CN104044729B - A kind of high-altitude propeller arrangement - Google Patents
A kind of high-altitude propeller arrangement Download PDFInfo
- Publication number
- CN104044729B CN104044729B CN201410228804.7A CN201410228804A CN104044729B CN 104044729 B CN104044729 B CN 104044729B CN 201410228804 A CN201410228804 A CN 201410228804A CN 104044729 B CN104044729 B CN 104044729B
- Authority
- CN
- China
- Prior art keywords
- aerofoil
- multistable
- compliant mechanism
- propeller
- control system
- 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.)
- Active
Links
Landscapes
- Structures Of Non-Positive Displacement Pumps (AREA)
- Toys (AREA)
Abstract
A kind of high-altitude propeller arrangement, it comprises multistable compliant mechanism, half flexible aerofoil, state of flight sensor and control system; The pumping signal that multistable compliant mechanism body is configured to send in response to control system inputs and produces mechanism's output, half flexible aerofoil forms the foline aerofoil profile in each blade cross section of screw propeller, by the deformability of self, reach the dynamic conditioning of screw propeller aerodynamic force and power in flight course; State of flight sensor gathers the flight parameter of aircraft constantly, and these flight parameters are passed to control system fast; Control system carries out analysis and calculation after receiving the data of state of flight sensor passes, and sends pumping signal according to set program to multistable compliant mechanism, each cross section foline aerofoil profile of propeller blades, thus propeller blade aerodynamic configuration is changed.It is that a kind of efficiency is high, lightweight and within the scope of high-altitude low-speed operations device flying height, all have the propeller arrangement of better aeroperformance.
Description
Technical field
The invention provides a kind of high-altitude propeller arrangement, it relates to a kind of propeller arrangement being adapted to the flight of high-altitude low-speed operations device large span, particularly relates to a kind of multistable compliant mechanism that utilizes to change the propeller arrangement of airscrewpiston and aerofoil profile parameter.Belong to aircraft equipment technical field.
Background technology
The cruising altitude high (20km ~ 30km) of high-altitude low-speed operations device, flying height span large (0km ~ cruising altitude), the working environment of its screw propeller changes greatly, as under height above sea level 20km ~ 30km height, density of air is 1/13 ~ 1/70 of sea level, and kinematic viscosity is 11 ~ 55 times of sea level.Therefore, the screw propeller of fixedpiston and aerofoil profile parameter can not meet upper atmosphere environment and low level atmosphere to the requirement of propeller performance simultaneously.For making low-speed operations device in high-altitude all can effectively advance high and low, current solution has two kinds: one arranges that propeller arrangement is overlapped in high-altitude and low latitude two.This method is simple, direct.When high-altitude advances, adopt high-altitude propeller arrangement; When low latitude advances, adopt low latitude propeller arrangement.When taking this method, because high and low empty screw propeller all needs to configure corresponding actuating device, make the utilization ratio of propulsion system large compared with low, quality, thrust-weight ratio is little.Another kind adopts foldable propeller device.High and low empty propeller blade is combined by specific mechanism by this propeller arrangement, there is preferably aeroperformance under two specific flying heights, but in order to adapt to the different demands of high low latitude propeller blade to torque and rotational speed, be necessary for screw propeller drive motor or engine configurations transmission system; In addition, when adopting this screw propeller, also must consider the working space needed for propeller arrangement change.
Summary of the invention
The object of the invention is the defect existed for above-mentioned background technology, a kind of high-altitude propeller arrangement is provided, it is that a kind of efficiency is high, lightweight, little to actuating device change, and within the scope of high-altitude low-speed operations device flying height, all have the propeller arrangement of better aeroperformance.
For achieving the above object, the present invention is according to the flying height of high-altitude low-speed operations device, the adjustment of airscrewpiston and wing parameter is realized by multistable compliant mechanism, solve the matching problem of screw propeller and Power Drive Unit, and make propeller arrangement all have preferably aeroperformance within the scope of whole flying height.Technical scheme is as follows:
A kind of high-altitude propeller arrangement, specifically comprises multistable compliant mechanism, half flexible aerofoil, state of flight sensor, control system.Position annexation between them and signal trend are: the pumping signal that multistable compliant mechanism body is configured to send in response to control system inputs and produces mechanism's output, half flexible aerofoil forms the foline aerofoil profile in each blade cross section of screw propeller, by the deformability of self, reach the dynamic conditioning of screw propeller aerodynamic force and power in flight course; State of flight sensor gathers the flight parameter (comprising the data such as flying height, aircraft forward flight speed) of aircraft constantly, and these flight parameters is passed to fast control system; Control system carries out analysis and calculation after receiving the data of state of flight sensor passes, and sends pumping signal according to set program to multistable compliant mechanism, each cross section foline aerofoil profile of propeller blades, thus propeller blade aerodynamic configuration is changed.
Described multistable compliant mechanism exists multiple, is namely distributed in foline place, multiple propeller blade cross section.Therefore the blade change of this high-altitude propeller arrangement is what to have been come by the combined action of multiple multistable compliant mechanism.Control system can apply pumping signal to multiple multistable mechanism simultaneously.This multistable compliant mechanism is made up of flexible member, flexible hinge, rigid bar, rigid hinge, is interconnected with one another; This flexible member is cross section is long straight rod member that is circular or rectangle, and also can be curved rod member, it be the single entity be made up of flexible material; This flexible hinge is the parts of the thicker middle relative thin in two ends, left and right, is also the physical components be made up of flexible material, although self be an entirety, two ends, left and right can relatively rotate; This rigid bar is the good rod member of general rigidity, and this rigid hinge general connect two solids and allow the mechanical device that rotates between the two.Therefore, this multistable compliant mechanism body has multiple regions of being made up of flexible material.Flexible material produces the change of in-house elastic potential energy and material properties after accepting activation signal, the displacement of final generation mechanism output point and the change in direction.
Described half flexible aerofoil forms propeller blade cross section foline aerofoil profile, half flexible aerofoil is divided into rigidity aerofoil and flexible aerofoil, rigidity aerofoil is positioned at the leading edge segments of screw propeller aerofoil profile, provides mounting base, also as the fixed end of compliant section not only to multistable compliant mechanism and control system.Flexible aerofoil is connected to multistable compliant mechanism output point, thus produces and rotate, stretch and the change of displacement.Rigidity aerofoil is connected with flexible aerofoil is integrated, ensure that the upper lower aerofoil aerodynamic characteristic that propeller blade is level and smooth.This half flex-wing mask has enough Rigidity and strengths, thus ensures that screw propeller can sustain the aerodynamic loading produced in flight course, the moment of flexure comprised, moment of torsion, tensile stress, compression effort and shearing stress.When the dynamic changes process that fraction produces by aerofoil is to multistable compliant mechanism, the stability characteristic (quality) of broken ring now compliant mechanism, the aerodynamic loading namely passed over maintains energy margin of stability and so at multistable compliant mechanism.
Described state of flight sensor is for gathering the data such as aircraft altitude, screw propeller speed of advance, and by these Parameter transfer to control system, control system calculates best aerodynamic configuration according to these flight parameters, thus generation pumping signal, trigger multistable compliant mechanism and carry out mechanism configuration configuration.
Described control system is analyzed after receiving the data of state of flight sensor passes, and blade has the aerofoil profile data of better aerodynamic parameter under calculating current state, and generate the pumping signal of multistable compliant mechanism accordingly and according to set program, pumping signal sent to multistable compliant mechanism.The pumping signal that this control system sends makes mechanism body jump to the second configuration characteristic position from the first configuration characteristic position, or the n-th configuration characteristic position.This pumping signal can be but be not limited only to be the form of power, moment, electric current, voltage, magnetic.The motion of the pumping signal trigger mechanism of these forms, particularly triggers the snap-through of flexible material, in order to the inner elastomeric potential energy of the material properties and mechanism self that change flexible material self.
Wherein, this flexible material from comprise marmem, sma polymer, polypropylene, baroplastics combination select.
Wherein, the change of this multistable compliant mechanism inner elastomeric potential energy is produced by the snap-through occurred after multistable compliant mechanism reception pumping signal.Wherein, at least one material properties with the material properties value of selectively changing for feature; The wherein pumping signal value that exports along with controller of in-house elastic potential energy and bulk material property value and changing.The multistable performance of this multistable compliant mechanism is embodied in mechanism is not having energy, when namely there is no the pumping signal input of the outside form such as power, moment, temperature, mechanism still can keep stable configured position, and this stable configured position has two kinds or more, thus ensure that the multistable state property after half flex-wing facial disfigurement.
A kind of high-altitude screw propeller with multistable compliant mechanism, the concrete aerodynamic configuration change procedure of propeller blade is: first, the status signal collected is passed to control system by state of flight sensor, control system central process unit calculates rear generation pumping signal to data and exports, make the submissive conversion of multistable compliant mechanism configuration, mechanism is from first configuration characteristic evolution to second configuration characteristic position.The motion of screw propeller flexible aerofoil response multistable compliant mechanism output point, thus there is the change of blade aerodynamic profile.When flying height is higher, residing flight environment of vehicle density of air is lower, and propeller blade aspect ratio is large, pitch is less.When flying height is low, when residing flight environment of vehicle density of air is higher, propeller blade aspect ratio is little, pitch is larger.Match screw propeller each cross section aerofoil profile and pitch of adapting to different flying height environment like this, thus reach best state of flight.
Advantage and effect: a kind of high-altitude of the present invention propeller arrangement, its advantage is: in conjunction with the requirement of the deformable feature of compliant mechanism and high-altitude screw propeller geometric shape, propeller blade aerodynamic configuration is changed arbitrarily according to demand.Because the structure that compliant mechanism has is simple, exempt from the features such as assembling and friction, make one high-altitude of the present invention propeller arrangement simple, good reliability, lightweight.In addition, state of flight can be monitored constantly, control system can send the pumping signal changing screw propeller geometric shape, the dynamic conditioning of blade aerodynamic profile in whole flight course can be realized to adapt to current state of flight, therefore this high-altitude propeller arrangement aerodynamic characteristic is good, takes into account high and low empty propelling demand.Finally, to high low-latitude flying take into account make screw propeller and power of motor matching properties good.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
A kind of high-altitude low-speed operations of Fig. 2 (a) device propeller blade appearance schematic diagram;
A kind of high-altitude low-speed operations of Fig. 2 (b) device propeller blade cross section foline schematic diagram;
Fig. 3 multistable compliant mechanism schematic diagram;
A kind of stable state aerofoil profile of Fig. 4 (a) schematic diagram.
Another kind of stable state aerofoil profile schematic diagram after Fig. 4 (b) distortion.
In figure, nomenclature is as follows:
1, half flexible aerofoil; 2, multistable compliant mechanism; 3, control system; 4, state of flight sensor.
Detailed description of the invention
The present invention is a kind of high-altitude propeller arrangement, and as Fig. 1, it is made up of the flexible aerofoil 1 of multistable compliant mechanism 2, half, state of flight sensor 4, control system 3; Wherein this device emphasis is combined with deformable screw propeller design at compliant mechanism multistable performance.Control system 3 can according to aircraft altitude and screw propeller speed of advance, the aerofoil profile that primary election is mated with power-driven system, and calculate produce this aerofoil profile associated mechanisms form, last driver train screw propeller has been expected aerofoil profile operates.
As Fig. 4 (a), (b) are depicted as the aerofoil profile of high-altitude screw propeller at two kinds of different stable forms at foline r/R=0.4 (illustrating for foline herein) place, together with the fixed end of multistable compliant mechanism 2 is connected through the hinge with the rigid wings face portion of half flexible aerofoil 1, together with the mouth of multistable compliant mechanism 2 is also connected through the hinge with the flex-wing face portion of half flexible aerofoil 1, each rod member of multistable compliant mechanism itself is connected with flexible hinge by rigid hinge (comprising rigid bar and flexible member).State of flight sensor 4 is connected with control system 3.On the pumping signal point submissive rod member that is positioned at multistable compliant mechanism 2 that control system 3 exports and flexible hinge.Fig. 2 (a), (b) are propeller blade profile of the present invention and cross section foline schematic diagram.
As shown in Figure 1, state of flight sensor 4 will gather the data such as flying height, screw propeller speed of advance, and these data are passed to control system 3.According to the Data Analysis Services to different flight environment of vehicle, control system 3 calculates the best aerofoil profile data of now screw propeller foline, and match specific pumping signal (form of pumping signal can be but be not limited only to be electric current, voltage signal) is inputted to multiple entrance points of multistable compliant mechanism 2, in order to the inner elastomeric potential energy of the material properties and mechanism self that change the flexible material on this multistable compliant mechanism 2.By the adjustment of multistable compliant mechanism 2 internal rod, hinge natural resiliency potential energy and mechanism and the balance of joint outer part on mechanics, multistable compliant mechanism 2 will convert position second configuration picture 4 (b) from the first configuration picture 4 (a), first configuration and the second configuration are the stable configuration of two kinds of this multistable compliant mechanism 2, and two kinds of configuration space coordinate positions are relatively large, energy stabilization nargin span is also larger.Aerodynamic configuration stable like this has three to five or more.Fig. 3 is this multistable compliant mechanism schematic diagram.
The change in displacement output point of flexible aerofoil and multistable compliant mechanism is hinged, due to mechanism self configuration adjustment and change, the change of flexible aerofoil will be driven, the curvature of foline aerofoil profile, chord length, the parameter such as thickness, the angle of attack changes, and so just makes screw propeller obtain different aerodynamic configurations.The elastic stress that the different shape of the flexible aerofoil of blade stores can be balanced by multistable compliant mechanism and rigidity aerofoil, and half flexible aerofoil also has enough Rigidity and strengths.
As Suo Shi Fig. 4 (a) configuration of foline be aircraft at flying height h1, the optimum configuration that can match under speed of incoming flow V1 state of flight, now electric propulsion system absorption of power rate n1 is enough large; As Suo Shi Fig. 4 (b) configuration of foline be aircraft at flying height h2, the optimum configuration that can match under speed of incoming flow V2 state of flight, now electric propulsion system absorption of power rate n2 is enough large.State of flight sensor 4 collects flight parameter when passing to control system 3 constantly, when control system 3 recognize aircraft enter into h2 from flight h1 time, will send pumping signal, the configuration triggering multistable compliant mechanism 2 adjusts.Thus make foline r/R=0.4 place cross section aerofoil profile change to the settling position of Fig. 4 (b) from Fig. 4 (a).
By utilizing multistable compliant mechanism 2 configuration to adjust the method for being out of shape the combination adjusted with half flexible aerofoil 1 above, high high-altitude vehicle can make full use of the energy resource supply of electric propulsion system at multiple height, to adapt to high low-altitude mission.
Claims (3)
1. a high-altitude propeller arrangement, is characterized in that: it comprises multistable compliant mechanism, half flexible aerofoil, state of flight sensor and control system; The pumping signal that multistable compliant mechanism body is configured to send in response to control system inputs and produces mechanism's output, half flexible aerofoil forms the foline aerofoil profile in each blade cross section of screw propeller, by the deformability of self, reach the dynamic conditioning of screw propeller aerodynamic force and power in flight course; The flight parameter of state of flight sensor Real-time Collection aircraft, and these flight parameters are passed to control system fast; Control system carries out analysis and calculation after receiving the data of state of flight sensor passes, and sends pumping signal according to set program to multistable compliant mechanism, each cross section foline aerofoil profile of propeller blades, thus propeller blade aerodynamic configuration is changed;
Described multistable compliant mechanism exists a plurality of, is namely distributed in foline place, a plurality of propeller blade cross section, and therefore the blade change of this high-altitude propeller arrangement is what to have been come by the combined action of a plurality of multistable compliant mechanism; Control system can apply pumping signal to a plurality of multistable mechanism simultaneously; This multistable compliant mechanism is made up of flexible member, flexible hinge, rigid bar, rigid hinge, is interconnected with one another; This flexible member is cross section is the long straight rod member of circle or rectangle or curved rod member, and it is the single entity be made up of flexible material; This flexible hinge is the parts of the thicker middle relative thin in two ends, left and right, is also the physical components be made up of flexible material, self be an entirety, but two ends, left and right can relatively rotate; This rigid bar is the good rod member of rigidity, and this rigid hinge is connection two solids and allows the mechanical device that rotates between the two; Therefore, this multistable compliant mechanism body has the plurality of regions be made up of flexible material, and flexible material produces the change of in-house elastic potential energy and material properties after accepting activation signal, the displacement of final generation mechanism output point and the change in direction;
Described half flexible aerofoil forms propeller blade cross section foline aerofoil profile, half flexible aerofoil is divided into rigidity aerofoil and flexible aerofoil, rigidity aerofoil is positioned at the leading edge segments of screw propeller aerofoil profile, provides mounting base, also as the fixed end of compliant section not only to multistable compliant mechanism and control system; Flexible aerofoil is connected to multistable compliant mechanism output point, thus produces and rotate, stretch and the change of displacement; Rigidity aerofoil is connected with flexible aerofoil is integrated, ensure that the upper lower aerofoil aerodynamic characteristic that propeller blade is level and smooth; This half flex-wing mask has enough Rigidity and strengths, thus ensures that screw propeller can sustain the aerodynamic loading produced in flight course, the moment of flexure comprised, moment of torsion, tensile stress, compression effort and shearing stress; When the dynamic changes process that fraction produces by aerofoil is to multistable compliant mechanism, the stability characteristic (quality) of broken ring now compliant mechanism, the aerodynamic loading namely passed over maintains energy margin of stability and so at multistable compliant mechanism;
Described state of flight sensor is for gathering aircraft altitude, screw propeller speed of advance data, and by these Parameter transfer to control system, control system calculates best aerodynamic configuration according to these flight parameters, thus generation pumping signal, trigger multistable compliant mechanism and carry out mechanism configuration configuration;
Described control system is analyzed after receiving the data of state of flight sensor passes, and blade has the aerofoil profile data of better aerodynamic parameter under calculating current state, and generate the pumping signal of multistable compliant mechanism accordingly and according to set program, pumping signal sent to multistable compliant mechanism; The pumping signal that this control system sends makes mechanism body jump to the second configuration characteristic position from the first configuration characteristic position, or the n-th configuration characteristic position; This pumping signal is the form of power, moment, electric current, voltage, magnetic; The motion of the pumping signal trigger mechanism of these forms, particularly triggers the snap-through of flexible material, in order to the inner elastomeric potential energy of the material properties and mechanism self that change flexible material self.
2. one high-altitude according to claim 1 propeller arrangement, is characterized in that: this flexible material from comprise marmem, sma polymer, polypropylene, baroplastics combination select.
3. one high-altitude according to claim 1 propeller arrangement, it is characterized in that: the change of this multistable compliant mechanism inner elastomeric potential energy is produced by the snap-through occurred after multistable compliant mechanism reception pumping signal, wherein, at least one material properties with the material properties value of selectively changing for feature; The pumping signal value that in-house elastic potential energy and bulk material property value export along with controller and changing; The multistable performance of this multistable compliant mechanism is embodied in mechanism is not having energy, when namely there is no the pumping signal input of outside power, moment, temperature form, mechanism still can keep stable configured position, and this stable configured position has two kinds or more, thus ensure that the multistable state property after half flex-wing facial disfigurement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410228804.7A CN104044729B (en) | 2014-05-27 | 2014-05-27 | A kind of high-altitude propeller arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410228804.7A CN104044729B (en) | 2014-05-27 | 2014-05-27 | A kind of high-altitude propeller arrangement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104044729A CN104044729A (en) | 2014-09-17 |
| CN104044729B true CN104044729B (en) | 2016-04-06 |
Family
ID=51498214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410228804.7A Active CN104044729B (en) | 2014-05-27 | 2014-05-27 | A kind of high-altitude propeller arrangement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104044729B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111392029A (en) * | 2020-02-25 | 2020-07-10 | 浙江工业大学 | Pneumatic driven multistable structure |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105804960A (en) * | 2014-12-29 | 2016-07-27 | 北京有色金属研究总院 | Preparation method of shape memory composite material driving mechanism |
| CN104772913B (en) * | 2015-04-22 | 2017-02-01 | 哈尔滨工业大学 | Design method for multi-steady-state deformable switch structure |
| CN105587753A (en) * | 2016-01-26 | 2016-05-18 | 江南大学 | Fixed-oriented 6R pseudo-rigid-body model |
| CN106864733B (en) * | 2017-02-28 | 2019-03-19 | 北京天恒长鹰科技股份有限公司 | Adaptive propeller blade device and aircraft |
| CN110015417B (en) * | 2019-04-03 | 2024-02-02 | 中南大学 | Small-sized propeller |
| CN110329503B (en) * | 2019-07-25 | 2024-04-19 | 北方工业大学 | Self-adaptive strain torsion intelligent tilting rotor propeller blade |
| CN112160866A (en) * | 2020-10-23 | 2021-01-01 | 中南大学 | Wind turbine blade, wind driven generator and control method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4830574A (en) * | 1988-02-29 | 1989-05-16 | United Technologies Corporation | Airfoiled blade |
| CN101099028A (en) * | 2004-07-21 | 2008-01-02 | 德尔塔T公司 | Fan blades |
| FR2927377A1 (en) * | 2008-02-12 | 2009-08-14 | Thales Sa | PROCESS FOR ACTIVE DEFORMATION OF AERODYNAMIC PROFILE |
| EP2631169A1 (en) * | 2012-02-27 | 2013-08-28 | Eurocopter | Rotor blade, rotor, aircraft, and method |
-
2014
- 2014-05-27 CN CN201410228804.7A patent/CN104044729B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4830574A (en) * | 1988-02-29 | 1989-05-16 | United Technologies Corporation | Airfoiled blade |
| CN101099028A (en) * | 2004-07-21 | 2008-01-02 | 德尔塔T公司 | Fan blades |
| FR2927377A1 (en) * | 2008-02-12 | 2009-08-14 | Thales Sa | PROCESS FOR ACTIVE DEFORMATION OF AERODYNAMIC PROFILE |
| EP2631169A1 (en) * | 2012-02-27 | 2013-08-28 | Eurocopter | Rotor blade, rotor, aircraft, and method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111392029A (en) * | 2020-02-25 | 2020-07-10 | 浙江工业大学 | Pneumatic driven multistable structure |
| CN111392029B (en) * | 2020-02-25 | 2022-04-08 | 浙江工业大学 | Pneumatic driven multistable structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104044729A (en) | 2014-09-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104044729B (en) | A kind of high-altitude propeller arrangement | |
| CN103552689B (en) | Minitype ornithopter wing driving mechanism with changeable wing area | |
| US4050246A (en) | Wind driven power system | |
| US8033499B2 (en) | Biomimetic micro-aerial-vehicle with figure-eight flapping trajectory | |
| CN106143903B (en) | A kind of wing can reverse and can realize the micro flapping wing air vehicle of more sporting flyings | |
| CN204323687U (en) | A kind of four wing flapping-wing modal | |
| CN106379532B (en) | A kind of change of flapping wing is fluttered angle changing mechanism | |
| CN110254709B (en) | Self-adaptive air flow rotatable blade variable-inclination-angle direct-acting flapping wing device and flapping wing method | |
| CN105314110A (en) | Unmanned aerial vehicle with umbrella | |
| CN103661925B (en) | A kind of automatic Variable Pitch screw based on composite determines method | |
| CN110143279A (en) | A kind of two sections of flexible variant bionic flapping-wing flying vehicles | |
| US20200156783A1 (en) | Cyclorotor Thrust Control, Transmission And Mounting System | |
| CN105059541A (en) | Novel multi-axis unmanned aerial vehicle | |
| CN104973236A (en) | Variable-pitch propeller used for high-altitude unmanned plane and unmanned plane | |
| EP2771238B1 (en) | Aerodynamic profile with variable twist and pitch | |
| KR20060110241A (en) | Dragonfly-type ornithopter with two pairs of wing | |
| CN104477383A (en) | Three-dimensional flapping flapping-wing drive mechanism | |
| CN110294118A (en) | The double flapping wing aircrafts of the synchronous Direct Action Type of lower resistance | |
| CN204775998U (en) | A variable -pitch propeller oar and unmanned aerial vehicle for high altitude unmanned aerial vehicle | |
| CN105691594A (en) | Novel control method and device for flying wing aircraft | |
| US11440655B1 (en) | Thrust vectoring control of a cyclorotor | |
| CN210116641U (en) | Dragonfly-imitating four-wing miniature flapping wing aircraft | |
| CN110316371B (en) | Synchronous direct-acting four-flapping-wing aircraft with rotatable blades | |
| CN110116803B (en) | Variable chord length system for blade | |
| Kota | Twistable wings take flight |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20140917 Assignee: Beijing Heng Long Eagle Polytron Technologies Inc Assignor: Beihang University Contract record no.: 2016990000311 Denomination of invention: Super-altitude propeller device Granted publication date: 20160406 License type: Exclusive License Record date: 20160802 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model |