WO2016124795A1 - Unité de rotor d'un hélicoptère commandé à distance, et hélicoptère commandé à distance - Google Patents

Unité de rotor d'un hélicoptère commandé à distance, et hélicoptère commandé à distance Download PDF

Info

Publication number
WO2016124795A1
WO2016124795A1 PCT/EP2016/052654 EP2016052654W WO2016124795A1 WO 2016124795 A1 WO2016124795 A1 WO 2016124795A1 EP 2016052654 W EP2016052654 W EP 2016052654W WO 2016124795 A1 WO2016124795 A1 WO 2016124795A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotor unit
rotor
pivoting axis
stay
drive shaft
Prior art date
Application number
PCT/EP2016/052654
Other languages
English (en)
Inventor
Vittorio GRIGOLO
Massimo Riva
Original Assignee
Vimar Creative Sa
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
Application filed by Vimar Creative Sa filed Critical Vimar Creative Sa
Publication of WO2016124795A1 publication Critical patent/WO2016124795A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
    • B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
    • B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
    • B64C27/605—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical including swash plate, spider or cam mechanisms
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/17—Helicopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/296—Rotors with variable spatial positions relative to the UAV body
    • B64U30/297—Tilting rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
    • B64C27/78—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement in association with pitch adjustment of blades of anti-torque rotor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the present invention relates, in general, to the technical field of remote- controlled helicopters and, in particular, to a rotor unit of a remote- controlled helicopter.
  • the invention further relates to a remote-controlled helicopter provided with such a rotor unit.
  • Remote-controlled helicopters also referred to as model helicopters or RC helicopters or radio-controlled helicopters
  • model helicopters or RC helicopters or radio-controlled helicopters are known and used for hobby and competitive purposes, as well as for professional purposes, such as aerial photography, inspections of inaccessible areas and other uses.
  • a remote-controlled helicopter comprises a load-bearing frame, which is generally structured so that a body similar to a real helicopter can be attached.
  • a main (front) rotor unit is rotatably mounted on the load- bearing frame according to a vertical main rotation axis
  • a secondary (rear) rotor unit is rotatably mounted on the load-bearing frame according to a secondary horizontal rotation axis.
  • a drive system is provided to set the main rotor and the secondary rotor in rotation.
  • the helicopter is piloted by a user by means of a remote-controlled device, for example a radio controller in radio communication with a control unit mounted on board of the helicopter.
  • the control unit receives the remotely input commands, process them and accordingly pilots the motor system.
  • a rotor unit for a remote-controlled helicopter comprises a drive shaft and a rotor head and a control member of the rotor head, which are mobile mounted on the drive shaft.
  • the control member of the main rotor head consists of a swashplate, whereas in the secondary rotor unit the control member of the secondary rotor head can consist of a slide.
  • the rotor head is mounted on the drive shaft mobile in rotation therewith and comprises at least two blade supports, each of which is connected to the control member of the rotor head by means of a stay mounted between the control member of the rotor head and a projecting arm extending from the blade support.
  • the swashplate is mounted mobile in translation on the drive shaft by means of a plurality of connecting rods connected to respective servomotors of the drive system. Further, a ball joint mounted between the swashplate and the drive shaft allows for the inclination of the swashplate in any direction with respect to the drive shaft.
  • a collective control and a cyclic control acting on the main rotor unit For piloting a remote-controlled helicopter there are typically used a collective control and a cyclic control acting on the main rotor unit, and a collective control acting on the secondary rotor unit.
  • the collective control on the main rotor unit allows to adjust the vertical thrust for lifting or lowering the helicopter, whereas the cyclic control on the main rotor unit allows the helicopter to move forwards and backwards, to the right or to the left.
  • the collective control on the secondary rotor unit allows, as above mentioned, to adjust the horizontal thrust required to counteract the undesired yaw which is created by the main rotor unit.
  • the swashplate translates upwards by a predetermined pitch along the main drive shaft. Due to the action of the stay, the blades carried by the main rotor head vary the angle of incidence thereof by a constant value, thereby subsequently lifting the helicopter. In order to lower the helicopter, it is sufficient to act on the collective control so that the swashplate translates downwards along the main drive shaft.
  • the swashplate performs a translation movement upwards or downwards along the main drive shaft and at the same time inclines according to appropriate directions with respect to the main drive shaft and the blades carried by the main rotor head, during their 360° rotation, cyclically vary the angle of incidence thereof, thereby subsequently moving the helicopter forwards, backwards, to the right or to the left.
  • the slide translates horizontally by a predetermined pitch along the secondary drive shaft. Due to the action of the stay, the blades carried by the secondary rotor head vary the angle of incidence thereof by a constant value, thereby subsequently adjusting the horizontal thrust.
  • the known rotor units of the type described above show some drawbacks. Firstly, over time and by using the remote-controlled helicopter, in the stay-projecting arm connecting system between the control member of the rotor head, it being a swashplate or a slide, and rotor head, clearance can arise, that compromise the piloting accuracy of the helicopter. Furthermore, if such clearances overcome a certain limit, this may result in vibrations on the blades, which interfere with the flight of the helicopter. Therefore, the present invention relates to a rotor unit for a remote- controlled helicopter and a remote-controlled helicopter according to the independent claims 1 and 12. Preferred features are set forth in the dependent claims.
  • the invention relates, in a first aspect thereof, to a rotor unit for a remote-controlled helicopter comprising a drive shaft, a rotor head mounted mobile in rotation with the drive shaft, the rotor head comprising a hub and two opposite blade supports mounted in a rotary manner on the hub about a pivoting axis, a control member of the rotor head mounted mobile on the drive shaft, a projecting arm associated to each blade support and a stay connected between the projecting arm and the control member of the rotor head.
  • the rotor unit is characterized by also comprising a support element for the stay, said support element being pivoted to the stay according to a pivoting axis parallel to the pivoting axis of the blade supports and said support element being pivoted to the hub according to the pivoting axis of the blade supports.
  • the helicopter can be controlled in a more accurate and unimpeded manner with respect to a conventional remote-controlled helicopter provided with a traditional rotor unit.
  • a double rest of the stay on the rotor head is created, which advantageously prevents undesired clearances in the connecting system between the control member of the rotor head and the rotor head of the rotor unit, as well as undesired vibrations on the blades.
  • the support element and the blade support - projecting arm assembly are positioned in the rotor head at opposite sides with respect to a rotation axis of the drive shaft.
  • a weight accumulation is advantageously obtained in proximity of the rotation axis of the rotor head of the rotor unit, thus resulting in a higher rotational stability of the rotor head and of the blades associated thereto.
  • the rotor unit comprises an articulation pin of the blade supports which extends through the hub and a connection pin between the support element, the stay and the projecting arm.
  • the support element comprises an arm, provided with a coupling hole with the articulation pin of the blade supports and a pin portion orthogonal to the arm, provided with a coupling hole with the connection pin between the support element, the stay and the projecting arm.
  • the hole of the arm extends along the pivoting axis of the blade supports, whereas the hole of the pin portion extends along the pivoting axis parallel to the pivoting axis of the blade supports.
  • the stay comprises a tip-holder, pivoted between the projecting arm and the support element according to the pivoting axis parallel to the pivoting axis of the blade supports, and a tip connected between the tip-holder and the control member of the rotor head.
  • the tip-holder comprises an upper portion provided with an axial through hole for housing the pin and a lower portion from which the tip extends.
  • the projecting arm comprises a fixing portion to the blade support and a pivoting portion to the stay and to the support element according to the pivoting axis parallel to the pivoting axis of the blade supports.
  • the fixing portion comprises fixing holes to the blade support and the pivoting portion comprises an axial through hole for housing the connection pin between the stay and the projecting arm.
  • the rotor head is a main rotor head and the control member of the rotor head is a swashplate, configured so as to translate along the drive shaft and to tilt in every direction with respect to it.
  • the rotor head is a secondary rotor head and the control member of the rotor head is a slide, configured so as to translate with respect to the drive shaft.
  • the invention in a second aspect thereof, relates to a remote-controlled helicopter, characterized by comprising at least one rotor unit as defined above.
  • - fig. 1 is a schematic side view of a remote-controlled helicopter according to the invention, with removed body in order to show some inner components
  • f ig . 2 is a schematic top view of the hel icopter of f ig . 1
  • fig. 3 is an axonometric view of a rotor unit of the remote-controlled helicopter of figures 1 and 2 without control and resulting in a neutral or not inclined position of the blades
  • fig. 4 is a side view of the rotor unit of fig. 3
  • fig. 5 is a front view of the rotor unit of fig.
  • FIGS. 12a-12b show in axonometric and front view respectively, the rotor head of the rotor unit of figures 3-6 with cyclic or collective control and resulting in an inclined position of the blades in a direction opposite to the direction shown in figures 1 1 a-1 1 b;
  • - fig. 13 is a section view taken along the line XIII-XIII of fig. 1 ;
  • fig. 14 is an enlarged side view of a detail of the helicopter of fig. 1 ;
  • fig. 15 is an enlarged rear view of the detail of fig. 14.
  • Figures 1 and 2 show a remote-controlled (in particular radio-controlled) helicopter according to a preferred embodiment of the present invention.
  • the helicopter 100 comprises a load-bearing frame 110, which in turn includes a main body 112 and a tail boom 114 rearwardly extending from the main body 1 12 and rigidly fixed thereto.
  • a skid 116 for resting on the ground is fixed at a lower part of the main body 1 12.
  • the helicopter 100 further comprises a main rotor unit 10, carried by the main body 1 12 of the frame 1 10 and extending upwards, as well as a secondary rotor unit 40, carried by a distal end 113 of the tail boom 1 14 of the frame 1 10 and extending in the side direction.
  • the main rotor unit 10 comprises a main drive shaft 12, a main rotor head 30 and a control member 20 of the main rotor head 30, in particular a swashplate 20.
  • the main drive shaft 12 is mounted on the main body 1 12 in such a manner that it rotates about a main rotation axis A1 , extended in a substantially vertical direction as the helicopter 100 rests on the ground.
  • the lower end of the main drive shaft 12 is associated to a main motor M of the helicopter 100.
  • the main rotor head 30 is mounted at the other end of the main drive shaft 12, so that it rotates therewith.
  • At least two blades 15 are also associated to the main rotor head 30, said blades 15 being mounted opposite to each other on the main rotor head 13.
  • the swashplate 20 can translate along the main shaft 12 and incline in every direction with respect to it.
  • a ball joint 13 (shown in figure 7) is provided and the swashplate 20 is connected, by means of a plurality of connecting rods 14, three connecting rods 14 in the shown embodiment, to respective servomotors 16 mounted on a top portion 115 of the main body 1 12 of the load-bearing frame 1 10.
  • the main motor M and the servomotors 16 are actuated by a remote- controlled device of a known type, for example a radio controller, not shown in the figures, which is in communication with a control unit 111 mounted on board of the helicopter 100.
  • a remote-controlled device of a known type, for example a radio controller, not shown in the figures, which is in communication with a control unit 111 mounted on board of the helicopter 100.
  • the swashplate 20 comprises a not- rotating lower body 210 and an intermediate body 220 and an upper body 230 supported in rotation by the not-rotating lower body 210. More in particular, the intermediate body 220 and the upper body 230 are coupled to one another without clearance, so that they form an assembly which is rotatably fitted on the lower body 210.
  • bearings 240 (shown in figure 7) are interposed between the lower body 210 and the intermediate body 220 - upper body 230 assembly.
  • the intermediate body 220 preferably has a tubular shape for the passage of the main drive shaft 12 and the ball joint 13 and has a first section 221 and a second section 222.
  • the second section 222 has an outer diameter greater than the outer diameter of the first section 221 and ends with an outer edge 223.
  • a shoulder is thus defined, preferably of circular shape, 224 for the abutment of the upper body 230.
  • the upper body 230 has a preferably annular portion 231 configured to be mounted on the first tubular section 221 of the intermediate body 220, and a pair of wings 232 projecting from the annular portion 231 preferably at opposite areas thereof.
  • the not-rotating lower body 210 shown in details in figure 10, has an annular portion 211 adapted to rotatably receive the intermediate body 220 - upper body 230 assembly, and a plurality of arms 212 radially projecting from the annular portion 21 1 according to three circumferentially distributed directions.
  • Each arm 212 ends in a wing 213 extending upwardly orthogonal to the respective arm 212 and wherein a hole 214 is formed for mounting an articulation pin 17 of the respective connecting rod 14.
  • the arms 212 project radially from the annular portion 21 1 of the not-rotating lower body 210 in three circumferentially distributed directions according to predefined angles, but it is to be understood that other circumferential distribution modes of the arms 212 are possible, which are known to those skilled in the art and are suitable for such a purpose. It also possible to provide a number of arms 212 greater than three.
  • FIG. 1 a-13 wherein the main rotor head 30 of the main rotor unit 10 of the helicopter 100 according to the invention is shown in details.
  • the main rotor head 30 comprises a hub 310 and two opposite blade supports 320, each of which is adapted to hold a respective blade 15 of the remote-controlled helicopter 100.
  • each blade support 320 has a main body 321 and a pair of arms 322 integrally obtained with the main body 321 and extending facing one another from the main body 321 , so as to define a seat S for receiving and fixing the respective blade 15.
  • the blade supports 320 are mounted in a rotary manner on the hub 310 about a pivoting axis A3 - shown in figure 6 - orthogonal to the main rotation axis A1 - shown in figure 1 . More in particular, the blade supports 320 are articulated at opposite ends of a pin 32 - shown in figure 13 - passing through the hub 310 orthogonally to the longitudinal axis of the main drive shaft 12.
  • Each blade support 320 further comprises a projecting arm 330, laterally fixed to the main body 321 of the blade support 320 so as to project therefrom.
  • a stay 331 is connected between the projecting arm 330 and the swashplate 20 and serves to transfer the translation and inclination movements of the swashplate 20 to the corresponding blade 15.
  • the rotor unit 10 further comprises a support element 332 for the stay 331 , which is pivoted to the stay 331 according to a pivoting axis A4 - shown in figure 6 - parallel to the pivoting axis A3 of the blade supports 320 and to the hub 310 according to the pivoting axis A3 of the blade supports 320.
  • the projecting arm 330 comprises a portion 333, preferably with a substantially trapezoidal cross-section, for fixing to the blade support 320 and a preferably cylindrical portion 334 for pivoting to the stay 331 and to the support element 332 according to the pivoting axis A4.
  • a portion 333 preferably with a substantially trapezoidal cross-section
  • the fixing portion 333 two traversal through holes 335 are obtained, for fixing to the blade support 320, for example by means of respective screws, whereas in the pivoting portion 334 an axial through hole 336 is obtained, for housing a pin 314 extending along the pivoting axis A4.
  • the stay 331 comprises a tip-holder 337, configured for pivoting between the projecting arm 330 and the support element 332 according to the pivoting axis A4 and a tip 338 - shown in figure 5 - mounted between the tip-holder 337 and the swashplate 20, at the wings 232 of the upper body 230, and mobile with the swashplate 20.
  • the tip-holder 337 of the stay 331 comprises a preferably substantially cylindrical upper portion 339 provided with an axial through hole 316 for housing the pin 314 and a preferably tapered lower portion 340.
  • the tip 338 extends from the lower portion 340 of the tip-holder 337.
  • the support element 332 comprises a preferably plate-like arm 341 provided with a hole 343 for coupling with the pin 32 of the rotor head 30 and a pin portion 342 orthogonal to the arm 341 provided with a hole 344 for coupling with the pin 314.
  • the hole 343 is extended along the axis A3, whereas the hole 344 is extended along the axis A4.
  • the secondary rotor unit 40 comprises a secondary drive shaft 42, a secondary rotor head 430 and a control member 420 of the secondary rotor head 430, in particular a slide 420.
  • the secondary drive shaft 42 is mounted on the tail boom 1 14 in such a manner that it rotates about a secondary rotation axis A2, extended in a substantially horizontal direction as the helicopter 100 rests on the ground.
  • the secondary rotor head 430 is mounted on the secondary drive shaft 42, so that it rotates therewith.
  • At least two blades 19 - which can be seen in figures 1 and 2 - are also associated, mounted opposite to each other thereon; the angle of incidence of the blades 19 with respect to the rotor head 430, upon a collective control input by the user, is adjusted by the slide 420 according to the previously described mode.
  • the secondary rotor unit 40 comprises a hub 410 and two opposite blade supports 422, each of which is adapted to hold a respective blade 19 of the remote-controlled helicopter 100.
  • the blade supports 422 are mounted in a rotary manner on the hub 410 about a pivoting axis A6 - orthogonal to the secondary rotation axis A2.
  • Each blade support 422 further comprises a projecting arm 433, laterally fixed to the blade support 422 so as to project therefrom.
  • a stay 431 is connected between the projecting arm 433 and the slide 420 and serves to transfer the translation movements of the slide 420 to the corresponding blade 19.
  • the secondary rotor unit 40 further comprises a support element 434 for the stay, which is pivoted to the stay 431 according to a pivoting axis A5 parallel to the pivoting axis A6 of the blade supports 422, and to the hub 410 according to the pivoting axis A6 of the blade supports 422.
  • the support element 434 and the blade support 422 - projecting arm 433 assembly are positioned in the rotor head 430 of the secondary rotor unit 40 at opposite sides with respect to the rotation axis A2 of the secondary drive shaft 42.
  • the main motor M rotates the main drive shaft 12, and with it the rotor head 30, and then the blades 15 supported by the rotor head 30.
  • the rotation of the main drive shaft 12 also rotates the intermediate body 220 - upper body 230 assembly of the swashplate 20 with respect to the not-rotating lower body 210.
  • the blades 15 are in their neutral condition, i.e. they have an angle of incidence equal to zero.
  • the collective or cyclic control is input to the blades 15 by the stays 331 moved by the swashplate 20, which is in turn controlled by the servomotors 16 and the connecting rods 14, as previously described.
  • the stays 331 rotate the projecting arm 330 and the support element 332 connected thereto about the pivoting axis A4, resulting in a balanced rotation of the blade supports 320 and a constant (collective control) or a cyclical (cyclic control) variation of the angle of incidence of the blades 15 during their 360° rotation.
  • the rotor unit and the remote-controlled helicopter of the present invention are evident.
  • the rotor unit according to the invention has a greater stability during the inclination of the blades, resulting in a reduction or total elimination of clearances at the blade supports, as well as of undesired vibrations, which compromise the piloting accuracy of the helicopter.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Toys (AREA)

Abstract

L'unité de rotor (10) pour un hélicoptère commandé à distance (100) comprend un arbre d'entraînement (12), une tête de rotor (30) montée mobile en rotation avec l'arbre d'entraînement (12), ladite tête de rotor (30) comprenant un moyeu (10) et deux supports de pale opposés (320) montés de façon rotative sur le moyeu (310) autour d'un axe de pivotement, un organe de commande (20) de la tête de rotor (30) monté mobile sur l'arbre d'entraînement (12) ; un bras en saillie (331) associé à chaque support de pale (320), et une contrefiche (330) reliée entre le bras en saillie (331) et le plateau oscillant (20). L'unité de rotor (10) comprend également un élément de support (332) pivotant par rapport à la contrefiche (330) et au moyeu (310) selon un axe de pivotement (A4) parallèle à l'axe de pivotement (A3) des supports de pale (320).
PCT/EP2016/052654 2015-02-06 2016-02-08 Unité de rotor d'un hélicoptère commandé à distance, et hélicoptère commandé à distance WO2016124795A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITMI2015A000166 2015-02-06
ITMI20150166 2015-02-06

Publications (1)

Publication Number Publication Date
WO2016124795A1 true WO2016124795A1 (fr) 2016-08-11

Family

ID=52781172

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/052654 WO2016124795A1 (fr) 2015-02-06 2016-02-08 Unité de rotor d'un hélicoptère commandé à distance, et hélicoptère commandé à distance

Country Status (1)

Country Link
WO (1) WO2016124795A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109466747A (zh) * 2018-11-06 2019-03-15 珠海隆华直升机科技有限公司 直升机主桨变距用驱动系统及直升机
CN112173099A (zh) * 2020-11-26 2021-01-05 尚良仲毅(沈阳)高新科技有限公司 一种用于无人机的变距装置、变距控制方法及无人机
US10994840B1 (en) 2017-08-16 2021-05-04 United States Of America As Represented By The Secretary Of The Air Force Thrust vectoring control of a cyclorotor

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080014087A1 (en) * 2006-07-17 2008-01-17 Enjoy Toy & Hobby Corp. Tail rotor for remotely controlled toy helicopter
FR2945269A1 (fr) * 2009-05-11 2010-11-12 Univ Compiegne Tech Perfectionnement aux dispositifs de commande de pales d'un rotor d'helicoptere ou similaire
US20130195662A1 (en) 2012-01-26 2013-08-01 Ta Sen Tu Transmission structure of main propeller clamping seat and swashplate of remote-controlled helicopter

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080014087A1 (en) * 2006-07-17 2008-01-17 Enjoy Toy & Hobby Corp. Tail rotor for remotely controlled toy helicopter
FR2945269A1 (fr) * 2009-05-11 2010-11-12 Univ Compiegne Tech Perfectionnement aux dispositifs de commande de pales d'un rotor d'helicoptere ou similaire
US20130195662A1 (en) 2012-01-26 2013-08-01 Ta Sen Tu Transmission structure of main propeller clamping seat and swashplate of remote-controlled helicopter

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10994840B1 (en) 2017-08-16 2021-05-04 United States Of America As Represented By The Secretary Of The Air Force Thrust vectoring control of a cyclorotor
CN109466747A (zh) * 2018-11-06 2019-03-15 珠海隆华直升机科技有限公司 直升机主桨变距用驱动系统及直升机
CN112173099A (zh) * 2020-11-26 2021-01-05 尚良仲毅(沈阳)高新科技有限公司 一种用于无人机的变距装置、变距控制方法及无人机

Similar Documents

Publication Publication Date Title
JP6121394B2 (ja) 回転翼航空機への揚力及び並進推進力の提供に選択的に寄与する反トルク尾部ロータが装着された回転翼航空機
US5628620A (en) Main rotor system for helicopters
US8888457B2 (en) Dual-rotor model helicopter control system
JP6067775B2 (ja) 回転翼航空機におけるマルチブレードロータのロータブレードのコレクティブピッチ及びサイクリックピッチを制御するための制御システム
US2256635A (en) Aircraft and means for stabilizing the same
US3213944A (en) Stabilizing means for helicopters
CN101417182B (zh) 具有稳定缓冲器的玩具直升飞机
US8186615B2 (en) Rotor head of remotely-controlled helicopter and remotely-controlled helicopter
JP5997342B1 (ja) マルチコプター玩具
JP2007191144A (ja) ヘリコプタ
US20150321754A1 (en) Coaxial Counter-Rotating Unmanned Helicopter
US4367063A (en) Pitch control mechanism for coaxial helicopter steering
WO2016124795A1 (fr) Unité de rotor d'un hélicoptère commandé à distance, et hélicoptère commandé à distance
WO2007052246A1 (fr) Système de véhicule à aile rotative
WO2014191934A2 (fr) Aéronef à décollage et atterrissage verticaux à soufflante carénée des catégories mini et micro véhicule aérien sans pilote
US2724446A (en) Helicopter rotor mechanism
CA2652777A1 (fr) Systeme d'entrainement homocinetique pour moyeux de rotor montes sur cardan
US2646848A (en) Automatic helicopter rotor stabilizer
EP2851294B1 (fr) Rotor de giravion comprenant des leviers de pas primaires et leviers secondaires
US2845131A (en) Rotor arrangement for rotary wing aircraft
US2511687A (en) Rotor blade lift control for rotary wing sustained aircraft
CN109533318A (zh) 倾斜盘驱动机构和航模直升机
US20180104610A1 (en) Toy helicopter and balancing device therefor
JP2002316699A (ja) 同軸反転型ヘリコプタ
US2638707A (en) Remote-controlled model helicopter

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16707644

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 14.11.2017)

122 Ep: pct application non-entry in european phase

Ref document number: 16707644

Country of ref document: EP

Kind code of ref document: A1