CN112550693B - Automatic inclinator structure of unmanned helicopter - Google Patents
Automatic inclinator structure of unmanned helicopter Download PDFInfo
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- CN112550693B CN112550693B CN202110217360.7A CN202110217360A CN112550693B CN 112550693 B CN112550693 B CN 112550693B CN 202110217360 A CN202110217360 A CN 202110217360A CN 112550693 B CN112550693 B CN 112550693B
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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
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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Abstract
The invention relates to an unmanned aerial vehicle structure, in particular to an automatic inclinator structure of an unmanned helicopter, which comprises a spherical hinge matched with a rotor shaft and synchronously rotating, wherein a movable ring and a fixed ring are arranged on the outer side of the spherical hinge, a transmission shaft hole used for connecting and matching the rotor shaft is longitudinally arranged on the spherical hinge, the movable ring is arranged outside the spherical hinge, an inclination angle guide structure is arranged between the movable ring and the spherical hinge so as to adjust the inclination angle of the movable ring relative to the spherical hinge, and the movable ring and the spherical hinge are connected through the inclination angle guide structure so as to synchronously rotate; the fixed ring and the movable ring are coaxially sleeved outside the inclination angle guide structure and rotate relative to the inclination angle guide structure, and the fixed ring is also connected with a plurality of driving mechanisms which are used for applying force to the fixed ring to adjust the inclination angles of the fixed ring, the inclination angle guide structure and the movable ring. The invention avoids the damage of the rotor shaft caused by impact load, simultaneously realizes the synchronous rotation of the movable ring and the spherical hinge, prolongs the service life of the rotor shaft and greatly reduces the maintenance cost of the tilter.
Description
Technical Field
The invention relates to an unmanned aerial vehicle structure, in particular to an automatic inclinator structure of an unmanned helicopter.
Background
The automatic tilter is an important component of a helicopter control system, and the collective pitch and the cyclic pitch control of the rotor are realized through the automatic tilter. The automatic inclinator adopted on the current conventional helicopter adopts a ring type structure, and the main structure comprises a movable ring, a fixed ring, a spherical hinge and other parts.
The ball hinge of the traditional automatic inclinator is connected with the rotor shaft through an internal spline and an external spline, and the ball hinge and the rotor shaft rotate synchronously; the rotating ring is connected with the rotor shaft through a torque arm, so that the rotating ring and the rotor shaft can rotate synchronously; the bearing bush is connected between the movable ring and the spherical hinge to prevent the movable ring and the spherical hinge from moving relatively.
The above structure has certain drawbacks, such as: the processing of the internal spline and the external spline is relatively complex, and a tooth flank gap exists between the internal spline and the external spline, so that the rotating speeds of the rotor shaft and the spherical hinge are asynchronous, and in the rotating process, the spline can be subjected to impact load to cause spline abrasion, and the rotor shaft needs to be replaced after the spline abrasion, so that the cost is extremely high; meanwhile, the rotating ring and the spherical hinge are driven to rotate by the rotor shaft in different modes, so that the condition of asynchronism exists between the rotating ring and the spherical hinge, the spherical hinge is seriously abraded, and the maintenance cost is increased.
Therefore, the existing automatic inclinator structure has certain defects, needs to be optimized and improved, provides a more reasonable technical scheme and solves the technical problems in the prior art.
Disclosure of Invention
In order to overcome the defects of the prior art mentioned in the content, the invention discloses an automatic inclinator structure of an unmanned helicopter, which improves the structure of a spherical hinge, so that the connection mode between spherical hinge rotor shafts and the matching transmission relationship between the spherical hinge and a movable ring are simpler and more reliable, the rotor shafts and the spherical hinge are not easy to damage, and the overhauling and maintenance costs are greatly reduced.
In order to achieve the purpose, the invention specifically adopts the technical scheme that:
an automatic inclinator structure of an unmanned helicopter comprises a spherical hinge which is matched with a rotor shaft and synchronously rotates, wherein a movable ring and a fixed ring are arranged on the outer side of the spherical hinge, a transmission shaft hole used for being connected and matched with the rotor shaft is longitudinally arranged on the spherical hinge, an inclination angle guide structure is arranged between the movable ring and the spherical hinge to adjust the inclination angle of the movable ring relative to the spherical hinge, and the movable ring and the spherical hinge are connected through the inclination angle guide structure to synchronously rotate; the fixed ring and the movable ring are coaxially sleeved outside the inclination angle guide structure and rotate relative to the inclination angle guide structure, the fixed ring is further connected with a plurality of driving mechanisms, and the driving mechanisms are used for applying force to the fixed ring to adjust the inclination angles of the fixed ring, the inclination angle guide structure and the movable ring.
According to the automatic inclinator structure, the structure of the spherical hinge is improved, so that the matching connection between the spherical hinge and the rotor shaft is simpler and more reliable, and the damage of the rotor shaft or the spherical hinge caused by impact load between the spherical hinge and the rotor shaft is reduced; through setting up inclination guide structure, not only realized the inclination adjustment of rotating ring for the ball pivot, still realized the synchronous rotation of rotating ring and ball pivot, so reduced the impact load between rotating ring and the ball pivot. Meanwhile, the angle is adjusted through the inclination angle guide structure, abrasion of the movable ring can be avoided, the inclination angle guide structure is convenient to replace and low in cost, and maintenance cost can be greatly reduced.
Further, the tilt angle guiding structure disclosed above can adopt various schemes, and a specific possible scheme is as follows: the inclination angle guide structure comprises a spherical ring component which is attached to the outer side wall of the spherical hinge in a sliding mode, the movable ring is fixedly sleeved on the outer side of the spherical ring component and moves synchronously with the spherical ring component, and the fixed ring is sleeved on the outer side of the spherical ring component and rotates relative to the spherical ring component. By adopting the arrangement scheme, the inclination angle of the movable ring can be adjusted by the sliding of the spherical ring component which is attached to the outer wall surface of the spherical hinge, and meanwhile, the spherical ring component and the spherical hinge are connected and matched in the rotating circumferential direction to realize synchronous rotation, so that the synchronous rotation of the movable ring and the spherical hinge is driven; although the fixed ring is arranged outside the spherical ring component, the inclination angle of the fixed ring is only synchronously changed along with the spherical ring so as to keep the fixed ring coaxial with the movable ring and not rotate along with the spherical ring.
Further, the tilt angle guiding structure disclosed in the present invention can be implemented by various schemes, and is optimized here, to name one of the possible schemes: the inclination angle guide structure further comprises a limiting groove which is longitudinally arranged and a limiting part which slides in the limiting groove, and the limiting groove and the limiting part are correspondingly arranged on the spherical hinge and the spherical ring component respectively. When the scheme is adopted, the limiting groove can be arranged on the spherical hinge, and the limiting piece is arranged on the spherical ring component; the limiting groove can also be arranged on the spherical ring component, and the limiting part is arranged on the spherical hinge. Meanwhile, the limiting groove can also adopt a through groove or blind groove structure.
Still further, the position limiting element disclosed in the present invention may adopt various structures, which are not uniquely determined, and is described herein by way of optimization and one of the specific possible solutions: the limiting part at least comprises a pin rod, and the pin rod extends into the limiting groove and is in sliding fit with the limiting groove along the trend of the limiting groove. When so set up, the pin rod is as main wearing and tearing, conveniently changes, and the cost is also low.
Furthermore, the driving mechanism disclosed by the invention adjusts and fixes the inclination angles of the movable ring and the fixed ring, the structure of the driving mechanism is optimized, and the following specific feasible scheme is provided: the driving mechanism comprises a driver and a force application rod, one end of the force application rod is connected to the driver, the other end of the force application rod is connected to the fixed ring, and the force application rod is used for receiving the driving of the driver and applying force to the fixed ring to adjust the inclination angles of the fixed ring, the inclination angle guide structure and the movable ring. When the scheme is adopted, the driver can drive the force application rod to stretch or lift, so that the lifting or descending of the connection part of the force application rod and the fixed ring is realized; the arrangement of several drive mechanisms along the outer circumference of the rotor shaft, which cooperate, enables the tilt angles of the stationary and moving rings to be precisely determined and adjusted.
Further, the spherical ring assembly disclosed in the present invention is attached to the outer wall surface of the spherical hinge, and functions to connect the movable ring and the stationary ring and to realize corresponding movable fit, where the spherical ring structure is optimized, and one of the feasible schemes is given out: the spherical ring component comprises an upper ring and a lower ring, the upper ring and the lower ring are mutually spliced and are attached to the outer wall surface of the spherical hinge in a sliding mode, and the movable ring and the upper ring are connected and fixed. When adopting such scheme, the top ring can be followed the top cover of ball pivot and is overlapped on the ball pivot, and the lower ring can be followed the below cover of ball pivot and is overlapped on the ball pivot, and the surface of cover and ball pivot after the ring sum lower ring jogged joint, sphere ring subassembly after the jogged and the binding face of ball pivot be the diameter of interior concave surface and interior concave surface for the concatenation face department and equal the ball pivot diameter, no matter how the sphere ring subassembly slides on the ball pivot can not drop.
Further, the above disclosure of the present invention discloses a spherical ring structure, and describes the connection relationship and the motion relationship between the movable ring and the stationary ring, and the spherical ring structure is optimized to better satisfy the connection relationship and the motion relationship between the movable ring and the stationary ring, and specifically, a feasible solution is given here: the clamping and abutting structure is formed between the upper ring and the lower ring, a bearing is arranged at the clamping and abutting structure, an inner ring of the bearing is fixed by the clamping and abutting structure, and the fixed ring is sleeved on an outer ring of the bearing. When the scheme is adopted, the lower ring supports the inner ring of the bearing, and the upper ring presses the inner ring of the bearing down to clamp the bearing.
Still further, in order to keep the inside of the recliner structure clean and avoid the influence caused by the entry of foreign objects, the recliner structure is optimized, and the following specific feasible schemes are provided: a first dustproof ring is arranged between the fixed ring and the lower ring.
Still further, the inclinator is optimized continuously, and the following specific feasible schemes are given: and a second dustproof ring is arranged between the fixed ring and the movable ring.
Furthermore, the fixed ring disclosed by the invention does not rotate along with the rotor shaft, so that the purpose of fixing the fixed ring by optimizing the fixed ring is achieved in order to avoid the rotation of the fixed ring due to the linkage influence of the spherical ring component, and the following specific feasible schemes are provided: the fixed ring is also connected with an anti-twisting arm component. When the scheme is adopted, one end of the anti-torsion arm assembly is connected to the fixed ring, and the other end of the anti-torsion arm assembly is connected to the external fixed part, so that the torsion on the fixed ring assembly can be prevented from rotating.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the connecting structure of the spherical hinge and the rotor shaft is optimized and improved, and the connecting part is directly connected in a shaft hole mode, so that the rotor shaft is prevented from being damaged due to impact load; the inclination angle of the movable ring is adjusted by selectively arranging the inclination angle guide structure, synchronous rotation of the movable ring and the spherical hinge is realized, the inclination angle guide structure between the spherical hinge and the movable ring is maintained and replaced mainly in the later maintenance process, the service life of the rotor shaft is prolonged, and the maintenance cost of the inclinator is greatly reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is an overall schematic view of the structure of the recliner disclosed by the invention.
Fig. 2 is a schematic front view of the structure of the spherical hinge, the movable ring and the stationary ring.
Fig. 3 is a schematic top view of the components of fig. 2.
Fig. 4 is a schematic cross-sectional view of the components of fig. 2.
Fig. 5 is a schematic view of the overall structure of the spherical hinge.
Fig. 6 is a schematic view of the overall structure of the torque arm assembly.
FIG. 7 is a schematic diagram of the upper ring structure of the spherical ring assembly.
In the above drawings, each symbol has the following meaning: 1. spherical hinge; 101. a transmission shaft hole; 102. a limiting groove; 103. a limiting member; 104. an oil sump; 2. a moving ring; 3. a stationary ring; 4. an anti-twist arm assembly; 401. a rotor shaft outer cylinder; 402. a torsion arm box; 403. a fork-shaped piece; 404. a rod end bearing; 5. a variable-pitch pull rod; 6. a force application rod; 7. a driver; 8. ring fitting; 801. a pin hole; 9. a bearing; 10. a second dust ring; 11. a first dust ring; 12. a lower ring; 13. an oil injection nozzle.
Detailed Description
The invention is further explained below with reference to the drawings and the specific embodiments.
It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
Examples
Aiming at the situation that a spherical hinge and a rotor shaft in the prior art are connected through a key, a key slot is easily damaged under early impact load, and the rotor shaft is scrapped; in the prior art, the rotating ring and the spherical hinge are respectively driven by the rotor shaft, and the rotating ring and the spherical hinge have poor rotation; the structure of the inclinator is optimized by the embodiment, and the problems in the prior art are solved through the optimized structure.
Specifically, the following embodiments are provided in this example:
as shown in fig. 1 and 2, an automatic inclinator structure of an unmanned helicopter comprises a spherical hinge 1 which is matched with a rotor shaft and synchronously rotates, a movable ring 2 and a fixed ring 3 are arranged on the outer side of the spherical hinge 1, a transmission shaft hole 101 for connecting and matching the rotor shaft is longitudinally arranged on the spherical hinge 1, an inclination angle guide structure is arranged between the movable ring 2 and the spherical hinge 1 to adjust the inclination angle of the movable ring 2 relative to the spherical hinge 1, and the movable ring 2 and the spherical hinge 1 are connected through the inclination angle guide structure to synchronously rotate; the fixed ring 3 and the movable ring 2 are coaxially sleeved outside the inclination angle guide structure and rotate relative to the inclination angle guide structure, the fixed ring 3 is further connected with a plurality of driving mechanisms, and the driving mechanisms are used for applying force to the fixed ring 3 to adjust the inclination angles of the fixed ring 3, the inclination angle guide structure and the movable ring 2.
Preferably, in this embodiment, as shown in fig. 1 and fig. 3, the transmission shaft hole 101 on the spherical hinge 1 may adopt a hole-type structure other than a circular hole, including an elliptical hole, a polygonal hole, a hole combining an arc shape and a polygon shape, and the like. According to the rotatory power that produces of rotor shaft, exert ball pivot 1 through the structure in transmission shaft hole 101 to drive ball pivot 1 synchronous rotation. Because the shaft hole structure is adopted, the contact area is larger than that of a key connection structure, the connection is more stable, deformation, abrasion and the like can not occur after stress, and therefore the structure of the joint of the spherical hinge 1 and the rotor shaft is more stable and reliable. In consideration of the strength and hardness of the contact surface, the metal heat treatment can be performed on the rotor shaft and the spherical hinge 1, so that the overall strength and hardness are improved.
According to the automatic inclinator structure, the structure of the spherical hinge 1 is improved, so that the matching connection between the spherical hinge 1 and the rotor shaft is simpler and more reliable, and the damage of the rotor shaft or the spherical hinge 1 caused by impact load between the spherical hinge 1 and the rotor shaft is reduced; through setting up inclination guide structure, not only realized the inclination adjustment of rotating ring 2 for ball pivot 1, still realized the synchronous rotation of rotating ring 2 with ball pivot 1, so reduced the impact load between rotating ring 2 and the ball pivot 1. Meanwhile, the angle is adjusted through the inclination angle guide structure, so that abrasion of the movable ring 2 can be avoided, and the inclination angle guide structure which is convenient to replace and lower in cost is adopted, so that the maintenance cost can be greatly reduced.
In this embodiment, the tilt angle guiding structure may adopt various schemes, and one of the possible schemes is adopted here: as shown in fig. 4 and 7, the tilt angle guiding structure includes a spherical ring assembly slidably attached to the outer side wall of the spherical hinge 1, the movable ring 2 is fixedly sleeved to the outer side of the spherical ring assembly and moves synchronously with the spherical ring assembly, and the stationary ring 3 is sleeved to the outer side of the spherical ring assembly and rotates relatively to the spherical ring assembly. By adopting the arrangement scheme, the inclination angle of the movable ring 2 can be adjusted by the sliding of the spherical ring component which is attached to the outer wall surface of the spherical hinge 1, and meanwhile, the spherical ring component is connected and matched with the spherical hinge 1 in the rotating circumferential direction, so that the synchronous rotation is realized, and the synchronous rotation of the movable ring 2 and the spherical hinge 1 is further driven; although the fixed ring 3 is arranged outside the spherical ring component, the inclination angle of the fixed ring 3 is only synchronously changed along with the spherical ring so as to keep the same axis with the movable ring 2, and the fixed ring does not rotate along with the spherical ring, so that the inclination angle of the movable ring 2 can be determined through the inclination angle of the fixed ring 3, and the inclination angle of the movable ring 2 can be further adjusted by adjusting the inclination angle of the fixed ring 3.
In this embodiment, the tilt angle guiding structure may be implemented by using a plurality of schemes, and is optimized here by using one of the specific feasible schemes: as shown in fig. 5, the tilt angle guiding structure further includes a longitudinally disposed limiting groove 102 and a limiting member 103 sliding in the limiting groove 102, and the limiting groove 102 and the limiting member 103 are correspondingly disposed on the spherical hinge 1 and the spherical ring assembly, respectively. When the scheme is adopted, the limiting groove 102 can be arranged on the spherical hinge 1, and the limiting part 103 is arranged on the spherical ring component; the limiting groove 102 may be disposed on the spherical ring component, and the limiting member 103 may be disposed on the spherical hinge 1. Meanwhile, the limiting groove 102 can also adopt a through groove or blind groove structure.
Preferably, in this embodiment, the limiting groove 102 is disposed on the spherical hinge 1, and the limiting member 103 is disposed on the spherical ring component.
In some embodiments, the position limiting member 103 disclosed in the present embodiment can adopt various structures, which are not uniquely determined.
Preferably, the embodiment optimally describes the limiting member 103 and adopts one of the specific feasible schemes: the limiting member 103 includes a pin rod, and the pin rod extends into the limiting groove 102 and is in sliding fit with the limiting groove 102 along the direction of the limiting groove 102. When so set up, the pin rod is as main wearing and tearing, conveniently changes, and the cost is also low. Specifically, when the pin rods are provided, pin holes 801 are provided in the upper ring 8, and the pin rods are fixed in the pin holes 801.
Preferably, in order to improve the accuracy of the adjustment of the inclination angle, at least four limit grooves 102 and limit pieces 103 are arranged on the side edge of the spherical hinge 1, so that two of the 4 grooves are generally used at the same time, which is convenient for the stationary ring 3 to incline at any angle and prevents the stationary ring 3 from being locked. The purpose of providing 4 grooves is to reduce weight on the one hand and to serve as a backup on the other hand, if two of the limiting grooves 102 are worn, the other two limiting grooves 102 can be used without replacing the ball joint, thereby reducing maintenance costs. In the process of angle adjustment, the pin rod slides to a corresponding set position along the trend of the limit groove 102.
The driving mechanism disclosed in this embodiment adjusts and fixes the inclination angles of the movable ring 2 and the stationary ring 3, and here, the structure of the driving mechanism is optimized, and the following specific feasible schemes are adopted: the driving mechanism comprises a driver 7 and an application rod 6, one end of the application rod 6 is connected to the driver 7, the other end of the application rod 6 is connected to the stationary ring 3, and the application rod 6 is used for receiving the driving of the driver 7 and applying force to the stationary ring 3 to adjust the inclination angles of the stationary ring 3, the inclination angle guide structure and the movable ring 2. When the scheme is adopted, the driver 7 can drive the force application rod 6 to stretch or lift, so that the connection part of the force application rod 6 and the stationary ring 3 can ascend or descend; the arrangement of several drive mechanisms along the outer circumference of the rotor shaft, which act in concert, enables the tilt angles of the stationary ring 3 and the moving ring 2 to be precisely determined and adjusted.
In some embodiments, the number of drive mechanisms is at least three. Preferably, the number of the driving mechanisms in the present embodiment is three; the driver 7 is specifically a steering engine.
The spherical ring component disclosed in the present embodiment is attached to the outer wall surface of the spherical hinge 1, and functions to connect the movable ring 2 and the stationary ring 3 and achieve a corresponding movable fit. The spherical ring structure is optimized, and one feasible scheme is adopted: the spherical ring component comprises an upper ring 8 and a lower ring 12, the upper ring 8 and the lower ring 12 are mutually spliced and are attached to the outer wall surface of the spherical hinge 1 in a sliding mode, and the movable ring 2 and the upper ring 8 are connected and fixed. When adopting such scheme, go up ring 8 and can follow the top cover of ball pivot 1 on ball pivot 1, lower ring 12 can follow the below cover of ball pivot 1 on ball pivot 1, go up ring 8 and the surface of lower ring 12 jogged joint back cover and ball pivot 1, the sphere ring subassembly after the joggle is the diameter of interior concave surface and interior concave surface for the concatenation face department and equals the diameter of ball pivot 1 with the binding face of ball pivot 1, no matter how the sphere ring subassembly slides on ball pivot 1 can not drop.
In some embodiments, the spherical ring structure may be a structure split up from top to bottom, a structure split up from left to right, or other feasible structures. In this embodiment, the spherical ring structure is optimized to better satisfy the connection relationship and the movement relationship between the movable ring 2 and the stationary ring 3, specifically, a feasible scheme is adopted: the clamping and abutting structure is formed between the upper ring 8 and the lower ring 12, the bearing 9 is arranged at the clamping and abutting structure, the inner ring of the bearing 9 is fixed by the clamping and abutting structure, the fixed ring 3 is sleeved on the outer ring of the bearing 9, and a gland can be arranged between the fixed ring 3 and the outer ring to strengthen the connection relation. With such a solution, the lower ring 12 supports the inner ring of the bearing 9, and the upper ring 8 presses down the inner ring of the bearing 9, so as to clamp the bearing 9.
Preferably, a four-point contact ball bearing 9 is used in the present embodiment.
In order to keep the interior of the recliner structure clean and avoid the influence caused by the entry of foreign matters, the recliner structure is optimized, and the following specific feasible schemes are provided: a first dust ring 11 is arranged between the fixed ring 3 and the lower ring 12. Preferably, the first dust ring 11 blocks the gap between the stationary ring 3 and the movable ring 2, so as to prevent impurities from entering the gap to affect the operation of the bearing 9, the ball joint 1 and the like, and even damage to internal components.
Similarly, there is a gap in other parts of the recliner, and blocking is required, and this embodiment further optimizes the recliner to give specific possible solutions as follows: a second dust ring 10 is arranged between the fixed ring 3 and the movable ring 2.
The stationary ring 3 disclosed in this embodiment does not rotate along with the rotor shaft, and in order to avoid the rotation of the stationary ring 3 due to the linkage influence of the spherical ring assembly, the stationary ring 3 is optimized to achieve the purpose of fixed setting, in some embodiments, a corresponding fixing mechanism may be provided to fix the stationary ring 3, such as an external bracket; the embodiment adopts a specific feasible scheme as follows: the stationary ring 3 is also connected with an anti-torsion arm assembly 4. When the scheme is adopted, one end of the anti-torsion arm component 4 is connected to the fixed ring 3, and the other end of the anti-torsion arm component is connected to the external fixed part, so that the torsion on the fixed ring 3 component can be prevented from rotating.
Preferably, as shown in fig. 6, the anti-torque arm assembly 4 adopted in the present embodiment includes a rotor shaft outer cylinder 401 disposed on the rotor shaft, a torsion arm box-shaped member 402 is hinged on the rotor shaft outer cylinder 401, and the torsion arm box-shaped member 402 rotates in the vertical direction relative to the rotor shaft outer cylinder 401; the free end of the torsion arm box-shaped part 402 is hinged with a fork-shaped part 403, the fork-shaped part 403 can be Y-shaped, the forked end of the fork-shaped part 403 is connected with the torsion arm box-shaped part 402, the other end of the fork-shaped part 403 is provided with a rod end bearing 404 and is connected with the stationary ring 3, the circumferential limiting effect is achieved on the stationary ring 3, and the rotation of the stationary ring 3 is avoided.
In this embodiment, a hub, a blade, and other components are further disposed above the rotating ring 2, the rotating ring 2 and the blade can rotate synchronously, and the specific connection relationship is a technical scheme known to those skilled in the art and will not be described herein again.
Meanwhile, the movable ring 2 is also provided with a variable-pitch pull rod 5 for adjusting the blade pitch, and the structure of the part is also a known technical scheme, so that the arrangement can be completed by a person skilled in the art without creative labor, and further description is omitted here.
When the inclinator structure is applied to the unmanned helicopter, and the unmanned helicopter needs to carry out total distance and periodic distance change, the flying pipe computer sends a command to the rotor steering engine, and the steering engine controls the steering engine to extend and shorten a pull rod. The steering wheel pull rod is connected with the immobile ring 3, and the immobile ring 3 can drive the spherical hinge 1 to move up and down along the rotor shaft under the driving of the steering wheel pull rod, and can also rotate to any plane around the center of the spherical hinge 1, so that the requirements of total distance and periodic distance change are met.
Total distance change: three rotor steering wheel pull rod extension and shorten same length, the steering wheel pull rod drives motionless ring 3 up-and-down motion, the gland passes through bolted connection with motionless ring 3, motionless ring 3 drives the gland up-and-down motion, the gland drives bearing 9, bearing 9 drives and fits with a contraceptive ring 8, it drives the upper ring 2 and the lower ring 12 up-and-down motion simultaneously to fit with a contraceptive ring 8 through the bolt, it compresses tightly ball pivot 1 to fit with a contraceptive ring 8 and lower ring 12, drive ball pivot 1 up-and-down motion, finally realize total distance change.
Periodic pitch change: three rotor steering wheel pull rods extend to different lengths according to requirements, and three steering wheel pull rod connection points form a plane. The same as the total distance change, firstly, the fixed ring 3 rotates around the center of the spherical hinge 1, then the upper ring 8 and the lower ring 12 are driven to rotate around the center of the spherical hinge 1, finally, the movable ring 2 rotates around the center of the spherical hinge 1, and the periodic distance change is realized.
The torque arm assembly can be guaranteed to be relatively stationary with respect to the rotor shaft housing 401 during collective and cyclic pitch.
In the present embodiment, the upper ring 8 is provided with an oil injection nozzle 13, and the oil injection nozzle 13 is communicated with the joint surface of the upper ring 8 and the spherical hinge 1. The oil nozzle 13 can be filled with lubricating grease quickly, and the spherical hinge 1 is provided with an oil groove 104 which can store part of the lubricating grease and is used for lubricating a friction surface.
The present invention is not limited to the above-described alternative embodiments, and various other embodiments can be obtained by those skilled in the art from the above-described embodiments in any combination, and any other embodiments can be obtained in various forms while still being within the spirit of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (8)
1. The utility model provides an unmanned helicopter automatic inclinator structure, includes with rotor shaft cooperation and synchronous pivoted ball pivot (1), ball pivot (1) outside is equipped with rotating ring (2) and motionless ring (3), its characterized in that: a transmission shaft hole (101) used for being connected with and matched with a rotor shaft is longitudinally arranged on the spherical hinge (1), an inclination angle guide structure is arranged between the movable ring (2) and the spherical hinge (1) so as to adjust the inclination angle of the movable ring (2) relative to the spherical hinge (1), and the movable ring (2) and the spherical hinge (1) are connected through the inclination angle guide structure so as to synchronously rotate; the movable ring (3) and the movable ring (2) are coaxially sleeved outside the inclination angle guide structure and rotate relative to the inclination angle guide structure, the movable ring (3) is also connected with a plurality of driving mechanisms, and the driving mechanisms are used for applying force to the movable ring (3) to adjust the inclination angles of the movable ring (2), the inclination angle guide structure and the movable ring (3);
the inclination angle guide structure comprises a spherical ring component which is in sliding fit with the outer side wall of the spherical hinge (1), the movable ring (2) is fixedly sleeved on the outer side of the spherical ring component and synchronously moves along with the spherical ring component, and the fixed ring (3) is sleeved on the outer side of the spherical ring component and rotates relative to the spherical ring component;
the inclination angle guide structure further comprises a limiting groove (102) which is longitudinally arranged and a limiting piece (103) which slides in the limiting groove (102), wherein the limiting groove (102) and the limiting piece (103) are correspondingly arranged on the spherical hinge (1) and the spherical ring component respectively.
2. The unmanned helicopter auto-tilter structure of claim 1, wherein: the limiting piece (103) at least comprises a pin rod, and the pin rod extends into the limiting groove (102) and is in sliding fit with the limiting groove (102) along the trend of the limiting groove (102).
3. The automatic inclinator structure of unmanned helicopter of any of claims 1-2, wherein: the driving mechanism comprises a driver (7) and a force application rod (6), one end of the force application rod (6) is connected to the driver (7), the other end of the force application rod (6) is connected to the fixed ring (3), and the force application rod (6) is used for receiving the driving of the driver (7) and applying force to the fixed ring (3) to adjust the inclination angles of the fixed ring (3), the inclination angle guiding structure and the movable ring (2).
4. The automatic inclinator structure of unmanned helicopter of any of claims 1-2, wherein: the spherical ring component comprises an upper ring (8) and a lower ring (12), the upper ring (8) and the lower ring (12) are mutually spliced and are attached to the outer wall surface of the spherical hinge (1) in a sliding mode, and the movable ring (2) is fixedly connected with the upper ring (8).
5. The unmanned helicopter auto-tilter structure of claim 4, wherein: the clamping and abutting structure is formed between the upper ring (8) and the lower ring (12), the bearing (9) is arranged at the clamping and abutting structure, the inner ring of the bearing (9) is fixed by the clamping and abutting structure, and the fixed ring (3) is sleeved on the outer ring of the bearing (9).
6. The unmanned helicopter auto-tilter structure of claim 5, wherein: a first dustproof ring (11) is arranged between the fixed ring (3) and the lower ring (12).
7. The automatic inclinator structure of unmanned helicopter of any of claims 1-2, wherein: a second dustproof ring (10) is arranged between the fixed ring (3) and the movable ring (2).
8. The automatic inclinator structure of unmanned helicopter of any of claims 1-2, wherein: the stationary ring (3) is also connected with an anti-twisting arm component (4).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110217360.7A CN112550693B (en) | 2021-02-26 | 2021-02-26 | Automatic inclinator structure of unmanned helicopter |
| CN202110475565.5A CN113104211A (en) | 2021-02-26 | 2021-02-26 | Automatic inclinator structure of unmanned helicopter |
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| GB410532A (en) * | 1932-11-26 | 1934-05-24 | Cierva Juan De La | Improvements in and relating to aircraft having rotative wings |
| FR2564057B1 (en) * | 1984-05-14 | 1986-10-31 | Aerospatiale | DEVICE WITH CYCLIC PLATES MOUNTED ON LAMINATED JOINTS FOR CONTROLLING THE PITCH OF THE BLADES OF A ROTOR |
| US4688993A (en) * | 1985-03-21 | 1987-08-25 | United Technologies Corporation | Tangential link swashplate centering member |
| CN102844586B (en) * | 2010-03-12 | 2015-06-24 | 迪姆肯公司 | Gear transmission load sharing mechanism |
| US9157474B2 (en) * | 2013-09-30 | 2015-10-13 | Bell Helicopter Textron Inc. | System and method of monitoring wear in a bearing |
| CN106741928A (en) * | 2015-11-24 | 2017-05-31 | 中国直升机设计研究所 | A kind of depopulated helicopter exempts from guide-roller type auto-bank unit |
| RU2656737C1 (en) * | 2016-12-13 | 2018-06-06 | федеральное государственное бюджетное образовательное учреждение высшего образования "Уфимский государственный авиационный технический университет" | Skew machine |
| CN109533318A (en) * | 2018-09-28 | 2019-03-29 | 北京因时机器人科技有限公司 | Pitch driving mechanism and model helicopter |
| CN109533322B (en) * | 2018-11-15 | 2020-09-25 | 中国直升机设计研究所 | Automatic inclinator |
| CN111924096A (en) * | 2020-08-26 | 2020-11-13 | 珠海市双捷科技有限公司 | Helicopter rotor head and helicopter |
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| CN112550693A (en) | 2021-03-26 |
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Inventor after: Jin Xi Inventor after: Zeng Dong Inventor after: Ran Junshuang Inventor before: Zeng Dong |