CN109703757B

CN109703757B - Unmanned aerial vehicle rotor wing system

Info

Publication number: CN109703757B
Application number: CN201910133982.4A
Authority: CN
Inventors: 刘帅; 孙涛; 贾良现
Original assignee: Efy Intelligent Control Tianjin Tech Co ltd
Current assignee: Efy Intelligent Control Tianjin Tech Co ltd
Priority date: 2019-02-22
Filing date: 2019-02-22
Publication date: 2024-04-30
Anticipated expiration: 2039-02-22
Also published as: CN109703757A

Abstract

The invention discloses an unmanned aerial vehicle rotor system, which comprises a helicopter rotor control device and a teeterboard rotor, wherein the helicopter rotor control device comprises a swashplate assembly and a total moment slide bar assembly, the swashplate assembly comprises a swashplate, a rotor shaft is tubular, the total moment slide bar and a long pull bar penetrate through the rotor shaft, and the upper end part of the total moment slide bar and the long pull bar are in corresponding transmission connection with a rotor clamp assembly. According to the steering engine driving assembly, the tilting disk assembly and the total distance sliding rod assembly are in a modularized design, so that the complexity of the structure is reduced, and the operations of designing, debugging, maintaining and the like of a rotor system are simplified. The steering engine driving assembly of the rotor wing control system is used in parallel with three linear steering engines, so that the space utilization rate is improved, and the structural composition is simplified.

Description

Unmanned aerial vehicle rotor wing system

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle rotor wing system.

Background

The unmanned aerial vehicle flight control system comprises a multi-rotor unmanned aerial vehicle flight control system and a fixed-wing unmanned helicopter flight control system. The method is mainly used in the fields of plant protection, electric power line inspection, geographical survey, logistics transportation and the like. A whole set of operating device for unmanned helicopter flight. Including four steering systems for total moment, longitudinal, lateral and heading. The total moment control system can change the pulling force of the rotor wing to control the ascending and descending movement of the helicopter. The longitudinal and transverse control systems can change the direction of the pulling force of the rotor wing in space so as to control the longitudinal and transverse displacement, pitching and rolling motions of the helicopter. The heading manipulation system may vary the magnitude of the tail rotor thrust (pull) force (single rotor helicopter) or the reactive torque of the two rotors (tandem helicopter) to control yaw motion. The existing unmanned helicopter has the following three problems,

First, small-size unmanned helicopter receives rotor space's restriction, and most adoption is the mode of off-axis manipulation, and this kind of mode can cause the external structure complicacy, and system weight is big, power transmission inefficiency scheduling shortcoming still causes the system to hinder the area greatly.

Secondly, the conventional tilting disk with the periodic variable pitch of the unmanned helicopter is complex in structure, and is generally composed of a universal bearing and other accessories, but is high in manufacturing and assembling difficulty, high in production cost and inconvenient to assemble, disassemble and maintain.

Thirdly, the unmanned helicopter is generally operated by adopting a rotary steering engine, and as the circular motion of the steering engine is required to be changed into the required linear motion, various conversion mechanisms are required to be designed, the structure is complex, the operation efficiency is low and the force transmission efficiency is low.

Fourth, the rotor has only two blades, sharing a horizontal hinge, no vertical hinge, there is a variable-pitch hinge, and the variable-pitch hinge generally uses a pull torsion bar to bear centrifugal force. The pull torsion bar action design requires a certain space and is not suitable for the characteristics of the medium-sized unmanned aerial vehicle.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides an unmanned helicopter rotor system which can improve the self-stability and safety of an unmanned helicopter.

The invention is realized by the following technical scheme:

An unmanned plane rotor system comprises a helicopter rotor control device and a seesaw rotor,

The helicopter rotor wing control device comprises a tilting disk assembly and a total moment sliding rod assembly,

The tilting disk assembly comprises a tilting disk and a tilting disk rotating shaft sleeved in the tilting disk, the total moment sliding rod assembly comprises a total moment sliding rod and a long pull rod, a central joint bearing is arranged at the lower end of the total moment sliding rod, a side joint bearing is correspondingly arranged at the lower end of the long pull rod, and the central joint bearing and a ball head of the side joint bearing are fixedly connected with the tilting disk rotating shaft through a transverse connecting rod;

The teeterboard rotor comprises a rotor hub assembly and two rotationally symmetrical rotor clamp assemblies; the rotor hub assembly is of a symmetrical design and comprises a rotor hub positioning block connected with a rotor shaft through a transversely extending positioning pin shaft, two rotor hub side plates respectively connected with the rotor hub positioning block through two longitudinally extending teeterboard positioning pins, inner ends of the rotor hub side plates correspond to rotor hub support arms fixedly connected with the rotor hub side plates through bolts, and a rotor clamp distance ring is axially positioned on the rotor hub support arms;

The rotor shaft is tubular, the total moment sliding rod and the long pull rod penetrate through the rotor shaft, and the upper end part of the total moment sliding rod and the long pull rod are in corresponding transmission connection with the paddle clamp assembly.

In the above technical scheme, the oar press from both sides the subassembly including oar press from both sides and moment arm, the oar press from both sides including with the rotatable cooperation of oar hub support arm be connected connect the barrel to and with connect barrel an organic whole formation or fixed connection's paddle press from both sides, moment arm with connect barrel fixed connection, connect barrel and oar press from both sides the distance ring and realize its axial fixity through bolt fixed connection.

In the technical scheme, the tilting disk roll direction and the pitching direction are respectively provided with a tilting disk support arm, and the tilting disk support arm is hinged with the other end of the L-shaped operating arm; the steering engine driving assembly comprises three linear steering engines with tail ends rotatably connected with the engine body, and three L-shaped manipulator arms which are correspondingly arranged with the linear steering engines, one ends of the L-shaped manipulator arms are hinged with the output ends of the linear steering engines, and the middle parts of the L-shaped manipulator arms are rotatably connected with the engine body.

In the technical scheme, the upper end of the tilting disk rotating shaft is provided with the U-shaped connecting lug, the ball head of the central joint bearing is positioned inside the connecting lug, and the side joint bearings are positioned at two sides of the connecting lug.

In the technical scheme, the lower end of the total moment sliding rod is provided with the side plates for shielding the two long pull rods, and the inner sides of the side plates are provided with the guide parts for vertically guiding the long pull rods.

In the technical scheme, a waving limiting block is fixed between the two hub side plates, and a polyurethane bushing is correspondingly sleeved on the rotor shaft.

In the technical scheme, the upper end of the total moment sliding rod is connected with the butterfly-shaped part through the joint bearing, and two sides of the butterfly-shaped part are connected with the upper end of the long pull rod through the joint bearing.

In the technical scheme, a sealing bearing is arranged between the open end of the paddle clamp connecting cylinder body and the paddle hub support arm.

In the above technical scheme, the paddle board clamp comprises an inner side bolt fixedly connected with an outer side bolt to adjust the angle of the paddles in the array direction, and the hub support arm has a pre-taper angle of 1.75 degrees to tilt up two paddles by 1.75 degrees.

In the technical scheme, the upper end and the lower end of the rotor shaft are respectively connected and fixed with the link rod limiting blocks through bolts, and interference assembly is arranged between the rotor hub positioning blocks and the rotor shaft.

The invention has the advantages and beneficial effects that:

According to the steering engine driving assembly, the tilting disk assembly and the total distance sliding rod assembly are in a modularized design, so that the complexity of the structure is reduced, and the operations of designing, debugging, maintaining and the like of a rotor system are simplified. The steering engine driving assembly of the rotor wing control system is used in parallel with three linear steering engines, so that the space utilization rate is improved, and the structural composition is simplified. The L-shaped manipulator arm is constructed and designed to transfer the output torque of the linear steering engine in a plane, and the periodic tilting motion of the tilting disk is realized by utilizing the three tilting disk support arms and the knuckle bearing, so that the production and the manufacture are reduced to be a body, and the device is practical and reliable. The total distance slide bar assembly has a simple structural form, the layout of the total distance slide bar assembly adopts symmetrical layout, the mechanism forms a parallelogram movement mechanism, and the transmission efficiency of the operating force is improved. The stable and efficient output of steering engine operating force is realized. The rotor wing clamp assembly is connected with the rotor hub side plates of the rotor hub assemblies on two sides through four bolts, so that the mechanism is simple, the maintenance is convenient, and the disassembly, the assembly, the transportation and the fault diagnosis are convenient. The rotor hub assembly and the rotor clamp assembly are symmetrically arranged, the structure is simple, the rotor hub is practical and reliable, the cost is reduced, the center of gravity of the rotor hub is controlled to coincide with the rotor shaft, the rotor clamp assembly is assembled by adopting a temperature difference process, and the vibration level of the teeterboard rotor system is reduced. By adopting the modularized design, the complexity of the structure is reduced, the operation such as the design, debugging and maintenance of a rotor system is simplified, and the rotor hub assembly can rotate along with the rotor shaft and realize the flapping motion of the rotor hub assembly.

Drawings

Figure 1 is an isometric schematic view of a helicopter rotor steering apparatus of the present invention.

Figure 2 is a schematic cross-sectional view of a helicopter rotor steering apparatus of the present invention.

Figure 3 is a schematic side view of a helicopter rotor steering apparatus of the present invention

Fig. 4 shows a bottom view.

FIG. 5 is another schematic view of a helicopter rotor steering apparatus of the present invention;

Fig. 6 is a schematic cross-sectional structure shown in fig. 5.

FIG. 7 is a schematic view of a tilting tray structure;

Fig. 8 is a schematic cross-sectional view of fig. 7.

Fig. 9 is a schematic structural view of a rotor of a see-saw type unmanned aerial vehicle according to the present invention.

Fig. 10 is a schematic top view of a see-saw type unmanned aerial vehicle rotor of the present invention.

Figure 11 shows a cross-section A-A of a see-saw type unmanned aerial vehicle rotor according to the present invention.

Figure 12 is a B-B cross-sectional view of a see-saw type unmanned aerial vehicle rotor of the present invention.

Fig. 13 is a side view of a see-saw type unmanned aerial vehicle rotor of the present invention.

Other relevant drawings may be made by those of ordinary skill in the art from the above figures without undue burden.

Detailed Description

In order to make the person skilled in the art better understand the solution of the present invention, the following describes the solution of the present invention with reference to specific embodiments.

Example 1

The unmanned aerial vehicle rotor system comprises a teeter-totter unmanned aerial vehicle rotor and a rotor control device, wherein the rotor control device comprises a tilting disc assembly 300 and a total moment sliding rod assembly 100,

The tilting disk assembly comprises a tilting disk 310 and a tilting disk rotating shaft 311 rotatably sleeved in the tilting disk, tilting disk supporting arms 312 and 313 are respectively arranged in the tilting disk rolling direction and the pitching direction, the total moment sliding rod assembly comprises a central joint bearing 111 arranged at the lower end of the total moment sliding rod 110 and a side joint bearing 121 correspondingly arranged at the lower end of the long pull rod 120, the central joint bearing 111 and a ball head of the side joint bearing 121 are fixedly connected with the tilting disk rotating shaft through a transverse connecting rod 314, and the transverse connecting rod is arranged in parallel with the tilting disk supporting arms in the pitching direction. I.e. the periodic pitch angle of the tilting disk 310 is realized with the maximum angle that can be realized by the ball head of the knuckle bearing, e.g. a maximum of 12 °; the tilting disk rotating shaft is provided with three joint bearings which are linearly arranged, the middle joint bearing is fixedly connected with the total moment sliding rod, the side joint bearings on two sides are fixedly connected with the long pull rod, and the butterfly-shaped part 130 is provided with two joint bearings which are fixedly connected with the upper end of the long pull rod.

Specifically, the lower end of the total rectangular slide bar is provided with a side plate 111 for shielding two long pull rods, and the inner side of the side plate is provided with a guide part 112 for vertically guiding the long pull rods. The upper part of the total distance slide bar is connected with rolling bearings through bolts, two dished parts 130 are assembled on the rolling bearings after being fixedly connected at intervals, two joint bearings are correspondingly fixed on two sides of the dished parts through bolts, then the dished parts above the total distance slide bar and the inclined disc rotating shafts below the total distance slide bar are connected through long pull rods (the long pull rods penetrate through upper and lower linkage rod limiting blocks), and finally the variable-distance pull rods with the joint bearings at two ends are respectively connected above the dished parts through bolts.

The tilting disk 310 is a fixed ring, and the tilting disk rotating shaft 311 is an indefinite ring, and rotates together with the rotor system. The upper end of the tilting disk rotating shaft is provided with a U-shaped connecting lug, the ball head of the central knuckle bearing is positioned inside the connecting lug, and the side knuckle bearings are positioned at two sides of the connecting lug. And the periodic motion is realized by using three knuckle bearings at the lower end of the total distance slider. The total distance sliding rod assemblies are arranged in a central symmetry mode, a teeterboard type mechanism is formed, and periodic movement of the control system is achieved. The three knuckle bearings and the tilting disk rotating shaft form a hinge structure, so that the periodic movement of the tilting disk is realized. The two opposite dished parts at the upper end of the total distance slide bar assembly transmit variable operating force to the distance changing pull bar, thereby realizing the distance changing movement of the rotor system.

The tilting disk rotating shaft is arranged in the cavity type tilting disk, namely, the tilting disk rotating shaft penetrates out of a central hole of the tilting disk and is positioned at the rear end of the tilting disk, and then two rolling bearings are pressed by bolts, so that axial pre-tightening is ensured. Meanwhile, the inner ring of the roller bearing is in interference fit with the rotating shaft of the tilting disk, the outer ring of the rolling bearing is in interference fit with the tilting disk, and the rotation of the rotating shaft of the tilting disk and the tilting disk is effectively isolated. Three tilting disk support arms are respectively arranged in the tilting disk rolling direction and the tilting direction. The three tilting disk support arms are respectively connected with the joint bearing of the steering engine driving assembly, so that the transmission of the steering force is realized.

The teeterboard unmanned rotor comprises a hub assembly 400 and two rotationally symmetrical blade clamp assemblies 500; the rotor hub assembly is of a symmetrical design and comprises a rotor hub positioning block connected with a rotor shaft through a positioning pin shaft which transversely extends, two rotor hub side plates 3 which are respectively connected with the rotor hub positioning block through two half-shaft type teeterboard positioning pins 2 which longitudinally extend, a rotor hub support arm which is fixedly connected with the rotor hub side plates 3 through bolts is correspondingly arranged at the inner end of the rotor hub positioning block, and a rotor clip distance ring is axially positioned on the rotor hub support arm; the rear part of the hub support arm is provided with a connecting plate, two ends of the connecting plate are fixedly connected with the hub side plate through bolts correspondingly, and the front part of the connecting plate is provided with a columnar body so as to assemble a subsequent paddle clamp. Wherein, the transverse direction and the longitudinal direction are used as a description of perpendicular arrangement of the two, and are not particularly limited. Namely, the positioning pin shaft and the positioning pin are vertically arranged. The hub support arm is connected with the hub side plates on two sides through bolts, so that the mechanism is simple, the maintenance is convenient, and the disassembly, the assembly, the transportation and the fault diagnosis are convenient. The rotor hub assembly and the rotor clamp assembly are symmetrically arranged, the structure is simple, the rotor hub is practical and reliable, the cost is reduced, the center of gravity of the rotor hub is controlled to coincide with the rotor shaft, the rotor clamp assembly is assembled by adopting a temperature difference process, and the vibration level of the teeterboard rotor system is reduced. By adopting the modularized design, the complexity of the structure is reduced, the operation such as the design, debugging and maintenance of a rotor system is simplified, and the rotor hub assembly can rotate along with the rotor shaft and realize the flapping motion of the rotor hub assembly.

The linear steering engine 210 of the steering engine driving assembly of the rotor wing control system directly uses a lithium battery as power, and is changed into proper voltage and current through power driving under the action of a servo controller, and the driving motor rotates and needs to be output after gear reduction. The servo controller is an electronic device, receives the elongation measured by the power output end feedback element, compares the elongation with a servo command signal sent by the flight control system, and processes the elongation by the flight control algorithm to form a control electric signal of the power driving part. The power output end drives the linear steering engine to generate servo motion.

The tubular rotor shaft 150, the total moment sliding rod and the long pull rod penetrate through the rotor shaft, and the upper end part of the total moment sliding rod and the long pull rod are in corresponding transmission connection with the paddle clamp assembly. The total moment slide bar and the long pull bar are both positioned in the rotor shaft, a transverse through positioning pin shaft is arranged at the upper end of the rotor shaft, and an axial long hole matched with the positioning pin shaft is formed in the total moment slide bar. The upper end and the lower end of the rotor shaft 150 are respectively connected and fixed with a linkage rod limiting block through bolts, and the total moment sliding rod and the long pull rod penetrate through the linkage rod limiting block. The total distance slide bar limiting pin is arranged at the center of the rotor shaft and only slides in a certain range in the up-down direction. The sliding range of the total distance slide rod limiting pin is 10mm larger than the required stroke range of the rotor system, and the total distance slide rod limiting pin plays a role in protecting the total distance slide rod. Preventing the damage of the whole set of operating mechanism caused by misoperation.

Meanwhile, an anti-rotation plate is arranged on the machine body and the inclined plate, and the anti-rotation plate is made of steel or metal nonmetallic materials such as aluminum, titanium, plastic and the like. The anti-rotation plate is provided with a slot for preventing the tilting disk from rotating. The bolt connection is adopted, so that the replacement can be conveniently performed. Nylon U-shaped strips are glued in the guide grooves of the anti-rotation plates through epoxy resin, so that friction force when the tilting disk slides up and down is reduced.

The rotor wing control system improves the transmission efficiency of control force, improves the mechanical property and the control stability of the rotor wing control system, has simple assembly process and low cost, is convenient for maintenance and installation of the system, and is suitable for light and medium unmanned helicopters.

The rotor wing and the control system adopt a linkage control mode; if the variable pitch link 120 is shortened, the pitch angle increases by a positive stroke and decreases by a negative stroke; if the variable-pitch pull rod is lengthened, the pitch angle increases in positive stroke and decreases in negative stroke. If the distance between the two knuckle bearings of the tilting disk is shortened, the pitch angle is increased by a positive stroke and reduced by a negative stroke; if the distance between the two knuckle bearings of the tilting disk is increased, the pitch angle is reduced by a positive stroke and increased by a negative stroke. If the pitch angle of the steering engine installation interface is lengthened, the positive stroke of the pitch angle is increased, the negative stroke is reduced, the pitch angle of the steering engine installation interface is shortened, the positive stroke of the pitch angle is reduced, and the negative stroke is increased. If the up-and-down sliding travel of the total distance sliding rod is increased, the pitch angle range is increased; if the total distance sliding rod up-down sliding travel is reduced, the pitch angle range is reduced. The pitch angle of the periodic variation is close to the equivalent or equivalent variation along with the change of the inclination angle, namely, the pitch angle of the periodic variation is increased or decreased by 0.375 degrees when the inclination plate is increased by 1 degree. The two pitch angles of the cyclic variation of a pair of rotors are symmetrical about the collective pitch line within a range of angles of the swashplate. The larger the inclination angle of the tilting disk is, the more the two pitch angles are outwards, and half of the sum of the two pitch angles is the total distance.

Example two

As a specific implementation mode, the fixed end of the linear steering engine is connected with the machine body through a joint bearing, and the output end of the linear steering engine is connected with the L-shaped manipulator arm through the joint bearing. Further, the steering engine driving assembly comprises three linear steering engines 210 with tail ends rotatably connected with the engine body, and three L-shaped operating arms 211 which are arranged corresponding to the linear steering engines, one ends of the L-shaped operating arms are hinged with the output ends of the linear steering engines, and the middle parts of the L-shaped operating arms are rotatably connected with the engine body; the tilting disk support arm is hinged with the other end of the L-shaped manipulator arm through a transmission rod 212.

When the linear steering engine fixed end is installed, the linear steering engine fixed end and the steering engine installation piece are connected through bolts, then the steering engine installation piece and the joint bearing are connected through threads, and finally the joint bearing is fixed on the machine body installation position through bolts. When the linear steering engine output end is installed, the joint bearing is connected with the linear steering engine output end through threads. And then fixing the joint bearing and the L-shaped operating arm by bolts, and finally fixing the L-shaped operating arm on the corresponding position of the machine body mounting piece by bolts by using two rolling bearings and a machine body supporting washer. And the other end of the L-shaped operating arm is connected with a joint bearing by a bolt.

The fixing mode of the L-shaped manipulator arm and the knuckle bearing is double-side fixing, so that the manipulation stability of the L-shaped manipulator arm is improved.

The steering engine driving assembly functionally forms a crank rocker mechanism, and the L-shaped operating arm converts the linear motion of the linear steering engine into the circular motion of the L-shaped operating arm in an operating range, so that the steering engine driving assembly is a key mechanism for realizing the output of operating force. The installation of the three linear steering engines is characterized in that the force transmission center of the L-shaped control part and the middle of the force output by the linear steering engines are in the same plane. The output efficiency of the operating force is ensured, so that the L-shaped operating arm does not bear additional bending moment.

The rotor shaft transmits torque transmitted by the engine to the rotor system. The rotor wing system rotates clockwise or anticlockwise at a certain rotating speed, and meanwhile, the control force is transmitted to the total moment sliding rod and the long pull rod by the rotor wing control system, and the pitch-changing pull rod drives the paddle clamp to move. The paddle entrains the movable paddles to move along the axial angle to realize the change of the attack angle of the paddles, so that the paddles generate periodically-changed aerodynamic lift.

There are two primary functions for the rotor steering of the present invention. The first is total distance change, and the specific implementation form is that the operating force and the stroke quantity output by the three linear steering engines are equal, and the operating force and the stroke quantity are increased and reduced simultaneously.

The transmission form of the control force is that the linear steering engine outputs the control force and transmits the control force to the L-shaped control piece, the L-shaped control piece transmits the force transmitted by the linear steering engine to the tilting disk support arm, the tilting disk support arm drives the tilting disk rotating shaft to move up and down, the tilting disk rotating shaft transmits the force to the total distance sliding rod assembly, and the tilting disk rotating shaft and the total distance sliding rod assembly are fixedly connected through bolts, so that the tilting disk rotating shaft drives the total distance sliding rod assembly to move up and down. The disc-shaped part above the total distance sliding rod moves up and down, and finally the disc-shaped part transmits the operating force to the distance-changing pull rod, and the distance-changing pull rod, namely the long pull rod, is connected with the rotor wing system blade clamp, so that the change of the attack angle of the blade in a certain range is realized.

The second type is periodic variable pitch change, and the steering force and the stroke amount output by the three linear steering engines are different, so that the joint bearing at the central position of the lower end of the tilting coil total pitch sliding rod assembly rotates. The transmission route of the total operating force is consistent. The difference is that the movement modes of the long pull rods on two sides of the total distance slide rod are changed, the long pull rod on one side moves upwards, and the long pull rod on one side moves downwards. Because the total distance slide bar assembly is a seesaw mechanism, the long pull bars at the two ends of the total distance slide bar and the dished part periodically rotate along the positioning holes above the total distance slide bar. Meanwhile, the variable-pitch pull rod is driven periodically, so that the periodic change of the attack angle of the blades of the rotor system is realized.

According to the steering engine driving assembly, the tilting disk assembly and the total distance sliding rod assembly are in a modularized design, so that the complexity of the structure is reduced, and the operations of designing, debugging, maintaining and the like of a rotor system are simplified. The steering engine driving assembly of the rotor wing control system is used in parallel with three linear steering engines, so that the space utilization rate is improved, and the structural composition is simplified. The L-shaped manipulator arm is constructed and designed to transfer the output torque of the linear steering engine in a plane, and the periodic tilting motion of the tilting disk is realized by utilizing the three tilting disk support arms and the knuckle bearing, so that the production and the manufacture are reduced to be a body, and the device is practical and reliable. The total distance slide bar assembly has a simple structural form, the layout of the total distance slide bar assembly adopts symmetrical layout, the mechanism forms a parallelogram movement mechanism, and the transmission efficiency of the operating force is improved. The stable and efficient output of steering engine operating force is realized.

Example III

The pitch arm is fixedly connected with the connecting cylinder body, the pitch ring is fixedly connected with the pitch clamp through bolts to realize axial fixation of the pitch ring, the pitch ring is rotatably arranged on the hub support arm through a bearing, and torque adjustment can be realized through adjusting the pitch ring. The upper end of the total moment sliding rod is connected with the butterfly-shaped part through the joint bearing, and two sides of the butterfly-shaped part are connected with the upper end of the long pull rod through the joint bearing.

Specifically, the pitch clamps 13 are connected with each other through bolts and pitch changing rocker arms 16, rocker arm supporting pieces 17 are connected with each other through bolts and knuckle bearings, and then the pitch changing pull rods 18 are connected with each other through bolts, so that the operating force transmitted by the pitch changing pull rods 18 is converted into axial torsion force of the pitch clamps, and the pitch clamps 13 are driven to move circularly, thereby realizing pitch angle change of the pitch clamps 13 and realizing pitch changing movement.

A waving limiting block 6 is fixed between the two hub side plates, and a polyurethane bushing is correspondingly sleeved on the rotor shaft. Two pairs of swing limiting blocks 6 are connected and fixed between the two side rotor hub side plates 3 through bolts, and a polyurethane bushing 12 is arranged above a rotor shaft 10 below a rotor hub positioning block 1, so as to ensure that the rotor shaft impacts the rotor shaft 10 when the swing amount of the rotor shaft is overlarge.

The upper end and the lower end of the rotor shaft 10 are respectively connected and fixed with a linkage rod limiting block 5 through bolts. The function of the linkage rod limiting block 5 is to guide and limit the long pull rod, and the material is a novel high polymer material. The rocker-type rotor hub assembly is characterized in that the linkage rod limiting block 5 of the rocker-type rotor hub assembly is made of a polymer guiding material, and the material has high wear resistance and self-lubricating function.

The teeterboard locating pin 2 is provided with a sleeve and a shaft sleeve in sequence, and two ends of the teeterboard locating pin are provided with bearings, anti-loose fasteners and lubricating oil caps. The teeterboard locating pin 2 is axially displaced, and the teeterboard locating pin is sequentially provided with a needle bearing, a thrust bearing, a gasket and a nut from inside to outside. The outermost nut is used for adjusting the center distance of the hub assembly. A safety pin is required to be struck at the end of the safety pin.

The function of the rotatable setting of seesaw locating pin is to realize the motion of waving of seesaw rotor system, is equipped with lubricating oil cap 7 on the oar hub curb plate 3 in both sides and carries out oiling and sealing. The teeterboard locating pins 2 at the two ends of the paddle hub locating block 1 are provided with needle bearings and thrust bearings, and are used for transmitting axial force on the teeterboard locating pins 2.

The transverse bolt 11 and the rotor clamp nut 15 of the teeterboard rotor clamp assembly are key components mainly bearing the centrifugal force of a rotor system, and the adopted screw thread is MJ screw thread standard, so that the service life and the safety coefficient of the rotor clamp are improved. The transverse bolts and the blade clamp nuts 15 are both made of novel high-strength aviation alloy materials. The strength and the anti-fatigue coefficient of the material meet the technical conditions of military standard materials.

The propeller hub support arm 4 is connected with a needle bearing, a propeller clip distance ring, an angular contact bearing and a propeller clip nut in sequence through transverse bolts. The pitch ring is fixed in a rotatable manner relative to the hub support arm by utilizing bearings on two sides, a plurality of threaded holes, such as 8 threaded holes, are uniformly distributed on the circumference of the pitch ring, the pitch ring and the pitch clamp 13 are correspondingly fixed by 8 bolts, and preferably, a shaft sleeve is sleeved on the bolts.

Further, a sealing bearing is arranged between the open end of the connecting cylinder body of the paddle clamp 13 and the hub support arm. The sealing of the rotor blade clamp assembly is realized by a single-side sealing bearing, and an oil filling hole is added in the middle of a connecting cylinder body of the blade clamp 13, so that the lubrication and the sealing performance of the blade clamp assembly are ensured, and the lubrication of the blade clamp assembly is realized by the inner space of the connecting cylinder body of the blade clamp 13.

Moreover, the paddle board clamp comprises an inner side bolt fixed connection and an outer side bolt which are in adjustable connection, and the paddle interface is designed to be convenient to install and control the shimmy force of the paddle. The paddle clamp 13 is connected with the paddle by two bolts. Through the axial pretightening force of the bolts, the clamping plates of the blade clamp 13 are flush with the blade mounting surface, and the attack angle of the blade is ensured to be consistent with that of the blade clamp 13. And the adjustable connection can reduce the exciting force of the rotor wing caused by the shimmy plane, and reduce the vibration level of the teeterboard rotor wing.

At the same time, the hub arms have a pre-taper angle of 1.75 ° to tilt the two blades up by 1.75 °.

The rotor system is a teeterboard type, and only comprises two blades which are structurally connected into a whole and share a horizontal hinge without a vertical hinge. In order to eliminate root bending moment caused by invariable pneumatic load, namely tensile force, the axial hinge transverse bolt is an important stressed component, the axial hinge is made of novel alloy materials, the axial hinge is designed into a traditional form, centrifugal force is borne by the thrust roller bearing, and bending moment is borne by the two angular contact bearings. And the bending moment balance of centrifugal force and pulling force at the root is realized, so that the blade is unloaded on the waving surface. The first harmonic coriolis force is induced in the rotation surface, so that the teeter-totter positioning pin 2 is arranged at the same height as the center of gravity of the blade, and the coriolis force is eliminated.

The periodic pitch and the total moment of the seesaw type rotor head are realized through axial hinges. Force transmission of centrifugal force of the teeterboard rotor system: the paddle is fixed on the splint of the paddle clamp 13, and the paddle clamp 13 transmits centrifugal force to two angular contact bearings through the paddle clamp distance ring 14, then transmits to a transverse bolt and finally transmits to the paddle clamp nut 15, so that the centrifugal force is finally transmitted to the paddle clamp nut 15 and is born by threads, and a safety pin is required to be beaten at the paddle clamp nut for increasing safety.

And the transmission of bending moment of the teeterboard rotor system comprises the following steps: the bending moment is directly transmitted to the two angular contact bearings and the needle roller bearings by the paddle clamp 13, and then transmitted to the paddle hub support arm 4.

In summary, the teeterboard rotor system functionally relies on the teeterboard locating pin 2 and bearings to effect flapping motion of the rotor system. And the pitch-varying motion of the rotor system is realized through the paddle clamp assembly and the bearing.

The rotor shaft 10 transmits torque from the engine to the rotor system. The rotor system rotates clockwise or anticlockwise at a certain rotating speed, and meanwhile, the control force is transmitted to the variable-pitch pull rod 18 by the rotor control system, and the variable-pitch pull rod 18 drives the paddle clamp to move. The paddle clamp 13 drives the paddles to move along the axial hinge, so that the change of the attack angle of the paddles is realized, and the paddles generate periodically-changed aerodynamic lift force.

The seesaw type rotor wing system has the following advantages:

1. The manufacturing precision and the rotor wing aerodynamic characteristics are improved, and the flight quality of the platform is improved.

2. The method optimizes the assembly process, improves the mechanical performance and the operation stability of the rotor system, has low system cost and is suitable for medium-sized and light unmanned helicopters.

3. The seesaw type rotor wing of the seesaw type rotor wing system is convenient to maintain and install, the vibration level of the seesaw type rotor wing of the rotor wing is improved, and the resistance area is small.

Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature's illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "under" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "lower" may encompass both an upper and lower orientation. The device may be otherwise positioned (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Moreover, relational terms such as "first" and "second", and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.

The foregoing has described exemplary embodiments of the invention, it being understood that any simple variations, modifications, or other equivalent arrangements which would not unduly obscure the invention may be made by those skilled in the art without departing from the spirit of the invention.

Claims

1. An unmanned aerial vehicle rotor system is characterized by comprising a helicopter rotor control device and a teeterboard rotor,

The rotor shaft is tubular, the total moment sliding rod and the long pull rod penetrate through the rotor shaft, the upper end part of the total moment sliding rod and the long pull rod are in corresponding transmission connection with the paddle clamp assembly, the paddle clamp assembly comprises a paddle clamp and a moment changing arm, the paddle clamp comprises a connecting cylinder body which is in rotatable fit connection with the paddle hub support arm, and a paddle clamp which is integrally formed or fixedly connected with the connecting cylinder body, the moment changing arm is fixedly connected with the connecting cylinder body, the connecting cylinder body and the paddle clamp distance ring are fixedly connected through bolts to realize axial fixation of the connecting cylinder body and the paddle clamp distance ring, and the inclined disc support arm is respectively arranged in the transverse rolling direction and the pitching direction of the inclined disc and is hinged with the other end of the L-shaped manipulator arm; the steering engine driving assembly comprises three linear steering engines with tail ends rotatably connected with an engine body, three L-shaped steering arms which are correspondingly arranged with the linear steering engines, one ends of the L-shaped steering arms are hinged with the output ends of the linear steering engines, the middle parts of the L-shaped steering arms are rotatably connected with the engine body, rolling bearings are connected above a total distance sliding rod through bolts, two butterfly parts are fixedly connected at intervals and then assembled to the rolling bearings, two joint bearings are correspondingly fixed on two sides of the butterfly parts through bolts, then the butterfly parts above the total distance sliding rod and an inclined disc rotating shaft below the total distance sliding rod are connected through long pull rods, and finally the variable distance pull rods with the joint bearings at two ends are respectively connected above the butterfly parts through bolts.

2. The unmanned aerial vehicle rotor system of claim 1, wherein: the upper end of the tilting disk rotating shaft is provided with a U-shaped connecting lug, the ball head of the central knuckle bearing is positioned inside the connecting lug, and the side knuckle bearings are positioned at two sides of the connecting lug.

3. The unmanned aerial vehicle rotor system of claim 1, wherein: the lower end of the total moment sliding rod is provided with a side plate for shielding the two long pull rods, and the inner side of the side plate is provided with a guide part for vertically guiding the long pull rods.

4. The unmanned aerial vehicle rotor system of claim 1, wherein: a waving limiting block is fixed between the two rotor hub side plates, and a polyurethane bushing is correspondingly sleeved on the rotor shaft.

5. The unmanned aerial vehicle rotor system of claim 1, wherein: a sealing bearing is arranged between the open end of the paddle clamp connecting cylinder body and the paddle hub support arm.

6. The unmanned aerial vehicle rotor system of claim 1, wherein: the paddle board clamp comprises an inner side bolt fixedly connected with an outer side bolt so as to adjust the angle of the paddles in the array direction, and the hub support arm is provided with a pre-taper angle of 1.75 degrees so as to tilt up two paddles by 1.75 degrees.

7. The unmanned aerial vehicle rotor system of claim 1, wherein: the upper end and the lower end of the rotor shaft are respectively connected and fixed with a linkage rod limiting block through bolts, and interference fit is formed between the rotor hub positioning block and the rotor shaft.