CN101973401A - Modularized intelligent nacelle for throwing forest fire-extinguishing bomb - Google Patents
Modularized intelligent nacelle for throwing forest fire-extinguishing bomb Download PDFInfo
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- CN101973401A CN101973401A CN 201010514584 CN201010514584A CN101973401A CN 101973401 A CN101973401 A CN 101973401A CN 201010514584 CN201010514584 CN 201010514584 CN 201010514584 A CN201010514584 A CN 201010514584A CN 101973401 A CN101973401 A CN 101973401A
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Abstract
The invention provides a modularized intelligent nacelle for throwing a forest fire-extinguishing bomb, which is composed of four modules and a control cable, wherein, the four modules are connected through hanging plate hooks and hanging buckles and comprises a power cabin and hanging device module, a bomb loading module, a bomb fixture returning and bomb throwing device module and a double-sided cowling module. The modularized intelligent nacelle is mainly used for hanging, transporting and throwing the fire-extinguishing bomb above a fire scene when a helicopter puts out the fire in the forest. The modularized intelligent nacelle has the main characteristics of structural function modularization and control intellectualization, thus achieving better universality and convenient assembly and maintenance.
Description
Technical field
The present invention relates to a kind of fire plant.Specifically a kind of forest fire extinguishing bomb is used the device that helicopter is hung, transported and drops a bomb.
Background technology
Forest fire is a kind of serious worldwide disaster, caused immeasurable loss for human resource and environment, so forest extinguishing is the whole world mankind's a vital task.
Along with the progress of human science and technology, this advanced person of transport helicopter, have than the transportation means of large bearing capacity and just in the field of forest fire protection, fire extinguishing, bringing into play unique effect.At present, at home and abroad, the forest crown fire mainly carries fire extinguishing agent by transport helicopter or water sprays from the high-altitude for putting out.Because overhead strong up current in the scene of a fire and turbulent flow influence, fire extinguishing agent is dispersed by the strong high-temperature air-flow, fall on the tree crown fire extinguishing agent seldom, the fire extinguishing effect is also bad, and forest fire extinguishing bomb does not just have this shortcoming.Therefore, use forest fire extinguishing bomb to carry out forest extinguishing and have important application prospects.For reaching good fire extinguishing effect, the cargo-carring fire-fighting dose of forest fire extinguishing bomb is bigger, and the volume of corresponding fire extinguishing bomb is also relatively large, and the delivery cargo hold that this is unfavorable for bomb threading transport helicopter also is unfavorable for the input of bomb.Therefore, it is also just imperative to design a kind of input gondola of forest fire extinguishing bomb.
And the helicopter maximum that each national fire-fighting system is joined is hung weight very big difference.With regard to China, the helicopter that is used for fire-fighting just has several models, and the maximum of the helicopter of different model is hung weight and differed greatly.Throw in the universal performance of gondola for improving forest fire extinguishing bomb, structurally should have modular functionality, on control system, should have intelligentized function.To adapt to different type of machines to the requirement in bullet-loading capacity and the control.In this case, just must throw in gondola by a kind of modular intelligent forest fire extinguishing bomb of design.
Summary of the invention
The object of the present invention is to provide a kind of modularization intelligent forest fire extinguishing bomb input gondola that helicopter is hung, transports, dropped a bomb of being convenient to.
The object of the present invention is achieved like this:
Modularization intelligent forest fire extinguishing bomb of the present invention is thrown in gondola and is made up of four kinds of modules and control cable, rely between four kinds of modules to articulate plate hook and to articulate to link to connect, described four kinds of modules comprise that it is piggyback pod and erecting by overhang module, bomb loading module, bomb anchor clamps return and bomb delivery device module, double sided rectification cover module that bomb is thrown in four kinds of modules of gondola;
Piggyback pod and erecting by overhang module are to go up roof beam structure, two fixed rigid frames that form of lower beam frame, six roots of sensation crossbeam and four root posts by two, distribute on the last roof beam structure of piggyback pod and erecting by overhang module and the entablatrance suspension ring are installed, fixed promising each torque motor provides six landing slabs of erecting stage on the lower beam frame, the power of torque motor passes to worm screw through turbine, and then passes to the drive screw of bomb loading module;
The bomb loading module is that the two sectional type structure mainly is made up of transmitting device and anchor clamps, transmitting device is made up of drive screw, pilot bar and driving nut, anchor clamps mainly are made up of driving nut, dewclaw, lower claw, back-up block and knot, dewclaw is connected by bearing pin with lower claw, back-up block is connected by bearing pin with knot, and driving nut and knot are consolidated;
Stir rotating shaft, shaft bearing seat, stressed driving lever and driving lever in bomb anchor clamps return and the bomb delivery device module and form the bomb delivery device, hanging plate, torque motor and anchor clamps shift system are realized the displacement of anchor clamps and jointly along the function of the parallel return of thread rod, hatch door is opened transmission and is opened transmission secondary bar hinge, following and hatch door hinge with hatch door above the bar for three grades, and hatch door is opened transmission secondary bar and is connected with moving sets with hatch door unlatching transmission one-level bar;
Double sided rectification cover module bodies is to be formed by connecting by bearing pin by variable curvature top board and side panel.Variable curvature top board and side panel are modular, and its module has three kinds of different sizes, to be fit to the assembling of gondola modularization.
Bomb is thrown in carry, transportation and the sky, the scene of a fire to fire extinguishing bomb when the present invention is mainly used in the helicopter forest extinguishing.Principal feature is: structure function modularization, control intellectuality.Modular structure is convenient to reasonably be assembled into according to actual needs the gondola of any bullet-loading capacity, and the mode that articulates between the module is convenient to the assembling of module.According to the sensor that is distributed in intermodule, the action of dropping a bomb that control system can the accuracy control gondola.Modular and intellectuality makes gondola have more universal performance.The main hanging device that adopts of the design's intermodule assembling is connected with bearing pin, and its main purpose is assembling, easy to maintenance.Connection between main body module mainly relies on to articulate plate hook and articulate button and realizes.
Description of drawings
Fig. 1 is the front elevation that modularization intelligent forest fire extinguishing bomb that guar plate is housed is thrown in the single-row input unit of gondola;
Fig. 2 be remove the modularization intelligent forest fire extinguishing bomb that guar plate is housed throw in gondola single-row input unit face constructional drawing;
Fig. 3 a is that the modularization intelligent forest fire extinguishing bomb is thrown in the left TV structure figure that gondola is equipped with the single-row input unit of guar plate;
Fig. 3 b is that the modularization intelligent forest fire extinguishing bomb is thrown in the left TV structure figure that gondola removes the single-row input unit of guar plate;
Fig. 4 a is the front view of piggyback pod and erecting by overhang module;
Fig. 4 b is the birds-eye view of piggyback pod and erecting by overhang module;
Fig. 4 c is the left view of piggyback pod and erecting by overhang module;
Fig. 5 a is the front view of bomb loading module constructional drawing;
Fig. 5 b is the birds-eye view of bomb loading module constructional drawing;
Fig. 6 is bomb clamp structure figure;
Fig. 7 a is the front view of driving nut constructional drawing;
Fig. 7 b is the left view of driving nut constructional drawing;
Fig. 7 c is the birds-eye view of driving nut constructional drawing;
Fig. 8 a articulates plate hook and articulates the front view of detaining the assembly drawing that is interlocked;
Fig. 8 b articulates plate hook and articulates the left view of detaining the assembly drawing that is interlocked;
Fig. 9 a is the front view of bomb anchor clamps return and bomb delivery device modular construction figure;
Fig. 9 b is that the A-A of bomb anchor clamps return and bomb delivery device modular construction figure is to cutaway view;
Figure 10 is the driving lever constructional drawing;
Figure 11 is an anchor clamps return structure drawing of device;
Figure 12 is a driving nut pivot guide slot constructional drawing;
Figure 13 a is that the B-B of double sided rectification cover modular construction figure is to cutaway view;
Figure 13 b is the front view of double sided rectification cover modular construction figure;
Figure 14 a is the front view of back-up block;
Figure 14 b is the left view of back-up block;
Figure 14 c is the birds-eye view of back-up block;
Figure 14 d is that the C-C of back-up block is to view;
Figure 15 is open the cabin door and bomb droping gear constructional drawing.
The specific embodiment
For example the present invention is done more detailed description below in conjunction with accompanying drawing:
Modularization intelligent forest fire extinguishing bomb of the present invention is thrown in gondola, is made up of four kinds of modules and control cable III.Four kinds of modules that bomb is thrown in gondola are piggyback pod and erecting by overhang module I, bomb loading module II, bomb anchor clamps return and bomb delivery device module V, double sided rectification cover module I V.
Piggyback pod and erecting by overhang module I are to go up roof beam structure 3, two lower beam frames 9, six roots of sensation crossbeam 21 and four root posts, the 7 fixed rigid frames that form by two.Distribute on the last roof beam structure 3 of piggyback pod and erecting by overhang module I and the entablatrance 21 suspension ring 1 are installed.Fixed six landing slabs 8 that erecting stage is provided for torque motor 14,18,19,20,22,23,24,25,26,27 on the lower beam frame 9.The power of torque motor passes to worm screw 4 through turbine 12, and then passes to screw rod 29.
Bomb loading module II is the two sectional type structure.Mainly form by transmitting device and anchor clamps.Transmitting device is made up of drive screw 29, pilot bar 28 and driving nut 31.Anchor clamps mainly are made up of driving nut 32, dewclaw 33, lower claw 34, back-up block 36 and knot 37.Dewclaw 33 is connected by bearing pin 35 with lower claw 34, and back-up block 36 is connected by bearing pin 38 with knot 37, and driving nut 32 and knot 37 are consolidated.
Bomb anchor clamps return and bomb delivery device module V realize the input of bomb and the return of anchor clamps.Wherein stir rotating shaft 41, shaft bearing seat 42, stressed driving lever 40 and driving lever 43 and formed the bomb delivery device.Hanging plate 45, torque motor 46 and anchor clamps shift system 44 be common realizes the displacement of anchor clamps and along the function of the parallel return of thread rod.Hatch door is opened above three grades of bars of transmission 39 hinged, hinged with hatch door 47 below with hatch door unlatching transmission secondary bar 16.Rotate the switching that drivening rod is realized hatch door by torque motor.Hatch door is opened transmission secondary bar 16 and is connected with hatch door unlatching transmission one-level bar 15 usefulness moving sets, is convenient to adjust bar length to adapt to the modular requirement of gondola.
Double sided rectification cover module I V main body is to be formed by connecting by bearing pin 49 by variable curvature top board 51 and side panel 50.Variable curvature top board 51 and side panel 50 are modular, and its module has three kinds of different sizes, to be fit to the assembling of gondola modularization.
One, the connection of the connection of intermodule and gondola guar plate
The single-row input block construction that the modularization intelligent forest fire extinguishing bomb that guar plate is housed is thrown in gondola as shown in Figure 1, Fig. 2 be remove the modularization intelligent forest fire extinguishing bomb that guar plate is housed throw in gondola single-row input unit face constructional drawing.The connection of intermodule connects together through articulating simply and easily by articulating plate hook 6 and articulating button 2, is wooden unit VI between the module.The guar plate of gondola outermost module also is to be connected on the gondola by articulating plate hook 6 and articulating button 2.The guar plate top of piggyback pod and erecting by overhang module I is fixing by bolt 5, and the bottom is to articulate plate hook to fix.The guar plate top of bomb anchor clamps return and bomb delivery device module V is to connect by articulating to link, and the bottom is to be blocked by draw-in groove.
Be to connect between each plate of double sided rectification cover module I V, be connected on the gondola main body module by bearing pin again then by bearing pin.Can understand the structure of fairing plate by Figure 13 a and Figure 13 b.
Fig. 1, Fig. 2 are the constructionals drawing of single-row input block construction, and it can be assembled into the gondola of any bullet-loading capacity by hanging device in horizontal and vertical direction.
Two, the input of bomb
Figure 15 is the constructional drawing of the one-sided door that opens the cabin.Action before dropping a bomb is to open hatch door earlier, give an order torque motor 14 of control system rotates, driving hatch door unlatching transmission one-level bar 13 rotates, open transmission secondary bar 16 by hatch door and open three grades of bars 39 of transmission with hatch door, thereby make that opening three grades of bars of transmission, 39 pivotally attached Connection Blocks 48 with hatch door rotates, gondola hatch door one side is opened.The torque motor of opposite side is carried out identical therewith action simultaneously, and the hatch door opposite side is opened simultaneously, and hatch door is opened fully, and is ready for dropping a bomb.
After intelligence control system obtains the signal of the hatch door complete opening that sensor transmits, control system is sent instruction, torque motor 18 rotates, the transmission one-level of dropping a bomb bar 17 is followed electric machine main shaft and is rotated, the drive transmission secondary bar 10 that drops a bomb moves downward, and makes the transmission one-level cross bars 52 that drop a bomb be under pressure and move downward to the lower compression three grades of bars of transmission 11 that drop a bomb, and transmission secondary cross bar 53 diriven motions drop a bomb, move downward on the one hand, on the other hand to the transmission one-level cross bar 52 inner transverse motion of dropping a bomb.The transmission one-level of the dropping a bomb cross bar 52 and the transmission secondary cross bar 53 that drops a bomb drive stressed driving lever 40 respectively and rotate, thereby this rotates via stirring rotating shaft 41 and passes to driving lever 43 and make back-up block 36 break away from Support Positions, and bomb is because self gravitation is pushed lower claw 34 open falls towards target.
Three, the return process of the following shifting movement of bomb and anchor clamps
The folding process of bomb is as follows:
The back torque motor 19,20,26,27 that drops a bomb is received the instruction that control system is sent, torque motor starts, make driving nut 32 move down by 29 rotations of contiguous block 31 bonded assembly drive screies, the anchor clamps that drop a bomb have been finished simultaneously also just along with driving nut 32 moves down, finish the anchor clamps release the drive screw rod 29 that drops a bomb after moving a segment distance, be enclosed within on the displacement polished rod 4407.Top bomb has just rested on the position of the bomb of throwing in away, and this moment, intelligence control system received that the signal torque motor 19,20,26,27 that sensor 30 transmits stops operating.
The return process of anchor clamps is as follows:
As Figure 11 is anchor clamps return structure drawing of device, and fixed block 4401 is fixing with leading screw 4402 by plain bearing.After the anchor clamps of the bomb of having thrown in are enclosed within on the displacement polished rod 4407, intelligence control system is received the signal that sensor transmits, and system sends instruction, and torque motor 46 and torque motor 22～25 rotate, drive belt wheel 4404 by belt 4403 and rotate, rotate thereby drive leading screw 4402.Nut movable block 4410 moves right along leading screw, is being with furniture also to move right with the displacement polished rod 4407 that nut movable block 4410 is connected.Move right by screw rod 4408 bonded assembly nut sliders 4405 simultaneously, nut slider 4405 drives the wedge shape fast 4411 that is connected with it and moves right.A period of time back nut movable block 4410 breaks away from screw thread, but the pressure that is subjected to spring 4409 rotates at the low order end of screw thread, this moment, nut slider 4405 was subjected to the screw thread transmission to continue to move right, wedge 4411 also continues to move right, screw with the return drive screw thereby anchor clamps are risen, and then to make the anchor clamps return that makes progress.Return is to the desired location, and control system receives sensor signal, sends command torque motor 22～25 and stops operating.When wedge 4411 moved to the desired location, sensor sent signal and gives control system, control system controlling torque motor 46 backward rotation, and nut movable block 4410 and nut slider 4405 reset.Compression spring 4406 discharges the elastic potential energy that stores and makes the 4405 nut end places that can be returned to screw rod 4408 all the time when nut slider 4405 resets.
When nut movable block 4410 drive anchor clamps move right, also to realize the rotation of anchor clamps.This action is achieved in that nut movable block 4410 drives anchor clamps and moves right and move to the cylindrical projection (shown in Fig. 7 a～Fig. 7 c) on the driving nut 32 behind the certain distance and contact with driving nut guide groove (shown in Figure 12) on the fixed mount, nut movable block 4410 continues to move right, anchor clamps are subjected to torque and rotate 90 ° on polished rods 4407, realize the rotation of anchor clamps.
Four, driving lever 43 resets
The homing action of driving lever 43 begins after next bomb moves to placement position.After bomb is in place, control system is sent command torque motor 18 backward rotation, the transmission one-level of dropping a bomb bar 17 is followed electric machine main shaft and is rotated, drive transmission secondary bar 10 upward movements that drop a bomb, thereby be subjected to the pulling force upward movement to three grades of bars of toss bombing transmission, the 11 feasible transmission one-level cross bars 52 that drop a bomb, transmission secondary cross bar 53 diriven motions that drop a bomb, upward movement on the one hand is on the other hand to the transmission one-level cross bar 52 outside cross motions that drop a bomb.The transmission one-level of the dropping a bomb cross bar 52 and the transmission secondary cross bar 53 that drops a bomb drive stressed driving lever 40 respectively and rotate, and this rotation is passed to driving lever 43 via stirring rotating shaft 41, and driving lever 43 backward rotation are got back to the initial position that drops a bomb.
With reference to Figure 10, Figure 14 a～Figure 14 d.By on Figure 14 a～Figure 14 d as can be seen shift lever axis nut end cap 4301 compression spring 4303 and driving lever axle center 4304 are encapsulated in the driving lever axle sleeve 4302.Driving lever 43 backward rotation, when the driving lever axle center 4304 on the driving lever 43 contacted with the lozenges of back-up block 36, driving lever axle center 4304 was compressed power to driving lever axle sleeve 4302 internal motions and compression spring 4303.Compression spring 4303 ejects axle center 4304 after backward rotation turns over back-up block 36, so just is dropping a bomb and get ready next time.
Introduce the modularization intelligent forest fire extinguishing bomb above and thrown in the intermodule assembling of gondola and the action of dropping a bomb of unit gondola.Other launch processes of throwing in the unit are identical therewith, all are the repetitions of above-mentioned action.When bombs all in the unit all throw in finish after, control system controlling torque motor rotates shuts the hatch door of gondola, this action is the reverse process of door of opening the cabin.
Claims (9)
1. a modularization intelligent forest fire extinguishing bomb is thrown in gondola, it is characterized in that: form by four kinds of modules and control cable, rely between four kinds of modules to articulate plate hook and to articulate to link to connect, described four kinds of modules comprise that it is piggyback pod and erecting by overhang module, bomb loading module, bomb anchor clamps return and bomb delivery device module, double sided rectification cover module that bomb is thrown in four kinds of modules of gondola.
2. modularization intelligent forest fire extinguishing bomb according to claim 1 is thrown in gondola, it is characterized in that: described piggyback pod and erecting by overhang module are to go up roof beam structure, two fixed rigid frames that form of lower beam frame, six roots of sensation crossbeam and four root posts by two, distribute on the last roof beam structure of piggyback pod and erecting by overhang module and the entablatrance suspension ring are installed, fixed promising each torque motor provides six landing slabs of erecting stage on the lower beam frame, the power of torque motor passes to worm screw through turbine, and then passes to the drive screw of bomb loading module.
3. modularization intelligent forest fire extinguishing bomb according to claim 1 and 2 is thrown in gondola, it is characterized in that: the bomb loading module is that the two sectional type structure mainly is made up of transmitting device and anchor clamps, transmitting device is made up of drive screw, pilot bar and driving nut, anchor clamps mainly are made up of driving nut, dewclaw, lower claw, back-up block and knot, dewclaw is connected by bearing pin with lower claw, back-up block is connected by bearing pin with knot, and driving nut and knot are consolidated.
4. modularization intelligent forest fire extinguishing bomb according to claim 1 and 2 is thrown in gondola, it is characterized in that: stir rotating shaft, shaft bearing seat, stressed driving lever and driving lever in bomb anchor clamps return and the bomb delivery device module and form the bomb delivery device, hanging plate, torque motor and anchor clamps shift system are realized the displacement of anchor clamps and jointly along the function of the parallel return of thread rod, hatch door is opened transmission and is opened transmission secondary bar hinge, following and hatch door hinge with hatch door above the bar for three grades, and hatch door is opened transmission secondary bar and is connected with moving sets with hatch door unlatching transmission one-level bar.
5. modularization intelligent forest fire extinguishing bomb according to claim 3 is thrown in gondola, it is characterized in that: stir rotating shaft, shaft bearing seat, stressed driving lever and driving lever in bomb anchor clamps return and the bomb delivery device module and form the bomb delivery device, hanging plate, torque motor and anchor clamps shift system are realized the displacement of anchor clamps and jointly along the function of the parallel return of thread rod, hatch door is opened transmission and is opened transmission secondary bar hinge, following and hatch door hinge with hatch door above the bar for three grades, and hatch door is opened transmission secondary bar and is connected with moving sets with hatch door unlatching transmission one-level bar.
6. modularization intelligent forest fire extinguishing bomb according to claim 1 and 2 is thrown in gondola, and it is characterized in that: double sided rectification cover module bodies is to be formed by connecting by bearing pin by variable curvature top board and side panel.
7. modularization intelligent forest fire extinguishing bomb according to claim 3 is thrown in gondola, and it is characterized in that: double sided rectification cover module bodies is to be formed by connecting by bearing pin by variable curvature top board and side panel.
8. modularization intelligent forest fire extinguishing bomb according to claim 4 is thrown in gondola, and it is characterized in that: double sided rectification cover module bodies is to be formed by connecting by bearing pin by variable curvature top board and side panel.
9. modularization intelligent forest fire extinguishing bomb according to claim 5 is thrown in gondola, and it is characterized in that: double sided rectification cover module bodies is to be formed by connecting by bearing pin by variable curvature top board and side panel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010105145846A CN101973401B (en) | 2010-10-21 | 2010-10-21 | Modularized intelligent nacelle for throwing forest fire-extinguishing bomb |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010105145846A CN101973401B (en) | 2010-10-21 | 2010-10-21 | Modularized intelligent nacelle for throwing forest fire-extinguishing bomb |
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| CN101973401A true CN101973401A (en) | 2011-02-16 |
| CN101973401B CN101973401B (en) | 2012-06-06 |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103212171A (en) * | 2013-05-13 | 2013-07-24 | 哈尔滨工程大学 | Intelligent traction type throwing device of forest fire fighting bomb |
| CN103212170A (en) * | 2013-04-03 | 2013-07-24 | 哈尔滨工程大学 | Forest fire fighting bomb launching device |
| CN103213682A (en) * | 2013-04-03 | 2013-07-24 | 哈尔滨工程大学 | Intelligent device for transversely throwing forest fire extinguishing bomb of helicopter |
| CN104002973A (en) * | 2014-05-30 | 2014-08-27 | 北京理工大学 | Circular cross-section door opening design method of embedded compartment |
| CN104229140A (en) * | 2014-07-11 | 2014-12-24 | 中国人民解放军76321部队 | Lifting and air-dropping apparatus for helicopter |
| CN104587625A (en) * | 2015-01-21 | 2015-05-06 | 哈尔滨工程大学 | Bomb clamping device based on the principle of double-slider mechanism |
| CN105270629A (en) * | 2015-11-06 | 2016-01-27 | 中国航空工业经济技术研究院 | System of forest fire fighting unmanned aircraft system |
| CN106043698A (en) * | 2016-06-08 | 2016-10-26 | 青海山水生态科技有限公司 | Unmanned aerial vehicle hung type fire extinguishing bomb throwing bin and method |
| CN106178369A (en) * | 2016-06-28 | 2016-12-07 | 安徽扫宝智能科技有限公司 | A kind of multifunctional fire-fighting intelligence equipment multi-joint manipulator |
| CN106178326A (en) * | 2016-06-28 | 2016-12-07 | 安徽扫宝智能科技有限公司 | A kind of electric power transmission line fire-fighting unmanned plane |
| CN106178360A (en) * | 2016-06-28 | 2016-12-07 | 安徽扫宝智能科技有限公司 | A kind of power supply station fire operation specialized robot four-degree-of-freedom mechanical hand |
| CN107252531A (en) * | 2017-06-26 | 2017-10-17 | 深圳市雷凌广通技术研发有限公司 | A kind of unmanned plane for Fight Fire in Forest based on Internet of Things |
| CN107297040A (en) * | 2017-08-09 | 2017-10-27 | 江苏溧航航空科技有限公司 | The vertical delivery device of UAV system fire extinguisher bomb |
| CN109649657A (en) * | 2019-01-29 | 2019-04-19 | 华北电力大学（保定） | A kind of fixed point delivery device for launching small goods and materials with unmanned plane cooperation |
| CN110239718A (en) * | 2019-07-23 | 2019-09-17 | 安徽天路航空科技股份有限公司 | A kind of aircraft external hanging type article throwing device |
| CN110935117A (en) * | 2018-09-21 | 2020-03-31 | 北京理工伺服科技有限公司 | Quick fire extinguishing bomb distributor |
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| CN103212170A (en) * | 2013-04-03 | 2013-07-24 | 哈尔滨工程大学 | Forest fire fighting bomb launching device |
| CN103213682A (en) * | 2013-04-03 | 2013-07-24 | 哈尔滨工程大学 | Intelligent device for transversely throwing forest fire extinguishing bomb of helicopter |
| CN103213682B (en) * | 2013-04-03 | 2015-05-27 | 哈尔滨工程大学 | Intelligent device for transversely throwing forest fire extinguishing bomb of helicopter |
| CN103212171A (en) * | 2013-05-13 | 2013-07-24 | 哈尔滨工程大学 | Intelligent traction type throwing device of forest fire fighting bomb |
| CN104002973A (en) * | 2014-05-30 | 2014-08-27 | 北京理工大学 | Circular cross-section door opening design method of embedded compartment |
| CN104229140A (en) * | 2014-07-11 | 2014-12-24 | 中国人民解放军76321部队 | Lifting and air-dropping apparatus for helicopter |
| CN104229140B (en) * | 2014-07-11 | 2016-08-24 | 中国人民解放军76321部队 | Aircraft handling aerial delivery container |
| CN104587625A (en) * | 2015-01-21 | 2015-05-06 | 哈尔滨工程大学 | Bomb clamping device based on the principle of double-slider mechanism |
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