阅读说明：本技术 一种桨距可调的火星飞行器共轴旋翼悬停特性测量装置 (Coaxial rotor hovering characteristic measuring device of mars aircraft with adjustable propeller pitch ) 是由 全齐全 朱凯杰 唐德威 赵鹏越 沈文清 邓宗全 于 2019-09-24 设计创作，主要内容包括：一种桨距可调的火星飞行器共轴旋翼悬停特性测量装置,它涉及一种悬停特性测量装置。本发明为了解决现有的共轴旋翼悬停特性测量装置无法提供足够的动力并获取具有高精度的升力及扭矩测量值。及无法满足高效快速的测量需求。本发明的驱动模块竖直设置,上旋翼系统和下旋翼系统由上至下安装在驱动模块上,且上旋翼系统和下旋翼系统的旋转运动同轴并相互独立,驱动模块具有两套驱动系统,分别驱动上旋翼系统和下旋翼系统旋转且旋转方向相反,桨距调节模块通过采用连杆推拉的形式驱动下旋翼系统的桨夹进行转动来实现桨距角可调,测量模块安装在驱动模块的下部并对升力和扭矩进行测量。本发明用于火星飞行器共轴旋翼悬停特性测量。(A coaxial rotor hovering characteristic measuring device of a mars aircraft with an adjustable propeller pitch relates to a hovering characteristic measuring device. The invention aims to solve the problem that the existing coaxial rotor hovering characteristic measuring device cannot provide enough power and obtain the measured values of lift force and torque with high precision. And the requirement for efficient and rapid measurement cannot be met. The driving module is vertically arranged, the upper rotor wing system and the lower rotor wing system are arranged on the driving module from top to bottom, the rotating motions of the upper rotor wing system and the lower rotor wing system are coaxial and mutually independent, the driving module is provided with two sets of driving systems which respectively drive the upper rotor wing system and the lower rotor wing system to rotate, the rotating directions of the driving systems are opposite, the pitch angle adjusting module drives a blade clamp of the lower rotor wing system to rotate by adopting a connecting rod push-pull mode to realize pitch angle adjustment, and the measuring module is arranged at the lower part of the driving module and measures the lifting force and the torque. The invention is used for measuring the hovering characteristic of the coaxial rotor of the Mars aircraft.)

1. The utility model provides a coaxial rotor of pitch adjustable mars aircraft characteristic measuring device that hovers, it includes rotor module (1), and rotor module (1) includes upper rotor system and lower rotor system, its characterized in that: it still includes drive module (2), pitch adjustment module (3) and measuring module (4), drive module (2) vertical setting, go up the rotor system and install on drive module (2) down with lower rotor system from top to bottom, and the rotary motion of going up the rotor system and lower rotor system is coaxial and mutually independent, drive module (2) have two sets of actuating systems, it is rotatory and rotation direction opposite to drive last rotor system and lower rotor system respectively, pitch adjustment module (3) are rotated through the oar clamp that adopts the form drive lower rotor system of connecting rod push-and-pull and are realized that the pitch angle is adjustable, measuring module (4) are installed in the lower part of drive module (2) and are measured lift and moment of torsion.

2. The pitch adjustable mars aircraft coaxial rotor hover characteristic measurement device of claim 1, wherein: the upper rotor wing system and the lower rotor wing system are identical in structure, the upper rotor wing system comprises a hub (1-1), two rotor blades (1-2) and two rotor wing paddle clamps (1-3), the hub (1-1) is of a long strip structure, a round hole (1-1-1) is formed in the center of the hub (1-1), cylindrical connecting rods (1-1-2) are arranged at two ends of the hub (1-1), an annular groove (1-1-3) is formed in each cylindrical connecting rod (1-1-2), the hub (1-1) is sleeved on an inner transmission shaft of a driving module (2), the two rotor wing paddle clamps (1-3) are respectively installed on the cylindrical connecting rods (1-1-2) through fastening screws, one rotor blade (1-2) is installed on each rotor wing paddle clamp (1-3), and the rotor blade clamps (1-3) adjust the pitch angle through different installation positions of the set screws in the annular grooves (1-1-3).

3. the pitch adjustable mars aircraft coaxial rotor hover characteristic measurement device of claim 2, wherein: the driving module (2) comprises an inner transmission shaft (2-1), an outer transmission shaft (2-2), a lower cover plate (2-3), a side cover plate (2-4), an inner transmission driven bevel gear (2-5), an inner transmission driving bevel gear (2-6), an inner transmission motor (2-7), an outer transmission driven bevel gear (2-8), an outer transmission driving bevel gear (2-9), an outer transmission motor (2-10), an upper cover plate (2-11), a guide base (2-12), a bearing end cover (2-13) and an outer shaft upper part limiting connecting assembly (A), wherein the lower cover plate (2-3) is horizontally arranged, the side cover plate (2-4) is vertically arranged on the lower cover plate (2-3), the inner transmission shaft (2-1) is vertically arranged and rotatably arranged on the lower cover plate (2-3) through a bearing and the bearing end cover (2-13), an inner transmission driven bevel gear (2-5) is arranged at the lower part of an inner transmission shaft (2-1) through a set screw, an inner transmission driving bevel gear (2-6) is arranged at the side surface of the inner transmission driven bevel gear (2-5) and is meshed with the inner transmission driven bevel gear (2-5), an inner transmission motor (2-7) is arranged on a side cover plate (2-4), an output shaft of the inner transmission motor (2-7) is connected with the inner transmission driving bevel gear (2-6), an outer transmission shaft (2-2) is sleeved on the inner transmission shaft (2-1), the upper end and the lower end of the outer transmission shaft (2-2) are limited through bearings, the outer transmission driven bevel gear (2-8) is sleeved on the outer transmission shaft (2-2) through the set screw, the outer transmission motor (2-10) is arranged on the side cover plate (2-4), the output shaft of the external transmission motor (2-10) is connected with an external transmission driving bevel gear (2-9), the external transmission driving bevel gear (2-9) is meshed with an external transmission driven bevel gear (2-8), an upper cover plate (2-11) is covered on a side cover plate (2-4), and a guide base (2-12) is sleeved on the external transmission shaft (2-2) through a plurality of bearings.

4. the pitch adjustable mars aircraft coaxial rotor hover characteristic measurement device of claim 3, wherein: the outer shaft upper part limiting connection assembly (A) comprises an outer shaft connection ring (A-1) and a baffle ring (A-2), the outer shaft connection ring (A-1) is sleeved on the outer transmission shaft (2-2), a bearing is arranged between the outer shaft connection ring (A-1) and the outer transmission shaft (2-2), and the baffle ring (A-2) is arranged on the inner transmission shaft (2-1) and is located at the upper end of the outer shaft connection ring (A-1).

5. The pitch adjustable mars aircraft coaxial rotor hover characteristic measurement device of claim 4, wherein: the pitch adjusting module (3) comprises a pitch adjusting motor (3-1), a pitch adjusting driving gear (3-2), a pitch adjusting driven gear (3-3), a pitch control screw (3-4), a threaded sleeve (3-5), a variable pitch push block (3-6) and two groups of variable pitch connecting rod push pieces (B),

A pitch adjusting motor (3-1) is arranged on an upper cover plate (2-11), a pitch adjusting driving gear (3-2) is connected with an output shaft of the pitch adjusting motor (3-1), a pitch control screw (3-4) is sleeved on an outer transmission shaft (2-2) and positioned above a guide base (2-12), a pitch adjusting driven gear (3-3) is sleeved on the pitch control screw (3-4), the pitch adjusting driven gear (3-3) is meshed with the pitch adjusting driving gear (3-2), a screw sleeve (3-5) is in threaded connection with the pitch control screw (3-4), a variable pitch push block (3-6) is rotatably arranged on the screw sleeve (3-5), the lower end of each group of variable pitch connecting rod push pieces (B) is connected with the variable pitch push block (3-6), the upper end of each group of variable-pitch connecting rod pushing pieces (B) is connected with a rotor blade clamp (1-3) of the lower rotor system.

6. The pitch adjustable mars aircraft coaxial rotor hover characteristic measurement device of claim 4, wherein: the pitch adjusting module (3) further comprises a tool (3-7), and the pitch adjusting driving gear (3-2) is connected with an output shaft of the pitch adjusting motor (3-1) through the tool (3-7).

7. The pitch adjustable mars aircraft coaxial rotor hover characteristic measurement device of claim 4, wherein: each variable-pitch connecting rod pushing piece (B) comprises a lower rod seat (B-1), a connecting rod (B-2) and an upper rod seat (B-3), the lower rod seat (B-1) is installed at the upper end of the variable-pitch pushing block (3-6), the upper rod seat (B-3) is installed at the lower end of the rotor wing paddle clamp (1-3), and the lower rod seat (B-1) is connected with the upper rod seat (B-3) through the connecting rod (B-2).

8. The pitch adjustable mars aircraft coaxial rotor hover characteristic measurement device of claim 4, wherein: the measuring module (4) comprises a torque measuring tool (4-3), a torque measuring support (4-4), a torque sensor (4-5), a measuring mounting plate (4-6), a pressure sensor (4-7), a base (4-8), a plurality of photoelectric sensor mounting frames (4-1) and a plurality of photoelectric sensors (4-2),

A plurality of photoelectric sensor mounting frames (4-1) are arranged on the side cover plates (2-4) and are respectively positioned above and below the inner transmission motors (2-7) and the outer transmission motors (2-10), and each photoelectric sensor mounting frame (4-1) is provided with one photoelectric sensor (4-2); the torque measuring tool (4-3) is installed at the lower end of the lower cover plate (2-3), the torque measuring support (4-4) is rotatably sleeved on the torque measuring tool (4-3), the lower end of the torque measuring support (4-4) is connected with the measuring mounting plate (4-6), the torque sensor (4-5) is installed in a gap formed between the lower end of the torque measuring tool (4-3) and the inner cavity of the torque measuring support (4-4), the pressure sensor (4-7) is installed at the lower end of the measuring mounting plate (4-6), and the base (4-8) is connected with the lower end of the pressure sensor (4-7).

9. The pitch adjustable mars aircraft coaxial rotor hover characteristic measurement device of claim 4, wherein: the torque measuring bracket (4-4) is rotatably sleeved on the torque measuring tool (4-3) through a plurality of bearings.

10. The pitch adjustable mars aircraft coaxial rotor hover characteristic measurement device of claim 8, wherein: the pressure sensors (4-7) are spoke type pressure sensors.

Technical Field

The invention relates to a coaxial rotor hovering characteristic measuring device of a Mars aircraft, in particular to a coaxial rotor hovering characteristic measuring device of a Mars aircraft with an adjustable propeller pitch.

background

Mars is a key object of deep space exploration because it has geological structural composition and physical characteristics similar to the earth. The detection modes for the mars mainly comprise two types of surrounding detection and surface patrol detection, wherein the most attractive mode is mars surface patrol detection. Until now, many Mars rovers launched in various countries of the world have ascertained that there is a thin atmosphere on the Mars surface; meanwhile, the Mars rover also has the defects of narrow visual field, poor maneuverability, limited detectable range and the like. The Mars aircraft is one of the main ways of future Mars detection due to its characteristics of fast moving speed, wide detection range, clear shooting picture and the like.

The rotary wing type aircraft has good maneuverability and lower environmental dependence relative to the aircraft of a floating balloon type, a fixed wing type, a flapping wing type and the like, thereby becoming the preferred structural type of the Mars aircraft. Because the common rotor wing is difficult to generate enough lift force under the atmosphere condition of thin and low temperature of mars, the mars aircraft selects the coaxial rotor wing with higher power density. In order to test the hovering characteristic of the coaxial rotor of the mars aircraft, the lift force which can be generated by rotor systems with different pitch angles under the mars atmospheric condition and the reaction torque which needs to be overcome need to be measured, so that the development of the device for measuring the hovering characteristic of the coaxial rotor of the mars aircraft with the adjustable pitch has important significance for China mars detection and important aerospace engineering.

The existing coaxial rotor hovering characteristic measuring device is not suitable for a rotor system suitable for a Mars atmospheric environment because the applicable object is the earth, and cannot provide enough power for the coaxial rotor system and obtain a lift force and a torque measured value with high precision. Meanwhile, the conventional coaxial rotor hovering characteristic measuring device cannot accurately and conveniently adjust the rotor pitch so as to meet the requirement of efficient and quick measurement.

Disclosure of Invention

The invention aims to solve the problem that the existing coaxial rotor hovering characteristic measuring device is difficult to provide enough power for a coaxial rotor system and obtain a lift force and torque measured value with high precision aiming at the rotor system suitable for a Mars atmospheric environment. Meanwhile, the conventional coaxial rotor hovering characteristic measuring device cannot accurately and conveniently adjust the rotor pitch so as to meet the requirement of efficient and quick measurement. Further provides a device for measuring the hovering characteristic of the coaxial rotor of the Mars aircraft with adjustable propeller pitch.

The technical scheme of the invention is as follows: the utility model provides a coaxial rotor of pitch adjustable mars aircraft characteristic measuring device that hovers includes the rotor module, the rotor module includes upper rotor system and lower rotor system, it still includes drive module, pitch adjustment module and measuring module, drive module vertical setting, upper rotor system and lower rotor system install on drive module from top to bottom, and the rotary motion of upper rotor system and lower rotor system is coaxial and mutually independent, drive module has two sets of drive system, it is rotatory and rotation direction opposite to drive upper rotor system and lower rotor system respectively, pitch adjustment module rotates through the oar clamp that adopts the form drive lower rotor system of connecting rod push-and-pull to realize that pitch angle is adjustable, measuring module installs in drive module's lower part and measures lift and moment of torsion.

Further, go up the rotor system and the rotor system structure is the same down, go up the rotor system and include the propeller hub, two rotor blades and two rotor oar presss from both sides, the propeller hub is long bar-type texture, the round hole is seted up at the center of propeller hub, the both ends of propeller hub are cylindrical connecting rod, set up the annular groove on the cylindrical connecting rod, the propeller hub suit is on drive module's internal drive axle, two rotor oar presss from both sides and installs respectively on cylindrical connecting rod through holding screw, install a rotor blade on every rotor oar presss from both sides, and the rotor oar presss from both sides the mounted position difference of holding screw in the annular groove and adjusts the pitch angle.

Further, the driving module comprises an inner transmission shaft, an outer transmission shaft, a lower cover plate, a side cover plate, an inner transmission driven bevel gear, an inner transmission driving bevel gear, an inner transmission motor, an outer transmission driven bevel gear, an outer transmission motor, an upper cover plate, a guide base, a bearing end cover and an outer shaft upper part limiting connection assembly, wherein the lower cover plate is horizontally arranged, the side cover plate is vertically arranged on the lower cover plate, the inner transmission shaft is vertically arranged and is rotatably arranged on the lower cover plate through the bearing and the bearing end cover, the inner transmission driven bevel gear is arranged on the lower part of the inner transmission shaft through a set screw, the inner transmission driving bevel gear is arranged on the side surface of the inner transmission driven bevel gear and is meshed with the inner transmission driven bevel gear, the inner transmission motor is arranged on the side cover plate, the output shaft of the inner transmission motor is connected with the inner transmission driving bevel gear, the, the upper end and the lower end of the outer transmission shaft are limited through bearings, an outer transmission driven bevel gear is sleeved on the outer transmission shaft through a set screw, an outer transmission motor is installed on a side cover plate, an output shaft of the outer transmission motor is connected with an outer transmission driving bevel gear, the outer transmission driving bevel gear is meshed with the outer transmission driven bevel gear, an upper cover plate is covered on the side cover plate, and the guide base is sleeved on the outer transmission shaft through a plurality of bearings.

Further, outer spacing coupling assembling in axle upper portion includes outer axle go-between and keeps off the ring, and outer axle go-between suit is on outer transmission shaft, and installs the bearing between outer axle go-between and the outer transmission shaft, keeps off including the ring installation on the transmission shaft, and is located the upper end of outer axle go-between.

Further, the pitch adjusting module comprises a pitch adjusting motor, a pitch adjusting driving gear, a pitch adjusting driven gear, a pitch control screw, a threaded sleeve, a variable pitch push block and two groups of variable pitch connecting rod pushing pieces, wherein the pitch adjusting motor is installed on the upper cover plate, the pitch adjusting driving gear is connected with an output shaft of the pitch adjusting motor, the pitch control screw is sleeved on the outer transmission shaft and is positioned above the guide base, the pitch adjusting driven gear is sleeved on the pitch control screw, the pitch adjusting driven gear is meshed with the pitch adjusting driving gear, the threaded sleeve is in threaded connection with the pitch control screw, the variable pitch push block is rotatably installed on the threaded sleeve, the lower end of each group of variable pitch connecting rod pushing pieces is connected with the variable pitch push block, and the upper end of each group of variable pitch connecting rod pushing pieces is connected with a rotor blade clamp of the.

Further, the pitch adjusting module further comprises a tool, and the pitch adjusting driving gear is connected with an output shaft of the pitch adjusting motor through the tool.

furthermore, each variable-pitch connecting rod pushing piece comprises a lower rod seat, a connecting rod and an upper rod seat, the lower rod seat is installed at the upper end of the variable-pitch pushing block, the upper rod seat is installed at the lower end of the rotor blade clamp, and the lower rod seat and the upper rod seat are connected through the connecting rod.

Furthermore, the measuring module comprises a torque measuring tool, a torque measuring support, a torque sensor, a measuring mounting plate, a pressure sensor, a base, a plurality of photoelectric sensor mounting frames and a plurality of photoelectric sensors, the photoelectric sensor mounting frames are mounted on the side cover plate and are respectively positioned above and below the inner transmission motor and the outer transmission motor, and each photoelectric sensor mounting frame is provided with one photoelectric sensor; the torque measurement tool is installed at the lower end of the lower cover plate, the torque measurement support is rotatably sleeved on the torque measurement tool, the lower end of the torque measurement support is connected with the measurement mounting plate, the torque sensor is installed in a gap formed between the lower end of the torque measurement tool and an inner cavity of the torque measurement support, the pressure sensor is installed at the lower end of the measurement mounting plate, and the base is connected with the lower end of the pressure sensor.

Further, the torque measuring bracket is rotatably sleeved on the torque measuring tool through a plurality of bearings.

Further, the pressure sensor is a spoke type pressure sensor.

Compared with the prior art, the invention has the following effects:

1. The invention has scientific and reasonable structural design, the two direct current brushless motors are transversely arranged at two sides of the transmission shaft of the rotor wing, and the bevel gears directly connected with the direct current brushless motors respectively transmit the rotary motion and the power to the transmission shafts of the upper rotor wing and the lower rotor wing. The transmission shafts of the upper rotor and the lower rotor ensure the coaxiality during working through two pairs of deep groove ball bearings, and the transmission shaft system realizes pre-tightening through a bearing end cover, a bearing, a lantern ring, a positioning ring and a set screw. The pitch adjustment mechanism is connected on the driving module, the direct current brushless motor transmits power and motion to the pitch-variable screw rod through the gear, and the pitch-variable push block moves up and down through the spline connection of the guide base and the pitch control nut and the threaded connection of the pitch control nut and the pitch control screw rod, so that the pitch rod is pushed to change the pitch angle of the lower rotor wing. The measuring module is connected below the driving module, the transmission shaft system is connected to the torque sensor through a set screw, and the measuring device mounting base plate is directly connected to the pressure sensor so as to accurately measure the lift force which can be generated by the rotor system and the torque which needs to be overcome.

2. The rotor blade of the invention is directly connected to a blade clamp, the blade clamp is mounted on a hub through a set screw, and the hub is connected to a rotor drive shaft through the set screw. The rotor module can wholly install and dismantle, and the adjustment to the rotor pitch angle is realized to the installation angle of accessible adjustment holding screw on the propeller hub annular, and the change of different structural style paddles is realized to accessible dismouting rotor paddle, and rotor module installation adjustment is very simple and convenient.

3. The invention adopts two pairs of bevel gears which are vertically arranged to realize the reverse rotation of the upper rotor wing transmission shaft and the lower rotor wing transmission shaft, avoids the interference of the assembly of two direct current brushless motors, fully utilizes the internal space of the driving module and has compact structure.

4. According to the invention, the pitch adjusting module shaft system and the driving module shaft system adopt a nested design, so that a pre-tightening transmission line can be shortened, the convenience and rapidness in assembly are ensured, and the structure is compact.

5. The measuring module of the invention adopts the spoke type pressure sensor to directly measure, can realize the accurate measurement of the lifting force in the vertical direction and can ensure the integral stability of the measuring device.

6. According to multiple tests, the coaxial rotor hovering characteristic measuring device can achieve the rotating speed adjusting range of 0-5000 r/min, the rotating speed error is +/-10 r/min, the adjusting range of the diameter of the rotor system blade is 0.2-0.6 m, the pitch angle adjusting range is 0-50 degrees, the rotor system can rapidly change the blade, and the coaxial rotor hovering characteristic measuring device is simple and efficient to assemble.

7. According to the invention, multiple tests show that the rotor system has good coaxiality and motion stability in the high-speed motion process of the inner shaft and the outer shaft at 5000 r/min.

8. According to multiple tests, the rotor wing system has stable overall performance in a 640Pa carbon dioxide environment working process at 5000r/min and a wingspan of 0.6 m.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a side view of FIG. 1;

3 fig. 3 3 3 is 3 a 3 cross 3- 3 sectional 3 view 3 taken 3 along 3 a 3- 3 a 3 of 3 fig. 3 1 3. 3

Detailed Description