CN201076760Y - Mini-helicopter employing minitype gyroscope control system - Google Patents
Mini-helicopter employing minitype gyroscope control system Download PDFInfo
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- CN201076760Y CN201076760Y CNU2007201720039U CN200720172003U CN201076760Y CN 201076760 Y CN201076760 Y CN 201076760Y CN U2007201720039 U CNU2007201720039 U CN U2007201720039U CN 200720172003 U CN200720172003 U CN 200720172003U CN 201076760 Y CN201076760 Y CN 201076760Y
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- helicopter
- outside framework
- electric machine
- control system
- machine support
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Abstract
The utility model discloses a micro-helicopter which adopts a micro gyroscope control system, which comprises a wireless electric remote control helicopter. A mechanical gyroscope for stabilizing the flight direction of the helicopter is arranged in a main body of the helicopter. The mechanical gyroscope comprises an outer frame which is fixed in the main body, a generator bracket which is equipped with a gyroscope rotor is mounted in the outer frame, a hall element PCB plate is arranged in the outer frame, a permanent magnet which is corresponded with the hall element PCB plate is arranged on the generator bracket, and the hall element PCB plate is connected with a signal receiver which is arranged in the main body, and the signal receiver is connected with the generator which drives the helicopter rotor to rotate. The helicopter which adopts the mechanical gyroscope has an obvious price advantage on the model market with low production cost. The utility model is convenient for the kind of products to be popularized, and meanwhile, the mechanical helicopter is not influenced by temperatures, which has the advantages of simple structure and reliable performance.
Description
Technical field
The utility model relates to the control technology field of remote control rotor craft model, relates in particular to a kind of helicopter that adopts mechanical gyroscope stabilized flight course.
Background technology
In order to obtain stable helicopter course control, people generally adopt dual mode:
1, adopts the method for the auxiliary control of piezoelectric electronic gyroscope.When helicopter flight, its head points to that extraneous factors such as being subjected to wind is disturbed or because self reason when making the course attitude take place to be offset, the piezoelectric electronic gyroscope detects shifted signal, after computing, send corrected signal and make instruction to receiver, receiver sends corrected signal according to this instruction, controls steering wheel or relevant parts and moves and revise head and point to.Through using, it is found that and adopt the helicopter of piezoelectric electronic gyroscope control system to have following shortcoming .1) the cost height, owing to adopt the gyrostatic core parts price of piezoelectric electronic higher, cause price of complete machine to reduce; 2) temperature influence is big, and the neutrality point duty of piezoelectric gyroscope is understood temperature influence and drifted about, and causes lock tail performance to descend.And senior piezoelectric gyroscope adopts complicated circuit and program to remedy Temperature Influence, but causes the further rising of cost like this.
2, adopt the method for program mixing, control the rotating speed of main rotor and tail-rotor by program, when main oar rotating speed raises, the corresponding increase of reaction torque, programme-control this moment tail-rotor rotating speed raises, offset the variation of reaction torque, by that analogy, each main oar rotating speed all should have a tail-rotor rotating speed to be complementary mutually, the shortcoming of the method is the variation that control system can't detect aspect, thereby can not guarantee stable lock tail, the tail swing situation often occurs, need the frequent manual operations of operator to remedy the deficiency of the method, be not suitable for beginner's use.
The utility model content
The utility model is in order to solve the problems of the technologies described above, and a kind of simple in structure, dependable performance, simple to operate, micro helicopter that cost is low are provided.
For addressing the above problem, the technical solution of the utility model is a kind of micro helicopter that adopts the minisize gyroscopes control system of structure, comprise the wireless remotecontrol helicopter, be provided with the mechanical gyroscope of stablizing the helicopter flight course in the fuselage of helicopter, mechanical gyroscope comprises the outside framework that is fixed in the fuselage, be located at the electric machine support that gyrorotor is housed in the outside framework, be provided with a Hall element pcb board in the outside framework, electric machine support is provided with the permanent magnet of corresponding Hall element pcb board, the Hall element pcb board signal receiver interior with being located at fuselage is connected, and signal receiver is connected with driving lifting airscrew motor rotating.
Wherein, described helicopter is provided with from the outstanding upward rotating shaft of fuselage interior, rotating shaft is made of outer jack-post of hollow and interior jack-post, be provided with the first motor gear group that drives the outer jack-post rotation of hollow in the fuselage, and the second motor gear group of the relative hollow outer shaft of jack-post derotation in driving, signal receiver is connected with motor in the first motor gear group, the second motor gear group, the outer jack-post of hollow and in set side main rotor and the secondary rotor of upside respectively on the jack-post.
Described outside framework is fixed near the rotating shaft, electric machine support is provided with the left and right connecting axle that is on the same axis, electric machine support is connected with outside framework through right connecting axle, electric machine support through left connecting axle be located at returning that outside framework overhead extension electric machine support resets in mechanism be connected.
Described gyrorotor by gyro machine, be located at flywheel on the gyro machine front end main shaft, the weighting distribution wheel of being located at the gyro machine end constitutes, gyro machine is fixed in the motor cover of electric machine support, and the axis of gyro machine main shaft and left and right connecting axle in vertical state.
Mechanism comprises the rocking arm of the bottom band rotating shaft of being located at the outside framework top in described time, and the rotating shaft of rocking arm bottom penetrates outside framework and is connected with the left connecting axle of electric machine support, comprises that also an end is fixed in time middle steel wire that the outside framework top other end is connected with rocking arm.
Described outside framework top be provided with pressure holding return in steel wire make its tight bridge screw.
Described rocking arm both sides are provided with the limited block of restriction rocking arm rotation amplitude in the outside framework top.
The utility model adopts mechanical gyroscope in helicopter, with respect to adopting the gyrostatic helicopter of piezoelectric electronic to have tangible cost advantage, only its core component is saved cost more than 30 yuan with respect to the electronic type piezoelectric gyroscope, as the simplification cost that adds peripheral equipment will further reduce, having tangible price advantage on the model market cheaply, be convenient to the universalness of this series products.Mechanical gyroscope is not subjected to Temperature Influence simultaneously, therefore in the design of support circuit, need not to consider temperature-compensating, and can have stable duty at various temperatures, especially in universal model field, have simple in structure, the advantage of dependable performance can satisfy the control requirement of general flight fully.Because mechanical gyroscope can detect the instantaneous variation of the attitude of helicopter, thereby the head sensing that can stablize aircraft accurately, satisfy beginner's operant level, avoid the programme controlled shortcoming of mixing, it is popular to make the RC Goblin product really can realize.
Description of drawings
Below in conjunction with drawings and Examples the utility model is described further, wherein:
Fig. 1 is the front view of the utility model preferred embodiment;
Fig. 2 is the overlooking surface figure of Fig. 1;
Fig. 3 is the perspective view of the utility model preferred embodiment;
Fig. 4 is the vertical view of the utility model preferred embodiment mechanical gyroscope;
Fig. 5 is the profile along Fig. 4 A-A line;
Fig. 6 is the perspective view of the utility model preferred embodiment mechanical gyroscope.
The specific embodiment
As Fig. 1,2 show the basic structure of the utility model preferred embodiment, a kind of micro helicopter that adopts the minisize gyroscopes control system, comprise the wireless remotecontrol helicopter, be provided with the mechanical gyroscope 17 of stablizing the helicopter flight course in the fuselage of helicopter, this mechanical gyroscope 17 comprises the outside framework 4 that is fixed in the fuselage, be located at the electric machine support 1 that gyrorotor is housed in the outside framework 4, be provided with a Hall element pcb board 5 in the outside framework 4, electric machine support 1 is provided with the permanent magnet 6 of corresponding Hall element pcb board 5, and 5 of permanent magnet 6 and Hall element pcb boards are provided with a determining deviation.Hall element pcb board 5 signal receiver 18 interior with being located at fuselage is connected, and signal receiver 18 is connected with driving lifting airscrew motor rotating 19.In the present embodiment, outside framework 4 is provided with two fixedly ears 14, outside framework 4 can be fixed in the fuselage of helicopter by fixing ear 14.
As shown in Figure 3, helicopter is provided with from the outstanding upward rotating shaft 20 of fuselage interior, rotating shaft 20 is made of outer jack-post of hollow and interior jack-post, be provided with the first motor gear group that the outer jack-post of hollow drives rotation in the fuselage, and the second motor gear group of the relative hollow outer shaft of jack-post derotation in driving, signal receiver 18 is connected with motor 19 in the first motor gear group, the second motor gear group, the outer jack-post of hollow and in set side main rotor 21 and the secondary rotor 22 of upside respectively on the jack-post.23 of the fuselage of helicopter and helicopter tails are connected by connecting rod 24, and fuselage bottom is provided with support wheel 25.
Shown in Fig. 3,4, in the present embodiment, described outside framework 4 is fixed near the rotating shaft 20, electric machine support 1 is provided with the left and right connecting axle 2,3 that is on the same axis, electric machine support 1 is connected with outside framework 4 through right connecting axle 3, electric machine support 1 through left connecting axle 2 be located at returning that outside framework 4 overhead extension electric machine supports 1 reset in mechanism be connected.As shown in Figure 6, mechanism comprises the rocking arm 7 of the bottom band rotating shaft of being located at outside framework 4 tops in returning; the rotating shaft of rocking arm 7 bottoms penetrates outside framework 4 and is connected with the left connecting axle 2 of electric machine support 1; left connecting axle 2 and rocking arm 7 are for fixedlying connected; rocking arm 7 both sides are provided with the limited block 12 that limits rocking arm 7 left and right rotation amplitudes in outside framework 4 tops, comprise that also an end is fixed in time middle steel wire 8 that the outside framework 4 top other ends are connected with rocking arm 7.In the present embodiment, outside framework 4 tops are provided with a locating hole 15, and the top of rocking arm 7 front portions is provided with a draw-in groove 16, and steel wire 8 one ends are fixed in that an end is stuck on the draw-in groove 16 on the locating hole 15 in returning.For steel wire 8 in making back has enough elastic force, outside framework 4 tops be provided with pressure holding return in steel wire 8 make its tight bridge screw 11.
Shown in Fig. 5,6, gyrorotor by gyro machine 9, be located at metal flywheel 13 on the gyro machine 9 front end main shafts, the weighting distribution wheel 10 of being located at gyro machine 9 ends constitutes.Gyro machine 9 is a DC micromotor, and gyro machine 9 is fixed in the motor cover of electric machine support 1, and the axis of gyro machine main shaft and left and right connecting axle 2,3 in vertical state.In the present embodiment, gyrorotor adds the structure of weighting distribution wheel 10 with single flywheel 13, replaces round trip flight rolling hitch commonly used in the past and makes into, having avoided motor must be the form of two ends output shaft, reduced requirement, thereby can use DC micromotor, reduced weight gyro machine.
After opening the helicopter Switching Power Supply, mechanical gyroscope 17 is started working, after gyro machine 9 energisings, the gyro machine main shaft drives metal flywheel 13 rotation at a high speed, when manipulation helicopter downside main rotor 21 begins to rotate, corresponding reaction torque makes goes straight up to 23 ones of tails and begins swing, meanwhile, because Gyroscope Precession effect, the metal flywheel 13 of rotation can make electric machine support 1 deflect, the difference that is flapped toward according to tail 23, the swaying direction of electric machine support 1 is also different, and (metal flywheel 13 can drive electric machine support 1 around a left side, right connecting axle 2,3 axis rotates forward or backwards), and tail 23 oscillating accelerations are big more, then electric machine support 1 amplitude of oscillation is big more, and when electric machine support 1 rotated forward or backwards, rocking arm 7 together rotated with left connecting axle 2 simultaneously, limited block 12 defines rocking arm 7 maximum rotation amplitudes, also defines electric machine support 1 rotation amplitude simultaneously.Be fixed on permanent magnet 6 on the electric machine support 1 this moment and can follow electric machine support 1 and swing together, thereby with the Hall element pcb board 5 that is fixed on the outside framework 4 relative displacements take place, how many output signals that Hall element detects the amplitude of oscillation arrive signal receiver 18.Signal receiver 18 is made respective reaction, send and instruct two motors 19 giving coaxial anti-oar helicopter to allow it produce different rotating speeds, thereby on downside main rotor 21 and the secondary rotor 22 of upside, produce different reaction torques, and then reach the trend of offsetting tail 23 swings.After tail 23 swings stop.Then the active force bottom of rocking arm 7 steel wire 8 in returning returns neutral point, up to tail 23 swings next time.When helicopter is subjected to that extraneous factor is disturbed and when tail swing took place, mechanical gyroscope still can carry out attitude as mentioned above to be corrected, thereby can be for a long time that tail is stable in one direction.
The utility model adopts mechanical gyroscope in helicopter, with respect to adopting the piezoelectric electronic gyroscope Helicopter have obvious cost advantage, only its core component is saved with respect to the electronic type piezoelectric gyroscope Cost is more than 30 yuan, as adds that the simplification cost of peripheral equipment will further reduce, at model cheaply Have obvious price advantage on the market, be convenient to the universalness of this series products. Mechanical gyroscope is not subjected to temperature simultaneously The impact of degree, therefore the design at support circuit need not to consider temperature-compensating, and tool at various temperatures Stable duty is arranged, especially in universal model field, have simple in structure, the advantage of dependable performance, complete All-round enough control requirements of satisfying general flight. Because mechanical gyroscope can detect the attitude of helicopter Instantaneous variation, thereby the head that can stablize accurately aircraft points to, and satisfies beginner's operant level, avoids The programme controlled shortcoming of mixing is so that the RC Goblin product really can be realized is popular.
Claims (7)
1. micro helicopter that adopts the minisize gyroscopes control system, comprise the wireless remotecontrol helicopter, it is characterized in that: be provided with the mechanical gyroscope (17) of stablizing the helicopter flight course in the fuselage of described helicopter, this mechanical gyroscope (17) comprises the outside framework (4) that is fixed in the described fuselage, be located at the electric machine support (1) that gyrorotor is housed in this outside framework (4), be provided with a Hall element pcb board (5) in the described outside framework (4), described electric machine support (1) is provided with the permanent magnet (6) of corresponding described Hall element pcb board (5), described Hall element pcb board (5) signal receiver interior with being located at described fuselage is connected (18), and this signal receiver (18) is connected with driving lifting airscrew motor rotating (19).
2. the micro helicopter of employing minisize gyroscopes control system according to claim 1, it is characterized in that: described helicopter is provided with from the outstanding upward rotating shaft (20) of fuselage interior, this rotating shaft (20) is made of outer jack-post of hollow and interior jack-post, be provided with the first motor gear group that drives the outer jack-post rotation of described hollow in the described fuselage, and the second motor gear group of the described relatively hollow outer shaft of jack-post derotation in driving, described signal receiver (18) and the described first motor gear group, motor (19) in the second motor gear group connects, and sets side main rotor (21) and the secondary rotor (22) of upside on outer jack-post of described hollow and the interior jack-post respectively.
3. the micro helicopter of employing minisize gyroscopes control system according to claim 2, it is characterized in that: described outside framework (4) is fixed near the described rotating shaft (20), described electric machine support (1) is provided with the left and right connecting axle (2,3) that is on the same axis, described electric machine support (1) is connected with described outside framework (4) through right connecting axle (3), described electric machine support (1) through left connecting axle (2) be located at returning that the described electric machine support of described outside framework (4) overhead extension (1) resets in mechanism be connected.
4. the micro helicopter of employing minisize gyroscopes control system according to claim 3, it is characterized in that: described gyrorotor by gyro machine (9), be located at flywheel (13) on this gyro machine (9) front end main shaft, be located at the terminal weighting distribution wheel (10) of described gyro machine (9) and constitute, described gyro machine (9) is fixed in the motor cover of described electric machine support (1), and the axis of described gyro machine main shaft and described left and right connecting axle (2,3) in vertical state.
5. the micro helicopter of employing minisize gyroscopes control system according to claim 4, it is characterized in that: mechanism comprises the rocking arm (7) of the bottom band rotating shaft of being located at described outside framework (4) top in described time, the rotating shaft of described rocking arm (7) bottom penetrates described outside framework (4) and is connected with the left connecting axle (2) of described electric machine support (1), comprises that also an end is fixed in time middle steel wire (8) that described outside framework (4) the top other end is connected with described rocking arm (7).
6. the micro helicopter of employing minisize gyroscopes control system according to claim 5 is characterized in that: described outside framework (4) top is provided with that steel wire (8) makes its tight bridge screw (11) in described time of the pressure holding.
7. the micro helicopter of employing minisize gyroscopes control system according to claim 6 is characterized in that: described rocking arm (7) both sides are provided with the limited block (12) of the described rocking arm of restriction (7) rotation amplitude in described outside framework (4) top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201720039U CN201076760Y (en) | 2007-09-21 | 2007-09-21 | Mini-helicopter employing minitype gyroscope control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201720039U CN201076760Y (en) | 2007-09-21 | 2007-09-21 | Mini-helicopter employing minitype gyroscope control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201076760Y true CN201076760Y (en) | 2008-06-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007201720039U Expired - Fee Related CN201076760Y (en) | 2007-09-21 | 2007-09-21 | Mini-helicopter employing minitype gyroscope control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201076760Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105973270A (en) * | 2016-07-07 | 2016-09-28 | 哈尔滨工程大学 | Angular momentum detecting and compensating method for gyro orientation mechanism |
| CN109606671A (en) * | 2018-12-07 | 2019-04-12 | 深圳天鹰兄弟无人机创新有限公司 | Unmanned helicopter |
-
2007
- 2007-09-21 CN CNU2007201720039U patent/CN201076760Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105973270A (en) * | 2016-07-07 | 2016-09-28 | 哈尔滨工程大学 | Angular momentum detecting and compensating method for gyro orientation mechanism |
| CN105973270B (en) * | 2016-07-07 | 2019-06-11 | 哈尔滨工程大学 | A kind of detection of gyrocompassing instrument angular momentum and compensation method |
| CN109606671A (en) * | 2018-12-07 | 2019-04-12 | 深圳天鹰兄弟无人机创新有限公司 | Unmanned helicopter |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: Five hundred and eighteen thousand Patentee after: Shenzhen Art-Tech R/C Hobby Co., Ltd. Address before: Five hundred and eighteen thousand Patentee before: Shenzhen City Art-Tech Model Airplane Co.Ltd. |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080625 Termination date: 20130921 |