CN108406793A - A kind of intelligence robot for eliminating exploding and danger - Google Patents
A kind of intelligence robot for eliminating exploding and danger Download PDFInfo
- Publication number
- CN108406793A CN108406793A CN201810163292.9A CN201810163292A CN108406793A CN 108406793 A CN108406793 A CN 108406793A CN 201810163292 A CN201810163292 A CN 201810163292A CN 108406793 A CN108406793 A CN 108406793A
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- eliminating
- plate
- sample
- control cabinet
- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
-
- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of intelligent robot for eliminating exploding and danger, it includes chassis, chassis is internally provided with transmission mechanism, walking mechanism is installed on transmission mechanism, the top on chassis is provided with image acquisition units and manipulator for explosion eliminating, chassis is internally provided with control cabinet, and control cabinet is electrically connected with transmission mechanism, walking mechanism, image acquisition mechanism and manipulator for explosion eliminating.Walking mechanism is driven using triangular track, and simple in structure, light-weight, to the adaptable of complicated landform, obstacle climbing ability is strong, high safety and reliability；Manipulator for explosion eliminating is an individual components, can be with the working space of bigger under lighter weight using multiple degrees of freedom, and eliminating exploding and danger is flexible, and has good maintainability；It is wirelessly communicated with operating personnel, and there are image acquisition units, operating personnel can obtain field operation situation in time, and carry out thinking to control, and assist people carries out more efficient, reliable explosive operation.
Description
Technical field：
The present invention relates to intelligent robot technology fields, and in particular to a kind of intelligence robot for eliminating exploding and danger.
Background technology：
Robot for eliminating exploding and danger is also known as " dangerous school assignment robot ", is used to earliest in severe toxicity, nuclear radiation etc. is extremely endangered
Under dangerous environment, every operation is completed instead of the mankind.Since it can replace the mankind to carry out dangerous operation, sent out rapidly
Exhibition.Great attention with various countries to public utilities such as national security, social securities, characterized by anti-terror explosive removing and rescue of getting rid of the danger
Robot for eliminating exploding and danger research and development it is very rapid.According to the weight and size classes of current robot, can be roughly classified into big
Humanoid robot and small/micro robot.
Traditional large-scale robot for eliminating exploding and danger Mission Capability is high, but volume is big, and weight is high, especially large and medium-sizedly
The traveling part of face mobile robot mostly uses wheel-leg combined type, and rear portion possesses sufficiently large counterweight, causes huge structure and answers
It is miscellaneous, the overweight stability for being unfavorable for robot when crossing stair in rear portion；Small scale robot causes landform to adapt to due to small
Ability is poor, and work capacity is insufficient, and serious impact is had during going downstairs or step, is easy to happen and topples.
Invention content：
The purpose of the present invention provides a kind of intelligent robot for eliminating exploding and danger, tool aiming at the deficiencies in the prior art
There are small, light-weight, the advantages such as mobility strong.
The technology solution of the present invention is as follows：
A kind of intelligence robot for eliminating exploding and danger comprising chassis, chassis are internally provided with transmission mechanism, on transmission mechanism
Walking mechanism is installed, the top on chassis is provided with image acquisition units and manipulator for explosion eliminating, and chassis is internally provided with control
Case, control cabinet are electrically connected with transmission mechanism, walking mechanism, image acquisition mechanism and manipulator for explosion eliminating.
Chassis includes the lower under casing and upper cover plate of chimeric setting up and down, and lower under casing content is equipped with transmission mechanism, transmission mechanism
Top be provided with seal isolation plate, the top for sealing off plate is fixed with control cabinet, control cabinet stand-by power supply, wireless transmitter
And operating area, control cabinet have independent current source, control cabinet stand-by power supply is the independent current source failure or not enough power supply the case where
Under be powered operation；Control cabinet and wireless transmitter electrical connection, wireless transmitter are wirelessly communicated with operating personnel.
Operating area includes sample primary treatment area, sample holding region, sample detection room, waste sample disposal area and behaviour
Make robot, interim unlatching door is provided on the upper cover plate above operating area, manipulator for explosion eliminating is located at interim unlatching door side；
Explosive-removal robot collects extraneous sample, and will collect sample and be placed in sample primary treatment area, and operation robot is to sample primary
Sample at treatment region carries out primary operation, and further the sample after primary treatment is delivered to sample holding region and is waited for and is entered
Sample detection room is detected operation.
The front and rear sides on chassis are respectively arranged with close to switch, close to switch and control cabinet wireless telecommunications.
Walking mechanism includes the identical walking unit of four structures being arranged on transmission mechanism, and the main body of walking unit is
One gusseted plate, three vertex of gusseted plate are respectively set there are two first pulley and second belt wheel, and three
Angle support plate is provided centrally with centre wheel, and centre wheel is connect with transmission mechanism, and passes through biography between centre wheel and the second belt wheel
V belt translation is sent to connect；The outer sheath of two first pulleys and second belt wheel be equipped with traveling crawler, the inside of traveling crawler and
The walking tooth that outside is respectively arranged with the engaging tooth engaged with first pulley, the second belt wheel and is firmly grasped with ground.
Second belt wheel and first pulley are toothed belt wheel, wherein the middle part setting of the second belt wheel is fluted, groove
Be provided with anti-slop serrations on outer surface, conveyer belt be set in groove and with anti-skidding tooth engagement.
Gusseted plate is made of stainless steel plate, and upper part is provided with multiple strip straight slots.First pulley and second
The outer end face of belt wheel is both provided with barrier inductive switch, and barrier inductive switch is electrically connected with control cabinet.
Image acquisition mechanism includes the mounting base being fixed on above upper cover plate, and mounting base is L-type, including bottom plate and and bottom plate
The vertical plate being fixedly connected, wherein be provided with wobble drive component above bottom plate, wobble drive component includes servo motor, is watched
Take and speed reducer be connected with by shaft coupling on the output shaft of motor, the output shaft of speed reducer is fixedly connected with worm screw, worm screw it is upper
Side is provided with the turbine engaged with worm screw, and turbine is fixedly connected with swinging axle；Cannulated sleeve, cannulated sleeve are fixed on vertical plate
Inside pass through there is swinging axle, image holder to be fixedly connected with swinging axle by connecting flange.
Image holder includes swing arm, and swing arm has the first arm and the second arm being oppositely arranged, the first arm and the second arm
First end be each attached on swinging axle；The second end of first arm and the second arm is hingedly connected with mounting plate, on mounting plate
Portion is provided with rotatable drive, and the upper end of rotatable drive is fixed with image acquisition part.Wherein, it is provided with below mounting plate small
Gear is provided with gear wheel on the outside of cannulated sleeve, between pinion gear and gear wheel transmission be provided with connection belt, connect belt
It is connect with mounting plate by connecting bracket, gear wheel is sequentially connected with pitching driving motor.
Rotatable drive is the rotation gear for being rotatably installed in mounting plate top, rotates upper end and the image acquisition part of gear
It is fixedly connected, the side for rotating gear is provided with and the rotation intermeshing driving wheel of gear, driving wheel and electric rotating machine transmission
Connection.
Image acquisition part includes protection babinet, protects and is provided with headlamp above babinet, the inside of babinet is protected to be arranged
There are fine-tuning stent, fine-tuning stent upper end to be provided with video camera；Fine-tuning stent has X to mobile module, Y-direction movement module, Z movements
Module.
Manipulator for explosion eliminating includes the mounting bracket of several fonts, and the lower part of mounting bracket is connected with turntable, turntable and upper cover plate
It is fixedly connected, the top of mounting bracket is provided with vertical supporting, and the upper end of vertical supporting is hinged with swing part, and the upper end of swing part connects
It is connected to robot carriage, Multi-freedom-degreemanipulator manipulator is provided on robot carriage, Multi-freedom-degreemanipulator manipulator is hidden in manipulator branch
In the protective cover of seat top, and protective cover can be stretched out and carry out explosive operation, Multi-freedom-degreemanipulator manipulator has power supply box.
The side of mounting bracket is provided with vibrating motor, and vibrating grid is provided with above vibrating motor, and the middle part of vibrating grid is
Four frames of engraved structure, engraved structure are provided with rotating brushes, and rotating brushes can clear up Multi-freedom-degreemanipulator manipulator.
The beneficial effects of the present invention are：Walking mechanism is driven using triangular track, simple in structure, light-weight, to multiple
Miscellaneous landform it is adaptable, obstacle climbing ability is strong, high safety and reliability；Manipulator for explosion eliminating is an individual components, and how free use is
Degree, can be with the working space of bigger under lighter weight, and eliminating exploding and danger is flexible, and has good maintainability；
It is wirelessly communicated with operating personnel, and there are image acquisition units, operating personnel can obtain field operation feelings in time
Condition, and carry out thinking to control, assist people carries out more efficient, reliable explosive operation.
Description of the drawings：
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of walking unit；
Fig. 3 is the structural schematic diagram on chassis；
Fig. 4 is the structural schematic diagram of image acquisition units；
Fig. 5 is the structural schematic diagram of wobble drive component；
Fig. 6 is the structural schematic diagram of manipulator for explosion eliminating.
Specific implementation mode：
In order to keep the above objects, features and advantages of the present invention more obvious and easy to understand, below in conjunction with the accompanying drawings to this hair
Bright specific implementation mode is described in detail.
As shown in figures 1 to 6, a kind of intelligent robot for eliminating exploding and danger comprising chassis 1, chassis 1 are internally provided with transmission
Mechanism is equipped with walking mechanism 2 on transmission mechanism, and the top on chassis 1 is provided with image acquisition units 4 and manipulator for explosion eliminating 3, bottom
Disk 1 is internally provided with control cabinet 14, control cabinet 14 and transmission mechanism, walking mechanism 2, image acquisition mechanism 4 and explosive machine
Tool hand 3 is electrically connected.
Chassis 1 includes the lower under casing and upper cover plate of chimeric setting up and down, and lower under casing content is equipped with transmission mechanism, transmission mechanism
Top be provided with seal isolation plate, the top for sealing off plate is fixed with control cabinet 14, control cabinet stand-by power supply 13, wireless hair
Emitter 11 and operating area, control cabinet 14 have independent current source, and control cabinet stand-by power supply 13 is in independent current source failure or electricity
Operation is powered in the case of insufficient；Control cabinet 14 and wireless transmitter electrical connection, wireless transmitter 11 and operating personnel without
Line communicates；Operating area includes sample primary treatment area 16, sample holding region 15, sample detection room 12, waste sample disposal area
17 and operation robot, be provided on the upper cover plate above operating area it is interim open door, manipulator for explosion eliminating 3 is located to be opened temporarily
Open a side；Explosive-removal robot 3 collects extraneous sample, and is placed in sample primary treatment area 16 by sample is collected, and operates machine
People carries out primary operation to the sample at sample primary treatment area 16, and the sample after primary treatment is further delivered to sample
Storage area 15 waits for into sample detection room 12 and is detected operation.
The front and rear sides on chassis 1 are respectively arranged with close to switch 10, close to switch 10 and control cabinet wireless telecommunications.
Walking mechanism 2 includes the identical walking unit of four structures being arranged on transmission mechanism, the main body of walking unit
For a gusseted plate 20, three vertex of gusseted plate 20 are respectively set that there are two first pulley 23 and one second
Belt wheel 22, gusseted plate 20 are provided centrally with centre wheel 21, and centre wheel 21 is connect with transmission mechanism, and centre wheel 21 and
It is sequentially connected by conveyer belt 25 between two belt wheels 22；The outer sheath of two first pulleys 23 and second belt wheel 22 is equipped with row
Crawler belt 24 is walked, the inner side and outer side of traveling crawler 24 is respectively arranged with the engaging tooth engaged with first pulley 23, the second belt wheel 22
And the walking tooth firmly grasped with ground.
Second belt wheel 22 and first pulley 23 are toothed belt wheel, wherein and the middle part setting of the second belt wheel 22 is fluted,
Be provided with anti-slop serrations on the outer surface of groove, conveyer belt 25 be set in groove and with anti-skidding tooth engagement.
Gusseted plate 20 is made of stainless steel plate, and upper part is provided with multiple strip straight slots.23 He of first pulley
The outer end face of second belt wheel 22 is both provided with barrier inductive switch, and barrier inductive switch is electrically connected with control cabinet.
Image acquisition mechanism 4 includes being fixed on mounting base 41 above upper cover plate, and mounting base 41 is L-type, including bottom plate and
The vertical plate being fixedly connected with bottom plate, wherein wobble drive component 40 is provided with above bottom plate, wobble drive component 40 includes watching
It takes motor 401, speed reducer, output shaft and the worm screw 402 of speed reducer is connected with by shaft coupling on the output shaft of servo motor 401
It is fixedly connected, the top of worm screw 401 is provided with the turbine engaged with worm screw 402, and turbine is fixedly connected with swinging axle 403；Vertically
Cannulated sleeve is fixed on plate, the inside of cannulated sleeve, which passes through, has swinging axle, image holder to pass through connecting flange 404 and swinging axle
It is fixedly connected.
Image holder includes swing arm 42, and swing arm 42 has the first arm 421 and the second arm 422 being oppositely arranged, and first
The first end of arm 421 and the second arm 422 is each attached on swinging axle；The second end of first arm 421 and the second arm 422 is hinged
It is connected with mounting plate 44,44 top of mounting plate is provided with rotatable drive 45, and the upper end of rotatable drive 45 is fixed with image and adopts
Collection portion.
Wherein, the lower section of mounting plate 44 is provided with pinion gear, is provided with gear wheel on the outside of cannulated sleeve, pinion gear and big
Transmission is provided with connection belt 43 between gear 431, and connection belt 43 is connect by connecting bracket with mounting plate 44, gear wheel
431 are sequentially connected with pitching driving motor.
Rotatable drive 45 is the rotation gear 461 for being rotatably installed in 44 top of mounting plate, rotate gear 461 upper end with
Image acquisition part is fixedly connected, and the side of rotation gear 461 is provided with and rotation 461 intermeshing driving wheel 45 of gear, drive
Driving wheel 45 is sequentially connected with electric rotating machine.
Image acquisition part includes protection babinet 47, and the top of protection babinet 47 is provided with headlamp, protects the interior of babinet 47
Portion is provided with fine-tuning stent 46, and 46 upper end of fine-tuning stent is provided with video camera 48；Fine-tuning stent 46 has X to mobile module, Y-direction
Mobile module, Z move module.
Manipulator for explosion eliminating 3 includes the mounting bracket 33 of several fonts, and the lower part of mounting bracket 33 is connected with turntable 35, turntable 35
It is fixedly connected with upper cover plate, the top of mounting bracket 33 is provided with vertical supporting, and the upper end of vertical supporting is hinged with swing part 34, pendulum
The upper end in dynamic portion 34 is connected with robot carriage 31, and Multi-freedom-degreemanipulator manipulator, multiple degrees of freedom machine are provided on robot carriage 31
Tool hand is hidden in the protective cover 30 of 31 top of robot carriage, and can be stretched out protective cover and be carried out explosive operation, multiple degrees of freedom
Manipulator has power supply box 32.
The side of mounting bracket 33 is provided with vibrating motor 36, and the top of vibrating motor 36 is provided with vibrating grid 37, vibrating grid
37 middle part is engraved structure, and four frames of engraved structure are provided with rotating brushes 38, and rotating brushes 38 can be to multiple degrees of freedom machine
Tool hand is cleared up.
In carrying out explosive operation process, robot enters explosive Active workings, due to being provided with barrier inductive switch,
It can carry out barrier evacuation, and carry out climbing up and over for complicated landform, the figure being arranged above chassis by creeper undercarriage
As collecting unit can carry out multi-faceted movement, swing, rotation, to which handling situations accurately be recorded and pass to operation
Personnel, to operating personnel's wirelessly Communication Control case, so that control cabinet carries out Operation control；Due to being provided with operation
Region can be acquired and handle for environmental parameters such as the soil, air, water body of special occasions, be the operation of safety zone
Personnel provide environmental parameter.
The embodiment is to be illustrated the present invention, and is not intended to limit the present invention.Any those skilled in the art
It can modify without violating the spirit and scope of the present invention to the embodiment, therefore the rights protection model of the present invention
It encloses, it should be as listed by the claim of the present invention.
Claims (9)
1. a kind of intelligence robot for eliminating exploding and danger, which is characterized in that including chassis (1), chassis (1) is internally provided with driver
Structure is equipped with walking mechanism (2) on transmission mechanism, and the top of chassis (1) is provided with image acquisition units (4) and manipulator for explosion eliminating
(3), chassis (1) is internally provided with control cabinet (14), control cabinet (14) and transmission mechanism, walking mechanism (2), Image Acquisition machine
Structure (4) and manipulator for explosion eliminating (3) are electrically connected；
Chassis (1) includes the lower under casing and upper cover plate of chimeric setting up and down, and lower under casing content is equipped with transmission mechanism, transmission mechanism
Top is provided with seal isolation plate, and the top for sealing off plate is fixed with control cabinet (14), control cabinet stand-by power supply (13), wireless
Transmitter (11) and operating area, control cabinet (14) have independent current source, and control cabinet stand-by power supply (13) is in independent current source event
It is powered operation in the case of barrier or not enough power supply；Control cabinet (14) and wireless transmitter electrical connection, wireless transmitter (11)
It is wirelessly communicated with operating personnel；
Operating area includes sample primary treatment area (16), sample holding region (15), sample detection room (12), waste sample disposition
Area (17) and operation robot, be provided on the upper cover plate above operating area it is interim open door, manipulator for explosion eliminating (3) is located at
It is interim to open door side；Explosive-removal robot (3) collects extraneous sample, and is placed in sample primary treatment area by sample is collected
(16), operation robot carries out primary operation to the sample at sample primary treatment area (16), and further will be after primary treatment
Sample be delivered to sample holding region (15) and wait for and into sample detection room (12) be detected operation.
2. a kind of intelligent robot for eliminating exploding and danger according to claim 1, it is characterised in that：Walking mechanism (2) includes setting
Set the identical walking unit of four structures on transmission mechanism, the main body of walking unit is a gusseted plate (20), three
Three vertex of angle support plate (20) are respectively set there are two first pulley (23) and second belt wheel (22), gusseted
Plate (20) is provided centrally with centre wheel (21), and centre wheel (21) is connect with transmission mechanism, and centre wheel (21) and the second belt wheel
(22) it is sequentially connected by conveyer belt (25) between；The outer sheath of two first pulleys (23) and second belt wheel (22) is equipped with
Traveling crawler (24), the inner side and outer side of traveling crawler (24) is respectively arranged with nibbles with first pulley (23), the second belt wheel (22)
The engaging tooth of conjunction and the walking tooth firmly grasped with ground.
3. a kind of intelligent robot for eliminating exploding and danger according to claim 2, it is characterised in that：Second belt wheel (22) and first
Belt wheel (23) is toothed belt wheel, wherein the middle part setting of the second belt wheel (22) is fluted, is provided on the outer surface of groove
Anti-slop serrations, conveyer belt (25) be set in groove and with anti-skidding tooth engagement；Gusseted plate (20) is made of stainless steel plate, and its
Top is provided with multiple strip straight slots；The outer end face of first pulley (23) and the second belt wheel (22) is both provided with barrier induction
Switch, barrier inductive switch are electrically connected with control cabinet.
4. a kind of intelligent robot for eliminating exploding and danger according to claim 1, it is characterised in that：Image acquisition mechanism (4) wraps
Include the mounting base (41) being fixed on above upper cover plate, mounting base (41) is L-type, including bottom plate and be fixedly connected with bottom plate it is vertical
Plate, wherein be provided with wobble drive component (40) above bottom plate, wobble drive component (40) includes servo motor (401), servo
Speed reducer is connected with by shaft coupling on the output shaft of motor (401), the output shaft of speed reducer is fixedly connected with worm screw (402),
The turbine engaged with worm screw (402) is provided with above worm screw (401), turbine is fixedly connected with swinging axle (403)；On vertical plate
It is fixed with cannulated sleeve, the inside of cannulated sleeve, which passes through, swinging axle, and image holder is solid by connecting flange (404) and swinging axle
Fixed connection.
5. a kind of intelligent robot for eliminating exploding and danger according to claim 4, it is characterised in that：Image holder includes swing arm
(42), swing arm (42) has the first arm (421) being oppositely arranged and the second arm (422), the first arm (421) and the second arm
(422) first end is each attached on swinging axle；The second end of first arm (421) and the second arm (422) is hingedly connected with
Mounting plate (44), mounting plate (44) top are provided with rotatable drive (45), and the upper end of rotatable drive (45) is fixed with image
Acquisition portion；Wherein, be provided with pinion gear below mounting plate (44), be provided with gear wheel on the outside of cannulated sleeve, pinion gear and
Transmission is provided with connection belt (43) between gear wheel (431), and connection belt (43) is connected by connecting bracket and mounting plate (44)
It connects, gear wheel (431) is sequentially connected with pitching driving motor.
6. a kind of intelligent robot for eliminating exploding and danger according to claim 5, it is characterised in that：Rotatable drive (45) is to turn
The dynamic rotation gear (461) mounted on mounting plate (44) top, the upper end of rotation gear (461) is fixed with image acquisition part to be connected
Connect, rotation gear (461) side be provided with rotation gear (461) intermeshing driving wheel (45), driving wheel (45) with
Electric rotating machine is sequentially connected；Image acquisition part includes protection babinet (47), and headlamp is provided with above protection babinet (47), is protected
Protecting box body (47) is internally provided with fine-tuning stent (46), and fine-tuning stent (46) upper end is provided with video camera (48)；Fine-tuning stent
(46) there is X to move module to mobile module, Y-direction movement module, Z.
7. a kind of intelligent robot for eliminating exploding and danger according to claim 1, it is characterised in that：The front and rear sides on chassis (1)
It is respectively arranged with close to switch (10), close to switch (10) and control cabinet wireless telecommunications.
8. a kind of intelligent robot for eliminating exploding and danger according to claim 1, it is characterised in that：Manipulator for explosion eliminating (3) includes
The lower part of the mounting bracket (33) of several fonts, mounting bracket (33) is connected with turntable (35), and turntable (35) is fixed with upper cover plate to be connected
It connects, the top of mounting bracket (33) is provided with vertical supporting, and the upper end of vertical supporting is hinged with swing part (34), swing part (34)
Upper end is connected with robot carriage (31), and robot carriage is provided with Multi-freedom-degreemanipulator manipulator, Multi-freedom-degreemanipulator manipulator on (31)
It is hidden in the protective cover (30) above robot carriage (31) Nei, and protective cover can be stretched out and carry out explosive operation, multiple degrees of freedom
Manipulator has power supply box (32).
9. a kind of intelligent robot for eliminating exploding and danger according to claim 8, it is characterised in that：The side of mounting bracket (33) is set
It is equipped with vibrating motor (36), vibrating grid (37) is provided with above vibrating motor (36), the middle part of vibrating grid (37) is hollow out knot
Four frames of structure, engraved structure are provided with rotating brushes (38), and rotating brushes (38) can clear up Multi-freedom-degreemanipulator manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163292.9A CN108406793B (en) | 2018-02-26 | 2018-02-26 | Intelligent explosion and danger eliminating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163292.9A CN108406793B (en) | 2018-02-26 | 2018-02-26 | Intelligent explosion and danger eliminating robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108406793A true CN108406793A (en) | 2018-08-17 |
| CN108406793B CN108406793B (en) | 2021-11-26 |
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ID=63129293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810163292.9A Active CN108406793B (en) | 2018-02-26 | 2018-02-26 | Intelligent explosion and danger eliminating robot |
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| Country | Link |
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| CN (1) | CN108406793B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109667265A (en) * | 2019-02-25 | 2019-04-23 | 安徽建筑大学 | Hydraulic pile driver |
| CN114709759A (en) * | 2022-06-06 | 2022-07-05 | 山东尼采科技有限公司 | Laying device for submarine cable and working method thereof |
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| CN205345098U (en) * | 2016-01-23 | 2016-06-29 | 哈尔滨理工大学 | Robot is exploded to planet wheel -track belt row |
| CN106240662A (en) * | 2016-08-24 | 2016-12-21 | 李玉婷 | A kind of triangle Athey wheel robot |
| CN107176218A (en) * | 2017-06-21 | 2017-09-19 | 北方智能装备有限公司 | Full landform crusing robot |
| US20180021947A1 (en) * | 2012-07-27 | 2018-01-25 | Engineering Services Inc. | Endless track |
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- 2018-02-26 CN CN201810163292.9A patent/CN108406793B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180021947A1 (en) * | 2012-07-27 | 2018-01-25 | Engineering Services Inc. | Endless track |
| CN205345098U (en) * | 2016-01-23 | 2016-06-29 | 哈尔滨理工大学 | Robot is exploded to planet wheel -track belt row |
| CN106240662A (en) * | 2016-08-24 | 2016-12-21 | 李玉婷 | A kind of triangle Athey wheel robot |
| CN107176218A (en) * | 2017-06-21 | 2017-09-19 | 北方智能装备有限公司 | Full landform crusing robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109667265A (en) * | 2019-02-25 | 2019-04-23 | 安徽建筑大学 | Hydraulic pile driver |
| CN114709759A (en) * | 2022-06-06 | 2022-07-05 | 山东尼采科技有限公司 | Laying device for submarine cable and working method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108406793B (en) | 2021-11-26 |
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Denomination of invention: An intelligent explosion and danger elimination robot Effective date of registration: 20221230 Granted publication date: 20211126 Pledgee: China Postal Savings Bank Co.,Ltd. Jining Branch Pledgor: SHANDONG MINGDE GANGCHENG MACHINERY Co.,Ltd. Registration number: Y2022980029823 |