CN201551849U - Course operation device of single-rotor helicopter - Google Patents
Course operation device of single-rotor helicopter Download PDFInfo
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- CN201551849U CN201551849U CN2009201737325U CN200920173732U CN201551849U CN 201551849 U CN201551849 U CN 201551849U CN 2009201737325 U CN2009201737325 U CN 2009201737325U CN 200920173732 U CN200920173732 U CN 200920173732U CN 201551849 U CN201551849 U CN 201551849U
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Abstract
The utility model provides a course operation device of a single-rotor helicopter. Main rotors are connected with a main shaft through a fixed seat of the main rotors and can swing around a positioning shaft on the main shaft; balanced wings which are formed by 'Hira' small swings are connected with the main shaft, and can swing vertically around a pin shaft on the main shaft; a pair of mix rocker arms is respectively arranged at the front sides of one pair of the main rotors and is rotatably connected with the main rotors though shaft holes; and each mix rocker arm is further provided with two control points, wherein one control point is movably connected with the balanced wings through the connection rods of the balanced wings, and the other control point is movably connected with a tilting frame assembly through a tilting frame. The upper tilting frame of the tilting frame assembly is respectively and movably connected with one pair of the mix rocker arms through one pair of the tilting frame connection rods, and the lower tilting frame of the tilting frame assembly is respectively and movably connected with two servos through one pair of the servo connection rods. The course operation device adequately uses the gyroscopic effect of the 'Hira' small swings and adopts the lever principle of the mix rocker arms to stably operate the helicopter.
Description
Technical field
The utility model relates to a kind of course actuation means of model airplane helicopter, belongs to the course actuation means of toy, model copter specifically.
Background technology
Present single-rotor helicopter, aspect toy, it also just adopts and simply adjusts turning to of center of gravity and control tail motor and control that helicopter advances left, advancing moves right, and cannot more accurately accomplish to advance, retreats, left, to the right; Model airplane then adopts the mixing maneuverability pattern of " Bel-Xi La ", can accurately control helicopter advance, retreat, left, move right, the maneuverability pattern of " Bel-Xi La " mode is: send instruction with radio robot, servo work on the control helicopter, servo is by the work of servo connecting rod control pitch combination.The pitch combination is by the variation of connecting rod control " Xi La " little wing incidence, and is poor thereby the change in angle of attack of control main rotor changes the lift of two main rotors, to realize the direction control of helicopter." Xi La " winglet and main rotor all produce gyroscopic effect when high speed rotating, pitch is when level, and the lift that a pair of main rotor produces is equal, thereby keep the balance of helicopter.When pitch banking the time, " Xi La " winglet will be under the dragging of pitch connecting rod with horizontal plane shape at an angle, as becoming positive angle on one side, then another side becomes negative angle, so just, it is poor to have produced lift, because the effect of gyroscopic effect and lift difference, the whole bar meeting of " Xi La " winglet horizontal direction is after turning over about 90 °, become " Xi La " winglet of positive-angle to move upward, become " Xi La " winglet of negative angle to move downward.The change of " Xi La " winglet Plane of rotation, cause the angle of main rotor and horizontal plane also to change, one side that the main rotor angle increases, bigger lift will be produced, one side that angle reduces will produce littler lift, main rotor produce lift poor, make helicopter depart from original equilbrium position, promptly can make helicopter to certain direction motion, Here it is sends instruction by wireless remote control device, the duty of control servo, and then control pitch duty, to reach the Plane of rotation of change " Xi La " winglet, it is poor to produce lift when forcing the rotation of main rotor.Thereby helicopter is moved to the direction of appointment.
" Xi La-Bel " mode manipulation sensitivity, the manipulation technology complexity, expertly this device of remote control needs a large amount of exercises.In the exercise process, careless slightly, just can break helicopter.
But " Xi La " winglet adopts symmetrical airfoil, be subjected to external interference little, when rotating at a high speed, its gyroscopic effect is strong, even helicopter fuselage and main rotor Plane of rotation are subjected to external interference and disequilibrium, also can angle be arranged, thereby produce righting moment, the opposing external interference owing to the Plane of rotation of main rotor Plane of rotation and " Xi La " winglet.It is improved that its self-stabilization process that Here it is, the utility model utilize these characteristics just.
The utility model content
The purpose of this utility model is in order to overcome the characteristics of above-mentioned mode manipulation sensitivity, manipulation technology complexity, to provide a kind of easy to learn, the uncomplicated course of manipulation technology actuation means.
The utility model solves the problems of the technologies described above the directional control device that the technical scheme of being taked is a kind of single-rotor helicopter.Described single-rotor helicopter comprises the balance wing that main shaft, be made of a pair of " Xi La " winglet, a pair of balance wing connecting rod, main rotor holder, a pair of main rotor, a pair of mixing rocking arm, pair of angled dish connecting rod, a cover pitch combination, two servies, a pair of servo connecting rod.It is characterized in that: a pair of main rotor is connected on the main shaft with the main wing holder, and can swing by the locating shaft on main shaft; The balance wing that is made of " Xi La " winglet is connected on the main shaft, can swing up and down by the bearing pin on main shaft.Described a pair of mixing rocking arm places a pair of main rotor front respectively, and is rotatably connected by axis hole with main rotor; Wherein, also have two control points on each mixing rocking arm: control point one is adopted by balance wing connecting rod and balance wing and is flexibly connected; Control point two is adopted by pitch connecting rod and pitch combination and is flexibly connected.The updip swash plate of described pitch combination flexibly connects with a pair of mixing rocking arm respectively by pair of angled dish connecting rod, and the logical a pair of servo connecting rod of the swash plate that has a down dip of pitch combination flexibly connects with two servies respectively; Described two servies are fixed on the helicopter both sides, are by the servo motor, servo motor tooth, the servo driving gear, screw rod, brush, brushgear housing, pcb board, shell is formed, and servo motor tooth close-fitting is on the servo motor, and servo driving gear close-fitting is on screw rod, on the brush fixed brush seat, brush is pressed on the carbon film of pcb board and can moves with brushgear housing.The servo positive and negative rotation of motor moves and controls the positive and negative rotation of screw rod by gear drive, and then the drive brushgear housing moves up and down.Brushgear housing and servo connecting rod flexibly connect.
Control point one on the described mixing rocking arm, control point two, wherein having a control point at least is ring and the flexible connection that encircles.
Can be on the limit of mixing rocking arm on the described mixing rocking arm with main rotor axis hole tie point, also can be at the control point one with the centre at control point two.
The angle that described " Xi La " winglet and horizontal plane form is 0 ° of-16 ° of angle.
Described balance wing becomes 20 ° of-60 ° of angles with main rotor locating shaft axial line on the main shaft.
Described balance wing can design above main rotor, also can design below main rotor.
Two downward bearing pins are arranged on the described main rotor holder, be inserted in respectively in the hole of a pair of main rotor, four position of bone are arranged below the main rotor holder, divide and don't bother about below main rotor, there is a hole main rotor side, be enclosed within the locating shaft of main shaft, main rotor holder and a pair of main rotor can be around the locating shaft swings of main shaft.
The swash plate that has a down dip of described inclination combination has two rocking arms, connects by universal being twisted together with a pair of servo connecting rod respectively.Having a down dip also has a registration arm on the swash plate, and registration arm is limited in moving up and down in the vertical groove, and swash plate does not rotate with main shaft to guarantee to have a down dip; On the updip swash plate of pitch combination two rocking arms are arranged, be connected by universal strand with pair of angled dish connecting rod respectively.
Described mixing rocker shaft hole also is rotatably connected with main rotor holder both sides.
Described servo adopts screw drive, and directly be printed on the carbon film of sampling on the pcb board, the amount of spin of servo motor moves according to telecommand, what of amount of spin directly find expression in the position of brush on pcb board, do reference with brush carbon film point midway on pcb board, brush different position on carbon film can cause the resistance value in the circuit to change, thereby obtains taking a sample and handling to CPU.
The utility model has utilized the gyroscopic effect of " Xi La " winglet fully, and adopts the principle of mixing rocker lever, reaches stable and controls helicopter.
The utility model is used the autostability of " Xi La " winglet main rotor fully, and utilize servo to control the state of pitch, thereby adjust the Plane of rotation of main rotor by the mixing rocking arm, to change the equilbrium position of helicopter, this single-rotor helicopter flight stability, handle simply, be particularly suitable for the beginner.
The utility model mixing rocking arm adopts ring to be connected with ring with being connected of connecting rod, compares the connection of the universal strand of ball-type, makes and does the mold technique simplification, and production cost reduces.
Servo of the present utility model adopts screw drive, and the carbon film of sampling directly is printed on the P C B plate, has saved potentiometer commonly used, and the cost of servo is descended, and it is light and handy that weight becomes.
Description of drawings
Fig. 1: be the top view clock schematic diagram of the utility model one embodiment.
Fig. 2: be the main rotor assembly structure schematic diagram of the utility model one embodiment.
Fig. 3: be the structural representation of the utility model one embodiment.
Fig. 4: be servo assembling front view of the present utility model.
Fig. 5: be servo assembling section of the present utility model.
The accompanying drawing piece mark:
The 1-main shaft, 2-" Xi La " winglet A, 3-" Xi La " winglet B, the 4-balancing weight, 5-balance wing connecting rod A, 6-balance wing connecting rod B, 7-main rotor holder, 8-main rotor A, 9-main rotor B, 10-mixing rocking arm A, 11-mixing rocking arm B, 12-pitch connecting rod A, 13-pitch connecting rod B, 14-updip swash plate, the 15-swash plate that has a down dip, the 16-bearing, 17-ball cup scholar, 18-servo A, 19-servo B, 20-servo connecting rod A, 21-servo connecting rod B, 22-cardinal teeth case, 23-servo motor, 24-servo motor tooth, 25-servo driving gear, 26-screw rod, 27-brush, the 28-brushgear housing, 29-PCB plate, 30-shell
The specific embodiment
The embodiment of this directional control device is described below in conjunction with accompanying drawing.
With reference to shown in Figure 1, helicopter directional control device of the present utility model mainly comprises main shaft 1, " Xi La " winglet A2, " Xi La " winglet B3, balancing weight 4, balance wing connecting rod A5, balance wing connecting rod B6, main rotor holder 7, main rotor A8, main rotor B9, mixing rocking arm A10, mixing rocking arm B11, pitch connecting rod A12, pitch connecting rod B13, updip swash plate 14, swash plate 15 has a down dip, bearing 16, ball cup scholar 17, servo A18, servo B19, servo connecting rod A20, servo connecting rod B21,22-cardinal teeth case, 23-servo motor, 24-servo motor tooth, 25-servo driving gear, the 26-screw rod, the 27-brush, the 28-brushgear housing, the 29-PCB plate, the 30-shell.The balance wing that " Xi La " winglet A2, " Xi La " winglet B3 and a pair of balancing weight 4 are formed is connected on the main shaft 1, and can swing up and down around main shaft 1 axis hole, the balance wing both sides are flexibly connected by balance wing connecting rod A5, balance wing connecting rod B6 and mixing rocking arm A10, mixing rocking arm B11 respectively.Respectively there is a downward pin on main rotor holder 7 both sides, are inserted in respectively in the locating hole of main rotor A8, main rotor B9, and there are two location bones on main rotor holder 7 following every limits, are stuck in below main rotor A8, the main rotor B9.A groove (or hole) is arranged on main rotor A8, the main rotor B9, be inserted in respectively on the bearing pin of main shaft 1, main rotor A8, main rotor B9 connect into an integral body by main rotor holder 7 and can swing around the bearing pin of main shaft 1.Respectively there is an axis hole main rotor A8, main rotor B9 front, swing with mixing rocking arm A respectively by pin.Respectively there is an axis hole main rotor A8, main rotor B9 front, are rotatably connected with mixing rocking arm A10, mixing rocking arm B11 respectively by pin; Mixing rocking arm A10, mixing rocking arm B11 by pitch connecting rod A12, pitch connecting rod B13 respectively with two movable connections of rocking arm of updip swash plate 14.Movable in the U-shaped bone that pitch connecting rod A12, pitch connecting rod B13 are limited in stretching out on the main shaft 1; Updip swash plate 14, pitch connecting rod A12, pitch connecting rod B13, mixing rocking arm A10, mixing rocking arm B11 rotate with main rotor A8, main rotor B9 together.Have a down dip swash plate 15 by servo connecting rod A20, servo connecting rod B21 respectively with servo A18, servo B19 is movable is connected, have a down dip and also have a registration arm on the swash plate 15, registration arm is limited in moving up and down in the vertical groove, to guarantee having a down dip swash plate 15 not with main shaft 1 rotation.
Helicopter is when poised state, and servo A18, servo B19 do not work, and the pitch combination is in level, and balance wing is parallel with the Plane of rotation of main rotor A8, main rotor B9, and helicopter stably hovers.When air-flow blows on main rotor A8, the main rotor B9, because the position of rotation difference of main rotor A8, main rotor B9, the speed difference that can cause main rotor A8, the relative air of main rotor B9, the main rotor of contrary air-flow can produce big lift, the main rotor of favorable current can produce less lift, and the lift difference of main rotor A8, main rotor B9 causes producing moment makes helicopter depart from the equilbrium position.The lift of main rotor A8, main rotor B9 is poor, can make the main rotor swing.The tie point of main rotor and mixing rocking arm is that fulcrum drives the motion of mixing rocking arm with control point two, the motion of mixing rocking arm makes the control point drive balance wing for a moment and moves together, but because " Xi La " winglet adopts symmetrical airfoil, its gyroscopic effect is strong in addition, so it is little disturbed by external force.Balance wing can produce righting moment makes main rotor be returned to the equilbrium position.
When helicopter in hover flies, " Xi La " winglet A2, balance wing and main rotor A8 that " Xi La " winglet B3 and balancing weight 4 are formed, main rotor B9 keeps the balance of helicopter, servo A18, the working condition of servo B19 changes the working condition of pitch combination, updip swash plate 14 rocking arms drag pitch connecting rod A12, pitch connecting rod B13, to change mixing rocking arm A10, the position at the control point two of mixing rocking arm B11, mixing rocking arm A10, the control point two of mixing rocking arm B11 is that fulcrum drives main rotor A8 with separately control point one respectively, main rotor B9 motion, main rotor A8, main rotor B9 rotates around the bearing pin of main shaft 1, main rotor A8, main rotor B9 rotates and causes angle of attack increase on one side, the angle of attack reduces on one side, so just, it is poor to have produced lift, the lift difference of main rotor causes producing moment, makes helicopter depart from the equilbrium position.
The manipulation of physical helicopter is as follows: 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, heading is 9 an o'clock direction left. as changing the course of helicopter, make its concrete operations of flying forward be: to use the remote controller firing order, make the servo motor 23 of servo A18 rotate and drive screw rod 26 rotations, brushgear housing 28 moves down on screw rod 26, and it is downward to drag swash plate 15 rocking arms that have a down dip by servo connecting rod A20.The pitch combination is tilted and is driven mixing rocking arm A10, mixing rocking arm B11 action, the control point two of mixing rocking arm A10, mixing rocking arm B11 is that fulcrum drives main rotor A8, main rotor B9 and rotates with separately control point one respectively, main rotor when 4 half direction left and right sides, angle of attack maximum; Until about 10 half directions, the main rotor angle of attack diminishes gradually, main rotor when 10 half direction left and right sides, angle of attack minimum; Up to about 4 half directions, the main rotor angle of attack becomes greatly gradually, and this moment, helicopter advanced.Make its concrete operations of flying backward be: use the remote controller firing order, make the servo motor 23 of servo A18 rotate and drive screw rod 26 rotations, brushgear housing 28 moves up on screw rod 26, and promotes to have a down dip swash plate 15 rocking arms upwards by servo connecting rod A20.The pitch combination is tilted and is driven mixing rocking arm A10, mixing rocking arm B11 action, the control point two of mixing rocking arm A10, mixing rocking arm B11 is that fulcrum drives main rotor main rotor A8, main rotor B9 and rotates with separately control point one respectively, main rotor when 10 half direction left and right sides, angle of attack maximum; Until about 4 half directions, the main rotor angle of attack diminishes gradually, main rotor when 4 half direction left and right sides, angle of attack minimum; Up to about 10 half directions, the main rotor angle of attack becomes greatly gradually, and this moment, helicopter retreated.Make its concrete operations of flying be to the right: use the remote controller firing order, make the servo motor 23 of servo B19 rotate and drive screw rod 26 rotations, brushgear housing 28 moves up on screw rod 26, and promotes to have a down dip swash plate 15 rocking arms upwards by servo connecting rod A21.The pitch combination is tilted and is driven mixing rocking arm A10, mixing rocking arm B11 action, the control point two of mixing rocking arm A10, mixing rocking arm B11 is that fulcrum drives main rotor A8, main rotor B9 and rotates with separately control point one respectively, main rotor when 7 half direction left and right sides, angle of attack maximum; Until about 1 half direction, the main rotor angle of attack diminishes gradually, main rotor when 1 half direction left and right sides, angle of attack minimum; Up to about 7 half directions, the main rotor angle of attack becomes greatly gradually, and this moment, helicopter flew to the right.Make its concrete operations of flying be left: use the remote controller firing order, make the servo motor 23 of servo B19 rotate and drive screw rod 26 and rotate, brushgear housing 28 moves down on screw rod 26, and it is downward to drag swash plate 15 rocking arms that have a down dip by servo connecting rod A21.The pitch combination is tilted and is driven mixing rocking arm A10, mixing rocking arm B11 action, the control point two of mixing rocking arm A10, mixing rocking arm B11 is that fulcrum drives main rotor A8, main rotor B9 and rotates with separately control point one respectively, main rotor when 1 half direction left and right sides, angle of attack maximum; Until about 7 half directions, the main rotor angle of attack diminishes gradually, main rotor when 7 half direction left and right sides, angle of attack minimum; Up to about 1 half direction, the main rotor angle of attack becomes greatly gradually, and this moment, helicopter flew to the right.
Why the course of helicopter is not to change on the direction at positive 0 o'clock, 3 o'clock, 6 o'clock, 9 o'clock, mainly be that the situation that mixing rocking arm A10, mixing rocking arm B11 will change it needs the time because main rotor A8, main rotor B9 produce gyroscopic effect when rotating at a high speed.Control point two is when dragging the mixing rocking arm, and the reason that can not drag control point one simultaneously is: under the situation with rotating speed, the gyroscopic effect that balance wing produces is more much better than than the gyroscopic effect that main rotor produces.
Above disclose only for preferred embodiment of the present utility model, can not limit interest field of the present utility model with this.Protection domain of the present utility model is as the criterion with claims institute confining spectrum.
Claims (10)
1. the directional control device of a single-rotor helicopter: described single-rotor helicopter comprises the balance wing that main shaft, be made of a pair of " Xi La " winglet, a pair of balance wing connecting rod, main rotor holder, a pair of main rotor, a pair of mixing rocking arm, pair of angled dish connecting rod, a cover pitch combination, two servies, a pair of servo connecting rod; It is characterized in that: a pair of main rotor is connected on the main shaft with the main rotor holder, and can swing by the locating shaft on main shaft; The balance wing that is made of " Xi La " winglet is connected on the main shaft, can swing up and down by the bearing pin on main shaft; Described a pair of mixing rocking arm places a pair of main rotor front respectively, and is rotatably connected by axis hole with main rotor; Wherein, also have two control points on each mixing rocking arm: control point one is adopted by balance wing connecting rod and balance wing and is flexibly connected; Control point two is adopted by pitch connecting rod and pitch combination and is flexibly connected; The updip swash plate of described pitch combination flexibly connects with a pair of mixing rocking arm respectively by pair of angled dish connecting rod, and the logical a pair of servo connecting rod of the swash plate that has a down dip of pitch combination flexibly connects with two servies respectively; Described two servies are fixed on the helicopter both sides, are by the servo motor, servo motor tooth, the servo driving gear, screw rod, brush, brushgear housing, pcb board, shell is formed, and servo motor tooth close-fitting is on the servo motor, and servo driving gear close-fitting is on screw rod, on the brush fixed brush seat, brush is pressed on the carbon film of pcb board and can moves with brushgear housing; The servo positive and negative rotation of motor moves and controls the positive and negative rotation of screw rod by gear drive, and then the drive brushgear housing moves up and down; Brushgear housing and servo connecting rod flexibly connect.
2. according to the directional control device of the described single-rotor helicopter of claim 1, it is characterized in that: the control point one on the described mixing rocking arm, control point two, wherein having a control point at least is ring and the flexible connection that encircles.
3. according to the directional control device of the described single-rotor helicopter of claim 1, it is characterized in that: can be on the limit of mixing rocking arm on the described mixing rocking arm with main rotor axis hole tie point, also can be at the control point one with the centre at control point two.
4. according to the directional control device of the described single-rotor helicopter of claim 1, it is characterized in that: the angle that described " Xi La " winglet and horizontal plane form is 0 ° of-16 ° of angle.
5. according to the directional control device of the described single-rotor helicopter of claim 1, it is characterized in that: described balance wing becomes 20 ° of-60 ° of angles with main rotor locating shaft axial line on the main shaft.
6. according to the directional control device of the described single-rotor helicopter of claim 1, it is characterized in that: described balance wing can design above main rotor, also can design below main rotor.
7. according to the directional control device of the described single-rotor helicopter of claim 1, it is characterized in that: two downward pins are arranged on the described main rotor holder, be inserted in respectively in the locating hole of a pair of main rotor, there are two location bones on every limit below the main rotor holder, divide and don't bother about below main rotor, there is a hole main rotor side, is enclosed within on the bearing pin of main shaft, and main rotor holder and a pair of main rotor can be around the bearing pin swings of main shaft.
8. according to the directional control device of the described single-rotor helicopter of claim 1, it is characterized in that: the swash plate that has a down dip of described inclination combination has two rocking arms, connects by universal being twisted together with a pair of servo connecting rod respectively; Having a down dip also has a registration arm on the swash plate, and registration arm is limited in moving up and down in the vertical groove, and swash plate does not rotate with main shaft to guarantee to have a down dip; On the updip swash plate of pitch combination two rocking arms are arranged, be connected by universal strand with pair of angled dish connecting rod respectively.
9. according to the directional control device of claim 1,3 described single-rotor helicopters, it is characterized in that: described mixing rocker shaft hole also is rotatably connected with main rotor holder both sides.
10. according to the directional control device of the described single-rotor helicopter of claim 1, it is characterized in that: described servo adopts screw drive, and directly be printed on the carbon film of sampling on the pcb board, the amount of spin of servo motor moves according to telecommand, what of amount of spin directly find expression in the position of brush on pcb board, do reference with brush carbon film point midway on pcb board, brush different position on carbon film can cause the resistance value in the circuit to change, thereby obtains taking a sample and handling to CPU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201737325U CN201551849U (en) | 2009-09-07 | 2009-09-07 | Course operation device of single-rotor helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201737325U CN201551849U (en) | 2009-09-07 | 2009-09-07 | Course operation device of single-rotor helicopter |
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| Publication Number | Publication Date |
|---|---|
| CN201551849U true CN201551849U (en) | 2010-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201737325U Expired - Fee Related CN201551849U (en) | 2009-09-07 | 2009-09-07 | Course operation device of single-rotor helicopter |
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| CN (1) | CN201551849U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101937234A (en) * | 2010-08-18 | 2011-01-05 | 深圳市沈氏彤创航天模型有限公司 | Method and device for controlling motion attitude |
| WO2014032630A1 (en) * | 2012-08-30 | 2014-03-06 | Zhang Xihe | Linear actuator |
| CN107812389A (en) * | 2016-09-11 | 2018-03-20 | 长沙乐昌林电子科技有限公司 | A kind of SCM Based remote control helicopter design |
-
2009
- 2009-09-07 CN CN2009201737325U patent/CN201551849U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101937234A (en) * | 2010-08-18 | 2011-01-05 | 深圳市沈氏彤创航天模型有限公司 | Method and device for controlling motion attitude |
| CN101937234B (en) * | 2010-08-18 | 2012-05-09 | 深圳市沈氏彤创航天模型有限公司 | Method and device for controlling motion attitude |
| WO2014032630A1 (en) * | 2012-08-30 | 2014-03-06 | Zhang Xihe | Linear actuator |
| CN107812389A (en) * | 2016-09-11 | 2018-03-20 | 长沙乐昌林电子科技有限公司 | A kind of SCM Based remote control helicopter design |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100818 Termination date: 20110907 |