CN105980250B - Undercarriage and the unmanned vehicle for using the undercarriage - Google Patents

Undercarriage and the unmanned vehicle for using the undercarriage Download PDF

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Publication number
CN105980250B
CN105980250B CN201580004257.7A CN201580004257A CN105980250B CN 105980250 B CN105980250 B CN 105980250B CN 201580004257 A CN201580004257 A CN 201580004257A CN 105980250 B CN105980250 B CN 105980250B
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CN
China
Prior art keywords
support
undercarriage
mounting base
unmanned vehicle
ontology
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Application number
CN201580004257.7A
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Chinese (zh)
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CN105980250A (en
Inventor
张永生
陈星元
肖文龙
李宏举
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Dajiang Innovations Technology Co Ltd
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Shenzhen Dajiang Innovations Technology Co Ltd
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Publication date
Application filed by Shenzhen Dajiang Innovations Technology Co Ltd filed Critical Shenzhen Dajiang Innovations Technology Co Ltd
Priority to PCT/CN2015/078952 priority Critical patent/WO2016179827A1/en
Publication of CN105980250A publication Critical patent/CN105980250A/en
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Publication of CN105980250B publication Critical patent/CN105980250B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C25/00Alighting gear
    • B64C25/32Alighting gear characterised by the ground or like engaging elements
    • B64C25/58Arrangements or adaptations of shock-absorbers or springs
    • B64C25/60Oleo legs

Abstract

A kind of unmanned vehicle comprising fuselage and undercarriage, the undercarriage include support leg.The support leg includes that the support element being set on the fuselage and the buffer for buffering the impact that the undercarriage is subject to when the unmanned vehicle lands, the support element are equipped with the mounting portion for installing the buffer.The buffer is set to the one end of the support element far from the fuselage.The undercarriage of above-mentioned unmanned vehicle, the buffering effect when unmanned vehicle lands are preferable.

Description

Undercarriage and the unmanned vehicle for using the undercarriage
Technical field
The present invention relates to the unmanned vehicles of a kind of undercarriage and the use undercarriage.
Background technology
The undercarriage that unmanned vehicle generally comprises fuselage and is installed on the fuselage, the undercarriage include at least Two support legs.To mitigate the weight of the unmanned vehicle entirety, and ensure stabilization of the unmanned vehicle in flight Property, the support leg are generally multiple supporting rods and are rigidly connected to each other, and the supporting rod is connected on the fuselage, as Support when the unmanned vehicle landing.However, the rigidity of the support leg is larger, when the unmanned vehicle lands, Its cushioning effect is limited.
Invention content
In view of the foregoing, it is necessary to a kind of relatively good undercarriage of buffering effect be provided, and use the undercarriage Unmanned vehicle.
A kind of undercarriage is applied in unmanned vehicle, and the undercarriage includes support leg.The support leg includes support The buffer for the impact that part and for buffering unmanned vehicle landing when undercarriage are subject to is set on the support element It is useful for that the mounting portion of the buffer is installed.
Further, the buffer is hydraulic damper or air damper.
Further, described support element one end is connecting pin, and other end is landing end, and the mounting portion is set to described The landing end of support element.
Further, be provided with interconnecting piece on the connecting pin of the support element, the interconnecting piece be used for it is described nobody fly The horn of row device is detachably connected.
Further, the support leg further includes the mounting base of the horn for connecting the unmanned vehicle, the company Socket part is removably attachable in the mounting base.
Further, internal thread, the interconnecting piece and institute are provided on one in the interconnecting piece and the mounting base It states and is provided with and the matched external screw thread of the internal thread, the internal thread and the external screw thread phase on another in mounting base It is screwed together;
Alternatively, be provided with elastic clamping hook on one in the interconnecting piece and the mounting base, the interconnecting piece and described Be provided on another in mounting base with the matched card slot of the elastic clamping hook, the elastic clamping hook and the card slot are mutual Clamping connects.
Further, the support leg further includes reinforcing member, and described reinforcing member one end is set in the mounting base, another End is connected on the support element;The mounting base, the reinforcing member and the support element are in the structure of Tripod.
Further, the reinforcing member includes the installation end being set in the mounting base, and is set to the installation The support portion for holding and extending to the support element and being connected on the support element.
Further, the installation end is connected to by a fastener in the mounting base, and the installation end can be around institute Fastener rotation is stated to drive the support portion to be rotated relative to the mounting base.
Further, the reinforcing member further include be set on the support portion and with the clamping of the support element phase clamping Portion.
Further, holding hole is provided on the holding section, the holding section is sheathed on described by the holding hole On support element.
Further, the support leg further includes the locating part being set on the support element, the locating part with it is described Mounting base offsets.
Further, the locating part includes the fixed sleeved part being set on the support element and is set to the set If the limiting section in portion, the limiting section offsets with the mounting base.
Further, the buffer includes the ontology being set on the support element and is movably housed in described Movable part in ontology, the movable part connect with the ontology piston and partly protrude out the ontology and the support element Outside.
Further, the ontology is contained in the support element, and the buffer further includes being set on the ontology Positioning region, the positioning region is held in the end of the support element;
And/or dynamic clamping head and quiet clamping head is provided in the ontology, described dynamic clamping head and quiet clamping head one end is connected on the ontology, The other end is connected on the movable part.
Further, the support leg further includes guard member, and the guard member is sheathed on the support element and is coated on Outside the movable part.
Further, the guard member is protective case made of rubber material.
Further, the support leg is obliquely installed relative to vertical direction.
Further, the support element is more than or equal to degree with angle formed by vertical direction and is less than or equal to degree.
A kind of unmanned vehicle comprising fuselage and any one of them undercarriage as above, the support element are set to institute It states on fuselage, the buffer is set to the one end of the support element far from the fuselage.
Further, the unmanned vehicle further includes the horn being set on the fuselage and is set to the horn On power plant, the power plant for the unmanned vehicle providing flying power.
Further, the power plant is obliquely installed relative to vertical direction;
And/or the support element is fixedly connected with the horn, or be rotatably connected.
Further, the power plant includes the actuator being set on the horn and is connected on the actuator Propeller, the actuator is driving the propeller rotational.
Further, the power plant is correspondingly arranged with the support element.
Above-mentioned unmanned vehicle, undercarriage are equipped with buffer, and the buffer is located at the bottom of the support leg, works as institute When stating unmanned vehicle landing, the buffer receives the impact force for coming from ground first, keeps the movable part relatively described Ontology slides, and then plays the role of damping energy-absorbing, and buffering effect is relatively preferable, reduce drop impact to it is described nobody fly Damage caused by row device entirety.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram of unmanned vehicle in an embodiment of the present invention.
Fig. 2 is the enlarged diagram of the region II of unmanned vehicle shown in Fig. 1.
Fig. 3 is the part-structure decomposition diagram of unmanned vehicle shown in Fig. 2.
Main element symbol description
Following specific implementation mode will be further illustrated the present invention in conjunction with above-mentioned attached drawing.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component Or there may also be components placed in the middle.When a component is considered as " connection " another component, it can be directly connected to To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it Can be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical ", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases Any and all combinations of the Listed Items of pass.
Referring to Fig. 1, the unmanned vehicle 100 of an embodiment of the present invention comprising body 20 and be set to described Power plant 40 on body 20 and undercarriage 60.The power plant 40 is used to provide the flight of the unmanned vehicle 100 Power, the undercarriage 60 are set to 20 bottom of the body, buffering and branch when landing as the unmanned vehicle 100 Support.
The body 20 includes fuselage 22 and the horn 24 being set on the fuselage 22.It is provided in the fuselage 22 Automatically controlled module for controlling the power plant 40.The horn 24 is for carrying the power plant 40.
In the present embodiment, the quantity of the horn 24 is four, and four horns 24 are set around the fuselage 22 It sets, and the direction for facing away from the fuselage 22 extends.
In the present embodiment, the quantity of the power plant 40 is four, and each power plant 40 is set to one The end of a horn 24.The power plant 40 includes the actuator 42 being set on the horn 24 and is set to described Propeller 44 on actuator 42, the actuator 42 can drive 44 turns of the propeller under the control of the automatically controlled module It is dynamic, to drive the unmanned vehicle 100 to fly.The actuator 42 can be that the rotations such as brush motor, brushless motor are driven Moving part, to drive the propeller 44 to rotate.
Please refer to Fig. 2 and Fig. 3, the undercarriage 60 is set on the horn 24, and is located at 24 phase of the horn To the side far from the power plant 40.In the present embodiment, the undercarriage 60 includes four support legs 61, Mei Gezhi Spike 61 is arranged on a horn 24.Support leg 61 includes the mounting base 62 being set on the horn 24, is set to Support element 64 in the mounting base 62 and the buffer 66 and guard member 68 being set on the support element 64.
The mounting base 62 is fixedly sheathed on the end of the horn 24, is used to install the power plant 40 and institute State support element 64.The actuator 42 of the power plant 40 is installed in the side of the mounting base 62.The mounting base 62 On be formed with internal thread (not shown), the internal thread with the support element 64 being connected.
The support element 64 is installed in the side that the mounting base 62 deviates from the power plant 40.In present embodiment In, the support element 64 is in substantially hollow rod-shaped, is approximately perpendicular to the setting of the horn 24.The both ends of the support element 64 point Not Wei connecting pin and landing end, the connecting pin is connected on the horn 24, and the landing end is arranged far from the horn 24. Interconnecting piece 641 is provided on the connecting pin of the support element 64, the interconnecting piece 641 with the mounting base 62 for being connected. It is formed with external screw thread on the interconnecting piece 641, is inserted in the mounting base 62, and passes through the external screw thread and the installation Seat 62 is removably attachable to together.Mounting portion 643 is provided on the landing end of the support element 64, the mounting portion 643 is used In installing the buffer 66.
In the illustrated embodiment, the horn 24 is horizontally disposed, is 0 degree with angle formed by horizontal direction;Institute Support element 64 is stated to be obliquely installed relative to vertical direction, it is in a certain angle with vertical direction, so that multiple support legs 61 It forms an angle to the holding power and ground of the body 20, the support of the support leg 61 is more firm.Specifically, the branch Support member 64 is more than or equal to 1 degree with angle formed by vertical direction and is less than or equal to 5 degree.Preferably, the support element 64 with it is vertical The angle that direction shortens into is 3 degree.
Finite place piece 65 is arranged in the neighbouring interconnecting piece 641 on the support element 64, and the locating part 65 is for limiting institute State the installation site of the mounting base 62 relatively of support element 64.The locating part 65 includes sleeved part 651 and is set to described Limiting section 653 in sleeved part 651.
Generally cylindrical, its of the sleeved part 651 is sheathed on the support element 64, and is located at the interconnecting piece 641 Side far from the mounting base 62.In the present embodiment, the sleeved part 651 passes through interference fit and the support element 64 It is connected together with being relatively fixed.The limiting section 653 is formed in the sleeved part 651 close to one end of the mounting base 62, It is substantially in flange shape.After the support element 64 is screwed together in by the interconnecting piece 641 in the mounting base 62, the limit Portion 653 is held in the mounting base 62, to limit the installation site of the mounting base 62 relatively of the support element 64.
The buffer 66 is arranged on the mounting portion 643 of the support element 64, and is partly contained in the branch In support member 64.In the present embodiment, the buffer 66 is hydraulic damper, is used to buffer external force to the unmanned flight Impact caused by 100 entirety of device.The buffer 66 includes ontology 661 and the positioning region 663 being set on the ontology 661 With movable part 665.It is appreciated that the buffer 66 can also be air-pressure damping device or gas-liquid mixed damper etc..
The ontology 661 is fixedly contained in the support element 64.661 generally hollow structure of the ontology, in Filled with damping fluid.The positioning region 663 is set to one end of the ontology 661, and is held in the end of the support element 64. The positioning region 663 is for limiting installation position of the buffer 66 relative to the support element 64.
In the present embodiment, the movable part 665 is piston rod.One end of the movable part 665 slideably plugs It is connect in the ontology 661, and with the internal piston of the ontology 661.The other end of the movable part 665 protrudes out described Except ontology 661.When one or two of the movable part 665 and the ontology 661 are by an external impacts, the work Dynamic portion 665 can the relatively described ontology 661 slide, the change of the two relative position can absorb the impact that the external force is brought, To play cushioning effect when 61 entirety of the support leg is by external impacts.Further, it is also set up in the ontology 661 The return units such as flexible body, described return unit one end are connected on the ontology, and the other end is connected on the movable part 665; After the external force cancels, under the action of the return unit, the movable part 665 is returned to initial position.
The guard member 68 is set to the end of the support element 64, and is coated on except the movable part 665.The guarantor Guard 68, as the barrier of the buffer 66, is protected described slow for buffering the external impacts that the support leg 61 is subject to It rushes device 66 not polluted or corroded by external environment, to extend the service life of the buffer 66.
In the present embodiment, the guard member 68 is protective case made of rubber and/or silica gel material, is set in institute It states on movable part 665, and is fixedly sheathed on the end of the support element 64.When the unmanned vehicle 100 drops to ground When upper, the support leg 61 is compressed by ground by the impact force for coming from ground, the guard member 68 and elasticity occurs Deformation makes the relatively described ontology 661 of the movable part 665 slide, and then play damping suction to oppress the movable part 665 The effect of energy.
Reinforcing member 69 is additionally provided in the mounting base 62 and the support element 64, the reinforcing member 69 is described for reinforcing The overall structure of support leg 61.The reinforcing member 69 protects installation end 691, the support portion 693 being set on the installation end 691 And it is set to the holding section 695 on the support portion 693.
The installation end 691 is fixedly installed in the mounting base 62, and (is please referred to by the fasteners such as screw 6911 Fig. 2) it is connect with the mounting base 62.The fastener 6911 is set on the installation end 691 close to the support element 64 Side.The installation end 691 under external force, can turn an angle, to use around the axis of the fastener 6911 Family can adjust the installation position of the reinforcing member 69.
The support portion 693 is formed in the installation end 691 close to the side of the support element 64, and towards the support Part 64 extends, and is arranged in predetermined angle with the support element 64.
The holding section 695 is formed in the support portion 693 close to one end of the support element 64, and is arranged and is fastened in On the support element 64.Specifically in the illustrated embodiment, holding hole 6951, the clamping are formed on the holding section 695 Hole 6951 is incomplete circular hole, and the holding section 695 is enable to be sheathed on the support element 64 by the holding hole 6951 On, alternatively, the support element 64 is enable to be screwed with the mounting base 62 across the holding hole 6951, the holding section 695 simultaneously can play the guiding role to the installation of the support element 64.The mounting base 62, the support element 64 and the reinforcing Substantially it is in the connection structure of Tripod between 69 three of part, makes the overall structure of the support leg 61 is firm to be unlikely to deform or move Position.
When the installation end 691 under external force around the axis minor rotation of the fastener 6911 when, the support Portion 693 can drive the holding section 695 to rotate predetermined angular relative to the mounting base 62, so that the holding section 695 can It is fastened on the support element 64.Even if there are certain rigging errors between each part of the support leg 61, can also lead to It crosses and rotates the reinforcing member 69 to adjust the assembly relation between the reinforcing member 69 and the support element 64, make the undercarriage 60 are easier to assemble.
Above-mentioned unmanned vehicle 100, undercarriage 60 are equipped with buffer 66, and the buffer 66 is located at the support leg 61 Bottom, when the unmanned vehicle 100 lands, the buffer 66 receives the impact force for coming from ground first, makes institute It states the relatively described ontology 661 of movable part 665 to slide, and then plays the role of damping energy-absorbing, buffering effect is relatively preferable, reduces Drop impact is damaged caused by 100 entirety of the unmanned vehicle.
It is removably attachable to together, make described with the mounting base 62 in addition, the support element 64 is connected through a screw thread Undercarriage 60 is convenient for assembly and disassembly.
It is appreciated that the quantity of the horn 24 can be one or more, for example, two, three, six etc..Together Sample, the quantity of the power plant 40 may be one or more.
It is appreciated that the buffer 66 can be installed in the other positions on the support element 64.For example, the buffering Device 66 can be arranged between the mounting base 62 and the support element 64.Specifically, the mounting base 62 and the ontology 661 And one in the movable part 665 is fixedly connected, the support element 64 in the ontology 661 and the movable part 665 Another connection, and be screwed with another in the ontology 661 and the movable part 665 by the interconnecting piece 641.Again Such as, the support element 64 can be designed as tool there are two the supporting rod of consecutive support portion, and one of support portion is installed in In the mounting base 62, another support portion is connected to by the buffer 66 on one support portion.
It is appreciated that the connection type between the support element 64 and the mounting base 62 be not limited to it is as described above Other mechanical connection manners may be used in connection type.For example, internal thread is formed on the interconnecting piece 641, the installation The internal thread, which is corresponded to, on seat 62 is formed with male threaded joint;The internal thread is screwed with the male threaded joint, with The support element 64 and the mounting base 62 are fixedly installed in together.For another example, it is formed with engaging on the interconnecting piece 641 Portion corresponds to the holding section in the mounting base 62 and is formed with auxiliary section, and one in the holding section and the auxiliary section is Elastic clamping hook, another is card slot;The mutual clamping cooperation in the holding section and the auxiliary section, by the support element 64 and institute Mounting base 62 is stated fixedly to be installed in together.
It is appreciated that the mounting base 62 can be omitted, and directly the support element 64 is installed on the horn 24, The both ends of the reinforcing member 69 are connected on the horn 24 and the support element 64;Wherein, the support element 64 can To be fixedly connected or be rotatably connected with the horn 24.
Embodiment of above is merely illustrative of the technical solution of the present invention and unrestricted, although with reference to embodiment of above pair The present invention is described in detail, it will be understood by those of ordinary skill in the art that, technical scheme of the present invention can be carried out Modification or equivalent replacement should not all be detached from the spirit and scope of technical solution of the present invention.

Claims (21)

1. a kind of undercarriage is applied in unmanned vehicle, the undercarriage includes support leg;It is characterized in that:The support Foot includes the buffer for the impact that support element and for buffering unmanned vehicle landing when undercarriage are subject to, described Support element is equipped with the mounting portion for installing the buffer;
The wherein described support leg further includes the mounting base of the horn for connecting the unmanned vehicle, and the mounting base is for filling If the support element;
The wherein described support leg further includes reinforcing member, and the reinforcing member is arranged in the mounting base and the support element, described Reinforcing member is used to reinforce the overall structure of the support leg;
The wherein described reinforcing member includes the installation end being set in the mounting base, and is set to the installation end and to described The support portion that support element extends and is connected on the support element;
The wherein described installation end is connected to by a fastener in the mounting base, and the installation end can turn around the fastener It moves to drive the support portion to be rotated relative to the mounting base.
2. undercarriage as described in claim 1, it is characterised in that:The buffer is hydraulic damper or air damper.
3. undercarriage as described in claim 1, it is characterised in that:Described support element one end is connecting pin, and other end is Lu Duan, the mounting portion are set to the landing end of the support element.
4. undercarriage as claimed in claim 3, it is characterised in that:Interconnecting piece, institute are provided on the connecting pin of the support element Interconnecting piece is stated for detachably connected with the mounting base of the unmanned vehicle.
5. undercarriage as claimed in claim 4, it is characterised in that:A upper setting in the interconnecting piece and the mounting base Have internal thread, be provided on another in the interconnecting piece and the mounting base with the matched external screw thread of the internal thread, The internal thread is screwed with the external screw thread and connect;
Alternatively, being provided with elastic clamping hook, the interconnecting piece and the installation on one in the interconnecting piece and the mounting base It is provided on another in seat and the matched card slot of the elastic clamping hook, the elastic clamping hook and the mutual clamping of the card slot Connection.
6. undercarriage as claimed in claim 4, it is characterised in that:Described reinforcing member one end is set in the mounting base, separately One end is connected on the support element;The mounting base, the reinforcing member and the support element are in the structure of Tripod.
7. undercarriage as described in claim 1, it is characterised in that:The reinforcing member further includes being set on the support portion simultaneously With the holding section of the support element phase clamping.
8. undercarriage as claimed in claim 7, it is characterised in that:Holding hole, the holding section are provided on the holding section It is sheathed on the support element by the holding hole.
9. undercarriage as claimed in claim 4, it is characterised in that:The support leg further includes being set on the support element Locating part, the locating part offset with the mounting base.
10. undercarriage as claimed in claim 9, it is characterised in that:The locating part includes that fixation is set in the support element On sleeved part and the limiting section that is set in the sleeved part, the limiting section offset with the mounting base.
11. undercarriage as described in claim 1, it is characterised in that:The buffer includes being set on the support element Ontology and the movable part being movably housed in the ontology, the movable part are connect and partly with the ontology piston It protrudes out outside the ontology and the support element.
12. undercarriage as claimed in claim 11, it is characterised in that:The ontology is contained in the support element, described slow It further includes the positioning region being set on the ontology to rush device, and the positioning region is held in the end of the support element;
And/or dynamic clamping head and quiet clamping head is provided in the ontology, described dynamic clamping head and quiet clamping head one end is connected on the ontology, another End is connected on the movable part.
13. undercarriage as claimed in claim 11, it is characterised in that:The support leg further includes guard member, the guard member It is sheathed on the support element and is coated on outside the movable part.
14. undercarriage as claimed in claim 13, it is characterised in that:The guard member is protective case made of rubber material.
15. the undercarriage as described in any one of claim 1~14, it is characterised in that:The support leg is relative to vertical side To being obliquely installed.
16. undercarriage as claimed in claim 15, it is characterised in that:The support element is more than with angle formed by vertical direction Equal to 1 degree and it is less than or equal to 5 degree.
17. a kind of unmanned vehicle comprising fuselage and the horn being set on the fuselage, it is characterised in that:It is described Unmanned vehicle further includes the undercarriage described in any one of claim 1~16, and the support element is set to the mounting base On, the buffer is set to the one end of the support element far from the fuselage.
18. unmanned vehicle as claimed in claim 17, it is characterised in that:The unmanned vehicle further include be set to it is described Power plant in mounting base, the power plant for the unmanned vehicle providing flying power.
19. unmanned vehicle as claimed in claim 18, it is characterised in that:The power plant is tilted relative to vertical direction Setting;
And/or the support element is fixedly connected with the mounting base, or be rotatably connected.
20. unmanned vehicle as claimed in claim 18, it is characterised in that:The power plant includes being set to the installation Actuator on seat and the propeller being connected on the actuator, the actuator is driving the propeller rotational.
21. unmanned vehicle as claimed in claim 18, it is characterised in that:The power plant is corresponding with the support element to be set It sets.
CN201580004257.7A 2015-05-14 2015-05-14 Undercarriage and the unmanned vehicle for using the undercarriage Active CN105980250B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2015/078952 WO2016179827A1 (en) 2015-05-14 2015-05-14 Undercarriage and unmanned aerial vehicle using same

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CN105980250B true CN105980250B (en) 2018-09-04

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