CN111688913B - Dual-drive wing with variable span length and up-down dihedral angle - Google Patents
Dual-drive wing with variable span length and up-down dihedral angle Download PDFInfo
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- CN111688913B CN111688913B CN202010456573.0A CN202010456573A CN111688913B CN 111688913 B CN111688913 B CN 111688913B CN 202010456573 A CN202010456573 A CN 202010456573A CN 111688913 B CN111688913 B CN 111688913B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/18—Spars; Ribs; Stringers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/32—Wings specially adapted for mounting power plant
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/44—Varying camber
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention provides a dual-drive wing with variable span length and up-down dihedral angle, and belongs to the field of aerospace equipment. The problem of current low-speed aircraft can't realize simultaneously that span is flexible and the exhibition becomes crooked is solved. It is including establishing ties linkage skeleton, flexible skin, support rib and two motor drive parts, install a plurality of support ribs on the linkage skeleton of establishing ties, flexible skin sets up on the surface that supports the rib, two motor drive parts install on the linkage skeleton of establishing ties, and two motor drive part drive series connection linkage skeleton warp, drive relative straight line and rotary motion between the support rib through the linkage skeleton of establishing ties, realize flexible skin's tensile and bending deformation. The wing expander is mainly used for the variable span length and the up-down dihedral angle of the wing.
Description
Technical Field
The invention belongs to the field of aerospace equipment, and particularly relates to a dual-drive wing with variable span length and up-down dihedral angle.
Background
At present, the traditional aircraft cannot have the best pneumatic efficiency in each state of a flight envelope, and the fixed layout of the traditional aircraft is more and more difficult to meet the requirement of executing multiple tasks in different complex environments such as current real battle, investigation, rescue and the like. In the actual flight process, the aircraft needs to face different flight environments, which requires that the shape of the wing of the aircraft can be changed correspondingly, so that the aerodynamic performance of the aircraft can reach the optimal state in different flight states, and the development of the deformable aircraft is promoted.
The aircraft has various deformation forms such as variable torsion wings, variable chord length wings, variable camber wings, variable span wings, variable airfoil thickness wings, variable sweepback wings and the like. In the flight process, the flight efficiency of the low-speed aircraft can be obviously improved through wingspan expansion and spanwise up-and-down bending, and the maneuverability of the aircraft is improved to a certain extent, but the existing low-speed aircraft deformation mode cannot realize wingspan expansion and spanwise bending at the same time generally.
Disclosure of Invention
The invention provides a dual-drive wing with variable span length and up-down dihedral angle, which aims to solve the problems in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a wing of variable exhibition length of dual drive and upper and lower dihedral, it includes series connection linkage skeleton, flexible covering, supports rib and two motor drive unit, install a plurality of support ribs on the series connection linkage skeleton, flexible covering sets up on the surface that supports the rib, two motor drive unit install on series connection linkage skeleton, and two motor drive unit drive series connection linkage skeleton warp, drive relative straight line and rotary motion between the support rib through series connection linkage skeleton, realize flexible covering's tensile and bending deformation.
Furthermore, the series linkage framework comprises a supporting seat and a plurality of composite module units, the composite module units are hinged with each other and are the same in length, each composite module unit comprises four V-shaped hinge assemblies, two sliding block assemblies and two synchronizing shafts, each V-shaped hinge assembly is formed by hinging two rod pieces together in a V shape through the synchronizing shafts, one of the supporting wing ribs is fixedly connected with the supporting seat, the other supporting wing ribs are provided with rib plate shafts, one end of each V-shaped hinge assembly in the innermost composite module unit is hinged with the double-motor driving part, the other end of each V-shaped hinge assembly is hinged with the rib plate shaft of the adjacent supporting wing rib, one end of each V-shaped hinge assembly in the other composite module units is hinged with the two synchronizing shafts in the adjacent composite module unit, the other end of each V-shaped hinge assembly is hinged with the rib plate shaft of the adjacent supporting wing rib, the supporting seat or the supporting wing rib connected with the supporting seat is provided with a base, one end of each two sliding block assemblies in the innermost composite module unit is hinged with the base, the other end of each V-shaped hinge assembly in the other composite module units is hinged with the rib plate shaft of the adjacent supporting wing rib.
Further, bi-motor drive part includes turbine pivot, turbine, support, motor, shaft coupling, flange, worm and lower turbine pivot, support and flange all with supporting seat fixed connection, the quantity of motor and worm is two, and two motors all link to each other with the flange, and two worms link to each other with two motors through the shaft coupling respectively, the turbine sets up in last turbine pivot and lower turbine pivot, goes up turbine pivot and the epaxial turbine of lower turbine and links to each other with two worm cooperations respectively.
Furthermore, the flexible skin comprises an elastic rubber surface layer and a corrugated structure matrix, the corrugated structure matrix is riveted with the upper surface and the lower surface of the plurality of supporting ribs, and the elastic rubber surface layer is fixedly adhered to the surface of the corrugated structure matrix.
Furthermore, the series linkage framework further comprises hinges, and the two rod pieces of the V-shaped hinge assembly are hinged with the synchronous shaft through a plurality of hinges respectively.
Furthermore, the elastic rubber surface layer is fixedly bonded on the surface of the corrugated structure matrix through heat-resistant glue.
Furthermore, the sliding block assembly is formed by matching a guide rail and a sliding block.
Furthermore, the supporting ribs are arranged in parallel and have equal length.
Further, the degree of freedom of the series linkage skeleton is 2.
Compared with the prior art, the invention has the beneficial effects that: the invention solves the problem that the existing low-speed aircraft cannot realize wingspan expansion and spanwise bending change at the same time.
The invention introduces the design concept of modularization and coordinated speed change into the design of wings with variable span and upper and lower dihedral angles, a two-degree-of-freedom planar linear mechanism is formed by connecting serial linkage frameworks through hinges, and double-motor driving parts are arranged at the position of an initial wing root and can realize bending and stretching deformation. And covering a layer of flexible skin on the surface of the series linkage framework, so that the continuous deformation of the whole wing can be realized. The initial state of the wing is the minimum state of the wingspan, and the unmanned aerial vehicle installation space can be effectively reduced due to the minimum wing area. When the aircraft takes off and lands, the wing span is extended to the maximum, so that the lift-drag ratio of the wing can be effectively improved. When the aircraft is in a cruising state, the wings need to be bent upwards in the unfolding direction, and the stability of the unmanned aerial vehicle is improved due to the reduction of the maneuvering performance. When the unmanned aerial vehicle is in the state of pursuing, the wing needs the span-wise downward bending, and unmanned aerial vehicle flexibility reinforcing this moment.
The invention has simple structure, convenient production and installation, suitability for large-scale production and manufacture and low manufacturing cost. The dual-motor driving component is adopted to drive the deformation of the wing, the extending and bending functions of the wing can be realized by adjusting the rotating speed of the single motor, and the principle is simple and convenient to control.
Drawings
FIG. 1 is a schematic diagram of a tandem linkage frame structure according to the present invention;
FIG. 2 is a schematic view of an initial state of a tandem linkage frame according to the present invention;
FIG. 3 is a schematic view of a series linkage skeleton attached skin structure according to the present invention;
FIG. 4 is a schematic structural diagram of a dual motor driving unit according to the present invention;
FIG. 5 is a schematic view of the tandem linkage frame of the present invention in an extended state;
FIG. 6 is a schematic view of a series linked framework in a state of varying span camber according to the present invention.
1-series linkage framework, 2-ribbed plate shaft, 3-synchronous shaft, 4-double motor driving part, 5-supporting seat, 6-first supporting wing rib, 7-second supporting wing rib, 8-third supporting wing rib, 9-fourth supporting wing rib, 10-V type hinge assembly, 11-slider assembly, 12-base, 13-first composite module unit, 14-second composite module unit, 15-third composite module unit, 16-hinge, 17-elastic rubber surface layer, 18-corrugated structure base body, 19-upper turbine rotating shaft, 20-turbine, 21-support, 22-motor, 23-coupler, 24-flange, 25-worm and 26-lower turbine rotating shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely explained below with reference to the drawings in the embodiments of the present invention.
The embodiment is described with reference to fig. 1 to 6, and the dual-drive wing with variable span length and up-down dihedral comprises a series-connection linkage framework 1, a flexible skin, supporting wing ribs and a dual-motor driving component 4, wherein the series-connection linkage framework 1 is provided with a plurality of supporting wing ribs, the flexible skin is arranged on the surfaces of the supporting wing ribs, the dual-motor driving component 4 is arranged on the series-connection linkage framework 1, the dual-motor driving component 4 drives the series-connection linkage framework 1 to deform, and the series-connection linkage framework 1 drives the supporting wing ribs to perform relative linear and rotary motion, so that the flexible skin is stretched and bent and deformed.
The tandem linkage framework 1 comprises a supporting base 5 and a plurality of composite module units, the composite module units are hinged with each other and are the same in length, each composite module unit comprises four V-shaped hinge assemblies 10, two sliding block assemblies 11 and two synchronous shafts 3, each V-shaped hinge assembly 10 is formed by hinging two rod pieces together in a V shape through the synchronous shafts 3, one of a plurality of supporting wing ribs is fixedly connected with the supporting base 5, rib plate shafts 2 are arranged on the other supporting wing ribs, one ends of the four V-shaped hinge assemblies 10 in the innermost composite module unit are hinged with the double-motor driving part 4, the other ends of the four V-shaped hinge assemblies are hinged with the rib plate shafts 2 of the adjacent supporting wing ribs, one ends of the four V-shaped hinge assemblies 10 in the other composite module units are hinged with the two synchronous shafts 3 in the adjacent composite module units, the other ends of the four V-shaped hinge assemblies are hinged with the rib plate shafts 2 of the adjacent supporting wing ribs, a base 12 is arranged on the supporting base 5 or the supporting wing ribs connected with the supporting base 5, one end of the two sliding block assemblies 11 in the innermost composite module unit are hinged with the base 12, the other two rib plate shafts of the adjacent supporting wing rib plate shafts 2. The wing adopts a series linkage framework 1 mechanism, has the advantages of compact structure, convenient manufacture and maintenance, large bearing capacity and good rigidity, realizes the synchronous motion between each hinged part and each sliding part in the process of extension and bending, and finally realizes the shape change of the whole wing.
The double-motor driving part 4 comprises an upper turbine rotating shaft 19, a turbine 20, a support 21, motors 22, couplers 23, flanges 24, worms 25 and a lower turbine rotating shaft 26, the support 21 and the flanges 24 are fixedly connected with the support seat 5, the number of the motors 22 and the number of the worms 25 are two, the two motors 22 are connected with the flanges 24, the two worms 25 are respectively connected with the two motors 22 through the couplers 23, the turbine 20 is arranged on the upper turbine rotating shaft 19 and the lower turbine rotating shaft 26, and the turbines 20 on the upper turbine rotating shaft 19 and the lower turbine rotating shaft 26 are respectively connected with the two worms 25 in a matched mode.
The flexible skin comprises an elastic rubber surface layer 17 and a corrugated structure base body 18, the corrugated structure base body 18 is riveted with the upper surface and the lower surface of a plurality of supporting ribs, the elastic rubber surface layer 17 is adhered and fixed on the surface of the corrugated structure base body 18 through heat-resistant glue, when the series linkage framework 1 extends and bends, the flexible skin structure can correspondingly perform coordinated deformation, the area variation is large, the surface is smooth, and certain out-of-plane rigidity is realized.
The series linkage framework 1 further comprises hinges 16, and two rod pieces of the V-shaped hinge assembly 10 are hinged with the synchronous shaft 3 through the hinges 16 respectively, so that the rotary motion among the composite module units of the series linkage framework 1 is realized. The sliding block assembly 11 is formed by matching a guide rail and a sliding block. The supporting ribs are arranged in parallel and have equal length. The degree of freedom of the tandem linkage skeleton 1 is 2. The wings need to drive the series linkage framework 1 to complete stretching and bending movement under the control of the rotating speed of the motor, the deformation process is stable, the control is convenient, and the rapid conversion of four forms of the wings can be realized.
The elastic rubber surface layer 17 has the characteristics of low modulus and high strain, the series linkage framework 1 drives a plurality of supporting wing ribs in equal proportion to perform relative linear and rotary motion to realize stretching and bending deformation of the rubber-corrugated skin, and the double-motor driving component 4 drives the series linkage framework structure 1 to realize deformation of the whole deformation wing mechanism.
The number of the composite module units in this embodiment is three, which are respectively a first composite module unit 13, a second composite module unit 14 and a third composite module unit 15, the number of the support ribs is four, which are respectively a first support rib 6, a second support rib 7, a third support rib 8 and a fourth support rib 9, the number of the composite module units and the number of the support ribs can be selected according to the requirement of the wingspan area, and the composite module units and the support ribs are more in number when the wing area is larger by adopting a modular design.
The first composite module unit 13 comprises four V-shaped hinge assemblies 10, two sliding block assemblies 11 and two synchronizing shafts 3, each V-shaped hinge assembly 10 is formed by two rod pieces which are hinged together in a V shape through the synchronizing shafts 3, and the sliding block assemblies 11 are formed by matching guide rail sliding block units. One side end parts of two V-shaped hinge assemblies 10 are hinged with an upper turbine rotating shaft 19 on the double-motor driving component 4, the same side end parts of the other two V-shaped hinge assemblies 10 are hinged with a lower turbine rotating shaft 26 on the double-motor driving component 4, the other side end parts of the four V-shaped hinge assemblies are hinged with a rib plate shaft 2 on the second supporting rib 7, one side of a sliding assembly 11 is hinged with a supporting seat 5 or a base 12 on the first supporting rib 6, and the other side of the sliding assembly 11 is hinged with the rib plate shaft 2 on the second supporting rib 7, so that a composite module unit capable of simultaneously forming stretching and bending is formed.
The second composite module unit 14 includes four V-shaped hinge assemblies 10, two sliding assemblies 11 and two synchronizing shafts 3, wherein one side ends of the two V-shaped hinge assemblies 10 are hinged to the synchronizing shaft 3 at the upper portion of the first composite module unit 13, the same side ends of the other two V-shaped hinge assemblies 10 are hinged to the synchronizing shaft 3 at the lower portion of the first composite module unit 13, the other side ends of the four V-shaped hinge assemblies 10 are hinged to the rib shaft 2 on the third supporting rib 8, one side of the sliding assembly 11 is hinged to the rib shaft 2 on the second supporting rib 7, and the other side of the sliding assembly 11 is hinged to the rib shaft 2 on the third supporting rib 8, thereby forming a composite module unit capable of simultaneously forming stretching and bending.
The third composite module unit 15 includes four V-shaped hinge assemblies 10, two sliding assemblies 11 and two synchronizing shafts 3, wherein one side ends of two V-shaped hinge assemblies 10 are hinged to the synchronizing shaft 3 at the upper part of the second composite module unit 14, the same side ends of the other two V-shaped hinge assemblies 10 are hinged to the synchronizing shaft 3 at the lower part of the second composite module unit 14, the other side ends of the four V-shaped hinge assemblies 10 are hinged to the rib shafts 2 on the fourth supporting ribs 9, one side of the sliding assembly 11 is hinged to the rib shaft 2 on the third supporting rib 8, and the other side of the sliding assembly 11 is hinged to the rib shaft 2 on the fourth supporting ribs 9, thereby forming a composite module unit capable of forming stretching and bending simultaneously.
The structure of the tandem linkage framework 1 is designed in a modularization mode for improving industrialization and expansibility, and is formed by connecting a plurality of unit modules with the same structure in series, and the number of the series connection is set by the structure. So the process is analogized in the following steps: the Nth composite module unit comprises four V-shaped hinge assemblies 10, two sliding assemblies 11 and two synchronizing shafts 3, wherein one side end parts of the two V-shaped hinge assemblies 10 are hinged with the synchronizing shaft 3 at the upper part of the N-1 th composite module unit, the same side end parts of the other two V-shaped hinge assemblies 10 are hinged with the synchronizing shaft 3 at the lower part of the N-1 th composite module unit, the other side end parts of the four V-shaped hinge assemblies are hinged with the rib plate shaft 2 on the (N + 1) th supporting rib, one side of each sliding assembly 11 is hinged with the rib plate shaft on the Nth supporting rib, and the other side of each sliding assembly is hinged with the rib plate shaft 2 on the (N + 1) th supporting rib, so that the composite module unit capable of simultaneously forming stretching and bending is formed.
The first supporting wing rib 6 is fixedly connected with the wing root supporting seat 5, the rest supporting wing ribs are hinged with the corresponding positions of the first composite module unit 13 to the Nth composite module unit sequentially through the rib plate shaft 2 from inside to outside, and the plurality of supporting wing ribs are arranged in parallel and equal in length.
The working principle is as follows:
assuming that the state of the deformed wing is as shown in fig. 1, at this time, the dual-motor driving part 4 on the supporting seat 5 operates to drive the worm 25 and the worm wheel 20 to rotate relatively, the upper turbine shaft 19 rotates clockwise, the lower turbine shaft 26 rotates counterclockwise, thereby driving the four V-shaped hinge units 10 of the first composite module unit 13 to perform outward stretching motion, since the rib shaft 2 of the second supporting rib 7 is hinged to the V-shaped hinge unit 10 and the sliding component 11 of the first composite module unit 13, respectively, and the four V-shaped hinges 10 of the second composite module unit 14 are hinged to the upper synchronous shaft and the lower synchronous shaft of the first composite module unit 13, respectively, the second supporting rib 7, the sliding component 11, and the V-shaped hinge 10 of the second composite module unit 14 are subjected to driven deformation to follow outward stretching motion, since the tandem linkage frame 1 is designed in a modularized manner, the plurality of unit modules having the same structure are connected in series, the deformation manner of the following modules is the same as that of the first supporting rib 7, the sliding component 11, and the fourth supporting rib shaft 2 of the second composite module unit 14 is hinged to perform outward stretching motion, and the synchronous hinge unit of the fourth composite module 10 and the sliding component 11. When the series linkage framework 1 deforms, the corrugated structure base 18 riveted on the supporting wing ribs and the elastic rubber surface layer 17 bonded on the corrugated structure base 18 move along with the deformation, and the integral deformation of the deformable wing is realized. When the wing expansion and elongation function needs to be realized, the power of the dual-motor driving component 4 needs to be kept consistent, so that the rotation rates of the upper turbine shaft 19 and the lower turbine shaft 26 are the same, and the coordinated operation of all units of the series-connection linkage skeleton 1 is ensured until the units are fully expanded, as shown in fig. 5. When the function of changing the wing into the upper and lower dihedral angles is required, the respective driving powers of the two motors have a certain difference, so that the rotation rates of the upper turbine shaft 19 and the lower turbine shaft 26 are different, when the rotation speed of the upper turbine shaft 19 is higher than that of the lower turbine shaft 26, the whole wing bends downwards, otherwise, the whole wing bends upwards, as shown in fig. 6.
The dual-drive wing with variable span length and upper and lower dihedral angles provided by the invention is described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (7)
1. A dual-drive wing with variable span length and up-down dihedral angle is characterized in that: the flexible wing rib supporting device comprises a series-connection linkage framework (1), a flexible skin, supporting wing ribs and double-motor driving parts (4), wherein the series-connection linkage framework (1) is provided with a plurality of supporting wing ribs, the flexible skin is arranged on the surfaces of the supporting wing ribs, the double-motor driving parts (4) are arranged on the series-connection linkage framework (1), the double-motor driving parts (4) drive the series-connection linkage framework (1) to deform, and the series-connection linkage framework (1) drives the supporting wing ribs to move linearly and rotationally relatively, so that the flexible skin is stretched and bent;
the series linkage framework (1) comprises a supporting seat (5) and a plurality of composite module units, the composite module units are hinged to each other and are the same in length, each composite module unit comprises four V-shaped hinge assemblies (10), two sliding block assemblies (11) and two synchronous shafts (3), each V-shaped hinge assembly (10) is formed by hinging two rod pieces together in a V shape through the synchronous shafts (3), one of the supporting wing ribs is fixedly connected with the supporting seat (5), the other supporting wing ribs are provided with rib plate shafts (2), one ends of the four V-shaped hinge assemblies (10) in the innermost composite module unit are hinged to the double-motor driving part (4), the other ends of the four V-shaped hinge assemblies are hinged to the rib plate shafts (2) of the adjacent supporting wing ribs, one ends of the four V-shaped hinge assemblies (10) in the other composite module units are hinged to the two synchronous shafts (3) in the adjacent composite module units, the other ends of the four V-shaped hinge assemblies are hinged to the rib plate shafts (2) of the adjacent supporting wing ribs, the supporting seat (5) or the supporting wing ribs are provided with supporting seats (5), the two ends of the sliding block assemblies (11) in the innermost composite module unit are hinged to the two adjacent supporting rib plate shafts (11), and the other composite module units are hinged to the rib plate shafts (11);
two motor drive parts (4) include turbine pivot (19), turbine (20), support (21), motor (22), shaft coupling (23), flange (24), worm (25) and lower turbine pivot (26), support (21) and flange (24) all with supporting seat (5) fixed connection, the quantity of motor (22) and worm (25) is two, and two motor (22) all link to each other with flange (24), and two worm (25) link to each other with two motor (22) through shaft coupling (23) respectively, turbine (20) set up on last turbine pivot (19) and lower turbine pivot (26), go up turbine pivot (19) and turbine (20) on lower turbine pivot (26) link to each other with two worm (25) cooperations respectively.
2. The wing of claim 1, wherein: the flexible skin comprises an elastic rubber surface layer (17) and a corrugated structure base body (18), the corrugated structure base body (18) is riveted with the upper surface and the lower surface of the plurality of supporting ribs, and the elastic rubber surface layer (17) is fixedly bonded on the surface of the corrugated structure base body (18).
3. The wing of claim 1, wherein: the series linkage framework (1) further comprises hinges (16), and two rod pieces of the V-shaped hinge assembly (10) are hinged with the synchronizing shaft (3) through the hinges (16) respectively.
4. The wing of claim 2, wherein: the elastic rubber surface layer (17) is bonded and fixed on the surface of the corrugated structure matrix (18) through heat-resistant glue.
5. The wing of claim 1, wherein: the sliding block assembly (11) is formed by matching a guide rail and a sliding block.
6. The wing of claim 1, wherein: the supporting ribs are arranged in parallel and have equal length.
7. The wing of claim 1, wherein: the degree of freedom of the series linkage framework (1) is 2.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010456573.0A CN111688913B (en) | 2020-05-26 | 2020-05-26 | Dual-drive wing with variable span length and up-down dihedral angle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010456573.0A CN111688913B (en) | 2020-05-26 | 2020-05-26 | Dual-drive wing with variable span length and up-down dihedral angle |
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| CN111688913A CN111688913A (en) | 2020-09-22 |
| CN111688913B true CN111688913B (en) | 2023-02-17 |
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| CN111703512A (en) * | 2020-07-22 | 2020-09-25 | 湖北汽车工业学院 | Flexible wing device of scissors formula |
| CN112319771B (en) * | 2020-11-05 | 2024-04-26 | 西北工业大学 | Flexible driver-based variable trailing edge camber rib |
| CN116552781B (en) * | 2023-06-07 | 2024-02-20 | 北方工业大学 | Self-adaptive intelligent torsion deformation mechanism for tilting rotor propeller blade |
| CN118309594A (en) * | 2024-03-20 | 2024-07-09 | 北京威浮科技有限责任公司 | Paddle and power generation device with same |
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