CN106178360B - 一种供电所火灾作业特种机器人用四自由度机械手 - Google Patents
一种供电所火灾作业特种机器人用四自由度机械手 Download PDFInfo
- Publication number
- CN106178360B CN106178360B CN201610499897.6A CN201610499897A CN106178360B CN 106178360 B CN106178360 B CN 106178360B CN 201610499897 A CN201610499897 A CN 201610499897A CN 106178360 B CN106178360 B CN 106178360B
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- CN
- China
- Prior art keywords
- fire
- fixed
- branch
- electric pushrod
- frame
- 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.)
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Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0066—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-spherical
Abstract
Description
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201610499897.6A CN106178360B (zh) | 2016-06-28 | 2016-06-28 | 一种供电所火灾作业特种机器人用四自由度机械手 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN201610499897.6A CN106178360B (zh) | 2016-06-28 | 2016-06-28 | 一种供电所火灾作业特种机器人用四自由度机械手 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106178360A CN106178360A (zh) | 2016-12-07 |
CN106178360B true CN106178360B (zh) | 2019-04-16 |
Family
ID=57463494
Family Applications (1)
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CN201610499897.6A Active CN106178360B (zh) | 2016-06-28 | 2016-06-28 | 一种供电所火灾作业特种机器人用四自由度机械手 |
Country Status (1)
Country | Link |
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CN (1) | CN106178360B (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107554585A (zh) * | 2017-09-11 | 2018-01-09 | 安徽省玉龙消防有限公司 | 一种灭火器推车 |
CN107756431B (zh) * | 2017-11-20 | 2024-01-26 | 长沙理工大学 | 一种空间单自由度四爪夹紧机构 |
CN113457077B (zh) * | 2021-08-03 | 2022-04-26 | 太原理工大学 | 四自由度混联骑行运动模拟平台 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3830382A (en) * | 1971-11-06 | 1974-08-20 | Fujikoshi Ishigane Kk | Article handling apparatus with spring-assisted pantagraph raising mechanism |
CN1730235A (zh) * | 2005-08-29 | 2006-02-08 | 北京航空航天大学 | 六自由度冗余并联机构 |
GB2455374A (en) * | 2008-06-16 | 2009-06-10 | Middlesex University Higher Ed | Unmanned aerial vehicle comprising a triangular array of rotors |
CN101973401A (zh) * | 2010-10-21 | 2011-02-16 | 哈尔滨工程大学 | 模块化智能森林灭火航弹投放吊舱 |
CN104147729A (zh) * | 2014-08-26 | 2014-11-19 | 李婷婷 | 一种简易灭火机器人 |
CN104587629A (zh) * | 2015-01-19 | 2015-05-06 | 滨州学院 | 移动式自动灭火机器人及其灭火方法 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10122321A (ja) * | 1996-08-28 | 1998-05-15 | Karuchia Mach:Kk | 運動機構および搬送装置 |
KR20150094801A (ko) * | 2014-02-10 | 2015-08-20 | 순천대학교 산학협력단 | 델타로봇 |
-
2016
- 2016-06-28 CN CN201610499897.6A patent/CN106178360B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3830382A (en) * | 1971-11-06 | 1974-08-20 | Fujikoshi Ishigane Kk | Article handling apparatus with spring-assisted pantagraph raising mechanism |
CN1730235A (zh) * | 2005-08-29 | 2006-02-08 | 北京航空航天大学 | 六自由度冗余并联机构 |
GB2455374A (en) * | 2008-06-16 | 2009-06-10 | Middlesex University Higher Ed | Unmanned aerial vehicle comprising a triangular array of rotors |
CN101973401A (zh) * | 2010-10-21 | 2011-02-16 | 哈尔滨工程大学 | 模块化智能森林灭火航弹投放吊舱 |
CN104147729A (zh) * | 2014-08-26 | 2014-11-19 | 李婷婷 | 一种简易灭火机器人 |
CN104587629A (zh) * | 2015-01-19 | 2015-05-06 | 滨州学院 | 移动式自动灭火机器人及其灭火方法 |
Also Published As
Publication number | Publication date |
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CN106178360A (zh) | 2016-12-07 |
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TA01 | Transfer of patent application right |
Effective date of registration: 20190322 Address after: 312500 Shicicun No. 167, Rulan Town, Xinchang County, Shaoxing City, Zhejiang Province Applicant after: Xinchang Wujie Agricultural Technology Co., Ltd. Address before: 246001 315, room 1, science and Technology Pioneer Park, 80 Tianzhu Hill Road, Anqing Development Zone, Anhui Applicant before: Anhui Saobao Intelligent Technology Co., Ltd. |
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GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20161207 Assignee: Xinchang Huandi Technology Co.,Ltd. Assignor: Xinchang Wujie Agricultural Technology Co.,Ltd. Contract record no.: X2022330000189 Denomination of invention: A four degree of freedom manipulator for special robot for fire operation in power supply station Granted publication date: 20190416 License type: Common License Record date: 20220609 |