CN108656127A - A kind of scene of fire rescue automatic mechanical hand - Google Patents
A kind of scene of fire rescue automatic mechanical hand Download PDFInfo
- Publication number
- CN108656127A CN108656127A CN201810473478.4A CN201810473478A CN108656127A CN 108656127 A CN108656127 A CN 108656127A CN 201810473478 A CN201810473478 A CN 201810473478A CN 108656127 A CN108656127 A CN 108656127A
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- CN
- China
- Prior art keywords
- wheel
- transmission
- sliding
- fixed
- spring
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- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Emergency Lowering Means (AREA)
Abstract
The invention discloses a kind of scenes of fire to rescue automatic mechanical hand,Its structure includes wheel hub connecting shaft,Scroll wheel,Skid track,Fixed connecting base,Control room,Fixed seat,Flexibility rescue clamping device,Connector,Fold lever arm,Bearing block,Hydraulic lifting cylinder,Wheel hub connecting shaft is mounted on the outer surface of scroll wheel,The axle center of left and right ends and scroll wheel on the inside of wheel hub connecting shaft is sequentially connected,Scroll wheel sets there are two and is engaged on the inside of skid track,There are two skid track the is set and rear and front end of fixed connecting base,The present invention by equipped with flexible rescue clamping device,When gripper is clamped to people,Flexible apparatus can sense and pop up air bag,Slow down the buffering between people and gripper and so that people is clamped more safe,It is capable of the arrival ground of safety,It is more preferable to rescue effect.
Description
Technical field
The present invention is a kind of scene of fire rescue automatic mechanical hand, belongs to manipulator field.
Background technology
The function of automatic mechanical hand is that the position to automatic mechanical hand, stroke, speed, pressure, flow etc. are examined
Control system is surveyed and feeds back to, automatic mechanical hand is made of 5 major parts：Drive system：It is the power of automatic manipulator
Source can be motor drive, hydraulic-driven, air pressure driving etc., transmission system：Its function is will to move to pass to power
Movement to complete the technological operation of automatic mechanical hand, while being also transmitted to auxiliary body and completing auxiliary by various executing agencies
Action.Including belt transmission, gear drive etc., executing agency：It is to realize automation mechanized operation and auxiliary operation
Part, sequence of movement and the characteristics of motion are according to technological principle and depending on requiring, control system：Its function is to control the drive of machine
Dynamic system, transmission system, executing agency give motion assignment to each executing agency, them is made to carry out coordinating to move on time, in order
Make, detecting system：Its function is that the position to automatic mechanical hand, stroke, speed, pressure, flow etc. are detected simultaneously instead
It feeds control system.
But prior art manipulator, when clamping the people of scene of fire, gripper is directly contacted with people, can be touched
It is expressed to the body of people, people can be damaged when dynamics control is inaccurate, safety coefficient is relatively low, it is possible to cause to rescue
The minus effect helped.
Invention content
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of scenes of fire to rescue automatic mechanical hand,
To solve prior art manipulator when clamping the people of scene of fire, gripper is directly contacted with people, can be touched and is expressed to
The body of people can damage people when dynamics control is inaccurate, and safety coefficient is relatively low, it is possible to cause the anti-of rescue
The problem of effect.
To achieve the goals above, the present invention is to realize by the following technical solutions：A kind of rescue of scene of fire from
Dynamicization manipulator, structure include wheel hub connecting shaft, scroll wheel, skid track, fixed connecting base, control room, fixed seat, flexibility
It gives first aid to clamping device, connector, fold lever arm, bearing block, hydraulic lifting cylinder, the wheel hub connecting shaft is mounted on scroll wheel
Outer surface, the axle center of left and right ends and scroll wheel on the inside of the wheel hub connecting shaft is sequentially connected, and the scroll wheel is equipped with two
Inside that is a and being engaged on skid track, the skid track set there are two and fixed connecting base rear and front end, it is described
The rear and front end of scroll wheel is connected by central shaft driven, and the top that the control room is interference fitted in fixed connecting base is mutually equal
Row, the fixed seat are fixed on the center of control room upper surface by rivet, and the bearing block is fixed on fixed seat by bearing
Top and using flexible connection, the left end of the right end for folding lever arm bottom and bearing block is mechanically connected, the liquid
The upper and lower ends of jacking cylinder are pressed to be flexibly connected respectively at the folding for folding lever arm, the connector is horizontally fixed on folding
The right side of lever arm and using being welded to connect, the flexible rescue clamping device is installed in the right end of connector, the flexibility
The left end of clamping device is given first aid to insert embedded in the inside of connector, the flexibility is given first aid to clamping device by extruding power plant, reinforced
Shell, pawl gear, resiliency urged structure, elastic protection device, bourdon tube pushing meanss, gear transmission structure, sliding
Propulsion device, rotating disk rotational structure, connecting plate composition, the left end for squeezing power plant are inserted embedded in the lower-left of stiffened shell
Angle, the stiffened shell set there are two and are welded on the left and right ends of connector, and the pawl gear is sequentially connected
The right side of power plant is squeezed, the left end of the resiliency urged structure and the right end of pawl gear intermesh, the bullet
The bottom of property pushing structure and the bottom inside stiffened shell are orthogonal, and the elastic protection device is installed in stiffened shell
It the lower right corner in portion and is gap-matched, the bottom of the bourdon tube pushing meanss is welded with the bottom of bourdon tube pushing meanss
Together, the upper right corner and the upper right corner inside stiffened shell of the bourdon tube pushing meanss weld together, and the gear passes
Dynamic structure is installed in the top of pawl gear and is connect with resiliency urged structure driven, and the rotating disk rotational structure passes
The dynamic upper left corner for being connected to gear transmission structure, the sliding propulsion device are movably connected in the right side of rotating disk rotational structure,
Weld together at the top of the right end and bourdon tube pushing meanss of the sliding propulsion device, the connecting plate nail is connected to two
The centre of stiffened shell.
Further, the extruding power plant is by the first rotation pulley, promotion sliding bar, limit jointing plate, elastic arc
Forming head, driving wheel, the first transmission belt, large drive wheel, small transmission wheel composition in first, the first rotation pulley, which is slidably connected at, to be pushed away
The top of dynamic sliding bar, described that sliding bar is pushed vertically to insert the left end embedded in stiffened shell, the limit jointing plate nail is connected to
Push the left side of sliding bar and orthogonal, elastic arc forming head driving wheel in the left side of limit jointing plate, described first
It is mechanically connected to the center inside the first rotation pulley, driving wheel is connected by the first transmission belt and small transmission wheel transmission in described first
It connects, the small transmission wheel is mechanically connected to the center inside large drive wheel and axle center is conllinear.
Further, the pawl gear is by axis pin, the first transmission arm, connection buttoning, the second transmission arm, connection
Arm, fixed link plate, surround belt, the second serrated wheel composition at the first serrated wheel, and the axis pin extends vertically through large drive wheel, brief biography
Driving wheel, the second serrated wheel and axle center are conllinear, and first transmission arm is movably connected in the upper right corner of axis pin, the connection buttoning
It is threaded in the intersection of the first transmission arm, the second transmission arm, second transmission arm is movably connected in the first transmission arm
The lower right corner, the top of the linking arm are flexibly connected with the stage casing of the second transmission arm by screw, the bottom of the linking arm with
The axle center of first serrated wheel is flexibly connected, and the right end of the fixed link plate is fastened on the back side of the first serrated wheel, and the fixation is even
The left end of plate and the axle center at the second serrated wheel back side weld together, second serrated wheel and small transmission wheel be mechanically connected and
Axle center is conllinear, and second serrated wheel is installed in the surface of small transmission wheel, and the circular belt is wrapped in the first serrated wheel, second
The outer surface of serrated wheel and using flexible connection.
Further, the resiliency urged structure is by vertical fixed link, song spring, sliding panel, Saw blade, limited post group
It is welded on the bottom inside stiffened shell and orthogonal at, the vertical fixed link, the limited post is fixed by screw
At the top of vertical fixed link and orthogonal, the bottom of the song spring is welded on one with the bottom of vertical fixed link
It rises, the top of the song spring and the bottom of sliding panel are interference fitted, and the sliding panel surround and is connected to vertical fixed link
Outer surface and using flexible connection, the Saw blade is horizontally fixed on the left side of sliding panel and snaps together.
Further, the elastic protection device is fixed by push-off pin, protection air bag, the first firm banking, connecting plate, axis
Wheel, outer coupled wheel, pivot link, inner groovy composition, the protection air bag is tightly attached to the lower right corner inside stiffened shell, described to push away
Rod is welded on the protection top of air bag and orthogonal, first firm banking be installed in the top of protection air bag and
The right end being vertically welded in inside stiffened shell, the inner groovy are located at the inside of the first firm banking and integrally weldedization
Structure, the push-off pin extend vertically through inner groovy and are flexibly connected with the bottom of pivot link by buttoning, and the rotation connects
The top of bar welds together with axis fast pulley, and the axis fast pulley is mechanically connected to center and axle center inside outer coupled wheel
Collinearly.
Further, the bourdon tube pushing meanss by the second firm banking, oblique fixed spring, second rotation pulley,
Containing wheel, suspension spring, arch moving block, arc head board, presses block, bourdon tube, the second transmission belt, boosting bar at hinge seat
Composition, second firm banking is hinged with axis fast pulley, in the right end inside second firm banking and stiffened shell
Section welds together and parallel to each other with the first firm banking, and the bottom of the oblique fixed spring is fixed by screws in the
The top of two firm bankings, the top of the oblique fixed spring and the bottom of boosting bar weld together, second rotation
Pulley is installed in the right side of boosting bar and mutually fits, and the containing wheel is sequentially connected in the surface of the second rotation pulley, institute
It states containing wheel to be sequentially connected by the second transmission belt and outer coupled wheel, sliding propulsion device bottom is welded at the top of the hinge seat
The bottom of the right end in portion, the arch moving block mutually fits with arc head board and is slidably connected with sliding propulsion device,
The right end of the arc head board and the left end of hinge seat are hinged, and the bottom of the arc head board, which is installed in, presses the upper of block
It is square, it is welded on the lower section for pressing block at the top of the bourdon tube and on same straight line, the boosting bar electric welding is in spring
The lower section of pipe.
Further, the gear transmission structure is transmitted by interlocking bar, interior runner, the first lubrication groove, big transmission gear, third
Band composition, the bottom of the interlocking bar weld together with interior runner, and the interior runner is movably connected in the table of big transmission gear
Face, first lubrication groove is mechanically connected to the center on big transmission gear surface and axle center is conllinear, in the interior runner and first
Wheel is in same level and is installed in the top of the first lubrication groove, and first lubrication groove passes through third transmission belt and rotating disk
Rotational structure is sequentially connected.
Further, the sliding propulsion device by sliding rail, sliding panel, welded plate, compressed spring, T-type pushing block,
Hanger spring, concave holding tank composition, the sliding rail are welded on the top inside stiffened shell, and the sliding panel sliding connects
It is connected on the stage casing inside sliding rail, the welded plate is welded on the bottom of sliding panel and parallel to each other, the compressed spring
It is installed in the left end of sliding panel, the right end of the compressed spring and the left end nail of sliding panel connect, the right end of the T-type pushing block
Weld together with the left end of compressed spring, the T-type pushing block is mounted on the left end inside sliding rail, the hanger spring
It is fixed together by rivet with the top inside stiffened shell positioned at the left side of T-type pushing block and top, the concave holds
Slot of receiving is vertically fixed on the top inside stiffened shell and shrouds in the outer surface of hanger spring.
Further, the rotating disk rotational structure by hanging block, push item, oblique fixing groove, grip seat, rotation
Button, rectangular turntable, lifting wheel, belt, interlocking bar, movable pulley, pulley fixed seat composition, top and the hanging bullet of the hanging block
The bottom nail connection of spring, described to push the top of item together with hanging block welding, the promotion item is slidably connected at oblique solid
In the inside groove for determining slot, the left end of the interlocking bar passes through oblique fixing groove to be flexibly connected with item is pushed, the pulley fixed seat weldering
It is connected on the right end of sliding rail bottom, the axle center of the movable pulley is flexibly connected with pulley fixed seat, the folding of the interlocking bar
End is flexibly connected with the axle center of movable pulley, and the movable pulley is sequentially connected by the wheel outside belt and lifting wheel, described
The bottom of lever is flexibly connected with the axle center of lifting wheel, and the rectangular turntable is engaged on the left side of lifting wheel, the rotation button machine
Tool is connected to the surface of rectangular turntable, and the rotation button is movably connected in the right end gripped inside seat.
Advantageous effect
The present invention rescues automatic mechanical hand in a kind of scene of fire, and when carrying out fire rescue, operating personnel are sitting in
In control room, scroll wheel is made to be gone forward to move by engine-driven power, skid track is driven to be rotated, it can be in complexity
It is movable in landform, it is turned in suitable angle, then power is applied on hydraulic lifting cylinder, is made by equipment by bearing block
It folds lever arm to be elevated, be promoted to after suitable angle, flexibility rescue clamping device rescues the people in house on fire
It helps, when being clamped to by rescue personnel, the body of people touches in elastic arc forming head, and elastic arc forming head is made to squeeze limit fitting
Plate pushes sliding bar, pushes sliding bar toward internal slide, friction to the first rotation pulley, the first rotation pulley rotates existing
As making small transmission wheel rotate by the first transmission belt, driving large drive wheel, the second serrated wheel to rotate, the second sawtooth
Wheel makes the axis pin in its axle center also be rotated in rotation, and the second serrated wheel is rotated by surrounding the first serrated wheel of belt,
When the first serrated wheel and the second serrated wheel rotate, the first transmission arm, linking arm can be rotated, the second transmission arm is risen,
Saw blade is promoted, sliding panel is up promoted, Saw blade is made to rotate big transmission gear, makes interior runner, the first lubrication groove
It rotates, when interior runner is rotated along big transmission gear, interlocking bar can be released simultaneously；When the first lubrication groove rotates, energy
Make rotation button along seat rotation is gripped by third transmission belt, rectangular turntable is promoted, allows the promotion being engaged on the right side of it
Wheel is also elevated, and lifting wheel makes movable pulley rotate by belt, and when lifting wheel is elevated, interlocking bar is by active force
Effect can be moved up, and item will be pushed up to be slided along oblique fixing groove, and hanging block is pushed to move upwards, and squeeze hanging bullet
Spring makes hanger spring be compressed along the direction of concave holding tank, and internal hydraulic oil is squeezed, T-type pushing block is released, is made
T-type pushing block compresses compressed spring, and compressed spring pushes sliding panel to advance, so far, sliding panel, welded plate advanced in unison, in cunning
Dynamic gliding in tracks after sliding into right end, on the bottom friction to arch moving block of welded plate, makes to turn outside arch moving block
Wheel rotation, makes arch moving block push arc head board, arc head board is rotated down along hinge seat, downward by block is pressed
Pressure squeezes bourdon tube, boosting bar is released, the second rotation pulley is allowed to start to rotate, and the second rotation pulley makes the containing of its inside
Circular motion also occurs for wheel, and containing wheel makes external connection wheel rotation by the second transmission belt, and when external connection wheel rotation, axis is fixed
Wheel, which synchronizes, to be rotated, and pivot link is released, pivot link is pushed down on along inner groovy, and air bag will be protected by push-off pin
It releases, protection air bag is made to wrap people, people are more safe when being clamped mobile by equipment.
The present invention rescues automatic mechanical hand at a kind of scene of fire, by equipped with flexible rescue clamping device, in machinery
When pawl is clamped to people, flexible apparatus can sense and pop up air bag, slow down between people and gripper
It buffers and so that people is clamped more safe, be capable of the arrival ground of safety, rescue effect is more preferable.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the structural schematic diagram that automatic mechanical hand is rescued in a kind of scene of fire of the present invention.
Fig. 2 is the flexible structural schematic diagram for giving first aid to clamping device of the present invention.
Fig. 3, which is that the present invention is flexible, gives first aid to the detailed structural schematic diagram of clamping device.
Fig. 4 is the flexible structural schematic diagram for giving first aid to clamping device working condition of the present invention.
In figure：Wheel hub connecting shaft -1, scroll wheel -2, skid track -3, fixed connecting base -4, control room -5, fixed seat -6,
Flexibility rescue clamping device -7, connector -8 fold lever arm -9, bearing block -10, hydraulic lifting cylinder -11, squeeze power dress
- 71, stiffened shell -72, pawl gear -73, resiliency urged structure -74, elastic protection device -75, bourdon tube is set to push
Device -76, gear transmission structure -77, sliding propulsion device -78, rotating disk rotational structure -79, connecting plate -710, the first rotation
Pulley -711 pushes sliding bar -712, limit jointing plate -713, driving wheel -715, the first transmission in elastic arc forming head -714, first
Band -716, large drive wheel -717, small transmission wheel -718, axis pin -731, the first transmission arm -732, connection buttoning -733, second pass
Swing arm -734, linking arm -735, the first serrated wheel -736, fixed link plate -737, around belt -738, the second serrated wheel -739,
Vertical fixed link -741, song spring -742, sliding panel -743, Saw blade -744, limited post -745, push-off pin -751, protection
Air bag -752, the first firm banking -753, connecting plate -754, axis fast pulley -755, outer coupled wheel -756, pivot link -757,
Inner groovy -758, the second firm banking -761, oblique fixed spring -762, the second rotation pulley -763, containing wheel -764, hinge
Seat -765, arch moving block -767, arc head board -768, presses block -769, bourdon tube -7610, second at suspension spring -766
Transmission belt -7611, boosting bar -7612, interlocking bar -771, interior runner -772, the first lubrication groove -773, big transmission gear -774,
Three transmission belts -775, sliding panel -782, welded plate -783, compressed spring -784, T-type pushing block -785, are hung sliding rail -781
Spring -786 is hung, concave holding tank -787, hanging block -791, item -792 is pushed, oblique fixing groove -793, grips seat -
794, rotation button -795, rectangular turntable -796, lifting wheel -797, belt -798, interlocking bar -799, movable pulley -7910, pulley are solid
Reservation -7911.
Specific implementation mode
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, with reference to
Specific implementation mode, the present invention is further explained.
- Fig. 4 is please referred to Fig.1, the present invention provides a kind of scene of fire rescue automatic mechanical hand：Its structure includes that wheel hub connects
Spindle 1, scroll wheel 2, skid track 3, fixed connecting base 4, control room 5, fixed seat 6, flexible rescue clamping device 7, connector
8, lever arm 9, bearing block 10, hydraulic lifting cylinder 11 are folded, the wheel hub connecting shaft 1 is mounted on the outer surface of scroll wheel 2, institute
The left and right ends and the axle center of scroll wheel 2 for stating 1 inside of wheel hub connecting shaft are sequentially connected, and the scroll wheel 2 sets there are two and nibbles
Close in the inside of skid track 3, the skid track 3 set there are two and fixed connecting base 4 rear and front end, the scroll wheel
2 rear and front end is connected by central shaft driven, and the top that the control room 5 is interference fitted in fixed connecting base 4 is parallel to each other,
The fixed seat 6 is fixed on the center of 5 upper surface of control room by rivet, and the bearing block 10 is fixed on fixed seat by bearing
6 top and using flexible connection, the left end of the right end for folding 9 bottom of lever arm and bearing block 10 is mechanically connected, institute
The upper and lower ends for stating hydraulic lifting cylinder 11 are flexibly connected at the folding for folding lever arm 9 respectively, and the connector 8 is horizontal solid
It is scheduled on the right side for folding lever arm 9 and using being welded to connect, the flexible rescue clamping device 7 is installed in the right side of connector 8
The left end at end, the flexible rescue clamping device 7 is inserted embedded in the inside of connector 8, and the flexible rescue clamping device 7 is by squeezing
Power plant 71, stiffened shell 72, pawl gear 73, resiliency urged structure 74, elastic protection device 75, bourdon tube push
Device 76, gear transmission structure 77, sliding propulsion device 78, rotating disk rotational structure 79, connecting plate 710 form, the extruding
The left end of power plant 71 is inserted embedded in the lower left corner of stiffened shell 72, and the stiffened shell 72 sets there are two and is welded on connection
First 8 left and right ends, the pawl gear 73 are sequentially connected in the right side for squeezing power plant 71, the resiliency urged knot
The left end of structure 74 and the right end of pawl gear 73 intermesh, bottom and the stiffened shell 72 of the resiliency urged structure 74
Internal bottom is orthogonal, and the elastic protection device 75 is installed in the lower right corner inside stiffened shell 72 and uses gap
Cooperation, the bottom and the bottom of bourdon tube pushing meanss 76 of the bourdon tube pushing meanss 76 weld together, the bourdon tube
The upper right corner of pushing meanss 76 welds together with the upper right corner inside stiffened shell 72, and the gear transmission structure 77 is installed in
It the top of pawl gear 73 and is sequentially connected with resiliency urged structure 74, the rotating disk rotational structure 79 is sequentially connected
In the upper left corner of gear transmission structure 77, the sliding propulsion device 78 is movably connected in the right side of rotating disk rotational structure 79,
The right end of the sliding propulsion device 78 and the top of bourdon tube pushing meanss 76 weld together, and the nail of the connecting plate 710 connects
It is connected on the centre of two stiffened shells 72, the extruding power plant 71 is by the first rotation pulley 711, promotion sliding bar 712, limit
Driving wheel 715, the first transmission belt 716, large drive wheel 717, small transmission wheel 718 in position jointing plate 713, elastic arc forming head 714, first
Composition, the first rotation pulley 711 are slidably connected at the top for pushing sliding bar 712, and the promotion sliding bar 712 is vertically inserted
Embedded in the left end of stiffened shell 72, the limit jointing plate 713, which is followed closely, to be connected to the left side for pushing sliding bar 712 and hangs down mutually
Directly, the driving wheel 715 in the left side of limit jointing plate 713, described first of the elastic arc forming head 714 is mechanically connected to the first rotation
Center inside pulley 711, driving wheel 715 passes through the first transmission belt 716 and is sequentially connected with small transmission wheel 718 in described first, institute
State the center that small transmission wheel 718 is mechanically connected to inside large drive wheel 717 and axle center be conllinear, the pawl gear 73 by
Axis pin 731, connection buttoning 733, the second transmission arm 734, linking arm 735, the first serrated wheel 736, is fixed first transmission arm 732
Connecting plate 737 is formed around belt 738, the second serrated wheel 739, and the axis pin 731 extends vertically through large drive wheel 717, small transmission wheel
718, the second serrated wheel 739 and axle center is conllinear, first transmission arm 732 is movably connected in the upper right corner of axis pin 731, described
Connection buttoning 733 is threaded in the intersection of the first transmission arm 732, the second transmission arm 734, and second transmission arm 734 is lived
The dynamic lower right corner for being connected to the first transmission arm 732, the top of the linking arm 735 and the stage casing of the second transmission arm 734 pass through spiral shell
Nail flexible connection, the bottom of the linking arm 735 are flexibly connected with the axle center of the first serrated wheel 736, the fixed link plate 737
Right end is fastened on the back side of the first serrated wheel 736, the axle center at 739 back side of the left end of the fixed link plate 737 and the second serrated wheel
Weld together, second serrated wheel 739 is mechanically connected with small transmission wheel 718 and axle center is conllinear, second serrated wheel
739 be installed in the surface of small transmission wheel 718, and the circular belt 738 is wrapped in the first serrated wheel 736, the second serrated wheel 739
Outer surface and use flexible connection, the resiliency urged structure 74 is by vertical fixed link 741, song spring 742, sliding panel
743, Saw blade 744, limited post 745 form, and the vertical fixed link 741 is welded on bottom stiffened shell 72 inside and mutual
Perpendicular, the limited post 745 is fixed by screws in the top of vertical fixed link 741 and orthogonal, the song bullet
The bottom of spring 742 welds together with the bottom of vertical fixed link 741, top and the sliding panel 743 of the song spring 742
Bottom is interference fitted, and the sliding panel 743 is around the outer surface for being connected to vertical fixed link 741 and using flexible connection, institute
It states Saw blade 744 to be horizontally fixed on the left side of sliding panel 743 and snap together, the elastic protection device 75 is by push-off pin
751, air bag 752, the first firm banking 753, connecting plate 754, axis fast pulley 755, outer coupled wheel 756, pivot link are protected
757, inner groovy 758 forms, and the protection air bag 752 is tightly attached to the lower right corner inside stiffened shell 72, and the push-off pin 751 welds
It is connected on the protection top of air bag 752 and orthogonal, first firm banking 753 is installed in the top of protection air bag 752
And the right end being vertically welded in inside stiffened shell 72, the inner groovy 758 be located at the inside of the first firm banking 753 and
Integrally weldedization structure, the push-off pin 751 extend vertically through inner groovy 758 and by the bottoms of buttoning and pivot link 757
Portion is flexibly connected, and top and the axis fast pulley 755 of the pivot link 757 weld together, and 755 machinery of the axis fast pulley is even
The center and axle center being connected on inside outer coupled wheel 756 are conllinear, the bourdon tube pushing meanss 76 by the second firm banking 761,
Oblique fixed spring 762, second rotates pulley 763, containing wheel 764, hinge seat 765, suspension spring 766, arch moving block
767, arc head board 768, press block 769, bourdon tube 7610, the second transmission belt 7611, boosting bar 7612 form, described second
Firm banking 761 is hinged with axis fast pulley 755, the stage casing of second firm banking 761 and the right end inside stiffened shell 72
Weld together and parallel to each other with the first firm banking 753, the bottom of the oblique fixed spring 762 is fixed by screw
In the top of the second firm banking 761, the top of the oblique fixed spring 762 is welded on one with the bottom of boosting bar 7612
It rises, the second rotation pulley 763 is installed in the right side of boosting bar 7612 and mutually fits, and 764 transmission of containing wheel connects
It is connected on the surface of the second rotation pulley 763, the containing wheel 764 is connected by the second transmission belt 7611 and the transmission of outer coupled wheel 756
It connects, the top of the hinge seat 765 is welded on the right end of 78 bottom of sliding propulsion device, the bottom of the arch moving block 767
Mutually fit with arc head board 768 and with sliding propulsion device 78 be slidably connected, the right end of the arc head board 768 with
The left end of hinge seat 765 is hinged, and the bottom of the arc head board 768 is installed in the top for pressing block 769, the bourdon tube
7610 top is welded on the lower section for pressing block 769 and on same straight line, and the boosting bar 7612 is welded in bourdon tube
7610 lower section, the gear transmission structure 77 by interlocking bar 771, interior runner 772, the first lubrication groove 773, big transmission gear 774,
Third transmission belt 775 forms, and the bottom of the interlocking bar 771 welds together with interior runner 772,772 activity of the interior runner
It is connected to the surface of big transmission gear 774, first lubrication groove 773 is mechanically connected to the center on 774 surface of big transmission gear simultaneously
And axle center is conllinear, 772 and first lubrication groove 773 of the interior runner is in same level and is installed in the first lubrication groove 773
Top, first lubrication groove 773 are sequentially connected by third transmission belt 775 and rotating disk rotational structure 79, and the sliding promotes
Device 78 by sliding rail 781, sliding panel 782, welded plate 783, compressed spring 784, T-type pushing block 785, hanger spring 786,
Concave holding tank 787 forms, and the sliding rail 781 is welded on the top inside stiffened shell 72, and the sliding panel 782 slides
It is connected to the stage casing inside sliding rail 781, the welded plate 783 is welded on the bottom of sliding panel 782 and parallel to each other, institute
The left end that compressed spring 784 is installed in sliding panel 782 is stated, the right end of the compressed spring 784 connects with the left end nail of sliding panel 782
It connects, the right end and the left end of compressed spring 784 of the T-type pushing block 785 weld together, and the T-type pushing block 785 is mounted on
Left end inside sliding rail 781, the hanger spring 786 are located at the left side of T-type pushing block 785 and top and stiffened shell
Top inside 72 is fixed together by rivet, and the concave holding tank 787 is vertically fixed on the top inside stiffened shell 72
Portion and shroud in the outer surface of hanger spring 786, the rotating disk rotational structure 79 by hanging block 791, push item 792, tiltedly
To fixing groove 793, grip seat 794, rotation button 795, rectangular turntable 796, lifting wheel 797, belt 798, interlocking bar 799,
Movable pulley 7910, pulley fixed seat 7911 form, and the top of the hanging block 791 is connected with the bottom nail of hanger spring 786, institute
It states and the top of item 792 is pushed to weld together with hanging block 791, the promotion item 792 is slidably connected at oblique fixing groove 793
In inside groove, the left end of the interlocking bar 799 passes through oblique fixing groove 793 to be flexibly connected with item 792 is pushed, the pulley fixed seat
7911 are welded on the right end of 781 bottom of sliding rail, and the axle center of the movable pulley 7910 is flexibly connected with pulley fixed seat 7911,
The folded end of the interlocking bar 799 is flexibly connected with the axle center of movable pulley 7910, the movable pulley 7910 by belt 798 with carry
It rises the wheel outside wheel 797 to be sequentially connected, the bottom of the interlocking bar 799 is flexibly connected with the axle center of lifting wheel 797, the side
Shape turntable 796 is engaged on the left side of lifting wheel 797, and the rotation button 795 is mechanically connected to the surface of rectangular turntable 796, described
Rotation button 795 is movably connected in the right end gripped inside seat 794.
Bourdon tube 7610 of the present invention is to be made of elastic material, curve the shapes such as C-shaped, spiral shape and disc spring shape
Hollow tube, one end is closed special forming pipe, when in pipe and pipe is outer bear different pressures when, then produced in its elastic limit
Change shape.
When carrying out fire rescue, operating personnel are sitting in control room 5, make scroll wheel 2 by engine-driven
Power goes forward to move, and skid track 3 is driven to be rotated, can be movable in complicated landform, allows equipment to turn by bearing block 10
It moves in suitable angle, then power is applied on hydraulic lifting cylinder 11, folding lever arm 9 is made to be elevated, promoted to suitable
After the angle of conjunction, flexibility rescue clamping device 7 rescues the people in house on fire, when being clamped to by rescue personnel,
The body of people touches in elastic arc forming head 714, and elastic arc forming head 714 is made to squeeze limit jointing plate 713, push sliding bar
712, push sliding bar 712 toward internal slide, friction to the first rotation pulley 711, the first rotation pulley 711 rotates existing
As making small transmission wheel 718 rotate by the first transmission belt 716, large drive wheel 717, the second serrated wheel 739 being driven to rotate
Come, the second serrated wheel 739 makes the axis pin 731 in its axle center also be rotated in rotation, and the second serrated wheel 739 passes through around skin
738 first serrated wheel 736 of band is rotated, can be by the first transmission when the first serrated wheel 736 and the second serrated wheel 739 rotate
Arm 732, linking arm 735 rotate, and the second transmission arm 734 is risen, Saw blade 744 is promoted, sliding panel 743 is up carried
It rises, so that Saw blade 744 is rotated big transmission gear 774, make interior runner 772, the first lubrication groove 773 while rotating,
When interior runner 772 is rotated along big transmission gear 774, interlocking bar 771 can be released；When the first lubrication groove 773 rotates, can pass through
Third transmission belt 775 makes rotation button 795 be rotated along seat 794 is gripped, and rectangular turntable 796 is promoted, and allows and is engaged on its right side
The lifting wheel 797 of side is also elevated, and lifting wheel 797 makes movable pulley 7910 rotate by belt 798, in 797 quilt of lifting wheel
When promotion, interlocking bar 799 can be moved up by the effect of active force, will push item 792 along oblique fixing groove 793 up
Sliding pushes hanging block 791 to move upwards, squeezes hanger spring 786, make hanger spring 786 along the side of concave holding tank 787
To being compressed, internal hydraulic oil is squeezed, T-type pushing block 785 is released, T-type pushing block 785 is made to compress compressed spring 784,
Compressed spring 784 pushes sliding panel 782 to advance, so far, sliding panel 782,783 advanced in unison of welded plate, in sliding rail 781
Sliding, after sliding into right end, on the bottom friction to arch moving block 767 of welded plate 783, makes outside arch moving block 767
Runner rotates, and arch moving block 767 is made to push arc head board 768, and arc head board 768 turns downwards along hinge seat 765
It is dynamic, block 769 will be pressed and be pressed downward, bourdon tube 7610 is squeezed, boosting bar 7612 is released, the second rotation pulley 763 is allowed to start to turn
Dynamic, circular motion also occurs for the containing wheel 764 that the second rotation pulley 763 keeps it internal, and containing wheel 764 passes through the second transmission belt
7611 make outer coupled wheel 756 rotate, and when outer coupled wheel 756 rotates, axis fast pulley 755, which synchronizes, to be rotated, and rotation is connected
Bar 757 is released, and pivot link 757 is pushed down on along inner groovy 758, air bag 752 will be protected to release by push-off pin 751, made
Protection air bag 752 wraps people, and people are more safe when being clamped mobile by equipment.
Problems solved by the invention is prior art manipulator when clamping the people of scene of fire, gripper directly with
People contact, the body for being expressed to people can be touched, when dynamics control it is inaccurate people can be damaged, safety coefficient compared with
It is low, it is possible to cause the minus effect of rescue, the present invention is combined with each other by above-mentioned component, when gripper is clamped to people
It waits, flexible apparatus can sense and pop up air bag, slow down the buffering between people and gripper and make people's quilt
What is be clamped is more safe, is capable of the arrival ground of safety, and rescue effect is more preferable.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from the present invention spirit or
In the case of essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that come within the meaning and range of equivalency of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (9)
1. automatic mechanical hand is rescued in a kind of scene of fire, structure includes wheel hub connecting shaft (1), scroll wheel (2), skid track
(3), fixed connecting base (4), control room (5), fixed seat (6), flexible rescue clamping device (7), connector (8), folding activity
Arm (9), bearing block (10), hydraulic lifting cylinder (11), it is characterised in that：
The wheel hub connecting shaft (1) is mounted on the outer surface of scroll wheel (2), the left and right ends on the inside of the wheel hub connecting shaft (1)
It is sequentially connected with the axle center of scroll wheel (2), the scroll wheel (2) sets there are two and is engaged on the inside of skid track (3), institute
State skid track (3) set there are two and fixed connecting base (4) rear and front end, the rear and front end of the scroll wheel (2) passes through
Central shaft driven connects, and the top that the control room (5) is interference fitted in fixed connecting base (4) is parallel to each other, the fixed seat
(6) center of control room (5) upper surface is fixed on by rivet, the bearing block (10) is fixed on fixed seat (6) by bearing
Top and using flexible connection, the left end of right end and the bearing block (10) for folding lever arm (9) bottom is mechanically connected,
The upper and lower ends of the hydraulic lifting cylinder (11) are flexibly connected at the folding for folding lever arm (9) respectively, the connector
(8) it is horizontally fixed on the right side for folding lever arm (9) and using being welded to connect, the flexible rescue clamping device (7) is installed
The left end of right end in connector (8), the flexible rescue clamping device (7) is inserted embedded in the inside of connector (8)；
The flexible rescue clamping device (7) by extruding power plant (71), stiffened shell (72), pawl gear (73),
Resiliency urged structure (74), elastic protection device (75), bourdon tube pushing meanss (76), gear transmission structure (77), sliding push away
Into device (78), rotating disk rotational structure (79), connecting plate (710) composition；
The left end for squeezing power plant (71) is inserted embedded in the lower left corner of stiffened shell (72), and the stiffened shell (72) is equipped with
Two and the left and right ends of connector (8) are welded on, the pawl gear (73), which is sequentially connected, is squeezing power plant
(71) right end on right side, the left end and pawl gear (73) of the resiliency urged structure (74) intermeshes, the bullet
Property pushing structure (74) bottom and stiffened shell (72) it is internal bottom it is orthogonal, the elastic protection device (75) is installed
In the internal lower right corner of stiffened shell (72) and it is gap-matched, the bottom of the bourdon tube pushing meanss (76) and spring
The bottom of pipe pushing meanss (76) welds together, and the upper right corner of the bourdon tube pushing meanss (76) and stiffened shell (72) are interior
The upper right corner in portion welds together, the gear transmission structure (77) be installed in the top of pawl gear (73) and with bullet
Property pushing structure (74) be sequentially connected, the rotating disk rotational structure (79) is sequentially connected in the upper left of gear transmission structure (77)
Angle, the sliding propulsion device (78) are movably connected in the right side of rotating disk rotational structure (79), the sliding propulsion device
(78) weld together at the top of right end and bourdon tube pushing meanss (76), connecting plate (710) nail is connected to two and adds
Gu the centre of shell (72).
2. automatic mechanical hand is rescued in a kind of scene of fire according to claim 1, it is characterised in that：The extruding power
Device (71) by first rotation pulley (711), push sliding bar (712), limit jointing plate (713), elastic arc forming head (714),
Driving wheel (715), the first transmission belt (716), large drive wheel (717), small transmission wheel (718) composition in first, first rotation
Pulley (711) is slidably connected at the top for pushing sliding bar (712), and the promotion sliding bar (712) is vertically inserted outer embedded in reinforcing
The left end of shell (72), the limit jointing plate (713), which is followed closely, is connected to the left side for pushing sliding bar (712) and orthogonal, institute
It states elastic arc forming head (714) driving wheel (715) in the left side of limit jointing plate (713), described first and is mechanically connected to first turn
The internal center of movable pulley (711), driving wheel (715) passes through the first transmission belt (716) and is passed with small transmission wheel (718) in described first
Dynamic connection, the small transmission wheel (718) is mechanically connected to the internal center of large drive wheel (717) and axle center is conllinear.
3. automatic mechanical hand is rescued in a kind of scene of fire according to claim 1, it is characterised in that：The pawl transmission
Device (73) is by axis pin (731), the first transmission arm (732), connection buttoning (733), the second transmission arm (734), linking arm
(735), the first serrated wheel (736), fixed link plate (737), circular belt (738), the second serrated wheel (739) form, the pin
It is conllinear that axis (731) extends vertically through large drive wheel (717), small transmission wheel (718), the second serrated wheel (739) and axle center, and described
One transmission arm (732) is movably connected in the upper right corner of axis pin (731), and the connection buttoning (733) is threaded in the first transmission
The intersection of arm (732), the second transmission arm (734), second transmission arm (734) are movably connected in the first transmission arm (732)
The lower right corner, the top of the linking arm (735) is flexibly connected with the stage casing of the second transmission arm (734) by screw, the company
The bottom for connecing arm (735) is flexibly connected with the axle center of the first serrated wheel (736), and the right end of the fixed link plate (737) is fastened on
The back side of first serrated wheel (736), the left end of the fixed link plate (737) and the axle center at the second serrated wheel (739) back side are welded
Together, second serrated wheel (739) is mechanically connected with small transmission wheel (718) and axle center is conllinear, second serrated wheel
(739) it is installed in the surface of small transmission wheel (718), the circular belt (738) is wrapped in the first serrated wheel (736), the second saw
The outer surface of gear (739) and using flexible connection.
4. automatic mechanical hand is rescued in a kind of scene of fire according to claim 1, it is characterised in that：The resiliency urged
Structure (74) is by vertical fixed link (741), song spring (742), sliding panel (743), Saw blade (744), limited post (745) group
At the vertical fixed link (741) is welded on the internal bottom of stiffened shell (72) and orthogonal, the limited post
(745) top of vertical fixed link (741) and orthogonal, the bottom of the song spring (742) are fixed by screws in
Weld together with the bottom of vertical fixed link (741), the bottom at the top and sliding panel (743) of the song spring (742)
Interference fit, the sliding panel (743) is around the outer surface for being connected to vertical fixed link (741) and using flexible connection, institute
Saw blade (744) is stated to be horizontally fixed on the left side of sliding panel (743) and snap together.
5. automatic mechanical hand is rescued in a kind of scene of fire according to claim 1, it is characterised in that：The resilient protection
Device (75) is by push-off pin (751), protection air bag (752), the first firm banking (753), connecting plate (754), axis fast pulley
(755), outer coupled wheel (756), pivot link (757), inner groovy (758) composition, the protection air bag (752) are tightly attached to reinforcing
The internal lower right corner of shell (72), the push-off pin (751) are welded on the top of protection air bag (752) and orthogonal, institute
The first firm banking (753) is stated to be installed in the top of protection air bag (752) and be vertically welded in stiffened shell (72) inside
Right end, the inner groovy (758) are located inside and the integrally weldedization structure of the first firm banking (753), the release
Bar (751) extends vertically through inner groovy (758) and is flexibly connected with the bottom of pivot link (757) by buttoning, the rotation
The top of connecting rod (757) welds together with axis fast pulley (755), and the axis fast pulley (755) is mechanically connected to outer coupled wheel
(756) internal center and axle center are conllinear.
6. automatic mechanical hand is rescued in a kind of scene of fire according to claim 1, it is characterised in that：The bourdon tube pushes away
Dynamic device (76) is by the second firm banking (761), oblique fixed spring (762), the second rotation pulley (763), containing wheel
(764), hinge seat (765), suspension spring (766), arch moving block (767), arc head board (768), press block (769),
Bourdon tube (7610), the second transmission belt (7611), boosting bar (7612) composition, second firm banking (761) are fixed with axis
Take turns that (755) are hinged, the stage casing of second firm banking (761) right end internal with stiffened shell (72) weld together and
Parallel to each other with the first firm banking (753), the bottom of the oblique fixed spring (762) is fixed by screws in the second fixation
The top of pedestal (761), the top and the bottom of boosting bar (7612) of the oblique fixed spring (762) weld together, institute
It states the second rotation pulley (763) to be installed in the right side of boosting bar (7612) and mutually fit, containing wheel (764) transmission connects
It is connected on the surface of the second rotation pulley (763), the containing wheel (764) passes through the second transmission belt (7611) and outer coupled wheel
(756) it is sequentially connected, the right end of sliding propulsion device (78) bottom, the arch is welded at the top of the hinge seat (765)
The bottom of moving block (767) mutually fits with arc head board (768) and is slidably connected with sliding propulsion device (78), described
The right end of arc head board (768) is hinged with the left end of hinge seat (765), and the bottom of the arc head board (768) is installed in
The top of block (769) is pressed, the lower section for pressing block (769) is welded at the top of the bourdon tube (7610) and in always
On line, lower section of boosting bar (7612) electric welding in bourdon tube (7610).
7. automatic mechanical hand is rescued in a kind of scene of fire according to claim 1, it is characterised in that：The gear drive
Structure (77) is by interlocking bar (771), interior runner (772), the first lubrication groove (773), big transmission gear (774), third transmission belt
(775) it forms, (771 bottom welds together the interlocking bar with interior runner (772), interior runner (772) flexible connection
Surface in big transmission gear (774), first lubrication groove (773) are mechanically connected to the center on big transmission gear (774) surface
And axle center is conllinear, and the interior runner (772) is in same level with the first lubrication groove (773) and is installed in the first lubrication groove
(773) top, first lubrication groove (773) are sequentially connected by third transmission belt (775) and rotating disk rotational structure (79).
8. automatic mechanical hand is rescued in a kind of scene of fire according to claim 1, it is characterised in that：The sliding promotes
Device (78) by sliding rail (781), sliding panel (782), welded plate (783), compressed spring (784), T-type pushing block (785),
Hanger spring (786), concave holding tank (787) composition, the sliding rail (781) are welded on the internal top of stiffened shell (72)
Portion, the sliding panel (782) are slidably connected at the internal stage casing of sliding rail (781), and the welded plate (783) is welded on sliding
The bottom of plate (782) and parallel to each other, the compressed spring (784) is installed in the left end of sliding panel (782), the compression bullet
The right end of spring (784) and the left end nail of sliding panel (782) connect, the right end and compressed spring of the T-type pushing block (785)
(784) left end welds together, and the T-type pushing block (785) is mounted on the internal left end of sliding rail (781), described to hang
The top for hanging left side and top and stiffened shell (72) inside that spring (786) is located at T-type pushing block (785) is consolidated by rivet
It is scheduled on together, the concave holding tank (787) is vertically fixed on the internal top of stiffened shell (72) and shrouds in hanging bullet
The outer surface of spring (786).
9. automatic mechanical hand is rescued in a kind of scene of fire according to claim 1, it is characterised in that：The rotating disk turns
Dynamic structure (79) by hanging block (791), push item (792), oblique fixing groove (793), grip seat (794), rotation button
(795), rectangular turntable (796), lifting wheel (797), belt (798), interlocking bar (799), movable pulley (7910), pulley fixed seat
(7911) composition, the top of the hanging block (791) are connected with the bottom nail of hanger spring (786), the promotion item (792)
Top welds together with hanging block (791), and the promotion item (792) is slidably connected in the inside groove of oblique fixing groove (793),
The left end of the interlocking bar (799) passes through oblique fixing groove (793) to be flexibly connected with item (792) is pushed, the pulley fixed seat
(7911) right end of sliding rail (781) bottom, axle center and the pulley fixed seat (7911) of the movable pulley (7910) are welded on
Flexible connection, the folded end of the interlocking bar (799) are flexibly connected with the axle center of movable pulley (7910), the movable pulley (7910)
It is sequentially connected by the external wheel of belt (798) and lifting wheel (797), the bottom of the interlocking bar (799) and lifting wheel
(797) axle center flexible connection, the rectangular turntable (796) are engaged on the left side of lifting wheel (797), the rotation button (795)
It is mechanically connected to the surface of rectangular turntable (796), the rotation button (795), which is movably connected in, grips seat (794) inside
Right end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810473478.4A CN108656127A (en) | 2018-05-17 | 2018-05-17 | A kind of scene of fire rescue automatic mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810473478.4A CN108656127A (en) | 2018-05-17 | 2018-05-17 | A kind of scene of fire rescue automatic mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108656127A true CN108656127A (en) | 2018-10-16 |
Family
ID=63776179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810473478.4A Pending CN108656127A (en) | 2018-05-17 | 2018-05-17 | A kind of scene of fire rescue automatic mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108656127A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111113825A (en) * | 2019-12-24 | 2020-05-08 | 江苏邦皓塑业有限公司 | High strength thermoplasticity plastics casing subassembly is moulded plastics and is got material arm |
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| CN106737559A (en) * | 2017-02-24 | 2017-05-31 | 榆林学院 | A kind of mechanical arm |
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| JP4607442B2 (en) * | 2003-10-07 | 2011-01-05 | 国立大学法人東京工業大学 | Crawler type traveling robot |
| KR100770655B1 (en) * | 2006-12-19 | 2007-10-29 | 동일파텍주식회사 | A fire fighting robot |
| JP5422430B2 (en) * | 2010-02-12 | 2014-02-19 | 株式会社タダノ | Working device |
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Application publication date: 20181016 |