CN104828245A - Aircraft - Google Patents
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- CN104828245A CN104828245A CN201510217928.XA CN201510217928A CN104828245A CN 104828245 A CN104828245 A CN 104828245A CN 201510217928 A CN201510217928 A CN 201510217928A CN 104828245 A CN104828245 A CN 104828245A
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Abstract
The invention provides an aircraft, which belongs to the field of aircrafts. The aircraft provided by the invention comprises a frame; a first jib arm unit, which is installed on the frame; a second jib arm unit, which is installed on the frame; and a rotor wing power unit, which is arranged at the outer ends of the first jib arm unit and the second jib arm unit; wherein the first jib arm unit is provided with a first telescopic unit, the first jib arm unit is installed on the frame through a first rotating shaft, and a first rotation power unit is mounted on the frame and drives the first rotating shaft to rotate. According to the invention, a jib arm can rotate around the frame and enables the frame to be telescopic; in the running process of the aircraft, the flight attitude of the aircraft is adjusted through rotation of the rotating shaft, so wind resistance is reduced; as the jib arm is provided with the first telescopic unit, stretching or contraction of the jib arm is realized; when the jib arm contracts, the windward area of the jib arm can be reduced, which enables wind resistance to be further reduced and benefits crossing of narrow space; and when the jib arm stretches, the flight stability of the body of the aircraft is improved.
Description
Technical field
The invention belongs to aircraft field, particularly relate to a kind of frame Multi-axis aircraft.
Background technology
Usually, drive the power of aircraft upward movement to be called pulling force, the power of ordering about aircraft horizontal motion is called thrust.Existing aircraft uses vane type rotor as pulling force rotor usually for aircraft provides pulling force.
The Basic Flight Maneuver of aircraft has vertical displacement movement, seesaws, sideway movement, luffing, roll motion, yawing rotation.
See Fig. 1 for four-axle aircraft 200, its four motors are crosswise ground distribution in a horizontal plane in orthogonal X and Y-axis, and X-axis positive dirction is considered as heading.Motor 1 is positioned at X-axis positive axis, and motor 3 is positioned at X-axis and bears semiaxis; Motor 2 is positioned at Y-axis positive axis, and motor 4 is positioned at Y-axis and bears semiaxis; Z axis is vertical.
Dipping and heaving: four motors improve rotating speed simultaneously, the pulling force that four-axle aircraft 200 obtains increases and moves along Z axis positive dirction; Four motors reduce rotating speed simultaneously, and the pulling force that four-axle aircraft 200 obtains reduces and moves along Z axis negative direction.
Face upward motion of bowing: motor 1 raises speed, motor 3 reduction of speed, four-axle aircraft 200 rotates around Y-axis and lifts head and face upward, and moves along X-axis negative direction simultaneously; Otherwise four-axle aircraft 200 rotates and test head and nutation around Y-axis, move along X-axis positive dirction simultaneously.
Roll motion: motor 4 raises speed, motor 2 reduction of speed, four-axle aircraft 200 is left-leaning around X-axis rotation, and moves along Y-axis negative direction; Otherwise four-axle aircraft 200 rotates and Right deviation around X-axis, and moves along Y-axis positive dirction.When motor 4 and motor 2 speed discrepancy enough large time, just can there is complete transverse direction and roll in four-axle aircraft 200, i.e. roll motion.
Yawing rotation: because air resistance effect can form the reactive torque with direction of rotation in rotor 5 rotation process.In order to overcome reactive torque impact, the arrangement of four rotors 5 adopts two to rotate forward two reversions, and turning to of opposed rotor is identical.The size that each rotor 5 produces reactive torque is relevant with the rotating speed of rotor 5, and rotor 5 rotating speed is higher, and the reactive torque of generation is larger.When four rotor 5 rotating speeds are identical, the reactive torque that four rotors, 5 pairs of four-axle aircrafts 200 produce is cancelled out each other, and four-axle aircraft 200 relatively Z axis does not rotate; When the rotating speed of four rotors is incomplete same, when reactive torque can not be cancelled out each other completely, reactive torque can cause four-axle aircraft 200 to rotate relative to Z axis, thus realizes yawing rotation.Motor 1 and 3 rotating speed improves (rotating forward), and motor 2 and 4 rotating speed reduces (reversion), and four-axle aircraft 200 will rotate around Z axis and deflect to the right, namely goes off course to the right.Because motor 1 and 3 rotating speed improves, motor 2 and 4 rotating speed reduces, and overall pulling force is constant, so four-axle aircraft 200 can not rise or decline.
At present, aircraft all utilizes inertia measuring module (IMU) to control flight attitude.Inertia measuring module comprises accelerometer and gyroscope, also known as INS.With reference to rectangular coordinate system in space, on X, Y, Z axis direction, arrange a gyroscope respectively, for measuring the rotary motion of Multi-axis aircraft on above-mentioned three directions; On X, Y, Z axis direction, arrange an accelerometer respectively, for measuring the acceleration/accel of Multi-axis aircraft motion of translation on above-mentioned three directions.The attitudes such as inertia measuring module can detect aircraft pitch, tilts, driftage, and by corresponding signal feedback to the control circuit of Multi-axis aircraft, Multi-axis aircraft adjusts flight attitude according to the control signal control motor speed of the gesture stability rule in the memory device be preset in control circuit or remote controller input.
As shown in Figure 2, aircraft 100 is a kind of three axle aircraft.Aircraft 100 has frame 110, and the two ends of the horn 111 of frame 110 arrange a motor 112 respectively, motor 112 are arranged a rotor 113.Frame 110 also comprises S. A. 120, and the end of S. A. 120 connects an afterbody motor 121 and anti-torque rotor 122.Rotor 113 is identical with the oar footpath of rotor 122.S. A. 120 can rotate, thus drives anti-torque rotor 122 to tilt to the both sides of S. A. 120.Two rotors 113 of aircraft 100 are a pair positive and negative oar, and the rotor that namely a pair propeller pitch angle size equidirectional is contrary, when two rotor 113 rotating speeds are identical, the reactive torque be subject to from air is cancelled out each other.Rotor 122 is positive oars or instead starches, and therefore, aircraft 100 not only needs the rotating speed by adjusting rotor 122 to control flight attitude, the reactive torque that the angle of inclination also needing to control rotor 122 is subject to from air to balance rotor 122.
Due to aircraft 100 has one can the rotor 122 of dynamic tilt, therefore its flare maneuver is comparatively flexible.Just because of the rotor 122 of aircraft 100 balances the reactive torque that rotor 122 is subject to from air with needing dynamic tilt, so the stability of aircraft 100 is more weak.
Summary of the invention
The object of this invention is to provide the aircraft of the flexible good stability of a kind of flare maneuver.
Aircraft provided by the invention comprises frame; First horn device, is arranged in frame; Second horn device, is arranged in frame; Rotor power device, is arranged on the outer end of the first horn and the second horn; First horn device has the first telescopic unit; First horn device is arranged in frame by the first rotating shaft; First rotary power units, is arranged in frame, for driving the first axis of rotation.
Such scheme is visible, and the first horn device around gantry rotation also flexible, in aircraft operational process, can not only be regulated by the flight attitude of rotation to aircraft of rotating shaft, thus reduces windage; First horn device has telescopic unit, realizes elongation or the shortening of the first horn device, can reduce the wind area of the first horn device, reduce windage further, and be conducive to passing through small space when the first horn device shortens; The flight stability of fuselage can be increased when the first horn device extends.
A preferred scheme is, the first horn device comprises the first handset arm and the second handset arm; First handset arm and the second handset arm are distributed in the both sides of the first rotating shaft symmetrically.
Such scheme is visible, and the scheme be arranged symmetrically with makes the first rotary power units consumed power less, and is conducive to the simplification of the control algorithm of carry-on control program.
A preferred scheme is, the second horn device comprises the 3rd handset arm and the 4th handset arm; 3rd handset arm and the 4th handset arm are distributed in the both sides of the first rotating shaft symmetrically.
Such scheme is visible, more can be conducive to the simplification of the control algorithm of carry-on control program.
Preferred scheme is that the second horn has telescopic unit further.
Such scheme is visible, is conducive to the overall flight at small space of aircraft.
Preferred scheme is that the second horn is arranged in frame by the second rotating shaft further; Second rotary power units, is arranged in frame, for driving the second axis of rotation.
Such scheme is visible, further increases the alerting ability of flare maneuver.
A preferred scheme is, aircraft also has the first T-shaped threeway, and the first T-shaped threeway comprises the first transverse tube and the first longitudinal tubule (L tubule); The inner of first handset arm and the inner of the second handset arm are arranged on the two ends of the first transverse tube respectively; One end of first rotating shaft is arranged on the first longitudinal tubule (L tubule).
Such scheme is visible, and structure is simple, is easy to assembling and produces, low cost of manufacture.
Preferred scheme is that aircraft also has the second T-shaped threeway further, and the second T-shaped threeway comprises the second transverse tube and the second longitudinal tubule (L tubule); The inner of 3rd handset arm and the inner of the 4th handset arm are arranged on the two ends of the second transverse tube respectively; One end of second rotating shaft is arranged on the second longitudinal tubule (L tubule).
Such scheme is visible, further simplified structure, is convenient to assembling.
A preferred scheme is, the first telescopic unit is spindle gear, and spindle gear comprises motor, screw mandrel and screw thread bush, and motor can drive screw mandrel relative motion in screw thread bush.
Such scheme is visible, and structure is simple, and safety reliability is high.
Preferred scheme is that the first telescopic unit is spindle gear, and spindle gear comprises electric motor units, screw mandrel and screw thread bush further, and screw thread bush is fixed in the first transverse tube; Electric motor units comprises the first sub-motor and the second sub-motor; Screw mandrel comprises the first sub-screw mandrel and the second sub-screw mandrel; First handset arm comprises the first sliding cylinder, the first stationary cylinder; First sub-motor is fixed on the outer end of the first sliding cylinder, the outer end of the first sub-screw mandrel is arranged in the rotating shaft of the first sub-motor, the inner of first stationary cylinder is fixed on one end of the first transverse tube, the inner of first sliding cylinder can be arranged on the outer end of the first stationary cylinder axially slidably, and the first sub-screw mandrel is threaded with screw thread bush; Second handset arm comprises the second sliding cylinder, the second stationary cylinder; Second sub-motor is fixed on the outer end of the second sliding cylinder, the outer end of the second sub-screw mandrel is arranged in the rotating shaft of the second sub-motor, the inner of second stationary cylinder is fixed on one end of the second transverse tube, the inner of second sliding cylinder can be arranged on the outer end of the second stationary cylinder axially slidably, and the second sub-screw mandrel is threaded with screw thread bush.
Such scheme is visible, and screw mandrel telescoping mechanism is built in tubular body, thus, is not vulnerable to foreign object and blocks, damages risk reduction, long service life.
A preferred scheme is, rotor power device has the duct of rotor and circumference encirclement rotor.
Such scheme is visible, and duct can promote pulling force and protection rotor.
Accompanying drawing explanation
Fig. 1 is the constructional drawing of existing a kind of four-axle aircraft.
Fig. 2 is existing a kind of T-shaped aircraft.
Fig. 3 is the constructional drawing of aircraft embodiment of the present invention.
Fig. 4 is the birds-eye view of aircraft embodiment of the present invention.
Fig. 5 is the front view of aircraft embodiment of the present invention.
Fig. 6 is the part sectional view of Fig. 6.
Fig. 7 is the partial enlarged drawing of a-quadrant in Fig. 6.
Fig. 8 is the partial enlarged drawing in B region in Fig. 6.
Fig. 9 is the partial enlarged drawing in C region in Fig. 6.
Further describe below in conjunction with the embodiment of accompanying drawing to the embodiment of aircraft.
Detailed description of the invention
As shown in Fig. 3, Fig. 4 and Fig. 5, the aircraft 400 of I-shaped shape has frame 450, and frame 450 has the first horn device, the second horn device, the first T-shaped threeway 470, first rotating shaft 460 and the first rotary power units.
The outer end that the outer end that first horn device has the first handset arm 410 and the second handset arm 420, a first handset arm 410 has the first rotor 416, second handset arm 420 has the second rotor 426.Second horn tool device has the 3rd handset arm 430 and the 4th handset arm 440.First T-shaped threeway 470 has the first transverse tube 471 and the first longitudinal tubule (L tubule) 473.First rotary power units comprises the motor 465, crank 461, drive link 462, the Rocker arm 4 63 that connect successively, and one end fixed cover of Rocker arm 4 63 is located in the first rotating shaft 460.
First handset arm 410 and the second handset arm 420 are distributed in the both sides of the first rotating shaft 460 symmetrically.3rd handset arm 430 and the 4th handset arm 440 are distributed in the both sides of the first rotating shaft 460 symmetrically.The inner of first handset arm 410 and the inner of the second handset arm 420 are arranged on the two ends of the first transverse tube 471 respectively, and one end of the first rotating shaft 460 is arranged on the first longitudinal tubule (L tubule) 473.
As shown in Figures 6 to 9, the first horn device also has the first telescopic unit, and the first telescopic unit is spindle gear, and spindle gear has electric motor units, screw mandrel and screw thread bush 431, and screw thread bush 431 is fixed in the first transverse tube 471.Electric motor units has the first sub-motor 415 and the second sub-motor 425; Screw mandrel has the first sub-screw mandrel 432 and the second sub-screw mandrel 434.First handset arm 410 has the first sliding cylinder 413, first stationary cylinder 414.Second handset arm 420 has the second sliding cylinder 423, second stationary cylinder 424; Second sub-motor 425 is fixed on the outer end of the second sliding cylinder 423.
First sub-motor 415 is fixed on the outer end of the first sliding cylinder 413, the outer end of the first sub-screw mandrel 432 is arranged on the output shaft of the first sub-motor 415, the inner of first stationary cylinder 414 is fixed on one end of the first transverse tube 471, the inner of first sliding cylinder 413 can be arranged on the outer end of the first stationary cylinder 414 axially slidably, and the first sub-screw mandrel 432 is threaded with screw thread bush 431.
The outer end of the second sub-screw mandrel 434 is arranged on the output shaft of the second sub-motor 425, the inner of second stationary cylinder 424 is fixed on the other end of the first transverse tube 471, the inner of second sliding cylinder 423 can be arranged on the outer end of the second stationary cylinder 424 axially slidably, and the second sub-screw mandrel 434 is threaded with screw thread bush 431.
First rotary power units provides rotary power to the first rotating shaft 460, drives swinging of the first horn device 410 and the second horn device 420, produces the thrust of horizontal direction, thus strengthens the regulating action of the first rotor 416 and the second rotor 426 pairs of fuselages.When first sub-motor 415 works, drive the axis direction motion of the first sub-screw mandrel 432, first sliding cylinder 413, first sub-motor 415 and the first rotor 416 threadingly sleeve 431, realize the object of adjustment first horn device 410 length.When the second sub-motor 425 works, drive the axis direction motion of the second sub-screw mandrel 434, second sliding cylinder 423, second sub-motor 425 and the second rotor 426 threadingly sleeve 431, realize the object of adjustment second horn device 420 length.
When first sub-motor 415 rotates around a direction, according to mechanics principle, the first sliding cylinder 413 can be made to rotate relative to the first stationary cylinder 414, in order to overcome the impact that this rotation brings, chute is offered at the axis direction of the outer wall of the first sliding cylinder 413, and a protruding post is installed on the first stationary cylinder 414 as screw 418, screw 418 and chute cooperatively interact, thus prevent the first sliding cylinder 413 from occurring when moving axially along the first stationary cylinder 414 to rotate relative to the circumference of the first stationary cylinder 414.
In other embodiments, by motor direct-drive on the output shaft that the first rotor and the first rotor can be arranged on motor, also can be arranged on rotary seat and indirectly be driven by the mode such as V belt translation, gear transmission by motor.The rotation of the first rotor and the second rotor is not limited to be driven by motor, by oil machine, can also namely use the engine drive of fuel oil.Certainly, the present invention can also make part rotor be driven by oil machine by motor driving and part rotor.Telescopic unit has cylinder and piston rod, is regulated the length of the first horn and the second horn by the motion of piston rod.Telescopic unit is made up of the multistage sleeve of joint structure, can extend or shorten after multistage tube-in-tube structure is subject to the power of axial direction, and then the length of adjustment the first horn and the second horn.Telescopic unit can also be replaced by modes such as rack-and-gear, cylinder, hydraulic actuating cylinder, ball-screws.In the first telescopic unit in a first embodiment, adopt a motor to drive a rotor rotational, certainly, also two rotors at two ends can be driven to rotate by a motor simultaneously.First rotating mechanism can also pass through turbine and worm, gear transmission, and the modes such as V belt translation are replaced.Although the height of Fig. 3 shaft and frame place plane inconsistent, rotating shaft can regulate relative to the height of frame, and the axis of such as rotating shaft can, with frame in a plane, only need to provide the first suitable rotary power units.As preferred scheme, carry-on all rotors are at identical height.
Aircraft of the present invention is also not limited to have the first horn and the second horn, can also expand to the first horn device with one group of balance, and/or, one group of parallel second horn device.Certainly, the more multimachine arm assembly such as the 3rd horn device can also be had.
Finally it should be noted that; the invention is not restricted to above-mentioned embodiment; such as be set with a duct in the outside of rotor and as engine installation, or directly use ducted fan as schemes such as rotor power devices also within claims of the present invention.
Claims (10)
1. aircraft, comprises,
Frame;
First horn device, is arranged in described frame;
Second horn device, is arranged in described frame;
Rotor power device, is arranged on the outer end of described first horn and described second horn;
It is characterized in that:
Described first horn device has the first telescopic unit;
Described first horn device is arranged in described frame by the first rotating shaft;
Described frame is provided with the first rotary power units, for driving described first axis of rotation.
2. aircraft according to claim 1, is characterized in that:
Described first horn device comprises the first handset arm and the second handset arm;
Described first handset arm and described second handset arm are distributed in the both sides of described first rotating shaft symmetrically.
3. aircraft according to claim 2, is characterized in that:
Described second horn device comprises the 3rd handset arm and the 4th handset arm;
Described 3rd handset arm and described 4th handset arm are distributed in the both sides of described first rotating shaft symmetrically.
4. aircraft according to claim 3, is characterized in that:
Described second horn has the second telescopic unit.
5. aircraft according to claim 3, is characterized in that:
Described second horn is arranged in described frame by the second rotating shaft;
Described frame is provided with the second rotary power units, for driving described second axis of rotation.
6. aircraft according to claim 2, is characterized in that:
Described aircraft also has the first T-shaped threeway, and described first T-shaped threeway comprises the first transverse tube and the first longitudinal tubule (L tubule);
The inner of described first handset arm and the inner of described second handset arm are arranged on the two ends of described first transverse tube respectively;
One end of described first rotating shaft is arranged on described first longitudinal tubule (L tubule).
7. aircraft according to claim 5, is characterized in that:
Described aircraft also comprises the second T-shaped threeway, and described second T-shaped threeway comprises the second transverse tube and the second longitudinal tubule (L tubule);
The inner of described 3rd handset arm and the inner of described 4th handset arm are arranged on the two ends of described second transverse tube respectively;
One end of described second rotating shaft is arranged on described second longitudinal tubule (L tubule).
8. the aircraft according to any one of claim 1 to 7, is characterized in that:
Described first telescopic unit is spindle gear, and described spindle gear comprises electric motor units, screw mandrel and screw thread bush, and described motor drives the relative motion in described screw thread bush of described screw mandrel.
9. aircraft according to claim 5, is characterized in that:
Described first telescopic unit is spindle gear, and described spindle gear comprises electric motor units, screw mandrel and screw thread bush, and described screw thread bush is fixed in described first transverse tube;
Described electric motor units comprises the first sub-motor and the second sub-motor;
Described screw mandrel comprises the first sub-screw mandrel and the second sub-screw mandrel;
Described first handset arm comprises the first sliding cylinder, the first stationary cylinder;
Described first sub-motor is fixed on the outer end of described first sliding cylinder, the outer end of described first sub-screw mandrel is arranged in the rotating shaft of described first sub-motor, the inner of described first stationary cylinder is fixed on one end of described first transverse tube, the inner of described first sliding cylinder can be arranged on the outer end of described first stationary cylinder axially slidably, and described first sub-screw mandrel is threaded with described screw thread bush;
Described second handset arm comprises the second sliding cylinder, the second stationary cylinder;
Described second sub-motor is fixed on the outer end of described second sliding cylinder, the outer end of described second sub-screw mandrel is arranged in the rotating shaft of described second sub-motor, the inner of described second stationary cylinder is fixed on one end of described second transverse tube, the inner of described second sliding cylinder can be arranged on the outer end of described second stationary cylinder axially slidably, and described second sub-screw mandrel is threaded with described screw thread bush.
10. the aircraft according to any one of claim 1 to 7, is characterized in that:
Described rotor power device has the duct of rotor and the described rotor of circumference encirclement.
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| CN201510217928.XA CN104828245B (en) | 2015-04-30 | 2015-04-30 | Aircraft |
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| CN106915434A (en) * | 2015-12-25 | 2017-07-04 | 北京臻迪机器人有限公司 | The horn of aircraft |
| CN106973147A (en) * | 2017-03-01 | 2017-07-21 | 奇酷互联网络科技（深圳）有限公司 | Mobile terminal, terminal Shatter-resistant device and its implementation |
| CN107132848A (en) * | 2017-03-15 | 2017-09-05 | 南宁学院 | A kind of many rotor short distance logistics unmanned plane propeller attitude adjusting methods |
| CN107161332A (en) * | 2017-05-31 | 2017-09-15 | 南京航空航天大学 | A kind of double-deck eight rotor wing unmanned aerial vehicle |
| WO2018032415A1 (en) * | 2016-08-17 | 2018-02-22 | SZ DJI Technology Co., Ltd. | Systems and methods for operating unmanned aerial vehicles |
| CN107906331A (en) * | 2017-12-27 | 2018-04-13 | 嘉兴恒杰电力设备安装有限公司 | A kind of adjustable metering box bracket |
| CN108706096A (en) * | 2018-04-02 | 2018-10-26 | 夏贵荣 | A kind of holder by adjusting the movement of rotor distance controlling quadrotor drone |
| CN109896004A (en) * | 2019-03-25 | 2019-06-18 | 上海应用技术大学 | A kind of unmanned plane of scalable horn |
| CN111009989A (en) * | 2019-11-26 | 2020-04-14 | 西安航天精密机电研究所 | Switching device used between gyro motor and dynamic balancing machine |
| US10793270B2 (en) | 2016-05-28 | 2020-10-06 | SZ DJI Technology Co., Ltd. | Foldable UAV |
| CN112520026A (en) * | 2020-12-23 | 2021-03-19 | 中国民用航空飞行学院 | Novel variant aircraft |
| CN113335516A (en) * | 2021-06-19 | 2021-09-03 | 国网浙江省电力有限公司浦江县供电公司 | Be applied to unmanned aerial vehicle that electric power cruises |
| CN113335496A (en) * | 2021-06-19 | 2021-09-03 | 国网浙江省电力有限公司浦江县供电公司 | Be applied to unmanned aerial vehicle horn subassembly that electric power cruises |
| CN116812184A (en) * | 2023-07-04 | 2023-09-29 | 深圳技术大学 | Six-axis unmanned aerial vehicle for radar mapping |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106915434A (en) * | 2015-12-25 | 2017-07-04 | 北京臻迪机器人有限公司 | The horn of aircraft |
| US11124298B2 (en) | 2016-05-28 | 2021-09-21 | SZ DJI Technology Co., Ltd. | Foldable UAV |
| US10793270B2 (en) | 2016-05-28 | 2020-10-06 | SZ DJI Technology Co., Ltd. | Foldable UAV |
| WO2018032415A1 (en) * | 2016-08-17 | 2018-02-22 | SZ DJI Technology Co., Ltd. | Systems and methods for operating unmanned aerial vehicles |
| US11275389B2 (en) | 2016-08-17 | 2022-03-15 | SZ DJI Technology Co., Ltd. | Systems and methods for operating unmanned aerial vehicles |
| CN106973147A (en) * | 2017-03-01 | 2017-07-21 | 奇酷互联网络科技（深圳）有限公司 | Mobile terminal, terminal Shatter-resistant device and its implementation |
| CN107132848A (en) * | 2017-03-15 | 2017-09-05 | 南宁学院 | A kind of many rotor short distance logistics unmanned plane propeller attitude adjusting methods |
| CN107161332A (en) * | 2017-05-31 | 2017-09-15 | 南京航空航天大学 | A kind of double-deck eight rotor wing unmanned aerial vehicle |
| CN107906331A (en) * | 2017-12-27 | 2018-04-13 | 嘉兴恒杰电力设备安装有限公司 | A kind of adjustable metering box bracket |
| CN108706096A (en) * | 2018-04-02 | 2018-10-26 | 夏贵荣 | A kind of holder by adjusting the movement of rotor distance controlling quadrotor drone |
| CN109896004A (en) * | 2019-03-25 | 2019-06-18 | 上海应用技术大学 | A kind of unmanned plane of scalable horn |
| CN109896004B (en) * | 2019-03-25 | 2022-11-15 | 上海应用技术大学 | Unmanned aerial vehicle with telescopic arm |
| CN111009989A (en) * | 2019-11-26 | 2020-04-14 | 西安航天精密机电研究所 | Switching device used between gyro motor and dynamic balancing machine |
| CN112520026A (en) * | 2020-12-23 | 2021-03-19 | 中国民用航空飞行学院 | Novel variant aircraft |
| CN113335496A (en) * | 2021-06-19 | 2021-09-03 | 国网浙江省电力有限公司浦江县供电公司 | Be applied to unmanned aerial vehicle horn subassembly that electric power cruises |
| CN113335516A (en) * | 2021-06-19 | 2021-09-03 | 国网浙江省电力有限公司浦江县供电公司 | Be applied to unmanned aerial vehicle that electric power cruises |
| CN116812184A (en) * | 2023-07-04 | 2023-09-29 | 深圳技术大学 | Six-axis unmanned aerial vehicle for radar mapping |
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|---|---|
| CN104828245B (en) | 2018-07-03 |
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