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CN109050898A - Non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula - Google Patents

Non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula Download PDF

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Publication number
CN109050898A
CN109050898A CN201810936892.4A CN201810936892A CN109050898A CN 109050898 A CN109050898 A CN 109050898A CN 201810936892 A CN201810936892 A CN 201810936892A CN 109050898 A CN109050898 A CN 109050898A
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CN
China
Prior art keywords
fuselage
rotor
motor
arm
connector
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Pending
Application number
CN201810936892.4A
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Chinese (zh)
Inventor
闫德民
葛贤坤
乔治军
张先锋
陈曙泓
方播
刘洪国
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Nanjing One Connaught Aviation Technology Co Ltd
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Nanjing One Connaught Aviation Technology Co Ltd
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Application filed by Nanjing One Connaught Aviation Technology Co Ltd filed Critical Nanjing One Connaught Aviation Technology Co Ltd
Priority to CN201810936892.4A priority Critical patent/CN109050898A/en
Publication of CN109050898A publication Critical patent/CN109050898A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B64C27/10—Helicopters with two or more rotors arranged coaxially
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Toys (AREA)

Abstract

本发明公开了一种一种非均匀动力布局式十旋翼无人机，包括：机身；机臂，其沿机身周向布局，所述机臂沿长度方向一端为固定端，一端为自由端；机臂的固定端固定于机身，机臂的自由端安装有飞行机构；机身的下方还设有中心共轴双桨飞行机构；共轴双桨飞行机构通过脚架连接件安装在机身几何中心的正下方，合理利用了空间，载荷能力强，飞行效率高，结构紧凑。

The invention discloses a ten-rotor unmanned aerial vehicle with non-uniform power layout, comprising: a fuselage; a machine arm, which is arranged along the circumferential direction of the fuselage, and one end of the machine arm along the length direction is a fixed end, and the other end is a free end. end; the fixed end of the arm is fixed on the fuselage, and the free end of the arm is equipped with a flight mechanism; the center coaxial double-blade flight mechanism is also provided under the fuselage; the coaxial double-blade flight mechanism is installed on the Just below the geometric center of the fuselage, the space is rationally used, the load capacity is strong, the flight efficiency is high, and the structure is compact.

Description

Non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula
Technical field
The present invention relates to unmanned plane fields, and in particular to a kind of non-homogeneous ten rotor wing unmanned aerial vehicle of layout type.
Background technique
Multi-rotor unmanned aerial vehicle mostly uses greatly lithium battery as power, has simple structure, flight stability, easily controllable etc. excellent The UAV system such as land mapping, agricultural plant protection, fire-fighting, the forest fire protection that point is developed based on multi-rotor unmanned aerial vehicle are a wide range of It promotes and applies.
Big load, long endurance are the important directions of unmanned air vehicle technique development, and load-carrying can be improved by increasing rotor quantity Ability.Common big load multi-rotor unmanned aerial vehicle mostly uses greatly the forms such as the more rotors of conventional single layer, coaxial double-oar bilayer layout.It is conventional Eight rotor of single layer is common structure type, has many advantages, such as that good flight stability, high reliablity, wind resistance be good, power effect is than high； In order to further increase load-carrying ability, some units have developed 12 rotor of single layer, 16 using the method for increasing rotor quantity Rotor structure, this structure can only increase frame dimensions by increase unmanned plane wheelbase to realize, and the central area of rack There is larger area not covered by rotor wind field, so that space utilization rate is not high, operational support is inconvenient.It is another common coaxial Double paddle bilayer layout structures, greatly improve space utilization rate, so that frame structure is more compact, but due to coaxial two paddles up and down Between air-flow generate interference, make capable effect than reducing, generally than normal arrangement formula reduction by 15% or so.
Summary of the invention
It is an object of that present invention to provide a kind of non-homogeneous ten rotor wing unmanned aerial vehicles of power arrangement formula, and load-carrying ability is strong, flight It is high-efficient, it is compact-sized.
For this purpose, providing a kind of non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula, comprising: fuselage, fuselage include fuselage frame Frame, equipment compartment and foot prop, equipment compartment are mounted on fuselage ring, are connected with vertical foot prop below fuselage ring；；Eight machines Arm is circumferentially laid out along fuselage, and one end is fixing end to the horn along its length, and one end is free end, the fixing end of horn It is fixed on fuselage, the free end of horn is separately installed with aviation mechanism；Center coaxial double-oar flying machine is additionally provided with below fuselage Structure.
Optionally, the fuselage ring connects into square structure, eight horns by fuselage connector by four square tubes It is fixed on four angles of fuselage ring by fuselage connector, fuselage ring and horn in same plane and form " well " font Shape.Fuselage ring is the main stressed member of entire unmanned plane, and the present invention is set as square structure, and stability is good, can bear Biggish load.
Further, the horn includes horn connector and horn bar, and horn bar is connected by horn connector and fuselage The foldable connection of fitting.Optionally, horn length is identical as foot prop length, and horn can be folded down 90 degree, after folding, can fix On foot prop, the portability of entire unmanned aerial vehicle body is improved.
Further, four vertical foot props are connected separately at four angles of fuselage ring.
Further, the aviation mechanism includes that motor, motor cabinet, electricity tune controller and rotor, the rotor can be rotated Be fixed on motor, motor with electricity adjust controller be connected, motor is installed on motor cabinet, the free end phase of motor cabinet and horn Even.The motor is brushless motor, and electricity adjusts flight control system and brushless motor in controller connection equipment compartment, according to flight control system Control signal control motor speed, rotor is rotated together with brushless motor, for providing lift.
Further, the center coaxial double-oar aircraft systems include coaxial connector, upper motor and lower motor, upper rotor It with lower rotor, powers on and controller and lower electricity is adjusted to adjust controller, upper motor connection powers on tune controller, the lower lower electricity regulation of motor connection The output shaft of device processed, upper motor and lower motor on the same axis, and it is opposed be mounted on coaxial connector, upper rotor can be rotated Ground is fixed on the output shaft of motor to rotate to a direction, lower rotor be rotatably fixed on the output shaft of lower motor with Just the direction opposite with upper rotor rotates, and the coaxial connector is connected on foot prop by foot prop connector, foot prop connector One end is connect with foot prop, and the other end is connected to coaxial connector, and plane where plane where foot prop connector and fuselage ring is flat Row powers on and controller and lower electricity is adjusted to adjust controller using same model, and uses the same input signal, coaxial upper to ensure Motor is cancelled out each other with the revolving speed of lower motor absolutely consistent, torque.
Further, the center coaxial double-oar aviation mechanism is one, and coaxial double-oar aviation mechanism is mounted on fuselage The underface of geometric center, the axis of center coaxial double-oar aviation mechanism passes through the geometric center of fuselage, for providing center liter Power.
It optionally, further include foot prop connector, foot prop connector one end is connect with foot prop, and the other end is connected to coaxial connection Part, plane is parallel with plane where fuselage ring where foot prop connector.
Further, flight control system, GPS system, image delivering system, load control system are installed in the equipment compartment System, power-supply management system and lithium battery.
UAV system flight theory of the present invention is as follows:
Take off it is ready after, first start center coaxial double-oar aviation mechanism, throttle is opened into 50%~60% level, so that flying Row device obtains certain lift, then starts flight by the program of common eight-rotary wing aircraft；In flight course, center coaxial double-oar Aviation mechanism remains uniform power output, and eight aviation mechanisms being circumferentially laid out are responsible for providing the lift that flight needs, When aircraft needs to land, land by normal procedure, after coming to a complete stop, closing center's coaxial double-oar aviation mechanism.
Using above-mentioned technical proposal, the invention has the following advantages:
1. load-carrying ability is strong, center coaxial double-oar aviation mechanism constitutes ten rotor flying systems together with eight aviation mechanisms, In the reasonable situation of dynamical system type selecting, single-blade can bear the take-off weight of 10kg, take-off weight about 100kg；
2. flight efficiency is high, the efficiency only with center coaxial double-oar aviation mechanism is slightly lower, eight aviation mechanisms being circumferentially laid out In one plane, air-flow is not interfered with, whole flight efficiency is higher；
3. relying on, eight aviation mechanisms for being circumferentially laid out carry out the posture of unmanned planes and direction is stablized, stability, wind resistance with it is general Logical eight axis aircraft of single layer is suitable, is better than four axis, six axis mechanisms；
4. coaxial double-oar aviation mechanism is mounted on the underface of fuselage geometric center by foot prop connector, sky is rationally utilized Between, entire unmanned plane is compact-sized, is convenient for logistics support.
Detailed description of the invention
Fig. 1 is the overall structure diagram of non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula of the embodiment of the present invention；
Fig. 2 is partial enlarged view at A in Fig. 1；
Fig. 3 is partial enlarged view at B in Fig. 1.
Appended drawing reference: 1 fuselage ring, 2 fuselage connectors, 3 equipment compartments, 4 foot props, 5 horns, 6 horn connectors, 7 flights Mechanism, 8 electricity adjust controllers, 9 motors, 10 rotors, 11 motor cabinets, 12 foot prop connectors, 13 coaxial connectors, motor on 14, and 15 Upper rotor.
Specific embodiment
Detailed description of the present invention embodiment below with reference to the accompanying drawings, allow those of ordinary skill in the art easily Realize them.However, the present invention can also be implemented in many different forms, and it is not limited to embodiment as described herein.In order to clear The part unrelated with the description present invention is omitted in Chu Qijian in the accompanying drawings.Unless otherwise indicated, the term as used herein has Common meaning in this field.Herein, each component of attached drawing is referred to using descriptions such as term "left", "right", "upper", "lower" Relative position, using the same or similar different components of the difference function such as term " first ", " second ".These terms and similar The use of term is only used for facilitating description, but should not be understood as limiting the scope of the invention.
Referring to Fig.1, a kind of non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula, comprising: fuselage, fuselage include fuselage ring 1 With equipment compartment 3 and foot prop, equipment compartment 3 is mounted on fuselage ring 1, and vertical foot prop 4 is connected with below fuselage ring 1；It is described Flight control system, GPS system, image delivering system, load control system, power-supply management system and lithium electricity are installed in equipment compartment 3 Pond (not shown)；Eight horns 5, along fuselage circumferentially be laid out, the horn 5 along its length one end be fixing end, one End is free end, and the fixing end of horn 5 is fixed on fuselage, and the free end of horn 5 is separately installed with aviation mechanism 7；Under fuselage Side is additionally provided with center coaxial double-oar aviation mechanism.
Optionally, the fuselage ring 1 connects into square structure by fuselage connector 2 by four carbon fiber square tubes, The load of 100kg or more can be born, eight horns 5 are fixed on four angles of fuselage ring 1 by fuselage connector 2, fuselage Frame 1 and horn 5 in same plane and form " well " word shape.Fuselage ring 1 is the main stressed member of entire unmanned plane, this Invention is set as square structure, and stability is good, can bear biggish load.
The horn 5 includes horn connector 6 and horn bar, and horn bar can by horn connector 6 and fuselage connector 2 Fold connection.Fuselage connector 2 and two adjacent horn connectors 6 form a five-way structure, 5 length of horn and foot prop 4 Length is identical, and horn can be folded down 90 degree, after folding, can be fixed on foot prop 4, improves the portable of entire unmanned aerial vehicle body Property.Four vertical foot props 4 are connected separately at four angles of fuselage ring 1, foot prop 4 is four isometric carbon fiber bars.
Referring to Fig. 2, the aviation mechanism 7 includes motor 9, motor cabinet 11, electricity tune controller 8 and rotor 10, the rotor 10 are rotatably fixed on motor 9, and motor 9 adjusts controller 11 to be connected with electricity, and motor 9 is installed on motor cabinet 11, motor cabinet 11 are connected with the free end of horn 5.The motor 9 be brushless motor, electricity adjust controller connection equipment compartment in flight control system and Brushless motor controls motor speed according to the control signal of flight control system, and rotor is rotated together with brushless motor, for providing Lift.The wheelbase of eight aviation mechanisms is 2250mm, and rotor specification is 32mm × 11mm, and single aviation mechanism maximum pull is about 20kg, take-off weight are less than 10kg；
Referring to Figure 1 and Figure 3, the center coaxial double-oar aircraft systems include coaxial connector 13, upper motor 14 and lower motor, on Rotor 15 and lower rotor, power on and controller and lower electricity are adjusted to adjust controller, and the upper connection of motor 14 powers on tune controller, lower motor connection On the same axis, axis passes through fuselage center, and opposed installation to the output shaft of lower electricity tune controller, upper motor 14 and lower motor On coaxial connector 13, upper rotor 15 is rotatably mounted to the output shaft of motor 14 to rotate to a direction, under Rotor is fixed on the output shaft of lower motor rotatably so that the direction opposite with upper rotor rotates.It powers on and adjusts controller and lower electricity It adjusts controller to use same model, and uses the same input signal, to ensure the revolving speed of coaxial upper motor 14 and lower motor Absolutely consistent, torque is cancelled out each other.Coaxial connector 13 is connected on foot prop 4 by foot prop connector 12, foot prop connector 12 One end is connect with foot prop 4, and the other end is connected to coaxial connector 13,1 place of 12 place plane of foot prop connector and fuselage ring Plane is parallel.
Center coaxial double-oar aviation mechanism be one, coaxial double-oar aviation mechanism be mounted on the geometric center of fuselage just under Side, the axis of center coaxial double-oar aviation mechanism passes through the geometric center of fuselage, for providing center lift.
To make center coaxial double-oar aviation mechanism provide bigger lift, so that the load-carrying ability of entire flying platform reaches To maximum, using following design principle: select upper rotor and lower rotor to be dimensioned slightly smaller than the cornerwise size of foot prop first, so that Space layout is rationally compact；On this basis, the brushless motor to match with upper rotor and lower rotor size is matched, it is preferred that The upper motor of the coaxial aviation mechanism in center and lower power of motor are greater than the motor of circumferential eight aviation mechanisms；Upper rotor and lower rotor Direction of rotation it is opposite.Upper rotor and lower rotor are having a size of 35mm × 12mm, maximum pull about 40kg, operating point in practical flight For 20kg.
It is described in detail above for realizing certain most preferred embodiments of the invention and other embodiments, but should manage Solution, the effect of these embodiments is only that citing, and does not lie in and limit the scope of the invention in any way, is applicable in or construct. Protection scope of the present invention is limited by appended claims and its equivalent way.Those skilled in the art can be in religion of the invention Lead it is lower many changes are made to foregoing embodiments, these changes each fall within protection scope of the present invention.

Claims (10)

1.一种非均匀动力布局式十旋翼无人机，包括：机身，机身包括机身框架（1）和设备舱（3），设备舱（3）安装在机身框架（1）上；八个机臂（5），其沿机身周向布局，所述机臂（5）沿长度方向一端为固定端，一端为自由端，机臂（5）的固定端固定于机身，机臂的自由端分别安装有飞行机构（7）；其特征在于，机身框架（1）的下方还设有中心共轴双桨飞行机构。1. A ten-rotor unmanned aerial vehicle with non-uniform power layout, including: a fuselage, the fuselage includes a fuselage frame (1) and an equipment cabin (3), and the equipment cabin (3) is installed on the fuselage frame (1) ; eight machine arms (5), which are arranged along the circumferential direction of the fuselage, one end of the machine arm (5) along the length direction is a fixed end, and the other end is a free end, and the fixed end of the machine arm (5) is fixed to the fuselage, The free ends of the machine arms are respectively equipped with flight mechanisms (7); the feature is that a central coaxial double-blade flight mechanism is also provided under the fuselage frame (1). 2.根据权利要求1所述的非均匀动力布局式十旋翼无人机，其特征在于，所述机身框架（1）由四根方管通过机身连接件连接成正方形结构，八个机臂（5）通过机身连接件（2）固定在机身框架（1）的四个角上，机身框架（1）与机臂（5）在同一平面并形成“井”字形状。2. The ten-rotor UAV with non-uniform power layout according to claim 1, characterized in that, the fuselage frame (1) is connected into a square structure by four square tubes through fuselage connectors, and eight machine The arm (5) is fixed on the four corners of the fuselage frame (1) through the fuselage connector (2), and the fuselage frame (1) and the machine arm (5) are on the same plane and form a "well" shape. 3.根据权利要求1所述的非均匀动力布局式十旋翼无人机，其特征在于，所述机臂（5）包括机臂连接件（6）和机臂杆，机臂杆通过机臂连接件（6）与机身连接件（2）可折叠连接。3. The non-uniform power layout type ten-rotor UAV according to claim 1, characterized in that, the arm (5) includes an arm connector (6) and an arm rod, and the arm rod passes through the arm The connecting part (6) is foldably connected with the fuselage connecting part (2). 4.根据权利要求1所述的非均匀动力布局式十旋翼无人机，其特征在于，所述飞行机构（7）包括电机（9）、电机座（11）、电调控制器（8）和旋翼（10），所述旋翼（10）可转动的固定在电机（9）上，电机（9）与电调控制器（8）相连，电机（9）安装于电机座（11）上，电机座（11）与机臂（5）的自由端相连。4. The non-uniform power layout ten-rotor UAV according to claim 1, characterized in that, the flight mechanism (7) includes a motor (9), a motor base (11), and an electric controller (8) and the rotor (10), the rotor (10) is rotatably fixed on the motor (9), the motor (9) is connected to the electric controller (8), and the motor (9) is installed on the motor base (11), The motor base (11) links to each other with the free end of machine arm (5). 5.根据权利要求1所述的非均匀动力布局式十旋翼无人机，其特征在于，所述机身框架（1）下方还连接有竖直的脚架（4），所述中心共轴双桨飞机机构包括共轴连接件（13），上电机（14）和下电机，上旋翼（15）和下旋翼，上电调控制器和下电调控制器，上电机（14）连接上电调控制器，下电机连接下电调控制器，上电机（14）和下电机的输出轴在同一轴线上，并对置安装在共轴连接件（13）上，上旋翼（15）可转动地固定在上电机（14）的输出轴以便向一个方向旋转，下旋翼可转动的固定在下电机的输出轴以便与上旋翼相反的方向旋转，所述共轴连接件（13）通过脚架连接件（12）连接到脚架（4）上，脚架连接件（12）一端与脚架（4）连接，另一端连接到共轴连接件（13），脚架连接件（12）所在平面与机身框架（1）所在平面平行。5. The non-uniform power layout ten-rotor UAV according to claim 1, characterized in that, a vertical tripod (4) is connected under the fuselage frame (1), and the center is coaxial The scull aircraft mechanism includes a coaxial connector (13), an upper motor (14) and a lower motor, an upper rotor (15) and a lower rotor, an upper ESC controller and a lower ESC controller, and the upper motor (14) is connected to the upper ESC controller, the lower motor is connected to the lower ESC controller, the output shafts of the upper motor (14) and the lower motor are on the same axis, and are installed oppositely on the coaxial connector (13), the upper rotor (15) can be The output shaft of the upper motor (14) is rotatably fixed to rotate in one direction, and the lower rotor is rotatably fixed to the output shaft of the lower motor so as to rotate in the opposite direction to the upper rotor. The coaxial connection (13) passes through the stand The connector (12) is connected to the tripod (4), one end of the tripod connector (12) is connected to the tripod (4), and the other end is connected to the coaxial connector (13), where the tripod connector (12) is The plane is parallel to the plane where the fuselage frame (1) is located. 6.根据权利要求1所述的非均匀动力布局式十旋翼无人机，其特征在于，所述中心共轴双桨飞行机构为一个，共轴双桨飞行机构安装在机身的几何中心的正下方，中心共轴双桨飞行机构的轴线穿过机身的几何中心。6. The non-uniform power layout type ten-rotor UAV according to claim 1, wherein the center coaxial double-blade flight mechanism is one, and the coaxial double-blade flight mechanism is installed at the geometric center of the fuselage. Directly below, the axis of the central coaxial scull flight mechanism passes through the geometric center of the fuselage. 7.根据权利要求2所述的非均匀动力布局式十旋翼无人机，其特征在于，在机身框架（1）的四个角处分别连接有竖直的四个脚架（4）。7. The non-uniform power layout ten-rotor UAV according to claim 2, characterized in that four vertical tripods (4) are respectively connected to the four corners of the fuselage frame (1). 8.根据权利要求1所述的非均匀动力布局式十旋翼无人机，其特征在于，所述设备舱（3）里安装有飞控系统、GPS系统、图像传输系统、载荷控制系统、电源管理系统和锂电池。8. The ten-rotor unmanned aerial vehicle with non-uniform power layout according to claim 1, characterized in that, the equipment cabin (3) is equipped with a flight control system, a GPS system, an image transmission system, a load control system, and a power supply management system and lithium battery. 9.根据权利要求1所述的非均匀动力布局式十旋翼无人机，其特征在于，所述机臂（5）长度和脚架（4）高度相同。9. The ten-rotor UAV with non-uniform power layout according to claim 1, characterized in that, the length of the arm (5) is the same as the height of the tripod (4). 10.根据权利要求1所述的非均匀动力布局式十旋翼无人机，其特征在于，所述机身框架（1）和脚架（4）的材质均为碳纤维。10. The ten-rotor UAV with non-uniform power layout according to claim 1, characterized in that the fuselage frame (1) and the tripod (4) are made of carbon fiber.
CN201810936892.4A 2018-08-16 2018-08-16 Non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula Pending CN109050898A (en)

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Cited By (11)

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CN109625257A (en) * 2018-12-27 2019-04-16 顺丰科技有限公司 Logistics unmanned plane
CN109981042A (en) * 2019-04-30 2019-07-05 天津大学 A kind of clean intelligent robot of solar panel based on more rotors
CN110155313A (en) * 2019-05-13 2019-08-23 之江实验室 A multi-rotor manned aircraft
CN110155314A (en) * 2019-05-13 2019-08-23 北京遥感设备研究所 A six-rotor UAV
CN110254712A (en) * 2019-07-19 2019-09-20 苏州高博软件技术职业学院 Two horizontal two vertical blades can turn four wheeled dynamic wing unmanned plane
CN110282125A (en) * 2019-07-19 2019-09-27 苏州高博软件技术职业学院 It can turn vertical dicycly based on blade and move the aircraft that the wing pushes
CN110371285A (en) * 2019-07-19 2019-10-25 苏州高博软件技术职业学院 Blade can turn the four wheeled dynamic wing unmanned plane of horizontal lift
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CN110155313A (en) * 2019-05-13 2019-08-23 之江实验室 A multi-rotor manned aircraft
CN110155314A (en) * 2019-05-13 2019-08-23 北京遥感设备研究所 A six-rotor UAV
CN112124554A (en) * 2019-06-25 2020-12-25 北京京东乾石科技有限公司 Unmanned aerial vehicle fuselage and unmanned aerial vehicle
CN112124554B (en) * 2019-06-25 2025-01-17 北京京东乾石科技有限公司 UAV fuselage and UAV
CN110371285A (en) * 2019-07-19 2019-10-25 苏州高博软件技术职业学院 Blade can turn the four wheeled dynamic wing unmanned plane of horizontal lift
CN110282125A (en) * 2019-07-19 2019-09-27 苏州高博软件技术职业学院 It can turn vertical dicycly based on blade and move the aircraft that the wing pushes
CN110254712A (en) * 2019-07-19 2019-09-20 苏州高博软件技术职业学院 Two horizontal two vertical blades can turn four wheeled dynamic wing unmanned plane
CN114450223A (en) * 2019-10-16 2022-05-06 株式会社爱隆未来 flying body
WO2021128444A1 (en) * 2019-12-27 2021-07-01 周鹏跃 Multi-rotor aerial vehicle
CN111891332A (en) * 2020-09-01 2020-11-06 杭州启飞智能科技有限公司 Unmanned aerial vehicle body and multi-rotor unmanned aerial vehicle thereof

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