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CN-122009560-A - Universal cycloidal spindle blade rotor lifting device

CN122009560ACN 122009560 ACN122009560 ACN 122009560ACN-122009560-A

Abstract

The invention discloses a universal cycloidal spindle blade rotor lifting device, and relates to the technical field of unmanned aerial vehicles. The universal cycloidal spindle blade rotor lifting device comprises a shell, a main shaft, a main taper sleeve, a main blade and an auxiliary blade and a universal adjusting mechanism, wherein the universal adjusting mechanism comprises a taper fluted disc, a blade connecting shaft, a driven bevel gear, electromagnetic telescopic sleeves A and B and a driving control module, the main blade and the auxiliary blade are arranged at two ends of the blade connecting shaft, the main blade and the auxiliary blade are in spindle-shaped structures with cycloidal curved surfaces on the surfaces, the middle part of the main blade and the auxiliary blade are thickened, and the edge of the main blade and the auxiliary blade are provided with outwards-protruding diversion edges. The invention realizes transient micro-adjustment of the attack angle of the blade through a pure mechanical structure of electromagnetic clutch and gear rigid engagement, and effectively overcomes response hysteresis, inhibits tip vortex, and improves the stability of side wind resistance and the rigidity of heavy-load structure under complex turbulence.

Inventors

  • SUN FENGZHEN
  • Bian Chunwu
  • SUN FENGXUE

Assignees

  • 山东君乾安全科技有限公司

Dates

Publication Date
20260512
Application Date
20260411

Claims (10)

  1. 1. A universal cycloidal spindle blade rotor lifting device is characterized by comprising a shell (1), a main shaft (2) penetrating through the shell (1), a main cone sleeve (5) arranged at the end part of the main shaft (2), a main blade (3) and an auxiliary blade (4), and a universal adjusting mechanism (6); The universal adjusting mechanism (6) comprises a conical fluted disc (61), a blade connecting shaft (62), a driven bevel gear (63), an electromagnetic telescopic sleeve A (64), an electromagnetic telescopic sleeve B (65) and a driving control module (66), wherein the main blade (3) and the auxiliary blade (4) are respectively arranged at two ends of the blade connecting shaft (62), the driven bevel gear (63) is fixedly sleeved on the blade connecting shaft (62), the electromagnetic telescopic sleeve A (64) and the electromagnetic telescopic sleeve B (65) are respectively arranged at two ends of the blade connecting shaft (62), and the driving control module (66) is respectively electrically connected with the electromagnetic telescopic sleeve A (64) and the electromagnetic telescopic sleeve B (65) and is used for controlling two groups of electromagnetic telescopic sleeves to act so that the blade connecting shaft (62) axially moves, and accordingly the driven bevel gear (63) on the main blade and the conical fluted disc (61) are driven to be meshed or separated, and micro adjustment of each blade is achieved.
  2. 2. The universal cycloidal spindle blade rotor lifting device according to claim 1 is characterized in that the bevel gear disc (61) is coaxially sleeved outside the main shaft (2), the blade connecting shaft (62) is arranged in the main cone sleeve (5) in a penetrating mode in the direction perpendicular to the axis of the main shaft (2), when the electromagnetic telescopic sleeve A (64) is electrified and stretched and the electromagnetic telescopic sleeve B (65) is synchronously shortened, the blade connecting shaft (62) is driven to translate to one side, the driven bevel gear (63) cuts into tooth grooves of the bevel gear disc (61) to form rigid engagement, and when the power is cut off and reset, the blade connecting shaft (62) is retracted, and the driven bevel gear (63) is disengaged from the bevel gear disc (61).
  3. 3. The universal cycloidal spindle blade rotor lifting device is characterized in that the main blade (3) and the auxiliary blade (4) are integrally in a spindle-shaped structure, the surfaces of the main blade and the auxiliary blade (4) are cycloidal curved surfaces, the curvature of the curved surfaces linearly changes along with the radius from a blade root to a blade tip, the thickness of the middle parts of the main blade (3) and the auxiliary blade (4) is 3 times of the thickness of the blade tip, the edges of the blades are provided with integrally formed diversion edges, the sections of the diversion edges are arc-shaped and convex towards the outer sides of the blades, and the inner sides of the diversion edges smoothly transition with the cycloidal curved surfaces of the blades.
  4. 4. The universal cycloidal spindle blade rotor lifting device according to claim 3 is characterized in that reinforcing ribs extending in the length direction of the blade are arranged in the main blade (3) and the auxiliary blade (4), one end of each reinforcing rib is fixedly connected with the blade root of the blade, the other end of each reinforcing rib extends to the blade tip position, the cross section of each reinforcing rib is circular, and the diameters of the reinforcing ribs gradually decrease from the blade root to the blade tip direction.
  5. 5. The universal cycloidal spindle blade rotor lifting device is characterized in that an electromagnetic telescopic sleeve A (64) and an electromagnetic telescopic sleeve B (65) comprise a shell, an embedded electromagnetic coil and a reset spring, two ends of a blade connecting shaft (62) are movably inserted into armature ends of the electromagnetic telescopic sleeve A (64) and the electromagnetic telescopic sleeve B (65) respectively, and limiting guide holes for the armature to stretch are symmetrically formed in the outer wall of a main cone sleeve (5).
  6. 6. The universal cycloidal spindle blade rotor lifting device is characterized in that the bottom end of the main shaft (2) extends to the outside of the shell (1) and is connected with a driving assembly, the driving assembly comprises a brushless direct current motor and radiating fins on a shell, an air cooling system consisting of a radiating fan and an air guide cover is matched with the outside of the shell (1), and the air guide cover is arranged on the outer side of the radiating fins.
  7. 7. A universal cycloidal spindle blade rotor lifting system employing the apparatus of any one of claims 1-6, comprising: The data acquisition module is used for acquiring the environmental pneumatic parameters and the body attitude parameters of the rotor lifting device in real time when the rotor lifting device operates; the driving control module (66) is in communication connection with the data acquisition module and is used for generating a blade micro deflection adjusting instruction based on the received parameters; The universal adjustment execution module comprises a bevel gear (61), a blade connecting shaft (62), a driven bevel gear (63), an electromagnetic telescopic sleeve A (64) and an electromagnetic telescopic sleeve B (65) in the universal adjustment mechanism (6), and the universal adjustment execution module receives and responds to the adjustment instruction to realize dynamic wind resistance correction of the system posture.
  8. 8. The universal cycloidal spindle blade rotor lifting system is characterized in that the data acquisition module comprises a pressure sensor and an unmanned aerial vehicle attitude sensor which are embedded in a mechanism, the system further comprises a communication module, the communication module is connected with an external flight control system through a CAN bus interface, a shielding joint is arranged at the CAN bus interface, and command interaction is carried out between the communication module and the flight control system through a cable with a metal shielding layer.
  9. 9. The universal cycloidal spindle blade rotor lifting system according to claim 7 is characterized in that a storage unit and a data processing module are arranged in the driving control module (66), an anti-wind control algorithm program is prestored in the storage unit, and when the data acquisition module detects that the airflow pressure is suddenly changed, the data processing module calls the anti-wind control algorithm program to calculate the deflection angle required to be compensated and convert the deflection angle into excitation driving electric signals for the electromagnetic telescopic sleeve A (64) and the electromagnetic telescopic sleeve B (65).
  10. 10. The universal cycloidal spindle blade rotor lift system of claim 7 wherein the system operation coordination logic of the universal adjustment execution module is: After receiving the fine adjustment instruction, a driving control module (66) applies thrust to the electromagnetic telescopic sleeve A (64) in an electrifying manner, and simultaneously applies tension to the electromagnetic telescopic sleeve B (65) in an electrifying manner, so that the blade connecting shaft (62) is axially displaced to drive the driven bevel gear (63) to be meshed with the bevel gear disc (61); Under the power action of the rotation of the main shaft (2), the driven bevel gear (63) rotates along the bevel gear (61) to drive the blade connecting shaft (62) to rotate so as to adjust the deflection attack angles of the main blade (3) and the auxiliary blade (4); When the target deflection attack angle is reached, the drive control module (66) sends a power-off reset signal to the electromagnetic telescopic sleeve A (64) and the electromagnetic telescopic sleeve B (65), the driven bevel gear (63) is disengaged, and the single blade micro-adjustment action is completed.

Description

Universal cycloidal spindle blade rotor lifting device Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to a universal cycloidal spindle blade rotor lifting device. Background With the deep development of low-altitude economy, the unmanned aerial vehicle is used as key space operation equipment and widely applied in the fields of low-altitude logistics distribution, high-voltage line inspection, field environment monitoring, large-load transportation and the like, in the operation scenes of high-frequency and complex environments, the rotor lifting device is used as core power equipment for providing lifting force and controlling flight attitude, the pneumatic efficiency, wind resistance stability and structural bearing capacity of the rotor lifting device directly determine the operation safety and operation boundary of the unmanned aerial vehicle, and due to complex nonlinear air flows such as building shear wind, valley gusts and the like in the low-altitude environment, extremely high mechanical cooperation requirements are provided for the pneumatic curved surface design and dynamic attitude adjusting mechanism of the lifting device. The prior rotor lifting device has a plurality of researches on structural design, for example, the invention patent document with Chinese authority bulletin number of CN111776208B discloses an aircraft and a rotor head assembly thereof, the prior technical scheme mainly comprises a power device with an output shaft, a plurality of propellers and a transmission assembly, the main working principle is that the propellers are driven to deflect around a rotating shaft through accelerating or decelerating rotation of the power device and matched with a rotating shaft with an included angle and the transmission assembly, so that the included angle between the profile chord of a blade and a rotating plane is changed, and the physical structure for realizing unidirectional pitch change by matching acceleration and deceleration with a pure mechanical connecting rod solves the problem of difficult posture adjustment of the traditional distance propellers to a certain extent, and meets the basic flight control requirement in a conventional environment. However, the prior art still has obvious structural defects when the complex low-altitude turbulence and high-load operation are actually handled, firstly, the attitude adjustment of the structure is highly dependent on the rotation speed change of a main power motor to passively realize variable pitch, the coupling type mechanical transmission has serious response delay, the unidirectional hinging structure cannot realize omnibearing and dead-angle-free transient dynamic deflection, so that the stability against side wind is poor, secondly, the structure generally adopts the traditional flat blade, the surface of the blade is extremely easy to generate airflow separation and serious blade tip vortex when the deflection is stressed, so that the lift force severely fluctuates and the energy loss is large, and in addition, the load distribution of the traditional straight blade is uneven, the stress is excessively concentrated on the root of the blade, the fatigue deformation is extremely easy to occur when the heavy load or the severe maneuver is carried out, the structural rigidity is difficult to support the heavy load operation requirement, and the structure is not optimized for the active diversion and attachment of the airflow, so that the structure cannot be qualified for the high-precision fixed-point hovering task under the complex airflow. Disclosure of Invention Aiming at the defects that the existing rotor wing lifting device depends on the response delay and poor crosswind resistance stability caused by the active motor acceleration and deceleration passive adjustment and displacement, the traditional flat blade is easy to generate airflow separation and blade tip vortex under complex airflow, the structural rigidity is difficult to support large load operation, and the like, the invention provides the universal cycloid spindle blade rotor wing lifting device which realizes the active adjustment of blade micro deflection through a mechanical linkage structure meshed with an electromagnetic driving gear and combines the shape of the pneumatic blade to optimize the lifting force and bearing distribution. The technical scheme adopted for solving the technical problems is as follows: The universal cycloidal spindle blade rotor lifting device comprises a shell, a main shaft penetrating through the shell, a main cone sleeve arranged at the end part of the main shaft, main blades and auxiliary blades, and a universal adjusting mechanism, wherein the universal adjusting mechanism is a core mechanical component for realizing dynamic adjustment of the blade posture and comprises a cone fluted disc, a blade connecting shaft, a driven bevel gear, an electromagnetic telescopic sleev