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US 12,539,962 B2Granted
Aerial vehicle
AssigneeVoliro AG
InventorTimo Müller
Life of this patent
Estimating the term…
Abstract
An aerial vehicle including: a central frame, a tail extending from the central frame along a first axis, arms extending from the central frame and able to rotate around a second axis, the angular position of the arm with respect to the second axis defining an arm rotation angle. The tail has a tail rotor spinning around a tail rotor axis, the tail rotor axis being parallel to a third axis orthogonal to both first axis and second axis. The free end of each arm is equipped with two thrust motors controlling spinning in opposite direction of two coaxial rotors. The two coaxial rotors define a double rotor axis and can tilt together with respect to another tilting axis, the tilting axis being perpendicular to the second axis, the angular position of the double rotor with respect to the double rotor axis defining a double rotor tilting angle.
Claims24
An aerial vehicle comprising:
- a central frame;
- a tail extending from the central frame along a first axis (X);
- and
- at least two arms extending from the central frame and able to rotate around at least one second axis (Y), thereby defining an angular position of the arm with respect to the second axis (Y), said angular position of the arm with respect to the second axis (Y) defining an arm rotation angle (A1),
- wherein said tail is equipped with a sole tail rotor spinning around a tail rotor axis (P),
- wherein said tail rotor axis (P) is parallel to a third (Z) axis which is orthogonal to both the first axis (X) and the second axis (Y),
- wherein said tail rotor has the ability to invert its direction of rotation, with a first direction of rotation and a second direction of rotation, said second direction of rotation being inverted with respect to the first direction of rotation,
- wherein said tail rotor has two symmetric airfoils, said two airfoils having a double symmetric profile, with a first plane of symmetry between the leading edge and the trailing edge of the foil, and a second plane of symmetry along the chord line,
- wherein each arm is equipped with two thrust motors controlling two coaxial rotors, said two coaxial rotors being able to have a spinning motion, wherein said two thrust motors are able to control the spinning motion of said two coaxial rotors in opposite directions,
- wherein the two coaxial rotors define a double rotor axis (R) and can tilt together with respect to a tilting axis (T), said tilting axis (T) being perpendicular to the second axis (Y), the angular position of the double rotor with respect to the double rotor axis (R) defining a double rotor tilting angle (A2), and
- wherein said two coaxial rotors are located equidistant from either side of said tilting axis (T).
8 more elements
An aerial vehicle comprising:
- a central frame;
- a tail extending from the central frame along a first axis (X);
- and
- at least two arms extending from the central frame and able to rotate around at least one second axis (Y), thereby defining an angular position of the arm with respect to the second axis (Y), said angular position of the arm with respect to the second axis (Y) defining an arm rotation angle (A1),
- wherein said tail is equipped with a sole tail rotor spinning around a tail rotor axis (P),
- wherein said tail rotor axis (P) is parallel to a third (Z) axis which is orthogonal to both the first axis (X) and the second axis (Y),
- wherein the tail rotor has two symmetric airfoils defining an angle of attack, wherein the airfoils of the tail rotor have opposite inclination in relation with their angle of attack,
- wherein the orientation of said two airfoils is variable, said two airfoils having opposite variable angles of attack,
- wherein the direction of rotation of the tail rotor is not inverted, and
- wherein each arm is equipped with two thrust motors controlling two coaxial rotors, said two coaxial rotors being able to have a spinning motion, wherein said two thrust motors are able to control the spinning motion of said two coaxial rotors in opposite directions,
- wherein the two coaxial rotors define a double rotor axis (R) and can tilt together with respect to a tilting axis (T), said tilting axis (T) being perpendicular to the second axis (Y), the angular position of the double rotor with respect to the double rotor axis (R) defining a double rotor tilting angle (A2), said double rotor tilting angle (A2) being the same, having the same direction and having the same magnitude, for the double rotor of each arm, and
- wherein said two coaxial rotors are located equidistant from either side of said tilting axis (T).
9 more elements
An aerial vehicle comprising:
- a central frame;
- a tail extending from the central frame along a first axis (X);
- and
- at least two arms extending from the central frame and able to rotate around at least one second axis (Y), thereby defining an angular position of the arm with respect to the second axis (Y), said angular position of the arm with respect to the second axis (Y) defining an arm rotation angle (A1),
- wherein said tail is equipped with a sole tail rotor spinning around a tail rotor axis (P),
- wherein said tail rotor axis (P) is parallel to a third (Z) axis which is orthogonal to both the first axis (X) and the second axis (Y),
- wherein each arm is equipped with two thrust motors controlling two coaxial rotors, said two coaxial rotors being able to have a spinning motion, wherein said two thrust motors are able to control the spinning motion of said two coaxial rotors in opposite directions,
- wherein the two coaxial rotors define a double rotor axis (R) and can tilt together with respect to a tilting axis (T), said tilting axis (T) being perpendicular to the second axis (Y), the angular position of the double rotor with respect to the double rotor axis (R) defining a double rotor tilting angle (A2), said double rotor tilting angle (A2) having the same orientation direction for the double rotor of each arm, and
- wherein said two coaxial rotors are located equidistant from either side of said tilting axis (T).
6 more elements
Dependencies are inferred from the claim text.