CN112389645B - Dual-motor-driven rotor electric folding mechanism - Google Patents
Dual-motor-driven rotor electric folding mechanism Download PDFInfo
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- CN112389645B CN112389645B CN202110020720.4A CN202110020720A CN112389645B CN 112389645 B CN112389645 B CN 112389645B CN 202110020720 A CN202110020720 A CN 202110020720A CN 112389645 B CN112389645 B CN 112389645B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/46—Blades
- B64C27/473—Constructional features
- B64C27/50—Blades foldable to facilitate stowage of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a double-motor-driven rotor electric folding mechanism which comprises a shell, an aerial plug and a folding controller, wherein the aerial plug is arranged on the shell and is connected with an electromechanical management computer of a helicopter, the rotor folding mechanism adopts a motor driving mode, the structure is compact, the reliability is high, the weight is light, the maintenance is convenient, the automatic control is convenient to realize, the arrangement of the whole structure is more compact and the weight is lighter due to the double-motor driving mode, the selection of a motor and the selection of a transmission chain can be respectively carried out according to the output requirements, the selection and optimization space is large, the reliability is high, and the double-motor mode can avoid the risk of mutual interference of two output motions in the single-motor driving mode.
Description
Technical Field
The invention relates to the technical field of helicopter manufacturing, in particular to a double-motor-driven rotor electric folding mechanism.
Background
The helicopter is one of the unique creations of 20 th century aviation technology, and the application range of the aircraft is greatly expanded. The helicopter has the advantages of low-altitude flight, hovering, vertical take-off and landing in small-area fields and the like, and is widely applied to both military and civilian fields; in military aspect, the device can be used for attacking enemies, battlefield rescue, patrol investigation, anti-submarine mine clearance and the like; in civil use, the device can be used for short-distance transportation, disaster relief and lifesaving, hoisting equipment, geological exploration, forest protection and fire extinguishing, and the like.
Due to the large size of helicopter rotors, a large storage space is required. Especially for medium and heavy helicopters, the size of the rotor becomes larger and the required storage space becomes larger as the takeoff weight thereof increases. And the helicopter adopting the rotor wing folding mechanism can greatly reduce the occupied space when the helicopter is parked, transported and stored. For the carrier-based helicopter, the rotor wing folding is a necessary function of the carrier-based helicopter.
Table 1 shows the comparison of the sizes of the NFH-90 navy helicopter before and after folding, and it can be seen that the folding of the rotor can effectively reduce the storage space when the helicopter is parked.
TABLE 1 comparison table of unfolding and folding overall dimensions of NH90 helicopter
| Parameter(s) | Unfolded state | Folded state | Folded rear portion |
| Length of | 19.40m | 13.64m | 70% |
| Width of | 16.30m | 3.82m | 23% |
| Height | 5.23m | 4.20m | 80% |
| Footprint area | 316.22m2 | 52.10m2 | 16% |
The mounting position of the rotor folding mechanism is shown in fig. 1, the rotor folding mechanism B is mounted between the connector assembly a and the folding joint assembly C, and the blades are mounted on the folding joint assembly; in the flying process, the rotor wing folding mechanism carries out unfolding action, the connecting piece assembly A is connected with the folding joint assembly C to enable the paddle to be unfolded, the wing folding mechanism B carries out bolt action, the connecting piece assembly A is fixedly connected with the folding joint assembly C to ensure that the relative positions of the paddle and the hub are fixed, and the paddle can transmit acting force between the paddle and the hub; when the helicopter is parked, the rotor folding mechanism B performs pin pulling action, the connecting piece component A is disconnected from the folding joint component C, the rotor folding mechanism B performs folding action to fold the blades, and the occupied space of the helicopter when the helicopter is parked is reduced.
The folding of helicopter rotor can adopt modes such as manual folding, hydraulic pressure automatic folding, electronic automatic folding. Manual folding is the most original rotor wing folding mode, has the defects of inconvenient operation, high danger coefficient and the like, and is eliminated at present. At present, the hydraulic automatic folding rotor wing folding mode is adopted in China, and the hydraulic automatic folding mechanism has the defects of multiple components and accessories, complex pipelines, high maintenance difficulty, high possibility of oil leakage, high failure rate and the like.
When the helicopter rotor is folded by adopting an electric automatic folding mode, the electric folding mechanism of the rotor is divided into two motions of extension of the bolt and folding of the paddle on the motion function. So the electronic folding mechanism of rotor has two power take off: the first power output is power output for realizing blade folding, and the output is a rotating action; the second power output is the power output for realizing the axial extension and contraction of the bolt, and the output is linear action.
The power input of the rotor wing folding mechanism can adopt single motor drive or double motor drive. When the single motor is adopted for driving, the rotor wing folding mechanism needs to be provided with a transfer mechanism due to the existence of the two different output modes; the same input realizes different outputs and needs to match with transmission chain parameters, and additional transmission parts are added; and meanwhile, when the single motor is adopted for driving, the risk of mutual influence of the two actions exists.
Disclosure of Invention
The invention aims to provide a dual-motor-driven rotor electric folding mechanism to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the double-motor-driven rotor electric folding mechanism comprises a shell, an aerial plug and a folding controller, wherein the aerial plug is arranged on the shell and is connected with an electromechanical management computer of a helicopter;
a folding motor, a bolt motor, a folding transmission unit, a bolt transmission mechanism, a plug pin and a shifting fork are also arranged in the shell;
the folding transmission unit comprises a first planetary gear train transmission system, a dead axle straight gear transmission system and a second planetary gear train transmission system;
the bolt transmission mechanism comprises a fixed-axis bevel gear transmission system and a screw rod mechanism;
the power of the folding motor is transmitted to a shifting fork for driving the folding of the helicopter blades through a first planetary gear train transmission system, a dead axle straight gear transmission system and a second planetary gear train transmission system in sequence;
the power of the bolt motor is transmitted to a plug pin for realizing bolt action through a fixed-axis bevel gear transmission system and a screw rod mechanism in sequence;
an electromagnetic latch lock for locking the position of the latch and an angle sensor for detecting the folding angle are also arranged in the shell;
the aerial plug, the folding motor, the plug motor, the electromagnetic plug lock and the angle sensor are all electrically connected with the folding controller.
The folding motor is a folding direct current motor, the bolt motor is a bolt direct current motor, and brake mechanisms are arranged on the folding motor and the bolt motor.
And a lead screw in the lead screw mechanism is a trapezoidal lead screw.
The bolt motor is dual output shaft motor, bolt drive mechanism's quantity is two sets of, and two sets of bolt drive mechanism correspond one-to-one and about bolt motor symmetric distribution with two output shafts of bolt motor, the quantity of electromagnetism bolt lock be two and with bolt drive mechanism one-to-one.
The first planetary gear train transmission system is a three-level NGW combined transmission system.
The second planetary gear train transmission system is an NGWN3Z planetary reducer, the angle sensor is arranged in a sun gear Za of the second planetary gear train transmission system, and two gear rings Ze in the second planetary gear train transmission system are symmetrically distributed around an output gear ring Zb.
And an output gear ring Zb in the second planetary gear train transmission system and a shifting fork are integrally formed.
The beneficial effects of the invention are:
1. the rotor wing folding mechanism adopts a motor driving mode, has compact structure, high reliability, light weight, convenient maintenance and convenient realization of automatic control;
2. the double-motor driving mode is adopted, so that the whole structure is more compact in arrangement and lighter in weight;
3. the mode of double motors is adopted, the selection of the motor type and the selection of the transmission chain can be respectively carried out according to the output requirements, the selection and optimization space is large, and the reliability is high;
4. by adopting a double-motor mode, the risk of mutual interference of two output motions in a single-motor driving mode can be avoided.
Drawings
Figure 1 is a schematic view of a rotor folding mechanism installation location;
FIG. 2 is a schematic view of the electric folding mechanism of the rotor;
FIG. 3 is a schematic diagram of a second planetary gear train transmission system;
FIG. 4 is a schematic structural diagram of a second planetary gear train transmission system;
FIG. 5 is a connection diagram of the connector assembly and the folding joint assembly;
figure 6 is a schematic view of the rotor folding mechanism installation and actuation.
In the figure, A, a connecting piece component; B. a folding mechanism; C. folding the joint assembly; d. Plugging and pulling the pin shaft hole; E. fixing a pin shaft; F. a drive joint;
1. a folding motor; 2. a bolt motor; 3. a fixed axis bevel gear drive system; 4. an electromagnetic latch lock; 5. inserting and pulling a pin; 6. a first planetary gear train transmission system; 7. a fixed-shaft straight gear transmission system; 8. An angle sensor;
9. a second planetary gear train transmission system; 91. a sun gear Za; 92. an input wheel; 93. a planet gear Zc; 94. a planet wheel Zd; 95. a support ring; 96. a ring gear Ze; 97. an output ring gear Zb;
10. and (4) shifting a fork.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
Referring to fig. 2 to 6, an embodiment of the present invention provides a dual-motor-driven electric folding mechanism for a rotor wing, including a housing, an aviation plug and a folding controller, where the aviation plug is disposed on the housing, and is connected to an electromechanical management computer of a helicopter, and receives an instruction from the electromechanical management computer and drives a power supply.
The shell is also internally provided with a folding motor 1, a bolt motor 2, a folding transmission unit, a bolt transmission mechanism, a plug pin 5 and a shifting fork 10, and the folding motor 1 and the bolt motor 2 are used as power input of the electric folding mechanism of the rotor wing after receiving an instruction.
One, folding driving design
The folding function of the electric rotor folding mechanism is to require the blades to be folded to a designated position and held. Due to external factors such as long length of the blade, large torque generated at the folding position, and wind load when the folding mechanism is used in an external field, the folding mechanism needs large output power, and the folding motor 1 needs large starting torque.
a) Selecting a type of the motor:
in consideration of the characteristics that the starting torque of the folding function is large and the positioning is accurate, the folding motor 1 is a direct current motor. The direct current motor has the characteristics of quick response, larger starting torque and capability of providing stable torque.
When the folding direct current motor drives the blades to fold or unfold with stable torque, the folding angle position of the blades is determined by the receiving angle sensor 8, and when the blades are folded or unfolded in place, the folding motor 1 stops working; meanwhile, the folding motor 1 is provided with a brake mechanism, and after the folding motor is unfolded and folded in place, the brake mechanism brakes to keep the state of the paddle.
b) Folding drive mechanism:
the folding transmission unit comprises a first planetary gear train transmission system 6, a dead axle straight gear transmission system 7 and a second planetary gear train transmission system 9;
an angle sensor 8 for detecting the folding angle is also arranged in the shell.
The power of the folding motor 1 is subjected to speed reduction and torque increase sequentially through a first planetary gear train transmission system 6, a fixed-shaft straight gear transmission system 7 and a second planetary gear train transmission system 9 to obtain power output with large torque and is transmitted to a shifting fork 10 for driving the helicopter blades to be folded, and the helicopter blades are folded.
Because the folding and unfolding need to output larger torque, and the transmission chain needs larger transmission ratio to realize torque increase, the folding transmission chain of the invention is realized by adopting two-stage planetary gear trains (a first planetary gear train transmission system 6 and a second planetary gear train transmission system 9) and a dead axle spur gear transmission system 7.
The first planetary gear train transmission system 6 adopts a three-level NGW combined transmission system which is well known by the technical personnel in the field, and the NGW combined transmission system has the characteristics of high efficiency, small volume, light weight, simple structure, convenient manufacture, small axial size and the like, can obtain larger transmission ratio and smaller power loss when being combined for use, and occupies smaller size space and weight.
The fixed-shaft spur gear transmission system 7 is mainly used for matching the center distance of the two-stage planetary gear train, so that the effects of speed reduction and torque increase are achieved, the transmission efficiency is high, but the transmission reduction ratio is small, namely, the fixed-shaft spur gear transmission system 7 is used for transmitting power from the three-stage NGW combined transmission system to the second planetary gear train transmission system 9 (namely, an NGWN3Z type planetary reducer), and specific reference can be made to a mechanical schematic diagram shown in fig. 2.
The second planetary gear train transmission system 9 is an NGWN3Z type planetary gear reducer, and referring to fig. 3, the NGWN3Z type planetary gear reducer includes a sun gear Za91, an input wheel 92, a planetary gear Zc93, a planetary gear Zd94, a support ring 95, a ring gear Ze96 and an output ring gear Zb97, wherein the ring gear Ze96 is fixedly installed in the housing, and the support ring 95 is floatingly installed in the housing to support a planetary shaft, the planetary gear Zc93 and the planetary gear Zd 94.
The fixed-shaft straight gear transmission system 7 transmits power to an input wheel 92, the input wheel 92 drives a sun wheel Za91 to rotate, a planet wheel Zc93 rotates, planet wheels Zd94 on two sides rotate, an output gear ring Zb97 rotates, and the output gear ring Zb97 and the shifting fork 10 are integrally formed to drive the shifting fork 10 to fold the helicopter blades. The output gear ring Zb97 and the shifting fork 10 are integrally formed, so that the executing mechanism and the reducing mechanism are integrated into a whole, and the whole structure is more compact. Since the actuator (fork 10) needs to bear a large torque to shift the blades, and the problem of uniform load distribution is considered, it is preferable that the NGWN3Z type planetary speed reducer is distributed up and down symmetrically, and the specific structure thereof is shown in fig. 4, that is, the two gear rings Ze96 are distributed symmetrically with respect to the output gear ring Zb 97. To further reduce the space volume, an angle sensor 8 for detecting the folding angle is provided in the sun gear Za 91.
Second, the driving design of the bolt
The output of the bolt driving is axial extension or contraction of the bolt, and the rotary motion of the bolt motor 2 needs to be converted into the axial motion of the plug pin 5; the output power of the bolt driving is small, and the axial force of the bolt is larger.
a) Selecting a type of the motor:
in order to match the folding motor 1, the bolt motor 2 also adopts a direct current motor. Because the power output by the bolt mechanism is lower, the axial force is larger, the requirement on the rotating speed of the bolt motor 2 is lower, and the requirement on the torque is higher. When the bolt motor 2 is selected, a motor with lower rotating speed and larger rated output torque is selected, so that the output requirement of bolt driving can be met by using a transmission chain with smaller primary transmission ratio. While the latch motor 2 is provided with a brake for locking the position of the plug pin 5.
b) The bolt transmission mechanism:
the bolt transmission mechanism comprises a fixed-axis bevel gear transmission system 3 and a screw rod mechanism;
the power of the bolt motor 2 is transmitted to an inserting and pulling pin 5 for realizing bolt action through a fixed shaft bevel gear transmission system 3 and a screw rod mechanism in sequence;
still be provided with the electromagnetism bolt lock 4 that is used for locking bolt position in the casing, electromagnetism bolt lock 4 is the safeguard measure, and after plug pin 5 axial motion reached the assigned position, the position of plug pin 5 was guaranteed in the dropping lock of electromagnetism bolt lock 4, and it can not influence flight safety because of reasons such as vibration shrink to guarantee plug pin 5 in aircraft flight process.
The power of the bolt motor 2 realizes bolt action through the transmission of the fixed-axis bevel gear transmission system 3 and the screw rod mechanism;
the axial movement of the plug pin 5 is realized by adopting a screw rod mechanism, a specific transmission principle diagram refers to fig. 2 and fig. 6, the plug pin 5 utilizes the shape of the shell to limit the rotation freedom degree thereof, and ensures that the plug pin can only do axial telescopic movement, and the screw rod in the screw rod mechanism adopts a trapezoidal screw rod considering that the stress of the axial movement is large, so that the large axial load is realized.
Referring to fig. 2, as the latch motion is the simultaneous motion of two plug pins 5, the latch motor 2 is a dual-output-shaft dc motor, and the number of the latch transmission mechanisms is two, in order to save space, the two sets of latch transmission mechanisms correspond to the two output shafts of the latch motor 2 one by one and are symmetrically distributed about the latch motor 2, and the number of the electromagnetic latch locks 4 is two and corresponds to the latch transmission mechanisms one by one.
Aviation plug, folding motor 1, bolt motor 2, electromagnetism bolt lock 4 and angle sensor 8 all with folding controller electric connection, folding controller is the controller of whole mechanism.
Working principle of three-motor-driven rotor electric folding mechanism
After the helicopter is landed and stopped, blades need to be folded to reduce the space for stopping and storing, and the folded blades need to be unfolded before the airplane leaves a warehouse and takes off; the electric folding mechanism of the rotor wing realizes the folding and unfolding functions of the paddle through the driving of the folding motor 1, and the plug motor 2 realizes the telescopic function of the plug pin 5 connected between the paddle and the hub.
The connection of the connector assembly a to the folding joint assembly C is shown in fig. 5. The connecting piece component A is fixed on the helicopter propeller hub; the paddle is fixed on the folding joint component C; the connecting piece component A and the folding joint component C are connected through a fixed pin shaft E, and plug pin shaft holes D matched with the plug pins 5 are formed in the connecting piece component A and the folding joint component C; the folding joint component C can be used for fixing the pin shaft E to rotate as the center under the action of the stress of the driving joint F so as to realize the folding and unfolding of the paddle.
The electric folding mechanism of the rotor wing is arranged on the connecting piece component A and is connected with a driving joint F of the folding joint component C through a shifting fork 10, as shown in figure 6; the shifting fork 10 is driven by the electric folding mechanism of the rotor wing to finally drive the folding joint component C to fold and unfold; the plug pin 5 makes the plug pin and the pull pin action through the driving of the electric folding mechanism of the rotor wing.
After the helicopter is landed and stopped, the electromagnetic latch lock 4 is electrified and unlocked, the latch motor 2 works, the lead screw mechanism is driven by the fixed-axis bevel gear transmission system 3 to transmit motion to the plug pin 5, the lead screw converts the rotary motion into axial motion of the plug pin 5, and the plug pin 5 axially contracts in place to disconnect the connection between the connecting piece component A and the folding joint component C; the folding motor 1 transmits motion to the shifting fork 10 to drive the folding joint component C to rotate through the first planetary gear train transmission system 6, the second planetary gear train transmission system 9 and the dead axle straight gear transmission system 7, and folding action of the blades is achieved.
Before the helicopter takes off, folding motor 1 reverse work is rotatory through drive folding joint Assembly C, realizes the expansion action of paddle, after the sensor response that is located on folding joint Assembly C expandes to target in place, and 2 reverse work of bolt motor, drive plug pin 5 make the axial and stretch out the action, realize linking firmly of connecting piece subassembly A and folding joint Assembly C, plug pin 5 axial stretches out the back that targets in place, and the locking of plug pin 5 positions is realized to 4 electricity falling locks of electromagnetism plug pin lock.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. Electronic folding mechanism of two motor drive rotors, insert and folding controller, its characterized in that including casing, boat: the aerial plug is arranged on the shell and is connected with an electromechanical management computer of the helicopter;
a folding motor (1), a bolt motor (2), a folding transmission unit, a bolt transmission mechanism, a plug pin (5) and a shifting fork (10) are also arranged in the shell;
the folding transmission unit comprises a first planetary gear train transmission system (6), a dead axle straight gear transmission system (7) and a second planetary gear train transmission system (9);
the bolt transmission mechanism comprises a fixed-axis bevel gear transmission system (3) and a screw rod mechanism;
the power of the folding motor (1) is transmitted to a shifting fork (10) for driving the folding of the helicopter blades through a first planetary gear train transmission system (6), a dead axle straight gear transmission system (7) and a second planetary gear train transmission system (9) in sequence;
the power of the bolt motor (2) is transmitted to a plug pin (5) for realizing bolt action through a fixed shaft bevel gear transmission system (3) and a screw rod mechanism in sequence;
an electromagnetic latch lock (4) for locking the position of a latch and an angle sensor (8) for detecting the folding angle are also arranged in the shell;
the aerial insertion and folding motor (1), the bolt motor (2), the electromagnetic bolt lock (4) and the angle sensor (8) are electrically connected with the folding controller;
the first planetary gear train transmission system (6) is a three-level NGW combined transmission system;
the second planetary gear train transmission system (9) is an NGWN3Z planetary reducer, the angle sensor (8) is arranged in a sun gear Za (91) of the second planetary gear train transmission system (9), and two gear rings Ze (96) in the second planetary gear train transmission system (9) are symmetrically distributed around an output gear ring Zb (97).
2. The dual motor drive rotor electric folding mechanism of claim 1, characterized in that: folding motor (1) is folding direct current motor, and bolt motor (2) are bolt direct current motor, all be provided with stopper mechanism on folding motor (1) and bolt motor (2).
3. The dual motor drive rotor electric folding mechanism of claim 1, characterized in that: and a lead screw in the lead screw mechanism is a trapezoidal lead screw.
4. The dual motor drive rotor electric folding mechanism of claim 1, characterized in that: bolt motor (2) are two output shaft motors, bolt drive mechanism's quantity is two sets of, two sets of bolt drive mechanism and two output shafts one-to-one of bolt motor (2) and about bolt motor (2) symmetric distribution, the quantity of electromagnetism bolt lock (4) is two and with bolt drive mechanism one-to-one.
5. The dual motor drive rotor electric folding mechanism of claim 1, characterized in that: an output gear ring Zb (97) in the second planetary gear train transmission system (9) and a shifting fork (10) are integrally formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110020720.4A CN112389645B (en) | 2021-01-08 | 2021-01-08 | Dual-motor-driven rotor electric folding mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110020720.4A CN112389645B (en) | 2021-01-08 | 2021-01-08 | Dual-motor-driven rotor electric folding mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112389645A CN112389645A (en) | 2021-02-23 |
| CN112389645B true CN112389645B (en) | 2022-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110020720.4A Active CN112389645B (en) | 2021-01-08 | 2021-01-08 | Dual-motor-driven rotor electric folding mechanism |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1333853A (en) * | 1971-02-26 | 1973-10-17 | Westland Aircraft Ltd | Helicopters |
| FR2742726B1 (en) * | 1995-12-22 | 1998-02-20 | Eurocopter France | DEVICE FOR FOLDING A BLADE OF A GIRAVION ROTOR |
| JP2007055406A (en) * | 2005-08-24 | 2007-03-08 | Mitsubishi Heavy Ind Ltd | Blade fold mechanism |
| US7798442B2 (en) * | 2006-03-17 | 2010-09-21 | Sikorsky Aircraft Corporation | Rotor assemblies having automatic blade folding systems |
| CN207523919U (en) * | 2017-11-01 | 2018-06-22 | 成都飞亚航空设备应用研究所有限公司 | There is the dual output rotary actuator being manually entered |
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2021
- 2021-01-08 CN CN202110020720.4A patent/CN112389645B/en active Active
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