CN210555569U - Novel shaftless four-rotor wing - Google Patents
Novel shaftless four-rotor wing Download PDFInfo
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- CN210555569U CN210555569U CN201921161081.8U CN201921161081U CN210555569U CN 210555569 U CN210555569 U CN 210555569U CN 201921161081 U CN201921161081 U CN 201921161081U CN 210555569 U CN210555569 U CN 210555569U
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Abstract
The utility model discloses a novel shaftless four rotors, its characterized in that: the steering mechanism comprises a main keel frame, a steering engine, a swinging shaft, a shaft sleeve and shaftless double rotors; the main keel frame is a horizontally arranged rectangular frame structure, and steering engines are horizontally and symmetrically fixedly arranged at the upper positions of two inner sides of the main keel frame; swing shafts are horizontally and symmetrically arranged on the upper positions of the two sides of the outer part of the main keel frame, one end of each swing shaft is respectively connected with the main keel frame in a rotating mode through a shaft sleeve, and respectively horizontally and vertically extends into the main keel frame and is respectively connected with the output end of the corresponding steering engine in a linkage mode; the other end of each swinging shaft is respectively and horizontally and vertically fixedly provided with a shaftless double-rotor wing, and the two shaftless double-rotor wings are symmetrically arranged on two sides of the main keel frame; the lower end of the main keel frame is fixedly installed on a reserved position of the aircraft through a bolt. The utility model discloses when reducing the noise, improved the utilization efficiency of rotor.
Description
Technical Field
The utility model relates to an unmanned air vehicle technique field, concretely relates to novel shaftless four rotors.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle mainly controlled by radio remote control or a self program, and can be used for reconnaissance, monitoring, relay communication, electronic countermeasure, firepower guidance, battle fruit evaluation, harassment, temptation, ground (sea) attack, target simulation, early warning and the like in military affairs. In the civil field, the method can be used for geodetic surveying, meteorological observation, urban environment detection, exploration of earth resources, forest fire prevention and the like. Therefore, the small unmanned aerial vehicle capable of detecting, searching and tracking the ground target conforms to the development requirements of military and civil use, has wide application prospect, and particularly in the field of military, the unmanned aerial vehicle has been developed in a large scale and has a tendency of replacing a fighter plane. In recent years, unmanned aerial vehicles play more and more important roles through network data links, so that the unmanned aerial vehicles are more and more important and prominent under the background of modern informatization war.
However, the existing mode of exposing the rotor of the unmanned aerial vehicle is easy to cause secondary damage, and the unmanned aerial vehicle has low utilization efficiency of the rotor, short endurance time, limited moving speed and large noise; the above problems need to be solved.
Disclosure of Invention
The to-be-solved technical problem of the utility model is to provide a novel shaftless four rotors, when reducing the noise, improved the utilization efficiency of rotor.
In order to solve the technical problem, the utility model discloses take following technical scheme: the utility model discloses a novel shaftless four rotors, its innovation point lies in: the steering mechanism comprises a main keel frame, a steering engine, a swinging shaft, a shaft sleeve and shaftless double rotors; the main keel frame is a horizontally arranged rectangular frame structure, and steering engines are horizontally and symmetrically fixedly arranged at the upper positions of two inner sides of the main keel frame; swing shafts are horizontally and symmetrically arranged on the upper positions of the two sides of the outer part of the main keel frame, one end of each swing shaft is respectively connected with the main keel frame in a rotating mode through a shaft sleeve, and respectively horizontally and vertically extends into the main keel frame and is respectively connected with the output end of the corresponding steering engine in a linkage mode; the other end of each swinging shaft is respectively and horizontally and vertically fixedly provided with a shaftless double-rotor wing, and the two shaftless double-rotor wings are symmetrically arranged on two sides of the main keel frame; the lower end of the main keel frame is fixedly installed on a reserved position of the aircraft through a bolt.
Preferably, each shaftless dual-rotor wing comprises an outer gear ring, blades, a module frame, a supporting device, a high-speed motor, a motor fixing frame and a central gear; each module frame is of a horizontally arranged 8-shaped structure, is respectively vertically and symmetrically arranged on the lower surface of the other end of the corresponding swinging shaft, and is respectively fixedly connected through welding; a circular groove matched with the central gear is horizontally formed in the middle of each module frame, each central gear is sleeved in the corresponding module frame through the circular groove, a high-speed motor is vertically arranged in the middle of the lower surface of each central gear, the output end of each high-speed motor is in linkage connection with the corresponding central gear, and the opposite side of the output end of each high-speed motor is fixedly connected with the corresponding module frame through a motor fixing frame; outer gear rings are respectively and symmetrically arranged on two sides of each central gear in a horizontal mode, and each outer gear ring is respectively and symmetrically arranged on two sides of the corresponding swing shaft; each outer gear ring is respectively meshed with the corresponding central gear and is respectively sleeved in the two circular rings corresponding to the module frames; a plurality of supporting devices are uniformly distributed on the outer side wall of each outer gear ring along the circumferential direction of the outer gear ring, and each supporting device is fixedly connected with the corresponding module frame and is in rolling connection with the corresponding outer gear ring; and a plurality of blades are horizontally and uniformly distributed on the inner circumferential wall of each outer gear ring along the circumferential direction, one end of each blade is fixedly connected with the corresponding outer gear ring, and the other end of each blade extends towards the central direction of the corresponding outer gear ring.
Preferably, a plurality of reinforcing ribs are symmetrically arranged on the outer side of the circular groove of each module frame, one end of each reinforcing rib is fixedly connected with the outer side walls of the two circular rings corresponding to the module frame, and the other end of each reinforcing rib is fixedly connected with the outer side wall of the circular groove corresponding to the module frame.
Preferably, the module frame further comprises a plurality of clasps, each clasp is of a U-shaped structure and is matched with each reinforcing rib on the module frame, and the clasps are respectively clamped on each reinforcing rib on the module frame.
Preferably, each motor fixing frame is of a horizontally arranged gripper structure, and gripper ends at four right angles of the motor fixing frame respectively extend outwards in an inclined manner and are fixedly connected with the corresponding grippers through bolts; and the inner side wall of the horizontal side of each motor fixing frame is fixedly connected with the opposite side corresponding to the output end of the high-speed motor through a bolt.
Preferably, each of the supporting devices comprises a module guide wheel frame and two rollers; each module guide wheel frame is of a vertically arranged gripper structure, and through holes matched with the shafts are vertically formed in two inclined sides of the module guide wheel frame; and rollers are symmetrically arranged on the outer sides of two inclined sides of each module guide wheel frame, and each roller is rotatably connected with the corresponding module guide wheel frame through a shaft.
Preferably, the outer circumferential wall of each roller exceeds the claw end of the corresponding module guide wheel frame.
Preferably, guide grooves are symmetrically formed in the two outer side walls of each outer gear ring along the circumferential direction of the outer gear ring, and each guide groove is matched with each roller.
Preferably, a plurality of counter bores are further vertically arranged on the outer side wall of the vertical side of each module guide wheel frame at intervals, and each counter bore is arranged from outside to inside and extends out to correspond to the module guide wheel frame.
Preferably, the opening direction of each module guide wheel frame is arranged towards the corresponding outer gear ring and is respectively fixed on the two circular rings of the module frame through countersunk bolts; and the rollers at two inclined sides of each module guide wheel frame are respectively abutted against the guide grooves at two sides of the corresponding outer gear ring, and each outer gear ring is in rolling connection with the module frame through the rollers.
The utility model has the advantages that:
1) the utility model discloses an outer ring gear, module frame and matched with strutting arrangement constitute the lift structure of two sets of shaftless bispin wings, and this structure area of breathing in is big, but the air in the at utmost utilizes the rotor district, simultaneously, adopts the structure of two sets of shaftless bispin wings, but furthest utilizes high-speed motor's power take off to play the effect of extension duration.
2) The utility model can enable the two groups of shaftless double rotors to incline at a certain angle through two steering actuators, and meanwhile, the high-speed motors in the two groups of shaftless double rotors rotate at different set rotating speeds, and the lifting force of the group of shaftless double rotors with large rotating speed is larger than normal, so that the unmanned aerial vehicle inclines to one side of the group of shaftless double rotors with small rotating speed; make unmanned aerial vehicle to the appointed direction removal through utilizing the tilting force, and its moving speed has obtained promoting by a wide margin.
3) The utility model discloses well design of adopting the paddle can reduce the noise of rotor in the acoustics.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is the utility model relates to a novel shaftless four-rotor structure schematic diagram.
Fig. 2 is a rear view of fig. 1.
Fig. 3 is a schematic structural view of a module frame in fig. 1.
Fig. 4 is a schematic structural view of a module guide frame in fig. 1.
Fig. 5 is a schematic view of the connection of the module wheel carrier of fig. 1.
Fig. 6 is a schematic structural view of the motor fixing frame in fig. 1.
Fig. 7 is a schematic connection diagram of the motor fixing frame in fig. 1.
Wherein, 1-outer gear ring; 2-a blade; 3-a module frame; 4-a module guide wheel frame; 5-a roller; 6, a motor fixing frame; 7-a high-speed motor; 8-a sun gear; 9-counter bore; 10-through holes; 11-buckling; 12-a circular ring; 13-a circular groove; 14-reinforcing ribs; 15-main keel frame; 16-steering engine; 17-a swing shaft; 18-a shaft sleeve; 19-working arm.
Detailed Description
The technical solution of the present invention will be described clearly and completely through the following detailed description.
The utility model relates to a novel shaftless four-rotor wing, which comprises a main keel frame 15, a steering engine 16, a swinging shaft 17, a shaft sleeve 18 and a shaftless double-rotor wing; the concrete structure is as shown in fig. 1 and fig. 2, the main keel frame 15 is a horizontally arranged cuboid frame structure, and steering actuators 16 are horizontally and symmetrically fixed at the upper positions of two sides in the main keel frame; swing shafts 17 are horizontally and symmetrically arranged on the upper positions of the two sides of the outer part of the main keel frame 15, one end of each swing shaft 17 is respectively connected with the main keel frame 15 in a rotating mode through a shaft sleeve 18, and respectively extends to the inner part of the main keel frame 15 horizontally and vertically and is respectively connected with the output end of a corresponding steering engine 16 in a linkage mode; the other end of each swinging shaft 17 is also respectively and horizontally and vertically fixedly provided with a shaftless double-rotor wing, and the two shaftless double-rotor wings are symmetrically arranged at two sides of the main keel frame 15; wherein, the lower extreme of main joist frame 15 passes through bolt fixed mounting on the reservation position of aircraft. The utility model discloses well two steering wheel 16 drive the oscillating axle 17 that corresponds respectively and rotate to drive the shaftless two-rotor swing of both sides respectively, if the shaftless two-rotor of both sides is simultaneously by the steering wheel 16 that turns to that corresponds use oscillating axle 17 to rotate a controllable interval angle to a certain direction as the axle center, will form an angle of inclination, have certain angle of inclination alright do the motion in the error range to setting for the direction, in order to reach the control of the vertical direction of unmanned aerial vehicle.
Each shaftless double-rotor wing in the utility model comprises an outer gear ring 1, a paddle 2, a module frame 3, a supporting device, a high-speed motor 7, a motor fixing frame 6 and a central gear 8; the specific structure is as shown in fig. 1-3, the module frame 3 is a horizontally arranged 8-shaped structure, and is respectively vertically and symmetrically arranged on the lower surface of the other end of the corresponding swing shaft 17, and is respectively fixedly connected through welding; a circular groove 13 matched with the central gear 8 is horizontally formed in the middle of each module frame 3, a plurality of reinforcing ribs 14 are symmetrically arranged on the outer side of the circular groove 13 of each module frame 3, one end of each reinforcing rib 14 is fixedly connected with the outer side walls of the two circular rings 12 of the corresponding module frame 3, and the other end of each reinforcing rib is fixedly connected with the outer side wall of the circular groove 13 of the corresponding module frame 3. The utility model discloses a module frame 3 is for supporting the main part to be convenient for the outer ring gear 1 of both sides is synchronous motion.
As shown in fig. 1 and 2, each central gear 8 is sleeved in the corresponding module frame 3 through a circular groove 13, a high-speed motor 7 is vertically arranged in the middle of the lower surface of each central gear 8, the output end of each high-speed motor 7 is in linkage connection with the corresponding central gear 8, and the opposite side of the output end is fixedly connected with the corresponding module frame 3 through a motor fixing frame 6;
each buckle 11 is of a U-shaped structure, is matched with the reinforcing rib 14 on each module frame 3, and is respectively clamped on the reinforcing rib 14 on each module frame 3; as shown in fig. 6 and 7, each motor fixing frame 6 is a horizontally arranged gripper structure, and gripper ends at four right angles of the motor fixing frame respectively extend outwards in an inclined manner and are respectively fixedly connected with corresponding grippers 11 through bolts; the utility model discloses in the opposite one side of 7 outputs of each high-speed motor all through bolt fixed mounting on the inside wall that corresponds 6 horizontal sides of motor mount to make central gear 8 be circular motion under high-speed motor 7's drive.
The utility model is also provided with outer gear rings 1 on both sides of each central gear 8, and each outer gear ring 1 is respectively arranged on both sides of the corresponding swing shaft 17; each outer gear ring 1 is respectively meshed with the corresponding central gear 8 and respectively sleeved in the two circular rings 12 of the corresponding module frame 3; as shown in fig. 1 and 2, five paddles 2 are further horizontally and uniformly distributed on the inner circumferential wall of each outer gear ring 1 along the circumferential direction thereof, one end of each paddle 2 is fixedly connected with the corresponding outer gear ring 1, and the other end thereof extends towards the center direction of the corresponding outer gear ring 1. The utility model adopts the design of no-axis double rotors, and utilizes the air to form the lift force to the maximum extent; meanwhile, the design of the blade 2 can reduce the noise of the rotor in acoustics.
The utility model is also provided with three supporting devices along the circumferential direction on the outer side wall of each outer gear ring 1, each supporting device is respectively fixedly connected with the corresponding module frame 3 and respectively connected with the corresponding outer gear ring 1 in a rolling way; each supporting device comprises a module guide wheel frame 4 and two idler wheels 5; as shown in fig. 4 and 5, each module guide wheel frame 4 is a vertically arranged gripper structure, and through holes 10 matched with the shaft are vertically formed on two inclined sides of the module guide wheel frame; the outer sides of two inclined sides of each module guide wheel frame 4 are symmetrically provided with rollers 5, and each roller 5 is rotationally connected with the corresponding module guide wheel frame 4 through a shaft; a plurality of counter bores 9 are further vertically arranged on the outer side wall of the vertical side of each module guide wheel frame 4 at intervals, each counter bore 9 is arranged from outside to inside, and the corresponding module guide wheel frame 4 extends out.
And guide grooves are symmetrically formed in the two outer side walls of each outer gear ring 1 along the circumferential direction of the outer gear ring, and each guide groove is matched with each roller 5. As shown in fig. 1 and 5, the opening direction of each module wheel carrier 4 is arranged toward the corresponding outer gear ring 1, and the module wheel carriers are fixed on two circular rings of the module frame 3 through countersunk bolts respectively; the rollers 5 on the two inclined sides of each module guide wheel frame 4 are respectively abutted against the guide grooves on the two sides of the corresponding outer gear ring 1, and each outer gear ring 1 is in rolling connection with the module frame 3 through the rollers 5. The outer circumferential wall of each roller 5 exceeds the claw end of the corresponding module guide wheel frame 3, and a certain gap is formed between each outer gear ring 1 and the module frame 3 and between each outer gear ring 1 and each module guide wheel frame 4, so that interference generated by the rotation of the module guide wheel frames 4 and the module frame 3 to the outer gear rings 1 is avoided; meanwhile, due to the characteristic of low friction coefficient of the roller 5, the influence on the rotation of the external gear ring 1 is reduced.
As shown in fig. 1 and 2, a working arm 19 is further horizontally and vertically arranged at the upper end of the main keel frame 15, the middle part of the working arm 19 is fixedly connected with the main keel frame 15, and two ends of the working arm respectively extend downwards and slantways out of the main keel frame 15. The utility model discloses well work arm 19 can regard as reserve linkage.
The utility model discloses a theory of operation:
1) in the utility model, two steering engines 16 respectively drive corresponding oscillating shafts 17 to rotate, so as to respectively drive the shaftless dual rotors on both sides to oscillate, if the shaftless dual rotors on both sides simultaneously rotate a controllable interval angle in a certain direction by the corresponding steering engines 16 by taking the oscillating shafts 17 as axes, an inclination angle is formed, and the unmanned aerial vehicle can move in an error range in a set direction by a certain inclination angle, so as to control the longitudinal direction of the unmanned aerial vehicle;
2) the utility model discloses the high-speed motor in well two sets of shaftless bispin wings rotates with the different settlement rotational speeds, and a set of shaftless bispin wing lift that the rotational speed is big will be bigger than the others, makes a set of shaftless bispin wing that the rotational speed is big can be higher than another group's shaftless bispin wing, makes unmanned aerial vehicle to a set of shaftless bispin wing lopsidedness that the rotational speed is little, thereby makes unmanned aerial vehicle remove to the incline direction, has reached the control of unmanned aerial vehicle transverse direction.
The utility model has the advantages that:
1) the utility model discloses an outer ring gear, module frame and matched with strutting arrangement constitute the lift structure of two sets of shaftless bispin wings, and this structure area of breathing in is big, but the air in the at utmost utilizes the rotor district, simultaneously, adopts the structure of two sets of shaftless bispin wings, but furthest utilizes high-speed motor's power take off to play the effect of extension duration.
2) The utility model can enable the two groups of shaftless double rotors to incline at a certain angle through two steering actuators, and meanwhile, the high-speed motors in the two groups of shaftless double rotors rotate at different set rotating speeds, and the lifting force of the group of shaftless double rotors with large rotating speed is larger than normal, so that the unmanned aerial vehicle inclines to one side of the group of shaftless double rotors with small rotating speed; make unmanned aerial vehicle to the appointed direction removal through utilizing the tilting force, and its moving speed has obtained promoting by a wide margin.
3) The utility model discloses well design of adopting the paddle can reduce the noise of rotor in the acoustics.
The above-mentioned embodiments are only described as the preferred embodiments of the present invention, and are not intended to limit the concept and scope of the present invention, and the technical content of the present invention, which is claimed by the present invention, is fully recorded in the technical claims.
Claims (10)
1. The utility model provides a novel shaftless four rotors which characterized in that: the steering mechanism comprises a main keel frame, a steering engine, a swinging shaft, a shaft sleeve and shaftless double rotors; the main keel frame is a horizontally arranged rectangular frame structure, and steering engines are horizontally and symmetrically fixedly arranged at the upper positions of two inner sides of the main keel frame; swing shafts are horizontally and symmetrically arranged on the upper positions of the two sides of the outer part of the main keel frame, one end of each swing shaft is respectively connected with the main keel frame in a rotating mode through a shaft sleeve, and respectively horizontally and vertically extends into the main keel frame and is respectively connected with the output end of the corresponding steering engine in a linkage mode; the other end of each swinging shaft is respectively and horizontally and vertically fixedly provided with a shaftless double-rotor wing, and the two shaftless double-rotor wings are symmetrically arranged on two sides of the main keel frame; the lower end of the main keel frame is fixedly installed on a reserved position of the aircraft through a bolt.
2. A novel shaftless quad-rotor according to claim 1, wherein: each shaftless dual-rotor wing comprises an outer gear ring, blades, a module frame, a supporting device, a high-speed motor, a motor fixing frame and a central gear; each module frame is of a horizontally arranged 8-shaped structure, is respectively vertically and symmetrically arranged on the lower surface of the other end of the corresponding swinging shaft, and is respectively fixedly connected through welding; a circular groove matched with the central gear is horizontally formed in the middle of each module frame, each central gear is sleeved in the corresponding module frame through the circular groove, a high-speed motor is vertically arranged in the middle of the lower surface of each central gear, the output end of each high-speed motor is in linkage connection with the corresponding central gear, and the opposite side of the output end of each high-speed motor is fixedly connected with the corresponding module frame through a motor fixing frame; outer gear rings are respectively and symmetrically arranged on two sides of each central gear in a horizontal mode, and each outer gear ring is respectively and symmetrically arranged on two sides of the corresponding swing shaft; each outer gear ring is respectively meshed with the corresponding central gear and is respectively sleeved in the two circular rings corresponding to the module frames; a plurality of supporting devices are uniformly distributed on the outer side wall of each outer gear ring along the circumferential direction of the outer gear ring, and each supporting device is fixedly connected with the corresponding module frame and is in rolling connection with the corresponding outer gear ring; and a plurality of blades are horizontally and uniformly distributed on the inner circumferential wall of each outer gear ring along the circumferential direction, one end of each blade is fixedly connected with the corresponding outer gear ring, and the other end of each blade extends towards the central direction of the corresponding outer gear ring.
3. A novel shaftless quad-rotor according to claim 2, wherein: and a plurality of reinforcing ribs are symmetrically arranged on the outer side of the circular groove of each module frame, one end of each reinforcing rib is fixedly connected with the outer side walls of the two circular rings corresponding to the module frame, and the other end of each reinforcing rib is fixedly connected with the outer side wall of the circular groove corresponding to the module frame.
4. A novel shaftless quad-rotor according to claim 3, wherein: the module frame is characterized by further comprising a plurality of grabbing buckles, wherein each grabbing buckle is of a U-shaped structure and is matched with each reinforcing rib on the module frame and is clamped on each reinforcing rib on the module frame.
5. A novel shaftless four-rotor according to claim 4, wherein: each motor fixing frame is of a horizontally arranged gripper structure, gripper ends at four right angles of the motor fixing frame respectively extend outwards in an inclined mode, and are fixedly connected with the corresponding grippers through bolts; and the inner side wall of the horizontal side of each motor fixing frame is fixedly connected with the opposite side corresponding to the output end of the high-speed motor through a bolt.
6. A novel shaftless quad-rotor according to claim 2, wherein: each supporting device comprises a module guide wheel frame and two rollers; each module guide wheel frame is of a vertically arranged gripper structure, and through holes matched with the shafts are vertically formed in two inclined sides of the module guide wheel frame; and rollers are symmetrically arranged on the outer sides of two inclined sides of each module guide wheel frame, and each roller is rotatably connected with the corresponding module guide wheel frame through a shaft.
7. A novel shaftless quad-rotor according to claim 6, wherein: the outer circumferential wall of each roller exceeds the claw end of the corresponding module guide wheel frame.
8. A novel shaftless quad-rotor according to claim 6, wherein: and guide grooves are symmetrically formed in the two outer side walls of each outer gear ring along the circumferential direction of the outer gear ring, and each guide groove is matched with each roller.
9. A novel shaftless quad-rotor according to claim 6, wherein: and a plurality of counter bores are also vertically arranged on the outer side wall of the vertical side of each module guide wheel frame at intervals, and each counter bore is arranged from outside to inside and extends out to correspond to the module guide wheel frame.
10. A novel shaftless quad-rotor according to claim 9, wherein: the opening direction of each module guide wheel frame is arranged towards the corresponding outer gear ring and is respectively fixed on the two circular rings of the module frame through countersunk bolts; and the rollers at two inclined sides of each module guide wheel frame are respectively abutted against the guide grooves at two sides of the corresponding outer gear ring, and each outer gear ring is in rolling connection with the module frame through the rollers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921161081.8U CN210555569U (en) | 2019-07-23 | 2019-07-23 | Novel shaftless four-rotor wing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921161081.8U CN210555569U (en) | 2019-07-23 | 2019-07-23 | Novel shaftless four-rotor wing |
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| Publication Number | Publication Date |
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| CN210555569U true CN210555569U (en) | 2020-05-19 |
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| CN201921161081.8U Expired - Fee Related CN210555569U (en) | 2019-07-23 | 2019-07-23 | Novel shaftless four-rotor wing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210064062A1 (en) * | 2018-05-14 | 2021-03-04 | Kawasaki Jukogyo Kabushiki Kaisha | Flight vehicle and method of controlling flight vehicle |
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2019
- 2019-07-23 CN CN201921161081.8U patent/CN210555569U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210064062A1 (en) * | 2018-05-14 | 2021-03-04 | Kawasaki Jukogyo Kabushiki Kaisha | Flight vehicle and method of controlling flight vehicle |
| US11822348B2 (en) * | 2018-05-14 | 2023-11-21 | Kawasaki Jukogyo Kabushiki Kaisha | Flight vehicle and method of controlling flight vehicle |
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Granted publication date: 20200519 |