1363023 九、發明說明： 【發明所屬之技術領域】 本發明係有關於一種四旋翼無人飛行載具控制系統， 其係於一基座外圍等距環設有四旋翼各受一傳動裝置控 制，且於基座内部設一具無線接收器、三感應器、二混控 器及四速控器之控制系統與一無線發射器之遙控器相配合 以驅動四傳動裝置動作而形成一四旋翼無人飛行載具，進 而利用傳動裝置之轉速及差速來控制每一旋翼，使該飛行 載具可順利翱翔於空中並於空中進行轉向、前進或定點旋 【先前技術】 隨著科技的進步，人類對於大型飛機發展之技術已曰 趨成熟，於是便有許多學者轉向於微型無人載具飛機之發 展，而其中最讓人感興趣的即是微飛行器（微飛機）及近年 . 來新興之熱門機種無人載具，微飛機與無人載具之所以讓 人感興趣的地方即是它在軍事上的用途包含有偵查、突襲 籲等，更可應用於搜山尋人等多種任務而極具研究價值，然， 目前研發之無人飛機大多以直升機（如台灣公告第 M333220、P33222、M332509)式的結構設計為主，以致飛 行上及空中旋轉繞行.上仍然受機尾的影響而須精確掌控飛 行空間方能順利操控，令使用上較為受限不便。 本發明A有鑑於此，即本著創作之精神，乃思及製程 及裝設之方法創作而不斷地試驗製程方法及製品，經由多 次試驗及多年經驗，而有改進現今缺失之本創作，進而提 1363023 出本發明。 【發明内容】 本發明之主要目的，乃在提供一種四旋翼無人飛行載 具控制系統，其係於一基座外圍等距環設有四旋翼各受一 傳動裝置控制，且於基座内部設一具無線接收器、三感應 器、二混控器及四速控器之控制系統與一無線發射器之遙 控器相配合以驅動四傳動裝置動作而形成一四旋翼無人飛 行載具，進而利用傳動裝置之轉速及差速來控制每一旋 翼，使該飛行載具可順利翱翔於空中並於空中進行轉向、 前進或定點旋轉。 本發明之次要目的，乃在提供一種四旋翼無人飛行載 具控制系統，其利用四旋翼旋轉時所產生的扭力方向與傳 動裝置之馬達所產生之扭力方向相反，俾可相互抵消馬達 旋轉時所產生之慣性，進而不需要另外配置反扭力裝置， 以符合經濟效益。 本發明之另-目的，乃在提供一種四旋翼無人飛行載 具控制系鍊，其利用四旋翼呈兩兩—組不同轉向而分別形 成二個順時針旋轉之主旋翼與左副翼及二個逆時針旋轉之 尾旋翼及右副翼的料，使該喊翼不需㈣的轉速及大 小，僅需以正、逆旋翼所產生的扭力大小相同、方向相反， 即可使其四旋翼之馬達為同樣轉速時，馬達只作推力使 :’而二個順轉旋翼與二個逆轉旋翼之馬達為不同轉速 :右2:作為轉向使用’令其飛行上除可垂直升降亦可 左右移動财及讀移動飛行，以達飛行動作上更為靈活 1363023 而不受限制。 【實施方式】 餘下’茲配合圖式詳細說明本發明之最佳實施例如后： 如第一圖所示係為本創作之立體圖（請同時參考第 二、三圖）’其係於一基座〇〇)外圍等距環設四套接管（11) 各供一管狀撐桿（12)套設，撐桿（12)末端設一貫穿於上下 兩侧之定位孔（121)與一套接座（2〇)相配合，於套接座（2〇) 之一侧設一套管（21)與撐桿（12)相套設且設一與定位孔 ® (121)相對之套孔（22)供一支柱（23)穿設固定，另一側設一 呈管狀之容置區（24)供一傳動裝置（30)組設定位，該容置 區（24)係與套管（21)設呈相通，於套管（21) 一侧橫向開設 一與内部相通之彈性束孔（.25)，並於彈性束孔（25)之兩侧 對稱设一具穿孔（261)之夹片（26)供一為螺絲及螺帽之組 件（27)鎖設，使夾片（26)及彈性束孔（25)可藉由組件（27) ^ 之鎖迫產生相對的夾持力，促使套管（21)與撐桿（12)之組 合更為穩固而不虞鬆動，並於每一撐桿〇2)之底端各設一 #與基座（10)相頂抵之支桿（28)，且設一為尼龍線之撓性元 件（29)以等距離同步繞設固定於每一支柱（23)，令撐桿（12) 得以受支桿（28)及撓性元件（29)之牽制達到補強之目的而 不虞受外力之影響，傳動裝置（30)係設一為馬達（31)之動 力源恰谷套固定於容置區（24)，該馬達（31)係設一較小徑 之齒狀主動輪（311)與一較大徑之齒狀被動輪〇〇相嚙合 而形成一減速齒輪馬達’於被動輪（312)之中心凸設一具外 螺紋段（321)之作動桿（32)，並設一中心具套孔（331)之連 7 、告件（33)穿套於作動桿（32)，使作動桿（32)突伸於套孔 ^31)外’於套孔（331)之底端設一内螺紋段（332，可於内 4埋设一螺帽）恰與外螺紋段（321)相鎖結固定，並設一墊 片（34)及一螺帽（34’）依序穿設於作動桿（32)而鎖迫於連 =件（33)之須面，於連結件（33)之兩侧對稱一體延設一具 右干穿孔（333)之組接片（334)各與一為混合型且具若干穿 孔（351)之翼片（屬於内凹翼）鎖固而形成一主旋翼（352)、 一尾旋翼（353)、一左副翼（354)、一右副翼（355)之四旋翼 (35) ’其中主旋翼（352)及尾旋翼（353)係呈對角設置且為 .逆時針旋轉，左副翼（354)及右副翼（355)係呈對角設置且 為順時針旋轉’並於基座（1〇)内部容設一控制系統（4〇)， 令控制系統（40)之線路可由内部延套接管（丨丨）及撐桿（12) 穿繞至容置區（24)與傳動裝置（3〇)相接通，該控制系統 (40 ’請同時參考第四圖及第五圖）係設一為鋰聚充電電池 之供電器（41)與一具控制開關（421)之無線接收器（42)、三 可偵測角速度之感應器（43)、二混控器（44)及四速控器（45) 相配合以獨立控制四傳動裝置（3〇)之作動，並設一為無線 _ 發射器之遙控器（46，請同時參考第六圖）以發射指令至無 線接收器（42)而形成一控制迴路，其中接收器（42)上裝置 一發射晶體與遙控器（46)之發射晶體相呼應，方能接收遙 控器（46)傳遞的指令來操控該載具的飛行姿態，感應器（43) 係連接於接收器（42)上’且可為陀螺儀而具高感敏度的角 速度敏感器，當敏感器感應到某種外力產生角度偏擺時， 内部電路即會相應調整尾旋翼（353)轉速，來糾正偏移造成 的影響’以保持該載具的穩定飛行，其中一混控器（44)是 連接二感應器（43)及二速控器（45)，另一混控器（44)則是 8 1363023 與接收器C42)、-感應器（43)及二速控器（45)相接通，速 . ㈣（=主要係控制傳動裝置⑽之馬達⑻轉速，且利 用速控器（45)本身具有的斷電裝置，當偵測到供電器（41) 供給馬達（31)的電流過大時，即會斷電使馬達（31)自動停 止運轉以防止馬達（31)燒壞進而達保護馬達（31)延長使用 壽命的效益’該遙控器（46)之油門及副翼係設為混控而設 有-油門/副翼控制桿⑽），且方向舱及升降艇係設為混 控而設有一方向舵/升降舵控制桿（462)以傳達指令至控制 -系統（40)择收命令以驅動四傳動装置（30)運轉，且設有節 #流閥微調桿（463)、副翼微調桿（464)、方向航微調闕（465) 及升降舵微調桿（466)與内部電路設定及感應器（43)之陀 螺儀補償設定相配合以調整四傳動裝置（3〇)之馬達（31)可 同時達到一樣的轉速。 其欲飛行時（如第七圖所示），係先將接收器（42)之控 制開關（421)切換於⑽，使控制系統（4〇)及每一傳動装置 (30)與供電器（41)導通得以保持供電狀態，當接收器（42) 收到遙控器（46)之油門/副翼控制桿（461)或方向舵/升降 ❿舵控制桿（462)所發射之訊號，接收器（42)即會把訊號（即 電流，大小）傳遞給速控器（45)，速控器（45)再依訊號（即 電仙量大小）獨立驅動每一傳動裝置（3〇)之馬達（31)，令主 動輪（311)得以帶動被動輪（312)、作動桿（32)、連結件（33) 及四旋翼（35)同步旋動，並以馬達（31)之轉速及差速來控 制主旋翼（352)、尾旋翼（35.3)、左副翼（354)、右副翼 (355)，當遙控器（46)之油門/副翼控制桿（461)往上或往下 推升時，四旋翼（35)即會同時運轉而產生加速向上之升力 或減速緩慢下降，以操控該飛行載具垂直升降之動作；當 9 遙控器⑽之油門/副翼控制桿⑽）往左或往右推升時， 將會使得左右其中-方的旋翼（35,為主旋翼352或左副翼 354轉速增加或遞減，而矛j用左右兩側的馬達⑶）轉速差 來控制該飛行载具左右料的飛行動作；#遙控器（46)之 方向蛇/升降㈣前（往左或往轉料，將會使得 左右二方的旋翼（35,為主旋翼352及左副翼354)轉速同時 增加或同時遞減’而另二方的旋翼（35，為尾旋翼353及右 副翼355)即會保持固定轉速，藉此以控制該飛行載具可於 空中作定點左右旋轉的飛行動作；當遙控器（46)之方向舵/ 升降舵控制桿（462)往上或往下推升時，將會使得前後其中 一方的旋翼（35,為尾旋翼353或右副翼355)轉速增加或遞 減，而利用前後兩側的馬達（31)轉速差來控制該飛行載具 前後移動的飛行動作，使該飛行載具可依遙控器（46)的操 控順利翱翔於空中並於空中進行轉向、前進或定點旋轉， 藉此，以四旋翼（35)旋轉時所產生的扭力方向與馬達（31) 所產生之扭力方向相反，俾可相互抵消馬達（31)旋轉時所 產生之慣性，進而不需要另外配置反扭力裝置，且四旋翼 (35)不需栢同的轉速及大小，僅需以四旋翼（35)所產生的 扭力大小相同、方向相反，即可使其主旋翼（352)及左副翼 (354)與尾旋翼（353)及右.副翼（355)之馬達（31)為同樣轉 速時’馬達（31)只作推力使用，當二個主旋翼（352)及左副 翼（354)與二個尾旋翼（353)及右副翼（355)之馬達（31)為 不同轉速時’馬達（31)即作為轉向使用，且利用速控器（45) 前的混控器（44)以控制四旋翼（35)在空中的轉向，且當飛 行載具於空中飛行及轉向時，利用感應器（43)介於接收器 (42)與混控器（44) Pb〗而具備偵測角速度之功能即可平衡每 保持該飛=差速’俾可避免相對之馬達（31)差速過多以 的失事率。I於空中飛行及轉向之平穩，進而降低空中 等功能，以^飛仃載具係可配合-微㈣影機或衛星定位 _ 運到無人偵查的用途。 且本以於明=#上利用性與進步性， 懇請貴二條之規定，爰依法提出發明專利申請， 母置委員惠准專利為禱。 當不妒以ί所ί者’僅為本發明之其中較佳實施例而已， 專利範圍所^本發明實施之範圍；即大凡依本發明申請 蓋之範_作之均等變化與修飾，皆應仍屬本發明專利涵 【圖式簡單說明】 第一圖：係為本發明之立體圖。 第二圖··係為本發明之傳動裝置立體分解圖。 第二圖：係為本發明之控制系統立體分解圖。 第四圖：係為本發明之控制系統電路方塊圖。 第五圖··係為本發明之控制系統方塊圖二。 第六圖：係為本發明之遙控器平面圖。 第七圖：係為本發明之飛行狀態示意圖。 11……套接管 【主要元件符號說明】 10……基座 1363023 12…· ••撐桿 121" •…定位孔 - 20···· ••套接座 21···· ••套管 22···· ••套孔 23···· ••支柱 24…. ••谷置£ 25···· ••彈性束孔 26…· ••夾片 261“ •…穿孔 27···· ••組件 28…. ••支才干 29···· ••撓性元件 30···· ••傳動裝置 31···· ••馬達 311- •…主動輪 312" •…被動輪 32···· ••作動桿 • 321.. •…外螺紋段 33···· ••連結件 331" •…套孔 332.. •…内螺紋段 333" •…穿孔 334·· •…組接片 34···· ••墊片 34，· .....螺帽 35…· ••旋翼 351" •…穿孔 352.· …‘主旋翼 353·· •…尾旋翼 354- •…左S1]翼 355" •…右副翼 ~ 40···· ••控制系統 4l·… ••供電器 — 42···· ••接收器 421- •…控制開關 43···· ••感應器 44···· ••混控器 45···· ••速控器 46···· ••遙控器 461- …·油門/副翼控制桿 462" •…方向舵/升降舵控制桿 463·. •…節流閥微調桿 464" …·副翼微調桿 465·· …··方向舵微調閥 466" …·升降舵微調桿 121363023 IX. Description of the Invention: [Technical Field] The present invention relates to a four-rotor unmanned aerial vehicle control system, which is provided on a periphery of a pedestal equidistant ring and each of which is controlled by a transmission device, and A control system with a wireless receiver, three sensors, two mixers and a four-speed controller is arranged inside the base to cooperate with a remote controller of a wireless transmitter to drive the four transmissions to form a four-rotor unmanned flight. The vehicle, in turn, uses the rotational speed and differential speed of the transmission to control each rotor, so that the flying vehicle can smoothly fly in the air and perform steering, forward or fixed-point rotation in the air. [Prior Art] With the advancement of technology, humans The technology of large-scale aircraft development has matured, so many scholars turned to the development of micro-unmanned vehicles, and the most interesting ones are micro-aircraft (micro-aircraft) and in recent years. Vehicles, micro-aircraft and unmanned vehicles are interesting because of their military use, including investigations, raids, etc. It is of great research value for many tasks such as searching for people in the mountains. However, most of the unmanned aircraft currently being developed are mainly designed by helicopters (such as Taiwan Announcement No. M333220, P33222, M332509), so that they can be rotated around the air and in the air. The line is still affected by the tail of the machine and must be precisely controlled by the flight space for smooth operation, which makes the use more limited and inconvenient. In view of the above, the invention A is continuously experimenting with process methods and products in the spirit of creation, thinking and process and installation methods, and through many trials and years of experience, there is an improvement in the present invention. Further, 1363023, the present invention is provided. SUMMARY OF THE INVENTION The main object of the present invention is to provide a four-rotor unmanned aerial vehicle control system, which is provided on a periphery of a pedestal equidistant ring and has four rotors controlled by a transmission device, and is disposed inside the pedestal. A wireless receiver, three sensors, two mixers and a four-speed controller control system cooperate with a wireless transmitter remote controller to drive the four transmissions to form a four-rotor unmanned aerial vehicle, thereby utilizing The speed and differential of the transmission control each rotor so that the flying vehicle can fly in the air and steer, advance or rotate in the air. A secondary object of the present invention is to provide a four-rotor unmanned aerial vehicle control system that utilizes a torque direction generated by rotation of a four-rotor to be opposite to a torque generated by a motor of a transmission device, and which can cancel each other when the motor rotates The inertia generated does not require an additional configuration of the anti-torque device to meet economic benefits. Another object of the present invention is to provide a four-rotor unmanned aerial vehicle control tether that uses two quadruple wings to form two clockwise rotating main and left ailerons and two Rotating the tail rotor and the right aileron counterclockwise, so that the shouting wing does not need the speed and size of (4), only the torque generated by the positive and reverse rotors is the same and the opposite direction, so that the motor of the quadrotor can be made. For the same speed, the motor only makes the thrust: 'The two forward rotors and the two reverse rotors have different speeds: right 2: as a steering use', so that the flight can be moved vertically or vertically. Read the mobile flight to achieve a more flexible 1363023 flight action without restrictions. [Embodiment] The following is a detailed description of the preferred embodiment of the present invention. For example, the first figure is a perspective view of the creation (please refer to the second and third figures at the same time). 〇〇) The outer equidistant ring is provided with four sets of nozzles (11) each for a tubular strut (12), and the end of the strut (12) is provided with a positioning hole (121) and a set of sockets penetrating the upper and lower sides. (2〇) cooperate with one sleeve (21) on one side of the socket (2〇) to be sleeved with the strut (12) and a sleeve hole opposite to the positioning hole® (121) (22 A struts (23) are fixedly disposed, and the other side is provided with a tubular accommodating area (24) for setting a set of transmissions (30), the accommodating area (24) and the casing (21) The holes are connected to each other, and an elastic beam hole (.25) communicating with the inside is laterally opened on one side of the sleeve (21), and a perforation (261) clip is symmetrically disposed on both sides of the elastic beam hole (25). 26) The assembly of the screw and nut (27) is locked so that the clip (26) and the elastic beam hole (25) can be locked by the assembly (27) to generate a relative clamping force. Tube (21) and strut (12) The combination is more stable and not loose, and each of the struts 〇 2) is provided with a struts (28) which are abutted against the pedestal (10), and a flexible element of nylon thread is provided. (29) is fixed to each of the pillars (23) at equal distances, so that the stays (12) can be restrained by the support rods (28) and the flexible members (29) without being affected by external forces. The transmission device (30) is provided with a power source for the motor (31), which is fixed to the accommodating area (24), and the motor (31) is provided with a smaller diameter toothed driving wheel (311) and a The toothed passive rim of the larger diameter meshes to form a reduction gear motor. The actuating rod (32) of the externally threaded section (321) is protruded from the center of the driven wheel (312), and a center sleeve is provided. The connection of the hole (331) and the notification piece (33) are sleeved on the actuating rod (32), so that the actuating rod (32) protrudes outside the sleeve hole ^31) and is disposed at the bottom end of the sleeve hole (331). The threaded section (332, which can be embedded in the inner 4) is locked and fixed to the externally threaded section (321), and a spacer (34) and a nut (34') are sequentially disposed on the actuating rod. (32) and the lock is forced to connect = 33) The surface of the surface of the joint member (33) is symmetrically integrated with a pair of right-perforated perforations (333) and a plurality of tabs (334) each having a plurality of perforations (351) (belonging to the inner concave wing) is locked to form a main rotor (352), a tail rotor (353), a left aileron (354), and a right aileron (355) four rotors (35) where the main rotor ( 352) and the tail rotor (353) are diagonally arranged and rotate counterclockwise. The left aileron (354) and the right aileron (355) are diagonally arranged and rotate clockwise 'and on the base (1) 〇) A control system (4〇) is installed inside, so that the line of the control system (40) can be wound by the internal extension socket (丨丨) and the strut (12) to the accommodating area (24) and the transmission device (3) 〇) phase-on, the control system (40 'please refer to the fourth and fifth figures at the same time) to set up a power supply (41) for the lithium poly charging battery and a wireless receiver with a control switch (421) ( 42), three sensors for detecting angular velocity (43), two mixers (44) and four speed controllers (45) cooperate to independently control the operation of the four-transmission device (3〇), and set one for wireless _ hair The remote controller (46, please refer to the sixth figure at the same time) to generate a control loop by transmitting a command to the wireless receiver (42), wherein the receiver (42) is equipped with a transmitting crystal of the transmitting crystal and the remote controller (46). In response, the remote control (46) can be commanded to control the flight attitude of the vehicle, the sensor (43) is connected to the receiver (42) and can be highly sensitive to the gyroscope. An angular velocity sensor, when the sensor senses an external force to produce an angular yaw, the internal circuit will adjust the speed of the tail rotor (353) to correct the effect of the offset to maintain the stable flight of the vehicle. The mixer (44) is connected to the two inductors (43) and the second speed controller (45), and the other mixer (44) is 8 1363023 and the receiver C42), the inductor (43) and the second speed. The controller (45) is connected to the speed. (4) (= Mainly controls the speed of the motor (8) of the transmission (10), and uses the power-off device of the speed controller (45) itself to detect the supply of the power supply (41). When the current of the motor (31) is too large, the power is turned off to automatically stop the motor (31). The motor (31) burns out and the protection motor (31) has the advantage of prolonging the service life. The throttle and aileron of the remote controller (46) are mixed and provided with a throttle/aileron control lever (10), and The direction and lift are set to be mixed and a rudder/elevator lever (462) is provided to convey commands to the control-system (40) selection command to drive the four transmissions (30) to operate, and is provided with a section #流The valve fine adjustment lever (463), the aileron fine adjustment lever (464), the directional fine adjustment 阙 (465), and the elevator fine adjustment lever (466) cooperate with the internal circuit setting and the gyro compensation setting of the inductor (43) to adjust the four transmissions. The motor (31) of the device (3〇) can reach the same speed at the same time. When it wants to fly (as shown in Figure 7), it first switches the control switch (421) of the receiver (42) to (10), so that the control system (4〇) and each transmission (30) and the power supply ( 41) The conduction is maintained, and when the receiver (42) receives the signal transmitted by the throttle/Aileron control lever (461) of the remote controller (46) or the rudder/elevator rudder control lever (462), the receiver ( 42) The signal (ie, current, size) is transmitted to the speed controller (45), and the speed controller (45) independently drives the motor of each transmission (3〇) according to the signal (ie, the size of the battery). 31), the driving wheel (311) can drive the driven wheel (312), the actuating rod (32), the connecting member (33) and the four-rotor (35) to rotate synchronously, and the speed of the motor (31) and the differential speed Control the main rotor (352), the tail rotor (35.3), the left aileron (354), and the right aileron (355). When the throttle/Aileron lever (461) of the remote control (46) is pushed up or down At the same time, the four rotors (35) will operate at the same time to produce an acceleration upward acceleration or a slow deceleration to control the vertical movement of the flight vehicle; when 9 remote control When the throttle/Aileron control lever (10) is pushed up to the left or right, it will cause the left and right rotors (35, the main rotor 352 or the left aileron 354 to increase or decrease in speed, and the spears j The side motor (3)) rotates to control the flying motion of the flying vehicle; #方向(46) direction snake/lifting (four) front (to the left or to the material, will make the left and right rotors (35 The rotation speed of the main rotor 352 and the left aileron 354) is simultaneously increased or decreased simultaneously while the other two rotors (35, the tail rotor 353 and the right aileron 355) maintain a fixed rotational speed, thereby controlling the flight load. With a flying action that can be rotated left and right in the air; when the rudder/elevator lever (462) of the remote control (46) is pushed up or down, it will make one of the front and rear rotors (35, the tail rotor) 353 or right aileron 355) increase or decrease the rotational speed, and use the difference of the rotational speed of the motor (31) on the front and rear sides to control the flight movement of the flight vehicle before and after the flight, so that the flight vehicle can be controlled by the remote controller (46) Smoothly flying in the air and turning, advancing or fixed in the air In this way, the direction of the torsion generated when the four-rotor (35) is rotated is opposite to the direction of the torsion generated by the motor (31), and the inertia generated by the rotation of the motor (31) can be canceled each other, thereby eliminating the need for additional configuration. Anti-torque device, and the four-rotor (35) does not need the same speed and size. Only the torque generated by the four-rotor (35) is the same and the opposite direction, so that the main rotor (352) and the left aileron can be made. (354) When the motor (31) of the tail rotor (353) and the right aileron (355) is at the same speed, the motor (31) is used only for thrust, when the two main rotors (352) and the left aileron (354) When the motors (31) of the two tail rotors (353) and the right ailerons (355) are at different speeds, the motor (31) is used as a steering, and the mixer before the speed controller (45) is used (44). To control the steering of the quadrotor (35) in the air, and when the flight vehicle is flying and steering in the air, the sensor (43) is interposed between the receiver (42) and the mixer (44) Pb. The function of measuring the angular velocity can balance the crash rate of each motor (31) to avoid the relative speed of each fly (differential speed). . I is able to fly in the air and stabilize the steering, thereby reducing the air and other functions, so that the aircraft can be used in conjunction with the micro-(four) camera or satellite positioning _ to the unmanned use. And this is the use of Yu Ming = # on the use of nature and progress, please ask for the provisions of the two articles, 提出 legally filed a patent application for the invention, the mother member of the franchise patent for the prayer. The present invention is not limited to the preferred embodiment of the present invention, and the scope of the invention is to be construed as being within the scope of the invention; It is still a patent of the present invention [Simplified description of the drawings] The first figure is a perspective view of the present invention. The second figure is an exploded perspective view of the transmission device of the present invention. Second figure: is a perspective exploded view of the control system of the present invention. Figure 4 is a block diagram of the control system of the present invention. The fifth figure is the second diagram of the control system of the present invention. Figure 6 is a plan view of the remote controller of the present invention. Figure 7 is a schematic diagram of the flight state of the present invention. 11... Socket pipe [Main component symbol description] 10... pedestal 1363023 12...·•• struts 121" • Locating holes - 20···· •• Sockets 21···· • Casing 22···· •• Set hole 23···· •• Pillar 24....••谷置 £25····••Elastic beam hole 26...·•• Clip 261“•...Perforation 27·· ··••Component 28....••支干29····••Flexible component 30····••Transmission device 31····••Motor 311- •...Drive wheel 312" Moving wheel 32···· •• Actuating rod • 321.. •... external thread section 33···· •• Connecting piece 331" •...sleeve hole 332.. •...internal thread section 333" •...perforation 334·· •...Group tabs 34····••shims 34,·.....nuts 35...·••Rotors 351" •...Perforations 352.·...'Main rotors 353·· •...Tail rotors 354 - •...Left S1]Wings 355" •...Right Ailerons ~ 40····••Control System 4l·... ••Power Supply — 42····•• Receiver 421- •...Control Switch 43·· ·· ••sense器器44···· •• Mixer 45···· ••Speed controller 46···· •• Remote control 461- ...·Throttle/Aileron lever 462" •... Rudder/Elevator lever 463·. •...Throttle trimmer lever 464" ....Aileron trimmer lever 465····Steer trimmer valve 466" ...·Elevator trim lever 12