USO10967969B2

( 12 ) United States Patent ( 10) Patent No .: US 10,967,969 B2

Petrov (45) Date of Patent : *Apr. 6 , 2021
( 54 ) VERTICAL TAKEOFF AND LANDING ( 56 ) References Cited
AIRFRAME
U.S. PATENT DOCUMENTS
( 71 ) Applicant: PteroDynamics , Inc. , Moorpark , CA
( US ) 1,556,414 A 10/1925 Bumpus
1,793,056 A 2/1931 Cams
( 72 ) Val Petrov , Brookline, MA (US )
Inventor : (Continued )
( 73 ) Assignee : PteroDynamics Inc. , Moorpark, CA FOREIGN PATENT DOCUMENTS
(US ) DE 907502 C 3/1954
RU 2403177 C1 11/2010
( * ) Notice: Subject to any disclaimer, the term of this
patent is extended or adjusted under 35 (Continued )
U.S.C. 154 ( b ) by 0 days.
This patent is subject to a terminal dis OTHER PUBLICATIONS
claimer . “ DZYNE Creates a New Approach to Vertical Takeoff and Landing
( 21 ) Appl. No .: 16 /725,042 (VTOL ) : Rotate the Wings ” , May 14 , 2015 , Design World . Accessed
on Youtube Jan. 29 , 2019 at https://youtu.be/-cCoPBGq-iA ( Year:
(22 ) Filed : Dec. 23 , 2019 2015 ) .
(Continued )
( 65 ) Prior Publication Data
US 2020/0277051 A1 Sep. 3 , 2020 Primary Examiner Richard R. Green
Related U.S. Application Data (74 ) Attorney, Agent, or Firm - The Webb Law Firm
( 63 ) Continuation of application No. 16/ 373,003 , filed on ( 57 ) ABSTRACT
Apr. 2 , 2019 , now Pat . No. 10,556,679 , which is a
(Continued ) Airframes configured for stable in - flight transition between
( 51 ) Int . Cl . forward flight and vertical takeoff and landing are described
B64C 29/00 ( 2006.01 ) herein . In one embodiment, an aircraft can include a fuse
B64C 3/38 ( 2006.01 )
lage , opposed wings extending from opposed sides of the
fuselage, and a plurality of engines . At least one engine can
( Continued ) be mounted to each of the opposed wings and at least a
( 52 ) U.S. CI . portion of each opposed wing including at least one of the
CPC B64C 29/0033 ( 2013.01 ) ; B64C 3/38 plurality of engines can rotate relative to the fuselage around
( 2013.01 ) ; B64C 3/42 (2013.01 ) ; B64C 3/56 a rotation axis that is non -perpendicular and transverse to a
( 2013.01 ) ; longitudinal axis of the fuselage. Rotating portions of the
( Continued ) wings including at least one of the plurality of engines in the
( 58 ) Field of Classification Search described manner can provide a stable and smooth transition
CPC . B64C 29/0033 ; B64C 29/0075 ; B64C 3/385 ; between vertical and forward flight.
B64C 3/40 ; B64C 3/42 , B64C 3/38 ;
B64C 3/56
See application file for complete search history . 20 Claims , 27 Drawing Sheets

10
26
22 .

30
ge
28
20
-12
16

14B
32
 US 10,967,969 B2
Page 2

Related U.S. Application Data 5,765,783 A 6/1998 Albion

5,839,691 A 11/1998 Lariviere
continuation of application No. 15 / 848,705 , filed on 8,157,206 B2 4/2012 Gionta et al .
Dec. 20 , 2017 , now Pat . No. 10,252,798 . 8,800,912 B2 8/2014 Oliver
9,259,984 B2 2/2016 Brown
( 60 ) Provisional application No. 62/ 490,814 , filed on Apr. 9,550,567 B1 1/2017 Erdozain , Jr. et al .
27 , 2017 . 9,676,488 B2 6/2017 Alber
9,682,774 B2 6/2017 Paduano et al.
(51 ) Int. Ci. 9,714,090 B2 7/2017 Frolov et al .
9,731,818 B2 8/2017 Dekel et al.
B64C 27/26 ( 2006.01) 9,821,909 B2 11/2017 Moshe
B64C 3/42 ( 2006.01 ) 10,556,679 B2 * 2/2020 Petrov B64C 3/56
B64C 27/28 (2006.01 ) 2010/0171001 A1 7/2010 Karem
B64C 25/54 ( 2006.01 ) 2011/0042507 A1 2/2011 Belford, Sr.
B64D 27/12 2013/0008997 A1 1/2013 Gentile
( 2006.01 ) 2014/0117150 A1 5/2014 Good et al .
B64C 25/34 ( 2006.01 ) 2015/0225071 A1 8/2015 Tighe
B64C 37/00 ( 2006.01 ) 2015/0266571 Al 9/2015 Bevirt et al .
B64D 27/24 ( 2006.01 ) 2015/0336663 A1 11/2015 Paduano et al .
B64C 3/56 ( 2006.01) 2015/0375860 A1 12/2015 Hong et al .
2016/0023527 Al 1/2016 Dietrich
(52) U.S. CI. 2016/0185444 Al 6/2016 Gionta et al .
CPC B64C 25/34 (2013.01 ) ; B64C 25/54 2016/0378120 A1 12/2016 Creasman
(2013.01 ) ; B64C 27/26 (2013.01 ) ; B64C 27/28 2017/0008625 A1 1/2017 Olm et al .
(2013.01 ) ; B64C 37/00 (2013.01 ) ; B64D 27/12 2017/0072755 Al 3/2017 Zhou et al .
(2013.01 ) ; B64D 27/24 (2013.01 ) 2017/0190412 A1 7/2017 Bunting et al .
2017/0217594 Al 8/2017 Bacon et al .
2017/0217596 A1 8/2017 Bacon et al .
( 56 ) References Cited 2017/0217597 A1 8/2017 Bacon et al .
2017/0217598 Al 8/2017 Bacon et al .
U.S. PATENT DOCUMENTS
1,846,992 A 2/1932 Decker FOREIGN PATENT DOCUMENTS
1,848,389 A 3/1932 Sikorsky WO 2014177589 Al 11/2014
2,572,421 A 10/1951 Abel, Jr.
2,674,422 A 4/1954 Pellarini WO WO - 2014177589 Al * 11/2014 B64C 29/02
3,081,964 A 3/1963 Quenzler
3,179,354 A 4/1965 Alvarez -Calderon OTHER PUBLICATIONS
3,231,221 A 1/1966 Platt
3,246,861 A 4/1966 Curci Michelhaugh, T. M. , et al . , “ Wing - folding mechanism of the Grum
3,439,890 A 4/1969 Stits
3,519,224 A 7/1970 Boyd et al . man Wildcat, ” Amer. Soc . Mech . Eng . Brochure, < https ://www .
3,666,209 A 5/1972 Taylor asme.org/getmedia/2d64abc8-3fa3-4d29-92d4-40db4777e8b2/238
3,937,424 A 2/1976 Meier et al . grumman -wildcat -sto -wing -wing- folding -mechanism.aspx . >, May 15 ,
5,094,412 A 3/1992 Narramore 2006 .
5,192,037 A 3/1993 Moorefield
5,405,105 A 4/1995 Kress
5,407,150 A 4/1995 Sadleir * cited by examiner
U.S. Patent Apr. 6, 2021 Sheet 1 of 27 US 10,967,969 B2

FIG . 1 100A

4 106

mo
MOVIE

102

100B

COLO
106

106
102

100C
bar
104
102
106
ng

106
U.S. Patent Apr. 6, 2021 Sheet 2 of 27 US 10,967,969 B2

FIG . 2

32
Yd 12 14B
14A KAKOR
16D
16A

16C
ARONARWOocNheOnKNOCNOOMREDNOANNOON UNC
16B
14B
on LP
LR
U.S. Patent Apr. 6, 2021 Sheet 3 of 27 US 10,967,969 B2

FIG . 3

16D 20
16A

18

16B
to 26
20

12 14B
18
16C
U.S. Patent Apr. 6, 2021 Sheet 4 of 27 US 10,967,969 B2

FIG . 4

20 Go

16D

20
WE

16B

18 16C
12
U.S. Patent Apr. 6, 2021 Sheet 5 of 27 US 10,967,969 B2

FIG . 5

20

16D
14B

16A SANDRA
???????????????? 20
18
16B

12 16C
U.S. Patent Apr. 6, 2021 Sheet 6 of 27 US 10,967,969 B2

FIG . 6

10'

22
26

24

30
Zle
28
20

16

14B CORO

32
U.S. Patent Apr. 6, 2021 Sheet 7 of 27 US 10,967,969 B2

FIG . 7

32
Moon
we
16B

16C

12
22 20
U.S. Patent Apr. 6, 2021 Sheet 8 of 27 US 10,967,969 B2

FIG . 8

84
woodwood wodowy

Battery

80 82 20
+
U.S. Patent Apr. 6, 2021 Sheet 9 of 27 US 10,967,969 B2

FIG . 9

14B
16D
16A
vory

? 16B
16C
94
92
40

90 92
U.S. Patent Apr. 6, 2021 Sheet 10 of 27 US 10,967,969 B2

FIG . 10
10

16C 16B
7
94

12
90 92 92
U.S. Patent Apr. 6, 2021 Sheet 11 of 27 US 10,967,969 B2

FIG . 11

16D
16A
& porno

? 16B

40 16C

Xoy
92
12
90
U.S. Patent Apr. 6, 2021 Sheet 12 of 27 US 10,967,969 B2

FIG . 12
10

16C 16B

wood
12
90
U.S. Patent Apr. 6, 2021 Sheet 13 of 27 US 10,967,969 B2

FIG . 13

10 14B
16D
16A
WOWE

16B

16C

12 90
16A
U.S. Patent Apr. 6, 2021 Sheet 14 of 27 US 10,967,969 B2

FIG . 14

16B
16A 14A

paaaaaaaa
doc

12
14B
U.S. Patent Apr. 6, 2021 Sheet 15 of 27 US 10,967,969 B2

FIG . 15

1504A 1516
1514 1510A

1518 1508A -1512

1502A 1512

Dosades OVO
1512
1506 1508B
1502B 1510B

1512
U.S. Patent Apr. 6, 2021 Sheet 16 of 27 US 10,967,969 B2

FIG . 16

1602

FEDBAK SCTORNEGTLH
w

HOVER FORWARD TRANSITION

FLIGHT ANGLE
1606
1608 1604
U.S. Patent Apr. 6, 2021 Sheet 17 of 27 US 10,967,969 B2

FIG . 17A

01
02 LR

12
B

FIG . 17B FIG . 170

LR
04
T
10
*

14A
Lp 14A
20
14B
03
12 A
12 18
IN
U.S. Patent Apr. 6, 2021 Sheet 18 of 27 US 10,967,969 B2

FIG . 18

1800

1808 1804
1802 DO CO We 1816

Lp en pon creo toTED Weou

----
1806 1 into 1814
A
1812
U.S. Patent Apr. 6, 2021 Sheet 19 of 27 US 10,967,969 B2

FIG . 19
1900

1802 1906 1804

1902
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man

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1908
U.S. Patent Apr. 6, 2021 Sheet 20 of 27 US 10,967,969 B2

FIG . 20

2000
2018
35.2 °
1804 2004 2006
2014
X 2002 1802

2010 LP
wwwww

2016 2008
A 2012
U.S. Patent Apr. 6, 2021 Sheet 21 of 27 US 10,967,969 B2

FIG . 21
2100

WES **

55 ° ? PO 2108
LP 1802 1804

2102 2110
2106
U.S. Patent Apr. 6, 2021 Sheet 22 of 27 US 10,967,969 B2

FIG . 22A FIG . 22B

2100 2100

2200
EXO )

FIG . 23A FIG . 23B

2100 2100

18 *

2200

FIG . 24A FIG . 24B

2100 2100

0=
2200 DATED
U.S. Patent Apr. 6, 2021 Sheet 23 of 27 US 10,967,969 B2

FIG . 25

22 20

36
18

7 24

12
U.S. Patent Apr. 6, 2021 Sheet 24 of 27 US 10,967,969 B2

FIG . 26A
C
A 2600
-2606
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ON 01DETODO
OWOWO WE 9

1
2602
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FIG . 26B
2604 A

2602 ?t ?
2608
2606
U.S. Patent Apr. 6, 2021 Sheet 25 of 27 US 10,967,969 B2

FIG . 27A
2700

2702 45 ° 1804 Lp

fora chaud
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View A

FIG . 27B FIG . 270

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A
U.S. Patent Apr. 6, 2021 Sheet 26 of 27 US 10,967,969 B2

FIG . 28A
2804 2808 2700

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FIG . 28B
2700
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2818 2816 2814
U.S. Patent Apr. 6, 2021 Sheet 27 of 27 US 10,967,969 B2

FIG.29

2900

2902 18 2902 2904

2912

2910
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2914
2908
2906

90 20
 US 10,967,969 B2
1 2
VERTICAL TAKEOFF AND LANDING to address these issues have included a variety of wing
AIRFRAME folding and tilting mechanisms. These mechanisms, how
ever, are often tailored to ground storage or transport and are
CROSS - REFERENCE TO RELATED not operable during flight to enable, for example , vertical
APPLICATIONS 5 takeoff and landing, etc.
Accordingly, there is a need for improved airframes that
This application is a continuation of U.S. application Ser. provide efficient forward flight as well as vertical takeoff and
No. 16/ 373,003 , filed on Apr. 2 , 2019 , which is a continu- landing. There is also a need for improved airframes that can
ation of U.S. application Ser. No. 15 / 848,705 , filed on Dec. smoothly and stably transition between such modes of
20 , 2017 , now U.S. Pat . No. 10,252,798 , which claims the 10 operation.
benefit of U.S.Provisional Application No. 62 /490,814 , filed SUMMARY OF THE INVENTION
on Apr. 27 , 2017 , the disclosures of which are hereby
incorporated by reference in their entirety.
The present disclosure generally provides airframes that
FIELD OF INVENTION 15 address the shortcomings of prior attempts and enable
efficient forward flight along with vertical takeoff and land
This disclosure relates to the fields of aircraft and aerial ing . Generally speaking, the embodiments described herein
vehicles. More particularly, this disclosure relates to an can achieve such versatile performance by employing a
airframe capable of vertical takeoff and landing with engines unique configuration of tilting wings and propulsion units
mounted on rotatable wings . 20 that enable a large flight envelope encompassing both hov
ering and forward flight at a range of speeds .
BACKGROUND The airframes described herein can perform repeated
in - flight transformations between a compact and maneuver
Airframes with high aspect ratio fixed wings , e.g. , wings able hovering or slow speed configuration ( e.g. , similar to a
rigidly attached to a fuselage wherein a laterally extending 25 multirotor drone, helicopter, or other hovering aircraft) and
length, or span, of the wing is much greater than a distance a lifting wing configuration capable of efficient horizontal
between its leading and trailing edges , or chord, can be flight ( e.g. , similar to a fixed wing aircraft ). In the hovering
reliable and efficient in forward flight. These airframes can or slow speed configuration, the weight of an aircraft can be
have several disadvantages as well, including difficulty substantially supported by the thrust of its propulsion units,
maneuvering at slow speeds and the need for runway or 30 which can be coupled to the tilting wings such that they are
other runout for takeoff and landing. Prior attempts to also tilted to direct their thrust more vertically. In the
address these issues have included airframes with tilting forward flight configuration, the weight of the aircraft can be
nacelles that house motors , engines, or other thrust produc- substantially supported by the lift generated from the wings
ing components to better control an aircraft at slow speeds and the propulsion thrust can be directed more horizontally.
and allow for short takeoff and landing ( STOL ) or vertical 35 Further, a continuous range of intermediate tilting positions
takeoff and landing ( VTOL ) operation. In such configura- can also be employed to provide varying levels of thrust- or
tions , however, high aspect ratio fixed wings can be detri- wing - developed lifting force. The airframes disclosed herein
mental. For example, long fixed wings can be difficult to provide a unique ability to smoothly and stably transition
maneuver during STOL or VTOL operation due to a large between these two operating modes in - flight and / or operate
moment of inertia created by their mass being extended 40 indefinitely in an intermediate mode .
away from a center of gravity of the aircraft. Further, there These performance characteristics can , in some embodi
can be significant aerodynamic drag from moving a wing in ments, be achieved by utilizing a folding wing structure that
a manner that presents its largest surface area as a leading pivots on a slanted axis, i.e. , an axis that is oblique to a
edge. Vertically -oriented wind gusts, such as downdrafts, longitudinal or lateral axis of the aircraft. Such a folding
etc. , can also have significant impacts on long , fixed wings . 45 motion can orient a leading edge of each wing in an upward
Other prior attempts to address issues with high aspect or forward direction , depending on the tilt of the wing .
ratio fixed wing airframes have included tilting an entire Further, in a tilted configuration the wings can extend along
wing assembly including engines or other thrust producing the fuselage of the aircraft to reduce the moment of inertia
components about a span axis extending between wingtips . created by their mass , their aerodynamic impact during
While such designs can aid in alleviating the above - de- 50 hover, as well as space required for storage or ground
scribed aerodynamic losses from moving a wing in a direc- transport. Further, in some embodiments a portion of the
tion substantially normal to its intended angle of attack , they wings folded in this manner can include propulsion units
can still be difficult to maneuver due to the large moment of coupled thereto such that thrust can be redirected between a
inertia of the extended wings . Further, the tilted wings can horizontal and a vertical direction as the wings are tilted or
be impacted by horizontally - oriented wind gusts against the 55 folded .
tilted surface area of the wings . The airframe designs described herein can be embodied at
Prior configurations of both tilt-engine and tilt-wing air- any of a variety of scales . For example , the designs can be
frames that can achieve STOL or VTOL operation also suffer suitable for application in a small aircraft, such as a drone or
from instability during transition from takeoff or landing remote - control aircraft, as well as full scale aircraft capable
configurations to forward flight configurations. Accordingly, 60 of transporting persons and cargo. And a variety of propul
such aircraft often exhibit bimodal operation envelopes and sion technologies can be employed, including electric
cannot stably or indefinitely operate at any speed between motors , internal combustion engines, turbines, etc.
the takeoff or landing realm and the high - speed forward In one aspect , an aircraft is provided that can include a
flight realm . fuselage, opposed wings extending from opposed sides of
A further disadvantage of high aspect ratio fixed wing 65 the fuselage, and a plurality of engines . At least one engine
airframes is the need for substantial storage space at rest and can be mounted to each of the opposed wings . Further, at
substantial clearance during ground transport. Prior attempts least a portion of each opposed wing including at least one
 US 10,967,969 B2
3 4
of the plurality of engines can rotate relative to the fuselage support can be a wheel coupled to one of the engines such
around a rotation axis that is non - perpendicular and trans- that the engine can rotate the wheel .
verse to a longitudinal axis of the fuselage. A variety of mechanisms can be employed to provide for
Each of the embodiments described herein can have a movement of the rotating portion relative to the fixed portion
number of additional features and / or variations, all of which 5 of each of the opposed wings . For example, in some embodi
are within the scope of the present disclosure . In some ments the fixed portion and the rotating portion of each of
embodiments, for example, a first angle between the rotation the opposed wings can be coupled by a pivot joint. Further,
axis and the longitudinal axis of the fuselage projected in a in some embodiments the pivot joint can be disposed in a
plane containing the longitudinal axis of the fuselage and an 10 leading portion of each opposed wing . In certain embodi
axis extending between ends of the opposed wings can be ments, each of the opposed wings can further include an
between about 350 and about 55 ° . In some embodiments, the actuator to control rotation of the rotating portion relative to
first angle can be about 45 ° . Further, in some embodiments the fixed portion . In some embodiments, the actuator can
a second angle between the rotation axis and the axis include a lead screw coupled to the rotating portion by a
extending between ends of the opposed wings projected in 15 linkage. In other embodiments, the actuator can include any
a plane containing the axis extending between ends of the of a variety of gears, hydraulic actuators, electric actuators,
opposed wings and perpendicular to the longitudinal axis of etc.
the fuselage is between about 350 and about 55 ° . In some The opposed wings of the aircraft can have a variety of
embodiments, the second angle can be about 45 ° . shapes and sizes . In some embodiments, for example, the
In certain embodiments, the plurality of engines can 20 opposed wings can have an airfoil shape. Such wings can
include at least 4 engines and each portion of the opposed produce lift during forward flight of the aircraft . In other
wings that rotates relative to the fuselage can include at least embodiments, however, the wings can have alternative
two engines mounted thereto . Any of a variety of engine shapes. For example , in some embodiments the wings can be
types can be utilized . For example, in some embodiments spars that do not produce lift. Examples can include cylin
each of the plurality of engines can be an electric engine. 25 drical spars, beam spars , etc.
Moreover, in such embodiments the aircraft can further In another aspect , a vertical take -off or landing method is
include a plurality of batteries and each battery can be provided that can include rotating at least a portion of a wing
mounted to one of the opposed wings adjacent to one of the having an engine mounted thereto relative to a fuselage
plurality of engines. In other embodiments, each of the around a rotation axis that is non -perpendicular and trans
plurality of engines can be any of a turbine and an internal 30 verse to a longitudinal axis of the fuselage to orient the
combustion engine. engine and a leading edge of the wing vertically for hover
In some embodiments, each of the opposed wings can ing . The method can further include actuating the engine to
include a fixed portion extending from the fuselage and a produce vertical lift, and rotating the at least portion of the
rotating portion outboard of the fixed portion . Further, in wing having the engine mounted thereto to orient the engine
some embodiments an outboard end of each fixed portion 35 and a leading edge of the wing horizontally for forward
can be oblique to the longitudinal axis of the fuselage. In flight.
some embodiments, each rotating portion of the opposed As with the aircraft described above , a number of varia
wings can rotate between a first configuration , in which an tions and additional features are possible . For example, in
axis between a leading edge and a trailing edge of the wing some embodiments a leading edge of the wing can face
is parallel to the longitudinal axis of the fuselage, and a 40 upward when the wing is oriented vertically.
second configuration, in which the axis between the leading In certain embodiments, rotating the at least portion of the
edge and the trailing edge of the wing is perpendicular to the wing to orient the engine and the leading edge of the wing
longitudinal axis of the fuselage. Further, in some embodi- vertically can include pivoting the at least portion of the
ments the leading edge of each rotating portion of the wing about a pivot joint disposed in a leading portion of the
opposed wings can face upward when the wings are in the 45 wing . Rotation of the at least portion of the wing can be
second configuration . accomplished in a variety of manners . For example, in some
Still further, in certain embodiments each rotating portion embodiments rotating the at least portion of the wing to
of the opposed wings can rotate between a first configura- orient the engine and the leading edge of the wing vertically
tion, in which an axis extending between an inboard end to can include any of hydraulically and electrically actuating
an outboard end of the rotating portion is perpendicular to 50 such rotation .
the longitudinal axis of the fuselage, and a second configu- In certain embodiments , the method can further include
ration, in which the axis extending between the inboard end pausing rotation of the at least portion of the wing such that
and the outboard end of the rotating portion is parallel to the the wing and the engine are between a vertical and a
longitudinal axis of the fuselage. As noted similarly above, horizontal orientation to transition between hovering and
in some embodiments the leading edge of each rotating 55 forward flight.
portion of the opposed wings can face upward when the Any of the features or variations described above can be
wings are in the second configuration. Still further, in some applied to any particular aspect or embodiment of the
embodiments each of the plurality of engines can be offset invention in a number of different combinations . The
from the wing it is mounted to such that, when each wing is absence of explicit recitation of any particular combination
in the first configuration , the at least one engine mounted 60 is due solely to the avoidance of repetition in this summary .
thereto can be disposed between the wing and the fuselage.
In certain embodiments, the aircraft can further include at BRIEF DESCRIPTION OF THE DRAWINGS
least one landing support coupled to a trailing portion of
each rotating portion of the opposed wings. The landing Further features, aspects , and advantages of the present
support can have any of a variety of forms. For example, in 65 disclosure will become better understood by reference to the
some embodiments the landing support can be any of a following detailed description, appended claims , and
wheel , a float, and a leg . In certain embodiments, the landing accompanying figures, wherein elements are not to scale so
 US 10,967,969 B2
5 6
as to more clearly show the details , wherein like reference FIG . 26A shows a partially - transparent top view of
numbers indicate like elements throughout the several another embodiment of a wing actuator assembly of an
views , and wherein : airframe;
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 ; 5 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
another embodiment of a wing and actuator assembly of an
FIG . 3 shows a perspective view of the airframe of FIG . airframe
2 in a vertical takeoff and landing configuration ; ;
FIG . 27B shows a front view of the wing of FIG . 27A ;
FIG . 4 shows a perspective view of the airframe of FIG . 10 FIG
2 in a first transition configuration; . 27C shows a side view of the wing of FIG . 27A ;
FIG . 28A shows a partially -transparent view of the wing
FIG . 5 shows a perspective view of the airframe of FIG . of FIG . 27A
2 in a second transition configuration ; taken along the line D - D of FIGS . 27A and 27B ;
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 . 15 and
FIG . 27A taken along the line E - E of FIGS . 27A and 27C ;
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 a 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 20 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 ; 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 25 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 skilled in the art will understand that the embodiments
of a vertical takeoff and landing airframe equipped for water
landings;
specifically described herein and illustrated in the accom
30 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 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
flight feedback control strength and wing transition angle;
35 the
fications and variations are intended to be included within
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 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 . 17A 40 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 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 45 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; 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; 50 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 ; 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 ; 55 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 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- 60 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; 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 ; 65 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
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each wing can include an inner fixed portion and an outer airframe can yaw . As a result of this wing pivoting configu
folding or tilting portion . The outer portion of each wing can ration, the airframe 10 can be propelled in a forward
be configured to pivot , fold, or tilt relative to the inner direction by the engines 16A , 16B , 16C , 16D while the
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- 5 configuration (FIG . 2 ) , and in a VTOL configuration ( FIG .
dinal axis of the elongate fuselage or a laterally extending 3 ) the engines 16A , 16B , 160 , 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 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 10 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- inner wing section 18. In such a vertical takeoff and landing
ing flight and faces horizontally forward during forward configuration, the engines 16A . 16B , 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 15 20 can also be oriented vertically such that a vertically
these can also be moved between a vertical orientation facing surface area of the outer wing section 20 is mini
during hovering flight and a horizontal orientation during mized . Put another way, the intended leading edge 26 of the
forward flight. The outer portions of each wing can represent outer wing section 20 is pointed upward . In such a configu
a significant portion of the wing assembly and / or aircraft ration, the vertically oriented engines 16A , 16B , 16C , 16D
weight and, when in a forward flight configuration, the outer
wing portion can merge with the inner wing portion to create
20 can lift the airframe 10 vertically and allow the airframe to
hover. Precise control of an aircraft during hover or at slow
an uninterrupted wing surface . speed can require sufficient lateral and vertical thrust ampli
FIG . illustrates a schematic representation of one tude and variability to overcome adverse influences from
embodiment of an airframe according to the teachings of the turbulent air currents . Helicopters achieve the required per
present disclosure in its various modes of operation. Air- 25 formance envelope by utilizing cyclic and collective control
frame 100A , for example, is illustrated in a hovering, slow of the rotor disk (i.e. , varying pitch and corresponding lift of
speed maneuvering, and VTOL - capable configuration . In each rotor blade as the blade completes a revolution to create
such a configuration , the wings 102 have been tilted relative thrust asymmetry in a desired manner ). As another example,
to the fuselage 104 such that they extend parallel to a length quad rotor aircraft ( e.g. , quadcopters) driven by electric
of the fuselage and such that a leading edge thereof faces 30 motors can achieve hover controllability by means of elec
vertically upward or toward an upper surface of the airframe. tronic throttling of the motor power. In the hovering, VTOL ,
In this configuration , the various thrust producing compo- or low speed flight configuration shown in FIG . 3 , either
nents 106 coupled to the wings 102 are also oriented control scheme can be employed . For example, in the
vertically and can function similarly to the four motors of a illustrated embodiment the four motors 16A , 16B , 160 , 16D
quadcopter drone to allow stable hovering flight and rela- 35 can form a quadcopter - like propulsion system . As shown in
tively slow speed maneuvering in any direction . the figure , the thrusters 16A , 16B , 16C , 16D can be arranged
From the hovering configuration shown by airframe in a square pattern during hover when the wings 14A , 14B
100A , the wings 102 can be tilted as shown by the airframe are folded . Accordingly , thrust produced by each motor 16A ,
100B to begin a transition to the forward flight configuration 16B , 16C , 16D can be modulated to control flight and create
shown by the airframe 100C . The novel tilting design of the 40 any desired thrust asymmetry that results in desired move
wings 102 and thrust producing components 106 can allow ment through the air. Conversely, in forward flight throttle of
a seamless , aerodynamically benign transition from the the motors 16A , 16B . 16C , 16D can be aligned and gener
hovering configuration 100A to the typical forward flight ating thrust parallel to the direction of airspeed, as shown in
configuration 100C wherein the wings 102 are fully FIG . 2 .
deployed with a leading edge thereof facing horizontally 45 FIGS . 4 and 5 illustrate various intermediate configura
forward . In the forward flight configuration , the wings tions wherein the second or outer wing section 20 of each
generate lift to support the weight of the airframe and wing 14A , 14B can be at least partially rotated, tilted , or
extended flight range can be achieved through fast and folded toward a forward flight configuration to allow the
aerodynamically efficient flight. Further, the transition airframe 10 to hover while also moving in a forward
between configurations can proceed in any direction and can 50 direction . In the configuration of FIG . 4 , for example, the
be indefinitely paused at any intermediate step between the outer section 20 of each wing 14A , 14B , along with the
hover configuration 100A and the forward flight configura- engines 16A , 16B , 16C , 16D coupled thereto , has begun
tion 100C to enable varying degrees of maneuverability and rotating away from the VTOL configuration of FIG . 3
flight speed. toward the forward flight configuration of FIG . 2 .
Referring now to FIG . 2 , one embodiment of an airframe 55 To continue a transition to a forward flight configuration ,
10 is provided that allows forward flight and vertical takeoffs the outer wing section 20 of each elongate wing 14A , 14B
and landings. The airframe 10 can include a fuselage 12 and can further rotate towards a full forward flight configuration
a pair of elongate wings 14A and 14B attached to the in which the outer and inner wing sections 18 , 20 form an
fuselage 12 , as well as any of a variety of pitch and yaw uninterrupted wing surface . FIG . 5 illustrates the airframe 10
stabilizers 17 in some embodiments . One or more engines 60 in a second intermediate wing configuration that can be
16A , 16B , 16C , 16D can be mounted on the pair of elongate utilized , for example, to achieve higher speed and / or more
wings 14A and 14B . As described in greater detail below , the efficient forward flight performance than may be possible in
elongate wings 14A and 14B can be rotatable about an axis the configurations of FIGS . 3 and 4. As noted above , the
that is slanted or oblique relative to cardinal axes of the manner in which the wings and propulsion units pivot
airframe, i.e. , a longitudinal axis Lr of the fuselage about 65 relative to the fuselage can enable a stable in - flight transition
which the airframe can roll, a lateral axis Lp about which the and allow the airframe 10 to advantageously maintain any
airframe can pitch , and a vertical axis Y about which the intermediate wing configuration indefinitely to achieve
 US 10,967,969 B2
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desired performance characteristics, such as necessary hori- In some embodiments, a weight of each outer wing
zontal speed to avoid wing stall . section 20 can be around 1/3 of the total aircraft weight.
Continued advancement of the outer wing section 20 of Such a distribution can allow the center of gravity of the
each wing 14A , 14B can bring the outer wing sections 20 aircraft to be close to the center of wing air pressure during
into alignment with the inner wing sections 18 to form an 5 forward flight while also being close to the thrust vector
uninterrupted wing surface , as shown in FIG . 2. This can while hovering. In certain embodiments where electric
represent a complete transition to a forward flight configu- motors are utilized as propulsion units , one or more batteries
ration suited to high speed forward flight wherein the for powering the motor can be positioned on the wing as
engines 16A , 16B , 16C , 16D produce forward thrust and the well . As shown in FIG . 8 , for example, a battery 80 can be
wings 14A and 14B create lift on the airframe 10 . 10 housed in a nacelle 82 or other housing that also encloses an
FIG . 6 illustrates a top view of the embodiment of FIGS . electric motor 16 mounted on an wing section 20. Arranging
2-5 with opposed wings at each extreme of pivoting motion , the battery 80 relative to the motor 16 in this manner can
e.g. , the left wing 14B in a hovering or VTOL configuration have a number of advantages, including, for example ,
and the right wing 14A in a forward flight configuration. As improving weight distribution by moving airframe center of
noted above , each of the pair of elongate wings 14A , 14B 15 gravity backwards during transition to a hovering configu
can include a first inner wing section 18 that can be fixed ration, reducing stress on the pivot joint of the wing ( e.g. , by
adjacent to the fuselage 12 and a second outer wing section 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 20 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 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 25 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 14A , 14B such that, when the airframe 10 is in the vertical
of the airframe 10 (e.g. , the longitudinal axis LR about which takeoff and landing configuration , the landing supports are
the airframe rolls and the lateral axis Le about which the located towards a surface below the airframe 10 to support
airframe pitches ) . For example, in some embodiments the 30 the airframe 10 during landing. The landing supports can be
axis of rotation A 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 35 ° and 55 ° various supports . The folded wing configuration of FIGS .
relative to the lateral axis Lp such 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 35 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 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. 40 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 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 45 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 . In other embodiments , such as the embodiment of FIGS .
6 and 7 , the one or more engines 16A , 16B , 16C , 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 50 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 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 55 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- 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 60 controlling 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 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 65 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 . aileron joints / linkages near the trailing edge 90 of each wing
 US 10,967,969 B2
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14A , 14B need to be waterproofed in such an embodiment. to the fuselage 12 during transition from a VTOL configu
Horizontal propulsion in a water -borne embodiment can be ration to a forward flight configuration . Also of note is that
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, 5 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 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 10 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. 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 , 163 , 16C , and 16D , but in the vertical flight configuration, can also be utilized with
in other embodiments a different number of propulsion units 15 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 ofpropulsion units can be employed , e.g. , six , 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 20 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 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 25 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 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 30 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 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 35 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 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 of manners . In the illustrated embodiment,
various suitable engines in use and known for manned 40 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 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 45 above , the pivot mechanism 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 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 50 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 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
at oblique angles to any of a longitudinal or roll axis La , a ponents thereabout, but in general the pivot joint can be
lateral or spar or pitch axis Lp, and a vertical or yaw axis Y 55 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 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 . 60 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 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
of wing 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 65 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 its cardinal axes of roll LR, pitch Lp and yaw Y. In the side
 US 10,967,969 B2
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view of FIG . 17A , it can be seen that the pivot axis A , when any of a variety of known materials , including, for example ,
projected into the plane of the figure, forms an oblique angle sintered bronze impregnated with oil .
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 , 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 5 facilitate low friction movement with an ability to absorb
high stresses along the wing spar. Note that the joint 2000 of
about 55 degrees in some embodiments . The angle 02
between the pivot axis A and the longitudinal or roll axis LR 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
degrees certain embodiments . In some embodiments , the 10 ence between a joint used in an aircraft's left wing in
angles 01 , 02 can each be about 45 degrees. comparison to its right wing . The joint 2000 can also be
FIG . 17B shows a front view of the airframe 10 with drawn in the manner of FIGS . 18 and 19 , and both such
projections of these axes . As shown in the figure, the pivot configurations are within the scope of the invention . Return
axes A , A' can each form an oblique angle 03 with respect to ing to FIG . 20 , a first spar insert 2002 is coupled to an inner
the lateral or pitch axis Lp of the airframe ( which can also 15 wing spar 1802 and a second spar insert 2004 is coupled to
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 03 can be between about 35 and about 55 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 arms 2006 , 2008
FIG . 17C shows a top view of the airframe 10 with 20 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 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 25 As shown in the figure, the pivot axis A can form an angle
the angle 04 can be about 45 degrees . 0 , with a vertical axis 2018 that can be parallel to the yaw
FIG . 18 illustrates one embodiment of a pivot joint 1800 axis Y. In some embodiments, the angle Os 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 30 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 20 can produce the above - described angles of FIGS . 17A
wing spar 1802 and an ou 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 35 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 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 40 another such that a clevis pin, bolt , or other securing member
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- 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 Lp by about 55 ° in some embodiments .
relative to one another. As noted above, the hollow bore 45 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 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 50 views of FIGS . 22B , 23B , and 24B are taken along the pivot
sufficient strength . Other components , such as the spars , spar axis A of FIG . 21. In one embodiment, motion of a wing
inserts, etc. can be formed from any of a variety ofmaterials, 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 55 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 . 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 60 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 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 65 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 second or outer wing section 20 relative to the first or inner
 US 10,967,969 B2
15 16
wing section 18 is shown from above an airframe 10. In the pivot axis A. The couplings 2806 , 2808 to the first and
illustrated embodiment, the actuator assembly 36 includes a second linear actuators 2702 , 2704 can be disposed on
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 5 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 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 10 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 ) . 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 of 15 bolt , 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 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 20 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 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 25 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 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 30 plane of the figure. This angle can be between about 25 ° and
gear 2604 coupled to the outer wing portion 20 , in other about 450 in some embodiments to create the above-de
embodiments the arrangement can be reversed such that 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 35 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 . 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- 40 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 the reduced thickness of the wing can make it more suscep
shown in the figures, a pivot joint between 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 45 (e.g. , up to 5 Gs and beyond ). The wing 2900 can be divided
angle 06 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 0 can be about 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 50 2902 can provide for movement of the outer wing 20 relative
Y and a longitudinal or roll axis LR: 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 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 55 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 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 60 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 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 65 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 20. As a result, the second inner and outer spars 2906 , 2908
 US 10,967,969 B2
17 18
can be effectively joined as a single spar spanning an entire 2. The aircraft assembly according to claim 1 , wherein the
length of the inner and outer wings 18 , 20. To pivot the pivot joint of each wing comprises:
wings into a VTOL or other intermediate configuration, the a first portion connected to hg fixed portion of the win the
locking pin 2910 can be translated to one side of the first portion having a first bore ,
interface 2914 , thereby separating the second inner and outer 5 a second portion connected to the rotatable portion of the
spars 2906 , 2908 to allow the components to separate as the wing , the second portion having a second bore , and
outer wing 20 pivots about the joint 2902 and pivot axis A a connecting member configured to extend through the
relative to the inner wing 18 . first bore and the second bore , and
The various airframes of the present disclosure advanta- wherein the pivot axis is oriented in a direction along a
geously allow for transition from a vertical takeoff and 10 longitudinal length of the connecting member.
landing configuration to a forward flight configuration. In 3. The aircraft assembly according to claim 2 , wherein
the vertical takeoff and landing configuration, weight of the one of the first portion and the second portion has a pair of
various components mounted to the wings pivoting wing spaced apart arms, and wherein the other of the first portion
portions can be located close to the fuselage, thereby reduc- and the second portion is receivable in a space between the
ing any moment of inertia created by mass disposed remote 15 pair of spaced apart arms.
from a center of gravity of the airframe. Further, the pivoting 4. The aircraft assembly according to claim 1 , wherein the
wing portions can be oriented in a substantially vertical pivot joint of each wing is disposed in a leading portion of
direction with a leading edge thereof facing upward, thereby the wing.
allowing unobstructed and maximally - efficient airflow over 5. The aircraft assembly according to claim 1 , wherein an
the wings during vertical flight. In addition , propulsion units 20 axis between a leading edge and a trailing edge of the
coupled to the wings can be oriented in a vertical direction rotatable portion of each wing is substantially perpendicular
so as to support a weight of the craft with their thrust force . to the longitudinal axis of the fuselage in the second posi
Conversely, in a forward flight configuration , the engines tion .
coupled to the wings can be rotated and moved further away 6. The aircraft assembly according to claim 1 , wherein an
from a center of gravity of the airframe, thereby creating 25 axis between an inboard end and an outboard end of the
greater stability during forward flight and vectoring propul- rotatable portion of each wing is substantially parallel to the
sion unit thrust in a horizontal direction to maximize effi- longitudinal axis of the fuselage in the second position .
ciency while the wings create aerodynamic lift force to 7. The aircraft assembly according to claim 1 , wherein a
support the weight of the craft. leading edge of the rotatable portion of each wing faces
The foregoing description of preferred embodiments of 30 upward in the second position .
the present disclosure has been presented for purposes of 8. The aircraft assembly according to claim 1 , wherein the
illustration and description . The described preferred at least one thrust producing component is configured to
embodiments are not intended to be exhaustive or to limit facilitate the vertical lift of the aircraft assembly in the
the scope of the disclosure to the precise forms disclosed . second position .
Additional modifications or variations are possible in light 35 9. The aircraft assembly according to claim 1 , wherein
of the above teachings . The embodiments are chosen and each wing comprises at least one actuator configured for
described in an effort to provide the best illustrations of the controlling rotation of the rotatable portion .
principles of the disclosure and its practical application , and 10. The aircraft assembly according to claim 1 , wherein
to thereby enable one of ordinary skill in the art to utilize the the fuselage remains generally horizontal relative to earth
concepts revealed in the disclosure in various embodiments 40 during vertical take - off.
and with various modifications as are suited to the particular 11. A wing assembly for an aircraft, the wing assembly
use contemplated. All such modifications and variations are comprising:
within the scope of the disclosure as determined by the a fixed wing portion coupleable to a fuselage of the
appended claims when interpreted in accordance with the aircraft;
breadth to which they are fairly, legally, and equitably 45 a rotatable wing connectable to the fixed portion;
entitled . at least one thrust producing component configured to be
What is claimed is : mounted to at least the rotatable wing ; and
1. An aircraft assembly, comprising: a pivot joint facilitating rotatable movement of the rotat
a fuselage having a longitudinal axis ; able wing relative to the fixed wing portion,
a pair of wings configured to extend relative to opposed 50 wherein the pivot joint defines a pivot axis oblique to a
sides of the fuselage , each wing having a fixed portion longitudinal axis of the fuselage, and
configured to extend from the fuselage, and the rotat- wherein the rotatable wing is rotatable about the pivot
able portion configured to extend from the fixed por axis between a first position configured for horizontal
tion ; flight of the aircraft, and a second position configured
at least one thrust producing component configured to be 55 for vertical take -off and landing of the aircraft.
mounted to at least the rotatable portion of each wing ; 12. The wing assembly according to claim 11 , wherein the
and pivot joint comprises:
a pivot joint associated with each wing and facilitating a first portion connectable to the fixed portion and having
rotatable movement of the rotatable portion of each a first bore,
wing relative to the fuselage , 60 a second portion connectable to the rotatable wing and
wherein the pivot joint defines a pivot axis oblique to the having a second bore , and
longitudinal axis of the fuselage, and a connecting member configured to extend through the
wherein the rotatable portion of each wing is rotatable first bore and the second bore , and
about the pivot axis between a first position configured wherein the pivot axis is oriented in a direction along a
for horizontal flight of the aircraft assembly, and a 65 longitudinal length of the connecting member.
second position configured for vertical take -off and 13. The wing assembly according to claim 12 , wherein
landing of the aircraft assembly . one of the first portion and the second portion has a pair of
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19 20
spaced apart arms, and wherein the other of the first portion a pair of wings configured to extend relative to opposed
and the second portion is receivable in a space between the sides of the fuselage;
pair of spaced apart arms. a pivot joint associated with each wing and facilitating
14. The wing assembly according to claim 11 , further rotatable movement of a rotatable portion of each wing
comprising at least one actuator configured for controlling 5 relative to the fuselage ; and
rotation of the rotatable wing. at least one thrust producing component configured to be
15. The wing assembly according to claim 11 , wherein the mounted to at least the rotatable portion of each wing ,
fuselage is configured to remain generally horizontal relative wherein the pivot joint defines a pivot axis oblique to the
to earth during vertical take - off. longitudinal axis of the fuselage,
16. A method of manufacturing an aircraft, the method 10 wherein the rotatable portion of each wing is rotatable
comprising : about the pivot axis between a first position configured
providing a fuselage having a longitudinal axis ; for horizontal flight of the aircraft assembly, and a
attaching a fixed portion of each of a pair of wings to the second position configured for vertical take -off and
fuselage; landing of the aircraft assembly, and
rotatably coupling a rotatable portion of each of the pair 15 wherein the fuselage remains generally horizontal relative
of wings relative to the fixed portion via a pivot joint to earth during vertical take -off.
that defines a pivot axis oblique to the longitudinal axis 19. The aircraft assembly according to claim 18 , wherein
of the fuselage; and the pivot joint of each wing comprises:
mounting at least one thrust producing component to the a first portion connected to a fixed support, the first
rotatable portion of each wing , 20 portion having a first bore ,
wherein the rotatable portion of each wing is rotatable a second portion connected to the rotatable portion of the
about the pivot axis between a first position configured wing , the second portion having a second bore, and
for horizontal flight of the aircraft, and a second posi a connecting member configured to extend through the
tion configured for vertical take -off and landing of the first bore and the second bore, and
aircraft. 25 wherein the pivot axis is oriented in a direction along a
17. The method according to claim 16 , further comprising longitudinal length of the connecting member.
providing at least one actuator configured for controlling 20. The aircraft assembly according to claim 18 , wherein
rotation of each wing. a leading edge of the rotatable portion of each wing faces
18. An aircraft assembly, comprising: upward in the second position .
a fuselage having a longitudinal axis ; *