CN107253526B - Efficient paddle driving system - Google Patents
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- CN107253526B CN107253526B CN201710659751.8A CN201710659751A CN107253526B CN 107253526 B CN107253526 B CN 107253526B CN 201710659751 A CN201710659751 A CN 201710659751A CN 107253526 B CN107253526 B CN 107253526B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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Abstract
The invention discloses a high-efficiency paddle driving system which comprises a forward and reverse rotation speed reduction differential mechanism, a first paddle moment changing mechanism and a second paddle moment changing mechanism; the first rotor wing and the second rotor wing are respectively arranged on the first pitch-changing mechanism and the second pitch-changing mechanism, and the sliding upper end surface on the pitch-changing arm is contacted with the bottom surface of the pitch-changing groove on the pitch-changing end cover and can slide relatively; the first pitch-variable mechanism is arranged on the reverse output shaft, and the second pitch-variable mechanism is arranged on the forward output shaft to form a high-efficiency pitch driving system. The high-efficiency paddle driving system has the advantages of high output efficiency, large torsion, stable overall operation, low failure rate and long service life; the device can meet the composite requirements of weight reduction, long-time endurance, dynamic adaptation to the airborne weight, change of air flow environment and the like.
Description
Technical Field
The invention relates to the technical field of miniature and small aviation efficient paddle driving systems, in particular to an efficient paddle driving system.
Background
Currently, micro or small aircraft are mainly divided into two main categories, namely fixed wings and rotary wings. The cruising mode of the two is basically to apply work to the air through the power paddle, so that the machine body obtains the traction force or lifting force. Turbojet and turbofan engines are less used for small aircraft. The power source can be more various and can be battery power, chemical fuel power, solar energy and the like.
The fixed wing aircraft has the characteristics of high flying speed, economy, large carrying capacity and extremely long endurance time. However, due to the fact that the ground needs to take off and land, the navigation route is relatively smooth, the airspace obstacle endangers flight safety and the like, the urban micro-aviation device is difficult to adapt to the requirements of urban micro-aviation devices.
The rotorcraft has a helicopter, a biaxial rotorcraft, a coaxial rotorcraft, four, six, eight-axis rotorcraft, etc. In recent years, four-axis rotary wing aircraft have been developed rapidly. Rotorcraft are often used in situations where hovering is desired, or where shooting or acquisition equipment is mounted. But the overall power conversion efficiency is low compared to the fixed wing due to the high power consumption rate. Currently, the fixed wing type long-time endurance task scene cannot be used. Combining the advantages of both aircraft, tiltrotors have emerged.
Whether the rotor craft or the fixed wing craft or the tiltrotor craft is required to meet the design traction force or lift force, the power oar comprises a driving system with high conversion efficiency, light weight, capability of tolerating sudden power changes, adaptation to different weather conditions, low endurance failure or capability of maintaining various compound requirements such as power output after failure.
However, the current civil four-axis or multi-axis aircraft is still in the starting exploration stage, and the motor direct-drive propeller is the preferred mode, and is characterized by fewer components, easier overall quality control, simplified design, low cost, low manufacturing difficulty and the like.
However, as commercial value of micro-aircrafts in civil fields is continuously expanded, multi-shaft hoverable aircrafts have short air-time and poor loading capacity, especially, the number of blades on a rotor wing is configured to be increased, so that output torque of a motor is increased, conversion efficiency of the motor is further reduced, or the number of magnetic poles of the motor is further increased or radial dimension of the motor is increased, and the defects start to increasingly hinder development of such aircrafts. New power bridging components are urgently needed to overcome many disadvantages of the existing motor direct-drive rotor for power conversion.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a high-efficiency paddle driving system.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a high-efficiency paddle driving system comprises a forward and reverse rotation speed reduction differential mechanism, a first paddle moment changing mechanism and a second paddle moment changing mechanism; the positive and negative rotation speed reduction differential mechanism comprises a mechanism shell, wherein a reverse output shaft, a forward output shaft, a planetary wheel carrier, a planetary wheel, a sun wheel and a power input shaft are arranged in the mechanism shell; the planetary gear is fixed on a planetary gear shaft on the planetary gear carrier through a first bearing, the planetary gear can rotate around the axis of the planetary gear carrier, and the planetary gear carrier can synchronously rotate around the axis of a mechanism shell; the sun gear is connected with the power input shaft through a coupler; the reverse output shaft is fixed on the mechanism shell through a second bearing and can rotate around the axis of the mechanism shell; the forward output shaft is fixed in the reverse output shaft through a third bearing, and can rotate around the axis of the mechanism independently of the reverse output shaft; the sun gear is fixed on the planet carrier through a fourth bearing and can rotate around the axis of the planet carrier; the first pitch-changing mechanism and the second pitch-changing mechanism have the same structure and comprise a pitch-changing end cover, a pitch-changing moment arm, a pitch clamp mounting seat and an input shaft; the first rotor wing and the second rotor wing are respectively arranged on the first pitch changing mechanism and the second pitch changing mechanism, a perforation is arranged on the paddle clamp mounting seat, the input shaft penetrates through the perforation, the paddle clamp mounting seat and the input shaft are mutually independent and can rotate around the axis of the mechanism, and meanwhile, the paddle clamp mounting mechanism is arranged; the paddle clamps are arranged on the paddle clamp mounting seats and can rotate along the axis of the paddle clamps; the variable pitch end cover is connected with the input shaft through a spline, and the axial stop clamp spring is clamped into an annular groove on the inner wall of the spline to prevent the variable pitch end cover from being separated from the input shaft; the variable pitch arm is combined with the paddle clamp through a side hole on the paddle clamp, and can drive the paddle clamp to rotate along the axis of the variable pitch arm; the laminated coil spring transmits power torque from the variable pitch end cover to the pitch clamp mounting seat; the sliding upper end surface of the variable pitch arm is contacted with the bottom surface of the variable pitch groove on the variable pitch end cover and can slide relatively; the first pitch-variable mechanism is arranged on the reverse output shaft, and the second pitch-variable mechanism is arranged on the forward output shaft to form a high-efficiency pitch driving system.
PreferablyThe relation between the forward and reverse output shaft rotating speed and the power input shaft rotating speed is as follows: n is n S520 ＝n S505 ×i S505 +n S507 ×i S507 ，i S505 、i S507 Is a reduction ratio; the relation between the forward and reverse output shaft torque and the power input shaft torque is as follows: t (T) S507 ＝T S520 ×i S507 ＝T S505 +T S520 Wherein T is S505 ＝T S520 ×i S505 The method comprises the steps of carrying out a first treatment on the surface of the The relationship between the forward and reverse output shaft power and the power input shaft power is as follows: p (P) S520 ＝P S507 +P S505 The method comprises the steps of carrying out a first treatment on the surface of the Through the equation relation, the dynamic allocation of the rotating speed of the forward and reverse output shafts and the power of the forward and reverse output shafts is realized.
Preferably, the annular gear is connected with the reverse output shaft or integrally formed, so that reverse output relative to the forward output shaft is realized, and relative to input, both the forward output and the reverse output have deceleration capability, and the output torque is enhanced.
Preferably, the forward output shaft and the reverse output shaft are coaxially arranged, the reverse output shaft is provided with a through hole, the forward output shaft penetrates through the through hole, the forward output shaft and the reverse output shaft are arranged on the same side of the speed reducing mechanism, the distance between the first rotor wing and the second rotor wing is reduced, the recycling rate of tangential kinetic energy of the airflow flowing out of the first rotor wing is greatly improved, and the overall efficiency is improved.
Preferably, the design output torque and rotation speed of the second rotor are optimized in combination with the lower spacing between the first rotor and the second rotor, and the output torque and rotation speed of the first rotor are optimized, so that the tangential speed of the second rotor outflow is greatly reduced, and the overall efficiency is improved.
Preferably, the gear ratio on the forward and reverse rotation speed reduction differential mechanism is adjusted, the gear form is changed, the number of the planet gears is increased or decreased, and the optimization under different use scene requirements is completed.
Preferably, the forward output of the planet carrier is isolated from the forward output shaft through a forward output coupler, so that the influence of radial and axial disturbance of the forward output on the normal operation of the speed reducer is avoided.
Preferably, the sun gear is isolated from the power input shaft through the input coupling, and under the combined action of the input coupling and the forward output coupling, the planet gears, the sun gear and the planet gear carrier can move radially and axially in the inner gear ring in a small amplitude, so that a suspension effect is achieved, and the load balance of each gear is helped.
Preferably, the pitch arm and the pitch slot provided in the pitch end cover can slide relatively or rotationally along the axis of the mechanism, and the pitch change curve can be adjusted (nonlinear curve is realized) by adjusting the pitch slot depth change curve.
Preferably, the laminated coil springs are combined by a plurality of coil springs, so that the torsion force is increased, the multi-point contact is realized, the torque transmission is more uniform, the torsion unit is flattened, the diameter is reduced, and the laminated quantity is not limited to 2, 3, 4 and 5 coil springs.
Preferably, the pitch-variable paddle clamp can be provided with forward rotation output and reverse rotation output at the same time, and any output device can be selected, so that special cases are provided for the case that both forward rotation output and reverse rotation output are fixed paddle clamps.
Preferably, the pitch-variable end cover is connected with the output shaft by using a spline, the spline of the output shaft is provided with an annular groove with the inner wall of the spline of the end cover, and the annular groove is blocked by using a clamping spring (clamping ring) to prevent axial sliding (falling off) between the pitch-variable end cover and the output shaft, so that the rapid disassembly and assembly are realized, and the integral pitch-variable mechanism is facilitated to be simplified.
The invention provides a coaxial reversing mechanism based on a planetary reducer, and the mechanism also has a high-efficiency paddle driving system with the capability of differential speed adjustment between a front rotor and a back rotor. The invention designs a brand new mechanism system aiming at the efficiency of converting the final energy into thrust or traction, and has the advantages of high output efficiency, large torsion, stable integral operation, low failure rate and long service life; the device can meet the composite requirements of weight reduction, long-time endurance, dynamic adaptation to the airborne weight, change of the airflow environment and the like.
Drawings
Fig. 1 is a schematic diagram of a forward and reverse rotation speed reduction differential mechanism.
Fig. 2 is a schematic diagram of a structure of a forward and reverse rotation speed reduction differential mechanism.
Figure 3 is a composite graph of the relative wind speed of the first rotor in combination with the second rotor.
Figure 4 is a graph of the airflow patterns of the first rotor mated with the second rotor.
Fig. 5 is an exploded schematic view of a forward and reverse rotation speed reduction differential mechanism of a high-efficiency paddle driving system according to the present invention.
Fig. 6 is a partially exploded and enlarged schematic view of a forward and reverse rotation speed reduction differential mechanism of a high-efficiency paddle driving system according to the present invention.
Fig. 7 is an assembly schematic diagram of a forward and reverse rotation speed reduction differential mechanism of a high-efficiency paddle driving system according to the present invention.
Fig. 8 is an exploded view of a pitch mechanism of a high efficiency pitch drive system according to the present invention.
Fig. 9 is an assembly schematic diagram of a pitch mechanism of a high efficiency pitch drive system according to the present invention.
Fig. 10 is a schematic structural diagram of a high-efficiency paddle driving system according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Forward and reverse rotation speed reduction differential mechanism and principle thereof:
as shown in fig. 1 and 2, S101 and S202 are sun gears; s102 and S203 are planetary gears; s103 and S204 are annular gears; s104 and S205 are planetary carriers; s201 is an input shaft of the invention; s105 and S206 are the shells of the invention; s207 is a reverse output shaft; s208 is a positive rotation output shaft; s201 is connected with S202; s205 is connected with S208; s204 is connected to S207. And makes the following symbol conventions:
Z S202 the number of teeth of the sun gear; z is Z S203 The number of teeth of the planet gears is the number of teeth of the planet gears; z is Z S204 The number of teeth of the inner gear ring is; i.e S208 Outputting a reduction ratio for normal rotation; i.e S207 Output reduction ratio for reversal; n is n S201 Is the input rotation speed; n is n S207 The output rotation speed is reversed; n is n S208 Outputting the rotating speed for normal rotation; t (T) S201 Is input torque; t (T) S207 Output torque for reversal; t (T) S208 Outputting torque for normal rotation; t (T) F Outputting a load torque or a resistance torque for the normal rotation; t (T) R To output load torque or resistance torque in reverse; p (P) S201 Is input power; p (P) S207 Is the reverse output power; p (P) S208 Power is output for forward rotation.
To simplify the discussion, the following calculation process assumes that the present reducer has no efficiency loss, using gears that are non-shifting gears. Other discussions of using a shifting gear or bevel gear are substantially consistent.
The mechanism has the principle of speed reduction and reverse differential: assuming that the S204 inner gear ring and the S206 mechanism shell are in a rigid static state, the mechanism is a conventional planetary reduction mechanism, and the S208 forward rotation output reduction ratio is known according to a reduction ratio formula of the planetary reducer:assuming that when the planetary gear carrier and the housing of the mechanism S205 are in a rigid static state, the mechanism is converted into a fixed gear train speed reducing mechanism, S207 is a reversing output shaft, and the reversing output speed reducing ratio of S207 is: />And then n S201 Input rotation speed n S207 ，n S208 The relation between the two output rotational speeds is: n is n S201 ＝n S207 ×i S207 +n S208 ×i S208 (equation one). Let n be S201 The input is a fixed value, and after the number of teeth of each gear of the speed reducer is determined, i S207 And i S208 As a constant, it can be seen that n S207 Increase, n S208 A corresponding decrease is followed by equation one above. On the contrary n S208 Increase, n S207 A corresponding decrease is followed by equation one above. The invention has deceleration capability no matter the forward rotation output and the backward rotation output, the corresponding output torque is enhanced, and the problem of low motor conversion efficiency caused by large output torque under the direct drive of a plurality of paddles of the existing motor is solved.
Torque balancing principle:for the convenience of analysis, assuming that the input torque is constant, under the condition that rotors are mounted on the forward rotation and reverse rotation outputs, the forward rotation output and the reverse rotation output of S208 are opposite to each other, and after the system works in a balanced state, namely the forward rotation and reverse rotation direction output torque is equal to resistance torque formed by wind resistance, as shown in fig. 1 according to the basic theorem of acting force and reaction force, a reverse rotation output torque formula obtained by tangential force of the planet wheel acting on the annular gear of S103 of S102 is expressed as: t (T) S207 ＝T S201 ×i 207 . Simultaneously outputting torque T in positive rotation S208 The relation between the torque and the reverse output torque satisfies the condition T S208 ＝T S201 ×i S208 ＝T S207 +T S201 (equation two). The torque relation is not affected by the forward and reverse output rotation speeds or the forward and reverse output power.
Automatic balancing principle of forward rotation and reverse rotation output power: the analysis is convenient, the S input rotating speed and the power are basically constant, the automatic balance of the positive and negative output power is realized by mutually coordinating the rotating speeds of positive and negative output, and the stable condition is T R208 ＝T F (forward output load torque or resistance torque) and T R207 ＝T R (reverse output load torque or resistance torque), and T F ＝T R +T S201 (consistent with equation two). Since the input rotational speed and power are substantially constant, the input torque is knownIs of a constant value and then T S208 、T S207 Is also constant, and outputs torque in the forward direction>Reverse output torque->After the input and output of the system are stable, obtaining a power relation formula P of the input and output according to the law of conservation of energy in an equilibrium state S201 ＝P S207 +P S208 (equation three), which can be expressed as +.>T as described above S208 、T S207 To be constant, it can be known that P S208 Increase, n S208 Correspondingly increase, P S207 With a consequent decrease in n S207 And correspondingly reduced. Conversely P S207 Increase, n S207 Correspondingly increase, P S208 ＝P S201 -P S207 With a consequent decrease in n S207 And correspondingly reduced.
First rotor air current tangential kinetic energy recovery principle: in an ideal experimental environment, a single rotor wing flows downwards in a spiral way, the tangential velocity of the point and the decomposition velocity of the axial velocity of the point can be decomposed at any point on the air flow, the tangential velocity cannot generate expected lifting force or traction force, the air flow flowing out of the first rotor wing is diffused around due to the centrifugal force generated by the tangential velocity, and the forward and reverse output of the mechanism can be on the same side of the structure (the design of the mechanism is changed to be different), so that the distance between the first rotor wing and the second rotor wing is greatly reduced, and the influence of the air flow diffusion is reduced to a certain extent. As shown in fig. 3 and 4, when the lower rotor (second rotor, having a slightly larger radius than the first rotor) S402 is disposed opposite to the upper rotor (first rotor) S401, the tangential velocity of a certain point on the airflow flowing out of the upper rotor (first rotor) S401 will participate in the synthesis of the relative wind speed of the lower rotor (second rotor) S402, increasing the actual tangential velocity of the lower rotor, and the kinetic energy of the tangential velocity component at the corresponding point on the airflow flowing into the lower rotor is partially recovered.
Second rotor efficiency improves: as shown in fig. 4, due to the tangential velocity of the airflow flowing out of the rotor from the upper rotor of S401, the output rotation speed of the rotor from the lower rotor of S402 is reduced, the tangential component speed of the airflow flowing out of the rotor from the lower rotor of S402 is reduced, and on the premise that the tangential component speeds of the airflow from the lower rotor of S402 and the rotation speed, the mutual distance, the shape of the blades and the like of the rotors from the upper rotor of S401 are optimized, the tangential component wind speed of the airflow from the lower rotor of S402 is reduced and even approaches to 0. Therefore, all kinetic energy of the lower rotor wing outflow air flow can be concentrated in the axial direction, and the expected traction force or lift force can be generated more efficiently.
In actual use, due to the influence of the weight (goods loading and unloading) of the machine body, the altitude of the machine body, the air flow and other changing factors, and due to the fixed form of the paddles, the paddles cannot adapt to the fixed form of the paddles, so that the efficiency is always optimized. The invention also provides a thin variable pitch blade clamp which is used for matching with the forward and reverse rotation speed reduction differential driving mechanism provided by the invention, so that the total optimization way and means are widened. As shown in fig. 8, the mechanism is lighter and thinner than a conventional pitch mechanism, and can self-fix the pitch curve, thereby obtaining an overall more excellent pitch efficiency curve.
Pitch control mechanism and pitch control principle:
when the rotor rotation speed is changed, the air resistance forms corresponding resistance torque change to serve as a pitch adjustment input source, the resistance torque change enables the assembled components of S604, S605 and S606 to jointly rotate (rotate displacement) around a power input shaft S607, the contact surface of the upper end face of the S610 of the pitch arm of S605 and the pitch groove S608 with continuously changing depth on the pitch end cover S602 slide relatively, the upper end contact surface S610 of S605 axially displaces, and then the S604 connected with S605 rotates in a pitch clamp mounting fixing hole of S606, and the pitch is adjusted. The pitch adjustment amplitude is associated with the resistance torque variation amplitude in a certain range due to the action of the S603 coil spring against the torque. During assembly, the pre-tightening torsion of the laminated coil spring S603 can be adjusted by selecting the laminated coil spring S603 to be clamped into different coil spring clamping grooves S609, and the initial torsion and the final torsion of pitch adjustment can be adjusted by matching with the strength of the laminated coil spring S603. The variation of the pitch variation groove S608 is adjusted to obtain different pitch adjustment curves and amplitude ranges. The pitch mechanism design is applicable to odd or even blade configurations of more than 1, 2, 3, 4, 5, etc., and the invention uses only 3 blade configurations as an illustrative example.
And (3) optimizing comprehensive parameters: the present invention has listed the basic constraint relation P S201 ＝P S208 +P S207 ，T F ＝T R +T S201 ，n S201 ＝n S207 ×i S207 +n S208 ×i S208 Different upper and lower rotor wing efficiency torque curves, power input end power torque curves are substituted into the constraint relation,the corresponding output response curve of the mechanism under various input conditions can be obtained. According to the design trend, the tooth number ratio of the mechanism is optimally selected. Further, the overall optimization effect is improved, the adaptive range of multiple parameters of power, rotating speed and torque after optimization is improved, the pitch-variable mechanism of the mechanism is matched, the pitch-variable efficiency and torque curve are combined, the pitch-variable curve (namely, the depth-variable curve of the pitch slot of S608 and the torsion force of the coil spring) is adjusted, and the output power, the rotating speed and the torque curve of the forward-rotating reverse-rotating speed-reducing differential mechanism are jointly determined by matching with the traction (or lift force) curve expected to be obtained, namely, the actual use optimization direction.
Referring to fig. 5-10, the present invention provides a high efficiency pitch drive system, comprising a forward and reverse rotation speed reduction differential mechanism, a first pitch mechanism and a second pitch mechanism; the positive and negative rotation speed reduction differential mechanism comprises a mechanism shell S501, wherein a reverse output shaft S505, a forward output shaft S507, a planet wheel carrier S510, a planet wheel S511, a sun wheel S514 and a power input shaft S520 are arranged in the mechanism shell S501; the positive output shaft S507 is connected with the planetary gear carrier S510 through a positive output coupler S509, an inner gear ring is arranged at the lower part of the reverse output shaft S505, the positive output shaft S507 and the reverse output shaft S505 are coaxially arranged, through holes are formed in the reverse output shaft S505, the sun gear S514 is meshed with a plurality of planetary gears S511, the plurality of planetary gears S511 are meshed with the inner gear ring, the planetary gears S511 are fixed on planetary gear shafts on the planetary gear carrier S510 through first bearing S513, the planetary gears S511 can rotate around the self axes, and the planetary gear carrier S510 and the planetary gears S511 synchronously turn around the axes of a mechanism shell; the sun gear S514 is connected with the power input shaft S520 through a coupling S515; the reverse output shaft S505 is fixedly supported on the mechanism shell S501 through a second bearing shaft S502 and can rotate around the axis of the mechanism shell; the forward output shaft S507 is fixed in the through hole of the reverse output shaft S505 through a third bearing S506 and can rotate around the axis of the mechanism independently of the reverse output shaft S505; the sun gear S514 is fixed to the planet carrier S510 by a fourth carrier bearing S516 and is rotatable about the planet carrier S510 axis.
In fig. 5-7, the components are respectively S501 is a mechanism housing, and the inner wall of the mechanism housing S501 is provided with balls S504 and roller tracks S503 for bearing radial and axial forces; s502 and S506, and S508 are load bearing bearings of the forward output shaft S507; s503 and S504 are bearing needle and ball bearings reversely output in S505; s505 is a reverse output shaft of the mechanism, and the lower half part of the reverse output shaft is an annular gear; s509 is a forward output coupling, preferably a spline coupling, an Oldham coupling or other form of coupling may be used to transfer torque between S507 and S510; s510 is a mechanism planet carrier; s511 is a planet wheel; s512 is a planet wheel needle bearing; s513 is a bearing for rotating the sun gear S514 and S510. S514 is a sun gear; s515 is a coupling of the sun gear and the power input shaft, preferably, an Oldham coupling is used in the example, and other types of couplings can be used, so that the input shaft can float in the axial direction and the radial direction without influencing the torque transmission to the sun gear; s517 a planet carrier cover; s516 is a bearing which rotates relatively between S517 and S514; s518 a bearing is combined with the S519 and is used for bearing the S520 input shaft; s519 is a mechanism housing cover; s520 is a power input shaft, and the top symmetrical key groove may be combined with S515.
S507 is connected with S510 planetary wheel carrier through S509, S509 separates S510 planetary wheel carrier and S507 output shaft, isolate the violent radial and axial disturbance introduced by S507.
S515 and S520 and S514 cooperate to isolate S520 input shaft radial and axial disturbances relative to S505 and S510.
With the help of S509 and S515, the planetary gear set formed by S510, S511, S513, S514 and S515 can axially and radially move inside the inner gear ring of S505, so that the effect of multi-planetary gear torque load balancing (suspension load balancing) is achieved, the torque bearing capacity and the service life of the mechanism are greatly improved, and meanwhile, the processing difficulty and the assembly precision of key components of each mechanism are reduced.
The gear in the mechanism is made of titanium alloy or aviation aluminum alloy, and after various surface strengthening treatments such as electroplating, nitriding and the like are carried out, the mechanism has the characteristics of light weight, wear resistance of a working surface, chemical corrosion resistance, self lubrication and the like.
In this example, a non-deflection spur gear with sun gear 34 teeth, ring gear 86 teeth, planet gear 26 teeth, pressure angle of 20 degrees and modulus of 0.3 is used. The positive and negative output reduction ratio is partially resolved in principle. In the case of rotor parameter or other usage condition changes, the need to re-optimize the tooth ratio is merely exemplary. The bevel gear can be used as a bevel gear, a gear ring and a plurality of different types of gears and gear wheels according to design requirements. In particular, friction transmission can be used, the sun wheel, the planet wheel and the gear ring are changed into a round wheel and an inner ring on the smooth surface, friction force is increased by friction contact or damping grease and the like, transmission can be realized, and the method can strengthen shock resistance.
The first pitch changing mechanism and the second pitch changing mechanism have the same structure and comprise a pitch changing end cover S602, a pitch changing arm S605, a pitch clamp mounting seat S606 and an input shaft S607; the first rotor wing and the second rotor wing are respectively arranged on the first pitch changing mechanism and the second pitch changing mechanism, a perforation is arranged on the paddle clamp mounting seat S606, the input shaft S607 penetrates through the perforation, the paddle clamp mounting seat S606 and the input shaft S607 are mutually independent and can rotate around the axis of the mechanism, and meanwhile, the paddle clamp mounting mechanism is arranged; a plurality of paddle clamps S604 are arranged on the paddle clamp mounting seats S606, and the paddle clamps S604 can rotate along the axis of the paddle clamps S604; the variable pitch end cover S602 is connected with the input shaft S607 through a spline, and the axial stop clamp spring S601 is clamped into an annular groove on the inner wall of the spline to prevent the variable pitch end cover S602 from being separated from the input shaft S607; the variable pitch arm S605 is combined with the paddle clamp S604 through a side hole on the paddle clamp S604, and can drive the paddle clamp S604 to rotate along the axis of the variable pitch arm S; the laminated coil spring S603 transmits power torque from the variable pitch end cover S602 to the pitch clamp mounting seat S606; the sliding upper end surface S610 on the variable pitch arm S605 is contacted with the variable pitch groove bottom surface S608 on the variable pitch end cover S602 and can slide relatively; the first pitch mechanism is arranged on the reverse output shaft S505, and the second pitch mechanism is arranged on the forward output shaft S507 to form a high-efficiency paddle driving system.
Referring to 8-10, the pitch mechanism mainly comprises the following parts: s606 is a paddle clamp mounting seat, which is provided with a perforation and can rotate around the axis of the mechanism independently of a power shaft, and is also provided with a paddle clamp mounting mechanism; an axial stop clamp spring S601, wherein annular grooves are formed in the inner walls of the output shaft spline and the end cover spline, the axial stop clamp spring S601 is clamped into the annular grooves, and axial sliding (falling-out) between the output shaft sleeve of the variable pitch end cover S602 and the output shaft sleeve S607 is prevented; preferably, a spline form is combined with the output shaft sleeve, a pitch changing groove S608 and a plurality of coil spring clamping grooves S609 distributed on the pitch changing end cover S602 are formed in the pitch changing end cover S602, and the pitch changing end cover S602 is simultaneously responsible for connecting the input shaft S607 and the laminated coil springs S603; the clamping position of the outer ring of the laminated coil spring S603 is combined with the clamping position grooves of coil spring clamping grooves S609 distributed on the variable pitch end cover S602, and the clamping position of the inner ring is combined with the clamping position grooves on the pitch clamp mounting seat S606 to be responsible for transmitting power torque to the pitch clamp mounting seat S606; the present example uses splines in combination with a variable pitch end cap S602 and transmits torque; s609 is a coil spring clamping groove, and according to different torque requirements, the S609 coil spring clamping groove at different positions can be selected for use; s604 is a paddle clamp, and the tail circular shaft of the paddle clamp can rotate in the S606 fixing hole. S605 is a pitch arm, preferably, the pitch arm is combined with the blade clip through a blade clip side hole, and the sliding upper end surface (shown in dark color) of S610 contacts with the bottom surface of S608, so that the pitch arm can slide (rotate and slide) relatively along the axis of the mechanism.
The invention uses a plurality of coil springs to be combined, increases torsion, makes multipoint contact, makes force transmission more uniform, simultaneously flattens the torsion unit, reduces the diameter, and is more suitable for small aircraft equipment.
The variable pitch device uses the chute with continuously variable depth, the pitch adjustment is continuous, and the curve can be customized into a nonlinear curve, thereby being more beneficial to the optimization of the overall efficiency parameter of the variable pitch device.
As shown in fig. 10, a complete assembly diagram of the mechanism of the present invention after assembly is given, fig. 7 is a complete assembly diagram of the forward and reverse rotation speed reduction differential mechanism of the present invention, fig. 9 is a complete assembly diagram of the pitch-variable pitch blade clamp, and fig. 10 is a combined assembly diagram of fig. 7 and 9. In particular, the positive and negative outputs can be provided with a variable pitch blade clamp, or any one of the outputs can be used, and the number configuration of the blades of the upper rotor and the lower rotor can be determined according to the optimization result. Preferably, fig. 10 shows a first rotor as a fixed pitch blade holder, and a second rotor as a variable pitch blade holder, which provides more stable tractive effort (or lift) in the event of a large input power variation, with the second rotor constantly adjusting blade pitch to accommodate airflow speed and recovering tangential kinetic energy of the first rotor outflow.
In the invention, the relation between the rotating speed of the forward and reverse output shafts and the rotating speed of the power input shaft is as follows: n is n S520 ＝n S505 ×i S505 +n S507 ×i S507 ，i S505 、i S507 Is a reduction ratio; the relation between the forward and reverse output shaft torque and the power input shaft torque is as follows: t (T) S507 ＝T S520 ×i S507 ＝T S505 +T S520 Wherein T is S505 ＝T S520 ×i S505 The method comprises the steps of carrying out a first treatment on the surface of the The relationship between the forward and reverse output shaft power and the power input shaft power is as follows: p (P) S520 ＝P S507 +P S505 The method comprises the steps of carrying out a first treatment on the surface of the Through the equation relation, the dynamic allocation of the rotating speed of the forward and reverse output shafts and the power of the forward and reverse output shafts is realized.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (8)
1. A high-efficiency paddle driving system comprises a forward and reverse rotation speed reduction differential mechanism, a first pitch-changing mechanism and a second pitch-changing mechanism; the positive and negative rotation speed reduction differential mechanism is characterized by comprising a mechanism shell, wherein a reverse output shaft, a forward output shaft, a planet wheel carrier, a planet wheel, a sun wheel and a power input shaft are arranged in the mechanism shell; the positive output shaft is connected with a planetary gear carrier through a positive output shaft coupler, an annular gear is arranged at the lower part of the reverse output shaft, the positive output shaft and the reverse output shaft are coaxially arranged, a through hole is formed in the reverse output shaft, the sun gear is meshed with a plurality of planetary gears, the plurality of planetary gears are meshed with the annular gear, the planetary gears are fixed on planetary gear shafts on the planetary gear carrier through first bearing bearings, the planetary gears can rotate around the axes of the planetary gears, and the planetary gear carrier can synchronously turn around the axes of a mechanism shell; the sun gear is connected with the power input shaft through a coupler; the reverse output shaft is fixed on the mechanism shell through a second bearing and can rotate around the axis of the mechanism shell; the forward output shaft is fixed in the reverse output shaft through a third bearing, and can rotate around the axis of the mechanism shell independently of the reverse output shaft; the sun gear is fixed on the planet carrier through a fourth bearing and can rotate around the axis of the planet carrier; the first variable pitch mechanism and the second variable pitch mechanism have the same structure and comprise a variable pitch end cover, a variable pitch arm, a pitch clamp mounting seat and an input shaft; the first rotor wing and the second rotor wing are respectively arranged on the first variable pitch mechanism and the second variable pitch mechanism, the paddle clamp mounting seat is provided with a perforation, the input shaft penetrates through the perforation, the paddle clamp mounting seat and the input shaft are mutually independent and can rotate around the axis of the mechanism shell, and meanwhile, the paddle clamp mounting mechanism is arranged; the paddle clamps are arranged on the paddle clamp mounting seats and can rotate along the axis of the paddle clamps; the variable pitch end cover is connected with the input shaft through a spline, and the axial stop clamp spring is clamped into an annular groove on the inner wall of the spline to prevent the variable pitch end cover from being separated from the input shaft; the variable pitch arm is combined with the paddle clamp through a side hole on the paddle clamp, and can drive the paddle clamp to rotate along the axis of the variable pitch arm; the variable pitch end cover is provided with a variable pitch groove and a plurality of coil spring clamping grooves distributed on the variable pitch end cover, and is simultaneously responsible for connecting an input shaft and a superimposed coil spring; the outer ring of the laminated coil spring is combined with coil spring clamping grooves distributed on the variable pitch end cover, and the inner ring is combined with clamping grooves on the blade clamp mounting seat to be responsible for transmitting power torque to the blade clamp mounting seat; when the pitch angle adjusting device is assembled, the pre-tightening torsion of the laminated coil springs can be adjusted by clamping the laminated coil springs into different coil spring clamping grooves, and the initial torsion and the final torsion of the pitch can be adjusted by matching with the strength of the laminated coil springs; the depth change of the variable pitch groove is regulated, so that different pitch regulating curves and amplitude ranges can be obtained; the laminated coil spring transmits power torque from the variable pitch end cover to the pitch clamp mounting seat; the sliding upper end face of the variable pitch arm is contacted with the bottom face of the variable pitch groove on the variable pitch end cover and can slide relatively; the first variable pitch mechanism is arranged on the reverse output shaft, and the second variable pitch mechanism is arranged on the forward output shaft to form a high-efficiency paddle driving system.
2. A high efficiency pitch drive system as defined in claim 1, wherein said forward output shaft and said reverse output shaft rotational speeds are related to said power input shaft rotational speeds as follows: n is n S520 ＝n S505 ×i S505 +n S507 ×i S507 Wherein n is s520 Is the rotation speed of a power input shaft, n S505 Is the rotation speed of the reverse output shaft, n S507 Is the rotation speed of a positive output shaft, i S505 Is the reduction ratio of the reverse output shaft S505, i S507 Is the reduction ratio of the positive output shaft S507; the relation between the torques of the forward and reverse output shafts S507 and S505 and the torque of the power input shaft is as follows: t (T) S507 ＝T S520 ×i S507 ＝T S505 +T S520 Wherein T is S520 For power input shaft S520 torque, T S507 For positive output shaft torque, T S505 To reverse the output shaft torque, the torque relationship between the reverse output shaft S505 and the power input shaft S520 is T S505 ＝T S520 ×i S505 Wherein i is S505 Is a reduction ratio of a reverse output shaft; the relation between the combined total power of the forward output shaft and the reverse output shaft and the power of the power input shaft is as follows: p (P) S520 ＝P S507 +P S505 Wherein P is S520 To input power of the power input shaft S520, P S507 For forward output shaft power, P S505 Output shaft power for reverse; through n S520 ＝n S505 ×i S505 +n S507 ×i S507 、P S520 ＝P S507 +P S505 And T S507 ＝T S520 ×i S507 ＝T S505 +T S520 Equation relation realizes the rotation speed n of the forward and reverse output shafts S507 、n S505 And forward and reverse output shaft power P S507 、P S505 Dynamic deployment of (2).
3. The efficient paddle drive system of claim 1, wherein the ring gear is connected or integrally formed with the counter output shaft to achieve counter output relative to the forward output shaft, and wherein both the counter output and the input output have deceleration capabilities relative to the input, and the output torque is enhanced.
4. The efficient paddle driving system of claim 1, wherein the forward and reverse output shafts are coaxially arranged, a through hole is formed in the center of the reverse output shaft, the forward output shaft penetrates through the through hole, the forward output shaft and the reverse output shaft are arranged on the same side of the speed reducing mechanism, the distance between upper and lower rotor wings is greatly reduced, and the comprehensive efficiency is improved.
5. The efficient paddle drive system of claim 1, wherein the forward and reverse speed reduction differential mechanism is characterized in that the output of the planetary carrier is isolated from the forward output shaft by the forward output shaft coupling, so that the radial and axial disturbance of the forward output shaft is avoided to influence the normal operation of the speed reduction mechanism; meanwhile, the power input shaft is isolated from the power input shaft through the power input shaft coupling, under the combined action of the power input shaft coupling and the forward output shaft coupling, the planet wheel and the sun wheel, the planet wheel carrier can move radially and axially in a small amplitude in the inner gear ring, a suspension effect is achieved, and the load balance of each gear is helped.
6. A high efficiency pitch drive system as defined in claim 1 wherein said pitch control mechanism is characterized by a relative sliding motion between said pitch control arm and a pitch control slot provided in said pitch control end cap along the axis of said pitch control mechanism, and wherein said pitch control slot is adjustable in pitch by adjusting the pitch control slot profile.
7. The efficient paddle drive system of claim 1, wherein the laminated wrap spring is a combination of multiple wrap springs, increasing torque, multipoint contact, more uniform torque transfer, flattening the torque unit, and reducing diameter.
8. A high efficiency pitch drive system according to claim 1, wherein the pitch mechanism is characterized by: the axial stop clamp spring is used for preventing spline connection between the variable pitch end cover and the reverse output shaft from sliding axially, and meanwhile, quick disassembly and assembly are realized, so that the integral variable pitch mechanism is facilitated to be simplified.
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| CN108988765A (en) * | 2018-08-10 | 2018-12-11 | 常州大学 | Solar panel electrically powered steering apparatus using same |
| CN113022860B (en) * | 2021-05-24 | 2021-09-14 | 四川迅联达智能科技有限公司 | Aircraft with automatically controlled multi-functional differential course control system |
| CN113479163A (en) * | 2021-08-19 | 2021-10-08 | 浙江万里安全器材制造有限公司 | Automobile safety belt retractor assembly and automobile safety belt retractor assembly |
| CN113786696B (en) * | 2021-08-26 | 2023-05-23 | 华能曲阜热电有限公司 | High-temperature-resistant front cyclone separator dust removal device for tail flue of boiler and dust removal method thereof |
| CN118811108B (en) * | 2024-09-18 | 2024-11-26 | 浙江中实安全科技有限公司 | Fire control unmanned aerial vehicle that stability is good |
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| FR2922191B1 (en) * | 2007-10-12 | 2010-06-11 | Infotron | TWO ROTORS FLYING ENGINE |
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| CN1068998A (en) * | 1992-05-30 | 1993-02-17 | 李晓阳 | A kind of transmission differential mechanism of coaxial rotor flying vehicle |
| JPH11342899A (en) * | 1998-06-02 | 1999-12-14 | Katsuhiko Araki | Coaxial contra-rotating helicopter |
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