CN106741902B - A kind of anti-terror explosive removing unmanned plane - Google Patents
A kind of anti-terror explosive removing unmanned plane Download PDFInfo
- Publication number
- CN106741902B CN106741902B CN201710029965.7A CN201710029965A CN106741902B CN 106741902 B CN106741902 B CN 106741902B CN 201710029965 A CN201710029965 A CN 201710029965A CN 106741902 B CN106741902 B CN 106741902B
- Authority
- CN
- China
- Prior art keywords
- rod
- hinged
- hydraulic cylinder
- explosive
- stepper motor
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
- 239000002360 explosive Substances 0.000 title claims abstract description 36
- 230000003447 ipsilateral effect Effects 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 239000007921 spray Substances 0.000 claims description 9
- 238000005520 cutting process Methods 0.000 claims description 7
- 238000005086 pumping Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- 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
- B64D1/22—Taking-up articles from earth's surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Earth Drilling (AREA)
- Working Measures On Existing Buildindgs (AREA)
Abstract
The present invention provides a kind of anti-terror explosive removing unmanned plane, including body, the first stepper motor, the first hinged-support, propeller etc., it is characterized by: the body is rectangular shape, there is a rectangular channel below body, body two sides it is symmetrical four the first hinged-supports, one parallelogram connection-rod is hingedly installed on each first hinged-support, ipsilateral two parallelogram connection-rod outer ends and guide rail rear and front end are hinged and constitute parallelogram sturcutre, are separately installed with first stepper motor on two the first hinged-supports of body front end；The present invention uses vehicle of the unmanned plane as explosive device, has the characteristics that movement speed is fast, landing is flexible, by the folding parallelogram mechanism of setting, can open when in use, and when placement folds, to reduce space occupied.
Description
Technical field
The present invention relates to extraordinary air vehicle technique field, in particular to a kind of anti-terror explosive removing unmanned plane.
Background technique
With running down for global anti-terror explosive removing situation, more and more soldiers are because during excluding explosive
Injures and deaths, it is development trend in the future that explosive is excluded using equipment special, and traditional explosive equipment such as explosive-removal robot etc. is deposited
The speed of travel it is slow, after getting explosive in urban district walk the big disadvantage of risk, with unmanned air vehicle technique increasingly at
It is ripe, carrier of the unmanned plane as explosive device can be used, unmanned plane has the characteristics that movement speed is fast, landing is flexible,
Due to being to transport in the sky when shifting explosive with unmanned plane, so the menace to urban district is small.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of anti-terror explosive removing unmanned plane, the present invention is using unmanned plane as explosive dress
The vehicle set has the characteristics that movement speed is fast, landing is flexible, can be with by the way that folding parallelogram mechanism is arranged
It opens when in use, when placement folds, to reduce space occupied.
Technical solution used in the present invention is: a kind of anti-terror explosive removing unmanned plane, including body, the first stepper motor,
One hinged-support, propeller, parallelogram connection-rod, brushless motor, guide rail, first hydraulic cylinder, fixing seat, multistage retractable rod, half
Spherical shell, square socket, rectangular telescopic rod, Pneumatic clamping jaw, sparge pipe, support rod, second stepper motor, a quarter spherical shell, rotation
Joint, swing arm, direct current generator, saw blade, second hydraulic cylinder, it is characterised in that: the body is rectangular shape, body lower section
Have a rectangular channel, body two sides it is symmetrical four the first hinged-supports, be hingedly installed with one on each first hinged-support
Parallelogram connection-rod, two ipsilateral parallelogram connection-rod outer ends are hinged with guide rail rear and front end and constitute parallel four side
Shape structure is separately installed with first stepper motor, the first stepper motor on two the first hinged-supports of body front end
Motor shaft and parallelogram connection-rod shaft pass through shaft coupling connect, the first stepping motor driven parallelogram connection-rod turn
It is dynamic；One fixing seat is installed in guide rail middle position, is symmetrically installed two first hydraulic cylinders before and after fixing seat, each first
The piston rod of hydraulic cylinder is connect with a sliding block, and sliding block is slidably matched with guide rail, controls sliding block sliding by first hydraulic cylinder, often
A brushless motor is installed above a sliding block, a propeller is installed on the motor shaft of brushless motor, passes through brushless motor
Propeller is driven to provide lift for unmanned plane；
Rectangle front of the slot below body is hingedly equipped with multistage retractable rod, and multistage retractable rod can be swung up and down and hidden
It being hidden in rectangular channel, swing is controlled by second hydraulic cylinder, and the upper end of second hydraulic cylinder is hinged in rectangular channel, under
End is hinged with multistage retractable rod, and the multistage retractable rod is made of the rectangular sleeve that several segments are slidably matched, multi-stage expansion
It is flexible to control multistage retractable rod by multistage hydraulic cylinder for multistage hydraulic cylinder built in bar；Multistage retractable rod lower end and hemispherical Shell are carried on the back
Portion is fixedly connected, and hemispherical Shell front end is symmetrically hingedly installed with two a quarter spherical shells, after two a quarter spherical shells are closed and
A complete explosion-proof thick spherical shell is collectively formed in hemispherical Shell, and the opening and closing of a quarter spherical shell is controlled by second stepper motor
, a square socket is installed inside hemispherical Shell, rectangular telescopic rod is slidably fitted in square socket, rectangular telescopic rod stretches
It is controlled by electric cylinders, the front end of rectangular telescopic rod is equipped with Pneumatic clamping jaw, and two of Pneumatic clamping jaw can be used with the clamping jaw of parallelly opening-and-closing
In being equipped with sparge pipe on clamping explosive, Pneumatic clamping jaw, the spray head alignment of sparge pipe clamps the position of explosive；In hemispherical Shell
Inside is also equipped with two support rods, and support rod is located at square socket two sides, and each support rod front end is designed with a cradle head,
Cradle head is fixedly connected with the rear end of swing arm, and cradle head is built-in with servo motor, can control rotation by servo motor
Articulation, and then control swing arm rotation, the front end of swing arm is equipped with a saw blade, saw blade for cutting explosive, saw blade by
It is mounted on the DC MOTOR CONTROL of swing arm front end.
It further, further include high service pumping plant, the high pressure water of high service pumping plant output passes through high-pressure hose and spray
Water pipe rear end is connected.
The invention has the advantages that:
1. the present invention uses vehicle of the unmanned plane as explosive device, have the characteristics that movement speed is fast, landing is flexible,
It by the way that folding parallelogram mechanism is arranged, can open when in use, when placement folds, to reduce space occupied.
2. Pneumatic clamping jaw can be made easily to grab explosive by the way that multistage retractable rod is arranged.
3. can form an explosion-proof thick spherical shell by setting hemispherical Shell and a quarter spherical shell, timely explosive exists
Explosion will not generate harm to ambient enviroment in sawing process.
4. can destroy explosive by the way that saw blade is arranged, it is made to lose explosions.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is Pneumatic clamping jaw scheme of installation of the invention.
Fig. 3 is second hydraulic cylinder scheme of installation of the invention.
Fig. 4 is status diagram when multistage retractable rod of the invention is recovered to below body.
Drawing reference numeral: 1- body；The first stepper motor of 2-；The first hinged-support of 3-；4- propeller；5- parallelogram connects
Bar；6- brushless motor；7- guide rail；8- first hydraulic cylinder；9- fixing seat；10- multistage retractable rod；11- hemispherical Shell；12- square socket；
The rectangular telescopic rod of 13-；14- Pneumatic clamping jaw；15- sparge pipe；16- support rod；17- second stepper motor；18- a quarter ball
Shell；19- cradle head；20- swing arm；21- direct current generator；22- saw blade；23- second hydraulic cylinder.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of anti-terror explosive removing unmanned plane, including body 1, the first stepper motor 2, first
Hinged-support 3, propeller 4, parallelogram connection-rod 5, brushless motor 6, guide rail 7, first hydraulic cylinder 8, fixing seat 9, multi-stage expansion
Bar 10, hemispherical Shell 11, square socket 12, rectangular telescopic rod 13, Pneumatic clamping jaw 14, sparge pipe 15, support rod 16, second stepper motor
17, a quarter spherical shell 18, cradle head 19, swing arm 20, direct current generator 21, saw blade 22, second hydraulic cylinder 23, feature exists
Be rectangular shape in: the body 1, there is a rectangular channel below body 1,1 two sides of body it is symmetrical four first
Hinged-support 3, a parallelogram connection-rod 5 is hingedly installed on each first hinged-support 3, and two ipsilateral parallelogram connect
5 outer end of bar and 7 rear and front end of guide rail are hinged and constitute parallelogram sturcutre, and two close to 1 front end of body are first hinged
First stepper motor 2, the motor shaft of the first stepper motor 2 and the shaft of parallelogram connection-rod 5 are separately installed on seat 3
It is connected by shaft coupling, the first stepper motor 2 drives parallelogram connection-rod 5 to rotate；One is equipped in 7 middle position of guide rail
Fixing seat 9 is symmetrically installed two first hydraulic cylinders 8, the piston rod of each first hydraulic cylinder 8 and a cunning before and after fixing seat 9
Block connection, sliding block are slidably matched with guide rail 7, control sliding block sliding by first hydraulic cylinder 8, are equipped with one above each sliding block
Brushless motor 6 is equipped with a propeller 4 on the motor shaft of brushless motor 6, and driving propeller 4 by brushless motor 6 is nobody
Machine provides lift；
Rectangle front of the slot below body 1 is hingedly equipped with multistage retractable rod 10, and multistage retractable rod 10 can go up the bottom
It moves and is hidden into rectangular channel, swinging is controlled by second hydraulic cylinder 23, and the upper end of second hydraulic cylinder 23 is hinged on
In rectangular channel, lower end and multistage retractable rod 10 are hinged, the rectangular sleeve that the multistage retractable rod 10 is slidably matched by several segments
Cylinder is constituted, multistage hydraulic cylinder built in multistage retractable rod 10, and it is flexible to control multistage retractable rod 10 by multistage hydraulic cylinder；Multi-stage expansion
10 lower end of bar is connect with 11 back fixation of hemispherical Shell, and 11 front end of hemispherical Shell is symmetrically hingedly installed with two a quarter spherical shells
18, after two a quarter spherical shells 18 are closed and a complete explosion-proof thick spherical shell, a quarter is collectively formed in hemispherical Shell 11
The opening and closing of spherical shell 18 is controlled by second stepper motor 17, and a square socket 12, square set are equipped with inside hemispherical Shell 11
Rectangular telescopic rod 13 is slidably fitted in cylinder 12, the flexible of rectangular telescopic rod 13 is controlled by electric cylinders, the front end of rectangular telescopic rod 13
Pneumatic clamping jaw 14 is installed, two of Pneumatic clamping jaw 14 can be with the clamping jaw of parallelly opening-and-closing for clamping explosive, Pneumatic clamping jaw 14
On sparge pipe 15 is installed, the position of the spray head alignment clamping explosive of sparge pipe 15；Two are also equipped with inside hemispherical Shell 11
A support rod 16, support rod 16 are located at 12 two sides of square socket, and each 16 front end of support rod is designed with a cradle head 19, rotation
Joint 19 is fixedly connected with the rear end of swing arm 20, and cradle head 19 is built-in with servo motor, be can control and is turned by servo motor
Movable joint 19 rotates, and then controls swing arm 20 and rotate, and the front end of swing arm 20 is equipped with a saw blade 22, and saw blade 22 is quick-fried for cutting
Fried object, saw blade 22 are controlled by the direct current generator 21 for being mounted on 20 front end of swing arm.
It further, further include high service pumping plant, the high pressure water of high service pumping plant output passes through high-pressure hose and spray
15 rear end of water pipe is connected.
Working principle of the present invention: the present invention can control the rotation of parallelogram connection-rod 5 by the first stepper motor 2, into
And can control folding and unfolding for parallelogram mechanism, parallelogram mechanism can be folded when unmanned plane is static
Come to reduce space occupied；It can control sliding block on guide rail 7 by first hydraulic cylinder 8 to move, to adjust the center of gravity of unmanned plane,
Increase stability when its flight；The present invention drives propeller 4 to rotate to be nobody by four brushless motors 6 first when in use
Machine provides lift, and unmanned plane takes off and flies to the site of the accident, then further flies to above explosive, passes through the second liquid in next step
Cylinder pressure 23 makes 10 bottom of multistage retractable rod and extends multistage retractable rod 10 by multistage hydraulic cylinder, then passes through the second stepping electricity
Machine 17 drives a quarter spherical shell 18 to open, and rectangular telescopic rod 13 drives Pneumatic clamping jaw 14 to stretch out in next step, and Pneumatic clamping jaw 14 exists
Open two clamping jaws while stretching out spherical shell, two clamping jaws return in spherical shell after clamping explosive, so latter two four/
One spherical shell 18 is closed, and unmanned plane carries explosive and is transferred to the spacious no man's land of safety, and two saw blades 22 are in direct current in next step
Start to rotate under the drive of machine 21, drives it close to explosive from swing arm 20 while rotating, next step sparge pipe 15 is opened
Begin to spray water to explosive, saw blade 22 carries out cutting damage to explosive while water spray, and water spray is to take away cutting process
The heat of middle generation finishes latter two a quarter spherical shell 18 in cutting and opens, and Pneumatic clamping jaw 14 is opened and will be quick-fried after cutting
Fried object is put on the ground.
Claims (2)
1. a kind of anti-terror explosive removing unmanned plane, including body (1), the first stepper motor (2), the first hinged-support (3), propeller (4),
Parallelogram connection-rod (5), brushless motor (6), guide rail (7), first hydraulic cylinder (8), fixing seat (9), multistage retractable rod (10),
Hemispherical Shell (11), square socket (12), rectangular telescopic rod (13), Pneumatic clamping jaw (14), sparge pipe (15), support rod (16), second
Stepper motor (17), a quarter spherical shell (18), cradle head (19), swing arm (20), direct current generator (21), saw blade (22),
Two hydraulic cylinders (23), it is characterised in that: the body (1) is rectangular shape, has a rectangular channel, machine below body (1)
Body (1) two sides it is symmetrical four the first hinged-supports (3), be hingedly installed with one parallel four on each first hinged-support (3)
Side shape connecting rod (5), two ipsilateral parallelogram connection-rod (5) outer ends are hinged with guide rail (7) rear and front end and composition is parallel
Quadrilateral structure is separately installed with first stepper motor (2) on two first hinged-supports (3) of body (1) front end,
The motor shaft of first stepper motor (2) is connect with the shaft of parallelogram connection-rod (5) by shaft coupling, the first stepper motor
(2) driving parallelogram connection-rod (5) rotation；One fixing seat (9) is installed in guide rail (7) middle position, before fixing seat (9)
After be symmetrically installed two first hydraulic cylinders (8), the piston rod of each first hydraulic cylinder (8) is connect with a sliding block, sliding block with
Guide rail (7) is slidably matched, and controls sliding block sliding by first hydraulic cylinder (8), is equipped with a brushless motor above each sliding block
(6), a propeller (4) is installed, driving propeller (4) by brushless motor (6) is nothing on the motor shaft of brushless motor (6)
Man-machine offer lift；Rectangle front of the slot below body (1) is hingedly equipped with multistage retractable rod (10), multistage retractable rod (10)
It can swing up and down and be hidden into rectangular channel, swing is controlled by second hydraulic cylinder (23), second hydraulic cylinder (23)
Upper end be hinged in rectangular channel, hingedly, the multistage retractable rod (10) is by several for lower end and multistage retractable rod (10)
The rectangular sleeve that section is slidably matched is constituted, multistage hydraulic cylinder built in multistage retractable rod (10), is controlled by multistage hydraulic cylinder multistage
Telescopic rod (10) is flexible；Multistage retractable rod (10) lower end is connect with hemispherical Shell (11) back fixation, hemispherical Shell (11) front end pair
Claim that two a quarter spherical shells (18) hingedly are installed, after two a quarter spherical shells (18) are closed and hemispherical Shell (11) common shape
At a complete explosion-proof thick spherical shell, the opening and closing of a quarter spherical shell (18) is controlled by second stepper motor (17),
One square socket (12) is installed inside hemispherical Shell (11), is slidably fitted with rectangular telescopic rod (13) in square socket (12), side
The flexible of shape telescopic rod (13) is controlled by electric cylinders, and the front end of rectangular telescopic rod (13) is equipped with Pneumatic clamping jaw (14), Pneumatic clamping jaw
(14) two can be equipped with sparge pipe (15) on Pneumatic clamping jaw (14), spray with the clamping jaw of parallelly opening-and-closing for clamping explosive
The position of the spray head alignment clamping explosive of water pipe (15)；Two support rods (16) are also equipped with inside hemispherical Shell (11), are propped up
Strut (16) is located at square socket (12) two sides, and each support rod (16) front end is designed with a cradle head (19), cradle head
(19) it is fixedly connected with the rear end of swing arm (20), cradle head (19) is built-in with servo motor, can control by servo motor
Cradle head (19) rotation, and then swing arm (20) rotation is controlled, the front end of swing arm (20) is equipped with a saw blade (22), saw blade
(22) for cutting explosive, saw blade (22) is controlled by the direct current generator (21) for being mounted on swing arm (20) front end.
2. a kind of anti-terror explosive removing unmanned plane according to claim 1, it is characterised in that: it further include high service pumping plant, it is high
The high pressure water of pressure water supply pumping plant output is connected by high-pressure hose with sparge pipe (15) rear end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710029965.7A CN106741902B (en) | 2017-01-17 | 2017-01-17 | A kind of anti-terror explosive removing unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710029965.7A CN106741902B (en) | 2017-01-17 | 2017-01-17 | A kind of anti-terror explosive removing unmanned plane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106741902A CN106741902A (en) | 2017-05-31 |
| CN106741902B true CN106741902B (en) | 2019-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710029965.7A Expired - Fee Related CN106741902B (en) | 2017-01-17 | 2017-01-17 | A kind of anti-terror explosive removing unmanned plane |
Country Status (1)
| Country | Link |
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| CN (1) | CN106741902B (en) |
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| WO2019147196A2 (en) * | 2017-07-06 | 2019-08-01 | Istanbul Teknik Universitesi | Autonomous unmanned aerial vehicle |
| CN107234385B (en) * | 2017-07-27 | 2019-01-11 | 安徽名筑钢塔工程有限公司 | A kind of signal tower tower body maintenance of equipment |
| CN112793761A (en) * | 2017-08-29 | 2021-05-14 | 深圳市大疆创新科技有限公司 | Frame and unmanned aerial vehicle |
| CN107651188A (en) * | 2017-09-26 | 2018-02-02 | 孟凡星 | A kind of military anti-transport ship unmanned plane |
| CN109533361B (en) * | 2018-11-20 | 2023-08-11 | 南京南华航空产业有限公司 | Unmanned aerial vehicle for monitoring animal husbandry in pastoral area |
| CN109732515B (en) * | 2019-01-25 | 2020-08-28 | 吴清槐 | Horizontal installation debugging device of unmanned aerial vehicle driving system |
| CN109896005B (en) * | 2019-03-26 | 2023-09-15 | 舟山职业技术学校 | Four rotor crafts of improvement structure |
| CN111473992A (en) * | 2020-04-17 | 2020-07-31 | 河北工程大学 | Geological survey ware for geological engineering |
| CN112109901A (en) * | 2020-09-21 | 2020-12-22 | 杭州星网测绘技术有限公司 | Unmanned aerial vehicle snatchs mechanism |
| CN112643341A (en) * | 2020-12-17 | 2021-04-13 | 温州旗驰信息科技有限公司 | Machining device with continuous tapping structure for automobile plates |
| CN115520384B (en) * | 2022-11-28 | 2023-02-03 | 成都睿铂科技有限责任公司 | Vertical take-off and landing fixed wing unmanned aerial vehicle |
| CN116353822B (en) * | 2023-06-01 | 2023-11-17 | 北京瀚科智翔科技发展有限公司 | Unmanned aerial vehicle clamping and releasing mechanism and control method |
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|---|---|---|---|---|
| CN102152291A (en) * | 2011-03-01 | 2011-08-17 | 武汉理工大学 | Anti-terrorist explosion-proof robot |
| CN204165460U (en) * | 2014-09-05 | 2015-02-18 | 徐伟佳 | The explosive device of a kind of aerial clearance of unmanned plane |
| CN204450539U (en) * | 2015-02-16 | 2015-07-08 | 河北工业大学 | Based on the anti-terror explosive removing robot of many gyroplanes |
| CN204546537U (en) * | 2015-04-24 | 2015-08-12 | 东莞市瑞科五金塑胶制品有限公司 | One has the explosive cutting robot of line traffic control |
| CN205642187U (en) * | 2016-05-03 | 2016-10-12 | 赤峰市公安局 | Flying type explosive destroys ware |
-
2017
- 2017-01-17 CN CN201710029965.7A patent/CN106741902B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102152291A (en) * | 2011-03-01 | 2011-08-17 | 武汉理工大学 | Anti-terrorist explosion-proof robot |
| CN204165460U (en) * | 2014-09-05 | 2015-02-18 | 徐伟佳 | The explosive device of a kind of aerial clearance of unmanned plane |
| CN204450539U (en) * | 2015-02-16 | 2015-07-08 | 河北工业大学 | Based on the anti-terror explosive removing robot of many gyroplanes |
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| CN205642187U (en) * | 2016-05-03 | 2016-10-12 | 赤峰市公安局 | Flying type explosive destroys ware |
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| Publication number | Publication date |
|---|---|
| CN106741902A (en) | 2017-05-31 |
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Effective date of registration: 20200813 Address after: 102100 1946, building 27, yard 8, Fenggu 4th Road, yanqingyuan, Zhongguancun, Yanqing District, Beijing Patentee after: Beiqing navigation technology (Beijing) Co., Ltd Address before: 317100 No. 88, Mei'an Village, Puba Port Town, Sanmen County, Taizhou City, Zhejiang Province Patentee before: Zhai Ruxiang |
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