A vaneless helicopter and a control method thereof

Abstract

The application relates to the technical field of flight equipment, in particular to a swash plate-free helicopter and a control method thereof, which comprises a machine body, a paddle motor and a control system arranged on the machine body, and first and second paddles distributed on opposite sides of the paddle motor, the paddle motor is provided with a rotating support, opposite sides of the rotating support are respectively hinged with first and second swing bodies, and the first and second paddles are respectively connected to the first and second swing bodies; the first and second swing bodies respectively bring the first and second paddles to swing forward or backward in the rotating direction of the paddle motor, so that the pitch of the first and second paddles is changed. The application can cancel the swash plate and the rudder motor in the structure of the traditional unmanned helicopter, but the helicopter can still realize the controlled direction-changing flight, the manufacturing cost of the product is effectively reduced, the load of the machine body is reduced, the endurance is improved, the structure is simplified, and the service life of the product is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of flight equipment, in particular to a swash plate-free helicopter and a control method thereof. BACKGROUND

[0002] An unmanned helicopter can fly steadily at high altitude and change direction flexibly, and its excellent interest and entertainment are deeply loved by consumers. In order to fly steadily at high altitude and change direction flexibly, the unmanned helicopter needs to overcome its own gravity and needs an accurate direction control system. The flight of a model helicopter in the air is realized through the Bernoulli principle, that is, the high-speed rotating propeller generates air power in the air, so that the helicopter can hover in the air. As for the blade structure of the helicopter propeller, the blades on the opposite sides of the propeller are often required to form a certain pitch (or angle of attack) in the rotation direction, so that the lower side of the blade can form a certain lift during the high-speed rotation of the propeller in the air. When the rotation speed of the propeller reaches a certain speed, the lift on the lower side of the blade reaches a certain degree, so that the helicopter body can be lifted upward, and the subsequent rotation speed of the propeller can be controlled to control the rising and falling of the helicopter body. The direction control system on the helicopter is responsible for controlling the change of the direction of the helicopter body during flight. The control principle is to change the pitch (or angle of attack) of the blade at a certain rotation position, so that the air lift on the blade at the rotation position changes, and thus the air lift on the helicopter body at the position also changes. When the lift on the local position of the helicopter body changes, the body can tilt as a whole, and the helicopter body can fly in the tilted direction as the propeller continues to rotate, realizing the change of the direction of the helicopter.

[0003] However, in order to change the pitch (or angle of attack) of the propeller blade during the flight of the unmanned helicopter, the top of the body needs to be additionally provided with a swash plate, and the direction control system generally needs to be provided with a servo (generally including a rudder and an electromagnetic valve). The blades of the propeller also need to be able to rotate up and down as a whole, so that the pitch (or angle of attack) of the blades can also change with the up and down rotation of the blades. In addition, the swash plate is generally provided with a connecting rod structure controlled by the servo rudder. When the propeller of the unmanned helicopter rotates at high speed during flight, the control system only needs to drive the swash plate to move through the servo rudder, and the connecting rod structure on the swash plate can drive the blades to deflect up and down, so as to adjust and change the pitch (or angle of attack) of the blades in real time. Finally, the change of the direction of the helicopter is realized, and the flight direction of the helicopter is controlled.

[0004] Although the above prior art technical solutions can change the pitch of the blades by the rudder to control the flight direction of the helicopter, the servos with the rudder are respectively arranged on each blade of the propeller, which obviously increases the production cost of the product, the volume and weight of the servos and the electromagnetic valves are relatively large, which undoubtedly increases the load of the unmanned helicopter, thereby reducing the endurance of the helicopter, and the swash plate structure on the propeller is relatively complex and easy to be damaged, which affects the service life of the unmanned helicopter. SUMMARY

[0005] In order to solve the technical problems in the prior art to the greatest extent, the present application provides a swash plateless helicopter and a control method thereof, which can cancel the swash plate and the rudder in the structure of the traditional unmanned helicopter, but still can realize the control of the direction change of the helicopter, effectively reduce the production cost of the product and the load of the machine body, improve the endurance, and simplify the structure, which is beneficial to prolong the service life of the product.

[0006] The swash plateless helicopter comprises a machine body, a blade motor and a control system arranged on the machine body, and first and second blades distributed on opposite sides of the blade motor, the blade motor is drivingly provided with a rotating support, opposite sides of the rotating support are respectively hinged with first and second swing bodies, and the first and second blades are respectively connected to the first and second swing bodies.

[0007] The first and second swing bodies respectively bring the first and second blades to swing forward or backward in the rotating direction of the blade motor to change the pitch of the first and second blades.

[0008] The blade motor is provided with a motor encoder electrically connected to the control system, the rotating position of the blade motor is fed back to the control system in real time through the motor encoder, so that the control system can monitor the rotating position of the first and second blades in real time.

[0009] According to the swash plateless helicopter, opposite sides of the rotating support are respectively provided with first and second hinge shafts, the first swing body is pivoted to the first hinge shaft, and the second swing body is pivoted to the second hinge shaft.

[0010] The first and second hinge shafts are parallel to each other, the first hinge shaft is obliquely arranged and the upper end thereof is obliquely directed to the rotating shaft of the rotating support, and the second hinge shaft is obliquely arranged and the lower end thereof is obliquely directed to the rotating shaft of the rotating support.

[0011] Wherein:

[0012] When the instantaneous torque of the paddle motor increases, the first swing body swings back along with the first paddle around the first hinge shaft in the rotating direction of the paddle motor, and the pitch of the first paddle increases, and the second swing body swings back along with the second paddle around the second hinge shaft in the rotating direction of the paddle motor, and the pitch of the first paddle decreases.

[0013] When the instantaneous torque of the paddle motor decreases, the first swing body swings forward along with the first paddle around the first hinge shaft in the rotating direction of the paddle motor, and the pitch of the first paddle decreases, and the second swing body swings forward along with the second paddle around the second hinge shaft in the rotating direction of the paddle motor, and the pitch of the first paddle increases.

[0014] According to the invention, the relative sides of the rotating support are respectively fixed with a first connecting arm and a second connecting arm, the height position of the first connecting arm is lower than that of the second connecting arm, the outer end of the first connecting arm is provided with a first hinge plate extending upwardly and obliquely, the outer end of the second connecting arm is provided with a second hinge plate extending downwardly and obliquely, the first hinge plate and the second hinge plate are parallel to each other, and the upper end of the first hinge plate is level with the top of the second connecting arm, and the lower end of the second hinge plate is level with the bottom of the first connecting arm.

[0015] The inner end of the first swing body is provided with a first U-shaped paddle clamp, and the inner end of the second swing body is provided with a second U-shaped paddle clamp.

[0016] The clamping opening of the first U-shaped paddle clamp is parallelly sleeved on the first hinge plate, the clamping opening of the second U-shaped paddle clamp is parallelly sleeved on the second hinge plate, the first hinge shaft is vertically pivoted on the first hinge plate and the first U-shaped paddle clamp, and the second hinge shaft is vertically pivoted on the second hinge plate and the second U-shaped paddle clamp.

[0017] According to the invention, the end surface of the first U-shaped paddle clamp is provided with a first arc-shaped guide groove, and the end surface of the second U-shaped paddle clamp is provided with a second arc-shaped guide groove; the first limiting block located in the first arc-shaped guide groove is arranged on the first hinge plate or the first connecting arm, and the second limiting block located in the second arc-shaped guide groove is arranged on the second hinge plate or the second connecting arm.

[0018] During the reciprocating rotation of the first swing body, the first limiting block is respectively in limiting contact with the two ends of the first arc-shaped guide groove, and during the reciprocating rotation of the second swing body, the second limiting block is respectively in limiting contact with the two ends of the second arc-shaped guide groove.

[0019] According to the invention, the outer end of the first swing body is provided with a third V-shaped paddle holder, and the outer end of the second swing body is provided with a fourth V-shaped paddle holder.

[0020] The first paddle is pivoted in the third V-shaped paddle holder, and the second paddle is pivoted in the fourth V-shaped paddle holder.

[0021] The invention also provides a control method based on the above-mentioned tilt-plateless helicopter.

[0022] When the helicopter needs to be driven to change the direction of flight, the control system increases or decreases the instantaneous torque of the paddle motor at a specific rotating position to force the first swing body and the second swing body to swing back or swing forward at a specific rotating position, respectively, to change the pitch of the first paddle and the second paddle at a specific rotating position, thereby guiding the helicopter to tilt in the corresponding direction.

[0023] According to the invention, when the helicopter needs to be controlled to fly forward:

[0024] When the motor encoder detects that the first paddle and the second paddle have rotated to the rear side and the front side of the helicopter, respectively, the control system increases the instantaneous torque of the paddle motor to force the first swing body and the second swing body to swing back in the rotating direction, respectively, so that the instantaneous pitch of the swinging back first paddle increases when it is at the rear side of the helicopter, and the instantaneous pitch of the swinging back second paddle decreases when it is at the front side of the helicopter, thereby increasing the lift of the first paddle when it rotates to the rear side of the helicopter and decreasing the lift of the second paddle when it rotates to the front side of the helicopter.

[0025] When the helicopter needs to be braked in the forward flight state:

[0026] When the motor encoder detects that the first paddle and the second paddle have rotated to the rear side and the front side of the helicopter, respectively, the control system decreases the instantaneous torque of the paddle motor to force the first swing body and the second swing body to swing forward in the rotating direction, respectively, so that the instantaneous pitch of the swinging forward first paddle decreases when it is at the rear side of the helicopter, and the instantaneous pitch of the swinging forward second paddle increases when it is at the front side of the helicopter, thereby decreasing the lift of the first paddle when it rotates to the rear side of the helicopter and increasing the lift of the second paddle when it rotates to the front side of the helicopter.

[0027] According to the invention, when the helicopter needs to be controlled to fly backward:

[0028] When the motor encoders monitor that the first and second blades rotate to the front and rear sides of the body respectively, the control system increases the instantaneous torque of the blade motor, forces the first and second swing bodies to swing backward in the rotating direction along with the first and second blades respectively, increases the instantaneous pitch of the first blade swinging backward when it is at the front side of the body, and decreases the instantaneous pitch of the second blade swinging backward when it is at the rear side of the body, so as to increase the lift of the first blade when it rotates to the front side of the body and decrease the lift of the second blade when it rotates to the rear side of the body.

[0029] When the body in the backward flight state needs to be braked:

[0030] When the motor encoders monitor that the first and second blades rotate to the front and rear sides of the body respectively, the control system decreases the instantaneous torque of the blade motor, forces the first and second swing bodies to swing forward in the rotating direction along with the first and second blades respectively, decreases the instantaneous pitch of the first blade swinging forward when it is at the front side of the body, and increases the instantaneous pitch of the second blade swinging forward when it is at the rear side of the body, so as to decrease the lift of the first blade when it rotates to the front side of the body and increase the lift of the second blade when it rotates to the rear side of the body.

[0031] According to the control method of the swash plate-free helicopter, when the body needs to be controlled to fly laterally:

[0032] When the motor encoders monitor that the first and second blades rotate to the left and right sides of the body respectively, the control system increases the instantaneous torque of the blade motor, forces the first and second swing bodies to swing backward in the rotating direction along with the first and second blades respectively, increases the instantaneous pitch of the first blade swinging backward when it is at the left or right side of the body, and decreases the instantaneous pitch of the second blade swinging backward when it is at the right or left side of the body, so as to increase the lift of the first blade when it rotates to the left or right side of the body and decrease the lift of the second blade when it rotates to the right or left side of the body.

[0033] According to the control method of the swash plate-free helicopter, when the body in the lateral flight state needs to be braked:

[0034] When the control system monitors that the first and second blades rotate to the left and right sides of the body respectively by the motor encoder, the control system reduces the instantaneous torque of the blade motor, forces the first and second swing bodies to swing forward in the rotation direction with the first and second blades respectively, reduces the instantaneous pitch of the forward swinging first blade when it is at the left or right side of the body, and increases the instantaneous pitch of the forward swinging second blade when it is at the right or left side of the body, so as to reduce the lift of the first blade when it rotates to the left or right side of the body and improve the lift of the second blade when it rotates to the right or left side of the body.

[0035] The application discloses a kind of swash plateless helicopter, rotatory support is driven on paddle motor, the rotatory support is not directly connected to first paddle and second paddle, but additionally connect a first swing body between rotatory support and first paddle, also additionally connect a second swing body between rotatory support and second paddle, first swing body and second swing body are hinged in the opposite sides of the rotatory support.After first swing body and second swing body are hinged in the opposite sides of the rotatory support respectively, the forward or backward swing in the rotation direction of the paddle motor is generated by the first swing body along with the first paddle, the pitch of the first paddle is changed by the swing action of the first swing body, similarly, the forward or backward swing in the rotation direction of the paddle motor is also generated by the second swing body along with the second paddle, the pitch of the second paddle is changed by the swing action of the second swing body, as long as the instantaneous torque of the paddle motor is lifted or lowered by control system during flight, first swing body and second swing body can swing in the rotation direction of the paddle motor respectively due to inertia, and first paddle and second paddle can be swung along and the pitch is changed.Therefore, the structure of the unmanned helicopter of the application can still adjust the pitch of each paddle of the propeller in the rotating state even if the swash plate and rudder are cancelled. In addition, the paddle motor is also provided with a motor encoder electrically connected to the internal control system of the helicopter, which feeds back the rotation position of the paddle motor to the control system in real time, so that the control system of the helicopter can monitor the rotation position of the first paddle and the second paddle in real time. Therefore, when the flight direction of the helicopter body needs to be changed in actual use, the control system only needs to judge the rotation position of the first paddle and the second paddle through the motor encoder and control the instantaneous torque of the paddle motor at the corresponding rotation position, so that the first paddle and the second paddle change the pitch by inertia swing of first swing body and second swing body when they reach the corresponding rotation position, thereby increasing or decreasing the air lift of the first paddle and the second paddle at the corresponding position, the air lift of the helicopter body at the corresponding position is also changed, so that the local position of the helicopter body is lifted or lowered due to the change of the air lift, the helicopter can be tilted as a whole, and the helicopter body can fly and move in the tilted direction as the propeller continues to rotate, realizing the change of the flight direction of the helicopter.

[0036] The control method of the vaneless helicopter of the application is based on the structure scheme of the vaneless helicopter of the application, when the body needs to be driven to change direction, the control system first increases or decreases the instantaneous torque of the blade motor at a specific rotation position, so that the first swing body and the second swing body can be forced to swing backward or forward at the specific rotation position by inertia, so that the pitch of the first blade and the second blade at the specific rotation position can be changed, the air lift received by the body at the corresponding position can be changed by changing the pitch of the first blade and the second blade at the specific rotation position, the local position of the body is lifted or lowered due to the change of the air lift, so that the whole body is inclined in the corresponding direction, so that the helicopter body can fly in the inclined direction, realizing the change of the helicopter flight direction.

[0037] Therefore, the technical scheme of the application can cancel the swash plate and rudder mechanism in the structure of the traditional unmanned helicopter, but still can realize the control of the change of the helicopter flight direction, effectively reduce the manufacturing cost of the product and the load of the body, improve the endurance, and simplify the structure, which is beneficial to prolong the service life of the product. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical scheme in the application or the prior art, the drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0039] Figure 1 It is the overall structure diagram of the helicopter of the application;

[0040] Figure 2 It is the side view of the helicopter of the application;

[0041] Figure 3 It is the partial structure diagram of the side of the helicopter of the application;

[0042] Figure 4 It is the explosion diagram of the rotating support, the first swing body and the second swing body in the helicopter of the application;

[0043] Figure 5 It is the partial structure diagram of the helicopter of the application;

[0044] Figure 6 It is the schematic diagram of the method for controlling the helicopter to fly forward of the application;

[0045] Figure 7 It is the schematic diagram of the method for controlling the helicopter to brake backward of the application;

[0046] Figure 8 Schematic diagram of a method for controlling a helicopter to fly backwards according to the present invention;

[0047] Figure 9 Schematic diagram of a method for controlling forward braking of a helicopter according to the present invention;

[0048] Figure 10 Schematic diagram of a method for controlling a helicopter to fly left according to the present invention;

[0049] Figure 11 It is a schematic diagram of a method for controlling a helicopter to brake right according to the present invention.

[0050] Reference numerals:

[0051] 1. Body, 2. Propeller motor, 3. First propeller, 4. Second propeller, 5. Rotating bracket, 6. First swinging body, 7. Second swinging body, 8. First hinge shaft, 9. Second hinge shaft, 10. First connecting arm, 11. Second connecting arm, 12. First hinge plate,

[0052] 13. Second hinged plate, 14. First C-shaped paddle clamp, 15. Second C-shaped paddle clamp, 16. First arc-shaped guide groove, 17. Second arc-shaped guide groove, 18. First limit block, 19. Second limit block, 20. Third C-shaped paddle clamp, 21. Fourth C-shaped paddle clamp. DETAILED DESCRIPTION

[0053] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0054] like Figures 1 to 5The helicopter of the embodiment comprises a body 1, a propeller motor 2 is installed on the body 1, and the operation of the propeller motor 2 is controlled by a control system in the body 1. Similar to the existing structure, opposite sides of the propeller motor 2 are provided with a first propeller 3 and a second propeller 4. When in operation, the propeller motor 2 drives the first propeller 3 and the second propeller 4 to rotate in a clockwise direction. The different structure is that a rotating support 5 is arranged on the top of the propeller motor 2, and opposite sides of the rotating support 5 are respectively hinged with a first swing body 6 and a second swing body 7. The first propeller 3 and the second propeller 4 are respectively connected to the first swing body 6 and the second swing body 7. The first swing body 6 and the second swing body 7 respectively bring the first propeller 3 and the second propeller 4 to swing forward or backward in the rotating direction of the propeller motor 2, so as to change the pitch of the first propeller 3 and the second propeller 4. In addition, the propeller motor 2 is provided with a motor encoder electrically connected to the control system. The motor encoder feeds back the rotating position of the propeller motor 2 to the control system in real time, so that the control system can monitor the rotating position of the first propeller 3 and the second propeller 4 in real time.

[0055] It can be understood that the no-inclined disc helicopter of the embodiment is provided with a rotating support 5 on the blade motor 2, the rotating support 5 is not directly connected to the first blade 3 and the second blade 4, but a first swing body 6 is additionally connected between the rotating support 5 and the first blade 3, and a second swing body 7 is additionally connected between the rotating support 5 and the second blade 4, the first swing body 6 and the second swing body 7 are hinged on opposite sides of the rotating support 5. After the first swing body 6 and the second swing body 7 are hinged on opposite sides of the rotating support 5 respectively, the first swing body 6 and the first blade 3 swing forward or backward in the rotating direction of the blade motor 2, the pitch of the first blade 3 is changed by the swing action of the first swing body 6, similarly, the second swing body 7 and the second blade 4 also swing forward or backward in the rotating direction of the blade motor 2, the pitch of the second blade 4 is changed by the swing action of the second swing body 7, so that the first swing body 6 and the second swing body 7 can swing in the rotating direction of the blade motor 2 due to inertia as long as the instantaneous torque of the blade motor 2 is lifted or lowered by the control system during flight, and the first blade 3 and the second blade 4 can be swung and the pitch can be changed. Therefore, the unmanned helicopter structure of the present application can still adjust the pitch of each blade of the propeller in the rotating state even if the inclined disc and the rudder are cancelled. In addition, the blade motor 2 is also provided with a motor encoder electrically connected to the internal control system of the helicopter, the rotating position of the blade motor 2 is fed back to the control system in real time through the motor encoder, so that the control system of the helicopter can monitor the rotating position of the first blade 3 and the second blade 4 in real time. Therefore, when the flight direction of the helicopter body 1 needs to be changed in actual use, the control system only needs to judge the rotating position of the first blade 3 and the second blade 4 through the motor encoder and control the instantaneous torque of the blade motor 2 at the corresponding rotating position, so that the first blade 3 and the second blade 4 change the pitch by inertia swing of the first swing body 6 and the second swing body 7 when they reach the corresponding rotating position, thereby increasing or decreasing the air lift of the first blade 3 and the second blade 4 at the corresponding position, the air lift of the helicopter body 1 at the corresponding position also changes, so that the local position of the helicopter body 1 is lifted or lowered due to the change of the lift, the helicopter can be tilted as a whole, and the helicopter body can fly and move in the tilted direction as the propeller continues to rotate, realizing the change of the flight direction of the helicopter.

[0056] In one embodiment, specifically, the opposite sides of the rotating support 5 are respectively provided with a first hinged shaft 8 and a second hinged shaft 9, the first swing body 6 is pivoted to the first hinged shaft 8, and the second swing body 7 is pivoted to the second hinged shaft 9, so that the first swing body 6 and the second swing body 7 can swing on the two sides of the rotating support 5 respectively. In addition, the first hinged shaft 8 and the second hinged shaft 9 are parallel to each other, the first hinged shaft 8 is inclined, and the upper end of the first hinged shaft 8 is inclined to the rotating shaft of the rotating support 5, and the second hinged shaft 9 is also inclined, and the lower end of the second hinged shaft 9 is inclined to the rotating shaft of the rotating support 5, the first hinged shaft 8 and the second hinged shaft 9 are both inclined by 45°, under the action of the above structure, when the instantaneous torque change of the paddle motor 2 causes the inertial swing of the first swing body 6 and the second swing body 7 in the rotating direction of the paddle motor 2, it can be ensured that the pitch change of the first paddle 3 and the second paddle 4 is opposite to each other, and the amplitude of the pitch change is the same, for example, when the instantaneous torque of the paddle motor 2 increases and causes the inertial swing of the first swing body 6 and the second swing body 7 in the rotating direction of the paddle motor 2, the above structure can ensure that the pitch of the first paddle 3 increases, and the pitch of the second paddle 4 decreases, and the increase amplitude of the pitch of the first paddle 3 is the same as the decrease amplitude of the pitch of the second paddle 4.

[0057] Specifically, in the embodiment, when the instantaneous torque of the propeller motor 2 increases, the first swing body 6 swings back along with the first propeller 3 around the first hinge shaft 8 in the rotation direction of the propeller motor 2 and increases the pitch of the first propeller 3, and the second swing body 7 swings back along with the second propeller 4 around the second hinge shaft 9 in the rotation direction of the propeller motor 2 and decreases the pitch of the first propeller 3, so that when the torque of the propeller motor 2 increases instantaneously, the first swing body 6 and the second swing body 7 swing back in the rotation direction of the propeller motor 2 due to inertia, so that the pitch of the first propeller 3 instantaneously increases and the pitch of the second propeller 4 instantaneously decreases, at this time, the instantaneous lift received by the first propeller 3 increases, on the contrary, the instantaneous lift received by the second propeller 4 decreases, the first propeller 3 with the instantaneous increase of the lift can drive the body 1 to lift at the position where the first propeller 3 is located, and the second propeller 4 with the instantaneous decrease of the lift can guide the body 1 to descend at the position where the second propeller 4 is located, at this time, the body 1 can be tilted as a whole, and the helicopter can move in the direction of the tilt along with the air thrust generated by the continued rotation of the propeller, so as to realize the change of the moving direction of the helicopter. In addition, in the embodiment, when the instantaneous torque of the propeller motor 2 decreases, the first swing body 6 swings forward along with the first propeller 3 around the first hinge shaft 8 in the rotation direction of the propeller motor 2 and decreases the pitch of the first propeller 3, and the second swing body 7 swings forward along with the second propeller 4 around the second hinge shaft 9 in the rotation direction of the propeller motor 2 and increases the pitch of the first propeller 3. Therefore, when the torque of the propeller motor 2 decreases instantaneously, the first swing body 6 and the second swing body 7 swing forward in the rotation direction of the propeller motor 2 due to inertia, so that the pitch of the first propeller 3 instantaneously decreases and the pitch of the second propeller 4 instantaneously increases, at this time, the instantaneous lift received by the first propeller 3 decreases, on the contrary, the instantaneous lift received by the second propeller 4 increases, the first propeller 3 with the instantaneous decrease of the lift can guide the body 1 to descend at the position where the first propeller 3 is located, and the second propeller 4 with the instantaneous increase of the lift can guide the body 1 to lift at the position where the second propeller 4 is located, so as to make the body 1 moving in the above-mentioned tilted state tilt in the opposite direction, so as to realize the deceleration of the body 1 moving in the changed direction and realize the brake function.

[0058] In one embodiment, with respect to the specific structure of the rotating support 5, the opposite sides of the rotating support 5 are integrally formed with a first connecting arm 10 and a second connecting arm 11 respectively, the height position of the first connecting arm 10 is lower than that of the second connecting arm 11, the outer end of the first connecting arm 10 is integrally formed with a first hinged plate 12 extending obliquely upward, the outer end of the second connecting arm 11 is integrally formed with a second hinged plate 13 extending obliquely downward, the first hinged plate 12 and the second hinged plate 13 are parallel to each other, and the upper end of the first hinged plate 12 is flush with the top of the second connecting arm 11, while the lower end of the second hinged plate 13 is flush with the bottom of the first connecting arm 10. In addition, the inner end of the first oscillating body 6 is provided with a first U-shaped paddle clamp 14, and the inner end of the second oscillating body 7 is provided with a second U-shaped paddle clamp 15. During assembly, the clamping opening of the first U-shaped paddle clamp 14 is parallelly sleeved on the first hinged plate 12, and the first hinged shaft 8 is vertically pivoted on the first hinged plate 12 and the first U-shaped paddle clamp 14, so as to facilitate the oblique installation of the first hinged shaft 8, and facilitate the first oscillating body 6 and the rotating support 5 to be hinged together with the obliquely arranged first hinged shaft 8, so that the first oscillating body 6 can swing around the first hinged shaft 8 together with the first paddle blade 3, and the pitch of the first paddle blade 3 can be easily changed. Similarly, during assembly, the clamping opening of the second U-shaped paddle clamp 15 is parallelly sleeved on the second hinged plate 13, and the second hinged shaft 9 is vertically pivoted on the second hinged plate 13 and the second U-shaped paddle clamp 15, so as to facilitate the oblique installation of the second hinged shaft 9, and facilitate the second oscillating body 7 and the rotating support 5 to be hinged together with the obliquely arranged second hinged shaft 9, so that the second oscillating body 7 can swing around the second hinged shaft 9 together with the second paddle blade 4, and the pitch of the second paddle blade 4 can be easily changed. In addition, the positions of the first connecting arm 10 and the second connecting arm 11 and the oblique extension direction and extension height of the first hinged plate 12 and the second hinged plate 13 in the above-mentioned structure of the rotating support 5 can ensure that the pitch changes of the first paddle blade 3 and the second paddle blade 4 are opposite to each other when the first oscillating body 6 and the second oscillating body 7 inertially swing in the rotation direction of the paddle motor 2, i.e. when the instantaneous torque of the paddle motor 2 increases and causes the first oscillating body 6 and the second oscillating body 7 to inertially swing backward in the rotation direction of the paddle motor 2, the above-mentioned structure can ensure that the pitch of the first paddle blade 3 increases and the pitch of the second paddle blade 4 decreases, which can ultimately help to guide the helicopter body 1 to tilt as a whole and realize the directional flight of the body 1.

[0059] In one embodiment, specifically, the end face of the first V-shaped paddle clamp 14 is machined with a first arc-shaped guide groove 16, the end face of the second V-shaped paddle clamp 15 is machined with a second arc-shaped guide groove 17, correspondingly, the first connecting arm 10 of the first hinged plate 12 is fixed with a first limiting block 18 located in the first arc-shaped guide groove 16, and the second connecting arm 11 of the second hinged plate 13 is fixed with a second limiting block 19 located in the second arc-shaped guide groove 17. During the reciprocating rotation of the first arc-shaped guide groove 16 with the first swing body 6, the first limiting block 18 is respectively limited to contact the two ends of the first arc-shaped guide groove 16, so as to limit the rotation angle of the first swing body 6, so that the change of the pitch of the first paddle 3 during the swinging of the first swing body 6 can be controlled within a reasonable range, and similarly, during the reciprocating rotation of the second arc-shaped guide groove 17 with the second swing body 7, the second limiting block 19 is respectively limited to contact the two ends of the second arc-shaped guide groove 17, so as to limit the rotation angle of the second swing body 7, so that the change of the pitch of the second paddle 4 during the swinging of the second swing body 7 can be controlled within a reasonable range.

[0060] In one embodiment, specifically, the outer end of the first swing body 6 is provided with a third V-shaped paddle clamp 20, and the first paddle 3 is pivoted in the third V-shaped paddle clamp 20, and the outer end of the second swing body 7 is provided with a fourth V-shaped paddle clamp 21, and the second paddle 4 is pivoted in the fourth V-shaped paddle clamp 21, which can facilitate the extension and folding of the first paddle 3 and the second paddle 4 on the rotating support 5.

[0061] Based on the unmanned helicopter structure of the above embodiment, the embodiment also implements a control method of the non-tilt-board helicopter, and the control method is as follows: after starting the paddle motor 2 of the helicopter to drive the paddles of each propeller to rotate at high speed in the clockwise direction to make the whole body 1 ascend, at this time the body 1 is in the state of hovering in the air, when it is needed to change the direction of flight (forward, left, right or backward), first, the control system is used to increase or decrease the instantaneous torque of the paddle motor 2 at a specific rotating position, so as to force the first swing body 6 and the second swing body 7 to swing backward or forward at the specific rotating position under the action of inertia, respectively, with the first paddle 3 and the second paddle 4, after the first paddle 3 and the second paddle 4 are triggered to swing at the specific rotating position, the pitch of the first paddle 3 and the second paddle 4 at the specific rotating position can be changed, and then the lift of the first paddle 3 and the second paddle 4 at this position can be changed, so that the lift of the body 1 at the local position can be changed, the body 1 in the air can be guided to produce inclination in the corresponding direction, and after the helicopter is inclined to a certain degree, the helicopter can automatically move in the inclined direction, so as to realize the change of the direction of flight of the helicopter.

[0062] Specifically, combined with Figure 6 As shown in the figure, when it is needed to control the body 1 to fly forward, the control is executed as follows:

[0063] When the blades of the helicopter's propeller motor 2 are driven to rotate at high speed in the clockwise direction to make the body 1 hover in the air, and the motor encoder monitors that the first blade 3 and the second blade 4 have rotated to the rear side and the front side of the body 1 respectively, the control system increases the instantaneous torque of the propeller motor 2 (which can be understood as instantaneously increasing the rotating speed of the propeller motor 2), under the action of inertia, forcing the first swing body 6 and the second swing body 7 to swing backward together with the first blade 3 and the second blade 4 in the rotating direction of the propeller motor 2, thereby increasing the instantaneous pitch of the first blade 3 when it swings backward to the rear side of the body 1, and simultaneously reducing the instantaneous pitch of the second blade 4 when it swings backward to the front side of the body 1. Subsequently, the motor encoder can also provide real-time feedback to the control system on the rotating positions of the first blade 3 and the second blade 4. The control system continues to increase the instantaneous pitch of the first blade 3 when it is at the rear side of the body 1 and reduce the instantaneous pitch of the second blade 4 when it is at the front side of the body 1 by increasing the instantaneous torque of the propeller motor 2 every time the control system monitors that the first blade 3 and the second blade 4 have rotated to the rear side and the front side of the body 1 respectively. In this way, the lift of the first blade 3 when it rotates to the rear side of the body 1 can be increased, and the lift of the second blade 4 when it rotates to the front side of the body 1 can be reduced. The first blade 3 with instantaneously increased lift can drive the body 1 to lift at the rear side of the body 1, and the second blade 4 with instantaneously reduced lift can guide the body 1 to descend at the front side of the body 1. At this time, the body 1 can be tilted forward as a whole. With the air thrust generated by the continued rotation of the propeller, the helicopter can fly forward, realizing the change of the helicopter from hovering state to forward flight.

[0064] In combination Figure 7 As shown, when the body 1 in the above forward flight state needs to be braked backward, the control is performed as follows:

[0065] When the first and second blades 3 and 4 are monitored by the motor encoder to rotate to the rear and front side positions of the body 1 respectively, the control system reduces the instantaneous torque of the blade motor 2 (which can be understood as reducing the rotating speed of the blade motor 2 instantaneously), under the action of inertia, the first and second swing bodies 6 and 7 are forced to swing forward in the rotating direction of the blade motor 2 along with the first and second blades 3 and 4 respectively, so that the instantaneous pitch of the forward swinging first blade 3 at the rear side position of the body 1 is reduced, and the instantaneous pitch of the forward swinging second blade 4 at the front side position of the body 1 is increased, so that the lift of the first blade 3 rotating to the rear side of the body 1 is reduced, and the lift of the second blade 4 rotating to the front side of the body 1 is increased. The first blade 3 with instantaneously reduced lift can guide the body 1 to descend at the rear side position of the body 1, and the second blade 4 with instantaneously increased lift can guide the body 1 to ascend at the front side position of the body 1, so that the body 1 in the above forward tilting flight state can be tilted in the opposite direction. Thus, the body 1 in forward flight can be braked and decelerated in the opposite direction, and the braking function can be realized.

[0066] Optionally, in combination with Figure 8 As shown, when it is needed to control the body 1 to fly backward, the control is performed as follows:

[0067] When the blades of the helicopter's propeller motor 2 are driven to rotate at high speed in the clockwise direction to make the body 1 hover in the air, and the motor encoder monitors that the first blade 3 and the second blade 4 have rotated to the front side and the rear side of the body 1 respectively, the control system increases the instantaneous torque of the propeller motor 2 (which can be understood as instantaneously increasing the rotating speed of the propeller motor 2), and under the action of inertia, forces the first swing body 6 and the second swing body 7 to swing backward in the rotating direction of the propeller motor 2 together with the first blade 3 and the second blade 4 respectively, so that the instantaneous pitch of the first blade 3 swinging backward increases when it is at the front side of the body 1, and the instantaneous pitch of the second blade 4 swinging backward decreases when it is at the rear side of the body 1. Subsequently, the motor encoder can continue to provide real-time feedback to the control system on the rotating positions of the first blade 3 and the second blade 4, and the control system can continue to increase the instantaneous pitch of the first blade 3 when it is at the front side of the body 1 and decrease the instantaneous pitch of the second blade 4 when it is at the rear side of the body 1 by increasing the instantaneous torque of the propeller motor 2 every time the control system monitors that the first blade 3 and the second blade 4 have rotated to the front side and the rear side of the body 1 respectively. In this way, the lift of the first blade 3 when it rotates to the front side of the body 1 can be increased, and the lift of the second blade 4 when it rotates to the rear side of the body 1 can be decreased. The first blade 3 with instantaneously increased lift can drive the body 1 to lift at the front side of the body 1, and the second blade 4 with instantaneously decreased lift can guide the body 1 to descend at the rear side of the body 1. At this time, the body 1 can be tilted backward as a whole, and the helicopter can fly backward under the action of the air thrust generated by the continued rotation of the propeller, realizing the change of the helicopter from hovering state to backward flight.

[0068] In combination Figure 9 As shown, when the body 1 in the above-mentioned backward flight state needs to be braked forward, the control is performed as follows:

[0069] When the first and second blades 3 and 4 are monitored by the motor encoder to rotate to the front and rear side positions of the body 1 respectively, the control system reduces the instantaneous torque of the blade motor 2 (which can be understood as instantaneously reducing the rotating speed of the blade motor 2), under the action of inertia, forces the first and second swing bodies 6 and 7 to swing forward in the rotating direction of the blade motor 2 together with the first and second blades 3 and 4 respectively, and then makes the instantaneous pitch of the forward swinging first blade 3 decrease when it is at the front side position of the body 1, and at the same time makes the instantaneous pitch of the forward swinging second blade 4 increase when it is at the rear side position of the body 1, so as to reduce the lift of the first blade 3 when it rotates to the front side position of the body 1, and increase the lift of the second blade 4 when it rotates to the rear side position of the body 1. The first blade 3 with instantaneously reduced lift can guide the body 1 to descend at the front side position of the body 1, and the second blade 4 with instantaneously increased lift can guide the body 1 to ascend at the rear side position of the body 1, so as to make the body 1 in the above backward tilting flight state tilt in the opposite direction, so as to realize the forward braking and deceleration of the body 1 in the backward flight, and realize the braking function.

[0070] Optionally, in combination with Figure 10 As shown, when it is needed to control the body 1 to fly laterally, the embodiment takes the body 1 needing to fly to the left side as an example, and performs control as follows:

[0071] When the blades of the helicopter's propeller motor 2 are driven to rotate at high speed in the clockwise direction to make the body 1 hover in the air, and the motor encoder monitors that the first blade 3 and the second blade 4 rotate to the right side and the left side of the body 1 respectively, the control system increases the instantaneous torque of the propeller motor 2 (which can be understood as instantaneously increasing the rotating speed of the propeller motor 2), and under the action of inertia, forces the first swing body 6 and the second swing body 7 to swing backward in the rotating direction of the propeller motor 2 together with the first blade 3 and the second blade 4 respectively, thereby increasing the instantaneous pitch of the first blade 3 when it swings backward at the right side of the body 1 and reducing the instantaneous pitch of the second blade 4 when it swings backward at the left side of the body 1. Subsequently, the motor encoder can continue to provide real-time feedback to the control system on the rotating positions of the first blade 3 and the second blade 4. The control system continues to increase the instantaneous pitch of the first blade 3 when it is at the right side of the body 1 and reduce the instantaneous pitch of the second blade 4 when it is at the left side of the body 1 by increasing the instantaneous torque of the propeller motor 2 every time the control system monitors that the first blade 3 and the second blade 4 rotate to the right side and the left side of the body 1 respectively. In this way, the lift of the first blade 3 when it rotates to the right side of the body 1 can be increased, and the lift of the second blade 4 when it rotates to the left side of the body 1 can be reduced. The first blade 3 with instantaneously increased lift can drive the body 1 to lift at the right side of the body 1, and the second blade 4 with instantaneously reduced lift can guide the body 1 to descend at the left side of the body 1. At this time, the body 1 can be tilted to the left as a whole. With the air thrust generated by the continued rotation of the propeller, the helicopter can fly to the left side, realizing the change of the helicopter from hovering state to flying to the left side.

[0072] In combination Figure 11 As shown, when the body 1 in the state of flying to the left side needs to be braked to the right side, the control is performed as follows:

[0073] When the first paddle 3 and the second paddle 4 are monitored to rotate to the right side and the left side of the body 1 respectively by using the motor encoder, the control system reduces the instantaneous torque of the paddle motor 2 (it can be understood that the rotating speed of the paddle motor 2 is reduced instantaneously), under the action of inertia, the first swing body 6 and the second swing body 7 are forced to swing forward in the rotating direction of the paddle motor 2 together with the first paddle 3 and the second paddle 4 respectively, so that the instantaneous pitch of the first paddle 3 swinging forward at the right side of the body 1 is reduced, and the instantaneous pitch of the second paddle 4 swinging forward at the left side of the body 1 is increased, so that the lift of the first paddle 3 rotating to the right side of the body 1 is reduced, and the lift of the second paddle 4 rotating to the left side of the body 1 is increased, the first paddle 3 with the instantaneous reduced lift can guide the body 1 to descend at the right side of the body 1, and the second paddle 4 with the instantaneous increased lift can guide the body 1 to ascend at the left side of the body 1, so that the body 1 in the left tilting flight state can be tilted in the opposite direction, so that the body 1 flying to the left can be braked and decelerated to the right, and the brake function can be realized.

[0074] It can be known from the above-mentioned structure of the non-inclined disc helicopter and the control method of the non-inclined disc helicopter that the technical scheme of the helicopter can cancel the inclined disc and the steering engine in the structure of the traditional unmanned helicopter, but still can realize the control of the directional flight of the helicopter, effectively reduces the manufacturing cost of the product and the load of the body, improves the endurance, and simplifies the structure, which is beneficial to prolong the service life of the product.

[0075] The above examples are only used to illustrate the technical scheme of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical scheme recorded in the foregoing examples can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical scheme deviate from the spirit and scope of the technical scheme of the embodiments of the present application.

Claims

1. A vaneless helicopter comprising a body (1), a blade motor (2) and a control system arranged on said body (1) and a first blade (3), a second blade (4) distributed on opposite sides of said blade motor (2), characterized in that, The paddle motor (2) transmission is provided with a rotating support (5), the opposite sides of the rotating support (5) are respectively hinged with a first swing body (6) and a second swing body (7), the first paddle (3) and the second paddle (4) are connected on the first swing body (6) and the second swing body (7) respectively; Wherein, the first swing body (6) and the second swing body (7) respectively bring the first paddle (3) and the second paddle (4) to swing forward or backward in the rotating direction of the paddle motor (2) to change the pitch of the first paddle (3) and the second paddle (4); The paddle motor (2) is provided with a motor encoder electrically connected to the control system, the rotating position of the paddle motor (2) is fed back to the control system in real time through the motor encoder, so that the control system can monitor the rotating position of the first paddle (3) and the second paddle (4) in real time; The opposite sides of the rotating support (5) are respectively provided with a first hinged shaft (8) and a second hinged shaft (9); the first swing body (6) is pivoted to the first hinged shaft (8), and the second swing body (7) is pivoted to the second hinged shaft (9); The first hinged shaft (8) and the second hinged shaft (9) are parallel to each other; the first hinged shaft (8) is inclined and the upper end thereof is inclined to the rotating shaft of the rotating support (5), and the second hinged shaft (9) is inclined and the lower end thereof is inclined to the rotating shaft of the rotating support (5); Wherein: When the instantaneous torque of the paddle motor (2) increases, the first swing body (6) swings backward around the first hinged shaft (8) with the first paddle (3) in the rotating direction of the paddle motor (2) and increases the pitch of the first paddle (3), and the second swing body (7) swings backward around the second hinged shaft (9) with the second paddle (4) in the rotating direction of the paddle motor (2) and decreases the pitch of the first paddle (3); When the instantaneous torque of the paddle motor (2) decreases, the first swing body (6) swings forward around the first hinged shaft (8) with the first paddle (3) in the rotating direction of the paddle motor (2) and decreases the pitch of the first paddle (3), and the second swing body (7) swings forward around the second hinged shaft (9) with the second paddle (4) in the rotating direction of the paddle motor (2) and increases the pitch of the first paddle (3); The opposite sides of the rotating support (5) are respectively fixed with a first connecting arm (10) and a second connecting arm (11), the height position of the first connecting arm (10) is lower than that of the second connecting arm (11); the outer end of the first connecting arm (10) is provided with an inclined first hinged plate (12) extending upward, and the outer end of the second connecting arm (11) is provided with an inclined second hinged plate (13) extending downward; the first hinged plate (12) and the second hinged plate (13) are parallel to each other, and the upper end of the first hinged plate (12) is flush with the top of the second connecting arm (11), and the lower end of the second hinged plate (13) is flush with the bottom of the first connecting arm (10). The inner end of the first swing body (6) is provided with a first U-shaped paddle clamp (14), and the inner end of the second swing body (7) is provided with a second U-shaped paddle clamp (15); The first U-shaped paddle clamp (14) is parallelly sleeved with the first hinged plate (12), and the second U-shaped paddle clamp (15) is parallelly sleeved with the second hinged plate (13); the first hinged shaft (8) is vertically pivoted with the first hinged plate (12) and the first U-shaped paddle clamp (14), and the second hinged shaft (9) is vertically pivoted with the second hinged plate (13) and the second U-shaped paddle clamp (15).

2. The swash plate-less helicopter according to claim 1, characterized by The end surface of the first U-shaped paddle clamp (14) is provided with a first arc-shaped guide groove (16), and the end surface of the second U-shaped paddle clamp (15) is provided with a second arc-shaped guide groove (17); the first hinged plate (12) or the first connecting arm (10) is provided with a first limiting block (18) located in the first arc-shaped guide groove (16), and the second hinged plate (13) or the second connecting arm (11) is provided with a second limiting block (19) located in the second arc-shaped guide groove (17); The first arc-shaped guide groove (16) is in contact with the first limiting block (18) at both ends of the first arc-shaped guide groove (16) during the reciprocating rotation of the first swing body (6), and the second arc-shaped guide groove (17) is in contact with the second limiting block (19) at both ends of the second arc-shaped guide groove (17) during the reciprocating rotation of the second swing body (7).

3. The swash plate-less helicopter according to claim 1, characterized by The outer end of the first swing body (6) is provided with a third U-shaped paddle clamp (20), and the outer end of the second swing body (7) is provided with a fourth U-shaped paddle clamp (21); The first paddle (3) is pivoted in the third U-shaped paddle clamp (20), and the second paddle (4) is pivoted in the fourth U-shaped paddle clamp (21).

4. A control method of the vaneless cam control helicopter according to any one of claims 1 to 3, characterized in that: When it is needed to drive the aircraft (1) to change direction, the control system is used to increase or decrease the instantaneous torque of the paddle motor (2) at a specific rotation position to force the first swing body (6) and the second swing body (7) to swing backward or forward at a specific rotation position, so as to change the pitch of the first paddle (3) and the second paddle (4) at a specific rotation position and guide the aircraft (1) to tilt in a corresponding direction.

5. The control method of the swash plate-less helicopter according to claim 4, characterized by, When it is needed to control the aircraft (1) to fly forward: When the motor encoders monitor that the first and second blades (3, 4) have rotated to the rear and front side positions of the body (1) respectively, the control system increases the instantaneous torque of the blade motor (2), forces the first and second swing bodies (6, 7) to swing backward in the rotating direction together with the first and second blades (3, 4) respectively, increases the instantaneous pitch of the first blade (3) when it swings backward at the rear side of the body (1), and decreases the instantaneous pitch of the second blade (4) when it swings backward at the front side of the body (1), so as to increase the lift of the first blade (3) when it rotates to the rear side of the body (1) and decrease the lift of the second blade (4) when it rotates to the front side of the body (1). When the body (1) in the forward flight state needs to be braked: When the motor encoders monitor that the first and second blades (3, 4) have rotated to the rear and front side positions of the body (1) respectively, the control system decreases the instantaneous torque of the blade motor (2), forces the first and second swing bodies (6, 7) to swing forward in the rotating direction together with the first and second blades (3, 4) respectively, decreases the instantaneous pitch of the first blade (3) when it swings forward at the rear side of the body (1), and increases the instantaneous pitch of the second blade (4) when it swings forward at the front side of the body (1), so as to decrease the lift of the first blade (3) when it rotates to the rear side of the body (1) and increase the lift of the second blade (4) when it rotates to the front side of the body (1).

6. The control method of the swash plate-less helicopter according to claim 4, characterized by, When the body (1) needs to be controlled to fly backward: When the motor encoders monitor that the first and second blades (3, 4) have rotated to the front and rear side positions of the body (1) respectively, the control system increases the instantaneous torque of the blade motor (2), forces the first and second swing bodies (6, 7) to swing backward in the rotating direction together with the first and second blades (3, 4) respectively, increases the instantaneous pitch of the first blade (3) when it swings backward at the front side of the body (1), and decreases the instantaneous pitch of the second blade (4) when it swings backward at the rear side of the body (1), so as to increase the lift of the first blade (3) when it rotates to the front side of the body (1) and decrease the lift of the second blade (4) when it rotates to the rear side of the body (1). When the body (1) in the backward flight state needs to be braked: When the motor encoders monitor that the first and second blades (3, 4) have rotated to the front and rear positions of the body (1) respectively, the control system reduces the instantaneous torque of the blade motor (2), forces the first and second swing bodies (6, 7) to swing forward in the rotating direction together with the first and second blades (3, 4) respectively, reduces the instantaneous pitch of the first blade (3) when it swings forward at the front of the body (1), and increases the instantaneous pitch of the second blade (4) when it swings forward at the rear of the body (1), so as to reduce the lift of the first blade (3) when it rotates to the front of the body (1) and increase the lift of the second blade (4) when it rotates to the rear of the body (1).

7. The control method of the swash plate-less helicopter according to claim 4, characterized by, When the body (1) needs to be controlled to fly laterally: When the motor encoders monitor that the first and second blades (3, 4) have rotated to the left and right positions of the body (1) respectively, the control system increases the instantaneous torque of the blade motor (2), forces the first and second swing bodies (6, 7) to swing backward in the rotating direction together with the first and second blades (3, 4) respectively, increases the instantaneous pitch of the first blade (3) when it swings backward at the left or right of the body (1), and reduces the instantaneous pitch of the second blade (4) when it swings backward at the right or left of the body (1), so as to increase the lift of the first blade (3) when it rotates to the left or right of the body (1) and reduce the lift of the second blade (4) when it rotates to the right or left of the body (1).

8. The control method of the swash plate-less helicopter according to claim 7, characterized by, When the body (1) needs to be braked in the lateral flight state: When the motor encoders monitor that the first and second blades (3, 4) have rotated to the left and right positions of the body (1) respectively, the control system reduces the instantaneous torque of the blade motor (2), forces the first and second swing bodies (6, 7) to swing forward in the rotating direction together with the first and second blades (3, 4) respectively, reduces the instantaneous pitch of the first blade (3) when it swings forward at the left or right of the body (1), and increases the instantaneous pitch of the second blade (4) when it swings forward at the right or left of the body (1), so as to reduce the lift of the first blade (3) when it rotates to the left or right of the body (1) and increase the lift of the second blade (4) when it rotates to the right or left of the body (1).

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