EP2117663B1 - Hubschrauber mit horizontaler steuerung - Google Patents

Hubschrauber mit horizontaler steuerung Download PDF

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Publication number
EP2117663B1
EP2117663B1 EP08713970.5A EP08713970A EP2117663B1 EP 2117663 B1 EP2117663 B1 EP 2117663B1 EP 08713970 A EP08713970 A EP 08713970A EP 2117663 B1 EP2117663 B1 EP 2117663B1
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EP
European Patent Office
Prior art keywords
rotor
helicopter
control
blade
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP08713970.5A
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English (en)
French (fr)
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EP2117663A4 (de
EP2117663A1 (de
Inventor
Alexander Jozef Magdalena Van De Rostyne
Chi Pok Billy Wai
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Silverlit Toys Inc
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Silverlit Toys Inc
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Filing date
Publication date
Priority claimed from US11/627,919 external-priority patent/US7662013B2/en
Application filed by Silverlit Toys Inc filed Critical Silverlit Toys Inc
Publication of EP2117663A1 publication Critical patent/EP2117663A1/de
Publication of EP2117663A4 publication Critical patent/EP2117663A4/de
Application granted granted Critical
Publication of EP2117663B1 publication Critical patent/EP2117663B1/de
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    • 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 remote-controlled toy helicopter.
  • 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.
  • 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.
  • 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:
  • the system such as a gyroscope or the like to compensate for small undesired variations in the resistance torque of the main rotor;
  • helicopter can fly by itself and can thus maintain a certain flight position or maneuver, for example, hovering or making slow movements without the intervention of a pilot.
  • 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.
  • US2002/0109044 discloses a coaxial helicopter, comprising a first rotor carried by a second shaft, wherein one of the first and second rotors have cyclic pitch control.
  • the present invention provides a toy remote controlled helicopter according to claim 1.
  • 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.
  • a control is used for moving the angle of incidence of at least one blade of the rotor, which moves cyclically along a 360 degree rotation path around the vertical rotor shaft, causing a variation in lift force of the blade along the rotation path thereby cause the body to be urged in a relatively horizontal direction from a relative position of horizontal rest.
  • 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:
  • Such disturbance may occur in the form of a gust of wind, turbulences, a mechanical load change of the body or the rotors, a change of position of the body as a result of an adjustment to the cyclic variation of the pitch or angle of incidence of the rotor blades of the main rotor or a steering of the tail rotor or the like with a similar effect; and
  • 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.
  • 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 joint is formed by a spindle 15 of the rotor head 7.
  • 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 operation of the improved helicopter 1 according to the disclosure is as follows:
  • 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.
  • This difference in inclination may originate in any internal or external force or disturbance whatsoever.
  • the auxiliary rotor 5 keeps turning in a plane which is essentially perpendicular to the rotor shaft 8.
  • the main rotor 4 and the auxiliary rotor 5 are placed in relation to each other in such a manner that a swinging motion of the auxiliary rotor 5 is translated almost immediately in the pitch or angle of incidence A of the rotor blades 12 being adjusted.
  • This angle can be calculated or determined by experiment for any helicopter 1 or per type of helicopter.
  • 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.
  • 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 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.
  • a main rotor 4 having more than two blades 12 one should preferably be sure that at least one blade 12 is essentially parallel to one of the vanes 28 of the auxiliary rotor.
  • the joint of the main rotor 4 is preferably made as a ball joint or as a spindle 15 which is directed essentially transversely to the axis of the oscillatory shaft 30 of the auxiliary rotor 5 and which essentially extends in the longitudinal direction of the one blade 12 concerned which is essentially parallel to the vanes 28.
  • 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.
  • 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:
  • rotor 112 preferably but not essentially complemented with a stabilizer rotor 128,
  • control ring 204 attached to the rotor 112
  • an actuator device 206 connected with the helicopter body structure represented by a base element 208 illustrated in a representative manner in Figure 21 .
  • a base there can be other structures to which the ring is attached.
  • 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 Figure 23 .
  • the lever 216 exercises a force on the control ring 204 causing changes in incidence of the feathered rotor blade 112.
  • 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.
  • This is a term generally used in helicopters to indicate that the impact of the control input varies not only with the size and type of control input, but as well with the position of the blade progressing along a 360 circle around the rotor shaft.
  • the effect of the actuator force makes the helicopter go in essentially or substantially the same or similar direction. This is determined by the angle of the actuator position relative to the body and the rotor shaft 108 and the gyroscopic effects the size of the force mostly impacts the speed and/or acceleration of the movement of the body. This is a control system to control the movement of the helicopter body.
  • 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, 31b 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.
  • Figures 33a and 33b are illustrative.
  • 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.
  • the motor 300 and interactive gear system 302 and 304 drives the rotor shaft 108 at the requisite speed.
  • control electronics 306 can be mounted on the substitute 308 as necessary.
  • FIGS 35 to 50 there are different views of helicopters using the disclosure to effect control in a horizontal sense.
  • the control ring is shown in different senses of engagement with the actuator.
  • the horizontal control system as illustrated use the principles described and illustrated with reference to the Figures 20 to Figures 34 , and additionally the stability system as illustrated in other figures of this disclosure.
  • 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.
  • the 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.
  • the 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.
  • 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.
  • control system for inter-reacting with the rotor assembly.
  • control systems operating on the rotor in parallel and/or series manner to effect the desired horizontal movement.
  • 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.

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Claims (11)

  1. Ferngesteuerter Spielzeughubschrauber (1) bestehend aus einem Körper (2), einem Motor (9) mit einer Batterie (11), einem Empfänger, einem Hauptrotor (4) mit Blättern (12), der von einer Rotorwelle (8) angetrieben wird und an dieser Rotorwelle so anscharniert ist, dass der Winkel zwischen der Rotationsebene des Hauptrotors (4) und der Rotorwelle (8) verstellbar ist, ferner bestehend aus einer Steuerung (306) zur zyklischen Bewegung des Anstellwinkels von mindestens einem Blatt (12) des Rotors (4) in Bezug auf den Anstellwinkel eines anderen Blatts des Rotors entlang mindestens einem Teil einer 360-Grad-Rotationsbahn um die Rotorwelle (8), wodurch eine Veränderung der Hubkraft des Blatts (12) entlang mindestens eines Teils der Rotationsbahn eintritt, und wodurch der Körper (2) aus einer relativen Ruhestellung in eine relativ horizontale Stellung gezwungen wird, wobei die Steuerung einen Stellantrieb (206) aufweist, der in eine vom Rotor (4) abhängige Baugruppe (204) eingreift, wobei das gegenseitige Eingreifen zwischen Stellantrieb (206) und Baugruppe (204) eine Veränderung des Anstellwinkels mindestens eines Blatts (12) des Rotors (4) bewirkt,
    dadurch gekennzeichnet, dass mindestens ein Stellantrieb (206) den Rotor (4) nicht beeinflusst oder dass sich die Steuerung relativ zum Stellantrieb in Ruhestellung befindet, oder dass vom Stellantrieb (206) kein Befehl gegeben wird, mit der Baugruppe (204) zusammenzuwirken, dass der Hubschrauber relativ stabil bleibt, der Stellantrieb (206) einen Arm (216) aufweist, der zwischen einer Ruhestellung und einer mit der Baugruppe zusammenwirkenden Stellung bewegbar ist, und wobei der Bewegungsgrad des Arms und die von ihm ausgeübte Kraft das Zusammenwirken mit der Baugruppe (204) und den Anstellwinkel mindestens eines Blatts (12) beeinflusst, wobei der Stellantrieb wahlweise in oder außer Kontakt mit der Baugruppe (204) sein kann, damit in einem ersten Betriebszustand des rotierenden Rotors (4) ein Kontakt zwischen dem Stellantrieb und der Baugruppe entlang der 360°-Rotationsbahn um die Rotorwelle besteht und in einem zweiten Betriebszustand des rotierenden Rotors (4) kein Kontakt zwischen dem Stellantrieb (206) und der Baugruppe (204) entlang der 360°-Rotationsbahn um die Rotorwelle (8) besteht, sowie einer Fernsteuerung für den Betrieb der Steuerung (306) des Hubschraubers.
  2. Hubschrauber gemäß Anspruch 1, dadurch gekennzeichnet, dass Zusammenwirken entsteht, wenn die Baugruppe mit dem Stellantrieb (206) ausgerichtet ist, wobei der Stellantrieb (206) in einen mit der Baugruppe (204) zusammenhängenden Ring (204) eingreift.
  3. Hubschrauber (1) gemäß Ansprüchen 1 und 2, dadurch gekennzeichnet, dass er zwei mehrfache Stellantriebe (216a, 216b) aufweist, die umfänglich um die Rotorwelle (8) angeordnet sind, um mit der Baugruppe in verschiedenen umfänglichen Positionen relativ zur Rotorwelle zusammenzuwirken, wobei das Zusammenwirken geschieht, wenn gewählte Stellantriebe mit einer gewählten Stelle der Baugruppe ausgerichtet werden.
  4. Hubschrauber (1) gemäß einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass der Stellantrieb einen Arm (216) aufweist, der zwischen einer Ruhestellung und einer Stellung des Zusammenwirkens mit der Baugruppe (204) bewegbar ist und wobei die Länge des Arms (216) relativ zur Länge der Baugruppe (204) von der Verankerung des Rotors (4) bis zur Welle (8) den Grad des Zusammenwirkens mit der Baugruppe und den Grad des Anstellwinkels mindestens eines Blatts beeinflusst.
  5. Hubschrauber (1) gemäß einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, um das Blatt auf der Federachse (200) des Rotorblatts zu drehen, wobei die Steuerung effektiv wahlweise durch ein System auf das Blatt angewendet wird, um den Anstellwinkel des Blatts periodisch oder zu vorgegebenen Zeiten und mit selektiver interaktiver Kraft oder Bewegung zu beeinflussen und dadurch den Anstellwinkel des Blatts in erforderlicher Reaktion auf die Steuerung zu verändern.
  6. Hubschrauber (1) gemäß einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Steuerung effektiv wahlweise durch ein System auf das Blatt (12) angewendet wird, um den Anstellwinkel des Blatts periodisch oder zu vorgegebenen Zeiten oder an Stellen entlang der 360°-Rotationsbahn um die Rotorwelle (8) zu beeinflussen und dadurch mit selektiver Kraft oder Bewegung den Anstellwinkel des Blatts in erforderlicher Reaktion auf die Steuerung zu verändern, und zu ermöglichen, dass der Blattwinkel periodisch oder zu vorgegebenen Zeiten unabhängig von der Steuerung auf Kräfte reagiert, damit ein Stabilitätssystem weiterhin zusammen mit einer horizontal betätigten Steuerung funktioniert, wenn die horizontale Steuerung betätigt wird.
  7. Hubschrauber (1) gemäß Ansprüchen 1 bis 6, dadurch gekennzeichnet, dass er aus einem Vorderteil und einem Heck besteht, am Heck einen Rotor (6) aufweist, der von einer zweiten Rotorwelle (17) angetrieben wird, einen Hilfsrotor (5) aufweist, der von der Rotorwelle des Hauptrotors angetrieben wird und mit zwei Paddeln (28) versehen ist, die im Wesentlichen in einer Linie verlaufen und im Drehrichtung des Hauptmotors drehbar sind, wobei der Hilfsrotor eine Längsachse (29) im spitzen Winkel zur Längsachse (13) mindestens eines Rotorblatts des Hauptmotors aufweist und der Hilfsrotor schwingend auf einer Schwingwelle (30) befestigt ist, die im Wesentlichen quer zur Rotorwelle des Hauptrotors verläuft und im Wesentlichen quer zur Längsachse der Paddel verläuft, und wobei der Hauptrotor und der Hilfsrotor miteinander durch ein mechanisches Glied (31) so verbunden sind, dass die Schwingbewegung des Hilfsrotors den Anstellwinkel mindestens eines Rotorblatts des Hauptrotors steuert.
  8. Hubschrauber (1) gemäß Anspruch 7, dadurch gekennzeichnet, dass die Rotorblätter des Hauptrotors und die Paddel (28) des Hilfsrotors im Wesentlichen fest miteinander verbunden sind und das Gelenk des Hauptrotors aus einer Spindel (15) geformt ist, die quer zur Rotorwelle am Hauptrotor befestigt ist und im Wesentlichen quer zur Achse der Schwingwelle des Hilfsrotors verläuft.
  9. Hubschrauber (1) gemäß einem der Ansprüche 7 oder 8, dadurch gekennzeichnet, dass die Längsachse der Paddel (28) des Hilfsrotors (5) im Sinne der Rotation auf einem Winkel von ca. 25 Grad zur Längsachse eines der Rotorblätter des Hauptrotors verläuft.
  10. Hubschrauber (1) gemäß einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass der Hauptrotor zwei Blätter (12) aufweist, die im Wesentlichen miteinander ausgerichtet sind.
  11. Hubschrauber (1) gemäß einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, dass er eine Steuerung (306) für die Regelung des Grades der erforderlichen horizontalen Bewegung und eine Steuerung für die Regelung der Stabilität des Hubschraubers bei relativ nicht-horizontaler Bewegung aufweist, wobei ein Bewegungsgrad, in dem die horizontale Steuerung über die nicht-horizontalen Bewegungsstabilität des Hubschraubers dominant ist, die Positionsveränderungsrate im horizontalen Sinne bestimmt.
EP08713970.5A 2007-01-26 2008-01-24 Hubschrauber mit horizontaler steuerung Not-in-force EP2117663B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/627,919 US7662013B2 (en) 2006-01-19 2007-01-26 Helicopter with horizontal control
PCT/US2008/051938 WO2008092022A1 (en) 2007-01-26 2008-01-24 Helicopter with horizontal control

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EP2117663A1 EP2117663A1 (de) 2009-11-18
EP2117663A4 EP2117663A4 (de) 2012-01-25
EP2117663B1 true EP2117663B1 (de) 2014-03-05

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Publication number Priority date Publication date Assignee Title
CN101708370B (zh) * 2009-11-21 2012-07-04 金卫红 直升机的航向操纵装置
US8985951B2 (en) 2011-12-13 2015-03-24 Textron Innovations Inc. Multiple-yoke main rotor assembly

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3592559A (en) * 1969-08-28 1971-07-13 Nasa Variable geometry rotor system
JP2998943B2 (ja) * 1991-05-31 2000-01-17 株式会社キーエンス プロペラを用いた玩具におけるプロペラ回転面傾動装置
JPH05192452A (ja) * 1992-01-21 1993-08-03 Keyence Corp 飛行玩具における姿勢制御装置
JP4529272B2 (ja) * 2000-10-23 2010-08-25 双葉電子工業株式会社 模型用無線操縦ヘリコプタの操舵制御装置
US6886777B2 (en) * 2001-02-14 2005-05-03 Airscooter Corporation Coaxial helicopter
JP3673253B2 (ja) * 2002-10-06 2005-07-20 ヒロボー株式会社 同軸反転式ラジオコントロールヘリコプタ及びラジオコントロールヘリコプタのブレード傾動機構
US7946526B2 (en) * 2004-11-05 2011-05-24 Nachman Zimet Rotary-wing vehicle system

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WO2008092022A1 (en) 2008-07-31
EP2117663A1 (de) 2009-11-18

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