Remote control helicopter without swash plate

Abstract

The utility model relates to the technical field of flight equipment, in particular to a remote control helicopter without a swash plate, which comprises a helicopter body, a servo motor, a control system, a first paddle and a second paddle, the servo motor and the control system are arranged on the helicopter body, and the first paddle and the second paddle are distributed on two opposite sides of the servo motor. A first swinging body and a second swinging body are hinged to the two opposite sides of the rotating frame correspondingly, and the first paddle and the second paddle are connected to the first swinging body and the second swinging body correspondingly; the first swinging body and the second swinging body are respectively connected with the first paddle and the second paddle to generate forward or backward swinging in the rotating direction of the servo motor, so that the screw pitches of the first paddle and the second paddle are changed. According to the utility model, a swash plate and a steering engine in a traditional unmanned helicopter structure can be canceled, but the variable-direction flight of the helicopter can still be controlled, the manufacturing cost of a product is effectively reduced, the load of a helicopter body is reduced, the cruising ability is improved, the structure is more simplified, and the service life of the product is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of flight equipment, in particular to a remote-controlled helicopter without a swash plate. Background Art

[0002] Unmanned helicopters are capable of stable flight at high altitudes and flexibly change direction. Their excellent fun and entertainment value have made them popular with consumers. However, unmanned helicopters need to be able to overcome their own gravity and have a precise directional control system to achieve stable flight and flexibly change direction at high altitudes. Model helicopters fly using the Bernoulli principle, using high-speed rotating propellers to generate aerodynamic forces in the air, allowing the helicopter to hover. Regarding the structure of helicopter propeller blades, the blades on opposite sides of the propeller are often required to form a certain pitch (or angle of attack) in the direction of rotation. This allows the underside of the blades to generate a certain amount of lift during the high-speed rotation of the propeller in the air. When the propeller speed reaches a certain level, the lift on the underside of the blades reaches a certain level, which can overcome the gravity of the helicopter body and drive the helicopter upward. The helicopter can also be controlled by controlling the rotation speed of the propeller to ascend or descend. The directional control system on the helicopter is responsible for controlling the body to achieve directional flight during flight. Its control principle is to control the pitch (or angle of attack) of the blades during rotation, so that the pitch (or angle of attack) of the propeller blades changes continuously at a certain rotation position. The air lift exerted on the blades at this rotation position will change, and thus the air lift exerted on the helicopter body at this position will also change accordingly. When the lift exerted on a local position of the helicopter body changes, the body can tilt as a whole. As the propeller continues to rotate, the helicopter body can fly and move in the tilted direction, thereby realizing the helicopter's directional flight.

[0003] However, in order to change the pitch (or angle of attack) of the propeller blades during the flight of the unmanned helicopter, the existing technology requires an additional swash plate to be installed on the top of the fuselage, and the direction control system generally requires a servo (generally including a servo and a solenoid valve). The propeller blades 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 of the servo. 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 of the servo, and the connecting rod structure on the swash plate can drive the blades to deflect up and down, thereby adjusting and changing the pitch (or angle of attack) of the blades in real time. Finally, this solution realizes the directional flight of the helicopter and controls the flight direction of the helicopter.

[0004] Although the above-mentioned existing technical solutions can change the pitch of the blades through the servo and thus control the flight direction of the helicopter, each propeller blade is equipped with a server with a servo. Compared with the need to install at least multiple servers, this will significantly increase the production cost of the product. The servo and solenoid valve of the server are also relatively large in size and weight, which will undoubtedly increase the load of the unmanned helicopter and thus reduce the helicopter's endurance. In addition, the swash plate structure on the propeller is also relatively complex and easily damaged, which affects the service life of the unmanned helicopter. Utility Model Content

[0005] In order to solve the technical problems existing in the existing technology to a certain extent as much as possible, the utility model provides a remote-controlled helicopter without a swash plate, which can eliminate the swash plate and servo in the structure of a traditional unmanned helicopter, but can still realize the control of the helicopter's directional flight, effectively reduce the manufacturing cost of the product and reduce the load of the body, improve the endurance, and the structure is more simplified, which is conducive to extending the service life of the product.

[0006] The utility model discloses a remote-controlled helicopter without a swash plate, comprising an airframe, a control system provided on the airframe and a servo motor controlled by the control system, the torque of the servo motor being controlled by the control system, and the rotation angle position of the servo motor being fed back to the control system in real time through the servo system of the servo motor, a rotating frame being provided on the top of the airframe with a transmission connection to the servo motor, a first blade and a second blade being transmission connected to the opposite sides of the rotating frame, and characterized in that a first swinging body and a second swinging body are respectively hinged on the opposite sides of the rotating frame, the first blade and the second blade are respectively connected to the first swinging body and the second swinging body; the first swinging body and the second swinging body respectively cause the first blade and the second blade to swing forward or backward in the rotation direction of the servo motor to change the pitch of the first blade and the second blade.

[0007] According to a swash plate-less remote-controlled helicopter of the present invention, a first hinge shaft and a second hinge shaft are respectively provided on opposite sides of the rotating frame; the first swinging body is pivotally connected to the first hinge shaft, and the second swinging body is pivotally connected to the second hinge shaft; the first hinge shaft and the second hinge shaft are both arranged obliquely and parallel to each other; the upper end of the first hinge shaft is tilted to point toward the rotation axis of the rotating frame, and the lower end of the second hinge shaft is tilted to point toward the rotation axis of the rotating frame;

[0008] When the instantaneous torque of the servo motor increases:

[0009] The first swinging body causes the first blade to swing backward by inertia around the first hinge axis in the direction of rotation of the servo motor and increases the pitch of the first blade, and the second swinging body causes the second blade to swing backward by inertia around the second hinge axis in the direction of rotation of the servo motor and decreases the pitch of the first blade;

[0010] When the instantaneous torque of the servo motor decreases:

[0011] The first swinging body causes the first blade to swing forward by inertia around the first hinge shaft in the rotation direction of the servo motor and reduces the pitch of the first blade; the second swinging body causes the second blade to swing forward by inertia around the second hinge shaft in the rotation direction of the servo motor and increases the pitch of the first blade.

[0012] According to a remote-controlled helicopter without a swash plate of the present invention, a first connecting arm and a second connecting arm are fixed to opposite sides of the rotating frame respectively; the outer end of the first connecting arm is provided with a first hinge plate extending obliquely upward, and the outer end of the second connecting arm is provided with a second hinge plate extending obliquely downward; the first hinge plate and the second hinge plate are parallel to each other; the inner end of the first swinging body is provided with a first propeller clamp, and the inner end of the second swinging body is provided with a second propeller clamp;

[0013] Among them, the clamping opening of the first paddle clamp is parallel to the first hinged plate, and the clamping opening of the second paddle clamp is parallel to the second hinged plate; the first hinge axis is vertically pivoted to the first hinged plate and the first paddle clamp, and the second hinge axis is vertically pivoted to the second hinged plate and the second paddle clamp.

[0014] According to a swash plate-less remote-controlled helicopter of the present invention, a first arcuate groove is formed on the end surface of the first propeller clamp, and a second arcuate groove is formed on the end surface of the second propeller clamp; a first limit block located in the first arcuate groove is provided on the first hinge plate or the first connecting arm, and a second limit block located in the second arcuate groove is provided on the second hinge plate or the second connecting arm;

[0015] In which, when the first arc groove rotates back and forth with the first swinging body, the first limit blocks are respectively limited and contacted at both ends of the first arc groove; when the second arc groove rotates back and forth with the second swinging body, the second limit blocks are respectively limited and contacted at both ends of the second arc groove.

[0016] According to a swash plate-free remote-controlled helicopter of the present invention, a third propeller clamp is provided at the outer end of the first swing body, and a fourth propeller clamp is provided at the outer end of the second swing body; the first propeller blade is pivotally connected to the third propeller clamp, and the second propeller blade is pivotally connected to the fourth propeller clamp.

[0017] According to the utility model of a remote-controlled helicopter without a swash plate, a tripod for contacting the ground is provided at the bottom of the body.

[0018] According to the utility model of a remote-controlled helicopter without a swash plate, the tripod is an elastic tripod.

[0019] According to the swash plate-less remote-controlled helicopter of the present invention, the body includes a mounting plate, and the bottom of the mounting plate is fixedly connected to the tripod.

[0020] According to the swash plate-less remote-controlled helicopter of the present invention, a battery is provided on the mounting plate, and the battery is electrically connected to the servo motor and the control system.

[0021] According to the utility model of a remote-controlled helicopter without a swash plate, a pan / tilt assembly located at the front side of the aircraft body is provided on the mounting plate.

[0022] The utility model relates to a remote-controlled helicopter without a swash plate, wherein a rotating frame is provided on a servo motor. The rotating frame is not directly connected to a first blade and a second blade, but rather a first swinging body is additionally connected between the rotating frame and the first blade, and a second swinging body is additionally connected between the rotating frame and the second blade, the first swinging body and the second swinging body being hinged on opposite sides of the rotating frame. After the first swinging body and the second swinging body are respectively hinged to the rotating frame from opposite sides, the first swinging body causes the first blade to swing forward or backward in the direction of rotation of the servo motor, and the pitch of the first blade is changed by the swinging action of the first swinging body. Similarly, the second swinging body causes the second blade to swing forward or backward in the direction of rotation of the servo motor, and the pitch of the second blade is changed by the swinging action of the second swinging body. Therefore, during flight, as long as the instantaneous torque of the servo motor is increased or decreased by the control system, the first swinging body and the second swinging body can swing in the direction of rotation of the servo motor due to inertia, and the first blade and the second blade can swing together and change their pitch. Therefore, even if the unmanned helicopter structure of the present invention does not include the swash plate and steering gear, it can still adjust the pitch of each propeller blade while rotating. Furthermore, the servo motor's servo system provides real-time feedback to the helicopter's control system regarding the rotational position of the servo motor, allowing the helicopter's control system to monitor the rotational positions of the first and second blades in real time. Therefore, when the helicopter's flight direction needs to be changed during actual use, the control system simply determines the rotational positions of the first and second blades through the servo motor's servo system and controls the servo motor's instantaneous torque at the corresponding rotational positions, causing the first and second blades to change pitch each time they reach the corresponding rotational position as the first and second oscillating bodies swing inertially. This increases or decreases the lift of the first and second blades at the corresponding positions, and the lift of the helicopter at the corresponding positions also changes accordingly, causing a local position of the helicopter to rise or fall due to the lift change, causing the helicopter to tilt as a whole. As the propellers continue to rotate, the helicopter body can fly in the tilted direction, achieving directional flight.

[0023] It can be seen from this that the technical solution of the utility model can eliminate the swash plate and servo in the traditional unmanned helicopter structure, but can still realize the control of the helicopter's directional flight, effectively reduce the manufacturing cost of the product and reduce the load of the body, improve the endurance, and the structure is simpler, which is conducive to extending the service life of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 It is the overall structural diagram of the utility model;

[0026] Figure 2 It is a side view of the utility model;

[0027] Figure 3 It is a partial structural diagram of the side of the utility model;

[0028] Figure 4 This is an exploded view of the rotating frame, the first swinging body and the second swinging body in the present invention;

[0029] Figure 5 It is a partial structural diagram of the utility model;

[0030] Figure 6 This is a schematic diagram of the operation of controlling a helicopter to fly forward according to the present invention;

[0031] Figure 7 This is a schematic diagram of the operation of controlling the backward braking of a helicopter according to the present invention;

[0032] Figure 8 This is a schematic diagram of the operation of controlling a helicopter to fly backwards according to the utility model;

[0033] Figure 9 This is a schematic diagram of the operation of controlling the forward braking of a helicopter according to the present invention;

[0034] Figure 10 This is a schematic diagram of the operation of controlling a helicopter to fly left according to the present invention;

[0035] Figure 11 The utility model is a schematic diagram of the operation of controlling the helicopter to brake to the right.

[0036] Reference numerals:

[0037] 1. Body, 2. Servo motor, 3. First propeller blade, 4. Second propeller blade, 5. Rotating frame, 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, 13. Second hinge plate, 14. First propeller clamp, 15. Second propeller clamp, 16. First arc groove, 17. Second arc groove, 18. First limit block, 19. Second limit block, 20. Third propeller clamp,

[0038] 21. Fourth propeller clamp, 22. Tripod, 23. Mounting plate, 24. Battery, 25. Gimbal assembly. DETAILED DESCRIPTION

[0039] 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.

[0040] like Figures 1 to 5 As shown, a swash plate-free remote-controlled helicopter of this embodiment includes a body 1, a tripod 22 for contacting the ground is provided at the bottom of the body 1, and the tripod 22 is an elastic tripod. The body 1 also includes a mounting plate 23, the bottom of the mounting plate 23 is fixedly connected to the tripod 22, a battery 24 is provided on the mounting plate 23, and the battery 24 is electrically connected to the servo motor 2 and the control system in the helicopter. The mounting plate 23 is provided with a gimbal assembly 25 located on the front side of the body 1. In addition, a servo motor 2 is also installed on the body 1, and the operation of the servo motor 2 is controlled by the control system in the body 1. The torque of the servo motor 2 is controlled by the control system, and the rotation angle position of the servo motor 2 is fed back to the control system in real time through the servo system of the servo motor 2. A first blade 3 and a second blade 4 are distributed on opposite sides of the servo motor 2. During operation, the servo motor 2 rotates in a clockwise direction (such as Figure 1 The servo motor 2 is a helicopter that is controlled by a plurality of rotor blades, wherein the first rotor blade 3 and the second rotor blade 4 are driven by a plurality of rotor blades, and the first rotor blade 3 and the second rotor blade 4 are driven by a plurality of rotor blades. The servo motor 2 is a helicopter that is controlled by a plurality of rotor blades, wherein the first rotor blade 3 and the second rotor blade 4 are driven by a plurality of rotor blades, and the first rotor blade 3 and the second rotor blade 4 are driven ...

[0041] It can be understood that the swash plate-less remote-controlled helicopter of this embodiment has a rotating frame 5 driven by the servo motor 2. The rotating frame 5 is not directly connected to the first blade 3 and the second blade 4. Instead, a first swinging body 6 is additionally connected between the rotating frame 5 and the first blade 3, and a second swinging body 7 is additionally connected between the rotating frame 5 and the second blade 4. The first swinging body 6 and the second swinging body 7 are hinged on opposite sides of the rotating frame 5. After the first swinging member 6 and the second swinging member 7 are hinged to the rotating frame 5 from opposite sides, the first swinging member 6 causes the first blade 3 to swing forward or backward in the direction of rotation of the servo motor 2, and the pitch of the first blade 3 is changed by the swinging motion of the first swinging member 6. Similarly, the second swinging member 7 causes the second blade 4 to swing forward or backward in the direction of rotation of the servo motor 2, and the pitch of the second blade 4 is changed by the swinging motion of the second swinging member 7. Therefore, during flight, as long as the instantaneous torque of the servo motor 2 is increased or decreased by the control system, the first swinging member 6 and the second swinging member 7 can swing in the direction of rotation of the servo motor 2 due to inertia, and the first blade 3 and the second blade 4 can be swung and their pitches can be changed. Therefore, even if the swash plate and the steering gear are omitted, the unmanned helicopter structure of the utility model can still adjust the pitch of each propeller blade in the rotating state. In addition, the servo system of the servo motor 2 provides real-time feedback to the helicopter control system on the rotational position of the servo motor 2, so that the helicopter control system can monitor the rotational 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 determine the rotational position of the first blade 3 and the second blade 4 through the servo system of the servo motor and control the instantaneous torque of the servo motor 2 at the corresponding rotational position, so that the first blade 3 and the second blade 4 will change their pitch as the first swing body 6 and the second swing body 7 produce inertial swing every time they reach the corresponding rotational position, thereby increasing or decreasing the air lift of the first blade 3 and the second blade 4 at the corresponding position, and the air lift of the body 1 at the above-mentioned corresponding position will also change accordingly, so that the local position of the body 1 will be lifted or lowered due to the lift change, and the helicopter can be tilted as a whole. As the propeller continues to rotate, the helicopter body can fly and move in the tilted direction, realizing the helicopter's directional flight.

[0042] In one embodiment, specifically, a first hinge shaft 8 and a second hinge shaft 9 are respectively provided on opposite sides of the rotating frame 5, the first swinging body 6 is pivoted to the first hinge shaft 8, and the second swinging body 7 is pivoted to the second hinge shaft 9, so that the first swinging body 6 and the second swinging body 7 can swing on both sides of the rotating frame 5 respectively. In addition, the first hinge shaft 8 and the second hinge shaft 9 are parallel to each other, the first hinge shaft 8 is tilted, and the upper end of the first hinge shaft 8 is tilted to point toward the rotation axis of the rotating frame 5, and the second hinge shaft 9 is also tilted, and the lower end of the second hinge shaft 9 is tilted to point toward the rotation axis of the rotating frame 5. The first hinge shaft 8 and the second hinge shaft 9 are both tilted at 45°. Under the action of the above structure, when the instantaneous torque of the servo motor 2 changes, causing the first swinging body 6 and the second swinging body 7 to swing inertially in the rotation direction of the servo motor 2, it can be ensured that the pitch changes of the first blade 3 and the second blade 4 are opposite to each other, and the amplitude of the pitch change is the same. For example, when the instantaneous torque of the servo motor 2 increases, causing the first swinging body 6 and the second swinging body 7 to swing backward inertially in the rotation direction of the servo motor 2, the above structure can ensure that the pitch of the first blade 3 increases, while the pitch of the second blade 4 decreases, and the amplitude of the pitch increase of the first blade 3 is the same as the amplitude of the pitch decrease of the second blade 4.

[0043] Specifically, in this embodiment, when the instantaneous torque of the servo motor 2 increases, the first swinging body 6 in the rotation direction of the servo motor 2 is inertially swung backward around the first hinge shaft 8 with the first blade 3 and increases the pitch of the first blade 3, and the second swinging body 7 in the rotation direction of the servo motor 2 is inertially swung backward around the second hinge shaft 9 with the second blade 4 and reduces the pitch of the first blade 3. Therefore, when the torque of the servo motor 2 increases instantaneously, the first swinging body 6 and the second swinging body 7 rotate backward due to inertia, causing the pitch of the first blade 3 to increase instantaneously. In the embodiment of the present invention, when the instantaneous torque of servo motor 2 decreases, first oscillating member 6 inertialy swings forward with first blade 3 in the direction of rotation of servo motor 2 around first hinge shaft 8 and reduces the pitch of first blade 3, and second oscillating member 7 inertialy swings forward with second blade 4 in the direction of rotation of servo motor 2 around second hinge shaft 9 and increases the pitch of first blade 3. Therefore, when the torque of the servo motor 2 decreases instantaneously, the first swinging body 6 and the second swinging body 7 rotate forward due to inertia in the rotation direction of the servo motor 2, causing the pitch of the first blade 3 to decrease instantaneously and the pitch of the second blade 4 to increase instantaneously. At this time, the instantaneous lift force on the first blade 3 decreases, and on the contrary, the instantaneous lift force on the second blade 4 increases. The first blade 3 with its lift instantly reduced can guide the body 1 to descend at its own position, while the second blade 4 with its lift instantly increased can guide the body 1 to rise at its own position, thereby allowing the body 1 that was originally moving in a tilted state to tilt in the opposite direction, thereby achieving deceleration of the body 1 that is changing direction and realizing the braking function.

[0044] In one embodiment, regarding the specific structure of the rotating frame 5, a first connecting arm 10 and a second connecting arm 11 are integrally formed on opposite sides of the rotating frame 5. The first connecting arm 10 is lower than the second connecting arm 11. A first hinge plate 12 extending obliquely upward is integrally formed on the outer end of the first connecting arm 10, and a second hinge plate 13 extending obliquely downward is integrally formed on the outer end of the second connecting arm 11. The first hinge plate 12 and the second hinge plate 13 are parallel to each other, and the upper end of the first hinge plate 12 is flush with the top of the second connecting arm 11, while the lower end of the second hinge plate 13 is flush with the bottom of the first connecting arm 10. In addition, a first paddle clamp 14 is provided at the inner end of the first swinging body 6, and a second paddle clamp 15 is provided at the inner end of the second swinging body 7. During assembly, the opening of the first paddle clamp 14 is parallelly sleeved onto the first hinge plate 12, and the first hinge shaft 8 is vertically pivoted to both the first hinge plate 12 and the first paddle clamp 14. This facilitates the tilted installation of the first hinge shaft 8 and allows the first swinging member 6 and the rotating frame 5 to be hinged to the tilted first hinge shaft 8, allowing the first swinging member 6 to swing about the first hinge shaft 8 and the first paddle blade 3, thereby easily changing the pitch of the first paddle blade 3. Similarly, during assembly, the opening of the second paddle clamp 15 is parallelly sleeved onto the second hinge plate 13, and the second hinge shaft 9 is vertically pivoted to both the second hinge plate 13 and the second paddle clamp 15. This facilitates the tilted installation of the second hinge shaft 9 and allows the second swinging member 7 and the rotating frame 5 to be hinged to the tilted second hinge shaft 9, allowing the second swinging member 7 to swing about the second hinge shaft 9 and the second paddle blade 4, thereby easily changing the pitch of the second paddle blade 4. In addition, the positions of the first connecting arm 10 and the second connecting arm 11 in the structure of the above-mentioned rotating frame 5 and the inclined extension direction and extension height of the first hinge plate 12 and the second hinge plate 13 can ensure that when the first swinging body 6 and the second swinging body 7 have inertial swinging in the rotation direction of the servo motor 2, the pitch changes of the first blade 3 and the second blade 4 are opposite to each other. That is, for example, when the instantaneous torque of the servo motor 2 increases, thereby causing the first swinging body 6 and the second swinging body 7 to have inertial backward swinging in the rotation direction of the servo motor 2, the above-mentioned structure can ensure that the pitch of the first blade 3 increases and the pitch of the second blade 4 decreases, which can ultimately help guide the overall tilt of the helicopter body 1 and realize the directional change flight of the body 1.

[0045] In one embodiment, specifically, a first arcuate groove 16 is processed on the end surface of the first paddle clamp 14, and a second arcuate groove 17 is processed on the end surface of the second paddle clamp 15. Accordingly, a first limit block 18 located in the first arcuate groove 16 is fixed on the first connecting arm 10 of the first hinge plate 12, and a second limit block 19 located in the second arcuate groove 17 is fixed on the second hinge plate 13 or the second connecting arm 11. During the reciprocating rotation of the first arc groove 16 with the first swinging body 6, the first limit block 18 is respectively in contact with the two ends of the first arc groove 16, thereby limiting the rotation angle of the first swinging body 6, so that the change of the pitch of the first blade 3 during the swinging process with the first swinging body 6 can be controlled within a reasonable range. Similarly, during the reciprocating rotation of the second arc groove 17 with the second swinging body 7, the second limit block 19 is respectively in contact with the two ends of the second arc groove 17, thereby limiting the rotation angle of the second swinging body 7, so that the change of the pitch of the second blade 4 during the swinging process with the second swinging body 7 can be controlled within a reasonable range.

[0046] In one embodiment, specifically, a third paddle clamp 20 is provided at the outer end of the first swinging body 6, and the first paddle 3 is pivotally connected to the third paddle clamp 20; a fourth paddle clamp 21 is provided at the outer end of the second swinging body 7, and the second paddle 4 is pivotally connected to the fourth paddle clamp 21. This structure can facilitate the extension and folding of the first paddle 3 and the second paddle 4 on the rotating frame 5.

[0047] The operation process of this embodiment is as follows: after the servo motor 2 of the helicopter is started to drive the blades of each propeller to rotate at high speed in the clockwise direction to make the entire body 1 rise, the body 1 is now in a state of hovering in mid-air. At this time, when it is necessary to drive the body 1 to change direction (forward, left, right or backward), the control system first increases or decreases the instantaneous torque of the servo motor 2 at a specific rotational position, thereby forcing the first swinging body 6 and the second swinging body 7 to inertially swing backward or forward at a specific rotational position respectively under the action of inertia. After the first blade 3 and the second blade 4 are triggered to swing at the specific rotational position, the pitch of the first blade 3 and the second blade 4 at the specific rotational position can be changed, thereby changing the lift of the first blade 3 and the second blade 4 at this position. In this way, the lift of the body 1 at a local position can be changed, guiding the body 1 to tilt in the corresponding direction in the air. After a certain tilt occurs, the helicopter can automatically move in the tilted direction, thereby achieving the helicopter's directional flight.

[0048] Specifically, combined Figure 6 As shown, when the aircraft 1 needs to be controlled to fly forward, the following operations are performed:

[0049] When the servo motor 2 of the helicopter is started to drive the blades of each propeller to rotate at high speed in the clockwise direction so that the body 1 is hovering in the air, the servo motor encoder is used to monitor that the first blade 3 and the second blade 4 rotate to the rear and front positions of the body 1 respectively. The control system increases the instantaneous torque of the servo motor 2 (which can be understood as instantaneously increasing the speed of the servo motor 2). Under the action of inertia, the first swinging body 6 and the second swinging body 7 are forced to swing backward inertially in the rotation direction of the servo motor 2, thereby increasing the instantaneous pitch of the backward-swinging first blade 3 when it is at the rear position of the body 1, and reducing the instantaneous pitch of the backward-swinging second blade 4 when it is at the front position of the body 1. The servo motor encoder can be used to provide real-time feedback to the control system on the rotation position of the first blade 3 and the second blade 4. The control system has the function of position. Every time it detects that the first blade 3 and the second blade 4 rotate to the rear and front positions of the fuselage 1 respectively, it continues to increase the instantaneous pitch of the first blade 3 when it is at the rear position of the fuselage 1 and reduce the instantaneous pitch of the second blade 4 when it is at the front position of the fuselage 1 by increasing the instantaneous torque of the servo motor 2. In this way, the lift of the first blade 3 when it rotates to the rear side of the fuselage 1 can be increased, and the lift of the second blade 4 when it rotates to the front side of the fuselage 1 can be reduced. The first blade 3 with an instantaneous increase in lift can drive the fuselage 1 to lift at the rear position of the fuselage 1, and the second blade 4 with an instantaneous decrease in lift can guide the fuselage 1 to descend at the front position of the fuselage 1. At this time, the fuselage 1 can tilt forward as a whole. As the propeller continues to rotate, the air thrust generated allows the helicopter to fly forward, realizing the change of direction of the helicopter from a hovering state to a forward flight.

[0050] Combine Figure 7 As shown, when it is necessary to brake the aircraft 1 in the forward flight state backward, the following operations are performed:

[0051] When the servo motor encoder detects that the first blade 3 and the second blade 4 rotate to the rear and front positions of the body 1 respectively, the control system reduces the instantaneous torque of the servo motor 2 (which can be understood as instantaneously reducing the speed of the servo motor 2). Under the action of inertia, the first swinging body 6 and the second swinging body 7 are forced to swing forward inertialy along with the first blade 3 and the second blade 4 in the rotation direction of the servo motor 2, thereby reducing the instantaneous pitch of the first swinging blade 3 when it is at the rear position of the body 1, and at the same time, the second swinging blade 4 is at the front position of the body 1. The instantaneous pitch increases when the first blade 3 is in the forward tilting position, thereby reducing the lift of the first blade 3 when it rotates to the rear side of the fuselage 1 and increasing the lift of the second blade 4 when it rotates to the front side of the fuselage 1. The first blade 3 with its lift instantly reduced can guide the fuselage 1 to descend at the rear side of the fuselage 1, while the second blade 4 with its lift instantly increased can guide the fuselage 1 to ascend at the front side of the fuselage 1, thereby allowing the fuselage 1 that is in the forward tilting flight state to tilt in the opposite direction, thereby achieving backward braking and deceleration of the fuselage 1 that is flying forward, thereby realizing the braking function.

[0052] Optionally, combined Figure 8 As shown, when the aircraft 1 needs to be controlled to fly backward, perform the following operations:

[0053] When the servo motor 2 of the helicopter is started to drive the blades of each propeller to rotate at high speed in the clockwise direction so that the body 1 is hovering in the air, when the servo motor encoder is used to monitor that the first blade 3 and the second blade 4 rotate to the front and rear positions of the body 1 respectively, the control system increases the instantaneous torque of the servo motor 2 (which can be understood as instantaneously increasing the speed of the servo motor 2). Under the action of inertia, the first swinging body 6 and the second swinging body 7 are forced to swing backward inertially along with the first blade 3 and the second blade 4 in the rotation direction of the servo motor 2, thereby increasing the instantaneous pitch of the backward-swinging first blade 3 when it is at the front position of the body 1, and reducing the instantaneous pitch of the backward-swinging second blade 4 when it is at the rear position of the body 1. Subsequently, the servo motor encoder can continue to provide real-time feedback on the rotational position of the first blade 3 and the second blade 4 to the control system. Whenever the control system detects that the first blade 3 and the second blade 4 rotate to the front and rear positions of the fuselage 1 respectively, it continues to increase the instantaneous pitch of the first blade 3 when it is at the front position of the fuselage 1 and reduce the instantaneous pitch of the second blade 4 when it is at the rear position of the fuselage 1 by increasing the instantaneous torque of the servo motor 2. In this way, the lift of the first blade 3 when it rotates to the front position of the fuselage 1 can be increased, and the lift of the second blade 4 when it rotates to the rear position of the fuselage 1 can be reduced. The first blade 3 with an instantaneous increase in lift can drive the fuselage 1 to lift at the front position of the fuselage 1, and the second blade 4 with an instantaneous decrease in lift can guide the fuselage 1 to descend at the rear position of the fuselage 1. At this time, the fuselage 1 can be tilted backward as a whole. As the propeller continues to rotate, the air thrust generated allows the helicopter to fly backward, thereby changing the direction of the helicopter from a hovering state to a backward flight.

[0054] Combine Figure 9 As shown, when it is necessary to brake the aircraft 1 in the backward flight state forward, the following operations are performed:

[0055] When the servo motor encoder detects that the first blade 3 and the second blade 4 rotate to the front and rear positions of the body 1 respectively, the control system reduces the instantaneous torque of the servo motor 2 (which can be understood as instantaneously reducing the speed of the servo motor 2). Under the action of inertia, the first swinging body 6 and the second swinging body 7 are forced to swing forward inertialy along with the first blade 3 and the second blade 4 in the rotation direction of the servo motor 2, thereby reducing the instantaneous pitch of the forward-swinging first blade 3 when it is at the front position of the body 1, and at the same time, the forward-swinging second blade 4 is at the rear position of the body 1. The instantaneous pitch increases at this time, thereby reducing the lift of the first blade 3 when it rotates to the front position of the fuselage 1 and increasing the lift of the second blade 4 when it rotates to the rear position of the fuselage 1. The first blade 3 with its lift instantly reduced can guide the fuselage 1 to descend at the front position of the fuselage 1, while the second blade 4 with its lift instantly increased can guide the fuselage 1 to rise at the rear position of the fuselage 1, thereby allowing the fuselage 1 that is in the backward tilted flight state to tilt in the opposite direction, thereby achieving forward braking and deceleration of the fuselage 1 that is flying backward, thereby realizing the braking function.

[0056] Optionally, combined Figure 10 As shown, when the aircraft 1 needs to be controlled to fly sideways, this embodiment takes the need to control the aircraft 1 to fly to the left as an example, and performs the following operations:

[0057] When the servo motor 2 of the helicopter is started to drive the blades of each propeller to rotate at high speed in the clockwise direction so that the body 1 is hovering in the air, the servo motor encoder is used to monitor that the first blade 3 and the second blade 4 rotate to the right and left positions of the body 1 respectively. The control system increases the instantaneous torque of the servo motor 2 (which can be understood as instantaneously increasing the speed of the servo motor 2). Under the action of inertia, the first swinging body 6 and the second swinging body 7 are forced to swing backwards with the inertia of the first blade 3 and the second blade 4 in the direction of rotation of the servo motor 2, thereby increasing the instantaneous pitch of the backward-swinging first blade 3 when it is at the right position of the body 1, and increasing the backward-swinging The instantaneous pitch of the second blade 4 when it is on the left side of the fuselage 1 is reduced. Subsequently, the servo motor encoder can be used to provide real-time feedback to the control system on the rotational positions of the first blade 3 and the second blade 4. Whenever the control system detects that the first blade 3 and the second blade 4 have rotated to the right and left sides of the fuselage 1, respectively, it continues to increase the instantaneous pitch of the first blade 3 when it is on the right side of the fuselage 1 and decrease the instantaneous pitch of the second blade 4 when it is on the left side of the fuselage 1 by increasing the instantaneous torque of the servo motor 2. This increases the lift of the first blade 3 when it rotates to the right side of the fuselage 1 and decreases the lift of the second blade 4 when it rotates to the left side of the fuselage 1. The first blade 3, whose lift is instantly increased, can lift the fuselage 1 from the right side of the fuselage 1, while the second blade 4, whose lift is instantly reduced, can guide the fuselage 1 downward from the left side of the fuselage 1. At this point, the fuselage 1 can tilt to the left as a whole. As the propellers continue to rotate, the air thrust generated causes the helicopter to fly to the left, thus changing direction from hovering to leftward flight.

[0058] Combine Figure 11 As shown, when the aircraft 1 in the leftward flying state needs to be braked to the right, the following operations are performed:

[0059] When the servo motor encoder detects that the first blade 3 and the second blade 4 rotate to the right and left positions of the body 1 respectively, the control system reduces the instantaneous torque of the servo motor 2 (which can be understood as instantaneously reducing the speed of the servo motor 2). Under the action of inertia, the first swinging body 6 and the second swinging body 7 are forced to swing forward inertialy with the first blade 3 and the second blade 4 in the rotation direction of the servo motor 2, so that the instantaneous pitch of the first swinging blade 3 when it is on the right side of the body 1 is reduced, and at the same time, the instantaneous pitch of the second swinging blade 4 when it is on the left side of the body 1 is reduced. When the pitch increases, the lift of the first blade 3 when it rotates to the right side of the fuselage 1 can be reduced, and the lift of the second blade 4 when it rotates to the left side of the fuselage 1 can be increased. The first blade 3 with its lift instantly reduced can guide the fuselage 1 to descend at the right side of the fuselage 1, while the second blade 4 with its lift instantly increased can guide the fuselage 1 to ascend at the left side of the fuselage 1, thereby allowing the fuselage 1 that is in a state of tilting to the left to tilt in the opposite direction, thereby achieving the rightward braking and deceleration of the fuselage 1 that is flying to the left, thereby realizing the braking function.

[0060] Through the above-mentioned swash plate-free remote control helicopter structure, it can be seen that the technical solution of the utility model can eliminate the swash plate and servo in the traditional unmanned helicopter structure, but can still realize the control of the helicopter's directional flight, effectively reduce the manufacturing cost of the product and reduce the load of the body, improve the endurance, and the structure is more simplified, which is conducive to extending the service life of the product.

[0061] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A swash plate-free remote control helicopter, comprising a body (1), a control system provided on the body (1) and a servo motor (2) controlled by the control system, wherein the torque of the servo motor (2) is controlled by the control system, and the rotation angle position of the servo motor (2) is fed back to the control system in real time through the servo system of the servo motor (2), a rotating frame (5) is provided on the top of the body (1) and is connected to the servo motor (2), and a first blade (3) and a second blade (4) are connected to opposite sides of the rotating frame (5), wherein the first blade (3) and the second blade (4) are connected to the first blade (3) and the second blade (4) are connected to the first blade (3) and the second blade (4), and the helicopter is characterized in that: A first swinging body (6) and a second swinging body (7) are hingedly connected to opposite sides of the rotating frame (5), and the first blade (3) and the second blade (4) are respectively connected to the first swinging body (6) and the second swinging body (7). The first swinging body (6) and the second swinging body (7) respectively cause the first blade (3) and the second blade (4) to swing forward or backward in the rotation direction of the servo motor (2), thereby changing the pitch of the first blade (3) and the second blade (4).

2. The swash plate-less remote-controlled helicopter according to claim 1, characterized in that: A first hinge shaft (8) and a second hinge shaft (9) are respectively provided on opposite sides of the rotating frame (5); the first swinging body (6) is pivotally connected to the first hinge shaft (8), and the second swinging body (7) is pivotally connected to the second hinge shaft (9); the first hinge shaft (8) and the second hinge shaft (9) are both arranged obliquely and parallel to each other; the upper end of the first hinge shaft (8) is inclined to point toward the rotation axis of the rotating frame (5), and the lower end of the second hinge shaft (9) is inclined to point toward the rotation axis of the rotating frame (5); When the instantaneous torque of the servo motor (2) increases: The first swinging body (6) causes the first blade (3) to swing backward by inertia around the first hinge shaft (8) in the direction of rotation of the servo motor (2) and increases the pitch of the first blade (3); and the second swinging body (7) causes the second blade (4) to swing backward by inertia around the second hinge shaft (9) in the direction of rotation of the servo motor (2) and decreases the pitch of the first blade (3); When the instantaneous torque of the servo motor (2) decreases: The first swinging body (6) in the direction of rotation of the servo motor (2) causes the first blade (3) to swing forward by inertia around the first hinge shaft (8) and reduces the pitch of the first blade (3); the second swinging body (7) in the direction of rotation of the servo motor (2) causes the second blade (4) to swing forward by inertia around the second hinge shaft (9) and increases the pitch of the first blade (3).

3. The swash plate-less remote-controlled helicopter according to claim 2, characterized in that: A first connecting arm (10) and a second connecting arm (11) are fixed to opposite sides of the rotating frame (5); the outer end of the first connecting arm (10) is provided with a first hinge plate (12) extending obliquely upward, and the outer end of the second connecting arm (11) is provided with a second hinge plate (13) extending obliquely downward; the first hinge plate (12) and the second hinge plate (13) are parallel to each other; the inner end of the first swinging body (6) is provided with a first paddle clamp (14), and the inner end of the second swinging body (7) is provided with a second paddle clamp (15); The clamping opening of the first paddle clamp (14) is parallel to the first hinge plate (12), and the clamping opening of the second paddle clamp (15) is parallel to the second hinge plate (13); the first hinge shaft (8) is vertically pivoted to the first hinge plate (12) and the first paddle clamp (14), and the second hinge shaft (9) is vertically pivoted to the second hinge plate (13) and the second paddle clamp (15).

4. The swash plate-less remote-controlled helicopter according to claim 3, characterized in that: The end surface of the first paddle clamp (14) is provided with a first arc-shaped groove (16), and the end surface of the second paddle clamp (15) is provided with a second arc-shaped groove (17); the first hinge plate (12) or the first connecting arm (10) is provided with a first limiting block (18) located in the first arc-shaped groove (16), and the second hinge plate (13) or the second connecting arm (11) is provided with a second limiting block (19) located in the second arc-shaped groove (17); In the process of the first arc groove (16) reciprocating with the first swinging body (6), the first limit block (18) is respectively in contact with the two ends of the first arc groove (16); in the process of the second arc groove (17) reciprocating with the second swinging body (7), the second limit block (19) is respectively in contact with the two ends of the second arc groove (17).

5. The swash plate-less remote-controlled helicopter according to claim 3, characterized in that: The outer end of the first swinging body (6) is provided with a third paddle clamp (20), and the outer end of the second swinging body (7) is provided with a fourth paddle clamp (21); the first paddle (3) is pivotally connected in the third paddle clamp (20), and the second paddle (4) is pivotally connected in the fourth paddle clamp (21).

6. The swash plate-less remote-controlled helicopter according to claim 1, characterized in that: The bottom of the machine body (1) is provided with a footrest (22) for contacting the ground.

7. The swash plate-less remote-controlled helicopter according to claim 6, characterized in that: The foot frame (22) is an elastic foot frame.

8. The swash plate-less remote-controlled helicopter according to claim 6, characterized in that: The machine body (1) comprises a mounting plate (23), the bottom of which is fixedly connected to the tripod (22).

9. The swash plate-less remote-controlled helicopter according to claim 8, characterized in that: A battery (24) is provided on the mounting plate (23), and the battery (24) is electrically connected to the servo motor (2) and the control system.

10. The remote-controlled helicopter without a swash plate according to claim 8, characterized in that: The mounting plate (23) is provided with a pan / tilt assembly (25) located at the front side of the machine body (1).

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