectively in the lower end of two pitch-change-links 30
Even, the upper end of described four action pull bars 31 is connected with fixing cup 26 by oscillating bearing respectively, four action pull bars 31
Lower end is connected with the action rocking arm of 4 steering wheels respectively；
Often group guide scissors-type arm include a dicyclo scissors-type arm 32 and a monocycle scissors-type arm 33, described two groups of scissors-type arms with
Main shaft is that axis of symmetry is symmetrically installed, and dicyclo scissors-type arm is flexibly connected with connection in main rotor, monocycle scissors-type arm by oscillating bearing and
Rotation cup is connected, and dicyclo scissors-type arm and monocycle scissors-type arm are flexibly connected；The plane at two groups of scissors-type arm places is drawn with two displacements
The plane at bar place is vertical；Guide scissors-type arm for ensureing that the rotation cup of pitch does not relatively rotate with main shaft；
4 steering wheels are all connected with controller；
Described 4 steering wheels are relative to the distribution that is a little centrosymmetric on the spindle axis of main rotor；
Described spline guide rail parallel is fixedly mounted in steering wheel mounting bracket in main shaft, and fixing cup rear is provided with one
Spline pin, spline pin inserts in the cotter way on spline guide rail, and spline guide rail and spline pin are used for suppressing fixing cup body rotation.
Further, the mounting means of described 4 steering wheels is: with pilotless helicopter direction of advance as axis, the
The line of one steering wheel and the 4th steering wheel installation site and axis are positive 45 degree of angles, the second steering wheel and the 3rd steering wheel installation site
Line and axis are in negative 45 degree of angles.
Further, the mounting means of described 4 steering wheels is: with pilotless helicopter direction of advance as axis, the
The line of one steering wheel and the 4th steering wheel installation site and axis are 0 degree of angle, the second steering wheel and the company of the 3rd steering wheel installation site
Line and axis are an angle of 90 degrees.
Activity point of view between the most described dicyclo scissors-type arm 32 and monocycle scissors-type arm 33 is 35-145 degree.
Under the draw guiding scissors-type arm, the rotation cup of pitch is ensured that with main rotor be the most relative turning
Dynamic；Described 4 steering wheels, are fixed on above the Gearbox of drive system by steering wheel mounting bracket.When main rotor rotates,
Drive the rotation cup body rotation of pitch so that fixing cup also has a turning moment, and fixing cup is to have rotation
Motion, spline guide rail is used for suppressing pitch to fix cup body rotation.
The control method of the tilt table device of a kind of pilotless helicopter, uses inclining of above-mentioned pilotless helicopter
Swash plate device；The mounting means of 4 steering wheels is: with pilotless helicopter direction of advance as axis, the first steering wheel and the 4th
The line of steering wheel installation site and axis are positive 45 degree of angles, the second steering wheel and the line of the 3rd steering wheel installation site and axis
In negative 45 degree of angles；
A1, always away from control: control described 4 steering wheels by controller and be moved upwardly or downwardly simultaneously, drive corresponding four
Individual action pull bar moves to equidirectional simultaneously, drives pitch level to rise or declines, and pitch is pushed away by pitch-change-link
Dynamic main rotor blades deflects to equidirectional, thus realizes always away from control；
B, feathering control: by controller control the first and second servo drivings corresponding action pull bar downwards or to
Upper motion, the third and fourth servo driving corresponding action pull bar is moved upwardly or downwardly, and makes pitch tilt forward or backward,
Thus realize the pitch control of pilotless helicopter；Drawn by controller control first and the 3rd corresponding action of servo driving
Bar is moved upwardly or downwardly, second and the 4th servo driving corresponding action pull bar move downward or upward, make pitch to the left
Or be tilted to the right, thus realize the roll guidance of pilotless helicopter；
The control method of the tilt table device of a kind of pilotless helicopter, uses inclining of above-mentioned pilotless helicopter
Swash plate device；The mounting means of 4 steering wheels is: with pilotless helicopter direction of advance as axis, the first steering wheel and the 4th
The line of steering wheel installation site and axis are 0 degree angle, the line of the second steering wheel and the 3rd steering wheel installation site and axis in
An angle of 90 degrees；
A2, always away from control: control described 4 steering wheels by controller and be moved upwardly or downwardly simultaneously, drive corresponding four
Individual action pull bar moves to equidirectional simultaneously, drives pitch level to rise or declines, and pitch is pushed away by pitch-change-link
Dynamic main rotor blades deflects to equidirectional, thus realizes always away from control；
C, feathering control: control second, third steering wheel holding position by controller motionless, the first servo driving phase
The action pull bar answered moves downward or upward, and the 4th servo driving corresponding action pull bar is moved upwardly or downwardly, pitch to
Before or tilt backwards, thus realize the pitch control of pilotless helicopter；Control the first, the 4th steering wheel by controller to keep
Position is motionless, and the second servo driving corresponding action pull bar moves downward or upward, the 3rd servo driving corresponding action pull bar
Being moved upwardly or downwardly, pitch tilts to the left or to the right, thus realizes the roll guidance of pilotless helicopter.
Beneficial effect:
(1) 4 steering wheels in this device backup each other, and after any one performs steering wheel inefficacy, pitch has remained to
Described control action, improves reliability and the safety coefficient of pilotless helicopter.
(2) this device handles, by the steering wheel of 4 coordinations, displacement and the circulation displacement load that pitch is born simultaneously
Lotus, makes operating torque all assign in 4 steering wheels, reduces the load that single execution steering wheel is born, also improve inclination simultaneously
The precision that dish is handled.
Accompanying drawing explanation
The pilotless helicopter structural representation of Fig. 1 present invention
The structural representation of main rotor system in Fig. 2 present example
Main rotor system internal structure schematic diagram in Fig. 3 present example
In Fig. 4 present example, the mixing of pilotless helicopter 4 passage controls tilt table device structural representation
The starter structural representation of pilotless helicopter in Fig. 5 present example
The fuselage ring structural representation of pilotless helicopter in Fig. 6 present example
The lateral plate structure schematic diagram of fuselage ring in Fig. 7 present example
Depopulated helicopter drive system structure schematic diagram in Fig. 8 present example
Reduction box internal structure schematic diagram in Fig. 9 present example
Auxiliary lifting-anti-twisted power-refrigerating function apparatus structure schematic diagram in Figure 10 present example
Single auxiliary lifting-anti-twisted power-refrigerating function apparatus structure schematic diagram in Figure 11 present example
Pilotless helicopter take-off and landing device structural representation in Figure 12 present example
Pilotless helicopter tail rotor apparatus structure schematic diagram in Figure 13 present example
In figure:
1, main rotor head 18, main shaft the 36, the 4th steering wheel
2, main rotor 19, shimmy copper sheathing 37, fuselage side plate
3, tilt table device 20, spring bearing 38, auxiliary lifting-anti-twisted
4, reduction box 21, wave cushion power-refrigerating function device mounting bracket
5, starter 22, transverse axis
6, auxiliary lifting-anti-twisted power 23, flapping hinge pillar 39, electromotor installing plate-refrigerating function device
24, end face thrust bearing 40, fuselage pillar
7, electromotor 25, rotation cup 41, clutch
8, exhaustor 26, fixing cup 42, level synchronization wheel
9, undercarriage the 27, first steering wheel 43, Timing Belt
10, tail rotor the 28, second steering wheel 44, secondary synchronization wheel
11, tail pipe 29, steering wheel mounting bracket 45, reduction box lower cover
12, tail rotor device 30, pitch-change-link 46, reduction box upper cover
13, fuselage ring 31, action pull bar 47, gear shaft
14, distance-variable rocker arm 32, dicyclo scissors-type arm 48, master gear
15, main oar folder 33, monocycle scissors-type arm 49, duct
16, main rotor pad 34, spline guide rail 50, high speed flat belt drivewheel
17, rotor head joins the 35, the 3rd steering wheel
51, flat rubber belting regulating wheel 59, tail pitch-change-link 67, starter receiver dish
52, flat rubber belting driven pulley 60, shaft coupling arm 68, startup motor
53, lift fan 61, displacement sliding sleeve 69, startup motor reduction gearbox
54, undercarriage fixed block 62, copper bush
55, arch bend pipe 63, opening spline arm 70, starter motor mounting bracket
56, bow-shaped support 64, tail vane dish rocking arm
57, lock tail actuator 65, tailing axle 71, surmount gear
58, tail-rotor folder 66, tail join
Detailed description of the invention
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Embodiment 1:
Such as Fig. 1, shown a kind of employing auxiliary lifting-anti-twisted power-refrigerating function device cooling electromotor also uses 4 passages
Mixing controls the pilotless helicopter structural representation of pitch, it is characterised in that: include main rotor head 1, main rotor 2, incline
Swash plate device 3, reduction box 4, starter 5, at least one auxiliary lifting-anti-twisted power-refrigerating function device 6, electromotor 7, row
Trachea 8, undercarriage 9, tail rotor 10, tail pipe 11, tail rotor device 12 and fuselage ring 13.Described main rotor head 1 is arranged on institute
State the top of reduction box 4；Described main rotor 2 is arranged on the two ends of main rotor head；Described 4 channel slopes disk control units 3 are installed
In the lower section of main rotor head, it is fixed on the top of reduction box；Described starter 5 is arranged on the front portion of described fuselage ring 13,
The top of electromotor 7；Described electromotor 7 is arranged on the front portion of fuselage ring by hang, and described undercarriage 9 is arranged on machine
The lower section of body framework, described tail pipe 11 is arranged on the rear portion of fuselage ring, and its rear end is fixed with described tail rotor device 12, described
Tail rotor is arranged on the tail-rotor folder two ends of tail rotor device.
Such as Fig. 2 and Fig. 3, the structural representation of pilotless helicopter main rotor system in the present invention, described main rotor head
Including connection 17, main shaft 18, shimmy copper sheathing 19, spring bearing in distance-variable rocker arm 14, main oar folder 15, main rotor pad 16, rotor head
20, cushion 21, transverse axis 22, flapping hinge pillar 23 and end face thrust bearing 24 are waved.Described distance-variable rocker arm 14 is arranged on described
On the side end face of main oar folder 15, for making displacement impulse stroke scope symmetrical above and below, the mounting plane of distance-variable rocker arm and described main rotation
The end face of wing pad 16 is vertical, and the quantity of described main oar folder 15 is 2；Described rotor joins 17 be arranged on described main shaft 18,
In rotor head, connection is the hollow unit of a T-type structure, and its lower end is used for fixed main shaft, if being provided with dry bearing and axle in upper end
Set, is used for fixing described transverse axis 22 and waving cushion 21；Main oar folder 15 is arranged on the two ends of transverse axis and is connected with connection in rotor head；
Described flapping hinge pillar 23 is a hinge type supporting construction, is arranged in rotor head in the middle of connection, for carrying the vertical of capstan
Moment, when main rotor is waved up and down, flapping hinge pillar transfers to rotor with the power of 20 vertical direction of spring bearing at two ends
In Tou on connection.
As Figures 1 and 4, described tilt table device 3, including pitch-change-link 30, action pull bar 31, pitch, dicyclo scissors-type arm
32, monocycle scissors-type arm 33,34,4 steering wheels of spline guide rail and a mixture control.Wherein, pitch includes rotating cup 25
With fixing cup 26, described pitch-change-link is rotated cup with pitch and is connected by oscillating bearing.
4 steering wheels that pitch is handled in described 4 passage mixing become to be evenly distributed relative to the alignment of shafts of main rotor.Steering wheel
Action rocking arm is connected with action pull bar lower end, and action pull bar is fixed cup by oscillating bearing with pitch and is connected, and becomes cross
Arrange.
4 described steering wheels, are fixed on above the Gearbox of drive system by steering wheel installing plate.
Described guiding scissors-type arm has two groups, and often group includes 32, monocycle scissors-type arm 33 of a dicyclo scissors-type arm and joint
Bearing, described two groups of scissors-type arm relative main are arranged symmetrically with, and dicyclo scissors-type arm is connected with connection in main rotor, and monocycle scissors-type arm passes through
Oscillating bearing rotates cup with pitch and is connected, and two groups of scissors-type arms are symmetrically installed, and the plane of formation is formed with two pitch-change-links
Plane vertical.
4 steering wheels that pitch is handled in described 4 passage mixing are a little centrosymmetric relative on the spindle axis of main rotor
Distribution；
With pilotless helicopter direction of advance as axis, the line of the first steering wheel and the 4th steering wheel installation site with in
Axis is positive 45 degree of angles, and the line of the second steering wheel and the 3rd steering wheel installation site and axis are in negative 45 degree of angle [first, second rudders
Machine is near head；Three, the 4th steering wheels are near tail].
Described spline guide rail is fixedly mounted in the mounting bracket of steering wheel, is fixed on fixed cup by a spline pin simultaneously
Body, is used for suppressing pitch to fix cup body rotation.
Described dicyclo scissors-type arm and monocycle scissors-type arm are flexibly connected, and activity point of view is 35-145 degree.
Described spline guide rail 34 is parallel to main shaft and is fixedly mounted in steering wheel mounting bracket 29, and fixing cup rear is provided with
One spline pin, spline pin inserts in the cotter way on spline guide rail, and spline guide rail and spline pin are used for suppressing fixing cup body rotation.
4 passage mixing handle pitch operation principle: A, main rotor always away from control: control described 4 by mixture control
When individual steering wheel is moved upwardly or downwardly simultaneously, the action pull bar of 4 steering wheels moves to equidirectional simultaneously, drives pitch level
Rising or decline, pitch promotes main rotor blades to deflect to equidirectional by pitch-change-link, thus realizes displacement operation.
The 4 passage mixing control pitch system circulation displacement operations that B, 45 degree of angles are installed: by mixture control control, when 4
(or the upwards) motion downwards of first and second servo driving action pull bars of steering wheel, the third and fourth servo driving action pull bar to
Upper (or downwards) motion, makes pitch (or backward) forward tilt, thus realizes the pitch control of pilotless helicopter；When logical
Cross mixture control to control in first in 4 steering wheels and the 3rd servo driving action pull bar upwards (or downward) motion, steering wheel
Second and the 4th servo driving action pull bar (or upwards) motion downwards, make pitch (or to the right) to the left tilt, thus real
The roll guidance of existing pilotless helicopter.
As it is shown in figure 5, the starter structural representation of pilotless helicopter in the present invention, described starter 5 is wrapped
Include startup motor 68, freewheel clutch, startup motor reduction gearbox 69, surmount gear 71, starter receiver dish 67 and starter erection
Support 70；Described startup motor 68 connects startup reduction gear box 69, is provided with freewheel clutch, institute in starting reduction gear box
State and surmount gear and be connected to start outside reduction gear box.
Starter operation principle: start motor work time surmount gear promoted by spiral lamination throw away forward and be fixed on send out
Starter receiver dish on motivation 7 output shaft engages thus drives engine rotation, when starting motor stalls, surmounts gear and exists
The spring of reduction gear box front end automatically disengages Contact Tooth wheel disc under promoting.
Such as Fig. 1, shown in 6 and 7, the structural representation of pilotless helicopter fuselage ring in the present invention.Fuselage ring 13
Including two for supporting and the fuselage side plate 37 of installing component, being arranged on the auxiliary lifting-anti-twisted power in fuselage side plate front-cold
But functional device mounting bracket 38, the starter erection support 70 of trigger is installed, for installing the electromotor of stationary engine
Installing plate 39 and fuselage pillar.Described fuselage side plate such as Fig. 7, fuselage side plate tiled configuration is identical, has lightening hole, and front lower end is opened
Mouth is electromotor installation gap, can be realized the fast assembling-disassembling of electromotor by this opening.The quantity of described fuselage pillar 40 is 3.
Such as Fig. 1,8 and 9, the drive system structure schematic diagram of pilotless helicopter in the present invention.Described drive system bag
Include be arranged on engine output shaft clutch 41, clutch front end level synchronization wheel 42, Timing Belt 43, secondary synchronization wheel
44, being arranged on the reduction box above fuselage ring, wherein reduction box includes reduction box upper cover 46, reduction box lower cover 45, reduction box
Master gear 48 in the gear shaft 47 of interior connection secondary synchronization wheel and reduction box, master gear is connected with main shaft by key.Reduction box
Inside it is provided with oil storage tank and lightening hole.
Such as auxiliary lifting-anti-twisted power-refrigerating function apparatus structure schematic diagram in Figure 10 present invention and single in Figure 11 present invention
Individual auxiliary lifting-anti-twisted power-refrigerating function apparatus structure schematic diagram.
Described auxiliary lifting-anti-twisted power-refrigerating function device includes duct 49, lift fan 53 and drive disk assembly, described
Lift fan is arranged in described duct, and electromotor drives it to rotate by drive disk assembly.
The quantity of described auxiliary lifting-anti-twisted power-refrigerating function device can be 1, it is also possible to is 2.
When the quantity of described auxiliary lifting-anti-twisted power-refrigerating function device is 1, described duct is positioned at above electromotor,
With pilotless helicopter direction of advance as axis, duct is arranged symmetrically with about axis, and described lift fan is arranged on culvert
In road, electromotor directly driving, direction of rotation is contrary with main rotor direction of rotation, duct envisaged underneath wind guide channel, guides wind
Stream blows to the cylinder of electromotor.Duct is arranged symmetrically with about axis, makes pilotless helicopter in rolling control direction stress
Balance, it is ensured that arrange the weight of pilotless helicopter when the stability that pilotless helicopter rolling controls and convenient design
The heart.
When described auxiliary lifting-anti-twisted power-refrigerating function device is 2, described duct be symmetrically arranged in unmanned directly
Rise the both sides of machine axis, it is ensured that stability that pilotless helicopter rolling controls and be prone to arrange pilotless helicopter
Center of gravity, electromotor drives it to rotate by drive disk assembly, keeps the direction of rotation of all described lift fans to rotate with main rotor
In opposite direction.
Described drive disk assembly can be any one in driving belt, gear and axle.
In order to ensure pilotless helicopter pitching and the balance of roll guidance moment, the air inlet of described duct and air-out
The direction of mouth is vertically arranged with fuselage.
The air-flow that the air outlet of duct is carried, flows to the cylinder of electromotor.
The operation principle of described auxiliary lifting-anti-twisted power-refrigerating function device: electromotor drives described main rotor and empennage
Rotate, make pilotless helicopter obtain most lift and anti-twisted power, simultaneously electromotor drive auxiliary lifting-anti-twisted power-
The lift fan of refrigerating function device rotates, and makes blade do work the air-flow in duct, makes air-flow obtain momentum, simultaneously lift wind
Fan obtains a certain amount of pulling force, and this pulling force is perpendicular to fuselage (i.e. lift)；Obtain while lift at lift fan, can produce with
The resistance that direction of rotation is contrary, is ultimately converted to rotate moment of torsion in opposite direction, due to the rotation of main rotor Yu lift fan
Turning in opposite direction, moment of torsion produced by lift fan just can be offset a part and (i.e. be produced by moment of torsion produced by main rotor
Anti-twisted power).Meanwhile, the air-flow in duct, through the guiding of duct, vertically blows to the cylinder of electromotor, realizes electromotor strong
Make air-cooled effect.
Such as pilotless helicopter take-off and landing device structural representation in Figure 12 present invention, described take-off and landing device includes that arch is curved
Pipe 55, bow-shaped support 56 and undercarriage fixed block 54.Arch bend pipe 55 is connected to the lower end of bow-shaped support 56 by bracket institution,
Bow-shaped support 56 is installed to the lower end of fuselage side plate by L-type undercarriage fixed block 54.The quantity of described arch bend pipe is 2, institute
The quantity stating arcuate support is 2, and the quantity of described L-type undercarriage fixed block is 4.
Such as pilotless helicopter tail rotor apparatus structure schematic diagram in Figure 13 present invention.Described tail rotor device passes through tail
Toothed belt transmission in pipe, to electromotor, is provided power by electromotor.Described tail rotor device includes locking tail actuator 57, tail-rotor folder
58, tail pitch-change-link 59, shaft coupling arm 60, displacement sliding sleeve 61, copper bush 62, opening spline arm 63, tailing axle 65 and tail join 66. institutes
Stating tail-rotor and pressing from both sides 58 quantity is 2, is arranged in described tail the two ends of connection 66, and in tail, connection is arranged on tailing axle.Lock tail actuator is by control
The opening spline arm 63 outside it that is arranged on that the angle of position processed steering wheel rocking arm 64 is practiced promotes displacement sliding sleeve 61 to drive shaft coupling arm 60
Movable, then change, by tail pitch-change-link, the tilt angle that tail-rotor presss from both sides, thus control the pitch of tail rotor.
Embodiment 2:
Embodiment 2 is essentially identical with the structure of embodiment 1, and difference is: the installation site of 4 steering wheels is: with nothing
It is axis that people drives helicopter direction of advance, and the line of the first steering wheel and the 4th steering wheel installation site and axis are 0 degree of angle,
The line of the second steering wheel and the 3rd steering wheel installation site and axis are that [the first steering wheel is near head for an angle of 90 degrees；4th steering wheel leans on
Nearly tail；Second steering wheel is on the left of axis, and the 3rd steering wheel is on the right side of axis].
4 passage mixing handle pitch operation principle: A, main rotor always away from control: control described 4 by mixture control
When individual steering wheel is moved upwardly or downwardly simultaneously, the action pull bar of 4 steering wheels moves to equidirectional simultaneously, drives pitch level
Rising or decline, pitch promotes main rotor blades to deflect to equidirectional by pitch-change-link, thus realizes displacement operation.
The 4 passages mixing that B, 0 degree of angle are installed control the circulation pitch controls of pitch systems: by mixture control control, and second, the
Three steering wheel holding positions are motionless, action pull bar corresponding to the first servo driving (or upwards) motion, the 4th servo driving pair downwards
During the action pull bar answered upwards (or downwards) motion, pitch (or backward) forward tilts, thus realizes pilotless helicopter
Pitch control；When the first, the 4th steering wheel holding position is motionless, action pull bar corresponding to the second servo driving (or upwards) downwards
Motion, during upwards (or the downwards) motion of action pull bar corresponding to the 3rd servo driving, pitch (or to the right) to the left tilts, thus
Realize the roll guidance of pilotless helicopter.
Claims (6)
1. a tilt table device for pilotless helicopter, including pitch and spline guide rail (34)；Described pitch includes
Rotate cup (25) and fixing cup (26)；Rotate cup and fixing cup is connected by bearing；Described spline guide rail parallel in
Main shaft is fixedly mounted in steering wheel mounting bracket, and fixing cup rear is provided with a spline pin, and spline pin inserts spline guide rail
On cotter way in, spline guide rail and spline pin are used for suppressing fixing cup body rotation；It is characterized in that, also include two pitch-change-links
(30), four action pull bars (31), two groups of guiding scissors-type arms, 4 steering wheels and a controller；
Said two pitch-change-link is arranged symmetrically with main shaft for axis of symmetry, the upper end of two pitch-change-links (30) respectively with two masters
Distance-variable rocker arm (14) on oar folder connects, and oscillating bearing is passed through with rotation cup (25) respectively in the lower end of two pitch-change-links (30)
Being connected, the upper end of described four action pull bars (31) is connected with fixing cup (26) by oscillating bearing respectively, and four actions are drawn
The lower end of bar (31) is connected with the action rocking arm of 4 steering wheels respectively；
Often group guide scissors-type arm include dicyclo scissors-type arm (32) and monocycle scissors-type arm (33), described two groups of scissors-type arms with
Main shaft is that axis of symmetry is symmetrically installed, and dicyclo scissors-type arm is flexibly connected with connection in main rotor, monocycle scissors-type arm by oscillating bearing and
Rotation cup is connected, and dicyclo scissors-type arm and monocycle scissors-type arm are flexibly connected；The plane at two groups of scissors-type arm places is drawn with two displacements
The plane at bar place is vertical；Guide scissors-type arm for ensureing that the rotation cup of pitch does not relatively rotate with main shaft；
4 steering wheels are all connected with controller；
Described 4 steering wheels are relative to the distribution that is a little centrosymmetric on the spindle axis of main rotor；
Described pilotless helicopter includes that take-off and landing device, take-off and landing device include arch bend pipe (55), bow-shaped support (56) and rise
Fall frame fixed block (54).
The tilt table device of pilotless helicopter the most according to claim 1, it is characterised in that described 4 steering wheels
Mounting means is: with pilotless helicopter direction of advance as axis, the first steering wheel and the line of the 4th steering wheel installation site
Being positive 45 degree of angles with axis, the line of the second steering wheel and the 3rd steering wheel installation site and axis are in negative 45 degree of angles.
The tilt table device of pilotless helicopter the most according to claim 1, it is characterised in that described 4 steering wheels
Mounting means is: with pilotless helicopter direction of advance as axis, the first steering wheel and the line of the 4th steering wheel installation site
Being 0 degree of angle with axis, the line of the second steering wheel and the 3rd steering wheel installation site and axis are an angle of 90 degrees.
The tilt table device of pilotless helicopter the most according to claim 1, it is characterised in that described dicyclo scissors-type arm
(32) activity point of view and between monocycle scissors-type arm (33) is 35-145 degree.
5. the control method of the tilt table device of a pilotless helicopter, it is characterised in that use described in claim 1
The tilt table device of pilotless helicopter；The mounting means of 4 steering wheels is: with pilotless helicopter direction of advance as axis
Line, the line of the first steering wheel and the 4th steering wheel installation site and axis are positive 45 degree of angles, and the second steering wheel and the 3rd steering wheel are installed
The line of position and axis are in negative 45 degree of angles；
A1, always away from control: control described 4 steering wheels by controller and be moved upwardly or downwardly simultaneously, drive corresponding four move
Making pull bar to move to equidirectional simultaneously, drive pitch level to rise or decline, pitch promotes main by pitch-change-link
Rotor blade deflects to equidirectional, thus realizes always away from control；
B, feathering control: control the first and second servo drivings corresponding action pull bar by controller and transport downward or upward
Dynamic, the third and fourth servo driving corresponding action pull bar is moved upwardly or downwardly, and makes pitch tilt forward or backward, thus
Realize the pitch control of pilotless helicopter；By controller control first and the 3rd servo driving corresponding action pull bar to
Upper or move downward, second and the 4th servo driving corresponding action pull bar move downward or upward, make pitch to the left or to
Right bank, thus realize the roll guidance of pilotless helicopter.
6. the control method of the tilt table device of a pilotless helicopter, it is characterised in that use described in claim 1
The tilt table device of pilotless helicopter；The mounting means of 4 steering wheels is: with pilotless helicopter direction of advance as axis
Line, the line of the first steering wheel and the 4th steering wheel installation site and axis are 0 degree of angle, the second steering wheel and the 3rd steering wheel installation site
Line and axis be an angle of 90 degrees；
A2, always away from control: control described 4 steering wheels by controller and be moved upwardly or downwardly simultaneously, drive corresponding four move
Making pull bar to move to equidirectional simultaneously, drive pitch level to rise or decline, pitch promotes main by pitch-change-link
Rotor blade deflects to equidirectional, thus realizes always away from control；
C, feathering control: controlling second, third steering wheel holding position by controller motionless, the first servo driving is corresponding
Action pull bar moves downward or upward, and the 4th servo driving corresponding action pull bar is moved upwardly or downwardly, pitch forward or
Tilt backwards, thus realize the pitch control of pilotless helicopter；
Control the first, the 4th steering wheel holding position by controller motionless, the second servo driving corresponding action pull bar downwards or
Moving upward, the 3rd servo driving corresponding action pull bar is moved upwardly or downwardly, and pitch tilts to the left or to the right, thus real
The roll guidance of existing pilotless helicopter.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105416581B (en) * | 2015-12-25 | 2017-06-06 | 飞瑞航空科技（江苏）有限公司 | A kind of unmanned plane oar folder connection torsion piece component |
| CN106477032B (en) * | 2016-09-11 | 2020-01-07 | 珠海市磐石电子科技有限公司 | Multi-axis aircraft |
| CN106218864A (en) * | 2016-09-18 | 2016-12-14 | 深圳市睿文航空科技有限公司 | A kind of device handling large-scale depopulated helicopter pitch |
| CN206155785U (en) * | 2016-11-08 | 2017-05-10 | 深圳市大疆创新科技有限公司 | Motor and have unmanned aerial vehicle of this motor |
| CN106585958B (en) * | 2016-11-30 | 2023-06-02 | 中国航空工业集团公司沈阳飞机设计研究所 | Self-balancing integrated central rod |
| CN109343563B (en) * | 2018-10-15 | 2020-06-05 | 北京理工大学 | Aircraft guidance system and method considering failure of steering engine and falling angle constraint |
| CN210027884U (en) * | 2018-11-06 | 2020-02-07 | 珠海隆华直升机科技有限公司 | Helicopter pitch-variable linkage system and helicopter |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5511947A (en) * | 1995-02-17 | 1996-04-30 | The Boeing Company | Cyclic pitch control having torsion spring system |
| DE20001232U1 (en) * | 2000-01-25 | 2000-08-03 | Henseleit, Jan, 35649 Bischoffen | Rotor head for airworthy model helicopters with vertically movable paddle bar |
| CN2915205Y (en) * | 2006-01-18 | 2007-06-27 | 罗之洪 | Aeromodelling |
| CN100591400C (en) * | 2006-07-03 | 2010-02-24 | 罗之洪 | Steering mechanism for model helicopter |
| CN201195054Y (en) * | 2008-04-21 | 2009-02-18 | 上海九鹰电子科技有限公司 | Mechanical operation system for single-rotor model helicopter |
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