CN105666501A - Rescue robot - Google Patents
Rescue robot Download PDFInfo
- Publication number
- CN105666501A CN105666501A CN201610210475.2A CN201610210475A CN105666501A CN 105666501 A CN105666501 A CN 105666501A CN 201610210475 A CN201610210475 A CN 201610210475A CN 105666501 A CN105666501 A CN 105666501A
- Authority
- CN
- China
- Prior art keywords
- electric pushrod
- sliding sleeve
- servomotor
- travelling carriage
- reel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000002775 capsule Substances 0.000 claims abstract description 35
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 34
- 230000004083 survival effect Effects 0.000 claims description 33
- 210000000078 claw Anatomy 0.000 claims description 15
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 229910001416 lithium ion Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 9
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 229910052760 oxygen Inorganic materials 0.000 claims description 4
- 239000001301 oxygen Substances 0.000 claims description 4
- 230000029058 respiratory gaseous exchange Effects 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 3
- 238000001816 cooling Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B99/00—Subject matter not provided for in other groups of this subclass
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention provides a rescue robot, which comprises a translation rack, a three-jaw diameter-variable driving wheel, a drum, a first servo motor and the like, wherein the three-jaw diameter-variable driving wheel comprises a rotation rack, clamping jaws, spherical hinge supports, a double-bulk tension rod, a sliding sleeve, and a spline shaft, the rotation rack is composed of a middle disc and three hinge supports uniformly arranged at the periphery of the disc, the rotation rack is fixed at the end part of the spline shaft, and the clamping jaws are crescent. By utilizing the three-jaw diameter-variable driving wheel, a self-cooling system, a fully closed escape capsule and other new technologies, the rescue robot has strong ladder climbing capability, and can endure high temperature generated in a fire scene.
Description
Technical field
The present invention relates to robotics, particularly to a kind of rescue robot.
Background technology
Fast development along with robotics, being applied in the life of the mankind of rescue robot also gets more and more, especially the mankind are when suffering the natural disaster such as fire, earthquake disaster, personnel are easily trapped in tall and big building, owing to scene of fire temperature is higher, fireman enters dangerous, now then need the help of robot, traditional rescue robot great majority are that rubber belt track drives, non-refractory, the ability of speeling stairway or barrier, and captive directly can not be rescued from stranded room.
Summary of the invention
For the problems referred to above, the present invention provides a kind of rescue robot, it utilizes three-pawl type reducing driving wheel, from cooling system, the new techniques such as totally-enclosed survival capsule, there is stronger stair climbing ability, the high temperature that scene of fire produces can be withstood, and when robot has two kinds of schemes of suing and labouring after arriving room, trapped personnel place: a kind of is after the survival capsule that trapped personnel enters robot, discharged survival capsule by robot from balcony windows, trapped personnel is dropped to ground to get rid of poverty, another is that trapped personnel enters survival capsule followed by robot from backtracking in corridor.
Technical scheme used in the present invention is: a kind of rescue robot, including pan carriage, three-pawl type reducing driving wheel, reel, first servomotor, steel wire rope, water pump, water tank, sparge pipe, survival capsule, video capture device, second servomotor, worm gear, Li-ion batteries piles, first electric pushrod, worm screw, electronic controller, second electric pushrod, travelling carriage, 3rd electric pushrod, body, upper cover plate, it is characterized in that: in described body lateral symmetry, 6 three-pawl type reducing driving wheels are set, described three-pawl type reducing driving wheel includes swivel mount, claw, spherical hinge holder, double, two ball-head tension rods, sliding sleeve, splined shaft, described swivel mount is by middle disk and is uniformly located at 3 articulated stands of disk periphery and constitutes, described swivel mount is fixed on the end of splined shaft, described claw is bending crescent shape, and one end of claw is rotatably installed on the articulated stand on swivel mount, described spherical hinge holder upper end is connected by rotating shaft and claw are fixing, and lower end is by a bulb hinged of flexural pivot with double, two ball-head tension rods, described sliding sleeve is cylindric, internal spline it is provided with inside sliding sleeve, being provided with flexural pivot and hinged with the other end of double, two ball-head tension rods in sliding sleeve end face outside, be provided with boss in the inside edge of sliding sleeve, sliding sleeve coordinates installation by internal spline with the external splines of splined shaft, described pan carriage includes 2 guide pillars, intermediate transverse girder and 2 sliding sleeve thrust plates, described sliding sleeve thrust plate is fixed on outside guide pillar, semicircle arcuation thrust groove it is provided with at the two ends of sliding sleeve thrust plate, described thrust groove coordinates installation with the boss inside sliding sleeve, and boss is stuck in thrust groove,The first described electric pushrod is arranged between the fixing plate on body and the intermediate transverse girder of described pan carriage; Described upper cover plate front end is rotatably installed in front part of a body, is from left to right sequentially provided with reel mounting bracket, travelling carriage mounting bracket, the second electric pushrod mounting bracket on upper cover plate top; Described spool turns is arranged in the reel mounting bracket at described upper cover plate rear portion, it is provided with the first servomotor in the side of reel, the support of the first servomotor is fixed on the side of reel mounting bracket, the described output shaft of the first servomotor is connected with the power shaft of reel, being wound with described steel wire rope on reel, the other end of steel wire rope is fixed on survival capsule rear portion after pulley;
Described water pump, water tank, sparge pipe are arranged on described upper cover plate top, and the water sucking mouth of water pump is connected with water tank, and the outlet of water pump is connected with sparge pipe, and the surface of sparge pipe arranges hole for water spraying; Described travelling carriage is arranged in the travelling carriage mounting bracket of upper cover plate by left side axis of rotation, is provided with chute in the both sides of travelling carriage, and the position that keeps left in the centre of travelling carriage is provided with bearing pin;
The second described electric pushrod is arranged between described travelling carriage and described upper cover plate, wherein the sleeve rear portion of the second electric pushrod is hinged in the second electric pushrod mounting bracket of upper cover plate, and the extension bar end of the second electric pushrod is hinged on the bearing pin of described travelling carriage; Described survival capsule is totally-enclosed design, is provided with hatch door at survival capsule upper surface, and inside is provided with oxygen breathing apparatus, and survival capsule is slidably mounted in the chute of described travelling carriage by lower slide block; Described worm gear is arranged on spline the tip of the axis, and described worm screw is arranged on body both sides and engages installation with worm gear, and the power intake worm screw is provided with the second servomotor; Described electronic controller, Li-ion batteries piles are arranged on described internal body, electronic controller is connected with the first described servomotor, the second servomotor, water pump, video capture device, the first electric pushrod, the second electric pushrod, the 3rd electric pushrod respectively by circuit, and described Li-ion batteries piles provides electric power to electronic controller.
Further, described survival capsule and the built-in wireless telecommunication system of electronic controller, it is possible to carry out real-time communication by the wireless handheld terminal with peripheral operation person.
Owing to present invention employs technique scheme, the invention have the advantages that
1. the present invention its utilize three-pawl type reducing driving wheel, from the new technique such as cooling system, totally-enclosed survival capsule, there is stronger stair climbing ability, it is possible to withstand the high temperature that scene of fire produces.
Accompanying drawing explanation
Fig. 1 is the overall perspective view of the present invention.
Fig. 2, Fig. 3 are internal structure schematic diagram of the present invention.
Fig. 4 is present invention schematic diagram when on balcony rescuing.
Fig. 5 is the three-pawl type reducing driving wheel structure schematic diagram of the present invention.
Fig. 6 is the travelling carriage structural representation of the present invention.
Fig. 7 is the pan carriage structural representation of the present invention.
Drawing reference numeral: 1-pan carriage; 2-three-pawl type reducing driving wheel; 3-reel; 4-the first servomotor; 5-steel wire rope; 6-water pump; 7-water tank; 8-sparge pipe; 9-survival capsule; 10-video capture device; 11-the second servomotor; 12-worm gear; 13-Li-ion batteries piles; 14-the first electric pushrod; 15-worm screw; 16-electronic controller; 17-the second electric pushrod;18-travelling carriage; 19-the 3rd electric pushrod; 20-body; 21-balcony wall; 22-upper cover plate; 201-swivel mount; 202-claw; 203-spherical hinge holder; The double; two ball-head tension rod of 204-; 205-sliding sleeve; 206-splined shaft.
Detailed description of the invention
By the examples below, and in conjunction with accompanying drawing, technical scheme is described in further detail.
Embodiment 1
Such as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, shown in Fig. 7, a kind of rescue robot, including pan carriage 1, three-pawl type reducing driving wheel 2, reel 3, first servomotor 4, steel wire rope 5, water pump 6, water tank 7, sparge pipe 8, survival capsule 9, video capture device 10, second servomotor 11, worm gear 12, Li-ion batteries piles 13, first electric pushrod 14, worm screw 15, electronic controller 16, second electric pushrod 17, travelling carriage 18, 3rd electric pushrod 19, body 20, upper cover plate 22, it is characterized in that: in described body 20 lateral symmetry, 6 three-pawl type reducing driving wheels 2 are set, described three-pawl type reducing driving wheel 2 includes swivel mount 201, claw 202, spherical hinge holder 203, double, two ball-head tension rods 204, sliding sleeve 205, splined shaft 206, described swivel mount 201 is by middle disk and is uniformly located at 3 articulated stands of disk periphery and constitutes, described swivel mount 201 is fixed on the end of splined shaft 206, described claw 202 is bending crescent shape, and one end of claw 202 is rotatably installed on the articulated stand on swivel mount 201, described spherical hinge holder 203 upper end is connected by rotating shaft is fixing with claw 202, and lower end is by a bulb hinged of flexural pivot with double, two ball-head tension rods 204, described sliding sleeve 205 is cylindric, it is provided with internal spline inside sliding sleeve 205, it is provided with flexural pivot and hinged with the other end of double, two ball-head tension rods 204 in sliding sleeve 205 end face outside, be provided with boss in the inside edge of sliding sleeve 205, sliding sleeve 205 coordinates installation by internal spline with the external splines of splined shaft 206, described pan carriage 1 includes 2 guide pillars, intermediate transverse girder and 2 sliding sleeve 205 thrust plates, described sliding sleeve 205 thrust plate is fixed on outside guide pillar, it is provided with semicircle arcuation thrust groove at the two ends of sliding sleeve 205 thrust plate, described thrust groove coordinates installation with the boss inside sliding sleeve 205, and boss is stuck in thrust groove, the first described electric pushrod 14 is arranged between the fixing plate on body 20 and the intermediate transverse girder of described pan carriage 1, it is anterior that described upper cover plate 22 front end is rotatably installed in body 20, is from left to right sequentially provided with reel 3 mounting bracket, travelling carriage 18 mounting bracket, the second electric pushrod 17 mounting bracket on upper cover plate 22 top, described reel 3 is rotatably installed in reel 3 mounting bracket at described upper cover plate 22 rear portion, the first servomotor 4 it is provided with in the side of reel 3, the support of the first servomotor 4 is fixed on the side of reel 3 mounting bracket, the described output shaft of the first servomotor 4 is connected with the power shaft of reel 3, being wound with described steel wire rope 5 on reel 3, the other end of steel wire rope 5 is fixed on survival capsule 9 rear portion after pulley,
Described water pump 6, water tank 7, sparge pipe 8 are arranged on described upper cover plate 22 top, and the water sucking mouth of water pump 6 is connected with water tank 7, and the outlet of water pump 6 is connected with sparge pipe 8, and the surface of sparge pipe 8 arranges hole for water spraying; Described travelling carriage 18 is arranged in travelling carriage 18 mounting bracket of upper cover plate 22 by left side axis of rotation, is provided with chute in the both sides of travelling carriage 18, and the position that keeps left in the centre of travelling carriage 18 is provided with bearing pin;
The second described electric pushrod 17 is arranged between described travelling carriage 18 and described upper cover plate 22, wherein the sleeve rear portion of the second electric pushrod 17 is hinged in the second electric pushrod 17 mounting bracket of upper cover plate 22, and the extension bar end of the second electric pushrod 17 is hinged on the bearing pin of described travelling carriage 18; Described survival capsule 9 is totally-enclosed design, is provided with hatch door at survival capsule 9 upper surface, and inside is provided with oxygen breathing apparatus, and survival capsule 9 is slidably mounted in the chute of described travelling carriage 18 by lower slide block; Described worm gear 12 is arranged on the end of splined shaft 206, and described worm screw 15 is arranged on body 20 both sides and engages installation with worm gear 12, and the power intake worm screw 15 is provided with the second servomotor 11; Described electronic controller 16, Li-ion batteries piles 13 are arranged on described body 20 inside, electronic controller 16 is connected with first described servomotor the 4, second servomotor 11, water pump 6, video capture device the 10, first electric pushrod the 14, second electric pushrod the 17, the 3rd electric pushrod 19 respectively by circuit, and described Li-ion batteries piles 13 provides electric power to electronic controller 16.
Further, described survival capsule 9 and the built-in wireless telecommunication system of electronic controller 16, it is possible to carry out real-time communication by the wireless handheld terminal with peripheral operation person.
Operation principle: the three-pawl type reducing driving wheel 2 of the present invention can automatically change radius of turn when running into barrier or the stairway step of differing heights, namely by adjusting the overhang of the first electric pushrod 14, sliding sleeve 205 is driven by pan carriage 1, sliding sleeve 205 drives double, two ball-head tension rod 204, double, two ball-head tension rods 204 drive claw 202 to rotate the radius of turn changing claw 202 end by spherical hinge holder 203, worm screw 15 is driven by the second servomotor 11 after adjusting the radius of turn of claw 202, worm gear 12 is driven again by worm screw 15, worm gear 12 driven gear axle and then drive whole three-pawl type reducing driving wheel 2 to rotate. using method of the present invention: first the present invention is operationally entered captive room by fireman's remote control by stairway step, entering fire area front opening water pump 6, make high-pressure water mist spray from the aperture of sparge pipe 8 and then cool down the outer surface of whole robot, prevent robot interior electronic devices and components from suffering the destruction of high temperature, opened the hatch door of survival capsule 9 by trapped personnel behind the room arriving captive, trapped personnel enters after in survival capsule 9 and puts on oxygen breathing apparatus, the communication tool then passed through in survival capsule 9 is got in touch with fireman, trapped personnel can select two kinds of schemes of suing and labouring: a kind of is after the survival capsule 9 that trapped personnel enters robot, discharged survival capsule 9 by robot from balcony windows, trapped personnel is dropped to ground to get rid of poverty, concrete grammar is: trapped personnel enters after in survival capsule 9, judged that the particular location of balcony windows teleoperator are near window by fireman according to the image that video capture device 10 gathers, then pass through the second electric pushrod 17 by travelling carriage 18 jack-up, by the 3rd electric pushrod 19 by upper cover plate 22 jack-up after jack-up, at this moment survival capsule 9 and ground are parastate, survival capsule 9 is held out outside window by robot further along, subsequently travelling carriage 18 is slowly positioned to vertical state, then fireman is controlled reel 3 rotated by the first servomotor 4, by on survival capsule 9 slowly land to ground, another scheme is that trapped personnel enters survival capsule 9 followed by robot from backtracking in corridor, and scheme of specifically suing and labouring needs to determine according to floor structure, intensity of a fire size.
Claims (2)
1. a rescue robot, including pan carriage (1), three-pawl type reducing driving wheel (2), reel (3), first servomotor (4), steel wire rope (5), water pump (6), water tank (7), sparge pipe (8), survival capsule (9), video capture device (10), second servomotor (11), worm gear (12), Li-ion batteries piles (13), first electric pushrod (14), worm screw (15), electronic controller (16), second electric pushrod (17), travelling carriage (18), 3rd electric pushrod (19), body (20), upper cover plate (22), it is characterised in that: arranging 6 three-pawl types reducing driving wheel (2) in described body (20) lateral symmetry, described three-pawl type reducing driving wheel (2) includes swivel mount (201), claw (202), spherical hinge holder (203), double, two ball-head tension rods (204), sliding sleeve (205), splined shaft (206), described swivel mount (201) is by middle disk and is uniformly located at 3 articulated stands of disk periphery and constitutes, and described swivel mount (201) is fixed on the end of splined shaft (206), described claw (202) is bending crescent shape, and one end of claw (202) is rotatably installed on the articulated stand on swivel mount (201), described spherical hinge holder (203) upper end is connected by rotating shaft and claw (202) are fixing, and lower end is by a bulb hinged of flexural pivot with double, two ball-head tension rods (204), described sliding sleeve (205) is cylindric, it is provided with internal spline in sliding sleeve (205) inside, it is provided with flexural pivot and hinged with the other end of double, two ball-head tension rods (204) in sliding sleeve (205) end face outside, be provided with boss in the inside edge of sliding sleeve (205), sliding sleeve (205) coordinates installation by the external splines of internal spline with splined shaft (206), described pan carriage (1) includes 2 guide pillars, intermediate transverse girder and 2 sliding sleeve (205) thrust plates, described sliding sleeve (205) thrust plate is fixed on outside guide pillar, it is provided with semicircle arcuation thrust groove at the two ends of sliding sleeve (205) thrust plate, described thrust groove coordinates installation with the boss of sliding sleeve (205) inner side, and boss is stuck in thrust groove, described the first electric pushrod (14) is arranged between the intermediate transverse girder of the fixing plate on body (20) and described pan carriage (1), it is anterior that described upper cover plate (22) front end is rotatably installed in body (20), is from left to right sequentially provided with reel (3) mounting bracket, travelling carriage (18) mounting bracket, the second electric pushrod (17) mounting bracket on upper cover plate (22) top, described reel (3) is rotatably installed in reel (3) mounting bracket at described upper cover plate (22) rear portion, it is provided with the first servomotor (4) in the side of reel (3), the support of the first servomotor (4) is fixed on the side of reel (3) mounting bracket, the output shaft of described the first servomotor (4) is connected with the power shaft of reel (3), being wound with described steel wire rope (5) on reel (3), the other end of steel wire rope (5) is fixed on survival capsule (9) rear portion after pulley,
Described water pump (6), water tank (7), sparge pipe (8) are arranged on described upper cover plate (22) top, the water sucking mouth of water pump (6) is connected with water tank (7), the outlet of water pump (6) is connected with sparge pipe (8), and the surface of sparge pipe (8) arranges hole for water spraying;Described travelling carriage (18) is arranged in travelling carriage (18) mounting bracket of upper cover plate (22) by left side axis of rotation, is provided with chute in the both sides of travelling carriage (18), and the position that keeps left in the centre of travelling carriage (18) is provided with bearing pin;
Described the second electric pushrod (17) is arranged between described travelling carriage (18) and described upper cover plate (22), wherein the sleeve rear portion of the second electric pushrod (17) is hinged in the second electric pushrod (17) mounting bracket of upper cover plate (22), and the extension bar end of the second electric pushrod (17) is hinged on the bearing pin of described travelling carriage (18); Described survival capsule (9) is totally-enclosed design, is provided with hatch door at survival capsule (9) upper surface, and inside is provided with oxygen breathing apparatus, and survival capsule (9) is slidably mounted in the chute of described travelling carriage (18) by lower slide block; Described worm gear (12) is arranged on the end of splined shaft (206), and described worm screw (15) is arranged on body (20) both sides and engages installation with worm gear (12), and the power intake worm screw (15) is provided with the second servomotor (11); Described electronic controller (16), Li-ion batteries piles (13) are arranged on described body (20) inside, electronic controller (16) is connected with described the first servomotor (4), the second servomotor (11), water pump (6), video capture device (10), the first electric pushrod (14), the second electric pushrod (17), the 3rd electric pushrod (19) respectively by circuit, and described Li-ion batteries piles (13) provides electric power to electronic controller (16).
2. a kind of rescue robot according to claim 1, it is characterised in that: described survival capsule (9) and electronic controller (16) built-in wireless telecommunication system, it is possible to carry out real-time communication by the wireless handheld terminal with peripheral operation person.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610210475.2A CN105666501B (en) | 2016-04-07 | 2016-04-07 | A kind of rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610210475.2A CN105666501B (en) | 2016-04-07 | 2016-04-07 | A kind of rescue robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105666501A true CN105666501A (en) | 2016-06-15 |
| CN105666501B CN105666501B (en) | 2017-09-29 |
Family
ID=56308475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610210475.2A Active CN105666501B (en) | 2016-04-07 | 2016-04-07 | A kind of rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105666501B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106924907A (en) * | 2017-04-02 | 2017-07-07 | 周佰利 | A kind of intelligent fire fighting lifesaving robot |
| CN108528564A (en) * | 2018-01-30 | 2018-09-14 | 江苏大学 | A kind of half gait soft robot trolley that wheel footpath is variable |
| CN109610975A (en) * | 2019-02-17 | 2019-04-12 | 徐金刚 | A kind of intelligent escape fire-proof safety box |
| CN112405551A (en) * | 2020-10-21 | 2021-02-26 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Rescue robot with variable-diameter wheels |
| CN112936303A (en) * | 2021-01-29 | 2021-06-11 | 西安航空学院 | Air-drop formula conflagration is with air-ground search and rescue robot in coordination |
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| CN104989914A (en) * | 2015-07-07 | 2015-10-21 | 北京工业大学 | High-adaptability multifunctional pipeline robot |
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| DE2907272A1 (en) * | 1979-02-24 | 1980-08-28 | Schlatter Ag | Wheeled undercarriage for self propelled robot - has several curved profile wheels set tangential to main wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106924907A (en) * | 2017-04-02 | 2017-07-07 | 周佰利 | A kind of intelligent fire fighting lifesaving robot |
| CN108528564A (en) * | 2018-01-30 | 2018-09-14 | 江苏大学 | A kind of half gait soft robot trolley that wheel footpath is variable |
| CN108528564B (en) * | 2018-01-30 | 2020-07-31 | 江苏大学 | Semi-step software robot trolley with variable wheel diameter |
| CN109610975A (en) * | 2019-02-17 | 2019-04-12 | 徐金刚 | A kind of intelligent escape fire-proof safety box |
| CN112405551A (en) * | 2020-10-21 | 2021-02-26 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Rescue robot with variable-diameter wheels |
| CN112936303A (en) * | 2021-01-29 | 2021-06-11 | 西安航空学院 | Air-drop formula conflagration is with air-ground search and rescue robot in coordination |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105666501B (en) | 2017-09-29 |
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