CN107972015A - Integral type anticollision mobile station - Google Patents
Integral type anticollision mobile station Download PDFInfo
- Publication number
- CN107972015A CN107972015A CN201711429078.5A CN201711429078A CN107972015A CN 107972015 A CN107972015 A CN 107972015A CN 201711429078 A CN201711429078 A CN 201711429078A CN 107972015 A CN107972015 A CN 107972015A
- Authority
- CN
- China
- Prior art keywords
- mobile station
- chassis
- mounting base
- integral type
- platform body
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This application discloses integral type anticollision mobile station, including the chassis on the platform body, the platform body is equipped with grabbing device and is respectively arranged on the anticollision mechanism of the front and rear end of the platform body, the grabbing device includes the manipulator being arranged on the chassis and the handgrip for being arranged on the manipulator actuating station, the anticollision mechanism includes an anticollision portion and two connecting portions being parallel to each other, one end of two connecting portions by a connection piece with the chassis is detachable is fixedly connected, the other end of the both ends in the anticollision portion respectively with two connecting portions is connected.The application can realize that distant signal stablizes transmission, improve the scope of application of the application and can integrate anticollision, artificial lift to move, machinery lifting, make its structure more compact.
Description
Technical field
This application involves robotic technology field, more particularly to integral type anticollision mobile station.
Background technology
With the fast development of China's field of industrial production, it is more and more to manufacture involved field, wherein being no lack of
There is the industry spot of some bad environments, in order to keep the safety in production, the exploration of industry spot is particularly important, in actual industry
Under scene and rugged environment, testing staff can not be directly entered scene and complete measurement task.And into in-site measurement
When can cause jitter because of advance relatively remote of scene.
Apply for content
The application technical problems to be solved are to provide integral type anticollision mobile station, by setting grabbing device and Buddhist abbot's machine
Structure is accomplished to launch repeater when realization to carry out remote inspection, realizes that distant signal stablizes transmission, improve the application
The scope of application and can integrate anticollision, artificial lift to move, machinery lifting, make its structure more compact.
In order to solve the above-mentioned technical problem, this application provides integral type anticollision mobile station, including platform body and it is arranged on
Chassis on the platform body, the platform body be equipped with grabbing device and be respectively arranged on the platform body front end and
The anticollision mechanism of rear end, the grabbing device include the manipulator being arranged on the chassis and are arranged on the manipulator execution
The handgrip at end, the anticollision mechanism include an anticollision portion and two connecting portions being parallel to each other, and one end of two connecting portions passes through
A connection piece with the chassis is detachable is fixedly connected, the other end of the both ends in the anticollision portion respectively with two connecting portions connects
Connect.
Further, the manipulator include rotate with the platform body be connected first driving means, with it is described
The output terminal of first driving means rotate connection the second driving device mounting base, be placed in second driving device installation
The second driving device, the first mounting base being connected that rotates with the output terminal of second driving device in seat, one end are arranged on
First connecting rod on the side wall of first mounting base, the second mounting base arranged on the first connecting rod other end, be placed in it is described
The 3rd driving device, one end in second mounting base are rotated company by the output shaft of a transfer block and the 3rd driving device
The second connecting rod that connects, the 3rd mounting base being fixedly connected with the other end of the second connecting rod, in the 3rd mounting base
Four-drive device, rotate with the output shaft of the four-drive device be connected handgrip installing plate, arranged on the handgrip
Lifting cylinder on installing plate, the handgrip are arranged on the actuating station of the lifting cylinder, and being additionally provided with the installing plate multiple is
Installation position.
Further, the installation position has two, and two installation positions are respectively the first installation position and the second installation position, described
First installation position is provided with multiple vision inspection apparatus, and second installation position is provided with the second gamma detector.
Further, first control device and second control device on the chassis, the platform sheet are further included
The front end of body is equipped with a netted installing plate, and the netted installing plate is equipped with multiple vision collecting device, lighting device and obstacles
Analyte detection device, the rear end of the platform body be equipped with the first control panel for being electrically connected respectively with the first control device and
The second control panel being electrically connected with the second control device, the second control device are filled with the vision collecting respectively
Put, obstacle detector electrical connection, the first control device is electrically connected with the second control device.
Further, the vision collecting device includes two, is respectively infrared camera and depth camera.
Further, the obstacle detector is the laser thunder being arranged on by mounting base on the netted installing plate
Reach.
Further, the thickness on the chassis is 4mm-10mm, and it is 1mm-3mm's that the upper surface on the chassis, which is equipped with thickness,
Stereotype, the downside on the chassis are equipped with battery case, multiple installing zones for being used to install battery are equipped with the battery case.
Further, the first control device respectively with first driving means, second driving device, described
3rd driving device, the four-drive device and lifting cylinder are electrically connected.
Further, repeater Storage Box is additionally provided with the platform body, is equipped with the repeater Storage Box multiple
Repeater, the repeater are connected with the first control device signal.
The beneficial effect of the application is:
1) the application can be with the detachable fixation of platform body by being set respectively in the front and rear end of platform body
The anticollision mechanism of connection so that the anticollision portion of the application integrates anticollision, artificial lift to move, the structure needs of machinery lifting, makes
Overall structure it is more traditional compared to more simple, use scope is more extensive;
2) for the application by setting grabbing device and repeater, realizing can be by dispensing in traveling larger distance
Long haul communication is achieved after device.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate attached drawing describe in detail as after.
Brief description of the drawings
Fig. 1 is the application general structure schematic diagram;
Fig. 2 is the application interior details schematic diagram;
Fig. 3 is the application left view;
Fig. 4 is the application right view;
Fig. 5 is the application grabbing device schematic diagram.
Wherein:
1 it is platform body, 2 be chassis, 4 be battery case, 6 be the first installation region, 8 be the second installation region, 10 is
Three installation regions, 12 be elevating mechanism, 1201 be pressing plate, 1202 be installing plate, 1203 be sunpender, 1204 be compression spring, 1205 be
Surface contamination detector, 1206 be the first gamma detector, 1207 be the first synchronous pulley, 1208 be the second synchronous pulley, 1209
Be the 3rd synchronous pulley, 1210 be the 4th synchronous pulley, 1211 be leading screw, 1212 be sliding block, 1213 be guide post, 14 be crawl dress
Put, 1401 be first driving means mounting base, 1402 be the second driving device mounting base, 1403 be the first mounting base, 1404 be
First connecting rod, 1405 be the second mounting base, 1406 be second connecting rod, 1407 be handgrip installing plate, 1408 be lifting cylinder, 1409
It is handgrip, 1410 be the first installation position, 1411 be the second installation position, 1412 be the 3rd mounting base, 16 is first control device, 17
It is second control device, 18 be router, 19 be PC ends, 20 be motor driver, 22 be analog line driver, 24 is fan, 26
It is ice chest, 28 be repeater Storage Box, 30 be connecting portion, 32 be anticollision portion, 34 be netted installing plate, 36 is the first chain of command
Plate, 38 be the second control panel, 40 be antenna, 42 be depth camera, 44 be infrared camera, 46 be supporting rack, 48 be tower buckle, 50
It is housing.
Embodiment
The application is described further with specific embodiment below in conjunction with the accompanying drawings, so that those skilled in the art can be with
More fully understand the application and can be practiced, but illustrated embodiment is not as the restriction to the application.
Referring to attached drawing 1 to 5, a kind of integral type anticollision mobile station described in one preferred embodiment of this explanation, including platform sheet
Body 1 and the chassis 2 being arranged on the platform body 1, the downside on chassis 2 are equipped with battery case 4,16 are equipped with the battery case 4
A installing zone for being used to install battery.Facilitate the front end of platform body as defined in the application to describe as normal driving headstock
Portion, the rear end of platform body are the tailstock portion normally to drive a vehicle, in order to make design structure more compact, integrally seem concise beauty
See, preferably chassis 2 is equipped with the first installation region 6, the second installation region 8 and the 3rd installing zone successively along the direction of front end to rear end
Domain 10, is equipped with elevating mechanism 12 and the grabbing device 14 above the elevating mechanism 12 in the first installation region 6, and second
Installation region is equipped with first control device 16, the router 18 for being arranged on the top of first control device 16, the drive of multiple motors
Dynamic device 20 and multiple analog line drivers 22, second control device 17 is equipped with the 3rd installation region and is arranged on second control
The PC ends 19 of the downside of device processed 17, are additionally provided with radiator on the chassis 2, preferably radiator includes being arranged on the described second peace
Fill the fan 24 between region and the 3rd installation region and the ice chest 26 arranged on the second control device both sides.
Wherein, in order to allow to be contacted the detection device of carrying with the ground of required detection zone, preferably will
Detection device is arranged on the lift side of elevating mechanism, elevating mechanism include one can relatively described chassis upper surface relative motion pressure
Plate 1201, the upside of the pressing plate 1201, which is equipped with one, has an installing plate 1202 of lug, at the lug of the installing plate 1202 from
The second installation region 8 is stretched into first installation region 6, and a gear is equipped between installation region and the second installation region the one the first
Plate, baffle are equipped with the opening passed through for installing plate, more sunpenders 1203 are also equipped with the pressing plate, the sunpender 1203
Upper end is held in the upper surface of the pressing plate 1201 by a stage, and the lower end of the sunpender 1203 is with being arranged on the elevating mechanism
The detection device connection of 12 lift side, bar segment of the sunpender 1203 between the detection device and the pressing plate 1201
On be arranged with compression spring 1204, the upper end of the compression spring 1204 supports the lower surface of the pressing plate 1201, under the compression spring 1204
End supports the upper surface of the detection device, and preferred detecting unit includes surface contamination detector 1205 and arranged on surface dirt
The first gamma detector 1206 of 1205 side of detector is contaminated, the lower end of the compression spring 1204 supports the surface contamination detector
1205 upper surface.Installing plate in the second installation region 8 is equipped with the 5th driving device, and preferably the 5th driving device is
Brushless electric machine, the output terminal of the 5th driving device are connected with one end of a transmission device, the other end of the transmission device
It is connected with the input terminal of a screw pair, the pressing plate is connected with the output terminal of the screw pair, and by the leading screw
The output terminal of pair of nut drives the upper surface on relatively described chassis to pump.
Specifically, the transmission device includes the first synchronous pulley being connected with the output terminal of the 5th driving device
1207 and be arranged on the installing plate 1202 the second synchronous pulley 1208, the 3rd synchronous pulley 1209 (not shown in figure, the
Three synchronous pulleys 1209 are oppositely arranged with the second synchronous pulley 1208) and be arranged on second synchronous pulley 1208 with it is described
The 4th synchronous pulley 1210 between 3rd synchronous pulley 1209, it is same that the conveyer belt of the transmission device sequentially passes through described first
Walk belt wheel 1207, the second synchronous pulley 1208, the 4th synchronous pulley 1210 and the 3rd synchronous pulley 1209, preferably the 4th synchronous belt
Wheel 1210 is pre- bearing up pulley.
Wherein, the screw pair includes two, respectively the first screw pair and the second screw pair, each
The screw pair includes leading screw 1211 and the sliding block 1212 on the leading screw 1211, first screw pair
The upper end of leading screw is rotatablely connected with second synchronous pulley, and the lower end of the leading screw of first screw pair passes through a bearing
It is connected with the chassis, the sliding block of first screw pair is connected with the pressing plate, the silk of second screw pair
The upper end of thick stick and the 3rd synchronous pulley are rotatablely connected, the lower end of the leading screw of second screw pair by a bearing with
The chassis connection, the sliding block of second screw pair are connected with the pressing plate.
It is be respectively placed in installing plate corner location four to be preferably directed mechanism, and each guiding mechanism includes connection and installs
Plate and the guide post on chassis 1213 and the linear bearing being slidably connected on the guide post, the pressing plate connect with the linear bearing
Connect, and moved back and forth up and down with the moving up and down for linear bearing along the guide post.
Wherein, grabbing device 14 includes the manipulator being arranged on platform body and is arranged on the manipulator actuating station
Handgrip, wherein, manipulator includes rotating with the platform body first driving means being connected, accommodating first driving means
First driving means mounting base 1401, rotate the second driving device installation being connected with the output terminal of the first driving means
It is seat 1402, the second driving device for being placed in the second driving device mounting base 1402, defeated with second driving device
Outlet rotates the first connecting rod that the first mounting base 1403 of connection, one end are arranged on the side wall of first mounting base 1403
1404th, the second mounting base 1405 arranged on 1404 other end of first connecting rod, be placed in second mounting base 1405
Three driving devices, one end are rotated the second connecting rod being connected by a transfer block with the output shaft of the 3rd driving device
1406th, the 3rd mounting base 1412 that is fixedly connected with the other end of the second connecting rod 1406, in the 3rd mounting base
Four-drive device, rotate with the output shaft of the four-drive device be connected handgrip installing plate 1407, arranged on described
Lifting cylinder 1408 on handgrip installing plate, the handgrip 1409 is arranged on the actuating station of the lifting cylinder, on the installing plate
It is installation position to be additionally provided with multiple, in order to realize that handgrip can realize comprehensive scanning surrounding, preferably described first driving means
Rotation axis it is vertically arranged, the rotation axis of second driving device mutually hangs down with the rotation axis of the first driving means
It is straight to set, the rotation axis laying parallel with the rotation axis of second driving device of the 3rd driving device, wherein,
Installation position has two, and two installation positions are respectively the first installation position 1410 and the second installation position 1411, and first installation position is pacified
Equipped with multiple vision inspection apparatus, second installation position is provided with the second gamma detector.
In order to realize the communication of long range, repeater Storage Box 28, the repeater storage are additionally provided with platform body
Multiple repeaters are equipped with box, the repeater is connected with the first control device signal, and handgrip is used to launch repeater
In traveling way.
Specifically, being equipped with integrated elastic beam in repeater Storage Box, the integrated elastic beam includes more
A cut section, each cut section place a repeater, and the bore of the cut section is slightly less than the repeater appearance and size.
In order to enable the mobile station of the application freely to advance under rugged environment, preferably in platform body front end with after
End sets anticollision mechanism respectively, and in order to realize anticollision, artificial lift to move, machinery lifting integration, it is anti-to include one for preferably anticollision mechanism
The connecting portion 30 that portion 32 and two is parallel to each other is hit, one end of two connecting portions 30 is detachable by a connection piece and the chassis
Formula is fixedly connected, and the other end of the both ends in the anticollision portion respectively with two connecting portions is connected, and the lateral wall of anticollision mechanism is equipped with slow
Layer is rushed, multiple trays with cambered surface are equipped with positioned at the downside of the cushion in anticollision portion.
Specifically, the integral type anticollision mobile station of the application further includes the shell that a bottom is adapted with the shape on the chassis
Body, the lateral surface positioned at the housing of platform body front end be equipped with a netted installing plate 34, the housing positioned at platform body rear end
Lateral surface is equipped with the first control panel 36, the second control panel 38 and the antenna 40 for receiving signal, the netted installing plate
34 are equipped with multiple vision collecting device, lighting device and obstacle detectors, and preferably vision inspection apparatus includes two, point
Not Wei infrared camera 44 and depth camera 42, preferably obstacle detector be by mounting base be arranged on the netted installing plate on
Laser radar, the first control panel for being electrically connected with first control device is equipped with the rear end of platform body and is controlled with second
The second control panel that device is electrically connected, multiple USB interfaces, emergency stop switch and mesh are included on the first control panel, and second controls
Include the general aviation socket of multiple USB interfaces and detector on panel processed.First control device respectively with the repeater, institute
State manipulator, the motor driver, the analog line driver be electrically connected, the second control device respectively with the route
Device, the vision collecting device, the obstacle detector, the antenna be electrically connected, the first control device with it is described
Second control device is electrically connected, and first control device is also electrically connected with PC ends.
Specifically, since the first connecting rod and second connecting rod of manipulator have certain length, preferably also set up on housing
One is used to support the supporting rack 46 of manipulator.
Specifically, the integral type anticollision mobile station of the application further includes upper cover, the upper cover is with the housing 50 by more
A tower button 48 connects.
In order to make structure more compact, preferably the material on chassis is stainless steel, and the thickness on chassis is 6mm, on chassis
Upper surface is additionally provided with the stereotype that thickness is 2mm, and chassis is equipped with the opening passed through for surface contamination detector.
To make handgrip realize crawl repeater and launching repeater, preferably vision inspection apparatus is two cameras, camera
Communication connection.
Operation principle:
The integral type anticollision mobile station of the application is placed in region to be maked an inspection tour, mobile station starts autonomous operation, the first control
Device processed control mobile station is advanced, while is arranged on the vision collecting device of mobile station front end and obstacle detector starts pair
The travel zone of mobile station is scanned, and the path data collected then is sent to second control device is then stored in PC
End, second control device are sent to first control device according to the path data of collection, and first control device is according to the second control
The traveling of the signal control mobile station of device, the manipulator on the upside of elevating mechanism start to move around on the top, make to be installed on
The second gamma detector on second installation position starts to detect, when running to a position to be detected, first control device control
Make the 5th driving device driving screw pair and rotate while drive the pressing plate downlink drive surface being installed on screw pair
Pollution detection device and installed in surface contamination detector side the second gamma detector downlink contact ground, be the effect of compression spring
Under press ground to be detected and proceed by detection, the result of detection then is sent to second control device is stored in PC ends,
When stroke farther out is run, signal can be more and more weaker, after signal weaker is detected, first control device control machinery
Handgrip on hand starts to extend into crawl repeater at repeater Storage Box under the auxiliary of camera and is launched, and mobile station is write down
Continued on after placement position, when detection end needs return, PC ends are planned back according to the position of the repeater of dispensing
The route of journey, then sends the signal to first control device, first control device is according to reception by second control device
Path signal is open to traffic, and after original release position is run to, handgrip starts to collect the repeater placement repeater launched before
In Storage Box, then proceed to advance.
Embodiment described above is only the preferred embodiment to absolutely prove the application and being lifted, the protection model of the application
Enclose not limited to this.The equivalent substitute or conversion that those skilled in the art are made on the basis of the application, in the application
Protection domain within.The protection domain of the application is subject to claims.
Claims (9)
1. integral type anticollision mobile station, including platform body and the chassis on the platform body, it is characterised in that described
Platform body is equipped with grabbing device and is respectively arranged on the anticollision mechanism of the front and rear end of the platform body, the crawl dress
Put the manipulator including being arranged on the chassis and be arranged on the handgrip of the manipulator actuating station, the anticollision mechanism includes
One anticollision portion and two connecting portions being parallel to each other, one end of two connecting portions are detachable by a connection piece and the chassis
It is fixedly connected, the other end of the both ends in the anticollision portion respectively with two connecting portions is connected.
2. integral type anticollision mobile station according to claim 1, it is characterised in that the manipulator includes and the platform
Body rotate connection first driving means, rotate with the output terminal of the first driving means be connected second driving dress
It is the mounting base put, the second driving device being placed in the second driving device mounting base, defeated with second driving device
Outlet rotate first connecting rod that the first mounting base of connection, one end be arranged on the side wall of first mounting base, arranged on described
Second mounting base of the first connecting rod other end, the 3rd driving device being placed in second mounting base, one end pass through a switching
Block rotate with the output shaft of the 3rd driving device second connecting rod being connected, fix and connect with the other end of the second connecting rod
The output shaft of the 3rd mounting base, the four-drive device in the 3rd mounting base and the four-drive device that connect
Rotate handgrip installing plate, the lifting cylinder on the handgrip installing plate of connection, and the handgrip is arranged on the lifting air
The actuating station of cylinder, it is installation position to be additionally provided with multiple on the installing plate.
3. integral type anticollision mobile station according to claim 2, it is characterised in that the installation position has two, two peaces
Dress position is respectively the first installation position and the second installation position, and first installation position is provided with multiple vision inspection apparatus, and described the
Two installation positions are provided with the second gamma detector.
4. integral type anticollision mobile station according to claim 2, it is characterised in that further include on the chassis
One control device and second control device, the front end of the platform body are equipped with a netted installing plate, on the netted installing plate
Equipped with multiple vision collecting device, lighting device and obstacle detectors, the rear end of the platform body be equipped with respectively with institute
The second control panel stated the first control panel of first control device electrical connection and be electrically connected with the second control device, institute
State second control device to be electrically connected with the vision collecting device, the obstacle detector respectively, the first control dress
Put and be electrically connected with the second control device.
5. integral type anticollision mobile station according to claim 4, it is characterised in that the vision collecting device includes two
It is a, it is respectively infrared camera and depth camera.
6. integral type anticollision mobile station according to claim 4, it is characterised in that the obstacle detector is to pass through
Mounting base is arranged on the laser radar on the netted installing plate.
7. integral type anticollision mobile station according to claim 1, it is characterised in that the thickness on the chassis is 4mm-
10mm, the upper surface on the chassis are equipped with the stereotype that thickness is 1mm-3mm, and the downside on the chassis is equipped with battery case, described
Equipped with multiple installing zones for being used to install battery in battery case.
8. integral type anticollision mobile station according to claim 4, it is characterised in that the first control device respectively with institute
State first driving means, second driving device, the 3rd driving device, the four-drive device and the lifting cylinder
It is electrically connected.
9. integral type anticollision mobile station according to claim 4, it is characterised in that relaying is additionally provided with the platform body
Device Storage Box, the repeater Storage Box is interior to be equipped with multiple repeaters, and the repeater connects with the first control device signal
Connect.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711429078.5A CN107972015A (en) | 2017-12-26 | 2017-12-26 | Integral type anticollision mobile station |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711429078.5A CN107972015A (en) | 2017-12-26 | 2017-12-26 | Integral type anticollision mobile station |
Publications (1)
Publication Number | Publication Date |
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CN107972015A true CN107972015A (en) | 2018-05-01 |
Family
ID=62007562
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201711429078.5A Withdrawn CN107972015A (en) | 2017-12-26 | 2017-12-26 | Integral type anticollision mobile station |
Country Status (1)
Country | Link |
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CN (1) | CN107972015A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109397235A (en) * | 2018-07-26 | 2019-03-01 | 芜湖市越泽机器人科技有限公司 | A kind of robot fixed underpan |
-
2017
- 2017-12-26 CN CN201711429078.5A patent/CN107972015A/en not_active Withdrawn
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109397235A (en) * | 2018-07-26 | 2019-03-01 | 芜湖市越泽机器人科技有限公司 | A kind of robot fixed underpan |
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Application publication date: 20180501 |