CN112224393A - Oil-electricity hybrid's many rotor unmanned aerial vehicle of heavy load - Google Patents
Oil-electricity hybrid's many rotor unmanned aerial vehicle of heavy load Download PDFInfo
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- CN112224393A CN112224393A CN202010952135.3A CN202010952135A CN112224393A CN 112224393 A CN112224393 A CN 112224393A CN 202010952135 A CN202010952135 A CN 202010952135A CN 112224393 A CN112224393 A CN 112224393A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 19
- 230000009467 reduction Effects 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims description 3
- 244000309464 bull Species 0.000 claims description 2
- 230000008859 change Effects 0.000 claims description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 abstract description 3
- 229910052744 lithium Inorganic materials 0.000 abstract description 3
- 238000006073 displacement reaction Methods 0.000 description 5
- 108010066114 cabin-2 Proteins 0.000 description 3
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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
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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
- B64C27/10—Helicopters with two or more rotors arranged coaxially
-
- 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
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- 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
- B64D27/026—Aircraft characterised by the type or position of power plants comprising different types of power plants, e.g. combination of a piston engine and a gas-turbine
-
- 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
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
-
- 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
- B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
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- 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
- B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
- B64D35/02—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions specially adapted for specific power plants
-
- 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
- B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
- B64D35/04—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions characterised by the transmission driving a plurality of propellers or rotors
- B64D35/06—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions characterised by the transmission driving a plurality of propellers or rotors the propellers or rotors being counter-rotating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- 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
-
- 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)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a large-load multi-rotor unmanned aerial vehicle with oil-electricity hybrid power, which comprises: the aircraft comprises an undercarriage (1), an engine room (2), a horn (3), a flight control system (4), a large rotor (5), a small rotor (6), a fuel engine (7), an oil pump and oil tank (8), a fuel engine rotating speed control system (9), a gear set and transmission system (10), a lithium battery (11), an electric controller (12) and a motor (13). Big rotor (5) provide unmanned aerial vehicle's main lift, little rotor (6) provide unmanned aerial vehicle's surplus lift and are responsible for unmanned aerial vehicle's attitude control. The invention provides an unmanned aerial vehicle which can increase the flight time while increasing the load, and simultaneously reduce the overall dimension of the unmanned aerial vehicle, and can be applied to the fields of agricultural aviation, forestry aviation, logistics transportation and the like.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a large-load multi-rotor unmanned aerial vehicle with oil-electricity hybrid power.
Background
Unmanned aerial vehicles have been widely used in various industry fields, and large loads and long flight times are required for logistics-oriented unmanned aerial vehicles.
At present, many rotor unmanned aerial vehicle has three kinds of power mode: one is to adopt a battery as the energy source of the unmanned aerial vehicle to directly drive a rotor wing, and has the defects of short flight time and weak carrying capacity; in another mode, the fuel engine is adopted for driving, so that the defects of short flight time and weak load carrying capacity are overcome, but the flight stability is insufficient due to poor driving speed regulation accuracy of the fuel engine; the last method is to generate electricity through a fuel engine, convert the energy of fuel into electric energy and then directly drive a rotor wing by electricity, and the stability, the control performance and the reliability of the method are improved.
The existing similar oil-electricity hybrid power system drives two large rotors to provide lift force through a fuel engine and a speed reducer, so that the load is increased, and the flight time is prolonged. However, further requirements of the logistics oriented drone are: increase the size in load storehouse, current hybrid unmanned aerial vehicle can't satisfy the demand towards the big load of commodity circulation.
In case be applied to the commodity circulation transportation field with current hybrid unmanned aerial vehicle, when the size increase in load storehouse, the wind field that two big rotors wherein produced is whole to be blown to self load storehouse, has constituted the internal force, has consumed power. The larger the size of the load compartment, the more significant the power consumption. If in order to overcome this problem, must pull open the interval of two big rotors, let the area that the wind field covered fuselage itself reduce as far as possible, the result is unmanned aerial vehicle's whole overall dimension is very big. Therefore, there is an urgent need in the art for an unmanned aerial vehicle that can carry a large load, has a low power consumption, is long during the flight, and has a compact structure.
Disclosure of Invention
The invention provides a large-load multi-rotor unmanned aerial vehicle with oil-electricity hybrid power, which can meet the requirements of large load and long endurance of a large-size load bin during logistics transportation, and can realize large load and long endurance, reduce internal power loss and reduce the overall dimension.
In order to achieve the above object of the present invention, the technical scheme adopted by the present invention is as follows:
the invention relates to a large-load multi-rotor unmanned aerial vehicle with oil-electricity hybrid power, which comprises: undercarriage (1), cabin (2), horn (3), flight control system (4), big rotor (5), little rotor (6), fuel engine system (7, 8, 9), transmission (10), battery (11), electricity accent (12), motor (13) and load storehouse (14), wherein:
the undercarriage (1) is fixedly connected to the horn (3), or the undercarriage (1) is fixedly connected to the cabin (2); the horn (3) is connected with the cabin (2), and each horn is provided with a small rotor wing (6); the fuel engine (7) outputs the power of the fuel engine (7) to the large rotor wing (5) through a transmission system (10) and drives the large rotor wing (5) to rotate. Preferably, the horn (3) is connected to the nacelle (2) in a cross-like manner.
The fuel engine system (7, 8, 9) comprises the fuel sender (7), the oil pump and tank (8) and the fuel engine speed control system (9); the battery (11) is a lithium battery.
Preferably, only one fuel engine (7) is used for driving two large rotors (5) to rotate simultaneously through the transmission system (10).
Preferably, the fuel engine (7) drives the two big rotors (5) to rotate in a speed reducing mode through the transmission system (10) with a speed reducing function, the rotating speeds of the two big rotors (5) are the same, and the rotating directions of the two big rotors are opposite.
The transmission system (10) comprises a gear set and a transmission device, and comprises two stages of transmission, wherein the first stage is a speed reducer formed by driving a driving pinion (10-1) to drive a driven bull gear (10-2), so that speed reduction and torque increase output are realized; the second stage is a direction changing gear set (10-3,10-4,10-5) to realize coaxial reversal.
The direction changing gear set comprises a driving bevel gear (10-3), a transition bevel gear (10-4) and a driven bevel gear (10-5), the driving bevel gear (10-3) and the driven bevel gear (10-5) have the same rotating speed and opposite directions,
the four small rotors (6) are respectively and correspondingly controlled by the four electric stirrers (12) and the four motors (13) to rotate.
Flight control system (4) distribute the required half of the lift of unmanned aerial vehicle system to two big rotor (5), distribute the remaining part of the required lift of unmanned aerial vehicle system to four little rotor (6). Preferably, said flight control system (4) distributes more than 90% of the lift required by the drone system to both said large rotors (5).
The flight control system (4) provides five PWM control signals, wherein four PWM control signals respectively control the corresponding rotating speed of the motor (13) through four electric regulators (12), and the other PWM control signal is transmitted to the rotating speed control system (9) of the fuel engine to realize the rotating speed control of the fuel engine.
Flight control system (4) are through controlling four little rotor (6) are in order to realize unmanned aerial vehicle's attitude control.
The diameters of the two large rotors are equal and are both larger than the maximum size of the load cabin (14) in the horizontal plane. The middle part of the two large rotors does not generate lift, and only the part close to the outer end generates lift.
The two large rotors are special aerodynamic profile propellers, the large rotors have a pitch near the distal section and generate lift, and the middle section has no pitch and does not generate lift, but only transmits the pulling force. Preferably, big rotor with the rotation plane that little rotor formed on the horizontal direction is misaligned to avoid forming the vortex, influence unmanned aerial vehicle attitude control's accuracy nature.
The fuel engine of the invention realizes that the power and the torque are averagely distributed to the two large rotors through the gear set and the transmission system to generate main tensile force, the main load of the unmanned aerial vehicle is borne by more than 90 percent of the tensile force generated by driving the small rotors by the motor, and the torque required by attitude control is also controlled by driving the small rotors by the motor. The big rotor and the small rotor are controlled by unified flight control. The invention overcomes the defects that the rotating speed control precision of the oil-driven engine is poor, and the position precision of the unmanned aerial vehicle in the height direction is completely poor by the control precision of the oil-driven engine.
In the prior art, each large rotor wing of the oil-driven unmanned aerial vehicle needs to be directly driven by an oil-driven engine, so that the total weight of the oil-driven engine is integral multiple of the weight of a single oil-driven engine. Taking a certain model of 172cc displacement oil-driven engine as an example, the power is 12.3 horsepower, and the weight is about 7 kilograms. The total amount of 6 engines is about 42 kg. The power of the other oil-driven engine with 360cc displacement of a certain model is 38 horsepower, and the weight of the engine is about 9 kilograms. In terms of power, the power of the latter is equivalent to 3 times of the former, namely the sum of the power of 3 oil-driven engines with 172cc displacement, but the total weight of the 3 oil-driven engines with 172cc displacement is 21 kg, which is far more than the weight of 9 kg of a single oil-driven engine with 360cc displacement. That is to say, the power/weight ratio of a single high-power fuel engine is far greater than the total power/total weight ratio of a plurality of fuel engine systems, so the invention greatly reduces the no-load weight of the unmanned aerial vehicle.
The invention adopts the reducer to drive the big paddle, thereby greatly improving the load on the premise of not reducing the force effect. Therefore, the invention has large load capacity under the condition of the same power oil-driven engine.
The invention can save the weight of the generator part and reduce the efficiency loss. This is also the whole power of oil-electricity hybrid scheme unmanned aerial vehicle is not big, the not big reason of load. The unmanned aerial vehicle has no generator part, so that the self weight of the unmanned aerial vehicle is greatly reduced.
The invention adopts a coaxial reverse propeller technology, the rotating shafts of the two large rotors are superposed, the rotating speeds are the same, the rotating directions are opposite, the torque offset is realized, and the overall dimension is greatly reduced.
The invention adopts the propeller with special pneumatic appearance, the pitch is arranged at the far end close to the propeller, and the pitch is not arranged at the middle part, thereby reducing the internal force loss of the wind field.
Drawings
Fig. 1 is a perspective view of a large-load multi-rotor unmanned aerial vehicle with hybrid power of oil and electricity.
FIG. 2 is an enlarged view of the gear set and transmission system of the present invention.
Fig. 3 is a top view of a hybrid-electric high-load multi-rotor unmanned aerial vehicle according to the present invention.
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific embodiments, and the advantages and features of the invention will be more apparent from the following description. It is to be noted that the drawings of the present invention are in simplified form and are not to scale, but rather are for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
While the invention is amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood that the inventors do not intend to limit the invention to the particular embodiments described, but intend to protect all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the claims. The same reference numbers may be used throughout the drawings to refer to the same or like parts.
As shown in fig. 1 and 3, the large-load multi-rotor unmanned aerial vehicle with hybrid power of oil and electricity of the invention has compact structure, can be widely applied to logistics transportation, and comprises: the aircraft comprises an undercarriage 1, a cabin 2, four horn arms 3, a flight control system 4, two large rotors 5, four small rotors 6, a fuel engine 7, an oil pump and oil tank 8, a fuel engine speed control system 9, a transmission system 10, a lithium battery, four electric regulators 12, four motors 13 and a load bin 14. The undercarriage 1 is fixedly connected to the horn 3, and optionally, the undercarriage 1 is fixedly connected to the cabin 2; the horn 3 is connected with the cabin 2 in a cross manner, and each horn is provided with a small rotor wing 6; the fuel engine 7 outputs the power of the fuel engine 7 to the large rotor 5 through a transmission system 10 with a speed reduction function, and drives the large rotor 5 to rotate.
As shown in fig. 2, the fuel engine system includes the fuel sender 7, the oil pump and tank 8, and the fuel engine speed control system 9; the fuel engine 7 and the fuel pump and tank 8 are placed in or around the nacelle 2. The transmission system 10 with the speed reduction function realizes that the power of the fuel engine 7 is output to the two big rotors 5 and drives the two big rotors 5 to coaxially and reversely rotate, the two big rotors 5 are coaxial, and the axis is positioned at the geometric center position and the vertical direction of the unmanned aerial vehicle. The transmission system 10 with the speed reduction function comprises a first-stage driving pinion 10-1 connected with the fuel engine 7, a driven gear 10-2 of a first-stage transmission speed reducer, a second-stage driving bevel gear 10-3 of a differential structure, a second-stage transmission transition bevel gear 10-4 of the differential structure and a second-stage transmission driven bevel gear 10-5 of the differential structure, wherein the driving bevel gear 10-3 and the driven bevel gear 10-5 rotate at the same speed and in opposite directions and are subjected to speed reduction. The reduction ratio is determined by the gear ratio of the first stage drive pinion 10-1 to the driven gear 10-2 of the first stage drive reduction gear.
Figure 3 shows the structure of two large rotors 5 comprising a blade section 5-1 capable of generating lift and a shaft section 5-2 incapable of generating lift. The blade part 5-1 has a pitch and the blade handle part 5-2 has no pitch. The blade part 5-1 and the paddle handle part 5-2 are fixed together in a mode of primary design and manufacture or later connection in an early-stage integration mode. The blade portion is disposed near the distal end of the large rotor, and the central portion of the large rotor is a pitchless paddle handle portion.
The invention relates to a large-load multi-rotor unmanned aerial vehicle control process of oil-electricity hybrid power, which comprises the following steps:
and C1, filling oil into the oil tank, and pumping the oil in the oil tank out by the oil pump to send the oil to the electronic injection system.
And C2, the fuel engine rotating speed control system receives the PWM signal output by the flight control system 4 and then sends the PWM signal to the electronic injection system to change the rotating speed of the engine. The rotating speed control adopts a feedback control technology, an engine rotating speed sensor is adopted to detect the rotating speed of the engine in real time, then the rotating speed is compared with a PWM signal representing an instruction rotating speed to form a rotating speed error, and then a PID control strategy is adopted to control the throttle quantity in an electronic injection system according to the rotating speed error to realize the rotating speed control of the engine.
And C3, the flight control system comprises various navigation sensors such as an inertial sensor, a satellite navigation sensor, a magnetic sensor, a barometric altimeter and the like, and a navigation algorithm module runs in the flight control system, so that the real-time information such as the position, the speed, the attitude and the like of the unmanned aerial vehicle can be finally obtained.
And C4, the flight control system obtains the position instruction, the speed instruction, the attitude angular rate instruction and the like of the unmanned aerial vehicle according to the control algorithm. Finally, according to the commands, a dynamic control quantity related to the rotation speed of the control rotor is obtained (taking the unmanned aerial vehicle body coordinate system as an example): the X-axis rolling moment value, the Y-axis pitching moment value, the Z-axis yawing moment value and the total lifting force value.
C5 the flight control system distributes more than 90% of the total lift value to two rotors driven by the fuel engine and distributes the rest of the total lift value to four motors. The four motors are also distributed with control quantities from an X-axis rolling moment value, a Y-axis pitching moment value and a Z-axis yawing moment value. The result of the distribution is the respective PWM output quantity, and the highest value of the pulse width represents the maximum rotating speed output value of the system. The fuel engine rotating speed control system controls the rotating speed of the fuel engine according to the PWM pulse width output by the flight control system, and the four electric regulators also control the rotating speed of the motor according to the PWM pulse width output by the flight control system.
The invention provides a large-load multi-rotor unmanned aerial vehicle with hybrid power of oil and electricity, which can increase the flight time while increasing the load, and reduce the overall dimension of the unmanned aerial vehicle, and can be applied to the fields of agricultural aviation, forestry aviation, logistics transportation and the like.
Claims (10)
1. A many rotor unmanned aerial vehicle of heavy load of oil-electricity hybrid includes: undercarriage (1), cabin (2), horn (3), flight control system (4), big rotor (5), little rotor (6), fuel engine system (7, 8, 9), transmission (10), battery (11), electricity accent (12), motor (13) and load storehouse (14), its characterized in that:
the undercarriage (1) is fixedly connected to the horn (3) and/or the nacelle (2), the horn (3) is connected with the nacelle (2), and the horn is provided with the small rotor (6);
the fuel engine (7) drives the two large rotors (5) to rotate in a speed reducing mode through the transmission system (10) with a speed reducing function, the rotating speeds of the two large rotors (5) are the same, and the rotating directions are opposite.
2. The hybrid-electric-oil high-load multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein the transmission system (10) comprises a gear set and a transmission device, the transmission system is a two-stage transmission, and the first stage is a speed reducer formed by driving a driving pinion (10-1) to drive a driven bull gear (10-2) to realize speed reduction and torque increase output; the second stage is a direction changing gear set (10-3,10-4,10-5) to realize coaxial reversal.
3. A hybrid oil-electric high load multi-rotor unmanned aerial vehicle according to claim 2, wherein the direction change gear set comprises a driving bevel gear (10-3), a transition bevel gear (10-4) and a driven bevel gear (10-5), and the driving bevel gear (10-3) and the driven bevel gear (10-5) rotate at the same speed and in opposite directions.
4. A hybrid fuel-electric high load multi-rotor drone according to claim 3, characterized in that the flight control system (4) distributes more than half the lift required by the drone system to two of the large rotors (5) and the remaining part of the lift required by the drone system to four of the small rotors (6).
5. A hybrid oil-electric high-load multi-rotor unmanned aerial vehicle as claimed in claim 4, wherein the four small rotors (6) are controlled by four electric governors (12) and four motors (13) respectively.
6. A hybrid big load multi-rotor drone according to claim 5, characterized by the fact that the flight control system (4) controls the four small rotors (6) to achieve the attitude control of the drone.
7. The hybrid oil-electric high-load multi-rotor unmanned aerial vehicle as claimed in claim 6, wherein the flight control system (4) provides five PWM control signals, four PWM control signals respectively control the rotation speed of the corresponding motor (13) through four electric regulators (12), and the other PWM control signal is transmitted to the fuel engine rotation speed control system (9) to control the rotation speed of the fuel engine.
8. A hybrid fuel-electric high-load multi-rotor drone according to any one of claims 1 to 7, characterized in that the two large rotors have equal diameters, both greater than the maximum size of the load compartment (14) in the horizontal plane.
9. The hybrid big load multi-rotor drone of claim 8, wherein the big rotor has a pitch near the distal section and generates lift, and the middle section has no pitch and does not generate lift.
10. A hybrid big load multi-rotor drone according to claim 9, characterized in that the big rotor and the small rotor do not coincide with the plane of rotation formed in the horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010952135.3A CN112224393A (en) | 2020-09-11 | 2020-09-11 | Oil-electricity hybrid's many rotor unmanned aerial vehicle of heavy load |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010952135.3A CN112224393A (en) | 2020-09-11 | 2020-09-11 | Oil-electricity hybrid's many rotor unmanned aerial vehicle of heavy load |
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| Publication Number | Publication Date |
|---|---|
| CN112224393A true CN112224393A (en) | 2021-01-15 |
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| CN202010952135.3A Pending CN112224393A (en) | 2020-09-11 | 2020-09-11 | Oil-electricity hybrid's many rotor unmanned aerial vehicle of heavy load |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113883254A (en) * | 2021-10-26 | 2022-01-04 | 睿瀚行(上海)新能源汽车技术有限公司 | Double-motor pure electric reduction box anti-suction system |
-
2020
- 2020-09-11 CN CN202010952135.3A patent/CN112224393A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113883254A (en) * | 2021-10-26 | 2022-01-04 | 睿瀚行(上海)新能源汽车技术有限公司 | Double-motor pure electric reduction box anti-suction system |
| CN113883254B (en) * | 2021-10-26 | 2023-06-23 | 南通睿动新能源科技有限公司 | Double-motor pure electric reduction gearbox anti-suction system |
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