WO2018023861A1 - Hélice, kit d'alimentation et véhicule aérien sans pilote - Google Patents

Hélice, kit d'alimentation et véhicule aérien sans pilote Download PDF

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Publication number
WO2018023861A1
WO2018023861A1 PCT/CN2016/099524 CN2016099524W WO2018023861A1 WO 2018023861 A1 WO2018023861 A1 WO 2018023861A1 CN 2016099524 W CN2016099524 W CN 2016099524W WO 2018023861 A1 WO2018023861 A1 WO 2018023861A1
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WO
WIPO (PCT)
Prior art keywords
propeller
blade
center
degrees
distance
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PCT/CN2016/099524
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English (en)
Chinese (zh)
Inventor
刘峰
江彬
邓涛
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Publication of WO2018023861A1 publication Critical patent/WO2018023861A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
    • B64C11/16—Blades
    • B64C11/18—Aerodynamic features
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/46—Blades
    • B64C27/467—Aerodynamic features

Definitions

  • the present invention relates to a propeller, a power kit having the propeller, and an aircraft having the power kit.
  • the propeller on the unmanned aerial vehicle is a key component of the unmanned aerial vehicle, and the propeller is used to convert the rotation of the motor or the engine intermediate shaft of the UAV into a propulsive force to provide flight power to the unmanned aerial vehicle.
  • the propellers in the prior art have low working efficiency and insufficient maximum pulling force due to the limitation of the contour and structure, and cannot meet the demand of the driving force at work.
  • a propeller comprising a blade, the distance from the center of rotation of the propeller on the blade being 46.875% of the radius of gyration of the propeller, the angle of attack of the blade being 26.14 ⁇ 2.5 degrees;
  • the distance from the center of rotation of the propeller on the blade is 62.50% of the radius of gyration of the propeller, the angle of attack of the blade is 21 ⁇ 2.5 degrees;
  • the pitch of the propeller is from the propeller
  • the distance from the center of revolution is 78.125% of the radius of gyration of the propeller, and the angle of attack of the blade is 17.59 ⁇ 2.5 degrees.
  • the distance from the center of rotation of the propeller on the blade is 31.25% of the radius of gyration of the propeller, and the angle of attack of the blade is 30.70 ⁇ 2.5 degrees;
  • the distance from the center of rotation of the propeller on the blade is 93.75% of the radius of gyration of the propeller, and the angle of attack of the blade is 13.75 ⁇ 2.5 degrees.
  • the rotary diameter of the propeller is 128 mm, and the angle of attack of the blade is 30.70 ⁇ 2.5 degrees at a distance of 20 mm from the center of rotation of the propeller;
  • the angle of attack of the blade is 26.14 ⁇ 2.5 degrees;
  • the blade has an angle of attack of 21 ⁇ 2.5 degrees;
  • the blade has an angle of attack of 17.59 ⁇ 2.5 degrees;
  • the blade has an angle of attack of 13.75 ⁇ 2.5 degrees.
  • the distance from the center of rotation of the propeller on the blade is 46.875% of the radius of gyration of the propeller, and the chord length of the blade is 17.01 ⁇ 5 mm;
  • the distance from the center of rotation of the propeller on the blade is 62.50% of the radius of gyration of the propeller, the chord length of the blade is 15.74 ⁇ 5 mm;
  • the distance from the center of rotation of the propeller on the blade is 78.125% of the radius of gyration of the propeller, and the chord length of the blade is 13.98 ⁇ 5 mm.
  • the distance from the center of rotation of the propeller on the blade is 31.25% of the radius of gyration of the propeller, and the chord length of the blade is 18.09 ⁇ 5 mm;
  • the distance from the center of rotation of the propeller on the blade is 93.75% of the radius of gyration of the propeller, and the chord length of the blade is 12.12 ⁇ 5 mm.
  • the diameter of the rotation of the propeller is 128 ⁇ 15 mm.
  • the paddle includes a leaf surface and a leaf back disposed away from each other, and a first side edge connecting one side of the leaf back and the leaf surface, and another connecting the leaf back and the leaf surface The second side edge of one side.
  • cross-sectional profile of the foliage and the cross-sectional profile of the blade back are both curved.
  • first side edge comprises a curved outwardly convex first arching portion; the second side edge comprises a curved outwardly projecting second arching portion.
  • the propeller is a folding paddle, and the propeller further includes a paddle, the number of the blades is at least three, and each of the blades is rotatably coupled to the paddle.
  • the propeller includes a hub fixedly coupled to the blade, the paddle including a first connecting portion connected to the blade, a second connecting portion located at a center of rotation of the propeller, and connecting the first A transition portion of the connecting portion and the second connecting portion, the transition connecting portion being evenly distributed along a circumferential direction of the hub, and the hub includes three or a plurality of transition connecting portions corresponding to the blade.
  • the propeller has a geometric pitch of 4.8 ⁇ 0.5 inches.
  • a power kit for an unmanned aerial vehicle comprising at least one propeller of any of the above; and at least one drive member that drives rotation of the propeller.
  • the driving member is a motor
  • the propeller is connected to the motor
  • the motor has a KV value of 2400 rpm/(min ⁇ volt).
  • An unmanned aerial vehicle comprising a fuselage, a plurality of arms, and a plurality of power sets as described above, the plurality of arms being coupled to the body, the plurality of power sets being respectively mounted on the plurality of On the arm.
  • the propeller provided by the invention reduces the air resistance, improves the efficiency, and has a relatively large driving force through the design of the angle of attack on different parts of the blade.
  • FIG. 1 is a schematic structural view of a propeller provided by an embodiment of the present invention.
  • Figure 2 is a front elevational view of the propeller of Figure 1.
  • Figure 3 is a side view of the propeller of Figure 1.
  • FIG. 4 is a side elevational view of another perspective view of the propeller of FIG. 1.
  • Figure 5 is a front elevational view of the propeller of Figure 2.
  • Figure 6 is a cross-sectional view of the A-A section of the blade of Figure 5.
  • Figure 7 is a cross-sectional view of the B-B section of the blade of Figure 5.
  • Figure 8 is a cross-sectional view of the C-C section of the paddle of Figure 5.
  • Figure 9 is a cross-sectional view of the D-D section of the blade of Figure 5.
  • Figure 10 is a cross-sectional view of the E-E section of the paddle of Figure 5.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • Embodiments of the present invention provide a propeller that includes a paddle.
  • the distance from the center of rotation of the propeller on the blade is 46.875% of the radius of gyration of the propeller, the angle of attack of the blade is 26.14 ⁇ 2.5 degrees; the propeller is spaced from the propeller
  • the distance of the center of revolution is 62.50% of the radius of gyration of the propeller, the angle of attack of the blade is 21 ⁇ 2.5 degrees; the distance from the center of rotation of the propeller on the blade is the propeller
  • the angle of attack of the blade is 17.59 ⁇ 2.5 degrees.
  • the embodiment of the present invention further provides a power package of an unmanned aerial vehicle, the power package includes a propeller and a motor, the propeller is connected to the motor, and the motor is used to drive the propeller to rotate, the KV of the motor
  • the value is 2400 rpm / (minute volts).
  • the propeller includes a blade on which the distance from the center of rotation of the propeller is 46.875% of the radius of gyration of the propeller, and the angle of attack of the blade is 26.14 ⁇ 2.5 degrees;
  • the distance from the center of rotation of the propeller on the blade is 62.50% of the radius of gyration of the propeller, the angle of attack of the blade is 21 ⁇ 2.5 degrees; the center of rotation of the propeller is on the blade
  • the distance is 78.125% of the radius of gyration of the propeller, and the angle of attack of the blade is 17.59 ⁇ 2.5 degrees.
  • the propeller can provide a large driving force.
  • An embodiment of the present invention further provides an unmanned aerial vehicle including a fuselage, a plurality of arms, and a plurality of power sets, wherein the plurality of arms are connected to the body, and the plurality of power sets are respectively installed in the On multiple arms.
  • the power pack includes a propeller and a motor, the propeller being coupled to the motor, the motor for driving the propeller to rotate, the motor having a KV value of 2400 rpm / (minute volt).
  • the propeller includes a blade on which the distance from the center of rotation of the propeller is 46.875% of the radius of gyration of the propeller, and the angle of attack of the blade is 26.14 ⁇ 2.5 degrees;
  • the distance from the center of rotation of the propeller on the blade is 62.50% of the radius of gyration of the propeller, the angle of attack of the blade is 21 ⁇ 2.5 degrees;
  • the center of rotation of the propeller is on the blade
  • the distance is 78.125% of the radius of gyration of the propeller, the blade
  • the angle of attack is 17.59 ⁇ 2.5 degrees.
  • An unmanned aerial vehicle includes a fuselage, an arm, a propeller, and a driving member for driving the rotation of the propeller, and the arm is coupled to the fuselage.
  • the propeller may be a folding paddle.
  • the number of the propellers may be selected according to actual needs, and may be one, two or more.
  • the driving component is a motor, and the KV value of the motor is 2400 rpm/(minute ⁇ volt); it can be understood that in other embodiments, the KV value of the motor can be selected according to actual flight requirements.
  • the drive member may be in other forms such as an engine or the like.
  • the propeller may be a positive paddle or a reverse paddle.
  • the so-called positive paddle refers to a propeller that rotates counterclockwise to generate lift from the tail of the driving part such as the motor to the direction of the motor head; the so-called reverse paddle refers to the clockwise rotation from the tail of the motor to the direction of the motor head to generate lift.
  • the structure of the positive paddle is mirror symmetrical with the structure of the reverse paddle, so the structure of the propeller is only exemplified by a positive paddle.
  • the plurality of arms are plural, and the propeller and the driving member are all plural, and each driving member drives one of the propellers to rotate to form a power set. At least one set of the power kit is provided on each arm.
  • the power pack may also include a drive member and a plurality of (e.g., two) propellers.
  • FIG. 1 to FIG. 4 shows a schematic structural view of a propeller 100 according to an embodiment of the present invention.
  • the propeller 100 includes a paddle 101 and three blades 200 disposed on the paddle 101.
  • the three blades 200 are disposed symmetrically about a center of the paddle 101. Three of the blades 200 and the paddles 101 rotate to form a paddle. In the present embodiment, the center of the paddle 101 substantially coincides with the center of the paddle.
  • the propeller 100 can be a straight paddle, and the propeller 100 can include a hub and three blades 200 that are fixedly coupled to the hub. It can be understood that in other embodiments, the propeller 100
  • the number of blades 200 included may be two, four or even more, and is not limited to the description of the embodiments of the present invention.
  • the paddle 101 includes a first connecting portion 1011 connected to the blade 200, a second connecting portion 1013 at a center of rotation of the propeller 100, and a transition connecting portion 1015 connecting the first connecting portion 1011 and the second connecting portion 1013. .
  • the transition joints 1015 are evenly distributed along the circumferential direction of the hub 101.
  • the number of the transition connecting portions 1015 is three, and a transition connecting portion 1015 is disposed between each of the first connecting portions 1011 connecting the blade 200 and the second connecting portion 1013.
  • the transition joints 1015 can also be other numbers, such as varying according to the number of blades 200, or can be fixed to three.
  • the transition connecting portion 1015 is a rib structure for connecting the inner and outer portions of the paddle 101, and the weight of the paddle 101 can be appropriately reduced.
  • the propeller 100 is a stationary propeller, and three of the blades 200 are fixedly coupled to the paddle 101. It can be understood that in other embodiments, the propeller 100 can be a foldable paddle, and the paddle 200 is rotatably coupled to the paddle 101. Alternatively, in some embodiments, the paddle 200 is integrally formed with the paddle 101, or, in some embodiments, the paddle 200 is removably mounted to the paddle by a connector. 101 is not limited to the description in the embodiment of the present invention.
  • the number of blades 200 in each of the propellers 100 may be other numbers, such as two, four, etc., depending on actual needs.
  • the number of the blades 200 is two, and the two blades 200 are evenly spaced in the circumferential direction with respect to the center of the paddle.
  • the paddle has a diameter of 128 ⁇ 15 mm.
  • the diameter of the paddle may be 113 mm, 123 mm, 128 mm, 133 mm, 143 mm, or the diameter of the paddle may be any value within a range of values defined by any two of the above values.
  • the paddle has a diameter of 128 mm.
  • the "center of the paddle” and the “paddle center” mentioned above and below should be understood as “ “Slewing center of the propeller”, similarly, “diameter of the paddle” and “paddle disk diameter” mentioned above and below should be understood as “the diameter of the propeller", “radius of the paddle” and “paddle plate” The radius “should be understood as “the radius of gyration of the propeller”.
  • the paddle 101 can be used to connect with a rotating shaft of a driving member of the UAV so that The drive member is capable of driving the propeller 100 to rotate.
  • a reinforcing sheet may be embedded in the paddle 101, and the reinforcing sheet may be made of a lightweight high-strength material such as aluminum alloy to increase the strength of the propeller 100.
  • the paddle 101 is substantially cylindrical. Three of the blades 200 are evenly spaced along the circumference of the paddle 101, and each of the blades 200 is threadedly coupled to the paddle 101.
  • the geometric pitch of the propeller 100 is 4.8 ⁇ 0.5 inches, and the geometric pitch is the distance that the blade advances one revolution when the blade angle of attack is zero.
  • the geometric pitch of the propeller 100 may be 4.3 mm, 4.4 inches, 4.5 inches, 4.6 inches, 4.7 inches, 4.8 inches, 4.9 inches, 5.0 inches, 5.1 inches, 5.2 inches, 5.3 inches, or the geometry
  • the pitch can be any value within the range of values defined by any two of the above values.
  • the geometric pitch is 4.8 inches.
  • the blade 200 includes a blade face 10 and a blade back 20 disposed away from each other, and a first side edge 30 connecting the blade back 20 and a side of the blade face 10, connecting the blade back 20 and the The second side edge 40 of the other side of the foliage 10.
  • the cross-sectional profile of the foliage 10 and the cross-sectional profile of the blade back 20 are both curved (see Figures 6-10).
  • the leaf surface 10 faces the drive member, that is, the leaf surface 10 is disposed downward; and the blade back 20 faces away from the The drive member, that is, the leaf back 20 is disposed upward.
  • the leaf surface 10 and the leaf back 20 are curved surfaces.
  • the first side edge 30 includes a curved, outwardly projecting first arched portion 31.
  • the first arching portion 31 is smoothly transitionally connected to other portions of the first side edge 30.
  • the first arching portion 31 is disposed adjacent to the paddle 101.
  • the second side edge 40 includes a curved, outwardly projecting second bulge 41 that is smoothly transitionally connected to other portions of the second side edge 40.
  • the second arching portion 41 is disposed adjacent to the paddle 101.
  • the blade 200 has no sharp torsion, the stress is small, the structural strength is high, the fracture is not easy, and the reliability is high.
  • One end of the blade 200 away from the paddle 101 is the thinnest portion of the paddle 200, which is advantageous for reducing air resistance. That is, the thickness of one end of the blade 200 away from the center of the paddle is less than the thickness of other portions of the paddle 200.
  • the length of the blade 200 is 64 ⁇ 10 mm.
  • the length of the blade 200 can be any value between 54 mm and 74 mm, such as 54 mm, 60 mm, 64 mm, 70 mm, 74 mm, or the length of the blade 200 may be any value within the range of values defined by any two of the above values.
  • the blade 200 has a length of 64 mm.
  • the angle of attack referred to herein refers to the angle between the chord of the blade 200 and the velocity of the incoming flow.
  • the distance from the center O of the paddle on the paddle 200 is 31.25% of the paddle radius, and the angle of attack ⁇ 1 of the paddle 200 is 30.70 ⁇ 2.5. degree.
  • the angle of attack ⁇ 1 of the blade 200 herein may be 28.20 degrees, 28.70 degrees, 29.20 degrees, 29.70 degrees, 30.20 degrees, 30.70 degrees, 33.20 degrees, or the angle of attack ⁇ 1 of the blade 200 herein. Any value within the numerical range defined by any two of the above numerical values may be used. In the present embodiment, the angle of attack ⁇ 1 is 30.70 degrees.
  • chord length L1 of the paddle 200 is 18.09 ⁇ 5 mm.
  • the chord length L1 of the blade 200 herein may be 13.09 mm, 15.09 mm, 17.09 mm, 18.09 mm, 20.09 mm, 22.09 mm, 23.09 mm, or the chord length L1 of the blade 200 herein.
  • the numerical value within the range of values defined by any two of the above numerical values may be, in the present embodiment, the chord length L1 is 18.09 mm.
  • the distance from the center O of the paddle on the paddle 200 is 46.875% of the paddle radius, and the angle of attack ⁇ 2 of the paddle 200 is 26.14 ⁇ 2.5. degree.
  • the angle of attack ⁇ 2 of the blade 200 herein may be 23.64 degrees, 24.64 degrees, 25.14 degrees, 26.14 degrees, 26.64 degrees, 27.64 degrees, 28.64 degrees, or the angle of attack ⁇ 2 of the blade 200 herein. Any value within the numerical range defined by any two of the above numerical values may be used. In the present embodiment, the angle of attack ⁇ 2 is 26.64 degrees.
  • chord length L2 of the paddle 200 is 17.01 ⁇ 5 mm.
  • the chord length L2 of the blade 200 herein may be 12.01 mm, 13.01 mm, 15.01 mm, 17.01 mm, 19.01 mm, 21.01 mm, 22.01 mm, or, specifically, the paddle 200 herein.
  • the chord length L2 may be any value within a range of values defined by any two of the above numerical values. In the present embodiment, the chord length L2 is 17.01 mm.
  • the distance from the center O of the paddle on the blade 200 is 62.50% of the paddle radius, and the angle of attack ⁇ 3 of the blade 200 is 21 ⁇ 2.5. degree.
  • the angle of attack ⁇ 3 of the blade 200 herein may be 18.5 degrees, 19.5 degrees, 20 degrees, 20.5 degrees, 21.5 degrees, 22.5 degrees, 23.5 degrees, or the angle of attack ⁇ 3 of the blade 200 herein. Any value within a range of values defined by any two of the above numerical values.
  • the angle of attack ⁇ 3 is 21 degrees.
  • the distance from the center O of the paddle on the paddle 200 is 62.50% of the paddle radius, and the chord length L3 of the paddle 200 is 15.74 ⁇ 5 mm.
  • chord length L3 of the blade 200 herein may be 10.74 mm, 12.74 mm, 14.74 mm 15.74 mm, 17.74 mm, 19.74 mm, 20.74 mm, or the chord length L3 of the blade 200 herein may be Any value within the numerical range defined by any two of the above numerical values, in the present embodiment, the chord length L3 is 15.74 mm.
  • the distance from the center O of the paddle on the paddle 200 is 78.125% of the paddle radius, and the angle of attack ⁇ 4 of the paddle 200 is 17.59 ⁇ 2.5. degree.
  • the angle of attack ⁇ 4 of the blade 200 herein may be 15.09 degrees, 15.59 degrees, 16.59 degrees, 17.59 degrees, 18.59 degrees, 19.09 degrees, 20.09 degrees, or, here, the angle of attack ⁇ 4 of the blade 200. Any value within the numerical range defined by any two of the above numerical values may be used. In the present embodiment, the angle of attack ⁇ 4 is 17.59 degrees.
  • the distance from the center O of the paddle on the paddle 200 is 78.125% of the paddle radius, and the chord length L4 of the paddle 200 is 13.98 ⁇ 5 mm.
  • chord length L4 of the blade 200 herein may be 8.98 mm, 9.98 mm, 11.98 mm, 13.98 mm, 15.98 mm, 17.98 mm, 18.98 mm, or the chord length L4 of the blade 200 herein. Any value within the numerical range defined by any two of the above numerical values may be used. In the present embodiment, the chord length L4 is 13.98 mm.
  • the distance from the center O of the paddle on the paddle 200 is 93.75% of the paddle radius, and the angle of attack ⁇ 5 of the paddle 200 is 13.75 ⁇ 2.5. degree.
  • the angle of attack ⁇ 5 of the blade 200 herein may be 11.5 degrees, 12.5 degrees, 12.75 degrees, 13.75 degrees, 14.75 degrees, 15.25 degrees, 16.25 degrees, or the angle of attack ⁇ 5 of the blade 200 herein. Any value within the numerical range defined by any two of the above numerical values may be used.
  • the angle of attack ⁇ 5 is 13.75 degrees.
  • the distance from the center O of the paddle on the paddle 200 is 93.75% of the paddle radius, and the chord length L5 of the paddle 200 is 12.12 ⁇ 5 mm.
  • chord length L5 of the blade 200 herein may be 7.12 mm, 8.12 mm, 10.12 mm, 12.12 mm, 14.12 mm, 16.12 mm, 17.12 mm, or the chord length L5 of the blade 200 herein. Any value within the range of values defined by any two of the above values may be used. In the present embodiment, the chord length L5 is 12.12 mm.
  • the paddle has a diameter of 128 mm.
  • An angle of attack ⁇ 1 of the blade 200 at 20 mm from the center of the paddle on the blade 200 At 30.70 degrees, the chord length L1 of the blade 200 is 18.09 mm; at an angle of 30 mm from the center of the paddle, the angle of attack ⁇ 2 of the blade 200 is 26.14 degrees, the chord length of the blade 200 L2 is 17.01 mm; at an angle of 40 mm from the center of the paddle, the angle of attack ⁇ 3 of the blade 200 is 21 degrees, and the chord length L3 of the blade 200 is 15.74 mm; at a distance from the paddle At a center of 50 mm, the angle of attack ⁇ 4 of the blade 200 is 17.59 degrees, the chord length L4 of the blade 200 is 13.98 mm, and the blade 200 is attacked 60 mm from the center of the paddle.
  • the angle ⁇ 5 is 13.75 degrees, and the chord length L5 of the blade 200 is 12.12 mm.
  • Table 1 shows the driving force values of the propellers provided by the present embodiment at different rotational speeds.
  • the propeller provided by the present embodiment can provide a large pulling force while saving power consumption, increasing the cruising distance and the maximum forward flying speed of the UAV.
  • the propeller provided by the invention reduces the air resistance, improves the pulling force and the efficiency, increases the cruising distance of the aircraft and improves the flight performance of the aircraft by designing the angle of attack of different parts of the front flying blade.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
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Abstract

La présente invention concerne une hélice (100) comprenant des pales (200). À une position sur les pales (200), 46,875 % du centre de giration de l'hélice (100), le long du rayon de giration de l'hélice (100), l'angle d'attaque des pales (200) est de 26,14 ± 2,5 degrés ; à une autre position sur les pales (200), 62,50 % du centre de giration de l'hélice (100), le long du rayon de giration de l'hélice (100), l'angle d'attaque des pales (200) est de 21 ± 2,5 degrés ; et à une autre position sur les pales (200), 78,125 % du centre de giration de l'hélice (100), le long du rayon de giration de l'hélice (100), l'angle d'attaque des pales (200) est de 17,9 ± 2,5 degrés. La présente invention concerne en outre un kit d'alimentation et un véhicule aérien sans pilote utilisant ladite hélice (100).
PCT/CN2016/099524 2016-08-04 2016-09-21 Hélice, kit d'alimentation et véhicule aérien sans pilote WO2018023861A1 (fr)

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CN201620837775.9U CN205891216U (zh) 2016-08-04 2016-08-04 螺旋桨、动力套装及无人飞行器
CN201620837775.9 2016-08-04

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CN207000809U (zh) * 2017-04-07 2018-02-13 深圳市大疆创新科技有限公司 桨叶、螺旋桨、动力套装及无人飞行器
CN206926806U (zh) * 2017-07-25 2018-01-26 深圳市大疆创新科技有限公司 螺旋桨、动力组件及飞行器
WO2019119379A1 (fr) * 2017-12-21 2019-06-27 深圳市大疆创新科技有限公司 Hélice, assemblage motorisé et aéronef sans pilote

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