CN203946273U - The little minute vehicle of a kind of coaxial double-rotary wing formula - Google Patents
The little minute vehicle of a kind of coaxial double-rotary wing formula Download PDFInfo
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- CN203946273U CN203946273U CN201420252664.2U CN201420252664U CN203946273U CN 203946273 U CN203946273 U CN 203946273U CN 201420252664 U CN201420252664 U CN 201420252664U CN 203946273 U CN203946273 U CN 203946273U
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Abstract
The utility model provides a kind of coaxial double-rotary wing formula little minute vehicle, this aircraft comprises fuselage, twin rotor system and bypass system, twin rotor system comprises upper rotor system and the lower rotor system of the both sides up and down that are arranged at symmetrically fuselage, upper rotor system and lower rotor system are realized upper and lower main driving axle reverse drive by reversing device, reversing device be positioned at fuselage interior and have three finishing bevel gear cuters etc. the diff of transmitting ratio, diff is connected with upper and lower main driving axle coaxial reverse ground; Bypass system is arranged at afterbody and is connected with fuselage by the adjusting part that verts, and the line of bypass system and diff is perpendicular to the axis of upper and lower main driving axle.The utility model has merged the feature of helicopter and cyclogyro, can improve the field distribution of aircraft air, and it has the advantages such as simple in structure, safe and reliable, maneuverability, economical and practical, highly versatile.
Description
Technical field
The utility model relates to autogiro or the helicopter in a kind of aerospace field, relates more specifically to the little minute vehicle of a kind of coaxial double-rotary wing formula.
Background technology
Autogiro is a kind ofly to using autorotating rotor as lifting surface, the rotor craft that propeller thrust is onward impulse.In aviation history, first autogyro adopts rotor technology successful flight, more Zao approximately 15 years than helicopter.Although the technology that early stage helicopter adopts derives from autogyro to a great extent, yet the hovering that helicopter has and vertical flight performance make it have application widely compared with cyclogyro.Cyclogyro, after having experienced initial stage fast development, the chance that does not obtain further developing in business and Military Application.
Modern autogyro has adopted rotor prerotation technology, can realize great-jump-forward or ultra-short takeoff, and when it lands, can realize point type by the hypsokinesis of manipulation track-height and land, and does not need special-purpose airport.Therefore in recent years, autogyro is paid close attention to by aviation insider again gradually.For the autogyro turning by wind-force, rotor oar disk area can be divided into driving district's (You Cheng rotation district, part broad in the middle), driven district (You Chengzuzhuan district, by blade tip part) and stall zone (inner fraction).When the aerodynamic resultant of folding inhibition when whole oar has equaled the aerodynamic resultant of driving effect, rotor just reaches stable autorotation; Under unstable flight state, its rotor stabilized speed changes within the specific limits, and this is autogyro and adopts one of maximum difference of helicopter turning rotor.In addition, before while flying the power forward of autogyro by advancing or tractor airscrew provides, and by change, drive the engine throttle opening of screw propeller to control the size of the forward force of its generation, thereby this from by feathering, realize oar dish and lean forward that to obtain the helicopter of forward direction component different.Because autogyro does not have the balancing torque problem of helicopter, so the tail-rotor adopting without helicopter, its course is realized by yaw rudder or all moving fin.
Also there is the shortcomings such as manoevreability is good not, and flying speed is not fast in cyclogyro simultaneously.The utility model is by the improvement of power system, and the measures such as appearance design of aircraft uniqueness, merge the advantage of two kinds of rotor patterns above, reduce its impact of shortcoming separately, make aircraft have good alerting ability, flying speed, stability and comfort level.In fusion process, adopt twin rotor system, can increase lift, reduce the span of single rotor, again can balancing torque when dynamic input.
Utility model content
The purpose of this utility model is to provide the little minute vehicle of a kind of coaxial double-rotary wing formula, thereby it is good not to solve the manoevreability of conventional aircraft of the prior art (helicopter and cyclogyro), and flying speed is unhappy, the problem that stability is not high.
The little minute vehicle of a kind of coaxial double-rotary wing formula that the utility model provides, this aircraft comprises fuselage, twin rotor system and bypass system, twin rotor system comprises upper rotor system and the lower rotor system of the both sides up and down that are arranged at symmetrically fuselage, upper rotor system and lower rotor system are realized by reversing device, lower main driving axle reverse drive, reversing device be positioned at fuselage interior and have three finishing bevel gear cuters etc. the diff of transmitting ratio, diff and upper, lower main driving axle coaxial reverse ground connects, thereby make rotor system and lower rotor system realize coaxial reverse, bypass system is arranged at afterbody and is connected with fuselage by the adjusting part that verts, and the line of bypass system and diff is perpendicular to the axis of main driving axle.
Upper rotor system comprises rotor head and upper rotor steering wheel; Lower rotor system comprises lower rotor head and lower rotor steering wheel; Being arranged at the upper and lower both sides of fuselage interior and being connected with lower rotor head with upper rotor head by steering wheel adjusting part respectively of upper rotor steering wheel and lower rotor steering wheel symmetry.
Upper rotor head and lower rotor head comprise respectively cross disk, back gauge pull bar and rotor pull bar, upper rotor head is connected with upper and lower main driving axle by cross disk with lower rotor head, cross disk is connected with steering wheel adjusting part by back gauge pull bar, in the side of cross disk away from fuselage, be also provided with some blades, blade is connected with cross disk by rotor pull bar near one end of upper and lower main driving axle.
Twin rotor system also comprises a pair of auxiliary wing and stabilizer rod group, the auxiliary wing is arranged at upper and lower main driving axle away from the outermost end of fuselage and its place plane and blade place plane parallel, and the auxiliary wing is connected with upper and lower main driving axle by stabilizer rod group near one end of upper and lower main driving axle.
Bypass system comprises duct, duct steering wheel and duct steering wheel arm, and duct steering wheel is arranged at afterbody and is connected with duct by duct steering wheel arm; Duct comprises duct blade, duct public attention, duct motor and casing, casing is connected with duct steering wheel arm, duct motor is set in casing, duct motor has the turning cylinder with the horizontal middle spindle line parallel of fuselage, turning cylinder connects duct blade away from one end of fuselage, and the outer end of duct blade is coated with duct public attention.
Duct steering wheel is fixed on fuselage by steering engine seat, the angle of inclination while being connected to duct steering wheel arm with control aircraft flight by duct steering wheel output shaft.
Diff is connected with power-transfer clutch by one of them finishing bevel gear cuter, and power-transfer clutch is connected with electrical motor, and electrical motor is fixed on fuselage interior.Thereby under helicopter mode, aircraft can, with the flight theory flight of the coaxial double-oar helicopter of standard, mainly provide aircraft power by the two rotor wing rotations of driven by motor; Under cyclogyro pattern, the bispin wing and electrical motor disconnect by power-transfer clutch, and aircraft is with the flight theory flight of cyclogyro, and the unpowered spin of rotor provides aircraft lift, and provides propulsive force by duct.
Aircraft also comprises control circuit board and lithium cell, and lithium cell is arranged in fuselage dead aft, and control circuit board is arranged at lithium cell top.
In addition, aircraft also comprises landing pad system, landing pad system is by two landing pads, a bearing assembly and three wheels form, the direction that bearing assembly extends along lower main driving axle is arranged at the below of lower rotor system, bearing assembly lowermost end and one of them are taken turns sub-connection, and two landing pads are distributed in Qie Qi bottom, afterbody both sides and take turns sub-connection with two other respectively, and three wheels are isosceles triangular structure.
Each landing pad forms by 3 rod hinge connections, and when flight, landing pad can be packed up.
The little minute vehicle of a kind of coaxial double-rotary wing formula that the utility model provides, comprise controlled power twin rotor system, rotor blade inclination angle regulating system and bypass system, can improve the field distribution of aircraft air, it has the advantages such as simple in structure, safe and reliable, maneuverability, economical and practical, highly versatile.The utility model has merged the feature of helicopter and cyclogyro, and under helicopter mode, aircraft is with the flight theory flight of the coaxial double-oar helicopter of standard, and mainly the bispin wing by driven by motor provides aircraft power; Under cyclogyro pattern, aircraft is with the flight theory flight of cyclogyro, and the unpowered spin of rotor provides aircraft lift, and the bispin wing and electrical motor disconnect by power-transfer clutch, by duct, provide propulsive force.In addition, upper and lower rotor coaxial-symmetrical is arranged, realizes the connection of coaxial reverse with the diff of a transmitting ratio such as grade, realizes coaxial reverse and offsets the moment of torsion that upper and lower rotor produces.Upper and lower rotor is controlled the tilt angle of cross disk by identical rotor steering wheel, to keep the specific heeling condition of blade, adapt to different state of flight requirements.
Accompanying drawing explanation
Fig. 1 is the topology layout schematic diagram according to the aircraft of an embodiment of the present utility model;
Fig. 2 arranges schematic diagram according to the steering wheel rotor of an embodiment of the present utility model;
Fig. 3 is according to rotor head-diff of an embodiment of the present utility model-power-transfer clutch schematic layout pattern;
Fig. 4 is the duct schematic diagram according to an embodiment of the present utility model;
Fig. 5 is the upper rotor head schematic layout pattern according to an embodiment of the present utility model.
Reference numeral:
1-aircraft, 2-fuselage, the upper rotor head of 11-, rotor head under 12-, the upper rotor steering wheel of 13-, rotor steering wheel under 14-, the upper main driving axle of 151-, main driving axle under 152-, 16-steering wheel adjusting part, 111, 121-cross disk, 112, 122-rotor pull bar, 113, 123-stabilizer rod group, 114, 124-blade, 115, 125-back gauge pull bar, 116, the auxiliary wing of 126-, 21-duct, 22-duct steering wheel, 23-duct steering wheel arm, the 24-adjusting part that verts, 211-duct casing, 212-duct blade, 213-duct public attention, 214-duct motor, 30-diff, 31-electrical motor, 32-power-transfer clutch, 40-lithium cell, 41-control circuit board, 50-landing pad, 51-bearing assembly, 52-wheel
The specific embodiment
Below in conjunction with specific embodiment, the utility model is described further.Should be understood that following examples are only for the utility model is described but not for limiting scope of the present utility model.
The little minute vehicle 1 of a kind of coaxial double-rotary wing formula providing according to embodiment of the utility model, as Figure 1-Figure 5, this aircraft 1 comprises fuselage 2, controlled power twin rotor system and bypass system.The skeleton of fuselage 2 parts of aircraft 1 is built by aluminum alloy, sticking plaster and plastic flagstone material, is rugby shape, for controlled power twin rotor system and the bypass system of being connected.With regard to each system, be elaborated in conjunction with specific embodiments respectively below.
As shown in Figure 1, twin rotor system comprises upper rotor system and the lower rotor system of the both sides up and down that are arranged at symmetrically fuselage 2, and upper rotor system comprises rotor head 11 and upper rotor steering wheel 13.Lower rotor system comprises lower rotor head 12 and lower rotor steering wheel 14.Upper rotor steering wheel 13 and lower rotor steering wheel 14 symmetries be arranged at the inner upper and lower both sides of fuselage 2, and by steering wheel adjusting part 16, be connected with upper rotor head 11, lower rotor head 12 respectively.Wherein, upper rotor system and lower rotor system be by reversing device coaxial drive, go up rotor system under the effect of this reversing device round on main driving axle 151 (referring to Fig. 2) setting; Lower rotor system arranges round lower main driving axle 152 (referring to Fig. 2) under the effect of this reversing device.This reversing device is arranged at fuselage 2 inside, comprises the diff 30, power-transfer clutch 32 and the motor 31 that wait transmitting ratio with three finishing bevel gear cuters.Wherein, diff 30 is connected with upper and lower main driving axle 151,152 coaxial reverse ground, be upper and lower main driving axle 151,152 in the vertical directions from diff 30 make progress respectively, to downward-extension and stretch out fuselage 2, thereby realize the coaxial reverse of upper and lower main driving axle 151,152, upper rotor head 11 and lower rotor head 12 are arranged at symmetrically fuselage Shang Xia 2 both sides be connected to one end that upper and lower main driving axle 151,152 stretches out outside fuselage 2, as shown in Figure 1.
As shown in Figure 1, bypass system is arranged at fuselage 2 afterbodys and is connected with fuselage 2 by the adjusting part 24 that verts, and the line of bypass system and diff 30 is perpendicular to the axis of upper and lower main driving axle 151,152.
Below rotor system is elaborated.As Figure 1-Figure 2, rotor head 11,12 comprises cross disk 111,121, back gauge pull bar 115,125, rotor pull bar 112,122.Rotor head 11,12 is connected with upper and lower main driving axle 151,152 respectively by cross disk 111,121, cross disk 111,121 is connected with steering wheel adjusting part 16 by back gauge pull bar 115,125, in the side of cross disk 111,121 away from fuselage 2, be also provided with some blades 114,124, blade 114,124 is connected with cross disk 111,121 by rotor pull bar 112,122 near one end of upper and lower main driving axle 151,152.
Twin rotor system is controlled respectively the anglec of rotation of cross disk 111,121 by same rotor steering wheel 13,14, to keep the heeling condition that blade 114,124 is identical, adapt to different state of flight requirements.Upper and lower main driving axle 151,152 is inputted rotor system by power, drive upper and lower rotor head 11,12 rotations, upper and lower steering wheel 13,14 is controlled pulling up and down of back gauge pull bar 115,125 by steering wheel adjusting part 16, make cross disk 111,121 produce certain inclination, thereby by rotor pull bar 112,122, adjust the angle of inclination of blade 114,124.
As shown in Figure 1, Figure 2 with shown in Fig. 5, twin rotor system also comprises respectively a pair of auxiliary wing 116,126 and stabilizer rod group 113,123, the auxiliary wing 116,126 is arranged at upper and lower main driving axle 151,152 outermost end away from fuselage 2 and its place plane and blade 114,124 place plane parallel, and the auxiliary wing 116,126 is connected with blade 114,124 by stabilizer rod group 113,123 near one end of upper and lower main driving axle 151,152.Stabilizer rod group the 113, the 123rd, telescopic, when each blade 114,124 and rotor head 11,12 main bodys are linked up, this stabilizer rod group also has the effect of stable blade 114,124 and the auxiliary wing 116,126.
As shown in Figure 3, diff 30 is connected with power-transfer clutch 32 by one of them finishing bevel gear cuter, power-transfer clutch 32 is connected with electrical motor 31, electrical motor 31 is fixed on fuselage interior, Deng the diff 30 of transmitting ratio, realize coaxial reverse, thereby the moment of torsion that in counteracting, rotor system and lower rotor system produce, the power control by 32 pairs of rotors of power-transfer clutch realizes this aircraft and in flight course, completes the conversion between two kinds of patterns (helicopter mode and cyclogyro pattern).
As shown in Figure 1 and Figure 4, bypass system comprises duct 21, duct steering wheel 22 and duct steering wheel arm 23, angle of inclination when duct steering wheel 22 is connected in fuselage 2 afterbodys and is connected to duct steering wheel arm 23 with control aircraft flight by duct steering wheel output shaft by steering engine seat.Duct steering wheel arm 23 is connected with duct 21 by the adjusting part 24 that verts; Duct 21 is positioned at aircraft 1 dead aft, and with diff 30, power-transfer clutch 32, in the same horizontal line, they are positioned at the center of fuselage 2 to motor 31 simultaneously, to keep aircraft 1 total quality balance.As shown in Figure 4, duct 21 comprises duct blade 212, duct public attention 213, duct motor 214 and casing 211, casing 211 is connected with duct steering wheel arm 23, the interior duct motor 214 that arranges of casing 211, duct motor 214 has the turning cylinder with the horizontal middle spindle line parallel of fuselage 2, turning cylinder connects duct blade 212 away from one end of fuselage 2, and the outer end of duct blade 212 is coated with duct public attention 213.Bypass system can, by adjusting part 24 angle-adjustables that vert, to meet two kinds of position adjustments under state of flight, be guaranteed flight attitude.
As shown in Figure 1, aircraft also comprises control circuit board 41 and lithium cell 40, lithium cell 40 is arranged in fuselage 2 dead afts, and be electrically connected to upper rotor steering wheel 13, lower rotor steering wheel 14, duct steering wheel 22, electrical motor 31 and duct motor 214, be used for driving rotor steering wheel 13, lower rotor steering wheel 14, duct steering wheel 22, electrical motor 31 and duct motor 214, control circuit board 41 is arranged at lithium cell 40 tops.
Aircraft 1 also comprises landing pad system, landing pad system is by two landing pads 50, bearing assembly 51 and three wheels 52 form, and the direction that bearing assembly 51 extends along lower main driving axle 152 is arranged at below of lower rotor head 12, and while making to land, the rotation of rotor is not disturbed by or not ground; Bearing assembly 51 lowermost ends are connected with one of them wheel 52, and two landing pads 50 are distributed in fuselage 2 two sides of tail and its bottom is connected with two other wheel 52 respectively, and three wheels 52 are isosceles triangular structure.
Landing pad 50 forms by 3 rod hinge connections.In flight course, landing pad 50 can draw in.
The utlity model has two kinds of offline mode, under helicopter mode, aircraft flies with the flight theory of the coaxial double-oar helicopter of standard, and can have duct additional thrust function, and mainly the two rotor heads by driven by motor provide aircraft power.Under cyclogyro pattern, aircraft is with the flight theory flight of cyclogyro, and the unpowered spin of rotor provides aircraft lift, and the bispin wing and electrical motor disconnect by power-transfer clutch, by ducted fan, provide propulsive force.In switch mode, aircraft completes the switching between helicopter mode and cyclogyro pattern, and handoff procedure completes in flight course, switches crucial the be switching of rotor power and the switching of the positive and negative angle of attack of blade.
Above-described, be only preferred embodiment of the present utility model, not in order to limit scope of the present utility model, above-described embodiment of the present utility model can also make a variety of changes.Be that simple, the equivalence that every claims according to the utility model application and description are done changes and modify, all fall into the claim protection domain of the utility model patent.The utility model not detailed description be routine techniques content.
Claims (10)
1. the little minute vehicle of coaxial double-rotary wing formula, it is characterized in that, this aircraft comprises fuselage, twin rotor system and bypass system, described twin rotor system comprises upper rotor system and the lower rotor system of the both sides up and down that are arranged at symmetrically described fuselage, described upper rotor system and described lower rotor system are realized upper and lower main driving axle reverse drive by reversing device, described reversing device be positioned at described fuselage interior and have three finishing bevel gear cuters etc. the diff of transmitting ratio, described diff is connected with described upper and lower main driving axle coaxial reverse ground; Described bypass system is arranged at described afterbody and is connected with described fuselage by the adjusting part that verts, and the line of described bypass system and described diff is perpendicular to the axis of described upper and lower main driving axle.
2. the little minute vehicle of coaxial double-rotary wing formula according to claim 1, is characterized in that, described upper rotor system comprises rotor head and upper rotor steering wheel; Described lower rotor system comprises lower rotor head and lower rotor steering wheel; Being arranged at the upper and lower both sides of described fuselage interior and being connected with lower rotor head with upper rotor head by steering wheel adjusting part respectively of described upper rotor steering wheel and described lower rotor steering wheel symmetry.
3. the little minute vehicle of coaxial double-rotary wing formula according to claim 2, it is characterized in that, described upper rotor head and described lower rotor head comprise respectively cross disk, back gauge pull bar and rotor pull bar, described upper rotor head and described lower rotor head by described cross disk and described on, lower main driving axle is connected, described cross disk is connected with described steering wheel adjusting part by described back gauge pull bar, in the side of described cross disk away from described fuselage, be also provided with some blades, described blade is near on described, one end of lower main driving axle is connected with described cross disk by described rotor pull bar.
4. the little minute vehicle of coaxial double-rotary wing formula according to claim 3, it is characterized in that, described twin rotor system also comprises a pair of auxiliary wing and stabilizer rod group, the described auxiliary wing is arranged at described upper and lower main driving axle away from the outermost end of described fuselage and its place plane and described blade place plane parallel, and the described auxiliary wing is connected with described upper and lower main driving axle by described stabilizer rod group near one end of described upper and lower main driving axle.
5. the little minute vehicle of coaxial double-rotary wing formula according to claim 1, it is characterized in that, described bypass system comprises duct, duct steering wheel and duct steering wheel arm, and described duct steering wheel is arranged at described afterbody and is connected with described duct by described duct steering wheel arm; Described duct comprises duct blade, duct public attention, duct motor and casing, described casing is connected with described duct steering wheel arm, duct motor is set in described casing, described duct motor has the turning cylinder with the horizontal middle spindle line parallel of described fuselage, described turning cylinder connects duct blade away from one end of described fuselage, and the outer end of described duct blade is coated with described duct public attention.
6. the little minute vehicle of coaxial double-rotary wing formula according to claim 5, it is characterized in that, described duct steering wheel is fixed on described fuselage by steering engine seat, the angle of inclination while being connected to described duct steering wheel arm with control aircraft flight by duct steering wheel output shaft.
7. the little minute vehicle of coaxial double-rotary wing formula according to claim 1, is characterized in that, described diff is connected with power-transfer clutch by finishing bevel gear cuter described in one of them, and described power-transfer clutch is connected with electrical motor, and described electrical motor is fixed on fuselage interior.
8. the little minute vehicle of coaxial double-rotary wing formula according to claim 1, is characterized in that, described aircraft also comprises control circuit board and lithium cell, and described lithium cell is arranged in described fuselage dead aft, and described control circuit board is arranged at described lithium cell top.
9. the little minute vehicle of coaxial double-rotary wing formula according to claim 1, it is characterized in that, described aircraft also comprises landing pad system, described landing pad system is by two landing pads, a bearing assembly and three wheels form, the direction that described bearing assembly extends along described lower main driving axle is arranged at the below of lower rotor system, described in described bearing assembly lowermost end and one of them, take turns sub-connection, described two landing pads be distributed in Qie Qi bottom, described afterbody both sides respectively with described in two other, take turns sub-connection, three described wheels are isosceles triangular structure.
10. the little minute vehicle of coaxial double-rotary wing formula according to claim 9, is characterized in that, described in each, landing pad forms by 3 rod hinge connections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420252664.2U CN203946273U (en) | 2014-05-16 | 2014-05-16 | The little minute vehicle of a kind of coaxial double-rotary wing formula |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420252664.2U CN203946273U (en) | 2014-05-16 | 2014-05-16 | The little minute vehicle of a kind of coaxial double-rotary wing formula |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104627366A (en) * | 2015-02-10 | 2015-05-20 | 曹兵 | Oil drive variable pitch quadrotor type multifunctional fire-fighting unmanned aerial vehicle |
| CN105882955A (en) * | 2014-11-20 | 2016-08-24 | 北京万户空天科技有限公司 | Coaxial and equidirectional multi-rotor-wing helicopter |
| CN107662703A (en) * | 2017-10-30 | 2018-02-06 | 中电科芜湖通用航空产业技术研究院有限公司 | Electronic double coaxial homonymy reversion tiltrotor aircrafts |
| CN108674644A (en) * | 2018-05-21 | 2018-10-19 | 西北工业大学明德学院 | A kind of multi-rotor aerocraft with slave |
| CN108750101A (en) * | 2018-06-28 | 2018-11-06 | 彩虹无人机科技有限公司 | A kind of super maneuver high speed compound unmanned rotary wing aircraft, assembly, assembly and disassembly methods |
| CN109665096A (en) * | 2018-12-25 | 2019-04-23 | 南京航空航天大学 | A kind of shrouded propeller thrust coaxial double-rotor helicopter |
| CN109747817A (en) * | 2019-03-11 | 2019-05-14 | 王继华 | A kind of no empennage vector coaxal helicopter design |
| CN110356549A (en) * | 2018-04-09 | 2019-10-22 | 南京拓步智能科技有限公司 | A kind of single duct contrarotation formula double-rotor aerobat based on controllable deflector |
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2014
- 2014-05-16 CN CN201420252664.2U patent/CN203946273U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105882955A (en) * | 2014-11-20 | 2016-08-24 | 北京万户空天科技有限公司 | Coaxial and equidirectional multi-rotor-wing helicopter |
| CN104627366A (en) * | 2015-02-10 | 2015-05-20 | 曹兵 | Oil drive variable pitch quadrotor type multifunctional fire-fighting unmanned aerial vehicle |
| CN107662703A (en) * | 2017-10-30 | 2018-02-06 | 中电科芜湖通用航空产业技术研究院有限公司 | Electronic double coaxial homonymy reversion tiltrotor aircrafts |
| CN107662703B (en) * | 2017-10-30 | 2024-01-16 | 中电科芜湖通用航空产业技术研究院有限公司 | Electric double-coaxial same-side reverse tilting rotor aircraft |
| CN110356549A (en) * | 2018-04-09 | 2019-10-22 | 南京拓步智能科技有限公司 | A kind of single duct contrarotation formula double-rotor aerobat based on controllable deflector |
| CN108674644A (en) * | 2018-05-21 | 2018-10-19 | 西北工业大学明德学院 | A kind of multi-rotor aerocraft with slave |
| CN108750101A (en) * | 2018-06-28 | 2018-11-06 | 彩虹无人机科技有限公司 | A kind of super maneuver high speed compound unmanned rotary wing aircraft, assembly, assembly and disassembly methods |
| CN109665096A (en) * | 2018-12-25 | 2019-04-23 | 南京航空航天大学 | A kind of shrouded propeller thrust coaxial double-rotor helicopter |
| CN109747817A (en) * | 2019-03-11 | 2019-05-14 | 王继华 | A kind of no empennage vector coaxal helicopter design |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141119 Termination date: 20150516 |
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| EXPY | Termination of patent right or utility model |