CN110104177B - Full-motion control surface for flapping rotor aircraft - Google Patents
Full-motion control surface for flapping rotor aircraft Download PDFInfo
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- CN110104177B CN110104177B CN201910332077.1A CN201910332077A CN110104177B CN 110104177 B CN110104177 B CN 110104177B CN 201910332077 A CN201910332077 A CN 201910332077A CN 110104177 B CN110104177 B CN 110104177B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
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Abstract
The invention discloses a full-motion control surface for a flapping rotor aircraft, and belongs to the technical field of aircraft design. The full-motion control surface comprises a frame body, a large control surface, a small control surface and a steering engine. The frame body is used for mounting three steering gears, the two steering gears on the two sides are parallel to the frame body, and the middle steering gear is vertically inserted into the middle of the frame body; the large control surface is arranged on a control arm of the middle steering engine; two small control surfaces are arranged on the rudder arms of the steering engines on two sides; the steering engine is used for receiving a control instruction to rotate the rudder arm to drive the large rudder surface and the two small rudder surfaces to rotate, so that control is realized. The full-motion control surface of the invention realizes the control of the front flight, the side flight and the steering function of the flapping rotor aircraft. The flapping-rotor wing control system cancels a stabilizing surface, enables the three control surfaces to be tightly arranged through design, fully utilizes the wake flow of the flapping rotor wing, improves the control effect, reduces the overall height, reduces the number of parts, and has lighter weight and lower overall height; the control surface of the flapping rotor aircraft has high response speed and good control effect.
Description
Technical Field
The invention belongs to the technical field of aircraft design, and particularly relates to a full-motion control surface for a flapping rotor aircraft.
Background
The existing micro aircraft is fast in development, small in size, light in weight, flexible in maneuvering and wide in future application prospect. Today's micro-aircraft are largely divided into three configurations: a micro fixed wing aircraft, a micro rotor aircraft and a micro flapping wing aircraft. Among these, the miniature fixed wing aircraft has started to be researched earlier, and has the advantages of large cruising radius and high cruising speed. But the lifting and the landing need to occupy certain space, and the control surface control mode also limits the improvement of the flexibility. The research on the aspect of the miniature rotor aircraft is the most abundant, and compared with a fixed-wing aircraft, the miniature rotor aircraft has the advantages that the vertical take-off and landing and hovering can be completed in a smaller space, and the flexibility and the activity are stronger. However, the inherent rotor reaction torque of the rotary-wing aircraft in the flight mode needs to be offset by using a tail rotor or increasing the number of the rotors, so that the whole aircraft has a complex structure, large mass and low aerodynamic efficiency. The micro flapping wing aircraft is an aircraft which simulates the flying motion form of bird or insect flapping wings and generates lift force through wing surface flapping, has obvious advantage of generating lift force under low Reynolds number, and is an ideal configuration of the micro aircraft. But the motion form is complex and is limited by the material performance, the processing technology, the control integration and the like.
In this context, a new concept aircraft combining flapping wings and rotors, the miniature flapping rotor aircraft, has entered the field of vision of people. The miniature flapping rotor wing aircraft enables a plurality of wings which are installed in a rotating direction to flap through a certain driving mode, the wings flap upwards to generate thrust to enable the wings to rotate, and lift force generated by the wings flap downwards and lift force generated by the wing surface rotating motion drive the aircraft to fly together. Because the rotary motion of the wing is not active, the reaction torque of the conventional power rotor is not available, so that an additional tail rotor or a rotor wing is not needed for counteracting, and the energy consumption is reduced. The miniature flapping-rotor aircraft has the capabilities of vertical take-off, landing and hovering and low-speed flexible flight, and has good application prospect.
The flapping rotary wing, such as the flapping rotary wing aircraft in the form of a micro-mechanical sliding rail type controllable flapping rotary wing aircraft disclosed in the Chinese patent application with the patent publication number of CN 105539839A at 30.12.2015, has the problems of high rudder control mechanism, low aerodynamic efficiency, slow response speed and the like. Moreover, for the micro flapping rotor craft, a driving mechanism which has a control surface close to the airfoil surface as much as possible so as to fully utilize the wake flow of the flapping rotor craft, quickly respond to a control command, is beneficial to improving the maneuvering performance of the flapping rotor craft, can further reduce the whole size of the flapping rotor craft and is more beneficial to the miniaturization of the craft is needed.
Disclosure of Invention
In order to solve the problems of the flapping rotor wing aircraft in the prior art, the invention provides a full-motion control surface for the flapping rotor wing aircraft, which comprises a frame body, a large control surface, a small control surface and a steering engine. The frame body is used for mounting three steering gears, two steering gears on two sides are parallel to the frame body, and the middle steering gear is vertically inserted into the middle of the frame body; the large control surface is arranged on a control arm of the middle steering engine; two small control surfaces are arranged on the rudder arms of the steering engines on two sides; the steering engine is used for receiving a control instruction to rotate the rudder arm to drive the large rudder surface and the two small rudder surfaces to rotate, so that control is realized.
The support body forms for the carbon fiber plate part concatenation, adopts unique frame construction in order to install three steering wheel, has arranged fan-shaped frame for guaranteeing big rudder face nimble motion at positive and negative 30 within ranges simultaneously.
The large control surface is composed of a large control surface frame and a thin film, and the large control surface frame is formed by cutting a carbon fiber plate; the film is cut into corresponding shapes and is bonded on the large rudder surface frame.
The small control surface is composed of a small control surface frame and a thin film, and the small control surface frame is formed by cutting a carbon fiber plate; the film is cut into corresponding shapes and is bonded on the small rudder surface frame.
The steering wheel divide into steering wheel body and rudder arm and constitutes, and the rudder arm bonds on the gear that the steering wheel body stretches out.
The specific operation mode of the full-motion control surface provided by the invention for realizing the functions of forward flight, lateral flight and steering of the flapping rotor aircraft is as follows:
1. front flight control: when the downwash airflow generated by the flapping rotor flows through the large rudder surface, the force generated on the large rudder surface forms a resultant force in a certain direction in a horizontal plane, the angle of the large rudder surface is changed, and the component force of the lift force generated by the wings on the horizontal plane drives the aircraft to fly forwards, so that the forward flight control is realized;
2. side flight control: when the downwash airflow generated by the flapping rotor wing flows through the small rudder surface, the force generated on the small rudder surface forms a resultant force in a certain direction in a horizontal plane, and the angles of the small rudder surfaces on the two sides are changed in the same direction through the steering engine, so that the lift force generated by the wing drives the aircraft to fly laterally under the force component on the horizontal plane, and the lateral flight control is realized;
3. steering control: when the lower washing air flow generated by the flapping rotor flows through the small rudder surfaces, the angles of the small rudder surfaces at two sides are changed through the steering engine, a couple around a vertical inner shaft in a horizontal plane is generated, the machine body is driven to rotate, and steering control is realized.
The invention has the following advantages:
1. the invention adopts the mode of full-moving control surfaces to cancel the part of the stabilizing surface, and the three control surfaces are tightly arranged and filled by design
The wake flow of the flapping rotor wing is utilized, the operation effect is improved, the overall height is reduced, and the number of parts is reduced;
2. the steering engine rotating shaft is used as the position of the control surface rotating shaft, so that the load of the control surface rotating shaft on the steering engine is reduced;
3. the flapping rotor wing control surface structure is compact and concise in overall structure, fewer in parts, lighter in weight and lower in overall height;
4. the control surface of the flapping rotor wing aircraft has high response speed and good control effect.
Drawings
Figure 1 is a block diagram of a flapping rotor aircraft according to the present invention, with fully dynamic control surfaces for the flapping rotor aircraft.
FIG. 2 is a block diagram of portions of a full motion control surface for a flapping rotor aircraft according to the present invention.
Figure 3 is a frame structure diagram of a full-motion control surface for a flapping rotor aircraft according to the present invention.
Fig. 3A is an exploded view of a frame structure of a full-motion control surface for a flapping rotor aircraft according to the present invention.
Figure 4 is a large control surface composition of a full motion control surface for a flapping rotor aircraft according to the present invention.
Fig. 4A and 4B are exploded views of the large control surface shown in fig. 4.
Figure 5 is a minirudder surface composition view of a full motion control surface for a flapping rotor aircraft, in accordance with the present invention.
FIG. 6 is a block diagram of a steering engine for the full-motion control surface of a flapping rotor aircraft according to the present invention.
In the figure:
1-a frame body; 2-large rudder surface; 3-small rudder surface; 4-a steering engine; 201-large rudder surface frame; 202-large rudder surface film;
301-minivane frame; 302-minirudder surface film; 401-steering engine body; 402-rudder arm.
Detailed description of the invention
The invention provides a full-motion control surface for a flapping rotor aircraft, aiming at the problems of high control surface control mechanism, low pneumatic efficiency, slow response speed and the like of the flapping rotor aircraft in the prior art. The invention has simple and compact structure, convenient manufacture, high response speed of the steering engine and low overall height, and is more beneficial to the realization of the miniaturization of the flapping rotor aircraft.
As shown in fig. 1 and 2, the full-motion control surface for a flapping-rotor aircraft provided by the invention is installed below a flapping rotor, and comprises a frame body 1, a large control surface 2, a small control surface 3 and a steering engine 4. As shown in fig. 4, the large rudder surface 2 includes: a large control surface frame 201 and a large control surface film 202; as shown in fig. 5, the rudder surface 3 includes: a small rudder surface frame 301 and a small rudder surface membrane 302. As shown in fig. 6, the steering engine 4 includes: steering engine body 401 and rudder arm 402. The large rudder surface film 202 and the small rudder surface film 302 are made of polyethylene film materials.
As shown in fig. 3 to 6, the frame body, the large control surface, the small control surface and the steering engine of the full-motion control surface of the flapping rotor aircraft are respectively shown in the composition diagram. The frame body 1 is used for mounting three steering engines 4, two steering engines 4 on two sides are parallel to the main body of the frame body 1, and the steering engine 4 in the middle is vertically inserted into the middle of the frame body 1; the large control surface 2 is arranged on a control arm 402 of the middle steering engine 4; two small control surfaces 3 are arranged on the control arms 402 of the steering engines 4 at two sides; the steering engine body 401 is used for receiving a control instruction to rotate the rudder arm 402 to drive the large rudder surface 2 and the two small rudder surfaces 3.
As shown in fig. 3, the present invention is a frame structure for a full-motion control surface of a flapping-rotor aircraft. The frame body 1 is formed by splicing carbon fiber plates, adopts a unique frame structure to install three steering engines 4, and is provided with a fan-shaped frame for ensuring the flexible movement of the large control surface 2 within the range of plus or minus 30 degrees. In particular, as shown in the figure3AAs shown, the whole appearance of the frame body 1 is of a plane frame structure and comprises a fan-shaped frame 101 and three steering engine mounting positions 102, 103 and 104, wherein the three steering engine mounting positions are arranged below the fan-shaped frame 101, and after the steering engines are mounted, the middle of the frame body is in a middleThe steering engine is vertical to the plane of the fan-shaped frame, the rudder arm is connected with a large control surface 2, and the large control surface 2 limits the rotation angle by the fan-shaped frame structure; the left steering engine and the right steering engine are parallel to the plane of the fan-shaped frame, the arms of the steering engines are respectively positioned on two sides and connected with two small control surfaces 3, and the two small control surfaces 3 are coplanar with the plane of the fan-shaped frame after being connected. In order to reinforce the strength of the fan-shaped frame 101, two side frames 105 are used for reinforcing the two sides of the fan-shaped frame; in order to be connected with a power part at the upper part of the flapping-rotor aircraft, the upper part of a fan-shaped frame 101 is vertically spliced with a frame 106 with a positioning rod and then is bonded with a cross-shaped top frame 107; all the splices are butted by inserting holes and are bonded and fixed by glue.
Fig. 4 shows a large control surface structure of the invention for a full-motion control surface of a flapping-rotor aircraft. The large control surface 2 consists of a large control surface frame 201 and a large control surface film 202, the large control surface frame 201 is formed by cutting a carbon fiber plate, the large control surface frame 201 is in a large rectangular shape, the inside of the large control surface frame 201 is divided into two squares and a small rectangle, the two squares have the same area as the small control surface frame 301, and support rods are arranged in the two squares; two positioning bulges are arranged on the inner side of the middle small rectangle and are used for connecting a rudder arm of a steering engine. The large control surface film 202 is cut into a corresponding shape and is bonded on the large control surface frame 201. The large control surface frame 201 is required to be crossed with the frame body 1 and is split into two parts, as shown in fig. 4A and 4B, the large rectangular whole is a first part, the middle small rectangular opening forms a second part, and after the large rectangular whole is crossed with the fan-shaped frame part of the frame body 1, the second part is bonded to form the large control surface frame whole.
Fig. 5 shows a small control surface structure of the invention for a full-motion control surface of a flapping-rotor aircraft. The small control surface 3 consists of a small control surface frame 301 and a small control surface film 302, the small control surface frame 301 is formed by cutting a carbon fiber plate, the shape of the small control surface frame is square, and a support rod is arranged in the middle of the small control surface frame; the small rudder surface film 302 is cut into a corresponding shape and is adhered to the small rudder surface frame 301. Two positioning bulges at the side of the small rudder surface 3 are clamped on the rudder arm 402 and are adhered.
As shown in fig. 6, the invention is a steering engine structure for a full-motion control surface of a flapping-rotor aircraft. The steering engine 4 comprises a steering engine body 401 and a rudder arm 402, and the rudder arm 402 is bonded on a gear extending out of the steering engine. The middle steering gears 4 are vertically arranged in the rectangular holes in the middle of the frame body 1, and the steering gears 4 on the two sides are respectively arranged in the grooves on the two sides of the frame body 1 in parallel. The rudder arm 402 is used to connect the large rudder surface 2 and the small rudder surface 3.
The invention provides a full-motion control surface installation process for a flapping rotor aircraft, which comprises the following steps:
the method comprises the following steps: manufacturing a frame body;
the frame body 1 is formed by splicing carbon fiber plate parts, and the main body frame comprises a fan-shaped frame and three mounting positions of steering engines; in order to strengthen the strength of the main body frame, two side frames are used for strengthening the two sides of the main body frame; in order to be connected with a power part at the upper part of the flapping rotor wing aircraft, the upper part of the main body framework is vertically spliced with a framework with a positioning rod and then is bonded with the cross-shaped top framework together; all the splices are butted by inserting holes and are bonded and fixed by glue.
Step two: mounting a steering engine;
the steering engines 4 are power parts for controlling the control surface mechanism, the total number of the steering engines is three, firstly, steering engine bodies 401 and rudder arms 402 of all the steering engines are combined, and the rudder arms 402 are just the middle position of the range of motion of the steering engines 4 in the vertical state; a steering engine 4 for controlling the movement of the large steering surface 2 is inserted into a rectangular hole mounting position 103 in the middle of the frame body 1, and is fixedly bonded when mounting lugs of the steering engine 4 are contacted with the frame body 1; two steering engines 4 for controlling the small control surface 3 to move are laterally arranged in the mounting positions 102 and 104 on two sides of the frame body 1, so that the steering engines 4 are ensured to drive the small control surface 3 to be kept in the same plane with the frame body 1 when the small control surface 3 is in the middle position.
Step three: the mounting control surface comprises a large control surface 2 and two small control surfaces 3;
bonding the large control surface frame 201 and the small control surface frame 301 with the cut films 202 and 203 respectively; the large control surface 2 needs to be crossed with the frame body 1, so that the processing is divided into two parts, the first part of the frame body 1 is forked into the fan-shaped frame part of the frame body 1 from bottom to top, the second part is bonded at the opening position of the first part to form the complete large control surface 2, the second part is positioned in the fan-shaped frame, and then two positioning bulges at the middle part of the large control surface 2 are clamped at two sides of a rudder arm 402 of a steering engine at the middle part of the frame body 1 and are bonded and fixed; the two small control surfaces 3 are respectively clamped on two sides of the rudder arms 402 of the steering engines on two sides of the frame body 1 by the two positioning bulges on the side parts, and are bonded and fixed. The large control surface 2 and the two small control surfaces 3 are ensured to be crossed and vertical in the initial installation position. The large control surface 2 can swing in the fan-shaped frame, and the swing angle is positive and negative 30 degrees of the initial position.
The frame body 1 and the large control surface 2 are mutually crossed through the assembling process.
Fig. 1 shows a flapping rotor aircraft with a full-motion rudder surface according to the present invention, where the full-motion rudder surface is located below the flapping rotor and is connected to a body portion of the flapping rotor aircraft through a cross-shaped top frame 107, so as to implement control of the flapping rotor aircraft. The invention provides a control method for realizing the functions of forward flight, lateral flight and steering of a flapping rotor aircraft, which comprises the following steps:
1. front flight control: when the downwash airflow generated by the flapping rotor wing flows through the large control surface 2, the force generated on the large control surface 2 forms a resultant force in a certain direction in a horizontal plane, and the angle formed by the large control surface 2 and the aircraft body is changed, so that the lift force generated by the wing drives the aircraft to fly forwards under the partial force on the horizontal plane, and the forward flight control is realized.
2. Side flight control: when the downwash airflow generated by the flapping rotor wing flows through the small control surfaces 3, the force generated on the small control surfaces 3 forms a resultant force in a certain direction in the horizontal plane, and the angles of the small control surfaces 3 on the two sides are changed in the same direction, so that the component force of the lift force generated by the wing on the horizontal plane drives the aircraft to fly laterally, and the lateral flight control is realized.
3. Steering control: when the downwash air flow generated by the flapping rotor wing flows through the small control surfaces 3, the angles of the small control surfaces 3 on the two sides are symmetrically changed, a couple around a vertical inner shaft in a horizontal plane is generated, the aircraft is driven to integrally rotate, and steering control is achieved.
Claims (2)
1. A full-motion control surface for a flapping rotor aircraft comprises a frame body (1), a large control surface (2), a small control surface (3) and a steering engine (4); the frame body (1) is used for mounting three steering engines (4), two steering engines (4) on two sides are parallel to the main body of the frame body (1), and the middle steering engine (4) is vertically inserted into the middle of the frame body; the large control surface (2) is arranged on a control arm of the middle steering engine (4); the two small control surfaces (3) are arranged on the rudder arms of the steering engines (4) at the two sides and are coplanar with the frame body; the large control surface (2) and the two small control surfaces (3) are arranged in a crossed and vertical mode; the steering engine (4) is used for receiving a control instruction to rotate the rudder arm to drive the large rudder surface (2) and the two small rudder surfaces (3) to rotate so as to realize control;
the method is characterized in that:
the frame body (1) is formed by splicing carbon fiber plate parts, the overall appearance of the frame body (1) is of a plane frame structure and comprises a fan-shaped frame (101) and three steering engine mounting positions (102, 103 and 104), the three steering engine mounting positions (102, 103 and 104) are arranged below the fan-shaped frame (101), after the steering engines are mounted, a middle steering engine is perpendicular to the plane of the fan-shaped frame (101), a large control surface (2) is connected to a steering engine arm, and a rotation angle of the large control surface (2) is limited by the fan-shaped frame (101) structure; the left steering engine and the right steering engine are parallel to the plane of the fan-shaped frame (101), the arms of the steering engines are respectively positioned on two sides and connected with two small control surfaces (3), and the two small control surfaces (3) are connected and then coplanar with the plane of the fan-shaped frame (101); two sides of the fan-shaped frame (101) are reinforced by two side frames; the upper part of the fan-shaped frame (101) is vertically spliced with a frame (106) with a positioning rod and then is bonded with a cross-shaped top frame (107); all the splices are butted by inserting holes and are bonded and fixed by glue;
the large control surface (2) is composed of a large control surface frame (201) and a large control surface film (202), the large control surface frame (201) is formed by cutting a carbon fiber plate, the large control surface frame (201) is in a large rectangular shape, the inside of the large control surface frame (201) is divided into two squares and a small rectangle, the areas of the two squares are equal to that of the small control surface frame (301), and support rods are arranged in the two squares; two positioning bulges are arranged on the inner side of the middle small rectangle and are used for connecting a rudder arm of a steering engine; the large control surface film (202) is cut into a corresponding shape and is bonded on the large control surface frame (201); the large control surface frame (201) is required to be arranged in a crossed manner with the frame body and is split into two parts, the large rectangular whole is a first part, the middle small rectangular opening forms a second part, and after the large rectangular whole is crossed with the frame body sector frame part, the second part is bonded to form the large control surface frame whole;
the small control surface (3) is divided into a small control surface frame (301) and a small control surface film (302), the small control surface frame (301) is formed by cutting a carbon fiber plate, the shape of the small control surface frame is square, and a support rod is arranged in the middle of the small control surface frame; the small control surface film (302) is cut into a corresponding shape and is adhered to the small control surface frame (301); two positioning bulges at the side part of the small control surface clamp and bond the rudder arm.
2. The fully-actuated control surface for a flapping-rotor aircraft according to claim 1, wherein: the full-motion control surface realizes the forward flight, the side flight and the steering control of the flapping rotor aircraft, and the method specifically comprises the following steps:
front flight control: when downwash airflow generated by the flapping rotor wing flows through the large control surface (2), force generated on the large control surface (2) forms resultant force in a certain direction in a horizontal plane, the angle of the large control surface (2) is changed, and component force of lift force generated by the wing on the horizontal plane drives the aircraft to fly forwards, so that forward flight control is realized;
side flight control: when downwash airflow generated by the flapping rotor wing flows through the small control surfaces (3), force generated on the small control surfaces (3) forms resultant force in a certain direction in a horizontal plane, and the angles of the small control surfaces (3) on two sides are changed in the same direction through the steering engine (4), so that the component force of lift force generated by the wing on the horizontal plane drives the aircraft to fly laterally, and lateral flight control is realized;
steering control: when the downwash air flow generated by the flapping rotor wing flows through the small control surfaces (3), the angles of the small control surfaces (3) at two sides are symmetrically changed through the steering engine (4), a couple around a vertical inner shaft in a horizontal plane is generated, the machine body is driven to rotate, and steering control is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910332077.1A CN110104177B (en) | 2019-04-24 | 2019-04-24 | Full-motion control surface for flapping rotor aircraft |
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| CN201910332077.1A CN110104177B (en) | 2019-04-24 | 2019-04-24 | Full-motion control surface for flapping rotor aircraft |
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| CN110104177B true CN110104177B (en) | 2021-01-26 |
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| CN201910332077.1A Expired - Fee Related CN110104177B (en) | 2019-04-24 | 2019-04-24 | Full-motion control surface for flapping rotor aircraft |
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| CN112659011B (en) * | 2020-11-12 | 2023-03-24 | 北京星航机电装备有限公司 | Control surface folding and releasing tool and control surface folding and releasing method |
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|---|---|---|---|---|
| GB2470712A (en) * | 2009-03-11 | 2010-12-08 | Shijun Guo | Air vehicle with flapping rotor |
| CN102390530B (en) * | 2011-09-19 | 2014-01-08 | 北京航空航天大学 | Micromechanical controllable flapping rotary wing aircraft and manufacturing method as well as control method thereof |
| CN105539839A (en) * | 2015-12-30 | 2016-05-04 | 北京航空航天大学 | Miniature mechanical sliding rail type controllable flapping rotor craft |
| CN106314761A (en) * | 2016-08-31 | 2017-01-11 | 北京航空航天大学 | All-moving wing mechanism applied to small compound helicopter |
| WO2017138902A1 (en) * | 2016-02-10 | 2017-08-17 | Guzelbey Ibrahim Halil | A rotor system and an air vehicle equipped with such a rotor |
| CN109305346A (en) * | 2018-11-27 | 2019-02-05 | 歌尔股份有限公司 | A kind of unmanned plane during flying device |
-
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2470712A (en) * | 2009-03-11 | 2010-12-08 | Shijun Guo | Air vehicle with flapping rotor |
| CN102390530B (en) * | 2011-09-19 | 2014-01-08 | 北京航空航天大学 | Micromechanical controllable flapping rotary wing aircraft and manufacturing method as well as control method thereof |
| CN105539839A (en) * | 2015-12-30 | 2016-05-04 | 北京航空航天大学 | Miniature mechanical sliding rail type controllable flapping rotor craft |
| WO2017138902A1 (en) * | 2016-02-10 | 2017-08-17 | Guzelbey Ibrahim Halil | A rotor system and an air vehicle equipped with such a rotor |
| CN106314761A (en) * | 2016-08-31 | 2017-01-11 | 北京航空航天大学 | All-moving wing mechanism applied to small compound helicopter |
| CN109305346A (en) * | 2018-11-27 | 2019-02-05 | 歌尔股份有限公司 | A kind of unmanned plane during flying device |
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