CN106741903B - Hybrid unmanned aerial vehicle - Google Patents
Hybrid unmanned aerial vehicle Download PDFInfo
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- CN106741903B CN106741903B CN201710052631.1A CN201710052631A CN106741903B CN 106741903 B CN106741903 B CN 106741903B CN 201710052631 A CN201710052631 A CN 201710052631A CN 106741903 B CN106741903 B CN 106741903B
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- rotor
- unmanned aerial
- aerial vehicle
- hollow shaft
- motor
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- 238000004891 communication Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/11—Propulsion using internal combustion piston engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and discloses a hybrid unmanned aerial vehicle which comprises a body, a hollow shaft arranged on the body and a small main shaft sleeved in the hollow shaft and coaxial with the hollow shaft, wherein an upper rotor wing is connected to the small main shaft, a lower rotor wing is connected to the hollow shaft, the hollow shaft and the small main shaft are simultaneously driven to reversely rotate by a driving mechanism positioned in the body, a plurality of small rotor wings are symmetrically arranged on the body, the small rotor wings are driven to rotate by a motor, and the driving mechanism and the motor are both connected to a control mechanism. According to the invention, the plurality of small rotors are symmetrically arranged on the machine body, when torque force difference is generated between the upper rotor and the lower rotor, the torque force difference generated between the upper rotor and the lower rotor can be counteracted through rotation of the small rotors, so that the unmanned aerial vehicle can fly normally, and the unmanned aerial vehicle is prevented from being out of control.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a hybrid unmanned aerial vehicle.
Background
With the development of unmanned aerial vehicle technology, especially the rapid development of gyroplane technology, the application range of the unmanned aerial vehicle is wider and wider, and the unmanned aerial vehicle has indispensable importance in the civil field and the military field. The current unmanned gyroplane comprises a single rotor (namely a helicopter), a coaxial anti-propeller helicopter and a plurality of rotors, wherein the coaxial anti-propeller helicopter is a Russian 'clamp-50 helicopter', the working principle is that the shaft of the lower rotor is a hollow shaft, the shaft of the upper rotor passes through the hollow shaft coaxially, the diameters of the two layers of rotors are the same and can be regulated to the same pitch through a pitch regulating mechanism, the upper driven gear and the lower driven gear are driven by bevel gears to drive the upper rotor and the lower rotor to rotate in opposite rotation directions, and the two rotors with the same rotation directions and the same other conditions just can offset the anti-torque moment mutually, so that a tail pipe and a tail rotor are not needed. The design improves the power performance of the unmanned aerial vehicle to a certain extent, simplifies the tail design, but the design is complex to operate and control, and the upper rotor wing and the lower rotor wing are required to keep high consistency, namely, the upper rotor wing and the lower rotor wing have the same size structure, the pitch is also required to be completely the same, so that the upper rotor wing and the lower rotor wing can mutually offset the anti-torsion moment, the coaxial anti-propeller helicopter can smoothly fly, and once the pitch is different, the upper rotor wing and the lower rotor wing cannot mutually offset the anti-torsion moment, so that the coaxial anti-propeller helicopter cannot fly normally due to out of control.
Disclosure of Invention
The invention aims to provide a hybrid power unmanned aerial vehicle so as to solve the problem that the existing coaxial anti-propeller helicopter is out of control when the pitch of upper and lower rotor wings of the existing coaxial anti-propeller helicopter is different.
To achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a hybrid unmanned aerial vehicle, includes the fuselage, installs hollow shaft and cover on the fuselage establish in the hollow shaft and rather than the little main shaft of coaxial center, be connected with the rotor on the little main shaft, be connected with down the rotor on the hollow shaft, hollow shaft and little main shaft are simultaneously by the drive mechanism drive reverse rotation that is located the fuselage, the symmetry is equipped with a plurality of little rotors on the fuselage, little rotor passes through the motor and drives the rotation, actuating mechanism and motor all are connected in control mechanism.
Preferably, the upper rotor is fixed in pitch, and the lower rotor is connected with a pitch adjusting mechanism.
Preferably, the upper rotor and the lower rotor are both connected with a pitch adjusting mechanism.
Preferably, the diameter of the upper rotor is smaller than the diameter of the lower rotor.
Preferably, the driving mechanism comprises an oil-driven engine connected with the control mechanism and a driving bevel gear driven by the oil-driven engine, and the driving bevel gear is meshed with a driven bevel gear fixedly connected with the hollow shaft and the small main shaft respectively and arranged up and down.
Preferably, a power supply is arranged in the machine body, and the power supply is a rechargeable power supply and is connected with the motor.
Preferably, the machine body is circumferentially provided with a plurality of supporting arms, the motor is installed on the supporting arms, and the output end is connected with the small rotor wing.
Preferably, the small rotor wing is horizontally arranged or is arranged at an included angle relative to the horizontal plane.
Preferably, the control mechanism comprises a remote controller and a circuit board which is in communication connection with the remote controller and is positioned in the machine body, and the circuit board is respectively connected with the driving mechanism, the pitch adjusting mechanism and the motor.
Preferably, the hollow shaft is sleeved with a tilting disk.
According to the invention, the plurality of small rotors are symmetrically arranged on the machine body, when torque force difference is generated between the upper rotor and the lower rotor, the torque force difference generated between the upper rotor and the lower rotor can be counteracted through rotation of the small rotors, so that the unmanned aerial vehicle can fly normally, and the unmanned aerial vehicle is prevented from being out of control.
Drawings
Fig. 1 is a schematic perspective view of a hybrid unmanned aerial vehicle according to the present invention;
FIG. 2 is a side view of the hybrid unmanned aerial vehicle (hidden fuselage and small rotor) of the present invention;
fig. 3 is an exploded schematic view of the hybrid unmanned aerial vehicle (hidden fuselage) of the present invention.
In the figure:
1. a body; 2. a hollow shaft; 3. a small main shaft; 4. an upper rotor; 5. a lower rotor; 6. a driving mechanism; 7. a small rotor; 8. a motor; 9. a power supply; 10. a tilting plate; 11. a support arm; 61. an oil-operated engine; 62. a driving bevel gear; 63. a driven bevel gear; 64. a belt.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
Embodiment one:
the embodiment provides a hybrid unmanned aerial vehicle, as shown in fig. 1-3, the hybrid unmanned aerial vehicle comprises a machine body 1, a small main shaft 3 and a hollow shaft 2 sleeved outside the small main shaft 3 are arranged in the middle of the machine body 1 in a penetrating manner, and the hollow shaft 2 and the small main shaft 3 are coaxially arranged. The small main shaft 3 and the hollow shaft 2 are synchronously driven by a driving mechanism 6 positioned in the machine body 1, and the rotation directions of the small main shaft 3 and the hollow shaft 2 are opposite. An upper rotor 4 is arranged on the small main shaft 3, the small main shaft 3 drives the upper rotor 4 to rotate, a lower rotor 5 is arranged on the hollow shaft 2, and the hollow shaft 2 drives the lower rotor 5 to rotate. Through the counter-rotation of the upper rotor 4 and the lower rotor 5, the flight of the unmanned aerial vehicle is realized.
Referring to fig. 2, the driving mechanism 6 includes an oil motor 61 and a driving bevel gear 62 fixedly connected to an output end of the oil motor 61, and driven bevel gears 63 fixedly connected to the hollow shaft 2 and the small main shaft 3 and disposed up and down are engaged with the driving bevel gear 62. The above-mentioned oil engine 61 is connected with a control mechanism (not shown in the figure), the operation of the oil engine 61 is controlled by the control mechanism, then the oil engine 61 drives the driving bevel gear 62 to rotate, and then the driving bevel gear 62 drives the two driven bevel gears 63 meshed with the driving bevel gear 62 to synchronously rotate in opposite directions, so that the small main shaft 3 and the hollow shaft 2 respectively drive the upper rotor 4 and the lower rotor 5 to synchronously rotate in opposite directions, and the unmanned aerial vehicle can fly. In the present embodiment, the above-mentioned oil engine 61 may also drive the driving bevel gear 62 to rotate through the belt 64 (shown in fig. 3).
In this embodiment, the diameter of the upper rotor wing 4 is smaller than the diameter of the lower rotor wing 5, so that the diameter of the lower rotor wing 5 is larger than the lower air-washing flow area of the upper rotor wing 4, the mutual influence of air flows caused by the same diameters of the upper rotor wing 5 and the lower rotor wing 5 of the existing coaxial anti-propeller unmanned aerial vehicle is avoided, and the power performance of the unmanned aerial vehicle is improved.
In this embodiment, the upper rotor 4 is fixedly mounted on the small mast 3, that is, the pitch of the upper rotor 4 is not adjustable, and the lower rotor 5 is connected with a pitch adjustment mechanism (not shown) for adjusting the pitch of the lower rotor 5. Specifically, the pitch of this embodiment refers to the blade angle, that is, the inclination angle of the rotor blade and the rotation plane, in a certain range, the larger the blade angle, the larger the windward side of the blade, the larger the generated lift force, and the larger the torque force, and by the change of the blade angle, the thrust or the pull force generated by the lower rotor 5 can be increased or reduced, thereby realizing the control of the heading of the unmanned aerial vehicle. The pitch adjustment mechanism is a conventional art, and therefore, the structure thereof is not described in detail here, and can be regarded as a pitch adjustment mechanism as long as the structure can achieve pitch adjustment of the lower rotor 5.
In this embodiment, because the pitch of upper rotor 4 is fixed, lower rotor 5 pitch is adjustable, and the diameter of upper rotor 4 is less than the diameter of lower rotor 5 in addition, must necessarily lead to the torque force that upper rotor 4 and lower rotor 5 produced different this moment, there is the poor condition of torque force, at this moment, in order to offset the torque force difference, the better realization unmanned aerial vehicle's of realization balance is equipped with a plurality of support arms 11 in fuselage 1 circumference symmetry, all be provided with motor 8 on every support arm 11, every motor 8 all is connected in control mechanism, and the output of every motor 8 all is connected with little rotor 7, and drive this little rotor 7 rotation. Through setting up little rotor 7, when the torque force is poor, can be through the rotation of little rotor 7 balanced the torque force difference that upper rotor 4 and lower rotor 5 produced, and then realize unmanned aerial vehicle's smooth flight.
In this embodiment, the above-mentioned little rotor 7 is preferably provided with 6, and above-mentioned 6 little rotors 7 are rotatory simultaneously, through the rotational speed difference of every little rotor 7 of control, both provided the lift for unmanned aerial vehicle, the assistance rotor 5 has controlled the direction down, can balance the torque force difference between rotor 4 and the rotor 5 down again.
According to statistics, the accident cause of the unmanned aerial vehicle is mostly that the oil motor 61 fails to cause the rotor to lose power, and the accident of crash is caused by uncontrolled operation. And the setting of above-mentioned little rotor 7 of this embodiment, when the oil moves engine 61 inefficacy and leads to last rotor 4 and lower rotor 5 to lose power, can be rotatory through motor 8 drive little rotor 7, supplementary unmanned aerial vehicle safety descends, when avoiding current unmanned aerial vehicle to go up rotor 4 and lower rotor 5 to lose power, leads to unmanned aerial vehicle crash or injure ground building and crowd because of out of control.
In this embodiment, the small rotor 7 is horizontally disposed or disposed at an included angle with respect to the horizontal plane, and may be specifically disposed as required, so as to better achieve improvement of performance of the unmanned aerial vehicle.
Referring to fig. 2, a power supply 9 is provided in the body 1, and the power supply 9 is connected to the motor 8 to supply power to the motor 8. In this embodiment, the power supply 9 is a rechargeable power supply, and the charging mode may be charging when not in use, or a generator may be disposed in the machine body 1, and the generator may be connected to the oil engine 61 for converting kinetic energy thereof into electric energy to charge the power supply 9.
The control mechanism comprises a remote control (not shown) and a circuit board (not shown) which is communicatively connected to the remote control and is located inside the fuselage 1, the circuit board being connected to the drive mechanism 6, the pitch adjustment mechanism and the motor 8, respectively. Two sets of self-driving systems (namely the rotation of the upper rotor 4 and the lower rotor 5 and the rotation of the small rotor 7) of the unmanned aerial vehicle are remotely controlled through a remote controller, so that the two sets of self-driving systems are mutually independent, and the two sets of self-driving systems can be mutually coordinated and assisted in working.
In this embodiment, the hollow shaft 2 is sleeved with the tilting disk 10, and the tilting disk 10 can be matched with the small rotor 7 to better control the flight direction of the hybrid unmanned aerial vehicle, and the tilting disk 10 is of an existing structure and will not be described herein.
The hybrid unmanned aerial vehicle of this embodiment is equipped with a plurality of little rotors 7 through symmetry on fuselage 1, when producing torque force difference between last rotor 4 and lower rotor 5, can offset the torque force difference that produces between last rotor 4 and lower rotor 5 through the rotation of little rotor 7 for unmanned aerial vehicle flies normally.
Through only setting up pitch adjustment mechanism in rotor 5 department down, and it is fixed with last rotor 4 pitch, when the pitch of rotor 5 under unmanned aerial vehicle flight needs to be adjusted, the cooperation of the little rotor 7 of accessible, the torque force that the balanced pitch adjustment brought is poor to make unmanned aerial vehicle fly normally, moreover this embodiment only need control down rotor 5 pitch can, need not consider the pitch of rotor 4 on the control, simplified the operation degree of difficulty of traditional coaxial contrary oar design, the user is controlled more easily.
Embodiment two:
the difference between this embodiment and the first embodiment is only that:
in this embodiment, the pitch of the upper rotor 4 is also adjustable, that is, the upper rotor is connected with a pitch adjusting mechanism, as is the lower rotor 5, through which the pitch of the upper rotor 4 can be adjusted, so as to improve the performance of the unmanned aerial vehicle. It should be noted that, when the upper rotor 4 and the lower rotor 5 are both provided with the pitch adjusting mechanism, a torque difference occurs between the upper rotor 4 and the lower rotor 5, and at this time, the small rotor 7 in this embodiment can still counteract the torque difference generated between the upper rotor 4 and the lower rotor 5, so that the unmanned aerial vehicle flies normally.
The other structures of the hybrid unmanned aerial vehicle in this embodiment are the same as those in the first embodiment, so that the description thereof is omitted.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (7)
1. The utility model provides a hybrid unmanned aerial vehicle, its characterized in that includes fuselage (1), installs hollow shaft (2) on fuselage (1) and cover establish in hollow shaft (2) and rather than coaxial little main shaft (3), be connected with on little main shaft (3) and go up rotor (4), be connected with down rotor (5) on hollow shaft (2), hollow shaft (2) and little main shaft (3) are by the drive mechanism (6) drive reverse rotation that is located fuselage (1) simultaneously, the symmetry is equipped with a plurality of little rotors (7) on fuselage (1), little rotor (7) drive rotatory through motor (8), drive mechanism (6) and motor (8) are all connected in control mechanism;
the pitch of the upper rotor wing (4) is fixed, and the lower rotor wing (5) is connected with a pitch adjusting mechanism; the diameter of the upper rotor wing (4) is smaller than that of the lower rotor wing (5).
2. Hybrid unmanned aerial vehicle according to claim 1, characterized in that the driving mechanism (6) comprises an oil motor (61) connected to the control mechanism, and a driving bevel gear (62) driven by the oil motor (61), the driving bevel gear (62) being meshed with driven bevel gears (63) fixedly connected to the hollow shaft (2) and the small main shaft (3) respectively and arranged up and down.
3. Hybrid unmanned aerial vehicle according to claim 1, characterized in that a power supply (9) is provided in the fuselage (1), the power supply (9) being a rechargeable power supply which is connected to the motor (8).
4. Hybrid unmanned aerial vehicle according to claim 1, characterized in that the fuselage (1) is provided with several support arms (11) in the circumferential direction, the motor (8) is mounted on the support arms (11), and the output is connected to the small rotor (7).
5. Hybrid unmanned aerial vehicle according to claim 1, characterized in that the small rotor (7) is arranged horizontally or at an angle to the horizontal.
6. Hybrid unmanned aerial vehicle according to claim 1, characterized in that the control means comprise a remote control and a circuit board in communication with the remote control and located inside the fuselage (1), which circuit board is connected to the drive means (6), pitch adjustment means and motor (8), respectively.
7. Hybrid unmanned aerial vehicle according to claim 1, characterized in that the hollow shaft (2) is provided with a tilting disk (10) in a sleeved manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710052631.1A CN106741903B (en) | 2017-01-24 | 2017-01-24 | Hybrid unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710052631.1A CN106741903B (en) | 2017-01-24 | 2017-01-24 | Hybrid unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN106741903A CN106741903A (en) | 2017-05-31 |
| CN106741903B true CN106741903B (en) | 2023-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710052631.1A Active CN106741903B (en) | 2017-01-24 | 2017-01-24 | Hybrid unmanned aerial vehicle |
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| CN (1) | CN106741903B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3849899A4 (en) * | 2018-09-11 | 2022-06-01 | Mallikarjunan, Srinath | Apparatus for aerial transportation of payload |
| CN109250081A (en) * | 2018-10-30 | 2019-01-22 | 佛山市神风航空科技有限公司 | A kind of hybrid power helicopter |
| CN109484632A (en) * | 2018-12-07 | 2019-03-19 | 高玉宗 | Unmanned plane, unmanned plane and fire-extinguishing and the fire-fighting system using the unmanned plane and fire-extinguishing |
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| CN105644776A (en) * | 2016-03-17 | 2016-06-08 | 秦建法 | Multi-rotor unmanned helicopter |
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| CN206446794U (en) * | 2017-01-24 | 2017-08-29 | 天津曙光天成科技有限公司 | A kind of hybrid power unmanned plane |
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| FR2916420B1 (en) * | 2007-05-22 | 2009-08-28 | Eurocopter France | HIGH FREQUENCY FAST HYBRID HELICOPTER WITH CONTROL OF LONGITUDINAL PLATE. |
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|---|---|---|---|---|
| CN104163241A (en) * | 2014-08-12 | 2014-11-26 | 中国航空工业经济技术研究院 | Unmanned logistics helicopter |
| CN104973241A (en) * | 2015-07-08 | 2015-10-14 | 芜湖万户航空航天科技有限公司 | Unmanned aerial vehicle with main and auxiliary multi-rotor structure |
| CN105539828A (en) * | 2015-12-08 | 2016-05-04 | 陈蜀乔 | Petrol-electric hybrid multi-rotor aerial vehicle capable of self electricity generation |
| CN105644776A (en) * | 2016-03-17 | 2016-06-08 | 秦建法 | Multi-rotor unmanned helicopter |
| CN205819562U (en) * | 2016-07-04 | 2016-12-21 | 广东天米教育科技有限公司 | A kind of heavy－duty depopulated helicopter |
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| CN106741903A (en) | 2017-05-31 |
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Effective date of registration: 20221013 Address after: Room 105, Building 9, Area B3 (formerly Area 2 of Ronghui Business Park), Enterprise Headquarters Base, Binhai-Zhongguancun Science and Technology Park, Economic and Technological Development Zone, Binhai New Area, Tianjin 300457 Applicant after: Tianjin Phoenix Intelligent Technology Co.,Ltd. Address before: Floor 1, block B, No.3, Tengfei Road, Junliang City, Dongli District, Tianjin Applicant before: TIANJIN SHUGUANG TIANCHENG TECHNOLOGY Co.,Ltd. |
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