CN112046745B - Portable modularization unmanned aerial vehicle platform - Google Patents
Portable modularization unmanned aerial vehicle platform Download PDFInfo
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- CN112046745B CN112046745B CN202010856395.0A CN202010856395A CN112046745B CN 112046745 B CN112046745 B CN 112046745B CN 202010856395 A CN202010856395 A CN 202010856395A CN 112046745 B CN112046745 B CN 112046745B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
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- 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
- B64C27/68—Transmitting means, e.g. interrelated with initiating means or means acting on blades using electrical energy, e.g. having electrical power amplification
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
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Abstract
The invention discloses a portable modularized unmanned aerial vehicle platform, which comprises a coaxial double-rotor control part and a fixed wing module part; the coaxial double-rotor control part is fixed at the front end of the fixed wing module part; the coaxial dual-rotor control part comprises a packaging shell, an upper blade periodic variable pitch control mechanism, a control steering engine mechanism, a lower blade periodic variable pitch control mechanism and a packaging shell, wherein the upper blade periodic variable pitch control mechanism, the control steering engine mechanism, the lower blade periodic variable pitch control mechanism and the packaging shell are arranged in the packaging shell; the steering engine control mechanism comprises a pitching control steering engine, a rolling control steering engine and a steering engine seat; the rudder base is fixedly connected with the central supporting tube, and the pitching control steering engine and the rolling control steering engine are fixedly connected with the steering engine base; output shafts of the pitching control steering engine and the rolling control steering engine are connected with rocker arms, and the rocker arms are connected with steering engine pull rods; the rocker arm on the pitching control steering engine is connected with the pitching control rod of the cross plate through the steering engine pull rod, and the rocker arm on the rolling control steering engine is connected with the rolling control rod of the cross plate through the steering engine pull rod. The invention can realize the conversion of two control modes of the portable modularized unmanned aerial vehicle platform.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle platform design, and particularly relates to a portable modular unmanned aerial vehicle platform.
Background
With the continuous development of microelectronic technology and the fields of traditional information, control and the like in recent years, the field of traditional unmanned aerial vehicles is developed at a high speed, and the unmanned aerial vehicles are developing from traditional high altitude, large size and fast towards the direction of low altitude, small size and low speed. And due to the unique operation height, the blank of the traditional low-altitude airspace working unit is effectively filled.
However, with the current portable unmanned aerial vehicle configuration, the portable unmanned aerial vehicle of rotor configuration is small in size, low in load and weak in wind resistance, and in recent years, although the unmanned aerial vehicle with coaxial cylinder type double rotors is designed, a similar portable small-sized cylinder type coaxial counter-rotating three-blade rotor type unmanned aerial vehicle (patent number CN111332462A) is provided, but the control mechanism is controlled by a single upper rotor periodically variable distance, and the control mode is limited in flight performance because only one set of rotors provides pitching and rolling control torque for the main body of the unmanned aerial vehicle. And its unmanned aerial vehicle main part focus is inclined to the lower, and the produced control moment of control rotor of its periodic variation will further be weakened, and it all can receive partial restriction on wind resistance ability and maximum horizontal flying speed. Meanwhile, the existing individual-soldier unmanned aerial vehicle is single in structure, only has a pure rotor wing structure or a fixed wing structure, and is poor in overall universality.
Disclosure of Invention
The invention aims to provide a portable modular unmanned aerial vehicle platform, which is used for realizing the conversion of a portable modular unmanned aerial vehicle between a coaxial contra-rotating rotorcraft and a tailstock type vertical take-off and landing fixed-wing aircraft.
The technical solution for realizing the purpose of the invention is as follows:
a portable modular unmanned aerial vehicle platform comprises a coaxial double-rotor control part and a fixed wing module part; the coaxial double-rotor control part is fixed at the front end of the fixed wing module part;
the coaxial dual-rotor control part comprises an upper blade periodic variable pitch control mechanism, a control steering engine mechanism, a lower blade periodic variable pitch control mechanism and a packaging shell; the upper paddle periodic variable pitch control mechanism, the control steering engine mechanism and the lower paddle periodic variable pitch control mechanism are all arranged in the packaging shell;
the upper paddle periodic variable pitch control mechanism and the lower paddle periodic variable pitch control mechanism are identical in structure, are arranged in a 90-degree staggered mode, and are symmetrically arranged at the upper end and the lower end of the control steering engine mechanism;
the blade periodic variable pitch control mechanism and the lower blade periodic variable pitch control mechanism respectively comprise a hollow shaft motor, a motor base, a hub, a blade shaft, a cross plate, a variable pitch pull rod and a blade flapping stopper; the motor base is fixed on the central supporting tube, the hollow shaft motor stator is fixed on the motor base, the central supporting tube penetrates through the paddle shaft through the bearing, the paddle shaft is fixedly connected with the hollow shaft motor rotor, and the paddle shaft is driven to rotate by the rotation of the hollow shaft motor rotor; the propeller hub is positioned at the lower end of the hollow shaft motor; the propeller hub is sleeved on the propeller blade shaft and is connected with the propeller blade shaft through two screws, and the axes of the screws are vertical to the axes of the propeller blade shaft; the screw rod is connected with the propeller hub through a bearing, so that the propeller hub can rotate around the axis of the screw rod and is used for executing the periodic pitch-changing action of the blades; the blade flapping limiting piece is connected with the propeller hub through a rotating shaft, can swing downwards along the rotating shaft and cannot swing upwards; the blade is fixedly connected with the blade flapping stopper;
the cross plate is connected with the central supporting tube through a fish eye bearing; the cross disc is connected with the propeller hub through a pair of variable-pitch pull rods, and the variable-pitch pull rods are used for transmitting periodic variable-pitch control of the cross disc to the propeller hub;
the control steering engine mechanism comprises a pitching control steering engine, a rolling control steering engine and a steering engine seat; the rudder engine base is fixedly connected with the central supporting pipe; the pitching control steering engine and the rolling control steering engine are fixedly connected with the steering engine seat; output shafts of the pitching control steering engine and the rolling control steering engine are connected with rocker arms, and the rocker arms are connected with steering engine pull rods; the rocker arm on the pitching control steering engine is connected with the pitching control rod of the cross plate through the steering engine pull rod, and the rocker arm on the rolling control steering engine is connected with the rolling control rod of the cross plate through the steering engine pull rod.
Compared with the prior art, the invention has the following remarkable advantages:
(1) through using upper and lower dual rotor displacement structure, and use upper and lower sloping cam plate 90 degrees dislocation linkage design, and the linkage design of cross dish from top to bottom, make steering wheel quantity reduce to 2, compare the control characteristics of the single rotor periodic displacement of traditional dual rotor simultaneously, its flight control efficiency will improve greatly.
(2) Through unique fixed wing module design, make this aircraft under specific demand, the installation fixed wing module makes the unmanned aerial vehicle platform will change into the fixed wing aircraft of tailstock formula VTOL from coaxial double-oar rotor aircraft, will improve performances such as the dead time of this unmanned aerial vehicle platform under the state of cruising, airspeed, load weight greatly.
(3) The fixed wing module is not provided with a control surface, and the control can still use the rotating speed of the rotor wing and the periodic variable pitch to realize the control requirement. And the absence of electrical equipment will improve the reliability of the module and reduce the weight of the module.
Drawings
Fig. 1 is a schematic diagram of a portable modular unmanned aerial vehicle platform aft mount fixed wing mode.
Figure 2 is a schematic mechanical diagram of a control portion of the rotor module.
Fig. 3 is a schematic cross-sectional view of the connection of the upper hub to the upper blade shaft.
FIG. 4 is a partial schematic view of an upper blade-flapping stop.
Fig. 5 is a schematic view of a rotor mode blade stow.
FIG. 6 is a schematic view of a rotor mode blade deployment.
Figure 7 is an overall schematic view of a rotor control module dust case.
FIG. 8 is a schematic view of a fixed wing module.
1-upper blade shaft 2-upper variable-pitch pull rod 3-pitching control steering engine 4-lower cross plate 5-lower blade hub 6-lower blade swing stopper 7-lower hollow shaft motor 8-lower motor base 9-central support tube 10-lower blade shaft 11-lower variable-pitch pull rod 12-steering engine pull rod 13-rolling control steering engine 14-steering engine base 15-upper cross plate 16-upper blade swing stopper 17-upper blade hub 18-upper hollow shaft motor 19-upper motor base 20-blade dust cover 21-steering engine dust cover 22-lower motor dust cover 23-lower blade 24-upper blade 25-upper motor dust cover 26-top dust cover 27-fixed wing module main wing 28-fixed wing module connecting piece 29-wingtip winglet 30 Inverted V tail 31-tail attachment 32-bearing 33-bolt
Detailed Description
The invention is further described with reference to the following figures and embodiments.
With reference to fig. 1-6, a portable modular drone platform of the present invention comprises a coaxial dual rotor control section I, a fixed-wing module section II;
the coaxial dual-rotor control part I comprises an upper blade periodic variable pitch control mechanism, a control steering engine mechanism, a lower blade periodic variable pitch control mechanism and a packaging shell
The upper paddle periodic variable pitch control mechanism and the lower paddle periodic variable pitch control mechanism are identical in structure, are arranged in a 90-degree staggered mode, and are symmetrically arranged at the upper end and the lower end of the control steering engine mechanism;
the upper blade periodic variable pitch control mechanism comprises an upper hollow shaft motor 18, an upper motor base 19, an upper hub 17, an upper blade shaft 1, an upper cross plate 15, an upper variable pitch pull rod 2 and an upper blade flap stopper 16;
the central supporting tube 9 penetrates through the upper blade shaft 1, the upper blade shaft 1 is a hollow shaft, bearings are respectively arranged at the upper end and the lower end in the upper blade shaft 1, and the central supporting tube 9 is supported in the upper blade shaft 1 through the bearings; the upper motor base 19 is fixedly connected with the central supporting tube 9, the stator of the upper hollow shaft motor 18 is fixedly connected with the upper motor base 19, and the rotor of the upper hollow shaft motor 18 is fixedly connected with the upper end of the upper blade shaft 1; the rotation of the motor rotor will drive the upper blade shaft 1 to rotate, and transmit the rotation power to the upper blade 24. The upper propeller hub 17 is positioned at the lower end of the upper hollow shaft motor 18; with reference to fig. 3, the upper hub 17 is fitted over the upper blade shaft 1 and connected to the upper blade shaft 1 by a bolt 33, and the axis of the bolt is perpendicular to the axis of the upper blade shaft 1; the bolt 33 is connected with the upper hub 17 by means of a bearing 32 so that the upper hub 17 can rotate about the bolt axis for performing a cyclic pitch action of the blades. The upper blade flap stopper 16 is connected with the upper hub 17 through a rotating shaft and can swing downwards along the rotating shaft; referring to fig. 4, the upper end of the upper blade-flapping stopper 16 is provided with a limit boss 16-1, so that the upper blade-flapping stopper 16 cannot swing upward relative to the upper hub 17. Go up paddle 24 and last paddle and wave stopper 16 and link firmly, combine figure 5, go up paddle 24 and can wave stopper 16 through last paddle and accomplish the folding work of rotation downwards, be convenient for actual accomodating the operation. Referring to fig. 6, when the blades rotate, the blades are automatically swung to a horizontal position in a normal operating state due to the centrifugal effect.
The upper cross plate 15 is connected with the central supporting tube 9 through a fish eye GE series bearing; the upper cross plate 15 is positioned at the lower end of the upper blade shaft 1; the inner ring of the bearing at the inner lower end of the upper blade shaft 1 is supported on a fish eye GE series bearing; the upper cross plate 15 is connected with the upper hub 17 through a pair of upper variable-pitch pull rods 2, and the upper variable-pitch pull rods 2 are used for transmitting periodic variable-pitch control of the upper cross plate 15 to the upper hub 17.
The lower blade periodic variable pitch control mechanism comprises a lower hollow shaft motor 7, a lower motor base 8, a lower hub 5, a lower blade shaft 10, a lower cross plate 4, a lower variable pitch pull rod 2 and a lower blade flapping stopper 6. The structure and the working mode of the lower blade periodic variable pitch control mechanism and the upper blade periodic variable pitch control mechanism are the same.
The control steering engine mechanism comprises a pitching control steering engine 3, a rolling control steering engine 13 and a steering engine base 14; the rudder engine base 14 is fixedly connected with the central supporting pipe 9 through bolts; the pitching control steering engine 3 and the rolling control steering engine 13 are fixedly connected with a steering engine seat 14; output shafts of the pitching control steering engine 3 and the rolling control steering engine 13 are connected with rocker arms, and the rocker arms are connected with steering engine pull rods 12; the rocker arms on the pitching control steering engines 3 are respectively connected with the pitching control rods of the upper cross plate 15 and the lower cross plate 4 through the steering engine pull rods 12, and the rocker arms on the rolling control steering engines 13 are respectively connected with the rolling control rods of the upper cross plate 15 and the lower cross plate 4 through the steering engine pull rods 12.
When the pitching control steering engine 3 works, the steering engine rocker arm drives the upper cross plate 15 and the lower cross plate 4 to incline towards the designated direction through the steering engine pull rod 12. And the inclination amount of the upper cross plate 15 is transmitted to the upper propeller hub 17 through the upper pitch-changing pull rod 2, so that when the upper propeller hub 17 rotates to a corresponding position, the periodic pitch-changing work is completed on the upper blades 24. The pitch-changing work of the steering engine and the lower blades 23 is controlled in a rolling manner. The pitch control of the upper cross plate and the lower cross plate is realized through the related steering engines, so that the operation control of the pitching and rolling postures of the aircraft in the integral rotor wing mode is realized. And the yaw control can be realized by the differential speed of the upper hollow shaft motor and the lower hollow shaft motor under the integral rotor mode of the aircraft. The height of the aircraft is controlled by the integral rotating speed control of the upper hollow shaft motor and the lower hollow shaft motor.
The packaging shell comprises a blade dustproof cover 20, a steering engine dustproof cover 21, a lower motor dustproof cover 22, an upper motor dustproof cover 25 and a top dustproof cover 26;
referring to fig. 7, the blade dust cap 20 is fixedly connected to the upper blade shaft 1 and the lower blade shaft 10, the blade dust cap 20 rotates along with the blade shaft, the steering engine dust cap 21 is fixedly connected to the steering engine base 14, the upper motor dust cap 25 is fixedly connected to the upper motor base 19, and the lower motor dust cap 22 is similar; the top dust cover 22 is fixedly connected to the upper motor base 19 and the upper motor dust cover 25. The arrangement of the dustproof cover ensures the flight requirement of the aircraft body under severe weather.
The fixed wing module part II comprises a fixed wing module main wing 27, a fixed wing module connecting piece 28, a wingtip winglet 29, an inverted V empennage 30 and an empennage connecting piece 31;
referring to fig. 8, the fixed-wing module connecting part 28 is fixed to the lower end of the front part of the tail wing connecting part 31, and is used for fixedly connecting the fixed-wing module part II with the coaxial dual-rotor control part I, and can be adjusted according to the gravity center condition. The fixed-wing module main wing 27 is fixed at the upper end of the front part of the empennage connecting piece 31, and provides the lifting force and the stabilizing effect in the vertical direction during horizontal flight in the fixed-wing mode for the whole aircraft. Wingtip winglets 29 are fixed on two sides of a main wing 27 of the fixed wing module, and an inverted V-shaped tail wing 30 is fixed on the lower side of the rear end of a tail wing connecting piece 31; the wingtip winglet 29 and the inverted V empennage 30 provide a stabilizing surface for the aircraft as a whole and provide stability for the aircraft in the fixed wing mode.
After the fixed wing module part II is installed, the coaxial dual-rotor aircraft is changed into a tailstock type vertical take-off and landing fixed wing aircraft. When the tail seat type vertical take-off and landing mode is adopted, the control mode is the same as that of the coaxial dual-rotor mode. When the flight mode of the fixed wing is changed, the rolling direction control is realized by the differential speed of the upper hollow shaft motor and the lower hollow shaft motor. The pitching direction control is still executed by the pitching control steering engine 3, and the blades are driven to complete the realization of related periodic pitch variation. And yaw direction control is performed by a rolling control steering engine 13 to drive the blades to complete related periodic pitch change. The flying speed throttle is realized by the change of the integral rotating speed of the upper hollow shaft motor and the lower hollow shaft motor.
Under the environment of a narrow and complex airspace, the coaxial dual-rotor mode is used for flight operation, and the task requirements of hovering, low altitude, low speed and compact appearance are met. At open airspace, the installation fixed wing module makes the flight mode become tailstock formula fixed wing flight mode, and when taking off promptly and landing, the aircraft is whole vertically to hover and descend, and during the mode of cruising, whole level is fixed wing flight mode. The mission requirements of high speed, high altitude, high load and long endurance are realized. The specific flight mode can be selected and adjusted according to the actual task requirement of a user.
Claims (3)
1. A portable modular unmanned aerial vehicle platform is characterized by comprising a coaxial double-rotor control part and a fixed-wing module part; the coaxial double-rotor control part is fixed at the front end of the fixed wing module part;
the coaxial dual-rotor control part comprises an upper blade periodic variable pitch control mechanism, a control steering engine mechanism, a lower blade periodic variable pitch control mechanism and a packaging shell; the upper paddle periodic variable pitch control mechanism, the control steering engine mechanism and the lower paddle periodic variable pitch control mechanism are all arranged in the packaging shell;
the upper paddle periodic variable pitch control mechanism and the lower paddle periodic variable pitch control mechanism are identical in structure, are arranged in a 90-degree staggered mode, and are symmetrically arranged at the upper end and the lower end of the control steering engine mechanism;
the blade periodic variable pitch control mechanism and the lower blade periodic variable pitch control mechanism respectively comprise a hollow shaft motor, a motor base, a hub, a blade shaft, a cross plate, a variable pitch pull rod and a blade flapping stopper; the motor base is fixed on the central supporting tube, the hollow shaft motor stator is fixed on the motor base, the central supporting tube penetrates through the paddle shaft through the bearing, the paddle shaft is fixedly connected with the hollow shaft motor rotor, and the paddle shaft is driven to rotate by the rotation of the hollow shaft motor rotor; the propeller hub is positioned at the lower end of the hollow shaft motor; the propeller hub is sleeved on the propeller blade shaft and is connected with the propeller blade shaft through two screws, and the axes of the screws are vertical to the axes of the propeller blade shaft; the screw rod is connected with the propeller hub through a bearing, so that the propeller hub can rotate around the axis of the screw rod and is used for executing the periodic pitch-changing action of the blades; the blade flapping limiting piece is connected with the propeller hub through a rotating shaft, can swing downwards along the rotating shaft and cannot swing upwards; the blade is fixedly connected with the blade flapping stopper;
the cross plate is connected with the central supporting tube through a fish eye bearing; the cross disc is connected with the propeller hub through a pair of variable-pitch pull rods, and the variable-pitch pull rods are used for transmitting periodic variable-pitch control of the cross disc to the propeller hub;
the control steering engine mechanism comprises a pitching control steering engine, a rolling control steering engine and a steering engine seat; the rudder engine base is fixedly connected with the central supporting pipe; the pitching control steering engine and the rolling control steering engine are fixedly connected with the steering engine seat; output shafts of the pitching control steering engine and the rolling control steering engine are connected with rocker arms, and the rocker arms are connected with steering engine pull rods; the rocker arm on the pitching control steering engine is connected with the pitching control rod of the cross plate through a steering engine pull rod, and the rocker arm on the rolling control steering engine is connected with the rolling control rod of the cross plate through the steering engine pull rod;
the fixed wing module part comprises a fixed wing module main wing, a fixed wing module connecting piece, a wingtip winglet, an inverted V-shaped empennage and an empennage connecting piece; the main wing of the fixed wing module is fixed at the upper end of the front part of the empennage connecting piece; wingtip winglets are fixed on two sides of a main wing of the fixed wing module, and an inverted V-shaped tail wing is fixed on the lower side of the rear end of the tail wing connecting piece.
2. The portable modular unmanned aerial vehicle platform of claim 1, wherein the enclosure housing comprises a paddle dust cap, a steering engine dust cap, a motor dust cap, a top dust cap; the paddle dustproof cover is fixedly connected with the paddle shaft, the steering engine dustproof cover is fixedly connected with the steering engine base, the motor dustproof cover is fixedly connected with the motor base, and the top dustproof cover is fixedly connected with the upper motor base and the upper motor dustproof cover.
3. The portable modular drone platform of claim 1, wherein its control modes include rotor control mode, tailstock-type fixed wing control mode:
the rotor control mode execution mode is as follows: the height of the aircraft is controlled by the integral rotating speed control of the upper hollow shaft motor and the lower hollow shaft motor; the yaw control realizes the yaw control of the aircraft in the integral rotor mode through the differential speed of the upper hollow shaft motor and the lower hollow shaft motor; the rolling and pitching are respectively controlled by a rolling control steering engine and a pitching control steering engine to control the periodic pitch change of the upper and lower blades;
the tail seat type fixed wing control mode execution mode is as follows: the throttle is controlled by controlling the integral rotating speed of the upper hollow shaft motor and the lower hollow shaft motor; the pitch control is realized by controlling the periodic pitch change of the blades by a pitch control steering engine; the yaw control is realized by controlling the periodic pitch change of the blades by a rolling control steering engine; the rolling control is realized by the differential speed of the upper hollow shaft motor and the lower hollow shaft motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010856395.0A CN112046745B (en) | 2020-08-24 | 2020-08-24 | Portable modularization unmanned aerial vehicle platform |
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| CN202010856395.0A CN112046745B (en) | 2020-08-24 | 2020-08-24 | Portable modularization unmanned aerial vehicle platform |
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| CN112046745A CN112046745A (en) | 2020-12-08 |
| CN112046745B true CN112046745B (en) | 2022-04-08 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113581449A (en) * | 2021-08-27 | 2021-11-02 | 珠海璇玑科技有限公司 | Coaxial propeller folding mechanism, coaxial unmanned aerial vehicle and propeller folding control method |
| CN113562164A (en) * | 2021-08-27 | 2021-10-29 | 珠海璇玑科技有限公司 | Coaxial propeller folding mechanism, coaxial unmanned aerial vehicle and propeller folding control method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015925A (en) * | 2014-05-27 | 2014-09-03 | 南京航空航天大学 | Multi-purpose vertical take-off and landing unmanned aerial vehicle |
| CN106828919A (en) * | 2017-02-20 | 2017-06-13 | 西安爱生技术集团公司 | It is a kind of can VTOL the coaxial Fan Jiang tailless configurations aircraft of tailstock formula |
| CN108128448A (en) * | 2018-01-08 | 2018-06-08 | 浙江大学 | The coaxial tilting rotor wing unmanned aerial vehicle of double shoe formulas and its control method |
| CN211281465U (en) * | 2019-07-17 | 2020-08-18 | 北京中航智科技有限公司 | Coaxial dual-rotor tilting unmanned aerial vehicle |
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2020
- 2020-08-24 CN CN202010856395.0A patent/CN112046745B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015925A (en) * | 2014-05-27 | 2014-09-03 | 南京航空航天大学 | Multi-purpose vertical take-off and landing unmanned aerial vehicle |
| CN106828919A (en) * | 2017-02-20 | 2017-06-13 | 西安爱生技术集团公司 | It is a kind of can VTOL the coaxial Fan Jiang tailless configurations aircraft of tailstock formula |
| CN108128448A (en) * | 2018-01-08 | 2018-06-08 | 浙江大学 | The coaxial tilting rotor wing unmanned aerial vehicle of double shoe formulas and its control method |
| CN211281465U (en) * | 2019-07-17 | 2020-08-18 | 北京中航智科技有限公司 | Coaxial dual-rotor tilting unmanned aerial vehicle |
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