阅读说明：本技术 一种电动直升机自动倾斜装置 (Automatic tilting device of electric helicopter ) 是由 王小平 田圣尧 谭左红 杨季川 廖长清 凌勇 万小博 樊勇 彭鸿云 杜学海 于 2021-10-19 设计创作，主要内容包括：本发明涉及飞行器技术领域,具体为一种电动直升机自动倾斜装置,其包括电机支座(1)、倾斜轴(3)、倾斜球头(4)、固定支架(6)及推拉组件,所述倾斜轴(3)的上部与所述电机支座(1)连接；所述倾斜轴(3)的中部通过所述倾斜球头(4)与所述固定支架(6)连接；倾斜球头(4)套接在所述倾斜轴(3)的外表面,所述倾斜轴(3)的下部与推拉组件连接,本发明提供的装置占用空间小、结构简单、可靠性高、易拆卸、便于维护；整个装置驱动部分安装在直升机机身内部,不受外部干扰,且工作所需伸缩推杆电机只有两个,制造成本低,与当前主流纯电动的大型、小型、微型无人直升机十分契合,可广泛应用于测绘、运输、巡检等领域,本设备结构简单,值得推广。(The invention relates to the technical field of aircrafts, in particular to an automatic tilting device of an electric helicopter, which comprises a motor support (1), a tilting shaft (3), a tilting ball head (4), a fixed support (6) and a push-pull assembly, wherein the upper part of the tilting shaft (3) is connected with the motor support (1); the middle part of the inclined shaft (3) is connected with the fixed bracket (6) through the inclined ball head (4); the tilting ball head (4) is sleeved on the outer surface of the tilting shaft (3), and the lower part of the tilting shaft (3) is connected with the push-pull assembly; the whole device driving part is installed inside the helicopter body and is not interfered by the outside, only two telescopic push rod motors are needed for working, the manufacturing cost is low, the device is very matched with the current mainstream pure electric large-scale, small-scale and miniature unmanned helicopter, the device can be widely applied to the fields of surveying and mapping, transportation, inspection and the like, and the device is simple in structure and is worth popularizing.)

1. The utility model provides an automatic tilting device of electronic helicopter which characterized in that: the device comprises a motor support (1), a tilting shaft (3), a tilting ball head (4), a fixed support (6) and a push-pull assembly, wherein the upper part of the tilting shaft (3) is connected with the motor support (1); the middle part of the inclined shaft (3) is connected with the fixed bracket (6) through the inclined ball head (4); the inclined ball head (4) is sleeved on the outer surface of the inclined shaft (3), the lower portion of the inclined shaft (3) is connected with the push-pull assembly, and the push-pull assembly is used for controlling the inclination angle and the direction of the inclined shaft (3).

2. The automatic tilting device of electric helicopter of claim 1, characterized in that: the push-pull assembly comprises a driving frame support (8), two push-pull structures, two motor flanges (16), two motor push rods (18), a first telescopic push rod motor (15) and a second telescopic push rod motor (19), the driving frame support (8) is fixedly connected with the lower part of the inclined shaft (3), a threaded through hole is formed in the outer side of the driving frame support (8), and the driving frame support (8) is connected with the push-pull structures through the threaded through hole; the two push-pull structures are respectively and fixedly connected with the first telescopic push rod motor (15) and the second telescopic push rod motor (19) through the two motor flanges (16).

3. The automatic tilting device of electric helicopter of claim 2, characterized in that: the push-pull structure comprises a driving frame (9), a pin (10), a driving rod (11), a driving slider (12), a driving rod ball head (13) and a driving sliding groove (14), the driving frame (9) is of a C-shaped structure, and the middle part of the driving frame (9) is connected with a driving frame support (8); one side of the opening of the driving frame (9) is far away from the driving frame support (8); the pins (10) are arranged at the upper end and the lower end of the driving frame (9), and one side, far away from the C-shaped opening, of the driving frame (9) is connected with a driving frame support (8); the driving rod (11) is connected with two ends of the driving frame (9) through pins (10); the driving slide block (12) is fixedly connected with the driving rod ball head (13); a through hole is formed in the center of the driving rod ball head (13), the driving rod (11) penetrates through the through hole, and the driving rod ball head (13) is connected with the driving rod (11) in a sliding mode; the driving sliding groove (14) is connected with the driving sliding block (12) in an embedded mode through a sliding groove.

4. The automatic tilting device of electric helicopter of claim 3, characterized in that: the push-pull structure further comprises a motor push rod (18) and a motor flange (16), and the motor push rod (18) is fixedly connected with the driving chute (14); the motor flange (16) is connected with the driving sliding groove (14) through the motor push rod (18).

5. The automatic tilting device of electric helicopter of claim 4, characterized in that: the first telescopic push rod motor (15) and the second telescopic push rod motor (19) are fixedly connected with the motor flanges (16) of the two pushing structures respectively.

6. The automatic tilting device of electric helicopter of claim 5, characterized in that: the motor flange (16) is provided with a plurality of motor flange screw holes (17), and the motor flange screw holes (17) penetrate through the motor flange (16).

7. The automatic tilting device of electric helicopter of claim 1, characterized in that: the motor support (1) is of a cylindrical structure, and the interior of the motor support is of a hollow structure; the inner wall of the motor support (1) is provided with threads, and the inclined shaft (3) is connected with the motor support (1) through the threads.

8. The automatic tilting device of electric helicopter of claim 7, characterized in that: the motor support is characterized in that a plurality of motor support screw holes (2) are formed in the motor support (1), and the motor support screw holes (2) vertically penetrate through the motor support (1).

9. The automatic tilting device of electric helicopter of claim 1, characterized in that: the device further comprises a support flange plate (5), the support flange plate (5) is arranged on the upper surface of the fixed support (6), the support flange plate (5) is arranged by taking the inclined shaft (3) as a circle center, and the fixed support (6) is fixedly connected with the inclined ball head (4) through the support flange plate (5).

10. The automatic tilting device of electric helicopter according to claim 1 or 4, characterized in that: the edge of the fixing support (6) is provided with a plurality of fixing support screw holes (7), and the fixing support screw holes (7) vertically penetrate through the fixing support (6).

Technical Field

The invention relates to the technical field of aircrafts, in particular to an automatic tilting device of an electric helicopter.

Background

With the progress of the technology, the pure electric large-sized, small-sized and miniature unmanned helicopter is developed rapidly and is widely applied to the fields of surveying and mapping, transportation, routing inspection and the like. In the working process of the helicopter aircraft, the helicopter automatic inclinator responds to a control instruction of an autopilot or a pilot, adjusts the inclination angle of a rotor wing, changes the magnitude and the direction of lift force and further controls the movement direction of the helicopter. The tilting of traditional tilter control rotor oar dish needs three to four steering engines, and the motionless ring through steering engine drive automatic tilter verts, and then drives the rotating ring of tilter and verts, and the rotating ring of tilter links to each other through displacement pull rod and paddle displacement hinge to on will verting the motion transmission paddle, realize the change of paddle pitch angle. The traditional inclinator has the advantages of multiple components, complex structure, low reliability and no contribution to maintenance.

The traditional automatic helicopter inclinator is not matched with the current electric unmanned helicopter, and has the problems of complex structure, inconvenience for installation and debugging and the like.

Disclosure of Invention

The invention provides an automatic inclination device of an electric helicopter, which aims to solve the problems that the current electric unmanned helicopter has a complex structure and is not beneficial to installation and debugging and the like, and has the advantages of small occupied space, simple structure, high reliability and convenience in maintenance.

In order to achieve the above purpose, the invention provides the following technical scheme:

an automatic tilting device of an electric helicopter comprises a motor support, a tilting shaft, a tilting ball head, a fixed support and a push-pull assembly, wherein the upper part of the tilting shaft is connected with the motor support; the middle part of the inclined shaft is connected with the fixed bracket through the inclined ball head; the tilting ball is sleeved on the outer surface of the tilting shaft, the lower part of the tilting shaft is connected with the push-pull assembly, and the push-pull assembly is used for controlling the tilting angle and direction of the tilting shaft.

Furthermore, the push-pull assembly comprises a driving frame support, two push-pull structures, two motor flanges, two motor push rods, a first telescopic push rod motor and a second telescopic push rod motor, the driving frame support is fixedly connected with the lower part of the inclined shaft, a threaded through hole is formed in the outer side of the driving frame support, and the driving frame support is connected with the push-pull structures through the threaded through hole; the two push-pull structures are respectively and fixedly connected with the first telescopic push rod motor and the second telescopic push rod motor through the two motor flanges.

Furthermore, the push-pull structure comprises a driving frame, a pin, a driving rod, a driving slider, a driving rod ball head and a driving chute, the driving frame is of a C-shaped structure, and the middle part of the driving frame is connected with the driving frame support; one side of the opening of the driving frame is far away from the driving frame support; the pins are arranged at the upper end and the lower end of the driving frame, and one side of the driving frame, which is far away from the C-shaped opening, is connected with a driving frame support; the driving rod is connected with two ends of the driving frame through pins; the driving slide block is fixedly connected with the driving rod ball head; a through hole is formed in the center of the driving rod ball head, the driving rod penetrates through the through hole, and the driving rod ball head is connected with the driving rod in a sliding mode; the driving sliding groove is connected with the driving sliding block in an embedded mode through the sliding groove.

Furthermore, the push-pull structure also comprises a motor push rod and a motor flange, and the motor push rod is fixedly connected with the driving sliding chute; the motor flange is connected with the driving sliding groove through the motor push rod.

Furthermore, the first telescopic push rod motor and the second telescopic push rod motor are respectively and fixedly connected with the motor flanges of the two pushing structures.

Furthermore, a plurality of motor flange screw holes are formed in the motor flange and penetrate through the motor flange.

Furthermore, the motor support is of a cylindrical structure, and the interior of the motor support is of a hollow structure; the inner wall of the motor support is provided with threads, and the inclined shaft is connected with the motor support through the threads.

Furthermore, the motor support is provided with a plurality of motor support screw holes, and the motor support screw holes vertically penetrate through the motor support.

Furthermore, the device also comprises a support flange plate, wherein the support flange plate is arranged on the upper surface of the fixed support, the support flange plate is arranged by taking the inclined shaft as the circle center, and the fixed support is fixedly connected with the inclined ball head through the support flange plate.

Furthermore, a plurality of fixing support screw holes are formed in the edge of the fixing support, and the fixing support screw holes vertically penetrate through the fixing support.

Compared with the prior art, the invention has the beneficial effects that: the device provided by the invention has the advantages of small occupied space, simple structure, high reliability, easiness in disassembly and convenience in maintenance; the whole device driving part is arranged inside the helicopter body and is not interfered by the outside, only two telescopic push rod motors are needed for working, the manufacturing cost is low, the device is very fit with the current mainstream pure electric large-scale, small-scale and miniature unmanned helicopter, and the device can be widely applied to the fields of surveying and mapping, transportation, inspection and the like.

Description of the drawings:

FIG. 1 is a schematic front perspective view of the present invention;

FIG. 2 is a schematic bottom perspective view of the present invention;

FIG. 3 is a front view of the present invention;

FIG. 4 is a diagram of the components of the apparatus of the present invention;

the labels in the figure are: 1-motor support, 2-motor support screw hole, 3-inclined shaft, 4-inclined ball head, 5-support flange plate, 6-fixed support, 7-fixed support screw hole, 8-driving frame support, 9-driving frame, 10-pin, 11-driving rod, 12-driving slide block, 13-driving rod ball head, 14-driving sliding groove, 15-first telescopic push rod motor, 16-motor flange, 17-motor flange screw hole, 18-motor push rod and 19-second telescopic push rod motor.

Detailed Description

The present invention will be described in detail with reference to the following examples and embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.

An automatic tilting device of an electric helicopter comprises a motor support 1, a tilting shaft 3, a tilting ball head 4, a fixed support 6 and a push-pull assembly, wherein the upper part of the tilting shaft 3 is connected with the motor support 1; the middle part of the inclined shaft 3 is connected with a fixed bracket 6 through an inclined ball head 4; the inclined ball head 4 is sleeved on the outer surface of the inclined shaft 3, the lower part of the inclined shaft 3 is connected with a push-pull assembly, and the push-pull assembly is used for controlling the inclination angle and the direction of the inclined shaft 3.

The motor support 1 is used for mounting a helicopter power motor; motor support 1 fixed connection tilt axle 3, tilt axle 3 fixed connection actuating mechanism, two flexible push rod motor direct drive actuating mechanism, indirect drive tilt axle 3 slope certain angle, motor support 1 produces corresponding inclination, and power motor during operation, the screw lift just can be decomposed into the power in the vertical direction and the power in the horizontal direction, and then changes the flight direction and the gesture of helicopter.

Specifically, the push-pull structure comprises a driving frame 9, a pin 10, a driving rod 11, a driving slider 12, a driving rod ball 13 and a driving chute 14, the driving frame 9 is of a C-shaped structure, and the middle part of the driving frame 9 is connected with a driving frame support 8; one side of the opening of the driving frame 9 is far away from the driving frame support 8; the upper end and the lower end of the driving frame 9 are both provided with pins 10, and one side of the driving frame 9, which is far away from the C-shaped opening, is connected with a driving frame support 8; the driving rod 11 is connected with two ends of the driving frame 9 through pins 10; the driving slide block 12 is fixedly connected with a driving rod ball 13; a through hole is formed in the center of the driving rod bulb 13, the driving rod 11 penetrates through the through hole, and the driving rod bulb 13 is connected with the driving rod 11 in a sliding mode; the driving runner 14 is connected with the driving slider 12 in an embedded manner through the runner.

Specifically, the push-pull structure comprises a driving frame 9, a pin 10, a driving rod 11, a driving slider 12, a driving rod ball 13 and a driving chute 14, wherein the driving frame 9 is of a C-shaped structure, one side of a C-shaped opening is far away from a driving frame support 8, the upper end and the lower end of the C-shaped opening are provided with the pin 10, and one side of the driving frame 9, far away from the C-shaped opening, is connected with the driving frame support 8; the driving rod 11 is connected with the two ends of the C-shaped opening of the driving frame 9 through a pin 10; the driving slide block 12 is fixedly connected with a driving rod ball 13; a through hole is formed in the center of the driving rod bulb 13, the driving rod 11 penetrates through the through hole, and the driving rod bulb 13 is connected with the driving rod 11 in a sliding mode; the driving runner 14 is connected with the driving slider 12 in an embedded manner through the runner. The driving chute 14 has a rectangular structure and is a hollow structure.

Specifically, the push-pull structure further comprises a motor push rod 18 and a motor flange 16, and the motor push rod 18 is fixedly connected with the driving chute 14; the motor flange 16 is connected to the drive slide 14 via a motor push rod 18. The motor push rod 18 is cylindrical and does not rotate, and can be controlled by the first telescopic push rod motor 15 and the second telescopic push rod motor 19 to move back and forth, and finally the inclined shaft 3 is controlled to incline.

Specifically, the first telescopic push rod motor 15 and the second telescopic push rod motor 19 are respectively and fixedly connected with the motor flanges 16 of the two pushing structures. The first telescopic push rod motor 15 and the second telescopic push rod motor 19 are horizontally arranged, the installation included angle between the two motors is 90 degrees, the first telescopic push rod motor 15 and the second telescopic push rod motor 19 are fixed on the electric helicopter platform through the motor flange 16, and during operation, the first telescopic push rod motor 15 and the second telescopic push rod motor 19 drive the two motor push rods 18 to move back and forth.

The driving frame 9 has two same structures corresponding to the first telescopic push rod motor 15 and the second telescopic push rod motor 19, a driving rod ball head 13 connected with the driving rod 11 is designed to be consistent with a ball head of the inclined shaft 3, the driving rod ball head 13 is connected with the driving rod 11 in a sleeved mode and is not fixed, the driving rod ball head 13 can slide along the radial direction of the driving rod 11, and the driving rod 11 has one more freedom degree of up-and-down motion relative to the inclined shaft 3. In specific implementation, the driving rod 11 can move horizontally, move up and down and rotate at a small angle, and the driving rod ball 13 ensures the degree of freedom of the driving rod 11.

Specifically, the motor flange 16 is provided with a plurality of motor flange 16 screw holes, and the motor flange 16 screw holes penetrate through the motor flange 16.

Specifically, the motor support 1 is of a cylindrical structure, and the interior of the motor support is of a hollow structure; the inner wall of the motor support 1 is provided with threads, and the inclined shaft 3 is connected with the motor support 1 through the threads.

The ball socket at the joint of the tilting ball head 4, the fixed support 6 and the tilting shaft 3 has very close diameter and extremely small contact clearance, but does not influence the tilting motion of the tilting shaft 3, and the support flange 5 enlarges the contact surface, disperses the stress and enables the stress to be more balanced.

Specifically, motor support 1 is equipped with a plurality of motor support 1 screw, and motor support 1 screw runs through motor support 1 perpendicularly, and motor support screw 2 is used for motor support 1 and motor erection joint.

Specifically, the device still includes support ring flange 5, and support ring flange 5 sets up at 6 upper surfaces of fixed bolster, and support ring flange 5 uses slope axle 3 to set up as the centre of a circle, and fixed bolster 6 passes through support ring flange 5 and 4 fixed connection of slope bulb, and support ring flange 5 is inside to be the sphere, and it is protruding that the sphere is followed to the outside, increase and 4 area of contact of slope bulb, and the atress is more balanced.

Specifically, 6 edges of fixed bolster are equipped with a plurality of fixed bolster 6 screws, and 6 screws of fixed bolster run through fixed bolster 6 perpendicularly, and fixed bolster screw 7 is fixed in electronic helicopter platform with whole device.

As shown in fig. 3, during operation, the first telescopic push rod motor 15 and the second telescopic push rod motor 19 drive the motor push rod 18 to move, the motor push rod 18 drives the driving chute 14 and the driving rod 11 to move in the front-back direction, the driving rod ball 13 moves in the up-down direction, the driving frame 9 is fixedly connected with the inclined shaft 3, and when the lower end of the inclined shaft 3 moves, the upper end of the inclined shaft 3 moves opposite to the lower end of the inclined shaft 3; the inclined shaft 3 has an inclined angle, and the lifting force of the propeller can be decomposed into a vertical upward force and a horizontal force, so that the flying direction and the attitude of the helicopter are changed; the first telescopic push rod motor 15 can be regarded as an X axis and the second telescopic push rod motor 19 can be regarded as a Y axis in the horizontal plane, and the two motors act simultaneously to support the lower end of the inclined shaft 3 to move to any point and control the inclination angle and direction of the inclined shaft 3.

The device provided by the invention has the advantages of small occupied space, simple structure, high reliability, easiness in disassembly and convenience in maintenance; the whole device driving part is arranged inside the helicopter body and is not interfered by the outside, only two telescopic push rod motors are needed for working, the manufacturing cost is low, the device is very fit with the current mainstream pure electric large-scale, small-scale and miniature unmanned helicopter, and the device can be widely applied to the fields of surveying and mapping, transportation, inspection and the like.

The above is only an embodiment of the present invention, and the embodiment of the present invention is not limited, for example, the shape of the fixing bracket, the length ratio of the upper and lower portions of the tilting shaft, the length of the driving rod, the stroke of the motor push rod, the volume of the whole device, etc. can be flexibly changed according to the actual requirements, and any modification, equivalent replacement, modification, etc. within the spirit and scope of the present invention are within the technical protection scope of the present invention.