JPH1076996A - Stabilizer mounting structure for pilotless helicopter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve assembly workability of a stabilizer and suppress the generation of rotational vibration and to reduce a cost through reduction of the number of parts. SOLUTION: A seesaw member 20 having a space part 20a formed at an intermediate part in the direction of length is coupled to the upper stream if a main shaft, and a stabilizer shaft 21 is turnably inserted in a shaft hole 20a formed through on the direction of the length of the seesaw member 20 and an arm member 25 is tied on the stabilizer shaft 21 exposed to the space part 20a of the seesaw member 20. The two end parts of the arm member 25 are coupled to an actuator through a link member. Since the arm member 25 is one, assembly workability of a stabilizer is improved through this invention and the number of parts is reduced to reduce a cost. Further, since the arm member 25 is arranged on the axis of the main shaft, the inertia moment of the main shaft is suppressed to a low value to suppress the generation of rotational vibration.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a stabilizer mounting structure for an unmanned helicopter.

[0002]

2. Description of the Related Art A small unmanned helicopter remotely operated by radio has been used as one means for spraying pest control chemicals and the like on forests and agricultural lands on a large scale.

[0003] Generally, a helicopter is provided with a stabilizer for stably maintaining the attitude of the fuselage. This stabilizer is provided at an upper end of a main shaft for rotating and driving the main rotor substantially at right angles to the main shaft. In addition, a stabilizer blade is attached to both ends of a stabilizer shaft provided rotatably around the axis.

[0004]

Thus, in the stabilizer of the conventional unmanned helicopter, two (one pair) arm members fixed to the stabilizer shaft are provided, and each arm member is separately provided to the stabilizer shaft. (See JP-A-3-266798).
It is necessary to separately adjust the mounting angle position (angular position around the stabilizer axis) of the two arm members with respect to the stabilizer axis and the position in the direction of the stabilizer axis, and the adjustment is troublesome and assembly workability is poor. . In addition, there are problems in that the number of parts increases due to the two arm members, which leads to an increase in cost.

Further, in the conventional stabilizer, since both arm members are provided at positions separated from the axis of the main shaft, the moment of inertia of the stabilizer increases, and the weight balance with respect to the axis of the main shaft is poor. In such a case, there is a problem that rotation vibration is generated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to improve the workability of assembling a stabilizer and to suppress rotational vibration, and to reduce the number of parts to reduce costs. An object of the present invention is to provide a stabilizer mounting structure for an unmanned helicopter that can be downed.

[0007]

In order to achieve the above object, according to the first aspect of the present invention, an upper end of a main shaft is rotatable substantially at right angles to the main shaft and around its axis. In a stabilizer mounting structure of an unmanned helicopter in which stabilizer blades are mounted on both ends of a stabilizer shaft provided in a stabilizer shaft, a seesaw member having a space at a middle portion in a longitudinal direction thereof is connected to an upper end of the main shaft, and The stabilizer shaft is rotatably inserted into a shaft hole penetrated in the length direction, and an arm member is connected to the stabilizer shaft exposed in the space of the seesaw member, and both ends of the arm member are linked. The stabilizer shaft is connected to an actuator via a member, and driven by the actuator, the stabilizer shaft is rotated about its axis to thereby form the stabilizer shaker. Characterized by being adapted to control the tilt angle of the de.

According to a second aspect of the present invention, in the first aspect of the present invention, the arm member is sandwiched in the space of the seesaw member to restrict the axial movement of the stabilizer shaft. And

Further, according to a third aspect of the present invention, in the first or second aspect of the invention, a substantially horizontal U-shaped base member opened upward is fixed to an upper end portion of the main shaft, and The seesaw member is pivotally supported at the upper end, and the arm member is opened downward.
It is characterized in that it is shaped like a letter.

Therefore, according to the first aspect of the present invention, since there is only one arm member, the mounting angle position of the arm member with respect to the stabilizer shaft and the position of the arm member in the axial direction of the stabilizer can be easily adjusted. Is improved, the number of parts is reduced, and the cost is reduced. Further, since the arm member is provided on the axis of the main shaft, the moment of inertia of the main shaft is suppressed to be small, and the rotational vibration is suppressed.

According to the second aspect of the present invention, since the axial movement of the stabilizer shaft is regulated by the arm member, the stabilizer shaft is accurately positioned.

Further, according to the third aspect of the present invention, the base member, the seesaw member and the arm member can be made compact, and the swing angle of the seesaw member and the rotation angle of the stabilizer shaft (the swing angle of the arm member) can be reduced. (Moving angle) can be sufficiently secured.

[0013]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a side view of an unmanned helicopter provided with a stabilizer mounting structure according to the present invention, and FIG. 2 is a partial front view of the unmanned helicopter.

An unmanned helicopter 1 according to the present embodiment
This is a radio-controlled industrial helicopter used for spraying a medicine, which has an elongated body 2 extending in the front-rear direction (the left-right direction in FIG. 1). The body 2 includes an engine 3 as a drive source and a radiator 4. , A fuel tank 5 and the like.

A rotor head 6 is provided on the upper front of the body 2.
The main shaft 7 of the rotor head 6 which stands vertically is provided with a main rotor 9 via a yoke 8.
And a stabilizer 10 is attached to the upper end of the main shaft 7 above the main rotor 9. The main rotor 9 and the stabilizer 10 are rotationally driven in a substantially horizontal plane by receiving the rotational power of the engine 3.

On the other hand, a tail rotor 1 is provided at the rear end of the body 2.
1 is attached to a shaft 12 extending in a direction perpendicular to the plane of FIG. 1, and the tail rotor 11 is rotated in a substantially vertical plane by transmitting the rotational power of the engine 3 by a belt transmission mechanism (not shown).

1 and 2, reference numeral 13 denotes an exhaust pipe, 14 denotes a muffler, 15 denotes a muffler, 16 denotes a medicine tank, and 17 denotes an injection nozzle for spraying a medicine.

As shown in FIGS. 1 and 2, a skid 18 which is a two leg member integrally formed in an arch shape with resin is attached to the front lower portion of the body 2 at appropriate intervals in front and rear. These skids 18 are spread downward, and runners 19 as a pair of left and right ground members made of a metal pipe extending in the front-rear direction of the body 2 are attached to the left and right lower ends, respectively. .

Next, the stabilizer 10 according to the present invention will be described.
3 will be described with reference to FIGS. FIG. 3 is a cutaway side view of a rotor head portion of the unmanned helicopter.
4 is a plan view of the rotor head portion, FIG. 5 is a cutaway side view in the direction of arrow A in FIG. 3, FIG. 6 is a cutaway plan view showing a stabilizer mounting structure according to the present invention, and FIG. It is a B line expanded sectional view.

As shown in FIG. 4, the stabilizer 10
Is provided orthogonal to the yoke 8 and the main rotor 9, and is formed by screwing stabilizer blades 22 at both ends of a stabilizer shaft 21 rotatably inserted into a seesaw member 20.

As shown in FIG. 6, the seesaw member 20 has a substantially rectangular space 20a at the center in the longitudinal direction, and a shaft hole 20b is formed inside the space 20a in the longitudinal direction (see FIG. 6). Left-right direction). And this seesaw member 2
As described above, the stabilizer shaft 21 is inserted through the 0 shaft hole 20b, and the stabilizer shaft 21 is
Space between the bearing 23 and the shaft hole 20b fitted to both ends of the
It is rotatably supported by a bush 24 press-fitted into a portion opening at 0a.

The center of the stabilizer shaft 21 exposed to the space 20a of the seesaw member 20 has a space 2
An arm member 25 rotatably fitted to Oa is bound. This arm member 25, as shown in FIG.
The stabilizer shaft 21 is inserted into a shaft hole 25b (see FIG. 6) penetrating the boss portion 25a of the boss portion 25a.

As shown in FIG. 6, the arm member 25 is provided in the space 20a of the seesaw member 20 such that the boss 25a is sandwiched between the bushes 24. The arm member 25 is connected to the stabilizer shaft 21 by tightening a bolt 26 screwed to the portion 25a, and the arm member 25 is supported rotatably about the axis of the stabilizer shaft 21 together with the stabilizer shaft 21.

On the other hand, as shown in FIG. 3 and FIG.
The seesaw member 20 is pivotally supported at the center of the seesaw member 20 on the base member 27 in a swingable manner.

As shown in FIG. 7, the base member 27 is formed in a substantially horizontal U-shape which is open upward, and a circular hole 27a through which the bolt 28 is inserted is formed at the lower center. I have. The central portion in the longitudinal direction of the seesaw member 20 is provided on both sides of the base member 27 facing each other.
It is supported so as to be able to swing freely through the zero. Each bearing 30
Are fixed to the base member 27 by bolts 31.

As shown in FIGS. 3 and 5, a swash plate 32 is provided at a position below the main rotor 8 of the main shaft 7 so as to be tiltable with respect to the main shaft 7. The swash plate 32 is composed of upper and lower members 32a and 32b which are rotatable relative to each other.
And the other member 32b is fixed by link members 33 and 34 so as not to rotate.

In a portion of the main shaft 7 above the swash plate 32, an intermediate portion thereof is a bolt 35
A pair of link members 36 that are pivotally supported by the swash plate 32 are attached, and one end of each link member 36 is connected to one member 32 a of the swash plate 32 via a link member 37. The other end of 36 is connected to the end of the arm member 25 via a rod 38. Each rod 39a of the plurality of slide servos 39 is attached to the lower member 32b of the swash plate 32.
Are connected.

If the swash plate 32 is tilted by driving and controlling each of the slide servos 39 to move the rod 39a up and down, the movement is performed by the arm members via the link members 37 and 36 and the rod 38. 25, the arm member 25 and the stabilizer shaft 2
1 rotates around the axis of the stabilizer shaft 21, and the tilt angle of the stabilizer blade 22 attached to both ends of the stabilizer shaft 21 is controlled.

Here, the procedure for assembling the stabilizer 10 will be described.

When assembling the stabilizer 10,
In a state where the arm member 25 is fitted and set in the space 20a of the seesaw member 20, one end of the stabilizer shaft 21 in the state shown in FIG. 20b into one end.

After the stabilizer shaft 21 is passed through the shaft hole 20b of the seesaw member 20 and the shaft hole 25b of the arm member 25, the axial position of the stabilizer shaft 21 is adjusted to the state shown in FIG. When the two bolts 26 screwed to the arm member 25 are tightened, the arm member 25 is fixed to the stabilizer shaft 21, and then, the stabilizer blades 22 are attached to both ends of the stabilizer shaft 21, thereby assembling the stabilizer 10. Complete.

In this embodiment, since only one arm member 25 is provided, the mounting angle position of the arm member 25 with respect to the stabilizer shaft 21 and the position of the arm member 25 in the axial direction of the stabilizer can be easily adjusted. As a result, the workability of assembling the stabilizer 10 is improved, and the number of parts is reduced, so that the cost is reduced.

Since the arm member 25 is provided on the axis of the main shaft 7, the moment of inertia of the main shaft 7 is suppressed to a small value, and the rotational vibration is suppressed.

Since the movement of the stabilizer shaft 21 in the axial direction is restricted by the arm member 25, the stabilizer shaft 21 is accurately positioned.

Further, according to this embodiment, since the base member 27, the seesaw member 20 and the arm member 25 can be made compact, the swing angle of the seesaw member 20 and the rotation angle of the stabilizer shaft 21 ( The swing angle of the arm member 25) can be sufficiently ensured.

[0037]

As is apparent from the above description, according to the present invention, the main shaft is provided at the upper end thereof substantially at right angles to the main shaft and rotatable about its axis. In a stabilizer mounting structure for an unmanned helicopter in which stabilizer blades are mounted on both ends of a stabilizer shaft, a seesaw member having a space in a longitudinal middle portion is connected to an upper end of the main shaft, and is penetrated in a longitudinal direction of the seesaw member. The stabilizer shaft is rotatably inserted into the formed shaft hole, and an arm member is connected to the stabilizer shaft exposed to the space of the seesaw member, and both ends of the arm member are connected to the actuator via a link member. Connected to rotate the stabilizer shaft about its axis by driving the actuator to control the inclination angle of the stabilizer blade. Because there was Unishi, it is possible to suppress the rotational vibration and improve the assembling workability of the stabilizer, there is an advantage that it is possible to reduce the cost by reducing the number of parts.

[Brief description of the drawings]

FIG. 1 is a side view of an unmanned helicopter provided with a stabilizer mounting structure according to the present invention.

FIG. 2 is a partial front view of an unmanned helicopter provided with a stabilizer mounting structure according to the present invention.

FIG. 3 is a cutaway side view of a rotor head portion of an unmanned helicopter provided with a stabilizer mounting structure according to the present invention.

FIG. 4 is a plan view of a rotor head portion of an unmanned helicopter provided with a stabilizer mounting structure according to the present invention.

5 is a cutaway side view in the direction of arrow A in FIG. 3;

FIG. 6 is a cutaway plan view showing a stabilizer mounting structure according to the present invention.

FIG. 7 is an enlarged sectional view taken along line BB of FIG. 6;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Unmanned helicopter 7 Main shaft 10 Stabilizer 21 Stabilizer shaft 22 Stabilizer blade 20 Seesaw member 20a Space part 20b Shaft hole 25 Arm member 27 Base member 36, 37 Link member 39 Slide servo (actuator)

Claims (3)

[Claims] 1. A stabilizer for an unmanned helicopter, comprising stabilizer blades attached to both ends of a stabilizer shaft provided at an upper end portion of the main shaft substantially at right angles to the main shaft and rotatable around its axis. In the mounting structure, a seesaw member having a space at an intermediate portion in a longitudinal direction thereof is connected to an upper end of the main shaft, and the stabilizer shaft is rotatable in a shaft hole penetrated in a longitudinal direction of the seesaw member. While being inserted, an arm member is connected to a stabilizer shaft exposed in the space portion of the seesaw member, and both ends of the arm member are connected to the actuator via a link member,
A stabilizer mounting structure for an unmanned helicopter, wherein the stabilizer shaft is rotated around its axis by driving the actuator to control the inclination angle of the stabilizer blade. 2. The stabilizer mounting structure for an unmanned helicopter according to claim 1, wherein the arm member is sandwiched between the space portions of the seesaw member to restrict the movement of the stabilizer shaft in the axial direction. 3. A base member having a substantially horizontal U-shape that is opened upward is fixed to an upper end of the main shaft, and the seesaw member is pivotally supported on the upper end of the base member so as to be swingable. 3. The stabilizer mounting structure for an unmanned helicopter according to claim 1, wherein the member is formed in a substantially horizontal E-shape opened downward.