CN206766332U - One kind four rotor wing unmanned aerial vehicles of crawl - Google Patents
One kind four rotor wing unmanned aerial vehicles of crawl Download PDFInfo
- Publication number
- CN206766332U CN206766332U CN201720251640.9U CN201720251640U CN206766332U CN 206766332 U CN206766332 U CN 206766332U CN 201720251640 U CN201720251640 U CN 201720251640U CN 206766332 U CN206766332 U CN 206766332U
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- control claw
- plate
- pawl
- connection
- 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
- 210000000078 claw Anatomy 0.000 claims abstract description 72
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 11
- 229910052802 copper Inorganic materials 0.000 claims abstract description 11
- 239000010949 copper Substances 0.000 claims abstract description 11
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010079 rubber tapping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Landscapes
- Toys (AREA)
Abstract
A kind of four rotor wing unmanned aerial vehicles of crawl are the utility model is related to, belong to unmanned plane field.Mechanical arm of the present utility model includes the parts such as gripper, control claw opening and closing steering wheel, control claw rotate steering wheel；Fixed plate is connected at unmanned plane frame center by internal thread copper post, steering wheel is connected to below fixed plate by fixed board mount at bottom plate, steering wheel is connected by the U-shaped frame of two relative connections with ancon steering wheel at bottom plate, ancon steering wheel is connected by fixed board mount with plate type support, plate type support is connected by U-shaped frame with fine setting pawl direction steering wheel, fine setting pawl direction steering wheel is connected side by side by fixed board mount with control claw rotate steering wheel, control claw rotate steering wheel rotates steering wheel by control claw and is connected with gripper, and control claw opening and closing steering wheel is connected with gripper.The utility model has the local function of being unable to reach object transport to the mankind with unmanned plane, can effectively carry, place object, the assigned works such as rescue, carrying are engaged in instead of the mankind.
Description
Technical field
The present invention relates to one kind four rotor wing unmanned aerial vehicles of crawl, belong to unmanned plane field.
Background technology
In all kinds of production and living, or even in rescue operations, it is often necessary to which object is placed into what mankind itself was unable to reach
The place that height or the mankind can not reach, but rarely have a kind of device to can solve the problem that above mentioned problem in reality.
The content of the invention
The technical problems to be solved in the utility model is to provide a kind of four rotor wing unmanned aerial vehicles of crawl, for solving producing
Needed in life this local problem that object is placed into larger height or the mankind can not reach.
Technical solutions of the utility model are：One kind crawl is including unmanned plane body, mechanical arm, interior with four rotor wing unmanned aerial vehicles
Screw thread copper post 22, the unmanned plane body include propeller 17, motor 18, steering wheel support 19, unmanned plane skeleton 20, landing gear
21；The mechanical arm includes gripper 10, control claw opening and closing steering wheel 9, control claw rotate steering wheel 8, fine setting pawl direction steering wheel 7, elbow
Steering wheel 3, U-shaped frame 4, plate type support 6, fixed board mount 2, fixed plate 1, control claw rotation steering wheel 15 at portion's steering wheel 5, bottom plate；
Described steering wheel support 19 is connected with unmanned plane skeleton 20, and propeller 17 is connected by motor 18 and steering wheel support 19
Connect, landing gear 21 is connected to the lower end of unmanned plane skeleton 20, and fixed plate 1 is connected in unmanned plane skeleton 20 by internal thread copper post 22
At the heart, steering wheel 3 is connected to the lower section of fixed plate 1 by fixed board mount 2 at bottom plate, and steering wheel 3 passes through two relative connections at bottom plate
U-shaped frame 4 be connected with ancon steering wheel 5, ancon steering wheel 5 is connected by fixed board mount 2 with plate type support 6, and plate type support 6 passes through
U-shaped frame 4 is connected with fine setting pawl direction steering wheel 7, and fine setting pawl direction steering wheel 7 is by fixing board mount 2 and control claw rotate steering wheel 8 simultaneously
Row's connection, control claw rotate steering wheel 8 rotate steering wheel 15 by control claw and are connected with gripper 10, control claw opening and closing steering wheel 9 and machine
Machinery claw 10 connects.
Specifically, described gripper 10 includes active partial gear rotor plate 11, driven partial gear rotor plate
12nd, pawl point 14, pawl point track fix bar 13, pawl point track fixed plate 16；
Described control claw rotate steering wheel 8 rotates steering wheel 15 and the bending of the end of pawl point track fixed plate 16 by control claw
Place's connection, active partial gear rotor plate 11, driven partial gear rotor plate 12 are installed in pawl point track fixed plate 16
On, active partial gear rotor plate 11 is connected with the steering wheel of control claw opening and closing steering wheel 9, pawl point track fixed plate 16 below by
Internal thread copper post 22 is connected with control claw opening and closing steering wheel 9, and the steering wheel of control claw opening and closing steering wheel 9 is connected with control claw opening and closing steering wheel 9,
Active partial gear rotor plate 11 engages cooperation, the center section of pawl point 14 with driven partial gear rotor plate 12 by gear
It is connected by pawl point track fix bar 13 with pawl point track fixed plate 16, the end segment parts of pawl point 14 are turned by active partial gear
Dynamic plate 11 is connected with pawl point track fixed plate 16, forms linkage.
The course of work of the present utility model is：There is hole in fixed plate 1, it is solid by bolt and the unmanned plane skeleton 20 on top
It is fixed, while fixed with the fixation board mount 2 of bottom so that mechanical arm is connected with unmanned plane；
When unmanned plane works, motor 18 controls propeller 17 to rotate, and four propellers 17 cooperate, and realize unmanned plane
Skyborne motion；
When mechanical arm works, when mechanical arm works, steering wheel 3 and itself steering wheel common rotation at bottom plate so that U-shaped frame
4 rotate, the overall transfer of steering wheel 3 at bottom plate so as to driving mechanical arm remainder；Afterwards, ancon steering wheel 5 and its own steering wheel
Rotate, be passed to gripper 10, control claw opening and closing steering wheel 9, control claw rotate steering wheel 8, the entirety of fine setting pawl direction steering wheel 7 required
Position；Afterwards, its own steering wheel rotation of pawl direction steering wheel 7 is finely tuned, makes gripper 10, control claw rotate steering wheel 8, control claw opening and closing
Steering wheel 9 is overall to be passed to required position；Afterwards, control claw rotate steering wheel 8 and the control claw rotation steering wheel 15 of its own rotate, and make
The original place of gripper 10 turns to required position；Afterwards, control claw opening and closing steering wheel 9 and its own steering wheel rotate, and drive actively endless
All gear rotor plate 11 rotates clockwise；Due to the constraint of pawl point track fix bar 13, pawl point track fixed plate 16, pawl point 14
It can be driven along trapped orbit by active partial gear rotor plate 11 and rotated laterally；It is driven endless due to gear engagement
The opposite direction of all gear rotor plate 12 rotates, and similarly, pawl point 14 rotates laterally, so as to realize the opening of gripper 10, closure（Grab
Take object）When control claw opening and closing steering wheel 9 and its own steering wheel rotate counterclockwise.By said process, mechanical arm is realized close to simultaneously
Capture the action of object.
The beneficial effects of the utility model are：
1st, mechanical arm is increased on the basis of four traditional rotor wing unmanned aerial vehicles, it is possible to achieve the transhipment of object；
2nd, the utility model is applied to multi-environment carrying, pick-up operation, can reach height that the mankind can not touch,
Complex environment that side, the various mankind can not reach etc. carries out the action such as carrying, crawl of object.
3rd, mechanical arm has five control steering wheels, and the free degree is more, it is possible to achieve the crawl of various dimensions, can relatively accurately by
Grasping body puts specified location.
Brief description of the drawings
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is mechanical arm structural representation of the present utility model；
Fig. 3 is the structural representation of gripper of the present utility model；
Fig. 4 is steering wheel at the utility model bottom plate, ancon steering wheel, fine setting pawl direction steering wheel, control claw rotate steering wheel point
The structural representation not connected with fixed board mount；
Fig. 5 is the detailed schematic at the utility model pawl point；
Fig. 6 is elbow connection structure schematic diagram of the present utility model.
Each label in figure：1- fixed plates, 2- fix board mount, steering wheel at 3- bottom plates, the U-shaped framves of 4-, 5- ancon steering wheels, 6-
Plate type support, 7- fine setting pawls direction steering wheel, 8- control claw rotate steering wheels, 9- control claw opening and closing steering wheels, 10- grippers, 11- is actively
Partial gear rotor plate, the driven partial gear rotor plates of 12-, 13- pawl point track fix bars, 14- pawl points, 15- control claws
Rotate steering wheel, 16- pawl point track fixed plates, 17- propellers, 18- motors, 19- steering wheel supports, 20- unmanned plane skeletons, 21- drops
Fall frame, 22- internal thread copper posts, 23- self-tapping screws, 24- bolts.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the utility model is described in further detail.
Embodiment 1：As shown in figures 1 to 6, a kind of crawl four rotor wing unmanned aerial vehicles, including unmanned plane body, mechanical arm, interior spiral shell
Line copper post 22, the unmanned plane body include propeller 17, motor 18, steering wheel support 19, unmanned plane skeleton 20, landing gear 21；
The mechanical arm includes gripper 10, control claw opening and closing steering wheel 9, control claw rotate steering wheel 8, fine setting pawl direction steering wheel 7, ancon rudder
Steering wheel 3, U-shaped frame 4, plate type support 6, fixed board mount 2, fixed plate 1, control claw rotation steering wheel 15 at machine 5, bottom plate；
Described steering wheel support 19 is connected with unmanned plane skeleton 20, and propeller 17 is connected by motor 18 and steering wheel support 19
Connect, landing gear 21 is connected to the lower end of unmanned plane skeleton 20, and fixed plate 1 is connected in unmanned plane skeleton 20 by internal thread copper post 22
At the heart, steering wheel 3 is connected to the lower section of fixed plate 1 by fixed board mount 2 at bottom plate, and steering wheel 3 passes through two relative connections at bottom plate
U-shaped frame 4 be connected with ancon steering wheel 5, ancon steering wheel 5 is connected by fixed board mount 2 with plate type support 6, and plate type support 6 passes through
U-shaped frame 4 is connected with fine setting pawl direction steering wheel 7, and fine setting pawl direction steering wheel 7 is by fixing board mount 2 and control claw rotate steering wheel 8 simultaneously
Row's connection, control claw rotate steering wheel 8 rotate steering wheel 15 by control claw and are connected with gripper 10, control claw opening and closing steering wheel 9 and machine
Machinery claw 10 connects.
In the utility model, crawl can be respectively control claw opening and closing steering wheel with the power supply steering wheel outside four rotor wing unmanned aerial vehicles
9th, control claw rotate steering wheel 8, fine setting pawl direction steering wheel 7, ancon steering wheel 5, steering wheel 3 is powered at bottom plate, crawl with four rotors nobody
Single-chip microcomputer difference drive control pawl opening and closing steering wheel 9, control claw rotate steering wheel 8, fine setting pawl direction steering wheel 7, ancon rudder outside machine
Steering wheel 3 rotates at machine 5, bottom plate.Control claw opening and closing steering wheel 9, control claw rotate steering wheel 8, fine setting pawl direction steering wheel 7, ancon steering wheel
5th, steering wheel 3 carries the steering wheel of itself at bottom plate, and steering wheel-control claw of control claw rotate steering wheel 8 itself is only denoted in accompanying drawing
Steering wheel 15 is rotated, the steering wheel of itself band of other steering wheels does not indicate one by one.As shown in figure 4, in addition to control claw opening and closing steering wheel 9, its
He is connected steering wheel by self-tapping screw 23, bolt 24 with fixed board mount 2.
Further, as shown in Fig. 3,5, described gripper 10 include active partial gear rotor plate 11, it is driven not
Complete pinion rotation plate 12, pawl point 14, pawl point track fix bar 13, pawl point track fixed plate 16；
Described control claw rotate steering wheel 8 rotates steering wheel 15 and the bending of the end of pawl point track fixed plate 16 by control claw
Place's connection, active partial gear rotor plate 11, driven partial gear rotor plate 12 are installed in pawl point track fixed plate 16
On, active partial gear rotor plate 11 is connected with the steering wheel of control claw opening and closing steering wheel 9, pawl point track fixed plate 16 below by
Internal thread copper post 22 is connected with control claw opening and closing steering wheel 9, and the steering wheel of control claw opening and closing steering wheel 9 is connected with control claw opening and closing steering wheel 9,
Active partial gear rotor plate 11 engages cooperation, the center section of pawl point 14 with driven partial gear rotor plate 12 by gear
It is connected by pawl point track fix bar 13 with pawl point track fixed plate 16, the end segment parts of pawl point 14 are turned by active partial gear
Dynamic plate 11 is connected with pawl point track fixed plate 16, forms linkage.
The course of work of the present utility model is：Such as Fig. 1, there is hole in fixed plate 1, pass through bolt and the unmanned plane skeleton on top
20 fix, while are fixed with the fixation board mount 2 of bottom so that mechanical arm is connected with unmanned plane；
When unmanned plane works, motor 18 controls propeller 17 to rotate, and four propellers 17 cooperate, and realize unmanned plane
Skyborne motion；
Such as Fig. 2, when mechanical arm works, when mechanical arm works, steering wheel 3 and itself steering wheel common rotation, make at bottom plate
Obtain U-shaped frame 4 to rotate, the overall transfer of steering wheel 3 at bottom plate so as to driving mechanical arm remainder；Afterwards, ancon steering wheel 5 with its from
Body steering wheel rotates, and makes gripper 10, control claw opening and closing steering wheel 9, control claw rotate steering wheel 8, the 7 overall transfer of fine setting pawl direction steering wheel
To required position；Afterwards, its own steering wheel rotation of pawl direction steering wheel 7 is finely tuned, makes gripper 10, control claw rotate steering wheel 8, control
Pawl opening and closing steering wheel 9 is overall to be passed to required position；Afterwards, control claw rotate steering wheel 8 and the control claw rotation steering wheel 15 of its own
Rotate, the original place of gripper 10 is turned to required position；Afterwards, control claw opening and closing steering wheel 9 and its own steering wheel rotate, and drive
Active partial gear rotor plate 11 rotates clockwise；Due to the constraint of pawl point track fix bar 13, pawl point track fixed plate 16,
Pawl point 14 can only be driven along trapped orbit by active partial gear rotor plate 11 to be rotated laterally；Due to gear engagement,
The driven opposite direction of partial gear rotor plate 12 rotates, and similarly, pawl point 14 rotates laterally, so as to realize of gripper 10
Open, close（Capture object）When control claw opening and closing steering wheel 9 and its own steering wheel rotate counterclockwise.Pass through said process, mechanical arm
Realize action that is close and capturing object.
Specific embodiment of the utility model is explained in detail above in conjunction with accompanying drawing, but the utility model and unlimited
In above-described embodiment, in those of ordinary skill in the art's possessed knowledge, the utility model can also not departed from
Various changes can be made on the premise of objective, for example passes through the programming Control the utility model such as servos control plate, development board, expansion board
Various required movements.
Claims (2)
1. one kind four rotor wing unmanned aerial vehicles of crawl, it is characterised in that：Including unmanned plane body, mechanical arm, internal thread copper post（22）,
The unmanned plane body includes propeller（17）, motor（18）, steering wheel support（19）, unmanned plane skeleton（20）, landing gear（21）；
The mechanical arm includes gripper（10）, control claw opening and closing steering wheel（9）, control claw rotate steering wheel（8）, fine setting pawl direction steering wheel
（7）, ancon steering wheel（5）, steering wheel at bottom plate（3）, U-shaped frame（4）, plate type support（6）, fixed board mount（2）, fixed plate（1）, control
Pawl processed rotates steering wheel（15）；
Described steering wheel support（19）With unmanned plane skeleton（20）Connection, propeller（17）Pass through motor（18）With steering wheel support
（19）Connection, landing gear（21）It is connected to unmanned plane skeleton（20）Lower end, fixed plate（1）Pass through internal thread copper post（22）It is connected to
Unmanned plane skeleton（20）At center, steering wheel at bottom plate（3）Pass through fixed board mount（2）It is connected to fixed plate（1）Lower section, at bottom plate
Steering wheel（3）Pass through the U-shaped frame of two relative connections（4）With ancon steering wheel（5）Connection, ancon steering wheel（5）Pass through fixed board mount
（2）With plate type support（6）Connection, plate type support（6）Pass through U-shaped frame（4）With fine setting pawl direction steering wheel（7）Connection, finely tune pawl side
To steering wheel（7）Pass through fixed board mount（2）With control claw rotate steering wheel（8）Connect side by side, control claw rotate steering wheel（8）Pass through control
Pawl processed rotates steering wheel（15）With gripper（10）Connection, control claw opening and closing steering wheel（9）With gripper（10）Connection.
2. four rotor wing unmanned aerial vehicles of crawl according to claim 1, it is characterised in that：Described gripper（10）Including master
Dynamic partial gear rotor plate（11）, driven partial gear rotor plate（12）, pawl point（14）, pawl point track fix bar（13）、
Pawl point track fixed plate（16）；
Described control claw rotate steering wheel（8）Steering wheel is rotated by control claw（15）With pawl point track fixed plate（16）End it is curved
Connected at folding, active partial gear rotor plate（11）, driven partial gear rotor plate（12）Pawl point track is installed in consolidate
Fixed board（16）On, active partial gear rotor plate（11）With control claw opening and closing steering wheel（9）Steering wheel connection, pawl point track fixes
Plate（16）Below by internal thread copper post（22）With control claw opening and closing steering wheel（9）Connection, control claw opening and closing steering wheel（9）Steering wheel with
Control claw opening and closing steering wheel（9）Connection, active partial gear rotor plate（11）With driven partial gear rotor plate（12）Pass through
Gear engagement coordinates, pawl point（14）Center section passes through pawl point track fix bar（13）With pawl point track fixed plate（16）Connection,
Pawl point（14）End segment parts pass through active partial gear rotor plate（11）With pawl point track fixed plate（16）Connection, form connecting rod
Mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720251640.9U CN206766332U (en) | 2017-03-15 | 2017-03-15 | One kind four rotor wing unmanned aerial vehicles of crawl |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720251640.9U CN206766332U (en) | 2017-03-15 | 2017-03-15 | One kind four rotor wing unmanned aerial vehicles of crawl |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206766332U true CN206766332U (en) | 2017-12-19 |
Family
ID=60632108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720251640.9U Expired - Fee Related CN206766332U (en) | 2017-03-15 | 2017-03-15 | One kind four rotor wing unmanned aerial vehicles of crawl |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206766332U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248845A (en) * | 2018-01-31 | 2018-07-06 | 湖南大学 | A kind of rotor flying mechanical arm system and algorithm based on dynamic center of gravity compensation |
| CN108298084A (en) * | 2018-01-05 | 2018-07-20 | 桂林电子科技大学 | A kind of armed unmanned plane of autonomous crawl object |
| CN108482678A (en) * | 2018-04-07 | 2018-09-04 | 邢明的 | A kind of airflight crawl unmanned plane |
| CN109533304A (en) * | 2018-10-19 | 2019-03-29 | 上海交通大学 | Have both rotor, fixed-wing offline mode single machine rotor aircraft and mode switching method |
| CN110450943A (en) * | 2019-07-15 | 2019-11-15 | 北京交通大学 | A kind of mobile capture mechanism of UAV flight |
| CN112643707A (en) * | 2020-12-04 | 2021-04-13 | 广州大学 | Mechanical arm device |
| CN113858181A (en) * | 2021-11-19 | 2021-12-31 | 国家电网有限公司 | Power transmission line operation aerial robot based on human-computer interaction mixed reality |
-
2017
- 2017-03-15 CN CN201720251640.9U patent/CN206766332U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108298084A (en) * | 2018-01-05 | 2018-07-20 | 桂林电子科技大学 | A kind of armed unmanned plane of autonomous crawl object |
| CN108248845A (en) * | 2018-01-31 | 2018-07-06 | 湖南大学 | A kind of rotor flying mechanical arm system and algorithm based on dynamic center of gravity compensation |
| CN108482678A (en) * | 2018-04-07 | 2018-09-04 | 邢明的 | A kind of airflight crawl unmanned plane |
| CN109533304A (en) * | 2018-10-19 | 2019-03-29 | 上海交通大学 | Have both rotor, fixed-wing offline mode single machine rotor aircraft and mode switching method |
| CN109533304B (en) * | 2018-10-19 | 2021-09-17 | 上海交通大学 | Single-wing aircraft with rotor wing and fixed wing flight modes and mode switching method |
| CN110450943A (en) * | 2019-07-15 | 2019-11-15 | 北京交通大学 | A kind of mobile capture mechanism of UAV flight |
| CN110450943B (en) * | 2019-07-15 | 2021-07-27 | 北京交通大学 | Mechanism is caught in removal that unmanned aerial vehicle carried on |
| CN112643707A (en) * | 2020-12-04 | 2021-04-13 | 广州大学 | Mechanical arm device |
| CN113858181A (en) * | 2021-11-19 | 2021-12-31 | 国家电网有限公司 | Power transmission line operation aerial robot based on human-computer interaction mixed reality |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206766332U (en) | One kind four rotor wing unmanned aerial vehicles of crawl | |
| CN207389544U (en) | A kind of crawl quadrotor unmanned plane | |
| CN204640239U (en) | A kind of flexible adaptive manipulator | |
| CN206690084U (en) | A kind of multi-degree-of-freemechanical mechanical arm of double-manipulator | |
| CN106041995A (en) | Human-simulated mechanical hand | |
| CN105014687A (en) | Mechanical arm with multi-rotor-wing unmanned aerial vehicle | |
| CN105058421B (en) | Compact type mechanical arm joint module integrating two degrees of freedom | |
| CN206982727U (en) | A kind of wall-mounted five degree-of-freedom manipulator | |
| CN103612754A (en) | Bionic double-joint flapping wing air vehicle | |
| CN105014663A (en) | Base-loaded modular mechanical arm capable of realizing multi-directional connection | |
| CN106976074A (en) | A kind of multi-degree-of-freemechanical mechanical arm of double-manipulator | |
| CN108438186A (en) | A kind of multi joint motion mechanism of amphibious frog board robot | |
| CN207345970U (en) | A kind of bionical six sufficient tow-armed robot of multi-joint | |
| CN205415678U (en) | Bionical three indicate manipulator | |
| CN208963314U (en) | A kind of micro flapping wing air vehicle based on flexible hinge | |
| CN208325449U (en) | A kind of differential type leg structure for climbing robot | |
| CN207029282U (en) | Proportional remote control model miniature steering system | |
| CN106976493A (en) | A kind of sufficient tow-armed robot of multi-joint bionical six | |
| CN206690086U (en) | Simulation or teaching demonstration bionic mechanical arm | |
| CN206813303U (en) | A kind of unmanned plane foot stool | |
| CN109774811A (en) | A kind of small biped robot and its control method of brshless DC motor driving | |
| CN114104103A (en) | Vehicle steering mechanism and field operation vehicle | |
| CN208262877U (en) | A kind of assistant steering device on robot chassis | |
| CN209361857U (en) | A kind of bomb-release mechanism of aeromodelling airplane | |
| CN206040082U (en) | Rotatory inverted pendulum |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171219 Termination date: 20190315 |