CN205203381U - Double dynamical driven unmanned vehicles in coordination - Google Patents
Double dynamical driven unmanned vehicles in coordination Download PDFInfo
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- CN205203381U CN205203381U CN201521052528.XU CN201521052528U CN205203381U CN 205203381 U CN205203381 U CN 205203381U CN 201521052528 U CN201521052528 U CN 201521052528U CN 205203381 U CN205203381 U CN 205203381U
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Abstract
The utility model provides a double dynamical driven unmanned vehicles in coordination, include the unmanned vehicles main part and be used for the drive the rotor subassembly of unmanned vehicles main part, the rotor subassembly includes main rotor unit, the 1st pair of rotor unit and the 2nd pair of rotor unit, the main rotor unit includes main screw (211) and main screw drive arrangement (212), the 1st pair of rotor unit includes every single move / lift -over vice screw (231) and every single move / lift -over vice screw drive arrangement (232), the 2nd pair of rotor unit includes: course screw (221) and course screw drive arrangement (222). The advantage does: unmanned vehicles's driving system efficiency can be effectively improved, time of endurance is increased.
Description
Technical field
The utility model relates to a kind of unmanned vehicle, is specifically related to a kind of unmanned vehicle of double dynamical coordinated drive.
Background technology
Multi-rotor aerocraft is driven by many rotors can realize surely high spot hover, and under floating state, can change fuselage attitude rapidly, has good manoevreability, can carry load and complete aerial mission.
In prior art, multi-rotor aerocraft mainly adopts multiple identical independent driving device to drive, and such as: for six rotorcraft, adopt the rotor driving that six identical, and six rotors is distributed on around aircraft body.The effect being arranged in the rotor around aircraft body comprises provides lift and gesture stability two aspect.That is, the thrust that the rotor of multi-rotor aerocraft produces not only is wanted to overcome gravity suffered by aircraft self, keep aircraft floating state, need simultaneously under the control of flight control system, maintain aircraft by the change of each rotor generation thrust and stablize and complete various maneuver.In addition, the thrust that each rotor of multi-rotor aerocraft produces overcomes aircraft own wt mainly for generation of lift, only has small part thrust to can be used in fuselage gesture stability.When there is external disturbance or maneuver, as blown or in motion process, now needing the body of unmanned vehicle to produce larger inclination angle and just can reach balance.
The defect of above-mentioned layout is: multi-rotor aerocraft is in flight course, and rotor needs to keep thrust to be greater than gravity, and rotor load is larger; In addition, in the process of adjustment attitude of flight vehicle, part rotor needs to produce larger thrust to produce enough control effortes, causes respective drive device to run at high load conditions, power system efficiency is sharply declined.Therefore, the power system efficiency of the unmanned vehicle of above-mentioned layout is relatively low, and cruise duration is shorter.
Utility model content
For the defect that prior art exists, the utility model provides a kind of unmanned vehicle of double dynamical coordinated drive, effectively can improve the power system efficiency of unmanned vehicle, increases cruise duration.
The technical solution adopted in the utility model is as follows:
The utility model provides a kind of unmanned vehicle of double dynamical coordinated drive, comprises unmanned vehicle main body and for driving the rotor assemblies of described unmanned vehicle main body;
Wherein, described unmanned vehicle main body comprises spider (1), horn (14), fairing (3) and main screw connecting arm (15); Described fairing (3) is arranged at above described spider (1), described main screw connecting arm (15) is vertically arranged, and its tail end is fixed to the upper surface center of described spider (1) through described fairing (3); The magnitude setting of described horn (14) is 4, be respectively the 1st horn, the 2nd horn, the 3rd horn and the 4th horn, horn described in each (14) is dispersed and is arranged at described spider (1) around, and arrange in " X " type, further, the head end of each horn is connected with described spider (1) is collapsible by collapsible horn support (13); If described 1st horn and described 3rd horn are the horn be oppositely arranged, its horn axle point-blank; If described 2nd horn and described 4th horn are the horn be oppositely arranged, its horn axle point-blank;
Described rotor assemblies comprises main rotor unit, the 1st secondary rotor unit and the 2nd secondary rotor unit; Wherein, described main rotor unit comprises main screw (211) and main screw actuating device (212); Described main screw actuating device (212) is fixedly installed in the top of described main screw connecting arm (15), described main screw (211) is arranged at the top of described main screw actuating device (212), and is connected with described main screw actuating device (212);
The magnitude setting of described 1st secondary rotor unit is 4, be respectively the secondary rotor unit of 1-1, the secondary rotor unit of 1-2, the secondary rotor unit of 1-3 and the secondary rotor unit of 1-4, the secondary rotor unit of described 1-1, the secondary rotor unit of described 1-2, the secondary rotor unit of described 1-3 and the secondary rotor unit of described 1-4 are arranged at the end of described 1st horn, described 2nd horn, described 3rd horn and described 4th horn respectively; In addition, the secondary rotor unit of described 1-1, the secondary rotor unit of described 1-2, the secondary rotor unit of described 1-3 are all identical with the structure of the secondary rotor unit of described 1-4, include the secondary screw propeller (231) of pitching/rolling and the secondary propeller driving device (232) of pitching/rolling, the bottom of the secondary screw propeller (231) of described pitching/rolling fixedly mounts the secondary propeller driving device (232) of described pitching/rolling, and the bottom of the secondary propeller driving device (232) of described pitching/rolling is fixed to the end of corresponding horn;
The magnitude setting of described 2nd secondary rotor unit is 2, is respectively the secondary rotor unit of 2-1 and the secondary rotor unit of 2-2; The secondary rotor unit of described 2-1 and the secondary rotor unit of described 2-2 are arranged on described 1st horn and described 3rd horn respectively, and, if the secondary rotor unit of described 2-1 is A point at the setting position of described 1st horn, A point is 67% of the 1st horn total length to the length of the 1st horn head end; If the secondary rotor unit of described 2-2 is B point at the setting position of described 3rd horn, B point is 67% of the 3rd horn total length to the length of the 3rd horn head end; In addition, the secondary rotor unit of described 2-1 and the secondary rotor unit of described 2-2 include: course screw propeller (221) and course propeller driving device (222), described course screw propeller (221) is fixed to the relevant position of corresponding horn by described course propeller driving device (222).
Preferably, horn described in each (14) is all centered by spider, and be inclined upwardly setting, and described horn (14) acclivitous angle is 5 °.
Preferably, the propeller plane in described course screw propeller (221) and horizontal plane, for generation of the moment around aircraft center shaft, this moment can overcome main screw (211) and rotate the opposing torque produced.
Preferably, described spider (1) is hollow structure, comprise upper cover plate (11) setting up and down and lower cover (12), by the support and connection of some horn supports (13) between described upper cover plate (11) and described lower cover (12);
Electric mode transfer block is installed with in the cavity of described spider (1);
In addition, described horn (14) and described main screw connecting arm (15) are hollow structure, and with the intracavity inter-connection of described spider (1);
Connection cable between described electric mode transfer block and described main screw actuating device (212) is arranged in the cavity of main screw connecting arm (15); Connection cable between described electric mode transfer block and the secondary propeller driving device (232) of described pitching/rolling is arranged in the cavity of corresponding horn; Connection cable between described electric mode transfer block and described course propeller driving device (222) is arranged in the cavity of corresponding horn.
Preferably, described upper cover plate (11) and described lower cover (12) adopt the carbon fiber composite material plate of 2mm, and its bending strength is 45MPa.
Preferably, the lower surface of described spider (1) is fixedly connected with support (16), and described support (16) is for installing inertia measuring module, control module and Signal reception transmitter module;
Be provided with supply unit in the below of described support (16) and hold position (4), and, described supply unit holds the lower surface that position (4) is fixedly connected on described spider (1), and described supply unit holds position (4) for placing supply unit;
Be fixedly connected with foot rest (5) at the lower surface of described spider (1), described foot rest (5) for supporting aircraft, also for installing indicator lamp.
Preferably, described cowling design to be length-diameter ratio be 1 parabolic profile shape.
The unmanned vehicle of the double dynamical coordinated drive that the utility model provides has the following advantages:
The lift of about 80% is produced by the main screw at center, produced the lift of about 20% by pitching/rolling screw propeller, therefore, effectively can be reduced in the load of pitching in flight course/rolling screw propeller, thus actv. promotes Power System of Flight Vehicle efficiency, promote aircraft cruise duration.
Accompanying drawing explanation
The structural representation of unmanned vehicle under an observation visual angle that Fig. 1 provides for the utility model;
The structural representation of the unmanned vehicle main body that Fig. 2 provides for the utility model;
The structural representation of unmanned vehicle under another observation visual angle that Fig. 3 provides for the utility model.
Detailed description of the invention
The technical matters solved to make the utility model, technical scheme and beneficial effect are clearly understood, below in conjunction with drawings and Examples, are further elaborated to the utility model.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
The utility model provides a kind of unmanned vehicle of double dynamical coordinated drive, may be used for carrying out taking photo by plane, ground mapping, Investigating, rescue, aerial monitoring, polling transmission line etc.Compared with traditional unmanned vehicle, the unmanned vehicle that the utility model provides can promote power system efficiency by actv., increases aircraft cruise duration.
Concrete, the unmanned vehicle of the double dynamical coordinated drive that the utility model provides, adopt the high efficiency main screw of large scale through optimal design and pitching/rolling screw propeller coordinated drive aircraft, this aircraft takeoff weight is about 5kg, the lift of about 80% is produced by the main screw at center, the lift of about 20% is produced by pitching/rolling screw propeller, therefore, effectively can be reduced in the load of pitching in flight course/rolling screw propeller, thus actv. promotes Power System of Flight Vehicle efficiency, promote aircraft cruise duration.
Composition graphs 1, Fig. 2 and Fig. 3, the unmanned vehicle of the double dynamical coordinated drive that the utility model provides, comprises unmanned vehicle main body and for driving the rotor assemblies of unmanned vehicle main body.Below respectively explanation is introduced to unmanned vehicle main body and rotor assemblies:
(1) unmanned vehicle main body
With reference to figure 2, be the structural representation of unmanned vehicle main body, unmanned vehicle main body comprises spider 1, horn 14, fairing 3 and main screw connecting arm 15; Fairing 3 is arranged at above spider 1, and main screw connecting arm 15 is vertically arranged, and its tail end is fixed to the upper surface of spider 1 through fairing 3; The magnitude setting of horn 14 is 4, be respectively the 1st horn, the 2nd horn, the 3rd horn and the 4th horn, each horn 14 is dispersed and is arranged at spider 1 around, and arranges in " X " type, further, the head end of each horn is connected with spider 1 is collapsible by collapsible horn support 13; If the 1st horn and the 3rd horn are the horn be oppositely arranged, its horn axle point-blank; If the 2nd horn and the 4th horn are the horn be oppositely arranged, its horn axle point-blank.
The head end of horn is connected with spider 1 is collapsible, therefore, in storage with transportation, can be posted by aircraft body to save space by folding for horn, to be convenient to store and transport.Directly horn is launched to automatically lock during use.
In addition, the utility model also improves spider and fairing:
(1) spider
In addition, spider 1 is hollow structure, comprises upper cover plate 11 setting up and down and lower cover 12, by the support and connection of some horn supports 13 between upper cover plate 11 and lower cover 12.
Because spider 1 is positioned at below the main screw at center, obvious impact can be caused on the slip-stream of main screw 211, cause the decline of main screw 211 thrust.Therefore, under the prerequisite ensureing the enough structural strengths of spider and inner space, should reduce the size of spider as much as possible, 1 impact on main screw 211 thrust is coiled in control center.
Spider structural failure is caused for avoiding the reduction generation stress because of spider size to concentrate, finite element software is utilized to analyze spider distribution of stress situation in aircraft flight process, result shows, spider upper cover plate, except bearing the pulling force of main screw connecting arm generation, also will bear the moment of deflection that horn is transmitted by attaching parts.But test find, spider upper cover plate does not have obvious focal point of stress, the region that stress is larger be around main screw connecting arm attachment point with horn attaching parts attachment point around.For lower cover, only bear the moment of deflection that horn is transmitted by attaching parts, but test finds, spider lower cover does not have obvious focal point of stress, and the region that stress is larger is around horn attaching parts attachment point.
In the utility model, spider upper and lower cover plates adopts the carbon fiber composite material plate of 2mm to manufacture, therefore, and should with spider upper and lower cover plates maximum stress in bend for engineering stress.According to analysis result, the maximum stress in bend value of spider upper and lower cover plates is 7.818MPa, and the bending strength of the 2mm carbon fiber composite material plate adopted can reach 45MPa, can ensure enough intensity
Electric mode transfer block and connection cable etc. can be installed in the space of spider 1 inside, and protect it, avoid causing damage in transport with storing process.
(2) fairing
For the fairing that the utility model provides, be installed on above spider 1.According to the slip velocity of main screw under strip theory estimation aircraft floating state, finite element software is utilized to calculate different profile fairing to the impact of main screw slip-stream.Select the less fairing profile of center main screw slip-stream impact, to reduce thrust loss, raising efficiency, increases aircraft cruise duration.
By the aerodynamic drag factor of profile fairing different under calculating aircraft floating state, find when the length-diameter ratio of fairing profile is identical, the fairing generation air resistance of parabola and hyperbolic shape is substantially identical and be less than the fairing of other profiles.Consider that processing and the detection difficulty of hyperbola profile fairing are comparatively large, therefore adopt the fairing of parabolic shape.Because aircraft spider is less, and main screw connecting arm length is about 2 times of spider diameter, and fairing length-diameter ratio should be less than 2.After calculating the aerodynamic drag factor of the parabola shaped fairing of many groups, after matching is carried out to curve, obtain length-diameter ratio be 0 to 2 the functional relation that changes with length-diameter ratio of parabola shaped fairing aerodynamic drag factor be
y＝-0.359x
3+1.6231x
2-2.3416x+1.6606
Can find according to curve, be greater than in the scope of 1 in length-diameter ratio, the aerodynamic drag factor of fairing remains unchanged substantially, to be therefore length-diameter ratio by the cowling design of this aircraft be 1 parabolic profile.
Through test, when not installing fairing, below spider, producing violent whirlpool, causing resistance to rise.And after installation fairing, air-flow comparatively uniform flows spider, does not produce obvious whirlpool.Result of calculation shows, after installation fairing, spider resistance about declines about 30%.
(2) rotor assemblies
Rotor assemblies comprises main rotor unit, the 1st secondary rotor unit and the 2nd secondary rotor unit.
(1) main rotor unit
Main rotor unit comprises main screw 211 and main screw actuating device 212; Main screw actuating device 212 is fixedly installed in the top of main screw connecting arm 15, and main screw 211 is arranged at the top of main screw actuating device 212, and is connected with main screw actuating device 212.
(2) the 1st secondary rotor unit
The magnitude setting of the 1st secondary rotor unit is 4, be respectively the secondary rotor unit of 1-1, the secondary rotor unit of 1-2, the secondary rotor unit of 1-3 and the secondary rotor unit of 1-4, the secondary rotor unit of 1-1, the secondary rotor unit of 1-2, the secondary rotor unit of 1-3 and the secondary rotor unit of 1-4 are arranged at the end of the 1st horn, the 2nd horn, the 3rd horn and the 4th horn respectively; In addition, the secondary rotor unit of 1-1, the secondary rotor unit of 1-2, the secondary rotor unit of 1-3 are all identical with the structure of the secondary rotor unit of 1-4, include the secondary screw propeller 231 of pitching/rolling and the secondary propeller driving device 232 of pitching/rolling, the secondary propeller driving device 232 of bottom fixed installation pitching/rolling of the secondary screw propeller 231 of pitching/rolling, the bottom of the secondary propeller driving device 232 of pitching/rolling is fixed to the end of corresponding horn.
(3) the 2nd secondary rotor unit
The magnitude setting of the 2nd secondary rotor unit is 2, is respectively the secondary rotor unit of 2-1 and the secondary rotor unit of 2-2; The secondary rotor unit of 2-1 and the secondary rotor unit of 2-2 are arranged on the 1st horn and the 3rd horn respectively, and, utilize strip theory to estimate the opposing torque that main rotor produces under aircraft floating state, calculate course mounting position of motor according to course motor thrust.If the secondary rotor unit of 2-1 is A point at the setting position of the 1st horn, A point is 67% of the 1st horn total length to the length of the 1st horn head end; If the secondary rotor unit of 2-2 is B point at the setting position of the 3rd horn, B point is 67% of the 3rd horn total length to the length of the 3rd horn head end; In addition, the secondary rotor unit of 2-1 and the secondary rotor unit of 2-2 include: course screw propeller 221 and course propeller driving device 222, course screw propeller 221 is fixed to the relevant position of corresponding horn by course propeller driving device 222, and propeller plane and horizontal plane.
The rotor assemblies that the utility model provides, during for raising the efficiency, increasing unmanned vehicle boat, adopt the large scale high efficiency main screw through optimal design and be arranged in above aircraft body, being specially the high efficiency large scale center main screw propeller of 26 cun-28 cun; Two groups of pitching/rolling screw propeller circumaviate device main body is arranged.Main screw and pitching/this aircraft of rolling screw propeller coordinated drive, and, in flight course, control aircraft pitching/roll attitude by pitching/rolling screw propeller thrust variation by a small margin.In addition, by being arranged on aircraft horn of one group of small size course screw propeller symmetry, and propeller plane and horizontal plane.Course screw propeller is responsible for producing the moment around aircraft center shaft, overcomes center main screw propeller and rotates the opposing torque produced, and controls aircraft course deflection.
In practical application, main screw actuating device one end is fixed on the installation position of main screw connecting arm end, and the other end connects main screw, and main screw actuating device cable can be arranged in the cavity of main screw connecting arm.Main screw actuating device can be high efficiency electric or high efficiency oil machine, if actuating device is motor, main screw can be fixedly connected on machine shaft.Main screw actuating device is connected to corresponding electric mode transfer block.If actuating device is oil machine, main screw 221 can be fixedly connected on oil machine transmission shaft.Fuel tank can be placed in power capacity position 4.
Two groups of pitching/rolling propeller driving device 232 one end are fixed on the installation position of horn end, and the other end connects pitching/rolling screw propeller.Actuating device can be motor, and pitching/rolling screw propeller can be fixedly connected on machine shaft.
Course propeller driving device 222 one end is fixed on the installation position on horn, and the other end connects course screw propeller.Actuating device can be motor, and course screw propeller can be fixedly connected on machine shaft.
(3) associate member
In addition, horn 14 and main screw connecting arm 15 are hollow structure, and with the intracavity inter-connection of spider 1; Connection cable between electricity mode transfer block and main screw actuating device 212 is arranged in the cavity of main screw connecting arm 15; Connection cable between electricity mode transfer block and the secondary propeller driving device 232 of pitching/rolling is arranged in the cavity of corresponding horn; Connection cable between electricity mode transfer block and course propeller driving device 222 is arranged in the cavity of corresponding horn.
The lower surface of spider 1 is fixedly connected with support 16, and support 16 can use screw etc. to be fixedly connected on spider lower cover as fastener, and support is for installing inertia measuring module, control module and Signal reception transmitter module;
Be provided with supply unit in the below of support 16 and hold position 4, and supply unit holds position 4 and screw etc. can be used as fastener to be fixedly connected on the lower surface of spider 1.Supply unit holds position 4 for placing supply unit, by supply unit to control module, and Signal reception transmitter module, the power supplies such as actuating device; Or supply unit holds position by mission payloads such as attaching parts carry The Cloud Terraces.
Be fixedly connected with foot rest 5 at the lower surface of spider 1, foot rest can use the fasteners such as screw to be fixedly connected on below spider, foot rest 5 for supporting aircraft, also for installing indicator lamp.
The above is only preferred implementation of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should look protection domain of the present utility model.
Claims (7)
1. a unmanned vehicle for double dynamical coordinated drive, is characterized in that, comprises unmanned vehicle main body and for driving the rotor assemblies of described unmanned vehicle main body;
Wherein, described unmanned vehicle main body comprises spider (1), horn (14), fairing (3) and main screw connecting arm (15); Described fairing (3) is arranged at above described spider (1), described main screw connecting arm (15) is vertically arranged, and its tail end is fixed to the upper surface center of described spider (1) through described fairing (3); The magnitude setting of described horn (14) is 4, be respectively the 1st horn, the 2nd horn, the 3rd horn and the 4th horn, horn described in each (14) is dispersed and is arranged at described spider (1) around, and arrange in " X " type, further, the head end of each horn is connected with described spider (1) is collapsible by collapsible horn support (13); If described 1st horn and described 3rd horn are the horn be oppositely arranged, its horn axle point-blank; If described 2nd horn and described 4th horn are the horn be oppositely arranged, its horn axle point-blank;
Described rotor assemblies comprises main rotor unit, the 1st secondary rotor unit and the 2nd secondary rotor unit; Wherein, described main rotor unit comprises main screw (211) and main screw actuating device (212); Described main screw actuating device (212) is fixedly installed in the top of described main screw connecting arm (15), described main screw (211) is arranged at the top of described main screw actuating device (212), and is connected with described main screw actuating device (212);
The magnitude setting of described 1st secondary rotor unit is 4, be respectively the secondary rotor unit of 1-1, the secondary rotor unit of 1-2, the secondary rotor unit of 1-3 and the secondary rotor unit of 1-4, the secondary rotor unit of described 1-1, the secondary rotor unit of described 1-2, the secondary rotor unit of described 1-3 and the secondary rotor unit of described 1-4 are arranged at the end of described 1st horn, described 2nd horn, described 3rd horn and described 4th horn respectively; In addition, the secondary rotor unit of described 1-1, the secondary rotor unit of described 1-2, the secondary rotor unit of described 1-3 are all identical with the structure of the secondary rotor unit of described 1-4, include the secondary screw propeller (231) of pitching/rolling and the secondary propeller driving device (232) of pitching/rolling, the bottom of the secondary screw propeller (231) of described pitching/rolling fixedly mounts the secondary propeller driving device (232) of described pitching/rolling, and the bottom of the secondary propeller driving device (232) of described pitching/rolling is fixed to the end of corresponding horn;
The magnitude setting of described 2nd secondary rotor unit is 2, is respectively the secondary rotor unit of 2-1 and the secondary rotor unit of 2-2; The secondary rotor unit of described 2-1 and the secondary rotor unit of described 2-2 are arranged on described 1st horn and described 3rd horn respectively, and, if the secondary rotor unit of described 2-1 is A point at the setting position of described 1st horn, A point is 67% of the 1st horn total length to the length of the 1st horn head end; If the secondary rotor unit of described 2-2 is B point at the setting position of described 3rd horn, B point is 67% of the 3rd horn total length to the length of the 3rd horn head end; In addition, the secondary rotor unit of described 2-1 and the secondary rotor unit of described 2-2 include: course screw propeller (221) and course propeller driving device (222), described course screw propeller (221) is fixed to the relevant position of corresponding horn by described course propeller driving device (222).
2. the unmanned vehicle of double dynamical coordinated drive according to claim 1, it is characterized in that, horn described in each (14) is all centered by spider, and be inclined upwardly setting, further, described horn (14) acclivitous angle is 5 °.
3. the unmanned vehicle of double dynamical coordinated drive according to claim 1, it is characterized in that, the propeller plane in described course screw propeller (221) and horizontal plane, for generation of the moment around aircraft center shaft, this moment can overcome main screw (211) and rotate the opposing torque produced.
4. the unmanned vehicle of double dynamical coordinated drive according to claim 1, it is characterized in that, described spider (1) is hollow structure, comprise upper cover plate (11) setting up and down and lower cover (12), by the support and connection of some horn supports (13) between described upper cover plate (11) and described lower cover (12);
Electric mode transfer block is installed with in the cavity of described spider (1);
In addition, described horn (14) and described main screw connecting arm (15) are hollow structure, and with the intracavity inter-connection of described spider (1);
Connection cable between described electric mode transfer block and described main screw actuating device (212) is arranged in the cavity of main screw connecting arm (15); Connection cable between described electric mode transfer block and the secondary propeller driving device (232) of described pitching/rolling is arranged in the cavity of corresponding horn; Connection cable between described electric mode transfer block and described course propeller driving device (222) is arranged in the cavity of corresponding horn.
5. the unmanned vehicle of double dynamical coordinated drive according to claim 4, is characterized in that, described upper cover plate (11) and described lower cover (12) adopt the carbon fiber composite material plate of 2mm, and its bending strength is 45MPa.
6. the unmanned vehicle of double dynamical coordinated drive according to claim 1, it is characterized in that, the lower surface of described spider (1) is fixedly connected with support (16), and described support (16) is for installing inertia measuring module, control module and Signal reception transmitter module;
Be provided with supply unit in the below of described support (16) and hold position (4), and, described supply unit holds the lower surface that position (4) is fixedly connected on described spider (1), and described supply unit holds position (4) for placing supply unit;
Be fixedly connected with foot rest (5) at the lower surface of described spider (1), described foot rest (5) for supporting aircraft, also for installing indicator lamp.
7. the unmanned vehicle of double dynamical coordinated drive according to claim 1, is characterized in that, described cowling design to be length-diameter ratio be 1 parabolic profile shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521052528.XU CN205203381U (en) | 2015-12-16 | 2015-12-16 | Double dynamical driven unmanned vehicles in coordination |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521052528.XU CN205203381U (en) | 2015-12-16 | 2015-12-16 | Double dynamical driven unmanned vehicles in coordination |
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| Publication Number | Publication Date |
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| CN205203381U true CN205203381U (en) | 2016-05-04 |
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| CN201521052528.XU Expired - Fee Related CN205203381U (en) | 2015-12-16 | 2015-12-16 | Double dynamical driven unmanned vehicles in coordination |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105438460A (en) * | 2015-12-16 | 2016-03-30 | 西北工业大学 | Dual-power synergistically driven unmanned aerial vehicle |
| CN107187593A (en) * | 2017-06-22 | 2017-09-22 | 云南高科新农科技有限公司 | A kind of multiple degrees of freedom unmanned plane with twin rotor system |
-
2015
- 2015-12-16 CN CN201521052528.XU patent/CN205203381U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105438460A (en) * | 2015-12-16 | 2016-03-30 | 西北工业大学 | Dual-power synergistically driven unmanned aerial vehicle |
| CN107187593A (en) * | 2017-06-22 | 2017-09-22 | 云南高科新农科技有限公司 | A kind of multiple degrees of freedom unmanned plane with twin rotor system |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| 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: 20160504 Termination date: 20201216 |