US20100323579A1

US20100323579A1 - Four-channel transverse dual rotor helicopter

Info

Publication number: US20100323579A1
Application number: US12/195,409
Authority: US
Inventors: Jin Liang; Fan Jinhong; Yongliang Yao; Fangrui Luo
Original assignee: Shenzhen Art Tech R/C Hobby Co Ltd
Current assignee: SHENZHEN ART-TECH R/C HOBBY Co Ltd; Shenzhen Art Tech R/C Hobby Co Ltd
Priority date: 2007-09-28
Filing date: 2008-08-20
Publication date: 2010-12-23
Also published as: CN100534863C; DE102008038434A1; CN101204991A

Abstract

The present invention provides a four-channel transverse dual rotor helicopter, comprising a frame with a battery encapsulated inside it, an empennage breadthwise located at the afterbody of the frame, an aircraft wheel assembly fixed at the bottom of the frame, wherein, two cantilever bars of left and right are connected to the frame, breadthwise located at the two sides of the frame, and capable of rotating around axes of themselves; the left and right cantilever bars are separately via a group of linkage mechanism connected to left and right steering engines located at the frame for driving the left and right cantilever bars to rotate around axes of themselves; the ends of the left and right cantilever bars are separately provided with a group of rotor wing mechanism; the motors in the two groups of rotor wing mechanism, and the left and right steering engines are connected to a signal receiver located in the frame; the motors are variable speed motors. The present invention is easy to control, so as to make the beginner without controlling foundation also capable of controlling the helicopter to fly stably. At the same time, the simplified mechanical structure of the helicopter reduces the production cost, also greatly improves the performance stability of the helicopter.

Description

BACKGROUND OF THE INVENTION

The present invention relates to technical field of telecontrol aeromodelling control, especially relates to a structure of four-channel transverse dual rotor helicopter.
Currently, the transverse dual rotor helicopter of telecontrol aeromodellings is a vertically rising and falling device using rotor wings as its main lift force source, and is different from the fixed wing model aircraft. Generally, the fixed wing model aircraft is made comparatively easy to control because of the structure of the type of aircraft, so every people with ordinary response speed can deal with it; and a dual rotor helicopter has more control surfaces, so that the complicated flight operation of a transverse dual rotor helicopter is hard to control without a lot of exercises and the help of electronic devices.
To control the flight attitude of a transverse dual rotor helicopter, normally changing the angle of the rotor wings at the two sides is adopted; generally the rotor wing is controller to finish various changes of angle by mechanical structure; the rotor wing is inclined forward, backward, leftward, or rightward, and a forward, backward, leftward, or rightward horizontal component force will be produced, so as to make the helicopter to fly in front, back, left and right all directions. To control an existing transverse dual rotor helicopter to finish various attitudes, changing the rotor wing angle is required by all, so that it is comparatively hard to control, and the mechanical structure controlling the rotor wing angle to change will also be comparatively complicated. If a helicopter meets an airflow variation in flight process, the attitude would change; to control the flight course of a dual rotor helicopter, generally three or more gyroscopes are provided to control the helicopter flight course, and the gyroscopes will utilize their gyroscopic inertia to control the helicopter to fly back to the original position. However, miniaturizing telecontrol aeromodellings has gradually becomes a trend, and the consumers mainly are beginners, so this kind of products must be cheap; however complicated mechanical structure and multiple gyroscopes adopted will certainly lead to the increasing of cost, so it is not good for the popularization of this kind of products, and the complicate structure of existing transverse dual rotor helicopter also is not good for controlling the helicopter.

BRIEF SUMMARY OF THE INVENTION

To solve the technical problems of the existing transverse dual rotor helicopter with complicated structure and operation, the present invention provides a transverse dual rotor helicopter with simple structure and operation.
To solve the above mentioned problems, the technical solution of the present invention is to provide a four-channel transverse dual rotor helicopter, comprising a frame with a battery encapsulated inside it, an empennage breadthwise located at the afterbody of the frame, an aircraft wheel assembly fixed at the bottom of the frame, wherein, two cantilever bars of left and right are connected to the frame, breadthwise located at the two sides of the frame, and capable of rotating around axes of themselves; the left and right cantilever bars are separately via a group of linkage mechanism connected to left and right steering engines located at the frame for driving the left and right cantilever bars to rotate around axes of themselves; the ends of the left and right cantilever bars are separately provided with a group of rotor wing mechanism; the motors in the two groups of rotor wing mechanism, and the left and right steering engines are connected to a signal receiver located in the frame; the motors are variable speed motors.
Wherein, the middle of the frame is provided with a fixed base, and a bar case is breadthwise located at the top of the fixed base; the left and right cantilever bars breadthwise located at the two sides of the frame are inserted into the bar case from its two sides to be movable by socket joint; the lengths of the left and right cantilever bars are equal, and the rotating axes of them are located at the same straight line; the rotor wing mechanisms fixed to the left and right cantilever bars are set to be symmetrical.
The linkage mechanism comprises a lifting rocker arm fixed to the cantilever bar, a drive arm fixed to the output axis of the steering engine; a second cord fastener is connected between the lifting rocker arm and the drive arm; the second cord fastener is composed of a piece of steel wire, and two ball head fasteners fixed to the two ends of the steel wire and separately connected to the lifting rocker arm and the drive arm by hinge joint.
The two lifting rocker arms fixed to the left and right cantilever bars are separately provided with a spherical pin, and the left and right cantilever bars are connected to each other via a first cord fastener; the first cord fastener is composed of a piece of steel wire, and ball head fasteners fixed to the two ends of the steel wire; the two ball head fasteners are separately connected to the spherical pins of the two lifting rocker arms.
The rotor wing mechanism comprises a motor fixed case, a motor located inside the motor fixed case, a motor gear located at the motor shaft, a big gear meshed with the motor gear with its rotating axis being parallel to the axis of the motor shaft, and also a rotor main shaft provided with a rotor wing and a balanced component at its top; the motor fixed case is provided with a main shaft fixed case and a connecting hole for the cantilever bars to be inserted in; the rotor main shaft passes through the axle hole of the big gear and the main shaft fixed case to be fixed by socket joint, and its end is against a main shaft baffle block located at the bottom of the main shaft fixed case; the rotor main shaft is tight fit with the big gear; the motor shaft of the motor is exposed out of the motor fixed case; on the rotor main shaft, sliding bearings bearing radial force are provided both between the big gear and the main shaft fixed case, and between the main shaft fixed case and the main shaft baffle block.
The rotor wing is fixed to a rotor wing case, and the rotor wing case is fixed at the top of the rotor main shaft, with a connecting base being provided at the top of the rotor wing case; the balanced component comprises a balancing pole, and two balance weights fixed to the two ends of the balancing pole; the middle of the balancing pole is provided with a fixed ring, and a spherical pin is provided on the balancing pole at the two sides of the fixed ring; the fixed ring is connected to the connecting base; at the same time, the balancing pole and the rotor wing are connected to each other via a third cord fastener, and the third cord fastener is composed of a piece of steel wire, and ball head fasteners fixed to the two ends of the steel wire; one of the two ball head fasteners is connected to the spherical pin of the balancing pole, and the other is connected to the rotor wing.
The left and right cantilever bars are all provided with a wire clamping rack.
The aircraft wheel assembly comprises a front aircraft wheel located in front of the frame and a pair of side aircraft wheels located at the two sides of the middle part of the frame.
In the present invention, the helicopter rotor wings have only two angle variations of inclining forward or inclining backward, and the helicopter is controlled to fly forward, fly backward or change flight direction by inclining the rotor wing forward or backward. The ascending and descending of the model helicopter are controlled by simultaneously increasing or decreasing the rotation speeds of the motors at the two sides; the inclining of the helicopter is controlled by controlling the variation of the reaction torques via controlling the rotation speeds of the two motor, so as to change the flight direction of the helicopter. Comparing with conventional art, the present invention simplifies the operation to the rotor wings, comparatively simplifies the mechanical structure driving the rotor wing angle to change, reduces the production cost, and also reduces the difficulty of controlling the helicopter, so as to make the beginner without controlling foundation also capable of controlling the helicopter to fly stably. At the same time, the simplified mechanical structure of the helicopter also greatly improves the performance stability of the helicopter.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a top view schematic diagram of a preferred embodiment of the present invention;

FIG. 2 is a stereo schematic diagram of a preferred embodiment of the present invention;

FIG. 3 is an exploded schematic diagram of a preferred embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

FIG. 1, FIG. 2 and FIG. 3 are schematic diagram of the basic structure of a preferred embodiment of the present invention. A four-channel transverse dual rotor helicopter comprises a frame 2 with a battery 1 encapsulated inside it, an empennage 3 breadthwise fixed at the afterbody of the frame 2, an aircraft wheel assembly fixed at the bottom of the frame 2, two cantilever bars 4, 5 of left and right connected to the frame 2 being breadthwise fixed at the two sides of the frame 2 and capable of rotating around axes of themselves. The left and right cantilever bars 4, 5 are separately via a group of linkage mechanism connected to left and right steering engines 6, 7 fixed to the frame 2 for driving the left and right cantilever bars 4, 5 to rotate around axes of themselves; the ends of the left and right cantilever bars 4, 5 are separately provided with a group of rotor wing mechanism; the motors 8 of the two groups of rotor wing mechanism and the left and right steering engines 6, 7 are connected to a signal receiver 9 fixed in the frame 2. In the present embodiment, because part of the flight control of the helicopter depends on the variation of the rotation speed of the motors 8, so the motors 8 adopt variable speed motors. The aircraft wheel assembly fixed at the bottom of the frame 2 comprises a front aircraft wheel 10 fixed in front of the frame 2 and a pair of side aircraft wheels 11 fixed at the two sides of the middle part of the frame 2.
Referring to FIG. 3, a chamber is provided inside the middle of the frame 2 to fix the battery 1 and the signal receiver 9; a fixed base 12 is fixed above the signal receiver 9 at the middle of the frame 2, and a bar case 13 is breadthwise fixed at the top of the fixed base 12; the left and right cantilever bars 4, 5 breadthwise fixed at the two sides of the frame 2 are inserted into the bar case 13 from its two sides to be movable by socket joint; the lengths of the left and right cantilever bars 4, 5 are equal, and the rotating axes of them are located at the same straight line; the rotor wing mechanism fixed to the ends of the left and right cantilever bars 4, 5 is set to be symmetrical; the left and right cantilever bars 4, 5 are all provided with a wire clamping rack 14.
Referring to FIG. 3, the rotor wing mechanism comprises a motor fixed case, a motor 8 fixed inside the motor fixed case, a motor gear 15 fixed at the motor shaft, a big gear 16 meshed with the motor gear 15 with its rotating axis being parallel to the axis of the motor shaft, and a rotor main shaft 18 provided with a rotor wing 17 and a balanced component at its top. The motor fixed case is composed of an upper and a lower motor fixed case being connected to each other; the upper motor fixed case 19 is provided with a main shaft fixed case 21 and a connecting hole for the cantilever bars to be inserted in; the rotor main shaft 18 passes through the axle hole of the big gear 16 and the main shaft fixed case 21 to be fixed by socket joint, and its end is against a main shaft baffle block 23 located at the bottom of the main shaft fixed case 21; the rotor main shaft 18 is tight fit with the big gear 16; the motor shaft of the motor 8 is exposed out of the motor fixed case; on the rotor main shaft 18, sliding bearings 24 bearing radial force are provided both between the big gear 16 and the main shaft fixed case 21, and between the main shaft fixed case 21 and the main shaft baffle block 23. When fixing the rotor wing mechanism, the ends of the left and right cantilever bars 4, 5 are inserted into the connecting hole of the corresponding upper motor fixed case 19, so that the two groups of rotor wing mechanism are separately connected to the left and right cantilever bars 4, 5.
In the present embodiment, the rotor wing 17 is composed of two blades, and a link block 25 connecting the two blades as one. The rotor wing 17 is fixed to a rotor wing case 26 via the link block 25, and the rotor wing case 26 is fixed at the top of the rotor main shaft 18; the two are tight fit. A connecting base 27 is provided at the top of the rotor wing case 26, and the side wall of the link block 25 is provided with a spherical pin. The balanced component comprises a balancing pole 28, and two balance weights 29 fixed to the two ends of the balancing pole 28; the middle of the balancing pole 28 is provided with a fixed ring 30, and a spherical pin is provided on the balancing pole 28 at the two sides of the fixed ring 30; the fixed ring 30 is fixed to the connecting base 27 via a bolt. At the same time, the balancing pole 28 and the rotor wing 17 are connected to each other via a third cord fastener 31, and the third cord fastener 31 is composed of a piece of steel wire, and ball head fasteners fixed to the two ends of the steel wire; one of the two ball head fasteners is connected to the spherical pin of the balancing pole 28, and the other is connected to the spherical pin of the link block 25. The balance of the helicopter is balanced together by the balancing poles 28 at the two sides, and the angle between the balancing pole 28 and the blades is 30 degrees.
Referring to FIG. 1 and FIG. 3, the linkage mechanism comprises a lifting rocker arm 32 fixed to the cantilever bar, a drive arm 33 fixed to the output axis of the steering engine; a second cord fastener 34 is connected between the lifting rocker arm 32 and the drive arm 33; the second cord fastener 34 is composed of a piece of steel wire, and two ball head fasteners fixed to the two ends of the steel wire and separately connected to the lifting rocker arm 32 and the drive arm 33 by hinge joint. The linkage mechanism is driven to move when the steering engine is working, and the output axis of the steering engine drives the drive arm 33 to rotate; the second cord fastener 34 under the action of force drives the lifting rocker arm 32 to rotate around the axis of the cantilever bar, and at the same time the cantilever bar rotates with the lifting rocker arm 32 together. For the output axis of the steering engine can rotate in different directions, the cantilever is made to rotate clockwise or counterclockwise; driven by the linkage mechanism, the cantilever rotates counterclockwise to make the rotor wing mechanism to incline forward, that is, the rotor wing 17 inclines forward; the cantilever rotates clockwise to make the rotor wing mechanism to incline backward, that is, the rotor wing 17 inclines backward. In the present embodiment, the two lifting rocker arms 32 fixed to the left and right cantilever bars 4, 5 are separately provided with a spherical pin, and the left and right cantilever bars 4, 5 are connected to each other via a first cord fastener 35; the first cord fastener 35 is composed of a piece of steel wire, and ball head fasteners fixed to the two ends of the steel wire; the two ball head fasteners are separately connected to the spherical pins of the two lifting rocker arms 32.
While the present invention is in flight, the motor 8 is controller by the signal receiver 9; the motor 8 is energized, and the motor shaft rotates; the motor gear 15 at the motor shaft drives the big gear 16 to rotate, and the rotor main shaft 18 being tight fit with the big gear 16 drives the rotor wing 17 to rotate; the rotor wing 17 will produce corresponding reaction torque while rapidly rotating; the signal receiver 9 can send different instructions to control the rotation speed of the motor 8, and the reaction torque produced by the rotor wing 17 driven by the motor 8 will have corresponding variations according to the difference of the rotation speed of the motor 8. While the signal receiver 9 is sending instructions to the two motors 8 to control the flight of the helicopter, when the signal receiver 9 sends instructions to control the motors 8 of the rotor wing assembly at the two sides to work in different rotation speeds, for the corresponding reaction torques produced by the rotor wings 17 at the two sides are not equal, the helicopter is made to incline leftward or rightward, so as to get the object of changing the directions of the helicopter in flight. The ascending and descending of the model helicopter are controlled by simultaneously increasing or decreasing the rotation speeds of the motors 8 at the two sides.
While the signal receiver 9 is sending instructions to the left and right steering engines 6, 7 to control the flight of the helicopter, When the helicopter is controlled to fly forward, the left and right steering engines 6, 7 simultaneously drives the drive arms 33 to rotate backward, that is, the left, right rotor wings 17 incline forward to make the helicopter fly forward; when the helicopter is controlled to fly backward, the left and right steering engines 6, 7 simultaneously drives the drive arms 33 to rotate forward, that is, the left, right rotor wings 17 incline backward to make the helicopter fly backward; if the left and right steering engines 6, 7 move in opposite directions: one steering engine drives one drive arm 33 to rotate backward, and the other drives the other drive arm 33 to rotate forward, that is, one rotor wing 17 inclines forward, and the other rotor wing 17 inclines backward, so as to control the flight direction of the helicopter.
In the present invention, the helicopter rotor wings have only two angle variations of inclining forward or inclining backward, and the helicopter is controlled to fly forward, fly backward or change flight direction by inclining the rotor wing forward or backward. The ascending and descending of the model helicopter are controlled by simultaneously increasing or decreasing the rotation speeds of the motors at the two sides; the inclining of the helicopter is controlled by controlling the variation of the reaction torques via controlling the rotation speeds of the two motor, so as to change the flight direction of the helicopter. Comparing with conventional art, the present invention simplifies the operation to the rotor wings, comparatively simplifies the mechanical structure driving the rotor wing angle to change, reduces the production cost, and also reduces the difficulty of controlling the helicopter, so as to make the beginner without controlling foundation also capable of controlling the helicopter to fly stably. At the same time, the simplified mechanical structure of the helicopter also greatly improves the performance stability of the helicopter.

Claims

1. A four-channel transverse dual rotor helicopter, comprising a frame with a battery encapsulated inside it, an empennage breadthwise located at the afterbody of the frame, an aircraft wheel assembly fixed at the bottom of the frame, characterized in that two cantilever bars of left and right are connected to the frame, breadthwise located at the two sides of the frame, and capable of rotating around axes of themselves; the left and right cantilever bars are separately via a group of linkage mechanism connected to left and right steering engines located at the frame for driving the left and right cantilever bars to rotate around axes of themselves; the ends of the left and right cantilever bars are separately provided with a group of rotor wing mechanism; the motors in the two groups of rotor wing mechanism, and the left and right steering engines are connected to a signal receiver located in the frame; the motors are variable speed motors.

2. The four-channel transverse dual rotor helicopter of claim 1, characterized in that the middle of the frame is provided with a fixed base, and a bar case is breadthwise located at the top of the fixed base; the left and right cantilever bars breadthwise located at the two sides of the frame are inserted into the bar case from its two sides to be movable by socket joint; the lengths of the left and right cantilever bars are equal, and the rotating axes of them are located at the same straight line; the rotor wing mechanisms fixed to the left and right cantilever bars are set to be symmetrical.

3. The four-channel transverse dual rotor helicopter of claim 2, characterized in that the linkage mechanism comprises a lifting rocker arm fixed to the cantilever bar, a drive arm fixed to the output axis of the steering engine; a second cord fastener is connected between the lifting rocker arm and the drive arm; the second cord fastener is composed of a piece of steel wire, and two ball head fasteners fixed to the two ends of the steel wire and separately connected to the lifting rocker arm and the drive arm by hinge joint.

4. The four-channel transverse dual rotor helicopter of claim 3, characterized in that the two lifting rocker arms fixed to the left and right cantilever bars are separately provided with a spherical pin, and the left and right cantilever bars are connected to each other via a first cord fastener; the first cord fastener is composed of a piece of steel wire, and ball head fasteners fixed to the two ends of the steel wire; the two ball head fasteners are separately connected to the spherical pins of the two lifting rocker arms.

5. The four-channel transverse dual rotor helicopter of claim 4, characterized in that the rotor wing mechanism comprises a motor fixed case, a motor located inside the motor fixed case, a motor gear located at the motor shaft, a big gear meshed with the motor gear with its rotating axis being parallel to the axis of the motor shaft, and also a rotor main shaft provided with a rotor wing and a balanced component at its top; the motor fixed case is provided with a main shaft fixed case and a connecting hole for the cantilever bars to be inserted in; the rotor main shaft passes through the axle hole of the big gear and the main shaft fixed case to be fixed by socket joint, and its end is against a main shaft baffle block located at the bottom of the main shaft fixed case; the rotor main shaft is tight fit with the big gear; the motor shaft of the motor is exposed out of the motor fixed case; on the rotor main shaft, sliding bearings bearing radial force are provided both between the big gear and the main shaft fixed case, and between the main shaft fixed case and the main shaft baffle block.

6. The four-channel transverse dual rotor helicopter of claim 5, characterized in that the rotor wing is fixed to a rotor wing case, and the rotor wing case is fixed at the top of the rotor main shaft, with a connecting base being provided at the top of the rotor wing case; the balanced component comprises a balancing pole, and two balance weights fixed to the two ends of the balancing pole; the middle of the balancing pole is provided with a fixed ring, and a spherical pin is provided on the balancing pole at the two sides of the fixed ring; the fixed ring is connected to the connecting base; at the same time, the balancing pole and the rotor wing are connected to each other via a third cord fastener, and the third cord fastener is composed of a piece of steel wire, and ball head fasteners fixed to the two ends of the steel wire; one of the two ball head fasteners is connected to the spherical pin of the balancing pole, and the other is connected to the rotor wing.

7. The four-channel transverse dual rotor helicopter of claim 6, characterized in that the left and right cantilever bars are all provided with a wire clamping rack.

8. The four-channel transverse dual rotor helicopter of claim 7, characterized in that the aircraft wheel assembly comprises a front aircraft wheel located in front of the frame and a pair of side aircraft wheels located at the two sides of the middle part of the frame.