CN112426651A - Wall-climbing fire-fighting robot - Google Patents
Wall-climbing fire-fighting robot Download PDFInfo
- Publication number
- CN112426651A CN112426651A CN202011327350.0A CN202011327350A CN112426651A CN 112426651 A CN112426651 A CN 112426651A CN 202011327350 A CN202011327350 A CN 202011327350A CN 112426651 A CN112426651 A CN 112426651A
- Authority
- CN
- China
- Prior art keywords
- fire
- groups
- motor
- wall
- sides
- 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.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
Abstract
The invention discloses a wall-climbing fire-fighting robot which comprises a machine body and a controller, wherein mounting bins are arranged on two sides of the machine body, a partition plate is arranged in the middle of the interior of the machine body, a positioning plate is arranged at the top of the machine body, a guide groove is formed in one end of the positioning plate, a guide roller is arranged at the top of one end of the back of the positioning plate, a balance column is arranged in the middle of the interior of the guide groove, a driving motor is arranged in the middle of one end of the front of the partition plate, and shock pads are arranged at four corners of one end of the front of the partition plate. According to the invention, through the mutual matching of the direction-changing moving components, the motor cabin is driven to finely adjust the inclination through the rotation of the servo motor B and the linkage matching of the connecting disc and the connecting rod when the robot is located on the wall surface, so that the climbing angle of the robot is changed, the flexibility of the device is enhanced, and the variability of the adjustment work of the device and the subsequent fire extinguishing work efficiency are improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wall-climbing fire-fighting robot.
Background
At present, manual work for high above the ground exists in various industries, but the danger is high, and an automatic device is required to replace the manual work for high above the ground, so that extensive research is carried out on the wall climbing robot in various countries. The adsorption mode of wall climbing robot mainly has two kinds and is magnetism respectively and adsorbs and vacuum adsorption, and magnetism adsorbs wall climbing robot and is applicable to the magnetic conductivity wall, and vacuum adsorption wall climbing robot mainly is applied to non-magnetic conductivity wall to wall climbing robot can carry on fire control structure and carry out eminence work of putting out a fire.
When the existing wall climbing robot moves on the wall surface, the adsorption strength and the moving structure of the vacuum chuck are limited, so that the wall climbing robot is not easy to adjust the position on the wall surface, the robot cannot be adjusted to the optimal fire extinguishing angle, the limitation of the use of the device is increased, and the flexibility of the wall climbing robot is reduced; when the wall climbing robot extinguishes, the fire extinguishing effect of a group of fire fighting structures alone cannot meet the ideal requirement, so that the quantitative application of the wall climbing robot is increased, the use cost is increased, the angle and the position which are difficult to extinguish the fire are converted during the fire extinguishing work, and the practicability of the fire fighting function is reduced; during the climbing movement of the wall climbing robot, the vacuum negative pressure state generated by the wall surface can be changed continuously, if the quantity of the suckers is small, the fixing effect of one group of the suckers is weakened, so that the device falls off in high paralysis, and the adsorption effect of the vacuum adsorption assembly is reduced.
Disclosure of Invention
The invention aims to provide a wall-climbing fire-fighting robot to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: the fire extinguisher comprises an engine body and a controller, wherein mounting bins are arranged on two sides of the engine body, a partition plate is arranged at the middle position inside the engine body, a positioning plate is arranged at the top of the engine body, a guide groove is formed in one end of the positioning plate, a guide roller is arranged at the top of one end of the back of the positioning plate, a balance column is arranged at the middle position inside the guide groove, a driving motor is arranged at the middle position of one end of the front of the partition plate, shock absorbing pads are arranged at four corners of one end of the front of the partition plate, an annular chute is formed in the outer side, close to the driving motor, of one end of the front of the partition plate, four groups of mutually matched sliding blocks are arranged on the outer side of the annular chute, mounting discs are arranged at the tops of the four groups of the sliding blocks and the output end of the driving motor, vacuum adsorption components are arranged at the top and the bottom of two sides of the two groups of mounting bins, a storage battery is arranged at one side of the bottom in the machine body, and a direction-changing moving component is arranged at the middle position between the top and the bottom of one end of the back in the machine body;
the fire extinguishing device is characterized in that hinged seats are arranged on two sides of one end of the front side of the fire extinguishing adjusting assembly, mounting seats are hinged to the outer sides of the two groups of hinged seats, fire pumps are arranged at the tops of the two groups of mounting seats, telescopic pipes are communicated with the fire pumps, jet pipes are arranged at the output ends of the two groups of fire pumps, a servo motor A is arranged in the middle of the top of one end of the front side of the mounting disc, a threaded rod is arranged at the output end of the servo motor A, internal thread sleeves matched with each other are arranged on the outer sides of the threaded rod, and hinged rods hinged to the mounting seats are hinged;
the vacuum adsorption assembly is characterized in that limiting grooves are formed in the tops and the bottoms of two sides of the vacuum adsorption assembly, sleeves matched with each other are arranged on the inner sides of four groups of limiting grooves, rotating wheels are arranged on one sides, away from each other, of the four groups of sleeves, vacuum adsorption discs communicated with each other are uniformly arranged on the outer sides of the four groups of rotating wheels, a vacuum generator is arranged at one end of each of the four groups of sleeves, communicating pipes communicated with the vacuum adsorption discs are arranged inside the four groups of rotating wheels, and the output ends of the vacuum adsorption discs are connected with the communicating;
the inside back one end top of diversion removal subassembly is equipped with the carousel with the intermediate position department of bottom, and is two sets of the front pot head of carousel is equipped with the motor storehouse, and is two sets of the inside in motor storehouse is equipped with double-shaft motor, and is two sets of double-shaft motor's output and sleeve pipe interconnect are two sets of the top and the bottom in motor storehouse are equipped with the guide rail, and are two sets of the outside of guide rail is equipped with the guide block of mutually supporting, the intermediate position department of organism back one end is equipped with servo motor B, servo motor B's output is equipped with the connection pad, the top and the bottom of connection pad are equipped with the connecting rod with guide block interconnect, the controller passes through the signal of telecommunication respectively with fire pump, servo motor A, vacuum generator, driving motor, double-shaft motor.
Preferably, guide pulleys are arranged on two sides of the bottom of the machine body.
Preferably, the outer side of the vacuum adsorption disc is provided with a dustproof sleeve.
Preferably, a waterproof layer is arranged on the outer side of the guide groove.
Preferably, a protective shell is arranged on the outer side of the servo motor A, and a sealing gasket is arranged on the inner side of the protective shell.
Preferably, one end of the back surface of the mounting plate is provided with a buffer gasket.
Preferably, the outer side of the guide roller is provided with anti-slip lines.
Preferably, reinforcing plates are arranged at the top and the bottom of the partition plate and are connected with the shock absorption pad.
Preferably, the inner side of the motor cabin is provided with silencing cotton.
Preferably, the turntable and the motor cabin are matched with each other in an annular rotating structure.
Compared with the prior art, the invention provides a wall-climbing fire-fighting robot, which has the following beneficial effects:
1. according to the invention, through the mutual matching of the direction-changing moving components, the motor cabin is driven to finely adjust the inclination through the rotation of the servo motor B and the linkage matching of the connecting disc and the connecting rod when the robot is located on the wall surface, so that the climbing angle of the robot is changed, the flexibility of the device is enhanced, and the variability of the adjustment work of the device and the subsequent fire extinguishing work efficiency are improved.
2. The invention utilizes the rotation adjusting structure of the annular chute and the sliding block and the matching of the fire extinguishing adjusting assembly to facilitate the adjustment of the fire extinguishing direction and angle of the fire pump, and simultaneously, the two groups of fire pumps can be outwards or inwards stretched under the movable matching of the hinged seat, so that the spraying direction and the fire extinguishing point position of the spraying pipe can be more suitable for the current adaptive requirements of fire, and the functionality of the device is increased.
3. According to the invention, under the mutual cooperation of the vacuum adsorption components, the movement of the four groups of rotating wheels can be utilized and the vacuum adsorption discs for uniformly arranging the four groups of rotating wheels are matched, so that the quantity and effect of adsorption and fixation of a robot are enlarged, the device is prevented from falling and being damaged when the adsorption is incomplete, and the practicability of the device is increased.
Drawings
FIG. 1 is a first front cross-sectional view of the present invention;
FIG. 2 is a second front cross-sectional view of the present invention;
FIG. 3 is a rear cross-sectional view of the present invention;
FIG. 4 is a front view of the present invention;
FIG. 5 is a perspective view of the wheel of the present invention;
FIG. 6 is a perspective view of the annular chute of the present invention;
FIG. 7 is an enlarged view of the mounting plate structure of the present invention;
FIG. 8 is a perspective view of the turntable of the present invention;
fig. 9 is a perspective view of the connection pad of the present invention.
In the figure: 1. a body; 2. mounting a disc; 201. a fire pump; 202. a mounting seat; 203. a hinged seat; 204. an internally threaded sleeve; 205. a threaded rod; 206. a hinged lever; 207. a servo motor A; 208. an injection pipe; 3. installing a bin; 4. a limiting groove; 401. a vacuum generator; 402. a rotating wheel; 403. a vacuum adsorption pan; 404. a communicating pipe; 405. a sleeve; 5. a controller; 6. positioning a plate; 7. a guide groove; 8. a telescopic pipe; 9. a shock pad; 10. a balancing column; 11. an annular chute; 12. a slider; 13. a partition plate; 14. a fire extinguisher; 15. a drive motor; 16. a turntable; 161. a double-shaft motor; 162. a motor compartment; 163. a servo motor B; 164. a connecting disc; 165. a connecting rod; 166. a guide block; 167. a guide rail; 17. a guide roller; 18. and (4) a storage battery.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-9, the present invention provides a technical solution: a wall climbing fire-fighting robot comprises a machine body 1 and a controller 5, wherein mounting bins 3 are arranged on two sides of the machine body 1, a partition plate 13 is arranged at the middle position inside the machine body 1, a positioning plate 6 is arranged at the top of the machine body 1, guide pulleys are arranged on two sides of the bottom of the machine body 1 to increase the moving guidance of the device, a guide groove 7 is arranged at one end of the positioning plate 6, a waterproof layer is arranged on the outer side of the guide groove 7 to increase the waterproofness of a component, a guide roller 17 is arranged at the top of one end of the back of the positioning plate 6, anti-skid grains are arranged on the outer side of the guide roller 17 to increase the anti-skid property of the component, a balance post 10 is arranged at the middle position inside the guide groove 7, a driving motor 15 is arranged at the middle position of one end of the front of the partition plate 13, a shock-absorbing pad 9 is arranged at the four corners of, the outer side of one end of the front side of the partition plate 13, which is close to the driving motor 15, is provided with an annular chute 11, the outer side of the annular chute 11 is provided with four groups of mutually matched sliding blocks 12, the tops of the four groups of sliding blocks 12 and the output end of the driving motor 15 are provided with a mounting disc 2, one end of the back side of the mounting disc 2 is provided with a buffer gasket, the buffer function of a component is improved, fire extinguishers 14 are arranged inside two groups of mounting bins 3, the output ends of the two groups of fire extinguishers 14 are provided with telescopic pipes 8, two sides of one end of the front side of the mounting disc 2 are provided with adjusting fire extinguishing components, the tops and the bottoms of two sides of the two groups of mounting bins 3 are provided with vacuum adsorption components;
the fire extinguishing device is characterized in that hinged seats 203 are arranged on two sides of one end of the front side of the fire extinguishing adjusting assembly, mounting seats 202 are hinged to the outer sides of the two groups of hinged seats 203, fire pumps 201 are arranged at the tops of the two groups of mounting seats 202, telescopic pipes 8 are communicated with the fire pumps 201, jet pipes 208 are arranged at the output ends of the two groups of fire pumps 201, a servo motor A207 is arranged in the middle of the top of one end of the front side of the mounting disc 2, a protective shell is arranged on the outer side of the servo motor A207, a sealing gasket is arranged on the inner side of the protective shell, the protection performance of parts is improved, a threaded rod 205 is arranged at the output end of the servo motor A207, internal thread sleeves 204 matched with each other;
the top and the bottom of the two sides of the vacuum adsorption component are provided with limiting grooves 4, the inner sides of the four groups of limiting grooves 4 are provided with mutually matched sleeves 405, one sides of the four groups of sleeves 405, which are away from each other, are provided with rotating wheels 402, the outer sides of the four groups of rotating wheels 402 are uniformly provided with mutually communicated vacuum adsorption discs 403, the outer sides of the vacuum adsorption discs 403 are provided with dustproof sleeves, the adsorption capacity of the interior of a positive dust adhesion part is reduced, one end of each of the four groups of sleeves 405 is provided with a vacuum generator 401, the interior of the four groups of rotating wheels 402 is provided with a communicating pipe 404 mutually communicated with the vacuum adsorption discs 403, and the;
the middle position of the top and the bottom of one end of the back of the inside of the direction-changing moving assembly is provided with a turntable 16, one end of the front of each of two groups of turntables 16 is sleeved with a motor bin 162, the inner side of the motor bin 162 is provided with silencing cotton to increase the noise reduction function of a part, the turntable 16 and the motor bin 162 are matched in an annular rotating structure to enable the part to rotate, a double-shaft motor 161 is arranged inside each of the two groups of motor bins 162, the output ends of the two groups of double-shaft motors 161 are connected with a sleeve 405, guide rails 167 are arranged at the top and the bottom of each of the two groups of motor bins 162, guide blocks 166 matched with each other are arranged on the outer sides of the two groups of guide rails 167, a servo motor B163 is arranged at the middle position of one end of the back of the machine body 1, the output end of the servo motor B163 is provided with, The vacuum generator 401, the driving motor 15, the biaxial motor 161 and the servo motor B163 are electrically connected.
The working principle is as follows: when the device is used, firstly, the fire pump 201, the vacuum generator 401, the driving motor 15 and the double-shaft motor 161 are respectively started through the controller 5, the vacuum adsorption disc 403 connected with the communicating pipe 404 is sucked away with the air along with the starting of the vacuum generator 401 and the connection and matching of the communicating pipe 404, the vacuum adsorption disc 403 in contact with the wall surface is attached and fixed by using the negative pressure state, at the moment, the sleeve 405 and the rotating wheel 402 are driven to rotate by the starting of the double-shaft motor 161, the device can walk around the wall surface, after the device moves to a specified position, the fire pump 201 can be started to pump out the water in the fire extinguisher 14 and spray the water from the spraying pipe 208, the driving motor 15 can be started according to the use requirement in the period, the mounting disc 2 is driven to rotate under the guide matching of the sliding block 12 and the annular sliding groove 11 through the driving motor 15, so that the mounting disc 2 drives the, so as to change the fire extinguishing angle, and simultaneously prevent water from gathering on the surface of the device by utilizing the guiding falling of the guide groove 7, and maintain the balance of the whole device by the installation and matching of the balance post 10.
Finally, it should be noted that the above-mentioned contents are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, and that the simple modifications or equivalent substitutions of the technical solutions of the present invention by those of ordinary skill in the art can be made without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. The utility model provides a climb wall fire-fighting robot, includes organism (1) and controller (5), its characterized in that: the utility model discloses a vibration damping device of a motor vehicle, including organism (1), locating plate (6), guide way (7), guide roller (17), locating plate (6), balance post (10), driving motor (15), shock pad (9), annular chute (11), four groups of mutually-matched sliding blocks (12), four groups of mounting disc (2) are arranged at the top of the positive end of baffle (13), the mounting bin (3) is arranged at the two sides of the organism (1), a baffle (13) is arranged at the middle position of the interior of the organism (1), the locating plate (6) is arranged at the one end of the back of the locating plate (6), the guide roller (17) is arranged at the top of the interior of the guide way (7), the balance post (10) is arranged at the middle position of the interior of the guide way (7), the driving motor (15) is arranged at the middle position of the positive end of the baffle (13), the shock pad (9) is arranged at the four corners of, fire extinguishers (14) are arranged inside the two groups of mounting bins (3), telescopic pipes (8) are arranged at output ends of the two groups of fire extinguishers (14), adjusting and fire extinguishing components are arranged on two sides of one end of the front side of the mounting disc (2), vacuum adsorption components are arranged at the tops and the bottoms of two sides of the two groups of mounting bins (3), a storage battery (18) is arranged on one side of the bottom inside the machine body (1), and a direction-changing moving component is arranged in the middle position between the top and the bottom of one end of the back side inside the machine body (1);
hinged seats (203) are arranged on two sides of one end of the front side of the fire extinguishing adjusting assembly, mounting seats (202) are hinged to the outer sides of the two groups of hinged seats (203), a fire pump (201) is arranged at the top of the two groups of mounting seats (202), a telescopic pipe (8) is communicated with the fire pump (201), jet pipes (208) are arranged at the output ends of the two groups of fire pumps (201), a servo motor A (207) is arranged at the middle position of the top of one end of the front side of the mounting disc (2), a threaded rod (205) is arranged at the output end of the servo motor A (207), internal thread sleeves (204) which are matched with each other are arranged on the outer side of the threaded rod (205), and hinged rods (206) which are hinged to the mounting seats (202) are hinged to two;
the vacuum adsorption component is characterized in that limiting grooves (4) are formed in the top and the bottom of two sides of the vacuum adsorption component, sleeves (405) which are matched with each other are arranged on the inner sides of four groups of limiting grooves (4), rotating wheels (402) are arranged on one sides, which are far away from each other, of the four groups of sleeves (405), vacuum adsorption discs (403) which are communicated with each other are uniformly arranged on the outer sides of the four groups of rotating wheels (402), a vacuum generator (401) is arranged at one end of each group of sleeves (405), communicating pipes (404) which are communicated with the vacuum adsorption discs (403) are arranged in the four groups of rotating wheels (402), and the output ends of the vacuum adsorption discs (403) are;
inside back one end top of diversion removal subassembly is equipped with carousel (16) with the intermediate position department of bottom, and is two sets of the front pot head of carousel (16) is equipped with motor storehouse (162), and is two sets of the inside in motor storehouse (162) is equipped with double-shaft motor (161), and is two sets of double-shaft motor's (161) output and sleeve pipe (405) interconnect are two sets of the top and the bottom in motor storehouse (162) are equipped with guide rail (167), and are two sets of the outside of guide rail (167) is equipped with guide block (166) of mutually supporting, the intermediate position department of organism (1) back one end is equipped with servo motor B (163), the output of servo motor B (163) is equipped with connection pad (164), the top and the bottom of connection pad (164) are equipped with connecting rod (165) with guide block (166) interconnect, controller (5) through the signal of telecommunication respectively with fire pump (201), The servo motor A (207), the vacuum generator (401), the driving motor (15), the double-shaft motor (161) and the servo motor B (163) are electrically connected.
2. A wall-climbing fire-fighting robot as recited in claim 1, wherein: guide pulleys are arranged on two sides of the bottom of the machine body (1).
3. A wall-climbing fire-fighting robot as recited in claim 1, wherein: and a dustproof sleeve is arranged on the outer side of the vacuum adsorption disc (403).
4. A wall-climbing fire-fighting robot as recited in claim 1, wherein: and a waterproof layer is arranged on the outer side of the guide groove (7).
5. A wall-climbing fire-fighting robot as recited in claim 1, wherein: the outside of servo motor A (207) is equipped with the protective housing, and the inboard of protective housing is equipped with sealed the pad.
6. A wall-climbing fire-fighting robot as recited in claim 1, wherein: and a buffer gasket is arranged at one end of the back surface of the mounting disc (2).
7. A wall-climbing fire-fighting robot as recited in claim 1, wherein: and anti-skid grains are arranged on the outer side of the guide roller (17).
8. A wall-climbing fire-fighting robot as recited in claim 1, wherein: reinforcing plates are arranged at the top and the bottom of the partition plate (13) and are connected with the damping pad (9).
9. A wall-climbing fire-fighting robot as recited in claim 1, wherein: the inner side of the motor cabin (162) is provided with silencing cotton.
10. A wall-climbing fire-fighting robot as recited in claim 1, wherein: the rotary disc (16) and the motor cabin (162) are matched with each other in an annular rotating structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011327350.0A CN112426651A (en) | 2020-11-24 | 2020-11-24 | Wall-climbing fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011327350.0A CN112426651A (en) | 2020-11-24 | 2020-11-24 | Wall-climbing fire-fighting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112426651A true CN112426651A (en) | 2021-03-02 |
Family
ID=74693898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011327350.0A Pending CN112426651A (en) | 2020-11-24 | 2020-11-24 | Wall-climbing fire-fighting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112426651A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104857655A (en) * | 2015-05-21 | 2015-08-26 | 陈雪 | Climbing extinguishing and cleaning robot |
| CN104888388A (en) * | 2015-01-09 | 2015-09-09 | 广西大学 | Wall-climbing, detecting and mutually-controlling fire-fighting robot |
| CN105233453A (en) * | 2015-01-09 | 2016-01-13 | 广西大学 | Pole-climbing and wall-climbing dual purpose fire-fighting robot |
| US20160039483A1 (en) * | 2013-03-22 | 2016-02-11 | Force Technology | Vacuum wall crawler |
| CN207768964U (en) * | 2017-12-21 | 2018-08-28 | 祥安消防科技有限公司 | It is a kind of that there is the sprinkler tip for adjusting spraying range function |
| CN111319695A (en) * | 2020-03-24 | 2020-06-23 | 佛山科学技术学院 | Sucking disc mechanism of rotary wheel of crawling |
-
2020
- 2020-11-24 CN CN202011327350.0A patent/CN112426651A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160039483A1 (en) * | 2013-03-22 | 2016-02-11 | Force Technology | Vacuum wall crawler |
| CN104888388A (en) * | 2015-01-09 | 2015-09-09 | 广西大学 | Wall-climbing, detecting and mutually-controlling fire-fighting robot |
| CN105233453A (en) * | 2015-01-09 | 2016-01-13 | 广西大学 | Pole-climbing and wall-climbing dual purpose fire-fighting robot |
| CN104857655A (en) * | 2015-05-21 | 2015-08-26 | 陈雪 | Climbing extinguishing and cleaning robot |
| CN207768964U (en) * | 2017-12-21 | 2018-08-28 | 祥安消防科技有限公司 | It is a kind of that there is the sprinkler tip for adjusting spraying range function |
| CN111319695A (en) * | 2020-03-24 | 2020-06-23 | 佛山科学技术学院 | Sucking disc mechanism of rotary wheel of crawling |
Non-Patent Citations (2)
| Title |
|---|
| 孟宪源: "《现代机构手册》", 30 June 1994, 机械工业出版社 * |
| 李炳泉: "《消防车的常见故障与维修》", 30 November 1994, 上海科学技术出版社 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106945740B (en) | A kind of wheel leg convolution climbing robot of multi-cavity absorption | |
| US8256542B2 (en) | Robotic vehicle | |
| EP2112963B1 (en) | Robotic vehicle with tracks and flippers | |
| CN105962855A (en) | Glass curtain wall cleaning robot capable of crossing obstacles | |
| CN111572725A (en) | Curved surface self-adaptive underwater wall-climbing robot | |
| CN209889073U (en) | Curved surface self-adaptive underwater wall-climbing robot | |
| CN106608307A (en) | Wall climbing compound robot | |
| CN209008723U (en) | A kind of wheeled biped robot | |
| CN211032803U (en) | Double-wheel-foot hybrid self-balancing robot | |
| CN106976002A (en) | A kind of ship naval vessels wall wall-climbing cleaning robot | |
| CN111572662A (en) | Magnetic gap type wall-climbing robot | |
| CN114013531A (en) | Magnetic adsorption wall-climbing spraying robot with curved surface adaptability and use method thereof | |
| CN107140153A (en) | Adaptive strain born of the same parents' crawler belt traveling mechanism | |
| CN209888977U (en) | Magnetic gap type wall-climbing robot | |
| CN112426651A (en) | Wall-climbing fire-fighting robot | |
| CN110434828A (en) | A kind of band large-scale metal facade barrier-crossing wall-climbing robot | |
| CN220147132U (en) | Modularized universal mobile robot chassis | |
| CN104058014B (en) | One partly takes turns legged type robot | |
| CN116080317A (en) | Reconnaissance robot | |
| CN107816005B (en) | A kind of urban road air cleaning unit | |
| CN107754503A (en) | A kind of air purification vehicle | |
| CN216374774U (en) | Wall climbing robot and wind tower blade deicing equipment | |
| CN106428293B (en) | A kind of AGV parking apparatus | |
| CN213762434U (en) | Crawler-type high altitude spraying machine people is inhaled to magnetism | |
| CN108903811B (en) | Stair railing cleaning machines people |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210302 |