CN107349547A - A kind of remote operating intelligent monitoring firefighting robot - Google Patents
A kind of remote operating intelligent monitoring firefighting robot Download PDFInfo
- Publication number
- CN107349547A CN107349547A CN201710536881.2A CN201710536881A CN107349547A CN 107349547 A CN107349547 A CN 107349547A CN 201710536881 A CN201710536881 A CN 201710536881A CN 107349547 A CN107349547 A CN 107349547A
- Authority
- CN
- China
- Prior art keywords
- intelligent monitoring
- remote operating
- firefighting robot
- water
- operating intelligent
- 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
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of remote operating intelligent monitoring firefighting robot, belong to fire-fighting robot field.The remote operating intelligent monitoring firefighting robot includes car body, travel mechanism, controlling organization, braking mechanism, cooling mechanism, applicator and fire-fighting water inlet pipe.The remote operating intelligent monitoring firefighting robot passes through controlling organization; both can remote control, can also be manipulated using control panel, at the same used connection applicator water inlet pipe cooling mechanism; water tank can be made timely to be supplemented, to itself there is sufficient protection while fire extinguishing.
Description
Technical field
The present invention relates to a kind of remote operating intelligent monitoring firefighting robot, belong to fire-fighting robot technical field.
Background technology
As the fast development of society, city size constantly expand, petrochemical industry, skyscraper, megastore and joy
Happy place, which is compared concentration and had with day, to be increased, and various factors causing disasters also drastically increase, and security against fire, which seems, to become more and more important.City ring
Border is complicated, once fire occurs, various building fragment of brick passages, large-scale fire-fighting equipment is difficult to arrive at scene of fire, Zhi Nengyou
Fire fighter puts out a fire in person.Fire fighter is in fire extinguishing procedure, because environment is complicated and changeable, often results in casualties, loss
It is huge.So fire-fighting robot is more and more applied to scene of fire.
Existing fire-fighting robot has only used fire proofing material mostly, but not highly effective for the high temperature in the scene of a fire
Solution, as shown in CN201310159893, water-cooled block very power consumption is set, and top only has a shower nozzle, Wu Fayou
The cooling of effect.
The content of the invention
The technical problem to be solved in the present invention is, in view of the shortcomings of the prior art, proposing that one kind remote control and can voluntarily drop
The gentle remote operating intelligent monitoring firefighting robot effectively put out a fire.
The present invention is to solve the technical scheme that above-mentioned technical problem proposes to be：A kind of remote operating intelligent monitoring fire extinguishing machine
People, including car body and its crawler body located at vehicle bottom and travel mechanism, the vehicle body upper portion are provided with flameproof case and water
Big gun head, the hull back are provided with water inlet pipe, and the water inlet pipe is used to connect water cannon head and external water source, and the remote operating is intelligently supervised
Control firefighting robot also includes：Cooling mechanism, controlling organization, braking mechanism.The cooling mechanism includes storage tank and is arranged on
Spray piping and temperature sensor on shell, delivery pipe branch is communicated between the pipe shaft of the storage tank and water inlet pipe, it is described
Delivery pipe branch is provided with valve switch, and the storage tank is additionally provided with the pipeline connected with spray piping and is provided with the pipeline and used
In extracting the electric pump in the water to spray piping in storage tank, waterfog head, the storage tank are installed on the spray piping
Provided with ball float water level instrument and ball float.
It is of the invention to be using the effect of above-mentioned technical proposal：, can be with by the way that storage tank is connected with the water inlet pipe of fire monitor
Intake at any time toward storage tank, effectively prevent the not enough situation of storage tank water, and can usually be vented water tank to prevent from getting rusty,
And Inlet and outlet water situation is controlled by ball float and temperature sensor.
The improvement of above-mentioned technical proposal is：The water inlet pipe is provided with double end Rotatable water inlet joint, and joint connects including one end
The circular tube shaped housing of water inlet pipe, catchment tube shell and ball, and the tube shell that catchments is made as Y-type three way type housing, the Y-type three way type
Two forked sections of shell one end are set in an outside fire extinguisher canvas hose band connection, the Y-type three way type housing other end respectively
On the other end of the circular tube shaped housing, a circle circular groove, institute are formed with the madial wall of the Y-type three way type housing other end
State and a circle circular groove is correspondingly formed with the outer pipe face of the circular tube shaped housing other end；When the Y-type three way type housing other end
When being set on the other end of the circular tube shaped housing, two circle circular grooves enclose the circle for clogging ball to merging formation one
Ball-track.
It is of the invention to be using the effect of above-mentioned technical proposal：Steel ball is provided between Y-shaped three-way pipe housing and water inlet tube shell,
Y-shaped three-way pipe housing makes to rotate, and in fire-fighting robot moving process, the extinguishing pipe for preventing from connecting fire-fighting pipe joint is beaten
Knot, keep water pipe unimpeded, without manual operation.
The one of perfect of above-mentioned technical proposal be：The control device respectively with valve switch, ball float water level instrument and temperature
Sensor is connected；The ball float water level instrument is arranged on above the storage tank and for detecting water storage tank water level；The temperature
Sensor is used to detect the temperature of shell and send temperature signal to be used for control valve to the control device, the control device
The closure of switch and the signal for receiving the transmission of ball float water level instrument.
Perfect two of above-mentioned technical proposal are：What the braking mechanism included being fixed on the crawler body electronic pushes away
Bar, hydraulic controller and hydraulicdirectional control valve and brake handle and the braking clamp located at brake disk border, the brake handle
Cutting somebody's hair for one end and electric pushrod is be hinged, and the brake handle other end is fixed on the switch of hydraulic controller, the hydraulic pressure
Main hydraulic hose is communicated between controller and the hydraulicdirectional control valve, liquid is communicated between the hydraulicdirectional control valve and braking clamp
Press flexible pipe；When the electric pushrod stretching motion, the electric pushrod drives the switch of brake handle keying hydraulic controller
To control the compression of hydraulic oil in the hydraulic controller with release and transmit pressure to the liquid by the main hydraulic hose
Reversal valve is pressed, the hydraulicdirectional control valve is used to the pressure that the main hydraulic hose provides is assigned in the hydraulic hose and driven
Braking clamp is set to clamp or unclamp the brake disk.
It is of the invention to be using the effect of above-mentioned technical proposal：Hydraulic brake system is driven by using push rod, ties brake
Structure simplifies, it is not necessary to complicated brake structure just can realize brake, more adapt to the complicated occasion such as scene of fire, be hardly damaged with
Influenceed and failure by high temperature.
Perfect three of above-mentioned technical proposal：Front end is provided with power supply in the crawler body, and the power supply is used to move
The power supply of mechanism, controlling organization and cooling mechanism；The travel mechanism includes sustainer, and the sustainer is arranged at described
On the main wheel of crawler body front end, the travel mechanism is used to drive crawler belt to move.
Perfect four of above-mentioned technical proposal：The control device passes with electric pump, valve switch, ball float water level instrument and temperature
Sensor passes through wired or wireless connection；The water inlet pipe, delivery pipe branch and spray piping are that fire proofing material is made.
Perfect five of above-mentioned technical proposal：The controlling organization includes the guidance panel that flameproof case rear end sets and outer
The wireless device in portion.
Perfect six of above-mentioned technical proposal：Houselights is provided with the water cannon head；The car body front end is provided with
Camera probe.
Further：The outer pipe face of the madial wall of the Y-type three way type housing other end and the other end of circular tube shaped housing
Between be provided with O-shaped O-ring seal.
Further：The main hydraulic hose, the hydraulic hose are externally provided with heat-barrier coating.
The beneficial effects of the present invention are：Fire-fighting robot of the present invention has used multiple control modes, both can be remote
Journey manipulates, and can also be manipulated using control panel.Used connection applicator water inlet pipe cooling mechanism, can make water tank and
When supplemented, fire extinguishing while to itself there is sufficient protection.Double end water supply connector has been used, there can be abundance
Hydraulic pressure is put out a fire.Engine and hydraulic disc brake are used, power is sufficient and braking is convenient, reduces operational error.
Brief description of the drawings
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is a kind of structural representation of remote operating intelligent monitoring firefighting robot of the embodiment of the present invention.
Fig. 2 is Fig. 1 top view.
Fig. 3 is the structural representation of Fig. 1 braking mechanism.
Fig. 4 is the structural representation of Fig. 1 water inlet pipe.
Embodiment
Embodiment
A kind of remote operating intelligent monitoring firefighting robot of the present embodiment, as shown in Figures 1 to 4, a kind of remote operating intelligent monitoring
Firefighting robot, including car body 1 and its bottom of car body 1 are provided with crawler body 8 and travel mechanism 2, and the top of car body 1 is provided with fire prevention
Shell 9 and water cannon first 6, the afterbody of car body 1 are provided with water inlet pipe 7, and water inlet pipe 7 is used to connect water cannon first 6 and external water source, and the one kind is distant
Operation intelligent monitoring firefighting robot includes：Cooling mechanism 5, controlling organization 3, braking mechanism 4.
Cooling mechanism 5 includes storage tank 19 and spray piping 22 and temperature sensor 16 on shell, storage tank
Delivery pipe branch 17 is communicated between 19 and the pipe shaft of water inlet pipe 7, delivery pipe branch 17 is provided with valve switch 18, and storage tank 19 is also set
There is the pipeline connected with spray piping 22 and the water being used to extract in storage tank 19 is provided with the pipeline into spray piping 22
Electric pump 21, waterfog head 23 is installed on spray piping 22, storage tank 19 is provided with ball float 20-1 limnimeters 20 and ball float 20-1.
Controlling organization 3 is connected with valve switch 18, ball float 20-1 limnimeters 20 and temperature sensor 16 respectively.Ball float 20-1 limnimeters
20 are arranged on the top of storage tank 19, for detecting the water level of storage tank 19.The temperature that temperature sensor 16 is used to detect shell is concurrent
Temperature signal is sent to controlling organization 3, controlling organization 3 is used for the closure of control valve switch 18 and receives ball float 20-1 limnimeters 20
The signal of transmission.
Water inlet pipe 7 is provided with double end Rotatable water inlet joint 28, and joint 28 includes the circular tube shaped housing of one end connection water inlet pipe 7
28-1, catchment tube shell 28-2 and ball 28-3, and the tube shell 28-2 that catchments is made as Y-type three way type housing, Y-type three way type shell one end
Two forked sections are set in circular tube shaped housing 28-1 with an outside fire extinguisher canvas hose band connection, the Y-type three way type housing other end respectively
The other end on, it is another that circle a circular groove 28-4, circular tube shaped housing 28-1 is formed with the madial wall of the Y-type three way type housing other end
A circle circular groove 28-5 is correspondingly formed with the outer pipe face of one end.
When the Y-type three way type housing other end is set on the circular tube shaped housing 28-1 other end, two circle circular grooves pair
The spheroidal raceway for clogging ball 28-3 is enclosed in merging formation one.
Braking mechanism 4 includes electric pushrod 4-1, hydraulic controller 4-4 and the hydraulicdirectional control valve being fixed on crawler body 8
The 4-6 and brake handle 4-2 and braking clamp 4-8 located at brake disk 4-9 edges, brake handle 4-2 one end and electric pushrod
Cutting somebody's hair for 4-1 is be hinged, and the brake handle 4-2 other ends are fixed on hydraulic controller 4-4 switch, hydraulic controller 4-4 and liquid
Main hydraulic hose 4-5 is communicated between pressure reversal valve 4-6, hydraulic hose is communicated between hydraulicdirectional control valve 4-6 and braking clamp 4-8
4-7.When electric pushrod 4-1 stretching motions, electric pushrod 4-1 drive brake handle open and close hydraulic controller 4-4 switch with
The compression of hydraulic oil in hydraulic controller 4-4 is controlled to transmit pressure to hydraulicdirectional control valve with release and by main hydraulic hose 4-5
4-6, hydraulicdirectional control valve 4-6 are used to the main hydraulic hose 4-5 pressure provided is assigned in hydraulic hose 4-7 and drives braking clamp
4-8 is clamped or releasing of brake disk 4-9.
Front end is provided with power supply 12, the power supply for travel mechanism 2, controlling organization 3 and cooling mechanism 5 in crawler body 8.
Travel mechanism 2 includes sustainer 10, and sustainer 10 is arranged on the main wheel 13 of the front end of crawler body 8, and travel mechanism 2 is used for
Crawler belt 15 is driven to move.Controlling organization 3 is logical with electric pump 21, valve switch 18, ball float 20-1 limnimeters 20 and temperature sensor 16
Cross wired or wireless connection.Water inlet pipe 7, delivery pipe branch 17 and spray piping 22 are that fire proofing material is made.The rear end of flameproof case 9
Guidance panel 26 is provided with, for operational control mechanism 3.Controlling organization 3 is provided with wireless device, connects remote control equipment, uses
In operational control mechanism 3.Houselights 27 is provided with water cannon first 6.The front end of car body 1 is provided with camera probe 29.Y-type three way type shell
O-shaped O-ring seal 28-6 is provided between the outer pipe face of the madial wall of the body other end and the circular tube shaped housing 28-1 other end.It is O-shaped
O-ring seal 28-6 has sealing function.Electric expansion bar, hydraulic controller 4-4, hydraulicdirectional control valve 4-6 are arranged on fire tower
On device people's vehicle frame.Main hydraulic hose 4-5, hydraulic hose 4-7 are externally provided with heat-barrier coating.
The present invention is not limited to above-described embodiment.All technical schemes formed using equivalent substitution, all falling within the present invention will
The protection domain asked.
Claims (10)
1. a kind of remote operating intelligent monitoring firefighting robot, including car body and its crawler body and moving machine located at vehicle bottom
Structure, the vehicle body upper portion are provided with flameproof case and water cannon head, and the hull back is provided with water inlet pipe, and the water inlet pipe is used to connect
Water cannon head and external water source, it is characterised in that：The remote operating intelligent monitoring firefighting robot also includes：Cooling mechanism, control machine
Structure, braking mechanism；The cooling mechanism includes storage tank and spray piping and temperature sensor on shell, the storage
Delivery pipe branch is communicated between water tank and the pipe shaft of water inlet pipe, the delivery pipe branch is provided with valve switch, and the storage tank is also
It is provided with provided with the pipeline connected with spray piping and on the pipeline and is used to extract the electricity in the water to spray piping in storage tank
Pump, waterfog head is installed on the spray piping, the storage tank is provided with ball float water level instrument and ball float.
A kind of 2. remote operating intelligent monitoring firefighting robot according to claim 1, it is characterised in that：The water inlet pipe is provided with
Double end Rotatable water inlet joint, joint includes the circular tube shaped housing of one end connection water inlet pipe, catchment tube shell and ball, described to catchment
Tube shell is made as Y-type three way type housing, two forked sections of the Y-type three way type shell one end respectively with an outside fire extinguisher canvas hose band
Connection, the Y-type three way type housing other end are set on the other end of the circular tube shaped housing, and the Y-type three way type housing is another
A circle circular groove is formed with the madial wall at end, circle circle is correspondingly formed with the outer pipe face of the circular tube shaped housing other end
Arc groove；When the Y-type three way type housing other end is set on the other end of the circular tube shaped housing, two circle circular arcs are recessed
Groove encloses the spheroidal raceway for clogging ball to merging formation one.
A kind of 3. remote operating intelligent monitoring firefighting robot according to claim 1 or claim 2, it is characterised in that：The control dress
Put and be connected respectively with valve switch, ball float water level instrument and temperature sensor；The ball float water level instrument is arranged on the storage tank
Top simultaneously is used to detect water storage tank water level；The temperature sensor is used to detect the temperature of shell and sends temperature signal to described
Control device, the control device are used for the closure of control valve switch and receive the signal that ball float water level instrument is sent.
A kind of 4. remote operating intelligent monitoring firefighting robot according to claim 1 or claim 2, it is characterised in that：The braking machine
Structure includes electric pushrod, hydraulic controller and the hydraulicdirectional control valve being fixed on the crawler body and brake handle and set
In the braking clamp of brake disk border, cutting somebody's hair for described brake handle one end and electric pushrod is be hinged, and the brake handle is another
End is fixed on the switch of hydraulic controller, and it is soft that main hydraulic pressure is communicated between the hydraulic controller and the hydraulicdirectional control valve
Pipe, hydraulic hose is communicated between the hydraulicdirectional control valve and braking clamp；It is described electronic when the electric pushrod stretching motion
Push rod drive brake handle to open and close the switch of hydraulic controller with control the compression of hydraulic oil in the hydraulic controller and release,
And pressure is transmitted by the main hydraulic hose and gives the hydraulicdirectional control valve, the hydraulicdirectional control valve is used for the main hydraulic pressure is soft
The pressure that pipe provides is assigned in the hydraulic hose and drives braking clamp to clamp or unclamp the brake disk.
A kind of 5. remote operating intelligent monitoring firefighting robot according to claim 1 or claim 2, it is characterised in that：The track bottom
Front end is provided with power supply in disk, and the power supply is used for the power supply of travel mechanism, controlling organization and cooling mechanism；The travel mechanism
Including sustainer, the sustainer is arranged on the main wheel of the crawler body front end, and the travel mechanism is used to drive
Crawler belt moves.
A kind of 6. remote operating intelligent monitoring firefighting robot according to claim 1 or 2, it is characterised in that：The control
Device passes through wired or wireless connection with electric pump, valve switch, ball float water level instrument and temperature sensor；The water inlet pipe, water delivery
Branch pipe and spray piping are that fire proofing material is made.
A kind of 7. remote operating intelligent monitoring firefighting robot according to claim 1 or claim 2, it is characterised in that：The control machine
Structure includes guidance panel and the outside wireless device that flameproof case rear end is set.
A kind of 8. remote operating intelligent monitoring firefighting robot according to claim 1 or claim 2, it is characterised in that：The water cannon head
On be provided with houselights；The car body front end is provided with camera probe.
A kind of 9. remote operating intelligent monitoring firefighting robot according to claim 2, it is characterised in that：The Y-type three way type shell
O-shaped O-ring seal is provided between the madial wall of the body other end and the outer pipe face of the other end of circular tube shaped housing.
A kind of 10. remote operating intelligent monitoring firefighting robot according to claim 3, it is characterised in that：The main hydraulic pressure is soft
Pipe, the hydraulic hose are externally provided with heat-barrier coating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710536881.2A CN107349547A (en) | 2017-07-03 | 2017-07-03 | A kind of remote operating intelligent monitoring firefighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710536881.2A CN107349547A (en) | 2017-07-03 | 2017-07-03 | A kind of remote operating intelligent monitoring firefighting robot |
Publications (1)
| Publication Number | Publication Date |
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| CN107349547A true CN107349547A (en) | 2017-11-17 |
Family
ID=60292224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710536881.2A Pending CN107349547A (en) | 2017-07-03 | 2017-07-03 | A kind of remote operating intelligent monitoring firefighting robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108031041A (en) * | 2018-01-11 | 2018-05-15 | 苏州瑞奇安机电科技有限公司 | Firefighting robot |
| CN109568849A (en) * | 2018-10-18 | 2019-04-05 | 常兴忠 | A kind of fire fighting robot and its working method |
| RU2685319C1 (en) * | 2018-03-27 | 2019-04-17 | Акционерное Общество "Российский Концерн По Производству Электрической И Тепловой Энергии На Атомных Станциях" (Ао "Концерн Росэнергоатом") | Small-size mobile robotic fire extinguishing installation |
| CN109663250A (en) * | 2018-12-06 | 2019-04-23 | 上海电力学院 | A kind of multifunctional fire extinguishing machine people's system |
| RU189675U1 (en) * | 2019-03-12 | 2019-05-30 | Ринат Нягимович Бахтиев | ROBOT FIRE RADIO CONTROLLED |
| CN109908518A (en) * | 2019-03-25 | 2019-06-21 | 上海应用技术大学 | A kind of automatic fire extinguisher |
| CN109940602A (en) * | 2018-11-27 | 2019-06-28 | 广东彩珀科教文化股份有限公司 | A kind of subway robot of packaged type intelligent sound control |
| JP2022539881A (en) * | 2020-03-25 | 2022-09-13 | 北京力升高科科技有限公司 | Heat resistant fire extinguishing robot and its working method |
| CN115054857A (en) * | 2022-08-18 | 2022-09-16 | 江苏国荣安防装备科技有限公司 | Special remote control actuating mechanism of indoor fire hydrant of intelligence |
| RU2782790C1 (en) * | 2022-03-15 | 2022-11-02 | Общество с ограниченной ответственностью "Аналог" | Rotary nozzle apparatus |
| CN115645793A (en) * | 2022-11-08 | 2023-01-31 | 西安外事学院 | Fire-fighting robot removes chassis |
| FR3138323A1 (en) * | 2022-08-01 | 2024-02-02 | Elwedys | Robot equipped with an optimized dry column |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108031041A (en) * | 2018-01-11 | 2018-05-15 | 苏州瑞奇安机电科技有限公司 | Firefighting robot |
| CN110997079A (en) * | 2018-03-27 | 2020-04-10 | 原子能股份公司 | Small-size mobile robot extinguishing device |
| RU2685319C1 (en) * | 2018-03-27 | 2019-04-17 | Акционерное Общество "Российский Концерн По Производству Электрической И Тепловой Энергии На Атомных Станциях" (Ао "Концерн Росэнергоатом") | Small-size mobile robotic fire extinguishing installation |
| EA036855B1 (en) * | 2018-03-27 | 2020-12-29 | Акционерное Общество "Российский Концерн По Производству Электрической И Тепловой Энергии На Атомных Станциях" (Ао "Концерн Росэнергоатом") | Compact mobile robotic fire-extinguishing system |
| WO2019190348A1 (en) * | 2018-03-27 | 2019-10-03 | Акционерное Общество "Российский Концерн По Производству Электрической И Тепловой Энергии На Атомных Станциях" | Compact mobile robotic fire-extinguishing system |
| CN109568849A (en) * | 2018-10-18 | 2019-04-05 | 常兴忠 | A kind of fire fighting robot and its working method |
| CN109940602A (en) * | 2018-11-27 | 2019-06-28 | 广东彩珀科教文化股份有限公司 | A kind of subway robot of packaged type intelligent sound control |
| CN109663250A (en) * | 2018-12-06 | 2019-04-23 | 上海电力学院 | A kind of multifunctional fire extinguishing machine people's system |
| RU189675U1 (en) * | 2019-03-12 | 2019-05-30 | Ринат Нягимович Бахтиев | ROBOT FIRE RADIO CONTROLLED |
| CN109908518A (en) * | 2019-03-25 | 2019-06-21 | 上海应用技术大学 | A kind of automatic fire extinguisher |
| JP2022539881A (en) * | 2020-03-25 | 2022-09-13 | 北京力升高科科技有限公司 | Heat resistant fire extinguishing robot and its working method |
| RU2782790C1 (en) * | 2022-03-15 | 2022-11-02 | Общество с ограниченной ответственностью "Аналог" | Rotary nozzle apparatus |
| FR3138323A1 (en) * | 2022-08-01 | 2024-02-02 | Elwedys | Robot equipped with an optimized dry column |
| CN115054857A (en) * | 2022-08-18 | 2022-09-16 | 江苏国荣安防装备科技有限公司 | Special remote control actuating mechanism of indoor fire hydrant of intelligence |
| CN115054857B (en) * | 2022-08-18 | 2023-01-06 | 江苏龙力神安防装备科技有限公司 | Special remote control actuating mechanism of indoor fire hydrant of intelligence |
| CN115645793A (en) * | 2022-11-08 | 2023-01-31 | 西安外事学院 | Fire-fighting robot removes chassis |
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Application publication date: 20171117 |
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| RJ01 | Rejection of invention patent application after publication |