WO2012019336A1 - 遥控共轴双桨反转模型直升机联动装置 - Google Patents

遥控共轴双桨反转模型直升机联动装置 Download PDF

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Publication number
WO2012019336A1
WO2012019336A1 PCT/CN2010/002183 CN2010002183W WO2012019336A1 WO 2012019336 A1 WO2012019336 A1 WO 2012019336A1 CN 2010002183 W CN2010002183 W CN 2010002183W WO 2012019336 A1 WO2012019336 A1 WO 2012019336A1
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WO
WIPO (PCT)
Prior art keywords
tail motor
servo
servo steering
reverse
control system
Prior art date
Application number
PCT/CN2010/002183
Other languages
English (en)
French (fr)
Inventor
倪康汉
Original Assignee
Ni Kanghan
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN2010102528131A external-priority patent/CN101912688B/zh
Priority claimed from CN2010202913219U external-priority patent/CN201760098U/zh
Priority to CA2807737A priority Critical patent/CA2807737A1/en
Priority to SG2013009675A priority patent/SG187777A1/en
Priority to RU2013105159/12A priority patent/RU2013105159A/ru
Priority to JP2012555274A priority patent/JP2013521021A/ja
Application filed by Ni Kanghan filed Critical Ni Kanghan
Priority to AU2010359022A priority patent/AU2010359022C1/en
Priority to KR1020137002164A priority patent/KR20130045340A/ko
Priority to BR112013002771A priority patent/BR112013002771A2/pt
Priority to US13/695,614 priority patent/US20130137336A1/en
Priority to EP10855757.0A priority patent/EP2604319A4/en
Publication of WO2012019336A1 publication Critical patent/WO2012019336A1/zh
Priority to ZA2013/01817A priority patent/ZA201301817B/en

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H27/00—Toy aircraft; Other flying toys
    • A63H27/12—Helicopters ; Flying tops
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H27/00—Toy aircraft; Other flying toys

Definitions

  • the invention relates to a model helicopter linkage device, in particular to a remote control coaxial double paddle reverse model helicopter linkage device.
  • the existing remote controlled coaxial double-propeller reverse model helicopter is mainly composed of a landing gear, a fuselage, a receiver control device, a motor power transmission device, a rotor lift device, a balance bar device and a forward and backward device.
  • the forward and reverse device of the traditional four-channel model helicopter is the forward and reverse servo steering control unit of the servo steering system, which drives the servo steering lever through the servo steering gear, and the servo steering lever drives the inclined disk to generate the tilt and tilt.
  • the disc is driven by the rotor head link to drive the rotor head such that the lower rotor rotating surface is tilted forward or backward.
  • the disadvantage of this device is that when the lower rotor is tilted forward and the aircraft is flying forward, the upper rotor will produce a backward tilting and oppositely equivalent force to counteract the forward tilt of the airplane under the centrifugal force of the balance bar. The power of flight; vice versa. Therefore, the helicopter has a relatively small force to move forward or backward, and is susceptible to airflow. The wind is too big to fly.
  • the forward and reverse device of the traditional three-channel model helicopter is the tail motor control system, which realizes the helicopter's forward or reverse rotation by the forward and reverse rotation of the tail motor to make the helicopter bow or raise the head.
  • the device also has the problem of small force to advance or retreat. Because the tail motor is affected by the aircraft's power matching, appearance and center of gravity, its size, size and weight are strictly limited, so the power is small and the power provided is small.
  • the balance bar rotates the upper rotor under the centrifugal force. Tilting in the direction opposite to the tilting direction of the fuselage, the tilting force is sufficient to offset the force of the helicopter's head turning or heading caused by the forward and reverse rotation of the tail motor, so that the helicopter body cannot effectively produce the head or head force distance. Therefore, it is impossible to fly when there is wind outside.
  • the technical problem to be solved by the present invention is to provide a remote control coaxial double-blade reverse model helicopter linkage device with excellent wind resistance performance, so that the model helicopter can meet the requirements of outdoor top wind fast flight.
  • the remote control coaxial double-spindle reverse model helicopter linkage device of the present invention adopts the following technical solutions: the linkage device includes a servo steering control system, a tail motor control system and a receiver control device; the servo steering control system includes Forward and backward servo steering control unit and side left and right servo steering control unit; receiver control unit is connected to servo steering control system and tail motor control system at the same time and can control forward and reverse servo steering control unit and tail
  • the receiver control device can control the forward and reverse servo steering control unit and the tail motor control system to simultaneously interlock.
  • the forward and reverse servo steering control unit and the tail motor control system simultaneously operate.
  • the forward and reverse servo steering control unit includes a forward and reverse servo servo, a servo steering lever, a tilting disc, a rotor head connecting rod, a rotor head and a rotor.
  • the forward and backward servo servos are mounted on the fuselage, and the servo steering lever is at the end.
  • the tail motor control system includes the tail motor frame , tail motor, propeller and tail motor fasteners, the tail motor frame is fixed at the rear of the fuselage, the tail motor is fixed on the tail motor frame by the tail motor fastener, and the propeller is fixed on the tail motor.
  • the tail motor control system also includes a tail motor manual switch that is coupled to the receiver control unit.
  • the receiver control device comprises an RF wireless RF signal circuit, an MCU microcontroller and a motor drive circuit, wherein the MCU microcontroller is connected to the servo steering control system, the motor drive circuit is connected to the tail motor control system, and the RF wireless RF signal circuit receives the control command. , processed by the MCU microcontroller and sent a control signal to the servo steering control system and the motor drive circuit.
  • the invention combines the forward and backward devices of the traditional three-channel and four-channel model helicopters by the receiver control device, and controls the downward tilt of the rotor to counteract the reaction force of the upper rotor by using the forward and reverse servo steering control unit of the servo steering system.
  • the tail motor control system receives the command from the receiver control device.
  • the tail motor drives the propeller to rotate forward or backward to generate an upward or downward unconstrained force, which causes the helicopter fuselage to form and maintain a larger
  • the forward or backward tilting angle, the upper and lower rotor rotating surfaces also form and maintain this angle, so that the upper and lower rotors rotate to generate a large forward or backward thrust force, giving the helicopter a strong forward or backward
  • the driving force is to achieve the effect of strong wind resistance and fast flight speed to meet the needs of outdoor top wind flight.
  • FIG. 1 is a schematic structural view of a remote control coaxial double-span reverse model helicopter linkage device of the present invention.
  • FIG. 2 is a schematic diagram showing the circuit principle of the receiver control device of FIG. 1.
  • FIG. 3 is a schematic view showing the installation structure of the remote control coaxial double-span reverse model helicopter linkage device of the present invention.
  • the remote control coaxial double-span reverse model helicopter linkage device of the present invention comprises a servo steering control system (only the forward reverse servo servo 1 and the side left right servo servo 16 are drawn), and the tail motor control The system (only the tail motor 2 and the propeller 3 are drawn) and the receiver control device 4; the receiver control device 4 is connected to the forward and reverse servo servo 1, the left left and right servo servo 16 and the tail motor 2 via the electric wires, respectively, and can be controlled
  • the forward and reverse servo servo 1 and the tail motor 2 are simultaneously linked, that is, the forward and reverse servo steering control unit and the tail motor control system simultaneously operate when the helicopter moves forward and backward; the propeller 3 is mounted on the tail motor 2; the tail motor 2 and the receiver control device
  • a tail motor manual switch 5 is mounted on the connected wires to control whether the tail motor control system accepts and executes an action command from the receiver control device 4.
  • FIG. 2 shows the circuit principle of the receiver control device 4, which includes an RF radio frequency signal circuit 6, an MCU MCU 7, and a motor drive circuit 8; wherein, the MCU MCU 7 and the forward and backward servo servo 1 and the side left and right servos The steering gear 16 is connected, and the motor drive circuit 8 is connected to the tail motor 2.
  • the RF wireless RF signal circuit 6 After receiving the forward and backward control command, the RF wireless RF signal circuit 6 is processed by the MCU MCU 7 and sends two control signals to the forward and backward servo servo 1 and the motor drive circuit 8: One is a PPM pulse position modulation signal to control the forward and backward servo
  • the steering gear 1 operates as commanded
  • the other is a PWM pulse width modulation signal to synchronously control the motor drive circuit 8 to cause the tail motor 2 to act as commanded.
  • the forward and backward servo servo 1 and the tail motor 2 can be synchronously linked to achieve the purpose of improving the wind resistance of the helicopter. If the model helicopter is flying indoors or under wind conditions, the tail motor manual switch 5 can be turned off.
  • the signal path to the tail motor 2 is interrupted, and the tail motor 2 does not operate, so that the windless flight can be satisfied.
  • the RF radio frequency signal circuit 6 is processed by the MCU MCU 7 and sends a PPM pulse position modulation signal to the left left right servo servo 16 to control the side left right servo servo 16 according to the command. action.
  • the installation structure of the remote control coaxial double-span reverse model helicopter linkage device of the present invention is shown in Fig. 3.
  • the servo steering control system is installed on the upper part of the fuselage, including the forward and reverse servo steering control unit and the side left and right servo steering control unit (the side left and right servo steering control unit is on the back side, not shown in the figure);
  • the forward and reverse servo steering control unit comprises a forward and reverse servo servo 1, a servo steering lever 9, a tilting disc 10, a rotor head link 11, a rotor head 12 and a rotor 13;
  • the forward and backward servo servo 1 is mounted on the machine
  • the servo steering lever 9 is mounted on the forward-reverse servo servo 1 at one end, and the other end is mounted on the swash plate 10, and the rotor-head link 11 is attached to the swash plate 10 at one end and the rotor head 12 at the other end.
  • the rotor 13 is mounted on the rotor head 12.
  • the tail motor control system is placed at the rear of the fuselage, including the tail motor frame 14, the tail motor 2, the propeller 3 and the tail motor fastener 15; the tail motor frame 14 is fixed at the rear of the fuselage, and the tail motor 2 passes the tail motor fastener 15 is fixed to the tail motor frame 14, and the propeller 3 is fixed to the tail motor 2.
  • the receiver control unit 4 is disposed at the front of the body.
  • the servo servo 1 and the tail are moved forward and backward.
  • the motor 2 sends a synchronous action signal, and the forward and reverse servo steering control unit and the tail motor control system simultaneously operate.
  • the specific process is: the forward and backward servo servo 1 drives the servo steering lever 9, the servo steering lever 9 drives the swash plate 10 to generate the inclination, and the swash plate 10 drives the rotor head 12 through the rotor head link 11 so that the lower rotor 13 rotates.
  • the tail motor 2 drives the propeller 3 to rotate forward synchronously to generate a downward force to lift the tail of the helicopter, the nose is lowered, and the helicopter is obtained.
  • the tail motor 2 drives the propeller 3 to synchronously reverse and generate an upward force to press the tail of the helicopter, and the nose is lifted, and the helicopter is obtained.
  • the pendulum force flies backwards. In this way, even if flying in windy weather, the helicopter is not afraid of the influence of airflow.
  • the tail motor manual switch 5 can be turned on and off as needed to control whether the tail motor 2 is synchronously linked with the forward/reverse servo servo 1.
  • the forward-reverse servo servo 1 drives the lower rotor 13 to rotate forward or backward in accordance with the command, but the tail motor 2 does not operate, making the helicopter suitable for indoor or windless flight.
  • the tail motor circuit can also be turned off by wireless commands to meet the flight in a windless environment.
  • the tail motor control system and the forward and reverse servo steering control unit cannot be linked at the same time, that is, the tail motor control system does not operate.
  • the forward and reverse servo steering control unit operates.
  • the left side right servo servo 16 sends an action signal to the left side right servo steering unit, and the action of the left side right servo steering unit causes the helicopter to fly to the left. Fly on the right side.
  • the new model adopting the invention has a higher flying speed than the existing model; under the windy condition (below the level 4), the new model adopting the invention not only has a higher flying speed than the existing model, Moreover, the stability and controllability are higher than those of the existing models. Especially when the wind power (grade 3-4) is strong, the existing models are completely out of control and the new model of the present invention can still fly against the wind.

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Description

说 明 书 遥控共轴双桨反转模型直升机联动装置 技术领域
本发明涉及一种模型直升机联动装置， 特别是一种遥控共轴双桨反转模型直升机联动 装置。
背景技术
现有的遥控共轴双桨反转模型直升机， 主要由起落架、 机身、 接收机控制装置、 马达 动力传动装置、 旋翼升力装置、 平衡杆装置和前进后退装置组成。
其中， 传统四通道模型直升机的前进后退装置是伺服舵机操控系统的前进后退伺服舵 机操控单元，它通过伺服舵机带动伺服舵机操纵杆，伺服舵机操纵杆带动倾斜盘产生倾斜， 倾斜盘通过旋翼头连杆带动旋翼头使得下旋翼旋转面发生向前或向后倾斜来实现的。 然 而， 该装置的缺点是当下旋翼向前倾斜， 飞机向前飞行的同时， 上旋翼在平衡杆离心力的 作用下就会产生一个向后倾斜并与之相反基本对等的力量来抵消飞机前倾飞行的力量； 反 之亦然。 因此， 该型直升机前进或后退的力量比较小， 易受气流影响， 风大一点就飞不动 了。
传统三通道模型直升机的前进后退装置则是尾马达操控系统， 它通过尾马达正转和反 转来带动螺旋桨正转和反转产生的力使直升机低头或抬头来实现的。 该装置同样存在前进 或后退的力量小的问题。 因为尾马达受到飞机动力匹配、 外观和重心的影响， 其体积、 大 小和重量受到严格的限制， 所以功率很小， 能提供的动力也很小； 加之平衡杆在离心力作 用下使得上旋翼的旋转面向机身倾斜方向相反的方向倾斜， 该倾斜力足够把尾马达正转和 反转产生的使直升机低头或抬头的力量抵消掉， 以致于直升机机身不能有效地产生低头或 抬头的力距， 从而在室外有风的情况下无法飞行。
发明内容
本发明要解决的技术问题是提供一种抗风性能优良的遥控共轴双桨反转模型直升机 联动装置， 使得模型直升机能满足室外顶风快速飞行的要求。
为解决上述技术问题本发明的遥控共轴双桨反转模型直升机联动装置采用如下技术 方案： 该联动装置包括伺服舵机操控系统、 尾马达操控系统和接收机控制装置； 伺服舵机 操控系统包括前进后退伺服舵机操控单元和侧左侧右伺服舵机操控单元； 接收机控制装置 同时连接伺服舵机操控系统和尾马达操控系统并可控制前进后退伺服舵机操控单元和尾
1
确认本 马达操控系统同时联动。
接收机控制装置可控制前进后退伺服舵机操控单元和尾马达操控系统同时联动是模 . 型直升机前进后退时前进后退伺服舵机操控单元和尾马达操控系统同时动作。
前进后退伺服舵机操控单元包括前进后退伺服舵机、 伺服舵机操纵杆、 倾斜盘、 旋翼 头连杆、 旋翼头和旋翼， 前进后退伺服舵机装在机身上， 伺服舵机操纵杆一头装在前进后 退伺服舵机上， 另一头装在倾斜盘上， 旋翼头连杆一头装在倾斜盘上， 另一头装在旋翼头 上，旋翼装在旋翼头上； 尾马达操控系统包括尾马达架、尾马达、螺旋桨和尾马达紧固件， 尾马达架固定在机身后部， 尾马达通过尾马达紧固件固定在尾马达架上， 螺旋桨固定在尾 马达上。
尾马达操控系统还包括连接着接收机控制装置的尾马达手动开关。
接收机控制装置包括 RF无线射频信号电路、 MCU单片机和马达驱动电路， 其中， MCU 单片机与伺服舵机操控系统连接， 马达驱动电路与尾马达操控系统连接， RF无线射频信号 电路接收到控制指令后， 经 MCU单片机处理并向伺服舵机操控系统和马达驱动电路发出控 制信号。
本发明通过接收机控制装置将传统三通道和四通道模型直升机的前进后退装置结合 在一起， 利用伺服舵机操控系统的前进后退伺服舵机操控单元控制下旋翼倾斜使其抵消上 旋翼的反作用力的同时， 尾马达操控系统收到接收机控制装置的指令由尾马达带动螺旋桨 正转或反转产生一个向上或向下的不受约束的力， 该力使直升机机身形成并保持一个较大 的前倾或后倾角度， 上、 下旋翼旋转面也随着形成并保持此角度， 从而使得上、 下旋翼旋 转产生一个较大的前推或后推力量， 给予直升机较强的前进或后退的驱动力， 达到抗风力 强、 飞行速度快的效果， 以满足室外顶风飞行的需要。
附图说明
图 1是本发明的遥控共轴双桨反转模型直升机联动装置的结构示意图。
图 2是图 1中接收机控制装置的电路原理示意图。
图 3是本发明的遥控共轴双桨反转模型直升机联动装置的安装结构示意图。
图中： 1前进后退伺服舵机， 2尾马达， 3螺旋桨， 4接收机控制装置， 5尾马达手动 开关， 6 RF无线射频信号电路， 7MCU单片机， 8马达驱动电路， 9伺服舵机操纵杆， 10倾 斜盘， 11旋翼头连杆， 12旋翼头， 13旋翼， 14尾马达架， 15尾马达紧固件， 16侧左侧 右伺服舵机。 具体实施方式
如图 1所示， 本发明的遥控共轴双桨反转模型直升机联动装置包括伺服舵机操控系统 (仅画出前进后退伺服舵机 1和侧左侧右伺服舵机 16)、 尾马达操控系统（仅画出尾马达 2和螺旋桨 3 )和接收机控制装置 4; 接收机控制装置 4分别经电线连接前进后退伺服舵机 1、 侧左侧右伺服舵机 16和尾马达 2并可控制前进后退伺服舵机 1和尾马达 2同时联动， 即直升机前进后退时前进后退伺服舵机操控单元和尾马达操控系统同时动作； 螺旋桨 3安 装在尾马达 2上； 尾马达 2与接收机控制装置 4连接的电线上安装有尾马达手动开关 5， 以控制尾马达操控系统是否接受并执行来自接收机控制装置 4的动作指令。
图 2显示了接收机控制装置 4的电路原理， 该装置包括 RF无线射频信号电路 6、 MCU 单片机 7和马达驱动电路 8; 其中， MCU单片机 7与前进后退伺服舵机 1和侧左侧右伺服 舵机 16连接， 马达驱动电路 8与尾马达 2连接。 RF无线射频信号电路 6接收到前进后退 控制指令后， 经 MCU单片机 7处理并向前进后退伺服舵机 1和马达驱动电路 8发出两路控 制信号： 一路是 PPM脉冲位置调制信号以控制前进后退伺服舵机 1按指令动作， 另一路是 PWM脉冲宽度调制信号以同步控制马达驱动电路 8令其驱动尾马达 2按指令动作。 这样就 能实现前进后退伺服舵机 1和尾马达 2同步联动， 达到提高直升机抗风性能的目的。 如果 模型直升机在室内或^ £风的条件下飞行， 可以关闭尾马达手动开关 5， 此时， 到达尾马达 2的信号通路中断， 尾马达 2不动作， 即可满足无风飞行需要。 RF无线射频信号电路 6接 收到侧左侧右控制指令后， 经 MCU单片机 7处理并向侧左侧右伺服舵机 16发出一路 PPM 脉冲位置调制信号以控制侧左侧右伺服舵机 16按指令动作。
本发明遥控共轴双桨反转模型直升机联动装置的安装结构见图 3。 伺服舵机操控系统 安装在机身上部， 包括前进后退伺服舵机操控单元和侧左侧右伺服舵机操控单元（侧左侧 右伺服舵机操控单元在背侧， 图中未示出）； 其中， 前进后退伺服舵机操控单元包括前进 后退伺服舵机 1、 伺服舵机操纵杆 9、 倾斜盘 10、 旋翼头连杆 11、 旋翼头 12和旋翼 13; 前进后退伺服舵机 1装在机身上， 伺服舵机操纵杆 9一头装在前进后退伺服舵机 1上， 另 一头装在倾斜盘 10上， 旋翼头连杆 11一头装在倾斜盘 10上， 另一头装在旋翼头 12上， 旋翼 13装在旋翼头 12上。 尾马达操控系统置于机身尾部， 包括尾马达架 14、 尾马达 2、 螺旋桨 3和尾马达紧固件 15; 尾马达架 14固定在机身后部， 尾马达 2通过尾马达紧固件 15固定在尾马达架 14上， 螺旋桨 3固定在尾马达 2上。 接收机控制装置 4设置在机身前 部。
当接收机控制装置 4接收到前进后退的同步控制指令后， 向前进后退伺服舵机 1和尾 马达 2发出同步动作信号， 前进后退伺服舵机操控单元和尾马达操控系统即同时动作。 具 体过程是： 前进后退伺服舵机 1带动伺服舵机操纵杆 9， 伺服舵机操纵杆 9带动倾斜盘 10 产生倾斜， 倾斜盘 10通过旋翼头连杆 11带动旋翼头 12使得下旋翼 13旋转面发生向前或 向后倾斜； 当下旋翼 13旋转面按指令向前倾斜时， 尾马达 2带动螺旋桨 3同步正转产生 一股向下的力量使直升机尾部抬起， 机头低下， 直升机即获前倾分力向前飞行； 当下旋翼 13旋转面按指令向后倾斜时，尾马达 2带动螺旋桨 3也同步反转产生一股向上的力量使直 升机尾部下压， 机头抬起， 直升机即获后倾分力向后飞行。 这样， 即使在有风的天气里飞 行， 直升机也不怕气流的影响。 根据需要可通断尾马达手动开关 5， 以控制尾马达 2与前 进后退伺服舵机 1同步联动与否。 关闭开关时， 前进后退伺服舵机 1按照指令带动下旋翼 13旋转面向前或向后倾斜， 但尾马达 2不动作， 使直升机适合室内或无风条件的飞行。类 似的， 也可通过无线指令将尾马达电路关闭以满足无风环境下的飞行， 此时， 尾马达操控 系统和前进后退伺服舵机操控单元也不能同时联动， 即尾马达操控系统不动作， 前进后退 伺服舵机操控单元动作。
当接收机控制装置 4接收到侧左侧右的同步控制指令后， 向侧左侧右伺服舵机 16发 出动作信号， 侧左侧右伺服舵机操控单元即动作令直升机向左侧飞或向右侧飞行。
为证明本发明遥控共轴双桨反转模型直升机联动装置的优越性能， 将市场上同级别各 型共轴双桨共轴反转模型直升机和采用本发明的共轴双桨反转模型直升机进行抗风性能 测试比较实验， 结果见表 1。
可见， 无风条件下， 采用本发明的新机型飞行速度比现有机型快； 有风条件下（4级 以下）， 采用本发明的新机型不仅飞行速度比现有机型快， 而且稳定性和可控性都比现有 机型高， 尤其是风力 (3-4级）较强时， 现有机型完全失控而采用本发明的新机型却仍能 逆风飞行。
Figure imgf000007_0001

Claims

1. 一种遥控共轴双桨反转模型直升机联动装置， 其特征在于该联动装置包括伺服舵机操 控系统、 尾马达操控系统和接收机控制装置； 所述伺服舵机操控系统包括前进后退伺 服舵机操控单元和侧左侧右伺服舵机操控单元； 所述接收机控制装置同时连接伺服舵 机操控系统和尾马达操控系统并控制前进后退伺服舵机操控单元和尾马达操控系统同 时联动。
2. 根据权利要求 1所述的遥控共轴双桨反转模型直升机联动装置， 其特征在于所述接收 机控制装置控制前进后退伺服舵机操控单元和尾马达操控系统同时联动是模型直升机 前进后退时前进后退伺服舵机操控单元和尾马达操控系统同时动作。
3. 根据权利要求 1所述的遥控共轴双桨反转模型直升机联动装置， 其特征在于所述前进 后退伺服舵机操控单元包括前进后退伺服舵机、 伺服舵机操纵杆、 倾斜盘、 旋翼头连 杆、 旋翼头和旋翼， 前进后退伺服舵机装在机身上， 伺服舵机操纵杆一头装在前进后 退伺服舵机上， 另一头装在倾斜盘上， 旋翼头连杆一头装在倾斜盘上， 另一头装在旋 翼头上， 旋翼装在旋翼头上； 所述尾马达操控系统包括尾马达架、 尾马达、 螺旋桨和 尾马达紧固件， 尾马达架固定在机身后部， 尾马达通过尾马达紧固件固定在尾马达架 上， 螺旋桨固定在尾马达上。
4. 根据权利要求 3所述的遥控共轴双桨反转模型直升机联动装置， 其特征在于所述尾马 达操控系统包括连接着接收机控制装置的尾马达手动开关。
5. 根据权利要求 1至 4所述的任一遥控共轴双桨反转模型直升机联动装置， 其特征在于 所述接收机控制装置包括 RF无线射频信号电路、 MCU单片机和马达驱动电路；所述 MCU 单片机与伺服舵机操控系统连接； 所述马达驱动电路与尾马达操控系统连接； 所述 RF 无线射频信号电路接收到控制指令后， 经 MCU单片机处理并向伺服舵机操控系统和马 达驱动电路发出控制信号。
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