JP3802010B2 - Radio controlled helicopter swash plate control mechanism - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a swash plate position control mechanism for controlling a pitch angle of a main blade of a radio control helicopter (hereinafter referred to as R / C helicopter), and more specifically, a swash plate is paralleled along a mast via a collective pitch lever. It is related with the mechanism made to move up and down.
[0002]
[Prior art]
The R / C helicopter can fly by controlling the pitch angle of the main blade with a swash plate displaced by a servo. In the flight of the R / C helicopter, vertical ascending / descending, forward flight, side flight and reverse flight are realized by raising and lowering the swash plate with a servo and tilting it in any direction. Match. Raising the mast along the mast while keeping the swash plate horizontal will raise the aircraft vertically, and tilting it will move the aircraft in the tilted direction.
[0003]
As a structure for moving the swash plate of the R / C helicopter up and down, three servos of aileron, elevator and pitch are operated simultaneously (for example, refer to Patent Document 1 and Patent Document 2), and one end is a pitch servo. What is performed via a connected collective pitch lever is known.
[0004]
[Patent Document 1]
Japanese Patent Publication No. 60-23628 [Patent Document 2]
Registered Utility Model No. 3049966 [0005]
FIG. 4 shows a conventional mechanism for moving the swash plate up and down via a collective pitch lever. This is because the collective pitch lever 3 is bridged from the side of the mast 1 installed in the R / C helicopter body (not shown) over the pitch servo 2 installed in front of the aircraft. An aileron lever 6 that supports the rod 5 connected to the swash plate 4 and an elevator lever 9 that supports the elevator arm 8 connected to the swash plate 4 via the rod end 7 are connected to the lever end 3a on the 1 side. A T-type pitch lever 10 connected to a servo horn 2a fixed to the rotation shaft of the pitch servo 2 is connected to a lever end 3b on the pitch servo 2 side via a rod 11, and a substantially central portion of the lever is pitch-up holder 12 a lever opposite ends the shaft by Collective pitch shaft 13 loaded as a support shaft inside 3a, 3b the horizontal axis Is supported for rotation on the machine body lateral axis).
Then, when the lever end 3b side corresponding to the force point is displaced along the vertical direction (the vertical direction of the machine body) with the drive of the pitch servo 2, the lever center support portion 3c supported by the collect pitch shaft 13 is used as a fulcrum. The collective pitch lever 3 is rotated, and the swash plate 4 is moved up and down by the lever end portion 3a corresponding to the operating point and the aileron lever 6 and elevator lever 9 connected to the lever end portion 3a being displaced in the opposite vertical direction. Has been. The collective pitch shaft 13 that supports the collective pitch lever 3 is integrally connected to a servo frame portion (not shown) via an X-type lever 14 that engages the rod for aileron at both ends. It is fixed.
[0006]
[Problems to be solved by the invention]
The conventional mechanism shown in the figure is capable of moving the swash plate 4 up and down by driving only the pitch servo 2. However, when the swash plate 4 is raised or lowered by the operation of the collective pitch lever 3, the differential by circular motion is performed. There was a problem that occurred.
[0007]
That is, FIG. 5 shows the positions of the collective pitch lever 3, the aileron lever 6 connected to the lever end 3a, and the rod 5 at the time of neutral and rise.
As shown in the figure, the crossing angle between the aileron lever 6 connected to the collective pitch lever 3 and the rod 5 connected to the aileron lever 6 is maintained at a substantially right angle when neutral. When the collective pitch lever 3 is rotated about the support portion 3c and the aileron lever 6 is raised, the rod 5 also rises to the position indicated by the two-dot chain line in the figure while maintaining the substantially perpendicular crossing angle. It is necessary and sufficient that the upper end of the rod 5 rises to the position of the point 5A in the figure, but the lower end of the rod 5 is rotatably supported by the aileron lever 6, and the lever end 3a is along an arc centered on the support 3c. As a result, the crossing angle between the aileron lever 6 and the rod 5 is actually larger than that at the neutral position, and the upper end of the rod 5 is shown in FIG. Ascending to the position of the middle point 5B results in a differential D from the required ascending position. Similarly, in the elevator lever 9 and the elevator arm 8 connected to the lever end 3a, the crossing angle of the elevator lever 9 and the elevator arm 8 forming a predetermined angle when neutral is set so that the lever end 3a of the collective pitch lever 3 is Changes as it rises, creating a differential. The generation of the differential is the same when the swash plate 4 is lowered.
[0008]
When such a differential D is generated at the time of ascent, the thrust is applied obliquely upward, and the aircraft does not rise vertically but moves obliquely leftward. As a means for solving this problem, it is conceivable to take in the influence of the differential and perform electrical mixing by the program of the transmitter to bring it closer to the ideal flight operation. However, the advanced functions and adjustment capabilities of the transmitter are required, so it is extremely difficult to solve the problem by electrical mixing. That is, it must be covered by the skill of the pilot.
[0009]
The present invention has been made in view of the above-described problems of the prior art. The object of the present invention is to provide a mechanism for controlling the lifting and lowering operation of a swash plate via a collective pitch lever, by mechanical mixing. It is to prevent the occurrence of differential and to control the swash plate to an ideal lifting operation.
[0010]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, the present invention connects the lever end of the collective pitch lever on the front side of the fuselage to the pitch servo, connects the lever end of the mast side to the aileron lever connected to the swash plate via the rod, A support part, which is a rotation fulcrum around the left and right axis of the machine, is placed between the two levers, and the swash plate ascending and descending along the mast moves up and down the machine at both ends of the collective pitch lever as the pitch servo is driven. In a radio control helicopter swash plate control mechanism configured to be performed by displacement , a lower end portion is connected to a rotating shaft around a left and right axis of the airframe provided on an airframe frame between a mast and a pitch servo. The upper end of the arm attached so that it can be tilted in the longitudinal direction of the machine and the collective The pitch lever support is supported coaxially, and the collective pitch lever support is tilted on the fuselage frame as both ends of the collective pitch lever are displaced in the vertical direction by driving the pitch servo. The aileron lever connected to the mast side lever end of the collective pitch lever has an opening inner diameter that fits almost fully on the mast and slides on the mast. It has the structure attached integrally to the slider case mounted | worn freely.
An elevator lever connected to a swash plate is connected to the lever end of the collective pitch lever, and the elevator lever is integrally attached to a slider case.
[0011]
According to this, when the collective pitch lever is rotated, the fulcrum moves to expand and contract the distance to the mast, so that the distance between the end of the collective pitch lever and the mast is always kept constant, and the slider Since the case slides along the mast, the working point side end of the collective pitch lever as well as the aileron lever and elevator lever integrated therewith move up and down straight along the mast. As a result, the crossing angle between the aileron lever and the rod is maintained at a substantially right angle, and the crossing angle between the elevator lever and the elevator arm is maintained at a predetermined angle, and the swash plate is moved up and down horizontally without generating a differential. be able to.
As the swashplate can be lifted and lowered properly and ideally, the flight movement of the fuselage is completely independent of vertical ascending / descending, forward, reverse, and left / right side movement, eliminating the need for a driver to steer. Maneuverability is improved. Further, it is not necessary to improve the program function of the transmitter, and simplification of the airframe adjustment is realized.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
A preferred embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view of a control mechanism according to an embodiment of the present invention, FIG. 2 is a perspective view in which constituent members of the mechanism are developed, and FIG. 3 is a collective pitch lever operated by the mechanism, and an aileron lever and a rod connected thereto. FIG. 6 is a diagram showing positions at the time of neutral, ascending and descending, in which the same members as those of the conventional mechanism are denoted by the same reference numerals.
[0013]
The control mechanism of the present invention uses the same main components as the above-described conventional mechanism. Therefore, the collective pitch lever 3 is supported by the collective pitch shaft 13 as the pitch servo 2 is driven. Rotating with the central support portion 3c as a fulcrum, the lever end portion 3a on the action point side is displaced in the vertical direction (the vertical direction of the machine body) to move the aileron lever 6 and the elevator lever 9 up and down, thereby moving the swash plate 4 Although there is no change in moving up and down, the support portion 3c, which is a rotation fulcrum, is configured to move forward and backward in the longitudinal direction of the machine body in conjunction with the rotation of the collective pitch lever 3.
[0014]
Specifically, as shown in FIGS. 1 and 2, a pair of H-type servo frame arms 16 and 17 are arranged in parallel on the body frame 15 between the mast 1 and the pitch servo 2, and the lower ends are respectively arranged. It is connected to a rotating shaft around the horizontal axis ( the horizontal axis of the aircraft) provided on the aircraft frame 15 and is attached so that both arms can tilt in the longitudinal direction of the aircraft, and both aileron and elevator servos are attached to the upper ends of both arms. The servo frame portion 18 containing the housing is attached integrally. The servo frame portion 18 is attached by connecting the connecting portions 18a and 18b projecting on both front and rear surfaces thereof to the upper end portions of both arms so that the servo frame portion is interlocked with the tilting of both arms. 18 moves forward and backward in the longitudinal direction of the aircraft. As shown in FIG. 3, the servo frame arms 16 and 17 that support the servo frame portion 18 are erected in parallel along the vertical direction on the body frame 18 when the collective pitch lever 3 is in the neutral position. The upper end of the servo frame arm 17 on the mast 1 side is coaxial with the collect pitch shaft 13 connected to the servo frame 18 via the I-type lever 19, that is, the rotation of the collective pitch lever 3. It is supported coaxially with the support portion 3c which is the center.
[0015]
Therefore, when the pitch servo 2 is driven and the lever end 3b of the collective pitch lever 3 is displaced in the vertical direction (the vertical direction of the machine body) , the collective pitch lever 3 rotates with the support 3c as the center. A force toward the rotation center acts from the moving lever end 3b, and the collect pitch shaft 13, the servo frame arm 17 and the servo frame 18 coaxial therewith are moved integrally to the rear of the machine body, and thereby the support 3c. Moves to the rear of the fuselage, and the distance from the mast 1 is displaced.
[0016]
As shown in FIGS. 1 and 2, the mast 1 has a ring body having an outer diameter that fits almost fully on the inner circumference of the elevator lever 9 and an inner diameter that is attached almost fully on the circumferential surface of the mast 1. The slider case 20 having the elevator shafts 20a and 20a protruding on the outer peripheral surface is slidably mounted on the peripheral surface of the mast 1, and the aileron lever 6 and the elevator lever 9 are integrally attached to the outer periphery of the slider case 20. When the lever end 3 a is displaced in the vertical direction (the vertical direction of the machine body) with the rotation of the collective pitch lever 3, the lever end 3 a together with the aileron lever 6 and the elevator lever 9 is integrated with the slider case 20 into the mast 1. It goes up and down straight along parallel.
[0017]
According to the control mechanism of the present invention configured as described above, when the pitch servo 2 is driven to raise the swash plate 4 and the lever end 3b on the power point side of the collective pitch lever 3 is displaced downward, the collective The pitch lever 3 rotates about the support portion 3c as a fulcrum and displaces the lever end portion 3a on the action point side upward. At this time, as the servo frame portion 18 pushed through the collect pitch shaft 13 moves to the mast 1 side, the support portion 3c also moves. As shown in FIG. 3, the support portion 3c as a fulcrum is moved. Move to mast 1 side by distance H.
As the fulcrum moves toward the mast 1, the distance between the lever end 3 a and the mast 1 is kept constant, and the lever end 3 a together with the aileron lever 6 and elevator lever 9 is integrated with the slider case 21. The lever end 3a is displaced along the same vertical line (line in the vertical direction of the machine body) as that at the neutral time. As a result, the crossing angle between the aileron lever 6 and the rod 5 is held at a substantially right angle, and the crossing angle between the elevator lever 9 and the elevator arm 8 is held at a predetermined angle to prevent the occurrence of differential and the swash plate 4 It can be raised while maintaining the level with respect to the mast 1 without tilting.
On the other hand, when the swash plate 4 is lowered, the collect pitch shaft 13 and the servo frame portion 18 are moved backward by the force toward the center from the lever end portion 3b that is displaced downward with the support portion 3c as the center. The support portion 3c is also moved to the mast 1 side by being pushed, and the lever end portion 3a is displaced downward along the same vertical line (line in the vertical direction of the machine body) as when neutral and ascending, The crossing angle of the rod 5 and the crossing angle of the elevator lever 9 and the elevator arm 8 are each kept constant at a predetermined angle, and the swash plate 4 can be lowered while keeping the level with respect to the mast 1 without being tilted.
[0018]
As described above, according to the control mechanism of the present invention, the swash plate can be moved up and down appropriately and ideally. Therefore, the flying operation of the airframe is completely up and down, forward, backward, and left and right. As a result, it becomes independent, so that the steering by the pilot is not required, and the maneuverability is improved. Further, the necessity for improving the program function of the transmitter is eliminated, and simplification of the airframe adjustment is realized.
[0019]
In the illustrated embodiment, the differential of both the system using the aileron lever and the system using the elevator lever is eliminated from the drive system of the swash plate. The control mechanism of the present invention can be applied only to the system using the aileron lever as long as it can be solved by other shapes or other appropriate means.
Further, the configuration of the illustrated control mechanism and the configuration and shape of the members to be used are examples, and the present invention is not limited to this, and can be configured in other appropriate forms. For example, the moving means of the servo frame part can adopt other appropriate means other than the tiltable servo frame arm, and the rotation fulcrum of the collective pitch lever moves integrally with the servo frame part and moves independently of it. It may be configured to.
[Brief description of the drawings]
FIG. 1 is a perspective view of a control mechanism according to an embodiment of the present invention.
FIG. 2 is a perspective view in which constituent members of the mechanism of FIG. 1 are developed.
FIG. 3 is a view showing positions of a collective pitch lever, an aileron lever, and a rod that are operated by the mechanism of FIG.
FIG. 4 is a perspective view of a conventional control mechanism.
FIG. 5 is a view showing positions of a collective pitch lever, an aileron lever, and a rod that are operated by the mechanism of FIG.
[Explanation of symbols]
1 mast, 2 pitch servo, 3 collective pitch lever, 4 swash plate, 5 rod, 6 aileron lever, 7 rod end, 8 elevator arm, 9 elevator lever, 10 pitch lever, 11 rod, 12 pitch up holder, 13 collect pitch Shaft, 14 X-type lever, 15 Airframe frame, 16, 17 Servo frame arm, 18 Servo frame part, 19 I-type lever, 20 Slider case

Claims (2)

The lever end on the front side of the collective pitch lever is connected to the pitch servo, the lever end on the mast side is connected to the aileron lever connected to the swash plate via the rod, and the left and right direction of the aircraft is between the lever ends. A radio that is provided with a support portion that is a rotation fulcrum around the shaft, and that the swash plate is moved up and down along the mast by the displacement of the both ends of the collective pitch lever accompanying the drive of the pitch servo in the vertical direction of the aircraft In the control helicopter swash plate control mechanism,
The upper end of the arm attached so that it can be tilted in the longitudinal direction of the aircraft around the lower end connected to the rotation axis around the aircraft lateral axis provided on the aircraft frame between the mast and the pitch servo And the support portion of the collective pitch lever are coaxially supported, and the support portion of the collective pitch lever tilts on the fuselage frame as both ends of the collective pitch lever are displaced in the vertical direction by driving the pitch servo. Provided with the arm so that it can be displaced in the longitudinal direction of the aircraft ,
The aileron lever connected to the mast side lever end of the collective pitch lever is attached integrally to a slider case that has an inner diameter of the opening that fits almost fully on the circumferential surface of the mast and is slidably attached to the mast . A radio controlled helicopter swash plate control mechanism characterized by having a configuration. The swash plate control mechanism of a radio control helicopter according to claim 1, wherein an elevator lever connected to a swash plate is connected to a lever end portion of the collective pitch lever, and the elevator lever is integrally attached to a slider case.

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