CN112591115B - Power system and cross double-rotor unmanned helicopter with same - Google Patents
Power system and cross double-rotor unmanned helicopter with same Download PDFInfo
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- CN112591115B CN112591115B CN202110234089.8A CN202110234089A CN112591115B CN 112591115 B CN112591115 B CN 112591115B CN 202110234089 A CN202110234089 A CN 202110234089A CN 112591115 B CN112591115 B CN 112591115B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 163
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
- B64D35/08—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions characterised by the transmission being driven by a plurality of power plants
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Abstract
The invention discloses a power system and a crossed double-rotor unmanned helicopter with the same, wherein the power system comprises at least two power sources, two rotor shafts and a transmission mechanism, and is characterized in that the transmission mechanism comprises a first transmission set, and the power input end of the first transmission set is in transmission connection with all the power sources; the first transmission set is provided with two power output ends, the first power output end is used for transmitting power from the power source to the two rotor shafts, the second power output end is used for transmitting power from the power source to the tail rotor shaft, and the two power output ends and the tail rotor shaft are located on the same axis. The power system is simple and reliable in structure, compact in arrangement, capable of saving space and reducing maintenance cost.
Description
Technical Field
The invention relates to the technical field of helicopters, in particular to a power system and a crossed double-rotor unmanned helicopter with the same.
Background
The existing unmanned helicopter mainly comprises a single rotor and coaxial dual rotors, and the number of the crossed dual-rotor unmanned helicopters is relatively small.
The power system of the existing cross twin-rotor unmanned helicopter is complex in structure, large in occupied space in arrangement, not compact enough, and correspondingly, high in maintenance cost.
Disclosure of Invention
The invention aims to provide a power system and a crossed double-rotor unmanned helicopter with the same.
In order to solve the technical problems, the invention provides a power system of a crossed double-rotor unmanned helicopter, which comprises at least two power sources, two rotor shafts and a transmission mechanism, and is characterized in that the transmission mechanism comprises a first transmission set, and the power input end of the first transmission set is in transmission connection with all the power sources; the first transmission set is provided with two power output ends, the first power output end is used for transmitting power from the power source to the two rotor shafts, the second power output end is used for transmitting power from the power source to the tail rotor shaft, and the two power output ends and the tail rotor shaft are located on the same axis.
The power system of the cross double-rotor unmanned helicopter is provided with at least two power sources, the power of each power source is transmitted to a transmission mechanism, and the transmission mechanism combines and outputs the power of each power source; meanwhile, two power output ends and a tail rotor shaft of the transmission mechanism are arranged on one axis, so that the whole power system is compact in layout, small in occupied space and high in transmission efficiency, and the performance of the helicopter is favorably improved.
The power system of the cross twin-rotor unmanned helicopter further comprises a tail transmission shaft group, wherein the input end of the tail transmission shaft group is in transmission connection with the second power output end through a flexible coupling, and the output end of the tail transmission shaft group is in transmission connection with the tail rotor shaft; and the axis of the tail drive shaft group is coincident with the axis of the tail propeller shaft.
According to the power system of the cross twin-rotor unmanned helicopter, the tail transmission shaft group comprises more than two tail transmission shafts in transmission connection, and at least one transmission connection part of each transmission connection part of the tail transmission shaft group and the tail propeller shaft is in transmission connection through a spline.
According to the power system of the cross twin-rotor unmanned helicopter, the number of the power sources is two, and the two power sources are located above the tail transmission shaft group and located at one end, far away from the tail propeller shaft, of the tail transmission shaft group.
According to the power system of the cross twin-rotor unmanned helicopter, the axis of the output shaft of the power source is parallel to the axis of the tail transmission shaft group, and the two power sources are symmetrically arranged relative to the tail transmission shaft group.
The power system of the crossed dual-rotor unmanned helicopter is characterized in that the rotor shaft is supported by the support frame, the support frame comprises a support seat and at least two support rods, the rotor shaft penetrates through the support seat and can be opposite to the support seat in a rotating mode, one end of each support rod is fixedly connected with the support seat, and each support rod surrounds the rotor shaft and is arranged, and the support rods are opposite to the rotor shaft in an inclined mode.
According to the power system of the cross twin-rotor unmanned helicopter, the supporting seats of the two supporting frames are fixedly connected through the connecting rod; and/or the extension lines of one ends of the support rods fixedly connected with the support seats are intersected at one point, and the intersection point is positioned on the axis of the rotor shaft.
The power system of the cross twin-rotor unmanned helicopter comprises a first transmission set, a second transmission set and a third transmission set, wherein the first transmission set comprises a first transmission shaft, an input gear fixedly sleeved on the first transmission shaft and a first main bevel gear; the first main bevel gear is fixedly sleeved at one end of the first transmission shaft;
the transmission mechanism further comprises a second transmission shaft, a first slave bevel gear, two second main bevel gears and two second slave bevel gears; the first slave bevel gears are fixedly sleeved in the middle of the second transmission shaft, the two second master bevel gears are respectively and fixedly sleeved at two ends of the second transmission shaft, and the two second slave bevel gears are respectively and fixedly sleeved at the bottom ends of the two rotor shafts;
the input gear is in transmission connection with all the power sources, the first main bevel gear is meshed with the first slave bevel gear, and the two second main bevel gears are respectively meshed with the two second slave bevel gears;
the first transmission shaft and the second transmission shaft are vertically arranged, and the axis of the first transmission shaft is superposed with the axis of the tail rotor shaft; the first main bevel gear is the first power output end, and the other end of the first transmission shaft is the second power output end.
According to the power system of the cross twin-rotor unmanned helicopter, the power source is connected with the transmission mechanism through the overrunning clutch.
The invention also provides a cross double-rotor unmanned helicopter which comprises a helicopter body and a power system arranged on the helicopter body, wherein the power system is any one of the power systems, and the transmission mechanism is connected with the helicopter body through an elastic support.
Because the power system has the technical effects, the crossed double-rotor unmanned helicopter comprising the power system also has the same technical effects, and the detailed description is omitted.
Drawings
Fig. 1 is a schematic structural diagram of a power system of a cross twin-rotor unmanned helicopter according to an embodiment of the present invention;
FIG. 2 is a top view of FIG. 1;
figure 3 is a schematic diagram of the transmission and rotor shaft system of figure 1.
Description of reference numerals:
a power source 10, an output gear 11, an intermediate gear set 12 and an overrunning clutch 13;
the transmission mechanism 20, a first transmission shaft 21, an input gear 211, a first main bevel gear 22, a second transmission shaft 23, a first slave bevel gear 24, a second main bevel gear 25 and a second slave bevel gear 26;
a rotor shaft 30;
a support frame 40, a support seat 41, a support rod 42 and a connecting rod 43;
a tail transmission shaft group 50, a tail transmission shaft 51 and a flexible coupling 52;
Detailed Description
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.
For simplicity of understanding and description, the following description is provided in conjunction with the power system and the cross twin-rotor unmanned helicopter with the power system, and the beneficial effects will not be repeated.
Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of an embodiment of a power system of a cross twin-rotor unmanned helicopter according to the present invention; fig. 2 is a top view of fig. 1.
The cross dual-rotor unmanned helicopter comprises a fuselage and a power system installed on the fuselage, wherein in this embodiment, the power system comprises a power source 10, two rotor shafts 30 and a transmission mechanism 20, wherein at least two power sources 10 are provided, and generally two power sources 10 are provided to meet the requirements of the helicopter, and the power system is described by taking two power sources 10 as an example in combination with the figures.
The transmission mechanism 20 comprises a first transmission set, and the power input end of the first transmission set is in transmission connection with the two power sources 10; the first drive train of the transmission 20 has two power outputs, the first for transmitting power from the power source 10 to the two rotor shafts 30 and the second for transmitting power from the power source 10 to the tail rotor shaft 61 of the tail rotor 60, the two power outputs of the first drive train and the tail rotor shaft 61 being on the same axis. It is understood that the transmission mechanism 20 combines the power of the two power sources 10 and redistributes the output.
The crossed dual-rotor unmanned helicopter is provided with two rotor shafts 30, the two rotor shafts 30 are arranged on two sides of the helicopter body in a crossed mode, it can be understood that extension lines of the two rotor shafts 30 can intersect at a virtual point, and two rotors on the two rotor shafts 30 rotate in opposite directions synchronously.
The power transmitted from the first power output end of the transmission mechanism 20 can be transmitted to the two rotor shafts 30 through the transmission structure, so that the two rotor shafts 30 rotate in opposite directions synchronously.
After the arrangement, the power system is provided with more than two power sources 10, the power of all the power sources 10 is combined and redistributed, so that the two rotor shafts 30 can be synchronously driven, power can be provided for the tail rotor shaft 61, the structure of the transmission mechanism 20 can be simplified, the number of parts is reduced, and the maintenance cost is reduced; meanwhile, two power output ends of the transmission mechanism 20 and the tail rotor shaft 61 are arranged on the same axis, so that the whole power system is more compact in layout, small in occupied space and high in transmission efficiency, and the performance of the helicopter is favorably improved.
The power source 10 is usually an engine, but may be other components capable of increasing power in practice. In practice, two identical power sources 10 are used for ease of installation and layout.
Referring also to fig. 3, fig. 3 is a schematic diagram of the transmission and rotor shaft system of fig. 1.
In this embodiment, the first transmission set of the transmission mechanism 20 includes a first transmission shaft 21, an input gear 211 and a first main bevel gear 22, wherein the input gear 211 is fixedly sleeved on the first transmission shaft 21, and the first main bevel gear 22 is fixedly sleeved on one end of the first transmission shaft 21.
The transmission mechanism 20 further comprises a second transmission shaft 23, a first slave bevel gear 24, two second main bevel gears 25 and two second slave bevel gears 26; the first slave bevel gear 24 is fixedly sleeved in the middle of the second transmission shaft 23, the two second master bevel gears 25 are respectively fixedly sleeved at two ends of the second transmission shaft 23, and the two second slave bevel gears 26 are respectively fixedly sleeved at the bottom ends of the two rotor shafts 30.
Each power source 10 is in transmission connection with an input gear 211, transmits power to a first transmission shaft 21 through the input gear 211, and a first main bevel gear 22 is meshed with a first slave bevel gear 24 and two second main bevel gears 25 are respectively meshed with two second slave bevel gears 26.
The first transmission shaft 21 and the second transmission shaft 23 are arranged vertically, the axis of the first transmission shaft 21 coincides with the axis of the tail rotor shaft 61, the first main bevel gear 22 fixedly sleeved on the first transmission shaft 21 is a first power output end of the transmission mechanism 20, which is used for transmitting power to the rotor shaft 30, and the other end of the first transmission shaft 21 is a second power output end, namely, the other end of the first transmission shaft 21 is in transmission connection with the tail rotor shaft 61.
When the axis of the first main bevel gear 22 is perpendicular to the axis of the first slave bevel gear 24, that is, the first main bevel gear 22 and the first slave bevel gear 24 are orthogonally engaged with each other, the direction of the power from the power source 10 can be changed; it can be understood that, because the two rotor shafts 30 are arranged in a crossed manner, the engagement between the second slave bevel gear 26 fixedly sleeved on the rotor shafts 30 and the corresponding second master bevel gear 25 is a mutual oblique engagement, and the specific angle setting can be determined according to actual requirements.
In actual operation, the power of the power source 10 is transmitted to the first transmission shaft 21, the first main bevel gear 22 transmits the power to the first secondary bevel gear 24 and the second transmission shaft 23, and the second main bevel gears 25 at two ends of the second transmission shaft 23 respectively transmit the power to the two second secondary bevel gears 26, so as to transmit the power to the two rotor shafts 30, thereby achieving the purpose of synchronously driving the two rotors.
Wherein, the output shaft of the power source 10 is provided with an output gear 11 and an intermediate gear set 12, the output gear 11 is in transmission connection with the input gear 211 through the intermediate gear set 12, of course, the output gear 11 of the power source 10 can also be directly meshed with the input gear 211 to realize power transmission according to the speed reduction requirement in actual setting.
The structural form of each gear can be selected according to the actual application requirement.
In a specific embodiment, the power system further includes a tail transmission shaft set 50, where the tail transmission shaft set 50 is configured to transmit power from the power source 10 to the tail rotor shaft 61, specifically, an input end of the tail transmission shaft set 50 is in transmission connection with a second power output end of the transmission mechanism 20, that is, the other end of the first transmission shaft 21, through a flexible coupling 52, and an output end of the tail transmission shaft set 50 is in transmission connection with the tail rotor shaft 61, as shown in fig. 1 and fig. 2, an axis of the tail transmission shaft set 50 coincides with an axis of the tail rotor shaft 61, it can be understood that the tail transmission shaft set 50 is coaxially and concentrically arranged with the tail rotor shaft 61, and thus, after the arrangement, the tail rotor 60 is a thrust tail rotor, which can improve performance of the helicopter.
The tail transmission shaft set 50 is connected with the first transmission shaft 21 through a flexible coupling 52, and angle compensation can be performed on the tail transmission shaft set 50.
When the tail transmission shaft group 50 is specifically arranged, the tail transmission shaft group comprises more than two tail transmission shafts 51, all the tail transmission shafts 51 are in transmission connection in sequence, and obviously, the axis of each tail transmission shaft 51 is coincident with the axis of the tail rotor shaft 61. Specifically, at least one of the transmission joints (the transmission joints of two adjacent tail transmission shafts 51) of the tail transmission shaft group 50 or the transmission joints of the tail transmission shaft group 50 and the tail rotor shaft 61 is in transmission connection through a spline, and the spline is arranged to compensate the length of the tail transmission shaft group 50. In the concrete scheme, two power supplies 10 all are located the top of tail transmission shaft group 50, and are close to the setting of rotor shaft 30 position, also lie in the one end that tail transmission shaft group 50 kept away from propeller shaft 61 promptly, more specifically, the output shaft axis of power supply 10 is parallel with the axis of tail transmission shaft group 50, and two power supplies 10 are relative tail transmission shaft group 50 symmetrical arrangement, so set up, make gravity distribution reasonable and even relatively, are favorable to promoting the performance of helicopter.
As mentioned above, the axis of the first transmission shaft 21 coincides with the axis of the tail rotor shaft 61, i.e. with the axis of the tail transmission shaft group 50, and the output shaft of the power source 10 is parallel to the axis of the tail transmission shaft group 50, i.e. the output shaft of the power source 10 is also parallel to the first transmission shaft 21.
In a specific scheme, the power sources 10 are connected with the transmission mechanism 20 through the overrunning clutch 13, so that power can be transmitted in a one-way mode only from the power sources 10 to the transmission mechanism 20, and meanwhile, when one power source 10 breaks down or is shut down accidentally, the normal operation of the other power source 10 is not influenced, power consumption is avoided, and operation is simpler.
In this embodiment, the rotor shaft 30 of the power system is supported by the support frame 40, corresponding to each rotor shaft 30, the support frame 40 is provided with a support seat 41 and at least two support rods 42, wherein the rotor shaft 30 passes through the corresponding support seat 41 and can rotate relative to the support seat 41, specifically, a bearing can be arranged between the rotor shaft 30 and the support seat 41, one end of each support rod 42 is fixedly connected with the support seat 41, each support rod 42 is arranged around the rotor shaft 30, and the support rods 42 are obliquely arranged relative to the rotor shaft 30, as shown in fig. 1 and fig. 2, one end of each support rod 42 fixedly connected with the support seat 41 is close to the rotor shaft 30, the other end of each support rod 42 is relatively far away from the rotor shaft 30, and when the support rods 42 are installed, the support rods 42 can be connected with the fuselage of the cross twin-rotor unmanned helicopter.
After the arrangement, the rotor shaft 30 is supported by the support frame 40, the lower end of the support frame 40 is connected with the fuselage, the vibration isolation effect is achieved on the rotor shaft 30, the alternating force and the alternating torque transmitted to the rotor rotation plane of the fuselage on the hub of the rotor mounted on the rotor shaft 30 can be effectively reduced, the structure is simple and reliable, and the maintenance cost is low.
In the scheme shown in the figure, each supporting seat 41 is correspondingly provided with two supporting rods 42, and it can be understood that the number and arrangement of the supporting rods 42 can be adjusted according to actual requirements during actual setting.
Specifically, the two support seats 41 of the two support frames 40 are further fixedly connected by the connecting rod 43, and the intersection point of the extension lines of the support rods 42 connected to each support seat 41 can be located on the axis of the rotor shaft 30, so as to further improve the support effect. It is understood that the intersection point of the extension lines of the support rods 42 is obviously the intersection point of the extension lines of the ends of the support rods 42 fixedly connected with the support base 41.
In a specific scheme, the transmission mechanism 20 of the power system is connected with the fuselage through an elastic support, and the rotor shaft 30 is connected with the fuselage through the support frame 40, so that the vertical frequency of the transmission mechanism 20 and the rotor system is high, and the swinging frequency of the intersection point of the extension lines of the support rods 42 around the support frame 40 is low, so that the vertical rigidity of the transmission mechanism 20 and the rotor system is ensured, and the transmission rate of exciting force or moment in the rotation plane of the rotor can be reduced.
The power system and the cross dual-rotor unmanned helicopter with the power system are 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 power system of the cross double-rotor unmanned helicopter comprises at least two power sources, two rotor shafts and a transmission mechanism, and is characterized in that the transmission mechanism comprises a first transmission set, and the power input end of the first transmission set is in transmission connection with all the power sources; an output gear is arranged on an output shaft of each power source, and each output gear is in transmission connection with an input gear of the first transmission set through an intermediate gear set;
the first transmission set is provided with two power output ends, the first power output end is used for transmitting the power from the power source to the two rotor shafts, the second power output end is used for transmitting the power from the power source to the tail rotor shaft, and the two power output ends and the tail rotor shaft are positioned on the same axis;
the second power output end is in transmission connection with the input end of the tail transmission shaft group, the output end of the tail transmission shaft group is in transmission connection with the tail propeller shaft, and the axis of the tail transmission shaft group is overlapped with the axis of the tail propeller shaft;
the rotor shaft is supported by a support frame, the support frame comprises a support seat and at least two support rods, the rotor shaft penetrates through the support seat and can rotate relative to the support seat, one end of each support rod is fixedly connected with the support seat, each support rod is arranged around the rotor shaft, and the support rods are obliquely arranged relative to the rotor shaft;
the extension lines of one ends of the support rods fixedly connected with the support seats are intersected at one point, and the intersection point is positioned on the axis of the rotor shaft;
the axis of the output shaft of the power source is parallel to the axis of the tail transmission shaft group.
2. The power system of a cross twin rotor unmanned helicopter of claim 1 wherein the input of the tail driveshaft assembly is drivingly connected to the second power output by a flexible coupling.
3. The power system of a cross twin rotor unmanned helicopter of claim 2 wherein the tail drive shaft set includes more than two tail drive shafts in drive connection, at least one of the drive connections of the tail drive shaft set and the tail rotor shaft being in splined drive connection.
4. The power system of a cross twin rotor unmanned helicopter of claim 2 wherein there are two power sources, two of said power sources being located above said tail shaft set and at an end of said tail shaft set remote from said tail rotor shaft.
5. The power system of a cross twin rotor unmanned helicopter of claim 4 wherein both of said power sources are symmetrically disposed about said tail drive shaft set.
6. The power system of a cross twin rotor unmanned helicopter of any one of claims 1 to 5 wherein the supports of the two supports are secured together by a connecting rod.
7. The power system of a cross twin rotor unmanned helicopter of any one of claims 1 to 5 wherein the first transmission set includes a first transmission shaft, the input gear and a first main bevel gear that are fixedly sleeved on the first transmission shaft; the first main bevel gear is fixedly sleeved at one end of the first transmission shaft;
the transmission mechanism further comprises a second transmission shaft, a first slave bevel gear, two second main bevel gears and two second slave bevel gears; the first slave bevel gears are fixedly sleeved in the middle of the second transmission shaft, the two second master bevel gears are respectively and fixedly sleeved at two ends of the second transmission shaft, and the two second slave bevel gears are respectively and fixedly sleeved at the bottom ends of the two rotor shafts;
the input gear is in transmission connection with all the power sources, the first main bevel gear is meshed with the first slave bevel gear, and the two second main bevel gears are respectively meshed with the two second slave bevel gears;
the first transmission shaft and the second transmission shaft are vertically arranged, and the axis of the first transmission shaft is superposed with the axis of the tail rotor shaft; the first main bevel gear is the first power output end, and the other end of the first transmission shaft is the second power output end.
8. The power system of a cross twin rotor unmanned helicopter of any of claims 1 to 5 wherein the power source is connected to the transmission by an overrunning clutch.
9. The cross dual-rotor unmanned helicopter comprises a fuselage and a power system installed on the fuselage, and is characterized in that the power system is the power system of any one of claims 1 to 8, and the transmission mechanism is connected with the fuselage through an elastic support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110234089.8A CN112591115B (en) | 2021-03-03 | 2021-03-03 | Power system and cross double-rotor unmanned helicopter with same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110234089.8A CN112591115B (en) | 2021-03-03 | 2021-03-03 | Power system and cross double-rotor unmanned helicopter with same |
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| CN112591115A CN112591115A (en) | 2021-04-02 |
| CN112591115B true CN112591115B (en) | 2021-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102417034A (en) * | 2011-11-15 | 2012-04-18 | 南京航空航天大学 | Transverse rigid rotor blade helicopter |
| CN103144767A (en) * | 2012-12-31 | 2013-06-12 | 天津曙光敬业科技有限公司 | Two-rotor unmanned helicopter |
| CN108974347A (en) * | 2018-09-26 | 2018-12-11 | 北京清航紫荆装备科技有限公司 | A kind of intersection twin-rotor helicopter and its machine driven system |
| CN111204466A (en) * | 2020-04-22 | 2020-05-29 | 北京清航紫荆装备科技有限公司 | Cross double-rotor unmanned helicopter and gear transmission system thereof |
| CN111232229A (en) * | 2020-04-26 | 2020-06-05 | 北京清航紫荆装备科技有限公司 | Transmission system box body of cross double-rotor unmanned helicopter and transmission system thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9868541B2 (en) * | 2013-08-14 | 2018-01-16 | Bell Helicopter Textron Inc. | Tiltrotor aircraft having journal bearing mounted pylon assemblies |
-
2021
- 2021-03-03 CN CN202110234089.8A patent/CN112591115B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102417034A (en) * | 2011-11-15 | 2012-04-18 | 南京航空航天大学 | Transverse rigid rotor blade helicopter |
| CN103144767A (en) * | 2012-12-31 | 2013-06-12 | 天津曙光敬业科技有限公司 | Two-rotor unmanned helicopter |
| CN108974347A (en) * | 2018-09-26 | 2018-12-11 | 北京清航紫荆装备科技有限公司 | A kind of intersection twin-rotor helicopter and its machine driven system |
| CN111204466A (en) * | 2020-04-22 | 2020-05-29 | 北京清航紫荆装备科技有限公司 | Cross double-rotor unmanned helicopter and gear transmission system thereof |
| CN111232229A (en) * | 2020-04-26 | 2020-06-05 | 北京清航紫荆装备科技有限公司 | Transmission system box body of cross double-rotor unmanned helicopter and transmission system thereof |
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| CN112591115A (en) | 2021-04-02 |
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