CN110304240B - Skid-type landing gear structure of light and small unmanned aerial vehicle and working method of skid-type landing gear structure - Google Patents
Skid-type landing gear structure of light and small unmanned aerial vehicle and working method of skid-type landing gear structure Download PDFInfo
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- CN110304240B CN110304240B CN201910722896.7A CN201910722896A CN110304240B CN 110304240 B CN110304240 B CN 110304240B CN 201910722896 A CN201910722896 A CN 201910722896A CN 110304240 B CN110304240 B CN 110304240B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/52—Skis or runners
Abstract
The invention relates to a skid-type undercarriage structure of a light small unmanned aerial vehicle and a working method thereof, which are characterized in that: the skid type landing gear structure of the light unmanned aerial vehicle comprises a frame arranged at the lower part of the light unmanned aerial vehicle and two parallel screw rods hinged in the frame body, wherein the two parallel screw rods are a first screw rod and a second screw rod respectively, synchronous chain wheels are respectively arranged at the middle parts of the two screw rods, synchronous chains are connected to the synchronous chain wheels of the two screw rods, and a motor and a first chain transmission mechanism driven by the motor for enabling the first screw rod to rotate are arranged on the frame; the two sides of the synchronous chain wheel of each parallel screw rod are provided with spiral opposite threads, a screw sleeve is connected on the threads in a screwed manner, a swing frame and telescopic supporting feet arranged on the swing frame are hinged to the lower parts of the screw sleeves, and skid plates are connected to the lower end parts of the telescopic supporting feet positioned on the same side; this light unmanned aerial vehicle skid formula undercarriage structural design is reasonable, is favorable to conveniently installing the use at gyroplane and fixed wing upper landing gear.
Description
Technical field:
the invention relates to a skid-type undercarriage structure of a light small unmanned aerial vehicle and a working method thereof.
The background technology is as follows:
the safe take-off and landing are the basis of the unmanned aerial vehicle for carrying out operation tasks, and the take-off modes of the existing domestic and foreign fixed wing unmanned aerial vehicle are taken off vertically from the ground by means of landing gears, and the rotor wing aircraft taking off by holding the landing gears and the runway running take-off of the fixed wing unmanned aerial vehicle. However, most of the devices for taking off and landing of unmanned aerial vehicles are landing gears or tires, and the common landing gears which can be installed on gyroplanes and fixed wings are relatively rarely studied.
The invention comprises the following steps:
the invention aims to provide a light small unmanned aerial vehicle skid landing gear structure and a working method thereof, and the light small unmanned aerial vehicle skid landing gear structure is reasonable in design and beneficial to being conveniently installed on a gyroplane and a fixed wing.
The invention discloses a skid-type undercarriage structure of a light and small unmanned aerial vehicle, which is characterized in that: the device comprises a frame arranged at the lower part of a light unmanned aerial vehicle and two parallel screw rods hinged in the frame body, wherein the two parallel screw rods are a first screw rod and a second screw rod respectively, synchronous chain wheels are respectively arranged at the middle parts of the two screw rods, synchronous chains are connected to the synchronous chain wheels of the two screw rods, and a motor and a first chain transmission mechanism driven by the motor for enabling the first screw rod to rotate are arranged on the frame; the synchronous chain wheel two sides of every parallel lead screw are equipped with spiral opposite screw thread, the spiro union has the swivel nut on the screw thread, the lower part of swivel nut articulates there is the scalable supporting legs of swing frame and setting on the swivel frame, wherein the scalable supporting legs lower extreme connection that is located same one side has the skid board.
Further, the frame comprises two side plates and a transverse plate connected to the lower parts of the two side plates, a groove is formed in the transverse plate and used for penetrating through the screw sleeve, and the screw sleeve is limited to slide in the groove.
Further, the screw sleeve comprises a screw hole which is in threaded connection with the screw thread in a matching manner at the upper part and lug pieces for hinging at two sides of the lower part.
Further, the swing frame is a square steel pipe, two ends of the upper portion of the square steel pipe are hinged between two lug pieces, the first side portion of the square steel is hinged to the first end of the first electric pushing cylinder, and the first side portion of the screw sleeve is hinged to the second end of the first electric pushing cylinder so as to realize swing of the swing frame when the first electric pushing cylinder stretches.
Further, the second side part of the square steel tube is hinged to the upper end of the second electric pushing cylinder, and the second side part of the telescopic supporting leg is hinged to the second end of the second electric pushing cylinder so as to achieve lifting of the telescopic supporting leg.
The invention discloses a working method of a skid-type undercarriage structure of a light and small unmanned aerial vehicle, which is characterized by comprising the following steps of: the skid type undercarriage structure of the light unmanned aerial vehicle comprises a frame arranged at the lower part of the light unmanned aerial vehicle and two parallel screw rods hinged in the frame body, wherein the two parallel screw rods are a first screw rod and a second screw rod respectively, synchronous chain wheels are arranged at the middle parts of the two screw rods respectively, synchronous chains are connected to the synchronous chain wheels of the two screw rods, and a motor and a first chain transmission mechanism driven by the motor for enabling the first screw rod to rotate are arranged on the frame; the two sides of the synchronous chain wheel of each parallel screw rod are provided with spiral opposite threads, a screw sleeve is connected on the threads in a screwed manner, a swing frame and telescopic supporting feet arranged on the swing frame are hinged to the lower parts of the screw sleeves, and skid plates are connected to the lower end parts of the telescopic supporting feet positioned on the same side; when the light unmanned aerial vehicle is parked on the ground, the swing frame and the telescopic supporting legs are vertical to the ground, and when the distance between the swing frames at two sides is required to be adjusted, the motor drives the first chain transmission mechanism to act, so that the first screw rod drives the second screw rod to synchronously rotate through the synchronous chain, the screw rod drives the screw sleeve on the screw rod to relatively approach or relatively separate, and the length of the telescopic supporting legs can be adjusted so as to change the distance between the rack and the skid plate; after the light unmanned aerial vehicle takes off, the swing frames and the telescopic supporting feet on the two sides are folded and are close to the bottom surface of the frame.
Further, the swing frame is a square steel pipe, two ends of the upper part of the square steel pipe are hinged between two lug sheets, a first side part of the square steel is hinged with a first end of a first electric pushing cylinder, and a first side part of a screw sleeve is hinged with a second end of the first electric pushing cylinder so as to realize swing of the swing frame when the first electric pushing cylinder stretches; the second side part of the square steel pipe is hinged with the upper end of the second electric pushing cylinder, and the second side part of the telescopic supporting leg is hinged with the second end of the second electric pushing cylinder so as to realize lifting of the telescopic supporting leg; the first electric pushing cylinder is driven to stretch and retract, so that the upper part of the square steel pipe swings around a hinging point, and the swinging frames and the telescopic supporting feet at the two sides are folded to be close to the bottom surface of the frame; the second electric pushing cylinder is driven to extend or shorten the steel pipe of the opposite side of the telescopic supporting leg, so that the distance between the rack and the skid plate is changed.
The skid type landing gear of the light and small unmanned aerial vehicle has the advantages that the structure is simple, the processing cost is low, the maintenance requirement is low, square steel pipes, telescopic supporting feet (inner square steel pipes) and a second electric pushing cylinder are adopted as buffer and supporting structures, skid plates below the telescopic supporting feet are in contact with the ground, the landing stability is improved, the recyclable skid design can help the light and small unmanned aerial vehicle to enable the unmanned aerial vehicle to raise the body of the unmanned aerial vehicle on the ground with severe environment (such as weeds and clay) in a telescopic manner of the landing gear, the body is prevented from being interfered by sundries blown by rotating paddles, and in addition, the unmanned aerial vehicle can not be affected by extra air resistance to continue voyage when flying due to folding of the swing frame; the swing rotating frame controlled by the screw transmission synchronously moves in opposite directions or in opposite directions to change the wheelbase, so that the swing rotating frame is suitable for different types of unmanned aerial vehicles and different use places.
Description of the drawings:
FIG. 1 is a schematic perspective view of a swing frame of the present invention in a collapsed state;
FIG. 2 is a schematic perspective view of the alternate view of FIG. 1;
FIG. 3 is a schematic perspective view of the connection of the screw sleeve to the swing frame;
FIG. 4 is a schematic perspective view of a screw sleeve;
fig. 5 is a schematic diagram of the front view configuration of the present invention.
The specific embodiment is as follows:
the process according to the invention is described in further detail below with reference to examples. It should be specifically noted that the protection scope of the present invention should include but not limited to the technical content disclosed in the present embodiment.
The skid-type undercarriage structure of the light-type unmanned aerial vehicle comprises a frame 1 arranged at the lower part of the light-type unmanned aerial vehicle and two parallel screw rods 2 hinged in the frame 1, wherein the two parallel screw rods are respectively a first screw rod 201 and a second screw rod 202, two ends of the two parallel screw rods 2 are respectively hinged on two side plates, synchronous chain wheels 3 are respectively arranged at the middle parts of the two screw rods, synchronous chains 4 are connected to the synchronous chain wheels 3 of the two screw rods, the diameters of the two synchronous chain wheels 3 are the same, the rotating speeds are the same, and the frame 1 is provided with a motor 5 and a first chain transmission mechanism 6 which is driven by the motor and is used for enabling the first screw rod 201 to rotate; the two sides of the synchronous chain wheel 3 of each parallel screw rod 2 are provided with spiral opposite threads 7, a screw sleeve 8 is screwed on the threads 7, the lower part of the screw sleeve 8 is hinged with a swing frame 9 and telescopic supporting feet 10 arranged on the swing frame 9, the lower end parts of the telescopic supporting feet 10 positioned on the same side are connected with skid plates 11, when the light unmanned aerial vehicle is stopped on the ground, the swing frame and the telescopic supporting feet are vertical to the ground, and when the distance between the swing frames on two sides is required to be adjusted, a motor drives a first chain transmission mechanism to act, so that the first screw rod drives a second screw rod to synchronously rotate through a synchronous chain, the screw sleeve on the screw rod is relatively close to or relatively far away from, and the length of the telescopic supporting feet can be adjusted, so that the distance between the frame and the skid plates is changed; after the light unmanned aerial vehicle takes off, the swing frames and the telescopic supporting feet on two sides are folded to be close to the bottom surface of the frame, and of course, the synchronous chain 4 and the synchronous sprocket 3 can be replaced by a synchronous belt and a synchronous wheel.
The invention is also directed to an improved method of the existing problem:
1. it is desirable to ensure the lightest mass while ensuring the rigidity, strength and life of the landing gear structure.
2. Having versatility for most light and small unmanned aerial vehicles, a landing gear may be mounted under a plurality of unmanned aerial vehicles
3. The aerodynamics is met in the flight process, and the flight resistance is reduced as much as possible
4. Has workability and simultaneously reduces the cost as much as possible under the condition of meeting the requirements.
5. Absorbing certain energy and bearing during take-off and landing;
6. easy to use and maintain, easy to inspect, repair and replace, and life expectancy; furthermore, the landing gear should also fulfil the requirements related to its own function:
7. the landing gear should have good absorption and dissipation of impact loads and energy.
8. The storage requirement is that a reliable locking device is required in the process of stacking and releasing, the storage space is as small as possible, and the contraction mechanism is uniformly pressed.
9. Protection in certain environments such as temperature, humidity, vibration, dust, salt spray and others requires good sealing and corrosion resistance.
Further, for reasons of rationality, the frame 1 comprises two side plates 12 and a transverse plate 13 connected to the lower parts of the two side plates, a slot 14 is arranged on the transverse plate 13, the slot 14 is used for penetrating the threaded sleeve 8, and the threaded sleeve 8 is limited in the slot 14 to slide; the two side plates 12 are two side plate bodies, each side plate body comprises two rectangular plates 19 which are arranged in parallel, through holes are formed in the rectangular plates at the same horizontal position in a penetrating manner, flange plates 20 are fixedly arranged on the surfaces of the rectangular plates, which are opposite, flanges 21 coaxial with the through holes are arranged on the screw rod between the two rectangular plates, and the flanges are limited between the rectangular plates so as to ensure that the screw rod cannot axially move; the slot 14 is a rectangular slot, and the width of the slot is basically consistent with the width of the lower part of the screw sleeve 8, so that the screw sleeve 8 is limited in the rectangular slot to slide.
Further, the threaded sleeve 8 includes a threaded hole 15 screwed with the thread on the upper portion and lug pieces 16 for hinging on two sides of the lower portion, the upper portion of the threaded sleeve 8 is a first rectangular body, the lower portion is also a second rectangular body, two sides of the second rectangular body are matched with the inner sides of the rectangular groove to limit and slide, and the two lug pieces 16 are arranged on the lower portion of the second rectangular body.
Further, the swing frame 9 is a square steel tube, that is, a first square steel tube, the telescopic supporting leg 10 is also a square steel tube, that is, a second square steel tube, the outer dimension of the second square steel tube of the telescopic supporting leg 10 is equal to the inner dimension of the first square steel tube of the swing frame 9, so as to realize telescopic fit sliding in a sleeved mode, two ends of the upper portion of the first square steel tube are hinged between two lug pieces 16, a first side portion A of the first square steel tube is hinged with a first end of a first electric push cylinder 17, and a first side portion of the screw sleeve 8 is hinged with a second end of the first electric push cylinder 17, so that swinging of the swing frame 9 is realized when the first electric push cylinder stretches and contracts.
Further, the second side portion B of the square steel tube is hinged to the upper end of the second electric pushing cylinder 18, and the second side portion of the telescopic supporting leg 10 is hinged to the second end of the second electric pushing cylinder 18, so as to achieve lifting of the telescopic supporting leg.
The invention relates to a working method of a skid-type undercarriage structure of a small and light unmanned aerial vehicle, which comprises a rack arranged at the lower part of the small and light unmanned aerial vehicle and two parallel screw rods hinged in the rack, wherein the two parallel screw rods are respectively a first screw rod and a second screw rod, synchronous chain wheels are respectively arranged at the middle parts of the two screw rods, synchronous chains are connected on the synchronous chain wheels of the two screw rods, and a motor and a first chain transmission mechanism driven by the motor for enabling the first screw rod to rotate are arranged on the rack; the two sides of the synchronous chain wheel of each parallel screw rod are provided with spiral opposite threads, a screw sleeve is connected on the threads in a screwed manner, a swing frame and telescopic supporting feet arranged on the swing frame are hinged to the lower parts of the screw sleeves, and skid plates are connected to the lower end parts of the telescopic supporting feet positioned on the same side; when the light unmanned aerial vehicle is parked on the ground, the swing frame and the telescopic supporting legs are vertical to the ground, and when the distance between the swing frames at two sides is required to be adjusted, the motor drives the first chain transmission mechanism to act, so that the first screw rod drives the second screw rod to synchronously rotate through the synchronous chain, the screw rod drives the screw sleeve on the screw rod to relatively approach or relatively separate, and the length of the telescopic supporting legs can be adjusted so as to change the distance between the rack and the skid plate; after the light unmanned aerial vehicle takes off, the swing frames and the telescopic supporting feet on the two sides are folded and are close to the bottom surface of the frame.
Further, the swing frame is a square steel pipe, two ends of the upper part of the square steel pipe are hinged between two lug sheets, a first side part of the square steel is hinged with a first end of a first electric pushing cylinder, and a first side part of a screw sleeve is hinged with a second end of the first electric pushing cylinder so as to realize swing of the swing frame when the first electric pushing cylinder stretches; the second side part of the square steel pipe is hinged with the upper end of the second electric pushing cylinder, and the second side part of the telescopic supporting leg is hinged with the second end of the second electric pushing cylinder so as to realize lifting of the telescopic supporting leg; the first electric pushing cylinder is driven to stretch and retract, so that the upper part of the square steel pipe swings around a hinging point, and the swinging frames and the telescopic supporting feet at the two sides are folded to be close to the bottom surface of the frame; the second electric pushing cylinder is driven to extend or shorten the steel pipe of the opposite side of the telescopic supporting leg, so that the distance between the rack and the skid plate is changed.
Some technical characteristics of the invention:
the skid plate moves transversely left and right: the screw is driven to rotate by the motor, the screw is driven to drive the skid plate to move left and right, the forward and reverse rotation of the motor is controlled to control the left and right retraction of the skid plate, the retraction of the skid plate is controlled according to the actual working condition,
extension and retraction of the skid plate: the sliding plate is controlled to move up and down through the extension and retraction of the second electric push rod, so that the unmanned aerial vehicle can be parked in different environments;
folding and unfolding of the skid plate: under the flight state, the unmanned aerial vehicle can influence the flight of the unmanned aerial vehicle, so the parking equipment is designed into a retractable structure to reduce air resistance.
1. According to the requirements of ensuring rigidity, light weight and the like of the material of the landing gear, Q235 carbon steel is selected as a main material of the landing gear. The Q235 steel has the advantages of higher carbon mass fraction, higher strength and better plasticity and toughness. Materials used as the housing and landing gear are suitable.
2. The landing gear housing is designed as a whole with edge slots, according to the need for versatility for most light and small unmanned aerial vehicles. The undercarriage assembly needs to open corresponding groove and hole in unmanned aerial vehicle bottom, inserts the undercarriage whole unmanned aerial vehicle bottom and presss from both sides tightly bearing end cover through bolted connection, makes the undercarriage inlay in unmanned aerial vehicle bottom and guarantees to have good stability. The design has the significance that the impact load born by the unmanned aerial vehicle during landing can be greatly increased by installing the direct landing gear at the bottom of the unmanned aerial vehicle, and the consequence of unstable landing and even rollover caused by the rising of the whole gravity center of the unmanned aerial vehicle can be caused.
3. According to the requirement of meeting aerodynamics in the flight process, the landing gear is designed to be folded when the unmanned aerial vehicle takes off, so that the flight resistance of the unmanned aerial vehicle is greatly reduced. The design has the significance of reducing the volume of the landing gear in the flight process, and the larger the volume exposed to the air is, the larger the wind resistance of the unmanned aerial vehicle in the flight is.
4. According to the demand of having the workability, all parts that will use on the undercarriage all design can be processed in batches in the workshop, and bolt and nut is purchased through national standard regulation, and the step motor that control folding flexible electric putter and control screw rod rotated also can be purchased on the market as required.
5. According to the requirement that a certain energy load can be born during taking off and landing, a proper shock absorber is selected to be arranged on the supporting leg. The size of the shock absorber is not too large or the weight is increased to influence the flying speed.
6. According to the requirements of easy use and maintenance, the mode of driving the motor to drive the screw rod to drive is designed into chain drive, and the chain drive cannot be kept in a tensioning state under the condition that the stepping motor does not work, so that frequent replacement is not needed.
The skid type landing gear of the light and small unmanned aerial vehicle has the advantages that the structure is simple, the processing cost is low, the maintenance requirement is low, square steel pipes, telescopic supporting feet (inner square steel pipes) and a second electric pushing cylinder are adopted as buffer and supporting structures, skid plates below the telescopic supporting feet are in contact with the ground, the landing stability is improved, the recyclable skid design can help the light and small unmanned aerial vehicle to enable the unmanned aerial vehicle to raise the body of the unmanned aerial vehicle on the ground with severe environment (such as weeds and clay) in a telescopic manner of the landing gear, the body is prevented from being interfered by sundries blown by rotating paddles, and in addition, the unmanned aerial vehicle can not be affected by extra air resistance to continue voyage when flying due to folding of the swing frame; the swing rotating frame controlled by the screw transmission synchronously moves in opposite directions or in opposite directions to change the wheelbase, so that the swing rotating frame is suitable for different types of unmanned aerial vehicles and different use places.
The foregoing description is only of the preferred embodiments of the invention, and all changes and modifications that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (6)
1. A working method of a skid-type landing gear structure of a light and small unmanned aerial vehicle is characterized by comprising the following steps of: the device comprises a frame arranged at the lower part of a light unmanned aerial vehicle and two parallel screw rods hinged in the frame body, wherein the two parallel screw rods are a first screw rod and a second screw rod respectively, synchronous chain wheels are respectively arranged at the middle parts of the two screw rods, synchronous chains are connected to the synchronous chain wheels of the two screw rods, and a motor and a first chain transmission mechanism driven by the motor for enabling the first screw rod to rotate are arranged on the frame; the two sides of the synchronous chain wheel of each parallel screw rod are provided with spiral opposite threads, a screw sleeve is connected on the threads in a screwed manner, a swing frame and telescopic supporting feet arranged on the swing frame are hinged to the lower parts of the screw sleeves, and skid plates are connected to the lower end parts of the telescopic supporting feet positioned on the same side; when the light unmanned aerial vehicle is parked on the ground, the swing frame and the telescopic supporting legs are vertical to the ground, and when the distance between the swing frames at two sides is required to be adjusted, the motor drives the first chain transmission mechanism to act, so that the first screw rod drives the second screw rod to synchronously rotate through the synchronous chain, the screw rod drives the screw sleeve on the screw rod to relatively approach or relatively separate, and the length of the telescopic supporting legs can be adjusted so as to change the distance between the rack and the skid plate; after the light unmanned aerial vehicle takes off, the swing frames and the telescopic supporting feet on the two sides are folded and are close to the bottom surface of the frame.
2. The method of operating a lightweight unmanned aerial vehicle skid landing gear structure of claim 1, wherein: the frame comprises two side plates and a transverse plate connected to the lower parts of the two side plates, a slot is formed in the transverse plate and used for penetrating through the screw sleeve, and the screw sleeve is limited to slide in the slot.
3. The method of operating a lightweight unmanned aerial vehicle skid landing gear structure of claim 1, wherein: the screw sleeve comprises a screw hole which is in threaded connection with the screw thread in a matching manner at the upper part and lug pieces for hinging at two sides of the lower part.
4. A method of operating a lightweight unmanned aerial vehicle skid landing gear structure according to claim 3, wherein: the swing frame is a square steel pipe, two ends of the upper portion of the square steel pipe are hinged between two lug pieces, a first side portion of the square steel is hinged to a first end of a first electric pushing cylinder, and a first side portion of a screw sleeve is hinged to a second end of the first electric pushing cylinder so as to realize swing of the swing frame when the first electric pushing cylinder stretches.
5. The method of claim 4, wherein the step of operating the skid landing gear structure of the unmanned aerial vehicle comprises: the second side part of the square steel pipe is hinged with the upper end of the second electric pushing cylinder, and the second side part of the telescopic supporting leg is hinged with the second end of the second electric pushing cylinder so as to realize lifting of the telescopic supporting leg.
6. The method of claim 1, wherein the step of operating the skid landing gear structure of the unmanned aerial vehicle comprises: the swing frame is a square steel pipe, two ends of the upper part of the square steel pipe are hinged between two lug sheets, a first side part of the square steel is hinged with a first end of a first electric pushing cylinder, and a first side part of a screw sleeve is hinged with a second end of the first electric pushing cylinder so as to realize swing of the swing frame when the first electric pushing cylinder stretches; the second side part of the square steel pipe is hinged with the upper end of the second electric pushing cylinder, and the second side part of the telescopic supporting leg is hinged with the second end of the second electric pushing cylinder so as to realize lifting of the telescopic supporting leg; the first electric pushing cylinder is driven to stretch and retract, so that the upper part of the square steel pipe swings around a hinging point, and the swinging frames and the telescopic supporting feet at the two sides are folded to be close to the bottom surface of the frame; the second electric pushing cylinder is driven to extend or shorten the steel pipe of the opposite side of the telescopic supporting leg, so that the distance between the rack and the skid plate is changed.
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| CN201910722896.7A CN110304240B (en) | 2019-08-06 | 2019-08-06 | Skid-type landing gear structure of light and small unmanned aerial vehicle and working method of skid-type landing gear structure |
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| CN108674638A (en) * | 2018-06-14 | 2018-10-19 | 西安爱生无人机技术有限公司 | A kind of unmanned plane extendible sled retracting device |
| CN109795678A (en) * | 2019-03-20 | 2019-05-24 | 西北工业大学 | A kind of rocker-arm unmanned plane sled buffer unit |
| CN210503162U (en) * | 2019-08-06 | 2020-05-12 | 厦门大学嘉庚学院 | Light small-size unmanned aerial vehicle skid formula undercarriage structure |
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| CN110304240A (en) | 2019-10-08 |
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