CN108786143B - Fuselage generalized anti-crash fixed wing model airplane - Google Patents
Fuselage generalized anti-crash fixed wing model airplane Download PDFInfo
- Publication number
- CN108786143B CN108786143B CN201810542563.1A CN201810542563A CN108786143B CN 108786143 B CN108786143 B CN 108786143B CN 201810542563 A CN201810542563 A CN 201810542563A CN 108786143 B CN108786143 B CN 108786143B
- Authority
- CN
- China
- Prior art keywords
- engine
- buffer
- model
- wing
- mounting bracket
- 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.)
- Active
Links
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 45
- 230000005484 gravity Effects 0.000 claims abstract description 31
- 230000035939 shock Effects 0.000 claims description 27
- 229920001971 elastomer Polymers 0.000 claims description 25
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 24
- 239000004917 carbon fiber Substances 0.000 claims description 24
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 24
- 230000003139 buffering effect Effects 0.000 claims description 14
- 238000005452 bending Methods 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims 10
- 238000012423 maintenance Methods 0.000 abstract description 8
- 238000009434 installation Methods 0.000 description 12
- 239000006096 absorbing agent Substances 0.000 description 10
- 239000000806 elastomer Substances 0.000 description 6
- 230000003416 augmentation Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 241001391944 Commicarpus scandens Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H27/00—Toy aircraft; Other flying toys
- A63H27/02—Model aircraft
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H27/00—Toy aircraft; Other flying toys
- A63H27/001—Making or assembling thereof, e.g. by folding
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H27/00—Toy aircraft; Other flying toys
- A63H27/14—Starting or launching devices for toy aircraft; Arrangements on toy aircraft for starting or launching
Landscapes
- Toys (AREA)
Abstract
The invention discloses a fuselage generalized crash-resistant fixed-wing model airplane, which consists of two modules, namely a fuselage and an avionic power module. The engine body comprises an upper engine body, a lower engine body, wings, a vertical tail wing structure and a quick loading and unloading magnetic mechanism, the gravity center of the engine body is also provided with scale marks, the avionic power module comprises a main mounting bracket, a quick loading and unloading magnetic mechanism, a steering engine, a first push-pull rod, a second push-pull rod, a flight control rudder, an electronic speed regulator, a receiver, a battery, a nose landing gear, a main landing gear engine and a propeller, the engine is mounted on two sides of the main mounting bracket, the flight control rudder is of a symmetrical double-wing structure, the flight control rudder is mounted on the main mounting bracket, the double-wing structures of the flight control rudder are respectively positioned on two sides of the main mounting bracket, and the main mounting bracket is fixedly mounted on the engine body along the scale marks at the gravity center of the engine body. The model airplane has the advantages of easy maintenance and debugging, easy replacement of the airplane body, and low maintenance and time cost.
Description
Technical Field
The invention relates to a model airplane, in particular to a fuselage generalized crash-resistant fixed wing model airplane.
Background
The fixed wing model airplane refers to an unmanned aircraft which flies in the atmosphere and is heavier than air by utilizing a power device to generate forward pushing force or pulling force and generating lifting force by the fixed wing of the fuselage. Radio devices are generally used to control deflection of flight control surfaces (hereinafter referred to as flight control surfaces) on a model airplane to generate control moments so that the model airplane changes its flight attitude as intended by an operator. However, the flexibility of the aircraft is in contradiction with the stability of the aircraft, and the more stable the aircraft is, the less flexible the steering is. Particularly, the aeromodelling airplane is in a ground proximity condition of less than 100 meters, the air flow in the height range is changed strongly, the airplane is easy to change the flying posture due to air flow disturbance, and if the self-stabilizing returning posture is long, the airplane is likely to fall to the ground before returning to the flying posture. Although the electronic stability augmentation technology at the present stage greatly improves the flight stability, the electronic stability augmentation technology has limited effect, and if the electronic stability augmentation technology encounters strong disturbance, the aircraft cannot be kept stable. In addition, electronic stability augmentation cannot overcome artificial misoperation, and aircraft crash can still be caused. Although the crash-resistant tough material can be used for improving the crash resistance of the aircraft, the material has limited toughness, and can be broken and broken under severe impact, so that the aircraft cannot be protected substantially.
In general, it is known from "Murphy's Law: ANYTHING THAT CAN go wrongwill go wrong. "whenever there is a possibility of error, it is necessary to make an error. "the model airplane has the possibility of falling on the ground, then the model airplane can fall on the ground. And the aircraft is destroyed due to insufficient buffer capacity of falling. The flight control surfaces of most of the prior model airplane are arranged on wings, a horizontal tail wing and a vertical tail wing and are connected with a fuselage into an integral structure. The control steering engine is also arranged on the wing, the horizontal tail wing, the vertical tail wing or the plane body and is connected with the flight control surface through a push-pull rod and a hinge so as to realize the control of the flight control surface. If the model airplane collides, the wing and the fuselage are mainly easy to damage, when the wing or the fuselage is maintained, the structures such as a steering engine control connecting rod and the like arranged on the fuselage of the wing must be detached one by one, a great deal of time is spent for installing equipment such as a steering engine, a speed regulator, an engine, a gyroscope receiver, a battery and the like on the new fuselage wing, and the installation angle of the flight control surface needs to be debugged again. The perfect flight can be realized only after accurate debugging flight control, and once the middle so many steps of installation and debugging have any flaws, the aircraft can crash again. For a fixed wing model airplane frequently suffered from crash accidents, each crash causes a great deal of time for a model airplane user to consume for maintenance and flight control surface readjustment of the airplane, and even the whole airplane body and even the whole model airplane sometimes need to be replaced, so that great economic loss is caused.
In addition, model aeroplanes and model planes in the current market are numerous in models, and although main components such as an engine, an electronic speed regulator, a receiver, a steering engine, a gyroscope and a remote controller are modularized and generalized, large components such as a fuselage and a wing are modularized only and have no generality. For example, this type of aircraft fuselage and wing may not be used on another aircraft and, if installed, may not fly stably. The model airplane fan can only directly purchase the whole model airplane (including all equipment in the airplane) if the model airplane fan wants to collect various airplanes, so that the collection of the model airplane fan on the airplane is severely limited.
In addition, because the model airplane is frequently taken off and land by violence or landed heavily, the landing gear structure is frequently subjected to huge impact, is easy to break or deform, and seriously influences the service life of the model airplane.
Disclosure of Invention
The invention provides a universal anti-crash fixed wing model airplane for airplane body, which at least solves the problems of difficult maintenance and debugging, difficult replacement of airplane body, high maintenance cost and time cost of crash occurrence in the prior art
The invention provides a fuselage generalized crash-resistant fixed wing model airplane, which comprises an airplane body, an avionic power module and a quick loading and unloading magnetic mechanism, wherein the gravity center of the model airplane is positioned at the front side of the aerodynamic center of the model airplane.
Further, the engine body comprises an engine body, wings and vertical tail wings, scale marks are further arranged at the gravity center of the engine body, the avionic power module comprises a main mounting bracket, a steering engine, a first push-pull rod, a second push-pull rod, a flight control rudder, an electronic speed regulator, a receiver, a battery, a front landing gear, main landing gears, an engine and a propeller, the engine is mounted on two sides of the main mounting bracket, the propeller is connected with the engine, the gravity center of a model airplane coincides with an engine thrust line, the front landing gear and the main landing gear are mounted at the bottom of the main mounting bracket, the steering engine is mounted on the main mounting bracket, the flight control rudder is of a symmetrical double-wing structure, the flight control rudder is mounted on the main mounting bracket, the double-wing structure of the flight control rudder is respectively located on two sides of the engine, the steering engine is connected with the flight control rudder through the first push-pull rod and the second push-pull rod, the main mounting bracket is fixedly mounted on the engine along the scale marks at the gravity center of the engine body, and the gravity center of the battery coincides with the model airplane.
Further, the wing is selected from a wing with a large aspect ratio and a high lift-drag ratio, a middle aspect ratio wing or a wing with a small aspect ratio and a large back clearance angle, the wing and the machine body have a fixed installation included angle, the propeller is selected from one of a two-blade large-diameter small-pitch propeller, a multi-blade small-diameter large-pitch propeller and a middle-diameter large-pitch propeller, and the relative position of the aerodynamic center of the model airplane and the center of gravity of the model airplane is fixed.
Further, the electronic speed regulator is connected with the engine, the receiver is respectively connected with the electronic speed regulator and the steering engine, and the battery is connected with the electronic speed regulator.
Further, the avionics power module is also provided with a nose buffer.
Still further, the aircraft nose buffer is anti-crash carbon fiber buffer rod, anti-crash carbon fiber buffer rod includes carbon fiber shock-absorbing column, casing, shock attenuation fork, elasticity shock attenuation rubber ring, be equipped with the guiding hole that link up in the casing, carbon fiber shock-absorbing column inserts in the guiding hole of casing, just carbon fiber shock-absorbing column links to each other with shock attenuation fork to link to each other with the shock attenuation fork that is located casing one end, elasticity shock attenuation rubber ring links to each other with shock attenuation fork, the one end that the shock attenuation fork was kept away from to the casing respectively.
Further, the nose landing gear contains base, turns to fork, buffering rocking arm, machine wheel, elastomer, the machine wheel is installed in buffering rocking arm bottom, turn to fork includes roof, left side board, right side board, bolt, the roof links to each other with left side board, right side board respectively, left side board, right side board position are relative, be equipped with first through-hole, second through-hole on left side board, the right side board respectively, the bolt is fixed in first through-hole, second through-hole, the buffering rocking arm passes through the bolt and installs on turning to fork, the base bottom is equipped with the lower shaft, the base passes through the lower shaft and links to each other with the roof that turns to the fork, buffering rocking arm top passes through the elastomer and turns to fork or base and links to each other.
Further, the model airplane also comprises a quick-loading and unloading magnetic mechanism, wherein the quick-loading and unloading magnetic mechanism comprises a first magnetic body, a second magnetic body and an L-shaped hook; the first magnetic body is fixed on the lower side of the machine body; the second magnetic body is fixed on the upper side of the avionics power module, one end of the L-shaped hook is vertically fixed on the upper side of the avionics power module, the L-shaped hook is arranged in front of the second magnetic body, a groove matched with the L-shaped hook is further formed in the lower side of the machine body, and when the L-shaped hook is clamped in the groove, the first magnetic body and the second magnetic body can be magnetically attached.
Further, the top plate is provided with an inserting hole, the bottom shaft of the base is connected with the top plate of the steering fork through the inserting hole, and the steering fork can rotate at a horizontal angle relative to the base.
Further, the elastic body is a rubber ring, and the rubber ring is respectively connected with the bottom shaft and the upper end of the buffering rotating arm.
Still further, the buffer rotary arm includes buffer rotary arm upper portion, buffer rotary arm lower part, buffer rotary arm upper portion and buffer rotary arm lower part's length ratio is 1: 2-1: and 7, the upper part of the buffer rotary arm is of a bending structure relative to the lower part of the buffer rotary arm, and the steering fork is connected with the upper end of the lower part of the buffer rotary arm.
Further, the main mounting support is fixed at the bottom of the machine body through the quick-mounting and dismounting magnetic mechanism.
Further, the battery is a rechargeable battery.
Compared with the prior art, the invention integrates the engine, the receiver, the speed regulator, the steering engine, the landing gear, the flight control rudder and the like into a whole module to form a generalized avionic power module, and debugging is not needed when the airframe is replaced, so that a large amount of installation and debugging time is effectively saved. Meanwhile, the machine body, the wings and the vertical tail wing are made into an integral module, so that the characteristic of quick integral replacement is achieved, the machine bodies of different styles can share one set of avionic power module, the model airplane lovers only need to purchase one avionic power module, the purpose of having multiple models is achieved by replacing the machine bodies of different styles, a great deal of cost is effectively saved, and when a crash accident occurs, the model airplane lovers only need to align scale marks on the machine body to suck the avionic power module and the machine body to complete the replacement of the machine body, a great amount of equipment is not required to be installed and debugged, the replacement efficiency is effectively improved, and a great deal of time cost is saved. In addition, the invention separates the flight control rudder from the fuselage which is easy to collide and damage, the flight control rudder is arranged on the avionic power module, and the flight control rudder is positioned at the tail part of the aircraft, when the aircraft crash needs to be replaced, the flight control rudder and the avionic power module are not damaged (most of the most destroyed accidents are aircraft nose touchdown), so that the flight control rudder is only integrally arranged on the new fuselage, the reinstallation step of the model airplane is simplified, and a great amount of time is saved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of an avionics module according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a system control logic according to an embodiment of the present invention;
FIG. 4 is a schematic view of the installation location of a crash resistant carbon fiber buffer rod according to an embodiment of the present invention;
FIG. 5 is a schematic view of a crash-resistant carbon fiber buffer rod according to an embodiment of the present invention;
FIG. 6 is a schematic view of the nose landing gear structure of an embodiment of the present invention;
FIG. 7 is a schematic structural view of a model airplane in a large range configuration in accordance with an embodiment of the present invention;
FIG. 8 is a schematic structural view of a high speed configuration model airplane in accordance with an embodiment of the present invention;
FIG. 9 is a schematic structural view of a model airplane in a agile configuration according to an embodiment of the present invention;
FIG. 10 is a schematic view of a partial structure of a quick release magnetic mechanism for a model airplane according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. The invention can achieve the aim of changing the aerodynamic configuration of the airplane by installing different fuselages and wings, and theoretically, the invention has infinite aerodynamic configurations.
The embodiment of the invention discloses a fuselage generalized crash-resistant fixed-wing model airplane, which is shown in fig. 1, wherein the model airplane comprises a fuselage 1 and an avionic power module 2, and the aerodynamic center of the model airplane is positioned at the front side of the gravity center of the model airplane.
Optionally, the machine body 1 comprises a machine body, wings and a vertical tail wing, the center and the gravity center of the machine body 1 are further provided with scale marks, the avionics module 2 comprises a main mounting bracket 21, a steering engine 31, a first push-pull rod 23, a second push-pull rod 24, a flight control rudder 25, an electronic speed regulator 32, a receiver, a battery 22, a front landing gear 27, a main landing gear 28, an engine 29 and a propeller 30, the engine 29 is mounted on two sides of the main mounting bracket 21, the propeller 30 is connected with the engine 29, the aerodynamic center of a model airplane coincides with an engine thrust line, the front landing gear 27 and the main landing gear 28 are mounted at the bottom of the main mounting bracket 21, the steering engine is mounted on the main mounting bracket 21, the flight control rudder 25 is in a symmetrical double-wing structure, the double-wing structure of the flight control rudder 25 is respectively located on two sides of the engine 29, the steering engine is connected with the flight control rudder 25 through the first push-pull rod 23 and the second push-pull rod 24, the main mounting bracket 21 is mounted on the center of the machine body 1 and the gravity center 22 along the center and the gravity center of the machine body 1, and the gravity center of the machine body coincides with the scale marks.
In particular, the wing comprises a plurality of wings in a plurality of configurations, and the plurality of wings in the plurality of configurations can be optionally installed together with the upper body and the lower body to form a body. The wing includes (but is not limited to) the following: the wing with high aspect ratio, high lift-drag ratio, or middle aspect ratio or low aspect ratio, or large back slight angle, the wing and the machine body have a fixed installation included angle, the propeller 30 is selected from one of two-blade large-diameter small-pitch propellers, multi-blade small-diameter large-pitch propellers or middle-diameter large-pitch propellers, and the aerodynamic center of the model airplane and the relative position of the center of gravity of the model airplane are fixed.
In particular, the quick release magnetic mechanism as illustrated in FIG. 10 includes a first magnetic body. A second magnetic body and a hook; the first magnetic body is positioned above the second magnetic body; the hook is positioned in front of the magnetic body; the hook is L-shaped. The quick loading and unloading magnetic mechanism is respectively composed of: the avionic and power module is provided with a magnet fixing base, a magnet is fixedly arranged in the base, a magnet is also fixedly arranged on the upper machine body, the front end of the avionic and power module is provided with an L-shaped structure, and the groove at the front end of the upper machine body is formed. When the power module is installed, the L-shaped structure at the front end of the avionic and power module is aligned with the groove at the front end of the upper machine body and inserted, and then the magnet at the rear end of the avionic and power module is aligned with the magnet fixed on the upper machine body and attracted to complete the assembly. Is very simple and quick. The time is less than 5 seconds.
As shown in fig. 1, the electronic speed regulator, the receiver and the steering engine are integrated in the aviation package, the battery 22 and the aviation package are positioned between the front landing gear 27 and the main landing gear 28, and the steering engine is connected with the flight control rudder 25 through the first push-pull rod 23 and the second push-pull rod 24, so that the control of the steering engine on the flight control rudder 25 is realized.
As shown in FIG. 1, the airframe 1 and the airframe 1 are aircraft airframes of different types, but the airframe 1 and the airframe 1 can be assembled by combining with an avionics power module, so that the replacement of the airframe 1 of the aircraft is realized rapidly, the avionics power module 2 integrates other equipment except the airframe, and each piece of equipment is modularized and is convenient to replace.
According to the embodiment of the invention, the combined body of the avionics module and the engine body is taken as a whole, and the aircraft can fly stably and effectively avoid crashes by ensuring that the gravity center is positioned in front of the aerodynamic center of the whole body.
According to the embodiment of the invention, the airframe, the aircraft nose, the wings and the vertical tail wing are made into the integral module, namely the airframe 1, so that the airframe 1 can be replaced quickly, if the airframe 1 is damaged, the old airframe 1 is only required to be removed from the avionics module, and then the avionics module is bonded with the scale marks on the new airframe 1, so that on one hand, the relative positions of the gravity centers of the new aircraft and the old aircraft and the aerodynamic center can be ensured not to be changed, and the new aircraft is ensured to have higher stability; on the other hand, the relative positions of the thrust line and the fuselage of the engine 29 of the aircraft are not changed, so that the dynamic flight characteristics of the new aircraft and the old aircraft are not changed; meanwhile, the relative positions of the flight control rudder 25 and the fuselage of the new aircraft are not changed, and the neutral position and the deflection angle range of the flight control rudder 25 are not changed, so that the control moment of the flight control rudder 25 is unchanged, the re-debugging of the aircraft is avoided, the new aircraft can be directly re-flown, the maintenance and debugging time cost of the crash aircraft can be shortened to be within five seconds from several hours to tens of hours before, and the maintenance efficiency can be improved by thousands of times.
It should be noted that the different types of airframes are provided with definite graduation marks, so that after the avionics power module 2 is aligned with the graduation marks and is adhered to the airframes, the gravity center of the whole aircraft is just positioned at the gravity center position where the aircraft can stably fly, namely, the relative position of the aerodynamic center of the model aircraft and the gravity center of the model aircraft is stable and unchanged. Enabling multiple body combinations of configurations with the same aerodynamic center and center of gravity.
As shown in fig. 7, is a model airplane in a large range configuration. The fuselage 1 adopts a wing with a large aspect ratio and a high lift-drag ratio, the wing tip at the edge of the wing is provided with a winglet, and the propeller 30 is a two-blade large-diameter small-pitch propeller.
According to the embodiment of the invention, the wing with a large aspect ratio and a high lift-drag ratio is adopted, so that the lift is improved, the wing load is reduced, and further the flight aerodynamic efficiency is improved. In addition, the embodiment of the invention improves the voyage of the model airplane by loading the high-capacity battery.
As shown in fig. 8, is a model airplane in a high speed configuration. The machine body 1 adopts a triangle wing with small expansion ratio, large back angle and small thickness, and the machine body is a small section area machine body; the propeller 30 is a multi-blade small-diameter large-pitch propeller, and the battery 22 is a small-capacity battery.
The embodiment of the invention adopts the triangular wings with small expansion ratio, large back angle, small thickness and small cross section area body, effectively reduces the flight resistance, reduces the weight of the aircraft by adopting the small-capacity battery, improves the jet speed of the engine and improves the flight speed.
As shown in fig. 9, a model airplane in a large agile configuration. The airframe 1 adopts wings with medium expansion ratio, medium diameter large-pitch propellers and small capacity batteries.
According to the embodiment of the invention, the medium-diameter large-pitch propeller is adopted, and the small-capacity battery improves the thrust-weight ratio of the engine, so that the aircraft has higher maneuvering sensitivity.
It should be noted that a fuselage 1 having a high stability configuration may also be employed to emphasize improved flight stability. The invention can also make the airplane more ornamental and interesting by adopting the world name machine with ornamental configuration. Or the DIY configuration with various wings is designed for the player himself, so that the player enjoys the created fun.
According to the embodiment of the invention, the gravity center of the model airplane is overlapped with the thrust line of the engine, so that the head-up moment generated by the thrust of the engine is effectively ensured to be zero, and the model airplane is ensured to be convenient to control. Meanwhile, the embodiment of the invention prevents the wings with different configurations from generating extra unbalanced force distances on the fuselage in flight by ensuring the same fixed installation included angle between the wings with different configurations and the fuselage, and ensures that different fuselages can fly normally. In addition, the embodiment of the invention ensures that the gravity center of the model airplane can not be changed due to the change of the capacity of the battery when the battery is replaced by overlapping the gravity center of the battery and the gravity center of the whole airplane, so that a user can freely replace the capacity of the battery according to the actual flight requirement without influencing the change of the gravity center of the model airplane, and the flight stability of the model airplane is ensured.
According to the embodiment of the invention, the engine 29, the receiver, the electronic speed regulator 32, the steering engine 31, the front landing gear 27, the main landing gear 28, the flight control rudder 25 and the like are integrated into one integral module to form the generalized avionic power module 2, debugging is not needed when the airframe is replaced, and a large amount of installation and debugging time is effectively saved. Meanwhile, the fuselage, the wings, the horizontal tail wing and the vertical tail wing are made into the integral module, the characteristic of rapid integral replacement is achieved, the fuselage with different styles can share one set of avionic power module 2, model plane lovers only need to purchase one avionic power module 2, the purpose of having multiple models is achieved by replacing the fuselage with different styles, a great deal of cost is effectively saved, and when a crash accident occurs, the model plane lovers only need to align with scale marks on the fuselage to attach the avionic power module 2 to the fuselage, and the replacement of the fuselage can be completed without installing and debugging a great deal of equipment, so that the replacement efficiency is effectively improved, and a great deal of time cost is saved. In addition, in the embodiment of the invention, the flight control rudder 25 is separated from the airframe which is easy to be damaged by collision, the flight control rudder 25 is arranged on the avionics module 2, and the flight control rudder 25 is positioned at the tail of the aircraft, when the airframe is required to be replaced when a crash occurs, the flight control rudder 25 and the avionics module 2 are not damaged, so that the flight control rudder 25 is only integrally arranged on the new airframe, the reinstallation step of the model aircraft is simplified, and a great amount of time is saved.
It is also noted that different configurations of airframe have different wing turndown ratios, wing shapes, aft camber angles, dihedral angles, fuselage cross-sectional areas, etc., and therefore different configurations of aircraft have different lift coefficients, lift-drag ratios, stability, etc. According to the embodiment of the invention, only one avionic power module 2 is used as the core of the aircraft, and through changing the aircraft body, a user can experience the flight characteristics of completely different aircraft at low cost, so that the flight pleasure is improved. In application, for different requirements, the change of the flight characteristics can be quickly achieved by replacing the airframe so as to adapt to specific requirements. Particularly when longer reserving time is needed, a fuselage with a larger spread ratio lift coefficient is replaced, so that the low accelerator can fly slowly while the lift is enough, the reserving time is greatly improved, and when higher speed and sensitivity are needed, a fuselage with a smaller spread ratio is replaced to sweep back. This allows for a relatively high navigational speed and control sensitivity. If the aircraft falls on the ground, the aircraft body can greatly absorb damage energy, so that the avionics power module 2 is ensured to be in good condition, and the aircraft can fly again rapidly, thereby achieving the effects of saving capital cost and time cost.
In particular, the fuselage 1 is made of impact-resistant materials, so that the impact resistance of the model airplane is further improved.
Alternatively, as shown in fig. 3, the electronic speed regulator is connected with the engine, the receiver is respectively connected with the electronic speed regulator and the steering engine, and the battery is connected with the electronic speed regulator.
The battery can supply power to the electronic speed regulator, the steering engine and the engine through the receiver as shown in fig. 3. The receiver receives the radio control signal, decodes the radio control signal to form a control signal, and sends the control signal to the speed regulator, and the speed regulator controls the rotating speed of the engine. Meanwhile, the receiver sends a control signal to the steering engine to control the steering engine to rotate, the steering engine pulls the push-pull rod to control the deflection of the flight control rudder 25 surface to generate a control moment, and therefore the change of the flight attitude of the aircraft is controlled. The avionics power module 2 can be integrally assembled when the airframe is replaced, and debugging is not needed, so that a large amount of installation and debugging time is effectively saved.
During flight, as shown in fig. 3, a user sends a control signal to the receiver through the ground remote controller, and the control of the speed regulator and the steering engine is realized through the receiver, so that the control of the flight state and the flight attitude of the aircraft is realized.
Optionally, as shown in fig. 4, the avionics module 2 is further provided with a nose buffer.
Specifically, as shown in fig. 5, the nose buffer is an anti-crash carbon fiber buffer rod 4, the anti-crash carbon fiber buffer rod 4 includes a carbon fiber shock absorber column 41, a housing 42, a shock absorber fork 43, and an elastic shock absorber rubber ring 44, a through guide hole 45 is provided in the housing 42, the carbon fiber shock absorber column 41 is inserted into the guide hole 45 of the housing 42, and the carbon fiber shock absorber column 41 is connected with the shock absorber fork 43 and is connected with the shock absorber fork 43 located at one end of the housing 42, and the elastic shock absorber rubber ring 44 is respectively connected with the shock absorber fork 43 and one end of the housing 42 far away from the shock absorber fork 43.
As shown in fig. 5, the crash-resistant carbon fiber buffer rod 4 is composed of a carbon fiber shock-absorbing column 41, a housing 42, a shock-absorbing fork 43 and a plurality of elastic shock-absorbing rubber rings 44, and is located at the front part of the machine head, and the carbon fiber shock-absorbing column 41 extends forward.
When the aircraft crashes downwards by the aircraft nose, the carbon fiber shock-absorbing column 41 at the aircraft nose touches the ground first, and the carbon fiber shock-absorbing column 41 contracts inwards to drive the rubber ring 54 to stretch. The rubber ring generates reverse tension to prevent the carbon fiber rod from contracting, so that the speed of the airplane body is reduced, the relative speed of the airplane and the ground is quickly reduced before the airplane body falls down completely, the airplane body is ensured not to be damaged and deformed, and the airplane body 1 and the avionics power module 2 are protected.
According to the embodiment of the invention, the anti-crash carbon fiber buffer rod 4 is adopted to absorb impact energy generated when the small model airplane crashes, so that the effects of effective buffering and protection are achieved, the fuselage 1 and the avionics power module 2 are ensured not to be damaged due to overlarge impact, and the service life and the total flight time of the airplane are greatly prolonged. In addition, in the embodiment of the invention, the avionics module 2 is arranged at the rear position of the airplane body, particularly the engine 29 and the propeller 30 are positioned at the rear end of the airplane, the buffer rod 5 and the airplane body are utilized to absorb falling energy, elements of the avionics module 2, particularly the engine 29, the propeller 30, the steering engine, the flight control rudder 25 and the like are protected from being damaged to the greatest extent, the damage of the airplane is reduced to the greatest extent, the airplane can be ensured to fly again by quickly replacing the airplane body, and the re-debugging is avoided.
Optionally, the nose landing gear 27 includes base 271, steering fork 272, buffering rocking arm 273, wheel 274, elastomer 275, the wheel 274 is installed in buffering rocking arm 273 bottom, steering fork 272 includes roof, left side board, right side board, bolt, the roof links to each other with left side board, right side board respectively, left side board, right side board position are relative, be equipped with first through-hole, second through-hole on the left side board, the right side board respectively, the bolt is fixed in first through-hole, second through-hole, buffering rocking arm 273 passes through the bolt and installs on steering fork 272, the base 271 bottom is equipped with the lower extreme, the base 271 passes through the lower extreme and links to each other with the roof of steering fork 272, buffering rocking arm 273 top links to each other with steering fork 272 or base 271 through elastomer 275.
In particular, as shown in fig. 6, the top plate has a socket, the bottom shaft of the base 271 is connected to the top plate of the steering fork through the socket, and the steering fork 272 is rotatable at a horizontal angle with respect to the base 271.
In particular, as shown in fig. 6, the elastic body 275 is a rubber ring, and the rubber ring is respectively connected to the bottom shaft and the upper end of the buffer rotating arm 273.
In particular, as shown in fig. 6, the buffer arm 273 includes a buffer arm upper portion and a buffer arm lower portion, and the length ratio of the buffer arm upper portion to the buffer arm lower portion is 1: 2-1: and 7, the upper part of the buffer rotary arm is of a bending structure relative to the lower part of the buffer rotary arm, and the steering fork 272 is connected with the upper end of the lower part of the buffer rotary arm.
As shown in fig. 6, the elastic body 275 is a rubber ring and is sleeved on the bottom shaft and the buffer rotating arm 273. The base 271 is in floating connection with the main mounting bracket 21. The bottom shaft and the buffer rotating arm 273 are provided with clamping grooves for fixing the rubber ring. The steering fork 272 is nested in the shaft of the base 271 so that the steering fork 272 can steer left and right in the horizontal direction.
It should be noted that the elastic body 275 may also be a metal spring, and may be fixedly connected to the steering fork 272 and the upper tip of the cushion arm, respectively, when the elastic body 275 is a metal spring.
As shown in fig. 6, when the aeromodelling airplane lands, the airplane wheel 274 is subjected to impact force, and the lower part of the buffering rotating arm 273 rotates relative to the steering fork 272 under the driving of the airplane wheel 274, so that the upper part of the buffering rotating arm 273 is far away from the bottom shaft, the rubber ring is stretched, the rubber ring forms reverse elastic force, and the rotation of the rotating arm is resisted, so that the buffering effect on the taking off and landing of the airplane is generated.
When the steering fork 272 is turned, the steering fork can be transmitted to the wheel 274 through the buffer rotating arm 273, so that the wheel 274 turns synchronously.
The common model nose landing gear is frequently and violently lifted or heavily landed, is frequently and greatly impacted, is easy to break or deform and loses steering function, and the embodiment of the invention adopts the elastomer 275 to connect the base 271 with the top end of the buffer rotating arm 273, when the common model nose landing gear is impacted, the elastomer 275 is utilized to absorb the impact force born by the nose landing gear, so that the impact force born by the base 271 and the buffer rotating arm 273 is reduced, and the service life of the nose landing gear 27 is further prolonged. In addition, when the aircraft lands abnormally (falls on the ground), the buffer performance of the nose landing gear can effectively absorb the instant impact on the aircraft body caused by falling, so that the stress concentration of the aircraft body is reduced, and the damage to the aircraft caused by falling on the ground is reduced. Meanwhile, in the embodiment of the invention, the steering fork 272 is rotationally connected with the bottom shaft, so that the steering fork 272 can steer left and right in the horizontal direction, and the airplane is ensured to have an angle adjusting function before taking off.
Optionally, the main body 1 is provided with a quick-assembling and disassembling magnetic mechanism, and the main mounting bracket 21 is fixed at the bottom of the main body 1 through the quick-assembling and disassembling magnetic mechanism.
According to the embodiment of the invention, the quick assembly and disassembly magnetic mechanism is arranged on the airplane body 1, so that the effect of prompting a user of the installation position of the avionic power module 2 is achieved, the installation of the avionic power module 2 by the user is further facilitated, the assembly and maintenance difficulty of the aeroplane and model airplane is reduced, and the usable range of the aeroplane and model airplane is enlarged.
Optionally, the battery 22 is a rechargeable battery.
Optionally, as shown in fig. 10, the model airplane further includes a quick-loading and unloading magnetic mechanism, where the quick-loading and unloading magnetic mechanism includes a first magnetic body 51, a second magnetic body 52, and an "L" shaped hook 53; the first magnetic body 51 is fixed at the lower side of the machine body 1; the second magnetic body 52 is fixed on the upper side of the avionics module 2, one end of the L-shaped hook 53 is vertically fixed on the upper side of the avionics module 2, the L-shaped hook 53 is mounted in front of the second magnetic body 52, a groove 54 matched with the L-shaped hook 53 is further formed on the lower side of the machine body 1, and when the L-shaped hook 53 is clamped in the groove 54, the first magnetic body 51 and the second magnetic body 52 can be magnetically attached.
Therein, as shown in fig. 10, the groove 54 is located at the lower side of the machine body 1, and the groove 54 is located between the first magnetic body 51 and the machine head. The opening of the groove 54 is larger, the L end of the L-shaped hook 53 can be inserted, and the groove 54 is provided with a concave socket at one side, so that one end of the L-shaped hook 53 can be clamped in.
During installation, only the L-shaped hook 53 at the front end of the avionics module 2 is required to be inserted and fixed in the groove 54 at the front end of the machine body 1, and then the second magnetic body 52 on the rear end avionics module is required to be attracted in the first magnetic body 51 fixed on the machine body 1, so that the assembly is completed.
According to the embodiment of the invention, the traditional gluing mode is omitted by adopting the quick-mounting and dismounting magnetic mechanism, so that the machine body 1 is replaced very simply and quickly, the replacement efficiency is improved, the time required for replacement is shortened, and the machine body 1 can be replaced quickly in less than 5 seconds for familiar users.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made to the specific embodiments of the present application after reading the present specification, and these modifications and variations do not depart from the scope of the application as claimed in the pending claims.
Claims (8)
1. The utility model provides a fixed wing model aeroplane and model ship of anti crash of fuselage universalization, its characterized in that, the model aeroplane and model ship aircraft includes organism, avionics power module and quick loading and unloading magnetic mechanism, the focus of the model aeroplane and model ship aircraft is located the front side of the aerodynamics center of the model aeroplane and model ship aircraft;
The engine body comprises an upper engine body, a lower engine body, wings and vertical tail wings, the gravity center of the engine body is also provided with scale marks, the avionic power module comprises a main mounting bracket, a steering engine, a first push-pull rod, a second push-pull rod, a flight control rudder, an electronic speed regulator, a receiver, a battery, a front landing gear, main landing gears, an engine and a propeller, wherein the number of the engines is two, the engines are respectively arranged on two sides of the main mounting bracket, the propellers are connected with the engine, the front landing gear and the main landing gear are arranged at the bottom of the main mounting bracket, the steering engine is arranged on the main mounting bracket, the flight control rudder is of a symmetrical double-wing structure, the flight control rudder is arranged on the main mounting bracket, the double-wing structure of the flight control rudder is respectively arranged on two sides of the main mounting bracket, the steering engine is connected with the flight control rudder through the first push-pull rod and the second push-pull rod, the main mounting bracket is fixedly arranged on the engine body along the gravity center of the engine, the gravity center of the battery coincides with the gravity center of the aeroplane, and the gravity of the aeroplane coincides with the thrust line of the aeroplane;
the model airplane further comprises a quick loading and unloading magnetic mechanism, wherein the quick loading and unloading magnetic mechanism comprises a first magnetic body, a second magnetic body and an L-shaped hook; the first magnetic body is fixed on the lower side of the machine body; the second magnetic body is fixed on the upper side of the avionics power module, one end of the L-shaped hook is vertically fixed on the upper side of the avionics power module, the L-shaped hook is arranged in front of the second magnetic body, a groove matched with the L-shaped hook is further formed in the lower side of the machine body, and when the L-shaped hook is clamped in the groove, the first magnetic body and the second magnetic body can be magnetically attached.
2. A model aircraft as claimed in claim 1, wherein the wing is selected from one of a high aspect ratio, high lift-drag wing or a medium aspect ratio wing or a low aspect ratio, high aft attitude wing, the wing being mounted with the upper and lower fuselage to form a body, the wing and body having a fixed mounting angle, the propeller being selected from one of a two-bladed large diameter propeller, a multi-bladed small diameter propeller or a medium diameter propeller, the aerodynamic centre of the model aircraft being fixed relative to the centre of gravity of the model aircraft.
3. The model airplane as claimed in claim 1, wherein the electronic speed regulator is connected with an engine, the receiver is connected with the electronic speed regulator and the steering engine respectively, and the battery is connected with the electronic speed regulator.
4. A model aircraft in accordance with claim 1, wherein the avionics module is further provided with a nose buffer.
5. The model airplane according to claim 4, wherein the nose buffer is an anti-crash carbon fiber buffer rod, the anti-crash carbon fiber buffer rod comprises a carbon fiber shock absorption column, a shell, a shock absorption fork and an elastic shock absorption rubber ring, a through guide hole is formed in the shell, the carbon fiber shock absorption column is inserted into the guide hole of the shell, the carbon fiber shock absorption column is connected with the shock absorption fork and is connected with the shock absorption fork at one end of the shell, and the elastic shock absorption rubber ring is connected with the shock absorption fork and one end of the shell away from the shock absorption fork respectively.
6. The model airplane according to claim 1, wherein the nose landing gear comprises a base, a steering fork, a buffer rotating arm, a machine wheel and an elastic body, the machine wheel is arranged at the bottom of the buffer rotating arm, the steering fork comprises a top plate, a left side plate, a right side plate and a bolt, the top plate is respectively connected with the left side plate and the right side plate, the positions of the left side plate and the right side plate are opposite, a first through hole and a second through hole are respectively formed in the left side plate and the right side plate, the bolt is fixed in the first through hole and the second through hole, the buffer rotating arm is arranged on the steering fork through the bolt, a bottom shaft is arranged at the bottom of the base, the base is connected with the top plate of the steering fork through the bottom shaft, and the top end of the buffer rotating arm is connected with the steering fork or the base through the elastic body.
7. The model airplane as claimed in claim 6, wherein the top plate is provided with a jack, the bottom shaft of the base is connected with the top plate of the steering fork through the jack, the steering fork can rotate at a horizontal angle relative to the base, the elastic body is a rubber ring, and the rubber ring is respectively connected with the bottom shaft and the upper end of the buffering rotating arm.
8. The model aircraft of claim 6, wherein the buffer rotor arm includes a buffer rotor arm upper portion, a buffer rotor arm lower portion, and wherein a length ratio of the buffer rotor arm upper portion to the buffer rotor arm lower portion is 1: 2-1: and 7, the upper part of the buffer rotary arm is of a bending structure relative to the lower part of the buffer rotary arm, and the steering fork is connected with the upper end of the lower part of the buffer rotary arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810542563.1A CN108786143B (en) | 2018-05-30 | 2018-05-30 | Fuselage generalized anti-crash fixed wing model airplane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810542563.1A CN108786143B (en) | 2018-05-30 | 2018-05-30 | Fuselage generalized anti-crash fixed wing model airplane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108786143A CN108786143A (en) | 2018-11-13 |
| CN108786143B true CN108786143B (en) | 2024-05-10 |
Family
ID=64089470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810542563.1A Active CN108786143B (en) | 2018-05-30 | 2018-05-30 | Fuselage generalized anti-crash fixed wing model airplane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108786143B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091985B (en) * | 2019-05-27 | 2024-01-02 | 温州大学 | Aerodynamics test glider |
| CN113955075A (en) * | 2021-10-09 | 2022-01-21 | 西安远方航空技术发展有限公司 | Aircraft |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5645250A (en) * | 1993-08-26 | 1997-07-08 | Gevers; David E. | Multi-purpose aircraft |
| CN202506123U (en) * | 2012-03-17 | 2012-10-31 | 广东奥飞动漫文化股份有限公司 | Assembled remote controlled toy helicopter |
| CN202666407U (en) * | 2012-06-11 | 2013-01-16 | 上海九鹰电子科技有限公司 | Easy-to-disassemble and assemble model airplane assembling part |
| CN202728576U (en) * | 2012-02-10 | 2013-02-13 | 田瑜 | Transformable composite aircraft formed by fixed wing and electric multi-propeller |
| CN204952263U (en) * | 2015-09-16 | 2016-01-13 | 漳州图特文教用品开发有限公司 | Assembled remote control fixed -wing aircraft model |
| WO2016028358A2 (en) * | 2014-06-03 | 2016-02-25 | Juan Cruz Ayoroa | High Performance VTOL Aircraft |
| CN205699450U (en) * | 2016-06-06 | 2016-11-23 | 汪耆年 | Multi-functional aeromodelling airplane |
| CN107176286A (en) * | 2017-05-16 | 2017-09-19 | 华南理工大学 | Folding fixed-wing vertical take-off and landing unmanned aerial vehicle based on double ducted fan dynamical systems |
| CN107271106A (en) * | 2016-04-07 | 2017-10-20 | 丰邦实业有限公司 | The center of gravity measuring equipment of remotely-piloted vehicle and its wing |
| CN207104798U (en) * | 2017-09-08 | 2018-03-16 | 黎昀菡 | Improve the erecting bed of model airplane packaging efficiency |
| CN208611786U (en) * | 2018-05-30 | 2019-03-19 | 林洪烨 | A kind of unitized anti-crash fixed-wing aeromodelling airplane of fuselage |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040200924A1 (en) * | 2003-01-29 | 2004-10-14 | Clark Leonard R. | Radio-controlled flying toy |
| US7922115B2 (en) * | 2006-04-21 | 2011-04-12 | Colgren Richard D | Modular unmanned air-vehicle |
-
2018
- 2018-05-30 CN CN201810542563.1A patent/CN108786143B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5645250A (en) * | 1993-08-26 | 1997-07-08 | Gevers; David E. | Multi-purpose aircraft |
| CN202728576U (en) * | 2012-02-10 | 2013-02-13 | 田瑜 | Transformable composite aircraft formed by fixed wing and electric multi-propeller |
| CN202506123U (en) * | 2012-03-17 | 2012-10-31 | 广东奥飞动漫文化股份有限公司 | Assembled remote controlled toy helicopter |
| CN202666407U (en) * | 2012-06-11 | 2013-01-16 | 上海九鹰电子科技有限公司 | Easy-to-disassemble and assemble model airplane assembling part |
| WO2016028358A2 (en) * | 2014-06-03 | 2016-02-25 | Juan Cruz Ayoroa | High Performance VTOL Aircraft |
| CN204952263U (en) * | 2015-09-16 | 2016-01-13 | 漳州图特文教用品开发有限公司 | Assembled remote control fixed -wing aircraft model |
| CN107271106A (en) * | 2016-04-07 | 2017-10-20 | 丰邦实业有限公司 | The center of gravity measuring equipment of remotely-piloted vehicle and its wing |
| CN205699450U (en) * | 2016-06-06 | 2016-11-23 | 汪耆年 | Multi-functional aeromodelling airplane |
| CN107176286A (en) * | 2017-05-16 | 2017-09-19 | 华南理工大学 | Folding fixed-wing vertical take-off and landing unmanned aerial vehicle based on double ducted fan dynamical systems |
| CN207104798U (en) * | 2017-09-08 | 2018-03-16 | 黎昀菡 | Improve the erecting bed of model airplane packaging efficiency |
| CN208611786U (en) * | 2018-05-30 | 2019-03-19 | 林洪烨 | A kind of unitized anti-crash fixed-wing aeromodelling airplane of fuselage |
Non-Patent Citations (1)
| Title |
|---|
| INS/GNSS组合导航系统空中快速对准方法;钱伟行;刘建业;李荣冰;郑智明;;航空学报;20091225(第12期);第2395-2400页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108786143A (en) | 2018-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8708273B2 (en) | Three-wing, six tilt-propulsion unit, VTOL aircraft | |
| CN200995782Y (en) | Airplane | |
| US9573693B2 (en) | Airplane having a rear propulsion system | |
| US20110315809A1 (en) | Three wing, six-tilt propulsion unit, vtol aircraft | |
| US9738379B2 (en) | Removable lift assembly for a rotorcraft, and a rotorcraft | |
| US11787536B2 (en) | System and method for rotating a rotor of a tiltrotor aircraft | |
| EP3087003A1 (en) | An unmanned aerial vehicle | |
| CN105000180A (en) | Aircraft aerodynamic configuration device | |
| CN102673780A (en) | Double-configuration aircraft | |
| CN108786143B (en) | Fuselage generalized anti-crash fixed wing model airplane | |
| US4616793A (en) | Remote pivot decoupler pylon: wing/store flutter suppressor | |
| CN106005394A (en) | Rescue aircraft | |
| US2140783A (en) | Airplane construction | |
| US20160052619A1 (en) | Simplified inverted v-tail stabilizer for aircraft | |
| US20200307790A1 (en) | Light twin engine aircraft | |
| CN110803280A (en) | Pure electric manned vehicle | |
| CN208611786U (en) | A kind of unitized anti-crash fixed-wing aeromodelling airplane of fuselage | |
| CN112607007A (en) | Shock attenuation undercarriage and many rotor unmanned aerial vehicle | |
| CN115214904A (en) | eVTOL aircraft flight test bench | |
| CN205652358U (en) | Be applied to thrust mechanism of amplification of unmanned helicopter | |
| CN208021734U (en) | Adjustable rotor frame head apparatus for fixed-wing unmanned plane | |
| CN221882347U (en) | Foldable gliding assembly and rocket projectile | |
| CN205707326U (en) | The electronic many rotor unmanned aircrafts of restructural | |
| RU215197U1 (en) | UNMANNED HIGH-SPEED ROTOR WING | |
| CN205652348U (en) | Be applied to supporting component of unmanned helicopter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |