CN216734823U - Rotor mechanism for coaxial rigid double-rotor test bed - Google Patents

Abstract

The utility model provides a rotor mechanism for a coaxial rigid double-rotor test bench, which comprises an inner shaft, an outer shaft, an upper actuator group, a lower actuator group, and an upper rotor control set mounted on a test bench frame. system, lower rotor control system, upper rotor hub, lower rotor hub. The propeller hubs of the upper and lower rotors sent by the rotor mechanism are rigid propeller hubs. The upper rotor system adopts the in-axis variable pitch control method, and the lower rotor system adopts the off-axis conventional control method. The layout is reasonable and the operation is flexible. It can be used in coaxial rigid dual The rotor test bench satisfies the installation of measuring equipment to carry out the dynamic test related to the coaxial rigid dual rotor helicopter, and can realize the coaxial rigid dual rotor mechanism with independent variable pitch of the upper and lower rotor systems.

Description

Rotor Mechanism for Coaxial Rigid Dual Rotor Test Stands

technical field

The utility model relates to the technical field of helicopter testing, in particular to a rotor mechanism used for a coaxial rigid double rotor test stand.

Background technique

Helicopter has the characteristics of vertical take-off and landing and low-altitude hovering, so it plays an indispensable role in military and civilian applications such as ground attack, battlefield rescue, air patrol, earthquake disaster relief, geological exploration, and forest protection. At present, helicopters can be classified into single-rotor with tail rotor, coaxial twin-rotor, tandem twin-rotor, horizontal twin-rotor, etc., according to the different types of rotor layout. Among them, the coaxial twin-rotor helicopter has cancelled the tail rotor and has two upper and lower rotors that rotate in opposite directions around the same theoretical axis. This rotor layout has the advantages of compact structure, small outline size, high hovering efficiency, good maneuverability and high speed. Therefore, the coaxial twin-rotor helicopter is an important direction for the development of modern helicopters. A large amount of research has been carried out abroad and rich results have been achieved. The more representative ones are the XH-59A helicopter and the S-97 coaxial high-speed helicopter. The research on coaxial twin-rotor helicopters in China is in its infancy, and no specific model has been released yet. In order to find out the laws of aerodynamics and performance of co-axial twin-rotors, it is necessary to conduct sufficient ground tests to obtain coaxial rigid twin-rotor helicopters. According to the test data, it is necessary to develop a coaxial rigid double rotor test rig.

The most effective way to design the rotor control mechanism of the test bench is to simulate the rotor control mechanism of the real helicopter. The control method generally used in the development of coaxial rigid dual-rotor helicopters in my country is semi-differential, and the control mechanisms of the upper and lower rotors are arranged inside, on the outer shaft and connected by a series of tie rods. This kind of rotor control mechanism is too complicated. Generally, a measurement device for testing the test data is installed on the rotor shaft. The installation of the measurement device and the installation of the control mechanism cannot be satisfied at the same time. This kind of control mechanism cannot be applied to the coaxial rigid double rotor test. tower. The control mechanisms of the upper and lower rotor systems of the coaxial rigid double rotor mechanism in the patented utility model are arranged separately and independently, which can realize the manipulation of the upper and lower rotors, and can also meet the installation of measuring equipment.

Utility model content

In order to solve the problems of the prior art, the utility model provides a rotor mechanism for a coaxial rigid double rotor test bench. The propeller hubs of the upper and lower rotors are rigid propeller hubs, and the upper rotor system adopts an in-axis variable pitch control mode. , The lower rotor system adopts the conventional off-axis control mode, the layout is reasonable, the operation is flexible, the upper and lower rotor systems can be separated and independently variable pitch, and can be used on the coaxial rigid double rotor test bench to meet the installation of measuring equipment for coaxial rigid dual rotors. Dynamic tests related to rotorcraft.

The utility model provides a rotor mechanism for a coaxial rigid double-rotor test bench. The rotor mechanism is located on the upper part of the test bench and mainly includes an inner shaft, an outer shaft, an upper actuator group and a lower actuator group. , an upper rotor control system, a lower rotor control system, an upper rotor hub, and a lower rotor hub; the upper rotor hub and the lower rotor hub are rigid hubs, and the upper rotor hub includes an upper rotor hub with a hollow structure The center seat and the upper blade bearing seat are arranged in the hinged manner of the same level, different hinge directions, and the same hinge direction at the cross position. The upper blade bearing seat is provided with an upper blade connecting arm in the middle, and the outer end of the upper blade connecting arm is provided. An upper propeller clip is provided; the lower rotor propeller hub includes a lower propeller hub central seat and a lower propeller blade bearing seat arranged in a hinged manner of the same level but different hinge directions and the same hinge direction at the cross position, the lower propeller blade bearing seat A lower blade connecting arm is arranged in the middle, and a lower blade clamp is arranged at the outer end of the lower blade connecting arm.

Wherein, the inner shaft and the outer shaft are hollow shafts, and the inner shaft protrudes from the inside of the outer shaft.

Wherein, the upper rotor hub is arranged on the inner shaft, and the lower rotor hub is arranged on the outer shaft.

Wherein, the upper rotor control system and the lower rotor control system of the rotor control mechanism are operated separately and independently, the pitch changing device of the upper rotor control system is arranged in the rotor shaft, and the lower rotor control system adopts a conventional off-axis control method. , the pitch changing device is arranged outside the rotor shaft; the upper rotor control system is connected with the upper blade connecting arm, the lower rotor control system is connected with the lower blade connecting arm; the upper actuator group Connected with the upper rotor control system, the lower actuator group is connected with the lower rotor control system, and respectively controls the upper blade connecting arm and the lower blade connecting arm to achieve synchronous pitch-variable motion.

Wherein, the upper actuator group and the lower actuator group respectively include at least three actuators.

Wherein, the lower blade connecting arm is provided with a lower pitch-variable rocker arm; the lower rotor control system includes a lower automatic tilter and a lower pitch-change lever; the lower automatic tilter is arranged below the lower rotor hub ; the lower automatic tilter includes a lower spherical bearing, a lower moving ring, a lower fixed ring, a lower annular bearing and a lower bushing, and the lower automatic tilter is arranged on the outer shaft through the lower spherical bearing; The lower movable ring and the lower stationary ring are rotatably connected through the lower annular bearing; the lower stationary ring is fixedly connected with the lower bushing; the lower bushing and the lower spherical bearing are connected by a ball hinge One end of the lower pitch-changing pull rod is connected with the lower moving ring, and the other end is connected with the lower pitch-changing rocker arm.

Wherein, the lower moving ring is connected with the outer shaft through the lower moving ring anti-twist arm; the lower moving ring is connected with the test bench through the lower moving ring anti-twist arm; the lower moving ring is connected with the test bench; The ring anti-twist arm is connected with the outer shaft through the lower fixed annular connecting piece;

Wherein, the upper blade connecting arm is provided with an upper pitch change rocker arm; the upper rotor control system includes an upper automatic tilter, an inner pitch change rod, an outer pitch change rod, and an upper transition rocker arm; the upper automatic tilt The device is arranged in the center seat of the upper propeller hub of the hollow structure; the upper automatic tilter includes an upper spherical bearing, an upper moving ring, an upper non-moving ring, an upper annular bearing and an upper shaft sleeve; the upper moving ring and the The upper fixed ring is rotatably connected through the upper annular bearing; the upper fixed ring is fixedly connected with the upper shaft sleeve; the upper shaft sleeve and the upper spherical bearing are connected together by a ball hinge; One end of the inner pitch changer rod is connected with the upper moving ring, and the other end is connected with the upper transition rocker arm; one end of the outer pitch changer rod is connected with the upper transition rocker arm, and the other end is connected with the upper transition rocker arm. connection from the rocker arm.

Wherein, the upper part of the upper propeller hub center seat is provided with an upper end cover, and the upper part of the upper end cover is provided with an upper transition rocker support frame; the upper propeller hub center seat is provided with an upper automatic tilter support frame, and the upper automatic The tilter support frame and the upper end cover are fixedly connected; the upper automatic tilter is arranged on the upper automatic tilter support frame through the upper spherical bearing; the inner shaft is provided with a positioning shaft, and one end of the positioning shaft is connected to the upper automatic tilter support frame. The test bench frame is fixedly connected, and the other end is rotatably connected to the upper automatic tilter support frame through an upper positioning bearing.

Wherein, the upper moving ring is connected with the upper automatic tilter support frame through the upper moving ring torsion arm; the upper moving ring is connected with the positioning shaft through the upper moving ring anti-twist arm; the upper moving ring The torsion arm is connected with the upper automatic tilter support frame through the upper fixed annular connecting piece; the upper fixed ring anti-twist arm is connected with the positioning shaft through the middle fixed annular connecting piece.

Wherein, the inner shaft is installed on the outer shaft through an inner and outer shaft connecting seat, and the inner and outer shaft connecting seat includes a bearing support seat, a bearing retaining ring and a positioning bearing; the bearing support seat is fixedly installed on the outer shaft of the outer shaft. and fixedly connected with the lower rotor hub; the positioning bearing is arranged in the bearing support seat and fixed with the bearing retaining ring; the inner ring of the positioning bearing is matched and connected with the inner shaft.

Wherein, a hollow shaft sleeve is arranged on the inner shaft under the upper rotor hub, and is fixedly connected with the inner shaft by fixing bolts; the lower rotor hub is fixedly connected with the outer shaft by fixing bolts.

The utility model also provides a control method for the rotor mechanism of the coaxial rigid double-rotor test bench, including collective pitch control, pitch control and roll control, and the specific control process is as follows:

1) Collective pitch control: operate the upper actuator group and the lower actuator group at the same time, so that the actuators, actuators and actuators move down, the upper automatic tilter moves down, and then the inner Move down, the external pitch change rod moves up, and then drives the upper pitch change rocker arm to move up, so that the upper blade connecting arm rotates up, increasing the collective pitch; The automatic tilter moves upward, the lower pitch change lever moves upward, and drives the lower pitch change rocker arm to move upward, so that the lower blade connecting arm rotates upward to increase the collective pitch, otherwise, the collective pitch decreases.

2) Pitch control: operate the actuator and the actuator at the same time, and the two move in opposite directions, thereby simultaneously changing the pitch angle of the upper automatic tilter and the lower automatic tilter. The inner pitch lever, the upper transition rocker arm, and the outer pitch lever drive the upper pitch lever to change the pitch of the upper rotor; the lower pitch lever drives the lower pitch lever to change the pitch of the lower rotor; the upper and lower rotors The pitch is changed synchronously to achieve pitch control.

3) Roll manipulation: Manipulate the actuator and the actuator to move in the opposite direction, thereby changing the roll angle of the lower automatic tilter. The roll angle, which causes the lower auto-tilter and the upper auto-tilter to synchronously tilt to the left or right. At the same time, the lower pitch lever drives the lower pitch rocker arm to move to change the pitch of the lower rotor; the inner pitch lever, the upper transition rocker, and the outer pitch lever drive the upper pitch lever to move to change the pitch of the upper rotor; The pitches of the upper and lower rotors are changed synchronously to achieve roll control.

The beneficial effects of the utility model are:

(1) The utility model relates to a rotor mechanism for a coaxial rigid dual-rotor test bench, which can complete the separate and independent operation of the upper rotor system and the lower rotor system, realize collective pitch control and periodic pitch change, and effectively complete coaxiality. A number of dynamic tests related to rigid dual-rotor helicopters, such as coaxial rigid dual-rotor upper and lower rotor aerodynamic characteristics, rotor dynamic stability and rotor dynamic component load measurement, etc.

(2) The utility model relates to a rotor mechanism for a coaxial rigid dual-rotor test bench. The upper rotor control system adopts an in-axis control and pitch change method, which can satisfy the installation of the control mechanism and the installation of the measuring equipment at the same time. impact, the layout is reasonable, and the overall structure is simple.

(3) The utility model relates to a rotor mechanism for a coaxial rigid double rotor test bench, which has strong expansibility. The inner shaft and the outer shaft are connected by positioning bearings, and the two are disassembled, so that dynamic tests related to rigid single-rotor helicopters can be carried out.

Description of drawings

FIG. 1 is a three-dimensional axonometric view of a rotor mechanism for a coaxial rigid double rotor test bench according to an embodiment of the present invention.

FIG. 2 is a structural diagram of a lower rotor system.

FIG. 3 is a front sectional view of the automatic tilter of the lower rotor system.

FIG. 4 is a structural diagram of an upper rotor system.

FIG. 5 is a front sectional view of the automatic tilter of the rotor system.

FIG. 6 is a schematic diagram of the connection between the upper rotor system and the upper actuator group.

Figure 7 is an exploded view of the interior of the upper rotor system.

FIG. 8 is a schematic diagram of the connection between the upper automatic tilter support frame and the positioning shaft.

FIG. 9 is a structural diagram of a lower rotor hub.

Figure 10 is a sectional view of the lower rotor hub.

Figure 11 is a structural diagram of the upper rotor hub.

FIG. 12 is a schematic diagram of the structure of the upper end cap.

Fig. 13 is a structural diagram of the connection seat of the inner shaft and the outer shaft.

In all figures, 1: Test bench stand; 2: Inner shaft; 201: Inner and outer shaft connection seat; 2011: Bearing support seat; 2012: Bearing retaining ring; 2013: Positioning bearing; 3: Outer shaft; 401: Actuator; 402: Actuator; 403: Actuator; 5: Lower Actuator Group; 501: Actuator; 502: Actuator; 503: Actuator; 6: Upper rotor control system; 601: Upper automatic tilter; 6011: Upper spherical bearing; 6012: Upper moving ring; 6013: Upper non-moving ring; 6014: Upper ring bearing; 6015: Upper bushing; 603: External variable pitch rod; 604: Upper transition rocker arm; 605: Upper automatic tilter support frame; 6051: Upper moving ring torsion arm; 6052: Upper fixed ring connector; 606: Positioning shaft; Anti-twist arm; 6062: Middle fixed ring connector; 607: Upper positioning bearing; 608: In-shaft control rod; 7: Lower rotor control system; 701: Lower automatic tilter; 7011: Lower spherical bearing; 7012: Lower moving ring ;7013: Lower fixed ring; 7014: Lower annular bearing; 7015: Lower bushing; 702: Lower pitch change rod; 703: Lower control rod; 704: Lower fixed ring anti-twist arm; 705: Lower fixed ring connector ;706: Lower fixed ring anti-twist arm; 8: Upper rotor hub; 801: Upper hub center seat; 8011: Bolt hole; 8012: Cylindrical sleeve: 8012: Bolt mounting hole; 802: Upper blade bearing seat ;803: Upper blade connecting arm; 8031: Upper variable pitch rocker arm; 804: Upper paddle clamp; 805: Upper end cover; 8051: Upper transition rocker arm support frame; 8052: Bolt connection hole; 8053: Through hole; 8054: Bolt hole; 9: Lower rotor hub; 901: Lower hub center seat; 9011: Connection hole; 9012: Fix bolt connection hole; 9013: Bolt connection hole; 9014: Bolt hole; 902: Lower blade bearing seat; 9021 : Bolt connection hole; 903: Lower blade connecting arm; 9031: Lower pitch-changing rocker arm; 9032: Thrust bearing; 9033: First fixing bolt; 904: Lower propeller clamp; 9041: Second fixing bolt; 9042: No. Three fixing bolts.

Detailed ways

The utility model will be further described below in conjunction with the accompanying drawings.

In conjunction with the accompanying drawings, the component structure and specific implementation manner of the present invention will be described in detail. In the description of the present utility model, it should be noted that the orientations or positional relationships indicated by "up", "down", "inside", "outside", "center", etc. are based on the orientations or positional relationships shown in the accompanying drawings, It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

As shown in FIG. 1 , the utility model is a rotor mechanism for a coaxial rigid double rotor test bench. The rotor mechanism is located on the upper part of the test bench 1 and mainly includes an inner shaft 2, an outer shaft 3, and an upper actuator group. 4. Lower actuator group 5, upper rotor control system 6, lower rotor control system 7, upper rotor hub 8, lower rotor hub 9; upper rotor hub 8 and lower rotor hub 9 are rigid hubs, The upper rotor hub 8 includes an upper hub center seat 801 with a hollow structure and an upper blade bearing seat 802 arranged in the hinged manner of the same level, different hinge directions, and the same hinge direction at the cross position. The upper blade connecting arm 803, the outer end of the upper blade connecting arm 803 is provided with an upper blade clip 804 for connecting the blades, an upper end cover 805 is arranged above the upper blade hub center seat 801; the lower rotor blade hub 9 includes the center of the lower blade hub The seat 901 and the lower blade bearing seat 902 are set on the lower blade bearing seat 902 through the same level, different hinge directions, and the same hinge direction at the cross position. The lower blade bearing seat 902 is provided with a lower blade connecting arm 903 in the middle. The outer end is provided with a lower paddle clamp 904 for connecting the paddles; the inner shaft 2 and the outer shaft 3 are hollow shafts, the inner shaft 2 penetrates from the inside of the outer shaft 3, and the inner shaft 2 and the outer shaft 3 are connected through the inner and outer shafts The seat 201 is connected; the upper rotor hub 8 is arranged on the inner shaft 2, and the lower rotor hub 9 is arranged on the outer shaft 3; the upper rotor control system 6 and the lower rotor control system 7 of the rotor control mechanism are separately and independently operated, and the upper rotor controls The pitch changing device of the system 6 is arranged in the rotor shaft, the lower rotor control system 7 adopts a conventional off-axis control method, and the pitch changing device is arranged outside the rotor shaft; the upper rotor control system 6 is connected with the upper blade connecting arm 803, and the lower The rotor control system 7 is connected with the lower blade connecting arm 903; the upper actuator group 4 is connected with the upper rotor control system 6, the lower actuator group 5 is connected with the lower rotor control system 7, and the upper blade connecting arms 803 and 8 are respectively operated. The lower blade connecting arm 903 realizes the synchronous variable pitch motion. The rotor mechanism of the coaxial rigid double rotor test bench of the utility model can realize the collective pitch control and periodic pitch change of the coaxial rigid double rotors, and effectively complete the upper and lower aerodynamic characteristics of the coaxial double rotors, the dynamic stability of the rotors, and the moving parts of the rotors. Loads and other helicopter dynamics tests.

As shown in Figures 2 and 3, the manipulation process of the lower rotor system is further described in detail. The lower blade connecting arm 903 is provided with a lower pitch-variable rocker arm 9031; the lower rotor control system 7 includes a lower automatic tilter 701 and a lower pitch-variable pull rod 702; the lower automatic tilter 701 is arranged below the lower rotor hub 9; The automatic tilter 701 includes a lower spherical bearing 7011, a lower movable ring 7012, a lower stationary ring 7013, a lower annular bearing 7014 and a lower bushing 7015, and the lower movable ring 7012 is rotatably connected to the lower stationary ring 7013 through the lower annular bearing 7014; The lower automatic tilter 701 is connected to the outer shaft 3 through the lower spherical bearing 7011; the lower fixed ring 7013 is fixedly connected with the lower bushing 7015, and the lower bushing 7015 and the lower spherical bearing 7011 are connected in a ball hinge manner; the lower automatic tilter 701 can be It is inclined in any direction around the spherical hinge, and can slide up and down along the outer shaft 3 through the lower spherical bearing 7011 . The lower end of the lower pitch changer rod 702 is connected to the lower moving ring 7012, and the upper end of the lower pitch changer rod 702 is connected to the lower pitch changer rocker arm 9031. When the lower automatic tilter 701 slides up and down or tilts, the transmission through the lower pitch changer rod 702 , so that the lower pitch rocker arm 9031 drives the lower blade connecting arm 903 of the lower rotor hub 9 to rotate up and down synchronously to change the pitch of the lower rotor.

In further detail, the lower actuator group 5 includes an actuator 501, an actuator 502, and an actuator 503, each actuator is connected to the test bench 1 through a spherical joint, and the upper end of each actuator is Connect with the lower stationary ring 7013 of the lower automatic tilter 701 through the lower operating lever 703; in order to ensure that the lower stationary ring 7013 does not rotate with the outer shaft 3, the lower stationary ring 7013 is connected to the test bench through the lower stationary ring anti-twist arm 704 Frame 1 is connected.

In further detail, a lower fixed annular connecting piece 705 is arranged between the lower automatic tilter 701 and the lower rotor hub 8, the lower fixed annular connecting piece 705 is fixedly connected to the outer shaft 3, and one end of the lower fixed ring anti-twist arm 706 is connected to the lower moving part. One end of the ring 7012 is connected to the lower fixed annular connecting piece 705 to ensure that the lower automatic tilter 701 rotates synchronously with the outer shaft 3 .

As shown in FIGS. 4 to 8 , the manipulation process of the upper rotor system is further described in detail. The upper blade connecting arm 803 is provided with an upper pitch change rocker 8031; the upper rotor control system 6 includes an upper automatic tilter 601, an inner pitch change lever 602, an outer pitch change lever 603, and an upper transition rocker 604; the upper automatic tilter 601 is set in the center seat 801 of the upper propeller hub of the hollow structure; the upper automatic tilter 601 includes an upper spherical bearing 6011, an upper moving ring 6012, an upper fixed ring 6013, an upper annular bearing 6014 and an upper shaft sleeve 6015; the upper moving ring 6012 It is rotatably connected with the upper fixed ring 6013 through the upper annular bearing 6014; the upper fixed ring 6013 is fixedly connected with the upper sleeve 6015; the upper sleeve 6015 and the upper spherical bearing 6011 are connected by a ball hinge, and the upper automatic tilter 601 can be wound around The ball hinge is inclined in any direction; one end of the inner pitch changer rod 602 is connected to the upper moving ring 6012, and the other end is connected to the upper transition rocker 604; one end of the outer pitch changer rod 603 is connected to the upper transition rocker 604, and the other end is connected to the upper transition rocker The pitch-change rocker arm 8031 is connected; when the upper automatic tilter 601 slides up and down or tilts, the upper pitch-change rocker arm 8031 drives the upper The upper blade connecting arm 803 of the rotor hub 8 rotates up and down synchronously to change the pitch of the upper rotor.

In further detail, the upper propeller hub center seat 801 is a hollow structure, and an upper end cover 805 is arranged above, and the upper end cover 805 and the upper propeller hub center seat 801 are fixedly connected; the upper end cover 805 is provided with an upper transition rocker arm support frame 8051 for supporting The upper transition rocker arm 604; the upper propeller hub center seat 801 is provided with an upper automatic tilter support frame 605, which is used to support the upper automatic tilter 601; the upper automatic tilter support frame 605 is fixedly connected with the upper rotor hub 8, with the The upper rotor hub 8 rotates synchronously; the upper automatic tilter 601 is connected to the upper automatic tilter support frame 605 through the upper spherical bearing 6011, and the upper automatic tilter 601 slides up and down along the upper automatic tilter support frame 605 through the upper spherical bearing 6011; The upper automatic tilter support frame 605 is fixedly connected with the upper end cover 805; the inner shaft 2 is provided with a positioning shaft 606, one end of the positioning shaft 606 is fixedly connected with the test bench 1, and the other end is supported by the upper positioning bearing 607 with the upper automatic tilter The frame 605 is rotatably connected, the inner ring of the upper positioning bearing 607 is matched and connected with the upper automatic tilter support frame 605, and the outer ring of the upper positioning bearing 607 is matched with the positioning shaft 606 to limit the occurrence side of the upper automatic tilter support frame 605. displacement.

In further detail, the upper actuator group 4 includes an actuator 401, an actuator 402, and an actuator 403, and each actuator is connected to the test bench 1 through a spherical joint; the upper end of each actuator is The upper non-rotating ring 6013 is connected to the upper non-rotating ring 6013 of the upper automatic tilter 601 through the in-axis manipulation lever 608; in order to ensure that the upper non-moving ring 6013 does not rotate with the upper automatic tilting device support frame 605, the upper non-rotating ring 6013 is passed through the upper non-rotating ring anti-twist arm The 6061 is connected with the positioning shaft 606, and the annular connecting piece 6062 is fixed in the fixed connection at the upper end of the positioning shaft 606.

In further detail, the upper moving ring 6012 is connected to the upper automatic tilter support frame 605 through the upper moving ring torsion arm 6051; the upper automatic tilter 601 is provided with an upper fixed annular connecting piece 6052, and the upper fixed annular connecting piece 6052 is connected with the upper automatic tilting device 6052. The tilter support frame 605 is fixedly connected; the upper moving ring torsion arm 6051 is connected with the upper automatic tilter support frame 605 through the upper fixed annular connecting piece 6052 .

As shown in FIGS. 9 and 10 , the structure and function of the lower rotor hub 9 of the lower rotor system will be further described in detail. The lower rotor hub 9 is a rigid hub, which mainly includes a lower hub center seat 901, a lower blade bearing seat 902, a lower blade connecting arm 903, and a lower blade clamp 904; There are connecting holes 9011 for connecting the outer shaft 3; fixing bolt connection holes 9012 are arranged around the center seat 901 of the lower propeller hub to install fixing bolts, so that the lower rotor hub 9 is fixedly connected with the outer shaft 3; the center of the lower propeller hub Bolt connection holes 9013 are provided at the peripheral edge positions of the seat 901, the bolt connection holes 9013 are different in the same horizontal direction, and the direction of the cross position is the same; the outer side of the lower blade bearing seat 902 is provided with bolt connection holes 9021, the bolt connection holes 9021 and the bolt connection holes 9013 Similarly, the same horizontal direction is different, and the direction of the cross position is the same; the bolt connection hole 9013 and the bolt connection hole 9021 cooperate with each other, so that the lower hub center seat 901 and the lower blade bearing seat 902 are connected. Swinging and oscillating movements occur; bolt holes 9014 are provided above the central seat 901 of the lower hub for connecting the inner and outer shaft connecting seats 201 .

In further detail, a lower pitch change rocker arm 9031 and a thrust bearing 9032 are arranged between the lower blade bearing seat 902 and the lower blade connecting arm 903, and the lower pitch change rocker arm 9031 is arranged to realize the pitch change of the lower rotor system Function, the thrust bearing 9032 is set to bear the centrifugal force of the blade during rotation, the thrust bearing 9032 is fixed with the first fixing bolt 9033; the outer end of the lower blade connecting arm 903 is fixedly connected to the lower blade clip 904, which is used to fix the connecting blade A connecting hole is provided in the middle of the lower blade clip 904 to connect the lower blade connecting arm 903, and the two are connected by a second fixing bolt 9041; there are bolt holes on both sides of the lower blade clip 904, and a third fixing bolt is installed 9042 prevents relative rotation with the lower blade connecting arm 903.

As shown in FIG. 11 , the structure and function of the upper rotor hub 8 of the upper rotor system will be further described in detail. Similarly, the upper rotor hub 8 is a rigid hub, mainly including the upper hub center seat 801, the upper blade bearing seat 802, the upper blade connecting arm 803, the upper blade clamp 804, and the upper end cover 805; the upper blade hub center seat 801 is a hollow structure, and the inside is used to set the upper rotor control system 6; an upper end cover 805 is arranged above the center seat 801 of the upper propeller hub, and the upper end cover 805 is fixedly connected with the center seat 801 of the upper propeller hub; the upper end cover 805 is provided with an upper transition rocker arm The support frame 8051 is used to support the upper transition rocker arm 604, the bolt connection hole 8052 is fixedly connected to the upper automatic tilter support frame 605 and the through hole 8053, so that the inner variable pitch rod 602 can pass through; the upper end cover 805 (as shown in Figure 12), around Bolt holes 8054 are provided for fixedly connecting the center seat 801 of the upper propeller hub; bolt holes 8011 are arranged around the center seat 801 of the upper propeller hub to cooperate with the bolt holes 8054 around the upper end cover 805; The sleeve 8012 is used to cooperate with the inner shaft 2; the cylindrical sleeve 8012 is provided with a bolt mounting hole 8013, which is used to install fixing bolts, so that the upper rotor hub 8 and the inner shaft 2 are fixedly connected; the upper hub center seat 801 The connection method of the upper blade bearing seat 802, the connection method of the upper blade bearing seat 802 and the upper blade connecting arm 803, and the connection method of the upper blade connecting arm 803 and the upper blade clip 804 are the same as those of the lower rotor system, and will not be repeated. tell.

As shown in FIG. 13 , the connection method of the inner shaft 2 and the outer shaft 3 will be further described in detail. The inner shaft 2 is installed on the outer shaft 3 through the inner and outer shaft connecting seat 201, and the inner and outer shaft connecting seat 201 includes a bearing support seat 2011, a bearing retaining ring 2012 and a positioning bearing 2013; the bearing support seat 2011 is installed on the top of the outer shaft 3 and is fixed by bolts It is fixedly connected with the lower rotor hub 9 and rotates synchronously with the outer shaft 3; the positioning bearing 2013 is arranged in the bearing support seat 2011 and fixed with the bearing retaining ring 2012; the inner ring of the positioning bearing 2013 is matched with the inner shaft 2; the positioning bearing 2013 The outer ring of 2011 is matched and connected with the bearing support seat 2011; the inner shaft 2 and the outer shaft 3 realize synchronous and reverse rotation through the power transmission mechanism of the test bench.

According to the specific implementation of the rotor mechanism of the above-mentioned coaxial rigid dual-rotor test bench, the collective pitch control, pitch control, and roll control are further described in detail as follows:

(1) Collective pitch control

Simultaneously manipulate the upper actuator group 4 and the lower actuator group 5 to move the actuator 401 , the actuator 402 , and the actuator 403 downward, the upper automatic tilter 601 moves downward, and then the inner pitch change rod 602 Move downward, the outer pitch change lever 603 moves upward, and then drives the upper pitch change rocker arm 8031 to move upward, so that the upper blade connecting arm 803 rotates upward to increase the collective pitch; The actuator 503 moves upward, the lower automatic tilter 701 moves upward, and the lower pitch change lever 702 moves upward, which drives the lower pitch change rocker arm 9031 to move upward, so that the lower blade connecting arm 903 rotates upward to increase the collective pitch. Conversely, the operation is collective distance reduction.

(2) Pitch control

The actuator 402 and the actuator 502 are manipulated at the same time, and the two move in opposite directions, so as to simultaneously change the pitch angles of the upper automatic tilter 601 and the lower automatic tilter 701 . The inner pitch lever 602, the upper transition rocker 604, and the outer pitch lever 603 drive the upper pitch lever 8031 to change the pitch of the upper rotor; the lower pitch lever 702 drives the lower pitch lever 9031 to change the paddle of the lower rotor The pitch of the upper and lower rotors is changed synchronously, so as to realize the pitch control.

(3) Roll manipulation

Manipulate the actuator 401 and the actuator 403 to move in the opposite direction, thereby changing the roll angle of the lower automatic tilter 701, and at the same time, operate the actuator 501 and the actuator 503 to move in the opposite direction, thereby changing the upper automatic tilter 601. The roll angle causes the lower automatic tilter 701 and the upper automatic tilter 601 to synchronously tilt to the left or right. At the same time, the lower pitch change lever 702 drives the lower pitch change rocker 9031 to move to change the pitch of the lower rotor; the inner pitch change lever 602, the upper transition rocker 604, and the outer pitch change lever 603 drive the upper pitch change rocker 8031 to move, changing the pitch of the lower rotor. The pitch of the upper rotor; the pitch of the upper and lower rotors changes synchronously, so as to realize the roll control.

There are many specific application ways of the present invention. The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principles of the present invention, it is also possible to make Several improvements, these improvements should also be regarded as the protection scope of the present invention.

Claims (9)

1. A rotor mechanism for a coaxial rigid double-rotor test bench, characterized in that: it comprises an inner shaft (2), an outer shaft (3), an upper actuator group mounted on a test bench frame (1) (4), lower actuator group (5), upper rotor control system (6), lower rotor control system (7), upper rotor hub (8), lower rotor hub (9); The inner shaft (2) and the outer shaft (3) are both hollow shafts, the inner shaft (2) protrudes from the inside of the outer shaft (3), and the inner shaft (2) and the outer shaft (3) are connected through the inner and outer shafts Seat (201) connection; The upper rotor hub (8) and the lower rotor hub (9) are both rigid hubs, and the upper rotor hub (8) includes a hollow structure upper hub center seat (801) and different hinge directions through the same level. The hinged way of the same hinge direction at the cross position is set on the upper blade bearing seat (802) of the upper hub center seat (801), the upper blade hub center seat (801) is sleeved on the inner shaft (2), and the upper blade bearing An upper blade connecting arm (803) is arranged in the middle of the seat (802), an upper blade clamp (804) for connecting the blades is arranged at the outer end of the upper blade connecting arm (803), and an upper blade hub central seat (801) is arranged above The upper end cover (805); the lower rotor hub (9) includes the lower hub center seat (901) and is arranged under the lower hub center seat (901) by means of hinges at the same level but different hinge directions and the same hinge direction at the cross position. The blade bearing seat (902), the lower blade hub center seat (901) is sleeved on the outer shaft (3), the lower blade bearing seat (902) is provided with a lower blade connecting arm (903) in the middle, and the lower blade connecting arm ( 903) The outer end is provided with a lower blade clip (904) for connecting the blades; The upper rotor control system (6) and the lower rotor control system (7) are operated separately and independently, the pitch change device of the upper rotor control system (6) is arranged in the rotor shaft, and the lower rotor control system (7) adopts off-axis control , the pitch changing device is arranged outside the rotor shaft; the upper rotor control system (6) is connected with the upper blade connecting arm (803), and the lower rotor control system (7) is connected with the lower blade connecting arm (903); The upper actuator group (4) is connected with the upper rotor control system (6), the lower actuator group (5) is connected with the lower rotor control system (7), and the upper actuator group (4) is connected with the lower rotor control system (7). The actuator group (5) respectively manipulates the upper blade connecting arm (803) and the lower blade connecting arm (903) to achieve synchronous pitch-variable motion. 2. The rotor mechanism for a coaxial rigid dual-rotor test bench according to claim 1, wherein the lower rotor control system (7) comprises a lower automatic tilter (701), a lower pitch change rod (702) ), wherein the lower automatic tilter (701) is arranged below the lower rotor hub (9), and the lower automatic tilter (701) includes a lower spherical bearing (7011), a lower moving ring (7012), a lower stationary ring ( 7013), the lower annular bearing (7014) and the lower bushing (7015), the lower moving ring (7012) is rotatably connected to the lower stationary ring (7013) through the lower annular bearing (7014), and the lower automatic tilter (701) is connected through the lower The spherical bearing (7011) is connected to the outer shaft (3); the lower stationary ring (7013) is fixedly connected to the lower bushing (7015), and the lower bushing (7015) and the lower spherical bearing (7011) are The automatic tilter (701) tilts in any direction around the spherical hinge, and slides up and down along the outer shaft (3) through the lower spherical bearing (7011); the lower blade connecting arm (903) is provided with a lower pitch-variable rocker arm (9031) ), the lower end of the lower pitch changer rod (702) is connected with the lower moving ring (7012), the upper end of the lower pitch changer rod (702) is connected with the lower pitch changer rocker arm (9031), and the lower automatic tilter (701) slides up and down Or when tilting, through the transmission of the lower pitch change lever (702), the lower pitch change rocker arm (9031) drives the lower blade connecting arm (903) of the lower rotor hub (9) to rotate up and down synchronously, changing the lower rotor blade distance. 3. The rotor mechanism for a coaxial rigid dual-rotor test bench according to claim 2, characterized in that: the lower stationary ring (7013) communicates with the lower stationary ring anti-twist arm (704) through the lower stationary ring anti-twist arm (704). The test bench frame (1) is connected; the lower stationary ring anti-twist arm (704) is connected with the outer shaft (3) through the lower fixed annular connecting piece (706). 4. The rotor mechanism for a coaxial rigid dual-rotor test bench according to claim 1, characterized in that: the upper rotor control system (6) comprises an upper automatic tilter (601), an inner pitch rod ( 602), an external pitch change rod (603), and an upper transition rocker arm (604), wherein the upper automatic tilter (601) is arranged in the center seat (801) of the upper propeller hub of the hollow structure, and the upper automatic tilter (601) Including the upper spherical bearing (6011), the upper movable ring (6012), the upper stationary ring (6013), the upper annular bearing (6014) and the upper sleeve (6015); the upper movable ring (6012) and the upper stationary ring (6013) ) is rotationally connected by the upper annular bearing (6014), the upper stationary ring (6013) is fixedly connected with the upper bushing (6015), the upper bushing (6015) and the upper spherical bearing (6011) are connected by a ball hinge, and the upper is automatically tilted. The device (601) is inclined in any direction around the spherical hinge; one end of the inner pitch changer rod (602) is connected to the upper moving ring (6012), and the other end is connected to the upper transition rocker arm (604); the upper blade connecting arm (803) There is an upper pitch-changing rocker arm (8031), one end of the outer pitch-changing lever (603) is connected with the upper transition rocker arm (604), and the other end is connected with the upper pitch-changing rocker arm (8031); when the upper automatic tilter ( 601) When up and down sliding or tilting occurs, the upper variable pitch rocker arm (8031) drives the upper rotor hub through the transmission of the inner pitch change lever (602), the upper transition rocker arm (604), and the outer pitch change lever (603). The upper blade connecting arm (803) of (8) rotates up and down synchronously to change the pitch of the upper rotor. 5 . The rotor mechanism for a coaxial rigid dual-rotor test bench according to claim 4 , wherein the upper propeller hub center seat (801) is a hollow structure, and the upper part of the propeller hub center seat (801) is fixed. 6 . An upper end cover (805) is connected, and the upper part of the upper end cover (805) is provided with an upper transition rocker arm support frame (8051) for supporting the upper transition rocker arm (604); The upper automatic tilter support frame (605) of the automatic tilter (601), the upper automatic tilter support frame (605) is respectively fixedly connected with the upper end cover (805) and the upper rotor hub (8), with the upper rotor hub ( 8) Synchronous rotation; the upper automatic tilter (601) is connected to the upper automatic tilter support frame (605) through the upper ball bearing (6011), and the upper automatic tilter (601) is automatically inclined along the upper side through the upper ball bearing (6011). The tester support frame (605) slides up and down; the inner shaft (2) is provided with a positioning shaft (606), one end of the positioning shaft (606) is fixedly connected to the test bench frame (1), and the other end is connected to the test bench frame (1) through the upper positioning bearing (607). The upper automatic tilter support frame (605) is rotatably connected, the inner ring of the upper positioning bearing (607) is connected with the upper automatic tilter support frame (605), and the outer ring of the upper positioning bearing (607) is matched with the positioning shaft (606) Connect to limit lateral displacement of the upper automatic tilter support frame (605). 6. The rotor mechanism for a coaxial rigid dual-rotor test bench according to claim 5, characterized in that: the upper end of the positioning shaft (606) is fixedly connected with a middle fixed annular connector (6062), and the upper part is not The movable ring (6013) is connected with the positioning shaft (606) through the upper stationary ring anti-twist arm (6061) and the middle fixed annular connecting piece (6062) in turn. 7. The rotor mechanism for a coaxial rigid dual-rotor test bench according to claim 1, wherein the inner shaft (2) is mounted on the outer shaft (3) through the inner and outer shaft connecting seat (201), The inner and outer shaft connecting seat (201) includes a bearing support seat (2011), a bearing retaining ring (2012) and a positioning bearing (2013); the bearing support seat (2011) is installed on the top of the outer shaft (3), and is connected with the lower rotor hub through the (9) Fixed connection, rotates synchronously with the outer shaft (3); the positioning bearing (2013) is arranged in the bearing support seat (2011) and fixed by the bearing retaining ring (2012); the inner ring of the positioning bearing (2013) and the inner shaft (2) Matching connection; the outer ring of the positioning bearing (2013) is connected with the bearing support seat (2011); the inner shaft (2) and the outer shaft (3) realize synchronous reverse rotation through the power transmission mechanism of the test bench. 8. The rotor mechanism for a coaxial rigid double rotor test bench according to claim 1, characterized in that: between the lower blade bearing seat (902) and the lower blade connecting arm (903), a The lower pitch rocker arm (9031) and the thrust bearing (9032), the thrust bearing (9032) is fixed with the first fixing bolt (9033); the outer end of the lower blade connecting arm (903) is fixedly connected to the lower blade clamp (904) , a connecting hole is provided in the middle of the lower blade clamp (904) to connect the lower blade connecting arm (903), and the two are connected by a second fixing bolt (9041); bolts are provided on both sides of the lower blade clamp (904) hole, and install the third fixing bolt (9042) to prevent relative rotation with the lower blade connecting arm (903). 9 . The rotor mechanism for a coaxial rigid dual-rotor test stand according to claim 1 , wherein the upper actuator group and the lower actuator group respectively comprise at least three actuators. 10 .

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