CN103692443B - Visible remote control based on four-rotor helicopter tears quick-fried device open - Google Patents
Visible remote control based on four-rotor helicopter tears quick-fried device open Download PDFInfo
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- CN103692443B CN103692443B CN201410002889.7A CN201410002889A CN103692443B CN 103692443 B CN103692443 B CN 103692443B CN 201410002889 A CN201410002889 A CN 201410002889A CN 103692443 B CN103692443 B CN 103692443B
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Abstract
The invention discloses a kind of visible remote control based on four-rotor helicopter and tear quick-fried device open, comprise four-rotor helicopter, first attitude regulation mechanism, second attitude regulation mechanism, 3rd attitude regulation mechanism, image mechanism, Chai Bao mechanism, supporting leg, balance adjustment mechanism, remote controller, by remote control device first, second, 3rd attitude regulation mechanism realizes the change of tearing quick-fried hand position open of Chai Bao mechanism, the real-time video monitoring tearing quick-fried work or flight open is realized by remote control camera structure, by a left side for remote controller visible remote control Chai Bao mechanism, the right side is torn quick-fried hand open and is removed the cable of explosion danger device or device, destroy or fixed point throwing, by tearing the balance of quick-fried device under remote control balance adjustment mechanism dynamic implement duty open, thus realize overall stable state flight and work.The present invention has that structure is simple, stable performance, the advantage such as easy to use, reliably can realize remote, visual, remote control and remove or destroy the function of explosion danger device.
Description
Technical field
The present invention relates to the device removed or destroy blast and danger, be specifically related to a kind of visible remote control based on four-rotor helicopter and tear quick-fried device open.
Background technology
In recent years, attack of terrorism activity worldwide spreads, and has become the public hazards of human society.Various dangerous goods or destructor are utilized by the people had ulterior motives, and are used for reaching its harm society or other people object.Along with social development, the vindictive intentional injury criminal offence brought because of social contradications is also more and more many.In addition, in commercial Application, also there is the danger work that some manually cannot complete, need to have gone to replace people by means of various robot or device.
Current situation is, Discard old bomb, dangerous combustible and explosive articles, terrorist devices and people be difficult to the article touched dismounting, crack, generally tear quick-fried personnel or explosion-proof expert's examine on the spot open by specialty, then manual demolition is used, or depend on walking robot, under manpower assisted control, complete under semi-automatic state.If with manually completing, danger is very large, particularly in the face of the bomb of some self-control destructors or the unknown time, careless slightlyly just may cause casualties and property loss.For robot, there is the robot situation that also cannot normally walk or arrive in some cases, tear quick-fried work open bring difficulty to explosive in time.
Therefore, market can be crossed over or leap various obstacle in the urgent need to one, can show dangerous scene in real time again, and can under the visual manipulation of explosion-proof expert or under commanding, easy to use and the remote-controlled robot eliminating danger or disarm a bomb or device.
Summary of the invention
The technical problem to be solved in the present invention is: the present situation described for above-mentioned background technology, overcome the deficiency of prior art, there is provided that a kind of structure is simple, stable performance, easy to use, reliably can realize remote, visual, that explosion danger device is removed or destroyed in the remote control visible remote control based on four-rotor helicopter and tear quick-fried device open.
The technical solution adopted for the present invention to solve the technical problems is: a kind of visible remote control based on four-rotor helicopter tears quick-fried device open, comprise four-rotor helicopter, the first attitude regulation mechanism, the second attitude regulation mechanism, the 3rd attitude regulation mechanism, image mechanism, Chai Bao mechanism, supporting leg, balance adjustment mechanism, remote controller, wherein, first attitude steering wheel support of the first described attitude regulation mechanism is fixedly mounted on the belly center of four-rotor helicopter, and the first attitude steering wheel to be arranged in the first attitude steering wheel support by its output shaft rotation and can relatively to rotate; The second described attitude steering wheel is fixedly mounted in the second attitude steering wheel support, and the output shaft of the second attitude steering wheel is passed the second attitude steering wheel support and is fixedly mounted on the bottom of the first attitude steering wheel by ring flange; The output shaft of the 3rd described attitude steering wheel is fixedly mounted in the second attitude steering wheel support by ring flange, and the housing of the 3rd attitude steering wheel is fixedly mounted on the upper end of large support; The output shaft of described image mechanism steering wheel is fixedly mounted on the outside of the second attitude steering wheel support by ring flange and relatively can rotates around its output shaft, image mechanism support is fixedly mounted on the housing lower surface of image mechanism steering wheel, and video camera is fixedly mounted in image mechanism support; Described Chai Bao mechanism is fixedly mounted on the right end of large support; Described balance adjustment mechanism is arranged in the left side frame of large support; Described supporting leg is fixedly mounted on the middle lower surface of large support.
Described Chai Bao mechanism comprises Chai Bao mechanism and rotates steering wheel, and the output shaft of Chai Bao mechanism rotation steering wheel is fixedly mounted on its right end face of large support by ring flange, making Chai Bao mechanism rotate steering wheel can rotate around large support; That L shape tears quick-fried mechanism rack open while be fixedly mounted on Chai Bao mechanism and rotate on the housing end face of steering wheel, the housing of another side lower surface fixed installation Chai Bao mechanism tongs steering wheel, the output shaft of Chai Bao mechanism tongs steering wheel is fixedly connected with through tearing quick-fried hand open with the right side after tearing quick-fried mechanism rack open, a left side is torn quick-fried hand open and is rotationally connected with the another side upper surface that L shape tears quick-fried mechanism rack open, and to tear quick-fried hand open with the right side be that same level face is arranged symmetrically with; A left side is torn quick-fried hand and the right side open and is torn quick-fried hand open and can transmit power by gear teeth meshing, and the rotation by means of Chai Bao mechanism tongs steering wheel output shaft drives a left side to tear quick-fried hand open and quick-fried hand engagement rotation is torn on the right side open, opens simultaneously or closedly tears quick-fried hand open.
A described left side is torn quick-fried hand and the right side open and is torn quick-fried hand open and all comprise clip, circular arc jaws, straight jaws, clip, circular arc jaws, straight jaws word order from left to right, and a left side tears that quick-fried hand is relative with right three openings tearing quick-fried hand open to be designed open.
Described video camera, when tearing quick-fried duty open, is just torn quick-fried hand and the right side open to a left side and is torn quick-fried hand position open and make a video recording; When four-rotor helicopter carries out state of flight, video camera is just made a video recording to direction of advance, to observe advance environment; Video camera also can be used for investigation and takes photo by plane.
Described balance adjustment mechanism comprises housing and is fixedly mounted on balance adjustment steering wheel in the left side frame of large support, one end of crank is regulated to be fixed on the output shaft end of balance adjustment steering wheel by lock-screw, the other end of crank and one end of regulating connecting rod is regulated to pass through hinge, the other end of regulating connecting rod and the bottom of balance weight hinged, the middle part of balance weight is provided with an annular groove and embeds in the slideway established in the left side frame of large support, lock-screw is screwed into the bottom end face of balance weight, limiting balance is heavy can only horizontally slip in slideway, the restriction other end of regulating connecting rod and the bottom of balance weight relatively rotate, driven by the output shaft of balance adjustment steering wheel and regulate crank, thus by means of regulating connecting rod, balance weight is horizontally slipped in the slideway of large support, realize two ends, large support left and right weight balancing, ensure the smooth flight of four-rotor helicopter.
Described four-rotor helicopter also comprises the high-capacity lithium battery being located at its belly, the data/charging inlet of the platform upper being located at four-rotor helicopter, central control unit, is located at the antenna of the table top of four-rotor helicopter, data/charging inlet is standard Micro USB interface, central control unit comprises flight control modules, video wireless transmission module, tears quick-fried operational module open, pose adjustment module, flight stable state adjusting module, and antenna is high sensitivity, elastic material antenna.
Described Chai Bao mechanism clip is implemented to cut off to the cable of explosion danger device, by circular arc jaws, straight jaws, explosion danger device is implemented to separation, captures, is thrown.
Described Chai Bao mechanism is replaceable is fire-fighting water spraying gun, the fire extinguisher for putting out a fire.
Described remote controller adopts 2.4GHz or 5GHz wireless transport module, or adopts 3G or 4G mobile communication technology data transmission module; Described remote controller is provided with video monitoring screen, remote-control handle and button.
The invention has the beneficial effects as follows: what the described visible remote control based on four-rotor helicopter tore quick-fried device open tears quick-fried institution staff wide scope open, operating attitude dynamic remote control adjustment, tear quick-fried hand open reasonable in design, structure is simple, can realize cutting, grab, roll over, the function such as throwing, image mechanism dynamic remote control adjustment, to adapt to tear the quick-fried tracking of hand real-time working position and the monitoring of flight environment of vehicle open, the real-time monitoring of balance adjustment mechanism is convenient to the smooth flight of four-rotor helicopter.In a word, the present invention has that structure is simple, stable performance, the advantage such as easy to use, reliably can realize the function that remote, visual, remote control is removed or destroyed explosion danger device, the fields such as explosion danger device is removed or destroyed, science is taken photo by plane, emergency management and rescue, military investigation can be widely used in.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, the present invention is further described.
Fig. 1 is structural representation front view of the present invention.
Fig. 2 is structural representation top view of the present invention.
Fig. 3 is structural representation side view of the present invention.
Fig. 4 is P-P generalized section of the present invention.
Fig. 5 is that Q under off working state of the present invention is to enlarged diagram.
Fig. 6 is that Q under duty of the present invention is to enlarged diagram.
Fig. 7 is that schematic diagram is put on a Chai Bao mechanism of the present invention left side.
Fig. 8 is that schematic diagram is put on the Chai Bao mechanism of the present invention right side.
Fig. 9 is that Chai Bao mechanism of the present invention leans forward schematic diagram.
Figure 10 is image mechanism front-view schematic diagram under state of flight of the present invention.
Figure 11 is structural representation after the present invention second attitude regulation mechanism 90-degree rotation.
1-four-rotor helicopter in figure; 2-first attitude regulation mechanism; 3-second attitude regulation mechanism; 4-the 3rd attitude regulation mechanism; 5-image mechanism; 6-Chai Bao mechanism; 7-supporting leg; 8-balance adjustment mechanism; 9-cable; 10-explosion danger device; 11-high-capacity lithium battery; 12-data/charging inlet; 13-central control unit; 14-antenna; 21-first attitude steering wheel support; 22-first attitude steering wheel; 31-second attitude steering wheel support; 32-second attitude steering wheel; The large support of 41-; 42-the 3rd attitude steering wheel; 51-image mechanism steering wheel; 52-image mechanism support; 53-video camera; 61-Chai Bao mechanism tongs steering wheel; 62-tears on a left side quick-fried hand open; 63-tears on the right side quick-fried hand open; 64-tears quick-fried mechanism rack open; 65-Chai Bao mechanism rotates steering wheel; 66-clip; 67-circular arc jaws; The straight jaws of 68-; 81-balance adjustment steering wheel; 82-regulates crank; 83-regulating connecting rod; 84-balance weight; 85-lock-screw; 86-bearing pin; 87-slideway.
Detailed description of the invention
The present invention is further illustrated by reference to the accompanying drawings now.The schematic diagram that these accompanying drawings are simplification only illustrates basic structure of the present invention in a schematic way, and therefore it only shows the formation relevant with the present invention.
As shown in figs. 1-11, a kind of visible remote control based on four-rotor helicopter tears quick-fried device open, comprise attitude regulation mechanism 3 of four-rotor helicopter 1, first attitude regulation mechanism 2, second, the 3rd attitude regulation mechanism 4, image mechanism 5, Chai Bao mechanism 6, supporting leg 7, balance adjustment mechanism 8, remote controller, it is characterized in that: the first attitude steering wheel support 21 of the first described attitude regulation mechanism 2 is fixedly mounted on the belly center of four-rotor helicopter 1, the first attitude steering wheel 22 to be arranged in the first attitude steering wheel support 21 by its output shaft rotation and can relatively to rotate; The second described attitude steering wheel 32 is fixedly mounted in the second attitude steering wheel support 31, and the output shaft of the second attitude steering wheel 32 is passed the second attitude steering wheel support 31 and is fixedly mounted on the bottom of the first attitude steering wheel 22 by ring flange; The output shaft of the 3rd described attitude steering wheel 42 is fixedly mounted in the second attitude steering wheel support 31 by ring flange, and the housing of the 3rd attitude steering wheel 42 is fixedly mounted on the upper end of large support 41; The output shaft of described image mechanism steering wheel 51 is fixedly mounted on the outside of the second attitude steering wheel support 31 by ring flange and relatively can rotates around its output shaft, image mechanism support 52 is fixedly mounted on the housing lower surface of image mechanism steering wheel 51, and video camera 53 is fixedly mounted in image mechanism support 52; Described Chai Bao mechanism 6 is fixedly mounted on the right end of large support 41; Described balance adjustment mechanism 8 is arranged in the left side frame of large support 41; Described supporting leg 7 is fixedly mounted on the middle lower surface of large support 41.
As Figure 4-Figure 6, described Chai Bao mechanism 6 comprises Chai Bao mechanism and rotates steering wheel 65, Chai Bao mechanism and rotate the output shaft of steering wheel 65 is fixedly mounted on large support 41 its right end face by ring flange, and making Chai Bao mechanism rotate steering wheel 65 can rotate around large support 41; That L shape tears quick-fried mechanism rack 64 open while be fixedly mounted on Chai Bao mechanism and rotate on the housing end face of steering wheel 65, the housing of another side lower surface fixed installation Chai Bao mechanism tongs steering wheel 61, the output shaft of Chai Bao mechanism tongs steering wheel 61 is fixedly connected with through tearing quick-fried hand 63 open with the right side after tearing quick-fried mechanism rack 64 open, a left side is torn quick-fried hand 62 open and is rotationally connected with the another side upper surface that L shape tears quick-fried mechanism rack 64 open, and tears quick-fried hand 63 open with the right side and be arranged symmetrically with in same level face; A left side is torn quick-fried hand 62 open and is torn quick-fried hand 63 open with the right side and can transmit power by gear teeth meshing, and the rotation by means of Chai Bao mechanism tongs steering wheel 61 output shaft drives a left side to tear quick-fried hand 62 open and tears quick-fried hand 63 engagement rotation open with the right side, opens simultaneously or closedly tears quick-fried hand open.
As shown in Figure 5 or Figure 6, a described left side is torn quick-fried hand 62 open and is torn quick-fried hand 63 open with the right side and all comprise clip 66, circular arc jaws 67, straight jaws 68, clip 66, circular arc jaws 67, straight jaws 68 word order from left to right, a left side tears that quick-fried hand 62 is relative with right three openings tearing quick-fried hand 63 open to be designed open.
As shown in Fig. 1, Fig. 3, Fig. 7-11, described video camera 53, when tearing quick-fried duty open, is just torn quick-fried hand 62 and the right side open to a left side and is torn quick-fried hand 63 position open and make a video recording; When four-rotor helicopter 1 carries out state of flight, video camera 53 is just made a video recording to direction of advance, to observe advance environment; Video camera 53 also can be used for investigation and takes photo by plane.
As illustrated in figure 1 or 4, described balance adjustment mechanism 8 comprises housing and is fixedly mounted on balance adjustment steering wheel 81 in the left side frame of large support 41, one end of crank 82 is regulated to be fixed on the output shaft end of balance adjustment steering wheel 81 by lock-screw 85, one end of the other end of crank 82 and regulating connecting rod 83 is regulated to pass through bearing pin 86 hinged, the other end of regulating connecting rod 83 and the bottom of balance weight 84 hinged, the middle part of balance weight 84 is provided with an annular groove and embeds in the slideway 87 established in the left side frame of large support 41, lock-screw 85 is screwed into the bottom end face of balance weight 84, limiting balance weighs 84 and can only horizontally slip in slideway 87, the restriction other end of regulating connecting rod 83 and the bottom of balance weight 84 relatively rotate, being driven by the output shaft of balance adjustment steering wheel 81 regulates crank 82 to rotate, thus by means of regulating connecting rod 83, balance weight 84 is horizontally slipped in the slideway 87 of large support 41, realize large support about 41 two ends weight balancing, ensure the smooth flight of four-rotor helicopter 1.
As shown in Figure 1, Figure 3, described four-rotor helicopter 1 also comprises the high-capacity lithium battery 11 being located at its belly, the data/charging inlet 12 of the platform upper being located at four-rotor helicopter 1, central control unit 13, is located at the antenna 14 of the table top of four-rotor helicopter 1, data/charging inlet 12 is standard Micro USB interface, central control unit 13 comprises flight control modules, video wireless transmission module, tears quick-fried operational module open, pose adjustment module, flight stable state adjusting module, and antenna 14 is high sensitivity, elastic material antenna.
As shown in Figure 6, described Chai Bao mechanism 6 cable 9 of clip 66 pairs of explosion danger devices is implemented to cut off, and implements separation with circular arc jaws 67, straight jaws 68 pairs of explosion danger devices 10, capture, throws.
Described Chai Bao mechanism 6 is replaceable is fire-fighting water spraying gun, the fire extinguisher for putting out a fire.
Described remote controller adopts 2.4GHz or 5GHz wireless transport module, or adopts 3G or 4G mobile communication technology data transmission module; Described remote controller is provided with video monitoring screen, remote-control handle and button.
The present invention realizes the change of tearing quick-fried hand position open of Chai Bao mechanism by remote control device first, second, third attitude regulation mechanism, the real-time video monitoring tearing quick-fried work or flight open is realized by remote control camera structure, tear quick-fried hand open by remote control Chai Bao mechanism left and right to remove, destroy or fix a point to throw to the cable of explosion danger device or device, by tearing the balance of quick-fried device under remote control balance adjustment mechanism dynamic implement duty open, thus realize overall stable state flight and work.The present invention has that structure is simple, stable performance, the advantage such as easy to use, reliably can realize remote, visual, remote control and remove or destroy the function of explosion danger device.
Above-mentioned embodiment is only for illustrating technical conceive of the present invention and feature; its object is to person skilled in the art can be understood content of the present invention and be implemented; can not limit the scope of the invention with this; all equivalences done according to Spirit Essence of the present invention change or modify, and all should be encompassed in protection scope of the present invention.
Claims (9)
1. the visible remote control based on four-rotor helicopter tears quick-fried device open, comprise four-rotor helicopter (1), first attitude regulation mechanism (2), second attitude regulation mechanism (3), 3rd attitude regulation mechanism (4), image mechanism (5), Chai Bao mechanism (6), supporting leg (7), balance adjustment mechanism (8), remote controller, it is characterized in that: the first attitude steering wheel support (21) of the first described attitude regulation mechanism (2) is fixedly mounted on the belly center of four-rotor helicopter (1), first attitude steering wheel (22) to be arranged in the first attitude steering wheel support (21) by its output shaft rotation and can relatively to rotate, second attitude steering wheel (32) is fixedly mounted in the second attitude steering wheel support (31), and the output shaft of the second attitude steering wheel (32) is passed the second attitude steering wheel support (31) and is fixedly mounted on the bottom of the first attitude steering wheel (22) by ring flange, the output shaft of the 3rd attitude steering wheel (42) is fixedly mounted in the second attitude steering wheel support (31) by ring flange, and the housing of the 3rd attitude steering wheel (42) is fixedly mounted on the upper end of large support (41), the output shaft of image mechanism steering wheel (51) is fixedly mounted on the outside of the second attitude steering wheel support (31) by ring flange and relatively can rotates around its output shaft, image mechanism support (52) is fixedly mounted on the housing lower surface of image mechanism steering wheel (51), and video camera (53) is fixedly mounted in image mechanism support (52), described Chai Bao mechanism (6) is fixedly mounted on the right end of large support (41), described balance adjustment mechanism (8) is arranged in the left side frame of large support (41), described supporting leg (7) is fixedly mounted on the middle lower surface of large support (41).
2. the visible remote control based on four-rotor helicopter according to claim 1 tears quick-fried device open, it is characterized in that: described Chai Bao mechanism (6) comprises Chai Bao mechanism and rotates steering wheel (65), the output shaft of Chai Bao mechanism rotation steering wheel (65) is fixedly mounted on its right end face of large support (41) by ring flange, making Chai Bao mechanism rotate steering wheel (65) can rotate around large support (41); That L shape tears quick-fried mechanism rack (64) open while be fixedly mounted on Chai Bao mechanism and rotate on the housing end face of steering wheel (65), the housing of another side lower surface fixed installation Chai Bao mechanism tongs steering wheel (61), the output shaft of Chai Bao mechanism tongs steering wheel (61) is torn quick-fried hand (63) afterwards open be fixedly connected with through being torn quick-fried mechanism rack (64) open with the right side, a left side is torn quick-fried hand (62) open and is rotationally connected with the another side upper surface that L shape tears quick-fried mechanism rack (64) open, and tears quick-fried hand (63) open with the right side and be arranged symmetrically with in same level face; A left side is torn quick-fried hand (62) and the right side open and is torn quick-fried hand (63) open and can transmit power by gear teeth meshing, rotation by means of Chai Bao mechanism tongs steering wheel (61) output shaft drives a left side to tear quick-fried hand (62) open and tears quick-fried hand (63) engagement rotation open with the right side, opens simultaneously or closes and tear quick-fried hand open.
3. the visible remote control based on four-rotor helicopter according to claim 2 tears quick-fried device open, it is characterized in that: a described left side is torn quick-fried hand (62) and the right side open and torn quick-fried hand (63) open and all comprise clip (66), circular arc jaws (67), straight jaws (68), clip (66), circular arc jaws (67), straight jaws (68) word order from left to right, a left side is torn quick-fried hand (62) and the right side open and is torn that three openings of quick-fried hand (63) are relative to be designed open.
4. the visible remote control based on four-rotor helicopter according to claim 1 tears quick-fried device open, it is characterized in that: described video camera (53), when tearing quick-fried duty open, is just torn quick-fried hand (62) and the right side open to a left side and torn quick-fried hand (63) position open and make a video recording; When four-rotor helicopter (1) carries out state of flight, video camera (53) is just made a video recording to direction of advance, to observe advance environment; Video camera (53) also can be used for investigation and takes photo by plane.
5. the visible remote control based on four-rotor helicopter according to claim 1 tears quick-fried device open, it is characterized in that: described balance adjustment mechanism (8) comprises housing and is fixedly mounted on balance adjustment steering wheel (81) in the left side frame of large support (41), one end of crank (82) is regulated to be fixed on the output shaft end of balance adjustment steering wheel (81) by lock-screw (85), one end of the other end of crank (82) and regulating connecting rod (83) is regulated to pass through bearing pin (86) hinged, the other end of regulating connecting rod (83) and the bottom of balance weight (84) hinged, the middle part of balance weight (84) is provided with an annular groove and embeds in the slideway (87) established in the left side frame of large support (41), lock-screw (85) is screwed into the bottom end face of balance weight (84), limiting balance heavy (84) can only horizontally slip in slideway (87), the other end of restriction regulating connecting rod (83) and the bottom of balance weight (84) relatively rotate, being driven by the output shaft of balance adjustment steering wheel (81) regulates crank (82) to rotate, thus by means of regulating connecting rod (83), balance weight (84) is horizontally slipped in the slideway (87) of large support (41), realize large support (41) two ends, left and right weight balancing, ensure the smooth flight of four-rotor helicopter (1).
6. the visible remote control based on four-rotor helicopter according to claim 1 tears quick-fried device open, it is characterized in that: described four-rotor helicopter (1) also comprises the high-capacity lithium battery (11) being located at its belly, be located at the data/charging inlet (12) of the platform upper of four-rotor helicopter (1), central control unit (13), be located at the antenna (14) of the table top of four-rotor helicopter (1), data/charging inlet (12) is standard Micro USB interface, central control unit (13) comprises flight control modules, video wireless transmission module, tear quick-fried operational module open, pose adjustment module, flight stable state adjusting module, antenna (14) is high sensitivity, elastic material antenna.
7. the visible remote control based on four-rotor helicopter according to claim 1 tears quick-fried device open, it is characterized in that: described Chai Bao mechanism (6) clip (66) implements to cut off to the cable (9) of explosion danger device, by circular arc jaws (67), straight jaws (68), explosion danger device (10) is implemented separation, captures, thrown.
8. the visible remote control based on four-rotor helicopter according to claim 1 tears quick-fried device open, it is characterized in that: described Chai Bao mechanism (6) is replaceable is fire-fighting water spraying gun, the fire extinguisher for putting out a fire.
9. the visible remote control based on four-rotor helicopter according to claim 1 tears quick-fried device open, it is characterized in that: described remote controller adopts 2.4GHz or 5GHz wireless transport module, or adopts 3G or 4G mobile communication technology data transmission module; Described remote controller is provided with video monitoring screen, remote-control handle and button.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410002889.7A CN103692443B (en) | 2014-01-06 | 2014-01-06 | Visible remote control based on four-rotor helicopter tears quick-fried device open |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410002889.7A CN103692443B (en) | 2014-01-06 | 2014-01-06 | Visible remote control based on four-rotor helicopter tears quick-fried device open |
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| CN103692443A CN103692443A (en) | 2014-04-02 |
| CN103692443B true CN103692443B (en) | 2015-10-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108673550A (en) * | 2016-03-21 | 2018-10-19 | 珠海市磐石电子科技有限公司 | A kind of robot device |
| CN107053202B (en) * | 2017-04-17 | 2023-02-24 | 西安航空学院 | Multifunctional explosive dismantling manipulator |
| CN108750113B (en) * | 2018-06-29 | 2023-07-07 | 西安航空学院 | Unmanned vehicles of annular wing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2339543C1 (en) * | 2007-04-27 | 2008-11-27 | Общество с ограниченной ответственностью "АЙСЕНС" | Airborne microdevice |
| CN202045634U (en) * | 2011-03-15 | 2011-11-23 | 北京诚志北分机电技术有限公司 | Anti-explosion robot |
| CN203064201U (en) * | 2012-12-28 | 2013-07-17 | 贵州斯凯威科技有限公司 | Aerial photo aircraft |
| CN103112587A (en) * | 2013-02-27 | 2013-05-22 | 曾小敏 | Aircraft |
| CN203622438U (en) * | 2014-01-06 | 2014-06-04 | 西安航空学院 | Visual remote control explosion removing device based on four-rotor helicopter |
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