CN202070153U - Rotor drive device of coaxial dual-propeller model helicopter - Google Patents
Rotor drive device of coaxial dual-propeller model helicopter Download PDFInfo
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- CN202070153U CN202070153U CN2011200978054U CN201120097805U CN202070153U CN 202070153 U CN202070153 U CN 202070153U CN 2011200978054 U CN2011200978054 U CN 2011200978054U CN 201120097805 U CN201120097805 U CN 201120097805U CN 202070153 U CN202070153 U CN 202070153U
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- following
- swash plate
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Abstract
The utility model discloses a rotor drive device of a coaxial dual-propeller model helicopter, which comprises a rack (11), an upper rotor (20), a horizontal stabilizer and a lower rotor (21) which are arranged above the rack, an aileron server (27) and a lifting server (28) which are installed on the rack, a hollow outer rotating shaft (24) which is erected upright on the rack, an inner rotating shaft (22) which is arranged in the outer rotating shaft and stretches out of the top end of the outer rotating shaft, and a synchronous linkage device which is connected with the aileron server to control the left inclination and the right inclination of the horizontal stabilizer, wherein the synchronous linkage device is connected with the lifting server to control the front inclination and the rear inclination of the lower rotor. The horizontal stabilizer is provided, a Ball and Hiller mixed control method is adopted, the upper rotor, the lower rotor and the horizontal stabilizer are simultaneously operated through a link mechanism, and the lifting force difference among the upper rotor, the lower rotor and the horizontal stabilizer generates resultant force to change the altitude of the helicopter. The rotor drive device of the coaxial dual-propeller model helicopter has the advantages of flexible operation, accurate control, good wind resistance, reliable structure, high mobility and stable performance.
Description
Technical field
The utility model relates to model copter, relates in particular to a kind of rotor drive unit of coaxial pair of oar formula model copter.
Background technology
In the big payload helicopter field, there are several money rotor heads to adopt coaxial anti-oar formula design, more famous relatively is Russia is the card-52, card-50 helicopters etc. of husband's design not.In model and toy helicopter field, also there are many helicopters to be used in common coaxial pair of oar layout designs.This series products has the interior rotating shaft and the outer shaft of coaxial setting, the outer rotating shaft of following rotor drives, and the inner rotating shaft of last rotor drives the positive and negative rotation of upper and lower rotor, make the torsion of the anti-obliquity that upper and lower rotor rotation is produced cancel each other, thereby do not need tail-rotor just can realize balance.These lifting airscrew drive units adopt simple Bel's control mode, it does not have balance wing (aileron), the leading edge of fraction lifting airscrew is provided with counterweight, the leading edge of most of lifting airscrew does not have counterweight, 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: i.e. the specification requirement of Zhuo Yue high sensitivity, the tall and big rudder amount manipulation of difficulity of the movment.Yet, there is the operating mechanism structure of coaxial anti-oar formula model or toy helicopter comparatively simple and crude now, belong to simple Bel's control mode, Bel's effect flow process has been lacked gyroscopic effect one, control directly fast, with the servo direct pull main rotor angle of attack, because be the direct pull main rotor, so little rudder sensitivity, little trick correction when hover has directly effect fast, but because of the pulling main rotor the angle of attack very little, so can't be engaged in the flight of big-movement amounts such as sidewindering, and wind resistance is special poor; And generally be rotor or following rotor on the individual operation, can't realize handling simultaneously upper and lower rotor, not only slow in reacting, and have a strong impact on yarage and mobility.
The utility model content
The utility model is the problems referred to above that will solve prior art, proposes a kind of rotor drive unit that has balance wing that is used for coaxial pair of oar formula model copter.
For solving the problems of the technologies described above, the technical scheme that the utility model proposes is the rotor drive unit of a kind of coaxial pair of oar formula model copter of design, it comprises: frame, be positioned at the last rotor of frame top, balance wing and following rotor, be installed on aileron servomechanism and lifting servomechanism on the frame, be erected at the outer shaft of the hollow on the frame, the interior rotating shaft of being located at outer shaft inside and stretching out by the outer shaft top, the last rotor fixture in order to fixing last rotor on rotating shaft top in being contained in, balance wing fixture in being contained on the rotating shaft outer wall in order to the stable equilibrium wing, be contained in the following rotor fixture in order to rotor under fixing on outer shaft top, connect the synchronizing linkage of aileron servomechanism with control inclination angle, the balance wing fixture left and right sides; Described synchronizing linkage also connects the lifting servomechanism to control down inclination angle, rotor fixture front and back.
Described synchronizing linkage comprises: be enclosed within the outer shaft outer wall and can rotate around outer shaft and up and down near stacked following in pitch and following flare swash plate, in being enclosed within the rotating shaft outer wall and can rotate around interior rotating shaft and up and down near pitch and last flare swash plate in stacked the going up, be located at first rocking arm between lifting servomechanism and the following flare swash plate, be located at second rocking arm between aileron servomechanism and the following flare swash plate, first synchronising (connecting) rod in being located at down between pitch and the following rotor fixture, second synchronising (connecting) rod and the 3rd synchronising (connecting) rod in being located at down between pitch and the last flare swash plate, the 4th synchronising (connecting) rod in being located between the pitch peace weighing apparatus wing fixture, be located at the 5th synchronising (connecting) rod between balance wing fixture and the last rotor fixture, extend to down the following oriented chute of flare swash plate side by described frame, extend to down following fastening screw in the oriented chute by following flare swash plate, extend to the last oriented chute of flare swash plate side by rotating shaft in described, extend to last fastening screw in the oriented chute by last flare swash plate.
Be provided with first pin joint between described second synchronising (connecting) rod and the described following flare swash plate, be provided with second pin joint between described the 3rd synchronising (connecting) rod and the following flare swash plate, first and second pin joint to the angle between the described outer shaft axial connecting line is 90 degree; Described first synchronising (connecting) rod, second synchronising (connecting) rod, the 3rd synchronising (connecting) rod, the 4th synchronising (connecting) rod and the 5th synchronising (connecting) rod comprise two respectively, and are symmetrically distributed with rotating shaft in described respectively.
Described the 3rd synchronising (connecting) rod adopts frame shape structure, and described rotor fixture is down passed frame shape structure centre.
Described balance wing is located at described going up below the rotor, and the projection of both wings on vertical is in vertical distribution.
Described balance wing comprises: an end connects the balancing pole of balance wing fixture, is fixed on the counterweight of the balancing pole other end, is fixed on the aileron of counterweight end.
The described rotor of going up all adopts the biconvex symmetrical airfoil with following rotor.
Compared with prior art, the utility model has balance wing, adopts the uncommon Bel's mixed-control mode that draws, with the upper and lower rotor angle of attack of servo direct pull, when the balance wing area was of moderate size, the hunting actuating quantity was moderate, the performance tool has greatly improved, and control directly fast; Control accurately is added with and increases steady counterweight and combine with trim tab system, and mobility and stability obtain fine assurance.The oar anchor clamps that adopt have can regulate the backspin angle of attack easily, to change the size of lift, finds the preferable combination of stable maneuverability.Simultaneously size that again can the adjustment hammer changes the size of gyroscopic effect, to be applicable to different crowds.Under the cooperation of strong impetus, rotor adopts the biconvex symmetrical wing up and down, and outdoor flight wind resistance is good.
Description of drawings
Below in conjunction with drawings and Examples the utility model is made detailed explanation, wherein:
Fig. 1 is the stereogram of the utility model preferred embodiment.
The specific embodiment
The utility model discloses a kind of rotor drive unit of coaxial pair of oar formula model copter, it comprises: frame 11, be positioned at the last rotor 20 of frame top, balance wing and following rotor 21, be installed on aileron servomechanism 27 and lifting servomechanism 28 on the frame, be erected at the outer shaft 24 of the hollow on the frame, the interior rotating shaft 22 of being located at outer shaft inside and stretching out by the outer shaft top, the last rotor fixture in order to fixing last rotor on rotating shaft top in being contained in, balance wing fixture in being contained on the rotating shaft outer wall in order to the stable equilibrium wing, be contained in the following rotor fixture in order to rotor under fixing on outer shaft top, connect the synchronizing linkage of aileron servomechanism with control inclination angle, the balance wing fixture left and right sides; Described synchronizing linkage also connects the lifting servomechanism to control down inclination angle, rotor fixture front and back.
Stereogram referring to the preferred embodiment shown in Fig. 1 there is shown: first rocking arm 1, second rocking arm 2, first synchronising (connecting) rod 3, second synchronising (connecting) rod 4, the 4th synchronising (connecting) rod 5, aileron 7, the 3rd synchronising (connecting) rod 8, balancing pole 10, frame 11, following flare swash plate 12, following fastening screw 13a, last fastening screw 13b, following oriented chute 14, last oriented chute 15, pitch 16a down, pitch 16b in going up, last rotor 20, following rotor 21, interior rotating shaft 22, outer shaft 24, last flare swash plate 25, motor 26, aileron servomechanism 27, lifting servomechanism 28, oscillating bearing 29, counterweight 33, pitch radius arm 34 down.Synchronizing linkage comprises: be enclosed within outer shaft 24 outer walls and can rotate around outer shaft and up and down near stacked following in pitch 16a and following flare swash plate 12, in being enclosed within rotating shaft 22 outer walls and can rotate around interior rotating shaft and up and down near pitch 16b and last flare swash plate 25 in stacked the going up, be located at first rocking arm 1 between lifting servomechanism 28 and the following flare swash plate, be located at second rocking arm 2 between aileron servomechanism 27 and the following flare swash plate, first synchronising (connecting) rod 3 in being located at down between pitch and the following rotor fixture, second synchronising (connecting) rod 4 and the 3rd synchronising (connecting) rod 8 in being located at down between pitch and the last flare swash plate, the 4th synchronising (connecting) rod 5 in being located between pitch 16b and the balance wing fixture, be located at the 5th synchronising (connecting) rod 48 between balance wing fixture and the last rotor fixture, extend to down the following oriented chute 14 of flare swash plate side by frame 11, extend to down following fastening screw 13a in the oriented chute by following flare swash plate, extend to the last oriented chute 15 of flare swash plate side by interior rotating shaft 22, extend to last fastening screw 13b in the oriented chute by last flare swash plate.Be provided with first pin joint between second synchronising (connecting) rod 4 and the following flare swash plate 12, be provided with second pin joint between the 3rd synchronising (connecting) rod 8 and the following flare swash plate, first and second pin joint to the angle between outer shaft 24 axial connecting lines is 90 degree, make aileron servomechanism and lifting servomechanism from two angle pullings flare swash plate, flare swash plate variation at inclination angle all around under the control preferably down; First synchronising (connecting) rod 3, second synchronising (connecting) rod 4, the 3rd synchronising (connecting) rod 8, the 4th synchronising (connecting) rod 5 and the 5th synchronising (connecting) rod 48 comprise two respectively, and are symmetrically distributed with interior rotating shaft 22 respectively.So make symmetrical configuration, stressed even.The 3rd synchronising (connecting) rod 8 adopts frame shape structure, and following rotor fixture is passed frame shape structure centre.Balance wing is located at rotor 20 belows, and the projection of both wings on vertical is in vertical distribution.Balance wing comprises: an end connects the balancing pole 10 of balance wing fixture, is fixed on the counterweight 33 of the balancing pole other end, is fixed on the aileron 7 of counterweight end.Last rotor 20 and following rotor 21 all adopt the biconvex symmetrical airfoil.In this kind mode, counterweight 33 is holistic sub-assembly with the uncommon balance wing (aileron 7) of drawing, and the axis normal of counterweight 33 and Xi La aileron 7 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 the interference of extraneous air-flow automatically.The uncommon superiority of drawing mixed-control mode mainly to show maneuvering performance of Bel is applicable on the helicopter of the outdoor flight that big rudder amount is handled.Because counterweight and aileron are as a whole, certain damping action is played in the autobalance effect of the 7 pairs of counterweights of aileron that rotate under certain speed, the balance effect of the counterweight that weakened, but it has good wind resistance, after improvement, can improve its performance.Add the inner bearings that adopts of rotor head, rotate flexibly, stablize; First and second rocking arm of pitch and servomechanism all adopts the bulb button to connect with bulb; Flight stability in outdoor, wind resistance is good, is easy to control, the anti-damage of body.It is flown in the indoor and outdoor, and the free degree is better than ordinary construction.
Also adorn two motors 26 in the frame 11, driven outer shaft 24 respectively and interior rotating shaft 22 is rotated towards different directions.During actual taking off, outer shaft 24 drives down by following rotor fixture that rotor 21 is rotated counterclockwise generation lift, and interior rotating shaft 22 drives rotor 20 and the balance wing generation lift that turns clockwise respectively by last rotor fixture and balance wing fixture.Aileron servomechanism 27 and lifting servomechanism 28 drive flare swash plate 12 down by first and second connecting rod, and down interior pitch 16 connects outer shaft 24 and presses flare swash plate 12 down by oscillating bearing, and follow down the action of flare swash plate 12 synchronously.Oriented chute 14 is gone up rotor 20 with last oriented chute 15 and 34 lockings of down interior pitch radius arm at present, rotor 21 is handled angle down for this, oscillating bearing 29 plays spherical amount of spin when handling, upper and lower flare swash plate is through being oriented push-and-pull action to chute, pitch rotates flexibly by bearing in upper and lower, and the control action by synchronizing linkage two servomechanisms is communicated to rotor 20, time rotor 21, balance wing layer by layer synchronously.Because partly going up the angle of attack of rotor 20 and following rotor 21 relative winds, Bel can increase or reduce, but the cyclically-varying of the rotor angle of attack.The gyroscopic effect that produces during counterweight 33 rotation overcomes the external interference that runs into in-flight of model copter, plays balanced action, makes model copter overcome the interference of extraneous air-flow automatically, can change helicopter attitude rapidly again when handling simultaneously.When outdoor flight, air-flow is excessive relatively, and this moment, balance wing played good wind resistance, and flight is easy to handle.
Above embodiment is only for illustrating non-providing constraints.Anyly do not break away from the utility model spirit and category, and, all should be contained among the application's the claim scope its equivalent modifications of carrying out or change.
Claims (7)
1. the rotor drive unit of one kind coaxial pair oar formula model copter, it is characterized in that, it comprises: frame (11), be positioned at the last rotor (20) of frame top, balance wing and following rotor (21), be installed on aileron servomechanism (27) and lifting servomechanism (28) on the frame, be erected at the outer shaft (24) of the hollow on the frame, the interior rotating shaft (22) of being located at outer shaft inside and stretching out by the outer shaft top, the last rotor fixture in order to fixing last rotor on rotating shaft top in being contained in, balance wing fixture in being contained on the rotating shaft outer wall in order to the stable equilibrium wing, be contained in the following rotor fixture in order to rotor under fixing on outer shaft top, connect the synchronizing linkage of aileron servomechanism with control inclination angle, the balance wing fixture left and right sides; Described synchronizing linkage also connects the lifting servomechanism to control down inclination angle, rotor fixture front and back.
2. rotor drive unit as claimed in claim 1, it is characterized in that, described synchronizing linkage comprises: be enclosed within outer shaft (24) outer wall and can rotate around outer shaft and up and down near stacked following in pitch (16a) and following flare swash plate (12), be enclosed within interior rotating shaft (22) outer wall and can rotate around interior rotating shaft and up and down near pitch (16b) and last flare swash plate (25) in stacked the going up, be located at first rocking arm (1) between lifting servomechanism (28) and the following flare swash plate, be located at second rocking arm (2) between aileron servomechanism (27) and the following flare swash plate, first synchronising (connecting) rod (3) in being located at down between pitch and the following rotor fixture, second synchronising (connecting) rod (4) and the 3rd synchronising (connecting) rod (8) in being located at down between pitch and the last flare swash plate, the 4th synchronising (connecting) rod (5) in being located between pitch (16b) and the balance wing fixture, be located at the 5th synchronising (connecting) rod (48) between balance wing fixture and the last rotor fixture, extend to down the following oriented chute (14) of flare swash plate side by described frame (11), extend to down following fastening screw (13a) in the oriented chute by following flare swash plate, extend to the last oriented chute (15) of flare swash plate side by rotating shaft (22) in described, extend to last fastening screw (13b) in the oriented chute by last flare swash plate.
3. rotor drive unit as claimed in claim 2, it is characterized in that, be provided with first pin joint between described second synchronising (connecting) rod (4) and the described following flare swash plate (12), be provided with second pin joint between described the 3rd synchronising (connecting) rod (8) and the following flare swash plate, first and second pin joint to the angle between described outer shaft (24) axial connecting line is 90 degree; Described first synchronising (connecting) rod (3), second synchronising (connecting) rod (4), the 3rd synchronising (connecting) rod (8), the 4th synchronising (connecting) rod (5) and the 5th synchronising (connecting) rod (48) comprise two respectively, and are symmetrically distributed with rotating shaft (22) in described respectively.
4. rotor drive unit as claimed in claim 3 is characterized in that, described the 3rd synchronising (connecting) rod (8) adopts frame shape structure, and described rotor fixture is down passed frame shape structure centre.
5. rotor drive unit as claimed in claim 1 is characterized in that: described balance wing is located at described going up below the rotor (20), and the projection of both wings on vertical is in vertical distribution.
6. rotor drive unit as claimed in claim 1 is characterized in that, described balance wing comprises: an end connects the balancing pole (10) of balance wing fixture, is fixed on the counterweight (33) of the balancing pole other end, is fixed on the aileron (7) of counterweight end.
7. rotor drive unit as claimed in claim 1 is characterized in that, described upward rotor (20) and following rotor (21) all adopt the biconvex symmetrical airfoil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200978054U CN202070153U (en) | 2011-04-06 | 2011-04-06 | Rotor drive device of coaxial dual-propeller model helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200978054U CN202070153U (en) | 2011-04-06 | 2011-04-06 | Rotor drive device of coaxial dual-propeller model helicopter |
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| Publication Number | Publication Date |
|---|---|
| CN202070153U true CN202070153U (en) | 2011-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200978054U Expired - Fee Related CN202070153U (en) | 2011-04-06 | 2011-04-06 | Rotor drive device of coaxial dual-propeller model helicopter |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104058089A (en) * | 2014-05-06 | 2014-09-24 | 天津全华时代航天科技发展有限公司 | One-point double-shaft multi-propeller aircraft |
| CN104139855A (en) * | 2014-07-15 | 2014-11-12 | 北京航空航天大学 | Course control system for coaxial helicopter |
| CN107795669A (en) * | 2017-12-06 | 2018-03-13 | 亚伯兰环保科技（北京）有限公司 | Coaxial aircraft transmission device and aircraft |
| CN110525645A (en) * | 2019-08-30 | 2019-12-03 | 南京利剑无人机科技有限公司 | Unmanned plane toggle rotor mechanism |
-
2011
- 2011-04-06 CN CN2011200978054U patent/CN202070153U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104058089A (en) * | 2014-05-06 | 2014-09-24 | 天津全华时代航天科技发展有限公司 | One-point double-shaft multi-propeller aircraft |
| CN104139855A (en) * | 2014-07-15 | 2014-11-12 | 北京航空航天大学 | Course control system for coaxial helicopter |
| CN104139855B (en) * | 2014-07-15 | 2016-03-02 | 北京航空航天大学 | A kind of directional control system for co-axial helicopter |
| CN107795669A (en) * | 2017-12-06 | 2018-03-13 | 亚伯兰环保科技（北京）有限公司 | Coaxial aircraft transmission device and aircraft |
| CN110525645A (en) * | 2019-08-30 | 2019-12-03 | 南京利剑无人机科技有限公司 | Unmanned plane toggle rotor mechanism |
| CN110525645B (en) * | 2019-08-30 | 2023-12-22 | 南京航天国器智能装备有限公司 | Unmanned aerial vehicle torque arm rotor mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: SHENZHEN ART AVIATION TECHNOLOGY CO., LTD. Free format text: FORMER NAME: SHENZHEN ART-TECH R/C HOBBY CO., LTD. |
|
| CP03 | Change of name, title or address |
Address after: Two or three, 1, four floor, D4 building, Liyuan Industrial Estate, Shiyan community, Shiyan street, Shiyan City, Shenzhen, Guangdong, Baoan District 518000, China Patentee after: Shenzhen Art Aviation Technology Co., Ltd. Address before: 518000 Guangdong city of Shenzhen province Baoan District Shiyan town Tangtou Village million Liyuan Industrial Zone Industrial Park 1 Building 3 floor uplift Patentee before: Shenzhen Art-Tech R/C Hobby Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111214 Termination date: 20170406 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |