CN101788251A - Non-contact explosive removing system based on energy-gathering jetting - Google Patents
Non-contact explosive removing system based on energy-gathering jetting Download PDFInfo
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- CN101788251A CN101788251A CN200910244595A CN200910244595A CN101788251A CN 101788251 A CN101788251 A CN 101788251A CN 200910244595 A CN200910244595 A CN 200910244595A CN 200910244595 A CN200910244595 A CN 200910244595A CN 101788251 A CN101788251 A CN 101788251A
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- gathering jetting
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B33/00—Manufacture of ammunition; Dismantling of ammunition; Apparatus therefor
- F42B33/06—Dismantling fuzes, cartridges, projectiles, missiles, rockets or bombs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B12/00—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material
- F42B12/02—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect
- F42B12/04—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect of armour-piercing type
- F42B12/10—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect of armour-piercing type with shaped or hollow charge
- F42B12/105—Protruding target distance or stand-off members therefor, e.g. slidably mounted
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B12/00—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material
- F42B12/02—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect
- F42B12/04—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect of armour-piercing type
- F42B12/10—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect of armour-piercing type with shaped or hollow charge
- F42B12/12—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect of armour-piercing type with shaped or hollow charge rotatably mounted with respect to missile housing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manufacturing & Machinery (AREA)
- Portable Nailing Machines And Staplers (AREA)
- Toys (AREA)
Abstract
The invention discloses a non-contact explosive removing system based on energy-gathering jetting, comprising an upper U-shaped frame provided with an energy-gathering jetting bullet clamp and a sighting device, a lower cover, a lower tank body provided with a switch, and a support legs and an antenna which are both installed on the lower tank body, wherein the upper U-shaped frame is arranged on the lower tank body, and the lower cover is arranged between the U-shaped frame and the lower tank body. Due to the adoption of an energy-gathering jetting bullet, the non-contact explosive removing system can effectively remove large-equivalent weight explosives with thick metal protectively layers. Moreover, because a control chip detonates the energy-gathering jetting bullet through triggering a protection circuit and an electric detonator, the control reliability is improved. The real-time performance, the communication reliability and the executing efficiency of the system are improved through adopting a fixed protocol format and combining a limited state machine and an overtime mechanism.
Description
Technical field
The present invention relates to a kind of duds explosive removing system, relate in particular to a kind of use energy-gathering jetting bullet and ignite duds, can realize the non-contact explosive removing system of Remote operation, belong to explosive technical field.
Background technology
Change along with international and domestic economic political situation, each country is all in the military equipment level of being devoted to improve self, meanwhile, along with developing rapidly of continuous progress in science and technology and weapon industry, the development of shell develops with very fast speed and upgrades, thereby the test of injuring of weapon has also been had further requirement.
Can produce unexploded duds inevitably injuring in the process of the test of weapon.Because the safety position of these duds and quality condition are not clear, stability seriously descends, and may explode at any time in the processing procedure, this life security to operating personnel has constituted serious threat.The eliminating of the duds in target range is a breakneck job always, does not obtain adequate solution so far as yet.For the processing of duds, normally, manually ignite then by manually explosive being placed on the duds place.In the process of manual search and eliminating, unavoidably there is the situation of false triggering or accidental explosion to occur, thereby causes the very big human and material resources and the loss of financial resources.
For this reason, occurred explosive-removal robot in the prior art, got rid of a difficult problem for duds and opened up new solution route.Be in the Chinese invention patent of ZL200710175389.3 for example, disclose a kind of small-sized robot for eliminating exploding and danger in the patent No..This robot mainly comprises running gear, manipulator part, body part, The Cloud Terrace part and control section, the equipment compartment of its body part and battery flat and The Cloud Terrace partly are arranged on the rear chassis, running gear is left and right sides two parts, symmetry is connected in the front chassis and the rear chassis both sides of body part, manipulator partly is arranged on the front chassis of body part, and the afterbody left and right sides of described running gear is provided with the shoe part; Manipulator partly adopts multiple degrees of freedom, has both guaranteed the enough Beijing South Maxpower Technology Co. Ltd's power of grabbing, and improves the ability of robot by narrow space again, and the flexible tail supporting construction plays cushioning effect, and difficult toppling is safe and reliable; Have the function near large-scale robot, strong to the adaptive capacity of complex-terrain, obstacle climbing ability is strong, and alternative artificial investigation can be directly used in the task scene and scout, gets rid of and handle explosive and other dangerous material.
But existing explosive-removal robot still exists reliability not high, and explosive defective such as limited in one's ability causes it to apply and is restricted.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of non-contact explosive removing system based on energy-gathering jetting.This explosive removing system can realize that remote control is explosive, has reliability height, security is good, cost is low advantage.
For realizing above-mentioned goal of the invention, the present invention adopts following technical scheme:
A kind of non-contact explosive removing system based on energy-gathering jetting is characterized in that:
Described non-contact explosive removing system comprises last U-shaped frame, the lower cover that is provided with energy-gathering jetting cartridge clip tool and sight, the lower box that is provided with switch, and be installed in supporting leg and antenna on institute's lower box, the described U-shaped frame of going up is arranged on the lower box, and described lower cover is arranged on described going up between U-shaped frame and the described lower box;
Be provided with control circuit board in the described lower box, described control circuit board comprises logic processing module, motor drive module, module is ignited in auxiliary aiming module and triggering, described motor drive module, the control that module all is subjected to described logic processing module is ignited in described auxiliary aiming module and described triggering, described logic processing module comprises microcontroller, described motor drive module comprises the driver that drives the motion of described upward U-shaped frame, described auxiliary aiming module comprises the circuit of controlling described sight, and the circuit that module comprises control energy-gathering jetting bullet is ignited in described triggering.
Described triggering is ignited module and is comprised the trigger protection circuit that is connected with described logic processing module.
Described triggering is ignited module and is also comprised the electric cap that is connected with described trigger protection circuit, and the pin of described electric cap is connected with normally closed switch with normal open switch simultaneously, when not detonating, and the normally closed switch closure; When adding electric initiating, normally closed switch is opened, the normal open switch closure.
The switch that is arranged on the described lower box is two switches of series connection mutually.
Non-contact explosive removing system provided by the present invention uses the energy-gathering jetting bullet, therefore can effectively get rid of the big equivalent explosive (as duds) that has thicker metal protection layer.And, because control chip is ignited the energy-gathering jetting bullet by trigger protection circuit and electric cap, improved the control reliability.By adopting the fixed protocol form, in conjunction with finite state machine and timeout mechanism, improve the real-time of system, communication reliability and execution efficient.
Description of drawings
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Fig. 1 is that the integral body of non-contact explosive removing system provided by the present invention is formed schematic diagram;
Fig. 2 is the frame for movement schematic diagram of non-contact explosive removing system;
Fig. 3 is in the non-contact explosive removing system, the structural representation of energy-gathering jetting cartridge clip;
Fig. 4 is the circuit structure block diagram of non-contact explosive removing system;
Fig. 5 (a) is the circuit theory diagrams of 24 volts of power supplys;
Fig. 5 (b) is the circuit theory diagrams of 5 volts of power supplys;
Fig. 5 (c) is the circuit theory diagrams of 3.3 volts of power supplys;
Fig. 6 is the relay protection schematic diagram of the electric cap among Fig. 1;
Fig. 7 has shown employed frame structure in the control procedure of non-contact explosive removing system;
Fig. 8 is employed software function module figure in the control procedure of non-contact explosive removing system;
Fig. 9 is the control procedure flow chart of non-contact explosive removing system;
Figure 10 is in the control procedure of non-contact explosive removing system, the transfer schematic diagram of accepting state.
The specific embodiment
As shown in Figure 1, non-contact explosive removing system provided by the present invention is worked under the system of master system.Master system communicates by the wireless data transmission module in wireless data transmission module and the non-contact explosive removing system, with the control non-contact explosive removing system.The control circuit of non-contact explosive removing system mainly comprises logic processing module, motor drive module, auxiliary aiming module and triggers and ignite module.Logic processing module is ignited module to aiming module, auxiliary aiming module and triggering and is controlled.
Logic processing module comprises microcontroller and the wireless data transmission module that is connected with microcontroller by serial communication.Microcontroller is used to carry out calculation process, and wireless data transmission module is used to receive the control signal of host computer.Motor drive module is used to control the direction of energy-gathering jetting cartridge clip tool, with run-home.Auxiliary aiming module has the amplifying circuit of driving and miniature laser, is used to utilize laser instrument to assist the run-home of energy-gathering jetting bullet.Trigger the ignition module and have trigger protection circuit, electric cap and energy-gathering jetting bullet, be used for causing exactly the energy-gathering jetting bullet.
As shown in Figure 2, the mechanical part of this non-contact explosive removing system comprises energy-gathering jetting cartridge clip tool 1, laser sight 9 from the top down, goes up U-shaped frame 2, lower cover 3, has the lower box 7 of key switch 4 and press button 5, and is installed in supporting leg 6 and antenna 8 on the lower box 7.Last U-shaped frame 2 is arranged on the lower box 7, and lower cover 3 is arranged between U-shaped frame 2 and the lower box 7.Be appreciated that the aforementioned U-shaped frame of going up is not limited to " U " shape, also can change into other shapes, for example triangular supports as required.In addition, laser sight also can be with sights infrared or other wireless mode aimings.
Energy-gathering jetting cartridge clip tool 1 and aiming laser device 9 are installed on last U-shaped frame 2.Specifically as shown in Figure 3, in the present embodiment, energy-gathering jetting cartridge clip tool 1 has an energy-gathering jetting bullet installing hole 10 and two laser instrument installing holes 11.Laser instrument installing hole 11 is arranged on the outside (tangent with the circumference of energy-gathering jetting bullet installing hole 10) of energy-gathering jetting bullet installing hole 10, and left-right symmetry.Like this, can use two miniature lasers 9 to the aiming of target explosive.The axis coplane of the axis of two laser instruments 9 and energy-gathering jetting bullet, the symmetry and form an angle.The point of the laser point by two laser instruments comes the run-home object.Can destroy distance and adjust the size of the axis angle of the axis of two laser instruments 9 and energy-gathering jetting bullet easily according to energy-gathering jetting bullet effective.In the present embodiment, this angle is 3.8 °, and the distance of the emitter of energy-gathering jetting bullet and explosive point keeps about 0.6m.The target explosive all can accurately be ignited by the energy-gathering jetting bullet in the 0.2m before and after distance is explosive.
As shown in Figure 4, the electric part of this non-contact explosive removing system comprises power supply, central processing unit, digital transmission communication module, motor drive module, aiming laser control module and trigger protection module.Control circuit board and battery are installed in the inside of lower box 7.Present embodiment adopts dsp chip to be installed on the control circuit board as control chip, adopts a 12V, and capacity is that the lithium battery of 2000mAh is powered to control chip.The whole system control device has three kinds of power supplys existence as can be seen from Figure 4, is respectively 12V, 5V, 3.3V.Therefore need multiple power module to convert the 12V input voltage to needed three kinds of voltages.
One, 24V power circuit (with reference to figure 5 (a))
Need 24V voltage owing to ignite the energy-gathering jetting bullet, therefore need a wide pressure input of 12V, the power module of 24V voltage stabilizing output.Present embodiment adopts gold to rise the positive electricity source module, and model is VRB-1224D-10W.In order to ensure the work of circuit high-efficiency reliable, need one in parallel to add electric capacity at output, except prescribed maximum load (being full load), also stipulated a minimum load simultaneously.In use, guarantee in whole input voltage range that its output minimum load can not be less than 10% of full load.If load is lower for a long time in the actual circuit, need be at the resistance of the suitable resistance of output some in parallel to increase load.
Two, 5V power circuit (with reference to figure 5 (b))
As shown in Figure 4, aiming laser control module, steady-state circuit, photoelectricity are isolated, drive circuit, all need to use the 5V power supply.Simultaneously, the power supply of 3.3V is also provided by the 5V power supply indirectly.Present embodiment adopts LM76 series switch integrated regulator, it is the substitute of linear three-terminal voltage-stabilizing device, have reliable service behaviour, higher operating efficiency and stronger output current driving force, thereby provide strong assurance for stable, the reliably working of MCU.
Three, 3.3V power circuit (with reference to figure 5 (c))
Present embodiment has used switching power source chip TPS733Q in the 3.3V power circuit.TPS7333Q is little power consumption that American TI Company is produced, and low pressure reduction power management chip has economize on electricity shutdown mode and output voltage monitoring function, extremely low quiescent current and not with load variations; Integrated time-delay microprocessor reset function can guarantee the operate as normal of system; Have perfect holding circuit, comprise the protection of overheated, overcurrent and electric voltage reverse-connection.Utilize this power supply chip, a few peripheral components of needs just can constitute efficiently, mu balanced circuit.
In order to guarantee the security reliability of this non-contact explosive removing system, structurally used the power switch of the switch of two mutual series connection as explosive removing system, with the time that powers up of strictness restriction explosive removing system, the configuration of two switches is as follows: key switch 4 is as main power switch, manually open by operating personnel, the press button 5 of band auto-lock function is triggered by robot and opens, and has only after two switches are opened simultaneously, and power supply just can power on to system.
In triggering the ignition module, increased the trigger protection circuit, to increase reliability.That is, guarantee the reliability that triggers by the method that between DSP and relay, adds bistable circuit.This is because microprocessor its IO pin level during power-on reset is uncertain, adds the JK flip-flop steady-state circuit at microcontroller with in the middle of triggering the control input, just can guarantee to trigger the control input and just be in a definite level at system's powered on moment.
In this non-contact explosive removing system, microprocessor control trigger protection circuit is ignited the energy-gathering jetting bullet by electric cap.As shown in Figure 6, when microprocessor powers up to the energy-gathering jetting bullet by relay (electric cap), used the normally-open normally-close switch simultaneously.The electric cap pin simultaneously with often open, normally closed switch is connected.Under normal circumstances, the normally closed switch closure, two lead-in wires of electric cap are twisted together, guarantee safe and reliable; When powering up, normally closed switch is opened, the normal open switch closure, and electric cap adds electric initiating.
In motor drive module, drive by the directly complete of two drive motors, energy-gathering jetting bullet emitter has pitching and two frees degree of deflection.Present embodiment adopts the intelligent power output amplification integrated chip LMD18245 that is connected with microcontroller by photoelectrical coupler as drive circuit.LMD18245 is the DMOS full-bridge motor drive ic that National Semiconductor produces, and is suitable as very much the driving of middle low power direct current generator or stepper motor.
Specify the concrete control procedure of this non-contact explosive removing system below.
Because wireless data transmission module intrinsic unreliable characteristic in application, this non-contact explosive removing system uses the application layer communications protocol, comprises the content of three aspects: data frame format, method for synchronizing data frames, Frame method of calibration and communication process.
Because explosive work is greatly dangerous, so the accuracy of control instruction, reliability must be guaranteed.In order to realize the reliable communication of control instruction, these software systems have been specified fixing protocol format, and as shown in Figure 7, data frame format adopts 5 bytes, be respectively frame head, verification and, command word, data word, postamble.Wherein, frame head is used for frame synchronization, is a fixing byte OXAA, and CMD is the instruction type of communication, and DATA is a director data, CRC be to the verification of CMD and DATA and.Postamble is used for the identification data frame end, is a fixed byte OXBB.On the method for synchronous of Frame, comprehensively adopted method for synchronizing data frames based on finite state machine and timeout mechanism.The method of calibration of CRC-16 has been adopted in the verification of Frame, and communication process has adopted and sent the mode of replying, and basic process is similar to stop-and-wait protocol.
As shown in Figure 8, control flow mainly comprises 6 modules, is respectively: initialization module, SCI communication module, SERVO CONTROL module, data acquisition module, data processing module, interruption processing module.As shown in Figure 9, after system powered on, controller was at first carried out initialize routine, comprised data, state initialization and house dog initialization.After initialization was finished, the arrival in serial ports wait control instruction received after the correct director data, carries out corresponding action.For example, the pitching of control motor and rotation, adjustment laser aiming, emission energy-gathering jetting bullet etc.
The method that sends the agreement employing is that main frame has sent after the frame data, must stop and wait for the affirmation of slave to these frame data, after receiving correct acknowledgement frame, sends the next frame data again.Meanwhile, in sending agreement, introduce timeout mechanism, when main frame begins to send Frame, started overtime timer, after Frame sends and finishes, begun to wait for the acknowledgement frame of slave.If in official hour, main frame is not received the acknowledgement frame of slave, and overtime timer will overflow, thereby overtime interruption occurs.Main frame resends the Frame that sent last time in overtime interruption, thus the data transmitting period of a beginning new round.
As shown in figure 10, the reception agreement of communicating pair has been used the method for finite state machine, and this method is divided into five states with the receiving course of Frame, is respectively frame head state, coomand mode, data mode, postamble state.During the system program initialization accepting state is initialized as the frame head state, the state transition diagram between each state as shown in figure 10.Data frame structure in the communication is 5 bytes, when the accepting state of slave is in DATA or CRC check and state, because main frame or channel problem, admission control a byte, cause slave can not receive normal postamble and deadlock at DATA state or CRC check and state.In order effectively to avoid the generation of this problem, in receiving agreement, introduced overtime reception mechanism.The recipient begins to start the receive time-out timer after receiving frame head, enter after the postamble state, and the receive time-out timer stops and zero clearing, to prepare to receive next Frame.The recipient periodically checks the receive time-out timer, overflows in case find the receive time-out timer, and program will enter the frame head state, begin to wait for the reception of next instruction frame, thereby avoid the deadlock of program.
In the control procedure of this non-contact explosive removing system, adopted the CRC-16 verification scheme.This verification scheme speed is fast, but take bigger memory headroom, is well suited for using having on the basis of enough memory spaces.
This non-contact explosive removing system uses the energy-gathering jetting bullet, therefore can effectively get rid of the big equivalent explosive (as duds) that has thicker metal protection layer.And, because control chip is ignited the energy-gathering jetting bullet by trigger protection circuit and electric cap, improved the control reliability.By adopting the fixed protocol form, in conjunction with finite state machine and timeout mechanism, improve the real-time of system, communication reliability and execution efficient.
More than the non-contact explosive removing system based on energy-gathering jetting provided by the present invention is had been described in detail.For one of ordinary skill in the art, any conspicuous change of under the prerequisite that does not deviate from connotation of the present invention it being done all will constitute to infringement of patent right of the present invention, with corresponding legal responsibilities.
Claims (4)
1. non-contact explosive removing system based on energy-gathering jetting is characterized in that:
Described non-contact explosive removing system comprises last U-shaped frame, the lower cover that is provided with energy-gathering jetting cartridge clip tool and sight, the lower box that is provided with switch, and be installed in supporting leg and antenna on institute's lower box, the described U-shaped frame of going up is arranged on the lower box, and described lower cover is arranged on described going up between U-shaped frame and the described lower box;
Be provided with control circuit board in the described lower box, described control circuit board comprises logic processing module, motor drive module, module is ignited in auxiliary aiming module and triggering, described motor drive module, the control that module all is subjected to described logic processing module is ignited in described auxiliary aiming module and described triggering, described logic processing module comprises microcontroller, described motor drive module comprises the driver that drives the motion of described upward U-shaped frame, described auxiliary aiming module comprises the circuit of controlling described sight, and the circuit that module comprises control energy-gathering jetting bullet is ignited in described triggering.
2. non-contact explosive removing system as claimed in claim 1 is characterized in that:
Described triggering is ignited module and is comprised the trigger protection circuit that is connected with described logic processing module.
3. non-contact explosive removing system as claimed in claim 1 or 2 is characterized in that:
Described triggering is ignited module and is also comprised the electric cap that is connected with described trigger protection circuit, and the pin of described electric cap is connected with normally closed switch with normal open switch simultaneously, when not detonating, and the normally closed switch closure; When adding electric initiating, normally closed switch is opened, the normal open switch closure.
4. non-contact explosive removing system as claimed in claim 1 is characterized in that:
The switch that is arranged on the described lower box is two switches of series connection mutually.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009102445954A CN101788251B (en) | 2009-12-31 | 2009-12-31 | Non-contact explosive removing system based on energy-gathering jetting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009102445954A CN101788251B (en) | 2009-12-31 | 2009-12-31 | Non-contact explosive removing system based on energy-gathering jetting |
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| CN101788251A true CN101788251A (en) | 2010-07-28 |
| CN101788251B CN101788251B (en) | 2012-11-28 |
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| CN2009102445954A Expired - Fee Related CN101788251B (en) | 2009-12-31 | 2009-12-31 | Non-contact explosive removing system based on energy-gathering jetting |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103615942A (en) * | 2013-09-29 | 2014-03-05 | 魏玲 | Energy-gathering punching forcible entry device for removing abandoned bomb |
| CN104770355A (en) * | 2014-08-27 | 2015-07-15 | 国家电网公司 | Laser bird dispersing device for transformer substation |
| CN109323636A (en) * | 2018-12-14 | 2019-02-12 | 湖南华诺星空电子技术有限公司 | A kind of not quick-fried object removal system based on unmanned platform |
| CN111707157A (en) * | 2020-06-22 | 2020-09-25 | 西安物华巨能爆破器材有限责任公司 | Explosive-handling device and explosive-handling robot based on energy-gathered jet detonation |
| CN112902780A (en) * | 2021-01-25 | 2021-06-04 | 西安物华巨能爆破器材有限责任公司 | Robot is arranged and is exploded system and destroy device with detonating based on it can efflux |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0971199A1 (en) * | 1998-07-06 | 2000-01-12 | SM Schweizerische Munitionsunternehmung AG | Device for the destruction of warheads |
| CN2411462Y (en) * | 2000-04-25 | 2000-12-20 | 王俊岭 | Multifunction explosion-proof vehicle |
| CN1298088A (en) * | 2000-08-18 | 2001-06-06 | 张宝林 | Current-triggered superhigh-speed shotting guns |
| CN101158563B (en) * | 2007-11-09 | 2010-07-14 | 杨德智 | Explosive substance destroy machine and special warhead thereof |
-
2009
- 2009-12-31 CN CN2009102445954A patent/CN101788251B/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103615942A (en) * | 2013-09-29 | 2014-03-05 | 魏玲 | Energy-gathering punching forcible entry device for removing abandoned bomb |
| CN104770355A (en) * | 2014-08-27 | 2015-07-15 | 国家电网公司 | Laser bird dispersing device for transformer substation |
| CN109323636A (en) * | 2018-12-14 | 2019-02-12 | 湖南华诺星空电子技术有限公司 | A kind of not quick-fried object removal system based on unmanned platform |
| CN111707157A (en) * | 2020-06-22 | 2020-09-25 | 西安物华巨能爆破器材有限责任公司 | Explosive-handling device and explosive-handling robot based on energy-gathered jet detonation |
| CN112902780A (en) * | 2021-01-25 | 2021-06-04 | 西安物华巨能爆破器材有限责任公司 | Robot is arranged and is exploded system and destroy device with detonating based on it can efflux |
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| Publication number | Publication date |
|---|---|
| CN101788251B (en) | 2012-11-28 |
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