CN106240814A - A kind of power-controlled tail sitting posture mixed layout vertically taking off and landing flyer - Google Patents
A kind of power-controlled tail sitting posture mixed layout vertically taking off and landing flyer Download PDFInfo
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- CN106240814A CN106240814A CN201610652870.6A CN201610652870A CN106240814A CN 106240814 A CN106240814 A CN 106240814A CN 201610652870 A CN201610652870 A CN 201610652870A CN 106240814 A CN106240814 A CN 106240814A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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Abstract
The invention discloses a kind of power-controlled tail sitting posture mixed layout vertically taking off and landing flyer, be made up of fuselage, wing, motor, propeller, take-off and landing device, fuselage axis overlaps with body axle system OX axle, and the projection in body axle system XOY plane is X-type distribution；Every wing on fuselage is divided into several sections, and every section has different angles of sweep and a upper counterangle, and uses positive curved wing and recurvation aerofoil profile to reach superior pneumatic and maneuvering performance；One group of propeller motor power system is installed in the position that on four wings, distance body axle system OX axle is identical；Four groups of power set take off with X-type four rotor mode during VTOL, and are operated into cruising condition by the difference of motor pulling force or with the conversion that coordinated of control surface, whole during changed required manipulation by the pulling force of motor.Aircraft power device is simple, and control mode is reliable, and can effectively utilize propellerslip, is suitable as the flying platform of tail sitting posture VUAV.
Description
Technical field
The present invention relates to a kind of vertically taking off and landing flyer, specifically, relate to a kind of power-controlled tail sitting posture mixing cloth
Office's vertically taking off and landing flyer.
Background technology
Cruising speed flight envelope is the design object that nowadays Fixed Wing AirVehicle is paid attention to especially and chased, and therefore has vertical
Straight landing ability and spot hover ability, and the aircraft with quick cruising ability is the target of current era, especially exists
Military spacecraft and SUAV become apparent from, the osprey V-22, F35 of such as U.S.'s tilting rotor and small aircraft
In the slightly worse smart series rotor etc. of the cruising speed of big boundary.They depend on VTOL ability and the hovering energy of uniqueness
Power has broken away from the restriction of landing site, has attracted the concern of masses.Tail sitting posture vertically taking off and landing flyer is vertically taking off and landing flyer
In unique family, it can be stood by tail sitting posture and take off, and is taken off by powered and control surface deflection realization, is cruised
To the process of landing, and cruise floating state conversion, abundant has annotated its VTOL ability and the energy of high-performance cruise
Power.
In existing aircraft, the many manipulations realizing aircraft with control surface of aircraft, and with the pneumatic effect of Flying-wing
Rate is higher.For the aircraft of tail sitting posture VTOL, such as, patent of invention CN103979104A, in the process of VTOL
Serious and aircraft the flight speed of middle ground effect is higher, and rudder face is the most invalid, and only can rely under propellerslip is micro-
Weak steerage, therefore using movable control surface as maneuverability pattern for VTOL process poor effect.Additionally, control surface deflection realizes
The trim resistance of aircraft is too increased, relatively low flight efficiency while manipulation.
But for the low Reynolds number flows mechanism body residing for small aircraft, such as, patent CN102133926B, it is generally required to
Using recurvation aerofoil profile to carry out trimmed flight device, to reduce cruise drag, but the employing of this recurvation aerofoil profile is but to Flying-wing
Pneumatic efficiency is had a greatly reduced quality.In addition in order to ensure the horizontal shipping-direction stability of aircraft, need to increase vertical tail, add flight
In weight and resistance.
Summary of the invention
The deficiency existed in order to avoid prior art, it is vertical that the present invention proposes a kind of power-controlled tail sitting posture mixed layout
Landing aircraft, this aircraft has four groups of dynamical systems, is separately mounted to the correspondence position of X-type wing, carries in dynamical system
For, while power, completing the rolling required for aerial mission, pitching and yaw control by the coupling of power difference, the most not
Need the participation of control surface, handle simple and reliable, improve pneumatic efficiency and the maneuverability of aircraft in flight course；As standby
By steerable system, control surface can be increased and improve the viability of aircraft；Take different respectively by top and the bottom wing simultaneously
Aerofoil profile and internal and external section wing take the different upper counterangles and angle of sweep respectively, and X-type wing mates the method taking two kinds of aerofoil profiles
Simply, aerodynamic characteristic and the handling characteristic of aircraft are improved.
The technical solution adopted for the present invention to solve the technical problems is: includes fuselage, wing, motor, propeller, rise and fall
Device, described fuselage is the streamlined elongated nacelle along body axle system X-axis, is internally provided with electron speed regulator, automatic pilot, number
According to chain Airborne Terminal, mission payload and electrokinetic cell；Described wing is divided into four parts, right about body axle system XOZ plane left and right
Claiming, in body axle system, XOY plane inner projection is X-type, anti-on upper part root wing, anti-under lower part root wing, is respectively mounted
On fuselage, top and the bottom root wing angle is 10～90 degree；Described motor is arranged on the leading edge of every part wing, with body axle
Be OX wheelbase from identical, described propeller is arranged on the pivot of motor, and wing, motor, propeller are four, motor connect
Electron speed regulator, the holding wire of electron speed regulator is connected with automatic pilot, and automatic pilot is two-way with Data-Link Airborne Terminal
Connect, battery-powered；It is characterized in that every part wing be along exhibition to stagewise wing, hop count is the integer more than 1, right
Should the wing of part symmetrical about body axle system XOZ plane, every section of every part wing has different angles of sweep and the upper counterangle；
Two parts up and down on body axle system OX direction use positive curved wing or recurvation aerofoil profile simultaneously, or two parts are respectively adopted up and down
Positive curved wing and recurvation aerofoil profile；Described motor is four groups with the dynamical system of described propeller composition, the correspondence of every part wing
One group of dynamical system is installed in position, and four groups of dynamical systems become X-type to be distributed, and motor spiral shell provides power with rotation oar dynamical system, simultaneously
For providing the manipulation required for aircraft, complete the manipulation during thru-flight by variation in tension.
Two groups of motors and propeller dynamical system on XOY plane upper part wing increase rotating speed simultaneously, and pulling force increases, or
Two groups of motors and propeller dynamical system on XOY plane lower part wing reduce simultaneously, and pulling force reduces, and complete the pitching behaviour that bows
Vertical；Two groups of motors and propeller dynamical system on XOY plane upper part wing reduce rotating speed simultaneously, and pulling force reduces, or XOY puts down
Two groups of motors and propeller dynamical system on the basifacial extension set wing increase rotating speed simultaneously, and pulling force increases, and complete new line pitching behaviour
Vertical；Increasing rotating speed by two groups of motors on wing on the left of XOZ and propeller dynamical system, pulling force increases, or XOZ plane simultaneously
Two groups of motors and propeller dynamical system on the wing of right side reduce rotating speed simultaneously, and pulling force reduces, and completes yaw control to the right；Logical
The two groups of motors crossed on the left of XOZ on wing and propeller dynamical system reduce rotating speed simultaneously, and pulling force reduces, or on the right side of XOZ plane
Two groups of motors and propeller dynamical system on wing increase rotating speed simultaneously, and pulling force increases, and completes yaw control to the left；By right
Two groups of motors and propeller dynamical system on linea angulata are increased or decreased rotating speed simultaneously, and moment of torsion is increased or decreased, or on diagonal
Two groups of motors and propeller dynamical system rotating speed is reduced or increased simultaneously, moment of torsion is reduced or increased, and completes and increase rotating speed
The rightabout roll guidance of propeller turning direction.
It is respectively arranged movable control surface on every part wing, as the backup steerable system of motor power system, movably grasps
Vertical face is about symmetrical each two of body axle system XOZ plane, by the movable control surface in XOZ plane both sides respectively to body axle system Z axis
Different directions deflection produce around the rolling moment of OX axle；By the movable control surface in XOZ plane both sides simultaneously to body axle system Z axis
Equidirectional deflection produces the pitching moment around OY axle；Movably handled towards body axle system Z axis by the two panels of XOZ plane side
Different directions deflection, the movable control surface of two panels of XOZ plane opposite side do not deflects and produces around the yawing of OZ axle.
Beneficial effect
The one power-controlled tail sitting posture mixed layout vertically taking off and landing flyer that the present invention proposes, compared with prior art
Its feature is:
The present invention uses four groups of dynamical systems, can form the dynamical system arrangement like four rotors so that aircraft vertical
Landing and hovering stability and high efficiency；Four groups of dynamical systems mate the wing of X-type Flying-wing, improve the cruising speed of aircraft,
Add the task radius of flight；Four groups of dynamical systems not only provide power, and are the steerable systems of aircraft so that dynamic
Power utilizes more abundant, the most efficiently, improves what the conventional aircraft pneumatic efficiency that control surface deflection is brought when trim reduced
Problem, the basic inefficiency of rudder face brought for ground effect during VTOL plays conclusive improved effect.
The wing configurations form of X-type of the present invention, adds the wing area of aircraft under length effectively, and uses
Four groups of dynamical systems, the wing area in slip-stream is more, is effectively improved the pneumatic efficiency of aircraft.
Every wing of four wings of the present invention be along exhibition to stagewise wing, according to design object segmentation, section
Number is the integer more than 1, and every section has different angles of sweep and the upper counterangle, to form the airfoil of similar Larus ridibundus formula layout
Formula, improves the exhibition of aerofoil surface to flowing, improves the aerodynamic characteristic of aircraft and the stability in horizontal course and maneuverability, saves
Weight and pneumatic efficiency cost that vertical tail brings are gone.
The top and the bottom wing of the present invention can be respectively adopted positive curved wing and recurvation aerofoil profile, solves Flying-wing's flight
The problem of pneumatic efficiency sacrificed by device in order to take into account stability, and X-type wing coupling takes the method for two kinds of aerofoil profiles simply, effectively
Solve the insoluble aerodynamics problem of single-blade aircraft, design without complicated wing twist, additionally, different airfoil profiles
Application is so that pitching moment characteristic design during Flight Vehicle Design is the most controlled.
The technology of the present invention power set are simple, and dynamical system provides to be handled the most efficiently, uses the similar X-type of different airfoil profiles
Stagewise wing aerodynamic efficiency good, be suitable as the aircraft platforms of the UAS of multitask.
Accompanying drawing explanation
Power-controlled tail sitting posture mixed layout VTOL a kind of to the present invention with embodiment flies below in conjunction with the accompanying drawings
Row device is described in further detail.
Fig. 1 is the present invention power-controlled tail sitting posture mixed layout vertically taking off and landing flyer schematic diagram.
Fig. 2 provides propeller turning direction schematic diagram during power for vertically taking off and landing flyer of the present invention.
Fig. 3 a provides pitch control schematic diagram when handling for propeller.
Fig. 3 b provides yaw control schematic diagram when handling for propeller.
Fig. 3 c provides roll guidance schematic diagram when handling for propeller.
Fig. 4 a is that the exhibition of the A-A section parallel with XOZ plane is to erect-position schematic diagram.
Fig. 4 b is upper and lower wing section schematic diagram of A-A section when being respectively adopted positive curved wing and recurvation aerofoil profile.
Fig. 5 a is that control surface completes pitch control schematic diagram as control surface during backup steerable system.
Fig. 5 b is that control surface completes roll guidance schematic diagram as control surface during backup steerable system.
Fig. 5 c is that control surface completes the schematic diagram of yaw control as control surface during backup steerable system.
Fig. 6 is the schematic diagram that internal and external section wing of the present invention uses the different upper counterangles.
In figure
1. wing 2. fuselage 3. motor 4. propeller 5. take-off and landing device
Detailed description of the invention
The present embodiment is a kind of power-controlled tail sitting posture mixed layout vertically taking off and landing flyer, and aircraft has four groups and moves
Force system, is separately mounted to the correspondence position of X-type wing, provides while power in dynamical system, by power difference
Join the rolling required for aerial mission, pitching and yaw control, completely without there being the participation of control surface, improve flight
During the pneumatic efficiency of aircraft and maneuverability；As standby steerable system, control surface can be increased and improve the viability of aircraft；
Simultaneously by top and the bottom wing take respectively different aerofoil profiles and internal and external section wing take respectively the different upper counterangles and after
Sweep angle, X-type wing coupling is taked the method for two kinds of aerofoil profiles simply, without complicated wing twist design, is improved flight
The aerodynamic characteristic of device and handling characteristic.
Refering to Fig. 1～Fig. 6, the present embodiment power-controlled tail sitting posture mixed layout vertically taking off and landing flyer, including fuselage
2, wing 1, motor 3, propeller 4, take-off and landing device 5, fuselage 2 is the streamlined elongated nacelle along body axle system X-axis, is internally provided with
Electron speed regulator, automatic pilot, Data-Link Airborne Terminal, mission payload and electrokinetic cell.Wing 1 is divided into four parts, closes
In body axle system, XOZ plane is symmetrical, and in body axle system, XOY plane inner projection is X-type, is divided into upper and lower two parts, upper part root
, anti-under lower part root wing on wing instead, it is separately mounted on fuselage 2.Motor 3 is arranged at the leading edge of every part wing 2, with
Body axle system OX wheelbase is from identical；Propeller 4 is arranged on the pivot of motor 3, and wing 1, motor 3, propeller 4 are four.Electricity
Machine 3 connects electron speed regulator, and the holding wire of electron speed regulator is connected with automatic pilot, automatic pilot and Data-Link airborne end
End bi-directional data connects；Motor 3, electron speed regulator, automatic pilot, Data-Link Airborne Terminal and digital image sensor all have
Battery is powered.
In the present embodiment, every part wing of wing is stagewise wing, and the wing of corresponding part is about body axle system XOZ
Plane is symmetrical, and every section of every part wing has different angles of sweep and the upper counterangle, and angle of sweep can be chosen at 0～30 degree,
The root wing upper counterangle is chosen between 0～45 degree, the upper counterangle of other section of wing outside portion's wing that dig up the roots can be chosen at-45～
Between 45 degree, form the distribution form like Larus ridibundus formula wing.The upper counterangle θ that wing internal and external section is different1And θ2True according to design object
Fixed, the root wing upper counterangle is 20 degree, and the outer section of upper counterangle is 1 degree.Two parts up and down on body axle system OX direction use simultaneously
Positive curved wing or recurvation aerofoil profile, or two parts are respectively adopted positive curved wing and recurvation aerofoil profile up and down, and the latter can bring more
Good aerodynamic characteristic and pitch control effect.Lower part wing uses positive curved wing SD7062, and upper part wing uses the recurvation wing
Type S5010；Any control surface is not arranged on wing.
Motor 3 and the dynamical system altogether four groups of propeller 4 composition, the correspondence position of every part wing installs one group of dynamical system
System, four groups of dynamical system composition X-type distributions, motor helical oar dynamical system not only provides power, needed for providing aircraft simultaneously
The manipulation wanted, completes the manipulation during thru-flight by variation in tension；Additionally due to wing area increases in slipstream, change
It is apt to the aerodynamic characteristic of aircraft.
Dynamical system provides identical, the adjacent dynamical system spiral shell of the dynamical system propeller turning direction that mode is diagonal angle of power
Rotation oar turns on the contrary.
In conjunction with schematic diagram, illustrate handling control mode containing control surface as control surface during backup steerable system.
In Fig. 3, arrow upwards represents that revolution speed of propeller increases or pulling force increases, and arrow represents that downwards revolution speed of propeller reduces or pulling force subtracts
Little, the aircraft propeller change when dynamical system is handled is as follows:
Two groups of motors and propeller dynamical system on XOY plane upper part wing increase rotating speed simultaneously, and pulling force increases, or
Two groups of motors and propeller dynamical system on XOY plane lower part wing reduce rotating speed simultaneously, and pulling force reduces, and completes around OX axle
Bow pitch control；
Reducing rotating speed by two groups of motors on wing on the left of XOZ and propeller dynamical system, pulling force reduces simultaneously, or
On the right side of XOZ plane, two groups of motors on wing and propeller dynamical system increase rotating speed simultaneously, and pulling force increases, and completes around OZ axle
Yaw control to the left, otherwise, complete around the axial right yaw control of OZ；
Rotating speed being increased or decreased by two groups of motors on diagonal and propeller dynamical system, moment of torsion increasing adds deduct simultaneously
Little, or two groups of motors and the propeller dynamical system on diagonal be reduced or increased rotating speed simultaneously, and moment of torsion is reduced or increased, and completes
With the rightabout roll guidance of propeller turning direction increasing rotating speed；
In conjunction with schematic diagram, dynamical system is illustrated as manipulation control mode during steerable system.Every part in Fig. 5
The movable control surface of each layout on wing, as the backup steerable system of motor power system, improves reliability and the life of aircraft
Deposit power.
Simultaneously bowing around OY axle is produced to the equidirectional deflection of body axle system Z axis by the movable control surface in XOZ plane both sides
Face upward moment；
Movable control surface, about symmetrical each two of body axle system XOZ plane, is divided by the movable control surface in XOZ plane both sides
The not different directions deflection to body axle system Z axis produces the rolling moment around OX axle；
By the two panels of XOZ plane side movably handle the different directions towards body axle system Z axis deflect, XOZ plane another
The movable control surface of two panels of side does not deflect and produces the yawing around OZ axle.
The typical mission of aircraft is as follows: take off vertically, after arriving preplanned mission height, in the manipulation of automatic pilot
Under, by adjusting the variation in tension of four groups of dynamical systems, it is achieved pitch control, proceed to average flight state from hovering flight.Appoint
After business terminates, then being gone into hover state by cruise, slow falling head completes vertical landing.Carried by four groups of dynamical systems simultaneously
Handle for power and attitude, X-type wing configurations are taked the wing that internal and external section difference angle of sweep and the upper counterangle, top and the bottom are different
Type, has reached to improve flight pneumatic efficiency and stability, the maneuverability of aircraft, simple and reliable, and compact conformation saves weight.
Claims (3)
1. a power-controlled tail sitting posture mixed layout vertically taking off and landing flyer, including fuselage, wing, motor, propeller, rises
Dropping control device, described fuselage is the streamlined elongated nacelle along body axle system X-axis, be internally provided with electron speed regulator, automatic pilot,
Data-Link Airborne Terminal, mission payload and electrokinetic cell；Described wing is divided into four parts, about about body axle system XOZ plane
Symmetry, in body axle system, XOY plane inner projection is X-type, anti-on upper part root wing, anti-under lower part root wing, pacifies respectively
Being contained on fuselage, top and the bottom root wing angle is 10～90 degree；Described motor is arranged on the leading edge of every part wing, with body
Axle system OX wheelbase is from identical, and described propeller is arranged on the pivot of motor, and wing, motor, propeller are four, and motor is even
Connecing electron speed regulator, the holding wire of electron speed regulator is connected with automatic pilot, and automatic pilot is double with Data-Link Airborne Terminal
To connection, battery-powered；It is characterized in that: every part wing be along exhibition to stagewise wing, hop count is whole more than 1
Number, the wing of corresponding part is symmetrical about body axle system XOZ plane, and every section of every part wing has different angle of sweep and upper
Dihedral；Two parts up and down on body axle system OX direction use positive curved wing or recurvation aerofoil profile simultaneously, or two parts divide up and down
Do not use positive curved wing and recurvation aerofoil profile；Described motor is four groups with the dynamical system of described propeller composition, every part wing
Correspondence position one group of dynamical system is installed, four groups of dynamical systems become X-type to be distributed, and motor spiral shell provides dynamic with rotation oar dynamical system
Power, simultaneously for providing the manipulation required for aircraft, completes the manipulation during thru-flight by variation in tension.
Power-controlled tail sitting posture mixed layout vertically taking off and landing flyer the most according to claim 1, it is characterised in that:
Two groups of motors and propeller dynamical system on XOY plane upper part wing increase rotating speed simultaneously, and pulling force increases, or XOY plane
Two groups of motors and propeller dynamical system on lower part wing reduce simultaneously, and pulling force reduces, and completes pitch control of bowing；XOY
Two groups of motors and propeller dynamical system on plane upper part wing reduce rotating speed simultaneously, and pulling force reduces, or XOY plane bottom
Two groups of motors and propeller dynamical system on the extension set wing increase rotating speed simultaneously, and pulling force increases, and completes new line pitch control；Pass through
On the left of XOZ, two groups of motors on wing and propeller dynamical system increase rotating speed simultaneously, and pulling force increases, or machine on the right side of XOZ plane
Two groups of motors and propeller dynamical system on the wing reduce rotating speed simultaneously, and pulling force reduces, and completes yaw control to the right；Pass through XOZ
Two groups of motors and propeller dynamical system on the wing of left side reduce rotating speed simultaneously, and pulling force reduces, or on the right side of XOZ plane on wing
Two groups of motors and propeller dynamical system increase rotating speed simultaneously, pulling force increases, and completes yaw control to the left；By on diagonal
Two groups of motors and propeller dynamical system rotating speed is increased or decreased simultaneously, moment of torsion is increased or decreased, or two groups on diagonal
Motor and propeller dynamical system are reduced or increased rotating speed simultaneously, and moment of torsion is reduced or increased, the propeller completing with increasing rotating speed
Turn to rightabout roll guidance.
Power-controlled tail sitting posture mixed layout vertically taking off and landing flyer the most according to claim 1, it is characterised in that: every
Being respectively arranged movable control surface on part wing, as the backup steerable system of motor power system, movable control surface is about body
Symmetrical each two of axle system XOZ plane, by the movable control surface in XOZ plane both sides respectively to the different directions of body axle system Z axis
Deflection produces the rolling moment around OX axle；Simultaneously inclined to the equidirectional of body axle system Z axis by the movable control surface in XOZ plane both sides
Change the line of production and give birth to the pitching moment around OY axle；The different directions towards body axle system Z axis is movably handled by the two panels of XOZ plane side
Deflection, the movable control surface of two panels of XOZ plane opposite side do not deflect and produce the yawing around OZ axle.
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| CN201610652870.6A CN106240814A (en) | 2016-08-10 | 2016-08-10 | A kind of power-controlled tail sitting posture mixed layout vertically taking off and landing flyer |
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| CN107021208A (en) * | 2017-04-21 | 2017-08-08 | 陆艳辉 | The tail sitting posture VUAV and control method of a kind of utilization duct |
| CN108284950A (en) * | 2017-11-30 | 2018-07-17 | 湖北航天飞行器研究所 | Four shrouded propeller power modes can VTOL fixed-wing unmanned vehicle |
| CN108583869A (en) * | 2018-06-15 | 2018-09-28 | 西安航空学院 | A kind of X-shaped swept-back wing unmanned plane |
| CN108639328A (en) * | 2018-05-15 | 2018-10-12 | 西北工业大学 | A kind of New Tail A seating axial symmetry multiple propeller vertical take-off and landing drone |
| PL424512A1 (en) * | 2018-02-05 | 2019-08-12 | Waldemar Andrzej Toruniewski | Multi-rotor plane, (copter) of which the movable arms and other planes create the aerodynamic lift |
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| CN110758727A (en) * | 2019-11-26 | 2020-02-07 | 邹雯 | Unmanned aerial vehicle with synchronous folding mechanism of multimachine wing |
| JP2020147286A (en) * | 2020-06-18 | 2020-09-17 | 株式会社エアロネクスト | Flying body |
| CN112407270A (en) * | 2020-12-01 | 2021-02-26 | 中航金城无人系统有限公司 | Tailstock type vertical take-off and landing aircraft without control surface control |
| CN116513455A (en) * | 2023-04-18 | 2023-08-01 | 长沙航空职业技术学院(空军航空维修技术学院) | Tailstock type four-variable-pitch rotor craft with combined control surface |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107021208A (en) * | 2017-04-21 | 2017-08-08 | 陆艳辉 | The tail sitting posture VUAV and control method of a kind of utilization duct |
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| CN108583869A (en) * | 2018-06-15 | 2018-09-28 | 西安航空学院 | A kind of X-shaped swept-back wing unmanned plane |
| CN108583869B (en) * | 2018-06-15 | 2024-03-29 | 西安航空学院 | X-shaped sweepback wing unmanned aerial vehicle |
| JP6609760B1 (en) * | 2018-09-22 | 2019-11-27 | 株式会社エアロネクスト | Flying object |
| CN110758727A (en) * | 2019-11-26 | 2020-02-07 | 邹雯 | Unmanned aerial vehicle with synchronous folding mechanism of multimachine wing |
| JP2020147286A (en) * | 2020-06-18 | 2020-09-17 | 株式会社エアロネクスト | Flying body |
| CN112407270A (en) * | 2020-12-01 | 2021-02-26 | 中航金城无人系统有限公司 | Tailstock type vertical take-off and landing aircraft without control surface control |
| CN116513455A (en) * | 2023-04-18 | 2023-08-01 | 长沙航空职业技术学院(空军航空维修技术学院) | Tailstock type four-variable-pitch rotor craft with combined control surface |
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