Classifications

• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
  • A63H27/00—Toy aircraft; Other flying toys
  • A63H27/12—Helicopters ; Flying tops

Definitions

• the present disclosure concerns an improved flying object such as a helicopter.
• the disclosure concerns a helicopter generally. In particular, but not exclusively, it is related to a tov helicopter and in particular to a remote-controlled model helicopter or a toy heliwpter.
• a helicopter typically includes a body, a main rotor and a tail rotor.
• the main rotor provides an upward force to keep the helicopter in the air, as well as a lateral or forward or backward force to steer the helicopter in required directions. This can be by making the angle of incidence of the rotor blades of the main rotor vary cyclically at every revolution of the main rotor.
• the main rotor has a natural tendency to deviate from its position, which may lead to uncontrolled movements and to a crash of the helicopter if the pilot loses control over the steering of the helicopter.
• Solutions to slow down the effect have already been provided up to now, including the application of stabilizing rods and weights at the tips of the rotor blades.
• the tail rotor is not at all insensitive to this phenomenon, since it has to prevent the body to turn round the drive shaft of the rotor as a result of the resistance torque of the rotor on the body. [0010] To this end, the tail rotor is erected such that it develops a lateral thrust which has to counteract the above-mentioned resistance torque of the rotor and the helicopter is provided with means which have to enable the pilot to control the lateral thrust so* as to determine the flight position round the vertical axis.
• the stability of a helicopter includes the result of the interaction between:
• control of the helicopter which controls the rotational speed of the main rotor and of the tail rotor.
• flying a helicopter usually requires intensive training and much experience of the pilot, for both a full size operational real helicopter as well as a toy helicopter or a remote-controlled model helicopter.
• the present disclosure aims to minimize one or several of the above- mentioned and other disadvantages by providing a simple and cheap solution to auto stabilize the helicopter, such that operating the helicopter becomes simpler and possibly reduces the need for long-standing experience of the pilot.
• the helicopter should be able to move up or down by changing rotor rpm, or change heading by altering tail rotor rpm.
• the known helicopter cannot as effectively be controlled to accelerate foreword or backwards, nor sideways left or right, namely the horizontal dimensions.
• a helicopter includes a system to effect motion in a horizontal dimension thereby to direct the desired direction, selectively a desired horizontal direction.
• the rotor blades are driven by a rotor shaft and which is hinge mounted on this rotor shaft, such that the angle between the plane of rotation of the main rotor and the rotor shaft may vary.
• the relative position of horizontal rest is a relatively hovering position above a ground level.
• angle of incidence there is meant the relative angle of attack of the blade in the plane of rotation.
• the control includes an actuator for engaging with an assembly depending from the rotor the inter-engagement of the actuator and assembly effecting a change in the angle of incidence of at least the one blade of the rotor.
• the system is a multi-control or a multi-channel system for controlling the helicopter in different essentially horizontal directions.
• the system includes a rotor, preferably complemented with a stabilizer rotor.
• a control ring attached to the main rotor, and an actuator device connected with the helicopter body structure.
• the control ring is generally centered around the vertical rotor shaft, and moves with the rotor when tilted around the feather axis.
• the disclosure is concerned with a rotor without a stabilizer.
• the control includes an actuator for engaging with an assembly depending from the rotor. The inter-engagement of the actuator and assembly effects a change in the angle of incidence of at least one blade of the rotor.
• the interaction occurs when the assembly is aligned with the actuator.
• the interaction occurs when selected actuators are aligned with selected locations of the assembly, for instance where the actuator engages the ring.
• the actuator includes an arm movable between a position of repose and a position of inter-engagement with the assembly and wherein the degree of movement of the arm effects the degree of interaction with the assembly and the degree of change of angle of inclination of the at least one blade.
• the length of the arm relative to the length of the assembly from the location of anchoring the rotor to the shaft can effect the degree of interaction with the assembly and the degree of change of angle of inclination of the at least one blade.
• the size of the force exercised by the arm on the assembly can effect the degree of interaction with the assembly and the degree of change of angle of inclination of the at least one blade.
• the stability of the helicopter system preferably continues to operate together with the applied control when the control is applied.
• the degree to which the control system is dominant over the stability system data determines the rate of change in position in the horizontal.
• the actuator includes an arm movable between a position of repose and a position of inter-engagement with the assembly, the assembly including a ring transversally located about and movable with the rotor shaft, and the actuator is located at a fixed location on the body.
• the control is applied thereby to cause the blade to turn on the feather axis of the rotor blade, the control being effectively applied to the blade when an actuator is cyclically aligned relative to the blade thereby to effect the turning, preferably, only about the feather axis. This causes the incidence of at least one blade to vary cyclically.
• the control is applied thereby to cause the blade to turn on the feather axis of the blade, the control being effectively applied selectively to the blade through a system to operate the control thereby to effect the angle of incidence of the blade periodically or at selected times, or at selected angles in the 360 degree rotation determined essentially by the position of the actuator on the body.
• the control selectively changes the blade angle of incidence in requisite response to the control, and periodically or at selected times, or at selected angles in the 360 degree rotation determined essentially by the position of the actuator on the body. This permit the blade angle to be responsive to forces unrelated to the control.
• the helicopter is preferably provided with an auxiliary stabilizer rotor which is driven by the shaft of the main rotor and which is provided with two vanes extending essentially in line with their longitudinal axis.
• the 'longitudinal' axis is seen in the sense of rotation of the main rotor, and is essentially parallel to the longitudinal axis of at least one of the rotor blades of the main rotor or is located within a relatively small acute angle with the latter blade axis.
• This auxiliary stabilizer rotor is provided in a swinging manner on an oscillatory shaft which is provided essentially transversal to the rotor shaft of the main rotor. This is directed essentially transverse to the longitudinal axis of the vanes.
• the main rotor and the auxiliary rotor are connected to each other through a mechanical link, such that the swinging motions of the auxiliary rotor control the angle of incidence of at least one of the rotor blades of the main rotor.
• the helicopter should meet the following requirements to a greater or lesser degree:
• the disclosure concerns an improved helicopter including a body with a tail; a main rotor with blades which are driven by a rotor shaft and which are hinge-mounted to the rotor shaft by means of a joint.
• the angle between the surface of rotation of the main rotor and the rotor shaft may vary.
• a tail rotor is driven by a second rotor shaft which is directed transversal to the rotor shaft of the main rotor.
• the helicopter is made more stable by suspending the tail rotor with its rotor shaft in a swing which can rotate round a swing shaft.
• the swing shaft essentially extends in the longitudinal direction relative to the body of the helicopter.
• the tail rotor In case of malfunction or the like, whereby the helicopter starts to turn round the rotor shaft of the main rotor in an unwanted manner, the tail rotor, as a result of the gyroscopic precession acting on the rotating tail rotor as a result of the rotation round the rotor shaft of the main rotor, should tilt round the swing shaft of the tail rotor at a certain angle.
• the thrust of the tail rotor can be adjusted so as to counteract the unwanted effect of the disturbance and to thus automatically restore the stable flight conditions for the helicopter, with minimal or any intervention of the pilot.
• the main rotor with blades is driven by a rotor shaft on which the blades are mounted.
• the auxiliary rotor is driven by the rotor shaft of the main rotor and is provided with vanes from the rotor shaft in the sense of rotation of the main rotor.
• the auxiliary rotor is mounted in a swinging relationship on an oscillatory shaft and the swinging motion is relatively upwardly and downwardly about the auxiliary shaft.
• the auxiliary shaft is provided essentially transverse to the rotor shaft of the main rotor.
• the main rotor and the auxiliary stabilizer rotor are connected to each other by a mechanical link, such that the swinging motion of the auxiliary rotor controls the angle of incidence of at least one of the rotor blades of the main rotor.
• the angle of incidence of the rotor in the plane of rotation of the rotor and the rotor shaft may vary; and an auxiliary rotor rotatable with the rotor shaft is for relative oscillating movement about the auxiliary rotor hinge. Different relative positions are such that the auxiliary rotor causes the angle of incidence of the main rotor to be different. A linkage between the main and auxiliary rotor causes changes in the position of the auxiliary rotor to translate to changes in the angle of incidence.
• the rotor blades of the main rotor and the vanes of the auxiliary stabilizer rotor respectively are connected to each other with a mechanical linkage that permits the relative movement between the blades of the rotor and the vanes of the auxiliary rotor.
• the rotor and stabilizer are interconnected.
• the rotor and stabilizer are also independent to move around the hinging lines as typically found in helicopter rotors. This can for example be feather or teether hinges.
• Figure 1 schematically represents a helicopter according to the disclosure in perspective
• Figure 2 represents a top view according to arrow F2 in Figure 1 ;
• Figures 3 and 4 represent respective sections according to lines N-Il and Ill-Ill in Figure 2;
• Figure 5 represents a view of the rear rotor part indicated in Figure 1 by F5 to a larger scale
• Figure 6 is a rear view according to arrow F6 in Figure 5;
• Figure 7 represents a variant of Figure 1 ;
• Figure 8 represents a variant of Figure 5;
• Figure 9 represents a different view of the tail rotor of Figure 8.
• Figure 10 represents a section of the helicopter
• Figure 11 schematically represents an alternative view of the helicopter according to the disclosure in perspective;
• Figure 12 is a perspective view of the main rotor and auxiliary rotor;
• Figure 13 is a perspective view of the tail rotor and tail stabilizer in a second embodiment of the helicopter
• Figure 14 represents a side sectional view in the second embodiment of the helicopter;
• Figures 15 represent a perspective view of the second embodiment of the helicopter;
• Figure 16 represents a top view of the second embodiment of the helicopter;
• Figure 17 is a rear view of the second embodiment of the helicopter.
• Figure 18 represents a sectional view of the second embodiment of the helicopter along line !8-!8 of Figure 16;
• Figure 19 illustrates a helicopter with a rotor that is spinning around to sustain the helicopter in flight and two axes are indicated.
• Figure 20 illustrates a helicopter rotor in flight where the rotor halves produce different lift, the one (A) versus the other (B).
• a torque C originates and moves the rotor in the direction (C) of that torque, the effect of this torque is not necessarily in line with the span of the rotor, and can occur later due to gyroscopic forces;
• Figure 21 shows a helicopter with a rotor and a stabilizer, a control ring, attached to the rotor, and an actuator device connected with the helicopter body structure;
• Figure 22a and 22b are two respective views showing the control ring is generally centered around the vertical rotor axis.
• the ring moves around the rotor axis and with the rotor when the rotor is tilted around the feather axis as shown in Figure 22b.
• the rotor system omitted for clarity;
• Figure 23 shows an exploded view of the actuator device with a coil, a hinged magnet, a base and a lever;
• Figure 24 shows the lever in different positions (a), (b) and (c);
• Figures 25, 26 and 27a and 27b are exemplary and show the control ring and the rotor in different relative positions.
• Fig 27a is a side view of a portion of the structure and
• Figure 27b is a front view of the structure;
• FIG. 28a and 28b illustrates the working operation of the control in more detail
• Figures 29a and 29b illustrate the stabilizer movement of the attached rotor depending on its mechanical relationship with the rotor;
• Figure 30a illustrates the stabilizer movement of the attached rotor depending on its mechanical relationship with the rotor;
• Figures 31a, 31b and 31c show respectively a control with different possible positions of the actuator. Each position is for a rotor system and determines different unique flight patterns;
• Figure 32 shows a control with two actuators used to exercise force independently and selectively on the control ring
• Figures 33a and 33b show the actuator lever withdrawn and the actuator signal at zero interaction, and the rotor assembly being in a position prior to zero interaction and being free to take control of the rotor;
• Figures 34a and 34b show the actuator lever withdrawn and the actuator signal at zero interaction, and the rotor assembly having acted freely under its own control;
• Figure 35 is an exemplary side view of a helicopter;
• Figure 36 is a top view of a helicopter;
• Figure 37 is a front view of a helicopter
• Figure 38 is a perspective view of a helicopter
• Figure 39 is a side view of the structure of a helicopter
• Figure 40 is a top view of the structure of a helicopter;
• Figure 41 is a front view of the structure of a helicopter;
• Figure 42 is a perspective view of the structure of a helicopter
• Figure 43 is a side view of the structure of a helicopter
• Figure 44 is a top view of the structure of a helicopter
• Figure 45 is a front view of the structure of a helicopter;
• Figure 46 is a perspective view of the structure of a helicopter;
• Figure 47 is a side view of the structure of a helicopter
• Figure 48 is a top view of the structure of a helicopter;
• Figure 49 is a front view of the structure of a helicopter; and
• Figure 50 is a perspective view of the structure of a helicopter.
• the helicopter 1 represented in the figures by way of example is a remote-controlled helicopter which essentially consists of a body 2 with a landing gear and a tail 3; a main rotor 4; an auxiliary rotor 5 driven synchronously with the latter and a tail rotor 6.
• the main rotor 4 is provided by means of what is called a rotor head 7 on a first upward directed rotor shaft 8 which is bearing-mounted in the body 2 of the helicopter 1 in a rotating manner and which is driven by means of a motor 9 and a transmission 10, whereby the motor 9 is for example an electric motor which is powered by a battery 11.
• the main rotor 4 in this case has two blades 12 which are in line or practically in line, but which may just as well be composed of a larger number of blades 12.
• the tilt or angle of incidence A of the rotor blades 12, in other words the angle A which forms the rotor blades 12 as represented in figure 6 with the plane of rotation 14 of the main rotor 4, can be adjusted as, the main rotor 4 is hinge- mounted on this rotor shaft 8 by means of a joint, such that the angle between the plane of rotation of the main rotor and the rotor shaft may freely vary.
• the axis 16 of this spindle 15 is directed transversal to the rotor shaft 8 and essentially extends in the direction of the longitudinal axis 13 of one of the rotor blades 12 and it preferably forms, as represented in figure 2, an acute angle B with this longitudinal axis 13.
• the tail rotor 6 is driven via a second rotor shaft 17 by means of a second motor 18 and a transmission 19.
• Motor 16 can be an electric motor.
• the tail rotor 6 with its rotor shaft 17 and its drive 18-19 is suspended in a swing 20 which can rotate round a swing shaft 21 which is fixed to the tail 3 of the helicopter 1 by two supports 22 and 23.
• the swing 20 is provided with an extension piece 24 towards the bottom, which is kept In a central position by means of a spring 25 when in a state of rest, whereby the second rotor shaft 17 in this position is horizontal and directed crosswise to the first rotor shaft 8.
• a magnet 26 On the lower end of the extension piece 24 of the swing 20 is provided a magnet 26, whereas opposite the position of the magnet 26 in the above- mentioned state of rest of the swing 20 is fixed a magnetic sensor 27 to the tail 3 which makes it possible to measure the relative angular displacement of the swing 20 and thus of the tail rotor 6 round the swing shaft 21.
• this angular displacement of the swing 20 can also be measured in other ways, for example by means of a potentiometer.
• the measured signal can be used as an input signal for a control box, which is not represented in the figures, which controls the drives of the main rotor 4 and of the tail rotor 6 and which is provided with a stabilizer algorithm which will give a counter steering command when a sudden unwanted angular displacement of the tail rotor 6 is measured round the swing shaft 21 , resulting from an unwanted rotation of the helicopter 1 round the rotor shaft 8, so as to restore the position of the helicopter 1.
• a control box which is not represented in the figures, which controls the drives of the main rotor 4 and of the tail rotor 6 and which is provided with a stabilizer algorithm which will give a counter steering command when a sudden unwanted angular displacement of the tail rotor 6 is measured round the swing shaft 21 , resulting from an unwanted rotation of the helicopter 1 round the rotor shaft 8, so as to restore the position of the helicopter 1.
• the helicopter 1 is also provided with an auxiliary rotor 5 which is driven substantially synchronously with the main rotor 4 by the same rotor shaft 8 and the rotor head 7.
• the auxiliary rotor 5 in this case has two vanes 28 which are essentially in line with their longitudinal axis 29, whereby the longitudinal axis 29, seen in the sense of rotation R of the main rotor 4, is essentially parallel to the longitudinal axis 13 of blades 12 of the main rotor 4 or encloses a relatively small acute angle C with the latter, so that both rotors 4 and 5 extend more or less parallel on top of one another with their blades 12 and vanes 28.
• the diameter of the auxiliary rotor 5 is preferably smaller than the diameter of the main rotor 4 as the vanes 28 have a smaller span than the rotor blades 12, and the vanes 28 are substantially rigidly connected to each other.
• This rigid whole forming the auxiliary rotor 5 is provided in a swinging manner on an oscillating shaft 30 which is fixed to the rotor head 7 of the rotor shaft 8. This is directed transversally to the longitudinal axis of the vanes 28 and transversally to the rotor shaft 8.
• the main rotor 4 and the auxiliary rotor 5 are connected to each other by a mechanical link which is such of the auxiliary rotor 5 the angle of incidence A of at least one of the rotor blades 12 of the main rotor 4.
• this link is formed of a rod 31.
• This rod 31 is hinge-mounted to a blade 12 of the main rotor 4 with one fastening point 32 by means of a joint 33 and a lever arm 34 and with another second fastening point 35 situated at a distance from the latter, it is hinge- mounted to a vane 28 of the auxiliary rotor 5 by means of a second joint 36 and a second lever arm 37.
• the fastening point 32 on the main rotor 4 is situated at a distance D from the axis 16 of the spindle 15 of the rotor blades 12 of the main rotor 4, whereas the other fastening point 35 on the auxiliary rotor 5 is situated at a distance E from the axis 38 of the oscillatory shaft 30 of the auxiliary rotor 5.
• the distance D is preferably larger than the distance E, and about the double of this distance E, and both fastening points 32 and 35 of the rod 31 are situated, seen in the sense of rotation R on the same side of the rotor blades 12 of the main rotor 4 or of the vanes 28 of the auxiliary rotor 5, in other words they are both situated in front of or at the back of the rotor blades 12 and vanes 28, seen in the sense of rotation.
• the longitudinal axis 29 of the vanes 28 of the auxiliary rotor 5, seen in the sense of rotation R encloses an angle F with the longitudinal axis 13 of the rotor blades 12 of the main rotor 4, which enclosed angle F is in the order, of magnitude of about 10°, whereby the longitudinal axis 29 of the vanes 28 leads the longitudinal axis 13 of the rotor blades 12, seen in the sense of rotation R.
• Different angles in a range of, for example, 5° to 25° could also be in order.
• the auxiliary rotor 5 is provided with two stabilizing weights 39 which are each fixed to a vane 28 at a distance from the rotor shaft 8.
• the helicopter 1 is provided with a receiver, so that it can be controlled from a distance by means of a remote control which is not represented.
• the rotors 4, 5 and 6 are driven at a certain speed, as a result of which a relative air stream is created in relation to the rotors, as a result of which the main rotor 4 generates an upward force so as to make the helicopter 1 rise or descend or maintain it at a certain height, and the tail rotor 6 develops a laterally directed force which is used to steer the helicopter 1.
• the surface of rotation of the auxiliary rotor 5 may take up another inclination in relation to the surface of rotation 14 of the main rotor 8, whereby both rotors 5 and 4 may take up another inclination in relation to the rotor, shaft 8. [0126] This difference in inclination may originate in any internal or external force or disturbance whatsoever.
• This angle can be calculated or determined by experiment for any helicopter 1 or per type of helicopter. [0132] If the axis of rotation 8 takes up another inclination than the one which corresponds to the above-mentioned position of equilibrium in a situation whereby the helicopter 1 is hovering, the following happens.
• a first effect is that the auxiliary rotor 5 will first try to preserve its absolute inclination, as a result of which the relative inclination of the surface of rotation of the auxiliary rotor 5 in relation to the rotor shaft 8 changes.
• the rod 31 will adjust the angle of incidence A of the rotor blades 12, so that the upward force of the rotor blades 12 will increase on one side of the main rotor 4 and will decrease on the diametrically opposed side of this main rotor.
• the relative position of the main rotor 4 and the auxiliary rotor 5 are selected such that a relatively immediate effect is obtained. This change in the upward force makes sure that the rotor shaft 8 and the body 21 are forced back into their original position of equilibrium.
• a second effect is that, since the distance between the far ends of the vanes 28 and the plane of rotation 14 of the main rotor 4 is no longer equal and since also the vanes 28 cause an upward force, a larger pressure is created between the main rotor 4 and the auxiliary rotor 5 on one side of the main rotor 4 than on the diametrically opposed side.
• a third effect plays a role when the helicopter begins to tilt over to the front, to the back or laterally due to a disturbance. Just as in the case of a pendulum, the helicopter will be inclined to go back to its original situation. This pendulum effect does not generate any destabilizing gyroscopic forces as with the known helicopters that are equipped with a stabilizer bar directed transversally to the rotor blades of the main rotor. It acts to reinforce the first and the second effect.
• the effects have different origins but have analogous natures. They reinforce each other so as to automatically correct the position of equilibrium of the helicopter 1 without any intervention of a pilot.
• the tail rotor 6 is located in a swinging manner and provides for an additional stabilization and makes it possible for the tail rotor 6 to assume the function of the gyroscope which is often used in existing helicopters, such as model helicopters.
• the body 2 may start to turn round the rotor shaft 8.
• the tail rotor 6 turns at an angle in one or other sense round the swinging shaft 21. This is due to the gyroscopic precession which acts on the rotating tail rotor 6 as a result of the rotation of the tail rotor 6 round the rotor shaft 8.
• the angular displacement is a function of the amplitude of the disturbance and thus of the rotation of the body 2 round the rotor shaft 8. This is measured by the sensor 27.
• the signal of the sensor 27 is used by a control box of a computer to counteract the failure and to adjust the thrust of the tail rotor 6 so as to annul the angular displacement of the tail rotor 6 which is due to the disturbance.
• this aspect of the disclosure may be applied separately, just as the aspect of the auxiliary rotor 5 can be applied separately, as is illustrated for example by means of figure 7, which represents a helicopter 1 according to the , disclosure having a main rotor 4 combined with an auxiliary rotor 5, but whose tail rotor 6 is of the conventional type, i.e. whose shaft cannot turn in a swing but is bearing-mounted in relation to the tail 3.
• main rotor 4 and the auxiliary rotor 5 must not necessarily be made as a rigid whole.
• the rotor blades 12 and the vanes 28 can also be provided on the rotor head 7 such that they are mounted and can rotate relatively separately. In that case, for example, two rods 31 may be applied to connect each time one blade 12 to one vane 28.
• joints and hinge joints may also be realized in other ways than the ones represented, for example by means of torsion-flexible elements.
• the helicopter comprises a body with a tail; a main rotor with blades which is driven by a rotor shaft on which the blades are mounted.
• a tail rotor is driven by a second rotor shaft directed transversally to the rotor shaft of the main rotor.
• An auxiliary rotor is driven by the rotor shaft of the main rotor and is provided with vanes from the rotor shaft in the sense of rotation of the main rotor.
• the auxiliary rotor is mounted in a swinging relationship on an oscillatory shaft and the swinging motion being relatively upwardly and downwardly about the auxiliary shaft.
• the auxiliary shaft is provided essentially transverse to the rotor shaft of the main rotor.
• the main rotor and the auxiliary rotor are connected to each other by a mechanical link, such that the swinging motion of the auxiliary rotor controls the angle of incidence of at least one of the rotor blades of the main rotor.
• auxiliary rotor can be mounted below the main rotor, namely between the top of the body and the main rotor and still achieve the right effect on the main rotor angle of incidence.
• the angle of incidence 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 oscillating movement about the rotor shaft. Different relative positions are such that the auxiliary rotor causes the angle of incidence the main rotor to be different.
• a linkage between the main and auxiliary rotor causes changes in the position of the auxiliary rotor to translate to changes in the angle of incidence.
• the rotor blades of the main rotor and the vanes of the auxiliary rotor respectively are connected to each other with a mechanical linkage that permits the relative movement between the blades of the rotor and the vanes of the auxiliary rotor.
• a joint of the main rotor to the rotor blades is formed of a spindle which is fixed to the rotor shaft of the main rotor.
• the mechanical link includes a rod hinge mounted to a vane of the auxiliary rotor with one fastening point and is hinge-mounted with another fastening point to the blade of the main rotor.
• the body includes wings directed transversely of a longitudinal axis of the helicopter body.
• the wings are 100 and 102 directed transversely and downwardly whereby the tips 104 and 106 of the wings permit for stabilizing the helicopter body when on the ground.
• Figure 15 also shows a radio control unit for operation with the helicopter. This unit can have appropriate computerized controls for signaling the operation of the motors operating the rotors and their relative positions.
• FIG. 19 As described and illustrated in detail in this disclosure there is a helicopter rotor that is spinning around to sustain the helicopter in flight, as illustrated in Figure 19. 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 incidence of the rotor 112 to affect other control of movement in an essentially horizontal sense.
• the rotor 112 and stabilizer rotor 128 are interconnected in Figure 19
• the rotor 112 and also the stabilizer rotor 128 are independent to move around hinging lines as found in helicopter rotors. This can, for example, be a feather or a teether hinge or axis 200 and 202 respectively.
• the helicopter as represented is able to move up or down by changing rotor rpm, or change heading by altering tail rotor rpm.
• the helicopter as illustrated in Figure 19 cannot as effectively be controlled to accelerate forward or backwards, nor sideways left or right, namely in the relatively horizontal dimensions.
• a control system to influence the lift force of the rotor 112 in a cyclical way, i.e., in such a way that each rotor blade half 112a and 112b varies lift along one rotation around the vertical rotor shaft 108.
• a torque C originates and moves the rotor 112 in the direction D of that torque.
• the effect of this torque is not necessarily in line with the span of the rotor and may occur later due to gyroscopic forces.
• the angle of incidence on the one blade 112a related to the plane of rotation is steeper or larger than the angle of incidence of the blade 112b or portion related to the plane of rotation which is relatively shallower. This effects a movement in Direction D. This can be influenced by gyroscopic forces. This is illustrated in Figure 20. Each blade 112a and 112b connected to the rotor assembly sees this change cyclically along a 360-degree rotation of the rotor shaft.
• control system of the disclosure includes the following features: [0159] - a rotor 112, preferably but not essentially complemented with a stabilizer rotor 128,
• the control ring 204 is generally centered around the vertical rotor axis 108.
• the ring 204 moves with the rotor 112 when tilted around the feather axis 200. This is illustrated in some detail in Figures 22a and 22b, such that the tilt is shown in Figure 22b.
• the actuator device 206 represented includes a coil 210, a hinged magnet 212, a base 214 and a lever 216 as shown in the exploded view in
• the actuator device 206 could have many forms, and use different technologies. It could be an electric motor for example with a lever attached to the axis of the motor or other electromagnetic or magnetic systems can be used. Other systems can be used. There could be a piezoelastic device, ionic polymer actuators, other non-magnetic devices and other interactive and/or inter- responsive systems for causing a lever to move, or if there is no lever there could be a different configuration for having the rotor move about an axis such as the feather axis in a periodic manner.
• This torque inclines the attached rotor 112 along the feather axis 200, which is perpendicular to the actuator force direction 222.
• Fig. 28a this is a representative position along a 360° path of the rotor 112.
• One rotor half or one blade 112a takes a higher angle of incidence, while the opposing rotor half or blade 112b takes a lower angle of incidence.
• the lift force 224 generated by rotor half or blade 112a are bigger than the lift force 226 generated by rotor half or blade 112b.
• the stabilizer or auxiliary rotor 128 follows the movement of the attached rotor 112 depending on its mechanical relationship with that rotor 112. In case of the helicopter of Figures 1 to 18, the stabilizer 128 hinges around the teether axis 202.
• Figures 29a and 29b are illustrative.
• the actuator position When the actuator position is in line with the axis of the helicopter body from nose to tail, it does not mean the helicopter moves forward with a control input. Gyroscopic forces tend to delay the effects of moving the position of spinning masses by up to 90 degrees. The exact delay depends on parameters like the masses of the spinning objects, such as for instance the rotor, and/or stabilizer, and the aerodynamic forces, the angle between the rotor feather axis and the rotor centerline, the type of rotor hinges ('rigid' or 'soft') etc. The preferred positioning of the actuator for the desired effect is effectively determined, as a function of the desired direction of movement.
• Figures 31a, 31 b and 31c show different possible positions of the actuator 206. Each position establishes a rotor system with a unique flight pattern.
• Figure 32 shows how two actuators 206a and 206b are used to exercise force independently on the control ring. As such, and in case these actuators 206a and 206b are disposed 90 degrees one versus the other and commanded by two independent signals, two-dimensional horizontal movement can be initiated. When four actuators are installed, one every 90 degrees relative to each other, a fuller directional control in the horizontal plane is possible.
• the helicopters of the prior related patent applications create auto- stability.
• One of the elements of the system is a completely free to move rotor/stabilizer assembly. Any external obstruction to this causes the stabilizing effect to disappear.
• the control mechanism takes full control over the rotor system.
• the degree to which the control system overrides the stability system may not be 100%. Tuning and calibration however can keep stability. This is a lower effect, when given a movement command on the actuator.
• FIGS 33a and 33b are illustrative.
• the degree to which the horizontal movement control system is dominant over the non-horizontal movement stability system of the helicopter determines the rate of change in position in the horizontal sense.
• the horizontal control system includes the interaction of the ring 204, actuator 206 and its control operation.
• the control system for stability is achieved in part by the interactive rotor 112 and stabilizing rotor 128.
• control electronics 306 can be mounted on the substitute 308 as necessary.
• a helicopter according to the disclosure can be made in all sorts of shapes and dimensions while still remaining within the scope of the disclosure.
• helicopter in some senses has been described as toy or model helicopter, the features described and illustrated can have use in part or whole in a full-scale helicopter.
• helicopter may be a structure without a tail rotor.
• Different helicopter-type systems can use the control of the disclosure.
• the rotor control can be used with different flying objects.
• a suitable magnetic or electro magnetic servo can be used for instance with a helicopter using the main rotor and also a stabilizer auxiliary rotor.
• the disclosure has detailed a system for essentially substantial or approximate horizontal movement in one or two directions, the disclosure includes systems for permitting control of the movement in other substantially horizontal directions. As such, the helicopter control can affect control of horizontal movement forward and/or backwards and/or sideways to the left and/or sideways to the right or different combinations of those movements.
• the horizontal movements effected by the control systems are in addition to the up and/or down movements which are possible with the helicopter system with the control being non-operation or on-function on the rotor assembly.
• an assembly depending from the rotor there could be other structures for the actuator to interact with the rotor system.
• a ring for interaction with the actuator there could be other physical structures for interaction with the actuator.

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• 2008
  • 2008-01-24 EP EP08713970.5A patent/EP2117663B1/de not_active Not-in-force
  • 2008-01-24 WO PCT/US2008/051938 patent/WO2008092022A1/en active Application Filing

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