CN112278242A - Steering control mechanism of double vertical tail unmanned aerial vehicle - Google Patents
Steering control mechanism of double vertical tail unmanned aerial vehicle Download PDFInfo
- Publication number
- CN112278242A CN112278242A CN202011259734.3A CN202011259734A CN112278242A CN 112278242 A CN112278242 A CN 112278242A CN 202011259734 A CN202011259734 A CN 202011259734A CN 112278242 A CN112278242 A CN 112278242A
- Authority
- CN
- China
- Prior art keywords
- rocker arm
- pull rod
- steering
- unmanned aerial
- steering engine
- 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
- 230000007246 mechanism Effects 0.000 title claims abstract description 41
- 230000004323 axial length Effects 0.000 claims description 2
- 230000004927 fusion Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/26—Transmitting means without power amplification or where power amplification is irrelevant
- B64C13/28—Transmitting means without power amplification or where power amplification is irrelevant mechanical
- B64C13/30—Transmitting means without power amplification or where power amplification is irrelevant mechanical using cable, chain, or rod mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention relates to a steering control mechanism of a double vertical tail unmanned aerial vehicle, belonging to the field of unmanned aerial vehicles; the steering gear comprises a steering gear, a steering gear rocker arm, a central curved pull rod, a left double-layer rocker arm, a pull rod, a steering rocker arm, a tail end pull rod and a pin shaft; the central curved pull rod is positioned in the middle of the whole mechanism, two ends of the central curved pull rod are respectively hinged with one end of the left double-layer rocker arm and one end of the steering engine rocker arm, and the other ends of the left double-layer rocker arm and the steering engine rocker arm are sequentially connected with a pull rod, a steering rocker arm and a tail end pull rod; the left lug of the steering engine rocker arm, the central curved pull rod and the left double-layer rocker arm form a parallel four-bar linkage mechanism, so that the left double-layer rocker arm and the steering engine rocker arm synchronously move; the steering engine rocker arm right lug, the second pull rod and the second steering rocker arm form a parallel four-bar linkage; the left double-layer rocker arm, the first pull rod and the first steering rocker arm form a parallel four-bar linkage; the steering rocker arms and the tail end pull rods positioned at the two ends respectively form a four-bar mechanism with the rudders of the unmanned aerial vehicles positioned at the two sides. The invention has light weight and good economical efficiency.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to a steering control mechanism of a double-vertical-tail unmanned aerial vehicle.
Background
The steering rudder control mechanism is mainly used for controlling the course of the unmanned aerial vehicle and comprises a steering engine, a transmission mechanism and the like.
The course control of the small and medium-sized unmanned aerial vehicle with double vertical tail layout is generally realized by two sets of rudder control mechanisms, namely, the two rudders with the vertical tails are correspondingly controlled by two steering gears and two sets of transmission mechanisms, and the two rudders move independently. The transmission mechanism is mainly made of aluminum pipes, the weight and the economic cost are relatively low, and the steering engine has relatively high weight and economic cost due to the fact that the steering engine needs to meet the requirements of environmental adaptability, electromagnetic compatibility and the like. Firstly, the steering engine adopts two steering engines, so that the steering engine control mechanism has high weight cost, poor economy and low reliability; secondly, for a small and medium-sized unmanned aerial vehicle with a wing body fusion body and a double vertical tail layout, the wing space is limited, and the steering engine layout has certain challenges; thirdly, the two sets of rudder control mechanisms enable the two rudders to move synchronously, the consistency is relatively low, and the use requirements of the unmanned aerial vehicle with high maneuverability and high track precision are difficult to meet.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the rudder control mechanism of the double vertical tail unmanned aerial vehicle is a simple, reliable and high-synchronism control mechanism with the single steering engine and the rudder, realizes the control of the rudder of the unmanned aerial vehicle, and improves the space utilization rate of the body of the unmanned aerial vehicle.
The technical scheme of the invention is as follows: the utility model provides a two vertical fin unmanned aerial vehicle rudder operating mechanism which characterized in that: the steering gear comprises a steering gear, a steering gear rocker arm, a central curved pull rod, a left double-layer rocker arm, a pull rod, a steering rocker arm, a tail end pull rod and a pin shaft; the central curved pull rod is positioned in the middle of the whole mechanism, two ends of the central curved pull rod are respectively hinged with one end of the left double-layer rocker arm and one end of the steering engine rocker arm, and the other ends of the left double-layer rocker arm and the steering engine rocker arm are sequentially connected with a pull rod, a steering rocker arm and a tail end pull rod;
one end of the left double-layer rocker arm is of a cylindrical structure and is fixed on the unmanned aerial vehicle body, the other end of the left double-layer rocker arm is of a transverse U-shaped structure, two support arms of the U-shaped end are perpendicular to the axial direction of the cylindrical structure, the upper end support arm is hinged with one end of the central curved pull rod through a pin shaft, and the lower end support arm is hinged with the first pull rod through a pin shaft;
the steering engine rocker arm comprises a steering engine rocker arm left lug, a steering engine rocker arm right lug and a rotating shaft, and the rotating shaft is connected with the steering engine; one ends of the steering engine rocker arm left lug and the steering engine rocker arm right lug are fixed on the rotating shaft and are perpendicular to the axial direction of the rotating shaft; the other end of the left lug piece of the steering engine rocker arm positioned above is hinged with the other end of the central curved pull rod through a pin shaft, and the right lug piece of the steering engine rocker arm positioned below is hinged with the second pull rod through a pin shaft;
the left lug of the steering engine rocker arm, the central curved pull rod and the left double-layer rocker arm form a parallel four-bar linkage mechanism, so that the left double-layer rocker arm and the steering engine rocker arm synchronously move; the steering engine rocker arm right lug, the second pull rod and the second steering rocker arm form a parallel four-bar linkage; the left double-layer rocker arm, the first pull rod and the first steering rocker arm form a parallel four-bar linkage; the steering rocker arms and the tail end pull rods positioned at the two ends respectively form a four-bar mechanism with the rudders of the unmanned aerial vehicles positioned at the two sides.
The further technical scheme of the invention is as follows: two pull rods, two steering rocker arms and two tail end pull rods which are arranged at two ends of the central curved pull rod are symmetrically arranged with the symmetrical plane of the unmanned aerial vehicle body.
The further technical scheme of the invention is as follows: the left double-layer rocker arm and the steering engine rocker arm are symmetrical relative to the symmetrical plane of the unmanned aerial vehicle body.
The further technical scheme of the invention is as follows: the steering rocker arm is of a T-shaped structure, the transverse part of the T-shaped structure is of an arc structure, two lugs are arranged at two ends of the T-shaped structure respectively, and the T-shaped structure is hinged with the pull rod and the tail end pull rod through pin shafts; the vertical part of T type structure is fixed in on the unmanned aerial vehicle fuselage.
The further technical scheme of the invention is as follows: the shape of the central curved pull rod is consistent with that of the machine body profile, and the central curved pull rod is used for avoiding the equipment in the machine body axis space.
The further technical scheme of the invention is as follows: and joint bearings are respectively arranged at the hinged parts at the two ends of the pull rod.
The further technical scheme of the invention is as follows: the pull rod is of a telescopic structure, and the axial length of the pull rod can be adjusted.
Advantageous effects
The invention has the beneficial effects that:
1. light weight and good economical efficiency. The steering engine in the steering engine control mechanism has the economic cost accounting for more than 90% of the total cost and the weight accounting for more than 70% of the total weight. The steering engine is reduced by about 40 percent, the weight is reduced by about 30 percent, the weight is effectively reduced by a single steering engine, and the cost is saved.
2. Space utilization is high, and single steering wheel biasing arranges, combines the curved type pull rod shape of central authorities unanimous with the fuselage profile, has avoided the space of fuselage symmetry axis, has improved unmanned aerial vehicle space utilization effectively, is favorable to arranging of unmanned aerial vehicle equipment.
3. The motion synchronism of the two rudders is high. If two steering engines are adopted, the steering engines output different even if the control signals are the same due to the difference of the steering engines, and the motions of the two steering engines are definitely not completely synchronous. The single steering engine control enables the two rudders to be driven the same, only the difference caused by the connecting gap of the central curved pull rod is adopted, and the motion difference of the two rudders can be controlled within 1% by adopting high-precision matching, so that the maneuverability and track precision of the unmanned aerial vehicle can be improved.
Drawings
FIG. 1 is a schematic illustration of the present invention in a position mounted;
FIG. 2 is a front view of the mechanism of the present invention;
FIG. 3 is an isometric view of the middle of the mechanism of the present invention;
FIG. 4 is an isometric view of a steering rocker arm of the mechanism of the present invention;
FIG. 5 is an isometric view of a mechanism steering engine of the present invention;
description of reference numerals: the rudder control mechanism comprises a double vertical fin unmanned aerial vehicle steering control mechanism, 2 parts of a wing body fusion body, 3 parts of a vertical stabilizing surface, 4 parts of a rudder, 11 parts of a steering engine, 12 parts of a central curved pull rod, 13 parts of a left double-layer rocker arm, 14 parts of a pull rod, 15 parts of a steering rocker arm, 16 parts of a tail end pull rod, 17 parts of a pin shaft, 21 parts of a steering engine rocker arm right lug and 22 parts of a steering engine rocker arm left lug.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
The invention relates to a rudder control mechanism of a small and medium-sized unmanned aerial vehicle with a wing body fusion body and double vertical tails, in particular to an asymmetrically arranged single-steering-engine double-vertical-tail rudder control mechanism, which is shown in figure 1. A double-vertical-tail rudder control mechanism 1 with single asymmetrically-arranged steering engines comprises a steering engine 11, a central curved pull rod 12, a left double-layer rocker arm 13, a pull rod 14, a steering rocker arm 15, a tail end pull rod 16 and a pin shaft 17.
Referring to fig. 3, the steering engine 11 is composed of a steering engine body and a steering engine rocker arm, the rocker arm is of a V-shaped double-layer structure and comprises a steering engine rocker arm right lug 21 and a steering engine rocker arm left lug 22, the left lug and the right lug are relatively fixed in position and move synchronously. The left double-layer rocker arm 13 comprises an upper lug and a lower lug, the upper lug and the lower lug are in the same plane in the vertical direction (the vertical direction is perpendicular to the horizontal plane direction of the machine body), the upper lug and the left lug 22 of the steering engine rocker arm are at the same height, and the lower lug and the right lug 21 of the steering engine rocker arm are at the same height. The rotation axis of the left double-layer rocker arm 13 and the rotation axis of the rocker arm of the steering engine 11 are symmetrical relative to the symmetry plane of the machine body. The steering engine 11 and the left double-layer rocker arm 13 are fixed inside the wing body fusion body 2. The shape of the central curved pull rod 12 is similar to that of the wing body fusion body 2, is positioned at the upper part of the wing body fusion body 2, and is connected with the steering engine 11 and the left double-layer rocker arm 13 through a pin shaft 17.
Referring to fig. 4, the number of the steering arms 15 is two, and the steering arms are symmetrically fixed at both ends of the wing-body fusion 2. Two ends of the pull rod 14 adopt joint bearing structures, one end of the second pull rod 14 is connected with a steering engine rocker arm right lug 21 through a pin shaft 17, and the other end of the second pull rod is connected with a steering rocker arm 15 through a pin shaft 17; one end of the first pull rod 14 is connected with the lower lug of the left double-layer rocker arm 13 through a pin shaft 17, and the other end of the first pull rod is connected with the steering rocker arm 15 through a pin shaft 17. The number of the tail end pull rods 16 is two, two ends of each tail end pull rod 16 also adopt a joint bearing structure, one end of each tail end pull rod is connected with the steering rocker arm 15 through a pin shaft 17, and the other end of each tail end pull rod is connected with the rudder 4. The rudder 4 is fixed to the vertical stabilizer 3.
The unmanned aerial vehicle controls a rudder steering engine through an airborne computer, the rudder steering engine drives a rudder control mechanism to realize the deflection of the rudder, the left rudder and the right rudder move synchronously, and the deflection angles are consistent.
The above-described embodiments of the present invention should not be construed as limiting the claims of the present invention, and the skilled person should fall within the scope of the claims of the present invention if he or she makes corresponding changes without inventive efforts through the inspiration of the present invention.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (7)
1. The utility model provides a two vertical fin unmanned aerial vehicle rudder operating mechanism which characterized in that: the steering gear comprises a steering gear, a steering gear rocker arm, a central curved pull rod, a left double-layer rocker arm, a pull rod, a steering rocker arm, a tail end pull rod and a pin shaft; the central curved pull rod is positioned in the middle of the whole mechanism, two ends of the central curved pull rod are respectively hinged with one end of the left double-layer rocker arm and one end of the steering engine rocker arm, and the other ends of the left double-layer rocker arm and the steering engine rocker arm are sequentially connected with a pull rod, a steering rocker arm and a tail end pull rod;
one end of the left double-layer rocker arm is of a cylindrical structure and is fixed on the unmanned aerial vehicle body, the other end of the left double-layer rocker arm is of a transverse U-shaped structure, two support arms of the U-shaped end are perpendicular to the axial direction of the cylindrical structure, the upper end support arm is hinged with one end of the central curved pull rod through a pin shaft, and the lower end support arm is hinged with the first pull rod through a pin shaft;
the steering engine rocker arm comprises a steering engine rocker arm left lug, a steering engine rocker arm right lug and a rotating shaft, and the rotating shaft is connected with the steering engine; one ends of the steering engine rocker arm left lug and the steering engine rocker arm right lug are fixed on the rotating shaft and are perpendicular to the axial direction of the rotating shaft; the other end of the left lug piece of the steering engine rocker arm positioned above is hinged with the other end of the central curved pull rod through a pin shaft, and the right lug piece of the steering engine rocker arm positioned below is hinged with the second pull rod through a pin shaft;
the left lug of the steering engine rocker arm, the central curved pull rod and the left double-layer rocker arm form a parallel four-bar linkage mechanism, so that the left double-layer rocker arm and the steering engine rocker arm synchronously move; the steering engine rocker arm right lug, the second pull rod and the second steering rocker arm form a parallel four-bar linkage; the left double-layer rocker arm, the first pull rod and the first steering rocker arm form a parallel four-bar linkage; the steering rocker arms and the tail end pull rods positioned at the two ends respectively form a four-bar mechanism with the rudders of the unmanned aerial vehicles positioned at the two sides.
2. The rudder steering mechanism for a twin vertical-tailed unmanned aerial vehicle according to claim 1, wherein: two pull rods, two steering rocker arms and two tail end pull rods which are arranged at two ends of the central curved pull rod are symmetrically arranged with the symmetrical plane of the unmanned aerial vehicle body.
3. The rudder steering mechanism for a twin vertical-tailed unmanned aerial vehicle according to claim 1, wherein: the left double-layer rocker arm and the steering engine rocker arm are symmetrical relative to the symmetrical plane of the unmanned aerial vehicle body.
4. The rudder steering mechanism for a twin vertical-tailed unmanned aerial vehicle according to claim 1, wherein: the steering rocker arm is of a T-shaped structure, the transverse part of the T-shaped structure is of an arc structure, two lugs are arranged at two ends of the T-shaped structure respectively, and the T-shaped structure is hinged with the pull rod and the tail end pull rod through pin shafts; the vertical part of T type structure is fixed in on the unmanned aerial vehicle fuselage.
5. The rudder steering mechanism for a twin vertical-tailed unmanned aerial vehicle according to claim 1, wherein: the shape of the central curved pull rod is consistent with that of the machine body profile, and the central curved pull rod is used for avoiding the equipment in the machine body axis space.
6. The rudder steering mechanism for a twin vertical-tailed unmanned aerial vehicle according to claim 1, wherein: and joint bearings are respectively arranged at the hinged parts at the two ends of the pull rod.
7. The rudder steering mechanism for a twin vertical-tailed unmanned aerial vehicle according to claim 1, wherein: the pull rod is of a telescopic structure, and the axial length of the pull rod can be adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011259734.3A CN112278242B (en) | 2020-11-12 | 2020-11-12 | Steering mechanism of double-vertical-tail unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011259734.3A CN112278242B (en) | 2020-11-12 | 2020-11-12 | Steering mechanism of double-vertical-tail unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112278242A true CN112278242A (en) | 2021-01-29 |
| CN112278242B CN112278242B (en) | 2024-06-04 |
Family
ID=74398062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011259734.3A Active CN112278242B (en) | 2020-11-12 | 2020-11-12 | Steering mechanism of double-vertical-tail unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112278242B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB190911501A (en) * | 1909-05-15 | 1910-05-12 | Claud Crompton | Improvements relating to the Steering and Balancing of Aerial Machines. |
| CN102442427A (en) * | 2011-12-20 | 2012-05-09 | 江西洪都航空工业集团有限责任公司 | Flap equal ratio similar motion guaranteeing mechanism |
| CN106275390A (en) * | 2016-08-31 | 2017-01-04 | 河南翱翔航空科技有限公司 | Unmanned plane vertical fin linkage |
| CN107512385A (en) * | 2017-07-20 | 2017-12-26 | 中国航空工业集团公司西安飞机设计研究所 | A kind of unmanned plane longitudinal-control system |
| CN208530833U (en) * | 2018-05-02 | 2019-02-22 | 西安翔安测控设备有限责任公司 | A kind of unmanned plane during flying steerable system |
| CN110481775A (en) * | 2019-10-17 | 2019-11-22 | 北京航空航天大学 | A kind of flapping wing mechanism of changeable wing area |
| CN110525637A (en) * | 2019-08-09 | 2019-12-03 | 哈尔滨工业大学（深圳） | A kind of angular adjustment apparatus and aircraft |
| CN111731469A (en) * | 2019-04-12 | 2020-10-02 | 北京京东尚科信息技术有限公司 | Airfoil surface linkage device and aircraft |
| CN111731468A (en) * | 2019-04-12 | 2020-10-02 | 北京京东尚科信息技术有限公司 | Airfoil surface linkage device and aircraft |
| CN213948755U (en) * | 2020-11-12 | 2021-08-13 | 西安爱生技术集团公司 | Steering control mechanism of double vertical tail unmanned aerial vehicle |
-
2020
- 2020-11-12 CN CN202011259734.3A patent/CN112278242B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB190911501A (en) * | 1909-05-15 | 1910-05-12 | Claud Crompton | Improvements relating to the Steering and Balancing of Aerial Machines. |
| CN102442427A (en) * | 2011-12-20 | 2012-05-09 | 江西洪都航空工业集团有限责任公司 | Flap equal ratio similar motion guaranteeing mechanism |
| CN106275390A (en) * | 2016-08-31 | 2017-01-04 | 河南翱翔航空科技有限公司 | Unmanned plane vertical fin linkage |
| CN107512385A (en) * | 2017-07-20 | 2017-12-26 | 中国航空工业集团公司西安飞机设计研究所 | A kind of unmanned plane longitudinal-control system |
| CN208530833U (en) * | 2018-05-02 | 2019-02-22 | 西安翔安测控设备有限责任公司 | A kind of unmanned plane during flying steerable system |
| CN111731469A (en) * | 2019-04-12 | 2020-10-02 | 北京京东尚科信息技术有限公司 | Airfoil surface linkage device and aircraft |
| CN111731468A (en) * | 2019-04-12 | 2020-10-02 | 北京京东尚科信息技术有限公司 | Airfoil surface linkage device and aircraft |
| CN110525637A (en) * | 2019-08-09 | 2019-12-03 | 哈尔滨工业大学（深圳） | A kind of angular adjustment apparatus and aircraft |
| CN110481775A (en) * | 2019-10-17 | 2019-11-22 | 北京航空航天大学 | A kind of flapping wing mechanism of changeable wing area |
| CN213948755U (en) * | 2020-11-12 | 2021-08-13 | 西安爱生技术集团公司 | Steering control mechanism of double vertical tail unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112278242B (en) | 2024-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108313268B (en) | Aileron control system of light aircraft | |
| CN103318407A (en) | Standalone control system of coaxial double-rotor unmanned helicopter control system | |
| CN105151278B (en) | A kind of rudder face differential driving mechanism suitable for unmanned plane | |
| CN102040002A (en) | Curve slide-connecting rod mechanism in high lift device of large aircraft | |
| CN203318678U (en) | Discrete control system of coaxial type double-rotor unmanned helicopter control system | |
| CN213948755U (en) | Steering control mechanism of double vertical tail unmanned aerial vehicle | |
| CN105151298A (en) | Empennage regulation mechanism with pitching and yawing independently regulated and ornithopter | |
| CN107161339A (en) | One kind is fluttered the bionical bird of twisted coupling | |
| CN110481775B (en) | flapping wing mechanism capable of changing wing area | |
| CN203473238U (en) | Missile aileron control mechanism | |
| CN115180117A (en) | Deformation wing framework mechanism of double-side triangular pyramid modularized aircraft | |
| CN106183830A (en) | A kind of pantograph collector head bascule | |
| CN110143282B (en) | Aircraft adopting high aspect ratio double-fuselage flying wing layout | |
| CN112278242A (en) | Steering control mechanism of double vertical tail unmanned aerial vehicle | |
| CN113911343A (en) | High-efficiency transmission flapping wing mechanism with rolling control function | |
| CN104973237A (en) | Cardan universal joint type flap transmission mechanism | |
| CN116119001A (en) | Straight-shaft type full-motion variable V-tail motion mechanism | |
| CN109677603B (en) | Helicopter rotor wing control device and rotor wing device | |
| US20240017816A1 (en) | Wing element structure, wing structure and flapping-wing aircraft | |
| CN110940481B (en) | Dynamic derivative test model of high-speed wind tunnel of flying wing layout aircraft | |
| CN113830288A (en) | Control mechanism for control surface of ducted aircraft | |
| CN209739320U (en) | Mechanical type side lever operating mechanism and light aircraft | |
| CN210235306U (en) | Wing type airplane with variable wing profile | |
| CN113511328A (en) | Wing folding mechanism and hovercar | |
| CN201394364Y (en) | Model and toy helicopter rotor control system |
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 |