TEPZZ¥4_54 

6B_T
(19)

(11) EP 3 415 426 B1

(12) EUROPEAN PATENT SPECIFICATION

(45) Date of publication and mention (51) Int Cl.:

of the grant of the patent: B64C 39/02 (2006.01) B64C 11/48 (2006.01)
28.08.2019 Bulletin 2019/35 B64C 27/10 (2006.01) B64C 27/605 (2006.01)
B64C 3/54 (2006.01)
(21) Application number: 18171894.1

(22) Date of filing: 11.05.2018

(54) UAV ROTOR SYSTEM

UAV-ROTORSYSTEM
SYSTÈME DE ROTOR UAV

(84) Designated Contracting States: • MOORE, Danielle Lynn

AL AT BE BG CH CY CZ DE DK EE ES FI FR GB Fort Worth, TX 76155 (US)
GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO • KIM, Sung
PL PT RO RS SE SI SK SM TR Bedford, TX 76021 (US)

(30) Priority: 12.06.2017 US 201715620317 (74) Representative: Barker Brettell LLP

100 Hagley Road
(43) Date of publication of application: Edgbaston
19.12.2018 Bulletin 2018/51 Birmingham B16 8QQ (GB)

(73) Proprietor: Bell Helicopter Textron Inc. (56) References cited:

Fort Worth, TX 76101 (US) WO-A1-2016/077278 WO-A1-2017/044388
WO-A2-2014/025444 CN-U- 205 150 232
(72) Inventors: GB-A- 2 491 129 JP-A- 2002 316 699
• HEFNER, Levi Charles
Arlington, TX 76006 (US)
EP 3 415 426 B1

Note: Within nine months of the publication of the mention of the grant of the European patent in the European Patent
Bulletin, any person may give notice to the European Patent Office of opposition to that patent, in accordance with the
Implementing Regulations. Notice of opposition shall not be deemed to have been filed until the opposition fee has been
paid. (Art. 99(1) European Patent Convention).

Printed by Jouve, 75001 PARIS (FR)

 1 EP 3 415 426 B1
Description
BACKGROUND
[0001] Some aircraft, such as, but not limited to, Un-
manned Aerial Vehicles (UAVs), comprise wings config-
ured to expand or otherwise deploy upon launch or take-
off of the UAVs. Also, some aircraft, such as, but not
limited to, UAVs, comprise coaxial counter-rotating rotors
systems.
[0002] Examples of known rotary wing aircraft are de-
scribed in WO 2014/025444, CN 205150232 and WO
2017/044388.
[0003] In WO 2014/025444, there is described a rotary
wing vehicle, which includes a body structure having an
elongated tubular backbone or core, and a counter-ro-
tating coaxial rotor system having rotors with each rotor
having a separate motor to drive the rotors about a com-
mon rotor axis of rotation. The rotor system is used to
move the rotary wing vehicle in directional flight.
[0004] In CN 205150232, a coaxial double winged hel-
icopter is described, which includes an upper rotor and
a lower rotor coupled via a rotation axis coaxial coupling.
The upper rotor and lower rotor are connected respec-
tively with an outer axle to an interior axle, and connect
through a slope dish sub-assembly. Regulating the lower
rotor’s linkage synchronization effectively offsets the mo-
ment of torsion that is produced when a two-layer rotor
rotates, which thereby improves stability of the aircraft.
[0005] While in WO 2017/044388, a vertical takeoff
and landing (VTOL) unmanned aerial vehicle (UAV) is
described. The VTOL UAV includes a flight control sys-
tem configured to provide avionic control of the VTOL
UAV in a hover mode and in a level-flight mode. The
VTOL UAV also includes a body encapsulating an engine
and the flight control system, while a rotor disk is coupled
to the engine and configured to provide vertical thrust
and cyclic pitch control in the hover mode and to provide
horizontal thrust for flight during the level-flight mode.
BRIEF DESCRIPTION OF THE DRAWINGS
[0006]
Figure 1 an oblique view of an Unmanned Aerial Ve-
hicle (UAV) according to an embodiment of this dis-
closure in an airplane mode of operation;
Figure 2 is another oblique view of the UAV of Figure
1 in the airplane mode of operation;
Figure 3 is an oblique view of the UAV of Figure 1 in
a helicopter mode of operation;
Figure 4 is a schematic view of a Power and Control
System (PCS) of the UAV of Figure 1;
Figures 5-7 are schematic views of an adjustable
wing of the UAV of Figure 1 in various states of de-
ployment;
Figures 8-10 are schematic views of an alternative
embodiment of an adjustable wing of the UAV of Fig-
2
ure 1 in various states of deployment;
Figure 11 is an oblique view of a portion of the ad-
justable wing of Figures 8-10;
Figure 12 is an oblique view of a rotor system of the
5 UAV of Figure 1;
Figure 13 is an orthogonal side view of the rotor sys-
tem of Figure 12;
Figure 14 is an oblique exploded view of the rotor
system of Figure 12; and
10 Figure 15 is another orthogonal side view of the rotor
system of Figure 12 showing a blade assembly in a
cocked position.
DETAILED DESCRIPTION
15
[0007] Illustrative embodiments of the embodiments
are described below. In the interest of clarity, all features
of an actual implementation may not be described in this
specification. It will of course be appreciated that in the
20 development of any such actual embodiment, numerous
implementation-specific decisions must be made to
achieve the developer’s specific goals, such as compli-
ance with system-related and business-related con-
straints, which will vary from one implementation to an-
25 other. Moreover, it will be appreciated that such a devel-
opment effort might be complex and time-consuming but
would nevertheless be a routine undertaking for those of
ordinary skill in the art having the benefit of this disclo-
sure.
30 [0008] In the specification, reference may be made to
the spatial relationships between various components
and to the spatial orientation of various aspects of com-
ponents as the devices are depicted in the attached draw-
ings. However, as will be recognized by those skilled in
35 the art after a complete reading of the present disclosure,
the devices, members, apparatuses, etc. described here-
in may be positioned in any desired orientation. Thus,
the use of terms such as "above," "below," "upper," "low-
er," or other like terms to describe a spatial relationship
40 between various components or to describe the spatial
orientation of aspects of such components should be un-
derstood to describe a relative relationship between the
components or a spatial orientation of aspects of such
components, respectively, as the device described here-
45 in may be oriented in any desired direction.
[0009] Referring to Figures 1 and 2 in the drawings, a
UAV 100 according to the present disclosure is illustrated
in an airplane mode of operation. The UAV 100 generally
comprises a fuselage 102, adjustable wings 104, mova-
50 ble tail extensions 106, and a coaxial counter-rotating
rotor system 200. Most generally, UAV 100 can be se-
lectively operated in an airplane mode (see Figures 1
and 2), a helicopter mode (see Figure 3), and transition
modes therebetween during which the UAV 100 can se-
55 lectively switch between the airplane mode and the hel-
icopter mode during flight. In some embodiments, the
UAV 100 can selectively remain in a transition flight mode
for a period of time longer than necessary to switch be-
2
 3 EP 3 415 426 B1
tween the airplane mode and the helicopter mode. UAV
100 can be referred to as comprising a three-dimensional
coordinate system comprising a first axis 110, a second
axis 112 orthogonal relative to the first axis 110, and a
third axis 114 is normal to a plane shared by the first axis
110 and the second axis 112. The first axis 110 extends
generally along a length of the UAV 100 and substantially
parallel to a length of the fuselage 102. The second axis
112 extends generally parallel to a length or span of the
adjustable wings 104. When the UAV 100 is operating in
the airplane mode, the first axis 110 is generally associ-
ated with a forward-rearward directionality, the second
axis 112 is generally associated with a left-and right di-
rectionality, and the third axis 114 is generally associated
with an up-down directionality. However, because UAV
100 can operate in a variety of orientations, is further
helpful to understand that when the UAV 100 is operating
in the helicopter mode, the first axis 110 is generally as-
sociated with an up-down directionality while the second
axis 112 and the third axis 114 are generally associated
with lateral directions.
[0010] The UAV 100 further comprises a Power and
Control System (PCS) 116. The PCS 116 comprises the
components necessary to power and selectively control
operation of the UAV 100 as a whole. More specifically,
the PCS 116 comprises components configured to se-
lectively power and control at least the rotor system 200
and the adjustable wings 104 (each being discussed in
greater detail below). PCS 116 comprises a battery 118
for providing electrical energy to power one or more com-
ponents of the UAV 100. PCS 116 comprises at least
one wing actuator 120 configured to selectively adjust
one or more of the adjustable wings 104. The PCS 116
further comprises an inner drive motor 122 and an outer
drive motor 124. The inner drive motor 122 can be pow-
ered by the battery 118 to selectively provide rotational
power to one of the two independently driven blade as-
semblies of the rotor system 200. The outer drive motor
124 can be powered by the battery 118 to selectively
provide rotational power to the other one of the two in-
dependently driven blade assemblies of the rotor system
200. In this embodiment, the inner drive motor 122 is
associated with an inner shaft (discussed in detail below)
and the outer drive motor 124 is associated with an outer
shaft (discussed in detail below) through which the inner
shaft 204 is received. In this embodiment, the movable
tail extensions 106 that extend generally horizontally
when the UAV 100 is in the airplane mode of operation
are capable of moving in a manner substantially similar
to ailerons and/or comprise ailerons. Similarly, the mov-
able tail extensions 106 that extend generally vertically
when the UAV 100 is in the airplane mode of operation
are capable of moving in a manner substantially similar
to rudders and/or comprise rudders. Accordingly, the
PCS 116 comprises tail extension actuators 135 config-
ured to selectively actuate the movable tail extensions
106. Still further, the PCS 116 comprises swashplate ac-
tuators 137 configured to selectively provide the cocking
4
movement of the swashplate 236 as described in greater
detail below.
[0011] The PCS 116 further comprises a Flight Control
Computer (FCC) 126 configured to manage the overall
5 operation of the UAV 100. The FCC 126 is configured to
receive inputs from flight sensors 128 such as, but not
limited to, gyroscopes, accelerometers, and/or any other
suitable sensing equipment configured to provide the
FCC 126 with spatial, positional, and/or force dynamics
10 information, data, and/or feedback that can be utilized to
manage the flight and/or operation of the UAV 100. In
some embodiments, PCS 116 comprises Global Posi-
tioning System (GPS) components 130 configured to de-
termine, receive, and/or provide data related to the loca-
15 tion of the UAV 100 and/or flight destinations, targets,
no-fly zones, preplanned routes, flight paths, and/or any
other geospatial location related information. The GPS
components 130 can be configured for bidirectional com-
munication with the FCC 126, unidirectional communi-
20 cation with the FCC 126 being configured to receive in-
formation from the GPS components 130, or unidirec-
tional communication with the FCC 126 being configured
to provide information to the GPS components 130. In
some embodiments, PCS 116 comprises wireless com-
25 munication components 132, such as, but not limited to,
radio communication equipment configured to send
and/or receive signals related to flight commands and/or
other operational information.
[0012] The wireless communication components 132
30 can be configured to transmit video, audio, and/or other
data gathered, observed, and/or information otherwise
generated, carried by, and/or obtained by the UAV 100.
In some cases, a payload 134 of the PCS 116 can com-
prise a video camera, thermal camera, infrared imaging
35 device, chemical sensor configured to determine a pres-
ence and/or concentration of a chemical, a weapon,
and/or any other suitable payload. In some cases, the
payload 134 can be configured to provide information or
data to the FCC 126 and the FCC 126 can be configured
40 to control and/or manipulate the payload 134. While not
shown, each of the components of PCS 116 that require
electrical energy to operate can be powered by the bat-
tery 118. In alternative embodiments, the battery 118 can
be replaced and/or supplemented with other sources of
45 electricity, such as, but not limited to, capacitors, photo-
voltaic solar cells, fuel cells, and/or any other system or
component configurable to provide electrical energy to
components of the UAV 100.
[0013] Referring now to Figures 5-7, partial schematic
50 views of the UAV 100 are shown with a left side adjustable
wing 104 in various states of deployment. Figure 5 shows
an adjustable wing 104 in a fully deployed configuration.
The adjustable wing 104 generally comprises a flexible
wing skin 136, a root arm 138 movably connected to the
55 fuselage 102, and an extension arm 140 movably con-
nected to the root arm 138. In this embodiment, the wing
skin 136 comprises latex and/or natural rubber. However,
in other embodiments, any other suitable flexible material
3
 5 EP 3 415 426 B1
may be used that is relatively lightweight, bendable,
stretchable, and/or otherwise well-suited for serving as
a stowable, foldable, and/or crushable skin of a wing. In
this embodiment, the wing skin 136 is configured to allow
repeated bunching, folding, and bending of the wing skin
136 so as to allow deployment and retraction of the ad-
justable wings 104 without substantially compromising
wing skin 136 material.
[0014] While the wing skin 136 is shown in Figures 1-3,
the wing skin 136 is substantially hidden (but outlined
with dashed lines) in Figures 5-7 to allow viewing of the
root arm 138 and the extension arm 140. In some em-
bodiments, the wing skin 136 can be formed as a sack-
like structure that receives the root arm 138 and the ex-
tension arm 140. In other embodiments, the wing skin
136 can comprise substantially a single layer of material.
Regardless of the structure of the wing skin 136, the wing
skin 136 is attached to and/or tethered at appropriate
locations along the fuselage 102, the root arm 138, and/or
the extension arm 140 so that upon full extension and/or
deployment of the adjustable wing 104, a predetermined
aerodynamic surface is provided to enhance lift of the
UAV 100 while the UAV 100 is in the airplane mode of
operation.
[0015] In this embodiment, the root arm 138 is pinned
and rotatably connected to the fuselage 102 using a pin
142 and a bearing 144. The root arm 138 comprises a
connection aperture 146 configured to receive a linkage
to the wing actuator 120 so that when the wing actuator
120 is actuated, the linkage forces rotation of the root
arm 138 about the pin 142. In some cases, biasing mech-
anisms, such as, but not limited to, torsion springs can
be utilized to rotationally bias the root arm 138 in a de-
ployed configuration (see Figure 5) and/or a stowed con-
figuration (see Figure 7). In some cases, an elasticity of
the wing skin 136 may be sufficient to bias the root arm
138 toward the stowed configuration. Similarly, extension
arm 140 that is movably connected to the root arm 138
using a pin 148 may be rotationally biased relative to the
root arm 138 about the pin 148.
[0016] In this embodiment, the root arm 138 comprises
a leading profile 150 that generally serves to form the
shape of the leading-edge of the adjustable wing 104.
As mentioned above, in some embodiments the leading
profile 150 may be covered by wing skin 136 (in the case
of the sack-like wing skin structure). However in alterna-
tive embodiments where the wing skin 136 comprises a
single layer of material that is not doubled over itself to
form a sack, the wing skin 136 may be attached to a
trailing profile 152 of the root arm 138. In such a case,
the wing skin 136 may similarly be attached to an inner
profile 154 of the extension arm 140 rather than wrapping
around an outer profile 156 of the extension arm 140. In
some embodiments, a selectively engaged brake, lock,
and/or rigid linkage configuration can prevent unwanted
stowing and/or retraction of the adjustable wing 104 from
the deployed configuration.
[0017] To stow the adjustable wing 104 or to otherwise
6
reduce an aerodynamic lift area of the adjustable wing
104, any engaged brake or lock may be released and a
distal end 158 of the extension arm 140 can be moved
toward the rear of the fuselage 102. In some embodi-
5 ments, the movement of the extension arm 140 can be
effectuated by operating the wing actuator 120 and a
direction opposite to that utilized to deploy the adjustable
wing 104. Further, the distal end 158 of the extension
arm 140 may be pulled toward the rear of the fuselage
10 102 using a spool of string, cable, and/or elastic cord. It
will be appreciated that while the embodiments shown in
Figures 5-7 stow and/or fold and store the adjustable
wings 104 to a position adjacent an exterior of the fuse-
lage 102, in alternative embodiments, a slot, channel or
15 other receptacle may be provided on the fuselage 102
to allow at least a portion of the wing skin 136, root arm
138, and/or extension arm 140 to be received within the
fuselage 102.
[0018] In operation, UAV 100 can be initially stored in
20 a small box, backpack, or sack with the adjustable wings
104 in a stowed or retracted position. Once the UAV 100
is removed from storage, a desired configuration of initial
operation can be selected, namely, airplane mode or hel-
icopter mode. In some cases, a mode of operation in
25 between airplane mode and helicopter mode can be se-
lected as an initial operation. In cases where an initial
mode of operation in helicopter mode is desired, the PCS
116 can control acceleration of the rotor system 200 and
the UAV 100 may take flight substantially vertically. After
30 taking off in helicopter mode, the FCC 126 of the PCS
116 can cause actuation of the wing actuators 120 to
deploy the adjustable wings 104 as shown in Figure 5.
With the adjustable wings 104 deployed, the FCC 126
can control the rotor system 200 to pull the UAV 100 into
35 the airplane mode orientation shown in Figure 1 from the
helicopter mode orientation shown in Figure 3. In some
cases, the UAV 100 can be launched from a first location
in the helicopter mode, convert midair to the airplane
mode, fly to a new location (in some cases at least par-
40 tially guided by GPS coordinates interpreted by the GPS
components 130), and subsequently reconvert to heli-
copter mode at the new location.
[0019] While at the new location, the UAV 100 can uti-
lize onboard equipment, such as, but not limited to, pay-
45 load 134 cameras to conduct surveillance and record
and/or transmit information regarding the surveillance
using the wireless communication components 132. Af-
ter conducting the surveillance or otherwise completing
a mission at the new location, the UAV 100 can once
50 again convert to airplane mode and selectively return to
the site of the launch and/or any other desired location
within the range of the UAV 100. Of course, in alternative
embodiments of operation methodology, the UAV 100
can be launched in airplane mode and can selectively
55 switch between modes of operation as desired or nec-
essary.
[0020] In some cases, an example of a necessary
switch from airplane mode to helicopter mode may be in
4
 7 EP 3 415 426 B1
response to flight sensors 128 providing feedback to FCC
126 regarding gusts of wind, heavy rainfall, and/or other
environmental flight encumbrances that are determined
to prevent successful, safe, and/or efficient flight between
locations. In response to undesirable flight conditions,
the UAV 100 may convert to helicopter mode and auto-
matically land itself upright on the movable tail extensions
106. Once the FCC 126 determines sufficiently favorable
flying conditions, the UAV 100 may launch itself using
helicopter mode and again convert to airplane mode to
continue travelling to a desired location.
[0021] Referring now to Figures 8-10, partial schemat-
ic views of the UAV 100 are shown with a left side ad-
justable wing 104 in various states of deployment. How-
ever, in this embodiment, the adjustable wing 104 com-
prises a flexible wing skin 136, a leading arm 160 movably
connected to the fuselage 102, and a spar 162 that is
also movable connected to the fuselage 102. In this em-
bodiment, the leading arm 160 and the spar 162 are
pinned and rotatably connected to the fuselage 102 using
a pin 142 and a bearing 144. The leading arm 160 com-
prises a connection aperture 146 configured to receive
a linkage to the wing actuator 120 so that when the wing
actuator 120 is actuated, the linkage forces rotation of
the leading arm 160 about the pin 142. In some cases,
biasing mechanisms, such as, but not limited to, torsion
springs can be utilized to rotationally bias the leading arm
160 in a deployed configuration (see Figure 8) and/or a
stowed configuration (see Figure 10). In some cases, an
elasticity of the wing skin 136 may be sufficient to bias
the leading arm 160 toward the stowed configuration.
Similarly, spar 162 that is movably connected to the lead-
ing arm 160 and fuselage 102 may be rotationally biased
relative to the leading arm 160 about the pin 142.
[0022] In this embodiment, the leading arm 160 com-
prises a leading profile 164 that generally serves to form
the shape of the leading-edge of the adjustable wing 104.
As mentioned above, in some embodiments the leading
profile 164 may be covered by wing skin 136 (in the case
of the sack-like wing skin structure). In this embodiment,
a slot, channel or other receptacle is provided on the
fuselage 102 to allow at least a portion of the wing skin
136, leading arm 160, and/or spar 162 to be received
within the fuselage 102. Further, the relative rotation of
the spar 162 relative to the leading arm 160 is limited by
the action of a tab 166 that extends from the spar 162
into a complementary slot 168 of the leading arm 160
(see Figure 11). Utilizing the slot 168, the leading arm
160 can be rotated about the pin 142 to the fully deployed
position and a known relative angular rotation about the
pin 142 will be allowed before the tab 166 contacts an
end of the slot 168, thereby causing rotation and deploy-
ment of both the leading arm 160 and the spar 162 at a
same rate and while maintaining a known angular offset
between the leading arm 160 and the spar 162 about the
pin 142. The same slot 168 allows for the leading arm
160 to be stowed at least partially beneath the spar 162
when the leading arm 160 and the spar 162 are in the
8
fully stowed position. Operation of the UAV 100 compris-
ing the adjustable wing 104 of Figures 7-10 is substan-
tially similar to the operation of the UAV 100 comprising
the adjustable wing 104 of Figures 5-7.
5 [0023] Referring now to Figures 12-14, an embodiment
of the coaxial counter-rotating rotor system 200 is shown
in greater detail. Most generally, the rotor system 200
comprises a first blade assembly 202 that is driven by an
inner shaft 204 and a second blade assembly 206 that
10 is driven by a tubular shaft 208 that receives the inner
shaft 204 therethrough. The inner shaft 204 is driven by
a first gear 210 that is driven by a geared connection (not
shown) to the inner drive motor 122. The tubular shaft
208 is driven by a second gear 212 that is driven by a
15 geared connection (not shown) to the outer drive motor
124.
[0024] The first gear 210 is fixed to the inner shaft 204
and an end of the inner shaft 204 extends out through
the first gear 210. The other end of the inner shaft 204
20 extends out through the tubular shaft 208 and is received
within a block key driver 214. The block key driver 214
comprises set screw tubes 216 configured to receive set
screws therein and to allow tightening of set screws to
affix the block key driver 214 to the inner shaft 204. The
25 inner shaft 204 is received within a mount hole 218 of
the block key driver 214. The block key driver 214 further
comprises a neck 220 connected to a block key 222. The
block key 222 is substantially box-shaped and comprises
a box hole 224. The rotor system 200 further comprises
30 a box receiver tube 226 that comprises a receiver hole
228 that is shaped to complement the block key 222 and
to receive the block key 222 therein. When the block key
222 is inserted into the receiver hole 228, a set screw
can be applied through a set screw hole 230 of the box
35 receiver tube 226 outer wall and into the box hole 224.
The box receiver tube 226 is received into a hub hole
232 of the first blade assembly and is fixed relative to the
hub hole 232. In operation, the inner drive motor 122 is
configured to drive the first gear 210, the inner shaft 204,
40 the block key driver 214, the box receiver tube 226, and
the first blade assembly 202 angularly about an axis of
rotation 234 and independent of rotation of the tubular
shaft 208 and/or the second blade assembly 206.
[0025] The gear 212 is fixed to the tubular shaft 208
45 and an end of the tubular shaft extends out through the
second blade assembly 206. The rotor system 200 com-
prises a swashplate 236 comprising a non-rotating outer
ring 238 and a rotating inner ring 240. The non-rotating
outer ring 238 comprises a plurality of control arms 242
50 that are configured for attachment to servo motors and/or
linear actuators via additional linkages (not shown). Like
other swashplates, the swashplate 236 is configured to
allow cocking of the swashplate 236 relative to the axis
of rotation 234 and relative to the tubular shaft 208. As
55 the swashplate 236 is selectively cocked as a whole, the
non-rotating outer ring 238 remains substantially angu-
larly locked while the rotating inner ring 240 angularly
rotates along with the tubular shaft 208. The rotating inner
5
 9 EP 3 415 426 B1
ring 240 comprises link pegs 244 that are received within
first link hole 246 of a substantially dog-bone shaped link
248. A drive interface 250 is secured to the tubular shaft
208 above the swashplate 236 and comprises lateral
drive tubes 252 extending from a drive tube 254 that re-
ceives the tubular shaft 208 therethrough.
[0026] A tubular swivel hat 256 is provided above the
drive tube 254. In this embodiment, the drive tube 254
(including the lateral drive tubes 252) is received within
the tubular swivel hat 256 so that a shared lateral axis of
the lateral drive tubes 252 aligns with lateral pin holes
258 formed in the tubular swivel hat 256. When a pin is
inserted through the lateral pin holes 258 and the lateral
drive tubes 252, the tubular swivel hat 256 is locked in
angular rotation with the tubular shaft 208 but is allowed
to rotate about the pin (not shown) that extends through
the lateral pin holes 258 and the lateral drive tubes 252.
Because the tubular swivel hat 256 comprises a hub in-
sert 260 that is received within a hub hole 262 of the
second blade assembly 206, the second blade assembly
206 is free to swivel about the pin (not shown) that ex-
tends through the lateral pin holes 258 and the lateral
drive tubes 252. However, the tubular swivel hat 256 is
not simply free to swivel about the above-described pin
(not shown). Instead, the tubular swivel hat 256 compris-
es hat control arms 264 that are received within second
link holes 266 of the links 248, thereby restricting the
swiveling action to the movement caused by cocking the
swashplate 236 relative to the axis of rotation 234. The
cocking movement of the swashplate 236 is transferred
to the tubular swivel hat 256 via the links 248 and the
links 248 extend through link slots 268 in the drive inter-
face 250.
[0027] The above-described rotor system 200 allows
the first blade assembly 202 to be driven independent of
the second blade assembly. In this embodiment, the first
blade assembly 202 is driven in a counter-clockwise di-
rection and the second blade assembly is driven in a
clockwise direction when viewing from the front. As such,
the counter-rotation of the blade assemblies 202, 206
prevents wholesale rotation of the UAV 100 without the
use of a tail rotor or other anti-torque system and/or de-
vice. In this embodiment, when the UAV 100 is in the
helicopter mode of operation, changes in the relative
speed of the first blade assembly 202 and the second
blade assembly 206 can produce changes in yaw posi-
tioning of the UAV 100. However, when the UAV 100 is
in the airplane mode of operation, changes in the relative
speed of the first blade assembly 202 and the second
blade assembly 206 can produce changes in roll posi-
tioning of the UAV 100.
[0028] Further, by connecting the control arms 242 to
actuators, servos, and/or other push-pull devices, the en-
tirety of the second blade assembly 206 can be cocked
relative to the axis of rotation 234 while the first blade
assembly 202 remains unchanged and in a fixed and
uncocked orientation relative to the axis of rotation 234.
In some embodiments, by selectively cocking the swash-
10
plate 236, the UAV 100 can selectively provide thrust
vectoring to obtain lateral movement while the UAV 100
is in helicopter mode. Similarly, while the UAV 100 is in
airplane mode, cocking the swashplate 236 can provide
5 selective thrust vectoring to alter a path of the UAV 100.
Referring now to Figure 15, the rotor system 200 is shown
with the second blade assembly 206 cocked about the
axis of rotation 234 by a cocking angle 235 by about 5
degrees relative to the uncocked second blade assembly
10 206 position shown in broken lines. In operation while
the first blade assembly 202 rotates in a first direction
about the axis of rotation 234 and the second blade as-
sembly 206 rotates in a second direction about the axis
of rotation 234 opposite the first direction, the second
15 blade assembly 206 can be selectively cocked to provide
a desired thrust vector 237 that is not parallel to the axis
of rotation 234. When the UAV 100 is in the helicopter
mode of operation, the thrust vector 237 can contribute
to moving the UAV 100 in lateral directions and/or to over-
20 coming wind and/or wind gusts that may otherwise un-
desirably move the UAV 100 for a desired geographical
location. When the UAV 100 is in the airplane mode of
operation, the second blade assembly 206 can be cocked
to turn the UAV 100, change an altitude of the UAV 100
25 and/or combinations thereof. By controlling the cocking
of the second blade assembly 206, independently con-
trolling the speeds of the blade assemblies 202, 206,
controlling the adjustable wings 104, and controlling the
movable tail extensions 106, the UAV 100 can maneuver
30 and fly in a variety of positions.
[0029] In this embodiment, the UAV 100 comprises a
total weight of about 150 grams or less, but the systems
and methods disclosed herein can be utilized with larger
UAVs and/or any other aircraft. Further, while the UAV
35 100 is shown as comprising an uncockable outer, distal,
or end blade assembly, in alternative embodiments, it is
contemplated that a UAV substantially similar to the UAV
100 can be provided that comprises a cockable outer,
distal, or end blade assembly in addition to or instead of
40 the cockable inner, proximal, or inner blade assembly.
[0030] Where numerical ranges or limitations are ex-
pressly stated, such express ranges or limitations should
be understood to include iterative ranges or limitations
of like magnitude falling within the expressly stated rang-
45 es or limitations (e.g., from about 1 to about 10 includes,
2, 3, 4, etc.; greater than 0.10 includes 0.11, 0.12, 0.13,
etc.). For example, whenever a numerical range with a
lower limit, Rl, and an upper limit, Ru, is disclosed, any
number falling within the range is specifically disclosed.
50 In particular, the following numbers within the range are
specifically disclosed: R=R1 +k ∗ (Ru-R1), wherein k is
a variable ranging from 1 percent to 100 percent with a
1 percent increment, i.e., k is 1 percent, 2 percent, 3
percent, 4 percent, 5 percent,...50 percent, 51 percent,
55 52 percent,..., 95 percent, 96 percent, 97 percent, 98
percent, 99 percent, or 100 percent. Moreover, any nu-
merical range defined by two R numbers as defined in
the above is also specifically disclosed. Use of the term
6
 11 EP 3 415 426 B1
"optionally" with respect to any element of a claim means
that the element is required, or alternatively, the element
is not required, both alternatives being within the scope
of the claim. Use of broader terms such as comprises,
includes, and having should be understood to provide
support for narrower terms such as consisting of, con-
sisting essentially of, and comprised substantially of. Ac-
cordingly, the scope of protection is not limited by the
description set out above but is defined by the claims that
follow.
Claims
1. An Unmanned Aerial Vehicle (UAV) (100), compris-
ing:
a fuselage (102);
a first blade assembly (202) configured to rotate
in a first direction about an axis of rotation (234);
a second blade assembly (206) configured to
rotate in a second direction opposite the first di-
rection about the axis of rotation (234), wherein
the second blade assembly (206) can be selec-
tively cocked relative to the axis of rotation (234);
and
an adjustable wing (104) comprising a movable
arm (138, 160) movably connected to the fuse-
lage (102) and a flexible wing skin (136) so as
to allow deployment and retraction of the adjust-
able wing (104).
2. The UAV of claim 1, further comprising:
a tubular drive shaft (208) that extends along
the axis of rotation (234) and is configured to
drive the second blade assembly (206); and
an inner drive shaft (204) that extends along the
axis of rotation (234), is received through the
tubular drive shaft (208), and is configured to
drive the first blade assembly (202).
3. The UAV of claim 2, further comprising:
an inner drive motor (122) configured to drive
the inner drive shaft (204); and
an outer drive motor (124) configure to drive the
tubular drive shaft (208).
4. The UAV of claim 3, wherein the inner drive motor
(122) and the outer drive motor (124) can be oper-
ated to rotate the first blade assembly (202) and the
second blade assembly (206) at different speeds.
5. The UAV of claim 4, further comprising:
a swashplate (236) associated with the second blade
assembly (206) and configured for connection to
swashplate actuators (137) for controlling cocking of
12
the second blade assembly (206).
6. The UAV of claim 5, wherein the adjustable wing
(104) is configured for selective positioning during
5 flight of the UAV (100) to a fully deployed position,
a fully stowed position, and to positions between the
fully deployed position and the fully stowed position.
7. The UAV of claim 5 or of claim 6, wherein cocking
10 the second blade assembly (206) can move the UAV
(100) laterally while the UAV (100) is flying in a hel-
icopter mode of operation.
8. The UAV of claim 5 or of claim 6 or of claim 7, wherein
15 cocking the second blade assembly (206) can turn
the UAV (100) and/or cause the UAV (100) to change
altitude when the UAV (100) is flying in an airplane
mode of operation.
20 9. The UAV of claim 5 or of claim 6 or of claim 7 or of
claim 8, further comprising:
a movable tail extension (106).
10. The UAV of claim 9, wherein the movable tail exten-
25 sion (106) is configured to operate as
(i) an aileron; or
(ii) a rudder; or
(iii) a landing gear component.
30
11. A method of operating an Unmanned Aerial Vehicle
(UAV), comprising:
providing a first blade assembly (202) config-
35 ured to rotate in a first direction about an axis of
rotation (234);
providing a second blade assembly (206) con-
figured to rotate in a second direction opposite
the first direction about the axis of rotation (234),
40 wherein the second blade assembly (206) can
be selectively cocked relative to the axis of ro-
tation (234);
providing an adjustable wing (104) comprising
a movable arm (138, 160) movably connected
45 to a fuselage (102) and a flexible wing skin (136)
so as to allow deployment and retraction of the
adjustable wing (104); and
during flight of the UAV (100), cocking the sec-
ond blade assembly (206) relative to the axis of
50 rotation (234).
12. The method of claim 11, wherein the cocking of the
second blade assembly (206) takes place during op-
eration of the UAV (100) in a helicopter mode of op-
55 eration, or wherein the cocking of the second blade
assembly (206) takes place during operation of the
UAV (100) in an airplane mode of operation.
7
 13 EP 3 415 426 B1
13. The method of claim 11, wherein the cocking of the
second blade assembly (206) takes place during the
operation of the UAV (100) in a mode of operation
between a helicopter mode of operation and an air-
plane mode of operation.
14. The method of claim 11 or of claim 12 or of claim 13,
further comprising:
rotating the first blade assembly (202) about the axis
of rotation (234) at a first speed while rotating the
second blade assembly (206) about the axis of ro-
tation (234) at a second speed different than the first
speed.
15. The method of claim 11 or of any of claims 12 to 14,
further comprising:
selectively positioning the adjustable wing (104) dur-
ing flight of the UAV (100) to a fully deployed position,
a fully stowed position, and/or to positions between
the fully deployed position and the fully stowed po-
sition.
Patentansprüche
1. Unbemanntes Luftfahrzeug (UAV) (100), umfas-
send:
einen Rumpf (102);
eine erste Blattanordnung (202), die dafür ein-
gerichtet ist, in eine erste Richtung um eine Ro-
tationsachse (234) herum zu rotieren;
eine zweite Blattanordnung (206), die dafür ein-
gerichtet ist, in eine zweite Richtung entgegen-
gesetzt der ersten Richtung um die Rotations-
achse (234) herum zu rotieren, wobei die zweite
Blattanordnung (206) selektiv relativ zu der Ro-
tationsachse (234) schräggestellt werden kann;
einen anpassbaren Flügel (104), der einen be-
weglichen Arm (138, 160), der mit dem Rumpf
(102) beweglich verbunden ist, und eine flexible
Flügelhaut (136) umfasst, um Ausfahrt und
Rückzug des anpassbaren Flügels (104) zu er-
lauben.
2. UAV nach Anspruch 1, weiter umfassend:
eine rohrförmige Antriebswelle (208), die sich
entlang der Rotationsachse (234) erstreckt und
dafür eingerichtet ist, die zweite Blattanordnung
(206) anzutreiben; und
eine innere Antriebswelle (204), die sich entlang
der Rotationsachse (234) erstreckt, durch die
rohrförmige Antriebswelle (208) hindurch emp-
fangen ist und dafür eingerichtet ist, die erste
Blattanordnung (202) anzutreiben.
3. UAV nach Anspruch 2, weiter umfassend:
14
einen inneren Antriebsmotor (122), der dafür
eingerichtet ist, die innere Antriebswelle (204)
anzutreiben; und
einen äußeren Antriebsmotor (124), der dafür
5 eingerichtet ist, die rohrförmige Antriebswelle
(208) anzutreiben.
4. UAV nach Anspruch 3, wobei der innere Antriebs-
motor (122) und der äußere Antriebsmotor (124) da-
10 für betrieben werden können, die erste Blattanord-
nung (202) und die zweite Blattanordnung (206) auf
unterschiedlichen Geschwindigkeiten zu rotieren.
5. UAV nach Anspruch 4, weiter umfassend:
15 eine Taumelscheibe (236), die der zweiten Blattan-
ordnung (206) zugeordnet ist und zur Verbindung
mit Taumelscheibenbetätigern (137) zum Steuern
von Schrägstellen der zweiten Blattanordnung (206)
eingerichtet ist.
20
6. UAV nach Anspruch 5, wobei der anpassbare Flügel
(104) zum selektiven Positionieren während Flugs
des UAV (100) zu einer vollständig ausgefahrenen
Position, einer vollständig verstauten Position und
25 zu Positionen zwischen der vollständig ausgefahre-
nen Position und der vollständig verstauten Position
eingerichtet ist.
7. UAV nach Anspruch 5 oder nach Anspruch 6, wobei
30 Schrägstellen der zweiten Blattanordnung (206) das
UAV (100) lateral bewegen kann, während das UAV
(100) in einem Helikopterbetriebsmodus fliegt.
8. UAV nach Anspruch 5 oder nach Anspruch 6 oder
35 nach Anspruch 7, wobei Schrägstellen der zweiten
Blattanordnung (206) das UAV (100) drehen kann
und/oder das UAV (100) veranlassen kann, eine Hö-
he zu ändern, wenn das UAV (100) in einem Flug-
zeugbetriebsmodus fliegt.
40
9. UAV nach Anspruch 5 oder nach Anspruch 6 oder
nach Anspruch 7 oder nach Anspruch 8, weiter um-
fassend:
eine bewegliche Heckverlängerung (106).
45
10. UAV nach Anspruch 9, wobei die bewegliche Heck-
verlängerung (106) dafür eingerichtet ist, in Betrieb
zu sein als
50 (i) ein Querruder; oder
(ii) ein Ruder; oder
(iii) eine Fahrwerkskomponente.
11. Verfahren eines Betreibens eines unbemannten
55 Luftfahrzeugs (UAV), umfassend:
Bereitstellen einer ersten Blattanordnung (202),
die dafür eingerichtet ist, in eine erste Richtung
8
 15 EP 3 415 426 B1
um eine Rotationsachse (234) herum zu rotie-
ren;
Bereitstellen einer zweiten Blattanordnung
(206), die dafür eingerichtet ist, in eine zweite
Richtung entgegengesetzt der ersten Richtung
um die Rotationsachse (234) herum zu rotieren,
wobei die zweite Blattanordnung (206) selektiv
relativ zu der Rotationsachse (234) schrägge-
stellt werden kann;
Bereitstellen eines anpassbaren Flügels (104),
der einen beweglichen Arm (138, 160), der mit
einem Rumpf (102) beweglich verbunden ist,
und eine flexible Flügelhaut (136) umfasst, um
Ausfahrt und Rückzug des anpassbaren Flügels
(104) zu erlauben; und
während Flugs des UAV (100), Schrägstellen
der zweiten Blattanordnung (206) relativ zu der
Rotationsachse (234).
12. Verfahren nach Anspruch 11, wobei das Schrägstel-
len der zweiten Blattanordnung (206) während Be-
triebs des UAV (100) in einem Helikopterbetriebs-
modus stattfindet oder wobei das Schrägstellen der
zweiten Blattanordnung (206) während Betriebs des
UAV (100) in einem Flugzeugbetriebsmodus statt-
findet.
13. Verfahren nach Anspruch 11, wobei das Schrägstel-
len der zweiten Blattanordnung (206) während des
Betriebs des UAV (100) in einem Betriebsmodus
zwischen einem Helikopterbetriebsmodus und ei-
nem Flugzeugbetriebsmodus stattfindet.
14. Verfahren nach Anspruch 11 oder nach Anspruch
12 oder nach Anspruch 13, weiter umfassend:
Rotieren der ersten Blattanordnung (202) um die Ro-
tationsachse (234) herum auf einer ersten Ge-
schwindigkeit während Rotierens der zweiten Blat-
tanordnung (206) um die Rotationsachse (234) he-
rum auf einer zweiten Geschwindigkeit, die von der
ersten Geschwindigkeit unterschiedlich ist.
15. Verfahren nach Anspruch 11 oder nach einem der
Ansprüche 12 bis 14, weiter umfassend:
selektives Positionieren des anpassbaren Flügels
(104) während Flugs des UAV (100) zu einer voll-
ständig ausgefahrenen Position, einer vollständig
verstauten Position und/oder zu Positionen zwi-
schen der vollständig ausgefahrenen Position und
der vollständig verstauten Position.
Revendications
1. Véhicule aérien sans pilote (UAV) (100),
comprenant :
un fuselage (102) ;
16
un premier ensemble de pales (202) configuré
pour tourner dans une première direction autour
d’un axe de rotation (234) ;
un second ensemble de pales (206) configuré
5 pour tourner dans une seconde direction oppo-
sée à la première direction autour de l’axe de
rotation (234), dans lequel le second ensemble
de pales (206) peut être sélectivement relevé
par rapport à l’axe de rotation (234) ; et
10 une aile réglable (104) comprenant un bras mo-
bile (138, 160) connecté de manière mobile au
fuselage (102) et un revêtement d’aile flexible
(136) de manière à permettre le déploiement et
la rétractation de l’aile réglable (104).
15
2. UAV selon la revendication 1, comprenant en outre :
un arbre d’entraînement tubulaire (208) qui
s’étend le long de l’axe de rotation (234) et est
20 configuré pour entraîner le second ensemble de
pales (206) ; et
un arbre d’entraînement interne (204) qui
s’étend le long de l’axe de rotation (234), est
reçu à travers l’arbre d’entraînement tubulaire
25 (208), et est configuré pour entraîner le premier
ensemble de pales (202).
3. UAV selon la revendication 2, comprenant en outre :
30 un moteur d’entraînement interne (122) confi-
guré pour entraîner l’arbre d’entraînement inter-
ne (204) ; et
un moteur d’entraînement externe (124) confi-
guré pour entraîner l’arbre d’entraînement tubu-
35 laire (208).
4. UAV selon la revendication 3, dans lequel le moteur
d’entraînement interne (122) et le moteur d’entraî-
nement externe (124) peuvent être utilisés pour faire
40 tourner le premier ensemble de pales (202) et le se-
cond ensemble de pales (206) à des vitesses diffé-
rentes.
5. UAV selon la revendication 4, comprenant en outre :
45 un plateau cyclique (236) associé au second ensem-
ble de pales (206) et configuré pour une connexion
avec des actionneurs de plateau cyclique (137) pour
commander le relèvement du second ensemble de
pales (206).
50
6. UAV selon la revendication 5, dans lequel l’aile ré-
glable (104) est configurée pour un positionnement
sélectif au cours du vol de l’UAV (100) à une position
entièrement déployée, une position entièrement ré-
55 tractée, et des positions entre la position entièrement
déployée et la position entièrement rétractée.
7. Véhicule aérien sans pilote selon la revendication 5
9
 17 EP 3 415 426 B1 18

ou selon la revendication 6, dans lequel le relève- de de fonctionnement entre un mode de fonctionne-

ment du second ensemble de pales (206) peut dé-
placer l’UAV (100) latéralement tandis que l’UAV
(100) vole en mode de fonctionnement hélicoptère.
8. UAV selon la revendication 5 ou selon la revendica-
tion 6 ou selon la revendication 7, dans lequel le
relèvement du second ensemble de pales (206) peut
tourner l’UAV (100) et/ou provoquer le changement
d’altitude de l’UAV (100) lorsque l’UAV (100) vole en
mode de fonctionnement avion.
9. UAV (100) selon la revendication 5 ou selon la re-
vendication 6 ou selon la revendication 7 ou selon
la revendication 8, comprenant en outre :
une extension de queue mobile (106).
10. UAV (100) selon la revendication 9, dans lequel l’ex-
tension de queue mobile (106) est configurée pour
être utilisée comme
(i) un aileron ; ou
(ii) une gouverne de direction ; ou
(iii) un composant de train d’atterrissage.
11. Procédé d’utilisation d’un véhicule aérien sans pilote
(UAV), comprenant :
ment hélicoptère et un mode de fonctionnement avi-
on.
5 14. Procédé selon la revendication 11 ou selon la reven-
dication 12 ou selon la revendication 13, comprenant
en outre :
la rotation du premier ensemble de pales (202)
autour de l’axe de rotation (234) à une première vi-
10 tesse pendant la rotation du second ensemble de
pales (206) autour de l’axe de rotation (234) à une
seconde vitesse différente de la première vitesse.
15. Procédé selon la revendication 11 ou selon l’une
15 quelconque des revendications 12 à 14, comprenant
en outre :
le positionnement sélectif de l’aile réglable (104) au
cours du vol de l’UAV (100) à une position entière-
ment déployée, une position entièrement rétractée,
20 et/ou à des positions entre la position entièrement
déployée et la position entièrement rétractée.
25

la fourniture d’un premier ensemble de pales

(202) configuré pour tourner dans une première 30
direction autour d’un axe de rotation (234) ;
la fourniture d’un second ensemble de pales
(206) configuré pour tourner dans une seconde
direction opposée à la première direction autour
de l’axe de rotation (234), dans lequel le second 35
ensemble de pales (206) peut être sélective-
ment relevé par rapport à l’axe de rotation (234) ;
la fourniture d’une aile réglable (104) compre-
nant un bras mobile (138, 160) connecté de ma-
nière mobile à un fuselage (102) et un revête- 40
ment d’aile flexible (136) de manière à permettre
le déploiement et la rétractation de l’aile réglable
(104) ; et
au cours du vol du véhicule aérien sans pilote
(100), le relèvement du second ensemble de pa- 45
les (206) par rapport à l’axe de rotation (234).

12. Procédé selon la revendication 11, dans lequel le

relèvement du second ensemble de pales (206) sur-
vient pendant l’utilisation de l’UAV (100) en mode de 50
fonctionnement hélicoptère, ou dans lequel le relè-
vement du second ensemble de pales (206) survient
pendant l’utilisation de l’UAV (100) en mode de fonc-
tionnement avion.
55
13. Procédé selon la revendication 11, dans lequel le
relèvement du second ensemble de pales (206) sur-
vient pendant l’utilisation de l’UAV (100) dans un mo-

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REFERENCES CITED IN THE DESCRIPTION

This list of references cited by the applicant is for the reader’s convenience only. It does not form part of the European
patent document. Even though great care has been taken in compiling the references, errors or omissions cannot be
excluded and the EPO disclaims all liability in this regard.

Patent documents cited in the description

• WO 2014025444 A [0002] [0003] • WO 2017044388 A [0002] [0005]

• CN 205150232 [0002] [0004]

24