CN110844061A - Front and back rotor wing synchronous tilting and hanging disc type rotor wing aircraft - Google Patents
Front and back rotor wing synchronous tilting and hanging disc type rotor wing aircraft Download PDFInfo
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- CN110844061A CN110844061A CN201911004944.5A CN201911004944A CN110844061A CN 110844061 A CN110844061 A CN 110844061A CN 201911004944 A CN201911004944 A CN 201911004944A CN 110844061 A CN110844061 A CN 110844061A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The embodiment of the invention discloses a front and back rotor wing synchronous tilting and verticality disk type rotor wing aircraft, which comprises: a body; the main wing is fixed in the middle of the fuselage and comprises a fixed wing and a first rotor wing, wherein the fixed wing is connected with the upper reverse angle flat lower single wing on two sides of the fuselage, the first rotor wing is connected with one end, far away from the fuselage, of the fixed wing, and the first rotor wing is a disc rotor wing; the second rotor wings are fixed on two sides of the head of the fuselage; the third rotor wings are fixed on two sides of the tail of the fuselage; the main motor is arranged in the machine body; the standby motor is arranged in the machine body; the synchronous transmission mechanism is in transmission connection with the second rotor wing and the third rotor wing respectively; wherein, main motor and stand-by motor drive synchronous drive mechanism simultaneously and rotate, drive second rotor and third rotor and change the angle of verting in step. The invention uses the main motor and the standby motor to control the second rotor and the third rotor to synchronously tilt, thereby increasing the stability of the aircraft in the tilting process and improving the reliability of the aircraft.
Description
Technical Field
The invention relates to the field of aircrafts, in particular to a front-rear rotor wing synchronous tilting and drooping disc type rotor wing aircraft.
Background
The existing drooping fixed-wing aircraft mainly has three design schemes, namely a non-tilting drooping fixed-wing mode, a front rotor tilting fixed-wing mode and a front and rear rotor tilting fixed-wing mode. Wherein, three kinds of schemes are 4 rotors generally and consolidate the stationary vane mode, and rotor quantity and size have restricted the loading capacity of aircraft, and the fixed vane mode that inclines of preceding rotor makes aircraft stability difficult to control in the mode of hanging down to the fixed vane mode transition process, and the front and back rotor inclines simultaneously and the fixed vane mode has not been the model of success yet.
Disclosure of Invention
In order to solve the technical problem, the embodiment of the invention provides a front-rear rotor wing synchronous tilting and drooping disc type rotor wing aircraft.
The embodiment of the invention provides a front-rear rotor wing synchronous tilting and verticality disk type rotor wing aircraft, which comprises:
a body;
the main wing is fixed in the middle of the fuselage and comprises a fixed wing and a first rotor wing, wherein the fixed wing is connected with upper reverse angles and straight lower single wings on two sides of the fuselage, the first rotor wing is connected with one end, far away from the fuselage, of the fixed wing, and the first rotor wing is a disc rotor wing;
the second rotor wings are fixed on two sides of the head of the machine body;
the third rotor wings are fixed on two sides of the tail of the machine body;
the main motor is arranged in the machine body;
the standby motor is arranged in the machine body; and
the synchronous transmission mechanism is in transmission connection with the second rotor wing and the third rotor wing respectively;
wherein, main motor with stand-by motor simultaneous drive synchronous drive mechanism rotates, drives the second rotor with the third rotor verts in step.
Optionally, the synchronous transmission mechanism comprises a plurality of gears and a transmission belt cooperating with the plurality of gears.
Optionally, the gears include a first gear, a second gear, a third gear, a fourth gear, a fifth gear, and a sixth gear, and the belts include a first belt, a second belt, and a third belt;
the first gear and the second gear are coaxially arranged, an inner ring of the first gear and an inner ring of the second gear are connected through a first rotating shaft to synchronously rotate, and the main motor and the standby motor simultaneously drive the first rotating shaft to rotate;
the first gear and the fifth gear are connected through the first transmission belt, and the fifth gear is used for driving the second rotor to rotate;
the second gear is connected with the third gear through the second transmission belt, the fourth gear is connected with the sixth gear through the third transmission belt, and the sixth gear is used for driving the third rotor to rotate;
the third gear and the fourth gear are coaxially arranged, and the inner ring of the third gear and the inner ring of the fourth gear are connected through a second rotating shaft to synchronously rotate;
the diameters of the first gear, the second gear, the third gear and the fourth gear are equal, the diameters of the fifth gear and the sixth gear are equal, and the transmission ratio of the first gear and the fifth gear is equal to the transmission ratio of the fourth gear and the sixth gear.
Optionally, the wind power generator further comprises a first connecting rod and a second connecting rod, the first connecting rod is connected with the inner ring of the fifth gear, two ends of the first connecting rod respectively penetrate out of the airframe on the corresponding side, and two ends of the first connecting rod are respectively and rigidly connected with one second rotor wing;
the second connecting rod is connected with the inner ring of the sixth gear, and two ends of the second connecting rod are respectively and rigidly connected with one third rotor.
Optionally, the tail body further comprises a horizontal tail, one end of the horizontal tail is fixedly connected with the tail part of the machine body, and the second connecting rod penetrates through the other end of the horizontal tail.
Optionally, the drive belt comprises a belt or a chain.
Optionally, the synchronous transmission mechanism comprises a plurality of gears, and the gears are mutually matched.
Optionally, the top cowl of the first rotor is provided with a fairing.
Optionally, the second rotor and the third rotor are respectively surrounded by a wing tip ring.
According to the technical scheme provided by the embodiment of the invention, the main motor and the standby motor are used for controlling the second rotor wing and the third rotor wing to synchronously tilt, so that the stability of the aircraft in the tilting process is increased, and the reliability of the aircraft is improved.
Drawings
Fig. 1 is a schematic perspective view of a front-rear rotor synchronous tilt-droop flying saucer-type rotor aircraft in a non-tilt-droop takeoff mode according to an embodiment of the present invention;
fig. 2 is a block diagram of a front-rear rotor synchronous tilt-droop disk-rotor aircraft according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a front-rear rotor synchronous tilt-droop saucer-type rotor aircraft according to an embodiment of the invention;
fig. 4 is a schematic perspective view of a front-rear rotor synchronous tilt-droop disk-rotor aircraft in an embodiment of the present invention, illustrating a transition state of the rotor aircraft from a non-tilt-droop takeoff mode to a fixed-wing flight mode;
fig. 5 is a schematic perspective view of a front-rear rotor synchronous tilt-droop rotor aircraft in a fixed-wing flight mode in accordance with an embodiment of the present invention.
Reference numerals:
1: a body; 2: a main wing; 21: a fixed wing; 22: a first rotor; 3: a second rotor; 4: a third rotor; 5: a main motor; 6: a standby motor; 7: a synchronous transmission mechanism; 71: a first gear; 72: a second gear; 73: a third gear; 74: a fourth gear; 75: a fifth gear; 76: a sixth gear; 77: a first drive belt; 78: a second belt; 79: a third belt; 8: a first link; 9: a second link; 10: flattening the tail; 20: a cowling; 30: a wing tip ring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the following embodiments may be combined without conflict.
The embodiment of the invention provides a front-rear rotor wing synchronous tilting and verticality disc rotor aircraft, which can comprise a fuselage 1 and a main wing 2 fixed in the middle of the fuselage 1 by combining with fig. 1 to fig. 5, wherein the main wing 2 comprises a fixed wing 21 connected to upper-reverse-angle flat lower single wings on two sides of the fuselage 1 and a first rotor wing 22 connected with one end, far away from the fuselage 1, of the fixed wing 21, and the first rotor wing 22 is a disc rotor wing. The front and rear rotor synchronous tilting and hanging disc rotor aircraft can also comprise a second rotor 3, a third rotor 4, a main motor 5, a standby motor 6 and a synchronous transmission mechanism 7. Wherein, the second rotor 3 is fixed in fuselage 1 head both sides, and third rotor 4 is fixed in fuselage 1 afterbody both sides. In fuselage 1 was all located to main motor 5, stand-by motor 6, synchronous drive mechanism 7 was connected with second rotor 3, third rotor 4 transmission respectively, and main motor 5 and stand-by motor 6 of this embodiment drive synchronous drive mechanism 7 simultaneously and rotate, drive second rotor 3 and third rotor 4 and vert in step.
According to the front-rear rotor wing synchronous tilting and hanging disc type rotor wing aircraft provided by the embodiment of the invention, the main motor 5 and the standby motor 6 are used for controlling the second rotor wing 3 and the third rotor wing 4 to tilt synchronously, so that the stability of the aircraft in the tilting process is increased, and the reliability of the aircraft is improved.
Wherein, the main wing 2 can include 1-n pairs of fixed wings 21 plus 1-n pairs of fixed pitch or variable pitch first rotor 22, and the number of pairs of the fixed wings 21 and the first rotor 22 can be determined according to the load capacity requirement. n is a positive integer, and n is more than or equal to 1.
In the embodiment of the present invention, when the second rotor 3 and the third rotor 4 are horizontally disposed, as shown in fig. 1, the second rotor 3 and the third rotor 4 do not tilt relative to the fuselage 1; when the second rotor 3 and the third rotor 4 are arranged non-horizontally, as shown in fig. 4 or fig. 5, the second rotor 3 and the third rotor 4 are tilted by the same angle with respect to the fuselage 1.
In this embodiment, the pitch angle of the saucer-type rotor aircraft is controlled by the rotation speed of the tilt rotor, and the turning of the saucer-type rotor aircraft is controlled by the difference in rotation speed between the left and right tilt rotors.
The synchronous transmission mechanism may be designed as desired, for example, in some embodiments, the synchronous transmission mechanism 7 includes a plurality of gears and a transmission belt cooperating with the plurality of gears. Alternatively, referring to fig. 3, the gears include a first gear 71, a second gear 72, a third gear 73, a fourth gear 74, a fifth gear 75, and a sixth gear 76, and the transmission belts include a first transmission belt 77, a second transmission belt 78, and a third transmission belt 79.
In this embodiment, the first gear 71 and the second gear 72 are coaxially disposed, the inner ring of the first gear 71 and the inner ring of the second gear 72 are connected to rotate synchronously via a first rotating shaft (not shown), and the main motor 5 and the backup motor 6 simultaneously drive the first rotating shaft to rotate. The main motor 5 and the backup motor 6 of the present embodiment simultaneously drive the first rotation shaft to rotate in the same rotation direction, thereby driving the first gear 71 and the second gear 72 to rotate in the same rotation direction. Specifically, the output shaft of the main motor 5 and the output shaft of the standby motor 6 are fitted to the first rotation shaft through the transmission gear, so that the rotational force of the main motor 5 and the standby motor 6 is transmitted to the first rotation shaft through the transmission gear. In the process that the rotor craft is switched to the fixed wing 21 flight mode from the non-tilting vertical takeoff mode, if one of the main motor 5 and the standby motor 6 is damaged, if the main motor 5 is damaged, the first rotating shaft still rotates under the driving of the standby motor 6, the rotor craft is still switched to the fixed wing 21 flight mode from the non-tilting vertical takeoff mode under the driving of the standby motor 6, the stability of the aircraft in the tilting process is improved, and the reliability of the aircraft is improved. In the embodiment of the invention, the driving power when the main motor 5 and the standby motor 6 are used for simultaneously driving the rotorcraft to switch from the non-tilting vertical takeoff mode to the fixed wing 21 flight mode is smaller than the driving power when the main motor 5 and the standby motor 6 are used for simultaneously driving the rotorcraft to switch from the non-tilting vertical takeoff mode to the fixed wing 21 flight mode.
Further, referring again to fig. 3, first gear 71 is connected to fifth gear 75 via a first belt 77, and fifth gear 75 is used for driving second rotor 3 to rotate. The second gear 72 is connected to the third gear 73 via a second belt 78, the fourth gear 74 is connected to a sixth gear 76 via a third belt 79, and the sixth gear 76 is used to rotate the third rotor 4. The third gear 73 and the fourth gear 74 of the present embodiment are coaxially disposed, and an inner ring of the third gear 73 and an inner ring of the fourth gear 74 are connected to rotate synchronously by a second rotation shaft (not shown). Furthermore, the diameters of the first gear 71, the second gear 72, the third gear 73 and the fourth gear 74 are equal, the diameters of the fifth gear 75 and the sixth gear 76 are equal, and the transmission ratio of the first gear 71 and the fifth gear 75 is equal to the transmission ratio of the fourth gear 74 and the sixth gear 76, that is, the diameter of the first gear 71/the diameter of the fifth gear 75 is equal to the diameter of the fourth gear 74/the diameter of the sixth gear 76, so as to realize the synchronous tilting effect of the second rotor 3 and the third rotor 4.
Please refer to fig. 1, fig. 3, fig. 4 and fig. 5, the front and rear rotor synchronous tilting saucer-type rotor aircraft of this embodiment further includes a first connecting rod 8 and a second connecting rod 9, wherein the first connecting rod 8 is connected to the inner ring of the fifth gear 75, and two ends of the first connecting rod 8 respectively penetrate through the airframe 1 on the corresponding side, two ends of the first connecting rod 8 are respectively rigidly connected to one second rotor 3, the fifth gear 75 rotates to drive the first connecting rod 8 to synchronously rotate, so as to drive the second rotor 3 to tilt. The second connecting rod 9 is connected with the inner ring of the sixth gear 76, and the two ends of the second connecting rod 9 are respectively and rigidly connected with a third rotor 4, and the sixth gear 76 rotates to drive the second connecting rod 9 to synchronously rotate, so that the third rotor 4 is driven to tilt.
Further, please refer to fig. 1, fig. 3, fig. 4 and fig. 5 again, the front and rear rotor synchronous tilting and hanging saucer-type rotor craft of this embodiment further includes a horizontal tail 10, one end of the horizontal tail 10 is fixedly connected to the tail of the fuselage 1, and the second connecting rod 9 penetrates through the other end of the horizontal tail 10. In the present embodiment, the third belt 79 and the sixth gear 76 are accommodated in the horizontal tail 10.
The drive belt may comprise a belt or chain, but may also comprise other belt-like structures capable of transmitting rotational forces.
In other embodiments, the synchronous drive mechanism 7 comprises a plurality of gears that cooperate with each other. Alternatively, the first transmission belt 77, the second transmission belt 78, and the third transmission belt 79 in the above embodiments are replaced with a multi-stage gear having a transmission ratio of 1, and the rotation of the first gear 71 is transmitted to the fifth gear 75 through the multi-stage gear having a transmission ratio of 1, the rotation of the second gear 72 is transmitted to the third gear 73 through the multi-stage gear having a transmission ratio of 1, and the rotation of the third gear 73 is also transmitted to the sixth gear 76 through the multi-stage gear having a transmission ratio of 1, and finally, the synchronous tilting of the second rotor 3 and the third rotor 4 is achieved.
The existing disk rotor aircraft with the fixed wing 21 flight mode has the defects of small number of rotors and low carrying capacity, and if the carrying capacity is increased, the wingspan needs to be increased, so that the stability in the vertical stage is influenced. In addition, if the load capacity of the existing disc rotor aircraft is increased, the wingspan needs to be made larger, the overall size of the aircraft is greatly increased, the ailerons and the rudder need to be added for controlling the flight attitude, the structural complexity of the aircraft is increased, and the reliability of the aircraft is reduced. In view of the above, referring to fig. 1, 4 and 5, in the embodiment of the present invention, the top of the first rotor 22 is covered with a fairing 20. The main wing 2 adopts a mode of adding the fixed wing 21 and the first rotor 22 with the fairing 20, so that the area of the main wing 2 is increased, the wingspan of the main wing 2 is reduced, namely, the area of the first rotor 22 is increased, the size of the fixed wing 21 is reduced, and the load capacity of the aircraft is increased; simultaneously, the gyroscopic effect of first rotor 22 promotes, has improved stability, security, rigidity, reliability and the wind resistance of aircraft. Further, referring to fig. 1, fig. 4 and fig. 5 again, the peripheries of the second rotor 3 and the third rotor 4 are respectively surrounded by a wing tip ring 30, so that the areas of the second rotor 3 and the third rotor 4 are increased, the load capacity of the aircraft is further increased, and the stability, safety, rigidity, reliability and wind resistance of the aircraft are improved.
Optionally, the second rotor 3 is inclined with respect to the horizontal plane, the first rotor 22 and the third rotor 4 are parallel to the horizontal plane, the third rotor 4 is a saucer-type rotor, i.e. the top of the third rotor 4 is covered with a fairing 20, and the surrounding tip ring 30 of the third rotor 4 is eliminated. In this embodiment, the rotation axis of the second rotor 3 and the horizontal plane form a predetermined included angle, and the rotation axis of the first rotor 22 and the rotation axis of the third rotor 4 are perpendicular to the horizontal plane. In this embodiment, the horizontal tail 10 may be eliminated.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a synchronous tilting dish formula rotor craft that hangs down of front and back rotor which characterized in that includes:
a fuselage (1);
the main wing (2) is fixed in the middle of the fuselage (1), the main wing (2) comprises a fixed wing (21) which is connected with an upper dihedral straight lower single wing at two sides of the fuselage (1) and a first rotor wing (22) which is connected with one end, far away from the fuselage (1), of the fixed wing (21), and the first rotor wing (22) is a disc rotor wing;
the second rotor wings (3) are fixed on two sides of the head of the machine body (1);
the third rotor wings (4) are fixed on two sides of the tail of the machine body (1);
a main motor (5) arranged in the machine body (1);
a standby motor (6) arranged in the machine body (1); and
the synchronous transmission mechanism (7) is in transmission connection with the second rotor wing (3) and the third rotor wing (4) respectively;
wherein, main motor (5) with stand-by motor (6) simultaneous drive synchronous transmission mechanism (7) rotate, drive second rotor (3) with third rotor (4) vert in step.
2. Front-rear rotor synchronous tiltrotor saucer aircraft according to claim 1, wherein said synchronous drive mechanism (7) comprises a plurality of gears and a belt cooperating with said plurality of gears.
3. The front-rear rotor synchronous tiltrotor saucer aircraft of claim 2, wherein said gears comprise a first gear (71), a second gear (72), a third gear (73), a fourth gear (74), a fifth gear (75), and a sixth gear (76), and said belts comprise a first belt (77), a second belt (78), and a third belt (79);
the first gear (71) and the second gear (72) are coaxially arranged, the inner ring of the first gear (71) and the inner ring of the second gear (72) are connected through a first rotating shaft to synchronously rotate, and the main motor (5) and the standby motor (6) simultaneously drive the first rotating shaft to rotate;
the first gear (71) is connected with the fifth gear (75) through the first transmission belt (77), and the fifth gear (75) is used for driving the second rotor (3) to rotate;
the second gear (72) is connected with the third gear (73) through the second transmission belt (78), the fourth gear (74) is connected with the sixth gear (76) through the third transmission belt (79), and the sixth gear (76) is used for driving the third rotor (4) to rotate;
the third gear (73) and the fourth gear (74) are coaxially arranged, and the inner ring of the third gear (73) and the inner ring of the fourth gear (74) are connected through a second rotating shaft to synchronously rotate;
the diameters of the first gear (71), the second gear (72), the third gear (73) and the fourth gear (74) are equal, the diameters of the fifth gear (75) and the sixth gear (76) are equal, and the transmission ratio of the first gear (71) and the fifth gear (75) is equal in size to the transmission ratio of the fourth gear (74) and the sixth gear (76).
4. The front-rear rotor synchronous tilt-rotor saucer-type aircraft according to claim 3, further comprising a first link (8) and a second link (9), wherein the first link (8) is connected to the inner ring of the fifth gear (75), and both ends of the first link (8) respectively protrude from the fuselage (1) on the corresponding side, and both ends of the first link (8) are respectively rigidly connected to one of the second rotors (3);
the second connecting rod (9) is connected with the inner ring of the sixth gear (76), and two ends of the second connecting rod (9) are respectively and rigidly connected with one third rotor (4).
5. The front and rear rotor synchronous tilting and hanging saucer-type rotary wing aircraft of claim 4, further comprising a horizontal tail (10), wherein one end of the horizontal tail (10) is fixedly connected with the tail of the aircraft body (1), and the other end of the horizontal tail (10) is penetrated by the second connecting rod (9).
6. The front-rear rotor synchronous tilt-rotor saucer-type aircraft according to claim 2 or 3, wherein said belt comprises a belt or a chain.
7. Front and rear rotor synchronous tiltrotor saucer-type aircraft according to claim 1, wherein said synchronous drive mechanism (7) comprises a plurality of gears, and wherein said gears are engaged with each other.
8. Front and rear rotor synchronous tilt-droop rotor-craft according to claim 1, characterized in that the top of the first rotor (22) is shrouded with a fairing (20).
9. Front and rear rotor synchronous tilt-droop rotor-craft according to claim 1, characterized in that the second rotor (3), the third rotor (4) are surrounded all around by a wing tip ring (30), respectively.
10. Front and rear rotor synchronous tilt-droop saucer-type rotor aircraft according to claim 1, characterized in that the second rotor (3) is inclined with respect to the horizontal plane, the first rotor (22) and the third rotor (4) are parallel to the horizontal plane, and the third rotor (4) is a saucer-type rotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911004944.5A CN110844061A (en) | 2019-10-22 | 2019-10-22 | Front and back rotor wing synchronous tilting and hanging disc type rotor wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911004944.5A CN110844061A (en) | 2019-10-22 | 2019-10-22 | Front and back rotor wing synchronous tilting and hanging disc type rotor wing aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110844061A true CN110844061A (en) | 2020-02-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911004944.5A Pending CN110844061A (en) | 2019-10-22 | 2019-10-22 | Front and back rotor wing synchronous tilting and hanging disc type rotor wing aircraft |
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| CN (1) | CN110844061A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112874772A (en) * | 2021-03-29 | 2021-06-01 | 兰州山河上空智能科技有限公司 | Tilting composite wing aircraft mainly based on multi-rotor framework |
-
2019
- 2019-10-22 CN CN201911004944.5A patent/CN110844061A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112874772A (en) * | 2021-03-29 | 2021-06-01 | 兰州山河上空智能科技有限公司 | Tilting composite wing aircraft mainly based on multi-rotor framework |
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