CN106218881B - Vertical layout fuel power quadrotor flying platform - Google Patents
Vertical layout fuel power quadrotor flying platform Download PDFInfo
- Publication number
- CN106218881B CN106218881B CN201610753161.7A CN201610753161A CN106218881B CN 106218881 B CN106218881 B CN 106218881B CN 201610753161 A CN201610753161 A CN 201610753161A CN 106218881 B CN106218881 B CN 106218881B
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- Prior art keywords
- horn
- fuselage
- bulkhead
- vertical layout
- flying platform
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- 239000000446 fuel Substances 0.000 title claims abstract description 28
- 238000005183 dynamical system Methods 0.000 claims abstract description 11
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 13
- 229910052799 carbon Inorganic materials 0.000 claims description 13
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 6
- 230000004913 activation Effects 0.000 claims description 6
- 239000004917 carbon fiber Substances 0.000 claims description 6
- 239000002828 fuel tank Substances 0.000 claims description 6
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 6
- 210000001015 abdomen Anatomy 0.000 claims description 5
- 239000004677 Nylon Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 239000007858 starting material Substances 0.000 claims description 3
- 210000002268 wool Anatomy 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 5
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000008447 perception Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 10
- 230000005611 electricity Effects 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/068—Fuselage sections
- B64C1/069—Joining arrangements therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/04—Aircraft characterised by the type or position of power plants of piston type
- B64D27/06—Aircraft characterised by the type or position of power plants of piston type within, or attached to, wings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/11—Propulsion using internal combustion piston engines
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Navigation (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
A kind of vertical layout fuel power quadrotor flying platform, composition include rack, dynamical system, navigation and control system, electrical system and task platform.Four identical horns are docked on the monocogue for be connected with undercarriage two-by-two and form rack；The end of each horn is arranged in dynamical system, provides power and energy for flying platform；Navigation and control system perception and the posture, height and the position that control flying platform；Electrical system has the function of charging, power supply and instruction；Task platform is for installing different task devices.The present invention is located at the vertical layout in xoz plane using fuselage principal plane, and the horizontal for avoiding traditional fuselage principal plane from being located in xoy plane is laid out the problem that existing air drag is big and energy consumption is high, and is conducive to increase strength and stiffness, reduces vibration.
Description
Technical field
The invention belongs to air vehicle technique fields, and in particular to a kind of vertical layout fuel power quadrotor flying platform.
Background technique
Quadrotor drone is a kind of aircraft for having 4 propellers and propeller to intersect in cross or X font, can be with
Different task is executed by carry distinct device.Currently, quadrotor drone is mostly electronic and horizontal layout, electronic is lacked
The shortcomings that point is that endurance is short and load-carrying is small, horizontal layout is that structure dissipates, resistance is big, energy consumption is high.
It is flat that patent 2016206230410 and 2016104452030 proposes a kind of fuel power multi-rotor unmanned aerial vehicle flight
The shortcomings that platform, but its fuselage uses horizontal plate clamping tube type structure, compares suitable for six rotors and eight rotors, this structure is except machine
All components outside body can only be connected or be pasted on the fuselage, and space utilization rate is low, and main machine body is laterally big across width, empty
Atmidometer is big.
Summary of the invention
Solve that electronic multi-rotor unmanned aerial vehicle endurance is short and load-carrying is small and horizontal cloth the purpose of the present invention is to provide a kind of
The vertical layout fuel power quadrotor flying platform for the problems such as office's structure dissipates, resistance is big and energy consumption is high.
The technical solution adopted by the present invention is that a kind of vertical layout fuel power quadrotor flying platform, composition includes machine
Frame, dynamical system, navigation and control system, electrical system and task platform.Four identical horns are docked at are connected with two-by-two
Rack is formed on the monocogue of undercarriage；The end of each horn is arranged in dynamical system, provides power for flying platform
And the energy；Navigation and control system perception and the posture, height and the position that control flying platform；Electrical system has charging, supplies
Electricity and instruction function；Task platform is for installing different task devices.The rack is X font rack, and composition includes machine
Body, horn component, undercarriage and hood.Compared with the existing technology, cover board of the present invention has the advantage that
The fuselage uses monocoque, and composition includes bulkhead, carbon plate, shelf and pillar, and shape is arranged in parallel in bulkhead
At the shape of fuselage, it is provided with lateral struts on bulkhead and is used to assist and reinforce；It is arranged in parallel with and puts between the pillar of each bulkhead
Plate；Bulkhead surrounding is provided with carbon plate, to bear main stress；Belly is hollow.
The horn component includes left horn seat, right arm seat, horn and engine bearer, and left horn seat and right arm seat are adopted
It with framed structure, is made of column, pipe clamp and upper and lower web beam, pipe clamp is fixed between web beam up and down, in upper bottom web
Three places have three root posts, column and pipe clamp to support shape after in front of beam, and upper and lower web beam bears main stress, on
Several reinforcing ribs are provided on lower abdomen plate-girder, for increasing integral strength and rigidity；Pipe clamp is used to fix horn；The left horn
Angularly disposed respectively at left and right sides of seat and right arm seat to have a horn, four identical horns, which are docked to be connected with two-by-two, to rise and fall
Rack is formed on the monocogue of frame；And horn uses seamless carbon fiber pipe, is conducive to save weight；Each horn end
It is fixedly installed an engine bearer, to be fixedly connected with engine；The horn component is connected to fuselage by horn seat
On the carbon plate of left and right.
The undercarriage uses ski type structure, and composition includes preceding bend pipe, back elbow, left straight tube and right straight tube, front and back
Bend pipe is located at the front and back of fuselage, and left and right straight tube is located at the left and right of fuselage, and front and back bend pipe is main load-bearing part, mainly to
Gravity of the unmanned plane when ground is parked is supported, bears, consumption and absorb unmanned plane when landing and the Impact energy on ground, top
It winnows with a dustpan energy and horizontal kinetic energy, left and right straight tube primarily serves the effect of setting, and nylon cushion thereon also has the function of buffering absorbing.
Dynamical system includes engine pack, activation system, ignition system, fuel system and propeller, engine pack
Including engine, exhaust tube, the gentle filter of EFI valve body, activation system is by electric starter and starting motor form, ignition system
It is made of CD I and spark plug, fuel system includes fuel tank, oil pump, oily filter, fuel pressure regulator and one point of heavy wool mouth composition
Propeller carbon fiber paddle.The fuel system uses 201610594834.9 fuel power multi-rotor unmanned aerial vehicle fuel feeding side of patent
Case.
Navigation includes acquisition module, control module, data module and execution module with control system, and acquisition module includes suddenly
Your element, gyroscope, accelerometer, magnetometer, barometer, laser range finder and GPS, control module include fly control plate, ECU,
Remote control control end and ground station control end, data module include remote controller transmitter, remote control receiver, earth station's number pass,
Airborne number passes and antenna, execution module include steering engine and EFI mouth.
Electrical system includes power supply module and indicating module, and power supply module includes power protection switch, 4S battery, separated time
Box, indicating module include LED light, earth station's display end and remote controller displays end.
Task platform is arranged on undercarriage, by the different task device of installation carry, executes different job tasks.
Compared with prior art, the beneficial effects of the present invention are:
(1) the vertical layout in xoz plane is located at using fuselage principal plane, traditional fuselage principal plane is avoided to be located at xoy
Horizontal in plane is laid out the problem that existing air drag is big and energy consumption is high, and is conducive to increase strength and stiffness, subtracts
Small vibration；
(2) monocogue is applied on more rotors for the first time, be conducive to simplify structure and improve space utilization rate, favorably
It is designed in loss of weight；
(3) using fuel oil as power, it can greatly extend endurance and increase load-carrying.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the schematic diagram of horizontal layout structure.
Fig. 3 is the schematic diagram of vertical layout structure.
Fig. 4 is rack construction schematic diagram.
Fig. 5 is monocogue structural schematic diagram；
Fig. 6 is the skeleton structure schematic diagram of monocogue；
Fig. 7 is horn component structure diagram；
Fig. 8 is medicine-chest task device schematic diagram；
Fig. 9 is fire extinguisher bomb task device schematic diagram；
Figure 10 is photoelectric nacelle task device schematic diagram；
Wherein: rack 1, dynamical system 2, navigation and control system 3, electrical system 4, task platform 5, medicine-chest 6, fire extinguisher bomb
7, photoelectric nacelle 8, fuselage 11, horn component 12, undercarriage 13, hood 14, bulkhead 111, carbon plate 112, shelf 113, pillar
114, left horn seat 121, right arm seat 122, horn 123, engine bearer 124, preceding bend pipe 131, back elbow 132, Zuo Zhiguan
133, right straight tube 134, the first bulkhead 1111, the second bulkhead 1112, third bulkhead 1113, the 4th bulkhead 1114, the 5th bulkhead
1115, the 6th bulkhead 1116, the 7th bulkhead 1117, the 8th bulkhead 1118, the first shelf 1131, the second shelf 1132, third are put
Plate 1133, the 4th shelf 1134, the 5th shelf 1135, the first pillar 1141, the second pillar 1142, third pillar the 1143, the 4th
Pillar 1144, the 5th pillar 1145, the 6th pillar 1146, the 7th pillar 1147, the 8th pillar 1148, the 9th pillar 1149,
Ten pillars 11410, the 11st pillar 11411, twelve earthly branches column 11412.
Specific embodiment
As shown in Figure 1, a kind of vertical layout fuel power quadrotor flying platform, including rack 1, dynamical system 2, navigation
With control system 3, electrical system 4 and task platform 5.Four identical horns 123 are docked at are connected with undercarriage 13 two-by-two
Rack 1 is formed on monocogue 11；The end of each horn 123 is arranged in dynamical system 2, for flying platform provide power and
The energy；Navigation and the perception of control system 3 and the posture, height and the position that control flying platform；Electrical system 4 has charging, supplies
Electricity and instruction function；Task platform 5 is for installing different task devices.As shown in figure 4, the rack 1 is X font rack,
It includes fuselage 11, horn component 12, undercarriage 13 and hood 14 that it, which is formed,.
As shown in figure 5, the fuselage 11 uses monocoque, composition includes bulkhead 111, carbon plate 112, shelf 113
With pillar 114, the shape to form fuselage 11 is arranged in parallel in bulkhead 111, and lateral struts 114 are provided on bulkhead 111 and are used to assist
And reinforcement；Shelf 113 is arranged in parallel between the pillar 114 of each bulkhead 111；111 surrounding of bulkhead is provided with carbon plate 112, carbon plate
112 i.e. covering offers a fuel tank flap to bear main stress on upper carbon plate 112；11 abdomen of fuselage is hollow.
As shown in fig. 7, the horn component 12 includes left horn seat 121, right arm seat 122, horn 123 and engine bearer
124, left horn seat 121 and right arm seat 122 use framed structure, are made of column, pipe clamp and upper and lower web beam, pipe clamp is solid
Be scheduled on up and down between web beam, before upper and lower web beam in after three places have three root posts, column and pipe clamp are to support
Shape, upper and lower web beam bear main stress, are provided with several reinforcing ribs on upper and lower web beam, for increasing integral strength and just
Degree；Pipe clamp is used to fix horn 123；It is angularly disposed respectively at left and right sides of the left horn seat 121 and right arm seat 122 to have one
Horn 123, four identical horns 123 are docked at composition rack 1 on the monocogue 11 for be connected with undercarriage 13 two-by-two；And
Horn 123 uses seamless carbon fiber pipe, is conducive to save weight；Each 123 end of horn is fixedly installed an engine
Seat 124, to be fixedly connected with engine；The horn component 12 is connected on the left and right carbon plate 112 of fuselage 11 by horn seat.
As shown in figure 4, the undercarriage 13 uses ski type structure, composition includes preceding bend pipe 131, back elbow 132, a left side
Straight tube 133 and right straight tube 134, front and back bend pipe are located at the front and back of fuselage 11, and left and right straight tube is located at the left and right of fuselage 11,
Front and back bend pipe is main load-bearing part, mainly to support gravity of the unmanned plane when ground is parked, bears, consumes and absorb unmanned plane
When landing and Impact energy, bumping energy and the horizontal kinetic energy on ground, left and right straight tube primarily serve the effect of setting, thereon
Nylon cushion also has the function of buffering absorbing.
As shown in fig. 6, the skeleton structure of monocogue 11 specifically: be provided with the first pillar on the first bulkhead 1111
1141, the second pillar 1142 is provided with the 4th pillar 1144 on second bulkhead 1112, is provided with the 5th on third bulkhead 1113
Column 1145, the 6th pillar 1146 are provided with the 7th pillar 1147, the 8th pillar 1148, the 7th bulkhead on the 6th bulkhead 1116
It is provided with the tenth pillar 11410 on 1117, is provided with the 11st pillar 11411, twelve earthly branches column on the 8th bulkhead 1118
11412, third pillar 1143, the 9th pillar 1149 and the 4th bulkhead 1114, the 5th bulkhead 1115 are directly connected in left and right carbon
On plate 112, the first shelf 1131 is arranged on the 5th pillar 1145 in the first pillar 1141, third pillar 1143, to place 4S electricity
The second shelf 1132 is arranged on the 6th pillar 1146 in pond, the second pillar 1142, the 4th pillar 1144, to place junction box,
Third shelf 1133 is arranged on three bulkheads 1113, the 4th bulkhead 1114 to be used to place fuel tank, the 7th pillar 1147, the 9th pillar
1149, the 4th shelf 1134 is set on the 11st pillar 11411, to place oil supply system, the 8th pillar 1148, the tenth pillar
11410, the 5th shelf 1135 is set on twelve earthly branches column 11412, flies control plate and ECU to place.
Using the monocogue 11 of vertical layout, since 11 abdomen of fuselage is hollow, can place directly from purchasing on the market
The plastic barrel obtained does fuel tank, is conducive to improve space utilization rate and save the cost.
Dynamical system 2 includes engine pack, activation system, ignition system, fuel system and propeller, engine pack
Including engine, exhaust tube, the gentle filter of EFI valve body, activation system is by electric starter and starting motor form, ignition system
It being made of CD I and spark plug, fuel system includes that fuel tank, oil pump, oily filter, fuel pressure regulator and one point of heavy wool mouth form,
Propeller is carbon fiber paddle.The fuel system uses 201610594834.9 fuel power multi-rotor unmanned aerial vehicle fuel feeding side of patent
Case.
Navigation includes acquisition module, control module, data module and execution module with control system 3, and acquisition module includes
Hall element, gyroscope, accelerometer, magnetometer, barometer, laser range finder and GPS, control module include fly control plate,
ECU, remote control control end and ground station control end, data module include remote controller transmitter, remote control receiver, earth station's number
It passes, airborne number passes and antenna, execution module include steering engine and EFI mouth.
Electrical system 4 includes power supply module and indicating module, and power supply module includes power protection switch, 4S battery, separated time
Box, indicating module include LED light, earth station's display end and remote controller displays end.
Task platform 5 is arranged on undercarriage 13, by the different task device of installation carry, executes different operations and appoints
Business.As seen in figs. 8-10, task platform is respectively equipped with medicine-chest 6, fire extinguisher bomb 7, photoelectric nacelle 8.
It is tested through a large amount of flight test, other identical two unmanned planes of condition except fuselage arrangement difference,
Under identical flight parameter, that a that a average by fuel-efficient 5.7%, vibration reduction than horizontal fuselage of vertical fuselage
2% or so.Under the premise of identical mission payload, vertical airframe structure can be more compact, and space utilization rate improves, structure
Stress is more reasonable, and strength and stiffness are relatively high, and weight ratio horizontal configuration is light by 4% or so.
Above example is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, all to press
According to technical idea proposed by the present invention, any changes made on the basis of the technical scheme, each fall within the scope of the present invention it
It is interior.
Claims (5)
1. vertical layout fuel power quadrotor flying platform, composition include rack, dynamical system, navigation and control system,
Electrical system and task platform；It is characterized in that, the rack is X font rack, composition includes fuselage, horn component, rises
Fall frame and hood；The fuselage uses monocoque, and composition includes bulkhead, carbon plate, shelf and pillar, and bulkhead is arranged in parallel
The shape of fuselage is formed, lateral struts are provided on bulkhead and are used to assist and reinforce；It is arranged in parallel between the pillar of each bulkhead
Shelf；Bulkhead surrounding is provided with carbon plate, to bear main stress；Belly is hollow；The horn component includes left horn
Seat, right arm seat, horn and engine bearer, left horn seat and right arm seat use framed structure, by column, pipe clamp and up and down
Web beam composition, pipe clamp are fixed on up and down between web beam, before upper and lower web beam in after three places have three root posts, stand
To support shape, upper and lower web beam bears main stress, is provided with several reinforcing ribs on upper and lower web beam for column and pipe clamp；Pipe clamp
For fixing horn；Angularly disposed respectively at left and right sides of the left horn seat and right arm seat to have a horn, four identical
Horn, which is docked at two-by-two on the monocogue for be connected with undercarriage, forms rack；And horn uses seamless carbon fiber pipe；Each
Horn end is all fixedly installed an engine bearer；The horn component is connected to the left and right carbon plate of fuselage by horn seat
On；The undercarriage uses ski type structure, and composition includes preceding bend pipe, back elbow, left straight tube and right straight tube, front and back bend pipe point
Not Wei Yu fuselage front and back, left and right straight tube is located at the left and right of fuselage, and front and back bend pipe is main load-bearing part, and left and right straight tube mainly rises
To the effect of setting, it is provided with nylon cushion.
2. vertical layout fuel power quadrotor flying platform according to claim 1, it is characterised in that: the dynamical system
System includes engine pack, activation system, ignition system, fuel system and propeller, and engine pack includes engine, exhaust
Cylinder, the gentle filter of EFI valve body, activation system is by electric starter and starting motor form, and ignition system is by CD I and spark plug group
At fuel system includes fuel tank, oil pump, oily filter, fuel pressure regulator and one point of heavy wool mouth composition, and propeller is carbon fiber
Paddle.
3. vertical layout fuel power quadrotor flying platform according to claim 1, it is characterised in that: it is described navigation with
Control system includes acquisition module, control module, data module and execution module, acquisition module include Hall element, gyroscope,
Accelerometer, magnetometer, barometer, laser range finder and GPS, control module include fly control plate, ECU, remote control control end and
Ground station control end, data module includes remote controller transmitter, remote control receiver, earth station's number passes, airborne number passes and antenna,
Execution module includes steering engine and EFI mouth.
4. vertical layout fuel power quadrotor flying platform according to claim 1, it is characterised in that: the electrical system
System includes power supply module and indicating module, and power supply module includes power protection switch, 4S battery, junction box, and indicating module includes
LED light, earth station's display end and remote controller displays end.
5. vertical layout fuel power quadrotor flying platform according to claim 1, it is characterised in that: the task is flat
Platform is arranged on undercarriage, by the different task device of installation carry, executes different job tasks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610753161.7A CN106218881B (en) | 2016-08-30 | 2016-08-30 | Vertical layout fuel power quadrotor flying platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610753161.7A CN106218881B (en) | 2016-08-30 | 2016-08-30 | Vertical layout fuel power quadrotor flying platform |
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| Publication Number | Publication Date |
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| CN106218881A CN106218881A (en) | 2016-12-14 |
| CN106218881B true CN106218881B (en) | 2019-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610753161.7A Active CN106218881B (en) | 2016-08-30 | 2016-08-30 | Vertical layout fuel power quadrotor flying platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106927032B (en) * | 2017-03-29 | 2023-11-24 | 淮北暴风工业设计有限公司 | Combined four-rotor aircraft |
| CN107187586B (en) * | 2017-04-28 | 2023-09-15 | 北京远度互联科技有限公司 | Unmanned vehicles organism and unmanned vehicles |
| CN109319085A (en) * | 2017-08-01 | 2019-02-12 | 广州极飞科技有限公司 | Based shell, rack and unmanned plane |
| CN107719655A (en) * | 2017-11-08 | 2018-02-23 | 沈阳旋飞航空技术有限公司 | A kind of dynamic four rotor wing unmanned aerial vehicles of oil |
| CN108557088A (en) * | 2018-06-12 | 2018-09-21 | 翟占超 | Aircraft |
| CN108750126A (en) * | 2018-07-26 | 2018-11-06 | 瀚伦贝尔通用航空器有限公司 | A kind of dynamic quadrotor of double hair oil |
| CN109305373A (en) * | 2018-09-19 | 2019-02-05 | 清远市飞凡创丰科技有限公司 | A kind of fuel oil unmanned plane and its control method |
| WO2020061838A1 (en) * | 2018-09-26 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle |
| CN113353251B (en) * | 2021-08-09 | 2021-12-28 | 四川聚变未来航空科技有限公司 | Multi-rotor aircraft |
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| CN204548489U (en) * | 2015-03-04 | 2015-08-12 | 上海九鹰电子科技有限公司 | Multi-axis aircraft |
| CN105882970A (en) * | 2016-04-09 | 2016-08-24 | 辽宁壮龙无人机科技有限公司 | Fuel power individual drive large-scale plant protection unmanned aerial vehicle |
| CN105857588A (en) * | 2016-04-13 | 2016-08-17 | 辽宁壮龙无人机科技有限公司 | Four-rotor plant protection unmanned aerial vehicle adopting helicopter armor plate structure |
| CN205998123U (en) * | 2016-08-30 | 2017-03-08 | 辽宁壮龙无人机科技有限公司 | A kind of vertical layout fuel power four rotor flying platform |
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