CN114313220A - Propeller pitch angle accurate control device and method based on redundancy design - Google Patents
Propeller pitch angle accurate control device and method based on redundancy design Download PDFInfo
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- CN114313220A CN114313220A CN202111566487.6A CN202111566487A CN114313220A CN 114313220 A CN114313220 A CN 114313220A CN 202111566487 A CN202111566487 A CN 202111566487A CN 114313220 A CN114313220 A CN 114313220A
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Abstract
The utility model relates to a field of space equipment specifically discloses a propeller pitch angle accurate control device of redundant design, including the propeller hub, install in the paddle of propeller hub, with propeller hub fixed connection's spacing fixing base, displacement mechanism, be provided with the first control mechanism of measuring displacement nut linear displacement on the spacing fixing base and carry out the spacing second control mechanism of electrical apparatus to the paddle pitch angle scope. The real-time monitoring of the blade pitch angle is realized by measuring the linear displacement converted from the blade pitch angle into the variable-pitch nut, and the pitch angle is subjected to feedback control by combining the rotating speed of the propeller, so that the accurate adjustment and control of the pitch angle of the propeller blade are realized.
Description
Technical Field
The invention relates to the technical field of aviation equipment, in particular to a propeller pitch angle accurate control device and method with redundant design.
Background
The propellers used by the propeller-driven aircraft mainly comprise a non-variable-pitch function and a variable-pitch function, and the propellers with the variable-pitch function comprise electric-driven variable pitch, hydraulic variable pitch and the like. At present, almost all propellers with a pitch changing function are subjected to pitch changing in a coarse adjustment mode, namely, the set flight rotating speed of the propellers is preset, and when an engine is used for filling an oil door or reducing the oil door, after the actual flight rotating speed of the propellers exceeds or is lower than a certain proportional value of the set flight rotating speed, a pitch changing device drives blades to increase or reduce the pitch angle until the actual flight rotating speed is within the allowable fluctuation range of the set flight rotating speed. This adjustment is simple, but it does not allow quantification of the blade pitch in order to better assess the flight performance of the aircraft, in particular in the event of a propeller pitch failure, and it does not allow accurate assessment and localization of the failure location.
With the development of aerospace technology, in order to improve the aerodynamic efficiency of a propeller and the flight efficiency of an airplane, the actual rotating speed of the propeller and the pitch angle of blades need to be quantitatively and correspondingly analyzed, and the flight of the airplane can be more efficiently controlled by acquiring accurate flight performance data.
Disclosure of Invention
The invention provides a propeller pitch angle accurate control device with a redundant design, which aims to realize accurate adjustment and control of the pitch angle of propeller blades.
The propeller pitch angle accurate control device with the redundancy design adopts the following technical scheme:
a propeller pitch angle accurate control device with a redundant design comprises a propeller hub, blades arranged on the propeller hub, a limiting fixed seat fixedly connected with the propeller hub and a variable pitch mechanism;
the pitch-changing mechanism comprises: the pitch-variable nut is positioned in the propeller hub and is in sliding connection with the propeller hub along the direction of the rotation axis of the propeller hub, the sliding block is connected to the root part of the blade, and the pitch-variable nut drives the blade to rotate through the sliding block so as to change the pitch angle of the blade;
and the limiting fixed seat is provided with a first control mechanism for measuring linear displacement of the variable-pitch nut and a second control mechanism for carrying out electrical limitation on the pitch angle range of the blade.
In the above control device, the first control means includes: fixedly connected in the first gag lever post of displacement nut, connect in the linear transducer of spacing fixing base, linear transducer's telescopic link is connected with first gag lever post.
In the above control device, a second coupling is connected between the telescopic rod of the linear sensor and the first limiting rod.
In the above control device, the second control means includes: fixed connection in the second gag lever post of displacement nut, connect limit switch on spacing fixing base, connect the stop device on the second gag lever post, limit switch is located the both sides of stop device moving direction, and the recess that supplies the limit switch embedding is seted up at the upper and lower both ends of spacing fixing base.
In foretell controlling means, stop device includes adjusting nut down, lower limiting plate, spring, last limiting plate, goes up the regulation drum, lower limiting plate and last limiting plate and second gag lever post sliding connection, and the spring is located between lower limiting plate and the last limiting plate, and adjusting nut and last regulation drum all with second gag lever post threaded connection down, and adjusting nut is located one side that the lower limiting plate deviates from last limiting plate down, goes up and adjusts the drum and be located one side that the upper limiting plate deviates from lower limiting plate.
In the above control device, the variable pitch nut is provided with the limiting blocks at both ends along the moving direction of the variable pitch nut.
In the above control device, the pitch varying mechanism further includes a pitch varying motor and a lead screw, a connecting flange is connected between the hub and the limiting fixing seat, the pitch varying motor is fixed to the connecting flange, the lead screw is rotatably connected to the hub, and a pitch varying nut is sleeved outside the lead screw and is in threaded connection with the lead screw.
In the above control device, a first coupling is connected between the pitch motor and the lead screw.
In the above control device, the slider is connected to the position of the root of the blade deviating from the axis of the blade, and the pitch-variable nut is provided with a groove for the slider to slide.
A propeller pitch angle real-time control method based on redundancy design comprises the following steps:
(1) under the driving of an aircraft engine, the propeller rotates, and the blade pitch angle of the propeller is collected and monitored in real time by a linear displacement sensor;
(2) when the flight working condition changes, the preset rotating speed of the propeller is given, the engine receives an instruction to add an accelerator or reduce the accelerator, the rotating speed of the propeller is driven to increase or reduce to be close to the preset rotating speed, and if the speed is increased to exceed or not reach the preset rotating speed, the pitch motor drives the pitch mechanism to increase or reduce the pitch angle after receiving a feedback signal of the pitch control system;
(3) when the pitch angle rotation reaches the maximum limit pitch angle or the minimum limit pitch angle, the upper limit plate or the lower limit plate touches the limit switch to switch the circuit on and off, the pitch control system acquires information and then sends an instruction to drive the pitch motor to rotate reversely, and meanwhile, the linear displacement sensor collects and monitors the pitch angle change in real time;
(4) when the limit switch and the like cause the electrical limit failure, namely the linear displacement sensor detects that the pitch angle reaches the maximum or minimum limit pitch angle, the variable-pitch control system acquires the switching information of the on-off of the circuit, and at the moment, the variable-pitch control system switches the information work of the signal acquisition linear displacement sensor to realize the control redundancy design;
(5) when the electric limit and linear displacement sensors both fail to work under the extreme condition, when the variable pitch nut moves and is extruded by the limit blocks (11-12), and the current of the variable pitch motor is increased to a certain fixed value, the variable pitch control system acquires information and then sends an instruction to drive the variable pitch motor to rotate reversely, so that the mechanical limit design is realized;
(6) in the flying process of the aircraft, the flying conditions such as flying height, temperature and humidity are combined with real-time acquisition information such as blade pitch angle and engine rotating speed to be fused into a flying control program to form a flying state information database for the intelligent control of the aircraft.
In summary, the present application includes at least one of the following beneficial technical effects:
(1) real-time monitoring of the blade pitch angle is realized by measuring the linear displacement converted from the blade pitch angle to the pitch nut, and the pitch angle is subjected to feedback control by combining the rotating speed of the propeller
(2) The triple redundancy design of the control of the variable pitch range of the propeller is realized through electrical limit, mechanical limit and real-time monitoring of a sensor, and the safety and the reliability of the variable pitch of the propeller are ensured;
(3) the pitch angle is monitored in real time through the linear sensor, so that the one-to-one correspondence and real-time change of the rotating speed of the pitch-variable motor, the rotating speed of the propeller and the rotating speed of the pitch angle of the blade are realized, the flight performance of the aircraft can be effectively obtained, and the device has the advantages of compact and simple structure, convenience in disassembly and assembly and high reliability;
(4) a real-time accurate control method for propeller pitch angle is provided, and a calibration method for accurately measuring pitch angle is also provided.
Drawings
Fig. 1 is a perspective sectional view of a propeller pitch angle precise control device with a redundant design according to an embodiment of the present application.
FIG. 2 is a two-dimensional cross-sectional view of a pitch angle fine control apparatus according to an embodiment of the present application.
Fig. 3 is a view of the blade root in the direction of the blade root axis, wherein the circle is a view of the blade root in the direction of the blade root axis.
Description of reference numerals: 1. a limiting fixed seat; 2. a connecting flange; 3. a hub; 4. a paddle; 5. a slider; 6. a variable pitch motor; 7. a first coupling; 8. a lead screw; 9. a variable pitch nut; 10. a bearing; 11. an upper limit block; 12. a lower limiting block; 13. a linear sensor; 14. a locknut; 15. a second coupling; 16. a first limit rod; 17. a second limiting rod; 18. a limit switch; 19. a lower adjusting nut; 20. a lower limiting plate; 21. a spring; 22. an upper limiting plate; 23. an upper adjustment cylinder.
Detailed Description
The present application is described in further detail below with reference to figures 1-2 and specific examples:
the embodiment of the application discloses a propeller pitch angle accurate control device with a redundant design.
Referring to fig. 1 and 2, the propeller pitch angle precise control device with the redundancy design comprises a propeller hub 3, blades 4 mounted on the propeller hub 3, a limiting fixed seat 1 fixedly connected with the propeller hub 3, and a pitch change mechanism, wherein the pitch change mechanism comprises a pitch change nut 9 positioned in the propeller hub 3, the pitch change mechanism can convert the movement of the pitch angle of the blades 4 into the linear movement of the pitch change nut 9, and the limiting fixed seat 1 is provided with a first control mechanism for measuring the linear movement of the pitch change nut 9 and a second control mechanism for performing electrical limitation on the range of the pitch angle of the blades 4.
Referring to fig. 1 and 2, pitch-variable mechanism is still including connecting in 4 root's of paddle slider 5, pitch-variable motor 6 and lead screw 8, be connected with flange 2 between propeller hub 3 and the spacing fixing base 1, pitch-variable motor 6 is fixed at flange 2, lead screw 8 rotates with propeller hub 3 to be connected, be provided with bearing 10 between lead screw 8 and the propeller hub 3, the output shaft of pitch-variable motor 6 links firmly with lead screw 8 through first shaft coupling 7, 9 covers of pitch-variable nut locate outside the lead screw 8 and with 8 threaded connection of lead screw, pitch-variable nut 9 and propeller hub 3 along 8 axis direction sliding connection of lead screw, slider 5 is connected in the position of 4 root skew paddle 4 axes of paddle, pitch-variable nut 9 has seted up the gliding slot of confession slider 5. The pitch-variable motor 6 can drive the screw rod 8 to rotate, the screw rod 8 drives the pitch-variable nut 9 to do reciprocating linear motion, and the pitch-variable nut 9 moves to drive the blade 4 to rotate through the sliding block 5 so that the pitch angle of the blade 4 is changed.
The first control mechanism includes: fixedly connected in the first gag lever post 16 of displacement nut 9, connect in the linear transducer 13 of spacing fixing base 1, linear transducer 13's telescopic link is connected with first gag lever post 16. A second coupling 15 is connected between the telescopic rod of the linear sensor 13 and the first limiting rod 16, and the linear sensor 13 is fixed on the limiting fixing seat 1 through a locknut 14. The real-time monitoring of the pitch angle of the blade 4 is realized by measuring the linear displacement converted from the pitch angle of the blade 4 to the pitch nut 9 through the linear sensor 13, and the pitch angle is subjected to feedback control by combining the rotating speed of the propeller.
The second control mechanism includes: fixed connection is in the second gag lever post 17 of displacement nut 9, connect limit switch 18 on spacing fixing base 1, connect the stop device on second gag lever post 17, limit switch 18 is located the both sides of stop device moving direction, the recess that supplies the 18 embedding of limit switch is seted up at the upper and lower both ends of spacing fixing base 1, the setting of recess, limit switch 18's trigger post terminal surface contacts the back with stop device, again with the laminating of recess up end, the trigger post is difficult impaired, can guarantee in the normal operating range of pitch angle, can realize triggering. The limiting device comprises a lower adjusting nut 19, a lower limiting plate 20, a spring 21, an upper limiting plate 22 and an upper adjusting cylinder 23, the lower limiting plate 20 and the upper limiting plate 22 are in sliding connection with the second limiting rod 17, the spring 21 is located between the lower limiting plate 20 and the upper limiting plate 22, the lower adjusting nut 19 and the upper adjusting cylinder 23 are in threaded connection with the second limiting rod 17, the lower adjusting nut 19 is located on one side, deviating from the upper limiting plate 22, of the lower limiting plate 20, and the upper adjusting cylinder 23 is located on one side, deviating from the lower limiting plate 20, of the upper limiting plate 22. The upper part and the lower part of the second limiting rod 17 respectively adopt a limit switch 18 to control the use range of the pitch angle of the blade 4 for electrical limiting. When the pitch angle changes, the pitch-variable nut 9 moves to drive the second limiting rod 17 to move, when the pitch angle changes to the upper limit and the lower limit, the lower limiting plate 20 and the upper limiting plate 22 respectively touch the limiting switches 18 on the upper portion and the lower portion, the on-off of the circuit is triggered, and the pitch-variable motor 6 is controlled to move reversely.
Variable-pitch nut 9 all is provided with the stopper along the both ends of self moving direction, and the stopper includes stopper 11, stopper 12 down, and the stopper registrates in the outside of lead screw 8, and the outside of lead screw 8 is located to the stopper cover, and the stopper is along the axial and lead screw 8 sliding connection of lead screw 8. The upper and lower limit positions of the motion range of the pitch angle of the blade 4 limited by the limiting block are larger than the upper and lower limit motion range of the linear displacement sensor 13. The limiting blocks limit the use range of the pitch angle of the blade 4 for mechanical limiting.
Referring to fig. 3, when the pitch angle of the blade 4 is 0 °, the distance of the center line of the slider 5 deviating from the axis of the blade is r, the included angle between the plane formed by the center line of the slider 5 and the axis of the blade (4) and the horizontal plane is θ 0, and at this time, the corresponding linear sensor 13 outputs a voltage calibration reference value U0. If the blade 4 rotates by the pitch angle of i degrees, the sliding block 5 pushes the pitch-variable nut 9 to move and displace Li to rsin (theta 0) -rsin (theta 0-i), the output voltage of the linear sensor 13 is Ui, | Ui-U0| -Li |.
The central line of the sliding block refers to the rotation axis of the sliding block, namely the axis at the center of a small circle in the middle of the sliding block in the attached figure 3 of the specification; the rotation axis of the blade refers to the axis of the end part of the blade, namely the axis at the position of the center of a great circle in the attached figure 3 of the specification. The slide is in a horizontal position, i.e. the slide is in a horizontal radius of the circle in fig. 3.
The propeller pitch angle accurate control device with the redundancy design realizes the triple redundancy design of propeller pitch range control through electrical limitation, mechanical limitation and sensor real-time monitoring, and ensures the safety and reliability of propeller pitch. Meanwhile, the structure is compact and simple, the disassembly and the assembly are convenient, and the reliability is high.
The embodiment also discloses a propeller pitch angle real-time control method with redundant design, which comprises the following steps:
(1) under the driving of an aircraft engine, the propeller rotates at a certain rotating speed, and the pitch angle of the propeller blade 4 of the propeller is collected and monitored by a linear displacement sensor 13 in real time;
(2) when the flight working condition changes, the preset rotating speed of the propeller is given, the engine receives an instruction to add an accelerator or reduce the accelerator, the rotating speed of the propeller is driven to increase or reduce to be close to the preset rotating speed, and if the speed is increased to exceed or not reach the preset rotating speed, the pitch-changing motor 6 drives the pitch-changing mechanism to increase or reduce the pitch angle after receiving a feedback signal of the pitch-changing control system;
(3) when the pitch angle rotation reaches the maximum limit pitch angle or the minimum limit pitch angle, the limit switch 18 is touched to switch the on-off of the circuit, the pitch control system acquires information and then sends an instruction to drive the pitch motor 6 to rotate reversely, and meanwhile, the linear displacement sensor 13 collects and monitors the pitch angle change in real time;
(4) when the limit switch 18 and the like cause the electrical limit to fail, namely the linear displacement sensor 13 detects that the pitch angle reaches the maximum or minimum limit pitch angle, the pitch control system acquires the switching information of the on-off of the circuit, and at the moment, the pitch control system switches the information work of the signal acquisition linear displacement sensor to realize the control redundancy design;
(5) when the electric limit and linear displacement sensors both fail to work under the extreme condition, when the variable pitch nut 9 moves and is extruded by the limit blocks (11-12), and the current of the variable pitch motor 6 is increased to a certain fixed value, the variable pitch control system acquires information and then sends an instruction to drive the variable pitch motor 6 to rotate reversely, so that the mechanical limit design is realized;
(6) in the flying process of the aircraft, the flying conditions such as flying height, temperature and humidity are combined with real-time acquisition information such as the pitch angle of the blades 4 and the rotating speed of the engine to be fused into a flying control program to form a flying state information database for the intelligent control of the aircraft.
Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed. Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (10)
1. The utility model provides a propeller pitch angle accurate control device of redundant design which characterized in that: comprises a hub (3), a blade (4) arranged on the hub (3), a limiting fixed seat (1) fixedly connected with the hub (3) and a variable pitch mechanism;
the pitch-changing mechanism comprises: the pitch-variable nut (9) is positioned in the propeller hub (3) and is in sliding connection with the propeller hub (3) along the direction of the rotation axis of the propeller hub (3), the sliding block (5) is connected to the root part of the blade (4), and the pitch-variable nut (9) drives the blade (4) to rotate through the sliding block (5) so as to change the pitch angle of the blade (4);
the limiting fixed seat (1) is provided with a first control mechanism for measuring the linear displacement of the variable-pitch nut (9) and a second control mechanism for electrically limiting and mechanically limiting the pitch angle range of the blade (4).
2. The apparatus for precisely controlling the pitch angle of a propeller as claimed in claim 1, wherein: the first control mechanism includes: the first limiting rod (16) is fixedly connected to the variable-pitch nut (9), the linear sensor (13) is connected to the limiting fixing seat (1), and the telescopic rod of the linear sensor (13) is connected with the first limiting rod (16).
3. A redundantly designed propeller pitch angle fine control apparatus according to claim 2, characterized in that: and a second coupling (15) is connected between the telescopic rod of the linear sensor (13) and the first limiting rod (16).
4. The apparatus for precisely controlling the pitch angle of a propeller as claimed in claim 1, wherein: the second control mechanism includes: fixed connection is in second gag lever post (17) of displacement nut (9), connect in limit switch (18) on spacing fixing base (1), connect the stop device on second gag lever post (17), and limit switch (18) are located the both sides of stop device moving direction, and the recess that supplies limit switch (18) embedding is seted up at the upper and lower both ends of spacing fixing base (1).
5. The apparatus for precisely controlling the pitch angle of a propeller as set forth in claim 4, wherein: stop device is including adjusting nut (19) down, lower limiting plate (20), spring (21), go up limiting plate (22), go up regulation drum (23), lower limiting plate (20) and last limiting plate (22) and second gag lever post (17) sliding connection, spring (21) are located between limiting plate (20) and last gag lever post (22) down, adjusting nut (19) and last regulation drum (23) all with second gag lever post (17) threaded connection down, adjusting nut (19) are located down one side that limiting plate (20) deviated from last gag lever post (22) down, it is located one side that last gag lever post (20) deviated from lower gag lever post (20) to go up regulation drum (23).
6. The apparatus for precisely controlling the pitch angle of a propeller as claimed in claim 1, wherein: the variable-pitch mechanism further comprises a variable-pitch motor (6) and a lead screw (8), a connecting flange (2) is connected between the propeller hub (3) and the limiting fixing seat (1), the variable-pitch motor (6) is fixed to the connecting flange (2), the lead screw (8) is rotatably connected with the propeller hub (3), and a variable-pitch nut (9) is sleeved outside the lead screw (8) and is in threaded connection with the lead screw (8). A first coupling (7) is connected between the variable pitch motor (6) and the screw rod (8).
7. The apparatus for precisely controlling the pitch angle of a propeller as claimed in claim 1, wherein: the variable-pitch nut (9) is provided with limiting blocks at two ends along the moving direction of the variable-pitch nut, the limiting blocks are sleeved on the outer portion of the lead screw (8), and the limiting blocks are connected with the lead screw (8) in a sliding mode along the axial direction of the lead screw (8).
8. The apparatus for precisely controlling the pitch angle of a propeller as claimed in claim 7, wherein: the upper limit position and the lower limit position of the motion range of the pitch angle of the blade (4) limited by the limiting block are larger than the upper limit motion range and the lower limit motion range of the linear displacement sensor (13).
9. The apparatus for precisely controlling the pitch angle of a propeller as claimed in claim 1, wherein: the slider (5) is connected to the position of the root of the blade (4) deviating from the axis of the blade (4), a groove for the slider (5) to slide is formed in the pitch-variable nut (9), when the pitch angle of the blade (4) is 0 degrees, the distance from the center line of the slider (5) to the axis of the blade is r, the included angle between the plane formed by the center line of the slider (5) and the axis of the blade (4) and the horizontal plane is theta 0, and the reference value U0 is calibrated corresponding to the output voltage of the linear sensor (13). If the blade (4) rotates by the pitch angle of i degrees, the sliding block (5) pushes the pitch-variable nut (9) to move and displace Li to rsin (theta 0) -rsin (theta 0-i), the output voltage of the linear sensor (13) is Ui, | Ui-U0| Li |.
10. A propeller pitch angle real-time accurate control method with redundant design is characterized in that: the method comprises the following steps:
(1) under the driving of an aircraft engine, the propeller rotates, and the pitch angle of a blade (4) of the propeller is collected and monitored in real time by a linear displacement sensor;
(2) when the flight working condition changes, the preset rotating speed of the propeller is given, the engine receives an instruction to add an accelerator or reduce the accelerator, the rotating speed of the propeller is driven to increase or reduce to be close to the preset rotating speed, and if the speed is increased to exceed or not reach the preset rotating speed, the pitch-changing motor (6) drives the pitch-changing mechanism to increase or reduce the pitch angle after receiving a feedback signal of the pitch-changing control system;
(3) when the pitch angle rotation reaches the maximum limit pitch angle or the minimum limit pitch angle, the upper limit plate or the lower limit plate touches the limit switch (18) to switch the on-off of the circuit, the pitch control system acquires information and then sends an instruction to drive the pitch motor (6) to rotate reversely, and meanwhile, the linear displacement sensor collects and monitors the pitch angle change in real time;
(4) when the limit switch (18) and the like cause electric limit failure, namely the pitch angle detected by the linear displacement sensor reaches the maximum or minimum limit pitch angle, the pitch control system acquires switching information of on-off of the circuit, and at the moment, the pitch control system switches information of the signal acquisition linear displacement sensor to work, so that control redundancy design is realized;
(5) when the electric limiting and linear displacement sensors are in extreme failure, when the variable-pitch nut (9) moves and is extruded by the limiting blocks (11-12), and the current of the variable-pitch motor (6) is increased to a certain fixed value, the variable-pitch control system acquires information and then sends an instruction to drive the variable-pitch motor (6) to rotate reversely, so that the mechanical limiting design is realized;
(6) in the flying process of the aircraft, the flying conditions such as flying height, temperature and humidity are combined with real-time acquisition information such as the pitch angle of the blades (4) and the rotating speed of the engine to be fused into a flying control program to form a flying state information database for the intelligent control of the aircraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111566487.6A CN114313220A (en) | 2021-12-20 | 2021-12-20 | Propeller pitch angle accurate control device and method based on redundancy design |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111566487.6A CN114313220A (en) | 2021-12-20 | 2021-12-20 | Propeller pitch angle accurate control device and method based on redundancy design |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203428022U (en) * | 2013-07-30 | 2014-02-12 | 王劲 | Electromagnetic variable-pitch propeller of unmanned aerial vehicle |
| WO2018037795A1 (en) * | 2016-08-22 | 2018-03-01 | 株式会社Ｓｏｋｅｎ | Flight device |
| CN110498039A (en) * | 2019-08-05 | 2019-11-26 | 北京科技大学 | A kind of intelligent monitor system based on bionic flapping-wing flying vehicle |
| CN112429204A (en) * | 2020-11-20 | 2021-03-02 | 惠阳航空螺旋桨有限责任公司 | Motor-driven variable-pitch propeller |
| CN214420694U (en) * | 2021-02-05 | 2021-10-19 | 安徽羲禾航空科技有限公司 | Variable pitch limiting circuit of propeller blades and variable pitch limiting system thereof |
-
2021
- 2021-12-20 CN CN202111566487.6A patent/CN114313220A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203428022U (en) * | 2013-07-30 | 2014-02-12 | 王劲 | Electromagnetic variable-pitch propeller of unmanned aerial vehicle |
| WO2018037795A1 (en) * | 2016-08-22 | 2018-03-01 | 株式会社Ｓｏｋｅｎ | Flight device |
| CN110498039A (en) * | 2019-08-05 | 2019-11-26 | 北京科技大学 | A kind of intelligent monitor system based on bionic flapping-wing flying vehicle |
| CN112429204A (en) * | 2020-11-20 | 2021-03-02 | 惠阳航空螺旋桨有限责任公司 | Motor-driven variable-pitch propeller |
| CN214420694U (en) * | 2021-02-05 | 2021-10-19 | 安徽羲禾航空科技有限公司 | Variable pitch limiting circuit of propeller blades and variable pitch limiting system thereof |
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