CN106218881A - Vertical layout fuel power four rotor flying platform - Google Patents
Vertical layout fuel power four rotor flying platform Download PDFInfo
- Publication number
- CN106218881A CN106218881A CN201610753161.7A CN201610753161A CN106218881A CN 106218881 A CN106218881 A CN 106218881A CN 201610753161 A CN201610753161 A CN 201610753161A CN 106218881 A CN106218881 A CN 106218881A
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- Prior art keywords
- horn
- fuselage
- platform
- bulkhead
- module
- Prior art date
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- 239000000446 fuel Substances 0.000 title claims abstract description 28
- 238000005183 dynamical system Methods 0.000 claims abstract description 11
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 13
- 229910052799 carbon Inorganic materials 0.000 claims description 13
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 6
- 239000004917 carbon fiber Substances 0.000 claims description 6
- 239000002828 fuel tank Substances 0.000 claims description 6
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- 230000002787 reinforcement Effects 0.000 claims description 4
- 239000004677 Nylon Substances 0.000 claims description 3
- 210000001015 abdomen Anatomy 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 239000007858 starting material Substances 0.000 claims description 3
- 238000005728 strengthening Methods 0.000 claims description 2
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000006870 function Effects 0.000 abstract description 3
- 230000008447 perception Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 239000003921 oil Substances 0.000 description 7
- 230000005611 electricity Effects 0.000 description 4
- 230000003187 abdominal effect Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000009432 framing Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000000744 eyelid Anatomy 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- 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
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/068—Fuselage sections
- B64C1/069—Joining arrangements therefor
-
- 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
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/04—Aircraft characterised by the type or position of power plants of piston type
- B64D27/06—Aircraft characterised by the type or position of power plants of piston type within, or attached to, wings
-
- 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
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/11—Propulsion using internal combustion piston engines
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Navigation (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
A kind of vertical layout fuel power four rotor flying platform, its composition includes frame, dynamical system, navigation and control system, electrical system and task platform.Four identical horns are docked at connection two-by-two by forming frame on the monocogue of undercarriage；Dynamical system is arranged on the end of each horn, provides power and energy for flying platform；Navigation and control system perception and the control attitude of flying platform, height and position；Electrical system has charging, powers and indicate function；Task platform is for installing different task devices.The present invention uses fuselage principal plane to be positioned at the vertical layout of xoz plane, it is to avoid traditional fuselage principal plane is positioned at the problem that air drag is big and energy consumption is high that the horizontal layout of xoy plane exists, and is conducive to increasing strength and stiffness, reduces vibration.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, be specifically related to a kind of vertical layout fuel power four rotor flying platform.
Background technology
Four rotor wing unmanned aerial vehicles are that a kind of to have 4 propellers and propeller be the aircraft that cross or X font intersect, permissible
Different task is performed by carry distinct device.At present, four rotor wing unmanned aerial vehicles mostly are electronic and horizontal layout, and electronic lacks
Point is short little with load-carrying when being boat, and the shortcoming of horizontal layout is that structure dissipates, resistance is big, energy consumption is high.
It is flat that patent 2016206230410 and 2016104452030 proposes a kind of fuel power many rotor wing unmanned aerial vehicles flight
Platform, but its fuselage uses horizontal plate holder tubular structure, and ratio is well suited to six rotors and eight rotors, and the shortcoming of this structure is except machine
All parts outside body can only connect or be pasted onto on this fuselage, and space availability ratio is low, and main machine body is laterally big across width, empty
Atmidometer is big.
Summary of the invention
It is an object of the invention to provide a kind of solution electronic many rotor wing unmanned aerial vehicles boat duration and load-carrying is little, and horizontal cloth
The vertical layout fuel power four rotor flying platform of the problems such as office's structure dissipates, resistance is big and energy consumption is high.
The technical solution used in the present invention is a kind of vertical layout fuel power four rotor flying platform, and its composition includes machine
Frame, dynamical system, navigation and control system, electrical system and task platform.Four identical horns are docked at connection two-by-two to be had
Frame is formed on the monocogue of undercarriage；Dynamical system is arranged on the end of each horn, provides power for flying platform
And the energy；Navigation and control system perception and the control attitude of flying platform, height and position；Electrical system has charging, supplies
Electricity and instruction function；Task platform is for installing different task devices.Described frame is X font frame, and its composition includes machine
Body, horn assembly, undercarriage and hood.
Described fuselage uses monocoque, and its composition includes bulkhead, carbon plate, shelf and pillar, and bulkhead be arranged in parallel shape
Become the profile of fuselage, bulkhead is provided with lateral struts for assisting and strengthening；It is arranged with in parallel between the pillar of each bulkhead and puts
Plate；Bulkhead surrounding is provided with carbon plate, in order to bear main stress；Belly hollow.
Described horn assembly includes that left horn seat, right arm seat, horn and engine bearer, left horn seat and right arm seat are adopted
With framed structure, being made up of column, pipe clamp and upper and lower web beam, pipe clamp is fixed between bottom web, at upper bottom web
In before, there are three root posts, column and pipe clamp in rear three places in order to support profile, and upper and lower web beam bears main stress, upper lower abdomen
It is provided with some reinforcements on plate-girder, is used for increasing bulk strength and rigidity；Pipe clamp is used for fixing horn；Described left horn seat and
The right arm seat left and right sides is the most angularly disposed a horn, and four identical horns are docked at connection two-by-two undercarriage
Frame is formed on monocogue；And horn uses seamless carbon fiber pipe, be conducive to saving weight；Each horn end is fixing
It is provided with an engine bearer, in order to fixing connection electromotor；Described horn assembly is connected to the left and right of fuselage by horn seat
On carbon plate.
Described undercarriage uses ski type structure, and its composition includes front bend pipe, back elbow, left straight tube and right straight tube, front and back
Before and after bend pipe lays respectively at fuselage, left and right straight tube lays respectively at the left and right of fuselage, and front and back bend pipe is main load-bearing part, mainly in order to
Support the unmanned plane gravity when ground is parked, bear, consume and absorb unmanned plane land time with the Impact energy on ground, top
Winnowing with a dustpan energy and horizontal kinetic energy, left and right straight tube primarily serves the effect of setting, and nylon cushion thereon also has the effect of buffering absorbing.
Dynamical system includes engine pack, startup system, ignition system, fuel system and propeller, engine pack
Including electromotor, aiutage, the gentle filter of EFI valve body, startup system is made up of electric starter and startup motor, ignition system
Being made up of CDI and spark plug, fuel system includes fuel tank, oil pump, oil filter, fuel pressure regulator and the composition spiral shell of oil nozzle more than a point
Rotation oar carbon fiber oar.Described fuel system uses patent 201610594834.9 fuel power many rotor wing unmanned aerial vehicles fuel feeding scheme.
Navigation and control system include acquisition module, control module, data module and execution module, and acquisition module includes suddenly
Your element, gyroscope, accelerometer, magnetometer, barometer, laser range finder and GPS, control module include flying controlling plate, ECU,
Remote controller controls end and ground station control end, data module include remote controller transmitter, remote control receiver, earth station's number pass,
Airborne number passes and antenna, performs module and includes steering wheel and EFI mouth.
Electrical system includes supply module and indicating module, and supply module includes power protection switch, 4S battery, separated time
Box, indicating module includes LED, earth station's display end and remote controller displays end.
Task platform is arranged on undercarriage, the task device different by installing carry, performs different job tasks.
Compared with prior art, the invention has the beneficial effects as follows:
(1) fuselage principal plane is used to be positioned at the vertical layout of xoz plane, it is to avoid traditional fuselage principal plane is positioned at xoy plane
The problem that the air drag that interior horizontal layout exists is big and energy consumption is high, and be conducive to increasing strength and stiffness, reduction is shaken
Dynamic；
(2) monocogue is applied on many rotors first, be conducive to simplifying structure and improving space availability ratio, be conducive to subtracting
Reset meter；
(3) use fuel oil as power, when can greatly extend boat and increase load-carrying.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the schematic diagram of horizontal layout structure.
Fig. 3 is the schematic diagram of vertical layout structure.
Fig. 4 is rack construction schematic diagram.
Fig. 5 is monocogue structural representation；
Fig. 6 is the framing structure schematic diagram of monocogue；
Fig. 7 is horn modular construction schematic diagram；
Fig. 8 is medicine-chest task device schematic diagram；
Fig. 9 is fire extinguisher bomb task device schematic diagram；
Figure 10 is photoelectric nacelle task device schematic diagram；
Wherein: frame 1, dynamical system 2, navigation and control system 3, electrical system 4, task platform 5, medicine-chest 6, fire extinguisher bomb 7, light
Electricity gondola 8, fuselage 11, horn assembly 12, undercarriage 13, hood 14, bulkhead 111, carbon plate 112, shelf 113, pillar 114, a left side
Horn seat 121, right arm seat 122, horn 123, engine bearer 124, front bend pipe 131, back elbow 132, left straight tube 133, the right side are directly
Pipe the 134, first bulkhead the 1111, second bulkhead the 1112, the 3rd bulkhead the 1113, the 4th bulkhead the 1114, the 5th bulkhead the 1115, the 6th every
Frame the 1116, the 7th bulkhead the 1117, the 8th bulkhead the 1118, first shelf the 1131, second shelf the 1132, the 3rd shelf the 1133, the 4th
Shelf 1134, the 5th shelf the 1135, first pillar the 1141, second pillar 1142, the 3rd pillar 1143, the 4th pillar 1144,
Five pillar the 1145, the 6th pillar the 1146, the 7th pillar the 1147, the 8th pillar the 1148, the 9th pillar the 1149, the tenth pillars 11410,
11st pillar 11411, twelve earthly branches post 11412.
Detailed description of the invention
As it is shown in figure 1, a kind of vertical layout fuel power four rotor flying platform, including frame 1, dynamical system 2, navigation
With control system 3, electrical system 4 and task platform 5.Four identical horns 123 are docked at connection two-by-two undercarriage 13
Frame 1 is formed on monocogue 11；Dynamical system 2 is arranged on the end of each horn 123, for flying platform provide power and
The energy；Navigation and control system 3 perception and the control attitude of flying platform, height and position；Electrical system 4 has charging, supplies
Electricity and instruction function；Task platform 5 is for installing different task devices.As shown in Figure 4, described frame 1 is X font frame,
Its composition includes fuselage 11, horn assembly 12, undercarriage 13 and hood 14.
As it is shown in figure 5, described fuselage 11 uses monocoque, its composition includes bulkhead 111, carbon plate 112, shelf 113
With pillar 114, bulkhead 111 be arranged in parallel and forms the profile of fuselage 11, bulkhead 111 is provided with lateral struts 114 for assisting
And reinforcement；It is arranged with shelf 113 in parallel between the pillar 114 of each bulkhead 111；Bulkhead 111 surrounding is provided with carbon plate 112, carbon plate
112 i.e. eyelid covering, in order to bear main stress, upper carbon plate 112 offers a fuel tank flap；Fuselage 11 abdominal part hollow.
As it is shown in fig. 7, described horn assembly 12 includes left horn seat 121, right arm seat 122, horn 123 and engine bearer
124, left horn seat 121 and right arm seat 122 use framed structure, are made up of column, pipe clamp and upper and lower web beam, and pipe clamp is solid
Be scheduled between bottom web, before upper bottom web in rear three places have three root posts, column and pipe clamp in order to support profile,
Web beam bears main stress up and down, and upper and lower web beam is provided with some reinforcements, is used for increasing bulk strength and rigidity；Pipe
Folder is used for fixing horn 123；Described left horn seat 121 and right arm seat 122 left and right sides is the most angularly disposed a horn
123, four identical horns 123 are docked at connection two-by-two by forming frame 1 on the monocogue 11 of undercarriage 13；And horn
123 use seamless carbon fiber pipe, are conducive to saving weight；Each horn 123 end is fixedly installed an engine bearer
124, in order to fixing connection electromotor；Described horn assembly 12 is connected on the left and right carbon plate 112 of fuselage 11 by horn seat.
As shown in Figure 4, described undercarriage 13 uses ski type structure, and its composition includes front bend pipe 131, back elbow 132, a left side
Straight tube 133 and right straight tube 134, before and after front and back bend pipe lays respectively at fuselage 11, left and right straight tube lays respectively at the left and right of fuselage 11,
Front and back bend pipe is main load-bearing part, mainly in order to support the unmanned plane gravity when ground is parked, bears, consumes and absorb unmanned plane
When landing with the Impact energy on ground, bumping energy and horizontal kinetic energy, left and right straight tube primarily serves the effect of setting, thereon
Nylon cushion also has the effect of buffering absorbing.
As shown in Figure 6, the framing structure of monocogue 11 is particularly as follows: be provided with the first pillar on the first bulkhead 1111
1141, the second pillar 1142, the second bulkhead 1112 is provided with the 4th pillar 1144, the 3rd bulkhead 1113 is provided with the 5th
Post the 1145, the 6th pillar 1146, the 6th bulkhead 1116 is provided with the 7th pillar the 1147, the 8th pillar 1148, the 7th bulkhead
It is provided with the tenth pillar 11410 on 1117, the 8th bulkhead 1118 is provided with the 11st pillar 11411, twelve earthly branches post
11412, the 3rd pillar the 1143, the 9th pillar 1149 and the 4th bulkhead the 1114, the 5th bulkhead 1115 are directly connected in left and right carbon
On plate 112, the first pillar the 1141, the 3rd pillar the 1143, the 5th pillar 1145 arranges the first shelf 1131, in order to place 4S electricity
Pond, the second pillar the 1142, the 4th pillar the 1144, the 6th pillar 1146 arranges the second shelf 1132, in order to place junction box, the
3rd shelf 1133 is set for laying fuel tank, the 7th pillar the 1147, the 9th pillar on three bulkhead the 1113, the 4th bulkheads 1114
1149, on the 11st pillar 11411, the 4th shelf 1134 is set, in order to place oil supply system, the 8th pillar the 1148, the tenth pillar
11410, on twelve earthly branches post 11412, the 5th shelf 1135 is set, flies to control plate and ECU in order to place.
Use the monocogue 11 of vertical layout, due to fuselage 11 abdominal part hollow, can lay directly from purchasing on the market
Plastic Drum do fuel tank, be conducive to improving space availability ratio and cost-effective.
Dynamical system 2 includes engine pack, startup system, ignition system, fuel system and propeller, engine pack
Including electromotor, aiutage, the gentle filter of EFI valve body, startup system is made up of electric starter and startup motor, ignition system
Being made up of CDI and spark plug, fuel system includes fuel tank, oil pump, oil filter, fuel pressure regulator and the composition of oil nozzle more than a point,
Propeller is carbon fiber oar.Described fuel system uses patent 201610594834.9 fuel power many rotor wing unmanned aerial vehicles fuel feeding side
Case.
Navigation and control system 3 include acquisition module, control module, data module and execution module, and acquisition module includes
Hall element, gyroscope, accelerometer, magnetometer, barometer, laser range finder and GPS, control module include flying controlling plate,
ECU, remote controller control end and ground station control end, and data module includes remote controller transmitter, remote control receiver, earth station's number
Pass, airborne number passes and antenna, performs module and includes steering wheel and EFI mouth.
Electrical system 4 includes supply module and indicating module, and supply module includes power protection switch, 4S battery, separated time
Box, indicating module includes LED, earth station's display end and remote controller displays end.
Task platform 5 is arranged on undercarriage 13, the task device different by installing carry, performs different operations and appoints
Business.As seen in figs. 8-10, task platform is equipped with medicine-chest 6, fire extinguisher bomb 7, photoelectric nacelle 8 respectively.
Test through substantial amounts of flight test, identical two unmanned plane of other condition except fuselage arrangement difference,
Under identical flight parameter, that of vertical fuselage a than horizontal fuselage that a the most fuel-efficient 5.7%, vibration reduces
About 2%.Under identical mission payload premise, vertical airframe structure can be smaller and more exquisite, and space availability ratio improves, structure
Stress is the most reasonable, and strength and stiffness are the highest, and weight ratio horizontal configuration is light by about 4%.
Above example is only the technological thought that the present invention is described, it is impossible to limit protection scope of the present invention with this, every presses
According to the present invention propose technological thought, any change done on the basis of technical scheme, each fall within scope it
In.
Claims (5)
- The most vertical layout fuel power four rotor flying platform, its composition include frame, dynamical system, navigation and control system, Electrical system and task platform；It is characterized in that, described frame is X font frame, and its composition includes fuselage, horn assembly, rises Fall frame and hood；Described fuselage uses monocoque, and its composition includes bulkhead, carbon plate, shelf and pillar, and bulkhead be arranged in parallel Form the profile of fuselage, bulkhead is provided with lateral struts for assisting and strengthening；It is arranged with in parallel between the pillar of each bulkhead Shelf；Bulkhead surrounding is provided with carbon plate, in order to bear main stress；Belly hollow；Described horn assembly includes left horn Seat, right arm seat, horn and engine bearer, left horn seat and right arm seat use framed structure, by column, pipe clamp and up and down Web beam forms, and pipe clamp is fixed between bottom web, before upper bottom web in rear three places have three root posts, column and Pipe clamp is in order to support profile, and upper and lower web beam bears main stress, and upper and lower web beam is provided with some reinforcements；Pipe clamp is used for Fixing horn；Described left horn seat and the right arm seat left and right sides is the most angularly disposed a horn, four identical horns It is docked at connection two-by-two by forming frame on the monocogue of undercarriage；And horn uses seamless carbon fiber pipe；Each horn End is all fixedly installed an engine bearer；Described horn assembly is connected on the left and right carbon plate of fuselage by horn seat；Institute Stating undercarriage and use ski type structure, its composition includes front bend pipe, back elbow, left straight tube and right straight tube, front and back bend pipe position respectively Before and after fuselage, left and right straight tube lays respectively at the left and right of fuselage, and front and back bend pipe is main load-bearing part, and left and right straight tube primarily serves fixed The effect of shape, is provided with nylon cushion.
- Vertical layout fuel power four rotor flying platform the most according to claim 1, it is characterised in that: described dynamical system System includes engine pack, startup system, ignition system, fuel system and propeller, and engine pack includes electromotor, aerofluxus Cylinder, the gentle filter of EFI valve body, startup system is made up of electric starter and startup motor, and ignition system is by CDI and spark plug group Becoming, fuel system includes fuel tank, oil pump, oil filter, fuel pressure regulator and the composition of oil nozzle more than a point, and propeller is carbon fiber Oar.
- Vertical layout fuel power four rotor flying platform the most according to claim 1, it is characterised in that: described navigation with Control system includes acquisition module, control module, data module and execution module, acquisition module include Hall element, gyroscope, Accelerometer, magnetometer, barometer, laser range finder and GPS, control module includes flying controlling plate, ECU, remote controller control end and Ground station control end, data module includes that remote controller transmitter, remote control receiver, earth station's number pass, airborne number passes and antenna, Perform module and include steering wheel and EFI mouth.
- Vertical layout fuel power four rotor flying platform the most according to claim 1, it is characterised in that: described electric system System includes supply module and indicating module, and supply module includes power protection switch, 4S battery, junction box, and indicating module includes LED, earth station's display end and remote controller displays end.
- Vertical layout fuel power four rotor flying platform the most according to claim 1, it is characterised in that: described task is put down Platform is arranged on undercarriage, the task device different by installing carry, performs different job tasks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610753161.7A CN106218881B (en) | 2016-08-30 | 2016-08-30 | Vertical layout fuel power quadrotor flying platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610753161.7A CN106218881B (en) | 2016-08-30 | 2016-08-30 | Vertical layout fuel power quadrotor flying platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106218881A true CN106218881A (en) | 2016-12-14 |
| CN106218881B CN106218881B (en) | 2019-03-22 |
Family
ID=58071158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610753161.7A Active CN106218881B (en) | 2016-08-30 | 2016-08-30 | Vertical layout fuel power quadrotor flying platform |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106927032A (en) * | 2017-03-29 | 2017-07-07 | 镇江顺宇飞行器有限公司 | A kind of combined type quadrotor |
| CN107187586A (en) * | 2017-04-28 | 2017-09-22 | 重庆零度智控智能科技有限公司 | Unmanned vehicle body and unmanned vehicle |
| CN107719655A (en) * | 2017-11-08 | 2018-02-23 | 沈阳旋飞航空技术有限公司 | A kind of dynamic four rotor wing unmanned aerial vehicles of oil |
| CN108557088A (en) * | 2018-06-12 | 2018-09-21 | 翟占超 | Aircraft |
| CN108750126A (en) * | 2018-07-26 | 2018-11-06 | 瀚伦贝尔通用航空器有限公司 | A kind of dynamic quadrotor of double hair oil |
| CN109305373A (en) * | 2018-09-19 | 2019-02-05 | 清远市飞凡创丰科技有限公司 | A kind of fuel oil unmanned plane and its control method |
| CN109319085A (en) * | 2017-08-01 | 2019-02-12 | 广州极飞科技有限公司 | Based shell, rack and unmanned plane |
| CN110678389A (en) * | 2018-09-26 | 2020-01-10 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle |
| CN113353251A (en) * | 2021-08-09 | 2021-09-07 | 四川聚变未来航空科技有限公司 | Multi-rotor aircraft |
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