WO2020029066A1 - Main rotor mechanism of single-rotor unmanned aerial vehicle - Google Patents
Main rotor mechanism of single-rotor unmanned aerial vehicle Download PDFInfo
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- WO2020029066A1 WO2020029066A1 PCT/CN2018/099144 CN2018099144W WO2020029066A1 WO 2020029066 A1 WO2020029066 A1 WO 2020029066A1 CN 2018099144 W CN2018099144 W CN 2018099144W WO 2020029066 A1 WO2020029066 A1 WO 2020029066A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
Definitions
- the invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a single-rotor unmanned aerial vehicle.
- Single-rotor drone also known as helicopter drone, which takes off by flying through the main rotor and changes the deflection direction through the tail rotor.
- helicopter drone Compared with multi-rotor or fixed-wing drone, it has strong maneuverability and fast flight speed. Therefore, in the field of competition, helicopter drones have always been the most popular models, and the main rotor mechanism of the helicopter drone is the source of power for the entire drone, so the main rotor mechanism needs excellent stability to To ensure the stable flight of the drone, when the main rotor rotates, due to the large centrifugal force, the deflection of the main rotor may not be completed smoothly, or the deflection cannot reach a predetermined angle.
- the main rotor mechanism of the existing helicopter drone, its main The deflection connection of the paddle clamp is completed by installing thrust bearings and ordinary roller bearings.
- thrust bearings to bear their centrifugal tension.
- the deflection and rotation of the main rotor are in actual use. There is a certain error in the set value. Therefore, there is a need to effectively reduce the error caused by the centrifugal tension and ensure the main rotor. Deflection can be more smooth main rotor body.
- the main technical problem solved by the present invention is to provide a main rotor mechanism of a single-rotor unmanned aerial vehicle, which solves the problem of the axial clearance of the main rotor through angular contact bearings, and ensures that the main rotor has no axial creep when the main rotor is axially free of creep.
- Rotor deflection can also be smoother, ensuring the stability of the main rotor mechanism when the drone is running.
- a main rotor mechanism of a single-rotor drone includes a main rotor head fixedly connected to a main shaft of the drone, and the main rotor head is disposed perpendicular to the main shaft;
- the main rotor head includes a paddle base joint, and the paddle base joint has a vertical arm and a transverse arm.
- the paddle base joint is formed into a “T” -shaped structure through the transverse arm and the vertical arm.
- the main shaft is fixedly connected to the main shaft.
- a main paddle clamp for holding the main rotor is provided at both ends of the cross arm. One end of the main paddle clamp is sleeved on the cross arm, and a position of the through sleeve is provided.
- a thrust bearing and at least one paddle clamp angular contact bearing both of the main paddle clamps are rotatably connected to the cross arm through the thrust bearing and the paddle clamp angular contact bearing, and the side walls of the two main paddle clamps are both
- a paddle clamp arm is provided, and the paddle clamp arms of the two main paddle clamps are arranged in opposite directions, one end of the paddle clamp arm is fixed to the main paddle clamp, and the other end is provided with a linkage ball head;
- the main rotor mechanism further includes a swash plate, the swash plate is sleeved and fixed to the main shaft and is located under the paddle joint, and the swash plate includes a joint bearing, an upper cross plate, a lower cross plate, a cross
- the inner ring of the disk and the angular contact bearing of the swash plate, the upper cross plate and the lower cross plate are sleeved on the outer side wall of the inner ring of the swash plate, and are located at both ends of the inner ring of the swash plate, respectively.
- a disk is fixedly connected to the inner ring of the swash plate, the lower cross of the swash plate and the inner ring of the swash plate are rotatably connected through a swash plate angular contact bearing, and the joint bearing is provided on an inner side wall of the inner ring of the swash plate, and It is located at the end where the upper cross plate is located.
- the inner ring of the articulated bearing is fixed to the main shaft.
- the swash plate can realize the swinging movement through the articulated bearing.
- the linked ball head wherein the two opposite linked ball heads are flip ball heads, and the other two linked ball heads are phase ball heads, and the flip ball head and the linked ball head at one end of the paddle clamp arm pass through Connecting rod connection.
- the connecting rod includes a rod body and two ball head buckles respectively disposed at two ends of the rod body, and the connecting rod is connected to the linkage ball head through the ball head buckle.
- one end of the rod body has a right-handed thread and the other end has a left-handed thread, and the two ball-end buckles are threadedly connected to the rod body.
- the paddle clamp angular contact bearing is a double row angular contact bearing, and the number of the double row angular contact bearings at the two main paddle clamps is two, and the two angular contact bearings are respectively Located on both sides of the fixed position of the paddle clamp arm.
- the thrust bearing is located between two of the paddle-angular angular contact bearings.
- the main rotor mechanism further includes a phase holder, the phase holder includes a phase arm and a linkage arm, the phase arm is hinged to the linkage arm, and the phase arm and the linkage arm can Rotating in the same plane, the free end of the phase arm is hinged to the main shaft or the center of the paddle seat, and the free end of the linkage arm is hinged to the phase ball head.
- one end of the paddle clamp arm provided with the linkage ball head has two threaded holes, and the two threaded holes are arranged in a horizontal direction.
- the linkage ball head can be installed in any of the threaded holes.
- the swashplate angular contact bearing is a double row angular contact bearing.
- the cross arm of the paddle base has a through hole penetrating along its axial direction, a cross axis is passed through the cross arm, and the main paddle clamp is rotatably connected to the cross axis.
- the vertical arm of the paddle base joint has a blind hole, and the paddle base joint passes through the blind hole and is fixed to the main shaft.
- the main rotor mechanism of the present invention uses an angular contact bearing to complete the rotatable connection of the main paddle clamp.
- the angular contact bearing can solve the problem of the axial clearance of the main rotor, avoid the axial creep of the main rotor, and cooperate with the thrust bearing. , To further ensure the stability of the main rotor, to ensure that the main rotor can flip smoothly.
- angular contact bearings are also used at the swashplate. Like the main rotor, the angular contact bearings can effectively prevent the axial movement while ensuring axial movement. Peristalsis, improve the accuracy of the transmission, so as to be able to control the force more accurately;
- the main rotor mechanism of the present invention realizes the rotation and phase maintenance of the main rotor through a swashplate.
- the joint bearing of the swashplate can realize any angle deflection of the swashplate.
- the deflection of the main paddle is driven by the connecting rod to control the main rotor
- the phase holder can maintain the relative position of the main rotor and the swashplate.
- the phase holder has a phase arm and a linkage arm that are hinged to each other, and it passes the ball.
- the head is connected with the main paddle clamp and the swashplate. When the main rotor rotates, it has no effect on the deflection of the main rotor;
- one end of the paddle clamp arm is provided with two threaded holes in the horizontal direction, so that the linkage ball head can change the installation position, and thus the position change can perform the range of the deflection angle of the main rotor.
- the link member has a rod body and two ball-end buckles provided at both ends of the rod body, and one end of the rod body has a right-hand thread and the other end has a left-hand thread, and the two ball-end buckle threads are connected to the rod body By rotating the rod body, the ball joints at both ends can be rotated in or out at the same time, which makes the adjustment of the length of the connecting rod easier.
- the main rotor mechanism of the present invention wherein the connected transverse arm has an axially penetrating through hole, and a transverse axis is provided in the through hole, and two main paddle clamps are respectively provided at both ends of the transverse axis.
- Figure 1 is a schematic diagram of the overall structure of the main rotor mechanism of the present invention
- FIG. 2 is a schematic structural diagram of a main rotor head of the present invention
- FIG. 3 is a schematic diagram of a midline of a main rotor head
- FIG. 4 is a schematic view of a main paddle clamp of a main rotor head
- FIG. 5 is an enlarged view of a portion A in FIG. 4;
- FIG. 6 is a schematic structural diagram of a swashplate of the present invention.
- FIG. 7 is a schematic exploded structure diagram of the swashplate of the present invention.
- Figure 8 is a sectional view of a swashplate of the present invention.
- FIG. 10 is a schematic diagram of a connecting rod of the present invention.
- FIG. 11 is a schematic diagram of a main paddle clamp of a main rotor head of the present invention.
- FIG. 12 is a schematic structural diagram of a phase holder of the present invention.
- Main shaft 1 main rotor head 302, paddle center joint 3021, vertical arm 30211, cross arm 30212, main paddle clamp 3022, thrust bearing 3023, paddle clamp angular contact bearing 3024, paddle clamp arm 3025, linkage ball head 3027, through hole 302121, horizontal axis 30213, threaded hole 30252, swash plate 303, joint bearing 3031, cross upper plate 3032, cross lower plate 3033, swash plate inner ring 3034, swash plate angular contact bearing 3035, flip ball head 30321, phase ball head 30322 , Connecting rod 3028, lever body 30281, ball head buckle 30282, fixed position of paddle clamp arm 30251, phase holder 3029, phase arm 30291, linkage arm 30292.
- a main rotor mechanism of a single-rotor drone includes a main rotor head 302 fixedly connected to a main shaft 1 of the drone, and the main rotor head is disposed perpendicular to the main shaft;
- the main rotor head includes a paddle base 3021, which has a vertical arm 30211 and a cross arm 30212, and the paddle base passes through the cross arm and the vertical arm.
- the vertical arm is fixedly connected to the main shaft, and both ends of the cross arm are provided with a main paddle clamp 3022 for clamping the main rotor, and one end of the main paddle is threaded over the seat.
- the cross arm is provided with a thrust bearing 3023 and at least one paddle angle contact bearing 3024 at the position of the sleeve, and the two main paddle clips are rotatably connected to the bearing through the thrust bearing and the paddle angle contact bearing.
- the side walls of the two main paddle clips are provided with paddle clip arms 3025, and the paddle clip arms of the two main paddle clips are arranged in opposite directions, and one end of the paddle clip arms is fixed to the
- the main paddle clamp is provided with a linkage ball head 3027 at the other end;
- the cross arm of the paddle base has a through hole 302121 penetrating along its axial direction, a cross shaft 30213 is passed through the cross arm, and the main paddle clamp is rotatably connected to the cross axis;
- the vertical arm of the paddle base joint has a blind hole, and the paddle base joint passes through the blind hole and is fixed to the main shaft.
- the paddle clamp arm is provided with two threaded holes 30252 at one end, and the two threaded holes are arranged in a horizontal direction.
- the linkage ball head can be installed in any of the threaded holes, through two threads.
- the hole can set the range of the turning angle of the main rotor;
- the main rotor mechanism further includes a swash plate 303, the swash plate is sleeved and fixed to the main shaft and is located below the center of the paddle seat, and the swash plate includes a joint bearing 3031, swash plate 3032, swash plate 3033, swash plate inner ring 3034, and swash plate angular contact bearing 3035.
- the swash plate and swash plate are both sleeved on the outer side wall of the swash plate inner ring, and are respectively It is located at both ends of the inner ring of the swash plate, the upper cross plate is fixedly connected to the inner ring of the swash plate, the lower cross plate and the inner ring of the swash plate are rotatably connected through a swash plate angular contact bearing, the
- the joint bearing is arranged on the inner side wall of the inner ring of the swash plate and is located at the end where the upper cross plate is located, and the inner ring of the joint bearing is fixed to the main shaft;
- the swash plate can realize swinging movement through the joint bearing, and the side wall of the swash plate is also provided with four linkage ball heads, of which the two opposite linkage ball heads are opposite It is a flip ball head 30321, and the other two linkage ball heads are phase ball heads 30322.
- the flip ball head is connected with the linkage ball head at one end of the paddle clamp arm through a connecting rod 3028, and swings through the swashplate. The rotation of the main paddle clamp is driven.
- the connecting rod includes a rod body 30281 and two ball joints 30282 respectively provided at two ends of the rod body, and the link is connected to the linkage ball joint through the ball joints;
- One end of the rod body is provided with a right-handed thread and the other end is provided with a left-handed thread.
- the two ball-end buckles are threadedly connected to the rod body, and the ball-end buckles at both ends thereof can be rotated in or out simultaneously by rotating the rod body.
- the paddle clamp angular contact bearing is a double row angular contact bearing, and the number of the double row angular contact bearings at the two main paddle clamps is two, and the two angular contacts are The bearings are respectively located on both sides of the fixed position 30251 of the paddle clamp arm.
- the thrust bearing is located between two of the paddle clamp angular contact bearings.
- the main rotor mechanism further includes a phase holder 3029
- the phase holder includes a phase arm 30291 and a linkage arm 30292
- the phase arm is hinged to the linkage arm
- the phase The arm and the linkage arm can rotate in the same plane
- the free end of the phase arm is hinged to the main shaft or the paddle base
- the free end of the linkage arm is hinged to the phase ball head.
- the phase holder can maintain the relative positional relationship between the main rotor head and the cross upper disk, and can stably drive the cross upper disk to rotate when the main rotor head rotates.
- the swashplate angular contact bearing is a double row angular contact bearing.
- the main rotor mechanism uses the angular contact bearing to complete the rotatable connection of the main paddle clamp.
- the angular contact bearing can solve the problem of the axial clearance of the main rotor, avoid the axial creep of the main rotor, and cooperate with the thrust bearing to further ensure the main rotor.
- the stability of the rotor ensures that the main rotor can flip smoothly.
- angular contact bearings are used at the swashplate. Like the main rotor, the angular contact bearings can effectively prevent axial creep while improving the transmission. Accuracy, so as to enable more precise control;
- the main rotor mechanism uses the swashplate to realize the overturning and rotation phase maintenance of the main rotor.
- the swashplate's articulated bearings can achieve any angle deflection of the swashplate, and the deflection of the main rotor clamp is driven by the connecting rod to control the deflection of the main rotor.
- a phase holder is also provided between the main rotor and the main rotor. The phase holder can maintain the relative position between the main rotor and the swashplate.
- the phase holder has a phase arm and a linkage arm that are hinged to each other. It is connected to the swashplate and has no effect on the deflection of the main rotor when the main rotor rotates;
- the link member has a rod body And two ball buckles provided at the two ends of the rod body, and one end of the rod body has a right-hand thread and the other end has a left-hand thread.
- the two ball head buckles are threadedly connected to the rod body, and rotating the rod body can achieve The ball buckle is rotated in or out at the same time, which makes the adjustment of the link length easier.
- the cross arm of Zoomlion has an axially penetrating through hole, and a horizontal axis is provided in the through hole.
- Two main paddle clamps are respectively disposed at both ends of the horizontal axis.
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Abstract
A main rotor mechanism of a single-rotor unmanned aerial vehicle comprises a main rotor head (302) fixedly connected to an unmanned aerial vehicle main shaft (1). The main rotor head (302) comprises a blade seat middle connection (3021). The blade seat middle connection (3021) is provided with a vertical arm (30211) and a cross arm (30212) forming a "T"-shaped structure. The vertical arm (30211) is fixedly connected to the main shaft (1). Two ends of the cross arm (30212) are each provided with a main blade holder (3022) used to hold a main rotor. One end of the main blade holder (3022) is sleeved on the cross arm (30212). The sleeved portion is provided with a thrust bearing (3023) and at least one blade holder angular contact bearing (3024). The two main blade holders (3022) are rotatably connected to the cross arm (30212) by the thrust bearing (3023) and the blade holder angular contact bearing (3024). Side walls of the two main blade holders (3022) are each provided with a blade holder arm (3025). An angular contact bearing solves the axial clearance issue of a main rotor, thereby ensuring smooth deflection of a main rotor with no creep in an axial direction of the main rotor, and ensuring the stability of a main rotor mechanism during operation of an unmanned aerial vehicle.
Description
本发明属于无人机技术领域，特别是涉及一种单旋翼无人机。The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a single-rotor unmanned aerial vehicle.
单旋翼无人机，也称直升机无人机，其通过主旋翼升空飞行，通过尾旋翼改变偏转方向，相较于多旋翼或者固定翼无人机，具有机动性能强，飞行速度快的特性，所以在竞技领域里，直升机无人机一直是比较热门的机型，而直升机无人机的主旋翼机构是整个无人机的动力来源，所以主旋翼机构需要极佳的稳定性，用以保证无人机的稳定飞行，主旋翼旋转时，由于离心力较大，使得主旋翼的偏转可能无法顺利完成，或者是偏转不能达到预定角度，现有的直升机无人机的主旋翼机构，其主桨夹的偏转连接都是通过安装推力轴承和普通滚子轴承完成，有推力轴承承担其离心拉力，但是由于推力轴承的轴向游隙较大，实际使用中，主旋翼的偏转和旋转都与设定值有一定的误差，所以，需要一种能够有效的减小由于离心拉力造成的误差，并且能够保证主旋翼的偏转能够更为流畅的主旋翼机构。Single-rotor drone, also known as helicopter drone, which takes off by flying through the main rotor and changes the deflection direction through the tail rotor. Compared with multi-rotor or fixed-wing drone, it has strong maneuverability and fast flight speed. Therefore, in the field of competition, helicopter drones have always been the most popular models, and the main rotor mechanism of the helicopter drone is the source of power for the entire drone, so the main rotor mechanism needs excellent stability to To ensure the stable flight of the drone, when the main rotor rotates, due to the large centrifugal force, the deflection of the main rotor may not be completed smoothly, or the deflection cannot reach a predetermined angle. The main rotor mechanism of the existing helicopter drone, its main The deflection connection of the paddle clamp is completed by installing thrust bearings and ordinary roller bearings. There are thrust bearings to bear their centrifugal tension. However, due to the large axial clearance of thrust bearings, the deflection and rotation of the main rotor are in actual use. There is a certain error in the set value. Therefore, there is a need to effectively reduce the error caused by the centrifugal tension and ensure the main rotor. Deflection can be more smooth main rotor body.
发明内容Summary of the invention
本发明主要解决的技术问题是提供一种单旋翼无人机的主旋翼机构，其通过角接触轴承解决主旋翼的轴向游隙的问题，保证主旋翼轴向无蠕动的情况下，使主旋翼偏转还能够更加的顺畅，保证了无人机运行时的主旋翼机构的稳定性。The main technical problem solved by the present invention is to provide a main rotor mechanism of a single-rotor unmanned aerial vehicle, which solves the problem of the axial clearance of the main rotor through angular contact bearings, and ensures that the main rotor has no axial creep when the main rotor is axially free of creep. Rotor deflection can also be smoother, ensuring the stability of the main rotor mechanism when the drone is running.
为解决上述技术问题，本发明的采用的一个技术方案如下：To solve the above technical problems, a technical solution adopted by the present invention is as follows:
一种单旋翼无人机的主旋翼机构，包括固定连接于无人机主轴的主旋翼头，所述主旋翼头与所述主轴垂直设置；A main rotor mechanism of a single-rotor drone includes a main rotor head fixedly connected to a main shaft of the drone, and the main rotor head is disposed perpendicular to the main shaft;
所述主旋翼头包括桨座中联，所述桨座中联具有竖臂和横臂，所述桨座中联通过所述横臂和竖臂构成为“T”字形结构，所述竖臂固定连接于所述主轴，所述横臂的两端皆设有用于夹持主旋翼的主桨夹，所述主桨夹的一端穿套于所 述横臂，且所述穿套的部位设有推力轴承和至少一个桨夹角接触轴承，两个所述主桨夹皆通过所述推力轴承和桨夹角接触轴承可转动连接于所述横臂，两个所述主桨夹的侧壁皆设有桨夹臂，且两个所述主桨夹的桨夹臂为相对方向设置，所述桨夹臂的一端固定于所述主桨夹，另一端设有联动球头；The main rotor head includes a paddle base joint, and the paddle base joint has a vertical arm and a transverse arm. The paddle base joint is formed into a “T” -shaped structure through the transverse arm and the vertical arm. The main shaft is fixedly connected to the main shaft. A main paddle clamp for holding the main rotor is provided at both ends of the cross arm. One end of the main paddle clamp is sleeved on the cross arm, and a position of the through sleeve is provided. A thrust bearing and at least one paddle clamp angular contact bearing, both of the main paddle clamps are rotatably connected to the cross arm through the thrust bearing and the paddle clamp angular contact bearing, and the side walls of the two main paddle clamps are both A paddle clamp arm is provided, and the paddle clamp arms of the two main paddle clamps are arranged in opposite directions, one end of the paddle clamp arm is fixed to the main paddle clamp, and the other end is provided with a linkage ball head;
所述主旋翼机构还包括十字盘，所述十字盘穿套并固定于所述主轴且位于所述桨座中联的下方，所述十字盘包括关节轴承、十字上盘、十字下盘、十字盘内圈和十字盘角接触轴承，所述十字上盘和十字下盘皆穿套于所述十字盘内圈的外侧壁，且分别位于所述十字盘内圈的两端，所述十字上盘与所述十字盘内圈固定连接，所述十字下盘与所述十字盘内圈通过十字盘角接触轴承可转动连接，所述关节轴承设于所述十字盘内圈的内侧壁，且位于所述十字上盘所在的一端，所述关节轴承的内圈固定于所述主轴，所述十字盘通过所述关节轴承能够实现摆动运动，所述十字上盘的侧壁还设有四个联动球头，其中相对的两个所述联动球头为翻转球头，且另外两个所述联动球头为相位球头，所述翻转球头与所述桨夹臂一端的联动球头通过连杆连接。The main rotor mechanism further includes a swash plate, the swash plate is sleeved and fixed to the main shaft and is located under the paddle joint, and the swash plate includes a joint bearing, an upper cross plate, a lower cross plate, a cross The inner ring of the disk and the angular contact bearing of the swash plate, the upper cross plate and the lower cross plate are sleeved on the outer side wall of the inner ring of the swash plate, and are located at both ends of the inner ring of the swash plate, respectively. A disk is fixedly connected to the inner ring of the swash plate, the lower cross of the swash plate and the inner ring of the swash plate are rotatably connected through a swash plate angular contact bearing, and the joint bearing is provided on an inner side wall of the inner ring of the swash plate, and It is located at the end where the upper cross plate is located. The inner ring of the articulated bearing is fixed to the main shaft. The swash plate can realize the swinging movement through the articulated bearing. The linked ball head, wherein the two opposite linked ball heads are flip ball heads, and the other two linked ball heads are phase ball heads, and the flip ball head and the linked ball head at one end of the paddle clamp arm pass through Connecting rod connection.
进一步地说，所述连杆包括杆体和两个分别设于所述杆体两端的球头扣，所述连杆通过所述球头扣与所述联动球头连接。Further, the connecting rod includes a rod body and two ball head buckles respectively disposed at two ends of the rod body, and the connecting rod is connected to the linkage ball head through the ball head buckle.
进一步地说，所述杆体的一端具有右旋螺纹，且另一端具有左旋螺纹，两个所述球头扣螺纹连接于所述杆体。Further, one end of the rod body has a right-handed thread and the other end has a left-handed thread, and the two ball-end buckles are threadedly connected to the rod body.
进一步地说，所述桨夹角接触轴承为双列角接触轴承，两个所述主桨夹处的所述双列角接触轴承的数量皆为两个，且两个所述角接触轴承分别位于所述桨夹臂的固定位置的两侧。Further, the paddle clamp angular contact bearing is a double row angular contact bearing, and the number of the double row angular contact bearings at the two main paddle clamps is two, and the two angular contact bearings are respectively Located on both sides of the fixed position of the paddle clamp arm.
进一步地说，所述推力轴承位于两个所述桨夹角接触轴承之间。Further, the thrust bearing is located between two of the paddle-angular angular contact bearings.
进一步地说，所述主旋翼机构还包括相位保持架，所述相位保持架包括相位臂和联动臂，所述相位臂与所述联动臂铰接，且所述相位臂与所述联动臂能于同一平面内旋转，所述相位臂的自由端铰接于所述主轴或所述桨座中联，所述联动臂的自由端铰接于所述相位球头。Further, the main rotor mechanism further includes a phase holder, the phase holder includes a phase arm and a linkage arm, the phase arm is hinged to the linkage arm, and the phase arm and the linkage arm can Rotating in the same plane, the free end of the phase arm is hinged to the main shaft or the center of the paddle seat, and the free end of the linkage arm is hinged to the phase ball head.
进一步地说，所述桨夹臂设有联动球头的一端具有两个螺纹孔，两个所述螺纹孔按水平方向排布，所述联动球头能够安装于任一所述螺纹孔。Further, one end of the paddle clamp arm provided with the linkage ball head has two threaded holes, and the two threaded holes are arranged in a horizontal direction. The linkage ball head can be installed in any of the threaded holes.
进一步地说，所述十字盘角接触轴承为双列角接触轴承。Further, the swashplate angular contact bearing is a double row angular contact bearing.
进一步地说，所述桨座中联的横臂具有沿其轴向贯穿的通孔，所述横臂内穿有横轴，所述主桨夹可转动连接于所述横轴。Further, the cross arm of the paddle base has a through hole penetrating along its axial direction, a cross axis is passed through the cross arm, and the main paddle clamp is rotatably connected to the cross axis.
进一步地说，所述桨座中联的竖臂具有盲孔，所述桨座中联通过所述盲孔穿套并固定于所述主轴。Further, the vertical arm of the paddle base joint has a blind hole, and the paddle base joint passes through the blind hole and is fixed to the main shaft.
本发明的有益效果：The beneficial effects of the present invention:
一、本发明的主旋翼机构通过使用角接触轴承来完成主桨夹的可转动连接，通过角接触轴承能够解决主旋翼的轴向游隙的问题，避免主旋翼的轴向蠕动，配合推力轴承，进一步的保证主旋翼的稳定性，保证主旋翼能流畅的翻转，另外十字盘处也使用角接触轴承，同主旋翼一样，角接触轴承在保证旋转运动的同时，还能有效的避免轴向的蠕动，提高传动的精度，以此能够更精准的控制力；1. The main rotor mechanism of the present invention uses an angular contact bearing to complete the rotatable connection of the main paddle clamp. The angular contact bearing can solve the problem of the axial clearance of the main rotor, avoid the axial creep of the main rotor, and cooperate with the thrust bearing. , To further ensure the stability of the main rotor, to ensure that the main rotor can flip smoothly. In addition, angular contact bearings are also used at the swashplate. Like the main rotor, the angular contact bearings can effectively prevent the axial movement while ensuring axial movement. Peristalsis, improve the accuracy of the transmission, so as to be able to control the force more accurately;
二、本发明的主旋翼机构通过十字盘实现主旋翼的翻转及旋转的相位保持，十字盘的关节轴承能够实现十字盘的任意角度偏转，通过连杆带动主桨夹的偏转，进而控制主旋翼的偏转；十字盘与主旋翼之间还设有相位保持架，相位保持架能够保持主旋翼与十字盘的相对位置关系，同时相位保持架具有相互铰接的相位臂和联动臂，且其通过球头与主桨夹和十字盘连接，在主旋翼旋转时，对主旋翼的偏转没有任何影响；2. The main rotor mechanism of the present invention realizes the rotation and phase maintenance of the main rotor through a swashplate. The joint bearing of the swashplate can realize any angle deflection of the swashplate. The deflection of the main paddle is driven by the connecting rod to control the main rotor There is also a phase holder between the swashplate and the main rotor. The phase holder can maintain the relative position of the main rotor and the swashplate. At the same time, the phase holder has a phase arm and a linkage arm that are hinged to each other, and it passes the ball. The head is connected with the main paddle clamp and the swashplate. When the main rotor rotates, it has no effect on the deflection of the main rotor;
三、本发明的主旋翼机构，其桨夹臂的一端按水平方向设有两个螺纹孔，从而使联动球头能够更换安装位置，由此位置的更换能够对主旋翼的偏转角度的范围进行设定；另外，连杆部件具有杆体和两个分别设于杆体两端的球头扣，而杆体的一端具有右旋螺纹，且另一端具有左旋螺纹，两个球头扣螺纹连接于所述杆体，转动所述杆体能够实现其两端的球头扣同时旋进或旋出，使连杆长度的调节更为简便。3. In the main rotor mechanism of the present invention, one end of the paddle clamp arm is provided with two threaded holes in the horizontal direction, so that the linkage ball head can change the installation position, and thus the position change can perform the range of the deflection angle of the main rotor. In addition, the link member has a rod body and two ball-end buckles provided at both ends of the rod body, and one end of the rod body has a right-hand thread and the other end has a left-hand thread, and the two ball-end buckle threads are connected to the rod body By rotating the rod body, the ball joints at both ends can be rotated in or out at the same time, which makes the adjustment of the length of the connecting rod easier.
四、本发明的主旋翼机构，其中联的横臂具有轴向贯穿的通孔，且通孔内设有横轴，两个主桨夹分别设于横轴的两端，当主旋翼旋转时，其产生的离心拉力同时作用于横轴，此时两边的离心力相互抵消，而不会将此力施加于中联火主轴上，能够防止造成主轴的位移或者造成损坏。4. The main rotor mechanism of the present invention, wherein the connected transverse arm has an axially penetrating through hole, and a transverse axis is provided in the through hole, and two main paddle clamps are respectively provided at both ends of the transverse axis. When the main rotor rotates, The centrifugal tensile force generated by it acts on the horizontal axis at the same time. At this time, the centrifugal forces on both sides cancel each other without applying this force to the main shaft of Zoomlion, which can prevent the displacement of the main shaft or damage.
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，并可依照说明书的内容予以实施，以下以本发明的较佳实施例并配合附图详细说明如后。The above description is only an overview of the technical solutions of the present invention. In order to understand the technical means of the present invention more clearly and can be implemented according to the contents of the description, the following describes in detail the preferred embodiments of the present invention and the accompanying drawings.
图1是本发明的主旋翼机构的整体结构示意图；Figure 1 is a schematic diagram of the overall structure of the main rotor mechanism of the present invention;
图2是本发明的主旋翼头的结构示意图；2 is a schematic structural diagram of a main rotor head of the present invention;
图3是主旋翼头的中联的示意图；FIG. 3 is a schematic diagram of a midline of a main rotor head; FIG.
图4是主旋翼头的主桨夹处的示意图；4 is a schematic view of a main paddle clamp of a main rotor head;
图5是图4的A部放大图；5 is an enlarged view of a portion A in FIG. 4;
图6是本发明的十字盘的结构示意图；6 is a schematic structural diagram of a swashplate of the present invention;
图7是本发明的十字盘的分解结构示意图；7 is a schematic exploded structure diagram of the swashplate of the present invention;
图8是本发明的十字盘的剖视图；Figure 8 is a sectional view of a swashplate of the present invention;
图9是本发明的十字盘的剖视图(另一摆动角度)；9 is a sectional view of the swashplate of the present invention (another swing angle);
图10是本发明的连杆的示意图；10 is a schematic diagram of a connecting rod of the present invention;
图11是本发明的主旋翼头的主桨夹的示意图；11 is a schematic diagram of a main paddle clamp of a main rotor head of the present invention;
图12是本发明的相位保持架的结构示意图；12 is a schematic structural diagram of a phase holder of the present invention;
附图中各部分标记如下：Each part in the drawing is marked as follows:
主轴1、主旋翼头302、桨座中联3021、竖臂30211、横臂30212、主桨夹3022、推力轴承3023、桨夹角接触轴承3024、桨夹臂3025、联动球头3027、通孔302121、横轴30213、螺纹孔30252、十字盘303、关节轴承3031、十字上盘3032、十字下盘3033、十字盘内圈3034、十字盘角接触轴承3035、翻转球头30321、相位球头30322、连杆3028、杆体30281、球头扣30282、桨夹臂的固定位置30251、相位保持架3029、相位臂30291、联动臂30292。Main shaft 1, main rotor head 302, paddle center joint 3021, vertical arm 30211, cross arm 30212, main paddle clamp 3022, thrust bearing 3023, paddle clamp angular contact bearing 3024, paddle clamp arm 3025, linkage ball head 3027, through hole 302121, horizontal axis 30213, threaded hole 30252, swash plate 303, joint bearing 3031, cross upper plate 3032, cross lower plate 3033, swash plate inner ring 3034, swash plate angular contact bearing 3035, flip ball head 30321, phase ball head 30322 , Connecting rod 3028, lever body 30281, ball head buckle 30282, fixed position of paddle clamp arm 30251, phase holder 3029, phase arm 30291, linkage arm 30292.
下面结合附图对本发明的较佳实施例进行详细阐述，以使本发明的优点和 特征能更易于被本领域技术人员理解，从而对本发明的保护范围做出更为清楚明确的界定。The following describes the preferred embodiments of the present invention in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the protection scope of the present invention is more clearly defined.
实施例：一种单旋翼无人机的主旋翼机构，如图1所示：包括固定连接于无人机主轴1的主旋翼头302，所述主旋翼头与所述主轴垂直设置；Embodiment: A main rotor mechanism of a single-rotor drone, as shown in FIG. 1, includes a main rotor head 302 fixedly connected to a main shaft 1 of the drone, and the main rotor head is disposed perpendicular to the main shaft;
如图2到图5所示：所述主旋翼头包括桨座中联3021，所述桨座中联具有竖臂30211和横臂30212，所述桨座中联通过所述横臂和竖臂构成为“T”字形结构，所述竖臂固定连接于所述主轴，所述横臂的两端皆设有用于夹持主旋翼的主桨夹3022，所述主桨夹的一端穿套于所述横臂，且所述穿套的部位设有推力轴承3023和至少一个桨夹角接触轴承3024，两个所述主桨夹皆通过所述推力轴承和桨夹角接触轴承可转动连接于所述横臂，两个所述主桨夹的侧壁皆设有桨夹臂3025，且两个所述主桨夹的桨夹臂为相对方向设置，所述桨夹臂的一端固定于所述主桨夹，另一端设有联动球头3027；As shown in FIG. 2 to FIG. 5, the main rotor head includes a paddle base 3021, which has a vertical arm 30211 and a cross arm 30212, and the paddle base passes through the cross arm and the vertical arm. Formed in a "T" -shaped structure, the vertical arm is fixedly connected to the main shaft, and both ends of the cross arm are provided with a main paddle clamp 3022 for clamping the main rotor, and one end of the main paddle is threaded over the seat. The cross arm is provided with a thrust bearing 3023 and at least one paddle angle contact bearing 3024 at the position of the sleeve, and the two main paddle clips are rotatably connected to the bearing through the thrust bearing and the paddle angle contact bearing. In the cross arm, the side walls of the two main paddle clips are provided with paddle clip arms 3025, and the paddle clip arms of the two main paddle clips are arranged in opposite directions, and one end of the paddle clip arms is fixed to the The main paddle clamp is provided with a linkage ball head 3027 at the other end;
所述桨座中联的横臂具有沿其轴向贯穿的通孔302121，所述横臂内穿有横轴30213，所述主桨夹可转动连接于所述横轴；The cross arm of the paddle base has a through hole 302121 penetrating along its axial direction, a cross shaft 30213 is passed through the cross arm, and the main paddle clamp is rotatably connected to the cross axis;
所述桨座中联的竖臂具有盲孔，所述桨座中联通过所述盲孔穿套并固定于所述主轴。The vertical arm of the paddle base joint has a blind hole, and the paddle base joint passes through the blind hole and is fixed to the main shaft.
所述桨夹臂设有联动球头的一端具有两个螺纹孔30252，两个所述螺纹孔按水平方向排布，所述联动球头能够安装于任一所述螺纹孔，通过两个螺纹孔可以设定主旋翼的翻转角度的范围；The paddle clamp arm is provided with two threaded holes 30252 at one end, and the two threaded holes are arranged in a horizontal direction. The linkage ball head can be installed in any of the threaded holes, through two threads. The hole can set the range of the turning angle of the main rotor;
如图6和图7所示：所述主旋翼机构还包括十字盘303，所述十字盘穿套并固定于所述主轴且位于所述桨座中联的下方，所述十字盘包括关节轴承3031、十字上盘3032、十字下盘3033、十字盘内圈3034和十字盘角接触轴承3035，所述十字上盘和十字下盘皆穿套于所述十字盘内圈的外侧壁，且分别位于所述十字盘内圈的两端，所述十字上盘与所述十字盘内圈固定连接，所述十字下盘与所述十字盘内圈通过十字盘角接触轴承可转动连接，所述关节轴承设于所述十字盘内圈的内侧壁，且位于所述十字上盘所在的一端，所述关节轴承的内圈固定于所述主轴；As shown in FIG. 6 and FIG. 7: the main rotor mechanism further includes a swash plate 303, the swash plate is sleeved and fixed to the main shaft and is located below the center of the paddle seat, and the swash plate includes a joint bearing 3031, swash plate 3032, swash plate 3033, swash plate inner ring 3034, and swash plate angular contact bearing 3035. The swash plate and swash plate are both sleeved on the outer side wall of the swash plate inner ring, and are respectively It is located at both ends of the inner ring of the swash plate, the upper cross plate is fixedly connected to the inner ring of the swash plate, the lower cross plate and the inner ring of the swash plate are rotatably connected through a swash plate angular contact bearing, the The joint bearing is arranged on the inner side wall of the inner ring of the swash plate and is located at the end where the upper cross plate is located, and the inner ring of the joint bearing is fixed to the main shaft;
如图8和图9所示：所述十字盘通过所述关节轴承能够实现摆动运动，所 述十字上盘的侧壁还设有四个联动球头，其中相对的两个所述联动球头为翻转球头30321，且另外两个所述联动球头为相位球头30322，所述翻转球头与所述桨夹臂一端的联动球头通过连杆3028连接,通过所述十字盘的摆动驱动所述主桨夹的转动。As shown in FIG. 8 and FIG. 9: the swash plate can realize swinging movement through the joint bearing, and the side wall of the swash plate is also provided with four linkage ball heads, of which the two opposite linkage ball heads are opposite It is a flip ball head 30321, and the other two linkage ball heads are phase ball heads 30322. The flip ball head is connected with the linkage ball head at one end of the paddle clamp arm through a connecting rod 3028, and swings through the swashplate. The rotation of the main paddle clamp is driven.
如图10所示：所述连杆包括杆体30281和两个分别设于所述杆体两端的球头扣30282，所述连杆通过所述球头扣与所述联动球头连接；As shown in FIG. 10, the connecting rod includes a rod body 30281 and two ball joints 30282 respectively provided at two ends of the rod body, and the link is connected to the linkage ball joint through the ball joints;
所述杆体的一端具有右旋螺纹，且另一端具有左旋螺纹，两个所述球头扣螺纹连接于所述杆体，转动所述杆体能够实现其两端的球头扣同时旋进或旋出。One end of the rod body is provided with a right-handed thread and the other end is provided with a left-handed thread. The two ball-end buckles are threadedly connected to the rod body, and the ball-end buckles at both ends thereof can be rotated in or out simultaneously by rotating the rod body.
如图11所示：所述桨夹角接触轴承为双列角接触轴承，两个所述主桨夹处的所述双列角接触轴承的数量皆为两个，且两个所述角接触轴承分别位于所述桨夹臂的固定位置30251的两侧。As shown in FIG. 11: the paddle clamp angular contact bearing is a double row angular contact bearing, and the number of the double row angular contact bearings at the two main paddle clamps is two, and the two angular contacts are The bearings are respectively located on both sides of the fixed position 30251 of the paddle clamp arm.
所述推力轴承位于两个所述桨夹角接触轴承之间。The thrust bearing is located between two of the paddle clamp angular contact bearings.
如图1和图12所示：所述主旋翼机构还包括相位保持架3029，所述相位保持架包括相位臂30291和联动臂30292，所述相位臂与所述联动臂铰接，且所述相位臂与所述联动臂能于同一平面内旋转，所述相位臂的自由端铰接于所述主轴或所述桨座中联，所述联动臂的自由端铰接于所述相位球头，所述相位保持架能够保持所述主旋翼头与所述十字上盘之间的相对位置关系，并且主旋翼头旋转时能够稳定的带动十字上盘旋转。As shown in FIG. 1 and FIG. 12: the main rotor mechanism further includes a phase holder 3029, the phase holder includes a phase arm 30291 and a linkage arm 30292, the phase arm is hinged to the linkage arm, and the phase The arm and the linkage arm can rotate in the same plane, the free end of the phase arm is hinged to the main shaft or the paddle base, and the free end of the linkage arm is hinged to the phase ball head. The phase holder can maintain the relative positional relationship between the main rotor head and the cross upper disk, and can stably drive the cross upper disk to rotate when the main rotor head rotates.
所述十字盘角接触轴承为双列角接触轴承。The swashplate angular contact bearing is a double row angular contact bearing.
本发明的工作过程和工作原理如下：The working process and working principle of the present invention are as follows:
主旋翼机构通过使用角接触轴承来完成主桨夹的可转动连接，通过角接触轴承能够解决主旋翼的轴向游隙的问题，避免主旋翼的轴向蠕动，配合推力轴承，进一步的保证主旋翼的稳定性，保证主旋翼能流畅的翻转，另外十字盘处也使用角接触轴承，同主旋翼一样，角接触轴承在保证旋转运动的同时，还能有效的避免轴向的蠕动，提高传动的精度，以此能够更精准的控制力；The main rotor mechanism uses the angular contact bearing to complete the rotatable connection of the main paddle clamp. The angular contact bearing can solve the problem of the axial clearance of the main rotor, avoid the axial creep of the main rotor, and cooperate with the thrust bearing to further ensure the main rotor. The stability of the rotor ensures that the main rotor can flip smoothly. In addition, angular contact bearings are used at the swashplate. Like the main rotor, the angular contact bearings can effectively prevent axial creep while improving the transmission. Accuracy, so as to enable more precise control;
主旋翼机构通过十字盘实现主旋翼的翻转及旋转的相位保持，十字盘的关节轴承能够实现十字盘的任意角度偏转，通过连杆带动主桨夹的偏转，进而控制主旋翼的偏转；十字盘与主旋翼之间还设有相位保持架，相位保持架能够保 持主旋翼与十字盘的相对位置关系，同时相位保持架具有相互铰接的相位臂和联动臂，且其通过球头与主桨夹和十字盘连接，在主旋翼旋转时，对主旋翼的偏转没有任何影响；The main rotor mechanism uses the swashplate to realize the overturning and rotation phase maintenance of the main rotor. The swashplate's articulated bearings can achieve any angle deflection of the swashplate, and the deflection of the main rotor clamp is driven by the connecting rod to control the deflection of the main rotor. A phase holder is also provided between the main rotor and the main rotor. The phase holder can maintain the relative position between the main rotor and the swashplate. At the same time, the phase holder has a phase arm and a linkage arm that are hinged to each other. It is connected to the swashplate and has no effect on the deflection of the main rotor when the main rotor rotates;
桨夹臂的一端按水平方向设有两个螺纹孔，从而使联动球头能够更换安装位置，由此位置的更换能够对主旋翼的偏转角度的范围进行设定；另外，连杆部件具有杆体和两个分别设于杆体两端的球头扣，而杆体的一端具有右旋螺纹，且另一端具有左旋螺纹，两个球头扣螺纹连接于所述杆体，转动所述杆体能够实现其两端的球头扣同时旋进或旋出，使连杆长度的调节更为简便。One end of the paddle clamp arm is provided with two threaded holes in the horizontal direction, so that the linkage ball head can be replaced with the installation position, and the change of the position can set the range of the deflection angle of the main rotor; in addition, the link member has a rod body And two ball buckles provided at the two ends of the rod body, and one end of the rod body has a right-hand thread and the other end has a left-hand thread. The two ball head buckles are threadedly connected to the rod body, and rotating the rod body can achieve The ball buckle is rotated in or out at the same time, which makes the adjustment of the link length easier.
中联的横臂具有轴向贯穿的通孔，且通孔内设有横轴，两个主桨夹分别设于横轴的两端，当主旋翼旋转时，其产生的离心拉力同时作用于横轴，此时两边的离心力相互抵消，而不会将此力施加于中联火主轴上，能够防止造成主轴的位移或者造成损坏。The cross arm of Zoomlion has an axially penetrating through hole, and a horizontal axis is provided in the through hole. Two main paddle clamps are respectively disposed at both ends of the horizontal axis. When the main rotor rotates, the centrifugal tensile force generated by the main rotor is simultaneously applied to the horizontal At this time, the centrifugal forces on both sides of the shaft cancel each other out without applying this force to the main shaft of Zoomlion, which can prevent the displacement of the main shaft or damage.
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above description is only an embodiment of the present invention, and thus does not limit the patent scope of the present invention. Any equivalent structural transformation made by using the description and drawings of the present invention, or directly or indirectly used in other related technical fields, is the same. The principle is included in the scope of patent protection of the present invention.
Claims (10)
- 一种单旋翼无人机的主旋翼机构，其特征在于：包括固定连接于无人机主轴(1)的主旋翼头(302)，所述主旋翼头与所述主轴垂直设置；A main rotor mechanism of a single-rotor unmanned aerial vehicle is characterized in that it comprises a main rotor head (302) fixedly connected to a main shaft (1) of the unmanned aerial vehicle, and the main rotor head is arranged perpendicular to the main shaft;所述主旋翼头包括桨座中联(3021)，所述桨座中联具有竖臂(30211)和横臂(30212)，所述桨座中联通过所述横臂和竖臂构成为“T”字形结构，所述竖臂固定连接于所述主轴，所述横臂的两端皆设有用于夹持主旋翼的主桨夹(3022)，所述主桨夹的一端穿套于所述横臂，且所述穿套的部位设有推力轴承(3023)和至少一个桨夹角接触轴承(3024)，两个所述主桨夹皆通过所述推力轴承和桨夹角接触轴承可转动连接于所述横臂，两个所述主桨夹的侧壁皆设有桨夹臂(3025)，且两个所述主桨夹的桨夹臂为相对方向设置，所述桨夹臂的一端固定于所述主桨夹，另一端设有联动球头(3027)；The main rotor head includes a paddle base joint (3021), which has a vertical arm (30211) and a cross arm (30212), and the paddle base joint is constituted by the cross arm and the vertical arm as " A T-shaped structure, the vertical arm is fixedly connected to the main shaft, and a main paddle clamp (3022) for holding a main rotor is provided at both ends of the cross arm, and one end of the main paddle is passed through the main paddle. A transverse arm, and a thrust bearing (3023) and at least one paddle angular contact bearing (3024) are provided at the position of the sleeve, and the two main paddle clamps are rotatable through the thrust bearing and the paddle angular contact bearing Connected to the cross arm, the side walls of the two main paddle clips are provided with paddle clip arms (3025), and the paddle clip arms of the two main paddle clips are arranged in opposite directions. One end is fixed to the main paddle clamp, and the other end is provided with a linkage ball head (3027);所述主旋翼机构还包括十字盘(303)，所述十字盘穿套并固定于所述主轴且位于所述桨座中联的下方，所述十字盘包括关节轴承(3031)、十字上盘(3032)、十字下盘(3033)、十字盘内圈(3034)和十字盘角接触轴承(3035)，所述十字上盘和十字下盘皆穿套于所述十字盘内圈的外侧壁，且分别位于所述十字盘内圈的两端，所述十字上盘与所述十字盘内圈固定连接，所述十字下盘与所述十字盘内圈通过十字盘角接触轴承可转动连接，所述关节轴承设于所述十字盘内圈的内侧壁，且位于所述十字上盘所在的一端，所述关节轴承的内圈固定于所述主轴，所述十字盘通过所述关节轴承能够实现摆动运动，所述十字上盘的侧壁还设有四个联动球头，其中相对的两个所述联动球头为翻转球头(30321)，且另外两个所述联动球头为相位球头(30322)，所述翻转球头与所述桨夹臂一端的联动球头通过连杆(3028)连接。The main rotor mechanism further includes a swashplate (303), the swashplate is sleeved and fixed to the main shaft and is located below the center of the paddle seat, and the swashplate includes an articulated bearing (3031) and a swashplate (3032), swash plate (3033), swash plate inner ring (3034), and swash plate angular contact bearing (3035), the swash plate and swash plate are both sleeved on the outer side wall of the swash plate inner ring And located at both ends of the inner ring of the swash plate, the upper cross plate is fixedly connected to the inner ring of the swash plate, and the lower cross plate and the inner ring of the swash plate are rotatably connected through a swash plate angular contact bearing The joint bearing is provided on the inner side wall of the inner ring of the swash plate and is located at the end where the upper cross plate is located. The inner ring of the joint bearing is fixed to the main shaft, and the swash plate passes the joint bearing. The swing movement can be realized. The side wall of the cross upper plate is also provided with four linkage ball heads, of which the opposite two linkage ball heads are flip ball heads (30321), and the other two linkage ball heads are Phase ball head (30322), linkage between the flip ball head and one end of the paddle clamp arm The ball head is connected by a connecting rod (3028).
- 根据权利要求1所述的单旋翼无人机的主旋翼机构，其特征在于：所述连杆包括杆体(30281)和两个分别设于所述杆体两端的球头扣(30282)，所述连杆通过所述球头扣与所述联动球头连接。The main rotor mechanism of a single-rotor drone according to claim 1, wherein the link comprises a rod body (30281) and two ball joints (30282) provided at both ends of the rod body, respectively The connecting rod is connected with the linkage ball head through the ball head buckle.
- 根据权利要求2所述的单旋翼无人机的主旋翼机构，其特征在于：所述杆体的一端具有右旋螺纹，且另一端具有左旋螺纹，两个所述球头扣螺纹连接于所述杆体。The main rotor mechanism of a single-rotor drone according to claim 2, characterized in that one end of the rod body has a right-handed thread and the other end has a left-handed thread, and the two ball-end buckle threads are connected to the thread Rod body.
- 根据权利要求1所述的单旋翼无人机的主旋翼机构，其特征在于：所 述桨夹角接触轴承为双列角接触轴承，两个所述主桨夹处的所述双列角接触轴承的数量皆为两个，且两个所述角接触轴承分别位于所述桨夹臂的固定位置(30251)的两侧。The main rotor mechanism of a single-rotor drone according to claim 1, wherein the paddle clamp angular contact bearing is a double row angular contact bearing, and the double row angular contact at the two main paddle clamps The number of bearings is two, and the two angular contact bearings are respectively located on both sides of the fixed position (30251) of the paddle clamp arm.
- 根据权利要求4所述的单旋翼无人机的主旋翼机构，其特征在于：所述推力轴承位于两个所述桨夹角接触轴承之间。The main rotor mechanism of a single-rotor unmanned aerial vehicle according to claim 4, wherein the thrust bearing is located between two of the paddle-angle angular contact bearings.
- 根据权利要求1所述的单旋翼无人机的主旋翼机构，其特征在于：所述主旋翼机构还包括相位保持架(3029)，所述相位保持架包括相位臂(30291)和联动臂(30292)，所述相位臂与所述联动臂铰接，且所述相位臂与所述联动臂能于同一平面内旋转，所述相位臂的自由端铰接于所述主轴或所述桨座中联，所述联动臂的自由端铰接于所述相位球头。The main rotor mechanism of a single-rotor drone according to claim 1, wherein the main rotor mechanism further comprises a phase holder (3029), and the phase holder includes a phase arm (30291) and a linkage arm (30291). 30292), the phase arm is articulated with the linkage arm, and the phase arm and the linkage arm can rotate in the same plane, and the free end of the phase arm is hinged to the main shaft or the paddle joint. The free end of the linkage arm is hinged to the phase ball head.
- 根据权利要求1所述的单旋翼无人机的主旋翼机构，其特征在于：所述桨夹臂设有联动球头的一端具有两个螺纹孔(30252)，两个所述螺纹孔按水平方向排布，所述联动球头能够安装于任一所述螺纹孔。The main rotor mechanism of a single-rotor drone according to claim 1, characterized in that: one end of the paddle clamp arm provided with a linkage ball head has two screw holes (30252), and the two screw holes are horizontal Arranged in directions, the linkage ball head can be installed in any of the threaded holes.
- 根据权利要求1所述的单旋翼无人机的主旋翼机构，其特征在于：所述十字盘角接触轴承为双列角接触轴承。The main rotor mechanism of a single-rotor drone according to claim 1, wherein the swashplate angular contact bearing is a double-row angular contact bearing.
- 根据权利要求1所述的单旋翼无人机的主旋翼机构，其特征在于：所述桨座中联的横臂具有沿其轴向贯穿的通孔(302121)，所述横臂内穿有横轴(30213)，所述主桨夹可转动连接于所述横轴。The main rotor mechanism of a single-rotor unmanned aerial vehicle according to claim 1, wherein the transverse arm of the paddle seat has a through hole (302121) penetrating in the axial direction, and the transverse arm is penetrated by A horizontal axis (30213), the main paddle clamp is rotatably connected to the horizontal axis.
- 根据权利要求1所述的单旋翼无人机的主旋翼机构，其特征在于：所述桨座中联的竖臂具有盲孔，所述桨座中联通过所述盲孔穿套并固定于所述主轴。The main rotor mechanism of a single-rotor unmanned aerial vehicle according to claim 1, characterized in that: the vertical arm of the paddle base joint has a blind hole, and the paddle base joint passes through the blind hole and is fixed to the The spindle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE212018000018.2U DE212018000018U1 (en) | 2018-08-07 | 2018-08-07 | Main rotor mechanism of a drone with a single rotor |
| PCT/CN2018/099144 WO2020029066A1 (en) | 2018-08-07 | 2018-08-07 | Main rotor mechanism of single-rotor unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2018/099144 WO2020029066A1 (en) | 2018-08-07 | 2018-08-07 | Main rotor mechanism of single-rotor unmanned aerial vehicle |
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| DE102004053001A1 (en) * | 2004-11-03 | 2006-05-04 | Zf Friedrichshafen Ag | Individual blade control for helicopter rotor has means for mechanical transmission of exclusively collective control movements from non-rotating system into rotating system, with control movements superimposed on actuators |
| CN204310040U (en) * | 2014-10-27 | 2015-05-06 | 湖南农业大学 | A kind of single rotor unmanned helicopter main rotor system |
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