CN113911352A - Four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle - Google Patents
Four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle Download PDFInfo
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- CN113911352A CN113911352A CN202111364299.5A CN202111364299A CN113911352A CN 113911352 A CN113911352 A CN 113911352A CN 202111364299 A CN202111364299 A CN 202111364299A CN 113911352 A CN113911352 A CN 113911352A
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- curtain
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- synchronous belt
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/003—Aircraft not otherwise provided for with wings, paddle wheels, bladed wheels, moving or rotating in relation to the fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C21/00—Influencing air flow over aircraft surfaces by affecting boundary layer flow
- B64C21/02—Influencing air flow over aircraft surfaces by affecting boundary layer flow by use of slot, ducts, porous areas or the like
- B64C21/08—Influencing air flow over aircraft surfaces by affecting boundary layer flow by use of slot, ducts, porous areas or the like adjustable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C2001/0054—Fuselage structures substantially made from particular materials
- B64C2001/0072—Fuselage structures substantially made from particular materials from composite materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Operating, Guiding And Securing Of Roll- Type Closing Members (AREA)
Abstract
The invention discloses a four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle, which is characterized by comprising rotary curtain wings, rotary shafts, second speed reducers, motors and a machine body frame, wherein two vertical rotary shafts are symmetrically arranged at two sides of the machine body frame, two horizontal rotary shafts are symmetrically arranged at the front and the back of the machine body frame, the four motors arranged on the machine body frame respectively drive the four rotary shafts to continuously rotate after being decelerated by the four second speed reducers arranged on the machine body frame, the four rotary curtain wings are respectively and fixedly connected to the four rotary shafts, the left rotary curtain wing and the right rotary curtain wing are used for generating thrust, the front rotary curtain wing and the back rotary curtain wing are used for generating lift force, the rotary curtain wings comprise the rotary frame, and the roller shutter is arranged in the rotating frame, and a synchronous belt, a synchronous belt wheel and a driving motor are also arranged in the rotating frame and used for controlling the roller shutter to expand and contract.
Description
Technical Field
The invention relates to the field of movable wing aircrafts and flying robots, in particular to a four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle.
Background
The flying mode of the aircraft comprises three flying types of a fixed wing, a rotor wing and a flapping wing, wherein the rotor wing and the flapping wing all belong to movable wings.
Flapping wing flight is a flight mode adopted by natural flying organisms, mainly utilizes the up-and-down flapping of double wings to simultaneously generate lift force and thrust, and is mainly characterized in that the functions of lifting, hovering and propelling are integrated, and meanwhile, the flapping wing flight has strong maneuverability and flexibility and is more suitable for executing flight bypassing obstacles and the like. For an aircraft in a small-size and low-speed flight state, the aircraft flies at a low Reynolds number, and the unsteady lift force generated by the flapping wings is much larger than the unsteady lift force of the fixed wings; from the thrust aspect, the flapping wing propulsion efficiency is higher than the propeller propulsion efficiency. At present, the research of the flapping wing air vehicle mainly focuses on simulating the flight attitude of flying organisms in the nature and designing various flapping wing mechanisms. However, the common problem of these flapping wing mechanisms is that the overall aerodynamic efficiency is low, even lower than that of the fixed wing micro-aircraft of the same scale. The main reason for the low overall efficiency of the flapping wing aircraft is that most of the existing researches simply imitate the appearance and flapping motion of wings of birds or insects, but the problems that the air resistance is reduced and unsteady aerodynamic force is generated by utilizing the change of the self posture and the structure of the wings in the process of flapping the flapping wings of flying organisms up and down are difficult to realize, and the generated problem of low aerodynamic efficiency seriously restricts the popularization and the application of the flapping wing aircraft.
Rotorcraft provides lift to an aircraft with the tension of a rotor (including a propeller), and the forward tension of the aircraft is derived from the horizontal component resulting from small angular deflections of the rotor vector. The attitude control and horizontal movement of the multi-rotor small aircraft which is developed rapidly at present are realized by differential tension of the multiple rotors. Rotorcraft are characterized by having vertical take-off and landing and hovering functions, and the ability to fly in relatively small areas. However, because the rotor of the rotorcraft is immobile relative to the central axis of the rotor, the rotorcraft has large advancing resistance, so that the rotorcraft has high energy consumption, low aerodynamic efficiency and difficult high-power long-endurance flight.
Disclosure of Invention
The invention aims to provide a four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle which remarkably reduces flight resistance of flapping wing type and rotor wing type aircrafts, improves aerodynamic efficiency, conveniently realizes vertical take-off and landing, has larger flat flight thrust and better flight flexibility and maneuverability, and solves the problems in the prior art.
The technical solution for realizing the purpose of the invention is as follows:
the utility model provides a four synchronous belt drive roll screen rotary wing unmanned aerial vehicle, its characterized in that includes rotatory curtain wing, the second reduction gear, a motor, rotation axis and fuselage frame, fuselage frame bilateral symmetry arranges the rotation axis of two vertical directions, fuselage frame front and back symmetry arranges two horizontal rotation axes, four motors that set up on fuselage frame drive four rotation axis continuous rotation respectively after slowing down through four second reduction gears that set up on fuselage frame respectively, four rotatory curtain wings are fixed connection respectively on four rotation axes, two rotatory curtain wings are used for producing thrust about, two rotatory curtain wings are used for producing lift around, rotatory curtain wing includes revolving frame, and the roll screen of installing in revolving frame, still be provided with the hold-in range in the revolving frame, synchronous pulley and driving motor, be used for controlling roll screen's expansion and shrink, revolving frame sets up the centre bore, The direction of the straight beam is parallel to the axis of the central hole, and the axis of the straight beam is parallel to the axis of the solid roller shutter mounting beam; the roller shutters are arranged on the straight beams and the solid roller shutter mounting beams; the four rotating shafts are respectively connected with the four central holes and four second speed reducers arranged on the aircraft; it has the roll of curtain windward side to roll up on the curtain, roll up curtain leeward side and roll up the curtain through-hole, driving motor installs on the motor mounting hole, hold-in range and synchronous pulley install on straight beam and solid roll up the curtain installation roof beam, roll up the curtain cartridge on the hold-in range, still including setting up four motors on the aircraft, the output shaft of four motors is installed respectively in four second reduction gear input holes, revolving frame still is provided with first reduction gear, driving motor's output shaft is installed in the input hole of first reduction gear, still including the at least one in outer reinforcement curved beam and the interior reinforcement curved beam that is used for strengthening revolving frame's intensity on the revolving frame, straight beam, outer reinforcement curved beam and interior reinforcement curved beam are hollow structure and adopt engineering plastics, light materials such as carbon fiber.
The working principle of the invention is as follows: when the motor starts to rotate in the forward direction, the rotating shaft is driven to rotate continuously after being decelerated by the speed reducer, the driving motor controls the synchronous belt wheel to work, so that the synchronous belt is driven to work, the roller shutter is unfolded and contracted along with the forward and reverse rotation of the synchronous belt wheel, when the roller shutter rotates to the highest vertical state, the driving motor works to stretch the roller shutter to the maximum area and keep the state to rotate to the lowest vertical state from the highest vertical state, at the moment, the roller shutter is vertical to the airflow direction, the airflow directly acts on the front surface of the roller shutter to enable the roller shutter to obtain the maximum air driving force, the positive pressure of the airflow acting on the windward surface of the roller shutter can be decomposed into lift force and thrust force, at the moment, the roller shutter is in the working state, when the roller shutter rotates to the highest vertical position from the lowest vertical position, the driving motor starts to work, the synchronous belt wheel is controlled to rotate in the reverse direction, the roller shutter is contracted, and the airflow directly flows out from the through hole of the roller shutter, returning to a reset state; when the motor rotates reversely, the gas reverse thrust power generated by the rotary curtain wing device is opposite to that generated when the motor rotates forwardly. When the rotating speeds of the two horizontally-installed rotating curtain wing motors are the same and the two vertically-installed rotating curtain wing motors do not work, the vertical take-off and landing function can be realized, and if the lifting force generated by the two horizontally-installed rotating curtain wings is equal to the weight and the resistance of the whole machine, the aerial hovering can be realized; when the rotating speeds of the rotating curtain wing motors of the two vertically-mounted rotating curtain wings are the same, the thrust generated by the rotating curtain wings on the left side and the right side is the same, so that the aircraft flies forwards, and the torque generated by the rotating curtain wings on the two sides is equal in size and opposite in direction, so that the overall torque of the aircraft is balanced, the gas distribution is reasonable, and when the rotating speeds of the two motors are different, the thrust generated by the rotating curtain wings on the left side and the right side is different, so that the aircraft can realize the turning function.
Compared with the prior art, the invention has the following remarkable advantages:
1. according to the four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle, the roller shutters in the rotary shutter wings are set to continuously rotate, so that the advantage of continuous rotation of the rotor wings is kept, and the defect that flapping wings need to reciprocate is overcome.
2. The four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle provided by the invention has the advantages that the continuously rotating roller shutter is controlled by the motor to rotate relative to the central rotating shaft, so that the roller shutter moves against the wind in the largest area to obtain the largest aerodynamic force in the working state, and in the reset state, airflow directly flows out from the roller shutter through hole, so that the resistance is greatly reduced, the aim of improving the aerodynamic efficiency is fulfilled, and the aerodynamic efficiency is far higher than that of the existing rotor wing and flapping wing air vehicles.
3. According to the four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle, the roller shutter is switched between the working state and the reset state under the control of the driving motor, the synchronous belt drives the roller shutter to complete, and the four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle is simple in structure, high in control precision and good in reliability.
4. According to the four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle, the two horizontally arranged rotary curtain wings control the magnitude of the lifting force, the two vertically arranged rotary curtain wings control the thrust force, and vertical take-off and landing, hovering in the air and quick turning can be conveniently realized, so that the unmanned aerial vehicle is good in flexibility and maneuverability, and can be widely applied to various small aircrafts and unmanned aerial vehicles flying at a low Reynolds number.
5. The four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle is simple in structure, good in processing manufacturability and low in production cost.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the four-synchronous belt drive roller shutter rotary wing unmanned aerial vehicle.
Fig. 2 is a detailed structural schematic diagram of the four-synchronous belt drive roller shutter rotary wing drone provided with only one horizontally-placed rotary curtain wing and one vertically-placed rotary curtain wing.
Fig. 3 is a detailed structural diagram of the reset state of the rotary curtain wing of the four-synchronous belt transmission roller shutter unmanned aerial vehicle.
Fig. 4 is a detailed structural diagram of the working state of the rotary curtain wing of the four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle.
Fig. 5 is a schematic structural diagram of a rotating frame of the four-synchronous belt drive roller shutter rotary wing drone of the present invention.
Fig. 6 is a schematic structural diagram of the roller shutter of the four-synchronous belt drive roller shutter unmanned aerial vehicle of the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings, but the invention is not limited in any way.
Example 1: with reference to fig. 1, 2, 3, 4, 5 and 6, the high-voltage wire inspection unmanned aerial vehicle adopting the four synchronous belt transmission rolling curtain rotary wing unmanned aerial vehicle is provided. The rotary curtain wing comprises rotary curtain wings, second speed reducers 7, motors 8, rotary shafts 9 and a machine body frame 10, wherein the two sides of the machine body frame 10 are symmetrically provided with the rotary shafts 9 in two vertical directions, the front and the back of the machine body frame 10 are symmetrically provided with the two horizontal rotary shafts 9, the four motors 8 arranged on the machine body frame 10 respectively drive the four rotary shafts 9 to continuously rotate after being decelerated through the four second speed reducers 7 arranged on the machine body frame 10, the four rotary curtain wings are respectively and fixedly connected to the four rotary shafts 9, the left rotary curtain wing and the right rotary curtain wing are used for generating thrust, the front rotary curtain wing and the back rotary curtain wing are used for generating lift force, the rotary curtain wings comprise a rotary frame 1 and a roller curtain 2 arranged in the rotary frame 1, a synchronous belt 3, a synchronous belt wheel 6 and a driving motor 5 are further arranged in the rotary frame 1 and used for controlling the expansion and contraction of the roller curtain 2, the rotary frame 1 is provided with a center hole 101, The direction of the straight beam 102 is parallel to the axis of the central hole 101, and the axis of the straight beam 102 is parallel to the axis of the solid roller shutter mounting beam 103; the roller shutter 2 is arranged on the straight beam 102 and the solid roller shutter mounting beam 103; the four rotating shafts 9 are respectively connected with the four central holes 101 and the four second speed reducers 7 arranged on the aircraft; there are the roll of curtain windward side 201 on the roll of curtain 2, roll up curtain leeward side 202 and roll up curtain through-hole 203, driving motor 5 installs on motor mounting hole 104, hold-in range 3 and synchronous pulley 6 install on straight beam 102 and solid roll of curtain mounting beam 103, roll up curtain 2 cartridge on hold-in range 3, still including setting up four motors 8 on the aircraft, the output shaft of four motors 8 is installed respectively in four second reduction gear 7 input holes, revolving frame 1 still is provided with first reduction gear 4, the output shaft of driving motor 5 is installed in the input hole of first reduction gear 4, still including being used for strengthening at least one of the crooked roof beam 105 of outer reinforcement and the crooked roof beam 106 of interior reinforcement of revolving frame 1's intensity on the revolving frame 1, straight beam 102, the crooked roof beam 105 of outer reinforcement and the crooked roof beam 106 of interior reinforcement are hollow structure and adopt engineering plastics, materials such as carbon fiber. After the high-voltage wire inspection unmanned aerial vehicle adopts the four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle, various detection and photographing works can be completed due to small resistance of the rotary wing and high pneumatic efficiency, and compared with the rotary wing unmanned aerial vehicle, after the same working load such as photographic equipment is carried, the one-time flight time is increased by 20%, and longer time-of-flight work is realized.
Example 2: with reference to fig. 1, 2, 3, 4, 5 and 6, the high-rise fire-extinguishing unmanned aerial vehicle adopting the four-synchronous belt transmission rolling curtain rotary wing unmanned aerial vehicle is provided. The rotary curtain wing comprises rotary curtain wings, second speed reducers 7, motors 8, rotary shafts 9 and a machine body frame 10, wherein the two sides of the machine body frame 10 are symmetrically provided with the rotary shafts 9 in two vertical directions, the front and the back of the machine body frame 10 are symmetrically provided with the two horizontal rotary shafts 9, the four motors 8 arranged on the machine body frame 10 respectively drive the four rotary shafts 9 to continuously rotate after being decelerated through the four second speed reducers 7 arranged on the machine body frame 10, the four rotary curtain wings are respectively and fixedly connected to the four rotary shafts 9, the left rotary curtain wing and the right rotary curtain wing are used for generating thrust, the front rotary curtain wing and the back rotary curtain wing are used for generating lift force, the rotary curtain wings comprise a rotary frame 1 and a roller curtain 2 arranged in the rotary frame 1, a synchronous belt 3, a synchronous belt wheel 6 and a driving motor 5 are further arranged in the rotary frame 1 and used for controlling the expansion and contraction of the roller curtain 2, the rotary frame 1 is provided with a center hole 101, The direction of the straight beam 102 is parallel to the axis of the central hole 101, and the axis of the straight beam 102 is parallel to the axis of the solid roller shutter mounting beam 103; the roller shutter 2 is arranged on the straight beam 102 and the solid roller shutter mounting beam 103; the four rotating shafts 9 are respectively connected with the four central holes 101 and the four second speed reducers 7 arranged on the aircraft; there are the roll of curtain windward side 201 on the roll of curtain 2, roll up curtain leeward side 202 and roll up curtain through-hole 203, driving motor 5 installs on motor mounting hole 104, hold-in range 3 and synchronous pulley 6 install on straight beam 102 and solid roll of curtain mounting beam 103, roll up curtain 2 cartridge on hold-in range 3, still including setting up four motors 8 on the aircraft, the output shaft of four motors 8 is installed respectively in four second reduction gear 7 input holes, revolving frame 1 still is provided with first reduction gear 4, the output shaft of driving motor 5 is installed in the input hole of first reduction gear 4, still including being used for strengthening at least one of the crooked roof beam 105 of outer reinforcement and the crooked roof beam 106 of interior reinforcement of revolving frame 1's intensity on the revolving frame 1, straight beam 102, the crooked roof beam 105 of outer reinforcement and the crooked roof beam 106 of interior reinforcement are hollow structure and adopt engineering plastics, materials such as carbon fiber. After the four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle is adopted by the special high-rise fire extinguishing unmanned aerial vehicle, the rotary curtain wing has high maneuverability due to large thrust, small resistance and high pneumatic efficiency in the working stroke, can quickly respond to high-rise emergency, and quickly flies to a high-rise fire-catching point to extinguish fire.
Claims (7)
1. Four synchronous belt drive roll up curtain rotary wing unmanned aerial vehicle, its characterized in that: the wind power generation device comprises rotating curtain wings, a second speed reducer (7), motors (8), rotating shafts (9) and a machine body frame (10), wherein the two rotating shafts (9) in two vertical directions are symmetrically arranged on two sides of the machine body frame (10), the two rotating shafts (9) which are horizontal are symmetrically arranged on the front and back of the machine body frame (10), the four motors (8) arranged on the machine body frame (10) respectively drive the four rotating shafts (9) to rotate continuously after the four second speed reducers (7) on the machine body frame (10) decelerate, the four rotating curtain wings are respectively and fixedly connected to the four rotating shafts (9), the left rotating curtain wings and the right rotating curtain wings are used for generating thrust, the front rotating curtain wings and the back rotating curtain wings are used for generating lift, and the rotating curtain wings comprise the rotating frame (1), and the roller shutter (2) is arranged in the rotating frame (1), and a synchronous belt (3), a synchronous belt wheel (6) and a driving motor (5) are further arranged in the rotating frame (1) and used for controlling the roller shutter (2) to be unfolded and retracted.
2. The quad-synchronous belt drive roller shutter rotary wing drone of claim 1, characterized in that: the rotating frame (1) is provided with a central hole (101), a straight beam (102) and a solid roller shutter mounting beam (103), the direction of the straight beam (102) is parallel to the axis of the central hole (101), and the axis of the straight beam (102) is parallel to the axis of the solid roller shutter mounting beam (103); the roller shutter (2) is mounted on the straight beam (102) and the solid roller shutter mounting beam (103); the four rotating shafts (9) are respectively connected with the four central holes (101) and the four second speed reducers (7) arranged on the aircraft; roll up and have a roll of curtain windward side (201), roll up curtain leeward side (202) and roll up curtain through-hole (203) on curtain (2), driving motor (5) are installed on motor mounting hole (104), hold-in range (3) with synchronous pulley (6) are installed straight beam (102) with on solid roll up curtain mounting beam (103), it is in to roll up curtain (2) cartridge on hold-in range (3).
3. The quad-synchronous belt drive roller shutter rotary wing drone of claim 1, characterized in that: the four electric motors (8) are arranged on the aircraft, and output shafts of the four electric motors (8) are respectively arranged in the four input holes of the second speed reducer (7).
4. The quad-synchronous belt drive roller shutter rotary wing drone of claim 1, characterized in that: the rotating frame (1) is further provided with a first speed reducer (4), and an output shaft of the driving motor (5) is installed in an input hole of the first speed reducer (4).
5. The quad-synchronous belt drive roller shutter rotary wing drone of claim 1, characterized in that: the rotating frame (1) further comprises at least one of an outer reinforcing curved beam (105) and an inner reinforcing curved beam (106) for reinforcing the strength of the rotating frame (1).
6. The quad-synchronous belt drive roller shutter rotary wing drone of claim 1, characterized in that: the straight beam (102), the outer reinforcing curved beam (105) and the inner reinforcing curved beam (106) are all hollow structures;
or the straight beam (102), the outer reinforcing curved beam (105) and the inner reinforcing curved beam (106) are made of engineering plastics;
or the straight beam (102), the outer reinforcing curved beam (105) and the inner reinforcing curved beam (106) are made of carbon fiber materials.
7. The quad-synchronous belt drive roller shutter rotary wing drone of claim 1, characterized in that: the straight beams (102) are uniformly distributed in the circumferential direction of the central hole (101), and the number of the straight beams (102) is more than 1; the number of the synchronous belts (3) in the rotating frame (1) is 8, and the number of the synchronous belt wheels (6) is 16.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111364299.5A CN113911352A (en) | 2021-11-17 | 2021-11-17 | Four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111364299.5A CN113911352A (en) | 2021-11-17 | 2021-11-17 | Four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN113911352A true CN113911352A (en) | 2022-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111364299.5A Pending CN113911352A (en) | 2021-11-17 | 2021-11-17 | Four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR402421A (en) * | 1909-04-26 | 1909-10-07 | Eugene Sunguroff | Air thruster |
| FR12641E (en) * | 1909-04-26 | 1910-10-20 | Eugene Sunguroff | Air thruster |
| CN108275269A (en) * | 2018-01-24 | 2018-07-13 | 浙江工业职业技术学院 | A kind of imitative bird flapping flight device of line wheel amplitude modulation wound membrane formula |
| CN110254711A (en) * | 2019-07-19 | 2019-09-20 | 苏州高博软件技术职业学院 | Two horizontal four vertical blades can turn six wheeled dynamic wing unmanned planes |
| CN110254712A (en) * | 2019-07-19 | 2019-09-20 | 苏州高博软件技术职业学院 | Two horizontal two vertical blades can turn four wheeled dynamic wing unmanned plane |
| CN110371285A (en) * | 2019-07-19 | 2019-10-25 | 苏州高博软件技术职业学院 | Blade can turn the four wheeled dynamic wing unmanned plane of horizontal lift |
-
2021
- 2021-11-17 CN CN202111364299.5A patent/CN113911352A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR402421A (en) * | 1909-04-26 | 1909-10-07 | Eugene Sunguroff | Air thruster |
| FR12641E (en) * | 1909-04-26 | 1910-10-20 | Eugene Sunguroff | Air thruster |
| CN108275269A (en) * | 2018-01-24 | 2018-07-13 | 浙江工业职业技术学院 | A kind of imitative bird flapping flight device of line wheel amplitude modulation wound membrane formula |
| CN110254711A (en) * | 2019-07-19 | 2019-09-20 | 苏州高博软件技术职业学院 | Two horizontal four vertical blades can turn six wheeled dynamic wing unmanned planes |
| CN110254712A (en) * | 2019-07-19 | 2019-09-20 | 苏州高博软件技术职业学院 | Two horizontal two vertical blades can turn four wheeled dynamic wing unmanned plane |
| CN110371285A (en) * | 2019-07-19 | 2019-10-25 | 苏州高博软件技术职业学院 | Blade can turn the four wheeled dynamic wing unmanned plane of horizontal lift |
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