CN109466402A - A kind of earthquake rescue robot with safeguard function - Google Patents
A kind of earthquake rescue robot with safeguard function Download PDFInfo
- Publication number
- CN109466402A CN109466402A CN201811192432.1A CN201811192432A CN109466402A CN 109466402 A CN109466402 A CN 109466402A CN 201811192432 A CN201811192432 A CN 201811192432A CN 109466402 A CN109466402 A CN 109466402A
- Authority
- CN
- China
- Prior art keywords
- car body
- rescue robot
- mechanical arm
- earthquake rescue
- stretcher
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Manipulator (AREA)
- Emergency Lowering Means (AREA)
Abstract
The first video camera is arranged in the invention discloses a kind of earthquake rescue robot with safeguard function, including car body, car body top, and the first video camera two sides are respectively provided with the first searchlight, and the first support plate is arranged in car body top.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 stretcher is arranged in vehicle body, and then captive can be made to lie in car body, and then earthquake rescue robot is enable to rescue captive, earthquake rescue robot is avoided simultaneously in mobile captive, the building of collapsing is caved in, and secondary injury is caused to captive, by the way that protective door is arranged, handle and frenulum can to avoid earthquake rescue robot in the process of moving due to road injustice cause captive jolt up and down or moving process in the stone that splashes secondary injury is caused to captive, by the way that cutter are arranged, barrier in moving process can be cut, and then earthquake rescue robot is enable smoothly to move.
Description
Technical field
The present invention relates to a kind of robot, specially a kind of earthquake rescue robot with safeguard function belongs to machine
People's engineering device technique field.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work, wherein earthquake rescue robot makes in earthquake generating region
With very extensive, the building of collapsing of some large area in earthquake generating region, search, but some seams can be excavated by machinery
Gap, small space etc., rescue team member enters dangerous, and large scale equipment does not have " ample scope for abilities " again, it is necessary to some specifically to set
It is standby to complete to search and rescue, and existing earthquake rescue robot can not take trapped person out of during search and rescue or guiding quilt
When oppressive member, due to the structural instability for building of collapsing, so that building structure is easy to happen landslide, and then trapped person can be made
At secondary injury.
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 earthquake with safeguard function
Rescue robot.
In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions:
A kind of earthquake rescue robot with safeguard function of the present invention, including car body, the car body top setting first
Video camera, first video camera two sides are respectively provided with the first searchlight, and the car body top is arranged the first support plate, and described first
Second video camera is installed, second video camera two sides are respectively mounted the second searchlight, first support plate one at the top of support plate
The second support plate is arranged in side, and two the first hydraulic stems, the connection of first hydraulic stem one end are installed at the top of second support plate
First connecting rod, described first connecting rod one end connect cross bar, and protective door, car body one end setting are installed in the cross bar bottom
Shield, the car body two sides are respectively provided with guide rail, and the first mechanical arm, first mechanical arm one is arranged in the guide rail side
The second mechanical arm of end connection, the second mechanical arm side wall install motor, and cutter, institute are installed in described motor one end
Vehicle body setting stretcher is stated, the car body two sides are installed two driving wheels, are arranged in the gap between two driving wheels
The second crawler belt, the second crawler belt side wall setting second are wrapped up outside driven wheel, the driven wheel and two driving wheels
Non-slipping block, two driving wheel side walls are respectively provided with big wheel, and trundle, the trundle and institute is arranged in the big wheel side
It states and wraps up the first crawler belt outside big wheel, the first non-slipping block is arranged in the first crawler belt lateral wall.
As a preferred technical solution of the present invention, first mechanical arm one end connection third hydraulic stem, first
The second hydraulic stem is arranged in mechanical arm side wall, and second hydraulic stem one end connects the second connecting rod, and second connecting rod one end and the
Two mechanical arms connection, and in being fixedly connected between the second mechanical arm and the second connecting rod, the second connecting rod and second hydraulic
It is movably connected between bar, and the shape of the second connecting rod is L-shaped, and in fixation between the first mechanical arm and third hydraulic stem
Connection, and is movably connected between the first mechanical arm and the second mechanical arm, and the third hydraulic stem and car body side wall it
Between in being fixedly connected.
As a preferred technical solution of the present invention, connected between the big wheel and trundle by protective plate, and
It is movably connected between the protective plate and big wheel and trundle.
As a preferred technical solution of the present invention, the stretcher bottom is provided with pillow, and the inside of stretcher two sides
Wall is mounted on handle, and two one or two are set with Anti-slip cover on hand, and Anti-slip cover outer surface is equipped with anti-skid chequer, and sets inside stretcher
There are two tether panels, and the stretcher bottom is equipped with two sliding slots, and two sliding slots are symmetrical about the symmetrical center line of stretcher.
As a preferred technical solution of the present invention, it is between the cross bar and protective door and two first connecting rods
It is fixedly connected, and is connected by a hinge between protective door and car body, and symmetrical centre pair of two first connecting rods about cross bar
Claim.
As a preferred technical solution of the present invention, it is straight that the geometric center of the big wheel and driving wheel is located at same root
On line, and connected in close between driving wheel and the second crawler belt between big wheel and the first crawler belt.
As a preferred technical solution of the present invention, the dynamical system of earthquake rescue robot is equipped with inside the shield
System, and the dynamical system of earthquake rescue robot is connect with stretcher, and vehicle body is equipped with sliding rail, and the cunning of vehicle body setting
Rail is located in the sliding slot of stretcher bottom.
As a preferred technical solution of the present invention, between first hydraulic stem and first connecting rod even in activity
It connects.
The beneficial effects obtained by the present invention are as follows being: structure of the invention is compact, easy to use, is carried on a shoulder pole by being arranged in vehicle body
Frame, and then captive can be made to lie in car body, and then earthquake rescue robot is enable to rescue captive, it avoids simultaneously
In mobile captive, the building of collapsing is caved in, and causes secondary injury to captive, by setting for earthquake rescue robot
Setting protective door, handle and frenulum can be to avoid earthquake rescue robot in the process of moving since road injustice causes captive
Jolt up and down or moving process in the stone that splashes secondary injury is caused to captive, can be right by the way that cutter are arranged
Barrier in moving process is cut, and then earthquake rescue robot is enable smoothly to move.
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 stretcher structure schematic diagram of the invention.
In figure: 1, car body；2, the first video camera；3, the first searchlight；4, shield；5, the first support plate；6, it second takes the photograph
As instrument；7, the second searchlight；8, the first hydraulic stem；9, the second support plate；10, first connecting rod；11, the second hydraulic stem；12, horizontal
Bar；13, protective door；14, the first mechanical arm；15, cutter；16, motor；17, the second mechanical arm；18, the second connection
Bar；19, stretcher；20, the first non-slipping block；21, trundle；22, the first crawler belt；23, big wheel；24, the second non-slipping block；25, it leads
Rail；26, driven wheel；27, the second crawler belt；28, third hydraulic stem；29, protective plate；30, driving wheel；31, Anti-slip cover；32, handle；
33, frenulum；34, pillow；35, sliding slot.
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 Figure 1-3, a kind of earthquake rescue robot with safeguard function, including car body 1,1 top of car body
First video camera 2 is set, and 2 two sides of the first video camera are respectively provided with the first searchlight 3, are arranged first at the top of the car body 1
Fagging 5 installs the second video camera 6 at the top of first support plate 5, and 6 two sides of the second video camera are respectively mounted the second searchlight
7, the second support plate 9 is arranged in 5 side of the first support plate, installs two the first hydraulic stems 8 at the top of second support plate 9,
Described first hydraulic stem, 8 one end connects first connecting rod 10, and described 10 one end of first connecting rod connects cross bar 12, the cross bar 12
Protective door 13 is installed in bottom, and shield 4 is arranged in described 1 one end of car body, and 1 two sides of car body are respectively provided with guide rail 25, the guide rail
The first mechanical arm 14 is arranged in 25 sides, and described first mechanical arm, 14 one end connects the second mechanical arm 17, second machine
17 side wall of tool arm installs motor 16, and described 16 one end of motor installs cutter 15, stretcher is arranged inside the car body 1
19, two driving wheels 30 are installed in 1 two sides of car body, and driven wheel 26, institute is arranged in the gap between two driving wheels 30
It states and wraps up the second crawler belt 27 outside driven wheel 26 and two driving wheels 30,27 side wall of the second crawler belt setting second is anti-
Sliding block 24, two 30 side walls of driving wheel are respectively provided with big wheel 23, and trundle 21 is arranged in 23 side of big wheel, described small
The first crawler belt 22 is wrapped up outside wheel 21 and the big wheel 23, the first non-slipping block 20 is arranged in 22 lateral wall of the first crawler belt.
Wherein, described first mechanical arm, 14 one end connects third hydraulic stem 28,14 side wall of the first mechanical arm setting the
Two hydraulic stems 11,11 one end of the second hydraulic stem connect the second connecting rod 18, and 18 one end of the second connecting rod and the second mechanical arm
17 connections, and be in be fixedly connected between the second mechanical arm 17 and the second connecting rod 18, the second connecting rod 18 and the second hydraulic stem
It is movably connected between 11, and the shape of the second connecting rod 18 is L-shaped, and between the first mechanical arm 14 and third hydraulic stem 28
In being fixedly connected, and it is movably connected between the first mechanical arm 14 and the second mechanical arm 17, and the third hydraulic stem 28
It is in be fixedly connected between 1 side wall of car body.
Wherein, it is connected between the big wheel 23 and trundle 21 by protective plate 29, and then keeps big wheel 23 right
Trundle 21 plays the role of support, by setting big wheel 23 and trundle 21, and then can be convenient earthquake rescue robot
Ascents and descents, and be movably connected between the protective plate 29 and big wheel 23 and trundle 21.
Wherein, 19 bottom of stretcher is provided with pillow 34, and the inner sidewall of 19 two sides of stretcher is mounted on handle 32, and
It is set with Anti-slip cover 31 on two handles 32, and 31 outer surface of Anti-slip cover is equipped with anti-skid chequer, and is equipped with two root systems inside stretcher 19
Band 33, and 19 bottom of the stretcher is equipped with two sliding slots 35, and two sliding slots 35 are symmetrical about the symmetrical center line of stretcher 19.
Wherein, in being fixedly connected between the cross bar 12 and protective door 13 and two first connecting rods 10, and protective door
It is connected by a hinge between 13 and car body 1, and two first connecting rods 10 are symmetrical about the symmetrical centre of cross bar 12.
Wherein, the big wheel 23 and the geometric center of driving wheel 30 are located on same root straight line, and big wheel 23 and the
In close connection between driving wheel 30 and the second crawler belt 27 between one crawler belt 22.
Wherein, the dynamical system of earthquake rescue robot is equipped with inside the shield 4, and earthquake rescue robot is dynamic
Force system is connect with stretcher 19, and sliding rail is equipped with inside car body 1, and the sliding rail being arranged inside car body 1 is located at 19 bottom of stretcher
In sliding slot 35.
Wherein, it is movably connected between first hydraulic stem 8 and first connecting rod 10.
Specifically, in use, the can be driven by setting driving wheel 30, driven wheel 26, big wheel 23 and trundle 21
Two crawler belts 27 and the rotation of the first crawler belt 22, and then keep earthquake rescue robot mobile, it is taken the photograph by the way that the first video camera 2 and second is arranged
External environment is observed as instrument 6 can be convenient operator, while the can be made by the first searchlight 3 of setting and the second searchlight 7
One video camera 2 and the second video camera 6 can be observed in dark environment it is clear, while when the rescue of earthquake rescue robot is stranded
When person, if meeting with obstruction during mobile can drive cutter 15 to rotate by motor 16, and then to obstruction into
Row cutting, while the first mechanical arm 14 can control in the movement of guide rail 25 by third hydraulic stem 28, and then can control and cut
The position of cutter 15, while can control the angle of the second mechanical arm 17 rotation by the way that the second hydraulic stem 11 is arranged, and then make
Cutter 15 can carry out the cutting of different location to barrier, and then earthquake rescue robot is enable smoothly to move, local
When shake rescue robot is moved near trapped person, protective door 13 is opened by the first hydraulic stem 8, and then shield simultaneously
The dynamical system of earthquake rescue robot inside 4 releases stretcher 19 out of car body 1, and then captive is lain on stretcher 19,
And it is hitched with frenulum 33, while hand holds handle 32, and then earthquake rescue robot is avoided to lead to captive due to road injustice
Secondary injury is caused when double swerve, after captive is lain on stretcher 19, stretcher 19 is retracted in car body 1, then passes through first
Hydraulic stem 8 puts down protective door 13, and then plays a protective role to captive, and then rescues earthquake rescue robot by captive
Out.
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 earthquake rescue robot with safeguard function, which is characterized in that including car body (1), at the top of the car body (1)
It is arranged the first video camera (2), the first video camera (2) two sides are respectively provided with the first searchlight (3), are set at the top of the car body (1)
It sets the first support plate (5), the second video camera (6) is installed at the top of first support plate (5), the second video camera (6) two sides
It is respectively mounted the second searchlight (7), the second support plate (9) are arranged in the first support plate (5) side, second support plate (9)
Two the first hydraulic stems (8) are installed at top, and described first hydraulic stem (8) one end connects first connecting rod (10), and described first connects
Extension bar (10) one end connects cross bar (12), and protective door (13) are installed in cross bar (12) bottom, and car body (1) one end setting is anti-
Shield (4), car body (1) two sides are respectively provided with guide rail (25), and the first mechanical arm (14) are arranged in guide rail (25) side, institute
The first mechanical arm (14) one end connection the second mechanical arm (17) is stated, the second mechanical arm (17) side wall installs motor
(16), motor (16) one end installation cutter (15), the car body (1) is internal to be arranged stretcher (19), the car body (1)
Two driving wheels (30) are installed in two sides, and driven wheel (26) are arranged in the gap between two driving wheels (30), described driven
It is wrapped up the second crawler belt (27) outside wheel (26) and two driving wheels (30), the second crawler belt (27) side wall setting second
Non-slipping block (24), two driving wheel (30) side walls are respectively provided with big wheel (23), and trolley is arranged in big wheel (23) side
It takes turns (21), wraps up the first crawler belt (22) outside the trundle (21) and the big wheel (23), first crawler belt (22) is outside
The first non-slipping block (20) are arranged in side wall.
2. a kind of earthquake rescue robot with safeguard function according to claim 1, which is characterized in that described first
Mechanical arm (14) one end connects third hydraulic stem (28), and the second hydraulic stem (11) are arranged in the first mechanical arm (14) side wall, the
Two hydraulic stems (11) one end connects the second connecting rod (18), and the second connecting rod (18) one end and the second mechanical arm (17) are even
It connects, and in being fixedly connected between the second mechanical arm (17) and the second connecting rod (18), the second connecting rod (18) and second hydraulic
Bar is movably connected between (11), and the shape of the second connecting rod (18) is L-shaped, and the first mechanical arm (14) and third are hydraulic
It is in be fixedly connected, and be movably connected between the first mechanical arm (14) and the second mechanical arm (17), and institute between bar (28)
State is in be fixedly connected between third hydraulic stem (28) and car body (1) side wall.
3. a kind of earthquake rescue robot with safeguard function according to claim 1, which is characterized in that the cart
It is connect between wheel (23) and trundle (21) by protective plate (29), and the protective plate (29) and big wheel (23) and trundle
(21) it is movably connected between.
4. a kind of earthquake rescue robot with safeguard function according to claim 1, which is characterized in that the stretcher
(19) bottom is provided with pillow (34), and the inner sidewall of stretcher (19) two sides is mounted on handle (32), and two handles (32)
On be set with Anti-slip cover (31), and Anti-slip cover (31) outer surface be equipped with anti-skid chequer, and stretcher (19) inside be equipped with two tether panels
(33), and the stretcher (19) bottom is equipped with two sliding slots (35), and symmetrical centre of two sliding slots (35) about stretcher (19)
Line is symmetrical.
5. a kind of earthquake rescue robot with safeguard function according to claim 1, which is characterized in that the cross bar
(12) in being fixedly connected between protective door (13) He Lianggen first connecting rod (10), and protective door (13) and car body (1) it
Between be connected by a hinge, and two first connecting rods (10) are symmetrical about the symmetrical centre of cross bar (12).
6. a kind of earthquake rescue robot with safeguard function according to claim 1, which is characterized in that the cart
Wheel (23) and the geometric center of driving wheel (30) are located on same root straight line, and between big wheel (23) and the first crawler belt (22) and
It is in closely to connect between driving wheel (30) and the second crawler belt (27).
7. a kind of earthquake rescue robot with safeguard function according to claim 1, which is characterized in that the protection
The dynamical system that earthquake rescue robot is equipped with inside (4) is covered, and the dynamical system of earthquake rescue robot and stretcher (19) are even
The sliding rail for connecing, and being equipped with sliding rail inside car body (1), and being arranged inside car body (1) is located in the sliding slot (35) of stretcher (19) bottom.
8. a kind of earthquake rescue robot with safeguard function according to claim 1, which is characterized in that described first
It is movably connected between hydraulic stem (8) and first connecting rod (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811192432.1A CN109466402A (en) | 2018-10-13 | 2018-10-13 | A kind of earthquake rescue robot with safeguard function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811192432.1A CN109466402A (en) | 2018-10-13 | 2018-10-13 | A kind of earthquake rescue robot with safeguard function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109466402A true CN109466402A (en) | 2019-03-15 |
Family
ID=65663650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811192432.1A Pending CN109466402A (en) | 2018-10-13 | 2018-10-13 | A kind of earthquake rescue robot with safeguard function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109466402A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091932A (en) * | 2019-06-05 | 2019-08-06 | 中国人民解放军63863部队 | A kind of formula relief car of removing obstacles automatically |
| CN110641531A (en) * | 2019-10-22 | 2020-01-03 | 邢二江 | Patrol and transportation equipment based on Internet of things |
| CN111923012A (en) * | 2020-09-23 | 2020-11-13 | 浙江精功机器人智能装备有限公司 | Automatic mobile navigation robot in unknown environment |
| CN112554938A (en) * | 2020-11-25 | 2021-03-26 | 马红燕 | Colliery rescue device that comes to roof in pit |
| CN112692808A (en) * | 2020-12-16 | 2021-04-23 | 杭州电子科技大学 | Crawler-type remote sensing rescue robot and rescue method thereof |
| CN113619703A (en) * | 2021-08-03 | 2021-11-09 | 武汉科技大学 | Crawler-type pipeline outer wall robot of crawling |
| CN114072258A (en) * | 2019-07-01 | 2022-02-18 | 瓦斯菲·阿希达法特 | Medical artificial intelligent robot arrangement for robot doctor |
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| JP4167165B2 (en) * | 2003-11-19 | 2008-10-15 | 三菱重工業株式会社 | Remote control robot for collecting suspicious objects and its collection method |
| CN106275115A (en) * | 2016-08-23 | 2017-01-04 | 西安科技大学 | A kind of six crawler belt four swing arm rescue robot and autonomous control methods thereof |
| CN206612892U (en) * | 2016-12-15 | 2017-11-07 | 中国矿业大学 | Mine disaster rescue car |
| CN107389125A (en) * | 2017-07-07 | 2017-11-24 | 中国有色金属长沙勘察设计研究院有限公司 | A kind of underground space autonomous positioning Multi-sensor intelligent sniffing robot |
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| WO2000034110A1 (en) * | 1998-12-08 | 2000-06-15 | Eric Jacobson | Snow ambulance vehicle rescue system and method |
| JP4167165B2 (en) * | 2003-11-19 | 2008-10-15 | 三菱重工業株式会社 | Remote control robot for collecting suspicious objects and its collection method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091932A (en) * | 2019-06-05 | 2019-08-06 | 中国人民解放军63863部队 | A kind of formula relief car of removing obstacles automatically |
| CN114072258A (en) * | 2019-07-01 | 2022-02-18 | 瓦斯菲·阿希达法特 | Medical artificial intelligent robot arrangement for robot doctor |
| CN110641531A (en) * | 2019-10-22 | 2020-01-03 | 邢二江 | Patrol and transportation equipment based on Internet of things |
| CN111923012A (en) * | 2020-09-23 | 2020-11-13 | 浙江精功机器人智能装备有限公司 | Automatic mobile navigation robot in unknown environment |
| CN111923012B (en) * | 2020-09-23 | 2024-01-26 | 浙江精工集成科技股份有限公司 | Automatic mobile navigation robot in unknown environment |
| CN112554938A (en) * | 2020-11-25 | 2021-03-26 | 马红燕 | Colliery rescue device that comes to roof in pit |
| CN112692808A (en) * | 2020-12-16 | 2021-04-23 | 杭州电子科技大学 | Crawler-type remote sensing rescue robot and rescue method thereof |
| CN113619703A (en) * | 2021-08-03 | 2021-11-09 | 武汉科技大学 | Crawler-type pipeline outer wall robot of crawling |
| CN113619703B (en) * | 2021-08-03 | 2023-01-17 | 武汉科技大学 | Crawler-type pipeline outer wall robot of crawling |
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Application publication date: 20190315 |