CN115196007A - Coaxial reversal rotor unmanned aerial vehicle device - Google Patents
Coaxial reversal rotor unmanned aerial vehicle device Download PDFInfo
- Publication number
- CN115196007A CN115196007A CN202210833528.1A CN202210833528A CN115196007A CN 115196007 A CN115196007 A CN 115196007A CN 202210833528 A CN202210833528 A CN 202210833528A CN 115196007 A CN115196007 A CN 115196007A
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- unmanned aerial
- aerial vehicle
- rotor
- gear
- rotating shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
- B64D35/04—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions characterised by the transmission driving a plurality of propellers or rotors
- B64D35/06—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions characterised by the transmission driving a plurality of propellers or rotors the propellers or rotors being counter-rotating
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a coaxial inversion rotor wing unmanned aerial vehicle device, which adopts a forward rotor wing structure and a reverse rotor wing structure, is matched with a forward rotating shaft and a reverse rotating shaft which are fixedly installed through a rotor wing installation frame and are coaxially nested, and realizes the capacity of bidirectional reverse lifting.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to a coaxial reversing rotor unmanned aerial vehicle device.
Background
At present, traditional unmanned aerial vehicles can be divided into two major categories, rotor unmanned aerial vehicles and fixed-wing unmanned aerial vehicles.
Rotor unmanned aerial vehicle generally adopts a plurality of rotor horizontal distribution structures, like four rotor unmanned aerial vehicle's cross structure, six rotors's snowflake type structure etc. this type of unmanned aerial vehicle structure is more complicated and plane size is bigger.
The fixed wing unmanned aerial vehicle is generally powered by an engine or a propeller, and aerodynamic force is generated by wings and a control surface to overcome gravity and control flight during high-speed movement, so that the take-off and landing of the type of the unmanned aerial vehicle need to go through a ground running stage, and vertical take-off and landing cannot be realized.
At present, the unmanned aerial vehicle is complex in structure, adopts a rotor unmanned aerial vehicle structure, is horizontally distributed on a rotor, is large in occupied area, is easy to receive external interference, and is poor in mobility, single-wing flight structure and low in efficiency.
Disclosure of Invention
The invention aims to provide a coaxial contra-rotating rotor unmanned aerial vehicle device to overcome the defects of the prior art.
The invention provides a coaxial reverse rotor unmanned aerial vehicle device which improves the flight capability of an unmanned aerial vehicle and comprises a forward rotor, a reverse rotor and an unmanned aerial vehicle shell, wherein a forward rotating shaft and a reverse rotating shaft which are coaxially nested are fixedly arranged in the unmanned aerial vehicle shell through a rotor mounting rack, the forward rotor is fixed on the forward rotating shaft, the reverse rotor is fixed on the reverse rotating shaft, a driving device is fixed in the unmanned aerial vehicle shell, the output end of the driving device is respectively in driving connection with the forward rotating shaft and the reverse rotating shaft, two side control rudder surfaces are symmetrically arranged on two sides of the unmanned aerial vehicle shell, and a tail rudder is arranged at the bottom of the unmanned aerial vehicle shell.
Preferably, two control surface steering engines are arranged in the unmanned aerial vehicle shell, each control surface steering engine is connected with one side control surface, and the rotating shaft of each control surface steering engine is perpendicular to the axis of the forward rotating shaft.
Preferably, the bottom of unmanned aerial vehicle casing is provided with two tail rudders along unmanned aerial vehicle casing axis symmetry setting.
Preferably, the two tail rudders are connected with the same tail rudder steering engine, and the rotation axes of the two tail rudders are parallel.
Preferably, the rotor mount is of a suspended bracket structure.
Preferably, the rotor mounting bracket includes the suspension arm and is fixed in the suspension sleeve of intermediate position, and a plurality of suspension arms of the even array of suspension sleeve circumference, the one end and the suspension sleeve outer wall of suspension arm are fixed, and the other end and the inner wall support fixed connection of unmanned aerial vehicle casing of suspension arm, suspension sleeve are well logical structure.
Preferably, the suspension sleeve is lubricated between the forward rotating shaft and the reverse rotating shaft, respectively.
Preferably, the driving device comprises an upper gear bracket and a lower gear bracket, the upper gear bracket and the lower gear bracket are provided with three transmission gear shafts which are arranged in parallel, one of the gear shafts is connected with an output shaft of the driving motor, and the gear shaft is provided with a driving gear; the other gear shaft is fixedly connected with one end of the forward rotating shaft, a first driven gear is mounted on the gear shaft, and a second driven gear is mounted on the reverse rotating shaft; and a driven gear is arranged on the last gear shaft, the driving gear is respectively meshed with the first driven gear and the driven gear, and the driven gear is meshed with the second driven gear.
Preferably, the first side control surface and the second side control surface both adopt thin symmetrical airfoil structures.
Preferably, the tail rudder adopts a thin symmetrical wing-shaped structure, is consistent with a side control surface structure, can realize universal replacement, and improves the universality of parts, thereby reducing the cost of the whole equipment.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention relates to a coaxial inversion rotor wing unmanned aerial vehicle device, which adopts a forward rotor wing structure and a reverse rotor wing structure, is matched with a forward rotating shaft and a reverse rotating shaft which are coaxially nested and fixedly installed through a rotor wing installation frame, the forward rotor wing is fixed on the forward rotating shaft, the reverse rotor wing is fixed on the reverse rotating shaft, the lift force of bidirectional reverse lifting is realized, a driving device is fixed in an unmanned aerial vehicle shell, the output end of the driving device is respectively in driving connection with the forward rotating shaft and the reverse rotating shaft, the influence of a gyro effect is counteracted through the reverse rotation of two groups of propeller wings, two side control rudder surfaces are symmetrically arranged on two sides of the unmanned aerial vehicle shell, a tail rudder is arranged at the bottom of the unmanned aerial vehicle shell, the side control rudder surface and the tail rudder utilize airflow which is generated when the coaxial inversion rotor wing rotates and flows downwards along the unmanned aerial vehicle body to generate pneumatic power and torque so as to balance and control the pitching torque generated by synchronous deflection of the rudder surface, thereby the unmanned aerial vehicle can keep a vertical state under various flight states, the problem of the unmanned aerial vehicle adopting the rotor wings to change the flight direction is avoided, the integral structure with low efficiency is simplified, and the flight capability of the unmanned aerial vehicle is improved.
Furthermore, two control surface steering engines are respectively and independently controlled, and the deflection angle of the whole machine body can be adjusted to any state.
Further, the bottom of unmanned aerial vehicle casing is provided with two tail rudders along unmanned aerial vehicle casing axis symmetry setting, has improved the mobility of unmanned aerial vehicle control of verting.
Furthermore, three transmission gear shafts arranged on the upper gear support and the lower gear support form a bidirectional transmission driving structure, the structure is simple, and the whole device can stably operate.
Drawings
Fig. 1 is an overall structural diagram of a coaxial contra-rotating rotor drone in an embodiment of the invention.
Fig. 2 is a structural diagram of an embodiment of a coaxial reversing transmission according to the present invention.
Figure 3 is a schematic view of a rotor mount mounting arrangement according to an embodiment of the invention.
In the figure, 1, a forward rotor; 101. a forward rotation shaft; 102. a reverse rotating shaft; 103. an upper gear bracket; 104. a second driven gear; 105. a first driven gear; 106. a driven gear; 107. a drive gear; 108. a lower gear support; 109. a rotor mount; 110. a suspension arm; 111. an inner wall support; 112. an inner wall support; 2. a counter-rotating rotor; 3. an unmanned aerial vehicle shell; 301. a drive device; 302. a drive motor; 303. a first control surface steering engine; 304. a second control surface steering engine; 305. a controller; 306. a power supply module; 307. a tail vane steering engine; 4. a first lateral control surface; 5. the second side controls the control surface.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, 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.
As shown in fig. 1 and fig. 2, the coaxial reversal rotor unmanned aerial vehicle device disclosed by the invention combines the rotor with the pneumatic control surface, so that the structure of the traditional rotor unmanned aerial vehicle can be effectively simplified, and the size of the unmanned aerial vehicle can be reduced;
the unmanned aerial vehicle specifically comprises a forward rotor wing 1, a reverse rotor wing 2 and an unmanned aerial vehicle shell 3, wherein the forward rotor wing 1 is fixed on a forward rotating shaft 101, the reverse rotor wing 2 is fixed on a reverse rotating shaft 102, and the forward rotating shaft 101 and the reverse rotating shaft 10 are coaxially nested, namely the forward rotor wing 1 and the reverse rotor wing 2 are respectively fixed on the forward rotating shaft 101 and the reverse rotating shaft 102 which are coaxially sleeved, so that two equidirectional aerodynamic forces are generated when coaxial reverse rotation is realized, the lift force is improved, and the balance of the rotation torque of the unmanned aerial vehicle can be ensured;
a rotor wing mounting rack 109 for fixedly mounting the forward rotating shaft 101 and the reverse rotating shaft 102 is arranged in the unmanned aerial vehicle shell 3, a driving device is fixed at the lower end of the rotor wing mounting rack 109 and is used for respectively driving the forward rotating shaft 101 and the reverse rotating shaft 102 to rotate towards different directions, and the driving device respectively drives the forward rotating shaft 101 and the reverse rotating shaft 102 to rotate in reverse directions, so that the two forward rotor wings 1 and the two reverse rotor wings 2 which are arranged in reverse directions are driven to generate equidirectional aerodynamic force;
two side control surfaces are symmetrically arranged on two sides of the unmanned aerial vehicle shell 3, each side control surface is connected with a control surface steering engine, the control surface steering engines are fixed in the unmanned aerial vehicle shell 3, and rotating shafts of the control surface steering engines are perpendicular to the axis of the forward rotating shaft 101; two aerodynamic forces in the same direction are generated under the action of sinking air flows generated by the two rotors of the two side control surfaces to drive the unmanned aerial vehicle to move horizontally back and forth; when the side control surface deflects differentially, two couples with the same size and opposite directions are generated, and therefore a rotating moment is generated to control the rotation of the unmanned aerial vehicle around the vertical axis.
The bottom of unmanned aerial vehicle casing 3 is provided with two tail rudders along the symmetrical setting of 3 axis of unmanned aerial vehicle casing, and same tail rudder steering wheel 307 is connected to two tail rudders, and the rotation axis of two tail rudders is parallel, when two tail rudders deflect in step, under the sunken air current effect that the rotor produced, thereby two tail rudders produce two syntropy aerodynamic force and make whole device produce pitching moment.
Specifically, as shown in fig. 2 and fig. 3, the rotor mounting rack 109 adopts a suspended bracket structure, and specifically includes a suspension arm 110 and a suspension sleeve 111 fixed at an intermediate position, three suspension arms 110 are circumferentially and uniformly arrayed on the suspension sleeve 111, one end of each suspension arm 110 is fixed to an outer wall of the suspension sleeve 111, the other end of each suspension arm 110 is fixedly connected to an inner wall support 112 of the unmanned aerial vehicle housing 3, the suspension sleeve 111 is a through structure, a stable support structure for the forward rotating shaft 101 and the reverse rotating shaft 102 is formed in the unmanned aerial vehicle housing 3, the forward rotating shaft 101 and the reverse rotating shaft 102 respectively adopt two separate rotor mounting rack 109 structures for supporting, or the same rotor mounting rack 109 is adopted, a stepped through hole is formed in the suspension sleeve 111 of the same rotor mounting rack 109, the stepped through hole is respectively in contact with outer walls of the forward rotating shaft 101 and the reverse rotating shaft 102 which have different diameters, a stable support structure is formed between the suspension sleeve 111 and the forward rotating shaft 101, a bearing can be arranged between the suspension sleeve 111 and the reverse rotating shaft 102, or an oil seal structure is adopted for lubricating, friction force between the suspension sleeve 111 and the suspension sleeve 111 in the rotation process of the forward rotating shaft 101 and the reverse rotating shaft 102 is reduced, and the working efficiency is improved.
As shown in fig. 3, the inner wall support 112 and the inner wall of the unmanned aerial vehicle housing 3 are integrally formed or welded, the other end of the suspension arm 110 is provided with a through hole, the inner wall support 112 is provided with a mounting hole, and the two are fixedly connected through a bolt.
The driving device adopts a gear transmission device, and particularly comprises an upper gear support 103 and a lower gear support 108, wherein three transmission gear shafts which are arranged in parallel are arranged between the upper gear support 103 and the lower gear support 108, one of the gear shafts is connected with an output shaft of a driving motor 302, and a driving gear 107 is arranged on the gear shaft; the other gear shaft is fixedly connected with one end of the forward rotating shaft 101, a first driven gear 105 is arranged on the gear shaft, and a second driven gear 104 is arranged on the reverse rotating shaft 102; and a driven gear 106 is mounted on the last gear shaft, the driving gear 107 is respectively meshed with the first driven gear 105 and the driven gear 106, the driven gear 106 is meshed with the second driven gear 104, so that the forward rotating shaft 101 and the reverse rotating shaft 102 are simultaneously driven by using one driving motor, and the transmission ratio of the driving gear 107, the first driven gear 105, the second driven gear 104 and the driven gear 106 is 1:1 to realize the coaxial reversal control of two sets of rotors, forward pivot 101 and reverse pivot 102 produce two sizes the same, and opposite direction's a pair of couple has improved unmanned aerial vehicle's flight stability.
As shown in fig. 1, a forward rotor 1, a reverse rotor 2, a forward rotating shaft 101 and a reverse rotating shaft 102 which coaxially rotate in reverse form a main power device of the unmanned aerial vehicle; the driving device 301 adopts the structure shown in fig. 2; the reverse rotating shaft 102 is of a hollow structure, the forward rotating shaft 101 is arranged in the hollow part of the reverse rotating shaft 102 and is coaxial with the reverse rotating shaft 102, and when the driving motor 302 rotates forwards, the coaxial reverse rotor 2 is driven to rotate forwards through the transmission of the driving gear 107, the second driven gear 104 and the driven gear 106; meanwhile, the coaxial reverse rotors 1 are driven to rotate reversely through the transmission of the driving gear 107 and the first driven gear 105, and the coaxial reverse control of the two sets of rotors is realized.
As shown in fig. 1, the first side control surface 4 and the second side control surface 5 have the same structure, and are symmetrically arranged on the left and right sides of the unmanned aerial vehicle housing 3, and the rotating shaft of the first side control surface 4 is fixedly connected with the rotating shaft of the first control surface steering engine 303 arranged in the unmanned aerial vehicle housing 3, and the rotating shaft of the second side control surface 5 is fixedly connected with the rotating shaft of the second control surface steering engine 304 arranged in the unmanned aerial vehicle housing 3, so that the control can be independently controlled. When the first side control surface 4 and the second side control surface 5 deflect synchronously, two equidirectional aerodynamic forces are generated under the action of the sinking airflow to drive the unmanned aerial vehicle to move horizontally back and forth; when the first side control surface 4 and the second side control surface 5 deflect differentially, two couples with the same size and opposite directions are generated, and therefore a rotating moment is generated to control the rotation of the unmanned aerial vehicle around a vertical axis.
As shown in fig. 1, the first tail rudder 6 and the second tail rudder 7 are identical in size and shape, and adopt thin symmetrical wing-shaped structures, and the first tail rudder 6 and the second tail rudder 7 are symmetrically distributed in pairs at the front and rear positions of the tail part of the unmanned aerial vehicle shell 3, or are located at the central position of the tail part of the fuselage 3 independently. When the first tail rudder 6 and the second tail rudder 7 are distributed in pairs, the first tail rudder 6 and the second tail rudder 7 are fixedly connected, the rotating shaft is fixedly connected with a tail rudder steering engine 307 in the machine body 3, and the first tail rudder 6 and the second tail rudder 7 synchronously deflect to generate pitching moment so as to balance and control the pitching moment generated when the first side surface control surface 4 and the second side surface control surface 5 synchronously deflect; adopt the first tail vane 6 and the second tail vane 7 of two symmetry settings, the balance of control unmanned aerial vehicle fuselage that can be better.
The design of an independent tail vane structure is adopted, and a pitching moment is generated by depending on one tail vane.
As shown in fig. 1, the unmanned aerial vehicle housing 3 adopts a cylindrical structure, the power module 306 fixedly installed in the unmanned aerial vehicle housing 3 adopts a cylindrical rechargeable lithium battery, a controller mounting plate is simultaneously arranged in the unmanned aerial vehicle housing 3, the controller 305 is fixedly installed on the controller mounting plate, the controller 305 adopts a control panel based on an ARM microprocessor chip, and meanwhile, steering engine control over three paths, motor control over one path, power management and attitude sensing are integrated. The drive motor 302 is an AIR2213 motor, and the forward rotor 1 and the reverse rotor 2 are T9545 propellers of 9.5x4.5inch.
The first control surface steering engine 303, the second control surface steering engine 304 and the tail steering engine 307 adopt SG90 micro steering engines.
Compared with a single-rotor wing structure, the coaxial counter-rotating power device adopted by the invention has the advantages that the lift efficiency is improved by 6-20%, enough lift force can be provided for the unmanned aerial vehicle, and meanwhile, the influence of a gyroscopic effect is counteracted through the counter rotation of the two groups of blades.
The side control surfaces are arranged in pairs, and aerodynamic force vertical to the airframe is generated by airflow which is generated when the coaxial counter-rotating rotor wing rotates and flows downwards along the airframe. During synchronous deflection, the back-and-forth movement of the flying unmanned aerial vehicle can be controlled, and during differential deflection, the rotation of the flying unmanned aerial vehicle around the vertical direction can be controlled.
The tail vane also utilizes the downward air current of edge fuselage that produces when coaxial reversal rotor rotates, produces aerodynamic force and moment to the pitching moment of balanced control surface synchronous deflection production, thereby can make unmanned aerial vehicle keep the vertical state under various flight condition, with the lift that make full use of coaxial reversal rotor produced. According to the invention, rotor power and pneumatic control surface control are combined, so that the structure of the unmanned aerial vehicle is effectively simplified, the size of the unmanned aerial vehicle is reduced, and the flexible control of the unmanned aerial vehicle is realized.
Claims (10)
1. The utility model provides a coaxial reversal rotor unmanned aerial vehicle device, a serial communication port, including forward rotor (1), counter rotor (2) and unmanned aerial vehicle casing (3), there are forward pivot (101) and reverse pivot (10) of coaxial nested setting through rotor mounting bracket (109) fixed mounting in unmanned aerial vehicle casing (3), forward rotor (1) is fixed in on forward pivot (101), counter rotor (2) are fixed in on reverse pivot (102), unmanned aerial vehicle casing (3) internal fixation has drive arrangement, drive arrangement's output is connected with forward pivot (101) and reverse pivot (10) drive respectively, the bilateral symmetry of unmanned aerial vehicle casing (3) is provided with two side control rudder faces, the bottom of unmanned aerial vehicle casing (3) is provided with the tail vane.
2. The coaxial contra-rotating rotor unmanned aerial vehicle device according to claim 1, wherein two control surface steering engines are arranged in the unmanned aerial vehicle shell (3), each control surface steering engine is connected with one side control surface, and a rotating shaft of each control surface steering engine is perpendicular to an axis of the forward rotating shaft (101).
3. A coaxial counter-rotating rotor drone arrangement according to claim 1, characterized in that the bottom of the drone casing (3) is provided with two tail rudders arranged symmetrically along the axis of the drone casing (3).
4. A coaxial contra-rotating rotor drone assembly according to claim 3, characterized by two tail rudders connected to the same tail rudder steering engine (307), the rotation axes of the two tail rudders being parallel.
5. A co-axial counter-rotating rotor drone assembly according to claim 1, characterised in that the rotor mount (109) employs an aerial pylon structure.
6. The coaxial contra-rotating rotor unmanned aerial vehicle device according to claim 5, wherein the rotor mounting bracket (109) comprises a suspension arm (110) and a suspension sleeve (111) fixed at a middle position, the suspension sleeve (111) is circumferentially and uniformly arrayed with a plurality of suspension arms (110), one end of each suspension arm (110) is fixed to the outer wall of the suspension sleeve (111), the other end of each suspension arm (110) is fixedly connected with an inner wall support (111) of the unmanned aerial vehicle shell (3), and the suspension sleeve (111) is of a through structure.
7. A co-axial counter-rotating rotor drone arrangement according to claim 6, characterised in that the suspension sleeve (111) is lubricated between the forward (101) and reverse (102) shafts respectively.
8. A co-axial contra-rotating rotor robot apparatus according to claim 1, wherein the drive means comprises an upper gear carrier (103) and a lower gear carrier (108), the upper gear carrier (103) and the lower gear carrier (108) being provided with three parallel drive gear shafts, one of which is connected to the output shaft of the drive motor (302), the gear shaft being provided with the drive gear (107); the other gear shaft is fixedly connected with one end of the forward rotating shaft (101), a first driven gear (105) is installed on the gear shaft, and a second driven gear (104) is installed on the reverse rotating shaft (102); and a driven gear (106) is mounted on the last gear shaft, the driving gear (107) is respectively meshed with the first driven gear (105) and the driven gear (106), and the driven gear (106) is meshed with the second driven gear (104).
9. A coaxial contra-rotating rotor drone arrangement according to claim 1, characterised in that the first side control surface (4) and the second side control surface (5) both adopt thin symmetrical aerofoil structures.
10. A coaxial contra-rotating rotor drone assembly according to claim 1, characterized in that the tail rudder is of thin symmetrical wing profile construction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210833528.1A CN115196007A (en) | 2022-07-15 | 2022-07-15 | Coaxial reversal rotor unmanned aerial vehicle device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210833528.1A CN115196007A (en) | 2022-07-15 | 2022-07-15 | Coaxial reversal rotor unmanned aerial vehicle device |
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| Publication Number | Publication Date |
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| CN115196007A true CN115196007A (en) | 2022-10-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210833528.1A Pending CN115196007A (en) | 2022-07-15 | 2022-07-15 | Coaxial reversal rotor unmanned aerial vehicle device |
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Citations (8)
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| US20060011777A1 (en) * | 2004-04-14 | 2006-01-19 | Arlton Paul E | Rotary wing vehicle |
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| CN101879945A (en) * | 2010-07-05 | 2010-11-10 | 南昌航空大学 | Electric Tilt Rotor UAV |
| CN205440864U (en) * | 2016-03-17 | 2016-08-10 | 秦建法 | Unmanned helicopter of many rotors |
| CN110466749A (en) * | 2018-05-09 | 2019-11-19 | 绿灯实验室(深圳)科技有限公司 | Vertically taking off and landing flyer and its flight control method |
| CN111976954A (en) * | 2020-09-15 | 2020-11-24 | 杨轲 | A fixed-wing unmanned aerial vehicle that can realize vertical take-off and landing and its realization method |
| CN213139136U (en) * | 2020-10-20 | 2021-05-07 | 于江 | Can realize fixed wing unmanned aerial vehicle of vertical take-off |
| CN113200145A (en) * | 2021-07-05 | 2021-08-03 | 南京傲宁数据科技有限责任公司 | Portable micro coaxial double-propeller unmanned aerial vehicle and control method thereof |
-
2022
- 2022-07-15 CN CN202210833528.1A patent/CN115196007A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060011777A1 (en) * | 2004-04-14 | 2006-01-19 | Arlton Paul E | Rotary wing vehicle |
| CN101652286A (en) * | 2007-01-18 | 2010-02-17 | 保罗·E·阿尔托恩 | Rotorcraft power and propulsion system |
| CN101879945A (en) * | 2010-07-05 | 2010-11-10 | 南昌航空大学 | Electric Tilt Rotor UAV |
| CN205440864U (en) * | 2016-03-17 | 2016-08-10 | 秦建法 | Unmanned helicopter of many rotors |
| CN110466749A (en) * | 2018-05-09 | 2019-11-19 | 绿灯实验室(深圳)科技有限公司 | Vertically taking off and landing flyer and its flight control method |
| CN111976954A (en) * | 2020-09-15 | 2020-11-24 | 杨轲 | A fixed-wing unmanned aerial vehicle that can realize vertical take-off and landing and its realization method |
| CN213139136U (en) * | 2020-10-20 | 2021-05-07 | 于江 | Can realize fixed wing unmanned aerial vehicle of vertical take-off |
| CN113200145A (en) * | 2021-07-05 | 2021-08-03 | 南京傲宁数据科技有限责任公司 | Portable micro coaxial double-propeller unmanned aerial vehicle and control method thereof |
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Application publication date: 20221018 |