CN115285373A - Electromagnetic variable-pitch rotor blade variable-pitch characteristic measuring device - Google Patents
Electromagnetic variable-pitch rotor blade variable-pitch characteristic measuring device Download PDFInfo
- Publication number
- CN115285373A CN115285373A CN202210871744.5A CN202210871744A CN115285373A CN 115285373 A CN115285373 A CN 115285373A CN 202210871744 A CN202210871744 A CN 202210871744A CN 115285373 A CN115285373 A CN 115285373A
- Authority
- CN
- China
- Prior art keywords
- pitch
- blade
- variable
- measuring
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000006073 displacement reaction Methods 0.000 claims abstract description 24
- 238000005259 measurement Methods 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 16
- 229910000831 Steel Inorganic materials 0.000 claims description 11
- 239000010959 steel Substances 0.000 claims description 11
- 238000012360 testing method Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention relates to the technical field of electromagnetic variable-pitch attitude adjustment of a rotor unmanned aerial vehicle, in particular to an electromagnetic variable-pitch rotor blade variable-pitch characteristic measuring device which comprises a variable-pitch blade component, a power component and a mechanical characteristic measuring component, wherein the variable-pitch blade component is installed on the power component, the power component is installed on the mechanical characteristic measuring component, an angular displacement sensor used for measuring a variable pitch angle of a blade is arranged in the variable-pitch blade component, a six-dimensional force sensor used for measuring the mechanical characteristic of the variable-pitch blade component during rotation is arranged in the mechanical characteristic measuring component, the variable pitch angle of the blade and the mechanical characteristic of the blade during rotation are measured in real time, and the relation between the variable pitch angle of the blade and the mechanical characteristic of the blade is conveniently analyzed.
Description
Technical Field
The invention relates to the technical field of electromagnetic variable-pitch attitude adjustment of a rotor unmanned aerial vehicle, in particular to a device for measuring variable-pitch characteristics of electromagnetic variable-pitch rotor blades.
Background
Coaxial rotor unmanned aerial vehicle because the structure is fairly simple, can VTOL, hover, do not need the tail screw, satisfy the miniaturized requirement of present unmanned aerial vehicle relatively easily, and gradually in a large amount of fields wide use.
At present, the attitude adjusting method adopted by most of coaxial rotor unmanned aerial vehicles is an automatic tilting disk periodic pitch changing method, a high-speed bearing is required to be arranged on a shaft, meanwhile, the high-speed bearing and blades adopt complex connecting rod transmission, a tilting disk mechanism is complex, and a structure exposed outside is prone to failure. Therefore, the swash-plate-free attitude adjusting method is receiving more attention, and among them, the electromagnetic pitch-variable attitude adjusting method is a hot research direction for the swash-plate-free attitude adjusting method because of easy realization of low power consumption and miniaturization.
The unmanned aerial vehicle developed based on the electromagnetic variable-pitch attitude adjusting method has the characteristics of small size and under-actuation, so that the real-time measurement of the variable-pitch angle of the blades and the mechanical characteristics of the blades during rotation is of great significance to the development of the unmanned aerial vehicle. The existing electromagnetic variable-pitch rotor blade variable-pitch characteristic measuring device cannot simultaneously realize real-time measurement of pitch angle and mechanical characteristic during blade rotation.
Disclosure of Invention
In order to solve the above mentioned drawbacks in the background art, the present invention provides a device for measuring pitch characteristics of an electromagnetic pitch-variable rotor blade, which solves the problem that pitch angle and mechanical characteristics of the blade during rotation cannot be measured simultaneously in the prior art.
The purpose of the invention can be realized by the following technical scheme:
a method for measuring the pitch characteristics of an electromagnetic variable pitch rotor blade, said method comprising the steps of: measuring the variable pitch angle of the blade in real time, and transmitting the measured data to an upper computer for resolving in a wireless communication mode; measuring the mechanical characteristics of the rotating blade in real time; and determining the relation between the variable pitch angle of the blade and the mechanical characteristics of the blade when the blade rotates by comparing the variable pitch angle of the blade with the mechanical characteristic test data of the blade when the blade rotates according to a time axis.
Further, the side inclination angle of the machine body is measured by the attitude sensor before the test is started, and the pitch angle measurement value is corrected based on the test value as an initial value.
Further, the method comprises the step of measuring the rotating angle of the magnetic steel in real time through an azimuth angle sensor, so that the position of the blade is determined.
An electromagnetic variable-pitch rotor blade variable-pitch characteristic measurement system comprises a variable-pitch blade module, a power module and a mechanical characteristic measurement module;
the variable-pitch blade module is used for measuring a variable-pitch angle of the blade and transmitting measurement data to an upper computer for resolving in a wireless communication mode;
the power module is used for driving the blades to rotate;
the mechanical property measuring module is used for measuring the mechanical property of the rotating blade.
The utility model provides an electromagnetism displacement rotor paddle displacement characteristic measuring device, includes displacement paddle subassembly, power component and mechanical properties measuring unit, displacement paddle unit mount is on power component, and power component installs on mechanical properties measuring unit, be equipped with the angle displacement sensor who is used for measuring the paddle displacement angle in the displacement paddle subassembly, be equipped with the six-dimensional force transducer who sets up the mechanical properties when being used for measuring the rotation of displacement paddle subassembly in the mechanical properties measuring unit.
Furthermore, the variable pitch blade assembly comprises a hub mounting seat, the hub mounting seat is fixedly connected with the blade, and the angular displacement sensor is fixedly connected to the hub mounting seat.
Further, the power assembly includes a main shaft, and the hub is connected with the main shaft by using left-hand threads.
Furthermore, an azimuth angle sensor is arranged in the power assembly, and the axis of the azimuth angle sensor is overlapped with the axis of the main shaft.
Further, an attitude sensor for measuring the side inclination angle of the machine body is mounted on the power assembly.
Furthermore, the six-dimensional force sensor is installed on a six-dimensional force sensor tool, and the six-dimensional force sensor tool and the flange shaft are connected through a key.
The invention has the beneficial effects that:
according to the invention, the angular displacement sensor for measuring the variable pitch angle of the blade is arranged in the variable pitch blade assembly, the six-dimensional force sensor for measuring the mechanical property of the variable pitch blade assembly during rotation is arranged in the mechanical property measuring assembly, and meanwhile, the real-time measurement of the variable pitch angle of the blade and the mechanical property of the blade during rotation is realized, so that the analysis of the relation between the variable pitch angle of the blade and the mechanical property of the blade is facilitated.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without creative efforts;
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall internal structure of the present invention;
FIG. 3 is a schematic view of the internal structure of the power module of the present invention;
FIG. 4 is a schematic structural view of a pitch horn assembly of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows: as shown in fig. 1 to 4, an electromagnetic variable-pitch rotor blade pitch characteristic measuring device includes: the variable pitch propeller component comprises a variable pitch propeller component 1, a power component 2 and a mechanical property measuring component 3; the variable-pitch blade assembly 1 is arranged on the power assembly 2, the power assembly 2 is arranged on the mechanical property measuring assembly 3, and the central axes of the variable-pitch blade assembly 1, the power assembly 2 and the mechanical property measuring assembly 3 are concentric in a static state;
the variable-pitch blade assembly 1 can realize rotation and variable-pitch movement of the blades and can measure the variable-pitch angle of the blades in real time; the power assembly 2 can provide power for the rotation of the blades, can measure the attitude of the body and the azimuth of the blades in real time and is used for correcting the variable pitch angle of the blades; the mechanical property measuring component 3 can measure the force generated when the blade rotates in real time.
Example two:
as shown in fig. 1 to 4, an electromagnetic variable-pitch rotor blade pitch characteristic measuring device includes: the variable pitch propeller comprises a variable pitch propeller component 1, a power component 2 and a mechanical property measuring component 3; the variable pitch propeller component 1 is arranged on the power component 2, and the power component 2 is arranged on the mechanical property measuring component 3;
the variable pitch blade assembly 1 comprises a hub mounting seat 12 and blades 11, wherein the hub mounting seat 12 is fixedly connected with the blades 11 and used for mounting a hub 14, and the hub 14 is connected with the hub mounting seat 12 through a pin shaft 15 and used for realizing variable pitch motion of the blades 11;
the angular displacement sensor 13 comprises accelerometer and wireless transmission chip, and integrated on a small-size circuit board, is supplied power by lithium ion battery 16, and the two links firmly on propeller hub mount pad 12, keeps relative static with paddle 11 to the direct measurement paddle variable-pitch angle, 13 measured data of angular displacement sensor transmit to the host computer through radio communication's mode and solve, and paddle 11 department does not have external cable, convenient measurement.
The magnetic steel 17 is embedded on the hub mounting base 12, and when the electromagnetic coil 19 is electrified with alternating current, the magnetic steel 17 can be acted by a magnetic field to drive the blades 11 to perform variable pitch motion.
The hub 14 and the main shaft 21 are connected by using left-hand threads, and the blades 11 are connected and locked by the left-hand threads under the action of aerodynamic resistance when rotating, so that the variable-pitch blade assembly 1 is prevented from being separated from the power assembly 2.
The power assembly 2 comprises a main shaft 21 and a motor rotor 23, the main shaft 21 is connected with the motor rotor 23 through bolts, and the motor drives the main shaft 21 to rotate when rotating, so that power is provided for the variable-pitch blade assembly 1; through the design, the blades can be quickly replaced, the blade structure, the number of the blades and the geometric shape are evaluated according to various blade index requirements, and the method is convenient and quick;
the main shaft 21 is connected with the motor stator 24 by adopting a bearing, an inner sleeve and an outer sleeve are arranged between the two angular contact ball bearings 25, the inner sleeve and the outer sleeve are mounted through a bearing inner sleeve 26 and a bearing outer sleeve 27 and are locked by using a bearing retainer ring 29 and a locking nut 213, so that the axial positioning of the main shaft 21 and the pre-tightening of the angular contact ball bearings 25 are realized, and the relative rotation of the motor stator 24 and the motor rotor 23 is further realized.
The lower end of the main shaft 21 is connected with the magnetic steel mounting base 215 through a second pin shaft 216, the magnetic steel 217 is embedded in the magnetic steel mounting base 215, the azimuth angle sensor 218 is fixedly connected with the azimuth angle sensor mounting base 219 and coaxially arranged on the square flange shaft 34 below the magnetic steel 217, and when the magnetic steel 217 rotates, the direction of a magnetic field changes accordingly, so that the azimuth angle sensor 218 can measure the rotating angle of the magnetic steel 217 in real time, and the position of the blade 11 is determined.
A motor support base 210 is installed between the flange shaft 34 and the motor stator 24, an attitude sensor mount 212 is installed on the motor support base 210, and an attitude sensor 211 is embedded therein, and when the body is arranged on a non-horizontal plane, the attitude sensor 211 can measure a body side inclination angle as an initial value to correct a pitch angle measurement value.
The motor supporting seat 210 is provided with a shell mounting seat 220, the four hexagonal copper columns 28 are respectively mounted on the shell mounting seat 220 to support the electromagnetic coil mounting seat 18, and the two shells 22 are wrapped on the hexagonal copper columns 28; the housing mounting base 220 is fixedly connected with the mechanical property measuring assembly 3 through bolts, so that the power assembly 2 can be conveniently and independently replaced and detached.
The wire passing clamp 214 is installed on the inner wall of the shell 22, and cables of the electromagnetic coil 19, the motor stator 24, the azimuth angle sensor 218 and the attitude sensor 211 pass through the groove of the wire passing clamp 214.
The six-dimensional force sensor tool 33 and the flange shaft 34 are connected in a key mode, so that the power assembly 2 and parts above the power assembly can be conveniently detached, and the flange shaft 34 can be arranged on other test platforms to facilitate other experiments;
six-dimensional force sensor frock 33 is connected to six-dimensional force sensor 32 upper end, and the lower extreme is installed on base 31, and when paddle 11 rotated, mechanical characteristics when paddle 11 rotated can accurately be measured to six-dimensional force sensor 32, can guarantee through fixed connection that the moment of torsion and the thrust that the rotor produced transmit torque sensor and force transducer completely when rotatory.
Example three: 1-4, a method for measuring the pitch characteristics of an electromagnetically pitched rotor blade, said method comprising the steps of:
the method comprises the following steps: measuring the variable pitch angle of the blade through an angular displacement sensor 13, and transmitting the measured data to an upper computer for resolving in a wireless communication mode;
step two: measuring the mechanical characteristics of the blade 11 during rotation by the six-dimensional force sensor 32;
step three: the relation between the pitch angle of the blade and the mechanical characteristics of the blade when rotating is determined by comparing the test data of the angular displacement sensor 13 and the six-dimensional force sensor 32 according to a time axis.
Further, the machine body side tilt angle is measured by the attitude sensor 211 before the test is started, and the pitch angle measurement value is corrected based on the test value as an initial value.
Further, the azimuth angle sensor 218 measures the rotation angle of the magnetic steel 217 in real time, so as to determine the azimuth of the blade 11.
The foregoing shows and describes the general principles, principal features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed.
Claims (10)
1. A method for measuring the pitch characteristics of an electromagnetic pitch-variable rotor blade is characterized by comprising the following steps: measuring the variable pitch angle of the blade in real time, and transmitting the measured data to an upper computer for resolving in a wireless communication mode; measuring the mechanical characteristics of the rotating blade (11) in real time; and determining the relation between the variable pitch angle of the blade and the mechanical characteristics of the blade when the blade (11) rotates by comparing the variable pitch angle of the blade with the mechanical characteristics test data of the blade when the blade rotates according to a time axis.
2. A method for measuring the pitch characteristics of an electromagnetically pitched rotor blade according to claim 1, characterized in that the measurement of the side roll angle of the body is measured by means of an attitude sensor (211) before the start of the test, and the measurement of the pitch angle is corrected on the basis of the test values as initial values.
3. A method of measuring the pitch characteristics of an electromagnetically pitched rotor blade according to claim 1, characterized in that it comprises the step of measuring in real time the angle of rotation of the magnetic steel (217) by means of an azimuth sensor (218), in order to determine the azimuth of the blade (11).
4. A system for measuring the variable pitch characteristic of an electromagnetic variable pitch rotor blade is characterized by comprising a variable pitch blade module, a power module and a mechanical characteristic measuring module;
the variable-pitch blade module is used for measuring a variable-pitch angle of the blade and transmitting measurement data to an upper computer for resolving in a wireless communication mode;
the power module is used for driving the blades (11) to rotate;
the mechanical property measuring module is used for measuring the mechanical property of the blade (11) during rotation.
5. The utility model provides an electromagnetism displacement rotor paddle displacement characteristic measuring device, includes displacement paddle subassembly (1), power component (2) and mechanical properties measuring unit (3), install on power component (2) displacement paddle subassembly (1), and install on mechanical properties measuring unit (3) power component (2), its characterized in that, be equipped with in displacement paddle subassembly (1) and be used for measuring the angle displacement sensor (13) of paddle displacement angle, be equipped with in mechanical properties measuring unit (3) and set up six-dimensional force transducer (32) that are used for measuring the mechanical properties when displacement paddle subassembly (1) rotates.
6. An electromagnetic variable pitch rotor blade pitch characteristic measurement device according to claim 5, wherein the variable pitch blade assembly (1) comprises a hub mount (12), the hub mount (12) being fixedly attached to the blade (11), and the angular displacement sensor (13) being fixedly attached to the hub mount (12).
7. An electromagnetic variable pitch rotor blade pitch characteristic measurement device according to claim 5 wherein the power assembly (2) comprises a mast (21) and the hub (14) is coupled to the mast (21) using left-hand threads.
8. An electromagnetic variable-pitch rotor blade pitch characteristic measurement device according to claim 5, wherein an azimuth sensor (218) is provided within the power assembly (2), the azimuth sensor (218) axis being coincident with the mast (21) axis.
9. An electromagnetic variable pitch rotor blade pitch characteristic measurement device according to claim 5, wherein attitude sensor (211) for measuring the side roll angle of the airframe is mounted on the power assembly (2).
10. The device for measuring the pitch characteristics of the blades of the electromagnetic variable-pitch rotor according to claim 5, wherein the six-dimensional force sensor (32) is mounted on a six-dimensional force sensor tool (33), and the six-dimensional force sensor tool (33) is connected with the flange shaft (34) through a key.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210871744.5A CN115285373A (en) | 2022-07-22 | 2022-07-22 | Electromagnetic variable-pitch rotor blade variable-pitch characteristic measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210871744.5A CN115285373A (en) | 2022-07-22 | 2022-07-22 | Electromagnetic variable-pitch rotor blade variable-pitch characteristic measuring device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115285373A true CN115285373A (en) | 2022-11-04 |
Family
ID=83823397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210871744.5A Pending CN115285373A (en) | 2022-07-22 | 2022-07-22 | Electromagnetic variable-pitch rotor blade variable-pitch characteristic measuring device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115285373A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106553768A (en) * | 2016-11-30 | 2017-04-05 | 中国直升机设计研究所 | A kind of main oar steering wheel benchmark method of adjustment |
| CN206636699U (en) * | 2017-03-31 | 2017-11-14 | 南京信息工程大学 | Small-sized wind power generator variable Rate variable blade control system is used in teaching |
| EP3369660A1 (en) * | 2017-03-02 | 2018-09-05 | Ge Avio S.r.l. | System and method for testing control logic for a propeller of a gas turbine engine |
| CN110562485A (en) * | 2019-09-24 | 2019-12-13 | 哈尔滨工业大学 | Coaxial rotor hovering characteristic measuring device of mars aircraft with adjustable propeller pitch |
| CN114476025A (en) * | 2021-12-20 | 2022-05-13 | 中国航天空气动力技术研究院 | Device and method for monitoring and intelligently controlling propeller pitch angle in real time |
| CA3142046A1 (en) * | 2020-12-11 | 2022-06-11 | Pratt & Whitney Canada Corp. | Test rig and method for blade pitch measurement system |
-
2022
- 2022-07-22 CN CN202210871744.5A patent/CN115285373A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106553768A (en) * | 2016-11-30 | 2017-04-05 | 中国直升机设计研究所 | A kind of main oar steering wheel benchmark method of adjustment |
| EP3369660A1 (en) * | 2017-03-02 | 2018-09-05 | Ge Avio S.r.l. | System and method for testing control logic for a propeller of a gas turbine engine |
| CN206636699U (en) * | 2017-03-31 | 2017-11-14 | 南京信息工程大学 | Small-sized wind power generator variable Rate variable blade control system is used in teaching |
| CN110562485A (en) * | 2019-09-24 | 2019-12-13 | 哈尔滨工业大学 | Coaxial rotor hovering characteristic measuring device of mars aircraft with adjustable propeller pitch |
| CA3142046A1 (en) * | 2020-12-11 | 2022-06-11 | Pratt & Whitney Canada Corp. | Test rig and method for blade pitch measurement system |
| CN114476025A (en) * | 2021-12-20 | 2022-05-13 | 中国航天空气动力技术研究院 | Device and method for monitoring and intelligently controlling propeller pitch angle in real time |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110481769B (en) | Unmanned aerial vehicle device based on coaxial double rotors | |
| US9211951B2 (en) | Systems and apparatus for tether termination mount for tethered aerial vehicles | |
| CN111591462B (en) | Helicopter tail rotor simulation system for wind tunnel test | |
| CN114001919A (en) | Ground simulation method for full-size tilt rotor axial flow forward flight performance test | |
| CN217928061U (en) | Monitoring ball machine with gyro image stabilization function | |
| CN115285373A (en) | Electromagnetic variable-pitch rotor blade variable-pitch characteristic measuring device | |
| CN111409819A (en) | Double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle and control method thereof | |
| CN110435878B (en) | Single-layer variable-pitch coaxial structure for unmanned aerial vehicle | |
| CN204822071U (en) | Multi -functional coaxial bispin wing four shaft air vehicle | |
| CN110626518B (en) | Angle moving device with uniform rocker deflection stress, tethered unmanned aerial vehicle and system | |
| CN107031835B (en) | Rotor unmanned aerial vehicle becomes oar radius variable pitch device | |
| CN209972783U (en) | Space-saving type logistics unmanned aerial vehicle arm | |
| CN112319387B (en) | Stay wire control type following stable platform | |
| CN210083537U (en) | High stability I-shaped unmanned aerial vehicle | |
| CN212267843U (en) | Double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle | |
| CN113799971A (en) | Passive variable pitch propeller and propeller-driven unmanned aerial vehicle | |
| CN218343725U (en) | Duct tilting mechanism and small-sized duct tilting aircraft | |
| CN107196037B (en) | Two-degree-of-freedom spherical structure satellite receiving antenna adjusting platform | |
| CN105480409A (en) | Duct power device and aircraft | |
| CN219154767U (en) | Direct-drive small coaxial reverse-propeller aircraft | |
| CN115158649B (en) | Coaxial double-rotor aircraft | |
| CN220349949U (en) | Full-hinged motion and measuring device for helicopter rotor test stand | |
| CN214084734U (en) | Multi-tail rotor wing structure and unmanned helicopter | |
| CN108572664B (en) | Tilting angle detection device, control system and method for tilting rotor wing of aircraft | |
| CN217181200U (en) | Direct-drive control Doppler fast scanning meteorological radar servo structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |