CN107757904A - A kind of dynamic rotor wing unmanned aerial vehicle of displacement four of oil - Google Patents
A kind of dynamic rotor wing unmanned aerial vehicle of displacement four of oil Download PDFInfo
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- CN107757904A CN107757904A CN201711147922.5A CN201711147922A CN107757904A CN 107757904 A CN107757904 A CN 107757904A CN 201711147922 A CN201711147922 A CN 201711147922A CN 107757904 A CN107757904 A CN 107757904A
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- power rotor
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- aerial vehicle
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Abstract
The invention discloses a kind of dynamic rotor wing unmanned aerial vehicle of displacement four of oil, including：Body；Power rotor system, it includes two the first power rotor assemblies and two the second power rotor assemblies, using the crosspoint of the support bar as symmetric points, described two first power rotor assemblies symmetrically set up separately in two ends of the support bar, described two second power rotor assemblies symmetrically set up separately in remaining two ends of the support bar, the first power rotor assembly and the second power rotor assembly include the drive mechanism being fixed on by support on the support bar, the transmission mechanism being connected with the drive mechanism and the pulp distance varying mechanism and rotor mechanism that are arranged on above the transmission mechanism.The dynamic rotor wing unmanned aerial vehicle of displacement four of oil provided by the invention solves that conventional electronic multi-rotor unmanned aerial vehicle load-carrying is small, and the short wind resistance of endurance is poor, while it is big to solve separate unit engine vibration, and the problems such as transmission accuracy difference, overall structure is simple, is easy to safeguard.
Description
Technical field
The present invention relates to unmanned plane during flying device technical field, it is more particularly related to which a kind of dynamic displacement four of oil revolves
Wing unmanned plane.
Background technology
With the continuous development of unmanned plane industry, unmanned plane is applied in a variety of fields, market pair both domestic and external
Also constantly increasing in unmanned plane demand, while the continuation of the journey for unmanned plane and load-carrying propose higher requirement again.It is existing
Some unmanned planes it is most using battery as power, flown by improving motor speed, the energy density and electricity of battery
The driving force of machine seriously limits the load of aircraft, and it is more narrow and small to be allowed to application field.
The A of Chinese patent CN 105270619 disclose " a kind of dynamic rotor wing unmanned aerial vehicle of displacement four of oil ", and the invention includes power
System-transmission system, rotor-steerable system and machine frame system, rotor-steerable system, dynamical system-transmission system are all solid
It is scheduled on machine frame system.The invention mainly solves the problems such as conventional electronic more rotor load are small, endurance is short and wind resistance is poor,
And pure helicopter is due to mechanical structure, structural dynamic characteristics, flight dynamics characteristic, aerodynamic characteristic and flight control system
The problems such as system is complicated and brings buying, operation and maintenance cost are high, and working service technical threshold is high.It is but dynamic in the invention
Synchronous band connection of the power subsystem with drive subsystem by drive subsystem, when between power sub-system and drive subsystem
During timing belt tension, then the power loss of unmanned plane is larger；Particularly flame-out landing, between power sub-system and drive subsystem
Timing belt excessively pine and easily skid, unmanned plane can be caused to damage.
The content of the invention
It is an object of the invention to solve at least the above, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of dynamic rotor wing unmanned aerial vehicle of displacement four of oil, the dynamic rotor of displacement four of this oil without
It is man-machine individually to provide power source to each rotor mechanism with engine using four aviations, solve conventional electronic more rotors nobody
Airborne heavy small, the short wind resistance of endurance is poor, while it is big to solve separate unit engine vibration, the problems such as transmission accuracy difference, overall structure peace
Dress is simple, is easy to safeguard.
To achieve these goals, the invention provides a kind of dynamic rotor wing unmanned aerial vehicle of displacement four of oil, including：
Body, it has cross-shaped support bar；
Power rotor system, it includes two the first power rotor assemblies and two the second power rotor assemblies, with described
The crosspoint of support bar is symmetric points, and described two first power rotor assemblies symmetrically set up separately at two ends of the support bar
Portion, described two second power rotor assemblies symmetrically set up separately in remaining two ends of the support bar, first power
Rotor assembly and the second power rotor assembly include drive mechanism and the institute being fixed on by support on the support bar
The pulp distance varying mechanism and rotor mechanism stated the transmission mechanism of drive mechanism drive connection and be arranged on above the transmission mechanism,
The rotor mechanism is used to fix propeller, and the pulp distance varying mechanism is connected with the rotor mechanism and for changing the spiral shell
Revolve the rotation angle of attack of oar；The drive mechanism of the first power rotor assembly drives the gyroplane of the first power rotor assembly
Structure carries out the rotation in a direction, and the drive mechanism of the second power rotor assembly drives the second power rotor assembly
Rotor mechanism rotated with a direction in opposite direction；
Wherein, the drive mechanism of the first power rotor assembly and the drive mechanism of the second power rotor assembly are equal
For aviation engine.
Preferably, described oil is moved in the rotor wing unmanned aerial vehicle of displacement four, the transmission mechanism of the first power rotor assembly
With the transmission mechanism connection including being fixedly connected by screw with the aviation with engine of the second power rotor assembly
Axle device, the one-way clutch being fixedly connected with the shaft coupling, the first order being connected by input shaft with the one-way clutch
Deceleration member and the second level deceleration member with first order deceleration member rotation connection；
The first order deceleration member of transmission mechanism in the first power rotor assembly slows down for the spur gear of the first order three
Machine, the first order deceleration member of the transport mechanism in the second power rotor assembly are the spur gear reductor of the first order two, institute
Slow down the second level for stating the transmission mechanism in the first power rotor assembly and the transport mechanism in the second power rotor assembly
Component is second level bevel gear reducing mechanism.
Preferably, described oil is moved in displacement four rotor wing unmanned aerial vehicle, the pulp distance varying mechanism includes being fixed on described the
First connecting rod, one end and the institute that steering wheel, lower end on two level bevel gear reducing mechanism are flexibly connected with the output end of the steering wheel
State first connecting rod upper end be flexibly connected and be set in outside the output shaft of the second level bevel gear reducing mechanism displacement rocking bar,
Upper end is flexibly connected with the displacement rocking bar and lower end is connected with the second level bevel gear reducing mechanism displacement support arm, it is arranged
The sliding shoe that is connected on the output shaft of the second level bevel gear reducing mechanism and with the displacement rocking bar, it is set in described
Pushing block and lower end on the output shaft of two level bevel gear reducing mechanism and above the sliding shoe are connected with the pushing block
And upper end and the second connecting rod of the oar folder connection in the rotor mechanism, the first connecting rod are located at respectively with the displacement support arm
The both sides of the output shaft of the second level bevel gear reducing mechanism.
Preferably, described oil is moved in the rotor wing unmanned aerial vehicle of displacement four, in addition to：
Controller, it is arranged on the body, and the controller and the aviation are with starting mechatronics.
Preferably, described oil is moved in the rotor wing unmanned aerial vehicle of displacement four, the spur gear reductor of the first order three includes three
Individual first spur gear, one of them first spur gear are used to commutate.
Preferably, described oil is moved in the rotor wing unmanned aerial vehicle of displacement four, and the spur gear reducing gear of the first order two includes
Two the second spur gears, one of them second spur gear are used to commutate.
The present invention comprises at least following beneficial effect：
1st, the dynamic rotor wing unmanned aerial vehicle of displacement four of oil of the present invention is reasonable in design, and overall structure is simple, and service life
It is long.
2nd, aviation engine will be dynamic by way of axle transmission in the dynamic rotor wing unmanned aerial vehicle of displacement four of oil of the present invention
Power transmits rotor mechanism, and the process of axle transmission, the fast response time of rotor mechanism, power loss are small.
3rd, the dynamic rotor wing unmanned aerial vehicle of displacement four of oil of the present invention individually gives each rotor by four aviations with engine
Mechanism provides power source, solves that conventional electronic multi-rotor unmanned aerial vehicle load-carrying is small, and the short wind resistance of endurance is poor, while solves separate unit hair
Motivation vibrations are big, and the problems such as transmission accuracy difference, overall structure installation is simple, is easy to safeguard.
4th, each rotor system enters action by separate unit engine in the dynamic rotor wing unmanned aerial vehicle of displacement four of oil of the present invention
Power drives, and pulp distance varying mechanism changes the propeller angle of attack, makes its power surplus sufficient, overcomes the energy density by dynamo battery
The aircraft flight time caused by low is short, a series of problems such as load is light.
The dynamic rotor wing unmanned aerial vehicle of displacement four of oil of the present invention, further advantage of the invention, target and feature are logical by part
Cross following explanation to embody, part will be also understood by the person skilled in the art by the research to the present invention and practice.
Brief description of the drawings
Fig. 1 is the structural representation of the dynamic rotor wing unmanned aerial vehicle of displacement four of oil described in the one of embodiment of the present invention.
Fig. 2 is that the first power rotor of the dynamic rotor wing unmanned aerial vehicle of displacement four of oil described in the one of embodiment of the present invention is total
Into structural representation.
Fig. 3 is that the second power rotor of the dynamic rotor wing unmanned aerial vehicle of displacement four of oil described in the one of embodiment of the present invention is total
Into structural representation.
Fig. 4 is the top view of the dynamic rotor wing unmanned aerial vehicle of displacement four of oil described in the one of embodiment of the present invention.
Fig. 5 is total for the first power rotor in the dynamic rotor wing unmanned aerial vehicle of displacement four of oil described in the one of embodiment of the present invention
Into section of structure.
Wherein, the arrow in Fig. 4 represents direction of rotation, and the direction of rotation of the first power rotor assembly is reversion, and second is dynamic
The direction of rotation of power rotor assembly is rotating forward.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail, to make those skilled in the art join
Book word can be implemented according to this as directed.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein are not precluded from one or more
The presence or addition of individual other elements or its combination.
As shown in Fig. 1~Fig. 5, a kind of dynamic rotor wing unmanned aerial vehicle of displacement four of oil is provided in the one of embodiment of the present invention,
Including：
Body 5, it has cross-shaped support bar；
Power rotor system, it includes two the first power rotor assemblies 1 and two the second power rotor assemblies 2, with institute
The crosspoint for stating support bar is symmetric points, and described two first power rotor assemblies 1 symmetrically set up two in the support bar separately
End, described two second power rotor assemblies 2 symmetrically set up separately dynamic in remaining two ends of the support bar, described first
Drive mechanism that power rotor assembly 1 and the second power rotor assembly 2 include being fixed on by support on the support bar,
Transmission mechanism and the pulp distance varying mechanism 11 being arranged on above the transmission mechanism and rotation with drive mechanism drive connection
Wing mechanism 12, the rotor mechanism 12 are used to fix propeller, and the pulp distance varying mechanism 11 is connected simultaneously with the rotor mechanism 12
And for changing the rotation angle of attack of the propeller；The drive mechanism driving described first of the first power rotor assembly 1 is dynamic
The rotor mechanism 12 of power rotor assembly 1 carries out the rotation in a direction, the drive mechanism driving of the second power rotor assembly 2
The rotor mechanism 12 of the second power rotor assembly 2 rotated with a direction in opposite direction；
Wherein, the drive mechanism of the first power rotor assembly 1 and the drive mechanism of the second power rotor assembly 2
It is aviation engine 6.
The transmission mechanism of the transmission mechanism of the first power rotor assembly 1 and the second power rotor assembly 2 wraps
Include the shaft coupling 7 being fixedly connected by screw with the aviation engine 6, be fixedly connected with the shaft coupling 7 it is unidirectional from
Clutch 8, the first order deceleration member being connected by input shaft 20 with the one-way clutch 8 and with the first order deceleration structure
The second level deceleration member of part rotation connection；
The first order deceleration member of transmission mechanism in the first power rotor assembly 1 slows down for the spur gear of the first order three
Machine 9, the first order deceleration member of the transport mechanism in the second power rotor assembly 2 is the spur gear reductor of the first order two
13, the second of the transmission mechanism in the first power rotor assembly 1 and the transport mechanism in the second power rotor assembly 2
Level deceleration member is second level bevel gear reducing mechanism 10.
The pulp distance varying mechanism 11 include being fixed on steering wheel 14 on the second level bevel gear reducing mechanism 10, lower end with
The first connecting rod 15 of the output end flexible connection of the steering wheel 14, one end are flexibly connected and covered with the upper end of the first connecting rod 15
The displacement rocking bar 16 that is located at outside the output shaft 22 of the second level bevel gear reducing mechanism 10, upper end are lived with the displacement rocking bar 16
Displacement support arm 19 that dynamic connection and lower end are connected with the second level bevel gear reducing mechanism 10, it is set in the second level and bores tooth
Take turns the sliding shoe 17 being connected on the output shaft 22 of reducing gear 10 and with the displacement rocking bar 16, be set in the second level cone tooth
Take turns the pushing block 18 on the output shaft 22 of reducing gear 10 and positioned at the top of sliding shoe 17 and lower end connects with the pushing block 18
Connect and the upper oar with the rotor mechanism 12 presss from both sides 24 second connecting rods 23 being connected, the first connecting rod 15 and the displacement support arm
19 are located at the both sides of the output shaft 22 of the second level bevel gear reducing mechanism 10 respectively.
Controller (not shown), it is arranged on the body 5, and the controller is electrically connected with the aviation engine 6
Connect.
The spur gear reductor 9 of the first order three includes three the first spur gears, and one of them first spur gear is used to change
To.
The spur gear reducing gear 13 of the first order two includes two the second spur gears, and one of them second spur gear is used for
Commutation.
The oil of the present invention moves the specific annexation inside power rotor system in the rotor wing unmanned aerial vehicle of displacement four：
Power rotor system is divided into two kinds, and it is divided into two the first power rotor assemblies 1 (such as Fig. 2) and two the second power
Rotor assembly 2 (such as Fig. 3).
As shown in Fig. 2 the motion principle in two the first power rotor assemblies 1, in two the first power rotor assemblies 1
In, the one end of shaft coupling 7 is connected by screw with aviation engine 6, the other end of shaft coupling 7 and one end of one-way clutch 8
Fixed, the spur gear reducing gear 9 of the first order three is connected by input shaft 20 with the other end of one-way clutch 8, and the first order
The protruding spur gear reducing gear 9 of the first order three of transition axis 21 in three spur gear reducing gears 9 simultaneously extends to second level cone
It is connected thereto in tooth reducing gear 10, so that carrying out second level cone tooth reducing gear 10 carries out communtation deceleration, second level bevel gear
In hole of the output shaft 22 that reducing gear 10 stretches out by pulp distance varying mechanism 11, rotor mechanism 12 is fixed on second level bevel gear and subtracted
The upper end of output shaft 22 that fast mechanism 10 stretches out, and be connected by second connecting rod 23 with pulp distance varying mechanism 11, pulp distance varying mechanism 11 wraps
Include the steering wheel 14 being fixed on second level bevel gear reducing mechanism 10, the first connecting rod that the output end of one end steering wheel 14 is flexibly connected
15th, one end is flexibly connected and is set in outside the output shaft 22 of second level bevel gear reducing mechanism 10 with the other end of first connecting rod 15
Displacement rocking bar 16, the change that one end is flexibly connected with displacement rocking bar 16 and the other end is connected with second level bevel gear reducing mechanism 10
Away from support arm 19, the sliding shoe for being set on the output shaft 22 of second level bevel gear reducing mechanism 10 and being connected with displacement rocking bar 16
17th, the pushing block 18 that is set on the output shaft 22 of second level bevel gear reducing mechanism 10 and is connected with the upper end of sliding shoe 17 and
The second connecting rod 23 that one end is connected with pushing block 18 and the other end is connected with the oar folder 24 in rotor mechanism 12；
Wherein, steering wheel 14 is rotated by driving first connecting rod 15 to be moved up and down, so as to drive displacement rocking bar 16 to drive
Output shaft 22 of the sliding shoe 17 along second level bevel gear reducing mechanism 10 is slided up and down, and sliding shoe 17 drives pushing block 18 along the
The output shaft 22 of two level bevel gear reducing mechanism 10 is slided up and down, and pushing block 18 drives second connecting rod 23 transport up and down again
Dynamic, second connecting rod 23 drives oar folder 24 to be rotated, and then drives rotor mechanism 12, to change the rotation angle of attack of propeller, comes
Realize that this oil moves the actions such as the lifting pitching rolling of the rotor wing unmanned aerial vehicle of displacement four.
As shown in figure 3, the motion principle of two the second power rotor assemblies 2, two in two the second power rotor assemblies 2
The spur gear reducing gear 9 of the first order three is replaced by into the spur gear of the first order two on the basis of in individual first power rotor assembly 1 to subtract
Fast mechanism 13, other are identical with two the first power rotor assemblies 1.
The operation principle of the present invention：
The aviation that the oil of the present invention is moved in the rotor wing unmanned aerial vehicle of displacement four controls igniting output permanent with engine 6 by controller
Determine rotating speed, drive shaft coupling 7 to be separately input to the spur gear reducing gear 9 of the first order three and the first order two by one-way clutch 8
Spur gear reducing gear 13 is slowed down, wherein the spur gear reducing gear 9 of the first order three in the first power rotor assembly 1 is three
Individual first spur gear, the spur gear reducing gear 13 of the first order two in the second power rotor assembly 2 is two the second spur gears, its
In first spur gear and one of them second spur gear be used to commutate, the spur gear reducing gear 9 and first of the first order three
The rotating speed direction of rotation of level two spur gear reducing gears 13 output is different, after power is input to second level bevel gear reducing mechanism
In 10, then pass on rotor mechanism 12, the rotor mechanism 12 formed respectively in two the first power rotor assemblies 1 inverts, two
Rotor mechanism 12 in second power rotor assembly 2 rotates forward, therefore is put down when the oil of the present invention moves the rotor wing unmanned aerial vehicle of displacement four
During weighing apparatus flight, gyroscopic effect and air force moment of torsion effect are cancelled completely.
The power that the oil of the present invention is moved in the rotor wing unmanned aerial vehicle of displacement four is transmitted by the way of axle transmission, is not in because same
Step band tension, avoids causing the power loss of unmanned plane larger；And in flame-out landing, be also not in timing belt pine excessively again
The phenomenon easily skidded, avoid that unmanned plane is caused to damage.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, it is of the invention and unlimited
In specific details and shown here as the legend with description.
Claims (6)
- A kind of 1. dynamic rotor wing unmanned aerial vehicle of displacement four of oil, it is characterised in that including：Body, it has cross-shaped support bar；Power rotor system, it includes two the first power rotor assemblies and two the second power rotor assemblies, with the support The crosspoint of bar is symmetric points, and described two first power rotor assemblies symmetrically set up separately in two ends of the support bar, institute State two the second power rotor assemblies symmetrically set up separately it is total in remaining two ends of the support bar, the first power rotor Into the drive mechanism and the driving for including being fixed on by support on the support bar with the second power rotor assembly The transmission mechanism of mechanism driving connection and the pulp distance varying mechanism and rotor mechanism being arranged on above the transmission mechanism, the rotation Wing mechanism is used to fix propeller, and the pulp distance varying mechanism is connected with the rotor mechanism and for changing the propeller Rotate the angle of attack；The drive mechanism of the first power rotor assembly drives the rotor mechanism of the first power rotor assembly to carry out The rotation in one direction, the drive mechanism of the second power rotor assembly drive the gyroplane of the second power rotor assembly Structure rotated with a direction in opposite direction；Wherein, the drive mechanism of the first power rotor assembly and the drive mechanism of the second power rotor assembly are boat Sky engine.
- A kind of 2. dynamic rotor wing unmanned aerial vehicle of displacement four of oil according to claim 1, it is characterised in that the first power rotor The transmission mechanism of the transmission mechanism of assembly and the second power rotor assembly is included by screw and the aviation with starting Shaft coupling that machine is fixedly connected, the one-way clutch being fixedly connected with the shaft coupling, by input shaft and the one-way clutch The connected first order deceleration member of device and the second level deceleration member with first order deceleration member rotation connection；The first order deceleration member of transmission mechanism in the first power rotor assembly is the spur gear reductor of the first order three, institute The first order deceleration member for stating the transport mechanism in the second power rotor assembly is the spur gear reductor of the first order two, described first Transmission mechanism in power rotor assembly and the second level deceleration member of the transport mechanism in the second power rotor assembly are equal For second level bevel gear reducing mechanism.
- 3. the dynamic rotor wing unmanned aerial vehicle of displacement four of one kind oil stated according to claim 2, it is characterised in that the pulp distance varying mechanism includes What the steering wheel that is fixed on the second level bevel gear reducing mechanism, lower end were flexibly connected with the output end of the steering wheel first connects Bar, one end are flexibly connected with the upper end of the first connecting rod and are set in outside the output shaft of the second level bevel gear reducing mechanism Displacement rocking bar, the change that upper end is flexibly connected with the displacement rocking bar and lower end is connected with the second level bevel gear reducing mechanism Away from support arm, the sliding shoe for being set on the output shaft of the second level bevel gear reducing mechanism and being connected with the displacement rocking bar, Be set on the output shaft of the second level bevel gear reducing mechanism and the pushing block above the sliding shoe and lower end with The pushing block connection and upper end and the second connecting rod of the oar folder connection in the rotor mechanism, the first connecting rod and the displacement Support arm is located at the both sides of the output shaft of the second level bevel gear reducing mechanism respectively.
- 4. the dynamic rotor wing unmanned aerial vehicle of displacement four of a kind of oil according to claim 1, it is characterised in that also include：Controller, it is arranged on the body, and the controller and the aviation are with starting mechatronics.
- A kind of 5. dynamic rotor wing unmanned aerial vehicle of displacement four of oil according to claim 2, it is characterised in that the straight-tooth of the first order three Wheel reductor includes three the first spur gears, and one of them first spur gear is used to commutate.
- A kind of 6. dynamic rotor wing unmanned aerial vehicle of displacement four of oil according to claim 2, it is characterised in that the straight-tooth of the first order two Wheel reducing gear includes two the second spur gears, and one of them second spur gear is used to commutate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711147922.5A CN107757904A (en) | 2017-11-17 | 2017-11-17 | A kind of dynamic rotor wing unmanned aerial vehicle of displacement four of oil |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711147922.5A CN107757904A (en) | 2017-11-17 | 2017-11-17 | A kind of dynamic rotor wing unmanned aerial vehicle of displacement four of oil |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107757904A true CN107757904A (en) | 2018-03-06 |
Family
ID=61279480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711147922.5A Pending CN107757904A (en) | 2017-11-17 | 2017-11-17 | A kind of dynamic rotor wing unmanned aerial vehicle of displacement four of oil |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107757904A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109760831A (en) * | 2019-02-26 | 2019-05-17 | 四川华义茶业有限公司 | A kind of dynamic unmanned plane of more rotor fuels |
| CN110341939A (en) * | 2019-08-30 | 2019-10-18 | 吉林大学 | A kind of H-type variablepiston quadrotor plant protection drone |
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| CN106741912A (en) * | 2017-01-03 | 2017-05-31 | 山东鹰翼航空科技有限公司 | Multi-rotor unmanned aerial vehicle during a kind of foldable boat long |
| CN207466966U (en) * | 2017-11-17 | 2018-06-08 | 北京航景创新科技有限公司 | A kind of dynamic displacement quadrotor unmanned plane of oil |
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| CN203318679U (en) * | 2012-09-13 | 2013-12-04 | 吴松 | Co-engine multi-shaft multi-rotor craft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109760831A (en) * | 2019-02-26 | 2019-05-17 | 四川华义茶业有限公司 | A kind of dynamic unmanned plane of more rotor fuels |
| 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 |
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