Ugur weer, wy PATENT SPECIFICATION No, 22627/50. Index at acceptance :—Class 4, AGal (a:b: €), ABa(2e : 676,398 Date of Application and fling Complete Speciation: Sept. 14, 1950. ‘Application made in United States of America on Sept. 14, 1949. Application made in United States of America on Nov. 12, 1949. Complete Specification Published: July 23, 1952. 24:5), AGb2a:b: 4). COMPLETE SPECIFICATION Helicopter We, Time Kanan ArRcRAFT CORPORATION, 2 corporation. organized under the laws of the State of Connecticut, one of the United States of America, of Bradley Field, Windsor 5 Locks, State of Connecticut, United States of “America, do hereby declare the invention, for ‘which we pray that a patent may be granted tous, and the method by which it is to be performed, to be particularly described in 10 and by the following statement - "The invention relates to helicopters and more particularly to helicopters having two Iifting rotors. ‘A helicopter is known, for example from 15 US. Patent No. 2,455,886, which has rotors which include’ resiliently "or torsionally Actuated aerofoil blades the inner ends of ‘which are relatively fixedly connected with the rotor hub structure so as to prevent 20 bodily rotation of the blade root portions about axes extending longitudinally of the blades ‘and which algo include servo flaps carried by the blades and. so designed, Positioned and controlled that aerodynamic 2%Baction thereon during rotation serves. to ‘twist the blades in opposition to their own resiliency so as to change the effective pitches thereof,” The said helicopter also comprises relatively movable flap moving connections 80 extending from the flaps to the fuselage, and pilot contrelled flap actuating mechanisin on the fuselage for moving the said connections during rotation of the blades and flaps 0 as to ly move the flaps relatively to the 85 blades, the sald flap actuating mechanism enabling the pilot to control the movement of the aircraft by reason of varying flap induced twisting of the blades and the resultant varying effective pitches thereof. 40 "One object of the present invention is to provide a helicopter rotor of the general type Aeecribed having an improved hub structure ‘which permits certain relative movements of the blades while preventing movements of 45 the root portions ‘thereof about the longi- tudinal Blade axes. ‘A further object of the invention is to provide a helicopter rotor having means for automatically adjusting the collective pitches [Price 2. 84] Dien 4s ee : eae te ae es eee ener oe pees ore terag mprvet pb cota megan rare oe uae a SRE Grin of bcp ie es ee foes yee ee pega teeter hain og te changing ‘the ae of flight by differen- ehapeg 2 igen of fit by eee aly changing te cect ph of Be, Sonera tee etter ane eit nd ranean ile of ie vention 3 az copes prove ih eta, cece ps, cere, ote ee ee lt cote mechan fea chaning te pele as ot Se etn 78 Be eee ca rear ae eres eae rotation in unison and in opposite directions, rg pun en in oponte dens cao ld mtr evga ply Le ee ples hea mer, yomer (ing ne i ee Leeper perenne secegeheui nang ees ating th len fo gual eae ts aici esto deen ot emote, l mechario opeabe dg, it le smerny sung Dae cet ets of he Dads of oth ce aa pee Se eee selene formal power A rotation during descent, a direction control eatin Gag cee, Sete ol Sr a mest oat ye tilea 38676,398 the collestive pitches of the blades of the two rotors to relatively increase the collective pitch in either of them and thereby change the direction of ight, which second mechan 5 ism during power-on-fotation is controlled by movements of the said direction control device in predetermined directions corre Sponding to the desired ‘changes in the direction of fight, and means cooperating * 10 with the second mechanism and operable uring autorotation of the rotors for causing the second mechanism to reverse the difteren- tial changes in the collective pitches of the blades of the two rotors upon movement of 15 the direction control device in the same pre- Aetermined directions, "The invention having been briefly defined wil nar be deserted. ir deta Yelerence Daing made to the ilustrative exeanple sho 20 in the accompanying, drawings in whi Fig, 1s a perspective view of a helicopter ‘embodying the invention, ‘Fig. 2 i a fragmentary schematic view shoving 2 portion of the power mechanism 25 for diving the rotors, Fig, 3 2 tary plan view of the rotor hub mechanism at the left side of the Helicopter, together with one of the rotor Dladesand the parts carried thereby. 90° Fig. 4 is a front siew of the rotor hub mectiniom as shown in ig. 3, but with ‘certain parts omitted for clarity. ‘Fig. isan enlarged vertical sectional view talcen along the ine 5 of Fig. 3. 85 "Fig. Gis on enlarged front view of «portion of the mechanism showa in Figs. and 4, ig. 7 is a combined plan and sectional view of the mechanism sliown in Fig. 6, the tim being talen long the line 7-7 of sectional view on a scale larger than that of igs, 3 and 4, this view being taken from ‘the front and shosving a portion of the dive 45 mechanism for the rotor sbafts and also showing the azimuth contral mechanism assaciated with one of the rotor shafts ‘Fig, 9isa.combined plan and sectional view tal along the ine 9 of Fg. 8, : Oi as erspertive view sedhajorprtonal ie plot epee conta mechanist, he le 1 ld of Bg 8 and shoving pats of the lite LI-Ll-of Ei wing parts 655 the control mechanim. ‘Fig. 12 is a front view of certain parts.of tig ntl machen a stow a Fg 0 ‘Rig. 18 i an enlarged frag vit arian part of econo) medians 60 asshown in Fig. 10. Tig. 14s « achematic plan view of thetwo rolot of the helicopter. 15 Schematic lew seating the initial positions af ano of the blades 50 corresponding flap, this view being taken 65 along the line 15-15 of Fig. 14 and the blade and fap being in the sime positions as in 5. ‘igs. 154 and 15B are fragmentary views simi to Fig, 15, but showing alterative 70 fap shapes ‘igs. 16 aod 17 are views similar to Fig. 15 Dut llstrating the blade and fap in diferent postions. ig, 7st dlagrammati view ilustrating 75 the atdomatic collective pitch adjustment for ‘one of the rotors. Tig. 18 isa plan view of the motion xeoverting mechanism fo Fon of the Control mechanism as showin fg. 10. 80 Tig. 10 is a sight end view of the mechanism showa Ja Fig. 18. ‘Figs. 20, 21 and 22 are diagrammatic views iustating. the action of the revesing mechanism shown in Figs, 18 and these 85 ‘iows respectively showing the part im direct Control postions, in nentral positions and in reverse Gontrol positions. Pig. 28 is a chart ‘thwtrating certain principles involved in the operation of the 90 helicopter. Goxgnat Layour Fig, 1 of the drawings shows a helicopter embodying the invention, this view being taken from the front and left. As shown, the 95 ter has two rotary wings or rotors spaced transversely and having thei bladesin ittermeshing relationship. . While this arrangement of rotors is preferred and has important advantages, the present invention, 100 as to certain ofits aspects, is not limited t0 the said rotor relationship. ‘The helicopter as illustrated comprises a fuselage 10 provided with landing wheels 12 and 14, 16.. Rotatably mounted in suitable 105 ‘beatings in the fuselage are two supporting and driving shafts 18 and 20 having their axes in a transverse vertical plane. The said shafts are preferably inclined and diverge upwardly as shown. The shafis 18 and 20 are 110 preferably hollow and are provided nespect- Frely at heir upper end with hub structures 22.and 24 respectively counected with aprofoll blades 26, 98 and 28, 28. Mounted within the fuselage is a suitable power plant and 115 power transmitting mechanism for driving {heshiaftsand rotor, these pars being shows, schematically in Fig. 2. The blades 26, 26 are provided with movable servo flaps 30, 30 and the blades 28, 28 are provided with 120 movable servo flaps 92, 32. ‘The shaft 18 and iis associated parts are at the left side of the helicopter and the shaft.20 and its associated Bir fre atthe right sie ofthe elcopex ach hab structare with its connected blades 125 and flaps constitutes a rotor, The two.shatts are connected for rotation in unison and in opposite directions. Viewed from the top az676,398 8 illustrated diagrammatically in Fig. 14, the shaft and rotor at the left rotate counter- clockwise and the shaft and rotor at the right rotate clockwise. 5 As shown, each rotor has two blades and there are important, advantages inthe provision of two blades as. will presently appear. However, the invention as to some of its aspects is not limited to the use of two 10 blades and a different number may be used. ‘The two shafts 18 and 20 are connected to the over plant so that they are rotated thereby synchronism but in opposite directions. The blades 28, 28 and the hob structure 24 1S.and the other parts of one rotor are similar to the blades 26, 26 and the hub structure 22 and the other parts of the other rotor except that these various parts are oppositely positioned and shaped to conform to the 20 respective directions of rotation. The two ‘rotors are 50 connected with the respective shafts 18 and 20 that the blades on one rotor are longitudinal when those on the other sotor fare transverse, This arrangement, together 25 with the diverging inclinations of the shafts 38and 20, enabies the blades of the two rotors to intermesh and to clear each other as they are zotated, ‘The rotation of the rotors in ‘opposite directions normally avoids any 80 tendency for the reactive forces to turn the aircraft, as these reactive forces, being in ‘opposite directions, neutralize each other. ‘Notwithstanding the inclinations of the shafts 18 and 20 they will for convenience be 85 sometimes referred to as “vertical” and certain parts carried by the shafts and perpendicular thereto will for convenience be sometimes referred to as " horizontal ". Control sticks 88 and $4 are provided for 40 changing the pitches of the blades, these Deing positioned for convenient engagement ragpectively by the left hand and the right hand of the pilot. Pedals 35 and 96 are tioned for engagement respectively by the 45 left foot and the right foot of the pilot. The fuselage is provided at the rear with a stabilizer which js shown as comprising a fixed fin 97 and a rudder 38 pivoted for movement about a substantially vertical axis 50 at 99. The pedals 35 and 98 are connected with the rudder 98 by suitable mechanism including cables 40 and 41, ‘Durve Mecnanisw ror Rotors Fig 2 shows schematically the motor and a {56 portion of the power transmitting mechanism for dsiving the shests 18 and 20 and the rotors connected therewith, this view being taken from the left side of the helicopter. ‘The motor is represented at 42, this being at the rear of 60 the shafts 18 and 20. Connected with the ‘main shaft 43 of the motor at the rear end thereof is a dise 44 carrying fan blades 45, Rotatably mounted on the shaft 43 is a drum 40 having an intemal tion Se, Ceti acting shoes 47, 47 are carrie e Ge and these atiomaticaliy engage the Grwa 46 when the motor reaches a pre- determined speed. When the motor is operating at a lower idling speed, the shoes 47, 47 do not engage the dram 46 and 70 ‘the drum is stationary. Connected with the drum 46 is a gear 48 which meshes with # gear 49. ‘The gear 49 is connected with a longitudinal shaft $0 by ‘means of a drive shaft 31 and nniversal joints 75 52 and 83, Aligned: with the shaft 50 is a shaft 54 which is connected with the shafts 18 and 20 by gearing located in a housing $6. Power is transmitted from the shaft 50 to ‘the shaft 54 by means of a uni-directional 80 clutch 88. ‘The clutch 8 permits the shafts 18 and 20 and the rotors to rotate in their normal directions independently of the shaft 50 and of the various other parts connected therewith including the moter. ‘Fig. 8 shows the gear housing 56 which has already been referred to in connection with Fig. 2. Mounted in suitable bearings within the housing 60 isa transverse horizontal shat a ing secured to the said 60 shaft, ‘The bevel gear 62 meshes witha bevel gear 64 on the before-mentioned longitudinal hhevizontal shaft 54. Secured to the shaft 60 adjacent the ends thereof are two bevel gears 66, the drawing showing only the gear at the 95 left side of the helicopter, or at the right as viewed in Fig. 8, The housing 56 is provided with, similar lateral extensions 68 and 70. Tubular ‘members 72 and 74 are sotatably mounted in 100 the respective housing extensions 68 and 70 by means of suitable bearings. These tubular ‘members are connected with the lower ends of the respective rotor shafts 18 and 20 and in cflect constitute extensions of the said shafts. 105 ‘The term “ shaft ” will sometimes hereinafter be used to collectively designate the shaft proper and the corresponding tubular member, The tubular member 72 and the bearings therefor and other associated parts 110 are shown in section in Fig. 8. It will be ‘understood that the bearings and associated parts for the tubular member 74 are similar to those for the tubular member 72, Secured to the tubular member 72.35 a bevel gear 76 118 which meshes with the before-mentioned bevel gear 66 on the shaft 60. ‘The shaft 60 is, rotated in the direction to rotate the bevel gear 76 and the tubular member 72 in the direction indicated by the arrow, that is in 129 ‘the counter-clockwise direction, t being clear that the tubular member 74 will be rotated in the opposite direction. Tnasmauch as the tubular members 72 and 74 are connected with the respective shafts 18 and 20, the said 125 shafts and the rotors connected therewith will be similarly rotated. 85a ROWE a ¢ concems certain aspects of the inven- tian, the rotors may be widely varied as to construction and manner of operation. How- S ever, it is presently preferred to use rotors ‘which are of a particular type although the invention snot limited thereto, "Figs Bto7 show the rotor whichis at theleft side of the helicopter, that isthe rotor which 10 appears at the right in Fig. 1, As has been stated, the two rotors are similar excopt that the several parts thereof are positioned and shaped for rotation in opposte direction, ‘The rotor shown is connected and adapted for 15 rotation in the counterclockwise direction a5 viewed from above, the other rotor being connected and adapted for rotation in the lockwise direction. “Extending through horizontal apertures in 20 the upper part of the shaft 18 is a horizontal pivot pin 78, having its end portions project- Ing beyond the shaft, A hi member 80 is provided having a large central aperture Ehrough ‘which the upper end of the shaft 25extends. "Bearings, not shown in detail, are Peoited a 62 Eon the hab mam, hae ings serving to oot tub member with the pin 78 for pivotal movement about the exis of the pia ‘The pin 76 and the {80 bearings 82, 82 arb 80 located that the axis of Pivotal movement is at an acute angle, preferably about 60°, with respect to the Tongitudinal axes of the blades 26, 28 with the blades in the pestions shown ia 35 The said angle is such that each bearing 8 aad fe corresponding end ofthe ins a the leading side of the longitudinal axis of the corresponding blade, ‘Two blade supporis 84, 84 are provided at 40 the ends of the hub member 80, these blade supports ‘being connected with the hub Inember 80 for pivotal movement about festal drag “ext a 96,3." Sule earings, not shown in detail, are provi 45 for the pivotal connection between the blade ‘suppor and the hub member. ‘The inner end portions of the blades 26, 25 are rigidly Connected with the respective blade supports 84, 84 and the blade supports are so formed ‘50 that the blades are held at positive dihedral angles 2s shown. Shoulders 87 oa the hub member 80 limit relative pivotal movement of blade supports and Bade fhe ening drction sing 55 power-on light, the mit of movement being Shout 25°, ‘Shoulders 88 on the hub member Solin retire vot movnent fhe ede supports and blades in ing direction Guiiog autorotation, the limit of movement 60 being about 10" ‘In ofder thatthe two blade supports may move pivotally in unison, or substantially 0, they are connected with each other by two Similar links indicated generally at 8, 89, 676,308 the links being pivotally connected at 90, 90 65 and 92, 02 with lateral ears formed on the blade supports 84, 84. Fach of the links 89 is variable in its effective length and is prefer- ably constructed as shown i detain Figs. 6 and 7 so as to serve as a damper. Each link 70 comprises a member 94 which is bifurcated and also comprises a member96 which extends ‘between the bifurcations of the link member 94, Interposed between the inner faces of the bifurcations of the link member 94 and the 75, outer faces of the link member 96 are sheets of friction material 98, 98. These sheets are suitably connected with one of the members, as for instance the member 96. In order to apply frictional pressure against the friction 80 ts 88, 98 two plates 100, 100 are provided at the outer sides of the bifurcations of the link member 94. Bolts 102, 102 connect the plates 100, 100, and by adjusting the nuts on ‘the bolts the plates may be drawn toward 85 ‘each other so a8 to apply adjustable frictional prosstire at the friction sheets 98, 98. Tt will be seen that the links 89, 89 serve to connect the blade supports 84, 84 and thereby the blades 28, 28 for pivotal movement normally 90 in unison about the axes at 86, 86. The frictional connections included in the links enable them to act as dampers and to resist any pivotal or oscillatory movements of one blade support with its blade independently of 95 ‘he other, but the links nevertheless permit some limited independent pivotal or oscilla- tory movements. ‘The main body of each blade 26 is shown as being formed of wood which may be laminated 100 in accordance with usual practice, but the invention is not limited to a blade formed of wood nor to a blade of solid. construction. ‘When the blade is formed of wood the cross. sectional area at the root portion, that is, at 105 the portion adjacent the blade support is preferably greater than the cross-sectional area at any other portion. Tt will be observed that, while the two blades are pivotally movable in unison about 110 the horizontal axes of the pivot pin 78 and are also pivotally movable about the vertical axes at 86, 86, they are nevertheless rigidly held so as to prevent any relative rotative movements of the root portions thereof 115 about axes extending longitudinally of the blades. Each blade is initially positioned as shown in Fig. 5, but each blade, whether formed of wood or otherwise, is capable of substantial twisting about its longitudinal 120 mean axis and with respect to its non- rotatable root portion so as to change its efiective pitch, The blade has torsional resiliency ‘which tends to restore it to its initial normal position and- shape after 125 ‘twisting, ‘The outer end portions of the blades 26, 26 carry the before-mentioned auxiliary aerofoil676,398 5 ‘laps 90, 90 which are angularly movable relatively to the blades about axes substan tally parallel with the longitudinal axes of the ‘blades. These lage 80, 80 may” be Saja alr aout the ast ld acs flap moving connections extending from the dape to the fuselage, these connections being Hereinafter described in detail. "When the blades are rotating the flaps 30,30 serve loby reason of aerodynamic foros acting ‘ereon to twist the corresponding, blades progresively from the nonfotatable Toot Portions thereof to the flaps and thus to Giange the effective plches of the blades. 1s The extent of the changes in he ftv nes ofthe blades is dependent upon. Ehguar postions of the fape as determined by the beforementioned fap moving con- nections. 20 "The flaps 90, 30 may be located adjacent the lending edge ofthe blades or they may be located adjacent. the trailing edges of the Blades as herein shown and as now preferred. The flaps are. preferably spaced upwardly 25 irom the blades ss shown._ Hach fap 30 may be formed of laminated wood, but the invention is not limited to a flap formed of food nor to a fap of solid construction, For Pretaly connecting cach fp 39 with the a0 corresponding blade 28 there is provided bracket 106 which is secured tothe Dade and which fits around it. Secured to the flap BO is a bracket 108 and. thie ‘bracket Connected with the bracket 106 for pivotal 85 movement about an as at 110 substantially parallel wih the mean axis of the blade. "The fap moving connections of the flaps 90,80 are shown in their neutral positions in Figs. 3, 4 and... The said. connections 40 ineide ‘rode 112 and 114 which ave located vrithin the hollow shaft 18 and are movable Yertcally. The vod 112 serves to. control Ue lap 104 at the lef as viewed in Fig. and the rod 114 serves to contol the other fp, 4Snot shown in Tig. 3, The connections Between the rods 1 and 114 the Conesponding flaps are similar and it will be sulicient to describe in detal the connection ietween rod 112 and the fap 30 a8 shown in 50 Figg. 8 and 4 “The rod 112 is connected at its upper end vith one etm of @ bell crank 116 which is pivoted at 118 on the ub member 80 for ovement boat horzntal ais which 6 perpendicalar to the longitudinal axis. Te blades when the blades sre in the positions shown and ‘which is_perpendiclar to a ‘etic! plane through the axes 88, 88. The ‘ther arin of the bell crane 116 i connected 0 at 119 with one end ofa link 120, the connec- fion being such that the ink can swing Interally as well ag vertically. "The oppasite end of the ink 120 s connected at 121 with a lever 122 which is pivotally connected to the see mt a Sis Sore penroct Bes oneness ae hela n inseam ies Pe ions mere po ee el Se. fara aie eae ee ioc ae mee aa Si ieee aan aaa Sahara an i CCR he en Saracens aris pay eeep ease aiaerahemanri eases inet cal cae ere TA att ning acti mean pacers oae Sie oat aac Sera rterie Saat « He ree ae ae Erte ata oe a aie deca we Sh sth al mires Sacre oe eras oe irene tel ot Spoomiel onder fat Shor ine, ws ts 0 ay te eet sein ge sapere tise ce cae ines Sitnermateerts of the lord Hne is zero, Alteeatively irs en ine fo prone Scie otae aracae ots Sepia healceres Saigircsmene eer enaerians sling teeccrares peace AE ng ieee satan oe eae Ts iii cae ntreraa ee eee Stent ea 90 105676,398 of visting is dependent upon th, aeofi shape and the angular position of the flap. ‘When the fap has poslive camber and is the position shown in Fig. 15, the flap has a 5 small positive pitch and tends to twist the blade clockwise to decrease the positive pitch thereof. When the flap has no camber and is in the position shown in Fig. 15A, it does not tend to twist the blade. When the fap has 10 negative camber and isin the position shown in Fig, 15B, the flap has a negative pitch and. tends to twist the blade counter-clockwise to ingrease the positive pitch thereof, For normal flight, the flap is moved 15 relatively clockwise so that it has a negative effective pitch, as shown in Fig. 16, and aerodynamic action on the flap dur rotation serves to apply a downwat force at ‘the trailing portion of the blade, thus twisting 20 the blade in the counter-lockwise direction to increase the positive pitch thereof. As the Dlade is twisted counter-clockwise to increase the positive blade pitch, the flap moves with. the blade angularly downward or counter- 25 clockwise so as to decrease the negative flap ch. Thus a condition of relative eq ium is established, with the blade pitch ‘determined by the relative angular position of the flap. For normal light the positive pitch 80 angle of the biade chord line may be about 8°, as shown in Fig. 16, the positive pitch of the blade being substantially greater, as for instance about 14°. ‘While Figs. 15, 16 and 17 show a flap 30with 385 a positive camber, a ilap 30) with a negative camber has certain advantages and may be preferable.” With e negative camber’ the sp is more effective in the positions of negative pitch in which itis usually located, 40 as exempl Fig. 16. ‘When the flap is moved relatively counter- clockwise to decrease the negative pitch thereof, as shown in Fig. 16, there is a reversed or clockwise twisting of the blade 45 with a resultant decreased positive blade itch. As the blade is twisted clockwise to Bscrease the postive blade pitch, the fap moves with the blade angularly upward or clockwise so as to increase the negative flap 50 pitch. Thus a condition of relative equilt brium is again established, with thebladepitch determined by the new relative angular Peston of the fap Referring further t0 Fig. 16, the relative S56 dizestion of air movement is rearward and slightly downward with respect to the direc- tion of blade movement as represented by fhe arow B. The amount and direction of ft are represented by the arrow C, the SO direction of lift being perpendicular to the direction of ais movement. The amount rection of blade drag are represented by the arow D, the direction of drag being perpendicular to the direction of lift. The forces represented by the arrows C and D 65 have a net component indicated by which acts in opposition to te direction of rotation, this component representing the power input necesary fo tum the Bade abowt the fain axis at A. TL will be understood that the 70 directions and lengths of the arrows in Fig. 16 are intended merely to illustrate the principles of action without necessarily constituting accurate representations. ‘The factors repre- sented by the arrows vary widely with the 75 blade pitch, with the speed of rotation and vith other conditions. ‘From the foregoing description » action it wil be apparent that tie amount ct blade twisting to increase or decrease. the 80 blade pitch i lent upon the relative angular position of the flap as determined by the flap ‘moving connections which include the rod 112. When the rod 112 is moved upward, the bell erank 116 is moved counter- clockwise, the link 120 is moved outward, the levers 122 and 126 are swang outward and ‘the push-pull rod 132 is moved outward. Outward movement of the rod. 132 causes rearward movement of the link 142, thus 90 ‘moving the flap 30 upward or clockwise to increase the negative fap pitch and thus to increase the positive blade pitch, When the rod 112 is moved downward, the described. movements are reversed and the flap 30 is 95 moved downward or counter-clockwise to decrease the negative flap pitch and thus to Gecrease the positive blade pitch ‘The upper ends of the rods 112 and 114 are connected with the respective bell cranks 100 M6, 116 at points close to and below the pivotal axis 78 of the hnb member 80, and a Tine through the comnections of rods 112 and 114 with the bell ranks is parallel to the said pivotal axis 78, as will be apparent from 105 ‘Figs. 3 end 11. Pivotal movement of the hub ‘member about, the said axis 78 does not substantially affect the action of the described flap moving connections. ‘ig. 3 shows the ital relationship between 110 fhe Blades 26,26 and the hub member 80 However, when power is applied the air resistancs upon the ‘blades andthe flaps causes them to Ing or drag, the blades swing- ing relatively rearward about the drag axes 115 at 86, 86, as indicated schematically in Fig. 4, This tendency to drag is offset by centri force and for any given conditions the blades assume relative positions representing a balance between the air resistance and the 120 centrifugal force. ‘The angle of drag varies widely with the amount of air esistance and it may be as great as about 25° as limited by the shoulders 87, but the said angle of drag is ordinarily considerably less, as for instance 125 about 15°, The links 8, 89 tend to maintain the two blades atthe sane ag angles. ‘By reason of cyclic pitch changes as676,398 7 hereinafter described, each blade tends to ng relatively when at its maximum cyclic pit and to advance relatively when at. its minimum itch. ‘The pivotal connec- — --~ ~~—rsd 86, 86 permit the blades to oscillate with respect to the hub member and in the plane of rotation, The two blades do not so oscillate in unison as they attain their conditions of lee alae itch. alternately and not simal- hrcouly tthe inks 89°60 by reason of the fictional’ connections therein, permit but nevertheless resist. independent oscillatory 15 movements about the axes 86, 86. The blades not only swing horizontally about the vertical axes 86, 86 but also oscillate in unison about the horizontal axis at 78._ The oscillatory movement about the 2 axis 78 results from various factors one of ‘which is that each blade has an increased lift asit moves relatively forward in the direction of helicopter flight and in opposition to air flow and has a decreased It as it moves 2 relatively rearward in unison with air flow. As hasbeen pointed out the pivotal axis at 78 is at a leading acute angle with respect to the longitudinal axes of the blades, Inasmuch as the blades normally have 80 positive pitches, the result is that as each orward moving blade swings upward its net pitch is decreased and that as each rearward moving blade swings downward its net pitch {s increased, This action tends to minimize 85 or limit the extent of oscillation resulting from the relatively forward and rearward movements of the blades. Amauri Mciantsus Figs 8 and 9 show the azimuth mechanism 40 associated with the shaft 18 and with the corresponding rotor. Ie will be understood ‘that a similar azimuth mechanism is provided in association with the shaft 20 and the corre- sponding rotor, the two azimuth mechanisms 45 being g Hlentcal in copsraction except for ‘The azimuth mechanism comprises a supporting plate 150 which is pivotally ‘mounted a its outer end for movement about {504 longitudinal axis. As shown, a longitudinal pivot rod 152 extends through a longitudinal aperture in the plate 150, the rod 182 being realy support on th fosclge by means not shown. The supporting plate 190 has 55 lage recess adjacent its inner end with arms 154, 154 at opposite sides ofthe roess. ‘A. substantially semicircular yoke 186 is positioned between the arms 184, 154 near the outer ends thereof, the said yoke being @0 connected ‘with the said arms for pivotal ‘movement about a longitudinal axis. Cen- trally connected with the yoke 156 near the Dottom thereof is a vertically extending link 158. When the link 158 is moved upward or dlowaward the yoke 156 is similarly moved 65 ward oz downward and the plate 150 is sNrubg upward or downward abot its pivotal Suis at 152 ‘A gimbal sing 160 i located in the space between the’ arms 184, 154, being pivotally 70 connected with the said arms for pivotal fmovetwent about. a preferably longitudinal tas at 162, 102 The last said ae intersects {hee of rotation of the able meer 72 and of the rotor shaft 18. ‘The 160 & provided with a downward extending arm 16h and a ink 166s pivotally connected at is inner end with the said arm 164." The Suler end of the Kink 166 i pivotally con ected with one arm ofa bell Grant 168, the 80 Bell crank ‘being pivotally "movable, on fhe plot rod 188 which sports the ple 180." The other arm of the bell crank 168 fs ivotally connected with a vertical link 170 Vhen the link 170 is moved downward the 85 link 166 ie moved outward and the gimbal ring 160 is moved about ifs pivotal xis in the comnter-locirise direction. When the link 190 is moved upward the lnk 166 is moved inward and the gimbal ring is moved 90 in the clockwise direction. Connected with the gimbal ring 160 is a carrying element 172 which is preferably an approximately semicieular yake, the sald Yoke preferably embracing the sid gimbal 95 Hog, [Tic endsol the yoo orclenent Fae wotally connected with the ring for mow ent about an aus at 174, 174 which as Ss perpendicular’ to the axis 162, 162 and Eitrccts the ax of rotation of the tubular 100 member 72 and of the rotor shaft 18, Pivot- ally connected with the element or yoke 172s A longitudinal link 176. When the link 176 is ‘moved longitudinally the element or yoke 172 Sgrang abot ai af 174 174 oitoned partly within the gimbal ring 160 Js an azimuth yoke 178. The yoke 178 is pivotally conaected with the elinent 172 for rotation about an azimuth ax at 179 ve, hen the zat are inthe, postions 110 own in Fig. 8, fin aligament with the axis of rotation ofthe tubular member 72 and the rotor shalt 18. ‘The positon ofthe azimuth {is 179 coinelden wlth the salt ade wl be designated asthe neutral” postion thereof. US Positioned within the yoke 178 isan azimuth bar of member 180, this member preferably being pivotally connected atts ends with the Yoke for rotation about an axis at 181 which Intersects the axis of rotation of the tibular 120 member 72 and the rotor shaft 18, the last, Said axes ‘being perpendicular when the azimuth axis is in its neutral position as Siown but being adjustable to other angular postions as willbe explained. ‘Mechanism is provided. for rotating the avimuth member 180 and the azimuth yoke 105 125876,308 178 about the azimuth axis 179 in. unison vith the rotation of the shaft and tubular ieniber, ‘This mechanism may be varied as to details, but is preferably sonstacted in 5 the manner to be deseribed ‘Positioned within the tubular member 72 are similar discs 182 and 184, these discs being centrally a to provide bear fora verdenly movable fod 198. The to rod 189 is provided below the dis 184 with » fransverse pin 188 which carties rollers 190 at opposite sides of the rod. ‘The rollers 190 sre located in vertleal slot 192 formed in two ppostely disposed. extensions. 194 on te 16 lower end of the tubular member 72." The lower end portion of the rod 185 is bifurcated to provide tro arms 196, 196 which are at opposite sides pf and in engagement with the tzanath bar oF member 180. The arms 186 20 are pivotally. conected. with the bar or ‘ember 180 for relative pivotal movement bout 4 transverse axis at 198. The trans verse aads af 108 is vertically movable with Fespect to the shaft but zomains otherwise in 25 fixed velationship therewith. Aslas bee stated he yoke 178isrolatae with respect to the eaying element or vole 172 about the azimuth axis 179.” The rollers 190 by reason of their engagement with the 90 sides of the slots 102 canse the tod 186 to rotate in unison with the tubular member 72 The rod 196 by season of ite desebed onnection with the merber 180 emses the Said member and the yoko 178 to rotate 85 relatively to the sing 160 and the yoke 172 and in unison with the shaft "The before mentioned rods 112 and 114 extend fhrough the shaft 18 and through the fubular member 72" and aro evoluble 40 therewith, "The said ‘rods extend. into Tongitudinal slots formed in the azimuth bar 180. The rods are connected withthe bar 180 {or relative pivotal movements about oppo- Siely disposed axes at 200 and 202 which ave 48 eccentsc. with respect to the azimuth axis 170. The diss 182 and 184 are provided with holes through which the rods’ 112 and 114 extend, ‘The last said holes ate considerably tan thenods. 2 arith mechanism atthe loft side of the hdicopter, but shown at We right side of Fig. 8, has been described in detail. Both fcimuih mechanisms and various ‘zelated parts are shown schematically in Fig, 10 55 Connected ‘with the tight azimuth mochan- fom, shown atthe lft in Fig 10, are two rods 206" and 908 comesponding respectively to the rods 112 and 114 and extending through the right rotor shaft 20. ‘The right azimuth 60 mechanism comprises '@ plate. 200 corre Spending to. the. plate 180, yoke 210 Gbeespoding tothe yoke 156, «baling S11 corresponding to the sing 160, yokes 2 fand 214 conmesponding respectively to the 50 yokes 172 and 178, and an azimuth bar or 65 Inember 216 coesponding 0 the Dar or Bomber 190, Control nk 216, 29 and 22 are provided corresponding respectively to ‘hedfnks 158,170 and 176. ” "The rotor at the sight of the helicopter is 70 not shown in detail, but is shown generally in Figs. 1 and 14. ‘Tho seid rotor is exactly the sneha show nF 3 f0 2 except that the parts are reversed in shape fd positon for clocewize rotation instead 78 of cotmter-clockise rotation. The rods 208 and 208 move the aps 52, 82 in the same ‘manner as already deserbed in connection with the flaps 30, 30: Tig. Il is ffagmentary schematic view 80 shoving the relationship between the rotor aad the comesponding smut tar and ao ‘showing the relative postions ofthe comnect- ing rods. Bach of the azimath merabers 180 and 22 is ata leading angle with respect to 85 the longitudinal axes of the rotor blades when the blades are in their inital positions as Shown in Fig. 8, Preferably the leading angle js approximately G0", the azimuth bar being parallel with the pivotal axis 78 of the 90 Eorresponding hub member, as ‘shown in Figs 10 and U1, Actually the lending angle fh mh ar with pet 6 th luring rotation is more than 60°, ei due tothe relatively rearward tuaing or lag 95 of the Blades about the axes 88, 89, As Statel, te extent of such relative rearward fuming ot lag maybe as much as 25° but it's ordinasly considerably les. The net leading angle may therefore be 22 mach as 100 85° but it ordinarily somewhat les, as for instance about 75°. The rods 112 and 114 cross each other within the corresponding fotor shaft. This will be apparent from Tig. 11 which shows the lower end of the rod 105 LIB toward the front and the upper end thereof toward. the rear, Sinilaly, the lower end of the rod 11d is toward the ear and the upper end thereof ie toward the front. ‘The drarings show the azimath mechanisrn 110 and the flap eontzol connections in neutral position, the Blades and faps being in the Peative positios shown in Figs. 5 and 15. ‘Referring particulary to the parts atthe lett of the hellcopter, Ht wil be observed that 115 Spward movement of the ink 188 extses Upward movement of the entire azimuth lechanism and ofthe rods 112 and 114." As has been explained, upward movement of tach rod causes the twisting of the core- 120 sponding blade dusing rotation to increase itive pitch theteolSimllany, down- veel movenent of ech rod, cts te Tpristing of the corresponding blade in the opposite direction to decease the positive 125 pitch thereof. When the rods 112 and 114 hte moved upward or downward in unison by ‘eas of th Ink 188 the effective collective676,998 9 Pts of ath Hi ae ine ‘cris a aed at ek mba Tha eh o Birdie hts Saclay wor EG an jettle iet e ctel es net a Sa won Sac so einen al een alls Tes Rena farily oe mht isthe Ue a Se ohat aae HE, BP Seh ibe mort tabla cee To onde Gee fe ah he 1s sg an acl spre hk nt SET feet ce Stat Dale lel anol ares bel heb “Eien ‘Say ei ete in ca HESS gah edu est ie aie eB te er capitis fe a es Say Tale Sry ewe Sete faecal in Samm ols tae nit ni haere SEAN teat ee SLE Some ee ae noel steno dean inehetadle Sorte ey a it eee seael deed nr tl SE Riv eaten eae getters ori Beet inde 38 eta kel is a ST ented he si a 18 ws cs ie ps al stp ie atti Reece le Sein oiktag ant Are pl Beir nee fatale SUE LOE sete Genet et ae eae Lal acer ee oo tedster ia poner ree Hi Raligurtenidseaghelesmat eh wea lp oe ward moving blade reaches its lowermost 65 position when at the front and that the rearward moving blade reaches its uppermost position when at the rear. The angle of lag ofthe blades in reaching their said lowermost and uppermost positions is equal or approxi- 70 ‘mately equal to the leading angle of the axis 78, the said positions therefore being reached ‘when the azimuth member and the axis 78 have moved to transverse positions. ‘As rotation continues the pitches of the 75 blades are cyclically changed, the blades repeatedly reaching their lowermost positions when at the front and repeatedly reaching their uppermost positions when at the rear, he extent ofthe cyclic pith changes and o 80 the resulting swinging movement can changed by changing the amount of incina. tion of the azimuth axis. The net effect of ‘the eyclic pitch changes and of the resultant blade swinging is equivalent toa tilting of the 85 axis of rotor rotation in the direction of the azimuth axis inclination. The lifting force of the rotor is therefore inclined in the direction of inclination of the azimuth axis, and the rotor acts to move the helicopter 90 in the said dizection, that is, forward when the azimuth axis is inclined forward. ‘As stated the azimuth axis can be inclined in any direction. Thus the lifting force of the rotor can be inclined in any direction in 95 accordance with the direction of azimuth axis inclination, and the rotor acts to move the helicopter in the corresponding direction, Pror OppRaste ConTRoL Mecmawisa IN GENERAL For the control of basic collective pitch there is provided a collective pitch control stick $3 heretofore mentioned in connection with Fig. 1. The stick 33 is conveniently located to be grasped by the left hand of the 105 pilot. The stick 98 constitutes a pilot ‘operable device for controlling chabges in basic collective pitch. The said stick is connected to a shaft 244 mounted for ‘movement about a transverse axis. Depend- 110 ing from the shaft 244 are arms 246 and 248, Longitudinal links 250 and 252 are connected at their forward ends with the respective arms 246 and 248, the connections being indirect as hereinafter explained in detail. 118 The links 250 and 252 are connected respect- ively at their rear ends with bell cranks 254 and 256 which are mounted for movement about fixed transverse axes. The before- mentioned links 158 and 218 are connected 120 respectively with the said bell cranks 254 and 256, Ie will be seen that when the stick 33 is moved rearward the links 250 and 252 are moved forward and the links 158 and 218 are moved upward, As the links 158 and 218 125 are moved upward the azimuth mechanisms ‘and the rods 112, 114 and 206, 208 are moved. 10010 676,398 ‘upward. ‘Thus the effective collective pitches of the blades of both rotors are increased simultaneously and to the same_ extents Similacy, whem the stick 8 is moved forward 5 the collective pitches of the blades of both rotors are decreased simultaneously and. to the same extents, “Thus the sick 39 serves, as the primary’ means for incre dlecreasiag the basi collective pitches of both 10 rotors to control the vertical lift exerted by the rotors. ‘The stick 88 is spring-biased to its lower forward position, corresponding to the normal minimum collective pitch of the blades as 1S shown in Fig. 15. Upward and rearward movement of the stick for increased asic collective pitch is in opposition to the sp Basing means. ‘The lest said means will be oo MGtaNt denied et a there is provided & eyelie pitch control stile 34 heretofore mentioned in connection with Fi The sk convent ose in e 1¢ right hand of the pilot 25 The stick 84 constitutes a pilot operable device for controlling changes in eyclc pitch, ‘A longitudinal tube 260 is provided which is ‘mounted for oscillation about its own axis. Secured to the tube at the front thereof is 2 {90 bracket 262, and the stick 34 is pivoted to the bracket for movement about a. transverse axis at 264, ‘Extending through the tube 280 is a longitudinally movable member or rod 286, the front end of the rod being pivotally 85 connected with the lower end of the stick 34 below the pivotal axis at 264. ‘The member for rod 266 constitutes a pilot controlled ‘member for controlling changes in cyclic pitch. 40 By means of mechanism to be hereinafter fully explained, the rear end of the rod 266 is connected with bell eranks 288 and 270 which fare mounted for movement about fixed transverse axes. Connected with the 4S respective bell cranks 268 and 270 are substantially vertical links 272 and 274, ‘The upper ends of the links 272 and 274 are connected respectively with bell cranks 276 and 278. The said bell cranks 276 and 278 ‘50 are connected respectively with the forward ends of the before-mentioned links 176 and 22, ‘When the stick 94 is moved forward, the rod 266 is moved rearward and the links 272 {85 and 274 are moved upward. As the links 272 and 274 move upward the links 176 and 222 ‘move rearward, thus inclining the azimuth axes toward the front, Similarly, when the stick 84 is moved rearward the azimuth axes 60 are inclined toward the rear. The azimuth axes are moved in the direction of stick movement pen As more from the tube 260 is an arm 280. learly shown in Fig. 12, two transversely extending links 282 and 284 are 65 connected at their inner ends with the arm 280.” The outer ends of the links 282 and 284 ‘are connected respectively with bell cranks 286 and 288 which are mounted for move ‘ment about fixed vertical axes. Links 290 70 ‘and 291 are connected respectively at, their forward ends to the bell cranks 286 and 288, The said links 290 and 291 are connected respectively at their rear ends to bell cranks 292 and 298 which are counted for movement 75 about ‘fixed transverse axes, The before- ‘mentioned links 170 and 220 are connected respectively at their lower ends with the bell ranks 292 and 298, ‘When the stick 34 is moved toward the 80 right of the helicopter, or toward the left as, viewed in Fig. 10, the tube 260 and the arm 280 are tumed, the links 282 and 284 being moved toward the left. ‘The link 290 is moved forward and the link 201 is moved 85 rearward, As the link 290 moves forward, ‘the link 170 is moved downward and the left azinrath axis is inclined inward or toward the ight, As the link 291 moves rearward, the link 220 is moved upward and the right 90 azimuth axis is inclined outward or toward the right. Similarly, when the stick 34 is moved toward the left, the azimuth axes are inclined toward the left. The azimuth faxes are moved in the direction of stick 95 ‘movement. By combining forward of rearward move- ‘ments of the stick 34 with lateral movements ‘thereof the two azimuth axes can be moved in ‘unison and to the same extents so as to be 100 inclined in any desired direction correspond- ing to the inclination of the stick. ‘As has been pointed out each rotor tends to move the helicopter in the direction of tzimath ai inclination Tt will therefore be 105 apparent that t ter can be caused to love in any dzeetion, forwardly or seat. wardly or laterally, ‘by correspondingly moving the stick 34, ‘For vertical movement or for hovering, the stick $4 is maintained in 110 a neutral position to eliminate eyclic pitch variations. Means is preferably provided for auto- ‘matically moving the stick 34 to its neutral position. Oppositely acting springs 204 and 115 1995 are provided which tend to move the rod 266 to & neutral position, the springs there- fore serving to also move the stick 34 to @ neutral position as concerns forward and rearward movements. Springs 296 and 297 120 fact on the links 290 and 291 to press them in ‘ne direction, which may be the forward direction. Inasmuch as the links 290 and 291 rove in opposite directions, the springs tend {o'move th inks to nesta positions ‘The 195 springs also serve to move the stick 4 to a neutral position as concems lateral move- ments, ‘Thus the springs 294, 295 and 256,297 cooperate to automatically retain the stick 34 in its neutral position, Automatic Cottective Prrc Crances ‘As has been stated the collective pitch of S each rotor can be increased or decreased by the pilot operated control mechanism, the corresponding link 158 or 218 being moved upward or downward. It has also been stated that during power-on flight the blades 10 of each rotor relatively lag or drag, swinging relatively rearward about the axes 86, 86, Similarly, during auto-rotation, ashereinafter explained in detail, the blades of each rotor tively lead, swinging relatively forward 18 about the axes 86, 88. The relative move- rents of the blades about the axes 88, 86 are utilized to automatically vary the collective pitches, “This will be more readily apparent from the diagrammatic Fig. 17A. Tn Fig. 17A the axis of rotor rotation is indicated at A, the rotor moving counter- clockwise as in’ Fig. 3. ‘The blade is repre- sented by the line 28, the blade being pivoted for horizontal movement about the axis 86 25 and having a drag angle X for an assumed condition of power-on fight, The angle X is exaggerated for clarity of illustration. The Tink 120 is Included in the flap moving connections which have been described, 90 For an assumed relatively fixed position of the corresponding bell crank 116, the position of the link connection at 119 is relatively fied, and the lnk connection at 121i held in a position which is relatively fixed so lon 85 a te angle X remains unchanged. Tf the motor speed is increased, the hub member speed is correspondingly increased, and the blade 26 assumes a greater drag angle Y, then rotating in unison with the hub 40 member. A. substantially uniform rotor speed is ordinarily desirable and the tendency of the rotor to rotate at a greater speed must” be ofiset by an increase in the collective blade pitch, With the construction shown and 45 decribed, the required increased coletive itch is provided in part by the movement of the collective pitch stick 33 by the pilot However, a part of the required increased collective pitch is provided automatically. 50 It is assumed that the blade moves from the initial drag position 26 represented by the angle X to the drag position 26° repre- sented by the angle Y. ‘The point 121 is on the blade (or the blade support) and as the £85 blade moves about the axis 86 the point 121 ‘ends to move with the blade along the are F concentric with 88. However, the point 121 4s controlled by the link 120 and is therefore forced to move to the position 121° along the 60 are G which is concentric with 119. There- fore, the point 121, in following the are G rather than the are F, is forced relatively outward along the blade, thus moving the 29 676,98 il tap ois tn epithe Fa ee Cents ete es er 26’ represented by the angle Y to the position etn aS sens “Fae gig dition lb in gig dei opr tra ec ozs Hk JN im Sali os Sara in ned el a ScLy aera Ping etn Made 28 nove hs a di ent a teal A et te meee tReet a eo ee eee te He eg ee ean Piet SP hutaptnt 2 a Sen Se anaes os arpa Renee Bt Gee tao aoe nee Heer ashe ae te ten Sua eb sage Rye cares ee ea see Lauren Gane has pe Sergi aetna pores Pmor Orsranie Directionat ConTRot Meckawisie For providing directional fight control two pedals $5 and 38 are provided, these having been heretofore mentioned in connection with Fig. 1. The pedals 35 and 36 collectively 105 constitute a pilot operable device for con- ‘rolling directional changes. ‘The said pedals. are, positioned for engagement regpedtively by the left foot and the right foot of the pilot and they are mounted for movement about 110 fixed transverse axes, Longitudinal links 302 and 304 are pivotally connected at their forward ends with the respective pedals below the pivotal axes thereof. The rear ends of the links 302 and 304 are pivotally 115 connected with a cross bar 908 which is mounted for pivotal movement about a fixed vertical axis near the center of the bar at 308. By means of mechanism which ineludes a link ‘310 and which will be hereinafter described in 120 Aetail, the cross bar 306 is connected with a ifferential collective pitch cross bar 312 which is mounted for movement about a fixed. vertical axis near the center of the bar at 314, ‘Normally the cross bars 306 and 312 move in 125 ‘unison and in the same directions. 100i2 676,308 ‘The Defore-mentioned arms 246 and 248 are rigidly connected and they collectively constitute a pilot controlled member movable in opposite directions to simultaneously 5 change the collective pitches of the blades of doth rotors. The before-mentioned links 250 and 252 are not connected directly with the arms 246 and 248 bat are connected in- directly therewith by means of a differential 10 collective pitch device. ‘The differential collective pitch device is movable in unison with the pilot controlled member, that is, with the arms 246 and 248 and is also movable relatively thereto. The differential collective 15 pitch device includes levers 320 and 322 Which are pivoted to the respective arms 246 and 248, Links 816 and 318 are pivotally connected at their forward ends with the cross bar 312 20 near the respective ends thereof. Each of ‘the arms 246 and 248 is provided with two transversely spaced parts, and the said levers 320 and 822 are positioned between the said parts of the respective arms. The lower end. 25 of each lever is pivoted ‘at 324 to the lower end of the corresponding arm as more clearly shown in Fig. 18. ‘The rear ends of the links 316 and 818 are pivoted to the upper ends of ‘the respective levers $20 and 822 as indicated 90 at 926 in Fig. 18. The forward ends of the before-mentioned links 250 and 252. are pivoted to the intermediate portions of the respective levers 820 and $22 as indicated at 898 in Fig. 13. 35 With the links $16 and 318 in fixed positions, the arms 246 and 248 move the links 250 and 252 as already described. Referring particularly to Fig. 13 it will be ‘seen that the pivotal axis at 324 moves with 40 the arm 246, the lever 320 pivoting about the axis at $28 which is substantially fixed. ‘As the lever 320 moves about the axis at 326, ‘the ink 250 is correspondingly moved. It will be seen that the link 250 may be moved 45 by the arm 246 with the link 316 stationary, or may be moved by the link 316 with the ‘arm 246 stationai ‘Under normal fight conditions and with the helicopter moving in the forward direc 50 tion, forward displacement of the left pedal 35 causes the cross bars 906 and 312 to turn in ‘the counterclockwise direction. ‘The link 818 is moved forward and the link 316 is moved rearward. As the link 318 moves S5forward it causes the link 252 to move forward independently of the arm 248 which may be assumed to be in a fixed position. As the link 252 moves forward, it causes the link 218 to move upward, thus increasing {60 the collective pitch of the blades of the right rotor. Similarly, as the link 816 moves rearward it causes the link 250 to move rearward, As the link 250 moves rearward it ‘causes the link 158 to move downward, thus decreasing the collective pitch of the blades 65 of the left rotor. It wil be seen that a Gifferental collective pitch control is pro- ‘vided, it being possible to relatively increase ‘the collective pitch of either rotor. ‘As has already been pointed out, the 70 driving reactions of the two oppositely rotating rotors normally balance each other and there is no tendency for the reactive forces to turn the helicopter. Howaver, when the collective pitch of the sight rotor is 75 relatively increased, the reactive forces are nro longer balanced. ‘The right rotor is rotating clockwise, a3 shown in Fig. 14, and by season of its greater pitch requires more power and has a reactive force which is 80 Greater than that of the left rotor which is rotating counter-lockwise. There is there- fore a net reactive force which tums the helicopter in the counterclockwise direction of toward the left 85 When there is a forward displacement of the right foot pedal 96, the collective pitch in the left sotor is increased and the collective pitch in the right rotor is decreased. The ‘onditions before-deseribed are reversed and 90 the helicopter tums toward the right. The described directional control by changing the collective pitches of the two rotors is preferably supplemented by differen- | tially varying the eyelic pitches of the two 98 rotors. A differential eyelic pitch cross bar 4330 is provided which is mounted for move- ment about a fixed vertical axis near the fcenter of the bar at $82. The eross bar $80 {5 connected with the cross bar 308 by a link 10¢ 394, the two eross bars moving in unison but in opposite directions. A longitudinal link 386 is provided, this being connected with ‘the cross bar 880 at the right side of the pivotal axis at 952. The rear end of the link 108 £896 fs connected with a bell crank 838 which is mounted for movement about a fixed vertical axis. A transverse link is provided hhaving its outer end connected with the bell cranke 838, ‘The rod 266 constitutes a pilot controlled rember movable in oposite directions io simultaneously change lic pitches of ihe blades, of both rotors. The before- ‘mentioned bell cranks 268 and 270 are not 118 Connected directly with the rod 268 but are connected indirectly therewith by means af a differential eyelic pitch device. ‘The difieren- tial eyelic pitch device is movable in unison with the Zod or member 286 and is also 12 Tovable relatively thereto. As illustrated the differential cyeli pitch device includes a ‘ross bar 342 which is pivoted to the rod 288 for movement about a vertical axis at 344 nar the center of the bar. Two longitudinal 128 links $46 and 348 connect the ends of the cross bar $42 with the respective bell cranks 268 and 270.” Rigidly connected with the ne676,308 13 cross bar $42 is a bifurcated arm 950 which extends in the forward direction, The inner fend of the link 340 is pivotally connected at 452 with the forward end of the arm 350. SMovement of the cross bar S42 serves to differentially change the cyclic pitches of ‘the two rotors, but this does not interfere with the changes in the eyele pitches of both Totors by boally moventent of the cross bat 10 842 with the rod 266, "With the bell crank 998 and the link 340 in the positions shown the cross bar 342 is Perpendicular to therod 266 and the collective Ditches of the two rotors are varied in unison 15 and to the same extents as already described, ‘When the cross ber 242 fs pivotally moved relatively tothe member or bar 266, the ipa of the oxi ane ae oppositely and to the same extents, 20 "For example, when the left foot pedal 35 is displaced forwardly for a left turn as already described, the crose bar 906 is moved in the counter clockwise direction and the cross bar £390 is moved in the clockwise direction. The 25 ink 8961s moved rearward and the link 340 is moved outward. The cross bar 342 is turned in the clockwise direction, the link $46 moving forward and the link 348 movi earward,. As the link 348 moves rearward, 30 it moves the link 274 upward and the link 223 rearward, Thos the right azimuth ais i Inclined forward to an increased extent and the lift forees on the right Totor are inclined forward to an increased extent, Similarly, as 85 the link 846 moves forward, it moves the fink 272 downward and the link 176 forward. ‘Thus the left azimuth axis is inclined rear- ward to.a decreased extent and the lft forces fn the right rotor are inclined forward to a 40 decreased extent, By reason of the described fnclinatfons of the azimath axes and the resulting inclinations of the lift forces, the Giferential cyclic pitch tends to tum the helicopter toward theleft 45 When the Tight foot pedal 96 is displaced forward for a Fight turt, the conditions last above-described are reversed and the differen- tial eyelic pitch tends to turn the helicopter toward the sight, 50 The rudder 38 is preferably movable about an axis at 99 as already stated, When the Fdder is s0 movable, i€ is connected by the before mentioned cables 40 and 1 with the ‘cross bar 390. "When the left foot pedal 35 is 855 pressed for a left turn, the cable 40 is moved rvard fo tua the adder $8 toward the ee ‘When the right foot pedal 38 is prested for 3 Tight tur, the cable 40 is moved forward to ‘tum the rider 38 toward the right, 60 Tt will be observed that with the construc- tion ss. shown and described, ‘directional control is obtained cooperatively by three Simultaneously acting mechanisms which are all under the control ofthe foot pedals 35 and 38, Directional control is effected by 65 differentially varying the collective pitch, by differentially varying the eyclic pitch and by moving the rudder, Avrororarive Descent 18 GENERAL The description of the operation of the 70 various mechanisms as thus far given relates primarily to normal fight conditions with ower applied to the rotors. Very different Conditions are encountered during auto- rotative descent. In autorotation aero- 75 dynamic forces act on the rotors to maintain Tilation it the te detione 8 eng normal power-on flight, the uni-diection dluteh 88 permitting the rotors to rotate independently of the motors, 80 Tn the power-on regime the shafts drive ‘the rotors, and in the autorotative regime the rotors drive the shafts. It has been pointed cot that, dusing power operation, the blades Jag at a trailing angle with respect to the hub 85 ‘member 80, which angle is ordinarily 15° or less and by reason of the shoulders 87 cannot be greater than about 25°. During auto- rotation the blades are at a small leading angle which by reason of the shoulders 88 90 cannot be greater than 10°. For autorotative descent, the effective collective pitches of the blades are decreased to provide the required antorotative equili- brium, With the particular mechanism shown 95 and described, the collective pitch stick $3 is ‘moved forward and downward beyond the position shown in Fig. 10, so that the flaps ‘are moved counter-clockwise to positive pitch ponitons, as shown in Fig, 1, the blades 100 eing twisted clockwise. ‘The chord line of each blade is at a negative pitch angle, but the blade has a small effective positive pitch. Inasmuch as the helicopter 45 descending, the relative direction of air movement is 105 rearward and slightly upward with respect to the direction of blade movement as repre- sented by the arrow B’.. The amount and direction of lift are represented by the arrow C?, the direction of lift being perpendicular 110 to’ the relative direction of alr movement, The amount and direction of blade drag are represented by the arrow D’, the direction of drag being perpendicular to the direction of lift. The forces represented by the arrows 115 Cand D’ have a net component represented by E’. If a uniform speed of rotation be assumed and if there were no frictional or other similar losses, the component EB’ ‘would be vertical. The rotors are already in 120 rotation and mo fores is required to maintain rotation other than that necessary to over- come the rotative resistance of the rotors themselves, this force being represented by Dy. However, there is some friction in the 125 ‘bearings and in the gearing and there may be certain auxiliary devices (not shown) whichu 676,308 post, be riven, The, component” is re shown at a sm: ‘to represent thestated power loses. In the power-on regime of flight, a decrease 5 in effective blade pitch (within the power-on. pitch limits) causes an increase in rotor speed, it boing. assumed that the power input remains constant, However, in the auto- rotative regime ‘of flight, a decrease in 10 effective blade pitch (within the autorotative pitch limits) causes a deorease in rotor speed ‘and an increase in effective blade pitch causes anincreaseinspeed. It willheapparantthatthe action is reversed during autorotative flight. 16: Te will be understood that normally and ‘preferably the helicopter is. moving forward uring autorotative descent; it therefore being necessary to provide directional control for the forward movement. For directional 20 control, the rudder, if provided, operates as already described, and the differential cyclic itch ‘control also operates as already esetibed. "However, by reason of the above- ‘mentioned reversal of action. during. auto- 2%5 rotation, the differential collective pitch ‘control carmnot act as previously described. ‘The differential. collective pitch control normally serves to, relatively increase the positive collective pitch of the right rotor for 80a left tum and to relatively increase the Rositive collective pitch of the left rotor for a ght tum, However, for a left turn ducing autorofative descent. the ‘action must be reversed, it being necessary to relatively 85 decrease’ the positive collective pitch of the ight rotor, and to relatively: increase the Positive collective pitch of. the leit rotor, ‘the, action being opposite for = right tum, Without. this reversed: action, as will be 40 hereinafter more fully explained, the differen- tial collective pitth control wonld tend to ‘umm the helicopter in the direction opposite to that desired.. The differontial cyclic pitch and the rudder wonld tend to tarn the heli- 4S copter ir the desired: direction and: the differential collective pitch would tend to ‘turn the helicopter in the opposite direction, Under these conditions the pilot would have xp definite directional contral, as'the oppo- 50 sitely acting factors would more or less off-set eac other. Under some. conditions the differential cyclic pitch and the rudder-would prevail, ‘and. under other conditions: the differential collective pitch would prevail. In 55 ordér-ta avoid the uncertainties and dangers incident to the above-described: conditions, motion reversing mechanism is provided: for ‘the differential collective pitch control. Revensive Mrcuaxisar por DIeveRENTIAL 60 Coumenvs Prick: As concerns the broader aspects of the invention, any- suitable motion’ reversing mechanism may be provided forthe differen- tial calletive pitch control, The presently prefered mechanism ds indicated. generally 65 2U-358 in Rig. 10 and is shown in detail in Bigs 18 to 22. ‘The reversing mechanism is located between and carried by two stationary plates 360 snd 362s shown in Fig. 10."‘Tho upper 70 plate 360 is omitted in Tig’ 18, which shows {he parts in position for normal fight without any reveal of moten "ite, wa Tmovable support 964 is provided, prelerably being & lever which i connected 75 ‘rth the plates for movement about & Axed axis at 65, "The support or Jever has: a rearward pestion for normal ‘ight and a forward’ position for antorotative. descent, the rearward position being shown in Fig. 18, 80 ‘strut 360 is provided whieh is pivoted at 5368 to the support or lever 364 and which i pivotally connected at $70 with the 2ear end of the: Before mentioned Tike 310.” "A lever 572s provided, preferably of bell rank form, 85 Which’ is conacted ‘with the plates far ‘movement about a fed axis at 374. The Eransversly extending arm of the bell rank S7aisconnected by alin 379 with the before- meyers rm S12 Tp nk $860 erably in approximate alignment. wi Bie ink 810. “An intermediate linie 978 is provided, one end of which ‘= pivotally Eonnectod at 370 with the link $10 and with ‘the strut 368.. The opposite end ofthe inter. 95 mediate link 378 is pivotally coanected. at 4580 with the forwardly extending arm ofthe ‘att era 372. ‘Al. rank $82 is" provided. which is connected withthe plates dor movement about 10 ‘fixed axis at 384," fink 386 es its forward nd pivotally connected at 88 with the lever 364 ‘and. has its rearward end pivotally connected at $00 with one arm of the bel crank 382." A lever $92 is connected: with 108 the plates for movement about « fixed axis at 94. A Ink 306 5 pivotally connected at 508 with the other art of th bell eran 982 and is pivotally connected at 400 with the lever au. “Thelever $92 s moved to shift the reversing mechanism so as to provide normal motion ot reversed motion as required, The lever 302 may be variously aeteated, and in its broader aspects the invention is not limited to any 15 particular actuating means. ‘The present fisernce, however io provide mechan or automatically _shif 1 i mechanism whenever the collective pitch Stick 83 is moved to or from its. poition 120 Corsesponding to autorotation of the sotors. Depending from. the shaft 244 is bifented. arm. 402, block 408 being pivotally mounted between the bifrcations Sf the arm. A Finke 406 has its forward end 125 pivollly connectod at 408 with the lever 92. ‘he reat end portion of the lik 406 extends ue676,398 15 trough an aperture in the bok 404, relative fear ovement ofthe lnk bog tad ra nut 410. A col compression speng 412 Strrounds the tink 408 and abuts at its rear Send aginst the block 404, ‘The forvard end of {Ee apring abuts again shoulder on the in ‘When tne collective pitch stick 99% moved upwant and rearvact irom. the postion in Fig. 10, the arm 402 and che Block 10401 move fora’ in oppostin tothe sping 412. "The link 408 andthe forward hd of fhe spring 412 cannot move forward beyond the postions shown in Fig. 18. Tine the Spring 412 constitutes the before-meationed 1S toeans for biasing the stick 90 coward postion corresponding to. the mamimam fnllective pitch of the blades. for" normal ight. Men the colctiv ite sick 83 is inthe 20 position shown in Tig. 10 or is at a relative rearward and upward position, the reversing ‘mechanism part are in the postions shown in Fig. 20. When the collective pitch stick 33 is moved downward and forward beyond the 2% position shown in Fig. 10, the reversing mechanism parts are in the positions shown in Fig, 22. As the stick is moved downward and forward, the link 406 is moved rearward and the lever 382 is moved eounter-lockwise, 80 The link 306 is moved rearward and the bell crank 982 is moved clockwise. “As the bell rank 382 moves clockwise the link 386 is moved forward, thus moving the lever 364 from its rearward position to its forward 36 position, “Te will be observed that in the positions shown in Fg. 20 the pivotal axis 368 Bat the rear of the pivotal axis 380. Tn the positions shown in Pig. 22 the pivotal axis 338 sat the front ofthe pivotal axis 380, 40, ‘The stick 83 is moved downward and forward as last aboveceseribed only when ‘the helicopter is descending under conditions ‘ofautorotation.. The flaps and the blades are ‘proximately in the relative positions shown 4s in Fig. 17 and the blades are being main- tained in their normal directions of rotation by aerodynamic forces as already explained Under these conditions the reversing mechas jam serves to reverse the normal action of 50 the differential collective pitch mechanism. ‘With the parts of the reversing mechanism {in the positions for normal fight as shown in Fig. 20, the pivotal axis at 368 is at the rear of the’ pivotal axis at 360, Te may be £55 assumed that the left foot pedal 35 has been moved forward for aleft tum. The cross bar 806 has been moved counter-clockwise and the link 310 ‘has been moved rearward, ‘The lever 864 is held in its rearward position, 660 and the link 310 canses the strat 388 to move Glockewise about. the axis 368. Inasmuch as the pivotal axis 368 is at the rear of the pivotal axis $80, the link 378 moves relatively ‘upward and causes clockwise movement of the bell crank 372, As the bell crank moves 65 clockwise the link 976 moves rearward, that is, in the same direction as the link 310,” This is the correct direction for normal operation of the differential collective pitch mechanism as already described. The described motions 70 ‘are opposite when the right foot pedal 98 is moved forward for a right tora, Fig, 2, the lever 964 hasbeen 75 moved to its forwatd position and the pivotal axis 388 is at the front of the pivotal axis 380, It may be assumed as before that the left foot pedal 35 has been pressed for a left turn. ‘The cross bar 306 has been maved counter: 80 clockwise and the link 310 has been moved rearward, ‘The lever 364 is held in its forward position, and the link 310 causes the strut 386 to inove clockwise about the axis 368. Inasmuch as the pivotal axis 368 is at the 85 front of the pivotal axis 380, the link 378 moves relatively downward and causes counter-clockwise movement of the bell crank 872. As the bell crank moves counter- clockwise the link 376 moves forward, that is, 90 in the direction opposite to-the direction of ‘movement of the link 810. The described motions are opposite when the right foot pedal 86 is pressed for a right tar, Genera Expianarion oF DinecriowaL 95 Coxtmor ay. DiveennntiaL COLLSCrIVE ‘pric Mecuanisie The action of the differential collective pitch mechanism for controlling the direction Df fight during various conditions ‘will be 100 better understood from a consideration of the chart appearing in Fig. 23. “The chart inciudes curves K, L, Mand N representing the relationship between torque and the angles or collective pitches of ts 105 rotor blades. Poslive torques that delivered through the shafts to the rotors, and negative torque is that delivered by the rotors and tending to rotate the shafts, “Each curve represents a selected constant condition of 10 flight as concerns vertical movement, it being assumed in each instance that speed of rotor rotation is constant. The curves ‘merely Tepresent performance characteristics for fe stated’ conditions and. they do not 115 represent variations In blade ithe and in torque occurring during any” given fight Curve K represents climb. at 400 feet per minute; curve L. represents level fight or hovering ; curve Mf represents descent at 400 120 feet per minute; and curve N represents, dlescent at 1600 feet per minute. Other rates of climb or descent would be represented by other curves not sliown, ‘The shapes and sitions of the several curves are merely 125 Indicative and do not necessarily show actual values.16 676,998 For any given fight the weight of the helicopter and its load may be assumed to be constant, and the upward thrust of the rotors {S"therelore. constant. It is accordingly 5 possible to designate a point on each curve at Jwhich the blade pitch and the torque are at the proper values to exert the said constant ‘rust under the fight conditions represented by the curve. ‘For curve K the said point is 10 at 0, for curve T. the said point is at P, for euve M the said point is a 0, and for curve Ni the said point fs at R, A constant thrust curve § is drawn through the said points 0, PrOandk, 15 “Al The point onthe curve representing climb at 400 feet per minute, the blade pit {s between 14° and 15° and there is a very considerable positive torque. The eurve K {Ssharply inclined atthe point O and t willbe 2 evident that a small increase or decrease in Slade pitch involves a very. substantial {nerease or decrease in torque. ‘At the point P on the curve L representing Tevel flight, the blade pitch is between 11° 25 and 12" and there is substantially less positive forgue than at the point O. The curve L is Jess sharply inclined at the point P and a small increase of decrease in blade pitch involves an increase of decrease in torque 30 substantially less than that at the point O. "AC the polat Q on the curve M representing descent at 400 feet per minute, the blade pitch is about 6° and there is substantially Jess positive torque than at the point P.. The 85 curve M is substantially level atthe point Q Sind small increase or decrease in Dlade pitch involves little ot no torque diferential.. The Jeveling of the curve Mt at the point Q is due to the act that, at the stated rate of descent, 40 aerodynamic. action on the blades tends 10 Folate the rotor, the postive tone aplied Through the shafts being correspondingly Feduced, ‘Thus there i a condition of paztal rower descent. 45 Rt the point R on the curve N representing descent at, 1600 fect per minute, the blade ‘pitch is little less than 2° and there is no Torque, ether positive or negative, inasmuch 25 the blades are in auforotative equilibrium 50 as explained in conection with Pig. 17. It hnas already been pointed out that, during the Autorotative regime of fight, an increase blade piteh fends to cause’ an increase in otor speed and that a decrease in blade pitch 15 tends to cause a decrease in rotor speed. Tn other words, with an increase in blade piteh the autorotative equilibrium would be dis- {trbed and the rotors would tend to rotate at higher speed, Similarly with a decrease in coblade pitch. the autorotative equiliorum ‘would Be disturbed and the rotors would tend. Yo rotate at a lower speed. ‘Thusra small {crease in blade pitch produces a negative torque and a small decrease in rotor speed produces a positive torque, the resulé being @5 That ‘the curve Nat the’ point R has an Inclination opposite to that of the curves K and L at the points O and P. “As forward fight and assuming climb of 400 feet per minute, both rotors aze 70 at the collective pitch represented by the point O'on the cutve K.Falcing a left turn Esan example, it has already been stated that the collective pitch of the right rotor is Increased and the collective pitch of the left 75 rotor is decreased, The pitch of the right Totor may be increased by I° to the point O° and the pitch of the left rotor may be Gecreased by 1° to the point O°. Due to the inclination of the curve K, the result is 2.80 positive torque differential represented by T ‘which tends to turn the helicopter toward the Teft, that i, in the direction opposite to the clockwise direction of rotation of the right fotor,, Tt will be understood that. the 85 Gesctibed differential piteh changes, being ‘equal, do not materially change the total lit of thrust ‘Again assuming forward flight and assuming Ievel ight, both rotors are at the 90 collective pitch represented by the point P ontheeurveL.. Again taking left tum asan example, the pitch of the right rotor may be increased by 1° to the point P’ and the pitch of the left fotor may be decreased by 1° to 95 the point P'. Due to the inclination of the curve L. the result is a positive torque Giferential represented by U which tends to fur the helicopter toward the left. The torque differential U is lees than the torque 10¢ Giterential T, but is nevertheless ample. ‘Again assuming forward fight.” and assuming descent af 400 fet per minute, both rotors ate at the collective pitch represented by the point Q on the curve M, Again taking 2 left tum a5 an example, the pitch of the Tight rotor may be increased 1° to the point QF and the pitch of the left rotor may be Secreased by to the point Q°. Due to the feyelling of the curve bt, the points Q” and 11 Q' are'on the same horizontal line V and there is no torque differenti, Under this condition the differential collective pitch has no tendency to turn the helicopter and it is primarily for this reason that the before- 1! Aesexibed differential cyclic pitch mechanism fs provided, ‘The said differential eyelic pitch rechanism gives the pilot full control of the direction of fight, even during the transition stage represented by the point Q wherein the 12 differential collective pitch mechanism is Ineffective. ‘Once more assuming forward fight and assuming descent at 1600 feet. per minate, ‘the rotors are at the collective pitch repre: 12 sented by the point Ron the curve N, Again taking a left turn as an example and assoming (onerely for purposes of explanation) that no 108676,908 7 {iffeentil collective pitch reversing mechan- ism is provided, the pitch of the right rotor ray be increased by 1° to the point R’ and the pitch of the left rotor may be decreased by 51° to the point R’, Due to the reversed inclination of the curve N, the result would be s nogative torque diferntal represented by W which would tend to turn the helicopter toward the right, that is, in the direction 10 opposite to that ‘required. “However, with the differential collective piteh reversing rechanism in its motion reversing position, as shown in Fig, 22, the pitch of the right felon devreasd by tote point Rand pe 15 the pitch of the left rotor is increased by 1° to the point J’. This reverses the torque differential W from negative to positive and the said torque differential tends to turn the helicopter toward the left as is required. 2 The transition stage represented by the point Qvis ordinarily reached with the Eollectve pitch stick 39 at ot near its neutral position as shown in Fig. 10. The diferential Collective piteh reversing mechanism is still 25 in its normal position as shown in Fig. 10. If descent ata greater rate of speed is desired or becomes necessary by reason of motor failure, the pilot quickly: moves the stick 98 forward and downward to further 80 decrease the collective pitch ofthe blades and to bring the reversing. mechanism into its reversing position as shown in Fig. 22. Full autorotative fight is then attained. For simplicity it has been "assumed 85 throughout the “foregoing explanation that the rotors are maintained at constant speed. However, ‘substantial variations in Yotor speed may be desirable or necessary, particu Bip: diag ‘ulorotetive, descent. Such 40 variations may be readily effected. by the pilot. Tn’ summary as to directional control, it willbe apparent that ducing normal power-on flight, “the direction is controlled co 4 operatively by the rudder i provided, by the differential cycli anism, and by ie pitch med the dierent solective pitch mechaniny, The diferential collective pitch reversing mechanism becomes effective whenever the So collective pitch stick 89 is moved to the Position for autorotative descent, the blades 2nd flaps being in a relationship such as that Shown in Fig. 17. For a left tum during normal power-on £55 fight the collective pitch m the right rotor is relatively increased and the collective pitch Gf the left rotor is relatively decreased, This ives a positive torque differential tend form the helicopter toward theleft. Fora let 60 turn during a transition stage of partial power escent, the helicopter is turned by the rule i prove, and by the diet eyelic pitch, For a left tum during auto- Totative descent the collective pitch in the right rotor is relatively decreased, and 65 the collective pitch of the left rotor is relatively increased. This also gives a positive torque differential tending to tum. the helicopter toward the left. With decreased collective pitch, the right rotor 70 ‘tends to rotate at a lower speed. However, the two rotors are connected by the gearing for rotation at the same speed, and the right rotor is maintained at the established speed by the left rotor which has an increased 75 collective pitch and tends to rotate at a higher sped, ‘Thu the lft rotor transmits jn the gearing and tends to turn Ete helicopter in ts owa direction of rotation, ‘hat is, counter-clockwise or toward the left! 80 For a right turn the described conditions are Se RENREA Snes on Onsen th the motor in operation at speed, the centrifagal clutch does not drive 8 the rotors. When the motor speed is increased the shoes 47 engage the drum 46 to transmit power for driving the rotors. Initially the blades and flaps are in the relationship shown in Fig. 15. 90 The collective pitch stick 99 is moved upward and rearward for upward movement Of the helicopter. As the stick is so moved the basic colective pitches of the blades of both rotors are increased in unison. The 95 blades swing relatively rearward about the Bivoll axe at 36, 8, the extent of suck Swinging being dependent on the amount of the collective pitch. By reason of suitable ‘mechanism, such as the particular construc- 100 tion of the flap moving connections as explained in connection with Tig. I7A, the collective pitches of the blades are addi- Houally ipereased and decreased auto; iy in accordance with increases and 105 decreases in rotor speed, ‘For a straight vertical lift, the eyeticpiteh stick 84 remains in neutral position and the blades have no cyclic pitch, and with no cyclic pitch the rotors have little or no 110 tendency to oscillate about the transverse axes at 78.” Por hovering or for level ight the stick 99 is held at a postion such that the required ehtude maintained" " For horizontal fight, the cyclic pitch stick 115, 3418 innlined in the direction of the desire fight "ths eausngyel,ptch changes Wich eatse the helicopter to travel in the direction of stick movement. ‘The helicopter Tray bo caused to move in any” desired 120 irection. [By reason of eyclic variations in pitch, the blades ‘oscillate during each revolution in tho plane of rotation and about the pivotal axes at 86, 86, The two blades of each rotor 125 Go not oscillate in unison. ‘The feietion links 89 permit separate oscillations, but serve to18 restrain of limit such osillations. Yor normal forwaed fight the direction is controlled by the foot pedals 35 and 86, For av leit tum, the lett Toot. pedal. serves to Srelatively increase the collective pitch of the right rotor and els to teativelyinerease the eyelic pitch of the right rotor At the Same time the rudder is turned toward the Jett, For a right turn, the right foot pedal lO serves to relatively increase the collective pitch of the left rotor and also to relatively rcreaso the cyeic piteh of the left rotor ‘Atthe samo ime the rudder is turned toward the right. ‘The foot pedals, in relatively 15 increasing the collective pitch in one rotor or in the other rotor, tum the faps upward and clocknise a8 viewed in Fig. 16. For autorotative descent, the collective pitch stick 33 is moved forward and down- 20 ward so that the blades and flaps have & {feneral lationship such as that shown in ig. 17. The blades rotate in. the seme directions and are in autorotative. equi ‘rium as has been fully explained. ‘The unk 25 directional clutch 58 permits the rotors to rotate independently of the moto. ‘in order to effet turning caring euto- rotative descent by changing the collective pitches, St is necetsary fora left tum to 380 Felatively decrease the collective pitch inthe right rotor and i is necessary for aright turn to relatively decrease the collective pitch in the left ror, The forward end downward ovement of the stick 83 beyond the 85 position shown in Fig. 10 causes the reversing {nechantsmn 358 to become effective as shown jn Tig. 22 for reversing the motion trans. mitted from the foot pedals to. the flaps ‘With the reversing mechanism ettective, the 40 faps are tamed downward or counter: clockwise as shown in Fig. 17, rather than ‘upward and clockwise, thus relatively. de- creasing the blade pitch in the right rotor git ee oa Be ft ator fora ght 5 tum, ‘Wat we claim is-— 1A helicopter” which comprises two rotors rotatable about substantially vertical aes and connected for rotation in unison and 60 in opposite dietions, each of he si ors having a plurality of aerofll blades adjust= able to change tie pitches thereof, « motor, power transmitting mechanism between the fnotor and the rotors for driving the latter in 55 predetermined diections fr oral Sight, ower transmitting mechanism including Prous enabling the rotors to automatically rotate in the sxid predetermined directions Independently ofthe motor, a first mechanism 60 operable during rotor rotation for waiformly Ranging the basic collective pitches of the blades ‘of both rotors. to. control. vertical ovement which mechanism serves Yo. pro- ¥ide blade pitches suitable for normal power- 676,308 on ight and to provide blade pitches 65 Stable for autorotation during’ descont, Alzection control device, «second mechanism. controlled ‘by the said control device for Aierentally changing the collective pitches, of the blades of the two fotors to relatively 70 {icrease the collective pitch in either of them and thereby change the dicection of Hight ‘which second mechanism daring. power-on rotation is controlled by movements of the Said direction control device in predetermined 75 Glcections coresponding to" tho desired Changes inthe diecton of ight, and means cooperating with the second mecbanism and operable during xtorotation of the rotors for Causing the second mechanism to reverse 80 the. diferental. changes inthe collective Pitches of the blades of the ta rotors upon Rnovement of the direction control device in fhe sme predetermined dictions. 2 A hulicopter as set forth in claim 1,85 wherein the aes ofthe tro rotors are spaced Eransversly with respect to the direction of onnal forward fight 3. A helicopter as set forth in claim 1 or claim 2, inckiding a rudder, and a rudder 90 Control mechanism operable by the direction ontzol device independentiy of the means for reversing the diferential changes in the collective pitches which rudder control Iechanism serves {9 move the rudder ¢0 95 Supplement, the action of the differential collective pitch changes to change the dire- don of fig in accordance with movements of the difetion control device in the said Drodetermined directions. 4A bellcopter according to claim 3, wherein the direction control device includes 2 pivoted eros bar movable by the direction Control device for concurrently differentially changing the eyeliepitches of the Blades of 105 fhe Evo rotors and’ diferentially changing the callective pitches of th blades of the two rotors, 3. A helicopter according to. claim 4, comprising a pivoted diferental eyelic pitch 110 cross bar éounected with the fist rose bar for movement in. unison’ therewith for differentially changing the cyclic pitches of the blades ofthe tio rotors. %. A helicopter according to claim 5, 115 including means operable by the diflerential Cyr plth eros ar for moving the rudder. "7A helcepter according to any ‘one of clans 4 o 6, comprising a pivoted diferental alletive pitch cross ar connected with the 120 fst eros bar for movement in unison there- with for diferentally changing the collective Ditches ofthe bades ofthe two rotors. 8. A helicopter as set Torth in claim 7, veri the mean or severing the deren: 125 al changes connects the pivoted cross bar and the dilesental collective pitch eros bar vand serves either to move the differential 100676,398 19 collective pitch cross bar in the same direc tion as the first cross bar or to move the Gifferential collective pitch cross bar in the opposite direction. 5''9.A bolicopter according to claim 8, comprising means operable by the first motharist to cause the eross bat connecting ‘means to move the differential collective pitch cross bar in the said opposite direction when 10 the first mechanism is operated to reduce the collective pitches of the blades of the two rotors below a predetermined amount. 10. A helicopter according to any one of the progding claims, including “means 15 operable bythe second mechanism to cause reversing means to be operative for reversing the differential collective pitch changes’ when the blades have collective pitches suitable for autorotative rotation and 20 to cause the said reversing means to be {inoperative for the ssid purposes when the blades have collective pitches suitable for normal power-on flight. I1. A’ helicopter according to any one of 25 the preceding claims, wherein the direction control device is pilot operable, and wherein the mechanism for uniformly changing the collective pitches includes a pilot operable device separate from and movable in- 180 dependently of the pilot operable direction control device. 12. A helicopter according to any one of the ‘preceding claims, including a third ‘mechanism operable during rotor rotation for 35 uniformly changing the pitches of the blades ‘of both rotors cyclically to control horizontal ‘movement. 13. A helicopter according to claim 12, peru the third mechanism for changing 40 the pitches cyclically includes a pilot operable device separate from and” movable inc dependently of the mechanism for uniformly ghanging the collective pitches and separate from. and movable independently of the 45 direction control device. 14. A helicopter according to any one of the preceding claims including means addi- tional to the first mechanism for uniformly changing the collective pitches and additional Soto the sesond mechanism for dilerentially ‘he collective pitches which means Serves automatically to uniformly decrease the collective pitches of the blades of both rotors upon change from power-on rotation 55 to autorotation and to uniformly increase the said pitches upon change from auto- rotation to power-on rotation. 15, A helicopter according to claim 14, wherein two substantially vertical shafts are 60 provided for tho respective rotors, and ‘wherein the means for automatically de- ‘reasing and inereasing the collective pitches is dependent upon negative and positive torque between the shafts and the blades of thezotors 65 16. A helicopter according to any one of the preceding claims, including means for differentially changing the pitches of the biades of the two rotors cyclically in order to change the direction of fight. 7 17. A helicopter according to claim 16, wherein the direction control device serves to differentially change the collective pitches of the blades during power-on rotation, to differentially’ but oppositely change the 75 collestve pitches of the blades during auto- rotation, and to differentially change the pitches of the blades cyclically. 18. A helicopter according to claim 16 or claim 17, wherein the means for differentially 80 hanging the pitches of the blades eyelically in order to change the direction of flight is operable during the transition stage between, power-on rotation and autorotation when the differential changes in collective pitch 83 ae Telatively inefiective to change" the direction of fcht. 19. A helicopter according to any one of claims 16 to 18, including three separate and independently" movable pilot operable 99 Geviees; the first of the pilot operable devices controling the frst Fecha for uniformly changing the collective pitches of the blades of both rotors to contral vertical movement, the second of the pilot operable 95 devices controling the means for uniformly changing the eyelic pitches of the blades of Doth rotors to control horizontal fight, and the third of the pilot operable devices controlling the second mechanism to differen: 100 tially change the collective pitches of the blades of the two rotors to change the direction of ight. 20, A helicopter according to claim 19, wherein the second pilot operable device is 108 movable in various directions for changing the, eylic pitches to any” desired phase positions, 21. A helicopter according to claim 19 or clei 20, wherein the means fr enforly 110 changing the pitches cyclically comprises Jongltudinal tube mounted. for ostilation about its own axis, wherein the second pilot ‘operable device is stile connected withthe tube for pivotal movement about a transverse 118 ais fixed with respect to the tube and spaced from the tube axis which stick when pivotally moved transversely serves to oscillate the ‘tbe, wherein the said means comprises a rod within the tube and pivotally connected with 120 Ue stick for longltudinal movement thereby when the stick is pivotally moved longh fudinally, and wherein the said means farther comprises devices connected with the said tube and the seid rod for changing the 125 pitches of the blades of both rotors eycical 4m one phase direction when the tube is oxcillated by the stick and for changing2 676,998 the pitches of the blades of both rotors cyclically in another phaso direction when the rod is moved longitudinally by the stick. 22. A helicopter according to any one of 5 claims 19 to 21, wherein the first pilot operable device is a stick engageable by one hand of the pilot and movable about a fixed horizontal. transverse axis, and the second pilot operable device is a stick engageable by the other hand 10 of the pilot and movable in any direction generally parallel to a horizontal plane, and wherein the third pilot operable device omprse two pedals engageable by the fest of the pilot and movable oppositely and in 1S unison about fixed horizontal transverse "23. A huicopter according to any one of the. preceding claims, wherein. the aerofel blades are provided respectively with movable 29 servo flaps adapted to act aerodynamically dising rotation to change the pitches of he Hades "end wherein the mechan or mechanisms for changing the pitches of the blades serve to change the positions of the 295 laps relatively to the blades to thereby effect ‘he required blade piteh changes 24, A hlicopter according to claim 25, wherein the servo aps function auto- Thatialy in response to the tora applied to 30 the rotor by the shaft during rotation for increasing of decreasing the coeetive pitch of the blades in addition to the eMange cted by the frst mechanism a5 the suid forque is increas of deceased. 35 25. A helicopter according to claim 2, wherein connections between the servo flaps tid the fit. mechanism move the aps felatve to the Blades to cause the Saps to Increage or decrease the clletive pitch of 40 the ‘blades as the torque is increased. or ao : rdiing ft ‘A helicopter according to any one o! tains 28 to 35, wherein to substantially Vertical shafts ate provided respectively for 45 the two rotors, blade supports are provided on the slafts for supporting the blades of the Corresponding rotor, and the rot portions of the blades are so connected with the rexpest- ive blade supports as to_preveat zolative 50 movements of the root portions about axes Gatending longitudinally of the Blades, the said blades being capable of substantially ‘Bristing. about “ther longitudinal mean anes. with respect to. their nonrotatable 5 rot portions and having torsional resliency Causing them to be restored to thelr normal Shapes after twisting, and swhesein the Zaps Gn the blades serve by aerodynamic forces ftting thereon during folaton to twist the 69 respetive blades progresively from the rot orsons to the Bape and thereby change Eis elfective pitches of the blades. WA helleopter according t0 claim 26, including" vertical pivotal "connections Between the blade supports and the root 65 portions of the blades permitting angular lag Of the blades relatively to the blade supports, fand wherein the adjustment of the Aaps is operatively dependent upon the amount of lag of the blades with Tespect to the blade 70 supports during rotation for increasing. ot eereasing the eollective pitch of the blades as the amount af lag increases or decreases, 28, A helicopter according to claim 27, ‘wherein the blades move to substantial angles 75 of lag during power-on fight and to angles of lead during autorotative fight, the change in collective pifeh being dependent upon the movement of the blades from the Substantial angles of lag to the smaller angles 80 of lead for automatically decreasing the collective pitch ofthe blades, 29. A helicopter according to any one of claims 12 to. 35, including mechasiom for ‘moving the flaps in accordance with move: 85 ments of the first, second and third mechanism comprising an azimuth member adjacent the lower end of each shaft and rotatable in unison therewith, an azimuth tember carrying element & easing connect 80 ing the azimuth member with the carrying stent fr lation abou a auth a ‘with respect to the carrying element and having a neutral position coincident with the shaft axis, axod for each blade revoluble 85 with the shafts and movable longitudinally thereof for changing the blade pitch, the lower end of the said rod being pivotally connected with the azimuth member eccen- twically of the azimuth axis, said azimuth 100 member carrying element being movable by the third mechanism to incline the azimuth, axis with respect to its nentral postion in any direction and to any extent within pre- defeated nits eo 8 fo ci he od 105 to oyelically change the blade pitch. '30..A helicopter as claimed in claim 29, including means additional to the rods for connecting the azimuth member with the Shaft for rotation in unison therewith. 31. A lielicopter as claimed in claim 29 or 80, wherein the means for angularly moving the azimuth momber carrying element com prices a gimbal ring surrounding the azimuth Inember and pivoted for movement about an 115 as permed othe shat xi the azimuth member carrying element being connected with the gimbal ring for pivotal movement about an xis perpendicalar to the axis of gimbal ring movement, and means 120 for pivotally moving the gimbal ting and for pivotally moving the azimuth» member Carrying element’ relatively to the gimbal 110 sng. 32, A helicopter as claimed in claim 31, 125 wherein the means for pivotally moving the Gimbal ring comprises. a supporting plate Adjacent the lower end of the shalt, the676,398 a gimbal ring being pivoted to the supporting Plate for movement about on axis perpen= Aicular tothe shaft axis, the supporting plate being movable longtdinally of the shaft by 5 the first mechanism to similarly move the fximuth member 20 28 to enuse the rods £0 collectively change the blade pitch. 33, A helicopter as claimed in claims 81 or 89, wherein the azimuth member is rotatable 10 and comprising means connecting the azimuth member, with the abaft for: rotation in Sion tevith and for poatal movement atively thereto about an axl perpendicular to the shaft axis, and an. azimuth yoke 15 connected tothe azimuth member for rlauive total movement about an ais perpendics- Er‘to the axis of connection between the aimuth member and the shaft ‘34 A helicopter as claimed in claim 33 20 comprising. an clement rotatable in unison srt the shaft ond movable Tongitudinal Thereot and means conaecting the azimuth rember with the last said element, 35. A hidicopter according to aty one of 25 cams 16 to 25, including two azimuth ‘mechanisms respectively associated with the tho rotors and having azimuth axes which can be inclined to varying extents. which frimuth mechanisms are. connected with 80 the corresponding rotors for changing’ the bade pitches eyeially in accordance with the inclinations of the azimuth axes, a cylic pitch control member movable in opposite rections. independently” of the direction a8 control device, a diferential cyclic ite evice movable in tmison with the said tyeli pitch control member and also movable ftlatively thereto, connections betweon the Giderental cyclic pitch device and. the 40 respective zimath mechanisms for mniformy Inckning the two azimuth axes in. parallel planes snd to the same extents when the Gye pitch control member and the diferen- tia eyelic pitch device aze moved in unison, 45 and means operable by the direction eontral device independently” of the evel pitch control member for moving the differential yelic pitch device relatively to the cyclic gots ntl member and fr "erty Eppositely changing the inclinations of the feo azimuth axes to diferentinly change the {elie pitches ofthe blades of the two rotors. ‘96. A helicopter according. to claim 38, wherein the difeentialeyelic itch devices a 85 cross bar pivoted between its ends to the yale ite control. member and bodily ‘Bovabie therewith, wherein there are. com- ection between the ends ofthe ross bar and ihe respective asimuth mechanisms. Zor 6D uniformly incining the two asimath axes in parallel planes and to the same extents when Eee control member and the cross bar are bodily, moved, and wherein the “means ‘operable by the direction ‘control. device serves to pivotally move the cross bar 65 felatively tothe eyeic pth contral member forthe purpose stated 37.-A helicopter according to claim $6, wherein the means operable by the direction Control member includes a. isk extending 70 transversely of the dzection of movement of the cyele pitch control member and pivotally fonnacted with the cross ber which link i ‘movable in the. direction of #8 leagth to pivotally move the cross bar % ‘A helcopter according to any one of the preceding claims, including « collective pitcl control member movable in opposite irections, "a. "dilferentialealletive pitch device movable with the said collective pitch 80 Control member and also movable relatively thereto, means connected with the last Sid device for changing the cllective pitches of the blades of both Fotors fn unison and to the same extents hen the seid control meraberis 85 moved and when the said device is moved Bherewith, and means operable by. the direction control" device independently of {he sald collective piteh control member and Serving to move te sid differential collective 90 Pitch devieo relatively to the said member nd for thereby diferentially changing the collective pitches of the Dlades of the two rotors, 2. A elope acording to cao 88,95 wherein the eolective pitch control member Comprises {wo arms. pivotally movable in fhison, wherein the liforential collective Pitch device includes ‘two lovers pivotally Eonnected respectively with the said arms 100 and movable theewty and wherein he Ieans operable by. the direction control Sean oes to pvotally more the lovers pposite directions relatively tothe respective aimsand to thereby diferentally change the 105 Collective pitches of the blades of the two rotors 10. A helicopter according to claim 39, wwierein each of the tro levers is connected With the corresponding arm near one end 110 {htt ing tok och etal Connected with the corresponding lever at a fis spaced from the pivotal connection ietween the lever and the arm, two other nls each plvotally connected at ‘one end 115 with the comresponding lever ak an axis {paced to a smaller extent from the pivotal Connection between the lover and the arm ‘which Tast sid links serve to change the {allele pitches of the blades of both rotors 120 {unison and to the same extents when the ‘fro arms are moved and the Sst Uns are Stationary, and wherein the means operable by the direction eonteal device is connected with the Ast sad links and serves to move 125 the said links in opposite directions and to thereby pivotally move the levers in opposite Clrecions relatively to the repective armas so676,398 as to differentially change the collective pitches of the blades of the two rotors. 41. A helicopter according to any one of claims 88 to 40, wherein the means operable 5 during autorotation for reversing the differen- fial “changes in the collective pitches is tween the means operable by tid direction ‘control device and the said relatively movable differential collective pitch 10 device. 42, A helicopter according to claim 41, wherein the means for ‘reversing the differential changes in the collective pitchesis, connected with the oppositely movable 18 collective pitch control member and is thereby caused to be operative for reversing the differential pitch changes when the oppositely movable collective pitch control member is in position to provide collective 20 pitches. suitable for autorotation and is thereby caused to be inoperative for the said purpose when the oppositely movable collec tive pitch control member is in position to provide collective pitches suitable for 25 power-on rotation. 48. A helicoptet according to any one of claims 38 to 42, including a first link connected. swith the direction control device, a second link connected with the relatively movable 80 differential collective pitch device, and a ‘motion transmitting mechanism interposed between and connected with the first-and second Tinks the motion transiting mechanism having parts movable to ether of 85 two operative relationships and serving with its parts in one operative relationship. to transmit motion in one direction to. the second link from the first link and serving with its parts in the other operative relation ship to transmit motion in the opposite 40 Girection to the second link from the first link, 44. A helicopter according to claim 43, wherein the motion transmitting mechanism includes a pivoted lever connected with the 45 second link, an intermediate link pivotally connected at one end with the lever and pivotally connected at the other end with the first link, a strut pivotally connected at one end adjacent the connection between 60 the intermediate link and the first link, 2 support to which the opposite end ofthe strut is pivoted, and means for moving the support in a fixed path ‘to positions at opposite sides of a line extending through the pivotal 85 connections of the intermediate link with the lever and with the first said link. 48. A helicopter according to claim 44, wherein the first and second links are in approximate alignment, the lever of the 60 motion transmitting mechanism is a bell crank, and the strut support of the motion transmitting mechanism is a lever pivoted for movement about a fixed axis, 48. A helicopter having its parts con- 65 structed, arranged and adapted to operate substantially as hereinbefore described with. reference to the accompanying drawings. HASELTINE, LAKE & CO., 28, Southampton Blldings, London, W.C.2, 19/25, West 44th Street, New York, US.A., Agents for the Applicants, ‘Redhill: Printed for Hor Majesty's Stationery Office, Love & Malcomson,Ltd.—1052. ‘Poblished et The Patent Office, 25, Southampton Buildings, London, W.C/, fom which copies may be obtained.FIG 6 Be a676398 COMPLETE SPECIFICATION 4 SHEETS This drawing sa reproduction of the Original on‘o reduced ole. ‘Suet $2 ge g6 ‘6 wk 676,398 COMPLETE SPECIFICATION 4 SHEETS This drawing i o reproduction of the Original one raduced scale. sHeer 2 ye a we ao 168. 466.s FIG. a Me “e sl FIG AZ wire r |676,398 COMPLETE SPECIFICATION 4 SHEETS This drawing i reproduction of the Original on @ reduced scale. SHEET 3676,398 COMPLETE SPECIFICATION A SHEETS This drawing Iso reproduction of the Ongnal one reduced sete SHEET 4 ut Zz : & Fae ie T T | | ronaue_O nccariveFREI casas ous aHeD GBES19