CN111619801A - Multi-shaft tail sitting type unmanned aerial vehicle - Google Patents
Multi-shaft tail sitting type unmanned aerial vehicle Download PDFInfo
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- CN111619801A CN111619801A CN202010505445.0A CN202010505445A CN111619801A CN 111619801 A CN111619801 A CN 111619801A CN 202010505445 A CN202010505445 A CN 202010505445A CN 111619801 A CN111619801 A CN 111619801A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/02—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/80—Vertical take-off or landing, e.g. using rockets
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Abstract
The invention discloses a multi-shaft tail sitting type unmanned aerial vehicle which comprises a body, wings and vertical tails, wherein the wings are arranged on the two horizontal sides of the body, the vertical tails are arranged on the two vertical sides of the body, a main power device is arranged at the head of the body, landing gears are arranged at the tail of the body, auxiliary power devices are arranged at the two end parts of the wings and the two end parts of the vertical tails, and the auxiliary power devices are obliquely arranged to realize that the generated torque eliminates the reaction torque of the main power device. The multi-shaft tail sitting type unmanned aerial vehicle has the flight performance of a fixed wing aircraft and a rotor wing aircraft, and adopts a mode that the main power device and the auxiliary power device act simultaneously when taking off and landing vertically, so that the thrust-weight ratio requirement of the main power device is reduced, the flat flight stage efficiency is high, the time is long, particularly the reactive torque of the main power device is eliminated by the torque generated by the obliquely-installed auxiliary power device, and the taking off and landing stability is good.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a multi-shaft tail sitting type unmanned aerial vehicle.
Background
In recent years, unmanned aerial vehicles have played a significant role in military and civilian fields.
Unmanned vehicles can promote the information-based level in battlefield greatly, also have wide application demand in fields such as environmental monitoring, electric power line patrol, conflagration monitoring simultaneously, but unmanned vehicles often demonstrate certain limitation when dealing with multiple different task demands. The conventional fixed-wing aircraft has high forward flight speed and large task radius, but needs to run or launch and block for taking off and landing, and cannot hover at a fixed point for a target; the rotor type aircraft can vertically take off and land and hover, and has excellent low-speed performance, but the rotor type aircraft has low forward flying speed and small task radius, and cannot meet the requirements of quick response and long-distance tasks.
Therefore, how to provide a multi-shaft tail sitting type unmanned aerial vehicle which has flight performance of both fixed wing aircrafts and rotor wing aircrafts, has a simple structure, good maneuverability and a wide application field is a technical problem which needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
The invention aims to provide a multi-shaft tail sitting type unmanned aerial vehicle which has flight performances of a fixed wing aircraft and a rotor wing aircraft, reduces the thrust-weight ratio requirement of a main power device by adopting a mode that the main power device and an auxiliary power device act simultaneously during vertical take-off and landing, has high efficiency in a level flight stage and long time of flight, particularly eliminates the reaction torque of the main power device by the torque generated by the obliquely-installed auxiliary power device, and has good take-off and landing stability.
In order to achieve the purpose, the invention provides a multi-shaft tail sitting type unmanned aerial vehicle which comprises a body, wings and vertical tails, wherein the wings are arranged on the two horizontal sides of the body, the vertical tails are arranged on the two vertical sides of the body, a main power device is arranged at the head of the body, an undercarriage is arranged at the tail of the body, auxiliary power devices are arranged at the two end parts of the wings and the two end parts of the vertical tails, and the auxiliary power devices are obliquely arranged to realize that the generated torque eliminates the reaction torque of the main power device.
Preferably, the wings are swept-back type wings with a large aspect ratio of airfoil section, and the two groups of wings are symmetrically arranged on two horizontal sides of the fuselage.
Preferably, each set of wings is provided with ailerons and flaps outside the trailing edge.
Preferably, the vertical tails are swept-back wings with small aspect ratios and airfoil profiles, and the two groups of vertical tails are symmetrically arranged on two vertical sides of the fuselage.
Preferably, a rudder is arranged outside the rear edge of each group of vertical tails.
Preferably, the auxiliary power means comprises an electrically driven motor.
Preferably, the number of the motors is four, the four sets of the motors are respectively arranged at two end parts of the wing and two end parts of the vertical tail, each set of the motors comprises an upper motor and a lower motor, the upper motors are respectively arranged forwards and backwards, and the inclined installation directions of the upper motors are parallel to the inclined installation directions of the lower motors.
Preferably, the number of the motors is four, the four sets of the motors are respectively arranged at two end parts of the wing and two end parts of the vertical tail, and each set of the motors comprises an upper motor which is arranged forwards independently.
Preferably, the wing, landing gear and vertical fin are modular components to enable independent disassembly from the fuselage.
Compared with the background technology, the multi-shaft tail sitting type unmanned aerial vehicle comprises a body, wings and a vertical tail, wherein the wings are arranged on the left side and the right side of the body along the horizontal direction, the vertical tail is arranged on the upper side and the lower side of the body along the vertical direction, the multi-shaft tail sitting type unmanned aerial vehicle further comprises an undercarriage, a main power device and an auxiliary power device, the undercarriage is arranged on the tail portion of the body, the main power device is arranged on the head portion of the body, the auxiliary power device is arranged on two end portions of the wings and two end portions of the vertical tail, and the installation direction of the auxiliary power device, the wings and the vertical tail during installation is inclined, so that the reactive torque; the multi-shaft tail sitting type unmanned aerial vehicle has the advantages that the aerodynamic appearance of the aircraft is formed by the fuselage, the wings and the vertical tails, the flying power of the aircraft is provided by the main power device and the auxiliary power device, the reactive torque of the main power device is eliminated by the torque generated by the auxiliary power device which is obliquely installed during flying, the taking-off and landing stability is good, the mode that the main power device and the auxiliary power device act simultaneously is adopted during vertical taking-off and landing, the thrust-weight ratio requirement of the main power device is reduced, the flat flying stage efficiency is high, the time of flight is long, the multi-shaft tail sitting type unmanned aerial vehicle has the flying performance of the fixed wing aircraft and the rotor wing aircraft, the structure is simple, the maneuverability is good, and the application field is wide.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a multi-axis tail-seated unmanned aerial vehicle according to a first embodiment of the present invention;
fig. 2 is an elevation schematic view of a multi-axis tail-seated unmanned aerial vehicle according to a first embodiment of the present invention;
FIG. 3 is a schematic view of the auxiliary power unit of FIG. 1 in an inclined orientation;
FIG. 4 is a schematic structural view of the auxiliary power unit and the motor shown in FIG. 3 after being installed;
fig. 5 is a schematic structural diagram of a multi-axis tail-seated unmanned aerial vehicle according to a second embodiment of the invention;
FIG. 6 is a schematic view of the auxiliary power unit of FIG. 5 in an inclined orientation;
fig. 7 is a schematic structural view of the auxiliary power unit and the motor shown in fig. 6 after being mounted.
Wherein:
1-fuselage, 2-main power device, 3-wing, 4-auxiliary power device, 5-aileron, 6-wing flap, 7-landing gear, 8-vertical tail, 9-rudder, 10-upper motor and 11-lower motor.
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.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 7, fig. 1 is a schematic structural diagram of a multi-shaft tail sitting type unmanned aerial vehicle according to a first embodiment of the present invention, fig. 2 is a schematic elevation view of the multi-shaft tail sitting type unmanned aerial vehicle according to the first embodiment of the present invention, fig. 3 is a schematic diagram of an inclined direction of an auxiliary power device in fig. 1, fig. 4 is a schematic structural diagram of the auxiliary power device and a motor in fig. 3 after installation, fig. 5 is a schematic structural diagram of the multi-shaft tail sitting type unmanned aerial vehicle according to a second embodiment of the present invention, fig. 6 is a schematic diagram of the auxiliary power device in fig. 5 in the inclined direction, and fig. 7 is a schematic structural diagram of the auxiliary power device and the motor in fig. 6 after installation.
In a first specific embodiment, the multi-shaft tail sitting type unmanned aerial vehicle provided by the invention comprises a fuselage 1, wings 3 and a vertical tail 8, wherein the wings 3 and the vertical tail 8 are fixedly connected with the fuselage 1, the wings 3 are positioned at the middle rear section of the fuselage 1, the vertical tail 8 is positioned at the rear section of the fuselage 1, the wings 3 comprise left wings and right wings, namely the wings 3 are arranged at the left side and the right side of the fuselage 1 along the horizontal direction, and the vertical tail 8 comprises an upper tail and a lower tail, namely the vertical tail 8 is arranged at the upper side and the lower side of the fuselage 1 along the vertical direction. The main power device 2 is arranged at the head of the fuselage 1, the two end parts of the wings 3 and the two end parts of the vertical tails 8 are both provided with the auxiliary power devices 4, namely the auxiliary power devices 4 are arranged on the left wing, the right wing, the upper tail and the lower tail, an inclined included angle is formed between the installation direction and the central axis when the auxiliary power devices 4 are installed, and the undercarriage 7 is arranged at the tail of the fuselage 1.
In the present embodiment, the auxiliary power unit 4 located at the outer end of the wing 3 and the vertical fin 8 corresponds to the multi-axis of the multi-axis tail-seated unmanned aerial vehicle, and the landing gear 7 located at the tail end of the fuselage 1 is seated with respect to the tail of the multi-axis tail-seated unmanned aerial vehicle; the wings 3, the vertical tails 8 and the fuselage 1 form the aerodynamic shape of the aircraft, and the aerodynamic shape has a streamline shape; the main power device 2 and the auxiliary power device 4 jointly provide flying power for the aircraft, the moment generated by the auxiliary power device 4 obliquely installed during flying eliminates the reaction moment of the main power device 2, the taking-off and landing stability is good, the main power device 2 and the auxiliary power device 4 jointly act during vertical taking-off and landing, the thrust-weight ratio requirement of the main power device 2 is reduced, the flat flying stage efficiency is high, and the flight time is long.
Exemplarily, the wing 3 and the vertical fin 8 of the multiaxial tail sitting type unmanned aerial vehicle have different airfoil structures; the wings 3 are swept-back type wings with a large aspect ratio of airfoil sections, the two groups of wings 3 are symmetrically arranged on two horizontal sides of the fuselage 1, the vertical tails 8 are swept-back type wings with a small aspect ratio of airfoil sections, and the two groups of vertical tails 8 are symmetrically arranged on two vertical sides of the fuselage 1.
In this embodiment, each set of wings 3 is provided with ailerons 5 and flaps 6 on the outer sides of the trailing edges, that is, each of the left wing and the right wing is provided with ailerons 5 and flaps 6, the ailerons 5 and the flaps 6 on the left and right sides are axisymmetric with respect to the fuselage 1, the ailerons 5 and the flaps 6 are located between the auxiliary power device 4 and the fuselage 1, the ailerons 5 are arranged outwards, and the flaps 6 are arranged inwards.
On this basis, the rudder 9 is all equipped with in the trailing edge outside of every group vertical fin 8, and the tail is gone up promptly and the tail all is equipped with rudder 9 down, and the rudder 9 of upper and lower both sides uses fuselage 1 as the axisymmetric, and rudder 9 is located between auxiliary power device 4 and fuselage 1.
When the multi-shaft tail sitting type unmanned aerial vehicle is in standing, the sweepback type wings 3 enable the gravity center of the whole machine to be close to the tail of the fuselage 1 during vertical take-off and landing, and the standing stability is good; the moment generated by the auxiliary power device 4 which is installed obliquely eliminates the reaction moment of the main power device 2, and the stability of taking off and landing is good. When taking off and landing vertically, the main power device 2 and the auxiliary power device 4 act simultaneously, the thrust-weight ratio requirement of the main power device 2 is reduced, the flat flight stage efficiency is high, and the time of flight is long. When the horizontal flight mode and the vertical take-off and landing mode are switched, the auxiliary power device 4 and the flap 6 are matched to generate larger raising moment, and the switching time from the vertical take-off and landing mode to the horizontal flight mode is short.
Illustratively, the auxiliary power device 4 is electrically driven, that is, the auxiliary power device 4 includes an electrically driven motor, and the blades are rotated by the motor to provide the pulling force or pushing force required for lifting or flying. The auxiliary power unit 4 can be used to obtain different configurations of aircraft by installing or removing the number of electric motors.
In a specific embodiment, the number of the motors is four, four sets of the motors are respectively arranged at two end portions of the wing 3 and two end portions of the vertical tail 8, that is, the four sets of the motors are respectively arranged at the left wing, the right wing, the upper tail and the lower tail, each set of the motors comprises an upper motor 10 and a lower motor 11, the upper motor 10 and the lower motor 11 are respectively arranged forwards, the inclined installation direction of the upper motor 10 and the inclined installation direction of the lower motor 11 are parallel, the geometric parameters of the eight motors are the same in total, the eight-shaft tail sitting type unmanned aerial vehicle is formed, that is, the wing tip of the left wing is respectively provided with a forward motor and a backward motor, the pulling force and the pushing force are respectively provided according to different acting forces, the motors at the right wing, the upper tail and the lower tail are the same as the arrangement mode and the acting.
In the working process of the eight-shaft tail sitting type unmanned aerial vehicle, when the aircraft vertically takes off from a standing state, the aircraft quickly climbs under the action of the tensile force of an upper motor 10 of a main power device 2 and an auxiliary power device 4 and the thrust force of a lower motor 11 of the auxiliary power device 4, a couple in a wing flattening surface generated by obliquely installing the auxiliary power device 4 is used for controlling the rolling attitude at the stage, when the horizontal flying speed of the aircraft is greater than the lowest flying speed of a fixed wing, the auxiliary power device 4 is closed, and the aircraft is switched to a fixed wing flying mode; in the fixed wing flight mode, the main aerodynamic control surfaces of the eight-axis tail sitting type unmanned aerial vehicle comprise ailerons 5, flaps 6 and rudders 9, which are respectively used for roll, pitch and yaw control; when the aircraft lands perpendicularly, reduce aircraft flying speed, when aircraft flying speed is close fixed wing flight minimum speed, start auxiliary power device 4, at this moment, the aircraft slowly rises the head under the action of gravity, install this stage of roll-over attitude control of auxiliary power device 4 and the 6 cooperations of wing flap that hang down 8 tip at this moment, the aircraft slowly descends under the action of gravity, finally realizes that the aircraft steadily lands on ground.
In another specific embodiment, the number of the motors is four, the four sets of motors are respectively arranged at two end portions of the wing 3 and two end portions of the vertical tail 8, that is, the four sets of motors are respectively arranged on the left wing, the right wing, the upper tail and the lower tail, each set of motors comprises an upper motor 10 which is arranged forwards independently, and the geometric parameters of the four motors are the same in total, so that the four-shaft tail sitting type unmanned aerial vehicle is formed.
In the working process of the four-axis tail sitting type unmanned aerial vehicle, when the aircraft vertically takes off from a standing state, the aircraft quickly climbs under the action of the tensile force of the upper motors 10 of the main power device 2 and the auxiliary power device 4, a couple in a wing flattening surface generated by obliquely installing the auxiliary power device 4 is used for controlling the rolling attitude at the stage, when the horizontal flying speed of the aircraft is greater than the lowest flying speed of a fixed wing, the auxiliary power device 4 is closed, and the aircraft is switched to a fixed wing flying mode; in the fixed wing flight mode, the main aerodynamic control surfaces of the four-axis tail sitting type unmanned aerial vehicle comprise ailerons 5, flaps 6 and rudders 9 which are respectively used for roll, pitch and yaw control; when the aircraft lands vertically, the flying speed of the aircraft is reduced, when the flying speed of the aircraft is close to the lowest flying speed of the fixed wings, the auxiliary power device 4 is started, at the moment, the aircraft slowly raises head under the action of gravity, the auxiliary power device 4 and the flap 6 are matched to realize the rolling attitude control in the stage, the aircraft slowly descends under the action of gravity, and finally the aircraft stably falls on the ground.
For better technical effect, this multiaxis tail sitting posture unmanned vehicles is with aircraft part modularization, also is wing 3, undercarriage 7 and vertical fin 8 for the modularization part for wing 3, undercarriage 7 and vertical fin 8 homoenergetic are independently dismantled, make a whole set of aircraft can accomodate in small packing box, dismouting and transportation convenience.
In this embodiment, this multiaxis tail sitting posture unmanned vehicles belongs to unmanned vehicles technical field, and among current tail sitting posture unmanned vehicles, be a novel aircraft that has VTOL performance, but satisfy different speed, different radius of operation, VTOL simultaneously. In the stage of taking off and landing, the airframe 1 provided with the engine is tilted, the aircraft takes off by means of the thrust of the engine and the ground effect, and after the aircraft is lifted off, the airframe 1 is leveled and the aircraft flies at a high speed in a fixed wing flying mode. On one hand, the tail-seated aircraft can vertically take off and land in places (such as mountainous regions and cities) without conventional horizontal take-off and landing conditions, and is convenient to launch and recover; on the other hand, the tail-seated aircraft can fly according to a fixed wing mode after turning into a flat flight state, the endurance time is long, and the operation radius is large.
In the multi-shaft tail sitting type unmanned aerial vehicle provided by the invention, when the multi-shaft tail sitting type unmanned aerial vehicle is in standing, the gravity center of the whole vehicle is close to the tail part of the vehicle body 1 due to the sweepback type wings 3 during vertical take-off and landing, and the standing stability is good; the moment generated by the auxiliary power device 4 which is installed obliquely eliminates the reaction moment of the main power device 2, and the stability of taking off and landing is good. When the aircraft vertically takes off and lands, the main power device 2 and the auxiliary power device 4 simultaneously act, the thrust-weight ratio requirement of the main power device 2 is reduced, the efficiency of the horizontal flight stage is high, and the time is long. When the horizontal flight mode and the vertical take-off and landing mode are switched, the auxiliary power device 4 and the flap 6 are matched to generate larger head-up torque, and the switching time from the vertical take-off and landing mode to the horizontal flight mode is short. The device has the characteristics of simple structure, good maneuverability and capability of vertically taking off and landing, and a user can select to carry corresponding task load equipment according to task requirements, so that the device can be applied to the fields of military reconnaissance, natural disaster assessment, environment monitoring and the like.
It is noted that in this specification, relational terms such as first and second, left and right, up and down, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The multi-shaft tail sitting type unmanned aerial vehicle provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (9)
1. The utility model provides a multiaxis tail sitting posture unmanned vehicles, includes fuselage (1), wing (3) and vertical fin (8), its characterized in that, wing (3) are located the horizontal both sides of fuselage (1), vertical fin (8) are located the vertical both sides of fuselage (1), the head of fuselage (1) is equipped with main power device (2), the afterbody of fuselage (1) is equipped with undercarriage (7), the both ends of wing (3) with the both ends of vertical fin (8) all are equipped with auxiliary power device (4), auxiliary power device (4) slope installation is eliminated with the moment that realizes producing the reaction torque moment of main power device (2).
2. Multiaxial tail seated unmanned aerial vehicle according to claim 1, wherein the wings (3) are swept back and have a high aspect ratio wing with an airfoil profile, and two sets of the wings (3) are symmetrically arranged on both horizontal sides of the fuselage (1).
3. The unmanned multi-axial tail-seated aircraft according to claim 2, wherein each set of wings (3) is provided outboard of the trailing edge with ailerons (5) and flaps (6).
4. The unmanned multi-axial tail-seated aircraft according to claim 1, wherein the vertical tails (8) are swept-back wings with a small aspect ratio of airfoil profile, and two sets of the vertical tails (8) are symmetrically arranged on the vertical sides of the fuselage (1).
5. The unmanned aerial vehicle of claim 4, wherein a rudder (9) is provided outside the trailing edge of each set of vertical tails (8).
6. The unmanned aerial vehicle of any of claims 1 to 5, wherein the auxiliary power unit (4) comprises an electrically driven motor.
7. The unmanned aerial vehicle of claim 6, wherein the number of the motors is four, the four sets of motors are respectively arranged at two ends of the wing (3) and two ends of the vertical tail (8), each set of motors comprises an upper motor (10) and a lower motor (11), the upper motor (10) and the lower motor (11) are respectively arranged forwards, and the inclined installation directions of the upper motor (10) and the lower motor (11) are parallel.
8. The unmanned, multi-axial tail-seated aircraft according to claim 6, wherein the number of motors is four, four sets of motors are provided at both ends of the wing (3) and both ends of the vertical tail (8), respectively, and each set of motors comprises an upper motor (10) which is provided forward separately.
9. The unmanned aerial vehicle of any of claims 1 to 5, wherein the wing (3), landing gear (7) and vertical fin (8) are modular components to enable independent disassembly from the fuselage (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010505445.0A CN111619801A (en) | 2020-06-05 | 2020-06-05 | Multi-shaft tail sitting type unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010505445.0A CN111619801A (en) | 2020-06-05 | 2020-06-05 | Multi-shaft tail sitting type unmanned aerial vehicle |
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| CN111619801A true CN111619801A (en) | 2020-09-04 |
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| CN202010505445.0A Pending CN111619801A (en) | 2020-06-05 | 2020-06-05 | Multi-shaft tail sitting type unmanned aerial vehicle |
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| CN107434034A (en) * | 2016-05-06 | 2017-12-05 | Skyx有限公司 | With vertical takeoff and landing（VTOL）The unmanned vehicle of function（UAV） |
| WO2018184121A1 (en) * | 2017-04-07 | 2018-10-11 | SKyX Limited | Autonomous flight vehicle capable of fixed wing flight and rotary wing flight |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105620735A (en) * | 2014-11-26 | 2016-06-01 | 艾克斯克拉夫特企业公司 | High speed multi-rotor vertical takeoff and landing aircraft |
| US20170008625A1 (en) * | 2015-07-10 | 2017-01-12 | Orville Olm | Vertical Takeoff and Landing Unmanned Aircraft System |
| CN106741934A (en) * | 2015-11-25 | 2017-05-31 | 中航贵州飞机有限责任公司 | Tandem coaxial double-oar tailstock formula VUAV |
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| CN106428548A (en) * | 2016-10-12 | 2017-02-22 | 曹萍 | Vertical take-off and landing unmanned aerial vehicle |
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| WO2018184121A1 (en) * | 2017-04-07 | 2018-10-11 | SKyX Limited | Autonomous flight vehicle capable of fixed wing flight and rotary wing flight |
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Application publication date: 20200904 |