CN106114847B - A kind of vertically taking off and landing flyer - Google Patents
A kind of vertically taking off and landing flyer Download PDFInfo
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- CN106114847B CN106114847B CN201610482615.1A CN201610482615A CN106114847B CN 106114847 B CN106114847 B CN 106114847B CN 201610482615 A CN201610482615 A CN 201610482615A CN 106114847 B CN106114847 B CN 106114847B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a kind of vertically taking off and landing flyer, including fuselage, wing, a set of inclining rotary mechanism, two sets of high-power rotor systems and four sets of small-power rotor systems.Wing is connect with fuselage, is verted by inclining rotary mechanism realization, and two sets of high-power dynamic rotor systems of oil are directly anchored on wing, and four sets of small power electric rotor systems are fixed on by connection component on wing.When VTOL, lift is provided by two sets of high-power dynamic rotor systems of oil, four sets of small power electric rotor systems, which provide trim power, makes aircraft stablize landing；When horizontal flight, onward impulse is provided by two sets of high-power rotor systems, lift is provided by wing.The present invention can meet the needs of heavy load VTOL, while ensure the stability of VTOL process.Six sets of rotor systems share a set of inclining rotary mechanism with wing, it can be ensured that two sets of high-power rotor systems and four sets of small-power rotor systems vert the consistency of process, convenient for the gesture stability for the process of verting.
Description
Technical field
The invention belongs to space travel field of power machinery, and in particular to a kind of vertically taking off and landing flyer.
Background technology
With the development of unmanned vehicle, there are many nobody of achievable VTOL and quick horizontal flight to fly at present
The dynamic tilting rotor scheme of row device scheme, such as oil, using hawkeye unmanned plane as representative；Such as composite rotor formula scheme, with roc unmanned plane
To represent.
Tilting rotor scheme is moved by the oil of representative of hawkeye unmanned plane, moving engine using the oil of turbine or movement carries
For power, the delivery of heavy load may be implemented, but realize and fly in VTOL and the dynamic tilting rotor system of oil in the process of verting
The stable control difficulty of row is very big.
Using roc unmanned plane as the composite rotor formula scheme of representative, VTOL process uses electronic mode, because of battery
Density is small, it is difficult to lift heavy load, exist and load small defect problem.
Invention content
Realize that the heavy load defect larger with the flight control difficulty stablized, the present invention provide simultaneously for the above aircraft
A kind of vertically taking off and landing flyer can be easier to realize the flight control of heavy load and stabilization, including：Fuselage (1)；Vert machine
Structure (4) is mounted near fuselage (1) position of centre of gravity；First wing (2) and the second wing (3), be symmetrically distributed in fuselage both sides and
It is installed on inclining rotary mechanism (4)；
First small-power rotor system (5), the second small-power rotor system (6) are fixedly mounted on the first wing (2)；The
Three small-power rotor systems (7), the 4th small-power rotor system (8) are fixedly mounted on the second wing (3)；Four sets of small-power rotations
The posture of wing system (5,6,7,8) is identical；
First high-power rotor system (9), is fixedly mounted on the first wing (2)；Second high-power rotor system (10),
It is fixedly mounted on the second wing (3)；The posture of two sets of high-power rotor systems (9,10) is identical；
Four sets of small-power rotor systems (5,6,7,8) are consistent with two sets of high-power directions of rotor system (9,10), inclining
Rotation mechanism verts simultaneously under the action of (4)；First wing (2) and the second wing (3) and four sets of small-power rotor systems (5,6,7,
8) and the relative attitude of two sets of high-power rotor systems (9,10) is consistent during verting.
Further, when VTOL, wing root string and the horizontal plane of the first wing (2) and the second wing (3) hang down substantially
Directly；When horizontal flight, the wing root string of the first wing (2) and the second wing (3) is substantially parallel with horizontal plane.
Further, the first small-power rotor system (5), the second small-power rotor system (6) are located at the first wing (2) two
Side；Third small-power rotor system (7), the 4th small-power rotor system (8) are located at the second wing (3) both sides；
Further, four sets of small-power rotor system (5,6,7,8) structures are identical, include low-power machine (15) and small
Rotor blade (16).
Further, the first high-power rotor system (9) is identical with the second high-power rotor system (10) structure, includes
High-power oil moves engine (17) and high-power rotor blade (18).
Further, the first high-power rotor system (9) is identical with the second high-power rotor system (10) structure, includes
High power fuel cell motor (17) and high-power rotor blade (18).
Further, the structure of four sets of small-power rotor systems (5,6,7,8) is foldable.
Further, the general power of four sets of small-power rotor systems (5,6,7,8) be two sets of high-power rotor systems (9,
10) about the 20% of general power.
Further, fuselage (1) includes control flaps.
Further, fuselage (1) uses the structure type of frame combination covering.
In general, contemplated above technical scheme can obtain following advantageous effect through the invention：
The vertically taking off and landing flyer of the present invention is rationally distributed, compact-sized, two sets of high-power rotor systems, four sets of small-powers
Rotor system coordinates wing and inclining rotary mechanism that can realize that reliable and stable synchronizing is verted, and reduces inconsistent during verting
Property；Two sets of high-power rotor systems may be implemented to provide enough lift for heavy load during VTOL, small with four sets
Power rotor system provides smaller trim power to realize that aircraft stabilized flight controls, and greatly reduces control difficulty；Vertically
Landing, the peaceful posture for flying over journey of verting can come real with stabilization by adjusting the motor speed of four sets of small-power rotor systems
It is existing, reduce control difficulty.The configuration of the present invention is simple, reliable operation realize aircraft vertical landing, quickly cruise and long boat
When function.
Description of the drawings
Fig. 1 is VTOL schematic diagram in first embodiment of the invention；
Fig. 2 is horizontal flight schematic diagram in Fig. 1.
In all the appended drawings, identical reference numeral is used for indicating identical element or structure, wherein：
1- fuselages, the first wings of 2-, the second wings of 3-, 4- inclining rotary mechanisms, 5- the first small-power rotor systems, 6- second are small
Power rotor system, 7- third small-power rotor systems, the 4th small-power rotor systems of 8-, the first high-power rotor systems of 9-,
The second high-power rotor systems of 10-, 11- tailplanes, 12- vertical tails, the first connection components of 13-, 14- the second connection groups
Part, 15- low-power machines, 16- small-powers-rotor blade, the dynamic engine of the high-power oil of 17-, 18 be high-power-rotor blade.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
It does not constitute a conflict with each other and can be combined with each other.
Fig. 1 and Fig. 2 is please referred to, a kind of vertically taking off and landing flyer of the present embodiment includes：Fuselage 1, fuselage 1 use frame knot
The structure type of covering is closed, fuselage 1 is equipped with tailplane 11 and vertical tail 12；Inclining rotary mechanism 4 is mounted on 1 center of gravity of fuselage
Near position；First wing 2 and the second wing 3, are symmetrically distributed in fuselage both sides and are installed on inclining rotary mechanism 4；First small work(
Rate rotor system 5, the second small-power rotor system 6 are fixedly mounted on the first wing 2, are located at 2 both sides of the first wing；Third is small
Power rotor system 7, the 4th small-power rotor system 8 are fixedly mounted on the second wing 3, are located at 3 both sides of the second wing；Four sets
The posture of small-power rotor system 5,6,7,8 is identical；Four sets of 5,6,7,8 structures of small-power rotor system are identical, include small work(
Rate motor 15 and small rotor blade 16；The structure of four sets of small-power rotor systems 5,6,7,8 is foldable.
First high-power rotor system 9 is fixedly mounted on the first wing 2；Second high-power rotor system 10, fixed peace
On the second wing 3；The posture of two sets of high-power rotor systems 9,10 is identical；The structure of two sets of high-power rotor systems 9,10
It is identical, include the dynamic engine 17 of high-power oil and high-power rotor blade 18.
Four sets of small-power rotor systems 5,6,7,8 are consistent with the direction of two sets of high-power rotor systems 9,10, in the machine that verts
It verts simultaneously under the action of structure 4；First wing 2 and the second wing 3 and four sets of small-power rotor systems 5,6,7,8 and two sets are big
The relative attitude of power rotor system 9,10 is consistent during verting.
It configures through the above structure, inclining rotary mechanism 4 can be rotated around fuselage 1, and wing 2,3 can be synchronized with inclining rotary mechanism 4
Rotation, four sets of small power electric rotor systems 5,6,7,8 and two sets of high-power oil move rotor system 9,10 and are fixedly mounted on wing
2, it synchronizes on 3 and verts with wing；When VTOL, wing root string and the horizontal plane of the first wing 2 and the second wing 3 hang down substantially
Directly；When horizontal flight, the wing root string of the first wing 2 and the second wing 3 is substantially parallel with horizontal plane.
When initial installation, (leading edge of a wing direction is with head in horizontal plane for the wing root string of wing 2,3 and the angle of horizontal plane
Direction between minimum angles) be 92 °.In VTOL, provided using two sets of high-power dynamic rotor systems 9,10 of oil big
Lift, when needing flat fly, inclining rotary mechanism 4 gradually verts, and drives wing 2,3, four sets of small-power rotor systems 5,6,7,8 and two
It covers high-power rotor system 9,10 and synchronizes and vert, until wing root string is horizontal, two sets of high-power rotor systems 9,10 provide advance
Power, by wing 2,3 provide lift.
In this example, fuselage length 5000mm (contains empennage), fuselage maximum width 600mm.EPLER748 may be selected in wing
Aerofoil profile, chord length 370mm, span 6000mm (refer to aircraft both ends wing tip spacing), and the material selection of inclining rotary mechanism 4 is high-strength
Steel is spent, intensity is more than 690MPa.The general power of four sets of small-power rotor systems (5,6,7,8) is two sets of high-power rotor systems
About the 20% of (9,10) general power, such as when two sets of high-power rotor system (9,10) general powers are 5KW, take four sets of small-powers rotations
The general power of wing system (5,6,7,8) is 1KW or so.
The mechanism and flight control principle of the present embodiment are as follows：
1) when the landing of this aircraft vertical, two sets of high-power rotor systems, four sets of small-power rotor systems rotary shaft
With horizontal plane, wing and horizontal plane are at substantially vertical state, such as location, two sets of high-power rotor systems in Fig. 1
Lift is provided for aircraft, realizes heavy load ability.During aircraft vertical landing, when needing to adjust pitch angle, together
The rotating speed of Shi Zeng great (or reduction) small-power rotor system 6,8, to increase the liter of (or reduction) small-power rotor system 6,8
Power realizes the adjustment of pitch angle；When needing to adjust yaw angle, while increasing the rotating speed of (or reduction) small-power rotor system 5,8,
To increase the torque of (or reduction) aircraft, the adjustment of roll angle is realized；When needing to adjust roll angle, while increasing (or subtract
It is small) rotating speed of small-power rotor system 5,6 realizes roll angle to increase the lift of (or reduction) small-power rotor system 5,6
Adjustment.
2) when this aircraft is adjusted to level flight condition from VTOL state, inclining rotary mechanism 4 drive wing 2,3 with
And two sets of high-power rotor systems 9,10 and four sets of small-power rotor systems 5,6,7,8 synchronize vert, during verting, as possible
Ensure that the posture of fuselage is substantially parallel with horizontal plane.When needing to adjust pitch angle, while increasing (or reduction) small-power rotor system
The rotating speed of system 6,8 realizes the adjustment of pitch angle to increase the lift of (or reduction) small-power rotor system 6,8；Adjust rolling
It is more complex when angle and yaw angle, by the way that the rotating speed of different rotor systems is altered in steps, change its lift, to realize roll angle and
The adjustment of yaw angle.
3) when the horizontal flight of this aircraft, wing 2,3 and two sets of high-power rotor systems 9,10 and four sets of small-powers
Rotor system 5,6,7,8 is substantially parallel with horizontal plane, and as the location of in Fig. 2, two sets of high-power rotor systems 9,10 are winged
Row device provides the horizontal power of direction of advance, and wing 2,3 provides lift for aircraft.In the horizontal flight course of aircraft, need
When adjusting pitch angle, while increasing the rotating speed of (or reduction) small-power rotor system (6,8), to increase (or reduction) small work(
The power of rate rotor system (6,8), realizes the adjustment of pitch angle；When needing to adjust yaw angle, while increasing (or reduction) small work(
The rotating speed of rate rotor system (5,6) realizes roll angle to increase the power of (or reduction) small-power rotor system (5,6)
Adjustment；When needing to adjust roll angle, while increasing the rotating speed of (or reduce) small-power rotor system (5,8), (or subtracts to increase
It is small) torque of aircraft, realize the adjustment of roll angle.
(not shown) in other embodiments, two sets of high-power rotor systems 9,10 can also be electronic high-power rotor system
System includes high power fuel cell motor 17 and high-power rotor blade 18.
(not shown) in other embodiments, the rotating speed collocation of four sets of small-power rotor systems 5,6,7,8 can be according to the
The scheme that one embodiment discloses carries out other combinations, such as small-power rotor system 5,7 arranges in pairs or groups while increasing or reducing rotating speed, with
Adjust pitch angle.
(not shown) in other embodiments during horizontal flight, if flight environment of vehicle is stablized, does not need four sets of small work(
The auxiliary control of rate rotor system 5,6,7,8 is steady, then can fold up four sets of small-power rotor systems 5,6,7,8, to
Further decrease the horizontal aerodynamic drag patrolled during flying.
(not shown) in other embodiments can mainly pass through the tune of control flaps when being equipped with control flaps on aircraft
It is whole come controlled level flight when pitching, yaw and rolling movement posture and stabilization, four sets of small-power rotor systems 5,6,7,8
It only enables if necessary and carries out auxiliary control.When being fitted without control flaps on aircraft, then by adjusting four sets of small power electrics
The rotating speed of dynamic rotor system changes the size of respective thrust, pitching, yaw and rolling when to control aircraft horizontal flight
The posture and stabilization of movement.
Compared with prior art, contemplated above technical scheme can obtain following advantageous effect through the invention：
(1) present invention provides VTOL lift by two sets of high-power rotor systems, may be implemented in VTOL
Enough lift is provided in journey for heavy load, small problem is loaded to abolish the electronic more rotor systems of tradition.
(2) present invention provides VTOL lift by two sets of high-power rotor systems, and four sets of small-power rotor systems carry
For control force and auxiliary landing lift, VTOL process can be ensured while meeting heavy load VTOL demand
Stability.Four sets of small-power rotor systems provide enough control forces to realize high-power rotor system during trim VTOL
The power that system generates moves the stable problem of tilting rotor scheme flight control to abolish by the oil of representative of hawkeye unmanned plane, it is ensured that
The stability of VTOL process.
(3) present invention provides lift during horizontal flight by wing for aircraft, and high-power rotor system carries
For forward power, leans on rotor system itself not only to provide forward power entirely with traditional more rotor systems but also provide upwards
Lift is compared, and the energy consumption during considerably reducing that aircraft is flat under identical level speed and load and flying reaches and increases voyage
Purpose, and the energy consumption of high-power rotor system can make aircraft level speed faster all for providing forward power, to
Realize that aircraft quick flat flies and increase the purpose of voyage.
(4) present invention drives two sets of high-power rotor systems and four sets of small-power rotor systems to synchronize by tilting wing
It verts, realizes that the VTOL function of aircraft, quick flat flies and spot hover function.In VTOL, pass through two
It covers high-power oil dynamic rotor system and lift is provided, four sets of small power electric rotor systems, which provide smaller trim power, keeps aircraft steady
Fixed flight；When needing flat fly, inclining rotary mechanism gradually verts, and wing, two sets high-power oil is driven to move rotor systems and four sets small
Power electric rotor system, which synchronizes, to vert, and two sets of high-power dynamic rotor systems of oil provide power, and lift is provided by wing；Work as needs
When spot hover, inclining rotary mechanism drives wing, two sets of high-power dynamic rotor systems of oil and four sets of small power electric rotor systems same
Step is verted, and aircraft is made to return to VTOL pattern, realizes spot hover.
(5) wing of the present invention and six sets of rotor systems synchronize vert, it is ensured that wing, the dynamic rotor systems of two sets of high-power oil and
Relative attitude of four sets of small power electric rotor systems during verting is consistent, consequently facilitating posture during verting
Stability contorting.
(6) present invention can change the size of each ultromotivity by adjusting the rotating speed of four sets of small power electric rotor systems,
The posture and stabilization of pitching, yaw and rolling movement when to control aircraft horizontal flight as additional control.
(7) wing of the present invention can vert, in aircraft vertical landing, vertical, the upward resistance of the wing root string of wing
Forced area greatly reduces, and the aerodynamic drag moved upwards to aircraft is minimum, while can ensure that inclining rotary mechanism compact dimensions, by
Power is more reasonable.
The general power of (8) four sets of small-power rotor systems is about the 20% of two sets of high-power rotor system general powers, is being protected
Under the premise of demonstrate,proving good control force, the burden of four sets of small-power rotor systems is reduced, to reduce small-power rotor system
Design difficulty, it is cost-effective.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of vertically taking off and landing flyer, which is characterized in that including：Fuselage (1)；Inclining rotary mechanism (4) is mounted on fuselage (1) weight
Near heart position；First wing (2) and the second wing (3) are symmetrically distributed in fuselage both sides and are installed on inclining rotary mechanism (4)；
First small-power rotor system (5), the second small-power rotor system (6) are fixedly mounted on the first wing (2), when first
When wing (2) is in horizontality, the first small-power rotor system (5), the second small-power rotor system (6) are located at the first wing
(2) both sides up and down；Third small-power rotor system (7), the 4th small-power rotor system (8) are fixedly mounted on the second wing (3)
On, when the second wing (3) is in horizontality, third small-power rotor system (7), the 4th small-power rotor system (8) position
In the second wing (3) both sides up and down；The posture of four sets of small-power rotor systems (5,6,7,8) is identical；
First high-power rotor system (9), is fixedly mounted on the first wing (2)；Second high-power rotor system (10) is fixed
On the second wing (3)；The posture of two sets of high-power rotor systems (9,10) is identical；
Four sets of small-power rotor systems (5,6,7,8) are consistent with two sets of high-power directions of rotor system (9,10), in the machine that verts
Structure verts simultaneously under the action of (4)；First wing (2) and the second wing (3) and four sets of small-power rotor systems (5,6,7,8) with
And the relative attitude of two sets of high-power rotor systems (9,10) is consistent during verting.
2. a kind of vertically taking off and landing flyer as described in claim 1, it is characterised in that：When VTOL, the first wing (2) and
The wing root string and horizontal plane of second wing (3) are substantially vertical；When horizontal flight, the wing of the first wing (2) and the second wing (3)
Root string is substantially parallel with horizontal plane.
3. a kind of vertically taking off and landing flyer as described in claim 1, it is characterised in that：Four sets of small-power rotor systems (5,6,
7,8) structure identical, includes low-power machine (15) and small rotor blade (16).
4. a kind of vertically taking off and landing flyer as described in claim 1, it is characterised in that：First high-power rotor system (9) and
Second high-power rotor system (10) structure is identical, includes the high-power dynamic engine (17) of oil and high-power rotor blade
(18)。
5. a kind of vertically taking off and landing flyer as described in claim 1, it is characterised in that：First high-power rotor system (9) and
Second high-power rotor system (10) structure is identical, includes high power fuel cell motor (17) and high-power rotor blade
(18)。
6. a kind of vertically taking off and landing flyer as described in claim 1, it is characterised in that：Four sets of small-power rotor systems (5,6,
7,8) structure is foldable.
7. a kind of vertically taking off and landing flyer as described in claim 1, it is characterised in that：Four sets of small-power rotor systems (5,6,
7,8) general power is about the 20% of two sets of high-power rotor system (9,10) general powers.
8. a kind of vertically taking off and landing flyer as described in claim 1, it is characterised in that：Fuselage (1) includes control flaps.
9. a kind of vertically taking off and landing flyer as described in claim 1, it is characterised in that：Fuselage (1) uses frame combination covering
Structure type.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610482615.1A CN106114847B (en) | 2016-06-27 | 2016-06-27 | A kind of vertically taking off and landing flyer |
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| CN201610482615.1A CN106114847B (en) | 2016-06-27 | 2016-06-27 | A kind of vertically taking off and landing flyer |
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| CN106114847B true CN106114847B (en) | 2018-10-09 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965928A (en) * | 2017-03-08 | 2017-07-21 | 贾杰 | The rotatable wing vertically taking off and landing flyer of multistage |
| CN107215458B (en) * | 2017-06-21 | 2023-12-08 | 中电科芜湖钻石飞机制造有限公司 | Electric double coaxial tilting rotor craft |
| CN107140198B (en) * | 2017-06-21 | 2023-12-08 | 中电科芜湖钻石飞机制造有限公司 | Nacelle structure of double coaxial tilting rotor unmanned aerial vehicle |
| CN109071003A (en) * | 2017-12-22 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Unmanned plane and unmanned aerial vehicle (UAV) control method |
| CN108803643B (en) * | 2018-06-19 | 2021-08-20 | 成都纵横自动化技术股份有限公司 | Flight control method and device, flight controller and composite wing aircraft |
| DE102018006233A1 (en) * | 2018-07-30 | 2020-01-30 | Danger Möricke | GRAVITY HELICOPTER LARGE TURBINE TECHNOLOGY |
| CN110422328A (en) * | 2019-08-26 | 2019-11-08 | 南京灵龙旋翼无人机系统研究院有限公司 | A kind of tilting rotor wing unmanned aerial vehicle linear power configuration method and structure |
| CN114180048B (en) * | 2021-12-29 | 2023-12-29 | 天津斑斓航空科技有限公司 | Active tilting wing structure and aircraft |
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| DE102010021022A1 (en) * | 2010-05-19 | 2011-11-24 | Eads Deutschland Gmbh | Flipper aircraft |
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| GB885652A (en) * | 1957-11-27 | 1961-12-28 | Arthur Middleton Young | Improvements in or relating to a convertible aircraft |
| US3666209A (en) * | 1970-02-24 | 1972-05-30 | Boeing Co | V/stol aircraft with variable tilt wing |
| CN101041380A (en) * | 2006-03-23 | 2007-09-26 | 李泽奇 | Inclined wing airplane and application thereof |
| CN105173075A (en) * | 2015-09-10 | 2015-12-23 | 南京多零无人机技术有限公司 | Tiltable hybrid rotor-wing aircraft |
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| CN106114847A (en) | 2016-11-16 |
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