JP2009297449A - Helicopter toy - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a helicopter toy which goes down automatically, when it approaches an upper obstacle, to avoid a collision. <P>SOLUTION: The helicopter toy 1 is remotely maneuvered with signals from a transmitter. The helicopter toy 1 comprises a frame 10, rotor shafts 30 and 40 installed to protrude upward from the frame 10 and rotationally driven by a main rotor drive motor mounted on the frame 10, rotor blades 34 and 44 installed on the rotor shafts 30 and 40 such that the rotor blades orthogonally intersect the rotational center axes of the rotor shafts 30 and 40, a detecting means 2 mounted on the frame 10, and a control unit. The detecting means 2 is arranged upward of the frame 10, and is constituted to generate a signal according to the distance from an obstacle existing above the frame 10. The control unit is constituted to decide the rotational speed of a main rotor driving motor 80 on the basis of the signal from the detecting means 2, thereby generating a predetermined control signal and sending out the control signal to the main rotor driving motor 80. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a helicopter toy remotely controlled by an operation signal from a transmitter, and more particularly to a helicopter toy capable of controlling the rotational speed of a rotor when approaching an obstacle above.

  Conventionally, various types of helicopter toys such as a single rotor type or a twin rotor type have been proposed as remote control type helicopter toys for enjoying maneuvering indoors or outdoors (for example, Patent Document 1).

The helicopter toy according to the invention of Patent Document 1 is provided with an arm so that one end portion is rotatably attached and the other end portion is close to the rotor head side by driving an actuator mounted on the fuselage. And a tilting mechanism that tilts the rotor blade by the magnetic force generated between the magnet attached to the rotor head and the magnetic body, and rotates the arm by driving the actuator in response to a remote operation instruction from the player. By moving the arm tip close to the lower end of the rotor head, the body can be advanced by tilting the rotor head so as to change the pitch angle of the rotor blade.
JP 2007-130200 A

  The invention of Patent Document 1 can move forward and backward as well as ascending, descending, and hovering, and has sufficient mobility and operability to enjoy maneuvering so as to freely control the flight even indoors. It is to be prepared. However, when the helicopter toy is raised, if the rotational speed of the rotor is too low, it will fall without being able to secure the lift necessary to ascend, and if the rotational speed of the rotor is too high, the toy will rise rapidly Thus, there is a problem that it is difficult for beginners to operate the helicopter toy as intended. Furthermore, there is a problem that contact with an obstacle can cause damage to the rotor and damage to the airframe due to dropping.

  The present invention has been made in view of such problems of the prior art, and as a helicopter toy that can be easily handled even by beginners, when the helicopter toy rises and approaches an obstacle above, An object of the present invention is to provide a helicopter toy that can automatically reduce the rotational speed of the rotor and avoid a collision with the obstacle.

  A helicopter toy according to the present invention is a helicopter toy remotely controlled by an operation signal from a transmitter, and is mounted by a main rotor drive motor mounted on the airframe and mounted so as to protrude upward from the airframe. A rotor shaft that is rotationally driven, a rotor blade that is attached to the rotor shaft so as to be orthogonal to a rotation center axis of the rotor shaft, a detection unit that is mounted on the airframe, and a control unit, The means is configured to generate a signal according to a distance from an obstacle disposed above the aircraft and located above the aircraft, and the control unit receives a signal from the detection means. The rotational speed of the main rotor drive motor is determined based on the above, a predetermined control signal is generated, and the control signal is sent to the main rotor drive motor. Is made is configured.

  The airframe has a tail portion extending rearwardly so as to protrude outward from the rotor blade, and the detection means is radiated from the light emitting portion disposed in the tail portion and the light emitting portion. A light receiving part that reacts to the light, and when there is an obstacle directly above the aircraft, the light received from the light emitting part and reflected by the obstacle immediately above is received by the light receiving part. The signal may be generated in accordance with the distance from the obstacle based on the light received by the unit.

  Further, the light emitting unit may emit visible light or invisible light reflected by the obstacle.

  In this helicopter toy, the light emitting portion is disposed outward from the outer edge of the rotor blade, and the light receiving portion is disposed outward from the outer edge of the rotor blade, but is disposed inward from the light emitting portion. It may be established.

  The control unit may linearly reduce the rotational speed of the rotor by linearly calculating the rotational speed corresponding to the signal from the detection means and generating a predetermined control signal.

  And the said control part may reduce the rotational speed of a rotor in steps, calculating the rotational speed corresponding to the signal from the said detection means in steps, and producing | generating a predetermined | prescribed control signal.

  Further, when the distance from the obstacle reaches a predetermined value, the control unit calculates a predetermined rotation speed and generates a predetermined control signal, so that the rotation speed of the rotor is set to the predetermined rotation speed. You may form so that it may decelerate.

  The helicopter toy of the present invention further includes a blade tilting mechanism for tiltably attaching the rotor blade to the rotor shaft via a rotor head and driving the rotor blade by a blade tilting motor mounted on the airframe. The blade tilting mechanism is pivoted so that the slide member is movable in the vertical direction, and one end is mounted at the upper end portion of the slide member and both end portions move in the vertical direction in conjunction with the vertical movement of the slide member. Of the rotating member, and the rotor head pivotally supported by a shaft provided on the rotor shaft so as to be orthogonal to the rotation center axis of the rotor shaft. By the magnetic force generated between one of the magnets attached to the rotor head or between the magnet and the magnetic body, Taburedo may be flying the helicopter toy forward or backward by tilting the.

  According to the present invention, when the helicopter toy is close to the obstacle existing above the ceiling or the like by a predetermined distance, the detection means for generating the predetermined signal is provided, so that the player performs the ascending operation. When a helicopter toy that performs a flying flight at the time of approaching an obstacle existing above the ceiling or the like, the rotational speed of the rotor can be automatically reduced. It is possible to provide a helicopter toy that can prevent breakage and fall and can be easily handled by a player.

And a detecting means including a tail portion that protrudes outward from the rotor blade at the rear of the fuselage, and a light emitting portion and a light receiving portion that reacts to light emitted from the light emitting portion. If it arrange | positions away from the rotation center of a rotor, the small helicopter toy suitable for the flight in a room | room which can measure the distance with an obstacle just above more accurately can be provided.
In addition, by increasing the installation interval between the light emitting unit and the light receiving unit so that the light emitting unit is disposed outside the outer edge of the rotor blade and the light receiving unit is disposed inward than the outer edge of the rotor blade, It is possible to prevent the light receiving unit from being affected by irregularly reflected light generated in the air immediately after the light emitting unit of the light emitted from the light emitting unit, and to reliably detect the reflected light from the obstacle.

  Furthermore, a small and lightweight helicopter toy is provided by configuring a simple detection means using a visible light emitting element or an infrared light emitting element that emits visible light or invisible light reflected by an obstacle in the light emitting unit. Can do.

  Then, the light emitting part is disposed outside the outer edge of the rotor blade, and the light receiving part is disposed outside the outer edge of the rotor blade but inward of the light emitting part. It is possible to reliably prevent the incident light from being irregularly reflected by the rotating rotor blade and entering the light receiving portion.

  Then, by linearly calculating the rotation speed corresponding to the signal from the detection means by the control unit, the ascending speed can be changed gently to avoid collision with an obstacle. In addition, if the control unit calculates the rotation speed corresponding to the signal from the detection means stepwise, or calculates the predetermined rotation speed when the distance from the obstacle reaches a predetermined value, the control Since the part can be configured simply, a cheaper helicopter toy can be provided.

  Furthermore, the helicopter toy of the present invention includes a blade tilting mechanism and a blade drive motor that can periodically change the pitch angle of the rotating rotor blade by moving the slide member up and down, thereby tilting the rotor head. By causing the effect of the lift difference to act on the front and rear of the aircraft, it is possible to fly freely forward or backward in a room as a small aircraft with a simple structure.

  A helicopter toy 1 according to the best mode for carrying out the present invention is a helicopter toy 1 remotely controlled by an operation signal from a transmitter, as shown in FIGS. 10 is a cylindrical lower rotor shaft 40 that is mounted so as to protrude upward from 10 and is rotationally driven by a main rotor drive motor 80 mounted on the airframe 10. An upper rotor shaft 30 having a shaft portion penetrating the lower rotor shaft 40, and the upper and lower rotor shafts 30, 40 via the rotor heads 32, 42 so as to be orthogonal to the rotation center axis of the rotor shafts 30, 40 The upper and lower rotor blades 34 and 44 mounted to be tiltable, the blade tilting mechanism 5 for driving the lower rotor blade 44 by a blade tilting motor 50 mounted on the fuselage 10, and the upward direction of the fuselage 10 From the detection means 2 configured to generate a signal according to the distance between the obstacle 10 and the obstacle existing above the airframe 10, the operation signal from the transmitter mounted on the airframe 10 and the detection means 2 And a receiver having a control unit for controlling the operation of the main rotor drive motor 80 and the blade tilting motor 50 based on the above signals.

  As shown in FIGS. 2 to 4, the blade tilting mechanism 5 includes a slide member 56 that can move in the vertical direction, and one end mounted at the upper end of the slide member 56 so that the slide member 56 can move up and down. It is supported by a rotating member 54 that rotates so that both end portions move in conjunction with each other, and a shaft 41 provided on the lower rotor shaft 40 so as to be orthogonal to the rotation center axis of the rotor shafts 30 and 40. And a rotor head 42. As a result, the helicopter toy 1 has a magnetic force generated between the magnet 53 attached to either one of both ends of the rotating member 54 and the ring-shaped magnetic body 52 attached to the lower rotor head 42. The lower rotor blade 44 is tilted through the lower rotor head 42 by force (suction force), thereby enabling flight forward or backward.

  Further, as shown in FIG. 1, the fuselage 10 has a tail portion 15 extending rearwardly so as to protrude outward from the rotor blades 34 and 44, and in the vicinity of the upper surface of the rear end of the tail portion 15. A detecting means 2 including a light emitting unit 20 including an infrared light emitting element that emits infrared light and a light receiving unit 21 that reacts to light emitted from the light emitting unit 20 is disposed. Further, the detecting means 2 is arranged so that the light emitting part 20 is located outside the outer edges of the upper and lower rotor blades 34, 44 and is further arranged outside the light receiving part 21, so that irregularly reflected light from the rotor blades 34, 44 is obtained. Can be reliably prevented from entering the light receiving portion 21, and the light receiving portion 21 is outside the rotor blades 34 and 44 so that the reflected light is not attenuated by the rotor blades 34 and 44. Is disposed inward of the light emitting unit 20.

  The detecting means 2 receives light emitted from the light emitting unit 20 and reflected by the obstacle directly above the light receiving unit 21 when there is an obstacle directly above the airframe 10 and received by the light receiving unit 21. A signal corresponding to the distance to the obstacle is generated based on the light.

  Then, as shown in FIG. 5, the control unit 102 formed integrally with the receiver 100 receives the reflected light reflected by the obstacle (the reflected light of the light emitted from the light emitting unit 20). The distance to the obstacle is measured from the converted electric signal, and when the distance reaches a predetermined value, a control signal for driving the main rotor drive motor 80 at a predetermined rotational speed is generated, and the control signal is generated from the main rotor. It is formed so that it can be sent to the drive motor 80.

  Thereby, the helicopter toy 1 according to the present invention is controlled not only for ascending, descending, turning, advancing and backward flight, but also when the helicopter toy 1 ascends and approaches an obstacle, the control unit 102 decelerates the rotation speed. Since the signal is generated and the main rotor drive motor 80 is driven to be decelerated, the helicopter toy 1 is automatically shifted from ascending to descending flight.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the present invention, “front”, “rear”, “left”, “right”, “upper”, and “lower” follow the direction when the traveling direction of the helicopter toy is viewed forward.

  A helicopter toy 1 according to the present invention is made of, for example, a lightweight material such as molded polystyrene foam or plastic, and as shown in FIG. 1, the aircraft 10 simulating the shape of a helicopter, and projects upward from the aircraft 10. A cylindrical lower rotor shaft 40 which is mounted on the airframe 10 and is driven to rotate in the opposite directions on the same axis by a driving unit which will be described later, and the upper part is formed in a large diameter, the lower part is formed in a small diameter, and the lower small diameter shaft is formed. The upper rotor shaft 30 having a portion penetrating the lower rotor shaft 40, and the lower diameter shaft of the lower portion of the upper rotor shaft 30 between the upper end of the lower rotor shaft 40 and the lower end of the large diameter shaft portion of the upper portion of the upper rotor shaft 30 A circular ring-shaped guard ring 6 attached in the vicinity of the upper end of the upper part, an upper rotor 3 that rotates with the upper rotor shaft 30 as a rotational axis, and an upper part with the lower rotor shaft 40 as a rotational axis The lower rotor 4 that rotates in the opposite direction to the rotor shaft 30, the stabilizer 7 that rotates in conjunction with the upper rotor 3 and keeps the attitude of the airframe 10 stable, and the upper side of the airframe 10 that is disposed upward And detecting means 2 configured to generate a signal corresponding to the distance to the obstacle existing in the.

  Further, as shown in FIG. 2, the helicopter toy 1 changes the pitch angle of the rotor blades of the lower rotor 4 described later, and the drive unit 8 that rotationally drives the upper rotor shaft 30 and the lower rotor shaft 40 in the fuselage 10. A blade tilting mechanism 5 for tilting a rotor head that holds the rotor blades, and a main rotor drive motor 80 and a blade, which will be described later, based on an operation signal from the transmitter mounted on the body 10 and a signal from the detection means 2 A receiver having a control unit that controls the operation of the tilting motor 50, a battery 90 that supplies power to each unit, and the like. The control unit of the receiver that responds to a remote operation signal from the wireless transmitter performs predetermined control. By generating a signal and driving a main rotor drive motor 80 that is a drive source of the drive unit 8 and a blade tilt motor 50 that is a drive source of the blade tilt mechanism 5, it is raised and lowered , Turn, advance, reverse.

  The control unit is not limited to being formed as a part of the receiver, and can be provided separately from the receiver. However, by forming the control unit integrally with the receiver, a small and simple helicopter can be provided. The toy 1 can be configured.

  Further, as shown in FIG. 1, the helicopter toy 1 is formed with a tail portion 15 extending so as to protrude outward from the rotor blades 34 and 44 at the rear of the fuselage 10. A detecting means 2 including a light emitting unit 20 and a light receiving unit 21 is disposed on the rear end upper surface. The light emitting unit 20 is such that the periphery of the light emitting element is covered with a cylindrical member so that infrared light can be emitted to the obstacle directly above. In the light receiving unit 21, a light receiving element that receives reflected light from an obstacle is fixed to a substrate, and is covered with a hemispherical transparent cover.

  The upper and lower rotors 3 and 4 that are main rotors of the helicopter toy 1 are attached to the upper and lower rotor shafts 30 and 40, respectively, which are rotationally driven by the drive unit 8, as shown in FIG. The upper and lower rotor heads 32, 42 and a pair of upper and lower rotor blades 34, 44 attached to both ends of the rotor heads 32, 42, respectively. The rotor heads 32 and 42 are formed in a substantially rectangular ring shape having a rectangular opening whose central portion is larger than the outer diameter of the rotor shafts 30 and 40 to which the rotor heads 32 and 42 are attached. It is pivotally supported at both ends of shafts 31 and 41 provided in a direction orthogonal to the rotation center axis.

  Further, the upper and lower rotor blades 34 and 44 are formed in a curved shape with a gentle cross section, and the shafts 31 and 41 are arranged such that the leading edge LE of the blade is inclined forwardly with respect to the blade rotation direction. It is screwed on both ends of the rotor heads 32 and 42 along the center direction, and generates lift when it is rotationally driven by the rotor shafts 30 and 40.

  The stabilizer 7 includes a stabilizer head 72 attached to the upper rotor shaft 30 below the upper rotor 3, a pair of stabilizer shafts 74 attached to both ends of the stabilizer head 72, and ends of the stabilizer shaft 74, respectively. A weight 76 is attached, and a stabilizer link 78 is attached so that the stabilizer head 72 and the upper rotor head 32 are interlocked with each other.

  The stabilizer head 72 is pivotally attached to both ends of a shaft 71 provided in a direction orthogonal to the rotation center of the upper rotor shaft 30 below the upper rotor head 32. The stabilizer 7 is attached so that the crossing angle between the attachment direction of the stabilizer shaft 74 and the attachment direction of the upper rotor blade 34 is, for example, about 30 to 90 degrees.

  That is, when the weight 76 and the stabilizer shaft 74 are tilted in a fixed direction around the shaft 71 together with the stabilizer head 72, the stabilizer 7 has the upper rotor head 32 centered on the shaft 31 via the stabilizer link 78 along with this tilt. The surface of the upper rotor blade 34 is inclined in the same direction. For this reason, even if the airframe 10, the rotor shaft 30, 40, etc. oscillate due to a disturbance such as wind, the stabilizer 7 maintains the rotation of the horizontal plane and keeps the upper rotor blade 34 at a constant pitch angle with respect to the horizontal. Therefore, the fuselage 10 can be made to fly stably.

  In the upper rotor shaft 30, the upper side to which the upper rotor 3 and the stabilizer 7 are attached is formed as a large-diameter shaft portion, and the lower side is formed as a small-diameter shaft portion. The lower rotor shaft 40 is formed in a cylindrical shape, and a lower-diameter shaft portion on the lower side of the upper rotor shaft 30 is rotatably inserted into the lower rotor shaft 40. The upper and lower rotor shafts 30 and 40 are attached so as to penetrate from the central upper part of the airframe 10 and are rotationally driven in opposite directions by the drive unit 8.

  Further, the guard ring 6 is free to play between the upper end of the lower rotor shaft 40 and the lower end of the large-diameter shaft portion that is the upper portion of the upper rotor shaft 30 and in the vicinity of the upper end of the small-diameter shaft portion that is the lower portion of the upper rotor shaft 30. A substantially rectangular guard ring head to be worn, a guard ring holding shaft extending from a corner portion of the guard ring head in a direction perpendicular to the rotation center axis of the rotor shafts 30 and 40, and the guard ring holding And a ring portion formed in a circular ring shape that is held by a shaft. The ring portion of the guard ring 6 is hooked by a hook provided at the upper end portion of the guard ring hook 60 provided on the upper surface in the vicinity of the rear end of the tail portion 15 extending rearward of the airframe 10. Even when the rotor shafts 30 and 40 are rotationally driven, the guard ring 6 does not rotate.

  In addition, since the guard ring 6 is formed so that the diameter of the ring portion is larger than the outer edge of the rotor blades 34 and 44, the helicopter toy 1 becomes a side obstacle such as a wall during flight. Even when contacted, the rotor blades 34 and 44 can be protected by contact of the guard ring 6. In addition, even when a player touches the helicopter toy 1 in flight, the rotor blades 34 and 44 do not touch a person and the guard ring 6 touches them. It can be avoided.

  Further, as shown in FIG. 2, the pair of drive units 8 mounted on the machine body 10 are disposed on a support frame 11 that supports the machine body 10 and internal parts below the lower rotor blade 44, An upper rotor drive motor 80U and a lower rotor drive motor 80L, which are drive motors 80 for the main rotor, a pinion gear 81 fixed to the drive shaft of the main rotor drive motor 80, and the pinion gear 81 It has a reduction gear 82 and a main gear 84 that meshes with the reduction gear 82. The drive unit 8 that drives the upper rotor shaft 30 is disposed in front of the rotor shafts 30 and 40, and the drive unit 8 that drives the lower rotor shaft 40 is disposed behind the rotor shafts 30 and 40. is there.

  The drive unit 8 that drives the upper rotor shaft 30 is attached to the support frame 11 with the upper rotor drive motor 80U facing the drive shaft downward, and the pinion gear 81 is attached to the drive shaft. The main gear 84 is fixed to the lower end of the lower-diameter shaft portion on the lower side of the upper rotor shaft 30 at the lower end portion of the support frame 11, and the reduction gear 82 is disposed between the main gear 84 and the pinion gear 81. It is. As a result, the drive unit 8 transmits the driving force of the upper rotor drive motor 80U to the upper rotor shaft 30 via the pinion gear 81, the reduction gear 82, and the main gear 84 to drive the upper rotor shaft 30 to rotate. be able to.

  The drive unit 8 that drives the lower rotor shaft 40 has the same configuration as the drive unit 8 that drives the upper rotor shaft 30 and is attached to the support frame 11 with the drive shaft facing upward. A lower rotor drive motor 80L, a pinion gear 81, a reduction gear 82, and a main gear 84 fixed to the lower rotor shaft 40 are connected to the rotor shaft 30 with respect to the drive unit 8 that drives the upper rotor shaft 30. The driving force of the lower rotor drive motor 80L is transmitted via the pinion gear 81, the reduction gear 82, and the main gear 84, and the lower rotor shaft 40 is It is comprised so that rotation drive is possible.

  The blade tilting mechanism 5 is a mechanism that is driven by a blade tilting motor 50 and changes the pitch angle of the lower rotor blade 44 by a magnetic force generated by bringing magnets or magnets close to each other. A slide member 56 that can be moved to the upper and lower ends of the slide member 56, and a rotating member 54 that rotates so that both ends thereof move in the vertical direction in conjunction with the vertical movement of the slide member 56. The lower rotor head 42 is configured to be rotatable about a shaft 41 attached so as to be orthogonal to the rotation center axis of the lower rotor shaft 40.

  The lower rotor head 42 has a circular ring portion that is held by a plate that is suspended below the rectangular ring-shaped member of the lower rotor head 42, and a ring-like shape is formed on the lower surface of the circular ring portion. The magnetic body 52 is fixed. Further, the slide member 56 is a rack gear, and a rack gear portion that meshes with a pinion gear of a blade tilting motor 50 to be described later is formed on the right side surface, and a substantially rectangular opening is formed at the upper end portion.

  The blade tilting motor 50 is disposed in the center of the left end portion of the support frame 11 with the drive shaft directed in the front-rear direction, and a pinion gear is fixed to the drive shaft. Since the rack gear portion of the slide member 56 meshes with the pinion gear, when the blade tilt motor 50 is driven, the driving force of the blade tilt motor 50 is transmitted to the slide member 56 via the pinion gear. Thus, the slide member 56 can be moved in the vertical direction.

  Further, as shown in FIGS. 3A and 4, the rotating member 54 has circular recesses at both ends, and the magnets 53 are fitted into the recesses to rotate the magnets 53. It is held at both ends of the member 54. The rotating member 54 has a ring-shaped member having an inner diameter sufficiently larger than the outer diameter of the lower rotor shaft 40 at the center, and the ring-shaped member is pivotally supported by the support frame 11. is there.

  A shaft 55 protruding outward is formed at one end of the rotating member 54, and this shaft 55 is loosely fitted in a rectangular opening formed at the upper end of the slide member 56. Therefore, as shown in FIGS. 3B and 3C, the rotation member 54 can be rotated through the slide member 56 that moves up and down by driving the blade tilting motor 50. As a result, the distance between the magnet 53 held at both ends of the rotating member 54 and the ring-shaped magnetic body 52 can be changed. The lower rotor head 42 and the slide member 56 are limited in the inclination angle of the lower rotor head 42 and the moving distance of the slide member 56 in the vertical direction, and the magnet 53 and the ring-shaped magnetic body 52 are not in contact with each other. It is like that.

  Thus, when the blade tilting motor 50 is driven, either one of the magnets 53 held at both ends of the rotating member 54 is close to the ring-shaped magnetic body 52 fixed to the lower rotor head 42, Due to the attractive force generated between the magnet 53 and the ring-shaped magnetic body 52, the lower rotor head 42 to which the ring-shaped magnetic body 52 is fixed is rotated about the shaft 41 as the center of rotation of the lower rotor blade 44. The pitch angle can be changed.

  Although the rotating member 54 holds the magnet 53 and the lower rotor head 42 is fixed with the ring-shaped magnetic body 52, the lower rotor head 42 can be tilted by generating a magnetic force with each other. Since the rotation member 54 may be provided with a magnetic body, a ring-shaped magnet may be fixed to the lower rotor head 42, or magnets may be provided with each other.

  As shown in FIG. 4, the rotating member 54 is pivotally supported by the support frame 11 so that the magnet 53 is disposed at a position shifted by about 45 degrees in the rotational direction from the front-rear direction of the body 10. Is. This is because when the blade tilting mechanism 5 described later operates to tilt the lower rotor blade 44 to periodically change the pitch angle of the blade to generate a lift difference, the ring-shaped magnetic body of the lower rotor 4 The magnetic force applied to 52 and the lift applied to the lower rotor blade 44 are caused by the mass balance and shape of the fuselage 10, the rotational speed of the lower rotor 4, etc. This is because it occurs.

  If the slide member 56 moves upward during the rotation of the lower rotor 4, the magnet 53 arranged on the left front of the rotor shafts 30 and 40 moves upward (the magnet arranged on the right rear at this time) 53 moves downward), and the lower rotor head 42 to which the ring-shaped magnetic body 52 is fixed is tilted about the shaft 41 by the action of magnetic force (attraction force). Conversely, if the slide member 56 moves downward, the magnet 53 disposed behind the rotor shafts 30 and 40 moves upward (the magnet 53 disposed forward in this case moves downward), and similarly The lower rotor head 42 is tilted by the action of magnetic force (attraction force).

  That is, when the rotating member 54 is operated while the lower rotor head 42 is rotating, the lower rotor head 42 is inclined every time the lower rotor shaft 40 rotates 180 degrees (that is, the lower rotor head 42 is tilted). A tilting motion that is periodically changed so that the pitch angle of the rotor blades 44 is reversed is performed.

  In the blade tilting mechanism 5, as shown in FIG. 2, a pair of tension coil springs 58, which are elastic bodies, are disposed on the front upper portion and the lower portion of the slide member 56. An elastic body latching protrusion is provided on the front surface of the slide member 56 so as to protrude forward in the vicinity of the center portion of the slide member 56. Similarly, the front surface of the substantially rectangular cylindrical cover that holds the slide member 56 is provided. An elastic body latching protrusion is provided so as to protrude forward in the vicinity of the upper end portion and in the vicinity of the lower end portion. Then, one of the tension coil springs 58 is hooked to the hooking protrusions near the upper front end of the cover of the slide member 56 and near the center of the front of the slide member 56, and the other tension coil spring 58 is the lower end of the front of the cover of the slide member 56 It is latched by the latching protrusion near the center and near the center of the front surface of the slide member 56.

  Thereby, when the blade tilting motor 50 is not driven, the rotating member 54 can be elastically maintained so as to be in the horizontal posture. Also, without providing this elastic body, when the forward or reverse operation command from the transmitter is stopped, the blade tilting motor 50 is automatically driven in reverse so that the rotating member 54 is in a horizontal posture. A part may be formed.

  Then, when the lower rotor 4 is rotating, the lower left rotor head 42 is tilted by the magnetic force by moving the left front magnet 53 upward, and the pitch angle of the lower rotor blade 44 is increased by this tilting motion. By periodically changing, it is possible to cause the lift effect to act largely behind the fuselage 10 and to reduce the lift effect to the front of the fuselage 10. As a result, the rear part of the fuselage 10 is lifted so that the fuselage 10 is tilted forward and the rotational surfaces of the upper and lower rotor blades 34 and 44 are also tilted forward and downward, so that the helicopter toy 1 is allowed to fly forward. It becomes. Similarly, if the rear magnet 53 moves upward, the helicopter toy 1 performs backward flight.

  Further, as shown in FIG. 1, the airframe 10 has a tail portion 15 extending so as to protrude outward from the upper and lower rotor blades 34 and 44, and the rear end upper surface of the tail portion 15. In the vicinity, a detecting means 2 including a light emitting unit 20 including an infrared light emitting element that emits infrared light and a light receiving unit 21 that reacts to light emitted from the light emitting unit 20 is disposed. The detecting means 2 receives light emitted from the light emitting unit 20 and reflected by the obstacle directly above the light receiving unit 21 when there is an obstacle directly above the body 10, and receives the light at the light receiving unit 21. It is comprised by the distance measurement means using the optical sensor which produces | generates the signal according to the distance with an obstacle based on the performed light.

  In this way, by arranging the light emitting unit 20 and the light receiving unit 21 outward from the outer edges of the rotor blades 34 and 44, the light emitted from the light emitting unit 20 is irregularly reflected by the rotating rotor blades 34 and 44, and the light receiving unit 21 can be prevented from entering. Further, if the light emitting unit 20 is arranged outside the outer edges of the rotor blades 34 and 44, and the light receiving unit 21 is arranged outside the rotor blades 34 and 44 but inside the light emitting unit 20, By separating the light emitting unit 20 from the rotor blades 34 and 44, even if light is emitted so as to diffuse from the light emitting unit 20, it is ensured that the light irregularly reflected by the rotor blades 34 and 44 enters the light receiving unit 21. The light receiving unit 21 is also located outside the outer edges of the rotor blades 34 and 44, so that the reflected light from obstacles such as the ceiling can be reliably received without being blocked by the rotor blades 34 and 44.

  Furthermore, if the installation interval between the light emitting unit 20 and the light receiving unit 21 is increased, it is possible to prevent the irregularly reflected light that is generated immediately after the light emitting unit 20 from being emitted from the light emitting unit 20 from entering the light receiving unit 21.

  The transmitter 110 is for a player who remotely controls the helicopter toy 1 to grip and transmit an operation signal. As shown in FIG. 5, the transmitter 110 is used to instruct the helicopter toy 1 to ascend, descend, and turn. Depending on the player's operation, the rotor rotation operation unit 120, the trim operation unit 122 that adjusts the difference in rotational speed between the upper rotor 3 and the lower rotor 4, the forward / reverse operation unit 124 for instructing forward and reverse A control unit 112 that generates a predetermined signal, a transmission circuit 111 that modulates an encoded signal transmitted from the control unit 112, an amplifier 118, an antenna 116 that transmits the signal, a power source (not shown), and the like It is configured.

  The receiver 100 receives a radio signal transmitted from the transmitter 110 via the antenna 106 and demodulates the reception circuit 101. The receiver 100 decodes the demodulated signal to drive the main rotor drive motor 80 and the blade tilting motor. A control unit 102 that generates a control signal for driving 50, a power source (not shown), and the like are provided. Note that it is preferable that the passive elements of the transmitter circuit 111 and the receiver circuit 101 of the transmitter 110 and the receiver 100 are detachable crystal resonators because the frequency can be changed by the player.

  As a result, the main rotor drive motor 80 is driven by operating the rotor rotation operation unit 120 and transmitting the ascending operation command, and the upper and lower rotors 3 and 4 are rotated to be placed on a flat table or the like. Helicopter toy 1 can be taken off and raised. In addition, when the helicopter toy 1 is in a flying state, the main rotor driving is performed so that the rotational speeds of the upper and lower rotors 3 and 4 are slightly different by operating the rotor rotation operation unit 120 and transmitting a turning operation command. By controlling the motor 80 and applying torque caused by the difference in rotational speed between the upper and lower rotors 3 and 4 to the fuselage 10, it is possible to make a turn to change the direction of the nose to the left or right. .

  Further, when the helicopter toy 1 is in a flying state, the blade tilting motor 50 is driven by operating the forward / reverse operation unit 124 and transmitting a forward or reverse operation command to operate the blade tilting mechanism 5. By bringing the magnet 53 close to the ring-shaped magnetic body 52, the lower rotor head 42 to which the ring-shaped magnetic body 52 is fixed is tilted so that the effect of the lift difference acts on the front and rear of the body 10. The helicopter toy 1 formed as a small body 10 with a simple structure can be enjoyed indoors by freely moving forward or backward.

  Then, the control unit 102 of the receiver 100 measures the distance to the obstacle from the electrical signal received and converted by the light receiving unit 21 reflected by the obstacle, and based on the measured distance data, the main rotor The rotational speed of the drive motor 80 is determined, a predetermined control signal is generated, and the control signal can be sent to the main rotor drive motor 80. The control unit 102 attenuates the rotational speed of the rotors 3 and 4 by about 20% with respect to the rotational speed commanded by the transmitter 110 when the distance to the obstacle becomes 50 cm, for example. The control signal is sent to the rotor drive motor 80.

  As a result, when the helicopter toy 1 rises and approaches the obstacle, the control unit 102 generates a control signal for reducing the rotation speed, and the main rotor drive motor 80 is driven at a reduced speed. Will automatically shift from ascending to descending flight. Therefore, collision with an upper obstacle such as a ceiling can be avoided, and the small helicopter toy 1 can freely fly and play happily indoors.

  The control unit 102 is not limited to the case where the control unit 102 is configured to generate the distance data in response to the signal from the detection unit 2 that is the distance measurement unit as described above. The main rotor drive motor 80 of the helicopter toy 1 approaching the obstacle is configured to generate distance data and generate a control signal for reducing the rotation speed in the control unit 102 to which the distance data is input. The operation may be controlled.

Hereinafter, the flight procedure and operation of the helicopter toy 1 will be described.
First, the power switch provided on the side surface of the fuselage 10 is turned on, and the helicopter toy 1 is placed on a flat table or the like so that it can take off. Next, when the power switch of the transmitter 110 is turned on and an operation command for rotating the rotors 3 and 4 at a predetermined rotational speed by operating the rotor rotation operation unit 120 is transmitted to the receiver 100, the main rotor drive motor 80 , The rotors 3 and 4 rotate, the helicopter toy 1 takes off and goes up. The rotational speeds of the rotors 3 and 4 are linearly controlled by a variable resistance in the rotor rotation operation unit 120 of the transmitter 110.

  At this time, if the rotational speeds of the upper rotor 3 and the lower rotor 4 are the same, the upper rotor 3 and the lower rotor 4 are rotating in opposite directions. 10 will rise without rotating. The difference in rotational speed between the upper rotor 3 and the lower rotor 4 can be adjusted by operating the trim operating unit 122. The trim adjustment is also linearly controlled by a variable resistor as described above.

  As shown in FIG. 1, the stabilizer 7 is connected to the upper rotor 3 via the stabilizer link 78, so that even if the airframe 10 oscillates due to disturbance, the stabilizer shaft 74 has the centrifugal force of the weight 76. Thus, by continuing the stable operation so as to maintain the horizontal posture, the upper rotor blade 34 is maintained at a constant pitch angle with respect to the horizontal, and the aircraft 10 performs a stable flight.

  Next, when the helicopter toy 1 is in a stable flight state after ascending into the air of a predetermined height, the player operates the rotor rotation operation unit 120 of the transmitter 110 to move the rotors 3 and 4 By setting the number of revolutions to a predetermined value, the lift obtained by the rotors 3 and 4 and the gravity applied to the fuselage 10 can be balanced to allow the helicopter toy 1 to perform hovering flight and further reduce the number of revolutions. Then, the aircraft 10 can be lowered and landed.

  Further, since the rotor rotation operation unit 120 can perform a turning operation so that the rotational speeds of the upper rotor 3 and the lower rotor 4 are slightly different, the helicopter toy 1 can be operated in the air at a predetermined height. When the player is in a stable flight state after ascending, the player performs a turning operation using the rotor rotation operation unit 120 of the transmitter 110, so that the rotation speeds of the upper rotor 3 and the lower rotor 4 are slightly different. By changing it, the direction of the nose can be changed in the helicopter toy 1. Therefore, if the helicopter toy 1 receives the forward operation command described later and is in the forward flight state and receives the turn operation command, the helicopter toy 1 changes its nose direction during the forward flight and makes the turn flight. Will be done. This turning flight operation is also linearly controlled by a variable resistor as described above.

  Furthermore, when the helicopter toy 1 is in a stable flight state after ascending into the air at a predetermined height, when the player transmits a forward operation command by operating the forward / reverse operation unit 124 of the transmitter 110, The blade tilting motor 50 is driven to move the slide member 56 upward, and the rotating member 54 is rotated to move the magnet 53 arranged on the left front of the rotor shafts 30 and 40 upward to move the magnet. 53 is close to the ring-shaped magnetic body 52, and the lower rotor head 42 to which the ring-shaped magnetic body 52 is fixed is tilted by the magnetic force generated between the magnet 53 and the ring-shaped magnetic body 52. Thus, the pitch angle of the lower rotor blade 44 changes periodically.

  As a result, the rear side of the airframe 10 is lifted and the airframe 10 assumes a forward leaning posture, so that the rotational surfaces of the upper and lower rotor blades 34 and 44 are inclined forward and downward, so that the airframe 10 moves forward.

  Similarly, when the receiver 100 of the fuselage 10 receives a reverse operation command from the transmitter 110, the magnet 53 arranged on the right rear side of the rotor shafts 30 and 40 moves upward, As the rotor head 42 tilts and the pitch angle changes periodically, the fuselage 10 tilts backward and moves backward.

Next, the operation when the helicopter toy 1 approaches an obstacle above the ceiling or the like when the helicopter toy 1 rises will be described.
When the power switch provided on the side surface of the fuselage 10 of the helicopter toy 1 is turned on, the infrared light emitting element of the light emitting unit 20 emits light, and emits light in the upward direction. When a sufficient distance from the obstacle is present, a predetermined amount of reflected light is not incident on the light receiving element, so the light receiving element of the light receiving unit 21 does not generate an electrical signal, but the body 10 is When the obstacle approaches and reaches a predetermined distance, the amount of reflected light received by the light receiving element reaches a predetermined value, the light receiving element generates a predetermined electric signal, and the electric signal is sent to the control unit 102.

  When the electrical signal is input to the control unit 102, the control unit 102 attenuates the rotor rotation operation signal from the transmitter 110 by the attenuation circuit formed in the control unit 102, and the operation signal is It is sent to the main rotor drive motor 80 (upper and lower rotor drive motors 80U, 80L). Therefore, the rotational speed of the main rotor drive motor 80 actually driven is decelerated from the numerical value of the rotor rotational speed operated by the player.

  As a result, the helicopter toy 1 flying up ascends when the airframe 10 approaches an obstacle above the ceiling or the like, and stops rising and can be prevented from colliding with the obstacle. Then, when the rotation speed of the main rotor drive motor 80 is decelerated and the helicopter toy 1 descends and the distance from the obstacle is separated again by a predetermined value or more, a predetermined amount of light is not incident on the light receiving unit 21. The transmission of the electrical signal to the control unit 102 is stopped. Then, when the input of the electrical signal from the light receiving unit 21 is stopped, the control unit 102 bypasses the attenuation circuit formed in the control unit 102 and directly drives the operation signal from the transmitter 110 for main rotor driving. Send to motor 80. As a result, the main rotor drive motor 80 is accelerated again, and the helicopter toy 1 resumes rising.

  As described above, the control unit 102 capable of generating the control signal for decelerating the rotation speed of the main rotor drive motor 80 based on the signal from the detection unit 2 by installing the detection unit 2 as the distance measurement unit on the body 10. If the helicopter toy 1 that performs the ascending flight by the player performing the ascending operation approaches an obstacle existing above the ceiling or the like, the rotational speed of the rotors 3 and 4 can be automatically reduced. A helicopter toy 1 that can prevent the rotors 3 and 4 from being damaged or dropped due to a collision with an obstacle existing above the ceiling or the like and can be easily handled by a player is provided. be able to. Further, the control unit 102 has a simple configuration capable of generating a predetermined control signal by calculating a predetermined rotation speed when the distance to the obstacle reaches a predetermined value, so that an inexpensive helicopter toy 1 can be obtained. Can be provided.

  A tail portion 15 is formed so as to protrude outward from the rotor blades 34 and 44 at the rear of the fuselage 10, and the tail portion 15 receives light emitted from the light emitting portion 20 and light emitted from the light emitting portion 20. If the detection means 2 including the portion 21 is arranged away from the rotation center of the rotors 3 and 4, the light emitted from the light emitting portion 20 and the reflected light to the light receiving portion 21 are caused by the rotor blades 34 and 44. The shielding time can be shortened. As a result, the efficiency of using the light from the light emitting unit 20 can be improved, and thus a small helicopter toy 1 suitable for indoor flight can be measured, which can measure the distance from the obstacle directly above. can do.

  Further, the light emitting unit 20 and the light receiving unit 21 are disposed so that the light emitting unit 20 is disposed outward from the outer edges of the rotor blades 34 and 44, and the light receiving unit 21 is disposed inward from the outer edges of the rotor blades 34 and 44. The light receiving unit 21 is prevented from being affected by irregularly reflected light generated in the air immediately after the light emitting unit 20 of the light emitted from the light emitting unit 20, and the reflected light from the obstacle Can be reliably detected. When the light receiving unit 21 is disposed inward from the outer edges of the rotor blades 34 and 44, the rotor blades 34 and 44 instantaneously block the light path between the reflected light from the obstacle and the light receiving unit 21. However, the decrease in the light receiving rate in the light receiving unit 21 is slight, and it is possible to secure a predetermined amount of received light.

  Further, since the light-emitting unit 20 can be configured with a simple detection means 2 using a visible light emitting element or an infrared light emitting element that emits visible light or invisible light reflected by an obstacle existing above, In addition, a lightweight helicopter toy 1 can be provided.

  The light emitting unit 20 is arranged outside the outer edges of the rotor blades 34 and 44, and the light receiving unit 21 is arranged outside the outer edges of the rotor blades 34 and 44 but inside the light emitting unit 20. By doing so, it is possible to reliably prevent the light emitted from the light emitting unit 20 from being irregularly reflected by the rotating rotor blades 34 and 44 and entering the light receiving unit 21, and the light receiving unit 21 is also configured to be the rotor blades 34 and 44. Therefore, the reflected light from the obstacle such as the ceiling can be reliably received without being blocked by the rotor blades 34 and 44.

  In addition, the light receiving unit 21 and the light emitting unit 20 are appropriately separated from each other, and a light receiving element or a light emitting element is attached inside a protective cylinder so that light can be emitted and received only in a predetermined direction. The light emitting unit 20 can also be provided within the swivel range of the rotor blades 34 and 44.

  Further, the detecting means 2 is configured as an ultrasonic sensor including an oscillating unit that oscillates an ultrasonic wave with respect to an obstacle directly above and a receiving unit that receives a reflected wave from the obstacle. By generating a control signal for decelerating the rotation speed of the rotors 3 and 4 based on the signal from the sensor, the control unit 102 can also avoid an obstacle and a collision.

  Then, if the control unit 102 calculates the rotational speed corresponding to the signal from the detection means 2 stepwise, the ascending flight of the helicopter toy 1 can be smoothly shifted to the descending flight. Also, if the controller 102 linearly calculates the rotation speed corresponding to the signal from the detection means 2, the ascent speed is gradually changed to shift to descending flight, and the lowered helicopter toy 1 is immediately raised. It can also be shifted to flight.

  And this invention is not limited to the above Example, A change and improvement are possible freely in the range which does not deviate from the summary of invention. For example, the transmitter 110 and the receiver 100 may be steerable by being connected by wire. The helicopter toy 1 is not limited to the coaxial reversing twin rotor type, but includes a tandem rotor type having main rotors before and after the fuselage 10, and a tail rotor that counteracts the reaction force between the single main rotor and the main rotor. It may be similar to a single rotor type helicopter.

The perspective view of the helicopter toy based on the Example of this invention. The side view of the principal part of the helicopter toy which concerns on the Example of this invention. The figure which shows operation | movement of the blade tilting mechanism of the helicopter which concerns on the Example of this invention. The top view of the helicopter toy based on the Example of this invention. The block diagram which shows the structure of the transmitter and receiver of a helicopter toy based on the Example of this invention.

Explanation of symbols

1 Helicopter toy 2 Detection means
3 Upper rotor 4 Lower rotor
5 Blade tilting mechanism 6 Guard ring
7 Stabilizer 8 Drive unit
10 Airframe 11 Support frame
15 Tail
20 Light emitter 21 Light receiver
30 Upper rotor shaft 31 axes
32 Upper rotor head 34 Upper rotor blade
40 Lower rotor shaft 41 axes
42 Lower rotor head 44 Lower rotor blade
50 Blade tilting motor 52 Ring-shaped magnetic body
53 Magnet 54 Rotating member
55 axis 56 slide member
58 Tension coil spring
60 Guard ring hook
71 axis 72 stabilizer head
74 Stabilizer shaft 76 Weight
78 Stabilizer link
80 Main rotor drive motor 80U Upper rotor drive motor
80L Lower rotor drive motor 81 Pinion gear
82 Reduction gear 84 Main gear
90 batteries
100 receiver
101 Receiving circuit 102 Control unit
106 Antenna
110 Transmitter 111 Transmitter circuit
112 Controller 116 Antenna
118 Amplifier
120 Rotor operation section 122 Trim operation section
124 Forward / reverse operation section
LE blade leading edge TE blade trailing edge

Claims (8)

A helicopter toy remotely controlled by an operation signal from a transmitter,
An airframe, a rotor shaft that is mounted so as to protrude upward from the airframe and is driven to rotate by a main rotor drive motor mounted on the airframe, and a rotor shaft that is orthogonal to the rotation center axis of the rotor shaft An attached rotor blade, a detection means mounted on the airframe, and a control unit,
The detection means is configured to generate a signal corresponding to a distance from an obstacle located above the airframe that is arranged upward of the airframe,
The control unit determines a rotation speed of the main rotor drive motor based on a signal from the detection means, generates a predetermined control signal, and sends the control signal to the main rotor drive motor. A helicopter toy characterized by comprising.   The airframe has a tail portion extending rearward so as to protrude outward from the rotor blade, and the detection means includes a light emitting portion disposed on the tail portion and light emitted from the light emitting portion. A light receiving unit that reacts to the light, and when there is an obstacle directly above the aircraft, the light received from the light emitting unit and reflected by the obstacle immediately above is received by the light receiving unit. The helicopter toy according to claim 1, wherein the helicopter toy is configured to generate a signal according to a distance from an obstacle based on the received light.   The helicopter toy according to claim 2, wherein the light emitting unit emits visible light or invisible light reflected by the obstacle.   The light emitting portion is disposed outward from the outer edge of the rotor blade, and the light receiving portion is disposed outward from the outer edge of the rotor blade but inward from the light emitting portion. The helicopter toy according to claim 3.   The helicopter toy according to any one of claims 1 to 4, wherein the control unit generates a predetermined control signal by linearly calculating a rotation speed corresponding to the signal from the detection means. .   The helicopter toy according to any one of claims 1 to 4, wherein the control unit generates a predetermined control signal by stepwise calculating a rotation speed corresponding to the signal from the detection means. .   5. The control unit according to claim 1, wherein when the distance to the obstacle reaches a predetermined value, the control unit calculates a predetermined rotation speed and generates a predetermined control signal. The helicopter toy described in 1. The rotor blade is tiltably attached to the rotor shaft via a rotor head, and includes a blade tilting mechanism for driving the rotor blade by a blade tilting motor mounted on the airframe;
The blade tilting mechanism is a slide member that can move in the vertical direction, and rotates so that one end is mounted at the upper end of the slide member and both ends move in the vertical direction in conjunction with the vertical movement of the slide member. And a rotating member that is supported by a shaft provided on the rotor shaft so as to be orthogonal to the rotation center axis of the rotor shaft.
The rotor blade is tilted forward or rearward by tilting the rotor blade with a magnetic force generated between magnets attached to the rotor head or between magnets attached to the rotor head and either of the both ends of the rotating member. The helicopter toy according to any one of claims 1 to 7, wherein flight is possible.

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