JP2004121798A - Coaxial contrarotating radio controlled helicopter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a coaxial contrarotating radio controlled (R/C) helicopter having maneuverability and operationality sufficient for enjoying manipulating the R/C helicopter indoors by constituting a simple mechanism for driving and controlling rotors. <P>SOLUTION: This coaxial contrarotating R/C helicopter is equipped with a swash plate comprising a lower plate, mounted to move around the rotary axis of a mast in a direction to intersect the rotary axis by a geared motor, and an upper plate which is mounted on the central opening part of the lower plate through a bearing and is connected with the lower plate through a blade holder and a control arm slantingly connected to the mast. The rotational surfaces of the lower blades is tilted by the control arm in conjunction with the movement of the swash plate in the direction to intersect the rotary axis of the mast. As a result, a moving direction of the aircraft is controlled. The flight posture of the aircraft is controlled by interlocking rotations made by an upper rotor head and a stabilizer. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a coaxial inversion type radio control helicopter (hereinafter referred to as an R / C helicopter) in which upper and lower rotor heads rotating in opposite directions are coaxially arranged.
[0002]
[Prior art]
In general, a coaxial reversing helicopter has an upper rotor head and a lower rotor head arranged coaxially on the fuselage, and simultaneously rotates the upper and lower rotors in opposite directions, thereby simultaneously generating lift and canceling torque. Is configured. In addition, the direction control of the nose, which changes to a tail rotor, simultaneously changes the pitch angle of the upper and lower rotors in opposite directions via swash plates provided correspondingly, and maintains the total lift constant while maintaining the torque This is performed by breaking the balance (for example, see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-1-101297
[Problems to be solved by the invention]
The coaxial reversing helicopter can reduce the maximum size of the fuselage by eliminating the need for a tail rotor due to the above-described configuration, and is highly efficient because all the rotation of the rotor can be used for buoyancy. It has many advantages such as being able to rotate and rudder turning left and right smoothly.However, since the upper and lower rotors rotating in opposite directions are coaxially arranged, the mechanism for driving and controlling the rotor is complicated. And the maintenance performance and exercise performance are inferior to those of the single rotor type. For this reason, of course, the use of the actual machine was rare in the R / C helicopter.
[0005]
However, in the case of indoor R / C helicopters that enjoy maneuvering indoors, high-speed flight and stunt performance are not necessarily required, and stable hovering and accurate operation, and above all, safety of maneuvering should be ensured. Preferred for users.
[0006]
In view of the above problems of the prior art, the present invention has a simple structure for driving and controlling the rotor, and has sufficient motility and operation to enjoy the operation of the R / C helicopter indoors. It is an object of the present invention to obtain a coaxial inversion type R / C helicopter having a characteristic.
[0007]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, a coaxial inversion type R / C helicopter according to the present invention is configured such that a flight attitude of an airframe is controlled by rotation of an upper rotor head and a stabilizer, and a blade of a lower rotor head connected to a swash plate in a moving direction of the airframe. Are controlled by the change of the rotation plane.
[0008]
Also, the coaxial inversion type R / C helicopter of the present invention has a lower plate mounted movably around a rotation axis of a mast by a geared motor in a direction intersecting the rotation axis, and a center of the lower plate via a bearing. A swash plate consisting of a blade holder attached to the opening and connected to the mast so as to be tiltable and an upper plate connected via a control arm is provided, and the swash plate moves in a direction intersecting the rotation axis of the mast. And the control arm is configured to tilt the blade holder.
[0009]
Further, the coaxial inversion type R / C helicopter of the present invention compares the yaw axis control signal and the yaw axis angular velocity measurement signal, and switches the reference pulses for driving the upper rotor and the lower rotor based on the comparison result. A yaw axis control circuit for outputting to the rotor drive circuit is provided.
[0010]
In the R / C helicopter of the present invention, the upper and lower blades are formed using a foamed styrene sheet which is lightweight and has excellent response and high safety so that it is suitable for indoor use. It is preferable to use soft rubber to reduce the impact.
[0011]
BEST MODE FOR CARRYING OUT THE INVENTION
A preferred embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view of an R / C helicopter according to an embodiment of the present invention as viewed obliquely from the front, and FIG. 2 is a perspective view of a main part viewed obliquely from the rear. Reference numeral 3 denotes a mast, reference numeral 4 denotes an upper rotor head, reference numeral 5 denotes a lower rotor head, reference numeral 6 denotes a blade tilting mechanism, reference numeral 7 denotes a stabilizer bar, and reference numeral 8 denotes a fall prevention leg which is detachably attached to the bottom of the fuselage.
[0012]
As shown in FIG. 3, the mast 3 includes a hollow outer shaft mast 31 projecting upward from the inside of the body 2 and a hollow inner shaft mast 32 inserted therein. The lower part of the outer shaft mast 31 is connected via a gear 31a to a drive shaft of a lower rotor motor (not shown) provided inside the fuselage, and the lower rotor head 5 is mounted on the upper part. I have. The lower part of the inner mast 32 is connected via a gear to the drive shaft of an upper rotor motor (not shown) provided inside the fuselage, and the upper rotor head 4 and the stabilizer bar 7 are mounted on the upper part. Have been.
[0013]
The upper rotor head 4 includes a blade 41 composed of left and right blades 41a, 41a, holders 42, 42 fixed to the original ends of the left and right blades 41a, 41a, and blades 42 fixed to the holders 42, 42 on both sides. A blade holder 43 integrally connects the inner shaft mast 32 to the inner mast 32. The left and right blades 41a, 41a are fixed to both sides of the blade holder 43 at a predetermined angle. The upper rotor head 4 is attached so that the blade holder 43 is non-swingably connected to the outer periphery of a center hub 32 a fixed to the upper end of the inner shaft mast 32 so as to be able to rotate integrally with the inner shaft mast 32. The blade 41 is integrally supported on the upper end of the inner shaft mast 32 at a predetermined pitch angle.
[0014]
The lower rotor head 5 includes a blade 51 including left and right blades 51a, 51a, holders 52, 52 fixed to the original ends of the left and right blades 51a, 51a, and holders 52, 52 fixed to both sides. It comprises a blade holder 53 for connecting the left and right blades 51a, 51a together. The left and right blades 51a, 51a are fixed to both sides of the blade holder 53 at a predetermined angle. The lower rotor head 5 is attached so that the blade holder 53 is pivotally mounted on the peripheral surface of the outer shaft mast 31 by a pin 54 a and can be tilted at an appropriate angle in a direction perpendicular to the axial direction of the outer shaft mast 31. The yoke 54 is integrally mounted on the outer periphery of the yoke 54 so as to be rotatable integrally with the outer shaft mast 31. The lower rotor head 5 is provided so that the angle of the rotation surface of the blade 51 with respect to the outer shaft mast 31 can be increased or decreased by tilting the blade holder 53 integrally with the yoke 54.
[0015]
The blade tilting mechanism 6 includes a swash plate 61 including a substantially rhombic lower plate 62 having a circular opening in the center and an upper plate 63, and one end connected to an end of the upper plate 63 via a rod 64a. A control arm 64 rotatably supported by a leg 53a having an end protruding from the lower surface of the blade holder 53; and an elevator gear installed inside the fuselage 2 and having an operating shaft protruding from the upper surface of the frame 21. It has a motor (servo) and an aileron geared motor (neither is shown).
[0016]
More specifically, the swash plate 61 is disposed on the upper surface of the frame 21 of the machine body 2 by inserting the mast 3 into the openings 62a and 63a of the two plates. The lower plate 62 has a long hole 62b and an opening 62c at both ends, and the long hole 62b is fixed to an operation plate 65a fixed to the operation shaft of the elevator geared motor, and the opening 62c is fixed to the operation shaft of the aileron geared motor. The drive gears 65b are rotatably connected to each other. The drive gears 65a and 65b are rotated around the drive shafts by driving the two geared motors and displaced around the drive shafts. It is mounted so that it can move in a direction intersecting the rotation axis. The upper plate 63 has its lower part fitted into the opening 62a of the lower plate 62 via a bearing 66, and is supported on the upper surface of the lower plate 62 so as to be able to rotate in parallel with the rotation axis of the mast 3. When the lower plate 62 is displaced, the lower plate 62 is mounted so as to be able to slide around the rotation axis of the mast 3 together with the plate. Further, the control arm 64 is rotatably supported by the leg 53a of the blade holder 53. When the control arm 64 is displaced in a direction intersecting with the rotation axis of the mast 3, the control arm 64 responds to the displaced direction and the amount. The blade holder 53 is tilted with respect to the mast 3.
[0017]
Therefore, when the upper plate 63 slides together with the lower plate 62, the control arm 64 connected to the end of the upper plate 63 also slides integrally, whereby the blade holder 53 is tilted with respect to the mast 3, whereby the blade holder 53 is tilted. The rotation surface of the lower blade 51 is adjusted to a direction and an angle corresponding to the moving direction and the moving amount of the swash plate 61.
The drive shafts of the elevator geared motor and the aileron geared motor are installed in parallel with the rotation axis of the mast 3.
[0018]
The stabilizer bar 7 is formed by attaching weights 7b, 7b having appropriate weights to both ends of a steel rod 7a having a length approximately half of that of the upper blade 41, and maintaining an appropriate crossing angle with respect to the blade 41. The central portion is rotatably supported on the upper end of the inner shaft mast 32 in a direction intersecting the rotation shaft so that the blade can be integrally rotated with the blade 41, and is connected to the blade holder 43 by a linkage rod 71. Installed. The intersection angle between the stabilizer bar 7 and the blade 41 is selected according to conditions such as the overall size of the R / C helicopter 1, the length of the blade 41, and the weight of the weight 7b, and is set to, for example, about 41 to 45 degrees for indoor use. obtain.
[0019]
The above-described motors for rotating the upper and lower rotors, the elevator geared motor, and the aileron geared motor are controlled by a control circuit and a drive circuit (not shown) while receiving detection signals from various sensors, such as a gyro and an acceleration sensor, from the operating device. The drive is controlled according to the operation signal.
[0020]
Next, the operation of the thus configured R / C helicopter 1 will be described.
When the drive motors of the upper and lower rotors are rotated by the drive circuit, the rotational force of each drive shaft is transmitted to the upper rotor head 4 and the lower rotor head 5 via the outer mast 32 and the inner mast 31, and the upper and lower blades 41 , 51 rotate in opposite directions to generate the lift required for flight, and raise the body 2. The control for raising and lowering the body 2 is performed by adjusting the rotational output of the upper and lower blades 41 and 51.
[0021]
If the attitude of the body 2 is tilted during a flight for some reason, the body 2 is mechanically controlled by rotation of the upper rotor head 4 having a fulcrum at the center and the stabilizer bar 7 so as to maintain a stable attitude.
As shown in FIG. 4, when flying in a horizontal attitude, the stabilizer bar 7 rotates in parallel with the upper blade 41 (FIG. 4A). If the stabilizer bar 7 is tilted for any reason (FIGS. (B) and (C)), the blade 41 is tilted via the linkage rod 71, whereby an action parallel to the stabilizer bar 7 is effected. That is, if the upper rotor head 4 is rotating without performing any control from the outside, an action of automatically keeping the rotor head horizontal by the centrifugal force occurs, and the body 2 tilts due to an external factor. In this case, the stabilizer bar 7 keeps the level, and the blades 41 perform the function of a correction rudder to correct the attitude of the body 2 horizontally, so that the body 2 can be kept horizontal.
[0022]
Further, the control of the moving direction of the body 2 in the front-rear and left-right directions is performed by adjusting the rotation surface of the blade 51 of the lower rotor head 5 connected to the swash plate 61.
5 and 6 show how the swash plate 61 operates when controlling the moving direction of the body 2.
As shown in FIG. 5A, the mast 3 is located at the center of the opening of the swash plate 61 when the elevator is in neutral, and at this time, the rotating surface of the blade 51 does not tilt in the front-rear direction (FIG. 7A). . As shown in FIG. 5B, when the elevator geared motor is driven to rotate the operation plate 65a and move the swash plate 61 in the direction of arrow A, the swash plate 61 is connected to the upper plate 63 in conjunction with this. Since the control arm 64 tilts the blade holder 53 and the rotation surface of the blade 51 also tilts (FIG. 7B), the body 2 can be advanced. If the swash plate 61 is moved in the opposite direction, the rotating surface of the blade 51 tilts in the opposite direction (FIG. 7C), and the body 2 can be moved backward.
As shown in FIG. 6A, the mast 3 is located at the center of the opening of the swash plate 61 in the aileron neutral state, and at this time, the rotating surface of the blade 51 does not tilt in the left-right direction. To move the body 2 to the left, as shown in FIG. 6B, when the aileron geared motor is driven to rotate the operating plate 65b and move the swash plate 61 in the direction of the arrow B, the upper The control arm 64 connected to the plate 63 tilts the blade holder 53, and the rotation surface of the blade 51 also tilts, so that the body 2 can be moved to the left. If the swash plate 61 is moved in the opposite direction, the rotating surface of the blade 51 tilts in the opposite direction, and the body 2 can be moved to the right.
That is, as shown in FIGS. 5 and 6, the swash plate 61 is moved by driving the elevator geared motor and the aileron geared motor, so that the center position of the mast 3 in the opening of the swash plate 61 is By relatively displacing the rotation surface to the displacement position where the rotation surface tilts, the rotation surface of the blade 51 can be tilted in a desired direction and the moving direction of the body 2 can be controlled.
[0023]
In the control of the yaw axis direction, which is the direction of the nose of the airframe 2, the yaw axis control circuit adjusts the rotational output (number of revolutions) of the upper rotor head 4 and the lower rotor head 5 to cancel each other's reaction torque. It is performed under such control.
FIG. 8 shows the configuration of the yaw axis control circuit. In this circuit, a signal for controlling the yaw axis and the angular velocity of the yaw axis are measured by an angular velocity sensor, and a sensor output signal proportional to the measured value is input to a comparison amplifier circuit. The comparison amplifier circuit compares the two input signals and outputs a signal obtained by amplifying the difference value to the pulse switching circuit as a selection signal. The pulse switching circuit includes, together with the selection signal, a reference comprising a pulse for controlling the power 1 and the power 2 when the reaction torque of the power 1 as the upper rotor head 4 is the same as the reaction torque of the power 2 as the lower rotor head 5. Pulse 1, reference pulse 2, power 1 (or power) comprising a pulse for controlling power 1 (or power 2) when the reaction torque of power 1 (or power 2) is greater than the reaction torque of power 2 (or power 1) When the reaction torque of 2) is larger than the reaction torque of power 2 (or power 1), reference pulses 3 including pulses for controlling power 2 (or power 1) are input. Then, in the pulse switching circuit, the reference pulses 1, 2, and 3 are appropriately selected in accordance with the selection signal input from the comparison amplifier circuit, and output to the power drive circuit 1 and the power drive circuit 2, thereby obtaining the reaction torque. The yaw axis is controlled by adjusting the rotation of the rotor so as to cancel out.
[0024]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, the mechanism for driving and controlling a rotor is simple, and it can comprise the coaxial inversion type R / C helicopter provided with sufficient mobility and operability.
[Brief description of the drawings]
FIG. 1 is an external view of an R / C helicopter according to an embodiment of the present invention obliquely forward.
FIG. 2 is an external view of a main part obliquely behind an R / C helicopter.
FIG. 3 is a diagram showing the upper and lower rotor head portions of an R / C helicopter with component members developed.
FIGS. 4A to 4C are diagrams for explaining operations of a rotor head and a stabilizer bar.
FIGS. 5A and 5B are diagrams for explaining an operation of a swash plate in an elevator operation.
FIGS. 6A and 6B are diagrams for explaining the operation of a swash plate in aileron operation.
FIGS. 7A to 7C are diagrams for explaining a state in which a rotating surface of a blade is tilted in an elevator operation.
FIG. 8 is a diagram illustrating a configuration example of a yaw axis control circuit.
[Explanation of symbols]
1 R / C helicopter, 2 fuselage, 3 mast, 31 outer shaft mast, 32 inner shaft mast 4 Upper rotor head, 41 blade, 42 holder, 43 blade holder, 5 lower rotor head, 51 blade, 52 holder, 53 blade Holder, 54 Yoke, 6 Blade tilt mechanism, 61 Swash plate, 62 Lower plate, 63 Upper plate, 64 Control arm, 7 Stabilizer bar, 71 Linkage rod, 8 Fall prevention leg

Claims (3)

In a coaxial inversion type radio control helicopter in which upper and lower rotor heads rotating in opposite directions are arranged coaxially,
The flight attitude of the fuselage is controlled by the rotation of the upper rotor head and the stabilizer, and the moving direction of the fuselage is controlled by a change in the rotation plane of the blade of the lower rotor head connected to the swash plate. Coaxial inversion type radio control helicopter. A lower plate attached by a geared motor so as to be movable around the axis of rotation of the mast in a direction intersecting the axis of rotation. Equipped with a swash plate consisting of a connected blade holder and an upper plate connected via a control arm, and the control arm tilts the blade holder as the swash plate moves in a direction intersecting the rotation axis of the mast. The coaxial inversion type radio control helicopter according to claim 1. A yaw axis control circuit that compares the yaw axis control signal and the yaw axis angular velocity measurement signal, switches a reference pulse for driving the upper rotor and the lower rotor based on the comparison result, and outputs the reference pulse to both rotor drive circuits. Item 3. The coaxial inversion type radio control helicopter according to item 1 or 2.

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