CN109606685B - Multi-group wheel slide rail type unmanned aerial vehicle launching device and launching method - Google Patents
Multi-group wheel slide rail type unmanned aerial vehicle launching device and launching method Download PDFInfo
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- CN109606685B CN109606685B CN201811617615.3A CN201811617615A CN109606685B CN 109606685 B CN109606685 B CN 109606685B CN 201811617615 A CN201811617615 A CN 201811617615A CN 109606685 B CN109606685 B CN 109606685B
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- 238000013016 damping Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
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- 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
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- 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
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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Abstract
The invention discloses a multi-group wheel slide rail type unmanned aerial vehicle throwing device, which comprises a mother machine, a slide rail throwing device and a plurality of wheel type storage racks, wherein the slide rail throwing device and the wheel type storage racks are arranged at the tail part of the body of the mother machine, the plurality of wheel type storage racks are sequentially arranged at the tail part of the body of the mother machine to form a throwing channel of an unmanned aerial vehicle, the slide rail throwing device is arranged behind the wheel type storage rack at the tail end of the throwing channel of the unmanned aerial vehicle, the wheel type storage rack comprises a rotary wheel, a main rotary shaft, a storage rack front support and a storage rack rear support, the rotary wheel is fixed between the storage rack front support and the storage rack rear support through the main rotary shaft, the rotary wheel can rotate around the main rotary shaft, and a plurality of unmanned aerial vehicle hangers are uniformly distributed on the outer circumference of the rotary wheel, the invention can provide the storage capacity of a large unmanned aerial vehicle in the same configuration with not less than 4 frames, and depends on the slide rail throwing device and the wheel type storage mode, the medium and large unmanned aerial vehicles can be quickly released by separating from the main machine by means of self gravity. The aerial delivery work of the fixed-wing unmanned aerial vehicle with higher efficiency than that of the existing delivery mode can be realized by virtue of the advantages of large navigational speed, large range and large quantity loading of the aircraft platform.
Description
Technical Field
The invention relates to the technical field of aircraft air-based recovery, in particular to a launching device and a launching method for a multi-group wheel slide rail type unmanned aerial vehicle.
Background
At present, the main throwing modes of the fixed-wing unmanned aerial vehicle are as follows: hand throwing, sliding rail, ejection, runway and air throwing. The air base is based on medium and small-sized platforms such as fighters and the like, is carried and launched in an external hanging mode, but has great limitation on the number and the volume of the thrown unmanned aerial vehicles, can not realize the distribution of medium and large unmanned aerial vehicles with large density, and has low throwing cost-effectiveness ratio.
Disclosure of Invention
The purpose of the invention is as follows: the multi-group roller slide rail type unmanned aerial vehicle throwing device and method can realize rapid throwing of a large number of medium-sized and large-sized unmanned aerial vehicles separated from a mother aircraft by means of self gravity. .
The technical scheme of the invention is as follows:
the utility model provides a multiunit wheel slide rail formula unmanned aerial vehicle puts in device which characterized in that: the unmanned aerial vehicle storage rack comprises a main machine (1), a sliding rail releasing device (2) and a plurality of runner type storage racks (3), wherein the sliding rail releasing device (2) and the runner type storage racks (3) are arranged at the tail part of the main machine (1), the plurality of runner type storage racks (3) are sequentially arranged at the tail part of the main machine (1) to form an unmanned aerial vehicle releasing channel, the sliding rail releasing device (2) is arranged at the rear part of the runner type storage rack (3) at the tail end of the unmanned aerial vehicle releasing channel, the sliding rail releasing device (2) comprises a sliding rail main body (4), a driving device (5) and an extensible section (6), the runner type storage rack (3) comprises a runner (12), a main rotating shaft (13), a storage rack front support (14) and a storage rack rear support (15), and the runner (12) is fixed between the storage rack front support (14) and the storage rack rear support (15) through the main rotating shaft (13), the runner (12) can rotate around main pivot (13), and evenly distributed has a plurality of unmanned aerial vehicle stores pylon (16) on the outer circumference of runner (12).
Slide rail main part (4) on be provided with two slide rail support (7) and an extensible section support (8), extensible section (6) fix on extensible section support (8) top, extensible section support (8) set up on slide rail main part (4) and can slide along slide rail main part (4), drive arrangement (5) set up in slide rail main part (4) inside and can slide along with extensible section support (8) and stretch out and draw back, slide rail main part (4) both ends be provided with damping device (9).
The driving device (5) is a belt type transmission device.
A storage rack driving module is arranged on one side of the storage rack front support (14), and comprises a driving motor (23), a speed reducer (17), a stopping device (10) and an angle measuring sensor (11).
The storage frame front support (14) on be provided with the stores pylon front drive module, be provided with stores pylon rear drive module on the storage frame after-poppet (15), stores pylon front drive module and stores pylon rear drive module the same, all include driving motor (23), reduction gear (17), deflection mechanism (18) both ends be connected with driving motor (23) and reduction gear (17) respectively, deflection mechanism (18) inside also be provided with driving motor (23), reduction gear (17), detent (10) and angle measurement sensor (11).
The rotating directions of the two deflection mechanisms (18) in the front hanger driving module and the rear hanger driving module are opposite.
Unmanned aerial vehicle stores pylon (16) on be provided with before stores pylon fixing device (21) and stores pylon after fixing device (22), fixing device (19) and after fixing device (20) before unmanned aerial vehicle stores pylon (16) bottom still is provided with, preceding fixing device (19) and after fixing device (20) be mechanical stop device or electromagnetism stop device.
Unmanned aerial vehicle stores pylon (16) and runner (12) adopt detachable to be connected, and unmanned aerial vehicle stores pylon (16) upper surface is provided with the driving rack, unmanned aerial vehicle stores pylon (16) on still be provided with an idle passageway.
A multi-group roller-track type unmanned aerial vehicle launching device comprises the following steps:
step 1: fixing an unmanned aerial vehicle (28) on an unmanned aerial vehicle hanger (16) through a front fixing device (19) and a rear fixing device (20);
step 2: the driving device (5) drives the extensible section (6) to move to a preset position along the slide rail main body (4);
and step 3: according to the instruction, the rotary wheel type storage rack (3) is driven to rotate to a throwing position where a certain unmanned aerial vehicle (28) is located at the lowest position in the vertical direction;
and 4, step 4: unlocking a front hanger fixing device (21) and a rear hanger fixing device (22) on an unmanned aerial vehicle hanger (16);
and 5: a rear hanger driving module on a rear storage rack support (15) and a front hanger driving module on a front storage rack support (14) deflect to a working position, an unmanned aerial vehicle hanger (16) is driven to move to a sliding rail throwing device (2) and is driven to a designated throwing position by a driving device (5) on a sliding rail body (4), and a damping device (9) at the tail end of the sliding rail body (4) realizes speed reduction and positioning;
step 6: an unmanned aerial vehicle (28) on the unmanned aerial vehicle pylon (16) deflects its own elevator (24) downwardly on command;
and 7: a front fixing device (19) and a rear fixing device (20) on an unmanned aerial vehicle hanger (16) are unlocked, an unmanned aerial vehicle (28) is separated from a mother machine (1) under the action of gravity, a lock hook driving module on the unmanned aerial vehicle (28) deflects and locks a lock hook module on the unmanned aerial vehicle (28) to a withdrawing state, and the lock hook module consists of a front lock hook (25), a rear lock hook (26) and a connecting rod (27);
and 8: the released unmanned aerial vehicle hanger (16) is driven by the driving device (5), the front driving module and the rear driving module together to return to the corresponding position on the rotary wheel type storage rack (3), and is locked by the front hanger fixing device (21) and the rear hanger fixing device (22);
and step 9: and (3) rotating the rotary wheel type storage frame (3) to a designated angle in sequence, driving the unmanned aerial vehicle hanging rack (16) corresponding to the position to move to a releasing position, repeating the steps 3-8, and completing releasing of other unmanned aerial vehicles on the rotary wheel type storage frame (3).
Step 10: rotating a rotary wheel type storage rack (3) at the tail end of the unmanned aerial vehicle throwing channel to an empty channel to enable the unmanned aerial vehicle to be positioned at the vertically lowest throwing position;
step 11: and (5) repeating the steps 3 to 10 to finish the throwing of the unmanned aerial vehicles (28) on the rest of the rotary wheel type storage racks (3).
The invention has the beneficial effects that: the multi-group wheel slide rail type unmanned aerial vehicle releasing device and the releasing method can provide storage capacity of a middle-sized and large-sized unmanned aerial vehicle with at least 4 same structures, and realize quick releasing of the middle-sized and large-sized unmanned aerial vehicles by means of self gravity from a mother aircraft by means of a slide rail releasing device and a rotating wheel type storage mode. The aerial delivery work of the fixed-wing unmanned aerial vehicle with higher efficiency than that of the existing delivery mode can be realized by virtue of the advantages of large navigational speed, large range and large quantity loading of the aircraft platform.
Drawings
FIG. 1 is a schematic view of an apparatus of the present invention;
fig. 2 is a schematic view of a slide rail release device;
figure 3 is a schematic view of a wheeled storage rack;
fig. 4 is a schematic view of a drone.
Detailed Description
The invention is further explained by combining the attached drawings, 1. a multi-group roller slide rail type unmanned aerial vehicle throwing device is characterized in that: the unmanned aerial vehicle throwing device comprises a main machine 1, a sliding rail throwing device 2 and a plurality of runner type storage frames 3, wherein the sliding rail throwing device 2 and the runner type storage frames 3 are arranged at the tail part of the main machine 1, the plurality of runner type storage frames 3 are sequentially arranged at the tail part of the main machine 1 to form an unmanned aerial vehicle throwing channel, the sliding rail throwing device 2 is arranged at the rear part of the runner type storage frame 3 at the tail end of the unmanned aerial vehicle throwing channel, the sliding rail throwing device 2 comprises a sliding rail main body 4, a driving device 5 and an extensible section 6, two sliding rail supports 7 and an extensible section support 8 are arranged on the sliding rail main body 4, the extensible section 6 is fixed at the top end of the extensible section support 8, the extensible section support 8 is arranged on the sliding rail main body 4 and can slide along the sliding rail main body 4, the driving device 5 is arranged in the sliding rail main body 4 and can slide and stretch along with the extensible section support 8, and damping devices 9 are arranged at two ends of the sliding rail main body 4.
The runner type storage frame 3 include runner 12, main pivot 13, storage frame fore-stock 14, storage frame after-poppet 15, runner 12 fix between storage frame fore-stock 14, storage frame after-poppet 15 through main pivot 13, runner 12 can be rotatory around main pivot 13, evenly distributed has a plurality of unmanned aerial vehicle stores pylon 16 on the outer circumference of runner 12.
The driving device 5 is a belt type transmission device.
And a storage rack driving module is arranged on one side of the storage rack front support 14 and comprises a driving motor 23, a speed reducer 17, a stopping device 10 and an angle measuring sensor 11.
The storage rack front support 14 is provided with a rack front driving module, the storage rack rear support 15 is provided with a rack rear driving module, the rack front driving module and the rack rear driving module are the same and respectively comprise a driving motor 23, a speed reducer 17 and a deflection mechanism 18, two ends of the deflection mechanism 18 are respectively connected with the driving motor 23 and the speed reducer 17, and the deflection mechanism 18 is also internally provided with the driving motor 23, the speed reducer 17, a stopping device 10 and an angle measuring sensor 11.
The rotation directions of the two deflection mechanisms 18 in the front hanger driving module and the rear hanger driving module are opposite.
Unmanned aerial vehicle stores pylon 16 on be provided with before the stores pylon fixing device 21 and stores pylon after fixing device 22, fixing device 19 and after-fixing device 20 before unmanned aerial vehicle stores pylon 16 bottom still is provided with, preceding fixing device 19 and after-fixing device 20 be mechanical stop device or electromagnetism stop device.
Unmanned aerial vehicle stores pylon 16 and runner 12 adopt detachable to be connected, and 16 upper surfaces of unmanned aerial vehicle stores pylon are provided with the driving rack, unmanned aerial vehicle stores pylon 16 on still be provided with an idle passageway.
A throwing method of a multi-group wheel slide rail type unmanned aerial vehicle throwing device comprises the following steps:
step 1: fixing the unmanned aerial vehicle 28 on the unmanned aerial vehicle pylon 16 through the front fixing device 19 and the rear fixing device 20;
step 2: the driving device 5 drives the extensible section 6 to move to a preset position along the slide rail body 4;
and step 3: according to the instruction, the rotary wheel type storage rack 3 is driven to rotate to a throwing position where a certain unmanned aerial vehicle 28 is at the lowest position in the vertical direction;
and 4, step 4: unlocking a front hanger fixing device 21 and a rear hanger fixing device 22 on the unmanned aerial vehicle hanger 16;
and 5: the rear hanger driving module on the rear storage rack support 15 and the front hanger driving module on the front storage rack support 14 deflect to working positions, the unmanned aerial vehicle hanger 16 is driven to move to the slide rail throwing device 2 and is driven to an appointed throwing position by the driving device 5 on the slide rail body 4, and the damping device 9 at the tail end of the slide rail body 4 realizes speed reduction and positioning;
step 6: the drone 28 on the drone pylon 16 deflects its own elevator 24 downward on command;
and 7: the front fixing device 19 and the rear fixing device 20 on the unmanned aerial vehicle hanger 16 are unlocked, the unmanned aerial vehicle 28 is separated from the mother aircraft 1 under the action of gravity, a lock hook driving module on the unmanned aerial vehicle 28 deflects and locks a lock hook module on the unmanned aerial vehicle 28 to a retracted state, and the lock hook module consists of a front lock hook 25, a rear lock hook 26 and a connecting rod 27;
and 8: the unmanned aerial vehicle hanger 16 which is released is driven by the driving device 5, the front hanger driving module and the rear hanger driving module together to return to the corresponding position on the rotary wheel type storage rack 3 and is locked by the front hanger fixing device 21 and the rear hanger fixing device 22;
and step 9: and rotating the rotary wheel type storage rack 3 to a specified angle in sequence, driving the unmanned aerial vehicle hanging rack 16 corresponding to the position to move to the releasing position, repeating the steps 3-8, and completing releasing of other unmanned aerial vehicles on the rotary wheel type storage rack 3.
Step 10: rotating the rotary wheel type storage rack 3 at the tail end of the unmanned aerial vehicle throwing channel to the vacant channel to enable the unmanned aerial vehicle to be located at the vertically lowest throwing position;
step 11: and (5) repeating the steps 3 to 10 to finish the throwing of the unmanned aerial vehicles 28 on the rest of the rotary wheel type storage racks 3.
Claims (8)
1. The utility model provides a multiunit wheel slide rail formula unmanned aerial vehicle puts in device which characterized in that: the unmanned aerial vehicle storage rack comprises a mother machine (1), a sliding rail throwing device (2) and at least two runner type storage racks (3), wherein the sliding rail throwing device (2) and the runner type storage racks (3) are arranged at the tail part of the body of the mother machine (1), the at least two runner type storage racks (3) are sequentially arranged at the tail part of the body of the mother machine (1) to form an unmanned aerial vehicle throwing channel, the sliding rail throwing device (2) is arranged behind the runner type storage rack (3) at the tail end of the unmanned aerial vehicle throwing channel, the runner type storage rack (3) comprises a runner (12), a main rotating shaft (13), a storage rack front support (14) and a storage rack rear support (15), the runner (12) is fixed between the storage rack front support (14) and the storage rack rear support (15) through the main rotating shaft (13), the runner (12) can rotate around the main rotating shaft (13), and a plurality of unmanned aerial vehicle hangers (16) are uniformly distributed on the outer circumference of the runner (12), unmanned aerial vehicle stores pylon (16) and runner (12) adopt detachable to be connected, and unmanned aerial vehicle stores pylon (16) upper surface is provided with the driving rack, unmanned aerial vehicle stores pylon (16) on still be provided with an idle passageway.
2. The multi-group roller-track type unmanned aerial vehicle launching device of claim 1, characterized in that: slide rail put in device (2) include slide rail main part (4), drive arrangement (5), extendible section (6), slide rail main part (4) on be provided with two slide rail support (7) and an extendible section support (8), extendible section (6) fix on extendible section support (8) top, extendible section support (8) set up on slide rail main part (4) and can slide along slide rail main part (4), drive arrangement (5) set up in slide rail main part (4) inside and can slide along with extendible section support (8) and stretch out and draw back, slide rail main part (4) both ends be provided with damping device (9).
3. The multi-group roller-track type unmanned aerial vehicle launching device of claim 2, characterized in that: the driving device (5) is a belt type transmission device.
4. The multi-group roller-track type unmanned aerial vehicle launching device of claim 1, characterized in that: a storage rack driving module is arranged on one side of the storage rack front support (14), and comprises a driving motor (23), a speed reducer (17), a stopping device (10) and an angle measuring sensor (11).
5. The multi-group roller-track type unmanned aerial vehicle launching device of claim 1, characterized in that: the storage frame front support (14) on be provided with the stores pylon front drive module, be provided with stores pylon rear drive module on the storage frame after-poppet (15), stores pylon front drive module and stores pylon rear drive module the same, all include driving motor (23), reduction gear (17), deflection mechanism (18) both ends be connected with driving motor (23) and reduction gear (17) respectively, deflection mechanism (18) inside also be provided with driving motor (23), reduction gear (17), detent (10) and angle measurement sensor (11).
6. The multi-group roller-track type unmanned aerial vehicle launching device of claim 5, wherein: the rotating directions of the two deflection mechanisms (18) in the front hanger driving module and the rear hanger driving module are opposite.
7. The multi-group roller-track type unmanned aerial vehicle launching device of claim 1, characterized in that: unmanned aerial vehicle stores pylon (16) on be provided with before stores pylon fixing device (21) and stores pylon after fixing device (22), fixing device (19) and after fixing device (20) before unmanned aerial vehicle stores pylon (16) bottom still is provided with, preceding fixing device (19) and after fixing device (20) be mechanical stop device or electromagnetism stop device.
8. The throwing method of the multi-group wheel slide rail type unmanned aerial vehicle throwing device is characterized in that: the method comprises the following steps:
step 1: fixing an unmanned aerial vehicle (28) on an unmanned aerial vehicle hanger (16) through a front fixing device (19) and a rear fixing device (20);
step 2: the driving device (5) drives the extensible section (6) to move to a preset position along the slide rail main body (4);
and step 3: according to the instruction, the rotary wheel type storage rack (3) is driven to rotate to a throwing position where a certain unmanned aerial vehicle (28) is located at the lowest position in the vertical direction;
and 4, step 4: unlocking a front hanger fixing device (21) and a rear hanger fixing device (22) on an unmanned aerial vehicle hanger (16);
and 5: a rear hanger driving module on a rear storage rack support (15) and a front hanger driving module on a front storage rack support (14) deflect to a working position, an unmanned aerial vehicle hanger (16) is driven to move to a sliding rail throwing device (2) and is driven to a designated throwing position by a driving device (5) on a sliding rail main body (4), and a damping device (9) at the tail end of the sliding rail main body (4) realizes speed reduction and positioning;
step 6: an unmanned aerial vehicle (28) on the unmanned aerial vehicle pylon (16) deflects its own elevator (24) downwardly on command;
and 7: a front fixing device (19) and a rear fixing device (20) on an unmanned aerial vehicle hanger (16) are unlocked, an unmanned aerial vehicle (28) is separated from a mother machine (1) under the action of gravity, a lock hook driving module on the unmanned aerial vehicle (28) deflects and locks a lock hook module on the unmanned aerial vehicle (28) to a withdrawing state, and the lock hook module consists of a front lock hook (25), a rear lock hook (26) and a connecting rod (27);
and 8: the unmanned aerial vehicle hanger (16) which is released is driven by the driving device (5), the front hanger driving module and the rear hanger driving module together to return to the corresponding position on the rotary wheel type storage rack (3), and is locked by the front hanger fixing device (21) and the rear hanger fixing device (22);
and step 9: sequentially rotating the rotary wheel type storage rack (3) to a designated angle, driving the unmanned aerial vehicle hanging rack (16) at the corresponding position to move to a throwing position, and repeating the steps 3-8 to finish throwing of the rest unmanned aerial vehicles on the rotary wheel type storage rack (3);
step 10: rotating a rotary wheel type storage rack (3) at the tail end of the unmanned aerial vehicle throwing channel to an empty channel to enable the unmanned aerial vehicle to be positioned at the vertically lowest throwing position;
step 11: and (5) repeating the steps 3 to 10 to finish the throwing of the unmanned aerial vehicles (28) on the rest of the rotary wheel type storage racks (3).
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| CN201811617615.3A CN109606685B (en) | 2018-12-27 | 2018-12-27 | Multi-group wheel slide rail type unmanned aerial vehicle launching device and launching method |
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| CN201811617615.3A CN109606685B (en) | 2018-12-27 | 2018-12-27 | Multi-group wheel slide rail type unmanned aerial vehicle launching device and launching method |
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| CN109606685B true CN109606685B (en) | 2022-05-27 |
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| CN112572817B (en) * | 2021-01-25 | 2022-05-24 | 南京航空航天大学 | Continuous automatic ejection device for fixed-wing unmanned aerial vehicle and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7318541B2 (en) * | 2003-02-21 | 2008-01-15 | United States Postal Service | Storage rack for human transporter |
| RU59521U1 (en) * | 2006-08-08 | 2006-12-27 | Открытое Акционерное Общество "Государственное Машиностроительное Конструкторское Бюро "Радуга" Имени А.Я. Березняка" | AVIATION COMPLEX |
| IL201681A (en) * | 2009-10-22 | 2014-06-30 | Abraham Abershitz | Uav system and method |
| FR2953809B1 (en) * | 2009-12-16 | 2012-04-06 | Mbda France | LOADING AND LOADING SYSTEM FOR TRANSPORT PLANE |
| CN108137151B (en) * | 2015-09-11 | 2021-09-10 | 深圳市大疆灵眸科技有限公司 | Carrier for unmanned aerial vehicle |
| CN108945455A (en) * | 2018-06-11 | 2018-12-07 | 易瓦特科技股份公司 | Docking for unmanned plane emits damping device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS56155873A (en) * | 1980-03-17 | 1981-12-02 | Philips Nv | Radar chaff diffuser |
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| Flight dynamic modeling and control for a telescopic wing morphing aircraft via asymmetric wing morphing;Ting Yue、Xiangyang Zhang、Lixin Wang、Junqiang Ai;《Aerospace Science and Technology》;20171130;第328-338页 * |
| 无人机蜂群作战发展重点动态;申超、武坤琳、宋怡然;《飞航导弹》;20161115;第28-33页 * |
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