CN101708370B - Helicopter course control device - Google Patents
Helicopter course control device Download PDFInfo
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- CN101708370B CN101708370B CN2009102265345A CN200910226534A CN101708370B CN 101708370 B CN101708370 B CN 101708370B CN 2009102265345 A CN2009102265345 A CN 2009102265345A CN 200910226534 A CN200910226534 A CN 200910226534A CN 101708370 B CN101708370 B CN 101708370B
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Abstract
The invention provides a helicopter course control device. A main rotor is hinged on a main shaft through a main-rotor fixing seat and can swing around a hinge pin on the main shaft. A tilt disc combination is sleeved on the main shaft. A spring is pressed on a frame and presses a sliding sleeve upwards. The tilt disc combination is pressed on the sliding sleeve, and the sliding sleeve can slide up and down along the direction of the main shaft. After coils of electromagnetic devices are electrified, movement of magnetic material inside can drive a swing rod to move. The moving swing rod can drag the tilt disc combination to tilt through an electromagnetic push-pull rod. The electromagnetic devices are separately fixed on a circuit board. When a remote controller sends a direction instruction, a receiving circuit can allow current to be generated in the coils, and the direction of the current changes with the direction instruction changes of the remote controller. One of the two electromagnetic devices provides a helicopter with forward and backward moment, and the other electromagnetic device provides the helicopter with left and right moment.
Description
Technical field
The utility model relates to a kind of wireless remotecontrol helicopter, relates in particular to the directional control device of a kind of model plane or toy helicopter.
Background technology
As everyone knows, the flight of helicopter is to lean on the rotation of the high speed of main rotor to produce external force, and it turns to is that the angle of attack that logical certain structure is adjusted main rotor is realized its course.For existing model plane system, mainly be to utilize the state of two steering wheels control pitches to adjust the course of helicopter.Use the remote controller firing order, make one of them steering wheel work, the fork of plane can drag the swash plate that has a down dip and tilt towards specific direction, and the updip swash plate can also tilt towards this specific direction under the effect of the swash plate that has a down dip.The pull bar of updip swash plate can drag main rotor or " Xi La " winglet, makes the main rotor angle of attack produce the variation in cycle, and the main rotor of inclination can produce that the angle of attack is big on one side, on one side the angle of attack little.The lift that one side that the angle of attack is big produces is big, and the lift that one side that the angle of attack is little produces is little, and the lift difference on both sides will cause helicopter skew equilbrium position, and helicopter flies towards predetermined direction.
Airplane model steering engine is by motor, potentiometer, gear, compositions such as fork.Behind the remote controller firing order, steering wheel revolution, and driven gear rotation, the pendulum stalk on the driven wheel will drive the pitch action.Potentiometer is mainly used in sampling: the angle of the fork rotation on the driven wheel changes; The resistance of potentiometer also will change; Circuit changes the resistance that changes into the signal of telecommunication and feeds back to CPU; CPU will compare the instruction and the sampling parameters of remote controller, can determine whether switch on to motor according to comparative result CPU, to satisfy the remote command requirement again.The angle of driven wheel upper pendulum bar, with the inclined degree of decision pitch, the degree that pitch tilts will determine the speed towards certain direction motion of helicopter.The airplane model steering engine action is accurate, but complex structure, cost is high.
In a disclosed Chinese patent 200720002278.8, what it adopted is to promote the main rotor draft link with one or several electromagnet, thereby changes the angle of attack of main rotor, and it is little that the main rotor of inclination can produce big one side of the angle of attack, one side angle of attack.The lift that one side that the angle of attack is big produces is big, and the lift that one side that the angle of attack is little produces is little, and the lift difference on both sides will cause helicopter skew equilbrium position.A point prosecutor formula is adopted in this structure helicopter remote control, promptly presses button, and helicopter as wants four direction that action is all arranged to preshoot once, then will adorn four electromagnet.This structure can realize the course control of four direction, but flare maneuver is not very smooth and easy, can only be one dash move towards certain direction.
It is a kind of simple in structure that the present invention provides, low cost configuration, and can realize helicopter motion all around.
Summary of the invention
Technical problem to be solved by this invention provides a kind of directional control device of wireless remotecontrol four-way helicopter, and this device helicopter comprises main shaft, collar bush, main rotor, a cover pitch combination, a pair of main rotor pull bar, a sliding sleeve, a sleeve base, a spring, pair of electrical magnet pull bar, two cover electromagnet apparatus and frames; Said main rotor links on collar bush with the main rotor holder, and can swing by the bearing pin on collar bush; The pitch combination is enclosed within on the main shaft; The updip swash plate of pitch combination rotates with main shaft and is flexibly connected by a pair of main rotor pull bar and main rotor holder, the pitch combination have a down dip swash plate for do not rotate pitch and by pair of electrical magnet pull bar respectively with the fork flexible connection of two cover electromagnet apparatus; Spring is pressed on the frame, and upwards pushes down sliding sleeve; The pitch combination is pressed on the sliding sleeve, and sliding sleeve can slide up and down along major axes orientation on sleeve base;
Behind the coil electricity of said electromagnet apparatus, magnetic material is movable therein can to drive the fork activity; Movable said fork can drag the pitch combination through the electromagnet pull bar and tilt;
The said electromagnet apparatus of two covers separately is fixed on the circuit board, or separately is fixed on the frame; When the remote controller transmit direction instructed, receiving circuit can make and produce electric current in the coil, and sense of current changes with the firing order of remote controller; In the two cover electromagnet apparatus, a cover is the moment that moves forward and backward to helicopter to be provided; One cover is to provide left and to the right moment to helicopter.
The said pitch that slides over makes up when swinging, and is tilted dish combination and spring and promotes on sleeve base, to slide up and down, and in a word, it slides up and down along major axes orientation; When helicopter was worked, sliding sleeve can rotate, but also do not rotate.
Said spring one end is pressed on the frame, and the other end is pressed on the sliding sleeve, and spring is resilient object, and pitch makes up after pressing down sliding sleeve, can produce restoring force and make sliding sleeve get back to original position; Thereby make the pitch combination get back to horizontal original position.
When tilting, said pitch combination can compress said spring through sliding sleeve; Spring is above the pitch combination.
Magnetic material is laid in the South Pole of the magnet in the said electromagnet apparatus or the periphery of the arctic, in the said magnetic material of magnet in the electromagnet apparatus and electromagnet apparatus periphery, has at least one to be permanent magnet.
When said spring makes progress the sliding cover, also can the pitch combination upwards be pushed away, the main rotor connecting rod can withstand the pitch combination, does not allow sliding sleeve that displacement is upwards arranged; Or pitch combination can rotate around a spheroid, and spheroid is fixed on the main shaft, and when spring made progress the sliding cover, spheroid can withstand the pitch combination, did not allow sliding sleeve that displacement is upwards arranged.
Said main rotor pull bar one end is connected with universal strand with the updip swash plate of pitch combination, and the other end is connected with main rotor or the universal strand of main rotor holder; The main rotor pull bar is limited in respectively in the groove of level on the main shaft, rotates with main rotor, main shaft with the updip swash plate that guarantees the combination of main rotor pull bar and pitch; Stretch out a position limit arm on the swash plate that has a down dip of said pitch combination and be limited in the vertical groove of frame and move up and down, do not rotate with main shaft with the swash plate that has a down dip that guarantees the pitch combination.
Said electromagnet pull bar is non-magnetic material or weak magnetic material, in order to avoid by magnet attracts; Said electromagnet pull bar is made up of two parts up and down, and top is connected with the universal strand of the swash plate that has a down dip of pitch combination, and the lower part becomes universal strand to be connected with fork or the linearity connection, and the electromagnet pull bar can be adjusted total length as required.
Said electromagnet apparatus coil electricity is to be controlled by dutycycle; To the speed needs that move all around, telecommand control circuit board for receiving sends different dutycycles according to helicopter, thus the conduction time in the control coil, and the length of the conduction time in the coil will influence the magnet rotating torque, thereby control the fork output torque; Pitch combination below has spring to withstand, and during the fork swing, needs the combination of pulling pitch to tilt; The pitch combination of tilting is with downward sliding cover, and sliding sleeve compression spring that is to say that dutycycle is strong; Then the power of electromagnet output is just big; It is just big to drag the amount that pitch combination tilts, otherwise it is just little to drag the amount that the pitch combination tilts; Servo-drive system of not having feedback of whole formation.
Compared with prior art, the present invention has simplified valuable steering wheel structure, adopts cheap electromagnet structure to substitute, and adopts spring that the pitch combination is resetted, and the decrement of compression spring is directly proportional with stressed.The coil of electromagnet apparatus adopts PWM control, and the power that is produced is directly controlled by PWM.Behind the coil electricity, the stressed drive fork of magnet rotates, and fork is not receiving under the external force effect, and no matter coil PWM is strong and weak, and fork all will be put extreme position.But after being connected with the electromagnet pull bar on the fork, the moment of being exported can drag the pitch combination.When moment was big, pitch combination inclined degree was big, otherwise inclined degree is little.Telecommand control circuit board for receiving sends different PWM, thus the conduction time in the control coil, the length of the conduction time in the coil will influence the magnet rotating torque, thus control fork output torque.Pitch combination below has spring to withstand, and during the fork swing, needs the combination of pulling pitch to tilt; The pitch combination of tilting is with downward sliding cover, and sliding sleeve compression spring that is to say that PWM is strong; Then the power of electromagnet output is just big; It is just big to drag the amount that pitch combination tilts, otherwise it is just little to drag the amount that the pitch combination tilts.Whole system constitutes a servo-drive system of not having feedback.
Though on control accuracy, can not compare with valuable motor steering wheel, practical application is enough.Therefore directional control of the present invention mechanism is not only simple in structure, and good mechanical property, and low price adapts in a large number and produces.
Description of drawings
Fig. 1: be the structural representation of one embodiment of the invention.
Fig. 2: be the top view clock sketch map of one embodiment of the invention.
Fig. 3: be the pitch combining structure sketch map of one embodiment of the invention.
Fig. 4: be the electromagnet apparatus structural representation of one embodiment of the invention.
Fig. 5: be the PWM waveform sketch map of one embodiment of the invention.
Fig. 6: be the advance graph of a relation of PWM and the distant bar of remote controller position of the receiver of one embodiment of the invention.
The accompanying drawing piece mark:
The 1-sliding sleeve,
2-main rotor pull bar,
The 3-balancing pole,
The last main rotor holder of 4-,
The last main rotor of 5-,
The 6-main shaft,
Main rotor holder under the 7-,
The 8-collar bush,
The combination of 9-pitch,
Main rotor under the 10-,
11-electromagnet pull bar B,
12-electromagnet apparatus B,
The 13-circuit board,
14-electromagnet apparatus A
15-electromagnet pull bar A,
The 16-frame,
The 17-sleeve base,
The 18-spring,
The 19-bearing,
20-updip swash plate,
The 21-swash plate that has a down dip,
The 22-fork,
The 23-coil holder,
The 24-coil,
25-magnet,
The 26-bearing pin,
The little iron block of 27-
The specific embodiment
With embodiment the present invention is done further detailed narration below in conjunction with accompanying drawing one.
One of embodiments of the invention are a kind of coaxial pair of slurry helicopters, and its structural representation is seen accompanying drawing one.This course device comprises frame 16, balancing pole 3, electromagnet apparatus A14, electromagnet apparatus B12, electromagnet pull bar A15, electromagnet pull bar B11, pitch combination 9, sliding sleeve 1, sleeve base 17, spring 18, main shaft 6, collar bush 8, goes up main rotor 5, goes up main rotor holder 4, main rotor 10, main rotor holder 7, main rotor pull bar 2, circuit board 13, little iron block 27 down down.Wherein electromagnet apparatus A14 and electromagnet apparatus B12 all are fixed on the circuit board 13, and pitch combination 9 is made up of updip swash plate 20, the swash plate 21 that has a down dip, bearing 19, and its structural representation is seen accompanying drawing three.Electromagnet apparatus is made up of coil 24, coil holder 23, fork 22, magnet 25 and bearing pin 26, and its structural representation is seen accompanying drawing four.
The coil 24 of electromagnet apparatus is enclosed within on the coil holder 23, and magnet 25 is fixed on the fork 22, and fork 22 usefulness bearing pins 26 are connected 23 li of coil holders, and can rotate around bearing pin 26.Electromagnet apparatus A14, B12 branch are opened and are fixed on the acceptor circuit plate 13.The fork 22 of electromagnet pull bar A15, B11 one end and electromagnet apparatus A14, B12 flexibly connects, and the other end is connected with the universal strand of swash plate 21 usefulness that has a down dip.Below electromagnet apparatus A14, B12; The South Pole of magnet 25 or the arctic are placed with a little iron block 27, to attract magnet 25, an electromagnet apparatus energising; Under the cold situation of another electromagnet apparatus; When the electromagnet apparatus of energising drags pitch combination 9 work, can have influence on the no power electromagnet apparatus, and influence the course quality.The interior magnet of no power electromagnet apparatus this moment can attract little iron block 27, not influenced by external force to guarantee fork 22 as much as possible, guarantees the course quality.
When instruction is refueled in the remote controller emission; Receiver receives signal, and helicopter main rotor 5,10 is up and down started working, when the remote controller transmit direction instructs; 24 li of the coils of electromagnet apparatus produce electric current, and sense of current changes with the firing order of remote controller.Magnet 25 in the coil holder 23 can be swung after coil 24 energisings, and orders about fork 22 rotations.Fork 22 makes up 9 through electromagnet pull bar A15, B11 push-and-pull pitch, and makes pitch make up 9 run-off the straights, and in the two cover electromagnet combinations, a cover is the moment that moves forward and backward to helicopter to be provided.One cover is to provide left and to the right moment to helicopter.
The manipulation of physical helicopter is following: suppose that the direction of advancing with helicopter is 0 an o'clock direction; Direction of retreat is 6 an o'clock direction; Heading is 3 an o'clock direction to the right, and heading is 9 an o'clock direction left. see accompanying drawing two when instruction is refueled in the remote controller emission, receiver receives signal; Helicopter main rotor is up and down started working, and helicopter takes off.When going straight up to function stabilized flight aloft, instruct through the remote controller transmit direction:
One; When remote controller emission advancement commands; The coil of electromagnet apparatus A14 produces electric current for 24 li, and the fork 22 of electromagnet apparatus A14 is upwards swung and upwards pushed away pitch combination 9 through electromagnet pull bar A15, and makes pitch make up 9 run-off the straights; The pitch combination 9 of tilting is controlled the variation of the angle of attack generating period of main rotor 10 down through main rotor pull bar 2: following main rotor 10 wing incidence on one side is when 4 half directions, and the angle of attack is maximum; Until 10 half directions, the angle of attack diminishes gradually; This wing incidence is when 10 half directions, and the angle of attack is minimum; Until 4 half directions, it is big that this wing incidence becomes gradually.That is to say: main rotor 10 wing incidence on one side is when 4 half directions instantly, and the angle of attack is maximum, and the wing incidence of another side is at this moment in 10 half directions, and the angle of attack is minimum, and it is poor that both sides angle of attack difference has also just produced lift, and lift official post helicopter departs from the equilbrium position.This moment, helicopter advanced.According to the variation of remote controller firing order, receiving circuit sends different PWM.When PWM was strong, the degree that pitch makes up 9 run-off the straights was big, and wing incidence changes greatly, and the helicopter pace is fast, otherwise the helicopter pace is slow.
Two; When instruction is retreated in the remote controller emission; The coil of electromagnet apparatus A14 produces electric current for 24 li, and the fork 22 of electromagnet apparatus A14 makes up 9 to lower swing and through electromagnet pull bar A15 to drop-down pitch, and makes pitch make up 9 run-off the straights; The pitch combination 9 of tilting is controlled the variation of the angle of attack generating period of main rotor 10 down through main rotor pull bar 2: following main rotor 10 wing incidence on one side is when 10 half directions, and the angle of attack is maximum; Until 4 half directions, the angle of attack diminishes gradually; This wing incidence is when 4 half directions, and the angle of attack is minimum; Until 10 half directions, it is big that this wing incidence becomes gradually.That is to say: main rotor 10 wing incidence on one side is when 10 half directions instantly, and the angle of attack is maximum, and the wing incidence of another side is at this moment in 4 half directions, and the angle of attack is minimum, and it is poor that both sides angle of attack difference has also just produced lift, and lift official post helicopter departs from the equilbrium position.This moment, helicopter was retreated.According to the variation of remote controller firing order, receiving circuit sends different PWM.When PWM was strong, the degree that pitch makes up 9 run-off the straights was big, and wing incidence changes greatly, and the helicopter astern speed is fast, otherwise the helicopter astern speed is slow.
Three; When the remote controller emission is instructed to the right; The coil of electromagnet apparatus B12 produces electric current for 24 li, and the fork 22 of electromagnet apparatus B12 makes up 9 to lower swing and through electromagnet pull bar B11 to drop-down pitch, and makes pitch make up 9 run-off the straights; The pitch combination 9 of tilting is controlled the variation of the angle of attack generating period of main rotor 10 down through main rotor pull bar 2: following main rotor 10 wing incidence on one side is when 7 half directions, and the angle of attack is maximum; Until 1 half direction, the angle of attack diminishes gradually; This wing incidence is when 7 half directions, and the angle of attack is minimum; Until 1 half direction, it is big that this wing incidence becomes gradually.That is to say: main rotor 10 wing incidence on one side is when 7 half directions instantly, and the angle of attack is maximum, and the wing incidence of another side is at this moment in 1 half direction, and the angle of attack is minimum, and it is poor that both sides angle of attack difference has also just produced lift, and lift official post helicopter departs from the equilbrium position.This moment, helicopter flew to the right.According to the variation of remote controller firing order, receiving circuit sends different PWM.When PWM was strong, the degree that pitch makes up 9 run-off the straights was big, and wing incidence changes greatly, and helicopter flying speed to the right is fast, otherwise helicopter flying speed to the right is slow.
Four; When the remote controller emission is instructed left; The coil of electromagnet apparatus B12 produces electric current for 24 li, and the fork 22 of electromagnet apparatus B12 is upwards swung and upwards pushed away pitch combination 9 through electromagnet pull bar B11, and makes pitch make up 9 run-off the straights; The pitch combination 9 of tilting is controlled the variation of the angle of attack generating period of main rotor 10 down through main rotor pull bar 2: following main rotor 10 wing incidence on one side is when 1 half direction, and the angle of attack is maximum; Until 7 half directions, the angle of attack diminishes gradually; This wing incidence is when 1 half direction, and the angle of attack is minimum; Until 7 half directions, it is big that this wing incidence becomes gradually.That is to say: main rotor 10 wing incidence on one side is when 1 half direction instantly, and the angle of attack is maximum, and the wing incidence of another side is at this moment in 7 half directions, and the angle of attack is minimum, and it is poor that both sides angle of attack difference has also just produced lift, and lift official post helicopter departs from the equilbrium position.This moment, helicopter flew left.According to the variation of remote controller firing order, receiving circuit sends different PWM.When PWM was strong, the degree that pitch makes up 9 run-off the straights was big, and wing incidence changes greatly, and helicopter flying speed left is fast, otherwise helicopter flying speed left is slow.
Why the course of helicopter is not on the direction of 4 halfs, 7 halfs, 10 halfs, 1 half, to change, and mainly is that the situation that pitch combination 9 will change it needs the time because main rotor 10 produces gyroscopic effect when rotating at a high speed down.
The experiment proof: on the helicopter circuit, install gyroscope additional to pin afterbody, guarantee that afterbody does not rotate, above-mentioned control effect is very good.The speed that the player can move according to helicopter is adjusted the remote controller output order, make coil PWM strong or a little less than so that the tilt quantity of control pitch, and then the speed that moves of control helicopter.Skilled operator can make helicopter do circling aloft further through the control of wagging the tail, and does flight eight or the like.
Selected for use above and thought that at present the most practical and illustrated embodiments is described apparatus and method of the present invention.But should be noted that the present invention does not receive the restriction of above-mentioned disclosed embodiment.All will be included in the spirit of claims of the present invention for similar structures of the present invention and various modification, this scope should give explanation the most widely, so that comprise the similar structures and the modification of this all types.
Claims (9)
1. the directional control device of a helicopter, said helicopter comprise main shaft, collar bush, main rotor, a cover pitch combination, a pair of main rotor pull bar, a sliding sleeve, a sleeve base, a spring, pair of electrical magnet pull bar, two and overlap electromagnet apparatus and frames; Said main rotor links on collar bush with the main rotor holder, and can swing by the bearing pin on collar bush; The pitch combination is enclosed within on the main shaft; The updip swash plate of pitch combination rotates with main shaft and is flexibly connected by a pair of main rotor pull bar and main rotor holder, the pitch combination have a down dip swash plate for do not rotate pitch and by pair of electrical magnet pull bar respectively with the fork flexible connection of two cover electromagnet apparatus; Spring is pressed on the frame, and upwards pushes down sliding sleeve; The pitch combination is pressed on the sliding sleeve, and sliding sleeve can slide up and down along major axes orientation on sleeve base;
Behind the coil electricity of said electromagnet apparatus, magnetic material is movable therein can to drive the fork activity; Movable said fork can drag the pitch combination through the electromagnet pull bar and tilt;
The said electromagnet apparatus of two covers separately is fixed on the circuit board, or separately is fixed on the frame; When the remote controller transmit direction instructed, receiving circuit can make and produce electric current in the coil, and sense of current changes with the firing order of remote controller; In the two cover electromagnet apparatus, a cover is the moment that moves forward and backward to helicopter to be provided; One cover is to provide left and to the right moment to helicopter.
2. according to the directional control device of the said helicopter of claim 1, it is characterized in that: said when sliding over pitch combination and tilting, promotion slides up and down on sleeve base with spring to be tilted the dish combination, and in a word, it slides up and down along major axes orientation; When helicopter was worked, sliding sleeve did not rotate.
3. according to the directional control device of the said helicopter of claim 1; It is characterized in that: said spring one end is pressed on the frame, and the other end is pressed on the sliding sleeve, and spring is resilient object; The pitch combination can produce restoring force and make sliding sleeve get back to original position after pressing down sliding sleeve; Sliding sleeve withstands the pitch combination, to guarantee the pitch combined horizontal.
4. according to the directional control device of the said helicopter of claim 1, it is characterized in that: can compress said spring through sliding sleeve when said pitch combination is tilted; Spring is above the pitch combination.
5. according to the directional control device of the said helicopter of claim 1; It is characterized in that: magnetic material is laid in the South Pole of the magnet in the said electromagnet apparatus or the periphery of the arctic; In the said magnetic material of magnet in the electromagnet apparatus and electromagnet apparatus periphery, have at least one to be permanent magnet.
6. according to the directional control device of the said helicopter of claim 1, it is characterized in that: when said spring makes progress the sliding cover, also can the pitch combination upwards be pushed away, the main rotor pull bar can withstand the pitch combination, does not allow sliding sleeve that displacement is upwards arranged; Or pitch combination can rotate around a spheroid, and spheroid is fixed on the main shaft, and when spring made progress the sliding cover, spheroid can withstand the pitch combination, did not allow sliding sleeve that displacement is upwards arranged.
7. according to the directional control device of the said helicopter of claim 1, it is characterized in that: said main rotor pull bar one end is connected with universal strand with the updip swash plate of pitch combination, and the other end is connected with main rotor or the universal strand of main rotor holder; The main rotor pull bar is limited in respectively in the groove of level on the main shaft, rotates with main rotor, main shaft with the updip swash plate that guarantees the combination of main rotor pull bar and pitch; Stretch out a position limit arm on the swash plate that has a down dip of said pitch combination and be limited in the vertical groove of frame and move up and down, do not rotate with main shaft with the swash plate that has a down dip that guarantees the pitch combination.
8. according to the directional control device of the said helicopter of claim 1, it is characterized in that: said electromagnet pull bar is non-magnetic material or weak magnetic material, in order to avoid by magnet attracts; Said electromagnet pull bar is made up of two parts up and down, and top is connected with the universal strand of the swash plate that has a down dip of pitch combination, and the lower part becomes universal strand to be connected with fork or the linearity connection, and the electromagnet pull bar can be adjusted total length as required.
9. according to the directional control device of the said helicopter of claim 1, it is characterized in that: said electromagnet apparatus coil electricity is to be controlled by dutycycle; To the speed needs that move all around, telecommand control circuit board for receiving sends different dutycycles according to helicopter, thus the conduction time in the control coil, and the length of the conduction time in the coil will influence the magnet rotating torque, thereby control the fork output torque; Pitch combination below has spring to withstand, and during the fork swing, needs the combination of pulling pitch to tilt; The pitch combination of tilting is with downward sliding cover, and sliding sleeve compression spring that is to say that dutycycle is strong; Then the power of electromagnet output is just big; It is just big to drag the amount that pitch combination tilts, otherwise it is just little to drag the amount that the pitch combination tilts; Servo-drive system of not having feedback of whole formation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102265345A CN101708370B (en) | 2009-11-21 | 2009-11-21 | Helicopter course control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102265345A CN101708370B (en) | 2009-11-21 | 2009-11-21 | Helicopter course control device |
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| CN101708370A CN101708370A (en) | 2010-05-19 |
| CN101708370B true CN101708370B (en) | 2012-07-04 |
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| CN2009102265345A Expired - Fee Related CN101708370B (en) | 2009-11-21 | 2009-11-21 | Helicopter course control device |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102302859A (en) * | 2011-06-28 | 2012-01-04 | 陈允青 | Steering wheel stabilizing structure of aero-model helicopter |
| FR2985329B1 (en) * | 2012-01-04 | 2015-01-30 | Parrot | METHOD FOR INTUITIVE CONTROL OF A DRONE USING A REMOTE CONTROL APPARATUS |
| WO2014047791A1 (en) * | 2012-09-26 | 2014-04-03 | Lin Rizhuang | Remote-controlled toy aircraft |
| CN109720566B (en) * | 2017-10-31 | 2024-03-01 | 一飞智控(天津)科技有限公司 | Main rotor control system of unmanned device of manned helicopter |
| CN115138082B (en) * | 2022-06-27 | 2023-10-10 | 福州大学 | Linear model airplane steering engine |
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| JP2003093756A (en) * | 2001-09-25 | 2003-04-02 | Kyosho Corp | Swash plate sliding mechanism for model helicopter |
| CN1522778A (en) * | 2003-09-05 | 2004-08-25 | 广西梧州温特自动化工程有限公司 | Model helicopter rotor control mechanism |
| CN1814341A (en) * | 2005-01-31 | 2006-08-09 | 杨克伟 | Helicopter screw propeller operating device |
| CN201091796Y (en) * | 2007-09-18 | 2008-07-30 | 深圳市艾特航模有限公司 | Device of controlling tilt tray single-track heeling using gear server |
| WO2008092022A1 (en) * | 2007-01-26 | 2008-07-31 | Silverlit Toys Inc. | Helicopter with horizontal control |
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2009
- 2009-11-21 CN CN2009102265345A patent/CN101708370B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003093756A (en) * | 2001-09-25 | 2003-04-02 | Kyosho Corp | Swash plate sliding mechanism for model helicopter |
| CN1522778A (en) * | 2003-09-05 | 2004-08-25 | 广西梧州温特自动化工程有限公司 | Model helicopter rotor control mechanism |
| CN1814341A (en) * | 2005-01-31 | 2006-08-09 | 杨克伟 | Helicopter screw propeller operating device |
| WO2008092022A1 (en) * | 2007-01-26 | 2008-07-31 | Silverlit Toys Inc. | Helicopter with horizontal control |
| CN201091796Y (en) * | 2007-09-18 | 2008-07-30 | 深圳市艾特航模有限公司 | Device of controlling tilt tray single-track heeling using gear server |
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| Publication number | Publication date |
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| CN101708370A (en) | 2010-05-19 |
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