CN105151296A - Multi-axis manned aircraft - Google Patents
Multi-axis manned aircraft Download PDFInfo
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- CN105151296A CN105151296A CN201510520687.6A CN201510520687A CN105151296A CN 105151296 A CN105151296 A CN 105151296A CN 201510520687 A CN201510520687 A CN 201510520687A CN 105151296 A CN105151296 A CN 105151296A
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- multiaxis
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- 238000010276 construction Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 abstract description 4
- 230000008859 change Effects 0.000 description 7
- IWEDIXLBFLAXBO-UHFFFAOYSA-N dicamba Chemical compound COC1=C(Cl)C=CC(Cl)=C1C(O)=O IWEDIXLBFLAXBO-UHFFFAOYSA-N 0.000 description 4
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- CVOFKRWYWCSDMA-UHFFFAOYSA-N 2-chloro-n-(2,6-diethylphenyl)-n-(methoxymethyl)acetamide;2,6-dinitro-n,n-dipropyl-4-(trifluoromethyl)aniline Chemical compound CCC1=CC=CC(CC)=C1N(COC)C(=O)CCl.CCCN(CCC)C1=C([N+]([O-])=O)C=C(C(F)(F)F)C=C1[N+]([O-])=O CVOFKRWYWCSDMA-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/30—Blade pitch-changing mechanisms
- B64C11/44—Blade pitch-changing mechanisms electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C31/00—Aircraft intended to be sustained without power plant; Powered hang-glider-type aircraft; Microlight-type aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/20—Transmission of mechanical power to rotors or propellers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/11—Autogyros
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/11—Propulsion using internal combustion piston engines
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
The invention discloses a multi-axis manned aircraft. The multi-axis manned aircraft comprises a rack, a power device, a transmission device, rotor wing devices, a pitch varying device, a seat and a control device, wherein the power device, the transmission device, the rotor wing devices, the pitch varying device, the seat and the control device are arranged on the rack. The transmission device is connected with the power device and the rotor wing devices. Each rotor wing device comprises a rotor wing head and a propeller. The rotor wing heads are symmetrically installed on the rack. The propellers are installed on the rotor wing heads. The number of the rotor wing heads and the propellers is at least three sets. The pitch varying device is connected with the rotor wing devices. The seat and an operating device are correspondingly arranged in the middle of a rack structure. The power device is connected with the rotor wing devices. The control device is connected with the power device, the rotor wing devices and the operating device. Operation is easier and more convenient in the flying process. An operator can easily handle various flight states. The multi-axis manned aircraft is simple in structure and achieves complete functions.
Description
Technical field
The application relates to a kind of multiaxis manned craft.
Background technology
Current conventional helicopters is single rotor band tail-rotor layout, and rotating by main rotor provides lift, and tail-rotor High Rotation Speed produces a side direction push-pull effort, for overcoming the reactive torque that main oar produces.This layout structure is simple, technology maturation, can be used for manufacturing the helicopter of all size very neatly, operate also relatively simple.But it is large that tail boom causes parking area, the tail boom of carrying and the tail rotor driving shafts system easy damaged of long distance, and collision risk is high, and hover performance is unstable, and tail-rotor, easily by foreign object damage, causes a serious accident, and tail-rotor need consume the engine power of about 15%.
Except single-rotor helicopter, lot of domestic and international scientific research institution also research and development multi-rotor aerocraft, as coaxial double-rotor helicopter, column dual rotors formula helicopter, line double-rotor type helicopter, intermeshing-rotor helicopter, tiltrotor etc.
And in recent years along with the development of Eltec and control technology, electronic four rotor bugs obtain and develop rapidly, and each rotor has an independent electric machine control respectively.But the type aircraft is mainly used in taking photo by plane, model plane demonstration flight etc.But be power drive mode due to what adopt, the horsepower of aircraft and cruise duration all receive very large restriction, be also difficult at present obtain practical popularization.And four of traditional four-axle aircraft screw propellers are all the simple mechanisms of motor direct-connected, criss cross layout, aircraft obtains the power of main body turning by changing motor speed, thus adjustment flight attitude.
Due to the restriction of structure and control principle, four-axle aircraft has two problems to be difficult to solve, and first is load capacity, second is when growing boat, because the weight of battery and efficiency limit, these 2 is be difficult to break through, and this also just limits the application of Multi-axis aircraft.
Therefore, a kind of large load is badly in need of, multiaxis manned craft during long boat.
Summary of the invention
The object of the present invention is to provide a kind of large load, during long boat, be suitable for various multiaxis manned craft, be suitable for single, damageable technical matters to solve existing multiaxis manned craft.
Therefore, for effectively solving the problem, the invention discloses a kind of large load, during long boat, be suitable for various multiaxis manned craft, its technical scheme is as follows:
A kind of multiaxis manned craft, comprises frame and is installed on engine installation, driving device, rotor driver, variable pitch device, seat and the control setup in frame, wherein,
Described driving device, connects described engine installation and described rotor driver;
Described rotor driver, comprises rotor head and screw propeller, and described rotor head symmetry is installed in described frame, and described screw propeller is installed on described rotor head, and the quantity of described rotor head and screw propeller is at least three groups;
Described variable pitch device, described variable pitch device is connected with described rotor driver;
Described seat and handling device correspondence are arranged at the middle part of described rack construction, and described engine installation is connected with described rotor driver;
Described control setup, is connected with described engine installation, described rotor driver and described handling device respectively.
Preferably, described control setup comprises three-axis gyroscope, for calculating the adjustment numerical value of described variable pitch device to described rotor head slurry distance.
Preferably, described engine installation is engine petrol.
Preferably, described variable pitch device comprises Adjustable length rod and servomotor, and described Adjustable length rod is connected with described servomotor, and described Adjustable length rod is connected on described rotor head.
Preferably, described rotor driver also comprises rotor guard ring and propeller hub, and described rotor guard ring is installed on the periphery of described screw propeller, and described propeller hub is for settling screw propeller and being socketed on described rotor head.
Preferably, described driving device comprises belt, transmission shaft and gear case, and described gear case is connected with described engine installation with transmission shaft by described belt, and the one to one corresponding connection identical with described rotor driver quantity of the quantity of described gear case.
Preferably, the quantity of described rotor driver is four, lays respectively at the corner of described frame.
Preferably, described handling device comprises instrument carrier panel, joystick and throttle push rod, and described instrument carrier panel is arranged at described seat front, and described joystick and described throttle push rod are arranged at described seat both sides.
Preferably, described control setup is Programmable Logic Controller or central process unit.
Preferably, described driving engine is installed on the middle part of described multiaxis manned craft.
Compared with prior art, multiaxis manned craft provided by the invention, reaches following effect:
1) multiaxis manned craft structure provided by the invention is simple, and cost of manufacture is not high, and the quantity of described rotor head 21 can need to arrange, to meet different actual demands according to actual power;
2) multiaxis manned craft provided by the invention uses high-output engine, make the actual application value of aircraft higher, can make an inspection tour at agricultural spray, forest fire prevention and control, police service patrol, anti-terrorism, field search and rescue, power-line patrolling, oil pipeline, disaster prospecting, the numerous areas such as aerial survey, airline travel of taking photo by plane carry out the execution of each project;
3) multiaxis manned craft provided by the invention, described point of control setup 62 and the corresponding connection one to one of described Adjustable length rod, thus realize the control respectively to each rotor slurry distance, and to reach the object controlling flight attitude, easy to operate, control flexibly;
4) multiaxis manned craft provided by the invention, the use of described servomotor makes that the quality of multiaxis manned craft provided by the invention itself is little, efficiency is high, function-stable, long service life;
5) multiaxis manned craft provided by the invention, the quantity of described rotor driver 2 is set to the demand that four can meet great majority flight, the weight of the described multiaxis manned craft of effective minimizing itself, and being convenient to awing by regulating the slurry of each rotor 22 apart from realizing the change of various flight attitude and state of flight, making described multiaxis manned craft Stability Analysis of Structures, the affording a wide field of vision of observation;
6) multiaxis manned craft provided by the invention uses described three-axis gyroscope can meet requirement to the quality of aircraft minimizing own, and the efficiency used is high, result accurate, provides guarantee to the accurate control of flight and stability and safety;
7) multiaxis manned craft provided by the invention, it is easier that the use of described rotor guard ring 23, propeller hub 24 and Adjustable length rod 25 can make aviator operate in the process using multiaxis manned craft provided by the invention flight, can tackle easily when various state of flight, the simple but complete function realized of structure.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide further understanding of the present application, and form a application's part, the schematic description and description of the application, for explaining the application, does not form the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the structural representation of multiaxis manned craft provided by the invention;
Fig. 2 is the structural representation of the rotor driver of multiaxis manned craft provided by the invention;
Wherein,
1-frame 2-rotor driver
3-handling device 4-engine installation
5-seat 6-control setup
7-instrument carrier panel 8-control lever
9-throttle push rod 21-rotor head
22-screw propeller 23-rotor guard ring
24-propeller hub 25-Adjustable length rod
42-driving device 421-belt
43-gear case 422-transmission shaft
62-servomotor
Detailed description of the invention
As employed some vocabulary to censure specific components in the middle of specification sheets and claim.Those skilled in the art should understand, and hardware manufacturer may call same assembly with different noun.This specification and claims are not used as with the difference of title the mode distinguishing assembly, but are used as the criterion of differentiation with assembly difference functionally." comprising " as mentioned in the middle of specification sheets and claim is in the whole text an open language, therefore should be construed to " comprise but be not limited to "." roughly " refer to that in receivable error limit, those skilled in the art can solve the technical problem within the scope of certain error, reach described technique effect substantially.In addition, " couple " word and comprise directly any and indirectly electric property coupling means at this.Therefore, if describe a first device in literary composition to be coupled to one second device, then represent described first device and directly can be electrically coupled to described second device, or be indirectly electrically coupled to described second device by other devices or the means that couple.Specification sheets subsequent descriptions is implement the better embodiment of the application, and right described description is for the purpose of the rule that the application is described, and is not used to the scope limiting the application.The protection domain of the application is when being as the criterion depending on the claims person of defining.
Below in conjunction with accompanying drawing, the application is described in further detail, but not as the restriction to the application.
Embodiment one:
Shown in the structural representation of the structural representation of multiaxis manned craft as provided by the invention in Fig. 1, the rotor driver of Fig. 2 multiaxis manned craft provided by the invention, described multiaxis manned craft, it is characterized in that, the engine installation 4, driving device 42, rotor driver 2, variable pitch device, seat 5 and the control setup 6 that comprise frame 1 and be installed in frame 1, wherein
Described driving device 42, connects described engine installation 4 and described rotor driver 2;
Described rotor driver 2, comprises rotor head 21 and screw propeller 22, and described rotor head 21 symmetry is installed in described frame 1, and described screw propeller 22 is installed on described rotor head 21, and the quantity of described rotor head 21 and screw propeller 22 is at least three groups;
Described variable pitch device, described variable pitch device is connected with described rotor driver 2;
Described seat 5 and handling device correspondence are arranged at the middle part of described frame 1 structure, and described engine installation 4 is connected with described rotor driver 2;
Described control setup 6, is connected with described engine installation 4, described rotor driver 2 and described handling device 3 respectively.
Structure of the present invention is simple, and cost of manufacture is not high, and the quantity of described rotor head 21 and screw propeller 22 can need to arrange, to meet different actual demands according to actual power.
Further, described control setup 61 comprises three-axis gyroscope, for calculating described variable pitch device described rotor head 21 is starched to the adjustment numerical value of distance.Gyroscope English name is Gyroscope, definition is a kind of for taking measurement of an angle and maintaining the equipment in direction, the amount can only measuring both direction of single shaft, namely a system needs three gyroscopes, and three-axis gyroscope just can substitute three single axis gyroscopes, three-axis gyroscope can the position in Simultaneously test 6 directions, motion track and acceleration/accel, and the volume of three-axis gyroscope is little, lightweight, structure simple, good reliability; Multiaxis manned craft provided by the invention uses described three-axis gyroscope can meet requirement to the quality of aircraft minimizing own, and the efficiency used is high, result accurate, provides guarantee to the accurate control of flight and stability and safety.
Further, described engine installation 41 is engine petrol.Because described engine installation 61 have employed engine petrol, just can solve large load, problem during long boat, such as, the aero-engine of 100 horsepowers, once add 60 liters of gasoline, can continuous working 4-5 hour, the take-off weight of 100 horsepowers is minimum can reach 350-400 kilogram, the aircraft of one frame load carrying ability 150 kilograms can non-stop flight 5 hours, make the actual application value of aircraft higher, can at agricultural spray, forest fire prevention and control, police service is gone on patrol, anti-terrorism, field is searched and rescued, power-line patrolling, oil pipeline is maked an inspection tour, disaster is reconnoitred, to take photo by plane aerial survey, the numerous areas such as airline travel carry out the execution of each project.
Further, described driving device 42 comprises belt 421, transmission shaft 422 and gear case 43, described gear case 43 is connected with described engine installation 41 with transmission shaft 422 by described belt 421, and the quantity of described gear case 43 is identical with described rotor driver 2 quantity, and corresponding connection one to one; Described control setup 6 is Programmable Logic Controller or central process unit.
Further, described variable pitch device comprises Adjustable length rod 25 and servomotor 62, and described Adjustable length rod 25 is connected with described servomotor 62, and described Adjustable length rod 25 is connected on described rotor head 21.The setting of described Adjustable length rod 25 can adjust the pitch of described screw propeller 22, rise during high speed, uses low distance, progressively increase again the angle of pitch later during low speed, to adapt to more state of flight.Chaufeur can change the rotating speed of driving engine and screw propeller 22 by the method for controlled adjuster and throttle, the pulling force of propeller blades 22, makes screw propeller 22 be in optimum Working simultaneously on the one hand.Therefore that aviator can be made to operate in the process using multiaxis manned craft provided by the invention flight is easier in the use of described rotor guard ring 23, propeller hub 24 and Adjustable length rod 25, can tackle easily when various state of flight, the simple but complete function realized of structure.
Servomotor 62 is the autonomous cruise speed systems enabling the output controlled volumes such as the position of object, orientation, state follow any change of input target (or given value).Servomotor can make control rate, and positional precision is very accurate, voltage signal can be converted into torque and rotational speed with drived control object.Servo motor rotor rotating speed controls by incoming signal, and energy rapid reaction, in autonomous cruise speed system, as power element, and there is the characteristics such as electromechanical time constant is little, the linearity is high, pickup voltage is low, received electric signal can be converted to the angular transposition on motor reel or cireular frequency output.As a kind of failure-free control system, have following advantage: volume is little, lightweight, exert oneself large, response is fast, and speed is high, and inertia is little, and rotate level and smooth, moment is stablized.Control complicated, easily realize intellectuality, efficiency is very high, and running temperature is low, and electromagnetic radiation is very little, the long life, can be used for various environment; And the use of described servomotor 62 makes, and the quality of multiaxis manned craft provided by the invention itself is little, efficiency is high, function-stable, long service life.
Further; described rotor driver 2 also comprises rotor guard ring 23 and propeller hub 24; described rotor guard ring 23 is installed on the periphery of described screw propeller 22, and described propeller hub 24 is for settling screw propeller 22 and being socketed on described rotor head 21, and described rotor guard ring 23 is for the protection of described screw propeller 22.
Further, the quantity of described rotor driver 2 is four, lay respectively at the corner of described frame 1, in practice, described rotor driver 2 can be set to other quantity, balance is arranged at the center shaft both sides of described frame 1, the quantity of described rotor driver 2 is set to the demand that four can meet great majority flight, the weight of the described multiaxis manned craft of effective minimizing itself, and the change be convenient to awing by regulating each rotor head 21 to realize various flight attitude and state of flight, make described multiaxis manned craft Stability Analysis of Structures, that observes affords a wide field of vision.
Further, also comprise instrument carrier panel 7, control lever 8 and throttle push rod 9, described instrument carrier panel 7 is arranged at described seat 5 front, and described control lever 8 and described throttle push rod 9 are arranged at described seat 5 both sides.Multiaxis manned craft provided by the invention uses above-mentioned setting, and aviator can carry out various operation easily.
Further, described driving engine is installed on the middle part of described multiaxis manned craft.
Compared with prior art, the multiaxis manned craft described in the application, reaches following effect:
1) multiaxis manned craft structure structure provided by the invention is simple, and cost of manufacture is not high, and the quantity of described rotor head 21 can need to arrange, to meet different actual demands according to actual power;
2) multiaxis manned craft provided by the invention uses high-output engine, make the actual application value of aircraft higher, can make an inspection tour at agricultural spray, forest fire prevention and control, police service patrol, anti-terrorism, field search and rescue, power-line patrolling, oil pipeline, disaster prospecting, the numerous areas such as aerial survey, airline travel of taking photo by plane carry out the execution of each project;
3) multiaxis manned craft provided by the invention, described point of control setup 62 and the corresponding connection one to one of described Adjustable length rod, thus realize the control respectively to each rotor slurry distance, and to reach the object controlling flight attitude, easy to operate, control flexibly;
4) multiaxis manned craft provided by the invention, the use of described servomotor makes that the quality of multiaxis manned craft provided by the invention itself is little, efficiency is high, function-stable, long service life;
5) multiaxis manned craft provided by the invention, the quantity of described rotor driver 2 is set to the demand that four can meet great majority flight, the weight of the described multiaxis manned craft of effective minimizing itself, and being convenient to awing by regulating the slurry of each rotor 22 apart from realizing the change of various flight attitude and state of flight, making described multiaxis manned craft Stability Analysis of Structures, the affording a wide field of vision of observation;
6) multiaxis manned craft provided by the invention uses described three-axis gyroscope can meet requirement to the quality of aircraft minimizing own, and the efficiency used is high, result accurate, provides guarantee to the accurate control of flight and stability and safety;
7) multiaxis manned craft provided by the invention, it is easier that the use of described rotor guard ring 23, propeller hub 24 and Adjustable length rod 25 can make aviator operate in the process using multiaxis manned craft provided by the invention flight, can tackle easily when various state of flight, the simple but complete function realized of structure.
Above-mentioned explanation illustrate and describes some preferred embodiments of the application, but as previously mentioned, be to be understood that the application is not limited to the form disclosed by this paper, should not regard the eliminating to other embodiments as, and can be used for other combinations various, amendment and environment, and can in application contemplated scope described herein, changed by the technology of above-mentioned instruction or association area or knowledge.And the change that those skilled in the art carry out and change do not depart from the spirit and scope of the application, then all should in the protection domain of the application's claims.
Claims (10)
1. a multiaxis manned craft, is characterized in that, comprises frame and is installed on engine installation, driving device, rotor driver, variable pitch device, seat and the control setup in frame, wherein,
Described driving device, connects described engine installation and described rotor driver;
Described rotor driver, comprises rotor head and screw propeller, and described rotor head symmetry is installed in described frame, and described screw propeller is installed on described rotor head, and the quantity of described rotor head and screw propeller is at least three groups;
Described variable pitch device, described variable pitch device is connected with described rotor driver;
Described seat and handling device correspondence are arranged at the middle part of described rack construction, and described engine installation is connected with described rotor driver;
Described control setup, is connected with described engine installation, described rotor driver and described handling device respectively.
2. multiaxis manned craft according to claim 1, is characterized in that, described control setup comprises three-axis gyroscope, for calculating the adjustment numerical value of described variable pitch device to described rotor head slurry distance.
3. multiaxis manned craft according to claim 2, is characterized in that, described engine installation is engine petrol.
4. multiaxis manned craft according to claim 3, is characterized in that, described variable pitch device comprises Adjustable length rod and servomotor, and described Adjustable length rod is connected with described servomotor, and described Adjustable length rod is connected on described rotor head.
5. multiaxis manned craft according to claim 4, it is characterized in that, described rotor driver also comprises rotor guard ring and propeller hub, and described rotor guard ring is installed on the periphery of described screw propeller, and described propeller hub is for settling screw propeller and being socketed on described rotor head.
6. multiaxis manned craft according to claim 5, it is characterized in that, described driving device comprises belt, transmission shaft and gear case, described gear case is connected with described engine installation with transmission shaft by described belt, and the one to one corresponding connection identical with described rotor driver quantity of the quantity of described gear case.
7., according to the arbitrary described multiaxis manned craft of claim 1 to 6, it is characterized in that, the quantity of described rotor driver is four, lays respectively at the corner of described frame.
8. multiaxis manned craft according to claim 7, it is characterized in that, described handling device comprises instrument carrier panel, joystick and throttle push rod, and described instrument carrier panel is arranged at described seat front, and described joystick and described throttle push rod are arranged at described seat both sides.
9. multiaxis manned craft according to claim 8, is characterized in that, described control setup is Programmable Logic Controller or central process unit.
10. multiaxis manned craft according to claim 9, is characterized in that, described driving engine is installed on the middle part of described multiaxis manned craft.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510520687.6A CN105151296A (en) | 2015-08-21 | 2015-08-21 | Multi-axis manned aircraft |
| PCT/CN2016/072097 WO2017031945A1 (en) | 2015-08-21 | 2016-01-26 | Multi-shaft manned aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510520687.6A CN105151296A (en) | 2015-08-21 | 2015-08-21 | Multi-axis manned aircraft |
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| CN105151296A true CN105151296A (en) | 2015-12-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510520687.6A Pending CN105151296A (en) | 2015-08-21 | 2015-08-21 | Multi-axis manned aircraft |
Country Status (2)
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| CN (1) | CN105151296A (en) |
| WO (1) | WO2017031945A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017031945A1 (en) * | 2015-08-21 | 2017-03-02 | 河南三和航空工业有限公司 | Multi-shaft manned aircraft |
| CN106730641A (en) * | 2016-12-22 | 2017-05-31 | 李峰 | A kind of multifunctional body-building equipment |
| CN106730640A (en) * | 2016-12-22 | 2017-05-31 | 李峰 | A kind of multi-gym |
| WO2017107329A1 (en) * | 2015-12-22 | 2017-06-29 | 江苏数字鹰科技发展有限公司 | Hoverboard |
| CN116588328A (en) * | 2023-05-18 | 2023-08-15 | 北京积加科技有限公司 | Helicopter period pitch-changing and collective pitch control device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108583183A (en) * | 2018-06-15 | 2018-09-28 | 中宇航通（北京）科技有限公司 | A kind of six rotor arrangements and hovercar of string wing hovercar |
| CN108773481B (en) * | 2018-07-02 | 2024-05-21 | 深圳市翔农创新科技有限公司 | Electric manned flight system |
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Application publication date: 20151216 |