CN104494819B - Folding quick-disassembling type multi-rotary wing unmanned aerial vehicle - Google Patents

Folding quick-disassembling type multi-rotary wing unmanned aerial vehicle Download PDF

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Publication number
CN104494819B
CN104494819B CN201410771876.6A CN201410771876A CN104494819B CN 104494819 B CN104494819 B CN 104494819B CN 201410771876 A CN201410771876 A CN 201410771876A CN 104494819 B CN104494819 B CN 104494819B
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CN
China
Prior art keywords
unit
frame main
horn
feed liquid
rotor unmanned
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CN201410771876.6A
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Chinese (zh)
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CN104494819A (en
Inventor
周志艳
朱秋阳
陈盛德
臧禹
罗锡文
臧英
李继宇
兰玉彬
Original Assignee
华南农业大学
广州天翔航空科技有限公司
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Application filed by 华南农业大学, 广州天翔航空科技有限公司 filed Critical 华南农业大学
Priority to CN201410771876.6A priority Critical patent/CN104494819B/en
Publication of CN104494819A publication Critical patent/CN104494819A/en
Application granted granted Critical
Publication of CN104494819B publication Critical patent/CN104494819B/en

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Abstract

The invention discloses a folding quick-disassembling type multi-rotary wing unmanned aerial vehicle which comprises a stander unit, a flight unit, a replenishment unit and a spray unit, wherein the stander unit comprises a stander main body and an undercarriage; the flight unit comprises a plurality of flight assemblies which are distributed along the peripheral direction of the main stander body; each flight assembly comprises a jib arm, a rotary wing and a drive motor; the jib arm is connected with the stander main body through a folding connection structure which can be folded along a top-bottom direction; the replenishment unit is an integer combined by an energy replenishing part and a feed liquid replenishing part, the replenishment unit can be connected with the stander main body through an assembling and disassembling connection structure, and the assembling and disassembling connection structure comprises a buckle which can be buckled and unbuckled with the connecting part of the stander main body; and the spray unit is connected with the stander main body and connected with the feed liquid replenishing part of the replenishment unit. The folding quick-disassembling type multi-rotary wing unmanned aerial vehicle disclosed by the invention is not only easy to carry and transport, but also short in replenishing time of energy and a sprayed material and high in working efficiency.

Description

One kind folds many rotor unmanned aircrafts of fast disassembly type
Technical field
The present invention relates to agricultural aviation device, and in particular to one kind folds many rotor unmanned aircrafts of fast disassembly type.
Background technology
China is a large agricultural country, it is ensured that grain security is the fundamental state policy of China.According to statistics, in China's Rice Production Disease has 61 kinds, and insect pest has 78 kinds, although through preventing and treating, but the cereal crops production loss that China is caused because of pest and disease damage every year is still Up to 5x106More than kg.Therefore, China must strengthen plant protection in cereal crops production, produce, get bumper crops to guarantee to protect.
At present, the equipment for plant protection of China mainly includes that manpower plant protection apparatus, minitype motivation plant protection apparatus, big-and-middle-sized power are planted Protect machinery and aviation plant protection machinery.During manpower plant protection apparatus operation, there is hand labor strong in dispenser personnel and medical instruments directly contact Degree is big, and pesticide utilization rate is low, and the problem endangered by pollution by pesticides;Minitype motivation plant protection apparatus compared with manpower plant protection apparatus, Although the labor intensity of operating personnel is minimized, efficiency is lifted, and this kind of apparatus still suffers from spraying uneven, pesticide wave Take the problem that serious and operating personnel is subject to pollution by pesticides;Big-and-middle-sized power equipment for plant protection compared with first two machinery, imitate by operation Rate and spray uniformity and be significantly improved, but big-and-middle-sized power equipment for plant protection is present operation of going to the field is difficult, pressure row loss is big and The problems such as farm work is dumb.Aviation plant protection machinery is with working performance height, operation quality is good, assault ability is strong, comprehensive work Industry low cost and the advantages of go to the field easy, in recent years, this kind of operating type is widely used in agricultural plant protection field.
Because many rotor unmanned aircrafts have simple frame for movement, mobility strong, are easy to safeguard, controllability is good, energy The advantages of enough hovering, vertical and landing takeoff in the air, many rotor unmanned aircrafts rapidly become agricultural plant protection application One focus.But at this stage, also there are two large problems in many rotor unmanned aircraft operations:One is many rotor unmanned aircraft geometry Size is larger, not readily portable to carry out operation with transporting to farmland;Two when being that unmanned vehicle payload amount is little, operation is continued a journey Between it is short, constantly landing is needed during operation to supplement the energy and spray material, supply process spent time is long and cause effectively Activity duration is reduced, and aviation working performance is reduced to a great extent.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided one kind folds many rotor unmanned flights of fast disassembly type Device, the unmanned vehicle is not only easily carried and transports, and the energy is few with the pipeline time for spraying material, and working performance is high.
The present invention solves the technical scheme of above-mentioned technical problem:
One kind folds many rotor unmanned aircrafts of fast disassembly type, including rack unit, flying unit, supply unit and sprinkling Unit, wherein, the rack unit includes frame main body and undercarriage;The flying unit includes the circumference along frame main body Multiple flight components of directional spreding, each flight component includes horn, rotor and motor;It is characterized in that:
The horn is connected in frame main body by the folding connection structure that can be folded along the vertical direction, described to roll over Folded attachment structure includes connection fastener, rotating shaft and the button column being arranged on horn, wherein, the horn is connected by the rotating shaft It is connected in frame main body, one end of the connection fastener is rotatably connected in frame main body, and the other end is provided with and has contact with, and this is taken Fastener is on the button column;
The supply unit is that, by the entirety of energy recharge part and feed liquid supply portion subassembly, the supply unit leads to Cross detachable attachment structure to be connected in frame main body, the detachable attachment structure includes to engage and departing from frame main body Connecting portion buckle;
The spray unit is connected in frame main body, and is connected with the feed liquid supply part in the supply unit.
One preferred version of the present invention, wherein, the concrete structure of the folding connection structure is:The end of the horn Portion is provided with union joint, and the bottom of the union joint is connected by the rotating shaft with the bottom of frame main body, and the button column is arranged on company The top of joint;The top of frame main body is provided with connecting seat, and the connecting seat is provided with locking member, and one end of the locking member is provided with One connecting shaft, middle part is provided with the second connecting shaft;The connecting seat is provided with the locking slot of opening upwards;The locking member is by the One connecting shaft is rotatably connected on connecting seat, and second connecting shaft is entrapped in locking slot;The connection fastener connection In second connecting shaft.
Its operation principle is:When horn extends to level, the second connecting shaft of the locking member is entrapped in connecting seat In locking slot, so as to by the locking of one end of connection fastener, the other end of connection fastener is buckled on the button column so that horn is able to It is fixed on extended configuration;When needing to fold horn, locking member is pushed up so that the second connecting shaft leaves lock slots, connect The end of fastener also accordingly moves up so that having contact with connection fastener is able to unclamp button column, and so as to discharge horn, horn can Smoothly to rotate down folding, and when needing again to launch horn, against the operation of aforesaid operations method.
One preferred version of the present invention, wherein, the buckle is arranged on the both sides of the bottom of supply unit, the buckle bag The elastic snap arm of extend downwardly two for being oppositely arranged is included, the bottom of two elastic snap arm arranges contraction structure, forms bayonet socket;Institute The connecting portion stated in frame main body matches with buckle inner space size.
By above-mentioned preferred version, when supply unit is installed, buckle therein need to only be buckled into the connecting portion of frame main body Upper, when snapping in, two elastic snap arm elder generation elasticity are opened, after the connecting portion snaps onto completely buckle inside, two bullets Property snap arm restore to the original state, by the connecting portion hold tightly wherein, realize connection;And when dismantling supply unit, apply to feeding unit Plus pulling force upwards so that the connecting portion is exited by force from buckle.Simultaneously as the both sides in the bottom of supply unit are equal The buckle is set so that supply unit also obtain positioning in circumferencial direction, be allowed to be securely fixed in frame main body.
Preferably, in the buckle in every side, with described two elastic snap arm as one group, two for being coaxially disposed are included altogether Group.So cause connection more firm, reliable.
One preferred version of the present invention, wherein, in supply unit, the feed liquid supply portion point includes feed liquid supply case; The source supply portion point includes the battery settling groove being arranged on feed liquid supply case side.The feed liquid supply case is used to contain spray The feed liquid spilt, the battery settling groove is used to install electrokinetic cell, and for motor electric energy is provided;By by feed liquid supply case and Battery settling groove is fixed into together, reduces volume, while assembly and disassembly, time-consuming.
Preferably, the bottom of the feed liquid supply case is provided with the support feet for extending downwardly;The top of the feed liquid supply case Feed liquid port and handle are provided with, bottom is provided with material liquid outlet.The effect of the support feet is to allow supply unit in supply process In be stably placed on ground;The handle is easy to lift supply unit, and convenient working personnel change supply unit;The material Liquid entrance is used to load spraying feed liquid into feed liquid supply case, and the material liquid outlet is used for spray unit conveying spray feed liquid.
One preferred version of the present invention, wherein, the spray unit includes spraying pump, spraying pipeline, spray boom and shower nozzle, Wherein, the shower nozzle is arranged on spray boom, and the spray boom is connected by spraying pipeline with pump is sprayed, and the pump that sprays is by spraying Pipeline is connected with the material liquid outlet in feed liquid supply case;The spray boom and shower nozzle are arranged on the horn outer end of frame main body both sides.
One preferred version of the present invention, wherein, the flight component is arranged on four of the circumferencial direction of frame main body At side, two flight components are set, the horn in two flight components abreast stretches out at each side, and two The outer end of individual horn is linked into an integrated entity by connecting rod.Symmetrical structure not only contributes to improve the balance of aircraft, Er Qietong Two horn ends of side link into an integrated entity can preferably reduce the vibration of flight component generation, improve aircraft and make in flight Stability during industry.
Preferably, the end upper and lower surface of the horn of the fore-and-aft direction of the frame is mounted on motor and rotor, The end upper surface of the horn of the both sides of the frame is provided with motor and rotor.During unmanned vehicle operation, mainly Fly to complete to spray operation by before and after, upper and lower bispin wing structure can not only increase the payload of aircraft, moreover it is possible to improve Motility during aircraft operation.
One preferred version of the present invention, wherein, the elastic snap arm is made up of hard elastic plastics;The horn is served as reasons Tubular structure made by carbon fiber, the pipeline that sprays is from wherein passing through.
Originally bright operation principle for folding many rotor unmanned aircrafts of fast disassembly type is:The aircraft is being parked or transported Cheng Zhong, allows flying unit to bend downwards by the folding connection structure between horn and frame main body, due to flight Unit occupies the overwhelming majority of lateral dimension in aircraft, so can significantly reduce horizontal stroke of the aircraft under non-working condition To size, parking space is saved, it is easy to carry and transport;When aircraft is in running order, the flying unit is opened up upwards Open, you can recover normal operating attitude.In the aircraft course of work, to run out of the feed liquid or the energy fed in unit The operation for being completed is single operation, because the supply unit is connected in frame main body by detachable attachment structure, because This need to only get off the supply unit disassembling being finished when feed liquid and energy recharge is carried out, then the resupplies list that supplement is finished Unit is installed in frame main body and replaces original supply unit, you can carries out single operation next time, so constantly works, greatly It is big to save pipeline time, improve working performance.
This present invention has compared with prior art following beneficial effect:
1. the present invention adopts folding machine arm type structure, reduces the physical dimension of many rotor unmanned aircrafts, effectively solves Determined multi-rotor aerocraft carrying and transport problem.
2. the present invention constitutes an entirety, and the supply unit using the feed liquid supply in supply unit and energy recharge For replaceable unit, after the energy in the supply unit and most sprinkling material consumption, another standby supply list can be rapidly replaced Unit, and the supply unit for exhausting can be supplemented while aircraft operation and spray material and the energy with standby.This entirety is replaced The pipeline time that structure greatly reduces material is changed, the effective operation time of aircraft is increased, the operation of aircraft is improve Efficiency.
Description of the drawings
Fig. 1 is that the stereochemical structure of a specific embodiment for folding many rotor unmanned aircrafts of fast disassembly type of the present invention is shown It is intended to (flying unit is in deployed condition).
Fig. 2 is structural representation of the flying unit in folded state in Fig. 1.
Fig. 3 is the structural scheme of mechanism that unit is fed in Fig. 1.
Fig. 4 is the attachment structure schematic diagram in Fig. 1 between horn and frame main body.
Fig. 5 is that locking member leaves the structural representation after locking slot in Fig. 1.
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited In this.
Referring to Fig. 1~Fig. 5, many rotor unmanned aircrafts of folding fast disassembly type of the present invention include that rack unit 1, flight are single Unit, supply unit 2 and spray unit 3, wherein, the rack unit 1 includes frame main body 11 and undercarriage 13, undercarriage 13 It is fixed on the bottom of frame main body 11.The flying unit includes the multiple flights being distributed along the circumferencial direction of frame main body 11 Component, each flight component includes horn 12, rotor 16 and motor 15.The horn 12 is by folding along the vertical direction Folding connection structure be connected in frame main body 11, the folding connection structure include connection fastener 17, rotating shaft 110 with And the button column 18 being arranged on horn 12, wherein, the horn 12 is connected in frame main body 11 by the rotating shaft 110, institute The one end for stating connection fastener 17 is rotatably connected in frame main body 11, and the other end is provided with and has contact with 112, and this has contact with 112 and is buckled in On the button column 18.The supply unit 2 is by the entirety of energy recharge part and feed liquid supply portion subassembly, the supply Unit 2 is connected in frame main body 11 by detachable attachment structure, and the detachable attachment structure includes to engage and departing from The buckle of the connecting portion in frame main body 11.The spray unit 3 is connected in frame main body 11, and feeds unit 2 with described In feed liquid supply part connect.
Referring to Fig. 1, Fig. 2, Fig. 4 and Fig. 5, the concrete structure of the folding connection structure is:The end of the horn 12 Union joint 19 is provided with, the bottom of the union joint 19 is connected by the rotating shaft 110 with the bottom of frame main body 11, the button column 18 It is arranged on the top of union joint 19;The top of frame main body 11 is provided with connecting seat 115, and the connecting seat 115 is provided with locking member 111, one end of the locking member 111 is provided with the first connecting shaft 113, and middle part is provided with the second connecting shaft 114;On the connecting seat 115 It is provided with the locking slot 116 of opening upwards;The locking member 111 is rotatably connected to connecting seat 115 by the first connecting shaft 113 On, second connecting shaft 114 is entrapped in locking slot 116;The connection fastener 17 is connected to second connecting shaft 114 On.Its operation principle is:When horn 12 extends to level, the second connecting shaft 114 of the locking member 111 is entrapped in connecting seat In 115 locking slot 116, so as to by the locking of one end of connection fastener 17, the other end of connection fastener 17 is buckled in the button column 18 On so that horn 12 is able to be fixed on extended configuration;When needing to fold horn 12, locking member 111 is pushed up so that second Connecting shaft 114 leaves lock slots 116, and the end of connection fastener 17 also accordingly moves up so that having contact with connection fastener 17 112 are able to unclamp button column 18, and so as to discharge horn 12, horn 12 can smoothly rotate down folding, and need horn again During 12 expansion, against the operation of aforesaid operations method.
Referring to Fig. 1 and Fig. 2, the flight component is arranged at four sides of the circumferencial direction of frame main body 11, each Two flight components are set at side, and the horn 12 in two flight components abreast stretches out, and two horns 12 Outer end linked into an integrated entity by connecting rod.Symmetrical structure not only contributes to improve the balance of aircraft, and the two of homonymy Individual horn end links into an integrated entity can preferably reduce the vibration of flight component generation, improve aircraft in flight operation process In stability.The end upper and lower surface of the horn 12 of the fore-and-aft direction of the frame is mounted on motor 15 and rotor 16, the end upper surface of the horn 12 of the both sides of the frame is provided with motor 15 and rotor 16.Unmanned vehicle operation When, mainly to fly to complete to spray operation by before and after, the structure of upper and lower DCB Specimen 16 can not only increase effective load of aircraft Lotus, moreover it is possible to improve motility during aircraft operation.The horn 12 is the tubular structure by made by carbon fiber, is conducive to mitigating The weight of aircraft, or the arrangement of spraying pipe and wire provides space.
Referring to Fig. 1~Fig. 3, in the supply unit 2, the feed liquid supply portion point includes feed liquid supply case 21;The source Supply portion point includes the battery settling groove 22 being arranged on the side of feed liquid supply case 21.The feed liquid supply case 21 is used to contain spray The feed liquid spilt, the battery settling groove 22 is used to install electrokinetic cell, is that motor 15 provides electric energy;By the way that feed liquid is fed Case 21 and battery settling groove 22 are fixed into together, reduce volume, while assembly and disassembly, time-consuming.The bottom of the feed liquid supply case 21 Portion is provided with the support feet 24 for extending downwardly, and the support feet 24 is four, is arranged at four angles of feed liquid supply case 21;The material The top of liquid supply case 21 is provided with feed liquid port 25 and handle 23, and bottom is provided with material liquid outlet 26.The effect of the support feet 24 It is to allow supply unit 2 to stablize during supply placing on the ground;The handle 23 is easy to lift supply unit 2, side Just operating personnel changes supply unit 2;The feed liquid port 25 is used to load spraying feed liquid, the material into feed liquid supply case 21 Liquid outlet 26 is used for the conveying spray feed liquid of spray unit 3.
Referring to Fig. 1~Fig. 3, the spray unit 3 includes spraying pump 31, spraying pipeline 32, spray boom and shower nozzle 33, wherein, The shower nozzle 33 is arranged on spray boom, and the spray boom is connected by spraying pipeline 32 with pump 31 is sprayed, and the pump 31 that sprays passes through Spray pipeline 32 to be connected with the material liquid outlet 26 in feed liquid supply case 21;The spray boom and shower nozzle 33 are arranged on 11 liang of frame main body The outer end of horn 12 of side.
Referring to Fig. 1~Fig. 3, the buckle is arranged on the both sides of the bottom of supply unit 2, is specifically arranged on the battery The bottom of mounting groove 22, the buckle includes be oppositely arranged extend downwardly two elastic snap arm 27, arm elasticity snap arm 27 by Hard elastic plastics are made, and the bottom of two elastic snap arm 27 arranges contraction structure, form bayonet socket, two arm elasticity snap arm 27 it Between space formed great circle arc;Connecting portion in the frame main body 11 matches with fastener inner space size, and For rod-like structure.When supply unit 2 is installed, only fastener therein need to be buckled on the connecting portion of frame main body 11, be snapped in When, the two elastic elder generation of snap arm 27 elasticity are opened, and after the connecting portion snaps onto completely buckle inside, two elastic snap arm 27 are extensive Shape is restored, the connecting portion is held tightly wherein, realize connection;And when dismantling supply unit 2, apply upwards to feeding unit 2 Pulling force so that the connecting portion is exited by force from fastener.Simultaneously as being respectively provided with the both sides of the bottom of supply unit 2 The buckle so that supply unit 2 also obtain positioning in circumferencial direction, be allowed to be securely fixed in frame main body 11.Often First in the buckle in, with described two elastic snap arm 27 as one group, two groups for being coaxially disposed are included altogether, so that connection is more Plus it is firm, reliable.
Referring to Fig. 1~Fig. 5, this bright operation principle for folding many rotor unmanned aircrafts of fast disassembly type is:The aircraft exists Park or transportation in, cause the flying unit can be with by the folding connection structure between horn 12 and frame main body 11 Downwards bending, because flying unit occupies the overwhelming majority of lateral dimension in aircraft, so can significantly reduce aircraft Lateral dimension under non-working condition, saves parking space, easy to carry and transport;When aircraft is in running order, will The flying unit launches upwards and locks, you can recover normal operating attitude.In the aircraft course of work, to run out of The operation that feed liquid or the energy in supply unit 2 is completed is single operation, because the supply unit 2 passes through detachable company Binding structure is connected in frame main body 11, therefore when feed liquid and energy recharge is carried out, need to only be dismantled the supply unit 2 being finished Get off, then the resupplies unit 2 that finishes of supplement is installed in frame main body 11 replaces original supply unit 2, you can carry out Next time single operation, so constantly works, and greatlys save pipeline time, improves working performance.
It is above-mentioned not limited by the above for the present invention preferably embodiment, but embodiments of the present invention, its He any spirit and the change, modification, replacement made under principle without departing from the present invention, combine, simplification, should be The substitute mode of effect, is included within protection scope of the present invention.

Claims (9)

1. it is a kind of to fold many rotor unmanned aircrafts of fast disassembly type, including rack unit, flying unit, supply unit and sprinkling list Unit, wherein, the rack unit includes frame main body and undercarriage;The flying unit includes the circumference side along frame main body To multiple flight components of distribution, each flight component includes horn, rotor and motor;It is characterized in that:
The horn is connected in frame main body by the folding connection structure that can be folded along the vertical direction, the foldable company Binding structure includes connection fastener, rotating shaft and the button column being arranged on horn, wherein, the horn is connected to by the rotating shaft In frame main body, one end of the connection fastener is rotatably connected in frame main body, and the other end is provided with and has contact with, and this has contact with button On the button column;
The supply unit is that, by the entirety of energy recharge part and feed liquid supply portion subassembly, the supply unit passes through can Assembly and disassembly attachment structure is connected in frame main body, and the detachable attachment structure includes to engage and departing from the company in frame main body The buckle of socket part;
The spray unit is connected in frame main body, and is connected with the feed liquid supply part in the supply unit;
The concrete structure of the folding connection structure is:The end of the horn is provided with union joint, and the bottom of the union joint leads to Cross the rotating shaft to be connected with the bottom of frame main body, the button column is arranged on the top of union joint;The top of frame main body is provided with Connecting seat, the connecting seat is provided with locking member, and one end of the locking member is provided with the first connecting shaft, and middle part is provided with the second connecting shaft; The connecting seat is provided with the locking slot of opening upwards;The locking member is rotatably connected to connecting seat by the first connecting shaft On, second connecting shaft is entrapped in locking slot;The connection fastener is connected in second connecting shaft.
2. it is according to claim 1 to fold many rotor unmanned aircrafts of fast disassembly type, it is characterised in that the buckle is arranged on The both sides of the bottom of supply unit, the buckle includes extend downwardly two elastic snap arm being oppositely arranged, two elastic snap arm Bottom arrange contraction structure, formed bayonet socket;Connecting portion in the frame main body and the buckle inner space size phase Match somebody with somebody.
3. it is according to claim 2 to fold many rotor unmanned aircrafts of fast disassembly type, it is characterised in that the buckle in per side In, with described two elastic snap arm as one group, two groups for being coaxially disposed are included altogether.
4. it is according to claim 2 to fold many rotor unmanned aircrafts of fast disassembly type, it is characterised in that in supply unit, institute Stating feed liquid supply portion point includes feed liquid supply case;The energy recharge part includes the battery being arranged on feed liquid supply case side Mounting groove.
5. it is according to claim 4 to fold many rotor unmanned aircrafts of fast disassembly type, it is characterised in that the feed liquid supply case Bottom be provided with the support feet for extending downwardly;Feed liquid port and handle are provided with the top of the feed liquid supply case, bottom is provided with material Liquid is exported.
6. many rotor unmanned aircrafts of folding fast disassembly type according to claim 4 or 5, it is characterised in that the sprinkling list Unit includes spraying pump, spraying pipeline, spray boom and shower nozzle, wherein, the shower nozzle is arranged on spray boom, and the spray boom is by spraying pipe Road is connected with pump is sprayed, described to spray pump and be connected with the material liquid outlet in feed liquid supply case by spraying pipeline;The spray boom and Shower nozzle is arranged on the horn outer end of frame main body both sides.
7. it is according to claim 1 to fold many rotor unmanned aircrafts of fast disassembly type, it is characterised in that the flight component sets Put at four sides of the circumferencial direction of frame main body, two flight components, two flight components are set at each side In horn abreast stretch out, and the outer end of two horns is linked into an integrated entity by connecting rod.
8. it is according to claim 7 to fold many rotor unmanned aircrafts of fast disassembly type, it is characterised in that before and after the frame The end upper and lower surface of the horn in direction is mounted on motor and rotor, the end upper table of the horn of the both sides of the frame Face is provided with motor and rotor.
9. folding many rotor unmanned aircrafts of fast disassembly type according to claim 6, it is characterised in that the elastic snap arm by Hard elastic plastics are made;The horn is the tubular structure by made by carbon fiber, and the pipeline that sprays is from wherein passing through.
CN201410771876.6A 2014-12-12 2014-12-12 Folding quick-disassembling type multi-rotary wing unmanned aerial vehicle CN104494819B (en)

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