JP5260779B1 - Coaxial reversal unmanned helicopter - Google Patents

Abstract

A yaw axis control mechanism of a coaxial reversing unmanned helicopter is configured so that the pitch angle of an upper rotor blade can be accurately controlled without a precise adjustment with a simple configuration.
A ladder control rod 13c is inserted into a main mast 13 of a coaxial inversion helicopter, a lower end portion thereof is connected to an output lever of a ladder servo RS, and a mixing rod head 26 is fixed to an upper end portion. A link mechanism connected to the upper swash plate 17 is attached to the side surface of the mixing rod head, and the vertical displacement of the mixing rod head that moves up and down together with the ladder control rod is moved around the support shaft through the link mechanism to the upper blade holder 15b. The pitch angle of the upper rotor blade 15c is changed by converting the displacement to tilt.
[Selection] Figure 8

Description

  The present invention relates to a coaxial reversing unmanned helicopter that flies by remote control or autonomous control in which upper and lower main rotors rotating in opposite directions are provided on a main mast.

The coaxial inversion helicopter is configured to simultaneously generate lift and cancel torque by rotating upper and lower main rotors arranged coaxially along the main mast in opposite directions. The changing nose direction control (yaw axis control) is realized by making a difference in the pitch angle of the rotor blade between the upper main rotor and the lower main rotor in the variable pitch type.
In this case, by attaching a servo to the main mast, etc., the tilt of the upper and lower main rotors is individually controlled so that a difference is provided in the pitch angle of the upper and lower rotor blades. Becomes extremely complicated (see, for example, Patent Document 1).

  Therefore, an inner shaft is provided in the main mast so as to be movable up and down, and a relay link device connected via an upper swash plate, a rod, and a link arm to a portion between the upper main rotor and the upper swash plate of the main mast. Arranged, connecting a connecting rod penetrating downward from the tip of the inner shaft through the yoke of the upper main rotor, connecting the relay link device, moving the inner shaft up and down to displace the relay link device up and down, Along with this, the yaw axis of the fuselage is controlled by rotating the fixed arm of the upper main rotor connected to the upper swash plate via a rod to change the pitch angle of the rotor blade Is known (see, for example, Patent Document 2).

JP 62-12500 A JP 2002-316699 A

  Since the relay link device is arranged between the upper main rotor and the upper swash plate, the conventional one is inevitably long between the upper and lower main rotors, and the airframe cannot be configured compactly. There is a problem that the degree of freedom of the aircraft design is also limited. In addition, since the connecting rod is passed through the yoke that fixes the upper main rotor to the main mast, the strength of the yoke is low, and the connecting portion between the upper main rotor and the main mast to which a large force is applied during flight is likely to be damaged. There are also structural issues.

In addition, a link arm is attached to the peripheral surface of the relay link device, and a rod connected to the upper swash plate disposed immediately below the link arm is connected to the link arm. The operating area in the direction is extremely small, and if the relay link device is moved up and down even slightly, the pitch angle of the rotor blade controlled by the upper swash plate changes greatly.
In other words, since the amount of change in the pitch angle of the rotor blade is extremely large with respect to the amount of displacement of the relay link device that is moved up and down by the inner shaft, the link mechanism is set so that the pitch angle of the rotor blade is set accurately and accurately. It is difficult to adjust the range of operation, and it is difficult to control the yaw axis of the aircraft by finely adjusting the pitch angle, so it is difficult to achieve good operability and flight stability with remote control. there were.

In addition, in the present applicant, in various forms of R / C helicopters including a coaxial reversing type remote control helicopter (hereinafter collectively referred to as R / C helicopter), the gyro pre-session of the main rotor for the operation input of the swash plate is performed. As a result of verifying the appearing position, it was found that the gyro precession appeared in a range smaller than 90 degrees with respect to the operation input from the swash plate regardless of the weight of the main rotor blade.
It is reasonable that the main rotor is arranged at the position where the gyro precession actually appears, and it is considered that the operability and flight stability of the coaxial inversion type R / C helicopter can be improved.

  SUMMARY OF THE INVENTION In view of the above-described problems of the prior art, the present invention makes it possible to simplify the yaw axis control mechanism of a coaxial reversing unmanned helicopter without arranging members such as rods and relay links for yaw axis control around the main rotor. With this configuration, the pitch angle of the upper rotor blade can be accurately controlled without precise adjustment, and the flight operation of the coaxial inversion unmanned helicopter including the yaw axis control is further stabilized. An object is to improve operability.

In order to solve the above-described problems, the present invention provides an upper and lower main rotors mounted on the rotation shafts that are coaxially provided in the main mast and are rotated in reverse to each other, and the pitch angle of the rotor blades of the upper and lower main rotors is set to the upper and lower swashes. In a coaxial reversing unmanned helicopter that flies by changing the tilting motion of the plate,
Insert the ladder control rod into the main mast, connect the ladder servo to the lower end of the ladder control rod protruding from the lower end of the main mast via the link mechanism, and move the ladder control rod up and down by the operation of the ladder servo. While providing
A mixing rod head is fixed to the upper end portion of the ladder control rod protruding from the upper end portion of the main mast, and an upper blade holder that is rotatably attached to the yoke of the upper main rotor on both the left and right sides of the mixing rod head. A link mechanism that connects to the upper swash plate is attached, and the other end of the adjustment rod, one end of which is connected to the ladder stopper plate attached to the yoke of the upper main rotor, is connected to both the front and rear sides of the mixing rod head. And
The mixing rod head that moves up and down together with the ladder control rod by the operation of the ladder servo is supported by the ladder stopper plate and the adjusting rod, and the vertical displacement of the mixing rod head supports the upper blade holder via the link mechanism. It is characterized by having a configuration in which a difference is provided in the pitch angle of the rotor blades of the upper and lower main rotors by changing the pitch angle of the upper rotor blade by converting the displacement to tilt around.

  Further, in the coaxial inverted unmanned helicopter having the above-described configuration, the upper and lower main rotors each output an operation input from the upper and lower swash plates within a range where the gyro precession of each main rotor is smaller than 90 degrees. The mounting position of the upper and lower main rotors is set at an angle smaller than 90 degrees around the main mast with respect to the respective input positions of cyclic control to the upper and lower main rotors by the upper and lower swash plates. The upper and lower main rotors and the upper and lower swash plates are each connected via a link mechanism.

According to the present invention, the ladder control rod that operates up and down is passed through the main mast, and the mixing rod head is fixed to the upper end of the ladder control rod protruding from the upper end of the main mast. In other words, a link mechanism connected to the upper swash plate is attached above the upper main rotor, and the input from the upper swash plate and the vertical displacement of the mixing rod head accompanying the vertical movement of the ladder control rod are controlled by the link mechanism. It is mixed and transmitted to the upper blade holder, and the upper blade holder tilts to change the pitch angle of the upper rotor blade so that a difference is provided in the pitch angle with the rotor blade of the lower main rotor. is there.
Since the member for controlling the yaw axis is provided above the upper main rotor, it is not necessary to provide an unnecessarily long gap between the upper and lower main rotors. Can be configured compactly.
Also, the mixing rod head, which is a member that moves up and down, is installed at the upper end of the rudder mixing rod, and the arrangement interval between this and the upper swash plate is large, and both members are connected by a link mechanism. Even if the operating range of the link mechanism is not finely adjusted by setting the vertical operating range of the king rod head to a certain extent and setting the amount to change the pitch angle of the upper rotor blade according to the operating range. The pitch angle of the upper rotor blade can be precisely and accurately controlled to a predetermined angle. Since the yaw axis of the aircraft can be controlled by precisely controlling the pitch angle of the upper rotor blade, good maneuverability and flight stability can be obtained with remote control.

  Further, according to the present invention, the gyro precession of the main rotor that is output in response to the operation input from the swash plate appears in a range smaller than 90 degrees, and the upper and lower sides of the operation input from the swash plate are By adjusting the phase angle of the main rotor to an acute angle range instead of 90 degrees and attaching it to the main mast, it is possible to fly an unmanned helicopter without having to precisely adjust various settings of the fuselage and transmitter. It becomes possible to stabilize the operation and greatly improve the operability.

It is the front view and side view of R / C helicopter equipped with the rotor head of one Embodiment of this invention. It is the expansion external appearance perspective view which is the front side perspective view and rear side perspective view of the body of the state which removed the cowl of the R / C helicopter of FIG. It is an external view of the rotor head which expanded and showed the lower main rotor side of the body of FIG. It is an external view of the rotor head which expanded and showed the upper side main rotor side of the body of FIG. FIG. 3 is an external view of an upper main rotor portion with a rotor blade of the airframe of FIG. 2 removed. FIG. 3 is a schematic cross-sectional view of the airframe of FIG. 2 (the broken line is omitted for the sake of clarity). It is the figure which showed the input relationship of the cyclic control of the swash plate around a main mast, and the arrangement | positioning relationship of a main rotor, (A) is a conventional rotor head, (B) is the rotor head of this invention. It is a side view of the gear box unit of the airframe of FIG. FIG. 9 is a side view of the gear box unit when the mixing rod head is raised from the state of FIG. 8. FIG. 9 is a side view of the gear box unit when the mixing rod head is lowered from the state of FIG. 8.

A preferred embodiment of the present invention will be described with reference to the drawings.
FIG. 1 shows the appearance of an R / C helicopter equipped with a rotor head according to an embodiment of the present invention. As shown in the figure, the present embodiment is an application of the present invention to a coaxial inversion type R / C helicopter having upper and lower main rotors that rotate on the same axis in the reverse direction. In the figure, reference numeral 1 is an R / C helicopter, 2 is a cowl, and 3 is a battery for driving an electric motor described later.

  FIG. 2 shows the front and rear appearances of the R / C helicopter 1 with the cowl 2 removed. As shown in FIG. 2, the fuselage 4 assembles an aluminum pipe into a frame shape. A gear box unit 6 in which an electric motor 8 is assembled to a rotor head 7 in which upper and lower main rotors are attached to a constructed body frame 5, a motor control box 9 in which a control circuit for the electric motor 8 is housed, and each servo Each unitized member such as a servo control box 10 in which a control circuit is housed, a skid 11, and a steering signal receiving device (not shown) are integrally attached. Reference numeral 12 denotes a motor cover with a duct in which a motor fan for cooling the electric motor 8 is housed.

  3 to 6, the rotor head 7 includes a main mast 13, upper and lower main rotors 14, 15, swash plates 16, 17, elevator servo ES, aileron servo AS, pitch servo PS, ladder servo RS, and the like. A member and a rod that constitutes a link mechanism by connecting the operation parts of these members to each other are provided.

Specifically, the main mast 13 is placed inside the hollow lower main mast 13a with an upper main mast 13b that is also hollow and longer than the lower main mast 13a, and is arranged coaxially. As shown in FIG. By engaging and connecting the bevel gears 18 a and 18 b fixed to the lower end of the mast to the bevel gear 18 c fixed to the output shaft of the electric motor 8 installed at the lower part of the main mast 13, and driving the electric motor 8. Both masts are configured to rotate in opposite directions.
Inside the upper main mast 13b, a rudder mixing rod 13c is slidably inserted along the inner peripheral surface of the upper main mast 13b, and the upper end of the rudder mixing rod 13c is located above the main mast 13. A mixing rod head 26, which will be described later, is integrally fixed, and an end portion of the ladder push-pull arm 19 is connected to a lower end portion thereof via a bearing.
The mixing rod head 26 is attached to the upper main rotor 15 via a later-described ladder stopper plate 31 and an adjusting rod 28, and rotates integrally with the upper main rotor 15 in the main mast 13.
The other end portion of the ladder push-pull arm 19 is pivotally supported by one end portion of a ladder mixing arm 20 that is attached to the center of the ladder mast 13 so as to be rotatable at the center below the main mast 13, and the other end portion of the ladder mixing arm 20 is One end is connected to the other end of the ladder push-pull arm 19 connected to the downward output lever 34 connected to the servo horn of the ladder servo RS (see FIG. 6).

  As shown in FIG. 3, the lower main rotor 14 has a lower yoke 14a that is integrally fixed to the outer periphery of the lower main mast 13a, and is rotatable on the left and right sides of the lower yoke 14a about an axial direction perpendicular to the main mast 13. The pair of lower blade holders 14b, 14b and the lower blade holders 14b, 14b are attached to the lower blade holders 14b, 14b at a predetermined pitch angle by sandwiching the original ends of the lower blade holders 14b, 14b from above and below and penetrating bolts. The lower rotor blades 14c and 14c are configured.

In the lower yoke 14a, a lower radius block 21 is integrally fixed to a peripheral surface portion integrally fixed to the outer peripheral surface of the lower main mast 13a, and a lower radius arm 22 connected to the lower radius block 21 is connected to a lower wash plate 16 described later. It is integrally connected to the lower rotary swash 16b.
Further, the lower blade holders 14b and 14b have end portions of mixing arm lowers 23 and 23 attached to the lower yoke 14a so as to be rotatable about an axial direction orthogonal to the mast 13 via the lower pitch arm 24, respectively. Connected freely.
The other ends of the mixing arm lowers 23, 23 are connected to upper ends of adjusting rods 25, 25 arranged vertically in parallel with the mast 13, and lower ends of the adjusting rods 25, 25 are connected to the lower wash plate 16. Are connected to the lower rotary swash 16b.

  The lower main rotor 14 rotates integrally with the lower main mast 13a, and the tilting operation of the lower swash plate 16 (described later) via the adjusting rod 25, the mixing arm lower 23, and the lower pitch arm 24 causes the lower blade holders 14b and 14b to tilt. As the lower blade holders 14b and 14b are tilted around the axial direction orthogonal to the main mast 13, the entire lower main rotor 14 is appropriately tilted, thereby reducing the pitch angle of the lower rotor blades 14c and 14c. It is configured to change.

  As shown in FIG. 4, the upper main rotor 15 rotates around an axial direction orthogonal to the main mast 13 on the left and right sides of the upper yoke 15a integrally fixed to the outer periphery of the upper main mast 13b. A pair of freely attached upper blade holders 15b, 15b and the original end portions of the upper blade holders 15b, 15b are sandwiched from above and below to penetrate the bolts and are integrally attached to the upper blade holders 15b, 15b at a predetermined pitch angle. The upper rotor blades 15c and 15c thus configured are configured in the same manner as the lower main rotor 14.

Above the upper main rotor 15, a mixing rod head 26 is attached to an end portion of a ladder mixing rod 13 c protruding from the upper end of the main mast 13. Upper mixing arms 27, 27 are attached to the left and right side portions of the mixing rod head 26 located above the upper yoke 15 a so as to be rotatable about an axial direction orthogonal to the mast 13. Further, on both front and rear sides of the mixing rod head 26, adjustment rods 28, 28 that are rotatable about an axial direction orthogonal to the mast 13 and arranged along the axial direction of the upper main rotor 15 are attached. is there.
Upper pitch arms 29 and 29 are attached to one side of the upper blade holders 15 b and 15 b, and an end portion of the upper pitch arm 29 is a shaft provided at an intermediate portion of the upper mixing arm 27 via an adjustment rod 30. It is connected to the part. As shown in FIG. 5, a ladder stopper plate 31 is attached to the upper yokes 15 a, 15 a, and one end of the ladder stopper plate 31 is connected to the mixing rod head 26. The other end is connected. The ladder stopper plate 31 and the adjusting rod 28 support the mixing rod head 26 so that the mixing rod head 26 that moves up and down along the main mast 13 is not twisted by the force applied as the main mast 13 rotates during flight. There is also a function to do.
Further, the ends of the upper mixing arms 27, 27 are connected via a mixing arm upper 32 and an adjusting rod 40 that are pivotally supported on the outer peripheral surface of the upper yoke 15a, and the mixing arm upper 32 is connected to the end thereof. It is connected to an upper upper rotating swash 17b of an upper swash plate 17 (described later) via an adjustment rod 33 that is pivotally supported.

While the upper main rotor 15 rotates integrally with the upper main mast 13b, the upper swash plate 17 described later is tilted through the adjusting rod 33, the mixing arm upper 32, the upper mixing arm 27, and the upper pitch arm 29. The upper main rotor 15 as a whole is appropriately tilted as the upper blade holders 15b and 15b are tilted around the axial direction orthogonal to the main mast 13 by being transmitted to the blade holders 15b and 15b. The pitch angle of 15c is changed.
Further, as will be described later, when the ladder servo RS is operated to move the ladder mixing rod 13c up and down along the mast 13, the upper main rotor 15 has a mixing rod head 26 fixed to the upper end thereof together with the ladder mixing rod 13c. When the upper mixing arms 27 and 27 rotate up and down in response to the displacement, the input from the upper upper rotation swash 17b, which will be described later, is mixed and transmitted to the upper blade holders 15b and 15b. By changing the pitch angle of the rotor blades 15c, 15c, a difference from the pitch angle of the lower main rotor 14 is provided, so that the yaw axis control of the R / C helicopter 1 is performed.

As shown in FIG. 3, the lower swash plate 16 is configured by rotatably supporting a lower rotary swash 16b via a bearing (not shown) on the upper side of the lower fixed swash 16a, and is formed at the center thereof. The main mast 13 is passed through the opening, and is attached to be tiltable about an axis in a direction perpendicular to the mast with the mast as a center.
Below the lower swash plate 16, elevator servo ES, aileron servo AS, and pitch servo PS servos are installed, and an upward output lever 34 connected to each servo horn is connected to the outer periphery of the lower fixed swash 16a. Are connected to each other.
The lower rotary swash 16b is attached to the lower yoke 14a via the lower radius arm 22 and the lower radius block 21, and is attached to rotate integrally with the lower main mast 13a. Further, the lower end of the adjusting rod 25 connected to the mixing arm lower 23 is connected to the opposite position of the outer peripheral surface of the lower rotary swash 16b, and the lower ends of the four adjusting rods 35 are connected to the outer peripheral four sides. The upper ends of these adjusting rods 35 are connected to the outer peripheral four sides of the upper lower swash 17a of the upper swash plate 17 described later.

As shown in FIG. 4, the upper swash plate 17 is configured to rotatably support the upper upper rotary swash 17b via a bearing (not shown) on the upper lower rotary swash 17a. The main mast 13 is passed through an opening formed in the center, and is attached to be tiltable about an axis in a direction perpendicular to the mast with the mast as a center.
The upper lower rotation swash 17a is connected to the lower yoke 14a via an upper radius block 36 and an upper radius arm 37, and has an outer periphery connected to the outer periphery of the lower rotation swash 16b via the adjustment rod 35. It is attached so as to rotate integrally with the lower main rotor 14.
Further, the upper upper rotation swash 17b is fixed to an upper radius block 39 fixed to the outer peripheral surface of the upper main mast 13b via an upper radius arm 38, and is attached so as to rotate integrally with the upper main mast 13b together with the upper main rotor 15. It is.
Further, the lower end portion of the adjusting rod 33 whose upper end portion is connected to the mixing arm upper 32 is connected to the position opposed to the outer peripheral surface of the upper upper rotation swash 17b.

  The lower swash plate 16 and the upper swash plate 17 drive the elevator servo ES, the aileron servo AS, or the pitch servo PS, and when the upward output lever 34 connected to each servo horn is moved up and down, the lower swash plate 16 is fixed to the lower swash plate 16. The swash 16a and the lower rotating swash 16b are tilted around the main mast 13 corresponding to the position of the output lever 34 that is moved up and down, and the upper and lower rotating swashes 17a, 17a, 17b of the upper swash plate 17 are tilted as the lower rotating swash 16b is tilted. 17 b is attached so as to tilt around the main mast 13 in parallel with the lower swash plate 16.

Further, in the conventional R / C helicopter, as shown in FIG. 7A, based on the knowledge that the gyro precession appears 90 degrees behind the input, the rotation of the main rotor MR is utilized. The rudder is input 90 degrees behind the direction R, that is, the swash plate is tilted at a position 90 degrees behind the rotation direction of the main rotor MR, and the operation input SI is sent to the main rotor via the adjustment rod. Inputting into the MR changes the pitch angle of the main rotor MR.
On the other hand, the arrangement of the lower main rotor 14 and the lower wash plate 16 around the lower main mast 13a in this embodiment is based on the knowledge that the gyro precession appears in a range smaller than 90 degrees. As shown in FIG. 4B, the lower main rotor 14 is attached at a position smaller than 90 degrees around the lower main mast 13a with respect to the input position of the cyclic control to the lower main rotor 14 by the lower swash plate 16. The crossing angle between the line segment in the major axis direction of the lower main rotor 14 and the position of the operation input of the lower rotary swash 16b input to the lower main rotor 14 via the adjusting rod 25 is set to be an angle. It is provided at a position where an acute phase angle α is obtained.
Then, the lower main rotor 14 and the lower rotary swash 16b are connected by an adjusting rod 25, and an operation input of the lower rotary swash 16b is input to the lower main rotor 14 at a position advanced by the acute phase angle α, The pitch angle is changed.
Further, the upper main rotor 15 and the upper swash plate 17 are arranged around the upper main mast 13b in the same manner as described above, with the upper main mast 15 being attached to the upper main mast with respect to the input position of the cyclic control by the upper swash plate 17. The upper upper rotary swash 17b is input to the upper main rotor 15 through the adjusting rod 33 and the long-axis-direction line segment of the upper upper main rotor 15 provided at an angle smaller than 90 degrees around 13b. It is provided at a position where the angle of intersection with the input position is an acute phase angle α.
Then, the upper main rotor 15 and the upper upper rotating swash 17b are connected by the adjusting rod 33, and the operation input of the upper upper rotating swash 17b is input to the upper main rotor 15 at a position advanced by the acute phase angle α, The pitch angle is changed.
The operation input positions of the upper and lower swash plates 16 and 17 and the mounting positions of the upper and lower main rotors 13 and 14 are respectively set around the upper and lower main masts 16a and 16b so as to be the acute phase angle α. The position may be set by advancing or delaying by a relatively appropriate acute angle.

The control of the yaw axis of the R / C helicopter 1 of the present embodiment configured as described above is performed as follows.
First, as shown in FIG. 8, when there is no difference in the pitch angle between the rotor blades 14c and 15c of the upper and lower main rotors 14 and 15, the output lever 34 of the ladder servo RS is held at an intermediate position in its operating range. The

From this state, when the ladder servo RS is operated to lower the output lever 34, as shown in FIG. 9, the ladder mixing rod 13c that is loaded into the main mast 13 and rotates integrally with the upper main mast 13b rises. The upper mixing head 26 fixed to the upper end portion is displaced upward.
Corresponding to this displacement, the upper mixing arms 27 and 27 rotatably attached to the upper mixing head 26 rotate around the attachment portion, and the end thereof is displaced downward, and this displacement and the adjustment rod 33, The input from the upper upper rotating swash 17b connected to the upper mixing arms 27, 27 via the mixing arm upper 32 and the adjusting rod 40 is mixed, and the upper blade holders 15b, 15b are supported by the support shafts of the upper yokes 15a, 15a. It is converted into a displacement that tilts around. The converted displacement is transmitted to the upper blade holders 15b and 15b via the upper pitch arms 29 and 29, and the upper rotor blades 15c and 15c are tilted together with the upper blade holders 15b and 15b to change the pitch angle. As a result, a difference is made in the pitch angle of the lower main rotor 14, and the yaw axis of the airframe is controlled.

  On the contrary, when the output lever 34 of the ladder servo RS is raised, the upper mixing head 26 is displaced downward together with the ladder mixing rod 13c as shown in FIG. 10, and the upper mixing arm 27, The end of 27 is displaced upward. The displacement and the input from the upper upper rotating swash 17b are mixed and converted into a displacement for tilting the upper blade holders 15b and 15b, and the upper blade holders 15b and 15b are passed through the upper pitch arms 29 and 29. The upper blade holders 15b and 15b and the upper rotor blades 15c and 15c are tilted in the opposite direction to change the pitch angle, and the pitch angle of the lower main rotor 14 is differentiated. Yaw axis control is performed.

  Further, when the R / C helicopter 1 of the present embodiment drives the elevator servo ES, the aileron servo AS, or the pitch servo PS to move the output lever 34 connected to each servo horn up and down, the R / C helicopter 1 moves to the position of the output lever 34 that goes up and down. Correspondingly, the lower swash plate 16 and the upper swash plate 17 are appropriately tilted around the main mast 13, and the tilt of the lower rotary swash 16 b is transmitted to the lower main rotor 14 via the adjustment rod 25 in response to this. The main rotor 14 is tilted to change the pitch angle of the lower rotor blades 14c, 14c, and the tilt of the upper upper rotating swash 17b is transmitted to the upper main rotor 15 via the adjusting rod 33 to tilt the upper main rotor 15. , Upper rotor blades 15c, 15c To change the pitch angle.

As the upper and lower main rotors 14 and 15 tilt and the pitch angles of the rotor blades 14c and 15c change, the upper and lower main rotors 14 and 15 have gyro precessions, respectively. The main rotors 14 and 15 appear with a delay in a range smaller than 90 degrees with respect to the respective rotation directions.
In this embodiment, as shown in FIG. 7B, the upper and lower main rotors 14 and 15 are attached to the upper and lower swashes corresponding to the appearance of the gyro pre-session in a range smaller than 90 degrees. With respect to the input position of the cyclic control to the upper and lower main rotors 14 and 15 by the plates 16 and 17, the phase angle α is set to be smaller than 90 degrees around the main mast 13, and the upper and lower swash plates 16 and 17 are set. Are connected to the upper and lower main rotors 14 and 15 via link mechanisms at the respective input positions, and the operation input that is the tilting operation of the upper and lower swash plates 16 and 17 is performed at the position of the acute phase angle α. It is inputted to the rotors 14 and 15, respectively, and is configured to change the pitch angle of the respective rotor blades 14c and 15c. It is.
Therefore, as the pitch angle of the rotor blades 14c and 15c of the upper and lower main rotors 14 and 15 changes, the direction of the gyro precession force acting on the aircraft matches the direction in which the aircraft should be controlled. As a result, the flight operation of the R / C helicopter can be stabilized.

〔Example〕
An industrial coaxial reversing R / C helicopter equipped with the rotor head of this embodiment was constructed. The rotor blade made of FRP was used, and the weight of one piece was 2 kg. The total weight of the fuselage, including motors, receivers, and electrical components such as batteries, was 92 kg.
The phase angle α (the phase difference of the arrangement with respect to the operation input) of the operation input position of the upper and lower swash plates with respect to the upper and lower main rotors shown in FIG. 7B is set to approximately 35 degrees. did.
[Comparative Example]
The same main body and rotor blade as in the above embodiment are used, and the upper and lower main rotors are arranged in the same manner as the conventional R / C helicopter shown in FIG. The coaxial reversing type R / C helicopter is configured so that the mounting position of is a phase angle of 90 degrees.

When the R / C helicopter of the comparative example was made to fly by remote control, it was difficult to operate the aircraft straight, and a behavior of bending in either the left or right direction occurred. In order to correct this, when the operation stick of the transmitter is operated, the flight posture is lost, and it is difficult to smoothly control the flight direction of the aircraft.
On the other hand, the R / C helicopter of the embodiment flies smoothly in the operation direction even if operated so as to fly in any direction, front, back, left, and right, and stably controls the flight direction without breaking the flight posture. I was able to.

  The illustrated form is merely an example, and the present invention can be applied to another appropriate form of a coaxial inversion R / C helicopter or a coaxial inversion unmanned helicopter that flies by autonomous control. The present invention can be applied to relatively large industrial R / C helicopters and unmanned helicopters, hobby R / C helicopters that fly outdoors, and small and lightweight R / C helicopters for indoor use. .

1 R / C helicopter, 4 Airframe, 7 Rotor head, 8 Electric motor, 13 Main mast, 13a Lower main mast, 13b Upper main mast, 13c Ladder mixing rod, 14 Lower main rotor, 14a Lower yoke, 14b Lower blade holder, 14c Lower rotor blade, 15 upper main rotor, 15a upper yoke, 15b upper blade holder, 15c upper rotor blade, 16 lower swash plate, 16a lower fixed swash, 16b lower rotating swash, 17 upper swash plate, 17a upper lower rotating swash, 17b Upper upper rotation swash, 18a, 18b, 18c Bevel gear, ES elevator servo, AS aileron servo, PS pitch servo, RS Dasabo

Claims (2)

The upper and lower main rotors are respectively attached to the rotation shafts that rotate on the same axis on the main mast and rotate reversely to each other, and the pitch angle of the rotor blades of the upper and lower main rotors is changed by tilting the upper and lower swash plates. In a flying coaxial reversing unmanned helicopter,
Insert the ladder control rod into the main mast, connect the ladder servo to the lower end of the ladder control rod protruding from the lower end of the main mast via the link mechanism, and move the ladder control rod up and down by the operation of the ladder servo. While providing
A mixing rod head is fixed to the upper end portion of the ladder control rod protruding from the upper end portion of the main mast, and an upper blade holder that is rotatably attached to the yoke of the upper main rotor on both the left and right sides of the mixing rod head. A link mechanism that connects to the upper swash plate is attached, and the other end of the adjustment rod, one end of which is connected to the ladder stopper plate attached to the yoke of the upper main rotor, is connected to both the front and rear sides of the mixing rod head. And
The mixing rod head that moves up and down together with the ladder control rod by the operation of the ladder servo is supported by the ladder stopper plate and the adjusting rod, and the vertical displacement of the mixing rod head supports the upper blade holder via the link mechanism. A coaxial reversing unmanned system characterized in that a difference is provided in the pitch angle of the rotor blades of the upper and lower main rotors by changing the pitch angle of the upper rotor blade by converting it into a displacement tilting around Helicopter. The upper and lower main rotors are provided so that the gyro precessions of the respective main rotors that are output in response to operation inputs from the upper and lower swash plates appear in a range smaller than 90 degrees.
Install the upper and lower main rotors at an angle smaller than 90 degrees around the main mast with respect to the input positions of the cyclic control to the upper and lower main rotors by the upper and lower swash plates. The coaxial reversing unmanned helicopter according to claim 1, wherein the swashplates are connected via a link mechanism.

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