CN111232206A - Fixed-pitch variable-speed dual-rotor tandem unmanned helicopter - Google Patents
Fixed-pitch variable-speed dual-rotor tandem unmanned helicopter Download PDFInfo
- Publication number
- CN111232206A CN111232206A CN202010203204.0A CN202010203204A CN111232206A CN 111232206 A CN111232206 A CN 111232206A CN 202010203204 A CN202010203204 A CN 202010203204A CN 111232206 A CN111232206 A CN 111232206A
- Authority
- CN
- China
- Prior art keywords
- plate
- speed
- unmanned helicopter
- propeller
- motor
- 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.)
- Pending
Links
- 230000003014 reinforcing effect Effects 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000003825 pressing Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 3
- 230000000737 periodic effect Effects 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 3
- 239000002699 waste material Substances 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 8
- 230000002787 reinforcement Effects 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000035899 viability Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/52—Skis or runners
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
-
- 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
- B64C27/605—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical including swash plate, spider or cam mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The invention discloses a fixed-pitch variable-speed double-rotor wing tandem unmanned helicopter which comprises a helicopter body assembly, and a power assembly and a posture adjusting assembly which are arranged on the helicopter body in a front-back mode, wherein the posture adjusting assembly and the power assembly are arranged in a one-to-one correspondence mode. The invention has the advantages that the pitch of the propeller is not changed, the lift force is changed by adjusting the rotating speed of the motor, the posture is changed by tilting the angle of the swash plate, the structure is simplified, the weight is reduced, the waste resistance is reduced, the cost is reduced, the reliability is improved, and the maintenance is simplified.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a fixed-pitch variable-speed dual-rotor tandem unmanned helicopter.
Background
The multi-rotor unmanned aerial vehicle is simple in structure and low in cost, but the load and the time are generally small, and the multi-rotor unmanned aerial vehicle is mainly used in application scenes with low requirements and short voyage, such as agriculture and forestry plant protection, traffic law enforcement, movie and television shooting. Fixed wing unmanned aerial vehicle is pneumatic efficient, the time of endurance is long, flying speed is fast, but can not hover, and need the runway, is used for long-range application scene more, like geographical mapping, electric power patrols line, forest fire inspection etc.. The unmanned helicopter (a single rotor tail rotor unmanned helicopter, also called a conventional unmanned helicopter) can vertically take off and land (no runway is needed), can suspend freely, has moderate endurance time and flight speed, and can be used in medium-range application scenes such as island transportation, aerial geophysical prospecting, rescue and disaster relief and the like. The conventional unmanned helicopter has certain short plates, such as difficult control, high requirements on flight control and control personnel and the like; in addition, the diameter of the rotor wing needs to be increased in order to increase the takeoff weight, but when the diameter of the rotor wing is too large, the weight is increased, the manufacturing cost is increased, the storage and transportation field is enlarged, and the space viability is deteriorated; in addition, a tail rotor is needed to be arranged for balancing the reaction torque derived from the main rotor, and due to the existence of the tail rotor, the mechanical efficiency is low (the loss of the tail rotor is about 7% -12%), the tail rotor is easy to be interfered by crosswind, the fuselage is too long and narrow, the tail part failure rate is high, the balancing process is complicated, and external stores are easy to be interfered by the landing gear.
The main advantages of the double-rotor tandem helicopter are that the two pairs of rotors counteract the reactive torque mutually, a tail rotor and a tail beam supporting the tail rotor are not needed, and the size of the blade is small under the same lift force, so the structure is relatively compact, and the fault caused by the tail rotor is avoided. Secondly, the two rotors are arranged in tandem along the longitudinal axis of the fuselage, in which form the fuselage volume is large, allowing a large range of movement of the centre of gravity, and the efficiency of loading and transport is high, since no special balancing is required. Thirdly, because no tail rotor exists, the power loss is reduced, the power is relatively rich, the cross wind resistance is strong, and the load is relatively high. At present, a double-rotor wing tandem helicopter generally adopts a fully articulated hub and a three-steering engine type tilting disk, has a complex structure, heavy weight and troublesome maintenance, and does not fully exert the advantages of the helicopter.
Disclosure of Invention
The invention aims to provide a fixed-pitch variable-speed dual-rotor tandem unmanned helicopter which solves the defects in the background technology and is free of a speed reducing mechanism and a variable-pitch mechanism.
In order to solve the technical problems encountered in the prior art, the invention adopts the technical scheme that:
the utility model provides a decide unmanned helicopter of oar pitch variable-speed bispin wing column formula, settle power component and the appearance subassembly of transferring on the organism by organism subassembly and front and back, the appearance subassembly of transferring sets up with the power component one-to-one, adopt the fixed pitch screw rather than the variable pitch rotor, change the lift size through adjusting motor rotational speed, increase or reduce motor speed and can realize going up and down, adopt two steering wheel formula sloping cam plates to change whole power component orientation, thereby realize every single move, roll, driftage, and the non-realization through periodic displacement.
The machine body assembly comprises side plates, a reinforcing member, an upper plate, a bottom plate, a seat plate and an undercarriage.
The machine body assembly is of a plate type structure, and a main frame of the machine body is composed of two side plates, an upper plate, a lower plate, five reinforcing members clamped between the two side plates and two seat plates for placing the posture adjusting assembly.
The landing gear is of a skid type structure and is connected to the reinforcing members at two ends through semicircular pipe clamps.
The posture adjusting assembly comprises a stand column, a fisheye bearing, a swash plate, a bearing cover, a ball head connecting rod, a steering engine and a steering engine seat, one end of the stand column is connected to the seat plate, the other end of the stand column is inserted into an inner ring of the fisheye bearing and is provided with a shaft retainer ring for limiting, an outer ring of the fisheye bearing is placed in a bearing seat of the swash plate and is limited by the bearing cover screwed on the swash plate, one end of the ball head connecting rod is hinged on the swash plate, the other end of the ball head connecting rod is hinged on a rocker arm of;
the tilting tray is only pushed to tilt, not rotate and slide by two steering engines within a small angle range, and the center lines of two holes of the articulated ball head connecting rod and the center of the fisheye bearing are on the same plane.
The steering engine is installed on a steering engine base screwed to the bottom of the seat plate and is arranged in bilateral symmetry.
The power assembly comprises a motor, an electric regulator, a propeller pressing plate and a fairing, one end of the motor is fixed on the swash plate, the other end of the motor is not directly connected with the propeller through any transmission mechanism, the propeller pressing plate is pressed on the propeller and is connected with the motor through screws, the electric regulator is installed at the bottom of the seat plate, and the fairing is installed on the upper portion of the propeller pressing plate.
The power assembly adopts a direct-drive structure, namely, the motor is directly connected with the propeller without any transmission mechanism.
Compared with the prior art, the invention has the beneficial effects that:
1) the structure is simple, no transmission mechanism or pitch varying mechanism exists, the structure can be composed of more than 20 kinds of parts and more than 40 parts at least, the cost is low, the weight is light, the reliability is high, and the maintenance is convenient;
2) the control is simple, the lifting can be realized by increasing or decreasing the rotating speed of the motor, and the pitching, rolling and yawing can be realized by tilting the angle of the swash plate;
3) the waste resistance is small, the number of parts is greatly reduced, and the vertical plate type machine body in the xoy plane is adopted, so that the air resistance is favorably reduced.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the component constitution of the present invention.
Fig. 3 is a schematic view of the body assembly of the present invention.
FIG. 4 is a schematic view of the attitude adjustment assembly and power assembly of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings. The examples described herein are intended to be illustrative only and are not intended to be limiting of the embodiments of the invention.
As shown in fig. 1, the fixed-pitch variable-speed dual-rotor tandem unmanned helicopter is composed of a helicopter body assembly 1, a power assembly 2 and a posture adjusting assembly 3, wherein the posture adjusting assembly 3 and the power assembly 2 are arranged in a one-to-one correspondence manner.
As shown in fig. 2, the airframe assembly 1 includes two side panels 11, five reinforcing members 12, an upper panel 13, a lower panel 14, two seat panels 15, and a pair of landing gears 16. Two side plates 11, an upper plate 13, a lower plate 14, five reinforcing members 12 clamped between the two side plates and two seat plates 15 for placing the posture adjusting assembly form a main frame of the machine body, and a skid type landing gear 16 is connected to the reinforcing members 12 at two ends through semicircular pipe clamps.
As shown in fig. 3, the side plate 11 is a main bearing member and is fixedly connected by five reinforcements 12, the upper plate 13 is screwed on the two reinforcements 12 at the upper part and can be used for placing a GPS, the lower plate 14 is screwed on the three reinforcements 12 at the lower part and can be used for placing a battery, a flight control station, a data transmission station and the like, and the seat plates 15 are placed at the front end and the rear end of the side plate 11 and are used for placing the posture adjusting assembly 3.
The landing gear 16 is of a skid structure and is connected to the reinforcing members at two ends through semicircular pipe clamps.
As shown in fig. 4, the posture adjustment assembly 3 includes a vertical column 31, a fisheye bearing 32, a tilting tray 33, a bearing cover 34, a ball head connecting rod 35, a steering engine 36 and a steering engine seat 37, one end of the vertical column 31 is connected to the seat plate 15, the other end of the vertical column 31 is inserted into the inner ring of the fisheye bearing 32 and is provided with a shaft retainer ring for limiting, the outer ring of the fisheye bearing 32 is placed in a bearing seat of the tilting tray 33 and is limited by the bearing cover 34 screwed on the tilting tray 33, one end of the ball head connecting rod 35 is hinged on the tilting tray 33, the other end of the ball head connecting rod 35 is hinged on a steering engine rocker;
the tilting tray 33 is only pushed to tilt, not rotate and slide by the two steering engines 36 within a small angle range, and the center lines of the two holes of the articulated ball head connecting rod 35 and the center of the fisheye bearing 33 are on the same plane.
The steering engine 36 is installed on a steering engine seat 37 screwed at the bottom of the seat board and is arranged in a bilateral symmetry mode.
As shown in fig. 4, the power assembly 2 includes a motor 21, an electric governor 22, a propeller 23, a propeller pressing plate 24 and a cowling 25.
One end of the motor 21 is fixed on the swash plate 32, the other end of the motor is directly connected with the propeller 23 without any transmission mechanism, the propeller pressing plate 24 is pressed on the propeller and connects the propeller 23 with the motor 21 through screws, the electric regulator 22 is installed at the bottom of the seat plate 15, and the fairing 25 is installed at the upper part of the propeller pressing plate 24.
The flying principle is as follows:
and (3) moving up and down: meanwhile, the rotation speed of the motor is increased, so that the ascending can be realized, and the rotation speed of the motor is reduced, so that the descending can be realized.
Front and back movement: the two steering engines simultaneously push the ball head connecting rod upwards to enable the swash plate to incline forwards, the lifting force of the propeller generates a forward component, and then forward movement can be realized, otherwise; the two steering engines pull the ball head connecting rod downwards simultaneously to enable the swash plate to incline backwards, and the lifting force of the propeller generates backward components, so that backward movement can be realized.
Left and right movement: the left steering engine is pulled downwards, the right steering engine is pushed upwards, the front and the rear swash plates are inclined leftwards, the lifting force of the propeller generates a leftward component, and leftward movement can be realized; the left steering engine pushes up, the right steering engine pulls down, makes two sloping cam plates all incline right around, can realize the motion of right.
Yaw movement: the left steering engine at the front part is pulled downwards, the right steering engine at the right part is pushed upwards, the swash plate inclines leftwards, the left steering engine at the rear part is pushed upwards, the right steering engine at the right part is pulled downwards, and the swash plate inclines rightwards, so that the anticlockwise yawing can be realized; the front left steering engine pushes up, the right steering engine pulls down, the swash plate inclines to the right, the rear left steering engine pulls down, the right steering engine pushes up, the swash plate inclines to the left, and clockwise yawing can be achieved.
The above examples are only for illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations will readily occur to those skilled in the art and are neither required nor exhaustive of all embodiments. Any electric drive based on the present invention falls within the scope of the present invention.
Claims (8)
1. The utility model provides a decide unmanned helicopter of pitch variable-speed bispin wing column formula which characterized in that: the device comprises a machine body assembly, a power assembly and a posture adjusting assembly, wherein the power assembly and the posture adjusting assembly are arranged on the machine body in a front-back mode, the posture adjusting assembly and the power assembly are arranged in a one-to-one correspondence mode, the machine body assembly comprises side plates, reinforcing members, an upper plate, a lower plate, seat plates and an undercarriage, the two side plates, the upper plate, the lower plate, five reinforcing members clamped between the two side plates and the two seat plates for placing the posture adjusting assembly form a main frame of the machine body, and the undercarriage is connected to the reinforcing members; the posture adjusting assembly comprises a stand column, a fisheye bearing, a swash plate, a bearing cover, a ball head connecting rod, a steering engine and a steering engine seat, one end of the stand column is connected to the seat plate, the other end of the stand column is inserted into an inner ring of the fisheye bearing and is provided with a shaft retainer ring for limiting, an outer ring of the fisheye bearing is placed in a bearing seat of the swash plate and is limited by the bearing cover screwed on the swash plate, one end of the ball head connecting rod is hinged on the swash plate, the other end of the ball head connecting rod is hinged on a steering engine rocker arm; the power assembly comprises a motor, an electric regulator, a propeller pressing plate and a fairing, one end of the motor is fixed on the swash plate, the other end of the motor is not directly connected with the propeller through any transmission mechanism, the propeller pressing plate is pressed on the propeller and is connected with the motor through screws, the electric regulator is installed at the bottom of the seat plate, and the fairing is installed on the upper portion of the propeller pressing plate.
2. The utility model provides a decide unmanned helicopter of pitch variable-speed bispin wing column formula which characterized in that: the fixed-pitch propeller is adopted instead of the variable-pitch rotor, the lift force is changed by adjusting the rotating speed of the motor, and the rotating speed of the motor is increased or reduced to realize lifting.
3. The utility model provides a decide unmanned helicopter of pitch variable-speed bispin wing column formula which characterized in that: the double-steering engine type swash plate is adopted to change the orientation of the whole power assembly, so that pitching, rolling and yawing are realized, and periodic pitch changing of a rotor wing is not realized.
4. The utility model provides a decide unmanned helicopter of pitch variable-speed bispin wing column formula which characterized in that: the machine body assembly is of a plate type structure and comprises two side plates, an upper plate, a lower plate, five reinforcing members clamped between the two side plates, two seat plates for placing the posture adjusting assembly and a pair of landing gears.
5. The utility model provides a decide unmanned helicopter of pitch variable-speed bispin wing column formula which characterized in that: the landing gear is of a skid type structure and is connected to the reinforcing members at two ends through semicircular pipe clamps.
6. The utility model provides a decide unmanned helicopter of pitch variable-speed bispin wing column formula which characterized in that: the tilting tray is only pushed to tilt, not rotate and slide by two steering engines within a small angle range, and the center lines of two holes of the articulated ball head connecting rod and the center of the fisheye bearing are on the same plane.
7. The utility model provides a decide unmanned helicopter of pitch variable-speed bispin wing column formula which characterized in that: the steering engine is arranged on a steering engine base screwed on the bottom of the seat plate.
8. The utility model provides a decide unmanned helicopter of pitch variable-speed bispin wing column formula which characterized in that: the power assembly adopts a direct-drive structure, namely, the motor is directly connected with the propeller without any transmission mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010203204.0A CN111232206A (en) | 2020-03-20 | 2020-03-20 | Fixed-pitch variable-speed dual-rotor tandem unmanned helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010203204.0A CN111232206A (en) | 2020-03-20 | 2020-03-20 | Fixed-pitch variable-speed dual-rotor tandem unmanned helicopter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111232206A true CN111232206A (en) | 2020-06-05 |
Family
ID=70873796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010203204.0A Pending CN111232206A (en) | 2020-03-20 | 2020-03-20 | Fixed-pitch variable-speed dual-rotor tandem unmanned helicopter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111232206A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891348A (en) * | 2020-08-12 | 2020-11-06 | 天津斑斓航空科技有限公司 | Vertical take-off and landing aircraft with universally-tiltable rotor wings and control method thereof |
| CN111891345A (en) * | 2020-08-12 | 2020-11-06 | 天津斑斓航空科技有限公司 | Control method of tandem type tiltrotor vertical take-off and landing aircraft and aircraft |
| CN111891344A (en) * | 2020-08-12 | 2020-11-06 | 天津斑斓航空科技有限公司 | Tandem type tiltable rotor aircraft |
| CN112249315A (en) * | 2020-09-29 | 2021-01-22 | 南昌临空通讯科技有限公司 | Tandem dual rotor unmanned aerial vehicle |
| CN112298537A (en) * | 2020-09-23 | 2021-02-02 | 海南热带海洋学院 | Direct-drive four-steering-engine double-rotor-wing longitudinal unmanned helicopter and control method thereof |
| CN114408170A (en) * | 2021-12-31 | 2022-04-29 | 南京韬讯航空科技有限公司 | Dual-rotor helicopter system and control strategy |
-
2020
- 2020-03-20 CN CN202010203204.0A patent/CN111232206A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891348A (en) * | 2020-08-12 | 2020-11-06 | 天津斑斓航空科技有限公司 | Vertical take-off and landing aircraft with universally-tiltable rotor wings and control method thereof |
| CN111891345A (en) * | 2020-08-12 | 2020-11-06 | 天津斑斓航空科技有限公司 | Control method of tandem type tiltrotor vertical take-off and landing aircraft and aircraft |
| CN111891344A (en) * | 2020-08-12 | 2020-11-06 | 天津斑斓航空科技有限公司 | Tandem type tiltable rotor aircraft |
| CN111891345B (en) * | 2020-08-12 | 2021-06-11 | 天津斑斓航空科技有限公司 | Control method of tandem type tiltrotor vertical take-off and landing aircraft and aircraft |
| CN111891344B (en) * | 2020-08-12 | 2021-10-22 | 天津斑斓航空科技有限公司 | Tandem type tiltable rotor aircraft |
| CN112298537A (en) * | 2020-09-23 | 2021-02-02 | 海南热带海洋学院 | Direct-drive four-steering-engine double-rotor-wing longitudinal unmanned helicopter and control method thereof |
| CN112298537B (en) * | 2020-09-23 | 2022-10-11 | 海南热带海洋学院 | Direct-drive four-steering-engine double-rotor-wing longitudinal unmanned helicopter and control method thereof |
| CN112249315A (en) * | 2020-09-29 | 2021-01-22 | 南昌临空通讯科技有限公司 | Tandem dual rotor unmanned aerial vehicle |
| CN114408170A (en) * | 2021-12-31 | 2022-04-29 | 南京韬讯航空科技有限公司 | Dual-rotor helicopter system and control strategy |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111232206A (en) | Fixed-pitch variable-speed dual-rotor tandem unmanned helicopter | |
| CN106927030B (en) | Oil-electricity hybrid power multi-rotor aircraft and flight control method thereof | |
| CN110316370B (en) | Layout and control method of distributed power tilting wing aircraft | |
| CN110203383B (en) | Modularized cross type column unmanned helicopter and working method thereof | |
| CN204750564U (en) | Three rotor VTOL unmanned aerial vehicle on Y type | |
| CN111823797A (en) | Duct type water-air amphibious unmanned aircraft capable of tilting | |
| CN111516869A (en) | Layout and control method of tilt rotor-wing vertical take-off and landing aircraft | |
| CN102133926A (en) | Tailstock type vertical take-off and landing unmanned aerial vehicle | |
| CN103332293A (en) | Tilting double-duct subminiature unmanned plane | |
| CN201712787U (en) | Electric tilt rotor unmanned aircraft | |
| CN110626495A (en) | Small coaxial double-rotor type unmanned aerial vehicle | |
| CN206141828U (en) | Unmanned rotation rotor helicopter | |
| CN218806635U (en) | Tilt coaxial four-rotor unmanned aerial vehicle | |
| CN113753229A (en) | Foldable fixed-wing four-rotor composite unmanned aerial vehicle and control method thereof | |
| CN105711827A (en) | Oil and electricity hybrid power multi-rotor aircraft | |
| CN201321159Y (en) | Unmanned aircraft with vertical ducts | |
| CN112298537A (en) | Direct-drive four-steering-engine double-rotor-wing longitudinal unmanned helicopter and control method thereof | |
| CN206141823U (en) | Many rotors plant protection unmanned aerial vehicle | |
| CN109353176B (en) | Tricycle is experienced in flight | |
| CN201744174U (en) | Model airplane vertically taking off and landing | |
| CN113184185A (en) | Streamlined coaxial many rotor unmanned aerial vehicle of adaptable adverse circumstances | |
| CN211943739U (en) | Fixed-pitch variable-speed dual-rotor tandem unmanned helicopter | |
| CN210526847U (en) | Small coaxial double-rotor type unmanned aerial vehicle | |
| CN111874221A (en) | Big load is listed as bispin wing unmanned aerial vehicle platform in column | |
| CN112644723A (en) | Open type miniature photoelectric pod |
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 |