WO2015131975A1 - Actionneur de rotation électromécanique équipé d'un système de déverrouillage - Google Patents

Actionneur de rotation électromécanique équipé d'un système de déverrouillage Download PDF

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Publication number
WO2015131975A1
WO2015131975A1 PCT/EP2015/000270 EP2015000270W WO2015131975A1 WO 2015131975 A1 WO2015131975 A1 WO 2015131975A1 EP 2015000270 W EP2015000270 W EP 2015000270W WO 2015131975 A1 WO2015131975 A1 WO 2015131975A1
Authority
WO
WIPO (PCT)
Prior art keywords
clutch
actuator
pressure
actuator according
hydraulic
Prior art date
Application number
PCT/EP2015/000270
Other languages
German (de)
English (en)
Inventor
Wolfgang Braig
Original Assignee
Liebherr-Aerospace Lindenberg Gmbh
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Liebherr-Aerospace Lindenberg Gmbh filed Critical Liebherr-Aerospace Lindenberg Gmbh
Publication of WO2015131975A1 publication Critical patent/WO2015131975A1/fr

Links

Classifications

    • 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
    • B64C25/18—Operating mechanisms
    • B64C25/24—Operating mechanisms electric
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D25/00—Fluid-actuated clutches
    • F16D25/08—Fluid-actuated clutches with fluid-actuated member not rotating with a clutching member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/02—Control by fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • F16D48/066—Control of fluid pressure, e.g. using an accumulator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D11/00—Clutches in which the members have interengaging parts
    • F16D11/14—Clutches in which the members have interengaging parts with clutching members movable only axially
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/02—Control by fluid pressure
    • F16D2048/0203—Control by fluid pressure with an accumulator; Details thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2300/00—Special features for couplings or clutches
    • F16D2300/14—Clutches which are normally open, i.e. not engaged in released state
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2300/00—Special features for couplings or clutches
    • F16D2300/18—Sensors; Details or arrangements thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/102—Actuator
    • F16D2500/1021—Electrical type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/302—Signal inputs from the actuator
    • F16D2500/3023—Force
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/302—Signal inputs from the actuator
    • F16D2500/3024—Pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/51—Relating safety
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/51—Relating safety
    • F16D2500/5114—Failsafe
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
    • F16D2500/70402—Actuator parameters
    • F16D2500/7041—Position

Definitions

  • the invention relates to an electromechanical rotary actuator with a rotary drive.
  • Electric actuators are used in aircraft for controlling or operating certain aircraft components.
  • the operation or steering of the chassis or leg of a helicopter or surface aircraft may be mentioned. Due to the design, it may be necessary to use so-called rotary actuators, which actuate the part to be actuated via a rotational movement. According to a possible concrete application, the vehicle leg is retracted or extended via the rotational movement.
  • a well-known fault with electromechanical drives is the jamming of the mechanical components, which means that the load can not be moved and the landing gear can no longer be extended for landing, for example. Due to the very high safety requirements in the aerospace industry, two independent actuation mechanisms are therefore required for extension per suspension, so that after failure of the main drive at least one extension movement of the chassis can be guaranteed. The operation can over be implemented two redundant or even diverse drive units. An additional second drive is costly and requires additional space.
  • the object of the present invention is to show a rotary actuator with a rotary drive, wherein the actuator allows for a mechanical failure of the drive movement of the driven load, that is, a decoupling of these from the drive train.
  • the invention proposes an electromechanical rotary actuator with a rotary drive.
  • the rotary drive is an electromechanical drive.
  • the rotational operation is coupled or connectable via at least one coupling with the load to be actuated.
  • the load can be moved in two or more load positions.
  • the mechanical drive train can be interrupted within the actuator and the mechanical connection between the drive and the load to be actuated can be disconnected.
  • the load is then at least partially freely movable at least in the actual drive direction of the actuator.
  • the load is freely movable between the load positions to be approached by the actuator, so that the load can be moved manually or otherwise at least into a load position.
  • the rotary actuator comprises an integrated hydraulic
  • the clutch is hydraulically actuated to establish or separate the mechanical connection between the rotational operation and the load to be actuated.
  • the clutch is therefore separable and / or connectable by means of the integrated hydraulics.
  • the use of at least two clutch plates is conceivable that form a positive connection and / or adhesion to torque transmission when closing the clutch.
  • the two clutch discs are spaced, thereby interrupting the positive engagement and / or traction.
  • the clutch is closed if the applied hydraulic pressure within the integrated hydraulic system reaches or exceeds a defined pressure level. At a pressure drop within the integrated hydraulics, the clutch opens. Alternatively, it is also conceivable that the clutch is closed at a pressure drop and when reaching or exceeding a certain pressure level, the clutch is opened.
  • the clutch has, for example, hydraulically preloaded clutch disks, which can be actuated via the hydraulic circuit of the integrated hydraulics in order to achieve opening or closing of the clutch.
  • the actuator ideally the at least one clutch, has an internal, closed hydraulic circuit which is not connected or connectable to an external hydraulic system at the installation location.
  • the pressure required to close the clutch that is to say to preload the clutch discs, can ideally be made available by means of a pressure accumulator integrated in the hydraulic system.
  • one or more pressing pistons are provided for actuating the clutch, i. at least one of the clutch plates, which are preferably distributed in the region of a movable coupling part, in particular the operable clutch disc, the at least one clutch are arranged. Ideally, several pressing pistons are distributed over the circumference of the actuated clutch disc.
  • the pressure piston can be designed in the form of a conventional hydraulic cylinder piston unit whose piston acts directly or indirectly on the operable clutch disc.
  • the at least one pressing piston presses the clutch disk onto the complementary clutch disk as soon as the necessary pressure prevails in the cylinder space.
  • the distributed pressure pistons are usefully supplied with the same pressure level of the integrated hydraulics. However, it is also conceivable to control the individual pressure piston deviating from each other.
  • one or more return means are provided for opening the clutch at pressure drop, which apply a restoring force against the hydraulic force of the one or more pressing piston on the movable coupling part, in particular the operable clutch disc.
  • the outgoing restoring force of the one or more return means is ideally dimensioned so that an opening of the clutch under Load influence takes place.
  • restoring means are preferably one or more springs, in particular pressure and / or tension springs.
  • the integrated hydraulic system comprises at least one seat valve for controlling and / or regulating the hydraulic pressure present on the one or more pressure pistons.
  • the at least one valve connects at least one integrated pressure accumulator with an internal reservoir, so that depending on the switching position hydraulic medium can be discharged via the seat valve in the reservoir.
  • the seat valve In the closed switching position, the seat valve is preferably 100% sealed to prevent unwanted pressure losses in the memory.
  • an electrically actuated seat valve is advantageously actuated seat valve.
  • At least one hydraulic pump can be integrated in the integrated hydraulics, in particular if the regular functional check of the coupling is targeted.
  • the hydraulic fluid discharged into the reservoir can be returned to the reservoir by means of the hydraulic pump to restore the necessary preload for closing the clutch.
  • the hydraulic pump is also connected via at least one seat valve to the memory or connectable to pump hydraulic medium from the reservoir into the memory, if necessary.
  • the seat valve used for the hydraulic pump is preferably 100% tight, so that a pressure drop in the memory via the seat valve is prevented as possible.
  • the integrity of the hydraulic pressure supply can take place for example with the aid of sensors, wherein preferably one or more pressure sensors monitor the area of the pressure accumulator or the pressure lines.
  • An alternative is the use of an LVDT, which is located on the pressure accumulator and monitors the memory level.
  • one or more measuring means are provided for detecting a blockage within the mechanical load path of the actuator.
  • the integrated hydraulics, ie the seat valve between the reservoir and the reservoir can preferably be controlled as a function of the measured values generated by the measuring means. This preferably enables automatic decoupling of the mechanical drive train as soon as a malfunction of the electromechanical drive of the actuator is detected.
  • bearings for supporting the clutch shafts.
  • these conventional rolling bearings do not achieve the required safety figures.
  • duplex bearings as they are known, for example, from flight controls of helicopters, or even parallel bearings (for example, plain bearings and redundant bearings) can be used.
  • the present invention relates to a landing gear for an aircraft, in particular for an aircraft or a helicopter, with an actuator according to the present invention or an advantageous embodiment of the invention.
  • the actuator according to the invention serves to extend and retract the landing gear.
  • the actuator is so arranged on the chassis, so that the chassis when uncoupling of the actuator, that is, when opening the clutch, due to the 'Freefall' condition of the chassis can be extended automatically. This ensures that interrupted in a blockage of the regular chassis drive with the help of integrated hydraulics, the mechanical load path and the chassis is automatically retractable.
  • the invention relates to an aircraft with at least one actuator according to the present invention and / or at least one landing gear according to the present invention.
  • the advantages and characteristics of the aircraft or of the landing gear according to the invention obviously correspond to those of the invention. Actual actuator, which is why omitted at this point to a repetitive description.
  • the single figure shows a cross section through an electromechanical rotation onsaktuator according to the present invention as it is mounted in an aircraft for extending and retracting the leg. Due to the very high safety requirements, two independent actuating mechanisms for extending the landing gear are required, so that when an occurring blockage within the mechanical drive path of the first mechanism, the extension movement can be performed by the second actuating mechanism.
  • the construction of the illustrated chassis therefore allows an extension of the chassis only due to the weight ("Freefall") by the mechanical load path of the drive is interrupted, in particular decoupled.
  • the actual extension and retraction movement is achieved via an electromechanical rotary drive whose torque is transmitted via the two rotation shafts 10, 20.
  • the shaft 20 is in communication with the landing gear of the aircraft, while the shaft 10 is connected via a transmission with the rotary drive.
  • the load path via a corresponding coupling, which sits between the shafts 10, 20, are separated.
  • the clutch consists of the two separable clutch plates 30, 40, which enter into a positive connection with each other for torque transmission.
  • the clutch disc 30 is displaceably mounted along the axis of rotation D of the rotary shaft 10 and can thus be selectively brought into contact with the fixed clutch disc 40 or separated.
  • the clutch has an internal, closed hydraulic circuit 85, which is not connected to the hydraulic system of the aircraft.
  • the clutch is open while it is positively closed hydraulically biased, so that the torque about the axis D of the shaft 10 can be transmitted to the shaft 20.
  • the pressure required for the bias is provided by the biased pressure accumulator 80.
  • a plurality of pressing pistons 50 are distributed over the circumference of the clutch disc 30, the pistons of which exert pressure on the disc 30 as uniformly as possible over the circumference of the disc and press it against the coupling half 40 in the direction of the axis of rotation D.
  • Coupling half 30 distributed springs 70 compressed.
  • the springs 70 cause a restoring force on the coupling half 30 to move them at a pressure drop within the Anpresskolben 50 upwards in the direction of the axis of rotation D and to decouple the mechanical load path.
  • the illustrated figure shows a non-pressurized and thus opened clutch.
  • the individual springs 70 are aligned and dimensioned such that the generated restoring force separates the coupling halves 30, 40 even under load as soon as the pressure in the contact pressure piston 50 drops.
  • the torque transmission from the shaft 10 to the shaft 20 is then interrupted and the shaft 20 may for example be mounted freely movable. As a result, a chassis connected to the shaft 20 can be extended automatically due to its own weight.
  • the seat valve 90 To depressurize the hydraulic 85, the seat valve 90 must be actuated, which can usually be done by electrical control signals.
  • the illustrated seat valve 90 is shown in the figure in the closed switching state, so that no oil from the pressure accumulator 80 can escape into the reservoir R. After actuation of the poppet valve 90, however, the oil can be discharged from the reservoir 80 in the reservoir R, so that the pressure in the Anpresskolben 50 decreases and the clutch is opened accordingly.
  • a hydraulic pump 101 can optionally be connected to the pressure accumulator 80 via a second seat valve 100. By switching the poppet valve 100, the reservoir 80 can be charged via the pump 101 by pumping oil from the reservoir R into the reservoir 80. By incorporating the pump 101, the clutch can be regularly checked for its function and subsequently returned to the necessary operational readiness, i. in the prestressed state of the hydraulics.
  • the integrity of the hydraulic pressure supply is achieved by means of the LVDT 110, which detects the memory level of the memory 80 and notifies a controller.
  • the present invention is characterized by the combination of hydraulically biased clutch plates 30, 40 for transmitting the torque and the hydraulic circuit 85 in case of emergency achieved a simple separation of the mechanical load path between the rotary drive and chassis, so that the chassis can extend automatically by the freefall condition. Switching of the hydraulic system 85 should take place, in particular, when a fault of the electromechanical drive is detected, for example when the drive is jammed.
  • the advantages of the invention are that a jam-free electromechanical rotary drive can be realized by the invention, which allows the use of a rotary EMA for functions that previously had to be performed otherwise for safety and / or availability reasons Furthermore, the optional integration of the hydraulic pump 101 makes it possible to automatically reset the system with regular monitoring of the function, and the hydraulic circuit itself is completely integrated in the device and does not require an external supply.

Abstract

L'invention concerne un actionneur de rotation électromécanique équipé d'un entraînement de rotation. L'entraînement de rotation est relié ou peut être relié de manière à pouvoir être couplé à la charge à actionner par l'intermédiaire d'au moins un système de couplage. Le ou les systèmes de couplage peuvent être séparés et/ou reliés par l'intermédiaire d'un système hydraulique intégré de l'actionneur.
PCT/EP2015/000270 2014-03-03 2015-02-09 Actionneur de rotation électromécanique équipé d'un système de déverrouillage WO2015131975A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014003157.8A DE102014003157A1 (de) 2014-03-03 2014-03-03 Elektromechanischer Rotationsaktuator mit Entriegelung
DE102014003157.8 2014-03-03

Publications (1)

Publication Number Publication Date
WO2015131975A1 true WO2015131975A1 (fr) 2015-09-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2015/000270 WO2015131975A1 (fr) 2014-03-03 2015-02-09 Actionneur de rotation électromécanique équipé d'un système de déverrouillage

Country Status (2)

Country Link
DE (1) DE102014003157A1 (fr)
WO (1) WO2015131975A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108216592A (zh) * 2016-12-22 2018-06-29 利勃海尔航空航天林登贝格股份有限公司 用于对飞行器的装置进行操纵的促动器
CN112572784A (zh) * 2021-02-23 2021-03-30 北京清航紫荆装备科技有限公司 一种无人直升机的动力装置及输出机构

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Publication number Priority date Publication date Assignee Title
FR3073494B1 (fr) * 2017-11-15 2019-12-13 Safran Landing Systems Procede de manoeuvre d'un atterrisseur d'aeronef entre une position retractee et une position deployee

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US2759584A (en) * 1952-12-24 1956-08-21 Citroen Sa Andre Hydraulically operated automatic clutch control device for automobile vehicles
DE102006059072A1 (de) * 2006-12-14 2008-06-19 Robert Bosch Gmbh Vorrichtung und Verfahren zum Betätigen einer Kupplung
DE102009027130A1 (de) * 2009-06-24 2010-12-30 Zf Friedrichshafen Ag Druckregelventil
DE202013105380U1 (de) * 2013-11-26 2014-01-10 Industrieanlagen-Betriebsgesellschaft Mbh Fahrwerk für ein Leichtflugzeug oder ein unbemanntes Luftfahrzeug und Luftfahrzeug mit einem solchen Fahrwerk

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US2759584A (en) * 1952-12-24 1956-08-21 Citroen Sa Andre Hydraulically operated automatic clutch control device for automobile vehicles
DE102006059072A1 (de) * 2006-12-14 2008-06-19 Robert Bosch Gmbh Vorrichtung und Verfahren zum Betätigen einer Kupplung
DE102009027130A1 (de) * 2009-06-24 2010-12-30 Zf Friedrichshafen Ag Druckregelventil
DE202013105380U1 (de) * 2013-11-26 2014-01-10 Industrieanlagen-Betriebsgesellschaft Mbh Fahrwerk für ein Leichtflugzeug oder ein unbemanntes Luftfahrzeug und Luftfahrzeug mit einem solchen Fahrwerk

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C GREISSNER ET AL: "Elektro-Hydrostatisches Be atigungskonzept ur das Bugfahrwerk eines ,All Electric Aircraft"", 1 November 2003 (2003-11-01), pages 1 - 6, XP055193888, Retrieved from the Internet <URL:https://tubdok.tub.tuhh.de/bitstream/11420/217/1/208_9.pdf> [retrieved on 20150605] *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108216592A (zh) * 2016-12-22 2018-06-29 利勃海尔航空航天林登贝格股份有限公司 用于对飞行器的装置进行操纵的促动器
CN108216592B (zh) * 2016-12-22 2023-04-14 利勃海尔航空航天林登贝格股份有限公司 用于对飞行器的装置进行操纵的促动器
CN112572784A (zh) * 2021-02-23 2021-03-30 北京清航紫荆装备科技有限公司 一种无人直升机的动力装置及输出机构
CN112572784B (zh) * 2021-02-23 2021-05-25 北京清航紫荆装备科技有限公司 一种无人直升机的动力装置及输出机构

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