CN109204809A - A kind of flexible aerodone stretched automatically - Google Patents
A kind of flexible aerodone stretched automatically Download PDFInfo
- Publication number
- CN109204809A CN109204809A CN201811095121.3A CN201811095121A CN109204809A CN 109204809 A CN109204809 A CN 109204809A CN 201811095121 A CN201811095121 A CN 201811095121A CN 109204809 A CN109204809 A CN 109204809A
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- China
- Prior art keywords
- kite
- inflated
- rope
- load cabin
- aerodone
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- 238000004064 recycling Methods 0.000 claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 238000005096 rolling process Methods 0.000 claims abstract description 25
- 238000011084 recovery Methods 0.000 claims abstract description 20
- 239000002775 capsule Substances 0.000 claims abstract description 19
- IBSREHMXUMOFBB-JFUDTMANSA-N 5u8924t11h Chemical compound O1[C@@H](C)[C@H](O)[C@@H](OC)C[C@@H]1O[C@@H]1[C@@H](OC)C[C@H](O[C@@H]2C(=C/C[C@@H]3C[C@@H](C[C@@]4(O3)C=C[C@H](C)[C@@H](C(C)C)O4)OC(=O)[C@@H]3C=C(C)[C@@H](O)[C@H]4OC\C([C@@]34O)=C/C=C/[C@@H]2C)/C)O[C@H]1C.C1=C[C@H](C)[C@@H]([C@@H](C)CC)O[C@]11O[C@H](C\C=C(C)\[C@@H](O[C@@H]2O[C@@H](C)[C@H](O[C@@H]3O[C@@H](C)[C@H](O)[C@@H](OC)C3)[C@@H](OC)C2)[C@@H](C)\C=C\C=C/2[C@]3([C@H](C(=O)O4)C=C(C)[C@@H](O)[C@H]3OC\2)O)C[C@H]4C1 IBSREHMXUMOFBB-JFUDTMANSA-N 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 7
- 239000004033 plastic Substances 0.000 claims description 6
- 229920003023 plastic Polymers 0.000 claims description 6
- 239000003365 glass fiber Substances 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 claims description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 2
- 229910052799 carbon Inorganic materials 0.000 claims description 2
- 230000010006 flight Effects 0.000 claims 1
- 108010066057 cabin-1 Proteins 0.000 description 18
- 239000004677 Nylon Substances 0.000 description 6
- 229920001778 nylon Polymers 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 240000002853 Nelumbo nucifera Species 0.000 description 3
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 3
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 3
- 239000004699 Ultra-high molecular weight polyethylene Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229920000785 ultra high molecular weight polyethylene Polymers 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005273 aeration Methods 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C31/00—Aircraft intended to be sustained without power plant; Powered hang-glider-type aircraft; Microlight-type aircraft
- B64C31/02—Gliders, e.g. sailplanes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C31/00—Aircraft intended to be sustained without power plant; Powered hang-glider-type aircraft; Microlight-type aircraft
- B64C31/028—Hang-glider-type aircraft; Microlight-type aircraft
- B64C31/036—Hang-glider-type aircraft; Microlight-type aircraft having parachute-type wing
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
- Tents Or Canopies (AREA)
Abstract
The present invention discloses a kind of flexible aerodone stretched automatically, comprising: load cabin, inflated kite, kite rope and recovering mechanism.Wheel mechanism for rolling is installed, on wheel mechanism for rolling, the other end is connected kite rope one ends wound with inflated kite inside load cabin.Inflated kite includes inflated kite frame and kite clothing, after the inflation of inflated kite frame, drives inflated kite release, is achieved in the automatic stretching, extension of hang gliding.Load cabin inner hub location is provided with kite recovery capsule, for accommodating the inflated kite for recycling of deflating；Position corresponding with the kite recovery capsule is provided with opening to be opened/closed at the top of the load cabin, side opening to be opened/closed is respectively arranged in the load cabin of top opening two sides, which is connected to the kite recovery capsule；When the side opening is closed, and top opening is opened, the inflated kite after inflation is discharged from top opening to be stretched, and when top opening is closed, and two side openings are opened, the both ends of inflated kite are respectively from two side opening release stretching, extensions after inflation.
Description
Technical field
Invention is related to a kind of aerodone, and in particular to the flexible aerodone that one kind stretches automatically.
Background technique
Existing paragliding device is in use, need to complete umbrella on ground in advance, then by manpower or mechanomotive force band
Dynamic parafoil rises, and recycling is then that parafoil is fallen to the ground again through personnel's recycling, cannot achieve nobody and manipulates automatically, and parafoil is overboard
Air inlet water inlet afterwards cannot take off again.
Summary of the invention
In view of this, the present invention provides a kind of flexible aerodone stretched automatically, can be realized paraglider, nobody releases automatically
It puts and recycles, using inflated kite as parafoil, after the inflation of inflated kite frame, drive inflated kite release, realize aerodone
Automatic stretching, extension.
Automatically the flexible aerodone stretched includes: load cabin, inflated kite, kite rope and recovering mechanism；
Wheel mechanism for rolling is installed, the kite rope one ends wound is another on the wheel mechanism for rolling inside the load cabin
End is connected with the inflated kite；
The inflated kite is bilateral symmetry, comprising: inflated kite frame and kite clothing are arranged on the inflated kite
There is discharge/charge gas nozzle, the discharge/charge gas nozzle is connected by charge and discharge tracheae with the air pump in load cabin；Inflated kite frame surface
Kite clothing is set, when inflated kite frame inflation rear distraction kite clothing, forms the parafoil of the aerodone；
The load cabin inner hub location is provided with kite recovery capsule, for accommodating the inflated kite for recycling of deflating；
Position corresponding with the kite recovery capsule is provided with opening to be opened/closed at the top of the load cabin, the load in top opening two sides
Side opening to be opened/closed is respectively arranged on lotus cabin, which is connected to the kite recovery capsule；When the side opening is closed, top is opened
When mouth is opened, the inflated kite after inflation is discharged from top opening to be stretched, when top opening closing, two side openings openings
When, the both ends of inflated kite are respectively from two side opening release stretching, extensions after inflation；
The recovering mechanism is used to for the inflated kite after deflating being recycled in the kite recovery capsule inside load cabin.
The recovering mechanism includes: that recycling wheel mechanism for rolling, recycling rope and the setting being arranged in inside load cabin are being inflated
The main rope closing ring of kite lower surface and divide rope closing ring；The center of inflated kite lower surface is arranged in the main rope closing ring,
A row or more point rope closing ring group is respectively arranged at left and right sides of load cabin lower surface；Every row divides rope closing ring group to include more than two edges
Inflated kite expansion direction divides rope closing ring；
In recycling wheel mechanism for rolling, the other end is divided into and a point receipts the main recycling rope one ends wound after being pierced by the main rope closing ring
Becket bridle group number is corresponding to branch back to rope closing；Rope closing is branched back to be each passed through after corresponding point of rope closing ring group and inflated kite
End is connected.
More than two kite rope tie points are respectively set at left and right sides of the inflated kite lower surface, in the load cabin
Portion is provided with wheel mechanism for rolling identical with kite rope tie point number, connects a kite rope, wind at each kite rope tie point
The other end of zither rope is wrapped in load cabin on corresponding wheel mechanism for rolling after passing through the kite rope folding and unfolding hole in load cabin, is led to
The length of corresponding kite rope can be adjusted by crossing the wheel mechanism for rolling.
The utility model has the advantages that
(1) it using inflated kite as the parafoil of aerodone, and realizes the structure-function integration of load cabin and aerodone, fills
Gas kite includes inflated kite frame and kite clothing, after the inflation of inflated kite frame, drives inflated kite release, is achieved in gliding
The automatic stretching, extension of machine；Cooperate the load cabin with good aerodynamic configuration, so that the aerodone aeroperformance is good.
(2) load cabin configuration design meets the lifting body shape of kite lifting resistance characteristic, also can voluntarily band under high wind effect
Load lift-off, so that there are three types of offline mode for aerodone tool, when inflated kite discharges at the top of load cabin, Neng Gouzeng
Add inflated kite aerodynamic lift；When wind-force is bigger, discharged from load cabin two sides, so that the aerodone can adapt to different fields
It closes；When wind-force is excessive, when inflated kite not easy to use, inflated kite is recycled in kite recovery capsule, is only relied on outside load cabin
Shape provides flight lift.
(3) it can be realized the automatic recycling of the inflated kite by the way that recovering mechanism is arranged.
(4) by configuring different functional units, it is more which can be realized drive, unpowered, traction mode etc.
Kind operating mode.
(5) inflated kite is prepared using waterproof material, so that can take off again after parafoil is overboard.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of the flexibility aerodone；
Fig. 2 is the main view of the flexibility aerodone；
Fig. 3 is the top view of the flexibility aerodone；
Fig. 4 is the bottom view of the flexibility aerodone；
Fig. 5 is the side perspective view of the flexibility aerodone；
Fig. 6 is the structural schematic diagram of inflated kite frame.
Wherein: 1- load cabin, 2- inflated kite, 3- slip lid, 4- kite rope, 5- empennage, 6- kite rope folding and unfolding hole, 7- branch
Recycling rope, 8- discharge/charge gas nozzle, 9- kite rope tie point, the main rope closing ring of 10-, 11- divide rope closing ring
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present embodiment provides the flexible aerodones that one kind stretches automatically, and as shown in Figs. 1-5, which includes: load cabin
1, inflated kite 2, inflated kite recovery capsule, kite rope 4, empennage 5 and recovering mechanism.Carbon fibe is wherein used inside load cabin 1
Material or glass fibre skeleton structure, outside use glass fibre or plastic skin structure, and shape is airflow design, using full
The aerodynamic configuration of sufficient lift resistance ratio；Load cabin 1 for carrying certain load, inside automatic wheel mechanism for rolling is installed, for leading to
Cross automatic release of the realization of kite rope 4 to inflated kite 2.It is additionally provided in 1 two sides bottom position of load cabin for connecting traction
The fixing bolt of rope, thus it enables that load cabin 1 is connected by traction rope with the capstan winch on ground or sea.
Inflated kite 2 includes inflated kite frame and kite clothing, and inflated kite frame is the skeleton of inflated kite 2, using antioxygen
Change and high-strength abrasion-proof plastics (such as nylon) is made, is provided with automatic discharge/charge gas nozzle 8, discharge/charge gas nozzle 8 passes through inflation/deflation
Pipe is connected with the air pump in load cabin 1, and the automatic inflatable/air to inflated kite frame is realized by the control to air pump.Inflated kite
Kite clothing is arranged in frame surface, when inflated kite frame inflation rear distraction kite clothing, forms the parafoil of the aerodone.Inflated kite 2
Material waterproof, the water surface can also be swum in by falling into the water, and can be gone up to the air again and be continued to fly.The structure of inflated kite frame in the present embodiment
As shown in fig. 6, be bilateral symmetry, including horizontal aeration frame and transversely inflate frame center longitudinal direction symmetrically arranged on the left and the right fill
Gas frame, kite clothing is consistent with the chamfered shape of inflated kite frame, is arranged on inflated kite frame surface.
Upper space inside load cabin 1 is provided with kite recovery capsule, for accommodating the inflated kite 2 for recycling of deflating.
The top of load cabin 1 position corresponding with 1 inside kite recovery capsule of load cabin is provided with opening, opening be provided be used to open or
Close the slip lid 3 of the opening.The shape of slip lid 3 need to keep the good aerodynamic configuration of load cabin 1, and setting slip lid 3 can be protected back
Inflated kite 2 after receipts.Slip lid 3 is inflated inflated kite frame after opening, so that inflated kite is discharged from the opening, in turn
It is being risen to above load cabin 1 under the action of aerodynamic force, to increase inflated kite aerodynamic lift.Simultaneously in 3 two sides of slip lid
Load cabin 1 on be respectively arranged with side opening to be opened/closed, which is connected to kite recovery capsule, when slip lid 3 close, slip lid both sides
Side opening open when, inflated kite frame is inflated, the both ends of inflated kite 2 can be made to stretch respectively from the side opening on slip lid both sides
Out, it is suitable for the bigger state of wind-force；When wind-force is excessive, when inflated kite not easy to use, inflated kite is recycled to kite and is returned
It receives in cabin, only relies on load cabin shape and flight lift is provided.
It is additionally provided with empennage 5 in the tail portion of load cabin 1, empennage 5 is made of plastics such as nylon, for keeping load cabin 1
Skyborne stability；When changing empennage 5 into rotor, rotor rotational is driven to can be realized flexible aerodone by dynamical system
Flight function.
For along the symmetrical rectangle structure of 1 longitudinal center of load cabin, such as Fig. 6 after inflated kite 2 is unfolded in the present embodiment
It is shown, four kite rope tie points, every group of four kite ropes connection are symmetrical arranged in the left and right sides of inflated kite frame lower surface
Point is in distributed rectangular.Load cabin 1 is internally provided with wheel mechanism for rolling identical with kite rope tie point number, each kite rope connection
A kite rope 4 is connected at point, the other end of kite rope 4 is wrapped in load cabin after passing through the kite rope folding and unfolding hole 6 in load cabin 1
In 1 on wheel mechanism for rolling corresponding with the kite rope tie point 9, thus, it is possible to pass through the corresponding kite rope of wheel mechanism for rolling folding and unfolding
To adjust the length of kite rope 4.When inflated kite 2 rises to above load cabin 1 from 3 place opening of slip lid, pass through adjusting
The length of kite rope 4, inflated kite 2 and load cabin 1 can be made to keep different height state, and (usual inflated kite is apart from load cabin height
Spend higher, the pulling force that inflated kite provides is bigger), and can remain the pneumatic rigidity after kite is inflating expanded；When inflation wind
When zither 2 is stretched out from the side opening on 3 both sides of slip lid, by adjusting the length of kite rope 4 on one of direction, adjustable aerodone
Direction.Kite rope 4 is made of the high intensity such as ultra-high molecular weight polyethylene, nylon, the light weights material such as do not absorb water, is wear-resisting.
When inflated kite is recycled in kite recovery capsule, the part that kite rope 4 is located at outside load cabin is tightly attached in load cabin, does not influence to carry
The aerodynamic configuration in lotus cabin.
To realize the automatic recycling to inflated kite 2, it is additionally provided with recovering mechanism, which includes: that setting is carrying
Recycling wheel mechanism for rolling, recycling rope inside lotus cabin 1 and main rope closing ring 10 and point rope closing ring that inflated kite lower surface is set
11, as shown in Figure 6.Wherein recycling rope using the high intensity such as ultra-high molecular weight polyethylene, nylon, the light weights matter such as do not absorb water, be wear-resisting
Material is made, and main rope closing ring 10 is made of plastics such as nylon, and one is made with inflated kite.Multiple rope closings that branch back to pass through master
A total recycling rope is compiled into after rope closing ring 10, by drawing total recycling rope to realize the recycling to inflated kite.Point rope closing ring 11 is adopted
It is made of plastics such as nylon, one is made with inflated kite frame, drive inflated kite frame to recycle together when branching back to rope closing recycling.
Specifically: the center of 2 lower surface of inflated kite is arranged in main rope closing ring 10, and recycling wheel mechanism for rolling is arranged in load cabin 1
Portion, main recycling rope one ends wound realize the folding and unfolding of main recycling rope by recycling wheel mechanism for rolling in recycling wheel mechanism for rolling, and the other end is worn
It is divided into four strands after crossing main rope closing ring 10 with the main recycling rope of top set, respectively two or more left branch recycling ropes are with two with upper right
Branch back to rope closing.Symmetrically there is two rows point rope closing ring 11 at left and right sides of inflated kite frame lower surface, every row includes cross direction profiles
Four points of rope closing rings 11, left branch recycling rope and right branch recycling are restricted and are each passed through behind corresponding branch's rope closing hole and inflation
Kite frame end portion is connected；Thus after inflated kite frame is deflated, main recycling is drawn to restrict by the recycling wheel mechanism for rolling in load cabin,
The synchronous recycling that rope completes the right and left inflated kite 2, inflation wind after the recovery are recycled with right branch by left branch recycling rope
Zither 2 is located in kite recovery capsule；After the inflation of inflated kite frame, main recycling rope is discharged, recycling rope is extensive with the stretching, extension of inflated kite
Restore tensional state.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (10)
1. the flexible aerodone that one kind stretches automatically characterized by comprising load cabin (1), inflated kite (2), kite rope
(4) and recovering mechanism；
Wheel mechanism for rolling is installed inside the load cabin (1), kite rope (4) one ends wound is on the wheel mechanism for rolling, separately
One end is connected with the inflated kite (2)；
The inflated kite (2) is bilateral symmetry, comprising: inflated kite frame and kite clothing are arranged on the inflated kite
Have discharge/charge gas nozzle (8), the discharge/charge gas nozzle (8) is connected by charge and discharge tracheae with the air pump in load cabin (1)；The inflation wind
Kite clothing is arranged in zither frame surface, when inflated kite frame inflation rear distraction kite clothing, forms the parafoil of the aerodone；
In the load cabin (1), inner hub location is provided with kite recovery capsule, for accommodating the inflated kite for recycling of deflating
(2)；Position corresponding with the kite recovery capsule is provided with opening to be opened/closed at the top of the load cabin (1), in top opening
It is respectively arranged with side opening to be opened/closed in the load cabin (1) of two sides, which is connected to the kite recovery capsule；When the side opening
It closes, when top opening is opened, inflated kite (2) after inflation is discharged from top opening and is stretched, when top opening is closed, two
When the side opening is opened, the both ends of inflated kite (2) are respectively from two side opening release stretching, extensions after inflation；
The recovering mechanism is used to for the inflated kite (2) after deflating being recycled in the internal kite recovery capsule of load cabin (1).
2. the flexible aerodone stretched automatically as described in claim 1, it is characterised in that: the recovering mechanism includes: setting
In the main rope closing ring (10) of the internal recycling wheel mechanism for rolling of load cabin (1), recycling rope and setting in inflated kite (2) lower surface
With divide rope closing ring (11)；The main rope closing ring (10) is arranged in the center of inflated kite (2) lower surface, in load cabin (1)
A row or more point rope closing ring group is respectively arranged at left and right sides of lower surface；Every row divides rope closing ring group to include more than two along inflation wind
Zither (2) expansion direction divides rope closing ring (11)；
In recycling wheel mechanism for rolling, the other end is divided into and a point receipts the main recycling rope one ends wound after being pierced by the main rope closing ring (10)
Becket bridle group number is corresponding to branch back to rope closing；Rope closing is branched back to be each passed through after corresponding point of rope closing ring group and inflated kite
End is connected.
3. the flexible aerodone stretched automatically as described in claim 1, it is characterised in that: left in the inflated kite lower surface
More than two kite rope tie points are respectively set in right two sides, and the load cabin (1) is internally provided with and kite rope tie point number
Identical wheel mechanism for rolling, a kite rope (4) is connected at each kite rope tie point, and the other end of kite rope (4) passes through load
It is wrapped in behind kite rope folding and unfolding hole (6) on cabin (1) in load cabin (1) on corresponding wheel mechanism for rolling, passes through the rolling wheel
Mechanism can adjust the length of corresponding kite rope (4).
4. the flexible aerodone as claimed in claim 1,2 or 3 stretched automatically, it is characterised in that: load cabin (1) shape
Using the aerodynamic configuration for meeting setting lift resistance ratio.
5. the flexible aerodone stretched automatically as claimed in claim 4, it is characterised in that: in the tail portion of the load cabin (1)
It is provided with empennage (5).
6. the flexible aerodone stretched automatically as claimed in claim 4, it is characterised in that: there are three types of flights for the aerodone tool
Mode: the first: the inflated kite discharges at the top of load cabin, provides flight lift by inflated kite；Second: described to fill
Gas kite is discharged from load cabin two sides, provides flight lift jointly by the inflated kite and load cabin；The third: the inflation
Kite is recycled in kite recovery capsule, provides flight lift by load cabin shape.
7. the flexible aerodone as claimed in claim 1,2 or 3 stretched automatically, it is characterised in that: at the top of the load cabin (1)
The opening and closing of opening is realized by the way that the slip lid (3) of the opening is arranged in.
8. the flexible aerodone as claimed in claim 1,2 or 3 stretched automatically, it is characterised in that: the load cabin (1) is internal
Using Carbon fibe material or glass fibre skeleton structure, outside uses glass fibre or plastic skin structure.
9. the flexible aerodone as claimed in claim 1,2 or 3 stretched automatically, it is characterised in that: in the load cabin (1)
Rotor is arranged in tail portion, and the rotor is driven by the internal power unit of the load cabin (1) is arranged in.
10. the flexible aerodone as claimed in claim 1,2 or 3 stretched automatically, it is characterised in that: the inflated kite (2)
Using waterproof material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811095121.3A CN109204809B (en) | 2018-09-19 | 2018-09-19 | Automatic flexible glider that extends |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811095121.3A CN109204809B (en) | 2018-09-19 | 2018-09-19 | Automatic flexible glider that extends |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109204809A true CN109204809A (en) | 2019-01-15 |
| CN109204809B CN109204809B (en) | 2024-03-22 |
Family
ID=64984752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811095121.3A Active CN109204809B (en) | 2018-09-19 | 2018-09-19 | Automatic flexible glider that extends |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109204809B (en) |
Cited By (2)
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|---|---|---|---|---|
| CN110371283A (en) * | 2019-07-08 | 2019-10-25 | 中国人民解放军国防科技大学 | Intelligent flexible inflatable wing unmanned aerial vehicle structure |
| CN115158683A (en) * | 2022-07-22 | 2022-10-11 | 西北核技术研究所 | Stabilizing system for hanging and carrying unmanned aerial vehicle |
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|---|---|---|---|---|
| CN110371283A (en) * | 2019-07-08 | 2019-10-25 | 中国人民解放军国防科技大学 | Intelligent flexible inflatable wing unmanned aerial vehicle structure |
| CN115158683A (en) * | 2022-07-22 | 2022-10-11 | 西北核技术研究所 | Stabilizing system for hanging and carrying unmanned aerial vehicle |
| CN115158683B (en) * | 2022-07-22 | 2024-06-21 | 西北核技术研究所 | Unmanned aerial vehicle hangs stable system of delivery |
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|---|---|
| CN109204809B (en) | 2024-03-22 |
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