ROTOR DRIVING SYSTEM

摘要

The embodiments of the present invention disclose a rotor driving system, wherein at least three first actuators can drive a nonrotating lower-rotor swashplate to tilt towards a specific direction by cooperating with each other such that a rotating lower-rotor swashplate, lower tilted-arm pull rods and blade-clamp tilted arms of the lower rotor are all in motion, thereby driving first blade clamping bodies to be twisted relative to a lower rotor hub; at least three second actuators can drive a nonrotating upper-rotor swashplate towards a specific direction by cooperating with each other such that a rotating upper-rotor swashplate, upper-rotor steering rod—L arms, lower upper-rotor steering rods, pull rods, upper upper-rotor steering rods, upper tilted-arm pull rods, blade-clamp tilted arms 42 of the upper rotor are all in motion, thereby driving a second blade clamping body to be twisted relative to an upper rotor hub. Thus, in the solution, the structure of a rotor driving system is simplified, thus solving the problems of a low production efficiency of the process and of inconvenient testing and maintenance.

主权项

1. A rotor driving system, which is applicable to a twin-rotor coaxial autonomous helicopter, characterized in that it the twin-rotor coaxial autonomous helicopter comprises:
an outer shaft (19); a lower rotor hub (14) fixed at outside of one end of the outer shaft (19); at least two first blade clamping bodies that are connected with the lower rotor hub (14), each of the first blade clamping bodies is twistable relative to the lower rotor hub (14) and comprises a first blade clamp (20) and a second blade clamp (22), wherein, the first blade clamp (20) and the second blade clamp (22) cooperatively clamp the lower rotor blade; an inner shaft (15); an upper rotor hub (16) fixed at outside of one end of the inner shaft (15); at least two second blade clamping bodies that are connected with the upper rotor hub (16), each of the second blade clamping bodies is twistable relative to the upper rotor hub (16) and comprises a third blade clamp (17) and a forth blade clamp (18), wherein, the third blade clamp (17) and the forth blade clamp (18) cooperatively clamp the upper rotor blade; a box, in which a gear train is housed, comprising an upper cover (26), a box body (27) and a lower cover (1), wherein, the gear train is connected with the outer shaft (19) and the inner shaft (15); a synchronous belt wheel (7) that is connected with the gear train, wherein rotation of the synchronous belt wheel (7) drives the gear train to rotate so as to drive the outer shaft (19) and the inner shaft (15) to rotate, and wherein the outer shaft (19) rotates reversely relative to the inner shaft (15), the lower rotor hub (14) is stationary relative to the outer shaft (19) and the upper rotor hub (16) is stationary relative to the inner shaft (15); the rotor driving system comprises an upper-rotor driving system and a lower-rotor driving system; wherein, the lower-rotor driving system comprises: at least two blade-clamp tilted arms (13) of the lower rotor, one end of each of which is fixed on a preset mounting surface of a corresponding first blade clamping body; at least two lower tilted-arm pull rods (35), one end of each of which is connected with the other end of the corresponding blade-clamp tilted arm (13) of the lower rotor; a supporting tower (10), which is sleeved on the outer shaft (19), with one end fixed on the upper cover (26); a rotating lower-rotor swashplate (24) that is sleeved on a nonrotating lower-rotor swashplate (11) and is connected with the other end of each of the lower tilted-arm pull rods (35); at least two lower-rotor steering assemblies, one end of each of which is connected with the lower rotor hub (14) and the other end is connected with the rotating lower-rotor swashplate (24) so as to drive the rotating lower-rotor swashplate (24) to rotate as the lower rotor hub (14) rotates with the outer shaft (19); a nonrotating lower-rotor swashplate (11) that is sleeved on the supporting tower (10) via a lower-rotor joint bearing (57) and is connected with the rotating lower-rotor swashplate (24) via the lower-rotor joint bearing (57), and the rotating lower-rotor swashplate (24) and the nonrotating lower-rotor swashplate (11) are able to rotate independently from each other; a actuator mounting base (2) that is fixedly connected with the lower cover (1); at least three first actuators (8) mounted on the actuator mounting base (2), each of the first actuators (8) comprises a housing; and a first screw-rod sleeve rod (65) with one end located in the housing, the first screw-rod sleeve rod (65) is able to be telescoped upwards and downwards, and the end of each first screw-rod sleeve rod (65) that protrudes out of the housing is connected with the nonrotating lower-rotor swashplate (11) so as to drive the nonrotating lower-rotor swashplate (11) to tilt towards a specific direction as the first screw-rod sleeve rod (65) is telescoped upward and downward and thus drive the rotating lower-rotor swashplate (24) to tilt towards a specific direction; at least three first motors (9), each of which is connected with a corresponding first actuator (8) and controls the first screw-rod sleeve rod (65) of the corresponding first actuator (8) to be telescoped upward and downward; a first anti-rotation rod (25), one end of which is fixed on a location other than the location of the supporting tower (10) on the upper cover (26) and the other end is provided with a through hole; a first sliding block (44) that is arranged on the nonrotating lower-rotor swashplate (11) and penetrates into the through hole of the first anti-rotation rod (25) so as to ensure that the nonrotating lower-rotor swashplate (11) is able to tilt towards a specific direction and is not rotatable with the rotating lower-rotor swashplate (24); wherein, the upper-rotor driving system comprises: at least two blade-clamp tilted arms (42) of the upper rotor, one end of each of which is fixed on a preset mounting surface of a corresponding second blade clamping body; at least two upper tilted-arm pull rods (41), one end of each of which is connected with the other end of the corresponding blade-clamp tilted arm (42) of the upper rotor; at least two upper upper-rotor steering rods (40), one end of each of which is connected with the other end of the corresponding upper tilted-arm pull rod (41); an upper pull-rod plug (39) that is connected with the other end of each of the upper upper-rotor steering rods (40); at least two pull rods (56) located within the inner shaft (15), one end of each of which is connected with a corresponding upper upper-rotor steering rod (40) by the upper pull-rod plug (39); a lower pull-rod plug (64); at least two lower upper-rotor steering rods (45), one end of each of which is connected with the lower pull-rod plug (64) and is connected with the other end of the corresponding pull rod (56) via the lower pull-rod plug (64); at least two upper-rotor steering rod—L arms (47), one end of each of the upper upper-rotor steering rod—L arms (47) is connected with the other end of the corresponding lower upper-rotor steering rod (45); a sliding rod (46) of an upper-rotor swash plate; a rotating upper-rotor swashplate (4) that is sleeved on the sliding rod (46) of an upper-rotor swash plate by an upper-rotor joint bearing (59) and is connected with the other end of the upper-rotor steering rod—L arm (47) such that the rotating upper-rotor swashplate (4) is driven to rotate under the action of the upper-rotor steering rod—L arms (47) and the lower upper-rotor steering rod (45) when the upper rotor hub (16) rotates with the inner shaft (15); a nonrotating upper-rotor swashplate (3) that is sleeved on the rotating upper-rotor swashplate (4), and the rotating upper-rotor swashplate (4) and the nonrotating upper-rotor swashplate (3) are able to rotate independently from each other; at least three second actuators (58) mounted on the upper cover (26), each of the second actuators (58) comprises a housing; and a second screw-rod sleeve rod (28) with one end located in the housing, the second screw-rod sleeve rod (28) is able to be telescoped upward and downward and the end of each second screw-rod sleeve rod (28) that protrudes out of the housing is connected with the nonrotating upper-rotor swashplate (3) so as to drive the nonrotating lower-rotor swashplate (3) to tilt towards a specific direction as the second screw-rod sleeve rod (28) is telescoped upwards and downwards and thus drive the rotating upper-rotor swashplate (4) to tilt towards a specific direction; at least three second motors (49), each of which is connected with a second screw-rod sleeve rod (28) of a corresponding second actuator (58) and controls the second screw-rod sleeve rod (28) of the corresponding second actuator (58) to be telescoped upward and downward; a second anti-rotation rod (29), one end of which is fixed on the actuator mounting base (2) and the other end is provided with a through hole; a second sliding block (30) that is arranged on the nonrotating upper-rotor swashplate (3) and penetrates into the through hole of the second anti-rotation rod (29) such that the nonrotating upper-rotor swashplate (3) is able to tilt towards a specific direction and is not rotatable with the rotating upper-rotor swashplate (4).