CN109227559A - A kind of explosive-removal robot with safeguard function - Google Patents
A kind of explosive-removal robot with safeguard function Download PDFInfo
- Publication number
- CN109227559A CN109227559A CN201811192449.7A CN201811192449A CN109227559A CN 109227559 A CN109227559 A CN 109227559A CN 201811192449 A CN201811192449 A CN 201811192449A CN 109227559 A CN109227559 A CN 109227559A
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- CN
- China
- Prior art keywords
- mechanical arm
- explosive
- joint
- explosion
- car body
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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
- 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
- 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)
Abstract
The invention discloses a kind of explosive-removal robots with safeguard function, including car body, car body top mounting seat, waist joint is arranged in base top, shoulder joint is connected at the top of waist joint, shoulder joint side connects the 4th mechanical arm, and elbow joint is installed in the 4th mechanical arm one end, elbow joint one end connects third mechanical arm, and third mechanical arm one end connects wrist joint.The beneficial effects obtained by the present invention are as follows being: structure of the invention is compact, it is easy to use, by the way that bursting diaphragm is arranged, bursting diaphragm is set to resist the explosive forces of explosive in turn, the pressure-air that explosive generates can be discharged out of explosion-proof cell by setting gas vent simultaneously, thereby reduce extent of the destruction of the pressure-air to explosion-proof cell and bursting diaphragm of explosive generation, by the way that the first hydraulic stem is arranged, and then it is mobile so that the first hydraulic stem is able to drive bursting diaphragm, and then facilitates mechanical clamp hand that explosive is put into explosion-proof cell.
Description
Technical field
The present invention relates to a kind of explosive-removal robot, specially a kind of explosive-removal robot with safeguard function belongs to machine
People's engineering device technique field.
Background technique
Explosive-removal robot is the equipment special that explosive personnel are used to dispose or destroy suspicious explosive, avoids unnecessary people
Member injures and deaths, it can be used for Various Complex landform carry out it is explosive, be mainly used for replace explosive personnel carry, transfer suspicious explosive product
And other harmful dangerous material；Explosive Ordnance Demolition device destruction of bomb is used instead of explosive personnel；It is surveyed on the spot instead of on-the-spot security inspection personnel
It examines, real-time Transmission live image；Shotgun can be equipped with to attack offender；Detection equipment can be equipped with and check hazardous area
And dangerous goods, since scientific and technological content is higher, explosive-removal robot is often " personal value " high.And since explosive-removal robot is explosive
In the process, bomb is sometimes shorter apart from burst period, so that the sufficient time does not transport bomb to peace to explosive-removal robot
Full area, and then the bomb made explodes during transportation, and then damage can be not only caused to explosive-removal robot simultaneously
Can also injures and deaths be caused to neighbouring personnel.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the defects of the prior art, provide a kind of with the explosive of safeguard function
Robot.
In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions:
A kind of explosive-removal robot with safeguard function of the present invention, including car body, the car body top mounting seat are described
Waist joint is arranged in base top, and shoulder joint is connected at the top of the waist joint, and the shoulder joint side connects the 4th mechanical arm, institute
The 4th mechanical arm one end installation elbow joint is stated, described elbow joint one end connects third mechanical arm, the third mechanical arm
One end connects wrist joint, and described wrist joint one end connects the first mechanical arm, and first mechanical arm one end connects the second machine
Camera is installed in tool arm, second mechanical arm side, and connecting rod, the connection is arranged in second mechanical arm one end
Mechanical clamp hand is installed in bar one end, and baffle is arranged in the pedestal side, and two pieces of floors, the vehicle body is arranged in the baffle sidewall
Explosion-protection equipment is set, bursting diaphragm is set at the top of the explosion-protection equipment, the bursting diaphragm is connected by three first hydraulic stems and baffle
It connects, the car body two sides are respectively provided with three wheel hubs, and tire is set on the wheel hub, and the outside tires are set with crawler belt, the shoe
Non-slipping block is arranged in band side wall, and the hub interior installs fixing bolt, and the car body top installs antenna.
As a preferred technical solution of the present invention, the 4th support plate, and the described 4th is arranged in the elbow joint side
It is connected between support plate and waist joint by the 5th hydraulic stem, and passes through the second hydraulic stem between third mechanical arm and waist joint
Connection, and is movably connected between third mechanical arm and elbow joint and wrist joint, and third mechanical arm side is equipped with the
Three support plates, and the first mechanical arm side is equipped with the second support plate, and by the between the second support plate and third support plate
Three hydraulic stems, the wrist joint side are provided with the first support plate, and by the between the first support plate and the second mechanical arm
The connection of four hydraulic stems, and be movably connected between the second mechanical arm and the first mechanical arm.
As a preferred technical solution of the present invention, the explosion-protection equipment is made of explosion-proof cell, buffer layer and protecting crust,
And buffer layer is wrapped up on the outside of explosion-proof cell, protecting crust is wrapped up on the outside of the buffer layer, and between explosion-proof cell and buffer layer and buffer layer
It is in closely to connect between protecting crust.
As a preferred technical solution of the present invention, several gas vents, and bursting diaphragm are equipped with inside the bursting diaphragm
It is made of stiffness steel plate, and is movably connected between bursting diaphragm and the first hydraulic stem, and be between the first hydraulic stem and baffle
It is flexibly connected, and is welding between baffle and two pieces of floors, and two pieces of floors are symmetrical about the symmetrical center line of baffle.
As a preferred technical solution of the present invention, in being fixedly connected between the crawler belt and non-slipping block, and non-slipping block
Outer surface be equipped with anti-skid chequer.
It is in be fixedly connected between the elbow joint and the 4th mechanical arm as a preferred technical solution of the present invention,
And the 4th is movably connected between mechanical arm and shoulder joint.
As a preferred technical solution of the present invention, it is movably connected between the bursting diaphragm and car body.
As a preferred technical solution of the present invention, the pedestal is fixed on the upper table of car body by hexagon socket head cap screw
Face, and be movably connected between pedestal and waist joint.
The beneficial effects obtained by the present invention are as follows being: structure of the invention is compact, easy to use, by the way that bursting diaphragm is arranged, in turn
Bursting diaphragm is set to resist the explosive forces of explosive, while empty by the high pressure that setting gas vent can generate explosive
Gas is discharged out of explosion-proof cell, thereby reduces extent of the destruction of the pressure-air to explosion-proof cell and bursting diaphragm of explosive generation, leads to
The first hydraulic stem of setting is crossed, and then it is mobile so that the first hydraulic stem is able to drive bursting diaphragm, and then facilitates mechanical clamp hand by explosive
It is put into explosion-proof cell, by the way that floor is arranged, and then baffle is enable to resist the impact force of explosive generation, pass through setting non-slipping block
And crawler belt, and then explosive-removal robot is enable to travel on different ground, at the same avoid due to explosive-removal robot tire with
The phenomenon that being easy to happen skidding when contacting between ground.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is whole side structure schematic view of the invention；
Fig. 3 is explosion-protection equipment the schematic diagram of the section structure of the invention；
Fig. 4 is bursting diaphragm structural schematic diagram of the invention.
In figure: 1, car body；2, explosion-protection equipment；3, bursting diaphragm；4, the first hydraulic stem；5, baffle；6, the second hydraulic stem；7,
Three hydraulic stems；8, the first mechanical arm；9, mechanical clamp hand；10, connecting rod；11, camera；12, the second mechanical arm；13,
Four hydraulic stems；14, the first support plate；15, third mechanical arm；16, elbow joint；17, the 4th mechanical arm；18, shoulder joint；
19, waist joint；20, pedestal；21, fixing bolt；22, wheel hub；23, crawler belt；24, tire；25, non-slipping block；26, floor；27,
Five hydraulic stems；28, the second support plate；29, third support plate；30, the 4th support plate；31, wrist joint；32, antenna；33, it protects
Shell；34, buffer layer；35, explosion-proof cell；36, gas vent.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing.In the description of the present invention,
It should be noted that the side of the instructions such as term " center ", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outside"
Position or positional relationship are to be based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description of the present invention and simplification of the description,
Rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, because
This is not considered as limiting the invention.In addition, term " first ", " second ", " third " are used for description purposes only, and cannot
It is interpreted as indication or suggestion and faces ground importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Embodiment
As shown in Figs 1-4, a kind of explosive-removal robot with safeguard function, including car body 1 are installed at the top of the car body 1
Waist joint 19 is arranged at the top of the pedestal 20, connects shoulder joint 18, the shoulder joint 18 1 at the top of the waist joint 19 for pedestal 20
Side connects the 4th mechanical arm 17, and elbow joint 16,16 one end of elbow joint connection are installed in described 4th mechanical arm, 17 one end
Third mechanical arm 15, described 15 one end of third mechanical arm connect wrist joint 31, and described 31 one end of wrist joint connects the first machine
Tool arm 8, described first mechanical arm, 8 one end connect the second mechanical arm 12, and 12 side of the second mechanical arm installation is taken the photograph
As head 11, connecting rod 10 is arranged in described second mechanical arm, 12 one end, and mechanical clamp hand 9 is installed in described 10 one end of connecting rod, described
Baffle 5 is arranged in 20 side of pedestal, and 5 side wall of baffle is arranged two pieces of floors 26, explosion-protection equipment 2, institute is arranged inside the car body 1
Setting bursting diaphragm 3 at the top of explosion-protection equipment 2 is stated, the bursting diaphragm 3 is connect by three first hydraulic stems 4 with baffle 5, the car body
1 two sides are respectively provided with three wheel hubs 22, and tire 24 is set on the wheel hub 22, is set with crawler belt 23, the shoe outside the tire 24
Non-slipping block 25 is arranged in 23 side wall of band, and fixing bolt 21 is installed inside the wheel hub 22, installs antenna 32 at the top of the car body 1.
Wherein, 16 side of elbow joint is arranged the 4th support plate 30, and the 4th support plate 30 and waist joint 19 it
Between connected by the 5th hydraulic stem 27, and connected between third mechanical arm 15 and waist joint 19 by the second hydraulic stem 6, and the
It is movably connected between three mechanical arms 15 and elbow joint 16 and wrist joint 31, and 15 side of third mechanical arm is equipped with third
Support plate 29, and 8 side of the first mechanical arm is equipped with the second support plate 28, and between the second support plate 28 and third support plate 29
By third hydraulic stem 7,31 side of wrist joint is provided with the first support plate 14, and the first support plate 14 and the second manipulator
It is connected between arm 12 by the 4th hydraulic stem 13, and is movably connected between the second mechanical arm 12 and the first mechanical arm 8.
Wherein, the explosion-protection equipment 2 is made of explosion-proof cell 35, buffer layer 34 and protecting crust 33, and is wrapped on the outside of explosion-proof cell 35
Wrap up in buffer layer 34, protecting crust 33 wrapped up on the outside of the buffer layer 34, and between explosion-proof cell 35 and buffer layer 34 and buffer layer 34 and
In close connection between protecting crust 33, and then reduce explosive explosion time in explosion-proof cell 35, the impact force pair for generation of exploding
The impact of car body 1, and then avoid explosive-removal robot that irreversible damage occurs.
Wherein, several gas vents 36 are equipped with inside the bursting diaphragm 3, and bursting diaphragm 3 is made of stiffness steel plate, in turn
Bursting diaphragm 3 is set to resist the explosive forces of explosive, while the height that can be generated explosive by setting gas vent 36
Pressure air is discharged out of explosion-proof cell 35, thereby reduces the pressure-air of explosive generation to the broken of explosion-proof cell 35 and bursting diaphragm 3
Bad degree, and be movably connected between bursting diaphragm 3 and the first hydraulic stem 4, and connect between the first hydraulic stem 4 and baffle 5 in activity
It connects, and then it is mobile so that the first hydraulic stem 4 is able to drive bursting diaphragm 3, and then facilitates mechanical clamp hand 9 that explosive is put into explosion-proof cell 35
It is interior, and be welding between baffle 5 and two pieces of floors 26, and two pieces of floors 26 are symmetrical about the symmetrical center line of baffle 5, and then make
Baffle 5 can resist the impact force of explosive generation.
It wherein, is in be fixedly connected, and the outer surface of non-slipping block 25 is equipped with anti-skid chequer between the crawler belt 23 and non-slipping block 25,
And then so that explosive-removal robot is travelled on different ground, while avoid due to explosive-removal robot tire 24 and ground it
Between the phenomenon that being easy to happen skidding when contacting.
Wherein, between the elbow joint 16 and the 4th mechanical arm 17 in being fixedly connected, so enable elbow joint 16 with
4th mechanical arm 17 moves together, and is movably connected between the 4th mechanical arm 17 and shoulder joint 18, and then makes the 4th machine
Tool arm 17 can move in shoulder joint 18 under the drive of the 5th hydraulic stem 27, and then enable explosive-removal robot to machinery
The position of clamp hand 9 is adjusted.
Wherein, it is movably connected between the bursting diaphragm 3 and car body 1, and then bursting diaphragm 3 is enable to seal explosion-protection equipment 2
Or it opens.
Wherein, the pedestal 20 is fixed on the upper surface of car body 1 by hexagon socket head cap screw, and then pedestal 20 is enable to stablize
Be fixed on car body 1, and be movably connected between pedestal 20 and waist joint 19, so enable waist joint 19 pedestal 20 into
Row rotation, and then so that explosive-removal robot is adjusted the angle of mechanical clamp hand 9, and then explosion-proof machine clamp hand 9 can be from different angles
Degree clamps explosive.
Specifically, in use, explosive-removal robot by antenna 32 can phase operator transmit information, while explosive-removal robot
By the available external information of camera 11, while passing through setting adjustable 4th mechanical arm 17 of the 5th hydraulic stem 27
It position can be with by setting third hydraulic stem 7 by the way that the position of the adjustable third mechanical arm 15 of the second hydraulic stem 6 is arranged
The position for adjusting the first mechanical arm 8, by the way that the position of adjustable second mechanical arm 12 of the 4th hydraulic stem 13 is arranged, in turn
By adjust the first mechanical arm 8, the second mechanical arm 12, third mechanical arm 15 and the 4th mechanical arm 17 position can be with
The position of mechanical clamp hand 9 is adjusted, and then so that mechanical clamp hand 9 is flexibly picked up explosive, and be put into safety area, by setting
Explosive-removal robot can be worked as to avoid the accident that explosive-removal robot skids in the process of moving by setting crawler belt 23 and non-slipping block 25
When there is no time enough that explosive is put into safety area, by the first hydraulic stem 4 by 3 pull-up of bursting diaphragm, and then make machinery
Explosive can be put into explosion-proof cell 35 by clamp hand 9, then controlled bursting diaphragm 3 by the first hydraulic stem 4 and moved down, carrying out will be explosion-proof
The opening of room 35 seals, and after explosive explodes in explosion-proof cell 35, the pressure-air of generation of exploding is by gas vent 36 from anti-
Discharge in shot room 35, while can the explode fragment of generation of gas vent 36 stops, and then avoids the fragment of explosion generation
It spreads around, thereby reduces the destructive power of explosion.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (8)
1. a kind of explosive-removal robot with safeguard function, which is characterized in that including car body (1), installation at the top of the car body (1)
Pedestal (20), pedestal (20) top is arranged waist joint (19), connects shoulder joint (18) at the top of the waist joint (19), described
Shoulder joint (18) side connects the 4th mechanical arm (17), and elbow joint (16) are installed in the 4th mechanical arm (17) one end, institute
Elbow joint (16) one end connection third mechanical arm (15) is stated, described third mechanical arm (15) one end connects wrist joint (31),
Described wrist joint (31) one end connects the first mechanical arm (8), and described first mechanical arm (8) one end connects the second mechanical arm
(12), the second mechanical arm (12) side installation camera (11), the second mechanical arm (12) one end setting connection
Mechanical clamp hand (9) is installed in bar (10), described connecting rod (10) one end, and baffle (5) are arranged in pedestal (20) side, the baffle
(5) two pieces of floors (26) are arranged in side wall, and explosion-protection equipment (2) are arranged inside the car body (1), set at the top of the explosion-protection equipment (2)
It sets bursting diaphragm (3), the bursting diaphragm (3) is connect by three first hydraulic stems (4) with baffle (5), and car body (1) two sides are equal
Three wheel hubs (22) are set, is set with tire (24) on the wheel hub (22), is set with crawler belt (23) outside the tire (24), it is described
Non-slipping block (25) are arranged in crawler belt (23) side wall, install fixing bolt (21) inside the wheel hub (22), peace at the top of the car body (1)
It fills antenna (32).
2. a kind of explosive-removal robot with safeguard function according to claim 1, which is characterized in that the elbow joint
(16) the 4th support plate (30) is arranged in side, and passes through the 5th hydraulic stem between the 4th support plate (30) and waist joint (19)
(27) it connects, and is connect between third mechanical arm (15) and waist joint (19) by the second hydraulic stem (6), and third manipulator
It is movably connected between arm (15) and elbow joint (16) and wrist joint (31), and third mechanical arm (15) side is equipped with third
Support plate (29), and the first mechanical arm (8) side is equipped with the second support plate (28), and the second support plate (28) and third support
By third hydraulic stem (7) between plate (29), wrist joint (31) side is provided with the first support plate (14), and the first support
It is connect between plate (14) and the second mechanical arm (12) by the 4th hydraulic stem (13), and the second mechanical arm (12) and the first machine
Tool arm is movably connected between (8).
3. a kind of explosive-removal robot with safeguard function according to claim 1, which is characterized in that the explosion-protection equipment
(2) it is made of explosion-proof cell (35), buffer layer (34) and protecting crust (33), and wraps up buffer layer (34) on the outside of explosion-proof cell (35), institute
State and wrap up protecting crust (33) on the outside of buffer layer (34), and between explosion-proof cell (35) and buffer layer (34) and buffer layer (34) with protect
In close connection between shell (33).
4. a kind of explosive-removal robot with safeguard function according to claim 1, which is characterized in that the bursting diaphragm
(3) internal to be equipped with several gas vents (36), and bursting diaphragm (3) is made of stiffness steel plate, and bursting diaphragm (3) and first hydraulic
Bar is movably connected between (4), and is movably connected between the first hydraulic stem (4) and baffle (5), and baffle (5) and two pieces of ribs
It is welding between plate (26), and two pieces of floors (26) are symmetrical about the symmetrical center line of baffle (5).
5. a kind of explosive-removal robot with safeguard function according to claim 1, which is characterized in that the crawler belt (23)
It is in be fixedly connected, and the outer surface of non-slipping block (25) is equipped with anti-skid chequer between non-slipping block (25).
6. a kind of explosive-removal robot with safeguard function according to claim 1, which is characterized in that the elbow joint
(16) between the 4th mechanical arm (17) in being fixedly connected, and in movable between the 4th mechanical arm (17) and shoulder joint (18)
Connection.
7. a kind of explosive-removal robot with safeguard function according to claim 1, which is characterized in that the bursting diaphragm
(3) it is movably connected between car body (1).
8. a kind of explosive-removal robot with safeguard function according to claim 1, which is characterized in that the pedestal (20)
It is fixed on the upper surface of car body (1) by hexagon socket head cap screw, and is movably connected between pedestal (20) and waist joint (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811192449.7A CN109227559A (en) | 2018-10-13 | 2018-10-13 | A kind of explosive-removal robot with safeguard function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811192449.7A CN109227559A (en) | 2018-10-13 | 2018-10-13 | A kind of explosive-removal robot with safeguard function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109227559A true CN109227559A (en) | 2019-01-18 |
Family
ID=65052070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811192449.7A Pending CN109227559A (en) | 2018-10-13 | 2018-10-13 | A kind of explosive-removal robot with safeguard function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109227559A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923059A (en) * | 2020-07-29 | 2020-11-13 | 合肥瞬瞬科技有限公司 | 5G vision intelligence blasting robot |
| CN116277160A (en) * | 2023-05-18 | 2023-06-23 | 深圳市大族机器人有限公司 | Explosion-proof type multiaxis robot |
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| CN1888808A (en) * | 2005-06-30 | 2007-01-03 | 上海市延安中学 | Intelligent anti-terror explosive removing robot |
| CN101362330A (en) * | 2008-09-27 | 2009-02-11 | 公安部上海消防研究所 | Anti-terrorist explosive-removal robot with multi-degree of freedom and large load manipulator |
| US8727410B2 (en) * | 2009-02-24 | 2014-05-20 | Irobot Corporation | Method and device for manipulating an object |
| CN105128957A (en) * | 2015-09-13 | 2015-12-09 | 徐金鹏 | Crawler type explosive-handling robot |
| CN207649477U (en) * | 2017-11-19 | 2018-07-24 | 乔奇艳 | Anti-explosion tank with purifier |
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2018
- 2018-10-13 CN CN201811192449.7A patent/CN109227559A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1888808A (en) * | 2005-06-30 | 2007-01-03 | 上海市延安中学 | Intelligent anti-terror explosive removing robot |
| CN101362330A (en) * | 2008-09-27 | 2009-02-11 | 公安部上海消防研究所 | Anti-terrorist explosive-removal robot with multi-degree of freedom and large load manipulator |
| US8727410B2 (en) * | 2009-02-24 | 2014-05-20 | Irobot Corporation | Method and device for manipulating an object |
| CN105128957A (en) * | 2015-09-13 | 2015-12-09 | 徐金鹏 | Crawler type explosive-handling robot |
| CN207649477U (en) * | 2017-11-19 | 2018-07-24 | 乔奇艳 | Anti-explosion tank with purifier |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923059A (en) * | 2020-07-29 | 2020-11-13 | 合肥瞬瞬科技有限公司 | 5G vision intelligence blasting robot |
| CN116277160A (en) * | 2023-05-18 | 2023-06-23 | 深圳市大族机器人有限公司 | Explosion-proof type multiaxis robot |
| CN116277160B (en) * | 2023-05-18 | 2023-08-29 | 深圳市大族机器人有限公司 | Explosion-proof type multiaxis robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190118 |
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| RJ01 | Rejection of invention patent application after publication |