CN106081083A - The dynamic cross-arranging type four rotor agricultural plant protection depopulated helicopter of oil - Google Patents
The dynamic cross-arranging type four rotor agricultural plant protection depopulated helicopter of oil Download PDFInfo
- Publication number
- CN106081083A CN106081083A CN201610482029.7A CN201610482029A CN106081083A CN 106081083 A CN106081083 A CN 106081083A CN 201610482029 A CN201610482029 A CN 201610482029A CN 106081083 A CN106081083 A CN 106081083A
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- China
- Prior art keywords
- rotor
- driver
- rotor driver
- rotors
- fuselage
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The dynamic cross-arranging type four rotor agricultural plant protection depopulated helicopter of a kind of oil, rotor mechanism is made up of four groups of rotors, and four groups of rotors are respectively fixedly disposed at fuselage both sides cross-arranging type and arrange, position and the structure of both sides rotor are the most symmetrical along fuselage axis；Four groups of rotors use same axial drive shaft constant speed drive, and unilateral two rotors turn on the contrary, and lateral symmetry position rotor turns on the contrary.Having the beneficial effects that: fuselage rotor arranges equilibrium, transmission speed is steady, and center of gravity is wide in range, it is possible to realizing the flight operation having wind weather environment, flying quality is good；Rotor mechanism cross-arranging type is arranged, the rotor mechanism rotating speed of symmetric position is identical, and direction of rotation is contrary, rationally eliminates anti-twisted power produced by rotor high speed rotating；Cross-arranging type arranged superposed counteracts the vortex disturbance of aircraft rotary wing blade tip, eliminates the impact on spray boom pesticide spraying, and the pesticide sprayed can be made fully to be acted directly on vegetation by downwash flow, improves pesticide supplying effect and pesticide utilization rate.
Description
Technical field
The present invention relates to a kind of be specifically designed for crops plant protection field pesticide spraying and the airborne aircraft of fertilising.
Background technology
Current domestic plant protection unmanned plane is still in the exploratory stage, mostly electronic based on the many rotors of multiaxis, the many rotors of multiaxis
Plant protection unmanned plane, have have a smooth flight, the easy advantage such as manipulation, but in plant protection spray medicine operation process, due to construction itself
Feature, shows a lot of defects that cannot overcome, such as: the most single rotor high speed rotating is sharp at slurry while forming downwash flow
Also to form eddy current vertically upward, cause the medicinal liquid sprayed out to be rolled onto in the air by eddy current again, the many rotor wing unmanned aerial vehicles of multiaxis
It is especially apparent；2. the many rotors of multiaxis due to rotor wing rotation the most in opposite direction, rotor concentrates on again the centre of spray boom, is formed up and down
The sinuous flow of left and right, the medicinal liquid that spray boom two is sprayed again by sinuous flow around in the air, cause big portion medicinal liquid to be rolled up to being evaporated in the air or
Drift, the medicinal liquid sprayed out can not effectively be sprayed on blade face, crops, causes waste and plant protection poor effect, is also peasant
The main cause do not approved；3. the high speed rotating of rotor causes the medicinal liquid sprayed out to carry out secondary-atomizing, and atomized particles is at 30-
Between 40 microns, so often can't see spraying under the shining of daylight, then to have be exactly the mist particles between 30-40 micron,
Aloft not dropping on crops by own wt, swim in last until being evaporated by hot-air with wind-driven algae drift in the air,
Because human eye be can't see, so the just true reason causing spray effect the best did not the most understand.
In sum.Current so-called agricultural plant protection unmanned plane mostly rest on pesticide spraying out as standard, its
Pesticide spraying weak effect, serious waste.For the more efficient advantage utilizing multirotor helicopter to have a smooth flight, easily manipulating,
Increasing effect of spraying pesticide simultaneously, eliminate the disturbance to atomization pesticide of the aircraft rotary wing eddy current, many rotors plant protection unmanned plane also needs to technology
Optimize and improve.
Summary of the invention
The invention aims to reduce the disturbance to pesticide spraying of the unmanned plane rotor blade tip eddy current, make full use of Dan Xuan
Downwash flow that the wing is powerful and the advantage that many rotor flyings the most easily manipulate, improve the technique effect that unmanned plane is sprayed insecticide, and increases
The utilization rate of the pesticide that big unmanned plane sprays, it is provided that the plant protection unmanned plane of a kind of cross-arranging type four rotor.
To achieve these goals, the technical solution used in the present invention is: uses cross-arranging type arrangement, overcomes multiaxis many
The defect of gyroplane pesticide spraying, the feature grown crosswise in conjunction with spray boom, rotor is evenly arranged in directly over spray boom, to spraying one
Individual downward wash power；Use coaxial cross shaft driving, the mode being arranged symmetrically with along fuselage, make rotor synchronous axial system, cancel out each other anti-
Torsion, it is ensured that aircraft smooth flight；Using two dimension swash plate and vertical disk structure, packet controls the change of rotor pitch, it is achieved aircraft
Roll, Slide attitude controls and pitching, seesaws.
Oil of the present invention move the composition structure of cross-arranging type four rotor agricultural plant protection depopulated helicopter include fuselage, power set,
Actuating device, rotor mechanism and empennage mechanism, power set, actuating device, rotor mechanism and empennage mechanism be arranged on fuselage,
It is characterized in that: rotor mechanism is made up of four groups of rotors, four groups of rotors are respectively fixedly disposed at fuselage both sides cross-arranging type and arrange, and two
Position and the structure of the sidespin wing are the most symmetrical along fuselage axis, and the blade portion of unilateral two rotors is overlapping；Four groups of rotors use
Same horizontal power transmission shaft constant speed drive, unilateral two rotors turn on the contrary, and lateral symmetry position rotor turns on the contrary.
Described actuating device is by change speed gear box, shaft coupling, left side transmission main shaft and right side transmission main shaft；Change speed gear box is provided with
Two power output shafts, the most left output shaft and right output shaft, left output shaft and right output shaft are respectively by shaft coupling and a left side
Side transmission main shaft and the fixing connection of right side transmission main shaft；Left side transmission main shaft and right side transmission main shaft position, termination in the outer part and
Position, stage casing is respectively arranged with and turns to helical teeth roller box, matches with the rotary-wing transmission mechanism of respective position respectively.
The gearbox selector of the described actuating device speed change gear with output shafts, and at least two output
Axial symmetry exports.
Described rotor mechanism is by a rotor driver, No. two rotor driver, No. three rotor driver and No. four rotor driver
Composition, a rotor driver and No. two rotor driver are positioned on the left of fuselage, and No. three rotor driver and No. four rotor driver are positioned at machine
On the right side of body, a rotor driver and No. four rotor driver positions are arranged symmetrically with along fuselage with structure, No. two rotor driver and No. three
Rotor driver position is arranged symmetrically with along fuselage with structure, and a rotor driver and No. two rotor driver direction of rotation are contrary, No. three
Rotor driver and No. four rotor driver direction of rotation are contrary.
Blade overlap 20% on a described rotor driver and No. two rotor driver, No. three rotor driver and No. four rotations
Blade overlap 20% on swing device, its effect is to make the eddy current of upper and lower blade tip cancel out each other, and eliminates spraying insecticide
Disturbance.
It is respectively mounted on a described rotor driver, No. two rotor driver, No. three rotor driver and No. four rotor driver
There is servos control mechanism, servos control mechanism is provided with pitch, vertical disk, triangle bending moment joint arm, position-limited rack and numeral rudder
Machine；Pitch and vertical disk are arranged in rotor shaft, and pitch is positioned at above vertical disk, and pitch and vertical disk both sides are by tiltedly
Dish connecting rod is fixing to be connected；Pitch connects rotor blade by bending moment link rod；Triangle bending moment joint arm is arranged on vertical by an angle
Straight dish side, connects digital rudder controller by two other angle.
The beneficial effects of the present invention is: fuselage rotor arranges equilibrium, transmission speed is steady, and center of gravity is wide in range, it is possible to realize
Having the flight operation of wind weather environment, flying quality is good；Rotor mechanism cross-arranging type is arranged, the rotor mechanism rotating speed phase of symmetric position
With, direction of rotation is contrary, rationally eliminates anti-twisted power produced by rotor high speed rotating；Cross-arranging type arranged superposed counteracts aircraft rotation
The vortex disturbance of wing blade tip, eliminates the impact on spray boom pesticide spraying, and the pesticide sprayed can be made fully straight by downwash flow
Connect and act on vegetation, improve pesticide supplying effect and pesticide utilization rate.
Accompanying drawing explanation
Accompanying drawing 1 is the Facad structure schematic diagram of the present invention；
Accompanying drawing 2 is the horizontal layout schematic diagram of the present invention；
Accompanying drawing 3 is the transmission structures schematic diagram of the present invention；
Accompanying drawing 4 is the steering wheel organigram (facing) of the present invention；
Accompanying drawing 5 is the steering wheel organigram (side-looking) of the present invention
In accompanying drawing: fuselage 1, power set 2, actuating device 3, change speed gear box 31, left output shaft 311, right output shaft 312, connection
Axial organ 32, left side transmission main shaft 33, right side transmission main shaft 34, rotor mechanism 41, No. two rotor driver 42 of 4, rotor driver,
43, No. four rotor driver 44 of No. three rotor driver, servos control mechanism 45, pitch 451, vertical disk 452, triangle bending moment joint arm
453, position-limited rack 454, digital rudder controller 455, bending moment link rod 456, swash plate connecting rod 457, empennage mechanism 5.
Detailed description of the invention
The present invention will be further described in detail below in conjunction with the accompanying drawings:
Shown in accompanying drawing, oil of the present invention moves the composition structure of cross-arranging type four rotor agricultural plant protection depopulated helicopter and includes machine
Body 1, power set 2, actuating device 3, rotor mechanism 4 and empennage mechanism 5, power set 2, actuating device 3, rotor mechanism 4 and
Empennage mechanism 5 is installed on the fuselage 1, it is characterised in that: rotor mechanism 4 is made up of four groups of rotors, and four groups of rotors are fixed respectively and set
Putting and arrange at fuselage both sides cross-arranging type, position and the structure of both sides rotor are the most symmetrical along fuselage 1 axis, unilateral two rotors
Blade portion is overlapping；Four groups of rotors use same horizontal power transmission shaft constant speed drive, and unilateral two rotors turn on the contrary, lateral symmetry position
Put rotor to turn on the contrary.
Described actuating device 3 is by change speed gear box 31, shaft coupling 32, left side transmission main shaft 33 and right side transmission main shaft 34；Become
Speed case 31 is provided with two power output shafts, the most left output shaft 311 and right output shaft 312, left output shaft 311 and right output
Axle 312 is fixed by shaft coupling be connected with left side transmission main shaft 33 and right side transmission main shaft 34 respectively；Left side transmission main shaft 33 He
Position, termination in the outer part and the position, stage casing of right side transmission main shaft 34 are respectively arranged with and turn to helical teeth roller box, respectively with respective position
Rotary-wing transmission mechanism match.
The change speed gear box 31 of described actuating device 3 selects the speed change gear with output shafts, and at least two
Output shaft symmetry exports.
Described rotor mechanism 4 is by a rotor driver 42, No. three rotor driver 43 of 41, No. two rotor driver and No. four rotations
Swing device 44 forms, and a rotor driver 41 and No. two rotor driver 42 are positioned on the left of fuselage 1, No. three rotor driver 43 and No. four
Rotor driver 44 is positioned on the right side of fuselage 1, and a rotor driver 41 and No. four rotor driver 44 positions and structure are along the symmetrical cloth of fuselage 1
Putting, No. two rotor driver 42 and No. three rotor driver 43 positions are arranged symmetrically with along fuselage 1 with structure, a rotor driver 41 and two
Number rotor driver 42 direction of rotation is contrary, and No. three rotor driver 43 and No. four rotor driver 44 direction of rotation are contrary.
Blade overlap 20% on a described rotor driver 41 and No. two rotor driver 42, No. three rotor driver 43 Hes
Blade overlap 20% on No. four rotor driver 44.
On a described rotor driver 42, No. three rotor driver 43 of 41, No. two rotor driver and No. four rotor driver 44
It is separately installed with servos control mechanism 45, servos control mechanism 45 is provided with pitch 451, vertical disk 452, triangle bending moment connection
Arm 453, position-limited rack 454 and digital rudder controller 455；Pitch 451 and vertical disk 452 are arranged in rotor shaft, and pitch 451 is positioned at
Above vertical disk 452, pitch 451 and vertical disk 452 both sides connect by swash plate connecting rod 457 is fixing；Pitch 451 is by becoming
Square link rod 456 connects rotor blade；Triangle bending moment joint arm 453 is arranged on vertical disk 452 side by an angle, by other two
Individual angle connects digital rudder controller 455.
Embodiment:
As shown in drawings, oil of the present invention move cross-arranging type four rotor agricultural plant protection depopulated helicopter by fuselage 1 center
Symmetrical left output shaft 311 and the right output shaft 312 of respectively extending of change speed gear box 31, respectively by shaft coupling and left side transmission main shaft
33 and right side transmission main shaft 34 is fixing connects, it is fixed on the side board support frame of both sides by pipe support；Left side transmission main shaft 33 and the right side
The position, termination in the outer part of side transmission main shaft 34 and position, stage casing are respectively arranged with and turn to helical teeth roller box, respectively with respective position
Rotary-wing transmission mechanism matches, and the cross-arranging type completing drive mechanism is arranged, realizes four equal sides of rotating speed by steering box
To the most contrary rotor shaft；41, No. two rotor driver of a rotor driver it are respectively mounted in four rotor shaft from left to right
42, No. three rotor driver 43 and No. four rotor driver 44, owing to the direction of rotor wing rotation is contrary two-by-two, rotor high speed rotating is produced
Raw anti-twisted power is then cancelled out each other so that aircraft is had been resolved by a difficult problem for the anti-twisted force-disturbance of rotor, and what aircraft no doubt became stablizes.
In terms of aspect adjusts control, use mixing mode, while strengthening or reducing engine throttle, change and pass
Dynamic main shaft rotary speed, makes the pitch of four groups of rotors synchronize to increase or reduce, and manipulates and flies realizing the control of aircraft entirety lift
Machine moves vertically.Number rotor driver of four groups of rotor mechanisms 42, No. three rotor driver 43 of 41, No. two rotor driver and No. four rotors
It is separately installed with servos control mechanism 45 on device 44, the numeral in respective servos control mechanism can be controlled by remote controller respectively
Steering wheel 455 controls aircraft flight attitude；Servos control mechanism 45 is by the pitch 451 being arranged in rotor shaft and vertical disk
452 changes controlling blade pitch respectively, it is achieved aircraft moves up and down and tilts forward and back the two dimensional motion design of motion, thus real
Show the advance of aircraft and turn to attitude operation；Digital rudder controller 455 drives pitch 451 He by controlling triangle bending moment joint arm 453
The inclination of vertical disk 452 and up and down motion operation, thus control aircraft rotary wing change, it is achieved the remote control to aspect.Aircraft
The empennage mechanism 5 of upper installation, realizes the yawing rotation of aircraft the most exactly.
In-flight, number rotor driver of two ends rotor 41 and No. four rotor driver 44 bending moments vertically so that two ends are revolved
The big I of wing pitch freely manipulates, and the pitch of one end increases, and the pitch of opposite other end reduces the most relatively, it is achieved the roll of aircraft
With Slide attitude control；No. two rotor driver 42 and No. three rotor driver 43 size by pitch about 451 the controlled pitch of screws,
Change lift variation, half period bending moment can be tilted, to manipulate the pitching of aircraft and to seesaw by fore-and-aft direction again.
Claims (6)
1. oil moves a cross-arranging type four rotor agricultural plant protection depopulated helicopter, including fuselage (1), power set (2), actuating device
(3), rotor mechanism (4) and empennage mechanism (5), power set (2), actuating device (3), rotor mechanism (4) and empennage mechanism (5)
It is arranged on fuselage (1), it is characterised in that: rotor mechanism (4) is made up of four groups of rotors, and four groups of rotors are respectively fixedly disposed at machine
Body (1) both sides cross-arranging type is arranged, position and the structure of both sides rotor are the most symmetrical along fuselage (1) axis, unilateral two rotors
Blade portion is overlapping；Four groups of rotors use same horizontal power transmission shaft constant speed drive, and unilateral two rotors turn on the contrary, lateral symmetry position
Put rotor to turn on the contrary.
2. the dynamic cross-arranging type four rotor agricultural plant protection depopulated helicopter of oil as claimed in claim 1, it is characterised in that: actuating device
(3) by change speed gear box (31), shaft coupling (32), left side transmission main shaft (33) and right side transmission main shaft (34)；Change speed gear box sets on (31)
There are two power output shafts, the most left output shaft (311) and right output shaft (312), left output shaft (311) and right output shaft
(312) it is connected by shaft coupling is fixing with left side transmission main shaft (33) and right side transmission main shaft (34) respectively；Left side transmission main shaft
(33) be respectively arranged with turn to helical teeth roller box with the position, termination in the outer part of right side transmission main shaft (34) and position, stage casing, respectively with
Each the rotary-wing transmission mechanism of position matches.
3. the dynamic cross-arranging type four rotor agricultural plant protection depopulated helicopter of oil as claimed in claim 2, it is characterised in that: change speed gear box
(31) speed change gear with output shafts is selected, and at least two output shaft symmetry output.
4. the dynamic cross-arranging type four rotor agricultural plant protection depopulated helicopter of oil as claimed in claim 1, it is characterised in that: rotor mechanism
(4) by a rotor driver (41), No. two rotor driver (42), No. three rotor driver (43) and No. four rotor driver (44) groups
Becoming, a rotor driver (41) and No. two rotor driver (42) are positioned at fuselage (1) left side, No. three rotor driver (43) and No. four rotations
Swing device (44) is positioned at fuselage (1) right side, a rotor driver (41) and No. four rotor driver (44) positions and structure along fuselage
(1) being arranged symmetrically with, No. two rotor driver (42) and No. three rotor driver (43) positions are arranged symmetrically with along fuselage (1) with structure, and one
Number rotor driver (41) and No. two rotor driver (42) direction of rotation are contrary, No. three rotor driver (43) and No. four rotor driver
(44) direction of rotation is contrary.
5. the dynamic cross-arranging type four rotor agricultural plant protection depopulated helicopter of oil as claimed in claim 4, it is characterised in that: a rotor
Blade overlap 20% on device (41) and No. two rotor driver (42), No. three rotor driver (43) and No. four rotor driver (44)
On blade overlap 20%.
6. the dynamic cross-arranging type four rotor agricultural plant protection depopulated helicopter of oil as claimed in claim 4, it is characterised in that: a rotor
It is separately installed with steering wheel on device (41), No. two rotor driver (42), No. three rotor driver (43) and No. four rotor driver (44)
Controlling organization (45), servos control mechanism (45) is provided with pitch (451), vertical disk (452), triangle bending moment joint arm
(453), position-limited rack (454) and digital rudder controller (455)；Pitch (451) and vertical disk (452) are arranged in rotor shaft, tilt
Dish (451) is positioned at vertical disk (452) top, pitch (451) and vertical disk (452) both sides to be fixed by swash plate connecting rod (457)
Connect；Pitch (451) connects rotor blade by bending moment link rod (456)；Triangle bending moment joint arm (453) is installed by an angle
At vertical disk (452) side, connect digital rudder controller (455) by two other angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610482029.7A CN106081083A (en) | 2016-06-28 | 2016-06-28 | The dynamic cross-arranging type four rotor agricultural plant protection depopulated helicopter of oil |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610482029.7A CN106081083A (en) | 2016-06-28 | 2016-06-28 | The dynamic cross-arranging type four rotor agricultural plant protection depopulated helicopter of oil |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106081083A true CN106081083A (en) | 2016-11-09 |
Family
ID=57213684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610482029.7A Pending CN106081083A (en) | 2016-06-28 | 2016-06-28 | The dynamic cross-arranging type four rotor agricultural plant protection depopulated helicopter of oil |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106081083A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585975A (en) * | 2017-01-22 | 2017-04-26 | 云南集优科技有限公司 | Compact unmanned aerial vehicle |
| CN107128483A (en) * | 2017-05-12 | 2017-09-05 | 四川建筑职业技术学院 | Four rotor wing unmanned aerial vehicles and its transmission gear shift structure of a kind of power Redundancy Design |
| CN107128493A (en) * | 2017-06-22 | 2017-09-05 | 山东农业大学 | A kind of the wide cut plant protection unmanned plane and driving method of many rotors of cross-arranging type |
| CN110001943A (en) * | 2019-03-06 | 2019-07-12 | 中国人民解放军海军航空大学 | A kind of multifunction emergency rescue multi-rotor unmanned aerial vehicle |
| WO2019157900A1 (en) * | 2018-02-13 | 2019-08-22 | 广州极飞科技有限公司 | Flight attitude control method and apparatus, and flight control system |
| CN110254702A (en) * | 2019-06-27 | 2019-09-20 | 江苏大成航空科技有限公司 | A kind of agricultural electronics plant protection drone of more rotors |
| CN110341939A (en) * | 2019-08-30 | 2019-10-18 | 吉林大学 | A kind of H-type variablepiston quadrotor plant protection drone |
| CN115119727A (en) * | 2022-05-23 | 2022-09-30 | 合肥一村信息科技有限公司 | Farmland monitoring system |
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| CN2317173Y (en) * | 1997-09-18 | 1999-05-05 | 佟士俊 | Double-rotary wing helicopter |
| EP1602578A1 (en) * | 2004-06-03 | 2005-12-07 | Airbus France | Propulsion system for aircraft having four engines driving pusher props |
| RU104150U1 (en) * | 2010-02-24 | 2011-05-10 | Владимир Иванович Петровский | MULTI SCREW HELICOPTER |
| CN204937493U (en) * | 2015-09-02 | 2016-01-06 | 宁夏领航者低空飞行技术服务有限公司 | The dynamic cross-arranging type DCB Specimen depopulated helicopter of oil |
| CN205854487U (en) * | 2016-06-28 | 2017-01-04 | 赵新宁 | The dynamic cross-arranging type four rotor agricultural plant protection depopulated helicopter of oil |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2317173Y (en) * | 1997-09-18 | 1999-05-05 | 佟士俊 | Double-rotary wing helicopter |
| EP1602578A1 (en) * | 2004-06-03 | 2005-12-07 | Airbus France | Propulsion system for aircraft having four engines driving pusher props |
| RU104150U1 (en) * | 2010-02-24 | 2011-05-10 | Владимир Иванович Петровский | MULTI SCREW HELICOPTER |
| CN204937493U (en) * | 2015-09-02 | 2016-01-06 | 宁夏领航者低空飞行技术服务有限公司 | The dynamic cross-arranging type DCB Specimen depopulated helicopter of oil |
| CN205854487U (en) * | 2016-06-28 | 2017-01-04 | 赵新宁 | The dynamic cross-arranging type four rotor agricultural plant protection depopulated helicopter of oil |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585975A (en) * | 2017-01-22 | 2017-04-26 | 云南集优科技有限公司 | Compact unmanned aerial vehicle |
| CN107128483A (en) * | 2017-05-12 | 2017-09-05 | 四川建筑职业技术学院 | Four rotor wing unmanned aerial vehicles and its transmission gear shift structure of a kind of power Redundancy Design |
| CN107128493B (en) * | 2017-06-22 | 2023-11-24 | 山东农业大学 | Wide-width plant protection unmanned aerial vehicle with multiple transverse rotors and driving method |
| CN107128493A (en) * | 2017-06-22 | 2017-09-05 | 山东农业大学 | A kind of the wide cut plant protection unmanned plane and driving method of many rotors of cross-arranging type |
| WO2019157900A1 (en) * | 2018-02-13 | 2019-08-22 | 广州极飞科技有限公司 | Flight attitude control method and apparatus, and flight control system |
| CN110001943A (en) * | 2019-03-06 | 2019-07-12 | 中国人民解放军海军航空大学 | A kind of multifunction emergency rescue multi-rotor unmanned aerial vehicle |
| CN110001943B (en) * | 2019-03-06 | 2024-01-30 | 中国人民解放军海军航空大学 | Multi-functional many rotor unmanned aerial vehicle of emergency rescue |
| CN110254702A (en) * | 2019-06-27 | 2019-09-20 | 江苏大成航空科技有限公司 | A kind of agricultural electronics plant protection drone of more rotors |
| CN110254702B (en) * | 2019-06-27 | 2021-04-23 | 徐州硕祥信息科技有限公司 | Agricultural electron plant protection unmanned aerial vehicle of many rotors |
| CN110341939A (en) * | 2019-08-30 | 2019-10-18 | 吉林大学 | A kind of H-type variablepiston quadrotor plant protection drone |
| CN110341939B (en) * | 2019-08-30 | 2022-08-16 | 吉林大学 | Four rotor plant protection unmanned aerial vehicle of H type feather |
| CN115119727B (en) * | 2022-05-23 | 2023-10-10 | 合肥一村信息科技有限公司 | Farmland monitored control system |
| CN115119727A (en) * | 2022-05-23 | 2022-09-30 | 合肥一村信息科技有限公司 | Farmland monitoring system |
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