CN201154229Y - Counterbalance system for remote-control model helicopter - Google Patents
Counterbalance system for remote-control model helicopter Download PDFInfo
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- CN201154229Y CN201154229Y CNU2007200762617U CN200720076261U CN201154229Y CN 201154229 Y CN201154229 Y CN 201154229Y CN U2007200762617 U CNU2007200762617 U CN U2007200762617U CN 200720076261 U CN200720076261 U CN 200720076261U CN 201154229 Y CN201154229 Y CN 201154229Y
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Abstract
The utility model relates to a remote control model helicopter balanced system for the balance control of a single-rotor wing model helicopter. The model helicopter comprises a main shaft, a rotor wing clamp arranged on the main shaft, and a pair of rotor wings arranged on the rotor wing clamp; the balanced system comprises a pair of mixed control rocking arms, a balancing pole connected to the main shaft, and a pair of compensating counterweights arranged at two ends of the balancing pole. The mixed control rocking arms can be rotationally connected to two sides of the rotor wing clamp through the matching of axes holes in the middle of the mixed control rocking arms with convex shafts at two sides of the rotor wing clamp. The two ends of the mixed control rocking arms respectively form universal link points, wherein, the link point at the first end is controlled through a pair of first connecting rods by the balancing pole, and the link point at the second end is controlled through a pair of second connecting rods by a control system; the horizontal included angle between the axes of the balancing pole and the axes of the rotor wings ranges from 25 to 65 DEG. The balanced system can improve the balance capability of the model helicopter.
Description
Technical field
The utility model relates to a kind of remote control model helicopter, relates in particular to single rotor counterbalance system of remote-control model helicopter.
Background technology
Remote control model helicopter is consistent on basic fundamental with real helicopter, but the two structurally has tangible difference again.The control mode of helicopter has Bel's mode at present, uncommon mode and the Bel-Xi La hybrid mode of drawing.
Bel's mode is used mostly at real helicopter, its characteristic feature is the direct control of the blade angle of rotor, there is not stable vane, the leading edge of rotor has counterweight, more modern helicopter counterweight does not have yet, but rotor can be done flapping action, when running into unstable interference in air flow in helicopter is being advanced, the aerodynamic loading that changes can not be transmitted to fuselage, and jolting of helicopter is less.The characteristic of Bel's mode helicopter is that action control is more direct, and little trick is sensitive but can't be engaged in big-movement flight.Therefore this mode can't realize in the stunt model copter the maneuvering performance particular requirement: the specification requirement that brilliance high sensitivity, the tall and big rudder amount of difficulity of the movment are handled.
Wish and draw the characteristic of mode and Bel's mode opposite, wishing the R/C helicopter characteristics of drawing control mode is that a pair of balance fin (claiming the uncommon winglet that draws again) is arranged.Balance wing mainly is as an intermediary between servo and main rotor, earlier with servo pulling balance wing, spurs main rotor with balance wing again during manipulation.The uncommon helicopter of mode that draws is fit to big-movement flight, be applied in the R/C helicopter, but the simple uncommon mode of drawing is difficult to obtain enough stability more.
What generally use in model copter at present is Bel-Xi La hybrid mode, and the counterweight of this mode is with uncommon to draw winglet be holistic sub-assembly, and the axis normal of counterweight-Xi La winglet is in the rotor axis.The gyroscopic effect that counterweight when rotation produces overcomes the external interference that runs into in-flight of model copter, plays balanced action, makes model overcome extraneous interference automatically." Bel-Xi La " mode mainly shows the superiority of maneuvering performance, is applicable on the single-rotor wing model helicopter of big rudder amount manipulation.Yet because counterweight-Xi La winglet is as a whole, the winglet that rotates under certain speed plays certain damping action to the autobalance effect of counterweight, the balance effect of the counterweight that weakened.This causes the manipulation technology complexity of this pattern, and especially for the beginner, self balance quality of the model copter of this mode still is apparent not enough, and aircraft accident very easily appears in first class hour.
The dealer wishes and can carry out some improvement to the helicopter of " Bel-Xi La " mode, to improve its balance quality.Yet because the automatic balance function of counterweight and the assisted control function of Xi La winglet are two different technical problems, the two but is synthesized and is integral body in Bel-Xi La mode, and the structure that designs according to this mode also can't have abundant design freedom between maneuvering performance and balance quality.
The utility model content
Technical problem to be solved in the utility model provides a kind of counterbalance system of remote-control model helicopter with higher balance quality.
The utility model is to solve the problems of the technologies described above the technical scheme that adopts to provide a kind of counterbalance system of remote-control model helicopter, be suitable for the balance control of single-rotor wing model helicopter, this model copter comprises that the rotor that a main shaft, is located on the main shaft presss from both sides and be located at a pair of rotor that rotor presss from both sides, and wherein balance sysmte comprises that a pair of mixing rocking arm, is connected in balancing pole and a pair of counterweight of being located at the balancing pole two ends on the main shaft; This is located at rotor folder both sides respectively to the mixing rocking arm, and is rotatably connected by the axis hole at its middle part and the protruding axle of rotor folder both sides; These two ends to the mixing rocking arm form the universal hinging point respectively, wherein the universal hinging point on first end is connected with two universal hinging points being located at the contiguous main spindle's of balancing pole by a pair of first connecting rod, making this be balanced bar to first end controls, and the universal hinging point on second end is connected with universal hinging point on the control system of being located at rotor below main shaft by a pair of second connecting rod, this is controlled by this control system second end, and the horizontal sextant angle of the axis of balancing pole and the axis of described rotor is between 25 ° to 65 °.
In above-mentioned counterbalance system of remote-control model helicopter, balancing pole can be connected in the top of main shaft, and is positioned at the top of rotor folder; Balancing pole is positioned on the main shaft of below of rotor folder, and wherein balancing pole can be to be connected on the balance bridge of rotor folder below main shaft.
Be preferably, the axis horizontal angle of the axis of balancing pole and rotor is 45 °, the horizontal sextant angle of balancing pole and rotor can with 45 ° as the basic point angle, to positive and negative both direction adjustment, finally try to achieve the angle when balance quality and balance quality and maneuvering performance are preferable to be made up by experiment.
The utility model makes it compared with prior art owing to adopt above technical scheme, has following remarkable advantage:
1, with existing " Bel-Xi La " pattern counterweight and " uncommon draw winglet " jointly to rotor control different be, the utility model utilizes the gyroscopic effect of the counterweight of rotation status by the mixing rocking arm rotor angle of attack to be implemented control separately, overcome the external interference that single-rotor wing model helicopter is run into aloft, this autobalance effect makes model copter be in relative shakedown aloft;
2, with existing " Bel-Xi La " in the remote control model helicopter of pattern, counterweight is constant with the axis of rotor to be that vertical structure is compared, the angle of the axis of counterweight of the present utility model and rotor, when design can 45 ° of angles be that basic point is adjusted this angle, therefore can find the dynamic stability and the preferable combination of maneuverability of model copter, the dynamic stability of its model copter significantly is better than " Bel-Xi La " pattern.
3, with existing " Bel-Xi La " remote control model helicopter of pattern compares, the utility model can be by adjustment hammer the size (adjusting counterweight weight or counterweight radius of turn) of gyroscopic effect, more very change the balance quality of helicopter effectively, to adapt to the needs of different crowd.
Description of drawings
For above-mentioned purpose of the present utility model, feature and advantage can be become apparent, below in conjunction with accompanying drawing the specific embodiment of the present utility model is elaborated, wherein:
Fig. 1 is the remote control single-rotor wing model helicopter partial schematic diagram of an embodiment of the utility model.
Fig. 2 is the vertical view of model copter shown in Figure 1.
Fig. 3 is the remote control single-rotor wing model helicopter partial schematic diagram of another embodiment of the utility model.
Fig. 4 is that rotor suffered perturbed force and rotor change in angle of attack during rotating a circle of model copter causes the lift variation schematic diagram.
Fig. 5 is the schematic diagram of perturbed force shown in Figure 4 after the one-period decay.
Fig. 6 is a perturbed force attenuation process schematic diagram shown in Figure 4.
The specific embodiment
See also Fig. 1, shown in Figure 2, in the remote control model helicopter 100 of an embodiment of the utility model, be provided with a main shaft 1, one rotor folder 2 and be located on the main shaft 1, rotor presss from both sides 2 two ends and connects a rotor 10 respectively, and a pair of rotor 10 can be the center rotation by main shaft 1.And rotor 10 and rotor folder 2 serve as that axle is rotatable with rotor axis 12, that is to say that the angle of attack with respect to air-flow of rotor 10 can increase or reduce, but rotor angle of attack cyclically-varying thus.
The balance sysmte of helicopter 100 comprises a pair of mixing Rocker arm 4, is located at rotor respectively symmetrically and presss from both sides 2 both sides, and each mixing Rocker arm 4 is rotatably connected with the protruding axle 21 that rotor presss from both sides 2 middle parts by the axis hole 41 at its middle part respectively.
Balance sysmte also comprises a balancing pole 8 and a pair of counterweight 11 of being located at balancing pole 8 two ends, and balancing pole 8 forms an integral body with counterweight 11.In the present embodiment, balancing pole 8 centers are connected in the top of main shaft 1, promptly are positioned at the top of rotor 10.With chain-dotted line X is the axle center, and counterweight 11 can direction rotate on vertical plane shown in Fig. 1 arrow A.
As shown in Figure 2, different with present Bel-Xi La mode is, the axis 12 of balancing pole 8 and counterweight 11 and the horizontal sextant angle of the axis 13 of rotor 10 are less than 90 °, and in embodiment of the present utility model, this angle can be 25 ° to 65 °, preferably is 45 °.
In addition, be provided with pitch on the main shaft below rotor 10 and the counterweight 1, pitch is made up of two parts, and the top is rotation pitch 6, and the below is not for rotating pitch 7, and both interconnect by bearing.
The operating torque of servo 18 is delivered to by servo rocking arm 17, third connecting rod 16, universal hinging point 35 successively and does not rotate pitch 7, make its run-off the straight, rotation pitch 6 is also followed the inclined plane rotation of not rotating pitch 7 thus, and operating torque is become cyclic torque.This cyclic torque through second connecting rod 5 be passed to the mixing Rocker arm 4 and and then the blade angle of control rotor 10 periodically or increase or reduce, make oar dish (rotor Plane of rotation) produce, and then realize manipulation the vertical or horizontal moment of model copter.
The position of balancing pole 8 contiguous main shafts 1 forms a pair of universal hinging point 31.The two ends of each mixing Rocker arm 4 also form universal hinging point 32,33 respectively, amount to 4 universal hinging points on the promptly a pair of mixing rocking arm, as shown in Figure 2, and these 4 rectangular arrangements of pin joint.And on rotation pitch 6, also be formed with at least two universal hinging points 34 that are positioned on the rotation pitch 6 same diameters respectively.Wherein, be connected by a pair of first connecting rod 9 respectively between two universal hinging points 32 on a pair of universal hinging point 31 on the balancing pole 8 and a pair of mixing Rocker arm 4 first end.These 2 universal hinging points 32 are to be in 2 of diagonal angle in 4 pin joints of rectangular arranged.Simultaneously, the universal hinging point 33 on second end of a pair of mixing Rocker arm 4 can universally be rotationally connected with a pair of second connecting rod 5 upper ends, and second connecting rod 5 lower ends can universally be rotationally connected with a pair of universal hinging point 34 that rotates on the pitch 6.
The basic principle of balance sysmte of the present utility model is described below.
Skyborne model copter 100, its main shaft 1 will drive rotor folder 2-rotor 10 and counterweight 11 rotates to clockwise (or counterclockwise) direction, the counterweight 11 of rotation as the gyro of rotation, the gyroscopic effect of counterweight makes balancing pole-counterweight remain at an axial stable rotation state.
If model copter 100 is subjected to external interference in-flight, then the right rotor 10 liftings, left side rotor 10 sinks (visual angle with reader among Fig. 1 is as the criterion), and causing the main shaft 1 of model copter 100 is the center run-off the straight with the helicopter barycenter; And because the effect of gyroscopic effect, the rotating shaft of the counterweight 11 in the rotation status points to and still is in former direction, just balancing pole-counterweight still rotates on former Plane of rotation, thereby model copter main shaft 1 and balancing pole-counterweight be by the original vertical mutually out of plumb of transferring, both angles by 90 ° to less than 90 ° of variations.At this moment, first connecting rod 9 upper ends are subjected to the drive of balancing pole 8-counterweight 11 to promote pin joint 32 places of mixing Rocker arm 4 downwards at pin joint 31 places, causing the mixing Rocker arm 4 is that the center of circle deflects down certain angle with pin joint 33, and the axis hole annexation by mixing Rocker arm 4 and rotor folder 2 to drive rotor folder 2-rotor 10 be the turning cylinder rotation with rotor axis 12, the dextrorotation wing 10 angles of attack are reduced, and lift reduces.
Similarly, also produce moment equal and opposite in direction, moment that direction is opposite on those symmetrical parts of the other one side that the main shaft 1 in Fig. 1 is not illustrated simultaneously, the left-handed wing 10 angles of attack are increased, lift increases.
Need to prove, in said process, counterweight 11, balancing pole 8 rotate up and down by the universal hinging point 32 on first connecting rod 9 control mixing Rocker arm 4s first end, and the fulcrum of rotation is the universal hinging point 33 on mixing rocking arm second end that is connected with second connecting rod 5.And in whole motion process, balance sysmte and control system are with the universal hinging point on the mixing Rocker arm 4 two ends 32,33 fulcrum each other, with come from respectively balance sysmte and control system periodically control moment be delivered to rotor 10 by rotor folder 2.
As seen, because the effect of counterweight impels dextrorotation wing lift to reduce, left-handed wing lift increases, and the result impels the dextrorotation wing to descend, and left-handed wing lifting just in time overcomes the interference of outer bound pair model copter 100, makes model copter return to original stable poised state.
Because the rotor of model copter 100 is at the high speed rotation status, external interference power is a kind of periodic perturbed force for rotor, and for convenience of explanation, the dead ahead of establishing helicopter is oriented to zero degree.The rotor of power f representation model helicopter suffered perturbed force during rotating a circle among Fig. 4, and the change in angle of attack that this rotor is controlled by the gyroscopic effect of counterweight causes the variable of lift to represent with Δ f.In Fig. 4, the directed in opposite of perturbed force f and lift variation Δ f, so perturbed force f decays to f ' represented among Fig. 5 through these 360 ° of all after dates, after this each cycle goes round and begins again, and disturbs f trend zero, as shown in Figure 6.Therefore, the gyroscopic effect of counterweight makes balance sysmte overcome external interference, and model copter of the present utility model has dynamic stability.
In a preferred embodiment of the present utility model, 1500 rev/mins of the rotating diameter 190mm of the diameter of rotor 10: 340mm, counterweight 11 weight (2g-6g) * 2, counterweight, the rotating speeds of main shaft 1.Evidence: model copter is handled in wireless remotecontrol and is advanced, and preferable counterweight axis 13 is positioned at rotor axis 12 preceding 45 ° (promptly on direction of rotation leading 45 °), yet all can fly in ± 20 ° of scopes.But after this angle departed from best angle, dynamic balance performance is variation gradually.Particularly work as counterweight axis and rotor axis angle from 0 ° of adjustment of 25 ° of trends, when model copter is done the manipulation action, instant appearance swing, and amplitude of fluctuation is progressively aggravated.And counterweight axis and rotor axis angle be when 65 ° change toward 90 °, and the dynamic stability of model copter also is tending towards variation, is difficult to control model copter.
Pattern same as the previously described embodiments and the different single-rotor wing model helicopter of specification and important parameter, its counterweight axis and rotor axis optimum angle are can be different, and cited embodiment has illustrated the scope that it is possible and the importance of this problem.When designing with confirmatory experiment, the horizontal sextant angle of balancing pole and described rotor can with 45 ° as the basic point angle, to positive and negative both direction adjustment, finally try to achieve the angle when balance quality and balance quality and maneuvering performance are preferable to be made up by experiment.
The utility model can also by adjust counterweight weight adjust balance quality, not only can when design, select the weight of counterweight at different specification requirements, and can when begining to learn the manipulation helicopter, choosing adorn heavy counterweight, the model copter counterweight of the foregoing description for example, the beginner can select 5g-6g, along with the progress of manipulation technology, alleviate counterweight more gradually to 3g-2g.Facts have proved that its effect outclass " Bel-Xi La " pattern.
Though in the above-described embodiments, balancing pole-counterweight is the top that is connected main shaft 1, but in Figure 3 shows that another embodiment, counterweight 11-balancing pole 8 can be connected in the below of rotor 10-rotor folder 2 fully, realize being connected with main shaft 1 by balance bridge 15, it serves as that axle rotates as A direction among Fig. 3 with center line X that balance bridge 15 drives balancing pole 8, counterweight 11, only structurally different with Fig. 1.
Therefore, model copter balance sysmte of the present utility model is compared with the remote control model helicopter of present " Bel-Xi La " pattern, has the following advantages:
1, utilize the gyroscopic effect of the counterweight of rotation status by the mixing rocking arm rotor angle of attack to be implemented control, overcome the external interference that model copter is run into aloft, this autobalance effect makes model copter be in shakedown more relatively aloft.
2, with the remote control model helicopter of existing " Bel-Xi La " pattern in, counterweight is constant with the axis of rotor to be that vertical structure is compared, the angle of the axis of counterweight of the present utility model and rotor, when design, can adjust, therefore can find the dynamic stability and the preferable combination of maneuverability of model copter.
3, with existing " Bel-Xi La " pattern remote control model helicopter relatively, the utility model can also be by adjustment hammer the size (adjusting counterweight weight or counterweight radius of turn) of gyroscopic effect, comparing to change the balance quality of helicopter more effectively, to adapt to the needs of different crowd.
Though the utility model discloses as above with preferred embodiment; right its is not in order to limit the utility model; any those skilled in the art; in not breaking away from spirit and scope of the present utility model; when doing a little modification and perfect, therefore protection domain of the present utility model is worked as with being as the criterion that claims were defined.
Claims (5)
1. counterbalance system of remote-control model helicopter, be suitable for the balance control of single-rotor wing model helicopter, described model copter comprises that the rotor that a main shaft, is located on the main shaft presss from both sides and be located at a pair of rotor that rotor presss from both sides, it is characterized in that described balance sysmte comprises that a pair of mixing rocking arm, is connected in balancing pole and a pair of counterweight of being located at the balancing pole two ends on the main shaft; This is located at rotor folder both sides respectively to the mixing rocking arm, and is rotatably connected by the axis hole at its middle part and the protruding axle of rotor folder both sides; These two ends to the mixing rocking arm form the universal hinging point respectively, wherein the universal hinging point on first end is connected with two universal hinging points being located at the contiguous main spindle's of balancing pole by a pair of first connecting rod, making this be balanced bar to first end controls, and the universal hinging point on second end is connected with universal hinging point on the control system of being located at rotor below main shaft by a pair of second connecting rod, this is controlled by this control system second end, and the horizontal sextant angle of the axis of described balancing pole and the axis of described rotor is between 25 ° to 65 °.
2. counterbalance system of remote-control model helicopter as claimed in claim 1 is characterized in that described balancing pole is connected in the top of main shaft, and is positioned at the top of described rotor folder.
3. counterbalance system of remote-control model helicopter as claimed in claim 1 is characterized in that, described balancing pole is positioned on the main shaft of below of described rotor folder.
4. counterbalance system of remote-control model helicopter as claimed in claim 3 is characterized in that, described balancing pole is to be connected on the balance bridge of described rotor folder below main shaft.
5. as each described counterbalance system of remote-control model helicopter of claim 1～4, it is characterized in that the axis horizontal angle of the axis of described balancing pole and described rotor is 45 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200762617U CN201154229Y (en) | 2007-11-16 | 2007-11-16 | Counterbalance system for remote-control model helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200762617U CN201154229Y (en) | 2007-11-16 | 2007-11-16 | Counterbalance system for remote-control model helicopter |
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| Publication Number | Publication Date |
|---|---|
| CN201154229Y true CN201154229Y (en) | 2008-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200762617U Expired - Lifetime CN201154229Y (en) | 2007-11-16 | 2007-11-16 | Counterbalance system for remote-control model helicopter |
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| Country | Link |
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| CN (1) | CN201154229Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101433766B (en) * | 2007-11-16 | 2012-01-04 | 上海九鹰电子科技有限公司 | Counterbalance system of remote-control model helicopter |
| CN109850138A (en) * | 2017-11-30 | 2019-06-07 | 中光电智能机器人股份有限公司 | Unmanned plane and its propeller |
-
2007
- 2007-11-16 CN CNU2007200762617U patent/CN201154229Y/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101433766B (en) * | 2007-11-16 | 2012-01-04 | 上海九鹰电子科技有限公司 | Counterbalance system of remote-control model helicopter |
| CN109850138A (en) * | 2017-11-30 | 2019-06-07 | 中光电智能机器人股份有限公司 | Unmanned plane and its propeller |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice |
Addressee: Han Ying Document name: Requests for retrieval reports of utility models are not considered |
|
| CU01 | Correction of utility model patent |
Correction item: Drawings Correct: Correct False: Error Number: 48 Volume: 24 |
|
| CX01 | Expiry of patent term |
Granted publication date: 20081126 |