JP2599339B2 - Seesaw head mechanism of industrial unmanned helicopter - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote-controlled industrial unmanned helicopter used for spraying pesticides, for example, for flying an unmanned helicopter with respect to a main mast for transmitting the rotational force of an engine. The present invention relates to a seesaw head mechanism of an industrial unmanned helicopter in which a main head supporting a main blade at opposite sides is seesaw-coupled by a connecting pin so as to be capable of seesaw movement.

[0002]

2. Description of the Related Art As is well known, in a remote-controlled industrial unmanned helicopter, a main mast for transmitting the rotational force of an engine and a main head for supporting a main blade for flying the unmanned helicopter on opposite sides. Are mainly coupled by a seesaw type or flapping type coupling method, and the main blade is rotated. Since the present invention relates to a seesaw head mechanism of an industrial unmanned helicopter for connecting a main mast and a main head by a seesaw type connecting method, this seesaw head mechanism will be described below.

[0003] When a main mast and a main head of an industrial unmanned helicopter of a remote control type are connected by a seesaw, a damper member is used to avoid a sudden seesaw movement of the main head. Regarding the seesaw head mechanism of an unmanned helicopter provided with a damper member for buffering such seesaw motion, various proposals have been made with respect to the seesaw head mechanism of a model helicopter that is not industrial use.

[0004] For example, Japanese Utility Model Laid-Open No. 2-17194 discloses a "center hub 10 fitted on the upper end of a spindle 34".
A model helicopter in which a pair of hub plates 16, 16 are pivotally supported so as to face each other, and a blade grip 29 for supporting a rotary wing is rotatably supported at both ends between the hub plates 16, 16. In the rotor head, a damper 24 for suppressing the seesaw motion of the rotor blade is provided between the hub plates 16 and 16 and the center hub 10.
A rotor head of a model helicopter is provided which is displaced from the spindle engaging portion 11 to the one end side alternately from immediately below the pivot point with respect to the center hub 10 of the sixteen. That is, in the present invention, two dampers 24 for buffering the seesaw motion of the rotor are connected to both hub plates 1.
Hub plates 16, 1 between 6, 16 and center hub 10
The structure (structure) is provided in such a manner as to be displaced from the spindle engaging portion 11 to the one end side alternately from immediately below the pivot point with respect to the center hub 10.

Japanese Utility Model Laid-Open Publication No. Sho 57-145492 discloses that a hub 4 is fixed to the tip of a vertical drive shaft, and a straight feathering shaft 7 penetrating the hub 4 at right angles is supported by a fulcrum shaft 12.
A model helicopter that is swingably supported with respect to a hub, an elastic member 10 is inserted between the hub and the shafts on both sides, and the resistance of the elastic member to seesaw movement of the rotor can be adjusted by a nut 11 of the shaft. It has been disclosed. This invention also has a configuration in which two elastic members 10 (dampers) for buffering the seesaw motion are provided between the hub and the shafts on both sides.

Japanese Utility Model Laid-Open Publication No. Sho 59-154299 discloses a shaft tube 1 connected to the upper end of a rotor shaft of a model helicopter.
At the upper end of the center hub 2 having a horizontal "U" -shaped hub shaft mounting hole on the lower surface, the shaft tube 1 is fitted in the center of the center, and the ascending and descending ends of the center tube 2 are freely connected by the seesaw pin 21 and attached.
The abutment 3 is fixedly attached to the front and rear sides of the lower part of the seesaw pin 21 of the shaft tube 1, and the inner end of the hub shaft 41 connecting the side hub 4 for wing attachment to the center hub 2 is provided inside both ends of the center hub 2. The flapping pin 42 is mounted so that the center line 43 can be freely moved up and down with the center line 43 positioned slightly forward of the center line 22 of the center hub 2 in the rotational direction. A contact plate 44 is attached to the lower surface of the contact bar 3 attached to the front and rear side surfaces of the shaft tube 1 so as to contact the lower surface of the contact plate 3 between the inner surface of the hub shaft 41 and the inner surface of the center hub 2. A damper rubber 5 is interposed between the hub shaft 4
A side hub 4 for mounting the propeller blades 6 is mounted on the hub 1 with a bearing and a thrust bearing interposed between the hub 4 and the hub shaft 41 so that the side hub 4 can swing freely and is prevented from falling off by screws 45 fastened to the outer end of the hub shaft 41. The operation arm 46 is attached to the front end in the rotation direction of the inner end of the side hub 4, the outer end is connected to the steering arm 14 of the helicopter via the universal ball 47, and the propeller blade 6 is dragged to the tip of the side hub 4. A model helicopter rotor head which is swingably mounted by a pin 48 is disclosed. In this invention, too, two damper rubbers 5 for cushioning the seesaw motion are provided between both side surfaces of the shaft tube 1, the inner end of the hub shaft 41 and the inner surface of the center hub 2, respectively.

Japanese Utility Model Laid-Open Publication No. 63-163900 discloses that in a model helicopter having a main rotor, a steering small blade and a steering mechanism, a gimbal device for mounting the main rotor on both sides is fastened via damper rubber. A steering mechanism for a model helicopter equipped with a regulating rubber that pivots down the stabilizer bar on both sides of the main shaft below the inner end of the stabilizer bar, which is attached to the upper end of the main shaft so that the pressure can be adjusted and the small blades for steering are attached to both ends. Is disclosed. In the present invention, similarly, two regulating rubbers 7 for buffering the seesaw motion are provided on both sides of the main shaft below the inner end of the stabilizer bar.

Further, Japanese Patent Application Laid-Open No. 63-63484 states that "a plurality of main rotors are attached to a support member on the upper portion of the main shaft so as to extend outward from the support member, and the main rotor is attached to the main shaft. In the rotor head of the model helicopter configured to rotate around, a damper member disposed between the support member of the main rotor and a connecting member connected to the support member, and the damper member is pressed by tightening a screw. And a damper adjusting mechanism that makes the damping force of the damper member variable by the damper adjusting mechanism. In the present invention, damper members for damping the seesaw motion are provided between the support member of the main rotor and the connecting member connected to the support member, and two damper members are provided as in the above-described conventional examples. It has a configuration. On the other hand, in the configuration of the conventional example shown in FIG. 6 of this publication, one damper member is used for damping the seesaw movement, and the damping force of the damper member is adjusted by a damper adjusting mechanism. ing.

[0009]

As described above, Japanese Utility Model Laid-Open No. 17194/1990 and Japanese Utility Model Laid-Open No.
In the seesaw head mechanism of the model helicopter disclosed in JP-A-59-154299 and JP-A-63-163900, damper members (rubbers) are provided on both sides of the main head to cushion the seesaw motion. ) And a mechanism having an adjustment screw, or a mechanism in which a damper member (rubber) is sandwiched between both sides of the main mast and fixed with screws. When two damper rubbers are used in this way, the elasticity of the right and left or both sides of the damper rubbers may be different due to variations in the material of the two damper rubbers, dimensional differences, and the like, which makes adjustment of the elasticity complicated. was there. In addition, the structure of the seesaw head mechanism is complicated, and in addition, the use of two dampers naturally increases the number of parts, increases the cost, increases assembly time, and reduces workability. Since the parts are frequently replaced, there is a disadvantage that it takes time to disassemble and maintain the parts when replacing the damper rubber and other parts.

On the other hand, the rotor head of the model helicopter disclosed in the above-mentioned Japanese Patent Application Laid-Open No. 63-63484 employs a flapping type coupling method.
Elastic rubbers 21 are provided at both ends of a shaft 18 as a hub plate connecting member provided in parallel with the support shaft 5 below the support member 5, and the mounting member 25 and the base end 10 of the connecting member 8 are provided.
And a structure in which elastic rubbers 27 are interposed between them, which is completely different from the seesaw type coupling method of the present invention. As described above, the adjustment of the elasticity of the two elastic rubbers is complicated, and the structure of the rotor head is complicated and the number of parts is large, thus increasing the cost and assembling time. There is a disadvantage that it takes time to disassemble and maintain the device.

Further, in the rotor head of the model helicopter shown as a conventional example in FIG. 6 of Japanese Patent Application Laid-Open No. 63-63484, one damper rubber k and one adjusting screw 1 are used. Although the elasticity of the rubber can be easily adjusted without variation, as described in this publication, a large radial load is applied to the support shaft d, and the movement of the support shaft d is reduced, and ideal damping is achieved. There is a fatal drawback that power cannot be obtained, and in addition, the number of parts constituting the rotor head is large,
The complicated structure increases the assembly time,
There is a drawback in that time is required for disassembling work and maintenance work when replacing parts, and workability is extremely poor. Further, the disadvantage of increased cost has not been solved.

An object of the present invention is to couple a main mast and a main head with a seesaw by a connecting pin,
With one cylindrical damper member fitted to the main mast, it is arranged in the main mast insertion hole of the main head,
By providing a uniform adjustment of the elasticity of the damper member, a variation in damping characteristics on both sides of the seesaw motion is eliminated, the number of parts is reduced, and a seesaw head mechanism for an industrial unmanned helicopter with a simplified structure is provided. Is to do.

[0013]

According to the present invention, the upper portion of the insertion hole into which the main mast of the main head is inserted is formed as an elongated hole in the direction of the main blade, and the main mast and the main head are formed in the elongated hole portion. While the seesaw is connected by the connecting pin, the hole diameter of the portion below the long hole of the insertion hole is made larger than the outer diameter of the main mast, and the cylindrical damper member is attached to the main mast in the lower insertion hole with this large hole diameter. It is arranged in a fitted state, and a substantially cylindrical adjusting member which is movable in the axial direction of the main mast and has an inner diameter larger than the outer diameter of the main mast is arranged below the damper member. In addition to simplifying the structure, the adjustment member moves in the axial direction to evenly press the damper member to reduce the resistance to the seesaw movement of the main head. It is obtained by allowing variations without adjustment.

[0014]

According to the construction of the present invention, the seesaw connection between the main mast and the main head is achieved by one connecting pin, and the main mast is supported by the main head by one cylindrical damper member fitted to the main mast. Since the structure is such that the seesaw movement of the main blade is buffered, the structure of the seesaw head mechanism is simplified, the assembling becomes easy, and the cost can be reduced. Further, since one damper member is used, there is no variation in the material of the damper member, no dimensional difference, and the like, and it is possible to eliminate the variation in the damping characteristics on both sides of the seesaw motion due to this. Furthermore, since the elasticity of the damper member can be adjusted evenly by one adjusting member, the adjustment of the damping characteristic becomes easy, and the workability is improved. In addition, the coupling pin can be easily disassembled simply by pulling out the connecting pin from the main head and removing the main mast from the main head, so that the replacement and maintenance work of the damper member can be facilitated.

[0015]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a schematic perspective view showing one embodiment of a seesaw head mechanism of an industrial unmanned helicopter according to the present invention, and FIG. 2 is a view showing an internal structure of the main mast with a main head cut away to show a connected state of a seesaw. FIG.

As shown in the figure, the seesaw head mechanism according to the present invention comprises a main mast 4 for transmitting a rotational driving force from an engine (not shown) and a connecting pin (seesaw pin) 3 for the main mast 4 as shown in FIG. The main head 1 is connected so as to be capable of seesaw movement in the direction indicated by the circular arc '. The main head 1 has hub grips 2 and 2 attached to both sides thereof, and a main blade 7 (only one part is shown) for flying an unmanned helicopter is fixed to the hub grips 2 and 2. .

In the unmanned helicopter, the rotation of the main mast 4 is transmitted to the main head 1, and the main head 1 rotates together with the main mast 4, whereby the main blade 7 rotates, thereby ascending, descending, moving forward, moving backward,
The leftward and rightward flights are performed by remote control. In the present invention, the upper portion of the insertion hole 8 provided at the center of the main head 1 and into which the main mast 4 is inserted is formed into an elongated hole elongated in the direction of the main blade 7 (the side direction to which the hub grip 2 is attached). 8a. The long diameter of the long hole 8 a is substantially equal to or slightly larger than the outer diameter of the main mast 4, and the main mast 4 has the short diameter within the long hole 8 a of the main head 1. I try not to move in the direction. This long hole 8
In the portion a, the coupling pin 3 is inserted in the front-rear direction of the main head 1, and the coupling pin 3 is inserted through a through hole provided in the main mast 4 in a diameter direction perpendicular to the axial direction in the elongated hole 8a. Then, the main head 1 is connected to the main mast 4 by a seesaw.

On the other hand, the hole diameter of the portion of the insertion hole 8 of the main head below the long hole 8a is formed larger than the outer diameter of the main mast 4 so that the main head 1 can perform seesaw movement within a predetermined arc range. The lower portion of the insertion hole 8 is further formed with a larger diameter, and a cylindrical damper rubber 5 is disposed in the lower insertion hole having a larger diameter in a state of being fitted to the main mast 4. A substantially cylindrical adjusting nut (coupling screw) 6 which is movable in the axial direction of the main mast 4 and has an inner diameter larger than the outer diameter of the main mast 4 has a thin washer (flat washer) 9 having a thickness of about 1 mm. Are arranged through.

The inner diameters of the adjusting nut 6 and the washer 9 are set to dimensions that allow the main head 1 to perform a seesaw movement within a predetermined arc range, and an adjusting nut 6a is integrally formed at the lower end of the adjusting nut 6. ing. Further, the outer diameter of the cylindrical damper rubber 5 is set to a dimension substantially equal to the inner diameter of the lower insertion hole. With this configuration, the damper rubber 5
Is formed in a cylindrical shape from one material, and as shown in FIG. 2, its upper surface abuts on a step formed by the insertion hole 8 and its large-diameter lower insertion hole, and a washer is provided on its lower surface. Since the adjusting nut 6 is in contact with the lug 9 via the same, the elasticity in the radial direction (diameter direction) is uniform at any part. Therefore, when the main head 1 performs the seesaw motion, the seesaw motion is evenly buffered by the elasticity of the damper rubber 5, and a mechanical shock can be absorbed even by a sudden seesaw motion. Further, since the elasticity of the damper rubber 5 is uniform, there is no variation in the damping characteristics. Therefore, it is possible to absorb the shock evenly without variation in left and right. Further, by moving the adjusting nut 6 upward in the axial direction of the main mast 4, the damper rubber 5 is pressed and its elasticity changes evenly.
The resistance of the main head 1 to the seesaw movement (damping characteristics, that is, the effectiveness of the damper) can be adjusted very easily. In addition, since the number of parts is small, the structure of the seesaw head mechanism is simplified, the assembling or disassembling time is shortened, the workability is improved, and the cost can be reduced.

The above embodiment is merely an example of the present invention. Therefore, the main head, a main mast insertion hole formed in the main head, a damper rubber as a damper member, an adjusting nut as an adjusting member, etc. Needless to say, the structure, shape, dimensions, and the like of the present invention are not limited to those of the embodiment, and various modifications and changes can be made.

[0021]

As described above, according to the present invention, the main mast and the main head are seesaw-connected by one connecting pin, and the main mast and the main head are connected by one cylindrical damper member fitted to the main mast. Since the head is configured to absorb the seesaw movement, the number of parts is greatly reduced, the structure of the seesaw head mechanism is simplified, the assembly becomes extremely easy, and the cost can be reduced. In addition, since one cylindrical damper member is used, there is no variation in the material of the damper member or a dimensional difference, and the difference is caused by the variation in the material and the dimensional difference when the two damper members are used. The variation in the damping characteristics on both sides of the seesaw motion can be eliminated. Furthermore, since the elasticity of the damper member can be adjusted evenly by one adjusting member, the adjustment of the damping characteristic (the effectiveness of the damper) is simplified, and the workability is significantly improved. In addition, the seesaw head mechanism can be easily disassembled simply by pulling out the connecting pin from the main head and removing the main mast from the main head, so that replacement of dampers and other parts and maintenance work can be performed very easily. Has a remarkable effect.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing one embodiment of a seesaw head mechanism of an industrial unmanned helicopter according to the present invention.

FIG. 2 is a front view of FIG. 1 showing the internal structure of the seesaw head mechanism of FIG. 1 with a main head partially cut away.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main head 2 Hub grip 3 Connecting pin 4 Main mast 5 Damper rubber 6 Adjustment nut 7 Main blade 8 Main mast insertion hole 9 Washer

Claims (1)

(57) [Claims] 1. A main mast for transmitting a rotational force of an engine, and a main head for supporting a main blade for flying an unmanned helicopter on opposite sides, the main head being capable of seesaw movement with respect to the main mast. In a seesaw head mechanism of an industrial unmanned helicopter that is seesaw-coupled by a coupling pin, an upper portion of an insertion hole formed substantially in the center of the main head and into which the main mast is inserted is elongated in the main blade direction. The main mast and the main head are seesaw-coupled to each other by the connecting pin in the long hole portion, and the hole diameter of the lower portion of the insertion hole below the long hole is made larger than the outer diameter of the main mast. A state in which a cylindrical damper member is fitted to the main mast in the insertion hole having a large diameter. And a substantially cylindrical adjusting member which is movable in the axial direction of the main mast and has an inner diameter larger than the outer diameter of the main mast is disposed below the damper member. Characterized in that the elastic force of the damper member can be evenly changed by pressing the damper member by moving the damper member to the seesaw head mechanism of an industrial unmanned helicopter.