CN211253015U - Electric main rotor wing control device of unmanned helicopter - Google Patents
Electric main rotor wing control device of unmanned helicopter Download PDFInfo
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- CN211253015U CN211253015U CN201922155525.3U CN201922155525U CN211253015U CN 211253015 U CN211253015 U CN 211253015U CN 201922155525 U CN201922155525 U CN 201922155525U CN 211253015 U CN211253015 U CN 211253015U
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Abstract
The utility model belongs to the technical field of the helicopter rotor control system, concretely relates to electronic main rotor controlling means of unmanned helicopter. The main shaft tilting mechanism of the inner frame and the outer frame replaces the traditional automatic inclinator and pull rod assembly. Through the linkage of the servo steering engine of the inner frame and the outer frame, the rotor disc can tilt at any angle, and therefore pitching and rolling motions of the unmanned helicopter can be achieved. The control design greatly simplifies the structure of the main rotor control system, lightens the weight of the control mechanism and improves the control efficiency and the control precision of the main rotor.
Description
Technical Field
The utility model belongs to the technical field of the helicopter rotor control system, concretely relates to electronic main rotor controlling means of unmanned helicopter.
Background
The flight control system of the unmanned helicopter adjusts the total pitch angle and the periodic pitch angle of the main rotor through the main rotor control mechanism, so that the main rotor paddle tilts for a certain angle, the aerodynamic force and direction are changed, and the longitudinal and transverse flight control of the unmanned helicopter is realized.
The main rotor control mechanism of the unmanned helicopter with the conventional configuration generally comprises a hub variable pitch rocker arm, a pull rod assembly, an automatic tilter and a servo steering engine. According to an execution instruction of the flight control system, the servo steering engine stretches or rotates to drive the automatic tilter to tilt or lift, and then the automatic tilter is transmitted to the variable-pitch rocker arm through the pull rod assembly, so that the variable-pitch angle control of the main rotor wing is realized. The operating mechanism mainly has the following defects:
1) the automatic inclinator needs to be designed with a complex structure, besides, a plurality of servo steering engines are needed, and a plurality of steering rocker arms and pull rod assemblies are designed, so that the whole operating mechanism has a complex structure, heavy weight, large occupied space and poor maintainability;
2) the hinge has long torque transmission path, large load change and high requirement on the fatigue life of the pull rod and the steering engine;
3) the coupling of the control travel and the control force is strong, the transmission linearity is poor, the control error is large, the control response is slow, and the precision of the flight control is adversely affected to a certain extent.
SUMMERY OF THE UTILITY MODEL
The utility model aims at: the electric main rotor wing control device of the unmanned helicopter is provided, a main rotor wing control mechanism of the unmanned helicopter is simplified, and the weight of the control mechanism is reduced; the control efficiency of the main rotor wing is improved, and the response speed of the flight aerodynamic force is increased; high-precision control of main rotor operation is realized, and the flight control effect of the unmanned helicopter is optimized.
The technical scheme of the utility model:
in a first aspect, an electric main rotor control device for an unmanned helicopter is provided, comprising: a U-shaped base 2, an outer frame rotating mechanism 4, an outer frame 5, an inner frame rotating mechanism 6, an inner frame 7, an inner frame rotating shaft 8, a pitching servo steering engine 9, a rolling servo steering engine 10 and a main shaft motor 11,
the outer frame 5 comprises a 0-degree connecting end, a 90-degree connecting end, a 180-degree connecting end and a 270-degree connecting end; the inner frame 7 comprises a 90-degree connecting end and a 270-degree connecting end; the U-shaped base 2 is symmetrical about the main rotor axis of rotation; the symmetric centers of the outer frame 5 and the inner frame 7 are on the rotation axis of the main rotor wing;
a stator of the pitching servo steering engine 9 is arranged at one end of the U-shaped base 2, and a rotor of the pitching servo steering engine 9 penetrates through the outer frame rotating mechanism 4 to be fixedly connected with the 0-degree connecting end of the outer frame 5; the 180-degree connecting end of the outer frame 5 is connected with the other end of the U-shaped base 2 through an outer frame rotating mechanism 4;
a stator of the roll servo steering engine 10 is arranged at the 90-degree connecting end of the outer frame 5, and a rotor of the roll servo steering engine 10 penetrates through the inner frame rotating mechanism 6 and is fixedly connected with the inner frame rotating shaft 8;
one end of an inner frame rotating shaft 8 is fixedly connected with a rotor of a roll servo steering engine 10, and the other end of the inner frame rotating shaft 8 is connected with a 270-degree connecting end of an outer frame 5 through an inner frame rotating mechanism 6; one end of the inner frame rotating shaft 8 is connected with the 90-degree connecting end of the inner frame 7, the other end of the inner frame rotating shaft 8 is connected with the 270-degree connecting end of the inner frame 7,
the stator of the spindle motor 11 is fixed on the inner frame 7, and the rotor of the spindle motor 11 penetrates through the rotation axis of the main rotor and is fixedly connected with the rotation axis of the main rotor.
Optionally, still include base 1, base 1 is located main rotor directly below and links firmly with the organism structure, and U type base 2 is fixed on base 1.
Alternatively, the outer frame rotating mechanism 4 and the inner frame rotating mechanism 6 include bearings.
Optionally, the stator of every single move servo steering wheel 9 installs in 2 one end of U type base, specifically includes:
the stator of the pitching servo steering engine 9 is arranged at one end of the U-shaped base 2 through a fastening screw 12.
Optionally, the U-shaped base 2 is fixed to the base 1, and specifically includes:
the U-shaped base 2 is fixed on the base 1 through a fixing bolt 3.
Alternatively, the outer frame 5 and the inner frame 7 are concentric rings.
The utility model has the advantages that:
the utility model realizes the quick and light control of the lift force of the electric main rotor wing and the longitudinal/transverse tilting of the paddle disk of the unmanned helicopter, effectively simplifies the design of the control mechanism, lightens the structural weight and improves the control efficiency; the problems of complex transmission of the main rotor wing control force and moment, poor linearity, strong coupling and large control error of the unmanned helicopter are solved, and the control response speed and precision are improved; the mission load capacity and flight maneuvering performance of the unmanned helicopter are improved.
Drawings
FIG. 1 is a schematic view of a construction machine according to the present embodiment;
FIG. 2 is an isometric view of a schematic structural diagram according to this embodiment;
FIG. 3 is a front view of a schematic configuration according to the present embodiment;
fig. 4 is a top view of a schematic structure according to the present embodiment.
The base 1 is provided with a base 2U-shaped base 3, fixing bolts 4, an outer frame bearing 5, an outer frame bearing 6, an inner frame bearing 7, an inner frame rotating shaft 8, a pitching servo steering engine 10, a rolling servo steering engine 11 and a spindle motor 12.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
A novel main rotor control device of an unmanned helicopter is provided. The main shaft tilting mechanism of the inner frame and the outer frame replaces the traditional automatic inclinator and pull rod assembly. The mechanism is suitable for the main shaft to be electrically driven, a main shaft motor stator or a main reducer casing of the mechanism is fixed in the center of an inner frame of the mechanism, a motor rotor is fixedly connected with a rotor wing, and the rotor wing can change the lift force of a paddle disk through the motor speed change; a transverse rolling servo steering engine fixed on the outer frame is connected with a rotating shaft of the inner frame, and can drive the inner frame to rotate around a longitudinal shaft to change the tilting angle of the inner frame, so that a rotor wing paddle disk is driven to tilt in the transverse rolling direction, and the unmanned helicopter generates component force of a transverse channel; an output shaft of an outer frame servo steering engine fixed on the U-shaped base is connected with an outer frame rotating shaft, the outer frame can be driven to rotate around a transverse shaft, and the tilting angle of the outer frame is changed, so that a rotor wing paddle disk is driven to tilt in the pitching direction, and the unmanned helicopter is enabled to generate component force of a longitudinal channel. Through the linkage of the servo steering engine of the inner frame and the outer frame, the rotor disc can tilt at any angle, and therefore pitching and rolling motions of the unmanned helicopter are achieved. The control design greatly simplifies the structure of the main rotor control system, lightens the weight of the control mechanism and improves the control efficiency and the control precision of the main rotor.
The utility model provides an electronic main rotor controlling device of unmanned helicopter, include: the device comprises a U-shaped base 2, an outer frame rotating mechanism 4, an outer frame 5, an inner frame rotating mechanism 6, an inner frame 7, an inner frame rotating shaft 8, a pitching servo steering engine 9, a rolling servo steering engine 10 and a spindle motor 11, wherein the outer frame 5 comprises a 0-degree connecting end, a 90-degree connecting end, a 180-degree connecting end and a 270-degree connecting end; the inner frame 7 comprises a 90-degree connecting end and a 270-degree connecting end; the U-shaped base 2 is symmetrical about the main rotor axis of rotation; the symmetric centers of the outer frame 5 and the inner frame 7 are on the rotation axis of the main rotor wing; a stator of the pitching servo steering engine 9 is arranged at one end of the U-shaped base 2, and a rotor of the pitching servo steering engine 9 penetrates through the outer frame rotating mechanism 4 to be fixedly connected with the 0-degree connecting end of the outer frame 5; the 180-degree connecting end of the outer frame 5 is connected with the other end of the U-shaped base 2 through an outer frame rotating mechanism 4; a stator of the roll servo steering engine 10 is arranged at the 90-degree connecting end of the outer frame 5, and a rotor of the roll servo steering engine 10 penetrates through the inner frame rotating mechanism 6 and is fixedly connected with the inner frame rotating shaft 8; one end of an inner frame rotating shaft 8 is fixedly connected with a rotor of a roll servo steering engine 10, and the other end of the inner frame rotating shaft 8 is connected with a 270-degree connecting end of an outer frame 5 through an inner frame rotating mechanism 6; one end of the inner frame rotating shaft 8 is connected with the 90-degree connecting end of the inner frame 7, the other end of the inner frame rotating shaft 8 is connected with the 270-degree connecting end of the inner frame 7, the stator of the spindle motor 11 is fixed on the inner frame 7, and the rotor of the spindle motor 11 penetrates through the main rotor rotation axis to be fixedly connected with the main rotor rotation axis.
Optionally, still include base 1, base 1 is located main rotor directly below and links firmly with the organism structure, and U type base 2 is fixed on base 1.
Alternatively, the outer frame rotating mechanism 4 and the inner frame rotating mechanism 6 include bearings.
Optionally, the stator of every single move servo steering wheel 9 installs in 2 one end of U type base, specifically includes: the stator of the pitching servo steering engine 9 is arranged at one end of the U-shaped base 2 through a fastening screw 12.
Optionally, the U-shaped base 2 is fixed to the base 1, and specifically includes: the U-shaped base 2 is fixed on the base 1 through a fixing bolt 3.
Alternatively, the outer frame 5 and the inner frame 7 are concentric rings.
Example (b):
the utility model provides a novel electronic main rotor's of unmanned helicopter manipulation design, the mechanism that verts through interior frame realizes that the every single move and the roll of main rotor oar dish verts fast, realizes the maneuvering operation of light efficient flight.
The concrete spare part includes: the servo steering device comprises a base 1, a U-shaped base 2, a fixing bolt 3, an outer frame bearing 4, an outer frame 5, an inner frame bearing 6, an inner frame 7, an inner frame rotating shaft 8, a pitching servo steering engine 9, a rolling servo steering engine 10, a spindle motor 11 and a fastening screw 12.
The connection relation among all parts is as follows: the base is fixedly connected with the machine body and is positioned right below the main rotor wing; the U-shaped base is fixed on the base through a fixing bolt; the pitching servo steering engine is arranged at one end of the U-shaped base through a fastening screw, and an output shaft of the pitching servo steering engine is fixedly connected with the outer frame rotating shaft; the other end of the outer frame is connected with the U-shaped base through a bearing, and the pitching servo steering engine rotates to drive the outer frame to perform pitching tilting movement; the cross-rolling servo steering engine is installed at one end of the outer frame through a fastening screw, the output shaft penetrates through the inner frame bearing to be fixedly connected with the inner frame rotating shaft to drive the inner frame to do cross-rolling tilting movement, the spindle motor stator or the main reducer casing fixedly connected with the outer frame also do the same movement, and the paddle disc can realize cross-rolling movement.
The working conditions are as follows: the change of the lift force of the main rotor along the main shaft can be realized by directly controlling the rotating speed of a main shaft motor, namely the rotating speed of the rotor; the rotation angle of the rotor of the pitching servo steering engine is controlled, so that the spindle motor rotates by a specific angle around a pitching axis along with the inner frame, the pitching motion of a main rotor blade disc is driven, and the control of the longitudinal periodic variable pitch angle of the main rotor blade is realized; the main shaft motor rotates along with a transverse rolling axis driven by the transverse rolling servo steering engine, so that the main rotor blade disc generates transverse rolling motion, and the lifting force of the main rotor generates transverse component force.
The utility model discloses a can realize the light manipulation and the accurate agile control of unmanned helicopter main rotor, solve that traditional unmanned helicopter main rotor operating mechanism weight is big, the manipulation is complicated, control accuracy is low, the not high key problem of work efficiency.
The utility model discloses a key point:
1) the direction of the paddle disk is changed by a special paddle disk tilting mechanism consisting of an inner frame and an outer frame: the main rotor blade disc can be quickly controlled to longitudinally and transversely tilt only by two tilting mechanisms controlled by the servo steering engine, so that the control efficiency is greatly improved;
2) the lift force is directly changed by a variable-speed motor fixedly connected with the inner frame: the control of the lift force of the main rotor is realized through the spindle motor fixedly connected with the inner frame, the total distance of the rotors is not required to be changed by a complex control structure, and the control structure is simplified;
3) the main rotor integral structure is light, the operation response is fast and the precision is high: the novel electric main rotor wing control mechanism is simple and efficient in layout design, light in weight, faster in control response due to the design of the rotation speed of the direct control motor and the tilting angle of the paddle disk, higher in precision and novel.
The above description is only for the specific embodiments of the present invention, and the present invention is described in detail, and the detailed description is not the conventional technology. However, the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. An electric main rotor control device of an unmanned helicopter, comprising: a U-shaped base (2), an outer frame rotating mechanism (4), an outer frame (5), an inner frame rotating mechanism (6), an inner frame (7), an inner frame rotating shaft (8), a pitching servo steering engine (9), a rolling servo steering engine (10) and a spindle motor (11),
the outer frame (5) comprises a 0-degree connecting end, a 90-degree connecting end, a 180-degree connecting end and a 270-degree connecting end; the inner frame (7) comprises a 90-degree connecting end and a 270-degree connecting end; the U-shaped base (2) is symmetrical about the main rotor rotation axis; the symmetric centers of the outer frame (5) and the inner frame (7) are on the rotation axis of the main rotor wing;
a stator of the pitching servo steering engine (9) is arranged at one end of the U-shaped base (2), and a rotor of the pitching servo steering engine (9) penetrates through the outer frame rotating mechanism (4) to be fixedly connected with the 0-degree connecting end of the outer frame (5); the 180-degree connecting end of the outer frame (5) is connected with the other end of the U-shaped base (2) through an outer frame rotating mechanism (4);
a stator of the transverse rolling servo steering engine (10) is arranged at the 90-degree connecting end of the outer frame (5), and a rotor of the transverse rolling servo steering engine (10) penetrates through the inner frame rotating mechanism (6) to be fixedly connected with the inner frame rotating shaft (8);
one end of an inner frame rotating shaft (8) is fixedly connected with a rotor of a transverse rolling servo steering engine (10), and the other end of the inner frame rotating shaft (8) is connected with a 270-degree connecting end of an outer frame (5) through an inner frame rotating mechanism (6); one end of the inner frame rotating shaft (8) is connected with the 90-degree connecting end of the inner frame (7), the other end of the inner frame rotating shaft (8) is connected with the 270-degree connecting end of the inner frame (7),
the stator of the spindle motor (11) is fixed on the inner frame (7), and the rotor of the spindle motor (11) penetrates through the rotation axis of the main rotor and is fixedly connected with the rotation axis of the main rotor.
2. The device according to claim 1, characterized by further comprising a base (1), wherein the base (1) is positioned right below the main rotor and fixedly connected with the airframe structure, and the U-shaped base (2) is fixed on the base (1).
3. The device according to claim 1, wherein the outer frame turning mechanism (4) and the inner frame turning mechanism (6) comprise bearings.
4. The device according to claim 1, wherein the stator of the pitch servo steering engine (9) is mounted at one end of the U-shaped base (2), and specifically comprises:
the stator of the pitching servo steering engine (9) is arranged at one end of the U-shaped base (2) through a fastening screw (12).
5. The device according to claim 2, characterized in that the U-shaped base (2) is fixed to the base (1), in particular comprising:
the U-shaped base (2) is fixed on the base (1) through a fixing bolt (3).
6. Device according to claim 1, characterized in that the outer frame (5) and the inner frame (7) are concentric rings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922155525.3U CN211253015U (en) | 2019-12-04 | 2019-12-04 | Electric main rotor wing control device of unmanned helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922155525.3U CN211253015U (en) | 2019-12-04 | 2019-12-04 | Electric main rotor wing control device of unmanned helicopter |
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| Publication Number | Publication Date |
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| CN211253015U true CN211253015U (en) | 2020-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922155525.3U Active CN211253015U (en) | 2019-12-04 | 2019-12-04 | Electric main rotor wing control device of unmanned helicopter |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112277551A (en) * | 2020-10-28 | 2021-01-29 | 北京航空航天大学 | Variable structure multi-mode mobile robot |
| CN113277077A (en) * | 2021-06-30 | 2021-08-20 | 广州极飞科技股份有限公司 | Aircraft with a flight control device |
| CN113734437A (en) * | 2021-10-19 | 2021-12-03 | 重庆航天工业有限公司 | Automatic tilting device of electric helicopter |
-
2019
- 2019-12-04 CN CN201922155525.3U patent/CN211253015U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112277551A (en) * | 2020-10-28 | 2021-01-29 | 北京航空航天大学 | Variable structure multi-mode mobile robot |
| CN112277551B (en) * | 2020-10-28 | 2022-04-15 | 北京航空航天大学 | Variable structure multi-mode mobile robot |
| CN113277077A (en) * | 2021-06-30 | 2021-08-20 | 广州极飞科技股份有限公司 | Aircraft with a flight control device |
| CN113734437A (en) * | 2021-10-19 | 2021-12-03 | 重庆航天工业有限公司 | Automatic tilting device of electric helicopter |
| CN113734437B (en) * | 2021-10-19 | 2023-10-03 | 重庆航天工业有限公司 | Automatic tilting device of electric helicopter |
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