CN113733041A - Explosion-proof fire extinguishing reconnaissance robot of diesel version - Google Patents
Explosion-proof fire extinguishing reconnaissance robot of diesel version Download PDFInfo
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- CN113733041A CN113733041A CN202111106243.XA CN202111106243A CN113733041A CN 113733041 A CN113733041 A CN 113733041A CN 202111106243 A CN202111106243 A CN 202111106243A CN 113733041 A CN113733041 A CN 113733041A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 230000001681 protective effect Effects 0.000 claims description 19
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 238000001816 cooling Methods 0.000 claims description 4
- 244000309464 bull Species 0.000 claims 3
- 230000000694 effects Effects 0.000 abstract description 9
- 238000011835 investigation Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 8
- 239000000428 dust Substances 0.000 abstract description 4
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 238000013461 design Methods 0.000 description 6
- 241000282414 Homo sapiens Species 0.000 description 3
- 230000005489 elastic deformation Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 238000001125 extrusion Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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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
- B25J19/0054—Cooling means
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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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
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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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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Abstract
The invention discloses a diesel explosion-proof fire-extinguishing reconnaissance robot which comprises a robot body, crawler wheels, a camera and servo motors, wherein the crawler wheels are arranged on the left side and the right side of the robot body; through the transmission structure that sets up etc, effectively avoided the robot body to take place the condition that the wall collapses or the ceiling drops often in the investigation in-process, if the camera sets up in the outside of robot always, greasy dirt, dust and debris can adhere to, pile up, twine on the camera, lead to the formation of image effect variation of camera, the problem that the effect of investigation reduced has improved the stability when device uses.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a diesel explosion-proof fire-extinguishing reconnaissance robot.
Background
The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capacity range of the human beings;
in the fire fighting action, when the house condition of catching fire is complicated, the fire fighter needs to enter the inflammable, explosive and toxic environment to detect and reconnoiter, and after the open fire is extinguished, some hidden fires which are difficult to extinguish still exist, after the hidden fire contacts with the air, the fire fighter needs to bear a large risk, and the fire scene environment is generally reconnoitered by using an explosion-proof fire extinguishing reconnaissance robot.
In the in-service use process, the camera generally can be installed to current explosion-proof reconnaissance robot's front end, survey and investigation the environment in the scene of a fire through the camera, but because the inside environment in the scene of a fire is comparatively complicated, the condition that the wall collapses or the ceiling drops can take place often in the reconnaissance process, if the camera sets up the outside at the robot always, greasy dirt, dust and debris can adhere to, pile up, twine on the camera, lead to the imaging effect of camera to worsen, the effect of investigation reduces, the stability of device in the use is not strong, for this reason we propose a diesel version explosion-proof reconnaissance robot that puts out a fire.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a diesel explosion-proof fire-extinguishing reconnaissance robot, wherein a camera can be collected into the robot body through a transmission structure in the moving process of the robot body through the transmission structure and the like, when the robot body is moved to a proper position and is determined to have no greater risk, the camera is pushed out from the inside of the robot body through the transmission structure for reconnaissance, so that the condition that the wall collapses or the ceiling falls off in the reconnaissance process is avoided, if the camera is always arranged on the outer side of the robot, oil stains, dust and sundries can be attached, accumulated and wound on the camera, the imaging effect of the camera is deteriorated, the reconnaissance effect is reduced, and the stability of the device in use is improved.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a diesel version explosion-proof reconnaissance robot that puts out a fire, includes robot body, athey wheel, camera and servo motor, the robot body left and right sides all is provided with the athey wheel, the recess that the robot body front end was seted up, and be provided with the camera in the recess, the inside two sets of servo motor that are provided with of robot body, and servo motor ground output all towards the outside of robot body, servo motor passes through the transmission structure and is connected with the camera.
As a preferred technical scheme of the present invention, the transmission structure comprises first bevel wheels arranged on the output ends of two sets of servo motors, second bevel wheels meshed on the surfaces of the first bevel wheels, a first rotating rod penetrating through the middle of the second bevel wheels, a first gear sleeved on the surface of the first rotating rod, an internal gear belt meshed on the surface of the first gear, a second gear meshed on the other side inside the internal gear belt, a second rotating rod penetrating through the middle of the second gear, and a connecting plate arranged on the outer wall of the inner side of the internal gear belt, wherein the front end surfaces of the connecting plates are all fixed on the rear end surface of the camera through bolts;
the first rotating rod is rotatably arranged inside the robot body.
As a preferred technical solution of the present invention, the first rotating rods are all configured to be cylindrical, and through holes matched with the first rotating rods are disposed between the groove for disposing the servo motor and the groove for disposing the first rotating rods.
As a preferable technical solution of the present invention, an input end of the servo motor is electrically connected to an output end of the wireless switch through a wire.
As a preferred technical scheme of the invention, the top end, the front end and the rear end of the robot body are all provided with a plurality of groups of protection structures, and each protection structure comprises two groups of first spring grooves arranged on the outer wall surface of the robot body, a limiting rod arranged at the bottom end of the inner wall of each first spring groove, a first spring wound on the surface of the limiting rod, a second spring groove sleeved on the surface of the limiting rod, a second spring arranged in the second spring groove, a clamping plate arranged at the tail end of the outer side of the second spring groove, a protection plate attached to the surface of the clamping plate and a clamping groove formed in the surface of the bottom end of the protection plate;
the second spring grooves penetrate through the top end surface of the first spring groove;
the cardboard all can insert inside the draw-in groove, and the draw-in groove all is connected with the cardboard through the bolt.
As a preferred technical solution of the present invention, one end of each first spring is welded to the bottom end of the inner wall of the first spring groove, and the other end of each first spring is welded to the surface of the bottom end of the second spring groove.
As a preferable technical scheme of the invention, one end of the second spring is welded on the surface of the top end of the limiting rod, and the other end of the second spring is welded on the top end of the inner wall of the second spring groove.
As a preferred technical solution of the present invention, a PLC control module is disposed inside the robot body, and the PLC control module includes a control module, a moving module, a wireless receiving module, a camera control module, and a temperature control module.
As a preferred technical solution of the present invention, the output end of the temperature control module is electrically connected to the input end of the cooling fan through a wire.
Compared with the prior art, the invention can achieve the following beneficial effects:
1. through the arranged transmission structure and the like, the situation that the wall of the robot body collapses or a ceiling falls frequently in the investigation process is effectively avoided, if the camera is always arranged on the outer side of the robot, oil dirt, dust and sundries can be attached, accumulated and wound on the camera, so that the imaging effect of the camera is deteriorated, and the investigation effect is reduced;
2. through the protective structure who sets up etc, the condition that the wall collapses or the ceiling drops often can take place for the robot body in the investigation process has effectively been avoided, when the great heavy object of quality drops the robot body on the surface, violent impact can cause the damage to the inside electronic component of robot body, the problem that leads to the unable normal control of robot body, through making the heavy object drop to the guard plate surface, make the guard plate cushion the impact force that receives through second spring and first spring, thereby reach the purpose that slows down the impact force that the heavy object caused to the robot body, the practicality of device has been improved.
3. Through PLC control module and the temperature control module that sets up etc, the robot body has effectively been avoided at the investigation in-process, when the temperature in the scene is higher, the high temperature can lead to the inside motor that sets up of robot body, chip and camera trouble, the unable normal use problem of robot body, through the temperature control module who sets up, make PLC control module when receiving the high temperature signal that temperature control module sent, can the rotation of automatic control radiator fan, thereby reach the purpose of cooling to the inside temperature of robot body, the stability when the device uses has been improved.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic front sectional view of the present invention;
FIG. 3 is a schematic top sectional view of the camera in an extended state;
FIG. 4 is a schematic top view of a cross-sectional structure of a camera in a retracted state according to the present invention;
FIG. 5 is an enlarged schematic view of the invention at A of FIG. 2;
FIG. 6 is an enlarged view of the structure of FIG. 2 at B according to the present invention;
FIG. 7 is an enlarged view of the structure of FIG. 3 at C in accordance with the present invention;
fig. 8 is a circuit block diagram of the present invention.
Wherein: 1. a robot body; 2. a crawler wheel; 3. a camera; 4. a servo motor; 5. a transmission structure; 51. a first conical wheel; 52. a second conical wheel; 53. a first rotating lever; 54. a first gear; 55. an inner gear belt; 56. a second gear; 57. a second rotating rod; 58. a connecting plate; 6. a protective structure; 61. a first spring groove; 62. a limiting rod; 63. a first spring; 64. a second spring groove; 65. a second spring; 66. clamping a plate; 67. a card slot; 68. and (4) a protective plate.
Detailed Description
The present invention will be further described with reference to specific embodiments for the purpose of facilitating an understanding of technical means, characteristics of creation, objectives and functions realized by the present invention, but the following embodiments are only preferred embodiments of the present invention, and are not intended to be exhaustive. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative efforts belong to the protection scope of the present invention. The experimental methods in the following examples are conventional methods unless otherwise specified, and materials, reagents and the like used in the following examples are commercially available unless otherwise specified.
Example (b):
referring to fig. 1-7, a diesel explosion-proof fire-extinguishing reconnaissance robot comprises a robot body 1, crawler wheels 2, a camera 3 and a servo motor 4, wherein the crawler wheels 2 are arranged on the left side and the right side of the robot body 1, a groove is formed in the front end of the robot body 1, the camera 3 is arranged in the groove, two groups of servo motors 4 are arranged inside the robot body 1, the output ends of the servo motors 4 face the outer side of the robot body 1, and the servo motors 4 are connected with the camera 3 through a transmission structure 5.
In other embodiments, the transmission structure 5 comprises a first bevel wheel 51 disposed on the output end of each of the two sets of servo motors 4, a second bevel wheel 52 engaged on the surface of the first bevel wheel 51, a first rotating rod 53 penetrating through the middle of the second bevel wheel 52, a first gear 54 sleeved on the surface of the first rotating rod 53, an internal gear belt 55 engaged on the surface of the first gear 54, a second gear 56 engaged on the other side inside the internal gear belt 55, a second rotating rod 57 penetrating through the middle of the second gear 56, and a connecting plate 58 disposed on the inner outer wall of the internal gear belt 55, wherein the front end surface of the connecting plate 58 is fixed on the rear end surface of the camera 3 by bolts;
the first rotating rods 53 are all rotatably arranged inside the robot body 1;
when the position of the camera 3 needs to be adjusted, the two sets of servo motors 4 are remotely controlled to enable the servo motors 4 to be started, the servo motors 4 drive the first bevel wheel 51 to rotate, the first bevel wheel 51 drives the second bevel wheel 52 to rotate, the second bevel wheel 52 drives the first rotating rod 53 to rotate, the first rotating rod 53 drives the first gear 54 to rotate, the first gear 54 drives the inner gear belt 55 to move, the inner gear belt 55 drives the second gear 56 to rotate on the surface of the second rotating rod 57, the inner gear belt 55 drives the connecting plate 58 to move, the connecting plate 58 drives the camera 3 to move, and the position of the camera 3 can be adjusted.
In other embodiments, the first rotating rods 53 are all configured to be cylindrical, and through holes matched with the first rotating rods 53 are formed between the grooves for configuring the servo motor 4 and the grooves for configuring the first rotating rods 53;
through the design, the first rotating rod 53 can penetrate through a through hole between the groove for placing the servo motor 4 and the groove for placing the first rotating rod 53, so that the purpose that the second cone-shaped wheel 52 can drive the first gear 54 to rotate through the first rotating rod 53 is achieved.
In other embodiments, the input end of the servo motor 4 is electrically connected with the output end of the wireless switch through a conducting wire;
through this design, make fire fighter can remote control servo motor 4's switch to reach the purpose of carrying out remote control to servo motor 4.
In other embodiments, the top end, the front end and the rear end of the robot body 1 are all provided with a plurality of sets of protective structures 6, each protective structure 6 comprises two sets of first spring grooves 61 arranged on the outer wall surface of the robot body 1, a limiting rod 62 arranged at the bottom end of the inner wall of each first spring groove 61, a first spring 63 wound on the surface of the limiting rod 62, a second spring groove 64 sleeved on the surface of the limiting rod 62, a second spring 65 arranged inside the second spring groove 64, a clamping plate 66 arranged at the outer end of the second spring groove 64, a protective plate 68 attached to the surface of the clamping plate 66 and a clamping groove 67 arranged on the bottom end surface of the protective plate 68;
the second spring grooves 64 all penetrate through the top end surface of the first spring groove 61;
the clamping plates 66 can be inserted into the clamping grooves 67, and the clamping grooves 67 are connected with the clamping plates 66 through bolts;
when the protective structure 6 needs to be used, the protective plate 68 is moved to enable the protective plate 68 to drive the clamping groove 67 to move, the clamping plate 66 is inserted into the clamping groove 67, the protective plate 68 is connected with the clamping plate 66 through bolts, the protective plate 68 can be used normally, when the outer side surface of the protective plate 68 is impacted, the protective plate 68 drives the clamping plate 66 to move, the clamping plate 66 drives the second spring groove 64 to move under the limitation of the limiting rod 62 and the first spring groove 61, the second spring groove 64 extrudes the first spring 63, the first spring 63 generates elastic deformation due to the extrusion of the second spring groove 64, the distance between the bottom end of the inner wall of the first spring groove 61 and the bottom end of the second spring groove 64 is shortened, the limiting rod 62 can be matched with the second spring groove 64 to extrude the second spring 65, the second spring 65 generates elastic deformation due to the extrusion of the second spring groove 64, and the external force applied to the protective plate 68 is buffered through the elastic deformation of the first spring 63 and the second spring 65, thereby achieving the purpose that the protection plate 68 protects the surface of the robot body 1.
In other embodiments, one end of the first spring 63 is welded to the bottom end of the inner wall of the first spring groove 61, and the other end of the first spring 63 is welded to the bottom end surface of the second spring groove 64;
through this design, make the distance between first spring groove 61 inner wall bottom and the bottom surface of second spring groove 64 can shorten through extrudeing first spring 63 to reach the purpose that cushions the pressure that second spring groove 64 received through first spring 63.
In other embodiments, one end of the second spring 65 is welded to the top surface of the limiting rod 62, and the other end of the second spring 65 is welded to the top end of the inner wall of the second spring groove 64;
through this design, the distance between gag lever post 62 top surface and the second spring groove 64 inner wall top can shorten through extrudeing second spring 65 to reach the purpose that cushions the pressure that second spring groove 64 received through second spring 65.
In other embodiments, a PLC control module is arranged inside the robot body 1, and the PLC control module includes a control module, a moving module, a wireless receiving module, a camera control module, and a temperature control module;
through this design, make the fire fighter can send wireless signal to signal transceiver through remote control panel to carry out signal conversion and carry to PLC control module through signal transceiver, carry out remote control to athey wheel, servo motor and camera through PLC control module, and obtain the real-time feedback that each corresponds the module and make on remote control panel through signal transceiver.
In other embodiments, the output end of the temperature control module is electrically connected with the input end of the cooling fan through a lead;
through this design, make temperature control module rise sensing organism temperature to when having the emergence overheat risk, PLC control module can be automatic to temperature control module signals, makes temperature control module control radiator fan dispel the heat, thereby reaches and avoids taking place the overheated condition of organism.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides a diesel version explosion-proof reconnaissance robot that puts out a fire, includes robot (1), athey wheel (2), camera (3) and servo motor (4), the robot (1) left and right sides all is provided with athey wheel (2), the recess that robot (1) front end was seted up, and be provided with camera (3) in the recess, robot (1) inside is provided with two sets of servo motor (4), and servo motor (4) ground output all towards the outside of robot (1), its characterized in that: the servo motor (4) is connected with the camera (3) through a transmission structure (5).
2. The diesel explosion-proof fire-extinguishing reconnaissance robot of claim 1, wherein: the transmission structure (5) comprises first conical wheels (51) arranged at the output ends of the two groups of servo motors (4), second conical wheels (52) meshed on the surfaces of the first conical wheels (51), first rotating rods (53) penetrating through the middle parts of the second conical wheels (52), first gears (54) sleeved on the surfaces of the first rotating rods (53), inner gear belts (55) meshed on the surfaces of the first gears (54), second gears (56) meshed on the other sides of the inner parts of the inner gear belts (55), second rotating rods (57) penetrating through the middle parts of the second gears (56) and connecting plates (58) arranged on the outer walls of the inner sides of the inner gear belts (55), and the front end surfaces of the connecting plates (58) are fixed on the rear end surfaces of the cameras (3) through bolts;
the first rotating rods (53) are all rotatably arranged inside the robot body (1).
3. The diesel explosion-proof fire-extinguishing reconnaissance robot of claim 2, wherein: first bull stick (53) all set up to cylindrical, set up all set up between the recess of servo motor (4) and the recess that sets up first bull stick (53) the through-hole of mutually supporting with first bull stick (53).
4. The diesel explosion-proof fire-extinguishing reconnaissance robot of claim 2, wherein: the input end of the servo motor (4) is electrically connected with the ground output end of the wireless switch through a lead.
5. The diesel explosion-proof fire-extinguishing reconnaissance robot of claim 1, wherein: the robot comprises a robot body (1), and is characterized in that the top end, the front end and the rear end of the robot body (1) are provided with a plurality of groups of protective structures (6), wherein each protective structure (6) comprises two groups of first spring grooves (61) arranged on the outer wall surface of the robot body (1), a limiting rod (62) arranged at the bottom end of the inner wall of each first spring groove (61), a first spring (63) wound on the surface of each limiting rod (62), a second spring groove (64) sleeved on the surface of each limiting rod (62), a second spring (65) arranged in each second spring groove (64), a clamping plate (66) arranged at the tail end of the outer side of each second spring groove (64), a protective plate (68) attached to the surface of the clamping plate (66) and a clamping groove (67) formed on the surface of the bottom end of the protective plate (68);
the second spring grooves (64) penetrate through the top end surface of the first spring groove (61);
the clamping plates (66) can be inserted into the clamping grooves (67), and the clamping grooves (67) are connected with the clamping plates (66) through bolts.
6. The diesel explosion-proof fire-extinguishing reconnaissance robot of claim 5, wherein: one end of the first spring (63) is welded at the bottom end of the inner wall of the first spring groove (61), and the other end of the first spring (63) is welded on the bottom end surface of the second spring groove (64).
7. The diesel explosion-proof fire-extinguishing reconnaissance robot of claim 5, wherein: one end of the second spring (65) is welded on the top end surface of the limiting rod (62), and the other end of the second spring (65) is welded on the top end of the inner wall of the second spring groove (64).
8. The diesel explosion-proof fire-extinguishing reconnaissance robot of claim 1, wherein: the robot is characterized in that a PLC control module is arranged inside the robot body (1), and the PLC control module comprises a control module, a moving module, a wireless receiving module, a camera shooting control module and a temperature control module.
9. The diesel explosion-proof fire-extinguishing reconnaissance robot of claim 8, wherein: the ground output end of the temperature control module is electrically connected with the input end of the cooling fan through a lead.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111106243.XA CN113733041A (en) | 2021-09-22 | 2021-09-22 | Explosion-proof fire extinguishing reconnaissance robot of diesel version |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111106243.XA CN113733041A (en) | 2021-09-22 | 2021-09-22 | Explosion-proof fire extinguishing reconnaissance robot of diesel version |
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| CN113733041A true CN113733041A (en) | 2021-12-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116787462A (en) * | 2023-06-02 | 2023-09-22 | 江苏珂尔玛智控技术有限公司 | Robot for inspecting coal mine channel |
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| CN111070240A (en) * | 2019-12-18 | 2020-04-28 | 南京驭逡通信科技有限公司 | Anti collision protective housing of resistance to compression of robot |
| CN112130484A (en) * | 2020-08-27 | 2020-12-25 | 南京蹑波物联网科技有限公司 | Internet-based warehouse monitoring equipment and using method thereof |
| CN213922486U (en) * | 2020-12-07 | 2021-08-10 | 山东键兴新材料科技有限公司 | Temporary storage tank in production of Stearoylbenzoylmethane (SBM) |
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| CN116787462A (en) * | 2023-06-02 | 2023-09-22 | 江苏珂尔玛智控技术有限公司 | Robot for inspecting coal mine channel |
| CN116787462B (en) * | 2023-06-02 | 2024-08-02 | 江苏珂尔玛智控技术有限公司 | Robot for inspecting coal mine channel |
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