CN101643096A - Coal mine underground rescue detection robot - Google Patents
Coal mine underground rescue detection robot Download PDFInfo
- Publication number
- CN101643096A CN101643096A CN200810012729A CN200810012729A CN101643096A CN 101643096 A CN101643096 A CN 101643096A CN 200810012729 A CN200810012729 A CN 200810012729A CN 200810012729 A CN200810012729 A CN 200810012729A CN 101643096 A CN101643096 A CN 101643096A
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- optical fiber
- casing
- axle
- drive
- coal mine
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- 239000003245 coal Substances 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 title claims abstract description 14
- 239000013307 optical fiber Substances 0.000 claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 238000010521 absorption reaction Methods 0.000 claims description 10
- 230000035939 shock Effects 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 230000009467 reduction Effects 0.000 claims description 9
- 238000004804 winding Methods 0.000 abstract description 8
- 239000002360 explosive Substances 0.000 abstract description 5
- 230000009194 climbing Effects 0.000 abstract description 4
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 238000013016 damping Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000002262 irrigation Effects 0.000 description 2
- 238000003973 irrigation Methods 0.000 description 2
- 229910001416 lithium ion Inorganic materials 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000013065 commercial product Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
The invention belongs to the technical field of robots, and particularly relates to a coal mine underground rescue detection robot. The optical fiber winding and unwinding device comprises a box body, driving wheels and optical fiber winding and unwinding mechanisms, wherein the driving wheels are symmetrically arranged on two sides of the box body and are connected with a driving device in the box body; the optical fiber receiving and releasing mechanism is arranged in the box body, and the driving motors in the optical fiber receiving mechanism and the driving device are respectively and electrically connected with the control system. The invention has simple and flexible structure; the large-diameter wheel has good climbing and obstacle crossing performance; a damping device is arranged between the driving wheel and the box body, so that the service life of the robot is prolonged while the work of the robot is not influenced; the optical fiber for realizing data transmission with the control platform can be controlled to be collected and released through the optical fiber collecting mechanism, so that the winding position of the optical fiber during collection is effectively controlled; the vehicle body adopts an integral explosion-proof design form, can work in a 1-zone containing explosive gas atmosphere in a mine disaster site in a coal mine, and has dustproof and waterproof performances.
Description
Technical field
The invention belongs to the Robotics field, specifically a kind of coal mine rescue and detection robot.
Background technology
Current, China has become first big country of world's coal production and consumption.Simultaneously, the maximum country of mine safety accidents takes place in China, and mine safety accidents has caused serious property damage and abominable social influence.Owing to mine disaster reason and mine disaster field condition are not clear, rescue group's wrecked situation in speedily carrying out rescue work happens occasionally.Survey mine disaster position and mine disaster field condition if before rescue, adopt alternative people's automation equipment to go deep into mine, just can under the prerequisite of guaranteeing rescue group's safety, implement the high efficiency rescue, reduce personnel and property damage to greatest extent.Therefore develop a kind of abilities such as the barrier of keeping away, obstacle detouring, leap irrigation canals and ditches, climbing that have, can have flame proof in the 1 district work of explosive gas atmosphere, sniffing robot dustproof, water repellant performance has become problem demanding prompt solution.
Summary of the invention
The object of the present invention is to provide a kind of coal mine rescue and detection robot, can be in the 1 district work of explosive gas atmosphere, have flame proof, dustproof, water repellant performance and keep away abilities such as barrier, obstacle detouring, leap irrigation canals and ditches, climbing.
The objective of the invention is to be achieved through the following technical solutions:
The present invention includes casing, driving wheel and optical fiber jack, driving wheel is symmetricly set on the both sides of casing, is connected with actuating device in the casing; The optical fiber jack is installed in the casing, and the drive motor in optical fiber income mechanism and the actuating device is electrically connected with control system respectively.
Wherein: described actuating device has two, oppositely is installed in the casing each other, respectively the driving wheel of drive case both sides; Each actuating device includes first drive motor, planetary reducer, first axle drive shaft, drive sprocket, driven sprocket, drive balls chain and output shaft, first axle drive shaft is connected with first drive motor by planetary reducer, is arranged with drive sprocket on first axle drive shaft; Output shaft is installed on the casing and by casing and passes, and traversing through end is provided with driving wheel, is arranged with driven sprocket on output shaft, is connected with drive sprocket by the drive balls chain; Between driving wheel and casing, be provided with the shock absorption device that is installed on the casing; Shock absorption device comprises fixed support, travel(l)ing rest, pillar and spring, and fixed support is installed in the lateral surface of casing, is evenly equipped with through hole on the fixed support; Travel(l)ing rest comprises upper and lower platen and axle, and the two ends of axle are fixed in respectively on the upper and lower platen, and axle is provided with dividing plate, and the axle that has dividing plate is passed by through hole, can be in through hole crank motion; Through hole is interior, the both sides up and down of dividing plate are equipped with the spring that is connected on the dividing plate; Between the upper and lower platen of travel(l)ing rest, the pillar that is connected with output shaft is installed; Described optical fiber jack is installed in the independent tank body at rear portion in the casing, comprise that optical fiber twines wheel disc, connecting rod, bent axle, planetary reduction gear, second drive motor, second axle drive shaft, worm screw, worm gear, spur gear and pendulum pawl, one end of second axle drive shaft links to each other with second drive motor by planetary reduction gear, and the other end is connected with the worm screw and first spur gear respectively; Worm gear be positioned at worm screw the top, with the worm mesh transmission, worm gear is provided with bent axle, bent axle by connecting rod with the pendulum pawl link to each other; Optical fiber twines wheel disc and is installed on the independent tank body, the end of wheel disc axle be arranged with worm screw on second spur gear of the first spur gear engaged transmission; The independent tank body is provided with guide rail, and the pendulum pawl can reciprocatingly be installed on the guide rail; Driving wheel is four, is symmetricly set on the both sides of casing; The diameter of driving wheel is greater than the height of casing.
Advantage of the present invention and good effect are:
1. simple in structure, flexible.Self structure of the present invention is simple, can finish complicated work in rugged environment; Two driving wheels about two motors drive respectively, identical speed are realized moving forward and backward, and differential is realized turning.
2. the major diameter wheel has good climbing and obstacle performance.The present invention selects the major diameter driving wheel of diameter greater than the box body height for use, and such structure more helps walking under the topographic condition of complexity, even tumble accidentally, also can not influence its walking function.
3. between driving wheel and casing, shock absorption device has been installed, when not influencing robot work, has been prolonged the service life of robot.
4. owing to can being subjected to serious echo in underworkings, wireless telecommunications disturb, and the rapid decay of signal, the present invention adopts Optical Fiber Transmission to substitute wireless telecommunications; The present invention carries optical cable and draw off gear, the autonomous optical cable of laying in traveling process; The optical fiber of realizing data transmission with control platform can be by optical fiber jack control folding and unfolding, the winding position in the time of having controlled the optical fiber recovery effectively.
5. car body is taked the design form of whole flame proof, carries out the flame proof design according to the requirement of 36 pairs of explosive gas atmosphere current consumers of GB38 equipment fully.The present invention can have dustproof, water repellant performance simultaneously in the 1 district work that contains explosive gas atmosphere at mine disaster scene under the coal mine.
Description of drawings
Fig. 1 is an integral installation distribution structure scheme drawing of the present invention;
Fig. 2 is the upward view of Fig. 1;
Fig. 3 is the structural representation of shock absorption device of the present invention;
Fig. 4 takes in the structural representation of mechanism for optical fiber of the present invention;
Fig. 5 is a control system diagram of circuit of the present invention;
Wherein: 1 is casing, and 2 is driving wheel, and 3 is first drive motor, 4 is planetary reducer, and 5 is the optical fiber jack, and 6 is shock absorption device, 7 is output shaft, and 8 is driven sprocket, and 9 is the drive balls chain, 10 is first axle drive shaft, and 11 is drive sprocket, and 12 is fixed support, 13 is travel(l)ing rest, and 14 is pillar, and 15 is spring, 16 for optical fiber twines wheel disc, and 17 is connecting rod, and 18 is bent axle, 19 is planetary reduction gear, and 20 is second drive motor, and 21 is second axle drive shaft, 22 is worm screw, and 23 is worm gear, and 24 is first spur gear, 25 are the pendulum pawl, and 26 is the high energy density lithium ion electrokinetic cell, and 27 is control system, 28 is the wheel disc axle, and 29 is second spur gear, and 30 is dividing plate, 31 is through hole, and 32 is axle, and 33 is upper platen, 34 is lower platen, and 35 is guide rail.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
As shown in Figure 1 and Figure 2, the present invention includes casing 1, driving wheel 2 and optical fiber jack 5, driving wheel 2 has four, be connected with the actuating device in the casing 1, four driving wheels are symmetricly set on the both sides of casing 1, and each side has two driving wheels, and the diameter of driving wheel 2 is greater than the height of casing 1; Between driving wheel 2 and casing 1, be provided with the shock absorption device 6 that is installed on the casing 1.Optical fiber jack 5 is installed in the casing 1, also is provided with control system 27 in the casing 1, and optical fiber jack 5 and actuating device are electrically connected with control system 27 respectively.
Actuating device has two, oppositely is installed in the casing 1 each other, respectively the driving wheel of drive case 1 both sides; Each actuating device includes first drive motor 3, planetary reducer 4, first axle drive shaft 10, drive sprocket 11, driven sprocket 8, drive balls chain 9 and output shaft 7, the input shaft of planetary reducer 4 links to each other with first drive motor 3, the output axle head of planetary reducer 4 has endoporus, connects with first axle drive shaft, 10 keys; Be arranged with drive sprocket 11 on first axle drive shaft 10, drive sprocket 11 and first axle drive shaft, 10 keys connect; Output shaft 7 links to each other with the shock absorption device 6 that is installed in casing 1 side by bearing, output shaft 7 is passed by casing 1, and traversing through end is provided with driving wheel 2, is arranged with driven sprocket 8 on output shaft 7, driven sprocket 8 connects with output shaft 7 keys, and drive sprocket 11 is connected with driven sprocket 8 by drive balls chain 9; First drive motor 3 is electrically connected with control system 27.
As shown in Figure 3, shock absorption device 6 comprises fixed support 12, travel(l)ing rest 13, pillar 14 and spring 15, and fixed support 12 is installed in the lateral surface of casing 1, is evenly equipped with two through holes 31 on the fixed support 12; Travel(l)ing rest 13 comprises 33,34 and two axles 32 of upper and lower platen, and axle 32 two ends are fixed in respectively on the upper and lower platen 33,34, and axle 32 is provided with dividing plate 30, and the axle 32 that has dividing plate 30 is passed by through hole 31, can be in through hole 31 crank motion; Dividing plate 30 is with through hole 31 separated into two parts, and each part is equipped with the spring 15 that is connected on the dividing plate 30, totally four on spring 15; Between the upper and lower platen 33,34 of travel(l)ing rest 13, pillar 14 is installed, is connected with output shaft 7, can drive output shaft and move with respect to casing 1 by bearing.
As shown in Figure 4, optical fiber jack 5 is installed in the independent tank body at rear portion in the casing 1, comprise that optical fiber twines wheel disc 16, connecting rod 17, bent axle 18, planetary reduction gear 19, second drive motor 20, second axle drive shaft 21, worm screw 22, worm gear 23, first and second spur gear 24,29 and pendulum pawl 25, the input shaft of planetary reduction gear 19 links to each other with second drive motor 20, the output axle head of planetary reduction gear 19 has endoporus, connect with second axle drive shaft, 21 keys, the worm screw 22 and first spur gear 24 connect with second axle drive shaft, 21 keys respectively; Worm gear 23 be positioned at worm screw 22 the top, with worm screw 22 engaged transmission, the bent axle 18 that worm gear 23 is provided with and its key connects, bent axle 18 links to each other with pendulum pawl 25 by connecting rod 17, connecting rod 17 1 ends and bent axle 18 are hinged, the other end and to put pawl 25 hinged; Optical fiber twines wheel disc 16 and is connected with independent tank body sidewall on being fixed on casing 1 by bearing, the end of wheel disc axle 28 be arranged with second axle drive shaft 21 on second spur gear 29 of first spur gear, 24 engaged transmission; The independent tank body is provided with guide rail 35, and pendulum pawl 25 can reciprocatingly be installed on the guide rail 35 as slide block; Second drive motor 20 is electrically connected with control system 27.
The principle of the invention and working process are:
Control part of the present invention is made up of high energy density lithium ion electrokinetic cell 26 and control system 27 (control system of the present invention is a prior art), can carry out motion control to coal mine rescue and detection robot, and realize data transmission by optical fiber and the control platform that is wrapped on the optical fiber winding wheel disc 16.As shown in Figure 5, during coal mine rescue and detection robot work, control system 27 starts, System self-test, if self check notes abnormalities, then motor is electric down, quits work; If self check is normal, robot is static in the original place, and fiber optic starts, and receives telecommand, if halt instruction, then motor is electric down, end-of-job; If not halt instruction is done robot according to telecommand to advance, retreated, action such as turning, and by information such as Optical Fiber Transmission video, car body states.The concrete working process of coal mine rescue and detection robot is: work after first drive motor 3 receives telecommand, drive 10 rotations of first axle drive shaft by planetary reducer 4, the drive sprocket 11 that connects with first axle drive shaft, 10 keys together rotates under the drive of first axle drive shaft 10, and then drives driven sprockets 8 rotations by drive balls chain 9; Output shaft 7 connects with driven sprocket 8 keys, and under the drive of driven sprocket 8, output shaft 7 rotations drive driving wheel 2 rotations.When the driving wheel rotative speed of casing 1 left and right sides was identical, robot moved forward or backward; When the driving wheel rotative speed of casing 1 left and right sides not simultaneously, robot is turned.After receiving telecommand, second drive motor 20 works, drive 21 rotations of second axle drive shaft by planetary reduction gear 19, the worm screw 22 and first spur gear 24 that connect with second axle drive shaft, 21 keys rotate with speed under the drive of second axle drive shaft 21, worm screw 22 and worm gear 23 engaged transmission, drive worm gear 23 rotations, worm gear 23 drives a bent axle-connecting rod-slide block mechanism, puts pawl 25 as slide block crank motion on guide rail 35, the winding position of optical fiber on optical fiber winding wheel disc 16 when reclaiming optical fiber in order to restriction; First spur gear 24 by with the engaged transmission of second spur gear 29, drive optical fiber and twine wheel disc 16 rotations, the revolution ratio that optical fiber twines wheel disc 16 and bent axle 18 is preestablished by the transmitting ratio of worm gear 23 worm screws 22 and the transmitting ratio of spur gear 24, so that optical fiber twines winding position on the wheel disc 16 at optical fiber when controlling optical fiber effectively and reclaiming.
The tire of four driving wheels of the present invention is commercial product, purchases the mine anti-explosion tire that becomes the rubber Co., Ltd to produce in for Jiaozuo City is permanent, specification 4.00-12.
Claims (6)
1. coal mine rescue and detection robot, it is characterized in that: comprise casing (1), driving wheel (2) and optical fiber jack (5), driving wheel (2) is symmetricly set on the both sides of casing (1), is connected with actuating device in the casing (1); Optical fiber jack (5) is installed in the casing (1), and the drive motor in optical fiber income mechanism (5) and the actuating device is electrically connected with control system (27) respectively.
2. by the described coal mine rescue and detection robot of claim 1, it is characterized in that: described actuating device has two, oppositely is installed in the casing (1) each other, respectively the driving wheel of drive case both sides; Each actuating device includes first drive motor (3), planetary reducer (4), first axle drive shaft (10), drive sprocket (11), driven sprocket (8), drive balls chain (9) and output shaft (7), first axle drive shaft (10) is connected with first drive motor (3) by planetary reducer (4), is arranged with drive sprocket (11) on first axle drive shaft (10); Output shaft (7) is installed in casing (1) and goes up and passed by casing (1), and traversing through end is provided with driving wheel (2), is arranged with driven sprocket (8) on output shaft (7), is connected with drive sprocket (11) by drive balls chain (9).
3. by the described coal mine rescue and detection robot of claim 1, it is characterized in that: between driving wheel (2) and casing (1), be provided with the shock absorption device (6) that is installed on the casing (1).
4. by the described coal mine rescue and detection robot of claim 3, it is characterized in that: described shock absorption device (6) comprises fixed support (12), travel(l)ing rest (13), pillar (14) and spring (15), fixed support (12) is installed in the lateral surface of casing (1), is evenly equipped with through hole (31) on the fixed support (12); Travel(l)ing rest (13) comprises upper and lower platen (33,34) and axle (32), the two ends of axle (32) are fixed in respectively on the upper and lower platen (33,34), axle (32) is provided with dividing plate (30), and the axle (32) that has dividing plate (30) is passed by through hole (31), can be in through hole (31) crank motion; Through hole (31) is interior, the both sides up and down of dividing plate (30) are equipped with the spring (15) that is connected on the dividing plate (30); Between the upper and lower platen (33,34) of travel(l)ing rest (13), the pillar (14) that is connected with output shaft (7) is installed.
5. by the described coal mine rescue and detection robot of claim 1, it is characterized in that: described optical fiber jack (5) is installed in the independent tank body at the interior rear portion of casing (1), comprise that optical fiber twines wheel disc (16), connecting rod (17), bent axle (18), planetary reduction gear (19), second drive motor (20), second axle drive shaft (21), worm screw (22), worm gear (23), spur gear and pendulum pawl (25), one end of second axle drive shaft (21) links to each other with second drive motor (20) by planetary reduction gear (19), and the other end is connected with worm screw (22) and first spur gear (24) respectively; Worm gear (23) be positioned at worm screw (22) the top, with worm screw (22) engaged transmission, worm gear (23) is provided with bent axle (18), bent axle (18) by connecting rod (17) with put pawl (25) and link to each other; Optical fiber twines wheel disc (16) and is installed on the independent tank body, and the end of wheel disc axle (28) is arranged with second spur gear (29) with last first spur gear of worm screw (22) (24) engaged transmission; The independent tank body is provided with guide rail (35), and pendulum pawl (25) can reciprocatingly be installed on the guide rail (35).
6. by the described coal mine rescue and detection robot of claim 1, it is characterized in that: driving wheel (2) is four, is symmetricly set on the both sides of casing (1); The diameter of driving wheel (2) is greater than the height of casing (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100127295A CN101643096B (en) | 2008-08-08 | 2008-08-08 | Coal mine rescue and detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100127295A CN101643096B (en) | 2008-08-08 | 2008-08-08 | Coal mine rescue and detection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101643096A true CN101643096A (en) | 2010-02-10 |
| CN101643096B CN101643096B (en) | 2012-01-25 |
Family
ID=41655201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100127295A Expired - Fee Related CN101643096B (en) | 2008-08-08 | 2008-08-08 | Coal mine rescue and detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101643096B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102787861A (en) * | 2011-05-19 | 2012-11-21 | 周丹 | Anti-explosion robot for mine |
| CN103963855A (en) * | 2014-03-31 | 2014-08-06 | 刘建 | Mining rescue robot with differential connecting rod tracked chassis |
| CN104228998A (en) * | 2014-07-04 | 2014-12-24 | 北京航空航天大学 | Throwable scout robot |
| CN105180999A (en) * | 2015-08-20 | 2015-12-23 | 广州杰赛科技股份有限公司 | Environment detector, environment detector recovery control method and environment detector recovery control system |
| CN106080246A (en) * | 2016-07-26 | 2016-11-09 | 龙口市四平有限责任公司 | Mine direct current motor transport vehicle |
| CN106246219A (en) * | 2016-09-23 | 2016-12-21 | 羊丁 | A kind of mine safety rescue robot |
| CN106427532A (en) * | 2016-10-27 | 2017-02-22 | 哈工大机器人集团上海有限公司 | Car with small chassis |
| PL422865A1 (en) * | 2017-09-15 | 2019-03-25 | Przemysłowy Instytut Automatyki i Pomiarów PIAP | Mobile electric platform |
| CN110281252A (en) * | 2019-08-07 | 2019-09-27 | 四川省众望科希盟科技有限公司 | A kind of small-sized robot of jettisoninging |
| CN111332386A (en) * | 2020-03-31 | 2020-06-26 | 平湖丞士机器人有限公司 | Self-following dual-purpose fire-fighting robot |
| CN112904506A (en) * | 2021-01-22 | 2021-06-04 | 贾平美 | Yarn bundling device for yarn breakage connection in optical cable production |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2991616B1 (en) * | 2012-06-07 | 2014-08-15 | Ass Pour La Rech Et Le Dev De Methodes Et Processus Ind Armines | WHEEL ROTATING ROBOT |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2662989A1 (en) * | 1990-06-11 | 1991-12-13 | Esstin | VEHICLE AUTO PROPULSE AND JOINT WITH TELESCOPIC JACKS FOR PIPING INSPECTION. |
| US6263989B1 (en) * | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
| CN2531967Y (en) * | 2002-01-15 | 2003-01-22 | 王加明 | Front driving device for electric tricycle |
| CN1887535A (en) * | 2005-06-30 | 2007-01-03 | 上海市延安中学 | Mine disaster first-aid robot |
| CN201249820Y (en) * | 2008-08-08 | 2009-06-03 | 中国科学院沈阳自动化研究所 | Coal mine underground rescue detection robot |
-
2008
- 2008-08-08 CN CN2008100127295A patent/CN101643096B/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102787861B (en) * | 2011-05-19 | 2014-10-29 | 贾瑞清 | Anti-explosion robot for mine |
| CN102787861A (en) * | 2011-05-19 | 2012-11-21 | 周丹 | Anti-explosion robot for mine |
| CN103963855A (en) * | 2014-03-31 | 2014-08-06 | 刘建 | Mining rescue robot with differential connecting rod tracked chassis |
| CN104228998A (en) * | 2014-07-04 | 2014-12-24 | 北京航空航天大学 | Throwable scout robot |
| CN105180999B (en) * | 2015-08-20 | 2019-08-13 | 广州杰赛科技股份有限公司 | Environment detector, environment detector recycling and control method and its system |
| CN105180999A (en) * | 2015-08-20 | 2015-12-23 | 广州杰赛科技股份有限公司 | Environment detector, environment detector recovery control method and environment detector recovery control system |
| CN106080246A (en) * | 2016-07-26 | 2016-11-09 | 龙口市四平有限责任公司 | Mine direct current motor transport vehicle |
| CN106246219A (en) * | 2016-09-23 | 2016-12-21 | 羊丁 | A kind of mine safety rescue robot |
| CN106246219B (en) * | 2016-09-23 | 2018-06-05 | 湖南科技大学 | A kind of mine safety rescue robot |
| CN106427532A (en) * | 2016-10-27 | 2017-02-22 | 哈工大机器人集团上海有限公司 | Car with small chassis |
| PL422865A1 (en) * | 2017-09-15 | 2019-03-25 | Przemysłowy Instytut Automatyki i Pomiarów PIAP | Mobile electric platform |
| CN110281252A (en) * | 2019-08-07 | 2019-09-27 | 四川省众望科希盟科技有限公司 | A kind of small-sized robot of jettisoninging |
| CN110281252B (en) * | 2019-08-07 | 2024-05-31 | 四川省众望科希盟科技有限公司 | Small-size throwing robot |
| CN111332386A (en) * | 2020-03-31 | 2020-06-26 | 平湖丞士机器人有限公司 | Self-following dual-purpose fire-fighting robot |
| CN112904506A (en) * | 2021-01-22 | 2021-06-04 | 贾平美 | Yarn bundling device for yarn breakage connection in optical cable production |
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| Publication number | Publication date |
|---|---|
| CN101643096B (en) | 2012-01-25 |
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