CN104689940A - Decontamination robot for chemical factory leakage accidents - Google Patents
Decontamination robot for chemical factory leakage accidents Download PDFInfo
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- CN104689940A CN104689940A CN201510104025.0A CN201510104025A CN104689940A CN 104689940 A CN104689940 A CN 104689940A CN 201510104025 A CN201510104025 A CN 201510104025A CN 104689940 A CN104689940 A CN 104689940A
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Abstract
The invention provides a decontamination robot for chemical factory leakage accidents. The decontamination robot comprises a control mechanism, a chassis framework, a bearing wheel mechanism and a fine water mist system, wherein the bearing wheel mechanism is arranged at the bottom of the chassis framework, the fine water mist system is arranged at the upper part of the chassis framework, the chassis framework and the bearing wheel mechanism are wrapped with a crawler belt, the bearing wheel mechanism comprises a support wheel, the support wheel is connected with a support wheel shaft, the support wheel shaft is connected with a support rod, the support rod is connected with a damping base and a mounted bearing, the damping base is connected with a damping rod, a regulating ring is arranged on the damping rod, a spring is arranged on the damping rod in a sleeving manner, the base of the spring is limited by the regulating ring, a retainer ring at the top of the damping rod is connected with a steel shaft, a steel shaft is further connected onto the mounted bearing, and steel shaft clamps are connected with the two ends of the steel shafts. The decontamination robot can reach a place closest to the site instead of work staff when hazardous chemical leaks, can utilize the fine water mist system to carry out decontamination operation, and prevents secondary damage from being caused by the site access and operation of workers.
Description
Technical field
The present invention relates to a kind of fire-fighting robot, being specifically related to a kind of for carrying out the robot of decontamination operation in the hazardous chemical generation leakage epoch for staff.
Background technology
In recent years, Frequent Accidents is revealed in chemical plant, causes great casualties and property loss.Three kinds of major accidents in Chemical Manufacture: fire, poison gas are revealed and corrosion all may produce the environment that people cannot be close, and permanent damage may be caused to environment, at this moment need staff to wear biochemical defence suit or other chemical defence measures carry out decontamination operation to eliminate the harm of environment near scene.
So-called decontamination, refers to the major measure eliminating contamination body and contaminated area toxic hazard, and therefore in hazardous chemical disaster accident handling, decontamination is a very important requisite link.The wash bags that disappear draw together physical method and chemical method, no matter are physical method or chemical method, all need the hand-held relevant device of staff to enter hazardous environment and implement decontamination operation, add possibility personnel being produced to secondary injury so undoubtedly.If now there is a robot can substitute the work of people in decontamination process, to greatly reduce personnel and produce the possibility of injures and deaths, robot can go deep into the most dangerous region, carry more decontaminant, its operating efficiency can be far longer than manually, and robot time is short, the scene of the accident can be entered rapidly, input rescue as far as possible early or decontamination.
In recent years along with the development of material science, sensing technology, large scale integrated circuit, Robotics becomes better and approaching perfection day by day, and the application of robot is also more and more extensive.Because robot is applicable to the occasion be pernicious to people, the advantages such as the limitation of human physique can be broken through, make it have the unrivaled advantage of the mankind in disaster relief foreign lands, and will gather around and hold out broad prospects.
Meanwhile, along with the development of national economy, to the surge of various daily necessities demand, all kinds of chemical plant spreads all over the country.The hidden danger that major part chemical plant all exists HTHP, poisonous and harmful environment and has an accident.Countless accident cases shows, the chemical industry of China allows of no optimist safely.Such as, at a lot of chemical plant, chlor-alkali plant, fertilizer production plant etc., often can there is the situation that toxic and harmful leaks.For this situation, there is no safe processing scheme.There is ammonia valve leak accident in such as certain chemical fertilizer production enterprise 2011, is finally to think that section chief wears biochemical defence suit and rushes in and leak workshop and block valve, and finally cause this section chief's respiratory tract serious burn, eternal cries out.
Comprehensively above background, a place that people can be replaced to arrive closest to scene when hazardous chemical generation is leaked utilizes water mist system to carry out decontamination operation, or even is extremely necessary with the robot that manipulator completes simply as tasks such as valve-offs.It certainly will can be punched in the most dangerous front, farthest reduces casualties and property loss.
What comparatively early carry out fire-fighting robot research in the world is the U.S. and the former Soviet Union, and the country such as Britain, Japan, France, Germany also begins one's study such technology one after another after a while.The fire-fighting robot of existing a variety of difference in functionality is used for disaster relief scene at present.Because Japanese disaster takes place frequently, therefore compare the research and development paying attention to fire-fighting robot.Such as main-auxiliary vehicle fire-fighting robot, use internal combustion engine is power, drives with four rubber wheels, and large discharge is housed and sprays water cannon, jet length can reach 150m farthest, and this robotic equipment's has gas detecting instrument and television monitor equipment simultaneously.Except Japan, the countries such as the U.S., France, the former Soviet Union also have fire-fighting robot to come into operation.Shanghai Fire-Fighting Science Inst., The Ministry of Public Security of China also have developed multiple automatic fire-fighting facility and fire-fighting robot under the support of the Ministry of Public Security.Comprising " self propelled monitor " (six take turns firefighting fire extinguishing robot), there are six wheels of independent suspension in this robot, is equipped with control fire monitor far away and water, the two feed system of foam.Control aspect, this machine is built with environment and vehicle body temperature-sensing system, and Active Eyes and corded power supply and control system, can go deep into the scene of a fire, carry out fire extinguishing and chemical decontamination under the operation of fireman.
In general, fire-fighting robot comprises following a few part: (1) motion parts, namely by internal combustion engine or the motor-driven chassis having certain obstacle climbing ability, and some use crawler belts, some use wheels.(2) fire plant, generally includes water storage device (what have is directly connected to fire fighting truck or other water sources, can without this device), pipeline, spray gun, pump, Burners Positions adjusting device etc.(3) control section, some employing controlled in wireless, what have carries out there is line traffic control with cable.Usually there is wireless video monitoring, various sensor assist operator manipulates robot.
In prior art, although there is very eurypalynous robot, do not find the robot that can be specifically designed to decontamination operation temporarily.Composition and the general fire-fighting robot of decontamination robot are very similar, but have its special character.Likely can be with due to entrained decontamination solution and be corrosive, and leak scene probably hot and humid, poisonous and harmful, full of smoke, this all proposes requirements at the higher level to the safeguard procedures of decontamination robot and detection measure.
Summary of the invention
The present invention proposes a kind of chemical plant leakage accident decontamination robot, staff can be substituted when hazardous chemical occurs to leak, arrive closest to on-the-spot place, water mist system can be utilized to carry out decontamination operation, the secondary injury preventing from workman from entering field operation causing.
Technical scheme of the present invention is achieved in that a kind of chemical plant leakage accident decontamination robot, comprise controlling organization, carrier frame, BOGEY WHEEL mechanism and water mist system, BOGEY WHEEL organization establishes is bottom carrier frame, water mist system is arranged on carrier frame top, carrier frame and BOGEY WHEEL mechanism are coated with crawler belt, described BOGEY WHEEL mechanism comprises support wheel, support wheel is connected with support wheel shaft, support wheel shaft to be connected with support bar, support bar and damping base, rolling bearing units are connected, damping base is connected with decoupling rod, decoupling rod is provided with adjusting ring, spring housing is located on decoupling rod and spring pedestal is spacing by adjusting ring, the back-up ring at decoupling rod top is connected with steel axle, rolling bearing units are also connected with a steel axle, steel axle two ends are connected with steel axle clamp.
Described carrier frame comprises drive part, cross tube, sheer pole, upper montant, lower montant, cross tube, sheer pole are connected by connecting rod, cross tube is connected with upper montant is vertical, sheer pole is connected with lower montant is vertical, the steel axle clamp at rolling bearing units two ends is connected with lower montant, and two steel axle clamps at decoupling rod top are connected with upper montant.
Described drive part comprises motor, and motor is arranged on electric machine support, and motor drives driving wheel to rotate by drive sprocket, driven sprocket, and the live axle of driving wheel is connected with upper montant by rolling bearing units.
Described water mist system comprises water tank, water tank is connected with ratio mixing valve, and another entrance of ratio mixing valve is connected with decontaminant storage tank, and the delivery port of ratio mixing valve is connected with high-pressure plunger pump, high-pressure plunger pump is connected with power source, and the delivery port of high-pressure plunger pump is connected with Pressure gauge, spray gun.
Flexible pipe between high-pressure plunger pump and Pressure gauge is also connected with overflow pressure-reducing valve, and overflow pressure-reducing valve is also connected on the flexible pipe between ratio mixing valve, high-pressure plunger pump.
Also comprise monitoring system, monitoring system comprises and is fixed on lithium battery on carrier frame and electric pushrod, and electric pushrod is connected with camera, and lithium battery is coated with one deck aluminum hull.
Described electric pushrod top is connected with camera bottom base through after connecting hole, and connecting hole is arranged on upper junction plate, and upper junction plate is connected with middle connecting plate is vertical, and middle connecting plate is connected with the lower connecting plate of L-type is vertical.
There is certain obstacle climbing ability in robot of the present invention, can remote wireless control, carries decontamination solution as much as possible, adopts water mist system to carry out decontamination operation, and the height of shower nozzle, towards regulating, decontamination solution flow also can regulate.The present invention substitutes staff and enters decontamination scene, can prevent the on-the-spot harmful substance such as poison, mist damage staff.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is schematic front view of the present invention.
Fig. 2 is that schematic diagram is looked on the right side of Fig. 1.
Fig. 3 is the schematic top plan view of Fig. 1.
Fig. 4 is the structural representation of BOGEY WHEEL structure.
Fig. 5 is carrier frame and BOGEY WHEEL anatomical connectivity view.
Fig. 6 is elevational schematic view in Fig. 5.
Fig. 7 is the schematic top plan view of Fig. 5.
Fig. 8 is that schematic diagram is looked on a left side of Fig. 5.
Fig. 9 is BOGEY WHEEL anatomical connectivity schematic diagram.
Figure 10 is the structural representation of through position.
Figure 11 is the theory diagram of water mist system.
Figure 12 is the theory diagram of slave computer control section.
Wherein: 1. carrier frame, 1-1. driving wheel, 1-2. driven sprocket, 1-3. chain, 1-4. cross tube, 1-5. electric machine support, 1-6. motor, the upper montant of 1-7., 1-8. live axle, 1-9. sheer pole, 1-10. drive sprocket, 1-11. end ring, 1-12. lower montant, 1-13. connecting rod, 2. BOGEY WHEEL mechanism, 2-1. steel axle, 2-2. back-up ring, 2-3. steel axle clamp, 2-4. spring, 2-5. adjusting ring, 2-6. rolling bearing units, 2-7. support bar, 2-8. damping base, 2-9. support wheel, 2-10. support wheel shaft, 2-11. decoupling rod, 3. water mist system, 3-1. water tank, 3-2. decontaminant storage tank, 3-3. ratio mixing valve, 3-4. high-pressure plunger pump, 3-5. overflow pressure-reducing valve, 3-6. Pressure gauge, 3-7. spray gun, 3-8. power source, 4. crawler belt, 5. electric pushrod, 6. camera, 7. water pump, 8. lithium battery, 9. upper support, 10. through position, 10-1. connecting hole, 10-2, upper junction plate, 10-3. middle connecting plate, 10-4. lower connecting plate.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not paying the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in accompanying drawing 1 ~ 10, a kind of chemical plant leakage accident decontamination robot, comprise controlling organization, carrier frame 1, BOGEY WHEEL mechanism 2 and water mist system 3, BOGEY WHEEL mechanism 2 is arranged on bottom carrier frame 1, water mist system 3 is arranged on carrier frame 1 top, carrier frame 1 and BOGEY WHEEL mechanism 2 are coated with crawler belt 4, described BOGEY WHEEL mechanism 2 comprises support wheel 2-9, support wheel 2-9 is connected with support wheel shaft 2-10, support wheel shaft 2-10 to be connected with support bar 2-7, support bar 2-7 and damping base 2-8, rolling bearing units 2-6 is connected, damping base 2-8 is connected with decoupling rod 2-11, decoupling rod 2-11 is provided with adjusting ring 2-5, spring 2-4 to be set on decoupling rod 2-11 and spacing by adjusting ring 2-5 bottom spring 2-4, the back-up ring 2-2 at decoupling rod 2-11 top is connected with steel axle 2-1, rolling bearing units 2-6 is also connected with a steel axle 2-1, steel axle 2-1 two ends are connected with steel axle clamp 2-3.
In the present invention, each BOGEY WHEEL mechanism 2 each side arranges a support wheel 2-9, four groups or more BOGEY WHEEL mechanism 2 is each side connected with bottom carrier frame 1, decoupling rod 2-11, spring 2-4 and damping base 2-8 play cushioning effect, BOGEY WHEEL mechanism is fixed on carrier frame by steel axle clamp 2-3, whole BOGEY WHEEL mechanism forms a triangular structure, and wherein the limit at decoupling rod 2-11 place is long and short can change, and plays main cushioning effect.
As preferably, described carrier frame 1 comprises drive part, cross tube 1-4, sheer pole 1-9, upper montant 1-7, lower montant 1-12, cross tube 1-4, sheer pole 1-9 are connected by connecting rod 1-13, cross tube 1-4 is connected with upper montant 1-7 is vertical, sheer pole 1-9 is connected with lower montant 1-12 is vertical, the steel axle clamp 2-3 at rolling bearing units 2-6 two ends is connected with lower montant 1-12, and two steel axle clamp 2-3 at decoupling rod 2-11 top are connected with upper montant 1-7.Described drive part comprises motor 1-6, and motor 1-6 is arranged on electric machine support 1-5, and motor 1-6 drives driving wheel 1-1 to rotate by drive sprocket 1-10, driven sprocket 1-2, and the live axle 1-8 of driving wheel 1-1 is connected with upper montant 1-7 by rolling bearing units.Live axle 1-8 is provided with end ring 1-11.
Wherein, carrier frame 1 has driving and the double function of load-bearing: 1. drive function, drive sprocket 1-10 is driven to rotate time motor 1-6 rotates, drive sprocket 1-10 drives driven sprocket 1-2 to rotate by chain 1-3, and driven sprocket 1-2 and driving wheel 1-1 is coaxially arranged, time driving wheel 1-1 rotates, whole device is driven to move forward; 2. weight-bearing function: jointly completed by carrier frame and BOGEY WHEEL mechanism, cross tube 1-4, upper montant 1-7 directly contact with load-carrying, by building connection between cross bar, montant, finally complete load-carrying by BOGEY WHEEL mechanism, damping assume responsibility for the double action of partial weight-bearing and damping.
As shown in figure 11, described water mist system 3 comprises water tank 3-1, water tank 3-1 is connected with ratio mixing valve 3-3, another entrance of ratio mixing valve 3-3 is connected with decontaminant storage tank 3-2, the delivery port of ratio mixing valve 3-3 is connected with high-pressure plunger pump 3-4, high-pressure plunger pump 3-4 is connected with power source 3-8, and the delivery port of high-pressure plunger pump 3-4 is connected with Pressure gauge 3-6, spray gun 3-7.Flexible pipe between high-pressure plunger pump 3-4 and Pressure gauge 3-6 is also connected with overflow pressure-reducing valve 3-5, overflow pressure-reducing valve 3-5 is also connected on the flexible pipe between ratio mixing valve 3-3, high-pressure plunger pump 3-4.
Water mist system is the major part playing decontamination effect in whole device, high-pressure plunger pump 3-4, decontaminant storage tank 3-2 are arranged on carrier frame, power source 3-8 by power transmission to high-pressure plunger pump 3-4, the outlet of high-pressure plunger pump 3-4 is connected to overflow pressure-reducing valve 3-5, and the outlet of overflow pressure-reducing valve 3-5 is connected with decontamination spray gun 3-7 by high-pressure hose.Time high-pressure plunger pump 3-4 works, water and decontaminant mixture spray gun 3-7 are sprayed, achieve decontamination work, 7, water pump can to water-filling in water tank 3-1.Carrier frame is connected with upper support 9, water pump 7 etc. is arranged in upper support 9.
May there is poisonous or charged dust invasion control circuit due to the scene of revealing or power supply can cause corrosion or short circuit, therefore dust-proof grade needs to reach 6, namely prevents foreign object or dust from entering completely.Because front end is water mist system, can produce in a large number from the water mists of all directions, can waft under the effect of air-flow around control box or power supply, water mist system leaks because the problem sealed has part water droplet, splashing water droplet may be formed, therefore the classification of waterproof of circuit is decided to be dust-proof 4 grades of IP (preventing splashing water from immersing).Control box in the present invention should reach IP64 standard, and control box is a hermetic structure, forms for ensureing that heat sink body is cast by fine aluminium, the place of outlet be PG9 water joint, switch be water-proof vessel shaped switch; Main body and upper cover be Flange joint, there is rubber seal centre, and for convenience of situation in observation box, what lid adopted is poly (methyl methacrylate) plate, and such control box inside is an airtight space.
The present invention also comprises monitoring system, and monitoring system comprises and is fixed on lithium battery 8 on carrier frame and electric pushrod 5, and electric pushrod 5 is connected with camera 6, and lithium battery 8 is coated with one deck aluminum hull.Arrange the water resistance that aluminum hull can increase lithium battery, can splash by anti-sealing, the interface of battery can adopt PG9 water joint.Preferably, described electric pushrod 5 top is connected with camera 6 bottom base through after connecting hole 10-1, connecting hole 10-1 is arranged on upper junction plate 10-2, upper junction plate 10-2 is connected with middle connecting plate 10-3 is vertical, middle connecting plate 10-3 is connected with the lower connecting plate 10-4 of L-type is vertical, and spray gun 3-7 is arranged on lower connecting plate 10-4, when electric pushrod 5 works time, camera moves together with spray gun 3-7, is convenient to the working condition of camera record spray gun 3-7 like this.
The angle, just of spray gun can be regulated, to adapt to field operation when work.
Described in the present invention, controlling organization is divided into two large divisions: PC control part and slave computer control section.
PC control part comprises controller, host computer and wireless communication module, and its Main Function the information of controller is become by the reading of host computer and conversion the control word meeting communication protocol send to slave computer.Host computer also has the function of wireless video communication simultaneously, uses IP Camera by transmission of wireless signals scene image information.
Slave computer control section can be divided into two parts: power section and water mists part.Power section comprises the direct current generator of 2 120W; Water mists part comprises: a water pump, magnetic valve, an elevating lever and a horizontal stage electric machine.Wherein power section and water mists part need to control with MCU, and slave computer control principle as shown in figure 12.
Upper parts can realize following two tasks: (1) reads rocking bar control signal; (2) control signal extracted, decompose, meet the character string of communication protocol to slave computer by serial ports transmission;
The control that LabVIEW carries can easily read the information of rocking bar, installs and drive after only needing rocking bar to be inserted into computer U mouth.The application's middle controller is a flight rocking bar for PC, has 3 rotating shafts, 4 buttons, respectively: x-axis and y-axis control front and back and turn in advancing, and z-axis controls pivot stud.X-axis is a reference value, and y-axis is difference value, and when advancing x-axis, LabVIEW reads its coordinate value value (-43000-43000), positive negative indication direction, numeric representation size and even variation.Changed into the motor control signal of two numeric representations by the conversion of numerical value, be position, a direction (0 rotates forward, and 1 is anti-) and pwm position respectively, send to slave computer to control body movement.
The most important function of host computer reasonably processes after control signal being collected, and changes into the rs 232 serial interface signal that directly can send to slave computer.According to the information of communication protocol and rocking bar, produced the control string of 11 bytes by host computer.Control mainly contains following several state: 1. the y-axis of rocking bar represents the radix of throttle, i.e. two motors output valve when x-axis side-play amount is 0, but using on the radix taken as deflection factor representated by y-axis after x-axis deflects, therefore turning to of vehicle can be controlled in advancing; 2. the rotation of z-axis can produce a vector, extracts its direction and size, distributes to two motors, and produce size identical, two pwm values that direction is contrary, make its pivot stud; 3. the switch of button 1 Controlling solenoid valve, the opening and closing of button 2 control pump, the lifting of both direction key control push-rod electric machine.
The application's employing WIFI carries out the transmission of screen signal.Gather picture signal by a camera 6 and automatically distribute into WIFI signal, then connecting the LAN of wireless camera with the wireless network card of host computer (notebook computer), can carry out seeing realtime graphic on host computer.
Slave computer software can complete two tasks: the serial port communication data that host computer sends over by (1) is resolved, and reads each control bit; (2) the PC control position signal read is changed into the slave computer control signal that directly can control corresponding module, control two motors respectively to drive and four relays, complete the manipulation to two motors, water pump, a magnetic valve and an elevating lever.
In the application, robot performance's parameter testing list is as follows
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a chemical plant leakage accident decontamination robot, comprise controlling organization, carrier frame (1), BOGEY WHEEL mechanism (2) and water mist system (3), BOGEY WHEEL mechanism (2) is arranged on carrier frame (1) bottom, water mist system (3) is arranged on carrier frame (1) top, carrier frame (1) and BOGEY WHEEL mechanism (2) are coated with crawler belt (4), it is characterized in that: described BOGEY WHEEL mechanism (2) comprises support wheel (2-9), support wheel (2-9) is connected with support wheel shaft (2-10), support wheel shaft (2-10) to be connected with support bar (2-7), support bar (2-7) and damping base (2-8), rolling bearing units (2-6) are connected, damping base (2-8) is connected with decoupling rod (2-11), decoupling rod (2-11) is provided with adjusting ring (2-5), spring (2-4) is set in that decoupling rod (2-11) is upper and spring (2-4) base is spacing by adjusting ring (2-5), the back-up ring (2-2) at decoupling rod (2-11) top is connected with steel axle (2-1), rolling bearing units (2-6) are also connected with a steel axle (2-1), steel axle (2-1) two ends are connected with steel axle clamp (2-3).
2. chemical plant leakage accident decontamination robot according to claim 1, it is characterized in that: described carrier frame (1) comprises drive part, cross tube (1-4), sheer pole (1-9), upper montant (1-7), lower montant (1-12), cross tube (1-4), sheer pole (1-9) is connected with upper montant (1-7) is vertical by the connected cross tube (1-4) of connecting rod (1-13), sheer pole (1-9) is connected with lower montant (1-12) is vertical, the steel axle clamp (2-3) at rolling bearing units (2-6) two ends is connected with lower montant (1-12), two steel axle clamps (2-3) at decoupling rod (2-11) top are connected with upper montant (1-7).
3. chemical plant leakage accident decontamination robot according to claim 2, it is characterized in that: described drive part comprises motor (1-6), motor (1-6) is arranged on electric machine support (1-5), motor (1-6) drives driving wheel (1-1) to rotate by drive sprocket (1-10), driven sprocket (1-2), and the live axle (1-8) of driving wheel (1-1) is connected with upper montant (1-7) by rolling bearing units.
4. chemical plant leakage accident decontamination robot according to claim 1, it is characterized in that: described water mist system (3) comprises water tank (3-1), water tank (3-1) is connected with ratio mixing valve (3-3), ratio mixing valve (3-3) another entrance is connected with decontaminant storage tank (3-2), the delivery port of ratio mixing valve (3-3) is connected with high-pressure plunger pump (3-4), high-pressure plunger pump (3-4) is connected with power source (3-8), and the delivery port of high-pressure plunger pump (3-4) is connected with Pressure gauge (3-6), spray gun (3-7).
5. chemical plant leakage accident decontamination robot according to claim 4, it is characterized in that: the flexible pipe between high-pressure plunger pump (3-4) and Pressure gauge (3-6) is also connected with overflow pressure-reducing valve (3-5), overflow pressure-reducing valve (3-5) is also connected on the flexible pipe between ratio mixing valve (3-3), high-pressure plunger pump (3-4).
6. according to the chemical plant leakage accident decontamination robot one of claim 1 ~ 5 Suo Shu, it is characterized in that: also comprise monitoring system, monitoring system comprises and is fixed on lithium battery (8) on carrier frame and electric pushrod (5), electric pushrod (5) is connected with camera (6), and lithium battery (8) is coated with one deck aluminum hull.
7. chemical plant leakage accident decontamination robot according to claim 6, it is characterized in that: described electric pushrod (5) top is connected with camera (6) bottom base through after connecting hole (10-1), connecting hole (10-1) is arranged on upper junction plate (10-2), upper junction plate (10-2) is connected with middle connecting plate (10-3) is vertical, and middle connecting plate (10-3) is connected with the lower connecting plate (10-4) of L-type is vertical.
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| CN201510104025.0A CN104689940B (en) | 2015-03-10 | 2015-03-10 | Accident decontamination robot is revealed in a kind of chemical plant |
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| CN201510104025.0A CN104689940B (en) | 2015-03-10 | 2015-03-10 | Accident decontamination robot is revealed in a kind of chemical plant |
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| CN107875549A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | Explosion-proof fire inspection firefighting robot and method of work |
| CN109092590A (en) * | 2018-10-18 | 2018-12-28 | 广东能飞航空科技发展有限公司 | A kind of spray head of coatings spray robot |
| CN109092590B (en) * | 2018-10-18 | 2023-09-08 | 广东冠能电力科技发展有限公司 | Spray head for insulating paint spraying robot |
| CN109864864A (en) * | 2019-03-06 | 2019-06-11 | 无锡市第二人民医院 | Change a machine working method |
| CN111330048A (en) * | 2020-03-09 | 2020-06-26 | 安徽荣国环保智能科技有限公司 | Intelligent robot sterilizer |
| CN111505009A (en) * | 2020-04-21 | 2020-08-07 | 国网河南省电力公司电力科学研究院 | Power transformer internal fault detection system based on wall-climbing robot |
| CN112933483A (en) * | 2021-03-31 | 2021-06-11 | 长安大学 | Crawler-type fire extinguishing device for carrying fire extinguisher |
| CN115401671A (en) * | 2022-11-02 | 2022-11-29 | 西安彬林电子科技有限公司 | Multifunctional wheeled industrial intelligent inspection robot |
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