CN107891985A - A kind of switchable type tilting rotor unmanned plane - Google Patents
A kind of switchable type tilting rotor unmanned plane Download PDFInfo
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- CN107891985A CN107891985A CN201711347052.6A CN201711347052A CN107891985A CN 107891985 A CN107891985 A CN 107891985A CN 201711347052 A CN201711347052 A CN 201711347052A CN 107891985 A CN107891985 A CN 107891985A
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- fuselage
- empennage
- wing
- unmanned plane
- linkage
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- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000010147 laser engraving Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- 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
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- 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
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- 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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of switchable type tilting rotor unmanned plane, and it includes wing, empennage, fuselage, linkage；Wing is provided with the middle part of fuselage top surface, the rear end of fuselage is connected with empennage by fix bar, multiple steering wheels are provided with fuselage；The underrun support bar of fuselage is connected with battery loading frame；Undercarriage is provided with the bottom surface of battery loading frame, middle part is provided with mechanical arm；Linkage is two, and two linkages are symmetricly set on the left and right side of fuselage；Linkage is by positioned at the connector at middle part, screw mandrel and being fixed on the transmission mechanism at both ends and forming；Pipe clamp is provided with the middle part of transmission mechanism；The top of motor is provided with propeller.The present invention can not only realize high-altitude low speed patrol, and the rubbish that high-tension bus-bar can be assisted to install and clear up on higher buildings thing, while when fire occurs, can also quickly realize real-time Transmission, outstanding to Post disaster relief work meaning.
Description
Technical field
The present invention relates to a kind of unmanned plane, more particularly to a kind of switchable type tilting rotor unmanned plane.
Background technology
At present, in being gone on patrol in city, there can be certain limitation in the ground patrol visual field；And in high altitude cruise, it is existing
Aircraft exist again the hang time it is short the problem of；High building occur fire when, rescue personnel can only by the aerial ladder on fire fighting truck,
The helicopter of allotment or directly pass through the sea of fire could succour be trapped in high level indicator of trapped personnel, add rescue difficulty and
Risk；When setting up high-tension bus-bar or clearing up the rubbish on eminence building, generally require people and climbed up by special equipment
Eminence is operated, and adds the risk and labor intensity of work.
The content of the invention
In order to solve the weak point present in above-mentioned technology, the invention provides a kind of switchable type tilting rotor nobody
Machine.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of switchable type tilting rotor nobody
Machine, including wing, empennage, fuselage, linkage；Wing is provided with the middle part of fuselage top surface, the rear end of fuselage passes through fix bar
Empennage is connected with, multiple steering wheels are provided with fuselage；The underrun support bar of fuselage is connected with battery loading frame；Battery fills
Undercarriage is provided with the bottom surface of carrier, middle part is provided with mechanical arm；
Linkage is two, and two linkages are symmetricly set on the left and right side of fuselage；Linkage passes through rudder
The direction of the rotation regulation motor of machine；Linkage is by positioned at the connector at middle part, screw mandrel and the transmission mechanism for being fixed on both ends
Composition；Pipe clamp is provided with the middle part of transmission mechanism；Screw mandrel is two, and one end and the connector of screw mandrel are fixedly connected, the other end is
It is semicircle and be connected on pipe clamp；Screw mandrel is used for the angle of inclination of regulation motor, ensures the stability of aircraft flight；Driver
The middle part of structure and pipe clamp is interspersed with electric machine support；Transmission mechanism and pipe clamp make linkage have necessarily soft
Property, under the extreme flight state such as high-speed flight and high load-carrying, mitigate certain stress impact, so as to ensure flight stability；
Electric machine support is divided into No.1 electric machine support, No. two electric machine supports；Electricity is provided with the support frame at electric machine support both ends
Machine；Motor on No.1 electric machine support remains opposite direction with the motor on No. two electric machine supports, so as to realize nobody
The VTOL of machine；The top of motor is provided with propeller.
Empennage is double shoe shapes；Empennage is connected with fuselage by being inserted in the fix bar of the bottom surface rear end of fuselage 5, and empennage is solid
Surely it is arranged at the end of fix bar.
Multiple elongate holes are offered on the top surface of fuselage, bottom surface；Wing passes through the through hole on fuselage top surface
Fastened with the bearing bar of fuselage inside top surface.
The top of battery loading frame is provided with lithium battery.
Parachute is provided with wing, empennage.
Be provided with the fuselage of wing nose camera, rear end fuselage on be vertically arranged with Wireless microwave signal transmitting
Device.
The present invention can not only realize high-altitude low speed patrol, and high-tension bus-bar can be assisted to install and clear up higher build
The rubbish on thing is built, while when fire occurs, can also quickly realize real-time Transmission, it is outstanding to Post disaster relief work meaning.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is Fig. 1 left surface structural representation.
Fig. 3 is the structural representation of linkage.
In figure：1st, wing；2nd, motor；3rd, undercarriage；4th, empennage；5th, fuselage；6th, connector；7th, mechanical arm；8th, battery fills
Carrier；9th, electric machine support；10th, propeller；11st, screw mandrel；12nd, pipe clamp.
Embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
A kind of switchable type tilting rotor unmanned plane as shown in Figures 1 to 3, including wing 1, empennage 4, fuselage 5, connecting rod machine
Structure；Wing 1 is provided with the middle part of the top surface of fuselage 5, the rear end of fuselage 5 is connected with empennage 4 by fix bar, and wing 1, empennage 4 exist
Unloaded in the air by servos control, when steering wheel rotates, wing 1 and empennage 4 depart from fuselage backward automatically by air drag
5；Multiple steering wheels are provided with fuselage 5；The unloading of one servos control wing 1, the unloading of a servos control empennage 4, one
Steering wheel is used to control electric rotating machine 2.The underrun support bar of fuselage 5 is connected with battery loading frame 8；Battery loading frame 8
Undercarriage 3 is provided with bottom surface, middle part is provided with mechanical arm 7；The top of battery loading frame 8 is provided with lithium battery, can deposit
10000 milliamperes of 6S lithium batteries.It is that raw material carries out laser engraving making that fuselage 5, which chooses carbon fiber sheet, and fix bar, support bar are adopted
Digital control processing making is carried out with aerolite, linkage is made with screw mandrel of national standard part.
The present invention is controlled by the 2.4Hz Digiplexs based on arduino mainboard programming Controls, can switch four in the air
Rotor flying pattern and fixed-wing offline mode, the application of its distinctive bi-motor Reverse Structure Design and linkage make it can
To accomplish to take off vertically, and offline mode can be switched fast in the air.Compared with helicopter, have that voyage is remote, the speed of a ship or plane is high
Advantage；Compared with fixed wing aircraft, there is mobility strong, the advantages of limitation departure location.
Empennage 4 is double shoe shapes；Empennage 4 is connected with fuselage 5 by being inserted in the fix bar of the bottom surface rear end of fuselage 5, tail
The wing 4 is fixedly installed on the end of fix bar.Multiple elongate holes are offered on the top surface of fuselage 5, bottom surface；Wing 1 is by embedding
The through hole being placed on the top surface of fuselage 5 and the bearing bar of the inside top surface of fuselage 5 fasten.Landing is provided with wing 1, empennage 4
Umbrella.Be provided with the fuselage 5 of the front end of wing 1 camera, rear end fuselage 5 on be vertically arranged with Wireless microwave signal projector.
Under fixed-wing offline mode, wing 1 provides the prevailing lift of aircraft, and the aileron of wing 1 controls the rolling of complete machine,
Empennage 4 controls aircraft to be horizontally diverted, and the aileron of empennage 4 provides aircraft and turned to vertically.Double shoe knots that wing 1 and empennage 4 use
Structure designs, and makes it have larger lifting capacity and the stabilizing power of flight, and when coming off, under being double due to rear motor
Row motor, so shock will not be produced with propeller, there is good security.
Wing, empennage are controlled by small-sized steering machine respectively, and servos control line is straight using copper wire with Wireless microwave signal projector
Connect connected, the battery of steering wheel is embedded in wing 1, and the control signal of steering wheel is pulse-width signal, is easy to and flight control computer
Enter line interface.In high-speed flight, it is ensured that the stable input of signal and the intensity of wing 1.
Wing 1 and empennage 4 under fixed-wing offline mode are designed using Quick-dismantling structure, can be quick installed at when needed
It on unmanned plane, can be controlled when not needed by small-sized steering machine, unmanned plane main machine body 5 is rapidly separated using air drag.Machine
When the wing 1 and empennage 4 unload in the air, the parachute ensconced in wing 1 and empennage 4 can be discharged, prevents wing 1 and empennage 4 from dropping
Steering wheel is broken when falling or is caused the accident.
Camera passes the image at aircraft visual angle and the visual angle of mechanical arm 7 with audio back with Wireless microwave signal projector in real time
To manipulation end, rescue personnel can understand indicator of trapped personnel situation in time by audio and video information, so as to fast and effectively take battalion
Rescue measure.Three servos controls that mechanical arm 7 is installed by itself, the flexible work of multiple frees degree is can reach, assist high pressure
The machine work of circuit installer or the rubbish on cleaning high constructure and barrier etc..
Linkage is two, and two linkages are symmetricly set on the left and right side of fuselage 5；Linkage passes through
The direction of the rotation regulation motor 2 of steering wheel.Linkage is by the connector 6, screw mandrel 11 and the biography for being fixed on both ends positioned at middle part
Motivation structure forms；Pipe clamp 12 is provided with the middle part of transmission mechanism；Screw mandrel 11 is two, and one end and the connector 6 of screw mandrel 11 are fixed
Connect, the other end is semicircle and is connected on pipe clamp 12；Screw mandrel 11 is used for the angle of inclination of regulation motor 2, ensures aircraft
The stability of flight；The middle part of transmission mechanism and pipe clamp 12 is interspersed with electric machine support 9；Transmission mechanism and pipe clamp 12 are used cooperatively
Make linkage that there is certain flexibility, under the extreme flight state such as high-speed flight and high load-carrying, mitigate certain stress punching
Hit, so as to ensure flight stability；
Electric machine support 9 divides for No.1 electric machine support, No. two electric machine supports；It is provided with the support frame at the both ends of electric machine support 9
Motor 2；Motor on No.1 electric machine support remains opposite direction with the motor on No. two electric machine supports, so as to realize nothing
Man-machine VTOL；The top of motor 2 is provided with propeller 10.The angle of inclination of motor 2 is by electronics in the debugging stage
Signal adjustment.Employ the reverse structure of bi-motor and the design of linkage so that unmanned plane both remains four-axle aircraft
Flexible flight characteristic, it can accomplish to be switched fast in deformation again, prevent the quick generation of " nest circulation state ", ensure
The stability and security of unmanned plane during flying, and linkage can quickly correct flight when " nest circulation state " has sign
Posture, avoid wing 1 from entering downwash flow caused by oneself or caused by it within vortex, prevent rotor (i.e. motor 2) from occurring
" skidding " and lose lift, simultaneously because employing the configuration of four motor powers, even if there is motor to produce problem, can also ensure
It force-lands safely.
During fixed-wing offline mode, because the installation of motor 2 has certain angle of inclination, unmanned plane is set to rely on wing 1
Lift is produced, high-speed flight, so as to avoid the generation at mechanism dead point, also improves the lift of aircraft, the power of four motors 2 is matched somebody with somebody
Putting makes the remote super similar fixed-wing unmanned plane of its flying speed.
After wing 1 and empennage 4 are unloaded, the main part of switchable type tilting rotor unmanned plane reforms into a frame abnormal shape four
Rotor wing unmanned aerial vehicle, it possesses the flexible performance of multi-rotor unmanned aerial vehicle, and adjustable point hovers, pivot stud, and traffic direction is quick
Conversion, the work that other equipment is unable to reach can be completed in rescue action and patrol monitoring work.
The present invention has advantages below compared with conventional art：
1) multiple high definition camera devices can be loaded, is passed using number and realizes that the flying for long time of low-to-medium altitude is gone on patrol, solve ground
The problem of hang time is shorter when the limitation problem and standard aircraft in the face patrol visual field are gone on patrol；
2) high-tension bus-bar can be drawn and assists its installation, instead of part manual working, reduce the work of steeplejack
It is dangerous；Electronic, information-based, intelligent inspection can be realized simultaneously, improves operating efficiency, the emergency repair of power circuit polling
Horizontal and power supply reliability；
3) can low latitude quickly arrive at working region, can utilize mechanical arm cleaning higher buildings (such as signal tower, light pole)
Upper and the kite in scenic spot or other barriers, safeguard urban afforestation；
4) carry high-definition shooting device to take photo by plane to disaster area, there is provided real-time imaging after calamity, provide for rescue personnel
Rescue the valuable references such as route.In addition, unmanned plane can monitor the situation in disaster area in real time in all directions in real time, to prevent drawing
Send out secondary disaster；
5) not only low cost, and simple to operate, mobility strong, can be widely applied to rescue operation, electric inspection process
Work and Environmental Management Work etc. are multi-field.
Above-mentioned embodiment is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made in the range of technical scheme, also belong to this hair
Bright protection domain.
Claims (6)
1. a kind of switchable type tilting rotor unmanned plane, including wing (1), empennage (4), fuselage (5), it is characterised in that：It is also
Including linkage；Wing (1) is provided with the middle part of fuselage (5) top surface, the rear end of fuselage (5) is connected with by fix bar
Empennage (4), fuselage (5) is interior to be provided with multiple steering wheels；The underrun support bar of fuselage (5) is connected with battery loading frame (8)；
Undercarriage (3) is provided with the bottom surface of battery loading frame (8), middle part is provided with mechanical arm (7)；
The linkage is two, and two linkages are symmetricly set on the left and right side of fuselage (5)；Linkage leads to
Cross the direction of the rotation regulation motor (2) of steering wheel；Linkage is by the connector (6) positioned at middle part, screw mandrel (11) and is fixed on
The transmission mechanism composition at both ends；Pipe clamp (12) is provided with the middle part of transmission mechanism；Screw mandrel (11) is two, one end of screw mandrel (11)
It is fixedly connected with connector (6), the other end is semicircle and is connected on pipe clamp (12)；Screw mandrel (11) is used for regulation motor
(2) angle of inclination, the stability of aircraft flight is ensured；The middle part of transmission mechanism and pipe clamp (12) is interspersed with electric machine support
(9)；Transmission mechanism and pipe clamp (12) make linkage have certain flexibility, in the pole such as high-speed flight and high load-carrying
Limit under state of flight, mitigate certain stress impact, so as to ensure flight stability；
The electric machine support (9) is divided into No.1 electric machine support, No. two electric machine supports；Set on the support frame at electric machine support (9) both ends
It is equipped with motor (2)；Motor on No.1 electric machine support remains opposite direction with the motor on No. two electric machine supports, so as to
Realize the VTOL of unmanned plane；The top of the motor (2) is provided with propeller (10).
2. switchable type tilting rotor unmanned plane according to claim 1, it is characterised in that：The empennage (4) is double tails
Support shape；Empennage (4) is connected with fuselage (5) by being inserted in the fix bar of fuselage (5) bottom surface rear end, empennage (4) fixed setting
In the end of fix bar.
3. switchable type tilting rotor unmanned plane according to claim 1, it is characterised in that：The top surface of the fuselage (5),
Multiple elongate holes are offered on bottom surface；Wing (1) passes through the through hole on fuselage (5) top surface and fuselage (5) top surface
The bearing bar of inner side fastens.
4. switchable type tilting rotor unmanned plane according to claim 1, it is characterised in that：The battery loading frame (8)
Top be provided with lithium battery.
5. switchable type tilting rotor unmanned plane according to claim 3, it is characterised in that：The wing (1), empennage
(4) parachute is provided with.
6. switchable type tilting rotor unmanned plane according to claim 1 or 5, it is characterised in that：Wing (1) front end
Fuselage (5) on be provided with camera, rear end fuselage (5) on be vertically arranged with Wireless microwave signal projector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711347052.6A CN107891985A (en) | 2017-12-15 | 2017-12-15 | A kind of switchable type tilting rotor unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711347052.6A CN107891985A (en) | 2017-12-15 | 2017-12-15 | A kind of switchable type tilting rotor unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107891985A true CN107891985A (en) | 2018-04-10 |
Family
ID=61807935
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711347052.6A Pending CN107891985A (en) | 2017-12-15 | 2017-12-15 | A kind of switchable type tilting rotor unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107891985A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152921A (en) * | 2020-01-08 | 2020-05-15 | 北京建筑大学 | Control system of unmanned aerial vehicle capable of taking off and landing vertically |
| CN114188884A (en) * | 2021-12-14 | 2022-03-15 | 福州大学 | High-voltage wire inspection and maintenance device capable of being butted and separated in air |
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| CN106347648A (en) * | 2016-11-11 | 2017-01-25 | 北京航空航天大学 | Multi-rotor plant protection unmanned aerial vehicle |
| CN106741932A (en) * | 2016-11-22 | 2017-05-31 | 四川尚航智能科技有限公司 | A kind of axle unmanned plane of mixed type nine based on VTOL |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0356541A1 (en) * | 1988-08-30 | 1990-03-07 | Karl Eickmann | Vertically taking off and landing aircraft, which flies horizontally on wings which include a pipe structure and which can be pivoted from substantially vertical to horizontal position |
| EP1854976A1 (en) * | 2006-05-09 | 2007-11-14 | Horst Gehrke | Turbine drive wheel, especially for ship propeller |
| CN200939356Y (en) * | 2006-08-22 | 2007-08-29 | 青岛天骄无人机遥感技术有限公司 | Small remote monitoring pilotless plane |
| CN103661926A (en) * | 2013-12-24 | 2014-03-26 | 深圳市大疆创新科技有限公司 | Variable-screw-pitch device and rotor wing assembly and multiple rotor wing aircraft adopting same |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152921A (en) * | 2020-01-08 | 2020-05-15 | 北京建筑大学 | Control system of unmanned aerial vehicle capable of taking off and landing vertically |
| CN114188884A (en) * | 2021-12-14 | 2022-03-15 | 福州大学 | High-voltage wire inspection and maintenance device capable of being butted and separated in air |
| CN114188884B (en) * | 2021-12-14 | 2023-08-25 | 福州大学 | High-voltage wire inspection and maintenance device capable of being butted and separated in air |
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Application publication date: 20180410 |