CN104002964B - Many rotor wing unmanned aerial vehicles - Google Patents
Many rotor wing unmanned aerial vehicles Download PDFInfo
- Publication number
- CN104002964B CN104002964B CN201410241181.7A CN201410241181A CN104002964B CN 104002964 B CN104002964 B CN 104002964B CN 201410241181 A CN201410241181 A CN 201410241181A CN 104002964 B CN104002964 B CN 104002964B
- Authority
- CN
- China
- Prior art keywords
- paddle arm
- fuselage
- unmanned aerial
- rotor wing
- wing unmanned
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Toys (AREA)
Abstract
The invention discloses a kind of many rotor wing unmanned aerial vehicles, comprise in rectangular fleetline fuselage, described fuselage is provided with multiple slurry arm be symmetric relative to the symmetrical plane in described fuselage, the outer end of each slurry arm is provided with paddle components, described paddle components comprises the motor be arranged on described slurry arm and the blade be connected on the output shaft of described motor, and the rotation axis of every a slice blade is all positioned on the same face of cylinder.Thus, the resistance of many rotor wing unmanned aerial vehicles in flight course can be reduced on the one hand by technical scheme of the present invention, the degree of utilization of fuselage chamber inner volume can be improved on the other hand, be conducive to carrying out upgrading to many rotor wing unmanned aerial vehicles; In addition, balance in flight course of many rotor wing unmanned aerial vehicles of this version and attitudes vibration control more simple, and its balance quality is high, thus improves the seaworthiness of many rotor wing unmanned aerial vehicles.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, especially relate to a kind of many rotor wing unmanned aerial vehicles.
Background technology
Unmanned plane (robot airplane) starts a kind of aircraft practical gradually at present, its have maneuverability, reaction fast, the advantage such as unmanned flight, operation requirements be low.Unmanned plane loads multiclass sensor, such as camera, image real-time Transmission, high-risk areas detecting function can be realized, be widely used in the fields such as fire-fighting, military affairs, traffic, police service, exploration and meteorology, to realize cruise shooting to designated area and supervision.At present, unmanned plane is carry out manufacturing and designing based on the flight theory of helicopter mostly, can realize vertical lift and high-altitude hovering, thus meet the requirement of taking photo by plane and monitoring, the most generally single shaft single-blade, single shaft are starched and many rotors (such as, four rotors) form altogether.The body of unmanned plane does not generally arrange shell or is only provided with simple shell, shell is not set or only arranges that unmanned plane wind resistance in flight course of simple shell is poor, flight resistance is large, add the energy consumption of unmanned plane, shorten the cruise time of unmanned plane.In addition, for the unmanned plane being provided with shell, its shell is mostly in the form of annular discs or other are irregularly shaped, and the shell inner cavity volume utilization of this version is low, and be unfavorable for that the later stage carries out upgrading to unmanned plane, expansion capability is poor.
Foregoing, only for auxiliary understanding technical scheme of the present invention, does not represent and admits that foregoing is prior art.
Summary of the invention
Main purpose of the present invention is to provide a kind of many rotor wing unmanned aerial vehicles, is intended to reduce its resistance in flight course and the degree of utilization of raising shell inner cavity volume.
For achieving the above object, the invention provides a kind of many rotor wing unmanned aerial vehicles, comprise in rectangular fleetline fuselage, described fuselage is provided with multiple paddle arm be symmetric relative to the symmetrical plane in described fuselage, each paddle arm is provided with paddle components away from one end of described fuselage, described paddle components comprises the motor be arranged in described paddle arm and the blade be connected on the output shaft of described motor, and the rotation axis of every a slice blade is all positioned on the same face of cylinder.
Preferably, described paddle arm comprises the first paragraph paddle arm and second segment paddle arm that removably link into an integrated entity, described first paragraph paddle arm and described fuselage one-body molded, described paddle components is arranged on the outer end of described second segment paddle arm; Described first paragraph paddle arm is provided with the male hole of the male grafting for described many rotor wing unmanned aerial vehicles away from one end of described fuselage, the end that described second segment paddle arm is connected with described first paragraph paddle arm is provided with the female hole of the female grafting for described many rotor wing unmanned aerial vehicles, described male and described female grafting adaptation.
Preferably, described many rotor wing unmanned aerial vehicles also comprise landing gear assembly, described landing gear assembly be arranged on be positioned at described fuselage surrounding adjacent corners paddle arm on and arrange near described fuselage, described landing gear assembly comprises alighting gear and alighting gear anchor fitting, and described alighting gear is connected in corresponding paddle arm by described alighting gear anchor fitting.
Preferably, described alighting gear anchor fitting comprises the first connecting element and the first locking piece; Described first connecting element has first adhesive portion bonding with corresponding paddle arm, the first connecting portion be connected with described alighting gear and the second connecting portion and carries out the first spacing limiting section and the second limiting section to described alighting gear, described first connecting portion and the second connecting portion are in being oppositely arranged, described first limiting section and the second limiting section to be located between described first connecting portion and the second connecting portion and to be interconnected, described first connecting portion offers the first through hole, described second connecting portion offers second through hole just right with described first through hole; One end of described alighting gear comprises first limited and second limited relative with described second limiting section relative with described first limiting section, described first locking piece through the first through hole, the third through-hole being opened in this end of described alighting gear and the second through hole by this end winding support of described alighting gear described first connecting portion and the second connecting portion.
Preferably, described landing gear assembly also comprises the first damper element, and described first damper element is hollow structure, and it comprises the first damper element body and the projection non-circular flange at this first damper element body peripheral wall; Described first through hole and described second through hole have one at least for counter sink; Described first locking piece comprises lock screw and the jam nut with described lock screw adaptation, at described first locking piece, described alighting gear is locked at the state of described first connecting element, described first damper element is set on described lock screw, and described first damper element is inserted in described first through hole and/or the second through hole.
Preferably, described many rotor wing unmanned aerial vehicles also comprise spring pin frame component, described spring pin frame component is arranged on described paddle arm and/or fuselage, described spring pin frame component comprises spring foot rest and spring foot stool fixing device, and described spring foot rest is connected on described paddle arm and/or fuselage by described spring foot stool fixing device; Described spring foot rest not by compression power time, described spring foot rest to the distance of a plane on described fuselage, is greater than described alighting gear one end away from described fuselage to the distance of above-mentioned plane away from one end of described fuselage.
Preferably, described spring foot rest comprise connect successively first paragraph, second segment and the 3rd section, described first paragraph is wound into spiral fashion, described second segment is extend the long straight-bar formed from one end of described first paragraph, and described 3rd section has for what extend to form from the bending of the end of described second segment the contact lever contacted with land face; Described spring foot stool fixing device comprises the second connecting element and the second locking piece, described second connecting element has second adhesive portion bonding with described paddle arm and/or fuselage, locates the fixed part of the location division of described first paragraph and accommodating described first paragraph, described fixed part is hollow structure, and its outer peripheral face is provided with connecting thread; Described second locking piece has and to be spirally connected adaptive nut body with described fixed part and to be connected the stifle of described nut body wherein one end, and described stifle offers for described second segment and the 3rd section of through hole passed.
Preferably, on described first paragraph with described second segment from one end extend one in the positioning section of direct rod shape, described positioning section is positioned on the end face of described first paragraph, and described location division has the draw-in groove snapped in for described positioning section; Or have interval between the madial wall of described location division and described fixed part and form positioning groove, spiral first paragraph has at least a part to be contained in described positioning groove.
Preferably, described paddle components also comprises the first screw and the flexible glue part in hollow structure, described paddle arm is provided with the motor cavity of accommodating described motor away from one end of described fuselage, the bottom of described motor offers at least two motor mounting holes, described motor mounting hole is tapped bore, described paddle arm offers the paddle arm mounting hole corresponding with the position of each motor mounting hole; Described flexible glue part be arranged at least partially described motor and described paddle arm offer described paddle arm mounting hole plane between, and with each paddle arm mounting hole one_to_one corresponding, described motor and flexible glue part, through described paddle arm mounting hole, flexible glue part screw in described motor mounting hole, are fixed in described paddle arm by described first screw.
Preferably, be provided with at least two pieces of stay bearing plates in described motor cavity, the surrounding side of described stay bearing plate is fixedly connected with the wall of described motor cavity, and described paddle arm mounting hole is arranged on wherein on one piece of stay bearing plate.
Preferably, described flexible glue part comprises the first soft rubber cushion, the second soft rubber cushion and connects the joint pin of described first soft rubber cushion and the second soft rubber cushion, and described first soft rubber cushion, the second soft rubber cushion and joint pin are hollow structure; Described paddle components also comprises the pad between the nut being arranged on described flexible glue part and described first screw, and described pad comprises for the shim body of hollow structure and the ring set that protrudes out from the end face of described shim body; Described ring set is inserted in described flexible glue part, and described shim body is connected on the end face of described flexible glue part, and described first screw is when screwing with described motor mounting hole, and the nut compressing of described first screw is in described shim body.
The many rotor wing unmanned aerial vehicles of one provided by the present invention, by adopting aerodynamic principle, the housing parts of fuselage is designed to rectangular stream line pattern, thus, the resistance of many rotor wing unmanned aerial vehicles in flight course can be reduced on the one hand, the degree of utilization of fuselage chamber inner volume can be improved on the other hand, be conducive to carrying out upgrading to many rotor wing unmanned aerial vehicles; In addition, paddle arm is symmetric relative to the symmetrical plane in fuselage, and the rotation axis of every a slice blade is all positioned on the same face of cylinder, balance in flight course of many rotor wing unmanned aerial vehicles of this version and attitudes vibration control more simple, its balance quality is high, thus improves the seaworthiness of many rotor wing unmanned aerial vehicles.
Accompanying drawing explanation
Fig. 1 is the solid assembling schematic diagram of the present invention's many rotor wing unmanned aerial vehicles one embodiment;
Fig. 2 is the decomposed schematic diagram of the paddle arm shown in Fig. 1;
Fig. 3 is the decomposing schematic representation of the landing gear assembly shown in Fig. 1;
Fig. 4 is the structural representation of the first connecting element shown in Fig. 3;
Fig. 5 is the structural representation of the first damper element shown in Fig. 3;
The solid assembling schematic diagram that Fig. 6 is the spring pin frame component shown in Fig. 1;
Fig. 7 is the structural representation of the spring foot rest shown in Fig. 6;
Fig. 8 is the structural representation of the second connecting element shown in Fig. 6;
Fig. 9 is the structural representation of the second locking piece shown in Fig. 6;
Figure 10 is the decomposing schematic representation of the electric motor mounting structure of the paddle components shown in Fig. 1;
Figure 11 is the inner structure schematic diagram of electric motor mounting structure first embodiment of the present invention;
Figure 12 is the enlarged diagram at the place of A shown in Figure 11;
Figure 13 is the structural representation of the flexible glue part shown in Figure 10;
Figure 14 is the structural representation of the motor mounting plate in electric motor mounting structure of the present invention;
Figure 15 is the structural representation of the pad in electric motor mounting structure of the present invention;
Figure 16 is the inner structure schematic diagram of electric motor mounting structure second embodiment of the present invention;
Figure 17 is the enlarged diagram at the place of B shown in Figure 16.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Detailed description of the invention
Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The invention provides a kind of many rotor wing unmanned aerial vehicles, can be four rotors, six rotors and rotor quantity is greater than six and is the unmanned plane of even number, see Fig. 1, in one embodiment, this many rotor wing unmanned aerial vehicle comprises in rectangular fleetline fuselage 100, such as, fuselage 100 illustrated in fig. 1 is roughly rectangular structure, its corner and corner are flowing transition, to make air show as laminar flow when the surface of fuselage 100 is flow through, thus reduce the resistance of many rotor wing unmanned aerial vehicles in flight course.It is worth mentioning that, the fuselage 100 of the present embodiment is made up of carbon fibre material, under the prerequisite meeting higher working strength and rigidity, significantly can alleviate the weight of fuselage 100, thus reduce the power demand of many rotor wing unmanned aerial vehicles and improve the manoevreability of many rotor wing unmanned aerial vehicles, certainly, in other embodiments of the invention, fuselage 100 can also be made up of plastics or other any suitable materials, and therefore not to repeat here.Fuselage 100 is provided with multiple paddle arm (corresponding diagram 1 is respectively sweep arm 200 and scull arm 300) be symmetric relative to the symmetrical plane in this fuselage 100, be described for six rotor wing unmanned aerial vehicles with two each and every one sweep arms 200 and four scull arms 300 below: as mentioned above, fuselage 100 is in rectangular stream line pattern, sweep arm 200 is arranged on the medium position of fuselage 100, and scull arm 300 is arranged on the position near fuselage 100 4 corners, the outer end of each sweep arm 200 and scull arm 300 is equipped with paddle components 400, this paddle components 400 comprises the motor 410 be arranged in paddle arm and the blade 420 be connected on the output shaft of motor 410, drive corresponding blade 420 to rotate by motor 410 and make six rotor wing unmanned aerial vehicle lift-off flights, and the rotation axis of every a slice blade 420 is all positioned on the same face of cylinder, namely the brachium of sweep arm 200 should be large compared with the brachium of scull arm 300, the balance making six rotor wing unmanned aerial vehicles involved in flight course thus and attitudes vibration control simpler, there is more excellent balance quality, thus improve the seaworthiness of six rotor wing unmanned aerial vehicles.
In the present embodiment, in order to reduce the difficulty of structure design and productive costs and simplify packed and transported, the paddle arm composition that sweep arm 200 and scull arm 300 are removably connected by two sections, wherein one section of paddle arm is shaped in fuselage 100, its length is shorter, structure is simple, for the fuselage 100 adopting carbon fibre material to make, the sweep arm 200 of this fractionation structure and scull arm 300, can reduce the molding cost of fuselage 100 and make the production technology of fuselage 100 simpler.
Composition graphs 2, be described in detail for the paddle arm of sweep arm 200 to the many rotor wing unmanned aerial vehicles of the present invention below: sweep arm 200 comprises the first paragraph paddle arm 210 and second segment paddle arm 220 (implementation structure that first paragraph paddle arm 210 and second segment paddle arm 220 removably connect can refer to the utility model patent (201320599924.9) that the applicant applied in 2013 09 month on the 26th) that removably link into an integrated entity, wherein first paragraph paddle arm 210 is one-body molded with fuselage 100, second segment paddle arm 220 passes through screw, buckle structure and other any suitable Detachable connection structure are fixed on the end of first paragraph paddle arm 210, paddle components 400 is arranged on the outer end of second segment paddle arm 220.Because the motor 410 of paddle components 400 need be electrically connected with the electric-control system configured in fuselage 100, therefore realize the control to motor 410.Consider that first paragraph paddle arm 210 and second segment paddle arm 220 are for split structure, be simple and easy to make the electric connection structure of motor 410 realize, thus simplification assembly process, to improve efficiency of assembling, in the present embodiment, the end of first paragraph paddle arm 210 is provided with the male 211 for being electrically connected, and in second segment paddle arm 220, the end that connect corresponding to first paragraph paddle arm 210 is provided with the female 221 for being electrically connected, and adaptive and both contact surface of male 211 and female 221 grafting is formed and is electrically connected.Particularly, the end face of first paragraph paddle arm 210 caves inward the male hole (not shown) being formed and be suitable for installing male 211, in like manner, the end face of second segment paddle arm 220 also caves inward to be formed and is suitable for installing the female hole (not shown) of female 221.Male 211 is roughly in cylindric, its head has the first conductive part forming electrical contact with female 221, female 221 is also in cylindric, but form to make male 211 adaptive with female 221 grafting and be electrically connected, female 221 is hollow structure, and it has the jack inserted for male 211, and in jack, be provided with the second conductive part be electrically connected with described first conductive part, such as, in the present embodiment, the first conductive part and the second conductive part are made by the copper material of electric conductivity excellence.It should be noted that, the number of the male 211 shown in figure and female 221 is only citing, when practical application, this number can be selected flexibly, such as, as shown in Figure 2, first paragraph paddle arm 210 is electrically connected with second segment paddle arm 220 by two pairs of males 211 and female 221, controls with the power supply and rotating speed that realize motor 410.When first paragraph paddle arm 210 is seated with second segment paddle arm 220, corresponding male 211 can be plugged in together with female 221, thus realizes electrical connection; When first paragraph paddle arm 210 splits with second segment paddle arm 220, corresponding male 211 can depart from female 221, thus disconnects electrical connection.Thus, electric connection structure between first paragraph paddle arm 210 and second segment paddle arm 220 not only simple and durable, and the demountable structure be applicable between first paragraph paddle arm 210 and second segment paddle arm 220, be very easy to assembling and the later period maintenance operation of six rotor wing unmanned aerial vehicles.
In the present embodiment, above-mentioned six rotor wing unmanned aerial vehicles also comprise landing gear assembly 500, this landing gear assembly 500 be arranged on be positioned at fuselage 100 surrounding adjacent corners scull arm 300 on and arrange near fuselage 100.This landing gear assembly 500 comprises alighting gear 510 and alighting gear anchor fitting 520, and alighting gear 510 is connected on scull arm 300 by alighting gear anchor fitting 520.When six rotor wing unmanned aerial vehicles land, the moment that alighting gear 510 and ground touch can produce larger impulsive force, and support to make six rotor wing unmanned aerial vehicles obtain pulsation-free, alighting gear 510 is generally rigid construction, therefore the impulsive force overwhelming majority produced when six rotor wing unmanned aerial vehicles land is passed on scull arm 300 by alighting gear 510, as mentioned above, two sections of paddle arm that the version of scull arm 300 preferably removably links into an integrated entity, also the first paragraph paddle arm 310 namely shown in figure and second segment paddle arm 320, wherein first paragraph paddle arm 310 is shaped in fuselage 100, there are higher strength and stiffness, therefore landing gear assembly 500 is arranged in first paragraph paddle arm 310, thus improve shock proof ability when six rotor wing unmanned aerial vehicles land.It should be noted that, in actual applications, the quantity of landing gear assembly 500 can be determined according to the specific constructive form of many rotor wing unmanned aerial vehicles, as long as meet, many rotor wing unmanned aerial vehicles are stably supported, such as, in other embodiments of the invention, landing gear assembly 500 can also be provided with in each paddle arm, for six rotor wing unmanned aerial vehicles, namely on sweep arm 200 and scull arm 300, be provided with landing gear assembly 500.
Composition graphs 3 and Fig. 4, particularly, alighting gear anchor fitting 520 comprises the first connecting element 521 and the first locking piece 522.Wherein, first connecting element 521 has the first adhesive portion 5211 be adhesively fixed with first paragraph paddle arm 310 and the installation portion 5212 be connected with alighting gear 510, this installation portion 5212 comprises the first connecting portion 5213 be oppositely arranged, second connecting portion 5215, and the first spacing limiting section 5217 and the second limiting section 5218 is carried out to alighting gear 510, wherein the first connecting portion 5213 and the second connecting portion 5215 are in being oppositely arranged, first limiting section 5217 and the second limiting section 5218 to be located between the first connecting portion 5213 and the second connecting portion 5215 and to be interconnected, thus the coupling end formed for alighting gear 510 inserts and stablizes the atrium of alighting gear 510.First connecting portion 5213 offers on the first through hole 5214, second connecting portion 5215 and offer second through hole 5216 just right with the first through hole 5214.In better embodiment, alighting gear 510 is in T shape, and it comprises strut bar 511 and shock strut 512, and strut bar 511 and shock strut 512 can be integrative-structures, also can be Split type structures.
As shown in Figure 3, strut bar 511 is long straight rod member, and it comprises first end 511a and the second end 511b, and first end 511a offers third through-hole 5111, and shock strut 512 is fixedly connected on the second end 511b.When installing alighting gear 510, in order to realize the quick position of alighting gear 510, thus make the installation of alighting gear 510 more convenient, first end 511a comprises first limited the (not shown) relative with the first limiting section 5217 and second limited the (not shown) relative with the second limiting section 5218, wherein first limited is a side of first end 511a, and second limited is the end face of first end 511a.When alighting gear 510 is fixed on the first connecting element 521, first limiting section 5217 is relative with first limited, second limiting section 5218 to second limited relatively, namely the first limiting section 5217 and the second limiting section 5218 can limit the degree of freedom of alighting gear 510 in two other direction except the first connecting portion 5213 and the second connecting portion 5215 direction, so just reach the object be positioned at by alighting gear 510 on pre-installation position.In better embodiment, shock strut 512 is also straight-bar, and position, intermediate portion is connected with the second end 511b.Or alighting gear 510 is in L-shaped, and one end of shock strut 512 is connected with the second end 511b of strut bar 511.Again or, alighting gear 510 is in " Qian " font, and shock strut 512 be " one " word portion of the alighting gear 510 being " Qian " font.
When installing alighting gear 510, first the first end 511a of strut bar 511 is placed between the first connecting portion 5213 and the second connecting portion 5215, and alignd the first through hole 5214 and the second through hole 5216 respectively in the two ends of third through-hole 5111, then by the first locking piece 522 through the first through hole 5214, third through-hole 5111 and the second through hole 5216, strut bar 511 is fixed on the first connecting portion 5213 and the second connecting portion 5215.Thus, the alighting gear 510 of the present embodiment increases the area of contact on itself and ground, more steady when many rotor wing unmanned aerial vehicles are landed.In addition, the alighting gear anchor fitting 520 of this version, before alighting gear 510 is not also locked by the first locking piece 522, alighting gear 510 can rotate relative to fuselage 100 corner dimension adjusting when alighting gear 510 lands and ground, therefore the tilt adjustment scope of alighting gear 510 is large, applied widely.
In one embodiment, the profile of first paragraph paddle arm 310 is flat arc body, namely the cross-sectional plane of first paragraph paddle arm 310 is substantially oblong-shaped, be connected in first paragraph paddle arm 310 more securely to make the first connecting element 521, should increase the bond area of the first adhesive portion 5211 and first paragraph paddle arm 310, therefore the first adhesive portion 5211 is the bending plate in certain radian; And installation portion 5212 is protrude out formation cylinder from the side of the first adhesive portion 5211, and this cylinder is hollow structure, with expendable weight, but, should be appreciated that the shape of installation portion 5212 is not limited to the cylinder of hollow structure, can also be square cylinder, and other any suitable planforms.
Further, landing gear assembly 500 also comprises the first damper element 530 and the second damper element 540, first damper element 530 and the second damper element 540 are hollow structure, in order to play buffer action better, first damper element 530 and the second damper element 540 can be made up of the soft rubber part with comfort cushioning performance, such as silica gel.First locking piece 522 comprises lock screw 5221 and matching used jam nut 5222, first damper element 530 is set on lock screw 5221, and after lock screw 5221 is seated, the first damper element 530 should be made to be inserted in the first through hole 5214 and/or the second through hole 5216, thus absorb the impulsive force that come up by alighting gear 510 transmission and change into the elastic potential energy of the first damper element 530, reduce the impact to scull arm 300.Second damper element 540 is set on shock strut 512, particularly, each shock strut 512 is provided with two the second damper elements 540, and two the second damper elements 540 are symmetrical relative to strut bar 511, in order to simplify the mounting structure of the second damper element 540, be interference fit between second damper element 540 and shock strut 512, therefore not only save the locking piece for fastening second damper element 540, and assembling is more convenient.It should be noted that, the first locking piece 522 be made up of lock screw 5221 and jam nut 5222 can also be substituted by screw, and correspondingly, the first through hole 5214 and/or the second through hole 5216 are tapped bore.
See Fig. 5, in order to make the first locking piece 522, there is radial and axial cushion characteristic simultaneously, first damper element 530 comprises the first damper element body 531 of hollow cylindrical and the projection non-circular flange 532 at this first damper element body 531 periphery wall, first damper element body 531 has the through hole 533 that runs through its two ends, flange 532 is positioned at one end place of the first damper element body 531, the cross-sectional plane of the flange 532 of such as the present embodiment is regular hexagon, in order to carry out spacing to the first damper element 530, prevent the first damper element 530 from rotating around its shaft centre line, first through hole 5214 and the second through hole 5216 have one at least for counter sink, and the shape of the shape of countersunk head and flange 532 is suitable, to embed in this countersunk head for flange 532 and be limited to rotate.In the present embodiment, landing gear assembly 500 comprises two the first damper elements 530, and the first damper element body 531 of one of them the first damper element 530 is inserted in the first through hole 5214, and its flange 532 is clamped between lock screw 5221 and the first connecting portion 5213; In like manner, the first damper element body 531 of another the first damper element 530 is inserted in the second through hole 5216, and its flange 532 is clamped between jam nut and the second connecting portion 5215.Thus, landing gear assembly 500 has better cushion characteristic, and meanwhile, lock screw 5221 and jam nut 5222 are shaken pine by the vibrations that the first damper element 530 being positioned at lock screw 5221 two ends place can also prevent many rotor wing unmanned aerial vehicles from producing when being elevated.
In the present embodiment, side corresponding with the position of jam nut 5222 on the first connecting portion 5213 or the second connecting portion 5215, is provided with suitable with the shape of jam nut 5222 and holds the nut groove 5219 of jam nut 5222.By jam nut 5222 is placed in nut groove 5219, on the one hand can firm jam nut 5222 further, prevent lock screw 5221 and jam nut 5222 unclamped under the effect of vibrations; On the other hand, when locking alighting gear 510, because jam nut 5222 is connected in nut groove 5219, under the prerequisite not using tool holder jam nut 5222, jam nut 5222 also can not rotate with lock screw 5221, and therefore assembly manipulation is more simple, and efficiency is higher.
Composition graphs 1 and Fig. 6, in the present embodiment, this six rotor wing unmanned aerial vehicle also comprises spring pin frame component 600, and this spring pin frame component 600 is arranged on paddle arm (such as sweep arm 200 and/or scull arm 300) and/or fuselage 100.In the present embodiment, be arranged on sweep arm 200 be described for spring pin frame component 600, as shown in the figure, the paddle arm (being also sweep arm 200) that spring pin frame component 600 is positioned in the middle part of fuselage 100 goes up and arranges near fuselage 100.Wherein, this spring pin frame component 600 comprises spring foot rest 610 and spring foot stool fixing device 620, spring foot rest 610 is connected on sweep arm 200 by spring foot stool fixing device 620, with reference to the arrangement of landing gear assembly 500, spring pin frame component 600 is arranged in the first paragraph paddle arm 210 of sweep arm 200, thus improves the impact resistance of six rotor wing unmanned aerial vehicles.Because the Main Function arranging spring pin frame component 600 is to make six rotor wing unmanned aerial vehicles be cushioned when landing, therefore, spring foot rest 610 not by compression power time, spring foot rest 610 to the distance of fuselage 100 1 plane, is greater than alighting gear 510 one end away from fuselage 100 to the distance of above-mentioned plane away from one end of fuselage 100.It can thus be appreciated that; when six rotor wing unmanned aerial vehicle landing; spring foot rest 610 and earth surface before this; then alighting gear 510 and earth surface is only; the elastic compression produced by spring foot rest 610 is by impulse force Conversion of Energy elastic potential energy; thus the impulsive force reduced alighting gear 510, the effect of protection alighting gear 510 can be played.
Certainly, in other variant embodiment, this spring pin frame component 600 also can not be arranged in paddle arm, as being arranged on fuselage 100.Namely, for six rotor wing unmanned aerial vehicles, also not necessarily want each paddle arm arranges landing gear assembly 500, scull arm 300 as four adjacent corners of fuselage 100 arranges landing gear assembly 500, and the sweep arm 200 at the middle part of fuselage 100 neither arranges spring pin frame component 600, does not also arrange landing gear assembly 500, spring pin frame component 600 is arranged on fuselage 100, understandable, in this case, landing gear assembly 500 can be also set on the sweep arm 200 at the middle part of fuselage 100.In addition, spring pin frame component 600 also can be located in same paddle arm with landing gear assembly 500.
See Fig. 7, particularly, spring foot rest 610 comprise connect successively first paragraph 611, second segment 612 and the 3rd section 613.Be understandable that, in order to make spring foot rest 610 meet operating needs, it should have certain elastically-deformable ability, and have again certain intensity and rigid, namely spring foot rest 610 should adopt spring wire and other any suitable metallic materials to make.Wherein, first paragraph 611 is wound into spiral fashion, second segment 612 is the long straight-bar extended to form downwards from one end of first paragraph 611, the 3rd section 613 be from the end of second segment 612 bending extend to form there is the contact lever contacted with land face, such as the 3rd section 613 takes the shape of the letter U.But, be to be understood that, the planform of second segment 612 and the 3rd section 613 is not limited to long straight-bar and U-shaped bar, such as, second segment 612 can also be tortuous or bending rod member, and the 3rd section 613 can also be straight-bar, the 3rd section 613 should be made to form linear contact lay with ground or face contacts, thus increase the area of contact on the 3rd section 613 and ground, reach better buffering effect.
In conjunction with see Fig. 8 and Fig. 9, spring foot stool fixing device 620 comprises the second connecting element 621 and the second locking piece 622, second connecting element 621 has second adhesive portion 6211 bonding with the first paragraph paddle arm 210 of sweep arm 200, the location division 6213 of first paragraph 611 of retainer spring foot rest 610 and the fixed part 6212 of accommodating first paragraph 611, this fixed part 6212 is hollow structure, and its outer peripheral face is provided with connecting thread; Second locking piece 622 has and to be spirally connected adaptive nut body 6221 with fixed part 6212 and to be connected to the stifle 6222 of this nut body 6221 wherein one end, and this stifle 6222 offers for second segment 612 and the 3rd section of 613 through hole passed 6223.Spring foot stool fixing device 620 is fixed in the first paragraph paddle arm 210 of sweep arm 200 by bonding connection mode, there is Joint strenght high, the simple feature of structure, in addition, owing to not needing to use fastener, the complete machine weight of six rotor wing unmanned aerial vehicles can also be alleviated, meet weight-saving designing requirement.
In the present embodiment, the inner peripheral surface of location division 6213 and fixed part 6212 has interval to form positioning groove 6216, and first paragraph 611 is contained in this positioning groove 6216 at least partially, and namely first paragraph 611 is positioned in positioning groove 6216.
In variant embodiment, on first paragraph 611 with second segment 612 from one end extend one in the positioning section 6111 of direct rod shape, this positioning section 6111 is positioned on the end face of first paragraph 611.Accordingly, location division 6213 offers the draw-in groove 6214 snapped in for this positioning section 6111, namely first paragraph 611 is contained in draw-in groove 6214 by positioning section 6111 and is positioned in positioning groove 6216.
In better embodiment, positioning section 6111 extends along the radial direction of first paragraph 611, and vertical and crossing with the axis of first paragraph 611; Location division 6213 is made up of the gusset of the pairwise orthogonal be arranged in fixed part 6212, and the size of above-mentioned draw-in groove 6214 snaps in just with positioning section 6111 is advisable, thus the rotation of restraining spring foot rest 610.
Certainly, in a preferred embodiment, location division 6213 offers the draw-in groove 6214 snapped in for this positioning section 6111, meanwhile, the inner peripheral surface of location division 6213 and fixed part 6212 has interval, and what such location division 6213 can be more stable locates first paragraph 611.
During assembling, first the second locking piece 622 is enclosed within spring foot rest 610, again the first paragraph 611 of spring foot rest 610 is put into fixed part 6212, and make the positioning section 6111 of first paragraph 611 snap in draw-in groove 6214, and first paragraph 611 is contained in this positioning groove 6216 at least partially, screw on fixed part 6212 finally by by the second locking piece 622, and first paragraph 611 is pressed within it.It should be noted that, after the second locking piece 622 is seated, first paragraph 611 should be in compressive state, thus reaches the object of firm spring foot rest 610; In addition, the internal diameter of the through hole 6223 of stifle 6222 should be larger than the external diameter of spring foot rest 610, meets matching requirements on the one hand, meet the Operations Requirements of spring foot rest 610 on the other hand, make impact force action on first paragraph 611, play buffer action.
See Figure 10 and Figure 11, in the present embodiment, paddle components 400 also comprises the first screw 430 and the flexible glue part 440 in hollow structure, and following examples will be described for sweep arm 200.Particularly, second segment paddle arm 220 is provided with the motor cavity 221 of accommodating motor 410 away from one end of fuselage 100, the bottom of motor 410 offers at least two motor mounting hole (not shown)s, and this motor mounting hole is tapped bore, second segment paddle arm 220 offers the paddle arm mounting hole (not shown) corresponding with the position of each motor mounting hole.In order to alleviate the complete machine weight of six rotor wing unmanned aerial vehicles, thus improve manoevreability, as shown in Figure 10, motor 410 is fixed in motor cavity 221 by three the first screws 430.Flexible glue part 440 be arranged at least partially motor 410 and second segment paddle arm 220 offer paddle arm mounting hole plane between (when flexible glue part 440 is for sheet, whole flexible glue part 440 be arranged on motor 410 and second segment paddle arm 220 offer paddle arm mounting hole plane between; When flexible glue part 440 is in " T " or " work " font, flexible glue part 440 only part be arranged on motor 410 and second segment paddle arm 220 offer paddle arm mounting hole plane between), and with each paddle arm mounting hole one_to_one corresponding, the first screw 430 is through paddle arm mounting hole, flexible glue part 440 screw in motor mounting hole and motor 410 and flexible glue part 440 be fixed in second segment paddle arm 220.Be understandable that, the part that flexible glue part 440 contacts with second segment paddle arm 220 with motor 410 is softer, elastic material, therefore, the vibrations produced when motor 410 runs can be absorbed on the one hand, the vibrations that minimizing motor 410 produces are passed on sweep arm 200, and then avoid affecting the attitude of unmanned plane and being arranged on the acquisition precision of the sensor on fuselage 100; Provide deflection on the other hand the beat of blade 420, prevent from damaging the connection structure between blade 420 and motor 410, improve the adaptive capacity of unmanned plane.
In the present embodiment, in order to improve Joint strenght, the vibrations preventing motor 410 from producing impact the connection between stay bearing plate 222 and second segment paddle arm 220, it is (corresponding to Figure 12 that more than two pieces or the two pieces stay bearing plates be arranged in parallel 222 can be set in motor cavity 221, Figure 16 and Figure 17), the surrounding side of stay bearing plate 222 is fixedly connected with the wall of motor cavity 221, for the sweep arm 200 be made up of carbon fibre material, stay bearing plate 222 is fixed on sweep arm 200 by bonded structure, paddle arm mounting hole is arranged on wherein on a stay bearing plate 222, therefore motor 410 is arranged on wherein on a stay bearing plate 222.In addition, stay bearing plate 222 can also be engraved structure, thus reduces weight.
See Figure 13, particularly, flexible glue part 440 comprises the first soft rubber cushion 441, second soft rubber cushion 442 and connects the joint pin 443 of the first soft rubber cushion 441 and the second soft rubber cushion 442, and the first soft rubber cushion 441, second soft rubber cushion 442 and joint pin 443 are hollow structure, thus pass for the first screw 430.First soft rubber cushion 441 and the second soft rubber cushion 442 are made by same soft elastic material, such as silica gel, thus ensure good cushion characteristic.In addition, flexible glue part 440 is set to above-mentioned " work " character form structure, the effect cushioning and provide deflection can be reached on the one hand further, also can protect the first screw 430 on the other hand.In addition, the thickness of the first soft rubber cushion 441 and the second soft rubber cushion 442 can identical also can not be identical, preferably, first soft rubber cushion 441 is not identical with the thickness of the second soft rubber cushion 442, like this when flexible glue part 440 is arranged between motor 410 and second segment paddle arm 220, not only can play the effect of buffering, the effect regulating blade 420 to balance can also be played, as at the set-up mode of the flexible glue part 440 near fuselage 100 center being, the first thicker soft rubber cushion 441 is positioned at the top of the second soft rubber cushion 442, and at the set-up mode of the flexible glue part 440 away from fuselage 100 center be, the first thicker soft rubber cushion 441 is positioned at the below of the second soft rubber cushion 442, arranging the benefit that can reach like this is: many rotor wing unmanned aerial vehicles are in the process of flight, when the environmental forces be subject to when outside is larger, namely blade 420 will be a bit larger tham blade 420 in the external force from environment be subject near fuselage 100 center in the external force from environment be subject to away from fuselage 100 center, the motor 410 be fixed together with blade 420 like this can tilt near fuselage 100 Central places direction, the first thicker soft rubber cushion 441 can provide enough deflection to meet the inclination of motor 410.
After the first screw 430 locking puts in place, consider that the area of contact of the nut of the first screw 430 and the first soft rubber cushion 441 or the second soft rubber cushion 442 is less, and the quality of the first soft rubber cushion 441 and the second soft rubber cushion 442 is softer, first screw 430 easily gets loose when being given a shock, and connection reliability is poor.In conjunction with Figure 12, in the present embodiment, paddle components 400 also comprises the pad 480 be arranged between flexible glue part 440 and the nut of the first screw 430, this pad 480 is made up of hard material, therefore can further improve the Joint strenght of motor 410 mounting structure, prevent the first screw 430 from getting loose from motor mounting hole under the effect of vibrations.See Figure 15, particularly, this pad 480 comprises for the shim body 481 of hollow structure and the ring set 482 that protrudes out from the end face of this shim body 481, such as, for pad 480 in the form of a ring, the external diameter of shim body 481 should be larger than the external diameter of ring set 482, and the central axes of the central axis of ring set 482 and shim body 481.During assembling, ring set 482 is inserted into flexible glue part 440 from the below of flexible glue part 440, and shim body 481 is connected on the end face of flexible glue part 440, therefore the nut of the first screw 430 is crimped in shim body 481, thus makes the connection between the first screw 430 and motor 410 more firm.
See Figure 14, Figure 16 and Figure 17, this gives the similar alternative arrangements of motor 410, paddle components 400 comprises the second screw 450, is arranged on the motor mounting plate 470 of motor 410 bottom, the flexible glue part 440 of the 3rd screw 460, nut 461 and hollow structure, the end face that this motor mounting plate 470 is relative with motor 410 is provided with limit for height post 471 in the position of each motor mounting hole corresponding, the number of the limit for height post 471 shown in figure is only citing, and when practical application, this number can be selected flexibly.The bottom of motor 410 offers at least two motor mounting hole (not shown)s, and this motor mounting hole is tapped bore, limit for height post 471 is provided with the motor mounting plate locking hole 472 running through limit for height post 471 and motor mounting plate 470, second segment paddle arm 220 offers and corresponding with the position of each motor mounting hole dodges hole, second screw 450 inserts motor mounting plate locking hole 472 through dodging hole and screws sealed with motor mounting hole, is fixed together by motor mounting plate 470 and motor 410.In addition, the stay bearing plate 222 of second segment paddle arm 220 offers at least two paddle arm mounting holes (not indicating in figure), motor mounting plate 470 offers the motor mounting plate mounting hole 473 corresponding with the position of each paddle arm mounting hole, the flexible glue part 440 of 3rd screw 460 successively through paddle arm mounting hole, motor mounting plate mounting hole 473 and hollow structure is sealed with nut 461, and the stay bearing plate 222 by motor mounting plate 470 and second segment paddle arm 220 is fixed together.By arranging motor mounting plate 470, while the Joint strenght strengthening motor 410, improve the cushion characteristic of flexible glue part 440.Be understandable that, in order to alleviate the weight of unmanned plane, motor mounting plate 470 also can be designed to engraved structure.
Wherein, the structure of flexible glue part 440 can be arranged as required, as flexible glue part 440 be sheet time, whole flexible glue part 440 is arranged between nut 461 and motor mounting plate 470; When and for example flexible glue part 440 is " T " font, " one " portion of flexible glue part 440 is positioned between nut 461 and motor mounting plate 470, and its " 1 " portion is arranged in motor mounting plate mounting hole 473; For another example when flexible glue part 440 is " work " font, upper " one " portion of flexible glue part 440 is positioned between nut 461 and motor mounting plate 470, its " 1 " portion is arranged in motor mounting plate mounting hole 473, and under it, " one " portion is positioned between the stay bearing plate 222 of motor mounting plate 470 and second segment paddle arm 220.
As preferably, the avris of the motor mounting plate mounting hole 473 on motor mounting plate 470 offers the opening 474 being communicated with motor mounting plate mounting hole 473, is therefore conveniently loaded in motor mounting plate mounting hole 473 by flexible glue part 440.
In conjunction with Figure 15, further, on the basis of above-mentioned electric motor mounting structure embodiment, paddle components 400 also comprises the pad 480 be arranged between flexible glue part 440 and nut 461, the specific constructive form of the pad 480 of the present embodiment and distressed structure thereof elaborate in the mounting structure of above-mentioned motor 410, do not repeat them here.By arranging pad 480 between flexible glue part 440 and nut 461, therefore nut 461 is crimped on pad 480, thus makes the 3rd screw 460 lock tighter with nut 461.
Should be understood that; these are only the preferred embodiments of the present invention; can not therefore limit the scope of the claims of the present invention; every utilize specification sheets of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. rotor wing unmanned aerial vehicle more than a kind, it is characterized in that, comprise in rectangular fleetline fuselage, described fuselage is provided with multiple paddle arm be symmetric relative to the symmetrical plane in described fuselage, each paddle arm is provided with paddle components away from one end of described fuselage, described paddle components comprises the motor be arranged in described paddle arm and the blade be connected on the output shaft of described motor, and the rotation axis of every a slice blade is all positioned on the same face of cylinder;
Described paddle components also comprises the first screw and the flexible glue part in hollow structure, described paddle arm is provided with the motor cavity of accommodating described motor away from one end of described fuselage, the bottom of described motor offers at least two motor mounting holes, described motor mounting hole is tapped bore, described paddle arm offers the paddle arm mounting hole corresponding with the position of each motor mounting hole; Described flexible glue part be arranged at least partially described motor and described paddle arm offer described paddle arm mounting hole plane between, and with each paddle arm mounting hole one_to_one corresponding, described motor and flexible glue part, through described paddle arm mounting hole, flexible glue part screw in described motor mounting hole, are fixed in described paddle arm by described first screw.
2. many rotor wing unmanned aerial vehicles as claimed in claim 1, it is characterized in that, described paddle arm comprises the first paragraph paddle arm and second segment paddle arm that removably link into an integrated entity, described first paragraph paddle arm and described fuselage one-body molded, described paddle components is arranged on the outer end of described second segment paddle arm; Described first paragraph paddle arm is provided with the male hole of the male grafting for described many rotor wing unmanned aerial vehicles away from one end of described fuselage, the end that described second segment paddle arm is connected with described first paragraph paddle arm is provided with the female hole of the female grafting for described many rotor wing unmanned aerial vehicles, described male and described female grafting adaptation.
3. many rotor wing unmanned aerial vehicles as claimed in claim 1, it is characterized in that, described many rotor wing unmanned aerial vehicles also comprise landing gear assembly, described landing gear assembly be arranged on be positioned at described fuselage surrounding adjacent corners paddle arm on and arrange near described fuselage, described landing gear assembly comprises alighting gear and alighting gear anchor fitting, and described alighting gear is connected in corresponding paddle arm by described alighting gear anchor fitting.
4. many rotor wing unmanned aerial vehicles as claimed in claim 3, is characterized in that, described alighting gear anchor fitting comprises the first connecting element and the first locking piece; Described first connecting element has first adhesive portion bonding with corresponding paddle arm, the first connecting portion be connected with described alighting gear and the second connecting portion and carries out the first spacing limiting section and the second limiting section to described alighting gear, described first connecting portion and the second connecting portion are in being oppositely arranged, described first limiting section and the second limiting section to be located between described first connecting portion and the second connecting portion and to be interconnected, described first connecting portion offers the first through hole, described second connecting portion offers second through hole just right with described first through hole; One end of described alighting gear comprises first limited and second limited relative with described second limiting section relative with described first limiting section, described first locking piece through the first through hole, the third through-hole being opened in this end of described alighting gear and the second through hole by this end winding support of described alighting gear described first connecting portion and the second connecting portion.
5. many rotor wing unmanned aerial vehicles as claimed in claim 4, it is characterized in that, described landing gear assembly also comprises the first damper element, and described first damper element is hollow structure, and it comprises the first damper element body and the projection non-circular flange at this first damper element body peripheral wall; Described first through hole and described second through hole have one at least for counter sink; Described first locking piece comprises lock screw and the jam nut with described lock screw adaptation, at described first locking piece, described alighting gear is locked at the state of described first connecting element, described first damper element is set on described lock screw, and described first damper element is inserted in described first through hole and/or the second through hole.
6. many rotor wing unmanned aerial vehicles as claimed in claim 3, it is characterized in that, described many rotor wing unmanned aerial vehicles also comprise spring pin frame component, described spring pin frame component is arranged on described paddle arm and/or fuselage, described spring pin frame component comprises spring foot rest and spring foot stool fixing device, and described spring foot rest is connected on described paddle arm and/or fuselage by described spring foot stool fixing device; Described spring foot rest not by compression power time, described spring foot rest to the distance of a plane on described fuselage, is greater than described alighting gear one end away from described fuselage to the distance of above-mentioned plane away from one end of described fuselage.
7. many rotor wing unmanned aerial vehicles as claimed in claim 6, it is characterized in that, described spring foot rest comprise connect successively first paragraph, second segment and the 3rd section, described first paragraph is wound into spiral fashion, described second segment is extend the long straight-bar formed from one end of described first paragraph, and described 3rd section has for what extend to form from the bending of the end of described second segment the contact lever contacted with land face; Described spring foot stool fixing device comprises the second connecting element and the second locking piece, described second connecting element has second adhesive portion bonding with described paddle arm and/or fuselage, locates the fixed part of the location division of described first paragraph and accommodating described first paragraph, described fixed part is hollow structure, and its outer peripheral face is provided with connecting thread; Described second locking piece has and to be spirally connected adaptive nut body with described fixed part and to be connected the stifle of described nut body wherein one end, and described stifle offers for described second segment and the 3rd section of through hole passed.
8. many rotor wing unmanned aerial vehicles as claimed in claim 7, it is characterized in that, on described first paragraph with described second segment from one end extend one in the positioning section of direct rod shape, described positioning section is positioned on the end face of described first paragraph, and described location division has the draw-in groove snapped in for described positioning section;
Or have interval between the madial wall of described location division and described fixed part and form positioning groove, spiral first paragraph has at least a part to be contained in described positioning groove.
9. many rotor wing unmanned aerial vehicles as claimed in claim 1, is characterized in that, are provided with at least two pieces of stay bearing plates in described motor cavity, and the surrounding side of described stay bearing plate is fixedly connected with the wall of described motor cavity, and described paddle arm mounting hole is arranged on wherein on one piece of stay bearing plate.
10. many rotor wing unmanned aerial vehicles as claimed in claim 9, it is characterized in that, described flexible glue part comprises the first soft rubber cushion, the second soft rubber cushion and connects the joint pin of described first soft rubber cushion and the second soft rubber cushion, and described first soft rubber cushion, the second soft rubber cushion and joint pin are hollow structure; Described paddle components also comprises the pad between the nut being arranged on described flexible glue part and described first screw, and described pad comprises for the shim body of hollow structure and the ring set that protrudes out from the end face of described shim body; Described ring set is inserted in described flexible glue part, and described shim body is connected on the end face of described flexible glue part, and described first screw is when screwing with described motor mounting hole, and the nut compressing of described first screw is in described shim body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410241181.7A CN104002964B (en) | 2014-05-30 | 2014-05-30 | Many rotor wing unmanned aerial vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410241181.7A CN104002964B (en) | 2014-05-30 | 2014-05-30 | Many rotor wing unmanned aerial vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104002964A CN104002964A (en) | 2014-08-27 |
| CN104002964B true CN104002964B (en) | 2016-02-03 |
Family
ID=51363929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410241181.7A Active CN104002964B (en) | 2014-05-30 | 2014-05-30 | Many rotor wing unmanned aerial vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104002964B (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105752328B (en) * | 2014-10-21 | 2017-12-08 | 双峰援农机械制造有限公司 | It is a kind of that there are remote control system, four rotor wing unmanned aerial vehicles of flight control system |
| CN104401490B (en) * | 2014-10-21 | 2016-06-08 | 东莞市粤钢不锈钢制品有限公司 | Wide spectrum lures moth unmanned plane |
| CN105730696B (en) * | 2014-10-21 | 2017-12-19 | 哈工大机器人集团（哈尔滨）资产经营管理有限公司 | It is a kind of that there is remote control system, the unmanned plane of flight control system |
| CN105752329B (en) * | 2014-10-21 | 2018-02-16 | 江苏锦程航空科技有限公司 | A kind of four rotor wing unmanned aerial vehicles with remote control system |
| CN104340364B (en) * | 2014-10-29 | 2016-08-24 | 山东领信信息科技股份有限公司 | Agricultural many rotor wing unmanned aerial vehicles |
| CN104590556B (en) * | 2014-10-31 | 2017-06-27 | 易瓦特科技股份公司 | A kind of folding unmanned plane |
| CN104590541A (en) * | 2015-02-15 | 2015-05-06 | 天津晓奇科技发展有限公司 | Plug type modularized multi-rotor aircraft frame |
| CN104787327B (en) * | 2015-05-12 | 2016-07-06 | 无锡职业技术学院 | A kind of multi-rotor aerocraft of changeable wheelbase |
| CN104986330B (en) * | 2015-06-29 | 2017-05-17 | 深圳一电航空技术有限公司 | Propeller arm connection assembly and aircraft |
| CN105366041B (en) * | 2015-11-30 | 2019-02-12 | 易瓦特科技股份公司 | More rotor structures applied to unmanned plane |
| WO2017128313A1 (en) * | 2016-01-29 | 2017-08-03 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and arm mechanism thereof |
| CN105691605B (en) * | 2016-03-09 | 2018-02-23 | 深圳潜行创新科技有限公司 | A kind of dismountable unmanned plane of horn |
| CN107434039A (en) * | 2016-05-25 | 2017-12-05 | 天津宏宇天翔科技有限公司 | A kind of unmanned plane |
| CN107444625A (en) * | 2017-07-25 | 2017-12-08 | 芜湖超源力工业设计有限公司 | A kind of new unmanned plane with foot stool defencive function |
| CN107628224A (en) * | 2017-09-25 | 2018-01-26 | 安徽瓦尔特机械贸易有限公司 | A kind of unmanned plane |
| CN109292083B (en) * | 2018-11-20 | 2023-09-12 | 南京森林警察学院 | Anticollision formula rotor unmanned aerial vehicle |
| CN110217377A (en) * | 2019-06-14 | 2019-09-10 | 深圳供电局有限公司 | Unmanned plane |
| CN113353270B (en) * | 2021-08-11 | 2021-12-10 | 西安羚控电子科技有限公司 | Power system and flight device with same |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999038769A1 (en) * | 1998-01-28 | 1999-08-05 | Avia Adviser Hb | Unmanned rotor carried aerial vehicle |
| CN103350752A (en) * | 2012-10-29 | 2013-10-16 | 深圳市哈博森科技有限公司 | Four-rotor aircraft |
| CN103625641A (en) * | 2013-11-18 | 2014-03-12 | 北京中科飞鸿科技有限公司 | Transverse folding type four-rotor aircraft |
| CN103754356A (en) * | 2014-01-10 | 2014-04-30 | 江苏艾锐泰克无人飞行器科技有限公司 | Landing gear |
| CN203601563U (en) * | 2013-09-26 | 2014-05-21 | 深圳一电科技有限公司 | Aircraft and propeller arm thereof |
| CN103818544A (en) * | 2014-01-24 | 2014-05-28 | 深圳一电科技有限公司 | Unmanned aerial vehicle, unmanned aerial vehicle body and manufacturing method thereof |
| CN203996890U (en) * | 2014-05-30 | 2014-12-10 | 深圳一电科技有限公司 | Many rotor wing unmanned aerial vehicles |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8820672B2 (en) * | 2012-05-07 | 2014-09-02 | Honeywell International Inc. | Environmental sampling with an unmanned aerial vehicle |
-
2014
- 2014-05-30 CN CN201410241181.7A patent/CN104002964B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999038769A1 (en) * | 1998-01-28 | 1999-08-05 | Avia Adviser Hb | Unmanned rotor carried aerial vehicle |
| CN103350752A (en) * | 2012-10-29 | 2013-10-16 | 深圳市哈博森科技有限公司 | Four-rotor aircraft |
| CN203601563U (en) * | 2013-09-26 | 2014-05-21 | 深圳一电科技有限公司 | Aircraft and propeller arm thereof |
| CN103625641A (en) * | 2013-11-18 | 2014-03-12 | 北京中科飞鸿科技有限公司 | Transverse folding type four-rotor aircraft |
| CN103754356A (en) * | 2014-01-10 | 2014-04-30 | 江苏艾锐泰克无人飞行器科技有限公司 | Landing gear |
| CN103818544A (en) * | 2014-01-24 | 2014-05-28 | 深圳一电科技有限公司 | Unmanned aerial vehicle, unmanned aerial vehicle body and manufacturing method thereof |
| CN203996890U (en) * | 2014-05-30 | 2014-12-10 | 深圳一电科技有限公司 | Many rotor wing unmanned aerial vehicles |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104002964A (en) | 2014-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104002964B (en) | Many rotor wing unmanned aerial vehicles | |
| CN203996890U (en) | Many rotor wing unmanned aerial vehicles | |
| CN104176251B (en) | A kind of driving engine low-angle inclining rotary mechanism for small-sized tiltrotor | |
| CN108944302B (en) | Micro-miniature four-rotor hexapod bionic flying robot | |
| US8840062B2 (en) | Pylon mounting system with vibration isolation | |
| CN104608923A (en) | Honeycomb-type six-rotor transport aircraft | |
| CN107364572B (en) | Fixed wing vector unmanned plane | |
| CN105314110A (en) | Unmanned aerial vehicle with umbrella | |
| CN104787327A (en) | Axle distance-variable multi-rotor aircraft | |
| CN103612748A (en) | Positioning drive mechanism for aircraft full-movement V tail | |
| US10065731B2 (en) | Vibration-harvesting, variable-stiffness system and method | |
| CN203996908U (en) | The electric motor mounting structure of unmanned plane and unmanned plane | |
| CN208181415U (en) | Multi-rotor unmanned aerial vehicle fuselage box | |
| CN205499315U (en) | A horn coupling assembling and unmanned vehicles for unmanned vehicles | |
| CN206417186U (en) | A kind of steering wheel mounting structure | |
| CN205931255U (en) | Spherical unmanned aerial vehicle based on ARM | |
| CN203714170U (en) | Unmanned aerial vehicle framework | |
| CN208181413U (en) | A kind of steady damping multi-rotor unmanned aerial vehicle fuselage box | |
| CN209535437U (en) | A kind of aircraft frame and its aircraft | |
| CN209225386U (en) | A kind of novel propeller hub of intersection DCB Specimen unmanned helicopter | |
| CN111196356A (en) | Cross double-rotor unmanned helicopter and flight controller vibration damping assembly thereof | |
| CN206485573U (en) | A kind of auxiliary external member of operation fixed-wing unmanned plane VTOL | |
| CN210284601U (en) | Unmanned aerial vehicle that descending stability is good | |
| CN201088856Y (en) | Aerospace model aeroplane propeller | |
| CN211969726U (en) | Adopt special-shaped carbon pipe mounting structure's unmanned aerial vehicle frame |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160217 Address after: Baoan District Shiyan street Shenzhen city Guangdong province 518108 Songbai road Tangtou junctions electric science and Technology Park Patentee after: Shenzhen Aee Technology Co., Ltd. Address before: 518108 Guangdong city of Shenzhen province Nanshan District Xili Sunshine Industrial Zone Electric Science and Technology Park Patentee before: Shenzhen Aee Technology Co., Ltd. Patentee before: Shenzhen Aee Technology Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171011 Address after: Baoan District Shiyan street Shenzhen city Guangdong province 518108 Songbai road Tangtou junctions electric science and Technology Park Co-patentee after: Shenzhen AEE Technology Co., Ltd. Patentee after: Shenzhen Aee Technology Co., Ltd. Address before: Baoan District Shiyan street Shenzhen city Guangdong province 518108 Songbai road Tangtou junctions electric science and Technology Park Patentee before: Shenzhen Aee Technology Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191204 Address after: Room 812, enterprise service center, No. 17, section 3, west section of Changjiang North Road, Lingang Economic Development Zone, Yibin City, Sichuan Province Patentee after: Sichuan Yidian Aviation Technology Co., Ltd Address before: Baoan District Shiyan street Shenzhen city Guangdong province 518108 Songbai road Tangtou junctions electric science and Technology Park Co-patentee before: Shenzhen AEE Technology Co., Ltd. Patentee before: Shenzhen Yidian Aviation Technology Co., Ltd. |