CN107117311A - Unmanned aerial vehicle with variable wheelbase - Google Patents

Unmanned aerial vehicle with variable wheelbase Download PDF

Info

Publication number
CN107117311A
CN107117311A CN201710284756.7A CN201710284756A CN107117311A CN 107117311 A CN107117311 A CN 107117311A CN 201710284756 A CN201710284756 A CN 201710284756A CN 107117311 A CN107117311 A CN 107117311A
Authority
CN
China
Prior art keywords
shaft
uav
sleeve
crank
body
Prior art date
Application number
CN201710284756.7A
Other languages
Chinese (zh)
Inventor
张志安
梅新虎
谢磊
Original Assignee
南京理工大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南京理工大学 filed Critical 南京理工大学
Priority to CN201710284756.7A priority Critical patent/CN107117311A/en
Publication of CN107117311A publication Critical patent/CN107117311A/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C1/00Fuselages; Constructional features common to fuselages, wings, stabilising surfaces and the like
    • B64C1/06Frames; Stringers; Longerons ; Fuselage sections
    • B64C1/061Frames
    • B64C1/063Folding or collapsing to reduce overall dimensions, e.g. foldable tail booms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/02Unmanned aerial vehicles; Equipment therefor characterized by type of aircraft
    • B64C2201/024Helicopters, or autogiros
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/04Unmanned aerial vehicles; Equipment therefor characterised by type of power plant
    • B64C2201/042Unmanned aerial vehicles; Equipment therefor characterised by type of power plant by electric motors; Electric power sources therefor, e.g. fuel cells, solar panels or batteries
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/12Unmanned aerial vehicles; Equipment therefor adapted for particular use

Abstract

The invention provides an unmanned aerial vehicle with a variable wheelbase. The unmanned aerial vehicle with the variable wheelbase comprises a vehicle body, a plurality of propellers, a plurality of wings and a transmission assembly, and the propellers are arranged on the wings; the transmission assembly comprises a motor, a shaft, cranks, connecting rods and sliding rails, and the number of the cranks, the connecting rods and the sliding rails is the same as the number of the propellers; the motor is fixed to the vehicle body; the shaft comprises an input shaft and output shafts, the number of the output shafts is the same as that of the propellers, and the input shaft is connected with a rotary shaft of the motor; the near-end of each crank is fixedly connected with the corresponding output shaft of the shaft; the near-end of each connecting rod is rotatably connected with the far-end of the corresponding crank, and the connecting rods rotate along the rotary shaft in the horizontal direction; and the near-end of each sliding rail is fixedly connected with the corresponding connecting rod, the far-end of each sliding rail is fixedly connected with the wings, and each sliding rail is slidably connected with a linear rail arranged on the vehicle body. When the wheelbase of the unmanned aerial vehicle is decreased in flight, the flight speed is increased; and when the wheelbase of the unmanned aerial vehicle is increased in hover, wind resistance and flight stability are improved.

Description

一种可变轴距无人机 A variable wheelbase UAV

技术领域 FIELD

[0001] 本发明涉及一种无人机技术,特别是一种可变轴距无人机。 [0001] The present invention relates to UAV technology, particularly to a variable wheelbase UAV.

背景技术 Background technique

[0002] 多旋翼无人机具有零伤亡、使用限制少、隐蔽性好、效费比高等特点,其在现代消防救援中的地位和作用日渐凸显。 [0002] multi-rotor UAV with zero casualties, less use restrictions, good for hiding, and high benefit-cost ratio, its status and role in modern fire rescue increasingly prominent. 多旋翼无人机用于灭火消防的使用数量、种类和频次等呈快速增长趋势。 Multi-rotor UAV use for fire extinguishing number, type and frequency, etc, showed a rapid growth trend. 因此,大力发展无人机携弹灭火技术已经成为当今各国竞相研宄的方向。 Therefore, to develop UAV bomber firefighting technology has become the current direction of the competing countries in a Subsidiary. 近年来,各国纷纷出台各自的无人机发展规划,并加大投入力度,无人机的发展呈现出前所未有的热潮。 In recent years, countries have introduced their own UAV development plan, and to increase investment, the development of UAV is experiencing an unprecedented boom.

[0003] 传统无人机主要采用悬挂的方式携带灭火弹。 [0003] Traditional UAV carrying a suspended manner mainly fire bombs. 因此必须增加无人机体积以满足挂弹需求,进而使起飞重量加大,灵活性降低。 Thus UAVs must be increased to meet volume requirements linked to bomb, thereby enabling increased takeoff weight, reduced flexibility. 这使得开发出一种重量轻,成本低,速度快的消防灭火无人机成为一种需要。 This makes the development of a light weight, low cost, fast fire fighting UAV become a necessity.

发明内容 SUMMARY

[0004] 本发明的目的在于提供一种可变轴距无人机,通过改变无人机的轴距来改变无人机的飞行阻力。 [0004] The object of the present invention is to provide a variable wheelbase UAV, UAV flight is changed by changing the resistance of the UAV wheelbase.

[0005] —种可变轴距无人机,包括机体、若干螺旋桨、若干机翼、传动组件,机翼上设置螺旋桨,传动组件包括电机、轴、曲柄、连杆、滑轨;其中电机固定于机体上;轴包括一个输入轴和与螺旋桨数量相同的输出轴,输入轴与电机转动轴连接;曲柄设置的数量与螺旋桨数量相同,每一曲柄近端与轴对应的输出轴固定连接;连杆设置的数量与螺旋桨数量相同,每一连杆的近端与对应曲柄远端转动连接且连杆沿转动轴在水平方向转动;滑轨设置的数量与螺旋桨数量相同,每一滑轨的近端与对应连杆固定连接且远端与机翼固定连接,每一滑轨与机体上设置的直线轨道滑动连接。 [0005] - Variable wheelbase UAV species, includes a body, a plurality of propeller, a plurality of the wing, the drive assembly is provided propeller, the drive assembly includes a motor, a shaft, a crank, connecting rod, slide wing; wherein the motor is fixed on the body; shaft comprises a same number of the input shaft and the output shaft and the propeller, the input shaft connected to the motor rotation shaft; the same number as the number of the propeller crank set, each corresponding to a crank shaft and a proximal end fixedly connected to the output shaft; even the same number of setting the number of the propeller shaft, the proximal end of each connecting rod is connected with a corresponding rotation of the distal end of the crank and the link is rotated in a horizontal direction along a rotation axis; the same number as the number of propellers disposed rails, each rail near end fixedly connected to the corresponding link and the distal end is fixedly connected to the wing, and each linear track rail provided on the sliding body is connected.

[0006] 采用上述无人机,该无人机上设置发射组件,该发射组件包括发射筒(10)、第一连接件、套筒;其中发射筒固定于套筒内,套筒固定于第一连接件上,第一连接件固定于机体上。 [0006] With the above UAV, the UAV firing assembly is provided, comprising a launch tube of the firing assembly (10), a first connecting member, a sleeve; wherein the barrel is fixed to the inner sleeve, the sleeve is fixed to the first the connecting member, a first connecting member fixed to the body.

[0007] 采用上述无人机,该无人机上设置发射组件,该发射组件包括若干发射筒、第一连接件、若千套筒、第二连接件;其中每一发射筒固定于相应的套筒内,第一个套筒固定于第一连接件上,其余套筒通过第二连接件与第一个套筒固定连接,第一连接件固定于机体上 [0007] With the above UAV, the UAV firing assembly is provided, the firing assembly includes a plurality of launch tubes, a first connecting member, if one thousand sleeve, a second connecting member; wherein the barrel is fixed to each of the respective sets cylinder, the first sleeve is fixed to the first connecting member, the remainder of the sleeve by a second connecting member fixedly connected to the first sleeve, a first connecting member fixed to the body

[0008] 本发明与现有技术相比,具有以下显著优点: [0008] Compared with the prior art the present invention has the following significant advantages:

[0009] (1)无人机采用可变轴距机构,通过电机带动四翼机臂的伸长与缩短,使无人机在飞行中减小轴距,增加其飞行速度;无人机在悬停中增加轴距,增加其抗风性和飞行稳定性。 [0009] (1) using a variable wheelbase UAV mechanism, driven by the motor and shortening the four wing elongated arm, so to decrease the wheel UAV in flight, flight speed increase; UAV hover increased wheelbase, increasing its wind resistance and flight stability.

[0010] (2)无人机整个变轴距的过程中,只采用一个电机提供动力,大大减轻了无人机起飞重量,使机身结构更加紧凑。 [0010] Process (2) varying the axial distance drone throughout, using only one motor to provide power, greatly reducing the weight of the UAV off the body more compact.

[0011] (3)无人机采用便捷的水平携挂灭火弹方式,提高无人机发射时的飞控稳定性。 [0011] (3) the level of UAV using convenient embodiment the carrying fire shells, to improve stability of the UAV flight control emission. L0U12J卜®结合说明书附图对本发明作进一步描述。 L0U12J ® Bu specification in conjunction with the accompanying drawings of the present invention will be further described.

附图说明 BRIEF DESCRIPTION

[0013]图1为本发明一种无人机可变轴距机构三维外形图。 [0013] FIG 1 UAV variable mechanism wheelbase dimensional external view of the present disclosure.

[00M]图2为本发明一种无人机可变轴距机构传动组件俯视图。 [00M] FIG 2 UAV wheelbase variable mechanism drive assembly plan view of the present invention.

[0015]图3为本发明一种无人机可变轴距机构发射组件局部图。 [0015] FIG. 3 UAV variable mechanism wheelbase partial firing assembly of the present invention FIG.

[0016]图4为本发明一种无人机可变轴距机构传动组件张开三维外形图。 [0016] FIG. 4 UAV variable drive assembly mechanism wheelbase open three dimensional configuration of the present invention FIG.

[0017]图5为本发明一种无人机可变轴距机构传动组件闭合三维外形图。 [0017] FIG. 5 UAV wheelbase variable drive assembly mechanism of the present invention a closed three-dimensional shape of FIG.

具体实施方式 Detailed ways

[0018]结合图1、图2,一种无人机可变轴距机构,主要包括:机翼组件1、机体2、发射组件3 和传动组件11。 [0018] in conjunction with FIGS. 1 and 2, UAV wheelbase variable mechanism, including: a wing assembly, the body 2, and 3 transmit the transmission assembly 11 assembly. 传动组件11包括连杆4、曲柄5、轴6和电机12、滑轨13。 Transmission assembly 11 includes a connecting rod 4, the crank 5, the shaft 6 and the motor 12, the slide rail 13. 电机12通过螺栓固定在机体2上,轴6与电机12输出轴通过联轴器固连,曲柄5与轴6固连,曲柄5的外圆均布四组连接凸台,四根连杆4分别与四组连接凸台通过销轴连接,两者之间可相对转动。 By the motor 12 is bolted to the body 2, the shaft 6 and the output shaft of the motor 12 are connected to four groups of cloth via a coupling boss 6 fixed solid cylindrical attached, and the crank axle 5 is connected, the crank (5), four link 4 They are respectively connected to the four sets of connection by a pin bosses, relative rotation between the two. 每一滑轨13的近端与对应连杆4固定连接且远端与机翼1固定连接,每一滑轨13与机体2上设置的直线轨道滑动连接。 The proximal end of each link corresponding to the slide 13 and the distal end 4 fixedly connected to the fixed wing 1 is connected to each of the rails 13 slidably connected to the body 2 provided on the straight rail. 当电机I2带动轴6转动时,曲柄5带动连杆4相对机体2作伸缩运动,进而改变无人机的轴距。 When the motor drive I2 rotary shaft 6, the body 4 relative to the crank 5 for telescopic movement to drive rod 2, thereby changing the wheelbase of the UAV.

[0019]结合图3,发射组件3包括发射筒10、第一连接件7、套筒8;其中发射筒1〇固定于套筒8内,套筒8固定于第一连接件7上,第一连接件7固定于机体2上。 [0019] in conjunction with FIG. 3, the transmitter 3 comprises a launch tube assembly 10, the first connection member 7, the sleeve 8; 1〇 wherein the barrel is fixed to the sleeve 8, the sleeve 8 is fixed to the first connector 7, a connecting member 7 is fixed to the body 2. 发射组件3还可以设置多个发射筒10,每一发射筒固定于相应的套筒8内,第一个套筒8固定于第一连接件7上,其余套筒8通过第二连接件9与第一个套筒8固定连接。 Emitting assembly 3 may be provided a plurality of the barrel 10, the barrel is fixed to each of the respective sleeve 8, a first sleeve 8 secured to the first connecting member 7, the remaining sleeve 8 through a second connecting member 9 connected to a first sleeve 8 is fixed. 发射组件3设置两组且关于机体2中线对称分布。 Emitting assembly 3 and two sets of symmetrically about the center line of the body 2. 发射组件3水平吊挂。 3 hanging horizontal firing assembly.

[0020]结合图4、图5,无人机准备起飞时,电机12顺时针转动带动轴6转动,曲柄5带动连杆4相对机体2作伸长运动,无人机轴距变大,起飞过程稳定;无人机在飞行过程中,电机12 逆时针转动带动轴6转动,曲柄5带动连杆4相对机体2作缩回运动,无人机轴距变小,飞行速度快;无人机到达目的地悬停发射灭火弹时,电机12顺时针转动带动轴6转动,曲柄5带动连杆4相对机体2作伸长运动,无人机轴距变大,发射灭火弹稳定;无人机发射完灭火弹返航过程中,曲柄5带动连杆4相对机体2作缩回运动,无人机轴距变小,飞行速度加快;无人机发射完灭火弹任务结束后准备降落时,电机12顺时针转动带动轴6转动,曲柄5带动连杆4相对机体2作伸长运动,无人机轴距变大,降落过程稳定。 [0020] in conjunction with FIG. 4, FIG. 5, when the unmanned aircraft ready to take off, the motor 12 drives the rotary shaft 6 is rotated clockwise, the body 4 relative to the crank drive rod 5 2 as an elongated motion, the wheelbase UAV becomes large, off process stability; UAV in flight, the drive motor 12 rotates counterclockwise rotation shaft 6, the body 4 relative to the crank drive rod 2 for 5 retracting movement, the wheelbase becomes small UAV flight speed; UAV when the transmitting destination hovering fire shells, the motor 12 drives the rotary shaft 6 is rotated clockwise, the body 4 relative to the crank drive rod 5 2 as an elongated motion, UAV larger wheelbase, steady emission fire shells; UAV after return fire shells emission process, the body 4 relative to the crank drive rod 2 for 5 retracting movement, the wheelbase becomes small UAV flight faster; when UAV after completion of the task for landing emission fire shells, the motor 12 drive shaft 6 is rotated clockwise, the body 4 relative to the crank drive rod 5 2 as an elongated motion, the wheelbase is increased UAV, stability during landing.

Claims (6)

1. 一种可变轴距无人机,包括机体(2)、若干螺旋浆、右干机翼(1),机翼(1)上设置螺方疋桨,其特征在于,还包括传动组件(11),传动组件(11)包括电机(12)、轴(6)、曲柄(5)、连杆⑷、滑轨(13);其中电机(12)固定于机体⑵上; 轴⑹包括一个输入轴和与螺旋桨⑴数量相同的输出轴, 输入轴与电机(12)转动轴连接; 曲柄⑸设置的数量与螺旋桨⑴数量相同, 每一曲柄⑸近端与轴⑹对应的输出轴固定连接; 连杆⑷设置的数量与螺旋桨⑴数量相同, 每一连杆(4)的近端与对应曲柄(5)远端转动连接且连杆(4)沿转动轴在水平方向转动; 滑轨(13)设置的数量与螺旋桨⑴数量相同, 每一滑轨(13)的近端与对应连杆⑷固定连接且远端与机翼⑴固定连接, 每一滑轨(13)与机体⑵上设置的直线轨道滑动连接。 A variable wheelbase UAV, including body (2), a plurality of propeller, dry the right wing (1), the wing (1) is provided on the screw propeller side piece goods, wherein the drive assembly further comprising (11), transmission assembly (11) includes a motor (12), the shaft (6), the crank (5), the link ⑷, rails (13); wherein the motor (12) fixed to the body ⑵; ⑹ comprises a shaft the same number of the input shaft and the output shaft of the propeller ⑴, the input shaft of the motor (12) connected to the rotary shaft; ⑸ the same number of crank provided with a propeller ⑴, each crank shaft ⑹ ⑸ proximal end fixedly connected to a corresponding output shaft; the same number of propellers disposed ⑷ ⑴ rod, each connecting rod (4) corresponding to the proximal end of the crank (5) and a distal end rotatably connected to the connecting rod (4) along a rotation axis in a horizontal direction; rail (13 ) number provided with the same number of propeller ⑴, proximal end of each slide (13) is fixedly connected to the corresponding connecting rod and the distal end ⑴ ⑷ fixedly connected to the wing, each of the slide (13) is provided in the upper body ⑵ linear tracks connected.
2. 根据权利要求1所述的无人机,其特征在于,曲柄、连杆⑷、滑轨(13)共面。 2. The UAV according to claim 1, characterized in that the crank, connecting rod ⑷, rails (13) are coplanar.
3. 根据权利要求1或2所述的无人机,其特征在于,机翼(1)设置四个,且相邻机翼(1)延长线的夹角为90°。 The UAV of claim 1 or claim 2, characterized in that the wing (1) provided four, and adjacent wing (1) the angle between the extension line is 90 °.
4. 根据权利要求1所述的无人机,其特征在于,该无人机上设置发射组件(3),该发射组件⑶包括发射筒(1〇)、第一连接件(7)、套筒(8);其中发射筒(10)固定于套筒⑻内, 套筒⑻固定于第一连接件⑺上, 第一连接件⑺固定于机体⑵上。 The UAV according to claim 1, characterized in that a transmitting component (3) of the drone, the transmitter comprising transmit ⑶ barrel assembly (1〇), a first connecting element (7), the sleeve (8); wherein the barrel (10) is fixed to the inner sleeve ⑻, secured to the first sleeve ⑻ ⑺ connecting member, a first connecting member fixed to the body ⑺ ⑵.
5. 根据权利要求1所述的无人机,其特征在于,该无人机上设置发射组件(3),该发射组件⑶包括若干发射筒(1〇)、第一连接件(7)、若干套筒⑻、第二连接件⑼;其中每一发射筒固定于相应的套筒⑻内, 第一个套筒(8)固定于第一连接件(7)上,其余套筒(S)通过第二连接件(9)与第一个套筒⑻固定连接, 第一连接件⑺固定于机体⑵上。 The UAV according to claim 1, wherein the transmitting component is provided (3) on the drone, the firing assembly includes a plurality of launch tubes ⑶ (1〇), a first connecting element (7), a number of ⑻ sleeve, the second connecting member ⑼; wherein each fixed within the barrel ⑻ corresponding sleeve, the first sleeve (8) secured to the first connecting element (7), the remainder of the sleeve (S) by a second connecting member (9) is fixedly connected to a first sleeve ⑻, a first connecting member fixed to the body ⑺ ⑵.
6. 根据权利要求4或5所述的无人机,其特征在于,发射组件(3)设置两组且关于机体(2)中线对称分布。 6. The UAV of claim 4 or claim 5, characterized in that the transmitting component (3) disposed on the body and two (2) symmetrically midline.
CN201710284756.7A 2017-04-27 2017-04-27 Unmanned aerial vehicle with variable wheelbase CN107117311A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710284756.7A CN107117311A (en) 2017-04-27 2017-04-27 Unmanned aerial vehicle with variable wheelbase

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710284756.7A CN107117311A (en) 2017-04-27 2017-04-27 Unmanned aerial vehicle with variable wheelbase

Publications (1)

Publication Number Publication Date
CN107117311A true CN107117311A (en) 2017-09-01

Family

ID=59725978

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710284756.7A CN107117311A (en) 2017-04-27 2017-04-27 Unmanned aerial vehicle with variable wheelbase

Country Status (1)

Country Link
CN (1) CN107117311A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107943166A (en) * 2017-11-15 2018-04-20 广东容祺智能科技有限公司 Multi-rotor UAV motor adjustable system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9004396B1 (en) * 2014-04-24 2015-04-14 Fatdoor, Inc. Skyteboard quadcopter and method
CN204452930U (en) * 2014-12-18 2015-07-08 合肥工业大学 Four-axis aircraft capable of folding in telescopic mode
CN204452939U (en) * 2015-02-12 2015-07-08 马鞍山市赛迪智能科技有限公司 Anticollision type fixed point fire fighting unmanned aerial vehicle
CN205203378U (en) * 2015-08-24 2016-05-04 深圳市诺亚星辰科技开发有限公司 Improved multi -rotor unmanned aerial vehicle
CN205854474U (en) * 2016-07-27 2017-01-04 上海未来伙伴机器人有限公司 Aircraft horn and aircraft of gradable adjustment

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9004396B1 (en) * 2014-04-24 2015-04-14 Fatdoor, Inc. Skyteboard quadcopter and method
CN204452930U (en) * 2014-12-18 2015-07-08 合肥工业大学 Four-axis aircraft capable of folding in telescopic mode
CN204452939U (en) * 2015-02-12 2015-07-08 马鞍山市赛迪智能科技有限公司 Anticollision type fixed point fire fighting unmanned aerial vehicle
CN205203378U (en) * 2015-08-24 2016-05-04 深圳市诺亚星辰科技开发有限公司 Improved multi -rotor unmanned aerial vehicle
CN205854474U (en) * 2016-07-27 2017-01-04 上海未来伙伴机器人有限公司 Aircraft horn and aircraft of gradable adjustment

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107943166A (en) * 2017-11-15 2018-04-20 广东容祺智能科技有限公司 Multi-rotor UAV motor adjustable system

Similar Documents

Publication Publication Date Title
US9540101B2 (en) System, apparatus and method for long endurance vertical takeoff and landing vehicle
US20030052222A1 (en) Vertical takeoff and landing aerial vehicle
BR112015013134A2 (en) vertical takeoff and landing aircraft
US20080272244A1 (en) Hybrid Aircraft
CN104364154A (en) Aircraft, preferably unmanned
US2665859A (en) Aircraft with rotary and fixed wings
US2863618A (en) Airplane coupling means
CN104176248A (en) Unmanned aerial vehicle with double engines, four shafts and four rotors
CN101481015A (en) Small-sized foldable multi-wheel multi-column support type landing gear
CN103241379A (en) Flapping wing device for achieving active torsion for flapping wings and wing planes of aerofoil
CN102556336A (en) Wing fast unfolding device for folding-wing unmanned plane
CN102530238A (en) Unmanned aerial vehicle with variable sweepbacks and spans of wings
CN102120489A (en) Tilt ducted unmanned aerial vehicle
US9783292B2 (en) Maintaining drive system alignment in aircraft
CN103144769A (en) Pneumatic layout of vertical taking-off and landing aircraft with tilted duct
US1909450A (en) Helicopter
US4093155A (en) Steam powered tilting engine VTOL airplane
CN202011472U (en) Tilting duct unmanned aerial vehicle
WO2013098736A2 (en) A four-rotor helicopter
CN101417707A (en) Attitude-variable flying robot
US2624152A (en) Control system for model airplanes
CN104276284A (en) Tandem type fan wing aircraft layout
CN103738496A (en) Dynamical system structure suitable for vertical take-off and landing aircraft and control method thereof
US9567070B2 (en) Tiltrotor control system with two rise/fall actuators
US20170297698A1 (en) Tiltwing aircraft

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination