CN108177766A - Multi-rotor unmanned aerial vehicle - Google Patents
Multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN108177766A CN108177766A CN201711208648.8A CN201711208648A CN108177766A CN 108177766 A CN108177766 A CN 108177766A CN 201711208648 A CN201711208648 A CN 201711208648A CN 108177766 A CN108177766 A CN 108177766A
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- rotor
- fuselage
- aerial vehicle
- unmanned aerial
- supporting rack
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- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000001360 synchronised effect Effects 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
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
-
- 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
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Toys (AREA)
Abstract
This disclosure relates to a kind of multi-rotor unmanned aerial vehicle, including：Fuselage (10)；Support arm (20) laterally extends from fuselage；Rotor (30)；First supporting rack (41), is fixed on the end of support arm, and is formed with the hollow region that can accommodate rotor；First verts steering engine (43), is fixed on the first supporting rack；And second supporting rack (42), it in hollow region, and is connected to first and verts steering engine output shaft, rotor is fixed on by the first motor (31) on the second supporting rack, is laterally verted with that can vert servo driving by first.For unmanned plane when doing transverse movement, the rotor laterally to vert can either provide the lift that unmanned plane is maintained to certain altitude, also be capable of providing the power of unmanned plane transverse movement, while fuselage need not tilt.It is contained in due to rotor in the hollow region of the first supporting rack formation, rotor wide-angle can vert in the hollow region, as long as it can ensure that generating the power of horizontal direction and the lift of vertical direction.
Description
Technical field
A kind of this disclosure relates to unmanned air vehicle technique field, and in particular, to multi-rotor unmanned aerial vehicle.
Background technology
Multi-rotor unmanned aerial vehicle realizes the variation of unmanned plane lift, so as to control nobody by adjusting the rotating speed of each rotor
The posture of machine and position.Existing unmanned plane is adjusted by flight control system and is connect with rotor when changing posture and position
Motor rotating speed, when unmanned plane moves in the horizontal plane towards four direction, it is necessary to by flight control system regulation motor
Rotating speed is tilted a certain angle fuselage, in this case, if other equipment such as holder camera, infrared equipment of carry, this
A little equipment then also need to make corresponding inclination fortune with the inclination of fuselage to ensure the stability monitoring to task object
It is dynamic.In addition, when fuselage tilts, unmanned plane is unfavorable for flying by larger windage.
Invention content
The purpose of the disclosure is to provide a kind of multi-rotor unmanned aerial vehicle, inclined to solve unmanned plane fuselage in transverse movement
Problem.
To achieve these goals, the disclosure provides a kind of multi-rotor unmanned aerial vehicle, including：Fuselage；Support arm, from the fuselage
Laterally extend；Rotor；First supporting rack, is fixed on the end of the support arm, and is formed with and can accommodate the rotor
Hollow region；First verts steering engine, is fixed on first supporting rack；And second supporting rack, positioned at the hollow area
It in domain, and is connected to described first and verts steering engine output shaft, the rotor is fixed on second supporting rack by the first motor
On, it is laterally verted so that by described first servo driving can be verted.
Optionally, first supporting rack is the semi-circular bracket of outward opening, and second supporting rack is circle ring rack,
The rotor is coaxially disposed with the circle ring rack, and the radius difference of the radius of gyration of the rotor and the circle ring rack is small
In the radius of the semi-circular bracket.
Optionally, the circle ring rack is internally connected with a plurality of supporting rod radially extended, a plurality of supporting rod phase
The center of circle of the circle ring rack is met to be formed as the motor cabinet of first motor.
Optionally, the transverse direction of the rotor can tilt angle be 0-360 °.
Optionally, the bottom of the fuselage is connected with undercarriage, and the undercarriage includes the side from the fuselage to both sides
First bar of lower section extension and the second bar for connecting and horizontally extending with first bar.
Optionally, the support arm can be connected on the fuselage with longitudinally verting.
Optionally, second is provided in the fuselage to vert steering engine, the described second output sleeve for verting steering engine is equipped with the
One belt pulley is arranged with the second belt pulley on the support arm, and first belt pulley and second belt pulley are passed by belt
It is dynamic so that the support arm verts servo driving by described second and longitudinal direction is verted.
Optionally, described second steering engine that verts includes shell, the second motor, the output shaft for being connected to second motor
Worm screw is connected to the worm gear of worm screw cooperation transmission and the gear train by the worm-gear driven, first belt pulley
The output shaft of the gear train.
Optionally, each rotor corresponds to a support arm, so that each rotor longitudinally verts each independently.
Optionally, the longitudinal direction of the rotor can tilt angle be 0-360 °.
Through the above technical solutions, the rotor that unmanned plane when doing transverse movement, laterally verts can either be provided nobody
Machine is maintained at the lift of certain altitude, is also capable of providing the power of unmanned plane transverse movement, while fuselage need not tilt, can subtract
Few windage, facilitates unmanned plane during flying.It is contained in due to rotor in the hollow region of the first supporting rack formation, rotor can be in this
Wide-angle is verted in empty region.When rotor verts as long as it can ensure that generate horizontal direction power and vertical direction lift i.e.
It may be such that fuselage can be moved in the case that not inclined, when rotor verts to when being rotated in horizontal plane, fuselage is in outstanding
Stop state.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool
Body embodiment is used to explain the disclosure, but do not form the limitation to the disclosure together.In the accompanying drawings：
Fig. 1 is the structure diagram of multi-rotor unmanned aerial vehicle in accordance with one embodiment of the present disclosure；
Fig. 2 is the partial view of multi-rotor unmanned aerial vehicle in accordance with one embodiment of the present disclosure；
Fig. 3 is that the second internal structure for verting steering engine is shown in multi-rotor unmanned aerial vehicle in accordance with one embodiment of the present disclosure
It is intended to.
Reference sign
10 fuselages
20 support arms
30 rotor, 31 first support
41 first supporting rack, 42 second supporting rack 43 first verts steering engine
51 second vert 511 shell of steering engine, 512 second motor
513 worm screw, 514 turbine, 515 gear train
60 undercarriages
Specific embodiment
The specific embodiment of the disclosure is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
In the disclosure, in the case where not making to illustrate on the contrary, the noun of locality that uses " on ", " under " it is flat with unmanned plane
Fly state when upper and lower directions on the basis of and define, " interior ", " outer " be for profile of corresponding parts itself,
" transverse direction " refers to side direction during flight before and after unmanned plane, and " longitudinal direction " refers to the front-rear direction of unmanned plane.Need what is illustrated
It is that the front-rear direction of unmanned plane during flying is defined according to its use habit, the length extending direction of fuselage is unmanned plane during flying
Front-rear direction, laterally perpendicular to the front-rear direction.In addition, term " first " " second " used in the disclosure etc. is for area
An other element and another element, without succession and importance.
As shown in Figure 1, the multi-rotor unmanned aerial vehicle that the disclosure provides includes：Fuselage 10, it is clear in order to express, in machine in figure
The rod piece of front and rear extension in body 10 represents fuselage 10；Support arm 20 laterally extends from fuselage 10；Rotor 30；First support
Frame 41, is fixed on the end of support arm 20, and is formed with the hollow region that can accommodate rotor 30；First verts steering engine 43, fixed
On the first supporting rack 41；And second supporting rack 42, in above-mentioned hollow region, and it is connected to first and verts steering engine 43
Output shaft, rotor 30 are fixed on by the first motor 31 on the second supporting rack 42, with can by first vert steering engine 43 drive and
Laterally vert.The verting towards fuselage both sides of rotor 30 is referred to what needs to be explained here is that laterally verting, in addition, following
Longitudinal direction, which is verted, refers to that rotor verts towards in the front-back direction.In this way, the rotor 30 that unmanned plane in transverse movement, laterally verts
The lift that unmanned plane is maintained to certain altitude can either be provided, be also capable of providing the power of unmanned plane transverse movement, same to opportunity
Body need not tilt, it is possible to reduce windage facilitates unmanned plane during flying.When being fixed with carry equipment on fuselage 10, carry equipment
Energy even running, such as in carry holder camera, it is ensured that the stability monitoring of task object.Further, since rotor 30
It is contained in the hollow region of the first supporting rack 41 formation, rotor 30 wide-angle can vert in the hollow region, as long as protecting
The lift of power and vertical direction that horizontal direction can be generated by demonstrate,proving may be such that fuselage 10 is smoothly moved.
Above-mentioned hollow region refers to not influencing 30 and second supporting rack 42 of rotor by what the first supporting rack 41 limited
The space laterally verted, since rotor 30 is contained in the hollow region, the second supporting rack 42 also is located in the hollow region, when
30 and second supporting rack 42 of rotor will not interfere when laterally verting with 20 or first supporting rack of support arm, 41 grade, and the two can be into
Row larger angle is verted.
The disclosure is not specifically limited the structure type of the first supporting rack 41 and the second supporting rack 42, with reference to Fig. 1 and figure
2, in the present embodiment, the first supporting rack 41 is the semi-circular bracket of outward opening, and the second supporting rack 42 is circle ring rack, is revolved
The wing 30 is coaxially disposed with circle ring rack, and the radius of gyration of rotor 30 and the radius of circle ring rack are respectively smaller than semi-circular bracket
Radius.It should be noted that the outward opening of the first supporting rack 41 refers to the outside for fuselage 10.In this feelings
Under condition, first steering engine 43 that verts is arranged on the end of semi-circular bracket, and the direction of output shaft and the front-rear direction of fuselage 10 are put down
Row, so as to generate the driving force that the second supporting rack 42 is made laterally to vert.As depicted in figs. 1 and 2, due to the rotation of rotor 30
The radius of radius and circle ring rack is respectively smaller than the radius of semi-circular bracket, laterally verts in 30 and second supporting rack of rotor 42
When, the two will not collide the first supporting rack 41, due to the outward opening of the first supporting rack 41,30 and second supporting rack 42 of rotor
20 grade unmanned planes body parts of support arm will not be collided when laterally verting.30 and second supporting rack 42 of rotor can do big angle
Degree verts, and in the case where not considering to maintain lift, rotor 30 and second supporting rack 42 can do 360 ° and vert.
Further, since the first supporting rack 41 and the second supporting rack 42 are flat planar structure, the two rotates rotor 30
When air-flow generate disturbance it is smaller, do not interfere with the flight attitude of unmanned plane.
Rotor 30 can be installed by the supporting rod 421 inside circle ring rack, and supporting rod 421 is along circle ring rack
It radially extends to pass through the center of circle, rotor 30 is mounted on circle centre position by the first motor 31.In order to improve the strong of the first supporting rack 41
Degree is can stablize support rotor 30, and supporting rod 421 can be including a plurality of, and a plurality of supporting rod 421 intersects at the circle of circle ring rack
To be formed as the motor cabinet of the first motor 31, the first motor 31 is contained in motor cabinet the heart.
In the present embodiment, the transverse direction of rotor 30 can tilt angle be 0-360 °, that is, rotor 30 can do full angle horizontal stroke
To verting.Specifically, when unmanned plane needs to keep floating state, rotor 30 does not vert, i.e., tilt angle is 0 °, fuselage 10
In horizontal attitude.When unmanned plane needs laterally to move at full speed, rotor 30 can vert close to 90 °.When rotor 30 vert to
At 90 °, lift no longer is provided for unmanned plane, fuselage 10 can be adjusted to vertical posture by horizontal attitude at this time, in this feelings
Under condition, since fuselage 10 and rotor 30 have verted 90 °, unmanned plane can be hanged in the case where fuselage 10 is in vertical state
Stop.When rotor 30 continues to vert, the variation pattern and process above of flight attitude are similar.In this case, rotor
30 and fuselage 10 can laterally vert 0-360 °.It should be noted that the posture of fuselage 10 can pass through 10 both sides of fuselage
The lift variation that rotor 30 generates is realized, when the lift of side is low, the side just have the tendency that it is opposite sink.
Further, as shown in Figure 1, the bottom of fuselage 10 is connected with undercarriage 60, undercarriage 60 can be included from fuselage
10 the first bars extended to the side-lower of both sides and the second bar for connecting and horizontally extend with the first bar.In this way, two second
Unmanned plane can be stably supported on landing platform by bar, carry out letting operation fly away in addition, operator can also hold the second bar.
In addition, in present embodiment, support arm 20 also is able to be connected to longitudinally verting on fuselage 10, is fixed on support arm 20
The first supporting rack 41 of end can vert with the longitudinal direction of support arm 20, can causing rotor 30, also longitudinal direction is verted.This
In the case of, when unmanned plane moves forward and backward, the rotor 30 that longitudinally verts can either be provided is maintained at certain altitude by unmanned plane
Lift, be also capable of providing the power that unmanned plane moves forward and backward, it is similar when effect is with above-mentioned transverse movement, it is no longer superfluous here
It states.In this way, since rotor 30 can either laterally vert, also can longitudinally vert, the omnidirectional for realizing unmanned plane rotor 30 verts,
When unmanned plane towards all directions when moving, fuselage 10 can keep horizontality.
Specifically, it verts steering engine 51 as shown in Fig. 2, being provided with second in fuselage 10, the second output shaft for verting steering engine 51
The first belt pulley (not shown) is arranged with, the second belt pulley 52, the first belt pulley and the second belt are arranged on support arm 20
Wheel 52 is driven by belt 53, so that support arm 20 is driven and longitudinal direction is verted by second steering engine 51 that verts.In this way, pass through belt transmission
Mode, 20 stability of rotation of support arm, when work, is noiseless, and equipment operation is reliable, and by adjusting the first belt pulley and second
The diameter ratio of belt pulley 52, can easily adjust gearratio.In addition, between the first belt pulley and the second belt pulley 52 away from
From can be adjusted according to practical type, the length of belt 53 is only needed to change.
Further, as shown in figure 3, second steering engine 51 that verts can include shell 511, the second motor 512, be connected to the
The worm screw 513 of the output shaft of two motors 512, the worm gear 514 being driven with the cooperation of worm screw 513 and the gear driven by worm gear 514
It is 515, the first belt pulley is connected to the output shaft of gear train 515.By setting worm and gear component so that second verts steering engine
51 have auto-lock function.Specifically, due to the one-way of Worm Wheel System form, there can only be worm screw 513 to drive turbine
514, powerdriven direction is the second motor 512- worm screw 513- turbine 514- trains 515, in this way, verting steering engine 51 when second
When a certain angle position load continuous works, input terminal can cut off input, can also cut off the power of the second motor 512
Input does not need to persistently to consume energy again and maintains position, avoid second vert steering engine 51 when load for a long time since temperature liter is excessively high
And it can not work normally.In this case, support arm 20 can continually and steadily work in any position that can be in tilt angle.Separately
On the one hand, 514 gear train 515 of turbine, output torque can be further amplified under the premise of self-locking property is met, have
The characteristics of gearratio is accurate, efficient, compact-sized, reliable operation, simultaneously because load is connected to the output of gear train 515
Axis so that load is transmitted to the active force very little of worm and gear component, in this way, in the present embodiment, worm and gear component is only
Smaller self-lock force need to be provided, can realize the self-locking of steering engine, prevented in load effect to the second motor 512, especially in nothing
When man-machine flight attitude changes, the vibratory impulse that high-frequency alternating load generates is buffered, and can extend the use of the second motor 512
Service life reduces energy consumption.
It is similar with the angle that the transverse direction of aforementioned rotor 30 is verted, the longitudinal direction of rotor 30 can tilt angle be 0-360 °.
In this case the flight attitude change procedure of unmanned plane is with aforementioned similar, and details are not described herein again, but it should be recognized that rotation
The wing 30 includes at least front and rear two groups, in this way, the lift difference of front and rear rotor 30 can make 10 longitudinal direction of fuselage vert.
Further, each rotor 30 can correspond to a support arm 20, so that each rotor 30 is longitudinal each independently
Vert, specifically, each support arm 20 be corresponding with it is a set of by second vert steering engine 51, the first belt pulley, the second belt pulley 52 and
The drive system that belt 53 is formed.It is realized, and each rotor by first steering engine 43 that verts in this way, being verted due to the transverse direction of rotor 30
30 correspond to one first steering engine 43 that verts, and the longitudinal direction of rotor 30 is verted to be realized, and each rotor 30 by second steering engine 51 that verts
Corresponding to one second steering engine 51 that verts so that each rotor 30 can respectively carry out attitudes vibration, so as to so that unmanned plane
Attitudes vibration diversity.By taking the quadrotor unmanned plane shown in Fig. 1 as an example, lift and four rotors that four rotors 30 generate
30 angle can be differed, synchronous operating can also be realized by circuit design so that unmanned plane can have a variety of appearances
State.Further, as depicted in figs. 1 and 2, it is set in order to which the both sides rotor 30 positioned at fuselage 10 is made to be symmetrical with fuselage 10, the two
Corresponding support arm 20 is aligned in front-rear direction.
The preferred embodiment of the disclosure is described in detail above in association with attached drawing, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy no longer separately illustrates.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought should equally be considered as disclosure disclosure of that.
Claims (10)
1. a kind of multi-rotor unmanned aerial vehicle, which is characterized in that including：
Fuselage (10)；
Support arm (20) laterally extends from the fuselage (10)；
Rotor (30)；
First supporting rack (41), is fixed on the end of the support arm (20), and is formed with and can accommodate in the rotor (30)
Empty region；
First verts steering engine (43), is fixed on first supporting rack (41)；And
Second supporting rack (42) in the hollow region, and is connected to described first and verts steering engine (43) output shaft,
The rotor (30) is fixed on by the first motor (31) on second supporting rack (42), can be inclined by described first
Machine (43) of coming about drives and laterally verts.
2. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that first supporting rack (41) is outward opening
Semi-circular bracket, second supporting rack (42) is circle ring rack, and the rotor (30) and the circle ring rack are coaxially disposed,
The radius of gyration of the rotor (30) and the radius of the circle ring rack are respectively smaller than the radius of the semi-circular bracket.
3. multi-rotor unmanned aerial vehicle according to claim 2, which is characterized in that being internally connected with for the circle ring rack is a plurality of
The supporting rod (421) radially extended, a plurality of supporting rod (421) intersect at the center of circle of the circle ring rack to be formed as described
The motor cabinet of first motor (31).
4. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the transverse direction based on the rotor (30) can vert
Angle is 0-360 °.
5. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the bottom of the fuselage (10), which is connected with, rises and falls
Frame, the undercarriage include the first bar of the side-lower extension from the fuselage (10) to both sides and are connect with first bar
And the second bar horizontally extended.
6. multi-rotor unmanned aerial vehicle according to any one of claims 1-5, which is characterized in that the support arm (20) can be longitudinal
It is connected to verting on the fuselage (10).
7. multi-rotor unmanned aerial vehicle according to claim 6, which is characterized in that be provided with second in the fuselage (10) and vert
Steering engine (51), the described second output sleeve for verting steering engine (51) are equipped with the first belt pulley, and the is arranged on the support arm (20)
Two belt pulleys (52), first belt pulley and second belt pulley (52) are driven by belt (53), so that the support arm
(20) by described second vert steering engine (51) driving and longitudinal direction vert.
8. multi-rotor unmanned aerial vehicle according to claim 7, which is characterized in that described second verts steering engine (51) including shell
(511), the second motor (512), be connected to second motor (512) output shaft worm screw (513), with the worm screw
(513) worm gear (514) of cooperation transmission and the gear train (515) driven by the worm gear (514), first belt pulley
It is connected to the output shaft of the gear train (515).
9. multi-rotor unmanned aerial vehicle according to claim 6, which is characterized in that each rotor (30) is corresponding to a branch
Arm (20), so that each rotor (30) each independently vert by longitudinal direction.
10. multi-rotor unmanned aerial vehicle according to claim 6, which is characterized in that the longitudinal direction based on the rotor (30) can incline
Gyration is 0-360 °.
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| CN201711208648.8A CN108177766B (en) | 2017-11-27 | 2017-11-27 | Multi-rotor unmanned aerial vehicle |
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| CN201711208648.8A CN108177766B (en) | 2017-11-27 | 2017-11-27 | Multi-rotor unmanned aerial vehicle |
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| CN108177766A true CN108177766A (en) | 2018-06-19 |
| CN108177766B CN108177766B (en) | 2020-04-07 |
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Cited By (10)
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| CN110001952A (en) * | 2019-04-15 | 2019-07-12 | 沈阳无距科技有限公司 | Unmanned plane and its inclining rotary mechanism |
| CN111003165A (en) * | 2019-12-17 | 2020-04-14 | 吉林省羽麦科技有限公司 | Redundant spacing low full degree of freedom unmanned aerial vehicle that turns round |
| CN111038687A (en) * | 2019-12-10 | 2020-04-21 | 中国航空工业集团公司成都飞机设计研究所 | Mechanical dual-redundancy undercarriage retraction electric stay bar |
| CN111319762A (en) * | 2020-03-22 | 2020-06-23 | 西北工业大学 | Biax rotor unmanned vehicles that verts |
| CN111645855A (en) * | 2020-05-28 | 2020-09-11 | 西南交通大学 | Diaxon module and use unmanned aerial vehicle of this subassembly |
| CN111891353A (en) * | 2020-06-23 | 2020-11-06 | 北京航空航天大学 | Six-degree-of-freedom motion full-decoupling control micro unmanned aerial vehicle structure based on vector thrust |
| CN112977811A (en) * | 2021-05-13 | 2021-06-18 | 北京三快在线科技有限公司 | Multi-rotor unmanned aerial vehicle |
| US20220063799A1 (en) * | 2020-08-27 | 2022-03-03 | Textron Innovations Inc. | VTOL Aircraft having Multiple Wing Planforms |
| CN115230964A (en) * | 2022-09-02 | 2022-10-25 | 王庆峰 | High-voltage line inspection robot based on dual-rotor unmanned aerial vehicle |
| CN115258162A (en) * | 2022-09-02 | 2022-11-01 | 王庆峰 | Unmanned line maintenance robot |
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