CN101284569B - Wind wheel single rotor helicopter - Google Patents
Wind wheel single rotor helicopter Download PDFInfo
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- CN101284569B CN101284569B CN2007100518504A CN200710051850A CN101284569B CN 101284569 B CN101284569 B CN 101284569B CN 2007100518504 A CN2007100518504 A CN 2007100518504A CN 200710051850 A CN200710051850 A CN 200710051850A CN 101284569 B CN101284569 B CN 101284569B
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Abstract
The invention discloses a wind-wheel typed single rotor wing helicopter, which is composed of a body, a motor, a main rotor wing, a wind wheel, a hydraulic power transmission system, an oil tank and a landing gear. The helicopter is characterized in that the motor drives a hydraulic motor or an infinitely variable transmission further drives the wind wheel to rotate in the reversed direction of the main rotor ring so as to generate the level moment for balancing the self-rotation of the body, thus saving a long tail beam and a tail rotor of the conventional helicopter. When the motor goes wrong, in addition to adopting conventional main rotor self-rotating landing, safety facilities such as a parachute, a lifesaving air bag, a lifesaving air cushion are equipped; the combined actions of the measures can minimize the injury of the human body and the damage to the helicopter caused by accidents. The invention provides a relatively safe helicopter with compact structure, smooth flying, comfortable ridding, easy learning and driving and beautiful appearance, and can be used as large-scale, medium-scale and small-scale helicopters; when being taken as a small-scale helicopter with 4-5 persons inside, the helicopter can be used as a tool for walk and the function can be defined as 'a car in the sky'.
Description
Affiliated technical field:
The invention belongs to the autogyro technical field in the aircraft industry, relate to a kind of single rotor helicopter that adds tail-rotor by wind wheel replacement tail boom.
Background technology:
Present known single rotor helicopter mainly is made up of fuselage, driving engine, main rotor, tail boom and tail-rotor.The lift that produces when engine drives main rotor rotation is during greater than the helicopter gross weight, and helicopter will fly away from ground, and when the main rotor dish turns forward, helicopter just flies forward.But the horizontal component of force that produces during the main rotor rotation is when pushing away air; Air can make fuselage ceaselessly towards the opposite spin of main rotor motion to the antagonistic force of main rotor; Cause uncontrollable fuselage of aviator and heading; For this reason, add the long-tail beam at afterbody usually, and come the moment of torsion of balance hull rotation at the horizontal moment of torsion of tail boom terminal installing tail-rotor generation.
" circular autogyro " (number of patent application: be 200510018333.8) that a kind of bulletin is also arranged in recent years through fuselage is made semisphere; Several are installed on annulus under fuselage then come the balance hull rotation, this a kind of really novel autogyro to same circumferencial direction injecting condensed air generation moment.As automobile, belong to automobile together, but can have various automobiles to satisfy the demand of society and economic each side.Equally, autogyro also can be varied, and the present invention increases a kind of new autogyro again for autogyro series.
Summary of the invention:
The invention provides the single rotor helicopter of a kind of No Tail Rotor, compact conformation, this autogyro can aloft freely fly up and down and revolve equally and stop, convenient driving, and ride comfort, it is safer to fly.
The technical scheme that the present invention takes is: fuselage is made semisphere or loaf shape; Fuselage base plate center is installed the hydraulic pressure reception and registration system that is made up of Hydraulic Pump and HM Hydraulic Motor and is driven the wind wheel rotation; When the helicopter main rotor rotation produces hull rotation; The contrary main rotor rotation of this wind wheel, then wind wheel will come the moment of torsion of balance main rotor by the horizontal torque of generation, does not change thereby control the fuselage balance; Keep heading, or make it left-handed turning or the right-hand turning that a spot of positive and negative difference in torque is controlled fuselage.
Is rotor diameter little more a lot of than main rotor, horizontal moment of torsion that why can the balance main rotor? Reason is following:
1, under the main rotor mode of operation, 90% of its gross horsepower is to be used to produce lift to come lift fuselage, makes the power that horizontal moment of torsion consumed of fuselage spin only account for 6～12% of driving engine gross horsepower and produce.
2, the angle of wind wheel leaf curved surface and its sense of motion generally is 60～90 degree, and the angle of the main rotor face of conventional helicopters and its sense of motion is 6～12 degree, and air is bigger to the antagonistic force of its generation under the equivalent diameter.
3, the wind wheel number of sheets can be 3～4 times of main rotor blades.
4, wind wheel blade face height can strengthen as required.
5, the rotating speed of wind wheel can be several times of main rotor.
Its horizontal moment of torsion is constantly to change in the various operating modes of autogyro flight; Autogyro of the present invention drives wind wheel through HM Hydraulic Motor to be changeed; Therefore the pressure flow of modulated pressure motor, rotating speed that just can the modulated pressure motor, thereby the horizontal torque of control wind wheel generation; When the wind wheel moment of torsion equated with the horizontal moment of torsion of main rotor, helicopter fuselage did not just aloft rotate.When controlling the two moment of torsion some deviations are arranged, chaufeur just can be controlled helicopter fuselage left-handed turning or right-hand turning as required.
The rotation of the wind wheel of helicopter of the present invention time also can produce one downward air-flow in stopping jointly of annular arrangement fuel tank and fuselage base plate except that the balance hull rotation, the effect that this strand air-flow is awing lifted on oriented fuselage; Promptly helicopter is produced some lift; Especially the taking off and when landing, rely on and imitate effect of helicopter ground-surfacely, this power of lifting of generation is bigger; Taking off and landing of this obvious favourable helicopter also improved efficient.
[0015] the flight operating mode of helicopter is not unalterable; Need flight forward fast during cruising flight; The long-tail beam is beneficial really to stabilized flight, but helicopter also to have under a lot of operating modes be need fly (for example aerial surveying and photography) slowly, rise, descend and hover.Under these operating modes, long-tail beam and tail-rotor might not be got well, and especially when operating mode changed suddenly, the long-tail beam can make fuselage shamble.And the advantage of helicopter of the present invention when these operating modes just shows; Circular because of fuselage, concentric with the main rotor dish, no matter where main blade motion is; Main blade all is symmetrical to the effect of fuselage, so the vibration of fuselage and to wave relatively existing helicopter little.
[0016] in addition, to existing helicopter, because of chaufeur cannot see tail boom and tail-rotor all the time, the wayward tail-rotor and the distance of object on every side, easily and other objects bump and not too safe.Though and the wind wheel of helicopter of the present invention also belongs to high-speed moving part, because of it just below the center on circular fuselage floor, the situation of the visible fuselage of chaufeur below; So control the wind wheel and the distance of object on every side easily, to put off until some time later wind wheel and surrounded by the annular arrangement fuel tank, the danger of side direction has only main rotor; Wind wheel does not have side direction danger, and it has only vertical danger, but the alighting gear protection is arranged; And it is in the visual range of chaufeur, therefore safer relatively.
Helicopter of the present invention is because of no long-tail beam and tail-rotor, and more easy to control relatively and steady during various working conditions change, so Yi Xueyi handles, taking can relative comfort.Present big city both domestic and external, roadlice is too many, crowded traffic, often traffic congestion, helicopter of the present invention is made and is sat 4～5 people if imitate the small passenger car function, is main with shorter flight, especially is suitable as people from metropolis walking-replacing tool, i.e. " aerial small passenger car ".Relative roadlice; Helicopter of the present invention can avoid away tortuous urban highway and bridge, avoids traffic lights, removes the hardship of traffic congestion traffic congestion from, directly from flying to another city by a city in the air; Also can overlook the city overall picture in the air; The spacious feelings of the heart are happy, and are convenient and swift, therefore are fit to do " commercial helicopter " and " private savings helicopter ".
Description of drawings:
Below in conjunction with accompanying drawing and embodiment the present invention is further specified
Fig. 1 is all the people present's wind wheel type autogyro construction profile
Fig. 2 is all the people present's wind wheel type autogyro structural plan figure
Fig. 3 is all the people present's wind wheel type autogyro profile lateral plan
Fig. 4 is all the people present's wind wheel type helicopter hull upward view
Fig. 5 is all the people present's wind wheel type autogyro profile front elevation
Fig. 6 is all the people present's wind wheel type autogyro profile birds-eye view
Fig. 7 is the wind wheel structure section-drawing
Fig. 8 is the wind wheel upward view
Fig. 9 is the Oiltank structure section-drawing
Figure 10 is the fuel tank birds-eye view
Figure 11 is five wind wheel type autogyro profile front elevations
Figure 12 is five wind wheel type autogyro profile lateral plans
Figure 13 is five wind wheel type autogyro structural plan figure
Figure 14 is wind wheel type autogyro accident landing safety measure figure
Fuselage upward view when Figure 15 is the landing of wind wheel type autogyro accident
Figure 16 is two wind wheel type autogyro construction profiles
Figure 17 is the local drive mechanism profiles of two wind wheel type autogyros
Figure 18 is the outer wind wheel structure section-drawings of two wind wheel type autogyros
Figure 19 is the outer wind wheel birds-eye vieies of two wind wheel type autogyros
Figure 20 is the counter autogyro construction profile of adorning wind wheel of all the people present
Among the figure
1; Main rotor 2; Auto-bank unit 3; Fuselage 4; Instrument and meter dish 5; Life saving air bag 6; Control linkage 7; Fuselage base plate 8; Fuel tank 9; Wind wheel 10; Pillar alighting gear 11; Lubrication box 12; Nut; 13; Rotor shaft 14; Wind wheel housing-plate 15; HM Hydraulic Motor 16; Hydraulic oil pipe 17; Hydraulic Pump 18; Driving engine 19; Lifesaving ring air cushion 20; Equipment compartment 21; Belt and wheel 22; Power-transfer clutch 23; Boot compartment 24; Seat 25; Retarder 26; Gear 27; Main shaft 28; Center cavity frame 29; Parachute box 30; Rotor packing 31; Hatch door 32; Parallel bars formula alighting gear 33; Transmission shaft 34; Pedal 35; Circular groove 36; Passenger cabin 37; Circular Plate 38; Wind wheel shell 39; Wind wheel leaf 40; Movable holder covers 41; Ribbed stiffener 42; Centre hole 43; Fuel tank top board 44; Fuel tank negative 45; Fuel tank outer panel 46; Fuel tank interior plate 47; Oil separating plate 48; Semi-round key 49; Parachute 50; Exogenous wind hub 51; Exogenous wind wheel blade 52; Thrust bearing 53; Antifriction-bearing box 54; Snap ring 55; Copper guide shoe 56; Interior wind wheel shell 57; Interior wind wheel leaf 58; Outer wind wheel tube axle 59; Dish gear 60; Screw 61; Ring stiffener 62; Protruding rafter 63; See ground window 64; Admission port 65; Rain cover 66; Inlet channel
Specific embodiments:
In Fig. 1, Fig. 2, be provided with center cavity frame (28) in the fuselage (3), and seat (24), equipment compartment (20), boot compartment (23) in the passenger cabin (36) are arranged around center cavity frame (28).Annular arrangement fuel tank (8) is placed under the fuselage base plate (7), and wind wheel (9) is placed in the inside of fuel tank (8).It promptly is rotor shaft (13) that its output shaft of HM Hydraulic Motor (15) is installed directly over fuselage base plate (7) center, and this axle passes fuselage base plate (7) back and links to each other with wind wheel (9).
After driving engine (18) starts; Its power is to two paths transmission; One of which drives main rotor (1) rotation through drive belt and wheel (21), power-transfer clutch (22), retarder (25), gear (26), main shaft (27), auto-bank unit (2) and rotor packing (30), produces lift and mentions fuselage (3) built on stilts.Its engine with two (18) drives Hydraulic Pump (17) through power-transfer clutch (22) and produces hydraulic oil; These hydraulic oil get into HM Hydraulic Motor (15) through hydraulic oil pipe (16), and the output shaft of HM Hydraulic Motor (15) is that rotor shaft (13) drives the opposite spin of wind wheel (9) to main rotor (1).When the moment of torsion of wind wheel (9) rotation generation equated with the moment of torsion of main rotor (1) rotation generation, fuselage (3) did not just aloft change.
Chaufeur is controlled helicopter flight all around through the direction of tilt of control linkage (6) control auto-bank unit (2).Instrument and meter dish (4) is placed in the dead ahead of fuselage (3), and life saving air bag (5) is equipped with in the front lower place of each seat (24), and the similar roadlice of fuselage (3) two sides is respectively installed two fan hatch doors (31), and equipment compartment (20) locates also to install a fan hatch door (31).
Parachute box (29) is placed in directly over the rotor packing (30).
In Fig. 3, Fig. 4, Fig. 5 and Fig. 6, represented helicopter of the present invention side-looking, look up, forward sight and the profile of overlooking.Can find out that from upward view 3 pillar alighting gears (10) are installed in below the fuselage negative (7) and near fuel tank interior plate (46).
In Fig. 7, Fig. 8, represented critical component of the present invention---the structure of wind wheel.Vertical some wind wheel leaves (39) of installing along the peripheral below of wind wheel shell (38), its lower end all is connected as a body with Circular Plate (37).The downward spill in wind wheel shell (38) center becomes a pit, and this pit lateral surface plays air inducing to wind wheel leaf (39).The pit top has a wind wheel housing-plate (14) and wind wheel shell (38) to connect into Rigid Base with screw.Rotor shaft (13) passes from the centre hole of wind wheel housing-plate (14) and wind wheel shell (38), and with nut (12) wind wheel (9) is fastened on the rotor shaft (13).
In Fig. 9, Figure 10, represented the essential structure of fuel tank (8).Between annular arrangement fuel tank negative (44) and fuel tank top board (43), adding vertical fuel tank outer panel (45) and fuel tank interior plate (46) forms; Fuel tank has two oil separating plates (47) that fuel tank is divided into two fuel tanks at the back; Big is fuel tank, and little is that the outside is provided with circular groove (35) again under the lubrication box outer panel (45), lays lifesaving ring air cushion (19) in it; And, promptly make pedal (34) above the circular groove (35) and use with movable holder lid (40) sealing groove mouth.
In Figure 11, Figure 12, represented five wind
forward sight of aircraft and the profile of side-looking, alighting gear adopts parallel bars formula alighting gear among the figure.
Represented in Figure 13 that five wind wheel type autogyro midplane seats are arranged and equipment compartment in facility location and the position of hatch door.Because of five connections in the cabin, so can lack out two fans than the hatch door (31) of all the people present's wind wheel type autogyro.
In Figure 14, Figure 15, represented the sight of wind
aircraft when accident is landed.When driving engine (18) disorderly closedown; Helicopter gets into spin forced landing state, in order to make fuselage (3) not crooked, slows down the helicopter descending speed; But radio control parachute box (29) is opened; Make bullet on the pneumatic parachute, fuselage (3) still descends fast, so parachute (49) can and not open by main rotor (1) winding.Chaufeur control again one with the charging blower that turn round of spin main shaft (27) to lifesaving ring air cushion (19) inflation, make it fill imaging lifesaving round, and fill big bottom to lifesaving ring air cushion (19) and can stop to inflate than more than also low 300 persons of outstanding talent of alighting gear meter.When helicopter drop to liftoff 100 meters left and right sides, chaufeur was opened life saving air bag (5) again, and all occupants flexibly are pressed against on the seat (24).In the pillar under the seat (24) spring buffer is housed, helicopter contact to earth in an instant between, at first be that lifesaving ring air cushion (19) contacts to earth earlier, can avoid pillar alighting gear (10), fuel tank (8) and wind wheel (9) to contact to earth earlier, also avoids fuel tank (8) on fire.Have on the parachute (49) in addition and draw, fuselage (3) can be too not crooked, and therefore the main rotor (1) of spin can not contact to earth at a high speed.Through the combined action of above several safety facilities, helicopter of the present invention is can accident be reduced to minimum to the injury of human body and helicopter.
The structure of another kind of pair of wind
aircraft has been described in Figure 16, Figure 17.
Before a kind of be to adopt hydraulic pressure receptions and registration technology to drive wind wheel, and this a kind of technical scheme is wind wheel and two wind wheels of outer wind wheel were born balance main rotor (1) jointly in a wind wheel was changed into a horizontal moment of torsion.Wind wheel bears about 90% and the basic horizontal moment of torsion of unmodified in setting; Because of interior rotor diameter less; Require to produce very big horizontal moment of torsion again; Therefore the necessary high speed revolution of wind wheel in is so driving engine (18) needn't slow down or lack deceleration just through the interior wind wheel rotation of the direct drive of belt-driving (21), power-transfer clutch (22), gear (26) and rotor shaft (13).
The outer wind wheel of bearing the horizontal moment of torsion of variable 6-12% balance main rotor then is through another drive path; Driving engine (18) drives outer wind wheel rotation through power-transfer clutch (22), Hydraulic Pump (17), HM Hydraulic Motor (15), dish gear (59) and outer wind wheel tube axle (58), and it is big or small that the rotating speed through change HM Hydraulic Motor (15) just can change the torque of outer wind wheel.Like this, inside and outside two wind wheel combineds action, the horizontal moment of torsion of the main rotor of changes in balance (1) effectively just, thus reach the purpose that control fuselage (3) can disorderly not change.
Because inside and outside wind wheel coaxial line, but rotating speed is different, therefore with rotor shaft (13) in outer wind wheel tube axle (58) suit, uses copper guide shoe (55) and ball bearing of main shaft (53) location and minimizing mutual friction mutually therebetween.The weight of inside and outside wind wheel uses two thrust bearings (52) to bear respectively, and corresponding configuration two snap rings (54) help power transmission.
Other positions and parts are then identical with first scheme, and for expendable weight, inside and outside wind wheel is all made with composite material.
The structure of outer wind wheel has been described in Figure 18, Figure 19.The center of the protruding rafter of wind wheel (62) has centre hole (42) and concentric ball bearing of main shaft (53) installation position outside, and the screw (60) that several and outer wind wheel tube axle (58) links to each other is also bored out in the upper surface of protruding rafter (62).Establishing several ribbed stiffeners (41) between exogenous wind hub (50) epirelief rafter (62) and the ring stiffener (61) increases the strength and stiffness of exogenous wind hub (50).Rafter is uniformly distributed with some exogenous wind wheel blades (51) outside outer wind wheel shell (50) again, and below them, is connected to wind wheel outside the single-piece with Circular Plate (37).
The structure of second kind of single wind wheel single rotor helicopter has been described in Figure 20.Be characterized in wind wheel (9) is turned over up and down, the air intake of wind wheel is changed from central frame (28) and equipment compartment (20), when helicopter takes off and lands, just can avoid foreign material suction wind wheel (9) center on the ground so in the open air and damage wind wheel.For this reason, add inlet channel (66) and rain cover (65) at the top of fuselage (3), simultaneously the HM Hydraulic Motor (15) at fuselage base plate (7) center all around opening as the admission port (64) of wind wheel (9).
This explanation only uses Mini Tele-Copter (4～5) that its principle of work is described, but the present invention also can make large and medium-sized autogyro, not only can make passenger plane, also can make cargo aircraft.
Need to prove:, under the prerequisite of inventive principle, can also make some improvement and distortion, but this still belongs to protection scope of the present invention helicopter of the present invention for the those of ordinary skill in affiliated field.
Claims (3)
1. wind wheel single rotor helicopter, it mainly is by fuselage (3), driving engine (18); Main rotor (1), wind wheel (9), fuel tank (8) and pillar alighting gear (10) are formed; It is characterized in that: fuselage (3) is semisphere; The HM Hydraulic Motor (15) that central mounting in fuselage floor (7) is driven by Hydraulic Pump (17), the output shaft of HM Hydraulic Motor (15) connects wind wheel (9), and rotor shaft (13) all is on the vertical center line of fuselage (3) with main shaft (27); The structure of wind wheel (9) is the wind wheel shell (38) of circle to be made the inversed taper platform shape of central dip; Some wind wheel leaves of outer round radial equipartition (39); The bottom of these wind wheel leaves (39) all is connected with Circular Plate (37), and the center of wind wheel shell (38) and wind wheel housing-plate (14) are through the be formed by connecting Rigid Base of wind wheel (9) of screw.
2. wind wheel single rotor helicopter according to claim 1; It is characterized in that: the structure that is installed in the fuel tank (8) of below, fuselage floor (7) is that fuel tank outer panel (45) and the fuel tank interior plate (46) that between annular arrangement fuel tank base plate (44) and fuel tank top board (43), adds the vertical cylinder face combines; The back of fuel tank (8) has two oil separating plates (47) that fuel tank (8) is divided into two fuel tanks, and big is fuel tank, and little is lubrication box; Fuel tank outer panel (45) also is provided with circular groove (35) in the circle outside down; Lay lifesaving ring air cushion (19) in it, have movable holder lid (40) to seal under it, promptly make pedal (34) above the circular groove (35) and use.
3. wind wheel single rotor helicopter according to claim 1; It is characterized in that: wind wheel outside wind wheel (9) outside also adds; Outer wind wheel is that flange (62) is established at the center on the exogenous wind hub (50) of circle, is provided with the installation position of antifriction-bearing box (53) in its centre hole (42), establishes several ribbed stiffeners (41) between flange (62) and the ring stiffener; The periphery of outer wind wheel shell (50) is uniformly distributed with some exogenous wind wheel blades (51), and its below uses Circular Plate (37) to be linked to be integral body again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007100518504A CN101284569B (en) | 2007-04-12 | 2007-04-12 | Wind wheel single rotor helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007100518504A CN101284569B (en) | 2007-04-12 | 2007-04-12 | Wind wheel single rotor helicopter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101284569A CN101284569A (en) | 2008-10-15 |
| CN101284569B true CN101284569B (en) | 2012-04-18 |
Family
ID=40057037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007100518504A Expired - Fee Related CN101284569B (en) | 2007-04-12 | 2007-04-12 | Wind wheel single rotor helicopter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101284569B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102431645A (en) * | 2011-12-06 | 2012-05-02 | 李新民 | Anti-crash one-man helicopter |
| CN108791838A (en) * | 2018-05-28 | 2018-11-13 | 北京通用航空江西直升机有限公司 | A kind of very light-duty someone's agricultural plant protection helicopter |
| CN115179704A (en) * | 2022-07-22 | 2022-10-14 | 佛山市神风航空科技有限公司 | Safety cabin, flight device, automobile, trip device and trip method |
| CN117382941B (en) * | 2023-12-11 | 2024-03-05 | 山东字节信息科技有限公司 | Single rotor unmanned aerial vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2101639U (en) * | 1990-11-17 | 1992-04-15 | 祝子高 | Delivery device |
| CN2430356Y (en) * | 2000-04-06 | 2001-05-16 | 陈明辉 | Torque rotary wing driving device for helicopter with no conteract |
| CN1312205A (en) * | 2000-12-29 | 2001-09-12 | 武汉大学 | Spherical crown helicopter with single rotary wing and no tail paddle |
| CN1439575A (en) * | 2003-04-09 | 2003-09-03 | 王雪松 | Culvert style elevating fan of hlicopter without tail propeller |
| CN1686758A (en) * | 2005-03-03 | 2005-10-26 | 刘世英 | Round shaped vertiplane |
| CN1880170A (en) * | 2006-04-28 | 2006-12-20 | 刘世英 | Active control technology for helicopter hull rotation |
-
2007
- 2007-04-12 CN CN2007100518504A patent/CN101284569B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2101639U (en) * | 1990-11-17 | 1992-04-15 | 祝子高 | Delivery device |
| CN2430356Y (en) * | 2000-04-06 | 2001-05-16 | 陈明辉 | Torque rotary wing driving device for helicopter with no conteract |
| CN1312205A (en) * | 2000-12-29 | 2001-09-12 | 武汉大学 | Spherical crown helicopter with single rotary wing and no tail paddle |
| CN1439575A (en) * | 2003-04-09 | 2003-09-03 | 王雪松 | Culvert style elevating fan of hlicopter without tail propeller |
| CN1686758A (en) * | 2005-03-03 | 2005-10-26 | 刘世英 | Round shaped vertiplane |
| CN1880170A (en) * | 2006-04-28 | 2006-12-20 | 刘世英 | Active control technology for helicopter hull rotation |
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| Publication number | Publication date |
|---|---|
| CN101284569A (en) | 2008-10-15 |
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Granted publication date: 20120418 |