CN110294125A - A kind of mechanical arm being equipped on unmanned plane - Google Patents
A kind of mechanical arm being equipped on unmanned plane Download PDFInfo
- Publication number
- CN110294125A CN110294125A CN201910507064.3A CN201910507064A CN110294125A CN 110294125 A CN110294125 A CN 110294125A CN 201910507064 A CN201910507064 A CN 201910507064A CN 110294125 A CN110294125 A CN 110294125A
- Authority
- CN
- China
- Prior art keywords
- steering engine
- intermediate plate
- distance rod
- unmanned plane
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 229910052799 carbon Inorganic materials 0.000 claims abstract description 25
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims abstract description 24
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 15
- 238000003756 stirring Methods 0.000 claims abstract description 12
- 238000009434 installation Methods 0.000 claims abstract description 8
- 210000000078 claw Anatomy 0.000 abstract description 3
- 230000032258 transport Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/22—Taking-up articles from earth's surface
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a kind of mechanical arm configurations for being equipped on unmanned plane, wherein distance rod steering engine mounting base is symmetrically distributed in the front and back side of installation frame pedestal, and distance rod steering engine is fixed in steering engine mounting base, when distance rod and distance rod steering engine output shaft it is affixed.The left and right sides is uniformly distributed four distance rods, and every side-thrust bar is affixed by carbon beam and four intermediate plates.A fixed control steering engine is fixed in every side most outer two panels intermediate plate lower end respectively, one L-type fixinig plate is installed on steering engine output shaft, two intermediate plate lower end of inside fixes one respectively and stirs control steering engine, and small-sized plectrum is installed on steering engine output shaft, and the working condition of target is unclamped conducive to claw.Sliding slot is opened in the distance rod end for being articulated with upside, and the carbon beam for fixing four intermediate plates passes through sliding slot, while being connected with the intermediate plate of distance rod end control steering engine by connecting rod, forms slider-crank mechanism.The present invention make to grab by the way of machinery crawl it is firm effectively, and guarantee article correct placement using four-bar mechanism.
Description
Technical field
The present invention relates to a kind of unmanned plane attachmentes, and in particular to a kind of mechanical arm being equipped on unmanned plane.
Background technique
In recent years, unmanned plane application field is more and more wider, and more and more present age high-quality precision and sophisticated technologies are put into wherein, and most often
The purposes seen be investigate, take photo by plane, surveying and drawing, movies-making.It is not difficult to find out that the main application of current unmanned plane, removes certain dedicated
Military unmanned plane is largely used to entertain, and does not develop the potential of unmanned plane in domestic life completely.We more feel
By the importance of intelligence transport, and the transport on ground is frequently subjected to the limitation of landform.Have currently on the market on a small quantity
Grabbing device based on sucker, but they expose that crawl is unstable, and cargo is easy to ask from what is fallen in the air in practical
Topic, this not only can cause to damage to cargo, but will constitute a threat to the personnel safety carried on the way.Therefore, a can be secured
The unmanned plane mechanical arm for grabbing cargo, can preferably cater to communication and transport market instantly.
Summary of the invention
The object of the present invention is to provide a kind of mechanical arms for being equipped on unmanned plane, not only can be complete as sucker
It at simple handling work, and solves the problems, such as that sucker crawl is unstable, carries out cargo transport with the mode of machinery crawl,
More secure and reliable is conducive to adapt to more complicated handling situations.
The present invention adopts the following technical scheme that realize:
A kind of mechanical arm being equipped on unmanned plane, including the control of pedestal, four-bar mechanism, distance rod steering engine, intermediate plate, intermediate plate
Steering engine, carbon beam, fixed control steering engine and L-type fixinig plate；Wherein,
Four-bar mechanism is at least a pair of, and each pair of four-bar mechanism is symmetrical arranged, two stocks of each four-bar mechanism
Respectively it is symmetricly set on two the first distance rods and two connecting rods of two sides of base, two the first distance rods and two connecting rods
One end and pedestal it is hinged, distance rod steering engine be arranged on the base, pass through driving the first distance rod rotation drive four-bar mechanism
It opens or is closed, the other end of two connecting rods is hinged with corresponding intermediate plate respectively, and the other end of two the first distance rods is opened
Equipped with sliding slot, two the first distance rods by pass through sliding slot carbon beam with and two connecting rods it is hinged intermediate plate top be connected, intermediate plate
The other end of first distance rod is arranged in control steering engine, is connected by link mechanism, the second distance rod with carbon beam, structure
At slider-crank mechanism；
The intermediate plate bottom being connected with each four-bar mechanism and one end of L-type fixinig plate are hinged, the other end of L-type fixinig plate
For free end, fixed control steering engine is arranged on intermediate plate, for driving L-type fixinig plate to rotate.
A further improvement of the present invention lies in that pedestal includes installation frame pedestal and is mounted on installation frame base bottom
Distance rod steering engine mounting base, one end of two stocks of four-bar mechanism and distance rod steering engine mounting base are hinged, and distance rod rudder
Machine is arranged in distance rod steering engine mounting base.
A further improvement of the present invention lies in that further including stirring control steering engine and small-sized plectrum, small-sized plectrum setting is being pressed from both sides
The inside of piece and L type fixinig plate hinged place is stirred on control steering engine setting intermediate plate, for driving small-sized plectrum to rotate.
A further improvement of the present invention lies in that the intermediate plate being connected with each four-bar mechanism at least there are two, when multiple lead to
Carbon beam is crossed to be sequentially connected in series together.
A further improvement of the present invention lies in that being also provided with spare mounting hole on intermediate plate, steering engine is controlled for changing fixed
Position adapt to the crawls of different scale articles.
A further improvement of the present invention lies in that each intermediate plate is provided with small-sized protrusion on the inside of bottom end, it is used for
Increase the stress with transport cargo.
A further improvement of the present invention lies in that in use, connecting electricity after determining that mechanical arm is correctly installed on uav bottom
Source starts unmanned plane；Above unmanned plane during flying to target item, the rotation of distance rod steering engine drives the first distance rod to centre
Lower rotation, after the first distance rod of two sides rotates predetermined angle, the intermediate plate of end controls steering engine rotational angle, pushes double leval jib
Intermediate plate head carbon beam is pushed into long through-hole front end by mechanism kinematic, thus make intermediate plate formed internal buckle shape, increase intermediate plate end with
The stress of target item consolidates clamping working condition to increase friction；After unmanned plane rises preset height, outside intermediate plate end
The fixed control steering engine rotational angle in end, makes the same internal buckle of L-type fixinig plate, guarantees that target item will not slide in the air；So far, should
Mechanical arm completes the movement of crawl target item；
After unmanned plane during flying launches place to article, it is drop to preset height, the fixed control steering engine in outside intermediate plate end turns
Dynamic angle unclamps L-type fixinig plate, and the second distance rod end intermediate plate controls steering engine and drives slider-crank mechanism movement, by intermediate plate head
Portion's carbon beam retracts long through-hole first section, and intermediate plate is made to enter state of organizing work, and in-board clip end steering engine occurs corresponding rotation, dials
Dynamic plectrum carries out push movement to transport article, it is ensured that article is correctly launched, and is prevented article from hook occurs with mechanical arm and is pulled；Most
Afterwards, distance rod steering engine rotates, and the first distance rod is lifted, and stretched condition is presented in entire mechanical arm, does for crawl work next time
Prepare；So far, which completes to launch the movement of target item.
The present invention has following beneficial technical effect:
A kind of mechanical arm being equipped on unmanned plane provided by the invention, the mechanical arm generate torque band by distance rod steering engine
Dynamic the first distance rod of two sides is drawn close to centre, after two sides distance rod rotates predetermined angle, the intermediate plate control steering engine rotation of end
Angle, throw crank slide block mechanism movement, is pushed into long through-hole front end for intermediate plate head carbon beam, so that it is interior buckle-shaped to form intermediate plate
Shape increases the small-sized protrusion in intermediate plate end and transports the stress of cargo, increases friction, and herein according to self-locking formula: tan β
=f (static friction factor), there are locking phenomenons, are conducive to firm clamping working condition.The fixed control steering engine in outside intermediate plate end turns
Dynamic angle, makes the same internal buckle of L-type fixinig plate, and target item carrying is avoided to slide on the way.When needing to place article, outside
Control flaps prow elder generation rotational angle is fixed in intermediate plate end, unclamps L-type fixinig plate, and distance rod end intermediate plate controls steering engine and drives song
The movement of handle slide block mechanism, retracts long through-hole first section for intermediate plate head carbon beam, intermediate plate is made to enter opening working condition.Further, interior
Side intermediate plate end stirs control steering engine and rotates, and stirs small-sized plectrum and carries out push movement to transport article.Distance rod steering engine
Rotation, the first distance rod is lifted, and extended state is presented in entire mechanical arm.
The present invention is different from previous sucker crawl structure, makes to grab by the way of machinery crawl firm effective and sharp
Guarantee article correct placement with four-bar mechanism.
Detailed description of the invention
Fig. 1 is a kind of perspective view for the mechanical arm for being equipped on unmanned plane of the present invention.
Fig. 2 is a kind of main view for the mechanical arm for being equipped on unmanned plane of the present invention.
Fig. 3 is claw structure chart of the invention.
Description of symbols:
1- installation frame pedestal, 2- distance rod steering engine mounting base, 3- distance rod steering engine, the first distance rod of 4-, 5- carbon beam, 6-
Spare mounting hole, the fixed control steering engine of 7-, 8-L type fixinig plate, 9- intermediate plate, 10- stir control steering engine, the small-sized plectrum of 11-, 12-
Intermediate plate controls steering engine, the second distance rod of 13-, 14- connecting rod.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1 to Figure 3, a kind of mechanical arm being equipped on unmanned plane provided by the invention, including installation frame pedestal
1, distance rod steering engine 3, distance rod steering engine mounting base 2, the first distance rod 4, intermediate plate control steering engine 12, carbon beam 5, intermediate plate 9, fix
Control steering engine 7 stirs control steering engine 10, small-sized protrusion, small-sized plectrum 11, L-type fixinig plate 8, the second distance rod 13 and connecting rod
14, and the spare mounting hole 6 being provided on intermediate plate 9.Distance rod steering engine 3 passes through distance rod steering engine mounting base 2 and installation frame
Pedestal 1 is fixed, keeps being connected with the stabilization of unmanned plane.First distance rod 4 is connected with 3 output shaft of distance rod steering engine, two sides first
Distance rod 4 is symmetrical, and end passes through carbon beam 5 and connects with intermediate plate 9, and long lead to is opened in 4 end of the first distance rod for being distributed upside
Hole；The intermediate plate 9 of every side four constitutes the claw of mechanical arm: four intermediate plates 9 are equidistantly fixed with three carbon beams 5, head carbon beam 5
It is connected by link mechanism with the second distance rod 13, constitutes slider-crank mechanism.Each intermediate plate 9 is inlayed small-sized convex close to end
Object is played, the stress with transport cargo is increased.The fixed control steering engine 7 of two intermediate plate of outside, 9 end placement, fixed control steering engine 7 export
Control steering engine 10 is stirred in the affixed L-type control sheet 8 of axis, the placement of two intermediate plate of inside, 9 end, and it is affixed to stir control 10 output shaft of steering engine
Small-sized plectrum 11.
The distance rod steering engine, commercially available, the LiFe 6.6V steering engine produced using Power HD.
The intermediate plate control steering engine, stirs control steering engine at fixed control steering engine, commercially available, is all made of the small-sized rudder of ES 3054
Machine.
The carbon beam is 8mm and 5mm carbon beam.
A kind of mechanical arm being equipped on unmanned plane provided by the invention, specific work process are as follows:
Step 1: powering on after determining that mechanical arm is correctly installed on uav bottom, start unmanned plane.
Step 2: distance rod steering engine 3 rotates above unmanned plane during flying to target item, drive the first distance rod 4 to centre
Lower rotation, after the first distance rod of two sides 4 rotates predetermined angle, the intermediate plate of end controls 12 rotational angle of steering engine, pushes four to connect
Linkage movement, is pushed into long through-hole front end for intermediate plate head carbon beam 5, so that intermediate plate 9 be made to form internal buckle shape, increases 9 end of intermediate plate
The stress of small-sized protrusion and target item is held, to increase friction, consolidates clamping working condition.Unmanned plane rises preset height
Afterwards, fixed control 7 rotational angle of steering engine in outside intermediate plate end, makes the same internal buckle of L-type fixinig plate 8, guarantees that target item will not be empty
Middle landing.So far, which completes the movement of crawl target item.
Step 3: droping to preset height, the fixed control in outside intermediate plate end after unmanned plane during flying launches place to article
7 rotational angle of steering engine, unclamps L-type fixinig plate 8, and 13 end intermediate plate of the second distance rod controls steering engine 12 and drives slider-crank mechanism
Movement, retracts long through-hole first section for intermediate plate head carbon beam 5, and intermediate plate 9 is made to enter state of organizing work, in-board clip end steering engine
10 occur corresponding rotation, stir 11 pairs of transport articles of plectrum and carry out push movement, it is ensured that article is correctly launched, and article is prevented
Occur to hook with mechanical arm and pull.Finally, distance rod steering engine 3 rotates, the first distance rod 4 is lifted, entire mechanical arm, which is presented, upholds shape
State is prepared for crawl work next time.So far, which completes to launch the movement of target item.
Finally, it should be noted that present invention aims at the precise positioning of cooperation unmanned plane, fixed point crawl and dispensing target
Article, article is not fallen off during above-mentioned mechanical structure may insure mechanical arm crawl article, and launches target item
When can prevent from article from hooking pulling the protrusion of mechanical arm.Generally, the machinery arm configuration is simple, and effect is obvious, quality compared with
Gently, it is suitble to be loaded into unmanned plane progress operation.
Claims (7)
1. a kind of mechanical arm for being equipped on unmanned plane, which is characterized in that including pedestal, four-bar mechanism, distance rod steering engine (3),
Intermediate plate (9), intermediate plate control steering engine (12), carbon beam (5), fixed control steering engine (7) and L-type fixinig plate (8)；Wherein,
Four-bar mechanism is at least a pair of, and each pair of four-bar mechanism is symmetrical arranged, two stocks difference of each four-bar mechanism
For two the first distance rods (4) and two connecting rods (14) for being symmetricly set on two sides of base, two the first distance rods (4) and two
One end of connecting rod (14) and pedestal are hinged, and distance rod steering engine (3) is arranged on the base, pass through driving the first distance rod (4) rotation
Drive four-bar mechanism to open or closure, the other end of two connecting rods (14) respectively with corresponding intermediate plate (9) hingedly, two the
The other end of one distance rod (4) offers sliding slot, and two the first distance rods (4) pass through the carbon beam (5) and and two across sliding slot
It is connected at the top of the hinged intermediate plate (9) of a connecting rod (14), intermediate plate controls steering engine (12) setting in the another of first distance rod (4)
End is connected by link mechanism, the second distance rod (13) with carbon beam (5), and slider-crank mechanism is constituted；
Intermediate plate (9) bottom being connected with each four-bar mechanism and one end of L-type fixinig plate (8) are hinged, L-type fixinig plate (8)
The other end is free end, on fixed control steering engine (7) setting intermediate plate (9), for driving L-type fixinig plate (8) to rotate.
2. a kind of mechanical arm for being equipped on unmanned plane according to claim 1, which is characterized in that pedestal includes installation frame
Pedestal (1) and the distance rod steering engine mounting base (2) for being mounted on installation frame pedestal (1) bottom, two stocks of four-bar mechanism
One end and distance rod steering engine mounting base (2) hingedly, and distance rod steering engine (3) be arranged in distance rod steering engine mounting base (2).
3. a kind of mechanical arm for being equipped on unmanned plane according to claim 1, which is characterized in that further include stirring control flaps
Machine (10) and small-sized plectrum (11), small-sized plectrum (11) are arranged in the inside of intermediate plate (9) and L-type fixinig plate (8) hinged place, stir
It controls in steering engine (10) setting intermediate plate (9), for driving small-sized plectrum (11) to rotate.
4. a kind of mechanical arm for being equipped on unmanned plane according to claim 1, which is characterized in that with each four-bar mechanism
Connected intermediate plate (9) at least there are two, be sequentially connected in series together when multiple by carbon beam (5).
5. a kind of mechanical arm for being equipped on unmanned plane according to claim 1, which is characterized in that intermediate plate also opens up on (9)
There are spare mounting hole (6), the crawl of different scale articles is adapted to for changing the position of fixed control steering engine (7).
6. a kind of mechanical arm for being equipped on unmanned plane according to claim 1, which is characterized in that each intermediate plate (9) is close
Small-sized protrusion is provided on the inside of bottom end, for increasing and transporting the stress of cargo.
7. a kind of mechanical arm for being equipped on unmanned plane according to claim 1, which is characterized in that in use, determining mechanical
After arm is correctly installed on uav bottom, power on, starts unmanned plane；Above unmanned plane during flying to target item, thrust
Bar steering engine (3) rotation, drives the first distance rod (4) to rotate to central bottom, and the first distance rod of two sides (4) rotates predetermined angle
Afterwards, the intermediate plate of end controls steering engine (12) rotational angle, pushes parallel motion, intermediate plate head carbon beam (5) is pushed into grow
The front end of the through hole increases the stress of intermediate plate (9) end and target item so that intermediate plate (9) be made to form internal buckle shape, rubs to increase
It wipes, consolidates clamping working condition；After unmanned plane rises preset height, fixed control steering engine (7) rotational angle in outside intermediate plate end,
Make L-type fixinig plate (8) same internal buckle, guarantees that target item will not slide in the air；So far, which completes crawl target item
Movement；
After unmanned plane during flying launches place to article, it drop to preset height, fixed control steering engine (7) rotation in outside intermediate plate end
Angle is unclamped L-type fixinig plate (8), and the second distance rod (13) end intermediate plate controls steering engine (12) and drives slider-crank mechanism movement,
Intermediate plate head carbon beam (5) is retracted into long through-hole first section, intermediate plate (9) is made to enter state of organizing work, in-board clip end steering engine
(10) corresponding rotation occurs, stirs plectrum (11) and push movement is carried out to transport article, it is ensured that article is correctly launched, and object is prevented
Product occur to hook with mechanical arm to be pulled；Finally, distance rod steering engine (3) rotates, the first distance rod (4) is lifted, entire mechanical arm is presented
Stretched condition is prepared for crawl work next time；So far, which completes to launch the movement of target item.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910507064.3A CN110294125B (en) | 2019-06-12 | 2019-06-12 | Arm equipped with unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910507064.3A CN110294125B (en) | 2019-06-12 | 2019-06-12 | Arm equipped with unmanned aerial vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN110294125A true CN110294125A (en) | 2019-10-01 |
| CN110294125B CN110294125B (en) | 2021-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910507064.3A Active CN110294125B (en) | 2019-06-12 | 2019-06-12 | Arm equipped with unmanned aerial vehicle |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140121080A (en) * | 2013-04-05 | 2014-10-15 | 김명호 | Unmanned Aerial Vehicle Equipped With Engine Type Electric Genarator |
| CN105314102A (en) * | 2015-12-04 | 2016-02-10 | 哈尔滨云控机器人科技有限公司 | Unmanned aerial vehicle provided with mechanical arm |
| CN107628248A (en) * | 2017-09-14 | 2018-01-26 | 上海电力学院 | A kind of multi-rotor unmanned aerial vehicle robot arm device |
| CN207389544U (en) * | 2017-10-02 | 2018-05-22 | 翼航东升东莞航空实业集团有限公司 | A kind of crawl quadrotor unmanned plane |
| CN108820224A (en) * | 2018-07-31 | 2018-11-16 | 拓攻（南京）机器人有限公司 | A kind of grasping mechanism and unmanned plane for unmanned plane |
-
2019
- 2019-06-12 CN CN201910507064.3A patent/CN110294125B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140121080A (en) * | 2013-04-05 | 2014-10-15 | 김명호 | Unmanned Aerial Vehicle Equipped With Engine Type Electric Genarator |
| CN105314102A (en) * | 2015-12-04 | 2016-02-10 | 哈尔滨云控机器人科技有限公司 | Unmanned aerial vehicle provided with mechanical arm |
| CN107628248A (en) * | 2017-09-14 | 2018-01-26 | 上海电力学院 | A kind of multi-rotor unmanned aerial vehicle robot arm device |
| CN207389544U (en) * | 2017-10-02 | 2018-05-22 | 翼航东升东莞航空实业集团有限公司 | A kind of crawl quadrotor unmanned plane |
| CN108820224A (en) * | 2018-07-31 | 2018-11-16 | 拓攻（南京）机器人有限公司 | A kind of grasping mechanism and unmanned plane for unmanned plane |
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| Publication number | Publication date |
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| CN110294125B (en) | 2021-01-19 |
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