CN110466809A - For the repeatable capture mechanism of noncooperative target - Google Patents
For the repeatable capture mechanism of noncooperative target Download PDFInfo
- Publication number
- CN110466809A CN110466809A CN201910612640.0A CN201910612640A CN110466809A CN 110466809 A CN110466809 A CN 110466809A CN 201910612640 A CN201910612640 A CN 201910612640A CN 110466809 A CN110466809 A CN 110466809A
- Authority
- CN
- China
- Prior art keywords
- capture
- pawl
- torsional spring
- repeatable
- transmission
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Operated Clutches (AREA)
Abstract
The present invention provides a kind of repeatable capture mechanisms for noncooperative target, become component, priming system component including capture claw assembly, driving assembly, transmission axle module, rotation, and shield and bottom plate, capture mechanism in the present invention is made of modular assembly, with high reliablity, may be reused, without special interface, have the advantages such as buffer unit, have high reliablity, it is reusable, without special interface, have the advantages such as buffer unit.
Description
Technical field
The present invention relates to a kind of repeatable capture mechanisms for noncooperative target.
Background technique
Currently, the U.S., Europe, Russia and Japan space flight department number of types of space catching machine has been proposed
Structure, suitable for different fields, including arresting for space junk cleaning, maintainable technology on-orbit and noncooperative target.Current sky
Between capture mechanism type be mainly Wang Shi mechanism and claw mechanism, use there are not reproducible, need special interface, capture impact
Power influences the disadvantages of big, mechanism assembly is complicated.
Summary of the invention
The purpose of the present invention is to provide a kind of repeatable capture mechanisms for noncooperative target.
To solve the above problems, the present invention provides a kind of repeatable capture mechanism for noncooperative target, comprising:
Claw assembly, driving assembly, transmission axle module, rotation change component, priming system component and shield and bottom plate are captured,
Wherein,
Capture claw assembly include capture pawl and with the torsional spring buffer unit that connect of capture pawl, capture pawl include keel with
Covering, torsional spring buffer unit include if it happens bracket, shaft, torsional spring and transmission pin rod are captured when capturing pawl gathering movement
The collision of pawl and target satellite, shock loading drives the torsional spring torsion, to play buffering effect；
Transmission axle module includes double Hooke's joint and transmission shaft, and driving assembly accesses transmission chain, drop in transmission chain middle position
The asynchronism of underneath drive, by two-way universal joint and drive shaft to the capture claw assembly passing movement and power at both ends, thus real
Now to the repeatable capture and release of target；
Driving assembly includes stepper motor and planetary reduction gear, passes through two-way universal joint and drive shaft moving driving motor
Power and movement pass to capture and grab；
Two ends of transmission chain are equipped with the rotation backed up each other and become component, for measuring rotational angle at any time, supervise in real time
The rotation position of capture pawl is surveyed, transmission chain is fitted with shield, catches for preventing close to the place of capture envelope working region
The collision occurred during obtaining damages transmission chain；
Priming system component, which is used to that pawl will to be captured by titanium bar in transmitter section, is connected to celestial body, cuts off titanium bar after in-orbit and releases
Capture pawl is put, then carries out arresting task using motor driven capture pawl, priming system component includes firer's cutter holder and sets
The firer's cutter being placed in firer's cutter holder.
Further, in the above-mentioned repeatable capture mechanism for noncooperative target, five capture claw assemblies and three
Transmission axle module, a driving assembly are interspersed, and are attached each other by double Hooke's joint, form a string moved synchronously
Connection system.
Further, in the above-mentioned repeatable capture mechanism for noncooperative target, the stepper motor, planetary reduction gear
Device, shield, torsional spring buffer unit and priming system component are fastened on bottom plate by screw installation.
Further, in the above-mentioned repeatable capture mechanism for noncooperative target, in launching phase, claw assembly is captured
It is pressed abd fixed on bottom plate by priming system component；
Firer's cutter in working stage, priming system component will connect the cutting of titanium bar, release capture claw assembly.
Further, in the above-mentioned repeatable capture mechanism for noncooperative target, the stepper motor output shaft turns
It is dynamic, movement and power are passed into planetary reduction gear, by slowing down, power increases, and transmission shaft is passed to, then by double universal
Movement and power are alternately passed to torsional spring buffer unit by section, are ultimately transferred to capture pawl, and task is arrested in completion, wherein torsional spring
Buffer unit has buffer function.
Further, in the above-mentioned repeatable capture mechanism for noncooperative target, the torsional spring buffer unit passes through
Bracket is fixed on bottom plate, and capture pawl is mounted in shaft by connecting flange, and torsional spring is compressed connecting flange by pretightning force
Between torsional spring and transmission pin rod, transmission pin rod carries out the rotation less than predetermined amplitude in cotter way.
Further, in the above-mentioned repeatable capture mechanism for noncooperative target, the stepper motor will move and
Power is transmitted to shaft by planetary reduction gear, double Hooke's joint and transmission shaft, then drive torsional spring rotation, press joining method orchid with
Transmission pin rod movement, connecting flange drive capture pawl rotation, carry out arresting task.
Further, in the above-mentioned repeatable capture mechanism for noncooperative target, when capture target and pawl is captured
When impact force is less than the pretightning force of torsional spring, connecting flange keeps the state compressed by torsional spring and transmission pin rod；
When the impact force for capturing target and capture pawl is greater than the pretightning force of torsional spring, pawl counter motion is captured, connection is driven
Flange counter motion is driven pin rod relative motion in cotter way, plays buffer function, until transmission pin rod and cotter way reversely connect
Touching, buffering terminate, and capture pawl is limited.
Compared with prior art, the present invention includes capture claw assembly, driving assembly, transmission axle module, rotation change component, firer
Product component and shield and bottom plate, the capture mechanism in the present invention are made of modular assembly, have high reliablity, can be with
Reuse, without special interface, have the advantages such as buffer unit, have high reliablity, it is reusable, connect without specific
Mouth has the advantages such as buffer unit.
Detailed description of the invention
Fig. 1 is the repeatable capture mechanism outline drawing of one embodiment of the invention；
Fig. 2 is the torsional spring buffer unit figure of one embodiment of the invention；
Fig. 3 is schematic diagram when compressing in the repeatable capture mechanism acquisition procedure of one embodiment of the invention；
Fig. 4 is schematic diagram when discharging in the repeatable capture mechanism acquisition procedure of one embodiment of the invention；
Fig. 5 is schematic diagram when button holds together in the repeatable capture mechanism acquisition procedure of one embodiment of the invention；
Wherein, 1 --- capture pawl；2 --- torsional spring buffer unit；3 --- rotation becomes component 3；4 --- bottom plate；5 --- firer
Product component；6 --- stepper motor；7 --- planetary reduction gear；8 --- double Hooke's joint；9 --- shield；10 --- transmission shaft；
11 --- connecting flange；12 --- torsional spring；13 --- bracket；14 --- shaft；15 --- cotter way；16 --- transmission pin rod.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in Fig. 1~5, the present invention provides a kind of repeatable capture mechanism for noncooperative target, comprising: capture pawl
Component 1, driving assembly, transmission axle module, rotation become component 3, priming system component and shield 9 and bottom plate 4, wherein
(embodiment captures the layout of claw assembly using five to five capture claw assemblies, but is not limited to five, captures claw assembly
In the capture task that circumferentially, can be completed to target) and three transmission axle modules, driving assembly are staggeredly point
Cloth is attached each other by double Hooke's joint, forms a train moved synchronously；
Capture claw assembly includes the torsional spring buffer unit 2 for capturing pawl and connecting with the capture pawl, and capture pawl includes keel
And covering, torsional spring buffer unit include bracket 13, shaft 14, axle sleeve, axle sleeve positioning pin, spacer pin, torsional spring 12, capture and increase on pawl
Torsional spring card slot and limit cotter way are added, when capturing pawl gathering movement, in case of the collision for capturing pawl and target satellite, impact load
Lotus drives the torsional spring torsion, to play buffering effect；
Transmission axle module includes double Hooke's joint and transmission shaft 10, and driving assembly accesses transmission chain in transmission chain middle position,
By two-way universal joint and drive shaft to the capture claw assembly passing movement and power at both ends, the repeatable of target is caught to realize
It obtains and discharges；
Driving assembly includes stepper motor 6 and planetary reduction gear 7, will drive electricity by two-way universal joint 8 and transmission shaft 10
The power of machine and movement pass to capture and grab；
Two ends of transmission chain are equipped with the rotation backed up each other and become component 3, for measuring rotational angle at any time, supervise in real time
The rotation position of capture pawl is surveyed, transmission chain is fitted with shield, catches for preventing close to the place of capture envelope working region
The collision occurred during obtaining damages transmission chain, and rotation change component 3 becomes shell, rotation change bracket including rotary transformer, rotation；
Priming system component 5, which is used to that pawl will to be captured by titanium bar in transmitter section, is connected to celestial body, cuts off titanium bar after in-orbit
Then release capture pawl arrest task using motor driven capture pawl, priming system component include firer's cutter holder and
The firer's cutter being set in firer's cutter holder.
Here, the capture mechanism in the present invention is made of modular assembly, there is high reliablity, may be reused, nothing
Need special interface, have the advantages such as buffer unit, have high reliablity, it is reusable, without special interface, have buffering dress
The advantages such as set.
In attached drawing 1~5:
According to the present invention, capture mechanism is repeated to install on board the aircraft by bottom plate 4.Stepper motor 6, planetary reduction gear
7, shield 9, torsional spring buffer unit 2 and priming system component 5 are fastened on bottom plate 4 by screw installation.In launching phase, capture
Claw assembly 1 is pressed abd fixed on bottom plate 4 by priming system component 5.Firer's cutter in working stage, priming system component 5
Connection titanium bar is cut off, release capture claw assembly 5.
The transmittance process of movement and power is that movement and power are passed to planetary reduction gear by the rotation of 6 output shaft of stepper motor
Device 7, by slowing down, power increases, and passes to transmission shaft 10, then will be moved by double Hooke's joint 8 and power alternately passes to
Torsional spring buffer unit 2, is ultimately transferred to capture pawl, and task is arrested in completion.Wherein, torsional spring buffer unit 2 has buffer function, In
Capture pawl and capture target impact interference caused by aircraft can be effectively reduced in acquisition procedure.
It is described in more detail below in conjunction with 1~5 pair of attached drawing repeatable capture mechanism of the invention.In these attached drawings
In give one embodiment, it should be understood that the invention is not limited to such embodiments, but further include by
Other technologies included by principle specified in appended claims.
Fig. 1 is the outline drawing of repeatable capture mechanism stages of deployment, illustrates repeatable capture mechanism of the invention in figure
One embodiment of assembled state is installed.Mechanism shown in figure is completed the rotational angle of closed state by unfolded state to capture
It is 35 ° or so, the size of this angle can be adjusted according to the size of capture target.
Fig. 2 is torsional spring buffer unit schematic diagram, and torsional spring buffer unit is fixed on bottom plate 4 by bracket 13, and capture pawl passes through
Connecting flange 11 is mounted in shaft 14, and connecting flange 11 is pressed on torsional spring 12 and transmission pin rod 16 by pretightning force by torsional spring 12
Between, transmission pin rod 16 can slightly rotate (being 5 ° in embodiment) in cotter way 15.The transmitting of acquisition procedure movement and power
Path is that stepper motor 6 will move and power passes through planetary reduction gear 7, double Hooke's joint 8 and transmission shaft 10 and is transmitted to shaft 14,
Then torsional spring 12 is driven to rotate, press joining method orchid 11 moves with transmission pin rod 16, and connecting flange 11 drives capture pawl rotation,
It carries out arresting task.When the impact force for capturing target and capture pawl is less than the pretightning force of torsional spring 12, connecting flange 11 keeps quilt
The state that torsional spring 12 and transmission pin rod 16 compress；When the impact force for capturing target and capture pawl is greater than the pretightning force of torsional spring 12,
Pawl counter motion is captured, 11 counter motion of connecting flange is driven, is driven the relative motion in cotter way 15 of pin rod 16, buffering is played and makees
With until transmission pin rod 16 and cotter way 15 reversely contact, buffering terminates, and capture pawl is limited.
Fig. 3~5 are repeatable capture mechanism acquisition procedure (initial --- release --- button that compresses holds together) figures.In transmitting rank
Section, capture pawl are pressed abd fixed on bottom plate 4 by priming system component 5, as shown in Figure 3.After aircraft is entered the orbit, priming system component
Cutter in 5 cuts off titanium bar, and power and movement are passed to capture pawl by transmission chain, driven by release capture pawl, motor
Capture pawl turns to capture original state, as shown in Figure 4.When capturing pawl close to noncooperative target, capture pawl starts to be caught
It obtains, the state after capture is as shown in Figure 5.After capture, capture mechanism can be expanded to catch again according to task needs
Original state (Fig. 4) is obtained, to realize repeatable capture mission requirements.Capture pawl is large area curved-surface structure, is had without spy
The advantage of stationary interface can capture the noncooperative target of arbitrary shape.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
Obviously, those skilled in the art can carry out various modification and variations without departing from spirit of the invention to invention
And range.If in this way, these modifications and changes of the present invention belong to the claims in the present invention and its equivalent technologies range it
Interior, then the invention is also intended to include including these modification and variations.
Claims (8)
1. a kind of repeatable capture mechanism for noncooperative target characterized by comprising capture claw assembly, driving assembly,
It is driven axle module, rotation becomes component, priming system component and shield and bottom plate, wherein
Capture claw assembly includes the torsional spring buffer unit for capturing pawl and connecting with the capture pawl, and capture pawl includes keel and illiteracy
Skin, torsional spring buffer unit include if it happens bracket, shaft, torsional spring and transmission pin rod capture pawl when capturing pawl gathering movement
With the collision of target satellite, shock loading drives the torsional spring torsion, to play buffering effect；
Transmission axle module includes double Hooke's joint and transmission shaft, and driving assembly accesses transmission chain in transmission chain middle position, reduces and passes
Dynamic asynchronism, by two-way universal joint and drive shaft to the capture claw assembly passing movement and power at both ends, thus realization pair
The repeatable capture and release of target；
Driving assembly includes stepper motor and planetary reduction gear, by two-way universal joint and drive shaft by the power of driving motor and
Movement passes to capture and grabs；
Two ends of transmission chain are equipped with the rotation backed up each other and become component, and for measuring rotational angle at any time, real-time monitoring is caught
The rotation position of pawl is obtained, transmission chain is fitted with shield, captured for preventing close to the place of capture envelope working region
The collision occurred in journey damages transmission chain；
Priming system component, which is used to that pawl will to be captured by titanium bar in transmitter section, is connected to celestial body, and the release of titanium bar is cut off after in-orbit and is caught
Pawl is obtained, then carries out arresting task using motor driven capture pawl, priming system component includes firer's cutter holder and is set to
Firer's cutter in firer's cutter holder.
2. being directed to the repeatable capture mechanism of noncooperative target as described in claim 1, which is characterized in that five capture pawl groups
Part and three transmission axle modules, a driving assemblies are interspersed, and are attached each other by double Hooke's joint, form a synchronization
The train of movement.
3. being directed to the repeatable capture mechanism of noncooperative target as described in claim 1, which is characterized in that the stepping electricity
Machine, planetary reduction gear, shield, torsional spring buffer unit and priming system component are fastened on bottom plate by screw installation.
4. being directed to the repeatable capture mechanism of noncooperative target as claimed in claim 3, which is characterized in that in launching phase,
Capture claw assembly is pressed abd fixed on bottom plate by priming system component；
Firer's cutter in working stage, priming system component will connect the cutting of titanium bar, release capture claw assembly.
5. being directed to the repeatable capture mechanism of noncooperative target as claimed in claim 4, which is characterized in that the stepper motor
Movement and power are passed to planetary reduction gear by output shaft rotation, and by slowing down, power increases, and are passed to transmission shaft, are then led to
Cross double Hooke's joint will move and power alternately pass to torsional spring buffer unit, be ultimately transferred to capture pawl, completion arrest task,
In, torsional spring buffer unit has buffer function.
6. being directed to the repeatable capture mechanism of noncooperative target as claimed in claim 5, which is characterized in that the torsional spring buffering
Device is fixed by the bracket on bottom plate, and capture pawl is mounted in shaft by connecting flange, and torsional spring will be connected by pretightning force
For flange screw between torsional spring and transmission pin rod, transmission pin rod carries out the rotation less than predetermined amplitude in cotter way.
7. being directed to the repeatable capture mechanism of noncooperative target as claimed in claim 6, which is characterized in that the stepper motor
Movement and power are transmitted to shaft by planetary reduction gear, double Hooke's joint and transmission shaft, then drive torsional spring rotation, the company of compression
For acting flange with transmission pin rod movement, connecting flange drives capture pawl rotation, carries out arresting task.
8. as claimed in claim 7 be directed to noncooperative target repeatable capture mechanism, which is characterized in that when capture target and
When the impact force of capture pawl is less than the pretightning force of torsional spring, connecting flange is kept by the state of torsional spring and transmission pin rod compression；
When the impact force for capturing target and capture pawl is greater than the pretightning force of torsional spring, pawl counter motion is captured, connecting flange is driven
Counter motion is driven pin rod relative motion in cotter way, plays buffer function, reversely contacts, delays until being driven pin rod and cotter way
Punching terminates, and capture pawl is limited.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910612640.0A CN110466809A (en) | 2019-07-08 | 2019-07-08 | For the repeatable capture mechanism of noncooperative target |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910612640.0A CN110466809A (en) | 2019-07-08 | 2019-07-08 | For the repeatable capture mechanism of noncooperative target |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110466809A true CN110466809A (en) | 2019-11-19 |
Family
ID=68507477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910612640.0A Pending CN110466809A (en) | 2019-07-08 | 2019-07-08 | For the repeatable capture mechanism of noncooperative target |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110466809A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112693595A (en) * | 2020-11-16 | 2021-04-23 | 上海航天控制技术研究所 | Space driving mechanism and driving system |
| CN113002806A (en) * | 2021-03-02 | 2021-06-22 | 南京航空航天大学 | Service satellite structure for space non-cooperative target in-orbit control |
| CN117002755A (en) * | 2023-08-03 | 2023-11-07 | 苏州三垣航天科技有限公司 | Space moving object capturing net claw mechanism and control method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005238400A (en) * | 2004-02-27 | 2005-09-08 | Japan Servo Co Ltd | Gripping device |
| CN203593178U (en) * | 2013-11-20 | 2014-05-14 | 上海宇航系统工程研究所 | Crimping semi-rigid net claw capturing mechanism |
| CN203593177U (en) * | 2013-11-20 | 2014-05-14 | 上海宇航系统工程研究所 | Petal type capturing mechanism |
| CN105460240A (en) * | 2015-11-30 | 2016-04-06 | 上海宇航系统工程研究所 | Small aircraft capturing connection and separation device |
| US20170191605A1 (en) * | 2014-05-25 | 2017-07-06 | Satixfy Israel Ltd. | Integral Dual Gimbal Device |
| CN108382614A (en) * | 2018-02-05 | 2018-08-10 | 西北工业大学深圳研究院 | One kind being directed to the uncertain space junk external envelope break catching apparatus of shape |
-
2019
- 2019-07-08 CN CN201910612640.0A patent/CN110466809A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005238400A (en) * | 2004-02-27 | 2005-09-08 | Japan Servo Co Ltd | Gripping device |
| CN203593178U (en) * | 2013-11-20 | 2014-05-14 | 上海宇航系统工程研究所 | Crimping semi-rigid net claw capturing mechanism |
| CN203593177U (en) * | 2013-11-20 | 2014-05-14 | 上海宇航系统工程研究所 | Petal type capturing mechanism |
| US20170191605A1 (en) * | 2014-05-25 | 2017-07-06 | Satixfy Israel Ltd. | Integral Dual Gimbal Device |
| CN105460240A (en) * | 2015-11-30 | 2016-04-06 | 上海宇航系统工程研究所 | Small aircraft capturing connection and separation device |
| CN108382614A (en) * | 2018-02-05 | 2018-08-10 | 西北工业大学深圳研究院 | One kind being directed to the uncertain space junk external envelope break catching apparatus of shape |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112693595A (en) * | 2020-11-16 | 2021-04-23 | 上海航天控制技术研究所 | Space driving mechanism and driving system |
| CN113002806A (en) * | 2021-03-02 | 2021-06-22 | 南京航空航天大学 | Service satellite structure for space non-cooperative target in-orbit control |
| CN117002755A (en) * | 2023-08-03 | 2023-11-07 | 苏州三垣航天科技有限公司 | Space moving object capturing net claw mechanism and control method thereof |
| CN117002755B (en) * | 2023-08-03 | 2024-05-03 | 苏州三垣航天科技有限公司 | Space moving object capturing net claw mechanism and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110466809A (en) | For the repeatable capture mechanism of noncooperative target | |
| CN203593178U (en) | Crimping semi-rigid net claw capturing mechanism | |
| CN104590556B (en) | A kind of folding unmanned plane | |
| CN106628270B (en) | A kind of aircraft capture connection and separator | |
| CN106628275B (en) | Space based on double tethered satellites quickly rotates fragment racemization capturing system | |
| CN105035339B (en) | Zoom-type unmanned plane | |
| CN109353550B (en) | End effector for actively and flexibly capturing space debris | |
| CN203593177U (en) | Petal type capturing mechanism | |
| CN108382614B (en) | Outer envelope capturing device for space debris with uncertain appearance | |
| CN108528748A (en) | A kind of locking of unmanned aerial vehicle ejecting and relieving mechanism | |
| CN108750077A (en) | A kind of unmanned plane landing damping device | |
| CN108382612B (en) | Catching device for space rotation non-cooperative target | |
| CN205022853U (en) | Many rotors flight equipment | |
| CN205022866U (en) | Carry fixed landing gear's flight equipment | |
| CN107697320B (en) | Claw type aircraft connecting and separating device | |
| CN205022913U (en) | Carry image signal collection system's flight equipment | |
| CN112824848B (en) | Light ejection mechanism | |
| CN108190003A (en) | A kind of unmanned plane with buffer gear | |
| CN205256692U (en) | Unmanned aerial vehicle launching cradle locking device | |
| CN107031874B (en) | A kind of space non-cooperative target instantaneously triggered grabs adsorption device | |
| CN104214269A (en) | Deceleration component for reducing locking impact of unfolded hinge | |
| CN109510028A (en) | A kind of electric connector automatic separation system and method | |
| CN107284697A (en) | A kind of landing buffer mechanism approaching signal device | |
| CN210364385U (en) | Shock-absorbing structure and unmanned aerial vehicle | |
| CN114852342A (en) | Medical logistics RTK unmanned aerial vehicle integrating visual reference positioning function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191119 |