CN104608927A - Buoyancy assisted lifting type unmanned aerial vehicle - Google Patents
Buoyancy assisted lifting type unmanned aerial vehicle Download PDFInfo
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- CN104608927A CN104608927A CN201510078329.4A CN201510078329A CN104608927A CN 104608927 A CN104608927 A CN 104608927A CN 201510078329 A CN201510078329 A CN 201510078329A CN 104608927 A CN104608927 A CN 104608927A
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- 230000001105 regulatory effect Effects 0.000 claims description 18
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 235000019506 cigar Nutrition 0.000 claims description 3
- 208000002925 dental caries Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 229910052709 silver Inorganic materials 0.000 description 1
- 239000004332 silver Substances 0.000 description 1
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Abstract
The invention discloses a buoyancy assisted lifting type unmanned aerial vehicle. The buoyancy assisted lifting type unmanned aerial vehicle comprises an unmanned aerial vehicle body (1), a controller, an electronic speed regulator, multiple supporting arms (4) and a rotor wing assembly, wherein the rotor wing assembly comprises a rotor wing (11), a rotor wing input shaft, a rotor wing mounting base (6), an air bag device controlled by the controller, a driving mechanism for driving the rotor wing (11) to rotate, and an angle adjusting mechanism for adjusting the angle of pushing force of the rotor wing (11); the air bag device comprises an air bag (2) folded into the inner cavity of the unmanned aerial vehicle body (1) and a gas filling device, the air bag (2) is transversely arranged right above the unmanned aerial vehicle body (1) after being opened; and the angle adjusting mechanism comprises a first adjusting mechanism for driving the rotor wing (11) to rotate circumferentially along the axis of the supporting arm (4) and a second adjusting mechanism for driving the rotor wing (11) to swing slightly along the axis perpendicular to the supporting arm (4) within a range from 0 degree to 40 degrees. The buoyancy assisted lifting type unmanned aerial vehicle has relatively strong cruising ability and can be operated relatively flexibly.
Description
Technical field
The present invention relates to unmanned plane field, particularly a kind of buoyancy is auxiliary rises unmanned plane.
Background technology
Unmanned plane 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 fixed-wing formula and many rotary wind types (such as, four rotors).But problem is, the lift-source of the unmanned plane of prior art is generally only rotor, and the meteorological conditions during work of the unmanned plane of fixed-wing formula requires high, and landing requires high, and cost is higher; And its propulsion source of many rotary wind types unmanned plane is generally battery, the battery as the unmanned plane of existing four rotors is generally 5000mAh, and its flight time is only 15-20 minute, and flying power is poor.And the rotor of the unmanned plane of prior art is generally and is fixed on leg extremities, cannot regulate the angle that it rotates, its alerting ability is slightly inadequate.
Summary of the invention
Technical matters to be solved by this invention is: provide that a kind of flying power is stronger, buoyancy is auxiliary more flexibly rises unmanned plane in operation.
The present invention's adopted technical scheme that solves the problem is: a kind of buoyancy is auxiliary rises unmanned plane, comprise fuselage, be placed in the controller in fuselage and electronic governor, the multiple support arm symmetrical about fuselage and be located at the rotor assemblies of each support arm away from one end of fuselage, described rotor assemblies comprises rotor, rotor input shaft and Rotor mount, it also comprises the airbag apparatus controlled by controller, for driving the driver train of rotor wing rotation and the angle adjusting mechanism for adjusting Rotor thrust, described airbag apparatus comprises the air bag and gas filled device that are foldable to fuselage inner chamber, and be laterally placed in directly over described fuselage after described airbag-releasing, described angle adjusting mechanism comprises the first regulating mechanism for driving rotor to rotate in a circumferential direction along support arm place axis and the second regulating mechanism for driving rotor slightly to swing within the scope of 0 ~ 40 ° along the axis vertical with support arm.
Compared with prior art, the invention has the advantages that: the auxiliary unmanned plane that rises of this buoyancy can form the second lift-source by air bag, air bag can play and well auxiliaryly rise function, makes unmanned plane flying power of the present invention stronger.Laterally be placed in directly over fuselage after airbag-releasing, and air bag is foldable to fuselage inner chamber, is inflated when needed by gas filled device, very practical.Unmanned plane of the present invention also comprises the angle adjusting mechanism for driving Rotor thrust, and concrete structure comprises the first regulating mechanism for driving rotor to rotate in a circumferential direction along support arm place axis and the second regulating mechanism for driving rotor slightly to swing within the scope of 0 ~ 40 ° along the axis vertical with support arm.The driving to Rotor thrust can well be realized by the setting of the first regulating mechanism and the second regulating mechanism, make rotor have optimum thrust vectoring, unmanned plane flying power of the present invention also can be made stronger, operate more flexible.
As preferably, described driver train is the positive rotating motor for driving rotor to rotate forward and the reverse motors for driving rotor to reverse, described positive rotating motor and the output shaft of reverse motors are all connected with described rotor input shaft, and described positive rotating motor and reverse motors are all electrically connected with controller and electronic governor.Like this, the rotation of rotor is more stable.
As preferably, described fuselage is the cylindric of horizontally set, the inner chamber of described fuselage is provided with the upper strata cavity of the air bag after for accommodating and folding and the lower floor's cavity for accommodating controller, electronic governor and supply unit successively, and the upper end of the upper strata cavity of described fuselage is provided with the opening for airbag-releasing; And described air bag is the cigar shape of horizontally set.Like this, the design of fuselage is more compact, and the opening of convenient air bag after the inner chamber of fuselage is divided into upper and lower layer, the layout of controller, electronic governor and supply unit is also more reasonable.
As preferably, described gas filled device comprises source of the gas and appendix, and described source of the gas is placed in the inner chamber of described fuselage, and one end of described appendix is connected with source of the gas, and the other end and the described airbags of described appendix connect.
As preferably, described support arm end be sheathed with rotation seat, and described Rotor mount is rotationally connected with described rotation seat one end away from support arm by turning cylinder, the inwall that the first described regulating mechanism comprises the first motor being fixed on leg extremities and the miniature gears being installed on the first motor output shaft, described rotation seat is circumferentially provided with the internally toothed annulus for being meshed with described miniature gears.Like this, the structure comparison of the first regulating mechanism is compact, by driven by motor pinion rotation, and is meshed by miniature gears and internally toothed annulus, and Rotor mount just can be driven to rotate in a circumferential direction along support arm place axis.
As preferably, the second described regulating mechanism comprise the two miniature steering wheels that are symmetricly set in rotation seat inner chamber and by miniature steering wheel, rocking arm drive and two push rods of horizontally set, the end of two described push rods is all articulated with on described Rotor mount, and hinge-point between two push rods and Rotor mount and rotor input shaft stagger to arrange and to rotate the arm of force that moving axis rotates to form Rotor mount.Like this, the structure comparison of the second regulating mechanism is compact, can be arranged on the inner chamber of rotation seat easily, can meet the requirement driving rotor slightly to swing within the scope of 0 ~ 40 ° along the axis vertical with support arm.
As preferably, it also comprises support arm fold mechanism, described support arm fold mechanism is made up of first paragraph support arm and second segment support arm, one end of described first paragraph support arm is hinged by rotating shaft and described fuselage, and the first locating dowel pin be provided with between the end of described first paragraph support arm and described fuselage for locating after inside folding 90 °, the other end of described second segment support arm and one end of described first paragraph support arm are hinged by rotating shaft, and the second locating dowel pin be provided with between described second segment support arm and described first paragraph support arm for locating after inside folding 40 ~ 70 °.Like this, when folding, first locate with the second locating dowel pin after inwardly folding 40 ~ 70 ° between first paragraph support arm and second segment support arm, more inwardly fold 90 ° by between first paragraph support arm and fuselage, just can well solve rotor and produce the problem of interfering with folding support arm, folding effect is better.
As preferably, described supply unit comprises the first battery and the second battery, and described controller is placed in the middle part of lower floor's cavity of described fuselage, and the first described battery and the second battery are symmetrically arranged in lower floor's cavity of described fuselage.Like this, whole airframe structure is more symmetrical, and center of gravity is relatively more steady, and the balance of unmanned plane is better.
As preferably, the bottom of described fuselage is provided with for hanging standby hanger.Like this, pick up camera or other equipment of taking photo by plane can be hung easily
Accompanying drawing explanation
Fig. 1 is the auxiliary main TV structure schematic diagram (airbag-releasing) rising unmanned plane of buoyancy of the present invention.
Fig. 2 is the plan structure schematic diagram of the new unmanned type of the auxiliary liter of buoyancy of this practicality.
Fig. 3 is the structural representation at each support arm place of the new unmanned type of the auxiliary liter of buoyancy of this practicality.
Fig. 4 is another structural representation at each support arm place of the new unmanned type of the auxiliary liter of buoyancy of this practicality.
In Fig. 1-4: 1 fuselage, 1.1 upper strata cavitys, 1.2 lower floor's cavitys, 2 air bags, 3 hangers, 4 support arms, 4.1 first paragraph support arms, 4.2 second segment support arms, 5 rotation seats, 5.1 internally toothed annuluss, 6 Rotor mount, 7 first motors, 8 miniature steering wheels, 8.1 rocking arms, 9 positive rotating motors, 10 reverse motors, 11 rotors, 12 first locating dowel pins, 13 first dowel holes, 14 second locating dowel pins, 15 second dowel holes, 16 push rods.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are further described.
As Figure 1-4, it is a kind of that buoyancy is auxiliary rises unmanned plane, comprise fuselage 1, be placed in the controller in fuselage 1 and electronic governor, multiple support arms 4 symmetrical about fuselage 1 and be located at the rotor assemblies of each support arm 4 away from one end of fuselage 1, described rotor assemblies comprises rotor 11, rotor input shaft and Rotor mount 6, it also comprises the airbag apparatus controlled by controller, the driver train rotated for driving rotor 11 and for driving the angle adjusting mechanism of rotor 11 thrust, described airbag apparatus comprises the air bag 2 and gas filled device that are foldable to fuselage 1 inner chamber, and described air bag 2 is opened rear transverse direction and is placed in directly over described fuselage 1, described angle adjusting mechanism comprises for adjusting the first regulating mechanism that rotor 11 rotates in a circumferential direction along support arm 4 place axis and the second regulating mechanism for driving rotor 11 slightly to swing within the scope of 0 ~ 40 ° along the axis vertical with support arm 4.
Described driver train is the positive rotating motor 9 for driving rotor 11 to rotate forward and the reverse motors 10 for driving rotor 11 to reverse, described positive rotating motor 9 and the output shaft of reverse motors 10 are all connected with described rotor input shaft, and described positive rotating motor 9 and reverse motors 10 are all electrically connected with controller and electronic governor.
Described fuselage 1 is the cylindric of horizontally set, the inner chamber of described fuselage 1 is provided with the upper strata cavity 1.1 of the air bag 2 after for accommodating and folding and the lower floor's cavity 1.2 for accommodating controller and supply unit successively, and the upper end of the upper strata cavity 1.1 of described fuselage 1 is provided with the opening opened for air bag 2; And the described cigar shape of air bag 2 in horizontally set.
Described gas filled device comprises source of the gas and appendix, and described source of the gas is placed in the inner chamber of described fuselage 1, and one end of described appendix is connected with source of the gas, and the other end of described appendix is connected with described air bag 2.
Described support arm 4 end be sheathed with rotation seat 5, and described Rotor mount 6 is rotationally connected with described rotation seat 5 one end away from support arm 4 by turning cylinder, the inwall that the first described regulating mechanism comprises the first motor 7 being fixed on support arm 4 end and the miniature gears being installed on the first motor 7 output shaft, described rotation seat 5 is circumferentially provided with the internally toothed annulus 5.1 for being meshed with described miniature gears.
The second described regulating mechanism comprise the two miniature steering wheels 8 that are symmetricly set in rotation seat 5 inner chamber and by the rocking arm of miniature steering wheel 8 drive and two push rods of horizontally set, the end of two described push rods is all articulated with on described Rotor mount 6, and hinge-point between two push rods and Rotor mount 6 and rotor input shaft stagger to arrange and to rotate the arm of force that moving axis rotates to form Rotor mount 6.
It also comprises support arm fold mechanism, described support arm 4 fold mechanism is made up of first paragraph support arm 4.1 and second segment support arm 4.2, one end of described first paragraph support arm is hinged by rotating shaft and described fuselage 1, and described first paragraph props up the first locating dowel pin 12 be provided with between the end of 4 and described fuselage 1 inwardly for locating after folding 90 °, the other end of described second segment support arm 4.2 and one end of described first paragraph support arm 4.1 are hinged by rotating shaft, and the second locating dowel pin 14 be provided with between described second segment support arm 4.2 and described first paragraph support arm 4.1 for locating after inside folding 40 ~ 70 °.Described fuselage 1 and the hinged position of first paragraph support arm 2.1 are provided with two first dowel holes 13 for matching with the first described locating dowel pin 12, and the axis of two first dowel holes 13 is 90 ° of settings.
Described first paragraph support arm 4.1 and the hinged position of second segment support arm 4.2 are provided with two second dowel holes 15 for matching with the second locating dowel pin 14, and the angle α between the axis of two second dowel holes 15 is 40 ~ 70 °.
In this specific embodiment, the angle α between the axis of two second dowel holes 15 is 57 °.
Described supply unit comprises the first battery and the second battery, and described controller is placed in the middle part of lower floor's cavity 1.2 of described fuselage 1, and the first described battery and the second battery are symmetrically arranged in lower floor's cavity 1.2 of described fuselage 1.
The bottom of described fuselage 1 is provided with for hanging standby hanger 3.
In this specific embodiment, the model of motor used in the present invention is bright space X4110S 340KV brushless motor, the input of the electronic governor of use: 2-6S lithium electricity, persistent current: 40A; The miniature steering wheel used is silver swallow-aeroplane EMAX 8G microsimulation steering wheel.More than be common commercially available prod, those skilled in the art according to demands such as the sizes of product, can select other accessories, do not repeat at this voluntarily.
Below only just most preferred embodiment of the present invention is described, but can not be interpreted as it is limitations on claims.The present invention is not only confined to above embodiment, and its concrete structure allows to change.All various changes done in the protection domain of independent claims of the present invention are all in scope.
Claims (9)
1. a buoyancy is auxiliary rises unmanned plane, comprise fuselage (1), be placed in the controller in fuselage (1) and electronic governor, multiple support arms (4) symmetrical about fuselage (1) and be located at the rotor assemblies of each support arm (4) away from one end of fuselage (1), described rotor assemblies comprises rotor (11), rotor input shaft and Rotor mount (6), it is characterized in that: it also comprises the airbag apparatus controlled by controller, the driver train rotated for driving rotor (11) and the angle adjusting mechanism for adjusting rotor (11) thrust, described airbag apparatus comprises the air bag (2) and gas filled device that are foldable to fuselage (1) inner chamber, and described air bag (2) is opened rear transverse direction and is placed in directly over described fuselage (1), described angle adjusting mechanism comprises the first regulating mechanism for driving rotor (11) to rotate in a circumferential direction along support arm (4) place axis and the second regulating mechanism for driving rotor (11) slightly to swing within the scope of 0 ~ 40 ° along the axis vertical with support arm (4).
2. buoyancy according to claim 1 is auxiliary rises unmanned plane, it is characterized in that: described driver train is the positive rotating motor (9) for driving rotor (11) to rotate forward and the reverse motors (10) for driving rotor (11) to reverse, described positive rotating motor (9) and the output shaft of reverse motors (10) are all connected with described rotor input shaft, and described positive rotating motor (9) and reverse motors (10) are all electrically connected with controller and electronic governor.
3. buoyancy according to claim 1 is auxiliary rises unmanned plane, it is characterized in that: cylindric in horizontally set of described fuselage (1), the inner chamber of described fuselage (1) is provided with the upper strata cavity (1.1) of the air bag (2) after for accommodating and folding and the lower floor's cavity (1.2) for accommodating controller, electronic governor and supply unit successively, and the upper end of the upper strata cavity (1.1) of described fuselage (1) is provided with the opening opened for air bag (2); And the cigar shape of described air bag (2) in horizontally set.
4. the buoyancy according to claim 1 or 3 is auxiliary rises unmanned plane, it is characterized in that: described gas filled device comprises source of the gas and appendix, described source of the gas is placed in the inner chamber of described fuselage (1), and one end of described appendix is connected with source of the gas, the other end of described appendix is connected with described air bag (2).
5. buoyancy according to claim 1 is auxiliary rises unmanned plane, it is characterized in that: described support arm (4) end be sheathed with rotation seat (5), and described Rotor mount (6) is rotationally connected with described rotation seat (5) one end away from support arm (4) by turning cylinder, the first described regulating mechanism comprises the first motor (7) being fixed on support arm (4) end and the miniature gears being installed on the first motor (7) output shaft, the inwall of described rotation seat (5) is circumferentially provided with the internally toothed annulus (5.1) for being meshed with described miniature gears.
6. buoyancy according to claim 5 is auxiliary rises unmanned plane, it is characterized in that: the second described regulating mechanism comprise the two miniature steering wheels (8) that are symmetricly set in rotation seat (5) inner chamber and by the rocking arm (8.1) of miniature steering wheel (8) drive and two push rods (16) of horizontally set, the end of described two push rods (16) is all articulated with on described Rotor mount (6), and hinge-point between two push rods and Rotor mount (6) and rotor input shaft stagger to arrange and to rotate the arm of force that moving axis rotates to form Rotor mount (6).
7. buoyancy according to claim 1 is auxiliary rises unmanned plane, it is characterized in that: it also comprises support arm fold mechanism, described support arm fold mechanism is made up of first paragraph support arm (4.1) and second segment support arm (4.2), one end of described first paragraph support arm (4.1) is hinged by rotating shaft and described fuselage (1), and the first locating dowel pin (12) be provided with between the end of described first paragraph support arm (4.1) and described fuselage (1) for locating after inside folding 90 °, the other end of described second segment support arm (4.2) and one end of described first paragraph support arm (4.1) are hinged by rotating shaft, and the second locating dowel pin (14) be provided with between described second segment support arm (4.2) and described first paragraph support arm (4.1) for locating after inside folding 40 ~ 70 °.
8. buoyancy according to claim 3 is auxiliary rises unmanned plane, it is characterized in that: described supply unit comprises the first battery and the second battery, described controller is placed in the middle part of lower floor's cavity (1.2) of described fuselage (1), and the first described battery and the second battery are symmetrically arranged in lower floor's cavity (1.2) of described fuselage (1).
9. buoyancy according to claim 1 is auxiliary rises unmanned plane, it is characterized in that: the bottom of described fuselage (1) is provided with for hanging standby hanger (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510078329.4A CN104608927B (en) | 2015-02-13 | 2015-02-13 | Auxiliary liter of unmanned plane of buoyancy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510078329.4A CN104608927B (en) | 2015-02-13 | 2015-02-13 | Auxiliary liter of unmanned plane of buoyancy |
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| Publication Number | Publication Date |
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| CN104608927A true CN104608927A (en) | 2015-05-13 |
| CN104608927B CN104608927B (en) | 2016-09-07 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104908935A (en) * | 2015-06-10 | 2015-09-16 | 浙江空行飞行器技术有限公司 | Large-voyage unmanned aerial vehicle |
| CN107985574A (en) * | 2017-11-22 | 2018-05-04 | 安徽天鹰兄弟无人机科技创新有限公司 | A kind of auxiliary liter of unmanned plane of buoyancy |
| WO2019079930A1 (en) * | 2017-10-23 | 2019-05-02 | 大连理工大学 | Sea-air-land-dive four-environment tilting three-rotor unmanned aerial vehicle capable of vertical take-off and landing |
| CN111717405A (en) * | 2020-06-23 | 2020-09-29 | 长沙航华电子科技有限公司 | Buoyancy auxiliary lifting device for unmanned aerial vehicle |
| CN114043831A (en) * | 2021-11-01 | 2022-02-15 | 广东汇天航空航天科技有限公司 | Flying car |
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| US20080011900A1 (en) * | 2006-07-15 | 2008-01-17 | Javier Quintana | Apparatus and method to control the flight dynamics in a lighter-than-air airship |
| CN202832633U (en) * | 2012-09-19 | 2013-03-27 | 唐山智诚电气有限公司 | Disaster relief equipment for coal mine |
| CN203085121U (en) * | 2012-12-25 | 2013-07-24 | 蔡明锡 | Combined aircraft |
| WO2014207732A1 (en) * | 2013-06-28 | 2014-12-31 | Paolo Bellezza Quater | A multi-rotor aircraft |
| CN204433056U (en) * | 2015-02-13 | 2015-07-01 | 李潋崴 | Buoyancy is auxiliary rises unmanned plane |
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2015
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| US20080011900A1 (en) * | 2006-07-15 | 2008-01-17 | Javier Quintana | Apparatus and method to control the flight dynamics in a lighter-than-air airship |
| CN202832633U (en) * | 2012-09-19 | 2013-03-27 | 唐山智诚电气有限公司 | Disaster relief equipment for coal mine |
| CN203085121U (en) * | 2012-12-25 | 2013-07-24 | 蔡明锡 | Combined aircraft |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104908935A (en) * | 2015-06-10 | 2015-09-16 | 浙江空行飞行器技术有限公司 | Large-voyage unmanned aerial vehicle |
| WO2019079930A1 (en) * | 2017-10-23 | 2019-05-02 | 大连理工大学 | Sea-air-land-dive four-environment tilting three-rotor unmanned aerial vehicle capable of vertical take-off and landing |
| US11305873B2 (en) | 2017-10-23 | 2022-04-19 | Dalian University Of Technology | Air, sea and underwater tilt tri-rotor UAV capable of performing vertical take-off and landing |
| CN107985574A (en) * | 2017-11-22 | 2018-05-04 | 安徽天鹰兄弟无人机科技创新有限公司 | A kind of auxiliary liter of unmanned plane of buoyancy |
| CN111717405A (en) * | 2020-06-23 | 2020-09-29 | 长沙航华电子科技有限公司 | Buoyancy auxiliary lifting device for unmanned aerial vehicle |
| CN114043831A (en) * | 2021-11-01 | 2022-02-15 | 广东汇天航空航天科技有限公司 | Flying car |
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| Publication number | Publication date |
|---|---|
| CN104608927B (en) | 2016-09-07 |
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