CN107336213A - A kind of scene of fire rescue robot - Google Patents
A kind of scene of fire rescue robot Download PDFInfo
- Publication number
- CN107336213A CN107336213A CN201710773662.6A CN201710773662A CN107336213A CN 107336213 A CN107336213 A CN 107336213A CN 201710773662 A CN201710773662 A CN 201710773662A CN 107336213 A CN107336213 A CN 107336213A
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- CN
- China
- Prior art keywords
- wheel
- chassis
- fire
- swing arm
- scene
- 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.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 230000004888 barrier function Effects 0.000 claims description 3
- 239000011810 insulating material Substances 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 230000008520 organization Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/12—Arrangement, location, or adaptation of driving sprockets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of scene of fire rescue robot, it includes chassis, and chassis upper is each provided with a walking component, fire-proof housing is fixedly arranged above mounting seat, is provided with mounting seat and holds device covered with fire-proof housing at left and right sides of chassis；Holding device includes the first swing arm, and the end of the first swing arm is hinged with the second swing arm, and the first swing arm and the second swing arm each have the swing driving mechanism of oneself, and the end of the second swing arm, which is provided with, holds mechanism；Component of walking includes active walking unit and auxiliary walking unit, active walking unit includes the motor being fixedly mounted on chassis, the output shaft of motor is connected with transmission case, rotating shaft is provided with transmission case, the both ends of rotating shaft are connected to driving wheel, driven pulley is provided with front side of driving wheel, first is arranged with driving wheel and driven pulley and grabs ground crawler belt；The first power transfer wheel is provided with rotating shaft, the first power transfer wheel is connected by power transmission chain with auxiliary walking unit.
Description
Technical field：
The present invention relates to technical field of fire control, and in particular to a kind of scene of fire rescue robot.
Background technology：
Robot is the product that modern age electronic technology is combined with traditional mechanical structure, be computer science, cybernetics,
The high-tech product of the multidisciplinary synthesis such as structure, information science and sensing technology, and a kind of operation of apery, high speed are transported
Row, repeat and automation equipment that precision is higher.With existing scientific and technological development, robot be gradually applied to building,
The industries such as fire-fighting, petrochemical industry.There is increasing skyscraper in the development in existing city, and there is also very for skyscraper itself
More potential safety hazards, once fire occurs, the condition of a fire will be difficult to control, and therefore, the development of intelligent rescue robot is to meet the present age in fact
What border and reality needed.
The content of the invention：
The purpose of the present invention is aiming at the deficiencies in the prior art, there is provided a kind of scene of fire rescue robot.
The technology solution of the present invention is as follows：
A kind of scene of fire rescue robot, it includes chassis, and chassis upper is covered with fire-proof housing, the left and right two on chassis
Side is each provided with a walking component, and fire-proof housing is fixedly arranged above mounting seat, is provided with mounting seat and holds device；Hold
Device includes the first swing arm, and the end of the first swing arm is hinged with the second swing arm, and the first swing arm and the second swing arm each have oneself
Swing driving mechanism, the end of the second swing arm, which is provided with, holds mechanism；Walking component includes active walking unit and secondary row
Unit is walked, active walking unit includes the motor being fixedly mounted on chassis, and output shaft and the transmission case of motor connect
Connect, rotating shaft is provided with transmission case, the both ends of rotating shaft are connected to driving wheel, driven pulley is provided with front side of driving wheel, drive
First is arranged with driving wheel and driven pulley and grabs ground crawler belt；The first power transfer wheel is provided with rotating shaft, the first power transfer wheel is led to
Power transmission chain is crossed to be connected with auxiliary walking unit；Aid in walking unit to include three and be located at the first of equilateral triangle summit
Sprocket wheel, the second sprocket wheel and the 3rd sprocket wheel, second, which grabs ground crawler belt, winds the first sprocket wheel, the second sprocket wheel and the setting of the 3rd sprocket wheel,
Equilateral triangle is provided centrally with centre wheel, and the second power transfer wheel is fixed with the central shaft of centre wheel, and the second power passes
Wheel is passed to be connected with the first power transfer wheel by power transmission chain, and centre wheel is connected further through driving member with the first sprocket wheel；
Holding mechanism includes being connected to the pitching centering block of the second swing arm end, and the end of pitching centering block is connected with rotating seat, rotating seat
End, which is connected with, holds head, and holding head includes support base, and support base is rotatably installed on rotating seat, and support base is fixedly arranged in the middle of
Motor is held, the output shaft for holding motor is connected through support base with outboard gears, and the side of outboard gears is provided with first and stung
Wheel and the second nipper wheels are closed, outboard gears engage with the first nipper wheels, and the first nipper wheels positioned at support base both sides pass through first
Rotating shaft is connected, and the second nipper wheels positioned at support base both sides are connected by the second rotating shaft, and the is welded with the outside of the first nipper wheels
One clamping arm, the second clamping arm is welded with the outside of the second nipper wheels, the front end of two the first clamping arms is connected by first connecting rod
Connect, the front end of two the second clamping arms is connected by second connecting rod, and first clamping plate is fixed with first connecting rod, is consolidated on second connecting rod
Surely there is second clamping plate, be provided with the first little gear in the middle part of first rotating shaft and the second rotating shaft, first connecting rod and second connecting rod
Middle part is provided with the second little gear, and the first little gear and the second little gear pass through synchronous band connection；Hold and be additionally provided with head
Camera cradle head, camera cradle head electrically connect with controlling organization.
First grab ground crawler belt and second grab ground crawler belt on the outside of be respectively provided with grab ground projection, grab ground projection with first grab crawler belt
Ground crawler belt is grabbed with second to be detachably connected；Strainer is provided with the inside of power transmission chain.
Strainer includes fixed block, and chute is provided with fixed block, is slided in chute and is provided with tensioning wheel.
The external tooth grabbed ground crawler belt with second and engaged is respectively provided with the outside of first sprocket wheel, the second sprocket wheel and the 3rd sprocket wheel, and
The middle part of first sprocket wheel has groove, and engaging tooth is also equipped with groove.
The front end on chassis is provided with proximity transducer and road conditions video camera, proximity transducer and road conditions video camera and control machine
Structure electrically connects, proximity transducer sensing barrier, road conditions video camera shooting pavement behavior.
The front end on chassis is additionally provided with illuminating lamp, and the quantity of illuminating lamp is multiple, and illuminating lamp is fixedly mounted on pitching branch
On frame, tilt mount is further arranged on chassis by rotating seat.
Fire-proof housing is made up of metal, and its upper surface is coated with fire-proof heat-insulating material, and fire-proof housing detachably connects with chassis
Connect.
The beneficial effects of the present invention are：The present invention can enter the scene of a fire, to the people waited for rescue inside skyscraper
Member carries out close and held so that the personal security waited for rescue drop to ground.
Brief description of the drawings：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of walking component；
Fig. 3 is the structural representation for holding mechanism；
Fig. 4 is the structural representation that secondary row walks unit.
Embodiment：
In order that the above objects, features and advantages of the present invention can be more obvious understandable, below in conjunction with the accompanying drawings to this hair
Bright embodiment is described in detail.
As Figure 1-4, a kind of scene of fire rescue robot, it includes chassis, and chassis upper is covered with fire-proof housing
10, a walking component is each provided with left and right sides of chassis, fire-proof housing 10 is fixedly arranged above mounting seat 11, mounting seat 11
On be provided with and hold device；Holding device includes the first swing arm 12, and the end of the first swing arm 12 is hinged with the second swing arm 13, and first
The swing arm 13 of swing arm 12 and second each has the swing driving mechanism of oneself, and the end of the second swing arm 13, which is provided with, holds mechanism 3；
Component of walking includes active walking unit 5 and auxiliary walking unit 4, and active walking unit 5 includes being fixedly mounted on chassis
Motor 20, the output shaft of motor 20 are connected with transmission case 21, and rotating shaft 211 is provided with transmission case 21, rotating shaft 211
Both ends are connected to driving wheel, and driven pulley is provided with front side of driving wheel, and first is arranged with driving wheel and driven pulley and grabs ground
Crawler belt；The first power transfer wheel is provided with rotating shaft 211, the first power transfer wheel is walked by power transmission chain 22 and auxiliary
Unit 4 connects；Aid in walking unit 4 include three positioned at first sprocket wheels 42 on equilateral triangle summit, the second sprocket wheel 43 and
3rd sprocket wheel 44, second, which grabs first sprocket wheel 42 of the ground winding of crawler belt 40, the second sprocket wheel 43 and the 3rd sprocket wheel 44, is set, equilateral triangle
Shape is provided centrally with centre wheel 41, and the second power transfer wheel 24, the second power transmission are fixed with the central shaft of centre wheel 41
Wheel 24 is connected by power transmission chain 22 with the first power transfer wheel, and centre wheel 41 is further through driving member and the first sprocket wheel 42
Connection；Holding mechanism 3 includes being connected to the pitching centering block 31 of the end of the second swing arm 13, and the end of pitching centering block 31 is connected with rotation
Seat 32, the end of rotating seat 32, which is connected with, holds head, and holding head includes support base 33, and support base 33 is rotatably installed in rotating seat 32
On, being fixedly arranged in the middle of for support base 33 holds motor 34, and the output shaft for holding motor 34 passes through support base 33 and outboard gears 340
Connection, the side of outboard gears 340 are provided with the first nipper wheels and the second nipper wheels, and outboard gears 340 are nibbled with the first nipper wheels
Close, the first nipper wheels positioned at support base both sides are connected by first rotating shaft, and the second nipper wheels positioned at support base both sides pass through
Second rotating shaft connects, and is welded with the first clamping arm 35 on the outside of the first nipper wheels, the second folder is welded with the outside of the second nipper wheels
Arm 36, the front end of two the first clamping arms 35 are connected by first connecting rod, and the front end of two the second clamping arms 36 passes through second
Connecting rod connects, and is fixed with first clamping plate 37 on first connecting rod, is fixed with second clamping plate on second connecting rod, first rotating shaft and second turn
The first little gear is provided with the middle part of axle, the second little gear is provided with the middle part of first connecting rod and second connecting rod, first is small
Gear and the second little gear are connected by timing belt 38；Hold and camera cradle head 30 is additionally provided with head, camera cradle head 30 and control
Mechanism electrically connects.
First grab ground crawler belt and second grab ground crawler belt on the outside of be respectively provided with grab ground projection 401, grab ground projection 401 grabbed with first
Ground crawler belt and second grab ground crawler belt be detachably connected；The inner side of power transmission chain 22 is provided with strainer 23.
Strainer 23 includes fixed block, and chute is provided with fixed block, is slided in chute and is provided with tensioning wheel.
The outside of first sprocket wheel 42, the second sprocket wheel 43 and the 3rd sprocket wheel 44 be respectively provided with second grab ground crawler belt engage outside
Tooth, and the middle part of the first sprocket wheel 42 has groove, and engaging tooth is also equipped with groove.
The front end on chassis is provided with proximity transducer and road conditions video camera, proximity transducer and road conditions video camera and control machine
Structure electrically connects, proximity transducer sensing barrier, road conditions video camera shooting pavement behavior.
The front end on chassis is additionally provided with illuminating lamp, and the quantity of illuminating lamp is multiple, and illuminating lamp is fixedly mounted on pitching branch
On frame, tilt mount is further arranged on chassis by rotating seat.
Fire-proof housing 10 is made up of metal, and its upper surface is coated with fire-proof heat-insulating material, and fire-proof housing 10 and chassis are removable
Unload connection.
The embodiment is to the illustrative present invention, not for the limitation present invention.Any those skilled in the art
The embodiment can be modified under the spirit and scope without prejudice to the present invention, therefore the rights protection model of the present invention
Enclose, should be as listed by the claim of the present invention.
Claims (7)
- A kind of 1. scene of fire rescue robot, it is characterised in that：It includes chassis, and chassis upper is covered with fire-proof housing (10) a walking component, is each provided with left and right sides of chassis, fire-proof housing (10) is fixedly arranged above mounting seat (11), peace It is provided with dress seat (11) and holds device；Holding device includes the first swing arm (12), and the end of the first swing arm (12) is hinged with Two swing arms (13), the first swing arm (12) and the second swing arm (13) each have the swing driving mechanism of oneself, the second swing arm (13) End be provided with and hold mechanism (3)；Component of walking includes active walking unit (5) and auxiliary walking unit (4), actively walks Unit (5) includes the motor (20) being fixedly mounted on chassis, and output shaft and the transmission case (21) of motor (20) connect Connect, be provided with rotating shaft (211) in transmission case (21), the both ends of rotating shaft (211) are connected to driving wheel, set on front side of driving wheel Driven pulley is equipped with, first is arranged with driving wheel and driven pulley and grabs ground crawler belt；The first power transmission is provided with rotating shaft (211) Wheel, the first power transfer wheel are connected by power transmission chain (22) with auxiliary walking unit (4)；Aid in walking unit (4) bag Three the first sprocket wheel (42), the second sprocket wheel (43) and the 3rd sprocket wheels (44) for being located at equilateral triangle summit are included, second grabs ground Crawler belt (40) winds the first sprocket wheel (42), the second sprocket wheel (43) and the 3rd sprocket wheel (44) and set, and the center of equilateral triangle is set Centre wheel (41) is equipped with, the second power transfer wheel (24), the second power transfer wheel are fixed with the central shaft of centre wheel (41) (24) it is connected by power transmission chain (22) with the first power transfer wheel, and centre wheel (41) is further through driving member and the first chain Take turns (42) connection；Holding mechanism (3) includes being connected to the pitching centering block (31) of the second swing arm (13) end, pitching centering block (31) End is connected with rotating seat (32), and the end of rotating seat (32), which is connected with, holds head, and holding head includes support base (33), support base (33) it is rotatably installed on rotating seat (32), being fixedly arranged in the middle of for support base (33) holds motor (34), holds motor (34) Output shaft is connected through support base (33) with outboard gears (340), the sides of outboard gears (340) be provided with the first nipper wheels and Second nipper wheels, outboard gears (340) engage with the first nipper wheels, and the first nipper wheels positioned at support base both sides pass through first turn Axis connection, the second nipper wheels positioned at support base both sides are connected by the second rotating shaft, and first is welded with the outside of the first nipper wheels Clamping arm (35), the second clamping arm (36) is welded with the outside of the second nipper wheels, the front end of two the first clamping arms (35) passes through First connecting rod is connected, and the front end of two the second clamping arms (36) is connected by second connecting rod, and the first folder is fixed with first connecting rod Plate (37), second clamping plate is fixed with second connecting rod, the first little gear is provided with the middle part of first rotating shaft and the second rotating shaft, The second little gear, the first little gear and the second little gear are provided with the middle part of one connecting rod and second connecting rod and passes through timing belt (38) Connection；Hold and camera cradle head (30) is additionally provided with head, camera cradle head (30) electrically connects with controlling organization.
- A kind of 2. scene of fire rescue robot according to claim 1, it is characterised in that：First grabs ground crawler belt and second Grab ground crawler belt on the outside of be respectively provided with grab ground projection (401), grab ground projection (401) with first grab ground crawler belt and second grab crawler belt it is equal It is detachably connected；Strainer (23) is provided with the inside of power transmission chain (22).
- A kind of 3. scene of fire rescue robot according to claim 1, it is characterised in that：First sprocket wheel (42), second It is respectively provided with the outside of sprocket wheel (43) and the 3rd sprocket wheel (44) and grabs the external tooth that engages of ground crawler belt with second, and the first sprocket wheel (42) Middle part has groove, and engaging tooth is also equipped with groove.
- A kind of 4. scene of fire rescue robot according to claim 1, it is characterised in that：The front end on chassis, which is provided with, to be connect Nearly sensor and road conditions video camera, proximity transducer and road conditions video camera electrically connect with controlling organization, proximity transducer sensing barrier Hinder thing, road conditions video camera shooting pavement behavior.
- A kind of 5. scene of fire rescue robot according to claim 1, it is characterised in that：The front end on chassis is additionally provided with Illuminating lamp, the quantity of illuminating lamp is multiple, and illuminating lamp is fixedly mounted on tilt mount, and tilt mount further passes through rotation Seat is arranged on chassis.
- A kind of 6. scene of fire rescue robot according to claim 1, it is characterised in that：Fire-proof housing (10) is metal It is made, its upper surface is coated with fire-proof heat-insulating material, and fire-proof housing (10) is detachably connected with chassis.
- A kind of 7. scene of fire rescue robot according to claim 2, it is characterised in that：Strainer (23) includes solid Determine block, chute is provided with fixed block, is slided in chute and is provided with tensioning wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710773662.6A CN107336213A (en) | 2017-08-31 | 2017-08-31 | A kind of scene of fire rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710773662.6A CN107336213A (en) | 2017-08-31 | 2017-08-31 | A kind of scene of fire rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107336213A true CN107336213A (en) | 2017-11-10 |
Family
ID=60214210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710773662.6A Pending CN107336213A (en) | 2017-08-31 | 2017-08-31 | A kind of scene of fire rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107336213A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048841A (en) * | 2018-09-10 | 2018-12-21 | 广东宏穗晶科技服务有限公司 | A kind of dangerous situation robot |
| CN109131612A (en) * | 2018-08-15 | 2019-01-04 | 安徽爱依特科技有限公司 | The robotically-driven chassis of more landform and its robot |
| CN109623833A (en) * | 2018-11-30 | 2019-04-16 | 广州市机电高级技工学校（广州市机电技师学院、广州市机电高级职业技术培训学院） | Rescue robot |
| CN110466631A (en) * | 2019-07-16 | 2019-11-19 | 江苏大学 | A kind of planet triangle crawler type walking mechanism |
| CN111872915A (en) * | 2020-07-14 | 2020-11-03 | 重庆大学 | Obstacle-crossing exploration robot based on oscillating crawler wheel |
| CN112008737A (en) * | 2020-08-30 | 2020-12-01 | 李安芹 | Automatic fire rescue robot |
| CN112276901A (en) * | 2020-10-30 | 2021-01-29 | 北京市安全生产科学技术研究院 | Large-load emergency rescue robot for complex environment |
| CN115821279A (en) * | 2022-12-15 | 2023-03-21 | 太仓市苏鑫机械设备有限公司 | Acid pickling phosphorization equipment to steel wire surface treatment |
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| US6615939B1 (en) * | 2001-03-07 | 2003-09-09 | David Karales | ATV track conversion |
| CN200995617Y (en) * | 2007-01-26 | 2007-12-26 | 吕井坤 | Walking unit of crawler |
| CN201645484U (en) * | 2010-02-26 | 2010-11-24 | 华南理工大学 | Robot applied in engine air valve electric upsetting hot forging forming process |
| CN202243746U (en) * | 2011-09-26 | 2012-05-30 | 吉林大学 | Self-adaptive crawler-arm compound driven biomimetic robot suitable for various road conditions |
| CN105500364A (en) * | 2016-01-14 | 2016-04-20 | 任曲波 | Hygiene and epidemic prevention monitoring and rescue robot |
| CN205345098U (en) * | 2016-01-23 | 2016-06-29 | 哈尔滨理工大学 | Robot is exploded to planet wheel -track belt row |
| CN205870505U (en) * | 2016-07-19 | 2017-01-11 | 安徽理工大学 | Multi -arm rotation type handling device |
| CN106428264A (en) * | 2016-10-12 | 2017-02-22 | 上海大学 | Explosive-handling robot |
| CN106892010A (en) * | 2017-03-08 | 2017-06-27 | 南通大学 | A kind of swing arm caterpillar robot |
| CN207273205U (en) * | 2017-08-31 | 2018-04-27 | 苏州烁耀电子材料有限公司 | A kind of scene of fire rescue robot |
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2017
- 2017-08-31 CN CN201710773662.6A patent/CN107336213A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6615939B1 (en) * | 2001-03-07 | 2003-09-09 | David Karales | ATV track conversion |
| CN200995617Y (en) * | 2007-01-26 | 2007-12-26 | 吕井坤 | Walking unit of crawler |
| CN201645484U (en) * | 2010-02-26 | 2010-11-24 | 华南理工大学 | Robot applied in engine air valve electric upsetting hot forging forming process |
| CN202243746U (en) * | 2011-09-26 | 2012-05-30 | 吉林大学 | Self-adaptive crawler-arm compound driven biomimetic robot suitable for various road conditions |
| CN105500364A (en) * | 2016-01-14 | 2016-04-20 | 任曲波 | Hygiene and epidemic prevention monitoring and rescue robot |
| CN205345098U (en) * | 2016-01-23 | 2016-06-29 | 哈尔滨理工大学 | Robot is exploded to planet wheel -track belt row |
| CN205870505U (en) * | 2016-07-19 | 2017-01-11 | 安徽理工大学 | Multi -arm rotation type handling device |
| CN106428264A (en) * | 2016-10-12 | 2017-02-22 | 上海大学 | Explosive-handling robot |
| CN106892010A (en) * | 2017-03-08 | 2017-06-27 | 南通大学 | A kind of swing arm caterpillar robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131612A (en) * | 2018-08-15 | 2019-01-04 | 安徽爱依特科技有限公司 | The robotically-driven chassis of more landform and its robot |
| CN109131612B (en) * | 2018-08-15 | 2021-02-02 | 安徽爱依特科技有限公司 | Multi-terrain robot driving chassis and robot thereof |
| CN109048841A (en) * | 2018-09-10 | 2018-12-21 | 广东宏穗晶科技服务有限公司 | A kind of dangerous situation robot |
| CN109623833A (en) * | 2018-11-30 | 2019-04-16 | 广州市机电高级技工学校（广州市机电技师学院、广州市机电高级职业技术培训学院） | Rescue robot |
| CN110466631A (en) * | 2019-07-16 | 2019-11-19 | 江苏大学 | A kind of planet triangle crawler type walking mechanism |
| CN111872915A (en) * | 2020-07-14 | 2020-11-03 | 重庆大学 | Obstacle-crossing exploration robot based on oscillating crawler wheel |
| CN112008737A (en) * | 2020-08-30 | 2020-12-01 | 李安芹 | Automatic fire rescue robot |
| CN112008737B (en) * | 2020-08-30 | 2023-08-18 | 山东居安特消防科技有限公司 | Automatic fire rescue robot |
| CN112276901A (en) * | 2020-10-30 | 2021-01-29 | 北京市安全生产科学技术研究院 | Large-load emergency rescue robot for complex environment |
| CN115821279A (en) * | 2022-12-15 | 2023-03-21 | 太仓市苏鑫机械设备有限公司 | Acid pickling phosphorization equipment to steel wire surface treatment |
| CN115821279B (en) * | 2022-12-15 | 2024-01-05 | 太仓市苏鑫机械设备有限公司 | Pickling phosphating equipment for steel wire surface treatment |
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Application publication date: 20171110 |
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| RJ01 | Rejection of invention patent application after publication |