CN103692443A - Visible remote blasting demolishing device based on quad rotor helicopter - Google Patents
Visible remote blasting demolishing device based on quad rotor helicopter Download PDFInfo
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Abstract
The invention discloses a visible remote blasting demolishing device based on a quad rotor helicopter. The visible remote blasting demolishing device comprises the quad rotor helicopter, a first posture regulation mechanism, a second posture regulation mechanism, a third posture regulation mechanism, a camera shooting mechanism, a blasting demolishing mechanism, support legs, a balance regulation mechanism and a remote controller. According to the visible remote blasting demolishing device disclosed by the invention, the real-time video monitoring of the blasting demolishing work or flight is realized by remotely controlling the camera shooting mechanism, left and right blasting demolishing hands of the blasting demolishing mechanism are visibly and remotely controlled by the remote controller to carry out dismantling, destroying or fixed-point throwing on a cable or a device of an explosion hazard device, and the balance of the blasting demolishing device in the working state is dynamically realized by remotely controlling the balance regulation mechanism, so that the whole stable flight and work are realized. The visible remote blasting demolishing device has the advantages of simple structure, stable performance, convenience in use and the like. With the adoption of the visible remote blasting demolishing device, the functions of remotely and visibly controlling the dismantling or the destroying of the explosion hazard device can be reliably realized.
Description
Technical field
The device that the present invention relates to remove or destroy blast and danger, is specifically related to a kind of visible remote control based on four-rotor helicopter and tears quick-fried device open.
Background technology
In recent years, attack of terrorism activity worldwide spreads, and has become the public hazards of human society.The people that various dangerous goods or destructor are had ulterior motives utilizes, and is used for reaching its harm society or other people object.Along with social development, because of the vindictive intentional injury criminal offence that social contradications are brought also more and more many.In addition, in commercial Application, the danger work that also has some manually cannot complete, need to replace people to go by means of various robots or device.
Current situation is, the dismounting of the article that Discard old bomb, dangerous combustible and explosive articles, terrified device and people are difficult to touch, crack, generally by specialty, tear quick-fried personnel or explosion-proof expert's examine on the spot open, then use manual demolition, or depend on walking robot, under manpower assisted control, under semi-automatic state, complete.If with manually completing, danger is very large, in the time of particularly in the face of some self-control destructors or unknown bomb, careless slightlyly just may cause casualties and property loss.For robot, the situation that exists robot also cannot normally walk or arrive in some situation, explosively tears quick-fried work open and brings difficulty timely.
Therefore, market can be crossed over or leap various obstacles, can show in real time dangerous scene again in the urgent need to a kind of, and can control under lower or commander the visual of explosion-proof expert, easy to use and the remote-controlled robot or the device that eliminate danger or disarm a bomb.
Summary of the invention
The technical problem to be solved in the present invention is: for the present situation of above-mentioned background technical description, overcome the deficiency of prior art, a kind of simple in structure, stable performance, easy to use is provided, can realizes reliably remote, visual, remote control and remove or destroy the visible remote control based on four-rotor helicopter of explosion danger device and tear quick-fried device open.
The technical solution adopted for the present invention to solve the technical problems is: a kind of visible remote control based on four-rotor helicopter is torn quick-fried device open, comprise four-rotor helicopter, the first attitude regulation mechanism, the second attitude regulation mechanism, San attitude regulation mechanism, image mechanism, Chai Bao mechanism, supporting leg, balance adjustment mechanism, remote controller, wherein, the first attitude steering wheel support of the first described attitude regulation mechanism is fixedly mounted on the belly center of four-rotor helicopter, and the first attitude steering wheel is arranged in the first attitude steering wheel support and can be relatively rotated by its output shaft rotation; The second described attitude steering wheel is fixedly mounted in the second attitude steering wheel support, and the output shaft of the second attitude steering wheel passes the second attitude steering wheel support and by ring flange, is fixedly mounted on the bottom of the first attitude steering wheel; The output shaft of the 3rd described attitude steering wheel is fixedly mounted in the second attitude steering wheel support by ring flange, and the housing of the 3rd attitude steering wheel is fixedly mounted on the upper end of large support; The output shaft of described image mechanism steering wheel is fixedly mounted on the outside of the second attitude steering wheel support and can be relatively rotated around its output shaft by ring flange, image mechanism support is fixedly mounted on the housing lower surface of image mechanism steering wheel, and video camera is fixedly mounted in image mechanism support; Described Chai Bao mechanism is fixedly mounted on the right end of large support; Described balance adjustment mechanism is arranged in the left side frame of large support; Described supporting leg is fixedly mounted on the middle lower surface of large support.
Described Chai Bao mechanism comprises Chai Bao mechanism rotation steering wheel, and the output shaft of Chai Bao mechanism rotation steering wheel is fixedly mounted on its right end face of large support by ring flange, and Chai Bao mechanism rotation steering wheel can be rotated around large support; L shaped one side of tearing quick-fried mechanism rack open is fixedly mounted on the housing end face of Chai Bao mechanism rotation steering wheel, the housing of another side lower surface fixed installation Chai Bao mechanism tongs steering wheel, the output shaft of Chai Bao mechanism tongs steering wheel is torn quick-fried hand open with the right side after quick-fried mechanism rack and is fixedly connected with through tearing open, a left side is torn quick-fried hand open and is rotationally connected with L shaped another side upper surface of tearing quick-fried mechanism rack open, and tears quick-fried hand open with the right side and be same level face and be arranged symmetrically with; A left side tear open quick-fried hand and the right side tear quick-fried hand open can transferring power by gear teeth meshing, by means of the rotation of Chai Bao mechanism tongs steering wheel output shaft, drive a left side to tear quick-fried hand and the right side open and tear quick-fried hand engagement open and rotate, open or closure is torn quick-fried hand open simultaneously.
A described left side is torn quick-fried hand and the right side open and is torn quick-fried hand open and all comprise clip, circular arc jaws, straight jaws, and clip, circular arc jaws, straight jaws be word order from left to right, and three relative designs of opening that quick-fried hand is torn quick-fried hand open with the right side are torn on a left side open.
Described video camera, when tearing quick-fried duty open, is torn quick-fried hand and the right side open and is torn quick-fried hand position open and make a video recording over against a left side; When four-rotor helicopter carries out state of flight, video camera is made a video recording over against direction of advance, to observe the environment that advances; Video camera also can be used for investigation and takes photo by plane.
Described balance adjustment mechanism comprises that housing is fixedly mounted on the balance adjustment steering wheel in the left side frame of large support, regulate one end of crank by lock-screw, to be fixed on the output shaft end of balance adjustment steering wheel, regulate the other end of crank and one end of regulating connecting rod hinged by bearing pin, the other end of regulating connecting rod and the bottom of balance weight are hinged, the middle part of balance weight is provided with an annular groove and embeds in the slideway of establishing in the left side frame of large support, lock-screw is screwed into the bottom end face of balance weight, limiting balance is heavy can only horizontally slip in slideway, the restriction other end of regulating connecting rod and the bottom of balance weight relatively rotate, output shaft by balance adjustment steering wheel drives adjusting crank to rotate, thereby by means of regulating connecting rod, balance weight is horizontally slipped in the slideway of large support, realize two ends, large support left and right weight balancing, guarantee the smooth flight of four-rotor helicopter.
Described four-rotor helicopter also comprise be located at its belly high-capacity lithium battery, be located at the platform top of four-rotor helicopter data/charging inlet, central control unit, be located at the antenna of the table top of four-rotor helicopter, data/charging inlet is standard Micro USB interface, central control unit comprises flight control module, video wireless transport module, tears quick-fried operational module, attitude adjusting module open, flight stable state adjusting module, and antenna is high sensitivity, elastic material antenna.
Described Chai Bao mechanism implements to cut off to the cable of explosion danger device with clip, by circular arc jaws, straight jaws, explosion danger device is implemented separation, captures, is thrown.
Described Chai Bao mechanism is replaceable is fire-fighting water spraying gun, fire extinguisher for putting out a fire.
Described remote controller adopts 2.4GHz or 5GHz wireless transport module, or adopts 3G or 4G mobile communication technology data transmission module; Described remote controller is provided with video monitoring screen, remote-control handle and button.
The invention has the beneficial effects as follows: it is wide that the described visible remote control based on four-rotor helicopter is torn the Chai Bao mechanism working range of quick-fried device open, operating attitude capable of dynamic remote control adjustment, tear quick-fried hand open reasonable in design, simple in structure, can realize cut, grab, roll over, the function such as throwing, image mechanism capable of dynamic remote control adjustment, tears the tracking of quick-fried hand real-time working position and the monitoring of flight environment of vehicle open to adapt to, and the real-time monitoring of balance adjustment mechanism is convenient to the smooth flight of four-rotor helicopter.In a word, that the present invention has is simple in structure, stable performance, the advantage such as easy to use, can realize reliably remote, visual, remote control and remove or destroy the function of explosion danger device, can be widely used in the fields such as the dismounting of explosion danger device or destruction, science are taken photo by plane, emergency management and rescue, military investigation.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, the present invention is further described.
Fig. 1 is structural representation front view of the present invention.
Fig. 2 is structural representation top view of the present invention.
Fig. 3 is structural representation side view of the present invention.
Fig. 4 is P-P generalized section of the present invention.
Fig. 5 is that Q under off working state of the present invention is to enlarged diagram.
Fig. 6 is that Q under duty of the present invention is to enlarged diagram.
Fig. 7 is that schematic diagram is put on a Chai Bao mechanism of the present invention left side.
Fig. 8 is that schematic diagram is put on the Chai Bao mechanism of the present invention right side.
Fig. 9 is the Chai Bao of the present invention mechanism schematic diagram that leans forward.
Figure 10 is image mechanism front-view schematic diagram under state of flight of the present invention.
Figure 11 is structural representation after the present invention's the second attitude regulation mechanism 90-degree rotation.
1-four-rotor helicopter in figure; 2-the first attitude regulation mechanism; 3-the second attitude regulation mechanism; 4-San attitude regulation mechanism; 5-image mechanism; 6-Chai Bao mechanism; 7-supporting leg; 8-balance adjustment mechanism; 9-cable; 10-explosion danger device; 11-high-capacity lithium battery; 12-data/charging inlet; 13-central control unit; 14-antenna; 21-the first attitude steering wheel support; 22-the first attitude steering wheel; 31-the second attitude steering wheel support; 32-the second attitude steering wheel; The large support of 41-; 42-the 3rd attitude steering wheel; 51-image mechanism steering wheel; 52-image mechanism support; 53-video camera; 61-Chai Bao mechanism tongs steering wheel; 62-tears on a left side quick-fried hand open; 63-tears on the right side quick-fried hand open; 64-tears quick-fried mechanism rack open; 65-Chai Bao mechanism rotation steering wheel; 66-clip; 67-circular arc jaws; The straight jaws of 68-; 81-balance adjustment steering wheel; 82-regulates crank; 83-regulating connecting rod; 84-balance weight; 85-lock-screw; 86-bearing pin; 87-slideway.
The specific embodiment
The present invention is further illustrated by reference to the accompanying drawings now.The schematic diagram that these accompanying drawings are simplification only illustrates basic structure of the present invention in a schematic way, so it only shows the formation relevant with the present invention.
As shown in Fig. 1-11, a kind of visible remote control based on four-rotor helicopter is torn quick-fried device open, comprise four-rotor helicopter 1, the first attitude regulation mechanism 2, the second attitude regulation mechanism 3, San attitude regulation mechanism 4, image mechanism 5, Chai Bao mechanism 6, supporting leg 7, balance adjustment mechanism 8, remote controller, it is characterized in that: the first attitude steering wheel support 21 of the first described attitude regulation mechanism 2 is fixedly mounted on the belly center of four-rotor helicopter 1, the first attitude steering wheel 22 is arranged in the first attitude steering wheel support 21 and can be relatively rotated by its output shaft rotation; The second described attitude steering wheel 32 is fixedly mounted in the second attitude steering wheel support 31, and the output shaft of the second attitude steering wheel 32 passes the second attitude steering wheel support 31 and by ring flange, is fixedly mounted on the bottom of the first attitude steering wheel 22; The output shaft of the 3rd described attitude steering wheel 42 is fixedly mounted in the second attitude steering wheel support 31 by ring flange, and the housing of the 3rd attitude steering wheel 42 is fixedly mounted on the upper end of large support 41; The output shaft of described image mechanism steering wheel 51 is fixedly mounted on the outside of the second attitude steering wheel support 31 and can be relatively rotated around its output shaft by ring flange, image mechanism support 52 is fixedly mounted on the housing lower surface of image mechanism steering wheel 51, and video camera 53 is fixedly mounted in image mechanism support 52; Described Chai Bao mechanism 6 is fixedly mounted on the right end of large support 41; Described balance adjustment mechanism 8 is arranged in the left side frame of large support 41; Described supporting leg 7 is fixedly mounted on the middle lower surface of large support 41.
As Figure 4-Figure 6, described Chai Bao mechanism 6 comprises Chai Bao mechanism rotation steering wheel 65, and the output shaft of Chai Bao mechanism rotation steering wheel 65 is fixedly mounted on its right end face of large support 41 by ring flange, and Chai Bao mechanism rotation steering wheel 65 can be rotated around large support 41; L shaped one side of tearing quick-fried mechanism rack 64 open is fixedly mounted on the housing end face of Chai Bao mechanism rotation steering wheel 65, the housing of another side lower surface fixed installation Chai Bao mechanism tongs steering wheel 61, the output shaft of Chai Bao mechanism tongs steering wheel 61 is torn quick-fried hand 63 open with the right side after quick-fried mechanism rack 64 and is fixedly connected with through tearing open, a left side is torn quick-fried hand 62 open and is rotationally connected with L shaped another side upper surface of tearing quick-fried mechanism rack 64 open, and tears quick-fried hand 63 open with the right side and be same level face and be arranged symmetrically with; A left side tear open quick-fried hand 62 and the right side tear quick-fried hand 63 open can transferring power by gear teeth meshing, by means of the rotation of Chai Bao mechanism tongs steering wheel 61 output shafts, drive a left side to tear quick-fried hand 62 open and tear quick-fried hand 63 engagement rotations open with the right side, open or closure is torn quick-fried hand open simultaneously.
As shown in Figure 5 or Figure 6, a described left side is torn quick-fried hand 62 open and is torn quick-fried hand 63 open with the right side and all comprise clip 66, circular arc jaws 67, straight jaws 68, clip 66, circular arc jaws 67, straight jaws 68 be word order from left to right, and a left side is torn quick-fried hand 62 and right three relative designs of opening of tearing quick-fried hand 63 open open.
As shown in Fig. 1, Fig. 3, Fig. 7-11, described video camera 53, when tearing quick-fried duty open, is torn quick-fried hand 62 open and is torn quick-fried hand 63 positions open with the right side and make a video recording over against a left side; When four-rotor helicopter 1 carries out state of flight, video camera 53 is made a video recording over against direction of advance, to observe the environment that advances; Video camera 53 also can be used for investigation and takes photo by plane.
As shown in Fig. 1 or Fig. 4, described balance adjustment mechanism 8 comprises that housing is fixedly mounted on the balance adjustment steering wheel 81 in the left side frame of large support 41, regulate one end of crank 82 by lock-screw 85, to be fixed on the output shaft end of balance adjustment steering wheel 81, regulate the other end of crank 82 and one end of regulating connecting rod 83 hinged by bearing pin 86, the bottom of the other end of regulating connecting rod 83 and balance weight 84 is hinged, the middle part of balance weight 84 is provided with an annular groove and embeds in the slideway 87 of establishing in the left side frame of large support 41, lock-screw 85 is screwed into the bottom end face of balance weight 84, limiting balance weighs 84 and can only in slideway 87, horizontally slip, the restriction other end of regulating connecting rod 83 and the bottom of balance weight 84 relatively rotate, output shaft by balance adjustment steering wheel 81 drives adjusting crank 82 to rotate, thereby by means of regulating connecting rod 83, balance weight 84 is horizontally slipped in the slideway 87 of large support 41, realize large support 41 two ends, left and right weight balancings, guarantee the smooth flight of four-rotor helicopter 1.
As shown in Figure 1, Figure 3, described four-rotor helicopter 1 also comprises the antenna 14 that is located at the high-capacity lithium battery 11 of its belly, the data/charging inlet 12 that is located at the platform top of four-rotor helicopter 1, central control unit 13, is located at the table top of four-rotor helicopter 1, data/charging inlet 12 is standard Micro USB interface, central control unit 13 comprises flight control module, video wireless transport module, tears quick-fried operational module, attitude adjusting module open, flight stable state adjusting module, and antenna 14 is high sensitivity, elastic material antenna.
As shown in Figure 6, the cable 9 of described 66 pairs of explosion danger devices of Chai Bao mechanism 6 use clips is implemented to cut off, and with circular arc jaws 67, straight 68 pairs of explosion danger devices of jaws 10, implements separation, captures, throws.
Described Chai Bao mechanism 6 is replaceable is fire-fighting water spraying gun, fire extinguisher for putting out a fire.
Described remote controller adopts 2.4GHz or 5GHz wireless transport module, or adopts 3G or 4G mobile communication technology data transmission module; Described remote controller is provided with video monitoring screen, remote-control handle and button.
The present invention is by the change of tearing quick-fried hand position open of remote controller remote control first, second, third attitude regulation winding machine Chai Bao mechanism, by remote control camera structure, realize the real-time video monitoring of tearing quick-fried work or flight open, by remote control Chai Bao mechanism left and right, tearing quick-fried hand open removes, destroys the cable of explosion danger device or device or fix a point and throw, by remote control balance adjustment mechanism, dynamically realize the balance of tearing quick-fried device under duty open, thereby realize whole stable state flight and work.That the present invention has is simple in structure, stable performance, the advantage such as easy to use, can realize reliably function remote, visual, that explosion danger device is removed or destroyed in remote control.
Above-mentioned embodiment is only explanation technical conceive of the present invention and feature; its object is to allow person skilled in the art can understand content of the present invention and be implemented; can not limit the scope of the invention with this; all equivalences that Spirit Essence is done according to the present invention change or modify, and all should be encompassed in protection scope of the present invention.
Claims (9)
1. the visible remote control based on four-rotor helicopter is torn quick-fried device open, comprise four-rotor helicopter (1), the first attitude regulation mechanism (2), the second attitude regulation mechanism (3), San attitude regulation mechanism (4), image mechanism (5), Chai Bao mechanism (6), supporting leg (7), balance adjustment mechanism (8), remote controller, it is characterized in that: the first attitude steering wheel support (21) of the first described attitude regulation mechanism (2) is fixedly mounted on the belly center of four-rotor helicopter (1), the first attitude steering wheel (22) is arranged in the first attitude steering wheel support (21) and can be relatively rotated by its output shaft rotation, the second described attitude steering wheel (32) is fixedly mounted in the second attitude steering wheel support (31), and the output shaft of the second attitude steering wheel (32) passes the second attitude steering wheel support (31) and by ring flange, is fixedly mounted on the bottom of the first attitude steering wheel (22), the output shaft of the 3rd described attitude steering wheel (42) is fixedly mounted in the second attitude steering wheel support (31) by ring flange, and the housing of the 3rd attitude steering wheel (42) is fixedly mounted on the upper end of large support (41), the output shaft of described image mechanism steering wheel (51) is fixedly mounted on the outside of the second attitude steering wheel support (31) and can be relatively rotated around its output shaft by ring flange, image mechanism support (52) is fixedly mounted on the housing lower surface of image mechanism steering wheel (51), and video camera (53) is fixedly mounted in image mechanism support (52), described Chai Bao mechanism (6) is fixedly mounted on the right end of large support (41), described balance adjustment mechanism (8) is arranged in the left side frame of large support (41), described supporting leg (7) is fixedly mounted on the middle lower surface of large support (41).
2. the visible remote control based on four-rotor helicopter according to claim 1 is torn quick-fried device open, it is characterized in that: described Chai Bao mechanism (6) comprises Chai Bao mechanism rotation steering wheel (65), the output shaft of Chai Bao mechanism rotation steering wheel (65) is fixedly mounted on its right end face of large support (41) by ring flange, Chai Bao mechanism rotation steering wheel (65) can be rotated around large support (41); L shaped one side of tearing quick-fried mechanism rack (64) open is fixedly mounted on the housing end face of Chai Bao mechanism rotation steering wheel (65), the housing of another side lower surface fixed installation Chai Bao mechanism tongs steering wheel (61), the output shaft of Chai Bao mechanism tongs steering wheel (61) is torn quick-fried hand (63) open with the right side after quick-fried mechanism rack (64) and is fixedly connected with through tearing open, a left side is torn quick-fried hand (62) open and is rotationally connected with L shaped another side upper surface of tearing quick-fried mechanism rack (64) open, and tears quick-fried hand (63) open with the right side and be same level face and be arranged symmetrically with; A left side tear open quick-fried hand (62) and the right side tear quick-fried hand (63) open can transferring power by gear teeth meshing, by means of the rotation of Chai Bao mechanism tongs steering wheel (61) output shaft, drive a left side to tear quick-fried hand (62) open and tear quick-fried hand (63) engagement open with the right side and rotate, open or closure is torn quick-fried hand open simultaneously.
3. the visible remote control based on four-rotor helicopter according to claim 2 is torn quick-fried device open, it is characterized in that: a described left side is torn quick-fried hand (62) and the right side open and torn quick-fried hand (63) open and all comprise clip (66), circular arc jaws (67), straight jaws (68), clip (66), circular arc jaws (67), straight jaws (68) be word order from left to right, and three relative designs of opening that quick-fried hand (62) is torn quick-fried hand (63) open with the right side are torn on a left side open.
4. the visible remote control based on four-rotor helicopter according to claim 1 is torn quick-fried device open, it is characterized in that: described video camera (53), when tearing quick-fried duty open, is torn quick-fried hand (62) and the right side open and torn quick-fried hand (63) position open and make a video recording over against a left side; When four-rotor helicopter (1) carries out state of flight, video camera (53) is made a video recording over against direction of advance, to observe the environment that advances; Video camera (53) also can be used for investigation and takes photo by plane.
5. the visible remote control based on four-rotor helicopter according to claim 1 is torn quick-fried device open, it is characterized in that: described balance adjustment mechanism (8) comprises that housing is fixedly mounted on the balance adjustment steering wheel (81) in the left side frame of large support (41), regulate one end of crank (82) by lock-screw (85), to be fixed on the output shaft end of balance adjustment steering wheel (81), regulate the other end of crank (82) and one end of regulating connecting rod (83) hinged by bearing pin (86), the bottom of the other end of regulating connecting rod (83) and balance weight (84) is hinged, the middle part of balance weight (84) is provided with an annular groove and embeds in the slideway (87) of establishing in the left side frame of large support (41), lock-screw (85) is screwed into the bottom end face of balance weight (84), limiting balance heavy (84) can only horizontally slip in slideway (87), the other end of restriction regulating connecting rod (83) and the bottom of balance weight (84) relatively rotate, output shaft by balance adjustment steering wheel (81) drives adjusting crank (82) to rotate, thereby by means of regulating connecting rod (83), balance weight (84) is horizontally slipped in the slideway (87) of large support (41), realize large support (41) two ends, left and right weight balancing, guarantee the smooth flight of four-rotor helicopter (1).
6. the visible remote control based on four-rotor helicopter according to claim 1 is torn quick-fried device open, it is characterized in that: described four-rotor helicopter (1) also comprises the high-capacity lithium battery (11) that is located at its belly, be located at the data/charging inlet (12) on the platform top of four-rotor helicopter (1), central control unit (13), be located at the antenna (14) of the table top of four-rotor helicopter (1), data/charging inlet (12) is standard Micro USB interface, central control unit (13) comprises flight control module, video wireless transport module, tear quick-fried operational module open, attitude adjusting module, flight stable state adjusting module, antenna (14) is high sensitivity, elastic material antenna.
7. the visible remote control based on four-rotor helicopter according to claim 1 is torn quick-fried device open, it is characterized in that: described Chai Bao mechanism (6) implements to cut off to the cable of explosion danger device (9) with clip (66), by circular arc jaws (67), straight jaws (68), explosion danger device (10) is implemented separation, captures, thrown.
8. the visible remote control based on four-rotor helicopter according to claim 1 is torn quick-fried device open, it is characterized in that: described Chai Bao mechanism (6) is replaceable is fire-fighting water spraying gun, fire extinguisher for putting out a fire.
9. the visible remote control based on four-rotor helicopter according to claim 1 is torn quick-fried device open, it is characterized in that: described remote controller adopts 2.4GHz or 5GHz wireless transport module, or adopts 3G or 4G mobile communication technology data transmission module; Described remote controller is provided with video monitoring screen, remote-control handle and button.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410002889.7A CN103692443B (en) | 2014-01-06 | 2014-01-06 | Visible remote control based on four-rotor helicopter tears quick-fried device open |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410002889.7A CN103692443B (en) | 2014-01-06 | 2014-01-06 | Visible remote control based on four-rotor helicopter tears quick-fried device open |
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| CN103692443A true CN103692443A (en) | 2014-04-02 |
| CN103692443B CN103692443B (en) | 2015-10-07 |
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| CN107053202A (en) * | 2017-04-17 | 2017-08-18 | 西安航空学院 | One kind is multi-functional to tear quick-fried manipulator open |
| CN108750113A (en) * | 2018-06-29 | 2018-11-06 | 西安航空学院 | A kind of annular wing unmanned vehicle |
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| CN103692443B (en) | 2015-10-07 |
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