CN206569250U - A kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination - Google Patents
A kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination Download PDFInfo
- Publication number
- CN206569250U CN206569250U CN201720295972.7U CN201720295972U CN206569250U CN 206569250 U CN206569250 U CN 206569250U CN 201720295972 U CN201720295972 U CN 201720295972U CN 206569250 U CN206569250 U CN 206569250U
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- Prior art keywords
- horn
- unmanned plane
- umbrella
- rumble
- frame
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Abstract
The utility model provides a kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination, it is related to unmanned plane during flying state control field, including frame central plate, the rotor motor seat of horn and horn termination, the frame central plate upper surface is installed with the central shaft tube with vertical chute, umbrella rumble is socketed with outside the central shaft tube, the frame central plate lower surface is provided with lifting Driving Stepping Motor, lowering or hoisting gear is provided with the central shaft tube, the horn is connected on frame central plate by hinge assembly, the pull bar two ends are respectively hinged on the umbrella rumble and the horn.The lifting stepper drive motors driving lowering or hoisting gear is moved upwardly or downwardly, the unmanned plane horn is driven to pack up or decontrol by the umbrella rumble, pull bar, so as to realize the angle of inclination of regulation unmanned plane horn, by manipulating regulation unmanned plane horn real-time angular, prior art wind is solved, in the case of variable direction, the problem of unmanned plane during flying state labile.
Description
Technical field
The utility model is related to unmanned plane during flying state control field, more particularly to by adjusting unmanned plane horn inclination angle
Degree control unmanned plane during flying state, is a kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination specifically.
Background technology
Unmanned plane is the abbreviation of " UAV ", and english abbreviation is " UAV ", is to utilize radio robot and oneself
The not manned aircraft that standby presetting apparatus is manipulated.The concept of unmanned plane comes across in the 1920s, with science and technology earliest
Make rapid progress, unmanned air vehicle technique is more and more ripe, and the application of unmanned plane gradually enters into the public visual field, and unmanned plane is at civilian aspect
Using more and more extensively, unmanned plane+sector application is that unmanned plane has really just been needed now.At present taking photo by plane, it is agricultural, plant protection, micro-
Type auto heterodyne, express transportation, disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief,
The application in movies-making, manufacture romance etc. field, has greatly expanded the purposes of unmanned plane in itself, every country is all positive
Extend sector application and development unmanned air vehicle technique.
When unmanned plane performs task in complex environment, often influenceed by wind direction, cause state of flight unstable.Microminiature
For example big boundary unmanned plane of unmanned plane, fuselage lateral attitude is adjusted by head stabilizer at any time more；To keep flight stability, and
It is difficult to adjust the overall lateral attitude of fuselage for larger unmanned plane, is usually to set certain angle unmanned plane horn
The certain wind-force of reply, but be due to there is a situation where that wind-force, wind direction are complicated and changeable, so the angle of inclination of this fixation is not
It can be well adapted to environment complicated and changeable in reality, therefore be badly in need of a kind of to adjust the nothing at angle of inclination under state of flight
Man-machine horn, meets the requirement of unmanned plane stabilized flight in the case of wind-force, variable direction.
Utility model content
The purpose of this utility model is to provide a kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination, is used for
Prior art wind is solved, in the case of variable direction, the problem of unmanned plane during flying state labile.
The utility model is achieved through the following technical solutions：
A kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination, including frame central plate, horn and horn end
The rotor motor seat of head, the frame central plate upper surface is installed with the central shaft tube with vertical chute, the central shaft
Be socketed with outside pipe can along the vertical slide umbrella rumble, the frame central plate lower surface be provided with lifting driving stepping
Motor, the center of the frame central plate, which is offered, is provided with the lifting driving in through hole, the central shaft tube
Stepper motor driven lowering or hoisting gear, the lowering or hoisting gear drives the umbrella rumble, and the horn is connected to machine by hinge assembly
On frame central plate, the umbrella rumble connects horn by the second articulated elements cylinder lever connecting rod, the pull bar by the first articulated elements.
It is preferred that, the lowering or hoisting gear includes the regulation screw mandrel rotated by the lifting Driving Stepping Motor driving and adjusted
Save the adjusting nut of wire rod thread cooperation and the adjusting nut mounting seat for Connectable umbrella rumble, the adjusting nut mounting seat main body
For the annular disk being adapted with the central shaft tube, the annular disk middle ring installs the rotatable adjusting nut, the ring
Shape plate edge is provided with band through hole prick ear, the umbrella rumble and is provided with corresponding mounting hole, the umbrella rumble and the adjusting nut
Mounting seat is connected by bolt or screw rod.
It is preferred that, the vertical chute opened up on the central shaft tube is symmetrical two, corresponding, the regulation spiral shell
It is symmetrically arranged two with the mounting hole set on through hole prick ear, the umbrella rumble to be set in female mounting seat.
It is preferred that, second articulated elements includes correspondence on the monaural with holes and the umbrella rumble of pull bar termination setting and set
The ears with holes put, the monaural and ears are connected by screw rod.
It is preferred that, first articulated elements includes correspondence on the monaural with holes and the horn of pull bar termination setting and set
The ears with holes put, the monaural and ears are connected by screw rod.
It is preferred that, the hinge assembly is included in horn mounting seat and the company that frame central edges of boards edge symmetrically is arranged
The horn fixing pipe on horn is connected on, the horn mounting seat end is monaural with holes, and it is with holes that the horn, which fixes tube end,
Ears, the monaural and ears are connected by screw rod.
It is preferred that, the rotor motor seat, horn, horn fixing pipe, horn mounting seat, umbrella rumble, pull bar, frame central
Plate, central shaft tube, the material of adjusting nut mounting seat are carbon fibre composite.
The utility model compared with prior art, with advantages below and beneficial effect：
（1）Unmanned plane horn and frame central plate are set to be hinged by the utility model, and in unmanned plane frame central plate
Center sets central shaft tube and lifting stepper drive motors, and the center is arranged on by lifting stepper drive motors driving
Lowering or hoisting gear inside central siphon, recycles lowering or hoisting gear driving to be socketed in the umbrella rumble outside central shaft tube, is cut with scissors by pull bar one end
Connect umbrella rumble, one end and be hinged unmanned plane horn.The lifting stepper drive motors driving lowering or hoisting gear is moved upwardly or downwardly, and is driven
The umbrella rumble is slided up or down, and pull bar and one end that umbrella rumble is hinged are driven up or down, pull the unmanned plane horn
Pack up or decontrol, so that the angle of inclination of regulation unmanned plane horn is realized, by manipulating regulation unmanned plane horn real-time angular, solution
Certainly in the case of prior art wind, variable direction, the problem of unmanned plane during flying state labile.
（2）The lowering or hoisting gear is set to regulation screw mandrel, nut moving up and down is rotated with regulation screw mandrel and follows
The adjusting nut mounting seat that nut is slided up and down, the lifting stepper drive motors driving regulation screw mandrel is rotated, described to adjust
Section nut is screwed on or screwed off along the regulation screw mandrel, drives the adjusting nut mounting seat to slide up or down, is adjusted with described
The umbrella rumble of section nut mounting seat connection is followed to be slided up or down, pull bar and one end that umbrella rumble is hinged it is driven upwards or to
Under, pull the unmanned plane horn to pack up or decontrol, so as to realize the angle of inclination of regulation unmanned plane horn.Pass through simple machine
Tool tectonic sieving, realizes the regulation at the real-time angle of inclination of unmanned plane horn, and the fund cost of consuming is smaller.
（3）Each part is connected by articulated elements, can be beneficial to realize that horn angle of inclination is adjusted, be easy to the later stage again
Small-sized damage part is changed, maintenance cost is low.
（4）By the rotor motor seat, horn, horn fixing pipe, horn mounting seat, umbrella rumble, pull bar, frame central plate,
Central shaft tube, the material of adjusting nut mounting seat are set to carbon fibre composite, and carbon fibre composite has intensity high, tough
Property the small advantage of strong, high temperature resistant, corrosion-resistant, endurance, structure proportion, can not only be used for structural material bearing load, but also as
Functional material plays a role, and not only meets the requirement to intensity, due also to its less feature of structure proportion, will not be to unmanned plane
State of flight has a negative impact.
（5）It is symmetrical two, corresponding, the adjusting nut by the vertical chute opened up on the central shaft tube
It is symmetrically arranged two with the mounting hole set on through hole prick ear, the umbrella rumble to be set in mounting seat, make it is described nobody
The regulation at machine horn angle of inclination is more balanced.
Brief description of the drawings
Fig. 1 is the utility model structural representation；
Fig. 2 is Fig. 1 upward view；
Central siphon, umbrella rumble, draw rod attachment part position enlarged drawing centered on Fig. 3；
Fig. 4 is Fig. 3 internal structure schematic diagram；
Fig. 5 is Fig. 3 top view；
Fig. 6 is umbrella rumble structural representation；
Fig. 7 is adjusting nut mounting seat structural representation；
Wherein rotor motor seat -1；Horn -2；First articulated elements -3；Horn fixing pipe -4；Horn mounting seat -5；Second hinge
Fitting -6；Umbrella rumble -7；Pull bar -8；Frame central plate -9；Lift Driving Stepping Motor -10；Adjust screw mandrel -11；Central shaft tube-
12；Adjusting nut -13；Adjusting nut mounting seat -14.
Embodiment
The utility model is described in further detail with reference to embodiment, but embodiment of the present utility model is not
It is limited to this.
Embodiment 1：
With reference to shown in accompanying drawing 1,2, a kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination, including frame central
The rotor motor seat 1 of plate 9, horn 2 and the termination of horn 2, it is characterised in that the upper surface of frame central plate 9 is installed with
Be socketed with outside central shaft tube 12 with vertical chute, the central shaft tube 12 can along the vertical slide umbrella rumble 7, institute
State the lower surface of frame central plate 9 and lifting Driving Stepping Motor 10 is installed, the center of the frame central plate 9 offers logical
The lowering or hoisting gear of the lifting Driving Stepping Motor driving, the lowering or hoisting gear are provided with hole, the central shaft tube 12
The umbrella rumble 7 is driven, the horn 2 is connected on frame central plate 9 by hinge assembly, and the umbrella rumble 7 is hinged by second
The cylinder lever connecting rod 8 of part 6, the pull bar 8 connects horn 2 by the first articulated elements 3.
Principle of the present utility model is expanded on further at this：
When wind direction, wind-force change, it is necessary to which when increasing the angle of inclination of unmanned plane horn 2, manipulation lifts Driving Stepping Motor
10 are rotated forward, and drive the lowering or hoisting gear to rise, and the umbrella rumble 7 rises with the lowering or hoisting gear, and drive is hinged by second
The one end for the pull bar 8 that part 6 is connected rises, and the other end of pull bar 8 is hinged on the unmanned plane horn 2, due to unmanned plane horn 2
One end is hinged on the unmanned plane central plate 9, can not be moved relative to unmanned plane central plate 9, thus pull bar 8 pull it is described nobody
The one end of machine horn 2 rises, and unmanned plane horn 2 is drawn in centre, realizes the angle of inclination of increase unmanned plane horn 2.
When wind direction, wind-force change, it is necessary to which when reducing the angle of inclination of unmanned plane horn 2, manipulation lifts Driving Stepping Motor
10 are rotated backward, and drive the lowering or hoisting gear to decline, and the umbrella rumble 7 declines with the lowering or hoisting gear, and drive is hinged by second
The one end for the pull bar 8 that part 6 is connected declines, and the other end of pull bar 8 is hinged on the unmanned plane horn 2, due to unmanned plane horn 2
One end is hinged on the unmanned plane central plate 9, can not be moved relative to unmanned plane central plate 9, therefore being total in gravity and pull bar 8
Under same-action, described one end of unmanned plane horn 2 declines, and unmanned plane horn 2 outwards deploys, and realizes and reduces inclining for unmanned plane horn 2
Rake angle.
Embodiment 2：
On the basis of embodiment 1, with reference to shown in accompanying drawing 3-5, the lowering or hoisting gear includes driving stepping by the lifting
What the driving of motor 10 was rotated adjusts screw mandrel 11, the adjusting nut 13 coordinated with regulation screw mandrel 11 screw thread and for Connectable umbrella rumble 7
Adjusting nut mounting seat 14.As shown in fig. 7, the main body of adjusting nut mounting seat 14 is to be adapted with the central shaft tube 12
Annular disk, the annular disk middle ring installs the rotatable adjusting nut 13, and the annular plate edge is provided with band through hole and erected
Ear, as shown in fig. 6, being provided with corresponding mounting hole on the umbrella rumble 7, the umbrella rumble 7 and the adjusting nut mounting seat 14 are logical
Cross bolt or screw rod connection.The mounting means of the adjusting nut 13 is to open up groove at the middle part of adjusting nut 13, by institute
Adjusting nut mounting seat 14 is stated to be connected in the groove, the regulation land admire 13 and the adjusting nut mounting seat relative can turn
It is dynamic.
When wind direction, wind-force change, it is necessary to which when increasing the angle of inclination of unmanned plane horn 2, manipulation lifts Driving Stepping Motor
10 rotate forward, drive it is described regulation screw mandrel 11 rotate forward, the adjusting nut 13 can relatively it is described regulation screw mandrel 11 it is upward
It is mobile, drive the adjusting nut mounting seat 14 and the umbrella rumble 7 to rise therewith along the vertical chute of the central shaft tube 12, from
And driving one end of the pull bar 8 connected by the second articulated elements 6 to rise, the other end of pull bar 8 is hinged on the unmanned plane horn 2
On, because one end of unmanned plane horn 2 is hinged on the unmanned plane central plate 9, it can not be moved relative to unmanned plane central plate 9,
Therefore pull bar 8 pulls described one end of unmanned plane horn 2 to rise, and unmanned plane horn 2 is drawn in centre, realizes increase unmanned plane horn
2 angle of inclination.
When wind direction, wind-force change, it is necessary to which when reducing the angle of inclination of unmanned plane horn 2, manipulation lifts Driving Stepping Motor
10 rotate backward, drive it is described regulation screw mandrel 11 rotate backward, the adjusting nut 13 can relatively it is described regulation screw mandrel 11 it is downward
It is mobile, drive the adjusting nut mounting seat 14 and the umbrella rumble 7 to decline therewith along the vertical chute of the central shaft tube 12, from
And driving one end of the pull bar 8 connected by the second articulated elements 6 to decline, the other end of pull bar 8 is hinged on the unmanned plane horn 2
On, because one end of unmanned plane horn 2 is hinged on the unmanned plane central plate 9, it can not be moved relative to unmanned plane central plate 9,
Therefore under the collective effect of gravity and pull bar 8, described one end of unmanned plane horn 2 declines, and unmanned plane horn 2 outwards deploys, real
Now reduce the angle of inclination of unmanned plane horn 2.
Further, to make the regulation at the angle of inclination of unmanned plane horn 2 more balanced, opened up on the central shaft tube 12
The vertical chute is symmetrical two, corresponding, band through hole prick ear, the umbrella set in the adjusting nut mounting seat 14
The mounting hole set on rumble 7 is symmetrically arranged two.
Embodiment 3：
On the basis of embodiment 1 or 2, with reference to shown in accompanying drawing 1-5, further, second articulated elements 6 includes described
The ears with holes being correspondingly arranged on the monaural with holes and the umbrella rumble 7 that the termination of pull bar 8 is set, the monaural and ears pass through screw rod
Connection.Set likewise, first articulated elements 3 includes correspondence on the monaural with holes and the horn 2 of the termination of pull bar 8 setting
The ears with holes put, the monaural and ears are connected by screw rod；It is uniform that the hinge assembly is included in the edge of frame central plate 9
The horn mounting seat 5 being arranged symmetrically and the horn fixing pipe 4 being connected on horn 2, the end of horn mounting seat 5 are with holes
Monaural, the end of horn fixing pipe 4 is ears with holes, and the monaural and ears are connected by screw rod.
Each part is hinged by bolt or screw rod, can be beneficial to realize that horn angle of inclination is adjusted, and energy
Enough dismountings, are easy to the later stage to change small-sized damage part, and maintenance cost is low.
Further, because unmanned plane requirement has less deadweight and higher intensity, the rotor motor seat 1, machine
Arm 2, horn fixing pipe 4, horn mounting seat 5, umbrella rumble 7, pull bar 8, frame central plate 9, central shaft tube 12, adjusting nut mounting seat
14 material is carbon fibre composite.Carbon fibre composite has that intensity is high, toughness is strong, high temperature resistant, corrosion-resistant, resistance to tired
The small advantage of labor, structure proportion, can not only be used for structural material bearing load, is played a role but also as functional material, not only full
Requirement of the foot to intensity, due also to its less feature of structure proportion, meets requirement of the unmanned plane to less deadweight.
It is described above, only it is preferred embodiment of the present utility model, any formal limit is not done to the utility model
System, every any simple modification made according to technical spirit of the present utility model to above example, equivalent variations are each fallen within
Within protection domain of the present utility model.
Claims (7)
1. a kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination, including frame central plate（9）, horn（2）And machine
Arm（2）The rotor motor seat of termination（1）, it is characterised in that the frame central plate（9）It is vertical sliding that upper surface is installed with band
The central shaft tube of groove（12）, the central shaft tube（12）Outside be socketed with can along the vertical slide umbrella rumble（7）, it is described
Frame central plate（9）Lower surface is provided with lifting Driving Stepping Motor（10）, the frame central plate（9）Center open up
There are through hole, the central shaft tube（12）Inside it is provided with the lowering or hoisting gear of the lifting Driving Stepping Motor driving, the liter
Falling unit drives the umbrella rumble（7）, the horn（2）Frame central plate is connected to by hinge assembly（9）On, the umbrella rumble
（7）Pass through the second articulated elements（6）Cylinder lever connecting rod（8）, the pull bar（8）Pass through the first articulated elements（3）Connect horn（2）.
2. a kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination according to claim 1, it is characterised in that
The lowering or hoisting gear is included by the lifting Driving Stepping Motor（10）Drive the regulation screw mandrel rotated（11）And regulation screw mandrel
（11）The adjusting nut that screw thread coordinates（13）With for Connectable umbrella rumble（7）Adjusting nut mounting seat（14）, the adjusting nut
Mounting seat（14）Main body be and the central shaft tube（12）Adaptable annular disk, the annular disk middle ring installs rotatable institute
State adjusting nut（13）, the annular plate edge be provided with band through hole prick ear, the umbrella rumble（7）On be provided with corresponding installation
Hole, the umbrella rumble（7）With the adjusting nut mounting seat（14）Connected by bolt or screw rod.
3. a kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination according to claim 2, it is characterised in that
The central shaft tube（12）On the vertical chute that opens up be symmetrical two, corresponding, the adjusting nut mounting seat
（14）Band through hole prick ear, the umbrella rumble of upper setting（7）The mounting hole of upper setting is symmetrically arranged two.
4. a kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination according to claim 1-3 any one,
Characterized in that, second articulated elements（6）Including the pull bar（8）Monaural with holes and the umbrella rumble that termination is set（7）On
The ears with holes being correspondingly arranged, the monaural and ears are connected by screw rod.
5. a kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination according to claim 4, it is characterised in that
First articulated elements（3）Including the pull bar（8）Monaural with holes and the horn that termination is set（2）On the band that is correspondingly arranged
Hole ears, the monaural and ears are connected by screw rod.
6. a kind of umbrella folding machine at adjustable unmanned plane horn angle of inclination according to claim 1-3 or 5 any one
Frame, it is characterised in that the hinge assembly is included in frame central plate（9）The horn mounting seat that edge symmetrically is arranged
（5）Be connected to horn（2）On horn fixing pipe（4）, the horn mounting seat（5）End is monaural with holes, the horn
Fixing pipe（4）End is ears with holes, and the monaural and ears are connected by screw rod.
7. a kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination according to claim 6, it is characterised in that
The rotor motor seat（1）, horn（2）, horn fixing pipe（4）, horn mounting seat（5）, umbrella rumble（7）, pull bar（8）, in frame
Core（9）, central shaft tube（12）, adjusting nut mounting seat（14）Material be carbon fibre composite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720295972.7U CN206569250U (en) | 2017-03-24 | 2017-03-24 | A kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720295972.7U CN206569250U (en) | 2017-03-24 | 2017-03-24 | A kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206569250U true CN206569250U (en) | 2017-10-20 |
Family
ID=60053874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720295972.7U Expired - Fee Related CN206569250U (en) | 2017-03-24 | 2017-03-24 | A kind of umbrella folding frame at adjustable unmanned plane horn angle of inclination |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206569250U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826244A (en) * | 2017-11-15 | 2018-03-23 | 安徽工程大学 | A kind of six shaft rotating devices of aircraft |
| CN108202856A (en) * | 2018-03-07 | 2018-06-26 | 天津聚飞创新科技有限公司 | A kind of arm connector sleeve and umbrella-shaped structure unmanned plane |
| CN108664041A (en) * | 2018-06-29 | 2018-10-16 | 长沙市云智航科技有限公司 | A kind of aircraft tilt angle detection device, control system and method |
| CN108674630A (en) * | 2018-05-22 | 2018-10-19 | 上海歌尔泰克机器人有限公司 | A kind of unmanned plane horn foldable structure and unmanned plane |
| CN111038690A (en) * | 2019-12-03 | 2020-04-21 | 诚邦测绘信息科技(浙江)有限公司 | Multi-rotor unmanned aerial vehicle for surveying and mapping, control method and storage medium |
| CN111557263A (en) * | 2020-06-05 | 2020-08-21 | 中国水产科学研究院黑龙江水产研究所 | Artificial fish nest for producing viscous eggs and manufacturing method |
| CN113650779A (en) * | 2021-08-10 | 2021-11-16 | 山东翼智城智能技术有限公司 | Modularization agricultural intelligence unmanned aerial vehicle subassembly |
| CN114180052A (en) * | 2021-12-10 | 2022-03-15 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | High wind resistance patrols and examines and uses many rotor unmanned aerial vehicle device |
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2017
- 2017-03-24 CN CN201720295972.7U patent/CN206569250U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826244A (en) * | 2017-11-15 | 2018-03-23 | 安徽工程大学 | A kind of six shaft rotating devices of aircraft |
| CN107826244B (en) * | 2017-11-15 | 2021-03-09 | 安徽工程大学 | Six rotary device of aircraft |
| CN108202856A (en) * | 2018-03-07 | 2018-06-26 | 天津聚飞创新科技有限公司 | A kind of arm connector sleeve and umbrella-shaped structure unmanned plane |
| CN108674630A (en) * | 2018-05-22 | 2018-10-19 | 上海歌尔泰克机器人有限公司 | A kind of unmanned plane horn foldable structure and unmanned plane |
| CN108664041A (en) * | 2018-06-29 | 2018-10-16 | 长沙市云智航科技有限公司 | A kind of aircraft tilt angle detection device, control system and method |
| CN108664041B (en) * | 2018-06-29 | 2024-02-06 | 长沙市云智航科技有限公司 | Aircraft tilting angle detection device, control system and method |
| CN111038690A (en) * | 2019-12-03 | 2020-04-21 | 诚邦测绘信息科技(浙江)有限公司 | Multi-rotor unmanned aerial vehicle for surveying and mapping, control method and storage medium |
| CN111038690B (en) * | 2019-12-03 | 2023-01-03 | 诚邦测绘信息科技(浙江)有限公司 | Multi-rotor unmanned aerial vehicle for surveying and mapping, control method and storage medium |
| CN111557263A (en) * | 2020-06-05 | 2020-08-21 | 中国水产科学研究院黑龙江水产研究所 | Artificial fish nest for producing viscous eggs and manufacturing method |
| CN111557263B (en) * | 2020-06-05 | 2022-10-28 | 中国水产科学研究院黑龙江水产研究所 | Artificial fish nest for fish producing viscous eggs and manufacturing method |
| CN113650779A (en) * | 2021-08-10 | 2021-11-16 | 山东翼智城智能技术有限公司 | Modularization agricultural intelligence unmanned aerial vehicle subassembly |
| CN114180052A (en) * | 2021-12-10 | 2022-03-15 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | High wind resistance patrols and examines and uses many rotor unmanned aerial vehicle device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171020 Termination date: 20210324 |