DE202007005542U1 - Helicopter e.g. remote controlled toy helicopter, has main rotor pivotably attached at shaft so that angle between rotating section of rotor and shaft is varied, and controller controlling movement of blade angle relative to another angle - Google Patents

Abstract

The helicopter (1) has a main rotor (4) driven by a rotor shaft (8), where the rotor is pivotably attached at the shaft such that an angle between a rotating section of the rotor and the shaft is varied. A controller controls a cyclic movement of an angle of a blade of the rotor relative to another angle of another blade of the rotor along a portion of 360 degree rotation path around the shaft. A variation of lifting force of the blade is produced along the portion of the rotation path such that a housing (2) is driven to a rest position in a horizontal direction.

Description

Associated login

These Registration is a partial continuation U.S. Pat. Patent application serial no. 11 / 465,781, 18 August 2006, the partial continuation U.S. Pat. Patent application serial no. 11 / 462,177, filed on August 3, 2006, which is the priority of the Belgian patent application No. 2006/0043, autostable helicopter by Alexander VAN DE ROSTYNE entitled, which was filed on January 19, 2006. The Contents of these applications are hereby incorporated by reference.

background

The The present disclosure relates to an improved flying object, such as e.g. a helicopter.

The Disclosure concerns a helicopter in general. Especially, but not exclusively, she refers to a toy helicopter and in particular on a remote-controlled model helicopter or a toy helicopter.

Summary

It It is known that a helicopter is a complex machine that unstable and therefore difficult to control, so much experience necessary, safely operate such helicopters without mishaps.

Usually contains a helicopter a housing, a main rotor and a tail rotor.

Of the Main rotor provides an upward force to disposal, to keep the helicopter in the air, as well as a sideways or forward or Backward force, needed in to the helicopter To control directions. This can be due to a cyclical change the angle of attack of the rotor blades of the main rotor at each revolution of the main rotor.

Of the Main rotor has a natural Tendency to deviate from his position, resulting in uncontrolled Movements and can lead to a crash of the helicopter, if the pilot is in control loses control of the helicopter.

Solutions to attenuation This effect has been provided so far, containing the Use of stabilizing rods and weights at the wing tips the propeller blades.

All these solutions make of the known phenomenon caused by the coreolisk force and the centrifugal forces Centrifugal motion Use to achieve the desired effect.

Of the Tail rotor is not completely insensitive to this phenomenon, since he must prevent the housing from surrounding the drive axis of the rotor rotates due to the resistance torque of the rotor to the housing.

To is the Heckrooter erect so that it has a lateral thrust developed the above mentioned Resistance torque of the rotor counteracts, and the helicopter is equipped with means that allow the pilot intended to control the lateral thrust, so that the flying position around the vertical axis can be determined.

There the tail of the helicopter tends to be around the drive axle of the main rotor, even in the case of minor changes in the drive torque of the main rotor, many helicopters are with a separate and autonomous mechanical or electromechanical System equipped, such. a spinning top or the like that automatically compensates for the thrust of the tail rotor during unexpected rotations.

In general, the stability of a helicopter involves the result of the interaction between:
the rotation of the rotor blades; the movements of any stabilizing rods; the compensation of the resistance torque of the main rotor by means of the tail rotor;
the system, such as a gyro or the like, to compensate for small undesirable changes in the resistance torque of the main rotor; and
the control of the helicopter, which controls the rotational speed of the main rotor and the tail rotor.

If These elements are essentially in balance, the pilot should be able, the helicopter as desired to control.

This does not mean that the helicopter can fly itself and therefore can maintain some flight position or maneuver, e.g. Hover or performing slow movements without the intervention of a pilot.

moreover Flying a helicopter usually requires intense training and much experience of the pilot, both that of an original large operational real likists as well as a toy helicopter or a remote-controlled model helicopter.

The This disclosure is intended to include one or more of the above mentioned and minimize other disadvantages by having a simple and cheap solution to disposal is set to automatically stabilize the helicopter, so that the operation of the helicopter is easier and possibly the need for many years Experience of the pilot is reduced.

Of the Helicopter should be capable be yourself by changing the rotor speed up and down, or the course through a change to change the tail rotor speed. The well-known helicopter can not be controlled so effectively neither forward or backwards, still laterally left or right, namely in the horizontal dimensions, to accelerate.

Around controlling a helicopter in flight are permanent control commands in these horizontal dimensions needed to move it in the desired direction to steer. Therefore, a system is needed to increase the buoyancy of the rotor in a cyclic manner.

One Helicopter contains a system to allow movement in a horizontal dimension cause and thereby the desired Direction to determine, optionally a desired horizontal direction. The rotor blades are driven by a rotor shaft and are pivotable on this rotor shaft attached so that the angle between the plane of rotation of the main rotor and the rotor shaft can vary.

A Control for cyclically moving the angle of attack of at least one Rotor blade along a 360 degree rotation path around the vertical rotor shaft, which is a change in a buoyancy force of the sheet along the rotation path, causes the housing, in a relatively horizontal direction from a relative position a horizontal starting position to be forced. The relative Position of the horizontal starting position is a relatively floating Position over a basic level. The term "angle of attack" is the relative Attack angle of the sheet meant against the plane of rotation.

The Control includes an actuator for engaging in one of the rotor dependent Arrangement, wherein the mutual attack of the actuator and the arrangement a change effected in the angle of attack of at least one rotor blade.

In different versions the system is a multi-control system or a multi-channel system to control the helicopter in different essentially horizontal directions.

The System includes a rotor, preferably with a stabilizer rotor added is. There is a main rotor mounted control ring and a with the helicopter housing structure connected actuator device. The tax ring is generally centered around the vertical rotor shaft and moves with the rotor, when tilted about the spring axis.

In busy with other situations the disclosure with a rotor without stabilizer.

The Control includes an actuator for engaging with one of Rotor dependent Arrangement. The mutual attack of the actuator and the arrangement causes a change in the angle of attack of at least one rotor blade.

The Interaction occurs when the assembly with the actuator is aligned. There may be multiple actuators, with the several actuators are distributed around the rotor shaft to with the arrangement around at different positions relative to Rotor shaft interact. The interaction occurs when selected actuators with selected ones Positions of the arrangement are aligned, for example where the Actuator attacks the ring.

The Actuator includes one between a rest position and a Position of a mutual attack with the arrangement movable arm, and wherein the degree of movement of the arm is the degree of interaction with the arrangement and the degree of change of the angle of attack causes at least one sheet. The length of the arm relative to the length of the Arrangement of the position of the anchoring of the rotor to the shaft, can the degree of interaction with the arrangement and the degree of change cause the adjustment angle of at least one sheet. Furthermore For example, the force exerted by the arm on the assembly can affect the degree of interaction with the arrangement and the degree of change of the angle of attack effect at least one sheet.

The stability the helicopter system preferably runs continue to work together with the applied control when the Control is applied. The degree to which the control system over the Stability System Data dominates, determines the measure of position change in the horizontal.

The actuator includes a movable between a rest position and a position of mutual attack with the arrangement arm, the arrangement includes a transversely disposed around the rotor shaft and movable with the rotor shaft ring, and the actuator is at a fixed Position arranged on the housing.

there the controller is used to make the sheet itself to turn on the spring axis of the rotor blade, the controller effectively applied to the sheet when doing an actuator is cyclically aligned relative to the sheet to rotate, preferably only to the spring axis, to effect. At least this will bring a leaf to vary the employment cyclically.

there the controller is used to make the sheet itself to turn the spring axis of the sheet, the controller effectively optional applied to the sheet by a system for operating the controller is to the angle of attack of the sheet periodically or at selected times or at selected Angle in the 360 degree rotation, which is essentially through the Position of the actuator on the housing is determined. There is a selected interactive force or movement, whereby optionally the angle of attack of the sheet in the required response to the controller is changed.

The Control changes optionally the blade pitch in the required response the controller, and periodically or at selected times or at selected angles in the 360 degree rotation, which is essentially due to the position of the actuator on the housing is determined. This allows the blade angle, not on the Control related forces to react.

Of the Helicopter is preferably equipped with an auxiliary stabilizer rotor, which is driven by the shaft of the main rotor and which with two substantially in line with their longitudinal axis extending wings Is provided. The "longitudinal" axis becomes in the sense of rotation of the main rotor, and is substantially parallel to the longitudinal axis of at least one of the rotor blades of the main rotor or is within a relatively small point Angle with the latter leaf axis. This auxiliary stabilizer rotor is pivotally mounted on a pendulum shaft, which is essentially is mounted transversely to the rotor shaft of the main rotor. This one is in Essentially transverse to the longitudinal axis the wing directed. The main rotor and the auxiliary rotor are interconnected connected a mechanical connection, so that the pivoting movements of the auxiliary rotor, the angle of attack of at least one of the rotor blades of Control main rotor.

• (a) er kann im Falle von unerwarteten Störungen der Flugbedingungen in eine stabile Schwebeposition zurückkehren. Solche Störungen können in der Form einer Windböe, Turbulenzen, eines mechanischen Lastwechsels, einem Positionswechsel des Gehäuses infolge einer Anpassung an die zyklische Veränderung der Steigung oder des Anstellwinkels der Rotorblätter des Hauptrotors oder einer Steuerung des Heckrotors oder dergleichen mit einem ähnlichem Effekt auftreten; und
• (b) die benötigte Zeit, um in die stabile Position zurückzukehren, sollte relativ kurz und die Bewegung des Helikopters sollte relativ gering sein.

The helicopter should more or less fulfill the following requirements:

• (a) it may return to a stable hover position in the event of unexpected disruption of flight conditions. Such disturbances may occur in the form of wind gust, turbulence, mechanical load change, housing change of position due to adaptation to the cyclic variation of the pitch or pitch of main rotor blades or control of the tail rotor or the like with a similar effect; and
• (b) the time required to return to the stable position should be relatively short and the movement of the helicopter should be relatively low.

Therefore The disclosure relates to an improved helicopter containing a housing with a stern; a main rotor with blades passing through a rotor shaft be driven and the pivotally mounted on the rotor shaft by means a joint are attached. The angle between the surface of the Rotation of the main rotor and the rotor shaft may change. One Tail rotor is driven by a second rotor shaft, which transversely is directed to the rotor shaft of the tail rotor.

In In practice it happens that such an improved helicopter is more stable and self relatively fast with or without one limited intervention stabilized by the user.

According to different Aspects of disclosure is the. Helicopter by hanging the Tail rotor with its rotor shaft on a swing, which is around the swing axle can turn, made more stable. The swing axle extends substantially in the longitudinal direction relative to the housing of the Helicopter.

in the Case of malfunction or the like where the helicopter starts, around the rotor shaft of the main rotor in an unwanted way and way to turn, the tail rotor should, as a result of the on the rotating tail rotor acting centrifugal motion due the rotation about the rotor shaft of the main rotor, about the swing axis tilt the tail rotor at a certain angle.

By Measuring the relative angular displacement of the swing and by using the measured signal as an input to a microprocessor, the the drive of the main rotor and the qq drive of the tail rotor as controls a function of a stabilization algorithm, the Thrust of the tail rotor can be adjusted so that the unwanted Effect of the disorder counteracted and automatically the stable flight conditions for the helicopter restored with minimal or no intervention by the pilot become.

The main rotor with blades is driven by a rotor shaft to which the blades are attached. The auxiliary rotor is driven by the rotor shaft of the main rotor and is equipped with wings of provided the rotor shaft in the sense of rotation of the main rotor.

Of the Auxiliary rotor is pivotally mounted on the pendulum shaft and the Pivoting movement is relatively upwards and down directed to the auxiliary shaft. The auxiliary shaft is essentially mounted transversely to the rotor shaft of the main rotor. The main rotor and the Auxiliary stabilizer rotor are connected together by a mechanical connection connected, so that the pivoting movement of the auxiliary rotor, the angle of attack of at least one of the rotor blades of the main rotor controls.

Of the Incident angle of the rotor in the plane of rotation of the rotor and the Rotor shaft can vary; and one rotatable with the rotor shaft Auxiliary rotor is for a relatively oscillating movement about an auxiliary rotor hinge pivotally. Different relative positions are such that the auxiliary rotor is a change of the Angle of the main rotor causes. A connection between the main and auxiliary rotors cause changes in the position of the Auxiliary rotor in changes translated at the angle of attack become.

The rotor blades the main rotor and the wings the Hilfsstabilisatorrotors are each with each other with a mechanical Connection, which shows the relative movement between the leaves of the Rotor and the wings of the auxiliary rotor allowed.

Of the Rotor and stabilizer are connected. The rotor and the stabilizer can also independent Move from each other around the pivot lines, as they usually do can be found in helicopter rotors. It can be a Act spring or ring hinge.

drawings

The mentioned above Features and objects of the present disclosure are described with reference to the following descriptions associated with the accompanying drawings more clearly, in which reference numerals denote similar components and in which:

1 schematically shows a helicopter according to the disclosure in perspective;

2 a plan view according to arrow F2 in 1 shows;

3 and 4 corresponding sections according to lines II-II and III-III in 2 demonstrate;

5 a view of the in 1 F5 indicates the rear rotor portion indicated on a larger scale;

6 a rear view according to arrow F6 in 5 is;

7 a variant of 1 shows;

8th a variant of 5 shows;

9 a different view of the tail rotor of 8th shows;

10 shows a section of the helicopter;

11 schematically shows an alternative view of the helicopter according to the disclosure in perspective;

12 a perspective view of the main rotor and the auxiliary rotor;

13 a perspective view of the tail rotor and the rear stabilizer in a second embodiment of the helicopter is;

14 shows a side sectional view of the second embodiment of the helicopter;

15 shows a perspective view of the second embodiment of the helicopter;

16 shows a plan view of the second embodiment of the helicopter;

17 a rear view of the second embodiment of the helicopter is;

18 a sectional view of the second embodiment of the helicopter along line 18-18 of 16 shows;

19 showing a helicopter with a rotating rotor to keep the helicopter upright in flight, and two axles are displayed;

20 A helicopter rotor in flight shows when the rotor halves produce different lift, one (A) against the other (B). A torque C generates and moves the rotor in the direction (C) of this torque. The effect of this torque is not necessarily in accordance with the span of the rotor and may later occur due to centrifugal forces;

21 a helicopter having a rotor and a stabilizer, a control ring attached to the rotor, and an actuator device connected to the helicopter housing structure;

22a and 22b there are two associated views showing the control ring in the Generally centered around the vertical rotor shaft. The ring moves around the rotor axis and with the rotor when the rotor tilts around the spring axis, as in FIG 22b is shown. The rotor system has been omitted for the sake of clarity;

23 an exploded view of the actuator device with a coil, a pivotable magnet, a base and an arm shows;

24 shows the arm in different positions (a), (b) and (c);

25 . 26 and 27a and 27b are exemplary and show the control ring and the rotor in relatively different positions. 27a is a side view of part of the structure and 27b is a more detailed front view of the structure;

29a and 29b show the stabilizing movement of the attached rotor, depending on its mechanical relationship with the rotor;

30a in which, because of the clarity, the rotor has been omitted, and 30b show more details of the operation;

31a . 31b and 31c each show a control with different possible positions of the actuator. Each position is for a rotor system and determines different unique flight patterns;

32 Figure 4 shows a controller with two actuators used to apply independent and optional force to the control ring;

33a and 33b show the withdrawn actuator arm and the actuator signal without interaction, and the rotor assembly is in a position before the interaction is present, and is free to take control of the rotor;

34a and 34b show the withdrawn actuator arm and the actuator signal without interaction, and the rotor assembly has worked freely under its own control;

35 an exemplary side view of a helicopter is;

36 is a plan view of a helicopter;

37 is a front view of a helicopter;

38 is a perspective view of a helicopter;

39 a side view of the structure of a helicopter is;

40 is a plan view of the structure of a helicopter;

41 is a front view of the structure of a helicopter;

42 is a perspective view of the structure of a helicopter;

43 a side view of the structure of a helicopter is;

44 is a plan view of the structure of a helicopter;

45 is a front view of the structure of a helicopter;

46 is a perspective view of the structure of a helicopter;

47 a side view of the structure of a helicopter is;

48 is a plan view of the structure of a helicopter;

49 is a front view of the structure of a helicopter; and

50 is a perspective view of the structure of a helicopter.

detailed description

The following embodiments of an improved helicopter according to the disclosure are only as an example with reference to the accompanying drawings, without limiting in any way to be.

The helicopter exemplified in the figures 1 is a remote-controlled helicopter, which essentially consists of a housing 2 with a chassis and a rotor 3 ; a main rotor 4 ; one in sync with the latter and a tail rotor 6 driven auxiliary rotor 5 consists.

The main rotor 4 is provided with means as a rotor head 7 on a first upward rotor shaft 8th be designated in the housing 2 the helicopter 1 mounted rotatably in a bearing and by means of a motor 9 and a transmission 10 is driven, the engine 9 For example, an electric motor is powered by a battery 11 is supplied.

In this case, the main rotor 4 two leaves 12 that are in line or as good as in line, but which are just as good from a larger number of leaves 12 can be composed.

The inclination or the angle of attack A of the rotor blades 12 in other words the angle A, which is the same as in 6 shown propeller blades 12 with the rotation plane 14 of the main rotor 4 can be set, the main rotor 4 is pivotable on this rotor shaft 8th attached by means of a joint, so that the angle between the plane of rotation of the main rotor and the rotor shaft can vary freely.

In the case of the example of a main rotor 4 with two leaves 12 the connector is passed through a rod 15 of the rotor head 7 educated.

The axis 16 this rod 15 is transverse to the rotor shaft 8th directed and extends substantially in the direction of the longitudinal axis 13 one of the rotor blades 12 and forms preferably as in 2 is shown, an acute angle B with this longitudinal axis 13 ,

The tail rotor 6 is via a second rotor shaft 17 by means of a second motor 18 and a transmission 19 driven. engine 16 can be an electric motor. The tail rotor 6 with its rotor shaft 17 and his drives 18 - 19 is on a swing 20 Hung around a swinging axle 21 can rotate at the stern 3 the helicopter 1 through two brackets 22 and 23 is fixed.

The swing 20 is with an extension piece 24 provided in the direction of the bottom, by means of a spring 25 is kept at rest in a central position, whereby the second rotor shaft 17 is horizontal in this position and crosswise to the first rotor shaft 8th is directed.

At the lower end of the extension piece 24 the swing 20 is a magnet 26 provided, whereas to the position of the magnet 26 in the aforementioned state of rest of the swing 20 a magnetic sensor 27 at the stern 3 fixed, which allows the relative angular displacement of the swing 20 and thus the tail rotor 6 around the swing axle 21 to eat.

It is clear that this angular displacement of the swing 20 can also be measured in other ways, for example by means of a potentiometer.

The measured signal may be used as an input to a controller not shown in the figure which drives the main rotor 4 and the tail rotor 6 and which is provided with a stabilizing algorithm which will give a counter-command when there is a sudden undesired angular displacement of the tail rotor 6 around the swing axle 21 is measured, resulting from an undesired rotation of the helicopter 1 around the rotor shaft 8th results to the position of the helicopter 1 restore.

The helicopter 1 is also with an auxiliary rotor 5 provided substantially in synchronism with the main rotor 4 through the same rotor shaft 8th and the rotor head 7 is driven.

In this case, the auxiliary rotor has 5 two wings 28 which is essentially in line with its longitudinal axis 29 are, whereby the rotational sense R of the main rotor 4 seen longitudinal axis 29 essentially parallel to the longitudinal axis 13 the leaves 12 of the main rotor 4 or includes a relatively small acute angle C with the latter, so that both rotors 4 and 5 more or less parallel to each other with their propeller blades 12 and wings 28 extend.

The diameter of the auxiliary rotor 5 is preferably smaller than the diameter of the main rotor 4 because the wings 28 a smaller span than the rotor blades 12 exhibit and the wings 28 essentially rigidly connected to each other. This rigid overall structure, which is the auxiliary rotor 5 is swinging on a pendulum shaft 30 attached to the rotor head 7 the rotor shaft 8th is fixed. This is transverse to the longitudinal axis of the wings 28 and across the rotor shaft 8th directed.

The main rotor 4 and the auxiliary rotor 5 are interconnected by a mechanical connection, which is so from the auxiliary rotor 5 the angle of attack A of at least one of the rotor blades 12 of the main rotor 4 is. In the example given, this connection is made by a rod 31 educated.

This rod 31 is articulated on a leaf 12 of the main rotor 4 with an attachment point 32 by means of a joint 33 and an arm 34 , and with another second attachment point 35 which is located at a distance to the latter, it is hinged to a wing 28 of the auxiliary rotor 5 by means of a second joint 36 and a second arm 37 appropriate.

The attachment point 32 on the main rotor 4 is at a distance D from the axis 16 the pole 15 the rotor blades 12 of the main rotor 4 located, with the other attachment point 35 on the auxiliary rotor 5 at a distance E from the axis 38 the pendulum shaft 30 of the auxiliary rotor 5 is located.

The distance D is preferably greater than the distance E, and approximately twice this distance E, and both attachment points 32 and 35 of the staff 31 are, seen in the sense of rotation R, on the same side of the rotor blades 12 of the main rotor 4 or the wing 28 of the auxiliary rotor 5 in other words, both are on the front or the back of the rotor blades 12 and the wing 28 , seen in the sense of rotation, located.

Also includes the longitudinal axis 29 the wing 28 of the auxiliary rotor 5 , seen in the sense of rotation R, preferably an angle F with the longitudinal axis 13 the rotor blades 12 of the main rotor 4 a, wherein the included angle F is on the order of 10 degrees, wherein the longitudinal axis 29 the wing 28 the longitudinal axis 13 the rotor blades 12 , seen in the sense of rotation R, advanced. Different angles in a range of eg 5 to 25 degrees can also be ok.

The auxiliary rotor 5 is with two stabilizing weights 39 each of which is attached to a wing 28 at a distance from the rotor shaft 8th is fixed.

Furthermore, the helicopter 1 provided with a receiver so that it can be controlled from a distance by means of a remote control, which is not shown.

As a function of the helicopter design, it is possible, by experimenting, to find the most suitable values and relationships of angles B, F and G; the relationship between distances D and E; the size of the weights 39 and the relationship of the diameters between the main rotor 4 and the auxiliary rotor 5 to seek to ensure maximum car stability.

The operation of the improved helicopter 1 according to the disclosure is as follows:
In flight are the rotors 4 . 5 and 6 driven at a certain speed, by which a relative air flow is generated in relation to the rotors through which the main rotor 4 generates an upward force, leaving the helicopter 1 ascends or descends or maintains a certain height, and the tail rotor 6 develops a laterally directed force that is used to make the helicopter 1 to control.

It is for the main rotor 4 impossible to adjust himself, and he will be in the plane 14 turn on, in which it was started, usually the horizontal plane. Under the influence of gyroscopic motion, turbulence and other factors, he will assume an arbitrary undesired position if he is not controlled.

The rotation surface of the auxiliary rotor 5 may have a different inclination with respect to the surface of revolution 14 of the main rotor 8th occupy, causing both rotors 5 and 4 another inclination with respect to the rotor shaft 8th can take.

These Slope difference can be due to any internal or external force or turbulence or whatever arise.

In a situation by which the helicopter 1 Stable on a spot in the air without any disturbing internal or external forces floats, drives the auxiliary rotor 5 continues to rotate in a plane that is substantially perpendicular to the rotor shaft 8th is.

If, however, the case 2 due to any disturbance or whatever is being pushed out of balance and the rotor shaft 8th swings off its equilibrium position, follows the auxiliary rotor 5 not immediately this movement, because the auxiliary rotor 5 free around the pendulum shaft 30 can move.

The main rotor 4 and the auxiliary rotor 5 are arranged with respect to each other so that a pivotal movement of the auxiliary rotor 5 almost directly in the slope or the angle of attack A of the rotor blades to be adjusted 12 is translated.

For a two-bladed main rotor 4 This means that the rotor blades 12 and the wings 28 both rotors 4 and 5 must be substantially parallel or, seen in the sense of rotation R, an acute angle with each other, for example, 10 degrees in the case of a large main rotor 4 and a small auxiliary rotor 5 lock in.

This angle can be calculated or experimented for each helicopter 1 or for helicopter executions.

When the rotation axis 8th takes a different inclination than the one corresponding to the above-mentioned equilibrium position in a situation where the helicopter 1 floats, the following happens:
A first effect is that the auxiliary rotor 5 First try to maintain its absolute inclination, thereby increasing the relative inclination of the rotating surface of the auxiliary rotor 5 in relation to the rotor shaft 8th changed.

As a result, the rod becomes 31 the angle of attack A of the propeller blades 12 Adjust so that the upward force of the propeller blades 12 on one side of the main rotor 4 will rise and will decrease on the diametrically opposite side of this main rotor.

Because the relative position of the main rotor 4 and the auxiliary rotor 5 is selected so that a relatively immediate effect will occur. This change in the upward force ensures that the ro door shaft 8th and the case 21 be forced back to their original equilibrium position.

A second effect is that, given the distance between the far ends of the wings 28 and the rotation plane 14 of the main rotor 4 is no longer the same, and so are the wings 28 generate an upward force, a greater pressure between the main rotor 4 and the auxiliary rotor 5 on one side of the main rotor 4 is generated as on the diametrically opposite side.

One third effect plays a role when the helicopter starts following front, back or side due to a fault too tilt. Just as in the case of a pendulum, the helicopter becomes tend to be in its original Position back to go. This pendulum effect does not generate destabilizing gyroscopic forces like in the known helicopters, with a transverse to the rotor blades of the Main rotor directed stabilizer bar are equipped. It works to reinforce the first and second effects.

The effects have different origins, but analogous properties. They reinforce each other so as to automatically adjust the balance position of the helicopter 1 without correcting any intervention by a pilot.

The tail rotor 6 is swingably mounted and provides additional stabilization and allows the tail rotor 6 to assume the function of the gyro often used in existing helicopters, such as model helicopters.

In case of failure, the housing 2 start looking around the rotor shaft 8th to turn. As a result, the tail rotor rotates 6 at an angle in one sense or the other around the swing axis 21 , The because of the gyroscope, which is on the rotating tail rotor 6 due to the rotation of the tail rotor 6 around the rotor shaft 8th acts. The angular displacement is a function of the amplitude of the disturbance and thus of the rotation of the housing 2 around the rotor shaft 8th , This is done by the sensor 27 measured.

The signal of the sensor 27 is used by a control unit of a computer to counteract the malfunction and the thrust of the tail rotor 6 adjust so that the angular displacement of the tail rotor 6 is canceled due to the disturbance.

This can be done by adjusting the speed of the tail rotor 6 and / or by adjusting the angle of attack of the rotor blades of the tail rotor 6 be made, depending on the helicopter execution 1 ,

If necessary, this aspect of the disclosure can be applied separately, as well as the aspect of the auxiliary rotor 5 can be applied separately, as for example by means of 7 shown is a helicopter 1 according to the disclosure shows, in which a main rotor 4 with an auxiliary rotor 5 combined, but its tail rotor 6 is of the conventional type, ie its shaft can not rotate with a swing, but rotatable with respect to the tail 3 is appropriate.

Practically does the combination of both make it possible to make a helicopter, which is very stable in every direction and in every flight situation and that is easy to control, even by people who have little or no have no experience.

It is clear that the main rotor 9 and the auxiliary rotor 5 not necessarily as a rigid overall structure must be made. The rotor blades 12 and the wings 28 can also do so on the rotor head 7 be provided that they are attached and can rotate relatively separately. In this case, for example, two bars 31 used to be a leaf at any time 12 with a wing 28 connect to.

It is also clear that, if necessary, the connectors and the articulated connectors can also be realized in other ways than those shown, e.g. by the aid of a flexible torsion element.

In the case of more than two leaves 12 having main rotor 4 one should preferably be sure that at least one sheet 12 essentially parallel to one of the wings 28 of the auxiliary rotor. The connector of the main rotor 4 is preferably as a ball joint or as a rod 15 made essentially transverse to the axis of the pendulum shaft 30 of the auxiliary rotor 5 is directed and extending substantially in the longitudinal direction of a propeller blade 12 extends, which is substantially parallel to the wing 28 is.

In another version The helicopter includes a housing with a stern; a main rotor with blades passing through a rotor shaft is driven, to which the leaves are attached. A tail rotor is directed by a second transverse to the rotor shaft of the main rotor Rotor shaft driven. An auxiliary rotor is through the rotor shaft powered by the main rotor and is fitted with wings from the rotor shaft Rotation sense of the main rotor provided.

The auxiliary rotor is swingably mounted on a pendulum shaft and the pivotal movement is directed relatively upwards and downwards about the auxiliary shaft. The auxiliary shaft is provided substantially transversely to the rotor shaft of the main rotor. The main rotor and the auxiliary rotor are connected to each other by a me connected chanic connection, so that the pivoting movement of the auxiliary rotor controls the angle of attack of at least one of the rotor blades of the main rotor. There may be varying degrees of width, varying from narrow to furthest for each of the rotors, and weights may be strategically positioned along the length of the auxiliary rotor to ensure proper movement and effect on the main rotor, taking into account the appropriate angular relationship between the axis of the rotor Auxiliary rotor and the axis of the main rotor to achieve the effect and the control of the angle of attack of the main rotor. In some cases, the auxiliary rotor may be mounted below the main rotor, between the housing top and the main rotor, and still the correct effect at the main rotor pitch can be achieved.

Of the Incident angle of the rotor in the plane of rotation of the rotor and the Rotor shaft may vary. An auxiliary rotor rotatable with the rotor shaft is for relative Oscillation around the rotor shaft. Relatively different positions are such that the auxiliary rotor to the angle of the main rotor to do so brings to be different. A connection between the main and the auxiliary rotor causes changes in the position of the auxiliary rotor to the changes in the angle of attack to translate.

The rotor blades the main rotor and the wings of the auxiliary rotor are connected to each other with a mechanical connection connected, which shows the relative movement between the leaves of the Rotor and the wings of the auxiliary rotor allowed. A connector of the main rotor to the rotor blades is formed by a rod attached to the rotor shaft of the main rotor is fixed.

The mechanical connection involves a hinged to a wing of the Auxiliary rotor attached to an attachment point rod, and is articulated at another attachment point on the blade of the main rotor appropriate.

The housing includes wings directed across a longitudinal axis of the helicopter housing. The wings 100 and 102 are transversely and downwards, with the wing tips 194 and 106 make it possible to stabilize the helicopter housing on the ground.

There is a downside stabilizer 108 at the stern of the helicopter. 15 also shows a remote control unit for operation with the helicopter. This unit may have suitable computerized controls for signaling the operation of the motor operating the rotors and their relative positions.

As described and shown in detail in this disclosure, there is a rotating helicopter rotor to the helicopter, as in 19 shown to keep in flight. In this configuration there is a stabilizer auxiliary rotor 128 with a main rotor 112 , There is no other control system for changing the angle of attack of the rotor 112 to affect another motion control in a substantially horizontal sense.

The rotor 112 and the stabilizer rotor 128 are in 19 connected with each other. The rotor 112 and also the stabilizer rotor 128 are independently movable around pivoting lines, as can be found in the helicopter rotors. This can essentially be a spring or a screw-on joint or axle 200 and 202 be. The helicopter shown is capable of moving up or down by changing the rotor speed, or it changes course due to changing tail rotor speed. The in 19 helicopters shown can not be controlled so effectively to accelerate neither forward nor backward, nor sideways left or right, in the relatively horizontal dimensions.

Because of more effective control of a helicopter in flight, commands in these horizontal dimensions are preferably used substantially permanently to steer the helicopter in or against the desired direction. It is a control system provided to the buoyancy of the rotor 112 in a cyclic way, ie, in such a way that each rotor blade half 112a and 112b the buoyancy along a rotation about the vertical rotor shaft 108 changed. If the rotor halves 112a and 112b a different buoyancy 224 for leaf 112a against the other buoyancy 226 for leaf 112b generate, creates a torque C and moves the rotor 112 in the direction D of this torque. The effect of this torque is not necessarily in line with the span of the rotor and may later occur due to gyroscopic forces. The angle of attack of one leaf 112a with respect to the plane of rotation is steeper or greater than the angle of attack of the blade 112b or a portion relative to the plane of rotation which is relatively flatter. This causes a movement in the direction D. This can be influenced by centrifugal forces. This is in 20 shown. Each blade connected to the rotor component 112a and 112b sees this change cyclically along a 360 degree rotation of the rotor shaft.

• – einen vorzugsweise, aber nicht notwendigerweise, mit einem Stabilisatorrotor 128 ergänzten Rotor 112,
• – einen am Rotor 112 angebrachten Steuerring 204, und
• – eine Stellgliedvorrichtung 206, welche mit der Helikoptergehäusestruktur verbunden ist, welche durch ein in einer repräsentativen Weise in 21 gezeigtes Sockelelement 208 repräsentiert wird. Anstatt eines Sockels kann es andere Strukturen geben, an welche der Ring angebaut ist.

The control system of the disclosure includes the following features:

• One preferably, but not necessarily, with a stabilizer rotor 128 supplemented rotor 112 .
• - one on the rotor 112 attached tax ring 204 , and
• - An actuator device 206 , which is connected to the helicopter housing structure which by a in a representative way in 21 shown base element 208 is represented. Instead of a socket, there may be other structures to which the ring is attached.

These are in 21 shown.

The tax ring 204 is generally around the vertical rotor shaft 108 centered. The ring 204 moves with the rotor 112 when he is around the spring axis 200 inclines. This is in detail in the 22a and 22b shown, with the inclination in 22b is shown.

The illustrated actuator device 206 includes a coil 210 , a swiveling magnet 212 , a pedestal 214 and an arm 216 , as in the exploded view in 23 shown. Depending on the voltage and the voltage supplied by the coil 210 sent power, which is controlled by the controller, which in turn is controlled by a remote control unit exercises the arm 216 a force on the control ring 204 from the changes in the employment of the sprung rotor blade 112 causes.

The actuator device 206 can have many forms and use different technologies. For example, it could be an electric motor with an arm attached to the axis of the motor, or other electromagnetic or magnetic systems could be used. Other systems can be used. It could be a piezoelectric device, ionic polymer actuators, other non-magnetic devices, and other interactive and / or interacting systems to make an arm move or, if there is no arm, could have a different configuration to move the rotor about an axis, such as the spring axis, in a periodic fashion.

Operating condition: none command

In the situation where the actuator 206 is not in operation, there is no contact between the arm 216 and the ring 204 regardless of the rotational position of the rotor 112 , The rotor system behaves as if there were no control mechanism. In the case of a self-stabilizing rotor system, the helicopter will hover more or less in a hovering position, mainly depending on the position of the center of gravity, as explained in the above-referenced patent applications and also disclosed in this disclosure. 25 . 26 and 27a and 27b are illustrative.

Operating state: control command

When the actuator 206 is in operation, then moves the arm or rotates, and engages the control ring 204 and exert a force on the ring 204 out. The size of this force depends on the size of the actuator 206 sent control signals. The force causes a torque on the control ring assembly 204 , The size of the torque transmitted to the assembly depends on the ratio between 218 and 220 from. The longer the relative length of 218 to 220 , the more torque is transmitted. 28a and 28b are illustrative.

This torque tends the attached rotor 112 along the spring axis 200 which is perpendicular to the actuator force direction 222 is. In 28a this is a representative position along a 360 degree path of the rotor 112 , A rotor half or a rotor blade 112a takes a larger angle of attack, while the opposite rotor half or the rotor blade 112b takes a smaller angle of attack. The through the rotor half or the rotor blade 112a generated buoyancy force 224 is larger than that through the rotor half or the rotor blade 112b generated buoyancy force 226 ,

The stabilizer or auxiliary rotor 128 follows the movement of the attached rotor 112 , depending on its mechanical relationship with this rotor 112 , In the case of the helicopter the 1 to 8th pivots the stabilizer 128 around the spring axis 202 , 29a and 20b are illustrative.

This asymmetry in buoyancy force, as discussed further below 20 explains a torque on the helicopter.

If the rotor 112 continues in its rotation by up to 90 degrees, are now the spring axis 200 of the rotor 112 and the control ring assembly 204 in line with the force of the actuator 206 and his arm 216 , The rotor 112 can not tilt due to the applied force, and the rotor 112 Does not "see" that force or torque. 30a with the sake of clarity omitted rotor and 30b are illustrative. This is a mechanical explanation of how relatively cyclical the controller is. The ring 204 does not lean in this section of the cycle and has no effect.

This means that the effect of the actuator force is maximum Zero goes in a 90 degree advance of the rotor. It's working again to a maximum next time Progress of 90 degrees, and back to zero for the next 90 degrees, etc. This can be essentially a sinusoidal change the one on the leaf or the leaves be the rotor acting force.

As a result, the direction of force is cyclically varied. This is a term commonly used in helicopters to indicate that the effects of control input vary not only with the size and type of control input, but also with the position of the blade advancing along a 360 degree circle around the rotor shaft. With the position of the actuator 206 with respect to the rotor shaft 108 and the solid housing, the effect of the actuator force causes the helicopter to move substantially or mainly in the same or similar direction. This is determined by the angle of the actuator position relative to the housing and the rotor shaft 108 and the gyro effects. The magnitude of the force greatly affects the speed and / or acceleration of movement of the housing. This is a control system to control the movement of the helicopter housing.

Operating Condition: Variations and parameters

If the actuator position in alignment with the axis of the helicopter housing of the tip is up to the stern, this does not mean that the Helicopter forward moved with a control input. Centrifugal forces tend to the effects moving the position of rotating masses up to 90 degrees to delay. The exact delay depends on Parameters such as the masses of rotating objects, e.g. the Rotor, and / or the stabilizer, and the aerodynamic forces, the angle between the rotor spring axis and the rotor center axis, the type of Rotor joints ("rigid" or "elastic") etc .. The preferred Positioning of the actuator for the wished Effect is effective as a function of the desired direction of movement certainly.

31a . 31b and 31c show possible different positions of the actuator 206 , Each position establishes a rotor system with a unique flight behavior.

32 shows how two actuators 206a and 206b used to independently exert force on the control ring. For example, and in the case that these actuators 206a and 206b Spaced 90 degrees apart and commanded by two independent signals, two-dimensional horizontal movements can be initiated. If four actuators are installed, one every 90 degrees relative to each other, better directional control in the horizontal plane is possible.

If e.g. Three actuators are used, each 120 degrees from the other and by three independent ones Signals signals, and some interactions of the three signals to disposal is a better directed control in the horizontal Level possible.

Operating status particularities

Of the Helicopter of the preceding related patent applications generated Auto stability. One of the elements of the system is completely free to the rotor / stabilizer component to move. Any external inhibition of this causes the stabilizing Effect disappears. In a "classic" cyclic control system takes over the control mechanism has full control over the rotor system. The degree, to which the control system overrides the stabilization system, must not be at 100%. However, tuning and calibration can the stability maintained. This is a small effect when using a motion control command is given to the actuator.

With The actuator based on the control system is different disclosed functions and capabilities.

When the actuator 206 At rest, there is no contact with the rotor or there is no mechanical interference with the free movement of the rotor 112 and the stabilizer rotor 128 , 25 . 26 . 27a and 27b are illustrative.

When a signal to the actuator 206 if the force has temporary effect on the rotor system, it "destabilizes" it in such a way that the helicopter moves in the desired direction. 29a and 29b are illustrative.

When the actuator signal. reset to zero, then the rotor assembly is free again to take over the control. 33a and 33b are illustrative.

There is a control system for regulating the degree of horizontal movement required and a control system for regulating the stability of the helicopter in a relatively non-horizontal direction of motion. The degree to which the horizontal motion control system dominates via the non-horizontal motion stability system of the helicopter determines the rate of position changes in the horizontal sense. The horizontal control system involves the interaction of the ring 204 , the actuator 206 and its control operation. The control system for stability is partly due to the interacting rotor 112 and the stabilizing rotor 128 reached.

The motor 300 and the interactive gearbox 302 and 304 drive the rotor shaft 108 in the required speed. control electronics 306 may optionally be at the substitute 308 to be appropriate.

In the case shown, when the rotor 112 and the stabilizer 128 Being themselves in an "unnatural state" - they align themselves automatically after all the reasons claimed by the preceding helicopter and get into one as well as the other 34a and 24b shown state back. The stabilizing effect of helicopters 1 to 18 comes out again. This means that the combination of both desired components is achieved: stability, when no input is given, and control, when an input signal to the actuator 206 and the rotor ring assembly 204 is given.

As in the 35 to 40 4, there are different views of helicopters using the disclosure to effect control in a horizontal sense. The control ring is shown in different directions of attack with the actuator. The horizontal control system shown uses the described and illustrated principles with reference to FIGS 20 to 34 and additionally the stabilization system shown in other figures of this disclosure.

The This disclosure is not limited to those exemplified and limited to the embodiments shown in the accompanying figures. Lots different variations in size and scope and functions are possible.

The Disclosure was made with a self-stabilizing rotor system described and shown. Other non-self-stabilizing flying devices can also use the control system of disclosure.

For example, are different forms instead of an intended electric motor possible by motorized drive. A different number of blades may be provided on the rotors become.

One Helicopter according to the disclosure can be made in all forms and dimensions, where he remains within the scope of the disclosure. In this sense, though the helicopter in some sections as a Toy helicopter or a model helicopter has been described can the described and shown functions partially or completely in a full size Helicopter use find. In some cases, the helicopter can Be structure without a tail rotor. Different helicopter type systems can use the control of disclosure. In other cases can used the rotor control with different flying objects become.

In other forms, instead of the mechanical interaction, um to cause the control, a suitable magnetic or electromagnetic Servo e.g. be used with a helicopter, which is the main rotor and also used the stabilizer auxiliary rotor.

Even though the disclosure of a system for essentially substantial or approximate horizontal movement described in one or two directions, includes the Disclosure systems to enable a control of movement in other substantially horizontal Directions. For example, the helicopter control can control from horizontal movement forward and / or sideways to the left and / or sideways to the right or different combinations of these movements determine.

For this Usage may be more than a control system for Interact with the rotor component. There may be some control systems which operated with the rotor in parallel and / or serial manner be to the desired to effect horizontal movement.

The caused by the control systems are horizontal movements additionally to the up and down movements, which with the helicopter system with the non-operated or functioning Control on the rotor assembly, are possible.

Instead of one dependent on the rotor Arrangement, there may be other structures for the actuator to to interact with the rotor system. Furthermore, it can be used instead of a Rings to interact with the actuator other physical structures to interact with the actuator. In different make It can be more than two leaves for the Rotor, and one or two or more of the blades of the rotor can in controlled to different or the same extent.

During the Apparatus and the method currently considered to be the most practical and preferred embodiments described, it is understandable that disclosure is not limited to the disclosed embodiments limited have to be. It is intended to be various modifications and the like To cover arrangements within the spirit and scope of the claims so that in scope with the widest interpretation, all such modifications and similar Structures are included. The present disclosure includes any and all embodiments the following claims.

Claims (26)

A helicopter comprising a housing ( 2 ); a main rotor ( 4 ) with leaves ( 12 ), which by a rotor shaft ( 8th ) is driven and the pivotable on this rotor shaft ( 8th ) is mounted so that an angle between a plane of rotation of the main rotor ( 4 ) and the rotor shaft ( 8th ) may vary; a control for cyclically moving an angle of attack (A) of at least one sheet ( 12 ) of the main rotor ( 4 ) relative to the angle of attack (A) of another sheet ( 12 ) of the main rotor ( 4 ) along at least part of a 360 degree rotation path about the rotor shaft ( 8th ), wherein a variation of a buoyancy force of the sheet ( 12 ) is caused along at least a part of the rotational path, and is thereby caused to urge the housing in a horizontal direction relative to a rest position. A helicopter according to claim 1, wherein the controller is an actuator ( 206 ) to attack with one of the main rotor ( 4 ) dependent arrangement, wherein a mutual attack of the actuator ( 206 ) and the arrangement a change in the angle of attack (A) of at least one sheet ( 12 ) of the main rotor ( 4 ) or the helicopter remains relatively stable when the actuator ( 206 ) is not in the attack with the arrangement or a control arrangement in a rest position relative to the actuator ( 206 ) or there is no command from the actuator ( 206 ) for interacting with the device. A helicopter according to claim 2, wherein to generate the interaction, the actuator ( 206 ) on a ring associated with the assembly ( 204 ) attacks. Helicopter according to claim 2 or 3, comprising a plurality of actuators ( 206a . 206b ), wherein the plurality of actuators ( 206a . 206b ) around the rotor shaft ( 8th ) are distributed to the arrangement at different circumferential positions relative to the rotor shaft ( 8th ), the interaction occurring when selected actuators ( 206a . 206b ) are in alignment with selected locations of the array. Helicopter according to one of claims 2 to 4, wherein the actuator ( 206 ) a movable between a rest position and a position of mutual attack with the arrangement arm ( 216 ) and where the degree of movement and that through the arm ( 216 ) applied force the degree of interaction with the arrangement and the degree of change in the angle of attack (A) of at least one sheet ( 12 ) influence. Helicopter according to one of claims 2 to 4, wherein the actuator ( 206 ) a movable between a rest position and a position of mutual attack with the arrangement arm ( 216 ) and the length of the arm ( 216 ) relative to the length of the assembly from the location of the rotor anchorage to the rotor shaft ( 8th ) the degree of interaction with the arrangement and the degree of change in the angle of attack (A) of at least one sheet ( 12 ). Helicopter according to one of claims 2 to 4, wherein the actuator ( 206 ) a movable between a rest position and a position of mutual attack with the arrangement arm ( 216 ), wherein the arrangement a transversely to the rotor shaft ( 8th ) and movable with the rotor shaft ( 8th ) arranged ring ( 204 ), and wherein the actuator ( 206 ) or several actuators ( 206a . 206b ) at a fixed location on the housing ( 2 ) are arranged. A helicopter according to any one of the preceding claims, wherein, when the controller is used, the blade ( 12 ) around a spring axis of the sheet ( 12 ), whereby the control on the sheet ( 12 ) is applied when an actuator ( 206 ) relative to the leaf ( 12 ), thereby rotating about the spring axis ( 200 ) to effect. A helicopter according to any one of the preceding claims, wherein, when the controller is used, the blade ( 12 ) around the spring axis ( 200 ) of the sheet ( 12 ), with the controller optionally on the sheet ( 12 ) is applied by a control system to thereby control the angle of attack (A) of the sheet (FIG. 12 ) periodically or at selected times and with selected interactive force or movement, optionally the angle of attack (A) of the blade ( 12 ) to change in the required response to the control. A helicopter according to claim 9, wherein, when the controller is used, the blade ( 12 ) the pitch of the blade periodically or at selected times or positions along a 360 degree path around the rotor shaft ( 8th ) will be changed. A helicopter according to claim 10, wherein a stability system works together with a horizontally applied control when the horizontal control is applied so that periodically or too chosen Times it allows the blade angle will respond to non-control related forces. Helicopter according to one of the preceding claims, comprising an auxiliary rotor ( 5 ), which by the rotor shaft ( 8th ) of the main rotor ( 4 ) and with two wings ( 28 ), which are substantially in line with their longitudinal axes, being in the sense of rotation of the main rotor ( 4 ) substantially parallel to the longitudinal axis of at least one of the sheets ( 12 ) of the main rotor ( 4 ) or in one are relatively acute angles relative to the axis. A helicopter according to claim 12, wherein the auxiliary rotor ( 5 ) pivotable on a pendulum shaft ( 30 ) is mounted substantially transversely rotor shaft ( 8th ) of the main rotor ( 4 ) is mounted and substantially transversely to the longitudinal axis of the wings ( 28 ). A helicopter according to claim 12 or 13, wherein the main rotor ( 4 ) and the auxiliary rotor ( 5 ) are connected to each other by a mechanical connection, so that a pivoting movement of the auxiliary rotor ( 5 ) the angle of attack (A) of at least one of the blades (A) 12 ) of the main rotor ( 4 ) controls. Helicopter according to one of the preceding claims, wherein the resting position is a floating position relative to one Basic level is. Helicopter according to one of the preceding claims, wherein the main rotor ( 4 ) two leaves arranged substantially in line ( 12 ) contains. A helicopter according to any one of claims 12 to 16, wherein the leaves ( 12 ) of the main rotor ( 4 ) or the wings ( 28 ) of the auxiliary rotor ( 5 ) are substantially firmly connected to each other, and a connecting piece of the main rotor ( 4 ) from a pole ( 15 ) is formed, which transversely to the rotor shaft ( 8th ) of the main rotor ( 4 ) is fixed and the substantially transversely to the axis of the pendulum shaft ( 30 ) of the auxiliary rotor ( 5 ) is aligned. A helicopter according to claim 17, wherein the rod ( 15 ) of the main rotor ( 4 ) substantially in the longitudinal direction of the sheet ( 12 ) of the main rotor ( 4 ) extending parallel to one of the wings ( 28 ) or at an acute angle relative to the longitudinal direction. A helicopter according to any one of claims 12 to 18, wherein a mechanical link pivots on a wing ( 28 ) of the auxiliary rotor ( 5 ) at an attachment point ( 35 ) mounted rod ( 31 ) and pivotable with another attachment point ( 32 ) on the sheet ( 12 ) of the main rotor ( 4 ), which is parallel to one of the wings ( 28 ) or at an acute angle relative thereto. Helicopter according to one of claims 12 to 19, wherein the longitudinal axis of the wings ( 28 ) of the auxiliary rotor ( 5 ) in the sense of rotation within an angle of 5 to 25 degrees, preferably about 10 degrees, with the longitudinal axis of one of the leaves ( 12 ) of the main rotor ( 4 ) is arranged. A helicopter according to any one of claims 17 to 20, wherein the longitudinal axis of one of the blades ( 12 ) of the main rotor ( 4 ) in the sense of rotation at an acute angle with the axis ( 16 ) of the rod ( 15 ) of these leaves ( 12 ) is arranged. A helicopter according to any one of claims 12 to 21, wherein the diameter of the auxiliary rotor ( 5 ) smaller than the diameter of the main rotor ( 4 ). A helicopter according to any one of the preceding claims, comprising one transverse to the rotor shaft by a second one ( 8th ) of the main rotor ( 4 ) located rotor shaft ( 8th ) driven tail rotor ( 6 ). A helicopter according to claim 23, wherein the tail rotor ( 6 ) with its rotor shaft ( 8th ) in a swing ( 20 ), which is around a rocking wave ( 21 ), which essentially follow the longitudinal direction of the housing (FIG. 2 ) of the helicopter extends. Helicopter according to one of the preceding claims, comprising a downwardly directed stabilizer ( 10 ) at the stern of the helicopter. Helicopter according to one of the preceding claims, comprising a controller for regulating the degree of required horizontal Movement and a control to regulate the stability of the helicopter in a relatively non-horizontal sense of motion, and being a Degree, up to which the horizontal motion control over the not horizontal motion stability of the helicopter dominates, the rate of change of position determined in the horizontal sense.