CN205524969U - Unmanned aerial vehicle with multiple rotor wings - Google Patents
Unmanned aerial vehicle with multiple rotor wings Download PDFInfo
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- CN205524969U CN205524969U CN201620314744.5U CN201620314744U CN205524969U CN 205524969 U CN205524969 U CN 205524969U CN 201620314744 U CN201620314744 U CN 201620314744U CN 205524969 U CN205524969 U CN 205524969U
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Abstract
The utility model discloses an unmanned aerial vehicle with multiple rotor wings, including frame, drive arrangement, rotor support, many rotors, battery and controllers, rotor support mounting in frame, many rotors are installed in the rotor support, drive arrangement is provided with oil tank, petrol engine, clutch and start motor of the engine, and the oil tank is located the below of rotor support, and the oil tank provides fuel for petrol engine, and start motor of the engine is used for starting petrol engine, and petrol engine is equipped with the throttle steering wheel, and the throttle steering wheel is connected with the controller electricity, and throttle steering wheel and controller are connected with the battery electricity respectively, and the screw that petrol engine passes through many the rotors of drive mechanism drive of clutch, flexible axle and many rotors rotates. Compared with the prior art, duration is strong, the load is big, easy dismouting, shock attenuation transmission and easily control.
Description
Technical field
This utility model relates to unmanned air vehicle technique field, particularly relates to a kind of many rotor wing unmanned aerial vehicles.
Background technology
UAV is called for short " unmanned plane ", and english abbreviation is " UAV ", is the most manned aircraft of the presetting apparatus manipulation utilizing radio robot with providing for oneself.Can be divided into from technical standpoint definition: fixed-wing unmanned plane, depopulated helicopter, unmanned many rotor wing unmanned aerial vehicles and unmanned parasol etc..Wherein, fixing aerofoil profile unmanned plane produces forward speed by dynamical system, and wing produces lift and realizes landing and flight, and when using fuel engines as power, cruising time is at more than 10h.But the landing of such unmanned plane needs more spacious place, landing difficulty is big, needs professional to manipulate and spacious runway, this handling will greatly limit its range of application.Depopulated helicopter and many rotor wing unmanned aerial vehicles are all to produce buoyancy, spot takeoff, landing by the high-speed rotation of propeller, and realize horizontal movement by the inclination (inclination of the most whole body) of propeller, but depopulated helicopter is difficult to hovering.Relative to the unmanned plane of other classifications, many rotor wing unmanned aerial vehicles need not runway and just can aloft can hover after taking off with VTOL.But, many rotor wing unmanned aerial vehicles are markedly less than other kinds of unmanned plane in terms of duration performance, this is because many rotor wing unmanned aerial vehicles are not suitable for due to stability requirement using petrol engine as power set, the structure of more than one rotor wing unmanned aerial vehicle is difficult to install petrol engine, two carry out petrol engine shakes the more severe stability that can affect many rotor wing unmanned aerial vehicles relative to motor, thus affects the service behaviour of many rotor wing unmanned aerial vehicles.The up-down vibration of the propeller of many rotor wing unmanned aerial vehicles can cause the oar that rigidity is big to be easy to fracture, therefore many rotor wing unmanned aerial vehicles are the highest to the flexibility requirements of blade.
At present, most rotary wind type unmanned planes all use lithium battery energy supply, and its main cause is that electric energy is easily controllable, linearisation output, the design of unmanned plane structure are simple, but simultaneously, the power reservoir capacity of battery is an important limiting factor.Along with flight control technique and the development of material technology, dynamic and electronic mixing the rotary wind type unmanned plane of oil is used to be devised, such as, having patent to disclose a kind of employing electromotor (multiple) and provide power for each propeller, the random rotating speed noise of electromotor is adjusted realizing the scheme of balance by each electric steering engine by adjustable screw oar pitch.Substantially, because the rotating speed of electromotor is the most unstable so that the structure design comparison of the dynamic rotary wind type unmanned plane of oil is complicated, flight controls the problems such as difficulty is big, flight debugging is complicated.
Chinese utility model patent document (publication number CN 204452933 U) discloses a kind of many rotor wing unmanned aerial vehicles of belt transmission, it utilizes and uses the problem solving cruising time for power with fuel oil, but actively small belt pulley and driving gear are incorporated on the power output shaft of engine in this utility model, the vibrations so causing engine are directly passed to driving gear and are passing to rotor, the many rotor wing unmanned aerial vehicles stability and the reliability that make this structure are poor, not only affect unmanned plane and carry out the effect of work such as taking photo by plane but also to have damaged the life-span short.In addition, the output shaft of engine is directly connected the axis of the axis so that engine output shaft and driving gear and is necessarily located on same straight line with driving gear, i.e. engine necessarily occupies the center of unmanned plane part, on gravity direction, the center of gravity of the center of gravity of engine and unmanned plane complete machine is not at same straight line, in this utility model, utilize the weight of the weight balancing engine of fuel tank, but there is a very important hidden danger, the process gasoline flown at many rotor wing unmanned aerial vehicles can constantly consume, the weight of fuel tank constantly alleviates, unmanned plane can because weight is unbalanced the situation of run-off the straight, impact flight, inclination conditions is susceptible to situation about crashing time very serious.
Therefore, for existing problems of the prior art, need offer length in a kind of cruising time badly, load-carrying is big, load-carrying is big, flight stability is reliable and many rotor wing unmanned aerial vehicles technology of life-span length is particularly important.
Utility model content
The purpose of this utility model be to avoid weak point of the prior art and provide a kind of cruising time length, load-carrying is big, load-carrying is big, flight stability is reliable and many rotor wing unmanned aerial vehicles of life-span length.
The purpose of this utility model is achieved through the following technical solutions:
Thering is provided a kind of many rotor wing unmanned aerial vehicles, include frame, driving means, rotor support, branched rotor, battery and controller, rotor support is installed on frame, and branched rotor is installed on rotor support；Driving means is provided with fuel tank, petrol engine, clutch and starting-motor of engine, fuel tank is positioned at the lower section of rotor support, fuel tank provides fuel for petrol engine, starting-motor of engine is used for starting petrol engine, petrol engine is equipped with throttle steering wheel, throttle steering wheel is electrically connected with the controller, and throttle steering wheel and controller electrically connect with battery respectively, and petrol engine drives the propeller rotational of branched rotor by the drive mechanism of clutch, flexible axle and branched rotor.
Preferably, the centre of lift when center of gravity of fuel tank and complete machine flight is on same vertical line.
Preferred, the drive mechanism of every rotor includes gear, belt pulley one, driving belt and belt pulley two, gear is installed on one end of rotor support, belt pulley one is coaxially disposed with gear, the other end of rotor is provided with propeller, propeller is provided with power transmission shaft, and power transmission shaft is affixed with belt pulley two, and belt pulley one and belt pulley two are by driving belt Synchronous Transmission；The gear engagement of adjacent two rotors, and the gear drive connection of the clutch end of flexible axle and a wherein rotor.
Further, the clutch end of flexible axle is provided with driving gear, and driving gear engages with the gear of wherein rotor.
Further, rotor and rotor support can whole releasably assembly connections.
Preferably, also including for installing petrolic engine support, engine support is arranged at frame, and the junction of engine support and frame is provided with amortisseur.
It is furthermore preferred that amortisseur is set to the amortisseur that elastic shock absorption ball, spring, shell fragment or elastomeric material make.
Preferably, rotor is provided with blade angle adjusting mechanism, blade angle adjusting mechanism includes variable pitch contro l steering wheel, steering wheel support member, pull bar, variable pitch contro l bar, displacement dish, pitch-change-link and stop, stop is arranged at steering wheel support member, stop offers spacing elongated hole, variable pitch contro l steering wheel is installed on steering wheel support member, and drive pull bar to move up and down, pull bar drives variable pitch contro l bar to move up and down, variable pitch contro l bar is placed through the spacing elongated hole of stop affixed with displacement dish, displacement dish top is provided with pitch-change-link installed part, the lower end of pitch-change-link is hinged with pitch-change-link installed part, the upper end of pitch-change-link is hinged with the blade of blade folder.
Preferably, also including multiple assistance and take off the support that rises and falls of landing, rise and fall support and rotor assembly connection.
It is furthermore preferred that rise and fall, the number of support and the number of rotor are identical, rotor one support that rises and falls of assembling.
Main beneficial effect of the present utility model:
(1) flexible axle is utilized to carry out transmission due to petrol engine, for comparing common power transmission shaft, petrolic position is no longer influenced by the restriction of power transmission shaft position, may be provided at and allow out elsewhere and by the position, axis of branched rotor, fuel tank is positioned at the lower section of rotor support by this utility model, on the axis of the rotor mechanism that fuel tank center of gravity is substantially at branched rotor composition, when the center of gravity of fuel tank and flight, the centre of lift of complete machine is substantially on same vertical line, it is arranged so that many rotor wing unmanned aerial vehicles of the present utility model will not occur the situation causing tilting because of fuel consumption at flight course, it is prone to gesture stability, also ensure that stability and the reliability of unmanned plane.
(2) fuel tank provides fuel for petrol engine, greatly strengthen flying power and the lifting capacity of many rotor wing unmanned aerial vehicles of the present utility model；
(3) many rotor wing unmanned aerial vehicles of the present utility model give up tradition is the structure that each rotor arranges power set, uses power set to drive the rotor of branched rotor to rotate, and power output equilibrium unification is flown more stable；Simultaneously as the rotor of branched rotor has identical rotating speed, it is possible to use controller is uniformly controlled lift and the blade angle regulating each rotor, it is simpler easy to control.
(4) in order to ensure the stability of many rotor wing unmanned aerial vehicles, reliability and service life, this utility model utilizes flexible axle that the power of gasoline engine generator is passed to branched rotor, but cut off from petrolic vibration well so that many rotor wing unmanned aerial vehicles also are able to use petrol engine acting energy device.
(5) every rotor of the present utility model is set to standardized unit, and as required, this utility model can arrange branched rotor, and every rotor can be contained in rotor support or from the dismounting of whole of rotor in whole ground.
(6) frame is equiped with the radiator fan for dispelling the heat to petrol engine, and radiator fan is not directly contacted with petrol engine, it is to avoid petrolic vibration causes resonates and stall inefficacy.
Accompanying drawing explanation
Utilize accompanying drawing that this utility model is described further, but the content in accompanying drawing is not constituted any restriction of the present utility model.
Fig. 1 is the structural representation of an embodiment of many rotor wing unmanned aerial vehicles of the present utility model.
Fig. 2 is the branched rotary-wing transmission schematic diagram of an embodiment of many rotor wing unmanned aerial vehicles of the present utility model.
Fig. 3 is another angle schematic diagram of an embodiment of many rotor wing unmanned aerial vehicles of the present utility model.
Fig. 4 is engine support and the frame schematic diagram of an embodiment of many rotor wing unmanned aerial vehicles of the present utility model.
Fig. 5 is the blade angle adjusting mechanism schematic diagram of another embodiment of many rotor wing unmanned aerial vehicles of the present utility model.
Fig. 6 is that the rotor of one embodiment of many rotor wing unmanned aerial vehicles of the present utility model dismounts schematic diagram with rotor support.
Fig. 7 is the branched rotary-wing transmission schematic diagram of the another way of many rotor wing unmanned aerial vehicles of the present utility model.
Fig. 1 to Fig. 7 includes:
1 petrol engine
2 throttle steering wheels
3 frames
3-1 engine support
3-2 amortisseur
4 starting-motor of engines
5 clutches
6 conical tooth wheels
7 flexible axles
8 rotor supports
8-1 rotor arm pipe clamp
9 rotors
9-1 driving gear
9-2 gear
9-3 gear shaft
9-4 projection
9-5 gear stand
9-6 rotor arm
9-7 spacing preiection
9-8 belt pulley one
9-9 driving belt
9-10 power transmission shaft
9-11 belt pulley two
10 blade angle adjusting mechanisms
10-1 variable pitch contro l steering wheel
10-2 pull bar
10-3 steering wheel support member
10-4 variable pitch contro l bar
10-5 stop
10-6 pitch-change-link
10-7 blade presss from both sides
10-8 blade
11 undercarriages
12 controllers
13 GPS terminal
14 battery compartments
15 fuel tanks
16 remote controller receivers and signal lights.
Detailed description of the invention
The utility model is described in further detail with the following Examples.
Embodiment 1
See Fig. 1, the many rotor wing unmanned aerial vehicles of one of the present embodiment, include frame 3, driving means, 8, four rotors 9 of rotor support, the battery being contained in battery compartment 14 and controller 12, rotor support 8 is installed on frame 3, four rotors 9 are installed on rotor support 8, the number of rotor 9 can be set to two, three, six or other numbers according to practical situation, simultaneously, rotor 9 is also dependent on being actually needed optional double blade, three blades, four blades or the blade of other numbers, and the present embodiment rotor 9 is four blade rotors.
Driving means is provided with fuel tank 15, petrol engine 1, clutch 5 and starting-motor of engine 4, fuel tank 15 is positioned at the lower section of rotor support 8, and the centre of lift when center of gravity of fuel tank 15 and complete machine flight is on same vertical line, it is arranged so that many rotor wing unmanned aerial vehicles will not occur to cause situation about tilting because of fuel consumption at flight course, it is simple to gesture stability and ensure that stability and the reliability of unmanned plane.Fuel tank 15 provides fuel for petrol engine 1, starting-motor of engine 4 is used for starting petrol engine 1, and starting-motor of engine can also be substituted as electromotor when engine misses, motivational guarantee is provided to prevent air crash for Autonomous Landing of UAV, more safe and reliable.Petrol engine 1 is equipped with throttle steering wheel 2, petrol engine 1 drives the propeller rotational of four rotors 9 by clutch 5 and flexible axle 7, the clutch 5 of the present embodiment is electromagnetic clutch, use Electromagnetic Control to facilitate by flying control or remote controller signal control, realize the slow transition rising slow fall revolution speed of propeller, it should be noted that, clutch 5 is alternatively automatic clutch.
In the present embodiment, the outfan of petrol engine 1 and clutch 5 assembly connection, conical tooth wheels 6 include angular wheel one and angular wheel two, the clutch end of clutch 5 is equipped with angular wheel one, one end of flexible axle 7 is provided with the angular wheel two engaged with angular wheel one, the other end of flexible axle 7 and the gear 9-2 drive connection of branched rotor 9, effectively can isolate the vibration from electromotor in power transmits.Concrete, see Fig. 2 and Fig. 6, one end that every rotor 9 is installed on rotor support 8 is provided with gear stand 9-5, this gear stand 9-5 is provided with gear 9-2, this gear 9-2 is coaxially arranged with belt pulley one 9-8, i.e. gear 9-2 and belt pulley one 9-8 shares a rooted tooth wheel shaft 9-3, make gear 9-2 and belt pulley one 9-8 synchronous axial system, the other end of every rotor 9 is provided with propeller, propeller is provided with power transmission shaft 9-10, power transmission shaft 9-10 is connected with belt pulley two 9-11, belt pulley one 9-8 and belt pulley two 9-11 by driving belt 9-9 synchronous axial system；The gear engagement of adjacent two rotors 9, and the clutch end of flexible axle 7 and a gear drive connection, other gear synchronous of this gear driven rotates, and dynamic balnce is unified.
See Fig. 3, many rotor wing unmanned aerial vehicles of the present embodiment also include the engine support 3-1 for installing petrol engine 1, engine support 3-1 is arranged at frame 3, and the junction of engine support 3-1 bottom and frame 3 is provided with amortisseur 3-2, effectively to reduce the impact of the vibration of petrol engine 1.
nullSee Fig. 1 and Fig. 5，Rotor 9 is provided with the blade angle adjusting mechanism 10 of the blade 10-8 angle of adjustable screw oar，Blade angle adjusting mechanism 10 includes variable pitch contro l steering wheel 10-1、Steering wheel support member 10-3、Pull bar 10-2、Variable pitch contro l bar 10-4、Displacement dish、Pitch-change-link 10-6 and stop 10-5，Stop 10-5 is arranged at steering wheel support member 10-3，In the present embodiment，Stop 10-5 offers spacing elongated hole in vertical direction，Variable pitch contro l steering wheel 10-1 is installed on steering wheel support member 10-3，Variable pitch contro l bar 10-4 is placed through the spacing elongated hole of stop 10-5 affixed with displacement dish，Displacement dish top is provided with pitch-change-link installed part，The lower end of pitch-change-link 10-6 is hinged with pitch-change-link installed part，The upper end of pitch-change-link 10-6 is hinged with the blade of blade 10-8 folder 10-7.Variable pitch contro l steering wheel 10-1 drives pull bar to move up and down, pull bar 10-2 drives variable pitch contro l bar 10-4, displacement dish and pitch-change-link installed part to move up and down, there is certain change, so that the angle of blade 10-8 changes in pitch-change-link 10-6 angle when moving up and down.
See Fig. 1 and Fig. 4, the starting-motor of engine 4 of the present embodiment, throttle steering wheel 2, clutch 5 and variable pitch contro l steering wheel 10-1 electrically connect with controller 12 respectively, meanwhile, starting-motor of engine 4, throttle steering wheel 2, clutch 5, variable pitch contro l steering wheel 10-1 and controller 12 are connected with battery respectively.
Many rotor wing unmanned aerial vehicles of the present embodiment are additionally provided with GPS terminal 13, remote controller receiver and signal lights 16.
Embodiment 2
The main technical schemes of the present embodiment is substantially the same manner as Example 1, the feature not laid down a definition in the present embodiment, uses the explanation in embodiment 1, no longer repeats at this.Seeing Fig. 1, Fig. 3 and Fig. 7, the clutch end of flexible axle 7 is provided with driving gear 9-1, and in the present embodiment, flexible axle 7 is connected by an axle with driving gear 9-1.Driving gear 9-1 and a gear 9-2 engagement.Rotor 9 is arranged to standardization, and with rotor support 8 can whole releasably assembly connection, not only install and readily facilitate replacing rotor 9, and be readily transported.Concrete, rotor support 8 is provided with the rotor arm pipe clamp 8-1 identical with rotor 9 quantity, rotor 9 is provided with the rotor arm 9-6 of one end of gear 9-2 and inserts rotor arm pipe clamp 8-1 clamping, this rotor arm 9-6 is provided with the projection 9-4 that coordinate corresponding to the recess of rotor support 8, and this projection 9-4 limits position and the direction of rotor arm 9-6 in assembling process.It should be noted that, rotor arm 9-6 can also be threadeded with rotor arm pipe clamp 8-1 or be screwed.
Rotor arm 9-6 is provided with spacing preiection 9-7 in case spin-ended wing arm 9-6 is excessively inserting rotor support 8, plays and limits the undue mobile and effect of location.
In the present embodiment, every rotor 9 is provided with undercarriage 11 so that many rotor wing unmanned aerial vehicles preferably take off and land.
Embodiment 3
Of the present utility model, the main technical schemes of the present embodiment is essentially identical with embodiment 1 or embodiment 2, the feature not laid down a definition in the present embodiment, uses the explanation in embodiment 1 or embodiment 2, no longer repeats at this.The frame 3 of the present embodiment is equiped with the radiator fan for dispelling the heat to petrol engine 1, radiator fan is not directly contacted with petrol engine 1, avoiding the vibration of petrol engine 1 to cause while lowering the temperature to petrol engine 1 to resonate and stall inefficacy, this radiator electrically connects with battery and controller 12 respectively.
Embodiment 4
The main technical schemes of the present embodiment is essentially identical with embodiment 1 or embodiment 2, the feature not laid down a definition in the present embodiment, uses the explanation in embodiment 1 or embodiment 2, no longer repeats at this.The amortisseur 3-2 of the present embodiment is set to elastic shock absorption ball.
Embodiment 5
The main technical schemes of the present embodiment is essentially identical with embodiment 1 or embodiment 2, the feature not laid down a definition in the present embodiment, uses the explanation in embodiment 1 or embodiment 2, no longer repeats at this.The amortisseur 3-2 of the present embodiment is set to spring.
Embodiment 6
The main technical schemes of the present embodiment is essentially identical with embodiment 1 or embodiment 2, the feature not laid down a definition in the present embodiment, uses the explanation in embodiment 1 or embodiment 2, no longer repeats at this.The amortisseur 3-2 of the present embodiment is set to shell fragment or the amortisseur 3-2 of elastomeric material making.
It is last it should be noted that, above example is merely to illustrate the technical solution of the utility model explanation rather than restriction to claims.Those of ordinary skill in the art is to be understood that with reference to preferred embodiment, it is possible to modify the technical solution of the utility model or equivalent, but belongs to the substantially identical of technical solutions of the utility model and protection domain.
Claims (10)
1. a rotor wing unmanned aerial vehicle more than, includes frame, driving means, rotor support, branched rotor, battery and controller, it is characterised in that:
Described rotor support is installed on described frame, and branched described rotor is installed on described rotor support；
Described driving means is provided with fuel tank, petrol engine, clutch and starting-motor of engine, described fuel tank is positioned at the lower section of described rotor support, described fuel tank provides fuel for described petrol engine, described starting-motor of engine is used for starting described petrol engine, described petrol engine is equipped with throttle steering wheel, described throttle steering wheel electrically connects with described controller, described throttle steering wheel and described controller electrically connect with described battery respectively, described petrol engine passes through clutch, the drive mechanism of flexible axle and branched rotor drives the propeller rotational of branched rotor.
A kind of many rotor wing unmanned aerial vehicles, it is characterised in that: the centre of lift when center of gravity of described fuel tank and complete machine flight is on same vertical line.
The many rotor wing unmanned aerial vehicles of one the most according to claim 1 or claim 2, it is characterized in that: the drive mechanism of every described rotor includes gear, belt pulley one, driving belt and belt pulley two, gear is installed on one end of described rotor support, belt pulley one is coaxially disposed with described gear, the other end of described rotor is provided with propeller, described propeller is provided with power transmission shaft, and described power transmission shaft is affixed with belt pulley two, and described belt pulley one and belt pulley two are by driving belt Synchronous Transmission；
The gear engagement of adjacent two described rotors, and the gear drive connection of the clutch end of described flexible axle and a wherein described rotor.
A kind of many rotor wing unmanned aerial vehicles, it is characterised in that: the clutch end of described flexible axle is provided with driving gear, and described driving gear engages with the gear of wherein described rotor.
A kind of many rotor wing unmanned aerial vehicles, it is characterised in that: described rotor and described rotor support can whole releasably assembly connections.
A kind of many rotor wing unmanned aerial vehicles, it is characterized in that: also include for installing described petrolic engine support, described engine support is arranged at described frame, and the junction of described engine support and described frame is provided with amortisseur.
A kind of many rotor wing unmanned aerial vehicles, it is characterised in that: described amortisseur is set to the amortisseur that elastic shock absorption ball, spring, shell fragment or elastomeric material make.
A kind of many rotor wing unmanned aerial vehicles, it is characterized in that: described rotor is provided with blade angle adjusting mechanism, described blade angle adjusting mechanism includes variable pitch contro l steering wheel, steering wheel support member, pull bar, variable pitch contro l bar, displacement dish, pitch-change-link and stop
Described stop is arranged at described steering wheel support member, and described stop offers spacing elongated hole,
Described variable pitch contro l steering wheel is installed on described steering wheel support member, and drive described pull bar to move up and down, described pull bar drives described variable pitch contro l bar to move up and down, described variable pitch contro l bar is placed through the spacing elongated hole of stop affixed with described displacement dish, described displacement dish top is provided with pitch-change-link installed part, the lower end of described pitch-change-link is hinged with described pitch-change-link installed part, and the upper end of described pitch-change-link is hinged with the blade of blade folder.
A kind of many rotor wing unmanned aerial vehicles, it is characterised in that: also include multiple assistance and take off the support that rises and falls of landing, described in rise and fall support and rotor assembly connection.
A kind of many rotor wing unmanned aerial vehicles, it is characterised in that the number of the support that rises and falls described in: is identical with the number of rotor, rotor one support that rises and falls of assembling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620314744.5U CN205524969U (en) | 2016-04-15 | 2016-04-15 | Unmanned aerial vehicle with multiple rotor wings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620314744.5U CN205524969U (en) | 2016-04-15 | 2016-04-15 | Unmanned aerial vehicle with multiple rotor wings |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205524969U true CN205524969U (en) | 2016-08-31 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620314744.5U Withdrawn - After Issue CN205524969U (en) | 2016-04-15 | 2016-04-15 | Unmanned aerial vehicle with multiple rotor wings |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105775120A (en) * | 2016-04-15 | 2016-07-20 | 广州市派飞科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN106892094A (en) * | 2017-01-22 | 2017-06-27 | 南京航空航天大学 | A kind of individually controllable four rotor unmanned aircraft of space six degree of freedom and its control method |
| CN106927031A (en) * | 2017-03-27 | 2017-07-07 | 上海珞鹏航空科技有限公司成都研发分公司 | A kind of double duct unmanned aerial vehicles of the horizontal cloth collaboration manipulation of bi-motor |
| CN106986019A (en) * | 2017-04-17 | 2017-07-28 | 四川建筑职业技术学院 | A kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination |
| 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 |
-
2016
- 2016-04-15 CN CN201620314744.5U patent/CN205524969U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105775120A (en) * | 2016-04-15 | 2016-07-20 | 广州市派飞科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN105775120B (en) * | 2016-04-15 | 2018-05-29 | 广州市派飞科技有限公司 | A kind of multi-rotor unmanned aerial vehicle |
| CN106892094A (en) * | 2017-01-22 | 2017-06-27 | 南京航空航天大学 | A kind of individually controllable four rotor unmanned aircraft of space six degree of freedom and its control method |
| CN106927031A (en) * | 2017-03-27 | 2017-07-07 | 上海珞鹏航空科技有限公司成都研发分公司 | A kind of double duct unmanned aerial vehicles of the horizontal cloth collaboration manipulation of bi-motor |
| CN106986019A (en) * | 2017-04-17 | 2017-07-28 | 四川建筑职业技术学院 | A kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination |
| CN106986019B (en) * | 2017-04-17 | 2023-05-30 | 四川建筑职业技术学院 | Motor cabinet capable of changing inclination angle of rotary wing surface of multi-rotor unmanned aerial vehicle |
| 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160831 Effective date of abandoning: 20180529 |