CN101658732A - Straight line executing mechanism - Google Patents
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- CN101658732A CN101658732A CN200910180498A CN200910180498A CN101658732A CN 101658732 A CN101658732 A CN 101658732A CN 200910180498 A CN200910180498 A CN 200910180498A CN 200910180498 A CN200910180498 A CN 200910180498A CN 101658732 A CN101658732 A CN 101658732A
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Abstract
The invention discloses a straight line executing mechanism used for models, comprising a bottom plate, a driving part, a transmission part and a straight line executing part, wherein the driving partand the straight line executing part are respectively installed at the two sides of the bottom plate. The straight line executing mechanism can be applied to cancel the position on the bottom plate occupied by a motor in the straight line executing mechanism, breaks through the usual design thought, and improves the integration level of airborne equipment of model planes including the straight line executing mechanism.
Description
Technical field
The present invention relates to miniature electric model airplane field, particularly relate to a kind of electric linear executing agency and method thereof that is applied in the miniature model airplane field.
Background technology
Since the beginning of this century, according to miniature remote controlled model copter, the needs of the model of an airplane, executing agency's existing procucts of miniature electric power straight line occur, this straight line executing mechanism is owing to be mainly used to operate rudder face at the beginning, control actions such as turning to of model, therefore be commonly referred to as steering wheel, development along with technology, it also can be used for spurring the throttle of engine in model airplane, undercarriage, in car model, then can be used for spurring yaw control, but its common trait all is a kind of executing agency, is to be used to provide straight-line drive unit, and it can utilize certain drive energy and do rectilinear motion under certain control signal effect.The existing mentality of designing of miniature straight line executing mechanism is on the base plate of the drive circuit of a straight line executing mechanism from a structural point, respectively fixedly the power motor of straight line executing mechanism, deceleration system, linear potentiometer and transmission arm.
Chinese patent 200720069025.2 discloses that a kind of to be used for a kind of straight line executing mechanism that miniature structure of models is simple, weight is lighter be the concrete structure of steering wheel, but its power motor part also occupies the relevant position on drive circuit board, the design of frame for movement is still traditional method for designing.Because for the miniature model that aloft flies, strict control structure weight is crucial specification requirement in the design, for single part, sometimes alleviating 0.1 gram all is to pursue.And in the above-mentioned patent, the power motor in the straight line executing mechanism also occupies certain area at drive circuit board, thereby has increased the entire area of drive circuit board, requires further improvement.
From the angle analysis of operation principle, in the prior art, the straight line executing mechanism that is applied in the model is a steering wheel, is a kind of straight line executing mechanism unit with independent control circuit.Fig. 6 has illustrated a kind of receiver and steering wheel work in combination principle of common remote control model helicopter, as shown in Figure 6, as can be seen, the receiver of telecontrolled model and steering wheel are separate unit, steering wheel has the independent controling circuit plate of oneself, shown in the steering wheel control circuit board frame of broken lines among Fig. 6, comprise the steering wheel special IC in this steering wheel independent controling circuit plate, MOS (also can be transistor) on-off circuit, three modules of travel feedback potentiometer are formed, when receiver is the steering wheel action at the manipulation straight line executing mechanism, send the special IC that steering wheel is given in control command, control command is in the interval of per 20 milliseconds of width, with 1.5 milliseconds of special ICs of signal (pulse width modulation) input separate straight lines executing agency of pulse train of 0.5 millisecond of adding deduct, through the motor of straight line executing mechanism special IC processing with this straight line executing mechanism of rear drive, drive linear potentiometer by deceleration system, linear potentiometer feeds back to drive circuit with position signalling, realize proportion control, finally by the control command of straight-line transmitting swing arm completed percentage.All kinds of control signal mixing result of calculations process single-chip microcomputers are with PWM (Pules Width Modulation, pulse width modulation) aspect is sent the speed regulating control signal to the MOS of dynamics of management motor (Metal Oxide Semiconductor, metal-oxide-semiconductor field effect t) circuit.There are two groups of independently straight line executing mechanisms (steering wheel) in the system of Fig. 6 signal, and these two groups of straight line executing mechanisms are the left and right sides lateral movement of seesawing of control model and model in model copter.
After popular miniature model copter, the model of an airplane in recent years, straight line executing mechanism is required lighter, but be limited to original conventional design thinking, still keeping original general layout on the miniature straight line executing mechanism master-plan total arrangement.
Summary of the invention
The technical problem to be solved in the present invention is that the total arrangement from frame for movement all improves integrated level to concrete structure part and electronic circuit Butut, reach the reliability that totally alleviates construction weight, improves equipment, to adapt to the miniature model of an airplane, miniature model copter to the microminiaturization of the general structure of air environment and executing agency, the strict demand of light-dutyization of construction weight.
In order to address the above problem, the invention provides a kind of straight line executing mechanism that is used for model, comprise base plate, drive part, running part and straight line operating part, described drive part and straight line operating part are installed in the base plate both sides respectively;
Wherein, described base plate can be drive circuit board (6), described drive part comprises motor (2) and motor cabinet (9), described running part comprises driving gear (8), driven gear (7), described straight line operating part is by casing (1), screw rod (4), slide assemblies (5) is formed, described motor (2) is placed in the motor cabinet (9), one end of motor is installed driving gear (8), described casing (1) forms guide chute (3), described screw rod (4) passes casing (1), one end connects driven gear (7) and is meshing with each other with described driving gear (8), and slide assemblies (5) is installed on the screw rod.
Wherein, described slide assemblies (5) can be made up of transmission arm 51, the bulb (53) that has the slide block (52) of internal thread and have tip hole (54), described slide block (52) is connected on the screw rod by the internal thread that matches with screw rod (4), and described transmission arm (51) can be realized universal transmission agency by bulb (53) and the connecting rod with ball-head cover; Transmission agency can be realized by the connecting rod with mortise pin in tip hole (54) on the transmission arm (51);
Wherein, described screw rod can be the anti-structure that moves axially with dicyclo centring ring (41a);
Further, the end of described screw rod (4) is made location structure (41b) in the screw rod manufacturing procedure, and another one of screw rod is the structure that cooperates with the axis hole of driven gear (7) in (71b) part, realizes the axial location function of screw rod (4) on casing (1);
Wherein, described slide assemblies (5) is gone up the realization electric connection by carbon film (61a, 61b) and conducting film (62a, 62b) that brush (10) is connected across above the circuit board (6);
Further, described base plate (6) can be the electronic circuit board of remote-control receiver, and described electronic circuit board comprises
(1) receiver module is used to receive the control signal of remote controller emission and send CPU module to;
(2) CPU module is used for the control signal that receiver module transmits is finished information decoding, analog/digital signal conversion, data processing, feedback signal data relatively, and generates motor drive signal;
(3) on-off circuit module is used for receiving the signal of central processing unit and controlling opening, closing of straight line executing mechanism motor, and the speed governing of described drive part motor;
(4) position feedback potentiometer is used for feeding back the position signalling of transmission arm in the straight line executing mechanism.
Wherein, described CPU module comprises:
(1) data decode processing module is used for the control signal that receiver module transmits is decoded;
(2) mixing device module is used for the signal mixing control computing that will receive;
(3) comprehensive computing module, the feedback signal that is used for the transmission arm position of the control signal that will receive and each straight line executing mechanism is carried out comprehensive computing, and operation result is imported each electron speed regulator;
(4) electron speed regulator module, being used for operation result with mixing device module sends pulse width modulating signal by CPU module and drives corresponding motor through on-off circuit, and the electron speed regulator of handling correspondence according to comprehensive computing module operation result, drive the motor in the straight line operating part, realize the proportion control manipulation.
Wherein, the multichannel control of the combination of at least two group drive parts, running part and straight line operating part with implementation model can be installed on the described electronic circuit board;
Wherein, described model is twin-rotor helicopter or single-rotor helicopter, also comprises the electronic gyroscope module on the described electronic circuit board, is used for detecting automatically the angular speed of winding mold type vertical pivot, and the generation gyro signal is imported described CPU module.
Compared with prior art, the cancellation of straight line executing mechanism provided by the invention straight line carry out the occupy-place of motor on circuit substrate in the motion, broken through the mentality of designing of being used to have, improve the airborne equipment integrated level that comprises straight line executing mechanism, be to make every effort to more reasonable and light and handy on the structure on the structural design of traditional straight line steering wheel at model with straight line executing mechanism, further, with multinomial functional, structure is integrated, merge the technological process of production, simplify production technology, production technology is more become rationally, to adapt to the composite request of minute vehicle to airborne equipment.
Description of drawings
Figure 1A is the three-dimensional signal of straight line executing mechanism forward of the present invention;
Figure 1B is that straight line executing mechanism of the present invention is inverted three-dimensional signal;
Fig. 2 is screw rod of the present invention, straight line output actuator arm assembly, the signal of body partial cross-section structure;
Fig. 3 A is the anti-miniature screw rod signal that moves axially structure with dicyclo centring ring;
Fig. 3 B is the anti-miniature screw rod signal that moves axially structure that the screw rod end has centring ring;
Fig. 3 C is screw rod shown in Fig. 3 B and straight line output transmission arm and internal thread slide block assembly and body partial structural representation;
Fig. 4 A is electronic circuit board and straight line executing mechanism two-shipper position layout (forward) signal;
Fig. 4 B is electronic circuit board and straight line executing mechanism drive motors two-shipper position layout (oppositely) signal;
Fig. 5 is the three-dimensional exploded pictorial of electronic circuit board and two-shipper position straight line executing mechanism layout;
Fig. 6 is existing four unification electronics receiving system block diagrams;
Fig. 7 is a five in one digital and electronic receiving system block diagram of the present invention.
Piece mark:
1.----straight line executing mechanism casing
The right straight line executing mechanism casing of 1a----
1b----left side straight line executing mechanism casing
The right straight line executing mechanism cabinet base of 11a---
11b----left side straight line executing mechanism cabinet base
The right straight line executing mechanism box cover of 12a---
12b----left side straight line executing mechanism box cover
Screw rod axis hole on the 13----straight line executing mechanism casing
The right screw rod axis hole (or semi-ring signal) of 13a----
13b----left side screw rod axis hole (or semi-ring signal)
The fixed leg of 14----straight line executing mechanism casing
The right straight line executing mechanism casing of 14a----fixed leg
14b----left side straight line executing mechanism casing fixed leg
The power motor of 2----straight line executing mechanism
The right motor of 2a---
2b----left side motor
The 3----gathering sill
The right gathering sill of 3a---
3b----left side gathering sill
The 4----screw rod
The right screw rod of 4a---
4b----left side screw rod
The spacing twin nuclei of 41a----screw axial
41b----screw rod terminal shaft is to position limiting structure
5----rectilinear motion output transmission arm and internal thread slide block assembly
Right rectilinear motion output transmission arm of 5a---and internal thread slide block assembly
5b----left side rectilinear motion output transmission arm and internal thread slide block assembly
51-----rectilinear motion output transmission arm
The right rectilinear motion output of 51a---transmission arm
51b----left side rectilinear motion output transmission arm
52----internal thread slide block
The right internal thread slide block of 52a---
52b----left side internal thread slide block
53----rectilinear motion output transmission arm transmission bulb
The right bulb of 53a----
53b----left side bulb
The transmission tip hole of 54----rectilinear motion output transmission arm
The transmission tip hole of the right rectilinear motion output of 54a----transmission arm
The transmission tip hole of 54b----left side rectilinear motion output transmission arm
The 6----electronic circuit board
The right carbon film of 61a---
61b----left side carbon film
The right gold-plated copper film of 62a---
The gold-plated copper film in a 62b----left side
63----straight line straight line executing mechanism casing fixing hole
The right straight line straight line executing mechanism of 63a----casing fixing hole
63b----left side straight line straight line executing mechanism casing fixing hole
The 7----driven gear
The right driven gear of 7a----
7b----left side driven gear
The 8----driving gear
The right driving gear of 8a---
8b----left side driving gear
9----motor cover for seat
The right motor cover for seat of 9a---
9b---left side motor cover for seat
The semiaxis hole embedded block of the screw rod screens ring that the 91-----motor cabinet puts
The semiaxis hole embedded block of the screw rod screens ring that the right motor cabinet of 91a----puts
The semiaxis hole embedded block of the screw rod screens ring that 91b----left side motor cabinet puts
The fixing hole that the right motor cabinet of 92a----puts
The fixing hole that 92b----left side motor cabinet puts
The 10----brush
The right brush of 10a---
10b----left side brush
101----motor fixed screw
The right motor fixed screw of 101a----
101b----left side motor fixed screw
102----places restrictions on the axle sleeve of screw axial displacement
The 102a----right axle sleeve
The 102b----right axle sleeve
The specific embodiment
The straight line executing mechanism that telecontrolled model is used, be generally independent steering wheel, main guiding theory of the present invention is further to improve the particularly integrated level of receiver system of the straight line executing mechanism of model and other system, all carry out on frame for movement and the function certain integrated, further reduce the weight and volume of model, obtain best performance.
Below in conjunction with accompanying drawing to further detailed elaboration of the present invention.In the following description; this specification will be elaborated as a specific embodiment with remote control model helicopter; but this explanation just schematically; can not show restriction to the elaboration of this concrete model to the claimed scope of the present invention; the present invention is suitable equally to the fixed-wing model of an airplane, ship model, car mould, and protection scope of the present invention should be as the criterion with claims scope required for protection.
Figure 1A, Figure 1B have illustrated in the specific embodiment of the present invention, a kind of structure and layout of straight line executing mechanism: the casing 1 that straight line executing mechanism is set in circuit board 6 one sides, this simultaneously has intermeshing primary gear speed reducing system to comprise driven gear 7 and driving gear 8, screw rod 4, internal thread slide block, actuator arm assembly 5, and the motor 2 of straight line executing mechanism is at the back side of the casing 1 of circuit board 6, straight line executing mechanism, motor need not in circuit board 6 independent occupy-places, the whole footprints of straight line executing mechanism is reduced about 30%, effectively reduced construction weight.
The deceleration system part section signal of Fig. 2 cathetus executing agency, wherein piece mark 51,52,53,54 is that straight line moving output transmission arm and each function of internal thread slide block assembly illustrate, can find out that in conjunction with Figure 1A transmission arm 51 makes the straight line bidirectional-movement in the guide chute 3 of straight line executing mechanism envelope; The slide block with internal thread 52 that cooperates with screw rod is arranged on transmission arm and the slide block assembly; Transmission arm 51 can be realized universal transmission agency by bulb 53 and the connecting rod with ball-head cover; Transmission agency can be realized by the connecting rod with mortise pin in tip hole 54 on the transmission arm 51.In the design of straight line moving output transmission arm 5, because integrated with the tip pore structure of the bulb transmission mechanism of universal transmission agency and rotating shaft, make the requirement of above-mentioned two kinds of different kinds of drive of the transmission agency adaptation model airplane of a straight line moving transmission arm.
Fig. 3 A has illustrated a kind of new design of miniature screw rod.In big part screw rod design, because the requirement of processing technology, the bar of very thick diameter can not be processed into and have the fixedly screw rod of end cap, and prevent that screw axial from moving all is to add end cap in addition to be fixed on screw rod end to end.This common mentality of designing still occurs in miniature straight line executing mechanism.In one embodiment of the present of invention, partly set up loop system moving-coil (ring) at miniature screw rod driven gear end axle sleeve, cancelled end cap, had the annular positioning groove 41 that stops screw axial to move, saved the other end in the conventional design back-up ring is set at screw rod of screw rod 4; This locating slot concrete structure is made up of two locating rings.The advantage of this structure is that this locating slot finishes simultaneously in screw rod processing, its advantage, also be that mounting process is good, the installation of driven gear on screw rod can be installed station at one, carry out with a cover erecting tools, can guarantee that the big miniature screw rod of length is not impaired in gear and screw rod close-fitting installation process; And at deceleration box by one of driven gear, casing punishes two halves up and down from the screw rod axle center, upward be case lid, the next base 11; For miniature straight line executing mechanism, mechanical dimension own is just little, and is difficult if long screw rod is even worn two small axis hole mounting process, progress is slow, as long as and screw rod is worn a little axis hole in this programme, then screw rod, locating slot are gone into the position, case lid and base are got final product closing.The microminiature screw rod, the miniature screw diameter that for example relates in the above embodiment of the present invention is less than one millimeter, as long as break away from the mentality of designing of original conventional screw, to miniature screw rod processing enterprise design as Fig. 3 A is proposed, can produce the anti-structure that moves axially shown in the 41A among Fig. 3 A simultaneously in the modern miniature screw rod processing technology with dicyclo centring ring, can't fringe cost.This design feature also is available dedicated clamping apparatus standing screw, at screw rod 71a head reduction gearing 7 is installed; In the installation procedure of 71a axle and gear axis hole interference fit, utilize clamping apparatus can guarantee that miniature screw rod is not crooked impaired.
In conjunction with shown in Figure 5, the fixing hole that accurate straight line executing mechanism is arranged on the circuit board, fixing hole 63a, 63b that the casing fixed leg 14a of straight line executing mechanism, 14b pass circuit board 6, with casing self and motor fixing seat 91a, 61b fixed bit, and no longer be screwed useable solvents, glue or the way that the heating of plastic column 14 heads presses fixed.This technology has not only been saved screw, and maximum strong point is to have simplified mounting process, has improved work efficiency, helps improving the micro part installation accuracy.Certainly, for the purpose of reliable, also available fixed screw 101a, 101b strengthen the fixed drive motor.
The technical level of current micromachine processing technology level and precise injection molding has fully been studied in the design of the frame for movement of this case, from improving the mounting process angle of miniature straight line executing mechanism, has made the improvement of structural design.
Certainly, according to above-mentioned mentality of designing, still have multiple scheme in the concrete structure design, for example Fig. 3 B has illustrated the not end of screw rod 4b to make location structure 41b in the screw rod manufacturing procedure, and another one of screw rod partly is to cooperate with the axis hole of driven gear 7 at 71b, this structure also can axial location on casing, Fig. 3 C has just illustrated the structure of this structure at casing, just change in the mounting process, with reference to figure 5 and contrast piece mark, screw rod 4b microcephaly holds at 71b, this end of 71b pierces into and puts in the axis hole 13 in the casing earlier, and the back screws in the internal thread hole of slide block actuator arm assembly 5, after the 71b head passes other end axis hole on the casing, driven gear 7 is installed again, and later installation steps are with shown in Figure 2 identical.The gear that installs behind 41b structure on the screw rod and the other end plays the effect of placing restrictions on the screw axial motion.
Fig. 4 A, Fig. 4 B are the layout signal of a kind of two-shipper position straight line executing mechanism that uses in the helicopter telecontrolled model on the electronic circuit board machine, and Fig. 5 is this perspective exploded view with two-shipper position straight line executing mechanism electronic circuit board.In this embodiment with the direct layout of the mechanical system of straight line executing mechanism on the electronic circuit board of remote-control receiver, compare with the existing receiver of Fig. 6 and the structure of independent steering wheel, the common radio signal of integrated helicopter telecontrolled model receives on this electronic circuit board, electronic gyroscope is stable, the mixing device, comprehensive computing, numerous functions of electron speed regulator and straight line executing mechanism, its maximum characteristics are, the electronic circuit of original straight line executing mechanism control circuit and receiver electronics receiving unit function all is integrated on the electronic circuit board, original independent executing agency and the connecting conducting wire between receiver, connector all cancel, receiver was 1 in the past, the control signal of 2 passages is with 0.5 millisecond of pulse signal output of 1.5 milliseconds of plus-minuss of standard, pass to independent steering wheel by connector, the position of steering wheel transmission arm is controlled in the processing that this signal is crossed the steering wheel special IC at independent steering wheel back warp then.And in this specific embodiment, make full use of the powerful data processing function of single-chip microcomputer on the original receiver electronic circuit board, saved the special IC in the original steering wheel, changed the form that signal transmits between original electron plate and the steering wheel, and on frame for movement, steering wheel that will independent occupy-place on original electronic circuit board is installed in the back side of electronic circuit board with power motor, so not only reduce cost and alleviated weight and volume again, and the speed of having accelerated the data processing has improved control accuracy again, not only make the more miniaturization of miniature remote controlled simulator, telecontrolled model general structure weight gets and alleviates, be more conducive to improve the reliability of equipment, help optimizing model copter, the flying quality of the model of an airplane.
Fig. 7 has shown that the four-way model copter is the theory of constitution of this integrated electronic circuit board structure of example in specific embodiment of the present invention, and this electronic circuit board integrated morphology generally comprises the travel feedback potentiometer and the motor of the mechanical part of high frequency reception 1, decoded data processing 2, electronic gyroscope 3, mixing device 4, data comparison 7, electron speed regulator, MOS on-off circuit and straight line executing mechanism.Its core characteristics be adopted current with the fastest developing speed, range of application is the widest, volume is little, in light weight, single-chip microcomputer that function is strong (double dot dash line frame in the figure), all processing, computing work such as the decoding on the machine, analog/digital conversion, data processing, the comparison of feedback signal data, motor drive signal generation are all taken on by it.
From the angle of logic aspect, the repertoire of this electronic circuit board integrated morphology is integrated receiver and steering wheel, integrated module should comprise at least: (1) receiver module is used to receive the control signal of remote controller emission and send CPU module to; (2) CPU module is used for the control signal that receiver module transmits is finished information decoding, analog/digital signal conversion, data processing, feedback signal data relatively, and generates motor drive signal; (3) on-off circuit module is used for receiving the signal of central processing unit and controlling opening, closing of straight line executing mechanism motor, and the speed governing of described drive part motor; (4) position feedback potentiometer module is used for feeding back the position signalling of transmission arm in the straight line executing mechanism.In model copter, also should comprise the electronic gyroscope module, be used for detecting automatically the angular speed of winding mold type vertical pivot, and signal is imported the mixing device.
Wherein said CPU module specifically comprises again: (1) data decode processing module is used for the control signal that receiver module transmits is decoded; (2) mixing device module is used for the signal mixing control computing that will receive; (3) comprehensive computing module, the feedback signal that is used for the transmission arm position of the control signal that will receive and each straight line executing mechanism is carried out comprehensive computing, and operation result is imported each electron speed regulator; (4) electron speed regulator module, be used for the operation result of mixing device module is sent pulse width modulating signal drives corresponding rotor or tail screw through on-off circuit power motor by CPU module, and the electron speed regulator of handling correspondence according to the operation result of comprehensive computing module, drive the motor in the straight line operating part, realize the proportion control manipulation.Electron speed regulator described in the present embodiment is actually by monolithic processor controlled metal-oxide-semiconductor to be formed, and after single-chip microcomputer sends the electronic speed regulation signal, regulates rotating speed of motor by metal-oxide-semiconductor.
Hence one can see that, following function that this electronic line plate is mainly integrated:
1. the information of radio signal reception-reception remote controller emission and these information decodings are become control signal; 2. electronic gyroscope-detect the angular speed of winding mold type vertical pivot automatically, and signal is imported the mixing device; 3. the mixing of mixing device function-control signal and gyro signal control computing; 4. the comprehensive calculation function-feedback signal of the transmission arm position of the control signal that receives and each straight line executing mechanism is carried out comprehensive computing, operation result is imported each electron speed regulator; 5. the electron speed regulator function comprises following two kinds of functions, and promptly a. drives driving force motor to the operation result of mixing device by electron speed regulator; B. according to comprehensive operation result by each electron speed regulator of handling the passage correspondence, drive the motor in the executing agency of each passage, finish control command by the transmission arm of straight line executing mechanism to each passage, realize that proportion control handles; 6. the mechanical part of straight line executing mechanism, promptly power motor is at the straight line executing mechanism of back of circuit board.
This integrated morphology remains according to the operation principle of general helicopter telecontrolled model comes work, but because straight line executing mechanism has carried out further integrated, the repertoire of decoding function that above-mentioned functions is 1 li and function 3,4,5 all will be born by an integrated circuit of single-chip microcomputer, and no longer include " drive circuit board of steering wheel " of individualism, therefore also do not re-use the special IC of steering wheel, the electronic section function of integrated five in one is added the frame for movement of straight line executing mechanism on the whole electronic circuit board.
With four-channel remote control model helicopter is example, and specifically in operation the time, high-frequency signal becomes low-frequency data signal through part 1 " high frequency reception " circuit conversion, and these data are decoded by the part 2 single-chip microcomputer, resolve into the manipulation data of each passage.1 passage, 2 passage manipulation datas enter the 7th part, the signal of position feedback potentiometer with them compares respectively, utilize respectively then the 8th and the 9 two MOS circuit control this 10th and the 11 two electric operator in the rotation of motor, when control signal and position feed back signal reach poised state, just stop the rotation of motor, so just realize the proportional control purpose of these two passages.The signal of the 3rd portions of electronics gyro is imported the 4th part mixing device, the signal of 3 channel signals and 4 passages is also imported the mixing device, after carrying out mixing and calculating respectively by the 6th and the 9MOS circuit control the rotating speed of upper and lower rotor motor, so just can realize lifting, with the direction of 4 passages control helicopter with 3 passages control helicopter.
In aforementioned specific embodiment, carry out the 1st passage and the 2nd passage control command, be that computer directly carries out computing to the numerical data of the manipulation control that receives and the position feed back signal of linear potentiometer, directly control the motor that electron speed regulator drives straight line executing mechanism by computer later on, by the slide block-actuator arm assembly of this Motor Drive linear potentiometer, final transmission arm completed percentage control command by straight line executing mechanism.The 4th passage is handled the control signal mixing result of calculation of control signal and gyro feedback signal and the 3rd passage (throttle) and is sent speed regulating control signal in the PWM mode to the MOS of dynamics of management motor circuit through single-chip microcomputer.In actual applications, for example in the twin-rotor helicopter up and down rotating speed poor of two groups of rotors of control, be the rotating speed of control main rotor and tail screw in single-rotor helicopter, thereby reach the purpose of control heading.
The wireless remote control technology of this patent adopts the 2.4G communication standard, and the signal of this standard all is a digital signal, and throttle signal+gyro signal+directional control signal is exactly a direction control signal, and yes will also will have a series of digitized processing according to a certain percentage.
Though described the present invention by embodiment, those of ordinary skills know, without departing from the spirit and substance in the present invention, just can make the present invention that many distortion and variation are arranged, and scope of the present invention is limited to the appended claims.For example, in the fixed-wing model of an airplane, may not need the electronic gyroscope module in the integrated electronic circuit board, so the present invention's scope required for protection should be as the criterion with claims.
Claims (10)
1, a kind of straight line executing mechanism that is used for model comprises base plate, drive part, running part and straight line operating part, it is characterized in that described drive part and straight line operating part are installed in the base plate both sides respectively.
2, straight line executing mechanism as claimed in claim 1, it is characterized in that described base plate is drive circuit board (6), described drive part comprises motor (2) and motor cabinet (9), described running part comprises driving gear (8), driven gear (7), described straight line operating part is by casing (1), screw rod (4), slide assemblies (5) is formed, described motor (2) is placed in the motor cabinet (9), one end of motor is installed driving gear (8), described casing (1) forms guide chute (3), described screw rod (4) passes casing (1), one end connects driven gear (7) and is meshing with each other with described driving gear (8), and slide assemblies (5) is installed on the screw rod.
3, straight line executing mechanism as claimed in claim 2, it is characterized in that described slide assemblies (5) is made up of transmission arm 51, the bulb (53) that has the slide block (52) of internal thread and have tip hole (54), described slide block (52) is connected on the screw rod by the internal thread that matches with screw rod (4), and described transmission arm (51) can be realized universal transmission agency by bulb (53) and the connecting rod with ball-head cover; Transmission agency can be realized by the connecting rod with mortise pin in tip hole (54) on the transmission arm (51).
4,, it is characterized in that described screw rod has the anti-structure that moves axially of dicyclo centring ring (41a) as the described straight line executing mechanism of claim 2-4.
5, as the described straight line executing mechanism of claim 2-4, the end that it is characterized in that described screw rod (4) is made location structure (41b) in the screw rod manufacturing procedure, and another one of screw rod is the structure that cooperates with the axis hole of driven gear (7) in (71b) part, realizes the axial location function of screw rod (4) on casing (1).
6,, it is characterized in that described slide assemblies (5) is connected across the top carbon film (61a, 61b) of circuit board (6) by brush (10) and conducting film (62a, 62b) is gone up the realization electric connection as the described straight line executing mechanism of claim 2-5.
7,, it is characterized in that described base plate (6) is the electronic circuit board of remote-control receiver, comprises on the described electronic circuit board as the described straight line executing mechanism of claim 2-6
(1) receiver module is used to receive the control signal of remote controller emission and send CPU module to;
(2) CPU module is used for the control signal that receiver module transmits is finished information decoding, analog/digital signal conversion, data processing, feedback signal data relatively, and generates motor drive signal;
(3) on-off circuit module is used for receiving the signal of central processing unit and controlling opening, closing of straight line executing mechanism motor, and the speed governing of described drive part motor;
(4) position feedback potentiometer is used for feeding back the position signalling of transmission arm in the straight line executing mechanism.
8, straight line executing mechanism as claimed in claim 7 is characterized in that described CPU module comprises:
(1) data decode processing module is used for the control signal that receiver module transmits is decoded;
(2) mixing device module is used for the signal mixing control computing that will receive;
(3) comprehensive computing module, the feedback signal that is used for the transmission arm position of the control signal that will receive and each straight line executing mechanism is carried out comprehensive computing, and operation result is imported each electron speed regulator;
(4) electron speed regulator module, being used for operation result with mixing device module sends pulse width modulating signal by CPU module and drives corresponding motor through on-off circuit, and the electron speed regulator of handling correspondence according to comprehensive computing module operation result, drive the motor in the straight line operating part, realize the proportion control manipulation.
9,, it is characterized in that installing on the described electronic circuit board multichannel control of the combination of at least two group drive parts, running part and straight line operating part with implementation model as claim 7,8 described straight line executing mechanisms.
10, as the described straight line executing mechanism of claim 7-9, it is characterized in that described model is twin-rotor helicopter or single-rotor helicopter, also comprise the electronic gyroscope module on the described electronic circuit board, be used for detecting automatically the angular acceleration of winding mold type vertical pivot, and the generation gyro signal is imported described CPU module.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910180498A CN101658732A (en) | 2009-10-16 | 2009-10-16 | Straight line executing mechanism |
| PCT/CN2010/001639 WO2011044762A1 (en) | 2009-10-16 | 2010-10-18 | Linear executing mechanism for model airplanes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910180498A CN101658732A (en) | 2009-10-16 | 2009-10-16 | Straight line executing mechanism |
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|---|---|
| CN101658732A true CN101658732A (en) | 2010-03-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910180498A Pending CN101658732A (en) | 2009-10-16 | 2009-10-16 | Straight line executing mechanism |
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| Country | Link |
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| CN (1) | CN101658732A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011044762A1 (en) * | 2009-10-16 | 2011-04-21 | 上海九鹰电子科技有限公司 | Linear executing mechanism for model airplanes |
| CN102495636A (en) * | 2011-12-14 | 2012-06-13 | 中国人民解放军总参谋部第六十研究所 | Main steering gear system of unmanned helicopter |
| WO2012159387A1 (en) * | 2011-05-23 | 2012-11-29 | 深圳市沈氏彤创航天模型有限公司 | Linear servomechanism for rc model aeroplane |
| WO2013082854A1 (en) * | 2011-12-08 | 2013-06-13 | 深圳市沈氏彤创航天模型有限公司 | Servo circuit board structure for remote control model helicopter |
| CN103182189B (en) * | 2011-12-29 | 2015-12-09 | 昊翔电能运动科技(昆山)有限公司 | The circuit board controlled for the flight of the fixed-wing model of an airplane and the fixed-wing model of an airplane |
| CN109915560A (en) * | 2019-03-08 | 2019-06-21 | 天津市大然科技有限公司 | Miniature electric linear driving servo steering engine |
| CN109938578A (en) * | 2017-12-20 | 2019-06-28 | 广东美的生活电器制造有限公司 | Screw rod, food preparation cup and food processor |
| CN110986666A (en) * | 2019-12-17 | 2020-04-10 | 西安奇维科技有限公司 | High-reliability electric bolt opening structure based on position detection and method thereof |
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2009
- 2009-10-16 CN CN200910180498A patent/CN101658732A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011044762A1 (en) * | 2009-10-16 | 2011-04-21 | 上海九鹰电子科技有限公司 | Linear executing mechanism for model airplanes |
| WO2012159387A1 (en) * | 2011-05-23 | 2012-11-29 | 深圳市沈氏彤创航天模型有限公司 | Linear servomechanism for rc model aeroplane |
| WO2013082854A1 (en) * | 2011-12-08 | 2013-06-13 | 深圳市沈氏彤创航天模型有限公司 | Servo circuit board structure for remote control model helicopter |
| CN102495636A (en) * | 2011-12-14 | 2012-06-13 | 中国人民解放军总参谋部第六十研究所 | Main steering gear system of unmanned helicopter |
| CN102495636B (en) * | 2011-12-14 | 2013-05-15 | 中国人民解放军总参谋部第六十研究所 | Main steering gear system of unmanned helicopter |
| CN103182189B (en) * | 2011-12-29 | 2015-12-09 | 昊翔电能运动科技(昆山)有限公司 | The circuit board controlled for the flight of the fixed-wing model of an airplane and the fixed-wing model of an airplane |
| CN109938578A (en) * | 2017-12-20 | 2019-06-28 | 广东美的生活电器制造有限公司 | Screw rod, food preparation cup and food processor |
| CN109938578B (en) * | 2017-12-20 | 2021-05-04 | 广东美的生活电器制造有限公司 | Screw, food processing cup and food processor |
| CN109915560A (en) * | 2019-03-08 | 2019-06-21 | 天津市大然科技有限公司 | Miniature electric linear driving servo steering engine |
| CN110986666A (en) * | 2019-12-17 | 2020-04-10 | 西安奇维科技有限公司 | High-reliability electric bolt opening structure based on position detection and method thereof |
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