CN111214790A - Mobile chassis of fire-fighting robot - Google Patents
Mobile chassis of fire-fighting robot Download PDFInfo
- Publication number
- CN111214790A CN111214790A CN201911214645.4A CN201911214645A CN111214790A CN 111214790 A CN111214790 A CN 111214790A CN 201911214645 A CN201911214645 A CN 201911214645A CN 111214790 A CN111214790 A CN 111214790A
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- ring
- bearing
- floating
- chassis
- frame
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
Abstract
The invention discloses a mobile chassis of a fire-fighting robot, which comprises a chassis and a holder; the chassis comprises a frame, a floating motor set and a floating system; the floating system comprises an omnidirectional wheel and an encoder set; the encoder set comprises an encoder, an encoder fixing frame, a sliding block, a guide rail, a spring and a floating fixing frame; the holder comprises a bearing connecting seat, an inner ring, an outer ring and a coded disc bearing. By utilizing the structure of the invention, the adaptability of the terrain can be improved, the turning efficiency can be improved, and the rotation of 360 degrees can be realized to control the fire-fighting robot to extinguish fire.
Description
Technical Field
The invention relates to the technical field of fire-fighting machines, in particular to a fire-fighting robot.
Background
With the rapid development of social economy and the particularity of building and enterprise production, the accident potential of chemical dangerous goods and radioactive substances leakage, combustion, explosion and collapse is increased, the accident probability is correspondingly improved, once the accident occurs, if no corresponding method, equipment or facility exists, rescue workers can hardly acquire effective information on the site, and if the accident occurs without information support, more casualties and the cost of tragic pain are easily caused. It is therefore a future trend to perform some dangerous work with robots. The research and development of the fire-fighting robot can be traced back to 80 years in the last century, at the time, the research and development of the fire-fighting robot is firstly carried out in Japan, the robot named as the rainbow No. 5 is bright in one-time fire extinguishing in Japan for the first time, and at the time, the robot can already finish the fire extinguishing in cities, but the structure is complex, meanwhile, the robot cannot walk in various terrains, along with the continuous updating and progress of the fire-fighting robot in the technology and the requirements of different regions, in 2010, the Virginia Ridgersio institute designs a CHARLI-2 fire-fighting robot for the American navy. The robot can work with a human soldier to extinguish a fire on an offshore warship. The capabilities that such a fire fighting robot possesses include using fire hoses, throwing fire grenades, climbing ladders, and maintaining its balance while it is walking on the deck and corridor of a naval vessel. The naval plan takes the CHARLI-2 robot as an autonomous fire-fighting robot on a ship, has high working efficiency and improves safety and rapidness compared with the traditional manual fire-fighting. In addition, the multifunctional fire-fighting robot developed and developed by Germany and named as 'OLE' insect type has two modes, one mode is a wheel type robot, the other mode is a six-foot type robot, the robot can be freely switched in cities and forests, the goal is reached according to a GPS to extinguish fire, the working efficiency is high, and compared with the traditional manual fire-fighting mode, the multifunctional fire-fighting robot not only improves the safety and the rapidity, but also is suitable for different terrains.
In China, due to the technical and economic limitations, the research and development of the fire-fighting robot is not as fast as that of developed countries naturally, and the starting time is relatively late, so that a lot of things are in the research and development stage, China really pays attention to the fact that the research and development of the fire-fighting robot is in the nineties of the twentieth century, and then the 'crawler-type and wheel-type fire-fighting robot' of the 863 project of China lands on the ground and is mainly used in cities, so that the fire-fighting work in the cities can be completed, and the casualties of local fire fighters and the work of the local fire fighters can. Subsequently, other domestic mechanisms also start the research and development of the fire-fighting robot, and all the mechanisms obtain better results and are also applied to actual accidents to a certain extent. However, most of the wheel-type fire-fighting robots have poor obstacle-crossing capability, poor terrain adaptability, low turning efficiency or large turning radius. The method is limited to partial urban environment, and meanwhile, the manufacturing cost is relatively high, the maintenance is complex, and the method cannot be effectively popularized and applied.
Disclosure of Invention
The invention aims to provide a mobile chassis of a fire-fighting robot, which can improve the adaptability of terrain, improve the turning efficiency and realize 360-degree rotation to control the fire-fighting robot to extinguish fire by utilizing the structure of the invention.
In order to achieve the problems, the mobile chassis of the fire-fighting robot comprises a chassis and a holder; the chassis comprises a frame, a floating motor set and a floating system; the frame is used for installing a floating motor set, the floating motor set is used for driving the chassis to walk, the floating system is installed on the frame and used for controlling the floating direction to reduce gaps between the chassis and the ground when the chassis passes through uneven ground and increase friction force; the floating system comprises an omnidirectional wheel and an encoder set; the encoder set comprises an encoder, an encoder fixing frame, a sliding block, a guide rail, a spring and a floating fixing frame; the omnidirectional wheel is arranged on the encoder fixing frame, the encoder is connected with the omnidirectional wheel, the guide rail is arranged on the encoder fixing frame in an up-and-down extending mode, the sliding block is arranged on the guide rail in a sliding mode, the floating fixing frame is connected between the frame and the sliding block, the upper end of the guide rail is provided with a limiting rod, and the spring is arranged between the limiting rod and the floating fixing frame; the holder comprises a bearing connecting seat, an inner ring, an outer ring and a code wheel bearing, wherein the bearing connecting seat is arranged on a chassis, the outer ring is arranged on the bearing connecting seat through the code wheel bearing, the inner ring is positioned in the outer ring, a gap is arranged between the inner ring and the outer ring, and the inner ring and the outer ring are connected through the code wheel bearing.
The fire-fighting robot's of above-mentioned structure removal chassis, the cloud platform is used for installing extinguishing device, at the during operation, at first start floating motor group, utilize floating motor group to drive whole removal chassis motion to the place that needs were put out a fire, then it is rotatory to drive the inner circle through rotary drive, put out a fire through the extinguishing device of installation, at the in-process of putting out a fire, as required, can remove whole fire-fighting robot through floating motor group, also can be through the position of rotary drive at 360 interior regulation extinguishing device, consequently, can improve fire-fighting robot's turn efficiency through floating motor group, rotation through the cloud platform, control inner circle 360 is rotatory. The utility model discloses a floating system, including the guide rail, the utility model discloses a spacing pole, the utility model discloses a floating system, including the guide rail, the guide rail is fixed a position, the gag lever post is for connecting the spring on the one hand, on the other hand prevents to establish the slider on the guide rail and upwards breaks away from, through spring and slider, the floating direction of system is restricted to the guide rail, the omniwheel is connected to the encoder, read the number of turns that the omniwheel walked through the encoder, thereby fix a position through the data of number of turns, when the ground is uneven, the floating system can slide from top to bottom, restrict the.
Further, the frame comprises a frame body and a gantry; the frame body is triangular, three vertexes of the frame body are respectively provided with a gantry, and the floating motor set is arranged between the frame body and the gantry. Thus, the floating motor set is convenient to mount.
Furthermore, the floating motor group comprises a motor, a Mecanum wheel assembly and a coupler, the motor is installed on the Mecanum wheel assembly, the motor transmits power to the Mecanum wheel assembly through the coupler, the chassis is enabled to move or rotate, and the Mecanum wheel assembly is connected to the frame. The structure drives the Mecanum wheel assembly through the motor and the coupler, so that driving is realized.
Furthermore, the Mecanum wheel assembly comprises a first support, a second support, a supporting shaft, a deep groove ball bearing and a Mecanum wheel, the motor is connected to the first support and transmits power to the Mecanum wheel through a coupler, the Mecanum wheel is connected to the second support in a nested mode, the deep groove ball bearing is arranged between the Mecanum wheel and the second support, and the first support is connected with the second support through the supporting shaft.
Furthermore, the floating motor group is hinged on the frame and is connected to the frame through more than one damper. The damper is used for preventing the chassis from contacting the ground due to a suspended connection mode when the chassis is stressed, and meanwhile, the damper also reduces gaps between the Mecanum wheels and the ground and increases friction force.
Furthermore, the coded disc bearing comprises a turntable base, a roller pin upper gasket fixing ring, a roller pin upper gasket, a roller pin lower gasket, a roller pin centering ring, an upper roller pin bearing and a lower roller pin bearing; the turntable base is fixed on the bearing connecting seat, and the inner ring of the turntable base extends inwards to exceed the outer ring; a rolling needle upper gasket fixing ring is fixed on the inner ring; the upper gasket of the roller pin is connected to the upper gasket fixing ring of the roller pin; the lower rolling needle gasket is connected to the upper rolling needle gasket through the upper rolling needle centering ring, an accommodating ring is formed among the upper rolling needle gasket, the lower rolling needle gasket and the upper rolling needle centering ring, and the turntable base extends into the accommodating ring; the upper needle bearing is arranged in the containing ring between the upper needle bearing gasket and the turntable base, and the lower needle bearing is arranged in the containing ring between the lower needle bearing gasket and the turntable base. According to the structure, when the inner ring rotates relative to the outer ring, the needle roller upper gasket fixing ring, the needle roller upper gasket, the needle roller lower gasket and the needle roller centering ring rotate under the guidance of the upper needle roller bearing and the lower needle roller bearing when the inner ring rotates and drives to work. According to the structure, the upper needle bearing and the lower needle bearing are respectively arranged above and below the turntable base, and the upper needle bearing and the lower needle bearing are limited through the upper needle spacer, the lower needle spacer and the needle centering ring, so that the motion of the tripod head is stable and reliable.
Further, a base coupling washer coupled to the turntable base is mounted on a bottom surface of the outer ring. This facilitates the mounting of the outer ring.
Furthermore, the upper-layer cushion block is arranged on the inner ring, so that the device such as a fire extinguishing device is convenient to install.
Furthermore, the rotary drive comprises a rotary drive motor, a drive gear and an outer gear ring, the drive gear is arranged on an output shaft of the rotary drive motor, and the outer gear ring is arranged on a coded disc bearing, a bearing connecting seat or an outer ring. The rotary driving is that the rotary driving motor drives the driving gear to rotate, and the driving gear and the outer gear ring drive the driving motor to rotate, so that 360-degree rotation is realized.
Drawings
FIG. 1 is a top view of a mobile chassis of the fire fighting robot of the present invention;
FIG. 2 is a perspective view of a mobile chassis of the fire fighting robot of the present invention;
FIG. 3 is a schematic structural diagram of a floating motor assembly according to the present invention;
FIG. 4 is a schematic structural diagram of a deep groove ball bearing in the floating motor assembly of the present invention;
FIG. 5 is a schematic structural diagram of the floating system of the present invention;
fig. 6 is a schematic structural view of a head according to the invention;
fig. 7 is an exploded schematic view of the inner and outer rings of the pan head of the present invention;
FIG. 8 is a top view of the head;
FIG. 9 is a cross-sectional view A-A of FIG. 8;
fig. 10 is a perspective view of section a-a of fig. 8.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 10, the mobile chassis of the fire-fighting robot of the present invention includes a chassis 1 and a pan/tilt head 2.
As shown in fig. 1 to 4, the chassis 1 includes a frame 12, a floating motor group 13, a floating system 14, and a bull horn 15. The frame 12 comprises a frame body 121 and a gantry 123; the frame body 121 is made of a plurality of aluminum materials, the shape of the frame body is triangular, the gantries 123 are respectively built on three vertexes of the triangular frame body 121, and the frame body 121 and the gantries 123 are used for installing the floating motor set 13. The floating motor group 13 is composed of an RE35 coreless dc motor 131, a mecanum wheel assembly 132 and a coupling 133, the mecanum wheel assembly 132 includes a first support 1321, a second support 1322, a support shaft 1323, a deep groove ball bearing 1324 (shown in fig. 4) and a mecanum wheel 1325, the floating motor group 13 is connected to the mecanum wheel assembly 132 through the RE35 coreless dc motor 131, and power is transmitted to the mecanum wheel assembly 132 through the coupling 133, so that the mecanum wheel 1325 is driven to rotate, the chassis 1 is moved or rotated, and thus the mobile fire extinguishing is realized. The RE35 coreless direct current motor 131 is connected to a first bracket 1321, power is transmitted to a Mecanum wheel assembly 132 through a coupling 133, a Mecanum wheel 1325 is connected to a second bracket 1322 in a nested mode, a deep groove ball bearing 1324 is arranged between the Mecanum wheel and the second bracket, the first bracket 1321 is connected with the second bracket 1322 through a support shaft 1323, the first bracket and the second bracket 2 are hinged to the frame body 121 through hinge shafts, and the floating motor group 13 is installed on the gantry 123 through the damper 16, so that when the fire-fighting robot moves, the shock absorption can be carried out on the fire-fighting robot through the damper 16, and meanwhile, the fire-fighting robot can adapt to the movement of complex ground.
As shown in fig. 1 and 5, the floating system 14 is composed of two omnidirectional wheels 141 and two encoder sets 142, each encoder set includes an encoder 1421, an encoder fixing frame 1422, a slider 1423, a guide rail 1425, a spring 1424 and a floating fixing frame 1426, the omnidirectional wheel 141 is installed at the lower end of the encoder fixing frame 1422, the encoder 1421 is installed on the encoder fixing frame 1422, the encoder 1421 is connected with the omnidirectional wheel 141, the guide rail 1425 is installed on the encoder fixing frame 1422 in an up-and-down extending manner, the slider 1423 is slidably disposed on the guide rail 1425, the floating fixing frame 1426 is connected between the frame body 121 and the slider 1426, a limit rod 143 is disposed at the upper end of the guide rail, and the spring 1424 is disposed between the limit rod 143 and the floating fixing. The utility model discloses a floating system, including the guide rail, the utility model discloses a spacing pole, the utility model discloses a floating system, including the guide rail, the guide rail is fixed a position, the gag lever post is for connecting the spring on the one hand, on the other hand prevents to establish the slider on the guide rail and upwards breaks away from, through spring and slider, the floating direction of system is restricted to the guide rail, the omniwheel is connected to the encoder, read the number of turns that the omniwheel walked through the encoder, thereby fix a position through the data of number of turns, when the ground is uneven, the floating system can slide from top to bottom, restrict the.
As shown in fig. 2, 6 to 10, a pan/tilt head 2 is mounted on the chassis, and the pan/tilt head 2 includes a bearing connecting seat, an inner ring 21, an outer ring 22 and a code wheel bearing.
The bearing connecting seat comprises a chassis connecting sheet 27 and a chassis connecting piece 28, wherein the chassis connecting sheet 27 is connected on the frame body 121, and the chassis connecting piece 28 is connected on the chassis connecting sheet 27.
The inner ring 21 is located within the outer ring 22 with a gap 200 between the inner ring 21 and the outer ring 22. A base coupling washer 222 coupled to the turntable base is mounted on the bottom surface of the outer race 22.
The coded disc bearing comprises a turntable base 223, a needle roller upper gasket fixing ring 211, a needle roller upper gasket 212, a needle roller lower gasket 213, a needle roller centering ring 214, an upper needle bearing 23 and a lower needle bearing 24. A turntable base 223 is fixed at the upper end of the chassis connector 28, a base connection washer 222 is fixed on the turntable base 223, and the inner ring of the turntable base 223 extends inwards beyond the outer ring 22; the needle roller upper gasket fixing ring 211 is fixed at the bottom of the inner ring 21; the needle roller upper gasket 212 is connected to the needle roller upper gasket fixing ring 211; the needle roller lower gasket 213 is connected to the needle roller upper gasket 212 through the needle roller centering ring 214, an accommodating ring 201 is formed among the needle roller upper gasket 212, the needle roller lower gasket 213 and the needle roller centering ring 214, and the turntable base 223 extends into the accommodating ring 201; the upper needle bearing 23 is arranged in the containing ring 201 between the upper needle spacer 212 and the turntable base 223, and the lower needle bearing 24 is arranged in the containing ring 201 between the lower needle spacer 213 and the turntable base 223; an upper-level block 26 is mounted on the inner ring 21, and the fire extinguisher device 3 is mounted on the upper-level block 26.
A rotary drive is arranged between the holder and the fire extinguisher device 3. Specifically, as shown in fig. 2 and 6 to 10, the rotary drive includes a rotary drive motor 29, a drive gear 291, and an outer ring gear 221, the rotary drive motor 29 is mounted on the fire extinguisher device, the drive gear 291 is mounted on an output shaft of the rotary drive motor, and the outer ring gear 221 is mounted on a code wheel bearing, a bearing connecting seat, or an outer ring. The rotary driving is that the rotary driving motor drives the driving gear to rotate, and the action of the driving gear and the outer gear ring drives the fire extinguisher device to rotate, so that the fire extinguisher device can rotate by 360 degrees. When the rotary driving motor works, the needle roller upper gasket fixing ring, the needle roller upper gasket, the needle roller lower gasket and the needle roller centering ring rotate under the guidance of the upper needle roller bearing and the lower needle roller bearing, so that the inner ring rotates relative to the outer ring, and finally the fire extinguishing device is driven to rotate. According to the structure, the upper needle bearing and the lower needle bearing are respectively arranged above and below the turntable base, and the upper needle bearing and the lower needle bearing are limited through the upper needle spacer, the lower needle spacer and the needle centering ring, so that the motion of the tripod head is stable and reliable.
The fire-fighting robot's of above-mentioned structure removal chassis, the cloud platform is used for installing extinguishing device, at the during operation, at first start floating motor group, utilize floating motor group to drive whole removal chassis motion to the place that needs were put out a fire, then it is rotatory to drive the inner circle through rotary drive, put out a fire through the extinguishing device of installation, at the in-process of putting out a fire, as required, can remove whole fire-fighting robot through floating motor group, also can be through the position of rotary drive at 360 interior regulation extinguishing device, consequently, can improve fire-fighting robot's turn efficiency through floating motor group, rotation through the cloud platform, control inner circle 360 is rotatory. The utility model discloses a floating system, including the guide rail, the utility model discloses a spacing pole, the utility model discloses a floating system, including the guide rail, the guide rail is fixed a position, the gag lever post is for connecting the spring on the one hand, on the other hand prevents to establish the slider on the guide rail and upwards breaks away from, through spring and slider, the floating direction of system is restricted to the guide rail, the omniwheel is connected to the encoder, read the number of turns that the omniwheel walked through the encoder, thereby fix a position through the data of number of turns, when the ground is uneven, the floating system can slide from top to bottom, restrict the.
Claims (9)
1. A mobile chassis of a fire-fighting robot is characterized by comprising a chassis and a holder; the chassis comprises a frame, a floating motor set and a floating system; the frame is used for installing a floating motor set, the floating motor set is used for driving the chassis to walk, the floating system is installed on the frame and used for controlling the floating direction to reduce gaps between the chassis and the ground when the chassis passes through uneven ground and increase friction force; the floating system comprises an omnidirectional wheel and an encoder set; the encoder set comprises an encoder, an encoder fixing frame, a sliding block, a guide rail, a spring and a floating fixing frame; the omnidirectional wheel is arranged on the encoder fixing frame, the encoder is connected with the omnidirectional wheel, the guide rail is arranged on the encoder fixing frame in an up-and-down extending mode, the sliding block is arranged on the guide rail in a sliding mode, the floating fixing frame is connected between the frame and the sliding block, the upper end of the guide rail is provided with a limiting rod, and the spring is arranged between the limiting rod and the floating fixing frame; the holder comprises a bearing connecting seat, an inner ring, an outer ring and a coded disc bearing, wherein the bearing connecting seat is arranged on a chassis, the outer ring is arranged on the bearing connecting seat through the coded disc bearing, the inner ring is positioned in the outer ring, a gap is arranged between the inner ring and the outer ring, and the inner ring and the outer ring are connected through the coded disc bearing; the holder is provided with a rotary drive.
2. The mobile chassis of a fire fighting robot as recited in claim 1, wherein: the frame comprises a frame body and a gantry; the frame body is triangular, three vertexes of the frame body are respectively provided with a gantry, and the floating motor set is arranged between the frame body and the gantry.
3. The mobile chassis of a fire fighting robot as recited in claim 1, wherein: the floating motor set comprises a motor, a Mecanum wheel assembly and a coupler, the motor is installed on the Mecanum wheel assembly, the motor transmits power to the Mecanum wheel assembly through the coupler to enable the chassis to move or rotate, and the Mecanum wheel assembly is connected to the frame.
4. The mobile chassis of a fire fighting robot as recited in claim 3, characterized in that: the Mecanum wheel assembly comprises a first support, a second support, a supporting shaft, a deep groove ball bearing and a Mecanum wheel, a motor is connected to the first support and transmits power to the Mecanum wheel through a coupler, the Mecanum wheel is connected to the second support in a nested mode, the deep groove ball bearing is arranged between the Mecanum wheel and the second support, and the first support is connected with the second support through the supporting shaft.
5. The mobile chassis of a fire fighting robot as recited in claim 3, characterized in that: the floating motor set is hinged on the frame and is installed and connected on the frame through more than one damper.
6. The mobile chassis of a fire fighting robot as recited in claim 1, wherein: the coded disc bearing comprises a turntable base, a roller pin upper gasket fixing ring, a roller pin upper gasket, a roller pin lower gasket, a roller pin centering ring, an upper roller pin bearing and a lower roller pin bearing; the turntable base is fixed on the bearing connecting seat, and the inner ring of the turntable base extends inwards to exceed the outer ring; a rolling needle upper gasket fixing ring is fixed on the inner ring; the upper gasket of the roller pin is connected to the upper gasket fixing ring of the roller pin; the lower rolling needle gasket is connected to the upper rolling needle gasket through the upper rolling needle centering ring, an accommodating ring is formed among the upper rolling needle gasket, the lower rolling needle gasket and the upper rolling needle centering ring, and the turntable base extends into the accommodating ring; the upper needle bearing is arranged in the containing ring between the upper needle bearing gasket and the turntable base, and the lower needle bearing is arranged in the containing ring between the lower needle bearing gasket and the turntable base.
7. The mobile chassis of a fire fighting robot as recited in claim 6, wherein: a base coupling washer coupled to the turntable base is mounted on a bottom surface of the outer ring.
8. The mobile chassis of a fire fighting robot as recited in claim 6, wherein: an upper-layer cushion block is arranged on the inner ring.
9. The mobile chassis of a fire fighting robot as recited in claim 1, wherein: the rotary drive comprises a rotary drive motor, a drive gear and an outer gear ring, the drive gear is arranged on an output shaft of the rotary drive motor, and the outer gear ring is arranged on a coded disc bearing, a bearing connecting seat or an outer ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911214645.4A CN111214790B (en) | 2019-12-02 | 2019-12-02 | Mobile chassis of fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911214645.4A CN111214790B (en) | 2019-12-02 | 2019-12-02 | Mobile chassis of fire-fighting robot |
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| CN111214790A true CN111214790A (en) | 2020-06-02 |
| CN111214790B CN111214790B (en) | 2021-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911214645.4A Active CN111214790B (en) | 2019-12-02 | 2019-12-02 | Mobile chassis of fire-fighting robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112504017A (en) * | 2020-12-18 | 2021-03-16 | 华南理工大学广州学院 | Working method of defense equipment |
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| JP2000126324A (en) * | 1998-10-22 | 2000-05-09 | Nippon Signal Co Ltd:The | Fire robot and fire fighting system |
| CN109466312A (en) * | 2018-11-27 | 2019-03-15 | 合肥工业大学 | A kind of wheel assembly of all directionally movable robot |
| CN208663780U (en) * | 2018-07-17 | 2019-03-29 | 华南理工大学广州学院 | A kind of robot chassis structure |
| CN110316280A (en) * | 2019-05-30 | 2019-10-11 | 广州市中立智能装备科技有限公司 | A kind of AGV trolley and its elevating rotary system |
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2019
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000126324A (en) * | 1998-10-22 | 2000-05-09 | Nippon Signal Co Ltd:The | Fire robot and fire fighting system |
| CN208663780U (en) * | 2018-07-17 | 2019-03-29 | 华南理工大学广州学院 | A kind of robot chassis structure |
| CN109466312A (en) * | 2018-11-27 | 2019-03-15 | 合肥工业大学 | A kind of wheel assembly of all directionally movable robot |
| CN110316280A (en) * | 2019-05-30 | 2019-10-11 | 广州市中立智能装备科技有限公司 | A kind of AGV trolley and its elevating rotary system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112504017A (en) * | 2020-12-18 | 2021-03-16 | 华南理工大学广州学院 | Working method of defense equipment |
| CN112504017B (en) * | 2020-12-18 | 2023-05-16 | 华南理工大学广州学院 | Working method of defending equipment |
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| CN111214790B (en) | 2021-07-30 |
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