A flying apparatus includes an airframe and a plurality of rotors attached to the airframe. The plurality of rotors include a main rotor and a sub-rotor. The airframe includes a main body assembly and an arm which extends from the main body assembly and to which the sub-rotor is attached at a distal end portion thereof. The main body assembly includes a framed main body on which a driver to drive the main rotor is mounted, and a projecting frame which projects from the framed main body and to which the main rotor is attached. A proximal end of the arm is connected to the projecting frames of the main body assembly.

An airframe structure and an unmanned aerial vehicle thereof is disclosed, which belongs to the technical field of the unmanned aerial vehicle. The airframe structure includes: a main airframe; at least two main wings, which are symmetrically provided on the two sides of the main airframe, and which are provided with a propeller and a motor to provide power to the propeller; an upper vertical tail wing, which is provided at the upper end of the main airframe; and a lower vertical tail wing, which is provided at the lower end of the main airframe. The characteristics of a fixed-wing unmanned aerial vehicle and a multi-rotor-wing unmanned aerial vehicle are considered. Turbulence and disturbance generated by the propeller of the main wing of the unmanned aerial vehicle can be avoided when the unmanned aerial vehicle is transformed from a vertical flight state to a horizontal flight state.

An airframe structure and an unmanned aerial vehicle thereof is disclosed, which belongs to the technical field of the unmanned aerial vehicle. The airframe structure includes: a main airframe; at least two main wings, which are symmetrically provided on the two sides of the main airframe, and which are provided with a propeller and a motor to provide power to the propeller; an upper vertical tail wing, which is provided at the upper end of the main airframe; and a lower vertical tail wing, which is provided at the lower end of the main airframe. The characteristics of a fixed-wing unmanned aerial vehicle and a multi-rotor-wing unmanned aerial vehicle are considered. Turbulence and disturbance generated by the propeller of the main wing of the unmanned aerial vehicle can be avoided when the unmanned aerial vehicle is transformed from a vertical flight state to a horizontal flight state.

A drone having a fuselage in which a battery is mounted and a forward direction is set in an x-axis. A plurality of rotors disposed about the fuselage in four or more, each rotational axis of which is aligned in a z-axis direction. An x-axis tilting mechanism formed to tilt the plurality of rotors about an axis parallel to the x-axis. A y-axis tilting mechanism formed to tilt the plurality of rotors about an axis parallel to the y-axis. A first drive motor drives the y-axis tilting mechanism unit. A second drive motor drives the x-axis tilting mechanism unit. A control unit configured to implement a plurality of flight modes by controlling the first, second, third rotor and fourth rotors, the first and second drive motors, and a wing part installed on an upper portion of the fuselage and formed as an air foil to provide lift.

A drone having a fuselage in which a battery is mounted and a forward direction is set in an x-axis. A plurality of rotors disposed about the fuselage in four or more, each rotational axis of which is aligned in a z-axis direction. An x-axis tilting mechanism formed to tilt the plurality of rotors about an axis parallel to the x-axis. A y-axis tilting mechanism formed to tilt the plurality of rotors about an axis parallel to the y-axis. A first drive motor drives the y-axis tilting mechanism unit. A second drive motor drives the x-axis tilting mechanism unit. A control unit configured to implement a plurality of flight modes by controlling the first, second, third rotor and fourth rotors, the first and second drive motors, and a wing part installed on an upper portion of the fuselage and formed as an air foil to provide lift.

An airframe structure and an unmanned aerial vehicle thereof is disclosed, which belongs to the technical field of the unmanned aerial vehicle. The airframe structure includes: a main airframe; at least two main wings, which are symmetrically provided on the two sides of the main airframe, and which are provided with a propeller and a motor to provide power to the propeller; an upper vertical tail wing, which is provided at the upper end of the main airframe; and a lower vertical tail wing, which is provided at the lower end of the main airframe. The characteristics of a fixed-wing unmanned aerial vehicle and a multi-rotor-wing unmanned aerial vehicle are considered.

An airframe structure and an unmanned aerial vehicle thereof is disclosed, which belongs to the technical field of the unmanned aerial vehicle. The airframe structure includes: a main airframe; at least two main wings, which are symmetrically provided on the two sides of the main airframe, and which are provided with a propeller and a motor to provide power to the propeller; an upper vertical tail wing, which is provided at the upper end of the main airframe; and a lower vertical tail wing, which is provided at the lower end of the main airframe. The characteristics of a fixed-wing unmanned aerial vehicle and a multi-rotor-wing unmanned aerial vehicle are considered.

A 3D-printing unmanned aerial vehicle (UAV) and method of printing a 3D model using the UAV includes a parallel kinematic machine (PKM) mounted on the bottom of a central body of the UAV. The PKM includes a base platform, a moving platform, and a plurality of link members connecting the moving platform to the base platform. The link members are arranged parallel to each other. Printing nozzles are mounted on the moving platform. A control system is provided for controlling the movement of the moving platform for the printing nozzles to deposit material to print a 3D structure at a target area according to a 3D model.