JP2002316699A - Coaxial reverse rotation type helicopter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To compactly arrange a rod connecting a servo motor and rotor blades in a coaxial reverse rotation type helicopter. SOLUTION: Upper and lower rotor blade 6, 7 rotating in reverse directions each other and swash plates 10, 11 controlling the rotor blades 6, 7 are assembled on rotation shafts 2, 3 arranged coaxially. Three servo motors 15 driving the swash plates 10, 11 are provided, and the servo motors 15, the swash plates 10, 11 and each rotor blade 6, 7 are connected by a first to a fifth rod 20, 21, 22, 23 and 24 in series. Consequently, the first to the fifth rod 20, 21, 22, 23 and 24 can be arranged in a circumference edge of a rotor mast 1 where there is not room and the first to the fifth rod 20, 21, 22, 23 and 24 do not interfere each other.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote-controlled coaxial inversion type helicopter used for spraying agricultural chemicals and aerial photography, and more particularly to a coaxial inversion type helicopter for controlling the steering of a helicopter.

[0002]

2. Description of the Related Art Conventionally, a single-rotor type helicopter having a rotor mast provided with a rotor blade has been most commonly used as an unmanned helicopter of a remote control type used for spraying pesticides or aerial photography. Structure. Such a single-rotor helicopter,
A tail rotor is provided at the rear of the fuselage, and by controlling the thrust of this tail rotor, the reaction torque of the fuselage generated by the rotation of the main rotor is canceled, and
It also controls the direction of the aircraft.

As described above, since the single rotor type helicopter has the main rotor and the tail rotor, the position of the rotor and the position of the center of gravity are separated, and the lift of the main rotor and the tail rotor is unbalanced. Helicopter operation requires skill and also hinders performance improvement.

A coaxial inversion type helicopter is known as a means for avoiding these problems. In this coaxial inversion type helicopter, a pair of upper and lower rotor blades are provided on a coaxially arranged rotation shaft, and by rotating the upper and lower rotor blades in opposite directions, generation of lift and cancellation of reaction torque are simultaneously realized. Like that. In addition, such a coaxial inversion type helicopter raises or lowers the fuselage by simultaneously changing the collective pitch of a rotatably pivoted rotor blade to a high pitch or a low pitch, and also moves the rotor up and down. Generally, direction control is performed by changing the cyclic pitch of the blades in the same direction. The collective pitch or cyclic pitch of the rotor blades is controlled by raising or tilting a swash plate connected to each rotor blade by a rod. That is, the swash plate and a servomotor for driving the swash plate are connected by a rod, and the swash plate and each rotor blade are connected by a rod. The swash plate is raised or tilted by a servomotor to vary the collective pitch or cyclic pitch of the rotor blade connected to the swash plate via a rod.

However, when the servo motor and the swash plate and the swash plate and the rotor blade are connected by a rod as described above, the coaxial inversion type helicopter has a pair of upper and lower rotor blades that rotate in opposite directions. A swash plate for controlling the rotor blades must also be provided for each of the upper and lower rotor blades, and placing a rod that connects the upper and lower rotor blades and the upper and lower swash plates in a very narrow space around the rotation axis is not enough space. It was difficult due to technical restrictions. That is, if it is connected to the upper and lower swash plates by individual rods from the servo motors, two rods are connected to each servo motor and this is connected to the upper and lower swash plates respectively, for example, When three rotor blades are provided, three servo motors are mounted for each rotor blade, so a total of six rods are required. In addition, a swash plate and each rotor blade are required. It is extremely difficult to arrange these many rods around the rotor mast because a rod for connecting them is also required, and even if the rods can be arranged around the rotor mast, When operating the rods, there is a danger that each rod will interfere with each other, In challenges remain. For this reason, a coaxial reversal type helicopter has less power loss compared to a single rotor, and has the advantage of easily improving performance during high-speed flight. In a remote-controlled coaxial inversion helicopter such as that used for such purposes, the fact is that no coaxial inversion type helicopter is employed.

SUMMARY OF THE INVENTION The present invention solves such a problem, and in a coaxial inversion type helicopter, a rod for driving a rotor blade is compactly arranged, and the rotor blade can be reliably controlled by the rod. It is intended to provide a helicopter.

[0007]

A coaxial inversion type helicopter according to a first aspect of the present invention has coaxially disposed rotating shafts that rotate in opposite directions to each other, and provides upper and lower rotor blades for each of the rotating shafts. A pair of upper and lower swash plates for controlling a rotor blade are provided for each rotating shaft, and a coaxial inversion type helicopter for driving each swash plate with a transmission device, wherein the transmission device and the lower swash plate are connected by a plurality of rods. When the lower swash plate is raised or tilted by the transmission device by connecting the lower swash plate and the upper swash plate with a plurality of rods, the upper swash plate follows the lower swash plate. Is raised or tilted, and the upper and lower swash plates are raised or tilted. More specifically, the pitch of the upper and lower rotor blades connected to each of the swash plates by a plurality of rods is configured to be variable, and the rod connecting the transmission device and the lower swash plate is connected to the upper and lower swash plates. And the rods connecting the upper and lower swash plates and the rotor blades are connected in series.

According to the above configuration, if the pair of upper and lower swash plates are moved up and down by controlling the respective transmission devices remotely, the collective pitch of the upper and lower rotor blades changes to a high pitch or a low pitch, and the helicopter moves up or down. Descend. In addition, by tilting the pair of upper and lower swash plates back and forth and left and right, the cyclic pitch angle of the upper and lower rotor blades changes periodically, and the body can move forward or left. And, by connecting a plurality of rods connecting the upper and lower rotor blades and the upper and lower swash plates and the transmission device in series, these rods can be arranged very efficiently on the periphery of the rotor mast, and They do not interfere with each other.

A coaxial inversion type helicopter according to a second aspect of the present invention is the coaxial inversion type helicopter according to the first aspect, wherein each of the upper and lower rotor blades has a three-piece structure, and three transmissions corresponding to the respective rotor blades. A device is provided.

According to the above configuration, since the transmission devices are arranged at substantially equal angular intervals in the circumferential direction, forces are equally applied to the three transmission devices, and the operation is stabilized.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of a coaxial inversion type helicopter according to the present invention will be described below with reference to FIGS.
Referring to FIG. 1, reference numeral 1 denotes a rotor mast having rotating shafts 2 and 3 arranged coaxially. A rotating driving force from an engine (not shown) is transmitted to the rotor mast 1. The reversing mechanism is configured to rotate in mutually opposite directions by a differential mechanism such as a differential gear (not shown). Upper and lower hubs 4, 5 are fixed to the respective rotating shafts 2, 3, and rotor heads 8, 9 for attaching rotor blades 6, 7 to the respective hubs 4, 5 are rotatably mounted. In this embodiment, three rotor blades 6 and 7 are attached to each of the hubs 4 and 5 at regular intervals.

Further, swash plates 10 and 11 are attached to the rotating shafts 2 and 3, respectively. The swash plates 10, 11 are composed of inner plates 10a, 11a and outer plates 10b, 11b.
10a, 11a are supported by bearings 12 so as to be vertically movable with respect to each of the rotating shafts 2, 3, and
a, 11a and the outer plates 10b, 11b
It is integrated rotatably through the. The swash plates 10 and 11 are connected to a servomotor 15 serving as a transmission device via a pitch link mechanism 14, and the driving force of the servomotor 15 is transmitted to the swash plates 10 and 11 via the pitch link mechanism 14. And this each swash plate
The collective pitch angle and the cyclic pitch angle of the upper and lower rotor blades 6 and 7 are varied by vertically moving or tilting the upper and lower blades 10 and 11. The servo motors 15 are provided corresponding to the number of the rotor blades 6 and 7, respectively.
In this embodiment, three servo motors 15 are attached at substantially equal intervals along the circumferential direction around the rotor mast 1. Also, an inner shaft 17 is provided inside the rotor mast 1 so as to be vertically movable.
A mounting bracket 18 is integrally fixed to a tip of the inner shaft 17. The mounting bracket 18 has three fixed connecting rods 19 vertically attached thereto, and the connecting rod 19 is attached to the hub 4 on which the upper rotor blade 6 is assembled.
And is fixed to a mounting plate 31 described later.
Further, the inner shaft 17 is provided so as to be vertically movable by a servomotor 15a different from the servomotor 15, so that the inner hub 17 is attached to the upper hub 4 connected to the inner shaft 17 and the upper hub 4. By independently moving the upper rotor blade 6 up and down, yaw control is possible.

Next, the configuration of the pitch link mechanism 14 will be described mainly with reference to FIG.

Three first rods 20, 20, 20 of the same length are connected to the servo motors 15, 15, 15 for driving the rotor blades 6, 7, respectively.
The front ends of 20, 20, 20 are connected to the outer peripheral surface of the outer plate 11b of the lower swash plate 11 at regular intervals.
On the other hand, the inner plate 11a of the lower swash plate 11
As in the case of the outer plate 11b, lower end portions of three second rods 21, 21 and 21 having the same length are connected to the second plate.
The tips of the rods 21, 21, 21 are connected to a fixed arm 26 fixed to the lower rotor head 9. The lower ends of three third rods 22, 22, 22 having the same length are pivotally connected to the distal ends of the first rods 21, 21, 21 connected to the fixed arm 26, respectively. The tips of the rods 22, 22, 22 are connected to the outer peripheral surface of the outer plate 10b of the upper swash plate 10 at regular intervals. The inner plate 10a of the upper swash plate 10 has three fourth rods.
The lower ends of 23, 23, 23 are connected to each other. The tip of each of the fourth rods 23, 23, 23 is connected to a relay link device 30 interposed between the upper swash plate 10 and the upper rotor blade 6. Relay link device 30
Is a mounting plate 31 which is attached to the rotating shaft 2 so as to be vertically movable.
And four link arms 32, 32, 32, one end of which is rotatably connected to the mounting plate 31, and connected to the inner plate 10a of the upper swash plate 10, the fourth rods 23, 23, 23 is the link arm 32, 32,
It is pivoted at the center of 32. And the link arm 32,
Fifth rods 24, 24, 24 are connected to the distal ends of 32, 32, respectively, and the fifth rods 25, 25, 25 are connected to a fixed arm 35 fixed to the upper rotor head 8. Thus, each servo motor 15 and each upper and lower swash plate 1
0 to 11 and upper and lower swash plates 10 and 11 and upper and lower rotor blades 6 and 7,
1, 22, 23 and 24 are connected in series, and these first to fifth
The driving force of the servo motor 15 is transmitted to the upper and lower swash plates 10 and 11 by the rods 20, 21, 22, 23 and 24, and the swash plates 10 and 11 are moved up and down or tilted to collectively collect the upper and lower rotor blades 6 and 7. Control the pitch or cyclic pitch. The connecting portions at both ends of the first to fifth rods 20, 21, 22, 23, 24, 25 are constituted by ball joints 28, and each servo motor 15, lower swash plate 11, upper swash plate 10 , The first to fifth relay arms 30 and the fixed arms 26 and 35 of the upper and lower rotor blades 6 and 7, respectively.
Rods 20, 21, 22, 23, 24, 25 are rotatably connected to each other. Further, the first to fourth rods 20, 21, 22, 23, and 24 connecting the respective servo motors 15, the lower swash plate 11, and the upper swash plate 10 are formed to have the same length. And the upper swash plate 10 are kept parallel to each other.
This makes it possible to change the pitch of the rotor blades 6 and 7 by vertically moving or tilting the lower swash plate 11 and the upper swash plate 10. For example, there are three upper and lower swash plates. In some cases, the pitch of some of the rotor blades 6, 7 may be finely adjusted. In this case, the pitch of the lower rotor blade 7 is finely adjusted by changing the angle of the lower rotor blade 7 by rotating the lower rotor blade 7 in the axial direction. Since the fixed arm 26 for fixing the lower rotor blade 7 rotates in the axial direction, the fixed arm 26 is connected to the fixed arm 26 by the second and third rods 21 and 22, and the upper and lower swash plates 10 and 11, and furthermore, All settings of the upper rotor blade 6 connected to the lower swash plate 11 and the fourth and fifth rods 23 and 24 are out of order. Therefore, while maintaining the settings of the upper and lower swash plates 10 and 11 and the upper rotor blade 6, the rotor head with the lower rotor blade 7 attached thereto can be finely adjusted in the angle of the lower rotor blade 7. 9 and a hub 5 for fixing the rotor head 9
And a fixed arm 26 pivotally attached to the arm. That is, as shown in FIG. 3, a plurality of arc-shaped long holes 50 are formed in the fixed arm 26 in the same circular shape, and a screw 51 inserted through the long hole 50 is screwed into a screw hole 52 formed in the hub 5. Rotor head 9 with lower rotor blade 7 assembled
And the hub 5 for fixing the rotor head 9. As a result, the rotor head 9 can be moved without changing the angle of the fixed arm 26 connected to the upper and lower swash plates 10 and 11 by the second and third rods 21 and 22.
And the pitch of the lower rotor blade 7 can be finely adjusted by loosening the screw 51 for fixing the rotor head 9 and rotating only the rotor head 9 in the axial direction. As for the upper rotor blade 6, the ball joint 2 screwed to both ends of the fifth rod 25 connecting the fixed arm 35 for fixing the upper rotor blade 7 and the link arm 32 of the relay link device 30.
8 in the tightening direction or in the loosening direction to
The pitch of the upper rotor blade 6 is finely adjusted by adjusting the length of the rod 25. That is, like the lower rotor blade 7, when finely adjusting the pitch of the upper rotor blade 6, the fixed arm 35 rotates in the axial direction together with the lower rotor blade 7 and is connected to the fixed arm 35. Although the setting of the link arm 32 of the relay link device 30 that has been set goes wrong, the pitch of the upper rotor blade 6 is finely adjusted while maintaining the setting of the link arm 32 by adjusting the length of the fifth rod 25. Can be.

In FIG. 1, reference numerals 40, 40 denote upper plate links for holding upper and lower swash plates 10, 11, and a mounting seat integrally fixed to each of the rotating shafts 2, 3.
A pair of left and right link arms 42 are pivotally attached to 41,
A link arm 43 is pivotally mounted between the link arm 42 and the outer plates 10b, 11a of the swash plates 10, 11.

The operation of the present embodiment configured as described above
The effect will be described.

Each of the servomotors 15, 15, 15 and the upper and lower swash plates 10, 11 are connected to first, second and third rods 20, 2 respectively.
The upper and lower swash plates 10 and 11 are connected by inner and outer plates 10a and 11a and are rotatably integrated via bearings 13.
b, 11b, each servo motor 15, 15, 15 and the first
The outer plate 11b connected via the rod 20 does not rotate, but the inner plate 11a provided inside the outer plate 11b can rotate integrally with the rotating shaft 3. Also, since the inner plates 10a, 11a are mounted on the respective rotating shafts 2, 3 so as to be vertically movable by bearings 12, when the first rods 20 are simultaneously lifted by the respective servo motors 15, 15, 15, The inner plate 11a and the outer plate 11b that constitute the lower swash plate 11 rise in unison. Also, since the lower swash plate 11 and the upper swash plate 10 are connected by the second and third rods 21 and 22, the lower swash plate 10 follows the lower swash plate 11
Rises congruently with the lower swash plate 11. When the lower swash plate 11 is tilted, the upper swash plate 10 also follows and tilts in the same direction as the lower swash plate 11. And lower swash plate 11
A second rod 21 is connected to the inner plate 11b, and the tip of the second rod 21 is connected to the fixed arm 26 of the rotor blade 7, so that the lower swash plate 11
By moving up and down, the fixed arm 26 rotates,
Thereby, the pitch of the lower rotor blade 7 varies. Also, as described above, the upper swash plate 10
Follows the lower swash plate 11 and operates integrally with the upper swash plate 10, so that the fourth rod 23 connected to the inner plate 10a of the upper swash plate 10, the link arm 32 of the relay link device 30, and the fourth By rotating the fixed arm 35 with the five rods 24, the pitch of the upper rotor blade 6 is changed.

Therefore, the rotating shafts 2 and 3 are rotated in opposite directions by a differential mechanism such as a differential gear (not shown) using the rotational driving force from the engine (not shown).
Remote control of 15,15,15 and upper and lower swash plate 1
If 0 and 11 are ascended, the collective pitch of the upper and lower rotor blades 6 and 7 is increased simultaneously, and the helicopter is elevated. Conversely, if the swash plates 10 and 11 are operated to descend, the helicopter descends.

Further, by tilting the upper and lower swash plates 10 and 11 back and forth and left and right, the cyclic pitch angle of the upper and lower rotor blades 6 and 7 is periodically changed, and the body is advanced in the tilt direction. it can.

The rotary shaft 2 is driven by the servomotor 15a.
The hub 4 in which the rotor blade 6 is assembled integrally with the inner shaft 17 and the relay link device 30 integrally connected to the hub 4 by the connecting rod 19 are moved up and down by vertically moving the inner shaft 17 provided inside the vehicle. , The link arms 32, 32, 32,
The pivot 32 rotates, and the collect pitch of only the upper rotor blade 6 can be changed by the fourth rods 23, 23, 23 connected to the link arms 32, 32, 32. As a result, the collect pitch of each of the upper and lower rotor blades 6 and 7 is changed, and the traveling direction can be determined by rotating the helicopter right or left around the yaw axis. That is, the upper and lower swash plates 10 and 11 can be tilted back and forth to move the helicopter forward and backward, and the right can advance to the left. Even if only the rotor blade 6 is moved up and down, the helicopter is rotated right or left. I can do this. Depending on the flight conditions, these control methods may be controlled by either one method or may be used together.

As described above, in this embodiment, the swash plates 10, 11 for controlling the collect pitch and the cyclic pitch of the upper and lower upper and lower rotor blades 6, 7 rotating in opposite directions, and the servo motors 15 for driving the swash plates 10, 11 , 1
Fixed arm 2 for 5,15 and upper and lower rotor blades 6,7
6, 35 are connected by first to fifth rods 20, 21, 22, 23, 24. These first to fifth rods 20, 21, 2
Since 2, 23 and 24 are connected in series, the first to fifth
The rods 20, 21, 22, 23, 24 can be arranged very efficiently around the periphery of the rotor mast 1. In particular, as in the present embodiment, an unmanned helicopter of a remote control type used for spraying pesticides, aerial photography, etc., has a compact airframe itself, and there is not enough space around the rotor mast 1 , The first to fifth rods 20, 21, 22, 23, 24 are connected in series, so that the first to fifth rods 20, 21, 2 around the rotor mast 1 where there is no room in space.
2, 23, 24 can be arranged. As described above, even when an unmanned helicopter controlled by remote control employs a coaxial inversion type helicopter, the servo motor 15,
The driving force of 15, 15 is transmitted to the swash plates 10, 11, and the collect pitch and cyclic pitch of the upper and lower rotor blades 6, 7 can be reliably controlled by the swash plates 10, 11. Further, by connecting the first to fifth rods 20, 21, 22, 23, 24 in series, the first to fifth rods 20, 21, 22, 23, 24 do not interfere with each other and the helicopter The reliability and safety of the steering control of the vehicle are also improved. Further, in this embodiment, since the servomotors 15 for controlling the rotor blades 6 and 7 are arranged at substantially equal intervals around the rotor mast 1, the three servomotors 15 are evenly acted on and the operation is stable. .

Although the embodiment of the present invention has been described in detail, the present invention is not limited to the embodiment.
Various modifications can be made within the scope of the present invention.
For example, the basic structure of the helicopter such as the connection structure of the rods, the number of rotor blades, or the means for rotating the rotor blades may be appropriately selected.

[0023]

According to the coaxial inversion type helicopter according to the first aspect of the present invention, the rotating shafts that rotate in opposite directions are arranged coaxially, and these rotating shafts are provided with upper and lower rotor blades, respectively. A pair of upper and lower swash plates for controlling the rotor blades on the shaft is provided, and a coaxial inversion type helicopter that drives each of the swash plates with a transmission device, wherein the transmission device and the lower swash plate are connected by a plurality of rods, and When the lower swash plate is raised or tilted by the transmission device by connecting the lower swash plate and the upper swash plate with a plurality of rods, the upper swash plate follows the lower swash plate and is integrated with the lower swash plate. Up or tilt, and by raising or tilting each upper and lower swash plate, Each of the upper and lower swash plates is connected to the respective swash plate by a plurality of rods, and the pitch of the upper and lower rotor blades is varied, and the transmission device and the lower swash plate are connected to the rod and the upper and lower swash plates are connected to each other. Since the rod and the rod that connects the upper and lower swash plates and the rotor blades are connected in series, a rod that controls the rotor blades around the rotor mast where there is no room in space is provided. The arrangement can be performed efficiently, and interference between the rods can be prevented.

According to a coaxial inversion type helicopter according to a second aspect of the present invention, in the coaxial inversion type helicopter according to the first aspect, each of the upper and lower rotor blades has a three-piece structure. Since three transmission devices are provided, the transmission devices can be arranged at substantially equal angular intervals in the circumferential direction, and a force can be evenly applied to the three transmission devices to stabilize the operation.

[Brief description of the drawings]

FIG. 1 is a sectional view schematically showing an embodiment of the present invention.

FIG. 2 is a perspective view of a main part showing the periphery of the rotor mast.

FIG. 3 is an exploded perspective view of the upper and lower rotor blades and a fixed arm.

FIG. 4 is a perspective view of a main part showing a periphery of the rotor head.

FIG. 5 is a perspective view of a main part around the upper and lower rotor heads.

FIG. 6 is a perspective view of a main part showing the vicinity of the upper swash plate in the first embodiment.

FIG. 7 is a perspective view of a main part showing the periphery of the upper rotor head of the same.

[Explanation of symbols]

 2,3 Rotating shaft 6,7 Rotor blade 10,11 Swash plate 10a, 11a Inner plate 10b, 11b Outer plate 12,13 Bearing 15 Servo motor (transmission device) 20,21,22,23,24 Rod

Claims (2)

[Claims] 1. A rotating shaft which rotates in mutually opposite directions is arranged coaxially,
Each of these rotating shafts is provided with upper and lower rotor blades, and each rotating shaft is provided with a pair of upper and lower swash plates for controlling the rotor blades, and is a coaxial inversion type helicopter that drives each of the swash plates with a transmission device, The transmission device and the lower swash plate are connected by a plurality of rods, and the lower swash plate is raised or tilted by the transmission device by connecting the lower swash plate and the upper swash plate with the plurality of rods. At this time, the upper swash plate is raised or tilted following the lower swash plate, and the upper or lower swash plate is raised or tilted. Is configured to vary the pitch of the And the rod connecting the transmission device and the lower swash plate, the rod connecting the upper and lower swash plates, and the rod connecting the upper and lower swash plates and the rotor blades are connected in series. A coaxial inversion type helicopter, comprising: 2. The coaxial inversion type helicopter according to claim 1, wherein each of the upper and lower rotor blades has a three-piece structure, and three transmission devices corresponding to the respective rotor blades are provided.