CN104354160A - Rescue robot accessory device - Google Patents
Rescue robot accessory device Download PDFInfo
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- CN104354160A CN104354160A CN201410553749.9A CN201410553749A CN104354160A CN 104354160 A CN104354160 A CN 104354160A CN 201410553749 A CN201410553749 A CN 201410553749A CN 104354160 A CN104354160 A CN 104354160A
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- 238000005520 cutting process Methods 0.000 claims abstract description 37
- 230000006835 compression Effects 0.000 claims abstract description 5
- 238000007906 compression Methods 0.000 claims abstract description 5
- 238000004140 cleaning Methods 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000002411 adverse Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000003116 impacting effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 10
- 239000000463 material Substances 0.000 description 6
- 238000003860 storage Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
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- 230000000694 effects Effects 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
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- 241001589086 Bellapiscis medius Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 241001092459 Rubus Species 0.000 description 1
- 235000017848 Rubus fruticosus Nutrition 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 210000000080 chela (arthropods) Anatomy 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
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- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
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- 238000000034 method Methods 0.000 description 1
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- 238000009987 spinning Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
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Abstract
The invention relates to a rescue robot accessory device comprising an obstacle removing device and a multi-functional execution arm, the multi-functional execution arm includes an arm main body fixedly connected with a rescue robot vehicle body and an execution end (13) arranged at the end of the arm main body; the execution end (13) includes a gear motor (18) fixed on a gear motor fixing seat (24), a straight toothed spur gear (19), a straight toothed rack (20), a mechanical clamp (21), mechanical cutting nippers (22) and a spring. Hooks are arranged on the mechanical cutting nippers (22) and the mechanical clamp (21), two ends of the spring (23) are respectively hung on the two hooks (28 and 32), and the spring has a compression pretightening force at the initial moment. The rescue robot accessory device is designed to address the adverse factors impacting the progress of the outdoor rescue of the wounded, and has the advantages of compact structure and convenient maintenance.
Description
Technical field
The invention belongs to rescue robot field, be specifically related to a kind of for road barrier removing under complex environment, the rescue robot auxiliary equipment of the auxiliary carrying wounded.
Background technology
In recent years, the natural calamity of burst and the generation of particularly serious social safety accident, around it, nature, man-made environment have high complexity, arbitrariness, and its time of origin has sudden.At present, rescue robot for the rescue work in natural calamity and battlefield, in order to improve rescue work efficiency and security.
Terrain environment residing for the wounded limits rescue robot sometimes and launches rescue work, and this situation can have a strong impact on rescue robot and play a role and delay time of rescue work.Its reason comprises: the narrow space residing for (1) wounded, and restriction rescue robot is organized work then and there; (2) the numerous restriction rescue robot of the circumstance complication residing for the wounded, foreign material plays rescue function; (3) article born of the wounded, affect the normal work of pick device.Therefore, lot of domestic and foreign research institution is devoted to develop that carrying is comparatively large, the mechanical arm of flexible operation and manipulator, and work capacity improves, but often brings that volume is larger, expensive, the high practical problem of working space requirement.
Summary of the invention
The object of the invention is to overcome the above-mentioned deficiency in existing wounded's rescue work, for rescue robot designs the device of a kind of assisted pick wounded work, for getting rid of around the wounded and barrier on wounded's health under complexity, adverse circumstances, pull wounded's environment out of danger.Rescue robot subsystem of the present invention, for the unfavorable factor of impact rescue progress in outdoor wounded's rescue operations, principle according to " compact conformation ", " compact ", " function is enough ", " easy to maintenance " carries out structural design, other functional subsystem co-ordination of rescue robot can be coordinated, realize rescue robot and complete rescue work efficiently.
For this reason, the technical solution used in the present invention is as follows:
A kind of rescue robot auxiliary equipment, comprises obstacle cleaning device and multi-functional execution arm, and described multi-functional execution arm comprises and to be fixedly connected arm main body with rescue robot car body and to be arranged on the execution end (13) of arm main body end;
Described execution end (13) comprises reducing motor holder (24), be fixed on the reducing motor (18) on reducing motor holder (24), straight spur gear (19), spur rack (20), mechanical clamp (21), mechanical cutting nippers (22) and spring (23).
Reducing motor holder (24) is provided with gathering sill, and straight spur gear (19) is connected and fixed with the output shaft of reducing motor (18); Spur rack (20) engages with straight spur gear (19) and can horizontal slip in the gathering sill of reducing motor holder (24);
Described mechanical cutting nippers (22) is fixedly connected on the front end with spur rack (20) by cutting nippers fixed hole seat 33, mechanical cutting nippers (22) is provided with cutting nippers gathering sill (30) and lead (31), mechanical clamp (21) and mechanical cutting nippers fit, be provided with clamp gathering sill (29), lead (31) on machinery cutting nippers (22) can in clamp gathering sill (29) linear slide, clamp spring carrier arm (28) on mechanical clamp (21) can in cutting nippers gathering sill (30) straight line linear slide in opposite directions,
Mechanical cutting nippers (22) and mechanical clamp (21) are provided with hook, and the two ends of described spring (23) are respectively hooked on these two hooks (28,32), there is compression pretightning force at initial time spring;
Described obstacle cleaning device, comprise the accessory of two ends with two long handles (38), yielding coupling (37) and motor (36), it is characterized in that, two long handles (38) of accessory are fixedly connected with two multidiameters (34) respectively, wherein, multidiameter (34) one end of side is screwed with the location and installation hole (39) of a long handle (38) of accessory and is connected, the other end is through bearing block (35), be fixedly connected with motor (36) by yielding coupling (37), motor (36) is fixedly connected with rescue robot vehicle frame (2), another side steps axle (34) one end is screwed with the location and installation hole (39) of another long handle (38) of accessory and is connected, the other end, through bearing block (35), then limits moving axially of multidiameter (34) with split pin through split pin installing hole (40).
Preferably, described arm main body comprises diagonal-cut rack (11), motor cabinet (14), worm and gear gear motor (12) and guide rod type electric cylinder (10), the reducing motor holder (24) performing end (13) is fixedly connected with diagonal-cut rack (11), can vertical sliding motion in the gathering sill of diagonal-cut rack (11) on motor cabinet (14), motor cabinet (14) is fixedly connected with guide rod type electric cylinder (10), the cylinder body of guide rod type electric cylinder (10) and the car body of rescue robot 2 are fixedly connected, make motor cabinet (14), diagonal-cut rack (11), reducing motor holder (24) and execution end (13) are synchronized with the movement with guide rod type electric cylinder (10), thus complete execution end (13) horizontal stretching motion, worm and gear gear motor (12) and motor cabinet (14) are connected and fixed, and helical gears (15) are fixed on worm and gear gear motor (12) and go up and be meshed with diagonal-cut rack (11), worm and gear gear motor (12) starting up drives connected helical gears (15) to rotate, and then drives diagonal-cut rack (11) to move up and down.
Described accessory can be rake accessory (25) or knife-like accessory (26).
Technique effect of the present invention is as follows:
(1) utilize the obstacle cleaning device in subsystem of the present invention, make rescue robot before carrying out pickup work, get rid of the obstacle around the wounded, to guarantee that rescue robot can carry out rescue work smoothly.
(2) the multi-functional execution hand in rescue robot subsystem, rescue robot can be made when not having condition to carry out wounded's pickup at that time, utilize the mechanical cutting nippers performing end, cut off the wounded's unnecessary heavy burden equipment with it and continue rescue work to facilitate rescue robot; Utilize and perform the mechanical clamp of end, can gripping remove the obstacle and weight that cover on wounded's health, also can clamp wounded's clothing, be dragged in the environment of having ready conditions and carrying out wounded's pickup, to guarantee that rescue robot can carry out rescue work smoothly.
(3) the mechanical cutting nippers in rescue robot subsystem and mechanical clamp are present in execution hand simultaneously, overcome the pretightning force of spring by the contact force between execution arm and human body or other article, the function realizing mechanical cutting nippers and mechanical clamp switches.
(4) guide rod type electric cylinder is installed on vehicle body, the horizontal range of the execution end be attached thereto by collapsing length and the adjustable of adjustment guide rod type electric cylinder; By the length of worm and gear gear motor adjustment diagonal-cut rack and the vertical range of adjustable execution end, realize performing arm in the location in space, compact conformation.
(5) rescue robot subsystem is when other functional executive system work of robot, and rake accessory or the knife-like accessory of obstacle cleaning system can hang down to low spot, to ensure that a whole set of subsystem can not interfere the action of other mechanism of rescue robot.
Accompanying drawing explanation
Fig. 1 rescue robot obstacle cleaning device operating diagram;
Fig. 2 rescue robot multi-functional execution arm operating diagram;
Isometric view when the multi-functional execution arm of Fig. 3 rescue robot works;
Fig. 4 rescue machine man-hour auxiliary equipment pose view;
The multi-functional execution arm of Fig. 5 performs end equipment explosive view;
Fig. 6 obstacle cleaning device 3-rake accessory 25 schematic diagram
Fig. 7 obstacle cleaning device 3-knife-like accessory 26 schematic diagram;
Fig. 8 mechanical clamp schematic diagram;
Fig. 9 machinery cutting nippers schematic diagram;
Figure 10 rescue robot auxiliary equipment reset schematic diagram;
Figure 11 multi-functional execution arm performs the low pose schematic diagram of end;
The multi-functional execution arm of Figure 12 performs end height pose schematic diagram;
Figure 13 is multidiameter schematic diagram.
In Fig. 1 to Figure 13: 1: rescue robot, 2 storage systems, 3 obstacle cleaning devices, 4 multi-functional execution arms, 5 sandstone, 6 foreign material, 7 wounded, 8 accessories, 10 guide rod type electric cylinders, 11 diagonal-cut racks, 12 worm and gear gear motors, 13 perform end, 14 motor cabinets, 15 helical gears, 16 class spade pick devices, 17 middle transition conveying devices, 18 reducing motors, 19 straight spur gears, 20 spur racks, 21 mechanical clamps, 22 mechanical cutting nippers, 23 springs, 24 reducing motor holders, 25 rake accessories, 26 knife-like accessories, 27 blades, 28 clamp spring carrier arms, 29 clamp gathering sills, 30 cutting nippers gathering sills, 31 leads, 32 cutting nippers spring carrier arms, 33 cutting nippers fixed hole seats, 34 multidiameters, 35 bearing blocks, 36 motors, 37 yielding couplings, 38 accessory long handles, 39 location and installation holes, 40 split pin installing holes
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention will be further described.
From Fig. 1-Figure 13, rescue robot 1 subsystem belongs to the important AFU auxiliary functional unit of rescue robot 1.Rescue robot 1 accessory system comprises obstacle cleaning device 3 and multi-functional execution hand 4.
When rescue robot 1 is close to the wounded 7, intelligence control system collects the ambient condition information residing for the wounded 7 automatically, comprehensive robot self-operating attitude, estimate the wounded 7 rescue scenario, and be sent to remote control terminal, carry out decision-making by operating personnel, and formulate the wounded 7 rescue strategies.
The sensor-based system carried by rescue robot 1 as operating personnel or image capture module find that the wounded 7 surrounding exists protruding soil block, sandstone 5 and other foreign material etc. hinder storage system 2 to carry out the wounded 7 when picking up work, control obstacle cleaning device 3 by remote control table and do spinning movement as shown in Figure 1 by a high position, make accessory 8 and earth surface, the signal automatic control motor 36 fed back by touch sensor is shut down, avoid causing stall to destroy to motor, now rescue robot 1 car load retreats, by accessory 8 ground grading of removing obstacles, pick up the wounded 7 for storage system 2 and good ground environment is provided.
Obstacle cleaning device is modularized design, and can carry dissimilar and accessory that is function, Fig. 6 is rake accessory 25, is applicable to remove the hard block barrier such as protruding soil block, sandstone 5; Fig. 7 is knife-like accessory 26, is applicable to remove the twister such as brambles, diseases on plant stalk, knitmesh and steel wire, and knife-like accessory 26 can change blade 27 quantity and position to meet the instructions for use of different situations according to actual conditions.Rake accessory 25 in obstacle cleaning device 3 or knife-like accessory 26 are fixedly connected by bolt and two multidiameters 34, wherein, multidiameter 34 one end, left side is screwed with the location and installation hole 39 of long handle 38 accessory and is connected, the other end is through bearing block 35, be fixedly connected with motor 36 by yielding coupling 37, motor 36 is fixedly connected with rescue robot vehicle frame 2; Multidiameter 34 one end, right side is screwed with the location and installation hole 39 of long handle 38 accessory and is connected, and the other end, through bearing block 35, then limits moving axially of multidiameter 34 with split pin through split pin installing hole 40.When needing smooth-riding surface, motor 36 rotates, drive multidiameter 34 and connected accessory 8 (comprising rake accessory 25 and knife-like accessory 26) of removing obstacles to swing to touch with ground, after rescue robot repeatedly advances or retreats, complete evenness of road surface work.After completing, motor 36 reversely rotates, and rake accessory 25 or knife-like accessory 26 reset to initial position.
As shown in Figure 5, perform end 13 to be made up of reducing motor 18, reducing motor holder 24, straight spur gear 19, spur rack 20, mechanical clamp 21, mechanical cutting nippers 22, spring 23.Reducing motor 18 is fixed on reducing motor holder 24 by screw, and straight spur gear 19 is connected and fixed with the output shaft of reducing motor 18.Spur rack 20 engages with straight spur gear 19 and can horizontal slip in the gathering sill of reducing motor holder 24.The cutting nippers fixed hole seat 33 of machinery cutting nippers 22 is connected and fixed by one end of bolt and spur rack 20, realizes being synchronized with the movement with it.Machinery cutting nippers 22 fits with mechanical clamp 21, the lead 31 on mechanical cutting nippers 22 can in clamp gathering sill 29 linear slide, the clamp spring carrier arm 28 simultaneously on mechanical clamp 21 can in cutting nippers gathering sill 30 straight line linear slide in opposite directions.Spring 23 one end is hooked in pincers spring carrier arm 28, and one end is hooked on cutting nippers spring carrier arm 32, there is compression pretightning force at initial time spring.
The reducing motor holder 2 performing end 13 is connected and fixed by bolt and diagonal-cut rack 11, can vertical sliding motion in the gathering sill of diagonal-cut rack 11 on motor cabinet 14.Worm and gear gear motor 12 is connected and fixed by bolt and motor cabinet 14, and helical gears 15 are by be fixed on worm and gear gear motor 12 and to be meshed with diagonal-cut rack 11.
When the wounded 7 head, back are in lowland, class spade pick device 16 cannot insert the wounded 7 lower body part or can cause damage to the wounded 7, now needs the wounded 7 to be dragged to smooth-riding surface or by unsettled for the wounded 7 head.Guide rod type electric cylinder moves linearly, and drive motor seat 14, dynamic worm and gear gear motor 12, diagonal-cut rack 11, helical gears 15 and execution end 13 stretch out to front side, shut down when performing end 13 and being positioned at the wounded 7 chest upper end.Now, worm and gear gear motor 12 starting up drives connected helical gears 15 to rotate, and then drives diagonal-cut rack 11 to move downward.Because spring 23 exists certain compression pretightning force effect; the wounded 7 clothing so the mechanical clamp 21 performing end 13 can be fitted; when the Body contact of the accessory 8 performing end 13 with the wounded 7, worm and gear gear motor 12 is shut down (performing the relative pose state of end 13 as shown in figure 11).Perform end 13 to start working, its upper end reducing motor 18 drives straight spur gear 19 to rotate with certain speed, and two relative middle motions of spur rack 20 are until the wounded 7 clothes steps up by mechanical clamp 21.Now worm and gear gear motor 12 starts again, and it turns to contrary with when starting.When performing (performing the relative pose state of end 13 as shown in figure 12) when the end 13 gripping wounded 7 clothing rises to enough height, worm and gear gear motor 12 is shut down.Now, rescue robot 1 retreats to cause and performs end 13 and pull the wounded 7 to the follow-up pickup work of place development be applicable to.
When some foreign material 6 of health upper press cover of the wounded 7, now perform end 13 and can use mechanical clamp 21 to carry out gripping foreign material 6 and coordinate the bobbin movement of rescue robot 1 to be put to other position; When the wounded 7 carry knapsack, knapsack, weaponry with it, perform end 13 and use mechanical cutting nippers 22 according to actual conditions, when performing end 13 and continuing to decline close to the wounded 7, the place's of the connecing power acted between mechanical clamp 21 and the wounded 7 breaches the pretightning force effect of spring 23, mechanical clamp 21 is by jack-up, pressure sensor and the change of range sensor perceptual signal, when mechanical cutting nippers 22 contacts with braces, performing end 13 stops near action, cut off the braces of equipment, prevent equipment, foreign material enter the normal work affecting storage system 2.
When rescue robot 1 class spade pick device 16, middle transition and conveying device 17 work; as shown in Figure 4; motor start drives accessory to rotate to low level C point; worm and gear gear motor 12 is started shooting simultaneously; drive diagonal-cut rack 11 and perform end 13 and move downward, arrival B point position rear motor 36 and worm and gear gear motor 12 are shut down.
After rescue robot 1 completes the pickup work of the wounded 7, class spade pick device 16, middle transition conveying device 17 recover pose shown in Fig. 1.Motor 36 is started shooting and is driven accessory 8 to rotate to high-order D point, and worm and gear gear motor 12 is started shooting simultaneously, drives diagonal-cut rack 11 and perform end 13 to move upward, and arrive A point position rear worm wheel worm speed-down motor 12 and shut down, auxiliary equipment reset mode as shown in Figure 8.Rescue robot 1 completes whole field rescue work after auxiliary equipment resets, and rescue robot transports the wounded 7 and sails out of scene.
Claims (3)
1. a rescue robot auxiliary equipment, comprises obstacle cleaning device and multi-functional execution arm, and described multi-functional execution arm comprises and to be fixedly connected arm main body with rescue robot car body and to be arranged on the execution end (13) of arm main body end;
Described execution end (13) comprises reducing motor holder (24), be fixed on the reducing motor (18) on reducing motor holder (24), straight spur gear (19), spur rack (20), mechanical clamp (21), mechanical cutting nippers (22) and spring (23).
Reducing motor holder (24) is provided with gathering sill, and straight spur gear (19) is connected and fixed with the output shaft of reducing motor (18); Spur rack (20) engages with straight spur gear (19) and can horizontal slip in the gathering sill of reducing motor holder (24);
Described mechanical cutting nippers (22) is fixedly connected on the front end with spur rack (20) by cutting nippers fixed hole seat 33, mechanical cutting nippers (22) is provided with cutting nippers gathering sill (30) and lead (31), mechanical clamp (21) and mechanical cutting nippers fit, be provided with clamp gathering sill (29), lead (31) on machinery cutting nippers (22) can in clamp gathering sill (29) linear slide, clamp spring carrier arm (28) on mechanical clamp (21) can in cutting nippers gathering sill (30) straight line linear slide in opposite directions,
Mechanical cutting nippers (22) and mechanical clamp (21) are provided with hook, and the two ends of described spring (23) are respectively hooked on these two hooks (28,32), there is compression pretightning force at initial time spring;
Described obstacle cleaning device, comprise the accessory of two ends with two long handles (38), yielding coupling (37) and motor (36), it is characterized in that, two long handles (38) of accessory are fixedly connected with two multidiameters (34) respectively, wherein, multidiameter (34) one end of side is screwed with the location and installation hole (39) of a long handle (38) of accessory and is connected, the other end is through bearing block (35), be fixedly connected with motor (36) by yielding coupling (37), motor (36) is fixedly connected with rescue robot vehicle frame (2), another side steps axle (34) one end is screwed with the location and installation hole (39) of another long handle (38) of accessory and is connected, the other end, through bearing block (35), then limits moving axially of multidiameter (34) with split pin through split pin installing hole (40).
2. rescue robot auxiliary equipment according to claim 1, it is characterized in that, described arm main body comprises diagonal-cut rack (11), motor cabinet (14), worm and gear gear motor (12) and guide rod type electric cylinder (10), the reducing motor holder (24) performing end (13) is fixedly connected with diagonal-cut rack (11), can vertical sliding motion in the gathering sill of diagonal-cut rack (11) on motor cabinet (14), motor cabinet (14) is fixedly connected with guide rod type electric cylinder (10), the cylinder body of guide rod type electric cylinder (10) and the car body of rescue robot 2 are fixedly connected, make motor cabinet (14), diagonal-cut rack (11), reducing motor holder (24) and execution end (13) are synchronized with the movement with guide rod type electric cylinder (10), thus complete execution end (13) horizontal stretching motion, worm and gear gear motor (12) and motor cabinet (14) are connected and fixed, and helical gears (15) are fixed on worm and gear gear motor (12) and go up and be meshed with diagonal-cut rack (11), worm and gear gear motor (12) starting up drives connected helical gears (15) to rotate, and then drives diagonal-cut rack (11) to move up and down.
3. rescue robot auxiliary equipment according to claim 1, is characterized in that, described accessory is rake accessory (25) or knife-like accessory (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410553749.9A CN104354160B (en) | 2014-10-17 | 2014-10-17 | Rescue robot auxiliary equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410553749.9A CN104354160B (en) | 2014-10-17 | 2014-10-17 | Rescue robot auxiliary equipment |
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| Publication Number | Publication Date |
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| CN104354160A true CN104354160A (en) | 2015-02-18 |
| CN104354160B CN104354160B (en) | 2016-01-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410553749.9A Expired - Fee Related CN104354160B (en) | 2014-10-17 | 2014-10-17 | Rescue robot auxiliary equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108068119A (en) * | 2016-11-14 | 2018-05-25 | 喻天宝 | Rescue of battlefield robot |
| CN110523033A (en) * | 2019-08-19 | 2019-12-03 | 重庆特斯联智慧科技股份有限公司 | A kind of intelligent escape auxiliary robot of fire-fighting and rescue |
| CN112295134A (en) * | 2020-10-13 | 2021-02-02 | 三峡大学 | Rescue equipment in narrow space and using method |
| CN113696192A (en) * | 2020-10-16 | 2021-11-26 | 国网浙江省电力有限公司金华供电公司 | Be used for narrow and small space rescue split type robot |
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| US20140150806A1 (en) * | 2012-12-02 | 2014-06-05 | John Hu | Robotic First Responder System and Method |
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| US20010024045A1 (en) * | 2000-03-27 | 2001-09-27 | Millo Bertini | Gripper with enhanced opening range |
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| CN108068119A (en) * | 2016-11-14 | 2018-05-25 | 喻天宝 | Rescue of battlefield robot |
| CN110523033A (en) * | 2019-08-19 | 2019-12-03 | 重庆特斯联智慧科技股份有限公司 | A kind of intelligent escape auxiliary robot of fire-fighting and rescue |
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| Publication number | Publication date |
|---|---|
| CN104354160B (en) | 2016-01-27 |
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