US010252798B2

(12) United States Patent ( 10) Patent No.: US 10 , 252,798 B2

Petrov (45) Date of Patent: Apr. 9 , 2019
( 54 ) VERTICAL TAKEOFF AND LANDING (56 ) References Cited
AIRFRAME
U . S . PATENT DOCUMENTS
(71) Applicant: Val Petrov , Brookline, MA (US ) 1,556 ,414 A 10 / 1925 Bumpus
(72 ) Inventor : Val Petrov , Brookline, MA (US ) 1 ,793,056 A 2 /1931 Carns
1,846 , 992 A 2/ 1932 Decker
(73) Assignee: PteroDynamics , Moorpark, CA (US) (Continued )
( * ) Notice: Subject to any disclaimer, the term of this FOREIGN PATENT DOCUMENTS
patent is extended or adjusted under 35
U .S .C . 154 (b ) by 0 days. DE
wo
907502 C * 3 / 1954
2014177589 AL 11 /2014 . ........ B64C 3/42
(21 ) Appl. No.: 15 /848,705 OTHER PUBLICATIONS
(22 ) Filed : Dec . 20 , 2017 “ DZYNE Creates a New Approach to Vertical Takeoff and Landing
(65) Prior Publication Data (VTOL ): Rotate the Wings” , May 14 , 2015 , Design World . Accessed
on YouTube Jan . 29 , 2019 at https ://youtu .be/- cCoPBGq-iA (Year:
US 2018 /0312251 A1 Nov . 1, 2018 2015 ).*
Related U .S . Application Data (Continued )
(60 ) Provisional application No. 62/ 490 ,814 , filed on Apr. Primary Examiner — Richard R . Green
27 , 2017. (74 ) Attorney, Agent, or Firm — The Webb Law Firm
(51) Int. Ci.
B64C 3 /38 ( 2006 .01) (57 ) ABSTRACT
B64C 3 /42 ( 2006 .01) Airframes configured for stable in -flight transition between
B64C 25 /34 ( 2006 .01 ) forward flight and vertical takeoff and landing are described
B64C 25 /54 (2006 .01) herein . In one embodiment, an aircraft can include a fuse
B64D 27 / 12 ( 2006 .01 ) lage, opposed wings extending from opposed sides of the
(Continued ) fuselage , and a plurality of engines . At least one engine can
(52) U .S. CI. be mounted to each of the opposed wings and at least a
CPC ........... B64C 29 /0033 (2013 .01); B64C 3 /38 portion of each opposed wing including at least one of the
(2013 .01 ); B64C 3/42 ( 2013 .01); B64C 25 / 34 plurality of engines can rotate relative to the fuselage around
( 2013 .01) ; B64C 25 /54 (2013 .01); B64D 27/12 a rotation axis that is non -perpendicular and transverse to a
(2013 .01 ); B64D 27 /24 (2013 .01 ) longitudinal axis of the fuselage . Rotating portions of the
( 58 ) Field of Classification Search wings including at least one of the plurality of engines in the
CPC .. B64C 3 / 38 ; B64C 3 / 385 ; B64C 3 / 40 ; B64C described manner can provide a stable and smooth transition
3/42; B64C 3/56 ; B64C 29 /0033 ; B64C between vertical and forward flight.
29 /0075
See application file for complete search history. 30 Claims, 27 Drawing Sheets
100A

100B

1067
106

100C

www

104 106
 US 10 ,Page
252,2798 B2

(51) Int . Ci.

B64D 27 / 24
9 , 821,909 B2
2010 /0171001 A1
11/ 2017 Moshe
7 /2010 Karem
( 2006 .01) 2011/ 0042507 A1 2 / 2011 Seiford , Sr.
B64C 29 /00 (2006 .01) 2013/0008997 A1 1/2013 Gentile
2014 /0117150 A1 5 / 2014 Good et al.
(56 ) References Cited 2015 /0266571 A1
8 /2015
9 /2015
Tighe
Bevirt et al.
U .S . PATENT DOCUMENTS 2015 /0375860 A1 12 /2015 Hong et al.
2016 / 0023527 A1 * 1/2016 Dietrich ... B64C 3/ 56
1,848, 389 A 3/ 1932 Sikorsky 244 / 2
2 ,572 ,421 A * 10 / 1951 Abel, Jr. ................. . . . .. B64C 3 / 56 2016 /0185444 A16 / 2016 Gionta et al.
244 /49 2016 /0378120 Al 12 /2016 Creasman
2 ,674 ,422 A 4 / 1954 Pellarini 2017 /0008625 A 1/ 2017 Olm et al.
3 ,081, 964 A 3 / 1963 Quenzler 2017 /0072755 Al 3 /2017 Zhou et al.
3 , 179 ,354 A 4 / 1965 Alvarez -Calderon 2017 /0190412 A1 7 /2017 Bunting et al.
3 , 231 ,221 A 1/ 1966 Platt 2017/0217594 A1 8 /2017 Bacon et al.
3 ,246 , 861 A 4 / 1966 Curci 2017 /0217596 Al 8 /2017 Bacon et al.
3 ,439 ,890 A 4 / 1969 Stits 2017/0217597 A1 8 / 2017 Bacon et al.
3 ,519 ,224 A 7 / 1970 Boyd et al. 2017 /0217598 A18 /2017 Bacon et al .
3 ,666 , 209 A 5 / 1972 Taylor
3 ,937, 424 A 2 / 1976 Meier et al. OTHER PUBLICATIONS
5 ,094 ,412 A 3/ 1992 Narramore
5 ,192 ,037 A 3 / 1993 Moorefield Michelhaugh , T. M ., et al., “Wing -folding mechanism of the Grum
5 , 405 , 105 A 4 / 1995 Kress
5 , 407 , 150 A 4 / 1995 Sadleir man Wildcat." Amer. Soc . Mech . Eng . Brochure , <https://www .
5 , 765, 783 A 6 / 1998 Albion asme.org /getmedia/ 2d64abc8 - 3fa3 -4d29 - 92d4 -40db4777e8b2 /238
5 ,839,691
8 , 157, 206
A
B2
11/ 1998 Lariviere grumman -wildcat-sto -wing -wing -folding-mechanism . aspx .> ,May 15,
4 / 2012 Gionta et al. 2006 .
8 ,800,912 B2 8 / 2014 Oliver Design World . “ DZYNE Creates a New Approach to Vertical
9 ,259 ,984 B2 2 / 2016 Brown Takeoff and Landing (VTOL ): Rotate the Wings.” YouTube , May
9 ,550 , 567 B1 1 / 2017 Erdozain , Jr. et al. 14 , 2015 , https://www .youtube .com /watch ? v = cCoPBGq-iA & feature =
9 ,676 ,488 B2 6 / 2017 Alber
9 ,682 ,774 B2 6 / 2017 Paduano et al. youtu .be , accessed on Jan . 28, 2019 .
9 ,714 ,090 B2 7 /2017 Frolov et al.
9 ,731,818 B2 8 / 2017 Dekel et al. * cited by examiner
U . S . Patent Apr. 9 , 2019 Sheet 1 of 27 US 10 ,252, 798 B2

FIG . 1041 2004

100A

106

102

100B

106

1000

www .

wwwwwwwww
104 106 www
U . S . Patent Apr. 9 , 2019 Sheet 2 of 27 US 10 ,252 ,798 B2

FIG . 2 .

.. .. 12 12
14A
16D

16C
14B
U . S . Patent Apr. 9 , 2019 Sheet 3 of 27 US 10 ,252 ,798 B2

FIG . 3

16D 20
14A
Wh

16

-
w w CU
* *** *

18
16B
14B
U . S . Patent Apr. 9 , 2019 Sheet 4 of 27 US 10 ,252 ,798 B2

FIG . 4

14A ?
www.

16A

14B

16B

12 18 16C
U . S . Patent Apr. 9 , 2019 Sheet 5 of 27 US 10 ,252 ,798 B2

FIG . 5

14A

16D
14B

16A

Jouan 16B
U . S . Patent Apr. 9 , 2019 Sheet 6 of 27 US 10 ,252 ,798 B2

FIG . 6

DuP
.

14A
28 Ác
.

14B
U . S . Patent Apr. 9 , 2019 Sheet 7 of 27 US 10 ,252 ,798 B2

FIG . 7

16D

www .

16B
14B

22 20
U . S . Patent Apr. 9 , 2019 Sheet 8 of 27 US 10 ,252 ,798 B2

FIG . 8

Battery

K82 20
U . S . Patent Apr. 9 , 2019 Sheet 9 of 27 US 10 ,252 ,798 B2

FIG . 9

14B

90 92
Apr. 9 , 2019 Sheet 10 of 27 US 10 ,252 ,798 B2

FIG . 10
r 10
16C 16B

- 94 94 H
U . S . Patent Apr. 9 , 2019 Sheet 11 of 27 US 10 ,252 ,798 B2

FIG . 11

14B
16D

216B
14A

h2

12
110 40
U . S . Patent Apr. 9, 2019 Sheet 12 of 27 US 10,252,798 B2

FIG . 12
no
16B
11A

92
U . S . Patent Apr. 9, 2019 Sheet 13 of 27 US 10,252,798 B2

FIG . 13

14B
16D

www

16C 14A

90
40 Lt
V 16A
U . S . Patent Apr. 9, 2019 Sheet 14 of 27 US 10,252,798 B2

FIG . 14

16B
16A '

14B '
U . S . Patent Apr . 9, 2019 Sheet 15 of 27 US 10 ,252,798 B2

FIG . 15

1504A
15141516
1516
1510A
- 1518 1508A 1512
1502A - 1512

- 1512
1506 1508B1
1502B 1510B

1504B

1512
U . S . Patent Apr. 9, 2019 Sheet 16 of 27 US 10,252,798 B2

FIG . 16

1602

FEDBACK STORNEGLH
HOVER FORWARD TRANSITION
FLIGHT ANGLE
1606
1608 1604
U . S . Patent Apr. 9, 2019 Sheet 17 of 27 US 10,252,798 B2

FIG . 17A

FIG . 17B FIG . 17C

10
14B
Toni A
114A?U
Yay
A al TS À
U . S . Patent Apr. 9, 2019 Sheet 18 of 27 US 10,252,798 B2

FIG. 18
- 1800

1808
1802 1816 1804

Lt
.

1806 1314
1818
1812 A
U . S . Patent Apr. 9 , 2019 Sheet 19 of 27 US 10 ,252 ,798 B2

1900 .
FIG . 19
1802 1906 1804
1902
????????????????????????????????????????????????????????????????

1904
1910
1908
U . S . Patent Apr. 9, 2019 Sheet 20 of 27 US 10,252,798 B2

FIG . 20

2000
2018 , 05
435 .2°
1804
2004 2006 w 2014 4
2002
WAAAAAAAAAAA
1802

– 2010
2016 2008
A 2012
U . S . Patent Apr. 9 , 2019 Sheet 21 of 27 US 10 ,252 ,798 B2

FIG . 21
2100

2108
2104
? 1802 1804

AT KWA
KERES2110
2102 2106
U .S . Patent Apr. 9,2019 Sheet 22 of 27 US 10,252,798 B2

FIG . 22A 2100

FIG . 22B 2100
| 2200
.. .. .

FIG . 23A 2100 2100

2200 030

FIG . 24A 2100

FIG . 24B2100
.. .

2200
U . S . Patent Apr. 9, 2019 Sheet 23 of 27 US 10,252,798 B2

FIG . 25

t 20

40

44 38
. . . ..
atent Apr. 9, 2019 Sheet 24 of 27 US 10 ,252, 798 B2

FIG . 26A
- 2600
WA
2606
2606
2604 RON
2602

FIG . 26B
2604

2602
2608
2606
U . S . Patent Apr. 9, 2019 Sheet 25 of 27 US 10,252,798 B2

2700
FIG . 27A
$ 2702D 1804

View B
1802
- View A

FIG . 27B FIG . 270

View A View B
S45020 20

Lp oti RA
08 IE
U . S . Patent Apr. 9, 2019 Sheet 26 of 27 US 10,252,798 B2

FIG . 28A
2804 2808
??????? 2700
?????????
??
7
?????? 2704
??????????????? ????
2802
??? ???? ????

2806 2810

FIG . 28B
2700
2812 4 ? 2810
- 2808
1802
1804

2806 (
2818 2816 2814
U . S . Patent Apr. 9, 2019 Sheet 27 of 27 US 10,252,798 B2

FIG . 29
2900

290218
2902
OOOOOOOOOOOOOOOOOO
2902 2904

2912 -B
2910 //
ADA
2914
. . ...

]
2908
2906

to
 US 10 , 252 ,798 B2
VERTICAL TAKEOFF AND LANDING ever, are often tailored to ground storage or transport and are
AIRFRAME not operable during flight to enable , for example , vertical
takeoff and landing, etc .
CROSS -REFERENCE TO RELATED Accordingly , there is a need for improved airframes that
APPLICATIONS 5 provide efficient forward flight as well as vertical takeoff and
landing. There is also a need for improved airframes thatcan
This application claims the benefit of U .S . Provisional smoothly and stably transition between such modes of
Application No. 62 /490 ,814 , filed Apr. 27 , 2017 , which is operation .
hereby incorporated by reference in its entirety. 10 SUMMARY OF THE INVENTION
FIELD OF INVENTION
The present disclosure generally provides airframes that
This disclosure relates to the fields of aircraft and aerial address the shortcomings of prior attempts and enable
vehicles. More particularly , this disclosure relates to an efficient forward flight along with vertical takeoff and land
airframe capable of vertical takeoff and landing with engines ing . Generally speaking , the embodiments described herein
mounted on rotatable wings . can achieve such versatile performance by employing a
unique configuration of tilting wings and propulsion units
BACKGROUND that enable a large flight envelope encompassing both hov
20 ering and forward flight at a range of speeds.
Airframes with high aspect ratio fixed wings, e. g., wings The airframes described herein can perform repeated
rigidly attached to a fuselage wherein a laterally extending in -flight transformations between a compact and maneuver
length , or span , of the wing is much greater than a distance able hovering or slow speed configuration (e.g ., similar to a
between its leading and trailing edges, or chord , can be multirotor drone, helicopter, or other hovering aircraft) and
reliable and efficient in forward flight. These airframes can 25 a lifting wing configuration capable of efficient horizontal
have several disadvantages as well, including difficulty flight ( e. g ., similar to a fixed wing aircraft ). In the hovering
maneuvering at slow speeds and the need for runway or or slow speed configuration , the weight of an aircraft can be
other runout for takeoff and landing. Prior attempts to substantially supported by the thrust of its propulsion units ,
address these issues have included airframes with tilting which can be coupled to the tilting wings such that they are
nacelles that house motors , engines, or other thrust produc - 30 also tilted to direct their thrust more vertically . In the
ing components to better control an aircraft at slow speeds forward flight configuration , the weight of the aircraft can be
takeoff and landing (VTOL ) operation . In such configura and the propulsion thrust can be directed more horizontally .
tions, however, high aspect ratio fixed wings can be detri Further, a continuous range of intermediate tilting positions
mental. For example , long fixed wings can be difficult to 35 can also be employed to provide varying levels of thrust - or
maneuver during STOL or VTOL operation due to a large wing -developed lifting force . The airframes disclosed herein
moment of inertia created by their mass being extended provide a unique ability to smoothly and stably transition
away from a center of gravity of the aircraft. Further , there between these two operating modes in - flight and/ or operate
can be significant aerodynamic drag from moving a wing in 40a indefinitely in an intermediate mode .
a manner that presents its largest surface area as a leading ments , be achieved by characteristics
19 These performance can , in some embodi
utilizing a folding wing structure that
edge . Vertically -oriented wind gusts, such as downdrafts, pivots on a slanted axis , i.e., an axis that is oblique to a
etc ., can also have significant impacts on long, fixed wings
rings .. longitudinal or lateral axis of the aircraft. Such a folding
Other prior attempts to address issues with high aspect motion can orient a leading edge of each wing in an upward
ratio fixed wing airframes have included tilting an entire 45 or forward direction , depending on the tilt of the wing .
wing assembly including engines or other thrust producing Further, in a tilted configuration the wings can extend along
components about a span axis extending between wingtips. the fuselage of the aircraft to reduce the moment of inertia
While such designs can aid in alleviating the above - de - created by their mass , their aerodynamic impact during
scribed aerodynamic losses from moving a wing in a direc - hover, as well as space required for storage or ground
tion substantially normal to its intended angle of attack , they 50 transport. Further , in some embodiments a portion of the
can still be difficult to maneuver due to the large moment of wings folded in this manner can include propulsion units
inertia of the extended wings. Further , the tilted wings can coupled thereto such that thrust can be redirected between a
be impacted by horizontally -oriented wind gusts against the horizontal and a vertical direction as the wings are tilted or
tilted surface area of the wings. folded .
Prior configurations of both tilt-engine and tilt-wing air - 55 The airframe designs described herein can be embodied at
frames that can achieve STOL or VTOL operation also suffer any of a variety of scales . For example, the designs can be
from instability during transition from takeoff or landing suitable for application in a small aircraft , such as a drone or
configurations to forward flight configurations. Accordingly , remote - control aircraft , as well as full scale aircraft capable
such aircraft often exhibit bimodal operation envelopes and of transporting persons and cargo . And a variety of propul
cannot stably or indefinitely operate at any speed between 60 sion technologies can be employed , including electric
the takeoff or landing realm and the high - speed forward motors , internal combustion engines , turbines, etc .
flight realm . In one aspect, an aircraft is provided that can include a
A further disadvantage of high aspect ratio fixed wing fuselage , opposed wings extending from opposed sides of
airframes is the need for substantial storage space at rest and the fuselage, and a plurality of engines . At least one engine
substantial clearance during ground transport. Prior attempts 65 can be mounted to each of the opposed wings. Further, at
to address these issues have included a variety of wing least a portion of each opposed wing including at least one
folding and tilting mechanisms. These mechanisms, how - of the plurality of engines can rotate relative to the fuselage
 US 10 , 252 ,798 B2
around a rotation axis that is non -perpendicular and trans A variety ofmechanisms can be employed to provide for
verse to a longitudinal axis of the fuselage . movement of the rotating portion relative to the fixed portion
Each of the embodiments described herein can have a of each of the opposed wings. For example , in some embodi
number of additional features and/ or variations, all of which ments the fixed portion and the rotating portion of each of
are within the scope of the present disclosure . In some 5 the opposed wings can be coupled by a pivot joint. Further,
embodiments, for example , a first angle between the rotation in some embodiments the pivot joint can be disposed in a
axis and the longitudinal axis of the fuselage projected in a leading portion of each opposed wing. In certain embodi
plane containing the longitudinal axis of the fuselage and an ments , each of the opposed wings can further include an
axis extending between ends of the opposed wings can be actuator to control rotation of the rotating portion relative to
between about 350 and about 55° . In some embodiments , the 10 the fixed portion . In some embodiments , the actuator can
first angle can be about 45° . Further, in some embodiments include a lead screw coupled to the rotating portion by a
a second angle between the rotation axis and the axis linkage . In other embodiments , the actuator can include any
extending between ends of the opposed wings projected in of a variety of gears , hydraulic actuators , electric actuators ,
a plane containing the axis extending between ends of the etc .
opposed wings and perpendicular to the longitudinal axis of 15 The opposed wings of the aircraft can have a variety of
the fuselage is between about 35º and about 55° . In some shapes and sizes. In some embodiments, for example , the
embodiments, the second angle can be about 45° . opposed wings can have an airfoil shape. Such wings can
In certain embodiments , the plurality of engines can produce lift during forward flight of the aircraft. In other
include at least 4 engines and each portion of the opposed embodiments , however, the wings can have alternative
wings that rotates relative to the fuselage can include at least 20 shapes . For example , in some embodiments the wings can be
two engines mounted thereto . Any of a variety of engine spars that do not produce lift. Examples can include cylin
types can be utilized . For example , in some embodiments drical spars, beam spars , etc .
each of the plurality of engines can be an electric engine . In another aspect, a vertical take -off or landing method is
Moreover, in such embodiments the aircraft can further provided that can include rotating at least a portion of a wing
include a plurality of batteries and each battery can be 25 having an engine mounted thereto relative to a fuselage
mounted to one of the opposed wings adjacent to one of the around a rotation axis that is non - perpendicular and trans
plurality of engines. In other embodiments, each of the verse to a longitudinal axis of the fuselage to orient the
plurality of engines can be any of a turbine and an internal engine and a leading edge of the wing vertically for hover
combustion engine . ing . The method can further include actuating the engine to
In some embodiments, each of the opposed wings can 30 produce vertical lift , and rotating the at least portion of the
include a fixed portion extending from the fuselage and a wing having the enginemounted thereto to orient the engine
rotating portion outboard of the fixed portion . Further, in and a leading edge of the wing horizontally for forward
some embodiments an outboard end of each fixed portion flight.
can be oblique to the longitudinal axis of the fuselage . In As with the aircraft described above , a number of varia
some embodiments , each rotating portion of the opposed 35 tions and additional features are possible . For example , in
wings can rotate between a first configuration , in which an some embodiments a leading edge of the wing can face
axis between a leading edge and a trailing edge of the wing upward when the wing is oriented vertically .
is parallel to the longitudinal axis of the fuselage , and a In certain embodiments , rotating the at least portion of the
second configuration , in which the axis between the leading wing to orient the engine and the leading edge of the wing
edge and the trailing edge of the wing is perpendicular to the 40 vertically can include pivoting the at least portion of the
longitudinal axis of the fuselage . Further, in some embodi wing about a pivot joint disposed in a leading portion of the
ments the leading edge of each rotating portion of the wing. Rotation of the at least portion of the wing can be
opposed wings can face upward when the wings are in the accomplished in a variety ofmanners . For example , in some
second configuration . embodiments rotating the at least portion of the wing to
Still further, in certain embodiments each rotating portion 45 orient the engine and the leading edge of the wing vertically
of the opposed wings can rotate between a first configura - can include any of hydraulically and electrically actuating
tion , in which an axis extending between an inboard end to such rotation .
an outboard end of the rotating portion is perpendicular to In certain embodiments , the method can further include
the longitudinal axis of the fuselage , and a second configu - pausing rotation of the at least portion of the wing such that
ration , in which the axis extending between the inboard end 50 the wing and the engine are between a vertical and a
and the outboard end of the rotating portion is parallel to the horizontal orientation to transition between hovering and
longitudinal axis of the fuselage. As noted similarly above, forward flight.
in some embodiments the leading edge of each rotating Any of the features or variations described above can be
portion of the opposed wings can face upward when the applied to any particular aspect or embodiment of the
wings are in the second configuration . Still further, in some 55 invention in a number of different combinations. The
embodiments each of the plurality of engines can be offset absence of explicit recitation of any particular combination
from the wing it is mounted to such that, when each wing is is due solely to the avoidance of repetition in this summary .
in the first configuration , the at least one engine mounted
thereto can be disposed between the wing and the fuselage . BRIEF DESCRIPTION OF THE DRAWINGS
In certain embodiments, the aircraft can further include at 60
least one landing support coupled to a trailing portion of Further features, aspects , and advantages of the present
each rotating portion of the opposed wings . The landing disclosure will become better understood by reference to the
support can have any of a variety of forms. For example , in following detailed description , appended claims, and
some embodiments the landing support can be any of a accompanying figures , wherein elements are not to scale so
wheel, a float, and a leg. In certain embodiments, the landing 65 as to more clearly show the details, wherein like reference
support can be a wheel coupled to one of the engines such numbers indicate like elements throughout the several
that the engine can rotate the wheel. views, and wherein :
 US 10 ,252 ,798 B2
FIG . 1 shows a schematic of different wing configurations FIG . 26B shows a partially -transparent view of the wing
of an airframe according to the teachings provided herein ; actuator assembly of FIG . 26A taken along the line C -C of
FIG . 2 shows a perspective view of one embodiment of an FIG . 26A ;
airframe in a forward flight configuration ; FIG . 27A shows a partially -transparent top view of
FIG . 3 shows a perspective view of the airframe of FIG . 5 another embodiment of a wing and actuator assembly of an
2 in a vertical takeoff and landing configuration ; airframe;
FIG . 4 shows a perspective view of the airframe of FIG . FIG . 27B shows a front view of the wing of FIG . 27A ;
FIG . 27C shows a side view of the wing of FIG . 27A ;
2 in a first transition configuration ;
FIG . 5 shows a perspective view of the airframe of FIG . 10 ofFIG . 28 A shows a partially - transparent view of the wing
FIG . 27A taken along the line D - D of FIGS. 27A and 27B ;
2 in a second transition configuration ;
FIG . 6 shows a top view of the airframe of FIG . 1 ; FIG . 28B shows a cross -sectional view of the wing of
FIG . 7 shows a perspective view of the airframe of FIG . and
1 in a vertical takeoff and landing configuration ; FIG . 29 shows a partially - transparent top view of one
FIG . 8 shows a detail view of one embodiment of a4 1515 embodiment of a dual-spar airframe wing.
propulsion unit according to the teachings provided herein ;
FIG . 9 shows a perspective view of one embodiment of a DETAILED DESCRIPTION OF THE
vertical takeoff and landing airframe equipped with landing INVENTION
wheels ;
FIG . 10 shows a side view of the airframe of FIG . 9 ; 20 Certain exemplary embodiments will now be described to
FIG . 11 shows a perspective view of another embodiment provide an overall understanding of the principles of the
of a vertical takeoff and landing airframe equipped with structure , function , manufacture, and use of the airframes
landing wheels ; disclosed herein . One or more examples of these embodi
FIG . 12 shows a side view of the airframe of FIG . 11 ; ments are illustrated in the accompanying drawings . Those
FIG . 13 shows a perspective view of another embodiment 25 skilled in the art will understand that the embodiments
of a vertical takeoff and landing airframe equipped for water specifically described herein and illustrated in the accom
landings ; panying drawings are non - limiting exemplary embodiments
FIG . 14 shows a top view of an alternative embodiment and that the scope of the present invention is defined solely
of a vertical takeoff and landing airframe; by the claims. The features illustrated or described in
FIG . 15 shows a top view of another embodiment of a 30 connection with one exemplary embodiment may be com
vertical takeoff and landing airframe; bined with the features of other embodiments . Such modi
FIG . 16 shows one embodiment of a relationship between fications and variations are intended to be included within
flight feedback control strength and wing transition angle ; the scope of the present invention .
FIG . 17A shows a side view of one embodiment of a Additionally, to the extent that linear, circular, or other
vertical takeoff and landing airframe highlighting a pivot 35 dimensions are used in the description of the disclosed
axis A projected in a longitudinally - extending vertical plane ; embodiments , such dimensions are not intended to limit the
FIG . 17B shows a front view of the airframe of FIG . 174 types of shapes that can be utilized . A person skilled in the
highlighting the pivot axis A projected in a laterally - extend art will recognize that an equivalent to such linear, circular,
ing vertical plane ; or other dimensions can easily be determined for any
FIG . 17C shows a top view of the airframe of FIG . 17A 40 geometric shape . Further, in the present disclosure , like
highlighting the pivot axis A projected in a horizontal plane ; numbered components of the embodiments generally have
FIG . 18 shows a cross -sectional view in the direction of similar features . Still further, sizes and shapes of overall
line B - B of FIG . 17A of one embodiment of a pivot joint; structures, and the components thereof, can vary greatly and
FIG . 19 shows a cross - sectional view in the direction of depend at least on the intended application , the size and
line B - B of FIG . 17A of another embodiment of a pivot joint ; 45 shape of various other interacting components , etc . As noted
FIG . 20 shows a cross - sectional view in the direction of above , the airframes described herein are expressly contem
line B -B of FIG . 17A of another embodiment of a pivot joint; plated for use at a variety of size scales, e.g., in small -scale
FIG . 21 shows a cross - sectional view in the direction of unmanned drones or remote - control aircraft and in large
line B - B of FIG . 17A of still another embodiment of a pivot scale aircraft capable of transporting persons and/ or cargo .
joint; 50 Finally, to the extent that terms of direction , e .g ., vertical,
FIG . 22A shows a top perspective view of the pivot joint horizontal , etc . are utilized , they are meant to convey
of FIG . 21 in a straight configuration ; relative relationships among components or nominal oper
FIG . 22B shows the pivot joint of FIG . 21 in a straight ating directions . It is possible that in certain configurations
configuration along the pivot axis A of FIG . 21 ; and /or maneuvers , the airframes described herein can be
FIG . 23A shows a top perspective view of the pivot joint 55 oriented such that, e . g ., a referenced " vertical" surface might
of FIG . 21 in an intermediate configuration ; actually be at a different angle relative to gravity , etc.
FIG . 23B shows the pivot joint of FIG . 21 in an interme As noted above, the present disclosure includes various
diate configuration along the pivot axis A of FIG . 21; embodiments of airframes capable of efficient forward
FIG . 24A shows a top perspective view of the pivot joint flight, as well as slow speed maneuvering and hovering to
of FIG . 21 in a fully articulated configuration ; 60 achieve vertical takeoff and landing (VTOL ) . In some
FIG . 24B shows the pivot joint of FIG . 21 in a fully embodiments, the airframes described herein can include a
articulated configuration along the pivot axis A of FIG . 21 ; fuselage , such as a single elongate fuselage that can extend
FIG . 25 shows a partially - transparent top view of one substantially horizontally during cruising flight. The fuse
embodiment of a wing actuator assembly of an airframe; lage can include opposed wings extending therefrom , and
FIG . 26A shows a partially -transparent top view of 65 each wing can include an inner fixed portion and an outer
another embodiment of a wing actuator assembly of an folding or tilting portion . The outer portion of each wing can
airframe; be configured to pivot, fold , or tilt relative to the inner
 US 10 ,252 ,798 B2
portion about an axis that is slanted or oblique to a longi- elongate wings 14A and 14B generate lift in a forward flight
tudinal and / or lateral axis of the aircraft , such as a longitu configuration (FIG . 2), and in a VTOL configuration (FIG .
dinal axis of the elongate fuselage or a laterally extending 3 ) the engines 16A , 16B , 16C , 16D can lift the airframe 10
axis perpendicular thereto . The wing area of each inner wing to allow it to hover, perform vertical takeoffs and landings ,
portion can be relatively small to allow vertically - directed 5 or maneuver at slow speeds.
airflow without significant drag force during hovering flight. FIG . 3 shows the airframe 10 in a vertical takeoff and
Conversely , the outer portions of each wing can have larger landing configuration , wherein an outer wing section 20 of
wing areas, but can be configured to be tilted such that a each elongate wing 14A , 14B is rotated with respect to an
leading edge thereof faces vertically upward during hover
ing flight and faces horizontally forward during forward 10 inner wing section 18 . In such a vertical takeoff and landing
configuration , the engines 16A , 163 , 16C , 16D can be
flight. The outer portion of each wing can carry one or more oriented in an upward direction , and the outer wing section
propulsion units or thrust producing components such that
these can also be moved between a vertical orientation 20 can also be oriented vertically such that a vertically
during hovering flight and a horizontal orientation during facing surface area of the outer wing section 20 is mini
forward flight. The outer portions of each wing can represent 15 mi . Put another way, the intended leading edge 26 of the
15 mized
a significant portion of the wing assembly and /or aircraft outer wing section 20 is pointed upward . In such a configu
weight and , when in a forward flight configuration , the outer ration , the vertically oriented engines 16A , 16B , 16C , 16D
wing portion can merge with the inner wing portion to create can lift the airframe 10 vertically and allow the airframe to
an uninterrupted wing surface . hover. Precise control of an aircraft during hover or at slow
FIG . 1 illustrates a schematic representation of one 20 speed can require sufficient lateral and vertical thrust ampli
embodiment of an airframe according to the teachings of the tude and variability to overcome adverse influences from
present disclosure in its various modes of operation . Air - turbulent air currents. Helicopters achieve the required per
frame 100A , for example , is illustrated in a hovering, slow formance envelope by utilizing cyclic and collective control
speed maneuvering, and VTOL -capable configuration . In of the rotor disk (i.e ., varying pitch and corresponding lift of
such a configuration , the wings 102 have been tilted relative 25 each rotor blade as the blade completes a revolution to create
to the fuselage 104 such that they extend parallel to a length thrust asymmetry in a desired manner ). As another example ,
of the fuselage and such that a leading edge thereof faces quad rotor aircraft ( e. g., quadcopters ) driven by electric
vertically upward or toward an upper surface of the airframe. motors can achieve hover controllability by means of elec
In this configuration , the various thrust producing compo - tronic throttling of the motor power. In the hovering, VTOL ,
nents 106 coupled to the wings 102 are also oriented 30 or low speed flight configuration shown in FIG . 3 , either
vertically and can function similarly to the four motors of a control scheme can be employed . For example, in the
quadcopter drone to allow stable hovering flight and rela - illustrated embodiment the four motors 16A , 16B , 16C , 16D
tively slow speed maneuvering in any direction . can form a quadcopter - like propulsion system . As shown in
From the hovering configuration shown by airframe the figure , the thrusters 16A , 16B , 16C , 16D can be arranged
100A , the wings 102 can be tilted as shown by the airframe 35 in a square pattern during hover when the wings 14A , 14B
100B to begin a transition to the forward flight configuration are folded . Accordingly , thrust produced by each motor 16A ,
shown by the airframe 100C . The novel tilting design of the 16B , 160 , 16D can be modulated to control flight and create
wings 102 and thrust producing components 106 can allow any desired thrust asymmetry that results in desired move
a seamless , aerodynamically benign transition from the ment through the air. Conversely , in forward flight throttle of
hovering configuration 100A to the typical forward flight 40 the motors 16A , 16B , 16C , 16D can be aligned and gener
configuration 100C wherein the wings 102 are fully ating thrust parallel to the direction of airspeed, as shown in
deployed with a leading edge thereof facing horizontally FIG . 2 .
forward . In the forward flight configuration , the wings FIGS. 4 and 5 illustrate various intermediate configura
generate lift to support the weight of the airframe and tions wherein the second or outer wing section 20 of each
aerodynamically efficient flight. Further , the transition folded toward a forward flight configuration to allow the
between configurations can proceed in any direction and can airframe 10 to hover while also moving in a forward
be indefinitely paused at any intermediate step between the direction . In the configuration of FIG . 4 , for example , the
hover configuration 100A and the forward flight configura - outer section 20 of each wing 14A , 14B , along with the
tion 100C to enable varying degrees of maneuverability and 50 engines 16A , 16B , 16C , 16D coupled thereto , has begun
flight speed . rotating away from the VTOL configuration of FIG . 3
Referring now to FIG . 2 , one embodiment of an airframe toward the forward flight configuration of FIG . 2 .
10 is provided thatallows forward flight and vertical takeoffs To continue a transition to a forward flight configuration ,
and landings. The airframe 10 can include a fuselage 12 and the outer wing section 20 of each elongate wing 14A , 14B
a pair of elongate wings 14A and 14B attached to the 55 can further rotate towards a full forward flight configuration
fuselage 12 , as well as any of a variety of pitch and yaw in which the outer and inner wing sections 18 , 20 form an
stabilizers 17 in some embodiments . One or more engines uninterrupted wing surface . FIG . 5 illustrates the airframe 10
16A , 16B , 16C , 16D can be mounted on the pair of elongate in a second intermediate wing configuration that can be
wings 14A and 14B . As described in greater detail below , the utilized , for example , to achieve higher speed and / or more
elongate wings 14A and 14B can be rotatable about an axis 60 efficient forward flight performance than may be possible in
that is slanted or oblique relative to cardinal axes of the the configurations of FIGS. 3 and 4 . As noted above, the
airframe, i.e ., a longitudinal axis Lr of the fuselage about manner in which the wings and propulsion units pivot
which the airframecan roll , a lateral axis Lp about which the relative to the fuselage can enable a stable in - flight transition
airframe can pitch , and a vertical axis Y about which the and allow the airframe 10 to advantageously maintain any
airframe can yaw . As a result of this wing pivoting configu - 65 intermediate wing configuration indefinitely to achieve
ration , the airframe 10 can be propelled in a forward desired performance characteristics, such as necessary hori
direction by the engines 16A , 16B , 16C , 16D while the zontal speed to avoid wing stall.
 US 10 ,252 ,798 B2
10
Continued advancement of the outer wing section 20 of a distribution can allow the center of gravity of the aircraft
each wing 14A , 14B can bring the outer wing sections 20 to be close to the center of wing air pressure during forward
into alignment with the inner wing sections 18 to form an flight while also being close to the thrust vector while
uninterrupted wing surface, as shown in FIG . 2 . This can hovering . In certain embodiments where electric motors are
represent a complete transition to a forward flight configu - 5 utilized as propulsion units , one or more batteries for pow
ration suited to high speed forward flight wherein the ering the motor can be positioned on the wing as well. As
engines 16A , 16B , 16C , 16D produce forward thrust and the shown in FIG . 8 , for example , a battery 80 can be housed in
wings 14A and 14B create lift on the airframe 10 . a nacelle 82 or other housing that also encloses an electric
2 -5 with opposed wings at each extreme of pivoting motion , 10 battery 80 relative to the motor 16 in this manner can have
e.g ., the left wing 14B in a hovering or VTOL configuration a number of advantages, including, for example , improving
and the right wing 14A in a forward flight configuration . As weight distribution by moving airframe center of gravity
noted above , each of the pair of elongate wings 14A , 14B backwards during transition to a hovering configuration ,
can include a first inner wing section 18 that can be fixed reducing stress on the pivot joint of the wing (e.g ., by
adjacent to the fuselage 12 and a second outer wing section 15 moving the load away from fuselage toward a center of
20 that can be rotatably attached to the first wing section 18 . pressure of each wing ), reducing propeller vibrations (e.g .,
The first wing section 18 can include a pivot 22 located at co -locating the battery and propeller can create a stiffer
a distal end 24 of the first wing section 18. The second wing motor support structure with an increased resonance fre
section 20 can be rotatably attached to the pivot 22 adjacent quency ), reducing length and weight of electrical wiring,
a leading edge 26 of the second wing section 20 . The second 20 and increasing ease of access for maintenance and/or
wing section 20 can include an angled inner or proximal replacement. The motor 16 can include a rotor 84 that can
edge 28 that conforms to a shape of an angled outer or distal produce thrust when rotated through the air by the motor.
edge 30 of the first wing section 18 . An axis of rotation A of As shown in FIGS. 9 - 12 , one or more landing supports
the second wing section 20 relative to the first wing section can be formed on a trailing edge 90 of each elongate wing
18 can be oblique relative to the above -noted cardinal axes 25 14A , 14B such that, when the airframe 10 is in the vertical
of the airframe 10 (e . g ., the longitudinal axis Lg aboutwhich takeoff and landing configuration , the landing supports are
the airframe rolls and the lateral axis Lp about which the located towards a surface below the airframe 10 to support
airframe pitches ). For example, in some embodiments the the airframe 10 during landing. The landing supports can be
axis of rotation of the second wing section 20 relative to formed of one or more of landing wheels , floats , or other
the first wing section 18 can be between about 350 and 55° 30 various supports . The folded wing configuration of FIGS.
relative to the lateral axis Lp such that, as the second wing 9 - 12 can allow for road transportation of the aircraft because
section 20 rotates with respect to the first wing section 18 , the width of the aircraft with wings folded can be a small
the second wing section 20 sweeps inward towards the portion of the fully extended wing span . In the embodiment
fuselage 12 . That is, the wing can move from the position of of FIGS . 9 - 12 , one or more wheels 92 can be retractably
the wing section 14A in FIG . 6 to the position of the wing 35 mounted in a motor cowling 94 of each wing 14A , 14B . In
section 14B in FIG . 6 . The geometry of the wing joint can some embodiments, such as the embodiment of FIGS. 9 and
permit unobstructed airflow to the propellers during a tran - 10 , a wheel 92 can be mounted in each motor cowling 94 to
sition between forward flight and hovering configurations. provide , for example , support at four corners of the aircraft
This can also enable indefinite pausing of wing tilting or 10 . In such embodiments, a subset or all of the wheels can
folding at any intermediate position between the hover and 40 be configured to rotate in a direction perpendicular to the
forward flight positions shown in FIGS. 2 and 3 (see , e . g ., axis of wheel rotation to allow steering, or steering can be
intermediate positions of FIGS . 4 and 5 ). achieved by mismatching the speeds of wheels on one side
The outer wing section 20 of each wing 14A , 14B can of the aircraft with the speeds of wheels on the other side of
carry one or more thrusters or other propulsion units , as well the aircraft .
as fuel cells (e .g., batteries, jet fuel, etc .). Referring to FIGS . 45 In other embodiments, such as the embodiment of FIGS.
6 and 7 , the one or more engines 16A , 16B , 160 , 16D can 11 and 12 , at least one wheel 110 can be included in the
be mounted on each of the pair of elongate wings 14A , 14B . fuselage 12 . Wheels or other landing supports included in
In one embodiment, four engines can be mounted to the pair the fuselage 12 can be utilized in place of, or in combination
of elongate wings 14A , 14B . On each of the elongate wings with , landing supports on the wings 14A , 14B , depending on
14A , 14B , one engine ( e . g ., engines 16A , 16C ) can be 50 the embodiment . In the embodiment of FIGS. 11 and 12 , for
mounted towards the pivot 22 between the first wing section example , a forward wheel 110 is used in conjunction with
18 and second wing section 20 , while a second engine ( e . g ., wheels 92 mounted in the motor cowlings 94 of the engines
engines 16B , 16D ) can be mounted between the first engine 16B , 16D . This can provide effectively support for the
and a wing tip 32 of each of the pair of elongate wings 14A , aircraft on the ground and , in some embodiments , the
14B . In another embodiment, as described below in con - 55 forward wheel 110 can be rotatable to permit steering in
nection with FIG . 14 , each of the pair of elongate wings ground transport. In other embodiments , however, steering
14A , 14B can include only one engine mounted thereon can be achieved in other manners , such as asymmetrically
( e . g ., near a midpoint of each of the pair of elongate wings c ontrolling speeds of the wheels 92 on each side of the
14A , 14B ) . The thrusters, engines, or other propulsion units aircraft.
can be formed of one or more turboprops, turbines, electric 60 The folded wing configuration can also be configured for
motors , or other various suitable engines in use and known water landing and transportation . For example , the wings
for manned aircraft and unmanned aerial vehicles . Further, 14A , 14B of the airframe 10 can be buoyant and water-tight
an output of each of the engines can be independently to balance the airframe on water, as shown in FIG . 13 .
adjustable , such as by utilizing cyclic or collective controls, Because each motor 16A , 16B , 16C , 16D faces up , only the
or by varying a speed of each of the motors . 65 aileron joints/ linkages near the trailing edge 90 of each wing
In some embodiments , a weight of each outer wing 14A , 14B need to be waterproofed in such an embodiment.
section 20 can be around 1/3 of the total aircraft weight. Such Horizontal propulsion in a water-borne embodiment can be
 US 10 ,252 ,798 B2
12
created by partially unfolding both wings to create both each engine or propulsion unit 1512 is housed in a nacelle
horizontally and vertically directed thrust. Further, in certain 1514 mounted to one of the wings 1504A , 1504B via a pylon
embodiments landing supports , including wheels , floats, 1516 . This offsets the engine from the wing and positions the
pontoons, etc. can be incorporated into the fuselage 12 to engine such that, in the VTOL or hover configuration of
replace, or act in conjunction with , structures incorporated 5 wing 1504A in FIG . 15 , the engine 1512 is disposed between
into the wings. In some embodiments , various water pro - the wing and the fuselage 1506 . In some embodiments , this
pulsion mechanisms, such as submerged propellers, etc ., can can mean the propeller diameter 1518 is also disposed
be incorporated into the airframe. Such components can be between the wing and the fuselage, thereby protecting the
coupled to any of the fuselage, the wings, or any pontoon , propeller blades from striking outside objects . It should be
etc . that is coupled to the airframe. 10 appreciated that this configuration of offset engines , wherein
The above - described embodiments of an airframe 10 the engines are disposed between the wing and the fuselage
include four propulsion units 16A , 16B , 16C , and 16D , but in the vertical flight configuration , can also be utilized with
in other embodiments a different number of propulsion units the other embodiments of airframes described herein .
can be employed . For example , in some embodiments a While the airframes described herein are capable of
larger number of propulsion units can be employed , e . g ., six , 15 achieving stable flight throughout the transition between
eight, ten , etc . In other embodiments , a smaller number of forward flight and hovering configurations, in some embodi
propulsion units can be employed . For example , and as ments a flight control system can be utilized to achieve
noted above , in some embodiments propellers associated stability during hovering and slow speed flight. Exemplary
with one or more of the motors 16A , 16B , 16C , 16D can be flight control systems are known in the art with regard to
configured for cyclic and / or collective rotor control, as in a 20 quadcopters and other aerial vehicles employing multiple
helicopter. Providing for this type of control can , in some engines and tilting engines. Often these systems employ a
embodiments, allow the number of motors to be reduced . As proportional-integral- derivative (PID ) control feedback loop
shown in FIG . 14 , for example , an airframe 10' can include to modulate throttle of each engine or other propulsion unit
two motors 16A ' and 16B 'mounted to wings 14A ' and 14B ', in response to aircraft speed , attitude , altitude , and other
respectively , that extend from a fuselage 12 '. Each of the 25 flight parameters detected using a variety of sensors , such as
motors 16A ', 16B ' can include a propeller with blades gyroscopes, altimeters , GPS and other position data , etc . As
configured for cyclic and collective pitch variation to enable illustrated in FIG . 16 , airframes according to the teachings
hovering and low speed flight with the wings and rotors provided herein can modulate the strength of such flight
tilted as shown by wing 14B '. In a forward flight configu - feedback control 1602 based on the configuration of the
ration , as shown by wing 14A ' in FIG . 14 , the pitch of 30 airframe, e. g ., a transition angle 1604 of the wings relative
propeller blades can be left constant (but could also be to the fuselage . For example , a flight control system can
varied if desirable in other embodiments ). Note that in any impart significant feedback control when the airframe is in
of the embodiments described herein , a variety of different a hover configuration 1606 ( as shown in FIG . 3 ) and a
propulsion technologies can be employed . For example , strength of such control can be decreased as the wings
instead of utilizing electric motors 16 described above, the 35 transition to a forward flight configuration 1608 (as shown
motors , thrusters , or propulsion units 16 can be any of in FIG . 2 ). The change in feedback control strength can be
internal combustion engines , turboprops, turbines , or other made in a variety ofmanners . In the illustrated embodiment,
various suitable engines in use and known for manned for example , feedback control strength is decreased in a
aircraft and unmanned aerial vehicles . linear manner as the wings pivot or tilt between the various
Still other embodiments of airframes according to the 40 configurations.
teachings provided herein can utilize alternative engine FIGS. 17 - 29 illustrate various embodiments of wing pivot
and / or wing configurations. FIG . 15 , for example , illustrates joints and actuator assemblies in greater detail. As noted
another embodiment of an airframe 1500 that utilizes a above , the pivotmechanism can allow for transition between
canard wing configuration in which horizontal stabilizers hovering and forward flight while an aircraft is in the air.
1502A , 1502B are disposed forward of the main lifting 45 Further , the configuration of the pivot joint along a slanted
wings 1504A , 1504B . In the illustrated embodiment, the or oblique axis relative to cardinal axes of the aircraft can
wings 1504A , 1504B can be coupled to a fuselage 1506 by provide a smooth and stable transition between flight modes
struts 1508A , 1508B that extend from the fuselage . An outer and allow pausing the wings at any of a variety of interme
end of each strut 1508A , 1508B can include a pivot joint diate positions while maintaining stable flight indefinitely.
1510A , 1510B that couples to the wings 1504A , 1504B and 50 There are a number of different embodiments for forming
defines pivot axes A , A '. The pivot axes A , A ' can be formed the pivot joint and actuating movement of the wing com
lateral or spar or pitch axis Lp, and a vertical or yaw axis Y positioned on the spar line of the wing at an outer tip of the
(which extends from the plane of FIG . 15 ), as described inner wing portion . The wing spar is a main structural
above . Movement of the wings 1504A , 1504B about the 55 member of the wing that extends laterally or span -wise from
pivot axes A , A ' relative to the struts 1508A , 1508B and the fuselage to the wingtip . By placing the joint on the spar
fuselage 1506 can be controlled in any of the manners line , it can carry stress and torque between the inner and
described herein , e . g ., by a wing actuator assembly . outer wing sections. The pivoting joint can also utilize a
Of note in the airframe 1500 is that the wings 1504A , hollow shaft to carry electrical and/ or hydraulic lines
1504B are configured to pivot out and down relative to the 60 between the fuselage /inner wing and the outer wing.
fuselage 1506 when moving from the VTOL configuration As noted above, the pivot axis can form an oblique angle
ofwing 1504A in FIG . 15 to the forward flight configuration relative to one or more cardinal axes of the airframe 10 .
of wing 1504B . This is opposite the wing movement shown FIGS. 17A - 17C illustrate various perspectives of one
in FIGS . 2 -5 of the airframe 10 wherein the outer section 20 embodiment of a pivot axis relative to the airframe 10 and
of each wing 14A , 14B moves outward and upward relative 65 its cardinal axes of roll LR , pitch Lp, and yaw Y . In the side
to the fuselage 12 during transition from a VTOL configu - view of FIG . 17A , it can be seen that the pivot axis A , when
ration to a forward flight configuration . Also of note is that projected into the plane of the figure , forms an oblique angle
 US 10 ,252 ,798 B2
13 14
with both the longitudinal or roll axis LR and the vertical or FIG . 20 illustrates still another embodiment of a pivot
yaw axis Y. The angle 0 , between the pivot axis A and the joint 2000 that employs a clevis pin and ball bearings to
vertical or yaw axis Y can be between about 35 degrees and facilitate low friction movement with an ability to absorb
about 55 degrees in some embodiments . The angle 02 high stresses along the wing spar. Note that the joint 2000 of
between the pivot axis A and the longitudinal or roll axis L , 5 FIG . 20 is reversed from the joints shown in FIGS . 18 and
can similarly be between about 35 degrees and about 55 19 . Such an inversion can illustrate, for example , a differ
ence between a joint used in an aircraft 's left wing in
degrees in certain embodiments. In some embodiments , the comparison to its right wing. The joint 2000 can also be
angles 01, 0 , can each be about 45 degrees .
FIG . 17B shows a front view of the airframe 10 with# 10 drawn in the manner of FIGS . 18 and 19 , and both such
projections of these axes . As shown in the figure , the pivot ing to FIG . 20 , are
configurations within the scope of the invention . Return
axes A , A ' can each form an oblique angle 03 with respect wing spar 1802 and a spar
a first insert 2002 is coupled to an inner
second spar insert 2004 is coupled to
to the lateral or pitch axis Lp of the airframe (which can also
an outer wing spar 1804, similarly to the pivot joints
correspond with a spar axis of the wing). In some embodi described above . Protruding arms 2006 , 2008 of the first
ments, the angle 02 can be between about 35 and about 55 15 spar insert 2002 receive an inner or proximal end 2010 of the
degrees . More particularly , in some embodiments the angle second spar insert 2004 and a clevis pin 2012 can be inserted
03 can be about 45 degrees . through aligned bores formed in each of the arms2006 , 2008
FIG . 17C shows a top view of the airframe 10 with and end 2010 along the pivot axis A . Bearings 2014 , 2016
projections of these axes . As shown in the figure , the pivot can be disposed about the pin 2012 and anchored relative to
axes A , A ' can each form an oblique angle 04 with respect to 20 the arms 2006 , 2008 of the first spar insert 2002 to ensure
the longitudinal or roll axis Lr of the airframe. In some alignment of the pin and reduce friction during relative
embodiments , the angle 04 can be between about 35 and movement of the inner and outer wing portions.
about 55 degrees. More particularly , in some embodiments As shown in the figure , the pivot axis A can form an angle
the angle 0 , can be about 45 degrees . 03 with a vertical axis 2018 that can be parallel to the yaw
FIG . 18 illustrates one embodiment of a pivot joint 1800 25 axis Y. In some embodiments, the angle 0 , can be between
that can be utilized to permit tilting or folding of an outer about 250 and about 45° . In the illustrated embodiment, for
wing relative to an inner wing and fuselage of an airframe. example , the angle can be about 35 degrees . Recall that FIG .
The joint defines an interface between the inner wing portion 20 is illustrated in a plane normal to the pivot axis A , as
18 and the outer wing portion 20 and can be positioned along shown in FIG . 17A . Accordingly , the angles shown in FIG .
a spar, lateral, or pitch axis Lp that extends along an inner 30 20 can produce the above -described angles of FIGS . 17A
wing spar 1802 and an outer wing spar 1804 . A first spar 17C when projected into the various planes of those figures .
insert 1806 can be coupled to an outer or distal end of the FIG . 21 illustrates another embodiment of a pivot joint
spar 1802 of the inner wing 18 and a second spar insert 1808 2100 similar to the clevis joint 2000 . The joint 2100 can
can be coupled to an inner or proximal end of the spar 1804 include a first spar insert 2102 coupled to a first spar 1802
of the outer wing 20 . The first spar insert 1806 can include 35 and a second spar insert 2104 coupled to a second spar 1804 .
a bore 1810 formed therein that can receive a hollow bolt The first and second spar inserts 2102 , 2104 , can have arms
1812 that can define the pivot axis A about which the outer 2106 , 2108 , respectively , configured to interface with one
wing 20 can move relative to the inner wing 18 and fuselage another such that a clevis pin , bolt, or other securingmember
12 . The second spar insert 1808 can include a bore 1814 2110 can be disposed through aligned bored formed in the
formed therein that can receive one or more bearing assem - 40 arms 2106 , 2108 . The aligned bores and clevis pin 2110 can
blies 1816 that can ensure alignment and reduced friction define a pivot axis A that can be offset from a lateral or pitch
movement of the inner and outer wing portions 18 , 20 axis Lo by about 55° in some embodiments .
relative to one another. As noted above , the hollow bore FIGS. 22A - 24B illustrate exemplary motion of the pivot
1818 of the bolt 1812 can be utilized to pass components joint 2100 in straight ( e.g ., FIGS. 22A and 22B ), interme
through the rotating joint, such as electrical wiring, fuel 45 diate (FIGS. 23A and 23B ), and fully articulated (FIGS.
hoses, hydraulic hoses, etc . The various components can be 24A , 24B ) configurations. The views of FIGS . 22A , 23A ,
formed from a variety of materials. For example , the hollow and 24A are top views looking down along a yaw axis Y . The
bolt can be formed from steel, titanium , or other material of views of FIGS . 22B , 23B , and 24B are taken along the pivot
sufficient strength . Other components , such as the spars , spar a xis A of FIG . 21 . In one embodiment, motion of a wing
inserts , etc . can be formed from any of a variety ofmaterials , 50 about the pivot joint 2100 can be visualized by taking the
including steel, titanium , carbon fiber, or other known arrow 2200 as a leading edge indicator. In FIG . 22A , the
materials . leading edge points upward in the plane of the page , as in a
FIG . 19 illustrates an alternative embodiment of a pivot top view of an airframe in a forward flight configuration
joint 1900 that is similar to joint 1800 shown in FIG . 18 but (e . g ., FIG . 2 ). As the wing is tilted in a transition to a VTOL
utilizes low friction washers in place of bearing assemblies. 55 configuration e . g ., FIG . 4 ), the leading edge indicator 2200
For example , a similar first spar insert 1902 can be coupled moves up out of the plan of the page and pivots outward /
to the inner wing spar 1802 and a second spar insert 1904 backward , as in FIG . 23A . Finally, when the wing is fully
can be coupled to the outer wing spar 1804 . A bore 1906 pivoted to a hovering configuration ( e . g ., FIG . 3 ) , the
formed in the first spar insert 1902 can receive a hollow bolt leading edge indicator 2200 points directly out of the page
1908 formed of steel, titanium , etc . around which the second 60 in a top view , as in FIG . 24A .
spar insert 1904 can be disposed . Low friction washers 1910 FIGS. 25 - 28 illustrate various mechanisms for actuating
can be disposed around the bolt 1908 on either side of the the motion of an outer wing portion 20 relative to an inner
second spar insert 1904 to aid in reducing friction as the wing portion 18 and fuselage 12 . Turning to FIG . 25 , one
outer wing 20 pivots relative to the inner wing 18 about the embodiment of a wing actuator assembly 36 for rotating the
pivot axis A . The low friction washers can be formed from 65 second or outer wing section 20 relative to the first or inner
any of a variety ofknown materials , including, for example, wing section 18 is shown from above an airframe 10 . In the
sintered bronze impregnated with oil. illustrated embodiment, the actuator assembly 36 includes a
 US 10 ,252 ,798 B2
15 16
lead screw 38 and a linkage 40 mounted between a lead opposing sides of the ring 2810 . In some embodiments, the
screw traveler 39 and a linkage mount 42 on the outer wing couplings can be disposed on opposing sides in both a radial
portion 20 . A motor 44 or other actuator can rotate the lead direction (e . g ., the plane of FIG . 28A ) and an axial direction
screw 38 , thereby causing the traveler 39 to move along a (e . g ., along the pivot axis A ).
length of the lead screw 38 , as indicated by arrows 41. As the 5 FIG . 28B , which shows a cross -sectional view along the
traveler 39 moves along the length of the lead screw 38 , the line E - E shown in FIGS . 27A and 27C , illustrates the wing
linkage 40 coupled thereto can cause the second outer wing actuator assembly 2700 and pivot joint in more detail. As
section 20 to rotate between a forward flight configuration shown in the figure , the pivot joint disposed between the
( e. g ., FIG . 2 ) and a vertical takeoff and landing configuration inner wing spar 1802 and outer wing spar 1804 can include
( e. g., FIG . 3 ) . 10 an inner spar insert 2812 and an outer spar insert 2814 that
The mechanical linkage and lead screw drive of FIG . 25 are coupled to the inner and outer spars 1802 , 1804 , respec
is just one example of a wing actuator assembly according tively , and include bores formed therein that can receive a
to the teachings provided herein . In another embodiment ofb olt, pin , or other connecting member 2816 that extends
a wing actuator assembly 2600 illustrated in FIGS. 26A and along the pivot axis A . The ring 2810 can be disposed
26B , rotary gears are utilized to control movement of an 15 between the inner spar insert 2812 and outer spar insert 2814
outer wing portion 20 relative to an inner wing portion 18 . around the connecting pin or member 2816 . Also visible in
As shown in the figures, a motor 2602 can be disposed the figure are the couplings 2806 , 2808 to the first and
within the outer wing portion 20 can rotate a drive gear 2604 second linear actuators 2702 , 2704 (not visible in FIG . 28B ).
that can be meshed with a stationary gear rack 2606 formed Further, thrust bearings 2818 can be disposed between the
on the inner wing portion 18 . This can result in the drive gear 20 various components to permit reduced friction movement of
2604 traveling around a circumference of the rack 2606 in the components relative to one another about the pivot axis
the direction of arrows 2608 , as shown in the view of FIG . A . In operation, actuation of both the first and second linear
26 taken along the line C -C in FIG . 26A . Because the motor actuators 2702 , 2704 can exert forces on the inner and outer
2602 and drive gear 2604 can be coupled to the outer wing wings 18 , 20 through the couplings 2802 , 2804 and cause the
portion 20 , movement of the drive gear 2604 around the rack 25 outer wing 20 to move about the pivot axis A relative to the
2606 can cause the outer wing portion 20 to rotate relative inner wing 18 . Also shown in FIG . 28B is the angle og
to the inner wing portion 18 about the pivot axis A . While formed between the pivot axis A and a lateral axis Lp in the
the illustrated embodiment shows the motor 2602 and drive plane of the figure . This angle can be between about 25° and
gear 2604 coupled to the outer wing portion 20 , in other about 45° in some embodiments to create the above - de
embodiments the arrangement can be reversed such that 30 scribed angles in FIGS . 17A - 17C . For example , in some
these components are coupled to the inner wing portion 18 embodiments the angle 0 , can be about 35° (e .g ., 35 . 2°) to
and the gear rack 2606 is formed on or coupled to the outer result in the angles 0 , -04 of FIGS. 17A - 17C being about 45°
wing portion 20 . Further, any of a variety of different gear each .
trains including gears of various sizes can be employed to FIG . 29 illustrates one embodiment of a wing 2900 that
achieve the wing movement described herein . 35 includes two spars that can be employed , for example , for
FIGS . 27A -28B illustrate another embodiment of a wing high stress applications. Examples of high stress applica
actuator assembly 2700 that utilizes opposed hydraulic , tions can include those where a low profile airfoil wing
pneumatic , electric , or other linear actuators to effect piv - design is employed ( e . g ., a small wing thickness or dimen
oting or folding movement of an outer wing portion 20 sion in a direction perpendicular to the wing chord line ), as
relative to an inner wing portion 18 about a pivot axis A . As 40 the reduced thickness of the wing can make it more suscep
shown in the figures , a pivot jointbetween the inner wing 18 tible to stress. Another example of a high stress application
and the outer wing 20 can be formed on a spar or lateral axis can be an airframe configured to experience high G forces
Lp and the joint can be configured such that it is at an oblique ( e . g ., up to 5 Gs and beyond ) . The wing 2900 can be divided
angle @ thereto when projected into the plane of the figure into an inner wing 18 fixed to a fuselage and an outer wing
In the illustrated embodiment, the angle can be about 45 45 20 pivotally coupled thereto , as described above. For
degrees, but other angles are also possible, as noted above . example , a pivot joint 2902 can be disposed between a first
The pivot joint can also be formed at oblique angles to the inner spar 2904 and a first outer spar 2906 . The pivot joint
axis Lp, as well as other axes, such as a vertical or yaw axis 2902 can provide for movement of the outer wing 20 relative
Y and a longitudinal or roll axis Lp. As shown in the front to the inner wing 18 about a pivot axis A and can utilize any
view of FIG . 27B , for example , the pivot axis A can be 50 of the embodiments described herein and illustrated , for
disposed at an angle 0 , relative to the spar, lateral, or pitch example , in FIGS. 18 - 24B .
axis Lp, and in some embodiments this angle can be about The wing 2900 can also include a second spar offset from
45 degrees when projected into the plane of the figure as the first spar, e . g ., disposed between the first spar and a
well. FIG . 27C further shows the pivot axis A formed at an trailing edge 90 of the wing . The second spar can be divided
angle og relative to the yaw or vertical axis Y when projected 55 into second inner spar 2906 and a second outer spar 2908 .
into the side view vertical plane . In such a view , the angle The second inner and outer spars 2906 , 2908 can be con
0 , can also be about 45 degrees in some embodiments . figured to rigidly couple to one another such that stresses can
Referring to FIGS. 27A - 28A , the wing actuator assembly be carried without interruption . In the illustrated embodi
2700 can include a first linear actuator 2702 coupled at a first ment, for example , a translating locking pin 2910 can be
end 2802 thereof to the inner wing 18 and a second linear 60 disposed in a recess formed in the spars 2906 , 2908 . When
actuator 2704 coupled at a first end 2804 thereof to the outer in a forward flight configuration , the recesses formed in the
wing 20 . A second end 2806 of the first linear actuator 2702 spars 2906 , 2908 can be aligned and the locking pin trans
and a second end 2808 of the second linear actuator 2704 lated along arrows 2912 in FIG . 29 to be disposed across an
can be coupled to a ring 2810 disposed between the inner interface 2914 between the inner wing 18 and the outer wing
and outer wings 18 , 20 and configured to rotate about the 65 20 . As a result, the second inner and outer spars 2906 , 2908
pivot axis A . The couplings 2806 , 2808 to the first and can be effectively joined as a single spar spanning an entire
second linear actuators 2702 , 2704 can be disposed on length of the inner and outer wings 18 , 20 . To pivot the
 US 10 ,252 ,798 B2
17 18
wings into a VTOL or other intermediate configuration, the 4 . The aircraft of claim 2 ,wherein a second angle between
locking pin 2910 can be translated to one side of the the rotation axis and the axis extending between ends of the
interface 2914 , thereby separating the second inner and outer opposed wings projected in a plane containing the axis
spars 2906 , 2908 to allow the components to separate as the extending between ends of the opposed wings and perpen
outer wing 20 pivots about the joint 2902 and pivot axis À 5 dicular to the longitudinal axis of the fuselage is between
relative to the inner wing 18 . about 350 and about 55°.
The various airframes of the present disclosure advanta 5 . The aircraft of claim 4 , wherein the second angle is
geously allow for transition from a vertical takeoff and about 45°.
landing configuration to a forward flight configuration . In 6 . The aircraft of claim 1, wherein the plurality of engines
the vertical takeoff and landing configuration , weight of the 10 includes
various components mounted to the wings pivoting wing wings thatat least 4 engines and each portion of the opposed
rotates relative to the fuselage includes at least
portions can be located close to the fuselage , thereby reduc two engines mounted thereto .
ing any moment of inertia created by mass disposed remote 7 . The aircraft of claim 1 , wherein each of the plurality of
from a center of gravity of the airframe. Further, the pivoting
wing portions can be oriented in a substantially vertical 15 engines is an electric engine .
direction with a leading edge thereof facing upward , thereby 8 . The aircraft of claim 7 , further comprising a plurality
allowing unobstructed and maximally - efficient airflow over of batteries , wherein each battery is mounted to one of the
the wings during vertical flight. In addition , propulsion units opposed wings adjacent to one of the plurality of engines .
coupled to the wings can be oriented in a vertical direction 9 . The aircraft of claim 1, wherein each of the plurality of
so as to support a weight of the craft with their thrust force . 20 engines is any of a turbine and an internal combustion
Conversely, in a forward flight configuration , the engines engine.
coupled to the wings can be rotated and moved further away 10 . The aircraft of claim 1 , wherein each of the opposed
from a center of gravity of the airframe, thereby creating wings includes a fixed portion extending from the fuselage
greater stability during forward flight and vectoring propul- and a rotating portion outboard of the fixed portion .
sion unit thrust in a horizontal direction to maximize effi - 25 11 . The aircraft of claim 10 , wherein an outboard end of
ciency while the wings create aerodynamic lift force to each fixed portion is oblique to the longitudinal axis of the
support the weight of the craft . fuselage .
The foregoing description of preferred embodiments of 12 . The aircraft of claim 10 , wherein , in the first configu
the present disclosure has been presented for purposes of ration , an axis between a leading edge and a trailing edge of
illustration and description . The described preferred 30 the wing is parallel to the longitudinal axis of the fuselage ,
embodiments are not intended to be exhaustive or to limit and in the second configuration , the axis between the leading
the scope of the disclosure to the precise forms disclosed . edge and the trailing edge of the wing is perpendicular to the
Additional modifications or variations are possible in light longitudinal axis of the fuselage .
of the above teachings. The embodiments are chosen and 13 . The aircraft of claim 12 , wherein the leading edge of
described in an effort to provide the best illustrations of the 35 each rotating portion of the opposed wings faces upward
principles of the disclosure and its practical application , and when the wings are in the second configuration .
to thereby enable one of ordinary skill in the art to utilize the 14 . The aircraft of claim 12 , wherein each of the plurality
concepts revealed in the disclosure in various embodiments of engines is offset from the wing it is mounted to such that,
and with various modifications as are suited to the particular when each wing is in the first configuration , the at least one
use contemplated . All such modifications and variations are 40 engine mounted thereto is disposed between the wing and
within the scope of the disclosure as determined by the the fuselage .
appended claims when interpreted in accordance with the 15 . The aircraft of claim 10 , wherein , in the first configu
breadth to which they are fairly , legally, and equitably ration , an axis extending between an inboard end to an
entitled . outboard end of the rotating portion is perpendicular to the
What is claimed is : 45 longitudinal axis of the fuselage , and in the second configu
1 . An aircraft , comprising : ration, the axis extending between the inboard end and the
a fuselage ; outboard end of the rotating portion is parallel to the
opposed wings extending from opposed sides of the longitudinal axis of the fuselage .
fuselage ; 16 . The aircraft of claim 15 , wherein the leading edge of
a plurality of engines, wherein at least one engine is 50 each rotating portion of the opposed wings faces upward
mounted to each of the opposed wings ; when the wings are in the second configuration .
wherein at least a portion of each opposed wing including 17 . The aircraft of claim 10 , further comprising at least
at least one of the plurality of engines rotates relative to one landing support coupled to a trailing portion of each
the fuselage around a rotation axis that is non -perpen rotating portion of the opposed wings .
dicular and transverse to a longitudinal axis of the 55 18 . The aircraft of claim 17 , wherein the landing support
fuselage between a first configuration adapted for ver - is any of a wheel, a float, and a leg .
tical take-off and landing, and a second configuration 19 . The aircraft of claim 17 , wherein the landing support
adapted for horizontal flight, is a wheel coupled to one of the engines such that the engine
wherein the plurality of engines provide lift to the aircraft can rotate the wheel.
in the first configuration . 60 20 . The aircraft of claim 10 , wherein the fixed portion and
2. The aircraft of claim 1, wherein a first angle between the rotating portion of each of the opposed wings are
the rotation axis and the longitudinal axis of the fuselage coupled by a pivot joint.
projected in a plane containing the longitudinal axis of the 21. The aircraft of claim 20 , wherein the pivot joint is
fuselage and an axis extending between ends of the opposed disposed in a leading portion of each opposed wing .
wings is between about 350 and about 55º . 65 22 . The aircraft of claim 10 , wherein each of the opposed
3 . The aircraft of claim 2 , wherein the first angle is about wings further comprises an actuator to control rotation of the
45° rotating portion relative to the fixed portion .
 US 10 ,252 ,798 B2
19 20
23. The aircraft of claim 22 , wherein the actuator includes axis of the fuselage to orient the engine and a leading edge
a lead screw coupled to the rotating portion by a linkage of the wing vertically for hovering ;
24 . The aircraft of claim 1, wherein the opposed wings actuating the engine to produce vertical lift; and
have an airfoil shape. rotating the at least portion of the wing having the engine
25 . An aircraft , comprising : 5 mounted thereto to orient the engine and a leading edge
a fuselage ; of the wing horizontally for forward flight.
opposed wings extending from opposed sides of the 27 . The method of claim 26 , wherein a leading edge of the
fuselage; wing faces upward when the wing is oriented vertically .
a plurality of engines, wherein at least one engine is 10 portion 28 . The method of claim 26 , wherein rotating the at least
mounted to each of the opposed wings ; of the wing to orient the engine and the leading edge
wherein at least a portion of each opposed wing including of the wing vertically includes pivoting the at least portion
atleast one of the plurality of engines rotates relative to of the wing about a pivot joint disposed in a leading portion
of the wing.
the fuselage around a rotation axis that is non - perpen 29 . The method of claim 26 , wherein rotating the at least
dicular and transverse to a longitudinal axis of the
fuselage between a first configuration adaptedd for
for ver
ver .- 1515 portion of the wing to orient the engine and the leading edge
Pof the wing vertically includes any of hydraulically and
tical take -off and landing , and a second configuration electrically actuating such rotation .
adapted for horizontal flight, and
wherein the wings do not produce lift in the first configu 30 . The method of claim 26 , further comprising pausing
ration . rotation of the at least portion of the wing such that the wing
26 . A vertical take- off or landing method , comprising: 20 and the engine are between a vertical and a horizontal
rotating at least a portion of a wing having an engine orientation
ro
flight.
to transition between hovering and forward
mounted thereto relative to a fuselage around a rotation axis
that is non -perpendicular and transverse to a longitudinal