阅读说明：本技术 一种无人倾转旋翼机用旋翼倾转系统及倾转方法 (Rotor wing tilting system and method for unmanned tilting rotor wing machine ) 是由 李明新 吴伟伟 张练 于 2020-10-22 设计创作，主要内容包括：本发明提供了一种无人倾转旋翼机用旋翼倾转系统及倾转方法,该倾转系统包括：发动机、超越离合器、根部传动轴、至少三组依次连接的倾转单元和旋翼,发动机通过超越离合器、根部传动轴和依次连接的倾转单元将扭矩传递给旋翼；相邻倾转单元中等速万向节之间通过传动轴连接,各倾转单元中传动轴上固定倾转滑块,倾转滑块与倾转做动驱动齿轮固定连接,倾转做动驱动齿轮与定齿轮啮合,在步进电机的驱动下倾转做动驱动齿轮在定齿轮上运动,带动传动轴旋转,传动轴带动其末端连接的旋翼倾转。本发明采用万向节方案可以实现旋翼的大方位角螺旋桨倾转,相比齿轮传动方案,其倾转方案更加灵活。(The invention provides a rotor wing tilting system and a tilting method for an unmanned tilting rotor wing, wherein the tilting system comprises: the engine transmits torque to the rotor wing through the overrunning clutch, the root transmission shaft and the tilting units which are connected in sequence; connect through the transmission shaft between the medium-speed universal joint in the adjacent unit that verts, the slider that verts is fixed on the transmission shaft in each unit that verts, and the slider that verts does drive gear fixed connection with verting, verts and does drive gear and fixed gear engagement, and what verts does under step motor's drive moves drive gear and moves on the fixed gear, and it is rotatory to drive the transmission shaft, and the transmission shaft drives its end-to-end connection's rotor and verts. The invention adopts a universal joint scheme to realize the tilting of the rotor-wing large azimuth angle propeller, and compared with a gear transmission scheme, the tilting scheme is more flexible.)

1. The utility model provides a rotor system of verting for unmanned rotorcraft that verts which characterized in that, should vert the system and include: the engine, the overrunning clutch, the first root transmission shaft, at least three groups of tilting units and rotors which are connected in sequence,

the engine transmits torque to the rotor wing through the overrunning clutch, the first root transmission shaft and the tilting units which are connected in sequence;

the unit that verts is the first unit that verts in proper order from the engine side to the rotor side, the second unit that verts to the Nth unit that verts, wherein N is the number of the unit that verts, each unit that verts all includes the constant velocity universal joint, the transmission shaft, it does drive gear to vert, the fixed gear, step motor and the slider that verts, the constant velocity universal joint and the first root transmission shaft of the first unit that verts are connected, connect through the transmission shaft between the constant velocity universal joint of the adjacent unit that verts, be fixed with the slider that verts on the transmission shaft, the slider that verts does drive gear fixed connection with verting, it does drive gear and fixed gear meshing to vert, it does drive gear and moves on the fixed gear to vert under step motor's drive, it is rotatory to drive the transmission shaft, the transmission shaft drives its end-to-end connection.

2. The rotor tilt system of claim 1, wherein the fixed gears of each tilt unit are not coaxial, and the distance between the rim of the fixed gears of the first, second through nth tilt units and the rotor decreases in sequence.

3. The rotor tilt system of claim 1, wherein the fixed gears of each tilt unit are coaxial, and wherein the fixed gears of the first, second through nth tilt units increase in radius in sequence.

4. The rotor tilt system of claim 1, further comprising a tilt position telescopic securing rod, one end of which is fixed to the first root drive shaft and the other end of which is fixed to a tilt slider of an nth tilt unit near the rotor, for locking of a tilt angle of the rotor.

5. The rotor tilt system of claim 1, further comprising a rotor synchronizing gearbox coupled at one end to the overrunning clutch via a second root drive shaft and at another end to the first root drive shaft for simultaneously driving rotation of the two opposing rotors using the engine on the opposite side in the event of a single-sided engine failure.

6. The rotor tiltrotor system according to claim 5, wherein the rotor synchronizing gearbox is coupled to the opposite side rotor tiltrotor system by a fuselage synchronizing shaft assembly.

7. A method of tiltrotor unmanned tiltrotor aircraft, carried out by a rotor tiltrotor system according to any one of claims 1 to 6, comprising the steps of:

step 1, setting a zero position of a rotor wing, collecting the position and the angle of a transmission shaft in each tilting unit under different tilting angles of the rotor wing, inputting the position and the angle into an airborne computer, and fitting the corresponding relation between the tilting angle of the rotor wing and the position and the angle of the transmission shaft in each tilting unit;

step 2, collecting the number of rotation turns of the stepping motor of the transmission shaft in each tilting unit at different positions and angles, and calibrating the corresponding relation between the positions and angles of the transmission shaft in each tilting unit and the number of rotation turns of the stepping motor;

step 3, when the rotor wing tilting angle is adjusted, after the airborne computer receives a rotor wing tilting angle balancing command, acquiring the current position and angle of a transmission shaft in each tilting unit, carrying out interpolation fitting to obtain the position and angle of the transmission shaft in each tilting unit under the target tilting angle, obtaining the number of rotation turns of a stepping motor in each tilting unit under the current tilting angle and the target tilting angle through interpolation fitting, and obtaining the number of rotation turns of the stepping motor in each tilting unit through difference calculation;

and 4, judging the action sequence of the transmission shaft in each tilting unit according to the relation between the current tilting angle and the target tilting angle of the rotor wing, and implementing tilting.

8. The tilting method according to claim 7, wherein in step 4, when the tilting angle is changed from a small angle to a large angle based on the zero position of the rotor, the sequence of the movements is from a transmission shaft in a first tilting unit close to the engine to a transmission shaft in an Nth tilting unit far from the engine;

when the tilting angle moves from a large angle to a small angle, the moving sequence is that the moving sequence moves from the transmission shaft in the Nth tilting unit far away from the engine to the transmission shaft in the first tilting unit close to the engine in sequence.

9. The tilting method according to claim 7, further comprising: discrete position calibration recording is carried out on the position relation between the number of turns of the stepping motor in each tilting unit and the tilting action driving gear on the fixed gear, the discrete position calibration recording is input into an onboard computer, and the corresponding relation between the number of turns of the stepping motor in each tilting unit and the position of the tilting action driving gear is obtained through interpolation fitting;

after the rotor wing is tilted and moved, the position of the actual tilting and moving driving gear is determined, and compared with the position of the tilting and moving driving gear obtained by fitting, whether the error exists in the movement is judged.

10. The tilting method according to claim 7, further comprising the assembly of the tilting system, the assembly comprising the steps of:

(1) sequentially assembling and connecting the engine, the overrunning clutch, the first root transmission shaft, each tilting unit and the rotor wing; when the tilting system comprises a rotor wing synchronous gearbox, one end of the rotor wing synchronous gearbox is connected with the overrunning clutch through a second root transmission shaft, and the other end of the rotor wing synchronous gearbox is connected with a first root transmission shaft;

(2) fixedly assembling the moving gear in each tilting unit with the machine body;

(3) connecting the stepping motors in the tilting units with corresponding tilting actuating drive gears respectively, assembling and connecting formed components with corresponding tilting sliders respectively, and assembling and connecting the formed components with corresponding fixed gears respectively through fixing devices;

(4) the outer wall connection interface assembly connection of the telescopic tilting position fixing rod and the tilting slide block in the first root transmission shaft and the Nth tilting unit.

11. The tilting method according to claim 7, further comprising disassembly of the tilting system, the disassembly comprising the steps of:

(1) disconnecting the telescopic tilting position fixing rod from the first root transmission shaft and the outer wall connecting interface of the tilting slide block in the Nth tilting unit;

(2) disconnecting the tilting slide block, the stepping motor and the tilting acting drive gear;

(3) disconnecting the fixed gear from the machine body;

(4) the engine, the overrunning clutch, the first root transmission shaft, the tilting units and the rotor wing are sequentially disconnected, and when the tilting system comprises the rotor wing synchronous gear box and a second root transmission shaft used for being connected with the rotor wing synchronous gear box, the second root transmission shaft, the rotor wing synchronous gear box and a left connecting part and a right connecting part of the rotor wing synchronous gear box are disconnected.

Technical Field

The invention belongs to the technical field of power transmission of aircrafts, and particularly relates to a rotor wing tilting system and a rotor wing tilting method for an unmanned tilting rotor wing.

Background

With the progress of science and technology, unmanned aerial vehicles are emerging worldwide, and new demands, namely vertical take-off and landing, high-speed flight and large voyage, are brought to aircrafts in a new era. The rotorcraft can realize vertical take-off and landing, but the flight speed and the flight range are limited; the fixed-wing aircraft can realize high-speed flight and large voyage but cannot finish vertical take-off and landing. In order to enable the aircraft to have the advantages of vertical take-off and landing of the helicopter and high speed and large voyage of the fixed wing, designers propose the tilt rotor aircraft, namely, the rotor can actuate in the horizontal direction and the vertical direction, so that the tilt rotor aircraft has the advantages of the fixed wing and the helicopter.

The tiltrotor aircraft is divided into three modes: helicopter mode, fixed wing mode, and transition mode. The dynamic control of the transition mode is the most complex part of the tilt rotor field, so that the tilt system becomes the most complex mechanical transmission structure in the tilt rotor. At present, tilting mechanisms for tilting rotors mostly adopt gear transmission, the transmission efficiency is low, and the weight of a transmission system is large, so that the unmanned aerial vehicle rotor tilting system with high transmission efficiency and light weight is necessary to be provided.

Disclosure of Invention

In order to solve the problem of rotor tilting of an unmanned tilting rotor aircraft in the prior art, the inventor of the invention has conducted intensive research and provides a rotor tilting system and a tilting method for the unmanned tilting rotor aircraft.

The technical scheme provided by the invention is as follows:

in a first aspect, a rotor tilt system for an unmanned tilt rotor machine, comprising: this system of verting includes: the engine, the overrunning clutch, the first root transmission shaft, at least three groups of tilting units and rotors which are connected in sequence,

the engine transmits torque to the rotor wing through the overrunning clutch, the first root transmission shaft and the tilting units which are connected in sequence;

the unit that verts is the first unit that verts in proper order from the engine side to the rotor side, the second unit that verts to the Nth unit that verts, wherein N is the number of the unit that verts, each unit that verts all includes the constant velocity universal joint, the transmission shaft, it does drive gear to vert, the fixed gear, step motor and the slider that verts, the constant velocity universal joint and the first root transmission shaft of the first unit that verts are connected, connect through the transmission shaft between the constant velocity universal joint of the adjacent unit that verts, be fixed with the slider that verts on the transmission shaft, the slider that verts does drive gear fixed connection with verting, it does drive gear and fixed gear meshing to vert, it does drive gear and moves on the fixed gear to vert under step motor's drive, it is rotatory to drive the transmission shaft, the transmission shaft drives its end-to-end connection.

In a second aspect, a tilt method for an unmanned tilt-rotor aircraft, implemented by the rotor tilt system of the first aspect, includes the steps of:

step 1, setting a zero position of a rotor wing, collecting the position and the angle of a transmission shaft in each tilting unit under different tilting angles of the rotor wing, inputting the position and the angle into an airborne computer, and fitting the corresponding relation between the tilting angle of the rotor wing and the position and the angle of the transmission shaft in each tilting unit;

step 2, collecting the number of rotation turns of the stepping motor of the transmission shaft in each tilting unit at different positions and angles, and calibrating the corresponding relation between the positions and angles of the transmission shaft in each tilting unit and the number of rotation turns of the stepping motor;

step 3, when the rotor wing tilting angle is adjusted, after the airborne computer receives a rotor wing tilting angle balancing command, acquiring the current position and angle of a transmission shaft in each tilting unit, carrying out interpolation fitting to obtain the position and angle of the transmission shaft in each tilting unit under the target tilting angle, obtaining the number of rotation turns of a stepping motor in each tilting unit under the current tilting angle and the target tilting angle through interpolation fitting, and obtaining the number of rotation turns of the stepping motor in each tilting unit through difference calculation;

and 4, judging the action sequence of the transmission shaft in each tilting unit according to the relation between the current tilting angle and the target tilting angle of the rotor wing, and implementing tilting.

According to the rotor wing tilting system and the rotor wing tilting method for the unmanned tilting rotor wing, the invention has the following beneficial effects:

(1) in the tilting system, the engine, the overrunning clutch, the root transmission shaft, the rotor wing synchronous gearbox, the at least three groups of tilting units and the rotor wing are sequentially connected, so that the abrasion of a gear transmission scheme is reduced;

(2) according to the tilting system and the tilting method, the contact friction pairs are fewer, so that the power transmission efficiency of the whole transmission system is higher;

(3) the tilting system and the tilting method adopt a universal joint scheme, can realize tilting at any angle within a range of 360 degrees, and have small vibration noise;

(4) the tilting system can be expanded to any rotating load and has strong expansibility.

Drawings

Figure 1 is a schematic view of a rotor tiltrotor system for an unmanned tiltrotor aircraft according to a preferred embodiment of the present invention;

FIG. 2 shows a logical relationship between rotor tilt angle and drive shaft position and angle;

FIG. 3 shows a mechanical schematic between the tilter system and the synchronizing shaft assembly;

figure 4 shows the control logic for the trim of the drive shaft position and angle to the rotor tilt angle.

Detailed Description

The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention.

According to a first aspect of the present invention, there is provided a rotor tilting system for an unmanned tilt-rotor aircraft, each rotor of the tilt-rotor aircraft corresponding to one set of rotor tilting system, and implementing power transmission between an engine output shaft and a rotor shaft at different angles to help an aircraft achieve vertical take-off and landing and high-speed flight, as shown in fig. 1, the rotor tilting system comprising: the engine 1, the overrunning clutch 2, the first root transmission shaft 30, at least three groups of tilting units and rotors 17 which are connected in sequence, wherein,

the engine 1 transmits torque to the rotor 17 through the overrunning clutch 2, the first root transmission shaft 30 and the tilting units which are connected in sequence;

the unit that verts is the first unit that verts in proper order from the engine side to the rotor side, the second unit that verts to the Nth unit that verts, wherein N is the number of the unit that verts, each unit that verts all includes the constant velocity universal joint, the transmission shaft, it does drive gear to vert, the fixed gear, step motor and the slider that verts, the constant velocity universal joint and the first root transmission shaft of the first unit that verts are connected, connect through the transmission shaft between the constant velocity universal joint of the adjacent unit that verts, be fixed with the slider that verts on the transmission shaft, the slider that verts does drive gear fixed connection with verting, it does drive gear and fixed gear meshing to vert, it does drive gear and moves on the fixed gear to vert under step motor's drive, it is rotatory to drive the transmission shaft, the transmission shaft drives its end-to-end connection.

In a preferred embodiment of the present invention, the fixed gears of the tilting units may be coaxial or non-coaxial, and when the fixed gears of the tilting units are non-coaxial, the distances between the rims of the fixed gears of the first tilting unit, the second tilting unit to the nth tilting unit and the rotor decrease in sequence; when the fixed gears of the tilting units are coaxial, the radiuses of the fixed gears from the first tilting unit, the second tilting unit to the Nth tilting unit are sequentially increased; preferably, the fixed gears of the tilt units are coaxial, and the constant velocity joint of the first tilt unit is located on the axial center of the fixed gear.

In a preferred embodiment of the present invention, the rotor tilt system further comprises a tilt-position telescopic fixing rod 11, one end of which is fixed to the first stub transmission shaft 30 and the other end of which is fixed to a tilt slider of the nth tilt unit adjacent to the rotor, for locking the tilt angle of the rotor. This scalable dead lever 11 in position of verting possesses two-way lockable function through adopting two-way dead ratchet group of lock, and the dead direction of lock of machine-borne computer through control relay and solenoid valve control ratchet dies with two-way lock including one-way lock, and one-way lock dies when carrying out the angle and verting promptly, and two-way lock dies when the angle is verted and is ended.

In a preferred embodiment of the present invention, the rotor tilting system further comprises a rotor synchronous gearbox 3, the rotor synchronous gearbox 3 comprises a vertical gear set, a housing, a bearing, an elastic coupling, and other components, one end of the rotor synchronous gearbox is connected to the overrunning clutch 2 through a second root transmission shaft 31, and the other end of the rotor synchronous gearbox is connected to a first root transmission shaft 30; the rotor synchromesh gearbox 3 is connected to the opposite rotor tilt system through a fuselage synchronizing shaft assembly, and the opposite side engine is used to simultaneously drive the opposite rotors to rotate when the single side engine fails.

As shown in fig. 3, the synchronizing shaft assembly is symmetrical along the axis of the fuselage and comprises: elastic coupling 33, bearing 34 and synchro-drive shaft 35 etc. relative rotor system of verting is located the both sides of synchro-drive shaft subassembly, and rotor synchro-gear case 3 is connected with synchro-drive shaft 35 and is used for the moment of torsion that this side of engine of transmission provided when the contralateral engine became invalid.

The tilting system provided by the invention can realize high-efficiency torque transmission and constant-speed rotation between the rotor 17 and the engine 1, and the rotor 17 can tilt at any angle between a horizontal plane and a vertical plane.

According to a second aspect of the present invention, there is provided a tilting method of an unmanned tilt-rotor aircraft, implemented by the rotor tilting system of the first aspect, as shown in fig. 4, comprising the steps of:

step 1, setting a zero position of a rotor wing, collecting the position and the angle of a transmission shaft in each tilting unit under different tilting angles of the rotor wing, inputting the position and the angle into an airborne computer, and fitting the corresponding relation between the tilting angle of the rotor wing and the position and the angle of the transmission shaft in each tilting unit;

as shown in fig. 2, 7 angle values are set between 0 ° and 90 ° for the rotor, and each tilt angle value corresponds to an angle and a position of the transmission shaft in each tilt unit, so as to form a two-dimensional discrete data array, and these discrete data arrays are input to the onboard computer, and the corresponding relationship between any tilt angle of the rotor and the position and the angle of the transmission shaft is obtained through interpolation fitting.

Step 2, collecting the number of rotation turns of the stepping motor of the transmission shaft in each tilting unit at different positions and angles, and calibrating the corresponding relation between the positions and angles of the transmission shaft in each tilting unit and the number of rotation turns of the stepping motor;

step 3, when the rotor wing tilting angle is adjusted, after the airborne computer receives a rotor wing tilting angle balancing command, acquiring the current position and angle of a transmission shaft in each tilting unit, carrying out interpolation fitting to obtain the position and angle of the transmission shaft in each tilting unit under the target tilting angle, obtaining the number of rotation turns of a stepping motor in each tilting unit under the current tilting angle and the target tilting angle through interpolation fitting, and obtaining the number of rotation turns of the stepping motor in each tilting unit through difference calculation;

and 4, judging the action sequence of the transmission shaft in each tilting unit according to the relation between the current tilting angle and the target tilting angle of the rotor wing, and implementing tilting.

In a preferred embodiment of the present invention, in step 4, when the tilt angle is changed from a small angle to a large angle based on the zero position of the rotor, the operation sequence is that the operation sequence is sequentially performed from the transmission shaft in the first tilt unit close to the engine to the transmission shaft in the nth tilt unit far from the engine; when the tilting angle moves from a large angle to a small angle, the moving sequence is that the moving sequence moves from the transmission shaft in the Nth tilting unit far away from the engine to the transmission shaft in the first tilting unit close to the engine in sequence.

In a preferred embodiment of the present invention, the tilting method further comprises: and carrying out discrete position calibration recording on the position relation between the number of turns of the stepping motor in each tilting unit and the tilting action driving gear on the fixed gear, inputting the result into an onboard computer, and carrying out interpolation fitting to obtain the corresponding relation between the number of turns of the stepping motor in each tilting unit and the position of the tilting action driving gear.

After the rotor wing is tilted to complete the action, the actual tilting action driving gear position is determined and compared with the tilting action driving gear position obtained through fitting, when the actual tilting action driving gear position is consistent with the tilting action driving gear position obtained through fitting, the action is successful, and if the actual tilting action driving gear position is inconsistent with the fitting, the action has errors.

In the present invention, the tilting method further comprises the assembly of the tilting system, the assembly comprising the steps of:

(1) sequentially assembling and connecting an engine 1, an overrunning clutch 2, a first root transmission shaft 30 (or a second root transmission shaft 31 and a rotor wing synchronous gearbox 3), all tilting units and a rotor wing 17;

(2) fixedly assembling the moving gear in each tilting unit with the machine body;

(3) connecting the stepping motors in the tilting units with corresponding tilting actuating drive gears respectively, assembling and connecting formed components with corresponding tilting sliders respectively, and assembling and connecting the formed components with corresponding fixed gears respectively through fixing devices;

(4) the telescopic tilting position fixing rod 11 is assembled and connected with the first root transmission shaft 30 and the outer wall connection interface of the tilting slider in the nth tilting unit.

In the present invention, the tilting method further comprises the disassembly of the tilting system, the disassembly comprising the steps of:

(1) disconnecting the telescopic tilting position fixing rod 11 from the first root transmission shaft 30 and the outer wall connecting interfaces of the tilting sliders in the Nth tilting unit;

(2) disconnecting the tilting slide block, the stepping motor and the tilting acting drive gear;

(3) disconnecting the fixed gear from the machine body;

(4) the engine 1, the overrunning clutch 2, (or also the second root drive shaft 31, the rotor synchrogearbox 3) the first root drive shaft 30, the respective tilting units and the rotor 17 are disconnected in sequence.

Examples

Example 1

A rotor tilt system including three tilt units will be described as an example.

As shown in fig. 1, 2 and 3, the rotor tilt system comprises: the engine 1, the overrunning clutch 2, the second root transmission shaft 31, the rotor synchronous gearbox 3, the first root transmission shaft 30, three groups of tilting units and the rotor 17 which are connected in sequence, and the engine 1 transmits torque to the rotor 17 through the overrunning clutch 2, the rotor synchronous gearbox 3, constant-speed universal joints (numbers 4, 8 and 13 in the figure) and the transmission shafts (numbers 21, 24 and 25 in the figure).

The main assembly process related to the tilting system comprises the following steps:

1) sequentially assembling and connecting an engine 1, an overrunning clutch 2, a second root transmission shaft 31, a rotor synchronous gearbox 3, a first root transmission shaft 30, a constant velocity universal joint 4 and a transmission shaft 25, inserting the transmission shaft 25 after finishing assembling bearings (numbers 5 and 7 in the figure) and a tilting slide block 6, assembling and connecting the transmission shaft 25, the constant velocity universal joint 8 and a transmission shaft 24, inserting the transmission shaft 24 after finishing assembling the bearings (numbers 9 and 12 in the figure) and the tilting slide block 10, assembling and connecting the transmission shaft 24, the constant velocity universal joint 13 and the transmission shaft 21, inserting the transmission shaft 21 after finishing assembling the bearings (numbers 14 and 16 in the figure) and the tilting slide block 15, and assembling and connecting the transmission shaft 21 and a rotor 17;

2) fixedly assembling a tilting action driving gear (20, 28 and 29 in the figure) and a machine body;

3) the stepping motors (numbers 19, 22 and 27 in the figure) are respectively connected with the tilting action driving gears (numbers 18, 23 and 26 in the figure), the formed components are respectively assembled and connected with the tilting sliders (numbers 15, 10 and 6 in the figure), and the formed assemblies are respectively assembled and connected with the fixed gears (numbers 20, 28 and 29 in the figure) through fixing devices;

4) the telescopic tilting position fixing rod 11 is assembled and connected with the tilting slide block 15 and the outer wall connecting interface of the transmission shaft 30.

The disassembly process related to the tilting system comprises the following steps:

1) disconnecting the telescopic tilting position fixing rod 11 from the tilting slide block 15 and the outer wall connecting interface of the transmission shaft 30;

2) disconnecting the connection between the tilting slider (reference numerals 15, 10, 6 in the drawings) and the combination of the stepping motor (reference numerals 19, 22, 27 in the drawings) and the tilting action drive gear (reference numerals 18, 23, 26 in the drawings), and disconnecting the connection between the stepping motor (reference numerals 19, 22, 27 in the drawings) and the tilting action drive gear (reference numerals 18, 23, 26 in the drawings);

3) disconnecting the fixed gears (numbers 20, 28 and 29 in the figures) from the machine body;

4) the transmission shaft 21 and the rotor 17 are assembled and disconnected, the assembly composed of the bearings (numbers 14 and 16 in the figure) and the tilting slider 15 is pulled out of the transmission shaft 21, the connection between the transmission shaft 24 and the constant velocity universal joint 13 and the transmission shaft 21 is disconnected, the assembly composed of the bearings (numbers 9 and 12 in the figure) and the tilting slider 10 is pulled out of the transmission shaft 24, the connection between the transmission shaft 25 and the constant velocity universal joint 8 and the transmission shaft 24 is disconnected, the assembly composed of the bearings (numbers 5 and 7 in the figure) and the tilting slider 6 is pulled out of the transmission shaft 25, and the engine 1, the overrunning clutch 2, the second root transmission shaft 31, the rotor synchronous gearbox 3, the first root transmission shaft 30, the constant velocity universal joint 4 and the transmission shaft 25 are sequentially disconnected.

The method for implementing rotor wing tilting by adopting the rotor wing tilting system comprises the following steps:

step 1, setting a zero position of a rotor, collecting the position and the angle of a transmission shaft in each tilting unit under 7 rotor tilting angles (0 degrees, 15 degrees, 30 degrees, 45 degrees, 60 degrees, 75 degrees and 90 degrees), inputting the position and the angle of the transmission shaft in each tilting unit into an onboard computer, and fitting to obtain the corresponding relation between the rotor tilting angle and the position and the angle of the transmission shaft in each tilting unit;

step 2, collecting the number of rotation turns of the stepping motor of the transmission shaft in each tilting unit at different positions and angles, calibrating the corresponding relation between the position and the angle of the transmission shaft in each tilting unit and the number of rotation turns of the stepping motor, and driving the transmission shaft;

method of driving the drive shaft 21: the zero position is set first and then calibration is done for the number of revolutions of the stepper motor 19 and the position and angle of the drive shaft 21. The airborne computer can obtain the number of rotation turns of the stepping motor 19 according to the space position signal of the transmission shaft 21, and the stepping motor 19 is controlled to drive the driving gear 18 to rotate for the given number of turns.

Method of driving the propeller shaft 24: the zero position is first set and then calibration is done for the number of rotations of the stepper motor 22 and the position and angle of the drive shaft 24. The airborne computer can obtain the number of rotation turns of the stepping motor 22 according to the space position signal of the transmission shaft 24, and the stepping motor 22 is controlled to drive the driving gear 23 to rotate for the given number of turns.

Method of driving the drive shaft 25: the zero position is set first and then calibration is done for the number of revolutions of the stepper motor 27 and the position and angle of the drive shaft 25. The airborne computer can obtain the number of rotation turns of the stepping motor 27 according to the space position signal of the transmission shaft 25, and control the stepping motor 27 to drive the driving gear 26 to rotate for a given number of turns.

And (3) carrying out discrete position calibration recording on the position relation between the number of rotations of the stepping motors (numbers 19, 22 and 27 in the figure) and the position relation between the tilting action driving gears (numbers 18, 23 and 26 in the figure) and the fixed gears (numbers 20, 29 and 28 in the figure), inputting the discrete position calibration recording into an onboard computer, and fitting by inserting values to obtain the corresponding relation between the number of rotations of the stepping motors in each tilting unit and any position of the tilting action driving gears (numbers 18, 23 and 26 in the figure) for monitoring the tilting process.

And 3, after the onboard computer receives a balancing command, obtaining the corresponding angle and position relation of the transmission shafts (numbers 21, 24 and 25 in the figure) through interpolation fitting, and obtaining the number of rotation turns of the stepping motors (numbers 19, 22 and 27 in the figure) through interpolation fitting.

And 4, judging the action sequence of the transmission shafts (the numbers 21, 24 and 25 in the figure) by the airborne computer according to the relation between the current angle and the target angle of the rotor wing, and controlling the stepping motors (the numbers 19, 22 and 27 in the figure) to rotate for given turns to complete action. When the tilting angle is changed from a small angle to a large angle, the action sequence of the transmission shaft is shown as numbers 25, 24 and 21 in the figure; when the tilting angle is changed from a large angle to a small angle, the driving sequence of the transmission shaft is shown as (reference numbers 21, 24 and 25 in the figure).

The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.

Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.