CN204895843U - Multiaxis aircraft - Google Patents
Multiaxis aircraft Download PDFInfo
- Publication number
- CN204895843U CN204895843U CN201520276548.9U CN201520276548U CN204895843U CN 204895843 U CN204895843 U CN 204895843U CN 201520276548 U CN201520276548 U CN 201520276548U CN 204895843 U CN204895843 U CN 204895843U
- Authority
- CN
- China
- Prior art keywords
- rotor
- arm
- horn
- frame
- handset
- 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.)
- Expired - Fee Related
Links
- 238000009434 installation Methods 0.000 claims description 6
- 230000001413 cellular effect Effects 0.000 claims description 4
- 244000045947 parasite Species 0.000 abstract 6
- 230000002349 favourable effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 11
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000003921 oil Substances 0.000 description 2
- 229920002472 Starch Polymers 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 235000019698 starch Nutrition 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Transmission Devices (AREA)
Abstract
The utility model belongs to the aircraft field. The utility model provides a multiaxis aircraft includes the frame, and first horn is rotatably installed in the frame through the pivot, the second horn is installed in the frame, first rotor power pack installs on first horn, second rotor power pack installs on the second horn, the rotary power unit is installed in the frame, and the drive pivot is rotated, first rotor power pack has first rotor and second rotor, first horn has arm seat, first parasite aircraft arm, second parasite aircraft arm and swing drive unit, first rotor is rotatably installed on first parasite aircraft arm, the second rotor is rotatably installed on second parasite aircraft arm, the swing drive unit install on the arm seat, first parasite aircraft arm and second parasite aircraft arm can swingingly be installed on the arm seat respectively, by the drive of swing drive unit. It is little to turn to the windage, and the flexibility is higher, does benefit to energy -conservingly and extension time of endurance, in addition, the stability and the flexibility of flight be favorable to improving.
Description
Technical field
The utility model belongs to aircraft field, particularly relates to a kind of Multi-axis aircraft with rotor.
Background technology
Usually, drive the power of aircraft upward movement to be called pulling force, the power of ordering about aircraft horizontal motion is called thrust, and existing aircraft uses vane type rotor as pulling force rotor usually for aircraft provides pulling force.
The Basic Flight Maneuver of aircraft has vertical displacement movement, seesaws, sideway movement, luffing, roll motion and yawing rotation.
See Fig. 1 for four-axle aircraft 200, its four motors are crosswise ground distribution in a horizontal plane in orthogonal X and Y-axis, and X-axis positive dirction is considered as heading.Motor 1 is positioned at X-axis positive axis, and motor 3 is positioned at X-axis and bears semiaxis; Motor 2 is positioned at Y-axis positive axis, and motor 4 is positioned at Y-axis and bears semiaxis; Z axis is vertical.
Dipping and heaving: four motors improve rotating speed simultaneously, the pulling force that four-axle aircraft 200 obtains increases and moves along Z axis positive dirction; Four motors reduce rotating speed simultaneously, and the pulling force that four-axle aircraft 200 obtains reduces and moves along Z axis negative direction.
Face upward motion of bowing: motor 1 raises speed, motor 3 reduction of speed, four-axle aircraft 200 rotates around Y-axis and lifts head and face upward, and moves along X-axis negative direction simultaneously; Otherwise four-axle aircraft 200 rotates and test head and nutation around Y-axis, move along X-axis positive dirction simultaneously.
Roll motion: motor 4 raises speed, motor 2 reduction of speed, four-axle aircraft 200 is left-leaning around X-axis rotation, and moves along Y-axis negative direction; Otherwise four-axle aircraft 200 rotates and Right deviation around X-axis, and moves along Y-axis positive dirction.When motor 4 and motor 2 speed discrepancy enough large time, just can there is complete transverse direction and roll in four-axle aircraft 200, i.e. roll motion.
Yawing rotation: because air resistance effect can form the reactive torque with direction of rotation in rotor 5 rotation process.In order to overcome reactive torque impact, the arrangement of four rotors 5 adopts two to rotate forward two reversions, and turning to of opposed rotor is identical.The size that each rotor 5 produces reactive torque is relevant with the rotating speed of rotor 5, and rotor 5 rotating speed is higher, and the reactive torque of generation is larger.When four rotor 5 rotating speeds are identical, the reactive torque that four rotors, 5 pairs of four-axle aircrafts 200 produce is cancelled out each other, and four-axle aircraft 200 relatively Z axis does not rotate; When the rotating speed of four rotors 5 is incomplete same, when reactive torque can not be cancelled out each other completely, reactive torque can cause four-axle aircraft 200 to rotate relative to Z axis, thus realizes yawing rotation.Motor 1 and 3 rotating speed improves (rotating forward), and motor 2 and 4 rotating speed reduces (reversion), and four-axle aircraft 200 will rotate around Z axis and deflect to the right, namely goes off course to the right.Because motor 1 and 3 rotating speed improves, motor 2 and 4 rotating speed reduces, and overall pulling force is constant, so four-axle aircraft 200 can not rise or decline.
At present, aircraft all utilizes inertia measuring module (IMU) to control flight attitude.Inertia measuring module comprises accelerometer and gyroscope, also known as INS.With reference to rectangular coordinate system in space, on X, Y, Z axis direction, arrange a gyroscope respectively, for measuring the rotary motion of Multi-axis aircraft on above-mentioned three directions; On X, Y, Z axis direction, arrange an accelerometer respectively, for measuring the acceleration/accel of Multi-axis aircraft motion of translation on above-mentioned three directions.The attitudes such as inertia measuring module can detect aircraft pitch, tilts, driftage, and by corresponding signal feedback to the control circuit of Multi-axis aircraft, Multi-axis aircraft adjusts flight attitude according to the control signal control motor speed of the gesture stability rule in the memory device be preset in control circuit or remote controller input.
As shown in Figure 2, aircraft 100 is a kind of three axle aircraft.Aircraft 100 has frame 110, and the two ends of the horn 111 of frame 110 arrange a motor 112 respectively, motor 112 are arranged a rotor 113.Frame 110 also comprises S. A. 120, and the end of S. A. 120 connects an afterbody motor 121 and anti-torque rotor 122.Rotor 113 is identical with the oar footpath of rotor 122.S. A. 120 can rotate, thus drives anti-torque rotor 122 to tilt to the both sides of S. A. 120.Two rotors 113 of aircraft 100 are a pair positive and negative oar, and the rotor that namely a pair propeller pitch angle size equidirectional is contrary, when two rotor 113 rotating speeds are identical, the reactive torque be subject to from air is cancelled out each other.Rotor 122 is positive oars or instead starches, and therefore, aircraft 100 not only needs the rotating speed by adjusting rotor 122 to control flight attitude, the reactive torque that the angle of inclination also needing to control rotor 122 is subject to from air to balance rotor 122.
Due to aircraft 100 has one can the rotor 122 of dynamic tilt, therefore its flare maneuver is comparatively flexible.Just because of the rotor 122 of aircraft 100 balances the reactive torque that rotor 122 is subject to from air with needing dynamic tilt, so the stability of aircraft 100 is more weak.
Utility model content
It is flexible that the purpose of this utility model is to provide a kind of flare maneuver, the Multi-axis aircraft of good stability.
In order to realize above-mentioned utility model object, the Multi-axis aircraft that the utility model provides comprises frame, the first horn, is rotatably installed in frame by rotating shaft; Second horn, is arranged in frame; First rotor power unit, is arranged on the first horn; Second rotor power unit, is arranged on the second horn; Rotary power units, is arranged in frame, and drive shaft is rotated; First rotor power unit has the first rotor and the second rotor; First horn has arm seat, the first handset arm, the second handset arm and wobble drive unit; First rotor is rotatably installed on the first handset arm; Second rotor is rotatably installed on the second handset arm; Wobble drive cellular installation is on arm seat; First handset arm and the second handset arm are arranged on arm seat, respectively swingably by wobble drive unit drives.
Such scheme is visible, horn quality is much smaller than overall mass, the inertia of horn is much smaller than complete machine inertia, to rotate or to upwarp horn also less than the driving power needed for inclination complete machine, obtain the mode of horizontal thrust drive Multi-axis aircraft to turn to by rotating or upwarping horn, turn to windage little, alerting ability is higher, is beneficial to energy-conservation and extends cruise duration; In addition, when the plane orthogonal of the rotation axis that rotation axis and second rotor of the first rotor revolves and frame, the air-flow that the first rotor and the second rotor are formed is lower spray vertically, and this air-flow is only for aircraft provides pulling force, and pneumatic efficiency is higher.When the rotation axis of the first rotor and the jante et perpendiculaire of the second rotor, and intersection point is when being positioned at the air inlet side of two rotors, the air-flow outer lower side ejection that first rotor and the second rotor are formed, forms larger supporting span, makes aircraft have larger stability.When the rotation axis of the first rotor and the jante et perpendiculaire of the second rotor, and intersection point is when being positioned at the exhaust side of two rotors, below ejection in the air-flow that first rotor and the second rotor are formed, in air flow collection, flight alerting ability is better, also help and overcome reactive torque from air by downwash flow, improve flight stability.The aircraft of this structure can need upwarping or the bottom of adjustment first handset arm and the second handset arm according to flight, and the rotational angle of adjustment rotating shaft, is conducive to the stability and the alerting ability that improve flight.
A preferred scheme is, the first rotor and the second rotor are distributed in rotating shaft both sides symmetrically.
From such scheme, the load of rotary power units is reduced.
Preferred scheme is that the second rotor power unit comprises the 3rd rotor and the 4th rotor further, and the 3rd rotor and the 4th rotor are arranged in the both sides of rotating shaft symmetrically.
From such scheme, frame is stressed to be balanced more, stable.
A preferred scheme is, the propeller pitch angle equal and opposite in direction of the first rotor and the second rotor and direction is contrary.
From such scheme, the Air Reverse moment of torsion that the first rotor and the second rotor receive all realizes self-balancing, and carry out equilibrium air reactive torque without the need to dynamic adjustments rotating shaft, flight stability improves further.
A preferred scheme is, the ratio of the diameter of the first rotor and the diameter of the 3rd rotor is between 0.3 to 0.7.
From such scheme, not only can obtain higher flight alerting ability but also preferably flight stability can be obtained.
Preferred scheme is that the ratio of the second centre of gration distance of the first centre of gration distance of the first rotor and the second rotor and the 3rd rotor and the 4th rotor is between 0.3 to 0.7 further.
From such scheme, not only can obtain higher flight alerting ability but also preferably flight stability can be obtained.
A preferred scheme is, the first rotor and the second rotor are separately positioned in respective duct.
From such scheme, be beneficial to focused airflow and protection rotor.
Preferred scheme is that the 3rd rotor and the 4th rotor are separately positioned in respective duct further.
Preferred scheme is that the first rotor power unit and/or the second rotor power unit are ducted fan further.
From such scheme, ducted fan volume is little, is beneficial to the volume reducing aircraft, is convenient to fly in small space.
The another kind of Multi-axis aircraft that the utility model provides, comprises frame, the first horn, is rotatably installed in frame by rotating shaft; Second horn, is arranged in frame; First rotor power unit, is arranged on the first horn; Second rotor power unit, is arranged on the second horn; Rotary power units, is arranged on the foot rest of frame, and drive shaft is rotated; First rotor power unit has the first rotor and the second rotor; First horn has arm seat, the first handset arm, the second handset arm and wobble drive unit; First rotor is rotatably installed on the first handset arm; Second rotor is rotatably installed on the second handset arm; Wobble drive cellular installation is on arm seat; First handset arm and the second handset arm are arranged on arm seat, respectively swingably by wobble drive unit drives; First rotor and the second rotor can be distributed in rotating shaft both sides symmetrically; Second rotor power unit comprises and the 3rd rotor and the 4th rotor; 3rd rotor and the 4th rotor are arranged in the both sides of rotating shaft symmetrically; First rotor is contrary with the propeller pitch angle equal and opposite in direction direction of the second rotor; The ratio of the diameter of the second rotor and the diameter of the first rotor is between 0.3 to 0.7; Rotary power units comprises the motor, crank, drive link, the rocking arm that connect successively; The output shaft of motor is connected with one end of crank, and the two ends of drive link are hinged on crank and rocking arm respectively.
Accompanying drawing explanation
Fig. 1 is the constructional drawing of existing a kind of four-axle aircraft.
Fig. 2 is existing a kind of T-shaped aircraft.
Fig. 3 is the constructional drawing of Multi-axis aircraft embodiment of the present utility model.
Fig. 4 is the STRUCTURE DECOMPOSITION figure of Multi-axis aircraft embodiment of the present utility model.
Fig. 5 a and Fig. 5 b is the constructional drawing of arm seat two different visual angles of Multi-axis aircraft embodiment of the present utility model.
Fig. 6 is the constructional drawing of the first handset arm of Multi-axis aircraft embodiment of the present utility model.
Fig. 7 is the front view of Multi-axis aircraft embodiment of the present utility model.
Fig. 8 is the constructional drawing after rotating shaft conter clockwise under the effect of rotary power units of Multi-axis aircraft in Fig. 7 rotates to an angle.
Fig. 9 is the constructional drawing after horn conter clockwise under the effect of wobble drive unit of Multi-axis aircraft of the present utility model rotates to an angle.
Detailed description of the invention
As shown in Figure 3, the Multi-axis aircraft 40 of I-shaped shape has frame 400, and frame 400 is provided with the first horn, the second horn, the first rotor power unit, the second rotor power unit, rotary power units, rotating shaft 490.
As shown in Figure 4, the first horn has arm seat 491, first handset arm 410, second handset arm 420 and wobble drive unit 440.Second horn has the 3rd handset arm 450 and the 4th handset arm 460.First rotor power unit has the first rotor 421 and the second rotor 431.Second rotor power unit has the 3rd rotor 451 and the 4th rotor 461.First rotor 421 is rotatably installed on the first handset arm 410, and the second rotor 431 is rotatably installed on the second handset arm 420.
3rd rotor 451 and the 4th rotor 461 are arranged in the both sides of rotating shaft 490 symmetrically, and the first rotor 421 and the second rotor 431 can be distributed in the both sides of rotating shaft 490 symmetrically.First rotor 421 is contrary with the propeller pitch angle equal and opposite in direction direction of the second rotor 431.The ratio of the diameter of the first rotor 421 and the diameter of the 3rd rotor 451 is 0.5.First centre of gration distance of the first rotor 421 and the second rotor 431 follows the ratio of the second centre of gration distance of the 3rd rotor 451 and the 4th rotor 461 to be 0.5.
As shown in figs. 4 and 7, first horn is rotatably installed in frame 400 by rotating shaft 490, rotary power units is arranged in frame 400, rotate for drive shaft 490, rotary power units comprises the first motor 453, first crank 454, drive link 455, the Rocker arm 4 56 that connect successively, the output shaft of the first motor 453 is connected with one end of the first crank 454, and the two ends of drive link 455 are hinged on the first crank 454 and Rocker arm 4 56 respectively.
As shown in Fig. 4, Fig. 5 a, Fig. 5 b and Fig. 6, frame 400 has arm seat 491, and arm seat 491 has columned installation portion 492, body 493 and protruding post 494, and rotating shaft 490 is secured to the inside of installation portion 492 one end.Wobble drive unit 440 is arranged on arm seat 491, first handset arm 410 and the second handset arm 430 are arranged on arm seat 491 respectively swingably, driven by wobble drive unit 440, wobble drive unit 440 has the second motor 610, second crank 620, connecting rod 630 and the support 640 that connect successively.The output shaft 611 of the second motor 610 is embedded in the first through hole 621 of the second crank 620, and protruding post 494 is embedded in the second through hole 641 of support 640 end, and support 640 can with protruding post 494 for rotation axis rotates.
A mode of operation of Multi-axis aircraft 40 as shown in Figure 7, now, first rotor 421 and the second rotor 431 can provide lift F1 and thrust F2 simultaneously, drive the first crank 454 circumference to rotate when the first motor 453 works, and then drive the motion of drive link 455, rotating shaft 490 circumference is finally made to rotate, first rotor 421 and the second rotor 431 can rotate in the direction, both sides of rotating shaft 490, after left-hand revolution 30 °, Multi-axis aircraft 40 arrives mode of operation as shown in Figure 8, now, first rotor 421 is merely able to provide lift F3 and do not have thrust to produce, second rotor 431 provides lift F4 and thrust F5 simultaneously.
A mode of operation of Multi-axis aircraft 40 as shown in Figure 7, now, first rotor 421 and the second rotor 431 can provide lift and thrust simultaneously, when the second motor 610 works, the second crank 620 circumference is driven to rotate, and then the state reached after drivening rod 630 and support 640 left-hand revolution certain angle as shown in Figure 9, now, second rotor 431 so can provide lift F8 and thrust F9 simultaneously, but relative to the state in Fig. 7, the thrust that now the second rotor 431 produces becomes large, and lift reduces.
In other embodiments, by motor direct-drive on the output shaft that the first rotor and the first rotor can be arranged on motor, also can be arranged on rotary seat and indirectly be driven by the mode such as V belt translation, gear transmission by motor.The rotation of the first rotor and the second rotor is not limited to be driven by motor, by oil machine, can also namely use the engine drive of fuel oil.Certainly, the utility model can also make part rotor be driven by oil machine by motor driving and part rotor.First rotor, the second rotor, the 3rd rotor and the 4th rotor can be separately positioned in a duct, to increase pneumatic efficiency.Usually, the first rotor and the second rotor are a pair positive and negative oar, and to make, reactive torque is relevant to be offset.First rotor and the second rotor also can be a pair positive oar or be all anti-oar.3rd rotor and the 4th rotor are a pair positive and negative oar, and to make, reactive torque is relevant to be offset.3rd rotor and the 4th rotor also can be a pair positive oar or be all anti-oar.Although the height of Fig. 3 shaft and frame place plane inconsistent, rotating shaft can regulate relative to the height of frame, and the axis of such as rotating shaft can, with frame in a plane, only need to provide suitable rotating mechanism.As preferred scheme, as Fig. 3 place aircraft time, on aircraft, the height of all rotors is consistent.
Finally it should be noted that, the utility model is not limited to above-mentioned embodiment, such as in the scheme such as an outer setting duct of rotor also within claims of the present utility model.
Claims (10)
1. Multi-axis aircraft, comprises,
Frame;
First horn, is rotatably installed in described frame by rotating shaft;
Second horn, is arranged in described frame;
First rotor power unit, is arranged on described first horn;
Second rotor power unit, is arranged on described second horn;
Rotary power units, to be arranged in described frame and for driving described axis of rotation;
It is characterized in that:
Described first rotor power unit has the first rotor and the second rotor;
Described first horn has arm seat, the first handset arm, the second handset arm and wobble drive unit;
Described first rotor is rotatably installed on described first handset arm;
Described second rotor is rotatably installed on described second handset arm;
Described wobble drive cellular installation is on described arm seat;
Described first handset arm and described second handset arm are arranged on described arm seat, respectively swingably by described wobble drive unit drives.
2. Multi-axis aircraft according to claim 1, is characterized in that:
Described first rotor and described second rotor are distributed in described rotating shaft both sides symmetrically.
3. Multi-axis aircraft according to claim 2, is characterized in that:
Described second rotor power unit comprises the 3rd rotor and the 4th rotor, and described 3rd rotor and described 4th rotor are arranged in the both sides of described rotating shaft symmetrically.
4. Multi-axis aircraft according to claim 1, is characterized in that:
The propeller pitch angle equal and opposite in direction of described first rotor and described second rotor and direction is contrary.
5. Multi-axis aircraft according to claim 3, is characterized in that:
The ratio of the diameter of described first rotor and the diameter of described 3rd rotor is between 0.3 to 0.7.
6. Multi-axis aircraft according to claim 3, is characterized in that:
First centre of gration distance of described first rotor and described second rotor follows the ratio of the second centre of gration distance of described 3rd rotor and described 4th rotor between 0.3 to 0.7.
7., according to the arbitrary described Multi-axis aircraft of claim 1 to 6, it is characterized in that:
Described first rotor and described second rotor are separately positioned in respective duct.
8. Multi-axis aircraft according to claim 3, is characterized in that:
Described 3rd rotor and described 4th rotor are separately positioned in respective duct.
9. Multi-axis aircraft according to claim 6, is characterized in that:
Described first rotor power unit and/or described second rotor power unit are ducted fan.
10. Multi-axis aircraft, is characterized in that: comprise,
Frame;
First horn, is rotatably installed in described frame by rotating shaft;
Second horn, is arranged in described frame;
First rotor power unit, is arranged on described first horn;
Second rotor power unit, is arranged on described second horn;
Rotary power units, is arranged on the foot rest of described frame, drives described axis of rotation;
It is characterized in that:
Described first rotor power unit has the first rotor and the second rotor;
Described first horn has arm seat, the first handset arm, the second handset arm and wobble drive unit;
Described first rotor is rotatably installed on described first handset arm;
Described second rotor is rotatably installed on described second handset arm;
Described wobble drive cellular installation is on described arm seat;
Described first handset arm and described second handset arm are arranged on described arm seat, respectively swingably by described wobble drive unit drives;
Described first rotor and described second rotor can be distributed in described rotating shaft both sides symmetrically;
Described second rotor power unit comprises and the 3rd rotor and the 4th rotor;
Described 3rd rotor and described 4th rotor are arranged in the both sides of described rotating shaft symmetrically;
Described first rotor is contrary with the propeller pitch angle equal and opposite in direction direction of described second rotor;
The ratio of the diameter of described second rotor and the diameter of described first rotor is between 0.3 to 0.7;
Described rotary power units comprises the motor, crank, drive link, the rocking arm that connect successively, and the output shaft of described motor is connected with one end of described crank, and the two ends of described drive link are hinged on described crank and described rocking arm respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520276548.9U CN204895843U (en) | 2015-04-30 | 2015-04-30 | Multiaxis aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520276548.9U CN204895843U (en) | 2015-04-30 | 2015-04-30 | Multiaxis aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204895843U true CN204895843U (en) | 2015-12-23 |
Family
ID=54918041
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520276548.9U Expired - Fee Related CN204895843U (en) | 2015-04-30 | 2015-04-30 | Multiaxis aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204895843U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564641A (en) * | 2016-01-29 | 2016-05-11 | 珠海市磐石电子科技有限公司 | Vector aircraft |
| CN107176298A (en) * | 2017-05-28 | 2017-09-19 | 珠海磐磊智能科技有限公司 | Aircraft flight control method and aircraft |
| WO2017198084A1 (en) * | 2016-05-17 | 2017-11-23 | 亿航智能设备（广州）有限公司 | Aerial vehicle |
| CN108945395A (en) * | 2018-07-25 | 2018-12-07 | 浙江大学 | Multivariant rotor system, the rotor system and unmanned plane for preventing kinking |
| WO2019198071A1 (en) * | 2018-04-08 | 2019-10-17 | Aerotor Unmanned Systems Ltd. | Improved maneuverability aerial vehicle and a method implemented for this purpose |
| CN114348252A (en) * | 2022-03-01 | 2022-04-15 | 成都纵横大鹏无人机科技有限公司 | Multi-rotor aircraft |
-
2015
- 2015-04-30 CN CN201520276548.9U patent/CN204895843U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564641A (en) * | 2016-01-29 | 2016-05-11 | 珠海市磐石电子科技有限公司 | Vector aircraft |
| CN105564641B (en) * | 2016-01-29 | 2019-01-25 | 珠海市磐石电子科技有限公司 | Vector aircraft |
| WO2017198084A1 (en) * | 2016-05-17 | 2017-11-23 | 亿航智能设备（广州）有限公司 | Aerial vehicle |
| CN107176298A (en) * | 2017-05-28 | 2017-09-19 | 珠海磐磊智能科技有限公司 | Aircraft flight control method and aircraft |
| CN107176298B (en) * | 2017-05-28 | 2020-01-03 | 珠海磐磊智能科技有限公司 | Aircraft flight control method and aircraft |
| IL277707B1 (en) * | 2018-04-08 | 2024-10-01 | Aerotor Unmanned Systems Ltd | Improved maneuverability aerial vehicle and a method implemented for this purpose |
| WO2019198071A1 (en) * | 2018-04-08 | 2019-10-17 | Aerotor Unmanned Systems Ltd. | Improved maneuverability aerial vehicle and a method implemented for this purpose |
| EP3774530A4 (en) * | 2018-04-08 | 2021-12-22 | Aerotor Unmanned Systems Ltd. | Improved maneuverability aerial vehicle and a method implemented for this purpose |
| CN108945395A (en) * | 2018-07-25 | 2018-12-07 | 浙江大学 | Multivariant rotor system, the rotor system and unmanned plane for preventing kinking |
| IL261236B (en) * | 2018-08-19 | 2022-12-01 | Aerotor Unmanned Systems Ltd | Maneuverability improved airborne vehicle and a method implemented for this purpose |
| IL261236B2 (en) * | 2018-08-19 | 2023-04-01 | Aerotor Unmanned Systems Ltd | Maneuverability improved airborne vehicle and a method implemented for this purpose |
| CN114348252B (en) * | 2022-03-01 | 2023-12-01 | 成都纵横大鹏无人机科技有限公司 | Multi-rotor aircraft |
| CN114348252A (en) * | 2022-03-01 | 2022-04-15 | 成都纵横大鹏无人机科技有限公司 | Multi-rotor aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204895843U (en) | Multiaxis aircraft | |
| CN204623835U (en) | Multi-axis aircraft | |
| CN104843177B (en) | Aircraft | |
| CN103387051B (en) | Quadrotor | |
| CN100391790C (en) | Multi-rotor aerocraft | |
| CN200951831Y (en) | Multi-rotor wing craft | |
| CN106477032A (en) | Multi-axis aircraft | |
| CN104828245A (en) | Aircraft | |
| CN105857595A (en) | Small-size aircraft system based on cradle head | |
| CN102494865A (en) | Simulation apparatus of pitching/jawing/rolling over three-freedom degree forced movement of aircraft | |
| CN110329497A (en) | The multi-rotor unmanned aerial vehicle and its control method of a kind of paddle face variable-angle | |
| CN106428527A (en) | Dual-axis vector servo turning device with propeller and vertical take-off and landing unmanned aerial vehicle with fixed wings | |
| WO2016197964A1 (en) | Rotor control device and rotorcraft | |
| CN106741918B (en) | Oblique product vector diaxon aircraft control structure | |
| CN111086634B (en) | Dragonfly-like double-flapping-wing micro aircraft | |
| CN110254703A (en) | One kind DCB Specimen that verts hovers T-type UAV system automatically | |
| CN204776020U (en) | Unmanned vehicles with many rotors of major -minor structure | |
| CN104973241A (en) | Unmanned aerial vehicle with main and auxiliary multi-rotor structure | |
| CN204623834U (en) | Aircraft | |
| CN205076036U (en) | Aircraft | |
| CN109455295B (en) | Rotor control device and rotor craft | |
| CN203220761U (en) | Multi-rotor aircraft | |
| CN204871598U (en) | Aircraft | |
| CN108427432A (en) | A kind of three rotor craft of non-planar and control method | |
| CN205668640U (en) | Tilting rotor multi-rotor aerocraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170424 Address after: 519000 Guangdong city of Zhuhai province Hengqin Baohua Road No. 6, room 105 -14724 Patentee after: ZHUHAI PANLEI INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 519000 Guangdong Province, Zhuhai city Xiangzhou District Road No. 2 Building 2 martyrs Tong En Culture Communication Co. Ltd. Patentee before: He Chunwang |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151223 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |