CN106741917B - Tilt gyroplane adopting telescopic propeller structure to control yaw and pitch - Google Patents

Tilt gyroplane adopting telescopic propeller structure to control yaw and pitch Download PDF

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Publication number
CN106741917B
CN106741917B CN201611260879.9A CN201611260879A CN106741917B CN 106741917 B CN106741917 B CN 106741917B CN 201611260879 A CN201611260879 A CN 201611260879A CN 106741917 B CN106741917 B CN 106741917B
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pitch
blade
fuselage
control system
aircraft
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CN106741917A (en
Inventor
王勇
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Muyutian Aviation Technology Jiangsu Co ltd
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Muyu Aviation Technology Jiangsu Co ltd
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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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C9/00—Adjustable control surfaces or members, e.g. rudders
    • B64C9/12—Adjustable control surfaces or members, e.g. rudders surfaces of different type or function being simultaneously adjusted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
    • B64C2027/8236—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft including pusher propellers

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)

Abstract

The invention discloses a tilting rotorcraft adopting a telescopic propeller structure to control yaw and pitch, which comprises a fuselage, left and right wings transversely arranged on two sides of the middle of the fuselage, left and right rotors respectively arranged on the end parts of the left and right wings, and a tail wing arranged on the tail part of the fuselage; the tail of the fuselage is internally provided with a telescopic propeller structure connected with a flight control system of the tiltrotor, when the tiltrotor is in vertical take-off, landing or lower than a flat flight speed, the flight control system of the tiltrotor controls the telescopic propeller structure to extend out of the fuselage backwards along the axis direction of the fuselage, and the longitudinal thrust and the transverse thrust which are generated by the telescopic propeller structure and are vertical to the axis of the fuselage realize the control of the yaw and the pitch postures of the tiltrotor. The invention adopts the telescopic propeller structure to control the three-axis attitude of the aircraft, which is more convenient and reliable, has high reaction speed, prevents gyroscopic effect from generating and has high control stability.

Description

Tilt gyroplane adopting telescopic propeller structure to control yaw and pitch
Technical Field
The invention relates to the technical field of tiltrotors, in particular to a tiltrotor with a telescopic propeller structure for controlling yaw and pitch.
Background
The tiltrotor aircraft is a novel aircraft integrating the characteristics of a fixed wing aircraft and a helicopter, is visually called as an air 'blood mixing child', can take off and land vertically like a helicopter, and can fly at high speed like a common aircraft.
Referring to fig. 1 and 2, there is shown a conventional tiltrotor aircraft including a fuselage 10, left and right wings 20a, 20b laterally disposed at both sides of a middle portion of the fuselage 10, left and right rotors 30a, 30b disposed at ends of the left and right wings 20a, 20b, and a tail wing 40 disposed at a tail portion of the fuselage 10. The three-axis attitude control of the tiltrotor aircraft is realized by the pitch adjustment of the propellers 31a, 310b on the left and right rotors 30a, 30b, but since the diameter of the propellers 31a, 310b is large, the moment of inertia at high speed rotation is large, and thus the gyroscopic effect generated at the time of changing the axial direction of the propellers 31a, 310b is very large. Furthermore, the propellers 31a, 310b themselves are loaded more, so that the reaction is slower when changing their axial direction, and less agile, and at the same time, the three axial adjustments of the attitude will affect each other. These factors can make handling of such tiltrotors difficult and the flight automation system very complex.
To this end, the applicant has advantageously explored and tried to find a solution to the above-mentioned problems, against which the technical solutions to be described below are created.
Disclosure of Invention
The invention aims to solve the technical problems that: aiming at the problems that the existing tiltrotor is inconvenient for three-axis attitude control of an airplane, has low reaction speed, large gyroscopic effect, complex flight automatic control system and the like, the tiltrotor is convenient for three-axis attitude control of the airplane, has high reaction speed, avoids gyroscopic effect, simplifies the flight automatic control system and has high stability, and yaw and pitch are controlled by adopting a telescopic propeller structure.
The technical problems solved by the invention can be realized by adopting the following technical scheme:
a tilting rotorcraft adopting a telescopic propeller structure to control yaw and pitch comprises a fuselage, left and right wings transversely arranged on two sides of the middle of the fuselage, left and right rotors respectively arranged on the end parts of the left and right wings, and a tail wing arranged on the tail part of the fuselage; the aircraft is characterized in that a telescopic propeller structure connected with a flight control system of the tiltrotor aircraft is arranged in the tail part of the aircraft body, when the tiltrotor aircraft is in vertical take-off, landing or lower than a flat flight speed, the flight control system of the tiltrotor aircraft controls the telescopic propeller structure to extend out of the aircraft body backwards along the axis direction of the aircraft body, and longitudinal thrust and transverse thrust which are perpendicular to the axis of the aircraft body and are generated by the telescopic propeller structure realize control of yaw and pitch postures of the tiltrotor aircraft.
In a preferred embodiment of the invention, the telescopic propeller structure comprises:
the telescopic rod is arranged in the tail part of the machine body and extends along the axial direction of the machine body;
the linear driving mechanism is arranged in the tail part of the machine body and connected with the flight control system and used for driving the telescopic rod to linearly move along the axis direction of the machine body;
a longitudinal propeller disposed on the telescopic rod and connected to the flight control system for generating a longitudinal thrust perpendicular to the fuselage axis; and
and the transverse propeller is arranged on the telescopic rod and connected with the flight control system and is used for generating transverse thrust perpendicular to the axis of the fuselage.
In a preferred embodiment of the invention, the longitudinal propeller comprises:
the first driving motor is arranged on the telescopic rod and connected with the flight control system; and
and the longitudinal variable-pitch blade is connected with the output shaft of the first driving motor.
In a preferred embodiment of the present invention, a first blade positioning assembly is disposed in the first driving motor, and the first blade positioning assembly makes the longitudinal variable-pitch blade stop in the axial direction of the telescopic rod all the time when the longitudinal variable-pitch blade is in a stationary state.
In a preferred embodiment of the invention, the longitudinal propeller comprises:
an upper driving motor and a lower driving motor which are longitudinally arranged on the telescopic rod in an up-down opposite way and are respectively connected with the flight control system;
at least one upper distance blade, each upper distance blade is connected with the output shaft of the upper driving motor respectively; and
and each lower distance blade is respectively connected with the output shaft of the lower driving motor.
In a preferred embodiment of the present invention, a second blade positioning assembly is respectively disposed in the upper and lower driving motors, and when the upper and lower distance blades are in a static state, the second blade positioning assembly makes the upper and lower distance blades always stop in the axial direction of the telescopic rod.
In a preferred embodiment of the invention, the transversal screw propeller comprises:
the second driving motor is arranged on the telescopic rod and connected with the flight control system; and
and the transverse variable-pitch blade is connected with the output shaft of the second driving motor.
In a preferred embodiment of the present invention, a third blade positioning assembly is disposed in the second driving motor, and when the lateral variable pitch blade is in a static state, the third blade positioning assembly makes the lateral variable pitch blade stop in the axial direction of the telescopic rod all the time.
In a preferred embodiment of the invention, the transversal screw propeller comprises:
a left driving motor and a right driving motor which are oppositely arranged on the telescopic rod along the transverse direction and are respectively connected with the flight control system;
at least one left distance blade, wherein each left distance blade is respectively connected with the output shaft of the left driving motor; and
and each right distance blade is respectively connected with the output shaft of the right driving motor.
In a preferred embodiment of the present invention, a fourth blade positioning assembly is disposed in each of the left and right driving motors, and when the left and right distance blades are in a stationary state, the fourth blade positioning assembly makes the left and right distance blades always stop in the axial direction of the telescopic rod.
In a preferred embodiment of the invention, the flight is an inverted V-shaped flight.
Due to the adoption of the technical scheme, the invention has the beneficial effects that: the telescopic propeller structure is arranged in the tail part of the airplane body, and extends out of the airplane body backwards along the axis direction of the airplane body when the airplane vertically takes off, lands or is lower than the flat flying speed, and the telescopic propeller structure can generate longitudinal thrust and transverse thrust which are vertical to the axis of the airplane body, so that yaw and pitching postures of the airplane are controlled, and meanwhile, the posture control of rolling can be realized through the differential change of the pitch of the left main rotor wing and the right main rotor wing. The tilting rotorcraft provided by the invention does not need a propeller on a rotor to control the three-axis gesture when the aircraft vertically takes off, lands or is lower than the flat flight speed, and can effectively simplify an automatic flight control system. The invention adopts the telescopic propeller structure to control the three-axis attitude of the aircraft, which is more convenient and reliable, has high reaction speed, prevents gyroscopic effect from generating and has high control stability.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a front view of a conventional tiltrotor aircraft.
Fig. 2 is a top view of a conventional tiltrotor aircraft.
Fig. 3 is a schematic structural view of embodiment 1 of the present invention.
Fig. 4 is a schematic structural view of embodiment 2 of the present invention.
Fig. 5 is a schematic structural view of embodiment 3 of the present invention.
Detailed Description
The invention is further described with reference to the following detailed drawings in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the implementation of the invention easy to understand.
Example 1
Referring to fig. 3, there is shown a tiltrotor aircraft employing a telescopic propeller structure to control yaw and pitch, comprising a fuselage 100, left and right wings 200a, 200b laterally disposed on both sides of the middle of the fuselage, left and right rotors 300a, 300b respectively disposed on the ends of the left and right wings 200a, 200b, and a tail wing 400 disposed on the tail of the fuselage 100. The tail wing 400 is an inverted V-shaped tail wing, the structure of the landing gear can be simplified by adopting the inverted V-shaped tail wing, and meanwhile, two wingtips of the inverted V-shaped tail wing can be directly used as two landing fulcrums.
A telescopic propeller structure 500 connected to an aircraft control system of the tiltrotor aircraft is disposed in the tail portion of the fuselage 100, and when the tiltrotor aircraft is at a vertical take-off, landing or lower than a flat flight speed, the flight control system of the tiltrotor aircraft controls the telescopic propeller structure 500 to extend out of the fuselage 100 backward along the axis direction of the fuselage 100, and longitudinal thrust and transverse thrust perpendicular to the axis of the fuselage 100 are generated by the telescopic propeller structure 500, so that control over yaw and pitch postures of the tiltrotor aircraft is realized.
In the present embodiment, the telescopic propeller structure 500 includes a telescopic rod 510, a linear driving mechanism (not shown), a longitudinal propeller 520, and a transverse propeller 530. The telescopic rod 510 is provided in the rear portion of the body 100 and extends in the body axis direction. A linear drive mechanism is disposed within the aft portion of fuselage 100 and is coupled to the flight control system of the tiltrotor aircraft for driving the telescoping rod 510 in a linear motion along the axis of the fuselage. Longitudinal propellers 520 are provided on the telescopic rods 510 and are connected to the flight control system of the tiltrotor aircraft for generating a longitudinal thrust perpendicular to the fuselage axis. Specifically, longitudinal propeller 520 includes a drive motor 521 mounted on telescoping shaft 510 and connected to the flight control system of the tiltrotor aircraft, and a longitudinal pitch blade 522 connected to the output shaft of drive motor 521. A first blade positioning assembly (not shown) is disposed in the driving motor 521, and when the longitudinal pitch blade 522 is in a static state, the first blade positioning assembly makes the longitudinal pitch blade 522 always stop in the axial direction of the telescopic rod 510, so that the telescopic propeller structure 500 is not blocked by the blade when retracting into the main body 100.
Transverse propeller 530 is disposed on telescoping shaft 510 and is connected to the flight control system of the tiltrotor aircraft and is spaced from longitudinal propeller 520 for generating transverse thrust perpendicular to the fuselage axis. Specifically, transverse propeller 530 includes a drive motor 531 and a transverse pitch blade 532, drive motor 531 is mounted on telescoping shaft 510 and connected to the flight control system of the tiltrotor aircraft, and transverse pitch blade 532 is connected to the output shaft of drive motor 531. A second blade positioning assembly (not shown) is disposed in the driving motor 531, and when the transverse pitch blade 532 is in a static state, the second blade positioning assembly makes the transverse pitch blade 532 always stop in the axial direction of the telescopic rod 510, so that the telescopic propeller structure 500 is not blocked by the blade when retracting into the main body 100.
Example 2
The structure of this embodiment is substantially the same as that of embodiment 1, except that:
referring to fig. 4, the longitudinal propeller 520a includes upper and lower driving motors 521a, 522a and upper and lower spacing blades 523a, 524a. The upper and lower driving motors 521a, 522a are disposed vertically opposite to each other on the telescopic rod 510 and are respectively connected to the aircraft control system of the tiltrotor aircraft, the upper spacing blade 523a is connected to the output shaft of the upper driving motor 521a, and the lower spacing blade 524a is connected to the output shaft of the lower driving motor 522 a. A third blade positioning assembly is respectively disposed in the upper and lower driving motors 521a and 522a, and when the upper and lower fixed blades 523a and 524a are in a static state, the third blade positioning assembly enables the upper and lower fixed blades 523a and 524a to stop in the axial direction of the telescopic rod 510 all the time, so that the telescopic propeller structure 500 is not blocked by the blades when retracting into the main body 100.
The transverse propeller 530a includes left and right drive motors 531a, 532a and left and right spacing blades 533a, 534a. The left and right drive motors 531a, 532a are disposed laterally opposite to each other on the telescopic link 510 and are respectively connected to the aircraft control system of the tiltrotor aircraft, the left spacing blade 533a is connected to the output shaft of the left drive motor 531a, and the right spacing blade 534a is connected to the output shaft of the right drive motor 532 a. A fourth blade positioning assembly is respectively disposed in the left and right driving motors 531a and 532a, and when the left and right fixed blades 533a and 534a are in a static state, the fourth blade positioning assembly enables the left and right fixed blades 533a and 534a to stop in the axial direction of the telescopic rod 510 all the time, so that the telescopic propeller structure 500 is not blocked by the blades when the telescopic propeller structure is retracted into the main body 100.
Example 3
The structure of this embodiment is substantially the same as that of embodiment 1, except that:
referring to fig. 5, the longitudinal propeller 520b includes upper and lower driving motors 521b, 522b and two upper and lower spacing blades 523b, 524b. The upper and lower driving motors 521b, 522b are disposed on the telescopic rod 510 vertically opposite to each other and are respectively connected to an aircraft control system of the tiltrotor aircraft, two upper spacing blades 523b are mounted on an output shaft of the upper driving motor 521b at a longitudinal interval, and two lower spacing blades 524b are mounted on an output shaft of the lower driving motor 522b at a longitudinal interval. A fifth blade positioning assembly is respectively disposed in the upper and lower driving motors 521b and 522b, and when the upper and lower fixed blades 523b and 524b are in a static state, the fifth blade positioning assembly enables the upper and lower fixed blades 523b and 524b to stop in the axial direction of the telescopic rod 510 all the time, so that the telescopic propeller structure 500 is not blocked by the blades when retracting into the main body 100.
The transverse propeller 530b includes left and right driving motors 531b, 532b and left and right spacing blades 533b, 534b, the left and right driving motors 531b, 532b are disposed on the telescopic rod 510 in a transverse left-right direction and are respectively connected with an aircraft control system of the tiltrotor aircraft, two left spacing blades 533b are disposed on an output shaft of the left driving motor 531b in a transverse interval, and two right spacing blades 534b are disposed on an output shaft of the right driving motor 532b in a transverse interval. A sixth blade positioning assembly is disposed in each of the left and right driving motors 531b, 532b, and when the two left and right fixed blades 533b, 534b are in a stationary state, the sixth blade positioning assembly enables the two left and right fixed blades 533b, 534b to stop in the axial direction of the telescopic rod 510 all the time, so that the telescopic propeller structure 500 is not blocked by the blades when retracting into the main body 100.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (8)

1. A tilting rotorcraft adopting a telescopic propeller structure to control yaw and pitch comprises a fuselage, left and right wings transversely arranged on two sides of the middle of the fuselage, left and right rotors respectively arranged on the end parts of the left and right wings, and a tail wing arranged on the tail part of the fuselage; the aircraft is characterized in that a telescopic propeller structure connected with a flight control system of the tiltrotor aircraft is arranged in the tail part of the aircraft body, when the tiltrotor aircraft is in vertical take-off, landing or lower than a horizontal flight speed, the flight control system of the tiltrotor aircraft controls the telescopic propeller structure to extend out of the aircraft body backwards along the axis direction of the aircraft body, and longitudinal thrust and transverse thrust which are generated by the telescopic propeller structure and are perpendicular to the axis of the aircraft body realize control of yaw and pitch postures of the tiltrotor aircraft;
the telescopic propeller structure includes:
the telescopic rod is arranged in the tail part of the machine body and extends along the axial direction of the machine body;
the linear driving mechanism is arranged in the tail part of the machine body and connected with the flight control system and used for driving the telescopic rod to linearly move along the axis direction of the machine body;
a longitudinal propeller disposed on the telescopic rod and connected to the flight control system for generating a longitudinal thrust perpendicular to the fuselage axis; and
a transverse propeller arranged on the telescopic rod and connected with the flight control system for generating transverse thrust perpendicular to the axis of the fuselage;
the longitudinal propeller includes:
the first driving motor is arranged on the telescopic rod and connected with the flight control system; and
a longitudinal variable-pitch blade connected with the output shaft of the first driving motor;
the transversal propeller includes:
the second driving motor is arranged on the telescopic rod and connected with the flight control system; and
and the transverse variable-pitch blade is connected with the output shaft of the second driving motor.
2. The tiltrotor aircraft employing a telescoping rotor configuration to control yaw and pitch as recited in claim 1, wherein a first blade positioning assembly is disposed within the first drive motor, the first blade positioning assembly causing the longitudinal pitch blade to always stop in the direction of the axis of the telescoping mast when the longitudinal pitch blade is in a stationary state.
3. The tiltrotor aircraft employing a telescoping rotor configuration to control yaw and pitch as recited in claim 1, wherein a third blade positioning assembly is disposed within the second drive motor, the third blade positioning assembly allowing the lateral pitch blade to always stop in the axial direction of the telescoping mast when the lateral pitch blade is in a stationary state.
4. A tiltrotor aircraft employing a telescoping rotor configuration for yaw and pitch control as recited in any of claims 1-3, wherein the tail is inverted V-shaped.
5. A tilting rotorcraft adopting a telescopic propeller structure to control yaw and pitch comprises a fuselage, left and right wings transversely arranged on two sides of the middle of the fuselage, left and right rotors respectively arranged on the end parts of the left and right wings, and a tail wing arranged on the tail part of the fuselage; the aircraft is characterized in that a telescopic propeller structure connected with a flight control system of the tiltrotor aircraft is arranged in the tail part of the aircraft body, when the tiltrotor aircraft is in vertical take-off, landing or lower than a horizontal flight speed, the flight control system of the tiltrotor aircraft controls the telescopic propeller structure to extend out of the aircraft body backwards along the axis direction of the aircraft body, and longitudinal thrust and transverse thrust which are generated by the telescopic propeller structure and are perpendicular to the axis of the aircraft body realize control of yaw and pitch postures of the tiltrotor aircraft;
the telescopic propeller structure includes:
the telescopic rod is arranged in the tail part of the machine body and extends along the axial direction of the machine body;
the linear driving mechanism is arranged in the tail part of the machine body and connected with the flight control system and used for driving the telescopic rod to linearly move along the axis direction of the machine body;
a longitudinal propeller disposed on the telescopic rod and connected to the flight control system for generating a longitudinal thrust perpendicular to the fuselage axis; and
a transverse propeller arranged on the telescopic rod and connected with the flight control system for generating transverse thrust perpendicular to the axis of the fuselage;
the longitudinal propeller includes:
an upper driving motor and a lower driving motor which are longitudinally arranged on the telescopic rod in an up-down opposite way and are respectively connected with the flight control system;
at least one upper distance blade, each upper distance blade is connected with the output shaft of the upper driving motor respectively; and
at least one lower distance blade, wherein each lower distance blade is respectively connected with an output shaft of the lower driving motor;
the transversal propeller includes:
a left driving motor and a right driving motor which are oppositely arranged on the telescopic rod along the transverse direction and are respectively connected with the flight control system;
at least one left distance blade, wherein each left distance blade is respectively connected with the output shaft of the left driving motor; and
and each right distance blade is respectively connected with the output shaft of the right driving motor.
6. The tiltrotor aircraft employing a telescoping rotor configuration for yaw and pitch control as recited in claim 5, wherein said upper and lower drive motors are each provided with a second blade positioning assembly therein, said second blade positioning assembly causing said upper and lower blades to always stop in the axial direction of said telescoping mast when said upper and lower blades are at rest.
7. The tiltrotor aircraft employing a telescopic propeller structure for yaw and pitch control as recited in claim 5, wherein a fourth blade positioning assembly is disposed in each of said left and right drive motors, said fourth blade positioning assembly enabling said left and right blades to always stop in the axial direction of said telescoping mast when said left and right blades are in a stationary state.
8. Tiltrotor aircraft employing a telescoping rotor configuration to control yaw and pitch as recited in any of claims 5-7, wherein the tail is inverted V-shaped.
CN201611260879.9A 2016-12-30 2016-12-30 Tilt gyroplane adopting telescopic propeller structure to control yaw and pitch Active CN106741917B (en)

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CN108408025A (en) * 2018-05-08 2018-08-17 成都军融项目管理有限公司 A kind of aircraft system with stretching, extension function
CN108873044A (en) * 2018-07-05 2018-11-23 北京航空航天大学 A method of helicopter screw propeller is surveyed with respect to fuselage posture with GPS receiver
CN108791818A (en) * 2018-07-16 2018-11-13 西安君晖航空科技有限公司 A kind of novel tilting wing unmanned plane with variable-pitch propeller
DE102019205152A1 (en) 2019-04-10 2020-10-15 Rolls-Royce Deutschland Ltd & Co Kg Electric propulsion system for an aircraft with minimal yaw moment
CN114194388A (en) * 2021-11-23 2022-03-18 上海羽天航空科技有限公司 Novel vertical take-off and landing fixed wing aircraft

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JP2008094277A (en) * 2006-10-12 2008-04-24 Osaka Prefecture Univ Double reversal rotation impeller machine
CN201175581Y (en) * 2008-04-22 2009-01-07 江超顺 Remote toy aircraft capable of conveniently adjusting flight direction
CN105059542B (en) * 2015-08-10 2017-09-19 成都纵横自动化技术有限公司 A kind of fixation chord endurance aircraft of VTOL
CN105730684B (en) * 2016-01-29 2018-02-02 安徽工程大学 A kind of more rotor armed helicopters
CN105905294B (en) * 2016-04-25 2018-05-01 北京中科遥数信息技术有限公司 VTOL fixed-wing unmanned plane
CN206384146U (en) * 2016-12-30 2017-08-08 上海牧羽航空科技有限公司 A kind of tiltrotor for controlling to go off course with pitching using telescopic propeller arrangement

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