CN108839799A - A kind of mixing operating mechanism based on Mini Tele-Copter - Google Patents
A kind of mixing operating mechanism based on Mini Tele-Copter Download PDFInfo
- Publication number
- CN108839799A CN108839799A CN201810563948.6A CN201810563948A CN108839799A CN 108839799 A CN108839799 A CN 108839799A CN 201810563948 A CN201810563948 A CN 201810563948A CN 108839799 A CN108839799 A CN 108839799A
- Authority
- CN
- China
- Prior art keywords
- control
- central sill
- rod
- bolt
- rotatably connected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
Abstract
The present invention discloses a kind of mixing operating mechanism based on Mini Tele-Copter, it is rotatably connected in the middle part of central sill front end and front-axle beam, central sill side is equipped with single-degree-of-freedom link mechanism, the front end of single-degree-of-freedom link mechanism connects up the first control-rod, rear end connects downwards the first control stick, is rotatably connected in the middle part of central sill with fuselage auricle；Front-axle beam one end connects up the second control-rod, and the other end connects downwards the second control stick, and third control-rod is connected up on the front-axle beam of the second control stick front end, and central sill rear end is connected with downwards third control stick；The present invention is mixed with lateral control, fore-and-aft control and always away from three kinds of manipulation form of manipulation, simplify mechanism numerous and jumbled in the past, so that mechanism is more compact, occupied space is few, three kinds of operating pattern relevances are strong, control stability is high, and the simplification in structure is more favorable to the inspection, maintenance and maintenance in later period.
Description
Technical field
The present invention relates to Aircraft Design manufacturing technology fields, grasp more particularly to a kind of mixing based on Mini Tele-Copter
Vertical mechanism.
Background technique
Along with the development of Helicopter Technology, electronic technology and control theory, and to helicopter flight quality requirements
It is continuously improved, the steerable system of helicopter experienced from machinery in many decades and be manipulated to Flight By Wire, then arrive fly-by-light
Development course.
The helicopter of early stage uses simple mechanical type steerable system, by simple soft cable wire, pulley, rigid connecting rod and song
The mechanical parts such as handle composition, driver control the auto-bank unit and tail of helicopter by directly manipulating machine driven system
Paddle realizes the control to helicopter aspect and flight path.Although this steerable system structure is simple directly, reliability
Height, still, since the displacement power of rotor blade can pass on control stick, thus stick force is larger and stick shaker easily occurs, and manipulates
Gap, friction for accumulating in linear system etc. can all be shown on control stick, and driver is made to be displeased, and damage handling quality.
In order to solve the problems of above-mentioned simple mechanical type steerable system, the present age most of helicopters use hydraulic
Booster type mechanical manoeuvring system is hydraulic booster system (servo mechanism) to be increased to original simple mechanical type steerable system
In, the continuous improvement of development and the relevant technologies however as helicopter design, between the stability and navigability of helicopter
Contradiction it is more prominent, occur stability augmentation control system and control stability augmentation control system in succession.The inevitable band of these measures
Carry out some impassable disadvantages, for example mechanical linkage is more complicated, weight is heavier and it is bigger etc. to take up space.Obviously, these
Disadvantage will limit designer and design optimal layout according to mission requirements to improve the performance of helicopter, for this purpose, Flight By Wire system
System just comes into being.
Fly-by-wire may be defined as：The control command signal of driver only passes through conducting wire or bus is transmitted to computer,
It is calculated through it and generates output order by scheduled rule, to manipulate rotor and tail-rotor displacement, to realize the manipulation to helicopter, but
The security reliability for being fly-by-wire is guaranteed by redundancy technology, far away from mechanical manoeuvring system high reliablity, therefore
Still there are many helicopters to be still using mechanical manoeuvring system at present, but the manipulation process of most of helicopters, as course is grasped
Vertical, fore-and-aft control and lateral control are all to be completed by individual mechanism, and mechanism dispersion degree is high, compares occupied space, no
There are correlations.
Summary of the invention
The object of the present invention is to provide a kind of compact-sized small and exquisite, the few mixing behaviour based on Mini Tele-Copter of occupied space
Vertical mechanism.
To achieve the above object, the present invention provides following schemes：
The present invention provides a kind of mixing operating mechanism based on Mini Tele-Copter, including front-axle beam and central sill, the central sill
It is rotatably connected in the middle part of front end and the front-axle beam, the side of the central sill is equipped with single-degree-of-freedom link mechanism, and the list is certainly
First control-rod is connected up by the front end of degree link mechanism, the rear end of the single-degree-of-freedom link mechanism is connected with downwards
One control stick, the middle part of the central sill with fuselage auricle for being rotatably connected；One end of the front-axle beam has connected up second
Control-rod, the other end of the front-axle beam are connected with downwards the second control stick, the front-axle beam positioned at second control stick front end
On connected up third control-rod, the rear end of the central sill is connected with downwards third control stick；It is first control-rod, described
Second control-rod and the third control-rod are used to connect with inclinator, first control stick, second control stick and
The third control stick is used to connect with cabin steerable system.
Optionally, the central sill is L-type central sill, and the L-type central sill includes long-armed and galianconism, and the galianconism passes through the first spiral shell
It is rotatably connected in the middle part of bolt and the front-axle beam.
Optionally, the single-degree-of-freedom link mechanism includes front swing arm, connecting rod and rear-swing arm, and the front swing arm passes through the
Two bolts are rotatably connected in the long-armed front, and the rear-swing arm is rotatably connected by third bolt described long-armed
Rear portion, the rear end of the front swing arm and the front end of the rear-swing arm are connected by the connecting rod, the front end of the front swing arm with
First control-rod is rotatably connected, and the rear end of the rear-swing arm is rotatably connected with first control stick.
Optionally, it is provided with first bearing on second bolt of the front swing arm Yu the long-armed junction,
The first bearing rotates in fixed axis for the front swing arm；Positioned at the third of the rear-swing arm and the long-armed junction
Second bearing is provided on bolt, the second bearing rotates in fixed axis for the rear-swing arm.
Optionally, the front-axle beam is circular arc type front-axle beam, and the central sill is located on the inside of the circular arc of the circular arc type front-axle beam, described
Second control-rod and the third control-rod are arranged along the axisymmetrical of first bolt.
Optionally, second control-rod, the third control-rod and second control stick pass through bolt with it is described
Front-axle beam is rotatably connected；First control stick and first control-rod pass through bolt and the single-degree-of-freedom link mechanism
It is rotatably connected；The third control stick is rotatably connected by bolt and the central sill.
Optionally, the central sill is rotatably connected by fuselage auricle described in bolt.
Optionally, the central sill is rotatably connected by second bolt or the third bolt with the fuselage auricle
It connects.
The present invention achieves following technical effect compared with the existing technology：
The present invention is based on the mixing operating mechanisms of Mini Tele-Copter, are mixed with lateral control, fore-and-aft control and always away from manipulation
Three kinds of manipulation forms simplify mechanism numerous and jumbled in the past, so that mechanism is more compact, occupied space is few, three kinds of operating patterns are closed
Connection property is strong, and control stability is high, and the simplification in structure is more favorable to the inspection, maintenance and maintenance in later period, effectively prevents existing
Have lateral control in technology, fore-and-aft control and always need individual mechanism to complete away from manipulation, and caused by mechanism dispersion degree it is high,
The big problem of occupied space.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the schematic view of the mounting position the present invention is based on the mixing operating mechanism of Mini Tele-Copter on fuselage；
Fig. 2 is that the present invention is based on the mixing operating mechanism schematic diagrames of Mini Tele-Copter；
Fig. 3 is that the present invention is based on the mixing operating mechanism function realization principle figures of Mini Tele-Copter；
Fig. 4 is that the present invention is based on the schematic diagrames that the mixing operating mechanism of Mini Tele-Copter is in equilbrium position；
Fig. 5 is that the present invention is based on the schematic diagrames that the mixing operating mechanism of Mini Tele-Copter carries out fore-and-aft control；
Fig. 6 is that the present invention is based on the mixing operating mechanisms of Mini Tele-Copter to carry out always away from the schematic diagram of manipulation；
Wherein, appended drawing reference is：1, front-axle beam；2, central sill；3, fuselage auricle；4, the first control-rod；5, the second control-rod；6,
Third control-rod；7, the first control stick；8, the second control stick；9, third control stick；10, single-degree-of-freedom link mechanism；101, preceding
Swing arm；102, connecting rod；103, rear-swing arm；11, the first bolt；12, the second bolt；13, third bolt；14, inclinator；15,
Cabin steerable system；16, blade.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of compact-sized small and exquisite, the few mixing behaviour based on Mini Tele-Copter of occupied space
Vertical mechanism.
Based on this, the present invention provides a kind of mixing operating mechanism based on Mini Tele-Copter, including front-axle beam and central sill, central sill
Front end and front-axle beam in the middle part of be rotatably connected, the side of central sill is equipped with single-degree-of-freedom link mechanism, single-degree-of-freedom connecting rod machine
The front end of structure has connected up the first control-rod, and the rear end of single-degree-of-freedom link mechanism is connected with downwards the first control stick, central sill
Middle part for being rotatably connected with fuselage auricle；One end of front-axle beam has connected up the second control-rod, the other end of front-axle beam to
Under be connected with the second control stick, third control-rod, the rear end of central sill have been connected up on the front-axle beam of the second control stick front end
It is connected with third control stick downwards；First control-rod, the second control-rod and third control-rod are used to connect with inclinator, and first
Control stick, the second control stick and third control stick are used to connect with cabin steerable system.
The present invention is based on the mixing operating mechanisms of Mini Tele-Copter, are mixed with lateral control, fore-and-aft control and always away from manipulation
Three kinds of manipulation forms simplify mechanism numerous and jumbled in the past, so that mechanism is more compact, occupied space is few, three kinds of operating patterns are closed
Connection property is strong, and control stability is high, and the simplification in structure is more favorable to the inspection, maintenance and maintenance in later period, effectively prevents existing
Have lateral control in technology, fore-and-aft control and always need individual mechanism to complete away from manipulation, and caused by mechanism dispersion degree it is high,
The big problem of occupied space.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Embodiment one：
As shown in Fig. 1~2, the present embodiment provides a kind of mixing operating mechanism based on Mini Tele-Copter, including 1 He of front-axle beam
Central sill 2, the front end of central sill 2 and the middle part of front-axle beam 1 are rotatably connected, and the side of central sill 2 is equipped with single-degree-of-freedom link mechanism 10,
The front end of single-degree-of-freedom link mechanism 10 has connected up the first control-rod 4, and the rear end of single-degree-of-freedom link mechanism 10 connects downwards
It is connected to the first control stick 4, middle part and the fuselage auricle 3 of central sill 2 are rotatably connected by bolt；One end of front-axle beam 1 connects up
There is the second control-rod 5, the other end of front-axle beam 1 is connected with downwards the second control stick 8, on the front-axle beam 1 of 8 front end of the second control stick
Third control-rod 6 is connected up, i.e., as shown in Fig. 2, the second control-rod 5, the second control stick 8 and third control-rod 6 connect
It connects on front-axle beam 1, and between 6 position the second control-rod 5 of third control-rod and the second control stick 8；The rear end of central sill 2 connects downwards
There is third control stick 9；As shown in figure 3, the first control-rod 4, the second control-rod 5 and third control-rod 6 pass through related fittings
It is connect with inclinator 14, the first control stick 7, the second control stick 8 and third control stick 9 are manipulated by related fittings and cabin
System 15 connects, and also passes through related fittings in the top of inclinator 14 and is connected with blade 16.
In this specific embodiment, as shown in Fig. 2, central sill 2 is L-type central sill, L-type central sill includes long-armed and galianconism, galianconism
It is rotatably connected by the middle part of the first bolt 11 and front-axle beam 1.Moreover, as shown in Fig. 2, before single-degree-of-freedom link mechanism 10 includes
Swing arm 101, connecting rod 102 and rear-swing arm 103, front swing arm 101 are rotatably connected long-armed in L-type central sill by the second bolt 12
Front, rear-swing arm 103 are rotatably connected the rear portion long-armed in L-type central sill by third bolt 13, the rear end of front swing arm 101 and after
The front end of swing arm 103 is connected by connecting rod 102, and connecting rod 102 and 101 rear-swing arm 103 of front swing arm are to be bolted, preceding
The front end of swing arm 101 with the first control-rod 4 for being rotatably connected, and the rear end of rear-swing arm 103 with the first control stick 7 for that can turn
Dynamic connection, above-mentioned single-degree-of-freedom link mechanism 10 are provided for ensuring that the first control-rod 4 is parallel with the first control stick 7, and
With horizontal plane.
Further, as shown in Fig. 1~2, on the second bolt 12 of front swing arm 101 Yu the long-armed junction of L-type central sill
It is provided with first bearing, first bearing rotates in fixed axis for front swing arm 101；Correspondingly, being located at rear-swing arm 103 and L-type central sill
Second bearing is provided on the third bolt 13 of long-armed junction, second bearing is then used for rear-swing arm 103 and rotates in fixed axis.
Further, as shown in Fig. 1~2, front-axle beam 1 is circular arc type front-axle beam, and central sill 2 is located in the circular arc of circular arc type front-axle beam
Side, the second control-rod 5 and third control-rod 6 are arranged symmetrically along straight line where the axis of the first bolt 11, by 6 He of third control-rod
Second control stick 8 occupies the two-end-point of front-axle beam 1 respectively, and the second control stick 8, which is located at the endpoint of front-axle beam 1, is conducive to improve the second behaviour
The manipulation sensitivity of vertical pole 8.
Further, as shown in Fig. 2, the second control-rod 5, third control-rod 6 and the second control stick 5 are by bolt with before
Beam 1 is rotatably connected；First control stick 7 and the first control-rod 4 pass through the both ends of bolt and single-degree-of-freedom link mechanism 10 respectively
It is rotatably connected；Third control stick 9 at bolt and the aft terminal of central sill 2 by being rotatably connected.
Further, central sill 2 can be rotatably connected by the second bolt 12 or third bolt 13 with fuselage auricle 3, favorably
In the structural compactness for improving mixing operating mechanism.
Separately below by lateral control, fore-and-aft control and always away from manipulation for operation instruction is made to the present embodiment：
(1) lateral control process：
As shown in figure 4, entirely mixing operating mechanism is in equilibrium state, central sill 2 is fixed on fuselage by third bolt 13
On auricle 3, front-axle beam 1 is rotatably connected by the first bolt 11 with central sill 2 at middle part, and front-axle beam 1 can be around the axis of the first bolt 11
It rotates in fixed axis.By manipulating cabin steerable system 15, the second control stick 8 is driven to move up and down, since central sill 2 is fixed at this time
, so that the second control stick 8 drives front-axle beam 1 to start to do the fixed-axis rotation around 13 axis of third bolt, and then drive the second control
Bar 5 and third control-rod 6, to realize lateral control.
(2) fore-and-aft control process；
Based on equilibrium state shown in Fig. 4, by manipulation cabin steerable system 15 drive the first control stick 7 vertically to
Lower movement, so that it may successively rear-swing arm 103, connecting rod 102 and front swing arm 101 be driven accordingly to link, and then drive first
The upward vertical motion of control-rod 4, as shown in figure 5, to which realization passes through the manipulation and control inclinator 14 of Nacelle control system 15
Fore-and-aft control is finally realized in longitudinal movement.
(3) always away from manipulation process：
Equally based on equilibrium state shown in Fig. 4, by manipulating cabin steerable system 15, third control stick 9 is pulled
It moves downward, since central sill 2 is connected on fuselage auricle 3 by third bolt 13, so that the related entire mixing behaviour of central sill 2
Vertical mechanism makees the fixed-axis rotation around 13 axis of third bolt under the pulling of third control stick 9 simultaneously, as shown in fig. 6, and passing through
The transmitting of three control-rods, it is final to realize 14 upper and lower translation of inclinator, reach mention always away from manipulation purpose.
It can be seen that the present embodiment is mixed with lateral control, fore-and-aft control and always away from three kinds of manipulation forms of manipulation, simplify
Mechanism numerous and jumbled in the past, so that mechanism is more compact, occupied space is few, three kinds of operating pattern relevances are strong, and control stability is high,
Simplification in structure is more favorable to the inspection, maintenance and maintenance in later period, effectively prevents lateral control, longitudinal direction in the prior art
Manipulation and always need individual mechanism to complete away from manipulation, and caused by mechanism dispersion degree is high, occupied space is big problem.
Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (8)
1. a kind of mixing operating mechanism based on Mini Tele-Copter, it is characterised in that：Including front-axle beam and central sill, before the central sill
It holds and is rotatably connected in the middle part of the front-axle beam, the side of the central sill is equipped with single-degree-of-freedom link mechanism, described single free
The front end of degree link mechanism has connected up the first control-rod, and the rear end of the single-degree-of-freedom link mechanism is connected with downwards first
Control stick, the middle part of the central sill with fuselage auricle for being rotatably connected；One end of the front-axle beam has connected up the second control
Bar processed, the other end of the front-axle beam are connected with downwards the second control stick, on the front-axle beam of second control stick front end
Third control-rod is connected up, the rear end of the central sill is connected with downwards third control stick；First control-rod, described
Two control-rods and the third control-rod are used to connect with inclinator, first control stick, second control stick and institute
Third control stick is stated to be used to connect with cabin steerable system.
2. the mixing operating mechanism according to claim 1 based on Mini Tele-Copter, it is characterised in that：The central sill is L
Type central sill, the L-type central sill includes long-armed and galianconism, and the galianconism is rotatably connected by the middle part of the first bolt and the front-axle beam
It connects.
3. the mixing operating mechanism according to claim 2 based on Mini Tele-Copter, it is characterised in that：The single-degree-of-freedom
Link mechanism includes front swing arm, connecting rod and rear-swing arm, and the front swing arm is rotatably connected by the second bolt described long-armed
Front, the rear-swing arm is rotatably connected by third bolt in the long-armed rear portion, the rear end of the front swing arm and institute
The front end for stating rear-swing arm is connected by the connecting rod, and the front end of the front swing arm is rotatably connected with first control-rod,
The rear end of the rear-swing arm is rotatably connected with first control stick.
4. the mixing operating mechanism according to claim 3 based on Mini Tele-Copter, it is characterised in that：Positioned at the forward swing
First bearing is provided on arm and second bolt of the long-armed junction, the first bearing is made for the front swing arm
Fixed-axis rotation；It is provided with second bearing on the third bolt of the rear-swing arm Yu the long-armed junction, described
Two bearings rotate in fixed axis for the rear-swing arm.
5. the mixing operating mechanism according to claim 2 based on Mini Tele-Copter, it is characterised in that：The front-axle beam is circle
Camber front-axle beam, the central sill are located on the inside of the circular arc of the circular arc type front-axle beam, second control-rod and the third control-rod
Axisymmetrical along first bolt is arranged.
6. the mixing operating mechanism according to claim 1 based on Mini Tele-Copter, it is characterised in that：Second control
Bar, the third control-rod and second control stick pass through bolt and are rotatably connected with the front-axle beam；First manipulation
Bar and first control-rod pass through bolt and are rotatably connected with the single-degree-of-freedom link mechanism；The third control stick is logical
Bolt is crossed to be rotatably connected with the central sill.
7. the mixing operating mechanism according to claim 1 based on Mini Tele-Copter, it is characterised in that：The central sill passes through
Fuselage auricle described in bolt is rotatably connected.
8. the mixing operating mechanism according to claim 3 based on Mini Tele-Copter, it is characterised in that：The central sill passes through
Second bolt or the third bolt are rotatably connected with the fuselage auricle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810563948.6A CN108839799B (en) | 2018-06-04 | 2018-06-04 | Hybrid control mechanism based on small helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810563948.6A CN108839799B (en) | 2018-06-04 | 2018-06-04 | Hybrid control mechanism based on small helicopter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108839799A true CN108839799A (en) | 2018-11-20 |
| CN108839799B CN108839799B (en) | 2020-03-20 |
Family
ID=64210598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810563948.6A Active CN108839799B (en) | 2018-06-04 | 2018-06-04 | Hybrid control mechanism based on small helicopter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108839799B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3095931A (en) * | 1961-05-10 | 1963-07-02 | Kaman Aircraft Corp | Blade pitch control mechanism for a helicopter |
| GB1043317A (en) * | 1964-04-29 | 1966-09-21 | Bell Aerospace Corp | Control systems for aircraft |
| WO1996006006A1 (en) * | 1994-08-18 | 1996-02-29 | Arlton Paul E | Yaw control and stabilization system for helicopters |
| CN101134506A (en) * | 2007-08-27 | 2008-03-05 | 万涛 | Helicopter rotor control mechanism |
| CN105217025A (en) * | 2015-11-09 | 2016-01-06 | 德奥通用航空股份有限公司 | A kind of aircraft coaxial double-rotary wing system |
| CN105564643A (en) * | 2014-10-30 | 2016-05-11 | 空客直升机 | Mechanical device for combining at least a first and a second command order, and aircraft equipment with such a device |
-
2018
- 2018-06-04 CN CN201810563948.6A patent/CN108839799B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3095931A (en) * | 1961-05-10 | 1963-07-02 | Kaman Aircraft Corp | Blade pitch control mechanism for a helicopter |
| GB1043317A (en) * | 1964-04-29 | 1966-09-21 | Bell Aerospace Corp | Control systems for aircraft |
| WO1996006006A1 (en) * | 1994-08-18 | 1996-02-29 | Arlton Paul E | Yaw control and stabilization system for helicopters |
| CN101134506A (en) * | 2007-08-27 | 2008-03-05 | 万涛 | Helicopter rotor control mechanism |
| CN105564643A (en) * | 2014-10-30 | 2016-05-11 | 空客直升机 | Mechanical device for combining at least a first and a second command order, and aircraft equipment with such a device |
| CN105217025A (en) * | 2015-11-09 | 2016-01-06 | 德奥通用航空股份有限公司 | A kind of aircraft coaxial double-rotary wing system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108839799B (en) | 2020-03-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5816744B2 (en) | Flying generator | |
| CN104859854B (en) | Heavy-load low-structure-complexity double-coaxial-twin-rotor unmanned aerial vehicle | |
| US20210323661A1 (en) | Coaxial helicopter and control method thereof | |
| CN107117300B (en) | Unmanned vehicle based on coaxial more rotor pose adjustments | |
| CN202115700U (en) | Integrated maneuvering system for airplane with V-shaped empennage | |
| CN201371944Y (en) | Hard controlling system of flaperon and elevator | |
| CN102765482B (en) | Integrated V-shaped empennage maneuvering system for airplane | |
| CN108674651B (en) | Flapping wing device and flapping wing machine | |
| US2829721A (en) | Directional control system for rotary wing aircraft having contra-rotating load-carrying rotors | |
| CN106904271B (en) | A kind of variant mechanism for vertical take-off and landing drone | |
| CN108839799A (en) | A kind of mixing operating mechanism based on Mini Tele-Copter | |
| CN205633019U (en) | Fully hard formula hand controlling device | |
| CN2889427Y (en) | Steering mechanism for model helicopter | |
| US3404737A (en) | Control mechanism for swivel tail of an aircraft | |
| CN102030105A (en) | Direct inclination control rotor helicopter | |
| CN105438466B (en) | A kind of manpower driving fixed wing aircraft | |
| CN109720550B (en) | Side lever mechanism for purely mechanical flight control system | |
| CN101767647B (en) | Self-locking 90-degree full-wing variable sweepback transmission mechanism | |
| CN107719644A (en) | A kind of wing flap draw off gear | |
| CN211124498U (en) | Mechanical type aircraft control system maintains training equipment | |
| CN114394228B (en) | Aircraft and control method thereof | |
| US4088284A (en) | Phasing control for convertiplane | |
| CN209739320U (en) | Mechanical type side lever operating mechanism and light aircraft | |
| GB1323997A (en) | Aircraft | |
| CN207292387U (en) | A kind of single-input double-output operating rock arm |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |