阅读说明：本技术 直升机共轴正反旋翼并联驱动装置 (coaxial forward and reverse rotor wing parallel driving device of helicopter ) 是由 路懿 路扬 叶妮佳 常泽锋 于 2019-09-17 设计创作，主要内容包括：本发明涉及直升机共轴正反旋翼并联驱动装置,属于直升机技术领域的技术领域,其包括机座、动台、三个驱动杆、旋翼机构、倾翼机构。旋翼机构包括正、反旋翼组,内、外套,正、反伞齿轮,锥齿轮驱动组；内、外套与动台相互共轴转动联接；内、外套上端分别与正、反旋翼组垂直转动联接,下端分别与正、反伞齿轮共轴固连。锥齿轮驱动组同时与正、反伞齿轮啮合,驱动正、反旋翼组相互反转；驱动杆驱动旋翼机构摆动,辅电机通过丝母和心轴驱动正、反旋翼组倾转,改变直升机速度与方向。本发明具有提高主旋翼摆转灵活性、减缓旋翼举升力对各驱动分支作用力和冲击力、提高使用寿命和安全可靠性、避免使用尾翼传动机构、简化结构、提高寿命的效果。(The invention relates to a coaxial forward and reverse rotor wing parallel driving device of a helicopter, belonging to the technical field of helicopters. The rotor wing mechanism comprises a forward rotor wing group, a reverse rotor wing group, an inner sleeve, an outer sleeve, a forward bevel gear, a reverse bevel gear and a bevel gear driving group; the inner sleeve and the outer sleeve are mutually coaxially and rotatably connected with the movable platform; the upper ends of the inner sleeve and the outer sleeve are respectively and vertically and rotationally connected with the forward rotary wing set and the reverse rotary wing set, and the lower ends of the inner sleeve and the outer sleeve are respectively and coaxially and fixedly connected with the forward bevel gear and the reverse bevel gear. The bevel gear driving group is meshed with the forward bevel gear and the backward bevel gear at the same time to drive the forward rotary wing group and the backward rotary wing group to rotate reversely; the driving rod drives the rotor wing mechanism to swing, and the auxiliary motor drives the forward and reverse rotor wing sets to tilt through the screw and the mandrel, so that the speed and the direction of the helicopter are changed. The invention has the effects of improving the swinging flexibility of the main rotor, slowing down the acting force and the impact force of the lifting force of the rotor on each driving branch, prolonging the service life, improving the safety and the reliability, avoiding using a tail wing transmission mechanism, simplifying the structure and prolonging the service life.)

1. Coaxial positive and negative rotor wing parallel drive arrangement of helicopter, its characterized in that: the device comprises a base, a movable table, three driving rods for driving a rotor wing mechanism to swing, a rotor wing mechanism, an inclined wing mechanism for driving the rotor wing mechanism to incline and a spring; the machine base is in a disc shape, and a central spherical through hole and three radial linear guide rails uniformly distributed on the circumference of the lower surface are arranged on the machine base; the movable table is a revolving body, the upper end, the upper part, the middle part, the lower part and the lower end of the movable table are respectively provided with a coaxial spherical body, a cylindrical sleeve, a large cylindrical cavity, a disc and a small cylindrical cavity, the large cylindrical cavity is provided with three radial through holes which are uniformly distributed on the circumference, the disc is provided with three hinged supports which are uniformly distributed on the circumference, a first coaxial through hole is arranged from the spherical body to the large cylindrical cavity, and a second coaxial through hole and an eccentric through hole are arranged from the large cylindrical cavity to the small cylindrical cavity; the spherical surface body of the movable table is connected with the spherical surface through hole ball pair of the base;

the driving rod comprises a moving driver and a connecting rod; the movable driver is fixedly connected with the base, and a telescopic block of the movable driver is connected with a radial linear guide rail movable pair of the base and is also connected with a ball pair at one end of the connecting rod; the other end of the connecting rod is connected with a hinged support spherical pair of the movable table;

the rotor wing mechanism also comprises an inner sleeve, an outer sleeve, a forward bevel gear, a reverse bevel gear and three same bevel gear driving groups; the upper end of the inner sleeve is provided with a coaxial cylindrical first box body, the side wall of the first box body is provided with four openings which are uniformly distributed in the circumferential direction and tangent to the circumferential direction, and the bottom surface of the first box body is provided with a coaxial through hole and four axial through holes which are uniformly distributed in the circumferential direction; the upper end of the outer sleeve is provided with a coaxial cylindrical second box body, the side wall of the second box body is provided with four openings which are uniformly distributed on the circumference and tangent to the circumference, the top surface of the second box body is provided with coaxial openings, the excircle of the outer sleeve is connected with a first coaxial through hole revolute pair of the movable table, and the excircle of the inner sleeve is connected with a second coaxial through hole revolute pair of the movable table; the excircle of the inner sleeve is connected with the inner hole revolute pair of the outer sleeve;

the positive rotor wing group comprises four positive rotor wings, and the negative rotor wing group comprises four negative rotor wings; one end of the positive rotor wing and one end of the negative rotor wing are provided with a coaxial gear and a shaft, and the other end of the positive rotor wing and the negative rotor wing are provided with inclined blades;

the circumferential tangential hole of the first box body at the upper end of the inner sleeve is connected with the shaft rotating pair of the positive rotor wing, and the lower end of the inner sleeve is coaxially and fixedly connected with the positive bevel gear; the circumferential tangential hole of the second box body at the upper end of the outer sleeve is connected with the shaft rotating pair of the counter-rotating wing, and the lower end of the outer sleeve is coaxially and fixedly connected with the counter bevel gear;

the bevel gear driving set comprises a motor and a bevel gear, the motor is fixedly connected with the movable table, a driving shaft of the motor penetrates through a radial through hole of a large cylindrical cavity of the movable table and is in coaxial key connection with an inner hole of the bevel gear, and the bevel gear is meshed with the forward bevel gear and the reverse bevel gear simultaneously;

The tilt wing mechanism comprises an auxiliary motor, a mandrel, a nut, a pull rod group, a circular ring and a gear sleeve; the upper end, the middle part and the lower end of the mandrel are respectively provided with a coaxial convex circular gear shaft, an optical shaft and a convex circular disc; the inner hole of the circular ring is connected with an outer circle cylindrical pair of the inner sleeve, and the outer circle of the circular ring is connected with an inner hole rotating pair of the gear sleeve; the pull rod group penetrates through an axial through hole in the bottom surface of the first box body at the upper end of the inner sleeve, the upper end of the pull rod group is axially and fixedly connected with the lower end surface of the convex circular gear shaft of the mandrel, and the lower end of the pull rod group is axially and fixedly connected with the end surface of the circular ring; the convex circular gear shaft and the gear sleeve of the mandrel are respectively meshed with the gears of the positive and negative rotary wings; the screw is axially provided with a central through hole and an eccentric thread through hole, the central through hole is connected with a convex disc rotating pair at the lower end of the mandrel, the auxiliary motor is axially and fixedly connected with the lower end of the movable table, a thread driving shaft of the auxiliary motor penetrates through the eccentric through hole at the lower end of the movable table to be spirally connected with the thread through hole of the screw, a spring is fixedly installed between the machine base and the movable table, and two ends of the spring are respectively abutted against the machine base and the movable table.

Technical Field

The invention relates to a coaxial forward and reverse rotor wing parallel driving device of a helicopter, belonging to the technical field of helicopters.

background

The helicopter rotor motion driving device is a key component for the helicopter motion. Typically, the rotor is constructed of a hub and a number of blades. The hub is mounted on a single rotor main shaft and the blades, shaped as elongated airfoils, are attached to the hub. In order to avoid the autorotation of the helicopter in the air, an empennage needs to be additionally arranged, and the empennage is long in transmission chain and complex in structure. For this reason, coaxial forward and reverse rotor drives of helicopters have emerged. However, the existing coaxial forward and reverse rotor wing driving device is quite complex in structure, a plurality of pipelines and connecting rods rotate outside a cabin, the corrosion is easy, the damage is easy, and the accident rate of the helicopter is greatly increased as a result. On the premise of maintaining the driving advantages of coaxial forward and reverse rotors of the helicopter, the structure of the driving device is simplified, and the service life and safety of the helicopter are improved, so that the helicopter becomes a direction continuously explored by helicopter researchers and manufacturing departments. In recent years, patent publication No. [ CN101961559B ] discloses a rotor support device for an aeromodelling helicopter, which utilizes a V-shaped bracket to absorb vibration generated by the helicopter, so as to reduce the vibration of the helicopter body, increase the maneuverability and reduce the damage to a drive shaft transmission system. The patent with the publication number of [ CN101204992B ] discloses a coaxial dual-rotor speed differential device of a helicopter, so as to realize the yaw control of the coaxial dual-rotor helicopter. The patent publication No. CN101376433B discloses a method and system for operating a helicopter rotor, in which an actuator located at each hub arm is used to drive a flap located at the trailing edge of a blade, so as to operate the rotor system. The patent with publication number [ CN103600840B ] discloses a coaxial helicopter rotor mechanism, which utilizes an upper group and a lower group of mixed connection mechanisms to realize the integral symmetry of the helicopter rotor mechanism, so as to improve the high stability during high-speed rotation. The patent publication No. [ CN103407571B ] discloses a helicopter rotor system capable of active shimmy, which utilizes the mechanism to greatly reduce the forward blade angular velocity and greatly increase the backward blade angular velocity, so as to reduce the fatigue load of the blades in the alternation of forward and backward states, actively adapt to various flight states of the helicopter and improve the flight speed. The patent publication No. CN102030105B discloses a direct tilt control rotor helicopter, which is intended to directly tilt control a rotor of the helicopter, thereby simplifying the structure of the helicopter. The structure of the above patent has various characteristics, but the existing rotor wing rotation driving device has the following defects:

The existing helicopter rotor motion driving device is quite complex, and part of a driver mechanism, a power supply line and an oil supply pipe are positioned outside a cabin. An empennage transmission mechanism needs to be additionally arranged, and the empennage transmission chain is long and complex in structure.

The existing coaxial forward and reverse rotor wing driving device of the helicopter has the following defects: the structure is very complicated, and many pipelines and connecting rods rotate outside the cabin, so that the corrosion and the damage are easy.

Disclosure of Invention

The invention aims to provide a coaxial forward and reverse rotor parallel driving device of a helicopter, which has the effects of improving the swinging flexibility of a main rotor, slowing down the acting force and impact force of the lifting force of the rotor on each driving branch, prolonging the service life and safety and reliability, avoiding using a tail wing transmission mechanism, simplifying the structure and prolonging the service life.

in order to achieve the purpose, the invention adopts the technical scheme that:

The coaxial forward and reverse rotor parallel driving device of the helicopter comprises a base, a movable table, three driving rods for driving a rotor mechanism to swing, a rotor mechanism, a tilt wing mechanism for driving the rotor mechanism to tilt and a spring; the machine base is in a disc shape, and a central spherical through hole and three radial linear guide rails uniformly distributed on the circumference of the lower surface are arranged on the machine base; the movable table is a revolving body, the upper end, the upper part, the middle part, the lower part and the lower end of the movable table are respectively provided with a coaxial spherical body, a cylindrical sleeve, a large cylindrical cavity, a disc and a small cylindrical cavity, the large cylindrical cavity is provided with three radial through holes which are uniformly distributed on the circumference, the disc is provided with three hinged supports which are uniformly distributed on the circumference, a first coaxial through hole is arranged from the spherical body to the large cylindrical cavity, and a second coaxial through hole and an eccentric through hole are arranged from the large cylindrical cavity to the small cylindrical cavity; the spherical surface body of the movable table is connected with the spherical surface through hole ball pair of the base;

The driving rod comprises a moving driver and a connecting rod; the movable driver is fixedly connected with the base, and a telescopic block of the movable driver is connected with a radial linear guide rail movable pair of the base and is also connected with a ball pair at one end of the connecting rod; the other end of the connecting rod is connected with a hinged support spherical pair of the movable table;

The rotor wing mechanism also comprises an inner sleeve, an outer sleeve, a forward bevel gear, a reverse bevel gear and three same bevel gear driving groups; the upper end of the inner sleeve is provided with a cylindrical first box body coaxial with the engine base, the side wall of the first box body is provided with four openings which are uniformly distributed on the circumference and tangent to the circumference, and the bottom surface of the first box body is provided with a coaxial through hole and four axial through holes uniformly distributed on the circumference; the upper end of the outer sleeve is provided with a cylindrical second box body coaxial with the base, the side wall of the second box body is provided with four openings which are uniformly distributed on the circumference and tangent to the circumference, the top surface of the second box body is provided with coaxial openings, the excircle of the outer sleeve is connected with a first coaxial through hole revolute pair of the movable table, and the excircle of the inner sleeve is connected with a second coaxial through hole revolute pair of the movable table; the excircle of the inner sleeve is rotationally connected with the inner hole of the outer sleeve;

The positive rotor wing group comprises four positive rotor wings, and the negative rotor wing group comprises four negative rotor wings; one end of the positive rotor wing and one end of the negative rotor wing are provided with a coaxial gear and a shaft, and the other end of the positive rotor wing and the negative rotor wing are provided with inclined blades;

the circumferential tangential hole of the first box body at the upper end of the inner sleeve is connected with the shaft rotating pair of the positive rotor wing, and the lower end of the inner sleeve is coaxially and fixedly connected with the positive bevel gear; the circumferential tangential hole of the second box body at the upper end of the outer sleeve is rotationally connected with the shaft of the counter-rotating wing, and the lower end of the outer sleeve is coaxially and fixedly connected with the counter bevel gear;

the bevel gear driving set comprises a motor and a bevel gear, the motor is fixedly connected with the movable table, a driving shaft of the motor penetrates through a radial through hole of a large cylindrical cavity of the movable table and is in coaxial key connection with an inner hole of the bevel gear, and the bevel gear is meshed with the forward bevel gear and the reverse bevel gear simultaneously;

The tilt wing mechanism comprises an auxiliary motor, a mandrel, a nut, a pull rod group, a circular ring and a gear sleeve; the upper end, the lower end and the middle part of the mandrel are respectively provided with a coaxial convex circular gear shaft, a convex circular disc and an optical axis; the inner hole of the circular ring is connected with an outer circle cylindrical pair of the inner sleeve, and the outer circle of the circular ring is connected with an inner hole rotating pair of the gear sleeve; the pull rod group penetrates through an axial through hole in the bottom surface of the first box body at the upper end of the inner sleeve, the upper end of the pull rod group is axially and fixedly connected with the lower end surface of the convex circular gear shaft of the mandrel, and the lower end of the pull rod group is axially and fixedly connected with the end surface of the circular ring; the convex circular gear shaft and the gear sleeve of the mandrel are respectively meshed with the gears of the positive and negative rotary wings; the screw is axially provided with a central through hole and an eccentric thread through hole, the central through hole is connected with a convex disc revolute pair at the lower end of the mandrel, the auxiliary motor is axially and fixedly connected with the lower end of the movable table, a thread driving shaft of the auxiliary motor penetrates through the eccentric through hole at the lower end of the movable table and is in threaded connection with the thread through hole of the screw, a spring is fixedly installed between the machine base and the movable table, and two ends of the spring are respectively abutted against the machine base and the movable table.

Due to the adoption of the technical scheme, the invention has the following technical effects:

The invention provides a coaxial forward and reverse rotor wing parallel driving device of a helicopter. Two ends of the driving rod are hinged with the base and the movable table, and the movable table is connected with a central ball pair of the base. The rotor wing mechanism comprises a forward rotor wing set, a reverse rotor wing set, an inner sleeve, an outer sleeve, a forward bevel gear, a reverse bevel gear and three same bevel gear driving sets. The inner sleeve and the outer sleeve are mutually coaxially and rotatably connected with the movable platform. The upper ends of the inner sleeve and the outer sleeve are respectively and vertically and rotationally connected with the forward rotary wing set and the reverse rotary wing set, and the lower ends of the inner sleeve and the outer sleeve are respectively and coaxially and fixedly connected with the forward bevel gear and the reverse bevel gear. The wing tilting mechanism comprises an auxiliary motor, a mandrel, a nut and a pull rod set, wherein a gear shaft at the upper end of the mandrel is coaxially and fixedly connected with a round sleeve through the pull rod set, the round sleeve is rotatably connected with the gear sleeve, the gear shaft and the gear sleeve are respectively meshed with gears of the forward-rotating wing set and the backward-rotating wing set, and the lower end of the mandrel is rotatably connected with the nut. The three motor bevel gear sets are meshed with the forward bevel gear and the reverse bevel gear simultaneously to drive the forward rotary wing set and the reverse rotary wing set to rotate reversely. The driving rod drives the rotor wing mechanism to swing, and the auxiliary motor drives the forward and reverse rotor wing sets to tilt through the screw and the mandrel, so that the speed and the direction of the helicopter are changed.

all the driver mechanisms, the power supply lines and the oil supply pipes are positioned in the engine room, so that the swinging flexibility of the main rotor wing is improved, the acting force and the impact force of the lifting force of the rotor wing on each driving branch are reduced, the service life and the safety and the reliability are improved, the use of an empennage transmission mechanism is avoided, the structure is simplified, and the service life is prolonged.

Drawings

FIG. 1 is a main sectional view of a coaxial forward and reverse wing parallel driving device of a helicopter according to the present invention;

figure 2 is a view of the rotor of the present invention in connection with a bushing and mandrel.

The system comprises a machine base 1, a moving table 2, a moving driver 3, a connecting rod 4, an outer sleeve 5, an inner sleeve 6, a forward rotor 7, a reverse rotor 8, a mandrel 9, a circular ring 10, a gear sleeve 11, a pull rod group 12, a forward bevel gear 13, a reverse bevel gear 14, a motor 15, a bevel gear 16, a screw 17, an auxiliary motor 18 and a spring 19.

Detailed Description

The invention is described in further detail below with reference to the following figures and specific embodiments:

The invention discloses a coaxial forward and reverse rotor wing parallel driving device of a helicopter, which comprises a machine base 1, a movable platform 2, three driving rods, a rotor wing mechanism and an inclined wing mechanism; the engine base 1 is in a disc shape and is provided with a central spherical through hole and three radial linear guide rails which are uniformly distributed on the circumference; the movable table 2 is a revolving body, the upper end, the upper part, the middle part, the lower part and the lower end of the movable table are respectively provided with a spherical body, a cylindrical sleeve, a large cylindrical cavity, a disc and a small cylindrical cavity which are coaxial with the machine base 1, the cylindrical sleeve of the large cylindrical cavity is provided with three radial through holes which are uniformly distributed on the circumference, the disc is provided with three hinged supports which are uniformly distributed on the circumference, the spherical body and the large cylindrical cavity are provided with a first coaxial through hole, and the large cylindrical cavity and the small cylindrical cavity are provided with a second coaxial through hole and an eccentric through hole; wherein, the spherical body of the movable table 2 is connected with the spherical through hole ball pair of the machine base 1.

The driving rod comprises a moving driver 3 and a connecting rod 4; the movable driver 3 is fixedly connected with the machine base 1, a telescopic sliding block of the movable driver 3 is connected with a guide rail movable pair of the machine base 1 and is also connected with a ball pair at one end of the connecting rod 4, and the other end of the connecting rod 4 is connected with a hinged support ball pair of the movable table 2.

the rotor wing mechanism comprises a positive rotor wing group, a negative rotor wing group, an inner sleeve 6, an outer sleeve 5, a positive bevel gear 13, a negative bevel gear 14 and three same bevel gear driving groups; the upper end of the inner sleeve 6 is provided with a coaxial cylindrical first box body, the side wall of the first box body is provided with four circumferentially and uniformly distributed openings which are tangent to the circumference, and the bottom surface of the first box body is provided with a coaxial through hole and four circumferentially and uniformly distributed axial through holes which are close to the excircle of the inner sleeve; the upper end of the outer sleeve 5 is provided with a coaxial cylindrical second box body, the side wall of the second box body is provided with four openings which are uniformly distributed on the circumference and tangent to the circumference, and the top surface of the second box body is provided with coaxial openings; the excircle of the outer sleeve 5 is connected with a first coaxial through hole revolute pair of the movable table 2, the excircle of the inner sleeve 6 is connected with a second coaxial through hole revolute pair of the movable table 2, and the inner hole of the outer sleeve is connected with an excircle revolute pair of the inner sleeve.

the positive rotor wing group comprises 4 positive rotor wings 7, and the negative rotor wing group comprises 4 negative rotor wings 8; one end of the positive rotor wing 7 and one end of the negative rotor wing 8 are provided with a coaxial gear and a shaft, and the other end is provided with an inclined paddle.

The circumferential tangential hole of the first box body at the upper end of the inner sleeve 6 is connected with the shaft rotating pair of the positive rotor wing 7, and the lower end of the inner sleeve 6 is coaxially and fixedly connected with the positive bevel gear 13; the circumferential tangential hole of the second box body at the upper end of the outer sleeve 5 is connected with the shaft rotating pair of the counter-rotating wings 8, and the lower end of the outer sleeve 5 is coaxially and fixedly connected with the counter-bevel gear 14.

the bevel gear driving set comprises a bevel gear 16 and a motor 15, the motor 15 is fixedly connected with the middle part of the movable platform 2, a driving shaft of the motor 15 penetrates through a radial through hole of a large cylindrical cavity of the movable platform 2 to be in coaxial key connection with an inner hole of the bevel gear 16, and the bevel gear 16 is meshed with the forward bevel gear 13 and the reverse bevel gear 14 simultaneously.

The tilt wing mechanism comprises an auxiliary motor 18, a mandrel 9, a nut 17, a pull rod group 12, a circular ring 10 and a gear sleeve 11; the upper end, the middle part and the lower end of the mandrel 9 are respectively provided with a coaxial convex circular gear shaft, an optical shaft and a convex circular disc; the inner hole of the circular ring 10 is connected with the cylindrical pair of the outer circle of the inner sleeve 6, and the outer circle of the circular ring 10 is connected with the inner hole rotating pair of the gear sleeve 11; the pull rod group 12 penetrates through an axial through hole in the bottom surface of the box body at the upper end of the inner sleeve 6, the upper end of the pull rod group is axially fixedly connected with the lower end surface of the convex circular gear shaft of the mandrel, and the lower end of the pull rod group is axially fixedly connected with the end surface of the circular ring 10; the convex circular gear shaft and the gear sleeve 11 of the mandrel 9 are respectively meshed with the gears of the positive rotor wing 7 and the negative rotor wing 8; the screw 17 is axially provided with a central through hole and an eccentric thread through hole, the central through hole is connected with a convex disc outer cylindrical rotating pair at the lower end of the mandrel 9, the auxiliary motor 18 is axially and fixedly connected with the lower end of the movable table 2, and a thread driving shaft penetrates through the eccentric through hole at the lower end of the movable table 2 and is spirally connected with the thread through hole of the screw 17. Two ends of the spring 19 are propped against the machine base 1 and the movable platform 2.

The bevel gear driving group is simultaneously meshed with a forward bevel gear 13 and a reverse bevel gear 14 to drive the forward rotor group and the reverse rotor group to rotate reversely. The driving rod drives the rotor wing mechanism to swing, and an auxiliary motor 18 in the tilt wing mechanism drives the positive rotor wing set and the negative rotor wing set to tilt through a screw 17 and a mandrel 9, so that the speed and the direction of the helicopter are changed.

the embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape, principle and the like of the invention are covered by the protection scope of the invention.