CN106628124A - Automatic balance adjusting mechanism for left and right rotors of twin-rotor air vehicle - Google Patents
Automatic balance adjusting mechanism for left and right rotors of twin-rotor air vehicle Download PDFInfo
- Publication number
- CN106628124A CN106628124A CN201610976790.6A CN201610976790A CN106628124A CN 106628124 A CN106628124 A CN 106628124A CN 201610976790 A CN201610976790 A CN 201610976790A CN 106628124 A CN106628124 A CN 106628124A
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- China
- Prior art keywords
- rotor
- bearing
- semiaxis
- double
- axle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Testing Of Balance (AREA)
- Motor Power Transmission Devices (AREA)
Abstract
The invention relates to an automatic balance adjusting mechanism for left and right rotors of a twin-rotor air vehicle. The automatic balance adjusting mechanism comprises a girder tube and two rotor main bodies. The rotor main bodies are symmetrically arranged at the left end and the right end of the girder tube. Each rotor main body comprises an axle base, an axle shaft is fixedly connected with the axle base and slidably connected into the girder tube through a linear bearing, a telescopic rod body of an electric push rod is hinged to the end, away from the axle base, of the axle shaft, the electric push rod is fixedly mounted in the girder tube, a linear displacement sensor corresponding to the axle shaft is fixedly mounted on the electronic push rod, and both the linear displacement sensor and the electronic push rod are electrically connected with an automatic flying control system. The automatic balance adjusting mechanism has the beneficial effects that the amplitude of force arms between the left and right rotors and the center of the air vehicle can be effectively changed, and the left-right automatic balance purpose is achieved.
Description
Technical field
The present invention relates to double-rotor aerobat technical field, it particularly relates to a kind of for double-rotor aerobat or so
Rotor automatically adjusts balanced controls.
Background technology
At present, multi-rotor unmanned aerial vehicle control technology comparative maturity, stability is strong, but for double-rotor aerobat, all
Face a balance and stability sex chromosome mosaicism.The balance of DCB Specimen include before and after balance and left and right balance.For electronic DCB Specimen
For, the main rotating speed by changing rotor realizes the balance of itself or so, general using change for the dynamic DCB Specimen of oil
Square oar, by changing pitch, makes the two ends lift of oar different, reaches the purpose of balance.But determine for square DCB Specimen for oil is dynamic,
Face the problem of a left-right balance.
Therefore, develop it is a kind of can the dynamic problem for determining square DCB Specimen left-right balance of effectively solving oil balance system, become
For the problem of insider's urgent need to resolve.
The content of the invention
The present invention propose it is a kind of automatically adjust balanced controls for double-rotor aerobat or so rotor, overcome existing
The deficiency of above-mentioned aspect in product.
The purpose of the present invention is achieved through the following technical solutions：
A kind of balanced controls that automatically adjust for double-rotor aerobat or so rotor, including crossbeam pipe and two rotor masters
Body, the rotor main body is symmetricly set on the left and right two ends of the crossbeam pipe, and the rotor main body includes axle bed, and the axle bed is fixed
Semiaxis is connected with, the semiaxis is slidably connected in the crossbeam pipe by linear bearing, the one end of the semiaxis away from the axle bed
The expansion link of electric pushrod is hinged with, the electric pushrod is fixedly mounted in the crossbeam pipe, fixed peace on the electric pushrod
Equipped with linear displacement transducer corresponding with the semiaxis, the linear displacement transducer and electric pushrod are electrically connected with and fly automatically
Row control system.
Further, the axle bed is welded with first axle bearing sleeve, and the axle bed and first axle bearing sleeve are collectively formed will can be somebody's turn to do
The cavity of semiaxis clamping.
Further, the first axle bearing sleeve is by first straight line bearing and the first axle being fixedly mounted on inside crossbeam pipe
Hold mounting seat to be slidably connected.
Further, the two ends of the crossbeam pipe are installed with the big of the bearing outer ring that can fix clutch shaft bearing mounting seat
Beam pipe box.
Further, second bearing set and spline are also equipped with the semiaxis, the inside of the crossbeam pipe is provided with the
Two bearing mounting bases and spline housing corresponding with the spline, the second bearing set is by second straight line bearing and second axle
Hold mounting seat to be slidably connected.
Further, the inside of the crossbeam pipe is installed with the electric pushrod mounting seat that can fix electric pushrod.
Further, the expansion end of the linear displacement transducer is fixedly connected on the second bearing and puts.
Further, the axle bed of left and right two is connected by belt, and the outside that the belt is located at semiaxis is interior with crossbeam pipe
Between wall.
Beneficial effects of the present invention are：Arm of force size of two rotors of left and right away from aircraft center can effectively be changed, a left side is reached
Right self balancing purpose.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing that needs are used is briefly described, it should be apparent that, drawings in the following description are only some enforcements of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can be being obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is to automatically adjust cuing open for balanced controls for double-rotor aerobat or so rotor described in the embodiment of the present invention
View.
In figure：
1st, crossbeam pipe；2nd, electric pushrod mounting seat；3rd, electric pushrod；4th, linear displacement transducer；5th, second straight line bearing；
6th, second bearing mounting seat；7th, second bearing set；8th, spline；9th, spline housing；10th, first axle bearing sleeve；11st, clutch shaft bearing is installed
Seat；12nd, first straight line bearing；13rd, semiaxis；14th, axle bed；15th, belt；16th, crossbeam pipe box.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained belongs to present invention protection
Scope.
As shown in figure 1, a kind of automatic tune for double-rotor aerobat or so rotor described according to embodiments of the present invention
Section balanced controls, including crossbeam pipe 1 and two rotor main bodys, the rotor main body is symmetricly set on the left and right two of the crossbeam pipe 1
End, the rotor main body includes axle bed 14, and the axle bed 14 is fixedly connected with semiaxis 13, and the semiaxis 13 is slided by linear bearing
Dynamic to be connected in the crossbeam pipe 1, the semiaxis 13 is hinged with the expansion link of electric pushrod 3 away from one end of the axle bed 14, described
Electric pushrod 3 is fixedly mounted in the crossbeam pipe 1, is installed with the electric pushrod 3 and the corresponding straight line of the semiaxis 13
Displacement transducer 4, the linear displacement transducer 4 and electric pushrod 3 are electrically connected with automatic flight control system.
In one particular embodiment of the present invention, the axle bed 14 is welded with first axle bearing sleeve 10, the He of the axle bed 14
First axle bearing sleeve 10 is collectively formed can be by the cavity of the clamping of semiaxis 13.
In one particular embodiment of the present invention, the first axle bearing sleeve 10 is by first straight line bearing 12 and fixed peace
It is mounted in the clutch shaft bearing mounting seat 11 inside crossbeam pipe 1 to be slidably connected.
In one particular embodiment of the present invention, the two ends of the crossbeam pipe 1 are installed with and can fix clutch shaft bearing
The crossbeam pipe box 16 of the bearing outer ring of mounting seat 11.
In one particular embodiment of the present invention, second bearing set 7 and spline 8, institute are also equipped with the semiaxis 13
The inside for stating crossbeam pipe 1 is provided with second bearing mounting seat 6 and spline housing 9 corresponding with the spline 8, the second bearing set
7 are slidably connected by second straight line bearing 5 with the second bearing mounting seat 6.
In one particular embodiment of the present invention, the inside of the crossbeam pipe 1 is installed with and can fix electric pushrod 3
Electric pushrod mounting seat 2.
In one particular embodiment of the present invention, the expansion end of the linear displacement transducer 4 is fixedly connected on this
On second bearing set 7.
In one particular embodiment of the present invention, the axle bed 14 of left and right two is connected by belt 15, the belt 15
Between the inwall of the outside of semiaxis 13 and crossbeam pipe 1.
Understand for convenience the present invention above-mentioned technical proposal, below by way of in specifically used mode to the present invention it is above-mentioned
Technical scheme is described in detail.
What the present invention was adopted be fixedly connected, fixed installation mode can be fixed using bolt, welded etc. usual manner.
System of the present invention is mainly by crossbeam pipe 1, electric pushrod 3, semiaxis 13, the grade of axle bed 14 composition.Crossbeam pipe 1 is in
Hollow tubular structures, are made up of upper and lower two parts, and electric pushrod mounting seat 2 is provided with inside crossbeam pipe, and electric pushrod is installed
Electric pushrod 3 is installed with seat, the expansion link of electric pushrod 3 is connected with the inner end of semiaxis 13 by hinge, electric pushrod 3
The upper end of shell is installed with linear displacement transducer 4, and the telescopic end of linear displacement transducer 4 is fixedly connected with semiaxis 13.
Second bearing set 7 is installed, the outside of second bearing set 7 is provided with second straight line bearing 5 and second outside the inner end of semiaxis 13
Bearing mounting base 6.The interlude of semiaxis 13 is installed with spline 8, and the spline housing 9 coordinated with spline 8 is fixedly mounted on crossbeam
Inside pipe.Clutch shaft bearing mounting seat 11 is installed, the inside of clutch shaft bearing mounting seat 11 is provided with inside the outer end of crossbeam pipe 1
One linear bearing 12, the endoporus of first straight line bearing 12 is in be slidably matched with the first axle bearing sleeve 10 outside semiaxis 13.
Crossbeam pipe box 16 is installed outside the outer end of crossbeam pipe 1.The outer end of semiaxis 13 is fixedly linked with axle bed 14.The outside of semiaxis with
There is belt 15 between crossbeam inside pipe wall.
Automatic flight control system adopts existing flight control system, and automatic flight control system is used as whole device
Control centre, linear displacement transducer 4 and electric pushrod 3 are connected electrically.
It is of the invention main by changing arm of force size of two rotors of left and right away from aircraft center, to reach left and right autobalance
Purpose.There is the semiaxis 13 that can be moved left and right inside the two ends of crossbeam pipe 1, the inner end of semiaxis 13 is flexible with electric pushrod 3
Bar is connected, and outer end and the axle bed 14 of semiaxis 13 are connected, and the flexible of semiaxis 13 are automatically controlled by electric pushrod 3, to change axle bed
14 distances away from aircraft center.Automatic flight control system is used for the signal according to the feedback of linear displacement transducer 4, control electricity
The operation of dynamic push rod 3, when semiaxis 13 is in control process, if the electric pushrod 3 of one end contracts inwards, the electric pushrod of the other end
3 is protruding so that two axle beds 14 offset to one side simultaneously, make aircraft or so reach balance.
In sum, by the above-mentioned technical proposal of the present invention, two rotors of left and right can effectively be changed away from aircraft center
Arm of force size, reaches the self balancing purpose in left and right.
The present invention is not limited to above-mentioned preferred forms, and anyone can show that other are various under the enlightenment of the present invention
The product of form, however, make any change in its shape or structure, it is every with skill identical or similar to the present application
Art scheme, is within the scope of the present invention.
Claims (8)
1. a kind of balanced controls that automatically adjust for double-rotor aerobat or so rotor, including crossbeam pipe (1) and two rotors
Main body, the rotor main body is symmetricly set on the left and right two ends of the crossbeam pipe (1), and the rotor main body includes axle bed (14), its
It is characterised by, the axle bed (14) is fixedly connected with semiaxis (13), the semiaxis (13) is slidably connected at this by linear bearing
In crossbeam pipe (1), the semiaxis (13) is hinged with the expansion link of electric pushrod (3), the electricity away from one end of the axle bed (14)
Dynamic push rod (3) is fixedly mounted in the crossbeam pipe (1), is installed with the electric pushrod (3) corresponding with the semiaxis (13)
Linear displacement transducer (4), the linear displacement transducer (4) and electric pushrod (3) are electrically connected with flight control automatically
System.
2. it is according to claim 1 it is a kind of automatically adjust balanced controls for double-rotor aerobat or so rotor, it is special
Levy and be, the axle bed (14) is welded with first axle bearing sleeve (10), the axle bed (14) and first axle bearing sleeve (10) are collectively formed
Can be by the cavity of semiaxis (13) clamping.
3. it is according to claim 2 it is a kind of automatically adjust balanced controls for double-rotor aerobat or so rotor, it is special
Levy and be, the first axle bearing sleeve (10) is by first straight line bearing (12) and first be fixedly mounted on inside crossbeam pipe (1)
Bearing mounting base (11) is slidably connected.
4. it is according to claim 3 it is a kind of automatically adjust balanced controls for double-rotor aerobat or so rotor, it is special
Levy and be, the two ends of the crossbeam pipe (1) are installed with the crossbeam of the bearing outer ring that can fix clutch shaft bearing mounting seat (11)
Pipe box (16).
5. it is according to claim 4 it is a kind of automatically adjust balanced controls for double-rotor aerobat or so rotor, it is special
Levy and be, second bearing set (7) and spline (8) are also equipped with the semiaxis (13), the inside of the crossbeam pipe (1) is provided with
Second bearing mounting seat (6) and spline housing (9) corresponding with the spline (8), the second bearing set (7) is by second straight line
Bearing (5) is slidably connected with the second bearing mounting seat (6).
6. it is according to claim 5 it is a kind of automatically adjust balanced controls for double-rotor aerobat or so rotor, it is special
Levy and be, the inside of the crossbeam pipe (1) is installed with the electric pushrod mounting seat (2) that can fix electric pushrod (3).
7. it is according to claim 6 it is a kind of automatically adjust balanced controls for double-rotor aerobat or so rotor, it is special
Levy and be, the expansion end of the linear displacement transducer (4) is fixedly connected on the second bearing set (7).
8. it is according to claim 7 it is a kind of automatically adjust balanced controls for double-rotor aerobat or so rotor, it is special
Levy and be, the axle bed of left and right two (14) is connected by belt (15), the belt (15) is positioned at the outside of semiaxis (13) and crossbeam
Between the inwall of pipe (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610976790.6A CN106628124B (en) | 2016-11-08 | 2016-11-08 | Automatic adjusting and balancing mechanism for left rotor wing and right rotor wing of double-rotor aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610976790.6A CN106628124B (en) | 2016-11-08 | 2016-11-08 | Automatic adjusting and balancing mechanism for left rotor wing and right rotor wing of double-rotor aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106628124A true CN106628124A (en) | 2017-05-10 |
| CN106628124B CN106628124B (en) | 2023-06-06 |
Family
ID=58805228
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610976790.6A Active CN106628124B (en) | 2016-11-08 | 2016-11-08 | Automatic adjusting and balancing mechanism for left rotor wing and right rotor wing of double-rotor aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106628124B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102632992A (en) * | 2012-03-28 | 2012-08-15 | 北京航空航天大学 | Single-power horizontal tractor type high-speed high-mobility helicopter |
| CN104477381A (en) * | 2014-12-15 | 2015-04-01 | 佛山市神风航空科技有限公司 | Double-variable-pitch-propeller aircraft |
| CN204433050U (en) * | 2014-12-18 | 2015-07-01 | 国家电网公司 | The hardware platform of dynamic four rotor unmanned aircrafts of oil |
| CN105564636A (en) * | 2016-02-04 | 2016-05-11 | 杨国社 | Flight direction control device of aircraft |
| CN105711828A (en) * | 2016-02-04 | 2016-06-29 | 杨国社 | Direction control mechanism of aircraft |
| CN105711829A (en) * | 2016-02-04 | 2016-06-29 | 杨国社 | Direction control mechanism for aircraft |
| CN105775126A (en) * | 2016-05-05 | 2016-07-20 | 杨国社 | Propeller rotation plane adjustment mechanism for aircrafts |
| CN206265291U (en) * | 2016-11-08 | 2017-06-20 | 瀚伦贝尔通用航空器有限公司 | It is a kind of to automatically adjust balanced controls for double-rotor aerobat or so rotor |
-
2016
- 2016-11-08 CN CN201610976790.6A patent/CN106628124B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102632992A (en) * | 2012-03-28 | 2012-08-15 | 北京航空航天大学 | Single-power horizontal tractor type high-speed high-mobility helicopter |
| CN104477381A (en) * | 2014-12-15 | 2015-04-01 | 佛山市神风航空科技有限公司 | Double-variable-pitch-propeller aircraft |
| CN204433050U (en) * | 2014-12-18 | 2015-07-01 | 国家电网公司 | The hardware platform of dynamic four rotor unmanned aircrafts of oil |
| CN105564636A (en) * | 2016-02-04 | 2016-05-11 | 杨国社 | Flight direction control device of aircraft |
| CN105711828A (en) * | 2016-02-04 | 2016-06-29 | 杨国社 | Direction control mechanism of aircraft |
| CN105711829A (en) * | 2016-02-04 | 2016-06-29 | 杨国社 | Direction control mechanism for aircraft |
| CN105775126A (en) * | 2016-05-05 | 2016-07-20 | 杨国社 | Propeller rotation plane adjustment mechanism for aircrafts |
| CN206265291U (en) * | 2016-11-08 | 2017-06-20 | 瀚伦贝尔通用航空器有限公司 | It is a kind of to automatically adjust balanced controls for double-rotor aerobat or so rotor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106628124B (en) | 2023-06-06 |
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Effective date of registration: 20230821 Address after: Room 202, No. 11 Dexing Lane, Chong'an District, Wuxi City, Jiangsu Province, 214000 Patentee after: Yang Haiyan Address before: 215100 Qianghua Road, Huayang village, Wangting Town, Xiangcheng District, Suzhou City, Jiangsu Province Patentee before: HELIPELLER GENERAL AIRCRAFT CO.,LTD. |