CN111745663A - Grain depot is patrolled and examined robot camera adjustable mechanism with intelligence - Google Patents
Grain depot is patrolled and examined robot camera adjustable mechanism with intelligence Download PDFInfo
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- CN111745663A CN111745663A CN202010537553.6A CN202010537553A CN111745663A CN 111745663 A CN111745663 A CN 111745663A CN 202010537553 A CN202010537553 A CN 202010537553A CN 111745663 A CN111745663 A CN 111745663A
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- frame
- adjustment mechanism
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- 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
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
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Abstract
The invention discloses an adjustable mechanism of an intelligent inspection robot camera for a grain depot, which comprises a cylindrical grain depot, wherein a bearing is fixedly arranged at the top of an inner cavity of the grain depot, the bottom of the bearing is rotatably connected with a rotating shaft, an adjusting mechanism is fixedly arranged at the bottom end of the rotating shaft, an inspection vehicle is fixedly arranged at the tail end of the adjusting mechanism, and a camera is fixedly arranged on the inspection vehicle.
Description
The technical field is as follows:
the invention relates to the field of inspection robots, in particular to an adjustable mechanism of a camera of an intelligent inspection robot for a grain depot.
Background art:
grain depot, the building that deposits grain. Because China is a big agricultural country, granaries are arranged all over the country. With the further development of agriculture in China, agricultural production forms a certain scale, and grains are remained, so that the grain processing is gradually developed to grain storage.
In the grain stored in the granary, a plurality of samples are required to be taken out from the grain, the content of pests in the grain and the monitoring of various indexes in the grain are detected, and therefore the technical effect of real-time monitoring is achieved.
The inspection robot is required to monitor each position of the grain pile of the dome grain depot in real time.
The invention content is as follows:
the invention aims to solve the technical problem of providing an adjustable mechanism of a camera of an intelligent inspection robot for a grain depot, wherein an inspection vehicle can move on a grain pile of the grain depot, the height and the radius of the inspection vehicle are adjusted by the adjustable mechanism, the radius can be changed in the running process of the inspection vehicle by matching with the height of the grain pile of the grain depot, and thus, the grains in all directions of the grain pile can be detected.
The technical problem to be solved by the invention is realized by adopting the following technical scheme: the utility model provides a granary is with intelligent inspection robot camera adjustable mechanism, includes the granary, the granary is the cylinder, the inner chamber top fixed mounting of granary has the bearing, the bottom of bearing is rotated and is connected with the pivot, the bottom fixed mounting of pivot has adjustment mechanism, adjustment mechanism's terminal fixed mounting has the inspection car.
Preferably, the adjusting mechanism comprises a mounting frame and an adjusting frame, an inner cavity of the adjusting frame is provided with an inner thread rotating cylinder, the outer wall of the internal thread rotating drum is rotationally connected with the inner cavity of the adjusting frame, the inner ring of the internal thread rotating drum is spirally connected with a screw rod through threads, the right end of the screw rod is fixedly connected with a limiting frame, the left end of the screw rod is fixedly connected with a mounting frame, the mounting frame is positioned on the left side of the adjusting frame, the limiting frame is positioned on the right side of the adjusting frame, two groups of guide rods are fixedly connected between the adjusting frame and the limiting frame, the two groups of guide rods are respectively positioned on two sides of the screw rod, the two groups of guide rods penetrate through two sides of the adjusting frame, a first motor is fixedly arranged at the bottom of the adjusting frame, a gear is fixedly connected at the left end of the first motor, the outer wall of the left end of the internal thread rotary drum is fixedly connected with a gear ring, and the gear ring is meshed with a gear;
the adjusting mechanism is divided into an X-axis adjusting mechanism and a Y-axis adjusting mechanism, an adjusting frame of the X-axis adjusting mechanism is mounted on the side wall of the bottom end of the rotating shaft, the X axis is vertically placed, a mounting frame of the X-axis adjusting mechanism is mounted on the adjusting frame of the Y-axis adjusting mechanism, the Y-axis adjusting mechanism is horizontally arranged, and the mounting frame of the Y-axis adjusting mechanism is fixedly connected with the inspection vehicle;
preferably, the tour inspection car includes the automobile body, two sets of helical wheels are installed to the bottom of automobile body, the top fixed mounting of automobile body has the base, the top fixed mounting of base has the storage storehouse, the vertical sampling tube of installing in the right part of automobile body, fixedly connected with pipe between sampling tube and the storage storehouse, the bottom of sampling tube is located two sets of between the helical wheel, the bottom of sampling tube is located two sets of the below of helical wheel, the top fixed mounting of sampling tube has the second motor, the bottom fixedly connected with screw rod of second motor, the screw rod is located the inner chamber of sampling tube.
Preferably, the bottom both sides of sampling tube all rotate and are connected with the inserted sheet, the inserted sheet be half circular cone shape, and is two sets of the inserted sheet splices into a circular cone, the outside cover of sampling tube has lifting sleeve, two sets of draw-in keys of lifting sleeve's inner chamber fixedly connected with, the outer wall of sampling tube has been seted up twice draw-in groove, draw-in key and draw-in groove activity joint, two sets of connecting rods of lifting sleeve's bottom fixedly connected with are respectively with two sets of the lateral wall of inserted sheet rotates articulatedly, the right side fixed mounting of base has the third motor, the top fixedly connected with screw thread of third motor changes the roller, lifting sleeve's outer wall is seted up threadedly, the screw thread changes the roller and the screw thread intermeshing of lifting sleeve.
Preferably, a camera is fixedly mounted on the inspection vehicle.
Preferably, a plurality of surge pipes are fixedly mounted at the bottom of the granary, a fourth motor is fixedly mounted at the bottom of each surge pipe, a spiral screw is fixedly connected to the top of each fourth motor and located in an inner cavity of each surge pipe, and a feed inlet is formed in the side wall of the bottom of each surge pipe.
The invention has the beneficial effects that: the invention has simple structure and convenient use, the inspection vehicle can move on the grain pile of the granary, the height and the radius of the inspection vehicle are adjusted by the adjusting mechanism, the height of the granary grain pile is matched, the radius can be changed in the running process of the inspection vehicle, so that the detection of grains in all directions of the grain pile is realized, the sampling pipe can be positioned in the grain pile before sampling, the stability of the sampling pipe can be maintained, the sampled sample can be lifted into the storage bin, the grains in all positions of the grain pile can be monitored in real time by the cooperation of the adjusting mechanism through the camera, and the invention is easy to popularize and apply.
Description of the drawings:
in order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;
FIG. 1 is a schematic view of the structure of the grain bin of the present invention;
FIG. 2 is a schematic view of the adjusting mechanism of the present invention;
FIG. 3 is a partial schematic view of an adjustment mechanism according to the present invention;
FIG. 4 is a schematic structural view of the inspection vehicle of the present invention;
FIG. 5 is a schematic view of the structure of the sampling tube of the present invention;
FIG. 6 is a top view of the lift sleeve of the present invention;
FIG. 7 is a schematic structural view of example 2 of the present invention;
FIG. 8 is a schematic structural view of a surge tube of the present invention;
wherein: 1. a granary; 2. a bearing; 3. a rotating shaft; 4. an X-axis adjusting mechanism; 5. a Y-axis adjustment mechanism; 6. inspecting the vehicle;
101. a mounting frame; 102. an adjusting bracket; 103. an internal thread rotating drum; 104. a first motor; 105. a gear; 106. a ring gear; 107. a screw rod; 108. a limiting frame; 109. a guide bar;
601. a vehicle body; 602. a camera; 603. a base; 604. a storage bin; 605. a sampling tube; 606. a second motor; 607. a screw; 608. a third motor; 609. rotating the roller by screw threads; 610. a helical wheel; 611. a lifting sleeve; 612. a thread; 613. a card key; 614. a card slot; 615. a connecting rod; 616. inserting sheets; 617. a conduit.
The specific implementation mode is as follows:
in order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
Example 1: as shown in fig. 1-7, an intelligent inspection robot camera adjustable mechanism for a grain depot comprises a grain bin 1, wherein the grain bin 1 is cylindrical, a bearing 2 is fixedly mounted at the top of an inner cavity of the grain bin 1, a rotating shaft 3 is rotatably connected to the bottom of the bearing 2, an adjusting mechanism is fixedly mounted at the bottom end of the rotating shaft 3, and an inspection vehicle 6 is fixedly mounted at the tail end of the adjusting mechanism.
The bearing can drive the pivot rotatory, and adjustment mechanism can change the height and the radius of patrolling and examining the car, when patrolling and examining the car and impel forward, can make the ring-shaped motion in the round bin under adjustment mechanism's traction.
The adjusting mechanism comprises a mounting frame 101 and an adjusting frame 102, an inner cavity of the adjusting frame 102 is provided with an internal thread rotating cylinder 103, the outer wall of the internal thread rotating cylinder 103 is rotatably connected with the inner cavity of the adjusting frame 102, the inner ring of the internal thread rotating cylinder 103 is spirally connected with a screw rod 107 through threads, the right end of the screw rod 107 is fixedly connected with a limiting frame 108, the left end of the screw rod 107 is fixedly connected with the mounting frame 101, the mounting frame 101 is positioned at the left side of the adjusting frame 102, the limiting frame 108 is positioned at the right side of the adjusting frame 102, two groups of guide rods 109 are fixedly connected between the adjusting frame 102 and the limiting frame 108, the two groups of guide rods 109 are respectively positioned at the two sides of the screw rod 107, the two groups of guide rods 109 penetrate through the two sides of the adjusting frame 102, the bottom of the adjusting frame 102 is fixedly provided with a first motor 104, the left end of the first, the ring gear 106 is intermeshed with the gear 105;
the first motor gear through the adjusting frame is rotatory, and the gear drives the internal thread rotary drum rotatory, changes the position that the lead screw is located the internal thread rotary drum through the screw under the limiting displacement of guide bar to play the function of regulation.
The adjusting mechanism is divided into an X-axis adjusting mechanism 4 and a Y-axis adjusting mechanism 5, an adjusting frame 102 of the X-axis adjusting mechanism 4 is mounted on the side wall of the bottom end of the rotating shaft 3, the X axis is vertically placed, an installing frame 101 of the X-axis adjusting mechanism 4 is mounted on the adjusting frame 102 of the Y-axis adjusting mechanism 5, the Y-axis adjusting mechanism 5 is horizontally arranged, and the installing frame 101 of the Y-axis adjusting mechanism 5 is fixedly connected with the inspection vehicle 6;
the adjustment of the position of the inspection vehicle can be made in the X-axis direction and the Y-axis direction, so that the height and the position of the inspection vehicle can be changed.
The inspection vehicle 6 comprises a vehicle body 601, two sets of spiral wheels 610 are installed to the bottom of the vehicle body 601, the top fixed mounting of the vehicle body 601 has a base 603, the top fixed mounting of the base 603 has a storage bin 604, the vertical sampling tube 605 that installs in the right part of the vehicle body 601, fixedly connected with pipe 617 between sampling tube 605 and the storage bin 604, the bottom of sampling tube 605 is located two sets of between the spiral wheels 610, the bottom of sampling tube 605 is located two sets of below of spiral wheels 610, the top fixed mounting of sampling tube 605 has a second motor 606, the bottom fixedly connected with screw 607 of second motor 606, the screw 607 is located the inner chamber of sampling tube 605.
The inspection vehicle adopts the helical wheel, drives the wheel helical wheel to rotate through the driving device, can walk on any topography, can walk on the soft grain stack on the granary and impel, and the sampling tube inserts in the grain stack, is similar to the rudder, plays the function of balance and direction, when needing the sample, has the second motor to drive the screw rod rotatory, upwards carries grain and collects the sample, concentrates the collection in by storing the storehouse.
The sampling tube 605 is characterized in that insertion pieces 616 are rotatably connected to two sides of the bottom of the sampling tube 605, the insertion pieces 616 are in a semi-conical shape, two sets of the insertion pieces 616 are spliced into a cone, a lifting sleeve 611 is sleeved outside the sampling tube 605, two sets of clamping keys 613 are fixedly connected to an inner cavity of the lifting sleeve 611, two clamping grooves 614 are formed in the outer wall of the sampling tube 605, the clamping keys 613 are movably clamped with the clamping grooves 614, two sets of connecting rods 615 are fixedly connected to the bottom of the lifting sleeve 611 and rotatably hinged to the side walls of the two sets of the insertion pieces 616 respectively, a third motor 608 is fixedly mounted on the right side of the base 603, a threaded rotating roller 609 is fixedly connected to the top of the third motor 608, threads 612 are formed in the outer wall of the lifting sleeve 611, and the threaded rotating roller 609 is meshed.
Conical inserted sheet can live the lower extreme parcel of screw rod, can reduce the resistance at the removal in-process, and when the sampling, the third motor drives the screw thread and changes the roller rotation, through the outside screw thread control lifting sleeve's of lifting sleeve, through opening and shutting of two sets of inserted sheets of connecting rod control, the inserted sheet can, play firm function in inserting the grain heap after opening, when the sample, plays stable function.
The inspection vehicle 6 is fixedly provided with a camera 602, and the camera can monitor the implementation condition of the grain pile in the granary in real time.
Example 2: as shown in fig. 1-8, an intelligent inspection robot camera adjustable mechanism for a grain depot comprises a grain bin 1, wherein the grain bin 1 is cylindrical, a bearing 2 is fixedly mounted at the top of an inner cavity of the grain bin 1, a rotating shaft 3 is rotatably connected to the bottom of the bearing 2, an adjusting mechanism is fixedly mounted at the bottom end of the rotating shaft 3, and an inspection vehicle 6 is fixedly mounted at the tail end of the adjusting mechanism.
The bearing can drive the pivot rotatory, and adjustment mechanism can change the height and the radius of patrolling and examining the car, when patrolling and examining the car and impel forward, can make the ring-shaped motion in the round bin under adjustment mechanism's traction.
The adjusting mechanism comprises a mounting frame 101 and an adjusting frame 102, an inner cavity of the adjusting frame 102 is provided with an internal thread rotating cylinder 103, the outer wall of the internal thread rotating cylinder 103 is rotatably connected with the inner cavity of the adjusting frame 102, the inner ring of the internal thread rotating cylinder 103 is spirally connected with a screw rod 107 through threads, the right end of the screw rod 107 is fixedly connected with a limiting frame 108, the left end of the screw rod 107 is fixedly connected with the mounting frame 101, the mounting frame 101 is positioned at the left side of the adjusting frame 102, the limiting frame 108 is positioned at the right side of the adjusting frame 102, two groups of guide rods 109 are fixedly connected between the adjusting frame 102 and the limiting frame 108, the two groups of guide rods 109 are respectively positioned at the two sides of the screw rod 107, the two groups of guide rods 109 penetrate through the two sides of the adjusting frame 102, the bottom of the adjusting frame 102 is fixedly provided with a first motor 104, the left end of the first, the ring gear 106 is intermeshed with the gear 105;
the first motor gear through the adjusting frame is rotatory, and the gear drives the internal thread rotary drum rotatory, changes the position that the lead screw is located the internal thread rotary drum through the screw under the limiting displacement of guide bar to play the function of regulation.
The adjusting mechanism is divided into an X-axis adjusting mechanism 4 and a Y-axis adjusting mechanism 5, an adjusting frame 102 of the X-axis adjusting mechanism 4 is mounted on the side wall of the bottom end of the rotating shaft 3, the X axis is vertically placed, an installing frame 101 of the X-axis adjusting mechanism 4 is mounted on the adjusting frame 102 of the Y-axis adjusting mechanism 5, the Y-axis adjusting mechanism 5 is horizontally arranged, and the installing frame 101 of the Y-axis adjusting mechanism 5 is fixedly connected with the inspection vehicle 6;
the adjustment of the position of the inspection vehicle can be made in the X-axis direction and the Y-axis direction, so that the height and the position of the inspection vehicle can be changed.
The inspection vehicle 6 comprises a vehicle body 601, two sets of spiral wheels 610 are installed to the bottom of the vehicle body 601, the top fixed mounting of the vehicle body 601 has a base 603, the top fixed mounting of the base 603 has a storage bin 604, the vertical sampling tube 605 that installs in the right part of the vehicle body 601, fixedly connected with pipe 617 between sampling tube 605 and the storage bin 604, the bottom of sampling tube 605 is located two sets of between the spiral wheels 610, the bottom of sampling tube 605 is located two sets of below of spiral wheels 610, the top fixed mounting of sampling tube 605 has a second motor 606, the bottom fixedly connected with screw 607 of second motor 606, the screw 607 is located the inner chamber of sampling tube 605.
The inspection vehicle adopts the helical wheel, drives the wheel helical wheel to rotate through the driving device, can walk on any topography, can walk on the soft grain stack on the granary and impel, and the sampling tube inserts in the grain stack, is similar to the rudder, plays the function of balance and direction, when needing the sample, has the second motor to drive the screw rod rotatory, upwards carries grain and collects the sample, concentrates the collection in by storing the storehouse.
The sampling tube 605 is characterized in that insertion pieces 616 are rotatably connected to two sides of the bottom of the sampling tube 605, the insertion pieces 616 are in a semi-conical shape, two sets of the insertion pieces 616 are spliced into a cone, a lifting sleeve 611 is sleeved outside the sampling tube 605, two sets of clamping keys 613 are fixedly connected to an inner cavity of the lifting sleeve 611, two clamping grooves 614 are formed in the outer wall of the sampling tube 605, the clamping keys 613 are movably clamped with the clamping grooves 614, two sets of connecting rods 615 are fixedly connected to the bottom of the lifting sleeve 611 and rotatably hinged to the side walls of the two sets of the insertion pieces 616 respectively, a third motor 608 is fixedly mounted on the right side of the base 603, a threaded rotating roller 609 is fixedly connected to the top of the third motor 608, threads 612 are formed in the outer wall of the lifting sleeve 611, and the threaded rotating roller 609 is meshed.
Conical inserted sheet can live the lower extreme parcel of screw rod, can reduce the resistance at the removal in-process, and when the sampling, the third motor drives the screw thread and changes the roller rotation, through the outside screw thread control lifting sleeve's of lifting sleeve, through opening and shutting of two sets of inserted sheets of connecting rod control, the inserted sheet can, play firm function in inserting the grain heap after opening, when the sample, plays stable function.
The inspection vehicle 6 is fixedly provided with a camera 602, and the camera can monitor the implementation condition of the grain pile in the granary in real time.
The bottom of the granary 1 is fixedly provided with a plurality of surge pipes 7, the bottom of each surge pipe 7 is fixedly provided with a fourth motor 701, the top of the fourth motor 701 is fixedly connected with a spiral screw 703, the spiral screw 703 is positioned in the inner cavity of the surge pipe 7, and the side wall of the bottom of the surge pipe 7 is provided with a feeding hole 702.
The feed inlet through turning over the piping bottom side passes through the fourth motor with the grain of granary bottom and drives the helical screw upwards and promote, derives by the top of turning over the piping to play and turn over the technical effect who gushes out the grain of granary bottom, increase sampling range avoids local sampling, and data is inaccurate.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. The utility model provides a robot camera adjustable mechanism is patrolled and examined with intelligence to granary, includes granary (1), its characterized in that: granary (1) is the cylinder, the inner chamber top fixed mounting of granary (1) has bearing (2), the bottom of bearing (2) is rotated and is connected with pivot (3), the bottom fixed mounting of pivot (3) has adjustment mechanism, adjustment mechanism's terminal fixed mounting has inspection car (6), fixed mounting has camera (602) on inspection car (6).
2. The intelligent inspection robot camera adjustable mechanism for the grain depot according to claim 1, characterized in that: the adjusting mechanism comprises a mounting frame (101) and an adjusting frame (102), an inner cavity of the adjusting frame (102) is provided with an internal thread rotating cylinder (103), the outer wall of the internal thread rotating cylinder (103) is rotatably connected with the inner cavity of the adjusting frame (102), the inner ring of the internal thread rotating cylinder (103) is spirally connected with a screw rod (107) through threads, the right end of the screw rod (107) is fixedly connected with a limiting frame (108), the left end of the screw rod (107) is fixedly connected with the mounting frame (101), the mounting frame (101) is positioned on the left side of the adjusting frame (102), the limiting frame (108) is positioned on the right side of the adjusting frame (102), two groups of guide rods (109) are fixedly connected between the adjusting frame (102) and the limiting frame (108), the two groups of guide rods (109) are respectively positioned on two sides of the screw rod (107), and the two groups of guide rods (109), a first motor (104) is fixedly installed at the bottom of the adjusting frame (102), a gear (105) is fixedly connected to the left end of the first motor (104), a gear ring (106) is fixedly connected to the outer wall of the left end of the internal thread rotating drum (103), and the gear ring (106) and the gear (105) are meshed with each other;
adjustment mechanism divide into X adjustment mechanism (4) and Y axle adjustment mechanism (5), install in the bottom lateral wall of pivot (3) alignment jig (102) of X axle adjustment mechanism (4), the X axle is vertical to be placed, install on alignment jig (102) of Y axle adjustment mechanism (5) mounting bracket (101) of X axle adjustment mechanism (4), Y axle adjustment mechanism (5) level sets up, mounting bracket (101) of Y axle adjustment mechanism (5) and the fixed connection who patrols and examines car (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010537553.6A CN111745663A (en) | 2020-06-12 | 2020-06-12 | Grain depot is patrolled and examined robot camera adjustable mechanism with intelligence |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010537553.6A CN111745663A (en) | 2020-06-12 | 2020-06-12 | Grain depot is patrolled and examined robot camera adjustable mechanism with intelligence |
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| CN111745663A true CN111745663A (en) | 2020-10-09 |
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| CN202010537553.6A Pending CN111745663A (en) | 2020-06-12 | 2020-06-12 | Grain depot is patrolled and examined robot camera adjustable mechanism with intelligence |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112504755A (en) * | 2020-12-03 | 2021-03-16 | 安徽双全面粉有限公司 | Grain factory-entering sampling equipment for flour processing |
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| CN103963054A (en) * | 2014-05-07 | 2014-08-06 | 河南工业大学 | Silo cleaning robot |
| KR20180062695A (en) * | 2016-12-01 | 2018-06-11 | 국방과학연구소 | Unmanned deployment apparatus for installing hemispherical sensor node |
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| CN112504755A (en) * | 2020-12-03 | 2021-03-16 | 安徽双全面粉有限公司 | Grain factory-entering sampling equipment for flour processing |
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Application publication date: 20201009 |