CN201816496U - Missile loading vehicle with omnibearing motion - Google Patents

Missile loading vehicle with omnibearing motion Download PDF

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Publication number
CN201816496U
CN201816496U CN2010205196769U CN201020519676U CN201816496U CN 201816496 U CN201816496 U CN 201816496U CN 2010205196769 U CN2010205196769 U CN 2010205196769U CN 201020519676 U CN201020519676 U CN 201020519676U CN 201816496 U CN201816496 U CN 201816496U
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CN
China
Prior art keywords
vehicle frame
wheel
electric pushrod
car
rotating disk
Prior art date
Application number
CN2010205196769U
Other languages
Chinese (zh)
Inventor
郑愈红
周中滔
邓敏
Original Assignee
成都立航科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 成都立航科技有限公司 filed Critical 成都立航科技有限公司
Priority to CN2010205196769U priority Critical patent/CN201816496U/en
Application granted granted Critical
Publication of CN201816496U publication Critical patent/CN201816496U/en

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Abstract

The utility model discloses a missile loading vehicle with omnibearing motion, which comprises a frame (1), a travelling device (2), a lighting and signal device (3), a disk type brake device (4), a lifting arm support device (7) and a control system (10), wherein the travelling device (2) comprises a driving wheel (8) and a driven wheel (9); the lifting arm support device (7) comprises a lifting arm (12) and an adjusting bracket (13) with multiple degrees of freedom; and the adjusting bracket (13) with the multiple degrees of freedom comprises a chassis (14), a rotating disk (15), front and rear movable plates (16), a telescopic bracket (17), front and rear electric push rods (18), left and right electric push rods (19) and a pitching regulating electric push rod (37). The missile loading vehicle with omnibearing motion has the benefits of being capable of realizing the omnibearing motion, being capable of placing missiles in various missile diameters and missile lengths, and having the characteristics of being high in fine adjustment precision, fast and high-efficient in missile loading process, low in working noise and vibration and the like.

Description

Omnibearing movable shoots car
Technical field
The utility model relates to a kind of car that shoots, and particularly relates to a kind of omnibearing movable and shoots car.
Background technology
The existing general common steering swivel system that adopts based on mechanical steering of car that shoots, the mechanical type deflector generally includes pinion and-rack, circulating ball type, the worm screw roller type, worm and peg etc., its weak point is that the turn inside diameter radius is bigger, the steering angle of vehicle is limited, be difficult to be applicable to the modern military place, particularly in some narrow spaces, such as loading and unloading guided missile under aircraft when just locating, need reversing back and forth to adjust, could arrive appointed positions, waste time and energy, simultaneously traditional fixed guided missile installation bracket that shoots the car employing, the guided missile kind of shipment is single, narrow application range, and the hydraulic efficiency pressure system that adopts, noise is bigger with vibration in the operation process, and work efficiency is lower.
The utility model content
The purpose of this utility model promptly is to overcome the shortcoming of prior art, provide a kind of omnibearing movable to shoot car, this shoots car can be implemented in omnibearing movable in the limited space, the multiple degree of freedom adjustment carriage that adopts simultaneously can be laid the guided missile of multiple caliber and bullet length and can accurately finely tune the guided missile of laying, adopt all-electric system simultaneously, reduce noise and vibration, increase work efficiency.
The purpose of this utility model is achieved through the following technical solutions: omnibearing movable shoots car, it comprises vehicle frame, be installed in the running gear of bottom of frame, the illumination on the vehicle frame and signalling apparatus, with running gear bonded assembly disc brake apparatus, lifting arm support device and control system, wherein:
Described running gear comprises drive wheel and the flower wheel that is installed in bottom of frame, drive wheel comprises the front driving wheel that is installed in the vehicle frame front end and is installed in the rear drive sprocket and the cooresponding power-driven system of vehicle frame rear end, power-driven system connection control system, flower wheel comprise the breast wheel that is installed in the vehicle frame middle part;
Described lifting arm support device comprises lift arm and the multiple degree of freedom adjustment carriage that is installed on the lift arm, described multiple degree of freedom is adjusted carriage and is comprised the chassis, rotating disk, move forward and backward plate, telescoping bracket, the front and back electric pushrod, left and right sides electric pushrod and pitch regulation electric pushrod, rotating disk is connected with the chassis by rotating shaft, rotating disk is provided with the sway slide rail, moving forward and backward plate is installed on the sway slide rail, telescoping bracket is installed in and moves forward and backward on the plate, the front and back electric pushrod is connected with telescoping bracket, left and right sides electric pushrod with move forward and backward plate and be connected, telescoping bracket is installed in and moves forward and backward on the plate, move forward and backward and also be provided with the jacking piece between plate and the rotating disk, the pitch regulation electric pushrod is connected with the jacking piece.
Described omnibearing movable shoots car and also is provided with the outward turning auxiliary support arm at the vehicle frame front end, bottom of frame is provided with parking device, below, vehicle frame middle part is provided with traction and lifting appliance, the operation storehouse on vehicle frame right side and the power storehouse in vehicle frame left side, is provided with the radar ranging point around vehicle frame.
Also be provided with spring vibration damper between described drive wheel and flower wheel and the vehicle frame, front driving wheel, rear drive sprocket and breast wheel all adopt the Mai Kanamu wheel, described power-driven system comprises servomotor, change-speed box and transmission shaft, change-speed box connects servomotor and transmission shaft, front driving wheel and rear drive sprocket are installed on the cooresponding transmission shaft, described drive wheel also is provided with bearing, correspondence position has supporting seat on the vehicle frame, bearing is being connected connecting rod with supporting seat, and front driving wheel and rear drive sprocket are installed between cooresponding transmission shaft and are provided with bearing.
Described rotating disk side is provided with the eccentric lock bearing up pulley, the chassis is provided with positive stop, front and back electric pushrod, left and right sides electric pushrod and pitch regulation electric pushrod also are provided with handwheel, telescoping bracket comprises movable carriage, canned paragraph and mobile terminal, the mobile terminal is provided with holder bullet wheel, the mobile terminal at two ends is mounted in the canned paragraph by activity, and canned paragraph is fixed on the movable carriage, and canned paragraph is provided with mounting hole.
Described illumination and signalling apparatus are included in two fixed type automotives lamp of car body front and back end, search lamp, portable lighting and steering indicating light, stoplight stop lamp, work attention gatter and the warning Warning light in the car.
Described control system comprises PLC controller, control panel, electric cabinet, read out instrument and power element, and described control panel, electric cabinet and read out instrument are connected with the PLC controller respectively, and power element is connected with electric cabinet.
Omnibearing movable described in the utility model shoots car and also comprises the remote operation box.
Described lift arm connects electric lift.
The beneficial effects of the utility model are: can be implemented in omnibearing movable in the limited space, guided missile, Applicable scope that the multiple degree of freedom adjustment carriage that adopts simultaneously can be laid multiple caliber and bullet length are wider, and can accurately finely tune the guided missile of laying, guaranteed convenient, fast, finish the butt joint of guided missile efficiently, adopt all-electric system and remote operating system simultaneously, noise and vibration are low during work.
Description of drawings
Fig. 1 is a structural representation of the present utility model
Fig. 2 is the structural representation of running gear of the present utility model
Fig. 3 is the structural representation of power-driven system of the present utility model
Fig. 4 is the structural representation of lifting arm support device of the present utility model
Fig. 5 is the lateral plan that multiple degree of freedom of the present utility model is adjusted carriage
Fig. 6 is the birds-eye view that multiple degree of freedom of the present utility model is adjusted carriage
Fig. 7 is an A-A cutaway view among this Fig. 6
Fig. 8 is a control system principal diagram intention of the present utility model
Among the figure, 1-vehicle frame, 2-running gear, 3-illumination and signalling apparatus, the 4-disc brake apparatus, 5-front driving wheel, 6-rear drive sprocket, 7-lifting arm support device, the 8-drive wheel, 9-flower wheel, 10-control system, 11-power-driven system, the 12-lift arm, the 13-multiple degree of freedom is adjusted carriage, 14-chassis, 15-rotating disk, 16-moves forward and backward plate, electric pushrod before and after the 17-telescoping bracket, 18-, 19-left and right sides electric pushrod, the 20-rotating shaft, 21-sway slide rail, 22-jacking piece, 23-spring vibration damper, the 24-breast wheel, 25-servomotor, 26-change-speed box, 27-transmission shaft, 28-eccentric lock bearing up pulley, 29-operates storehouse, 30-power storehouse, the 31-movable carriage, 32-canned paragraph, 33-mobile terminal, 34-holder bullet wheel, 35-positive stop, 36-handwheel, 37-pitch regulation electric pushrod, 38-bearing, 39-supporting seat, 40 connecting rods, 41-bearing, 42-mounting hole
The specific embodiment
Below in conjunction with accompanying drawing the utility model is further described, but protection domain is not limited thereto.
As Fig. 1, omnibearing movable shoots car, it comprises vehicle frame 1, is installed in the running gear 2 of vehicle frame 1 bottom, the illumination on the vehicle frame 1 and signalling apparatus 3, with running gear 2 bonded assembly disc brake apparatus 4, lifting arm support device 7 and control system 10, wherein:
As Fig. 2, Fig. 3, described running gear 2 comprises drive wheel 8 and the flower wheel 9 that is installed in vehicle frame 1 bottom, drive wheel 8 comprises front driving wheel 5 that is installed in vehicle frame 1 front end and rear drive sprocket 6 and the cooresponding power-driven system 11 that is installed in vehicle frame 1 rear end, power-driven system 11 connection control system 10, flower wheel 9 comprises the breast wheel 24 that is installed in vehicle frame 1 middle part, also be provided with spring vibration damper 23 between drive wheel 8 and flower wheel 9 and the vehicle frame 1, both can reduce shock transfer, can fully keep wheel to contact again with ground-surface, front driving wheel 5, rear drive sprocket 6 and breast wheel 24 all adopt the Mai Kanamu wheel, described power-driven system 11 comprises servomotor 25, change-speed box 26 and transmission shaft 27, change-speed box 26 connects servomotor 25 and transmission shaft 27, front driving wheel 8 and rear drive sprocket 9 are installed on the cooresponding transmission shaft 27, described control system 10 can be controlled four power-driven systems 11 and control respectively and realized the rotating speed of each wheel since cooresponding front driving wheel 5 and the rear drive sprocket 6 and turn to, and front driving wheel 5 and rear drive sprocket 6 are installed on the cooresponding transmission shaft 27, can realize that car load advances, retreat, transverse translation, around front-wheel, car load center or trailing wheel rotation, and there is not the restriction of turn radius, disc brake apparatus 4 is connected with breast wheel 24, be used for hand brake, described drive wheel 8 also is provided with bearing 38, correspondence position has supporting seat 39 on the vehicle frame 1, bearing 38 is being connected connecting rod 40 with supporting seat 39, front driving wheel 5 and rear drive sprocket 6 are installed in 27 of cooresponding transmission shafts and are provided with bearing 41, reduced the friction of front driving wheel 5 and rear drive sprocket 6 and transmission shaft 27, play the unloading effect, improved the service life of wheel.
As Fig. 4, Fig. 5, Fig. 6, Fig. 7, described lifting arm support device 7 comprises lift arm 12 and the multiple degree of freedom adjustment carriage 13 that is installed on the lift arm 12, described multiple degree of freedom is adjusted carriage 13, it comprises chassis 14, rotating disk 15, move forward and backward plate 16, telescoping bracket 17, front and back electric pushrod 18 and left and right sides electric pushrod 19, rotating disk 15 is connected with chassis 14 by rotating shaft 20, rotating disk 15 is provided with sway slide rail 21, moving forward and backward plate 16 is installed on the sway slide rail 21, telescoping bracket 17 is installed in and moves forward and backward on the plate 16, chassis 14 is used for fixing and supporting wheel 15, chassis 14 is installed on the lift arm 12 simultaneously, described lift arm 12 connects electric lift 37, electric lift 37 adopts the turbine and worm transmission, and energy self-locking, manually input of electric lift 37 simultaneously, manually input shaft extends to outside the car, under no electricity or emergency condition, can open the side door of electric cabinet can manually import, electric lift 37 promotes lift arm 12 lifting processes can realize moving up and down of chassis 14, move forward and backward between plate 16 and the rotating disk 15 and also be provided with jacking piece 22, jacking piece 22 is wedge shapes, rotating disk 15 can revolve three-sixth turn, chassis 14 is provided with positive stop 35, positive stop 35 can make rotating disk 15 rotations be no more than 360 degree, thereby avoid the cable on the rotating disk 15 not to be wound, described rotating disk 15 sides are provided with eccentric lock bearing up pulley 28, and rotating eccentric lock bearing up pulley 28 when rotating disk 15 rotates to assigned address can be locked with rotating disk.
Described front and back electric pushrod 18 is connected with telescoping bracket 17, left and right sides electric pushrod 19 with move forward and backward plate 16 and be connected, telescoping bracket 17 is installed in and moves forward and backward on the plate 16, move forward and backward between plate 16 and the rotating disk 15 and also be provided with jacking piece 22, pitch regulation electric pushrod 37 is connected with jacking piece 22, front and back electric pushrod 18, left and right sides electric pushrod 19 and pitch regulation electric pushrod 37 also are provided with handwheel 36, left and right sides electric pushrod 19 promotes to move forward and backward plate 16 and horizontally slips on sway slide rail 21, amount of movement is ± 60mm, before and after electric pushrod 18 promote telescoping brackets 17 and realize on the plate 16 moving forward and backward moving forward and backward, stroke ± 60mm, pitch regulation electric pushrod 37 promotes jacking piece 22 and moves forward and backward, the lozenges of the piece of jacking simultaneously 22 promotes to move forward and backward plate 16 and realizes facing upward the swing of bowing, the angle that swing is adjusted is ± 3 °, by rotation hand wheel 26, can realize the manual regulation function.
Described telescoping bracket 17 comprises movable carriage 31, canned paragraph 32 and mobile terminal 33, mobile terminal 33 is provided with holder bullet wheel 34, holder bullet wheel 34 cooperates belt tensioner that guided missile is fixed, adopt flexible design, self adaptation in the caliber scope, for different caliber scopes, only need do simple adjustment, just can place, the mobile terminal 33 at two ends is mounted in the canned paragraph 32 by activity, can stretch in canned paragraph 32 in mobile terminal 33, the goods that can adapt to different size, place requirement from the elasticity of 80mm~7000mm, canned paragraph 32 is fixed on the movable carriage 31, canned paragraph 32 is provided with some mounting holes 42, some mounting holes 42 are arranged on the telescoping bracket 17, left-right symmetric distributes, the pitch of each mounting hole 42 is 50mm, the holder bullet wheel 34 of the right and left is respectively by mounting hole 42 location, be fixed on two mounting holes 42, the location to the different size object is realized in the installation site of the holder bullet wheel 34 by regulating the right and left, can realize that holder bullet wheel 34 holders of regulating the right and left play angles on fixing and the mounting hole 42.
It also is provided with outward turning auxiliary support arm 28 at vehicle frame 1 front end, outward turning auxiliary support arm 28 can outwards be opened and regain simultaneously, also can independently open one of them, the distance range of opening is 1400mm~2400mm, adopt electric pushrod to drive simultaneously, the self-locking that outward turning auxiliary support arm 28 is also passed through the turbine and worm speed reduction gearing of dependence electric pushrod realizes locking function, vehicle frame 1 bottom is provided with parking device, below, vehicle frame 1 middle part is provided with traction and lifting appliance, the power storehouse 30 in the operation storehouse 29 on vehicle frame 1 right side and vehicle frame 1 left side, around vehicle frame 1, be provided with the radar ranging point, vehicle frame 1 adopts high-quality glass-felt plastic and sheet metal component to combine, the parking device of vehicle frame 1 bottom adopts electric lifting mechanism, synchronization lifting, in the lifting process, can play the effect of stablizing car body, the traction and the lifting appliance of below, vehicle frame 1 middle part are used in particular cases dragging, use when shooting car, can finish in the operation storehouse 29 on vehicle frame 1 right side the guided missile truck all functions are operated, the power storehouse 30 in vehicle frame 1 left side is used to place the storage battery that drives electric pushrod, charger, direct-flow inverters etc. are provided with around vehicle frame 1 and send cue when the radar ranging point is used near obstacle.
Described illumination and signalling apparatus 3 are included in two fixed type automotives lamp of car body front and back end, search lamp, portable lighting and steering indicating light, stoplight stop lamp, work attention gatter and the warning Warning light in the car.
Comprise the remote operation box in the described operation storehouse 29, can realize shooting the remote operation of car.
As Fig. 8, described control system 10 comprises PLC controller, control panel, electric cabinet, read out instrument and power element, described control panel, electric cabinet and read out instrument are connected with the PLC controller respectively, power element is connected with electric cabinet, carry out unit and comprised each electric pushrod and servomotor, control system 10 can realize following function by the control to each power element:
1. car body controllable function, operation by control panel, processing through the PLC controller, the servomotor 25 of control power-driven system 11, realize car load around the near front wheel turn left, car load advances, car load around off front wheel turn right, car load moves to left, car load rotate around the center, car load moves to right, car load around left rear wheel turn right, car load retreats, car load is around the function of off hind wheel left-hand rotation.
2. missile attitude fine adjustment function, by the operation of control panel, through the processing of PLC controller, the electric pushrod on the control lifting arm support device 7 is realized main lifting, is moved forward and backward, pitch regulation and by the single-point/continuous working function of switch control.
3. other functions, operation by control panel, processing through the PLC controller, lift arm electric pushrod, outward turning auxiliary support arm electric pushrod and the servomotor etc. that are provided with on the control vehicle frame can be realized system's sudden-stop function, warning function, this locality/long-range switching, Parking, the folding and unfolding of outward turning auxiliary support arm, lighting switch and distance measurement function switch etc.

Claims (8)

1. omnibearing movable shoots car, it is characterized in that: it comprises vehicle frame (1), be installed in vehicle frame (1) bottom running gear (2), the illumination on the vehicle frame (1) and signalling apparatus (3), with running gear (2) bonded assembly disc brake apparatus (4), lifting arm support device (7) and control system (10), wherein:
Described running gear (2) comprises drive wheel (8) and the flower wheel (9) that is installed in vehicle frame (1) bottom, drive wheel (8) comprises the front driving wheel (5) that is installed in vehicle frame (1) front end and is installed in the rear drive sprocket (6) and the cooresponding power-driven system (11) of vehicle frame (1) rear end, power-driven system (11) connection control system (10), flower wheel (9) comprise the breast wheel (24) that is installed in vehicle frame (1) middle part;
Described lifting arm support device (7) comprises lift arm (12) and the multiple degree of freedom that is installed on the lift arm (12) is adjusted carriage (13), described multiple degree of freedom is adjusted carriage (13) and is comprised chassis (14), rotating disk (15), move forward and backward plate (16), telescoping bracket (17), front and back electric pushrod (18), left and right sides electric pushrod (19) and pitch regulation electric pushrod (37), rotating disk (15) is connected with chassis (14) by rotating shaft (20), rotating disk (15) is provided with sway slide rail (21), moving forward and backward plate (16) is installed on the sway slide rail (21), front and back electric pushrods (18) are connected with telescoping bracket (17), left and right sides electric pushrod (19) with move forward and backward plate (16) and be connected, telescoping bracket (17) is installed in and moves forward and backward on the plate (16), move forward and backward between plate (16) and the rotating disk (15) and also be provided with jacking piece (22), pitch regulation electric pushrod (37) is connected with jacking piece (22).
2. omnibearing movable according to claim 1 shoots car, it is characterized in that: it also is provided with outward turning auxiliary support arm (28) at vehicle frame (1) front end, and vehicle frame (1) bottom is provided with operation storehouse (29) and the power storehouse (30) on the left of the vehicle frame (1) that parking device, below, vehicle frame (1) middle part be provided with traction and lifting appliance, vehicle frame (1) right side, is provided with the radar ranging point on every side at vehicle frame (1).
3. omnibearing movable according to claim 1 shoots car, it is characterized in that: also be provided with spring vibration damper (23) between described drive wheel (8) and flower wheel (9) and the vehicle frame (1), front driving wheel (5), rear drive sprocket (6) and breast wheel (24) all adopt the Mai Kanamu wheel, described power-driven system (11) comprises servomotor (25), change-speed box (26) and transmission shaft (27), change-speed box (26) connects servomotor (25) and transmission shaft (27), front driving wheel (8) and rear drive sprocket (9) are installed on the cooresponding transmission shaft (27), described drive wheel (8) also is provided with bearing (38), vehicle frame (1) is gone up correspondence position supporting seat (39), bearing (38) is being connected connecting rod (40) with supporting seat (39), and front driving wheel (5) and rear drive sprocket (6) are installed in and are provided with bearing (41) between cooresponding transmission shaft (27).
4. omnibearing movable according to claim 1 shoots car, it is characterized in that: described rotating disk (15) side is provided with eccentric lock bearing up pulley (28), chassis (14) is provided with positive stop (35), front and back electric pushrod (18), left and right sides electric pushrod (19) and pitch regulation electric pushrod (37) also are provided with handwheel (36), telescoping bracket (17) comprises movable carriage (31), canned paragraph (32) and mobile terminal (33), mobile terminal (33) is provided with holder bullet wheel (34), the mobile terminal at two ends (33) is mounted in the canned paragraph (32) by activity, canned paragraph (32) is fixed on the movable carriage (31), and canned paragraph (32) is provided with mounting hole (42).
5. omnibearing movable according to claim 1 shoots car, it is characterized in that: described illumination and signalling apparatus (3) are included in two fixed type automotives lamp of car body front and back end, search lamp, portable lighting and steering indicating light, stoplight stop lamp, work attention gatter and the warning Warning light in the car.
6. omnibearing movable according to claim 1 shoots car, it is characterized in that: described control system (10) comprises PLC controller, control panel, electric cabinet, read out instrument and power element, described control panel, electric cabinet and read out instrument are connected with the PLC controller respectively, and power element is connected with electric cabinet.
7. omnibearing movable according to claim 1 shoots car, it is characterized in that: described lift arm (12) connects electric lift (37).
8. omnibearing movable according to claim 1 shoots car, it is characterized in that: it also comprises a remote operation box.
CN2010205196769U 2010-09-07 2010-09-07 Missile loading vehicle with omnibearing motion CN201816496U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2010205196769U CN201816496U (en) 2010-09-07 2010-09-07 Missile loading vehicle with omnibearing motion

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2010205196769U CN201816496U (en) 2010-09-07 2010-09-07 Missile loading vehicle with omnibearing motion

Publications (1)

Publication Number Publication Date
CN201816496U true CN201816496U (en) 2011-05-04

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Application Number Title Priority Date Filing Date
CN2010205196769U CN201816496U (en) 2010-09-07 2010-09-07 Missile loading vehicle with omnibearing motion

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102837306A (en) * 2011-10-12 2012-12-26 广西大学 Electric push rod manipulator
CN104192320A (en) * 2014-09-19 2014-12-10 扬州万方电子技术有限责任公司 Novel ammunition suspending vehicle
CN104613352A (en) * 2015-02-25 2015-05-13 佛山市三水区希望火炬教育科技有限公司 Missile-shaped lamp with vehicle-mounted progressive flashing signal missile simulating missile firing
CN107458621A (en) * 2017-06-29 2017-12-12 成都立航科技有限公司 A kind of extension bullet system of guided missile
CN110076809A (en) * 2019-04-26 2019-08-02 杭州联荣电子科技有限公司 Puma manipulator and multifunction missile bomb truck

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102837306A (en) * 2011-10-12 2012-12-26 广西大学 Electric push rod manipulator
CN104192320A (en) * 2014-09-19 2014-12-10 扬州万方电子技术有限责任公司 Novel ammunition suspending vehicle
CN104192320B (en) * 2014-09-19 2016-06-01 扬州万方电子技术有限责任公司 A kind of novel extension bullet car
CN104613352A (en) * 2015-02-25 2015-05-13 佛山市三水区希望火炬教育科技有限公司 Missile-shaped lamp with vehicle-mounted progressive flashing signal missile simulating missile firing
CN107458621A (en) * 2017-06-29 2017-12-12 成都立航科技有限公司 A kind of extension bullet system of guided missile
CN110076809A (en) * 2019-04-26 2019-08-02 杭州联荣电子科技有限公司 Puma manipulator and multifunction missile bomb truck
CN110076809B (en) * 2019-04-26 2021-03-30 杭州联荣电子科技有限公司 Intelligent manipulator and multifunctional missile loading vehicle

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GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110504

Termination date: 20130907