CN107074344A - Propeller, power suit and the unmanned plane of aircraft - Google Patents
Propeller, power suit and the unmanned plane of aircraft Download PDFInfo
- Publication number
- CN107074344A CN107074344A CN201780000122.2A CN201780000122A CN107074344A CN 107074344 A CN107074344 A CN 107074344A CN 201780000122 A CN201780000122 A CN 201780000122A CN 107074344 A CN107074344 A CN 107074344A
- Authority
- CN
- China
- Prior art keywords
- propeller
- blade
- turbulent flow
- turbulent
- propeller according
- 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.)
- Granted
Links
- 239000012530 fluid Substances 0.000 claims abstract description 25
- 239000011159 matrix material Substances 0.000 claims description 8
- 230000007704 transition Effects 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 2
- 230000001869 rapid Effects 0.000 claims description 2
- 230000005855 radiation Effects 0.000 claims 1
- 238000000926 separation method Methods 0.000 abstract description 8
- 230000005611 electricity Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 6
- 230000015572 biosynthetic process Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 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 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 210000004209 hair Anatomy 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012805 post-processing Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000002028 premature Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/16—Blades
- B64C11/18—Aerodynamic features
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/16—Blades
- B64C11/20—Constructional features
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/16—Blades
- B64C11/20—Constructional features
- B64C11/26—Fabricated blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/40—Arrangements for mounting power plants in aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
A kind of propeller (200) of unmanned device, including：Blade (210) and propeller hub (230)；The blade (210) is connected with the propeller hub (230), and the blade (210) includes suction surface and the pressure face relative with suction surface；Wherein, the suction surface is provided with turbulent flow generator (213), for delaying fluid to be separated from the suction surface.The propeller (200) that the present invention is provided can reduce the separation of blade (210) upper fluid, so as to reduce the resistance of propeller (200) to improve its operating efficiency, and the cost that this mode for improving propeller (200) operating efficiency is spent is also low.Present invention also offers a kind of power suit and unmanned plane.
Description
Technical field
The present invention provides a kind of propeller of aircraft, power suit and unmanned plane, belongs to aircraft manufacture technical field.
Background technology
With the development of airmanship, aircraft gradually from maximization to miniaturization, is used from special purpose to a variety of
Way develop, such as existing multi-rotor unmanned aerial vehicle can apply engineering construction, take photo by plane, monitor multiple fields.But, with
The increase of application field, also gradually increases for the performance requirement of aircraft, wherein, a main aspect is exactly to improve spiral
The operating efficiency of oar.But, typically all can be using improving propeller in the prior art in order to improve the operating efficiency of propeller
The mode of output, still, this mode are limited by aircraft electrical tankage, motor speed, electricity and adjust the factors such as control accuracy
Influence cause the cost spent when improving propeller works efficiency very big, it is not economical enough.
The content of the invention
In order to solve above-mentioned present in prior art or other potential problems, the embodiment of the present invention provides a kind of aircraft
Propeller, power suit and unmanned plane.
A kind of propeller of aircraft is provided according to some embodiments of the invention, including：Propeller hub and blade；The blade
It is connected with the propeller hub, the blade includes suction surface and the pressure face relative with suction surface；Wherein, the suction surface is provided with
Multiple turbulent flow generators, for delaying fluid to be separated from the suction surface.
A kind of power suit is provided according to some embodiments of the invention, including：Above-mentioned propeller, and motor；The electricity
Machine is connected with the propeller, for driving the propeller rotational.
A kind of unmanned plane is provided according to some embodiments of the invention, including：Frame and above-mentioned power suit；The power
Suit is arranged in the frame.
Technical scheme, passes through the setting turbulent flow hair on the suction surface of the propeller of aircraft according to an embodiment of the invention
Raw device, it is possible to reduce fluid is separated from suction surface, so that reduce the resistance of blade, to improve the operating efficiency of propeller, and
And the cost that this mode for improving propeller works efficiency is spent is also low.
Brief description of the drawings
By referring to the described in detail below of accompanying drawing, the above and other objects, features and advantages of the embodiment of the present invention will
Become more clearly understood from.In the accompanying drawings, multiple embodiments of the present invention will be said with example and nonrestrictive mode
It is bright, wherein：
The structural representation for the aircraft that Fig. 1 provides for one embodiment of the invention；
Fig. 2 is the structural representation of the propeller of unmanned plane in Fig. 1；
Fig. 3 be in Fig. 2 A-A to sectional view；
Fig. 4 is the partial enlarged drawing of F positions in Fig. 2；
Fig. 5 a to Fig. 5 e are the schematic diagram of the turbulent flow generator with varying cross-section shape；
The schematic diagram of the turbulent flow generator for the matrix form arrangement that Fig. 6 a provide for one embodiment of the invention；
The schematic diagram of the turbulent flow generator for the matrix form arrangement that Fig. 6 b provide for another embodiment of the present invention；
The schematic diagram of the turbulent flow generator for the radial arrangement that Fig. 6 c provide for one embodiment of the invention；
Fig. 7 a and Fig. 7 b are different turbulent region arrangement schematic diagrames provided in an embodiment of the present invention；
Turbulent region and leading edge and the position relationship schematic diagram of trailing edge that Fig. 8 a provide for one embodiment of the invention；
The turbulent region that Fig. 8 b are provided for another embodiment of the present invention and connection end and free end are illustrated for position relationship
Figure.
In figure：
100th, aircraft；110th, unmanned plane；
120th, head；121st, electricity is adjusted；
122nd, motor；123rd, capture apparatus；
130th, display device；140th, commanding apparatus；
150th, power is set with；151st, electricity is adjusted；
152nd, motor；153rd, propeller；
160th, flight control system；161st, flight controller；
162nd, sensor-based system；170th, frame；
200th, propeller；210th, blade；
211st, leading edge；212nd, trailing edge；
213rd, turbulent flow generator；214th, direction of rotation；
215th, unblock mark；216th, turbulent region；
230th, propeller hub.
Embodiment
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
The structure of aircraft is briefly introduced first, to be understood more readily from the use environment of propeller.
Fig. 1 is the structural representation for the aircraft that the present embodiment is provided.The present embodiment is carried out by taking multi-rotor aerocraft as an example
Explanation.Certainly, the aircraft can also be single rotor craft, or the Fixed Wing AirVehicle with propeller.
Aircraft 100 can include unmanned plane 110, head 120, display device 130 and commanding apparatus 140.Wherein, nobody
Machine 110 can include power suit 150, flight control system 160 and frame 170.Unmanned plane 110 can be with commanding apparatus 140
Radio communication is carried out with display device 130.
Frame 170 can include fuselage and foot stool (also referred to as undercarriage).Fuselage can include centre frame and and center
One or more horns of frame connection, one or more horns radially extend from centre frame.Foot stool is connected with fuselage, is used
Played a supportive role in when unmanned plane 110 lands.
It is (following that power suit 150 can include electron speed regulator (referred to as electricity is adjusted) 151, one or more propellers 153
Will be described) and one or more motors 152 corresponding with one or more propellers 153, wherein motor 152 is connected to electricity
Between sub- speed regulator 151 and propeller 153, motor 152 and propeller 153 are arranged on corresponding horn；Electron speed regulator 151
Drive signal for receiving the generation of flight controller 160, and driving current is provided to motor 152 according to drive signal, to control
The rotating speed of motor 152 processed.Motor 152 is used to drive propeller to rotate, so that the flight for unmanned plane 110 provides power, this is moved
Power enables unmanned plane 110 to realize the motions of one or more frees degree.In certain embodiments, unmanned plane 110 can enclose
Around the rotation of one or more rotary shafts.For example, above-mentioned rotary shaft can include roll axle, translation shaft and pitch axis.It should be understood that electric
Machine 152 can be direct current generator, can also alternating current generator.In addition, motor 152 can be brushless electric machine, it is possibility to have brush motor.
Flight control system 160 can include flight controller 161 and sensor-based system 162.Sensor-based system 162 is used to measure
The attitude information of unmanned plane, i.e. unmanned plane 110 space positional information and status information, for example, three-dimensional position, three dimensional angular
Degree, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity etc..Sensor-based system 162 for example can include gyroscope, electronic compass,
IMU (Inertial Measurement Unit, Inertial Measurement, Unit), vision sensor, GLONASS and air pressure
At least one of sensors such as meter.For example, GLONASS can be GPS (global positioning system, Global
Positioning System) or triones navigation system.Flight controller 161 is used for the flight for controlling unmanned plane 110, example
Such as, the attitude information that can be measured according to sensor-based system 162 controls the flight of unmanned plane 110.It should be understood that flight controller 161
Unmanned plane 110 can be controlled according to the programmed instruction finished in advance, can also be by responding from commanding apparatus 140
One or more control instructions are controlled to unmanned plane 110.
Head 120 can include electricity and adjust 121 and motor 122.Head is used to carry capture apparatus 123.Flight controller 161
The motion of 121 and the control head 120 of motor 122 can be adjusted by electricity.Alternatively, as another embodiment, head 120 can be with
Including controller, for by controlling electricity tune 121 and motor 122 to control the motion of head 120.It should be understood that head 120 can be with
Independently of unmanned plane 110, or a part for unmanned plane 110.It should be understood that motor 122 can be direct current generator, can also
Alternating current generator.In addition, motor 122 can be brushless electric machine, it is possibility to have brush motor.It should also be understood that head can be located at flight
The top of device, can also be located at the bottom of aircraft.
Capture apparatus 123 is used for the equipment of capture images such as can be camera or video camera, and shooting 123 can be with
Flight controller communicates, and is shot under the control of flight controller.
Display device 130 is located at the ground surface end of aircraft 100, can be communicated wirelessly with unmanned plane 110,
And it is displayed for the attitude information of unmanned plane 110.Furthermore it is also possible to show that capture apparatus is clapped on display device 130
The image taken the photograph.It should be understood that display device 130 can be independent equipment, it can also be arranged in commanding apparatus 140.
Commanding apparatus 140 is located at the ground surface end of aircraft 100, can be communicated wirelessly with unmanned plane 110,
For carrying out remote control to unmanned plane 110.Commanding apparatus for example can be remote control or the APP for being provided with control unmanned plane
The user terminal of (application program, Application), for example, smart mobile phone, tablet personal computer etc..In embodiments of the invention, lead to
Cross commanding apparatus receive user input, can refer to by remote control pull out the input units such as wheel, button, button, rocking bar or
User interface (UI) on person's user terminal is manipulated to unmanned plane.
It should be understood that the above-mentioned name for each part of aircraft is only in order at the purpose of mark, it is not construed as
Limitation to embodiments of the invention.
The propeller of the present embodiment described in detail below, so that those skilled in the art can be fully understood by the present invention.
The structural representation for the propeller that Fig. 2 provides for the present embodiment；Fig. 3 be in Fig. 2 A-A to sectional view.
As shown in Figures 2 and 3, propeller 200 (namely propeller 153 in above-described embodiment) can include blade 210
With propeller hub 230, above-mentioned blade 210 links together with propeller hub 230.In certain embodiments, blade 210 can be fixed on propeller hub
On 230, blade 210 is fixed on propeller hub 230 by the mode such as by welding, interference connection or expanded joint, so as to form straight
The form of oar.Preferably, blade 210 and propeller hub 230 can form integral piece by integrally formed mode, to improve propeller
200 structural strength.In further embodiments, blade 210 can also be detachably accepted on propeller hub 230, for example may be used
Be bolted, the mode such as clamping or pin connection is arranged on propeller hub 230, so as to adjust according to actual needs
The size of blade 210 or propeller hub 230 is to adapt to the different use environments of propeller 200.In some other embodiment, blade
210 can also be rotatably coupled on propeller hub 230, such as can by rotating shaft or hinge mode realize the He of blade 210
Propeller hub 230 is rotatably connected, so as to form the folding structure of propeller 200 to reduce the non-working condition of propeller 200
When volume, be easy to storage.
Propeller hub 230 is used for and motor connection, so as to drive whole propeller 200 to rotate to realize aircraft by motor
The adjustment of the various flight attitudes such as rising, decline, hovering.Specifically, in certain embodiments, propeller hub 230 can be with motor
Rotating shaft is detachably connected, to drive propeller hub 230 to rotate by the rotating shaft of motor.For example, in a kind of specific embodiment,
The inwall of propeller hub 230 can be provided with neck, the buckle coordinated with neck is provided with the rotating shaft of motor, so as to realize electricity
The rotating shaft of machine is detachably connected with propeller hub 230.Certainly, in some other specific embodiment, it can also be connected by screw thread
Connect or the rotating shaft of motor and propeller hub 230 are detachably connected by the connected mode of other prior arts.In other realities
Apply in example, propeller hub 230 can also be detachably connected with the rotor case of motor, to drive propeller hub 230 to revolve by the rotor case of motor
Turn.For example, the rotor case of motor and propeller hub 230 can also use the neck that the rotating shaft of above-mentioned motor is used with propeller hub 230
And buckle connecting structure, or other Detachable connection structures of the prior art can also be used.Certainly, propeller hub 230 and electricity
It can also be attached between machine using the other modes in the prior art in addition to being detachably connected, specifically be referred to religion section
The record of book, technical manual or other common knowledge materials.
Blade 210 can be fabricated by using any materials of prior art, and its size can also be according to actual need
It is designed.Six faces of blade 210 may be respectively referred to as connection end, free end, leading edge 211, trailing edge 212, suction surface and
Pressure face.In general, connection end refers to the side that blade 210 is connected with propeller hub 230, and free end is then relative with connection end
Side；Leading edge 211 and trailing edge 212 are the front and back sides of blade 210 respectively；Suction surface and pressure face are respectively the upper of blade 210
Lower surface.
Specifically, as shown in Fig. 2 its connection end of blade 210 above is the lower end being connected with propeller hub 230, freely
Hold as the upper end relative with propeller hub 230；Underlying its connection end of blade 210 is the upper end being connected with propeller hub 230, free end
For the lower end relative with propeller hub 230.Blade 210 operationally, by the driving of motor, around the center of propeller hub 230 revolve by free end
Turn to be formed the Plane of rotation (also referred to as oar disk, the L1 shown in a diameter of figure of the oar disk) of propeller 200, think that aircraft is carried
For tensile force.In certain embodiments, direction of rotation 214 and the unblock of blade 210 can also be set in the connection end of blade 210
Mark 215, is easy to improve installation effectiveness when installing propeller 200.
It is located at the blade 210 of the top of propeller hub 230 in Fig. 2, its forward edge (abbreviation leading edge 211) is located at the right side in figure,
Its rear part edge (abbreviation trailing edge 212) is located at the left side in figure；Leading edge 211 positioned at the blade 210 of the lower section of propeller hub 230 is located at figure
In left side, and its trailing edge 212 be located at figure in right side.It should be noted that the leading edge 211 of blade 210 and the shape of trailing edge 212
It can be configured according to being actually needed for aircraft.By taking Fig. 2 as an example, in some optional embodiments, the leading edge of blade 210
211 can be from free end to connection end in gradually expansion outward and then again gradually toward the trend of contract, so as to form a mountain
The same shape in peak.Specifically, the length that leading edge 211 is expanded outward can toward the length ratio of contract compared to leading edge 211
So that more greatly, such as the length that the leading edge 211 shown in Fig. 2 is expanded outward accounts for the overwhelming majority of the whole length of leading edge 211.Certainly,
This not expands the absolute limitation of length outward to leading edge 211, and those skilled in the art can be designed according to actual needs.
Accordingly, what trailing edge 212 can also be as leading edge 211 is in gradually expansion outward from free end to connection end and then gradually past again
The trend of contract, and the mountain peak of the formation of trailing edge 212 can be located at same cross section with the mountain peak of the formation of leading edge 211, so that
Make the minimum chord length of the formation of blade 210 one and a maximum chord length.However, you should be able to understand, the shape of leading edge 211 and trailing edge 212
Not necessarily it is designed to that the same curve, or the mountain peak convexed to form must be positioned at same cross section.
It is located at the blade 210 of the top of propeller hub 230 and the blade 210 of lower section in Fig. 2, the suction surface of the two is outside table
Face, accordingly, the pressure face of the two are inner surface.In certain embodiments, the both side surface of blade 210 can be fabricated to one
Side is the curved surface toward evagination, and side is the curved surface toward indent.Now, it is suction surface toward the surface of evagination, the curved surface toward indent is
Pressure face., can be using a side surface of the dorsad motor of blade 210 as suction surface, and by blade in other embodiment
210 as pressure face (for details, reference can be made to Fig. 3, its left-hand face is suction surface, and right lateral surface is towards the surface of motor side
Pressure face).
In order to improve the operating efficiency of aircraft, multiple turbulent flow generators 213 are provided with the suction surface of blade 210, these
Turbulent flow generator 213 is used to delay fluid to separate from suction surface.Specifically, turbulent flow generator 213 can be can be at this
The arbitrary structures of the region turbulization of turbulent flow generator 213, for example the turbulent flow generator 213 can be with certain embodiments
It is raised, and the turbulent flow generator 213 can be groove in further embodiments.The present embodiment in suction surface by setting many
Individual turbulent flow generator 213, the fluid so flowed through from blade 210 will in the turbulization of turbulent flow generator 213 one by one,
And other region turbulization that will not be outside turbulent flow generator 213, the turbulent flow meeting produced by these turbulent flow generators 213
Transfer energy to the boundary layer in adverse pressure gradient so that boundary layer obtains corresponding energy and is enough to continue the suction for being attached to blade
Power face, so as to delay the time point that fluid is separated after being contacted with suction surface with suction surface, to reduce the air that blade 210 is subject to
Resistance, and then reduce moment of torsion, improve the operating efficiency of propeller 200, the efficiency for example hovered under operating mode.Following table one is specifically illustrated
It is provided with the propeller 200A of turbulent flow generator 213 and is not provided with the propeller 200B of turbulent flow generator 213 work ginseng
Number contrast situation.
Table one
According to test, in a kind of specific embodiment, for hovering under section 350g pulling force, the spiral shell with turbulent flow generator
Revolve oar higher than the hovering efficiency of the propeller without turbulent flow generator by about 4.6%.
The present embodiment can also avoid turbulent flow premature disengagement so that boundary layer flow by setting multiple turbulent flow generators 213
Body is attached to solid structure surface, and delay separation reduces resistance during propeller works.
Further, with reference to Fig. 4 (Fig. 4 is the partial enlarged drawing of F positions in Fig. 2), in certain embodiments, adjacent two
It can be arranged at intervals between turbulent flow generator 213, so as to reduce the generation of the two turbulent flows by spacing distance therebetween
The turbulent flow formed on device 213 is influenceed to improve the synergy of multiple turbulent flow generators 213 each other, and stream is delayed to improve
The ability that body is separated from suction surface.Certainly, it is not necessary to be arranged at intervals between above-mentioned two neighboring turbulent flow generator 213,
Only it is that one kind is preferable to provide, can also be by two neighboring turbulent flow generator 213 closely in some other embodiment
Set, as long as the two turbulent flow generators 213 can each turbulization just can be with.
Below from multiple angles pair such as the shape of turbulent flow generator 213, quantity, size, arrangement mode and generation type
Some achievable modes of turbulent flow generator 213 are illustrated.
In certain embodiments, the cross section of turbulent flow generator 213 can be circular or ellipse.Fig. 5 a show rapids
The cross section of flow-generator 213 is circular embodiment, and Fig. 5 b show reality of the cross section of turbulent flow generator 213 for ellipse
Apply example.In specific processing, circular protrusions or circular pit can be formed, or be to form elliptical shaped lobes or ellipse
Shape pit.Further, more preferably, cross section is that the diameter of circular turbulent flow generator 213 can be the smallest chord of blade 210
Long 2% to 7%.When circular turbulent flow generator 213 diameter design be above-mentioned number range when, can obtain delay fluid from
The effect of suction surface disengaging time.It is the 2% of minimum chord length more preferably by the circular diameter design of turbulent flow generator 213
To 4%, the effect for delaying fluid from suction surface disengaging time so can be both obtained, and do not influence other performances of blade 210.
In further embodiments, the cross section of turbulent flow generator 213 can also be polygon, for example pentagon or six
Side shape.Fig. 5 c show that the cross section of turbulent flow generator 213 is pentagonal embodiment；Fig. 5 d show turbulent flow generator 213
Cross section be hexagon embodiment.In specific processing, pentagonal projection can be formed on the suction surface of blade 210
Or pit is used as turbulent flow generator 213；The projection or pit that hexagon can also be formed on the suction surface of blade 210 are made
For turbulent flow generator 213.More preferably, polygonal drift angle can be with round-corner transition, so that blade 210 meets corresponding stream
Mechanics, improve its operating efficiency.Fig. 5 e show that the cross section of turbulent flow generator 213 is the implementation of hexagon with rounded corners
Example.It should be understood that above-mentioned polygonal drift angle round-corner transition can include：The polygonal equal round-corner transition of all drift angles, Yi Jiqi
In some drift angle round-corner transitions and some other drift angle does not have round-corner transition etc..
It should be noted that in the embodiment above, the shape of the cross section of multiple turbulent flow generators 213 can be homogeneous
Together, but also it is not excluded for the different situation of the shape of cross section of multiple turbulent flow generators 213.For example in certain embodiments, can be with
It is circular and ellipse combination or circular and polygonal combination, or can also be oval and polygonal
Combination, naturally it is also possible to be circular, ellipse and the combination of polygon three.Fig. 6 a and the 6b matrix form that to show two kinds different
Arrangement turbulent flow generator 213, wherein, Fig. 6 a show combination shape of the cross section for circular and ellipse turbulent flow generator 213
Formula；Fig. 6 b show combining form of the cross section for circular, ellipse and the turbulent flow generator 213 of hexagon.
The quantity of above-mentioned multiple turbulent flow generators 213 can occur according to the size and/or turbulent flow of the suction surface of blade 210
The cross sectional dimensions of device 213 determines that for example in certain embodiments, the number of turbulent flow generator 213 can be designed to much
In 50.Specifically, the number of turbulent flow generator 213 can be 50,80,100 or 1000.By so most
Synergy produced by the turbulent flow generator 213 of amount is to delay the time that fluid is separated from suction surface.
Just as described above, in certain embodiments, multiple turbulent flow generators 213 can be as shown in Fig. 2, Fig. 6 a and Fig. 6 b
As in matrix form arrangement, namely multiple turbulent flow generators 213 have multirow and many along chord length direction and oar disk directional spreding
Row.Can at least include 5 rows along the chord length direction of blade 210 specifically in the ranks number of design matrix formula；It can also be edge
The oar disk direction of blade 210 at least includes 10 row.For example, in an optional embodiment, multiple turbulent flow generators 213 can be with
5 rows are set along the chord length direction of blade 210, set 10 to arrange along the oar disk direction of blade 210.In addition it is also necessary to explanation, on
The every a line or each row for stating matrix form arrangement can be with close alignments, and can also somewhat stagger certain distance.Above by
The turbulent flow generator 213 of matrix form is arranged on the suction surface of blade 210, can not only obtain and delay what fluid was separated from suction surface
Effect, and handling ease.
As fig. 6 c, in further embodiments, these turbulent flow generators 213 can be with radial arrangement.By inciting somebody to action
Turbulent flow generator 213 be designed to it is radial, then when on the suction surface of blade 210 some regional fluid there is stronger separation trend and
When the separation trend on periphery is weaker, the region that separation trend can be made stronger is disposed with more turbulent flow generators 213, so as to inhale
The effect that power face different zones delay fluid to separate is more balanced.
, in certain embodiments can also be close to the connection end of blade 210 specifically when arranging multiple turbulent flow generators 213
The more turbulent flow generators 213 of location arrangements, that is to say, close to the free end of blade 210 turbulent flow generator 213 quantity it is few
In the quantity of the turbulent flow generator 213 close to the connection end of blade 210, specifically referring to Fig. 7 a, (Fig. 7 a show that blade 210 is connected
End is disposed with more turbulent flow generators 213 compared with free end)., can be in the stronger region of fluid separation trend by being arranged so as to
More turbulent flow generators 213 are arranged, flow regime of the fluid on blade 210 is enabled adaptation to, is preferably prolonged with obtaining
The effect that the body that flows slowly is separated.
In further embodiments, can also be in the more turbulent flow generators of location arrangements close to the leading edge 211 of blade 210
213, it that is to say, the turbulent flow generation close to the trailing edge 212 of blade 210 is more than close to the quantity of the turbulent flow generator 213 of oar leading edge 211
The quantity of device 213, specifically referring to Fig. 7 b, (Fig. 7 b show that the leading edge 211 of blade 210 is disposed with more turbulent flow hairs compared with trailing edge 212
Raw device 213).By being arranged so as to, more turbulent flow generators 213 can be arranged in the stronger region of fluid separation trend, from
And flow regime of the fluid on blade 210 is can adapt to, to obtain the effect for preferably delaying fluid to separate.
It also should be noted that, turbulent flow generator 213 can be by the any-mode formation of prior art in suction
On face, such as molding, forging.In certain embodiments, it can form above-mentioned on suction surface by way of face coat
Turbulent flow generator 213.By way of face coat, technique is simple, efficiency high.
It is arranged in different forms on the suction surface of blade 210 above by by multiple turbulent flow generators 213, so that by
The region of these turbulent flow generators 213 distribution constitutes turbulent region 216 (being represented in Fig. 2 by label 116).
Refering to Fig. 2, in certain embodiments, length L2 of the turbulent region 216 along the oar disk direction of propeller 200 is more than along oar
The length H2 in the chord length direction of leaf 210.Certainly, in further embodiments, it can also be needed according to other to turbulent region 216
Size is configured.For example, length L2 of the turbulent region 216 along oar disk direction is equal to or less than the length along chord length direction
H2。
It is specific when setting length L2 of the turbulent region 216 along the oar disk direction of propeller 200, in some optional embodiments
In, the length L2 of turbulent region 216 can be set to the 40% to 90% of the oar disk radius (L1/2) of propeller 200.It is more excellent
Choosing, the length L2 of turbulent region 216 is the 70% to 80% of the oar disk radius of propeller 200.
And when specifically setting length H2 of the turbulent region 216 along the chord length direction of blade 210, in some optional embodiments
In, the length H2 of turbulent region 216 can be set to the 30% to 75% of the minimum chord length of blade 210.It is more preferred, turbulent flow
The length H2 in region 216 is the 40% to 60% of the minimum chord length of blade 210.
Next, relative position this angle from turbulent region 216 on the suction surface of blade 210 is described.
Fig. 8 a (Fig. 8 a show turbulent region 216 and leading edge 211 and the schematic diagram of the position relationship of trailing edge 212) are referred to,
Spacing H3 (the first pre-determined distance), the trailing edge with blade 210 are provided between the leading edge 211 of turbulent region 216 and blade 210
Spacing H4 (the second pre-determined distance) is provided between 212, wherein, H3 can be less than or equal to H4, but it is preferable to H3
More than H4.
Below refering to Fig. 8 b (Fig. 8 b show turbulent region 216 and free end and the schematic diagram of connection end position relationship),
Spacing L3 (the 3rd pre-determined distance), the connection end with blade 210 are provided between the free end of turbulent region 216 and blade 210
Between be provided with spacing L4 (the 4th pre-determined distance), wherein, L3 can be more than or equal to L4, but it is preferable to L3 is less than
L4。
, can by being adjusted to turbulent region 216 with leading edge 211, trailing edge 212, free end and the spacing of connection end
So that fluid and delaying that the suction surface disengaging time of blade 210 is tried one's best, to improve the operating efficiency of propeller 200.It is more preferred
A kind of embodiment be that the spacing H3 of turbulent region 216 and leading edge 211 is more than the spacing H4 with trailing edge 212, and turbulent area
The spacing L3 of domain 216 and free end is less than the spacing L4 with connection end.
More specifically, can be according to several during propeller works at position of the actual design turbulent region in blade
Speed conditions, such as rotating speed when rotating speed when hovering, preceding winged acceleration, emulated by Fluid Mechanics Computation (CFD,
Computational Fluid Dynamics), above-mentioned speed conditions are carried out with fluid mechanical emulation calculating, then pass through post processing
(Post-processing) determine that the specific area of flow separation phenomenon occurs for the blade of the propeller suction surface under different rotating speeds
Domain, and the region is set to turbulent region, to form above-mentioned turbulent flow generator in the region.
Next from the area of turbulent region 216, this angle is described.
The area of turbulent region 216 can be configured by technical staff according to actual needs, but it is preferable to rapid
Flow region 216 area be more than suction surface area 1/8th so that turbulent region 216 is sized to and blade 210
Suction surface match, so as to play a part of delaying fluid disengaging time.It is highly preferred that the area of turbulent region 216 is more than
The a quarter of the area of suction surface, so, can improve the scope of turbulent flow generation, further delay fluid to be separated from suction surface
Time, improve propeller 200 operating efficiency.
Meanwhile, each above-mentioned embodiment can separately from and it is reconcilable in the case of can combine applicable, and
The present embodiment does not limit its number of combinations and combining form, and these are individually and the later form of combination is in the guarantor of the present invention
Protect within scope.
In several embodiments provided by the present invention, it should be understood that disclosed relevant apparatus and method, Ke Yitong
Other modes are crossed to realize.For example, device embodiment described above is only schematical, for example, the module or list
The division of member, only a kind of division of logic function can have other dividing mode when actually realizing, such as multiple units or
Component can combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, show
Show or the coupling each other discussed or direct-coupling or communication connection can be by some interfaces, between device or unit
Connect coupling or communicate to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or used
When, it can be stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially
The part contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are to cause computer disposal
Device 101 (processor) performs all or part of step of each embodiment methods described of the invention.And foregoing storage medium
Including：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc. are various can be with the medium of store program codes.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (35)
1. a kind of propeller of aircraft, it is characterised in that including：Propeller hub and blade；
The blade is connected with the propeller hub, and the blade includes suction surface and the pressure face relative with suction surface；
Wherein, the suction surface is provided with multiple turbulent flow generators, for delaying fluid to be separated from the suction surface.
2. propeller according to claim 1, it is characterised in that the turbulent flow generator is raised or groove.
3. propeller according to claim 1, it is characterised in that be spaced and set between the two neighboring turbulent flow generator
Put.
4. propeller according to claim 1, it is characterised in that the cross section of the turbulent flow generator is circular or ellipse
It is circular.
5. propeller according to claim 4, it is characterised in that the circular minimum chord length of a diameter of blade
2% to 7%.
6. propeller according to claim 4, it is characterised in that the circular minimum chord length of a diameter of blade
2% to 4%.
7. propeller according to claim 1, it is characterised in that the cross section of the turbulent flow generator is polygon.
8. propeller according to claim 7, it is characterised in that the polygonal drift angle round-corner transition.
9. the propeller according to claim any one of 1-8, it is characterised in that the turbulent flow generator is no less than 50.
10. the propeller according to claim any one of 1-8, it is characterised in that multiple turbulent flow generators are in matrix
Formula is arranged.
11. propeller according to claim 10, it is characterised in that string of multiple turbulent flow generators along the blade
Length direction at least includes 5 rows.
12. propeller according to claim 10, it is characterised in that oar of multiple turbulent flow generators along the blade
Disk direction at least includes 10 row.
13. the propeller according to claim any one of 1-8, it is characterised in that multiple turbulent flow generators are in radiation
Shape is arranged.
14. the propeller according to claim any one of 1-8, it is characterised in that close to the described of the blade free end
The quantity of turbulent flow generator is less than the quantity of the turbulent flow generator close to the blade connection end.
15. the propeller according to claim any one of 1-8, it is characterised in that close to the rapids of the blade leading edge
The quantity of flow-generator is more than the quantity of the turbulent flow generator close to the blade trailing edge.
16. the propeller according to claim any one of 1-8, it is characterised in that the region of the turbulent flow generator distribution
For turbulent region.
17. propeller according to claim 16, it is characterised in that the leading edge of the turbulent region and the blade has
First pre-determined distance；The trailing edge of the turbulent region and the blade has the second pre-determined distance.
18. propeller according to claim 17, it is characterised in that second pre-determined distance be more than first it is default away from
From.
19. propeller according to claim 17, it is characterised in that the free ending tool of the turbulent region and the blade
There is the 3rd pre-determined distance；The connection end of the turbulent region and the blade has the 4th pre-determined distance.
20. propeller according to claim 19, it is characterised in that the 4th pre-determined distance, which is more than the described 3rd, to be preset
Distance.
21. propeller according to claim 16, it is characterised in that the turbulent region is along the propeller oar disk direction
Length be more than length of the turbulent region along the chord of blade length direction.
22. propeller according to claim 16, it is characterised in that the turbulent region is along the propeller oar disk direction
Length for the propeller oar disk radius 40% to 90%.
23. propeller according to claim 22, it is characterised in that the turbulent region is along the propeller oar disk direction
Length for the propeller oar disk radius 70% to 80%.
24. propeller according to claim 16, it is characterised in that the turbulent region is along the chord of blade length direction
Length is the 30% to 75% of the minimum chord length of the blade.
25. propeller according to claim 24, it is characterised in that the turbulent region is along the chord of blade length direction
Length is the 40% to 60% of the minimum chord length of the blade.
26. propeller according to claim 16, it is characterised in that the area of the turbulent region is more than the suction surface
Area 1/8th.
27. propeller according to claim 26, it is characterised in that the area of the turbulent region is more than the suction surface
Area a quarter.
28. the propeller according to claim any one of 1-8, it is characterised in that the turbulent flow generator is applied by surface
The mode of layer is formed in the suction surface.
29. the propeller according to claim any one of 1-8, it is characterised in that the suction surface be the blade outward
Convex curved surface, the turbulent flow generator is located at the side of the curved surface.
30. the propeller according to claim any one of 1-8, it is characterised in that the blade is fixed with the propeller hub to be connected
Connect or rotate connection.
31. the propeller according to claim any one of 1-8, it is characterised in that the blade is integrated with the propeller hub
Part.
32. a kind of power suit, it is characterised in that including：Propeller described in claim any one of 1-31, and motor；
The motor is connected with the propeller, for driving the propeller rotational.
33. power according to claim 32 suit, it is characterised in that the pressure face of the propeller is towards the motor
Set, the suction surface of the propeller is set back to the motor.
34. power suit according to claim 32, it is characterised in that
The rotating shaft of the motor and the propeller hub of the propeller are detachably connected, and the rotating shaft drives the propeller hub rotation；
Or,
The rotor case of the motor and the propeller hub of the propeller are detachably connected, and the rotor case drives the propeller hub rotation
Turn.
35. a kind of unmanned plane, it is characterised in that including：Power suit described in frame and claim any one of 32-34；
The power suit is arranged in the frame.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/071180 WO2018129721A1 (en) | 2017-01-13 | 2017-01-13 | Propeller of aircraft, power set and unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107074344A true CN107074344A (en) | 2017-08-18 |
| CN107074344B CN107074344B (en) | 2018-09-25 |
Family
ID=59613583
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780000122.2A Expired - Fee Related CN107074344B (en) | 2017-01-13 | 2017-01-13 | Propeller, power suit and the unmanned plane of aircraft |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107074344B (en) |
| WO (1) | WO2018129721A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018382A (en) * | 2018-08-07 | 2018-12-18 | 深圳市福来过科技有限公司 | A kind of aircraft engine deformation dome structure |
| CN109606645A (en) * | 2018-12-28 | 2019-04-12 | 成都纵横大鹏无人机科技有限公司 | Paddle blade structure and unmanned plane |
| WO2019127028A1 (en) * | 2017-12-26 | 2019-07-04 | 深圳市大疆创新科技有限公司 | Propeller, power assembly and aircraft |
| CN110337404A (en) * | 2018-05-28 | 2019-10-15 | 深圳市大疆创新科技有限公司 | Propeller component, Power Component and aircraft |
| CN112572766A (en) * | 2020-12-17 | 2021-03-30 | 重庆工程职业技术学院 | Water vapor propeller of unmanned aerial vehicle on water and processing technology thereof |
| CN114084327A (en) * | 2021-11-26 | 2022-02-25 | 大连海事大学 | Marine propeller blade structure |
| WO2023124378A1 (en) * | 2021-12-29 | 2023-07-06 | 北京三快在线科技有限公司 | Propeller and aircraft |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101557981A (en) * | 2006-12-13 | 2009-10-14 | 波音公司 | Vortex generators on rotor blades to delay an onset of large oscillatory pitching moments and increase maximum lift |
| CN103303469A (en) * | 2013-07-05 | 2013-09-18 | 上海交通大学 | Device for controlling flow separation caused by interference between high-Mach-number shock waves and boundary layers |
| WO2014114988A1 (en) * | 2013-01-25 | 2014-07-31 | Peter Ireland | Energy efficiency improvements for turbomachinery |
| CN104097770A (en) * | 2014-08-03 | 2014-10-15 | 佛山市神风航空科技有限公司 | Wing panel used for main rotor of helicopter |
| CN105620727A (en) * | 2016-01-30 | 2016-06-01 | 中国科学院合肥物质科学研究院 | Low-noise unmanned aerial vehicle rotor wing/propeller |
| CN205602090U (en) * | 2016-04-01 | 2016-09-28 | 深圳市大疆创新科技有限公司 | Screw, motor, power suit and unmanned vehicles |
| CN106114850A (en) * | 2016-06-23 | 2016-11-16 | 湖北大秀天域科技发展有限公司 | A kind of quiet blade and containing its rotor wing unmanned aerial vehicle |
| CN205872440U (en) * | 2016-06-08 | 2017-01-11 | 天津市瑞傲特科技发展有限公司 | Screw for unmanned aerial vehicle |
| CN206394884U (en) * | 2017-01-13 | 2017-08-11 | 深圳市大疆创新科技有限公司 | Propeller, power suit and the rotary wind type unmanned plane of rotary wind type unmanned plane |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2776263B1 (en) * | 1998-03-20 | 2000-06-02 | Eurocopter France | ROTOR BLADE LEADING EDGE ARMOR, AND BLADE COMPRISING SAME |
| CN105366016A (en) * | 2015-12-04 | 2016-03-02 | 苏州金业船用机械厂 | High speed propeller |
-
2017
- 2017-01-13 WO PCT/CN2017/071180 patent/WO2018129721A1/en active Application Filing
- 2017-01-13 CN CN201780000122.2A patent/CN107074344B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101557981A (en) * | 2006-12-13 | 2009-10-14 | 波音公司 | Vortex generators on rotor blades to delay an onset of large oscillatory pitching moments and increase maximum lift |
| WO2014114988A1 (en) * | 2013-01-25 | 2014-07-31 | Peter Ireland | Energy efficiency improvements for turbomachinery |
| CN103303469A (en) * | 2013-07-05 | 2013-09-18 | 上海交通大学 | Device for controlling flow separation caused by interference between high-Mach-number shock waves and boundary layers |
| CN104097770A (en) * | 2014-08-03 | 2014-10-15 | 佛山市神风航空科技有限公司 | Wing panel used for main rotor of helicopter |
| CN105620727A (en) * | 2016-01-30 | 2016-06-01 | 中国科学院合肥物质科学研究院 | Low-noise unmanned aerial vehicle rotor wing/propeller |
| CN205602090U (en) * | 2016-04-01 | 2016-09-28 | 深圳市大疆创新科技有限公司 | Screw, motor, power suit and unmanned vehicles |
| CN205872440U (en) * | 2016-06-08 | 2017-01-11 | 天津市瑞傲特科技发展有限公司 | Screw for unmanned aerial vehicle |
| CN106114850A (en) * | 2016-06-23 | 2016-11-16 | 湖北大秀天域科技发展有限公司 | A kind of quiet blade and containing its rotor wing unmanned aerial vehicle |
| CN206394884U (en) * | 2017-01-13 | 2017-08-11 | 深圳市大疆创新科技有限公司 | Propeller, power suit and the rotary wind type unmanned plane of rotary wind type unmanned plane |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019127028A1 (en) * | 2017-12-26 | 2019-07-04 | 深圳市大疆创新科技有限公司 | Propeller, power assembly and aircraft |
| CN110337404A (en) * | 2018-05-28 | 2019-10-15 | 深圳市大疆创新科技有限公司 | Propeller component, Power Component and aircraft |
| CN109018382A (en) * | 2018-08-07 | 2018-12-18 | 深圳市福来过科技有限公司 | A kind of aircraft engine deformation dome structure |
| CN109606645A (en) * | 2018-12-28 | 2019-04-12 | 成都纵横大鹏无人机科技有限公司 | Paddle blade structure and unmanned plane |
| CN112572766A (en) * | 2020-12-17 | 2021-03-30 | 重庆工程职业技术学院 | Water vapor propeller of unmanned aerial vehicle on water and processing technology thereof |
| CN114084327A (en) * | 2021-11-26 | 2022-02-25 | 大连海事大学 | Marine propeller blade structure |
| WO2023124378A1 (en) * | 2021-12-29 | 2023-07-06 | 北京三快在线科技有限公司 | Propeller and aircraft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107074344B (en) | 2018-09-25 |
| WO2018129721A1 (en) | 2018-07-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107074344A (en) | Propeller, power suit and the unmanned plane of aircraft | |
| Shyy et al. | Aerodynamics, sensing and control of insect-scale flapping-wing flight | |
| CN206394884U (en) | Propeller, power suit and the rotary wind type unmanned plane of rotary wind type unmanned plane | |
| CN106249745B (en) | The control method of four axis unmanned planes | |
| CN113619767B (en) | Unmanned flying system and control system for unmanned flying system | |
| CN107531325A (en) | Unmanned vehicle | |
| CN106114851A (en) | Many rotary wind types unmanned flight's body | |
| US10710714B2 (en) | Autonomous flight vehicle capable of fixed wing flight and rotary wing flight | |
| CN207403934U (en) | Multi-rotor unmanned aerial vehicle | |
| CN105980251B (en) | Path-based power generation control for aircraft | |
| CN107108024A (en) | Nolo flight device | |
| CN106986008A (en) | The unmanned plane of supporting member is promoted with connection | |
| CN109878721A (en) | A kind of design method and product of microminiature rotor unmanned aircraft rotor-blade airfoil | |
| US11712637B1 (en) | Steerable disk or ball | |
| CN106004285A (en) | Land and air dual-purpose robot | |
| CN207450247U (en) | A kind of foldable rotatable spherical unmanned plane | |
| CN106470899A (en) | The elimination torque of propeller type VTOL flying object and compatible device of keeping in balance | |
| Sigalos et al. | Design of a Flight Controller and Peripherals for a Quadcopter | |
| US11591084B2 (en) | Cycloidal rotor micro-air vehicle | |
| CN205837182U (en) | A kind of aircraft rotor structure and aircraft | |
| CN206050070U (en) | A kind of multi-rotor aerocraft for being capable of rapid decrease | |
| Xue et al. | Effects of wing–body interaction on hawk moth aerodynamics and energetics at various flight velocities | |
| US20200122832A1 (en) | Multicopter with improved cruising performance | |
| CN106314771B (en) | Aircraft and its power device | |
| CN109823523A (en) | A kind of coaxial double-oar aircraft |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180925 |