CN109227606A - A kind of Intelligent Mobile Robot holder - Google Patents
A kind of Intelligent Mobile Robot holder Download PDFInfo
- Publication number
- CN109227606A CN109227606A CN201811254134.0A CN201811254134A CN109227606A CN 109227606 A CN109227606 A CN 109227606A CN 201811254134 A CN201811254134 A CN 201811254134A CN 109227606 A CN109227606 A CN 109227606A
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- Prior art keywords
- cabin
- visible light
- speed reducer
- harmonic speed
- fixed
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses a kind of Intelligent Mobile Robot holders, including fixing seat, main cabin, Visible Light Camera cabin, infrared camera cabin, light compensating lamp and sound pick-up, connector is equipped between the Visible Light Camera cabin and infrared camera cabin, the vertical driving mechanism for being equipped with the horizontal drive mechanism of driving PTZ level rotation in the main cabin and rotating vertically, conducting slip ring is installed in the fixing seat, the horizontal drive mechanism is fixed on conducting slip ring top, the horizontal drive mechanism includes the harmonic speed reducer I being fixed in main bay floor, synchronizing wheel I, synchronizing wheel II, synchronous belt and servo motor I with encoder, the vertical driving mechanism includes the servo motor II with encoder, harmonic speed reducer II, driving shaft, driven axle, optoelectronic switch trigger member and photoelectricity inspection are equipped in horizontal drive mechanism and vertical driving mechanism Switch is surveyed, holder of the present invention has very high repetitive positioning accuracy, and stability and degree of protection are high, and structure is simple, and design is convenient.
Description
Technical field
The present invention relates to holder technical field more particularly to a kind of Intelligent Mobile Robot holders.
Background technique
In recent years, with automation and Artificial Intelligence Development, robot used for intelligent substation patrol cruising inspection system is widely applied,
Holder is also higher and higher to holder required precision using more and more, and it is low that traditional heads turn to precision, has been difficult to meet high-precision
Requirement, traditional holder design has the problems such as positioning accuracy is low, structure is complicated, fluctuation of service, seriously limits machine
The usage scenario of people.
Summary of the invention
It is an object of the invention to: a kind of Intelligent Mobile Robot holder is provided, there is very high resetting essence
Degree, stability and degree of protection are high, and structure is simple, and design is convenient.
The technical solution adopted by the invention is as follows:
A kind of Intelligent Mobile Robot holder, including fixing seat, main cabin, it is seen that light phase cabin, infrared camera cabin are mended
Light lamp and sound pick-up, the Visible Light Camera cabin and infrared camera cabin are separately fixed at the opposite two sides in main cabin, and visible light phase
Connector is equipped between cabin and infrared camera cabin, be equipped in the main cabin horizontal drive mechanism of driving PTZ level rotation with
The vertical driving mechanism rotated vertically；
Conducting slip ring is fixedly installed in the fixing seat, the horizontal drive mechanism is fixed on conducting slip ring top, institute
Stating horizontal drive mechanism includes the harmonic speed reducer I being fixed in main bay floor, synchronizing wheel I, synchronizing wheel II, synchronous belt and is had
The servo motor I of encoder, the harmonic speed reducer I export and are fixed with optoelectronic switch trigger member I in end slot, in main bay floor
The photoelectric detection switch I matched with optoelectronic switch trigger member I is installed；
The vertical driving mechanism includes the servo motor II with encoder, harmonic speed reducer II, with infrared camera cabin
Connected driving shaft, and the driven axle being connected with Visible Light Camera cabin, end face of the driven axle far from Visible Light Camera cabin
On be fixedly connected with optoelectronic switch trigger member II, be fixed with the light matched with optoelectronic switch trigger member II on the main cabin inner wall
Electro-detection switch II.
The operation principle of the present invention is that:
The work of servo motor I with encoder drives synchronizing wheel II to rotate, and synchronizing wheel II is passed torque by synchronous belt
It is delivered in synchronizing wheel I, since synchronizing wheel I is fixedly connected with I input terminal of harmonic speed reducer, harmonic wave can be transferred torque to and subtracted
Fast I input terminal of device, the rotation of I input terminal of harmonic speed reducer can make opposite with fixing seat with the main cabin that harmonic speed reducer I is fixedly connected
Rotation, since fixing seat is fixed, therefore the rotation of main cabin just drives holder work to horizontally rotate, while can make water using conducting slip ring
Square to rotation be greater than 360 degree and it is unrestricted, optoelectronic switch trigger member I goes to photoelectric detection switch I during cloud platform rotation
System zero is triggered when position, and using this position as initial position, no matter is rotated clockwise from this position or the inverse time
Needle rotation system knows rotated angle.
The work of servo motor II with encoder, which drives harmonic speed reducer II to transfer a torque to driving shaft, makes driving shaft
Rotation, since driving shaft is fixedly connected with infrared camera cabin, infrared camera cabin is fixed with Visible Light Camera cabin again by connector
Connection, it is seen that light phase cabin is fixedly connected with driven axle again, and driven axle is fixedly connected with optoelectronic switch trigger member II again, so working as
Infrared camera cabin, Visible Light Camera cabin when servo motor II works, driven axle and optoelectronic switch trigger member II can rotate together,
Due to photoelectric detection switch II be fixed on it is motionless on main cabin inner wall, when optoelectronic switch trigger member II goes to photoelectric detection switch II
System zero is triggered when position, and using this position as initial position, no matter is rotated clockwise from this position or the inverse time
Needle rotation system knows rotated angle.
Further, I output end of harmonic speed reducer is connected with fixing seat, and input terminal is connected with synchronizing wheel I, described same
Step is taken turns I and is connect by synchronous belt with synchronizing wheel II, the synchronizing wheel II and the fixed company of I output shaft of servo motor with encoder
It connects, the servo motor I with encoder is mounted on motor mounting rack.
Further, described driven axle one end is fixedly connected with Visible Light Camera cabin, and the other end is connect with main cabin bearing, institute
Main cabin is stated equipped with bearing block, and is equipped with bearing, circlip for hole and circlip for shaft in bearing block, outside the driven axle
Retaining ring for shaft shoulder is installed, and retaining ring for shaft shoulder right side is close to bearing inner race left side on cylindrical surface.
Further, described driving shaft one end is connected with II output end of harmonic speed reducer, and the other end and infrared camera cabin are solid
Fixed connection, II input terminal of harmonic speed reducer are connected with the servo motor II with encoder, and the harmonic speed reducer II is solid
It is scheduled on main cabin inner wall, the servo motor II with encoder is fixed on motor contact, and the motor contact is solid
It is scheduled at the top of main cabin.
Further, infrared camera is equipped in the infrared camera cabin, bottom is fixedly connected with sound pick-up, the visible light
Visible Light Camera is equipped in phase cabin, bottom is fixedly connected with light compensating lamp, is additionally provided with rain brush on the Visible Light Camera cabin, described
Infrared camera cabin and Visible Light Camera cabin surface are equipped with high definition eyeglass.
Further, the connector left and right ends, the end face that driven axle is connect with Visible Light Camera cabin, harmonic reduction
Device II and main cabin junction are mounted on sealing ring, and and infrared camera is equal in the hole of shell out of my cabin in the hole on the outside of the bearing block in
Equipped with oil sealing.
Further, the connector, driven axle are hollow type.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
1. the present invention is all made of the direct-connected driving rotation of harmonic speed reducer in horizontal drive mechanism and vertical driving mechanism, make
The positioning accuracy for obtaining holder is higher with repetitive positioning accuracy, and driving torque is big, can carry biggish high-performance equipment, application range
It is greatly enhanced, structure is simple, and design is convenient.
2. light compensating lamp is separately separately provided the present invention with Visible Light Camera, amount of heat caused by light compensating lamp is reduced
Visible Light Camera is influenced, camera stability is improved.
3. connector left and right ends in the present invention, the end face that driven axle is connect with Visible Light Camera cabin, harmonic speed reducer
II is mounted on sealing ring with main cabin junction, and is equipped with oil in the infrared camera out of my cabin hole of shell in the hole on the outside of bearing block
Envelope, by the way that sealing ring and oil sealing is arranged in each junction, sealing performance is good, and waterproofing grade is up to IP65.
4. the present invention carries out station location marker using photoelectric detection switch, rotated using the servo motor with encoder
The control of angle, is greatly simplified mechanism.
5. connector and driven axle are hollow type in the present invention, facilitate cable in internal cabling, be unlikely to wind everywhere,
Protective action is played to cable simultaneously.
Detailed description of the invention
Examples of the present invention will be described by way of reference to the accompanying drawings, in which:
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is enlarged drawing at A；
Fig. 3 is cross-sectional view at the B-B in infrared camera cabin；
Fig. 4 is cross-sectional view at the C-C in Visible Light Camera cabin.
In the figure, it is marked as 1- fixing seat, the main cabin 2-, 3- Visible Light Camera cabin, 31- rain brush, 32- Visible Light Camera, 33- can
Light-exposed camera support, 34- Wiper motor, 35- rain brush axis, 36- Wiper motor bracket, 4- infrared camera cabin, 41- infrared camera,
The infrared eyeglass of 42-, 43- infrared camera bracket, 5- light compensating lamp, 6- sound pick-up, 7- conducting slip ring, 8- horizontal drive mechanism, 81- are humorous
Wave retarder I, servo motor I of the 82- with encoder, 83- synchronizing wheel I, 84- synchronizing wheel II, 85- synchronous belt, 86- photoelectricity are opened
Close trigger member I, 87- photoelectric detection switch I, 88- motor mounting rack, 9- vertical driving mechanism, 91- servo motor II, 92- harmonic wave
Retarder II, 93- driving shaft, 94- driven axle, 95- photoelectric detection switch II, 96- optoelectronic switch trigger member II, 11- bearing block,
12- bearing, 13- circlip for hole, 14- circlip for shaft, 15- retaining ring for shaft shoulder, 16- oil sealing, 17- motor contact, 18-
Connector, 19- sealing ring.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
A kind of Intelligent Mobile Robot holder, including fixing seat 1, main cabin 2, it is seen that light phase cabin 3, infrared camera cabin
4, light compensating lamp 5 and sound pick-up 6, the Visible Light Camera cabin 3 and infrared camera cabin 4 are separately fixed at the opposite two sides in main cabin 2, and
It is equipped with connector 18 between Visible Light Camera cabin 3 and infrared camera cabin 4, driving PTZ level rotation is equipped in the main cabin 2
Horizontal drive mechanism 8 and the vertical driving mechanism 9 rotated vertically；
Conducting slip ring 7 is fixedly installed in the fixing seat 1, the horizontal drive mechanism 8 is fixed on conducting slip ring 7
Portion, the horizontal drive mechanism 8 include the harmonic speed reducer I 81 being fixed on main 2 bottom wall of cabin, synchronizing wheel I 83, synchronizing wheel II
84, synchronous belt 85 and the servo motor I 82 with encoder, the harmonic speed reducer I 81 export in end slot and are fixed with photoelectricity
Switch triggering part I 86 is equipped with the photoelectric detection switch I 87 matched with optoelectronic switch trigger member I 86 on main 2 bottom wall of cabin；
The vertical driving mechanism 9 includes the servo motor II 91 with encoder, harmonic speed reducer II 92, with infrared phase
The connected driving shaft 93 of cabin 4, and the driven axle 94 being connected with Visible Light Camera cabin 3, the driven axle 94 is far from visible light
It is fixedly connected with optoelectronic switch trigger member II 96 on the end face of phase cabin 3, is fixed on main 2 inner wall of cabin and is touched with optoelectronic switch
The photoelectric detection switch II 95 that outbox II 96 matches.
The operation principle of the present invention is that:
The work of servo motor I 82 with encoder drives synchronizing wheel II 84 to rotate, and synchronizing wheel II 84 passes through synchronous belt 85
It transfers torque in synchronizing wheel I 83, since synchronizing wheel I 83 is fixedly connected with I 81 input terminal of harmonic speed reducer, can will turn round
Square is transmitted to I 81 input terminal of harmonic speed reducer, and the rotation of I 81 input terminal of harmonic speed reducer can make and the fixed company of harmonic speed reducer I 81
The main cabin 2 connect and fixing seat 1 relatively rotate, and since fixing seat 1 is fixed, therefore the rotation of main cabin 2 just drives holder to make horizontal turn
It is dynamic, while horizontal direction rotation can be made unrestricted greater than 360 degree using conducting slip ring 7, photoelectricity is opened during cloud platform rotation
It closes when trigger member I 86 goes to I 87 position of photoelectric detection switch and its triggering system is zeroed, and using this position as initial position,
System no matter is rotated clockwise or rotated counterclockwise from this position knows rotated angle.
The work of servo motor II 91 with encoder, which drives harmonic speed reducer II 92 to transfer a torque to driving shaft 93, to be made
Driving shaft 93 rotate, since driving shaft 93 is fixedly connected with infrared camera cabin 4, infrared camera cabin 4 by connector 18 and with can
Light-exposed phase cabin 3 is fixedly connected, it is seen that light phase cabin 3 is fixedly connected with driven axle 94 again, and driven axle 94 is touched with optoelectronic switch again
Outbox II 96 is fixedly connected, thus when servo motor II 91 work when infrared camera cabin 4, Visible Light Camera cabin 3, driven axle 94 with
And optoelectronic switch trigger member II 96 can rotate together, and since photoelectric detection switch II 95 is fixed on motionless on main 2 inner wall of cabin, work as light
Its triggering system is zeroed when electric switch trigger member II 96 goes to the position of photoelectric detection switch II 95, and using this position as
No matter beginning position rotates clockwise or rotates counterclockwise system from this position and know rotated angle.
Embodiment 2
On the basis of embodiment 1, I 81 output end of harmonic speed reducer is connected with fixing seat 1, input terminal and synchronizing wheel
I 83 are connected, and the synchronizing wheel I 83 connect by synchronous belt 85 with synchronizing wheel II 84, the synchronizing wheel II 84 and with encoder
I 82 output shaft of servo motor be fixedly connected, the servo motor I 82 with encoder is mounted on motor mounting rack 88,
The harmonic speed reducer I 81 is hollow type speed reducer, facilitate it is internal for cable wiring, II 84 inner hole of synchronizing wheel with have
I 82 output shaft of servo motor of encoder is fixedly and coaxially connected, it is ensured that II 84 inner hole of synchronizing wheel and the servo for having encoder
The rotation of I 82 output shaft synchronous of motor, the synchronizing wheel I 83 it is identical with II 84 number of teeth of synchronizing wheel it is certifiable can rotate synchronously, use
The direct-connected driving holder rotation of harmonic speed reducer, positioning accuracy and repetitive positioning accuracy are high, and driving torque is big, can carry biggish height
Performance equipment, application range are greatly enhanced, and structure is simple, carry out station location marker using photoelectric detection switch, cooperation has
The control that the servo motor I 82 of encoder carries out rotational angle is greatly simplified mechanism.
Embodiment 3
On the basis of embodiment 1, described 94 one end of driven axle is fixedly connected with Visible Light Camera cabin 3, the other end and master
The connection of 2 bearing of cabin, the main cabin 2 is equipped with bearing block 11, and bearing 12, circlip for hole 13 and axis are equipped in bearing block 11
With circlip 14, retaining ring for shaft shoulder 15, and 15 right side of retaining ring for shaft shoulder and bearing are installed on 94 external cylindrical surface of driven axle
12 inner ring left sides are close to, and circlip for hole 13 is mounted in the slot that bearing block 11 is processed axial for 12 outer ring of bearing
Limit, circlip for shaft 14 are mounted in the slot that driven axle 94 is processed axial for retaining ring for shaft shoulder 15 and 12 inner ring of bearing
Limit.
Embodiment 4
On the basis of embodiment 1, described 93 one end of driving shaft is connected with II 92 output end of harmonic speed reducer, the other end with
Infrared camera cabin 4 is fixedly connected, and II 92 input terminal of harmonic speed reducer is connected with the servo motor II 91 with encoder, institute
It states harmonic speed reducer II 92 to be fixed on main 2 inner wall of cabin, the servo motor II 91 with encoder is fixed on motor connection
On part 17, the motor contact 17 is fixed on main 2 top of cabin, and II 91 output shaft of servo motor with encoder subtracts with harmonic wave
The hole of fast II 92 input shaft of device is fastenedly connected using flat key can guarantee that it is rotated coaxially, and the right flange of driving shaft 93 is screwed
On the hole of II 92 output end of harmonic speed reducer, driving shaft 93 and II 92 output end axis of harmonic speed reducer are concentric, guarantee its coaxial turn
It is dynamic.
Embodiment 5
On the basis of embodiment 1, it is equipped with infrared camera 41 in the infrared camera cabin 4, and infrared camera 41 is fixed on
On the infrared camera bracket 43 of 4 bottom wall of infrared camera cabin, it is equipped in the stepped hole that 4 shell of infrared camera cabin is processed red
Outer lens 42,4 bottom of infrared camera cabin are fixedly connected with sound pick-up 6, are equipped with visible light phase in the Visible Light Camera cabin 3
Machine 32, and Visible Light Camera 32 is fixed on the Visible Light Camera bracket 33 of 4 bottom wall of infrared camera cabin, the Visible Light Camera 32
Bottom is fixedly connected with light compensating lamp 5, and rain brush 31, the Visible Light Camera cabin 3 are also equipped on 3 shell of Visible Light Camera cabin
Interior to be equipped with Wiper motor 34, the Wiper motor 34 is screwed on Wiper motor bracket 36, and Wiper motor bracket 36 is used
Screw is fixed on 4 bottom wall of visible light cabin, and the Wiper motor 34 has encoder controlling rotary angle, 35 one end of rain brush axis
It is connected with rain brush 31, the hole that the other end passes through on 36 right side plate of Wiper motor bracket coaxially couples with 34 output shaft of Wiper motor,
Light compensating lamp 5 is separately separately provided with Visible Light Camera 32, reduces amount of heat caused by light compensating lamp 5 to Visible Light Camera 32
It influencing, is improved camera stability, rain brush 31 can use on rainy day, and prevent Visible Light Camera 32 from being blocked by rainwater,
Influence collection effect.
Embodiment 6
On the basis of embodiment 4,18 left and right ends of connector, driven axle 94 is connect with Visible Light Camera cabin 3
End face, harmonic speed reducer II 92 and main 2 junction of cabin be mounted on sealing ring 19, and in the hole in 11 outside of the bearing block with
It is equipped with oil sealing 16 in the hole of 4 shell of infrared camera cabin, sealing ring 19 and oil sealing 16 are set in each mechanism junction, guarantee that it is anti-
Water sealing property, waterproofing grade is up to IP65.
Embodiment 7
On the basis of embodiment 6, the connector 18, driven axle 94 is hollow type, connector 18 and driven axle 94
The cabling of cable, is placed in inside for cable, is unlikely to wind everywhere between the mechanism that the through-hole that center is machined with is used to be connected to,
Protective action is played to cable simultaneously, and more beautiful.
Claims (7)
1. a kind of Intelligent Mobile Robot holder, including fixing seat (1), main cabin (2), it is seen that light phase cabin (3), infrared phase
Cabin (4), light compensating lamp (5) and sound pick-up (6), which is characterized in that the Visible Light Camera cabin (3) and infrared camera cabin (4) point
It is not fixed on the opposite two sides in main cabin (2), and is equipped with connector (18) between Visible Light Camera cabin (3) and infrared camera cabin (4),
Driving PTZ level rotation is equipped in the main cabin (2) horizontal drive mechanism (8) and the vertical driving mechanism that rotates vertically
(9)；
It is fixedly installed with conducting slip ring (7) in the fixing seat (1), the horizontal drive mechanism (8) is fixed on conducting slip ring (7)
Top, the horizontal drive mechanism (8) include the harmonic speed reducer I (81) that is fixed on main cabin (2) bottom wall, synchronizing wheel I (83),
Synchronizing wheel II (84), synchronous belt (85) and the servo motor I (82) with encoder, harmonic speed reducer I (81) output end
It is fixed with optoelectronic switch trigger member I (86) in slot, is equipped on main cabin (2) bottom wall and matches with optoelectronic switch trigger member I (86)
The photoelectric detection switch I (87) of conjunction；
The vertical driving mechanism (9) includes the servo motor II (91) with encoder, harmonic speed reducer II (92), and infrared
The connected driving shaft (93) of phase cabin (4), and the driven axle (94) being connected with Visible Light Camera cabin (3), the driven axle
(94) optoelectronic switch trigger member II (96), main cabin (2) inner wall are fixedly connected on the end face far from Visible Light Camera cabin (3)
On be fixed with the photoelectric detection switch II (95) matched with optoelectronic switch trigger member II (96).
2. a kind of Intelligent Mobile Robot holder according to claim 1, which is characterized in that the harmonic speed reducer
I (81) output end is connected with fixing seat (1), and input terminal is connected with synchronizing wheel I (83), and the synchronizing wheel I (83) passes through synchronous belt
(85) it is connect with synchronizing wheel II (84), the synchronizing wheel II (84) is fixed with servo motor I (82) output shaft with encoder
Connection, the servo motor I (82) with encoder are mounted on motor mounting rack (88).
3. a kind of Intelligent Mobile Robot holder according to claim 1, which is characterized in that the driven axle (94)
One end is fixedly connected with Visible Light Camera cabin (3), and the other end is connect with main cabin (2) bearing, and the main cabin (2) is equipped with bearing block
(11), bearing (12), circlip for hole (13) and circlip for shaft (14), the driven axle and in bearing block (11) are equipped with
(94) it is equipped on external cylindrical surface retaining ring for shaft shoulder (15), and retaining ring for shaft shoulder (15) right side and bearing (12) inner ring left side are tight
Patch.
4. a kind of Intelligent Mobile Robot holder according to claim 1, which is characterized in that the driving shaft (93)
One end is connected with harmonic speed reducer II (92) output end, and the other end is fixedly connected with infrared camera cabin (4), the harmonic speed reducer
II (92) input terminal is connected with the servo motor II (91) with encoder, and the harmonic speed reducer II (92) is fixed on main cabin
(2) on inner wall, the servo motor II (91) with encoder is fixed on motor contact (17), the motor contact
(17) it is fixed at the top of main cabin (2).
5. a kind of Intelligent Mobile Robot holder according to claim 1, which is characterized in that the infrared camera cabin
(4) infrared camera (41) are equipped in, bottom is fixedly connected with sound pick-up (6), and visible light is equipped in the Visible Light Camera cabin (3)
Camera (32), bottom are fixedly connected with light compensating lamp (5), are also equipped with rain brush (31) on Visible Light Camera cabin (3) shell.
6. a kind of Intelligent Mobile Robot holder according to claim 4, which is characterized in that the connector (18)
Left and right ends, the end face that driven axle (94) is connect with Visible Light Camera cabin (3), harmonic speed reducer II (92) and main cabin (2) are even
The place of connecing is mounted on sealing ring (19), and in the hole on the outside of the bearing block (11) and the hole of infrared camera cabin (4) shell
Equipped with oil sealing (16).
7. a kind of Intelligent Mobile Robot holder according to claim 6, which is characterized in that the connector
(18), driven axle (94) is hollow type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811254134.0A CN109227606A (en) | 2018-10-26 | 2018-10-26 | A kind of Intelligent Mobile Robot holder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811254134.0A CN109227606A (en) | 2018-10-26 | 2018-10-26 | A kind of Intelligent Mobile Robot holder |
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| Publication Number | Publication Date |
|---|---|
| CN109227606A true CN109227606A (en) | 2019-01-18 |
Family
ID=65082356
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| CN201811254134.0A Pending CN109227606A (en) | 2018-10-26 | 2018-10-26 | A kind of Intelligent Mobile Robot holder |
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| CN110091306A (en) * | 2019-04-29 | 2019-08-06 | 合肥瑞堡科技发展有限公司 | A kind of mobile robot of multidirectional adjusting |
| CN112077856A (en) * | 2020-08-08 | 2020-12-15 | 浙江科聪控制技术有限公司 | Integrated detection device for explosion-proof inspection robot |
| CN112936348A (en) * | 2021-03-04 | 2021-06-11 | 哈尔滨工业大学 | Sensor integration device for sensing RGB-D-T information of intelligent robot |
| CN113021295A (en) * | 2021-03-11 | 2021-06-25 | 湛江南海西部石油勘察设计有限公司 | Intelligent explosion-proof inspection robot for offshore oil and gas fields |
| CN113606456A (en) * | 2021-07-02 | 2021-11-05 | 国网江苏省电力有限公司电力科学研究院 | High-precision numerical control holder capable of automatically tracking and aiming |
| CN114352862A (en) * | 2021-12-08 | 2022-04-15 | 康威通信技术股份有限公司 | Multifunctional holder and method for tunnel inspection |
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| CN110091306A (en) * | 2019-04-29 | 2019-08-06 | 合肥瑞堡科技发展有限公司 | A kind of mobile robot of multidirectional adjusting |
| CN112077856A (en) * | 2020-08-08 | 2020-12-15 | 浙江科聪控制技术有限公司 | Integrated detection device for explosion-proof inspection robot |
| CN112936348A (en) * | 2021-03-04 | 2021-06-11 | 哈尔滨工业大学 | Sensor integration device for sensing RGB-D-T information of intelligent robot |
| CN113021295A (en) * | 2021-03-11 | 2021-06-25 | 湛江南海西部石油勘察设计有限公司 | Intelligent explosion-proof inspection robot for offshore oil and gas fields |
| CN113606456A (en) * | 2021-07-02 | 2021-11-05 | 国网江苏省电力有限公司电力科学研究院 | High-precision numerical control holder capable of automatically tracking and aiming |
| CN114352862A (en) * | 2021-12-08 | 2022-04-15 | 康威通信技术股份有限公司 | Multifunctional holder and method for tunnel inspection |
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Application publication date: 20190118 |