CN106915459A - A kind of hybrid tilting rotor wing unmanned aerial vehicle - Google Patents
A kind of hybrid tilting rotor wing unmanned aerial vehicle Download PDFInfo
- Publication number
- CN106915459A CN106915459A CN201710178417.0A CN201710178417A CN106915459A CN 106915459 A CN106915459 A CN 106915459A CN 201710178417 A CN201710178417 A CN 201710178417A CN 106915459 A CN106915459 A CN 106915459A
- Authority
- CN
- China
- Prior art keywords
- propeller
- wing
- cycloidal
- cycloid
- circular ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005611 electricity Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000009466 transformation Effects 0.000 abstract description 2
- 241000566150 Pandion haliaetus Species 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
The present invention is a kind of tilting rotor wing unmanned aerial vehicle of use cycloid rudder flap, and it is mainly characterized by providing power using cycloid propeller and propeller combination.Two propeller piggyback pods are slightly located in power section by the wing wing and the cycloidal paddle propeller of afterbody is constituted, two propeller piggyback pods can carry out wide-angle and vert, realize the transformation of thrust direction, cycloidal paddle propeller is by cycloidal oar blade, support, adjusting rod, cycloid propeller rotating shaft, drive device, Eccentric Circular Ring and Eccentric Circular Ring controller are constituted, and the direction of afterbody thrust is changed by the variation to Eccentric Circular Ring position.When unmanned plane is in many gyroplane states, can be with VTOL and hovering；When unmanned plane is in fixed-wing aircraft state, flying speed is very fast, and efficiency is higher.The present invention has merged the advantage of many rotors and fixed-wing, has broad application prospects.
Description
Technical field
The invention belongs to aviation aircraft design field, and in particular to what a kind of use cycloid propeller mixed with propeller
Tilting rotor wing unmanned aerial vehicle.
Background technology
For a long time, people are seeking to have the aircraft of many gyroplanes and fixed-wing aircraft advantage concurrently always.By visiting for many years
Rope and practice, the V-22 " osprey " for occur in that such as U.S.'s first generation tilting rotor prototype verification machine XV-15, being on active service vert
Gyroplane, " hawkeye " tilting rotor wing unmanned aerial vehicle etc., have played important function, before wide development in dual-use field
Scape.Tilting rotor wing unmanned aerial vehicle not only has the advantages that multi-rotor unmanned aerial vehicle VTOL, hovering, while also having and fixation
The suitable flying speed of wing aircraft, voyage and load-carrying ability.But because osprey is the tiltrotor of DCB Specimen, flight control system
System is complex, hang down fly and vert hang down fly it is flat fly over the state of flight crossed when, it is poor to there is longitudinal stability, operating difficulties
The problems such as.
Additionally, the research for cycloid propeller technology continue for longer time, by existing theory analysis and reality
Test understand, the exhibition of cycloid propeller blade to the diameter parallel with oar disk rotating shaft, by the axis pivot parallel with oar disk shaft axis
On oar disk, blade can swing around pivot.Blade as lifting surface, during oar disk axis of rotation, its angle of attack
Experience changes from zero-incidence to the maximum angle of attack, then from the maximum angle of attack to the continuous cycles of zero-incidence, this elevating movement of blade
The unsteady aerodynamic effect brought can greatly improve the pneumatic efficiency of cycloid propeller.In addition, adjusting blade by controlling organization
Maximum angle of attack size, thus it is possible to vary the pulling force size of cycloid propeller；And pass through to adjust the blade angle of attack it is maximum when orientation on oar disk
Angle, then can produce the pulling force of the either direction in the plane of oar disk rotating shaft, control of the cycloid propeller to thrust size and Orientation
System is simple and efficient.
The content of the invention
For the deficiency that above-mentioned osprey tiltrotor is present, and the characteristic that cycloid propeller has, the present invention is intended to provide
One kind control is simple, and stability is strong, and reliability is high, is easy to the new tilting rotor wing unmanned aerial vehicle of operation.
To realize technical purpose of the invention, the present invention provides following multiple technologies scheme：
A kind of hybrid tilting rotor wing unmanned aerial vehicle, including fuselage, fixed wing and fixed empennage, it is characterised in that described
Unmanned plane also include positioned at wing can tilted propeller piggyback pod and the cycloidal paddle propeller positioned at empennage.
Unmanned plane according to any of the above-described technical scheme, it is characterised in that it is described can tilted propeller be located at wing
Two ends.
Unmanned plane according to any of the above-described technical scheme, it is characterised in that positioned at the rotation side of the propeller of both wings
To opposite.
Unmanned plane according to any of the above-described technical scheme, it is characterised in that the fixed empennage includes horizontal component
And vertical portion, it is L-shaped per side.
Unmanned plane according to any of the above-described technical scheme, it is characterised in that the cycloidal paddle propeller includes cycloid
Paddle blade, cycloid propeller support, adjusting rod, cycloid propeller rotating shaft, drive device, Eccentric Circular Ring and Eccentric Circular Ring controller, the pendulum
Line oar propeller changes the direction of afterbody thrust by the Eccentric Circular Ring controller to the control of Eccentric Circular Ring position.
Unmanned plane according to any of the above-described technical scheme, it is characterised in that the propeller piggyback pod and the pendulum
The power type of line oar propeller can be electronic, oily dynamic or oil electricity mixing.
Unmanned plane according to any of the above-described technical scheme, it is characterised in that the cycloidal paddle propeller includes four
Cycloidal oar blade.
Unmanned plane according to any of the above-described technical scheme, it is characterised in that when aircraft is flat to fly, two of which phase
To cycloidal oar blade and aircraft fuselage axis where horizontal plane it is substantially coplanar.
In one more specifically technical scheme, the present invention provide a kind of tilting rotor of use cycloid rudder flap nobody
Machine, it is mainly characterized by providing power using cycloid propeller and propeller combination, and compared to the DCB Specimen layout with osprey, the present invention is dynamic
Force system is made up of two propeller piggyback pods at wing two ends and the part of cycloidal paddle propeller three of afterbody, in isosceles triangle
Distribution.Two propeller piggyback pods can realize that wide-angle is verted by steering wheel and connecting rod；Cycloidal paddle propeller is by cycloid blade
Piece, support, adjusting rod, cycloid propeller rotating shaft, drive device, Eccentric Circular Ring and Eccentric Circular Ring controller are constituted, by off-centre operation
The variation of ring position changes the direction of afterbody thrust, realizes full vector thrust, and respond very fast.Three power end thrust directions
Transformation unmanned plane can be allowed to realize the conversion of many rotors and fixed-wing both of which；When wing two ends, propeller piggyback pod is upward
Vert, when cycloidal paddle propeller thrust is downward, unmanned plane is in many gyroplane patterns, can be with VTOL and hovering；When
Wing two ends propeller piggyback pod is verted backward, and cycloid propeller thrust is closed, and 4 cycloid propeller blades winged direction flat with aircraft is parallel,
Unmanned plane is in fixed-wing pattern.
In one more specifically technical scheme, the present invention, as the power end of afterbody, is put using cycloidal paddle propeller
Line oar rotating shaft is fixed on fuselage, and support is constituted by four around the uniform extension bar of cycloid propeller rotating shaft, and can be around pendulum
The rotating shaft of line oar rotates；Cycloid propeller is made up of the blade of 4 symmetrical airfoils, and their leading edge is cut with scissors with 4 outer ends of extension bar respectively
Connect；Adjusting rod is 4, and their one end is hinged with cycloidal oar blade trailing edge respectively, and the other end can be slided on Eccentric Circular Ring
It is dynamic；Eccentric Circular Ring has two frees degree, can be in the plane translational motion parallel to the aircraft plane of symmetry, Eccentric Circular Ring controller
It is fixed on fuselage, controls the motion of Eccentric Circular Ring.
Beneficial effects of the present invention include following any one：
The present invention is a kind of new tilting rotor being made up of three power ends (each one of wing two ends, empennage one)
Aircraft, has many rotors and fixed-wing both of which concurrently.VTOL and hovering can be carried out under many rotor modes, makes it
Can be taken off landing without runway or other devices, the flight operation of high speed, flight efficiency can be carried out under fixed-wing pattern
It is higher.Three power ends have more a cycloidal paddle propeller compared to the tiltrotor (such as osprey) of two power ends in afterbody,
When hanging down winged, aircraft increased the torque that pitching can be controlled to operate, and this causes aircraft, and longitudinally operation is upper simpler, surely
Qualitative stronger, reliability is higher.
Cycloidal paddle propeller has as the power end of afterbody compared to airscrew thrust device or ducted fan device
Very big advantage：First, cycloid propeller simple structure, weight is small, and eliminates heavy inclining rotary mechanism, substantially reduces aircraft
Weight, is conducive to the lifting of aircraft range and the raising of mobility；Secondly, cycloidal paddle propeller by control the angle of attack of blade come
Control the size and Orientation of thrust, and thrust size and Orientation can transient change, control is simple and efficiently, used as afterbody
Power end, be conducive to improving stability and mobility of the aircraft when hanging down winged；And, cycloid propeller no matter with many powerful rotations,
Noise is all very low；Finally, as the power end of afterbody, when aircraft hangs down winged, cycloid propeller will not produce extra yawing.
When aircraft is flat to fly, cycloid propeller support and cycloidal oar blade are fixed on ad-hoc location, relative two on support
The face of horizontal plane three where plane and fuselage axis where blade is coplanar, and two other relative blade plane is parallel to upper
The coplanar plane in three faces is stated, now, airplane tail group front face area reaches minimum, when putting down winged, the resistance of generation is smaller.And, with
Horizontal stabilizer when that coplanar two panels blade of horizontal plane where fuselage axis can put down winged as aircraft, two other blade
Can be rotated along the pin joint of edge and support, can be used as the elevator put down when flying.
Brief description of the drawings
Fig. 1 is the flat winged state overall pattern of hybrid tilting rotor wing unmanned aerial vehicle of the invention；
Fig. 2 is the vertical winged state overall pattern of hybrid tilting rotor wing unmanned aerial vehicle of the invention；
Fig. 3 is hybrid tilting rotor wing unmanned aerial vehicle cycloidal paddle propeller detail view of the invention；
Afterbody detail view when Fig. 4 is flat winged hybrid tilting rotor wing unmanned aerial vehicle of the invention；
1 empennage rudder face in figure, 2 empennages, 3 cycloidal paddle propellers, 4 wings, 5 fuselages, 6 ailerons, 7 propellers, 8 propellers are moved
Power cabin, 9 cycloid propeller rotating shafts, 10 Eccentric Circular Rings, 11 drive devices, 12 cycloidal oar blades, 13 adjusting rods, 14 supports, 15 off-centre operations
Ring controller
Specific embodiment
In order that technical problem solved by the invention, technical scheme and beneficial effect become more apparent, below in conjunction with
Drawings and Examples, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used to
The present invention is explained, is not intended to limit the present invention.
In a specific embodiment, propeller piggyback pod 8 can rotate around the shaft, and cycloidal paddle propeller 3 can appoint
Meaning promptly changes the thrust ground size and Orientation in the aircraft plane of symmetry, realizes cutting between many rotor modes and fixed-wing pattern
Change.
When unmanned plane is in many rotor modes, propeller piggyback pod 8 verts to, cycloid propeller vertical with the axis of fuselage 5 upwards
Propeller 3 changes the position of Eccentric Circular Ring to adjust the direction of the thrust that cycloid propeller is produced and big by Eccentric Circular Ring controller
It is small, make the thrust of generation downwards, it is of moderate size, and the stability of aircraft is kept by winged control.During aircraft forward-reverse, propeller
Piggyback pod 8 and the Differential Control of cycloidal paddle propeller 3；When aircraft side flies, the Differential Control of left-and-right spiral oar piggyback pod 8；Yawed flight
When, it is controlled by the tilt angle of the first two propeller piggyback pods 8 of wing or so steering wheel adjustment end.Therefore, unmanned plane exists
Hang down when flying, can realize VTOL, hovering, it is preceding fly, it is rear fly, side flies etc. acts.
When unmanned plane is in fixed-wing pattern, propeller piggyback pod 8 is tilted forward, cycloid propeller support and cycloidal oar blade
Ad-hoc location is fixed on, the plane where two blades relative on support and the face of horizontal plane three where fuselage axis are common
Face, parallel to the coplanar plane in above-mentioned three face, now, airplane tail group front face area reaches most two other relative blade plane
Small, when putting down winged, the resistance of generation is smaller.And, that two panels blade coplanar with horizontal plane where fuselage axis can be used as flying
Horizontal stabilizer when machine puts down winged, two other blade can rotate along the pin joint of edge and support, can fly as flat
When elevator.Rolling movement is controlled by aileron rudder face 6, and pitching and driftage operation are carried out by empennage rudder face 1, and operation format is general
Logical fixed wing aircraft is consistent.In fixed-wing mode flight, the speed of aircraft horizontal movement realizes high-speed maneuver.
Claims (8)
1. a kind of hybrid tilting rotor wing unmanned aerial vehicle, including fuselage, fixed wing and fixed empennage, it is characterised in that the nothing
It is man-machine also include positioned at wing can tilted propeller piggyback pod and the cycloidal paddle propeller positioned at empennage.
2. unmanned plane according to claim 1, it is characterised in that it is described can tilted propeller piggyback pod be located at the two of wing
End.
3. unmanned plane according to claim 1, it is characterised in that the direction of rotation positioned at both wings propeller is opposite.
4. unmanned plane according to claim 1, it is characterised in that the fixed empennage includes horizontal component and vertical portion
Point, it is L-shaped per side.
5. unmanned plane according to claim 1, it is characterised in that the cycloidal paddle propeller includes cycloidal oar blade, pendulum
Line oar support, adjusting rod, cycloid propeller rotating shaft, drive device, Eccentric Circular Ring and Eccentric Circular Ring controller, the cycloidal paddle propeller
The direction of afterbody thrust is changed to the control of Eccentric Circular Ring position by the Eccentric Circular Ring controller.
6. aircraft according to claim 1, it is characterised in that the propeller piggyback pod and the cycloidal paddle propeller
Power type can be electronic, oily dynamic or oil electricity mixing.
7. aircraft according to claim 5, it is characterised in that the cycloidal paddle propeller includes four cycloid blades
Piece.
8. aircraft according to claim 7, it is characterised in that when aircraft is flat to fly, the relative cycloid of two of which
Horizontal plane where paddle blade and aircraft fuselage axis is substantially coplanar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710178417.0A CN106915459A (en) | 2017-03-23 | 2017-03-23 | A kind of hybrid tilting rotor wing unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710178417.0A CN106915459A (en) | 2017-03-23 | 2017-03-23 | A kind of hybrid tilting rotor wing unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106915459A true CN106915459A (en) | 2017-07-04 |
Family
ID=59461358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710178417.0A Pending CN106915459A (en) | 2017-03-23 | 2017-03-23 | A kind of hybrid tilting rotor wing unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106915459A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107458579A (en) * | 2017-08-01 | 2017-12-12 | 中国航空工业集团公司西安飞机设计研究所 | A kind of unmanned plane device |
| CN108382579A (en) * | 2018-05-06 | 2018-08-10 | 北京天宇新超航空科技有限公司 | A kind of new and effective tilting rotor unmanned vehicle |
| CN108545180A (en) * | 2018-04-18 | 2018-09-18 | 黑龙江省农业机械维修研究所 | Gu it is a kind of it is more-- from rotor combined type unmanned vehicle |
| CN108674654A (en) * | 2018-04-19 | 2018-10-19 | 南京航空航天大学 | A kind of cycloid propeller-propeller combined high-speed aircraft |
| CN109018342A (en) * | 2018-08-24 | 2018-12-18 | 南京航空航天大学 | One kind is verted cycloid fan swing device, vert cycloid fan rotor aircraft and its control method |
| CN109229367A (en) * | 2018-10-30 | 2019-01-18 | 南京航空航天大学 | A kind of new configuration vertical take-off and landing drone and its flight control method |
| TWI661980B (en) * | 2017-10-05 | 2019-06-11 | 國立虎尾科技大學 | Twin-rotor aircraft |
| WO2019119409A1 (en) * | 2017-12-22 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and control method for unmanned aerial vehicle |
| CN111942581A (en) * | 2020-07-27 | 2020-11-17 | 西北工业大学 | Distributed lift force duck-type layout vertical take-off and landing unmanned aerial vehicle and control method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU94015069A (en) * | 1994-04-25 | 1996-07-10 | В.Г. Федчишин | Vertical take-off and landing amphibian aeroplane |
| US20110177748A1 (en) * | 2010-01-21 | 2011-07-21 | Zhihong Luo | Vtol model aircraft |
| CN102556335A (en) * | 2012-01-30 | 2012-07-11 | 西北工业大学 | Flying-wing layout aircraft provided with cycloidal propellers |
| CN102700707A (en) * | 2012-05-28 | 2012-10-03 | 张明明 | Novel aircraft |
| US20120256042A1 (en) * | 2011-04-11 | 2012-10-11 | Eurocopter Deutschland Gmbh | Helicopter with cycloidal rotor system |
| CN103448908A (en) * | 2013-08-25 | 2013-12-18 | 西北工业大学 | Hybrid power airship adopting inflated wings and cycloidal propellers |
| CN205931254U (en) * | 2016-08-16 | 2017-02-08 | 金戈 | Through controlling device that eccentric some position changes cycloid oar lift orientation |
-
2017
- 2017-03-23 CN CN201710178417.0A patent/CN106915459A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU94015069A (en) * | 1994-04-25 | 1996-07-10 | В.Г. Федчишин | Vertical take-off and landing amphibian aeroplane |
| US20110177748A1 (en) * | 2010-01-21 | 2011-07-21 | Zhihong Luo | Vtol model aircraft |
| US20120256042A1 (en) * | 2011-04-11 | 2012-10-11 | Eurocopter Deutschland Gmbh | Helicopter with cycloidal rotor system |
| CN102556335A (en) * | 2012-01-30 | 2012-07-11 | 西北工业大学 | Flying-wing layout aircraft provided with cycloidal propellers |
| CN102700707A (en) * | 2012-05-28 | 2012-10-03 | 张明明 | Novel aircraft |
| CN103448908A (en) * | 2013-08-25 | 2013-12-18 | 西北工业大学 | Hybrid power airship adopting inflated wings and cycloidal propellers |
| CN205931254U (en) * | 2016-08-16 | 2017-02-08 | 金戈 | Through controlling device that eccentric some position changes cycloid oar lift orientation |
Non-Patent Citations (1)
| Title |
|---|
| 唐继伟;胡峪;宋笔锋: "摆线桨气动性能研究进展" * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107458579A (en) * | 2017-08-01 | 2017-12-12 | 中国航空工业集团公司西安飞机设计研究所 | A kind of unmanned plane device |
| TWI661980B (en) * | 2017-10-05 | 2019-06-11 | 國立虎尾科技大學 | Twin-rotor aircraft |
| WO2019119409A1 (en) * | 2017-12-22 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and control method for unmanned aerial vehicle |
| CN108545180A (en) * | 2018-04-18 | 2018-09-18 | 黑龙江省农业机械维修研究所 | Gu it is a kind of it is more-- from rotor combined type unmanned vehicle |
| CN108674654A (en) * | 2018-04-19 | 2018-10-19 | 南京航空航天大学 | A kind of cycloid propeller-propeller combined high-speed aircraft |
| CN108674654B (en) * | 2018-04-19 | 2023-07-25 | 南京航空航天大学 | Cycloidal propeller-propeller combined high-speed aircraft |
| CN108382579A (en) * | 2018-05-06 | 2018-08-10 | 北京天宇新超航空科技有限公司 | A kind of new and effective tilting rotor unmanned vehicle |
| CN109018342A (en) * | 2018-08-24 | 2018-12-18 | 南京航空航天大学 | One kind is verted cycloid fan swing device, vert cycloid fan rotor aircraft and its control method |
| CN109018342B (en) * | 2018-08-24 | 2024-02-20 | 南京航空航天大学 | Cycloidal fan wing device, cycloidal fan wing tilting aircraft and control method |
| CN109229367A (en) * | 2018-10-30 | 2019-01-18 | 南京航空航天大学 | A kind of new configuration vertical take-off and landing drone and its flight control method |
| CN111942581A (en) * | 2020-07-27 | 2020-11-17 | 西北工业大学 | Distributed lift force duck-type layout vertical take-off and landing unmanned aerial vehicle and control method |
| CN111942581B (en) * | 2020-07-27 | 2022-12-27 | 西北工业大学 | Distributed lift force duck-type layout vertical take-off and landing unmanned aerial vehicle and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2979607C (en) | Wing extension winglets for tiltrotor aircraft | |
| CN106915459A (en) | A kind of hybrid tilting rotor wing unmanned aerial vehicle | |
| CN106882371A (en) | A kind of hybrid tilting rotor wing unmanned aerial vehicle | |
| CN105775117B (en) | A kind of helicopter of VTOL horizontal flight and its application | |
| CN105083550A (en) | Fixed-wing aircraft realizing vertical take-off and landing | |
| CN108528692B (en) | Folding wing dual-rotor aircraft and control method thereof | |
| CN205022862U (en) | Power device and fixed wing aircraft with mechanism of verting | |
| CN102001446B (en) | Structure of vertical take-off and landing rotor aircraft | |
| CN110949662B (en) | Novel concept layout airplane with double-wing configuration | |
| CN205022861U (en) | VTOL fixed wing aircraft | |
| CN103587683A (en) | Small-sized aircraft with tiltable rotor wings | |
| CN201712787U (en) | Electric tilt rotor unmanned aircraft | |
| CN108128448A (en) | The coaxial tilting rotor wing unmanned aerial vehicle of double shoe formulas and its control method | |
| CN111003166A (en) | Tandem electric double-rotor helicopter and control system thereof | |
| CN107042885A (en) | A kind of tiltrotor of the duct structure control driftage of use fan and pitching | |
| CN103754360B (en) | One kind flying disc type gyroplane | |
| CN205469821U (en) | Perpendicular or short take off and landing fixed wing aircraft | |
| CN106828918A (en) | A kind of Three-wing-surface vertically taking off and landing flyer | |
| CN107140208A (en) | STOL top load multiaxis fans wing unmanned plane | |
| CN113371190A (en) | Combined type high-speed helicopter based on conventional rotor wing configuration | |
| CN207029549U (en) | A kind of hybrid tilting rotor wing unmanned aerial vehicle | |
| CN101844617A (en) | Double-transverse-beam double-propeller helicopter with novel structure | |
| CN209176908U (en) | A kind of rotor fixed-wing unmanned plane of composite drive | |
| CN106828920A (en) | It is a kind of can VTOL tailstock formula tailless configuration aircraft | |
| CN207725616U (en) | Double coaxial tilting rotor wing unmanned aerial vehicles of shoe formula |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170704 |
|
| WD01 | Invention patent application deemed withdrawn after publication |