CN206664927U - A kind of oil electric mixed dynamic multi-rotor aerocraft - Google Patents
A kind of oil electric mixed dynamic multi-rotor aerocraft Download PDFInfo
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- CN206664927U CN206664927U CN201720248681.2U CN201720248681U CN206664927U CN 206664927 U CN206664927 U CN 206664927U CN 201720248681 U CN201720248681 U CN 201720248681U CN 206664927 U CN206664927 U CN 206664927U
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- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 14
- 239000003921 oil Substances 0.000 description 14
- 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 10
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- 230000007423 decrease Effects 0.000 description 5
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- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000000295 fuel oil Substances 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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Abstract
The utility model proposes a kind of oil electric mixed dynamic multi-rotor aerocraft, aircraft includes fuselage, main power system and supplementary controlled system；Main power system includes fuel engines, transmission system and main lifting propeller；Two main lifting propellers are arranged symmetrically in fuselage both sides, and fuel engines is rotated by the main lifting propeller of transmission system drives, and two main lifting propeller rotating speeds are consistent, and direction of rotation is opposite；Supplementary controlled system includes some motor-driven auxiliary propellers；Auxiliary propeller connects fuselage by pole, and some auxiliary propellers are symmetrically distributed in fuselage both sides；Auxiliary propeller and motor vert set angle around itself installation branch rod axis to fuselage direction.The utility model proposes aircraft merely add a set of simple transmission mechanism, without steering wheel operating mechanism, structure complexity increase is less, and reliability still has certain guarantee, but cruising time and load-carrying ability greatly improve, the practicality of multi-rotor aerocraft is drastically increased.
Description
Technical field
Technical field of aerospace is the utility model is related to, specially a kind of oil electric mixed dynamic multi-rotor aerocraft.
Background technology
Traditional multi-rotor aerocraft provides pulling force needed for flight using multiple motors driving propeller, in the branch of flight control system
Hold down and all around flown by the inclination of attitude of flight vehicle, because transmission and mechanical handling machine without conventional helicopters
Structure, thus with it is simple in construction, manipulate simple, high reliability.But simultaneously as employ motor as power source and
The energy density of current battery is relatively low, therefore the cruise time of electric drive Multi-axis aircraft is very short, is usually no more than half an hour, from
And it greatly limit the application of electronic multi-rotor aerocraft.
Fuel power multi-rotor aerocraft typically uses piston power, and it is short to overcome electronic multi-rotor aerocraft cruising time
The shortcomings that, but still having deficiency, a kind of fuel power multi-rotor aerocraft is to use more piston power direct-driven airscrews, but
Because piston engine rotational speed regulation is slow compared to motor, therefore the flight control of the type aircraft and control difficulty are big, and
More piston engines also increase later maintenance cost；Another kind is to use separate unit piston power, will be dynamic by transmission system
Power is transferred to the displacement rotor of surrounding, although adding cruising time, adds transmission system and pitch control mechanism so that
Whole aerocraft system complexity increase, reliability reduce, and the advantage compared to conventional helicopters weakens, and loses more rotor flyings
Device this great advantage simple in construction.
There is a kind of oil electricity mixing multi-rotor aerocraft using piston power driving generator, generator output power drive four
The motor of axle, but due to the limitation of generator and motor technology, power is imitated from engine to the transmission of surrounding lifting propeller
Rate is relatively low, is usually no more than 70%, and generator and rectifier etc. add the empty weight of aircraft, so as to limit such
The load-carrying ability of aircraft and cruising time.
The patent No. 201520706579.3 and 201520341172.5 distributed a kind of oil electricity and mixes more rotor flyings respectively
Device scheme, directly drives propeller to provide main lift using center piston power, and the motor driving propeller offer of surrounding is auxiliary
Help lift and carry out gesture stability, and the reaction torque of main lifting propeller is overcome using spoiler and carries out driftage control
System, difference are the quantity and installation site of spoiler.The patent No. 201520704292.7 and 201520524032.1 discloses
The oil electricity mixing multi-rotor aerocraft scheme similar with two above patent, difference is that straight similar to tradition by increase
The driftage control tail-rotor of the machine of liter controls to carry out reaction torque and driftage.In the scheme of four patent disclosures of the above, piston engine
The propeller of driving is arranged in fuselage centre, is on the one hand the increase in the difficulty of fuselage load arrangement, is on the other hand
Fuselage blocks to propeller downwash flow with certain, so as to reduce the efficiency of main lifting propeller；In addition, above scheme
Driftage control using the spoiler or tail-rotor of servo driving mechanical handling, also add the knot of aircraft to a certain extent
Structure complexity.
The content of the invention
To solve the problems, such as that prior art is present, there is provided a kind of multi-rotor aerocraft for possessing the longer cruise time, this reality
A kind of oil electric mixed dynamic multi-rotor aerocraft is proposed with new.
The technical solution of the utility model is：
A kind of oil electric mixed dynamic multi-rotor aerocraft, it is characterised in that：Including fuselage, main power system and auxiliary
Control system；
The main power system includes fuel engines, transmission system and main lifting propeller；Two main lifting propellers
Fuselage both sides are arranged symmetrically in, fuel engines is rotated by the main lifting propeller of transmission system drives, two main lift spirals
Oar rotating speed is consistent, and direction of rotation is opposite；
The supplementary controlled system includes some motor-driven auxiliary propellers；Auxiliary propeller connects machine by pole
Body, and some auxiliary propellers are symmetrically distributed in fuselage both sides；Auxiliary propeller and motor install branch rod axis around itself
Verted set angle to fuselage direction.
Further preferred scheme, a kind of oil electric mixed dynamic multi-rotor aerocraft, it is characterised in that：The auxiliary
Control system includes four motor-driven auxiliary propellers；Four auxiliary propellers are symmetrically distributed in fuselage both sides two-by-two；Machine
Two auxiliary propellers of body the same side are distributed in main lifting propeller both sides；Two diagonally arranged auxiliary propeller rotation sides
To identical, one group of diagonally arranged two auxiliary propeller direction of rotation and another group of diagonally arranged two auxiliary propeller rotation
Turn in opposite direction；Auxiliary propeller direction of rotation on the right side of fore-body and on the left of fuselage afterbody is left-handed, on the left of fore-body
And the auxiliary propeller direction of rotation on the right side of fuselage afterbody is dextrorotation.
Further preferred scheme, a kind of oil electric mixed dynamic multi-rotor aerocraft, it is characterised in that：Fuel oil starts
Machine is arranged in fuselage afterbody center；The transmission system includes shaft coupling, the right angle reverse box of waist, transmission
Axle and blade driving reverse box；Fuel engines power output shaft passes through shaft coupling and the right angle commutating tooth of waist
Roller box connects, then drives reverse box to be connected with blade by power transmission shaft.
Further preferred scheme, a kind of oil electric mixed dynamic multi-rotor aerocraft, it is characterised in that：Fuel oil starts
Machine uses separate unit piston engine.
Beneficial effect
The utility model proposes a kind of oil electric mixed dynamic multi-rotor aerocraft using piston power driving both sides it is symmetrical
The main lifting propeller of reversion provides the main pulling force needed for flight, and posture control is carried out using surrounding electric drive auxiliary propeller
System, because piston engine oil consumption rate is low and auxiliary propeller power consumption is small, after certain capacity battery is carried, aircraft continuation of the journey
Time dramatically increases, it is contemplated that up to more than twice of pure electronic multi-rotor aerocraft cruising time.Main lifting propeller turns simultaneously
Speed is identical, turns on the contrary, moment of torsion is cancelled out each other, without anti-torque devices such as spoiler, tail-rotors.Fly compared to pure electronic more rotors
Row device, the utility model proposes aircraft merely add a set of simple transmission mechanism, no steering wheel operating mechanism is complicated
Degree increase is less, and reliability still has certain guarantee, but cruising time and load-carrying ability greatly improve, and drastically increases more rotors
The practicality of aircraft.
Additional aspect and advantage of the present utility model will be set forth in part in the description, partly by from following description
In become obvious, or by it is of the present utility model practice recognize.
Brief description of the drawings
Of the present utility model above-mentioned and/or additional aspect and advantage will in the description from combination accompanying drawings below to embodiment
Become obvious and be readily appreciated that, wherein：
Fig. 1：The utility model structural perspective；
Fig. 2：The utility model structural upright top view；
Fig. 3：The utility model structural upright front view；
Fig. 4：The utility model structural upright side view；
Wherein：1st, piston engine；2nd, fuselage side plate；3rd, auxiliary propeller；4th, motor；5th, main lifting propeller；
6th, blade driving reverse box；7th, photoelectricity loads；The 8th, pole is installed；9th, drive-shaft tunnel；10th, fuselage reverse box；11、
Undercarriage；12nd, shaft coupling.
Embodiment
Embodiment of the present utility model is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning
Same or similar element is represented to same or similar label eventually or there is the element of same or like function.Below by ginseng
The embodiment for examining accompanying drawing description is exemplary, it is intended to for explaining the utility model, and it is not intended that to the utility model
Limitation.
In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ",
The orientation or position relationship of the instructions such as " clockwise ", " counterclockwise " be based on orientation shown in the drawings or position relationship, be only for
Be easy to describe the utility model and simplify to describe, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
The utility model proposes oil electric mixed dynamic multi-rotor aerocraft use separate unit piston engine, be arranged in fuselage
Posterior center, power output shaft is parallel with fuselage front and back axis, and engine power output shaft passes through shaft coupling and waist
Right angle reverse box connection.Fuselage both sides have been arranged symmetrically two main lifting propellers, and reverse box is driven by blade
And power transmission shaft is connected with waist gear-box.Piston engine passes through shaft coupling, waist and the gear-box of both sides and biography
The main lifting propeller rotation of the driving both sides such as moving axis, two revolution speed of propeller are consistent, direction of rotation on the contrary, moment of torsion is cancelled out each other, because
This is without anti-torque devices such as spoilers.To carry out aircraft manufacturing technology, it is disposed with four motors in fuselage surrounding and directly drives
Dynamic auxiliary propeller, it is connected by pole with fuselage.The both sides co-axial contra rotating propeller driven due to main lift by piston engine
There is provided, auxiliary propeller size is relatively small, and the rotary inertia of aircraft is much bigger compared to auxiliary propeller, therefore uses
The Yaw control method of traditional electric drive rotor craft, that is, flown using the difference in torque between different propellers
Device driftage control will become extremely difficult, and to solve control problem of going off course, when mounted, four auxiliary propellers are together with driving electricity
Machine has certain inclination to inboard, except difference in torque is also carried out partially using the horizontal component difference of different propeller pulling force
Boat control.
The flight control method of techniques described above scheme is：
Piston engine, which starts, first drives main lifting propeller rotation, and the auxiliary propeller of surrounding is also revolved with certain speed
Turn, piston engine throttle increases when taking off, and main lifting propeller rotating speed increases, there is provided pulling force improve, so as to drive flight
Device slowly liftoff rising；In uphill process, the auxiliary propeller of surrounding adjusts pulling force by increasing or reducing the method for rotating speed,
Carry out aiding in rate of climb control.When needing to switch to hovering by rising, piston engine throttle slowly reclaims, main lift spiral
Oar pulling force slowly reduces, and the aircraft rate of climb gradually becomes zero, now piston engine throttle and main lifting propeller rotating speed
It is fixed, it is stable that hovering is carried out by the big minor adjustment of the pulling force of surrounding auxiliary propeller.When needing to decline landing, piston engine
Throttle reduces, and main lifting propeller rotating speed and pulling force reduce, and aircraft declines, and the auxiliary propeller of surrounding is by increasing or reducing
The method regulation auxiliary propeller pulling force of rotating speed, carries out aiding in decrease speed control, ensures that aircraft declines the steady of process, directly
To aircraft lands.
Rising, during hovering and decline, the auxiliary propeller of surrounding is except auxiliary is risen, decrease speed controls
Outside, the gesture stability of aircraft is also carried out, so as to assign other maneuvering flight abilities outside aircraft vertical direction.Bowed
When facing upward gesture stability, fore-body two and the auxiliary propeller rotational speed difference change of two, rear portion, so as to form front and rear spiral
Oar pulling force is poor, and then produces the pitching moment of relative CG, and control aircraft tilts forward or backward, main screw and auxiliary spiral shell
The pulling force of rotation oar produces the front and rear component of horizontal direction after tilting, and aircraft can be carried out movable flight；Carry out
When roll attitude controls, two and the auxiliary propeller rotational speed difference change of two, right side on the left of fuselage, so as to form the spiral shell of left and right
Rotation oar pulling force is poor, and then produces the rolling moment of relative CG, and control aircraft tilts to the left or to the right, main screw and auxiliary
The pulling force of propeller produces the left and right component of horizontal direction after tilting, and aircraft can be carried out moving left and right flight；
When aircraft needs to carry out the driftage of Nose Left, the auxiliary screw on the right side of fore-body and on the left of fuselage afterbody
Oar rotating speed and pulling force increase, because toe-in, the horizontal component of pulling force also increase auxiliary propeller when mounted, so as to machine
The left-hand rotation yawing that body is formed also increases, simultaneously because the two spiral rotating directions are left-handed, it is right while pulling force increases
Left-hand rotation moment of torsion also increases caused by fuselage, further increases left-hand rotation yawing；On the left of fore-body and on the right side of fuselage afterbody
Auxiliary propeller rotating speed and pulling force reduce, the horizontal component of pulling force also reduces, so as to the right yawing formed to fuselage
Reduce, simultaneously because the two spiral rotating directions are dextrorotation, while pulling force reduces, right-hand rotation moment of torsion caused by fuselage is also subtracted
It is small, further reduce right-hand rotation yawing；Under the Comprehensive Control of flight control system, four auxiliary propellers it is total vertical
Pulling force is constant, and the difference and propeller torque of horizontal pull component difference form total left-hand rotation yawing, drive aircraft to
Left drift；When aircraft needs to carry out the driftage of Airplane Nose Right, the control modes of four auxiliary propellers then with said process
Conversely.
Specific in the present embodiment, the present embodiment is a frame oil electric mixed dynamic multi-rotor aerocraft, and Flight Vehicle Design rises
It is 15kg to fly gross weight, and single-cylinder double stroke piston engine 1, two main lifting propellers 5 a diameter of 24 are arranged using a 55CC
Inch, four 3 a diameter of 12 inches of auxiliary propellers, uses peak power to be driven for 400W disc type electric machine 4.Main lift spiral
Oar 5 is arranged symmetrically in waist both sides, and Plane of rotation is level, and pivot is apart from 0.4 meter of the longitudinally asymmetric face of fuselage, two rotations
The line for turning center passes through fuselage central axis.The two main direction of rotation of lifting propeller 5 on the contrary, piston power by shaft coupling 12,
Fuselage reverse box 10, the power transmission shaft in drive-shaft tunnel 9 and blade driving reverse box 6 drive blade rotation.It is auxiliary
Propeller 3 and motor is helped to be arranged on hollow cylinder horizontal strut 8, pole 8 is connected with fuselage side plate 2, four poles 8
For axis by fuselage central axis, the horizontal sextant angle with drive-shaft tunnel 9 is 50 degree.Four motors 4 of auxiliary propeller 3
Installation site center and the horizontal range of fuselage central axis are 0.6 meter, and motor 4 and auxiliary propeller 3 are when mounted around branch
Bar 8 is to 10 degree of inboard deflection so that the Plane of rotation of auxiliary propeller 3 is 10 degree with horizontal plane angle.Fuselage side plate 2 is machine
The main structural components of body, it is symmetrical two panels, its rear portion installation piston engine 1, fuselage tumbler gear is installed at middle part
Case 10, front portion are provided with photoelectricity load 7, and bottom is provided with undercarriage 11, in addition also installs cloth between two panels fuselage side plate 2
It is equipped with the necessary fuel tank of aircraft flight, battery and flight control system etc..
The utility model proposes oil electric mixed dynamic multi-rotor aerocraft take off when, piston engine 1 starts first, band
The main low speed rotation of lifting propeller 5 is moved, the auxiliary propeller 3 of surrounding is also rotated under the drive of motor 4 with certain speed；
After receiving instruction of taking off, flight control system control piston engine 1 throttle increases, and the rotating speed of main lifting propeller 5 increases, there is provided
Pulling force improve, so as to drive aircraft slowly liftoff rising；In uphill process, the auxiliary propeller 3 of surrounding is flying control system
The pulling force of auxiliary propeller 3 is adjusted under the control of system by increasing or reducing the method for rotating speed, carries out aiding in rate of climb control,
Ensure the steady of aircraft uphill process.Aircraft rises to certain altitude, and after receiving hovering instruction, flight control system control is lived
The throttle of piston engine 1 slowly reclaims, and the main pulling force of lifting propeller 5 slowly reduces, and the aircraft rate of climb gradually becomes zero, now
The rotating speed of the throttle of piston engine 1 and main lifting propeller 5 is fixed, and passes through the big minor adjustment of the pulling force of surrounding auxiliary propeller 3
It is stable to carry out hovering.
After hovering, when aircraft carries out flight forward, the rotating speed and pulling force of two auxiliary lifting propellers 3 of fuselage afterbody increase
Greatly, the rotating speed of two anterior auxiliary lifting propellers 3 and pulling force reduce, so as to form nose-down pitching moment, aircraft on fuselage
Turn forward, the pulling force forward horizontal component of main lifting propeller 5 and auxiliary propeller 3 drives aircraft forward flight；Backward
Then on the contrary, the rotating speed of two auxiliary lifting propellers 3 of fuselage afterbody and pulling force reduce, anterior two auxiliary lifting propellers 3
Rotating speed and pulling force increase, so as to forming nose-up pitching moment on fuselage, aircraft tilts backwards, main lifting propeller 5 and auxiliary
Horizontal component drives aircraft to fly backward to the pulling force of propeller 3 backward.
When aircraft carries out flight to the left, the rotating speed of two, right side of fuselage auxiliary lifting propeller 3 and pulling force increase, left side
Two auxiliary lifting propellers 3 rotating speed and pulling force reduce, so as to forming negative rolling moment on fuselage, aircraft inclines to the left
Tiltedly, horizontal component drives aircraft to fly to the left to the pulling force of main lifting propeller 5 and auxiliary propeller 3 to the left；To the right then on the contrary,
The rotating speed of two auxiliary lifting propellers 3 and pulling force reduce on the right side of fuselage, the rotating speed of two auxiliary lifting propellers 3 in left side and
Pulling force increases, and so as to form positive rolling moment on fuselage, aircraft is tilted to the right, main lifting propeller 5 and auxiliary propeller 3
Horizontal component drives aircraft to fly to the right to pulling force to the right.
After hovering, when aircraft needs to carry out the driftage of Nose Left, on the right side of fore-body and on the left of fuselage afterbody
The rotating speed of auxiliary propeller 3 and pulling force increase, because toe-in, the horizontal component of pulling force also add auxiliary propeller 3 when mounted
Greatly, so as to which the left drift torque formed to fuselage also increases, simultaneously because the two spiral rotating directions are left-handed, pulling force increase
While, left-hand rotation moment of torsion caused by fuselage is also increased, further increases left-hand rotation yawing；Fore-body left side and fuselage
The rotating speed of auxiliary propeller 3 and pulling force of rear right reduce, and the horizontal component of pulling force also reduces, so as to the right avertence formed to fuselage
Boat torque also reduces, simultaneously because the two spiral rotating directions are dextrorotation, while pulling force reduces, to right-hand rotation caused by fuselage
Moment of torsion also reduces, and further reduces right-hand rotation yawing；Under the Comprehensive Control of flight control system, four auxiliary propellers
3 total vertical tension is constant, and the difference of horizontal pull component forms total left drift torque, drives aircraft to left drift；When
When aircraft needs to carry out the driftage of Airplane Nose Right, the control mode of four auxiliary propellers 3 is then opposite with said process.
When aircraft is declined by hovering to land, flight control system reduces the throttle of piston engine 1, main lifting propeller
3 rotating speeds and pulling force reduce, and aircraft declines, and the auxiliary propeller 3 of surrounding is under the control of flight control system by increasing or reducing
The pulling force of the method regulation auxiliary propeller 3 of rotating speed, carries out aiding in decrease speed control, ensures that aircraft declines the flat of process
Surely, until aircraft lands.
Although embodiment of the present utility model has been shown and described above, it is to be understood that above-described embodiment is
Exemplary, it is impossible to it is interpreted as not departing from the utility model to limitation of the present utility model, one of ordinary skill in the art
Principle and objective in the case of above-described embodiment can be changed in the scope of the utility model, change, replace and
Modification.
Claims (4)
- A kind of 1. oil electric mixed dynamic multi-rotor aerocraft, it is characterised in that：Including fuselage, main power system and auxiliary control system System；The main power system includes fuel engines, transmission system and main lifting propeller；Two main lifting propellers are symmetrical Fuselage both sides are arranged in, fuel engines is rotated by the main lifting propeller of transmission system drives, and two main lifting propellers turn Fast consistent, direction of rotation is opposite；The supplementary controlled system includes some motor-driven auxiliary propellers；Auxiliary propeller connects fuselage by pole, And some auxiliary propellers are symmetrically distributed in fuselage both sides；Auxiliary propeller and motor are around itself installation branch rod axis to machine Vert set angle in body direction.
- A kind of 2. oil electric mixed dynamic multi-rotor aerocraft according to claim 1, it is characterised in that：The auxiliary control system System includes four motor-driven auxiliary propellers；Four auxiliary propellers are symmetrically distributed in fuselage both sides two-by-two；Fuselage is same Two auxiliary propellers of side are distributed in main lifting propeller both sides；Two diagonally arranged auxiliary propeller direction of rotation phases Together, one group of diagonally arranged two auxiliary propeller direction of rotation and another group of diagonally arranged two auxiliary propeller rotation side To opposite；Auxiliary propeller direction of rotation on the right side of fore-body and on the left of fuselage afterbody is left-handed, fore-body left side and machine The auxiliary propeller direction of rotation of body rear right is dextrorotation.
- A kind of 3. oil electric mixed dynamic multi-rotor aerocraft according to claim 1 or claim 2, it is characterised in that：Fuel engines It is arranged in fuselage afterbody center；The transmission system includes shaft coupling, right angle reverse box, the power transmission shaft of waist And blade driving reverse box；Fuel engines power output shaft passes through shaft coupling and the right angle tumbler gear of waist Case connects, then drives reverse box to be connected with blade by power transmission shaft.
- A kind of 4. oil electric mixed dynamic multi-rotor aerocraft according to claim 3, it is characterised in that：Fuel engines uses Separate unit piston engine.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720248681.2U CN206664927U (en) | 2017-03-15 | 2017-03-15 | A kind of oil electric mixed dynamic multi-rotor aerocraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720248681.2U CN206664927U (en) | 2017-03-15 | 2017-03-15 | A kind of oil electric mixed dynamic multi-rotor aerocraft |
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| CN206664927U true CN206664927U (en) | 2017-11-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111204431A (en) * | 2018-10-14 | 2020-05-29 | 张发林 | Closed spiral rotating device and power transmission system |
-
2017
- 2017-03-15 CN CN201720248681.2U patent/CN206664927U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111204431A (en) * | 2018-10-14 | 2020-05-29 | 张发林 | Closed spiral rotating device and power transmission system |
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