Technical Field This invention relates generally to actuator

assemblies for use in rotor blades of rotorcraft, in particular but not exclusively helicopters, and to a rotorcraft including such a rotor blade. Background of the Invention

The design of components in rotor blades for

rotorcraft, especially helicopters, is very challenging. The main rotor of a helicopter of standard design may be mounted for rotation about an approximately vertical axis passing close to the centre of mass of the helicopter. When the helicopter is not moving forwards through the air, the blades on the helicopter may experience approximately constant conditions as they rotate through an entire revolution about the vertical axis. As is well known, however, at other times, for example when the helicopter is moving forwards through the air, the conditions for a blade, especially its airspeed, may be very different when the blade is moving forwards on one side of the helicopter from when it is moving rearwardly on the other side of the helicopter. In order to take account of this problem a swashplate may be provided in the region of the connection of the rotor blades to the swashplate and, through a mechanical camming action, may alter a characteristic of each blade as it rotates; for example, the pitch of the blades may be varied. In order to provide a control via a swashplate of the kind just described relatively large loads must be applied and this leads both to high energy consumption levels and to an increase in the mass of the helicopter. Similar situations arise with other forms of rotorcraft for example autogyros .

In an attempt to avoid such disadvantages and to provide more adjustability of the blade, it has been proposed to provide adjustable aerodynamic elements on a rotor blade in a manner somewhat similar to that in which elements might be provided on a fixed wing of an aircraft. There are, however, substantial additional complications if such an approach is adopted in respect of a rotor of a rotorcraft: a first principal difference is that the rotor rotates in use at considerable speed relative to the body of the rotorcraft making transmission of power from the body of the rotorcraft to the rotor more difficult; the second principal difference is that the rotor rotates at a high speed so that, especially towards the tip of the rotor blade, there may be high g forces. For example, it is not unusual for there to be g forces of 700 g in the region of a tip of a rotor blade.

It has been proposed to provide a prime mover in a rotor blade in order to avoid transmission of mechanical power via the swash plate. The prime mover then needs to be connected via some mechanism to whatever aerodynamic element is to be controlled. Such a mechanism needs to be very reliable and also has to be able to operate within a high g environment. Those two factors present special challenges to the design of a suitable mechanism. It is an object of the invention to provide an improved actuator assembly for use in a rotor blade of a rotorcraft.

Summary of the Invention

According to the invention there is provided a rotor blade for a rotorcraft, the blade including an actuator assembly comprising:

a prime mover assembly which is drivable by the prime mover to change the separation of a first connection point of the assembly from a second connection point of the assembly and also to change the separation of a third connection point of the assembly from a fourth connection point, the second and fourth connection points being positioned closer to the tip of the rotor blade than the first and third connection points respectively;

a first linkage extending between the first connection point and the second connection point on a first side of a notional line between the first and second connection points ;

a second linkage extending between the third

connection point and the fourth connection point on a second side, opposite to the first side, of a notional line between the third connection point and the fourth

connection point;

a first mounting on the body of the rotor blade for mounting the actuator assembly, the first linkage being connected intermediate its ends to the first mounting; and an output connection on a member forming part of the second linkage, the output connection being driven in a direction transverse to said notional line when the separation of the first and second connections and of the third and fourth connections is changed by the prime mover.

By providing first and second linkages extending on opposite sides it becomes possible in a very simple way to balance the mechanism of the actuator assembly. When the rotor blade rotates in operation, there are high

centripetal accelerations of the parts of the actuator assembly and, in embodiments of the invention, the forces generating the accelerations can be balanced.

Preferably, the first linkage includes a first part extending from the first connection point to the region of the first mounting, and a second part extending from the second connection point to a region of the first mounting. The first part and the second part are preferably pivotally connected together; the parts may be directly pivotally connected together or they may be indirectly pivotally connected together, for example by being pivotally

connected to opposite ends of a short connecting link, as in an embodiment of the invention described below with reference to the drawings; similarly the parts may be directly or indirectly pivotally connected to the first and second connection points. The first and second parts are preferably of approximately equal length. The first and second parts preferably extend away from the notional line joining the first and second connection points at an inclination to the notional line in the range of 30 to 60 degrees, and more preferably of about 45 degrees.

Whilst it is possible for the first mounting to be provided in other locations, it is preferred that the first part and the second part are connected together in the region of the first mounting. The first mounting preferably provides a pivotal mounting for the actuator assembly.

In a similar way as for the first linkage, it is preferred that the second linkage includes a third part and a fourth part which are pivotally connected together, the third part being pivotally connected to the third

connection point and the fourth part being pivotally connected to the fourth connection point. The parts may be directly pivotally connected together or they may be indirectly pivotally connected together, for example by being pivotally connected to opposite ends of a short connecting link, as in an embodiment of the invention described below with reference to the drawings; similarly the parts may be directly or indirectly pivotally connected to the third and fourth connection points. The third and fourth parts are preferably of approximately equal length. The third and fourth parts preferably extend away from the notional line joining the third and fourth connection points at an inclination to the notional line in the range of 30 to 60 degrees, and more preferably of about 45 degrees .

The rotor blade preferably includes an output linkage to which the second linkage is connected in the region of the pivotal connection of the third and fourth parts of the second linkage, the output linkage including the output connection. Preferably, the rotor blade further includes a second mounting on the body of the rotor blade for mounting the actuator assembly, and the output linkage is connected to the rotor blade body at the second mounting. The output linkage preferably comprises a link pivotally connected to the second mounting and pivotally connected to the second linkage. The output connection may be disposed between those pivotal connections; another possibility, which increases the amplitude of the movement of the output connection, is for the output connection to be in the region of the connection of the link to the second linkage; still another possibility is for the link to extend beyond the connection to the second linkage, away from the second mounting and for the output connection to be disposed in the region of the extension of the link, thereby further increasing the amplitude of the movement of the output connection. Like the other pivotal connections referred to above, the connections may be direct or indirect

connections .

The first and second mountings may be on a spar, a rib or any other load bearing part of the rotor blade.

The arrangement is preferably such that when the rotor blade rotates, in use, the centripetal forces required to retain the first linkage and the centripetal forces

required to retain the second linkage are approximately equal. A simple way of achieving such an arrangement is for the first and second linkages to be substantially mirror images of one another.

The prime mover assembly is preferably elongate and has its longitudinal axis disposed along the axis about which the first and second linkages are mirror images. The first and second connection points are preferably provided on one side of the prime mover assembly and the third and fourth connection points are preferably provided on the opposite side of the prime mover assembly. The third connection point is preferably opposite the first

connection point and the fourth connection point is

preferably opposite the second connection point. It is, however, within the scope of the invention for the first and third connection points to be the same point and/or for the second and fourth connection points to be the same point. Thus the first and second notional lines referred to above may be the same line.

At least some of the pivotal connections are

preferably formed by flexures. The term "flexure" as used in this specification refers to a flexible element which is able to bend to accommodate a change of angle between one part of the element and another. Such flexures are

advantageous in a high g environment because they avoid the difficulties arising where one surface is required to move over another. In a preferred form of the invention the first and second parts of the first linkage may be

integrally formed with one another and/or the third and fourth parts of the linkage may be integrally formed with one another; in such a case flexures may be provided in regions of reduced cross-section.

In a typical application of the invention, the amount of movement of the linkages and the resulting movement of the output connection may be relatively small compared to the size of the linkages and therefore the angles through which the parts pivot may be fairly small. In an

embodiment of the invention described below the first and second connection points have a maximum separation of 62 mm. and a minimum separation of 60 mm.

The present invention may be employed with a wide variety of prime mover assemblies but most commonly the prime mover assembly may comprise an electric motor having a rotary drive shaft, a portion of the rotary drive shaft being threaded and a correspondingly threaded output member being mounted non-rotatably on the rotary drive shaft whereby rotation of the drive shaft results in linear movement of the output member relative to the motor. Such prime mover assemblies are known per se and they have already been proposed for use in rotor blades. A

difficulty that arises in the use of such a prime mover assembly is the need to lubricate the motor and drive shaft bearings. The high g environment of a rotor blade creates particular problems in this respect in terms of

distribution of lubricant to the parts that require

lubrication. In an attempt to overcome this problem,

WO2008/147450 proposes an arrangement in which an electric motor, drive shaft and linear output member are immersed in a cavity full of lubricant. Since the cavity is full of lubricant there is no scope for lubricant to move to one end of the cavity so that all the parts within the cavity are exposed to lubricant. This approach has various disadvantages, however; a particular problem is that the lubricant inevitably creates resistance to relative

movement of parts leading to considerable viscous losses. That is a particular issue in a conventional electric motor where the rotor is closely surrounded by the stator and the presence of lubricant can lead to high viscous losses, especially when the whole of the space between the armature and the stator is filled with lubricant.

In accordance with an especially preferred form of the invention, the prime mover assembly includes a bearing for mounting the rotary drive shaft along an axis extending along the length of the rotor blade, and a lubrication system for lubricating the bearing, the lubrication system including a sump closer to the tip of the blade than the bearing, and a pump for pumping lubricant from the sump to the bearing. By providing a sump of a lubrication system at the tip end of an actuator and pumping the lubricant from the sump to a bearing, a reliable lubrication system with low viscous losses can be provided.

Preferably the output member is arranged to drive the pump. When such an actuator is employed to create a reciprocating movement of the output member, typically synchronised to the speed of rotation of the rotor blade, then that movement provides a regular pumping action.

The pump is preferably a positive displacement pump. That is especially the case in the present invention because of the high g forces that arise; in the present invention and that have to be overcome to pump lubricant from the sump. More particularly, the output drive member is preferably in fixed axial relationship to a cylinder of a piston and cylinder pump and the rotary drive shaft is in fixed axial relationship to the piston of the piston and cylinder pump. The cylinder may be fixed to the output drive member. The piston may be fixed to the rotary drive shaft. Thus the piston may move both axially and rotatably relative to the cylinder.

A preferred arrangement is one in which the bearing is positioned between the electric motor and the output member. Preferably there is no further bearing on the other side of the electric motor. While it is common to mount the armature of an electric motor on two bearings, one on each side of the motor, that is not essential, especially if the bearing that is provided is away from either end of the motor shaft. The bearing in a described embodiment of the invention is a double race ball bearing but many other forms of bearing may be used.

Preferably, the actuator includes a housing having a first part in which the electric motor is received and a second part fixed to the output member, the first and second parts being mounted for sliding movement relative to one another in a direction parallel to the axis of the rotary drive shaft, the first part of the housing providing the first and third connection points and the second part of the housing providing the second and fourth connection points. The first and second parts are preferably mounted such that they are not rotatable relative to one another.

Preferably the actuator includes a sensor for

detecting the position of the output member along the axis of the rotary drive shaft. Accurate control of the actuator is thereby facilitated.

Preferably the travel of lubricant in the lubrication system from the sump away from the tip of the. blade does not reach the electric motor. Especially because the sump is towards the tip end of the actuator, the high g forces present during operation of the actuator facilitate preventing the lubricant from reaching the electric motor. A seal between the bearing and the motor may also be provided to prevent lubricant reaching the motor.

According to the invention there is also provided a rotorcraft including a rotor blade as defined above. The rotorcraft may be a helicopter, although it should be understood that the invention is also applicable to other rotorcraft, such as autogyros.

Brief Description of the Drawings

By way of example embodiments of the invention will now be described with reference to the accompanying schematic drawings, of which:

Fig. 1 is a side view of a helicopter including a main rotor having four rotor blades; Fig. 2 is a plan view of an actuator assembly that is provided in each of the rotor blades; ,

Fig. 3 is a sectional view of an actuator of the assembly shown in Fig. 2, with the actuator shown in an extended position and retracting from that position towards a retracted position; and

Fig. 4 is a sectional view of the actuator shown in Fig. 3, with the actuator shown in a retracted position and extending from that position towards an extended position.

Detailed Description of Embodiments

The helicopter 101 shown in Fig. 1 includes a main rotor 102 comprising four rotor blades 103 rotatable on a shaft 104. When the helicopter is at rest on the ground the shaft 104 is disposed along an approximately vertical axis. Apart from the rotor blades the design of the helicopter may be entirely conventional and the pitch of each of the blades may for example be controlled by a swashplate in the region of the top of the shaft 104, in a manner that is well known.

Each of the rotor blades 103 is also of generally conventional design but includes a special additional feature as will now be described. On the trailing edge of each rotor blade, in the region marked G in Fig.l, which is about 80% of the distance along the rotor blade 103 from the shaft 104 towards the tip of the blade, an aerodynamic ^< element, for example a Gurney flap, is provided on the underside of the trailing edge of the blade, as shown for example in our International Application No.

PCT/GB2011/050669, the contents of which are incorporated herein by reference. The element is adjusted by the actuator assembly shown in Fig. 2.

Referring now to Fig. 2 there is shown an actuator assembly generally comprising an actuator 1, a first linkage 2 pivotally connected to a first mounting 3, a second linkage 4, and an output member 5 pivotally

connected to a second mounting 6 at one end, and to the second linkage 4 at the other end. The output member carries an output connection 7 intermediate its ends and that output connection is drivingly connected to the aerodynamic element to be driven. The output connection 7 is driven to and fro towards and away from the first mounting 3 as indicated by the double headed arrow 8 in Fig. 2.

The actuator 1 is of an elongate shape and is disposed with its longitudinal axis aligned on a radial line extending from the axis of rotation of the shaft 104, and orientated such that the direction of the tip of the rotor blade is in the direction of the arrow 9 in Fig. 2, while the root of the rotor blade is in the direction of the arrow 10 in Fig. 2. As will be described in more detail below, the actuator includes two housings 11 and 12 that are slidable but not rotatable relative to one another, the housing 12 being closer to the blade tip than the housing 11. In Fig. 2 a small gap 13 marking the boundary between the housings is visible.

The first linkage 2 is formed as a one-piece member comprising a first part 14, a second part 15 and a short connecting link 16. One end of the first part 14 of the linkage 2 is pivotally connected to the housing 11 of the actuator 1 at a first connectio point 17, and one end of the second part 15 is pivotally connected to the housing 12 of the actuator 1 at a second connection point 18. The opposite ends of the parts 14 and 15 are pivotally

connected to the opposite ends of the short connecting link 16. The link 16 is pivotally connected to the first mounting 3.

The second linkage 4 is formed as a one-piece member comprising a third part 20, a fourth part 21 and a short connecting link 22. One end of the third part 20 of the linkage 4 is pivotally connected to the housing 11 of the actuator 1 at a third connection point 23, and one end of the fourth part 21 is pivotally connected to the housing 12 of the actuator 1 at a fourth connection point 24. The opposite ends of the parts 20 and 21 are pivotally

connected to the opposite ends of the short connecting link 22. The link 22 is pivotally connected to one end of the output member 5.

The pivotal connections between the different parts of each linkage and the pivotal connections to the actuator are all formed by reduced cross-section portions of the members defining the parts. The reduced cross-section portions define flexures 26 allowing the parts on opposite sides of each flexure to pivot relative to one another. It should be understood that one or more of the other pivotal connections, not shown as flexures could also be provided as flexures if preferred. The term "flexure" as used in this specification refers to a flexible element which is able to bend to accommodate a change of angle between one part of the element and another. Such flexures are

advantageous in a high g environment because they avoid the difficulties that arise where one surface is reguired to move over another. At the first and third connection points 17 and 23 the first and second linkages are connected to a flange 27 on the housing 11 and at the second and fourth connection points the first and second linkages are connected to a flange 28 on the housing 12.

The linkages may be made of a variety of materials including metals such as titanium or certain steels, and also including carbon fibre materials and plastics

materials .

The actuator 1 is shown in more detail in Figs. 3 and 4. The actuator generally comprises a motor assembly 30, including a rotary drive shaft 31, a main bearing 32 in which the shaft 31 is rotatably mounted, and an output member in the form of a roller screw nut 33 that screw- threadedly engages an externally threaded portion of the drive shaft. The housing 11 mounts the motor assembly 30 and the main bearing 32, whilst the nut 33 is fixedly mounted in the housing 12. Thus, when the shaft 31 is rotated by the motor the nut 33 moves along the shaft 31 towards or away from the motor assembly 30 and the housings 11 and 12 slide relative to one another.

The motor assembly 30 comprises a stator 34 and an armature 35 carried on the shaft 31. In the example shown, the main bearing 32 is shown as a ball bearing with two ball races. The main bearing 32 is located between the motor assembly 30 and the nut 33 intermediate the ends of the shaft 31. As can be seen from Figs. 3 and 4, no bearing is provided on the opposite side of the motor assembly to the main bearing 32.

The actuator 1 is provided with a pumped lubrication system for lubricating the main bearing 32 and the

interengaging portions of the shaft 31 and the nut 33. The main components of the pump are a piston 25 defined by the end of the drive shaft 31, a cylinder formed by a gland 36 fixed to the end of the nut 33, a sump 37, a first one way valve defined by a ball 38 and a valve seat formed by a gland 49, and a second one way valve defined by a valve member 39.

The ball 38 moves between a closed position shown in Fig. 3 in which it is seated in an outlet opening 40 of the gland 49 to prevent flow of lubricant through the opening into the sump 37 and an open position shown in Fig. 4 in which it is clear of the opening 40 and lubricant is free to flow out of the sump 37 and into the cylinder in the gland 36. The valve member 39 similarly moves between a closed position and an open position. The closed position is shown in Fig. 4: a passageway 41 along the central axis of the shaft 31 is closed at the piston 25 by virtue of the valve member 39 resting on a valve seat 42 in the piston, the closed valve member preventing flow of lubricant from the passageway 41 into the cylinder. The open position is shown in Fig. 3: the valve member 39 is spaced from the valve seat 42 and lubricant is free to flow from the cylinder into the passageway 41.

The piston 25 is provided around its periphery with a plurality of circumferential ribs 44 which are closely surrounded by the interior of the gland 36 to provide circumferential channels which fill with lubricant and provide pressure equalisation around the piston whilst accommodating the relative axial and rotational movements between the piston and the gland.

A pair of sealing members 45 prevent lubricant leaking from the actuator between the interface of the housings 11 and 12. The outer seal, which may be referred to as a "scraper" provides a barrier to the ingress of dirt whilst the inner seal prevents the lubricant escaping. A position sensor system comprising elements 46, 47 and 48 is provided to provide feedback to a control system of the position of the housing 12 relative to the housing 11, so that the operation of the actuator can be accurately controlled. In this particular example, the position sensor system is a magnetoresistive sensor comprising magnets 47 and 48 and a sensor 46 incorporating a printed circuit board. Other position sensing systems may alternatively be used.

Operation of the actuator assembly will now be described. Referring first to Fig. 2, when the actuator is extended to move the flanges 27 and 28 apart, the first and second linkages flex about the flexures 26 and the short connecting links 16 and 22 move inwardly towards the actuator 1, with the spacing between the short connecting links 16 and 22 reducing. Since the first linkage 2 is connected to the body of the rotor blade at the first mounting 3, the effect of the movement of the linkages is to draw the short connecting link 22 towards the mounting 3, that is to the left as viewed in Fig. 2. The movement causes the output member 5 to pivot anticlockwise as viewed in Fig. 2 about the mounting 6, which in turn causes the output connection 7 to move to the left as viewed in

Fig. 2. Conversely, when the actuator is retracted to move the flanges 27 and 28 together, the first and second linkages flex about the flexures 26 and the short

connecting links 16 and 22 move outwardly away from the actuator 1, with the spacing between the short connecting links 16 and 22 increasing. Since the first linkage 2 is connected to the body of the rotor blade at the first mounting 3, the effect of the movement of the linkages is to move the short connecting .link 22 away from the mounting 3, that is to the right as viewed in Fig. 2. The movement causes the output member 5 to pivot clockwise as viewed in Fig. 2 about the mounting 6, which in turn causes the output connection 7 to move to the right as viewed in Fig. 2.

Thus, by extending and retracting the actuator, the output connection 7 can be moved to the left and to the right respectively, as viewed in Fig. 2. An aerodynamic element can therefore be easily adjusted by those

movements; for example, a Gurney flap connected to the output connection 7 may be retracted when the connection 7 moves to the left as viewed in Fig. 2 and extended when the connection 7 moves to the right as viewed in Fig.2. The ratio of extension/retraction of the actuator 1 to movement of the output connection 7 may be adjusted during a design stage by varying the geometry of the parts. For example, the output connection 7 may be moved closer to the mounting 6 to reduce the movement of the output connection 7 or may be moved away from the mounting 6 to increase the movement of the output connection 7. For even greater movement, the output connection 7 may be provided on an extension of the output member that extends beyond the pivotal connection to the link 22 away from the mounting 6. During operation, the amount of extension/retraction of the actuator 1 may be varied to alter the movement of the output connection 7.

Generally, it will be desirable for the actuator 1 to complete one stroke (a stroke being a complete cycle of movement including both retraction and extension of the actuator) for each revolution of the rotor 102 and the rotor blade 103. As will now be understood, the actuator 1 is extended and retracted by the electric motor assembly 30 drivingly rotating the drive shaft 31. According to the direction of rotation, that moves the nut 33 towards or away from the motor assembly 30, thereby extending or retracting the actuator 1, The amount of the movement of the actuator 1 is controlled by the position sensor system 45, 46 and 47. Typically the amount of movement is not very great; in one particular example of the invention the centre to centre spacing of the flanges 27 and 28 is a maximum of 62 mm when the actuator is fully extended and a minimum of 60 mm when the actuator is fully retracted. The small movement is, however, typically at a frequency matching the speed of rotation of the rotor and may therefore be as much as

40 Hz.

In operation, as the nut 33 reciprocates axially along the shaft 31, so the piston 25 reciprocates relative to the gland 36 in which it is received. This reciprocation together with the operation of the valve members 38 and 39 results in a pumping action as will now be described.

Referring first to Fig. 3 the actuator is shown at an almost fully extended position and at the commencement of retraction with the nut 33 therefore moving to the left as viewed in Fig. 3. In this condition the piston is being pressed further into the gland 36, pressurizing lubricant in the cylindrical chamber in the gland. The pressure in the chamber maintains the ball 38 pressed against the opening 40 into the sump 37, preventing lubricant in the cylindrical chamber entering the sump. The pressurised lubricant is therefore driven along the passageway 41 past the valve member 39 which is lifted off its seating 42, towards the motor assembly 30. It may be noted that the g force that is present in the usual case where the rotor is rotating opposes this movement of the lubricant but is unable to prevent it. The passageway 41 extends almost as far as the motor assembly 30 and then extends radially outwardly emerging from the shaft 31 between the main bearing 32 and the motor assembly 30. This flow of lubricant is marked in Fig. 3 by arrows. Lubricant is prevented from entering the region of the motor by a retainer 50 which provides a running seal with the end of the motor armature 35. The flow, of lubricant continues until the actuator stops retracting.

Referring now to Fig 4, the actuator is shown at an almost fully retracted position and at the commencement of extension with the nut 33 therefore moving to the right as viewed in Fig. 4. In this condition the piston is being withdrawn from the gland 36, resulting in a low pressure of lubricant in the cylindrical chamber in the gland. That allows the ball 38 to move away from the opening 40 into the sump, allowing lubricant in the sump 37 to flow into the cylindrical chamber in the gland 36. At the same time lubricant in the passageway 41 is prevented from returning to the cylindrical chamber in the gland 36 by the valve member 39 which is pressed against the valve seat 42.

Lubricant is driven by the centripetal accelerations of the parts from the region of the main bearing 32 back to the sump 37 through a multiplicity of small passageways (not shown) in the nut 33, which may be described as porous and further small passageways in the gland 49. These flows of the lubricant are marked diagrammatically in Fig. 4 by arrows. Thus a complete cycle of pumping ^" of lubricant occurs during each stroke of the actuator. Any swarf that may be generated during operation is carried by the lubricant into the sump where, as a result of the

centripetal acceleration of the sump in operation, it tends to remain.

In the illustrated embodiment of the invention the various parts of the linkages pivot about vertical axes. Usually that will be the preferred orientation of the linkages, taking account of the cross-sectional shape of the rotor blade in the region of its trailing edge, but it is also possible for the linkages to be oriented at 90 degrees to the orientation shown, so that Fig. 2 becomes a side view rather than a plan view and the linkages pivot about horizontal axes.

Where in the foregoing description, integers or elements are mentioned which have known, obvious or

foreseeable equivalents, then such equivalents are herein incorporated as if individually set forth. Reference should be made to the claims for determining the true scope of the present invention, which should be construed so as to encompass any such equivalents. It will also be

appreciated by the reader that integers or features of the invention that are described as preferable, advantageous, convenient or the like are optional and do not limit the scope of the independent claims.